can_hw.cpp File Reference

Detailed Description

CAN bus low level code.

todo: this file should be split into two - one for CAN transport level ONLY and another one with actual messages

See also

can_verbose.cpp for higher level logic

obd2.cpp for OBD-II messages via CAN

Date

Dec 11, 2013

Author

Andrey Belomutskiy, (c) 2012-2020

Definition in file can_hw.cpp.

Functions
const CANConfig *	findCanConfig (can_baudrate_e rate)
static CCM_OPTIONAL CanRead	canRead1 (0)
static CCM_OPTIONAL CanRead	canRead2 (1)
static CCM_OPTIONAL CanRead	canRead3 (2)
static CANDriver *	getCanDevice (size_t index)
static void	canInfo ()
void	setCanType (int type)
void	stopCanPins ()
void	startCanPins ()
static void	applyListenOnly (CANConfig *canConfig, bool isListenOnly)
void	initCan ()
bool	getIsCanEnabled (void)

Variables
static bool	isCanEnabled = false
static const CANConfig	canConfig_dummy
static CanWrite canWrite	CCM_OPTIONAL

Function Documentation

applyListenOnly()

static void applyListenOnly ( CANConfig *  canConfig, bool  isListenOnly  )

static

Definition at line 194 of file can_hw.cpp.

                                                                     {
#if defined(STM32F4XX) || defined(STM32F7XX)
    if (isListenOnly) {
        canConfig->btr |= CAN_BTR_SILM;
    }
#elif defined(STM32H7XX)
    // TODO: move to ChibiOS stm32_fdcan.h
    #define FDCAN_CONFIG_CCCR_MON   (1u << 5)
    if (isListenOnly) {
        canConfig->CCCR |= FDCAN_CONFIG_CCCR_MON;
    }
#endif
}

Referenced by initCan().

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canInfo()

static void canInfo ( )

static

Definition at line 107 of file can_hw.cpp.

                      {
    if (!isCanEnabled) {
        efiPrintf("CAN is not enabled, please enable & restart");
        return;
    }
 
    efiPrintf("CAN1 TX %s %s", hwPortname(engineConfiguration->canTxPin), getCan_baudrate_e(engineConfiguration->canBaudRate));
    efiPrintf("CAN1 RX %s", hwPortname(engineConfiguration->canRxPin));
    canHwInfo(getCanDevice(0));
 
    efiPrintf("CAN2 TX %s %s", hwPortname(engineConfiguration->can2TxPin), getCan_baudrate_e(engineConfiguration->can2BaudRate));
    efiPrintf("CAN2 RX %s", hwPortname(engineConfiguration->can2RxPin));
    canHwInfo(getCanDevice(1));
 
#if (EFI_CAN_BUS_COUNT >= 3)
    efiPrintf("CAN3 TX %s %s", hwPortname(engineConfiguration->can3TxPin), getCan_baudrate_e(engineConfiguration->can3BaudRate));
    efiPrintf("CAN3 RX %s", hwPortname(engineConfiguration->can3RxPin));
    canHwInfo(getCanDevice(2));
#endif
 
    efiPrintf("type=%d canReadEnabled=%s canWriteEnabled=%s period=%d", engineConfiguration->canNbcType,
            boolToString(engineConfiguration->canReadEnabled), boolToString(engineConfiguration->canWriteEnabled),
            engineConfiguration->canSleepPeriodMs);
 
    efiPrintf("CAN rx_cnt=%d/tx_ok=%d/tx_not_ok=%d",
            engine->outputChannels.canReadCounter,
            engine->outputChannels.canWriteOk,
            engine->outputChannels.canWriteNotOk);
}

Referenced by initCan(), and setCanType().

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canRead1()

static CCM_OPTIONAL CanRead canRead1 ( 0  )

static

Referenced by initCan().

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canRead2()

static CCM_OPTIONAL CanRead canRead2 ( 1  )

static

Referenced by initCan().

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canRead3()

static CCM_OPTIONAL CanRead canRead3 ( 2  )

static

Referenced by initCan().

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findCanConfig()

const CANConfig * findCanConfig ( can_baudrate_e  rate )

extern

Definition at line 36 of file can_hw.cpp.

{
    return &canConfig_dummy;
}

Referenced by initCan().

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getCanDevice()

static CANDriver * getCanDevice ( size_t  index )

static

Definition at line 90 of file can_hw.cpp.

{
    switch (index) {
    case 0:
        return detectCanDevice(engineConfiguration->canRxPin, engineConfiguration->canTxPin);
    case 1:
        return detectCanDevice(engineConfiguration->can2RxPin, engineConfiguration->can2TxPin);
#if (EFI_CAN_BUS_COUNT >= 3)
    case 2:
        return detectCanDevice(engineConfiguration->can3RxPin, engineConfiguration->can3TxPin);
#endif
    }
 
    return nullptr;
}

Referenced by canInfo(), and initCan().

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getIsCanEnabled()

bool getIsCanEnabled

(

void

)

Definition at line 296 of file can_hw.cpp.

                           {
    return isCanEnabled;
}

initCan()

void initCan

(

)

Definition at line 208 of file can_hw.cpp.

               {
    addConsoleAction("caninfo", canInfo);
 
    isCanEnabled = false;
 
    // No CAN features enabled, nothing more to do.
    if (!engineConfiguration->canWriteEnabled && !engineConfiguration->canReadEnabled) {
        return;
    }
 
    // Determine physical CAN peripherals based on selected pins
    auto device1 = getCanDevice(0);
    auto device2 = getCanDevice(1);
#if (EFI_CAN_BUS_COUNT >= 3)
    auto device3 = getCanDevice(2);
#endif
 
    // If all devices are null, a firmware error was already thrown by detectCanDevice, but we shouldn't continue
    if (!device1 && !device2) {
#if (EFI_CAN_BUS_COUNT >= 3)
        if (!device3)
#endif
                return;
    }
 
    // Devices can't be the same!
    if (((device1 == device2) && device1) ||
#if (EFI_CAN_BUS_COUNT >= 3)
        ((device2 == device3) && device2) ||
        ((device3 == device1) && device3) ||
#endif
        0) {
        criticalError("CAN pins must be set to different devices");
        return;
    }
 
    // Initialize peripherals
    if (device1) {
        // Config based on baud rate
        // Pointer to this local canConfig is stored inside CANDriver
        // even it is used only during canStart this is wierd
        CANConfig canConfig;
        memcpy(&canConfig, findCanConfig(engineConfiguration->canBaudRate), sizeof(canConfig));
        applyListenOnly(&canConfig, engineConfiguration->can1ListenMode);
        canStart(device1, &canConfig);
 
        // Plumb CAN devices to tx system
        CanTxMessage::setDevice(0, device1);
    }
 
    if (device2) {
        CANConfig canConfig;
        memcpy(&canConfig, findCanConfig(engineConfiguration->can2BaudRate), sizeof(canConfig));
        applyListenOnly(&canConfig, engineConfiguration->can2ListenMode);
        canStart(device2, &canConfig);
 
        // Plumb CAN devices to tx system
        CanTxMessage::setDevice(1, device2);
    }
 
#if (EFI_CAN_BUS_COUNT >= 3)
    if (device3) {
        CANConfig canConfig;
        memcpy(&canConfig, findCanConfig(engineConfiguration->can3BaudRate), sizeof(canConfig));
        applyListenOnly(&canConfig, engineConfiguration->can3ListenMode);
        canStart(device3, &canConfig);
 
        // Plumb CAN devices to tx system
        CanTxMessage::setDevice(2, device3);
    }
#endif
 
    // fire up threads, as necessary
    if (engineConfiguration->canWriteEnabled) {
        canWrite.start();
    }
 
    if (engineConfiguration->canReadEnabled) {
        canRead1.start(device1);
        canRead2.start(device2);
#if (EFI_CAN_BUS_COUNT >= 3)
        canRead3.start(device3);
#endif
    }
 
    isCanEnabled = true;
}

Referenced by initHardware().

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setCanType()

void setCanType

(

int

type

)

Definition at line 137 of file can_hw.cpp.

                          {
    engineConfiguration->canNbcType = (can_nbc_e)type;
    canInfo();
}

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startCanPins()

void startCanPins

(

)

Definition at line 154 of file can_hw.cpp.

                    {
    // nothing to do if we aren't enabled...
    if (!isCanEnabled) {
        return;
    }
 
    // Validate pins
    if (!isValidCanTxPin(engineConfiguration->canTxPin)) {
        if (!isBrainPinValid(engineConfiguration->canTxPin)) {
            // todo: smarter online change of settings, kill isCanEnabled with fire
            return;
        }
        firmwareError(ObdCode::CUSTOM_OBD_70, "invalid CAN TX %s", hwPortname(engineConfiguration->canTxPin));
        return;
    }
 
    if (!isValidCanRxPin(engineConfiguration->canRxPin)) {
        if (!isBrainPinValid(engineConfiguration->canRxPin)) {
            // todo: smarter online change of settings, kill isCanEnabled with fire
            return;
        }
        firmwareError(ObdCode::CUSTOM_OBD_70, "invalid CAN RX %s", hwPortname(engineConfiguration->canRxPin));
        return;
    }
 
#if EFI_PROD_CODE
    efiSetPadModeIfConfigurationChanged("CAN TX", canTxPin, PAL_MODE_ALTERNATE(EFI_CAN_TX_AF));
    efiSetPadModeIfConfigurationChanged("CAN RX", canRxPin, PAL_MODE_ALTERNATE(EFI_CAN_RX_AF));
 
    efiSetPadModeIfConfigurationChanged("CAN2 TX", can2TxPin, PAL_MODE_ALTERNATE(EFI_CAN_TX_AF));
    efiSetPadModeIfConfigurationChanged("CAN2 RX", can2RxPin, PAL_MODE_ALTERNATE(EFI_CAN_RX_AF));
 
#if (EFI_CAN_BUS_COUNT >= 3)
    efiSetPadModeIfConfigurationChanged("CAN3 TX", can3TxPin, PAL_MODE_ALTERNATE(EFI_CAN3_TX_AF));
    efiSetPadModeIfConfigurationChanged("CAN3 RX", can3RxPin, PAL_MODE_ALTERNATE(EFI_CAN3_RX_AF));
#endif // EFI_CAN_BUS_COUNT >= 3
#endif // EFI_PROD_CODE
}

Referenced by startHardware().

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stopCanPins()

void stopCanPins

(

)

Definition at line 142 of file can_hw.cpp.

                   {
    efiSetPadUnusedIfConfigurationChanged(canTxPin);
    efiSetPadUnusedIfConfigurationChanged(canRxPin);
    efiSetPadUnusedIfConfigurationChanged(can2TxPin);
    efiSetPadUnusedIfConfigurationChanged(can2RxPin);
#if (EFI_CAN_BUS_COUNT >= 3)
    efiSetPadUnusedIfConfigurationChanged(can3TxPin);
    efiSetPadUnusedIfConfigurationChanged(can3RxPin);
#endif
}

Referenced by applyNewHardwareSettings().

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Variable Documentation

canConfig_dummy

const CANConfig canConfig_dummy

static

Definition at line 34 of file can_hw.cpp.

Referenced by findCanConfig().

CCM_OPTIONAL

CanWrite canWrite CCM_OPTIONAL

static

Definition at line 87 of file can_hw.cpp.

isCanEnabled

bool isCanEnabled = false

static

Definition at line 25 of file can_hw.cpp.

Referenced by canInfo(), getIsCanEnabled(), initCan(), and startCanPins().

Go to the source code of this file.