can_hw.cpp

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/**
 * @file    can_hw.cpp
 * @brief   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 can_verbose.cpp for higher level logic
 * @see obd2.cpp for OBD-II messages via CAN
 *
 * @date Dec 11, 2013
 * @author Andrey Belomutskiy, (c) 2012-2020
 */
 
#include "pch.h"
 
#if EFI_CAN_SUPPORT
 
#include "can.h"
#include "can_hw.h"
#include "can_msg_tx.h"
#include "string.h"
#include "mpu_util.h"
 
static bool isCanEnabled = false;
 
#if EFI_PROD_CODE
 
extern const CANConfig *findCanConfig(can_baudrate_e rate);
 
#else // not EFI_PROD_CODE
// Nothing to actually set for the simulator's CAN config.
// It's impossible to set CAN bitrate from userspace, so we can't set it.
static const CANConfig canConfig_dummy;
 
static const CANConfig * findCanConfig(can_baudrate_e rate)
{
    return &canConfig_dummy;
}
 
#endif
 
class CanRead final : protected ThreadController<UTILITY_THREAD_STACK_SIZE> {
public:
    CanRead(size_t index)
        : ThreadController("CAN RX", PRIO_CAN_RX)
        , m_index(index)
    {
    }
 
    void start(CANDriver* device) {
        m_device = device;
 
        if (device) {
            ThreadController::start();
        }
    }
 
    void ThreadTask() override {
        while (true) {
            // Block until we get a message
            msg_t result = canReceiveTimeout(m_device, CAN_ANY_MAILBOX, &m_buffer, CAN_RX_TIMEOUT);
 
            if (result != MSG_OK) {
                canHwRecover(m_index, m_device);
                continue;
            }
 
            // Process the message
            engine->outputChannels.canReadCounter++;
 
            processCanRxMessage(m_index, m_buffer, getTimeNowNt());
        }
    }
 
private:
    const size_t m_index;
    CANRxFrame m_buffer;
    CANDriver* m_device;
};
 
CCM_OPTIONAL static CanRead canRead1(0);
CCM_OPTIONAL static CanRead canRead2(1);
#if (EFI_CAN_BUS_COUNT >= 3)
CCM_OPTIONAL static CanRead canRead3(2);
#endif
static CanWrite canWrite CCM_OPTIONAL;
 
#if EFI_PROD_CODE
static CANDriver* getCanDevice(size_t index)
{
    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;
}
#endif
 
static void canInfo() {
    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);
}
 
void setCanType(int type) {
    engineConfiguration->canNbcType = (can_nbc_e)type;
    canInfo();
}
 
void stopCanPins() {
    efiSetPadUnusedIfConfigurationChanged(canTxPin);
    efiSetPadUnusedIfConfigurationChanged(canRxPin);
    efiSetPadUnusedIfConfigurationChanged(can2TxPin);
    efiSetPadUnusedIfConfigurationChanged(can2RxPin);
#if (EFI_CAN_BUS_COUNT >= 3)
    efiSetPadUnusedIfConfigurationChanged(can3TxPin);
    efiSetPadUnusedIfConfigurationChanged(can3RxPin);
#endif
}
 
// at the moment we support only very limited runtime configuration change, still not supporting online CAN toggle
void startCanPins() {
    // 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
}
 
// Move to port CAN helpers file
static void applyListenOnly(CANConfig* canConfig, bool isListenOnly) {
#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
}
 
void initCan() {
    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;
}
 
bool getIsCanEnabled(void) {
    return isCanEnabled;
}
 
#endif /* EFI_CAN_SUPPORT */