can_rx.cpp

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/**
 * @file    can_rx.cpp
 *
 * CAN reception handling.  This file handles multiplexing incoming CAN frames as appropriate
 * to the subsystems that consume them.
 *
 * @date Mar 19, 2020
 * @author Matthew Kennedy, (c) 2020
 */
 
#include "pch.h"
 
#if EFI_CAN_SUPPORT
 
#include "rusefi_lua.h"
#include "can_bench_test.h"
#include "bench_test.h"
#include "can_common.h"
 
#include "can_rx.h"
#include "obd2.h"
#include "can_sensor.h"
#include "can_vss.h"
#include "rusefi_wideband.h"
#include "board_overrides.h"
/**
 * this build-in CAN sniffer is very basic but that's our CAN sniffer
 */
void printCANRxFrame(const size_t busIndex, const CANRxFrame &rx) {
    // only print info if we're in can debug mode
 
    int id = CAN_ID(rx);
 
    if (CAN_ISX(rx)) {
        // print extended IDs in hex only
        efiPrintf("CAN%d RX: ID %07x DLC %d: %02x %02x %02x %02x %02x %02x %02x %02x",
                busIndex + 1,
                id,
                rx.DLC,
                rx.data8[0], rx.data8[1], rx.data8[2], rx.data8[3],
                rx.data8[4], rx.data8[5], rx.data8[6], rx.data8[7]);
    } else {
        // internet people use both hex and decimal to discuss packed IDs, for usability it's better to print both right here
        efiPrintf("CAN%d RX: ID %03x(%d) DLC %d: %02x %02x %02x %02x %02x %02x %02x %02x",
                busIndex + 1,
                id, id, // once in hex, once in dec
                rx.DLC,
                rx.data8[0], rx.data8[1], rx.data8[2], rx.data8[3],
                rx.data8[4], rx.data8[5], rx.data8[6], rx.data8[7]);
    }
}
 
struct CanListenerTailSentinel : public CanListener {
    CanListenerTailSentinel()
        : CanListener(0)
    {
    }
 
    bool acceptFrame(const size_t, const CANRxFrame&) const override {
        return false;
    }
 
    void decodeFrame(const CANRxFrame&, efitick_t) override {
        // nothing to do
    }
};
 
static CanListenerTailSentinel tailSentinel;
CanListener *canListeners_head = &tailSentinel;
 
void serviceCanSubscribers(const size_t busIndex, const CANRxFrame &frame, efitick_t nowNt) {
    CanListener *current = canListeners_head;
    size_t iterationValidationCounter = 0;
 
    while (current) {
        current = current->processFrame(busIndex, frame, nowNt);
        if (iterationValidationCounter++ > 239) {
          criticalError("forever loop canListeners_head");
          return;
        }
    }
}
 
// TODO: rework to use utlist.h helpers
 
void registerCanListener(CanListener& listener) {
    // Do this under lock?
 
    // If the listener already has a next, it's already registered
    if (!listener.getNext()) {
        listener.setNext(canListeners_head);
        canListeners_head = &listener;
    }
}
 
void unregisterCanListener(CanListener& listener) {
    // Do this under lock?
 
    // listener is at head of list...
    if (canListeners_head == &listener) {
        canListeners_head = listener.getNext();
    } else {
        CanListener *current = canListeners_head;
 
        while (current->getNext() && (current->getNext() != &listener)) {
            current = current->getNext();
        }
        if (current->getNext()) {
            current->setNext(listener.getNext());
        }
    }
 
    listener.setNext(nullptr);
}
 
void registerCanSensor(CanSensorBase& sensor) {
    registerCanListener(sensor);
    sensor.Register();
}
 
/*
 * TODO:
 *  - convert to CanListener
 *  - move to hw_layer/sensors/yaw_rate_sensor.cpp | accelerometer.cpp ?
 */
 
#define VAG_YAW_RATE_G_LAT 0x130
#define VAG_YAW_ACCEL_G_LONG 0x131
 
/* Bosch Acceleration Sensor MM5.10 quantizations */
#define MM5_10_RATE_QUANT           0.005
#define MM5_10_ACC_QUANT            0.0001274
 
/* Bosch Acceleration Sensor MM5.10 CAN IDs */
#define MM5_10_YAW_Y                0x174
#define MM5_10_ROLL_X               0x178
#define MM5_10_Z                    0x17C
 
/* Mercedes pn: A 006 542 26 18 CAN IDs */
#define MM5_10_MB_YAW_Y_CANID       0x150
#define MM5_10_MB_ROLL_X_CANID      0x151
 
uint32_t getFourBytesLsb(const CANRxFrame& frame, int offset) {
    return (frame.data8[offset + 3] << 24) +
        (frame.data8[offset + 2] << 16) +
        (frame.data8[offset + 1] << 8) +
        frame.data8[offset];
}
 
uint16_t getTwoBytesLsb(const CANRxFrame& frame, int offset) {
    return (frame.data8[offset + 1] << 8) + frame.data8[offset];
}
 
uint16_t getTwoBytesMsb(const CANRxFrame& frame, int offset) {
    return (frame.data8[offset] << 8) + frame.data8[offset + 1];
}
 
static int16_t getShiftedLSB_intel(const CANRxFrame& frame, int offset) {
    return getTwoBytesLsb(frame, offset) - 0x8000;
}
 
static void processCanRxImu_BoschM5_10_YawY(const CANRxFrame& frame) {
    float yaw = getShiftedLSB_intel(frame, 0);
    float accY = getShiftedLSB_intel(frame, 4);
 
    efiPrintf("CAN_rx MM5_10_YAW_Y %f %f", yaw, accY);
    engine->sensors.accelerometer.yawRate = yaw * MM5_10_RATE_QUANT;
    engine->sensors.accelerometer.lat = accY * MM5_10_ACC_QUANT;
}
 
static void processCanRxImu_BoschM5_10_RollX(const CANRxFrame& frame) {
    float accX = getShiftedLSB_intel(frame, 4);
    efiPrintf("CAN_rx MM5_10_ROLL_X %f", accX);
 
    engine->sensors.accelerometer.lon = accX * MM5_10_ACC_QUANT;
}
 
static void processCanRxImu_BoschM5_10_Z(const CANRxFrame& frame) {
    float accZ = getShiftedLSB_intel(frame, 4);
    efiPrintf("CAN_rx MM5_10_Z %f", accZ);
    engine->sensors.accelerometer.vert = accZ * MM5_10_ACC_QUANT;
}
 
static void processCanRxImu(const CANRxFrame& frame) {
/*
    if (CAN_SID(frame) == 0x130) {
        float a = getShiftedLSB_intel(frame, 0);
        float b = getShiftedLSB_intel(frame, 4);
        efiPrintf("CAN_rx 130 %f %f", a, b);
    }
 
    if (engineConfiguration->imuType == IMU_VAG) {
        if (CAN_SID(frame) == VAG_YAW_RATE_G_LAT) {
            efiPrintf("CAN_rx VAG_YAW_RATE_G_LAT");
        } else if (CAN_SID(frame) == VAG_YAW_ACCEL_G_LONG) {
            efiPrintf("CAN_rx VAG_YAW_ACCEL_G_LONG");
        }
    }
    */
 
    if (engineConfiguration->imuType == IMU_MM5_10) {
        if (CAN_SID(frame) == MM5_10_YAW_Y) {
            processCanRxImu_BoschM5_10_YawY(frame);
        } else if (CAN_SID(frame) == MM5_10_ROLL_X) {
            processCanRxImu_BoschM5_10_RollX(frame);
        } else if (CAN_SID(frame) == MM5_10_Z) {
            processCanRxImu_BoschM5_10_Z(frame);
        }
    } else if (engineConfiguration->imuType == IMU_TYPE_MB_A0065422618) {
        if (CAN_SID(frame) == MM5_10_MB_YAW_Y_CANID) {
            processCanRxImu_BoschM5_10_YawY(frame);
        } else if (CAN_SID(frame) == MM5_10_MB_ROLL_X_CANID) {
            processCanRxImu_BoschM5_10_RollX(frame);
        }
    }
}
 
extern bool verboseRxCan;
 
void boardProcessCanRxMessage(const size_t, const CANRxFrame &, efitick_t) {
 // this is here to indicate that migration is required
 // todo: remove in 2026
}
 
std::optional<board_can_rx_type> custom_board_can_rx;
 
void processCanRxMessage(const size_t busIndex, const CANRxFrame &frame, efitick_t nowNt) {
    if (verboseRxCan ||
        (engineConfiguration->verboseCan && busIndex == 0) ||
        (engineConfiguration->verboseCan2 && busIndex == 1) ||
#if (EFI_CAN_BUS_COUNT >= 3)
        (engineConfiguration->verboseCan3 && busIndex == 2) ||
#endif
        0) {
        printCANRxFrame(busIndex, frame);
    }
 
    // TODO use call_board_override
    if (custom_board_can_rx.has_value()) {
        custom_board_can_rx.value()(busIndex, frame, nowNt);
    }
 
    // see AemXSeriesWideband as an example of CanSensorBase/CanListener
    serviceCanSubscribers(busIndex, frame, nowNt);
 
    // todo: convert to CanListener or not?
    //Vss is configurable, should we handle it here:
    processCanRxVss(frame, nowNt);
 
    if (!engineConfiguration->useSpiImu) {
        // todo: convert to CanListener or not?
        processCanRxImu(frame);
    }
 
/*
static Timer dashAliveTimer;
 
  if (CAN_EID(frame) == (int)bench_test_packet_ids_e::DASH_ALIVE) {
    // todo: add an indicator that dash is connected?
    dashAliveTimer.reset();
  }
*/
 
    processCanQcBenchTest(frame);
    processCanEcuControl(frame);
 
    processLuaCan(busIndex, frame);
 
    {
        obdOnCanPacketRx(frame, busIndex);
    }
 
#if EFI_ENGINE_CONTROL
    if (CAN_EID(frame) == GDI4_BASE_ADDRESS && frame.data8[7] == GDI4_MAGIC) {
//      efiPrintf("CAN GDI4 says hi");
        getLimpManager()->externalGdiCanBusComms.reset();
    }
#endif // EFI_ENGINE_CONTROL
 
    handleWidebandCan(busIndex, frame);
#if EFI_USE_OPENBLT
#include "openblt/efi_blt_ids.h"
    if ((CAN_SID(frame) == BOOT_COM_CAN_RX_MSG_ID) && (frame.DLC == 2)) {
        /* TODO: gracefull shutdown? */
        if (((busIndex == 0) && (engineConfiguration->canOpenBLT)) ||
            ((busIndex == 1) && (engineConfiguration->can2OpenBLT))) {
            jump_to_openblt();
        }
    }
#endif
}
 
#endif // EFI_CAN_SUPPORT