| Line | Branch | Decision | Exec | Source |
|---|---|---|---|---|
| 1 | /** | |||
| 2 | * @file can_msg_tx.h | |||
| 3 | * | |||
| 4 | * CAN message transmission | |||
| 5 | * | |||
| 6 | * @date Mar 13, 2020 | |||
| 7 | * @author Matthew Kennedy, (c) 2012-2020 | |||
| 8 | */ | |||
| 9 | ||||
| 10 | #pragma once | |||
| 11 | ||||
| 12 | #include <cstdint> | |||
| 13 | #include <cstddef> | |||
| 14 | ||||
| 15 | #include "can_category.h" | |||
| 16 | #include "can.h" | |||
| 17 | ||||
| 18 | #if EFI_SIMULATOR || EFI_UNIT_TEST | |||
| 19 | #include "fifo_buffer.h" | |||
| 20 | extern fifo_buffer<CANTxFrame, 1024> txCanBuffer; | |||
| 21 | #endif // EFI_SIMULATOR | |||
| 22 | ||||
| 23 | /** | |||
| 24 | * Represent a message to be transmitted over CAN. | |||
| 25 | * | |||
| 26 | * Usage: | |||
| 27 | * * Create an instance of CanTxMessage | |||
| 28 | * * Set any data you'd like to transmit either using the subscript operator to directly access bytes, or any of the helper functions. | |||
| 29 | * * Upon destruction, the message is transmitted. | |||
| 30 | */ | |||
| 31 | class CanTxMessage | |||
| 32 | { | |||
| 33 | public: | |||
| 34 | /** | |||
| 35 | * Create a new CAN message, with the specified extended ID. | |||
| 36 | */ | |||
| 37 | explicit CanTxMessage(CanCategory category, uint32_t eid, uint8_t dlc = 8, size_t bus = 0, bool isExtended = false); | |||
| 38 | ||||
| 39 | /** | |||
| 40 | * Destruction of an instance of CanTxMessage will transmit the message over the wire. | |||
| 41 | */ | |||
| 42 | ~CanTxMessage(); | |||
| 43 | ||||
| 44 | CanCategory category; | |||
| 45 | ||||
| 46 | #if EFI_CAN_SUPPORT | |||
| 47 | /** | |||
| 48 | * Configures the device for all messages to transmit from. | |||
| 49 | */ | |||
| 50 | static void setDevice(CANDriver* device1, CANDriver* device2); | |||
| 51 | #endif // EFI_CAN_SUPPORT | |||
| 52 | ||||
| 53 | size_t busIndex = 0; | |||
| 54 | ||||
| 55 | /** | |||
| 56 | * @brief Read & write the raw underlying 8-byte buffer. | |||
| 57 | */ | |||
| 58 | uint8_t& operator[](size_t); | |||
| 59 | ||||
| 60 | /** | |||
| 61 | * @brief Write a 16-bit short value to the buffer. Note: this writes in Intel little endian byte order. | |||
| 62 | */ | |||
| 63 | void setShortValue(uint16_t value, size_t offset); | |||
| 64 | ||||
| 65 | /** | |||
| 66 | Same as above but big endian Motorola | |||
| 67 | * for instance DBC 8|16@0 | |||
| 68 | */ | |||
| 69 | void setShortValueMsb(uint16_t value, size_t offset); | |||
| 70 | ||||
| 71 | /** | |||
| 72 | * @brief Set a single bit in the transmit buffer. Useful for single-bit flags. | |||
| 73 | */ | |||
| 74 | void setBit(size_t byteIdx, size_t bitIdx); | |||
| 75 | ||||
| 76 | void setDlc(uint8_t dlc); | |||
| 77 | ||||
| 78 | void setBus(size_t bus); | |||
| 79 | ||||
| 80 | #if HAS_CAN_FRAME | |||
| 81 | 52 | const CANTxFrame *getFrame() const { | ||
| 82 | 52 | return &m_frame; | ||
| 83 | } | |||
| 84 | ||||
| 85 | void setArray(const uint8_t *data, size_t len) { | |||
| 86 | for (size_t i = 0; i < std::min(len, size_t(8)); i++) { | |||
| 87 | m_frame.data8[i] = data[i]; | |||
| 88 | } | |||
| 89 | } | |||
| 90 | ||||
| 91 | template<size_t N> | |||
| 92 | void setArray(const uint8_t (&data)[N]) { | |||
| 93 | setArray(data, N); | |||
| 94 | } | |||
| 95 | ||||
| 96 | #endif // HAL_USE_CAN || EFI_UNIT_TEST | |||
| 97 | ||||
| 98 | protected: | |||
| 99 | #if HAS_CAN_FRAME | |||
| 100 | CANTxFrame m_frame; | |||
| 101 | #endif // HAL_USE_CAN || EFI_UNIT_TEST | |||
| 102 | ||||
| 103 | private: | |||
| 104 | #if EFI_CAN_SUPPORT | |||
| 105 | static CANDriver* s_devices[2]; | |||
| 106 | #endif // EFI_CAN_SUPPORT | |||
| 107 | }; | |||
| 108 | ||||
| 109 | /** | |||
| 110 | * A CAN message based on a type, removing the need for manually flipping bits/bytes. | |||
| 111 | */ | |||
| 112 | template <typename TData> | |||
| 113 | class CanTxTyped final : public CanTxMessage | |||
| 114 | { | |||
| 115 | #if EFI_CAN_SUPPORT | |||
| 116 | static_assert(sizeof(TData) <= sizeof(CANTxFrame::data8)); | |||
| 117 | #endif // EFI_CAN_SUPPORT | |||
| 118 | ||||
| 119 | public: | |||
| 120 | explicit CanTxTyped(CanCategory p_category, uint32_t p_id, bool p_isExtended, size_t canChannel) : CanTxMessage(p_category, p_id, sizeof(TData), canChannel, p_isExtended) { } | |||
| 121 | ||||
| 122 | #if EFI_CAN_SUPPORT | |||
| 123 | /** | |||
| 124 | * Access members of the templated type. | |||
| 125 | * | |||
| 126 | * So you can do: | |||
| 127 | * CanTxTyped<MyType> d; | |||
| 128 | * d->memberOfMyType = 23; | |||
| 129 | */ | |||
| 130 | TData* operator->() { | |||
| 131 | return reinterpret_cast<TData*>(&m_frame.data8); | |||
| 132 | } | |||
| 133 | ||||
| 134 | TData& get() { | |||
| 135 | return *reinterpret_cast<TData*>(&m_frame.data8); | |||
| 136 | } | |||
| 137 | #endif // EFI_CAN_SUPPORT | |||
| 138 | }; | |||
| 139 | ||||
| 140 | template <typename TData> | |||
| 141 | void transmitStruct(CanCategory category, uint32_t id, bool isExtended, bool canChannel) | |||
| 142 | { | |||
| 143 | CanTxTyped<TData> frame(category, id, isExtended, canChannel); | |||
| 144 | // Destruction of an instance of CanTxMessage will transmit the message over the wire. | |||
| 145 | // see CanTxMessage::~CanTxMessage() | |||
| 146 | populateFrame(frame.get()); | |||
| 147 | } | |||
| 148 |