| Line | Branch | Decision | Exec | Source |
|---|---|---|---|---|
| 1 | /** | |||
| 2 | * @file serial_can.cpp | |||
| 3 | * | |||
| 4 | * This code is a bridge between a serial streaming used by TS and a packet-frame CAN-bus, using the ISO-TP protocol. | |||
| 5 | * ISO 15765-2, or ISO-TP (Transport Layer), which is an international standard for sending data packets over a CAN-Bus. | |||
| 6 | * https://en.wikipedia.org/wiki/ISO_15765-2 | |||
| 7 | * | |||
| 8 | * @date Aug 1, 2020 | |||
| 9 | * @author andreika <promethePRINTus.pcb@gmail.com> | |||
| 10 | * @author Andrey Belomutskiy, (c) 2012-2020 | |||
| 11 | */ | |||
| 12 | ||||
| 13 | #include "pch.h" | |||
| 14 | ||||
| 15 | // todo: this file is asking to improve conditional compilation. unit_tests and cypress/kinetis are both special cases | |||
| 16 | #if HAL_USE_CAN || EFI_UNIT_TEST | |||
| 17 | #include "serial_can.h" | |||
| 18 | #include "can.h" | |||
| 19 | #include "can_msg_tx.h" | |||
| 20 | #endif // HAL_USE_CAN || EFI_UNIT_TEST | |||
| 21 | ||||
| 22 | ||||
| 23 | #if HAL_USE_CAN | |||
| 24 | // this one installs itself as top level CAN bus listener with static frame ID | |||
| 25 | static CanTsListener g_listener; | |||
| 26 | // for RX, this one delegates to above FIFO via global field | |||
| 27 | static CanTransport transport(&g_listener); | |||
| 28 | ||||
| 29 | static CanStreamerState state(&transport, &transport, /*bus*/0, CAN_ECU_SERIAL_TX_ID); | |||
| 30 | #endif // HAL_USE_CAN | |||
| 31 | ||||
| 32 | #if HAL_USE_CAN || EFI_UNIT_TEST | |||
| 33 | ||||
| 34 | static int isoTpPacketCounter = 0; | |||
| 35 | ||||
| 36 | /** | |||
| 37 | * incoming data main entry point | |||
| 38 | */ | |||
| 39 | ✗ | void CanTsListener::decodeFrame(const CANRxFrame& frame, efitick_t /*nowNt*/) { | ||
| 40 | // CAN ID filtering happens in base class, by the time we are here we know it's the CAN_ECU_SERIAL_RX_ID packet | |||
| 41 | // todo: what if the FIFO is full? | |||
| 42 | ✗ | CanRxMessage msg(frame); | ||
| 43 | ✗ | if (engineConfiguration->verboseIsoTp) { | ||
| 44 | ✗ | PRINT("*** INFO: CanTsListener decodeFrame %d" PRINT_EOL, isoTpPacketCounter++); | ||
| 45 | } | |||
| 46 | ✗ | if (!rxFifo.put(msg)) { | ||
| 47 | ✗ | warning(ObdCode::CUSTOM_ERR_CAN_COMMUNICATION, "CAN sendDataTimeout() problems"); | ||
| 48 | } | |||
| 49 | ✗ | } | ||
| 50 | ||||
| 51 | #if HAL_USE_CAN | |||
| 52 | ||||
| 53 | void CanTransport::init() { | |||
| 54 | registerCanListener(g_listener); | |||
| 55 | } | |||
| 56 | ||||
| 57 | can_msg_t CanTransport::transmit(CanTxMessage &/*ctfp*/, can_sysinterval_t /*timeout*/) { | |||
| 58 | // we do nothing here - see CanTxMessage::~CanTxMessage() | |||
| 59 | return CAN_MSG_OK; | |||
| 60 | } | |||
| 61 | ||||
| 62 | void CanTransport::onTpFirstFrame() { | |||
| 63 | // todo: why nothing? broken iso-tp on ECU side? | |||
| 64 | } | |||
| 65 | ||||
| 66 | can_msg_t CanTransport::receive(CANRxFrame *crfp, can_sysinterval_t timeout) { | |||
| 67 | // see CanTsListener and processCanRxMessage() | |||
| 68 | CanRxMessage msg; | |||
| 69 | if (this->source->get(msg, timeout)) { | |||
| 70 | *crfp = msg.frame; | |||
| 71 | return CAN_MSG_OK; | |||
| 72 | } | |||
| 73 | return CAN_MSG_TIMEOUT; | |||
| 74 | } | |||
| 75 | ||||
| 76 | void tsOverCanInit() { | |||
| 77 | transport.init(); | |||
| 78 | } | |||
| 79 | ||||
| 80 | msg_t canStreamAddToTxTimeout(size_t *np, const uint8_t *txbuf, sysinterval_t timeout) { | |||
| 81 | return state.streamAddToTxTimeout(np, txbuf, timeout); | |||
| 82 | } | |||
| 83 | ||||
| 84 | msg_t canStreamFlushTx(sysinterval_t timeout) { | |||
| 85 | return state.streamFlushTx(timeout); | |||
| 86 | } | |||
| 87 | ||||
| 88 | // np uses in/out parameter approach. Yes ChibiOS does same but still evil! | |||
| 89 | // in entry: number of data frames to receive | |||
| 90 | // on exit the number of frames actually received | |||
| 91 | msg_t canStreamReceiveTimeout(size_t *np, uint8_t *rxbuf, sysinterval_t timeout) { | |||
| 92 | return state.streamReceiveTimeout(np, rxbuf, timeout); | |||
| 93 | } | |||
| 94 | ||||
| 95 | #endif /* HAL_USE_CAN */ | |||
| 96 | ||||
| 97 | ||||
| 98 | ||||
| 99 | #endif // HAL_USE_CAN || EFI_UNIT_TEST | |||
| 100 |