| Line | Branch | Decision | Exec | Source |
|---|---|---|---|---|
| 1 | /** | |||
| 2 | * @file serial_can.h | |||
| 3 | * | |||
| 4 | * @date Aug 1, 2020 | |||
| 5 | * @author andreika <prometheus.pcb@gmail.com> | |||
| 6 | * @author Andrey Belomutskiy, (c) 2012-2020 | |||
| 7 | */ | |||
| 8 | ||||
| 9 | #pragma once | |||
| 10 | ||||
| 11 | #include "fifo_buffer.h" | |||
| 12 | #include "can_listener.h" | |||
| 13 | #include "can_msg_tx.h" | |||
| 14 | ||||
| 15 | #if EFI_PROD_CODE | EFI_SIMULATOR | |||
| 16 | #define can_msg_t msg_t | |||
| 17 | #define can_sysinterval_t sysinterval_t | |||
| 18 | #define CAN_MSG_OK MSG_OK | |||
| 19 | #define CAN_MSG_TIMEOUT MSG_TIMEOUT | |||
| 20 | #else | |||
| 21 | #include "can_mocks.h" | |||
| 22 | #endif /* EFI_UNIT_TEST */ | |||
| 23 | ||||
| 24 | ||||
| 25 | #define CAN_TIME_IMMEDIATE ((can_sysinterval_t)0) | |||
| 26 | ||||
| 27 | // most efficient sizes are 6 + x * 7 that way whole buffer is transmitted as (x+1) full packets | |||
| 28 | #define CAN_FIFO_BUF_SIZE 76 | |||
| 29 | #define CAN_FIFO_FRAME_SIZE 8 | |||
| 30 | ||||
| 31 | #define CAN_FLOW_STATUS_OK 0 | |||
| 32 | #define CAN_FLOW_STATUS_WAIT_MORE 1 | |||
| 33 | #define CAN_FLOW_STATUS_ABORT 2 | |||
| 34 | ||||
| 35 | ||||
| 36 | enum IsoTpFrameType { | |||
| 37 | ISO_TP_FRAME_SINGLE = 0, | |||
| 38 | ISO_TP_FRAME_FIRST = 1, | |||
| 39 | ISO_TP_FRAME_CONSECUTIVE = 2, | |||
| 40 | ISO_TP_FRAME_FLOW_CONTROL = 3, | |||
| 41 | }; | |||
| 42 | ||||
| 43 | class IsoTpFrameHeader { | |||
| 44 | public: | |||
| 45 | IsoTpFrameType frameType; | |||
| 46 | ||||
| 47 | // used for 'single' or 'first' frames | |||
| 48 | int numBytes; | |||
| 49 | // used for 'consecutive' frames | |||
| 50 | int index; | |||
| 51 | // used for 'flow control' frames | |||
| 52 | int fcFlag; | |||
| 53 | int blockSize; | |||
| 54 | int separationTime; | |||
| 55 | }; | |||
| 56 | ||||
| 57 | // We need an abstraction layer for unit-testing | |||
| 58 | class ICanStreamer { | |||
| 59 | public: | |||
| 60 | virtual can_msg_t transmit(canmbx_t mailbox, const CanTxMessage *ctfp, can_sysinterval_t timeout) = 0; | |||
| 61 | virtual can_msg_t receive(canmbx_t mailbox, CANRxFrame *crfp, can_sysinterval_t timeout) = 0; | |||
| 62 | }; | |||
| 63 | ||||
| 64 | class CanStreamerState { | |||
| 65 | public: | |||
| 66 | fifo_buffer<uint8_t, CAN_FIFO_BUF_SIZE> rxFifoBuf; | |||
| 67 | fifo_buffer<uint8_t, CAN_FIFO_BUF_SIZE> txFifoBuf; | |||
| 68 | ||||
| 69 | #if defined(TS_CAN_DEVICE_SHORT_PACKETS_IN_ONE_FRAME) | |||
| 70 | // used to restore the original packet with CRC | |||
| 71 | uint8_t tmpRxBuf[13]; | |||
| 72 | #endif | |||
| 73 | ||||
| 74 | // used for multi-frame ISO-TP packets | |||
| 75 | int waitingForNumBytes = 0; | |||
| 76 | int waitingForFrameIndex = 0; | |||
| 77 | ||||
| 78 | ICanStreamer *streamer; | |||
| 79 | ||||
| 80 | public: | |||
| 81 | 13 | CanStreamerState(ICanStreamer *s) : streamer(s) {} | ||
| 82 | ||||
| 83 | int sendFrame(const IsoTpFrameHeader & header, const uint8_t *data, int num, can_sysinterval_t timeout); | |||
| 84 | int receiveFrame(CANRxFrame *rxmsg, uint8_t *buf, int num, can_sysinterval_t timeout); | |||
| 85 | int getDataFromFifo(uint8_t *rxbuf, size_t &numBytes); | |||
| 86 | // returns the number of bytes sent | |||
| 87 | int sendDataTimeout(const uint8_t *txbuf, int numBytes, can_sysinterval_t timeout); | |||
| 88 | ||||
| 89 | // streaming support for TS I/O (see tunerstudio_io.cpp) | |||
| 90 | can_msg_t streamAddToTxTimeout(size_t *np, const uint8_t *txbuf, can_sysinterval_t timeout); | |||
| 91 | can_msg_t streamFlushTx(can_sysinterval_t timeout); | |||
| 92 | can_msg_t streamReceiveTimeout(size_t *np, uint8_t *rxbuf, can_sysinterval_t timeout); | |||
| 93 | }; | |||
| 94 | ||||
| 95 | class CanRxMessage { | |||
| 96 | public: | |||
| 97 | CanRxMessage() {} | |||
| 98 | ✗ | CanRxMessage(const CANRxFrame &f) { | ||
| 99 | ✗ | frame = f; | ||
| 100 | ✗ | } | ||
| 101 | ✗ | CanRxMessage(const CanRxMessage& msg) : frame(msg.frame) {} | ||
| 102 | ✗ | CanRxMessage& operator=(const CanRxMessage& msg) { | ||
| 103 | ✗ | frame = msg.frame; | ||
| 104 | ✗ | return *this; | ||
| 105 | } | |||
| 106 | ||||
| 107 | public: | |||
| 108 | CANRxFrame frame; | |||
| 109 | }; | |||
| 110 | ||||
| 111 | class CanTsListener : public CanListener { | |||
| 112 | public: | |||
| 113 | CanTsListener() | |||
| 114 | : CanListener(CAN_ECU_SERIAL_RX_ID) | |||
| 115 | { | |||
| 116 | } | |||
| 117 | ||||
| 118 | virtual void decodeFrame(const CANRxFrame& frame, efitick_t nowNt); | |||
| 119 | ||||
| 120 | bool get(CanRxMessage &item, int timeout) { | |||
| 121 | return rxFifo.get(item, timeout); | |||
| 122 | } | |||
| 123 | ||||
| 124 | protected: | |||
| 125 | fifo_buffer_sync<CanRxMessage, CAN_FIFO_FRAME_SIZE> rxFifo; | |||
| 126 | }; | |||
| 127 | ||||
| 128 | #if HAL_USE_CAN | |||
| 129 | class CanStreamer : public ICanStreamer { | |||
| 130 | public: | |||
| 131 | void init(); | |||
| 132 | ||||
| 133 | virtual can_msg_t transmit(canmbx_t mailbox, const CanTxMessage *ctfp, can_sysinterval_t timeout) override; | |||
| 134 | virtual can_msg_t receive(canmbx_t mailbox, CANRxFrame *crfp, can_sysinterval_t timeout) override; | |||
| 135 | }; | |||
| 136 | ||||
| 137 | void canStreamInit(void); | |||
| 138 | ||||
| 139 | // we don't have canStreamSendTimeout() because we need to "bufferize" the stream and send it in fixed-length packets | |||
| 140 | msg_t canStreamAddToTxTimeout(size_t *np, const uint8_t *txbuf, sysinterval_t timeout); | |||
| 141 | msg_t canStreamFlushTx(sysinterval_t timeout); | |||
| 142 | ||||
| 143 | msg_t canStreamReceiveTimeout(size_t *np, uint8_t *rxbuf, sysinterval_t timeout); | |||
| 144 | #endif /* HAL_USE_CAN */ | |||
| 145 |