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Implement FlexRay transmit, configuration, and cold start

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This commit is contained in:
Paul Hollinsky
2019-11-12 20:38:47 -05:00
parent 3396f5dcce
commit 37778d7891
20 changed files with 1042 additions and 77 deletions
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communication/encoder.cpp
+30 -7
View File
@@ -1,5 +1,6 @@
#include "icsneo/communication/encoder.h"
#include "icsneo/communication/message/ethernetmessage.h"
#include "icsneo/communication/message/main51message.h"
#include "icsneo/communication/packet/ethernetpacket.h"
#include "icsneo/communication/packet/canpacket.h"
@@ -49,24 +50,34 @@ bool Encoder::encode(std::vector<uint8_t>& result, const std::shared_ptr<Message
case Network::NetID::Device:
shortFormat = true;
break;
case Network::NetID::Main51:
if(message->data.size() > 0xF) {
case Network::NetID::Main51: {
auto m51msg = std::dynamic_pointer_cast<Main51Message>(message);
if(!m51msg) {
report(APIEvent::Type::MessageFormattingError, APIEvent::Severity::Error);
return false; // The message was not a properly formed Main51Message
}
if(!m51msg->forceShortFormat) {
// Main51 can be sent as a long message without setting the NetID to RED first
// Size in long format is the size of the entire packet
// So +1 for AA header, +1 for short format header, and +2 for long format size
uint16_t size = uint16_t(message->data.size()) + 1 + 1 + 2;
size += 1; // Even though we are not including the NetID bytes, the device expects them to be counted in the length
size += 1; // Main51 Command
message->data.insert(message->data.begin(), {
(uint8_t)Network::NetID::Main51, // 0x0B for long message
(uint8_t)size, // Size, little endian 16-bit
(uint8_t)(size >> 8)
(uint8_t)(size >> 8),
(uint8_t)m51msg->command
});
result = packetizer->packetWrap(message->data, shortFormat);
return true;
} else {
message->data.insert(message->data.begin(), { uint8_t(m51msg->command) });
shortFormat = true;
}
break;
}
case Network::NetID::RED_OLDFORMAT: {
// See the decoder for an explanation
// We expect the network byte to be populated already in data, but not the length
@@ -102,14 +113,15 @@ bool Encoder::encode(std::vector<uint8_t>& result, const std::shared_ptr<Message
}
bool Encoder::encode(std::vector<uint8_t>& result, Command cmd, std::vector<uint8_t> arguments) {
auto msg = std::make_shared<Message>();
std::shared_ptr<Message> msg;
if(cmd == Command::UpdateLEDState) {
/* NetID::Device is a super old command type.
* It has a leading 0x00 byte, a byte for command, and a byte for an argument.
* In this case, command 0x06 is SetLEDState.
* This old command type is not really used anywhere else.
*/
if (arguments.empty()) {
msg = std::make_shared<Message>();
if(arguments.empty()) {
report(APIEvent::Type::MessageFormattingError, APIEvent::Severity::Error);
return false;
}
@@ -119,9 +131,20 @@ bool Encoder::encode(std::vector<uint8_t>& result, Command cmd, std::vector<uint
msg->data.push_back(0x06); // SetLEDState
msg->data.push_back(arguments.at(0)); // See Device::LEDState
} else {
auto m51msg = std::make_shared<Main51Message>();
msg = m51msg;
msg->network = Network::NetID::Main51;
msg->data.reserve(arguments.size() + 1);
msg->data.push_back((uint8_t)cmd);
m51msg->command = cmd;
switch(cmd) {
case Command::RequestSerialNumber:
case Command::EnableNetworkCommunication:
case Command::EnableNetworkCommunicationEx:
// There is a firmware handling idiosyncrasy with these commands
// They must be encoded in the short format
m51msg->forceShortFormat = true;
default:
break;
}
msg->data.insert(msg->data.end(), std::make_move_iterator(arguments.begin()), std::make_move_iterator(arguments.end()));
}
communication/message/flexray/control/flexraycontrolmessage.cpp
+19 -3
View File
@@ -2,10 +2,11 @@
#include <cstring> // memcpy
#include <limits>
#include <algorithm>
#include <iostream>
using namespace icsneo;
std::vector<uint8_t> FlexRayControlMessage::BuildBaseControlArgs(uint8_t controller, FlexRay::Opcode op, std::initializer_list<uint8_t> args) {
std::vector<uint8_t> FlexRayControlMessage::BuildBaseControlArgs(uint8_t controller, FlexRay::Opcode op, const std::vector<uint8_t>& args) {
std::vector<uint8_t> ret;
ret.reserve(args.size() + 4);
ret.push_back(controller);
@@ -28,7 +29,7 @@ std::vector<uint8_t> FlexRayControlMessage::BuildReadCCRegsArgs(uint8_t controll
std::vector<uint8_t> FlexRayControlMessage::BuildWriteCCRegArgs(uint8_t controller, uint16_t address, uint32_t value) {
address /= 4;
return BuildBaseControlArgs(controller, FlexRay::Opcode::ReadCCRegs, {
return BuildBaseControlArgs(controller, FlexRay::Opcode::WriteCCReg, {
uint8_t(address),
uint8_t(address >> 8),
uint8_t(value),
@@ -50,11 +51,26 @@ std::vector<uint8_t> FlexRayControlMessage::BuildAddConfiguredTxMessageArgs(
});
}
std::vector<uint8_t> FlexRayControlMessage::BuildWriteMessageBufferArgs(
uint8_t controller, uint16_t bufferId, const std::vector<uint8_t>& data, uint16_t desiredSize) {
desiredSize += desiredSize % 4; // Must be a multiple of 4
std::vector<uint8_t> args = {
uint8_t(bufferId),
uint8_t(desiredSize / 4)
};
args.insert(args.end(), data.begin(), data.end());
if(args.size() != desiredSize + 2)
args.resize(desiredSize + 2);
return BuildBaseControlArgs(controller, FlexRay::Opcode::WriteMessageBuffer, args);
}
FlexRayControlMessage::FlexRayControlMessage(const Packet& packet) : Message() {
network = Network::NetID::FlexRayControl;
if(packet.data.size() < 2)
return; // huh?
controller = packet.data[0];
if(controller < 2)
if(controller >= 2)
return; // Invalid controller
// Opcode is only ReadCCStatus or ReadCCRegs for the moment