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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/message/flexray/control/flexraycontrolmessage.cpp
+19 -3
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@@ -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