mirror of
https://github.com/intrepidcs/libicsneo.git
synced 2026-08-05 01:18:36 +02:00
Implement FlexRay transmit, configuration, and cold start
This commit is contained in:
Paul Hollinsky
@@ -0,0 +1,110 @@
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#ifndef __FLEXRAYCLUSTER_H_
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#define __FLEXRAYCLUSTER_H_
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#ifdef __cplusplus
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#include <cstdint>
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#include "icsneo/communication/message/flexray/control/flexraycontrolmessage.h"
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#include "icsneo/device/extensions/flexray/erayregister.h"
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#include "icsneo/device/extensions/flexray/poccommand.h"
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namespace icsneo {
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namespace FlexRay {
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namespace Cluster {
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#endif // __cplusplus
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typedef enum {
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FLEXRAY_BAUDRATE_10M = 0,
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FLEXRAY_BAUDRATE_5M = 1, // 5Mbit currently not supported in the monitor
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FLEXRAY_BAUDRATE_2M5 = 2, // 2.5Mbit currently not supported in the monitor
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FLEXRAY_BAUDRATE_2M5_ALT = 3 // Per the ERAY spec, 0b11 also means 2.5MBits
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} neoflexray_speed_t;
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typedef enum {
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FLEXRAY_SPP_5 = 0, // FlexRay 2.1 requires this value to be 0
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FLEXRAY_SPP_4 = 1,
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FLEXRAY_SPP_6 = 2,
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FLEXRAY_SPP_5_ALT = 3 // Per the ERAY spec, 0b11 also means sample point 5
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} neoflexray_spp_t;
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#ifdef __cplusplus
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#define INIT(x) = x
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#define neoflexray_cluster_config_t icsneo::FlexRay::Cluster::Configuration
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struct Configuration {
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#else // __cplusplus
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#include <stdbool.h>
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#include <stdint.h>
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#define INIT(x)
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typedef struct {
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#endif // __cplusplus
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neoflexray_speed_t Speed INIT(FLEXRAY_BAUDRATE_10M /* = 0 */); // gdSampleClockPeriod, pSamplesPerMicrotick, Baud Rate Prescaler
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neoflexray_spp_t StrobePointPosition INIT(FLEXRAY_SPP_5 /* = 0 */);
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uint8_t ActionPointOffset INIT(0);
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uint32_t BitTimeNS INIT(0);
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uint8_t CASRxLowMax INIT(0);
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uint8_t ColdStartAttempts INIT(0);
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uint32_t CycleCountMax INIT(0);
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double CycleDurationSec INIT(0);
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bool DetectNITError INIT(false);
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uint8_t DynamicSlotIdlePhaseMinislots INIT(0); // In Minislot increments [0..2]
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uint32_t IgnoreAfterTx INIT(0);
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uint8_t ListenNoiseMacroticks INIT(0);
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uint16_t MacroticksPerCycle INIT(0);
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double MacrotickDurationSec INIT(0);
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uint8_t MaxWithoutClockCorrectionFatal INIT(0);
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uint8_t MaxWithoutClockCorrectionPassive INIT(0);
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uint8_t MinislotActionPointOffsetMacroticks INIT(0);
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uint32_t MinislotDurationMacroticks INIT(0); // gdMinislot
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uint32_t NetworkIdleTimeMacroticks INIT(0);
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uint8_t NetworkManagementVectorLengthBytes INIT(0);
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uint32_t NumberOfMinislots INIT(0);
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uint16_t NumberOfStaticSlots INIT(0);
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uint32_t OffsetCorrectionStartMacroticks INIT(0);
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uint8_t PayloadLengthOfStaticSlotInWords INIT(0);
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uint32_t SafetyMarginMacroticks INIT(0);
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double SampleClockPeriodSec INIT(0);
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bool UseSampleClockPeriodSec INIT(false);
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uint16_t StaticSlotMacroticks INIT(0); // gdStaticSlot
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uint32_t SymbolWindowMacroticks INIT(0);
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uint32_t SymbolWindowActionPointOffsetMacroticks INIT(0);
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uint16_t SyncFrameIDCountMax INIT(0); // gSyncNodeMax
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double TransceiverStandbyDelaySec INIT(false);
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bool UseTransceiverStandbyDelaySec INIT(0);
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uint8_t TransmissionStartSequenceDurationBits INIT(0); // gdTSSTransmitter
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uint8_t WakeupRxIdleBits INIT(0);
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uint8_t WakeupRxLowBits INIT(0);
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uint16_t WakeupRxWindowBits INIT(0); // gdWakeupSymbolRxWindow
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uint8_t WakeupTxActiveBits INIT(0); // gdWakeupSymbolTxLow (active = low here)
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uint8_t WakeupTxIdleBits INIT(0);
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#ifdef __cplusplus
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};
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#else
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} neoflexray_cluster_config_t;
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#endif
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#ifdef __cplusplus
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} // namespace Cluster
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} // namespace FlexRay
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} // namespace icsneo
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#endif // __cplusplus
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#endif // __FLEXRAYCLUSTER_H_
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@@ -1,13 +1,21 @@
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#ifndef __FLEXRAYCONTROLLER_H_
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#define __FLEXRAYCONTROLLER_H_
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#ifdef __cplusplus
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#include <cstdint>
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#include <memory>
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#include <chrono>
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#include <mutex>
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#include "icsneo/communication/message/flexray/control/flexraycontrolmessage.h"
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#include "icsneo/communication/message/flexray/flexraymessage.h"
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#include "icsneo/device/extensions/flexray/messagebuffer.h"
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#include "icsneo/device/extensions/flexray/erayregister.h"
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#include "icsneo/device/extensions/flexray/poccommand.h"
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#include "icsneo/device/extensions/flexray/pocstatus.h"
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#include "icsneo/device/extensions/flexray/cluster.h"
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#define INIT(x) = x
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namespace icsneo {
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@@ -17,21 +25,46 @@ namespace FlexRay {
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class Controller {
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public:
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Controller(Device& device, uint8_t index) : device(device), index(index) {}
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std::shared_ptr<FlexRayControlMessage> getStatus() const;
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Controller(Device& device, uint8_t index, Network net) : device(device), index(index), network(net) {}
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void _setStatus(std::shared_ptr<FlexRayControlMessage> msg);
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// Begin Public Interface
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std::shared_ptr<FlexRayControlMessage> getStatus() const;
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const Network& getNetwork() const { return network; }
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struct Configuration; // Forward declaration
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std::pair<const Cluster::Configuration&, const Controller::Configuration&> getConfiguration() const;
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void setConfiguration(Cluster::Configuration clConfig, Controller::Configuration coConfig);
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bool getStartWhenGoingOnline() const { return startWhenGoingOnline; }
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void setStartWhenGoingOnline(bool enable) { startWhenGoingOnline = enable; }
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bool getAllowColdstart() const { return allowColdstart; }
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void setAllowColdstart(bool enable) { allowColdstart = enable; }
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bool getWakeupBeforeStart() const { return wakeupBeforeStart; }
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void setWakeupBeforeStart(bool enable) { wakeupBeforeStart = enable; }
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void getReady();
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void start();
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void addMessageBuffer(MessageBuffer buffer);
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void clearMessageBuffers();
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bool wakeup(std::chrono::milliseconds timeout = std::chrono::milliseconds(50));
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bool configure(std::chrono::milliseconds timeout = std::chrono::milliseconds(2000));
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bool getReady(std::chrono::milliseconds timeout = std::chrono::milliseconds(2000));
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bool start(std::chrono::milliseconds timeout = std::chrono::milliseconds(2000));
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bool transmit(const std::shared_ptr<FlexRayMessage>& frmsg);
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bool halt(std::chrono::milliseconds timeout = std::chrono::milliseconds(50));
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bool freeze(std::chrono::milliseconds timeout = std::chrono::milliseconds(50));
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bool triggerMTS(std::chrono::milliseconds timeout = std::chrono::milliseconds(200));
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// End Public Interface
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private:
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bool isPOCBusy() const { return readRegisterOr(ERAYRegister::SUCC1, 0x00000080) & 0x00000080; }
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bool isClearAllRAMBusy() const { return readRegisterOr(ERAYRegister::MHDS, 0x00000080) & 0x00000080; }
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bool isInputBufferHostBusy() const { return readRegisterOr(ERAYRegister::IBCR, 0x00008000) & 0x00008000; }
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std::pair<bool, FlexRay::POCCommand> getCurrentPOCCommand(std::chrono::milliseconds timeout = std::chrono::milliseconds(50)) const;
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bool setCurrentPOCCommand(
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FlexRay::POCCommand cmd,
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@@ -39,6 +72,14 @@ private:
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std::chrono::milliseconds timeout = std::chrono::milliseconds(50));
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bool wasCommandSuccessful(std::chrono::milliseconds timeout = std::chrono::milliseconds(50)) const;
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std::pair<bool, FlexRay::POCStatus> getCurrentPOCStatus(std::chrono::milliseconds timeout = std::chrono::milliseconds(50)) const;
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bool lockConfiguration(std::chrono::milliseconds timeout = std::chrono::milliseconds(150));
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bool enterConfig(std::chrono::milliseconds timeout = std::chrono::milliseconds(50));
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static uint16_t CalculateHCRC(const MessageBuffer& buf);
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static uint16_t CalculateCycleFilter(uint8_t baseCycle, uint8_t cycleRepetition);
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std::pair<bool, uint32_t> readRegister(
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ERAYRegister reg,
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std::chrono::milliseconds timeout = std::chrono::milliseconds(50)) const;
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@@ -60,15 +101,107 @@ private:
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Device& device;
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uint8_t index;
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Network network;
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mutable std::mutex statusLock;
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mutable std::mutex readRegisterLock;
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std::shared_ptr<FlexRayControlMessage> status;
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bool startWhenGoingOnline = false;
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bool allowColdstart = false;
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bool wakeupBeforeStart = false;
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public:
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#define neoflexray_controller_config_t icsneo::FlexRay::Controller::Configuration
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struct Configuration {
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#else // __cplusplus
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#include <stdbool.h>
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#include <stdint.h>
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#define INIT(x)
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typedef struct {
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#endif // __cplusplus
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uint16_t AcceptStartupRangeMicroticks INIT(0);
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bool AllowHaltDueToClock INIT(false);
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uint8_t AllowPassiveToActiveCyclePairs INIT(0);
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uint8_t ClusterDriftDamping INIT(0);
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bool ChannelA INIT(false);
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bool ChannelB INIT(false);
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uint8_t DecodingCorrectionMicroticks INIT(0);
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uint8_t DelayCompensationAMicroticks INIT(0);
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uint8_t DelayCompensationBMicroticks INIT(0);
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uint8_t ExternOffsetCorrectionControl INIT(0);
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uint8_t ExternRateCorrectionControl INIT(0);
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uint8_t ExternOffsetCorrectionMicroticks INIT(0);
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uint8_t ExternRateCorrectionMicroticks INIT(0);
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bool ExternalSync INIT(false);
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bool UseExternalSync INIT(false);
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bool FallBackInternal INIT(false);
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bool UseFallBackInternal INIT(false);
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uint16_t KeySlotID INIT(0);
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bool KeySlotOnlyEnabled INIT(false); // pSingleSlotEnabled (TSM)
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bool KeySlotUsedForStartup INIT(false); // pKeySlotUsedForStartup (TXST)
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bool KeySlotUsedForSync INIT(false); // pKeySlotUsedForSync (TXSY)
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uint16_t LatestTxMinislot INIT(0);
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uint32_t ListenTimeout INIT(0);
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uint8_t MacroInitialOffsetA INIT(0); // Valid 2..72
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uint8_t MacroInitialOffsetB INIT(0); // Valid 2..72
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uint32_t MaximumDynamicPayloadLengthWords INIT(0);
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uint8_t MicroInitialOffsetA INIT(0); // Valid 0..240
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uint8_t MicroInitialOffsetB INIT(0); // Valid 0..240
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uint32_t MicroPerCycle INIT(0);
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double MicrotickDurationSec INIT(0);
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bool UseMicrotickDurationSec INIT(false);
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bool MTSOnA INIT(false);
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bool MTSOnB INIT(false);
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bool NMVectorEarlyUpdate INIT(false);
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bool UseNMVectorEarlyUpdate INIT(false);
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uint16_t OffsetCorrectionOutMicroticks INIT(0);
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uint16_t RateCorrectionOutMicroticks INIT(0); // pdMaxDrift and pRateCorrectionOut
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uint32_t SamplesPerMicrotick INIT(0);
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bool UseSamplesPerMicrotick INIT(false);
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uint16_t SecondKeySlotID INIT(0);
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bool TwoKeySlotMode INIT(false);
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uint8_t WakeupPattern INIT(0);
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bool WakeupOnChannelB INIT(false);
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#ifndef __cplusplus
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} neoflexray_controller_config_t;
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#else
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};
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private:
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bool configDirty = false;
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Cluster::Configuration clusterConfig;
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Controller::Configuration controllerConfig;
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std::vector<MessageBuffer> messageBuffers;
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};
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} // namespace FlexRay
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} // namespace icsneo
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#endif // __cplusplus
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#endif // __FLEXRAYCONTROLLER_H_
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@@ -5,6 +5,8 @@
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namespace icsneo {
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namespace FlexRay {
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enum class ERAYRegister : uint32_t {
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// Customer Registers : Not Part of ERAY, part of FUJITSU FlexRay ASSP MB88121C
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VER = 0x0000,// Version Information Register reset = 0440_79FF Access = r
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@@ -100,6 +102,8 @@ enum class ERAYRegister : uint32_t {
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NDAT1 = 0x0330,// New Data Register 1 0000_0000 r
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NDAT2 = 0x0334,// New Data Register 2 0000_0000 r
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ENDN = 0x03F4,// Endian check, 8765_4321 r
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WRHS1 = 0x0500,// Write Header Section Register 1
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WRHS2 = 0x0504,// Write Header Section Register 2
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WRHS3 = 0x0508,// Write Header Section Register 3
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@@ -111,6 +115,8 @@ enum class ERAYRegister : uint32_t {
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OBCR = 0x714,
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};
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} // namespace FlexRay
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} // namespace icsneo
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#endif // __ERAYREGISTER_H_
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@@ -16,9 +16,14 @@ class Controller;
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class Extension : public DeviceExtension {
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public:
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Extension(Device& device, uint8_t controllerCount);
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Extension(Device& device, const std::vector<Network>& controllerNetworks);
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const char* getName() const override { return "FlexRay"; }
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void onGoOnline() override;
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void onGoOffline() override;
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void handleMessage(const std::shared_ptr<Message>& message) override;
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bool transmitHook(const std::shared_ptr<Message>& message, bool& success) override;
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std::shared_ptr<Controller> getController(uint8_t index) const {
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if(index >= controllers.size())
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@@ -0,0 +1,52 @@
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#ifndef __FLEXRAYMESSAGEBUFFER_H_
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#define __FLEXRAYMESSAGEBUFFER_H_
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#ifdef __cplusplus
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#include <cstdint>
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namespace icsneo {
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namespace FlexRay {
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#define INIT(x) = x
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#define neoflexray_message_buffer_t icsneo::FlexRay::MessageBuffer
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struct MessageBuffer {
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#else // __cplusplus
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#include <stdbool.h>
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#include <stdint.h>
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#define INIT(x)
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typedef struct {
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#endif // __cplusplus
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bool isDynamic INIT(false);
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bool isSync INIT(false); // Must be set if isStartup is set!
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bool isStartup INIT(false);
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bool isNMFrame INIT(false);
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bool isTransmit INIT(false);
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uint16_t frameID INIT(0);
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bool channelA INIT(false);
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bool channelB INIT(false);
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uint8_t frameLengthBytes INIT(0);
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uint8_t baseCycle INIT(0);
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uint8_t cycleRepetition INIT(0);
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bool continuousMode INIT(false);
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uint16_t _dataPointer INIT(0); // For internal use
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uint16_t _id INIT(0); // For internal use
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#ifndef __cplusplus
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} neoflexray_message_buffer_t;
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#else
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};
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} // namespace FlexRay
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} // namespace icsneo
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#endif // __cplusplus
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#endif // __FLEXRAYMESSAGEBUFFER_H_
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@@ -14,6 +14,7 @@ enum class POCStatus : uint8_t {
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NormalPassive = 0x03,
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Halt = 0x04,
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MonitorMode = 0x05,
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Config = 0x0f,
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WakeupStandby = 0x10,
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WakeupListen = 0x11,
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WakeupSend = 0x12,
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