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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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include/icsneo/device/extensions/flexray/controller.h
+137 -4
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@@ -1,13 +1,21 @@
#ifndef __FLEXRAYCONTROLLER_H_
#define __FLEXRAYCONTROLLER_H_
#ifdef __cplusplus
#include <cstdint>
#include <memory>
#include <chrono>
#include <mutex>
#include "icsneo/communication/message/flexray/control/flexraycontrolmessage.h"
#include "icsneo/communication/message/flexray/flexraymessage.h"
#include "icsneo/device/extensions/flexray/messagebuffer.h"
#include "icsneo/device/extensions/flexray/erayregister.h"
#include "icsneo/device/extensions/flexray/poccommand.h"
#include "icsneo/device/extensions/flexray/pocstatus.h"
#include "icsneo/device/extensions/flexray/cluster.h"
#define INIT(x) = x
namespace icsneo {
@@ -17,21 +25,46 @@ namespace FlexRay {
class Controller {
public:
Controller(Device& device, uint8_t index) : device(device), index(index) {}
std::shared_ptr<FlexRayControlMessage> getStatus() const;
Controller(Device& device, uint8_t index, Network net) : device(device), index(index), network(net) {}
void _setStatus(std::shared_ptr<FlexRayControlMessage> msg);
// Begin Public Interface
std::shared_ptr<FlexRayControlMessage> getStatus() const;
const Network& getNetwork() const { return network; }
struct Configuration; // Forward declaration
std::pair<const Cluster::Configuration&, const Controller::Configuration&> getConfiguration() const;
void setConfiguration(Cluster::Configuration clConfig, Controller::Configuration coConfig);
bool getStartWhenGoingOnline() const { return startWhenGoingOnline; }
void setStartWhenGoingOnline(bool enable) { startWhenGoingOnline = enable; }
bool getAllowColdstart() const { return allowColdstart; }
void setAllowColdstart(bool enable) { allowColdstart = enable; }
bool getWakeupBeforeStart() const { return wakeupBeforeStart; }
void setWakeupBeforeStart(bool enable) { wakeupBeforeStart = enable; }
void getReady();
void start();
void addMessageBuffer(MessageBuffer buffer);
void clearMessageBuffers();
bool wakeup(std::chrono::milliseconds timeout = std::chrono::milliseconds(50));
bool configure(std::chrono::milliseconds timeout = std::chrono::milliseconds(2000));
bool getReady(std::chrono::milliseconds timeout = std::chrono::milliseconds(2000));
bool start(std::chrono::milliseconds timeout = std::chrono::milliseconds(2000));
bool transmit(const std::shared_ptr<FlexRayMessage>& frmsg);
bool halt(std::chrono::milliseconds timeout = std::chrono::milliseconds(50));
bool freeze(std::chrono::milliseconds timeout = std::chrono::milliseconds(50));
bool triggerMTS(std::chrono::milliseconds timeout = std::chrono::milliseconds(200));
// End Public Interface
private:
bool isPOCBusy() const { return readRegisterOr(ERAYRegister::SUCC1, 0x00000080) & 0x00000080; }
bool isClearAllRAMBusy() const { return readRegisterOr(ERAYRegister::MHDS, 0x00000080) & 0x00000080; }
bool isInputBufferHostBusy() const { return readRegisterOr(ERAYRegister::IBCR, 0x00008000) & 0x00008000; }
std::pair<bool, FlexRay::POCCommand> getCurrentPOCCommand(std::chrono::milliseconds timeout = std::chrono::milliseconds(50)) const;
bool setCurrentPOCCommand(
FlexRay::POCCommand cmd,
@@ -39,6 +72,14 @@ private:
std::chrono::milliseconds timeout = std::chrono::milliseconds(50));
bool wasCommandSuccessful(std::chrono::milliseconds timeout = std::chrono::milliseconds(50)) const;
std::pair<bool, FlexRay::POCStatus> getCurrentPOCStatus(std::chrono::milliseconds timeout = std::chrono::milliseconds(50)) const;
bool lockConfiguration(std::chrono::milliseconds timeout = std::chrono::milliseconds(150));
bool enterConfig(std::chrono::milliseconds timeout = std::chrono::milliseconds(50));
static uint16_t CalculateHCRC(const MessageBuffer& buf);
static uint16_t CalculateCycleFilter(uint8_t baseCycle, uint8_t cycleRepetition);
std::pair<bool, uint32_t> readRegister(
ERAYRegister reg,
std::chrono::milliseconds timeout = std::chrono::milliseconds(50)) const;
@@ -60,15 +101,107 @@ private:
Device& device;
uint8_t index;
Network network;
mutable std::mutex statusLock;
mutable std::mutex readRegisterLock;
std::shared_ptr<FlexRayControlMessage> status;
bool startWhenGoingOnline = false;
bool allowColdstart = false;
bool wakeupBeforeStart = false;
public:
#define neoflexray_controller_config_t icsneo::FlexRay::Controller::Configuration
struct Configuration {
#else // __cplusplus
#include <stdbool.h>
#include <stdint.h>
#define INIT(x)
typedef struct {
#endif // __cplusplus
uint16_t AcceptStartupRangeMicroticks INIT(0);
bool AllowHaltDueToClock INIT(false);
uint8_t AllowPassiveToActiveCyclePairs INIT(0);
uint8_t ClusterDriftDamping INIT(0);
bool ChannelA INIT(false);
bool ChannelB INIT(false);
uint8_t DecodingCorrectionMicroticks INIT(0);
uint8_t DelayCompensationAMicroticks INIT(0);
uint8_t DelayCompensationBMicroticks INIT(0);
uint8_t ExternOffsetCorrectionControl INIT(0);
uint8_t ExternRateCorrectionControl INIT(0);
uint8_t ExternOffsetCorrectionMicroticks INIT(0);
uint8_t ExternRateCorrectionMicroticks INIT(0);
bool ExternalSync INIT(false);
bool UseExternalSync INIT(false);
bool FallBackInternal INIT(false);
bool UseFallBackInternal INIT(false);
uint16_t KeySlotID INIT(0);
bool KeySlotOnlyEnabled INIT(false); // pSingleSlotEnabled (TSM)
bool KeySlotUsedForStartup INIT(false); // pKeySlotUsedForStartup (TXST)
bool KeySlotUsedForSync INIT(false); // pKeySlotUsedForSync (TXSY)
uint16_t LatestTxMinislot INIT(0);
uint32_t ListenTimeout INIT(0);
uint8_t MacroInitialOffsetA INIT(0); // Valid 2..72
uint8_t MacroInitialOffsetB INIT(0); // Valid 2..72
uint32_t MaximumDynamicPayloadLengthWords INIT(0);
uint8_t MicroInitialOffsetA INIT(0); // Valid 0..240
uint8_t MicroInitialOffsetB INIT(0); // Valid 0..240
uint32_t MicroPerCycle INIT(0);
double MicrotickDurationSec INIT(0);
bool UseMicrotickDurationSec INIT(false);
bool MTSOnA INIT(false);
bool MTSOnB INIT(false);
bool NMVectorEarlyUpdate INIT(false);
bool UseNMVectorEarlyUpdate INIT(false);
uint16_t OffsetCorrectionOutMicroticks INIT(0);
uint16_t RateCorrectionOutMicroticks INIT(0); // pdMaxDrift and pRateCorrectionOut
uint32_t SamplesPerMicrotick INIT(0);
bool UseSamplesPerMicrotick INIT(false);
uint16_t SecondKeySlotID INIT(0);
bool TwoKeySlotMode INIT(false);
uint8_t WakeupPattern INIT(0);
bool WakeupOnChannelB INIT(false);
#ifndef __cplusplus
} neoflexray_controller_config_t;
#else
};
private:
bool configDirty = false;
Cluster::Configuration clusterConfig;
Controller::Configuration controllerConfig;
std::vector<MessageBuffer> messageBuffers;
};
} // namespace FlexRay
} // namespace icsneo
#endif // __cplusplus
#endif // __FLEXRAYCONTROLLER_H_