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Properly set up transmit buffers

pull/25/head
Paul Hollinsky 2019-11-19 17:07:48 +01:00
parent fe7c50f8a3
commit 52b0b4c586
1 changed files with 31 additions and 24 deletions
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45
device/extensions/flexray/controller.cpp
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@ -202,7 +202,7 @@ bool FlexRay::Controller::configure(std::chrono::milliseconds timeout) {
first->frameLengthBytes = clusterConfig.PayloadLengthOfStaticSlotInWords * 2; first->frameLengthBytes = clusterConfig.PayloadLengthOfStaticSlotInWords * 2;
first->baseCycle = 0; first->baseCycle = 0;
first->cycleRepetition = 1; first->cycleRepetition = 1;
first->continuousMode = 0; first->continuousMode = true;
staticTx.push_back(first); staticTx.push_back(first);
firstUsed = true; firstUsed = true;
@ -215,7 +215,7 @@ bool FlexRay::Controller::configure(std::chrono::milliseconds timeout) {
second->frameLengthBytes = clusterConfig.PayloadLengthOfStaticSlotInWords * 2; second->frameLengthBytes = clusterConfig.PayloadLengthOfStaticSlotInWords * 2;
second->baseCycle = 0; second->baseCycle = 0;
second->cycleRepetition = 1; second->cycleRepetition = 1;
second->continuousMode = 0; second->continuousMode = true;
staticTx.push_back(second); staticTx.push_back(second);
secondUsed = true; secondUsed = true;
} }
@ -225,25 +225,29 @@ bool FlexRay::Controller::configure(std::chrono::milliseconds timeout) {
if(!buf->isTransmit) if(!buf->isTransmit)
continue; // Only transmit frames need to be written to the controller continue; // Only transmit frames need to be written to the controller
if(!buf->isDynamic && ((controllerConfig.KeySlotUsedForSync && buf->isSync) || (controllerConfig.KeySlotUsedForStartup && buf->isStartup))) { if(buf->frameID == controllerConfig.KeySlotID) {
if(staticTx[0]->frameID == buf->frameID) { first = buf;
staticTx[0]->frameLengthBytes = buf->frameLengthBytes; staticTx[0] = buf;
staticTx[0]->baseCycle = buf->baseCycle; // Enforce keyslot rules
staticTx[0]->cycleRepetition = buf->cycleRepetition; first->isStartup = controllerConfig.KeySlotUsedForStartup;
staticTx[0]->continuousMode = buf->continuousMode; first->isSync = controllerConfig.KeySlotUsedForSync;
first->isDynamic = false;
// Suppress default buffer
firstIsInMessageBuffers = true; firstIsInMessageBuffers = true;
continue; continue;
} }
else if(controllerConfig.TwoKeySlotMode && buf->frameID == controllerConfig.SecondKeySlotID) {
if(controllerConfig.TwoKeySlotMode && staticTx[1]->frameID == buf->frameID) { second = buf;
staticTx[1]->frameLengthBytes = buf->frameLengthBytes; staticTx[1] = buf;
staticTx[1]->baseCycle = buf->baseCycle; buf->isDynamic = false;
staticTx[1]->cycleRepetition = buf->cycleRepetition; // Enforce keyslot rules
staticTx[1]->continuousMode = buf->continuousMode; second->isStartup = controllerConfig.KeySlotUsedForStartup;
second->isSync = controllerConfig.KeySlotUsedForSync;
second->isDynamic = false;
// Suppress default buffer
secondIsInMessageBuffers = true; secondIsInMessageBuffers = true;
continue; continue;
} }
}
if(buf->isDynamic) if(buf->isDynamic)
dynamicTx.push_back(buf); dynamicTx.push_back(buf);
@ -262,11 +266,11 @@ bool FlexRay::Controller::configure(std::chrono::milliseconds timeout) {
totalBuffers = 128; totalBuffers = 128;
registerWrites.push_back({ ERAYRegister::MRC, registerWrites.push_back({ ERAYRegister::MRC,
// FDB[7:0] set to 0, No group of message buffers exclusively for the static segment configured (uint8_t(staticTx.size())) | // FDB[7:0] message buffers exclusively for the static segment
// FFB[7:0] set to 0x80, No message buffer assigned to the FIFO // FFB[7:0] set to 0x80, No message buffer assigned to the FIFO
(0x80 << 8) | (0x80 << 8) |
(uint8_t(totalBuffers - 1) << 16) | (uint8_t(totalBuffers - 1) << 16) |
(controllerConfig.TwoKeySlotMode << 2) (controllerConfig.TwoKeySlotMode << 26)
}); });
for(const auto& regpair : registerWrites) { for(const auto& regpair : registerWrites) {
@ -596,12 +600,15 @@ std::pair<bool, uint32_t> FlexRay::Controller::readRegister(ERAYRegister reg, st
device.com->sendCommand(Command::FlexRayControl, FlexRayControlMessage::BuildReadCCRegsArgs(index, uint16_t(reg))); device.com->sendCommand(Command::FlexRayControl, FlexRayControlMessage::BuildReadCCRegsArgs(index, uint16_t(reg)));
std::shared_ptr<FlexRayControlMessage> resp; std::shared_ptr<FlexRayControlMessage> resp;
const auto start = std::chrono::steady_clock::now(); const auto start = std::chrono::steady_clock::now();
while(!resp && (std::chrono::steady_clock::now() - start) < timeout) { while((std::chrono::steady_clock::now() - start) < timeout) {
auto msg = device.com->waitForMessageSync(MessageFilter(icsneo::Network::NetID::FlexRayControl), timeout); auto msg = device.com->waitForMessageSync(MessageFilter(icsneo::Network::NetID::FlexRayControl), timeout / 4);
if(auto frmsg = std::dynamic_pointer_cast<FlexRayControlMessage>(msg)) { if(auto frmsg = std::dynamic_pointer_cast<FlexRayControlMessage>(msg)) {
if(frmsg->decoded && frmsg->controller == index && frmsg->opcode == FlexRay::Opcode::ReadCCRegs) if(frmsg->decoded && frmsg->controller == index && frmsg->opcode == FlexRay::Opcode::ReadCCRegs)
resp = frmsg; resp = frmsg;
} }
if(resp)
break;
device.com->sendCommand(Command::FlexRayControl, FlexRayControlMessage::BuildReadCCRegsArgs(index, uint16_t(reg)));
} }
if(resp && !resp->registers.empty()) if(resp && !resp->registers.empty())
return {true, resp->registers[0]}; return {true, resp->registers[0]};