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LIN: Add wakeup request

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This commit is contained in:
Samuel Bejko
2026-09-14 17:13:23 -04:00
committed by Kyle Schwarz
parent 3a6501d116
commit d95a17b360
11 changed files with 135 additions and 10 deletions
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communication/packet/linpacket.cpp
+17 -5
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@@ -72,18 +72,30 @@ std::shared_ptr<Message> HardwareLINPacket::DecodeToMessage(const std::vector<ui
static_cast<bool>(packet->CoreMiniBitsLIN.UpdateResponderOnce),
static_cast<bool>(packet->CoreMiniBitsLIN.HasUpdatedResponderOnce),
static_cast<bool>(packet->CoreMiniBitsLIN.BusRecovered),
static_cast<bool>(packet->CoreMiniBitsLIN.BreakOnly)
static_cast<bool>(packet->CoreMiniBitsLIN.BreakOnly),
static_cast<bool>(packet->CoreMiniBitsLIN.WakeupRequest)
};
if(msg->statusFlags.TxCommander || msg->statusFlags.TxResponder)
// Wake type only for a wake-only pulse. A UART/LIN break or a complete
// frame may also carry WakeupRequest; those keep their existing type.
const bool wakeupPulse = msg->statusFlags.WakeupRequest &&
packet->CoreMiniBitsLIN.len == 0 &&
packet->CoreMiniBitsLIN.ID == 0 &&
!msg->statusFlags.BreakOnly &&
!msg->errFlags.ErrRxBreakOnly &&
!msg->errFlags.ErrRxBreakSyncOnly;
if(wakeupPulse)
msg->linMsgType = LINMessage::Type::LIN_WAKEUP_REQUEST;
else if(msg->statusFlags.TxCommander || msg->statusFlags.TxResponder)
msg->linMsgType = LINMessage::Type::LIN_COMMANDER_MSG;
else if(msg->statusFlags.BreakOnly)
msg->linMsgType = LINMessage::Type::LIN_BREAK_ONLY;
if( msg->errFlags.ErrRxBreakOnly || msg->errFlags.ErrRxBreakSyncOnly ||
if( !wakeupPulse &&
(msg->errFlags.ErrRxBreakOnly || msg->errFlags.ErrRxBreakSyncOnly ||
msg->errFlags.ErrTxRxMismatch || msg->errFlags.ErrRxBreakNotZero ||
msg->errFlags.ErrRxBreakTooShort || msg->errFlags.ErrRxSyncNot55 ||
msg->errFlags.ErrRxDataLenOver8 || msg->errFlags.ErrFrameSync ||
msg->errFlags.ErrFrameMessageID || msg->errFlags.ErrChecksumMatch ||
msg->errFlags.ErrFrameResponderData )
msg->errFlags.ErrFrameResponderData) )
{ msg->linMsgType = LINMessage::Type::LIN_ERROR; }
msg->timestamp = packet->timestamp;
@@ -103,7 +115,7 @@ bool HardwareLINPacket::EncodeFromMessage(LINMessage& message, std::vector<uint8
}
case LINMessage::Type::LIN_BREAK_ONLY:
{
size |= 0x20u;
size |= 0x80u | 0x20u;
break;
}
case LINMessage::Type::NOT_SET: