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Fix FlexRay extension bugs and implement FlexRay example

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This commit is contained in:
Max Brombach
2025-09-04 14:27:32 +00:00
parent a9e1f24f67
commit f53bc2e920
18 changed files with 549 additions and 222 deletions
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device/extensions/flexray/controller.cpp
+45 -53
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@@ -3,16 +3,6 @@
using namespace icsneo;
void FlexRay::Controller::_setStatus(std::shared_ptr<FlexRayControlMessage> msg) {
std::lock_guard<std::mutex> lk(statusLock);
status = msg;
}
std::shared_ptr<FlexRayControlMessage> FlexRay::Controller::getStatus() const {
std::lock_guard<std::mutex> lk(statusLock);
return status;
}
std::pair<const FlexRay::Cluster::Configuration&, const FlexRay::Controller::Configuration&> FlexRay::Controller::getConfiguration() const {
return { clusterConfig, controllerConfig };
}
@@ -74,7 +64,7 @@ bool FlexRay::Controller::configure(std::chrono::milliseconds timeout) {
((controllerConfig.KeySlotUsedForStartup & 0x1) << 8) | // TXST
((controllerConfig.KeySlotUsedForSync & 0x1) << 9) | // TXSY
((clusterConfig.ColdStartAttempts & 0x1f) << 11) | // CSA
((controllerConfig.AllowPassiveToActiveCyclePairs & 0x1f) << 16) | // PTA
((controllerConfig.AllowPassiveToActiveCyclePairs & 0x1F) << 16) | // PTA
((controllerConfig.WakeupOnChannelB & 0x1) << 21) | // WUCS
((controllerConfig.KeySlotOnlyEnabled & 0x1) << 22) | // TSM
((controllerConfig.AllowHaltDueToClock & 0x1) << 23) | // HCSE
@@ -85,99 +75,100 @@ bool FlexRay::Controller::configure(std::chrono::milliseconds timeout) {
});
registerWrites.push_back({ ERAYRegister::SUCC2,
((controllerConfig.ListenTimeout & 0x1fffff)) |
((clusterConfig.ListenNoiseMacroticks - 1) << 24)
((controllerConfig.ListenTimeout & 0x1FFFFF)) |
(((clusterConfig.ListenNoiseMacroticks - 1) & 0xF) << 24)
});
registerWrites.push_back({ ERAYRegister::SUCC3,
(clusterConfig.MaxWithoutClockCorrectionPassive & 0xF) |
((clusterConfig.MaxWithoutClockCorrectionFatal) << 4)
((clusterConfig.MaxWithoutClockCorrectionFatal & 0xF) << 4)
});
registerWrites.push_back({ ERAYRegister::NEMC,
clusterConfig.NetworkManagementVectorLengthBytes
clusterConfig.NetworkManagementVectorLengthBytes & 0xF
});
registerWrites.push_back({ ERAYRegister::PRTC1,
(clusterConfig.TransmissionStartSequenceDurationBits & 0xF) |
((clusterConfig.CASRxLowMax & 0x3F) << 4) |
((clusterConfig.CASRxLowMax & 0x1F) << 4) |
(0x1 << 10) | // Most significant bit of CASRxLowMax. Hardwired to 1 and cannot be modified
((clusterConfig.StrobePointPosition & 0x3) << 12) |
((clusterConfig.Speed & 0x3) << 14) |
((clusterConfig.WakeupRxWindowBits & 0x1ff) << 16) |
((controllerConfig.WakeupPattern) << 26)
((clusterConfig.WakeupRxWindowBits & 0x1FF) << 16) |
((controllerConfig.WakeupPattern & 0x3F) << 26)
});
registerWrites.push_back({ ERAYRegister::PRTC2,
(clusterConfig.WakeupRxIdleBits) |
((clusterConfig.WakeupRxLowBits) << 8) |
(clusterConfig.WakeupRxIdleBits & 0x3F) |
((clusterConfig.WakeupRxLowBits & 0x3F) << 8) |
((clusterConfig.WakeupTxIdleBits) << 16) |
((clusterConfig.WakeupTxActiveBits) << 24)
((clusterConfig.WakeupTxActiveBits & 0x3F) << 24)
});
registerWrites.push_back({ ERAYRegister::MHDC,
(clusterConfig.PayloadLengthOfStaticSlotInWords) |
((controllerConfig.LatestTxMinislot) << 16)
(clusterConfig.PayloadLengthOfStaticSlotInWords & 0x7F) |
((controllerConfig.LatestTxMinislot & 0x1FFF) << 16)
});
registerWrites.push_back({ ERAYRegister::GTUC1,
controllerConfig.MicroPerCycle
controllerConfig.MicroPerCycle & 0xFFFFF
});
registerWrites.push_back({ ERAYRegister::GTUC2,
(clusterConfig.SyncFrameIDCountMax << 16) |
clusterConfig.MacroticksPerCycle
(clusterConfig.MacroticksPerCycle & 0x3FFF)
});
registerWrites.push_back({ ERAYRegister::GTUC3,
(controllerConfig.MicroInitialOffsetA) |
((controllerConfig.MicroInitialOffsetB) << 8) |
((controllerConfig.MacroInitialOffsetA) << 16) |
((controllerConfig.MacroInitialOffsetB) << 24)
((controllerConfig.MacroInitialOffsetA & 0x7F) << 16) |
((controllerConfig.MacroInitialOffsetB & 0x7F) << 24)
});
registerWrites.push_back({ ERAYRegister::GTUC4,
((clusterConfig.MacroticksPerCycle - clusterConfig.NetworkIdleTimeMacroticks - 1) & 0xFFFF) |
((clusterConfig.OffsetCorrectionStartMacroticks - 1) << 16)
((clusterConfig.MacroticksPerCycle - clusterConfig.NetworkIdleTimeMacroticks - 1) & 0x3FFF) |
(((clusterConfig.OffsetCorrectionStartMacroticks - 1) & 0x3FFF) << 16)
});
registerWrites.push_back({ ERAYRegister::GTUC5,
controllerConfig.DelayCompensationAMicroticks |
(controllerConfig.DelayCompensationBMicroticks << 8) |
(controllerConfig.ClusterDriftDamping << 16) |
((controllerConfig.ClusterDriftDamping & 0x1F) << 16) |
(controllerConfig.DecodingCorrectionMicroticks << 24)
});
registerWrites.push_back({ ERAYRegister::GTUC6,
controllerConfig.AcceptStartupRangeMicroticks |
(controllerConfig.RateCorrectionOutMicroticks << 16)
(controllerConfig.AcceptStartupRangeMicroticks & 0x7FF) |
((controllerConfig.RateCorrectionOutMicroticks & 0x7FF) << 16)
});
registerWrites.push_back({ ERAYRegister::GTUC7,
(clusterConfig.StaticSlotMacroticks) |
(clusterConfig.NumberOfStaticSlots << 16)
(clusterConfig.StaticSlotMacroticks & 0x3FF) |
((clusterConfig.NumberOfStaticSlots & 0x3FF) << 16)
});
registerWrites.push_back({ ERAYRegister::GTUC8,
clusterConfig.MinislotDurationMacroticks |
(clusterConfig.NumberOfMinislots << 16)
(clusterConfig.MinislotDurationMacroticks & 0x3F) |
((clusterConfig.NumberOfMinislots & 0x1FFF) << 16)
});
registerWrites.push_back({ ERAYRegister::GTUC9,
clusterConfig.ActionPointOffset |
(clusterConfig.MinislotActionPointOffsetMacroticks << 8) |
(clusterConfig.DynamicSlotIdlePhaseMinislots << 16)
(clusterConfig.ActionPointOffset & 0x3F) |
((clusterConfig.MinislotActionPointOffsetMacroticks & 0x1F) << 8) |
((clusterConfig.DynamicSlotIdlePhaseMinislots & 0x03) << 16)
});
registerWrites.push_back({ ERAYRegister::GTUC10,
controllerConfig.OffsetCorrectionOutMicroticks |
(controllerConfig.RateCorrectionOutMicroticks << 16)
(controllerConfig.OffsetCorrectionOutMicroticks & 0x3FFF) |
((controllerConfig.RateCorrectionOutMicroticks & 0x7FF) << 16)
});
registerWrites.push_back({ ERAYRegister::GTUC11,
controllerConfig.ExternOffsetCorrectionControl |
(controllerConfig.ExternRateCorrectionControl << 8) |
(controllerConfig.ExternOffsetCorrectionMicroticks << 16) |
(controllerConfig.ExternRateCorrectionMicroticks << 24)
(controllerConfig.ExternOffsetCorrectionControl & 0x3) |
((controllerConfig.ExternRateCorrectionControl & 0x3) << 8) |
((controllerConfig.ExternOffsetCorrectionMicroticks & 0x7) << 16) |
((controllerConfig.ExternRateCorrectionMicroticks & 0x7) << 24)
});
std::vector<std::shared_ptr<MessageBuffer>> staticTx;
@@ -210,7 +201,7 @@ bool FlexRay::Controller::configure(std::chrono::milliseconds timeout) {
second->isStartup = controllerConfig.KeySlotUsedForStartup;
second->isSync = controllerConfig.KeySlotUsedForSync;
second->isTransmit = true;
second->channelB =true;
second->channelB = true;
second->frameID = controllerConfig.SecondKeySlotID;
second->frameLengthBytes = clusterConfig.PayloadLengthOfStaticSlotInWords * 2;
second->baseCycle = 0;
@@ -266,7 +257,7 @@ bool FlexRay::Controller::configure(std::chrono::milliseconds timeout) {
totalBuffers = 128;
registerWrites.push_back({ ERAYRegister::MRC,
(uint8_t(staticTx.size())) | // FDB[7:0] message buffers exclusively for the static segment
(static_cast<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
(0x80 << 8) |
(uint8_t(totalBuffers - 1) << 16) |
@@ -287,12 +278,12 @@ bool FlexRay::Controller::configure(std::chrono::milliseconds timeout) {
buf.frameID = static_cast<uint16_t>(i | (1 << 10));
uint32_t hs1 = (
(buf.frameID) |
(CalculateCycleFilter(buf.baseCycle, buf.cycleRepetition) << 16) |
((buf.channelA & 0x1) << 24) |
((buf.channelB & 0x1) << 25) |
(buf.frameID) | // FID
(CalculateCycleFilter(buf.baseCycle, buf.cycleRepetition) << 16) | // CYA
((buf.channelA & 0x1) << 24) | // CHA
((buf.channelB & 0x1) << 25) | // CHB
((buf.isTransmit & 0x1) << 26) | // CFG
((buf.isNMFrame & 0x1) << 27) | // PPIT
((buf.isNetworkManagementFrame & 0x1) << 27) | // PPIT
((!buf.continuousMode & 0x1) << 28) | // TXM
((0 & 0x1) << 29) // MBI, disabled for now but we might want confirmations in the future
);
@@ -610,7 +601,8 @@ uint16_t FlexRay::Controller::CalculateCycleFilter(uint8_t baseCycle, uint8_t cy
}
std::pair<bool, uint32_t> FlexRay::Controller::readRegister(ERAYRegister reg, std::chrono::milliseconds timeout) const {
static const std::shared_ptr<MessageFilter> filter = std::make_shared<MessageFilter>(icsneo::Network::NetID::FlexRayControl);
static const std::shared_ptr<MessageFilter> filter = std::make_shared<MessageFilter>();
filter->includeInternalInAny = true;
if(timeout.count() <= 20)
return {false, 0}; // Out of time!