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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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examples/CMakeLists.txt
+5
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@@ -10,6 +10,7 @@ option(LIBICSNEO_BUILD_CPP_COREMINI_EXAMPLE "Build the Coremini example." ON)
option(LIBICSNEO_BUILD_CPP_MDIO_EXAMPLE "Build the MDIO example." ON)
option(LIBICSNEO_BUILD_CPP_VSA_EXAMPLE "Build the VSA example." ON)
option(LIBICSNEO_BUILD_CPP_APP_ERROR_EXAMPLE "Build the app error example." ON)
option(LIBICSNEO_BUILD_CPP_FLEXRAY_EXAMPLE "Build the FlexRay example." ON)
if(LIBICSNEO_BUILD_C_INTERACTIVE_EXAMPLE)
add_subdirectory(c/interactive)
@@ -58,3 +59,7 @@ endif()
if(LIBICSNEO_BUILD_CPP_APP_ERROR_EXAMPLE)
add_subdirectory(cpp/apperror)
endif()
if(LIBICSNEO_BUILD_CPP_FLEXRAY_EXAMPLE)
add_subdirectory(cpp/flexray)
endif()
examples/cpp/flexray/CMakeLists.txt
+2
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@@ -0,0 +1,2 @@
add_executable(libicsneocpp-flexray-example src/FlexRayExample.cpp)
target_link_libraries(libicsneocpp-flexray-example icsneocpp)
examples/cpp/flexray/src/FlexRayExample.cpp
+204
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@@ -0,0 +1,204 @@
#include <iostream>
#include <random>
#include "icsneo/icsneocpp.h"
#include "icsneo/device/extensions/flexray/cluster.h"
/* Modifiable Configuration Variables*/
static size_t NumMessages = 300;
static size_t FramePayloadSize = 134;
static uint16_t SlotOne = 1;
static uint16_t SlotTwo = 3;
static bool SuppressRxTxDebugMessages = true;
static const icsneo::FlexRay::Controller::Configuration DefaultControllerConfig {
160, // uint16_t AcceptStartupRangeMicroticks INIT(0); // pdAcceptedStartupRange
true, // bool AllowHaltDueToClock INIT(false); // pAllowHaltDueToClock
15, // uint8_t AllowPassiveToActiveCyclePairs INIT(0); // pAllowPassiveToActive
2, // uint8_t ClusterDriftDamping INIT(0); // pClusterDriftDamping
true, // bool ChannelA INIT(false); // pChannels
true, // bool ChannelB INIT(false); // pChannels
56, // uint8_t DecodingCorrectionMicroticks INIT(0); // pDecodingCorrection
28, // uint8_t DelayCompensationAMicroticks INIT(0); // pDelayCompensation[A]
28, // uint8_t DelayCompensationBMicroticks INIT(0); // pDelayCompensation[B]
0, // uint8_t ExternOffsetCorrectionControl INIT(0); // pExternOffsetControl
0, // uint8_t ExternRateCorrectionControl INIT(0); // pExternRateControl
0, // uint8_t ExternOffsetCorrectionMicroticks INIT(0); // pExternOffsetCorrection
0, // uint8_t ExternRateCorrectionMicroticks INIT(0); // pExternRateCorrection
0, // uint16_t KeySlotID INIT(0);
false, // bool KeySlotOnlyEnabled INIT(false); // pSingleSlotEnabled (TSM)
true, // bool KeySlotUsedForStartup INIT(false); // pKeySlotUsedForStartup (TXST)
true, // bool KeySlotUsedForSync INIT(false); // pKeySlotUsedForSync (TXSY)
226, // uint16_t LatestTxMinislot INIT(0); // pLatestTx
401202, // uint32_t ListenTimeout INIT(0); // pdListenTimeout
7, // uint8_t MacroInitialOffsetA INIT(0); // pMacroInitialOffset[A], Valid 2..72
7, // uint8_t MacroInitialOffsetB INIT(0); // pMacroInitialOffset[B], Valid 2..72
36, // uint8_t MicroInitialOffsetA INIT(0); // pMicroInitialOffset[A], Valid 0..240
36, // uint8_t MicroInitialOffsetB INIT(0); // pMicroInitialOffset[B], Valid 0..240
200000, // uint32_t MicroPerCycle INIT(0); // pMicroPerCycle
false, // bool MTSOnA INIT(false);
false, // bool MTSOnB INIT(false);
189, // uint16_t OffsetCorrectionOutMicroticks INIT(0); // pOffsetCorrectionOut
601, // uint16_t RateCorrectionOutMicroticks INIT(0); // pdMaxDrift and pRateCorrectionOut
0, // uint16_t SecondKeySlotID INIT(0);
false, // bool TwoKeySlotMode INIT(false);
55, // uint8_t WakeupPattern INIT(0);
false, // bool WakeupOnChannelB INIT(false); // pWakeupChannel
};
namespace Cluster = icsneo::FlexRay::Cluster;
static const Cluster::Configuration DefaultClusterConfig {
Cluster::SpeedType::FLEXRAY_BAUDRATE_10M, // neoflexray_speed_t Speed INIT(FLEXRAY_BAUDRATE_10M /* = 0 */); // gdSampleClockPeriod, pSamplesPerMicrotick, Baud Rate Prescaler
Cluster::SPPType::FLEXRAY_SPP_5, // neoflexray_spp_t StrobePointPosition INIT(FLEXRAY_SPP_5 /* = 0 */);
4, // uint8_t ActionPointOffset INIT(0); // gdActionPointOffset
64, // uint8_t CASRxLowMax INIT(0); // gdCASRxLowMax
8, // uint8_t ColdStartAttempts INIT(0); // gColdStartAttempts
5000, // uint16_t CycleDurationMicroSec INIT(0); // gdCycle
1, // uint8_t DynamicSlotIdlePhaseMinislots INIT(0); // gdDynamicSlotIdlePhase, In Minislot increments [0..2]
4, // uint8_t ListenNoiseMacroticks INIT(0); // gListenNoise
5000, // uint16_t MacroticksPerCycle INIT(0); // gMacroPerCycle
1, // uint8_t MacrotickDurationMicroSec INIT(0); // gdMacroTick
2, // uint8_t MaxWithoutClockCorrectionFatal INIT(0); // gMaxWithoutClockCorrectionFatal
2, // uint8_t MaxWithoutClockCorrectionPassive INIT(0); // gMaxWithoutClockCorrectionPassive
4, // uint8_t MinislotActionPointOffsetMacroticks INIT(0); // gdMinislotActionPointOffset
10, // uint32_t MinislotDurationMacroticks INIT(0); // gdMinislot
40, // uint32_t NetworkIdleTimeMacroticks INIT(0); // gdNIT
1, // uint8_t NetworkManagementVectorLengthBytes INIT(0); // gNetworkManagementVectorLength
0, // uint32_t NumberOfMinislots INIT(0); // gNumberOfMinislots
32, // uint16_t NumberOfStaticSlots INIT(0); // gdNumberOfStaticSlots
4991, // uint32_t OffsetCorrectionStartMacroticks INIT(0); // gOffsetCorrectionStart
67, // uint8_t PayloadLengthOfStaticSlotInWords INIT(0); // gPayloadLengthStatic
155, // uint16_t StaticSlotMacroticks INIT(0); // gdStaticSlot
0, // uint32_t SymbolWindowMacroticks INIT(0); // gdSymbolWindow
0, // uint32_t SymbolWindowActionPointOffsetMacroticks INIT(0);
15, // uint16_t SyncFrameIDCountMax INIT(0); // gSyncNodeMax
11, // uint8_t TransmissionStartSequenceDurationBits INIT(0); // gdTSSTransmitter
40, // uint8_t WakeupRxIdleBits INIT(0); // gdWakeupSymbolRxIdle
40, // uint8_t WakeupRxLowBits INIT(0); // gdWakeupSymbolRxLow
301, // uint16_t WakeupRxWindowBits INIT(0); // gdWakeupSymbolRxWindow
60, // uint8_t WakeupTxActiveBits INIT(0); // gdWakeupSymbolTxLow (active = low here)
180, // uint8_t WakeupTxIdleBits INIT(0); // gdWakeupSymbolTxIdle
};
static std::condition_variable cv;
static std::mutex msgRcvdMutex;
void configureFlexRayDevice(std::shared_ptr<icsneo::Device> device) {
auto controllers = device->getFlexRayControllers();
for (uint16_t i = 0; i < controllers.size(); i++) {
auto controller = controllers[i];
icsneo::FlexRay::Cluster::Configuration clusterConfig = DefaultClusterConfig;
icsneo::FlexRay::Controller::Configuration controllerConfig = DefaultControllerConfig;
controller->setAllowColdstart(true);
controllerConfig.KeySlotID = (i == 0) ? SlotOne : SlotTwo;
controller->setConfiguration(clusterConfig, controllerConfig);
controller->setStartWhenGoingOnline(true);
}
}
std::vector<std::shared_ptr<icsneo::FlexRayMessage>> makeDummyFlexRayMessages(size_t msgCount, size_t msgLen) {
std::vector<std::shared_ptr<icsneo::FlexRayMessage>> messages;
messages.reserve(msgCount);
std::random_device rd;
std::mt19937 engine(rd());
std::uniform_int_distribution<unsigned short> dist(0, 255);
for (size_t i = 0; i < msgCount; i++) {
auto msg = std::make_shared<icsneo::FlexRayMessage>();
msg->network = icsneo::Network::NetID::FLEXRAY_01;
msg->cycleRepetition = 1;
msg->channel = icsneo::FlexRay::Channel::AB;
msg->data.reserve(msgLen);
for (size_t j = 0; j < msgLen; j++) {
msg->data.push_back(static_cast<uint8_t>(dist(engine)));
}
msg->slotid = (i % 2 == 0) ? SlotOne : SlotTwo;
messages.push_back(msg);
}
return messages;
}
int main() {
auto devices = icsneo::FindAllDevices();
std::shared_ptr<icsneo::Device> flexrayDevice = nullptr;
for (auto&& device : devices) {
if (device->getExtension("FlexRay")) {
flexrayDevice = device;
}
}
if (flexrayDevice) {
std::cout << "Found device " << flexrayDevice->getProductName() << " " << flexrayDevice->getSerial() << " which supports FlexRay." << std::endl;
auto&& controllers = flexrayDevice->getFlexRayControllers();
if (controllers.size() > 0) {
std::vector<std::shared_ptr<icsneo::FlexRayMessage>> messages;
size_t currentMessage = 0;
auto filter = std::make_shared<icsneo::MessageFilter>(icsneo::Network::NetID::FLEXRAY_01);
auto rxCallback = [&messages, &currentMessage](std::shared_ptr<icsneo::Message> message) -> void {
std::unique_lock lk(msgRcvdMutex);
auto frmsg = std::static_pointer_cast<icsneo::FlexRayMessage>(message);
if (currentMessage < messages.size() && frmsg->data.size() > 1 && frmsg->data == messages[currentMessage]->data) {
if (!SuppressRxTxDebugMessages) {
std::cout << "Message Number " << currentMessage + 1 << " received." << std::endl;
}
currentMessage++;
lk.unlock();
cv.notify_all();
}
};
auto cb = std::make_shared<icsneo::MessageCallback>(rxCallback, filter);
auto cbId = flexrayDevice->addMessageCallback(cb);
messages = makeDummyFlexRayMessages(NumMessages, FramePayloadSize);
configureFlexRayDevice(flexrayDevice);
if (!flexrayDevice->open()) {
std::cerr << "Device open failed." << std::endl;
return -1;
}
if (!flexrayDevice->goOnline()) {
std::cerr << "Device go online failed." << std::endl;
return -1;
}
std::cout << "Transmitting " << NumMessages << " FlexRay frames." << std::endl;
for (auto msg : messages) {
std::unique_lock lk(msgRcvdMutex);
if (!flexrayDevice->transmit(msg)) {
std::cerr << "Failed to transmit message." << std::endl;
return -1;
} else if (!SuppressRxTxDebugMessages) {
std::cout << "Message Number " << currentMessage + 1 << " transmitted." << std::endl;
}
cv.wait(lk);
lk.unlock();
}
std::cout << "All transmitted frames received." << std::endl;
flexrayDevice->removeMessageCallback(cbId);
}
} else {
std::cerr << "Unable to find a device which supports FlexRay." << std::endl;
return -1;
}
std::cout << "Finished." << std::endl;
return 0;
}