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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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include/icsneo/device/extensions/deviceextension.h
-2
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@@ -10,8 +10,6 @@
namespace icsneo {
class Device;
class DeviceExtension {
public:
DeviceExtension(Device& device) : device(device) {}
include/icsneo/device/extensions/flexray/cluster.h
+27 -38
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@@ -21,14 +21,14 @@ typedef enum {
FLEXRAY_BAUDRATE_5M = 1, // 5Mbit currently not supported in the monitor
FLEXRAY_BAUDRATE_2M5 = 2, // 2.5Mbit currently not supported in the monitor
FLEXRAY_BAUDRATE_2M5_ALT = 3 // Per the ERAY spec, 0b11 also means 2.5MBits
} neoflexray_speed_t;
} SpeedType;
typedef enum {
FLEXRAY_SPP_5 = 0, // FlexRay 2.1 requires this value to be 0
FLEXRAY_SPP_4 = 1,
FLEXRAY_SPP_6 = 2,
FLEXRAY_SPP_5_ALT = 3 // Per the ERAY spec, 0b11 also means sample point 5
} neoflexray_spp_t;
} SPPType;
#ifdef __cplusplus
@@ -48,50 +48,39 @@ typedef struct {
#endif // __cplusplus
neoflexray_speed_t Speed INIT(FLEXRAY_BAUDRATE_10M /* = 0 */); // gdSampleClockPeriod, pSamplesPerMicrotick, Baud Rate Prescaler
neoflexray_spp_t StrobePointPosition INIT(FLEXRAY_SPP_5 /* = 0 */);
SpeedType Speed INIT(FLEXRAY_BAUDRATE_10M /* = 0 */); // gdSampleClockPeriod, pSamplesPerMicrotick, Baud Rate Prescaler
SPPType StrobePointPosition INIT(FLEXRAY_SPP_5 /* = 0 */);
uint8_t ActionPointOffset INIT(0);
uint32_t BitTimeNS INIT(0);
uint8_t CASRxLowMax INIT(0);
uint8_t ColdStartAttempts INIT(0);
uint32_t CycleCountMax INIT(0);
double CycleDurationSec INIT(0);
bool DetectNITError INIT(false);
uint8_t DynamicSlotIdlePhaseMinislots INIT(0); // In Minislot increments [0..2]
uint32_t IgnoreAfterTx INIT(0);
uint8_t ListenNoiseMacroticks INIT(0);
uint16_t MacroticksPerCycle INIT(0);
double MacrotickDurationSec INIT(0);
uint8_t MaxWithoutClockCorrectionFatal INIT(0);
uint8_t MaxWithoutClockCorrectionPassive INIT(0);
uint8_t MinislotActionPointOffsetMacroticks INIT(0);
uint32_t MinislotDurationMacroticks INIT(0); // gdMinislot
uint32_t NetworkIdleTimeMacroticks INIT(0);
uint8_t NetworkManagementVectorLengthBytes INIT(0);
uint32_t NumberOfMinislots INIT(0);
uint16_t NumberOfStaticSlots INIT(0);
uint32_t OffsetCorrectionStartMacroticks INIT(0);
uint8_t PayloadLengthOfStaticSlotInWords INIT(0);
uint32_t SafetyMarginMacroticks INIT(0);
double SampleClockPeriodSec INIT(0);
bool UseSampleClockPeriodSec INIT(false);
uint8_t ActionPointOffset INIT(0); // gdActionPointOffset
uint8_t CASRxLowMax INIT(0); // gdCASRxLowMax
uint8_t ColdStartAttempts INIT(0); // gColdStartAttempts
uint16_t CycleDurationMicroSec INIT(0); // gdCycle
uint8_t DynamicSlotIdlePhaseMinislots INIT(0); // gdDynamicSlotIdlePhase, In Minislot increments [0..2]
uint8_t ListenNoiseMacroticks INIT(0); // gListenNoise
uint16_t MacroticksPerCycle INIT(0); // gMacroPerCycle
uint8_t MacrotickDurationMicroSec INIT(0); // gdMacroTick
uint8_t MaxWithoutClockCorrectionFatal INIT(0); // gMaxWithoutClockCorrectionFatal
uint8_t MaxWithoutClockCorrectionPassive INIT(0); // gMaxWithoutClockCorrectionPassive
uint8_t MinislotActionPointOffsetMacroticks INIT(0); // gdMinislotActionPointOffset
uint8_t MinislotDurationMacroticks INIT(0); // gdMinislot
uint16_t NetworkIdleTimeMacroticks INIT(0); // gdNIT
uint8_t NetworkManagementVectorLengthBytes INIT(0); // gNetworkManagementVectorLength
uint16_t NumberOfMinislots INIT(0); // gNumberOfMinislots
uint16_t NumberOfStaticSlots INIT(0); // gNumberOfStaticSlots
uint16_t OffsetCorrectionStartMacroticks INIT(0); // gOffsetCorrectionStart
uint8_t PayloadLengthOfStaticSlotInWords INIT(0); // gPayloadLengthStatic
uint16_t StaticSlotMacroticks INIT(0); // gdStaticSlot
uint32_t SymbolWindowMacroticks INIT(0);
uint32_t SymbolWindowMacroticks INIT(0); // gdSymbolWindow
uint32_t SymbolWindowActionPointOffsetMacroticks INIT(0);
uint16_t SyncFrameIDCountMax INIT(0); // gSyncNodeMax
double TransceiverStandbyDelaySec INIT(false);
bool UseTransceiverStandbyDelaySec INIT(0);
uint8_t SyncFrameIDCountMax INIT(0); // gSyncNodeMax
uint8_t TransmissionStartSequenceDurationBits INIT(0); // gdTSSTransmitter
uint8_t WakeupRxIdleBits INIT(0);
uint8_t WakeupRxLowBits INIT(0);
uint8_t WakeupRxIdleBits INIT(0); // gdWakeupSymbolRxIdle
uint8_t WakeupRxLowBits INIT(0); // gdWakeupSymbolRxLow
uint16_t WakeupRxWindowBits INIT(0); // gdWakeupSymbolRxWindow
uint8_t WakeupTxActiveBits INIT(0); // gdWakeupSymbolTxLow (active = low here)
uint8_t WakeupTxIdleBits INIT(0);
uint8_t WakeupTxIdleBits INIT(0); // gdWakeupSymbolTxIdle
#ifdef __cplusplus
};
include/icsneo/device/extensions/flexray/controller.h
+22 -43
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@@ -26,11 +26,8 @@ namespace FlexRay {
class Controller {
public:
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
@@ -104,7 +101,6 @@ private:
Network network;
mutable std::mutex statusLock;
mutable std::mutex readRegisterLock;
std::shared_ptr<FlexRayControlMessage> status;
bool startWhenGoingOnline = false;
bool allowColdstart = false;
bool wakeupBeforeStart = false;
@@ -124,29 +120,23 @@ public:
typedef struct {
#endif // __cplusplus
uint16_t AcceptStartupRangeMicroticks INIT(0);
bool AllowHaltDueToClock INIT(false);
uint16_t AcceptStartupRangeMicroticks INIT(0); // pdAcceptedStartupRange
bool AllowHaltDueToClock INIT(false); // pAllowHaltDueToClock
uint8_t AllowPassiveToActiveCyclePairs INIT(0);
uint8_t AllowPassiveToActiveCyclePairs INIT(0); // pAllowPassiveToActive
uint8_t ClusterDriftDamping INIT(0);
uint8_t ClusterDriftDamping INIT(0); // pClusterDriftDamping
bool ChannelA INIT(false);
bool ChannelB INIT(false);
bool ChannelA INIT(false); // pChannels
bool ChannelB INIT(false); // pChannels
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);
uint8_t DecodingCorrectionMicroticks INIT(0); // pDecodingCorrection
uint8_t DelayCompensationAMicroticks INIT(0); // pDelayCompensation[A]
uint8_t DelayCompensationBMicroticks INIT(0); // pDelayCompensation[B]
uint8_t ExternOffsetCorrectionControl INIT(0); // pExternOffsetControl
uint8_t ExternRateCorrectionControl INIT(0); // pExternRateControl
uint8_t ExternOffsetCorrectionMicroticks INIT(0); // pExternOffsetCorrection
uint8_t ExternRateCorrectionMicroticks INIT(0); // pExternRateCorrection
uint16_t KeySlotID INIT(0);
@@ -154,39 +144,28 @@ public:
bool KeySlotUsedForStartup INIT(false); // pKeySlotUsedForStartup (TXST)
bool KeySlotUsedForSync INIT(false); // pKeySlotUsedForSync (TXSY)
uint16_t LatestTxMinislot INIT(0);
uint32_t ListenTimeout INIT(0);
uint16_t LatestTxMinislot INIT(0); // pLatestTx
uint32_t ListenTimeout INIT(0); // pdListenTimeout
uint8_t MacroInitialOffsetA INIT(0); // Valid 2..72
uint8_t MacroInitialOffsetB INIT(0); // Valid 2..72
uint8_t MacroInitialOffsetA INIT(0); // pMacroInitialOffset[A], Valid 2..72
uint8_t MacroInitialOffsetB INIT(0); // pMacroInitialOffset[B], Valid 2..72
uint32_t MaximumDynamicPayloadLengthWords INIT(0);
uint8_t MicroInitialOffsetA INIT(0); // pMicroInitialOffset[A], Valid 0..240
uint8_t MicroInitialOffsetB INIT(0); // pMicroInitialOffset[B], Valid 0..240
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);
uint32_t MicroPerCycle INIT(0); // pMicroPerCycle
bool MTSOnA INIT(false);
bool MTSOnB INIT(false);
bool NMVectorEarlyUpdate INIT(false);
bool UseNMVectorEarlyUpdate INIT(false);
uint16_t OffsetCorrectionOutMicroticks INIT(0);
uint16_t OffsetCorrectionOutMicroticks INIT(0); // pOffsetCorrectionOut
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);
bool WakeupOnChannelB INIT(false); // pWakeupChannel
#ifndef __cplusplus
} neoflexray_controller_config_t;
include/icsneo/device/extensions/flexray/extension.h
-1
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@@ -24,7 +24,6 @@ public:
void onGoOnline() override;
void onGoOffline() override;
void handleMessage(const std::shared_ptr<Message>& message) override;
bool transmitHook(const std::shared_ptr<Frame>& frame, bool& success) override;
std::shared_ptr<Controller> getController(uint8_t index) const {
include/icsneo/device/extensions/flexray/messagebuffer.h
+3 -3
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@@ -27,15 +27,15 @@ typedef struct {
bool isDynamic INIT(false);
bool isSync INIT(false); // Must be set if isStartup is set!
bool isStartup INIT(false);
bool isNMFrame INIT(false);
bool isNetworkManagementFrame INIT(false);
bool isTransmit INIT(false);
uint16_t frameID INIT(0);
uint16_t frameID INIT(0); // Frame/Slot ID
bool channelA INIT(false);
bool channelB INIT(false);
uint8_t frameLengthBytes INIT(0);
uint8_t baseCycle INIT(0);
uint8_t cycleRepetition INIT(0);
bool continuousMode INIT(false);
bool continuousMode INIT(false); // If false, mode is continuous mode
uint16_t _dataPointer INIT(0); // For internal use
uint16_t _id INIT(0); // For internal use