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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/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;