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C2: Add LIN message support

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This commit is contained in:
David Rebbe
2026-04-15 15:50:33 -04:00
committed by Kyle Schwarz
parent 6dc005fcea
commit f5f6d0828b
11 changed files with 1199 additions and 12 deletions
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communication/message/transmitmessage.cpp
+67 -4
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@@ -102,10 +102,71 @@ static std::vector<uint8_t> EncodeFromMessageCAN(std::shared_ptr<Frame> frame, c
return encoded;
}
static std::vector<uint8_t> EncodeFromMessageLIN(std::shared_ptr<Frame> /* frame */, const device_eventhandler_t& report) {
// TODO
report(APIEvent::Type::UnsupportedTXNetwork, APIEvent::Severity::Error);
return {};
static std::vector<uint8_t> EncodeFromMessageLIN(std::shared_ptr<Frame> frame, const device_eventhandler_t& report) {
auto linmsg = std::dynamic_pointer_cast<LINMessage>(frame);
if(!linmsg) {
report(APIEvent::Type::MessageFormattingError, APIEvent::Severity::Error);
return {};
}
if(linmsg->linMsgType == LINMessage::Type::NOT_SET) {
report(APIEvent::Type::RequiredParameterNull, APIEvent::Severity::Error);
return {};
}
size_t dataLen = std::min<size_t>(8, linmsg->data.size());
std::vector<uint8_t> encoded;
encoded.resize(sizeof(TransmitMessage));
TransmitMessage* const msg = (TransmitMessage*)encoded.data();
HardwareLINPacket* const linpacket = (HardwareLINPacket*)(msg->commonHeader);
memset(linpacket, 0, sizeof(HardwareLINPacket));
// Protected ID and ID
linmsg->protectedID = linmsg->calcProtectedID(linmsg->ID);
linpacket->CoreMiniBitsLIN.ID = linmsg->protectedID & 0x3F;
// LIN message type flags
switch(linmsg->linMsgType) {
case LINMessage::Type::LIN_COMMANDER_MSG:
linpacket->CoreMiniBitsLIN.TXCommander = 1;
break;
case LINMessage::Type::LIN_HEADER_ONLY:
linpacket->CoreMiniBitsLIN.TXCommander = 1;
break;
case LINMessage::Type::LIN_UPDATE_RESPONDER:
linpacket->CoreMiniBitsLIN.TXResponder = 1;
break;
case LINMessage::Type::LIN_BREAK_ONLY:
linpacket->CoreMiniBitsLIN.BreakOnly = 1;
break;
default:
break;
}
// Enhanced checksum
linpacket->CoreMiniBitsLIN.TxChkSumEnhanced = linmsg->isEnhancedChecksum ? 1 : 0;
// Data and checksum
bool hasData = (linmsg->linMsgType == LINMessage::Type::LIN_COMMANDER_MSG ||
linmsg->linMsgType == LINMessage::Type::LIN_UPDATE_RESPONDER) && dataLen > 0;
if(hasData) {
// len includes data bytes + 1 checksum byte
linpacket->CoreMiniBitsLIN.len = static_cast<uint16_t>(dataLen + 1);
std::copy(linmsg->data.begin(), linmsg->data.begin() + dataLen, linpacket->data);
// Checksum goes after data: in data[dataLen] if < 8, otherwise in LINByte9
if(dataLen < 8)
linpacket->data[dataLen] = linmsg->checksum;
else
linpacket->CoreMiniBitsLIN.LINByte9 = linmsg->checksum;
} else {
linpacket->CoreMiniBitsLIN.len = 0;
}
// Description/stats and network
linpacket->stats = linmsg->description;
return encoded;
}
std::vector<uint8_t> TransmitMessage::EncodeFromMessage(std::shared_ptr<Frame> frame, uint32_t client_id, const device_eventhandler_t& report) {
@@ -127,6 +188,8 @@ std::vector<uint8_t> TransmitMessage::EncodeFromMessage(std::shared_ptr<Frame> f
return result;
}
// common fields
if(result.empty())
return result;
TransmitMessage* const msg = (TransmitMessage*)result.data();
msg->options.clientId = client_id;
msg->options.networkId = static_cast<uint32_t>(frame->network.getNetID());