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Fixed FOME CAN data bus selection #275

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merged 2 commits into from
Oct 31, 2023
Merged

Fixed FOME CAN data bus selection #275

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f5e21b6
Fixed FOME CAN data bus selection
Krakert Oct 28, 2023
c99f386
Made canChannel non-optional
Krakert Oct 30, 2023
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18 changes: 10 additions & 8 deletions firmware/controllers/can/can_dash.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1293,14 +1293,16 @@ void canDashboardAim(CanCycle cycle) {
return;
}

transmitStruct<Aim5f0>(0x5f0, false);
transmitStruct<Aim5f1>(0x5f1, false);
transmitStruct<Aim5f2>(0x5f2, false);
transmitStruct<Aim5f3>(0x5f3, false);
transmitStruct<Aim5f4>(0x5f4, false);
transmitStruct<Aim5f5>(0x5f5, false);
transmitStruct<Aim5f6>(0x5f6, false);
transmitStruct<Aim5f7>(0x5f7, false);
auto canChannel = engineConfiguration->canBroadcastUseChannelTwo;
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Is not "canChannel" a less than ideal name for "use second channel"? also what if soon more than two buses would be supported? A few of stm32f7 have three CAN buses.

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@Krakert Krakert Oct 30, 2023 •
edited
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Now canBroadcastUseChannelTwo is a Bool, CAN 2 is a true / 1 so when more CAN buses are added we can switch to a int which keeps the logic the same.
0 -> CAN1
1 -> CAN2
2 -> CAN3

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@rusefillc rusefillc Oct 30, 2023 •
edited
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So why not "size_t busIndex = engineConfiguration->canBroadcastUseChannelTwo;" to keep the... technical debt most localized?

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yea, that was going to be my next comment, we should really be doing size_t busIndex = engineConfiguration->canBroadcastUseChannelTwo ? 1 : 0


transmitStruct<Aim5f0>(0x5f0, false, canChannel);
transmitStruct<Aim5f1>(0x5f1, false, canChannel);
transmitStruct<Aim5f2>(0x5f2, false, canChannel);
transmitStruct<Aim5f3>(0x5f3, false, canChannel);
transmitStruct<Aim5f4>(0x5f4, false, canChannel);
transmitStruct<Aim5f5>(0x5f5, false, canChannel);
transmitStruct<Aim5f6>(0x5f6, false, canChannel);
transmitStruct<Aim5f7>(0x5f7, false, canChannel);

// there are more, but less important for us
// transmitStruct<Aim5f8>(0x5f8, false);
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23 changes: 12 additions & 11 deletions firmware/controllers/can/can_verbose.cpp
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Expand Up @@ -216,17 +216,18 @@ static void populateFrame(Odometry& msg) {
void sendCanVerbose() {
auto base = engineConfiguration->verboseCanBaseAddress;
auto isExt = engineConfiguration->rusefiVerbose29b;

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omg the tabs! 😆

transmitStruct<Status> (base + 0, isExt);
transmitStruct<Speeds> (base + 1, isExt);
transmitStruct<PedalAndTps> (base + CAN_PEDAL_TPS_OFFSET, isExt);
transmitStruct<Sensors1> (base + CAN_SENSOR_1_OFFSET, isExt);
transmitStruct<Sensors2> (base + 4, isExt);
transmitStruct<Fueling> (base + 5, isExt);
transmitStruct<Fueling2> (base + 6, isExt);
transmitStruct<Fueling3> (base + 7, isExt);
transmitStruct<Cams> (base + 8, isExt);
transmitStruct<Odometry> (base + 9, isExt);
auto canChannel = engineConfiguration->canBroadcastUseChannelTwo;

transmitStruct<Status> (base + 0, isExt, canChannel);
transmitStruct<Speeds> (base + 1, isExt, canChannel);
transmitStruct<PedalAndTps> (base + CAN_PEDAL_TPS_OFFSET, isExt, canChannel);
transmitStruct<Sensors1> (base + CAN_SENSOR_1_OFFSET, isExt, canChannel);
transmitStruct<Sensors2> (base + 4, isExt, canChannel);
transmitStruct<Fueling> (base + 5, isExt, canChannel);
transmitStruct<Fueling2> (base + 6, isExt, canChannel);
transmitStruct<Fueling3> (base + 7, isExt, canChannel);
transmitStruct<Cams> (base + 8, isExt, canChannel);
transmitStruct<Odometry> (base + 9, isExt, canChannel);
}

#endif // EFI_CAN_SUPPORT
6 changes: 3 additions & 3 deletions firmware/hw_layer/drivers/can/can_msg_tx.h
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Expand Up @@ -91,7 +91,7 @@ class CanTxTyped final : public CanTxMessage
#endif // EFI_CAN_SUPPORT

public:
explicit CanTxTyped(uint32_t id, bool isExtended) : CanTxMessage(id, sizeof(TData), isExtended) { }
explicit CanTxTyped(uint32_t id, bool isExtended, bool canChannel) : CanTxMessage(id, sizeof(TData), canChannel, isExtended) { }
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bool to size_t conversion heh?


#if EFI_CAN_SUPPORT
/**
Expand All @@ -112,9 +112,9 @@ class CanTxTyped final : public CanTxMessage
};

template <typename TData>
void transmitStruct(uint32_t id, bool isExtended)
void transmitStruct(uint32_t id, bool isExtended, bool canChannel)
{
CanTxTyped<TData> frame(id, isExtended);
CanTxTyped<TData> frame(id, isExtended, canChannel);
// Destruction of an instance of CanTxMessage will transmit the message over the wire.
// see CanTxMessage::~CanTxMessage()
populateFrame(frame.get());
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