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LAWICEL CAN-FD support, CAN-FD data rate selection

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This commit is contained in:
maciek16c
2023-11-22 14:39:36 +01:00
parent 7fef6eb49f
commit 190d51ae90
23 changed files with 354 additions and 118 deletions
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connections/lawicel_serial.cpp
+207 -41
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@@ -9,8 +9,8 @@
#include "lawicel_serial.h"
#include "utility.h"
LAWICELSerial::LAWICELSerial(QString portName, int serialSpeed, int lawicelSpeed) :
CANConnection(portName, "LAWICEL", CANCon::LAWICEL,serialSpeed, lawicelSpeed, 3, 4000, true),
LAWICELSerial::LAWICELSerial(QString portName, int serialSpeed, int lawicelSpeed, bool canFd, int dataRate) :
CANConnection(portName, "LAWICEL", CANCon::LAWICEL,serialSpeed, lawicelSpeed, canFd, dataRate, 3, 4000, true),
mTimer(this) /*NB: set this as parent of timer to manage it from working thread */
{
sendDebug("LAWICELSerial()");
@@ -154,13 +154,31 @@ bool LAWICELSerial::piSendFrame(const CANFrame& frame)
int idx = 0;
QString buildStr;
if (frame.hasExtendedFrameFormat())
{
buildStr = QString::asprintf("T%08X%u", ID, frame.payload().length());
if(frame.hasFlexibleDataRateFormat()){
if (frame.hasExtendedFrameFormat())
{
if (frame.hasBitrateSwitch())
buildStr = QString::asprintf("B%08X%u", ID, LAWICELSerial::bytes_to_dlc_code(frame.payload().length()));
else
buildStr = QString::asprintf("D%08X%u", ID, LAWICELSerial::bytes_to_dlc_code(frame.payload().length()));
}
else
{
if (frame.hasBitrateSwitch())
buildStr = QString::asprintf("b%03X%u", ID, LAWICELSerial::bytes_to_dlc_code(frame.payload().length()));
else
buildStr = QString::asprintf("d%03X%u", ID, LAWICELSerial::bytes_to_dlc_code(frame.payload().length()));
}
}
else
{
buildStr = QString::asprintf("t%03X%u", ID, frame.payload().length());
else {
if (frame.hasExtendedFrameFormat())
{
buildStr = QString::asprintf("T%08X%u", ID, frame.payload().length());
}
else
{
buildStr = QString::asprintf("t%03X%u", ID, frame.payload().length());
}
}
foreach (QChar chr, buildStr)
{
@@ -245,44 +263,71 @@ void LAWICELSerial::deviceConnected()
output.clear();
output.append('S'); //configure speed of bus
switch (this->mBusData[0].mBus.getSpeed())
{
case 10000:
output.append('0');
break;
case 20000:
output.append('1');
break;
case 50000:
output.append('2');
break;
case 100000:
output.append('3');
break;
case 125000:
output.append('4');
break;
case 250000:
output.append('5');
break;
case 500000:
output.append('6');
break;
case 800000:
output.append('7');
break;
case 1000000:
output.append('8');
break;
default:
output.append('6');
break;
}
switch (this->mBusData[0].mBus.getSpeed())
{
case 10000:
output.append('0');
break;
case 20000:
output.append('1');
break;
case 50000:
output.append('2');
break;
case 100000:
output.append('3');
break;
case 125000:
output.append('4');
break;
case 250000:
output.append('5');
break;
case 500000:
output.append('6');
break;
case 800000:
output.append('7');
break;
case 1000000:
output.append('8');
break;
default:
output.append('6');
break;
}
output.append('\x0D');
sendToSerial(output);
output.clear();
if (this->canFd){
switch (this->dataRate)
{
case 1000000:
output.append("Y1");
break;
case 2000000:
output.append("Y2");
break;
case 4000000:
output.append("Y4");
break;
case 5000000:
output.append("Y5");
break;
default:
output.append("Y2");
break;
}
output.append('\x0D');
sendToSerial(output);
output.clear();
}
output.append('O'); //open bus now that we set the speed
output.append(13);
@@ -445,6 +490,8 @@ void LAWICELSerial::readSerialData()
if (c == 13) //all lawicel commands end in CR
{
qDebug() << "Got CR!";
buildFrame.setTimeStamp(QDateTime::currentMSecsSinceEpoch() * 1000l);
switch (mBuildLine[0].toLatin1())
{
case 't': //standard frame
@@ -502,6 +549,68 @@ void LAWICELSerial::readSerialData()
qDebug() << "can't get a frame, ERROR";
}
break;
case 'b':
buildFrame.setBitrateSwitch(true); //BRS enabled
case 'd': //standard fd frame, BRS disabled
//tIIILDD
buildFrame.setFlexibleDataRateFormat(true);
buildFrame.setFrameId(mBuildLine.mid(1, 3).toInt(nullptr, 16));
buildFrame.isReceived = true;
buildFrame.setFrameType(QCanBusFrame::FrameType::DataFrame);
buildData.resize(LAWICELSerial::dlc_code_to_bytes(mBuildLine.mid(4, 1).toInt(nullptr, 16)));
for (int c = 0; c < buildData.size(); c++)
{
buildData[c] = mBuildLine.mid(5 + (c*2), 2).toInt(nullptr, 16);
}
buildFrame.setPayload(buildData);
if (!isCapSuspended())
{
/* get frame from queue */
CANFrame* frame_p = getQueue().get();
if(frame_p) {
//qDebug() << "Lawicel got frame on bus " << frame_p->bus;
/* copy frame */
*frame_p = buildFrame;
checkTargettedFrame(buildFrame);
/* enqueue frame */
getQueue().queue();
}
else
qDebug() << "can't get a frame, ERROR";
}
break;
case 'B':
buildFrame.setBitrateSwitch(true); //BRS enabled
case 'D': //extended fd frame
//TIIIIIIIILDD.
buildFrame.setFlexibleDataRateFormat(true);
buildFrame.setBitrateSwitch(true);
buildFrame.setFrameId(mBuildLine.mid(1, 8).toInt(nullptr, 16));
buildFrame.isReceived = true;
buildFrame.setFrameType(QCanBusFrame::FrameType::DataFrame);
buildFrame.setExtendedFrameFormat(true);
buildData.resize(LAWICELSerial::dlc_code_to_bytes(mBuildLine.mid(4, 1).toInt(nullptr, 16)));
for (int c = 0; c < buildData.size(); c++)
{
buildData[c] = mBuildLine.mid(10 + (c*2), 2).toInt(nullptr, 16);
}
buildFrame.setPayload(buildData);
if (!isCapSuspended())
{
/* get frame from queue */
CANFrame* frame_p = getQueue().get();
if(frame_p) {
//qDebug() << "Lawicel got frame on bus " << frame_p->bus;
/* copy frame */
*frame_p = buildFrame;
checkTargettedFrame(buildFrame);
/* enqueue frame */
getQueue().queue();
}
else
qDebug() << "can't get a frame, ERROR";
}
break;
}
mBuildLine.clear();
}
@@ -520,3 +629,60 @@ void LAWICELSerial::handleTick()
//qDebug() << "Tick!";
}
// Convert a FDCAN_data_length_code to number of bytes in a message
uint8_t LAWICELSerial::dlc_code_to_bytes(int dlc_code)
{
if (dlc_code<=8)
return dlc_code;
else{
switch(dlc_code)
{
case 9:
return 12;
case 10:
return 16;
case 11:
return 20;
case 12:
return 24;
case 13:
return 32;
case 14:
return 48;
case 15:
return 64;
default:
return 0;
}
}
}
uint8_t LAWICELSerial::bytes_to_dlc_code(uint8_t bytes)
{
if (bytes<=8)
return bytes;
else{
switch(bytes)
{
case 12:
return 9;
case 16:
return 10;
case 20:
return 11;
case 24:
return 12;
case 32:
return 13;
case 48:
return 14;
case 64:
return 15;
default:
return 0;
}
}
}