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Further work to get more buses working on the GVRET/M2RET devices

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This commit is contained in:
Collin Kidder
2017-10-22 20:15:18 -04:00
parent 62c70374ab
commit ac976643f4
11 changed files with 168 additions and 80 deletions
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connections/gvretserial.cpp
+105 -8
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@@ -232,6 +232,10 @@ void GVRetSerial::connectDevice()
output.append((char)0xE7); //this puts the device into binary comm mode
output.append((char)0xE7);
output.append((char)0xF1);
output.append((char)0x0C); //get number of actually implemented buses. Not implemented except on M2RET
mNumBuses = 2; //the proper number if C/12 is not implemented
output.append((char)0xF1); //signal we want to issue a command
output.append((char)0x06); //request canbus stats from the board
@@ -249,15 +253,11 @@ void GVRetSerial::connectDevice()
output.append((char)0xFF); //signal we don't want single wire mode
}*/
output.append((char)0xF1); //yet another command
output.append((char)0x09); //comm validation command
output.append((char)0xF1); //and another command
output.append((char)0x01); //Time Sync - Not implemented until 333 but we can try
output.append((char)0xF1);
output.append((char)0x12); //get number of actually implemented buses. Not implemented except on M2RET
mNumBuses = 2; //the proper number if 0x12 is not implemented
output.append((char)0xF1); //yet another command
output.append((char)0x09); //comm validation command
continuousTimeSync = true;
@@ -274,7 +274,10 @@ void GVRetSerial::connectDevice()
}
else {
setStatus(CANCon::CONNECTED);
emit status(getStatus());
CANConStatus stats;
stats.conStatus = getStatus();
stats.numHardwareBuses = mNumBuses;
emit status(stats);
}
/* connect reading event */
@@ -336,6 +339,10 @@ void GVRetSerial::debugInput(QByteArray bytes) {
void GVRetSerial::procRXChar(unsigned char c)
{
CANConStatus stats;
int oldBuses;
QByteArray output;
switch (rx_state)
{
case IDLE:
@@ -380,6 +387,12 @@ void GVRetSerial::procRXChar(unsigned char c)
break;
case 12:
rx_state = GET_NUM_BUSES;
qDebug() << "Got num buses reply";
rx_step = 0;
break;
case 13:
rx_state = GET_EXT_BUSES;
qDebug() << "Got extended buses info reply";
rx_step = 0;
break;
}
@@ -545,6 +558,8 @@ void GVRetSerial::procRXChar(unsigned char c)
rx_state = IDLE;
qDebug() << "Baud 0 = " << can0Baud;
qDebug() << "Baud 1 = " << can1Baud;
mBusData[0].mBus.setSpeed(can0Baud);
mBusData[1].mBus.setSpeed(can1Baud);
can0Baud |= 0x80000000;
if (can0Enabled) can0Baud |= 0x40000000;
@@ -556,7 +571,9 @@ void GVRetSerial::procRXChar(unsigned char c)
if (deviceSingleWireMode > 0) can1Baud |= 0x10000000;
setStatus(CANCon::CONNECTED);
emit status(getStatus());
stats.conStatus = getStatus();
stats.numHardwareBuses = mNumBuses;
emit status(stats);
int can0Status = 0x78; //updating everything we can update
int can1Status = 0x78;
@@ -606,8 +623,88 @@ void GVRetSerial::procRXChar(unsigned char c)
rx_state = IDLE;
break;
case GET_NUM_BUSES:
oldBuses = mNumBuses;
mNumBuses = c;
rx_state = IDLE;
qDebug() << "Get number of buses = " << mNumBuses;
stats.conStatus = getStatus();
stats.numHardwareBuses = mNumBuses;
mBusData.resize(mNumBuses);
if (mNumBuses > oldBuses)
{
for (int i = oldBuses; i < mNumBuses; i++)
{
mBusData[i].mConfigured = true;
mBusData[i].mBus = mBusData[0].mBus;
}
}
output.append((char)0xF1); //start a new command
output.append((char)13); //get extended buses
serial->write(output);
emit status(stats);
break;
case GET_EXT_BUSES:
switch (rx_step)
{
case 0:
swcanEnabled = (c & 0xF);
swcanListenOnly = (c >> 4);
break;
case 1:
swcanBaud = c;
break;
case 2:
swcanBaud |= c << 8;
break;
case 3:
swcanBaud |= c << 16;
break;
case 4:
swcanBaud |= c << 24;
break;
case 5:
lin1Enabled = (c & 0xF);
break;
case 6:
lin1Baud = c;
break;
case 7:
lin1Baud |= c << 8;
break;
case 8:
lin1Baud |= c << 16;
break;
case 9:
lin1Baud |= c << 24;
case 10:
lin2Enabled = (c & 0xF);
break;
case 11:
lin2Baud = c;
break;
case 12:
lin2Baud |= c << 8;
break;
case 13:
lin2Baud |= c << 16;
break;
case 14:
lin2Baud |= c << 24;
rx_state = IDLE;
qDebug() << "SWCAN Baud = " << swcanBaud;
qDebug() << "LIN1 Baud = " << lin1Baud;
qDebug() << "LIN2 Baud = " << lin2Baud;
mBusData[2].mBus.setSpeed(swcanBaud);
setStatus(CANCon::CONNECTED);
stats.conStatus = getStatus();
stats.numHardwareBuses = mNumBuses;
emit status(stats);
break;
}
rx_step++;
break;
}
}