can_tx.cpp

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/**
 * @file    can_tx.cpp
 *
 * CAN transmission handling.  This file handles the dispatch of various outgoing regularly scheduled CAN message types.
 *
 * @date Mar 19, 2020
 * @author Matthew Kennedy, (c) 2020
 */
 
#include "pch.h"
 
#if EFI_CAN_SUPPORT
#include "can.h"
#include "can_hw.h"
#include "can_dash.h"
#include "obd2.h"
#include "can_sensor.h"
#include "can_bench_test.h"
#include "rusefi_wideband.h"
 
extern CanListener* canListeners_head;
 
 
CanWrite::CanWrite()
    : PeriodicController("CAN TX", PRIO_CAN_TX, CAN_CYCLE_FREQ)
{
}
 
static CI roundTxPeriodToCycle(uint16_t period) {
    if (period < 10) return CI::_5ms;
    else if (period < 20) return CI::_10ms;
    else if (period < 50) return CI::_20ms;
    else if (period < 100) return CI::_50ms;
    else if (period < 200) return CI::_100ms;
    else if (period < 250) return CI::_200ms;
    else if (period < 500) return CI::_250ms;
    else if (period < 1000) return CI::_500ms;
    else return CI::_1000ms;
}
 
PUBLIC_API_WEAK bool boardEnableSendWidebandInfo() { return true; }
 
static uint16_t m_cycleCount = 0;
 
/* public API for custom boards */ void resetCanWriteCycle() {
  m_cycleCount = 0;
}
 
// this is invoked at CAN_CYCLE_FREQ frequency
void CanWrite::PeriodicTask(efitick_t) {
    ScopePerf pc(PE::CanThreadTx);
    CanCycle cycle(m_cycleCount);
 
    //in case we have Verbose Can enabled, we should keep user configured period
    if (engineConfiguration->enableVerboseCanTx) {
      // slow down verbose CAN while in serial CAN
    int canSleepPeriodMs = (engine->pauseCANdueToSerial ? 5 : 1) * engineConfiguration->canSleepPeriodMs;
 
        auto roundedInterval = roundTxPeriodToCycle(canSleepPeriodMs);
        if (cycle.isInterval(roundedInterval)) {
                void sendCanVerbose();
                sendCanVerbose();
        }
    }
 
    CanListener* current = canListeners_head;
 
    while (current) {
        current = current->request();
    }
 
    if (cycle.isInterval(CI::_MAX_Cycle)) {
        //we now reset cycleCount since we reached max cycle count
        m_cycleCount = 0;
    }
 
    updateDash(cycle);
 
  if (engineConfiguration->enableExtendedCanBroadcast || isHwQcMode()) {
      if (cycle.isInterval(CI::_100ms)) {
        sendQcBenchEventCounters();
        sendQcBenchRawAnalogValues();
#ifdef HW_HELLEN_8CHAN
        sendQcBenchEventCounters(/*bus*/1);
        sendQcBenchRawAnalogValues(/*bus*/1);
#endif
      }
 
      if (cycle.isInterval(CI::_250ms)) {
          sendQcBenchBoardStatus();
#ifdef HW_HELLEN_8CHAN
          sendQcBenchBoardStatus(/*bus*/1);
#endif
          sendQcBenchButtonCounters();
          sendQcBenchAuxDigitalCounters();
      }
    }
 
    if (engineConfiguration->enableAemXSeries && cycle.isInterval(CI::_50ms) && boardEnableSendWidebandInfo()) {
        sendWidebandInfo();
    }
 
    m_cycleCount++;
}
 
CanInterval CanCycle::computeFlags(uint32_t cycleCount) {
    CanInterval cycleMask = CanInterval::_5ms;
 
    if ((cycleCount % 2) == 0) {
        cycleMask |= CI::_10ms;
    }
 
    if ((cycleCount % 4) == 0) {
        cycleMask |= CI::_20ms;
    }
 
    if ((cycleCount % 10) == 0) {
        cycleMask |= CI::_50ms;
    }
 
    if ((cycleCount % 20) == 0) {
        cycleMask |= CI::_100ms;
    }
 
    if ((cycleCount % 40) == 0) {
        cycleMask |= CI::_200ms;
    }
 
    if ((cycleCount % 50) == 0) {
        cycleMask |= CI::_250ms;
    }
 
    if ((cycleCount % 100) == 0) {
        cycleMask |= CI::_500ms;
    }
 
    if ((cycleCount % 200) == 0) {
        cycleMask |= CI::_1000ms;
    }
 
    return cycleMask;
}
 
#endif // EFI_CAN_SUPPORT