cal: transmit table to CAN bus

1 files changed, 19 insertions, 2 deletions

diff --git a/sw/cal/main.go b/sw/cal/main.go
index a6e4b1d..c2b7209 100644
--- a/sw/cal/main.go
+++ b/sw/cal/main.go
@@ -6,6 +6,7 @@ import (
 	"os"
 
 	"go.einride.tech/can/pkg/dbc"
+	"go.einride.tech/can/pkg/socketcan"
 )
 
 const dev = "can0"
@@ -20,6 +21,10 @@ var (
 	dbcFilenameFlag = "dbc"
 	dbcFilename     = flag.String(dbcFilenameFlag, "", "DBC file name")
 
+	// SocketCAN device
+	canDevFlag = "can"
+	canDev     = flag.String(canDevFlag, "can0", "SocketCAN device")
+
 	// Signal names
 	tachSigFlag  = "tachSig"
 	speedSigFlag = "speedSig"
@@ -70,13 +75,25 @@ func main() {
 		eprintf("%v\n", err)
 	}
 
-	// Parse calibration tables
-	for _, filename := range tblFilenames {
+	// Open CAN connection
+	conn, err := socketcan.Dial("can", *canDev)
+	if err != nil {
+		eprintf("%v\n", err)
+	}
+	defer conn.Close()
+	tx := socketcan.NewTransmitter(conn)
+
+	// Write calibration tables to EEPROM
+	for k, filename := range tblFilenames {
 		fmt.Println("Parsing", filename)
 		tbl, err := parseTable(filename)
 		if err != nil {
 			eprintf("%v\n", err)
 		}
+
+		if err := writeTable(tx, tbl, k); err != nil {
+			eprintf("%v\n", err)
+		}
 	}
 
 	fmt.Println(sigDefs)