cal: verify signal encoding after writing

1 files changed, 71 insertions, 7 deletions

diff --git a/sw/cal/table.go b/sw/cal/table.go
index 20d21d0..610448a 100644
--- a/sw/cal/table.go
+++ b/sw/cal/table.go
@@ -1,28 +1,92 @@
 package main
 
 import (
+	"cmp"
+	"context"
+	bin "encoding/binary"
 	"fmt"
 	"slices"
+	"time"
+
+	"go.einride.tech/can"
+
+	"git.samanthony.xyz/can_gauge_interface/sw/cal/canbus"
 )
 
-const tabRows = 32
+const (
+	tblCtrlId  uint32 = 0x1272000
+	maxTabRows        = 32
+)
 
 type Table struct {
-	keys []int32
-	vals []uint16
+	sigIndex uint8
+	rows     []Row
+}
+
+type Row struct {
+	key int32
+	val uint16
 }
 
 func (t *Table) Insert(key int32, val uint16) error {
-	if len(t.keys) >= tabRows {
+	if len(t.rows) >= maxTabRows {
 		return fmt.Errorf("too many rows")
 	}
 
-	i, ok := slices.BinarySearch(t.keys, key)
+	i, ok := slices.BinarySearchFunc(t.rows, key, cmpRowKey)
 	if ok {
 		return ErrDupKey{key}
 	}
-	t.keys = slices.Insert(t.keys, i, key)
-	t.vals = slices.Insert(t.vals, i, val)
+	t.rows = slices.Insert(t.rows, i, Row{key, val})
+
+	return nil
+}
+
+func cmpRowKey(row Row, key int32) int {
+	return cmp.Compare(row.key, key)
+}
+
+// Transmit a table in Table Control frames so the Interface can store it in its EEPROM.
+func (tbl Table) Send(bus canbus.Bus) error {
+	// Send populated rows
+	var i int
+	for i = 0; i < len(tbl.rows); i++ {
+		if err := sendRow(tbl.sigIndex, uint8(i), tbl.rows[i], bus); err != nil {
+			return err
+		}
+		time.Sleep(eepromWriteDelay)
+	}
+
+	// Fill rest of table with last row
+	lastRow := tbl.rows[len(tbl.rows)-1]
+	for ; i < maxTabRows; i++ {
+		if err := sendRow(tbl.sigIndex, uint8(i), lastRow, bus); err != nil {
+			return err
+		}
+		time.Sleep(eepromWriteDelay)
+	}
 
 	return nil
 }
+
+// Transmit a Table Control frame containing one row of a table.
+func sendRow(sigIndex, rowIndex uint8, row Row, bus canbus.Bus) error {
+	// Serialize DATA FIELD
+	var data [8]byte
+	if _, err := bin.Encode(data[0:4], bin.BigEndian, row.key); err != nil {
+		return err
+	}
+	if _, err := bin.Encode(data[4:6], bin.BigEndian, row.val); err != nil {
+		return err
+	}
+
+	// Construct ID and send frame
+	frame := can.Frame{
+		ID:         uint32(tblCtrlId) | uint32((sigIndex<<5)&0xE0) | uint32(rowIndex&0x1F),
+		Length:     6,
+		Data:       data,
+		IsExtended: true,
+	}
+	ctx, _ := context.WithTimeout(context.Background(), timeout)
+	return bus.Send(ctx, frame)
+}