1 files changed, 0 insertions, 138 deletions
diff --git a/sw/cal/can.go b/sw/cal/can.go
deleted file mode 100644
index 7869687..0000000
--- a/sw/cal/can.go
+++ /dev/null
@@ -1,138 +0,0 @@
-package main
-
-import (
-	"context"
-	bin "encoding/binary"
-	"fmt"
-	"math"
-	"strings"
-	"time"
-
-	"go.einride.tech/can"
-	"go.einride.tech/can/pkg/socketcan"
-)
-
-const (
-	tblCtrlId uint32 = 0x1272000
-	sigCtrlId uint32 = 0x1272100
-
-	stdMask = 0x7FF
-	extMask = 0x1FFFFFFF
-
-	timeout          = 1 * time.Second
-	eepromWriteDelay = 5 * time.Millisecond
-)
-
-// Transmit a signal's encoding in a Signal Control frame so the Interface can store it in its EEPROM.
-func sendEncoding(def SignalDef, sig int, tx *socketcan.Transmitter) error {
-	// Serialize DATA FIELD
-	var data [8]byte
-	if err := serializeEncodingData(def, &data); err != nil {
-		return err
-	}
-	fmt.Println(data)
-
-	// Construct ID and send frame
-	frame := can.Frame{
-		ID:         sigCtrlId | uint32(sig&0xF),
-		Length:     7,
-		Data:       data,
-		IsExtended: true,
-	}
-	ctx, _ := context.WithTimeout(context.Background(), timeout)
-	return transmit(tx, frame, ctx)
-}
-
-// Serialize the DATA FIELD of a Signal Control frame.
-func serializeEncodingData(def SignalDef, data *[8]byte) error {
-	// SigId field
-	if _, err := bin.Encode(data[0:4], bin.BigEndian, uint32(def.id)&extMask); err != nil {
-		return err
-	}
-	if def.id.IsExtended() {
-		data[0] |= 0x80 // EXIDE
-	}
-
-	// Start field
-	if def.start > math.MaxUint8 {
-		return fmt.Errorf("%s: start bit out of range: %d>%d", def.name, def.start, math.MaxUint8)
-	}
-	data[4] = uint8(def.start)
-
-	// Size field
-	if def.size > math.MaxUint8 {
-		return fmt.Errorf("%s: size out of range: %d>%d", def.name, def.size, math.MaxUint8)
-	}
-	data[5] = uint8(def.size)
-
-	// Order and sign flag bits
-	if !def.isBigEndian {
-		data[6] |= 0x80
-	}
-	if def.isSigned {
-		data[6] |= 0x40
-	}
-
-	fmt.Println(data)
-
-	return nil
-}
-
-// Transmit a table in Table Control frames so the Interface can store it in its EEPROM.
-func sendTable(tx *socketcan.Transmitter, tbl Table, sig int) error {
-	// Send populated rows
-	var i int
-	for i = 0; i < len(tbl.keys); i++ {
-		err := sendRow(tx, tbl.keys[i], tbl.vals[i], sig, i)
-		if err != nil {
-			return err
-		}
-	}
-
-	// Fill rest of table with last row
-	for ; i < tabRows; i++ {
-		err := sendRow(tx, tbl.keys[len(tbl.keys)-1], tbl.vals[len(tbl.keys)-1], sig, i)
-		if err != nil {
-			return err
-		}
-		time.Sleep(eepromWriteDelay)
-	}
-
-	return nil
-}
-
-// Transmit a Table Control frame containing one row of a table.
-func sendRow(tx *socketcan.Transmitter, key int32, val uint16, sig int, row int) error {
-	// Serialize DATA FIELD
-	var data [8]byte
-	if _, err := bin.Encode(data[0:4], bin.BigEndian, key); err != nil {
-		return err
-	}
-	if _, err := bin.Encode(data[4:6], bin.BigEndian, val); err != nil {
-		return err
-	}
-
-	// Construct ID and send frame
-	frame := can.Frame{
-		ID:         uint32(tblCtrlId) | uint32((sig<<5)&0xE0) | uint32(row&0x1F),
-		Length:     6,
-		Data:       data,
-		IsExtended: true,
-	}
-	ctx, _ := context.WithTimeout(context.Background(), timeout)
-	return transmit(tx, frame, ctx)
-}
-
-// Transmit a CAN frame to the bus, retrying if the buffer is full.
-func transmit(tx *socketcan.Transmitter, frame can.Frame, ctx context.Context) error {
-	for {
-		err := tx.TransmitFrame(ctx, frame)
-		if err == nil {
-			return nil // success
-		} else if strings.HasSuffix(err.Error(), "no buffer space available") {
-			continue // retry
-		} else {
-			return err // error, abort
-		}
-	}
-}