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-rw-r--r--sw/cal/can.go138
-rw-r--r--sw/cal/signal.go5
-rw-r--r--sw/cal/table.go93
3 files changed, 82 insertions, 154 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
- }
- }
-}
diff --git a/sw/cal/signal.go b/sw/cal/signal.go
index 6591c50..446afb7 100644
--- a/sw/cal/signal.go
+++ b/sw/cal/signal.go
@@ -13,8 +13,8 @@ import (
)
const (
- sigCtrlId = 0x1272100
- sigCtrlMask = 0x1FFFF00
+ sigCtrlId uint32 = 0x1272100
+ sigCtrlMask uint32 = 0x1FFFF00
exide = 1 << 31
)
@@ -78,7 +78,6 @@ func (sig SignalDef) SendEncoding(bus canbus.Bus) error {
var rsig SignalDef
err = rsig.UnmarshalFrame(reply)
if err == errWrongId {
- fmt.Println("Wrong ID", reply, "; expected", sigCtrlId)
continue
} else if err != nil {
return err
diff --git a/sw/cal/table.go b/sw/cal/table.go
index 610448a..7d63d8d 100644
--- a/sw/cal/table.go
+++ b/sw/cal/table.go
@@ -6,7 +6,6 @@ import (
bin "encoding/binary"
"fmt"
"slices"
- "time"
"go.einride.tech/can"
@@ -14,8 +13,10 @@ import (
)
const (
- tblCtrlId uint32 = 0x1272000
- maxTabRows = 32
+ tblCtrlId uint32 = 0x1272000
+ tblCtrlMask uint32 = 0x1FFFF00
+
+ maxTabRows = 32
)
type Table struct {
@@ -54,7 +55,6 @@ func (tbl Table) Send(bus canbus.Bus) error {
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
@@ -63,7 +63,6 @@ func (tbl Table) Send(bus canbus.Bus) error {
if err := sendRow(tbl.sigIndex, uint8(i), lastRow, bus); err != nil {
return err
}
- time.Sleep(eepromWriteDelay)
}
return nil
@@ -71,22 +70,90 @@ func (tbl Table) Send(bus canbus.Bus) error {
// 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
+ frame, err := marshalTblCtrlFrame(sigIndex, rowIndex, row)
+ if err != nil {
+ return err
+ }
+
+ var retry int
+ for retry = 0; retry < maxRetries; retry++ {
+ // Write to EEPROM
+ ctx, _ := context.WithTimeout(context.Background(), timeout)
+ if err := bus.Send(ctx, frame); err != nil {
+ return err
+ }
+
+ // Read back
+ request := tblCtrlRequest(sigIndex, rowIndex)
+ ctx, _ = context.WithTimeout(context.Background(), timeout)
+ if err := bus.Send(ctx, request); err != nil {
+ return err
+ }
+ ctx, _ = context.WithTimeout(context.Background(), timeout)
+ reply, err := bus.Receive(ctx)
+ if err != nil {
+ return err
+ }
+ rRow, rSigIndex, rRowIndex, err := unmarshalTblCtrlFrame(reply)
+ if err == errWrongId || rSigIndex != sigIndex || rRowIndex != rowIndex {
+ continue
+ } else if err != nil {
+ return err
+ }
+
+ // Verify
+ if rRow == row {
+ fmt.Printf("Table %d row %d OK\n", sigIndex, rowIndex)
+ return nil // success
+ } else {
+ weprintf("Warning: table %d row %d verification failed; rewriting...\n", sigIndex, rowIndex)
+ continue
+ }
+ }
+ // Max retries exceeded
+ return fmt.Errorf("table %d row %d verification failed", sigIndex, rowIndex)
+}
+
+func marshalTblCtrlFrame(sigIndex, rowIndex uint8, row Row) (can.Frame, error) {
var data [8]byte
if _, err := bin.Encode(data[0:4], bin.BigEndian, row.key); err != nil {
- return err
+ return can.Frame{}, err
}
if _, err := bin.Encode(data[4:6], bin.BigEndian, row.val); err != nil {
- return err
+ return can.Frame{}, err
}
-
- // Construct ID and send frame
- frame := can.Frame{
+ return can.Frame{
ID: uint32(tblCtrlId) | uint32((sigIndex<<5)&0xE0) | uint32(rowIndex&0x1F),
Length: 6,
Data: data,
IsExtended: true,
+ }, nil
+}
+
+func unmarshalTblCtrlFrame(frame can.Frame) (row Row, sigIndex, rowIndex uint8, err error) {
+ if !frame.IsExtended || frame.ID&tblCtrlMask != tblCtrlId {
+ err = errWrongId
+ return
+ }
+ if frame.Length != 6 {
+ err = fmt.Errorf("Table Control frame has wrong DLC: %d", frame.Length)
+ return
+ }
+ sigIndex = uint8((frame.ID & 0xE0) >> 5)
+ rowIndex = uint8(frame.ID & 0x1F)
+ _, err = bin.Decode(frame.Data[0:4], bin.BigEndian, &row.key)
+ if err != nil {
+ return
+ }
+ _, err = bin.Decode(frame.Data[4:6], bin.BigEndian, &row.val)
+ return
+}
+
+// Construct a Table Control REMOTE REQUEST frame.
+func tblCtrlRequest(sigIndex, rowIndex uint8) can.Frame {
+ return can.Frame{
+ ID: tblCtrlId | uint32((sigIndex<<5)&0xE0) | uint32(rowIndex&0x1F),
+ IsRemote: true,
+ IsExtended: true,
}
- ctx, _ := context.WithTimeout(context.Background(), timeout)
- return bus.Send(ctx, frame)
}
generated by cgit v1.2.3 (git 2.25.1) at 2026-02-22 13:23:36 +0000