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-rw-r--r--sw/cal/can.go54
-rw-r--r--sw/cal/csv.go19
-rw-r--r--sw/cal/dbc.go30
-rw-r--r--sw/cal/err.go8
-rw-r--r--sw/cal/main.go21
-rw-r--r--sw/cal/table.go28
6 files changed, 132 insertions, 28 deletions
diff --git a/sw/cal/can.go b/sw/cal/can.go
new file mode 100644
index 0000000..53f00a0
--- /dev/null
+++ b/sw/cal/can.go
@@ -0,0 +1,54 @@
+package main
+
+import (
+ "context"
+ bin "encoding/binary"
+
+ "go.einride.tech/can"
+ "go.einride.tech/can/pkg/socketcan"
+)
+
+const (
+
+ // CAN IDs
+ tblCtrlId = 0x1272000
+ sigCtrlId = 0x1272100
+)
+
+// Write a calibration table to the EEPROM.
+func writeTable(tx *socketcan.Transmitter, tbl Table, sig int) error {
+ var i int
+ for i = 0; i < len(tbl.keys); i++ {
+ err := writeRow(tx, tbl.keys[i], tbl.vals[i], sig, i)
+ if err != nil {
+ return err
+ }
+ }
+ for ; i < tabRows; i++ {
+ err := writeRow(tx, tbl.keys[len(tbl.keys)-1], tbl.vals[len(tbl.keys)-1], sig, i)
+ if err != nil {
+ return err
+ }
+ }
+ return nil
+}
+
+func writeRow(tx *socketcan.Transmitter, key int32, val uint16, sig int, row int) error {
+ var data [8]byte
+ _, err := bin.Encode(data[0:4], bin.BigEndian, key)
+ if err != nil {
+ return err
+ }
+ _, err = bin.Encode(data[4:6], bin.BigEndian, val)
+ if err != nil {
+ return err
+ }
+
+ frame := can.Frame{
+ ID: uint32(tblCtrlId) | uint32((sig<<5)&0xE0) | uint32(row&0x1F),
+ Length: 6,
+ Data: data,
+ IsExtended: true,
+ }
+ return tx.TransmitFrame(context.Background(), frame)
+}
diff --git a/sw/cal/csv.go b/sw/cal/csv.go
index bb5cd01..cdd5b44 100644
--- a/sw/cal/csv.go
+++ b/sw/cal/csv.go
@@ -1,33 +1,33 @@
package main
import (
- "os"
+ "encoding/csv"
"fmt"
"io"
+ "os"
"strconv"
- "encoding/csv"
)
-func parseTable(filename string) (map[int32]uint16, error) {
+func parseTable(filename string) (Table, error) {
f, err := os.Open(filename)
if err != nil {
eprintf("%v\n", err)
}
defer f.Close()
- tbl := make(map[int32]uint16)
+ var tbl Table
rdr := csv.NewReader(f)
for {
- err := parseRow(rdr, tbl)
+ err := parseRow(rdr, &tbl)
if err == io.EOF {
return tbl, nil
} else if err != nil {
- return nil, fmt.Errorf("%s:%v", filename, err)
+ return Table{}, fmt.Errorf("%s:%v", filename, err)
}
}
}
-func parseRow(rdr *csv.Reader, tbl map[int32]uint16) error {
+func parseRow(rdr *csv.Reader, tbl *Table) error {
row, err := rdr.Read()
if err != nil {
return err
@@ -46,10 +46,9 @@ func parseRow(rdr *csv.Reader, tbl map[int32]uint16) error {
line, col := rdr.FieldPos(1)
return fmt.Errorf("%d:%d: %v", line, col, err)
}
- if _, ok := tbl[int32(key)]; ok {
+ if err := tbl.Insert(int32(key), uint16(val)); err != nil {
line, col := rdr.FieldPos(0)
- return fmt.Errorf("%d: %d: duplicate key %d", line, col, key)
+ return fmt.Errorf("%d:%d: %v", line, col, err)
}
- tbl[int32(key)] = uint16(val)
return nil
}
diff --git a/sw/cal/dbc.go b/sw/cal/dbc.go
index 53ca852..7aa61bd 100644
--- a/sw/cal/dbc.go
+++ b/sw/cal/dbc.go
@@ -9,7 +9,7 @@ import (
)
// Extract signals from the DBC file.
-func parseSignals(filename string, names []string) ([]dbc.SignalDef, error) {
+func parseSignals(filename string, names map[int]string) (map[int]dbc.SignalDef, error) {
// Parse DBC file
msgDefs, err := parseDbcFile(filename)
if err != nil {
@@ -17,29 +17,27 @@ func parseSignals(filename string, names []string) ([]dbc.SignalDef, error) {
}
// Search for signals
- sigPtrs := make([]*dbc.SignalDef, len(names))
+ signals := make(map[int]dbc.SignalDef)
for _, msg := range msgDefs {
- for i := range names {
- j := slices.IndexFunc(msg.Signals, func(sig dbc.SignalDef) bool { return sig.Name == dbc.Identifier(names[i]) })
- if j < 0 {
+ for k, name := range names {
+ i := slices.IndexFunc(msg.Signals, func(sig dbc.SignalDef) bool { return sig.Name == dbc.Identifier(name) })
+ if i < 0 {
continue
}
- if sigPtrs[i] != nil {
- return nil, ErrDupSig{msg.Signals[j]}
+ if _, ok := signals[k]; ok {
+ return nil, ErrDupSig{msg.Signals[i]}
}
- sigPtrs[i] = &msg.Signals[j]
+ signals[k] = msg.Signals[i]
}
}
// Check all signals are present
- if i := slices.IndexFunc(sigPtrs, func(sp *dbc.SignalDef) bool { return sp == nil }); i >= 0 {
- return nil, ErrNoSig{filename, names[i]}
- }
-
- // Dereference
- signals := make([]dbc.SignalDef, len(sigPtrs))
- for i := range sigPtrs {
- signals[i] = *sigPtrs[i]
+ if len(signals) != len(names) {
+ for k, name := range names {
+ if _, ok := signals[k]; !ok {
+ return nil, ErrNoSig{filename, name}
+ }
+ }
}
return signals, nil
diff --git a/sw/cal/err.go b/sw/cal/err.go
index 452e5f0..26ef5df 100644
--- a/sw/cal/err.go
+++ b/sw/cal/err.go
@@ -32,3 +32,11 @@ type ErrNoSig struct {
func (e ErrNoSig) Error() string {
return fmt.Sprintf("%s: no such signal '%s'", e.filename, e.signal)
}
+
+type ErrDupKey struct {
+ key int32
+}
+
+func (e ErrDupKey) Error() string {
+ return fmt.Sprintf("duplicate key %d", e.key)
+}
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)
diff --git a/sw/cal/table.go b/sw/cal/table.go
new file mode 100644
index 0000000..20d21d0
--- /dev/null
+++ b/sw/cal/table.go
@@ -0,0 +1,28 @@
+package main
+
+import (
+ "fmt"
+ "slices"
+)
+
+const tabRows = 32
+
+type Table struct {
+ keys []int32
+ vals []uint16
+}
+
+func (t *Table) Insert(key int32, val uint16) error {
+ if len(t.keys) >= tabRows {
+ return fmt.Errorf("too many rows")
+ }
+
+ i, ok := slices.BinarySearch(t.keys, key)
+ if ok {
+ return ErrDupKey{key}
+ }
+ t.keys = slices.Insert(t.keys, i, key)
+ t.vals = slices.Insert(t.vals, i, val)
+
+ return nil
+}
generated by cgit v1.2.3 (git 2.25.1) at 2026-02-22 13:23:40 +0000