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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)
}
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