3 * Copyright (C) 2015, 2016 "IoT.bzh"
4 * Author "Romain Forlot" <romain.forlot@iot.bzh>
6 * Licensed under the Apache License, Version 2.0 (the "License");
7 * you may not use this file except in compliance with the License.
8 * You may obtain a copy of the License at
10 * http://www.apache.org/licenses/LICENSE-2.0
12 * Unless required by applicable law or agreed to in writing, software
13 * distributed under the License is distributed on an "AS IS" BASIS,
14 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
15 * See the License for the specific language governing permissions and
16 * limitations under the License.
22 #include "openxc.pb.h"
24 // TODO actual max is 32 but dropped to 24 for memory considerations
25 #define MAX_ACCEPTANCE_FILTERS 24
26 // TODO this takes up a ton of memory
27 #define MAX_DYNAMIC_MESSAGE_COUNT 12
29 #define CAN_MESSAGE_SIZE 8
31 #define CAN_ACTIVE_TIMEOUT_S 30
33 #define QUEUE_DECLARE(type, max_length) \
34 static const int queue_##type##_max_length = max_length; \
35 static const int queue_##type##_max_internal_length = max_length + 1; \
36 typedef struct queue_##type##_s { \
39 type elements[max_length + 1]; \
42 bool queue_##type##_push(queue_##type* queue, type value); \
44 type queue_##type##_pop(queue_##type* queue); \
46 type queue_##type##_peek(queue_##type* queue); \
47 void queue_##type##_init(queue_##type* queue); \
48 int queue_##type##_length(queue_##type* queue); \
49 int queue_##type##_available(queue_##type* queue); \
50 bool queue_##type##_full(queue_##type* queue); \
51 bool queue_##type##_empty(queue_##type* queue); \
52 void queue_##type##_snapshot(queue_##type* queue, type* snapshot, int max);
54 /* Public: The type signature for a CAN signal decoder.
56 * A SignalDecoder transforms a raw floating point CAN signal into a number,
59 * signal - The CAN signal that we are decoding.
60 * signals - The list of all signals.
61 * signalCount - The length of the signals array.
62 * pipeline - you may want to generate arbitrary additional messages for
64 * value - The CAN signal parsed from the message as a raw floating point
66 * send - An output parameter. If the decoding failed or the CAN signal should
67 * not send for some other reason, this should be flipped to false.
69 * Returns a decoded value in an openxc_DynamicField struct.
71 typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal* signal,
72 CanSignal* signals, int signalCount,
73 openxc::pipeline::Pipeline* pipeline, float value, bool* send);
75 /* Public: The type signature for a CAN signal encoder.
77 * A SignalEncoder transforms a number, string or boolean into a raw floating
78 * point value that fits in the CAN signal.
80 * signal - The CAN signal to encode.
81 * value - The dynamic field to encode.
82 * send - An output parameter. If the encoding failed or the CAN signal should
83 * not be encoded for some other reason, this will be flipped to false.
85 typedef uint64_t (*SignalEncoder)(struct CanSignal* signal,
86 openxc_DynamicField* value, bool* send);
88 /* Public: The ID format for a CAN message.
90 * STANDARD - standard 11-bit CAN arbitration ID.
91 * EXTENDED - an extended frame, with a 29-bit arbitration ID.
93 enum CanMessageFormat {
97 typedef enum CanMessageFormat CanMessageFormat;
99 /* Public: A state encoded (SED) signal's mapping from numerical values to
100 * OpenXC state names.
102 * value - The integer value of the state on the CAN bus.
103 * name - The corresponding string name for the state in OpenXC.
105 struct CanSignalState {
109 typedef struct CanSignalState CanSignalState;
111 /* Public: A CAN signal to decode from the bus and output over USB.
113 * message - The message this signal is a part of.
114 * genericName - The name of the signal to be output over USB.
115 * bitPosition - The starting bit of the signal in its CAN message (assuming
116 * non-inverted bit numbering, i.e. the most significant bit of
118 * bitSize - The width of the bit field in the CAN message.
119 * factor - The final value will be multiplied by this factor. Use 1 if you
120 * don't need a factor.
121 * offset - The final value will be added to this offset. Use 0 if you
122 * don't need an offset.
123 * minValue - The minimum value for the processed signal.
124 * maxValue - The maximum value for the processed signal.
125 * frequencyClock - A FrequencyClock struct to control the maximum frequency to
126 * process and send this signal. To process every value, set the
127 * clock's frequency to 0.
128 * sendSame - If true, will re-send even if the value hasn't changed.
129 * forceSendChanged - If true, regardless of the frequency, it will send the
130 * value if it has changed.
131 * states - An array of CanSignalState describing the mapping
132 * between numerical and string values for valid states.
133 * stateCount - The length of the states array.
134 * writable - True if the signal is allowed to be written from the USB host
135 * back to CAN. Defaults to false.
136 * decoder - An optional function to decode a signal from the bus to a human
137 * readable value. If NULL, the default numerical decoder is used.
138 * encoder - An optional function to encode a signal value to be written to
139 * CAN into a byte array. If NULL, the default numerical encoder
141 * received - True if this signal has ever been received.
142 * lastValue - The last received value of the signal. If 'received' is false,
143 * this value is undefined.
146 struct CanMessageDefinition* message;
147 const char* genericName;
154 FrequencyClock frequencyClock;
156 bool forceSendChanged;
157 const CanSignalState* states;
160 SignalDecoder decoder;
161 SignalEncoder encoder;
165 typedef struct CanSignal CanSignal;
167 /* Public: The definition of a CAN message. This includes a lot of metadata, so
168 * to save memory this struct should not be used for storing incoming and
169 * outgoing CAN messages.
171 * bus - A pointer to the bus this message is on.
172 * id - The ID of the message.
173 * format - the format of the message's ID.
174 * frequencyClock - an optional frequency clock to control the output of this
175 * message, if sent raw, or simply to mark the max frequency for custom
176 * handlers to retrieve.
177 * forceSendChanged - If true, regardless of the frequency, it will send CAN
178 * message if it has changed when using raw passthrough.
179 * lastValue - The last received value of the message. Defaults to undefined.
180 * This is required for the forceSendChanged functionality, as the stack
181 * needs to compare an incoming CAN message with the previous frame.
183 struct CanMessageDefinition {
186 CanMessageFormat format;
187 FrequencyClock frequencyClock;
188 bool forceSendChanged;
189 uint8_t lastValue[CAN_MESSAGE_SIZE];
191 typedef struct CanMessageDefinition CanMessageDefinition;
193 /* A compact representation of a single CAN message, meant to be used in in/out
196 * id - The ID of the message.
197 * format - the format of the message's ID.
198 * data - The message's data field.
199 * length - the length of the data array (max 8).
203 CanMessageFormat format;
204 uint8_t data[CAN_MESSAGE_SIZE];
207 typedef struct CanMessage CanMessage;
209 QUEUE_DECLARE(CanMessage, 8);
211 /* Private: An entry in the list of acceptance filters for each CanBus.
213 * This struct is meant to be used with a LIST type from <sys/queue.h>.
215 * filter - the value for the CAN acceptance filter.
216 * activeUserCount - The number of active consumers of this filter's messages.
217 * When 0, this filter can be removed.
218 * format - the format of the ID for the filter.
219 struct AcceptanceFilterListEntry {
221 uint8_t activeUserCount;
222 CanMessageFormat format;
223 LIST_ENTRY(AcceptanceFilterListEntry) entries;
227 /* Private: A type of list containing CAN acceptance filters.
228 LIST_HEAD(AcceptanceFilterList, AcceptanceFilterListEntry);
230 struct CanMessageDefinitionListEntry {
231 CanMessageDefinition definition;
232 LIST_ENTRY(CanMessageDefinitionListEntry) entries;
234 LIST_HEAD(CanMessageDefinitionList, CanMessageDefinitionListEntry);
237 /** Public: A parent wrapper for a particular set of CAN messages and associated
238 * CAN buses(e.g. a vehicle or program).
240 * index - A numerical ID for the message set, ideally the index in an array
242 * name - The name of the message set.
243 * busCount - The number of CAN buses defined for this message set.
244 * messageCount - The number of CAN messages (across all buses) defined for
246 * signalCount - The number of CAN signals (across all messages) defined for
248 * commandCount - The number of CanCommmands defined for this message set.
254 unsigned short messageCount;
255 unsigned short signalCount;
256 unsigned short commandCount;
259 /* Public: The type signature for a function to handle a custom OpenXC command.
261 * name - the name of the received command.
262 * value - the value of the received command, in a DynamicField. The actual type
263 * may be a number, string or bool.
264 * event - an optional event from the received command, in a DynamicField. The
265 * actual type may be a number, string or bool.
266 * signals - The list of all signals.
267 * signalCount - The length of the signals array.
269 typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
270 openxc_DynamicField* event, CanSignal* signals, int signalCount);
272 /* Public: The structure to represent a supported custom OpenXC command.
274 * For completely customized CAN commands without a 1-1 mapping between an
275 * OpenXC message from the host and a CAN signal, you can define the name of the
276 * command and a custom function to handle it in the VI. An example is
277 * the "turn_signal_status" command in OpenXC, which has a value of "left" or
278 * "right". The vehicle may have separate CAN signals for the left and right
279 * turn signals, so you will need to implement a custom command handler to send
280 * the correct signals.
282 * Command handlers are also useful if you want to trigger multiple CAN messages
283 * or signals from a signal OpenXC message.
285 * genericName - The name of the command.
286 * handler - An function to process the received command's data and perform some
290 const char* genericName;
291 CommandHandler handler;
294 /* Pre initialize actions made before CAN bus initialization
296 * bus - A CanBus struct defining the bus's metadata
297 * writable - configure the controller in a writable mode. If false, it will be
298 * configured as "listen only" and will not allow writes or even CAN ACKs.
299 * buses - An array of all CAN buses.
300 * busCount - The length of the buses array.
302 void pre_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCount);
304 /* Post-initialize actions made after CAN bus initialization and before the
305 * event loop connection.
307 * bus - A CanBus struct defining the bus's metadata
308 * writable - configure the controller in a writable mode. If false, it will be
309 * configured as "listen only" and will not allow writes or even CAN ACKs.
310 * buses - An array of all CAN buses.
311 * busCount - The length of the buses array.
313 void post_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCount);
315 /* Public: Check if the device is connected to an active CAN bus, i.e. it's
316 * received a message in the recent past.
318 * Returns true if a message was received on the CAN bus within
319 * CAN_ACTIVE_TIMEOUT_S seconds.
321 bool isBusActive(CanBus* bus);
323 /* Public: Log transfer statistics about all active CAN buses to the debug log.
325 * buses - an array of active CAN buses.
326 * busCount - the length of the buses array.
328 void logBusStatistics(CanBus* buses, const int busCount);