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Merge pull request #76 from rnd-ash/74-feature-maxx-other-custom-ecu-…
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…byte-aligned-can-layer

Feature maxx other custom ecu byte aligned can layer
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@rnd-ash
rnd-ash authored Apr 9, 2024
2 parents be685b3 + 67230f3 commit 6c59c89
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Showing 17 changed files with 1,162 additions and 10 deletions.
4 changes: 3 additions & 1 deletion lib/convert.py
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,7 @@ def clear_bit(mask, bit):
return mask & ~(1<<bit)

def remove_useless_from_line(l: str) -> str:
return l.replace("\t", "").replace("\n", "")
return l.strip().replace("\n", "")

class EnumEntry:
def __init__(self, name: str, raw: int, desc: str):
Expand Down Expand Up @@ -337,6 +337,7 @@ def make_output_str(self) -> str:
if not l.startswith("#"): # Ignore comments
if l.startswith("ECU "):
ecu = l.split("ECU ")[1].strip()
print("ECU "+ecu)
if getattr(current_ecu, 'name', 'nan') != ecu and current_ecu != None:
# Check if frame / signal is none
if current_signal and current_frame:
Expand All @@ -351,6 +352,7 @@ def make_output_str(self) -> str:
elif l.startswith("FRAME"):
frame_name = l.split("FRAME ")[1].split("(")[0].strip()
frame_id = int(l.split("(")[1].split(")")[0], 0)
print("FRAME "+frame_name)
if current_signal and current_frame:
current_frame.add_signal(current_signal)
if current_frame:
Expand Down
98 changes: 98 additions & 0 deletions lib/customcan_ecus/can_data.txt
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@@ -0,0 +1,98 @@
# For compatibility with CAN (EWM) gear selector
ECU EWM
FRAME EWM_230h (0x00000230)
SIGNAL W_S, OFFSET: 0, LEN: 1, DESC: Driving program, DATA TYPE BOOL
SIGNAL FPT, OFFSET: 1, LEN: 1, DESC: Driving program button actuated, DATA TYPE BOOL
SIGNAL KD, OFFSET: 2, LEN: 1, DESC: Kickdown, DATA TYPE BOOL
SIGNAL SPERR, OFFSET: 3, LEN: 1, DESC: barrier magnet energized, DATA TYPE BOOL
SIGNAL WHC, OFFSET: 4, LEN: 4, DESC: gear selector lever position (NAG only), DATA TYPE ENUM
ENUM D, RAW: 5, DESC: selector lever in position "D"
ENUM N, RAW: 6, DESC: selector lever in position "N"
ENUM R, RAW: 7, DESC: selector lever in position "R"
ENUM P, RAW: 8, DESC: selector lever in position "P"
ENUM PLUS, RAW: 9, DESC: selector lever in position "+"
ENUM MINUS, RAW: 10, DESC: selector lever in position "-"
ENUM N_ZW_D, RAW: 11, DESC: selector lever in intermediate position "N-D"
ENUM R_ZW_N, RAW: 12, DESC: selector lever in intermediate position "R-N"
ENUM P_ZW_R, RAW: 13, DESC: selector lever in intermediate position "P-R"
ENUM SNV, RAW: 15, DESC: selector lever position unplausible
ECU UN52
FRAME UN52_400h (0x00000400)
SIGNAL T_GEAR, OFFSET: 0, LEN: 8, DESC: Target gear, DATA TYPE ENUM
ENUM P, RAW: 0, DESC: Park
ENUM N, RAW: 1, DESC: Neutral
ENUM R1, RAW: 2, DESC: Reverse 1
ENUM R2, RAW: 3, DESC: Reverse 2
ENUM D1, RAW: 4, DESC: Drive 1
ENUM D2, RAW: 5, DESC: Drive 2
ENUM D3, RAW: 6, DESC: Drive 3
ENUM D4, RAW: 7, DESC: Drive 4
ENUM D5, RAW: 8, DESC: Drive 5
ENUM D6, RAW: 9, DESC: Drive 6
ENUM D7, RAW: 10, DESC: Drive 7
ENUM D8, RAW: 11, DESC: Drive 8
ENUM D9, RAW: 12, DESC: Drive 9
ENUM ABORT, RAW: 13, DESC: Shift abort
ENUM SNV, RAW: 255, DESC: Signal not available
SIGNAL A_GEAR, OFFSET: 8, LEN: 8, DESC: Actual gear, DATA TYPE ENUM
ENUM P, RAW: 0, DESC: Park
ENUM N, RAW: 1, DESC: Neutral
ENUM R1, RAW: 2, DESC: Reverse 1
ENUM R2, RAW: 3, DESC: Reverse 2
ENUM D1, RAW: 4, DESC: Drive 1
ENUM D2, RAW: 5, DESC: Drive 2
ENUM D3, RAW: 6, DESC: Drive 3
ENUM D4, RAW: 7, DESC: Drive 4
ENUM D5, RAW: 8, DESC: Drive 5
ENUM D6, RAW: 9, DESC: Drive 6
ENUM D7, RAW: 10, DESC: Drive 7
ENUM D8, RAW: 11, DESC: Drive 8
ENUM D9, RAW: 12, DESC: Drive 9
ENUM P_FREE, RAW: 13, DESC: Power free (Loss of drive detected)
ENUM SNV, RAW: 255, DESC: Signal not available
SIGNAL PROFILE, OFFSET: 16, LEN: 8, DESC: Profile, DATA TYPE ENUM
ENUM P_S, RAW: 0, DESC: S profile
ENUM P_C, RAW: 1, DESC: C profile
ENUM P_W, RAW: 2, DESC: W profile
ENUM P_A, RAW: 3, DESC: A profile
ENUM P_M, RAW: 4, DESC: M profile
ENUM P_R, RAW: 5, DESC: R profile
ENUM P_U, RAW: 6, DESC: User custom profile
ENUM SNV, RAW: 255, DESC: Profile not available
SIGNAL INPUT_RPM, OFFSET: 24, LEN: 16, DESC: Transmission input speed, DATA TYPE NUMBER(_MULTIPLIER_: 1.0, _OFFSET_: 0.0)
SIGNAL OUTPUT_RPM, OFFSET: 40, LEN: 16, DESC: Transmission output speed, DATA TYPE NUMBER(_MULTIPLIER_: 1.0, _OFFSET_: 0.0)
SIGNAL T_OEL, OFFSET: 48, LEN: 8, DESC: Oil temperature, DATA TYPE NUMBER(_MULTIPLIER_: 1.0, _OFFSET_: 50.0)
SIGNAL G_SHIFT, OFFSET: 56, LEN: 1, DESC: Garage shifting, DATA TYPE BOOL
SIGNAL GB_OK, OFFSET: 57, LEN: 1, DESC: Gearbox OK, DATA TYPE BOOL
FRAME UN52_410h (0x00000410)
SIGNAL TRQ_REQ_CTRL0, OFFSET: 0, LEN: 1, DESC: Torque request control bit 0, DATA TYPE BOOL
SIGNAL TRQ_REQ_CTRL1, OFFSET: 1, LEN: 1, DESC: Torque request control bit 1, DATA TYPE BOOL
SIGNAL TRQ_REQ_MIN, OFFSET: 2, LEN: 1, DESC: Torque request min request, DATA TYPE BOOL
SIGNAL TRQ_REQ_MAX, OFFSET: 3, LEN: 1, DESC: Torque request max request, DATA TYPE BOOL
SIGNAL TRQ_REQ_TOGGLE, OFFSET: 4, LEN: 1, DESC: Torque request watchdog toggle bit, DATA TYPE BOOL
SIGNAL TRQ_REQ_TRQ, OFFSET: 48, LEN: 16, DESC: Torque request target (Nm), DATA TYPE NUMBER(_MULTIPLIER_: 4.0, _OFFSET_: -500.0)

ECU ENGINE
FRAME ENGINE_100h (0x00000100)
SIGNAL T_COOLANT, OFFSET: 0, LEN: 8, DESC: Engine coolant temperature, DATA TYPE NUMBER(_MULTIPLIER_: 1.0, _OFFSET_: 40.0)
SIGNAL T_OIL, OFFSET: 8, LEN: 8, DESC: Engine oil temperature, DATA TYPE NUMBER(_MULTIPLIER_: 1.0, _OFFSET_: 40.0)
SIGNAL RPM, OFFSET: 16, LEN: 16, DESC: Engine RPM, DATA TYPE NUMBER(_MULTIPLIER_: 1.0, _OFFSET_: 0.0)
SIGNAL PEDAL, OFFSET: 32, LEN: 8, DESC: Pedal position (%), DATA TYPE NUMBER(_MULTIPLIER_: 1.0, _OFFSET_: 0.4)
SIGNAL KD, OFFSET: 40, LEN: 1, DESC: Kickdown pressed, DATA TYPE BOOL

FRAME ENGINE_102h (0x00000120)
SIGNAL MAX_TORQUE, OFFSET: 0, LEN: 16, DESC: Maximum engine torque (Nm), DATA TYPE NUMBER(_MULTIPLIER_: 4.0, _OFFSET_: -500.0)
SIGNAL MIN_TORQUE, OFFSET: 16, LEN: 16, DESC: Minimum engine torque (Nm), DATA TYPE NUMBER(_MULTIPLIER_: 4.0, _OFFSET_: -500.0)
SIGNAL DRIVER_TORQUE, OFFSET: 32, LEN: 16, DESC: Driver requested engine torque (Nm), DATA TYPE NUMBER(_MULTIPLIER_: 4.0, _OFFSET_: -500.0)
SIGNAL STATIC_TORQUE, OFFSET: 48, LEN: 16, DESC: Static engine torque (Nm), DATA TYPE NUMBER(_MULTIPLIER_: 4.0, _OFFSET_: -500.0)

ECU WHEELS
FRAME WHEELS_300h (0x00000300)
SIGNAL RPM_2X_FL, OFFSET: 0, LEN: 16, DESC: Front left wheel speed, DATA TYPE NUMBER(_MULTIPLIER_: 2.0, _OFFSET_: 0.0)
SIGNAL RPM_2X_FR, OFFSET: 16, LEN: 16, DESC: Front right wheel speed, DATA TYPE NUMBER(_MULTIPLIER_: 2.0, _OFFSET_: 0.0)
SIGNAL RPM_2X_RL, OFFSET: 24, LEN: 16, DESC: Rear left wheel speed, DATA TYPE NUMBER(_MULTIPLIER_: 2.0, _OFFSET_: 0.0)
SIGNAL RPM_2X_RR, OFFSET: 32, LEN: 16, DESC: Rear right wheel speed, DATA TYPE NUMBER(_MULTIPLIER_: 2.0, _OFFSET_: 0.0)

ECU BRAKES
FRAME BRAKES_310h (0x00000310)
SIGNAL BRAKE, OFFSET: 0, LEN: 1, DESC: Brake pressed, DATA TYPE BOOL
47 changes: 47 additions & 0 deletions lib/customcan_ecus/src/BRAKES.h
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@@ -0,0 +1,47 @@

/**
* AUTOGENERATED BY convert.py
* DO NOT EDIT THIS FILE!
*
* IF MODIFICATIONS NEED TO BE MADE, MODIFY can_data.txt!
*
* CAN Defintiion for ECU 'BRAKES'
*/

#ifndef ECU_BRAKES_H
#define ECU_BRAKES_H

#include <stdint.h>




class ECU_BRAKES {
public:
/**
* @brief Imports the CAN frame given the CAN ID, CAN Contents, and current timestamp
*
* Returns true if the frame was imported successfully, and false if import failed (Due to non-matching CAN ID).
*
* NOTE: The endianness of the value cannot be guaranteed. It is up to the caller to correct the byte order!
*/
bool import_frames(uint64_t value, uint32_t can_id, uint32_t timestamp_now) {
uint8_t idx = 0;
bool add = true;
switch(can_id) {
default:
add = false;
break;
}
if (add) {
LAST_FRAME_TIMES[idx] = timestamp_now;
FRAME_DATA[idx] = value;
}
return add;
}

private:
uint64_t FRAME_DATA[0];
uint32_t LAST_FRAME_TIMES[0];
};
#endif // ECU_BRAKES_H
129 changes: 129 additions & 0 deletions lib/customcan_ecus/src/ENGINE.h
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Original file line number Diff line number Diff line change
@@ -0,0 +1,129 @@

/**
* AUTOGENERATED BY convert.py
* DO NOT EDIT THIS FILE!
*
* IF MODIFICATIONS NEED TO BE MADE, MODIFY can_data.txt!
*
* CAN Defintiion for ECU 'ENGINE'
*/

#ifndef ECU_ENGINE_H
#define ECU_ENGINE_H

#include <stdint.h>

#define ENGINE_100_CUSTOMCAN_CAN_ID 0x0100
#define ENGINE_102_CUSTOMCAN_CAN_ID 0x0120



typedef union {
uint64_t raw;
uint8_t bytes[8];
struct {
/** BITFIELD PADDING. DO NOT CHANGE **/
uint32_t __PADDING1__: 23;
/** Kickdown pressed **/
bool KD: 1;
/** Pedal position (%) **/
uint8_t PEDAL: 8;
/** Engine RPM **/
uint16_t RPM: 16;
/** Engine oil temperature **/
uint8_t T_OIL: 8;
/** Engine coolant temperature **/
uint8_t T_COOLANT: 8;
} __attribute__((packed));
/** Gets CAN ID of ENGINE_100_CUSTOMCAN **/
uint32_t get_canid(){ return ENGINE_100_CUSTOMCAN_CAN_ID; }
} ENGINE_100_CUSTOMCAN;



typedef union {
uint64_t raw;
uint8_t bytes[8];
struct {
/** Static engine torque (Nm) **/
uint16_t STATIC_TORQUE: 16;
/** Driver requested engine torque (Nm) **/
uint16_t DRIVER_TORQUE: 16;
/** Minimum engine torque (Nm) **/
uint16_t MIN_TORQUE: 16;
/** Maximum engine torque (Nm) **/
uint16_t MAX_TORQUE: 16;
} __attribute__((packed));
/** Gets CAN ID of ENGINE_102_CUSTOMCAN **/
uint32_t get_canid(){ return ENGINE_102_CUSTOMCAN_CAN_ID; }
} ENGINE_102_CUSTOMCAN;



class ECU_ENGINE {
public:
/**
* @brief Imports the CAN frame given the CAN ID, CAN Contents, and current timestamp
*
* Returns true if the frame was imported successfully, and false if import failed (Due to non-matching CAN ID).
*
* NOTE: The endianness of the value cannot be guaranteed. It is up to the caller to correct the byte order!
*/
bool import_frames(uint64_t value, uint32_t can_id, uint32_t timestamp_now) {
uint8_t idx = 0;
bool add = true;
switch(can_id) {
case ENGINE_100_CUSTOMCAN_CAN_ID:
idx = 0;
break;
case ENGINE_102_CUSTOMCAN_CAN_ID:
idx = 1;
break;
default:
add = false;
break;
}
if (add) {
LAST_FRAME_TIMES[idx] = timestamp_now;
FRAME_DATA[idx] = value;
}
return add;
}

/** Sets data in pointer to ENGINE_100
*
* If this function returns false, then the CAN Frame is invalid or has not been seen
* on the CANBUS network yet. Meaning it's data cannot be used.
*
* If the function returns true, then the pointer to 'dest' has been updated with the new CAN data
*/
bool get_ENGINE_100(const uint32_t now, const uint32_t max_expire_time, ENGINE_100_CUSTOMCAN* dest) const {
bool ret = false;
if (dest != nullptr && LAST_FRAME_TIMES[0] <= now && now - LAST_FRAME_TIMES[0] < max_expire_time) {
dest->raw = FRAME_DATA[0];
ret = true;
}
return ret;
}

/** Sets data in pointer to ENGINE_102
*
* If this function returns false, then the CAN Frame is invalid or has not been seen
* on the CANBUS network yet. Meaning it's data cannot be used.
*
* If the function returns true, then the pointer to 'dest' has been updated with the new CAN data
*/
bool get_ENGINE_102(const uint32_t now, const uint32_t max_expire_time, ENGINE_102_CUSTOMCAN* dest) const {
bool ret = false;
if (dest != nullptr && LAST_FRAME_TIMES[1] <= now && now - LAST_FRAME_TIMES[1] < max_expire_time) {
dest->raw = FRAME_DATA[1];
ret = true;
}
return ret;
}

private:
uint64_t FRAME_DATA[2];
uint32_t LAST_FRAME_TIMES[2];
};
#endif // ECU_ENGINE_H
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