Implement more CAN protocols

Author: xtitoris

firmware/Makefile

@@ -150,8 +150,13 @@ CPPSRC = $(ALLCPPSRC) \
           shared/flash.cpp \
           can.cpp \
           can_helper.cpp \
-          can_aemnet.cpp \
-          fault.cpp \
+          can/can_aemnet.cpp \
+          can/can_rusefi.cpp \
+          can/can_ecumaster.cpp \
+          can/can_haltech.cpp \
+          can/can_motec.cpp \
+          can/can_link.cpp \
+          status.cpp \
           lambda_conversion.cpp \
           pwm.cpp \
           dac.cpp \

firmware/boards/f0_module/bootloader/bootloader.cpp

@@ -225,7 +225,7 @@ THD_FUNCTION(BootloaderThread, arg)
     (void)arg;
 
     // turn on CAN
-    canStart(&CAND1, &GetCanConfig());
+    canStart(&CAND1, &GetCanConfig(0));
 
     WaitForBootloaderCmd();
 

firmware/boards/f0_module/port_shared.cpp

@@ -11,6 +11,6 @@ static const CANConfig canConfig500 =
     CAN_BTR_SJW(0) | CAN_BTR_BRP(5)  | CAN_BTR_TS1(12) | CAN_BTR_TS2(1),
 };
 
-const CANConfig& GetCanConfig() {
+const CANConfig& GetCanConfig(uint8_t mode) {
     return canConfig500;
 }

firmware/boards/f1_dual/port_shared.cpp

@@ -11,6 +11,6 @@ static const CANConfig canConfig500 =
     CAN_BTR_SJW(0) | CAN_BTR_BRP(2)  | CAN_BTR_TS1(12) | CAN_BTR_TS2(1),
 };
 
-const CANConfig& GetCanConfig() {
+const CANConfig& GetCanConfig(uint8_t mode) {
     return canConfig500;
 }

firmware/boards/f1_dual_rev1/port_shared.cpp

@@ -39,6 +39,14 @@ static const CANConfig canConfig1000 =
 };
 
 
-const CANConfig& GetCanConfig() {
+const CANConfig& GetCanConfig(uint8_t mode) {
+    mode &= 0x03;
+    switch (mode) {
+        case 0:
+            return canConfig500;
+        case 1:
+            return canConfig1000;
+    }
+    // default to 500kbps
     return canConfig500;
 }

firmware/boards/f1_rev2/port_shared.cpp

@@ -11,6 +11,6 @@ static const CANConfig canConfig500 =
     CAN_BTR_SJW(0) | CAN_BTR_BRP(4 - 1)  | CAN_BTR_TS1(13 - 1) | CAN_BTR_TS2(2 - 1),
 };
 
-const CANConfig& GetCanConfig() {
+const CANConfig& GetCanConfig(uint8_t mode) {
     return canConfig500;
 }

firmware/boards/f1_rev3/port_shared.cpp

@@ -11,6 +11,6 @@ static const CANConfig canConfig500 =
     CAN_BTR_SJW(0) | CAN_BTR_BRP(2)  | CAN_BTR_TS1(12) | CAN_BTR_TS2(1),
 };
 
-const CANConfig& GetCanConfig() {
+const CANConfig& GetCanConfig(uint8_t mode) {
     return canConfig500;
 }

firmware/boards/port.h

@@ -41,6 +41,11 @@ enum class SensorType : uint8_t {
     LSUADV = 2,
 };
 
+struct CanStatusData{
+    HeaterAllow heaterAllow;
+    float remoteBatteryVoltage;
+};
+
 #ifndef BOARD_DEFAULT_SENSOR_TYPE
 #define BOARD_DEFAULT_SENSOR_TYPE SensorType::LSU49
 #endif
@@ -54,11 +59,22 @@ enum class AuxOutputMode : uint8_t {
     Egt1 = 5,
 };
 
+enum class CanProtocol : uint8_t {
+    None = 0,
+    AemNet = 1, // for backward compatibility
+    LinkEcu = 2,
+    Haltech = 3,
+    EcuMasterClassic = 4,
+    EcuMasterBlack = 5,
+    Motec = 6,
+    Emtron = 7,
+};
+
 class Configuration {
 private:
     // Increment this any time the configuration format changes
     // It is stored along with the data to ensure that it has been written before
-    static constexpr uint32_t ExpectedTag = 0xDEADBE03;
+    static constexpr uint32_t ExpectedTag = 0xDEADBE04;
     uint32_t Tag = ExpectedTag;
 
 public:
@@ -75,6 +91,7 @@ class Configuration {
         *this = {};
 
         NoLongerUsed0 = 0;
+        CanMode = 0;
         sensorType = BOARD_DEFAULT_SENSOR_TYPE;
 
         /* default auxout curve is 0..5V for AFR 8.5 to 18.0
@@ -92,9 +109,9 @@ class Configuration {
             afr[i].RusEfiTxDiag = true;
             afr[i].RusEfiIdx = i;
 
-            // Disable AemNet
-            afr[i].AemNetTx = false;
-            afr[i].AemNetIdOffset = i;
+            // No extra protocol by default
+            afr[i].ExtraCanProtocol = CanProtocol::None;
+            afr[i].ExtraCanIdOffset = i;
         }
 
         for (i = 0; i < EGT_CHANNELS; i++) {
@@ -103,9 +120,9 @@ class Configuration {
             egt[i].RusEfiTxDiag = false;
             egt[i].RusEfiIdx = i;
 
-            // Enable AemNet
-            egt[i].AemNetTx = true;
-            egt[i].AemNetIdOffset = i;
+            // AemNet protocol by default
+            egt[i].ExtraCanProtocol = CanProtocol::AemNet;
+            egt[i].ExtraCanIdOffset = i;
         }
 
         heaterConfig.HeaterSupplyOffVoltage = HEATER_SUPPLY_OFF_VOLTAGE;
@@ -119,7 +136,8 @@ class Configuration {
     // Actual configuration data
     union {
         struct {
-            uint8_t NoLongerUsed0 = 0;
+            uint8_t NoLongerUsed0 : 6 = 0;
+            uint8_t CanMode : 2;
             // AUX0 and AUX1 curves
             float auxOutBins[2][8];
             float auxOutValues[2][8];
@@ -131,22 +149,24 @@ class Configuration {
             struct {
                 bool RusEfiTx:1;
                 bool RusEfiTxDiag:1;
-                bool AemNetTx:1;
+                CanProtocol ExtraCanProtocol:4;
+
 
                 uint8_t RusEfiIdx;
-                uint8_t AemNetIdOffset;
-                uint8_t pad[5];
+                uint8_t ExtraCanIdOffset;
+                uint8_t Reserved[5];
             } afr[2];
 
             // per EGT channel settings
             struct {
                 bool RusEfiTx:1;
                 bool RusEfiTxDiag:1;
-                bool AemNetTx:1;
+                CanProtocol ExtraCanProtocol:4;
+
 
                 uint8_t RusEfiIdx;
-                uint8_t AemNetIdOffset;
-                uint8_t pad[5];
+                uint8_t ExtraCanIdOffset;
+                uint8_t Reserved[5];
             } egt[2];
 
             struct HeaterConfig heaterConfig;

firmware/boards/port_shared.h

@@ -4,6 +4,6 @@
 
 #include "hal.h"
 
-const CANConfig& GetCanConfig();
+const CANConfig& GetCanConfig(uint8_t mode);
 
 #endif // WB_PROD