Simplify CAN callbacks to use bytes rather than 32-bit words

Virtually all CAN callbacks cast the two 32-bit words the libopeninv library presents an incoming CAN frame in to bytes. Rather than repeat this cast all over the place replace with one central cast and change the interface of the DecodeCAN callback methods. The exceptions which require reverse casts of byte- arrays back to 32-bit words are: - FCChademo - E65_Lever - OutlanderInverter These could be changed to access the bytes directly but this would require greater understanding and testing of the code. The changes are mechanical in nature and should not affect the operation of the code. Where applicable "override" is used for virtual methods to make it clear to the compiler that virtual functions are being overridden. Tests: - Build for STM32 and Linux
damienmaguire · Sep 28, 2024 · c40635f · c40635f
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commit c40635f
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Showing 66 changed files with 198 additions and 269 deletions.
diff --git a/include/BMW_E31.h b/include/BMW_E31.h
@@ -39,7 +39,7 @@ class BMW_E31: public Vehicle
    void Task1Ms();
    void SetRevCounter(int s);
    void SetTemperatureGauge(float temp);
-   void DecodeCAN(int id, uint32_t* data);
+   void DecodeCAN(int id, const uint8_t bytes[8]) override;
    bool Ready();
    bool Start();
 

diff --git a/include/BMW_E39.h b/include/BMW_E39.h
@@ -36,7 +36,7 @@ class BMW_E39: public Vehicle
    void Task100Ms();
    void SetRevCounter(int s) { speed = s; }
    void SetTemperatureGauge(float temp);
-   void DecodeCAN(int id, uint32_t* data);
+   void DecodeCAN(int id, const uint8_t bytes[8]) override;
    bool Ready();
    bool Start();
    void SetE46(bool e46) { isE46 = e46; }

diff --git a/include/BMW_E65.h b/include/BMW_E65.h
@@ -20,14 +20,14 @@ class BMW_E65: public Vehicle
    void Task200Ms();
    void SetRevCounter(int speed) { revCounter = speed; }
    void SetTemperatureGauge(float temp) { temperature = temp; }
-   void DecodeCAN(int, uint32_t* data);
+   void DecodeCAN(int id, const uint8_t bytes[8]) override;
    bool Ready() { return terminal15On; }
    bool Start() { return terminal15On; }
    void DashOff();
-   void handle130(uint32_t data[2]);
-   void handle1A0(uint32_t data[2]);
-   void handle2FC(uint32_t data[2]);
-   void handle480(uint32_t data[2]);
+   void handle130(const uint8_t bytes[8]);
+   void handle1A0(const uint8_t bytes[8]);
+   void handle2FC(const uint8_t bytes[8]);
+   void handle480(const uint8_t bytes[8]);
    void SetE90(bool e90) { isE90 = e90; }
    void Engine_Data();
    void SetFuelGauge(float level);

diff --git a/include/CPC.h b/include/CPC.h
@@ -17,15 +17,15 @@ class CPCClass: public Chargerint
 
 public:
       void SetCanInterface(CanHardware* c);
-      void DecodeCAN(int id, uint32_t data[2]);
+      void DecodeCAN(int id, const uint8_t bytes[8]) override;
       void Task10Ms();
       void Task100Ms();
       void Task200Ms();
       bool DCFCRequest(bool RunCh);
       bool ACRequest(bool RunCh);
 
 private:
-static void handle357(uint32_t data[2]);
+static void handle357(const uint8_t bytes[8]);
 
 static void Chg_Timers();
 };

diff --git a/include/Can_OBD2.h b/include/Can_OBD2.h
@@ -25,7 +25,7 @@ class Can_OBD2
 {
 public:
   void SetCanInterface(CanHardware *c);
-  void DecodeCAN(int id, uint32_t data[2]);
+  void DecodeCAN(int id, const uint8_t bytes[8]);
 
 protected:
   CanHardware *can;

diff --git a/include/Can_OI.h b/include/Can_OI.h
@@ -30,7 +30,7 @@ class Can_OI: public Inverter
 {
 public:
    void Task100Ms() override;
-   void DecodeCAN(int, uint32_t*) override;
+   void DecodeCAN(int id, const uint8_t bytes[8]) override;
    void SetTorque(float torquePercent) override;
    float GetMotorTemperature() override { return motor_temp; }
    float GetInverterTemperature() override { return inv_temp; }

diff --git a/include/E65_Lever.h b/include/E65_Lever.h
@@ -35,7 +35,7 @@ class E65_Lever: public Shifter
 
    void Task10Ms();
    void Task100Ms();
-   void DecodeCAN(int, uint32_t*);
+   void DecodeCAN(int id, const uint8_t bytes[8]) override;
    bool GetGear(Shifter::Sgear& outGear);//if shifter class knows gear return true and set dir
    void SetCanInterface(CanHardware* c);
 

diff --git a/include/ElconCharger.h b/include/ElconCharger.h
@@ -16,11 +16,11 @@ class ElconCharger: public Chargerhw
 {
 
 public:
-void DecodeCAN(int id, uint32_t data[2]);
+void DecodeCAN(int id, const uint8_t bytes[8]) override;
 void Task200Ms();
 bool ControlCharge(bool RunCh, bool ACReq);
 void SetCanInterface(CanHardware* c);
-void handle18FF50E5(uint32_t data[2]);
+void handle18FF50E5(const uint8_t bytes[8]);
 /*
 static void handle108(uint32_t data[2]);
 static bool HVreq;

diff --git a/include/F30_Lever.h b/include/F30_Lever.h
@@ -37,7 +37,7 @@ class F30_Lever: public Shifter
 
    void Task10Ms();
    void Task100Ms();
-   void DecodeCAN(int, uint32_t*);
+   void DecodeCAN(int id, const uint8_t bytes[8]) override;
    bool GetGear(Shifter::Sgear& outGear);//if shifter class knows gear return true and set dir
    void SetCanInterface(CanHardware* c);
 

diff --git a/include/Focci.h b/include/Focci.h
@@ -21,7 +21,7 @@ class FocciClass: public Chargerint
 
 public:
       void SetCanInterface(CanHardware* c);
-      void DecodeCAN(int id, uint32_t data[2]);
+      void DecodeCAN(int id, const uint8_t bytes[8]) override;
       void Task10Ms();
       void Task100Ms();
       void Task200Ms();
@@ -31,9 +31,9 @@ class FocciClass: public Chargerint
       void CCS_Pwr_Con();
 
 private:
-static void handle357(uint32_t data[2]);
-static void handle109(uint32_t data[2]);
-static void handle596(uint32_t data[2]);
+static void handle357(const uint8_t bytes[8]);
+static void handle109(const uint8_t bytes[8]);
+static void handle596(const uint8_t bytes[8]);
 static void Chg_Timers();
 };
 

diff --git a/include/JLR_G1.h b/include/JLR_G1.h
@@ -34,7 +34,7 @@ class JLR_G1: public Shifter
 
    void Task10Ms();
    void Task100Ms();
-   void DecodeCAN(int, uint32_t*);
+   void DecodeCAN(int id, const uint8_t bytes[8]) override;
    bool GetGear(Shifter::Sgear& outGear);//if shifter class knows gear return true and set dir
    void SetCanInterface(CanHardware* c);
 

diff --git a/include/JLR_G2.h b/include/JLR_G2.h
@@ -34,7 +34,7 @@ class JLR_G2: public Shifter
 
    void Task10Ms();
    void Task100Ms();
-   void DecodeCAN(int, uint32_t*);
+   void DecodeCAN(int id, const uint8_t bytes[8]) override;
    bool GetGear(Shifter::Sgear& outGear);//if shifter class knows gear return true and set dir
    void SetCanInterface(CanHardware* c);
 

diff --git a/include/NissanPDM.h b/include/NissanPDM.h
@@ -28,7 +28,7 @@
 class NissanPDM: public Chargerhw
 {
 public:
-   void DecodeCAN(int id, uint32_t data[2]);
+   void DecodeCAN(int id, const uint8_t bytes[8]) override;
    void Task10Ms();
    void Task100Ms();
    bool ControlCharge(bool RunCh, bool ACReq);

diff --git a/include/OutlanderCanHeater.h b/include/OutlanderCanHeater.h
@@ -28,7 +28,7 @@ class OutlanderCanHeater : public Heater
    public:
       void SetTargetTemperature(float temp);
       void SetCanInterface(CanHardware* c);
-      void DecodeCAN(int id, uint32_t data[2]);
+      void DecodeCAN(int id, const uint8_t bytes[8]);
       void SetPower(uint16_t power, bool HeatReq);
       void Task100Ms();
 
@@ -37,7 +37,7 @@ class OutlanderCanHeater : public Heater
       int8_t desiredTemperature;
 
       bool shouldHeat;
-      static void handle398(uint32_t data[2]);
+      static void handle398(const uint8_t bytes[8]);
 
 };
 

diff --git a/include/bms.h b/include/bms.h
@@ -38,7 +38,7 @@
 class BMS
 {
    public:
-      virtual void DecodeCAN(int, uint8_t *) {};
+      virtual void DecodeCAN(int, const uint8_t[8]) {};
       virtual void DeInit() {};
       virtual float MaxChargeCurrent() { return 9999.0; };
       virtual void Task100Ms() {

diff --git a/include/bmw_sbox.h b/include/bmw_sbox.h
@@ -22,7 +22,7 @@ class SBOX
 
 public:
     static void RegisterCanMessages(CanHardware* can);
-    static void DecodeCAN(int id, uint32_t data[2]);
+    static void DecodeCAN(int id, const uint8_t bytes[8]);
     static void ControlContactors(int opmode, CanHardware* can);
 
     static int32_t Voltage;
@@ -37,9 +37,9 @@ class SBOX
 private:
 
 
-    static void handle200(uint32_t data[2]);
-    static void handle210(uint32_t data[2]);
-    static void handle220(uint32_t data[2]);
+    static void handle200(const uint8_t bytes[8]);
+    static void handle210(const uint8_t bytes[8]);
+    static void handle220(const uint8_t bytes[8]);
 
 };
 

diff --git a/include/chademo.h b/include/chademo.h
@@ -31,7 +31,7 @@
 class FCChademo: public Chargerint
 {
    public:
-      void DecodeCAN(int id, uint32_t data[2]);
+      void DecodeCAN(int id, const uint8_t bytes[8]) override;
       void Task100Ms();//Must be called every 100ms
       void Task200Ms();
       bool DCFCRequest(bool RunCh);

diff --git a/include/chargerhw.h b/include/chargerhw.h
@@ -29,7 +29,7 @@ class Chargerhw
    virtual void Task10Ms() {} //Default does nothing
    virtual void Task100Ms() {} //Default does nothing
    virtual void Task200Ms() {} //Default does nothing
-   virtual void DecodeCAN(int, uint32_t*) {};
+   virtual void DecodeCAN(int, const uint8_t[8]) {};
    virtual bool ControlCharge(bool, bool) {return false;};
    virtual void DeInit() {} //called when switching to another charger, similar to a destructor
    virtual void SetCanInterface(CanHardware* c) { can = c; }

diff --git a/include/chargerint.h b/include/chargerint.h
@@ -29,7 +29,7 @@ class Chargerint
    virtual void Task10Ms() {} //Default does nothing
    virtual void Task100Ms() {} //Default does nothing
    virtual void Task200Ms() {} //Default does nothing
-   virtual void DecodeCAN(int, uint32_t*) {};
+   virtual void DecodeCAN(int, const uint8_t[8]) {};
    virtual bool DCFCRequest(bool) {return false;};
    virtual bool ACRequest(bool) {return false;};
    virtual void DeInit() {} //called when switching to another charger, similar to a destructor

diff --git a/include/daisychainbms.h b/include/daisychainbms.h
@@ -28,7 +28,7 @@ class DaisychainBMS: public BMS
 {
    public:
       void SetCanInterface(CanHardware* c) override;
-      void DecodeCAN(int id, uint8_t * data) override;
+      void DecodeCAN(int id, const uint8_t data[8]) override;
       float MaxChargeCurrent() override;
       void Task100Ms() override;
    private:

diff --git a/include/dcdc.h b/include/dcdc.h
@@ -26,7 +26,7 @@
 class DCDC
 {
    public:
-      virtual void DecodeCAN(int, uint8_t *) {};
+      virtual void DecodeCAN(int, const uint8_t[8]) {};
       virtual void DeInit() {};
       virtual void Task1Ms() {};
       virtual void Task10Ms() {};

diff --git a/include/heater.h b/include/heater.h
@@ -12,7 +12,7 @@
 class Heater
 {
 public:
-   virtual void DecodeCAN(int, uint32_t*) {};
+   virtual void DecodeCAN(int, const uint8_t[8]) {};
    virtual float GetTemperature() { return 0; }
    virtual void SetTargetTemperature(float temp) = 0; //target temperature in °C
    virtual void SetPower(uint16_t power, bool HeatReq) = 0; //Must be called cyclically with power in watts

diff --git a/include/i3LIM.h b/include/i3LIM.h
@@ -13,19 +13,19 @@ class i3LIMClass: public Chargerint
 {
 public:
       void SetCanInterface(CanHardware* c) override;
-      void DecodeCAN(int id, uint32_t* data) override;
+      void DecodeCAN(int id, const uint8_t bytes[8]) override;
       void Task10Ms() override;
       void Task100Ms() override;
       void Task200Ms() override;
       bool DCFCRequest(bool RunCh) override;
       bool ACRequest(bool RunCh) override;
 
 private:
-      void handle3B4(uint32_t data[2]);
-      void handle29E(uint32_t data[2]);
-      void handle2B2(uint32_t data[2]);
-      void handle2EF(uint32_t data[2]);
-      void handle272(uint32_t data[2]);
+      void handle3B4(const uint8_t bytes[8]);
+      void handle29E(const uint8_t bytes[8]);
+      void handle2B2(const uint8_t bytes[8]);
+      void handle2EF(const uint8_t bytes[8]);
+      void handle272(const uint8_t bytes[8]);
       void CCS_Pwr_Con();
       void Chg_Timers();
 };

diff --git a/include/inverter.h b/include/inverter.h
@@ -28,7 +28,7 @@ class Inverter
    virtual void Task1Ms() {} //Default does nothing
    virtual void Task10Ms() {} //Default does nothing
    virtual void Task100Ms() {} //Default does nothing
-   virtual void DecodeCAN(int, uint32_t*) {};
+   virtual void DecodeCAN(int, const uint8_t[8]) {};
    virtual void SetTorque(float torquePercent) = 0;
    virtual float GetMotorTemperature() = 0;
    virtual float GetInverterTemperature() = 0;

diff --git a/include/isa_shunt.h b/include/isa_shunt.h
@@ -29,7 +29,7 @@ class ISA
     static void START(CanHardware* can);
     static void RESTART(CanHardware* can);
     static void deFAULT(CanHardware* can);
-    static void DecodeCAN(int id, uint32_t data[2]);
+    static void DecodeCAN(int id, const uint8_t bytes[8]);
 
     static int32_t Voltage;
     static int32_t Voltage2;
@@ -42,14 +42,14 @@ class ISA
 
 
 private:
-    static void handle521(uint32_t data[2]);
-    static void handle522(uint32_t data[2]);
-    static void handle523(uint32_t data[2]);
-    static void handle524(uint32_t data[2]);
-    static void handle525(uint32_t data[2]);
-    static void handle526(uint32_t data[2]);
-    static void handle527(uint32_t data[2]);
-    static void handle528(uint32_t data[2]);
+    static void handle521(const uint8_t bytes[8]);
+    static void handle522(const uint8_t bytes[8]);
+    static void handle523(const uint8_t bytes[8]);
+    static void handle524(const uint8_t bytes[8]);
+    static void handle525(const uint8_t bytes[8]);
+    static void handle526(const uint8_t bytes[8]);
+    static void handle527(const uint8_t bytes[8]);
+    static void handle528(const uint8_t bytes[8]);
 };
 
 #endif /* SimpleISA_h */
diff --git a/include/kangoobms.h b/include/kangoobms.h
@@ -29,7 +29,7 @@ class KangooBMS: public BMS
 {
    public:
       void SetCanInterface(CanHardware* c) override;
-      void DecodeCAN(int id, uint8_t * data) override;
+      void DecodeCAN(int id, const uint8_t data[8]) override;
       float MaxChargeCurrent() override;
       void Task100Ms() override;
 

diff --git a/include/leafbms.h b/include/leafbms.h
@@ -24,7 +24,7 @@ class LeafBMS: public BMS
 {
 public:
     void SetCanInterface(CanHardware* can) override;
-    void DecodeCAN(int id, uint8_t * data) override;
+    void DecodeCAN(int id, const uint8_t bytes[8]) override;
 };
 
 #endif // LEAFBMS_H
diff --git a/include/leafinv.h b/include/leafinv.h
@@ -28,7 +28,7 @@
 class LeafINV: public Inverter
 {
 public:
-   void DecodeCAN(int id, uint32_t data[2]);
+   void DecodeCAN(int id, const uint8_t bytes[8]) override;
    void Task10Ms();
    void Task100Ms();
    static bool ControlCharge(bool RunCh);

diff --git a/include/outlanderCharger.h b/include/outlanderCharger.h
@@ -35,7 +35,7 @@ class outlanderCharger: public Chargerhw
 {
 
 public:
-void DecodeCAN(int id, uint32_t data[2]);
+void DecodeCAN(int id, const uint8_t bytes[8]) override;
 void Task100Ms();
 bool ControlCharge(bool RunCh, bool ACReq);
 void SetCanInterface(CanHardware* c);
@@ -51,9 +51,9 @@ static uint8_t chgStatus , evseDuty;
 static float dcBusV , temp_1 , temp_2 , ACVolts , DCAmps , ACAmps;
 static float LV_Volts , LV_Amps;
 
-static void handle377(uint32_t data[2]);
-static void handle389(uint32_t data[2]);
-static void handle38A(uint32_t data[2]);
+static void handle377(const uint8_t bytes[8]);
+static void handle389(const uint8_t bytes[8]);
+static void handle38A(const uint8_t bytes[8]);
 };
 
 #endif // OUTLANDERCHARGER_H
diff --git a/include/outlanderinverter.h b/include/outlanderinverter.h
@@ -27,7 +27,7 @@ class OutlanderInverter : public Inverter
 public:
    OutlanderInverter();
    void SetCanInterface(CanHardware* c);
-   void DecodeCAN(int id, uint32_t data[2]);
+   void DecodeCAN(int id, const uint8_t bytes[8]) override;
    void Task10Ms();
    void Task100Ms();
    void SetTorque(float torque);

diff --git a/include/rearoutlanderinverter.h b/include/rearoutlanderinverter.h
@@ -27,7 +27,7 @@ class RearOutlanderInverter : public Inverter
 public:
    RearOutlanderInverter();
    void SetCanInterface(CanHardware* c);
-   void DecodeCAN(int id, uint32_t data[2]);
+   void DecodeCAN(int id, const uint8_t bytes[8]) override;
    void Task10Ms();
    void Task100Ms();
    void SetTorque(float torque);