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Code Issues Releases Wiki Activity

Refine (further) the Phy API

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- Refactor send/read data to read entire array instead of byte-oriented
  reads
- Simplify/improve consistency of asynchrony (all send functions now
  optionally async)
- Fix start-bit TX (now actually validate joinable start-bits)

Assisted-by: Claude Code (Opus 5)
This commit is contained in:
Allen Hill
2026-09-19 13:35:46 -07:00
parent 7252e6bfdd
commit fbf5811496
5 changed files with 236 additions and 207 deletions
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src/avclan/bus.cc
+18 -17
View File
@@ -81,7 +81,9 @@ public:
};
Read read_control(uint8_t *control) { return phy_read_control(control); };
Read read_length(uint8_t *length) { return phy_read_length(length); };
Read read_data(uint8_t *data) { return phy_read_data(data); };
Read read_data(uint8_t *data, uint8_t length, uint8_t *data_index) {
return phy_read_data(data, length, data_index);
};
Send send_header(bool is_unicast) { return phy_send_header(is_unicast); };
Send send_controller_addr(uint16_t addr) {
@@ -96,8 +98,9 @@ public:
Send send_length(uint8_t length, bool expect_ack) {
return phy_send_length(length, expect_ack);
};
Send send_data(uint8_t data, bool expect_ack) {
return phy_send_data(data, expect_ack);
Send send_data(const uint8_t *data, uint8_t length, bool expect_ack,
uint8_t *data_index) {
return phy_send_data(data, length, expect_ack, data_index);
};
// NOLINTEND(readability-convert-member-functions-to-static)
};
@@ -183,14 +186,13 @@ auto Bus::read(Frame::Print print)
goto handle_err;
}
for (uint8_t i = 0; i < in->length; i++) {
err.type = handle.read_data(&in->data[i]);
if (err.type != Read{0}) {
if (print.verbose)
err.val = in->data[i];
uint8_t data_i = 0;
err.type = handle.read_data(in->data, in->length, &data_i);
if (err.type != Read{0}) {
if (print.verbose)
err.val = in->data[data_i];
goto handle_err;
}
goto handle_err;
}
} // destroy handle
@@ -279,17 +281,16 @@ auto Bus::send(const Frame &out, Frame::Print print) -> Send {
if (err.type != Send{0})
goto handle_err;
for (uint8_t i = 0; i < out.length; i++) {
err.type = handle.send_data(out.data[i], out.is_unicast);
if (err.type != Send{0}) {
err.val = i;
goto handle_err;
}
}
err.type =
handle.send_data(out.data, out.length, out.is_unicast, &err.val);
if (err.type != Send{0})
goto handle_err;
// A phy that only queued the fields above settles them here
uint8_t data_i = 0;
err.type = phy_send_done(&data_i);
if (err.type == BUSY || err.type == LOST_ARBITRATION) // Queued header
continue;
if (err.type != Send{0}) {
err.val = data_i;
goto handle_err;