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authorRomain Forlot <romain.forlot@iot.bzh>2018-09-28 17:12:18 +0200
committerRomain Forlot <romain.forlot@iot.bzh>2018-12-14 08:58:56 +0000
commitea35eabeadce57e4f5015797fea530c5bb219fff (patch)
tree69fbb0f4e4d5528500873d122bc35b3423d7ca96 /low-can-binding/binding/low-can-cb.cpp
parentb049485873e1692cc9e7857e91e017f86dd91218 (diff)
CAN FD implementation
Add a flag to CAN message definitions which set the message as using FD protocol if true. Use a new generated file with the new FD flag field on the message definitions. Change BCM socket "struct" using an union to store the CAN frames either using the FD struct or the classic non FD struct. A BCM socket can only one frame type once configured. Use as much as possible the "struct canfd_frame" in the binding and only make a difference before writing or reading the socket. From a memory point of view both struct are identical and only the last member differ and could hold more data with messages of 64 bytes long. So the canfd_frame is compatible with the can_frame and can be differentiated by a flag set in the can_id member. Remove now unused code processing can_frame. Keep the diagnostic manager using the classic CAN frame. Set the maximum number of frames that a BCM socket can handle to 257. Bug-AGL: SPEC-1980 Change-Id: Ifcc041281ea6745fc25cbd384743761f4446f489 Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>
Diffstat (limited to 'low-can-binding/binding/low-can-cb.cpp')
-rw-r--r--low-can-binding/binding/low-can-cb.cpp63
1 files changed, 30 insertions, 33 deletions
diff --git a/low-can-binding/binding/low-can-cb.cpp b/low-can-binding/binding/low-can-cb.cpp
index 3cb61c6c..098f0715 100644
--- a/low-can-binding/binding/low-can-cb.cpp
+++ b/low-can-binding/binding/low-can-cb.cpp
@@ -407,7 +407,7 @@ void unsubscribe(afb_req_t request)
do_subscribe_unsubscribe(request, false);
}
-static int send_frame(const std::string& bus_name, const struct can_frame& cf)
+static int send_frame(struct canfd_frame& cfd, const std::string& bus_name)
{
if(bus_name.empty()) {
return -1;
@@ -418,57 +418,54 @@ static int send_frame(const std::string& bus_name, const struct can_frame& cf)
if( cd.count(bus_name) == 0)
{cd[bus_name] = std::make_shared<low_can_socket_t>(low_can_socket_t());}
- return cd[bus_name]->tx_send(cf, bus_name);
+ return cd[bus_name]->tx_send(cfd, bus_name);
}
static void write_raw_frame(afb_req_t request, const std::string& bus_name, json_object *json_value)
{
- struct can_frame cf;
- struct json_object *json_can_data = nullptr;
+ struct canfd_frame cfd;
+ struct json_object *can_data = nullptr;
- ::memset(&cf, 0, sizeof(cf));
+ ::memset(&cfd, 0, sizeof(cfd));
- if(! wrap_json_unpack(json_value, "{sF, sF, so !}",
- "can_id", &cf.can_id,
- "can_dlc", &cf.can_dlc,
- "can_data", &json_can_data))
+ if(wrap_json_unpack(json_value, "{si, si, so !}",
+ "can_id", &cfd.can_id,
+ "can_dlc", &cfd.len,
+ "can_data", &can_data))
{
- struct json_object *one_can_data;
- size_t n = json_object_array_length(json_can_data);
+ afb_req_fail(request, "Invalid", "Frame object malformed");
+ return;
+ }
- if(n <= 8 && n > 0)
- {
- for (int i = 0 ; i < n ; i++)
- {
- one_can_data = json_object_array_get_idx(json_can_data, i);
- cf.data[i] = json_object_get_type(one_can_data) == json_type_int ? (uint8_t)json_object_get_int(one_can_data) : 0;
- }
- }
- else
+ if(cfd.len <= 8 && cfd.len > 0)
+ {
+ for (int i = 0 ; i < cfd.len ; i++)
{
- afb_req_fail(request, "Error", "Data array must hold 1 to 8 values.");
- return;
+ struct json_object *one_can_data = json_object_array_get_idx(can_data, i);
+ cfd.data[i] = (json_object_is_type(one_can_data, json_type_int)) ?
+ (uint8_t)json_object_get_int(one_can_data) : 0;
}
-
- if(! send_frame(application_t::instance().get_can_bus_manager().get_can_device_name(bus_name), cf))
- afb_req_success(request, nullptr, "Message correctly sent");
- else
- afb_req_fail(request, "Error", "sending the message. See the log for more details.");
-
+ }
+ else
+ {
+ afb_req_fail(request, "Invalid", "Data array must hold 1 to 8 values.");
return;
}
- afb_req_fail(request, "Error", "Frame object malformed (must be \n \"frame\": {\"can_id\": int, \"can_dlc\": int, \"can_data\": [ int, int , int, int ,int , int ,int ,int]}");
+ if(! send_frame(cfd, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name)))
+ afb_req_success(request, nullptr, "Message correctly sent");
+ else
+ afb_req_fail(request, "Error", "sending the message. See the log for more details.");
}
static void write_signal(afb_req_t request, const std::string& name, json_object *json_value)
{
- struct can_frame cf;
+ struct canfd_frame cfd;
struct utils::signals_found sf;
signal_encoder encoder = nullptr;
bool send = true;
- ::memset(&cf, 0, sizeof(cf));
+ ::memset(&cfd, 0, sizeof(cfd));
openxc_DynamicField search_key = build_DynamicField(name);
sf = utils::signals_manager_t::instance().find_signals(search_key);
@@ -491,8 +488,8 @@ static void write_signal(afb_req_t request, const std::string& name, json_object
encoder(*sig, dynafield_value, &send) :
encoder_t::encode_DynamicField(*sig, dynafield_value, &send);
- if(! send_frame(sig->get_message()->get_bus_device_name(), encoder_t::build_frame(sig, value)) &&
- send)
+ cfd = encoder_t::build_frame(sig, value);
+ if(! send_frame(cfd, sig->get_message()->get_bus_device_name()) && send)
afb_req_success(request, nullptr, "Message correctly sent");
else
afb_req_fail(request, "Error", "Sending the message. See the log for more details.");