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>

1 files changed, 6 insertions, 4 deletions

diff --git a/low-can-binding/binding/low-can-socket.hpp b/low-can-binding/binding/low-can-socket.hpp
index 48ed47f9..d46f1f8c 100644
--- a/low-can-binding/binding/low-can-socket.hpp
+++ b/low-can-binding/binding/low-can-socket.hpp
@@ -25,6 +25,8 @@
 #include "../diagnostic/diagnostic-message.hpp"
 #include "../utils/socketcan-bcm.hpp"
 
+#define OBDII_MAX_SIMULTANEOUS_RESPONSES 8
+
 /// @brief Filtering values. Theses values have to be tested in
 /// can_bus_t::apply_filter method.
 struct event_filter_t
@@ -81,14 +83,14 @@ public:
 	void set_min(float min);
 	void set_max(float max);
 
-	struct utils::simple_bcm_msg make_bcm_head(uint32_t opcode, uint32_t can_id = 0, uint32_t flags = 0, const struct timeval& timeout = {0,0}, const struct timeval& frequency_thinning = {0,0}) const;
-	void add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const;
+	struct utils::bcm_msg make_bcm_head(uint32_t opcode, uint32_t can_id = 0, uint32_t flags = 0, const struct timeval& timeout = {0,0}, const struct timeval& frequency_thinning = {0,0}) const;
+	void add_one_bcm_frame(struct canfd_frame& cfd, struct utils::bcm_msg& bcm_msg) const;
 
 	int open_socket(const std::string& bus_name = "");
 
 	int create_rx_filter(std::shared_ptr<can_signal_t> sig);
 	int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig);
-	int create_rx_filter(utils::simple_bcm_msg& bcm_msg);
+	int create_rx_filter(utils::bcm_msg& bcm_msg);
 
-	int tx_send(const struct can_frame& cf, const std::string& bus_name);
+	int tx_send(struct canfd_frame& cfd, const std::string& bus_name);
 };