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>

2 files changed, 30 insertions, 20 deletions

diff --git a/low-can-binding/utils/socketcan-bcm.cpp b/low-can-binding/utils/socketcan-bcm.cpp
index 750e772d..d1fd8e0a 100644
--- a/low-can-binding/utils/socketcan-bcm.cpp
+++ b/low-can-binding/utils/socketcan-bcm.cpp
@@ -72,7 +72,7 @@ namespace utils
 	/// then CAN message will be zeroed and must be handled later.
 	socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm)
 	{
-		struct utils::simple_bcm_msg msg;
+		struct utils::bcm_msg msg;
 
 		::memset(&msg, 0, sizeof(msg));
 		const struct sockaddr_can& addr = s.get_tx_address();
@@ -85,17 +85,30 @@ namespace utils
 		long unsigned int frame_size = nbytes-sizeof(struct bcm_msg_head);
 
 		AFB_DEBUG("Data available: %li bytes read. BCM head, opcode: %i, can_id: %i, nframes: %i", frame_size, msg.msg_head.opcode, msg.msg_head.can_id, msg.msg_head.nframes);
-		AFB_DEBUG("read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, msg.msg_head.can_id, msg.frames.can_dlc,
-			msg.frames.data[0], msg.frames.data[1], msg.frames.data[2], msg.frames.data[3], msg.frames.data[4], msg.frames.data[5], msg.frames.data[6], msg.frames.data[7]);
 
 		struct timeval tv;
 		ioctl(s.socket(), SIOCGSTAMP, &tv);
 		uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
-		cm = ::can_message_t::convert_from_frame(msg.frames ,
-				frame_size,
-				timestamp);
+		cm = can_message_t::convert_from_frame(msg.fd_frames[0] , frame_size, timestamp);
 		cm.set_sub_id((int)s.socket());
 
 		return s;
 	}
+
+	socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const std::vector<struct utils::bcm_msg>& vobj)
+	{
+		for(const auto& obj : vobj)
+			s << obj;
+		return s;
+	}
+
+	socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct utils::bcm_msg& obj)
+	{
+		size_t size = (obj.msg_head.flags & CAN_FD_FRAME) ?
+			      (size_t)((char*)&obj.fd_frames[obj.msg_head.nframes] - (char*)&obj):
+			      (size_t)((char*)&obj.frames[obj.msg_head.nframes] - (char*)&obj);
+		if (::sendto(s.socket(), &obj, size, 0, (const struct sockaddr*)&s.get_tx_address(), sizeof(s.get_tx_address())) < 0)
+			AFB_API_ERROR(afbBindingV3root, "Error sending : %i %s", errno, ::strerror(errno));
+		return s;
+	}
 }
diff --git a/low-can-binding/utils/socketcan-bcm.hpp b/low-can-binding/utils/socketcan-bcm.hpp
index 22927cb6..478a5292 100644
--- a/low-can-binding/utils/socketcan-bcm.hpp
+++ b/low-can-binding/utils/socketcan-bcm.hpp
@@ -20,24 +20,20 @@
 #include "socketcan.hpp"
 #include "../can/can-message.hpp"
 
+#define MAX_BCM_CAN_FRAMES 257
+
 namespace utils
 {
-	struct simple_bcm_msg
-	{
-		struct bcm_msg_head msg_head;
-		struct can_frame frames;
-	};
-
-#ifdef KERNEL_MINIMAL_VERSION_OK
-	struct canfd_bcm_msg
+	struct bcm_msg
 	{
 		struct bcm_msg_head msg_head;
-		struct canfd_frame frames;
-		canfd_bcm_msg() { msg_head.flags |= CAN_FD_FRAME; }
+		union {
+			struct canfd_frame fd_frames[MAX_BCM_CAN_FRAMES];
+			struct can_frame frames[MAX_BCM_CAN_FRAMES];
+		};
 	};
-#endif
 
-	/// @brief derivated socketcan class specialized for BCM CAN socket.
+	/// @brief derivated socketcan class specialized for BCM CAN socket.make_bcm_head
 	class socketcan_bcm_t : public socketcan_t
 	{
 	public:
@@ -50,6 +46,7 @@ namespace utils
 	};
 
 	socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm);
-//	socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct simple_bcm_msg& obj);
-//	socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct canfd_bcm_msg& obj);
+
+	socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const std::vector<struct bcm_msg>& obj);
+	socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct bcm_msg& obj);
 }