diff options
Diffstat (limited to 'CAN-binder/low-can-binding/can/can-bus-dev.cpp')
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus-dev.cpp | 27 |
1 files changed, 27 insertions, 0 deletions
diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.cpp b/CAN-binder/low-can-binding/can/can-bus-dev.cpp index 8470156f..6cd2264b 100644 --- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp +++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp @@ -20,13 +20,17 @@ #include <mutex> #include <unistd.h> #include <linux/can/raw.h> +#include <linux/can/bcm.h> #include "can-bus-dev.hpp" +#include <cmath> #include "can-bus.hpp" #include "can-message.hpp" #include "../low-can-binding.hpp" +#include "canutil/write.h" +#define U64_DATA(p) (*(unsigned long long*)(p)->data) /// @brief Class constructor /// /// @param[in] dev_name - String representing the device name into the linux /dev tree @@ -113,6 +117,29 @@ can_message_t can_bus_dev_t::read() return can_message_t::convert_from_canfd_frame(cfd, nbytes); } +/// @brief Create a RX_SETUP receive job using the BCM socket. +/// +/// @return 0 if ok else -1 +int can_bus_dev_t::create_rx_filter(const can_signal_t& s) +{ + uint32_t can_id = s.get_message().get_id(); + + struct utils::canfd_bcm_msg bcm_msg; + + uint8_t bit_size = s.get_bit_size(); + float val = (float)exp2(bit_size); + uint64_t filter = eightbyte_encode_float(val, s.get_bit_position(), bit_size, s.get_factor(), s.get_offset()); + + bcm_msg.msg_head.opcode = RX_SETUP; + bcm_msg.msg_head.can_id = can_id; + bcm_msg.msg_head.nframes = 1; + U64_DATA(&bcm_msg.frames[0]) = filter; + + if(can_socket_ << bcm_msg) + return 0; + return -1; +} + /// @brief start reading threads and set flag is_running_ /// @param[in] can_bus reference can_bus_t. it will be passed to the thread to allow using can_bus_t queue. void can_bus_dev_t::start_reading(can_bus_t& can_bus) |