diff options
Diffstat (limited to 'CAN-binder/low-can-binding/can/can-signals.cpp')
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-signals.cpp | 51 |
1 files changed, 51 insertions, 0 deletions
diff --git a/CAN-binder/low-can-binding/can/can-signals.cpp b/CAN-binder/low-can-binding/can/can-signals.cpp index 82c62853..48c919da 100644 --- a/CAN-binder/low-can-binding/can/can-signals.cpp +++ b/CAN-binder/low-can-binding/can/can-signals.cpp @@ -22,7 +22,10 @@ #include "../binding/configuration.hpp" #include "../utils/signals.hpp" #include "can-decoder.hpp" +#include "can-message.hpp" +#include "can-bus.hpp" #include "../diagnostic/diagnostic-message.hpp" +#include "canutil/write.h" std::string can_signal_t::prefix_ = "messages"; @@ -63,6 +66,10 @@ can_signal_t::can_signal_t(std::uint8_t message_set_id, , last_value_{.0f} {} +utils::socketcan_bcm_t can_signal_t::get_socket() const +{ + return socket_; +} const can_message_definition_t& can_signal_t::get_message() const { @@ -184,3 +191,47 @@ void can_signal_t::set_last_value(float val) { last_value_ = val; } + +/// @brief Create a RX_SETUP receive job using the BCM socket. +/// +/// @return 0 if ok else -1 +int can_signal_t::create_rx_filter() +{ + // Make sure that socket has been opened. + if(! socket_) + socket_.open( + get_message().get_bus_name()); + + uint32_t can_id = get_message().get_id(); + + struct utils::simple_bcm_msg bcm_msg; + struct can_frame cfd; + + memset(&cfd, 0, sizeof(cfd)); + memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head)); + float val = (float)(1 << bit_size_)-1; + float freq = frequency_.frequency_to_period(); + if(freq <= 0) + freq = 0.000001f; + + bcm_msg.msg_head.opcode = RX_SETUP; + bcm_msg.msg_head.can_id = can_id; + bcm_msg.msg_head.flags = SETTIMER; + bcm_msg.msg_head.ival2.tv_sec = long(freq); + bcm_msg.msg_head.ival2.tv_usec = (freq - (long)freq) * 1000000; + bcm_msg.msg_head.nframes = 1; + bitfield_encode_float(val, + bit_position_, + bit_size_, + factor_, + offset_, + cfd.data, + CAN_MAX_DLEN); + + bcm_msg.frames = cfd; + + if(socket_ << bcm_msg) + return 0; + return -1; +} + |