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-rw-r--r--CAN-binder/low-can-binding/can/can-bus-dev.cpp2
-rw-r--r--CAN-binder/low-can-binding/can/can-message.cpp115
-rw-r--r--CAN-binder/low-can-binding/can/can-message.hpp7
3 files changed, 103 insertions, 21 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 1837f491..4737d113 100644
--- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
@@ -116,7 +116,7 @@ can_message_t can_bus_dev_t::read()
DEBUG(binder_interface, "%s: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", __FUNCTION__, cfd.can_id, cfd.len,
cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]);
- return can_message_t::convert_from_canfd_frame(cfd, nbytes);
+ return can_message_t::convert_from_frame(cfd, nbytes);
}
/// @brief Create a RX_SETUP receive job using the BCM socket.
diff --git a/CAN-binder/low-can-binding/can/can-message.cpp b/CAN-binder/low-can-binding/can/can-message.cpp
index f27dce3f..3575348f 100644
--- a/CAN-binder/low-can-binding/can/can-message.cpp
+++ b/CAN-binder/low-can-binding/can/can-message.cpp
@@ -143,7 +143,6 @@ void can_message_t::set_format(const can_message_format_t new_format)
ERROR(binder_interface, "%s: Can set format, wrong format chosen", __FUNCTION__);
}
-///
/// @brief Take a canfd_frame struct to initialize class members
///
/// This is the preferred way to initialize class members.
@@ -153,7 +152,7 @@ void can_message_t::set_format(const can_message_format_t new_format)
///
/// @return A can_message_t object fully initialized with canfd_frame values.
///
-can_message_t can_message_t::convert_from_canfd_frame(const struct canfd_frame& frame, size_t nbytes)
+can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes)
{
uint8_t maxdlen, length, flags = (uint8_t)NULL;
uint32_t id;
@@ -177,26 +176,19 @@ can_message_t can_message_t::convert_from_canfd_frame(const struct canfd_frame&
}
if (frame.can_id & CAN_ERR_FLAG)
+ {
format = can_message_format_t::ERROR;
+ id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+ }
else if (frame.can_id & CAN_EFF_FLAG)
+ {
format = can_message_format_t::EXTENDED;
+ id = frame.can_id & CAN_EFF_MASK;
+ }
else
- format = can_message_format_t::STANDARD;
-
- switch(format)
{
- case can_message_format_t::STANDARD:
- id = frame.can_id & CAN_SFF_MASK;
- break;
- case can_message_format_t::EXTENDED:
- id = frame.can_id & CAN_EFF_MASK;
- break;
- case can_message_format_t::ERROR:
- id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
- break;
- default:
- ERROR(binder_interface, "%s: Can set id, not a compatible format or format not set prior to set id.", __FUNCTION__);
- break;
+ format = can_message_format_t::STANDARD;
+ id = frame.can_id & CAN_SFF_MASK;
}
/* Overwrite length_ if RTR flags is detected.
@@ -240,6 +232,77 @@ can_message_t can_message_t::convert_from_canfd_frame(const struct canfd_frame&
return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data);
}
+can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, size_t nbytes)
+{
+ uint8_t maxdlen, length, flags = (uint8_t)NULL;
+ uint32_t id;
+ can_message_format_t format;
+ bool rtr_flag;
+ std::vector<uint8_t> data;
+
+ if(nbytes <= CAN_MTU)
+ {
+ DEBUG(binder_interface, "%s: Got a legacy CAN frame", __FUNCTION__);
+ maxdlen = CAN_MAX_DLEN;
+ }
+ else
+ {
+ ERROR(binder_interface, "%s: unsupported CAN frame", __FUNCTION__);
+ }
+
+ if (frame.can_id & CAN_ERR_FLAG)
+ {
+ format = can_message_format_t::ERROR;
+ id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+ }
+ else if (frame.can_id & CAN_EFF_FLAG)
+ {
+ format = can_message_format_t::EXTENDED;
+ id = frame.can_id & CAN_EFF_MASK;
+ }
+ else
+ {
+ format = can_message_format_t::STANDARD;
+ id = frame.can_id & CAN_SFF_MASK;
+ }
+
+ /* Overwrite length_ if RTR flags is detected.
+ * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
+ if (frame.can_id & CAN_RTR_FLAG)
+ {
+ rtr_flag = true;
+ if(frame.can_dlc && frame.can_dlc <= CAN_MAX_DLC)
+ {
+ if(rtr_flag)
+ length = frame.can_dlc& 0xF;
+ else
+ {
+ length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc;
+ }
+ }
+ }
+ else
+ {
+ length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc;
+
+ if (data.capacity() < maxdlen)
+ data.reserve(maxdlen);
+ int i;
+
+ data.clear();
+ /* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/
+ for(i=0;i<maxdlen;i++)
+ {
+ data.push_back(frame.data[i]);
+ };
+
+// DEBUG(binder_interface, "%s: Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", __FUNCTION__,
+// id, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
+ }
+
+ return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data);
+}
+
///
/// @brief Take all initialized class's members and build an
/// canfd_frame struct that can be use to send a CAN message over
@@ -247,7 +310,7 @@ can_message_t can_message_t::convert_from_canfd_frame(const struct canfd_frame&
///
/// @return canfd_frame struct built from class members.
///
-canfd_frame can_message_t::convert_to_canfd_frame()
+struct canfd_frame can_message_t::convert_to_canfd_frame()
{
canfd_frame frame;
@@ -262,3 +325,19 @@ canfd_frame can_message_t::convert_to_canfd_frame()
return frame;
}
+
+struct can_frame can_message_t::convert_to_can_frame()
+{
+ can_frame frame;
+
+ if(is_correct_to_send())
+ {
+ frame.can_id = get_id();
+ frame.can_dlc = get_length();
+ ::memcpy(frame.data, get_data(), length_);
+ }
+ else
+ ERROR(binder_interface, "%s: can_message_t not correctly initialized to be sent", __FUNCTION__);
+
+ return frame;
+}
diff --git a/CAN-binder/low-can-binding/can/can-message.hpp b/CAN-binder/low-can-binding/can/can-message.hpp
index 5a6e6eb3..d38f7ba2 100644
--- a/CAN-binder/low-can-binding/can/can-message.hpp
+++ b/CAN-binder/low-can-binding/can/can-message.hpp
@@ -70,6 +70,9 @@ public:
bool is_correct_to_send();
- static can_message_t convert_from_canfd_frame(const struct canfd_frame& frame, size_t nbytes);
- canfd_frame convert_to_canfd_frame();
+ static can_message_t convert_from_frame(const canfd_frame& frame, size_t nbytes);
+ static can_message_t convert_from_frame(const can_frame& frame, size_t nbytes);
+
+ struct canfd_frame convert_to_canfd_frame();
+ struct can_frame convert_to_can_frame();
};