diff options
Diffstat (limited to 'low-can-binding/binding/low-can-socket.cpp')
| -rw-r--r-- | low-can-binding/binding/low-can-socket.cpp | 75 |
1 files changed, 47 insertions, 28 deletions
diff --git a/low-can-binding/binding/low-can-socket.cpp b/low-can-binding/binding/low-can-socket.cpp index db9b164b..cd827b6b 100644 --- a/low-can-binding/binding/low-can-socket.cpp +++ b/low-can-binding/binding/low-can-socket.cpp @@ -185,11 +185,11 @@ int low_can_socket_t::open_socket(const std::string& bus_name) /// @brief Builds a BCM message head but doesn't set can_frame. /// -/// @returns a simple_bcm_msg with the msg_head parts set and can_frame +/// @returns a bcm_msg with the msg_head parts set and can_frame /// zeroed. -struct utils::simple_bcm_msg low_can_socket_t::make_bcm_head(uint32_t opcode, uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const +struct utils::bcm_msg low_can_socket_t::make_bcm_head(uint32_t opcode, uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const { - struct utils::simple_bcm_msg bcm_msg; + struct utils::bcm_msg bcm_msg; ::memset(&bcm_msg, 0, sizeof(bcm_msg)); bcm_msg.msg_head.opcode = opcode; @@ -203,13 +203,23 @@ struct utils::simple_bcm_msg low_can_socket_t::make_bcm_head(uint32_t opcode, ui return bcm_msg; } -/// @brief Take an existing simple_bcm_msg struct and add a can_frame. +/// @brief Take an existing bcm_msg struct and add a can_frame. /// Currently only 1 uniq can_frame can be added, it's not possible to build /// a multiplexed message with several can_frame. -void low_can_socket_t::add_bcm_frame(const struct can_frame& cf, struct utils::simple_bcm_msg& bcm_msg) const +void low_can_socket_t::add_one_bcm_frame(struct canfd_frame& cfd, struct utils::bcm_msg& bcm_msg) const { + struct can_frame cf; + + if (bcm_msg.msg_head.flags & CAN_FD_FRAME) + bcm_msg.fd_frames[bcm_msg.msg_head.nframes] = cfd; + else + { + cf.can_id = cfd.can_id; + cf.can_dlc = cfd.len; + ::memcpy(&cf.data, cfd.data, cfd.len); + bcm_msg.frames[bcm_msg.msg_head.nframes] = cf; + } bcm_msg.msg_head.nframes++; - bcm_msg.frames = cf; } /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a CAN signal @@ -218,26 +228,37 @@ void low_can_socket_t::add_bcm_frame(const struct can_frame& cf, struct utils::s /// @return 0 if ok else -1 int low_can_socket_t::create_rx_filter(std::shared_ptr<can_signal_t> sig) { + uint32_t flags; + float val; + struct timeval freq, timeout = {0, 0}; + struct canfd_frame cfd; can_signal_= sig; - struct can_frame cfd; - memset(&cfd, 0, sizeof(cfd)); - - float val = (float)(1 << can_signal_->get_bit_size()) - 1; - bitfield_encode_float(val, - can_signal_->get_bit_position(), - can_signal_->get_bit_size(), - can_signal_->get_factor(), - can_signal_->get_offset(), - cfd.data, - CAN_MAX_DLEN); + if (sig->get_message()->is_fd()) + { + flags = SETTIMER|RX_NO_AUTOTIMER|CAN_FD_FRAME; + cfd.len = CANFD_MAX_DLEN; + } + else + { + flags = SETTIMER|RX_NO_AUTOTIMER; + cfd.len = CAN_MAX_DLEN; + } + val = (float)(1 << can_signal_->get_bit_size()) - 1; + if(! bitfield_encode_float(val, + can_signal_->get_bit_position(), + can_signal_->get_bit_size(), + 1, + can_signal_->get_offset(), + cfd.data, + cfd.len)) + return -1; - struct timeval freq, timeout = {0, 0}; frequency_clock_t f = event_filter_.frequency == 0 ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency); freq = f.get_timeval_from_period(); - utils::simple_bcm_msg bcm_msg = make_bcm_head(RX_SETUP, can_signal_->get_message()->get_id(), SETTIMER|RX_NO_AUTOTIMER, timeout, freq); - add_bcm_frame(cfd, bcm_msg); + utils::bcm_msg bcm_msg = make_bcm_head(RX_SETUP, can_signal_->get_message()->get_id(), flags, timeout, freq); + add_one_bcm_frame(cfd, bcm_msg); return create_rx_filter(bcm_msg); } @@ -254,19 +275,19 @@ int low_can_socket_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig //struct timeval timeout = frequency_clock_t(10).get_timeval_from_period(); struct timeval timeout = {0,0}; - utils::simple_bcm_msg bcm_msg = make_bcm_head(RX_SETUP, OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq); + utils::bcm_msg bcm_msg = make_bcm_head(RX_SETUP, OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq); return create_rx_filter(bcm_msg); } /// @brief Create a RX_SETUP receive job used by the BCM socket directly from -/// a simple_bcm_msg. The method should not be used directly but rather through the +/// a bcm_msg. The method should not be used directly but rather through the /// two previous method with can_signal_t or diagnostic_message_t object. /// /// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed /// to the 8 classics OBD2 functional response ID /// /// @return 0 if ok else -1 -int low_can_socket_t::create_rx_filter(utils::simple_bcm_msg& bcm_msg) +int low_can_socket_t::create_rx_filter(utils::bcm_msg& bcm_msg) { // Make sure that socket is opened. if(open_socket() < 0) @@ -299,12 +320,10 @@ int low_can_socket_t::create_rx_filter(utils::simple_bcm_msg& bcm_msg) /// send a message /// /// @return 0 if ok else -1 -int low_can_socket_t::tx_send(const struct can_frame& cf, const std::string& bus_name) +int low_can_socket_t::tx_send(struct canfd_frame& cfd, const std::string& bus_name) { - can_signal_ = nullptr; - - utils::simple_bcm_msg bcm_msg = make_bcm_head(TX_SEND); - add_bcm_frame(cf, bcm_msg); + utils::bcm_msg bcm_msg = make_bcm_head(TX_SEND, cfd.can_id); + add_one_bcm_frame(cfd, bcm_msg); if(open_socket(bus_name) < 0) {return -1;} |