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-rw-r--r--low-can-binding/binding/low-can-socket.cpp75
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;}