diff options
Diffstat (limited to 'low-can-binding/can')
| -rw-r--r-- | low-can-binding/can/can-encoder.cpp | 11 | ||||
| -rw-r--r-- | low-can-binding/can/can-encoder.hpp | 2 | ||||
| -rw-r--r-- | low-can-binding/can/can-message-definition.cpp | 7 | ||||
| -rw-r--r-- | low-can-binding/can/can-message-definition.hpp | 10 | ||||
| -rw-r--r-- | low-can-binding/can/can-message.cpp | 121 | ||||
| -rw-r--r-- | low-can-binding/can/can-message.hpp | 4 |
6 files changed, 23 insertions, 132 deletions
diff --git a/low-can-binding/can/can-encoder.cpp b/low-can-binding/can/can-encoder.cpp index 4f1efa2a..4b8a2963 100644 --- a/low-can-binding/can/can-encoder.cpp +++ b/low-can-binding/can/can-encoder.cpp @@ -28,14 +28,15 @@ /// @param[out] data - The destination buffer. /// @param[in] length - The length of the destination buffer. /// -/// @return Returns a can_frame struct initialized and ready to be send. -const can_frame encoder_t::build_frame(const std::shared_ptr<can_signal_t>& signal, uint64_t value) +/// @return Returns a canfd_frame struct initialized and ready to be send. +const canfd_frame encoder_t::build_frame(const std::shared_ptr<can_signal_t>& signal, uint64_t value) { - struct can_frame cf; + struct canfd_frame cf; ::memset(&cf, 0, sizeof(cf)); cf.can_id = signal->get_message()->get_id(); - cf.can_dlc = CAN_MAX_DLEN; + cf.len = signal->get_message()->is_fd() ? + CANFD_MAX_DLEN : CAN_MAX_DLEN; signal->set_last_value((float)value); @@ -48,7 +49,7 @@ const can_frame encoder_t::build_frame(const std::shared_ptr<can_signal_t>& sign sig->get_factor(), sig->get_offset(), cf.data, - CAN_MAX_DLEN); + cf.len); } return cf; diff --git a/low-can-binding/can/can-encoder.hpp b/low-can-binding/can/can-encoder.hpp index c79e2245..f8398836 100644 --- a/low-can-binding/can/can-encoder.hpp +++ b/low-can-binding/can/can-encoder.hpp @@ -24,7 +24,7 @@ class encoder_t { public: - static const can_frame build_frame(const std::shared_ptr<can_signal_t>& signal, uint64_t value); + static const canfd_frame build_frame(const std::shared_ptr<can_signal_t>& signal, uint64_t value); static uint64_t encode_state(const can_signal_t& signal, const std::string& value, bool* send); static uint64_t encode_boolean(const can_signal_t& signal, bool value, bool* send); static uint64_t encode_number(const can_signal_t& signal, float value, bool* send); diff --git a/low-can-binding/can/can-message-definition.cpp b/low-can-binding/can/can-message-definition.cpp index 28d45fe5..ae957d14 100644 --- a/low-can-binding/can/can-message-definition.cpp +++ b/low-can-binding/can/can-message-definition.cpp @@ -54,6 +54,7 @@ can_message_definition_t::can_message_definition_t( can_message_definition_t::can_message_definition_t( const std::string bus, uint32_t id, + bool is_fd, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed, @@ -61,6 +62,7 @@ can_message_definition_t::can_message_definition_t( : parent_{nullptr}, bus_{bus}, id_{id}, + is_fd_(is_fd), format_{format}, frequency_clock_{frequency_clock}, force_send_changed_{force_send_changed}, @@ -84,6 +86,11 @@ uint32_t can_message_definition_t::get_id() const return id_; } +bool can_message_definition_t::is_fd() const +{ + return is_fd_; +} + std::vector<std::shared_ptr<can_signal_t> >& can_message_definition_t::get_can_signals() { return can_signals_; diff --git a/low-can-binding/can/can-message-definition.hpp b/low-can-binding/can/can-message-definition.hpp index 6d0f17d6..b9025cbb 100644 --- a/low-can-binding/can/can-message-definition.hpp +++ b/low-can-binding/can/can-message-definition.hpp @@ -43,6 +43,7 @@ private: can_message_set_t* parent_; ///< parent_ - Pointer to the CAN message set holding this CAN message definition */ std::string bus_; ///< bus_ - Address of CAN bus device. */ uint32_t id_; ///< id_ - The ID of the message.*/ + bool is_fd_; /*!< uses_fd_ - Flags to enable an FD CAN message communication*/ can_message_format_t format_; ///< format_ - the format of the message's ID.*/ frequency_clock_t frequency_clock_; ///< clock_ - an optional frequency clock to control the output of this /// message, if sent raw, or simply to mark the max frequency for custom @@ -59,11 +60,18 @@ public: can_message_definition_t(const std::string bus); can_message_definition_t(const std::string bus, uint32_t id, frequency_clock_t frequency_clock, bool force_send_changed); can_message_definition_t(const std::string bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed); - can_message_definition_t(const std::string bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed, const std::vector<std::shared_ptr<can_signal_t> >& can_signals); + can_message_definition_t(const std::string bus, + uint32_t id, + bool is_fd, + can_message_format_t format, + frequency_clock_t frequency_clock, + bool force_send_changed, + const std::vector<std::shared_ptr<can_signal_t> >& can_signals); const std::string get_bus_name() const; const std::string get_bus_device_name() const; uint32_t get_id() const; + bool is_fd() const; std::vector<std::shared_ptr<can_signal_t> >& get_can_signals(); void set_parent(can_message_set_t* parent); diff --git a/low-can-binding/can/can-message.cpp b/low-can-binding/can/can-message.cpp index 1b27d0f6..9ec35668 100644 --- a/low-can-binding/can/can-message.cpp +++ b/low-can-binding/can/can-message.cpp @@ -266,124 +266,3 @@ can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame, return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp); } - -/// @brief Take a can_frame struct to initialize class members -/// -/// This is the preferred way to initialize class members. -/// -/// @param[in] frame - can_frame to convert coming from a read of CAN socket -/// @param[in] nbytes - bytes read from socket read operation. -/// -/// @return A can_message_t object fully initialized with can_frame values. -can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, size_t nbytes, uint64_t timestamp) -{ - uint8_t maxdlen = 0, length = 0, flags = 0; - uint32_t id; - can_message_format_t format; - bool rtr_flag; - std::vector<uint8_t> data; - - if(nbytes <= CAN_MTU) - { - AFB_DEBUG("Got a legacy CAN frame"); - maxdlen = CAN_MAX_DLEN; - } - else - { - AFB_ERROR("unsupported CAN frame"); - } - - if (frame.can_id & CAN_ERR_FLAG) - { - format = can_message_format_t::INVALID; - 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]); - }; - -// AFB_DEBUG("Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", -// 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, timestamp); -} - -/// @brief Take all initialized class members and build a -/// canfd_frame struct that can be use to send a CAN message over -/// the bus. -/// -/// @return canfd_frame struct built from class members. -struct canfd_frame can_message_t::convert_to_canfd_frame() -{ - canfd_frame frame; - - if(is_correct_to_send()) - { - frame.can_id = get_id(); - frame.len = get_length(); - ::memcpy(frame.data, get_data(), length_); - } - else - AFB_ERROR("can_message_t not correctly initialized to be sent"); - - return frame; -} - -/// @brief Take all initialized class members and build a -/// can_frame struct that can be use to send a CAN message over -/// the bus. -/// -/// @return can_frame struct built from class members. -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 - AFB_ERROR("can_message_t not correctly initialized to be sent"); - - return frame; -} diff --git a/low-can-binding/can/can-message.hpp b/low-can-binding/can/can-message.hpp index b206ebdb..cf960b95 100644 --- a/low-can-binding/can/can-message.hpp +++ b/low-can-binding/can/can-message.hpp @@ -73,8 +73,4 @@ public: bool is_correct_to_send(); static can_message_t convert_from_frame(const canfd_frame& frame, size_t nbytes, uint64_t timestamp); - static can_message_t convert_from_frame(const can_frame& frame, size_t nbytes, uint64_t timestamp); - - struct canfd_frame convert_to_canfd_frame(); - struct can_frame convert_to_can_frame(); }; |