From ea35eabeadce57e4f5015797fea530c5bb219fff Mon Sep 17 00:00:00 2001 From: Romain Forlot Date: Fri, 28 Sep 2018 17:12:18 +0200 Subject: CAN FD implementation Add a flag to CAN message definitions which set the message as using FD protocol if true. Use a new generated file with the new FD flag field on the message definitions. Change BCM socket "struct" using an union to store the CAN frames either using the FD struct or the classic non FD struct. A BCM socket can only one frame type once configured. Use as much as possible the "struct canfd_frame" in the binding and only make a difference before writing or reading the socket. From a memory point of view both struct are identical and only the last member differ and could hold more data with messages of 64 bytes long. So the canfd_frame is compatible with the can_frame and can be differentiated by a flag set in the can_id member. Remove now unused code processing can_frame. Keep the diagnostic manager using the classic CAN frame. Set the maximum number of frames that a BCM socket can handle to 257. Bug-AGL: SPEC-1980 Change-Id: Ifcc041281ea6745fc25cbd384743761f4446f489 Signed-off-by: Romain Forlot --- low-can-binding/can/can-encoder.cpp | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) (limited to 'low-can-binding/can/can-encoder.cpp') 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& 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& 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& sign sig->get_factor(), sig->get_offset(), cf.data, - CAN_MAX_DLEN); + cf.len); } return cf; -- cgit 1.2.3-korg