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-message-definition.cpp | 7 +++++++ 1 file changed, 7 insertions(+) (limited to 'low-can-binding/can/can-message-definition.cpp') 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 >& can_message_definition_t::get_can_signals() { return can_signals_; -- cgit 1.2.3-korg