From 9e444ade872bc436cf12bc12d03c3a5d51ac0b9e Mon Sep 17 00:00:00 2001 From: Romain Forlot Date: Tue, 11 Apr 2017 12:55:23 +0200 Subject: Handle project new architecture using new CMakeFile Change-Id: I672a9b49d9d5a3953ba6dccaafbbd738839f64a6 Signed-off-by: Romain Forlot # Conflicts: # low-can-binding/libs/bitfield-c # low-can-binding/libs/isotp-c # low-can-binding/libs/openxc-message-format --- low-can-binding/can/can-message.cpp | 264 ++++++++++++++++++++++++++++++++++++ 1 file changed, 264 insertions(+) create mode 100644 low-can-binding/can/can-message.cpp (limited to 'low-can-binding/can/can-message.cpp') diff --git a/low-can-binding/can/can-message.cpp b/low-can-binding/can/can-message.cpp new file mode 100644 index 00000000..f61de67e --- /dev/null +++ b/low-can-binding/can/can-message.cpp @@ -0,0 +1,264 @@ +/* + * Copyright (C) 2015, 2016 "IoT.bzh" + * Author "Romain Forlot" + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include "can-message.hpp" + +#include + +#include "../low-can-binding.hpp" + +/// +/// @brief Class constructor +/// +/// Constructor about can_message_t class. +/// +can_message_t::can_message_t() + : maxdlen_{0}, id_{0}, length_{0}, format_{can_message_format_t::ERROR}, rtr_flag_{false}, flags_{0} +{} + +can_message_t::can_message_t(uint8_t maxdlen, + uint32_t id, + uint8_t length, + can_message_format_t format, + bool rtr_flag, + uint8_t flags, + std::vector data) + : maxdlen_{maxdlen}, + id_{id}, + length_{length}, + format_{format}, + rtr_flag_{rtr_flag}, + flags_{flags}, + data_{data} +{} + +/// +/// @brief Retrieve id_ member value. +/// +/// @return id_ class member +/// +uint32_t can_message_t::get_id() const +{ + return id_; +} + +/// +/// @brief Retrieve RTR flag member. +/// +/// @return rtr_flags_ class member +/// +bool can_message_t::get_rtr_flag_() const +{ + return rtr_flag_; +} + +/// +/// @brief Retrieve format_ member value. +/// +/// @return format_ class member +/// +can_message_format_t can_message_t::get_format() const +{ + if (format_ != can_message_format_t::STANDARD || format_ != can_message_format_t::EXTENDED) + return can_message_format_t::ERROR; + return format_; +} + +/// +/// @brief Retrieve flags_ member value. +/// +/// @return flags_ class member +/// +uint8_t can_message_t::get_flags() const +{ + return flags_; +} + +/// +/// @brief Retrieve data_ member value. +/// +/// @return pointer to the first element +/// of class member data_ +/// +const uint8_t* can_message_t::get_data() const +{ + return data_.data(); +} + +/// +/// @brief Retrieve length_ member value. +/// +/// @return length_ class member +/// +uint8_t can_message_t::get_length() const +{ + return length_; +} + +/// +/// @brief Control whether the object is correctly initialized +/// to be sent over the CAN bus +/// +/// @return true if object correctly initialized and false if not. +/// +bool can_message_t::is_correct_to_send() +{ + if (id_ != 0 && length_ != 0 && format_ != can_message_format_t::ERROR) + { + int i; + for(i=0;i data; + + switch(nbytes) + { + case CANFD_MTU: + DEBUG(binder_interface, "set_max_data_length: Got an CAN FD frame"); + maxdlen = CANFD_MAX_DLEN; + break; + case CAN_MTU: + DEBUG(binder_interface, "set_max_data_length: Got a legacy CAN frame"); + maxdlen = CAN_MAX_DLEN; + break; + default: + ERROR(binder_interface, "set_max_data_length: unsupported CAN frame"); + break; + } + + if (frame.can_id & CAN_ERR_FLAG) + format = can_message_format_t::ERROR; + else if (frame.can_id & CAN_EFF_FLAG) + format = can_message_format_t::EXTENDED; + else + format = can_message_format_t::STANDARD; + + switch(format) + { + case can_message_format_t::STANDARD: + id = frame.can_id & CAN_SFF_MASK; + break; + case can_message_format_t::EXTENDED: + id = frame.can_id & CAN_EFF_MASK; + break; + case can_message_format_t::ERROR: + id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG); + break; + default: + ERROR(binder_interface, "ERROR: Can set id, not a compatible format or format not set prior to set id."); + break; + } + + /* 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.len && frame.len <= CAN_MAX_DLC) + { + if(rtr_flag) + length = frame.len& 0xF; + else + { + length = (frame.len > maxdlen) ? maxdlen : frame.len; + } + } + } + else + { + length = (frame.len > maxdlen) ? maxdlen : frame.len; + + /* Flags field only present for CAN FD frames*/ + if(maxdlen == CANFD_MAX_DLEN) + flags = frame.flags & 0xF; + + 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