1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
|
/*
* Copyright (C) 2015, 2016 "IoT.bzh"
* Author "Romain Forlot" <romain.forlot@iot.bzh>
*
* 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 <cstring>
#include "low-can-binding.hpp"
/********************************************************************************
*
* CanMessage method implementation
*
*********************************************************************************/
can_message_t::can_message_t()
: id_{0}, rtr_flag_{false}, length_{0}, flags_{0}, format_{CanMessageFormat::ERROR}
{}
uint32_t can_message_t::get_id() const
{
return id_;
}
bool can_message_t::get_rtr_flag_() const
{
return rtr_flag_;
}
int can_message_t::get_format() const
{
if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED)
return CanMessageFormat::ERROR;
return format_;
}
uint8_t can_message_t::get_flags() const
{
return flags_;
}
const uint8_t* can_message_t::get_data() const
{
return data_.data();
}
uint8_t can_message_t::get_length() const
{
return length_;
}
void can_message_t::set_max_data_length(size_t nbytes)
{
maxdlen_ = 0;
switch(nbytes)
{
case CANFD_MTU:
DEBUG(binder_interface, "convert_from_canfd_frame: Got an CAN FD frame");
maxdlen_ = CANFD_MAX_DLEN;
break;
case CAN_MTU:
DEBUG(binder_interface, "convert_from_canfd_frame: Got a legacy CAN frame");
maxdlen_ = CAN_MAX_DLEN;
break;
default:
ERROR(binder_interface, "convert_from_canfd_frame: unsupported CAN frame");
break;
}
}
bool can_message_t::is_correct_to_send()
{
if (id_ != 0 && length_ != 0 && format_ != CanMessageFormat::ERROR)
{
int i;
for(i=0;i<CAN_MESSAGE_SIZE;i++)
if(data_[i] != 0)
return true;
}
return false;
}
void can_message_t::set_id_and_format(const uint32_t new_id)
{
set_format(new_id);
switch(format_)
{
case CanMessageFormat::STANDARD:
id_ = new_id & CAN_SFF_MASK;
break;
case CanMessageFormat::EXTENDED:
id_ = new_id & CAN_EFF_MASK;
break;
case CanMessageFormat::ERROR:
id_ = new_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;
}
}
void can_message_t::set_format(const CanMessageFormat new_format)
{
if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED || new_format == CanMessageFormat::ERROR)
format_ = new_format;
else
ERROR(binder_interface, "ERROR: Can set format, wrong format chosen");
}
void can_message_t::set_format(const uint32_t can_id)
{
if (can_id & CAN_ERR_FLAG)
format_ = CanMessageFormat::ERROR;
else if (can_id & CAN_EFF_FLAG)
format_ = CanMessageFormat::EXTENDED;
else
format_ = CanMessageFormat::STANDARD;
}
void can_message_t::set_flags(const uint8_t flags)
{
flags_ = flags & 0xF;
}
void can_message_t::set_length(const uint8_t new_length)
{
if(rtr_flag_)
length_ = new_length & 0xF;
else
{
length_ = (new_length > maxdlen_) ? maxdlen_ : new_length;
}
}
void can_message_t::set_data(const __u8* new_data)
{
int i;
/* 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(new_data[i]);
}
}
void can_message_t::convert_from_canfd_frame(const std::pair<struct canfd_frame&, size_t>args)
{
// May be it's overkill to assign member of the pair... May be it will change...
struct canfd_frame frame = args.first;
size_t nbytes = args.second;
set_max_data_length(nbytes);
set_length(frame.len);
set_id_and_format(frame.can_id);
/* Overwrite lenght_ 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)
set_length(frame.len);
return;
}
/* Flags field only present for CAN FD frames*/
if(maxdlen_ == CANFD_MAX_DLEN)
set_flags(frame.flags);
data_.reserve(maxdlen_);
set_data(frame.data);
DEBUG(binder_interface, "convert_from_canfd_frame: Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", id_, format_, length_,
data_[0], data_[1], data_[2], data_[3], data_[4], data_[5], data_[6], data_[7]);
}
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
ERROR(binder_interface, "can_message_t not correctly initialized to be sent");
return frame;
}
|
