aboutsummaryrefslogtreecommitdiffstats
path: root/src/can/can-message.cpp
blob: 1be0d2d4fd6b4780d8cbf213a417b25095e4b7b8 (plain)
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
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
/*
 * 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/can-message.hpp"

#include <cstring>

#include "low-can-binding.hpp"

/********************************************************************************
*
*		CanMessage method implementation
*
*********************************************************************************/
/**
* @brief Class constructor
*
* Constructor about can_message_t class.
*/
can_message_t::can_message_t()
	: id_{0}, rtr_flag_{false}, length_{0}, flags_{0}, format_{can_message_format_t::ERROR}, maxdlen_{0}
{}

/**
* @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<CAN_MESSAGE_SIZE;i++)
			if(data_[i] != 0)
				return true;
	}
	return false;
}

/**
* @brief Set format_ member value.
*
* Preferred way to initialize these members by using 
* convert_from_canfd_frame method.
*
* @param[in] new_format - class member
*/
void can_message_t::set_format(const can_message_format_t new_format)
{
	if(new_format == can_message_format_t::STANDARD || new_format == can_message_format_t::EXTENDED || new_format == can_message_format_t::ERROR)
		format_ = new_format;
	else
		ERROR(binder_interface, "ERROR: Can set format, wrong format chosen");
}

/**
* @brief Take a canfd_frame struct to initialize class members
*
* This is the preferred way to initialize class members.
*
* @param[in] args - struct read from can bus device.
*/
can_message_t can_message_t::convert_to_canfd_frame(const struct canfd_frame& frame, size_t nbytes)
{
 	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(rtr_flag_)
		length_ = frame.len& 0xF;
	else
	{
		length_ = (frame.len > maxdlen_) ? maxdlen_ : frame.len;
	}
	
	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 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)
		{
    	if(rtr_flag_)
    		length_ = frame.len& 0xF;
    	else
    	{
    		length_ = (frame.len > maxdlen_) ? maxdlen_ : frame.len;
    	}	
		}
	}
	else
	{
  	/* 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<maxdlen_;i++)
		{
			data_.push_back(frame.data[i]);
		};
  
  	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]);
	}
}

/**
* @brief Take all initialized class's members and build an 
* canfd_frame struct that can be use to send a CAN message over
* the bus.
*
* @return canfd_frame struct built from class members.
*/
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;
}

/********************************************************************************
*
*		can_message_definition_t method implementation
*
*********************************************************************************/

can_message_definition_t::can_message_definition_t()
  : last_value_(CAN_MESSAGE_SIZE)
{}

uint32_t get_id() const
{
  return id_;
}
}