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-rw-r--r--CAN-binder/low-can-binding/can/can-bus-dev.cpp27
-rw-r--r--CAN-binder/low-can-binding/can/can-bus-dev.hpp4
-rw-r--r--CAN-binder/low-can-binding/can/can-bus.cpp9
-rw-r--r--CAN-binder/low-can-binding/can/can-bus.hpp3
-rw-r--r--CAN-binder/low-can-binding/can/can-message-definition.cpp5
-rw-r--r--CAN-binder/low-can-binding/can/can-message-definition.hpp1
6 files changed, 48 insertions, 1 deletions
diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.cpp b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
index 8470156..6cd2264 100644
--- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
@@ -20,13 +20,17 @@
#include <mutex>
#include <unistd.h>
#include <linux/can/raw.h>
+#include <linux/can/bcm.h>
#include "can-bus-dev.hpp"
+#include <cmath>
#include "can-bus.hpp"
#include "can-message.hpp"
#include "../low-can-binding.hpp"
+#include "canutil/write.h"
+#define U64_DATA(p) (*(unsigned long long*)(p)->data)
/// @brief Class constructor
///
/// @param[in] dev_name - String representing the device name into the linux /dev tree
@@ -113,6 +117,29 @@ can_message_t can_bus_dev_t::read()
return can_message_t::convert_from_canfd_frame(cfd, nbytes);
}
+/// @brief Create a RX_SETUP receive job using the BCM socket.
+///
+/// @return 0 if ok else -1
+int can_bus_dev_t::create_rx_filter(const can_signal_t& s)
+{
+ uint32_t can_id = s.get_message().get_id();
+
+ struct utils::canfd_bcm_msg bcm_msg;
+
+ uint8_t bit_size = s.get_bit_size();
+ float val = (float)exp2(bit_size);
+ uint64_t filter = eightbyte_encode_float(val, s.get_bit_position(), bit_size, s.get_factor(), s.get_offset());
+
+ bcm_msg.msg_head.opcode = RX_SETUP;
+ bcm_msg.msg_head.can_id = can_id;
+ bcm_msg.msg_head.nframes = 1;
+ U64_DATA(&bcm_msg.frames[0]) = filter;
+
+ if(can_socket_ << bcm_msg)
+ return 0;
+ return -1;
+}
+
/// @brief start reading threads and set flag is_running_
/// @param[in] can_bus reference can_bus_t. it will be passed to the thread to allow using can_bus_t queue.
void can_bus_dev_t::start_reading(can_bus_t& can_bus)
diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.hpp b/CAN-binder/low-can-binding/can/can-bus-dev.hpp
index 5961214..04914ce 100644
--- a/CAN-binder/low-can-binding/can/can-bus-dev.hpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.hpp
@@ -23,10 +23,11 @@
#include <string>
#include <thread>
-#include "../utils/socket.hpp"
+#include "../utils/socketcan.hpp"
class can_bus_t;
class can_message_t;
+class can_signal_t;
/// @brief Object representing a can device. Handle opening, closing and reading on the
/// socket. This is the low level object to be initialized and use by can_bus_t.
@@ -57,6 +58,7 @@ public:
void stop_reading();
can_message_t read();
+ int create_rx_filter(const can_signal_t& s);
int send(can_message_t& can_msg);
bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size);
diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp
index 6e6fba2..6665744 100644
--- a/CAN-binder/low-can-binding/can/can-bus.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus.cpp
@@ -335,6 +335,15 @@ void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
vehicle_message_q_.push(v_msg);
}
+/// @brief Create a RX_SETUP receive job for the BCM socket of a CAN signal.
+///
+/// @return 0 if ok.
+ int can_bus_t::create_rx_filter(const can_signal_t& s)
+ {
+ const std::string& bus = s.get_message().get_bus_name();
+ return can_bus_t::can_devices_[bus]->create_rx_filter(s);
+ }
+
/// @brief Return a map with the can_bus_dev_t initialized
///
/// @return map can_bus_dev_m_ map
diff --git a/CAN-binder/low-can-binding/can/can-bus.hpp b/CAN-binder/low-can-binding/can/can-bus.hpp
index 764218d..2194fa2 100644
--- a/CAN-binder/low-can-binding/can/can-bus.hpp
+++ b/CAN-binder/low-can-binding/can/can-bus.hpp
@@ -27,6 +27,7 @@
#include "openxc.pb.h"
#include "can-message.hpp"
#include "can-bus-dev.hpp"
+#include "can-signals.hpp"
#include "../utils/config-parser.hpp"
#include "../diagnostic/active-diagnostic-request.hpp"
@@ -90,6 +91,8 @@ public:
openxc_VehicleMessage next_vehicle_message();
void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
+ int create_rx_filter(const can_signal_t& signal);
+
const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& get_can_devices() const;
static std::shared_ptr<can_bus_dev_t> get_can_device(std::string bus);
};
diff --git a/CAN-binder/low-can-binding/can/can-message-definition.cpp b/CAN-binder/low-can-binding/can/can-message-definition.cpp
index 206d0b0..9829428 100644
--- a/CAN-binder/low-can-binding/can/can-message-definition.cpp
+++ b/CAN-binder/low-can-binding/can/can-message-definition.cpp
@@ -49,6 +49,11 @@ can_message_definition_t::can_message_definition_t(std::uint8_t message_set_id,
last_value_{CAN_MESSAGE_SIZE}
{}
+const std::string& can_message_definition_t::get_bus_name() const
+{
+ return bus_;
+}
+
uint32_t can_message_definition_t::get_id() const
{
return id_;
diff --git a/CAN-binder/low-can-binding/can/can-message-definition.hpp b/CAN-binder/low-can-binding/can/can-message-definition.hpp
index 98cb2c5..7bc982d 100644
--- a/CAN-binder/low-can-binding/can/can-message-definition.hpp
+++ b/CAN-binder/low-can-binding/can/can-message-definition.hpp
@@ -53,5 +53,6 @@ public:
can_message_definition_t(std::uint8_t message_set_id, const std::string bus, uint32_t id, frequency_clock_t frequency_clock, bool force_send_changed);
can_message_definition_t(std::uint8_t message_set_id, const std::string bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed);
+ const std::string& get_bus_name() const;
uint32_t get_id() const;
};