From de8fb10e1d8e98a85dfba6fc8966266dbf5e42c6 Mon Sep 17 00:00:00 2001 From: Romain Forlot Date: Mon, 6 Mar 2017 22:28:50 +0100 Subject: Beginning of work on obd2 object and files reorganization. Change-Id: Idaa7ad05c45d734ce771506fd6e41f1a09a6ac66 Signed-off-by: Romain Forlot --- src/can/can-message.hpp | 151 ++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 151 insertions(+) create mode 100644 src/can/can-message.hpp (limited to 'src/can/can-message.hpp') diff --git a/src/can/can-message.hpp b/src/can/can-message.hpp new file mode 100644 index 0000000..9f6a36d --- /dev/null +++ b/src/can/can-message.hpp @@ -0,0 +1,151 @@ +/* + * 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. + */ + +#pragma once + +#include +#include +#include +#include + +#include "timer.hpp" + +#define CAN_MESSAGE_SIZE 8 + +/** + * @enum CanMessageFormat + * @brief The ID format for a CAN message. + */ +enum CanMessageFormat { + STANDARD, /*!< STANDARD - standard 11-bit CAN arbitration ID. */ + EXTENDED, /*!< EXTENDED - an extended frame, with a 29-bit arbitration ID. */ + ERROR, /*!< ERROR - ERROR code used at initialization to signify that it isn't usable'*/ +}; +typedef enum CanMessageFormat CanMessageFormat; + +/** + * @class can_message_t + * + * @brief A compact representation of a single CAN message, meant to be used in in/out + * buffers. + */ + +/************************* + * old CanMessage struct * + ************************* +struct CanMessage { + uint32_t id; + CanMessageFormat format; + uint8_t data[CAN_MESSAGE_SIZE]; + uint8_t length; +}; +typedef struct CanMessage CanMessage; +*/ +class can_message_t { + private: + uint32_t id_; /*!< uint32_t id - The ID of the message. */ + bool rtr_flag_; /*!< bool rtr_flag - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/ + uint8_t length_; /*!< uint8_t length - the length of the data array (max 8). */ + uint8_t flags_; /*!< unint8_t flags of a CAN FD frame. Needed if we catch FD frames.*/ + CanMessageFormat format_; /*!< CanMessageFormat format - the format of the message's ID.*/ + std::vector data_; /*!< uint8_t data - The message's data field with a size of 8 which is the standard about CAN bus messages.*/ + + uint8_t maxdlen_; + + public: + can_message_t(); + + uint32_t get_id() const; + bool get_rtr_flag_() const; + int get_format() const; + uint8_t get_flags() const; + const uint8_t* get_data() const; + uint8_t get_length() const; + + void set_max_data_length(size_t nbytes); + void set_id_and_format(const uint32_t new_id); + void set_format(const CanMessageFormat new_format); + void set_format(const uint32_t can_id); + void set_flags(const uint8_t flags); + void set_data(const __u8* new_data); + void set_length(const uint8_t new_length); + + bool is_correct_to_send(); + + void convert_from_canfd_frame(const std::pairargs); + canfd_frame convert_to_canfd_frame(); +}; + +/** + * @struct CanMessageDefinition + * + * @brief The definition of a CAN message. This includes a lot of metadata, so + * to save memory this struct should not be used for storing incoming and + * outgoing CAN messages. + */ +struct CanMessageDefinition { + //can_bus_dev_t bus; /*!< bus - A pointer to the bus this message is on. */ + uint32_t id; /*!< id - The ID of the message.*/ + CanMessageFormat format; /*!< format - the format of the message's ID.*/ + FrequencyClock frequencyClock; /*!< clock - an optional frequency clock to control the output of this + * message, if sent raw, or simply to mark the max frequency for custom + * handlers to retriec++ if ? syntaxve.*/ + bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send CAN + * message if it has changed when using raw passthrough.*/ + uint8_t lastValue[CAN_MESSAGE_SIZE]; /*!< lastValue - The last received value of the message. Defaults to undefined. + * This is required for the forceSendChanged functionality, as the stack + * needs to compare an incoming CAN message with the previous frame.*/ +}; +typedef struct CanMessageDefinition CanMessageDefinition; + +/** + * @struct CanMessageSet + * + * @brief A parent wrapper for a particular set of CAN messages and associated + * CAN buses(e.g. a vehicle or program). + */ + typedef struct { + uint8_t index; /*!