2 * Copyright (C) 2015, 2016 "IoT.bzh"
3 * Author "Romain Forlot" <romain.forlot@iot.bzh>
5 * Licensed under the Apache License, Version 2.0 (the "License");
6 * you may not use this file except in compliance with the License.
7 * You may obtain a copy of the License at
9 * http://www.apache.org/licenses/LICENSE-2.0
11 * Unless required by applicable law or agreed to in writing, software
12 * distributed under the License is distributed on an "AS IS" BASIS,
13 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
14 * See the License for the specific language governing permissions and
15 * limitations under the License.
18 #include "can/can-message.hpp"
22 #include "low-can-binding.hpp"
24 /********************************************************************************
26 * CanMessage method implementation
28 *********************************************************************************/
30 * @brief Class constructor
32 * Constructor about can_message_t class.
34 can_message_t::can_message_t()
35 : id_{0}, rtr_flag_{false}, length_{0}, flags_{0}, format_{can_message_format::ERROR}, maxdlen_{0}
39 * @brief Retrieve id_ member value.
41 * @return id_ class member
43 uint32_t can_message_t::get_id() const
49 * @brief Retrieve RTR flag member.
51 * @return rtr_flags_ class member
53 bool can_message_t::get_rtr_flag_() const
59 * @brief Retrieve format_ member value.
61 * @return format_ class member
63 int can_message_t::get_format() const
65 if (format_ != can_message_format::STANDARD || format_ != can_message_format::EXTENDED)
66 return can_message_format::ERROR;
71 * @brief Retrieve flags_ member value.
73 * @return flags_ class member
75 uint8_t can_message_t::get_flags() const
81 * @brief Retrieve data_ member value.
83 * @return pointer to the first element
84 * of class member data_
86 const uint8_t* can_message_t::get_data() const
92 * @brief Retrieve length_ member value.
94 * @return length_ class member
96 uint8_t can_message_t::get_length() const
102 * @brief Control whether the object is correctly initialized
103 * to be sent over the CAN bus
105 * @return true if object correctly initialized and false if not.
107 bool can_message_t::is_correct_to_send()
109 if (id_ != 0 && length_ != 0 && format_ != can_message_format::ERROR)
112 for(i=0;i<CAN_MESSAGE_SIZE;i++)
120 * @brief Set format_ member value.
122 * Preferred way to initialize these members by using
123 * convert_from_canfd_frame method.
125 * @param[in] new_format - class member
127 void can_message_t::set_format(const can_message_format new_format)
129 if(new_format == can_message_format::STANDARD || new_format == can_message_format::EXTENDED || new_format == can_message_format::ERROR)
130 format_ = new_format;
132 ERROR(binder_interface, "ERROR: Can set format, wrong format chosen");
136 * @brief Take a canfd_frame struct to initialize class members
138 * This is the preferred way to initialize class members.
140 * @param[in] args - struct read from can bus device.
142 can_message_t can_message_t::convert_to_canfd_frame(const struct canfd_frame& frame, size_t nbytes)
147 DEBUG(binder_interface, "set_max_data_length: Got an CAN FD frame");
148 maxdlen_ = CANFD_MAX_DLEN;
151 DEBUG(binder_interface, "set_max_data_length: Got a legacy CAN frame");
152 maxdlen_ = CAN_MAX_DLEN;
155 ERROR(binder_interface, "set_max_data_length: unsupported CAN frame");
160 length_ = frame.len& 0xF;
163 length_ = (frame.len > maxdlen_) ? maxdlen_ : frame.len;
166 if (frame.can_id & CAN_ERR_FLAG)
167 format_ = can_message_format::ERROR;
168 else if (frame.can_id & CAN_EFF_FLAG)
169 format_ = can_message_format::EXTENDED;
171 format_ = can_message_format::STANDARD;
175 case can_message_format::STANDARD:
176 id_ = frame.can_id & CAN_SFF_MASK;
178 case can_message_format::EXTENDED:
179 id_ = frame.can_id & CAN_EFF_MASK;
181 case can_message_format::ERROR:
182 id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
185 ERROR(binder_interface, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
189 /* Overwrite lenght_ if RTR flags is detected.
190 * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
191 if (frame.can_id & CAN_RTR_FLAG)
194 if(frame.len && frame.len <= CAN_MAX_DLC)
197 length_ = frame.len& 0xF;
200 length_ = (frame.len > maxdlen_) ? maxdlen_ : frame.len;
206 /* Flags field only present for CAN FD frames*/
207 if(maxdlen_ == CANFD_MAX_DLEN)
208 flags_ = frame.flags & 0xF;
210 if (data_.capacity() < maxdlen_)
211 data_.reserve(maxdlen_);
215 /* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/
216 for(i=0;i<maxdlen_;i++)
218 data_.push_back(frame.data[i]);
221 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_,
222 data_[0], data_[1], data_[2], data_[3], data_[4], data_[5], data_[6], data_[7]);
227 * @brief Take all initialized class's members and build an
228 * canfd_frame struct that can be use to send a CAN message over
231 * @return canfd_frame struct built from class members.
233 canfd_frame can_message_t::convert_to_canfd_frame()
237 if(is_correct_to_send())
239 frame.can_id = get_id();
240 frame.len = get_length();
241 ::memcpy(frame.data, get_data(), length_);
244 ERROR(binder_interface, "can_message_t not correctly initialized to be sent");
249 /********************************************************************************
251 * can_message_definition_t method implementation
253 *********************************************************************************/
255 can_message_definition_t::can_message_definition_t()
256 : last_value_(CAN_MESSAGE_SIZE)
259 uint32_t get_id() const