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 : maxdlen_{0}, id_{0}, length_{0}, format_{can_message_format_t::ERROR}, rtr_flag_{false}, flags_{0}
38 can_message_t::can_message_t(uint8_t maxdlen, uint32_t id, uint8_t length, can_message_format_t format, bool rtr_flag_, uint8_t flags, std::vector<uint8_t> data)
39 : maxdlen_{0}, id_{0}, length_{0}, format_{can_message_format_t::ERROR}, rtr_flag_{false}, flags_{0}, data_{data}
43 * @brief Retrieve id_ member value.
45 * @return id_ class member
47 uint32_t can_message_t::get_id() const
53 * @brief Retrieve RTR flag member.
55 * @return rtr_flags_ class member
57 bool can_message_t::get_rtr_flag_() const
63 * @brief Retrieve format_ member value.
65 * @return format_ class member
67 can_message_format_t can_message_t::get_format() const
69 if (format_ != can_message_format_t::STANDARD || format_ != can_message_format_t::EXTENDED)
70 return can_message_format_t::ERROR;
75 * @brief Retrieve flags_ member value.
77 * @return flags_ class member
79 uint8_t can_message_t::get_flags() const
85 * @brief Retrieve data_ member value.
87 * @return pointer to the first element
88 * of class member data_
90 const uint8_t* can_message_t::get_data() const
96 * @brief Retrieve length_ member value.
98 * @return length_ class member
100 uint8_t can_message_t::get_length() const
106 * @brief Control whether the object is correctly initialized
107 * to be sent over the CAN bus
109 * @return true if object correctly initialized and false if not.
111 bool can_message_t::is_correct_to_send()
113 if (id_ != 0 && length_ != 0 && format_ != can_message_format_t::ERROR)
116 for(i=0;i<CAN_MESSAGE_SIZE;i++)
124 * @brief Set format_ member value.
126 * Preferred way to initialize these members by using
127 * convert_from_canfd_frame method.
129 * @param[in] new_format - class member
131 void can_message_t::set_format(const can_message_format_t new_format)
133 if(new_format == can_message_format_t::STANDARD || new_format == can_message_format_t::EXTENDED || new_format == can_message_format_t::ERROR)
134 format_ = new_format;
136 ERROR(binder_interface, "ERROR: Can set format, wrong format chosen");
140 * @brief Take a canfd_frame struct to initialize class members
142 * This is the preferred way to initialize class members.
144 * @param[in] args - struct read from can bus device.
146 can_message_t can_message_t::convert_to_canfd_frame(const struct canfd_frame& frame, size_t nbytes)
148 uint8_t maxdlen, length, flags = (uint8_t)NULL;
150 can_message_format_t format;
152 std::vector<uint8_t> data;
157 DEBUG(binder_interface, "set_max_data_length: Got an CAN FD frame");
158 maxdlen = CANFD_MAX_DLEN;
161 DEBUG(binder_interface, "set_max_data_length: Got a legacy CAN frame");
162 maxdlen = CAN_MAX_DLEN;
165 ERROR(binder_interface, "set_max_data_length: unsupported CAN frame");
170 length = frame.len& 0xF;
172 length = (frame.len > maxdlen) ? maxdlen : frame.len;
174 if (frame.can_id & CAN_ERR_FLAG)
175 format = can_message_format_t::ERROR;
176 else if (frame.can_id & CAN_EFF_FLAG)
177 format = can_message_format_t::EXTENDED;
179 format = can_message_format_t::STANDARD;
183 case can_message_format_t::STANDARD:
184 id = frame.can_id & CAN_SFF_MASK;
186 case can_message_format_t::EXTENDED:
187 id = frame.can_id & CAN_EFF_MASK;
189 case can_message_format_t::ERROR:
190 id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
193 ERROR(binder_interface, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
197 /* Overwrite length_ if RTR flags is detected.
198 * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
199 if (frame.can_id & CAN_RTR_FLAG)
202 if(frame.len && frame.len <= CAN_MAX_DLC)
205 length = frame.len& 0xF;
208 length = (frame.len > maxdlen) ? maxdlen : frame.len;
214 /* Flags field only present for CAN FD frames*/
215 if(maxdlen == CANFD_MAX_DLEN)
216 flags = frame.flags & 0xF;
218 if (data.capacity() < maxdlen)
219 data.reserve(maxdlen);
223 /* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/
224 for(i=0;i<maxdlen;i++)
226 data.push_back(frame.data[i]);
229 DEBUG(binder_interface, "convert_from_canfd_frame: Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
230 id, format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
233 return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data);
237 * @brief Take all initialized class's members and build an
238 * canfd_frame struct that can be use to send a CAN message over
241 * @return canfd_frame struct built from class members.
243 canfd_frame can_message_t::convert_to_canfd_frame()
247 if(is_correct_to_send())
249 frame.can_id = get_id();
250 frame.len = get_length();
251 ::memcpy(frame.data, get_data(), length_);
254 ERROR(binder_interface, "can_message_t not correctly initialized to be sent");
259 /********************************************************************************
261 * can_message_definition_t method implementation
263 *********************************************************************************/
265 can_message_definition_t::can_message_definition_t()
266 : last_value_(CAN_MESSAGE_SIZE)
269 uint32_t can_message_definition_t::get_id() const