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_{CanMessageFormat::ERROR}
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_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED)
66 return CanMessageFormat::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
101 void can_message_t::set_max_data_length(size_t nbytes)
108 DEBUG(binder_interface, "set_max_data_length: Got an CAN FD frame");
109 maxdlen_ = CANFD_MAX_DLEN;
112 DEBUG(binder_interface, "set_max_data_length: Got a legacy CAN frame");
113 maxdlen_ = CAN_MAX_DLEN;
116 ERROR(binder_interface, "set_max_data_length: unsupported CAN frame");
122 * @brief Control whether the object is correctly initialized
123 * to be sent over the CAN bus
125 * @return true if object correctly initialized and false if not.
127 bool can_message_t::is_correct_to_send()
129 if (id_ != 0 && length_ != 0 && format_ != CanMessageFormat::ERROR)
132 for(i=0;i<CAN_MESSAGE_SIZE;i++)
140 * @brief Set id_ member value.
142 * Preferred way to initialize these members by using
143 * convert_from_canfd_frame method.
145 * @param[in] id_ class member
147 void can_message_t::set_id_and_format(const uint32_t new_id)
152 case CanMessageFormat::STANDARD:
153 id_ = new_id & CAN_SFF_MASK;
155 case CanMessageFormat::EXTENDED:
156 id_ = new_id & CAN_EFF_MASK;
158 case CanMessageFormat::ERROR:
159 id_ = new_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
162 ERROR(binder_interface, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
168 * @brief Set format_ member value.
170 * Preferred way to initialize these members by using
171 * convert_from_canfd_frame method.
173 * @param[in] new_format - class member
175 void can_message_t::set_format(const CanMessageFormat new_format)
177 if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED || new_format == CanMessageFormat::ERROR)
178 format_ = new_format;
180 ERROR(binder_interface, "ERROR: Can set format, wrong format chosen");
184 * @brief Set format_ member value. Deduced from the can_id
187 * Preferred way to initialize these members by using
188 * convert_from_canfd_frame method.
190 * @param[in] can_id - integer from a canfd_frame
192 void can_message_t::set_format(const uint32_t can_id)
194 if (can_id & CAN_ERR_FLAG)
195 format_ = CanMessageFormat::ERROR;
196 else if (can_id & CAN_EFF_FLAG)
197 format_ = CanMessageFormat::EXTENDED;
199 format_ = CanMessageFormat::STANDARD;
203 * @brief Set format_ member value.
205 * Preferred way to initialize these members by using
206 * convert_from_canfd_frame method.
208 * @param[in] format_ - class member
210 void can_message_t::set_flags(const uint8_t flags)
212 flags_ = flags & 0xF;
216 * @brief Set length_ member value.
218 * Preferred way to initialize these members by using
219 * convert_from_canfd_frame method.
221 * @param[in] new_length - array with a max size of 8 elements.
223 void can_message_t::set_length(const uint8_t new_length)
226 length_ = new_length & 0xF;
229 length_ = (new_length > maxdlen_) ? maxdlen_ : new_length;
234 * @brief Set data_ member value.
236 * Preferred way to initialize these members by using
237 * convert_from_canfd_frame method.
239 * @param[in] new_data - array with a max size of 8 elements.
241 void can_message_t::set_data(const __u8* new_data)
246 /* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/
247 for(i=0;i<maxdlen_;i++)
249 data_.push_back(new_data[i]);
254 * @brief Take a canfd_frame struct to initialize class members
256 * This is the preferred way to initialize class members.
258 * @param[in] args - struct read from can bus device.
260 void can_message_t::convert_from_canfd_frame(const std::pair<struct canfd_frame&, size_t> args)
262 // May be it's overkill to assign member of the pair... May be it will change...
263 struct canfd_frame frame = args.first;
264 size_t nbytes = args.second;
265 set_max_data_length(nbytes);
266 set_length(frame.len);
267 set_id_and_format(frame.can_id);
269 /* Overwrite lenght_ if RTR flags is detected.
270 * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
271 if (frame.can_id & CAN_RTR_FLAG)
274 if(frame.len && frame.len <= CAN_MAX_DLC)
275 set_length(frame.len);
279 /* Flags field only present for CAN FD frames*/
280 if(maxdlen_ == CANFD_MAX_DLEN)
281 set_flags(frame.flags);
283 if ( data_.capacity() < maxdlen_)
284 data_.reserve(maxdlen_);
285 set_data(frame.data);
287 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_,
288 data_[0], data_[1], data_[2], data_[3], data_[4], data_[5], data_[6], data_[7]);
292 * @brief Take all initialized class's members and build an
293 * canfd_frame struct that can be use to send a CAN message over
296 * @return canfd_frame struct built from class members.
298 canfd_frame can_message_t::convert_to_canfd_frame()
302 if(is_correct_to_send())
304 frame.can_id = get_id();
305 frame.len = get_length();
306 ::memcpy(frame.data, get_data(), length_);
309 ERROR(binder_interface, "can_message_t not correctly initialized to be sent");