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.
23 #include <linux/can.h>
25 #include "../utils/timer.hpp"
26 #include "can-message-set.hpp"
28 #define CAN_MESSAGE_SIZE 8
33 * @enum can_message_format_t
34 * @brief The ID format for a CAN message.
36 enum class can_message_format_t {
37 STANDARD, /*!< STANDARD - standard 11-bit CAN arbitration ID. */
38 EXTENDED, /*!< EXTENDED - an extended frame, with a 29-bit arbitration ID. */
39 ERROR, /*!< ERROR - ERROR code used at initialization to signify that it isn't usable'*/
43 * @class can_message_t
45 * @brief A compact representation of a single CAN message, meant to be used in in/out
50 uint8_t maxdlen_; /*!< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/
51 uint32_t id_; /*!< id_ - The ID of the message. */
52 uint8_t length_; /*!< length_ - the length of the data array (max 8). */
53 can_message_format_t format_; /*!< format_ - the format of the message's ID.*/
54 bool rtr_flag_; /*!< rtr_flag_ - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/
55 uint8_t flags_; /*!< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/
56 std::vector<uint8_t> data_; /*!< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
60 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);
62 uint32_t get_id() const;
63 bool get_rtr_flag_() const;
64 can_message_format_t get_format() const;
65 uint8_t get_flags() const;
66 const uint8_t* get_data() const;
67 uint8_t get_length() const;
69 void set_format(const can_message_format_t new_format);
71 bool is_correct_to_send();
73 static can_message_t convert_from_canfd_frame(const struct canfd_frame& frame, size_t nbytes);
74 canfd_frame convert_to_canfd_frame();
78 * @class can_message_definition_t
80 * @brief The definition of a CAN message. This includes a lot of metadata, so
81 * to save memory this struct should not be used for storing incoming and
82 * outgoing CAN messages.
84 class can_message_definition_t
87 can_bus_dev_t& bus_; /*!< bus_ - A pointer to the bus this message is on. */
88 uint32_t id_; /*!< id_ - The ID of the message.*/
89 can_message_format_t format_; /*!< format_ - the format of the message's ID.*/
90 frequency_clock_t clock_; /*!< clock_ - an optional frequency clock to control the output of this
91 * message, if sent raw, or simply to mark the max frequency for custom
92 * handlers to retrieve.*/
93 bool force_send_changed_; /*!< force_send_changed_ - If true, regardless of the frequency, it will send CAN
94 * message if it has changed when using raw passthrough.*/
95 std::vector<uint8_t> last_value_; /*!< last_value_ - The last received value of the message. Defaults to undefined.
96 * This is required for the forceSendChanged functionality, as the stack
97 * needs to compare an incoming CAN message with the previous frame.*/
100 can_message_definition_t(can_bus_dev_t& cbd);
101 uint32_t get_id() const;
104 /** Public: Retrive a list of all possible CAN configurations.
106 * Returns a pointer to an array of all configurations.
108 can_message_set_t* getMessageSets();
110 /** Public: Return the length of the array returned by getMessageSets() */
111 int getMessageSetCount();
113 /* Public: Return an array of all CAN messages to be processed in the active
116 can_message_definition_t* getMessages();
118 /* Public: Return the length of the array returned by getMessages(). */
119 int getMessageCount();