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>
27 #define CAN_MESSAGE_SIZE 8
30 * @enum CanMessageFormat
31 * @brief The ID format for a CAN message.
33 enum CanMessageFormat {
34 STANDARD, /*!< STANDARD - standard 11-bit CAN arbitration ID. */
35 EXTENDED, /*!< EXTENDED - an extended frame, with a 29-bit arbitration ID. */
36 ERROR, /*!< ERROR - ERROR code used at initialization to signify that it isn't usable'*/
38 typedef enum CanMessageFormat CanMessageFormat;
41 * @class can_message_t
43 * @brief A compact representation of a single CAN message, meant to be used in in/out
47 /*************************
48 * old CanMessage struct *
49 *************************
52 CanMessageFormat format;
53 uint8_t data[CAN_MESSAGE_SIZE];
56 typedef struct CanMessage CanMessage;
60 uint32_t id_; /*!< uint32_t id - The ID of the message. */
61 bool rtr_flag_; /*!< bool rtr_flag - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/
62 uint8_t length_; /*!< uint8_t length - the length of the data array (max 8). */
63 uint8_t flags_; /*!< unint8_t flags of a CAN FD frame. Needed if we catch FD frames.*/
64 CanMessageFormat format_; /*!< CanMessageFormat format - the format of the message's ID.*/
65 std::vector<uint8_t> data_; /*!< uint8_t data - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
72 uint32_t get_id() const;
73 bool get_rtr_flag_() const;
74 int get_format() const;
75 uint8_t get_flags() const;
76 const uint8_t* get_data() const;
77 uint8_t get_length() const;
79 void set_max_data_length(size_t nbytes);
80 void set_id_and_format(const uint32_t new_id);
81 void set_format(const CanMessageFormat new_format);
82 void set_format(const uint32_t can_id);
83 void set_flags(const uint8_t flags);
84 void set_data(const __u8* new_data);
85 void set_length(const uint8_t new_length);
87 bool is_correct_to_send();
89 void convert_from_canfd_frame(const std::pair<struct canfd_frame&, size_t>args);
90 canfd_frame convert_to_canfd_frame();
94 * @struct CanMessageDefinition
96 * @brief The definition of a CAN message. This includes a lot of metadata, so
97 * to save memory this struct should not be used for storing incoming and
98 * outgoing CAN messages.
100 struct CanMessageDefinition {
101 //can_bus_dev_t bus; /*!< bus - A pointer to the bus this message is on. */
102 uint32_t id; /*!< id - The ID of the message.*/
103 CanMessageFormat format; /*!< format - the format of the message's ID.*/
104 FrequencyClock frequencyClock; /*!< clock - an optional frequency clock to control the output of this
105 * message, if sent raw, or simply to mark the max frequency for custom
106 * handlers to retriec++ if ? syntaxve.*/
107 bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send CAN
108 * message if it has changed when using raw passthrough.*/
109 uint8_t lastValue[CAN_MESSAGE_SIZE]; /*!< lastValue - The last received value of the message. Defaults to undefined.
110 * This is required for the forceSendChanged functionality, as the stack
111 * needs to compare an incoming CAN message with the previous frame.*/
113 typedef struct CanMessageDefinition CanMessageDefinition;
116 * @struct CanMessageSet
118 * @brief A parent wrapper for a particular set of CAN messages and associated
119 * CAN buses(e.g. a vehicle or program).
122 uint8_t index; /*!<index - A numerical ID for the message set, ideally the index in an array
124 const std::string name; /*!< name - The name of the message set.*/
125 uint8_t busCount; /*!< busCount - The number of CAN buses defined for this message set.*/
126 unsigned short messageCount; /*!< messageCount - The number of CAN messages (across all buses) defined for
127 * this message set.*/
128 unsigned short signalCount; /*!< signalCount - The number of CAN signals (across all messages) defined for
129 * this message set.*/
130 unsigned short commandCount; /*!< commandCount - The number of CanCommmands defined for this message set.*/
133 /** Public: Return the currently active CAN configuration. */
134 CanMessageSet* getActiveMessageSet();
136 /** Public: Retrive a list of all possible CAN configurations.
138 * Returns a pointer to an array of all configurations.
140 CanMessageSet* getMessageSets();
142 /** Public: Return the length of the array returned by getMessageSets() */
143 int getMessageSetCount();
145 /* Public: Return an array of all CAN messages to be processed in the active
148 CanMessageDefinition* getMessages();
150 /* Public: Return the length of the array returned by getMessages(). */
151 int getMessageCount();