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.*/
71 * @brief Class constructor
73 * Constructor about can_message_t class.
78 * @brief Retrieve id_ member value.
80 * @return uint32_t id_ class member
82 uint32_t get_id() const;
85 * @brief Retrieve RTR flag member.
87 * @return bool rtr_flags_ class member
89 bool get_rtr_flag_() const;
92 * @brief Retrieve format_ member value.
94 * @return CanMessageFormat format_ class member
96 int get_format() const;
99 * @brief Retrieve format_ member value.
101 * @return CanMessageFormat format_ class member
103 uint8_t get_flags() const;
106 * @brief Retrieve data_ member value.
108 * @return uint8_t data_ pointer to the first element
109 * of class member data_
111 const uint8_t* get_data() const;
114 * @brief Retrieve length_ member value.
116 * @return uint8_t length_ class member
118 uint8_t get_length() const;
120 void set_max_data_length(const struct canfd_frame& frame);
123 * @brief Control whether the object is correctly initialized
124 * to be sent over the CAN bus
126 * @return true if object correctly initialized and false if not...
128 bool is_correct_to_send();
131 * @brief Set id_ member value.
133 * Preferred way to initialize these members by using
134 * convert_from_canfd_frame method.
136 * @param uint32_t id_ class member
138 void set_id_and_format(const uint32_t new_id);
141 * @brief Set format_ member value.
143 * Preferred way to initialize these members by using
144 * convert_from_canfd_frame method.
146 * @param CanMessageFormat format_ class member
148 void set_format(const CanMessageFormat new_format);
151 * @brief Set format_ member value. Deducing from the can_id
154 * Preferred way to initialize these members by using
155 * convert_from_canfd_frame method.
157 * @param uint32_t can_id integer from a canfd_frame
159 void set_format(const uint32_t can_id);
162 * @brief Set format_ member value.
164 * Preferred way to initialize these members by using
165 * convert_from_canfd_frame method.
167 * @param CanMessageFormat format_ class member
169 void set_flags(const uint8_t flags);
172 * @brief Set data_ member value.
174 * Preferred way to initialize these members by using
175 * convert_from_canfd_frame method.
177 * @param uint8_t data_ array with a max size of 8 elements.
179 void set_data(const __u8 new_data[], size_t dlen);
182 * @brief Set length_ member value.
184 * Preferred way to initialize these members by using
185 * convert_from_canfd_frame method.
187 * @param uint8_t length_ array with a max size of 8 elements.
189 void set_length(const uint8_t new_length);
192 * @brief Take a canfd_frame struct to initialize class members
194 * This is the preferred way to initialize class members.
196 * @param canfd_frame struct read from can bus device.
198 void convert_from_canfd_frame(const struct canfd_frame& frame);
201 * @brief Take all initialized class's members and build an
202 * canfd_frame struct that can be use to send a CAN message over
205 * @return canfd_frame struct built from class members.
207 canfd_frame convert_to_canfd_frame();
211 * @struct CanMessageDefinition
213 * @brief The definition of a CAN message. This includes a lot of metadata, so
214 * to save memory this struct should not be used for storing incoming and
215 * outgoing CAN messages.
217 struct CanMessageDefinition {
218 //can_bus_dev_t bus; /*!< bus - A pointer to the bus this message is on. */
219 uint32_t id; /*!< id - The ID of the message.*/
220 CanMessageFormat format; /*!< format - the format of the message's ID.*/
221 FrequencyClock frequencyClock; /*!< clock - an optional frequency clock to control the output of this
222 * message, if sent raw, or simply to mark the max frequency for custom
223 * handlers to retriec++ if ? syntaxve.*/
224 bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send CAN
225 * message if it has changed when using raw passthrough.*/
226 uint8_t lastValue[CAN_MESSAGE_SIZE]; /*!< lastValue - The last received value of the message. Defaults to undefined.
227 * This is required for the forceSendChanged functionality, as the stack
228 * needs to compare an incoming CAN message with the previous frame.*/
230 typedef struct CanMessageDefinition CanMessageDefinition;
233 * @struct CanMessageSet
235 * @brief A parent wrapper for a particular set of CAN messages and associated
236 * CAN buses(e.g. a vehicle or program).
239 uint8_t index; /*!<index - A numerical ID for the message set, ideally the index in an array
241 const std::string name; /*!< name - The name of the message set.*/
242 uint8_t busCount; /*!< busCount - The number of CAN buses defined for this message set.*/
243 unsigned short messageCount; /*!< messageCount - The number of CAN messages (across all buses) defined for
244 * this message set.*/
245 unsigned short signalCount; /*!< signalCount - The number of CAN signals (across all messages) defined for
246 * this message set.*/
247 unsigned short commandCount; /*!< commandCount - The number of CanCommmands defined for this message set.*/
250 /** Public: Return the currently active CAN configuration. */
251 CanMessageSet* getActiveMessageSet();
253 /** Public: Retrive a list of all possible CAN configurations.
255 * Returns a pointer to an array of all configurations.
257 CanMessageSet* getMessageSets();
259 /** Public: Return the length of the array returned by getMessageSets() */
260 int getMessageSetCount();
262 /* Public: Return an array of all CAN messages to be processed in the active
265 CanMessageDefinition* getMessages();
267 /* Public: Return the length of the array returned by getMessages(). */
268 int getMessageCount();