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.
22 #include <linux/can.h>
26 #define CAN_MESSAGE_SIZE 8
29 * @enum CanMessageFormat
30 * @brief The ID format for a CAN message.
32 enum CanMessageFormat {
33 STANDARD, /*!< STANDARD - standard 11-bit CAN arbitration ID. */
34 EXTENDED, /*!< EXTENDED - an extended frame, with a 29-bit arbitration ID. */
35 ERROR, /*!< ERROR - ERROR code used at initialization to signify that it isn't usable'*/
37 typedef enum CanMessageFormat CanMessageFormat;
40 * @class can_message_t
42 * @brief A compact representation of a single CAN message, meant to be used in in/out
46 /*************************
47 * old CanMessage struct *
48 *************************
51 CanMessageFormat format;
52 uint8_t data[CAN_MESSAGE_SIZE];
55 typedef struct CanMessage CanMessage;
59 uint32_t id_; /*!< uint32_t id - The ID of the message. */
60 bool rtr_flag_; /*!< bool rtr_flag - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/
61 uint8_t length_; /*!< uint8_t length - the length of the data array (max 8). */
62 uint8_t flags_; /*!< unint8_t flags of a CAN FD frame. Needed if we catch FD frames.*/
63 CanMessageFormat format_; /*!< CanMessageFormat format - the format of the message's ID.*/
64 uint8_t data_[CAN_MESSAGE_SIZE]; /*!< uint8_t data - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
70 * @brief Class constructor
72 * Constructor about can_message_t class.
77 * @brief Retrieve id_ member value.
79 * @return uint32_t id_ class member
81 uint32_t get_id() const;
84 * @brief Retrieve RTR flag member.
86 * @return bool rtr_flags_ class member
88 bool get_rtr_flag_() const;
91 * @brief Retrieve format_ member value.
93 * @return CanMessageFormat format_ class member
95 int get_format() const;
98 * @brief Retrieve format_ member value.
100 * @return CanMessageFormat format_ class member
102 uint8_t get_flags() const;
105 * @brief Retrieve data_ member value.
107 * @return uint8_t data_ pointer class member
109 const uint8_t* get_data() const;
112 * @brief Retrieve length_ member value.
114 * @return uint8_t length_ class member
116 uint8_t get_length() const;
118 void set_max_data_length(const struct canfd_frame& frame);
121 * @brief Control whether the object is correctly initialized
122 * to be sent over the CAN bus
124 * @return true if object correctly initialized and false if not...
126 bool is_correct_to_send();
129 * @brief Set id_ member value.
131 * Preferred way to initialize these members by using
132 * convert_from_canfd_frame method.
134 * @param uint32_t id_ class member
136 void set_id_and_format(const uint32_t new_id);
139 * @brief Set format_ member value.
141 * Preferred way to initialize these members by using
142 * convert_from_canfd_frame method.
144 * @param CanMessageFormat format_ class member
146 void set_format(const CanMessageFormat new_format);
149 * @brief Set format_ member value. Deducing from the can_id
152 * Preferred way to initialize these members by using
153 * convert_from_canfd_frame method.
155 * @param uint32_t can_id integer from a canfd_frame
157 void set_format(const uint32_t can_id);
160 * @brief Set format_ member value.
162 * Preferred way to initialize these members by using
163 * convert_from_canfd_frame method.
165 * @param CanMessageFormat format_ class member
167 void set_flags(const uint8_t flags);
170 * @brief Set data_ member value.
172 * Preferred way to initialize these members by using
173 * convert_from_canfd_frame method.
175 * @param uint8_t data_ array with a max size of 8 elements.
177 void set_data(const __u8 new_data[], size_t dlen);
180 * @brief Set length_ member value.
182 * Preferred way to initialize these members by using
183 * convert_from_canfd_frame method.
185 * @param uint8_t length_ array with a max size of 8 elements.
187 void set_length(const uint8_t new_length);
190 * @brief Take a canfd_frame struct to initialize class members
192 * This is the preferred way to initialize class members.
194 * @param canfd_frame struct read from can bus device.
196 void convert_from_canfd_frame(const struct canfd_frame& frame);
199 * @brief Take all initialized class's members and build an
200 * canfd_frame struct that can be use to send a CAN message over
203 * @return canfd_frame struct built from class members.
205 canfd_frame convert_to_canfd_frame();
209 * @struct CanMessageDefinition
211 * @brief The definition of a CAN message. This includes a lot of metadata, so
212 * to save memory this struct should not be used for storing incoming and
213 * outgoing CAN messages.
215 struct CanMessageDefinition {
216 //can_bus_dev_t bus; /*!< bus - A pointer to the bus this message is on. */
217 uint32_t id; /*!< id - The ID of the message.*/
218 CanMessageFormat format; /*!< format - the format of the message's ID.*/
219 FrequencyClock frequencyClock; /*!< clock - an optional frequency clock to control the output of this
220 * message, if sent raw, or simply to mark the max frequency for custom
221 * handlers to retriec++ if ? syntaxve.*/
222 bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send CAN
223 * message if it has changed when using raw passthrough.*/
224 uint8_t lastValue[CAN_MESSAGE_SIZE]; /*!< lastValue - The last received value of the message. Defaults to undefined.
225 * This is required for the forceSendChanged functionality, as the stack
226 * needs to compare an incoming CAN message with the previous frame.*/
228 typedef struct CanMessageDefinition CanMessageDefinition;
231 * @struct CanMessageSet
233 * @brief A parent wrapper for a particular set of CAN messages and associated
234 * CAN buses(e.g. a vehicle or program).
237 uint8_t index; /*!<index - A numerical ID for the message set, ideally the index in an array
239 const std::string name; /*!< name - The name of the message set.*/
240 uint8_t busCount; /*!< busCount - The number of CAN buses defined for this message set.*/
241 unsigned short messageCount; /*!< messageCount - The number of CAN messages (across all buses) defined for
242 * this message set.*/
243 unsigned short signalCount; /*!< signalCount - The number of CAN signals (across all messages) defined for
244 * this message set.*/
245 unsigned short commandCount; /*!< commandCount - The number of CanCommmands defined for this message set.*/
248 /** Public: Return the currently active CAN configuration. */
249 CanMessageSet* getActiveMessageSet();
251 /** Public: Retrive a list of all possible CAN configurations.
253 * Returns a pointer to an array of all configurations.
255 CanMessageSet* getMessageSets();
257 /** Public: Return the length of the array returned by getMessageSets() */
258 int getMessageSetCount();
260 /* Public: Return an array of all CAN messages to be processed in the active
263 CanMessageDefinition* getMessages();
265 /* Public: Return the length of the array returned by getMessages(). */
266 int getMessageCount();