+ return can_message_t::convert_from_frame(cfd, nbytes);
+}
+
+/// @brief Create a RX_SETUP receive job using the BCM socket.
+///
+/// @return 0 if ok else -1
+int can_bus_dev_t::create_rx_filter(const can_signal_t& s)
+{
+ uint32_t can_id = s.get_message().get_id();
+
+ struct utils::simple_bcm_msg bcm_msg;
+ struct can_frame cfd;
+
+ memset(&cfd, 0, sizeof(cfd));
+ memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
+ uint8_t bit_size = s.get_bit_size();
+ float val = (float)(1 << bit_size)-1;
+
+ bcm_msg.msg_head.opcode = RX_SETUP;
+ bcm_msg.msg_head.can_id = can_id;
+ bcm_msg.msg_head.flags = 0;
+ bcm_msg.msg_head.nframes = 1;
+ bitfield_encode_float(val,
+ s.get_bit_position(),
+ bit_size,
+ s.get_factor(),
+ s.get_offset(),
+ cfd.data,
+ CAN_MAX_DLEN);
+
+ bcm_msg.frames = cfd;
+
+ if(can_socket_ << bcm_msg)
+ return 0;
+ return -1;