Fix: wrong include relative path.

[apps/agl-service-can-low-level.git] / CAN-binder / low-can-binding / can / can-bus-dev.cpp

diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.cpp b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
index df0c0d6..07f921f 100644 (file)
--- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
@@ -21,12 +21,12 @@
 #include <unistd.h>
 #include <linux/can/raw.h>
 #include <linux/can/bcm.h>
-#include <cmath>
 
 #include "can-bus.hpp"
 #include "can-message.hpp"
 #include "../low-can-binding.hpp"
 #include "canutil/write.h"
+#include "bitfield/bitfield.h"
 
 /// @brief Class constructor
 ///
@@ -45,6 +45,9 @@ int can_bus_dev_t::get_index() const
 {
        return index_;
 }
+utils::socketcan_t& can_bus_dev_t::get_socket()
+{
+       return can_socket_;
 }
 
 /// @brief Open the can socket and returning it
@@ -112,7 +115,7 @@ can_message_t can_bus_dev_t::read()
 
        DEBUG(binder_interface, "%s: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", __FUNCTION__, cfd.can_id, cfd.len,
                                                        cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]);
-       return can_message_t::convert_from_canfd_frame(cfd, nbytes);
+       return can_message_t::convert_from_frame(cfd, nbytes);
 }
 
 /// @brief Create a RX_SETUP receive job using the BCM socket.
@@ -122,16 +125,27 @@ int can_bus_dev_t::create_rx_filter(const can_signal_t& s)
 {
        uint32_t can_id  = s.get_message().get_id();
 
-       struct utils::canfd_bcm_msg bcm_msg;
+       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)exp2(bit_size);
-       uint64_t filter = eightbyte_encode_float(val, s.get_bit_position(), bit_size, s.get_factor(), s.get_offset());
+       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;
-       U64_DATA(&bcm_msg.frames[0]) = filter;
+       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;