#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"
-
-#define U64_DATA(p) (*(unsigned long long*)(p)->data)
+#include "bitfield/bitfield.h"
/// @brief Class constructor
///
/// @param[in] dev_name - String representing the device name into the linux /dev tree
-/// @param[in] address - integer identifier of the bus, set using init_can_dev from can_bus_t.
-can_bus_dev_t::can_bus_dev_t(const std::string& dev_name, int32_t address)
- : device_name_{dev_name}, address_{address}
+/// @param[in] index - integer identifier of the bus, set using init_can_dev from can_bus_t.
+can_bus_dev_t::can_bus_dev_t(const std::string& dev_name, int index)
+ : device_name_{dev_name}, index_{index}
{}
std::string can_bus_dev_t::get_device_name() const
return device_name_;
}
-uint32_t can_bus_dev_t::get_address() const
+int can_bus_dev_t::get_index() const
+{
+ return index_;
+}
+utils::socketcan_t& can_bus_dev_t::get_socket()
{
- return address_;
+ return can_socket_;
}
/// @brief Open the can socket and returning it
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.
{
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;