Reworked reading CAN devices from BCM socket.

[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..955e617 100644 (file)
--- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
@@ -27,6 +27,7 @@
 #include "can-message.hpp"
 #include "../low-can-binding.hpp"
 #include "canutil/write.h"
+#include "../bitfield/bitfield.h"
 
 /// @brief Class constructor
 ///
@@ -45,6 +46,9 @@ 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
@@ -125,13 +129,12 @@ int can_bus_dev_t::create_rx_filter(const can_signal_t& s)
        struct utils::canfd_bcm_msg bcm_msg;
 
        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)exp2(bit_size)-1;
 
        bcm_msg.msg_head.opcode  = RX_SETUP;
        bcm_msg.msg_head.can_id  = can_id;
        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(), bcm_msg.frames[0].data, CANFD_MAX_DLEN);
 
        if(can_socket_ << bcm_msg)
                return 0;