CAN FD implementation

[apps/agl-service-can-low-level.git] / low-can-binding / can / can-encoder.cpp

diff --git a/low-can-binding/can/can-encoder.cpp b/low-can-binding/can/can-encoder.cpp
index d90e08d..4b8a296 100644 (file)
--- a/low-can-binding/can/can-encoder.cpp
+++ b/low-can-binding/can/can-encoder.cpp
@@ -28,14 +28,15 @@
 /// @param[out] data - The destination buffer.
 /// @param[in] length - The length of the destination buffer.
 ///
-/// @return Returns a can_frame struct initialized and ready to be send.
-const can_frame encoder_t::build_frame(const std::shared_ptr<can_signal_t>& signal, uint64_t value)
+/// @return Returns a canfd_frame struct initialized and ready to be send.
+const canfd_frame encoder_t::build_frame(const std::shared_ptr<can_signal_t>& signal, uint64_t value)
 {
-       struct can_frame cf;
+       struct canfd_frame cf;
        ::memset(&cf, 0, sizeof(cf));
 
        cf.can_id = signal->get_message()->get_id();
-       cf.can_dlc = CAN_MAX_DLEN;
+       cf.len = signal->get_message()->is_fd() ?
+                CANFD_MAX_DLEN : CAN_MAX_DLEN;
 
        signal->set_last_value((float)value);
 
@@ -43,12 +44,12 @@ const can_frame encoder_t::build_frame(const std::shared_ptr<can_signal_t>& sign
        {
                float last_value = sig->get_last_value();
                bitfield_encode_float(last_value,
-                                                       sig->get_bit_position(),
-                                                       sig->get_bit_size(),
-                                                       sig->get_factor(),
-                                                       sig->get_offset(),
-                                                       cf.data,
-                                                       CAN_MAX_DLEN);
+                                       sig->get_bit_position(),
+                                       sig->get_bit_size(),
+                                       sig->get_factor(),
+                                       sig->get_offset(),
+                                       cf.data,
+                                       cf.len);
        }
 
        return cf;