CAN FD implementation

[apps/agl-service-can-low-level.git] / low-can-binding / utils / socketcan-bcm.hpp

diff --git a/low-can-binding/utils/socketcan-bcm.hpp b/low-can-binding/utils/socketcan-bcm.hpp
index 22927cb..478a529 100644 (file)
--- a/low-can-binding/utils/socketcan-bcm.hpp
+++ b/low-can-binding/utils/socketcan-bcm.hpp
@@ -20,24 +20,20 @@
 #include "socketcan.hpp"
 #include "../can/can-message.hpp"
 
+#define MAX_BCM_CAN_FRAMES 257
+
 namespace utils
 {
-       struct simple_bcm_msg
-       {
-               struct bcm_msg_head msg_head;
-               struct can_frame frames;
-       };
-
-#ifdef KERNEL_MINIMAL_VERSION_OK
-       struct canfd_bcm_msg
+       struct bcm_msg
        {
                struct bcm_msg_head msg_head;
-               struct canfd_frame frames;
-               canfd_bcm_msg() { msg_head.flags |= CAN_FD_FRAME; }
+               union {
+                       struct canfd_frame fd_frames[MAX_BCM_CAN_FRAMES];
+                       struct can_frame frames[MAX_BCM_CAN_FRAMES];
+               };
        };
-#endif
 
-       /// @brief derivated socketcan class specialized for BCM CAN socket.
+       /// @brief derivated socketcan class specialized for BCM CAN socket.make_bcm_head
        class socketcan_bcm_t : public socketcan_t
        {
        public:
@@ -50,6 +46,7 @@ namespace utils
        };
 
        socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm);
-//     socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct simple_bcm_msg& obj);
-//     socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct canfd_bcm_msg& obj);
+
+       socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const std::vector<struct bcm_msg>& obj);
+       socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct bcm_msg& obj);
 }