X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=CAN-binder%2Flow-can-binding%2Fcan%2Fcan-bus-dev.cpp;h=601881db4918c7a719e0535aa497046d7f56c955;hb=ae74dbcb89f3d471b66e1f1d2fe4bdf33cfff388;hp=6b8d9144f6bf50209e934d95fc0b0532cbd243ca;hpb=0b4dccf94a2a6b1ff4f5dc233b0ce0977927096d;p=apps%2Fagl-service-can-low-level.git

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 6b8d9144..601881db 100644
--- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
@@ -21,21 +21,17 @@
 #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 "../binding/low-can-hat.hpp"
 
 /// @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
@@ -43,9 +39,13 @@ 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
@@ -65,8 +65,16 @@ void can_bus_dev_t::configure()
 	if (can_socket_)
 	{
 		const int timestamp_on = 1;
+		const int canfd_on = 1;
 
 		DEBUG(binder_interface, "%s: CAN Handler socket correctly initialized : %d", __FUNCTION__, can_socket_.socket());
+
+		// try to switch the socket into CAN_FD mode
+		if (can_socket_.setopt(SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
+		{
+			NOTICE(binder_interface, "%s: Can not switch into CAN Extended frame format: %s", __FUNCTION__, ::strerror(errno));
+		}
+
 		if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, &timestamp_on, sizeof(timestamp_on)) < 0)
 			WARNING(binder_interface, "%s: setsockopt SO_TIMESTAMP error: %s", __FUNCTION__, ::strerror(errno));
 	}
@@ -96,7 +104,7 @@ can_message_t can_bus_dev_t::read()
 	// Test that socket is really opened
 	if (!can_socket_)
 	{
-		ERROR(binder_interface, "read: Socket unavailable. Closing thread.");
+		ERROR(binder_interface, "%s: Socket unavailable. Closing thread.", __FUNCTION__);
 		is_running_ = false;
 	}
 
@@ -106,14 +114,14 @@ can_message_t can_bus_dev_t::read()
 	if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
 	{
 		if (errno == ENETDOWN)
-			ERROR(binder_interface, "read: %s CAN device down", device_name_.c_str());
-		ERROR(binder_interface, "read: Incomplete CAN(FD) frame");
+			ERROR(binder_interface, "%s: %s CAN device down", __FUNCTION__, device_name_.c_str());
+		ERROR(binder_interface, "%s: Incomplete CAN(FD) frame", __FUNCTION__);
 		::memset(&cfd, 0, sizeof(cfd));
 	}
 
 	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.
@@ -123,16 +131,27 @@ 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;