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Properly decode incoming FlexRayPackets

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This commit is contained in:
Paul Hollinsky
2019-11-18 06:09:25 +01:00
parent 31062dd928
commit 4821a957dd
4 changed files with 74 additions and 62 deletions
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communication/packet/flexraypacket.cpp
+16 -7
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@@ -16,13 +16,20 @@ std::shared_ptr<FlexRayMessage> HardwareFlexRayPacket::DecodeToMessage(const std
// Always get the frame length, even for a symbol
msg->framelen = data->frame_length_12_5ns * 12.5e-9;
msg->channel = data->statusBits.bits.chb ? icsneo::FlexRay::Channel::B : icsneo::FlexRay::Channel::A;
if(data->tss_length_12_5ns == 0xffff) {// Flag value meaning this is a symbol
msg->symbol = FlexRay::Symbol::Unknown; // We can't know the symbol yet because this will depend on the baudrate
// Eventually we'll have to get this from the framelen
// These values are only for 10Mbit
// That's the only baudrate supported for now
if (data->frame_length_12_5ns > 480)
msg->symbol = FlexRay::Symbol::Wakeup;
else if (data->frame_length_12_5ns > 264)
msg->symbol = FlexRay::Symbol::CAS;
else
msg->symbol = FlexRay::Symbol::Unknown;
} else {
msg->tsslen = data->tss_length_12_5ns * 12.5e-9;
msg->channel = data->statusBits.bits.chb ? icsneo::FlexRay::Channel::B : icsneo::FlexRay::Channel::A;
if(data->statusBits.bits.bytesRxed >= 5) {
if(data->statusBits.bits.hcrc_error)
msg->headerCRCStatus = FlexRay::CRCStatus::Error;
@@ -43,14 +50,16 @@ std::shared_ptr<FlexRayMessage> HardwareFlexRayPacket::DecodeToMessage(const std
if(msg->headerCRCStatus != FlexRay::CRCStatus::Error) {
msg->reserved0was1 = data->reserved_0;
msg->payloadPreamble = data->payload_preamble;
msg->nullFrame = data->null_frame;
msg->nullFrame = !data->null_frame;
msg->sync = data->sync;
msg->startup = data->startup;
msg->slotid = data->slotid;
msg->cycle = data->cycle;
msg->dynamic = data->statusBits.bits.dynamic;
if(int64_t(numBytes) != int64_t(data->Length) - 4) {
} else {
// This is an error, probably need to flag it
} else {
msg->data = std::vector<uint8_t>((const uint8_t*)(data + 1), (const uint8_t*)(data + 1) + numBytes);
}
}
}