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Decoding for CAN FD, RTR, and XTD ID

pull/4/head
Paul Hollinsky 2018-10-10 16:25:09 -04:00
parent b3184eb1ed
commit 5d4cfe4930
5 changed files with 177 additions and 225 deletions
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73
communication/decoder.cpp
View File

@ -24,14 +24,79 @@ std::shared_ptr<Message> Decoder::decodePacket(const std::shared_ptr<Packet>& pa
HardwareCANPacket* data = (HardwareCANPacket*)packet->data.data();
auto msg = std::make_shared<CANMessage>();
msg->network = packet->network;
msg->arbid = data->header.SID;
msg->data.reserve(data->dlc.DLC);
// Timestamp calculation
msg->timestamp = data->timestamp.TS * 25; // Timestamps are in 25ns increments since 1/1/2007 GMT 00:00:00.0000
for(auto i = 0; i < data->dlc.DLC; i++)
msg->data.push_back(data->data[i]);
// Arb ID
if(data->header.IDE) { // Extended 29-bit ID
msg->arbid = (data->header.SID & 0x7ff) << 18;
msg->arbid |= (data->eid.EID & 0xfff) << 6;
msg->arbid |= (data->dlc.EID2 & 0x3f);
msg->isExtended = true;
} else { // Standard 11-bit ID
msg->arbid = data->header.SID;
}
// DLC
uint8_t length = data->dlc.DLC;
if(data->header.EDL && data->timestamp.IsExtended) { // CAN FD
msg->isCANFD = true;
msg->baudrateSwitch = data->header.BRS; // CAN FD Baudrate Switch
switch(length) { // CAN FD Length Decoding
case 0x0:
case 0x1:
case 0x2:
case 0x3:
case 0x4:
case 0x5:
case 0x6:
case 0x7:
case 0x8:
break; // The length is already correct
case 0x9:
length = 12;
break;
case 0xa:
length = 16;
break;
case 0xb:
length = 20;
break;
case 0xc:
length = 24;
break;
case 0xd:
length = 32;
break;
case 0xe:
length = 48;
break;
case 0xf:
length = 64;
break;
default:
length = 0;
// TODO Flag an error
break;
}
}
// Data
// The first 8 bytes are always in the standard place
if(data->dlc.RTR) { // Remote Request Frame
msg->data.resize(length); // This data will be all zeros, but the length will be set
msg->isRemote = true;
} else {
msg->data.reserve(length);
msg->data.insert(msg->data.end(), data->data, data->data + (length > 8 ? 8 : length));
if(length > 8) { // If there are more than 8 bytes, they come at the end of the message
// Messages with extra data are formatted as message, then uint16_t netid, then uint16_t length, then extra data
uint8_t* extraDataStart = packet->data.data() + sizeof(HardwareCANPacket) + 2 + 2;
msg->data.insert(msg->data.end(), extraDataStart, extraDataStart + (length - 8));
}
}
return msg;
}
case Network::Type::Internal: {

220
communication/include/decoder.h
View File

@ -44,12 +44,13 @@ private:
icscm_bitfield ExtendedNetworkIndexBit : 1;//DO NOT CLOBBER THIS
icscm_bitfield RB1 : 1;
icscm_bitfield RTR : 1;
icscm_bitfield EID : 6;
icscm_bitfield EID2 : 6;
} dlc;
unsigned char data[8];
uint16_t stats;
struct {
uint64_t TS : 60;
uint64_t : 3;
uint64_t : 3; // Reserved for future status bits
uint64_t IsExtended : 1;
} timestamp;
};
@ -87,221 +88,6 @@ private:
uint16_t busVoltage;
uint16_t deviceTemperature;
} CoreMiniMsgResetStatus;
// struct CoreMiniMsg {
// CANMessage toCANMessage(Network netid);
// union {
// uint16_t CxTRB0SID16;
// struct
// {
// icscm_bitfield IDE : 1;
// icscm_bitfield SRR : 1;
// icscm_bitfield SID : 11;
// icscm_bitfield NETWORKINDEX : 3;//DO NOT CLOBBER THIS
// } CxTRB0SID;
// struct
// {
// icscm_bitfield : 13;
// icscm_bitfield EDL : 1;
// icscm_bitfield BRS : 1;
// icscm_bitfield ESI : 1;
// } CxTRB0FD;
// struct
// {
// icscm_bitfield ErrRxOnlyBreak : 1;
// icscm_bitfield ErrRxOnlyBreakSync : 1;
// icscm_bitfield ID : 11;
// icscm_bitfield NETWORKINDEX : 3;//DO NOT CLOBBER THIS
// } CxLIN3;
// struct
// {
// uint8_t D8;
// uint8_t options : 4;
// uint8_t TXMSG : 1;
// uint8_t NETWORKINDEX : 3;//DO NOT CLOBBER THIS
// } C1xJ1850;
// struct
// {
// uint8_t D8;
// uint8_t options : 4;
// uint8_t TXMSG : 1;
// uint8_t NETWORKINDEX : 3;//DO NOT CLOBBER THIS
// } C1xISO;
// struct
// {
// uint8_t D8;
// uint8_t options : 4;
// uint8_t TXMSG : 1;
// uint8_t NETWORKINDEX : 3;//DO NOT CLOBBER THIS
// } C1xJ1708;
// struct
// {
// icscm_bitfield FCS_AVAIL : 1;
// icscm_bitfield RUNT_FRAME : 1;
// icscm_bitfield DISABLE_PADDING : 1;
// icscm_bitfield PREEMPTION_ENABLED : 1;
// icscm_bitfield MPACKET_TYPE : 4;
// icscm_bitfield MPACKET_FRAG_CNT : 2;
// icscm_bitfield : 6;
// } C1xETH;
// struct
// {
// uint16_t ID : 11;
// uint16_t STARTUP : 1;
// uint16_t SYNC : 1;
// uint16_t NULL_FRAME : 1;
// uint16_t PAYLOAD_PREAMBLE : 1;
// uint16_t RESERVED_0 : 1;
// } C1xFlex;
// struct
// {
// uint8_t daqType;
// uint8_t ethDaqRes1;
// } C1xETHDAQ;
// };
// union {
// uint16_t CxTRB0EID16;
// struct
// {
// icscm_bitfield EID : 12;
// icscm_bitfield TXMSG : 1;
// icscm_bitfield TXAborted : 1;
// icscm_bitfield TXLostArb : 1;
// icscm_bitfield TXError : 1;
// } CxTRB0EID;
// struct
// {
// uint8_t LINByte9;
// uint8_t ErrTxRxMismatch : 1;
// uint8_t TxChkSumEnhanced : 1;
// uint8_t TXMaster : 1;
// uint8_t TXSlave : 1;
// uint8_t ErrRxBreakNot0 : 1;
// uint8_t ErrRxBreakTooShort : 1;
// uint8_t ErrRxSyncNot55 : 1;
// uint8_t ErrRxDataGreater8 : 1;
// } CxLIN;
// struct
// {
// uint8_t D9;
// uint8_t D10;
// } C2xJ1850;
// struct
// {
// uint8_t D9;
// uint8_t D10;
// } C2xISO;
// struct
// {
// uint8_t D9;
// uint8_t D10;
// } C2xJ1708;
// struct
// {
// uint16_t txlen : 12;
// uint16_t TXMSG : 1;
// uint16_t : 3;
// } C2xETH;
// struct
// {
// uint16_t HDR_CRC_10 : 1;
// uint16_t PAYLOAD_LEN : 7;
// uint16_t RESERVED_1 : 4;
// uint16_t TXMSG : 1;
// uint16_t RESERVED_2 : 3;
// } C2xFlex;
// };
// union {
// // For use by CAN
// uint16_t CxTRB0DLC16;
// struct
// {
// icscm_bitfield DLC : 4;
// icscm_bitfield RB0 : 1;
// icscm_bitfield IVRIF : 1;
// icscm_bitfield HVEnable : 1;// must be cleared before passing into CAN driver
// icscm_bitfield ExtendedNetworkIndexBit : 1;//DO NOT CLOBBER THIS
// icscm_bitfield RB1 : 1;
// icscm_bitfield RTR : 1;
// icscm_bitfield EID : 6;
// } CxTRB0DLC;
// struct
// {
// icscm_bitfield len : 4;
// icscm_bitfield ExtendedNetworkIndexBit2 : 1;//DO NOT CLOBBER THIS
// icscm_bitfield UpdateSlaveOnce : 1;
// icscm_bitfield HasUpdatedSlaveOnce : 1;
// icscm_bitfield ExtendedNetworkIndexBit : 1;//DO NOT CLOBBER THIS
// icscm_bitfield BusRecovered : 1;
// icscm_bitfield SyncFerr : 1;//!< We got framing error in our sync byte.
// icscm_bitfield MidFerr : 1;//!< We got framing error in our message id.
// icscm_bitfield SlaveByteFerr : 1;//!< We got framing error in one of our slave bytes.
// icscm_bitfield TxAborted : 1;//!< This transmit was aborted.
// icscm_bitfield breakOnly : 1;
// icscm_bitfield : 2;
// } CxLIN2;
// // For use by JVPW
// struct
// {
// icscm_bitfield len : 4;
// icscm_bitfield ExtendedNetworkIndexBit2 : 1;//DO NOT CLOBBER THIS
// icscm_bitfield just_tx_timestamp : 1;
// icscm_bitfield first_seg : 1;
// icscm_bitfield ExtendedNetworkIndexBit : 1;// do not clobber ExtendedNetworkIndexBit
// icscm_bitfield D11 : 8;
// } C3xJ1850;
// // For use by the ISO/KEYWORD
// struct
// {
// icscm_bitfield len : 4;
// icscm_bitfield ExtendedNetworkIndexBit2 : 1;//DO NOT CLOBBER THIS
// icscm_bitfield FRM : 1;
// icscm_bitfield INIT : 1;
// icscm_bitfield ExtendedNetworkIndexBit : 1;// do not clobber ExtendedNetworkIndexBit
// icscm_bitfield D11 : 8;
// } C3xISO;
// struct
// {
// icscm_bitfield len : 4;
// icscm_bitfield ExtendedNetworkIndexBit2 : 1;//DO NOT CLOBBER THIS
// icscm_bitfield FRM : 1;
// icscm_bitfield : 1;
// icscm_bitfield ExtendedNetworkIndexBit : 1;// do not clobber ExtendedNetworkIndexBit
// icscm_bitfield pri : 8;
// } C3xJ1708;
// struct
// {
// uint16_t rsvd;
// } C3xETH;
// struct
// {
// uint16_t CYCLE : 6;
// uint16_t HDR_CRC_9_0 : 10;
// } C3xFlex;
// };
// unsigned char CxTRB0Dall[8];
// union {
// uint16_t CxTRB0STAT;
// uint16_t J1850_TX_ID;
// };
// union {
// struct
// {
// uint32_t uiTimeStamp10uS;
// union {
// uint32_t uiTimeStamp10uSMSB;
// struct
// {
// unsigned : 28;
// unsigned res_0s : 3;// must be 0!!!
// unsigned bIsExtended : 1;// always 1 for CoreMiniMsgExtended.
// };
// };
// };
// int64_t uiTimeStampLarge;
// uint8_t uiTimeStampBytes[8];
// };
// };
};
}

4
communication/message/include/canmessage.h
View File

@ -8,6 +8,10 @@ namespace icsneo {
class CANMessage : public Message {
public:
uint32_t arbid;
bool isRemote = false;
bool isExtended = false;
bool isCANFD = false;
bool baudrateSwitch = false; // CAN FD only
};
}

93
communication/message/include/neomessage.h
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@ -6,17 +6,105 @@
#pragma pack(push, 1)
typedef union {
struct {
uint32_t globalError : 1;
uint32_t transmitMessage : 1;
uint32_t extendedFrame : 1;
uint32_t remoteFrame : 1;
uint32_t crcError : 1;
uint32_t canErrorPassive : 1;
uint32_t incompleteFrame : 1;
uint32_t lostArbitration : 1;
uint32_t undefinedError : 1;
uint32_t canBusOff : 1;
uint32_t canErrorWarning : 1;
uint32_t canBusShortedPlus : 1;
uint32_t canBusShortedGround : 1;
uint32_t checksumError : 1;
uint32_t badMessageBitTimeError : 1;
uint32_t ifrData : 1;
uint32_t hardwareCommError : 1;
uint32_t expectedLengthError : 1;
uint32_t incomingNoMatch : 1;
uint32_t statusBreak : 1;
uint32_t avsiRecOverflow : 1;
uint32_t testTrigger : 1;
uint32_t audioComment : 1;
uint32_t gpsData : 1;
uint32_t analogDigitalInput : 1;
uint32_t textComment : 1;
uint32_t networkMessageType : 1;
uint32_t vsiTXUnderrun : 1;
uint32_t vsiIFRCRCBit : 1;
uint32_t initMessage : 1;
//uint32_t highSpeedMessage : 1; // Occupies the same space as flexraySecondStartupFrame
uint32_t flexraySecondStartupFrame : 1;
uint32_t extended : 1;
// ~~~ End of bitfield 1 ~~~
uint32_t hasValue : 1;
uint32_t valueIsBoolean : 1;
uint32_t highVoltage : 1;
uint32_t longMessage : 1;
uint32_t : 12;
uint32_t globalChange : 1;
uint32_t errorFrame : 1;
uint32_t : 2;
uint32_t endOfLongMessage : 1;
uint32_t linErrorRXBreakNotZero : 1;
uint32_t linErrorRXBreakTooShort : 1;
uint32_t linErrorRXSyncNot55 : 1;
uint32_t linErrorRXDataGreaterEight : 1;
uint32_t linErrorTXRXMismatch : 1;
uint32_t linErrorMessageIDParity : 1;
//isoFrameError
uint32_t linSyncFrameError : 1;
//isoOverflowError
uint32_t linIDFrameError : 1;
//isoParityError
uint32_t linSlaveByteError : 1;
uint32_t rxTimeoutError : 1;
uint32_t linNoSlaveData : 1;
// mostPacketData
// mostStatus
// mostLowLevel
// mostControlData
// mostMHPUserData
// mostMHPControlData
// mostI2SDump
// mostTooShort
// most50
// most150
// mostChangedParameter
// ethernetCRCError
// ethernetFrameTooShort
// ethernetFCSAvailable
// ~~~ End of bitfield 2 ~~~
//uint32_t linJustBreakSync : 1;
//uint32_t linSlaveDataTooShort : 1;
//uint32_t linOnlyUpdateSlaveTableOnce : 1;
uint32_t canfdESI : 1;
uint32_t canfdIDE : 1;
uint32_t canfdRTR : 1;
uint32_t canfdFDF : 1;
uint32_t canfdBRS : 1;
};
uint32_t statusBitfield[4];
} neomessage_statusbitfield_t;
typedef struct {
neomessage_statusbitfield_t status;
uint64_t timestamp;
const uint8_t* data;
size_t length;
char header[4];
uint8_t header[4];
uint16_t netid;
uint8_t type;
char reserved[9];
uint8_t reserved[9];
} neomessage_t;
typedef struct {
neomessage_statusbitfield_t status;
uint64_t timestamp;
const uint8_t* data;
size_t length;
@ -25,6 +113,7 @@ typedef struct {
uint8_t type;
char reserved[9];
} neomessage_can_t;
static_assert(sizeof(neomessage_can_t) == sizeof(neomessage_t), "All types of neomessage_t must be the same size!");
#pragma pack(pop)

12
communication/message/neomessage.cpp
View File

@ -15,9 +15,17 @@ neomessage_t icsneo::CreateNeoMessage(const Message& message) {
neomsg.timestamp = message.timestamp;
switch(type) {
case Network::Type::CAN:
((neomessage_can_t*)&neomsg)->arbid = ((const CANMessage*)&message)->arbid;
case Network::Type::CAN: {
neomessage_can_t& can = *(neomessage_can_t*)&neomsg;
const CANMessage& canmsg = *(const CANMessage*)&message;
can.arbid = canmsg.arbid;
can.status.extendedFrame = canmsg.isExtended;
can.status.remoteFrame = canmsg.isRemote;
can.status.canfdRTR = canmsg.isRemote;
can.status.canfdFDF = canmsg.isCANFD;
can.status.canfdBRS = canmsg.baudrateSwitch;
break;
}
default:
// TODO Implement others
break;