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Decoding for CAN FD, RTR, and XTD ID

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This commit is contained in:
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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communication/decoder.cpp
+69 -4
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@@ -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: {