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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/message/include/canmessage.h
+4
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
};
}
communication/message/include/neomessage.h
+91 -2
View File
@@ -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)