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LIN: Legacy API

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This commit is contained in:
Kyle Johannes
2023-04-05 15:43:26 +00:00
parent 0fa7494eab
commit 63c81b1c3d
17 changed files with 1134 additions and 104 deletions
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communication/packet/linpacket.cpp
+9 -15
View File
@@ -5,7 +5,6 @@
namespace icsneo {
std::shared_ptr<Message> HardwareLINPacket::DecodeToMessage(const std::vector<uint8_t>& bytestream) {
auto msg = std::make_shared<LINMessage>();
const HardwareLINPacket* packet = reinterpret_cast<const HardwareLINPacket*>(bytestream.data());
size_t numDataBytes = packet->CoreMiniBitsLIN.len;
size_t numHeaderBytes = sizeof(HardwareLINPacket::CoreMiniBitsLIN);
@@ -17,14 +16,13 @@ std::shared_ptr<Message> HardwareLINPacket::DecodeToMessage(const std::vector<ui
if(numDataBytes)
--numDataBytes; //If data is present, there will be a checksum included
auto msg = std::make_shared<LINMessage>(static_cast<uint8_t>(packet->CoreMiniBitsLIN.ID));
msg->network = Network::GetNetIDFromCoreMiniNetwork(static_cast<Network::CoreMini>(packet->networkID));
msg->protectedID = packet->CoreMiniBitsLIN.ID;
msg->ID = (packet->CoreMiniBitsLIN.ID & 0x3Fu);
msg->isEnhancedChecksum = static_cast<bool>(packet->CoreMiniBitsLIN.TxChkSumEnhanced);
/* Minimum one responder byte and one checksum byte. */
if(2u > packet->CoreMiniBitsLIN.len)
msg->type = LINMessage::Type::LIN_ERROR;
msg->linMsgType = LINMessage::Type::LIN_ERROR;
auto dataStart = bytestream.begin() + numHeaderBytes;
std::copy(dataStart, (dataStart+numDataBytes), std::back_inserter(msg->data));
@@ -78,16 +76,16 @@ std::shared_ptr<Message> HardwareLINPacket::DecodeToMessage(const std::vector<ui
static_cast<bool>(packet->CoreMiniBitsLIN.BreakOnly)
};
if(msg->statusFlags.TxCommander || msg->statusFlags.TxResponder)
msg->type = LINMessage::Type::LIN_COMMANDER_MSG;
msg->linMsgType = LINMessage::Type::LIN_COMMANDER_MSG;
else if(msg->statusFlags.BreakOnly)
msg->type = LINMessage::Type::LIN_BREAK_ONLY;
msg->linMsgType = LINMessage::Type::LIN_BREAK_ONLY;
if( msg->errFlags.ErrRxBreakOnly || msg->errFlags.ErrRxBreakSyncOnly ||
msg->errFlags.ErrTxRxMismatch || msg->errFlags.ErrRxBreakNotZero ||
msg->errFlags.ErrRxBreakTooShort || msg->errFlags.ErrRxSyncNot55 ||
msg->errFlags.ErrRxDataLenOver8 || msg->errFlags.ErrFrameSync ||
msg->errFlags.ErrFrameMessageID || msg->errFlags.ErrChecksumMatch ||
msg->errFlags.ErrFrameResponderData )
{ msg->type = LINMessage::Type::LIN_ERROR; }
{ msg->linMsgType = LINMessage::Type::LIN_ERROR; }
msg->timestamp = packet->timestamp;
return msg;
@@ -97,7 +95,7 @@ bool HardwareLINPacket::EncodeFromMessage(LINMessage& message, std::vector<uint8
{
uint8_t size = ((std::min<size_t>(8ul, message.data.size()) + 3ul) & 0xFu);
if(size > 3) { ++size; } // add a checksum byte if there's data
switch(message.type) {
switch(message.linMsgType) {
case LINMessage::Type::LIN_HEADER_ONLY:
case LINMessage::Type::LIN_COMMANDER_MSG:
{
@@ -117,12 +115,7 @@ bool HardwareLINPacket::EncodeFromMessage(LINMessage& message, std::vector<uint8
default:
break;
}
message.protectedID = message.ID;
auto bit = [&](uint8_t pos)->uint8_t { return ((message.protectedID >> pos) & 0x1u); };
message.protectedID |= (~(bit(1) ^ bit(3) ^ bit(4) ^ bit(5)) << 7);
message.protectedID |= ((bit(0) ^ bit(1) ^ bit(2) ^ bit(4)) << 6);
message.calcProtectedID(message.ID);
bytestream.insert(bytestream.end(),
{
static_cast<uint8_t>(0x00u),
@@ -132,7 +125,7 @@ bool HardwareLINPacket::EncodeFromMessage(LINMessage& message, std::vector<uint8
static_cast<uint8_t>(message.protectedID)
});
switch(message.type) {
switch(message.linMsgType) {
case(LINMessage::Type::LIN_COMMANDER_MSG):
case(LINMessage::Type::LIN_UPDATE_RESPONDER):
{
@@ -144,6 +137,7 @@ bool HardwareLINPacket::EncodeFromMessage(LINMessage& message, std::vector<uint8
default:
break;
}
if(bytestream.size() % 2)
bytestream.push_back(0x41); //padding