sven
/
libicsneo
mirror of https://github.com/intrepidcs/libicsneo.git
1
0
Fork 0
Code Issues Projects Releases Wiki Activity

updated can DLC related stuff

David Rebbe 2024-12-10 14:02:18 -05:00
parent 14cf054635
commit 675842cf9c
5 changed files with 87 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
api/icsneo/icsneo.cpp
View File

@ -6,6 +6,7 @@
#include "icsneo/communication/message/canmessage.h"
#include "icsneo/communication/message/linmessage.h"
#include "icsneo/communication/message/ethernetmessage.h"
#include "icsneo/communication/packet/canpacket.h"
#include <string>
#include <vector>
@ -619,7 +620,7 @@ ICSNEO_API icsneo_error_t icsneo_can_message_set_arbid(icsneo_device_t* device,
return icsneo_error_success;
}
ICSNEO_API icsneo_error_t icsneo_can_message_get_dlc_on_wire(icsneo_device_t* device, icsneo_message_t* message, uint32_t* value) {
ICSNEO_API icsneo_error_t icsneo_can_message_get_dlc(icsneo_device_t* device, icsneo_message_t* message, int32_t* value) {
if (!device || !message || !value) {
return icsneo_error_invalid_parameters;
}
@ -635,7 +636,7 @@ ICSNEO_API icsneo_error_t icsneo_can_message_get_dlc_on_wire(icsneo_device_t* de
return icsneo_error_success;
}
ICSNEO_API icsneo_error_t icsneo_can_message_set_dlc_on_wire(icsneo_device_t* device, icsneo_message_t* message, uint32_t value) {
ICSNEO_API icsneo_error_t icsneo_can_message_set_dlc(icsneo_device_t* device, icsneo_message_t* message, int32_t value) {
if (!device || !message) {
return icsneo_error_invalid_parameters;
}
@ -646,9 +647,14 @@ ICSNEO_API icsneo_error_t icsneo_can_message_set_dlc_on_wire(icsneo_device_t* de
return icsneo_error_invalid_type;
}
can_message->dlcOnWire = static_cast<uint8_t>(value);
return icsneo_error_success;
if (value < 0) {
auto res = CAN_LengthToDLC(static_cast<uint8_t>(can_message->data.size()), can_message->isCANFD);
can_message->dlcOnWire = res.value_or(0);
return res.has_value() ? icsneo_error_success : icsneo_error_invalid_parameters;
} else {
can_message->dlcOnWire = static_cast<uint8_t>(value);
return icsneo_error_success;
}
}
ICSNEO_API icsneo_error_t icsneo_can_message_is_remote(icsneo_device_t* device, icsneo_message_t* message, bool* value) {

5
communication/packet/canpacket.cpp
View File

@ -3,7 +3,7 @@
using namespace icsneo;
static std::optional<uint8_t> CAN_DLCToLength(uint8_t length, bool fd) {
std::optional<uint8_t> icsneo::CAN_DLCToLength(uint8_t length, bool fd) {
if (length <= 8)
return length;
@ -29,8 +29,7 @@ static std::optional<uint8_t> CAN_DLCToLength(uint8_t length, bool fd) {
return std::nullopt;
}
static std::optional<uint8_t> CAN_LengthToDLC(size_t dataLength, bool fd)
{
std::optional<uint8_t> icsneo::CAN_LengthToDLC(size_t dataLength, bool fd) {
if (dataLength <= 8)
return uint8_t(dataLength);

67
examples/c/simple/src/main.c
View File

@ -63,6 +63,8 @@ int process_messages(icsneo_device_t* device, icsneo_message_t** messages, uint3
void print_device_events(icsneo_device_t* device, const char* device_description);
int transmit_can_messages(icsneo_device_t* device);
int main(int argc, char* argv[]) {
(void)argc;
(void)argv;
@ -116,6 +118,12 @@ int main(int argc, char* argv[]) {
print_device_events(device, description);
return print_error_code("Failed to open device", res);
};
// Transmit CAN messages
res = transmit_can_messages(device);
if (res != icsneo_error_success) {
print_device_events(device, description);
return print_error_code("Failed to transmit CAN messages", res);
}
// Wait for the bus to collect some messages, requires an active bus to get messages
printf("Waiting 1 second for messages...\n");
sleep_ms(1000);
@ -228,7 +236,7 @@ int process_messages(icsneo_device_t* device, icsneo_message_t** messages, uint3
uint32_t result = icsneo_message_get_netid(device, message, &netid);
result += icsneo_get_netid_name(netid, netid_name, &netid_name_length);
result += icsneo_can_message_get_arbid(device, message, &arbid);
result += icsneo_can_message_get_dlc_on_wire(device, message, &dlc);
result += icsneo_can_message_get_dlc(device, message, &dlc);
result += icsneo_can_message_is_remote(device, message, &is_remote);
result += icsneo_can_message_is_canfd(device, message, &is_canfd);
result += icsneo_can_message_is_extended(device, message, &is_extended);
@ -243,9 +251,66 @@ int process_messages(icsneo_device_t* device, icsneo_message_t** messages, uint3
printf(" 0x%x", data[x]);
}
printf(" ]\n");
// Lets transmit the message back with an Arbitration ID 1 higher than the original.
result = icsneo_can_message_set_arbid(device, message, arbid + 1);
if (result != icsneo_error_success) {
printf("\tFailed to set CAN Arbitration ID (error: %u) for index %u\n", result, i);
continue;
}
uint32_t tx_msg_count = 1;
result = icsneo_device_transmit_messages(device, &message, &tx_msg_count);
if (result != icsneo_error_success) {
printf("\tFailed to transmit CAN message (error: %u) for index %u\n", result, i);
continue;
}
continue;
}
}
return icsneo_error_success;
}
int transmit_can_messages(icsneo_device_t* device) {
uint64_t counter = 0;
for (uint32_t i = 0; i < 20000; i++) {
// Create the message
icsneo_message_t* message = NULL;
uint32_t message_count = 1;
icsneo_error_t res = icsneo_can_messages_create(device, &message, message_count);
if (res != icsneo_error_success) {
return print_error_code("Failed to create messages", res);
}
// Set the message attributes
res = icsneo_message_set_netid(device, message, icsneo_netid_hscan);
res += icsneo_can_message_set_arbid(device, message, 0x10);
res += icsneo_can_message_set_canfd(device, message, true);
res += icsneo_can_message_set_extended(device, message, true);
res += icsneo_can_message_set_baudrate_switch(device, message, true);
// Create the payload
uint8_t data[64] = {0};
data[0] = (uint8_t)(counter >> 56);
data[1] = (uint8_t)(counter >> 48);
data[2] = (uint8_t)(counter >> 40);
data[3] = (uint8_t)(counter >> 32);
data[4] = (uint8_t)(counter >> 24);
data[5] = (uint8_t)(counter >> 16);
data[6] = (uint8_t)(counter >> 8);
data[7] = (uint8_t)(counter >> 0);
data[63] = 0xCA;
res += icsneo_message_set_data(device, message, data, sizeof(data));
res += icsneo_can_message_set_dlc(device, message, -1);
if (res != icsneo_error_success) {
return print_error_code("Failed to modify message", res);
}
res = icsneo_device_transmit_messages(device, &message, &message_count);
res += icsneo_can_message_free(device, message);
if (res != icsneo_error_success) {
return print_error_code("Failed to transmit messages", res);
}
counter++;
}
return icsneo_error_success;
}

3
include/icsneo/communication/packet/canpacket.h
View File

@ -13,6 +13,9 @@ namespace icsneo {
typedef uint16_t icscm_bitfield;
std::optional<uint8_t> CAN_DLCToLength(uint8_t length, bool fd);
std::optional<uint8_t> CAN_LengthToDLC(size_t dataLength, bool fd);
struct HardwareCANPacket {
static std::shared_ptr<Message> DecodeToMessage(const std::vector<uint8_t>& bytestream);
static bool EncodeFromMessage(const CANMessage& message, std::vector<uint8_t>& bytestream, const device_eventhandler_t& report);

9
include/icsneo/icsneo.h
View File

@ -447,23 +447,24 @@ ICSNEO_API icsneo_error_t icsneo_can_message_set_arbid(icsneo_device_t* device,
*
* @return icsneo_error_t icsneo_error_success if successful, icsneo_error_invalid_parameters otherwise.
*/
ICSNEO_API icsneo_error_t icsneo_can_message_get_dlc_on_wire(icsneo_device_t* device, icsneo_message_t* message, uint32_t* value);
ICSNEO_API icsneo_error_t icsneo_can_message_get_dlc(icsneo_device_t* device, icsneo_message_t* message, int32_t* value);
/** @brief Set the DLC on wire of a CAN message
*
* @param[in] icsneo_device_t* device The device to check against.
* @param[in] icsneo_message_t* message The message to check.
* @param[out] uint32_t value DLC to set.
* @param[out] int32_t value DLC to set. Set to a negative value to auto calculate. Auto setting assumes data and
* canfd parameters are correct. Set to 0 on failure. @see icsneo_can_message_set_data and icsneo_can_message_set_canfd
*
* @return icsneo_error_t icsneo_error_success if successful, icsneo_error_invalid_parameters otherwise.
*/
ICSNEO_API icsneo_error_t icsneo_can_message_set_dlc_on_wire(icsneo_device_t* device, icsneo_message_t* message, uint32_t value);
ICSNEO_API icsneo_error_t icsneo_can_message_set_dlc(icsneo_device_t* device, icsneo_message_t* message, int32_t value);
/** @brief Get the Remote Transmission Request (RTR) status of a CAN message
*
* @param[in] icsneo_device_t* device The device to check against.
* @param[in] icsneo_message_t* message The message to check.
* @param[out] bool* value Pointer to a uint32_t to copy the remote status into.
* @param[in] int32_t value DLC to get.
*
* @return icsneo_error_t icsneo_error_success if successful, icsneo_error_invalid_parameters otherwise.
*/