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C2: CAN error message support

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This commit is contained in:
David Rebbe
2026-04-17 11:39:38 -04:00
committed by Kyle Schwarz
parent f5f6d0828b
commit 9c4323987f
10 changed files with 416 additions and 40 deletions
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examples/c2/read_messages/src/main.c
+82 -15
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@@ -69,6 +69,8 @@ int print_error_code(const char* message, icsneoc2_error_t error) {
*/
int process_message(icsneoc2_message_t** messages, size_t messages_count);
int transmit_can_messages(icsneoc2_device_t* device);
int main() {
// Open the first available device with default options
printf("Opening first available device...\n");
@@ -88,6 +90,10 @@ int main() {
};
printf("\tOpened device: %s\n", description);
// Transmit messages for debugging purposes
// transmit_can_messages(open_device);
// sleep_ms(1000);
// Get the messages
icsneoc2_message_t* messages[20000] = {0};
size_t message_count = 20000;
@@ -169,10 +175,49 @@ void print_events(const char* device_description) {
int process_message(icsneoc2_message_t** messages, size_t messages_count) {
// Print the type and bus type of each message
size_t tx_count = 0;
size_t can_error_count = 0;
icsneoc2_error_t res = icsneoc2_error_success;
for(size_t i = 0; i < messages_count; i++) {
icsneoc2_message_t* message = messages[i];
bool is_can_error = false;
res = icsneoc2_message_is_can_error(message, &is_can_error);
if(res != icsneoc2_error_success) {
return print_error_code("\tFailed to check if message is a CAN error", res);
}
if(is_can_error) {
icsneoc2_network_type_t network_type;
uint8_t tec = 0;
uint8_t rec = 0;
icsneoc2_can_error_code_t error_code = 0;
icsneoc2_can_error_code_t data_error_code = 0;
icsneoc2_message_can_error_flags_t error_flags = 0;
icsneoc2_netid_t netid = 0;
char network_type_name[128] = {0};
size_t network_type_name_length = 128;
char netid_name[128] = {0};
size_t netid_name_length = 128;
res = icsneoc2_message_network_type_get(message, &network_type);
res += icsneoc2_network_type_name_get(network_type, network_type_name, &network_type_name_length);
res += icsneoc2_message_netid_get(message, &netid);
res += icsneoc2_netid_name_get(netid, netid_name, &netid_name_length);
res += icsneoc2_message_can_error_props_get(message, &tec, &rec, &error_code, &data_error_code, &error_flags);
if(res != icsneoc2_error_success) {
return print_error_code("\tFailed to get CAN error properties", res);
}
printf("\t%zd) CAN Error on %s [%s] (0x%x): TEC=%u REC=%u ErrorCode=%u DataErrorCode=%u%s%s%s\n",
i, netid_name, network_type_name, netid, tec, rec, error_code, data_error_code,
(error_flags & ICSNEOC2_MESSAGE_CAN_ERROR_FLAGS_BUS_OFF) ? " [BusOff]" : "",
(error_flags & ICSNEOC2_MESSAGE_CAN_ERROR_FLAGS_ERROR_PASSIVE) ? " [ErrorPassive]" : "",
(error_flags & ICSNEOC2_MESSAGE_CAN_ERROR_FLAGS_ERROR_WARN) ? " [ErrorWarn]" : "");
can_error_count++;
continue;
}
bool is_frame = false;
icsneoc2_error_t res = icsneoc2_message_is_frame(message, &is_frame);
res = icsneoc2_message_is_frame(message, &is_frame);
if(res != icsneoc2_error_success) {
return print_error_code("\tFailed to check if message is a frame", res);
}
@@ -192,37 +237,55 @@ int process_message(icsneoc2_message_t** messages, size_t messages_count) {
if(res != icsneoc2_error_success) {
return print_error_code("\tFailed to get message bus type name", res);
}
bool is_tx = false;
res = icsneoc2_message_is_transmit(message, &is_tx);
if(res != icsneoc2_error_success) {
return print_error_code("\tFailed to get message is transmit", res);
}
if(is_tx) {
tx_count++;
continue;
}
printf("\t%zd) network type: %s (%u)\n", i, network_type_name, network_type);
if(network_type == icsneoc2_network_type_can) {
uint32_t arbid = 0;
uint64_t arbid = 0;
int32_t dlc = 0;
icsneoc2_netid_t netid = 0;
bool is_remote = false;
bool is_canfd = false;
bool is_extended = false;
icsneoc2_message_can_flags_t can_flags = 0;
uint8_t data[64] = {0};
size_t data_length = 64;
char netid_name[128] = {0};
size_t netid_name_length = 128;
bool is_error = false;
bool is_tx = false;
icsneoc2_error_t result = icsneoc2_message_netid_get(message, &netid);
result += icsneoc2_netid_name_get(netid, netid_name, &netid_name_length);
result += icsneoc2_message_can_props_get(message, &arbid, &can_flags);
result += icsneoc2_message_data_get(message, data, &data_length);
result += icsneoc2_message_is_transmit(message, &is_tx);
result += icsneoc2_message_is_error(message, &is_error);
if(result != icsneoc2_error_success) {
printf("\tFailed get get CAN parameters (error: %u) for index %zu\n", result, i);
continue;
}
printf("\t NetID: %s (0x%x)\tArbID: 0x%x\t DLC: %u\t Remote: %d\t CANFD: %d\t Extended: %d\t Data length: %zu\n", netid_name, netid, arbid, dlc, is_remote, is_canfd, is_extended, data_length);
tx_count += is_tx ? 1 : 0;
bool is_remote = (can_flags & ICSNEOC2_MESSAGE_CAN_FLAGS_RTR) != 0;
bool is_extended = (can_flags & ICSNEOC2_MESSAGE_CAN_FLAGS_IDE) != 0;
bool is_canfd = (can_flags & ICSNEOC2_MESSAGE_CAN_FLAGS_FDF) != 0;
bool is_brs = (can_flags & ICSNEOC2_MESSAGE_CAN_FLAGS_BRS) != 0;
bool is_esi = (can_flags & ICSNEOC2_MESSAGE_CAN_FLAGS_ESI) != 0;
bool tx_aborted = (can_flags & ICSNEOC2_MESSAGE_CAN_FLAGS_TX_ABORTED) != 0;
bool tx_lost_arb = (can_flags & ICSNEOC2_MESSAGE_CAN_FLAGS_TX_LOST_ARB) != 0;
bool tx_error = (can_flags & ICSNEOC2_MESSAGE_CAN_FLAGS_TX_ERROR) != 0;
dlc = (int32_t)data_length;
printf("\t %s%s\n", is_tx ? "TX" : "RX", is_error ? " [Error]" : "");
printf("\t NetID: %s (0x%x)\tArbID: 0x%llx\tDLC: %u\tLen: %zu\n", netid_name, netid, (unsigned long long)arbid, dlc, data_length);
printf("\t Flags:%s%s%s%s%s%s%s%s\n",
is_remote ? " RTR" : "",
is_extended ? " IDE" : "",
is_canfd ? " FDF" : "",
is_brs ? " BRS" : "",
is_esi ? " ESI" : "",
tx_aborted ? " TX_ABORTED" : "",
tx_lost_arb ? " TX_LOST_ARB" : "",
tx_error ? " TX_ERROR" : "");
printf("\t Data: [");
for(size_t x = 0; x < data_length; x++) {
printf(" 0x%x", data[x]);
@@ -230,14 +293,14 @@ int process_message(icsneoc2_message_t** messages, size_t messages_count) {
printf(" ]\n");
}
}
printf("\tReceived %zu messages total, %zu were TX messages\n", messages_count, tx_count);
printf("\tReceived %zu messages total, %zu were TX messages, %zu were CAN errors\n", messages_count, tx_count, can_error_count);
return icsneoc2_error_success;
}
int transmit_can_messages(icsneoc2_device_t* device) {
uint64_t counter = 0;
const size_t msg_count = 100;
const size_t msg_count = 10;
printf("\tTransmitting %zd messages...\n", msg_count);
for(size_t i = 0; i < msg_count; i++) {
// Create the message
@@ -248,8 +311,12 @@ int transmit_can_messages(icsneoc2_device_t* device) {
}
// Set the message attributes
res = icsneoc2_message_netid_set(message, icsneoc2_netid_dwcan_01);
uint64_t arb_id = 0x10;
uint64_t flags = 0;
res += icsneoc2_message_can_props_set(message, &arb_id, &flags);
res += icsneoc2_message_data_set(message, (uint8_t*)&counter, sizeof(counter));
if(res != icsneoc2_error_success) {
icsneoc2_message_free(message);
return print_error_code("\tFailed to modify message", res);
}
res = icsneoc2_device_message_transmit(device, message);