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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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include/icsneo/communication/message/canerrormessage.h
+12 -12
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@@ -4,24 +4,24 @@
#ifdef __cplusplus
#include "icsneo/communication/message/message.h"
#include "icsneo/icsneoc2types.h"
namespace icsneo {
enum class CANErrorCode : uint8_t
enum class CANErrorCode : icsneoc2_can_error_code_t
{
NoError = 0,
StuffError = 1,
FormError = 2,
AckError = 3,
Bit1Error = 4,
Bit0Error = 5,
CRCError = 6,
NoChange = 7
NoError = icsneoc2_can_error_code_no_error,
StuffError = icsneoc2_can_error_code_stuff_error,
FormError = icsneoc2_can_error_code_form_error,
AckError = icsneoc2_can_error_code_ack_error,
Bit1Error = icsneoc2_can_error_code_bit1_error,
Bit0Error = icsneoc2_can_error_code_bit0_error,
CRCError = icsneoc2_can_error_code_crc_error,
NoChange = icsneoc2_can_error_code_no_change
};
class CANErrorMessage : public Message {
class CANErrorMessage : public RawMessage {
public:
CANErrorMessage() : Message(Type::CANError) {}
Network network;
CANErrorMessage() : RawMessage(Type::CANError) {}
uint8_t transmitErrorCount;
uint8_t receiveErrorCount;
bool busOff;
include/icsneo/communication/message/canmessage.h
+3
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@@ -16,6 +16,9 @@ public:
bool isCANFD = false;
bool baudrateSwitch = false; // CAN FD only
bool errorStateIndicator = false; // CAN FD only
bool txAborted = false;
bool txLostArb = false;
bool txError = false;
};
}
include/icsneo/icsneoc2messages.h
+49 -5
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@@ -41,6 +41,17 @@ icsneoc2_error_t icsneoc2_message_free(icsneoc2_message_t* message);
*/
icsneoc2_error_t icsneoc2_message_is_transmit(icsneoc2_message_t* message, bool* value);
/**
* Get the frame error status of a message.
*
* @param[in] message The message to check.
* @param[out] value Pointer to a bool to copy the frame error status into.
*
* @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters or
* icsneoc2_error_invalid_type otherwise.
*/
icsneoc2_error_t icsneoc2_message_is_error(icsneoc2_message_t* message, bool* value);
/**
* Get the Network ID (netid) of a bus message
*
@@ -97,11 +108,14 @@ icsneoc2_error_t icsneoc2_message_data_set(icsneoc2_message_t* message, uint8_t*
*/
icsneoc2_error_t icsneoc2_message_data_get(icsneoc2_message_t* message, uint8_t* data, size_t* data_length);
#define ICSNEOC2_MESSAGE_CAN_FLAGS_RTR 0x01 // Remote Transmission Request
#define ICSNEOC2_MESSAGE_CAN_FLAGS_IDE 0x02 // Identifier Extension
#define ICSNEOC2_MESSAGE_CAN_FLAGS_FDF 0x04 // FD Format Indicator
#define ICSNEOC2_MESSAGE_CAN_FLAGS_BRS 0x08 // Bit Rate Switch (FD only)
#define ICSNEOC2_MESSAGE_CAN_FLAGS_ESI 0x10 // Error State Indicator (FD only)
#define ICSNEOC2_MESSAGE_CAN_FLAGS_RTR 0x01 // Remote Transmission Request
#define ICSNEOC2_MESSAGE_CAN_FLAGS_IDE 0x02 // Identifier Extension
#define ICSNEOC2_MESSAGE_CAN_FLAGS_FDF 0x04 // FD Format Indicator
#define ICSNEOC2_MESSAGE_CAN_FLAGS_BRS 0x08 // Bit Rate Switch (FD only)
#define ICSNEOC2_MESSAGE_CAN_FLAGS_ESI 0x10 // Error State Indicator (FD only)
#define ICSNEOC2_MESSAGE_CAN_FLAGS_TX_ABORTED 0x20 // CAN transmit was aborted
#define ICSNEOC2_MESSAGE_CAN_FLAGS_TX_LOST_ARB 0x40 // CAN transmit lost arbitration
#define ICSNEOC2_MESSAGE_CAN_FLAGS_TX_ERROR 0x80 // CAN transmit reported an error
typedef uint64_t icsneoc2_message_can_flags_t;
@@ -122,6 +136,7 @@ icsneoc2_error_t icsneoc2_message_can_props_set(icsneoc2_message_t* message, con
* @param[in] message The message to check.
* @param[out] arb_id Pointer to a uint64_t to copy the arbitration ID into. If NULL, it's ignored.
* @param[out] flags Pointer to a series of flags. If NULL, it's ignored. See icsneoc2_message_can_flags_t for details.
* TX status flags are read-only and are only reported for CAN frames received back from the device.
*
* @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters or icsneoc2_error_invalid_type otherwise.
*/
@@ -316,6 +331,35 @@ icsneoc2_error_t icsneoc2_message_lin_calc_checksum(icsneoc2_message_t* message)
*/
icsneoc2_error_t icsneoc2_message_network_type_get(icsneoc2_message_t* message, icsneoc2_network_type_t* network_type);
/**
* Check if a message is a CAN error message
*
* @param[in] message The message to check.
* @param[out] is_can_error Pointer to a bool to copy the CAN error status of the message into.
*
* @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters otherwise.
*/
icsneoc2_error_t icsneoc2_message_is_can_error(icsneoc2_message_t* message, bool* is_can_error);
/**
* Get the CAN error specific properties of a message
*
* @param[in] message The message to check.
* @param[out] tx_err_count Pointer to a uint8_t to copy the transmit error count into. If NULL, it's ignored.
* @param[out] rx_err_count Pointer to a uint8_t to copy the receive error count into. If NULL, it's ignored.
* @param[out] error_code Pointer to a icsneoc2_can_error_code_t to copy the error code into. If NULL, it's ignored.
* @param[out] data_error_code Pointer to a icsneoc2_can_error_code_t to copy the data phase error code into. If NULL, it's ignored.
* @param[out] flags Pointer to a icsneoc2_message_can_error_flags_t to copy the error flags into. If NULL, it's ignored.
* See ICSNEOC2_MESSAGE_CAN_ERROR_FLAGS_* for controller-error bits.
*
* @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters or icsneoc2_error_invalid_type otherwise.
*/
icsneoc2_error_t icsneoc2_message_can_error_props_get(
icsneoc2_message_t *message, uint8_t *tx_err_count, uint8_t *rx_err_count,
icsneoc2_can_error_code_t *error_code,
icsneoc2_can_error_code_t *data_error_code,
icsneoc2_message_can_error_flags_t *flags);
#ifdef __cplusplus
}
#endif
include/icsneo/icsneoc2types.h
+22
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@@ -400,6 +400,28 @@ typedef enum _icsneoc2_memory_type_t {
typedef uint8_t icsneoc2_memory_type_t;
typedef enum _icsneoc2_can_error_code_t {
icsneoc2_can_error_code_no_error = 0, // No error
icsneoc2_can_error_code_stuff_error, // Stuff error
icsneoc2_can_error_code_form_error, // Form error
icsneoc2_can_error_code_ack_error, // Ack error
icsneoc2_can_error_code_bit1_error, // Bit1 error
icsneoc2_can_error_code_bit0_error, // Bit0 error
icsneoc2_can_error_code_crc_error, // CRC error
icsneoc2_can_error_code_no_change, // No change
// Must be last entry. Don't use as a CAN error code.
icsneoc2_can_error_code_maxsize
} _icsneoc2_can_error_code_t;
typedef uint8_t icsneoc2_can_error_code_t;
#define ICSNEOC2_MESSAGE_CAN_ERROR_FLAGS_BUS_OFF 0x01 // Bus off state
#define ICSNEOC2_MESSAGE_CAN_ERROR_FLAGS_ERROR_PASSIVE 0x02 // Error passive state
#define ICSNEOC2_MESSAGE_CAN_ERROR_FLAGS_ERROR_WARN 0x04 // Error warning state
typedef uint64_t icsneoc2_message_can_error_flags_t;
#ifdef __cplusplus
}
#endif