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Communication: Add missing CAN error types

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This commit is contained in:
Jonathan Schwartz
2025-02-04 15:15:44 +00:00
committed by Kyle Schwarz
parent a22791c9e0
commit c5ba2d8d32
17 changed files with 126 additions and 69 deletions
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include/icsneo/communication/message/canerrorcountmessage.h
-25
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@@ -1,25 +0,0 @@
#ifndef __CANERRORCOUNTMESSAGE_H_
#define __CANERRORCOUNTMESSAGE_H_
#ifdef __cplusplus
#include "icsneo/communication/message/message.h"
namespace icsneo {
class CANErrorCountMessage : public Message {
public:
CANErrorCountMessage(uint8_t tec, uint8_t rec, bool busOffFlag)
: Message(Message::Type::CANErrorCount), transmitErrorCount(tec), receiveErrorCount(rec), busOff(busOffFlag){}
Network network;
uint8_t transmitErrorCount;
uint8_t receiveErrorCount;
bool busOff;
};
}
#endif // __cplusplus
#endif
include/icsneo/communication/message/canerrormessage.h
+40
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@@ -0,0 +1,40 @@
#ifndef __CANERRORMESSAGE_H_
#define __CANERRORMESSAGE_H_
#ifdef __cplusplus
#include "icsneo/communication/message/message.h"
namespace icsneo {
enum class CANErrorCode : uint8_t
{
NoError = 0,
StuffError = 1,
FormError = 2,
AckError = 3,
Bit1Error = 4,
Bit0Error = 5,
CRCError = 6,
NoChange = 7
};
class CANErrorMessage : public Message {
public:
CANErrorMessage() : Message(Type::CANError) {}
Network network;
uint8_t transmitErrorCount;
uint8_t receiveErrorCount;
bool busOff;
bool errorPassive;
bool errorWarn;
CANErrorCode dataErrorCode;
CANErrorCode errorCode;
};
using CANErrorCountMessage = CANErrorMessage;
}
#endif // __cplusplus
#endif
include/icsneo/communication/message/message.h
+1
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@@ -17,6 +17,7 @@ public:
Frame = 0,
CANErrorCount = 0x100,
CANError = 0x100,
LINHeaderOnly = 0x200,
LINBreak = 0x201,
include/icsneo/communication/packet/canpacket.h
+23
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@@ -13,6 +13,7 @@ namespace icsneo {
typedef uint16_t icscm_bitfield;
#pragma pack(push,2)
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);
@@ -50,6 +51,28 @@ struct HardwareCANPacket {
uint64_t IsExtended : 1;
} timestamp;
};
struct HardwareCANErrorPacket {
uint8_t error_code;
uint8_t brs_data_error_code;
uint16_t reserved;
uint16_t DLC : 4;
uint16_t : 4;
uint16_t ERROR_INDICATOR : 1;
uint16_t : 7;
uint8_t flags;
uint8_t REC;
uint8_t TEC;
static bool GetErrorWarn(uint8_t flags) { return flags & 0b0000'0001; }
static bool GetErrorPassive(uint8_t flags) { return flags & 0b0000'1000; }
static bool GetBusOff(uint8_t flags) { return flags & 0b0010'0000; }
};
#pragma pack(pop)
}