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Support Ethernet and Broad-R Reach TX and RX

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This commit is contained in:
Paul Hollinsky
2018-12-21 20:32:27 -05:00
parent 603d532d2d
commit d37d5bb23e
14 changed files with 490 additions and 209 deletions
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communication/encoder.cpp
+17 -83
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@@ -1,4 +1,7 @@
#include "icsneo/communication/encoder.h"
#include "icsneo/communication/message/ethernetmessage.h"
#include "icsneo/communication/packet/ethernetpacket.h"
#include "icsneo/communication/packet/canpacket.h"
using namespace icsneo;
@@ -8,9 +11,18 @@ bool Encoder::encode(std::vector<uint8_t>& result, const std::shared_ptr<Message
result.clear();
switch(message->network.getType()) {
case Network::Type::CAN: {
useResultAsBuffer = true;
case Network::Type::Ethernet: {
auto ethmsg = std::dynamic_pointer_cast<EthernetMessage>(message);
if(!ethmsg)
return false; // The message was not a properly formed EthernetMessage
useResultAsBuffer = true;
if(!HardwareEthernetPacket::EncodeFromMessage(*ethmsg, result))
return false;
break;
} // End of Network::Type::Ethernet
case Network::Type::CAN: {
auto canmsg = std::dynamic_pointer_cast<CANMessage>(message);
if(!canmsg)
return false; // The message was not a properly formed CANMessage
@@ -18,88 +30,10 @@ bool Encoder::encode(std::vector<uint8_t>& result, const std::shared_ptr<Message
if(!supportCANFD && canmsg->isCANFD)
return false; // This device does not support CAN FD
if(canmsg->isCANFD && canmsg->isRemote)
return false; // RTR frames can not be used with CAN FD
useResultAsBuffer = true;
if(!HardwareCANPacket::EncodeFromMessage(*canmsg, result))
return false; // The CANMessage was malformed
const size_t dataSize = canmsg->data.size();
if(dataSize > 64 || (dataSize > 8 && !canmsg->isCANFD))
return false; // Too much data for the protocol
uint8_t lengthNibble = uint8_t(canmsg->data.size());
if(lengthNibble > 8) {
switch(lengthNibble) {
case 12:
lengthNibble = 0x9;
break;
case 16:
lengthNibble = 0xA;
break;
case 20:
lengthNibble = 0xB;
break;
case 24:
lengthNibble = 0xC;
break;
case 32:
lengthNibble = 0xD;
break;
case 48:
lengthNibble = 0xE;
break;
case 64:
lengthNibble = 0xF;
break;
default:
return false; // CAN FD frame may have had an incorrect byte count
}
}
// Pre-allocate as much memory as we will possibly need for speed
result.reserve(17 + dataSize);
result.push_back(0 /* byte count here later */ << 4 | (uint8_t(canmsg->network.getNetID()) & 0xF));
result.insert(result.end(), {0,0}); // Two bytes for Description ID, big endian, not used in API currently
// Next 2-4 bytes are ArbID
if(canmsg->isExtended) {
if(canmsg->arbid >= 0x20000000) // Extended messages use 29-bit arb IDs
return false;
result.insert(result.end(), {
(uint8_t)(canmsg->arbid >> 21),
(uint8_t)(((((canmsg->arbid & 0x001C0000) >> 13) & 0xFF) + (((canmsg->arbid & 0x00030000) >> 16) & 0xFF)) | 8),
(uint8_t)(canmsg->arbid >> 8),
(uint8_t)canmsg->arbid
});
} else {
if(canmsg->arbid >= 0x800) // Standard messages use 11-bit arb IDs
return false;
result.insert(result.end(), {
(uint8_t)(canmsg->arbid >> 3),
(uint8_t)((canmsg->arbid & 0x7) << 5)
});
}
// Status and DLC bits
if(canmsg->isCANFD) {
result.push_back(0x0F); // FD Frame
uint8_t fdStatusByte = lengthNibble;
if(canmsg->baudrateSwitch)
fdStatusByte |= 0x80; // BRS status bit
result.push_back(fdStatusByte);
} else {
// TODO Support high voltage wakeup, bitwise-or in 0x8 here to enable
uint8_t statusNibble = canmsg->isRemote ? 0x4 : 0x0;
result.push_back((statusNibble << 4) | lengthNibble);
}
// Now finally the payload
result.insert(result.end(), canmsg->data.begin(), canmsg->data.end());
result.push_back(0);
// Fill in the length byte from earlier
result[0] |= result.size() << 4;
break;
} // End of Network::Type::CAN
default: