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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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include/icsneo/communication/decoder.h
+6 -40
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@@ -10,8 +10,6 @@
#include <vector>
#include <memory>
#pragma pack(push, 1)
namespace icsneo {
class Decoder {
@@ -20,44 +18,13 @@ public:
Decoder(device_errorhandler_t err) : err(err) {}
bool decode(std::shared_ptr<Message>& result, const std::shared_ptr<Packet>& packet);
int timestampMultiplier = 25;
private:
device_errorhandler_t err;
typedef uint16_t icscm_bitfield;
struct HardwareCANPacket {
struct {
icscm_bitfield IDE : 1;
icscm_bitfield SRR : 1;
icscm_bitfield SID : 11;
icscm_bitfield EDL : 1;
icscm_bitfield BRS : 1;
icscm_bitfield ESI : 1;
} header;
struct {
icscm_bitfield EID : 12;
icscm_bitfield TXMSG : 1;
icscm_bitfield TXAborted : 1;
icscm_bitfield TXLostArb : 1;
icscm_bitfield TXError : 1;
} eid;
struct {
icscm_bitfield DLC : 4;
icscm_bitfield RB0 : 1;
icscm_bitfield IVRIF : 1;
icscm_bitfield HVEnable : 1;// must be cleared before passing into CAN driver
icscm_bitfield ExtendedNetworkIndexBit : 1;//DO NOT CLOBBER THIS
icscm_bitfield RB1 : 1;
icscm_bitfield RTR : 1;
icscm_bitfield EID2 : 6;
} dlc;
unsigned char data[8];
uint16_t stats;
struct {
uint64_t TS : 60;
uint64_t : 3; // Reserved for future status bits
uint64_t IsExtended : 1;
} timestamp;
};
#pragma pack(push, 1)
#ifdef _MSC_VER
#pragma warning(push)
@@ -99,10 +66,9 @@ private:
uint16_t busVoltage;
uint16_t deviceTemperature;
};
#pragma pack(pop)
};
}
#pragma pack(pop)
#endif
include/icsneo/communication/message/ethernetmessage.h
+48
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@@ -0,0 +1,48 @@
#ifndef __ETHERNETMESSAGE_H_
#define __ETHERNETMESSAGE_H_
#include "icsneo/communication/message/message.h"
// Used for MACAddress.toString() only
#include <sstream>
#include <iomanip>
namespace icsneo {
struct MACAddress {
uint8_t data[6];
// Helpers
std::string toString() const {
std::stringstream ss;
for(size_t i = 0; i < 6; i++) {
ss << std::hex << std::setw(2) << std::setfill('0') << (int)data[i];
if(i != 5)
ss << ':';
}
return ss.str();
}
friend std::ostream& operator<<(std::ostream& os, const MACAddress& mac) {
os << mac.toString();
return os;
}
};
class EthernetMessage : public Message {
public:
bool preemptionEnabled = false;
uint8_t preemptionFlags = 0;
bool fcsAvailable = false;
bool frameTooShort = false;
bool noPadding = false;
// Accessors
const MACAddress& getDestinationMAC() const { return *(const MACAddress*)(data.data() + 0); }
const MACAddress& getSourceMAC() const { return *(const MACAddress*)(data.data() + 6); }
uint16_t getEtherType() const { return (data[12] << 8) | data[13]; }
};
}
#endif
include/icsneo/communication/message/message.h
+4 -1
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@@ -11,7 +11,10 @@ public:
virtual ~Message() = default;
Network network;
std::vector<uint8_t> data;
uint64_t timestamp;
uint64_t timestamp = 0;
uint16_t description = 0;
bool transmitted = false;
bool error = false;
};
}
include/icsneo/communication/message/neomessage.h
+19 -2
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@@ -102,18 +102,20 @@ typedef union {
typedef struct {
neomessage_statusbitfield_t status;
uint64_t timestamp;
uint64_t timestampReserved;
const uint8_t* data;
size_t length;
uint8_t header[4];
uint16_t netid;
uint8_t type;
uint8_t reserved[17];
} neomessage_t; // 64 bytes total
} neomessage_t; // 72 bytes total
// Any time you add another neomessage_*_t type, make sure to add it to the static_asserts below!
typedef struct {
neomessage_statusbitfield_t status;
uint64_t timestamp;
uint64_t timestampReserved;
const uint8_t* data;
size_t length;
uint32_t arbid;
@@ -123,13 +125,28 @@ typedef struct {
uint8_t reserved[16];
} neomessage_can_t;
typedef struct {
neomessage_statusbitfield_t status;
uint64_t timestamp;
uint64_t timestampReserved;
const uint8_t* data;
size_t length;
uint8_t preemptionFlags;
uint8_t reservedHeader[3];
uint16_t netid;
uint8_t type;
uint8_t reserved[17];
} neomessage_eth_t;
#pragma pack(pop)
#ifdef __cplusplus
#include "icsneo/communication/message/message.h"
#include <memory>
static_assert(sizeof(neomessage_can_t) == sizeof(neomessage_t), "All types of neomessage_t must be the same size!");
static_assert(sizeof(neomessage_t) == 72, "neomessage_t may not change size from 72 bytes!");
static_assert(sizeof(neomessage_can_t) == sizeof(neomessage_t), "All types of neomessage_t must be the same size! (CAN is not)");
static_assert(sizeof(neomessage_eth_t) == sizeof(neomessage_t), "All types of neomessage_t must be the same size! (Ethernet is not)");
namespace icsneo {
include/icsneo/communication/network.h
+12 -12
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@@ -245,11 +245,11 @@ public:
case NetID::LIN:
return "LIN";
case NetID::OP_Ethernet1:
return "Ethernet 1";
return "OP (BR) Ethernet 1";
case NetID::OP_Ethernet2:
return "Ethernet 2";
return "OP (BR) Ethernet 2";
case NetID::OP_Ethernet3:
return "Ethernet 3";
return "OP (BR) Ethernet 3";
case NetID::RED_EXT_MEMORYREAD:
return "RED_EXT_MEMORYREAD";
case NetID::RED_INT_MEMORYREAD:
@@ -299,9 +299,9 @@ public:
case NetID::HSCAN3:
return "HSCAN 3";
case NetID::OP_Ethernet4:
return "Ethernet 4";
return "OP (BR) Ethernet 4";
case NetID::OP_Ethernet5:
return "Ethernet 5";
return "OP (BR) Ethernet 5";
case NetID::ISO4:
return "ISO 4";
case NetID::LIN2:
@@ -351,19 +351,19 @@ public:
case NetID::TextAPI_To_Host:
return "TextAPI To Host";
case NetID::OP_Ethernet6:
return "Ethernet 6";
return "OP (BR) Ethernet 6";
case NetID::Red_VBat:
return "Red VBat";
case NetID::OP_Ethernet7:
return "Ethernet 7";
return "OP (BR) Ethernet 7";
case NetID::OP_Ethernet8:
return "Ethernet 8";
return "OP (BR) Ethernet 8";
case NetID::OP_Ethernet9:
return "Ethernet 9";
return "OP (BR) Ethernet 9";
case NetID::OP_Ethernet10:
return "Ethernet 10";
return "OP (BR) Ethernet 10";
case NetID::OP_Ethernet11:
return "Ethernet 11";
return "OP (BR) Ethernet 11";
case NetID::FlexRay1a:
return "FlexRay 1a";
case NetID::FlexRay1b:
@@ -379,7 +379,7 @@ public:
case NetID::FlexRay2:
return "FlexRay 2";
case NetID::OP_Ethernet12:
return "Ethernet 12";
return "OP (BR) Ethernet 12";
case NetID::MOST25:
return "MOST25";
case NetID::MOST50:
include/icsneo/communication/packet/canpacket.h
+52
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@@ -0,0 +1,52 @@
#ifndef __CANPACKET_H__
#define __CANPACKET_H__
#include "icsneo/communication/message/canmessage.h"
#include <cstdint>
#include <memory>
namespace icsneo {
typedef uint16_t icscm_bitfield;
struct HardwareCANPacket {
static std::shared_ptr<CANMessage> DecodeToMessage(const std::vector<uint8_t>& bytestream);
static bool EncodeFromMessage(const CANMessage& message, std::vector<uint8_t>& bytestream);
struct {
icscm_bitfield IDE : 1;
icscm_bitfield SRR : 1;
icscm_bitfield SID : 11;
icscm_bitfield EDL : 1;
icscm_bitfield BRS : 1;
icscm_bitfield ESI : 1;
} header;
struct {
icscm_bitfield EID : 12;
icscm_bitfield TXMSG : 1;
icscm_bitfield TXAborted : 1;
icscm_bitfield TXLostArb : 1;
icscm_bitfield TXError : 1;
} eid;
struct {
icscm_bitfield DLC : 4;
icscm_bitfield RB0 : 1;
icscm_bitfield IVRIF : 1;
icscm_bitfield HVEnable : 1;// must be cleared before passing into CAN driver
icscm_bitfield ExtendedNetworkIndexBit : 1;//DO NOT CLOBBER THIS
icscm_bitfield RB1 : 1;
icscm_bitfield RTR : 1;
icscm_bitfield EID2 : 6;
} dlc;
unsigned char data[8];
uint16_t stats;
struct {
uint64_t TS : 60;
uint64_t : 3; // Reserved for future status bits
uint64_t IsExtended : 1;
} timestamp;
};
}
#endif
include/icsneo/communication/packet/ethernetpacket.h
+44
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@@ -0,0 +1,44 @@
#ifndef __ETHERNETPACKET_H__
#define __ETHERNETPACKET_H__
#include "icsneo/communication/message/ethernetmessage.h"
#include <cstdint>
#include <memory>
namespace icsneo {
typedef uint16_t icscm_bitfield;
struct HardwareEthernetPacket {
static std::shared_ptr<EthernetMessage> DecodeToMessage(const std::vector<uint8_t>& bytestream);
static bool EncodeFromMessage(const EthernetMessage& message, std::vector<uint8_t>& bytestream);
struct {
icscm_bitfield FCS_AVAIL : 1;
icscm_bitfield RUNT_FRAME : 1;
icscm_bitfield DISABLE_PADDING : 1;
icscm_bitfield PREEMPTION_ENABLED : 1;
icscm_bitfield MPACKET_TYPE : 4;
icscm_bitfield MPACKET_FRAG_CNT : 2;
icscm_bitfield : 6;
} header;
struct {
icscm_bitfield txlen : 12;
icscm_bitfield TXMSG : 1;
icscm_bitfield : 3;
} eid;
icscm_bitfield reserved;
unsigned char data[8];
uint16_t stats;
struct {
uint64_t TS : 60;
uint64_t : 3; // Reserved for future status bits
uint64_t IsExtended : 1;
} timestamp;
uint16_t NetworkID;
uint16_t Length;
};
}
#endif
include/icsneo/icsneocpp.h
+3
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@@ -8,6 +8,9 @@
#include "icsneo/api/version.h"
#include "icsneo/api/errormanager.h"
#include "icsneo/communication/message/canmessage.h"
#include "icsneo/communication/message/ethernetmessage.h"
namespace icsneo {
std::vector<std::shared_ptr<Device>> FindAllDevices();