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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/packet/canpacket.h
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#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