81 lines
1.8 KiB
C++
81 lines
1.8 KiB
C++
#ifndef __CANPACKET_H__
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#define __CANPACKET_H__
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#ifdef __cplusplus
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#include "icsneo/communication/message/canmessage.h"
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#include "icsneo/api/eventmanager.h"
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#include <cstdint>
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#include <memory>
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#include <optional>
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namespace icsneo {
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typedef uint16_t icscm_bitfield;
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#pragma pack(push,2)
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struct HardwareCANPacket {
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static std::shared_ptr<Message> DecodeToMessage(const std::vector<uint8_t>& bytestream);
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static bool EncodeFromMessage(const CANMessage& message, std::vector<uint8_t>& bytestream, const device_eventhandler_t& report);
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struct {
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icscm_bitfield IDE : 1;
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icscm_bitfield SRR : 1;
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icscm_bitfield SID : 11;
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icscm_bitfield EDL : 1;
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icscm_bitfield BRS : 1;
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icscm_bitfield ESI : 1;
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} header;
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struct {
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icscm_bitfield EID : 12;
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icscm_bitfield TXMSG : 1;
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icscm_bitfield TXAborted : 1;
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icscm_bitfield TXLostArb : 1;
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icscm_bitfield TXError : 1;
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} eid;
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struct {
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icscm_bitfield DLC : 4;
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icscm_bitfield RB0 : 1;
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icscm_bitfield IVRIF : 1;
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icscm_bitfield HVEnable : 1;// must be cleared before passing into CAN driver
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icscm_bitfield ExtendedNetworkIndexBit : 1;//DO NOT CLOBBER THIS
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icscm_bitfield RB1 : 1;
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icscm_bitfield RTR : 1;
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icscm_bitfield EID2 : 6;
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} dlc;
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unsigned char data[8];
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uint16_t stats;
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struct {
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uint64_t TS : 60;
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uint64_t : 3; // Reserved for future status bits
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uint64_t IsExtended : 1;
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} timestamp;
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};
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struct HardwareCANErrorPacket {
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uint8_t error_code;
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uint8_t brs_data_error_code;
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uint16_t reserved;
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uint16_t DLC : 4;
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uint16_t : 4;
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uint16_t ERROR_INDICATOR : 1;
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uint16_t : 7;
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uint8_t flags;
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uint8_t REC;
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uint8_t TEC;
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static bool GetErrorWarn(uint8_t flags) { return flags & 0b0000'0001; }
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static bool GetErrorPassive(uint8_t flags) { return flags & 0b0000'1000; }
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static bool GetBusOff(uint8_t flags) { return flags & 0b0010'0000; }
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};
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#pragma pack(pop)
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}
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#endif // __cplusplus
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#endif |