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AP_HAL: update CANFrame to include CANFD details

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This commit is contained in:
Siddharth Purohit 2021-05-03 18:23:59 +05:30 committed by Andrew Tridgell
parent 153834465b
commit e9f426f8fd
1 changed files with 83 additions and 6 deletions
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89
libraries/AP_HAL/CANIface.h
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@ -32,7 +32,7 @@ struct AP_HAL::CANFrame {
static const uint32_t FlagRTR = 1U << 30; ///< Remote transmission request
static const uint32_t FlagERR = 1U << 29; ///< Error frame
static const uint8_t MaxDataLen = 8;
static const uint8_t MaxDataLen = 64;
uint32_t id; ///< CAN ID with flags (above)
union {
@ -40,22 +40,49 @@ struct AP_HAL::CANFrame {
uint32_t data_32[MaxDataLen/4];
};
uint8_t dlc; ///< Data Length Code
bool canfd;
CANFrame() :
id(0),
dlc(0)
dlc(0),
canfd(false)
{
memset(data,0, MaxDataLen);
}
CANFrame(uint32_t can_id, const uint8_t* can_data, uint8_t data_len) :
CANFrame(uint32_t can_id, const uint8_t* can_data, uint8_t data_len, bool canfd_frame = false) :
id(can_id),
dlc((data_len > MaxDataLen) ? MaxDataLen : data_len)
canfd(canfd_frame)
{
if ((can_data == nullptr) || (data_len != dlc) || (dlc == 0)) {
if ((can_data == nullptr) || (data_len == 0) || (data_len > MaxDataLen)) {
return;
}
memcpy(this->data, can_data, dlc);
memcpy(this->data, can_data, data_len);
if (data_len <= 8) {
dlc = data_len;
} else if (!canfd) {
dlc = 8;
} else {
/*
Data Length Code 9 10 11 12 13 14 15
Number of data bytes 12 16 20 24 32 48 64
*/
if (data_len <= 12) {
dlc = 9;
} else if (data_len <= 16) {
dlc = 10;
} else if (data_len <= 20) {
dlc = 11;
} else if (data_len <= 24) {
dlc = 12;
} else if (data_len <= 32) {
dlc = 13;
} else if (data_len <= 48) {
dlc = 14;
} else if (data_len <= 64) {
dlc = 15;
}
}
}
bool operator!=(const CANFrame& rhs) const
@ -79,7 +106,56 @@ struct AP_HAL::CANFrame {
{
return id & FlagERR;
}
void setCanFD(bool canfd_frame)
{
canfd = canfd_frame;
}
bool isCanFDFrame() const
{
return canfd;
}
static uint8_t dlcToDataLength(uint8_t dlc) {
/*
Data Length Code 9 10 11 12 13 14 15
Number of data bytes 12 16 20 24 32 48 64
*/
if (dlc <= 8) {
return dlc;
} else if (dlc == 9) {
return 12;
} else if (dlc == 10) {
return 16;
} else if (dlc == 11) {
return 20;
} else if (dlc == 12) {
return 24;
} else if (dlc == 13) {
return 32;
} else if (dlc == 14) {
return 48;
}
return 64;
}
static uint8_t dataLengthToDlc(uint8_t data_length) {
if (data_length <= 8) {
return data_length;
} else if (data_length <= 12) {
return 9;
} else if (data_length <= 16) {
return 10;
} else if (data_length <= 20) {
return 11;
} else if (data_length <= 24) {
return 12;
} else if (data_length <= 32) {
return 13;
} else if (data_length <= 48) {
return 14;
}
return 15;
}
/**
* CAN frame arbitration rules, particularly STD vs EXT:
* Marco Di Natale - "Understanding and using the Controller Area Network"
@ -127,6 +203,7 @@ public:
bool aborted:1;
bool pushed:1;
bool setup:1;
bool canfd_frame:1;
bool operator<(const CanTxItem& rhs) const
{