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Fixed CAN frame bug

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This commit is contained in:
Neal Probert
2024-03-06 11:47:50 -05:00
parent 8d472f4f64
commit b7d8fef0ab
8 changed files with 180 additions and 178 deletions
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50
include/libcan++/CanDatabase.h
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@ -29,34 +29,34 @@
* CAN class to handle database of CAN signals from DBC (.dbc) file * CAN class to handle database of CAN signals from DBC (.dbc) file
*/ */
class CanDatabase : public DbcParser { class CanDatabase : public DbcParser {
// public data // public data
public: public:
// private data // private data
private: private:
// static data // static data
// public methods // public methods
public: public:
// constructors // constructors
CanDatabase(); CanDatabase();
// destructor // destructor
virtual ~CanDatabase(); virtual ~CanDatabase();
// virtual functions // virtual functions
// public methods // public methods
int FormatHeader( char *buf, int max ); int FormatHeader( char *buf, int max );
int FormatMessage( char *buf, int max ); int FormatMessage( char *buf, int max );
int SubscribeCan( CanSocket *pCan ); int SubscribeCan( CanSocket *pCan );
int ReadCan( CanSocket *pCan ); int ReadCan( CanSocket *pCan );
// static methods // static methods
// private methods // private methods
private: private:
}; };

68
include/libcan++/CanMessage.h
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@ -31,43 +31,43 @@
// Uses the Peak Systems CAN Linux driver and Nissan CAN data // Uses the Peak Systems CAN Linux driver and Nissan CAN data
// //
class CanMessage { class CanMessage {
// public data // public data
public: public:
std::string Name; // Signal Name std::string Name; // Signal Name
std::string Module; // Module Name std::string Module; // Module Name
u_int32_t Address; // 29 bits (standard or extended) u_int32_t Address; // 29 bits (standard or extended)
u_int8_t Data[64]; // Data u_int8_t Data[64]; // Data
u_int Size; // DLC (CAN-FD > 8) u_int Size; // DLC (CAN-FD > 8)
// list of signals in the message // list of signals in the message
std::vector<CanSignal *> Signals; std::vector<CanSignal *> Signals;
// private data // private data
private: private:
// static data // static data
// public methods // public methods
public: public:
// constructors // constructors
CanMessage(); CanMessage();
// destructor // destructor
virtual ~CanMessage(); virtual ~CanMessage();
// virtual functions // virtual functions
// public methods // public methods
int Read(CanFrame *frame); int Read(CanFrame *frame);
int Write(CanFrame *frame); int Write(CanFrame *frame);
int Convert(CanFrame *frame) {return Read(frame);}; int Convert(CanFrame *frame) {return Read(frame);};
int Subscribe(void); int Subscribe(void);
int Unsubscribe(void); int Unsubscribe(void);
// static methods // static methods
// private methods // private methods
private: private:
}; };

36
include/libcan++/CanSignal.h
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@ -38,11 +38,11 @@ class CanSignal : public BaseSignal, public VoltType {
class CanSignal { class CanSignal {
#endif #endif
// public data // public data
public: public:
std::string Name; // Signal Name std::string Name; // Signal Name
std::string Units; // Signal Units std::string Units; // Signal Units
u_int32_t Address; // 29 bits (standard or extended) u_int32_t Address; // 29 bits (standard or extended)
// data conversion (from .dbc file) // data conversion (from .dbc file)
u_char StartBit; // 0..63 u_char StartBit; // 0..63
u_char NumBits; // 1..32 u_char NumBits; // 1..32
@ -50,7 +50,7 @@ public:
u_char IsSigned; // 0 = unsigned, 1 = 2's Complement u_char IsSigned; // 0 = unsigned, 1 = 2's Complement
double Scale; // scale double Scale; // scale
double Offset; // offset double Offset; // offset
// conversion help // conversion help
u_char StartByte; // 0..7 u_char StartByte; // 0..7
u_char NumBytes; // 1..4 u_char NumBytes; // 1..4
@ -58,7 +58,7 @@ public:
u_char LowBit; // #bits after u_char LowBit; // #bits after
u_int64_t Mask; // 64 bit mask u_int64_t Mask; // 64 bit mask
u_int64_t Sign; // 64 bit sign mask u_int64_t Sign; // 64 bit sign mask
// status, data // status, data
u_char doSubscribe; // CanSocket filter u_char doSubscribe; // CanSocket filter
u_char isNew; u_char isNew;
@ -67,28 +67,28 @@ public:
int64_t currValue; int64_t currValue;
int64_t lastValue; int64_t lastValue;
double realValue; double realValue;
// misc // misc
u_int64_t activity; // activity counter u_int64_t activity; // activity counter
void *userData; // user data void *userData; // user data
int userIndex; // user index int userIndex; // user index
// private data // private data
private: private:
// static data // static data
// public methods // public methods
public: public:
// constructors // constructors
CanSignal(); CanSignal();
// destructor // destructor
virtual ~CanSignal(); virtual ~CanSignal();
// virtual functions // virtual functions
// public methods // public methods
int Init( void ); int Init( void );
int Convert(CanFrame *frame) {return Read(frame->data);}; int Convert(CanFrame *frame) {return Read(frame->data);};
@ -100,17 +100,17 @@ public:
long Write(double value, u_char *pbyData); long Write(double value, u_char *pbyData);
void Subscribe(void) {doSubscribe=1;}; void Subscribe(void) {doSubscribe=1;};
void Unsubscribe(void) {doSubscribe=0;}; void Unsubscribe(void) {doSubscribe=0;};
#ifndef __VoltType__ #ifndef __VoltType__
void SetScaling( double scale=1.0, double offset=0.0 ) { Scale=scale; Offset=offset; }; void SetScaling( double scale=1.0, double offset=0.0 ) { Scale=scale; Offset=offset; };
double GetScale( void ) { return Scale; }; double GetScale( void ) { return Scale; };
double GetOffset( void ) { return Offset; }; double GetOffset( void ) { return Offset; };
#endif #endif
// static methods // static methods
// private methods // private methods
private: private:
}; };
#endif #endif

106
include/libcan++/CanSocket.h
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@ -32,8 +32,8 @@ typedef struct can_filter CanFilter;
typedef struct can_frame CanFrame; typedef struct can_frame CanFrame;
typedef struct _BcmFrame { typedef struct _BcmFrame {
struct bcm_msg_head head; struct bcm_msg_head head;
struct can_frame frame; // struct can_frame frame;
} BcmFrame; } BcmFrame;
/* c class definitions ******************************************************/ /* c class definitions ******************************************************/
@ -42,60 +42,60 @@ typedef struct _BcmFrame {
// Uses the Peak Systems CAN Linux driver and Nissan CAN data // Uses the Peak Systems CAN Linux driver and Nissan CAN data
// //
class CanSocket { class CanSocket {
// public data // public data
public: public:
int m_sock; int m_sock;
int m_proto; int m_proto;
// private data // private data
private: private:
// device // device
int m_flags; int m_flags;
// errors // errors
bool m_logerrs; bool m_logerrs;
long m_errcount; long m_errcount;
// static data // static data
// public methods // public methods
public: public:
// constructors // constructors
CanSocket(); CanSocket();
// destructor // destructor
virtual ~CanSocket(); virtual ~CanSocket();
// virtual functions // virtual functions
// public methods // public methods
void AddrFlags( u_long f ) { m_flags = f; }; void AddrFlags( u_long f ) { m_flags = f; };
int GetSock(void) {return m_sock;}; int GetSock(void) {return m_sock;};
int GetSocket(void) {return m_sock;}; int GetSocket(void) {return m_sock;};
int GetProto(void) {return m_proto;}; int GetProto(void) {return m_proto;};
int CanOpen( const char *dev="can0", int proto=CAN_RAW, int flags=0 ); int CanOpen( const char *dev="can0", int proto=CAN_RAW, int flags=0 );
void CanClose(void); void CanClose(void);
// misc // misc
int ClearFilters( void ); int ClearFilters( void );
int Blocking(bool block=true); int Blocking(bool block=true);
int NonBlocking(void) { return Blocking(false); }; int NonBlocking(void) { return Blocking(false); };
int Loopback(bool loop=true); int Loopback(bool loop=true);
int NoLoopback(void) { return Loopback(false); }; int NoLoopback(void) { return Loopback(false); };
void LogErrors(bool logerrs=true) {m_logerrs = logerrs;}; void LogErrors(bool logerrs=true) {m_logerrs = logerrs;};
// rx filter // rx filter
int CanAddRx( u_int32_t addr ); int CanAddRx( u_int32_t addr );
int CanAddRx( const CanFilter *filter, int max=1 ); int CanAddRx( const CanFilter *filter, int max=1 );
int CanDelRx( u_int32_t addr ); int CanDelRx( u_int32_t addr );
// raw // raw
int CanRawRead( CanFrame *buf, int max=1 ); int CanRawRead( CanFrame *buf, int max=1 );
int CanRawWrite( const CanFrame *buf, int max=1 ); int CanRawWrite( const CanFrame *buf, int max=1 );
// bcm // bcm
int CanBcmRead( BcmFrame *msg, int max=1 ); int CanBcmRead( BcmFrame *msg, int max=1 );
int CanBcmWrite( BcmFrame *msg, int max=1 ); int CanBcmWrite( BcmFrame *msg, int max=1 );
}; };
#endif #endif

92
include/libcan++/DbcParser.h
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@ -24,19 +24,19 @@
// based on .dbc data // based on .dbc data
typedef struct _DbcFilter { typedef struct _DbcFilter {
// signal information // signal information
char Name[32]; // Signal name char Name[32]; // Signal name
regex_t preg; regex_t preg;
// address range // address range
u_int32_t CanAddrLo; // 29 bits u_int32_t CanAddrLo; // 29 bits
u_int32_t CanAddrHi; u_int32_t CanAddrHi;
// data conversion // data conversion
u_char StartBit; // 0..63 u_char StartBit; // 0..63
u_char NumBits; // 1..32 u_char NumBits; // 1..32
int found; int found;
} DbcFilter; } DbcFilter;
/* c class definitions ******************************************************/ /* c class definitions ******************************************************/
@ -45,42 +45,42 @@ typedef struct _DbcFilter {
// Uses the Peak Systems CAN Linux driver and Nissan CAN data // Uses the Peak Systems CAN Linux driver and Nissan CAN data
// //
class DbcParser { class DbcParser {
// public data // public data
public: public:
std::vector<DbcFilter *> MsgFilters; // message filter std::vector<DbcFilter *> MsgFilters; // message filter
std::vector<DbcFilter *> SigFilters; // signal filter std::vector<DbcFilter *> SigFilters; // signal filter
std::vector<CanMessage *> Messages; std::vector<CanMessage *> Messages;
std::vector<CanSignal *> Signals; std::vector<CanSignal *> Signals;
// private data // private data
private: private:
// static data // static data
// private methods // private methods
DbcFilter *AddFilter( char *name, u_int32_t addr1, u_int32_t addr2 ); DbcFilter *AddFilter( char *name, u_int32_t addr1, u_int32_t addr2 );
// public methods // public methods
public: public:
// constructors // constructors
DbcParser(); DbcParser();
// destructor // destructor
virtual ~DbcParser(); virtual ~DbcParser();
// virtual functions // virtual functions
// public methods // public methods
int AddMsgFilter( char *name, u_int32_t addr1, u_int32_t addr2 ); int AddMsgFilter( char *name, u_int32_t addr1, u_int32_t addr2 );
int AddSigFilter( char *name, u_int32_t addr1, u_int32_t addr2 ); int AddSigFilter( char *name, u_int32_t addr1, u_int32_t addr2 );
int AddMessage( char *name, u_int32_t addr, u_int32_t size, char *module ); int AddMessage( char *name, u_int32_t addr, u_int32_t size, char *module );
int AddSignal( char *name, char *units, u_int32_t addr, char start, char num, char endian, char sign, float scale, float offset ); int AddSignal( char *name, char *units, u_int32_t addr, char start, char num, char endian, char sign, float scale, float offset );
int LoadDatabase( const char *file ); int LoadDatabase( const char *file );
// static methods // static methods
// private methods // private methods
private: private:
}; };

2
src/libcan++/CMakeLists.txt
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@ -28,6 +28,8 @@ set(LIBSRC
# includes # includes
include_directories(../include) include_directories(../include)
add_compile_options(-Warray-bounds)
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../lib) set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../lib)
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../lib) set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../lib)

2
src/libcan++/CanSocket.cpp
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@ -255,7 +255,7 @@ int CanSocket::CanAddRx( u_int32_t addr )
// mask // mask
msg.head.nframes = 1; msg.head.nframes = 1;
U64_DATA(&msg.frame) = (__u64) 0xFFFFFFFFFFFFFFFFULL; // all 64 bits U64_DATA(&msg.head.frames[0]) = (__u64) 0xFFFFFFFFFFFFFFFFULL; // all 64 bits
// send it down // send it down
if (write(m_sock, &msg, sizeof(msg)) < 0) if (write(m_sock, &msg, sizeof(msg)) < 0)

2
src/libcan++/CanSocket.h
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@ -33,7 +33,7 @@ typedef struct can_frame CanFrame;
typedef struct _BcmFrame { typedef struct _BcmFrame {
struct bcm_msg_head head; struct bcm_msg_head head;
struct can_frame frame; // struct can_frame frame;
} BcmFrame; } BcmFrame;
/* c class definitions ******************************************************/ /* c class definitions ******************************************************/