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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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32
include/libcan++/CanDatabase.h
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@ -29,34 +29,34 @@
* CAN class to handle database of CAN signals from DBC (.dbc) file
*/
class CanDatabase : public DbcParser {
// public data
// public data
public:
// private data
// private data
private:
// static data
// static data
// public methods
// public methods
public:
// constructors
CanDatabase();
// constructors
CanDatabase();
// destructor
virtual ~CanDatabase();
// destructor
virtual ~CanDatabase();
// virtual functions
// virtual functions
// public methods
int FormatHeader( char *buf, int max );
int FormatMessage( char *buf, int max );
// public methods
int FormatHeader( char *buf, int max );
int FormatMessage( char *buf, int max );
int SubscribeCan( CanSocket *pCan );
int ReadCan( CanSocket *pCan );
int SubscribeCan( CanSocket *pCan );
int ReadCan( CanSocket *pCan );
// static methods
// static methods
// private methods
// private methods
private:
};

48
include/libcan++/CanMessage.h
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@ -31,43 +31,43 @@
// Uses the Peak Systems CAN Linux driver and Nissan CAN data
//
class CanMessage {
// public data
// public data
public:
std::string Name; // Signal Name
std::string Module; // Module Name
u_int32_t Address; // 29 bits (standard or extended)
u_int8_t Data[64]; // Data
u_int Size; // DLC (CAN-FD > 8)
std::string Name; // Signal Name
std::string Module; // Module Name
u_int32_t Address; // 29 bits (standard or extended)
u_int8_t Data[64]; // Data
u_int Size; // DLC (CAN-FD > 8)
// list of signals in the message
std::vector<CanSignal *> Signals;
// list of signals in the message
std::vector<CanSignal *> Signals;
// private data
// private data
private:
// static data
// static data
// public methods
// public methods
public:
// constructors
CanMessage();
// constructors
CanMessage();
// destructor
virtual ~CanMessage();
// destructor
virtual ~CanMessage();
// virtual functions
// virtual functions
// public methods
int Read(CanFrame *frame);
int Write(CanFrame *frame);
int Convert(CanFrame *frame) {return Read(frame);};
int Subscribe(void);
int Unsubscribe(void);
// public methods
int Read(CanFrame *frame);
int Write(CanFrame *frame);
int Convert(CanFrame *frame) {return Read(frame);};
int Subscribe(void);
int Unsubscribe(void);
// static methods
// static methods
// private methods
// private methods
private:
};

8
include/libcan++/CanSignal.h
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@ -38,7 +38,7 @@ class CanSignal : public BaseSignal, public VoltType {
class CanSignal {
#endif
// public data
public:
public:
std::string Name; // Signal Name
std::string Units; // Signal Units
u_int32_t Address; // 29 bits (standard or extended)
@ -75,12 +75,12 @@ public:
// private data
private:
private:
// static data
// public methods
public:
public:
// constructors
CanSignal();
@ -110,7 +110,7 @@ public:
// static methods
// private methods
private:
private:
};
#endif

84
include/libcan++/CanSocket.h
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@ -32,8 +32,8 @@ typedef struct can_filter CanFilter;
typedef struct can_frame CanFrame;
typedef struct _BcmFrame {
struct bcm_msg_head head;
struct can_frame frame;
struct bcm_msg_head head;
// struct can_frame frame;
} BcmFrame;
/* c class definitions ******************************************************/
@ -42,60 +42,60 @@ typedef struct _BcmFrame {
// Uses the Peak Systems CAN Linux driver and Nissan CAN data
//
class CanSocket {
// public data
// public data
public:
int m_sock;
int m_proto;
int m_sock;
int m_proto;
// private data
// private data
private:
// device
int m_flags;
// device
int m_flags;
// errors
bool m_logerrs;
long m_errcount;
// errors
bool m_logerrs;
long m_errcount;
// static data
// static data
// public methods
// public methods
public:
// constructors
CanSocket();
// constructors
CanSocket();
// destructor
virtual ~CanSocket();
// destructor
virtual ~CanSocket();
// virtual functions
// virtual functions
// public methods
void AddrFlags( u_long f ) { m_flags = f; };
int GetSock(void) {return m_sock;};
int GetSocket(void) {return m_sock;};
int GetProto(void) {return m_proto;};
int CanOpen( const char *dev="can0", int proto=CAN_RAW, int flags=0 );
void CanClose(void);
// public methods
void AddrFlags( u_long f ) { m_flags = f; };
int GetSock(void) {return m_sock;};
int GetSocket(void) {return m_sock;};
int GetProto(void) {return m_proto;};
int CanOpen( const char *dev="can0", int proto=CAN_RAW, int flags=0 );
void CanClose(void);
// misc
int ClearFilters( void );
int Blocking(bool block=true);
int NonBlocking(void) { return Blocking(false); };
int Loopback(bool loop=true);
int NoLoopback(void) { return Loopback(false); };
void LogErrors(bool logerrs=true) {m_logerrs = logerrs;};
// misc
int ClearFilters( void );
int Blocking(bool block=true);
int NonBlocking(void) { return Blocking(false); };
int Loopback(bool loop=true);
int NoLoopback(void) { return Loopback(false); };
void LogErrors(bool logerrs=true) {m_logerrs = logerrs;};
// rx filter
int CanAddRx( u_int32_t addr );
int CanAddRx( const CanFilter *filter, int max=1 );
int CanDelRx( u_int32_t addr );
// rx filter
int CanAddRx( u_int32_t addr );
int CanAddRx( const CanFilter *filter, int max=1 );
int CanDelRx( u_int32_t addr );
// raw
int CanRawRead( CanFrame *buf, int max=1 );
int CanRawWrite( const CanFrame *buf, int max=1 );
// raw
int CanRawRead( CanFrame *buf, int max=1 );
int CanRawWrite( const CanFrame *buf, int max=1 );
// bcm
int CanBcmRead( BcmFrame *msg, int max=1 );
int CanBcmWrite( BcmFrame *msg, int max=1 );
// bcm
int CanBcmRead( BcmFrame *msg, int max=1 );
int CanBcmWrite( BcmFrame *msg, int max=1 );
};
#endif

66
include/libcan++/DbcParser.h
View File

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

2
src/libcan++/CMakeLists.txt
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@ -28,6 +28,8 @@ set(LIBSRC
# includes
include_directories(../include)
add_compile_options(-Warray-bounds)
set(CMAKE_ARCHIVE_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
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
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 {
struct bcm_msg_head head;
struct can_frame frame;
// struct can_frame frame;
} BcmFrame;
/* c class definitions ******************************************************/