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CAN Error frame support for future extensibility

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This commit is contained in:
Pavel Kirienko
2014-03-21 10:43:34 +04:00
parent 670d844f08
commit 6246f24297
4 changed files with 13 additions and 2 deletions
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libuavcan/include/uavcan/driver/can.hpp
+3 -1
View File
@@ -24,6 +24,7 @@ struct CanFrame
static const uint32_t MaskExtID = 0x1FFFFFFF;
static const uint32_t FlagEFF = 1 << 31; ///< Extended frame format
static const uint32_t FlagRTR = 1 << 30; ///< Remote transmission request
static const uint32_t FlagERR = 1 << 29; ///< Error frame
uint32_t id; ///< CAN ID with flags (above)
uint8_t data[8];
@@ -50,8 +51,9 @@ struct CanFrame
return (id == rhs.id) && (dlc == rhs.dlc) && std::equal(data, data + dlc, rhs.data);
}
bool isExtended() const { return id & FlagEFF; }
bool isExtended() const { return id & FlagEFF; }
bool isRemoteTransmissionRequest() const { return id & FlagRTR; }
bool isErrorFrame() const { return id & FlagERR; }
enum StringRepresentation { StrTight, StrAligned };
std::string toString(StringRepresentation mode = StrTight) const;
libuavcan/src/driver/can.cpp
+6
View File
@@ -14,6 +14,7 @@ const uint32_t CanFrame::MaskStdID;
const uint32_t CanFrame::MaskExtID;
const uint32_t CanFrame::FlagEFF;
const uint32_t CanFrame::FlagRTR;
const uint32_t CanFrame::FlagERR;
std::string CanFrame::toString(StringRepresentation mode) const
@@ -42,6 +43,11 @@ std::string CanFrame::toString(StringRepresentation mode) const
{
wpos += snprintf(wpos, epos - wpos, " RTR");
}
else if (id & FlagERR)
{
// TODO: print error flags
wpos += snprintf(wpos, epos - wpos, " ERR");
}
else
{
for (int dlen = 0; dlen < dlc; dlen++) // hex bytes
libuavcan/src/transport/frame.cpp
+1 -1
View File
@@ -52,7 +52,7 @@ inline static uint32_t bitunpack(uint32_t val)
bool Frame::parse(const CanFrame& can_frame)
{
if ((can_frame.id & CanFrame::FlagRTR) || !(can_frame.id & CanFrame::FlagEFF))
if (can_frame.isErrorFrame() || can_frame.isRemoteTransmissionRequest() || !can_frame.isExtended())
return false;
if (can_frame.dlc > sizeof(CanFrame::data))
libuavcan/test/transport/can/can_driver.cpp
+3
View File
@@ -16,6 +16,9 @@ TEST(CanFrame, FrameProperties)
uavcan::CanFrame frame = makeCanFrame(123, "", STD);
frame.id |= uavcan::CanFrame::FlagRTR;
EXPECT_TRUE(frame.isRemoteTransmissionRequest());
EXPECT_FALSE(frame.isErrorFrame());
frame.id |= uavcan::CanFrame::FlagERR;
EXPECT_TRUE(frame.isErrorFrame());
}
TEST(CanFrame, ToString)