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CAN Error frame support for future extensibility

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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
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@@ -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;