Implemented first version of Chm30Utility
This commit is contained in:
Yury Shuvakin
237
CanDriver/driver/CANBlastDriver/CANBlasterInterface.h
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237
CanDriver/driver/CANBlastDriver/CANBlasterInterface.h
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/*
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Copyright (c) 2015, 2016 Hubert Denkmair
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This file is part of cangaroo.
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cangaroo is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 2 of the License, or
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(at your option) any later version.
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cangaroo is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with cangaroo. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "../CanInterface.h"
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#include <core/MeasurementInterface.h>
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#include <QtNetwork/QUdpSocket>
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#include <QTimer>
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class CANBlasterDriver;
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typedef struct {
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bool supports_canfd;
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bool supports_timing;
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uint32_t state;
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uint32_t base_freq;
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uint32_t sample_point;
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uint32_t ctrl_mode;
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uint32_t restart_ms;
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} can_config_t;
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typedef struct {
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uint32_t can_state;
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uint64_t rx_count;
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int rx_errors;
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uint64_t rx_overruns;
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uint64_t tx_count;
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int tx_errors;
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uint64_t tx_dropped;
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} can_status_t;
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class CANBlasterInterface: public CanInterface {
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public:
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CANBlasterInterface(CANBlasterDriver *driver, int index, QString name, bool fd_support);
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virtual ~CANBlasterInterface();
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QString getDetailsStr() const;
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virtual QString getName() const;
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void setName(QString name);
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virtual QList<CanTiming> getAvailableBitrates();
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virtual void applyConfig(const MeasurementInterface &mi);
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bool supportsTimingConfiguration();
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bool supportsCanFD();
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bool supportsTripleSampling();
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virtual unsigned getBitrate();
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virtual uint32_t getCapabilities();
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virtual void open();
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virtual void close();
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virtual bool isOpen();
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virtual void sendMessage(const CanMessage &msg);
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virtual bool readMessage(QList<CanMessage> &msglist, unsigned int timeout_ms);
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virtual bool updateStatistics();
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virtual uint32_t getState();
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virtual int getNumRxFrames();
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virtual int getNumRxErrors();
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virtual int getNumRxOverruns();
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virtual int getNumTxFrames();
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virtual int getNumTxErrors();
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virtual int getNumTxDropped();
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int getIfIndex();
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private:
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typedef enum {
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ts_mode_SIOCSHWTSTAMP,
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ts_mode_SIOCGSTAMPNS,
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ts_mode_SIOCGSTAMP
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} ts_mode_t;
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int _idx;
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bool _isOpen;
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QString _name;
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MeasurementInterface _settings;
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can_config_t _config;
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can_status_t _status;
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ts_mode_t _ts_mode;
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struct timeval _heartbeat_time;
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QUdpSocket* _socket;
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const char *cname();
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};
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/* Duplicated from Linux can.h for compilation on Windows. Not a great solution. */
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/* special address description flags for the CAN_ID */
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#define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */
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#define CAN_RTR_FLAG 0x40000000U /* remote transmission request */
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#define CAN_ERR_FLAG 0x20000000U /* error message frame */
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/* valid bits in CAN ID for frame formats */
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#define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */
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#define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */
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#define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */
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/*
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* Controller Area Network Identifier structure
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*
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* bit 0-28 : CAN identifier (11/29 bit)
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* bit 29 : error message frame flag (0 = data frame, 1 = error message)
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* bit 30 : remote transmission request flag (1 = rtr frame)
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* bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit)
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*/
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typedef uint32_t canid_t;
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#define CAN_SFF_ID_BITS 11
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#define CAN_EFF_ID_BITS 29
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/*
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* Controller Area Network Error Message Frame Mask structure
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*
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* bit 0-28 : error class mask (see include/uapi/linux/can/error.h)
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* bit 29-31 : set to zero
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*/
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typedef uint32_t can_err_mask_t;
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/* CAN payload length and DLC definitions according to ISO 11898-1 */
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#define CAN_MAX_DLC 8
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#define CAN_MAX_RAW_DLC 15
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#define CAN_MAX_DLEN 8
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/* CAN FD payload length and DLC definitions according to ISO 11898-7 */
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#define CANFD_MAX_DLC 15
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#define CANFD_MAX_DLEN 64
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/**
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* struct can_frame - Classical CAN frame structure (aka CAN 2.0B)
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* @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition
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* @len: CAN frame payload length in byte (0 .. 8)
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* @can_dlc: deprecated name for CAN frame payload length in byte (0 .. 8)
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* @__pad: padding
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* @__res0: reserved / padding
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* @len8_dlc: optional DLC value (9 .. 15) at 8 byte payload length
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* len8_dlc contains values from 9 .. 15 when the payload length is
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* 8 bytes but the DLC value (see ISO 11898-1) is greater then 8.
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* CAN_CTRLMODE_CC_LEN8_DLC flag has to be enabled in CAN driver.
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* @data: CAN frame payload (up to 8 byte)
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*/
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struct can_frame {
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canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
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union {
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/* CAN frame payload length in byte (0 .. CAN_MAX_DLEN)
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* was previously named can_dlc so we need to carry that
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* name for legacy support
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*/
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uint8_t len;
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uint8_t can_dlc; /* deprecated */
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} __attribute__((packed)); /* disable padding added in some ABIs */
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uint8_t __pad; /* padding */
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uint8_t __res0; /* reserved / padding */
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uint8_t len8_dlc; /* optional DLC for 8 byte payload length (9 .. 15) */
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uint8_t data[CAN_MAX_DLEN] __attribute__((aligned(8)));
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};
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/*
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* defined bits for canfd_frame.flags
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*
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* The use of struct canfd_frame implies the FD Frame (FDF) bit to
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* be set in the CAN frame bitstream on the wire. The FDF bit switch turns
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* the CAN controllers bitstream processor into the CAN FD mode which creates
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* two new options within the CAN FD frame specification:
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*
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* Bit Rate Switch - to indicate a second bitrate is/was used for the payload
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* Error State Indicator - represents the error state of the transmitting node
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*
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* As the CANFD_ESI bit is internally generated by the transmitting CAN
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* controller only the CANFD_BRS bit is relevant for real CAN controllers when
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* building a CAN FD frame for transmission. Setting the CANFD_ESI bit can make
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* sense for virtual CAN interfaces to test applications with echoed frames.
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*
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* The struct can_frame and struct canfd_frame intentionally share the same
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* layout to be able to write CAN frame content into a CAN FD frame structure.
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* When this is done the former differentiation via CAN_MTU / CANFD_MTU gets
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* lost. CANFD_FDF allows programmers to mark CAN FD frames in the case of
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* using struct canfd_frame for mixed CAN / CAN FD content (dual use).
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* N.B. the Kernel APIs do NOT provide mixed CAN / CAN FD content inside of
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* struct canfd_frame therefore the CANFD_FDF flag is disregarded by Linux.
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*/
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#define CANFD_BRS 0x01 /* bit rate switch (second bitrate for payload data) */
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#define CANFD_ESI 0x02 /* error state indicator of the transmitting node */
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#define CANFD_FDF 0x04 /* mark CAN FD for dual use of struct canfd_frame */
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/**
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* struct canfd_frame - CAN flexible data rate frame structure
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* @can_id: CAN ID of the frame and CAN_*_FLAG flags, see canid_t definition
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* @len: frame payload length in byte (0 .. CANFD_MAX_DLEN)
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* @flags: additional flags for CAN FD
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* @__res0: reserved / padding
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* @__res1: reserved / padding
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* @data: CAN FD frame payload (up to CANFD_MAX_DLEN byte)
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*/
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struct canfd_frame {
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canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
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uint8_t len; /* frame payload length in byte */
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uint8_t flags; /* additional flags for CAN FD */
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uint8_t __res0; /* reserved / padding */
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uint8_t __res1; /* reserved / padding */
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uint8_t data[CANFD_MAX_DLEN] __attribute__((aligned(8)));
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};
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#define CAN_MTU (sizeof(struct can_frame))
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#define CANFD_MTU (sizeof(struct canfd_frame))
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