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A partial commit that changes CANFrame over to be based on

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QCanBusFrame so that things are more compatible with other Qt based
CAN bus code. Not complete yet but getting there.
This commit is contained in:
Collin Kidder
2019-12-11 21:17:33 -05:00
parent 29b635a009
commit 0baffa300f
22 changed files with 272 additions and 278 deletions
Download Patch File Download Diff File Expand all files Collapse all files
connections/canconmanager.cpp
+2 -2
View File
@@ -220,11 +220,11 @@ bool CANConManager::sendFrame(const CANFrame& pFrame)
workingFrame.isReceived = false;
if (useSystemTime)
{
workingFrame.timestamp = (QDateTime::currentMSecsSinceEpoch() * 1000);
workingFrame.setTimeStamp(QCanBusFrame::TimeStamp(0,QDateTime::currentMSecsSinceEpoch() * 1000));
}
else
{
workingFrame.timestamp = mElapsedTimer.nsecsElapsed() / 1000;
workingFrame.setTimeStamp(QCanBusFrame::TimeStamp(0, mElapsedTimer.nsecsElapsed() / 1000));
//workingFrame.timestamp -= mTimestampBasis;
}
txFrame = conn->getQueue().get();
connections/gvretserial.cpp
+41 -40
View File
@@ -246,11 +246,11 @@ bool GVRetSerial::piSendFrame(const CANFrame& frame)
// Doesn't make sense to send an error frame
// to an adapter
if (frame.ID & 0x20000000) {
if (frame.frameId() & 0x20000000) {
return true;
}
ID = frame.ID;
if (frame.extended) ID |= 1 << 31;
ID = frame.frameId();
if (frame.hasExtendedFrameFormat()) ID |= 1 << 31;
buffer[0] = (unsigned char)0xF1; //start of a command over serial
buffer[1] = 0; //command ID for sending a CANBUS frame
@@ -259,12 +259,12 @@ bool GVRetSerial::piSendFrame(const CANFrame& frame)
buffer[4] = (unsigned char)(ID >> 16);
buffer[5] = (unsigned char)(ID >> 24);
buffer[6] = (unsigned char)((frame.bus) & 3);
buffer[7] = (unsigned char)frame.len;
for (c = 0; c < frame.len; c++)
buffer[7] = (unsigned char)frame.payload().length();
for (c = 0; c < frame.payload().length(); c++)
{
buffer[8 + c] = frame.data[c];
buffer[8 + c] = frame.payload()[c];
}
buffer[8 + frame.len] = 0;
buffer[8 + frame.payload().length()] = 0;
sendToSerial(buffer);
@@ -375,18 +375,18 @@ void GVRetSerial::deviceConnected()
{
sendDebug("Connecting to GVRET Device!");
QByteArray output;
output.append((unsigned char)0xE7); //this puts the device into binary comm mode
output.append((unsigned char)0xE7);
output.append((char)0xE7); //this puts the device into binary comm mode
output.append((char)0xE7);
output.append((unsigned char)0xF1);
output.append((unsigned char)0x0C); //get number of actually implemented buses. Not implemented except on M2RET
output.append((char)0xF1);
output.append((char)0x0C); //get number of actually implemented buses. Not implemented except on M2RET
mNumBuses = 2; //the proper number if C/12 is not implemented
output.append((unsigned char)0xF1); //signal we want to issue a command
output.append((unsigned char)0x06); //request canbus stats from the board
output.append((char)0xF1); //signal we want to issue a command
output.append((char)0x06); //request canbus stats from the board
output.append((unsigned char)0xF1); //another command to the GVRET
output.append((unsigned char)0x07); //request device information
output.append((char)0xF1); //another command to the GVRET
output.append((char)0x07); //request device information
/*output.append((char)0xF1);
output.append((char)0x08); //setting singlewire mode
@@ -399,11 +399,11 @@ void GVRetSerial::deviceConnected()
output.append((char)0xFF); //signal we don't want single wire mode
}*/
output.append((unsigned char)0xF1); //and another command
output.append((unsigned char)0x01); //Time Sync - Not implemented until 333 but we can try
output.append((char)0xF1); //and another command
output.append((char)0x01); //Time Sync - Not implemented until 333 but we can try
output.append((unsigned char)0xF1); //yet another command
output.append((unsigned char)0x09); //comm validation command
output.append((char)0xF1); //yet another command
output.append((char)0x09); //comm validation command
continuousTimeSync = true;
@@ -659,57 +659,59 @@ void GVRetSerial::procRXChar(unsigned char c)
switch (rx_step)
{
case 0:
buildFrame.timestamp = c;
buildTimestamp = c;
break;
case 1:
buildFrame.timestamp |= (uint)(c << 8);
buildTimestamp |= (uint)(c << 8);
break;
case 2:
buildFrame.timestamp |= (uint)c << 16;
buildTimestamp |= (uint)c << 16;
break;
case 3:
buildFrame.timestamp |= (uint)c << 24;
buildTimestamp |= (uint)c << 24;
buildFrame.timestamp += timeBasis;
buildTimestamp += timeBasis;
if (useSystemTime)
{
buildFrame.timestamp = QDateTime::currentMSecsSinceEpoch() * 1000l;
buildTimestamp = QDateTime::currentMSecsSinceEpoch() * 1000l;
}
buildFrame.setTimeStamp(QCanBusFrame::TimeStamp(0, buildTimestamp));
break;
case 4:
buildFrame.ID = c;
buildId = c;
break;
case 5:
buildFrame.ID |= c << 8;
buildId |= c << 8;
break;
case 6:
buildFrame.ID |= c << 16;
buildId |= c << 16;
break;
case 7:
buildFrame.ID |= c << 24;
if ((buildFrame.ID & 1 << 31) == 1u << 31)
buildId |= c << 24;
if ((buildId & 1 << 31) == 1u << 31)
{
buildFrame.ID &= 0x7FFFFFFF;
buildFrame.extended = true;
buildId &= 0x7FFFFFFF;
buildFrame.setExtendedFrameFormat(true);
}
else buildFrame.extended = false;
else buildFrame.setExtendedFrameFormat(false);
buildFrame.setFrameId(buildId);
break;
case 8:
buildFrame.len = c & 0xF;
if (buildFrame.len > 8) buildFrame.len = 8;
buildData.resize(c & 0xF);
buildFrame.bus = (c & 0xF0) >> 4;
break;
default:
if (rx_step < buildFrame.len + 9)
if (rx_step < buildData.length() + 9)
{
buildFrame.data[rx_step - 9] = c;
buildData[rx_step - 9] = c;
}
else
{
rx_state = IDLE;
rx_step = 0;
buildFrame.isReceived = true;
buildFrame.setPayload(buildData);
buildFrame.setFrameType(QCanBusFrame::FrameType::DataFrame);
if (!isCapSuspended())
{
/* get frame from queue */
@@ -717,8 +719,7 @@ void GVRetSerial::procRXChar(unsigned char c)
if(frame_p) {
//qDebug() << "GVRET got frame on bus " << frame_p->bus;
/* copy frame */
*frame_p = buildFrame;
frame_p->remote = false;
*frame_p = buildFrame;
checkTargettedFrame(buildFrame);
/* enqueue frame */
getQueue().queue();
connections/gvretserial.h
+3
View File
@@ -93,6 +93,9 @@ protected:
STATE rx_state;
uint32_t rx_step;
CANFrame buildFrame;
qint64 buildTimestamp;
quint32 buildId;
QByteArray buildData;
int can0Baud, can1Baud, swcanBaud, lin1Baud, lin2Baud;
bool can0Enabled, can1Enabled, swcanEnabled, lin1Enabled, lin2Enabled;
bool can0ListenOnly, can1ListenOnly, swcanListenOnly;
connections/serialbusconnection.cpp
+15 -22
View File
@@ -115,22 +115,11 @@ void SerialBusConnection::piSetBusSettings(int pBusIdx, CANBus bus)
bool SerialBusConnection::piSendFrame(const CANFrame& pFrame)
{
/* sanity checks */
if(0 != pFrame.bus || pFrame.len>8)
if(0 != pFrame.bus /*|| pFrame.len>8*/)
return false;
if (!mDev_p) return false;
/* fill frame */
QCanBusFrame frame;
frame.setExtendedFrameFormat(pFrame.extended);
frame.setFrameId(pFrame.ID);
if (pFrame.remote) {
frame.setFrameType(QCanBusFrame::FrameType::RemoteRequestFrame);
} else {
frame.setFrameType(QCanBusFrame::FrameType::DataFrame);
}
frame.setPayload(QByteArray(reinterpret_cast<const char *>(pFrame.data),
static_cast<int>(pFrame.len)));
return mDev_p->writeFrame(frame);
return mDev_p->writeFrame(pFrame);
}
@@ -193,14 +182,16 @@ void SerialBusConnection::framesReceived()
if (recFrame.payload().length() <= 8) {
CANFrame* frame_p = getQueue().get();
if(frame_p) {
frame_p->len = static_cast<uint32_t>(recFrame.payload().length());
frame_p->bus = 0;
frame_p->setPayload(recFrame.payload());
frame_p->bus = 0;
if (recFrame.frameType() == QCanBusFrame::ErrorFrame) {
// Constants defined in include/uapi/linux/can/error.h
//since the whole program uses QCanBusFrame now we can just grab errors directly out of the proper place from now on
/*
switch (recFrame.error()) {
case QCanBusFrame::TransmissionTimeoutError:
frame_p->ID = 0x20000001;
frame_p->setFrameId(0x20000001);
break;
case QCanBusFrame::LostArbitrationError:
frame_p->ID = 0x20000002;
@@ -230,19 +221,21 @@ void SerialBusConnection::framesReceived()
break;
}
frame_p->extended = true;
*/
} else {
frame_p->extended = recFrame.hasExtendedFrameFormat();
frame_p->ID = recFrame.frameId();
frame_p->remote = (recFrame.frameType() == recFrame.RemoteRequestFrame);
memcpy(frame_p->data, recFrame.payload().data(), frame_p->len);
frame_p->setExtendedFrameFormat(recFrame.hasExtendedFrameFormat());
frame_p->setFrameId(recFrame.frameId());
frame_p->setTimeStamp(recFrame.timeStamp());
frame_p->setFrameType(recFrame.frameType());
frame_p->setError(recFrame.error());
frame_p->isReceived = true;
}
frame_p->isReceived = true;
if (useSystemTime) {
frame_p->timestamp = QDateTime::currentMSecsSinceEpoch() * 1000ul;
frame_p->setTimeStamp(QCanBusFrame::TimeStamp(0, QDateTime::currentMSecsSinceEpoch() * 1000ul));
}
else frame_p->timestamp = (recFrame.timeStamp().seconds() * 1000000ul + recFrame.timeStamp().microSeconds()) - timeBasis;
else frame_p->setTimeStamp(QCanBusFrame::TimeStamp(0, (recFrame.timeStamp().seconds() * 1000000ul + recFrame.timeStamp().microSeconds()) - timeBasis));
checkTargettedFrame(*frame_p);