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Fix reception of error frames in socketcan interface.

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This commit is contained in:
Fabián Inostroza
2018-04-29 03:19:25 -03:00
parent 9f9ef3649b
commit be42eab0b8
1 changed files with 38 additions and 3 deletions
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connections/serialbusconnection.cpp
+38 -3
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@@ -187,9 +187,44 @@ void SerialBusConnection::framesReceived()
if(frame_p) {
frame_p->len = static_cast<uint32_t>(recFrame.payload().length());
frame_p->bus = 0;
memcpy(frame_p->data, recFrame.payload().data(), frame_p->len);
frame_p->extended = recFrame.hasExtendedFrameFormat();
frame_p->ID = recFrame.frameId();
if (recFrame.frameType() == QCanBusFrame::ErrorFrame) {
// Constants defined in include/uapi/linux/can/error.h
switch (recFrame.error()) {
case QCanBusFrame::TransmissionTimeoutError:
frame_p->ID = 0x20000001;
break;
case QCanBusFrame::LostArbitrationError:
frame_p->ID = 0x20000002;
break;
case QCanBusFrame::ControllerError:
frame_p->ID = 0x20000004;
break;
case QCanBusFrame::ProtocolViolationError:
frame_p->ID = 0x20000008;
break;
case QCanBusFrame::TransceiverError:
frame_p->ID = 0x20000010;
break;
case QCanBusFrame::MissingAcknowledgmentError:
frame_p->ID = 0x20000020;
break;
case QCanBusFrame::BusOffError:
frame_p->ID = 0x20000040;
break;
case QCanBusFrame::BusError:
frame_p->ID = 0x20000080;
break;
case QCanBusFrame::ControllerRestartError:
frame_p->ID = 0x20000100;
break;
default:
break;
}
frame_p->extended = true;
} else {
frame_p->extended = recFrame.hasExtendedFrameFormat();
frame_p->ID = recFrame.frameId();
}
frame_p->isReceived = true;
if (useSystemTime) {
frame_p->timestamp = QDateTime::currentMSecsSinceEpoch() * 1000ul;