Lely core libraries  2.2.5
socket.c
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1 
24 #include "can.h"
25 
26 #ifdef LELY_HAVE_SOCKET_CAN
27 
28 #include <lely/can/socket.h>
29 #include <lely/util/errnum.h>
30 #include <lely/util/util.h>
31 
32 #include <assert.h>
33 #include <string.h>
34 
35 #ifdef HAVE_LINUX_CAN_H
36 #include <linux/can.h>
37 #endif
38 #ifdef HAVE_LINUX_CAN_ERROR_H
39 #include <linux/can/error.h>
40 #endif
41 
42 int
43 can_frame_is_error(const struct can_frame *frame, enum can_state *pstate,
44  enum can_error *perror)
45 {
46  assert(frame);
47 
48  if (!(frame->can_id & CAN_ERR_FLAG))
49  return 0;
50 
51  enum can_state state = pstate ? *pstate : CAN_STATE_ACTIVE;
52  enum can_error error = perror ? *perror : 0;
53 
54 #ifdef HAVE_LINUX_CAN_ERROR_H
55  if (frame->can_dlc != CAN_ERR_DLC) {
57  return -1;
58  }
59 
60  if (frame->can_id & CAN_ERR_RESTARTED)
61  state = CAN_STATE_ACTIVE;
62 
63  if (frame->can_id & CAN_ERR_TX_TIMEOUT)
64  error |= CAN_ERROR_OTHER;
65 
66  if (frame->can_id & CAN_ERR_CRTL) {
67 #ifdef CAN_ERR_CRTL_ACTIVE
68  if (frame->data[1] & CAN_ERR_CRTL_ACTIVE)
69  state = CAN_STATE_ACTIVE;
70 #endif
71  // clang-format off
72  if (frame->data[1] & (CAN_ERR_CRTL_RX_PASSIVE
73  | CAN_ERR_CRTL_TX_PASSIVE))
74  // clang-format on
75  state = CAN_STATE_PASSIVE;
76  }
77 
78  if (frame->can_id & CAN_ERR_PROT) {
79  if (frame->data[2] & CAN_ERR_PROT_BIT)
80  error |= CAN_ERROR_BIT;
81  if (frame->data[2] & CAN_ERR_PROT_FORM)
82  error |= CAN_ERROR_FORM;
83  if (frame->data[2] & CAN_ERR_PROT_STUFF)
84  error |= CAN_ERROR_STUFF;
85  // clang-format off
86  if (frame->data[2] & (CAN_ERR_PROT_BIT0 | CAN_ERR_PROT_BIT1
87  | CAN_ERR_PROT_OVERLOAD))
88  // clang-format on
89  error |= CAN_ERROR_OTHER;
90  if (frame->data[2] & CAN_ERR_PROT_ACTIVE)
91  state = CAN_STATE_ACTIVE;
92  if (frame->data[3] & CAN_ERR_PROT_LOC_CRC_SEQ)
93  error |= CAN_ERROR_CRC;
94  }
95 
96  if ((frame->can_id & CAN_ERR_TRX) && frame->data[4])
97  error |= CAN_ERROR_OTHER;
98 
99  if (frame->can_id & CAN_ERR_ACK)
100  error |= CAN_ERROR_ACK;
101 
102  if (frame->can_id & CAN_ERR_BUSOFF)
103  state = CAN_STATE_BUSOFF;
104 #endif // HAVE_LINUX_CAN_ERROR_H
105 
106  if (pstate)
107  *pstate = state;
108 
109  if (perror)
110  *perror = error;
111 
112  return 1;
113 }
114 
115 int
116 can_frame2can_msg(const struct can_frame *src, struct can_msg *dst)
117 {
118  assert(src);
119  assert(dst);
120 
121  if (src->can_id & CAN_ERR_FLAG) {
123  return -1;
124  }
125 
126  memset(dst, 0, sizeof(*dst));
127  dst->flags = 0;
128  if (src->can_id & CAN_EFF_FLAG) {
129  dst->id = src->can_id & CAN_EFF_MASK;
130  dst->flags |= CAN_FLAG_IDE;
131  } else {
132  dst->id = src->can_id & CAN_SFF_MASK;
133  }
134  if (src->can_id & CAN_RTR_FLAG)
135  dst->flags |= CAN_FLAG_RTR;
136  dst->len = MIN(src->can_dlc, CAN_MAX_LEN);
137  // cppcheck-suppress knownConditionTrueFalse
138  if (!(dst->flags & CAN_FLAG_RTR))
139  memcpy(dst->data, src->data, dst->len);
140 
141  return 0;
142 }
143 
144 int
145 can_msg2can_frame(const struct can_msg *src, struct can_frame *dst)
146 {
147  assert(src);
148  assert(dst);
149 
150 #ifndef LELY_NO_CANFD
151  if (src->flags & CAN_FLAG_EDL) {
153  return -1;
154  }
155 #endif
156 
157  memset(dst, 0, sizeof(*dst));
158  dst->can_id = src->id;
159  if (src->flags & CAN_FLAG_IDE) {
160  dst->can_id &= CAN_EFF_MASK;
161  dst->can_id |= CAN_EFF_FLAG;
162  } else {
163  dst->can_id &= CAN_SFF_MASK;
164  }
165  dst->can_dlc = MIN(src->len, CAN_MAX_LEN);
166  if (src->flags & CAN_FLAG_RTR)
167  dst->can_id |= CAN_RTR_FLAG;
168  else
169  memcpy(dst->data, src->data, dst->can_dlc);
170 
171  return 0;
172 }
173 
174 #if !defined(LELY_NO_CANFD) && defined(CANFD_MTU)
175 
176 int
177 canfd_frame2can_msg(const struct canfd_frame *src, struct can_msg *dst)
178 {
179  assert(src);
180  assert(dst);
181 
182  if (src->can_id & CAN_ERR_FLAG) {
184  return -1;
185  }
186 
187  memset(dst, 0, sizeof(*dst));
188  dst->flags = CAN_FLAG_EDL;
189  if (src->can_id & CAN_EFF_FLAG) {
190  dst->id = src->can_id & CAN_EFF_MASK;
191  dst->flags |= CAN_FLAG_IDE;
192  } else {
193  dst->id = src->can_id & CAN_SFF_MASK;
194  }
195  if (src->flags & CANFD_BRS)
196  dst->flags |= CAN_FLAG_BRS;
197  if (src->flags & CANFD_ESI)
198  dst->flags |= CAN_FLAG_ESI;
199  dst->len = MIN(src->len, CANFD_MAX_LEN);
200  memcpy(dst->data, src->data, dst->len);
201 
202  return 0;
203 }
204 
205 int
206 can_msg2canfd_frame(const struct can_msg *src, struct canfd_frame *dst)
207 {
208  assert(src);
209  assert(dst);
210 
211  if (!(src->flags & CAN_FLAG_EDL)) {
213  return -1;
214  }
215 
216  memset(dst, 0, sizeof(*dst));
217  dst->can_id = src->id;
218  if (src->flags & CAN_FLAG_IDE) {
219  dst->can_id &= CAN_EFF_MASK;
220  dst->can_id |= CAN_EFF_FLAG;
221  } else {
222  dst->can_id &= CAN_SFF_MASK;
223  }
224  dst->flags = 0;
225  if (src->flags & CAN_FLAG_BRS)
226  dst->flags |= CANFD_BRS;
227  if (src->flags & CAN_FLAG_ESI)
228  dst->flags |= CANFD_ESI;
229  dst->len = MIN(src->len, CANFD_MAX_LEN);
230  memcpy(dst->data, src->data, dst->len);
231 
232  return 0;
233 }
234 
235 #endif // !LELY_NO_CANFD && CANFD_MTU
236 
237 #endif // LELY_HAVE_SOCKET_CAN
int can_msg2canfd_frame(const struct can_msg *src, struct canfd_frame *dst)
Converts a can_msg frame to a SocketCAN CAN FD frame.
Definition: can_msg.h:141
int can_msg2can_frame(const struct can_msg *src, struct can_frame *dst)
Converts a can_msg frame to a SocketCAN CAN frame.
Definition: socket.c:145
A CAN or CAN FD format frame.
Definition: msg.h:87
uint_least32_t id
The identifier (11 or 29 bits, depending on the CAN_FLAG_IDE flag).
Definition: msg.h:89
uint_least8_t len
The number of bytes in data (or the requested number of bytes in case of a remote frame)...
Definition: msg.h:100
This header file is part of the C11 and POSIX compatibility library; it includes <string.h> and defines any missing functionality.
can_error
The error flags of a CAN bus, which are not mutually exclusive.
Definition: err.h:42
void set_errnum(errnum_t errnum)
Sets the current (thread-specific) platform-independent error number to errnum.
Definition: errnum.h:375
A form error.
Definition: err.h:50
#define MIN(a, b)
Returns the minimum of a and b.
Definition: util.h:57
int can_frame_is_error(const struct can_frame *frame, enum can_state *pstate, enum can_error *perror)
Checks if a SocketCAN CAN frame is an error frame and parses the bus state and error flags if it is...
Definition: socket.c:43
A bit stuffing error.
Definition: err.h:46
uint_least8_t data[CAN_MSG_MAX_LEN]
The frame payload (in case of a data frame).
Definition: msg.h:102
The Error State Indicator (ESI) flag (only available in CAN FD format frames).
Definition: msg.h:67
This header file is part of the utilities library; it contains the native and platform-independent er...
The Remote Transmission Request (RTR) flag (unavailable in CAN FD format frames). ...
Definition: msg.h:48
#define CAN_MAX_LEN
The maximum number of bytes in the payload of a CAN format frame.
Definition: msg.h:72
This header file is part of the I/O library; it contains the CAN bus declarations for Linux...
#define CANFD_MAX_LEN
The maximum number of bytes in the payload of a CAN FD format frame.
Definition: msg.h:76
int can_frame2can_msg(const struct can_frame *src, struct can_msg *dst)
Converts a SocketCAN CAN frame to a can_msg frame.
Definition: socket.c:116
Invalid argument.
Definition: errnum.h:129
A CRC sequence error.
Definition: err.h:48
int canfd_frame2can_msg(const struct canfd_frame *src, struct can_msg *dst)
Converts a SocketCAN CAN FD frame to a can_msg frame.
Definition: can_msg.h:112
One or more other errors.
Definition: err.h:54
uint_least8_t flags
The flags (any combination of CAN_FLAG_IDE, CAN_FLAG_RTR, CAN_FLAG_FDF, CAN_FLAG_BRS and CAN_FLAG_ESI...
Definition: msg.h:94
The Identifier Extension (IDE) flag.
Definition: msg.h:43
can_state
The states of a CAN node, depending on the TX/RX error count.
Definition: err.h:28
A single bit error.
Definition: err.h:44
This header file is part of the CAN library; it contains the SocketCAN interface declarations.
The error passive state (TX/RX error count < 256).
Definition: err.h:32
The bus off state (TX/RX error count >= 256).
Definition: err.h:34
This is the public header file of the utilities library.
An acknowledgment error.
Definition: err.h:52
The error active state (TX/RX error count < 128).
Definition: err.h:30
The Bit Rate Switch (BRS) flag (only available in CAN FD format frames).
Definition: msg.h:62