CAN frame abstraction for standard, extended and FD (and combinations thereof) CAN frames. More...

#include <can.hpp>

Inheritance diagram for fpsdk::common::can::CanFrame:

Collaboration diagram for fpsdk::common::can::CanFrame:

Public Member Functions
void	SetData (const uint8_t *data, const std::size_t size)
	Set data (data_len_ and data_ fields)

bool	RawToFrame (const uint8_t *data, const std::size_t size)
	Populate frame (this struct) from raw data.

void	FrameToRaw ()
	Set raw CAN frame from frame (this struct)

Public Attributes
uint32_t	can_id_ = 0
	CAN ID (masked by CAN_SFF_MASK resp CAN_EFF_MASK), i.e. flags removed)

bool	is_eff_ = false
	true = extended frame (29 bits ID, CAN_EFF_FLAG), false = standard frame (11 bits ID)

bool	is_fd_ = false
	true = CAN FD frame (up to CANFD_MAX_DLEN bytes), false = classical frame (up to CAN_MAX_DLEN bytes)

bool	rtr_flag_ = false
	Remote transmission request flag (CAN_RTR_FLAG)

bool	err_flag_ = false
	Error message frame flag (CAN_ERR_FLAG)

bool	fd_brs_ = false
	Use bit rate switch for a FD frame (only valid if is_fd_ = true)

std::size_t	data_len_ = false
	Number of bytes in payload data: up to CAN_MAX_DLEN for classical frames (is_fd_ = false), up to CANFD_MAX_DLEN for FD frames (is_fd_ = true)

const uint8_t *	data_ = { can_frame_.data }
	Pointer to data (can_frame_.data resp. fd_frame_.data)

union {

struct can_frame can_frame_
	Classical CAN frame (is_fd_ = false) More...

struct canfd_frame fd_frame_ = { 0, 0, 0, 0, 0, { 0 } }
	FD CAN frame (is_fd_ = true) More...

};
	Raw CAN frame.

Detailed Description

CAN frame abstraction for standard, extended and FD (and combinations thereof) CAN frames.

Definition at line 89 of file can.hpp.

Member Function Documentation

◆ SetData()

void fpsdk::common::can::CanFrame::SetData	(	const uint8_t *	data,
		const std::size_t	size )

Set data (data_len_ and data_ fields)

Parameters

[in]	data	The data
[in]	size	Size of the data

◆ RawToFrame()

bool fpsdk::common::can::CanFrame::RawToFrame	(	const uint8_t *	data,
		const std::size_t	size )

Populate frame (this struct) from raw data.

On success, all the fields of the struct are set from the data.

Parameters

[in]	data	The data (struct can_frame or struct canfd_frame)
[in]	size	Size of the data (CAN_MTU or CANFD_MTU)

Returns: true on success, false otherwise

◆ FrameToRaw()

void fpsdk::common::can::CanFrame::FrameToRaw ( )

Set raw CAN frame from frame (this struct)

Updates the raw CAN frame data (below) from the flags and data (above).

Member Data Documentation

◆ can_id_

uint32_t fpsdk::common::can::CanFrame::can_id_ = 0

CAN ID (masked by CAN_SFF_MASK resp CAN_EFF_MASK), i.e. flags removed)

Definition at line 92 of file can.hpp.

◆ is_eff_

bool fpsdk::common::can::CanFrame::is_eff_ = false

true = extended frame (29 bits ID, CAN_EFF_FLAG), false = standard frame (11 bits ID)

Definition at line 93 of file can.hpp.

◆ is_fd_

bool fpsdk::common::can::CanFrame::is_fd_ = false

true = CAN FD frame (up to CANFD_MAX_DLEN bytes), false = classical frame (up to CAN_MAX_DLEN bytes)

Definition at line 94 of file can.hpp.

◆ rtr_flag_

bool fpsdk::common::can::CanFrame::rtr_flag_ = false

Remote transmission request flag (CAN_RTR_FLAG)

Definition at line 95 of file can.hpp.

◆ err_flag_

bool fpsdk::common::can::CanFrame::err_flag_ = false

Error message frame flag (CAN_ERR_FLAG)

Definition at line 96 of file can.hpp.

◆ fd_brs_

bool fpsdk::common::can::CanFrame::fd_brs_ = false

Use bit rate switch for a FD frame (only valid if is_fd_ = true)

Definition at line 97 of file can.hpp.

◆ data_len_

std::size_t fpsdk::common::can::CanFrame::data_len_ = false

Number of bytes in payload data: up to CAN_MAX_DLEN for classical frames (is_fd_ = false), up to CANFD_MAX_DLEN for FD frames (is_fd_ = true)

Definition at line 98 of file can.hpp.

◆ data_

const uint8_t* fpsdk::common::can::CanFrame::data_ = { can_frame_.data }

Pointer to data (can_frame_.data resp. fd_frame_.data)

Definition at line 99 of file can.hpp.

◆ can_frame_

struct can_frame fpsdk::common::can::CanFrame::can_frame_

Classical CAN frame (is_fd_ = false)

Definition at line 134 of file can.hpp.

◆ fd_frame_

struct canfd_frame fpsdk::common::can::CanFrame::fd_frame_ = { 0, 0, 0, 0, 0, { 0 } }

FD CAN frame (is_fd_ = true)

Definition at line 135 of file can.hpp.

The documentation for this struct was generated from the following file:

fpsdk_common/include/fpsdk_common/can.hpp

Public Member Functions

Public Attributes