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Commitfbc0646

Browse files
authored
Merge pull request#194 from arduino/fix-11-bit-can-id
Extend CanMsg to allow to distinguish between standard and extended ids …
2 parents68d3e0d +3733659 commitfbc0646

12 files changed

+435
-12
lines changed

‎.gitignore

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.vscode/
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.idea/

‎api/CanMsg.cpp

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/*
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* This file is free software; you can redistribute it and/or modify
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* it under the terms of either the GNU General Public License version 2
4+
* or the GNU Lesser General Public License version 2.1, both as
5+
* published by the Free Software Foundation.
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*/
7+
8+
/**************************************************************************************
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* INCLUDE
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**************************************************************************************/
11+
12+
#include"CanMsg.h"
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14+
/**************************************************************************************
15+
* NAMESPACE
16+
**************************************************************************************/
17+
18+
namespacearduino
19+
{
20+
21+
/**************************************************************************************
22+
* STATIC CONST DEFINITION
23+
**************************************************************************************/
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25+
uint8_tconst CanMsg::MAX_DATA_LENGTH;
26+
uint32_tconst CanMsg::CAN_EFF_FLAG;
27+
uint32_tconst CanMsg::CAN_SFF_MASK;
28+
uint32_tconst CanMsg::CAN_EFF_MASK;
29+
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/**************************************************************************************
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* NAMESPACE
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**************************************************************************************/
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34+
}/* arduino*/

‎api/CanMsg.h

Lines changed: 57 additions & 12 deletions
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@@ -15,7 +15,9 @@
1515
#include<inttypes.h>
1616
#include<string.h>
1717

18-
#include<Arduino.h>
18+
#include"Print.h"
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#include"Printable.h"
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#include"Common.h"
1921

2022
/**************************************************************************************
2123
* NAMESPACE
@@ -31,14 +33,19 @@ namespace arduino
3133
classCanMsg :publicPrintable
3234
{
3335
public:
34-
staticsize_tconstexpr MAX_DATA_LENGTH =8;
36+
staticuint8_tconstexpr MAX_DATA_LENGTH =8;
37+
38+
staticuint32_tconstexpr CAN_EFF_FLAG =0x80000000U;
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staticuint32_tconstexpr CAN_SFF_MASK =0x000007FFU;/* standard frame format (SFF)*/
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staticuint32_tconstexpr CAN_EFF_MASK =0x1FFFFFFFU;/* extended frame format (EFF)*/
41+
3542

3643
CanMsg(uint32_tconst can_id,uint8_tconst can_data_len,uint8_tconst * can_data_ptr)
3744
: id{can_id}
38-
, data_length{can_data_len}
45+
, data_length{min(can_data_len, MAX_DATA_LENGTH)}
3946
, data{0}
4047
{
41-
memcpy(data, can_data_ptr,min(can_data_len, MAX_DATA_LENGTH));
48+
memcpy(data, can_data_ptr,data_length);
4249
}
4350

4451
CanMsg() : CanMsg(0,0,nullptr) { }
@@ -52,14 +59,15 @@ class CanMsg : public Printable
5259

5360
virtual~CanMsg() { }
5461

55-
voidoperator = (CanMsgconst & other)
62+
CanMsg &operator = (CanMsgconst & other)
5663
{
57-
if (this == &other)
58-
return;
59-
60-
this->id = other.id;
61-
this->data_length = other.data_length;
62-
memcpy(this->data, other.data,this->data_length);
64+
if (this != &other)
65+
{
66+
this->id = other.id;
67+
this->data_length = other.data_length;
68+
memcpy(this->data, other.data,this->data_length);
69+
}
70+
return (*this);
6371
}
6472

6573
virtualsize_tprintTo(Print & p)constoverride
@@ -68,7 +76,10 @@ class CanMsg : public Printable
6876
size_t len =0;
6977

7078
/* Print the header.*/
71-
len =snprintf(buf,sizeof(buf),"[%08" PRIX32"] (%d) :", id, data_length);
79+
if (isStandardId())
80+
len =snprintf(buf,sizeof(buf),"[%03" PRIX32"] (%d) :",getStandardId(), data_length);
81+
else
82+
len =snprintf(buf,sizeof(buf),"[%08" PRIX32"] (%d) :",getExtendedId(), data_length);
7283
size_t n = p.write(buf, len);
7384

7485
/* Print the data.*/
@@ -82,11 +93,45 @@ class CanMsg : public Printable
8293
return n;
8394
}
8495

96+
97+
uint32_tgetStandardId()const {
98+
return (id & CAN_SFF_MASK);
99+
}
100+
uint32_tgetExtendedId()const {
101+
return (id & CAN_EFF_MASK);
102+
}
103+
boolisStandardId()const {
104+
return ((id & CAN_EFF_FLAG) ==0);
105+
}
106+
boolisExtendedId()const {
107+
return ((id & CAN_EFF_FLAG) == CAN_EFF_FLAG);
108+
}
109+
110+
111+
/*
112+
* CAN ID semantics (mirroring definition by linux/can.h):
113+
* |- Bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit)
114+
* |- Bit 30 : reserved (future remote transmission request flag)
115+
* |- Bit 29 : reserved (future error frame flag)
116+
* |- Bit 0-28 : CAN identifier (11/29 bit)
117+
*/
85118
uint32_t id;
86119
uint8_t data_length;
87120
uint8_t data[MAX_DATA_LENGTH];
88121
};
89122

123+
/**************************************************************************************
124+
* FREE FUNCTIONS
125+
**************************************************************************************/
126+
127+
inlineuint32_tCanStandardId(uint32_tconst id) {
128+
return (id & CanMsg::CAN_SFF_MASK);
129+
}
130+
131+
inlineuint32_tCanExtendedId(uint32_tconst id) {
132+
return (CanMsg::CAN_EFF_FLAG | (id & CanMsg::CAN_EFF_MASK));
133+
}
134+
90135
/**************************************************************************************
91136
* NAMESPACE
92137
**************************************************************************************/

‎test/CMakeLists.txt

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@@ -25,6 +25,14 @@ set(TEST_TARGET ${CMAKE_PROJECT_NAME})
2525
##########################################################################
2626

2727
set(TEST_SRCS
28+
src/CanMsg/test_CanMsg.cpp
29+
src/CanMsg/test_CanMsg_CopyCtor.cpp
30+
src/CanMsg/test_CanExtendedId.cpp
31+
src/CanMsg/test_CanStandardId.cpp
32+
src/CanMsg/test_isExtendedId.cpp
33+
src/CanMsg/test_isStandardId.cpp
34+
src/CanMsg/test_operator_assignment.cpp
35+
src/CanMsg/test_printTo.cpp
2836
src/Common/test_makeWord.cpp
2937
src/Common/test_map.cpp
3038
src/Common/test_max.cpp
@@ -95,6 +103,7 @@ set(TEST_SRCS
95103
)
96104

97105
set(TEST_DUT_SRCS
106+
../api/CanMsg.cpp
98107
../api/Common.cpp
99108
../api/IPAddress.cpp
100109
../api/String.cpp
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/*
2+
* Copyright (c) 2020 Arduino. All rights reserved.
3+
*/
4+
5+
/**************************************************************************************
6+
* INCLUDE
7+
**************************************************************************************/
8+
9+
#include<catch.hpp>
10+
11+
#include<CanMsg.h>
12+
13+
/**************************************************************************************
14+
* NAMESPACE
15+
**************************************************************************************/
16+
17+
usingnamespacearduino;
18+
19+
/**************************************************************************************
20+
* TEST CODE
21+
**************************************************************************************/
22+
23+
TEST_CASE ("Verify correct conversion to 29-Bit CAN ID for lowest valid 29-Bit CAN ID","[CanMsg-CanExtendedId-01]")
24+
{
25+
REQUIRE(CanExtendedId(0) == (CanMsg::CAN_EFF_FLAG |0U));
26+
}
27+
28+
TEST_CASE ("Verify correct conversion to 29-Bit CAN ID for highest valid 29-Bit CAN ID","[CanMsg-CanExtendedId-02]")
29+
{
30+
REQUIRE(CanExtendedId(0x1FFFFFFFU) == (CanMsg::CAN_EFF_FLAG |0x1FFFFFFFU));
31+
}
32+
33+
TEST_CASE ("Verify capping of CAN IDs exceeding 29-Bit CAN ID range","[CanMsg-CanExtendedId-03]")
34+
{
35+
REQUIRE(CanExtendedId(0x2FFFFFFFU) == (CanMsg::CAN_EFF_FLAG |0x0FFFFFFFU));
36+
REQUIRE(CanExtendedId(0x3FFFFFFFU) == (CanMsg::CAN_EFF_FLAG |0x1FFFFFFFU));
37+
REQUIRE(CanExtendedId(0x4FFFFFFFU) == (CanMsg::CAN_EFF_FLAG |0x0FFFFFFFU));
38+
REQUIRE(CanExtendedId(0x5FFFFFFFU) == (CanMsg::CAN_EFF_FLAG |0x1FFFFFFFU));
39+
/* ...*/
40+
REQUIRE(CanExtendedId(0xFFFFFFFFU) == (CanMsg::CAN_EFF_FLAG |0x1FFFFFFFU));
41+
}

‎test/src/CanMsg/test_CanMsg.cpp

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@@ -0,0 +1,66 @@
1+
/*
2+
* Copyright (c) 2020 Arduino. All rights reserved.
3+
*/
4+
5+
/**************************************************************************************
6+
* INCLUDE
7+
**************************************************************************************/
8+
9+
#include<catch.hpp>
10+
11+
#include<CanMsg.h>
12+
13+
/**************************************************************************************
14+
* NAMESPACE
15+
**************************************************************************************/
16+
17+
usingnamespacearduino;
18+
19+
/**************************************************************************************
20+
* TEST CODE
21+
**************************************************************************************/
22+
23+
TEST_CASE ("Test constructor with no data (data length = 0)","[CanMsg-CanMsg-01]")
24+
{
25+
CanMsgconstmsg(CanStandardId(0x20),0,nullptr);
26+
27+
REQUIRE(msg.data_length ==0);
28+
for (size_t i =0; i < CanMsg::MAX_DATA_LENGTH; i++)
29+
REQUIRE(msg.data[i] ==0);
30+
}
31+
32+
TEST_CASE ("Test constructor with data (data length < CanMsg::MAX_DATA_LENGTH)","[CanMsg-CanMsg-02]")
33+
{
34+
uint8_tconst msg_data[4] = {0xDE,0xAD,0xC0,0xDE};
35+
36+
CanMsgconstmsg(CanStandardId(0x20),sizeof(msg_data), msg_data);
37+
38+
REQUIRE(msg.data_length ==4);
39+
for (size_t i =0; i < msg.data_length; i++)
40+
REQUIRE(msg.data[i] == msg_data[i]);
41+
}
42+
43+
TEST_CASE ("Test constructor with data (data length > CanMsg::MAX_DATA_LENGTH)","[CanMsg-CanMsg-03]")
44+
{
45+
uint8_tconst msg_data[12] = {0,1,2,3,4,5,6,7,8,9,10,11};
46+
47+
CanMsgconstmsg(CanStandardId(0x20),sizeof(msg_data), msg_data);
48+
49+
REQUIRE(msg.data_length ==8);
50+
for (size_t i =0; i < msg.data_length; i++)
51+
REQUIRE(msg.data[i] == msg_data[i]);
52+
}
53+
54+
TEST_CASE ("Test constructor constructing a CAN frame with standard ID","[CanMsg-CanMsg-04]")
55+
{
56+
CanMsgconstmsg(CanStandardId(0x20),0,nullptr);
57+
58+
REQUIRE(msg.id ==0x20);
59+
}
60+
61+
TEST_CASE ("Test constructor constructing a CAN frame with extended ID","[CanMsg-CanMsg-05]")
62+
{
63+
CanMsgconstmsg(CanExtendedId(0x20),0,nullptr);
64+
65+
REQUIRE(msg.id == (CanMsg::CAN_EFF_FLAG |0x20));
66+
}
Lines changed: 37 additions & 0 deletions
Original file line numberDiff line numberDiff line change
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1+
/*
2+
* Copyright (c) 2020 Arduino. All rights reserved.
3+
*/
4+
5+
/**************************************************************************************
6+
* INCLUDE
7+
**************************************************************************************/
8+
9+
#include<catch.hpp>
10+
11+
#include<CanMsg.h>
12+
13+
/**************************************************************************************
14+
* NAMESPACE
15+
**************************************************************************************/
16+
17+
usingnamespacearduino;
18+
19+
/**************************************************************************************
20+
* TEST CODE
21+
**************************************************************************************/
22+
23+
TEST_CASE ("Test copy constructor","[CanMsg-CopyCtor-01]")
24+
{
25+
uint8_tconst msg_data[4] = {0xDE,0xAD,0xC0,0xDE};
26+
27+
CanMsgconstmsg_1(CanStandardId(0x20),sizeof(msg_data), msg_data);
28+
CanMsgconstmsg_2(msg_1);
29+
30+
REQUIRE(msg_1.data_length == msg_2.data_length);
31+
32+
for (size_t i =0; i < msg_1.data_length; i++)
33+
{
34+
REQUIRE(msg_1.data[i] == msg_data[i]);
35+
REQUIRE(msg_2.data[i] == msg_data[i]);
36+
}
37+
}
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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,40 @@
1+
/*
2+
* Copyright (c) 2020 Arduino. All rights reserved.
3+
*/
4+
5+
/**************************************************************************************
6+
* INCLUDE
7+
**************************************************************************************/
8+
9+
#include<catch.hpp>
10+
11+
#include<CanMsg.h>
12+
13+
/**************************************************************************************
14+
* NAMESPACE
15+
**************************************************************************************/
16+
17+
usingnamespacearduino;
18+
19+
/**************************************************************************************
20+
* TEST CODE
21+
**************************************************************************************/
22+
23+
TEST_CASE ("Verify correct conversion to 11-Bit CAN ID for lowest valid 11-Bit CAN ID","[CanMsg-CanStandardId-01]")
24+
{
25+
REQUIRE(CanStandardId(0) ==0U);
26+
}
27+
28+
TEST_CASE ("Verify correct conversion to 11-Bit CAN ID for highest valid 11-Bit CAN ID","[CanMsg-CanStandardId-02]")
29+
{
30+
REQUIRE(CanStandardId(0x7FF) ==0x7FF);
31+
}
32+
33+
TEST_CASE ("Verify capping of CAN IDs exceeding 11-Bit CAN ID range","[CanMsg-CanStandardId-03]")
34+
{
35+
REQUIRE(CanStandardId(0x800U) ==0x000U);
36+
REQUIRE(CanStandardId(0x801U) ==0x001U);
37+
REQUIRE(CanStandardId(0x8FFU) ==0x0FFU);
38+
REQUIRE(CanStandardId(0x1FFFFFFFU) ==0x7FFU);
39+
REQUIRE(CanStandardId(0xFFFFFFFFU) ==0x7FFU);
40+
}

‎test/src/CanMsg/test_isExtendedId.cpp

Lines changed: 33 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,33 @@
1+
/*
2+
* Copyright (c) 2020 Arduino. All rights reserved.
3+
*/
4+
5+
/**************************************************************************************
6+
* INCLUDE
7+
**************************************************************************************/
8+
9+
#include<catch.hpp>
10+
11+
#include<CanMsg.h>
12+
13+
/**************************************************************************************
14+
* NAMESPACE
15+
**************************************************************************************/
16+
17+
usingnamespacearduino;
18+
19+
/**************************************************************************************
20+
* TEST CODE
21+
**************************************************************************************/
22+
23+
TEST_CASE ("\"isExtendedId\" should return true for extended CAN ID","[CanMsg-isExtendedId-01]")
24+
{
25+
CanMsgconstmsg_ext_id(CanExtendedId(0x020),0,nullptr);
26+
REQUIRE(msg_ext_id.isExtendedId() ==true);
27+
}
28+
29+
TEST_CASE ("\"isExtendedId\" should return false for standard CAN ID","[CanMsg-isExtendedId-02]")
30+
{
31+
CanMsgconstmsg_std_id(CanStandardId(0x020),0,nullptr);
32+
REQUIRE(msg_std_id.isExtendedId() ==false);
33+
}

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