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Commit05851f6

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Merge pull request#75 from davidkirchner/master
Fix DLC and add padding for CANFD frames
2 parentsd7942d5 +abe7063 commit05851f6

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1 file changed

+84
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‎src/frame.rs

Lines changed: 84 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -1075,6 +1075,10 @@ impl AsRef<can_frame> for CanErrorFrame {
10751075
///
10761076
/// This is highly compatible with the `canfd_frame` from libc.
10771077
/// ([ref](https://docs.rs/libc/latest/libc/struct.canfd_frame.html))
1078+
///
1079+
/// Payload data that is greater than 8 bytes and whose data length does
1080+
/// not match a valid CANFD data length is padded with 0 bytes to the
1081+
/// next higher valid CANFD data length.
10781082
#[derive(Clone,Copy)]
10791083
pubstructCanFdFrame(canfd_frame);
10801084

@@ -1095,9 +1099,20 @@ impl CanFdFrame {
10951099
nif n <=CANFD_MAX_DLEN =>{
10961100
letmut frame =canfd_frame_default();
10971101
frame.can_id = can_id;
1098-
frame.len = nasu8;
10991102
frame.flags = fd_flags.bits();
1100-
frame.data[..n].copy_from_slice(data);
1103+
if n >8 && !CanFdFrame::is_valid_data_len(n){
1104+
// data must be 0 padded to the next valid DataLength
1105+
let new_len =CanFdFrame::next_valid_ext_dlen(n);
1106+
letmut padded_data:Vec<u8> =Vec::from(data);
1107+
padded_data.resize(new_len,0);
1108+
frame.len = new_lenasu8;
1109+
frame.data[..new_len].copy_from_slice(&padded_data);
1110+
}else{
1111+
// payload length is a valid CANFD data length so no padding is required
1112+
frame.len = nasu8;
1113+
frame.data[..n].copy_from_slice(data);
1114+
}
1115+
11011116
Ok(Self(frame))
11021117
}
11031118
_ =>Err(ConstructionError::TooMuchData),
@@ -1140,6 +1155,28 @@ impl CanFdFrame {
11401155
self.0.flags &= !CANFD_ESIasu8;
11411156
}
11421157
}
1158+
1159+
/// Checks whether a given length is a valid CANFD data length.
1160+
///
1161+
/// Valid values are `0`, `1`, `2`, `3`, `4`, `5`, `6`, `7`, `8`,
1162+
/// `12`, `16`, `20`, `24`, `32`, `48` or `64`.
1163+
fnis_valid_data_len(len:usize) ->bool{
1164+
(0..=8).contains(&len) ||[12,16,20,24,32,48,64].contains(&len)
1165+
}
1166+
1167+
/// Returns the next larger valid CANFD extended data length into which the given
1168+
/// length fits, up to a maximum of CANFD_MAX_DLEN.
1169+
fnnext_valid_ext_dlen(len:usize) ->usize{
1170+
let valid_ext_dlengths:[usize;7] =[12,16,20,24,32,48,64];
1171+
1172+
for valid_ext_lenin valid_ext_dlengths{
1173+
if valid_ext_len >= len{
1174+
return valid_ext_len;
1175+
}
1176+
}
1177+
// return CANFD_MAX_DLEN if len > CANFD_MAX_DLEN
1178+
CANFD_MAX_DLEN
1179+
}
11431180
}
11441181

11451182
implAsPtrforCanFdFrame{
@@ -1187,7 +1224,19 @@ impl EmbeddedFrame for CanFdFrame {
11871224

11881225
/// Data length code
11891226
fndlc(&self) ->usize{
1190-
self.0.lenasusize
1227+
matchself.0.len{
1228+
0..=8 =>self.0.lenasusize,
1229+
12 =>0x09,
1230+
16 =>0x0A,
1231+
20 =>0x0B,
1232+
24 =>0x0C,
1233+
32 =>0x0D,
1234+
48 =>0x0E,
1235+
64 =>0x0F,
1236+
// invalid data length, should never occur as the data is
1237+
// padded to a valid CANFD data length on frame creation
1238+
_ =>0x00,
1239+
}
11911240
}
11921241

11931242
/// A slice into the actual data.
@@ -1213,8 +1262,17 @@ impl Frame for CanFdFrame {
12131262
fnset_data(&mutself,data:&[u8]) ->Result<(),ConstructionError>{
12141263
match data.len(){
12151264
nif n <=CANFD_MAX_DLEN =>{
1216-
self.0.len = nasu8;
1217-
self.0.data[..n].copy_from_slice(data);
1265+
if n >8 && !CanFdFrame::is_valid_data_len(n){
1266+
// data must be 0 padded to the next valid DataLength
1267+
let new_len =CanFdFrame::next_valid_ext_dlen(n);
1268+
letmut padded_data:Vec<u8> =Vec::from(data);
1269+
padded_data.resize(new_len,0);
1270+
self.0.len = new_lenasu8;
1271+
self.0.data[..new_len].copy_from_slice(&padded_data);
1272+
}else{
1273+
self.0.len = nasu8;
1274+
self.0.data[..n].copy_from_slice(data);
1275+
}
12181276
Ok(())
12191277
}
12201278
_ =>Err(ConstructionError::TooMuchData),
@@ -1285,6 +1343,16 @@ mod tests {
12851343
constDATA:&[u8] =&[0,1,2,3];
12861344
constDATA_LEN:usize =DATA.len();
12871345

1346+
constEXT_DATA:&[u8] =&[0xAB;32];
1347+
constEXT_DATA_DLC:usize =0x0D;
1348+
1349+
constEXT_DATA_INVALID_DLEN:&[u8] =
1350+
&[0x11,0x22,0x33,0x44,0x55,0x66,0x77,0x88,0x99,0xAA];
1351+
constEXT_DATA_PADDED:&[u8] =&[
1352+
0x11,0x22,0x33,0x44,0x55,0x66,0x77,0x88,0x99,0xAA,0x00,0x00,
1353+
];
1354+
constEXT_DATA_PADDED_DLC:usize =0x09;
1355+
12881356
constEMPTY_DATA:&[u8] =&[];
12891357
constZERO_DATA:&[u8] =&[0u8;DATA_LEN];
12901358

@@ -1526,6 +1594,17 @@ mod tests {
15261594
assert_eq!(EXT_LOW_ID, frame.id());
15271595
assert!(!frame.is_standard());
15281596
assert!(frame.is_extended());
1597+
1598+
letmut frame =CanFdFrame::new(STD_ID,EXT_DATA).unwrap();
1599+
assert_eq!(frame.dlc(),EXT_DATA_DLC);
1600+
assert_eq!(frame.data(),EXT_DATA);
1601+
frame.set_data(EXT_DATA_INVALID_DLEN).unwrap();
1602+
assert_eq!(frame.data(),EXT_DATA_PADDED);
1603+
assert_eq!(frame.dlc(),EXT_DATA_PADDED_DLC);
1604+
1605+
let frame =CanFdFrame::new(STD_ID,EXT_DATA_INVALID_DLEN).unwrap();
1606+
assert_eq!(frame.data(),EXT_DATA_PADDED);
1607+
assert_eq!(frame.dlc(),EXT_DATA_PADDED_DLC);
15291608
}
15301609

15311610
#[test]

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