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Commitef03a48

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Merge branch 'master' into develop
2 parents9236d32 +05851f6 commitef03a48

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1 file changed

+84
-5
lines changed

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
@@ -1028,6 +1028,10 @@ impl AsRef<can_frame> for CanErrorFrame {
10281028
///
10291029
/// This is highly compatible with the `canfd_frame` from libc.
10301030
/// ([ref](https://docs.rs/libc/latest/libc/struct.canfd_frame.html))
1031+
///
1032+
/// Payload data that is greater than 8 bytes and whose data length does
1033+
/// not match a valid CANFD data length is padded with 0 bytes to the
1034+
/// next higher valid CANFD data length.
10311035
#[derive(Clone,Copy)]
10321036
pubstructCanFdFrame(canfd_frame);
10331037

@@ -1048,9 +1052,20 @@ impl CanFdFrame {
10481052
nif n <=CANFD_MAX_DLEN =>{
10491053
letmut frame =canfd_frame_default();
10501054
frame.can_id = can_id;
1051-
frame.len = nasu8;
10521055
frame.flags = fd_flags.bits();
1053-
frame.data[..n].copy_from_slice(data);
1056+
if n >8 && !CanFdFrame::is_valid_data_len(n){
1057+
// data must be 0 padded to the next valid DataLength
1058+
let new_len =CanFdFrame::next_valid_ext_dlen(n);
1059+
letmut padded_data:Vec<u8> =Vec::from(data);
1060+
padded_data.resize(new_len,0);
1061+
frame.len = new_lenasu8;
1062+
frame.data[..new_len].copy_from_slice(&padded_data);
1063+
}else{
1064+
// payload length is a valid CANFD data length so no padding is required
1065+
frame.len = nasu8;
1066+
frame.data[..n].copy_from_slice(data);
1067+
}
1068+
10541069
Ok(Self(frame))
10551070
}
10561071
_ =>Err(ConstructionError::TooMuchData),
@@ -1093,6 +1108,28 @@ impl CanFdFrame {
10931108
self.0.flags &= !CANFD_ESIasu8;
10941109
}
10951110
}
1111+
1112+
/// Checks whether a given length is a valid CANFD data length.
1113+
///
1114+
/// Valid values are `0`, `1`, `2`, `3`, `4`, `5`, `6`, `7`, `8`,
1115+
/// `12`, `16`, `20`, `24`, `32`, `48` or `64`.
1116+
fnis_valid_data_len(len:usize) ->bool{
1117+
(0..=8).contains(&len) ||[12,16,20,24,32,48,64].contains(&len)
1118+
}
1119+
1120+
/// Returns the next larger valid CANFD extended data length into which the given
1121+
/// length fits, up to a maximum of CANFD_MAX_DLEN.
1122+
fnnext_valid_ext_dlen(len:usize) ->usize{
1123+
let valid_ext_dlengths:[usize;7] =[12,16,20,24,32,48,64];
1124+
1125+
for valid_ext_lenin valid_ext_dlengths{
1126+
if valid_ext_len >= len{
1127+
return valid_ext_len;
1128+
}
1129+
}
1130+
// return CANFD_MAX_DLEN if len > CANFD_MAX_DLEN
1131+
CANFD_MAX_DLEN
1132+
}
10961133
}
10971134

10981135
implAsPtrforCanFdFrame{
@@ -1140,7 +1177,19 @@ impl EmbeddedFrame for CanFdFrame {
11401177

11411178
/// Data length code
11421179
fndlc(&self) ->usize{
1143-
self.0.lenasusize
1180+
matchself.0.len{
1181+
0..=8 =>self.0.lenasusize,
1182+
12 =>0x09,
1183+
16 =>0x0A,
1184+
20 =>0x0B,
1185+
24 =>0x0C,
1186+
32 =>0x0D,
1187+
48 =>0x0E,
1188+
64 =>0x0F,
1189+
// invalid data length, should never occur as the data is
1190+
// padded to a valid CANFD data length on frame creation
1191+
_ =>0x00,
1192+
}
11441193
}
11451194

11461195
/// A slice into the actual data.
@@ -1166,8 +1215,17 @@ impl Frame for CanFdFrame {
11661215
fnset_data(&mutself,data:&[u8]) ->Result<(),ConstructionError>{
11671216
match data.len(){
11681217
nif n <=CANFD_MAX_DLEN =>{
1169-
self.0.len = nasu8;
1170-
self.0.data[..n].copy_from_slice(data);
1218+
if n >8 && !CanFdFrame::is_valid_data_len(n){
1219+
// data must be 0 padded to the next valid DataLength
1220+
let new_len =CanFdFrame::next_valid_ext_dlen(n);
1221+
letmut padded_data:Vec<u8> =Vec::from(data);
1222+
padded_data.resize(new_len,0);
1223+
self.0.len = new_lenasu8;
1224+
self.0.data[..new_len].copy_from_slice(&padded_data);
1225+
}else{
1226+
self.0.len = nasu8;
1227+
self.0.data[..n].copy_from_slice(data);
1228+
}
11711229
Ok(())
11721230
}
11731231
_ =>Err(ConstructionError::TooMuchData),
@@ -1238,6 +1296,16 @@ mod tests {
12381296
constDATA:&[u8] =&[0,1,2,3];
12391297
constDATA_LEN:usize =DATA.len();
12401298

1299+
constEXT_DATA:&[u8] =&[0xAB;32];
1300+
constEXT_DATA_DLC:usize =0x0D;
1301+
1302+
constEXT_DATA_INVALID_DLEN:&[u8] =
1303+
&[0x11,0x22,0x33,0x44,0x55,0x66,0x77,0x88,0x99,0xAA];
1304+
constEXT_DATA_PADDED:&[u8] =&[
1305+
0x11,0x22,0x33,0x44,0x55,0x66,0x77,0x88,0x99,0xAA,0x00,0x00,
1306+
];
1307+
constEXT_DATA_PADDED_DLC:usize =0x09;
1308+
12411309
constEMPTY_DATA:&[u8] =&[];
12421310
constZERO_DATA:&[u8] =&[0u8;DATA_LEN];
12431311

@@ -1479,6 +1547,17 @@ mod tests {
14791547
assert_eq!(EXT_LOW_ID, frame.id());
14801548
assert!(!frame.is_standard());
14811549
assert!(frame.is_extended());
1550+
1551+
letmut frame =CanFdFrame::new(STD_ID,EXT_DATA).unwrap();
1552+
assert_eq!(frame.dlc(),EXT_DATA_DLC);
1553+
assert_eq!(frame.data(),EXT_DATA);
1554+
frame.set_data(EXT_DATA_INVALID_DLEN).unwrap();
1555+
assert_eq!(frame.data(),EXT_DATA_PADDED);
1556+
assert_eq!(frame.dlc(),EXT_DATA_PADDED_DLC);
1557+
1558+
let frame =CanFdFrame::new(STD_ID,EXT_DATA_INVALID_DLEN).unwrap();
1559+
assert_eq!(frame.data(),EXT_DATA_PADDED);
1560+
assert_eq!(frame.dlc(),EXT_DATA_PADDED_DLC);
14821561
}
14831562

14841563
#[test]

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