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Start of updating CAN ID header format to match v1.0 #99

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merged 3 commits into from
Mar 28, 2019
Merged

Start of updating CAN ID header format to match v1.0 #99

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0d3d002
Start of updating CAN ID header format to match v1.0
aasmune Mar 26, 2019
f780ae0
Review changes
aasmune Mar 26, 2019
55b7345
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aasmune Mar 27, 2019
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9 changes: 9 additions & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,12 @@
# CMake build directory
build/
cmake-build-*/
CMakeFiles/
cmake_install.cmake
CMakeCache.txt
Makefile
demo
run_tests
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# IDE and tools
.idea
Expand All @@ -49,3 +55,6 @@ dsdlc_generated/

# Pycache
__pycache__/

# Ignore IDE folders
.vscode/
4 changes: 2 additions & 2 deletions DESIGN.md
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Expand Up @@ -255,8 +255,8 @@ Note that the proposed API does not make any assumptions about the CAN driver in
A rough draft of the API definitions is provided below:

```c
#define CANARD_BROADCAST_NODE_ID 0
#define CANARD_MIN_NODE_ID 1
#define CANARD_BROADCAST_NODE_ID 255
#define CANARD_MIN_NODE_ID 0
#define CANARD_MAX_NODE_ID 127

#define CANARD_MEM_BLOCK_SIZE 32
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59 changes: 23 additions & 36 deletions canard.c
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Expand Up @@ -37,18 +37,17 @@
#define TRANSFER_TIMEOUT_USEC 2000000

#define TRANSFER_ID_BIT_LEN 5U
#define ANON_MSG_DATA_TYPE_ID_BIT_LEN 2U

#define SOURCE_ID_FROM_ID(x) ((uint8_t) (((x) >> 0U) & 0x7FU))
#define SERVICE_NOT_MSG_FROM_ID(x) ((bool) (((x) >> 7U) & 0x1U))
#define REQUEST_NOT_RESPONSE_FROM_ID(x) ((bool) (((x) >> 15U) & 0x1U))
#define SOURCE_ID_FROM_ID(x) ((uint8_t) (((x) >> 1U) & 0x7FU))
#define SERVICE_NOT_MSG_FROM_ID(x) ((bool) (((x) >> 25U) & 0x1U))
#define REQUEST_NOT_RESPONSE_FROM_ID(x) ((bool) (((x) >> 24U) & 0x1U))
#define DEST_ID_FROM_ID(x) ((uint8_t) (((x) >> 8U) & 0x7FU))
#define PRIORITY_FROM_ID(x) ((uint8_t) (((x) >> 24U) & 0x1FU))
#define MSG_TYPE_FROM_ID(x) ((uint16_t)(((x) >> 8U) & 0xFFFFU))
#define SRV_TYPE_FROM_ID(x) ((uint8_t) (((x) >> 16U) & 0xFFU))
#define PRIORITY_FROM_ID(x) ((uint8_t) (((x) >> 26U) & 0x1FU))
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#define SUBJECT_TYPE_FROM_ID(x) ((uint16_t)(((x) >> 8U) & 0x7FFFU))
#define SRV_TYPE_FROM_ID(x) ((uint8_t) (((x) >> 15U) & 0x1FFU))

#define MAKE_TRANSFER_DESCRIPTOR(data_type_id, transfer_type, src_node_id, dst_node_id) \
(((uint32_t)(data_type_id)) | (((uint32_t)(transfer_type)) << 16U) | \
#define MAKE_TRANSFER_DESCRIPTOR(port_id, transfer_type, src_node_id, dst_node_id) \
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(((uint32_t)(port_id)) | (((uint32_t)(transfer_type)) << 16U) | \
(((uint32_t)(src_node_id)) << 18U) | (((uint32_t)(dst_node_id)) << 25U))

#define TRANSFER_ID_FROM_TAIL_BYTE(x) ((uint8_t)((x) & 0x1FU))
Expand Down Expand Up @@ -110,20 +109,21 @@ void* canardGetUserReference(CanardInstance* ins)
return ins->user_reference;
}

void canardSetLocalNodeID(CanardInstance* ins, uint8_t self_node_id)
int16_t canardSetLocalNodeID(CanardInstance* ins, uint8_t self_node_id)
{
CANARD_ASSERT(ins != NULL);

if ((ins->node_id == CANARD_BROADCAST_NODE_ID) &&
(self_node_id >= CANARD_MIN_NODE_ID) &&
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(self_node_id <= CANARD_MAX_NODE_ID))
{
ins->node_id = self_node_id;
}
else
{
CANARD_ASSERT(false);
return - CANARD_ERROR_INVALID_ARGUMENT;
}

return CANARD_OK;
}

uint8_t canardGetLocalNodeID(const CanardInstance* ins)
Expand Down Expand Up @@ -151,29 +151,20 @@ int16_t canardBroadcast(CanardInstance* ins,
uint32_t can_id = 0;
uint16_t crc = 0xFFFFU;

if (canardGetLocalNodeID(ins) == 0)
can_id = ((uint32_t) priority << 26U) | ((uint32_t) data_type_id << 8U) | ((uint32_t) canardGetLocalNodeID(ins) << 1U);
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if (canardGetLocalNodeID(ins) == CANARD_BROADCAST_NODE_ID) // Anonymous message transfer
{
if (payload_len > 7)
{
return -CANARD_ERROR_NODE_ID_NOT_SET;
}

static const uint16_t DTIDMask = (1U << ANON_MSG_DATA_TYPE_ID_BIT_LEN) - 1U;

if ((data_type_id & DTIDMask) != data_type_id)
{
return -CANARD_ERROR_INVALID_ARGUMENT;
}

// anonymous transfer, random discriminator
const uint16_t discriminator = (uint16_t)((crcAdd(0xFFFFU, payload, payload_len)) & 0x7FFEU);
can_id = ((uint32_t) priority << 24U) | ((uint32_t) discriminator << 9U) |
((uint32_t) (data_type_id & DTIDMask) << 8U) | (uint32_t) canardGetLocalNodeID(ins);
uint8_t pseudo_id = crcAdd(0xFFFFU, payload, payload_len) & 0x7FU;
can_id |= (1U << 24U) | ((uint32_t) pseudo_id << 1U);
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}
else
{
can_id = ((uint32_t) priority << 24U) | ((uint32_t) data_type_id << 8U) | (uint32_t) canardGetLocalNodeID(ins);

if (payload_len > 7)
{
crc = crcAddSignature(crc, data_type_signature);
Expand Down Expand Up @@ -206,14 +197,15 @@ int16_t canardRequestOrRespond(CanardInstance* ins,
{
return -CANARD_ERROR_INVALID_ARGUMENT;
}
if (canardGetLocalNodeID(ins) == 0)
if (canardGetLocalNodeID(ins) == CANARD_BROADCAST_NODE_ID)
{
// Service transfer not supported for anonymous nodes
return -CANARD_ERROR_NODE_ID_NOT_SET;
}
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const uint32_t can_id = ((uint32_t) priority << 24U) | ((uint32_t) data_type_id << 16U) |
((uint32_t) kind << 15U) | ((uint32_t) destination_node_id << 8U) |
(1U << 7U) | (uint32_t) canardGetLocalNodeID(ins);
const uint32_t can_id = ((uint32_t) priority << 26U) | ((uint32_t) data_type_id << 15U) |
((uint32_t) kind << 24U) | ((uint32_t) destination_node_id << 8U) |
(1U << 25U) | ((uint32_t) canardGetLocalNodeID(ins) << 1U);
uint16_t crc = 0xFFFFU;

if (payload_len > 7)
Expand Down Expand Up @@ -1081,12 +1073,7 @@ CANARD_INTERNAL uint16_t extractDataType(uint32_t id)
{
if (extractTransferType(id) == CanardTransferTypeBroadcast)
{
uint16_t dtid = MSG_TYPE_FROM_ID(id);
if (SOURCE_ID_FROM_ID(id) == CANARD_BROADCAST_NODE_ID)
{
dtid &= (1U << ANON_MSG_DATA_TYPE_ID_BIT_LEN) - 1U;
}
return dtid;
return (uint16_t) SUBJECT_TYPE_FROM_ID(id);
}
else
{
Expand Down
8 changes: 5 additions & 3 deletions canard.h
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Expand Up @@ -87,8 +87,8 @@ extern "C" {
#define CANARD_CAN_FRAME_MAX_DATA_LEN 8U

/// Node ID values. Refer to the specification for more info.
#define CANARD_BROADCAST_NODE_ID 0
#define CANARD_MIN_NODE_ID 1
#define CANARD_BROADCAST_NODE_ID 255
#define CANARD_MIN_NODE_ID 0
#define CANARD_MAX_NODE_ID 127

/// Refer to the type CanardRxTransfer
Expand Down Expand Up @@ -346,8 +346,10 @@ void* canardGetUserReference(CanardInstance* ins);
/**
* Assigns a new node ID value to the current node.
* Node ID can be assigned only once.
*
* Returns CANARD_OK if success, or negative error code if node ID is outside valid range.
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*/
void canardSetLocalNodeID(CanardInstance* ins,
int16_t canardSetLocalNodeID(CanardInstance* ins,
uint8_t self_node_id);
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/**
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Expand Down
53 changes: 26 additions & 27 deletions tests/test_rxerr.cpp
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Expand Up @@ -26,35 +26,34 @@
#include <canard.h>

//Independent implementation of ID layout from https://uavcan.org/Specification/4._CAN_bus_transport_layer/
#define CONSTRUCT_PRIO(prio) (((prio) & 0x1F) << 24)
#define CONSTRUCT_MTID(mtid) (((mtid) & 0xFFFF) << 8)
#define CONSTRUCT_SID(sid) (((sid) & 0x7F))
#define CONSTRUCT_DISC(disc) (((disc) & 0x3FFF) << 10)
#define CONSTRUCT_DISC_MTID(mtid) (((mtid) & 0x3) << 8)
#define CONSTRUCT_STID(stid) (((stid) & 0xFF) << 16)
#define CONSTRUCT_DID(did) (((did) & 0x7F) << 8)
#define CONSTRUCT_REQUEST(request) (((request) & 0x1) << 15)

#define CONSTRUCT_SNM_BIT (1 << 7)

#define CONSTRUCT_ANON_MSG_ID(prio, disc, mtid, sid) (CONSTRUCT_PRIO(prio) | \
CONSTRUCT_DISC_MTID(mtid) | \
CONSTRUCT_DISC(disc) | \
CONSTRUCT_SID(sid) \
#define CONSTRUCT_PRIO(prio) (((prio) & 0x7) << 26)
#define CONSTRUCT_SUBJECT_ID(subject_id) (((subject_id) & 0xFFFF) << 8)
#define CONSTRUCT_SOURCE_ID(source_id) (((source_id) & 0x7F) << 1)
#define CONSTRUCT_SERVICE_ID(service_id) (((service_id) & 0x1FF) << 15)
#define CONSTRUCT_DEST_ID(dest_id) (((dest_id) & 0x7F) << 8)
#define CONSTRUCT_REQUEST(request) (((request) & 0x1) << 24)

#define CONSTRUCT_ANON_BIT (1 << 24)
#define CONSTRUCT_SNM_BIT (1 << 25)
#define CONSTRUCT_PV_BIT (1)

#define CONSTRUCT_MSG_ID(prio, subject_id, source_id) (CONSTRUCT_PRIO(prio) | \
CONSTRUCT_SUBJECT_ID(subject_id) | \
CONSTRUCT_SOURCE_ID(source_id) | \
CONSTRUCT_PV_BIT |\
CANARD_CAN_FRAME_EFF)

#define CONSTRUCT_MSG_ID(prio, mtid, sid) (CONSTRUCT_PRIO(prio) | \
CONSTRUCT_MTID(mtid) | \
CONSTRUCT_SID(sid) | \
CANARD_CAN_FRAME_EFF)

#define CONSTRUCT_SVC_ID(prio, stid, request, did, sid) (CONSTRUCT_PRIO(prio) | \
CONSTRUCT_STID(stid) | \
CONSTRUCT_REQUEST(request) | \
CONSTRUCT_DID(did) | \
CONSTRUCT_SID(sid) | \
CONSTRUCT_SNM_BIT | \
CANARD_CAN_FRAME_EFF)
#define CONSTRUCT_ANON_MSG_ID(prio, subject_id, source_id) (CONSTRUCT_ANON_BIT | \
CONSTRUCT_MSG_ID(prio, subject_id, source_id))

#define CONSTRUCT_SVC_ID(prio, service_id, request, dest_id, source_id) (CONSTRUCT_PRIO(prio) | \
CONSTRUCT_SNM_BIT | \
CONSTRUCT_REQUEST(request) | \
CONSTRUCT_SERVICE_ID(service_id) | \
CONSTRUCT_DEST_ID(dest_id) | \
CONSTRUCT_SOURCE_ID(source_id) | \
CONSTRUCT_PV_BIT |\
CANARD_CAN_FRAME_EFF)

#define CONSTRUCT_START(start) (((start) & 0x1) << 7)
#define CONSTRUCT_END(end) (((end) & 0x1) << 6)
Expand Down