Platform-agnostic CAN / CAN FD message (BaseCan v2). More...

#include <BaseCan.h>

Public Member Functions
	hf_can_message_t () noexcept

constexpr hf_u8_t	GetMaxDataLength () const noexcept
	Largest payload for the current frame kind (8 classic, 64 FD).

constexpr hf_u8_t	GetLength () const noexcept
	Payload length in bytes.

constexpr bool	IsValidLength (hf_u8_t len) const noexcept
	Is `len` a valid payload length for the current frame kind?

bool	SetLength (hf_u8_t len) noexcept
	Set the payload length in bytes.

constexpr bool	IsValidDLC (hf_u8_t len) const noexcept
	Same as IsValidLength(); kept for source compatibility.

constexpr hf_u8_t	GetEffectiveDLC () const noexcept
	Same as GetLength(); kept for source compatibility.

bool	SetDLC (hf_u8_t len) noexcept
	Same as SetLength(); kept for source compatibility.

constexpr hf_u8_t	GetDlcCode () const noexcept
	4-bit DLC code for the current length (HF_CAN_DLC_INVALID if invalid).

bool	SetDlcCode (hf_u8_t code) noexcept
	Set the length from a 4-bit DLC code (as read from a controller).

bool	SetData (const hf_u8_t *src, hf_u8_t len) noexcept
	Copy `len` bytes into the payload and set the length.

void	SetStandardFrame () noexcept
	Set standard frame format (11-bit ID).

void	SetExtendedFrame () noexcept
	Set extended frame format (29-bit ID).

void	SetDataFrame () noexcept
	Set data frame (not remote).

void	SetRemoteFrame () noexcept
	Set remote frame.

void	SetSingleShot () noexcept
	Set single shot transmission.

void	SetSelfReception () noexcept
	Set self reception request.

void	SetFdFrame (bool brs=false) noexcept
	Make this an FD frame.

bool	SetClassicFrame () noexcept
	Make this a classic frame (clears BRS / ESI).

constexpr hf_u8_t	GetFlags () const noexcept
	Flags packed as hf_can_flag bits.

bool	SetFlags (hf_u8_t flags) noexcept
	Set the flags from hf_can_flag bits.

constexpr bool	IsValidId () const noexcept
	Validate message ID for current frame format.

constexpr hf_can_frame_error_t	Validate () const noexcept
	Structural check drivers apply before transmit and after receive.

constexpr bool	IsValid () const noexcept
	Validate() == NONE.

template<typename Frame >
void	ToFrame (Frame &out) const noexcept
	Copy into a frame with members `id`, `len`, `flags`, `data[64]`, `ts_us`.

Static Public Member Functions
template<typename Frame >
static hf_can_message_t	FromFrame (const Frame &in) noexcept
	Build a message from a frame with members `id`, `len`, `flags`, `data[64]`, `ts_us`.

Public Attributes
hf_u32_t	id
	Message ID (11 or 29-bit)

hf_u8_t	dlc
	Payload length in BYTES (0..8 classic, 0..64 FD)

hf_u8_t	data [HF_CAN_FD_MAX_LEN]
	Payload (64 bytes, FD-sized)

bool	is_extended
	Extended ID flag (29-bit vs 11-bit)

bool	is_rtr
	Remote transmission request flag.

bool	is_ss
	Single shot flag (no retransmission)

bool	is_self
	Self reception request flag.

bool	dlc_non_comp
	Received classic DLC code was 9..15 (length is 8)

hf_u64_t	timestamp_us
	RX timestamp in microseconds (driver clock)

hf_u32_t	sequence_number
	Message sequence number.

hf_u8_t	controller_id
	Originating controller ID.

hf_u8_t	retry_count
	Number of transmission retries.

hf_u8_t	error_count
	Associated error count.

bool	is_canfd
	FD frame format (FDF)

bool	is_brs
	Bit Rate Switching (FD only)

bool	is_esi
	Error State Indicator (FD only)

Detailed Description

Platform-agnostic CAN / CAN FD message (BaseCan v2).

The payload buffer is FD-sized (64 bytes) and the length is a byte count, never a DLC code:

dlc holds the payload length in bytes: 0..8 for classic frames, 0..8, 12, 16, 20, 24, 32, 48 or 64 for FD frames. The name is kept for source compatibility (for classic frames the byte count and the DLC code are the same number). Use GetLength() / SetLength() in new code, and GetDlcCode() / SetDlcCode() when a controller needs the 4-bit wire code.
SetLength() / SetDLC() reject lengths the frame kind cannot carry (above 8 on a classic frame, or an FD length without a DLC code), so data can never be over-read or over-written through them.
Flags: is_extended, is_rtr, is_canfd, is_brs, is_esi, also available packed as hf_can_flag bits via GetFlags() / SetFlags().
timestamp_us is the RX timestamp captured by the driver (ISR side). It is ignored on transmit.

Code that writes dlc directly must keep it valid for the frame kind; drivers check it with Validate() before touching data.

ToFrame() / FromFrame() convert to and from any frame struct with the members id, len, flags, data[64] and ts_us (the layout of vortex::contracts::CanFrame). A frame round trip (frame -> message -> frame) is lossless.

Constructor & Destructor Documentation

◆ hf_can_message_t()

hf_can_message_t::hf_can_message_t ( )

inlinenoexcept

Member Function Documentation

◆ FromFrame()

template<typename Frame >

static hf_can_message_t hf_can_message_t::FromFrame ( const Frame & in )

inlinestaticnoexcept

Build a message from a frame with members id, len, flags, data[64], ts_us.

Copies the fields as they are; call Validate() to check the result. Flag bits outside hf_can_flag::ALL are ignored.

◆ GetDlcCode()

constexpr hf_u8_t hf_can_message_t::GetDlcCode ( ) const

inlineconstexprnoexcept

4-bit DLC code for the current length (HF_CAN_DLC_INVALID if invalid).

◆ GetEffectiveDLC()

constexpr hf_u8_t hf_can_message_t::GetEffectiveDLC ( ) const

inlineconstexprnoexcept

Same as GetLength(); kept for source compatibility.

◆ GetFlags()

constexpr hf_u8_t hf_can_message_t::GetFlags ( ) const

inlineconstexprnoexcept

Flags packed as hf_can_flag bits.

◆ GetLength()

constexpr hf_u8_t hf_can_message_t::GetLength ( ) const

inlineconstexprnoexcept

Payload length in bytes.

◆ GetMaxDataLength()

constexpr hf_u8_t hf_can_message_t::GetMaxDataLength ( ) const

inlineconstexprnoexcept

Largest payload for the current frame kind (8 classic, 64 FD).

◆ IsValid()

constexpr bool hf_can_message_t::IsValid ( ) const

inlineconstexprnoexcept

Validate() == NONE.

◆ IsValidDLC()

constexpr bool hf_can_message_t::IsValidDLC ( hf_u8_t len ) const

inlineconstexprnoexcept

Same as IsValidLength(); kept for source compatibility.

◆ IsValidId()

constexpr bool hf_can_message_t::IsValidId ( ) const

inlineconstexprnoexcept

Validate message ID for current frame format.

◆ IsValidLength()

constexpr bool hf_can_message_t::IsValidLength ( hf_u8_t len ) const

inlineconstexprnoexcept

Is len a valid payload length for the current frame kind?

Parameters

len	Length in bytes (not a DLC code)

◆ SetClassicFrame()

bool hf_can_message_t::SetClassicFrame ( )

inlinenoexcept

Make this a classic frame (clears BRS / ESI).

Returns: false (nothing changed) when the current length is above 8.

◆ SetData()

bool hf_can_message_t::SetData	(	const hf_u8_t *	src,
		hf_u8_t	len
	)

inlinenoexcept

Copy len bytes into the payload and set the length.

Returns: false (nothing changed) when len is invalid for the frame kind, or src is null with a non-zero length.

◆ SetDataFrame()

void hf_can_message_t::SetDataFrame ( )

inlinenoexcept

Set data frame (not remote).

◆ SetDLC()

bool hf_can_message_t::SetDLC ( hf_u8_t len )

inlinenoexcept

Same as SetLength(); kept for source compatibility.

◆ SetDlcCode()

bool hf_can_message_t::SetDlcCode ( hf_u8_t code )

inlinenoexcept

Set the length from a 4-bit DLC code (as read from a controller).

Classic codes 9..15 give 8 bytes and set dlc_non_comp.

Returns: false when code is above 15.

◆ SetExtendedFrame()

void hf_can_message_t::SetExtendedFrame ( )

inlinenoexcept

Set extended frame format (29-bit ID).

◆ SetFdFrame()

void hf_can_message_t::SetFdFrame ( bool brs = false )

inlinenoexcept

Make this an FD frame.

Parameters

brs	Bit-rate switch for the data phase

◆ SetFlags()

bool hf_can_message_t::SetFlags ( hf_u8_t flags )

inlinenoexcept

Set the flags from hf_can_flag bits.

Returns: false (nothing changed) when flags has a bit outside hf_can_flag::ALL.

◆ SetLength()

bool hf_can_message_t::SetLength ( hf_u8_t len )

inlinenoexcept

Set the payload length in bytes.

Returns: false (and nothing changed) when len is above 8 on a classic frame, above 64, or an FD length without a DLC code.

◆ SetRemoteFrame()

void hf_can_message_t::SetRemoteFrame ( )

inlinenoexcept

Set remote frame.

◆ SetSelfReception()

void hf_can_message_t::SetSelfReception ( )

inlinenoexcept

Set self reception request.

◆ SetSingleShot()

void hf_can_message_t::SetSingleShot ( )

inlinenoexcept

Set single shot transmission.

◆ SetStandardFrame()

void hf_can_message_t::SetStandardFrame ( )

inlinenoexcept

Set standard frame format (11-bit ID).

◆ ToFrame()

template<typename Frame >

void hf_can_message_t::ToFrame ( Frame & out ) const

inlinenoexcept

Copy into a frame with members id, len, flags, data[64], ts_us.

ts_us receives the low 32 bits of timestamp_us. The whole 64-byte buffer is copied. is_ss, is_self, sequence_number and the other metadata have no place in the frame and are dropped.

◆ Validate()

constexpr hf_can_frame_error_t hf_can_message_t::Validate ( ) const

inlineconstexprnoexcept

Structural check drivers apply before transmit and after receive.

Same rules, in the same order, as vortex::contracts::CheckFrame.

Member Data Documentation

◆ controller_id

hf_u8_t hf_can_message_t::controller_id

Originating controller ID.

◆ data

hf_u8_t hf_can_message_t::data[HF_CAN_FD_MAX_LEN]

Payload (64 bytes, FD-sized)

◆ dlc

hf_u8_t hf_can_message_t::dlc

Payload length in BYTES (0..8 classic, 0..64 FD)

◆ dlc_non_comp

bool hf_can_message_t::dlc_non_comp

Received classic DLC code was 9..15 (length is 8)

◆ error_count

hf_u8_t hf_can_message_t::error_count

Associated error count.

◆ id

hf_u32_t hf_can_message_t::id

Message ID (11 or 29-bit)

◆ is_brs

bool hf_can_message_t::is_brs

Bit Rate Switching (FD only)

◆ is_canfd

bool hf_can_message_t::is_canfd

FD frame format (FDF)

◆ is_esi

bool hf_can_message_t::is_esi

Error State Indicator (FD only)

◆ is_extended

bool hf_can_message_t::is_extended

Extended ID flag (29-bit vs 11-bit)

◆ is_rtr

bool hf_can_message_t::is_rtr

Remote transmission request flag.

◆ is_self

bool hf_can_message_t::is_self

Self reception request flag.

◆ is_ss

bool hf_can_message_t::is_ss

Single shot flag (no retransmission)

◆ retry_count

hf_u8_t hf_can_message_t::retry_count

Number of transmission retries.

◆ sequence_number

hf_u32_t hf_can_message_t::sequence_number

Message sequence number.

◆ timestamp_us

hf_u64_t hf_can_message_t::timestamp_us

RX timestamp in microseconds (driver clock)

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

inc/base/BaseCan.h

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ hf_can_message_t()

Member Function Documentation

◆ FromFrame()

◆ GetDlcCode()

◆ GetEffectiveDLC()

◆ GetFlags()

◆ GetLength()

◆ GetMaxDataLength()

◆ IsValid()

◆ IsValidDLC()

◆ IsValidId()

◆ IsValidLength()

◆ SetClassicFrame()

◆ SetData()

◆ SetDataFrame()

◆ SetDLC()

◆ SetDlcCode()

◆ SetExtendedFrame()

◆ SetFdFrame()

◆ SetFlags()

◆ SetLength()

◆ SetRemoteFrame()

◆ SetSelfReception()

◆ SetSingleShot()

◆ SetStandardFrame()

◆ ToFrame()

◆ Validate()

Member Data Documentation

◆ controller_id

◆ data

◆ dlc

◆ dlc_non_comp

◆ error_count

◆ id

◆ is_brs

◆ is_canfd

◆ is_esi

◆ is_extended

◆ is_rtr

◆ is_self

◆ is_ss

◆ retry_count

◆ sequence_number

◆ timestamp_us