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| <section id="reading-can-messages"> |
| <h1>Reading CAN Messages<a class="headerlink" href="#reading-can-messages" title="Permalink to this heading"></a></h1> |
| <p>NuttX’s CAN driver’s default behavior is to return multiple messages for single |
| <code class="docutils literal notranslate"><span class="pre">read</span></code> operation, if they fit. If your code (especially if migrated from |
| SocketCAN) doesn’t count with it, then you will most likely encounter seemingly |
| lost frames. You have two options: Either implement your code to support this |
| behavior or you can switch this behavior off.</p> |
| <p>The following example shows how you can handle multiple messages:</p> |
| <div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="cp">#define BUFLEN 128 </span><span class="cm">/* Some arbitrary size for the CAN RX buffer */</span> |
| |
| <span class="w"> </span><span class="n">FAR</span><span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="nc">can_msg_s</span><span class="w"> </span><span class="o">*</span><span class="n">msg</span><span class="p">;</span> |
| <span class="w"> </span><span class="kt">char</span><span class="w"> </span><span class="n">rxbuffer</span><span class="p">[</span><span class="n">BUFLEN</span><span class="p">];</span> |
| <span class="w"> </span><span class="kt">ssize_t</span><span class="w"> </span><span class="n">nread</span><span class="p">;</span> |
| <span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">nbytes</span><span class="p">;</span> |
| <span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">msglen</span> |
| <span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">i</span><span class="p">;</span> |
| |
| <span class="w"> </span><span class="cm">/* Read messages into the RX buffer */</span> |
| |
| <span class="w"> </span><span class="n">nread</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">read</span><span class="p">(</span><span class="n">fd</span><span class="p">,</span><span class="w"> </span><span class="n">rxbuffer</span><span class="p">,</span><span class="w"> </span><span class="n">BUFLEN</span><span class="p">);</span> |
| |
| <span class="w"> </span><span class="cm">/* Check for read errors */</span> |
| <span class="w"> </span><span class="p">...</span> |
| |
| <span class="w"> </span><span class="cm">/* Process each message in the RX buffer */</span> |
| |
| <span class="w"> </span><span class="k">for</span><span class="w"> </span><span class="p">(</span><span class="n">i</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">0</span><span class="p">;</span><span class="w"> </span><span class="n">i</span><span class="w"> </span><span class="o"><=</span><span class="w"> </span><span class="n">nread</span><span class="w"> </span><span class="o">-</span><span class="w"> </span><span class="n">CAN_MSGLEN</span><span class="p">(</span><span class="mi">0</span><span class="p">);</span><span class="w"> </span><span class="n">i</span><span class="w"> </span><span class="o">+=</span><span class="w"> </span><span class="n">msglen</span><span class="p">)</span> |
| <span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="cm">/* Get the next message from the RX buffer */</span> |
| |
| <span class="w"> </span><span class="n">msg</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="p">(</span><span class="n">FAR</span><span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="nc">can_msg_s</span><span class="w"> </span><span class="o">*</span><span class="p">)</span><span class="o">&</span><span class="n">rxbuffer</span><span class="p">[</span><span class="n">i</span><span class="p">];</span> |
| <span class="w"> </span><span class="n">nbytes</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">can_dlc2bytes</span><span class="p">(</span><span class="n">msg</span><span class="o">-></span><span class="n">cm_hdr</span><span class="p">.</span><span class="n">ch_dlc</span><span class="p">);</span> |
| <span class="w"> </span><span class="n">msglen</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">CAN_MSGLEN</span><span class="p">(</span><span class="n">nbytes</span><span class="p">);</span> |
| |
| <span class="w"> </span><span class="n">DEBUGASSERT</span><span class="p">(</span><span class="n">i</span><span class="w"> </span><span class="o">+</span><span class="w"> </span><span class="n">msglen</span><span class="w"> </span><span class="o"><</span><span class="w"> </span><span class="n">BUFLEN</span><span class="p">);</span> |
| |
| <span class="w"> </span><span class="cm">/* Process the next CAN message */</span> |
| <span class="w"> </span><span class="p">...</span> |
| <span class="w"> </span><span class="p">}</span> |
| </pre></div> |
| </div> |
| <p>By looping over the read buffer and parsing out each CAN message, it is |
| possible to avoid losing messages that are stored contiguously in the input |
| buffer.</p> |
| <p>The alternative is to use message alignment functionality. By setting the |
| message alignment to zero the driver will always return only a single message |
| for a single <code class="docutils literal notranslate"><span class="pre">read</span></code> operation:</p> |
| <div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="kt">unsigned</span><span class="w"> </span><span class="n">msgalign</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">0</span><span class="p">;</span> |
| <span class="n">ioctl</span><span class="p">(</span><span class="n">fd</span><span class="p">,</span><span class="w"> </span><span class="n">CANIOC_SET_MSGALIGN</span><span class="p">,</span><span class="w"> </span><span class="o">&</span><span class="n">msgalign</span><span class="p">);</span> |
| </pre></div> |
| </div> |
| <p>The message alignment functionality can be used to tweak the behavior event |
| further. It in general controls alignment of messages in the buffers passed to |
| both <code class="docutils literal notranslate"><span class="pre">read</span></code> and <code class="docutils literal notranslate"><span class="pre">write</span></code> operations. While the default behavior of packing as |
| many messages to the buffer as possible provides the most efficient exchange, |
| you might also want and easier usage where you pass array of messages. This can |
| be ensured with setting message align size to exactly size of the message:</p> |
| <div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="kt">unsigned</span><span class="w"> </span><span class="n">msgsiz</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="k">sizeof</span><span class="p">(</span><span class="k">struct</span><span class="w"> </span><span class="nc">can_msg_s</span><span class="p">);</span> |
| <span class="k">struct</span><span class="w"> </span><span class="nc">can_msg_s</span><span class="w"> </span><span class="n">msgs</span><span class="p">[</span><span class="mi">5</span><span class="p">];</span> |
| <span class="kt">ssize_t</span><span class="w"> </span><span class="n">nread</span><span class="p">;</span> |
| <span class="kt">int</span><span class="w"> </span><span class="n">i</span><span class="p">;</span> |
| |
| <span class="cm">/* Set message alignment to message size. */</span> |
| |
| <span class="n">ioctl</span><span class="p">(</span><span class="n">fd</span><span class="p">,</span><span class="w"> </span><span class="n">CANIOC_SET_MSGALIGN</span><span class="p">,</span><span class="w"> </span><span class="o">&</span><span class="n">msgsiz</span><span class="p">);</span> |
| |
| <span class="cm">/* Read messages to the array. */</span> |
| |
| <span class="n">nread</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">read</span><span class="p">(</span><span class="n">fd</span><span class="p">,</span><span class="w"> </span><span class="n">msgs</span><span class="p">,</span><span class="w"> </span><span class="k">sizeof</span><span class="p">(</span><span class="n">msgs</span><span class="p">));</span> |
| |
| <span class="cm">/* Iterate over read messages */</span> |
| <span class="k">for</span><span class="w"> </span><span class="p">(</span><span class="n">i</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">0</span><span class="p">;</span><span class="w"> </span><span class="n">i</span><span class="w"> </span><span class="o"><</span><span class="w"> </span><span class="n">nread</span><span class="w"> </span><span class="o">/</span><span class="w"> </span><span class="n">msgsiz</span><span class="p">;</span><span class="w"> </span><span class="n">i</span><span class="o">--</span><span class="p">)</span> |
| <span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="cm">/* Process CAN message msgs[i] */</span> |
| <span class="w"> </span><span class="p">}</span> |
| </pre></div> |
| </div> |
| <p>The same alignment rule applies to the <code class="docutils literal notranslate"><span class="pre">write</span></code> as well, so with alignment like |
| it is in the example you write array of message and not message packed right |
| after each other.</p> |
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