X-Git-Url: http://rtime.felk.cvut.cz/gitweb/can-benchmark.git/blobdiff_plain/85663f7d1d874b065a93fc451bacd43bca9fa73c..467e092776691683b297e1328281cded11717298:/latester/latester.c

diff --git a/latester/latester.c b/latester/latester.c
index a5a7c47..0906760 100644
--- a/latester/latester.c
+++ b/latester/latester.c
@@ -1,6 +1,6 @@
 /**************************************************************************/
 /* CAN latency tester                                                     */
-/* Copyright (C) 2010, 2011, 2012 Michal Sojka, DCE FEE CTU Prague        */
+/* Copyright (C) 2010, 2011, 2012, 2013 Michal Sojka, DCE FEE CTU Prague  */
 /* License: GPLv2     	     	    	    				  */
 /**************************************************************************/
 
@@ -202,9 +202,9 @@ uint32_t calc_bitmap_crc(uint32_t *bitmap, unsigned start, unsigned end)
     crc_t crc = 0;
     crc = crc_update(crc, bitmap[0] << start, 32 - start);
     crc = crc_update(crc, bitmap[1], 32);
-    crc = crc_update(crc, bitmap[2], end - 64 > 32 ? 32 : end - 64);
+    crc = crc_update(crc, bitmap[2], end - 64 > 32 ? 32 : end - 64); /* FIXME: This seems to be broken for end < 64 */
     crc = crc_update(crc, bitmap[3], end > 96 ? end - 96 : 0);
-    return (uint32_t)htons(crc) << 17;
+    return (uint32_t)htons(crc << 17);
 }
 
 void write_crc_to_bitmap(uint32_t crc, uint32_t *bitmap, struct can_frame *frame)
@@ -237,6 +237,11 @@ unsigned calc_stuff_bits(struct can_frame *frame) {
 /* 	printf("Frame: %s\n", received); */
 	
 	if (frame->can_id & CAN_EFF_FLAG) {
+		// bit 31                              0
+		// [0] |...........................sBBBB| s = SOF, B = Base ID (11 bits)
+		// [1] |BBBBBBBSIEEEEEEEEEEEEEEEEEER10DLC4| S = SRR, I = IDE, E = Extended ID (18 bits), DLC4 = DLC
+		// [2] |00000000111111112222222233333333| Data bytes, MSB first
+		// [3] |44444444555555556666666677777777|
 		bitmap[0] =
 			((frame->can_id & CAN_EFF_MASK) >> 25);
 		bitmap[1] =
@@ -246,18 +251,20 @@ unsigned calc_stuff_bits(struct can_frame *frame) {
 			(!!(frame->can_id & CAN_RTR_FLAG)) << 6		|
 			0 << 4						|
 			frame->can_dlc & 0xf;
-		bitmap[2] = htonl(((uint32_t*)frame->data)[0]);
-		bitmap[3] = htonl(((uint32_t*)frame->data)[1]);
+		memcpy(&bitmap[2], &frame->data, frame->can_dlc);
 		start = 27;
 		end = 64 + 8*frame->can_dlc;
 	} else {
+		// bit 31                              0
+		// [0] |.............sIIIIIIIIIIIRE0DLC4| s = SOF, I = ID (11 bits), R = RTR, E = IDE, DLC4 = DLC
+		// [1] |00000000111111112222222233333333| Data bytes, MSB first
+		// [2] |44444444555555556666666677777777|
 		bitmap[0] =
 			(frame->can_id << 7) |
 			(!!(frame->can_id & CAN_RTR_FLAG)) << 6 |
 			0 << 4 					|
 			frame->can_dlc & 0xf;
-		bitmap[1] = htonl(((uint32_t*)frame->data)[0]);
-		bitmap[2] = htonl(((uint32_t*)frame->data)[1]);
+		memcpy(&bitmap[1], &frame->data, frame->can_dlc);
 		start = 13;
 		end = 32 + 8*frame->can_dlc;
 	}