From 091f9921fbd95488b11fbaf0a5542a6431fa65d2 Mon Sep 17 00:00:00 2001
From: Federico Mandelli <federico.mandelli@skywarder.eu>
Date: Thu, 20 Jul 2023 08:24:00 +0000
Subject: [PATCH] [CanProtocol] Created encode/decode functions for
PressureData and TemperatureData, added enqueueSimplePacket() to send a
packet with a manually crafted payload
---
.../canbus/CanProtocol/CanProtocol.cpp | 10 ++-
.../drivers/canbus/CanProtocol/CanProtocol.h | 9 +++
.../canbus/CanProtocol/CanProtocolData.h | 23 -------
.../canbus/CanProtocol/CanProtocolTypes.h | 69 ++++++++++++++++---
4 files changed, 79 insertions(+), 32 deletions(-)
diff --git a/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp b/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp
index 4c1501948..c2714aedf 100644
--- a/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp
+++ b/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp
@@ -162,6 +162,14 @@ void CanProtocol::sendMessage(const CanMessage& msg)
bool CanProtocol::enqueueEvent(uint8_t priority, uint8_t primaryType,
uint8_t source, uint8_t destination,
uint8_t secondaryType)
+{
+ return enqueueSimplePacket(priority, primaryType, source, destination,
+ secondaryType, 0xFF);
+}
+
+bool CanProtocol::enqueueSimplePacket(uint8_t priority, uint8_t primaryType,
+ uint8_t source, uint8_t destination,
+ uint8_t secondaryType, uint64_t payload)
{
if (priority > 0xF || primaryType > 0x3F || source > 0xF ||
destination > 0xF || secondaryType > 0xF)
@@ -171,7 +179,7 @@ bool CanProtocol::enqueueEvent(uint8_t priority, uint8_t primaryType,
// Length set to a minumum of 1 even if there is no payload
msg.length = 1;
- msg.payload[0] = 0xFF;
+ msg.payload[0] = payload;
// clang-format off
msg.id = priority << static_cast<uint32_t>(CanProtocolShiftInformation::PRIORITY);
diff --git a/src/shared/drivers/canbus/CanProtocol/CanProtocol.h b/src/shared/drivers/canbus/CanProtocol/CanProtocol.h
index fc79de55e..3df511ecd 100644
--- a/src/shared/drivers/canbus/CanProtocol/CanProtocol.h
+++ b/src/shared/drivers/canbus/CanProtocol/CanProtocol.h
@@ -100,6 +100,15 @@ public:
bool enqueueEvent(uint8_t priority, uint8_t primaryType, uint8_t source,
uint8_t destination, uint8_t secondaryType);
+ /**
+ * @brief Non-blocking send function for a simple packet with a payload of 1
+ * can packet, useful to send generic events/commands with a short payload
+ * without using an encoding/decoding function.
+ */
+ bool enqueueSimplePacket(uint8_t priority, uint8_t primaryType,
+ uint8_t source, uint8_t destination,
+ uint8_t secondaryType, uint64_t payload);
+
/**
* @brief Non-blocking send function for a generic data type.
*
diff --git a/src/shared/drivers/canbus/CanProtocol/CanProtocolData.h b/src/shared/drivers/canbus/CanProtocol/CanProtocolData.h
index b73b40ca8..463687c76 100644
--- a/src/shared/drivers/canbus/CanProtocol/CanProtocolData.h
+++ b/src/shared/drivers/canbus/CanProtocol/CanProtocolData.h
@@ -30,29 +30,6 @@ namespace Boardcore
namespace Canbus
{
-/**
- * The CanProtocol allows to transmit arbitrarily sized messages over the CanBus
- * overcoming the 8 byte limitation of each single packet.
- *
- * Our CanProtocol uses the extended can packet, the 29 bits id is divided such
- * as:
- * - Priority 4 bit \
- * - Primary type 6 bit |
- * - Source 4 bit | 22 bits - Message informations
- * - Destination 4 bit |
- * - Secondary type 4 bit /
- * - First packet flag 1 bit \ 7 bits - Sequential informations
- * - Remaining packets 6 bit /
- * shiftNameOfField the number of shift needed to reach that field
- *
- * The id is split into 2 parts:
- * - Message information: Common to every packet of a given message
- * - Sequential information: Used to distinguish between packets
- *
- * The sender splits into multiple packets a message that is then recomposed on
- * the receiver end. The message informations are encoded into the packets id,
- * therefore they have an effect on packets priorities.
- */
/**
* The CanProtocol allows to transmit arbitrarily sized messages over the CanBus
* overcoming the 8 byte limitation of each single packet.
diff --git a/src/shared/drivers/canbus/CanProtocol/CanProtocolTypes.h b/src/shared/drivers/canbus/CanProtocol/CanProtocolTypes.h
index 3d4cf55c4..42c15d3f4 100644
--- a/src/shared/drivers/canbus/CanProtocol/CanProtocolTypes.h
+++ b/src/shared/drivers/canbus/CanProtocol/CanProtocolTypes.h
@@ -22,6 +22,7 @@
#pragma once
+#include <sensors/SensorData.h>
#include <sensors/analog/Pitot/PitotData.h>
#include <cstring>
@@ -35,15 +36,42 @@ inline Canbus::CanMessage toCanMessage(const PitotData& data)
{
Canbus::CanMessage message;
- uint32_t deltaP, airspeed;
- memcpy(&deltaP, &(data.deltaP), sizeof(deltaP));
+ uint32_t airspeed;
memcpy(&airspeed, &(data.airspeed), sizeof(airspeed));
message.id = -1;
- message.length = 2;
+ message.length = 1;
message.payload[0] = (data.timestamp & ~0x3) << 30;
- message.payload[0] |= deltaP;
- message.payload[1] = airspeed;
+ message.payload[0] |= airspeed;
+
+ return message;
+}
+
+inline Canbus::CanMessage toCanMessage(const PressureData& data)
+{
+ Canbus::CanMessage message;
+
+ uint32_t pressure;
+ memcpy(&pressure, &(data.pressure), sizeof(pressure));
+
+ message.id = -1;
+ message.length = 1;
+ message.payload[0] = (data.pressureTimestamp & ~0x3) << 30;
+ message.payload[0] |= pressure;
+
+ return message;
+}
+inline Canbus::CanMessage toCanMessage(const TemperatureData& data)
+{
+ Canbus::CanMessage message;
+
+ uint32_t temperature;
+ memcpy(&temperature, &(data.temperature), sizeof(temperature));
+
+ message.id = -1;
+ message.length = 1;
+ message.payload[0] = (data.temperatureTimestamp & ~0x3) << 30;
+ message.payload[0] |= temperature;
return message;
}
@@ -52,14 +80,39 @@ inline PitotData pitotDataFromCanMessage(const Canbus::CanMessage& msg)
{
PitotData data;
- uint32_t deltaP = msg.payload[0];
- uint32_t airspeed = msg.payload[1];
- memcpy(&(data.deltaP), &deltaP, sizeof(data.deltaP));
+ uint32_t airspeed = msg.payload[0];
memcpy(&(data.airspeed), &airspeed, sizeof(data.airspeed));
+ data.deltaP = 0.0; // put to 0 to avoid undefined behaviour
+
data.timestamp = (msg.payload[0] >> 30) & ~0x3;
return data;
}
+inline PressureData pressureDataFromCanMessage(const Canbus::CanMessage& msg)
+{
+ PressureData data;
+
+ uint32_t pressure = msg.payload[0];
+ memcpy(&(data.pressure), &pressure, sizeof(data.pressure));
+
+ data.pressureTimestamp = (msg.payload[0] >> 30) & ~0x3;
+
+ return data;
+}
+
+inline TemperatureData temperatureDataFromCanMessage(
+ const Canbus::CanMessage& msg)
+{
+ TemperatureData data;
+
+ uint32_t temperature = msg.payload[0];
+ memcpy(&(data.temperature), &temperature, sizeof(data.temperature));
+
+ data.temperatureTimestamp = (msg.payload[0] >> 30) & ~0x3;
+
+ return data;
+}
+
} // namespace Boardcore
--
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