From 86553ba281bf7568c4b62c0771887a1f257f4aa5 Mon Sep 17 00:00:00 2001
From: Davide Mor <davide.mor@skywarder.eu>
Date: Fri, 5 Jul 2024 23:23:09 +0200
Subject: [PATCH] [CanProtocol] Added VoltageData to the supported types, and
renamed old BatteryVoltageSensorData
---
.../canbus/CanProtocol/CanProtocolTypes.h | 29 ++++++++++++++++++-
1 file changed, 28 insertions(+), 1 deletion(-)
diff --git a/src/shared/drivers/canbus/CanProtocol/CanProtocolTypes.h b/src/shared/drivers/canbus/CanProtocol/CanProtocolTypes.h
index 6a5c80d7e..cd867af34 100644
--- a/src/shared/drivers/canbus/CanProtocol/CanProtocolTypes.h
+++ b/src/shared/drivers/canbus/CanProtocol/CanProtocolTypes.h
@@ -127,6 +127,21 @@ inline Canbus::CanMessage toCanMessage(const BatteryVoltageSensorData& data)
return message;
}
+inline Canbus::CanMessage toCanMessage(const VoltageData& data)
+{
+ Canbus::CanMessage message;
+
+ uint32_t voltage;
+ memcpy(&voltage, &(data.voltage), sizeof(voltage));
+
+ message.id = -1;
+ message.length = 1;
+ message.payload[0] = (data.voltageTimestamp & ~0x3) << 30;
+ message.payload[0] |= voltage;
+
+ return message;
+}
+
inline PitotData pitotDataFromCanMessage(const Canbus::CanMessage& msg)
{
PitotData data;
@@ -190,7 +205,7 @@ inline ServoData servoDataFromCanMessage(const Canbus::CanMessage& msg)
return data;
}
-inline BatteryVoltageSensorData voltageDataFromCanMessage(
+inline BatteryVoltageSensorData batteryVoltageDataFromCanMessage(
const Canbus::CanMessage& msg)
{
BatteryVoltageSensorData data;
@@ -203,4 +218,16 @@ inline BatteryVoltageSensorData voltageDataFromCanMessage(
return data;
}
+inline VoltageData voltageDataFromCanMessage(const Canbus::CanMessage& msg)
+{
+ VoltageData data;
+
+ uint32_t voltage = msg.payload[0];
+ memcpy(&(data.voltage), &voltage, sizeof(data.voltage));
+
+ data.voltageTimestamp = (msg.payload[0] >> 30) & ~0x3;
+
+ return data;
+}
+
} // namespace Boardcore
--
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