From c4f19d8ad82e93db8a7fd3b3d14692d8e4b2c8d0 Mon Sep 17 00:00:00 2001
From: Federico Mandelli <federico.mandelli@skywarder.com>
Date: Sun, 10 Jul 2022 19:20:03 +0200
Subject: [PATCH] [can-dev] Better description of the protocol using enum
---
src/shared/drivers/canbus/CanProtocol.h | 79 ++++++++++++++-----------
1 file changed, 46 insertions(+), 33 deletions(-)
diff --git a/src/shared/drivers/canbus/CanProtocol.h b/src/shared/drivers/canbus/CanProtocol.h
index ae2384a0b..5d6792581 100644
--- a/src/shared/drivers/canbus/CanProtocol.h
+++ b/src/shared/drivers/canbus/CanProtocol.h
@@ -31,24 +31,35 @@
#define NPACKET 3 // equals the number of boards in the can system
/**
- * @brief Struct that contains how the canId is composed
+ * @brief enum that contains how the canId is composed
*/
-struct CanIDMask
-{
- uint32_t priority = 0x1E000000;
- uint32_t type = 0x1F80000;
- uint32_t source = 0x78000;
- uint32_t destination = 0x7800;
- uint32_t idType = 0x780;
- uint32_t firstPacket = 0x40;
- uint32_t leftToSend = 0x3F;
-} idMask;
namespace Boardcore
{
namespace Canbus
{
+enum IDMask
+{
+ priority = 0x3C0000,
+ shiftPriority = 18, // number of bit before priority
+ type = 0x3F000,
+ shiftType = 12,
+ source = 0xF00,
+ shiftSource = 8,
+ destination = 0xF0,
+ shiftDestination = 4,
+ idType = 0xF,
+ shiftIdType = 0
+};
+enum SequentialInformation
+{
+ firstPacket = 0x40,
+ shiftFirstPacket = 6,
+ leftToSend = 0x3F,
+ shiftLeftToSend = 0,
+ shiftSequentialInfo = 7
+};
/**
* @brief Generic struct that contains a logical can packet
* i.e. 1 accelerometer packet 3*4byte (acc: x,y,z)+timestamp, will be 4
@@ -128,8 +139,8 @@ public:
uint8_t tempLen = toSend.len - 1;
uint32_t tempId = toSend.canId;
packet.ext = true;
- packet.id = (tempId << 7) | idMask.firstPacket |
- (63 - (tempLen & idMask.leftToSend));
+ packet.id = (tempId << shiftSequentialInfo) | firstPacket |
+ (63 - (tempLen & leftToSend));
packet.length = byteForInt(toSend.payload[0]);
for (int k = 0; k < packet.length; k++)
{
@@ -140,8 +151,8 @@ public:
for (int i = 1; i < toSend.len; i++)
{
tempId = toSend.canId;
- packet.id = (tempId << 7) | !(idMask.firstPacket) |
- (63 - (tempLen & idMask.leftToSend));
+ packet.id = (tempId << shiftSequentialInfo) | !(firstPacket) |
+ (63 - (tempLen & leftToSend));
packet.length = byteForInt(toSend.payload[i]);
for (int k = 0; k < packet.length; k++)
{
@@ -163,7 +174,8 @@ protected:
// order the whole packet will be lost once we receive
// a new first packet without warning canhandler
{
- uint32_t sourceId;
+ uint32_t idNoSeq;
+ uint8_t sourceId;
CanPacket packet;
// Infinite loop
while (true)
@@ -172,29 +184,29 @@ protected:
if (!can->getRXBuffer().isEmpty())
{
- packet = can->getRXBuffer().pop().packet;
- sourceId = (packet.id & idMask.source) >> 15;
+ packet = can->getRXBuffer().pop().packet;
+ idNoSeq = packet.id >>
+ shiftSequentialInfo; // discard the sequence number
+ sourceId = (idNoSeq & source) >> shiftSource;
if (sourceId >= 0 &&
sourceId < NPACKET) // check for maximum size
{
+
if (data[sourceId].canId == -1 ||
- (((data[sourceId].canId << 7) & idMask.source) >> 15) ==
+ ((data[sourceId].canId & source) >> shiftSource) ==
sourceId)
{
- uint32_t leftToSend =
- 63 - (packet.id & idMask.leftToSend);
+ uint8_t left = 63 - (packet.id & leftToSend);
- if ((packet.id & idMask.firstPacket) >>
- 6) // it is a first
- // packet of a data;
+ if ((packet.id & firstPacket) >>
+ shiftFirstPacket) // it is a first
+ // packet of a data;
{
-
- data[sourceId].len = leftToSend + 1;
- data[sourceId].canId =
- packet.id >> 7; // discard the sequence number
+ data[sourceId].len = left + 1;
+ data[sourceId].canId = idNoSeq;
}
if ((data[sourceId].len - (data[sourceId].nRec + 1)) ==
- leftToSend)
+ left)
{
uint64_t tempPayload = 0;
@@ -204,13 +216,14 @@ protected:
tempPayload =
tempPayload | (tempData << (f * 8));
}
- if (data[sourceId].len - leftToSend - 1 >= 0 &&
- data[sourceId].len - leftToSend - 1 <
+
+ if (data[sourceId].len - left - 1 >= 0 &&
+ data[sourceId].len - left - 1 <
32) // check for index
{
- data[sourceId].payload[data[sourceId].len -
- leftToSend - 1] =
+ data[sourceId]
+ .payload[data[sourceId].len - left - 1] =
tempPayload;
data[sourceId].nRec++;
}
--
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