From ecc9a494d32b2e252993f3e129747316f602db7f Mon Sep 17 00:00:00 2001
From: Matteo Pignataro <matteo.pignataro@skywarder.eu>
Date: Fri, 1 Sep 2023 19:46:09 +0200
Subject: [PATCH] [CanProtocolTypes] Added voltage sensor
---
.../canbus/CanProtocol/CanProtocolTypes.h | 29 +++++++++++++++++++
1 file changed, 29 insertions(+)
diff --git a/src/shared/drivers/canbus/CanProtocol/CanProtocolTypes.h b/src/shared/drivers/canbus/CanProtocol/CanProtocolTypes.h
index 0a171082e..6a5c80d7e 100644
--- a/src/shared/drivers/canbus/CanProtocol/CanProtocolTypes.h
+++ b/src/shared/drivers/canbus/CanProtocol/CanProtocolTypes.h
@@ -24,6 +24,7 @@
#include <actuators/Servo/ServoData.h>
#include <sensors/SensorData.h>
+#include <sensors/analog/BatteryVoltageSensorData.h>
#include <sensors/analog/Pitot/PitotData.h>
#include <cstring>
@@ -111,6 +112,21 @@ inline Canbus::CanMessage toCanMessage(const ServoData& data)
return message;
}
+inline Canbus::CanMessage toCanMessage(const BatteryVoltageSensorData& data)
+{
+ Canbus::CanMessage message;
+
+ uint32_t voltage;
+ memcpy(&voltage, &(data.batVoltage), 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;
@@ -174,4 +190,17 @@ inline ServoData servoDataFromCanMessage(const Canbus::CanMessage& msg)
return data;
}
+inline BatteryVoltageSensorData voltageDataFromCanMessage(
+ const Canbus::CanMessage& msg)
+{
+ BatteryVoltageSensorData data;
+
+ uint32_t voltage = msg.payload[0];
+ memcpy(&(data.batVoltage), &voltage, sizeof(data.batVoltage));
+
+ data.voltageTimestamp = (msg.payload[0] >> 30) & ~0x3;
+
+ return data;
+}
+
} // namespace Boardcore
--
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