Line data    Source code

       1             : /*
       2             :  * This file is free software: you can redistribute it and/or modify it
       3             :  * under the terms of the GNU General Public License as published by the
       4             :  * Free Software Foundation, either version 3 of the License, or
       5             :  * (at your option) any later version.
       6             :  *
       7             :  * This file is distributed in the hope that it will be useful, but
       8             :  * WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
      10             :  * See the GNU General Public License for more details.
      11             :  *
      12             :  * You should have received a copy of the GNU General Public License along
      13             :  * with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  *
      15             :  * Author: Oliver Walters / Currawong Engineering Pty Ltd
      16             :  */
      17             : 
      18             : #include "AP_PiccoloCAN_config.h"
      19             : 
      20             : #if AP_PICCOLOCAN_ENABLED
      21             : 
      22             : #include "AP_PiccoloCAN_ECU.h"
      23             : 
      24             : // Protocol files for the ECU
      25             : #include <AP_PiccoloCAN/piccolo_protocol/ECUProtocol.h>
      26             : #include <AP_PiccoloCAN/piccolo_protocol/ECUPackets.h>
      27             : 
      28             : 
      29             : /* Piccolo Glue Logic
      30             :  * The following functions are required by the auto-generated protogen code.
      31             :  */
      32             : 
      33             : 
      34             : //! \return the packet data pointer from the packet
      35           0 : uint8_t* getECUPacketData(void* pkt)
      36             : {
      37           0 :     AP_HAL::CANFrame* frame = (AP_HAL::CANFrame*) pkt;
      38             : 
      39           0 :     return (uint8_t*) frame->data;
      40             : }
      41             : 
      42             : //! \return the packet data pointer from the packet, const
      43           0 : const uint8_t* getECUPacketDataConst(const void* pkt)
      44             : {
      45           0 :     AP_HAL::CANFrame* frame = (AP_HAL::CANFrame*) pkt;
      46             : 
      47           0 :     return (const uint8_t*) frame->data;
      48             : }
      49             : 
      50             : //! Complete a packet after the data have been encoded
      51           0 : void finishECUPacket(void* pkt, int size, uint32_t packetID)
      52             : {
      53           0 :     AP_HAL::CANFrame* frame = (AP_HAL::CANFrame*) pkt;
      54             : 
      55           0 :     if (size > AP_HAL::CANFrame::MaxDataLen) {
      56           0 :         size = AP_HAL::CANFrame::MaxDataLen;
      57             :     }
      58             : 
      59           0 :     frame->dlc = size;
      60             : 
      61             :     /* Encode the CAN ID
      62             :      * 0x09mmdddd
      63             :      * - 07 = ECU_IN (to and ECU) group ID
      64             :      * - mm = Message ID
      65             :      * - dd = Device ID
      66             :      *
      67             :      * Note: The Device ID (lower 16 bits of the frame ID) will have to be inserted later
      68             :      */
      69             : 
      70           0 :     uint32_t id = (((uint8_t) PiccoloCAN_MessageGroup::ECU_IN) << 24) |       // CAN Group ID
      71           0 :                   ((packetID & 0xFF) << 16);                                       // Message ID
      72             : 
      73             :     // Extended frame format
      74           0 :     id |= AP_HAL::CANFrame::FlagEFF;
      75             : 
      76           0 :     frame->id = id;
      77           0 : }
      78             : 
      79             : //! \return the size of a packet from the packet header
      80           0 : int getECUPacketSize(const void* pkt)
      81             : {
      82           0 :     AP_HAL::CANFrame* frame = (AP_HAL::CANFrame*) pkt;
      83             : 
      84           0 :     return (int) frame->dlc;
      85             : }
      86             : 
      87             : //! \return the ID of a packet from the packet header
      88           0 : uint32_t getECUPacketID(const void* pkt)
      89             : {
      90           0 :     AP_HAL::CANFrame* frame = (AP_HAL::CANFrame*) pkt;
      91             : 
      92             :     // Extract the message ID field from the 29-bit ID
      93           0 :     return (uint32_t) ((frame->id >> 16) & 0xFF);
      94             : }
      95             : 
      96             : #endif // AP_PICCOLOCAN_ENABLED