mirror of https://github.com/ArduPilot/ardupilot
94 lines
2.6 KiB
C++
94 lines
2.6 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Author: Oliver Walters / Currawong Engineering Pty Ltd
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*/
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#include "AP_PiccoloCAN_ECU.h"
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#if HAL_PICCOLO_CAN_ENABLE
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// Protocol files for the ECU
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#include <AP_PiccoloCAN/piccolo_protocol/ECUProtocol.h>
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#include <AP_PiccoloCAN/piccolo_protocol/ECUPackets.h>
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/* Piccolo Glue Logic
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* The following functions are required by the auto-generated protogen code.
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*/
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//! \return the packet data pointer from the packet
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uint8_t* getECUPacketData(void* pkt)
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{
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AP_HAL::CANFrame* frame = (AP_HAL::CANFrame*) pkt;
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return (uint8_t*) frame->data;
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}
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//! \return the packet data pointer from the packet, const
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const uint8_t* getECUPacketDataConst(const void* pkt)
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{
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AP_HAL::CANFrame* frame = (AP_HAL::CANFrame*) pkt;
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return (const uint8_t*) frame->data;
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}
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//! Complete a packet after the data have been encoded
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void finishECUPacket(void* pkt, int size, uint32_t packetID)
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{
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AP_HAL::CANFrame* frame = (AP_HAL::CANFrame*) pkt;
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if (size > AP_HAL::CANFrame::MaxDataLen) {
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size = AP_HAL::CANFrame::MaxDataLen;
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}
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frame->dlc = size;
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/* Encode the CAN ID
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* 0x09mmdddd
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* - 07 = ECU_IN (to and ECU) group ID
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* - mm = Message ID
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* - dd = Device ID
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*
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* Note: The Device ID (lower 16 bits of the frame ID) will have to be inserted later
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*/
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uint32_t id = (((uint8_t) PiccoloCAN_MessageGroup::ECU_IN) << 24) | // CAN Group ID
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((packetID & 0xFF) << 16); // Message ID
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// Extended frame format
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id |= AP_HAL::CANFrame::FlagEFF;
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frame->id = id;
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}
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//! \return the size of a packet from the packet header
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int getECUPacketSize(const void* pkt)
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{
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AP_HAL::CANFrame* frame = (AP_HAL::CANFrame*) pkt;
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return (int) frame->dlc;
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}
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//! \return the ID of a packet from the packet header
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uint32_t getECUPacketID(const void* pkt)
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{
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AP_HAL::CANFrame* frame = (AP_HAL::CANFrame*) pkt;
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// Extract the message ID field from the 29-bit ID
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return (uint32_t) ((frame->id >> 16) & 0xFF);
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}
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#endif // HAL_PICCOLO_CAN_ENABLE
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