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