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Ruixiang Du
2021-07-08 16:22:41 +08:00
parent 2a67bbceb4
commit d2f210e6c1
56 changed files with 777 additions and 2259 deletions
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178
src/protocol_v1/scout_can_parser_v1.c Normal file
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/*
* scout_can_parser.c
*
* Created on: Aug 31, 2019 04:25
* Description:
*
* Copyright (c) 2019 Ruixiang Du (rdu)
*/
#include "ugv_sdk/protocol_v1/scout_can_parser_v1.h"
#include "string.h"
static void EncodeScoutMotionControlMsgToCAN(const MotionControlMessage *msg, struct can_frame *tx_frame);
static void EncodeScoutLightControlMsgToCAN(const LightControlMessage *msg, struct can_frame *tx_frame);
bool DecodeScoutMsgFromCAN(const struct can_frame *rx_frame, ScoutMessage *msg)
{
msg->type = ScoutMsgNone;
switch (rx_frame->can_id)
{
// in the current implementation, both MsgType and can_frame include 8 * uint8_t
case CAN_MSG_MOTION_CONTROL_STATUS_ID:
{
msg->type = ScoutMotionStatusMsg;
// msg->motion_status_msg.id = CAN_MSG_MOTION_CONTROL_STATUS_ID;
memcpy(msg->body.motion_status_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_LIGHT_CONTROL_STATUS_ID:
{
msg->type = ScoutLightStatusMsg;
// msg->light_status_msg.id = CAN_MSG_LIGHT_CONTROL_STATUS_ID;
memcpy(msg->body.light_status_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_SYSTEM_STATUS_STATUS_ID:
{
msg->type = ScoutSystemStatusMsg;
// msg->system_status_msg.id = CAN_MSG_SYSTEM_STATUS_STATUS_ID;
memcpy(msg->body.system_status_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_MOTOR1_DRIVER_STATUS_ID:
{
msg->type = ScoutMotorDriverStatusMsg;
// msg->motor_driver_status_msg.id = CAN_MSG_MOTOR1_DRIVER_STATUS_ID;
msg->body.motor_driver_status_msg.motor_id = SCOUT_MOTOR1_ID;
memcpy(msg->body.motor_driver_status_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_MOTOR2_DRIVER_STATUS_ID:
{
msg->type = ScoutMotorDriverStatusMsg;
// msg->motor_driver_status_msg.id = CAN_MSG_MOTOR2_DRIVER_STATUS_ID;
msg->body.motor_driver_status_msg.motor_id = SCOUT_MOTOR2_ID;
memcpy(msg->body.motor_driver_status_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_MOTOR3_DRIVER_STATUS_ID:
{
msg->type = ScoutMotorDriverStatusMsg;
// msg->motor_driver_status_msg.id = CAN_MSG_MOTOR3_DRIVER_STATUS_ID;
msg->body.motor_driver_status_msg.motor_id = SCOUT_MOTOR3_ID;
memcpy(msg->body.motor_driver_status_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_MOTOR4_DRIVER_STATUS_ID:
{
msg->type = ScoutMotorDriverStatusMsg;
// msg->motor_driver_status_msg.id = CAN_MSG_MOTOR4_DRIVER_STATUS_ID;
msg->body.motor_driver_status_msg.motor_id = SCOUT_MOTOR4_ID;
memcpy(msg->body.motor_driver_status_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
// in the current implementation, both MsgType and can_frame include 8 * uint8_t
case CAN_MSG_MOTION_CONTROL_CMD_ID:
{
msg->type = ScoutMotionControlMsg;
// msg->motion_control_msg.id = CAN_MSG_MOTION_CONTROL_CMD_ID;
memcpy(msg->body.motion_control_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_LIGHT_CONTROL_CMD_ID:
{
msg->type = ScoutLightControlMsg;
// msg->light_control_msg.id = CAN_MSG_LIGHT_CONTROL_STATUS_ID;
memcpy(msg->body.light_control_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
default:
break;
}
return true;
}
void EncodeScoutMsgToCAN(const ScoutMessage *msg, struct can_frame *tx_frame)
{
switch (msg->type)
{
// in the current implementation, both MsgType and can_frame include 8 * uint8_t
case ScoutMotionStatusMsg:
{
tx_frame->can_id = CAN_MSG_MOTION_CONTROL_STATUS_ID;
tx_frame->can_dlc = 8;
memcpy(tx_frame->data, msg->body.motion_status_msg.data.raw, tx_frame->can_dlc);
break;
}
case ScoutLightStatusMsg:
{
tx_frame->can_id = CAN_MSG_LIGHT_CONTROL_STATUS_ID;
tx_frame->can_dlc = 8;
memcpy(tx_frame->data, msg->body.light_status_msg.data.raw, tx_frame->can_dlc);
break;
}
case ScoutSystemStatusMsg:
{
tx_frame->can_id = CAN_MSG_SYSTEM_STATUS_STATUS_ID;
tx_frame->can_dlc = 8;
memcpy(tx_frame->data, msg->body.system_status_msg.data.raw, tx_frame->can_dlc);
break;
}
case ScoutMotorDriverStatusMsg:
{
if (msg->body.motor_driver_status_msg.motor_id == SCOUT_MOTOR1_ID)
tx_frame->can_id = CAN_MSG_MOTOR1_DRIVER_STATUS_ID;
else if (msg->body.motor_driver_status_msg.motor_id == SCOUT_MOTOR2_ID)
tx_frame->can_id = CAN_MSG_MOTOR2_DRIVER_STATUS_ID;
else if (msg->body.motor_driver_status_msg.motor_id == SCOUT_MOTOR3_ID)
tx_frame->can_id = CAN_MSG_MOTOR3_DRIVER_STATUS_ID;
else if (msg->body.motor_driver_status_msg.motor_id == SCOUT_MOTOR4_ID)
tx_frame->can_id = CAN_MSG_MOTOR4_DRIVER_STATUS_ID;
tx_frame->can_dlc = 8;
memcpy(tx_frame->data, msg->body.motor_driver_status_msg.data.raw, tx_frame->can_dlc);
break;
}
case ScoutMotionControlMsg:
{
EncodeScoutMotionControlMsgToCAN(&(msg->body.motion_control_msg), tx_frame);
break;
}
case ScoutLightControlMsg:
{
EncodeScoutLightControlMsgToCAN(&(msg->body.light_control_msg), tx_frame);
break;
}
default:
break;
}
tx_frame->data[7] = CalcScoutCANChecksum(tx_frame->can_id, tx_frame->data, tx_frame->can_dlc);
}
void EncodeScoutMotionControlMsgToCAN(const MotionControlMessage *msg, struct can_frame *tx_frame)
{
tx_frame->can_id = CAN_MSG_MOTION_CONTROL_CMD_ID;
tx_frame->can_dlc = 8;
memcpy(tx_frame->data, msg->data.raw, tx_frame->can_dlc);
tx_frame->data[7] = CalcScoutCANChecksum(tx_frame->can_id, tx_frame->data, tx_frame->can_dlc);
}
void EncodeScoutLightControlMsgToCAN(const LightControlMessage *msg, struct can_frame *tx_frame)
{
tx_frame->can_id = CAN_MSG_LIGHT_CONTROL_CMD_ID;
tx_frame->can_dlc = 8;
memcpy(tx_frame->data, msg->data.raw, tx_frame->can_dlc);
tx_frame->data[7] = CalcScoutCANChecksum(tx_frame->can_id, tx_frame->data, tx_frame->can_dlc);
}
uint8_t CalcScoutCANChecksum(uint16_t id, uint8_t *data, uint8_t dlc)
{
uint8_t checksum = 0x00;
checksum = (uint8_t)(id & 0x00ff) + (uint8_t)(id >> 8) + dlc;
for (int i = 0; i < (dlc - 1); ++i)
checksum += data[i];
return checksum;
}