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added in agx_protocol_v2

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pinloon.lee
2021-03-31 14:29:55 +08:00
parent ed2f38a7fd
commit e7fdfd3e4a
21 changed files with 1719 additions and 1779 deletions
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src/agx_msg_parser.c
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@@ -4,82 +4,164 @@
* Created on: Aug 31, 2019 04:25
* Description:
*
* Copyright (c) 2019 Ruixiang Du (rdu)
* Copyright (c) 2019 Weston Robot Pte. Ltd.
*/
#include "ugv_sdk/proto/agx_msg_parser.h"
#include "ugv_sdk/details/agilex_msg_parser.h"
#include "agx_protocol_v2.h"
#include "string.h"
#include "stdio.h"
bool DecodeCanFrame(const struct can_frame *rx_frame, AgxMessage *msg) {
msg->type = AgxMsgUnkonwn;
switch (rx_frame->can_id) {
// command frame
/***************** command frame *****************/
case CAN_MSG_MOTION_COMMAND_ID: {
msg->type = AgxMsgMotionCommand;
memcpy(msg->body.motion_command_msg.raw, rx_frame->data,
rx_frame->can_dlc * sizeof(uint8_t));
// parse frame buffer to message
MotionCommandFrame *frame = (MotionCommandFrame *)(rx_frame->data);
msg->body.motion_command_msg.linear_velocity =
(int16_t)((uint16_t)(frame->linear_velocity.low_byte) |
(uint16_t)(frame->linear_velocity.high_byte) << 8) /
1000.0;
msg->body.motion_command_msg.angular_velocity =
(int16_t)((uint16_t)(frame->angular_velocity.low_byte) |
(uint16_t)(frame->angular_velocity.high_byte) << 8) /
1000.0;
msg->body.motion_command_msg.lateral_velocity =
(int16_t)((uint16_t)(frame->lateral_velocity.low_byte) |
(uint16_t)(frame->lateral_velocity.high_byte) << 8) /
1000.0;
msg->body.motion_command_msg.steering_angle =
(int16_t)((uint16_t)(frame->steering_angle.low_byte) |
(uint16_t)(frame->steering_angle.high_byte) << 8) /
1000.0;
break;
}
case CAN_MSG_LIGHT_COMMAND_ID: {
msg->type = AgxMsgLightCommand;
memcpy(msg->body.light_command_msg.raw, rx_frame->data,
rx_frame->can_dlc * sizeof(uint8_t));
// parse frame buffer to message
LightCommandFrame *frame = (LightCommandFrame *)(rx_frame->data);
msg->body.light_command_msg.cmd_ctrl_allowed =
(frame->cmd_ctrl_allowed != 0) ? true : false;
msg->body.light_command_msg.front_light.mode = frame->front_light_mode;
msg->body.light_command_msg.front_light.custom_value =
frame->front_light_custom;
msg->body.light_command_msg.rear_light.mode = frame->rear_light_mode;
msg->body.light_command_msg.rear_light.custom_value =
frame->rear_light_custom;
break;
}
case CAN_MSG_RC_STATE_ID: {
msg->type = AgxMsgRcState;
memcpy(msg->body.rc_state_msg.raw, rx_frame->data,
rx_frame->can_dlc * sizeof(uint8_t));
case CAN_MSG_BRAKING_COMMAND_ID: {
msg->type = AgxMsgBrakingCommand;
// TODO
break;
}
case CAN_MSG_CTRL_MODE_SELECT_ID: {
msg->type = AgxMsgCtrlModeSelect;
memcpy(msg->body.ctrl_mode_select_msg.raw, rx_frame->data,
rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_STATE_RESET_ID: {
msg->type = AgxMsgFaultByteReset;
memcpy(msg->body.state_reset_msg.raw, rx_frame->data,
rx_frame->can_dlc * sizeof(uint8_t));
break;
}
// state feedback frame
/***************** feedback frame ****************/
case CAN_MSG_SYSTEM_STATE_ID: {
msg->type = AgxMsgSystemState;
memcpy(msg->body.system_state_msg.raw, rx_frame->data,
rx_frame->can_dlc * sizeof(uint8_t));
SystemStateFrame *frame = (SystemStateFrame *)(rx_frame->data);
msg->body.system_state_msg.vehicle_state = frame->vehicle_state;
msg->body.system_state_msg.control_mode = frame->control_mode;
msg->body.system_state_msg.battery_voltage =
(int16_t)((uint16_t)(frame->battery_voltage.low_byte) |
(uint16_t)(frame->battery_voltage.high_byte) << 8) *
0.1;
msg->body.system_state_msg.error_code =
(uint16_t)(frame->error_code.low_byte) |
(uint16_t)(frame->error_code.high_byte) << 8;
break;
}
case CAN_MSG_MOTION_STATE_ID: {
msg->type = AgxMsgMotionState;
memcpy(msg->body.motion_state_msg.raw, rx_frame->data,
rx_frame->can_dlc * sizeof(uint8_t));
MotionStateFrame *frame = (MotionStateFrame *)(rx_frame->data);
msg->body.motion_command_msg.linear_velocity =
(int16_t)((uint16_t)(frame->linear_velocity.low_byte) |
(uint16_t)(frame->linear_velocity.high_byte) << 8) /
1000.0;
msg->body.motion_command_msg.angular_velocity =
(int16_t)((uint16_t)(frame->angular_velocity.low_byte) |
(uint16_t)(frame->angular_velocity.high_byte) << 8) /
1000.0;
msg->body.motion_command_msg.lateral_velocity =
(int16_t)((uint16_t)(frame->lateral_velocity.low_byte) |
(uint16_t)(frame->lateral_velocity.high_byte) << 8) /
1000.0;
msg->body.motion_command_msg.steering_angle =
(int16_t)((uint16_t)(frame->steering_angle.low_byte) |
(uint16_t)(frame->steering_angle.high_byte) << 8) /
1000.0;
break;
}
case CAN_MSG_LIGHT_STATE_ID: {
msg->type = AgxMsgLightState;
memcpy(msg->body.light_state_msg.raw, rx_frame->data,
rx_frame->can_dlc * sizeof(uint8_t));
LightStateFrame *frame = (LightStateFrame *)(rx_frame->data);
msg->body.light_command_msg.cmd_ctrl_allowed =
(frame->cmd_ctrl_allowed != 0) ? true : false;
msg->body.light_command_msg.front_light.mode = frame->front_light_mode;
msg->body.light_command_msg.front_light.custom_value =
frame->front_light_custom;
msg->body.light_command_msg.rear_light.mode = frame->rear_light_mode;
msg->body.light_command_msg.rear_light.custom_value =
frame->rear_light_custom;
break;
}
case CAN_MSG_ODOMETRY_ID: {
msg->type = AgxMsgOdometry;
memcpy(msg->body.odometry_msg.raw, rx_frame->data,
rx_frame->can_dlc * sizeof(uint8_t));
case CAN_MSG_RC_STATE_ID: {
msg->type = AgxMsgRcState;
RcStateFrame *frame = (RcStateFrame *)(rx_frame->data);
// switch a
if ((frame->sws & RC_SWA_MASK) == RC_SWA_UP_MASK)
msg->body.rc_state_msg.swa = RC_SWITCH_UP;
else if ((frame->sws & RC_SWA_MASK) == RC_SWA_DOWN_MASK)
msg->body.rc_state_msg.swa = RC_SWITCH_DOWN;
// switch b
if ((frame->sws & RC_SWB_MASK) == RC_SWB_UP_MASK)
msg->body.rc_state_msg.swb = RC_SWITCH_UP;
else if ((frame->sws & RC_SWB_MASK) == RC_SWB_MIDDLE_MASK)
msg->body.rc_state_msg.swb = RC_SWITCH_MIDDLE;
else if ((frame->sws & RC_SWB_MASK) == RC_SWB_DOWN_MASK)
msg->body.rc_state_msg.swb = RC_SWITCH_DOWN;
// switch c
if ((frame->sws & RC_SWC_MASK) == RC_SWC_UP_MASK)
msg->body.rc_state_msg.swc = RC_SWITCH_UP;
else if ((frame->sws & RC_SWC_MASK) == RC_SWC_MIDDLE_MASK)
msg->body.rc_state_msg.swc = RC_SWITCH_MIDDLE;
else if ((frame->sws & RC_SWC_MASK) == RC_SWC_DOWN_MASK)
msg->body.rc_state_msg.swc = RC_SWITCH_DOWN;
// switch d
if ((frame->sws & RC_SWD_MASK) == RC_SWD_UP_MASK)
msg->body.rc_state_msg.swd = RC_SWITCH_UP;
else if ((frame->sws & RC_SWD_MASK) == RC_SWD_DOWN_MASK)
msg->body.rc_state_msg.swd = RC_SWITCH_DOWN;
msg->body.rc_state_msg.stick_right_v = frame->stick_right_v;
msg->body.rc_state_msg.stick_right_h = frame->stick_right_h;
msg->body.rc_state_msg.stick_left_v = frame->stick_left_v;
msg->body.rc_state_msg.stick_left_h = frame->stick_left_h;
msg->body.rc_state_msg.var_a = frame->var_a;
break;
}
case CAN_MSG_ACTUATOR1_HS_STATE_ID:
case CAN_MSG_ACTUATOR2_HS_STATE_ID:
case CAN_MSG_ACTUATOR3_HS_STATE_ID:
case CAN_MSG_ACTUATOR4_HS_STATE_ID: {
msg->type = AgxMsgActuatorLSState;
msg->type = AgxMsgActuatorHSState;
ActuatorHSStateFrame *frame = (ActuatorHSStateFrame *)(rx_frame->data);
msg->body.actuator_hs_state_msg.motor_id =
(uint8_t)(rx_frame->can_id - CAN_MSG_ACTUATOR1_HS_STATE_ID);
memcpy(msg->body.actuator_hs_state_msg.data.raw, rx_frame->data,
rx_frame->can_dlc * sizeof(uint8_t));
rx_frame->can_id - CAN_MSG_ACTUATOR1_HS_STATE_ID;
msg->body.actuator_hs_state_msg.rpm =
(int16_t)((uint16_t)(frame->rpm.low_byte) |
(uint16_t)(frame->rpm.high_byte) << 8);
msg->body.actuator_hs_state_msg.current =
((uint16_t)(frame->current.low_byte) |
(uint16_t)(frame->current.high_byte) << 8) *
0.1;
msg->body.actuator_hs_state_msg.pulse_count =
(int32_t)((uint32_t)(frame->pulse_count.lsb) |
(uint32_t)(frame->pulse_count.low_byte) << 8 |
(uint32_t)(frame->pulse_count.high_byte) << 16 |
(uint32_t)(frame->pulse_count.msb) << 24);
break;
}
case CAN_MSG_ACTUATOR1_LS_STATE_ID:
@@ -87,10 +169,120 @@ bool DecodeCanFrame(const struct can_frame *rx_frame, AgxMessage *msg) {
case CAN_MSG_ACTUATOR3_LS_STATE_ID:
case CAN_MSG_ACTUATOR4_LS_STATE_ID: {
msg->type = AgxMsgActuatorLSState;
msg->body.actuator_ls_state_msg.motor_id =
(uint8_t)(rx_frame->can_id - CAN_MSG_ACTUATOR1_LS_STATE_ID);
memcpy(msg->body.actuator_ls_state_msg.data.raw, rx_frame->data,
rx_frame->can_dlc * sizeof(uint8_t));
ActuatorLSStateFrame *frame = (ActuatorLSStateFrame *)(rx_frame->data);
msg->body.actuator_hs_state_msg.motor_id =
rx_frame->can_id - CAN_MSG_ACTUATOR1_LS_STATE_ID;
msg->body.actuator_ls_state_msg.driver_voltage =
((uint16_t)(frame->driver_voltage.low_byte) |
(uint16_t)(frame->driver_voltage.high_byte) << 8) *
0.1;
msg->body.actuator_ls_state_msg.driver_temperature =
(int16_t)((uint16_t)(frame->driver_temperature.low_byte) |
(uint16_t)(frame->driver_temperature.high_byte) << 8);
msg->body.actuator_ls_state_msg.motor_temperature =
frame->motor_temperature;
msg->body.actuator_ls_state_msg.driver_state = frame->driver_state;
break;
}
/****************** sensor frame *****************/
case CAN_MSG_ODOMETRY_ID: {
msg->type = AgxMsgOdometry;
OdometryFrame *frame = (OdometryFrame *)(rx_frame->data);
msg->body.odometry_msg.left_wheel =
(int32_t)((uint32_t)(frame->left_wheel.lsb) |
(uint32_t)(frame->left_wheel.low_byte) << 8 |
(uint32_t)(frame->left_wheel.high_byte) << 16 |
(uint32_t)(frame->left_wheel.msb) << 24);
msg->body.odometry_msg.right_wheel =
(int32_t)((uint32_t)(frame->right_wheel.lsb) |
(uint32_t)(frame->right_wheel.low_byte) << 8 |
(uint32_t)(frame->right_wheel.high_byte) << 16 |
(uint32_t)(frame->right_wheel.msb) << 24);
break;
}
case CAN_MSG_IMU_ACCEL_ID: {
msg->type = AgxMsgImuAccel;
// TODO
break;
}
case CAN_MSG_IMU_GYRO_ID: {
msg->type = AgxMsgImuGyro;
// TODO
break;
}
case CAN_MSG_IMU_EULER_ID: {
msg->type = AgxMsgImuEuler;
// TODO
break;
}
case CAN_MSG_SAFETY_BUMPER_ID: {
msg->type = AgxMsgSafetyBumper;
// TODO
break;
}
case CAN_MSG_ULTRASONIC_1_ID:
case CAN_MSG_ULTRASONIC_2_ID:
case CAN_MSG_ULTRASONIC_3_ID:
case CAN_MSG_ULTRASONIC_4_ID:
case CAN_MSG_ULTRASONIC_5_ID:
case CAN_MSG_ULTRASONIC_6_ID:
case CAN_MSG_ULTRASONIC_7_ID:
case CAN_MSG_ULTRASONIC_8_ID: {
msg->type = AgxMsgUltrasonic;
// TODO
break;
}
case CAN_MSG_UWB_1_ID:
case CAN_MSG_UWB_2_ID:
case CAN_MSG_UWB_3_ID:
case CAN_MSG_UWB_4_ID: {
msg->type = AgxMsgUwb;
// TODO
break;
}
case CAN_MSG_BMS_BASIC_ID: {
msg->type = AgxMsgBmsBasic;
// TODO
break;
}
case CAN_MSG_BMS_EXTENDED_ID: {
msg->type = AgxMsgBmsExtended;
// TODO
break;
}
/*************** query/config frame **************/
case CAN_MSG_VERSION_REQUEST_ID: {
msg->type = AgxMsgVersionRequest;
// TODO
break;
}
case CAN_MSG_VERSION_RESPONSE_ID: {
msg->type = AgxMsgVersionResponse;
// TODO
break;
}
case CAN_MSG_CTRL_MODE_CONFIG_ID: {
msg->type = AgxMsgControlModeConfig;
ControlModeConfigFrame *frame =
(ControlModeConfigFrame *)(rx_frame->data);
msg->body.control_mode_config_msg.mode = frame->mode;
break;
}
case CAN_MSG_STEER_NEUTRAL_REQUEST_ID: {
msg->type = AgxMsgSteerNeutralRequest;
// TODO
break;
}
case CAN_MSG_STEER_NEUTRAL_RESPONSE_ID: {
msg->type = AgxMsgSteerNeutralResponse;
// TODO
break;
}
case CAN_MSG_STATE_RESET_CONFIG_ID: {
msg->type = AgxMsgStateResetConfig;
StateResetConfigFrame *frame = (StateResetConfigFrame *)(rx_frame->data);
msg->body.state_reset_config_msg.error_clear_byte =
frame->error_clear_byte;
break;
}
default:
@@ -102,113 +294,272 @@ bool DecodeCanFrame(const struct can_frame *rx_frame, AgxMessage *msg) {
void EncodeCanFrame(const AgxMessage *msg, struct can_frame *tx_frame) {
switch (msg->type) {
// command frame
/***************** command frame *****************/
case AgxMsgMotionCommand: {
tx_frame->can_id = CAN_MSG_MOTION_COMMAND_ID;
tx_frame->can_dlc = 8;
memcpy(tx_frame->data, msg->body.motion_command_msg.raw,
tx_frame->can_dlc);
MotionCommandFrame frame;
int16_t linear_cmd =
(int16_t)(msg->body.motion_command_msg.linear_velocity * 1000);
int16_t angular_cmd =
(int16_t)(msg->body.motion_command_msg.angular_velocity * 1000);
int16_t lateral_cmd =
(int16_t)(msg->body.motion_command_msg.lateral_velocity * 1000);
int16_t steering_cmd =
(int16_t)(msg->body.motion_command_msg.steering_angle * 1000);
frame.linear_velocity.high_byte = (uint8_t)(linear_cmd >> 8);
frame.linear_velocity.low_byte = (uint8_t)(linear_cmd & 0x00ff);
frame.angular_velocity.high_byte = (uint8_t)(angular_cmd >> 8);
frame.angular_velocity.low_byte = (uint8_t)(angular_cmd & 0x00ff);
frame.lateral_velocity.high_byte = (uint8_t)(lateral_cmd >> 8);
frame.lateral_velocity.low_byte = (uint8_t)(lateral_cmd & 0x00ff);
frame.steering_angle.high_byte = (uint8_t)(steering_cmd >> 8);
frame.steering_angle.low_byte = (uint8_t)(steering_cmd & 0x00ff);
memcpy(tx_frame->data, (uint8_t *)(&frame), tx_frame->can_dlc);
break;
}
case AgxMsgLightCommand: {
static uint8_t count = 0;
tx_frame->can_id = CAN_MSG_LIGHT_COMMAND_ID;
tx_frame->can_dlc = 8;
memcpy(tx_frame->data, msg->body.light_command_msg.raw,
tx_frame->can_dlc);
LightCommandFrame frame;
if (msg->body.light_command_msg.cmd_ctrl_allowed) {
frame.cmd_ctrl_allowed = LIGHT_CMD_CTRL_ALLOWED;
frame.front_light_mode = msg->body.light_command_msg.front_light.mode;
frame.front_light_custom =
msg->body.light_command_msg.front_light.custom_value;
frame.rear_light_mode = msg->body.light_command_msg.rear_light.mode;
frame.rear_light_custom =
msg->body.light_command_msg.rear_light.custom_value;
} else {
frame.cmd_ctrl_allowed = LIGHT_CMD_CTRL_DISALLOWED;
frame.front_light_mode = 0;
frame.front_light_custom = 0;
frame.rear_light_mode = 0;
frame.rear_light_custom = 0;
}
frame.reserved0 = 0;
frame.reserved1 = 0;
frame.count = count++;
memcpy(tx_frame->data, (uint8_t *)(&frame), tx_frame->can_dlc);
break;
}
case AgxMsgCtrlModeSelect: {
tx_frame->can_id = CAN_MSG_CTRL_MODE_SELECT_ID;
case AgxMsgBrakingCommand: {
tx_frame->can_id = CAN_MSG_BRAKING_COMMAND_ID;
tx_frame->can_dlc = 8;
memcpy(tx_frame->data, msg->body.ctrl_mode_select_msg.raw,
tx_frame->can_dlc);
BrakingCommandFrame frame;
// TODO
memcpy(tx_frame->data, (uint8_t *)(&frame), tx_frame->can_dlc);
break;
}
case AgxMsgFaultByteReset: {
tx_frame->can_id = CAN_MSG_STATE_RESET_ID;
tx_frame->can_dlc = 8;
memcpy(tx_frame->data, msg->body.state_reset_msg.raw, tx_frame->can_dlc);
break;
}
// state feedback frame
/***************** feedback frame ****************/
case AgxMsgSystemState: {
tx_frame->can_id = CAN_MSG_SYSTEM_STATE_ID;
tx_frame->can_dlc = 8;
memcpy(tx_frame->data, msg->body.system_state_msg.raw, tx_frame->can_dlc);
SystemStateFrame frame;
frame.vehicle_state = msg->body.system_state_msg.vehicle_state;
frame.control_mode = msg->body.system_state_msg.control_mode;
uint16_t battery =
(uint16_t)(msg->body.system_state_msg.battery_voltage * 10);
frame.battery_voltage.high_byte = (uint8_t)(battery >> 8);
frame.battery_voltage.low_byte = (uint8_t)(battery & 0x00ff);
frame.error_code.high_byte =
(uint8_t)(msg->body.system_state_msg.error_code >> 8);
frame.error_code.low_byte =
(uint8_t)(msg->body.system_state_msg.error_code & 0x00ff);
memcpy(tx_frame->data, (uint8_t *)(&frame), tx_frame->can_dlc);
break;
}
case AgxMsgMotionState: {
tx_frame->can_id = CAN_MSG_MOTION_STATE_ID;
tx_frame->can_dlc = 8;
memcpy(tx_frame->data, msg->body.motion_state_msg.raw, tx_frame->can_dlc);
MotionStateFrame frame;
int16_t linear =
(int16_t)(msg->body.motion_state_msg.linear_velocity * 1000);
int16_t angular =
(int16_t)(msg->body.motion_state_msg.angular_velocity * 1000);
int16_t lateral =
(int16_t)(msg->body.motion_state_msg.lateral_velocity * 1000);
int16_t steering =
(int16_t)(msg->body.motion_state_msg.steering_angle * 1000);
frame.linear_velocity.high_byte = (uint8_t)(linear >> 8);
frame.linear_velocity.low_byte = (uint8_t)(linear & 0x00ff);
frame.angular_velocity.high_byte = (uint8_t)(angular >> 8);
frame.angular_velocity.low_byte = (uint8_t)(angular & 0x00ff);
frame.lateral_velocity.high_byte = (uint8_t)(lateral >> 8);
frame.lateral_velocity.low_byte = (uint8_t)(lateral & 0x00ff);
frame.steering_angle.high_byte = (uint8_t)(steering >> 8);
frame.steering_angle.low_byte = (uint8_t)(steering & 0x00ff);
memcpy(tx_frame->data, (uint8_t *)(&frame), tx_frame->can_dlc);
break;
}
case AgxMsgLightState: {
tx_frame->can_id = CAN_MSG_LIGHT_STATE_ID;
tx_frame->can_dlc = 8;
memcpy(tx_frame->data, msg->body.light_state_msg.raw, tx_frame->can_dlc);
LightStateFrame frame;
// TODO
memcpy(tx_frame->data, (uint8_t *)(&frame), tx_frame->can_dlc);
break;
}
case AgxMsgOdometry: {
tx_frame->can_id = CAN_MSG_ODOMETRY_ID;
case AgxMsgRcState: {
tx_frame->can_id = CAN_MSG_RC_STATE_ID;
tx_frame->can_dlc = 8;
memcpy(tx_frame->data, msg->body.odometry_msg.raw, tx_frame->can_dlc);
RcStateFrame frame;
// TODO
memcpy(tx_frame->data, (uint8_t *)(&frame), tx_frame->can_dlc);
break;
}
case AgxMsgActuatorHSState: {
switch (msg->body.actuator_hs_state_msg.motor_id) {
case ACTUATOR1_ID: {
tx_frame->can_id = CAN_MSG_ACTUATOR1_HS_STATE_ID;
break;
}
case ACTUATOR2_ID: {
tx_frame->can_id = CAN_MSG_ACTUATOR2_HS_STATE_ID;
break;
}
case ACTUATOR3_ID: {
tx_frame->can_id = CAN_MSG_ACTUATOR3_HS_STATE_ID;
break;
}
case ACTUATOR4_ID: {
tx_frame->can_id = CAN_MSG_ACTUATOR4_HS_STATE_ID;
break;
}
}
tx_frame->can_id = msg->body.actuator_hs_state_msg.motor_id +
CAN_MSG_ACTUATOR1_HS_STATE_ID;
tx_frame->can_dlc = 8;
memcpy(tx_frame->data, msg->body.actuator_hs_state_msg.data.raw,
tx_frame->can_dlc);
ActuatorHSStateFrame frame;
// TODO
memcpy(tx_frame->data, (uint8_t *)(&frame), tx_frame->can_dlc);
break;
}
case AgxMsgActuatorLSState: {
switch (msg->body.actuator_ls_state_msg.motor_id) {
case ACTUATOR1_ID: {
tx_frame->can_id = CAN_MSG_ACTUATOR1_LS_STATE_ID;
break;
}
case ACTUATOR2_ID: {
tx_frame->can_id = CAN_MSG_ACTUATOR2_LS_STATE_ID;
break;
}
case ACTUATOR3_ID: {
tx_frame->can_id = CAN_MSG_ACTUATOR3_LS_STATE_ID;
break;
}
case ACTUATOR4_ID: {
tx_frame->can_id = CAN_MSG_ACTUATOR4_LS_STATE_ID;
break;
}
}
tx_frame->can_id = msg->body.actuator_ls_state_msg.motor_id +
CAN_MSG_ACTUATOR1_LS_STATE_ID;
tx_frame->can_dlc = 8;
memcpy(tx_frame->data, msg->body.actuator_ls_state_msg.data.raw,
tx_frame->can_dlc);
ActuatorLSStateFrame frame;
// TODO
memcpy(tx_frame->data, (uint8_t *)(&frame), tx_frame->can_dlc);
break;
}
/****************** sensor frame *****************/
case AgxMsgOdometry: {
tx_frame->can_id = CAN_MSG_ODOMETRY_ID;
tx_frame->can_dlc = 8;
OdometryFrame frame;
// TODO
memcpy(tx_frame->data, (uint8_t *)(&frame), tx_frame->can_dlc);
break;
}
case AgxMsgImuAccel: {
tx_frame->can_id = CAN_MSG_IMU_ACCEL_ID;
tx_frame->can_dlc = 8;
ImuAccelFrame frame;
// TODO
memcpy(tx_frame->data, (uint8_t *)(&frame), tx_frame->can_dlc);
break;
}
case AgxMsgImuGyro: {
tx_frame->can_id = CAN_MSG_IMU_GYRO_ID;
tx_frame->can_dlc = 8;
ImuGyroFrame frame;
// TODO
memcpy(tx_frame->data, (uint8_t *)(&frame), tx_frame->can_dlc);
break;
}
case AgxMsgImuEuler: {
tx_frame->can_id = CAN_MSG_IMU_EULER_ID;
tx_frame->can_dlc = 8;
ImuEulerFrame frame;
// TODO
memcpy(tx_frame->data, (uint8_t *)(&frame), tx_frame->can_dlc);
break;
}
case AgxMsgSafetyBumper: {
tx_frame->can_id = CAN_MSG_SAFETY_BUMPER_ID;
tx_frame->can_dlc = 8;
SafetyBumperFrame frame;
// TODO
memcpy(tx_frame->data, (uint8_t *)(&frame), tx_frame->can_dlc);
break;
}
case AgxMsgUltrasonic: {
tx_frame->can_id =
msg->body.ultrasonic_msg.sensor_id + CAN_MSG_ULTRASONIC_1_ID;
tx_frame->can_dlc = 8;
UltrasonicFrame frame;
// TODO
memcpy(tx_frame->data, (uint8_t *)(&frame), tx_frame->can_dlc);
break;
}
case AgxMsgUwb: {
tx_frame->can_id = msg->body.uwb_msg.sensor_id + CAN_MSG_UWB_1_ID;
tx_frame->can_dlc = 8;
UwbFrame frame;
// TODO
memcpy(tx_frame->data, (uint8_t *)(&frame), tx_frame->can_dlc);
break;
}
case AgxMsgBmsBasic: {
tx_frame->can_id = CAN_MSG_BMS_BASIC_ID;
tx_frame->can_dlc = 8;
BmsBasicFrame frame;
// TODO
memcpy(tx_frame->data, (uint8_t *)(&frame), tx_frame->can_dlc);
break;
}
case AgxMsgBmsExtended: {
tx_frame->can_id = CAN_MSG_BMS_EXTENDED_ID;
tx_frame->can_dlc = 8;
BmsExtendedFrame frame;
// TODO
memcpy(tx_frame->data, (uint8_t *)(&frame), tx_frame->can_dlc);
break;
}
/*************** query/config frame **************/
case AgxMsgVersionRequest: {
tx_frame->can_id = CAN_MSG_VERSION_REQUEST_ID;
tx_frame->can_dlc = 8;
VersionRequestFrame frame;
// TODO
memcpy(tx_frame->data, (uint8_t *)(&frame), tx_frame->can_dlc);
break;
}
case AgxMsgVersionResponse: {
tx_frame->can_id = CAN_MSG_VERSION_RESPONSE_ID;
tx_frame->can_dlc = 8;
VersionResponseFrame frame;
// TODO
memcpy(tx_frame->data, (uint8_t *)(&frame), tx_frame->can_dlc);
break;
}
case AgxMsgControlModeConfig: {
tx_frame->can_id = CAN_MSG_CTRL_MODE_CONFIG_ID;
tx_frame->can_dlc = 8;
ControlModeConfigFrame frame;
frame.mode = msg->body.control_mode_config_msg.mode;
frame.reserved0 = 0;
frame.reserved1 = 0;
frame.reserved2 = 0;
frame.reserved3 = 0;
frame.reserved4 = 0;
frame.reserved5 = 0;
frame.reserved6 = 0;
memcpy(tx_frame->data, (uint8_t *)(&frame), tx_frame->can_dlc);
break;
}
case AgxMsgSteerNeutralRequest: {
tx_frame->can_id = CAN_MSG_STEER_NEUTRAL_REQUEST_ID;
tx_frame->can_dlc = 8;
SteerNeutralRequestFrame frame;
// TODO
memcpy(tx_frame->data, (uint8_t *)(&frame), tx_frame->can_dlc);
break;
}
case AgxMsgSteerNeutralResponse: {
tx_frame->can_id = CAN_MSG_STEER_NEUTRAL_RESPONSE_ID;
tx_frame->can_dlc = 8;
SteerNeutralResponseFrame frame;
// TODO
memcpy(tx_frame->data, (uint8_t *)(&frame), tx_frame->can_dlc);
break;
}
case AgxMsgStateResetConfig: {
tx_frame->can_id = CAN_MSG_STATE_RESET_CONFIG_ID;
tx_frame->can_dlc = 8;
StateResetConfigFrame frame;
// TODO
memcpy(tx_frame->data, (uint8_t *)(&frame), tx_frame->can_dlc);
break;
}
default:
break;
}
// tx_frame->data[7] =
// CalcCanFrameChecksum(tx_frame->can_id, tx_frame->data,
// tx_frame->can_dlc);
}
uint8_t CalcCanFrameChecksum(uint16_t id, uint8_t *data, uint8_t dlc) {