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https://github.com/westonrobot/ugv_sdk
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added in agx_protocol_v2
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pinloon.lee
380
src/agx_protocol_v2.h
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380
src/agx_protocol_v2.h
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/*
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* agx_protocol_v2.h
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*
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* Created on: Nov 04, 2020 13:54
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* Description:
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*
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* Copyright (c) 2020 Weston Robot Pte. Ltd.
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*/
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#ifndef AGX_PROTOCOL_V2_H
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#define AGX_PROTOCOL_V2_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <stdint.h>
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// define endianess of the platform
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#if (!defined(USE_LITTLE_ENDIAN) && !defined(USE_BIG_ENDIAN))
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#define USE_LITTLE_ENDIAN
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#endif
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#ifdef USE_BIG_ENDIAN
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#error "BIG ENDIAN IS CURRENTLY NOT SUPPORTED"
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#endif
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/*---------------------------- Motor IDs -------------------------------*/
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#define ACTUATOR1_ID ((uint8_t)0x00)
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#define ACTUATOR2_ID ((uint8_t)0x01)
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#define ACTUATOR3_ID ((uint8_t)0x02)
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#define ACTUATOR4_ID ((uint8_t)0x03)
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#define ACTUATOR5_ID ((uint8_t)0x04)
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#define ACTUATOR6_ID ((uint8_t)0x05)
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#define ACTUATOR7_ID ((uint8_t)0x06)
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#define ACTUATOR8_ID ((uint8_t)0x07)
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/*--------------------------- Message IDs ------------------------------*/
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// control group: 0x1
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#define CAN_MSG_MOTION_COMMAND_ID ((uint32_t)0x111)
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#define CAN_MSG_LIGHT_COMMAND_ID ((uint32_t)0x121)
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#define CAN_MSG_BRAKING_COMMAND_ID ((uint32_t)0x131)
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// state feedback group: 0x2
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#define CAN_MSG_SYSTEM_STATE_ID ((uint32_t)0x211)
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#define CAN_MSG_MOTION_STATE_ID ((uint32_t)0x221)
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#define CAN_MSG_LIGHT_STATE_ID ((uint32_t)0x231)
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#define CAN_MSG_RC_STATE_ID ((uint32_t)0x241)
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#define CAN_MSG_ACTUATOR1_HS_STATE_ID ((uint32_t)0x251)
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#define CAN_MSG_ACTUATOR2_HS_STATE_ID ((uint32_t)0x252)
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#define CAN_MSG_ACTUATOR3_HS_STATE_ID ((uint32_t)0x253)
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#define CAN_MSG_ACTUATOR4_HS_STATE_ID ((uint32_t)0x254)
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#define CAN_MSG_ACTUATOR1_LS_STATE_ID ((uint32_t)0x261)
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#define CAN_MSG_ACTUATOR2_LS_STATE_ID ((uint32_t)0x262)
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#define CAN_MSG_ACTUATOR3_LS_STATE_ID ((uint32_t)0x263)
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#define CAN_MSG_ACTUATOR4_LS_STATE_ID ((uint32_t)0x264)
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// sensor data group: 0x3
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#define CAN_MSG_ODOMETRY_ID ((uint32_t)0x311)
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#define CAN_MSG_IMU_ACCEL_ID ((uint32_t)0x321)
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#define CAN_MSG_IMU_GYRO_ID ((uint32_t)0x322)
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#define CAN_MSG_IMU_EULER_ID ((uint32_t)0x323)
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#define CAN_MSG_SAFETY_BUMPER_ID ((uint32_t)0x331)
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#define CAN_MSG_ULTRASONIC_1_ID ((uint32_t)0x341)
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#define CAN_MSG_ULTRASONIC_2_ID ((uint32_t)0x342)
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#define CAN_MSG_ULTRASONIC_3_ID ((uint32_t)0x343)
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#define CAN_MSG_ULTRASONIC_4_ID ((uint32_t)0x344)
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#define CAN_MSG_ULTRASONIC_5_ID ((uint32_t)0x345)
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#define CAN_MSG_ULTRASONIC_6_ID ((uint32_t)0x346)
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#define CAN_MSG_ULTRASONIC_7_ID ((uint32_t)0x347)
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#define CAN_MSG_ULTRASONIC_8_ID ((uint32_t)0x348)
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#define CAN_MSG_UWB_1_ID ((uint32_t)0x351)
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#define CAN_MSG_UWB_2_ID ((uint32_t)0x352)
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#define CAN_MSG_UWB_3_ID ((uint32_t)0x353)
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#define CAN_MSG_UWB_4_ID ((uint32_t)0x354)
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#define CAN_MSG_BMS_BASIC_ID ((uint32_t)0x361)
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#define CAN_MSG_BMS_EXTENDED_ID ((uint32_t)0x362)
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// query/config group: 0x4
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#define CAN_MSG_VERSION_REQUEST_ID ((uint32_t)0x411)
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#define CAN_MSG_VERSION_RESPONSE_ID ((uint32_t)0x41a)
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#define CAN_MSG_CTRL_MODE_CONFIG_ID ((uint32_t)0x421)
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#define CAN_MSG_STEER_NEUTRAL_REQUEST_ID ((uint32_t)0x431)
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#define CAN_MSG_STEER_NEUTRAL_RESPONSE_ID ((uint32_t)0x43a)
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#define CAN_MSG_STATE_RESET_CONFIG_ID ((uint32_t)0x441)
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/*--------------------- Control/State Constants ------------------------*/
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#define LIGHT_CMD_CTRL_ALLOWED ((uint8_t)0x00)
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#define LIGHT_CMD_CTRL_DISALLOWED ((uint8_t)0x01)
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#define VERSION_REQUEST_VALUE ((uint8_t)0x01)
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#define STEER_NEUTRAL_REQUEST_VALUE ((uint8_t)0xee)
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#define STEER_NEUTRAL_RESPONSE_SUCCESS_VALUE ((uint8_t)0xee)
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#define STEER_NEUTRAL_RESPONSE_FAILURE_VALUE ((uint8_t)0xff)
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/*------------------------ Frame Memory Layout -------------------------*/
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/* No padding in the struct */
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// reference: https://stackoverflow.com/questions/3318410/pragma-pack-effect
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#pragma pack(push, 1)
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#ifdef USE_LITTLE_ENDIAN
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typedef struct {
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uint8_t high_byte;
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uint8_t low_byte;
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} struct16_t;
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typedef struct {
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uint8_t msb;
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uint8_t high_byte;
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uint8_t low_byte;
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uint8_t lsb;
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} struct32_t;
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#elif defined(USE_BIG_ENDIAN)
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typedef struct {
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uint8_t low_byte;
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uint8_t high_byte;
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} struct16_t;
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typedef struct {
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uint8_t lsb;
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uint8_t low_byte;
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uint8_t high_byte;
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uint8_t msb;
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} struct32_t;
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#endif
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// Control messages
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typedef struct {
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struct16_t linear_velocity;
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struct16_t angular_velocity;
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struct16_t lateral_velocity;
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struct16_t steering_angle;
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} MotionCommandFrame;
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typedef struct {
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uint8_t cmd_ctrl_allowed;
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uint8_t front_light_mode;
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uint8_t front_light_custom;
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uint8_t rear_light_mode;
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uint8_t rear_light_custom;
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uint8_t reserved0;
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uint8_t reserved1;
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uint8_t count;
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} LightCommandFrame;
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typedef struct {
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uint8_t cmd_ctrl_allowed;
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uint8_t front_light_mode;
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uint8_t front_light_custom;
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uint8_t rear_light_mode;
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uint8_t rear_light_custom;
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uint8_t reserved0;
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uint8_t reserved1;
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uint8_t count;
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} BrakingCommandFrame;
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// State feedback messages
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typedef struct {
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uint8_t vehicle_state;
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uint8_t control_mode;
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struct16_t battery_voltage;
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struct16_t error_code;
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uint8_t reserved0;
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uint8_t count;
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} SystemStateFrame;
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typedef struct {
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struct16_t linear_velocity;
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struct16_t angular_velocity;
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struct16_t lateral_velocity;
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struct16_t steering_angle;
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} MotionStateFrame;
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typedef struct {
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uint8_t cmd_ctrl_allowed;
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uint8_t front_light_mode;
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uint8_t front_light_custom;
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uint8_t rear_light_mode;
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uint8_t rear_light_custom;
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uint8_t reserved0;
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uint8_t reserved1;
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uint8_t count;
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} LightStateFrame;
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#define RC_SWA_MASK ((uint8_t)0b00000011)
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#define RC_SWA_UP_MASK ((uint8_t)0b00000010)
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#define RC_SWA_DOWN_MASK ((uint8_t)0b00000011)
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#define RC_SWB_MASK ((uint8_t)0b00001100)
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#define RC_SWB_UP_MASK ((uint8_t)0b00001000)
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#define RC_SWB_MIDDLE_MASK ((uint8_t)0b00000100)
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#define RC_SWB_DOWN_MASK ((uint8_t)0b00001100)
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#define RC_SWC_MASK ((uint8_t)0b00110000)
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#define RC_SWC_UP_MASK ((uint8_t)0b00100000)
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#define RC_SWC_MIDDLE_MASK ((uint8_t)0b00010000)
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#define RC_SWC_DOWN_MASK ((uint8_t)0b00110000)
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#define RC_SWD_MASK ((uint8_t)0b11000000)
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#define RC_SWD_UP_MASK ((uint8_t)0b10000000)
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#define RC_SWD_DOWN_MASK ((uint8_t)0b11000000)
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typedef struct {
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uint8_t sws;
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int8_t stick_right_h;
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int8_t stick_right_v;
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int8_t stick_left_v;
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int8_t stick_left_h;
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int8_t var_a;
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uint8_t reserved0;
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uint8_t count;
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} RcStateFrame;
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typedef struct {
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struct16_t rpm;
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struct16_t current;
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struct32_t pulse_count;
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} ActuatorHSStateFrame;
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typedef struct {
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struct16_t driver_voltage;
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struct16_t driver_temperature;
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int8_t motor_temperature;
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uint8_t driver_state;
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uint8_t reserved0;
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uint8_t reserved1;
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} ActuatorLSStateFrame;
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// sensors
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typedef struct {
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struct32_t left_wheel;
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struct32_t right_wheel;
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} OdometryFrame;
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typedef struct {
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struct16_t accel_x;
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struct16_t accel_y;
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struct16_t accel_z;
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uint8_t reserverd0;
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uint8_t count;
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} ImuAccelFrame;
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typedef struct {
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struct16_t gyro_x;
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struct16_t gyro_y;
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struct16_t gyro_z;
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uint8_t reserverd0;
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uint8_t count;
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} ImuGyroFrame;
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typedef struct {
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struct16_t yaw;
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struct16_t pitch;
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struct16_t roll;
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uint8_t reserverd0;
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uint8_t count;
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} ImuEulerFrame;
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typedef struct {
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uint8_t trigger_state;
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uint8_t reserved0;
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uint8_t reserved1;
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uint8_t reserved2;
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uint8_t reserved3;
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uint8_t reserved4;
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uint8_t reserved5;
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uint8_t reserved6;
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} SafetyBumperFrame;
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typedef struct {
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uint8_t distance[8];
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} UltrasonicFrame;
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typedef struct {
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struct16_t relative_distance;
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struct16_t relative_angle;
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uint8_t is_normal;
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int8_t channels[3];
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} UwbFrame;
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typedef struct {
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uint8_t battery_soc;
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uint8_t battery_soh;
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struct16_t voltage;
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struct16_t current;
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struct16_t temperature;
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} BmsBasicFrame;
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typedef struct {
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uint8_t protection_code1;
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uint8_t protection_code2;
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uint8_t protection_code3;
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uint8_t protection_code4;
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uint8_t battery_max_teperature;
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uint8_t battery_min_teperature;
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struct16_t count;
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} BmsExtendedFrame;
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// query/config
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typedef struct {
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uint8_t request;
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uint8_t reserved0;
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uint8_t reserved1;
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uint8_t reserved2;
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uint8_t reserved3;
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uint8_t reserved4;
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uint8_t reserved5;
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uint8_t reserved6;
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} VersionRequestFrame;
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typedef struct {
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struct16_t controller_hw_version;
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struct16_t motor_driver_hw_version;
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struct16_t controller_sw_version;
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struct16_t motor_driver_sw_version;
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} VersionResponseFrame;
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typedef struct {
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uint8_t mode;
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uint8_t reserved0;
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uint8_t reserved1;
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uint8_t reserved2;
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uint8_t reserved3;
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uint8_t reserved4;
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uint8_t reserved5;
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uint8_t reserved6;
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} ControlModeConfigFrame;
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typedef struct {
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uint8_t set_as_neutral;
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uint8_t reserved0;
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uint8_t reserved1;
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uint8_t reserved2;
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uint8_t reserved3;
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uint8_t reserved4;
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uint8_t reserved5;
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uint8_t reserved6;
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} SteerNeutralRequestFrame;
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typedef struct {
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uint8_t neutral_set_successful;
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uint8_t reserved0;
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uint8_t reserved1;
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uint8_t reserved2;
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uint8_t reserved3;
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uint8_t reserved4;
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uint8_t reserved5;
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uint8_t reserved6;
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} SteerNeutralResponseFrame;
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typedef struct {
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uint8_t error_clear_byte;
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uint8_t reserved0;
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uint8_t reserved1;
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uint8_t reserved2;
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uint8_t reserved3;
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uint8_t reserved4;
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uint8_t reserved5;
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uint8_t reserved6;
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} StateResetConfigFrame;
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#pragma pack(pop)
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#ifdef __cplusplus
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}
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#endif
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#endif /* AGX_PROTOCOL_V2_H */
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Reference in New Issue
Block a user