mirror of
https://github.com/westonrobot/ugv_sdk
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42 lines
786 B
C
42 lines
786 B
C
/*
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* agilex_msg_parser.h
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*
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* Created on: Jul 09, 2021 22:04
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* Description:
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*
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* Copyright (c) 2021 Ruixiang Du (rdu)
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*/
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#ifndef AGILEX_MSG_PARSER_H
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#define AGILEX_MSG_PARSER_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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#include <stdbool.h>
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#include <string.h>
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#ifdef __linux__
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#include <linux/can.h>
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#else
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struct can_frame {
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uint32_t can_id;
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uint8_t can_dlc;
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uint8_t data[8] __attribute__((aligned(8)));
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};
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#endif
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#include "ugv_sdk/details/interface/agilex_message.h"
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bool DecodeCanFrameV1(const struct can_frame *rx_frame, AgxMessage *msg);
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void EncodeCanFrameV1(const AgxMessage *msg, struct can_frame *tx_frame);
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uint8_t CalcCanFrameChecksumV1(uint16_t id, uint8_t *data, uint8_t dlc);
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#ifdef __cplusplus
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}
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#endif
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#endif /* AGILEX_MSG_PARSER_H */
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