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Update message ids (#10)

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* Add scs_am ids

* Update message ids
This commit was merged in pull request #10.
This commit is contained in:
Stefano Calabretti
2022-04-11 15:17:46 +02:00
committed by GitHub
parent a9fb248f3b
commit aec32cb58e
2 changed files with 62 additions and 36 deletions
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Inc/mmr_can_message_id.h
+60 -34
View File
@@ -27,16 +27,26 @@
*
* Ids scheme:
*
* id | type | subtype
* -------|------|---------
* SCS | 000 | xxxxxxx
* DRIVE | 001 | xxxxxxx
* id | type | subtype
* ----------------------------|-------|---------
* SENSING | 00000 | xxxxx
* AUTONOMOUS_STATE | 00001 |
* MANUAL_MISSION | 00010 |
* AUTONOMOUS_MISSION | 00011 |
* AUTONOMOUS_MISSION_CONTROL | 00100 |
* DRIVE | 00101 |
* ECU_BOSCH | 00110 |
*/
typedef enum MmrCanMessageId MmrCanMessageId;
typedef enum MmrCanMessageIdType {
MMR_CAN_MESSAGE_ID_TYPE_SCS = 0,
MMR_CAN_MESSAGE_ID_TYPE_DRIVE = 1,
MMR_CAN_MESSAGE_ID_TYPE_SENSING,
MMR_CAN_MESSAGE_ID_TYPE_AUTONOMOUS_STATE,
MMR_CAN_MESSAGE_ID_TYPE_MANUAL_MISSION,
MMR_CAN_MESSAGE_ID_TYPE_AUTONOMOUS_MISSION,
MMR_CAN_MESSAGE_ID_TYPE_AUTONOMOUS_MISSION_CONTROL,
MMR_CAN_MESSAGE_ID_TYPE_DRIVE,
MMR_CAN_MESSAGE_ID_TYPE_ECU_BOSCH,
} MmrCanMessageIdType;
@@ -65,36 +75,52 @@ bool MMR_CAN_IsMessageIdOfType(MmrCanMessageId msgId, MmrCanMessageIdType type);
enum MmrCanMessageId {
// SCS
MMR_CAN_MESSAGE_ID_SCS_PPA = 0x1,
MMR_CAN_MESSAGE_ID_SCS_PLF,
MMR_CAN_MESSAGE_ID_SCS_LV12,
MMR_CAN_MESSAGE_ID_SCS_LV24,
MMR_CAN_MESSAGE_ID_SCS_PF,
MMR_CAN_MESSAGE_ID_SCS_FRBPS,
MMR_CAN_MESSAGE_ID_SCS_EBS,
MMR_CAN_MESSAGE_ID_SCS_APPS,
MMR_CAN_MESSAGE_ID_SCS_TPS,
MMR_CAN_MESSAGE_ID_SCS_AS_R2D,
MMR_CAN_MESSAGE_ID_SCS_AS_TS,
MMR_CAN_MESSAGE_ID_SCS_AS_FINISHED,
MMR_CAN_MESSAGE_ID_SCS_AS_EMERGENCY,
MMR_CAN_MESSAGE_ID_SCS_AS_READY,
MMR_CAN_MESSAGE_ID_SCS_AS_DRIVING,
MMR_CAN_MESSAGE_ID_SCS_AS_OFF,
MMR_CAN_MESSAGE_ID_SCS_AM_MANUAL_DRIVING,
MMR_CAN_MESSAGE_ID_SCS_AM_ACCELERATION,
MMR_CAN_MESSAGE_ID_SCS_AM_SKIDPAD,
MMR_CAN_MESSAGE_ID_SCS_AM_AUTOCROSS,
MMR_CAN_MESSAGE_ID_SCS_AM_TRACKDRIVE,
MMR_CAN_MESSAGE_ID_SCS_AM_EBS_TEST,
MMR_CAN_MESSAGE_ID_SCS_AM_INSPECTION = 0x17,
// !SCS
// SENSING
MMR_CAN_MESSAGE_ID_S_PPA = 0x0,
MMR_CAN_MESSAGE_ID_S_LV12,
MMR_CAN_MESSAGE_ID_S_LV24,
MMR_CAN_MESSAGE_ID_S_PF,
MMR_CAN_MESSAGE_ID_S_FRBPS,
MMR_CAN_MESSAGE_ID_S_EBS,
MMR_CAN_MESSAGE_ID_S_APPS,
MMR_CAN_MESSAGE_ID_S_TPS,
MMR_CAN_MESSAGE_ID_S_CLUTCH,
// !SENSING
// AUTONOMOUS_STATE
MMR_CAN_MESSAGE_ID_AS_R2D = 32,
MMR_CAN_MESSAGE_ID_AS_TS,
MMR_CAN_MESSAGE_ID_AS_FINISHED,
MMR_CAN_MESSAGE_ID_AS_EMERGENCY,
MMR_CAN_MESSAGE_ID_AS_READY,
MMR_CAN_MESSAGE_ID_AS_DRIVING,
MMR_CAN_MESSAGE_ID_AS_OFF,
// !AUTONOMOUS_STATE
// MANUAL_MISSION
MMR_CAN_MESSAGE_ID_MM_MANUAL = 64,
// !MANUAL_MISSION
// AUTONOMOUS_MISSION
MMR_CAN_MESSAGE_ID_AM_ACCELERATION = 96,
MMR_CAN_MESSAGE_ID_AM_SKIDPAD,
MMR_CAN_MESSAGE_ID_AM_AUTOCROSS,
MMR_CAN_MESSAGE_ID_AM_TRACKDRIVE,
MMR_CAN_MESSAGE_ID_AM_EBS_TEST,
MMR_CAN_MESSAGE_ID_AM_INSPECTION,
// !AUTONOMOUS_MISSION
// AUTONOMOUS_MISSION_CONTROL
MMR_CAN_MESSAGE_ID_AMC_MISSION_FINISHED = 128,
MMR_CAN_MESSAGE_ID_AMC_VEHICLE_STANDSTILL,
MMR_CAN_MESSAGE_ID_AMC_MISSION_SELECTED,
MMR_CAN_MESSAGE_ID_AMC_ASMS,
MMR_CAN_MESSAGE_ID_AMC_ASB,
MMR_CAN_MESSAGE_ID_AMC_TS,
MMR_CAN_MESSAGE_ID_AMC_BE,
// !AUTONOMOUS_MISSION_CONTROL
// DRIVE
MMR_CAN_MESSAGE_ID_DRIVE_STEERING_ANGLE = 0x8A,
MMR_CAN_MESSAGE_ID_D_STEERING_ANGLE = 160,
// !DRIVE
// ECU_BOSCH
MMR_CAN_MESSAGE_ID_ECU_BOSCH_ = 192,
// !ECU_BOSCH
};
#endif // !INC_MMR_CAN_MESSAGE_ID_H_
Src/mmr_can_message_id.c
+2 -2
View File
@@ -11,9 +11,9 @@ bool MMR_CAN_IsMessageIdOfType(
uint8_t MMR_CAN_GetMessageIdType(MmrCanMessageId msgId) {
return msgId >> 7;
return msgId >> 5;
}
uint8_t MMR_CAN_GetMessageIdSubtype(MmrCanMessageId msgId) {
return msgId & B8_(0111, 1111);
return msgId & B8_(0001, 1111);
}