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Update header (#8)

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* Fix wrong bit shifts

* Add 'drive::steering_angle' scs
This commit was merged in pull request #8.
This commit is contained in:
Stefano Calabretti
2022-03-07 00:34:36 +01:00
committed by GitHub
parent 4d5c1934a4
commit e764a9ba12
2 changed files with 15 additions and 10 deletions
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Inc/mmr_can_message_id.h
+8 -3
View File
@@ -27,14 +27,16 @@
*
* Ids scheme:
*
* id | type | subtype
* -----|------|---------
* SCS | 000 | xxxxxxx
* id | type | subtype
* -------|------|---------
* SCS | 000 | xxxxxxx
* DRIVE | 001 | xxxxxxx
*/
typedef enum MmrCanMessageId MmrCanMessageId;
typedef enum {
MMR_CAN_MESSAGE_ID_TYPE_SCS = 0,
MMR_CAN_MESSAGE_ID_TYPE_DRIVE = 1,
} MmrCanMessageIdType;
@@ -90,6 +92,9 @@ enum MmrCanMessageId {
MMR_CAN_MESSAGE_ID_SCS_AM_EBS_TEST,
MMR_CAN_MESSAGE_ID_SCS_AM_INSPECTION = 0x17,
// !SCS
// DRIVE
MMR_CAN_MESSAGE_ID_DRIVE_STEERING_ANGLE = 0x8A,
// !DRIVE
};
#endif // !INC_MMR_CAN_MESSAGE_ID_H_
Src/mmr_can_header.c
+7 -7
View File
@@ -4,18 +4,18 @@
uint32_t MMR_CAN_HeaderToBits(MmrCanHeader header) {
return 0
| ((uint32_t)header.priority << 26)
| ((uint32_t)header.messageId << 23)
| ((uint32_t)header.senderId << 13)
| ((uint32_t)header.seqNumber << 3)
| ((uint32_t)header.messageType);
| ((uint32_t)header.priority << 26)
| ((uint32_t)header.messageId << 16)
| ((uint32_t)header.senderId << 6)
| ((uint32_t)header.seqNumber << 3)
| ((uint32_t)header.messageType);
}
MmrCanHeader MMR_CAN_HeaderFromBits(uint32_t bits) {
return (MmrCanHeader) {
.priority = bits >> 26,
.messageId = bits >> 23,
.senderId = bits >> 13,
.messageId = bits >> 16,
.senderId = bits >> 6,
.seqNumber = bits >> 3,
.messageType = bits,
};