Stefano Calabretti
154 lines
4.5 KiB
C
154 lines
4.5 KiB
C
/**
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* @file mmr_can_message_id.h
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* @brief
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* This header contains the message id declarations.
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*
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* Message ids identify a message, allowing the receiver
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* to take appropriate action when parsing one.
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*
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* For example, a can packet with message id set to
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* MMR_CAN_MESSAGE_ID_POINT might be interpreted as
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* a message carrying a struct Point { int x; int y; };,
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* and thus deserialized accordingly.
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*
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* You can find a table with more in-depth explanations on
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* Google Drive:
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* https://docs.google.com/spreadsheets/d/1GIC0_FuhCjXfBOg_dUWzoEsl5TG7SEOR
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*/
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#ifndef INC_MMR_CAN_MESSAGE_ID_H_
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#define INC_MMR_CAN_MESSAGE_ID_H_
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#include <stdint.h>
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#include <stdbool.h>
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#include "mmr_can_binary_literals.h"
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/**
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* @brief
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* Message ids are 10 bits wide
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* The first 5 bits determine the message id type, while
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* the other 5 determine the subtype.
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*
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* Ids scheme:
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*
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* id | type | subtype
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* ----------------------------|-------|---------
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* SENSING | 00000 | xxxxx
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* AUTONOMOUS_STATE | 00001 |
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* MANUAL_MISSION | 00010 |
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* AUTONOMOUS_MISSION | 00011 |
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* AUTONOMOUS_MISSION_CONTROL | 00100 |
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* DRIVE | 00101 |
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* ECU_BOSCH | 00110 |
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*/
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typedef enum MmrCanMessageId MmrCanMessageId;
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typedef enum MmrCanMessageIdType {
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MMR_CAN_MESSAGE_ID_TYPE_SENSING,
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MMR_CAN_MESSAGE_ID_TYPE_AUTONOMOUS_STATE,
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MMR_CAN_MESSAGE_ID_TYPE_MANUAL_MISSION,
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MMR_CAN_MESSAGE_ID_TYPE_AUTONOMOUS_MISSION,
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MMR_CAN_MESSAGE_ID_TYPE_AUTONOMOUS_MISSION_CONTROL,
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MMR_CAN_MESSAGE_ID_TYPE_DRIVE,
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MMR_CAN_MESSAGE_ID_TYPE_ECU_BOSCH,
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} MmrCanMessageIdType;
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/**
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* @brief
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* Returns the 3 bits representing
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* the MmrCanMessageIdType.
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*/
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uint8_t MMR_CAN_GetMessageIdType(MmrCanMessageId msgId);
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/**
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* @brief
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* Returns the 7 bits representing
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* the message id's subtype.
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*/
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uint8_t MMR_CAN_GetMessageIdSubtype(MmrCanMessageId msgId);
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/**
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* @brief
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* Tells wether the provided message
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* is of the given id type.
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*
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* E.g. if a message is an SCS.
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*/
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bool MMR_CAN_IsMessageIdOfType(MmrCanMessageId msgId, MmrCanMessageIdType type);
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enum MmrCanMessageId {
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// SENSING
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MMR_CAN_MESSAGE_ID_S_PPA = 0x0,
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MMR_CAN_MESSAGE_ID_S_LV12,
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MMR_CAN_MESSAGE_ID_S_LV24,
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MMR_CAN_MESSAGE_ID_S_PF,
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MMR_CAN_MESSAGE_ID_S_FRBPS,
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MMR_CAN_MESSAGE_ID_S_EBS,
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MMR_CAN_MESSAGE_ID_S_APPS,
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MMR_CAN_MESSAGE_ID_S_TPS,
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MMR_CAN_MESSAGE_ID_S_CLUTCH,
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// !SENSING
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// AUTONOMOUS_STATE
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MMR_CAN_MESSAGE_ID_AS_R2D = 32,
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MMR_CAN_MESSAGE_ID_AS_TS,
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MMR_CAN_MESSAGE_ID_AS_FINISHED,
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MMR_CAN_MESSAGE_ID_AS_EMERGENCY,
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MMR_CAN_MESSAGE_ID_AS_READY,
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MMR_CAN_MESSAGE_ID_AS_DRIVING,
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MMR_CAN_MESSAGE_ID_AS_OFF,
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// !AUTONOMOUS_STATE
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// MANUAL_MISSION
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MMR_CAN_MESSAGE_ID_MM_MANUAL = 64,
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// !MANUAL_MISSION
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// AUTONOMOUS_MISSION
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MMR_CAN_MESSAGE_ID_AM_ACCELERATION = 96,
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MMR_CAN_MESSAGE_ID_AM_SKIDPAD,
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MMR_CAN_MESSAGE_ID_AM_AUTOCROSS,
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MMR_CAN_MESSAGE_ID_AM_TRACKDRIVE,
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MMR_CAN_MESSAGE_ID_AM_EBS_TEST,
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MMR_CAN_MESSAGE_ID_AM_INSPECTION,
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// !AUTONOMOUS_MISSION
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// AUTONOMOUS_MISSION_CONTROL
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MMR_CAN_MESSAGE_ID_AMC_MISSION_FINISHED = 128,
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MMR_CAN_MESSAGE_ID_AMC_VEHICLE_STANDSTILL,
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MMR_CAN_MESSAGE_ID_AMC_MISSION_SELECTED,
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MMR_CAN_MESSAGE_ID_AMC_ASMS,
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MMR_CAN_MESSAGE_ID_AMC_ASB,
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MMR_CAN_MESSAGE_ID_AMC_TS,
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MMR_CAN_MESSAGE_ID_AMC_BE,
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// !AUTONOMOUS_MISSION_CONTROL
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// DRIVE
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MMR_CAN_MESSAGE_ID_D_STEERING_ANGLE = 138,
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MMR_CAN_MESSAGE_ID_D_BREAKING_PERCENTAGE,
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MMR_CAN_MESSAGE_ID_D_ACCELERATOR_PERCENTAGE,
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MMR_CAN_MESSAGE_ID_D_SPEED_ODOMETRY,
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// !DRIVE
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// ECU_BOSCH
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MMR_CAN_MESSAGE_ID_ECU_BOSCH_SPEED = 192,
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MMR_CAN_MESSAGE_ID_ECU_BOSCH_GEAR,
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MMR_CAN_MESSAGE_ID_ECU_BOSCH_RPM,
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MMR_CAN_MESSAGE_ID_ECU_BOSCH_THROTTLE,
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MMR_CAN_MESSAGE_ID_ECU_BOSCH_TEMP_OIL,
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MMR_CAN_MESSAGE_ID_ECU_BOSCH_TEMP_WATER,
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MMR_CAN_MESSAGE_ID_ECU_BOSCH_TORQUE,
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// !ECU_BOSCH
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// CONTROL_SIGNAL
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MMR_CAN_MESSAGE_ID_CS_CLUTCH_SIGNAL = 224,
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MMR_CAN_MESSAGE_ID_CS_CLUTCH_FEEDBACK,
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// !CONTROL_SIGNAL
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// STEERING
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MMR_CAN_MESSAGE_ID_ST_PROPORTIONAL_ERROR_LEFT_X = 256,
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MMR_CAN_MESSAGE_ID_ST_PROPORTIONAL_ERROR_RIGHT_X,
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MMR_CAN_MESSAGE_ID_ST_PROPORTIONAL_ODOMETRY_MIN_SPEED_LEFT_X,
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MMR_CAN_MESSAGE_ID_ST_PROPORTIONAL_ODOMETRY_MIN_SPEED_LEFT_Y,
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MMR_CAN_MESSAGE_ID_ST_PROPORTIONAL_ODOMETRY_MIN_SPEED_RIGHT_X,
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MMR_CAN_MESSAGE_ID_ST_PROPORTIONAL_ODOMETRY_MIN_SPEED_RIGHT_Y,
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MMR_CAN_MESSAGE_ID_ST_PROPORTIONAL_ODOMETRY_MAX_SPEED_LEFT_Y,
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MMR_CAN_MESSAGE_ID_ST_PROPORTIONAL_ODOMETRY_MAX_SPEED_RIGHT_Y,
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// !STEERING
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};
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#endif // !INC_MMR_CAN_MESSAGE_ID_H_
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