diff options
| -rw-r--r-- | low-can-binding/can/message-definition.cpp | 8 | ||||
| -rw-r--r-- | low-can-binding/can/message-definition.hpp | 5 | ||||
| -rwxr-xr-x | low-can-binding/can/signals.cpp | 7 | ||||
| -rwxr-xr-x | low-can-binding/can/signals.hpp | 1 | ||||
| -rw-r--r-- | low-can-binding/utils/converter.cpp | 30 | ||||
| -rw-r--r-- | low-can-binding/utils/converter.hpp | 1 | ||||
| -rw-r--r-- | plugins/agl-signals.cpp | 12 |
7 files changed, 57 insertions, 7 deletions
diff --git a/low-can-binding/can/message-definition.cpp b/low-can-binding/can/message-definition.cpp index 114307e5..80609827 100644 --- a/low-can-binding/can/message-definition.cpp +++ b/low-can-binding/can/message-definition.cpp @@ -23,6 +23,7 @@ message_definition_t::message_definition_t( const std::string bus, uint32_t id, uint32_t flags, + bool frame_layout_is_little, frequency_clock_t frequency_clock, bool force_send_changed, const vect_ptr_signal_t& signals) @@ -30,6 +31,7 @@ message_definition_t::message_definition_t( bus_{bus}, id_{id}, flags_{flags}, + frame_layout_is_little_{frame_layout_is_little}, frequency_clock_{frequency_clock}, force_send_changed_{force_send_changed}, last_value_{CAN_MESSAGE_SIZE}, @@ -41,6 +43,7 @@ message_definition_t::message_definition_t(const std::string bus, const std::string name, uint32_t length, uint32_t flags, + bool frame_layout_is_little, frequency_clock_t frequency_clock, bool force_send_changed, const vect_ptr_signal_t& signals) @@ -50,6 +53,7 @@ message_definition_t::message_definition_t(const std::string bus, name_{name}, length_{length}, flags_{flags}, + frame_layout_is_little_{frame_layout_is_little}, frequency_clock_{frequency_clock}, force_send_changed_{force_send_changed}, last_value_{CAN_MESSAGE_SIZE}, @@ -112,3 +116,7 @@ uint32_t message_definition_t::get_flags() const { return flags_; } + +bool message_definition_t::frame_layout_is_little() const{ + return frame_layout_is_little_; +} diff --git a/low-can-binding/can/message-definition.hpp b/low-can-binding/can/message-definition.hpp index ca264b7e..9d615ff0 100644 --- a/low-can-binding/can/message-definition.hpp +++ b/low-can-binding/can/message-definition.hpp @@ -49,6 +49,8 @@ private: frequency_clock_t frequency_clock_; ///< clock_ - an optional frequency clock to control the output of this /// message, if sent raw, or simply to mark the max frequency for custom /// handlers to retrieve.*/ + bool frame_layout_is_little_; ///<frame_layout_is_little_ Defines if the can frame layout is little endian or big endian. + /// Default is true; bool force_send_changed_; ///< force_send_changed_ - If true, regardless of the frequency, it will send CAN /// message if it has changed when using raw passthrough.*/ std::vector<uint8_t> last_value_; ///< last_value_ - The last received value of the message. Defaults to undefined. @@ -64,6 +66,7 @@ public: message_definition_t(const std::string bus, uint32_t id, uint32_t flags, + bool frame_layout_is_little, frequency_clock_t frequency_clock, bool force_send_changed, const vect_ptr_signal_t& signals); @@ -72,6 +75,7 @@ public: std::string name, uint32_t length, uint32_t flags, + bool frame_layout_is_little, frequency_clock_t frequency_clock, bool force_send_changed, const vect_ptr_signal_t& signals); @@ -87,6 +91,7 @@ public: vect_ptr_signal_t& get_signals(); uint32_t get_length() const; uint32_t get_flags() const; + bool frame_layout_is_little() const; void set_parent(std::shared_ptr<message_set_t> parent); void set_last_value(std::shared_ptr<message_t> m); diff --git a/low-can-binding/can/signals.cpp b/low-can-binding/can/signals.cpp index 57aefa55..2b87dc6f 100755 --- a/low-can-binding/can/signals.cpp +++ b/low-can-binding/can/signals.cpp @@ -220,7 +220,12 @@ void signal_t::set_timestamp(uint64_t timestamp) frequency_.tick(timestamp); } -std::pair<bool, int> signal_t::get_multiplex() const +void signal_t::set_bit_position(uint32_t bit_position) +{ + bit_position_=bit_position; +} + +std::pair<bool,int> signal_t::get_multiplex() const { return multiplex_; } diff --git a/low-can-binding/can/signals.hpp b/low-can-binding/can/signals.hpp index 32cd7606..d9453c50 100755 --- a/low-can-binding/can/signals.hpp +++ b/low-can-binding/can/signals.hpp @@ -171,4 +171,5 @@ public: void set_received(bool r); void set_last_value(float val); void set_timestamp(uint64_t timestamp); + void set_bit_position(uint32_t bit_position); }; diff --git a/low-can-binding/utils/converter.cpp b/low-can-binding/utils/converter.cpp index e3db7f33..f790fc00 100644 --- a/low-can-binding/utils/converter.cpp +++ b/low-can-binding/utils/converter.cpp @@ -55,3 +55,33 @@ void converter_t::signal_to_bits_bytes(uint32_t bit_position, uint32_t bit_size, new_end_byte = (bit_position + bit_size - 1) >> 3; new_end_bit = (bit_position + bit_size - 1) % 8; } + + +/** + * @brief This is to use when you have a big endian CAN frame layout. + * It converts the bit position so it matches with little endiant CAN frame layout. + * + * @param bit_position Original bit position. + * @param bit_size Size of the data. + * @return uint32_t New little endian bit position. + */ +uint32_t converter_t::bit_position_swap(uint32_t bit_position,uint32_t bit_size) +{ + uint32_t start_byte_position = (uint32_t)(bit_position/8); + uint32_t bit_size_rest = bit_size; + if(bit_size<=8 && ((bit_position+bit_size)%8==bit_size || (bit_position+bit_size)%8==0)) + { + return (uint32_t)(start_byte_position*8 + (8-bit_size)); + } + else + { + do + { + bit_size_rest = bit_size_rest - ((start_byte_position+1)*8-bit_position); + start_byte_position--; + bit_position = start_byte_position*8; + } while (bit_size_rest>8); + return (uint32_t)(start_byte_position*8 + (8-bit_size_rest)); + } + +} diff --git a/low-can-binding/utils/converter.hpp b/low-can-binding/utils/converter.hpp index d24096a6..45233268 100644 --- a/low-can-binding/utils/converter.hpp +++ b/low-can-binding/utils/converter.hpp @@ -24,4 +24,5 @@ class converter_t public: static std::string to_hex(const uint8_t data[], const size_t length); static void signal_to_bits_bytes(uint32_t bit_position, uint32_t bit_size, int &new_start_byte, int &new_end_byte, uint8_t &new_start_bit, uint8_t &new_end_bit); + static uint32_t bit_position_swap(uint32_t bit_position,uint32_t bit_size); }; diff --git a/plugins/agl-signals.cpp b/plugins/agl-signals.cpp index 28a8cce3..e02b61ff 100644 --- a/plugins/agl-signals.cpp +++ b/plugins/agl-signals.cpp @@ -12,7 +12,7 @@ CTLP_LUA_REGISTER("TO-EDIT"); std::shared_ptr<message_set_t> message_set = std::make_shared<message_set_t>(message_set_t{0,"AGL Virtual Car", { // beginning message_definition_ vector - {std::make_shared<message_definition_t>(message_definition_t{"ls", 0x30,"", 0, false, frequency_clock_t(5.00000f), true, + {std::make_shared<message_definition_t>(message_definition_t{"ls", 0x30,"", 0, 0 ,false, frequency_clock_t(5.00000f), true, { // beginning signals vector {std::make_shared<signal_t> (signal_t{ "hvac.fan.speed",// generic_name @@ -104,7 +104,7 @@ std::shared_ptr<message_set_t> message_set = })} } // end signals vector })} // end message_definition entry -, {std::make_shared<message_definition_t>(message_definition_t{"hs", 0x3D9,"", 0, true, frequency_clock_t(5.00000f), true, +, {std::make_shared<message_definition_t>(message_definition_t{"hs", 0x3D9,"", 0, 0, true, frequency_clock_t(5.00000f), true, { // beginning signals vector {std::make_shared<signal_t> (signal_t{ "engine.speed",// generic_name @@ -174,7 +174,7 @@ std::shared_ptr<message_set_t> message_set = })} } // end signals vector })} // end message_definition entry -, {std::make_shared<message_definition_t>(message_definition_t{"hs", 0x3E9,"", 0, false, frequency_clock_t(5.00000f), true, +, {std::make_shared<message_definition_t>(message_definition_t{"hs", 0x3E9,"", 0, 0,false, frequency_clock_t(5.00000f), true, { // beginning signals vector {std::make_shared<signal_t> (signal_t{ "vehicle.average.speed",// generic_name @@ -200,7 +200,7 @@ std::shared_ptr<message_set_t> message_set = })} } // end signals vector })} // end message_definition entry -, {std::make_shared<message_definition_t>(message_definition_t{"hs", 0x4D1,"", 0, false, frequency_clock_t(5.00000f), true, +, {std::make_shared<message_definition_t>(message_definition_t{"hs", 0x4D1,"", 0, 0, false, frequency_clock_t(5.00000f), true, { // beginning signals vector {std::make_shared<signal_t> (signal_t{ "engine.oil.temp",// generic_name @@ -248,7 +248,7 @@ std::shared_ptr<message_set_t> message_set = })} } // end signals vector })} // end message_definition entry -, {std::make_shared<message_definition_t>(message_definition_t{"hs", 0x620,"", 0, false, frequency_clock_t(5.00000f), true, +, {std::make_shared<message_definition_t>(message_definition_t{"hs", 0x620,"", 0, 0, false, frequency_clock_t(5.00000f), true, { // beginning signals vector {std::make_shared<signal_t> (signal_t{ "doors.boot.open",// generic_name @@ -362,7 +362,7 @@ std::shared_ptr<message_set_t> message_set = })} } // end signals vector })} // end message_definition entry -, {std::make_shared<message_definition_t>(message_definition_t{"hs", 0x799,"", 0, false, frequency_clock_t(5.00000f), true, +, {std::make_shared<message_definition_t>(message_definition_t{"hs", 0x799,"", 0, 0, false, frequency_clock_t(5.00000f), true, { // beginning signals vector {std::make_shared<signal_t> (signal_t{ "windows.front_left.open",// generic_name |