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/* DO NOT MODIFY: This source is generated by the scripts in the
* vi-firmware repository.
*
* Generated for v7.x of the OpenXC VI firmware.
*/
#include "diagnostics.h"
#include "can/canread.h"
#include "can/canwrite.h"
#include "signals.h"
#include "obd2.h"
#include "util/log.h"
#include "config.h"
#include "shared_handlers.h"
namespace can = openxc::can;
using openxc::util::log::debug;
using openxc::pipeline::Pipeline;
using openxc::config::getConfiguration;
using openxc::can::read::booleanDecoder;
using openxc::can::read::stateDecoder;
using openxc::can::read::ignoreDecoder;
using openxc::diagnostics::obd2::handleObd2Pid;
using namespace openxc::signals::handlers;
#include "can/canread.h"
using openxc::can::read::publishNumericalMessage;
void handleSteeringWheelMessage(CanMessage* message,
CanSignal* signals, int signalCount, Pipeline* pipeline) {
publishNumericalMessage("latitude", 42.0, pipeline);
}
openxc_DynamicField handleInverted(CanSignal* signal, CanSignal* signals,
int signalCount, float value, bool* send) {
return openxc::payload::wrapNumber(value * -1);
}
void initializeMyStuff() { }
void initializeOtherStuff() { }
void myLooper() {
// this function will be called once each time through the main loop, after
// all CAN message processing has been completed
}
const int MESSAGE_SET_COUNT = 1;
CanMessageSet MESSAGE_SETS[MESSAGE_SET_COUNT] = {
{ 0, "example", 2, 1, 5, 1 },
};
const int MAX_CAN_BUS_COUNT = 2;
CanBus CAN_BUSES[][MAX_CAN_BUS_COUNT] = {
{ // message set: example
{ speed: 500000,
address: 1,
maxMessageFrequency: 0,
rawWritable: false,
passthroughCanMessages: false,
bypassFilters: false,
loopback: false
},
{ speed: 125000,
address: 2,
maxMessageFrequency: 0,
rawWritable: false,
passthroughCanMessages: false,
bypassFilters: false,
loopback: false
},
},
};
const int MAX_MESSAGE_COUNT = 1;
CanMessageDefinition CAN_MESSAGES[][MAX_MESSAGE_COUNT] = {
{ // message set: example
{ bus: &CAN_BUSES[0][0], id: 0x128, format: STANDARD, frequencyClock: {0.000000}, forceSendChanged: true}, // ECM_z_5D2
},
};
const int MAX_SIGNAL_STATES = 12;
const int MAX_SIGNALS_WITH_STATES_COUNT = 1;
const CanSignalState SIGNAL_STATES[][MAX_SIGNALS_WITH_STATES_COUNT][MAX_SIGNAL_STATES] = {
{ // message set: example
{ {value: 1, name: "FIRST"}, {value: 2, name: "SECOND"}, {value: 3, name: "THIRD"}, {value: 4, name: "FOURTH"}, {value: 5, name: "REVERSE"}, {value: 6, name: "NEUTRAL"}, { 0, NULL }, { 0, NULL }, { 0, NULL }, { 0, NULL }, { 0, NULL }, { 0, NULL }, },
},
};
const int MAX_SIGNAL_COUNT = 5;
CanSignal SIGNALS[][MAX_SIGNAL_COUNT] = {
{ // message set: example
{message: &CAN_MESSAGES[0][0], genericName: "GearshiftPosition", bitPosition: 41, bitSize: 3, factor: 1.000000, offset: 0.000000, minValue: 0.000000, maxValue: 0.000000, frequencyClock: {0.000000}, sendSame: true, forceSendChanged: false, states: SIGNAL_STATES[0][0], stateCount: 6, writable: false, decoder: stateDecoder, encoder: NULL}, // GrshftPos
{message: &CAN_MESSAGES[0][0], genericName: "SteeringWheelAngle", bitPosition: 52, bitSize: 12, factor: 0.153920, offset: 0.000000, minValue: 0.000000, maxValue: 0.000000, frequencyClock: {0.000000}, sendSame: true, forceSendChanged: false, states: NULL, stateCount: 0, writable: false, decoder: handleUnsignedSteeringWheelAngle, encoder: NULL}, // StrAnglAct
{message: &CAN_MESSAGES[0][0], genericName: "engine_speed", bitPosition: 12, bitSize: 8, factor: 1.000000, offset: 0.000000, minValue: 0.000000, maxValue: 0.000000, frequencyClock: {15.000000}, sendSame: true, forceSendChanged: false, states: NULL, stateCount: 0, writable: false, decoder: NULL, encoder: NULL}, // EngSpd
{message: &CAN_MESSAGES[0][0], genericName: "steering_angle_sign", bitPosition: 52, bitSize: 12, factor: 1.000000, offset: 0.000000, minValue: 0.000000, maxValue: 0.000000, frequencyClock: {0.000000}, sendSame: true, forceSendChanged: false, states: NULL, stateCount: 0, writable: false, decoder: ignoreDecoder, encoder: NULL}, // StrAnglSign
{message: &CAN_MESSAGES[0][0], genericName: "steering_wheel_angle_error", bitPosition: 44, bitSize: 12, factor: 1.000000, offset: 0.000000, minValue: 0.000000, maxValue: 0.000000, frequencyClock: {0.000000}, sendSame: true, forceSendChanged: false, states: NULL, stateCount: 0, writable: false, decoder: ignoreDecoder, encoder: NULL}, // StrAnglErr
},
};
void openxc::signals::initialize(openxc::diagnostics::DiagnosticsManager* diagnosticsManager) {
switch(getConfiguration()->messageSetIndex) {
case 0: // message set: example
initializeMyStuff();
break;
}
}
void openxc::signals::loop() {
switch(getConfiguration()->messageSetIndex) {
case 0: // message set: example
myLooper();
break;
}
}
const int MAX_COMMAND_COUNT = 1;
CanCommand COMMANDS[][MAX_COMMAND_COUNT] = {
{ // message set: example
{ genericName: "turn_signal_status", handler: handleTurnSignalCommand },
},
};
void openxc::signals::decodeCanMessage(Pipeline* pipeline, CanBus* bus, CanMessage* message) {
switch(getConfiguration()->messageSetIndex) {
case 0: // message set: example
switch(bus->address) {
case 1:
switch (message->id) {
case 0x128: // ECM_z_5D2
handleSteeringWheelMessage(message, SIGNALS[0], getSignalCount(), pipeline);
can::read::translateSignal(&SIGNALS[0][0], message, SIGNALS[0], getSignalCount(), pipeline); // GrshftPos
can::read::translateSignal(&SIGNALS[0][1], message, SIGNALS[0], getSignalCount(), pipeline); // StrAnglAct
can::read::translateSignal(&SIGNALS[0][2], message, SIGNALS[0], getSignalCount(), pipeline); // EngSpd
can::read::translateSignal(&SIGNALS[0][3], message, SIGNALS[0], getSignalCount(), pipeline); // StrAnglSign
can::read::translateSignal(&SIGNALS[0][4], message, SIGNALS[0], getSignalCount(), pipeline); // StrAnglErr
break;
}
break;
case 2:
switch (message->id) {
}
break;
}
break;
}
}
CanCommand* openxc::signals::getCommands() {
return COMMANDS[getActiveMessageSet()->index];
}
int openxc::signals::getCommandCount() {
return getActiveMessageSet()->commandCount;
}
CanMessageDefinition* openxc::signals::getMessages() {
return CAN_MESSAGES[getActiveMessageSet()->index];
}
int openxc::signals::getMessageCount() {
return getActiveMessageSet()->messageCount;
}
CanSignal* openxc::signals::getSignals() {
return SIGNALS[getActiveMessageSet()->index];
}
int openxc::signals::getSignalCount() {
return getActiveMessageSet()->signalCount;
}
CanBus* openxc::signals::getCanBuses() {
return CAN_BUSES[getActiveMessageSet()->index];
}
int openxc::signals::getCanBusCount() {
return getActiveMessageSet()->busCount;
}
CanMessageSet* openxc::signals::getActiveMessageSet() {
return &MESSAGE_SETS[getConfiguration()->messageSetIndex];
}
CanMessageSet* openxc::signals::getMessageSets() {
return MESSAGE_SETS;
}
int openxc::signals::getMessageSetCount() {
return MESSAGE_SET_COUNT;
}
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