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CANCommon.h
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CANCommon.h
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/* File: CANCommon.h
* Authors: Jaden Bottemiller, Benton Kwong, Dylan Tomberlin.
* Organization: Husky Robotics Team
*
* This file includes fuction prototypes for Common Mode CAN Communication
* using the Hindsight CAN Communication standard.
* Documentation: https://huskyroboticsteam.slite.com/app/channels/iU0BryG7M9/collections/aXvWTcIR6c/notes/4otlSFsSp2
*/
#pragma once
#include "CANPacket.h"
void AssembleEmergencyStopPacket(CANPacket *packet,
uint8_t targetDeviceGroup,
uint8_t targetDeviceSerialNumber,
uint8_t errorCode);
void AssembleGroupBroadcastingEmergencyStopPacket(CANPacket *packet,
uint8_t groupCode,
uint8_t errorCode);
void AssembleBrodcastEmergencyStopPacket(CANPacket *packet,
uint8_t errorCode);
uint8_t GetEmergencyStopErrorCode(CANPacket *packet);
uint32_t GetTimeBetweenHeartbeatPacket(CANPacket *packet, uint32_t lastHeartbeat);
uint32_t GetHeartbeatTimeStamp(CANPacket *packet);
void AssembleHeartbeatPacket(CANPacket *packetToAssemble,
int broadcast,
uint8_t heartbeatLeniencyCode,
uint32_t timestamp);
void AssembleFailReportPacket(CANPacket *packetToAssemble,
uint8_t targetGroup,
uint8_t targetSerial,
uint8_t failedPacketID);
void AssembleOverrideProtectionPacket(CANPacket *packetToAssemble, uint8_t targetGroup, uint8_t targetSerial);
//Chip type pull
void AssembleChipTypePullPacket(CANPacket *packetToAssemble,
uint8_t targetDeviceGroup,
uint8_t targetDeviceSerial);
void AssembleChipTypeReportPacket(CANPacket *packetToAssemble,
uint8_t targetDeviceGroup,
uint8_t targetDeviceSerial);
uint8_t GetChipTypeFromPacket(CANPacket *packet);
void AssembleTelemetryTimingPacket(CANPacket *packetToAssemble,
uint8_t targetGroup,
uint8_t targetSerial,
uint8_t telemetryTypeCode,
uint32_t msBetweenReports);
uint32_t GetTelemetryTimingFromPacket(CANPacket *packetToAssemble);
void AssembleTelemetryPullPacket(CANPacket *packetToAssemble,
uint8_t targetGroup,
uint8_t targetSerial,
uint8_t telemetryTypeCode);
void AssembleTelemetryReportPacket(CANPacket *packetToAssemble,
uint8_t targetGroup,
uint8_t targetSerial,
uint8_t telemetryTypeCode,
int32_t data);
int32_t DecodeTelemetryDataSigned(CANPacket *packet);
uint32_t DecodeTelemetryDataUnsigned(CANPacket *packet);
uint8_t DecodeTelemetryType(CANPacket *packet);
void AssembleRGBColorPacket(CANPacket *packetToAssemble,
uint8_t targetGroup,
uint8_t targetSerial,
uint8_t addrLED,
uint8_t R,
uint8_t G,
uint8_t B);
// Common Mode Packet IDs
#define ID_ESTOP (uint8_t) 0xF0
#define ID_HEARTBEAT (uint8_t) 0xF1
#define ID_FAIL_REPORT (uint8_t) 0xF2
#define ID_OVRD_PROTECTION (uint8_t) 0xF3
#define ID_TELEMETRY_TIMING (uint8_t) 0xF4
#define ID_TELEMETRY_PULL (uint8_t) 0xF5
#define ID_TELEMETRY_REPORT (uint8_t) 0xF6
#define ID_LED_COLOR (uint8_t) 0xF7
#define ID_CHIP_TYPE_PULL (uint8_t) 0xF8
#define ID_CHIP_TYPE_REP (uint8_t) 0xF9
// DLC Common Mode Packets
#define DLC_ESTOP (uint8_t) 0x04
#define DLC_HEARTBEAT (uint8_t) 0x08
#define DLC_FAIL_REPORT (uint8_t) 0x04
#define DLC_OVRD_PROTECTION (uint8_t) 0x01
#define DLC_TELEMETRY_TIMING (uint8_t) 0x08
#define DLC_TELEMETRY_PULL (uint8_t) 0x04
#define DLC_TELEMETRY_REPORT (uint8_t) 0x08
#define DLC_LED_COLOR (uint8_t) 0x06
#define DLC_CHIP_TYPE_PULL (uint8_t) 0x04
#define DLC_CHIP_TYPE_REP (uint8_t) 0x04
//Packet priorities
#define PRIO_CHIP_TYPE_REP PACKET_PRIORITY_NORMAL
// Telemetry Types
#define PACKET_TELEMETRY_VOLTAGE ((uint8_t) 0x00)
#define PACKET_TELEMETRY_CURRENT ((uint8_t) 0x01)
#define PACKET_TELEMETRY_PWR_RAIL_STATE ((uint8_t) 0x02)
#define PACKET_TELEMETRY_TEMPERATURE ((uint8_t) 0x03)
#define PACKET_TELEMETRY_ANG_POSITION ((uint8_t) 0x04)
#define PACKET_TELEMETRY_GPS_LAT ((uint8_t) 0x05)
#define PACKET_TELEMETRY_GPS_LON ((uint8_t) 0x06)
#define PACKET_TELEMETRY_MAG_DIR ((uint8_t) 0x07)
#define PACKET_TELEMETRY_ACCEL_X ((uint8_t) 0x08)
#define PACKET_TELEMETRY_ACCEL_Y ((uint8_t) 0x09)
#define PACKET_TELEMETRY_ACCEL_Z ((uint8_t) 0x0A)
#define PACKET_TELEMETRY_GYRO_X ((uint8_t) 0x0B)
#define PACKET_TELEMETRY_GYRO_Y ((uint8_t) 0x0C)
#define PACKET_TELEMETRY_GYRO_Z ((uint8_t) 0x0D)
#define PACKET_TELEMETRY_LIM_SW_STATE ((uint8_t) 0x0E)
#define PACKET_TELEMETRY_ADC_RAW ((uint8_t) 0x0F)
#define PACKET_TELEMETRY_GPIO_STATE ((uint8_t) 0x10)
#define PACKET_TELEMETRY_CHIP_TYPE ((uint8_t) 0x11)
#define PACKET_TELEMETRY_QUATERNION_W ((uint8_t) 0x12)
#define PACKET_TELEMETRY_QUATERNION_X ((uint8_t) 0x13)
#define PACKET_TELEMETRY_QUATERNION_Y ((uint8_t) 0x14)
#define PACKET_TELEMETRY_QUATERNION_Z ((uint8_t) 0x15)
#define PACKET_TELEMETRY_SENSOR1 ((uint8_t) 0x16)
#define PACKET_TELEMETRY_SENSOR2 ((uint8_t) 0x17)
#define PACKET_TELEMETRY_SENSOR3 ((uint8_t) 0x18)
#define PACKET_TELEMETRY_SENSOR4 ((uint8_t) 0x19)
#define PACKET_TELEMETRY_SENSOR5 ((uint8_t) 0x1A)
#define PACKET_TELEMETRY_SENSOR6 ((uint8_t) 0x1B)
// ESTOP ERROR CODES
#define ESTOP_ERR_GENERAL (uint8_t) 0x00
// MORE TBD...