vn200 stm project
This commit is contained in:
r.koeppe
600
vn200/Converter/Inc/can1.h
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600
vn200/Converter/Inc/can1.h
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/**
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* The MIT License (MIT)
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*
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* Copyright (c) 2018-2019 Erik Moqvist
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use, copy,
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* modify, merge, publish, distribute, sublicense, and/or sell copies
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* of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
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* BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
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* ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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/**
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* This file was generated by cantools version 0.1.dev1740+ge714fab Tue Jun 4 14:20:13 2024.
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*/
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#ifndef CAN1_H
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#define CAN1_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <stdint.h>
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#include <stdbool.h>
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#include <stddef.h>
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#ifndef EINVAL
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# define EINVAL 22
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#endif
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/* Frame ids. */
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#define CAN1_VN200_INS_FRAME_ID (0x01u)
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#define CAN1_VN200_IMU_FRAME_ID (0x02u)
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#define CAN1_VN200_YPR_FRAME_ID (0x05u)
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/* Frame lengths in bytes. */
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#define CAN1_VN200_INS_LENGTH (8u)
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#define CAN1_VN200_IMU_LENGTH (8u)
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#define CAN1_VN200_YPR_LENGTH (8u)
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/* Extended or standard frame types. */
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#define CAN1_VN200_INS_IS_EXTENDED (0)
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#define CAN1_VN200_IMU_IS_EXTENDED (0)
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#define CAN1_VN200_YPR_IS_EXTENDED (0)
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/* Frame cycle times in milliseconds. */
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/* Signal choices. */
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/* Frame Names. */
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#define CAN1_VN200_INS_NAME "VN200_INS"
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#define CAN1_VN200_IMU_NAME "VN200_IMU"
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#define CAN1_VN200_YPR_NAME "VN200_YPR"
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/* Signal Names. */
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#define CAN1_VN200_INS_YAW_NAME "Yaw"
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#define CAN1_VN200_IMU_MULTIPLEXER_NAME "multiplexer"
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#define CAN1_VN200_IMU_ACCX_NAME "accx"
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#define CAN1_VN200_IMU_ACCY_NAME "accy"
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#define CAN1_VN200_IMU_ACCZ_NAME "accz"
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#define CAN1_VN200_IMU_ANGX_NAME "angx"
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#define CAN1_VN200_IMU_ANGY_NAME "angy"
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#define CAN1_VN200_IMU_ANGZ_NAME "angz"
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#define CAN1_VN200_YPR_YAW_NAME "yaw"
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#define CAN1_VN200_YPR_PITCH_NAME "pitch"
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#define CAN1_VN200_YPR_ROLL_NAME "roll"
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/**
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* Signals in message VN200_INS.
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*
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* VN200 INS - Measurements with sensor fusion
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*
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* All signal values are as on the CAN bus.
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*/
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struct can1_vn200_ins_t {
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/**
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* Range: 0..64255 (0..8031.875 rpm)
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* Scale: 0.125
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* Offset: 0
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*/
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uint16_t yaw;
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};
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/**
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* Signals in message VN200_IMU.
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*
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* VN200 IMU - Measurements only IMU without algorithms
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*
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* All signal values are as on the CAN bus.
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*/
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struct can1_vn200_imu_t {
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/**
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* Range: -
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* Scale: 0
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* Offset: 0
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*/
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uint8_t multiplexer;
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/**
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* Range: -
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* Scale: 0.06
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* Offset: 0
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*/
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int16_t accx;
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/**
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* Range: -
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* Scale: 0.06
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* Offset: 0
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*/
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int16_t accy;
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/**
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* Range: -
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* Scale: 0.06
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* Offset: 0
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*/
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int16_t accz;
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/**
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* Range: -
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* Scale: 0.002
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* Offset: 0
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*/
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int16_t angx;
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/**
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* Range: -
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* Scale: 0.002
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* Offset: 0
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*/
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int16_t angy;
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/**
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* Range: -
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* Scale: 0.002
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* Offset: 0
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*/
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int16_t angz;
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};
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/**
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* Signals in message VN200_YPR.
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*
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* All signal values are as on the CAN bus.
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*/
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struct can1_vn200_ypr_t {
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/**
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* Range: -
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* Scale: 0.006
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* Offset: 0
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*/
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uint16_t yaw;
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/**
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* Range: -
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* Scale: 0.006
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* Offset: 0
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*/
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uint16_t pitch;
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/**
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* Range: -
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* Scale: 0.006
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* Offset: 0
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*/
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uint16_t roll;
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};
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/**
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* Pack message VN200_INS.
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*
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* @param[out] dst_p Buffer to pack the message into.
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* @param[in] src_p Data to pack.
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* @param[in] size Size of dst_p.
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*
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* @return Size of packed data, or negative error code.
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*/
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int can1_vn200_ins_pack(
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uint8_t *dst_p,
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const struct can1_vn200_ins_t *src_p,
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size_t size);
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/**
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* Unpack message VN200_INS.
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*
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* @param[out] dst_p Object to unpack the message into.
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* @param[in] src_p Message to unpack.
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* @param[in] size Size of src_p.
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*
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* @return zero(0) or negative error code.
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*/
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int can1_vn200_ins_unpack(
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struct can1_vn200_ins_t *dst_p,
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const uint8_t *src_p,
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size_t size);
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/**
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* Init message fields to default values from VN200_INS.
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*
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* @param[in] msg_p Message to init.
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*
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* @return zero(0) on success or (-1) in case of nullptr argument.
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*/
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int can1_vn200_ins_init(struct can1_vn200_ins_t *msg_p);
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/**
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* Encode given signal by applying scaling and offset.
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*
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* @param[in] value Signal to encode.
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*
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* @return Encoded signal.
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*/
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uint16_t can1_vn200_ins_yaw_encode(double value);
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/**
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* Decode given signal by applying scaling and offset.
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*
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* @param[in] value Signal to decode.
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*
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* @return Decoded signal.
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*/
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double can1_vn200_ins_yaw_decode(uint16_t value);
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/**
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* Check that given signal is in allowed range.
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*
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* @param[in] value Signal to check.
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*
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* @return true if in range, false otherwise.
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*/
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bool can1_vn200_ins_yaw_is_in_range(uint16_t value);
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/**
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* Pack message VN200_IMU.
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*
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* @param[out] dst_p Buffer to pack the message into.
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* @param[in] src_p Data to pack.
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* @param[in] size Size of dst_p.
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*
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* @return Size of packed data, or negative error code.
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*/
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int can1_vn200_imu_pack(
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uint8_t *dst_p,
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const struct can1_vn200_imu_t *src_p,
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size_t size);
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/**
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* Unpack message VN200_IMU.
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*
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* @param[out] dst_p Object to unpack the message into.
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* @param[in] src_p Message to unpack.
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* @param[in] size Size of src_p.
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*
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* @return zero(0) or negative error code.
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*/
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int can1_vn200_imu_unpack(
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struct can1_vn200_imu_t *dst_p,
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const uint8_t *src_p,
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size_t size);
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/**
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* Init message fields to default values from VN200_IMU.
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*
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* @param[in] msg_p Message to init.
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*
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* @return zero(0) on success or (-1) in case of nullptr argument.
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*/
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int can1_vn200_imu_init(struct can1_vn200_imu_t *msg_p);
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/**
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* Encode given signal by applying scaling and offset.
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*
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* @param[in] value Signal to encode.
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*
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* @return Encoded signal.
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*/
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uint8_t can1_vn200_imu_multiplexer_encode(double value);
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/**
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* Decode given signal by applying scaling and offset.
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*
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* @param[in] value Signal to decode.
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*
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* @return Decoded signal.
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*/
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double can1_vn200_imu_multiplexer_decode(uint8_t value);
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/**
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* Check that given signal is in allowed range.
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*
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* @param[in] value Signal to check.
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*
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* @return true if in range, false otherwise.
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*/
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bool can1_vn200_imu_multiplexer_is_in_range(uint8_t value);
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/**
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* Encode given signal by applying scaling and offset.
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*
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* @param[in] value Signal to encode.
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*
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* @return Encoded signal.
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*/
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int16_t can1_vn200_imu_accx_encode(double value);
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/**
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* Decode given signal by applying scaling and offset.
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*
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* @param[in] value Signal to decode.
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*
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* @return Decoded signal.
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*/
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double can1_vn200_imu_accx_decode(int16_t value);
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/**
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* Check that given signal is in allowed range.
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*
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* @param[in] value Signal to check.
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*
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* @return true if in range, false otherwise.
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*/
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bool can1_vn200_imu_accx_is_in_range(int16_t value);
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/**
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* Encode given signal by applying scaling and offset.
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*
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* @param[in] value Signal to encode.
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*
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* @return Encoded signal.
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*/
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int16_t can1_vn200_imu_accy_encode(double value);
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/**
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* Decode given signal by applying scaling and offset.
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*
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* @param[in] value Signal to decode.
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*
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* @return Decoded signal.
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*/
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double can1_vn200_imu_accy_decode(int16_t value);
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/**
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* Check that given signal is in allowed range.
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*
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* @param[in] value Signal to check.
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*
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* @return true if in range, false otherwise.
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*/
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bool can1_vn200_imu_accy_is_in_range(int16_t value);
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/**
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* Encode given signal by applying scaling and offset.
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*
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* @param[in] value Signal to encode.
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*
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* @return Encoded signal.
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*/
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int16_t can1_vn200_imu_accz_encode(double value);
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/**
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* Decode given signal by applying scaling and offset.
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*
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* @param[in] value Signal to decode.
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*
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* @return Decoded signal.
|
||||
*/
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double can1_vn200_imu_accz_decode(int16_t value);
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/**
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* Check that given signal is in allowed range.
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*
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* @param[in] value Signal to check.
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*
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* @return true if in range, false otherwise.
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*/
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bool can1_vn200_imu_accz_is_in_range(int16_t value);
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/**
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* Encode given signal by applying scaling and offset.
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||||
*
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* @param[in] value Signal to encode.
|
||||
*
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* @return Encoded signal.
|
||||
*/
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||||
int16_t can1_vn200_imu_angx_encode(double value);
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||||
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/**
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* Decode given signal by applying scaling and offset.
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||||
*
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* @param[in] value Signal to decode.
|
||||
*
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||||
* @return Decoded signal.
|
||||
*/
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double can1_vn200_imu_angx_decode(int16_t value);
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||||
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||||
/**
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* Check that given signal is in allowed range.
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||||
*
|
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* @param[in] value Signal to check.
|
||||
*
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||||
* @return true if in range, false otherwise.
|
||||
*/
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||||
bool can1_vn200_imu_angx_is_in_range(int16_t value);
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||||
/**
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||||
* Encode given signal by applying scaling and offset.
|
||||
*
|
||||
* @param[in] value Signal to encode.
|
||||
*
|
||||
* @return Encoded signal.
|
||||
*/
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||||
int16_t can1_vn200_imu_angy_encode(double value);
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||||
|
||||
/**
|
||||
* Decode given signal by applying scaling and offset.
|
||||
*
|
||||
* @param[in] value Signal to decode.
|
||||
*
|
||||
* @return Decoded signal.
|
||||
*/
|
||||
double can1_vn200_imu_angy_decode(int16_t value);
|
||||
|
||||
/**
|
||||
* Check that given signal is in allowed range.
|
||||
*
|
||||
* @param[in] value Signal to check.
|
||||
*
|
||||
* @return true if in range, false otherwise.
|
||||
*/
|
||||
bool can1_vn200_imu_angy_is_in_range(int16_t value);
|
||||
|
||||
/**
|
||||
* Encode given signal by applying scaling and offset.
|
||||
*
|
||||
* @param[in] value Signal to encode.
|
||||
*
|
||||
* @return Encoded signal.
|
||||
*/
|
||||
int16_t can1_vn200_imu_angz_encode(double value);
|
||||
|
||||
/**
|
||||
* Decode given signal by applying scaling and offset.
|
||||
*
|
||||
* @param[in] value Signal to decode.
|
||||
*
|
||||
* @return Decoded signal.
|
||||
*/
|
||||
double can1_vn200_imu_angz_decode(int16_t value);
|
||||
|
||||
/**
|
||||
* Check that given signal is in allowed range.
|
||||
*
|
||||
* @param[in] value Signal to check.
|
||||
*
|
||||
* @return true if in range, false otherwise.
|
||||
*/
|
||||
bool can1_vn200_imu_angz_is_in_range(int16_t value);
|
||||
|
||||
/**
|
||||
* Pack message VN200_YPR.
|
||||
*
|
||||
* @param[out] dst_p Buffer to pack the message into.
|
||||
* @param[in] src_p Data to pack.
|
||||
* @param[in] size Size of dst_p.
|
||||
*
|
||||
* @return Size of packed data, or negative error code.
|
||||
*/
|
||||
int can1_vn200_ypr_pack(
|
||||
uint8_t *dst_p,
|
||||
const struct can1_vn200_ypr_t *src_p,
|
||||
size_t size);
|
||||
|
||||
/**
|
||||
* Unpack message VN200_YPR.
|
||||
*
|
||||
* @param[out] dst_p Object to unpack the message into.
|
||||
* @param[in] src_p Message to unpack.
|
||||
* @param[in] size Size of src_p.
|
||||
*
|
||||
* @return zero(0) or negative error code.
|
||||
*/
|
||||
int can1_vn200_ypr_unpack(
|
||||
struct can1_vn200_ypr_t *dst_p,
|
||||
const uint8_t *src_p,
|
||||
size_t size);
|
||||
|
||||
/**
|
||||
* Init message fields to default values from VN200_YPR.
|
||||
*
|
||||
* @param[in] msg_p Message to init.
|
||||
*
|
||||
* @return zero(0) on success or (-1) in case of nullptr argument.
|
||||
*/
|
||||
int can1_vn200_ypr_init(struct can1_vn200_ypr_t *msg_p);
|
||||
|
||||
/**
|
||||
* Encode given signal by applying scaling and offset.
|
||||
*
|
||||
* @param[in] value Signal to encode.
|
||||
*
|
||||
* @return Encoded signal.
|
||||
*/
|
||||
uint16_t can1_vn200_ypr_yaw_encode(double value);
|
||||
|
||||
/**
|
||||
* Decode given signal by applying scaling and offset.
|
||||
*
|
||||
* @param[in] value Signal to decode.
|
||||
*
|
||||
* @return Decoded signal.
|
||||
*/
|
||||
double can1_vn200_ypr_yaw_decode(uint16_t value);
|
||||
|
||||
/**
|
||||
* Check that given signal is in allowed range.
|
||||
*
|
||||
* @param[in] value Signal to check.
|
||||
*
|
||||
* @return true if in range, false otherwise.
|
||||
*/
|
||||
bool can1_vn200_ypr_yaw_is_in_range(uint16_t value);
|
||||
|
||||
/**
|
||||
* Encode given signal by applying scaling and offset.
|
||||
*
|
||||
* @param[in] value Signal to encode.
|
||||
*
|
||||
* @return Encoded signal.
|
||||
*/
|
||||
uint16_t can1_vn200_ypr_pitch_encode(double value);
|
||||
|
||||
/**
|
||||
* Decode given signal by applying scaling and offset.
|
||||
*
|
||||
* @param[in] value Signal to decode.
|
||||
*
|
||||
* @return Decoded signal.
|
||||
*/
|
||||
double can1_vn200_ypr_pitch_decode(uint16_t value);
|
||||
|
||||
/**
|
||||
* Check that given signal is in allowed range.
|
||||
*
|
||||
* @param[in] value Signal to check.
|
||||
*
|
||||
* @return true if in range, false otherwise.
|
||||
*/
|
||||
bool can1_vn200_ypr_pitch_is_in_range(uint16_t value);
|
||||
|
||||
/**
|
||||
* Encode given signal by applying scaling and offset.
|
||||
*
|
||||
* @param[in] value Signal to encode.
|
||||
*
|
||||
* @return Encoded signal.
|
||||
*/
|
||||
uint16_t can1_vn200_ypr_roll_encode(double value);
|
||||
|
||||
/**
|
||||
* Decode given signal by applying scaling and offset.
|
||||
*
|
||||
* @param[in] value Signal to decode.
|
||||
*
|
||||
* @return Decoded signal.
|
||||
*/
|
||||
double can1_vn200_ypr_roll_decode(uint16_t value);
|
||||
|
||||
/**
|
||||
* Check that given signal is in allowed range.
|
||||
*
|
||||
* @param[in] value Signal to check.
|
||||
*
|
||||
* @return true if in range, false otherwise.
|
||||
*/
|
||||
bool can1_vn200_ypr_roll_is_in_range(uint16_t value);
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user