Merge branch 'dev' into 5-add-automations

FSLART · Mar 13, 2024 · 9a85cdb · 9a85cdb
2 parents a90b27b + 9ee62f3
commit 9a85cdb
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diff --git a/CAN_asdb.h b/CAN_asdb.h
@@ -3,7 +3,8 @@
 * @brief CAN database for autonomous driving header file
 * @details This file contains the mapping used to encode and decode CAN messages
 * @author João Vieira
-* @version 0.0.0
+* @author Pedro Ferreira
+* @version 0.0.1
 **/
 #ifndef CAN_ASDB_H
 #define CAN_ASDB_H

diff --git a/CAN_datadb.h b/CAN_datadb.h
@@ -1,11 +1,13 @@
 /**
-* @file CAN_datadb.h
-* @brief CAN database header file for the data line
-* @details This file contains the mapping used to encode and decode CAN messages
-* @note This is being developed as of right now
-* @author João Vieira
-* @version 0.0.0
-**/
+ * @file CAN_datadb.h
+ * @brief CAN database header file for the data line
+ * @details This file contains the mapping used to encode and decode CAN messages
+ * @note This is being developed as of right now
+ * @author João Vieira
+ * @author Pedro Ferreira
+ * @author Guilherme Candido
+ * @version 0.0.1
+ **/
 #ifndef CAN_DATADB_H
 #define CAN_DATADB_H
 
@@ -67,36 +69,100 @@
 #define CAN_PDM_ID_1 0x40
 /**======================================================================**/
 
+#define MAP_DECODE_TOTAL_POWER(x) (x[7] << 8 | x[6])
+#define MAP_DECODE_LV_VOLTAGE(x) (x[4] << 8 | x[3])
+#define MAP_DECODE_INPUTS1(x) (x[2])
+#define MAP_DECODE_OUTPUTS1(x) (x[1])
+
+#define MAP_ENCODE_DYNAMICS_FRONT_POWER(pnt, x) (pnt[7] = (x >> 8) & 0xFF, pnt[6] = x & 0xFF)
+#define MAP_ENCODE_DYNAMICS_REAR_POWER(pnt, x) (pnt[5] = (x >> 8) & 0xFF, pnt[4] = x & 0xFF)
+#define MAP_ENCODE_EXTRA_POWER(pnt, x) (pnt[3] = (x >> 8) & 0xFF, pnt[2] = x & 0xFF)
+#define MAP_ENCODE_PDM_HEARTBEAT(pnt, x) (pnt[1] = x)
+
 /**======================================================================**/
 #define CAN_PDM_ID_2 0x41
 /**======================================================================**/
 
+#define MAP_DECODE_TCU_POWER(x) ((x[7] << 8 | x[6]) / 10)
+#define MAP_DECODE_VCU_POWER(x) ((x[5] << 8 | x[4]) / 10)
+#define MAP_DECODE_ACU_POWER(x) ((x[3] << 8 | x[2]) / 10)
+#define MAP_DECODE_DATALOGGER_POWER(x) ((x[1] << 8 | x[0]) / 10)
+
+#define MAP_ENCODE_TCU_POWER(pnt, x) (pnt[7] = (x >> 8) & 0xFF, pnt[6] = x & 0xFF)
+#define MAP_ENCODE_VCU_POWER(pnt, x) (pnt[5] = (x >> 8) & 0xFF, pnt[4] = x & 0xFF)
+#define MAP_ENCODE_ACU_POWER(pnt, x) (pnt[3] = (x >> 8) & 0xFF, pnt[2] = x & 0xFF)
+#define MAP_ENCODE_DATALOGGER_POWER(pnt, x) (pnt[1] = (x >> 8) & 0xFF, pnt[0] = x & 0xFF)
+
 /**======================================================================**/
 #define CAN_PDM_ID_3 0x42
 /**======================================================================**/
 
+#define MAP_DECODE_DYNAMICS_FRONT_POWER(x) (x[7] << 8 | x[6])
+#define MAP_DECODE_DYNAMICS_REAR_POWER(x) (x[5] << 8 | x[4])
+#define MAP_DECODE_EXTRA_POWER(x) (x[3] << 8 | x[2])
+
+#define MAP_ENCODE_TOTAL_POWER(pnt, x) (pnt[7] = (x >> 8) & 0xFF, pnt[6] = x & 0xFF)
+#define MAP_ENCODE_LV_VOLTAGE(pnt, x) (pnt[4] = (x >> 8) & 0xFF, pnt[3] = x & 0xFF)
+#define MAP_ENCODE_INPUTS1(pnt, x) (pnt[2] = x)
+
 /**======================================================================**/
 #define CAN_PDM_ID_4 0x43
 /**======================================================================**/
 
+#define MAP_DECODE_PDM_HEARTBEAT(x) (x[1])
+#define MAP_DECODE_SDC_STATE(x) (x[0])
+
+#define MAP_ENCODE_PDM_HEARTBEAT(pnt, x) (pnt[1] = x)
+#define MAP_ENCODE_SDC_STATE(pnt, x) (pnt[0] = x)
+
 /**======================================================================**/
 #define CAN_IMU_ID_1 0x60
 /**======================================================================**/
+
 /**======================================================================**/
 #define CAN_IMU_ID_2 0x61
 /**======================================================================**/
 
 /**======================================================================**/
 #define CAN_DYNAMICS_REAR_ID_1 0x80
 /**======================================================================**/
+
+#define MAP_DECODE_WHEEL_SPEED_RL(x) (x[7])
+#define MAP_DECODE_WHEEL_SPEED_RR(x) (x[6])
+#define MAP_DECODE_SUSPOS_RL(x) (x[5])
+#define MAP_DECODE_SUSPOS_RR(x) (x[4])
+#define MAP_DECODE_BRK_STATE(x) (x[3])
+#define MAP_DECODE_DY_REAR_STATE(x) (x[2])
+
+#define MAP_ENCODE_WHEEL_SPEED_RL(pnt, x) (pnt[7] = x)
+#define MAP_ENCODE_WHEEL_SPEED_RR(pnt, x) (pnt[6] = x)
+#define MAP_ENCODE_SUSPOS_RL(pnt, x) (pnt[5] = x)
+#define MAP_ENCODE_SUSPOS_RR(pnt, x) (pnt[4] = x)
+#define MAP_ENCODE_BRK_STATE(pnt, x) (pnt[3] = x)
+#define MAP_ENCODE_DY_REAR_STATE(pnt, x) (pnt[2] = x)
+
 /**======================================================================**/
-#define CAN_DYNAMICS_REAR_ID_2 0xA0
+#define CAN_DYNAMICS_REAR_ID_2 0x81
 /**======================================================================**/
+
 /**======================================================================**/
-// #define CAN_DYNAMICS_FRONT_ID_1 0x80 //definir id
+#define CAN_DYNAMICS_FRONT_ID_1 0xA0  // definir id
 /**======================================================================**/
+
+#define MAP_DECODE_WHEEL_SPEED_FL(x) (x[7])
+#define MAP_DECODE_WHEEL_SPEED_FR(x) (x[6])
+#define MAP_DECODE_SUSPOS_FL(x) (x[5])
+#define MAP_DECODE_SUSPOS_FR(x) (x[4])
+#define MAP_DECODE_DY_FRONT_STATE(x) (x[2])
+
+#define MAP_ENCODE_WHEEL_SPEED_FL(pnt, x) (pnt[7] = x)
+#define MAP_ENCODE_WHEEL_SPEED_FR(pnt, x) (pnt[6] = x)
+#define MAP_ENCODE_SUSPOS_FL(pnt, x) (pnt[5] = x)
+#define MAP_ENCODE_SUSPOS_FR(pnt, x) (pnt[4] = x)
+#define MAP_ENCODE_DY_FRONT_STATE(pnt, x) (pnt[2] = x)
+
 /**======================================================================**/
-// #define CAN_DYNAMICS_FRONT_ID_2 0xA0 //definir id
+#define CAN_DYNAMICS_FRONT_ID_2 0xA1  // definir id
 /**======================================================================**/
 
 // #endif

diff --git a/CAN_pwtdb.h b/CAN_pwtdb.h
@@ -4,6 +4,8 @@
  * @details This file contains the mapping used to encode and decode CAN messages
  * @note THIS IS OBSOLETE/NEEDS TO BE UPDATED
  * @author João Vieira
+ * @author Pedro Ferreira
+ * @version 0.0.1
  **/
 #ifndef CAN_PWTDB_H
 #define CAN_PWTDB_H
@@ -16,8 +18,9 @@
 /**======================================================================**/
 #define CAN_HV500_ERPM_DUTY_VOLTAGE_ID 0x14
 /**======================================================================**/
+
 #define MAP_DECODE_Actual_ERPM(x) (x[0] << 24 | x[1] << 16 | x[2] << 8 | x[3])
-#define MAP_DECODE_Actual_Duty(x) (x[4] << 10 | x[5])
+#define MAP_DECODE_Actual_Duty(x) (x[4] << 8 | x[5])
 #define MAP_DECODE_Actual_InputVoltage(x) (x[6] << 8 | x[7])
 
 /**======================================================================**/