Catch-Up PR

CANOPEN_db.h

@@ -0,0 +1,84 @@
+/*
+ * CANOPEN_maxondb.h
+ *
+ *  Created on: 26/06/2024
+ *      Author: micron
+ */
+
+#ifndef CANOPEN_MAXONDB_H
+#define CANOPEN_MAXONDB_H
+
+/**================== Node IDS ==========================**/
+#define NODE_ID_ACU 0x03
+#define NODE_ID_STEERING 0x08
+#define NODE_ID_BRAKE 0x06 //RESERVED DONT USE
+#define NODE_ID_RES 0x11 // DO NOT CHANGE!! ENFORCED BY RULES!!!
+/**======================================================================**/
+
+
+#define NMT_ADDRESS_COBID() (0x000)
+
+#define BOOTUP_ADDRESS_COBID(node_id) (node_id + 0x700)
+//Maxon SDOs
+#define SDO_REQUEST_ADDRESS_COBID(node_id) (node_id+0x600)
+#define SDO_RESPONSE_ADDRESS_COBID(node_id) (node_id+0x580)
+
+
+/**======================================================================**/
+
+/**================== Receive from World ==========================**/
+#define PDO_RXONE(node_id) (node_id+0x200)
+/**======================================================================**/
+#define MAP_DECODE_PDO_RXONE_CONTROL_WORD(x) (x[1] << 8 | x[0])
+/**======================================================================**/
+#define PDO_RXTWO(node_id) (node_id+0x300)
+/**======================================================================**/
+#define MAP_DECODE_PDO_RXTWO_MAXON_CONTROL_WORD(x) (x[1] << 8 | x[0])
+#define MAP_DECODE_PDO_RXTWO_MAXON_MODES_OF_OPERATION(x) (x[2])
+/**======================================================================**/
+#define PDO_RXTHREE(node_id) (node_id+0x400)
+/**======================================================================**/
+#define MAP_DECODE_PDO_RXTHREE_MAXON_CONTROL_WORD(x) (x[1] << 8 | x[0])
+#define MAP_DECODE_PDO_RXTHREE_MAXON_TARGET_POSITION(x) (x[5] << 24 | x[4] << 16 | x[3] << 8 | x[2])
+/**======================================================================**/
+#define PDO_RXFOUR(node_id) (node_id+0x500)
+/**======================================================================**/
+#define MAP_DECODE_PDO_RXFOUR_MAXON_CONTROL_WORD(x) (x[1] << 8 | x[0])
+#define MAP_DECODE_PDO_RXFOUR_MAXON_TARGET_SPEED(x) (x[5] << 24 | x[4] << 16 | x[3] << 8 | x[2])
+
+/**=================== Transmit to World ==========================**/
+#define PDO_TXONE(node_id) (node_id+0x180)
+/**======================================================================**/
+#define MAP_DECODE_PDO_TXONE_MAXON_STATUSWORD(x) (x[1] << 8 | x[0])
+#define MAP_DECODE_PDO_TXONE_MAXON_MODES_OF_OPERATION(x) (x[2])
+#define MAP_DECODE_PDO_TXONE_MAXON_ERROR_CODE(x) (x[4] << 8 | x[3])
+
+#define MAP_DECODE_PDO_TXONE_RES_STATUS(x) (x[0])
+
+
+/**======================================================================**/
+#define PDO_TXTWO(node_id) (node_id+0x280)
+/**======================================================================**/
+#define MAP_DECODE_PDO_TXTWO_MAXON_TARGET_POSITION(x) (x[3] << 24 | x[2]  << 16 | x[1] << 8 | x[0])
+#define MAP_DECODE_PDO_TXTWO_MAXON_TARGET_SPEED(x) (x[7] << 24 | x[6]  << 16 | x[5] << 8 | x[4])
+
+/**======================================================================**/
+#define PDO_TXTHREE(node_id) (node_id+0x380)
+/**======================================================================**/
+#define MAP_DECODE_PDO_TXTHREE_MAXON_STATUSWORD(x) (x[1] << 8 | x[0])
+#define MAP_DECODE_PDO_TXTHREE_MAXON_ACTUAL_POSITION(x) (x[5] << 24 | x[4] << 16 | x[3] << 8 | x[2])
+#define MAP_DECODE_PDO_TXTHREE_MAXON_ACTUAL_MOMENT(x)(x[7] <<8 | x[6])
+/**======================================================================**/
+#define PDO_TXFOUR(node_id) (node_id+0x480)
+/**======================================================================**/
+#define MAP_DECODE_PDO_TXFOUR_MAXON_STATUSWORD(x) (x[1] << 8 | x[0])
+#define MAP_DECODE_PDO_TXFOUR_MAXON_ACTUAL_SPEED(x) (x[5] << 24 | x[4] << 16 | x[3] << 8 | x[2])
+#define MAP_DECODE_PDO_TXFOUR_MAXON_ACTUAL_PWM_DUTY(x) (x[7] << 8 | x[6])
+
+
+
+
+
+
+
+#endif /* CANOPEN_MAXONDB_H */

CAN_asdb.h

@@ -1,13 +1,15 @@
 /**
-* @file CAN_asdb.h
+1* @file CAN_asdb.h
 * @brief CAN database for autonomous driving header file
 * @details This file contains the mapping used to encode and decode CAN messages
 * @author João Vieira
 * @author Pedro Ferreira
+* @author Bruno Vicente
 * @version 0.0.1
 **/
 #ifndef CAN_ASDB_H
 #define CAN_ASDB_H
+#define __LART_AXANATO_VCU_GATEWAY__
 	//#ifdef __LART_T24__
 		/**
 		* @brief T24 uses a little endian architecture when it comes to CAN messages
@@ -53,7 +55,36 @@
 		#define MAP_ENCODE_AS_MISSION(pnt, x)(pnt[0]=(pnt[0]&0x1F) | (x&0xE0) )
 		#define MAP_ENCODE_AS_EBS(pnt, x)(pnt[0]=(pnt[0]&0xE7) | (x&0x18) )
 		#define MAP_ENCODE_AS_STATE(pnt, x)(pnt[0]=(pnt[0]&0xF8)| (x&0x07) )
-
+
+        #define CAN_AS_ACU_HEARTBEAT 0x703
+        /**======================================================================**/
+        #define MAP_DECODE_AS_ACU_HEARTBEAT(x) (x[0])
+        #define MAP_ENCODE_AS_ACU_HEARTBEAT(pnt, x) (pnt[0] = x)
+
+        #define CAN_AS_ACU_PNEU 0x183
+		/**======================================================================**/
+        #define MAP_DECODE_AS_ACU_PNEUMATIC_BRAKING_EBS_FRONT(x) (x[1] << 8 | x[0])
+        #define MAP_DECODE_AS_ACU_PNEUMATIC_BRAKING_BRAKE_FRONT(x) (x[3] << 8 | x[2])
+        #define MAP_DECODE_AS_ACU_PNEUMATIC_BRAKING_EBS_REAR(x) (x[5] << 8 | x[4])
+        #define MAP_DECODE_AS_ACU_PNEUMATIC_BRAKING_BRAKE_REAR(x) (x[7] << 8 | x[6])
+
+
+        #ifdef __LART_AXANATO_VCU_GATEWAY__
+            #define CAN_TOJAL_TEST 0x499
+            /**======================================================================**/
+            #define MAP_DECODE_TOJAL_RPM(x) ((x[1] << 8) | x[0])
 
+            #define CAN_TOJAL_SEND_RPM 0x509
+            /**======================================================================**/
+            #define MAP_ENCODE_TOJAL_RPM(pnt, x) (pnt[1] = (x >> 8), pnt[0] = x)
+        #endif
+
+
+
+        /**======================================================================**/
+        #define ALC_MS 0x050
+        /**======================================================================**/
+        #define MAP_DECODE_AS_EMERGENCY_STATE(x) (x[0])
+        #define MAP_DECODE_MS_STATE(x) (x[1])
 	//#endif
 #endif // CAN_ASDB_H

CAN_datadb.h

@@ -23,7 +23,7 @@
 #define MAP_DECODE_BRAKE_PRESSURE (x)(x[1])
 #define MAP_DECODE_THROTTLE_POSITION (x)(x[0])
 
-#define MAP_DECODE_APPS (x) MAP_DECODE_THROTTLE_POSITION(x)
+#define MAP_DECODE_APPS (x) MAP_DECODE_THROTTLE_POSITION(x) 
 
 #define MAP_ENCODE_CONSUMED_POWER(pnt, x) (pnt[7] = (x >> 16) & 0xFF, pnt[6] = (x >> 8) & 0xFF, pnt[5] = x & 0xFF)
 #define MAP_ENCODE_TARGET_POWER(pnt, x) (pnt[4] = (x >> 16) & 0xFF, pnt[3] = (x >> 8) & 0xFF, pnt[2] = x & 0xFF)
@@ -38,9 +38,13 @@
 
 #define MAP_DECODE_MOTOR_TEMPERATURE(x) ((x[3] << 8 | x[2]) + 40)
 #define MAP_DECODE_INVERTER_TEMPERATURE(x) ((x[1] << 8 | x[0]) + 40)
+#define MAP_DECODE_HV_VOLTAGE(x) (x[6] << 8 | x[5])
+#define MAP_DECODE_HV_SOC(x) (x[7])
 
 #define MAP_ENCODE_MOTOR_TEMPERATURE(pnt, x) (pnt[3] = (x - 40) >> 8, pnt[2] = (x - 40) & 0xFF)
 #define MAP_ENCODE_INVERTER_TEMPERATURE(pnt, x) (pnt[1] = (x - 40) >> 8, pnt[0] = (x - 40) & 0xFF)
+#define MAP_ENCODE_HV_VOLTAGE(pnt, x) (pnt[6] = (x >> 8) & 0xFF, pnt[5] = x & 0xFF)
+#define MAP_ENCODE_HV_SOC(pnt, x) (pnt[7] = x)
 
 /**======================================================================**/
 #define CAN_VCU_ID_3 0x022
@@ -49,71 +53,45 @@
 #define MAP_DECODE_LMT2(x) (x[3])
 #define MAP_DECODE_LMT1(x) (x[2])
 #define MAP_DECODE_INVERTER_ERROR(x) (x[1] << 8 | x[0])
+#define MAP_DECODE_APPS_ERROR(x) (x[5])
+#define MAP_DECODE_POWER_PLAN(x) (x[6])
+
 
 #define MAP_ENCODE_VCU_STATE(pnt, x) (pnt[4] = x)
 #define MAP_ENCODE_LMT2(pnt, x) (pnt[3] = x)
 #define MAP_ENCODE_LMT1(pnt, x) (pnt[2] = x)
 #define MAP_ENCODE_INVERTER_ERROR(pnt, x) (pnt[1] = (x >> 8) & 0xFF, pnt[0] = x & 0xFF)
+#define MAP_ENCODE_APPS_ERROR(pnt, x) (pnt[5] = x)
+#define MAP_ENCODE_POWER_PLAN(pnt, x) (pnt[6] = x)
 
 /**======================================================================**/
 #define CAN_VCU_ID_4 0x023
 /**======================================================================**/
 
 #define MAP_DECODE_RPM(x) (x[3] << 8 | x[2])
 #define MAP_DECODE_INVERTER_VOLTAGE(x) (x[1] << 8 | x[0])
+#define MAP_DECODE_IGNITION_STATE(x) (x[4])
+#define MAP_DECODE_Ready2Drive_STATE(x) (x[5])
 
 #define MAP_ENCODE_RPM(pnt, x) (pnt[3] = (x >> 8) & 0xFF, pnt[2] = x & 0xFF)
 #define MAP_ENCODE_INVERTER_VOLTAGE(pnt, x) (pnt[1] = (x >> 8) & 0xFF, pnt[0] = x & 0xFF)
+#define MAP_ENCODE_IGNITION_STATE(pnt, x) (pnt[4] = x)
+#define MAP_ENCODE_Ready2Drive_STATE(pnt, x) (pnt[5] = x)
 
 /**======================================================================**/
-#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 CAN_VCU_ID_5 0x024
 
-#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_DECODE_VCU_TCU_STATE(x) (x[0])
+#define MAP_DECODE_VCU_ACU_STATE(x) (x[1])
+#define MAP_DECODE_VCU_ALC_STATE(x) (x[2])
+#define MAP_DECODE_LV_SOC(x) ((x[3] << 8 | x[4]) /10)
+#define MAP_DECODE_LV_VOLTAGE(x) (x[5] << 8 | x[6])
 
-#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 MAP_ENCODE_VCU_TCU_STATE(pnt, x) (pnt[0] = x)  
+#define MAP_ENCODE_VCU_ACU_STATE(pnt, x) (pnt[1] = x)
+#define MAP_ENCODE_VCU_ALC_STATE(pnt, x) (pnt[2] = x)
+#define MAP_ENCODE_LV_SOC(pnt, x) (pnt[3] = (x >> 8) & 0xFF, pnt[4] = x & 0xFF) // 0-1000
+#define MAP_ENCODE_LV_VOLTAGE(pnt, x) (pnt[5] = (x >> 8) & 0xFF, pnt[6] = x & 0xFF)
 
 /**======================================================================**/
 #define CAN_IMU_ID_1 0x60
@@ -165,6 +143,29 @@
 #define CAN_DYNAMICS_FRONT_ID_2 0xA1  // definir id
 /**======================================================================**/
 
+/**======================================================================**/
+#define CAN_DATA_LOGGER_ID 0x180
+
+#define MAP_DECODE_DATA_LOGGER_STATE(x) (x[0])
+#define MAP_DECODE_DATA_LOGGER_RECORD_STATE(x) (x[1])
+
+#define MAP_ENCODE_DATA_LOGGER_STATE(pnt, x) (pnt[0] = x)
+#define MAP_ENCODE_DATA_LOGGER_RECORD_STATE(pnt, x) (pnt[1] = x)
+
+
+/**======================================================================**/
+#define CAN_BRAKE_LIGHT 0x253  // definir id
+/**======================================================================**/
+
+
+/**======================================================================**/
+#define CAN_STEERING_WHEEL 0x254  // definir id
+/**======================================================================**/
+
+#define MAP_DECODE_VCU_POWER_LIMIT(x) (x[0])
+
+#define MAP_ENCODE_VCU_POWER_LIMIT(pnt, x) (pnt[0] = x)
+
 // #endif
 
-#endif  // CAN_DB_H
+#endif  // CAN_DB_H

CAN_icupdb.h

@@ -0,0 +1,26 @@
+/**
+ * @file CAN_icupdb.h
+ * @brief CAN database header file for the inter control unit 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 0.0.1
+ **/
+#ifndef CAN_ICUPDB_H
+#define CAN_ICUPDB_H
+
+// #ifdef __LART_T24__
+/**
+ * @brief T24 uses a little endian architecture when it comes to CAN messages
+ **/
+
+
+
+#define GENERIC_MSG_CONVERSION_ENCODE_DATABUS(x) (x | 0x04000000)
+#define GENERIC_MSG_CONVERSION_DECODE_DATABUS(x) (x & 0x1BFFFFFF)
+#define GENERIC_MSG_CONVERSION_ENCODE_POWERTRAIN(x) (x | 0x08000000)
+#define GENERIC_MSG_CONVERSION_DECODE_POWERTRAIN(x) (x & 0x17FFFFFF)
+#define GENERIC_MSG_CONVERSION_ENCODE_AUTONOMOUSBUS(x) (x | 0x0C000000)
+#define GENERIC_MSG_CONVERSION_DECODE_AUTONOMOUSBUS(x) (x & 0x13FFFFFF)
+
+#endif  // CAN_DB_H