97 lines
3.0 KiB
C++
97 lines
3.0 KiB
C++
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#pragma once
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#include <stdint.h>
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#include <algorithm>
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#include <cstring>
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#include <iterator>
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struct can_Message_t {
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uint32_t id = 0x000; // 11-bit max is 0x7ff, 29-bit max is 0x1FFFFFFF
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bool isExt = false;
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bool rtr = false;
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uint8_t len = 8;
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uint8_t buf[8] = {0, 0, 0, 0, 0, 0, 0, 0};
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} ;
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struct can_Signal_t {
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const uint8_t startBit;
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const uint8_t length;
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const bool isIntel;
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const float factor;
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const float offset;
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};
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struct can_Cyclic_t {
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uint32_t cycleTime_ms;
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uint32_t lastTime_ms;
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};
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#include <iterator>
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template <typename T>
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constexpr T can_getSignal(can_Message_t msg, const uint8_t startBit, const uint8_t length, const bool isIntel) {
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uint64_t tempVal = 0;
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uint64_t mask = length < 64 ? (1ULL << length) - 1ULL : -1ULL;
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if (isIntel) {
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std::memcpy(&tempVal, msg.buf, sizeof(tempVal));
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tempVal = (tempVal >> startBit) & mask;
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} else {
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std::reverse(std::begin(msg.buf), std::end(msg.buf));
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std::memcpy(&tempVal, msg.buf, sizeof(tempVal));
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tempVal = (tempVal >> (64 - startBit - length)) & mask;
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}
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T retVal;
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std::memcpy(&retVal, &tempVal, sizeof(T));
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return retVal;
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}
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template <typename T>
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constexpr void can_setSignal(can_Message_t& msg, const T& val, const uint8_t startBit, const uint8_t length, const bool isIntel) {
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uint64_t valAsBits = 0;
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std::memcpy(&valAsBits, &val, sizeof(val));
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uint64_t mask = length < 64 ? (1ULL << length) - 1ULL : -1ULL;
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if (isIntel) {
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uint64_t data = 0;
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std::memcpy(&data, msg.buf, sizeof(data));
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data &= ~(mask << startBit);
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data |= valAsBits << startBit;
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std::memcpy(msg.buf, &data, sizeof(data));
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} else {
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uint64_t data = 0;
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std::reverse(std::begin(msg.buf), std::end(msg.buf));
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std::memcpy(&data, msg.buf, sizeof(data));
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data &= ~(mask << (64 - startBit - length));
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data |= valAsBits << (64 - startBit - length);
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std::memcpy(msg.buf, &data, sizeof(data));
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std::reverse(std::begin(msg.buf), std::end(msg.buf));
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}
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}
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template<typename T>
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void can_setSignal(can_Message_t& msg, const T& val, const uint8_t startBit, const uint8_t length, const bool isIntel, const float factor, const float offset) {
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T scaledVal = static_cast<T>((val - offset) / factor);
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can_setSignal<T>(msg, scaledVal, startBit, length, isIntel);
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}
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template<typename T>
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float can_getSignal(can_Message_t msg, const uint8_t startBit, const uint8_t length, const bool isIntel, const float factor, const float offset) {
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T retVal = can_getSignal<T>(msg, startBit, length, isIntel);
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return (retVal * factor) + offset;
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}
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template <typename T>
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float can_getSignal(can_Message_t msg, const can_Signal_t& signal) {
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return can_getSignal<T>(msg, signal.startBit, signal.length, signal.isIntel, signal.factor, signal.offset);
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}
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template <typename T>
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void can_setSignal(can_Message_t& msg, const T& val, const can_Signal_t& signal) {
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can_setSignal(msg, val, signal.startBit, signal.length, signal.isIntel, signal.factor, signal.offset);
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}
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