CanProtocolData.h

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/* Copyright (c) 2022 Skyward Experimental Rocketry
 * Author: Federico Mandelli
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#pragma once
 
#include <stdint.h>
 
namespace Boardcore
{
 
namespace Canbus
{
 
enum class CanProtocolIdMask : uint32_t
{
    PRIORITY       = 0x1E000000,
    PRIMARY_TYPE   = 0x01F80000,
    SOURCE         = 0x00078000,
    DESTINATION    = 0x00007800,
    SECONDARY_TYPE = 0x00000780,
 
    MESSAGE_INFORMATION = 0x1FFFFF80,
 
    FIRST_PACKET_FLAG = 0x00000040,
    LEFT_TO_SEND      = 0x0000003F,
 
    SEQUENTIAL_INFORMATION = 0x0000007F
};
 
enum CanProtocolShiftInformation : uint8_t
{
    // Shift values for message informations
    PRIORITY       = 25,
    PRIMARY_TYPE   = 19,
    SOURCE         = 15,
    DESTINATION    = 11,
    SECONDARY_TYPE = 7,
 
    // Shift values for sequential informations
    FIRST_PACKET_FLAG = 6,
    LEFT_TO_SEND      = 0,
 
    // Position of the message infos relative to the entire can packet id
    SEQUENTIAL_INFORMATION = 7
};
 
struct CanMessage
{
    int32_t id     = -1;  
    uint8_t length = 0;   
    uint64_t payload[65];
 
    uint8_t getPriority() const
    {
        return id >>
               static_cast<uint8_t>(CanProtocolShiftInformation::PRIORITY);
    }
 
    uint8_t getPrimaryType() const
    {
        return (id & static_cast<uint32_t>(CanProtocolIdMask::PRIMARY_TYPE)) >>
               static_cast<uint8_t>(CanProtocolShiftInformation::PRIMARY_TYPE);
    }
 
    uint8_t getSource() const
    {
        return (id & static_cast<uint32_t>(CanProtocolIdMask::SOURCE)) >>
               static_cast<uint8_t>(CanProtocolShiftInformation::SOURCE);
    }
 
    uint8_t getDestination() const
    {
        return (id & static_cast<uint32_t>(CanProtocolIdMask::DESTINATION)) >>
               static_cast<uint8_t>(CanProtocolShiftInformation::DESTINATION);
    }
 
    uint8_t getSecondaryType() const
    {
        return (id &
                static_cast<uint32_t>(CanProtocolIdMask::SECONDARY_TYPE)) >>
               static_cast<uint8_t>(
                   CanProtocolShiftInformation::SECONDARY_TYPE);
    }
};
 
inline bool operator==(const CanMessage& lhs, const CanMessage& rhs)
{
    if (lhs.id != rhs.id || lhs.length != rhs.length)
        return false;
 
    for (int i = 0; i < lhs.length; i++)
        if (lhs.payload[i] != rhs.payload[i])
            return false;
 
    return true;
}
 
inline bool operator!=(const CanMessage& lhs, const CanMessage& rhs)
{
    return !(lhs == rhs);
}
 
}  // namespace Canbus
 
}  // namespace Boardcore