Helper functions for the CAN module. More...

#include "can_helper.h"
#include "database.h"
#include "foxmath.h"
#include <math.h>
#include <stdint.h>

Include dependency graph for can_helper.c:

Macros
#define	CAN_SIGNAL_MAX_SIZE (64u)

#define	CAN_MESSAGE_BIT_MASK_ONE_BYTE (0xFFu)

#define	CAN_BYTE_LENGTH (8u)

Functions
static uint64_t	CAN_ConvertBitStartBigEndian (uint64_t bitStart, uint64_t bitLength)
	Convert bit start in big endian case. In the big endian case for CAN, the bit start is set to the MSB and the bit numbering is not directly usable. This functions converts the bit start to set it to the LSB of the signal and with the usual bit numbering. More...

void	CAN_TxPrepareSignalData (float_t *pSignal, CAN_SIGNAL_TYPE_s signalProperties)
	Prepare signal data. This function takes the signal data and applies factor, applies offset and compares with signal minimum and maximum values. More...

void	CAN_RxConvertRawSignalData (float_t *pSignalConverted, float_t signalRaw, CAN_SIGNAL_TYPE_s signalProperties)
	Convert raw signal data. This function takes the raw signal data and applies offset and factor to convert the raw value. More...

void	CAN_TxSetMessageDataWithSignalData (uint64_t *pMessage, uint64_t bitStart, uint8_t bitLength, uint64_t canSignal, CAN_ENDIANNESS_e endianness)
	Puts CAN signal data in a 64-bit variable. This function is used to compose a 64-bit CAN message. It takes signal data, signal bit start, signal bit length and puts the data in the 64-bit variable. More...

void	CAN_TxSetCanDataWithMessageData (uint64_t message, uint8_t *pCanData, CAN_ENDIANNESS_e endianness)
	Copy CAN data from a 64-bit variable to 8 bytes. This function is used to copy a 64-bit CAN message to 8 bytes. More...

void	CAN_RxGetSignalDataFromMessageData (uint64_t message, uint64_t bitStart, uint8_t bitLength, uint64_t *pCanSignal, CAN_ENDIANNESS_e endianness)
	Gets CAN signal data from a 64-bit variable. This function is used to get signal data from a 64-bit CAN message. It takes signal bit start, signal bit length and extract signal data from the the 64-bit variable. More...

void	CAN_RxGetMessageDataFromCanData (uint64_t pMessage, const uint8_t const kpkCanData, CAN_ENDIANNESS_e endianness)
	Copy CAN data from 8 bytes to a 64-bit variable. More...

uint8_t	CAN_ConvertBooleanToInteger (bool input)
	Transform a bool to a bit (set if true) More...

Variables
static const uint8_t	can_bigEndianTable [CAN_SIGNAL_MAX_SIZE]

Detailed Description

Helper functions for the CAN module.

Copyright: © 2010 - 2023, Fraunhofer-Gesellschaft zur Foerderung der angewandten Forschung e.V. All rights reserved.

SPDX-License-Identifier: BSD-3-Clause

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Author: foxBMS Team

Date: 2021-04-22 (date of creation)

Updated: 2023-10-12 (date of last update)

Version: v1.6.0

Prefix: CAN

Definition in file can_helper.c.

Macro Definition Documentation

◆ CAN_BYTE_LENGTH

#define CAN_BYTE_LENGTH (8u)

length of one CAN byte in bit

Definition at line 73 of file can_helper.c.

◆ CAN_MESSAGE_BIT_MASK_ONE_BYTE

#define CAN_MESSAGE_BIT_MASK_ONE_BYTE (0xFFu)

bitmask for extraction of one byte

Definition at line 70 of file can_helper.c.

◆ CAN_SIGNAL_MAX_SIZE

#define CAN_SIGNAL_MAX_SIZE (64u)

Plausibility checking can signals lengths

Definition at line 67 of file can_helper.c.

Function Documentation

◆ CAN_ConvertBitStartBigEndian()

static uint64_t CAN_ConvertBitStartBigEndian	(	uint64_t	bitStart,
		uint64_t	bitLength
	)

static

Convert bit start in big endian case. In the big endian case for CAN, the bit start is set to the MSB and the bit numbering is not directly usable. This functions converts the bit start to set it to the LSB of the signal and with the usual bit numbering.

Parameters

bitStart	bit start in big endian format
bitLength	signal length

Returns: bit start position converted to little endian format

Example: big endian, bitStart = 53, bitLength = 13 For big endian, bitStart corresponds to MSB. First convert |07 06 05 04 03 02 01 00| to |63 62 61 60 59 58 57 56| |15 14 13 12 11 10 09 08| |55 54 53 52 51 50 49 48| |23 22 21 20 19 18 17 16| |47 46 45 44 43 42 41 40| |31 30 29 28 27 26 25 24| |39 38 37 36 35 34 33 32| |39 38 37 36 35 34 33 32| |31 30 29 28 27 26 25 24| |47 46 45 44 43 42 41 40| |23 22 21 20 19 18 17 16| |55 54 53 52 51 50 49 48| |15 14 13 12 11 10 09 08| |63 62 61 60 59 58 57 56| |07 06 05 04 03 02 01 00| to get MSB position in the usual bit representation (from 0 as LSB to 63 as MSB). In the example, 53 must be converted to 13.

Usual bit position of MSB of signal is now available. Now subtract signal length to get LSB position. In the example, bitStart is converted from 53 to 0 for the length of 13 bits. This corresponds to the usual data access in the little endian case, from bit 0 to bit 12, where bitStart corresponds to LSB.

Definition at line 101 of file can_helper.c.

◆ CAN_ConvertBooleanToInteger()

uint8_t CAN_ConvertBooleanToInteger ( bool input )

Transform a bool to a bit (set if true)

Parameters

[in] input input boolean (true will become 1u)

Returns: unsigned integer indicating the state of the input

Definition at line 342 of file can_helper.c.

◆ CAN_RxConvertRawSignalData()

void CAN_RxConvertRawSignalData	(	float_t *	pSignalConverted,
		float_t	signalRaw,
		CAN_SIGNAL_TYPE_s	signalProperties
	)

Convert raw signal data. This function takes the raw signal data and applies offset and factor to convert the raw value.

Parameters

[out]	pSignalConverted	converted signal data
[in]	signalRaw	raw signal data
[in]	signalProperties	signal properties (factor, offset, min, max)

Definition at line 164 of file can_helper.c.

◆ CAN_RxGetMessageDataFromCanData()

void CAN_RxGetMessageDataFromCanData	(	uint64_t *	pMessage,
		const uint8_t *const	kpkCanData,
		CAN_ENDIANNESS_e	endianness
	)

Copy CAN data from 8 bytes to a 64-bit variable.

This function is used to copy data from a 64-bit variable to 8 bytes.

Parameters

[in]	pMessage	64-bit where the data is copied
[out]	kpkCanData	8 bytes containing the data
[in]	endianness	big or little endianness of data

Definition at line 295 of file can_helper.c.

◆ CAN_RxGetSignalDataFromMessageData()

void CAN_RxGetSignalDataFromMessageData	(	uint64_t	message,
		uint64_t	bitStart,
		uint8_t	bitLength,
		uint64_t *	pCanSignal,
		CAN_ENDIANNESS_e	endianness
	)

Gets CAN signal data from a 64-bit variable. This function is used to get signal data from a 64-bit CAN message. It takes signal bit start, signal bit length and extract signal data from the the 64-bit variable.

Parameters

[in]	message	64-bit variable containing the CAN data
[in]	bitStart	starting bit were the signal data must be put
[in]	bitLength	length of the signal data to be put in CAN message
[out]	pCanSignal	signal data to be retrieved from message
[in]	endianness	big or little endianness of data

Definition at line 255 of file can_helper.c.

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◆ CAN_TxPrepareSignalData()

void CAN_TxPrepareSignalData	(	float_t *	pSignal,
		CAN_SIGNAL_TYPE_s	signalProperties
	)

Prepare signal data. This function takes the signal data and applies factor, applies offset and compares with signal minimum and maximum values.

Parameters

[in,out]	pSignal	signal data
[in]	signalProperties	signal properties (factor, offset, min, max)

Definition at line 145 of file can_helper.c.

◆ CAN_TxSetCanDataWithMessageData()

void CAN_TxSetCanDataWithMessageData	(	uint64_t	message,
		uint8_t *	pCanData,
		CAN_ENDIANNESS_e	endianness
	)

Copy CAN data from a 64-bit variable to 8 bytes. This function is used to copy a 64-bit CAN message to 8 bytes.

Parameters

[in]	message	64-bit variable containing the CAN data
[out]	pCanData	8 bytes where the data is copied
[in]	endianness	big or little endianness of data

Definition at line 212 of file can_helper.c.

◆ CAN_TxSetMessageDataWithSignalData()

void CAN_TxSetMessageDataWithSignalData	(	uint64_t *	pMessage,
		uint64_t	bitStart,
		uint8_t	bitLength,
		uint64_t	canSignal,
		CAN_ENDIANNESS_e	endianness
	)

Puts CAN signal data in a 64-bit variable. This function is used to compose a 64-bit CAN message. It takes signal data, signal bit start, signal bit length and puts the data in the 64-bit variable.

Parameters

[out]	pMessage	64-bit variable containing the CAN data
[in]	bitStart	starting bit were the signal data must be put
[in]	bitLength	length of the signal data to be put in CAN message
[in]	canSignal	signal data to be put in message
[in]	endianness	big or little endianness of data

Definition at line 173 of file can_helper.c.

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Variable Documentation

◆ can_bigEndianTable

const uint8_t can_bigEndianTable[CAN_SIGNAL_MAX_SIZE]

static

Initial value:

= {
    56u, 57u, 58u, 59u, 60u, 61u, 62u, 63u, 48u, 49u, 50u, 51u, 52u, 53u, 54u, 55u, 40u, 41u, 42u, 43u, 44u, 45u,
    46u, 47u, 32u, 33u, 34u, 35u, 36u, 37u, 38u, 39u, 24u, 25u, 26u, 27u, 28u, 29u, 30u, 31u, 16u, 17u, 18u, 19u,
    20u, 21u, 22u, 23u, 8u,  9u,  10u, 11u, 12u, 13u, 14u, 15u, 0u,  1u,  2u,  3u,  4u,  5u,  6u,  7u}

To convert big endian startbit to usual little endian representation (from 0 as LSB to 63 as MSB)

Definition at line 78 of file can_helper.c.

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ CAN_BYTE_LENGTH

◆ CAN_MESSAGE_BIT_MASK_ONE_BYTE

◆ CAN_SIGNAL_MAX_SIZE

Function Documentation

◆ CAN_ConvertBitStartBigEndian()

◆ CAN_ConvertBooleanToInteger()

◆ CAN_RxConvertRawSignalData()

◆ CAN_RxGetMessageDataFromCanData()

◆ CAN_RxGetSignalDataFromMessageData()

◆ CAN_TxPrepareSignalData()

◆ CAN_TxSetCanDataWithMessageData()

◆ CAN_TxSetMessageDataWithSignalData()

Variable Documentation

◆ can_bigEndianTable