fome-fw/firmware/controllers/sensors/can_sensor.h

55 lines
1.3 KiB
C++

/**
* @file can_sensor.h
*
* @date March 31, 2020
* @author Matthew Kennedy, (c) 2020
*/
#pragma once
#include "stored_value_sensor.h"
#include "efi_scaled_channel.h"
#include "can_msg_tx.h"
#include "obd2.h"
#include "can.h"
#include "can_listener.h"
/**
* Sensor which reads it's value from CAN
*/
class CanSensorBase : public StoredValueSensor, public CanListener {
public:
CanSensorBase(uint32_t eid, SensorType type, efidur_t timeout)
: StoredValueSensor(type, timeout)
, CanListener(eid)
{
}
void showInfo(const char* sensorName) const override;
};
template <typename TStorage, int TScale>
class CanSensor : public CanSensorBase {
public:
CanSensor(uint32_t eid, uint8_t offset, SensorType type, efidur_t timeout)
: CanSensorBase(eid, type, timeout)
, m_offset(offset)
{
}
void decodeFrame(const CANRxFrame& frame, efitick_t nowNt) override {
// Compute the location of our data within the frame
const uint8_t* dataLocation = &frame.data8[m_offset];
// Reinterpret as a scaled_channel - it already has the logic for decoding a scaled integer to a float
const auto scaler = reinterpret_cast<const scaled_channel<TStorage, TScale>*>(dataLocation);
// Actually do the conversion
float value = *scaler;
setValidValue(value, nowNt);
}
private:
const uint8_t m_offset;
};