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Added custom UAVCAN message

This commit is contained in:
Benjamin Vedder 2022-09-05 20:05:39 +02:00
parent c26ffa114d
commit 247fe8eefc
8 changed files with 1264 additions and 18 deletions
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2
conf_general.h
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@ -24,7 +24,7 @@
#define FW_VERSION_MAJOR 6
#define FW_VERSION_MINOR 00
// Set to 0 for building a release and iterate during beta test builds
#define FW_TEST_VERSION_NUMBER 57
#define FW_TEST_VERSION_NUMBER 58
#include "datatypes.h"

7
hwconf/hw.h
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@ -305,6 +305,13 @@
#define NTC_TEMP_MOS3_M2() 0.0
#endif
#ifndef TEMP_MOTOR_1
#define TEMP_MOTOR_1() 0.0
#endif
#ifndef TEMP_MOTOR_2
#define TEMP_MOTOR_2() 0.0
#endif
// Sin/Cos Encoder Signals. Override if available
#ifndef ENCODER_SIN_VOLTS
#if defined(ADC_IND_EXT) && defined(ADC_VOLTS)

2
hwconf/trampa/60_alva/hw_60v2_alva_core.h
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@ -154,6 +154,8 @@
#define NTC_RES_MOTOR(adc_val) (10000.0 / ((4095.0 / (float)adc_val) - 1.0)) // Motor temp sensor on low side
#define NTC_TEMP_MOTOR(beta) alva_temp_motor_max(beta)
#define TEMP_MOTOR_1() (1.0 / ((logf(NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR]) / 10000.0) / beta) + (1.0 / 298.15)) - 273.15)
#define TEMP_MOTOR_2() (1.0 / ((logf(NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR_S2]) / 10000.0) / beta) + (1.0 / 298.15)) - 273.15)
// Voltage on ADC channel
#define ADC_VOLTS(ch) ((float)ADC_Value[ch] / 4096.0 * V_REG)

3
libcanard/canard.mk
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@ -13,7 +13,8 @@ CANARDSRC = libcanard/canard.c \
libcanard/dsdl/uavcan/protocol/param/param_NumericValue.c \
libcanard/dsdl/uavcan/protocol/param/param_Value.c \
libcanard/dsdl/uavcan/protocol/file/file_BeginFirmwareUpdate.c \
libcanard/dsdl/uavcan/protocol/file/file_Read.c
libcanard/dsdl/uavcan/protocol/file/file_Read.c \
libcanard/dsdl/vesc/vesc_RTData.c
CANARDINC = libcanard \
libcanard/dsdl

134
libcanard/canard_driver.c
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@ -29,8 +29,9 @@
#include "uavcan/protocol/param/GetSet.h"
#include "uavcan/protocol/GetNodeInfo.h"
#include "uavcan/protocol/RestartNode.h"
#include <uavcan/protocol/file/BeginFirmwareUpdate.h>
#include <uavcan/protocol/file/Read.h>
#include "uavcan/protocol/file/BeginFirmwareUpdate.h"
#include "uavcan/protocol/file/Read.h"
#include "vesc/RTData.h"
#include "conf_general.h"
#include "app.h"
@ -46,12 +47,14 @@
#include "nrf_driver.h"
#include "buffer.h"
#include "utils.h"
#include "mcpwm_foc.h"
#include "imu.h"
// Constants
#define CAN_APP_NODE_NAME "org.vesc." HW_NAME
#define UNIQUE_ID_LENGTH_BYTES 12
#define STATUS_MSGS_TO_STORE 10
#define AP_MAX_NAME_SIZE 16
#define AP_MAX_NAME_SIZE 20
#define ARRAY_SIZE(_arr) (sizeof(_arr) / sizeof(_arr[0]))
#define UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_UNIQUE_ID_MAX_LENGTH 16
@ -104,6 +107,7 @@ static THD_FUNCTION(canard_thread, arg);
// Private functions
static void calculateTotalCurrent(void);
static void sendEscStatus(CanardInstance *ins);
static void sendRtData(CanardInstance *ins);
static void readUniqueID(uint8_t* out_uid);
static void onTransferReceived(CanardInstance* ins, CanardRxTransfer* transfer);
static bool shouldAcceptTransfer(const CanardInstance* ins,
@ -211,11 +215,14 @@ static void write_app_config(void);
*/
static param_t parameters[] =
{
{"can_baud_rate", AP_PARAM_INT8, 0, 0, 8, CAN_BAUD_500K},
{"can_status_rate", AP_PARAM_INT32, 0, 0, 1000, 50},
{"can_esc_index", AP_PARAM_INT16, 0, 0, 255, 0},
{"controller_id", AP_PARAM_INT16, 0, 0, 253, 0},
{"ctl_dir", AP_PARAM_INT8, 0, 0, 1, 0}
{"can_baud_rate", AP_PARAM_INT8, 0, 0, 8, CAN_BAUD_500K},
{"can_status_rate_1", AP_PARAM_INT32, 0, 0, 1000, 50},
{"can_status_rate_2", AP_PARAM_INT32, 0, 0, 1000, 5},
{"can_status_msgs_r1", AP_PARAM_INT16, 0, 0, 255, 0},
{"can_status_msgs_r2", AP_PARAM_INT16, 0, 0, 255, 0},
{"can_esc_index", AP_PARAM_INT16, 0, 0, 255, 0},
{"controller_id", AP_PARAM_INT16, 0, 0, 253, 0},
{"ctl_dir", AP_PARAM_INT8, 0, 0, 1, 0}
};
/*
@ -252,7 +259,10 @@ static void write_app_config(void) {
*mcconf = *mc_interface_get_configuration();
appconf->can_baud_rate = (uint8_t)getParamByName("can_baud_rate")->val;
appconf->can_status_rate_1 = (uint32_t)getParamByName("can_status_rate")->val;
appconf->can_status_rate_1 = (uint32_t)getParamByName("can_status_rate_1")->val;
appconf->can_status_rate_2 = (uint32_t)getParamByName("can_status_rate_2")->val;
appconf->can_status_msgs_r1 = (uint16_t)getParamByName("can_status_msgs_r1")->val;
appconf->can_status_msgs_r2 = (uint16_t)getParamByName("can_status_msgs_r2")->val;
appconf->uavcan_esc_index = (uint16_t)getParamByName("can_esc_index")->val;
appconf->controller_id = (uint16_t)getParamByName("controller_id")->val;
mcconf->m_invert_direction = (uint8_t)getParamByName("ctl_dir")->val;;
@ -279,11 +289,14 @@ static void refresh_parameters(void){
const app_configuration *appconf = app_get_configuration();
const volatile mc_configuration *mcconf = mc_interface_get_configuration();
updateParamByName((uint8_t *)"can_baud_rate", appconf->can_baud_rate );
updateParamByName((uint8_t *)"can_status_rate", appconf->can_status_rate_1 );
updateParamByName((uint8_t *)"can_esc_index", appconf->uavcan_esc_index );
updateParamByName((uint8_t *)"controller_id", appconf->controller_id );
updateParamByName((uint8_t *)"ctl_dir", mcconf->m_invert_direction );
updateParamByName((uint8_t *)"can_baud_rate", appconf->can_baud_rate);
updateParamByName((uint8_t *)"can_status_rate_1", appconf->can_status_rate_1);
updateParamByName((uint8_t *)"can_status_rate_2", appconf->can_status_rate_2);
updateParamByName((uint8_t *)"can_status_msgs_r1", appconf->can_status_msgs_r1);
updateParamByName((uint8_t *)"can_status_msgs_r2", appconf->can_status_msgs_r2);
updateParamByName((uint8_t *)"can_esc_index", appconf->uavcan_esc_index);
updateParamByName((uint8_t *)"controller_id", appconf->controller_id);
updateParamByName((uint8_t *)"ctl_dir", mcconf->m_invert_direction);
}
/*
@ -497,6 +510,76 @@ static void sendEscStatus(CanardInstance *ins) {
UAVCAN_EQUIPMENT_ESC_STATUS_MAX_SIZE);
}
static void sendRtData(CanardInstance *ins) {
vesc_RTData data;
memset(&data, 0, sizeof(data));
const volatile mc_configuration *conf = mc_interface_get_configuration();
const app_configuration *appconf = app_get_configuration();
data.volt_in = mc_interface_get_input_voltage_filtered();
data.volt_d = mcpwm_foc_get_vd();
data.volt_q = mcpwm_foc_get_vq();
data.temp_mos_max = mc_interface_temp_fet_filtered();
data.temp_mos_1 = NTC_TEMP_MOS1();
data.temp_mos_2 = NTC_TEMP_MOS2();
data.temp_mos_3 = NTC_TEMP_MOS3();
data.temp_motor_max = mc_interface_temp_motor_filtered();
data.temp_motor_1 = TEMP_MOTOR_1();
data.temp_motor_2 = TEMP_MOTOR_2();
data.curr_motor = mc_interface_get_tot_current_filtered();
data.curr_in = mc_interface_get_tot_current_in_filtered();
data.curr_d = mcpwm_foc_get_id();
data.curr_q = mcpwm_foc_get_iq();
float rpy[3], acc[3], gyro[3];
imu_get_rpy(rpy);
imu_get_accel(acc);
imu_get_gyro(gyro);
data.roll = rpy[0];
data.pitch = rpy[1];
data.yaw = rpy[2];
data.acc_x = acc[0];
data.acc_y = acc[1];
data.acc_z = acc[2];
data.gyro_x = gyro[0];
data.gyro_y = gyro[1];
data.gyro_z = gyro[2];
data.erpm = mc_interface_get_rpm();
data.rpm = mc_interface_get_rpm() / ((float)conf->si_motor_poles / 2.0);
data.duty = mc_interface_get_duty_cycle_now();
data.ah_used = mc_interface_get_amp_hours(false);
data.ah_charged = mc_interface_get_amp_hours_charged(false);
data.wh_used = mc_interface_get_watt_hours(false);
data.wh_charged = mc_interface_get_watt_hours_charged(false);
data.encoder_pos = mc_interface_get_pid_pos_now();
float wh_left = 0.0;
data.battery_level = mc_interface_get_battery_level(&wh_left);
data.battery_wh_tot = wh_left / data.battery_level;
data.fault_code = mc_interface_get_fault();
data.vesc_id = appconf->controller_id;
vesc_RTData_encode(&data, msg_buffer, false);
static uint8_t transfer_id;
if (debug_level > 11) {
commands_printf("UAVCAN sendRtData");
}
canardBroadcast(ins,
VESC_RTDATA_SIGNATURE,
VESC_RTDATA_ID,
&transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
msg_buffer,
VESC_RTDATA_MAX_SIZE);
}
/*
* Reads the STM32 Unique ID
*/
@ -1228,6 +1311,7 @@ static THD_FUNCTION(canard_thread, arg) {
systime_t last_status_time = 0;
systime_t last_esc_status_time = 0;
systime_t last_esc_status_time_r2 = 0;
systime_t last_tot_current_calc_time = 0;
systime_t last_param_refresh = 0;
bool was_running = false;
@ -1258,6 +1342,7 @@ static THD_FUNCTION(canard_thread, arg) {
last_status_time = chVTGetSystemTimeX();
last_esc_status_time = chVTGetSystemTimeX();
last_esc_status_time_r2 = chVTGetSystemTimeX();
last_tot_current_calc_time = chVTGetSystemTimeX();
last_param_refresh = chVTGetSystemTimeX();
@ -1323,13 +1408,30 @@ static THD_FUNCTION(canard_thread, arg) {
#endif
}
if (conf->can_status_rate_1 > 0 &&
UTILS_AGE_S(last_esc_status_time) >= (1.0 / (float)conf->can_status_rate_1)) {
if (conf->can_status_rate_1 > 0 && UTILS_AGE_S(last_esc_status_time) >= (1.0 / (float)conf->can_status_rate_1)) {
last_esc_status_time = chVTGetSystemTimeX();
sendEscStatus(&canard_ins);
#ifdef HW_CAN2_DEV
sendEscStatus(&canard_ins_if2);
#endif
if ((conf->can_status_msgs_r1 >> 0) & 1) {
sendRtData(&canard_ins);
#ifdef HW_CAN2_DEV
sendRtData(&canard_ins_if2);
#endif
}
}
if (conf->can_status_rate_2 > 0 && UTILS_AGE_S(last_esc_status_time_r2) >= (1.0 / (float)conf->can_status_rate_2)) {
last_esc_status_time_r2 = chVTGetSystemTimeX();
if ((conf->can_status_msgs_r2 >> 0) & 1) {
sendRtData(&canard_ins);
#ifdef HW_CAN2_DEV
sendRtData(&canard_ins_if2);
#endif
}
}
if (ST2MS(chVTTimeElapsedSinceX(last_tot_current_calc_time)) >= 1000 / CURRENT_CALC_FREQ_HZ) {

50
libcanard/dsdl/definitions/vesc/20601.RTData.uavcan Normal file
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@ -0,0 +1,50 @@
#
# VESC Realtime Data
#
# Voltages
float16 volt_in
float16 volt_d
float16 volt_q
# Temperatures
float16 temp_mos_max
float16 temp_mos_1
float16 temp_mos_2
float16 temp_mos_3
float16 temp_motor_max
float16 temp_motor_1
float16 temp_motor_2
# Currents
float16 curr_motor
float16 curr_in
float16 curr_d
float16 curr_q
# IMU
float16 roll
float16 pitch
float16 yaw
float16 acc_x
float16 acc_y
float16 acc_z
float16 gyro_x
float16 gyro_y
float16 gyro_z
# Other
float16 erpm
float16 rpm
float16 duty
float16 ah_used
float16 ah_charged
float16 wh_used
float16 wh_charged
float16 encoder_pos
float16 battery_level
float16 battery_wh_tot
uint8 fault_code
uint8 vesc_id

175
libcanard/dsdl/vesc/RTData.h Normal file
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@ -0,0 +1,175 @@
/*
* UAVCAN data structure definition for libcanard.
*
* Autogenerated, do not edit.
*
* Source file: /home/benjamin/Nextcloud/Dokument/ARM/STM_Eclipse/BLDC_4_ChibiOS/libcanard/dsdl/definitions/vesc/20601.RTData.uavcan
*/
#ifndef __VESC_RTDATA
#define __VESC_RTDATA
#include <stdint.h>
#include "canard.h"
#ifdef __cplusplus
extern "C"
{
#endif
/******************************* Source text **********************************
#
# VESC Realtime Data
#
# Voltages
float16 volt_in
float16 volt_d
float16 volt_q
# Temperatures
float16 temp_mos_max
float16 temp_mos_1
float16 temp_mos_2
float16 temp_mos_3
float16 temp_motor_max
float16 temp_motor_1
float16 temp_motor_2
# Currents
float16 curr_motor
float16 curr_in
float16 curr_d
float16 curr_q
# IMU
float16 roll
float16 pitch
float16 yaw
float16 acc_x
float16 acc_y
float16 acc_z
float16 gyro_x
float16 gyro_y
float16 gyro_z
# Other
float16 erpm
float16 rpm
float16 duty
float16 ah_used
float16 ah_charged
float16 wh_used
float16 wh_charged
float16 encoder_pos
float16 battery_level
float16 battery_wh_tot
uint8 fault_code
uint8 vesc_id
******************************************************************************/
/********************* DSDL signature source definition ***********************
vesc.RTData
saturated float16 volt_in
saturated float16 volt_d
saturated float16 volt_q
saturated float16 temp_mos_max
saturated float16 temp_mos_1
saturated float16 temp_mos_2
saturated float16 temp_mos_3
saturated float16 temp_motor_max
saturated float16 temp_motor_1
saturated float16 temp_motor_2
saturated float16 curr_motor
saturated float16 curr_in
saturated float16 curr_d
saturated float16 curr_q
saturated float16 roll
saturated float16 pitch
saturated float16 yaw
saturated float16 acc_x
saturated float16 acc_y
saturated float16 acc_z
saturated float16 gyro_x
saturated float16 gyro_y
saturated float16 gyro_z
saturated float16 erpm
saturated float16 rpm
saturated float16 duty
saturated float16 ah_used
saturated float16 ah_charged
saturated float16 wh_used
saturated float16 wh_charged
saturated float16 encoder_pos
saturated float16 battery_level
saturated float16 battery_wh_tot
saturated uint8 fault_code
saturated uint8 vesc_id
******************************************************************************/
#define VESC_RTDATA_ID 20601
#define VESC_RTDATA_NAME "vesc.RTData"
#define VESC_RTDATA_SIGNATURE (0xBC1F380DD6555010ULL)
#define VESC_RTDATA_MAX_SIZE ((544 + 7)/8)
// Constants
typedef struct
{
// FieldTypes
float volt_in; // float16 Saturate
float volt_d; // float16 Saturate
float volt_q; // float16 Saturate
float temp_mos_max; // float16 Saturate
float temp_mos_1; // float16 Saturate
float temp_mos_2; // float16 Saturate
float temp_mos_3; // float16 Saturate
float temp_motor_max; // float16 Saturate
float temp_motor_1; // float16 Saturate
float temp_motor_2; // float16 Saturate
float curr_motor; // float16 Saturate
float curr_in; // float16 Saturate
float curr_d; // float16 Saturate
float curr_q; // float16 Saturate
float roll; // float16 Saturate
float pitch; // float16 Saturate
float yaw; // float16 Saturate
float acc_x; // float16 Saturate
float acc_y; // float16 Saturate
float acc_z; // float16 Saturate
float gyro_x; // float16 Saturate
float gyro_y; // float16 Saturate
float gyro_z; // float16 Saturate
float erpm; // float16 Saturate
float rpm; // float16 Saturate
float duty; // float16 Saturate
float ah_used; // float16 Saturate
float ah_charged; // float16 Saturate
float wh_used; // float16 Saturate
float wh_charged; // float16 Saturate
float encoder_pos; // float16 Saturate
float battery_level; // float16 Saturate
float battery_wh_tot; // float16 Saturate
uint8_t fault_code; // bit len 8
uint8_t vesc_id; // bit len 8
} vesc_RTData;
extern
uint32_t vesc_RTData_encode(vesc_RTData* source, void* msg_buf, bool tao_enabled);
extern
int32_t vesc_RTData_decode(const CanardRxTransfer* transfer, uint16_t payload_len, vesc_RTData* dest, uint8_t** dyn_arr_buf, bool tao_enabled);
extern
uint32_t vesc_RTData_encode_internal(vesc_RTData* source, void* msg_buf, uint32_t offset, uint8_t root_item, bool tao_enabled);
extern
int32_t vesc_RTData_decode_internal(const CanardRxTransfer* transfer, uint16_t payload_len, vesc_RTData* dest, uint8_t** dyn_arr_buf, int32_t offset, bool tao_enabled);
#ifdef __cplusplus
} // extern "C"
#endif
#endif // __VESC_RTDATA

909
libcanard/dsdl/vesc/vesc_RTData.c Normal file
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@ -0,0 +1,909 @@
/*
* UAVCAN data structure definition for libcanard.
*
* Autogenerated, do not edit.
*
* Source file: /home/benjamin/Nextcloud/Dokument/ARM/STM_Eclipse/BLDC_4_ChibiOS/libcanard/dsdl/definitions/vesc/20601.RTData.uavcan
*/
#include "vesc/RTData.h"
#include "canard.h"
#ifndef CANARD_INTERNAL_SATURATE
#define CANARD_INTERNAL_SATURATE(x, max) ( ((x) > max) ? max : ( (-(x) > max) ? (-max) : (x) ) );
#endif
#ifndef CANARD_INTERNAL_SATURATE_UNSIGNED
#define CANARD_INTERNAL_SATURATE_UNSIGNED(x, max) ( ((x) >= max) ? max : (x) );
#endif
#if defined(__GNUC__)
# define CANARD_MAYBE_UNUSED(x) x __attribute__((unused))
#else
# define CANARD_MAYBE_UNUSED(x) x
#endif
/**
* @brief vesc_RTData_encode_internal
* @param source : pointer to source data struct
* @param msg_buf: pointer to msg storage
* @param offset: bit offset to msg storage
* @param root_item: for detecting if TAO should be used
* @retval returns offset
*/
uint32_t vesc_RTData_encode_internal(vesc_RTData* source,
void* msg_buf,
uint32_t offset,
uint8_t CANARD_MAYBE_UNUSED(root_item),
bool tao_enabled)
{
(void)tao_enabled;
#ifndef CANARD_USE_FLOAT16_CAST
uint16_t tmp_float = 0;
#else
CANARD_USE_FLOAT16_CAST tmp_float = 0;
#endif
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->volt_in);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->volt_in;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->volt_d);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->volt_d;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->volt_q);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->volt_q;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->temp_mos_max);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->temp_mos_max;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->temp_mos_1);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->temp_mos_1;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->temp_mos_2);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->temp_mos_2;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->temp_mos_3);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->temp_mos_3;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->temp_motor_max);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->temp_motor_max;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->temp_motor_1);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->temp_motor_1;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->temp_motor_2);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->temp_motor_2;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->curr_motor);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->curr_motor;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->curr_in);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->curr_in;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->curr_d);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->curr_d;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->curr_q);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->curr_q;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->roll);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->roll;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->pitch);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->pitch;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->yaw);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->yaw;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->acc_x);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->acc_x;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->acc_y);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->acc_y;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->acc_z);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->acc_z;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->gyro_x);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->gyro_x;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->gyro_y);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->gyro_y;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->gyro_z);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->gyro_z;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->erpm);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->erpm;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->rpm);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->rpm;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->duty);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->duty;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->ah_used);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->ah_used;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->ah_charged);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->ah_charged;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->wh_used);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->wh_used;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->wh_charged);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->wh_charged;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->encoder_pos);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->encoder_pos;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->battery_level);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->battery_level;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
// float16 special handling
#ifndef CANARD_USE_FLOAT16_CAST
tmp_float = canardConvertNativeFloatToFloat16(source->battery_wh_tot);
#else
tmp_float = (CANARD_USE_FLOAT16_CAST)source->battery_wh_tot;
#endif
canardEncodeScalar(msg_buf, offset, 16, (void*)&tmp_float); // 32767
offset += 16;
canardEncodeScalar(msg_buf, offset, 8, (void*)&source->fault_code); // 255
offset += 8;
canardEncodeScalar(msg_buf, offset, 8, (void*)&source->vesc_id); // 255
offset += 8;
return offset;
}
/**
* @brief vesc_RTData_encode
* @param source : Pointer to source data struct
* @param msg_buf: Pointer to msg storage
* @retval returns message length as bytes
*/
uint32_t vesc_RTData_encode(vesc_RTData* source, void* msg_buf, bool tao_enabled)
{
uint32_t offset = 0;
offset = vesc_RTData_encode_internal(source, msg_buf, offset, 1, tao_enabled);
return (offset + 7 ) / 8;
}
/**
* @brief vesc_RTData_decode_internal
* @param transfer: Pointer to CanardRxTransfer transfer
* @param payload_len: Payload message length
* @param dest: Pointer to destination struct
* @param dyn_arr_buf: NULL or Pointer to memory storage to be used for dynamic arrays
* vesc_RTData dyn memory will point to dyn_arr_buf memory.
* NULL will ignore dynamic arrays decoding.
* @param offset: Call with 0, bit offset to msg storage
* @retval offset or ERROR value if < 0
*/
int32_t vesc_RTData_decode_internal(
const CanardRxTransfer* transfer,
uint16_t CANARD_MAYBE_UNUSED(payload_len),
vesc_RTData* dest,
uint8_t** CANARD_MAYBE_UNUSED(dyn_arr_buf),
int32_t offset,
bool tao_enabled)
{
(void)tao_enabled;
int32_t ret = 0;
#ifndef CANARD_USE_FLOAT16_CAST
uint16_t tmp_float = 0;
#else
CANARD_USE_FLOAT16_CAST tmp_float = 0;
#endif
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->volt_in = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->volt_in = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->volt_d = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->volt_d = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->volt_q = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->volt_q = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->temp_mos_max = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->temp_mos_max = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->temp_mos_1 = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->temp_mos_1 = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->temp_mos_2 = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->temp_mos_2 = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->temp_mos_3 = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->temp_mos_3 = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->temp_motor_max = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->temp_motor_max = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->temp_motor_1 = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->temp_motor_1 = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->temp_motor_2 = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->temp_motor_2 = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->curr_motor = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->curr_motor = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->curr_in = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->curr_in = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->curr_d = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->curr_d = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->curr_q = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->curr_q = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->roll = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->roll = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->pitch = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->pitch = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->yaw = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->yaw = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->acc_x = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->acc_x = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->acc_y = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->acc_y = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->acc_z = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->acc_z = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->gyro_x = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->gyro_x = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->gyro_y = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->gyro_y = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->gyro_z = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->gyro_z = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->erpm = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->erpm = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->rpm = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->rpm = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->duty = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->duty = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->ah_used = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->ah_used = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->ah_charged = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->ah_charged = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->wh_used = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->wh_used = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->wh_charged = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->wh_charged = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->encoder_pos = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->encoder_pos = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->battery_level = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->battery_level = (float)tmp_float;
#endif
offset += 16;
// float16 special handling
ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&tmp_float);
if (ret != 16)
{
goto vesc_RTData_error_exit;
}
#ifndef CANARD_USE_FLOAT16_CAST
dest->battery_wh_tot = canardConvertFloat16ToNativeFloat(tmp_float);
#else
dest->battery_wh_tot = (float)tmp_float;
#endif
offset += 16;
ret = canardDecodeScalar(transfer, (uint32_t)offset, 8, false, (void*)&dest->fault_code);
if (ret != 8)
{
goto vesc_RTData_error_exit;
}
offset += 8;
ret = canardDecodeScalar(transfer, (uint32_t)offset, 8, false, (void*)&dest->vesc_id);
if (ret != 8)
{
goto vesc_RTData_error_exit;
}
offset += 8;
return offset;
vesc_RTData_error_exit:
if (ret < 0)
{
return ret;
}
else
{
return -CANARD_ERROR_INTERNAL;
}
}
/**
* @brief vesc_RTData_decode
* @param transfer: Pointer to CanardRxTransfer transfer
* @param payload_len: Payload message length
* @param dest: Pointer to destination struct
* @param dyn_arr_buf: NULL or Pointer to memory storage to be used for dynamic arrays
* vesc_RTData dyn memory will point to dyn_arr_buf memory.
* NULL will ignore dynamic arrays decoding.
* @retval offset or ERROR value if < 0
*/
int32_t vesc_RTData_decode(const CanardRxTransfer* transfer,
uint16_t payload_len,
vesc_RTData* dest,
uint8_t** dyn_arr_buf,
bool tao_enabled)
{
const int32_t offset = 0;
int32_t ret = 0;
// Clear the destination struct
for (uint32_t c = 0; c < sizeof(vesc_RTData); c++)
{
((uint8_t*)dest)[c] = 0x00;
}
ret = vesc_RTData_decode_internal(transfer, payload_len, dest, dyn_arr_buf, offset, tao_enabled);
return ret;
}