mirror of https://github.com/rusefi/bldc.git
169 lines
5.1 KiB
C
Executable File
169 lines
5.1 KiB
C
Executable File
/*
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* UAVCAN data structure definition for libcanard.
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*
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* Autogenerated, do not edit.
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*
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* Source file: /Users/jaime/Developer/AION/ardupilot_private/modules/uavcan/dsdl/uavcan/protocol/341.NodeStatus.uavcan
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*/
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#include "uavcan/protocol/NodeStatus.h"
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#include "canard.h"
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#ifndef CANARD_INTERNAL_SATURATE
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#define CANARD_INTERNAL_SATURATE(x, max) ( ((x) > max) ? max : ( (-(x) > max) ? (-max) : (x) ) );
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#endif
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#ifndef CANARD_INTERNAL_SATURATE_UNSIGNED
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#define CANARD_INTERNAL_SATURATE_UNSIGNED(x, max) ( ((x) >= max) ? max : (x) );
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#endif
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#if defined(__GNUC__)
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# define CANARD_MAYBE_UNUSED(x) x __attribute__((unused))
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#else
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# define CANARD_MAYBE_UNUSED(x) x
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#endif
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/**
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* @brief uavcan_protocol_NodeStatus_encode_internal
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* @param source : pointer to source data struct
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* @param msg_buf: pointer to msg storage
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* @param offset: bit offset to msg storage
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* @param root_item: for detecting if TAO should be used
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* @retval returns offset
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*/
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uint32_t uavcan_protocol_NodeStatus_encode_internal(uavcan_protocol_NodeStatus* source,
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void* msg_buf,
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uint32_t offset,
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uint8_t CANARD_MAYBE_UNUSED(root_item))
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{
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canardEncodeScalar(msg_buf, offset, 32, (void*)&source->uptime_sec); // 4294967295
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offset += 32;
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source->health = CANARD_INTERNAL_SATURATE_UNSIGNED(source->health, 3)
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canardEncodeScalar(msg_buf, offset, 2, (void*)&source->health); // 3
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offset += 2;
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source->mode = CANARD_INTERNAL_SATURATE_UNSIGNED(source->mode, 7)
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canardEncodeScalar(msg_buf, offset, 3, (void*)&source->mode); // 7
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offset += 3;
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source->sub_mode = CANARD_INTERNAL_SATURATE_UNSIGNED(source->sub_mode, 7)
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canardEncodeScalar(msg_buf, offset, 3, (void*)&source->sub_mode); // 7
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offset += 3;
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canardEncodeScalar(msg_buf, offset, 16, (void*)&source->vendor_specific_status_code); // 65535
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offset += 16;
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return offset;
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}
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/**
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* @brief uavcan_protocol_NodeStatus_encode
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* @param source : Pointer to source data struct
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* @param msg_buf: Pointer to msg storage
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* @retval returns message length as bytes
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*/
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uint32_t uavcan_protocol_NodeStatus_encode(uavcan_protocol_NodeStatus* source, void* msg_buf)
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{
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uint32_t offset = 0;
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offset = uavcan_protocol_NodeStatus_encode_internal(source, msg_buf, offset, 1);
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return (offset + 7 ) / 8;
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}
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/**
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* @brief uavcan_protocol_NodeStatus_decode_internal
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* @param transfer: Pointer to CanardRxTransfer transfer
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* @param payload_len: Payload message length
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* @param dest: Pointer to destination struct
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* @param dyn_arr_buf: NULL or Pointer to memory storage to be used for dynamic arrays
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* uavcan_protocol_NodeStatus dyn memory will point to dyn_arr_buf memory.
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* NULL will ignore dynamic arrays decoding.
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* @param offset: Call with 0, bit offset to msg storage
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* @retval offset or ERROR value if < 0
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*/
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int32_t uavcan_protocol_NodeStatus_decode_internal(
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const CanardRxTransfer* transfer,
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uint16_t CANARD_MAYBE_UNUSED(payload_len),
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uavcan_protocol_NodeStatus* dest,
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uint8_t** CANARD_MAYBE_UNUSED(dyn_arr_buf),
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int32_t offset)
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{
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int32_t ret = 0;
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ret = canardDecodeScalar(transfer, (uint32_t)offset, 32, false, (void*)&dest->uptime_sec);
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if (ret != 32)
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{
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goto uavcan_protocol_NodeStatus_error_exit;
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}
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offset += 32;
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ret = canardDecodeScalar(transfer, (uint32_t)offset, 2, false, (void*)&dest->health);
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if (ret != 2)
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{
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goto uavcan_protocol_NodeStatus_error_exit;
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}
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offset += 2;
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ret = canardDecodeScalar(transfer, (uint32_t)offset, 3, false, (void*)&dest->mode);
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if (ret != 3)
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{
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goto uavcan_protocol_NodeStatus_error_exit;
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}
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offset += 3;
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ret = canardDecodeScalar(transfer, (uint32_t)offset, 3, false, (void*)&dest->sub_mode);
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if (ret != 3)
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{
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goto uavcan_protocol_NodeStatus_error_exit;
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}
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offset += 3;
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ret = canardDecodeScalar(transfer, (uint32_t)offset, 16, false, (void*)&dest->vendor_specific_status_code);
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if (ret != 16)
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{
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goto uavcan_protocol_NodeStatus_error_exit;
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}
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offset += 16;
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return offset;
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uavcan_protocol_NodeStatus_error_exit:
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if (ret < 0)
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{
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return ret;
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}
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else
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{
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return -CANARD_ERROR_INTERNAL;
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}
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}
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/**
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* @brief uavcan_protocol_NodeStatus_decode
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* @param transfer: Pointer to CanardRxTransfer transfer
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* @param payload_len: Payload message length
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* @param dest: Pointer to destination struct
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* @param dyn_arr_buf: NULL or Pointer to memory storage to be used for dynamic arrays
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* uavcan_protocol_NodeStatus dyn memory will point to dyn_arr_buf memory.
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* NULL will ignore dynamic arrays decoding.
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* @retval offset or ERROR value if < 0
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*/
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int32_t uavcan_protocol_NodeStatus_decode(const CanardRxTransfer* transfer,
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uint16_t payload_len,
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uavcan_protocol_NodeStatus* dest,
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uint8_t** dyn_arr_buf)
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{
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const int32_t offset = 0;
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int32_t ret = 0;
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// Clear the destination struct
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for (uint32_t c = 0; c < sizeof(uavcan_protocol_NodeStatus); c++)
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{
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((uint8_t*)dest)[c] = 0x00;
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}
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ret = uavcan_protocol_NodeStatus_decode_internal(transfer, payload_len, dest, dyn_arr_buf, offset);
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return ret;
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}
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