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78 lines
1.3 KiB
78 lines
1.3 KiB
#ifndef SELFDRIVE_CAN_COMMON_H
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#define SELFDRIVE_CAN_COMMON_H
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#include <cstddef>
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#include <cstdint>
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#include <string>
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#define ARRAYSIZE(x) (sizeof(x)/sizeof(x[0]))
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unsigned int honda_checksum(unsigned int address, uint64_t d, int l);
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unsigned int toyota_checksum(unsigned int address, uint64_t d, int l);
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struct SignalPackValue {
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const char* name;
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double value;
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};
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struct SignalParseOptions {
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uint32_t address;
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const char* name;
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double default_value;
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};
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struct MessageParseOptions {
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uint32_t address;
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int check_frequency;
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};
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struct SignalValue {
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uint32_t address;
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uint16_t ts;
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const char* name;
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double value;
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};
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enum SignalType {
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DEFAULT,
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HONDA_CHECKSUM,
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HONDA_COUNTER,
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TOYOTA_CHECKSUM,
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};
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struct Signal {
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const char* name;
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int b1, b2, bo;
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bool is_signed;
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double factor, offset;
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bool is_little_endian;
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SignalType type;
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};
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struct Msg {
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const char* name;
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uint32_t address;
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unsigned int size;
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size_t num_sigs;
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const Signal *sigs;
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};
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struct DBC {
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const char* name;
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size_t num_msgs;
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const Msg *msgs;
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};
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const DBC* dbc_lookup(const std::string& dbc_name);
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void dbc_register(const DBC* dbc);
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#define dbc_init(dbc) \
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static void __attribute__((constructor)) do_dbc_init_ ## dbc(void) { \
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dbc_register(&dbc); \
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}
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#endif
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