CAN Handler

Assignee: Luke

• Reuse processor-board code; improve handling of the 3-message TX limitation to avoid drops.

• Use fixed-point integer payloads with predefined exponents where practical instead of float.

Tx & Rx Message Set

• See RocketCAN packet format.

Telemetry Design (Scaling)

All telemetry values apply an exponent scaling defined in the Controls Data Collection Rates sheet before transmit. Decoding on the ground reverses the scaling.

Implementation Sketch

• src/application/can_handler/can_telemetry_scaling.h defines: - can_scaling_id_t: all scaling IDs across telemetry values. - can_types_t: payload integer types. - can_scale_data_t: per-signal metadata. - can_scale_map: maps scaling IDs → type & scale factor (fixed-point constants).

• src/application/can_handler/can_handler.c provides: - can_encode_scaled(float32, scale_id): divide by scale, validate overflow, cast to integer. - Saturation rules for overflow/underflow and sign handling.

• Callers (e.g., controller.c) do: - build_xxx_msg (from canlib) → can_handler_transmit.

• In canlib, update payload field types as needed; keep scaling logic in the handler for maintainability.