canlib

struct can_msg_t

Public Members

can_sid_t sid

uint8_t data_len

uint8_t data[8]

struct can_timing_t

Public Members

uint8_t brp

uint8_t sjw

uint8_t sam

uint8_t seg1ph

uint8_t seg2ph

uint8_t prseg

bool btlmode

file can.h

#include <stdbool.h>

#include <stdint.h>

Defines

CANLIB_BIT_TIME_US

Typedefs

typedef uint32_t can_sid_t

file msg_actuator.h

#include <stdbool.h>

#include <stdint.h>

#include “can.h”

#include “message_types.h”

Functions

bool build_actuator_cmd_msg(can_msg_prio_t prio, uint16_t timestamp, can_actuator_id_t actuator_id, can_actuator_state_t actuator_cmd, can_msg_t *output)

bool build_actuator_analog_cmd_msg(can_msg_prio_t prio, uint32_t timestamp, can_actuator_id_t actuator_id, uint16_t actuator_cmd, can_msg_t *output)

bool build_actuator_status_msg(can_msg_prio_t prio, uint16_t timestamp, can_actuator_id_t actuator_id, can_actuator_state_t actuator_curr_state, can_actuator_id_t actuator_cmd_state, can_msg_t *output)

int get_actuator_id(const can_msg_t *msg)

int get_curr_actuator_state(const can_msg_t *msg)

int get_cmd_actuator_state(const can_msg_t *msg)

uint16_t get_cmd_actuator_state_analog(const can_msg_t *msg)

file msg_common.h

#include <stdbool.h>

#include <stdint.h>

#include “can.h”

#include “message_types.h”

Defines

BOARD_TYPE_UNIQUE_ID

BOARD_INST_UNIQUE_ID

SID(prio, msg)

Functions

void write_timestamp_2bytes(uint16_t timestamp, can_msg_t *output)

can_msg_type_t get_message_type(const can_msg_t *msg)

uint8_t get_board_type_unique_id(const can_msg_t *msg)

uint8_t get_board_inst_unique_id(const can_msg_t *msg)

uint16_t get_timestamp(const can_msg_t *msg)

file msg_general.h

#include <stdbool.h>

#include <stdint.h>

#include “can.h”

#include “message_types.h”

Functions

bool build_general_board_status_msg(can_msg_prio_t prio, uint16_t timestamp, uint32_t general_error_bitfield, uint16_t board_specific_error_bitfield, can_msg_t *output)

bool build_reset_msg(can_msg_prio_t prio, uint16_t timestamp, uint8_t board_type_id, uint8_t board_inst_id, can_msg_t *output)

bool build_debug_raw_msg(can_msg_prio_t prio, uint16_t timestamp, const uint8_t *data, can_msg_t *output)

bool build_config_set_msg(can_msg_prio_t prio, uint16_t timestamp, uint8_t board_type_id, uint8_t board_inst_id, uint16_t config_id, uint16_t config_value, can_msg_t *output)

bool build_config_status_msg(can_msg_prio_t prio, uint16_t timestamp, uint16_t config_id, uint16_t config_value, can_msg_t *output)

bool get_general_board_status(const can_msg_t *msg, uint32_t *general_error_bitfield, uint16_t *board_specific_error_bitfield)

bool get_reset_board_id(const can_msg_t *msg, uint8_t *board_type_id, uint8_t *board_inst_id)

bool check_board_need_reset(const can_msg_t *msg)

bool get_debug_raw_data(const can_msg_t *msg, uint8_t *data)

bool get_config_set_target_board(const can_msg_t *msg, uint8_t *board_type_id, uint8_t *board_inst_id)

bool get_config_id_value(const can_msg_t *msg, uint16_t *config_id, uint16_t *config_value)

file msg_gps.h

#include <stdbool.h>

#include <stdint.h>

#include “can.h”

#include “message_types.h”

Functions

bool build_gps_time_msg(can_msg_prio_t prio, uint16_t timestamp, uint8_t utc_hours, uint8_t utc_mins, uint8_t utc_secs, uint8_t utc_dsecs, can_msg_t *output)

bool build_gps_lat_msg(can_msg_prio_t prio, uint16_t timestamp, uint8_t degrees, uint8_t minutes, uint16_t dminutes, uint8_t direction, can_msg_t *output)

bool build_gps_lon_msg(can_msg_prio_t prio, uint16_t timestamp, uint8_t degrees, uint8_t minutes, uint16_t dminutes, uint8_t direction, can_msg_t *output)

bool build_gps_alt_msg(can_msg_prio_t prio, uint16_t timestamp, uint16_t altitude, uint8_t daltitude, uint8_t units, can_msg_t *output)

bool build_gps_info_msg(can_msg_prio_t prio, uint16_t timestamp, uint8_t num_sat, uint8_t quality, can_msg_t *output)

bool get_gps_time(const can_msg_t *msg, uint8_t *utc_hours, uint8_t *utc_mins, uint8_t *utc_secs, uint8_t *utc_dsecs)

bool get_gps_lat(const can_msg_t *msg, uint8_t *degrees, uint8_t *minutes, uint16_t *dminutes, uint8_t *direction)

bool get_gps_lon(const can_msg_t *msg, uint8_t *degrees, uint8_t *minutes, uint16_t *dminutes, uint8_t *direction)

bool get_gps_alt(const can_msg_t *msg, uint16_t *altitude, uint8_t *daltitude, uint8_t *units)

bool get_gps_info(const can_msg_t *msg, uint8_t *num_sat, uint8_t *quality)

file msg_recovery.h

#include <stdbool.h>

#include <stdint.h>

#include “can.h”

#include “message_types.h”

Functions

bool build_alt_arm_cmd_msg(can_msg_prio_t prio, uint16_t timestamp, can_altimeter_id_t alt_id, can_alt_arm_state_t arm_cmd, can_msg_t *output)

bool build_alt_arm_status_msg(can_msg_prio_t prio, uint16_t timestamp, can_altimeter_id_t alt_id, can_alt_arm_state_t arm_state, uint16_t v_drogue, uint16_t v_main, can_msg_t *output)

bool get_alt_arm_state(const can_msg_t *msg, can_altimeter_id_t *alt_id, can_alt_arm_state_t *arm_state)

bool get_pyro_voltage_data(const can_msg_t *msg, uint16_t *v_drogue, uint16_t *v_main)

file msg_sensor.h

#include <stdbool.h>

#include <stdint.h>

#include “can.h”

#include “message_types.h”

Functions

bool build_temp_data_msg(can_msg_prio_t prio, uint16_t timestamp, uint8_t sensor_num, int32_t temp, can_msg_t *output)

bool build_altitude_data_msg(can_msg_prio_t prio, uint16_t timestamp, int32_t altitude, can_apogee_state_t apogee_state, can_msg_t *output)

bool build_imu_data_msg(can_msg_prio_t prio, uint16_t timestamp, char axis, can_imu_id_t imu_id, uint16_t linear_accel, uint16_t angular_velocity, can_msg_t *output)

bool build_mag_data_msg(can_msg_prio_t prio, uint16_t timestamp, char axis, can_imu_id_t imu_id, uint16_t mag_value, can_msg_t *output)

bool build_baro_data_msg(can_msg_prio_t prio, uint16_t timestamp, can_imu_id_t imu_id, uint32_t pressure, uint16_t temp, can_msg_t *output)

bool build_analog_data_msg(can_msg_prio_t prio, uint16_t timestamp, can_analog_sensor_id_t sensor_id, uint16_t sensor_data, can_msg_t *output)

Build an analog sensor data CAN message.

Parameters:

prio – Message priority
timestamp – 16 bits timestamp generated by millis() function
sensor_id – Sensor ID
sensor_data – 16 bits sensor data, unit is depends on sensor ID
output – Buffer for generated CAN message

Returns:

true is message is generated correctly

bool is_sensor_data(const can_msg_t *msg)

bool get_temp_data(const can_msg_t *msg, uint8_t *sensor_num, int32_t *temp)

bool get_altitude_data(const can_msg_t *msg, int32_t *altitude, can_apogee_state_t *apogee_state)

bool get_imu_mag_id_dimension(const can_msg_t *msg, can_imu_id_t *imu_id, char *dimension)

bool get_imu_data(const can_msg_t *msg, uint16_t *linear_accel, uint16_t *angular_velocity)

bool get_mag_data(const can_msg_t *msg, uint16_t *mag_value)

bool get_baro_data(const can_msg_t *msg, can_imu_id_t *imu_id, uint32_t *pressure, uint16_t *temp)

bool get_analog_data(const can_msg_t *msg, can_analog_sensor_id_t *sensor_id, uint16_t *output_data)

file msg_state_est.h

#include <stdbool.h>

#include <stdint.h>

#include “can.h”

#include “message_types.h”

Functions

bool build_state_est_data_msg(can_msg_prio_t prio, uint16_t timestamp, can_state_est_id_t state_id, const float *state_data, can_msg_t *output)

bool get_state_est_data(const can_msg_t *msg, can_state_est_id_t *state_id, float *state_data)

file message_types.h

Enums

enum can_msg_prio_t

Values:

enumerator PRIO_HIGHEST

enumerator PRIO_HIGH

enumerator PRIO_MEDIUM

enumerator PRIO_LOW

enum can_msg_type_t

Values:

enumerator MSG_GENERAL_BOARD_STATUS

enumerator MSG_RESET_CMD

enumerator MSG_DEBUG_RAW

enumerator MSG_CONFIG_SET

enumerator MSG_CONFIG_STATUS

enumerator MSG_ACTUATOR_CMD

enumerator MSG_ACTUATOR_ANALOG_CMD

enumerator MSG_ACTUATOR_STATUS

enumerator MSG_ALT_ARM_CMD

enumerator MSG_ALT_ARM_STATUS

enumerator MSG_SENSOR_TEMP

enumerator MSG_SENSOR_ALTITUDE

enumerator MSG_SENSOR_IMU_X

enumerator MSG_SENSOR_IMU_Y

enumerator MSG_SENSOR_IMU_Z

enumerator MSG_SENSOR_MAG_X

enumerator MSG_SENSOR_MAG_Y

enumerator MSG_SENSOR_MAG_Z

enumerator MSG_SENSOR_BARO

enumerator MSG_SENSOR_ANALOG

enumerator MSG_GPS_TIMESTAMP

enumerator MSG_GPS_LATITUDE

enumerator MSG_GPS_LONGITUDE

enumerator MSG_GPS_ALTITUDE

enumerator MSG_GPS_INFO

enumerator MSG_STATE_EST_DATA

enumerator MSG_LEDS_ON

enumerator MSG_LEDS_OFF

enumerator MSG_ID_ENUM_MAX

enum can_board_type_id_t

Values:

enumerator BOARD_TYPE_ID_ANY

enumerator BOARD_TYPE_ID_INJ_SENSOR

enumerator BOARD_TYPE_ID_CANARD_MOTOR

enumerator BOARD_TYPE_ID_CAMERA

enumerator BOARD_TYPE_ID_POWER

enumerator BOARD_TYPE_ID_LOGGER

enumerator BOARD_TYPE_ID_PROCESSOR

enumerator BOARD_TYPE_ID_TELEMETRY

enumerator BOARD_TYPE_ID_GPS

enumerator BOARD_TYPE_ID_SRAD_GNSS

enumerator BOARD_TYPE_ID_ALTIMETER

enumerator BOARD_TYPE_ID_ARMING

enumerator BOARD_TYPE_ID_PAY_SENSOR

enumerator BOARD_TYPE_ID_PAY_MOTOR

enumerator BOARD_TYPE_ID_RLCS_GLS

enumerator BOARD_TYPE_ID_RLCS_RELAY

enumerator BOARD_TYPE_ID_DAQ

enum can_board_inst_id_t

Values:

enumerator BOARD_INST_ID_ANY

enumerator BOARD_INST_ID_GROUND

enumerator BOARD_INST_ID_ROCKET

enumerator BOARD_INST_ID_PAYLOAD

enum can_board_inst_id_canard_motor_t

Values:

enumerator BOARD_INST_ID_CANARD_MOTOR_PRIMARY

enumerator BOARD_INST_ID_CANARD_MOTOR_FAILSAFE

enum can_board_inst_id_camera_t

Values:

enumerator BOARD_INST_ID_CAMERA_CANARD_A

enumerator BOARD_INST_ID_CAMERA_CANARD_B

enumerator BOARD_INST_ID_CAMERA_RECOVERY

enum can_actuator_id_t

Values:

enumerator ACTUATOR_OX_INJECTOR_VALVE

enumerator ACTUATOR_FUEL_INJECTOR_VALVE

enumerator ACTUATOR_ROCKET_CHARGE_ENABLE

enumerator ACTUATOR_PAYLOAD_CHARGE_ENABLE

enumerator ACTUATOR_5V_RAIL_ROCKET

enumerator ACTUATOR_5V_RAIL_PAYLOAD

enumerator ACTUATOR_12V_RAIL_ROCKET

enumerator ACTUATOR_12V_RAIL_PAYLOAD

enumerator ACTUATOR_TELEMETRY

enumerator ACTUATOR_CAMERA_CANARD_A

enumerator ACTUATOR_CAMERA_CANARD_B

enumerator ACTUATOR_CAMERA_RECOVERY

enumerator ACTUATOR_CAMERA_PAYLOAD

enumerator ACTUATOR_PROC_ESTIMATOR_INIT

enumerator ACTUATOR_SRAD_ALT_ESTIMATOR_INIT

enumerator ACTUATOR_SRAD_ALT_GPS_RESET

enumerator ACTUATOR_CANARD_ENABLE

enumerator ACTUATOR_CANARD_ANGLE

enumerator ACTUATOR_PAYLOAD_MOTOR_ENABLE

enumerator ACTUATOR_PAYLOAD_LOGGING_ENABLE

enumerator ACTUATOR_ENUM_MAX

enum can_actuator_state_t

Values:

enumerator ACT_STATE_ON

enumerator ACT_STATE_OFF

enumerator ACT_STATE_UNK

enumerator ACT_STATE_ILLEGAL

enumerator ACT_STATE_ENUM_MAX

enum can_altimeter_id_t

Values:

enumerator ALTIMETER_ROCKET_RAVEN

enumerator ALTIMETER_ROCKET_STRATOLOGGER

enumerator ALTIMETER_ROCKET_SRAD

enumerator ALTIMETER_PAYLOAD_RAVEN

enumerator ALTIMETER_PAYLOAD_STRATOLOGGER

enumerator ALTIMETER_ENUM_MAX

enum can_alt_arm_state_t

Values:

enumerator ALT_ARM_STATE_DISARMED

enumerator ALT_ARM_STATE_ARMED

enumerator ALT_ARM_STATE_ENUM_MAX

enum can_imu_id_t

Values:

enumerator IMU_PROC_ALTIMU10

enumerator IMU_PROC_MTI630

enumerator IMU_PROC_LSM6DSO32

enumerator IMU_SRAD_ALT_ALTIMU10

enumerator IMU_ENUM_MAX

enum can_analog_sensor_id_t

Values:

enumerator SENSOR_5V_VOLT

enumerator SENSOR_5V_CURR

enumerator SENSOR_12V_VOLT

enumerator SENSOR_12V_CURR

enumerator SENSOR_CHARGE_VOLT

enumerator SENSOR_CHARGE_CURR

enumerator SENSOR_BATT_VOLT

enumerator SENSOR_BATT_CURR

enumerator SENSOR_MOTOR_CURR

enumerator SENSOR_RADIO_CURR

enumerator SENSOR_GPS_CURR

enumerator SENSOR_LOCAL_CURR

enumerator SENSOR_PT_CHANNEL_0

enumerator SENSOR_PT_CHANNEL_1

enumerator SENSOR_PT_CHANNEL_2

enumerator SENSOR_PT_CHANNEL_3

enumerator SENSOR_PT_CHANNEL_4

enumerator SENSOR_HALL_CHANNEL_0

enumerator SENSOR_BARO_PRESSURE

enumerator SENSOR_BARO_TEMP

enumerator SENSOR_RA_BATT_VOLT_1

enumerator SENSOR_RA_BATT_VOLT_2

enumerator SENSOR_RA_BATT_CURR_1

enumerator SENSOR_RA_BATT_CURR_2

enumerator SENSOR_RA_MAG_VOLT_1

enumerator SENSOR_RA_MAG_VOLT_2

enumerator SENSOR_FPS

enumerator SENSOR_CANARD_ENCODER_1

enumerator SENSOR_CANARD_ENCODER_2

enumerator SENSOR_PROC_FLIGHT_PHASE_STATUS

enumerator SENSOR_PAYLOAD_LIM_1

enumerator SENSOR_PAYLOAD_LIM_2

enumerator SENSOR_PAYLOAD_SERVO_DIRECTION

enumerator SENSOR_PAYLOAD_INFRARED

enumerator SENSOR_HALL_CHANNEL_1

enumerator SENSOR_HALL_CHANNEL_2

enumerator SENSOR_ENUM_MAX

enum can_state_est_id_t

Values:

enumerator STATE_ID_ATT_Q0

enumerator STATE_ID_ATT_Q1

enumerator STATE_ID_ATT_Q2

enumerator STATE_ID_ATT_Q3

enumerator STATE_ID_RATE_WX

enumerator STATE_ID_RATE_WY

enumerator STATE_ID_RATE_WZ

enumerator STATE_ID_VEL_VX

enumerator STATE_ID_VEL_VY

enumerator STATE_ID_VEL_VZ

enumerator STATE_ID_ALT

enumerator STATE_ID_COEFF_CL

enumerator STATE_ID_CANARD_ANGLE

enumerator STATE_ID_ENUM_MAX

enum can_apogee_state_t

Values:

enumerator APOGEE_UNKNOWN

enumerator APOGEE_NOT_REACHED

enumerator APOGEE_REACHED

enumerator APOGEE_ENUM_MAX

enum can_general_board_status_offset_t

Values:

enumerator E_5V_OVER_CURRENT_OFFSET

enumerator E_5V_OVER_VOLTAGE_OFFSET

enumerator E_5V_UNDER_VOLTAGE_OFFSET

enumerator E_12V_OVER_CURRENT_OFFSET

enumerator E_12V_OVER_VOLTAGE_OFFSET

enumerator E_12V_UNDER_VOLTAGE_OFFSET

enumerator E_BATT_OVER_CURRENT_OFFSET

enumerator E_BATT_OVER_VOLTAGE_OFFSET

enumerator E_BATT_UNDER_VOLTAGE_OFFSET

enumerator E_MOTOR_OVER_CURRENT_OFFSET

enumerator E_IO_ERROR_OFFSET

enumerator E_FS_ERROR_OFFSET

enumerator E_WATCHDOG_TIMEOUT_OFFSET

enum can_board_specific_status_offset_t

Values:

enumerator E_12V_EFUSE_FAULT_OFFSET

enumerator E_5V_EFUSE_FAULT_OFFSET

enumerator E_PT_OUT_OF_RANGE_OFFSET

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