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implements bitset function from etl
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Tamara Xu committed Dec 22, 2024
1 parent c25f109 commit 71b9981
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Showing 3 changed files with 88 additions and 17 deletions.
10 changes: 6 additions & 4 deletions firmware/projects/Demo/Bitset/bitset.dbc
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Original file line number Diff line number Diff line change
Expand Up @@ -4,9 +4,11 @@ BS_:

BU_: BITSET

BO_ 940 SampleMessage: 4 BITSET
BO_ 940 SampleMessage: 5 BITSET
SG_ Val1a : 0|4@1+ (1,0) [0|1] "unitless" BITSET
SG_ Val1b : 4|4@1+ (1,0) [0|1] "unitless" BITSET
SG_ Val2 : 8|8@1+ (1,0) [0|1] "unitless" BITSET
SG_ Val3 : 16|8@1+ (1,0) [0|1] "unitless" BITSET
SG_ Val4 : 24|8@1+ (1,0) [0|1] "unitless" BITSET
SG_ Val2 : 8|8@1+ (1,10) [0|1] "unitless" BITSET
SG_ Val3a : 16|3@1+ (1,0) [0|1] "unitless" BITSET
SG_ Val3b : 19|5@1+ (1,0) [0|1] "unitless" BITSET
SG_ Val4 : 24|8@1+ (3,0) [0|1] "unitless" BITSET
SG_ Val5 : 32|8@1+ (6,2) [0|1] "unitless" BITSET
75 changes: 66 additions & 9 deletions firmware/projects/Demo/Bitset/main.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -14,8 +14,8 @@ int main(void) {
{ // these braces limit the scope of the variables. It lets us reuse the
// same variable names later

uint8_t test_data[] = {0xA1, 0x02, 0x03, 0x04};
shared::can::RawMessage raw_msg(940, false, 4, test_data);
uint8_t test_data[] = {0xA1, 0x02, 0xB3, 0x04, 0x05};
shared::can::RawMessage raw_msg(940, false, 5, test_data);

// The constructor is usually private. I "hacked" the jinja template to
// make it public for your testing.
Expand All @@ -25,9 +25,48 @@ int main(void) {
// 1a is bit 0-3 and 1b is bit7.
assert(unpacked_msg.Val1a() == 0x1);
assert(unpacked_msg.Val1b() == 0xA);
assert(unpacked_msg.Val2() == 0x2);
assert(unpacked_msg.Val3() == 0x3);
assert(unpacked_msg.Val4() == 0x4);
assert(unpacked_msg.Val2() == 0xC);
assert(unpacked_msg.Val3a() == 0x3);
assert(unpacked_msg.Val3b() == 0x16);
assert(unpacked_msg.Val4() == 0xC);
assert(unpacked_msg.Val5() == 0x20);

// uint8_t test_data2[] = {0x01, 0x02, 0x03, 0x04};
// shared::can::RawMessage raw_msg2(941, false, 4, test_data2);

// // The constructor is usually private. I "hacked" the jinja template
// to
// // make it public for your testing.
// generated::can::RxSampleMessage unpacked_msg2(raw_msg2, 0);

// // Notice that 1a and 1b share the same byte. See bitset.dbc
// // 1a is bit 0-3 and 1b is bit7.
// assert(unpacked_msg2.Val1c() == 0x1);
// assert(unpacked_msg2.Val2c() == 0x2);
// assert(unpacked_msg2.Val3c() == 0x3);
// assert(unpacked_msg2.Val4c() == 0x4);

// uint8_t test_data[] = {0xA4, 0xA5, 0xA6, 0xA7, 0x08, 0x09, 0x0A,
// 0x0B}; shared::can::RawMessage raw_msg(645, false, 11, test_data);

// // The constructor is usually private. I "hacked" the jinja template
// to
// // make it public for your testing.
// generated::can::RxSampleMessage unpacked_msg(raw_msg, 0);

// // Notice that 1a and 1b share the same byte. See bitset.dbc
// // 1a is bit 0-3 and 1b is bit7.
// assert(unpacked_msg.AMK_MagnetizingCurrent() == 0x1);
// assert(unpacked_msg.AMK_TorqueCurrent() == 0xA);
// assert(unpacked_msg.AMK_ActualVelocity() == 0xC);
// assert(unpacked_msg.AMK_bDerating() == 0x1); // done
// assert(unpacked_msg.AMK_bInverterOn() == 0x0); // done
// assert(unpacked_msg.AMK_bQuitInverterOn() == 0x1); // done
// assert(unpacked_msg.AMK_bDcOn() == 0x0); // done
// assert(unpacked_msg.AMK_bQuitDcOn() == 0x1); // done
// assert(unpacked_msg.AMK_bWarn() == 0x0); // done
// assert(unpacked_msg.AMK_bError() == 0x1); // done
// assert(unpacked_msg.AMK_bSystemReady() == 0x1); // done

printf("All unpack tests passed!\n");
}
Expand All @@ -38,17 +77,35 @@ int main(void) {
.val1a = 0x1,
.val1b = 0xA,
.val2 = 0x2,
.val3 = 0x3,
.val3a = 0x3,
.val3b = 0xB,
.val4 = 0x4,
.val5 = 0x5,
};

shared::can::RawMessage raw_unpacked_msg = packed_msg.pack();

assert(raw_unpacked_msg.id == 940);
assert(raw_unpacked_msg.data[0] == 0xA1);
assert(raw_unpacked_msg.data[1] == 0x02);
assert(raw_unpacked_msg.data[2] == 0x03);
assert(raw_unpacked_msg.data[3] == 0x04);
assert(raw_unpacked_msg.data[1] == 0xF8);
assert(raw_unpacked_msg.data[2] == 0x5B);
assert(raw_unpacked_msg.data[3] == 0x01);
assert(raw_unpacked_msg.data[4] == 0x00);

// generated::can::TxSampleMessage packed_msg2{
// .val1c = 0x1,
// .val2c = 0x2,
// .val3c = 0x3,
// .val4c = 0x4,
// };

// shared::can::RawMessage raw_unpacked_msg2 = packed_msg2.pack();

// assert(raw_unpacked_msg2.id == 941);
// assert(raw_unpacked_msg2.data[0] == 0x01);
// assert(raw_unpacked_msg2.data[1] == 0x02);
// assert(raw_unpacked_msg2.data[2] == 0x03);
// assert(raw_unpacked_msg2.data[3] == 0x04);

printf("All pack tests passed!\n");
}
Expand Down
20 changes: 16 additions & 4 deletions scripts/cangen/cangen/templates/messages.hpp.jinja2
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@

#include <cstdint>
#include "shared/comms/can/msg.hpp"
#include "etl/bitset.h"

namespace generated::can {

Expand Down Expand Up @@ -80,14 +81,20 @@ public: // HACK for testing
{% set i = loop.index0 %}
{% set shift = shifts[i] %}
{% if mask != 0 %}
etl::bitset<8> temp_bitset_{{ sig_var | camel_to_snake }}(raw_msg.data[{{ i }}]);
etl::bitset<8> temp_mask_{{ sig_var | camel_to_snake }}({{ mask | decimal_to_hex }}U);
temp_bitset_{{ sig_var | camel_to_snake }} &= temp_mask_{{ sig_var | camel_to_snake }};
{% if shift >= 0 %}
{{ temp_sig_var }} |= shared::can::unpack_left_shift<{{ temp_sig_var_type }}>(raw_msg.data[{{ i }}], {{ shift }}U, {{ mask | decimal_to_hex }}U);
temp_bitset_{{ sig_var | camel_to_snake }} <<= {{ shift }}U;
{% else %}
{{ temp_sig_var }} |= shared::can::unpack_right_shift<{{ temp_sig_var_type }}>(raw_msg.data[{{ i }}], {{ -shift }}U, {{ mask | decimal_to_hex }}U);
temp_bitset_{{ sig_var | camel_to_snake }} >>= {{ -shift }}U;
{% endif %}
{{ temp_sig_var }} |= static_cast<{{ temp_sig_var_type }}>((int)(temp_bitset_{{ sig_var | camel_to_snake }}.to_ulong()));
{% endif %}

{% endfor %}
{{ sig_var }}_ = static_cast<{{ sig_var_type }}>(static_cast<double>({{ temp_sig_var }}) * {{ sig_var_scale }} + {{ sig_var_offset }});

{% endfor %}
}
{{ class_name }}() = delete;
Expand Down Expand Up @@ -126,11 +133,16 @@ public:
{% set i = loop.index0 %}
{% set shift = shifts[i] %}
{% if mask != 0 %}
etl::bitset<8> temp_bitset_{{ sig_var | camel_to_snake }}(temp_{{ sig_var }});
etl::bitset<8> temp_mask_{{ sig_var | camel_to_snake }}({{ mask | decimal_to_hex }}U);
{% if shift >= 0 %}
data[{{ i }}] |= shared::can::pack_right_shift(temp_{{ sig_var }}, {{ shift }}U, {{ mask | decimal_to_hex }}U);
temp_bitset_{{ sig_var | camel_to_snake }} >>= {{ shift }}U;
{% else %}
data[{{ i }}] |= shared::can::pack_left_shift(temp_{{ sig_var }}, {{ -(shift) }}U, {{ mask | decimal_to_hex }}U);
temp_bitset_{{ sig_var | camel_to_snake }} <<= {{ -shift }}U;
{% endif %}
temp_bitset_{{ sig_var | camel_to_snake }} &= temp_mask_{{ sig_var | camel_to_snake }};
data[{{ i }}] |= static_cast<unsigned char>((int)(temp_bitset_{{ sig_var | camel_to_snake }}.to_ulong()));

{% endif %}
{% endfor %}
{% endfor %}
Expand Down

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