DevrimCAN Structure

Structs

CanMsg

struct devrimCanMsg {
	uint32_t id
	uint8_t length
	bool is_extended
	int8_t[] data
};

ControlCommand

struct ControlCommand{
	float torque; // -1 to 1
	float brake; // -1 to 1
	float wheel_angle; // rad
	float wheel_angle_rate // rad/s
}

AS State

Classes

• DevrimCan
  • has-a canHandler
  • has-a Bamocar is-a BaseCanDevice

DevrimCan

Member:

• CanHandler canHandler
• Bamocar bamocar

Methods:

Examples:

// Send Bamocar Torque
devrimCan.bamocar.setTorqueCommandNormalized(float torqueCommand);
devrimCan.bamocar.sendTorqueCommand();

class DevrimCan {
	private:
		CanHandler* can;
		
		Bamocar bamocar;
		Imecar imecar;
		RemoteEmergencySystem res;
		Ena36ilBrakeSensor brakeSensor;
		
	public:
		DevrimCan(CanHandler* canHandler) :
			can(canHandler)
		{
			bamocar(&can);
			imecar(&can);
			res(&can);
			brakeSensor(&can);
		}
		
		void digest(CanMsg msg) {
			switch (msg.id) {
				case ...
			}
		}
}
 
 
 
// Main
 
SN65CanHandler canHandler(pin, min);
DevrimCan devrimCan(&canHandler);
 
CanMsg canReceivedMsg;
void canListenTask() {
	while true {
		bool rxSuccess = canHandler.rx(&canReceivedMsg);
		if (rxSuccess) {
			devrimCan.digest(msg);
		}
	}
}

CanHandler (Abstract)

All CanHandler classes should be able to handle both extended and normal methods.

Methods:

• rx(CanMsg msg) → bool
• tx(CanMsg) → bool

Sn65TwaiCanHandler: CanHandler

Ros2CanHandler: CanHandler

Ros2CanHandler(canHandler*)

BaseCanDevice (Abstract)

Methods:

• void processCanMsg(CanMsg)

Members:

• CanHandler canHandler

Bamocar

public void setTorqueCommandNormalized(float torqueCommand) {
	torqueCommandNormalized = torqueCommand;
}
 
public bool sendTorqueCommand() {
	can->tx
}

CAN Listen

ECU

devrimCan