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bjackson312006bjackson312006
authored
Merge branch 'main' into feature/lan8670
2 parents 9ecadf0 + 75051bf commit 721feba

5 files changed

Lines changed: 145 additions & 41 deletions

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‎cangen/can-messages/bms.json‎

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1149,7 +1149,8 @@
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}
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},
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{
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"size": 16,
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"size": 32,
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"ieee754_f32": true,
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"sim": {
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"min": -100,
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"max": 100,

‎cangen/can-messages/mpu.json‎

Lines changed: 13 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -4,7 +4,7 @@
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"desc": "MPU Status",
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"points": [
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{
7-
"size": 8,
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"size": 4,
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"sim": {
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"options": [
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[0, 0.01],
@@ -16,7 +16,7 @@
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}
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},
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{
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"size": 8,
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"size": 4,
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"sim": {
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"options": [
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[0, 0.2],
@@ -30,8 +30,9 @@
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}
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},
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{
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"size": 8,
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"size": 16,
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"signed": true,
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"format": "divide10",
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"sim": {
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"min": 0,
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"max": 88,
@@ -40,7 +41,7 @@
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}
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},
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{
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"size": 8,
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"size": 1,
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"sim": {
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"options": [
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[0, 0.8],
@@ -49,7 +50,7 @@
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}
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},
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{
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"size": 8,
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"size": 7,
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"sim": {
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"min": 0,
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"max": 100,
@@ -58,7 +59,7 @@
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}
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},
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{
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"size": 8,
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"size": 1,
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"sim": {
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"options": [
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[0, 0.8],
@@ -67,7 +68,7 @@
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}
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},
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{
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"size": 8,
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"size": 10,
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"sim": {
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"min": 0,
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"max": 50,
@@ -76,13 +77,17 @@
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}
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},
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{
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"size": 8,
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"size": 1,
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"sim": {
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"options": [
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[0, 0.8],
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[1, 0.2]
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]
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}
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},
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{
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"size": 4,
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"parse": false
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}
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],
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"fields": [

‎cangen/can-messages/msb.json‎

Lines changed: 88 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -179,21 +179,39 @@
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"points": [
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{
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"size": 32,
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"ieee754_f32": true,
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"sim": {
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"min": 0,
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"max": 10,
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"inc_min": 0.001,
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"inc_max": 0.02
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"max": 3,
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"inc_min": 0.01,
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"inc_max": 0.5
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}
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},
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{
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"size": 16,
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"endianness": "little",
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"sim": {
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"min": 0,
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"max": 4095,
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"inc_min": 1,
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"inc_max": 20
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}
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}
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],
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"fields": [
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{
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"name": "MSB/FL/Shock",
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"unit": "",
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"unit": "in",
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"values": [
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1
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]
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},
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{
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"name": "MSB/FL/ShockRaw",
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"unit": "",
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"values": [
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2
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]
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}
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],
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"sim_freq": 500
@@ -475,21 +493,39 @@
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"points": [
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{
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"size": 32,
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"ieee754_f32": true,
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"sim": {
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"min": 0,
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"max": 10,
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"inc_min": 0.001,
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"inc_max": 0.02
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"max": 3,
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"inc_min": 0.01,
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"inc_max": 0.5
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}
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},
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{
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"size": 16,
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"endianness": "little",
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"sim": {
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"min": 0,
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"max": 4095,
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"inc_min": 1,
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"inc_max": 20
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}
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}
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],
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"fields": [
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{
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"name": "MSB/FR/Shock",
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"unit": "",
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"unit": "in",
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"values": [
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1
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]
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},
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{
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"name": "MSB/FR/ShockRaw",
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"unit": "",
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"values": [
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2
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]
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}
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],
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"sim_freq": 500
@@ -771,21 +807,39 @@
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"points": [
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{
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"size": 32,
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"ieee754_f32": true,
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"sim": {
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"min": 0,
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"max": 10,
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"inc_min": 0.001,
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"inc_max": 0.02
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"max": 3,
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"inc_min": 0.01,
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"inc_max": 0.5
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}
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},
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{
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"size": 16,
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"endianness": "little",
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"sim": {
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"min": 0,
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"max": 4095,
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"inc_min": 1,
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"inc_max": 20
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}
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}
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],
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"fields": [
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{
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"name": "MSB/BL/Shock",
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"unit": "",
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"unit": "in",
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"values": [
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1
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]
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},
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{
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"name": "MSB/BL/ShockRaw",
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"unit": "",
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"values": [
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2
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]
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}
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],
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"sim_freq": 500
@@ -1067,21 +1121,39 @@
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"points": [
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{
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"size": 32,
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"ieee754_f32": true,
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"sim": {
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"min": 0,
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"max": 10,
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"inc_min": 0.001,
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"inc_max": 0.02
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"max": 3,
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"inc_min": 0.01,
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"inc_max": 0.5
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}
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},
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{
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"size": 16,
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"endianness": "little",
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"sim": {
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"min": 0,
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"max": 4095,
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"inc_min": 1,
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"inc_max": 20
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}
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}
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],
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"fields": [
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{
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"name": "MSB/BR/Shock",
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"unit": "",
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"unit": "in",
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"values": [
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1
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]
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},
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{
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"name": "MSB/BR/ShockRaw",
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"unit": "",
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"values": [
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2
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]
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}
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],
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"sim_freq": 500

‎middleware/include/bitstream.h‎

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -32,13 +32,13 @@ void bitstream_init(bitstream_t *bitstream, uint8_t *data, size_t bytes);
3232
int bitstream_add(bitstream_t *bitstream, uint32_t value, size_t num_bits);
3333

3434
/**
35-
* @brief Reads info from the bitstream.
36-
* @param *bitstream The bitstream to read from.
37-
* @param start_bit The bit to start reading from.
38-
* @param num_bits The amount of bits to read. The maximum is 32 bits, and (start_bit + num_bits) must be less than the total number of bits in the bitstream.
39-
* @return Returns 1 if failed, and 0 if successful.
35+
* @brief Adds a signed int to a bitstream. The data is added to the end of the bitstream.
36+
* @param *bitstream The bitstream to add data to.
37+
* @param value The data to add to the bitstream.
38+
* @param num_bits The length of the data in bits.
39+
* @return Returns 0 if successful, -1 if there is insufficient space in the bitstream, and 1 if overflow occurs.
4040
*/
41-
uint32_t bitstream_read(bitstream_t *bitstream, uint32_t start_bit,
42-
size_t num_bits);
41+
int bitstream_add_signed(bitstream_t *bitstream, int32_t value,
42+
size_t num_bits);
4343

4444
#endif // BITSTREAM_H

‎middleware/src/bitstream.c‎

Lines changed: 35 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -40,21 +40,47 @@ int bitstream_add(bitstream_t *bitstream, uint32_t value, size_t num_bits)
4040
return 0; // Success
4141
}
4242

43-
uint32_t bitstream_read(bitstream_t *bitstream, uint32_t start_bit,
44-
size_t num_bits)
43+
int bitstream_add_signed(bitstream_t *bitstream, int32_t value, size_t num_bits)
4544
{
46-
uint32_t result = 0;
45+
if (bitstream->total_bits + num_bits > (bitstream->bytes * 8)) {
46+
return -1; // Error: not enough space in the bitstream
47+
}
48+
49+
bool overflow = false;
50+
/* For a signed int, 'value' must be in between -2^(num_bits - 1) and 2^(num_bits-1) - 1. */
51+
/* For example, an 6-bit input value must be in-between -32 and 31. */
52+
int32_t max_value = (1LL << (num_bits - 1)) - 1;
53+
int32_t min_value = -(1LL << (num_bits - 1));
4754

48-
if (start_bit + num_bits > bitstream->total_bits) {
49-
return -1; // Error: trying to read beyond bit length
55+
if (value > max_value || value < min_value) {
56+
overflow = true; // Error: value is too large or too small
57+
58+
/* Cap value to maximum or minimum */
59+
if (value > max_value) {
60+
value = max_value;
61+
} else {
62+
value = min_value;
63+
}
5064
}
5165

66+
/* Create a mask for the num_bits we want to extract */
67+
uint32_t mask = (1u << num_bits) - 1;
68+
/* Extract the bits we want, including the sign bit */
69+
uint32_t bits = (uint32_t)value & mask;
70+
5271
for (int i = 0; i < num_bits; ++i) {
53-
if (bitstream->data[(start_bit + i) / 8] &
54-
(1 << (7 - ((start_bit + i) % 8)))) {
55-
result |= (1 << (num_bits - 1 - i));
72+
if (bits & (1u << (num_bits - 1 - i))) {
73+
bitstream->data[(bitstream->total_bits + i) / 8] |=
74+
(1 << (7 - ((bitstream->total_bits + i) % 8)));
5675
}
5776
}
5877

59-
return result;
78+
bitstream->total_bits += num_bits;
79+
80+
if (overflow) {
81+
bitstream->overflow = true;
82+
return 1; // Error: Overflow occurred
83+
}
84+
85+
return 0; // Success
6086
}

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