uavcan_can_id_defs.h
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/****************************************************************************
*
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
* Author: Ben Dyer <ben_dyer@mac.com>
* Pavel Kirienko <pavel.kirienko@zubax.com>
* David Sidrane <david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/* This file not a typical h file, is defines the UAVCAN dsdl
* usage and may be included several times in header or source
* file
*/
/* UAVCAN_BIT_DEFINE( field_name, lsb_pos, length) */
/* Message Frame Format */
UAVCAN_BIT_DEFINE(UavCanMessagePriority, 24, 5)
UAVCAN_BIT_DEFINE(UavCanMessageTypeID, 8, 16)
UAVCAN_BIT_DEFINE(UavCanMessageServiceNotMessage, 7, 1)
UAVCAN_BIT_DEFINE(UavCanMessageSourceNodeID, 0, 7)
/* Anonymous message Frame Format */
UAVCAN_BIT_DEFINE(UavCanAnonMessagePriority, 24, 5)
UAVCAN_BIT_DEFINE(UavCanAnonMessageDiscriminator, 10, 14)
UAVCAN_BIT_DEFINE(UavCanAnonMessageTypeID, 8, 2)
UAVCAN_BIT_DEFINE(UavCanAnonMessageServiceNotMessage, 7, 1)
UAVCAN_BIT_DEFINE(UavCanAnonMessageSourceNodeID, 0, 7)
/* Service Frame Format */
UAVCAN_BIT_DEFINE(UavCanServicePriority, 24, 5)
UAVCAN_BIT_DEFINE(UavCanServiceTypeID, 16, 8)
UAVCAN_BIT_DEFINE(UavCanServiceRequestNotResponse, 15, 1)
UAVCAN_BIT_DEFINE(UavCanServiceDestinationNodeID, 8, 7)
UAVCAN_BIT_DEFINE(UavCanServiceServiceNotMessage, 7, 1)
UAVCAN_BIT_DEFINE(UavCanServiceSourceNodeID, 0, 7)
/* Tail Format */
UAVCAN_BIT_DEFINE(UavCanStartOfTransfer, 7, 1)
UAVCAN_BIT_DEFINE(UavCanEndOfTransfer, 6, 1)
UAVCAN_BIT_DEFINE(UavCanToggle, 5, 1)
UAVCAN_BIT_DEFINE(UavCanTransferID, 0, 5)