newcastle-racing/nrai_ADS-DV_CAN-API
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finish function definitions

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RowanC 2026-04-06 17:03:57 +01:00
parent d0d1d8584a
commit 0694fdacb8
1 changed files with 161 additions and 0 deletions
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161
nrai_CAN_API.c
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@ -220,108 +220,269 @@ nrai_can_unpack_L3GD20_Rotation_B(struct nrai_can_ai_read * s, struct can_frame
NRAI_FT int32_t NRAI_FT int32_t
nrai_can_unpack_GPS_Status(struct nrai_can_ai_read * s, struct can_frame * f) nrai_can_unpack_GPS_Status(struct nrai_can_ai_read * s, struct can_frame * f)
{ {
if ((s == NULL) || (f == NULL))
return -1;
if (f->can_id != NRAI_CAN_ID_GPS_Status)
return -1;
s->GPS_AntennaStatus = f->data[0];
s->GPS_NumSatellites = f->data[1];
s->GPS_NavigationMethod = f->data[2];
return 0; return 0;
} }
NRAI_FT int32_t NRAI_FT int32_t
nrai_can_unpack_GPS_CourseSpeed(struct nrai_can_ai_read * s, struct can_frame * f) nrai_can_unpack_GPS_CourseSpeed(struct nrai_can_ai_read * s, struct can_frame * f)
{ {
if ((s == NULL) || (f == NULL))
return -1;
if (f->can_id != NRAI_CAN_ID_GPS_CourseSpeed)
return -1;
s->GPS_Course = ((uint32_t)f->data[3] << 24) |
((uint32_t)f->data[2] << 16) |
((uint16_t)f->data[1] << 8) | f->data[0];
s->GPS_Speed = ((uint32_t)f->data[7] << 24) |
((uint32_t)f->data[6] << 16) |
((uint16_t)f->data[5] << 8) | f->data[4];
return 0; return 0;
} }
NRAI_FT int32_t NRAI_FT int32_t
nrai_can_unpack_GPS_PositionLongitude(struct nrai_can_ai_read * s, struct can_frame * f) nrai_can_unpack_GPS_PositionLongitude(struct nrai_can_ai_read * s, struct can_frame * f)
{ {
if ((s == NULL) || (f == NULL))
return -1;
if (f->can_id != NRAI_CAN_ID_GPS_PositionLongitude)
return -1;
s->GPS_Longitude_Minutes = ((uint32_t)f->data[3] << 24) |
((uint32_t)f->data[2] << 16) |
((uint16_t)f->data[1] << 8) | f->data[0];
s->GPS_Longitude_Degree = ((uint16_t)f->data[5] << 8) | f->data[4];
s->GPS_IndicatorEW = f->data[6];
return 0; return 0;
} }
NRAI_FT int32_t NRAI_FT int32_t
nrai_can_unpack_GPS_PositionLatitude(struct nrai_can_ai_read * s, struct can_frame * f) nrai_can_unpack_GPS_PositionLatitude(struct nrai_can_ai_read * s, struct can_frame * f)
{ {
if ((s == NULL) || (f == NULL))
return -1;
if (f->can_id != NRAI_CAN_ID_GPS_PositionLatitude)
return -1;
s->GPS_Latitude_Minutes = ((uint32_t)f->data[3] << 24) |
((uint32_t)f->data[2] << 16) |
((uint16_t)f->data[1] << 8) | f->data[0];
s->GPS_Latitude_Degree = ((uint16_t)f->data[5] << 8) | f->data[4];
s->GPS_IndicatorNS = f->data[6];
return 0; return 0;
} }
NRAI_FT int32_t NRAI_FT int32_t
nrai_can_unpack_GPS_PositionAltitude(struct nrai_can_ai_read * s, struct can_frame * f) nrai_can_unpack_GPS_PositionAltitude(struct nrai_can_ai_read * s, struct can_frame * f)
{ {
if ((s == NULL) || (f == NULL))
return -1;
if (f->can_id != NRAI_CAN_ID_GPS_PositionAltitude)
return -1;
s->GPS_Altitude = ((uint32_t)f->data[3] << 24) |
((uint32_t)f->data[2] << 16) |
((uint16_t)f->data[1] << 8) | f->data[0];
return 0; return 0;
} }
NRAI_FT int32_t NRAI_FT int32_t
nrai_can_unpack_GPS_Delusions_A(struct nrai_can_ai_read * s, struct can_frame * f) nrai_can_unpack_GPS_Delusions_A(struct nrai_can_ai_read * s, struct can_frame * f)
{ {
if ((s == NULL) || (f == NULL))
return -1;
if (f->can_id != NRAI_CAN_ID_GPS_Delusions_A)
return -1;
s->GPS_PDOP = ((uint32_t)f->data[3] << 24) |
((uint32_t)f->data[2] << 16) |
((uint16_t)f->data[1] << 8) | f->data[0];
s->GPS_HDOP = ((uint32_t)f->data[7] << 24) |
((uint32_t)f->data[6] << 16) |
((uint16_t)f->data[5] << 8) | f->data[4];
return 0; return 0;
} }
NRAI_FT int32_t NRAI_FT int32_t
nrai_can_unpack_GPS_Delusions_B(struct nrai_can_ai_read * s, struct can_frame * f) nrai_can_unpack_GPS_Delusions_B(struct nrai_can_ai_read * s, struct can_frame * f)
{ {
if ((s == NULL) || (f == NULL))
return -1;
if (f->can_id != NRAI_CAN_ID_GPS_Delusions_B)
return -1;
s->GPS_VDOP = ((uint32_t)f->data[3] << 24) |
((uint32_t)f->data[2] << 16) |
((uint16_t)f->data[1] << 8) | f->data[0];
return 0; return 0;
} }
NRAI_FT int32_t NRAI_FT int32_t
nrai_can_unpack_GPS_DateTime(struct nrai_can_ai_read * s, struct can_frame * f) nrai_can_unpack_GPS_DateTime(struct nrai_can_ai_read * s, struct can_frame * f)
{ {
if ((s == NULL) || (f == NULL))
return -1;
if (f->can_id != NRAI_CAN_ID_GPS_DateTime)
return -1;
s->UTC_Year = f->data[0];
s->UTC_Month = f->data[1];
s->UTC_DayOfMonth = f->data[2];
s->UTC_Hour = f->data[3];
s->UTC_Minute = f->data[4];
s->UTC_Second = f->data[5];
return 0; return 0;
} }
NRAI_FT int32_t NRAI_FT int32_t
nrai_can_unpack_IO(struct nrai_can_ai_read * s, struct can_frame * f) nrai_can_unpack_IO(struct nrai_can_ai_read * s, struct can_frame * f)
{ {
if ((s == NULL) || (f == NULL))
return -1;
if (f->can_id != NRAI_CAN_ID_IO)
return -1;
s->Din1_Status = (f->data[0] & 0b00000001);
s->Din2_Status = (f->data[0] & 0b00000010);
s->Dout_Status = (f->data[0] & 0b00000100);
s->SD_Present = (f->data[0] & 0b00001000);
s->GPS_PowerStatus = (f->data[0] & 0b00010000);
s->Device_ID = (f->data[0] & 0b11100000);
return 0; return 0;
} }
NRAI_FT int32_t NRAI_FT int32_t
nrai_can_unpack_RTC_DateTime(struct nrai_can_ai_read * s, struct can_frame * f) nrai_can_unpack_RTC_DateTime(struct nrai_can_ai_read * s, struct can_frame * f)
{ {
if ((s == NULL) || (f == NULL))
return -1;
if (f->can_id != NRAI_CAN_ID_RTC_DateTime)
return -1;
s->RTC_Sec = f->data[0];
s->RTC_Min = f->data[1];
s->RTC_Hour = f->data[2];
s->RTC_DayOfWeek = f->data[3];
s->RTC_DayOfMonth = f->data[4];
s->RTC_Month = f->data[5];
s->RTC_Year = ((uint16_t)f->data[7] << 8) | f->data[6];
return 0; return 0;
} }
NRAI_FT int32_t NRAI_FT int32_t
nrai_can_unpack_Out_IO(struct nrai_can_ai_read * s, struct can_frame * f) nrai_can_unpack_Out_IO(struct nrai_can_ai_read * s, struct can_frame * f)
{ {
if ((s == NULL) || (f == NULL))
return -1;
if (f->can_id != NRAI_CAN_ID_Out_IO)
return -1;
s->Dout_Set = (f->data[0] & 0b00000001);
s->GPS_SetPower = (f->data[0] & 0b00000010);
return 0; return 0;
} }
NRAI_FT int32_t NRAI_FT int32_t
nrai_can_unpack_Out_PowerOff(struct nrai_can_ai_read * s, struct can_frame * f) nrai_can_unpack_Out_PowerOff(struct nrai_can_ai_read * s, struct can_frame * f)
{ {
if ((s == NULL) || (f == NULL))
return -1;
if (f->can_id != NRAI_CAN_ID_Out_PowerOff)
return -1;
s->Device_PowerOff = (f->data[0] & 0b00000001);
return 0; return 0;
} }
NRAI_FT int32_t NRAI_FT int32_t
nrai_can_unpack_Out_Gyro(struct nrai_can_ai_read * s, struct can_frame * f) nrai_can_unpack_Out_Gyro(struct nrai_can_ai_read * s, struct can_frame * f)
{ {
if ((s == NULL) || (f == NULL))
return -1;
if (f->can_id != NRAI_CAN_ID_Out_Gyro)
return -1;
s->Gyro_SetScale = (f->data[0] & 0b00000011);
return 0; return 0;
} }
NRAI_FT int32_t NRAI_FT int32_t
nrai_can_unpack_Out_BMC_AccScale(struct nrai_can_ai_read * s, struct can_frame * f) nrai_can_unpack_Out_BMC_AccScale(struct nrai_can_ai_read * s, struct can_frame * f)
{ {
if ((s == NULL) || (f == NULL))
return -1;
if (f->can_id != NRAI_CAN_ID_Out_BMC_AccScale)
return -1;
s->Acc_SetScale = (f->data[0] & 0b00000111);
return 0; return 0;
} }
NRAI_FT int32_t NRAI_FT int32_t
nrai_can_unpack_Out_SaveConfig(struct nrai_can_ai_read * s, struct can_frame * f) nrai_can_unpack_Out_SaveConfig(struct nrai_can_ai_read * s, struct can_frame * f)
{ {
if ((s == NULL) || (f == NULL))
return -1;
if (f->can_id != NRAI_CAN_ID_Out_SaveConfig)
return -1;
s->Config_SaveToEEPROM = (f->data[0] & 0b00000001);
return 0; return 0;
} }
NRAI_FT int32_t NRAI_FT int32_t
nrai_can_unpack_Out_RTC_SetTime(struct nrai_can_ai_read * s, struct can_frame * f) nrai_can_unpack_Out_RTC_SetTime(struct nrai_can_ai_read * s, struct can_frame * f)
{ {
if ((s == NULL) || (f == NULL))
return -1;
if (f->can_id != NRAI_CAN_ID_Out_RTC_SetTime)
return -1;
s->RTC_SetSec = f->data[0];
s->RTC_SetMin = f->data[1];
s->RTC_SetHour = f->data[2];
s->RTC_SetDayOfWeek = f->data[3];
s->RTC_SetDayOfMonth = f->data[4];
s->RTC_SetMonth = f->data[5];
s->RTC_SetYear = ((uint16_t)f->data[7] << 8) | f->data[6];
return 0; return 0;
} }
NRAI_FT int32_t NRAI_FT int32_t
nrai_can_unpack_Out_RTC_TimeFromGPS(struct nrai_can_ai_read * s, struct can_frame * f) nrai_can_unpack_Out_RTC_TimeFromGPS(struct nrai_can_ai_read * s, struct can_frame * f)
{ {
if ((s == NULL) || (f == NULL))
return -1;
if (f->can_id != NRAI_CAN_ID_Out_RTC_TimeFromGPS)
return -1;
s->RTC_SetTimeFromGPS = (f->data[0] & 0b00000001);
return 0; return 0;
} }
NRAI_FT int32_t NRAI_FT int32_t
nrai_can_unpack_Out_Acc_FastCalibration(struct nrai_can_ai_read * s, struct can_frame * f) nrai_can_unpack_Out_Acc_FastCalibration(struct nrai_can_ai_read * s, struct can_frame * f)
{ {
if ((s == NULL) || (f == NULL))
return -1;
if (f->can_id != NRAI_CAN_ID_Out_Acc_FastCalibration)
return -1;
s->Acc_SetCalibTarget_X = (f->data[0] & 0b00000011);
s->Acc_SetCalibTarget_Y = (f->data[1] & 0b00000011);
s->Acc_SetCalibTarget_Z = (f->data[2] & 0b00000011);
s->Acc_StartFastCalib = (f->data[3] & 0b00000001);
return 0; return 0;
} }