Initial commit

added struct layout added function layout added all mkframe function definitions
2026-04-05 21:58:25 +01:00 · 2026-04-05 21:58:25 +01:00 · 7b4bd9c026
commit 7b4bd9c026
parent fe26c76813
4 changed files with 1066 additions and 0 deletions
--- a/nrai_CAN_API.c
+++ b/nrai_CAN_API.c
@ -0,0 +1,310 @@
+/*      Copyright 2026 Rowan Catterall,
+ *                     Newcastle University Formula Student AI Team
+ *
+ *      Licensed under the Apache License, Version 2.0 (the "License");
+ *      you may not use this file except in compliance with the License.
+ *      You may obtain a copy of the License at
+ *             http://www.apache.org/licenses/LICENSE-2.0
+ *
+ *      Unless required by applicable law or agreed to in writing, software
+ *      distributed under the License is distributed on an "AS IS" BASIS,
+ *      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *      See the License for the specific language governing permissions and
+ *      limitations under the License.
+ */
+
+#include <stdint.h>
+#include <stdlib.h>
+
+#include "nrai_CAN_API.h"
+
+#define CLAMP(_value,_min,_max)                                                \
+        do {                                                                   \
+                if (_value < _min){                                            \
+                        _value = _min;                                         \
+                } else if (_value > _max){                                     \
+                        _value =_max;                                          \
+                }                                                              \
+        } while(0)
+
+NRAI_FT int32_t
+nrai_can_unpack_VCU2AI_Status(struct nrai_can_ai_read * s, struct can_frame * f)
+{
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_unpack_VCU2AI_Steer(struct nrai_can_ai_read * s, struct can_frame * f)
+{
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_unpack_VCU2AI_Speeds(struct nrai_can_ai_read * s, struct can_frame * f)
+{
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_unpack_VCU2AI_Brake(struct nrai_can_ai_read * s, struct can_frame * f)
+{
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_unpack_VCU2AI_Drive_F(struct nrai_can_ai_read * s, struct can_frame * f)
+{
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_unpack_VCU2AI_Drive_R(struct nrai_can_ai_read * s, struct can_frame * f)
+{
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_unpack_VCU2AI_Wheel_counts(struct nrai_can_ai_read * s, struct can_frame * f)
+{
+        return 0;
+}
+
+
+NRAI_FT int32_t
+nrai_can_unpack_BMC_Acceleration(struct nrai_can_ai_read * s, struct can_frame * f)
+{
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_unpack_BMC_MagneticField(struct nrai_can_ai_read * s, struct can_frame * f)
+{
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_unpack_L3GD20_Rotation_A(struct nrai_can_ai_read * s, struct can_frame * f)
+{
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_unpack_L3GD20_Rotation_B(struct nrai_can_ai_read * s, struct can_frame * f)
+{
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_unpack_GPS_Status(struct nrai_can_ai_read * s, struct can_frame * f)
+{
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_unpack_GPS_CourseSpeed(struct nrai_can_ai_read * s, struct can_frame * f)
+{
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_unpack_GPS_PositionLongitude(struct nrai_can_ai_read * s, struct can_frame * f)
+{
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_unpack_GPS_PositionLatitude(struct nrai_can_ai_read * s, struct can_frame * f)
+{
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_unpack_GPS_PositionAltitude(struct nrai_can_ai_read * s, struct can_frame * f)
+{
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_unpack_GPS_Delusions_A(struct nrai_can_ai_read * s, struct can_frame * f)
+{
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_unpack_GPS_Delusions_B(struct nrai_can_ai_read * s, struct can_frame * f)
+{
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_unpack_GPS_DateTime(struct nrai_can_ai_read * s, struct can_frame * f)
+{
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_unpack_IO(struct nrai_can_ai_read * s, struct can_frame * f)
+{
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_unpack_RTC_DateTime(struct nrai_can_ai_read * s, struct can_frame * f)
+{
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_unpack_Out_IO(struct nrai_can_ai_read * s, struct can_frame * f)
+{
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_unpack_Out_PowerOff(struct nrai_can_ai_read * s, struct can_frame * f)
+{
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_unpack_Out_Gyro(struct nrai_can_ai_read * s, struct can_frame * f)
+{
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_unpack_Out_BMC_AccScale(struct nrai_can_ai_read * s, struct can_frame * f)
+{
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_unpack_Out_SaveConfig(struct nrai_can_ai_read * s, struct can_frame * f)
+{
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_unpack_Out_RTC_SetTime(struct nrai_can_ai_read * s, struct can_frame * f)
+{
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_unpack_Out_RTC_TimeFromGPS(struct nrai_can_ai_read * s, struct can_frame * f)
+{
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_unpack_Out_Acc_FastCalibration(struct nrai_can_ai_read * s, struct can_frame * f)
+{
+        return 0;
+}
+
+
+
+
+NRAI_FT int32_t
+nrai_can_mkframe_AI2VCU_Status(struct nrai_can_ai_write * s, struct can_frame * f)
+{
+        if ((s == NULL) || (f == NULL))
+                return -1;
+
+        f->can_id = NRAI_CAN_ID_AI2VCU_Status;
+        f->len = 8;
+
+        f->data[0] =  (s->HANDSHAKE         & 0b00000001);
+        f->data[1] =  (s->ESTOP_REQUEST     & 0b00000001)       |
+                     ((s->MISSION_STATUS    & 0b00000011) << 4) |
+                     ((s->DIRECTION_REQUEST & 0b00000011) << 6);
+        f->data[2] =  (s->LAP_COUNTER        & 0b00001111);
+        f->data[3] =   s->CONES_COUNT_ACTUAL;
+        f->data[4] =  (s->CONES_COUNT_ALL       & 0x00FF);
+        f->data[5] = ((s->CONES_COUNT_ALL >> 8) & 0x00FF);
+        f->data[6] =   s->VEH_SPEED_ACTUAL;
+        f->data[7] =   s->VEH_SPEED_DEMAND;
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_mkframe_AI2VCU_Steer(  struct nrai_can_ai_write * s, struct can_frame * f)
+{
+        int32_t tmp;
+        if ((s == NULL) || (f == NULL))
+                return -1;
+
+        f->can_id = NRAI_CAN_ID_AI2VCU_Steer;
+        f->len = 2;
+
+        tmp = s->STEER_REQUEST;
+        CLAMP(tmp,-210,210);
+
+        f->data[0] =            (tmp       & 0x00FF);
+        f->data[1] = (((uint16_t)tmp >> 8) & 0x00FF);
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_mkframe_AI2VCU_Brake(struct nrai_can_ai_write * const s, struct can_frame * f)
+{
+        uint32_t tmp;
+        if ((s == NULL) || (f == NULL))
+                return -1;
+
+        f->can_id = NRAI_CAN_ID_AI2VCU_Brake;
+        f->len = 2;
+
+        tmp = s->HYD_PRESS_F_REQ_pct;
+        CLAMP(tmp,0,100);
+        f->data[0] = tmp;
+
+        tmp = s->HYD_PRESS_R_REQ_pct;
+        CLAMP(tmp,0,100);
+        f->data[1] = tmp;
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_mkframe_AI2VCU_Drive_F(struct nrai_can_ai_write * s, struct can_frame * f)
+{
+        uint32_t tmp;
+        if ((s == NULL) || (f == NULL))
+                return -1;
+        
+        f->can_id = NRAI_CAN_ID_AI2VCU_Drive_F;
+        f->len = 4;
+
+        tmp = s->FRONT_AXLE_TRQ_REQUEST;
+        CLAMP(tmp,0,1950);
+        f->data[0] =  (tmp       & 0xFF);
+        f->data[1] = ((tmp >> 8) & 0xFF);
+
+        tmp = s->FRONT_MOTOR_SPEED_MAX;
+        CLAMP(tmp,0,4000);
+        f->data[2] = (tmp        & 0xFF);
+        f->data[3] = ((tmp >> 8) & 0xFF);
+        return 0;
+}
+
+NRAI_FT int32_t
+nrai_can_mkframe_AI2VCU_Drive_R(struct nrai_can_ai_write * s, struct can_frame * f)
+{
+        uint32_t tmp;
+        if ((s == NULL) || (f == NULL))
+                return -1;
+        
+        f->can_id = NRAI_CAN_ID_AI2VCU_Drive_R;
+        f->len = 4;
+
+        tmp = s->REAR_AXLE_TRQ_REQUEST;
+        CLAMP(tmp,0,1950);
+        f->data[0] =  (tmp       & 0xFF);
+        f->data[1] = ((tmp >> 8) & 0xFF);
+
+        tmp = s->REAR_MOTOR_SPEED_MAX;
+        CLAMP(tmp,0,4000);
+        f->data[2] = (tmp        & 0xFF);
+        f->data[3] = ((tmp >> 8) & 0xFF);
+        return 0;
+}