newcastle-racing/nrai_ADS-DV_CAN-API
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

BUGFIXES

Browse source 
nrai_can_unpack_L3GD20_Rotation_B()
        was checking the for the wrong can frame ID

nrai_can_unpack_IO() and nrai_can_unpack_Out_IO()
        wernt shifting unpacked bits before writing to struct

nrai_can_mkframe_AI2VCU_Brake()
        CLAMP() was not respecting scale value of 0.5
This commit is contained in:
RowanC 2026-05-28 00:32:05 +01:00
parent b268cda633
commit 8512e5d8e1
1 changed files with 10 additions and 10 deletions
Download patch file Download diff file Expand all files Collapse all files

20
nrai_CAN_API.c
View file

@ -210,7 +210,7 @@ nrai_can_unpack_L3GD20_Rotation_B(struct nrai_can_ai_read * s, struct can_frame
{
if ((s == NULL) || (f == NULL))
return -1;
if (f->can_id != NRAI_CAN_ID_L3GD20_Rotation_A)
if (f->can_id != NRAI_CAN_ID_L3GD20_Rotation_B)
return -1;
s->Rotation_Z = ((uint32_t)f->data[3] << 24) |
@ -356,11 +356,11 @@ nrai_can_unpack_IO(struct nrai_can_ai_read * s, struct can_frame * f)
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);
s->Din2_Status = (f->data[0] & 0b00000010) >> 1;
s->Dout_Status = (f->data[0] & 0b00000100) >> 2;
s->SD_Present = (f->data[0] & 0b00001000) >> 3;
s->GPS_PowerStatus = (f->data[0] & 0b00010000) >> 4;
s->Device_ID = (f->data[0] & 0b11100000) >> 5;
return 0;
}
@ -391,7 +391,7 @@ nrai_can_unpack_Out_IO(struct nrai_can_ai_read * s, struct can_frame * f)
return -1;
s->Dout_Set = (f->data[0] & 0b00000001);
s->GPS_SetPower = (f->data[0] & 0b00000010);
s->GPS_SetPower = (f->data[0] & 0b00000010) >> 2;
return 0;
}
@ -524,7 +524,7 @@ nrai_can_mkframe_AI2VCU_Steer( struct nrai_can_ai_write * s, struct can_frame *
f->len = 2;
tmp = s->STEER_REQUEST;
tmp = CLAMP(tmp,-210,210);
tmp = BLAMP(tmp,-210,210);
f->data[0] = (tmp & 0x00FF);
f->data[1] = (((uint16_t)tmp >> 8) & 0x00FF);
@ -542,11 +542,11 @@ nrai_can_mkframe_AI2VCU_Brake(struct nrai_can_ai_write * s, struct can_frame * f
f->len = 2;
tmp = s->HYD_PRESS_F_REQ_pct;
tmp = CLAMP(tmp,0,100);
tmp = CLAMP(tmp,0,200);
f->data[0] = tmp;
tmp = s->HYD_PRESS_R_REQ_pct;
tmp = CLAMP(tmp,0,100);
tmp = CLAMP(tmp,0,200);
f->data[1] = tmp;
return 0;
}