newcastle-racing/nrai_ADS-DV_CAN-API
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change CLAMP macro to an inline function

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RowanC 2026-05-25 22:11:42 +01:00
parent 6725e53d45
commit b268cda633
1 changed files with 28 additions and 26 deletions
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54
nrai_CAN_API.c
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@ -18,14 +18,16 @@
#include "nrai_CAN_API.h" #include "nrai_CAN_API.h"
#define CLAMP(_value,_min,_max) \ static inline int32_t
do { \ CLAMP(int32_t value, int32_t min, int32_t max)
if (_value < _min){ \ {
_value = _min; \ if (value < min){
} else if (_value > _max){ \ return min;
_value =_max; \ } else if (value > max){
} \ return max;
} while(0) }
return value;
}
NRAI_FT int32_t NRAI_FT int32_t
nrai_can_unpack_VCU2AI_Status(struct nrai_can_ai_read * s, struct can_frame * f) nrai_can_unpack_VCU2AI_Status(struct nrai_can_ai_read * s, struct can_frame * f)
@ -194,10 +196,10 @@ nrai_can_unpack_L3GD20_Rotation_A(struct nrai_can_ai_read * s, struct can_frame
if (f->can_id != NRAI_CAN_ID_L3GD20_Rotation_A) if (f->can_id != NRAI_CAN_ID_L3GD20_Rotation_A)
return -1; return -1;
s->Rotation_X = ((uint32_t)f->data[3] << 24) | s->Rotation_X = ((uint32_t)f->data[3] << 24) |
((uint32_t)f->data[2] << 16) | ((uint32_t)f->data[2] << 16) |
((uint16_t)f->data[1] << 8) | f->data[0]; ((uint16_t)f->data[1] << 8) | f->data[0];
s->Rotation_Y = ((uint32_t)f->data[7] << 24) | s->Rotation_Y = ((uint32_t)f->data[7] << 24) |
((uint32_t)f->data[6] << 16) | ((uint32_t)f->data[6] << 16) |
((uint16_t)f->data[5] << 8) | f->data[4]; ((uint16_t)f->data[5] << 8) | f->data[4];
return 0; return 0;
@ -211,7 +213,7 @@ nrai_can_unpack_L3GD20_Rotation_B(struct nrai_can_ai_read * s, struct can_frame
if (f->can_id != NRAI_CAN_ID_L3GD20_Rotation_A) if (f->can_id != NRAI_CAN_ID_L3GD20_Rotation_A)
return -1; return -1;
s->Rotation_Z = ((uint32_t)f->data[3] << 24) | s->Rotation_Z = ((uint32_t)f->data[3] << 24) |
((uint32_t)f->data[2] << 16) | ((uint32_t)f->data[2] << 16) |
((uint16_t)f->data[1] << 8) | f->data[0]; ((uint16_t)f->data[1] << 8) | f->data[0];
return 0; return 0;
@ -239,11 +241,11 @@ nrai_can_unpack_GPS_CourseSpeed(struct nrai_can_ai_read * s, struct can_frame *
if (f->can_id != NRAI_CAN_ID_GPS_CourseSpeed) if (f->can_id != NRAI_CAN_ID_GPS_CourseSpeed)
return -1; return -1;
s->GPS_Course = ((uint32_t)f->data[3] << 24) | s->GPS_Course = ((uint32_t)f->data[3] << 24) |
((uint32_t)f->data[2] << 16) | ((uint32_t)f->data[2] << 16) |
((uint16_t)f->data[1] << 8) | f->data[0]; ((uint16_t)f->data[1] << 8) | f->data[0];
s->GPS_Speed = ((uint32_t)f->data[7] << 24) | s->GPS_Speed = ((uint32_t)f->data[7] << 24) |
((uint32_t)f->data[6] << 16) | ((uint32_t)f->data[6] << 16) |
((uint16_t)f->data[5] << 8) | f->data[4]; ((uint16_t)f->data[5] << 8) | f->data[4];
@ -258,7 +260,7 @@ nrai_can_unpack_GPS_PositionLongitude(struct nrai_can_ai_read * s, struct can_fr
if (f->can_id != NRAI_CAN_ID_GPS_PositionLongitude) if (f->can_id != NRAI_CAN_ID_GPS_PositionLongitude)
return -1; return -1;
s->GPS_Longitude_Minutes = ((uint32_t)f->data[3] << 24) | s->GPS_Longitude_Minutes = ((uint32_t)f->data[3] << 24) |
((uint32_t)f->data[2] << 16) | ((uint32_t)f->data[2] << 16) |
((uint16_t)f->data[1] << 8) | f->data[0]; ((uint16_t)f->data[1] << 8) | f->data[0];
s->GPS_Longitude_Degree = ((uint16_t)f->data[5] << 8) | f->data[4]; s->GPS_Longitude_Degree = ((uint16_t)f->data[5] << 8) | f->data[4];
@ -274,7 +276,7 @@ nrai_can_unpack_GPS_PositionLatitude(struct nrai_can_ai_read * s, struct can_fra
if (f->can_id != NRAI_CAN_ID_GPS_PositionLatitude) if (f->can_id != NRAI_CAN_ID_GPS_PositionLatitude)
return -1; return -1;
s->GPS_Latitude_Minutes = ((uint32_t)f->data[3] << 24) | s->GPS_Latitude_Minutes = ((uint32_t)f->data[3] << 24) |
((uint32_t)f->data[2] << 16) | ((uint32_t)f->data[2] << 16) |
((uint16_t)f->data[1] << 8) | f->data[0]; ((uint16_t)f->data[1] << 8) | f->data[0];
s->GPS_Latitude_Degree = ((uint16_t)f->data[5] << 8) | f->data[4]; s->GPS_Latitude_Degree = ((uint16_t)f->data[5] << 8) | f->data[4];
@ -290,7 +292,7 @@ nrai_can_unpack_GPS_PositionAltitude(struct nrai_can_ai_read * s, struct can_fra
if (f->can_id != NRAI_CAN_ID_GPS_PositionAltitude) if (f->can_id != NRAI_CAN_ID_GPS_PositionAltitude)
return -1; return -1;
s->GPS_Altitude = ((uint32_t)f->data[3] << 24) | s->GPS_Altitude = ((uint32_t)f->data[3] << 24) |
((uint32_t)f->data[2] << 16) | ((uint32_t)f->data[2] << 16) |
((uint16_t)f->data[1] << 8) | f->data[0]; ((uint16_t)f->data[1] << 8) | f->data[0];
return 0; return 0;
@ -304,11 +306,11 @@ nrai_can_unpack_GPS_Delusions_A(struct nrai_can_ai_read * s, struct can_frame *
if (f->can_id != NRAI_CAN_ID_GPS_Delusions_A) if (f->can_id != NRAI_CAN_ID_GPS_Delusions_A)
return -1; return -1;
s->GPS_PDOP = ((uint32_t)f->data[3] << 24) | s->GPS_PDOP = ((uint32_t)f->data[3] << 24) |
((uint32_t)f->data[2] << 16) | ((uint32_t)f->data[2] << 16) |
((uint16_t)f->data[1] << 8) | f->data[0]; ((uint16_t)f->data[1] << 8) | f->data[0];
s->GPS_HDOP = ((uint32_t)f->data[7] << 24) | s->GPS_HDOP = ((uint32_t)f->data[7] << 24) |
((uint32_t)f->data[6] << 16) | ((uint32_t)f->data[6] << 16) |
((uint16_t)f->data[5] << 8) | f->data[4]; ((uint16_t)f->data[5] << 8) | f->data[4];
return 0; return 0;
@ -322,7 +324,7 @@ nrai_can_unpack_GPS_Delusions_B(struct nrai_can_ai_read * s, struct can_frame *
if (f->can_id != NRAI_CAN_ID_GPS_Delusions_B) if (f->can_id != NRAI_CAN_ID_GPS_Delusions_B)
return -1; return -1;
s->GPS_VDOP = ((uint32_t)f->data[3] << 24) | s->GPS_VDOP = ((uint32_t)f->data[3] << 24) |
((uint32_t)f->data[2] << 16) | ((uint32_t)f->data[2] << 16) |
((uint16_t)f->data[1] << 8) | f->data[0]; ((uint16_t)f->data[1] << 8) | f->data[0];
return 0; return 0;
@ -522,7 +524,7 @@ nrai_can_mkframe_AI2VCU_Steer( struct nrai_can_ai_write * s, struct can_frame *
f->len = 2; f->len = 2;
tmp = s->STEER_REQUEST; tmp = s->STEER_REQUEST;
CLAMP(tmp,-210,210); tmp = CLAMP(tmp,-210,210);
f->data[0] = (tmp & 0x00FF); f->data[0] = (tmp & 0x00FF);
f->data[1] = (((uint16_t)tmp >> 8) & 0x00FF); f->data[1] = (((uint16_t)tmp >> 8) & 0x00FF);
@ -540,11 +542,11 @@ nrai_can_mkframe_AI2VCU_Brake(struct nrai_can_ai_write * s, struct can_frame * f
f->len = 2; f->len = 2;
tmp = s->HYD_PRESS_F_REQ_pct; tmp = s->HYD_PRESS_F_REQ_pct;
CLAMP(tmp,0,100); tmp = CLAMP(tmp,0,100);
f->data[0] = tmp; f->data[0] = tmp;
tmp = s->HYD_PRESS_R_REQ_pct; tmp = s->HYD_PRESS_R_REQ_pct;
CLAMP(tmp,0,100); tmp = CLAMP(tmp,0,100);
f->data[1] = tmp; f->data[1] = tmp;
return 0; return 0;
} }
@ -560,12 +562,12 @@ nrai_can_mkframe_AI2VCU_Drive_F(struct nrai_can_ai_write * s, struct can_frame *
f->len = 4; f->len = 4;
tmp = s->FRONT_AXLE_TRQ_REQUEST; tmp = s->FRONT_AXLE_TRQ_REQUEST;
CLAMP(tmp,0,1950); tmp = CLAMP(tmp,0,1950);
f->data[0] = (tmp & 0xFF); f->data[0] = (tmp & 0xFF);
f->data[1] = ((tmp >> 8) & 0xFF); f->data[1] = ((tmp >> 8) & 0xFF);
tmp = s->FRONT_MOTOR_SPEED_MAX; tmp = s->FRONT_MOTOR_SPEED_MAX;
CLAMP(tmp,0,4000); tmp = CLAMP(tmp,0,4000);
f->data[2] = (tmp & 0xFF); f->data[2] = (tmp & 0xFF);
f->data[3] = ((tmp >> 8) & 0xFF); f->data[3] = ((tmp >> 8) & 0xFF);
return 0; return 0;
@ -582,12 +584,12 @@ nrai_can_mkframe_AI2VCU_Drive_R(struct nrai_can_ai_write * s, struct can_frame *
f->len = 4; f->len = 4;
tmp = s->REAR_AXLE_TRQ_REQUEST; tmp = s->REAR_AXLE_TRQ_REQUEST;
CLAMP(tmp,0,1950); tmp = CLAMP(tmp,0,1950);
f->data[0] = (tmp & 0xFF); f->data[0] = (tmp & 0xFF);
f->data[1] = ((tmp >> 8) & 0xFF); f->data[1] = ((tmp >> 8) & 0xFF);
tmp = s->REAR_MOTOR_SPEED_MAX; tmp = s->REAR_MOTOR_SPEED_MAX;
CLAMP(tmp,0,4000); tmp = CLAMP(tmp,0,4000);
f->data[2] = (tmp & 0xFF); f->data[2] = (tmp & 0xFF);
f->data[3] = ((tmp >> 8) & 0xFF); f->data[3] = ((tmp >> 8) & 0xFF);
return 0; return 0;