newcastle-racing/nrai_ADS-DV_CAN-API
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Start implementaion of unpacking functions

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RowanC 2026-04-06 02:31:07 +01:00
parent 7b4bd9c026
commit d0d1d8584a
1 changed files with 126 additions and 3 deletions
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125
nrai_CAN_API.c
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@ -30,42 +30,127 @@
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)
{ {
if ((s == NULL) || (f == NULL))
return -1;
if (f->can_id != NRAI_CAN_ID_VCU2AI_Status)
return -1;
s->HANDSHAKE = (f->data[0] & 0b00000001);
s->OP_STATE = (f->data[0] & 0b11110000) >> 4;
s->SHUTDOWN_REQUEST = (f->data[1] & 0b00000001);
s->AS_SWITCH_STATUS = (f->data[1] & 0b00000010) >> 1;
s->TS_SWITCH_STATUS = (f->data[1] & 0b00000100) >> 2;
s->GO_SIGNAL = (f->data[1] & 0b00001000) >> 3;
s->STEERING_STATUS = (f->data[1] & 0b00110000) >> 4;
s->AS_STATE = (f->data[2] & 0b00001111);
s->AMI_STATE = (f->data[2] & 0b11110000) >> 4;
s->FAULT_STATUS = (f->data[3] & 0b00000001);
s->WARNING_STATUS = (f->data[3] & 0b00000010) >> 1;
s->TS_STATE = (f->data[3] & 0b11110000) >> 4;
s->WARN_BATT_TEMP_HIGH = (f->data[4] & 0b00000001);
s->WARN_BATT_SOC_LOW = (f->data[4] & 0b00000010) >> 1;
s->EBS_STATE = (f->data[4] & 0b11110000) >> 4;
s->AI_ESTOP_REQUEST = (f->data[5] & 0b00000001);
s->HVIL_OPEN_FAULT = (f->data[5] & 0b00000010) >> 1;
s->HVIL_SHORT_FAULT = (f->data[5] & 0b00000100) >> 2;
s->EBS_FAULT = (f->data[5] & 0b00001000) >> 3;
s->OFFBOARD_CHARGER_FAULT = (f->data[5] & 0b00010000) >> 4;
s->AI_COMMS_LOST = (f->data[5] & 0b00100000) >> 5;
s->AUTONOMOUS_BRAKING_FAULT = (f->data[5] & 0b01000000) >> 6;
s->MISSION_STATUS_FAULT = (f->data[5] & 0b10000000) >> 7;
s->CHARGE_PROCEDURE_FAULT = (f->data[6] & 0b00000001);
s->BMS_FAULT = (f->data[6] & 0b00000010) >> 1;
s->BRAKE_PLAUSIBILITY_FAULT = (f->data[6] & 0b00000100) >> 2;
s->SHUTDOWN_CAUSE = (f->data[7]);
return 0; return 0;
} }
NRAI_FT int32_t NRAI_FT int32_t
nrai_can_unpack_VCU2AI_Steer(struct nrai_can_ai_read * s, struct can_frame * f) nrai_can_unpack_VCU2AI_Steer(struct nrai_can_ai_read * s, struct can_frame * f)
{ {
if ((s == NULL) || (f == NULL))
return -1;
if (f->can_id != NRAI_CAN_ID_VCU2AI_Steer)
return -1;
s->ANGLE = ((uint16_t)f->data[1] << 8) | f->data[0];
s->ANGLE_MAX = ((uint16_t)f->data[3] << 8) | f->data[2];
s->ANGLE_REQUEST = ((uint16_t)f->data[5] << 8) | f->data[4];
return 0; return 0;
} }
NRAI_FT int32_t NRAI_FT int32_t
nrai_can_unpack_VCU2AI_Speeds(struct nrai_can_ai_read * s, struct can_frame * f) nrai_can_unpack_VCU2AI_Speeds(struct nrai_can_ai_read * s, struct can_frame * f)
{ {
if ((s == NULL) || (f == NULL))
return -1;
if (f->can_id != NRAI_CAN_ID_VCU2AI_Speeds)
return -1;
s->FL_WHEEL_SPEED = ((uint16_t)f->data[1] << 8) | f->data[0];
s->FR_WHEEL_SPEED = ((uint16_t)f->data[3] << 8) | f->data[2];
s->RL_WHEEL_SPEED = ((uint16_t)f->data[5] << 8) | f->data[4];
s->RR_WHEEL_SPEED = ((uint16_t)f->data[7] << 8) | f->data[6];
return 0; return 0;
} }
NRAI_FT int32_t NRAI_FT int32_t
nrai_can_unpack_VCU2AI_Brake(struct nrai_can_ai_read * s, struct can_frame * f) nrai_can_unpack_VCU2AI_Brake(struct nrai_can_ai_read * s, struct can_frame * f)
{ {
if ((s == NULL) || (f == NULL))
return -1;
if (f->can_id != NRAI_CAN_ID_VCU2AI_Brake)
return -1;
s->HYD_PRESS_F_pct = f->data[0];
s->HYD_PRESS_F_REQ_pct = f->data[1];
s->HYD_PRESS_R_pct = f->data[2];
s->HYD_PRESS_R_REQ_pct = f->data[3];
s->STATUS_BRK = (f->data[4] & 0b00001111);
s->STATUS_EBS = (f->data[4] & 0b11110000) >> 4;
return 0; return 0;
} }
NRAI_FT int32_t NRAI_FT int32_t
nrai_can_unpack_VCU2AI_Drive_F(struct nrai_can_ai_read * s, struct can_frame * f) nrai_can_unpack_VCU2AI_Drive_F(struct nrai_can_ai_read * s, struct can_frame * f)
{ {
if ((s == NULL) || (f == NULL))
return -1;
if (f->can_id != NRAI_CAN_ID_VCU2AI_Drive_F)
return -1;
s->FRONT_AXLE_TRQ = ((uint16_t)f->data[1] << 8) | f->data[0];
s->FRONT_AXLE_TRQ_REQUEST = ((uint16_t)f->data[3] << 8) | f->data[2];
s->FRONT_AXLE_TRQ_MAX = ((uint16_t)f->data[5] << 8) | f->data[4];
return 0; return 0;
} }
NRAI_FT int32_t NRAI_FT int32_t
nrai_can_unpack_VCU2AI_Drive_R(struct nrai_can_ai_read * s, struct can_frame * f) nrai_can_unpack_VCU2AI_Drive_R(struct nrai_can_ai_read * s, struct can_frame * f)
{ {
if ((s == NULL) || (f == NULL))
return -1;
if (f->can_id != NRAI_CAN_ID_VCU2AI_Drive_R)
return -1;
s->REAR_AXLE_TRQ_Nm = ((uint16_t)f->data[1] << 8) | f->data[0];
s->REAR_AXLE_TRQ_REQUEST_Nm = ((uint16_t)f->data[3] << 8) | f->data[2];
s->REAR_AXLE_TRQ_MAX_Nm = ((uint16_t)f->data[5] << 8) | f->data[4];
return 0; return 0;
} }
NRAI_FT int32_t NRAI_FT int32_t
nrai_can_unpack_VCU2AI_Wheel_counts(struct nrai_can_ai_read * s, struct can_frame * f) nrai_can_unpack_VCU2AI_Wheel_counts(struct nrai_can_ai_read * s, struct can_frame * f)
{ {
if ((s == NULL) || (f == NULL))
return -1;
if (f->can_id != NRAI_CAN_ID_VCU2AI_Wheel_counts)
return -1;
s->FL_PULSE_COUNT = ((uint16_t)f->data[1] << 8) | f->data[0];
s->FR_PULSE_COUNT = ((uint16_t)f->data[3] << 8) | f->data[2];
s->RL_PULSE_COUNT = ((uint16_t)f->data[5] << 8) | f->data[4];
s->RR_PULSE_COUNT = ((uint16_t)f->data[7] << 8) | f->data[6];
return 0; return 0;
} }
@ -73,24 +158,62 @@ nrai_can_unpack_VCU2AI_Wheel_counts(struct nrai_can_ai_read * s, struct can_fram
NRAI_FT int32_t NRAI_FT int32_t
nrai_can_unpack_BMC_Acceleration(struct nrai_can_ai_read * s, struct can_frame * f) nrai_can_unpack_BMC_Acceleration(struct nrai_can_ai_read * s, struct can_frame * f)
{ {
if ((s == NULL) || (f == NULL))
return -1;
if (f->can_id != NRAI_CAN_ID_BMC_Acceleration)
return -1;
s->Acceleration_X = ((uint16_t)f->data[1] << 8) | f->data[0];
s->Acceleration_Y = ((uint16_t)f->data[3] << 8) | f->data[2];
s->Acceleration_Z = ((uint16_t)f->data[5] << 8) | f->data[4];
s->Temperature = f->data[6];
s->VerticalAxis = (f->data[7] & 0b00000011);
s->Orientation = (f->data[7] & 0b00011100) >> 2;
return 0; return 0;
} }
NRAI_FT int32_t NRAI_FT int32_t
nrai_can_unpack_BMC_MagneticField(struct nrai_can_ai_read * s, struct can_frame * f) nrai_can_unpack_BMC_MagneticField(struct nrai_can_ai_read * s, struct can_frame * f)
{ {
if ((s == NULL) || (f == NULL))
return -1;
if (f->can_id != NRAI_CAN_ID_BMC_MagneticField)
return -1;
s->MagneticField_X = ((uint16_t)f->data[1] << 8) | f->data[0];
s->MagneticField_Y = ((uint16_t)f->data[3] << 8) | f->data[2];
s->MagneticField_Z = ((uint16_t)f->data[5] << 8) | f->data[4];
return 0; return 0;
} }
NRAI_FT int32_t NRAI_FT int32_t
nrai_can_unpack_L3GD20_Rotation_A(struct nrai_can_ai_read * s, struct can_frame * f) nrai_can_unpack_L3GD20_Rotation_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_L3GD20_Rotation_A)
return -1;
s->Rotation_X = ((uint32_t)f->data[3] << 24) |
((uint32_t)f->data[2] << 16) |
((uint16_t)f->data[1] << 8) | f->data[0];
s->Rotation_Y = ((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_L3GD20_Rotation_B(struct nrai_can_ai_read * s, struct can_frame * f) nrai_can_unpack_L3GD20_Rotation_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_L3GD20_Rotation_A)
return -1;
s->Rotation_Z = ((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;
} }
@ -246,7 +369,7 @@ nrai_can_mkframe_AI2VCU_Steer( struct nrai_can_ai_write * s, struct can_frame *
} }
NRAI_FT int32_t NRAI_FT int32_t
nrai_can_mkframe_AI2VCU_Brake(struct nrai_can_ai_write * const s, struct can_frame * f) nrai_can_mkframe_AI2VCU_Brake(struct nrai_can_ai_write * s, struct can_frame * f)
{ {
uint32_t tmp; uint32_t tmp;
if ((s == NULL) || (f == NULL)) if ((s == NULL) || (f == NULL))