diff --git a/nrai_CAN_API.c b/nrai_CAN_API.c
index 39bc9d7..5085c6c 100644
--- a/nrai_CAN_API.c
+++ b/nrai_CAN_API.c
@@ -18,6 +18,27 @@
 
 #include "nrai_CAN_API.h"
 
+#define NRAI_CAN_UNPACK(name, ...)                                                          \
+  NRAI_FT int32_t nrai_can_unpack_##name(struct nrai_can_ai_read* s, struct can_frame* f) { \
+    if ((s == NULL) || (f == NULL))                                                         \
+        return -1;                                                                          \
+    if (f->can_id != NRAI_CAN_ID_##name)                                                    \
+        return -1;                                                                          \
+                                                                                            \
+    __VA_ARGS__                                                                             \
+    return 0;                                                                               \
+  }
+
+#define NRAI_CAN_MKFRAME(name, ...)                                                           \
+  NRAI_FT int32_t nrai_can_mkframe_##name(struct nrai_can_ai_write* s, struct can_frame* f) { \
+    if ((s == NULL) || (f == NULL))                                                           \
+        return -1;                                                                            \
+    f->can_id = NRAI_CAN_ID_##name;                                                           \
+                                                                                              \
+    __VA_ARGS__                                                                               \
+    return 0;                                                                                 \
+  }
+
 static inline int32_t
 CLAMP(int32_t value, int32_t min, int32_t max)
 {
@@ -29,14 +50,7 @@ CLAMP(int32_t value, int32_t min, int32_t max)
         return value;
 }
 
-NRAI_FT int32_t
-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;
-
+NRAI_CAN_UNPACK(VCU2AI_Status, 
         s->HANDSHAKE                    = (f->data[0] & 0b00000001);
         s->OP_STATE                     = (f->data[0] & 0b11110000) >> 4;
         s->SHUTDOWN_REQUEST             = (f->data[1] & 0b00000001);
@@ -64,183 +78,87 @@ nrai_can_unpack_VCU2AI_Status(struct nrai_can_ai_read * s, struct can_frame * f)
         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;
-}
-
-NRAI_FT int32_t
-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;
+)
 
+NRAI_CAN_UNPACK(VCU2AI_Steer, 
         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;
-}
-
-NRAI_FT int32_t
-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;
+)
 
+NRAI_CAN_UNPACK(VCU2AI_Speeds, 
         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;
-}
-
-NRAI_FT int32_t
-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;
+)
 
+NRAI_CAN_UNPACK(VCU2AI_Brake, 
         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;
-}
-
-NRAI_FT int32_t
-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;
+)
 
+NRAI_CAN_UNPACK(VCU2AI_Drive_F, 
         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;
-}
-
-NRAI_FT int32_t
-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;
+)
 
+NRAI_CAN_UNPACK(VCU2AI_Drive_R, 
         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;
-}
-
-NRAI_FT int32_t
-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;
+)
 
+NRAI_CAN_UNPACK(VCU2AI_Wheel_counts, 
         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;
-}
+)
 
 
-NRAI_FT int32_t
-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;
-
+NRAI_CAN_UNPACK(BMC_Acceleration, 
         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;
-}
-
-NRAI_FT int32_t
-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;
+)
 
+NRAI_CAN_UNPACK(BMC_MagneticField, 
         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;
-}
-
-NRAI_FT int32_t
-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;
+)
 
+NRAI_CAN_UNPACK(L3GD20_Rotation_A, 
         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;
-}
-
-NRAI_FT int32_t
-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_B)
-                return -1;
+)
 
+NRAI_CAN_UNPACK(L3GD20_Rotation_B, 
         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;
-}
-
-NRAI_FT int32_t
-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;
+)
 
+NRAI_CAN_UNPACK(GPS_Status, 
         s->GPS_AntennaStatus    = f->data[0];
         s->GPS_NumSatellites    = f->data[1];
         s->GPS_NavigationMethod = f->data[2];
-        return 0;
-}
-
-NRAI_FT int32_t
-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;
+)
 
+NRAI_CAN_UNPACK(GPS_CourseSpeed, 
         s->GPS_Course   = ((uint32_t)f->data[3] << 24) |
                                        ((uint32_t)f->data[2] << 16) |
                                        ((uint16_t)f->data[1] << 8) | f->data[0];
@@ -249,63 +167,31 @@ nrai_can_unpack_GPS_CourseSpeed(struct nrai_can_ai_read * s, struct can_frame *
                                        ((uint32_t)f->data[6] << 16) |
                                        ((uint16_t)f->data[5] << 8) | f->data[4];
 
-        return 0;
-}
-
-NRAI_FT int32_t
-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;
+)
 
+NRAI_CAN_UNPACK(GPS_PositionLongitude, 
         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;
-}
-
-NRAI_FT int32_t
-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;
+)
 
+NRAI_CAN_UNPACK(GPS_PositionLatitude, 
         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;
-}
-
-NRAI_FT int32_t
-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;
+)
 
+NRAI_CAN_UNPACK(GPS_PositionAltitude, 
         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;
-}
-
-NRAI_FT int32_t
-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;
+)
 
+NRAI_CAN_UNPACK(GPS_Delusions_A, 
         s->GPS_PDOP = ((uint32_t)f->data[3] << 24) |
                                        ((uint32_t)f->data[2] << 16) |
                                        ((uint16_t)f->data[1] << 8) | f->data[0];
@@ -313,65 +199,33 @@ nrai_can_unpack_GPS_Delusions_A(struct nrai_can_ai_read * s, struct can_frame *
         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;
-}
-
-NRAI_FT int32_t
-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;
+)
 
+NRAI_CAN_UNPACK(GPS_Delusions_B, 
         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;
-}
-
-NRAI_FT int32_t
-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;
+)
 
+NRAI_CAN_UNPACK(GPS_DateTime,
         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;
-}
-
-NRAI_FT int32_t
-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;
+)
 
+NRAI_CAN_UNPACK(IO, 
         s->Din1_Status     = (f->data[0] & 0b00000001);
         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;
-}
-
-NRAI_FT int32_t
-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;
+)
 
+NRAI_CAN_UNPACK(RTC_DateTime, 
         s->RTC_Sec        = f->data[0];
         s->RTC_Min        = f->data[1];
         s->RTC_Hour       = f->data[2];
@@ -379,125 +233,54 @@ nrai_can_unpack_RTC_DateTime(struct nrai_can_ai_read * s, struct can_frame * f)
         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;
-}
-
-NRAI_FT int32_t
-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;
+)
 
+NRAI_CAN_UNPACK(Out_IO, 
         s->Dout_Set     = (f->data[0] & 0b00000001);
         s->GPS_SetPower = (f->data[0] & 0b00000010) >> 2;
-        return 0;
-}
-
-NRAI_FT int32_t
-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;
+)
 
+NRAI_CAN_UNPACK(Out_PowerOff, 
         s->Device_PowerOff = (f->data[0] & 0b00000001);
-        return 0;
-}
-
-NRAI_FT int32_t
-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;
+)
 
+NRAI_CAN_UNPACK(Out_Gyro, 
         s->Gyro_SetScale = (f->data[0] & 0b00000011);
-        return 0;
-}
-
-NRAI_FT int32_t
-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;
+)
 
+NRAI_CAN_UNPACK(Out_BMC_AccScale, 
         s->Acc_SetScale = (f->data[0] & 0b00000111);
-        return 0;
-}
-
-NRAI_FT int32_t
-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;
+)
 
+NRAI_CAN_UNPACK(Out_SaveConfig, 
         s->Config_SaveToEEPROM = (f->data[0] & 0b00000001);
-        return 0;
-}
-
-NRAI_FT int32_t
-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;
+)
 
+NRAI_CAN_UNPACK(Out_RTC_SetTime, 
         s->RTC_SetSec        = f->data[0];
         s->RTC_SetMin        = f->data[1];
-        s->RTC_SetHour        = f->data[2];
+        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;
-}
-
-NRAI_FT int32_t
-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;
+)
 
+NRAI_CAN_UNPACK(Out_RTC_TimeFromGPS, 
         s->RTC_SetTimeFromGPS = (f->data[0] & 0b00000001);
-        return 0;
-}
-
-NRAI_FT int32_t
-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;
+)
 
+NRAI_CAN_UNPACK(Out_Acc_FastCalibration, 
         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;
-}
+)
 
 
 
 
-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;
+NRAI_CAN_MKFRAME(AI2VCU_Status,
         f->len = 8;
 
         f->data[0] =  (s->HANDSHAKE         & 0b00000001);
@@ -510,35 +293,20 @@ nrai_can_mkframe_AI2VCU_Status(struct nrai_can_ai_write * s, struct can_frame *
         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;
+NRAI_CAN_MKFRAME(AI2VCU_Steer,
+        uint32_t tmp;
         f->len = 2;
-
         tmp = s->STEER_REQUEST;
         tmp = 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 * s, struct can_frame * f)
-{
+NRAI_CAN_MKFRAME(AI2VCU_Brake,
         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;
@@ -548,17 +316,10 @@ nrai_can_mkframe_AI2VCU_Brake(struct nrai_can_ai_write * s, struct can_frame * f
         tmp = s->HYD_PRESS_R_REQ_pct;
         tmp = CLAMP(tmp,0,200);
         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)
-{
+NRAI_CAN_MKFRAME(AI2VCU_Drive_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;
@@ -570,17 +331,10 @@ nrai_can_mkframe_AI2VCU_Drive_F(struct nrai_can_ai_write * s, struct can_frame *
         tmp = 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)
-{
+NRAI_CAN_MKFRAME(AI2VCU_Drive_R,
         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;
@@ -592,5 +346,4 @@ nrai_can_mkframe_AI2VCU_Drive_R(struct nrai_can_ai_write * s, struct can_frame *
         tmp = CLAMP(tmp,0,4000);
         f->data[2] = (tmp        & 0xFF);
         f->data[3] = ((tmp >> 8) & 0xFF);
-        return 0;
-}
+)