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Author SHA1 Message Date
Ernesto Casablanca
f45416ab7f
ref: use macro to avoid repetitions and to ensure consistency 2026-06-23 20:21:49 +01:00
1 changed files with 91 additions and 338 deletions
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429
nrai_CAN_API.c
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@ -18,6 +18,27 @@
#include "nrai_CAN_API.h" #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 static inline int32_t
CLAMP(int32_t value, int32_t min, int32_t max) 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; return value;
} }
NRAI_FT int32_t NRAI_CAN_UNPACK(VCU2AI_Status,
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->HANDSHAKE = (f->data[0] & 0b00000001);
s->OP_STATE = (f->data[0] & 0b11110000) >> 4; s->OP_STATE = (f->data[0] & 0b11110000) >> 4;
s->SHUTDOWN_REQUEST = (f->data[1] & 0b00000001); 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->BMS_FAULT = (f->data[6] & 0b00000010) >> 1;
s->BRAKE_PLAUSIBILITY_FAULT = (f->data[6] & 0b00000100) >> 2; s->BRAKE_PLAUSIBILITY_FAULT = (f->data[6] & 0b00000100) >> 2;
s->SHUTDOWN_CAUSE = (f->data[7]); 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 = ((uint16_t)f->data[1] << 8) | f->data[0];
s->ANGLE_MAX = ((uint16_t)f->data[3] << 8) | f->data[2]; s->ANGLE_MAX = ((uint16_t)f->data[3] << 8) | f->data[2];
s->ANGLE_REQUEST = ((uint16_t)f->data[5] << 8) | f->data[4]; 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->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->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->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]; 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_pct = f->data[0];
s->HYD_PRESS_F_REQ_pct = f->data[1]; s->HYD_PRESS_F_REQ_pct = f->data[1];
s->HYD_PRESS_R_pct = f->data[2]; s->HYD_PRESS_R_pct = f->data[2];
s->HYD_PRESS_R_REQ_pct = f->data[3]; s->HYD_PRESS_R_REQ_pct = f->data[3];
s->STATUS_BRK = (f->data[4] & 0b00001111); s->STATUS_BRK = (f->data[4] & 0b00001111);
s->STATUS_EBS = (f->data[4] & 0b11110000) >> 4; 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 = ((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_REQUEST = ((uint16_t)f->data[3] << 8) | f->data[2];
s->FRONT_AXLE_TRQ_MAX = ((uint16_t)f->data[5] << 8) | f->data[4]; 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_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_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]; 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->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->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->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]; s->RR_PULSE_COUNT = ((uint16_t)f->data[7] << 8) | f->data[6];
return 0; )
}
NRAI_FT int32_t NRAI_CAN_UNPACK(BMC_Acceleration,
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_X = ((uint16_t)f->data[1] << 8) | f->data[0];
s->Acceleration_Y = ((uint16_t)f->data[3] << 8) | f->data[2]; 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->Acceleration_Z = ((uint16_t)f->data[5] << 8) | f->data[4];
s->Temperature = f->data[6]; s->Temperature = f->data[6];
s->VerticalAxis = (f->data[7] & 0b00000011); s->VerticalAxis = (f->data[7] & 0b00000011);
s->Orientation = (f->data[7] & 0b00011100) >> 2; 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_X = ((uint16_t)f->data[1] << 8) | f->data[0];
s->MagneticField_Y = ((uint16_t)f->data[3] << 8) | f->data[2]; s->MagneticField_Y = ((uint16_t)f->data[3] << 8) | f->data[2];
s->MagneticField_Z = ((uint16_t)f->data[5] << 8) | f->data[4]; 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) | 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; )
}
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) | 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; )
}
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_AntennaStatus = f->data[0];
s->GPS_NumSatellites = f->data[1]; s->GPS_NumSatellites = f->data[1];
s->GPS_NavigationMethod = f->data[2]; 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) | 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];
@ -249,63 +167,31 @@ nrai_can_unpack_GPS_CourseSpeed(struct nrai_can_ai_read * s, struct can_frame *
((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; )
}
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) | 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];
s->GPS_IndicatorEW = f->data[6]; 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) | 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];
s->GPS_IndicatorNS = f->data[6]; 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) | 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; )
}
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) | 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];
@ -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) | 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; )
}
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) | 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; )
}
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_Year = f->data[0];
s->UTC_Month = f->data[1]; s->UTC_Month = f->data[1];
s->UTC_DayOfMonth = f->data[2]; s->UTC_DayOfMonth = f->data[2];
s->UTC_Hour = f->data[3]; s->UTC_Hour = f->data[3];
s->UTC_Minute = f->data[4]; s->UTC_Minute = f->data[4];
s->UTC_Second = f->data[5]; 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->Din1_Status = (f->data[0] & 0b00000001);
s->Din2_Status = (f->data[0] & 0b00000010) >> 1; s->Din2_Status = (f->data[0] & 0b00000010) >> 1;
s->Dout_Status = (f->data[0] & 0b00000100) >> 2; s->Dout_Status = (f->data[0] & 0b00000100) >> 2;
s->SD_Present = (f->data[0] & 0b00001000) >> 3; s->SD_Present = (f->data[0] & 0b00001000) >> 3;
s->GPS_PowerStatus = (f->data[0] & 0b00010000) >> 4; s->GPS_PowerStatus = (f->data[0] & 0b00010000) >> 4;
s->Device_ID = (f->data[0] & 0b11100000) >> 5; 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_Sec = f->data[0];
s->RTC_Min = f->data[1]; s->RTC_Min = f->data[1];
s->RTC_Hour = f->data[2]; 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_DayOfMonth = f->data[4];
s->RTC_Month = f->data[5]; s->RTC_Month = f->data[5];
s->RTC_Year = ((uint16_t)f->data[7] << 8) | f->data[6]; 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->Dout_Set = (f->data[0] & 0b00000001);
s->GPS_SetPower = (f->data[0] & 0b00000010) >> 2; 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); 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); 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); 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); 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_SetSec = f->data[0];
s->RTC_SetMin = f->data[1]; 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_SetDayOfWeek = f->data[3];
s->RTC_SetDayOfMonth = f->data[4]; s->RTC_SetDayOfMonth = f->data[4];
s->RTC_SetMonth = f->data[5]; s->RTC_SetMonth = f->data[5];
s->RTC_SetYear = ((uint16_t)f->data[7] << 8) | f->data[6]; 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); 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_X = (f->data[0] & 0b00000011);
s->Acc_SetCalibTarget_Y = (f->data[1] & 0b00000011); s->Acc_SetCalibTarget_Y = (f->data[1] & 0b00000011);
s->Acc_SetCalibTarget_Z = (f->data[2] & 0b00000011); s->Acc_SetCalibTarget_Z = (f->data[2] & 0b00000011);
s->Acc_StartFastCalib = (f->data[3] & 0b00000001); s->Acc_StartFastCalib = (f->data[3] & 0b00000001);
return 0; )
}
NRAI_FT int32_t NRAI_CAN_MKFRAME(AI2VCU_Status,
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->len = 8;
f->data[0] = (s->HANDSHAKE & 0b00000001); 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[5] = ((s->CONES_COUNT_ALL >> 8) & 0x00FF);
f->data[6] = s->VEH_SPEED_ACTUAL; f->data[6] = s->VEH_SPEED_ACTUAL;
f->data[7] = s->VEH_SPEED_DEMAND; f->data[7] = s->VEH_SPEED_DEMAND;
return 0; )
}
NRAI_FT int32_t NRAI_CAN_MKFRAME(AI2VCU_Steer,
nrai_can_mkframe_AI2VCU_Steer( struct nrai_can_ai_write * s, struct can_frame * f) uint32_t tmp;
{
int32_t tmp;
if ((s == NULL) || (f == NULL))
return -1;
f->can_id = NRAI_CAN_ID_AI2VCU_Steer;
f->len = 2; f->len = 2;
tmp = s->STEER_REQUEST; tmp = s->STEER_REQUEST;
tmp = 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);
return 0; )
}
NRAI_FT int32_t NRAI_CAN_MKFRAME(AI2VCU_Brake,
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))
return -1;
f->can_id = NRAI_CAN_ID_AI2VCU_Brake;
f->len = 2; f->len = 2;
tmp = s->HYD_PRESS_F_REQ_pct; 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 = s->HYD_PRESS_R_REQ_pct;
tmp = CLAMP(tmp,0,200); tmp = CLAMP(tmp,0,200);
f->data[1] = tmp; f->data[1] = tmp;
return 0; )
}
NRAI_FT int32_t NRAI_CAN_MKFRAME(AI2VCU_Drive_F,
nrai_can_mkframe_AI2VCU_Drive_F(struct nrai_can_ai_write * s, struct can_frame * f)
{
uint32_t tmp; uint32_t tmp;
if ((s == NULL) || (f == NULL))
return -1;
f->can_id = NRAI_CAN_ID_AI2VCU_Drive_F;
f->len = 4; f->len = 4;
tmp = s->FRONT_AXLE_TRQ_REQUEST; 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); 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; )
}
NRAI_FT int32_t NRAI_CAN_MKFRAME(AI2VCU_Drive_R,
nrai_can_mkframe_AI2VCU_Drive_R(struct nrai_can_ai_write * s, struct can_frame * f)
{
uint32_t tmp; uint32_t tmp;
if ((s == NULL) || (f == NULL))
return -1;
f->can_id = NRAI_CAN_ID_AI2VCU_Drive_R;
f->len = 4; f->len = 4;
tmp = s->REAR_AXLE_TRQ_REQUEST; 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); 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; )
}