349 lines
14 KiB
C
349 lines
14 KiB
C
/* Copyright 2026 Rowan Catterall,
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* Newcastle University Formula Student AI Team
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include <stdint.h>
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#include <stdlib.h>
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#include "nrai_CAN_API.h"
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#define NRAI_CAN_UNPACK(name, ...) \
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NRAI_FT int32_t nrai_can_unpack_##name(struct nrai_can_ai_read* s, struct can_frame* f) { \
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if ((s == NULL) || (f == NULL)) \
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return -1; \
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if (f->can_id != NRAI_CAN_ID_##name) \
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return -1; \
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\
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__VA_ARGS__ \
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return 0; \
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}
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#define NRAI_CAN_MKFRAME(name, ...) \
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NRAI_FT int32_t nrai_can_mkframe_##name(struct nrai_can_ai_write* s, struct can_frame* f) { \
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if ((s == NULL) || (f == NULL)) \
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return -1; \
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f->can_id = NRAI_CAN_ID_##name; \
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\
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__VA_ARGS__ \
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return 0; \
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}
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static inline int32_t
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CLAMP(int32_t value, int32_t min, int32_t max)
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{
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if (value < min){
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return min;
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} else if (value > max){
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return max;
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}
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return value;
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}
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NRAI_CAN_UNPACK(VCU2AI_Status,
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s->HANDSHAKE = (f->data[0] & 0b00000001);
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s->OP_STATE = (f->data[0] & 0b11110000) >> 4;
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s->SHUTDOWN_REQUEST = (f->data[1] & 0b00000001);
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s->AS_SWITCH_STATUS = (f->data[1] & 0b00000010) >> 1;
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s->TS_SWITCH_STATUS = (f->data[1] & 0b00000100) >> 2;
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s->GO_SIGNAL = (f->data[1] & 0b00001000) >> 3;
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s->STEERING_STATUS = (f->data[1] & 0b00110000) >> 4;
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s->AS_STATE = (f->data[2] & 0b00001111);
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s->AMI_STATE = (f->data[2] & 0b11110000) >> 4;
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s->FAULT_STATUS = (f->data[3] & 0b00000001);
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s->WARNING_STATUS = (f->data[3] & 0b00000010) >> 1;
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s->TS_STATE = (f->data[3] & 0b11110000) >> 4;
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s->WARN_BATT_TEMP_HIGH = (f->data[4] & 0b00000001);
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s->WARN_BATT_SOC_LOW = (f->data[4] & 0b00000010) >> 1;
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s->EBS_STATE = (f->data[4] & 0b11110000) >> 4;
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s->AI_ESTOP_REQUEST = (f->data[5] & 0b00000001);
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s->HVIL_OPEN_FAULT = (f->data[5] & 0b00000010) >> 1;
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s->HVIL_SHORT_FAULT = (f->data[5] & 0b00000100) >> 2;
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s->EBS_FAULT = (f->data[5] & 0b00001000) >> 3;
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s->OFFBOARD_CHARGER_FAULT = (f->data[5] & 0b00010000) >> 4;
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s->AI_COMMS_LOST = (f->data[5] & 0b00100000) >> 5;
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s->AUTONOMOUS_BRAKING_FAULT = (f->data[5] & 0b01000000) >> 6;
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s->MISSION_STATUS_FAULT = (f->data[5] & 0b10000000) >> 7;
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s->CHARGE_PROCEDURE_FAULT = (f->data[6] & 0b00000001);
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s->BMS_FAULT = (f->data[6] & 0b00000010) >> 1;
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s->BRAKE_PLAUSIBILITY_FAULT = (f->data[6] & 0b00000100) >> 2;
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s->SHUTDOWN_CAUSE = (f->data[7]);
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)
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NRAI_CAN_UNPACK(VCU2AI_Steer,
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s->ANGLE = ((uint16_t)f->data[1] << 8) | f->data[0];
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s->ANGLE_MAX = ((uint16_t)f->data[3] << 8) | f->data[2];
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s->ANGLE_REQUEST = ((uint16_t)f->data[5] << 8) | f->data[4];
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)
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NRAI_CAN_UNPACK(VCU2AI_Speeds,
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s->FL_WHEEL_SPEED = ((uint16_t)f->data[1] << 8) | f->data[0];
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s->FR_WHEEL_SPEED = ((uint16_t)f->data[3] << 8) | f->data[2];
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s->RL_WHEEL_SPEED = ((uint16_t)f->data[5] << 8) | f->data[4];
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s->RR_WHEEL_SPEED = ((uint16_t)f->data[7] << 8) | f->data[6];
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)
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NRAI_CAN_UNPACK(VCU2AI_Brake,
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s->HYD_PRESS_F_pct = f->data[0];
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s->HYD_PRESS_F_REQ_pct = f->data[1];
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s->HYD_PRESS_R_pct = f->data[2];
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s->HYD_PRESS_R_REQ_pct = f->data[3];
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s->STATUS_BRK = (f->data[4] & 0b00001111);
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s->STATUS_EBS = (f->data[4] & 0b11110000) >> 4;
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)
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NRAI_CAN_UNPACK(VCU2AI_Drive_F,
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s->FRONT_AXLE_TRQ = ((uint16_t)f->data[1] << 8) | f->data[0];
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s->FRONT_AXLE_TRQ_REQUEST = ((uint16_t)f->data[3] << 8) | f->data[2];
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s->FRONT_AXLE_TRQ_MAX = ((uint16_t)f->data[5] << 8) | f->data[4];
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)
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NRAI_CAN_UNPACK(VCU2AI_Drive_R,
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s->REAR_AXLE_TRQ_Nm = ((uint16_t)f->data[1] << 8) | f->data[0];
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s->REAR_AXLE_TRQ_REQUEST_Nm = ((uint16_t)f->data[3] << 8) | f->data[2];
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s->REAR_AXLE_TRQ_MAX_Nm = ((uint16_t)f->data[5] << 8) | f->data[4];
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)
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NRAI_CAN_UNPACK(VCU2AI_Wheel_counts,
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s->FL_PULSE_COUNT = ((uint16_t)f->data[1] << 8) | f->data[0];
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s->FR_PULSE_COUNT = ((uint16_t)f->data[3] << 8) | f->data[2];
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s->RL_PULSE_COUNT = ((uint16_t)f->data[5] << 8) | f->data[4];
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s->RR_PULSE_COUNT = ((uint16_t)f->data[7] << 8) | f->data[6];
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)
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NRAI_CAN_UNPACK(BMC_Acceleration,
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s->Acceleration_X = ((uint16_t)f->data[1] << 8) | f->data[0];
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s->Acceleration_Y = ((uint16_t)f->data[3] << 8) | f->data[2];
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s->Acceleration_Z = ((uint16_t)f->data[5] << 8) | f->data[4];
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s->Temperature = f->data[6];
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s->VerticalAxis = (f->data[7] & 0b00000011);
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s->Orientation = (f->data[7] & 0b00011100) >> 2;
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)
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NRAI_CAN_UNPACK(BMC_MagneticField,
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s->MagneticField_X = ((uint16_t)f->data[1] << 8) | f->data[0];
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s->MagneticField_Y = ((uint16_t)f->data[3] << 8) | f->data[2];
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s->MagneticField_Z = ((uint16_t)f->data[5] << 8) | f->data[4];
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)
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NRAI_CAN_UNPACK(L3GD20_Rotation_A,
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s->Rotation_X = ((uint32_t)f->data[3] << 24) |
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((uint32_t)f->data[2] << 16) |
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((uint16_t)f->data[1] << 8) | f->data[0];
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s->Rotation_Y = ((uint32_t)f->data[7] << 24) |
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((uint32_t)f->data[6] << 16) |
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((uint16_t)f->data[5] << 8) | f->data[4];
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)
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NRAI_CAN_UNPACK(L3GD20_Rotation_B,
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s->Rotation_Z = ((uint32_t)f->data[3] << 24) |
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((uint32_t)f->data[2] << 16) |
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((uint16_t)f->data[1] << 8) | f->data[0];
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)
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NRAI_CAN_UNPACK(GPS_Status,
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s->GPS_AntennaStatus = f->data[0];
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s->GPS_NumSatellites = f->data[1];
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s->GPS_NavigationMethod = f->data[2];
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)
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NRAI_CAN_UNPACK(GPS_CourseSpeed,
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s->GPS_Course = ((uint32_t)f->data[3] << 24) |
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((uint32_t)f->data[2] << 16) |
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((uint16_t)f->data[1] << 8) | f->data[0];
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s->GPS_Speed = ((uint32_t)f->data[7] << 24) |
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((uint32_t)f->data[6] << 16) |
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((uint16_t)f->data[5] << 8) | f->data[4];
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)
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NRAI_CAN_UNPACK(GPS_PositionLongitude,
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s->GPS_Longitude_Minutes = ((uint32_t)f->data[3] << 24) |
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((uint32_t)f->data[2] << 16) |
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((uint16_t)f->data[1] << 8) | f->data[0];
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s->GPS_Longitude_Degree = ((uint16_t)f->data[5] << 8) | f->data[4];
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s->GPS_IndicatorEW = f->data[6];
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)
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NRAI_CAN_UNPACK(GPS_PositionLatitude,
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s->GPS_Latitude_Minutes = ((uint32_t)f->data[3] << 24) |
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((uint32_t)f->data[2] << 16) |
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((uint16_t)f->data[1] << 8) | f->data[0];
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s->GPS_Latitude_Degree = ((uint16_t)f->data[5] << 8) | f->data[4];
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s->GPS_IndicatorNS = f->data[6];
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)
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NRAI_CAN_UNPACK(GPS_PositionAltitude,
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s->GPS_Altitude = ((uint32_t)f->data[3] << 24) |
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((uint32_t)f->data[2] << 16) |
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((uint16_t)f->data[1] << 8) | f->data[0];
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)
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NRAI_CAN_UNPACK(GPS_Delusions_A,
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s->GPS_PDOP = ((uint32_t)f->data[3] << 24) |
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((uint32_t)f->data[2] << 16) |
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((uint16_t)f->data[1] << 8) | f->data[0];
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s->GPS_HDOP = ((uint32_t)f->data[7] << 24) |
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((uint32_t)f->data[6] << 16) |
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((uint16_t)f->data[5] << 8) | f->data[4];
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)
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NRAI_CAN_UNPACK(GPS_Delusions_B,
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s->GPS_VDOP = ((uint32_t)f->data[3] << 24) |
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((uint32_t)f->data[2] << 16) |
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((uint16_t)f->data[1] << 8) | f->data[0];
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)
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NRAI_CAN_UNPACK(GPS_DateTime,
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s->UTC_Year = f->data[0];
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s->UTC_Month = f->data[1];
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s->UTC_DayOfMonth = f->data[2];
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s->UTC_Hour = f->data[3];
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s->UTC_Minute = f->data[4];
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s->UTC_Second = f->data[5];
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)
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NRAI_CAN_UNPACK(IO,
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s->Din1_Status = (f->data[0] & 0b00000001);
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s->Din2_Status = (f->data[0] & 0b00000010) >> 1;
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s->Dout_Status = (f->data[0] & 0b00000100) >> 2;
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s->SD_Present = (f->data[0] & 0b00001000) >> 3;
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s->GPS_PowerStatus = (f->data[0] & 0b00010000) >> 4;
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s->Device_ID = (f->data[0] & 0b11100000) >> 5;
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)
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NRAI_CAN_UNPACK(RTC_DateTime,
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s->RTC_Sec = f->data[0];
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s->RTC_Min = f->data[1];
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s->RTC_Hour = f->data[2];
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s->RTC_DayOfWeek = f->data[3];
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s->RTC_DayOfMonth = f->data[4];
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s->RTC_Month = f->data[5];
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s->RTC_Year = ((uint16_t)f->data[7] << 8) | f->data[6];
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)
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NRAI_CAN_UNPACK(Out_IO,
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s->Dout_Set = (f->data[0] & 0b00000001);
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s->GPS_SetPower = (f->data[0] & 0b00000010) >> 2;
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)
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NRAI_CAN_UNPACK(Out_PowerOff,
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s->Device_PowerOff = (f->data[0] & 0b00000001);
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)
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NRAI_CAN_UNPACK(Out_Gyro,
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s->Gyro_SetScale = (f->data[0] & 0b00000011);
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)
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NRAI_CAN_UNPACK(Out_BMC_AccScale,
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s->Acc_SetScale = (f->data[0] & 0b00000111);
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)
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NRAI_CAN_UNPACK(Out_SaveConfig,
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s->Config_SaveToEEPROM = (f->data[0] & 0b00000001);
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)
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NRAI_CAN_UNPACK(Out_RTC_SetTime,
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s->RTC_SetSec = f->data[0];
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s->RTC_SetMin = f->data[1];
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s->RTC_SetHour = f->data[2];
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s->RTC_SetDayOfWeek = f->data[3];
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s->RTC_SetDayOfMonth = f->data[4];
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s->RTC_SetMonth = f->data[5];
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s->RTC_SetYear = ((uint16_t)f->data[7] << 8) | f->data[6];
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)
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NRAI_CAN_UNPACK(Out_RTC_TimeFromGPS,
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s->RTC_SetTimeFromGPS = (f->data[0] & 0b00000001);
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)
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NRAI_CAN_UNPACK(Out_Acc_FastCalibration,
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s->Acc_SetCalibTarget_X = (f->data[0] & 0b00000011);
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s->Acc_SetCalibTarget_Y = (f->data[1] & 0b00000011);
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s->Acc_SetCalibTarget_Z = (f->data[2] & 0b00000011);
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s->Acc_StartFastCalib = (f->data[3] & 0b00000001);
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)
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NRAI_CAN_MKFRAME(AI2VCU_Status,
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f->len = 8;
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f->data[0] = (s->HANDSHAKE & 0b00000001);
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f->data[1] = (s->ESTOP_REQUEST & 0b00000001) |
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((s->MISSION_STATUS & 0b00000011) << 4) |
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((s->DIRECTION_REQUEST & 0b00000011) << 6);
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f->data[2] = (s->LAP_COUNTER & 0b00001111);
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f->data[3] = s->CONES_COUNT_ACTUAL;
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f->data[4] = (s->CONES_COUNT_ALL & 0x00FF);
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f->data[5] = ((s->CONES_COUNT_ALL >> 8) & 0x00FF);
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f->data[6] = s->VEH_SPEED_ACTUAL;
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f->data[7] = s->VEH_SPEED_DEMAND;
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)
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NRAI_CAN_MKFRAME(AI2VCU_Steer,
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uint32_t tmp;
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f->len = 2;
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tmp = s->STEER_REQUEST;
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tmp = CLAMP(tmp,-210,210);
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f->data[0] = (tmp & 0x00FF);
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f->data[1] = (((uint16_t)tmp >> 8) & 0x00FF);
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)
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NRAI_CAN_MKFRAME(AI2VCU_Brake,
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uint32_t tmp;
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f->len = 2;
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tmp = s->HYD_PRESS_F_REQ_pct;
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tmp = CLAMP(tmp,0,200);
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f->data[0] = tmp;
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tmp = s->HYD_PRESS_R_REQ_pct;
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tmp = CLAMP(tmp,0,200);
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f->data[1] = tmp;
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)
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NRAI_CAN_MKFRAME(AI2VCU_Drive_F,
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uint32_t tmp;
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f->len = 4;
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tmp = s->FRONT_AXLE_TRQ_REQUEST;
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tmp = CLAMP(tmp,0,1950);
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f->data[0] = (tmp & 0xFF);
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f->data[1] = ((tmp >> 8) & 0xFF);
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tmp = s->FRONT_MOTOR_SPEED_MAX;
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tmp = CLAMP(tmp,0,4000);
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f->data[2] = (tmp & 0xFF);
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f->data[3] = ((tmp >> 8) & 0xFF);
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)
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NRAI_CAN_MKFRAME(AI2VCU_Drive_R,
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uint32_t tmp;
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f->len = 4;
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tmp = s->REAR_AXLE_TRQ_REQUEST;
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tmp = CLAMP(tmp,0,1950);
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f->data[0] = (tmp & 0xFF);
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f->data[1] = ((tmp >> 8) & 0xFF);
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tmp = s->REAR_MOTOR_SPEED_MAX;
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tmp = CLAMP(tmp,0,4000);
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f->data[2] = (tmp & 0xFF);
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f->data[3] = ((tmp >> 8) & 0xFF);
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)
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