convert.h File Reference

CAN bus data conversion macros. More...

#include <stdint.h>

Include dependency graph for convert.h:

Macros
#define	INV_RATED_TORQUE   100.0F
#define	MOTOR_REDUCTION_RATIO   13.1F
#define	STEER_PHY_TO_CAN(phy)
	Steering angle physical data in deg (float), convert to 0.01 deg (int16_t).
#define	PEDAL_TRAV_PHY_TO_CAN(phy)
	Pedal travel physical data in % (float), convert to % (uint8_t).
#define	APPS_RAW_PHY_TO_CAN(phy)
	Accelerator pedal position physical data in deg (float), convert to deg (int8_t).
#define	BSE_RAW_PHY_TO_CAN(phy)
	Brake pressure physical data in kPa (float), convert to bar (uint8_t).
#define	ROTATION_SPEED_PHY_TO_CAN(phy)
	Rotational speed physical data in RPM (float), convert to RPM (uint16_t).
#define	SUSP_PHY_TO_CAN(phy)
#define	INV_TORQUE_PHY_TO_CAN(phy)
	Torque command physical data in Nm (float), convert to 0.001 rated torque (int16_t).
#define	STEER_CAN_TO_PHY(can)
	Steering angle CAN data in 0.01 deg (int16_t), convert to deg (float).
#define	PEDAL_TRAV_CAN_TO_PHY(can)
	Pedal travel CAN data in % (float), convert to % (uint8_t).
#define	ROTATION_SPEED_CAN_TO_PHY(can)
	Rotational speed CAN data in RPM (uint16_t), convert to RPM (float).
#define	ACC_VOLT_CAN_TO_PHY(can)
	Accumulator voltage CAN data in 1/1024 V (uint32_t), convert to V (float).
#define	ACC_CURRENT_CAN_TO_PHY(can)
	Accumulator current CAN data in 0.01 A (int16_t), convert to A (float).
#define	ACC_TEMP_CAN_TO_PHY(can)
	Accumulator temperature CAN data in 0.125 °C (int16_t), convert to °C (float).
#define	ACC_CAPACITY_CAN_TO_PHY(can)
	Accumulator capacity CAN data in 10 mAh (int16_t), convert to mAh (float).
#define	INV_SPEED_CAN_TO_PHY(can)
	Inverter speed CAN data in RPM (int16_t) before reduction, convert to RPM (float) after reduction.
#define	INV_TORQUE_CAN_TO_PHY(can)
	Inverter torque CAN data in 0.001 rated torque (int16_t), convert to Nm (float).
#define	INV_VOLT_CAN_TO_PHY(can)
	Inverter voltage CAN data in 0.01 V (uint16_t), convert to V (float).
#define	INV_CURRENT_CAN_TO_PHY(can)
	Inverter current CAN data in 0.01 A (int16_t), convert to A (float).
#define	INV_TEMP_CAN_TO_PHY(can)
	Inverter MOS temperature CAN data in 0.1 °C (int16_t), convert to °C (float).
#define	IMU_ACCEL_CAN_TO_PHY(can)
	IMU acceleration CAN data in 0.001 g (int16_t), convert to m/s^2 (float).
#define	IMU_GYRO_CAN_TO_PHY(can)
	IMU angular velocity CAN data in 0.1 deg/s (int16_t), convert to rad/s (float).
#define	IMU_ORIENT_CAN_TO_PHY(can)
	IMU orientation CAN data in 0.01 deg (int16_t), convert to deg (float).
#define	GPS_LONGITUDE_CAN_TO_PHY(can)
	GPS longitude CAN data in 1E-7 deg (int32_t), convert to deg (float).
#define	GPS_LATITUDE_CAN_TO_PHY(can)
	GPS latitude CAN data in 1E-7 deg (int32_t), convert to deg (float).

Detailed Description

CAN bus data conversion macros.

Author

quantumspawner

Version

0.0.1

Date

2025-07-04

Copyright

Copyright (c) 2025 NTU Racing Team