CAN bus data conversion.

CAN bus data conversion macros. More...

Collaboration diagram for CAN bus data conversion.:

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.

Macro Definition Documentation

ACC_CAPACITY_CAN_TO_PHY

#define ACC_CAPACITY_CAN_TO_PHY

(

can

)

#include <nturt/canbus/convert.h>

Value:

(10.0F * (can))

Accumulator capacity CAN data in 10 mAh (int16_t), convert to mAh (float).

ACC_CURRENT_CAN_TO_PHY

#define ACC_CURRENT_CAN_TO_PHY

(

can

)

#include <nturt/canbus/convert.h>

Value:

(0.01F * (can))

Accumulator current CAN data in 0.01 A (int16_t), convert to A (float).

ACC_TEMP_CAN_TO_PHY

#define ACC_TEMP_CAN_TO_PHY

(

can

)

#include <nturt/canbus/convert.h>

Value:

(0.125F * (can))

Accumulator temperature CAN data in 0.125 °C (int16_t), convert to °C (float).

ACC_VOLT_CAN_TO_PHY

#define ACC_VOLT_CAN_TO_PHY

(

can

)

#include <nturt/canbus/convert.h>

Value:

((float)(can) / 1024.0F)

Accumulator voltage CAN data in 1/1024 V (uint32_t), convert to V (float).

APPS_RAW_PHY_TO_CAN

#define APPS_RAW_PHY_TO_CAN

(

phy

)

#include <nturt/canbus/convert.h>

Value:

((int8_t)(phy))

Accelerator pedal position physical data in deg (float), convert to deg (int8_t).

BSE_RAW_PHY_TO_CAN

#define BSE_RAW_PHY_TO_CAN

(

phy

)

#include <nturt/canbus/convert.h>

Value:

((uint8_t)(0.01F * (phy)))

Brake pressure physical data in kPa (float), convert to bar (uint8_t).

GPS_LATITUDE_CAN_TO_PHY

#define GPS_LATITUDE_CAN_TO_PHY

(

can

)

#include <nturt/canbus/convert.h>

Value:

(1E-7 * (can))

GPS latitude CAN data in 1E-7 deg (int32_t), convert to deg (float).

GPS_LONGITUDE_CAN_TO_PHY

#define GPS_LONGITUDE_CAN_TO_PHY

(

can

)

#include <nturt/canbus/convert.h>

Value:

(1E-7 * (can))

GPS longitude CAN data in 1E-7 deg (int32_t), convert to deg (float).

IMU_ACCEL_CAN_TO_PHY

#define IMU_ACCEL_CAN_TO_PHY

(

can

)

#include <nturt/canbus/convert.h>

Value:

(0.00981F * (can))

IMU acceleration CAN data in 0.001 g (int16_t), convert to m/s^2 (float).

IMU_GYRO_CAN_TO_PHY

#define IMU_GYRO_CAN_TO_PHY

(

can

)

#include <nturt/canbus/convert.h>

Value:

(0.001745F * (can))

IMU angular velocity CAN data in 0.1 deg/s (int16_t), convert to rad/s (float).

IMU_ORIENT_CAN_TO_PHY

#define IMU_ORIENT_CAN_TO_PHY

(

can

)

#include <nturt/canbus/convert.h>

Value:

(0.01F * (can))

IMU orientation CAN data in 0.01 deg (int16_t), convert to deg (float).

INV_CURRENT_CAN_TO_PHY

#define INV_CURRENT_CAN_TO_PHY

(

can

)

#include <nturt/canbus/convert.h>

Value:

(0.01F * (can))

Inverter current CAN data in 0.01 A (int16_t), convert to A (float).

INV_RATED_TORQUE

#define INV_RATED_TORQUE   100.0F

#include <nturt/canbus/convert.h>

INV_SPEED_CAN_TO_PHY

#define INV_SPEED_CAN_TO_PHY

(

can

)

#include <nturt/canbus/convert.h>

Value:

((can) / MOTOR_REDUCTION_RATIO)

Inverter speed CAN data in RPM (int16_t) before reduction, convert to RPM (float) after reduction.

INV_TEMP_CAN_TO_PHY

#define INV_TEMP_CAN_TO_PHY

(

can

)

#include <nturt/canbus/convert.h>

Value:

(0.1F * (can))

Inverter MOS temperature CAN data in 0.1 °C (int16_t), convert to °C (float).

INV_TORQUE_CAN_TO_PHY

#define INV_TORQUE_CAN_TO_PHY

(

can

)

#include <nturt/canbus/convert.h>

Value:

((0.001F * INV_RATED_TORQUE * (can)))

Inverter torque CAN data in 0.001 rated torque (int16_t), convert to Nm (float).

INV_TORQUE_PHY_TO_CAN

#define INV_TORQUE_PHY_TO_CAN

(

phy

)

#include <nturt/canbus/convert.h>

Value:

  ((int16_t)(1000.0F / INV_RATED_TORQUE * (phy)))

Torque command physical data in Nm (float), convert to 0.001 rated torque (int16_t).

INV_VOLT_CAN_TO_PHY

#define INV_VOLT_CAN_TO_PHY

(

can

)

#include <nturt/canbus/convert.h>

Value:

(0.01F * (can))

Inverter voltage CAN data in 0.01 V (uint16_t), convert to V (float).

MOTOR_REDUCTION_RATIO

#define MOTOR_REDUCTION_RATIO   13.1F

#include <nturt/canbus/convert.h>

PEDAL_TRAV_CAN_TO_PHY

#define PEDAL_TRAV_CAN_TO_PHY

(

can

)

#include <nturt/canbus/convert.h>

Value:

((float)(can))

Pedal travel CAN data in % (float), convert to % (uint8_t).

PEDAL_TRAV_PHY_TO_CAN

#define PEDAL_TRAV_PHY_TO_CAN

(

phy

)

#include <nturt/canbus/convert.h>

Value:

((uint8_t)(phy))

Pedal travel physical data in % (float), convert to % (uint8_t).

ROTATION_SPEED_CAN_TO_PHY

#define ROTATION_SPEED_CAN_TO_PHY

(

can

)

#include <nturt/canbus/convert.h>

Value:

((float)(can))

Rotational speed CAN data in RPM (uint16_t), convert to RPM (float).

ROTATION_SPEED_PHY_TO_CAN

#define ROTATION_SPEED_PHY_TO_CAN

(

phy

)

#include <nturt/canbus/convert.h>

Value:

((uint16_t)(phy))

Rotational speed physical data in RPM (float), convert to RPM (uint16_t).

STEER_CAN_TO_PHY

#define STEER_CAN_TO_PHY

(

can

)

#include <nturt/canbus/convert.h>

Value:

(0.01F * (can))

Steering angle CAN data in 0.01 deg (int16_t), convert to deg (float).

STEER_PHY_TO_CAN

#define STEER_PHY_TO_CAN

(

phy

)

#include <nturt/canbus/convert.h>

Value:

((int16_t)(100.0F * (phy)))

Steering angle physical data in deg (float), convert to 0.01 deg (int16_t).

SUSP_PHY_TO_CAN

#define SUSP_PHY_TO_CAN

(

phy

)

#include <nturt/canbus/convert.h>

Value:

(phy)

Todo