VCU CAN bus data conversion.

VCU CAN bus data conversion macros. More...

Collaboration diagram for VCU CAN bus data conversion.:

Macros
#define	INV_TORQUE_PHY_TO_CAN_L(phy)
	Left inverter torque physical data in Nm (double), convert to 0.001 rated torque (int16_t).
#define	INV_TORQUE_PHY_TO_CAN_R(phy)
	Right inverter torque physical data in Nm (double), convert to 0.001 rated torque (int16_t).
#define	INV_SPEED_CAN_TO_WHEEL_PHY_L(can)
	Left inverter speed CAN data in RPM (int16_t), convert to wheel speed in RPM (double) after reduction.
#define	INV_SPEED_CAN_TO_WHEEL_PHY_R(can)
	Right inverter speed CAN data in RPM (int16_t), convert to wheel speed in RPM (double) after reduction.
#define	INV_TORQUE_CAN_TO_WHEEL_PHY_L(can)
	Left inverter torque CAN data in 0.001 rated torque (int16_t), convert to wheel torque in Nm (double).
#define	INV_TORQUE_CAN_TO_WHEEL_PHY_R(can)
	Right inverter torque CAN data in 0.001 rated torque (int16_t), convert to wheel torque in Nm (double).

Detailed Description

VCU CAN bus data conversion macros.

Macro Definition Documentation

INV_SPEED_CAN_TO_WHEEL_PHY_L

#define INV_SPEED_CAN_TO_WHEEL_PHY_L

(

can

)

#include <vcu/canbus/convert.h>

Value:

  (PARAM_MOTOR_DIR_L * ANGULAR_VELOCITY_CAN_TO_PHY(can) / \
   PARAM_MOTOR_REDUCTION_RATIO)

Left inverter speed CAN data in RPM (int16_t), convert to wheel speed in RPM (double) after reduction.

INV_SPEED_CAN_TO_WHEEL_PHY_R

#define INV_SPEED_CAN_TO_WHEEL_PHY_R

(

can

)

#include <vcu/canbus/convert.h>

Value:

  (PARAM_MOTOR_DIR_R * ANGULAR_VELOCITY_CAN_TO_PHY(can) / \
   PARAM_MOTOR_REDUCTION_RATIO)

Right inverter speed CAN data in RPM (int16_t), convert to wheel speed in RPM (double) after reduction.

INV_TORQUE_CAN_TO_WHEEL_PHY_L

#define INV_TORQUE_CAN_TO_WHEEL_PHY_L

(

can

)

#include <vcu/canbus/convert.h>

Value:

  (PARAM_MOTOR_DIR_L * PARAM_MOTOR_REDUCTION_RATIO * \
   PARAM_MOTOR_RATED_TORQUE * INV_TORQUE_CAN_TO_PHY(can))

Left inverter torque CAN data in 0.001 rated torque (int16_t), convert to wheel torque in Nm (double).

INV_TORQUE_CAN_TO_WHEEL_PHY_R

#define INV_TORQUE_CAN_TO_WHEEL_PHY_R

(

can

)

#include <vcu/canbus/convert.h>

Value:

  (PARAM_MOTOR_DIR_R * PARAM_MOTOR_REDUCTION_RATIO * \
   PARAM_MOTOR_RATED_TORQUE * INV_TORQUE_CAN_TO_PHY(can))

Right inverter torque CAN data in 0.001 rated torque (int16_t), convert to wheel torque in Nm (double).

INV_TORQUE_PHY_TO_CAN_L

#define INV_TORQUE_PHY_TO_CAN_L

(

phy

)

#include <vcu/canbus/convert.h>

Value:

  INV_TORQ_PHY_TO_CAN(PARAM_MOTOR_DIR_L*(phy / PARAM_MOTOR_RATED_TORQUE))

Left inverter torque physical data in Nm (double), convert to 0.001 rated torque (int16_t).

INV_TORQUE_PHY_TO_CAN_R

#define INV_TORQUE_PHY_TO_CAN_R

(

phy

)

#include <vcu/canbus/convert.h>

Value:

  INV_TORQ_PHY_TO_CAN(PARAM_MOTOR_DIR_R*(phy / PARAM_MOTOR_RATED_TORQUE))

Right inverter torque physical data in Nm (double), convert to 0.001 rated torque (int16_t).