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_FL(phy)
	Front left inverter torque physical data in Nm (double), convert to 0.001 rated torque (int16_t).
#define	INV_TORQUE_PHY_TO_CAN_FR(phy)
	Front right inverter torque physical data in Nm (double), convert to 0.001 rated torque (int16_t).
#define	INV_TORQUE_PHY_TO_CAN_RL(phy)
	Rear left inverter torque physical data in Nm (double), convert to 0.001 rated torque (int16_t).
#define	INV_TORQUE_PHY_TO_CAN_RR(phy)
	Rear right inverter torque physical data in Nm (double), convert to 0.001 rated torque (int16_t).
#define	INV_SPEED_CAN_TO_WHEEL_PHY_FL(can)
	Front 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_FR(can)
	Front right inverter speed CAN data in RPM (int16_t), convert to wheel speed in RPM (double) after reduction.
#define	INV_SPEED_CAN_TO_WHEEL_PHY_RL(can)
	Rear 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_RR(can)
	Rear 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_FL(can)
	Front 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_FR(can)
	Front right 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_RL(can)
	Rear 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_RR(can)
	Rear 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_FL

#define INV_SPEED_CAN_TO_WHEEL_PHY_FL

(

can

)

#include <vcu/canbus/convert.h>

Value:

  (PARAM_MOTOR_DIR_FL * ANGULAR_VELOCITY_CAN_TO_PHY(can) / \
   PARAM_MOTOR_REDUCTION_RATIO)

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

INV_SPEED_CAN_TO_WHEEL_PHY_FR

#define INV_SPEED_CAN_TO_WHEEL_PHY_FR

(

can

)

#include <vcu/canbus/convert.h>

Value:

  (PARAM_MOTOR_DIR_FR * ANGULAR_VELOCITY_CAN_TO_PHY(can) / \
   PARAM_MOTOR_REDUCTION_RATIO)

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

INV_SPEED_CAN_TO_WHEEL_PHY_RL

#define INV_SPEED_CAN_TO_WHEEL_PHY_RL

(

can

)

#include <vcu/canbus/convert.h>

Value:

  (PARAM_MOTOR_DIR_RL * ANGULAR_VELOCITY_CAN_TO_PHY(can) / \
   PARAM_MOTOR_REDUCTION_RATIO)

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

INV_SPEED_CAN_TO_WHEEL_PHY_RR

#define INV_SPEED_CAN_TO_WHEEL_PHY_RR

(

can

)

#include <vcu/canbus/convert.h>

Value:

  (PARAM_MOTOR_DIR_RR * ANGULAR_VELOCITY_CAN_TO_PHY(can) / \
   PARAM_MOTOR_REDUCTION_RATIO)

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

INV_TORQUE_CAN_TO_WHEEL_PHY_FL

#define INV_TORQUE_CAN_TO_WHEEL_PHY_FL

(

can

)

#include <vcu/canbus/convert.h>

Value:

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

Front 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_FR

#define INV_TORQUE_CAN_TO_WHEEL_PHY_FR

(

can

)

#include <vcu/canbus/convert.h>

Value:

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

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

INV_TORQUE_CAN_TO_WHEEL_PHY_RL

#define INV_TORQUE_CAN_TO_WHEEL_PHY_RL

(

can

)

#include <vcu/canbus/convert.h>

Value:

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

Rear 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_RR

#define INV_TORQUE_CAN_TO_WHEEL_PHY_RR

(

can

)

#include <vcu/canbus/convert.h>

Value:

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

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

INV_TORQUE_PHY_TO_CAN_FL

#define INV_TORQUE_PHY_TO_CAN_FL

(

phy

)

#include <vcu/canbus/convert.h>

Value:

  INV_TORQ_PHY_TO_CAN(PARAM_MOTOR_DIR_FL*(phy / PARAM_MOTOR_RATED_TORQUE))

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

INV_TORQUE_PHY_TO_CAN_FR

#define INV_TORQUE_PHY_TO_CAN_FR

(

phy

)

#include <vcu/canbus/convert.h>

Value:

  INV_TORQ_PHY_TO_CAN(PARAM_MOTOR_DIR_FR*(phy / PARAM_MOTOR_RATED_TORQUE))

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

INV_TORQUE_PHY_TO_CAN_RL

#define INV_TORQUE_PHY_TO_CAN_RL

(

phy

)

#include <vcu/canbus/convert.h>

Value:

  INV_TORQ_PHY_TO_CAN(PARAM_MOTOR_DIR_RL*(phy / PARAM_MOTOR_RATED_TORQUE))

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

INV_TORQUE_PHY_TO_CAN_RR

#define INV_TORQUE_PHY_TO_CAN_RR

(

phy

)

#include <vcu/canbus/convert.h>

Value:

  INV_TORQ_PHY_TO_CAN(PARAM_MOTOR_DIR_RR*(phy / PARAM_MOTOR_RATED_TORQUE))

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