Race_Car.c

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>

#include <linux/can.h>
#include <linux/can/raw.h>

#include "can_wrap.h"

void torque_conversion( struct can_frame fr )
{
	
	const uint16_t wheel_rpm 		 	 = fr.data[3]; //Wheel RPM to receive from motor
	const uint16_t voltage 			 	 = fr.data[4]; //Voltage values to receive from motor
	const uint16_t torque_req		 	 = fr.data[5]; //torque request received from CAN status frame
	const float motor_torque_current 	 = 0.879;	   //Hardcoded value for motor torque current
	const float b_electromagnetic_factor = 0.6721;	   //EM factor
	const float output_current;
	
	
	/* Formula to calculate current in mA required for given torque request */
	output_current = torque_req((b_electromagnetic_factor*wheel_rpm*torque_req) +
								((motor_torque_current*motor_torque_current)*torque_req) +
								(100))/(100*voltage)
	
	printf();
	
}

int main( int argc, char* argv[] )
{
	/*virtual CAN device as vcan0*/
    const char* canChannel = "vcan0";
	/*canSocket data is received from can_wrap.h file*/
    const int canSocket = can_connect( canChannel, false );
	
	struct can_frame frame;

    for( int c=0; c<100; ++c )
    {
		
		const can_frame frame = can_read(canSocket);
		
		torque_conversion(frame);
		
		/*Read CAN socket data and print id and dlc values*/		
        if( can_read( canSocket, &frame ) )
        {
            printf("0x%X [%X]", frame.can_id, frame.can_dlc );
            for( int i=0; i<frame.can_dlc; ++i )
                printf( " %02X", frame.data[i] );
            printf("\n");
        }
    }

	can_close( canSocket );

	return 0;
}