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_req_calc( const int canSoc, struct can_frame fr )
{
	
}

void torque_conversion( const int canSoc, struct can_frame fr )
{
	
	const uint16_t wheel_rpm 		 	 = fr.data[3];
	const uint16_t voltage 			 	 = fr.data[4];
	const uint16_t torque_req		 	 = fr.data[5];
	const float motor_torque_current 	 = 0.879;
	const float b_electromagnetic_factor = 0.6721;
	const float output_current;
	
	
	output_current = torque_req((b_electromagnetic_factor*wheel_rpm*torque_req) +
								((motor_torque_current*motor_torque_current)*torque_req) +
								(100))/(100*voltage)
	
	
    switch( fr.can_id )
    {
        case 0x188: 
            indicator_frame( fr );
            break;
        case 0x244:
            speed_frame( fr );
            break;
        default:
            /* unknown frame */
            break;
    }
}

int main( int argc, char* argv[] )
{
    const char* canChannel = "vcan0";
    const int canSocket = can_connect( canChannel, false );
	
	struct can_frame frame;

    for( int c=0; c<100; ++c )
    {
        
		//memset( &frame, 0, sizeof(frame) );
		
		const can_frame frame = can_read();
		
		torque_conversion(canSocket,frame);
		
		
		
		
        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;
}