Update Race_Car.c

src/Race_Car.c

@@ -8,60 +8,43 @@
 
 #include "can_wrap.h"
 
-void torque_req_calc( const int canSoc, struct can_frame fr )
+void torque_conversion( 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 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();
 
-    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[] )
 {
+	/*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 )
     {
-
-		//memset( &frame, 0, sizeof(frame) );
-
-		const can_frame frame = can_read();
-
-		torque_conversion(canSocket,frame);
-
 
+		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 );
@@ -74,4 +57,4 @@ int main( int argc, char* argv[] )
 	can_close( canSocket );
 
 	return 0;
-}
+}