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src/Race_Car.c

@@ -0,0 +1,77 @@
+#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;
+}