From 54fb75fb234566d3741bc697c159fc93d327be38 Mon Sep 17 00:00:00 2001 From: Ian Murphy Date: Fri, 18 Jun 2021 12:59:14 +0100 Subject: [PATCH] Suppressed 'AI2LOG' message. --- Docs/PCAN-GPS for ADS-DV.cfx | 557 +++++++++++++++++++++++++++++++++++ Docs/PCAN-GPS for ADS-DV.dbc | 261 ++++++++++++++++ Docs/PCAN-GPS for ADS-DV.dbf | 397 +++++++++++++++++++++++++ FS-AI_API/fs-ai_api.c | 23 +- setup.sh | 3 +- 5 files changed, 1228 insertions(+), 13 deletions(-) create mode 100644 Docs/PCAN-GPS for ADS-DV.cfx create mode 100644 Docs/PCAN-GPS for ADS-DV.dbc create mode 100644 Docs/PCAN-GPS for ADS-DV.dbf diff --git a/Docs/PCAN-GPS for ADS-DV.cfx b/Docs/PCAN-GPS for ADS-DV.cfx new file mode 100644 index 0000000..26b8ed2 --- /dev/null +++ b/Docs/PCAN-GPS for ADS-DV.cfx @@ -0,0 +1,557 @@ + + + + 3.2.2 + FALSE + FALSE + FALSE + FALSE + FALSE + FALSE + TRUE + TRUE + SYSTEM + FALSE + TRUE + FALSE + FALSE + + SHOWNORMAL + HIDE + 639 + 0 + 853 + 1532 + + + + + PCAN-GPS for ADS-DV.dbf + + + + PEAK USB + Unknown + + + 500 + 7 + B8 + 5 + 00 + 1C + 16 + 75 + 1 + 10 + 96 + ALL + 4 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + FF + FF + FF + FF + FF + FF + FF + FF + PCAN-USB Driver Id 16 + 64 + 49210 + 0 + 1 + 1 + 0 + 0 + 0 + 0 + 0 + + 0 + 2000000 + 70 + 10 + 3 + 0 + 0 + + + + + + SHOWNORMAL + HIDE + 70 + 10 + 500 + 300 + + + 94 + 94 + 189 + 94 + + + + + SHOWNORMAL + HIDE + 70 + 10 + 500 + 300 + + + 94 + 94 + 189 + 94 + + + + + SHOWNORMAL + HIDE + 70 + 10 + 500 + 300 + + + 94 + 94 + 189 + 94 + + + + + 5000 + 1000 + 21760 + 1 + 0 + 12632256 + 255 + 10 + 5 + 2 + 0 + TRUE + NORMAL + + + HIDE + HIDE + -1 + -83 + 891 + 1827 + + + -1 + 0 + + + 1406 + 0 + + + 514 + 0 + + + 240 + 0 + + + + 0 + + + 0 + + + 0 + + + + HIDE + RESTORETOMAXIMIZED + 0 + 0 + 0 + 0 + + + + + HIDE + RESTORETOMAXIMIZED + 0 + 0 + 0 + 0 + + + + + 5000 + 2000 + 100 + + + 1 + 1 + 19 + + + Time + 2 + 1 + 122 + + + Tx/Rx + 3 + 1 + 85 + + + Channel + 4 + 1 + 92 + + + Msg Type + 5 + 1 + 71 + + + ID + 6 + 1 + 69 + + + Message + 7 + 1 + 212 + + + DLC + 8 + 1 + 66 + + + Data Byte(s) + 9 + 1 + 217 + + 1 + 0 + 1 + RELATIVE + + SHOWNORMAL + SETMINPOSITION + 0 + 0 + 690 + 969 + + + SHOWNORMAL + RESTORETOMAXIMIZED + 173 + 10 + 451 + 359 + + + + + + 1 + 1 + 19 + + + Time + 2 + 1 + 91 + + + Channel + 3 + 1 + 88 + + + CAN ID + 4 + 1 + 88 + + + PGN + 5 + 1 + 84 + + + PGN Name + 6 + 1 + 118 + + + Type + 7 + 1 + 75 + + + Src + 8 + 1 + 60 + + + Dest + 9 + 1 + 57 + + + Priority + 10 + 1 + 74 + + + Tx/Rx + 11 + 1 + 73 + + + DLC + 12 + 1 + 70 + + + Data Byte(s) + 13 + 1 + 727 + + 1 + 0 + 1 + SYSTEM + + SHOWNORMAL + SETMINPOSITION + 0 + 0 + 548 + 1640 + + + SHOWNORMAL + RESTORETOMAXIMIZED + 173 + 10 + 451 + 359 + + + + 5000 + 2000 + 100 + + + 1 + 1 + 19 + + + Time + 2 + 1 + 95 + + + Message + 3 + 1 + 99 + + + Message Type + 4 + 1 + 135 + + + Tx/Rx + 5 + 1 + 85 + + + Channel + 6 + 1 + 80 + + + DLC + 7 + 1 + 70 + + + ID + 8 + 1 + 65 + + + Data Byte(s) + 9 + 1 + 235 + + + Checksum + 10 + 1 + 741 + + 1 + 0 + 1 + SYSTEM + + SHOWNORMAL + SETMINPOSITION + 0 + 0 + 548 + 1640 + + + SHOWNORMAL + RESTORETOMAXIMIZED + 173 + 10 + 451 + 359 + + + + + SHOWNORMAL + SETMINPOSITION + 0 + 970 + 655 + 1830 + + + + 1 + 1623 + FALSE + FALSE + 4 + 0,0,0,0 + 10 + FALSE + a + FALSE + + + 1 + 1620 + FALSE + FALSE + 1 + 0 + 10 + FALSE + a + FALSE + + + + + 125 + 1 + + + + HIDE + RESTORETOMAXIMIZED + 0 + 0 + 0 + 0 + + + + + 0 + Hardware + 19200 + LIN 2.0 + 1 + 0 + + + + + + SHOWNORMAL + SETMINPOSITION + 1 + 4 + 661 + 864 + + + + + + SHOWNORMAL + SETMINPOSITION + 183 + 535 + 716 + 1185 + + + 1 + + + + diff --git a/Docs/PCAN-GPS for ADS-DV.dbc b/Docs/PCAN-GPS for ADS-DV.dbc new file mode 100644 index 0000000..9b6b56d --- /dev/null +++ b/Docs/PCAN-GPS for ADS-DV.dbc @@ -0,0 +1,261 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: AI + + +BO_ 1281 AI2LOG_Dynamics2: 6 AI + SG_ Accel_longitudinal_mps2 : 0|16@1- (0.00195313,0) [-64|63.998] "m/s^2" Vector__XXX + SG_ Accel_lateral_mps2 : 16|16@1- (0.00195313,0) [-64|63.998] "m/s^2" Vector__XXX + SG_ Yaw_rate_degps : 32|16@1- (0.0078125,0) [-256|255.992] "deg/s" Vector__XXX + +BO_ 1536 BMC_Acceleration: 8 Vector__XXX + SG_ Acceleration_X : 0|16@1- (3.91,0) [-20000|20000] "mG" Vector__XXX + SG_ Acceleration_Y : 16|16@1- (3.91,0) [-20000|20000] "mG" Vector__XXX + SG_ Acceleration_Z : 32|16@1- (3.91,0) [-20000|20000] "mG" Vector__XXX + SG_ Temperature : 48|8@1- (0.5,24) [-40|87.5] "°C" Vector__XXX + SG_ VerticalAxis : 56|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ Orientation : 58|3@1+ (1,0) [0|7] "" Vector__XXX + +BO_ 1576 BMC_MagneticField: 6 Vector__XXX + SG_ MagneticField_X : 0|16@1- (0.3,0) [-9830.4|9830.1] "µT" Vector__XXX + SG_ MagneticField_Y : 16|16@1- (0.3,0) [-9830.4|9830.1] "µT" Vector__XXX + SG_ MagneticField_Z : 32|16@1- (0.3,0) [-9830.4|9830.1] "µT" Vector__XXX + +BO_ 1552 L3GD20_Rotation_A: 8 Vector__XXX + SG_ Rotation_X : 0|32@1- (1,0) [-4000|4000] "°/s" Vector__XXX + SG_ Rotation_Y : 32|32@1- (1,0) [-4000|4000] "°/s" Vector__XXX + +BO_ 1553 L3GD20_Rotation_B: 4 Vector__XXX + SG_ Rotation_Z : 0|32@1- (1,0) [-4000|4000] "°/s" Vector__XXX + +BO_ 1568 GPS_Status: 3 Vector__XXX + SG_ GPS_AntennaStatus : 0|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ GPS_NumSatellites : 8|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ GPS_NavigationMethod : 16|8@1+ (1,0) [0|255] "" Vector__XXX + +BO_ 1569 GPS_CourseSpeed: 8 Vector__XXX + SG_ GPS_Course : 0|32@1- (1,0) [-3.4E+038|3.4E+038] "°" Vector__XXX + SG_ GPS_Speed : 32|32@1- (1,0) [-3.4E+038|3.4E+038] "km/h" Vector__XXX + +BO_ 1570 GPS_PositionLongitude: 7 Vector__XXX + SG_ GPS_Longitude_Degree : 32|16@1+ (1,0) [0|359] "°" Vector__XXX + SG_ GPS_Longitude_Minutes : 0|32@1- (1,0) [-3.4E+038|3.4E+038] "'" Vector__XXX + SG_ GPS_IndicatorEW : 48|8@1+ (1,0) [0|255] "" Vector__XXX + +BO_ 1571 GPS_PositionLatitude: 7 Vector__XXX + SG_ GPS_Latitude_Degree : 32|16@1+ (1,0) [0|359] "°" Vector__XXX + SG_ GPS_Latitude_Minutes : 0|32@1- (1,0) [-3.4E+038|3.4E+038] "'" Vector__XXX + SG_ GPS_IndicatorNS : 48|8@1+ (1,0) [0|255] "" Vector__XXX + +BO_ 1572 GPS_PositionAltitude: 4 Vector__XXX + SG_ GPS_Altitude : 0|32@1- (1,0) [-3.4E+038|3.4E+038] "m" Vector__XXX + +BO_ 1573 GPS_Delusions_A: 8 Vector__XXX + SG_ GPS_PDOP : 0|32@1- (1,0) [-3.4E+038|3.4E+038] "" Vector__XXX + SG_ GPS_HDOP : 32|32@1- (1,0) [-3.4E+038|3.4E+038] "" Vector__XXX + +BO_ 1574 GPS_Delusions_B: 4 Vector__XXX + SG_ GPS_VDOP : 0|32@1- (1,0) [-3.4E+038|3.4E+038] "" Vector__XXX + +BO_ 1575 GPS_DateTime: 6 Vector__XXX + SG_ UTC_Year : 0|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ UTC_Month : 8|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ UTC_DayOfMonth : 16|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ UTC_Hour : 24|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ UTC_Minute : 32|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ UTC_Second : 40|8@1+ (1,0) [0|255] "" Vector__XXX + +BO_ 1584 IO: 1 Vector__XXX + SG_ Din1_Status : 0|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ Din2_Status : 1|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ Dout_Status : 2|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ SD_Present : 3|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ GPS_PowerStatus : 4|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ Device_ID : 5|3@1+ (1,0) [0|7] "" Vector__XXX + +BO_ 1600 RTC_DateTime: 8 Vector__XXX + SG_ RTC_Sec : 0|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ RTC_Min : 8|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ RTC_Hour : 16|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ RTC_DayOfWeek : 24|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ RTC_DayOfMonth : 32|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ RTC_Month : 40|8@1+ (1,0) [0|255] "" Vector__XXX + SG_ RTC_Year : 48|16@1+ (1,0) [0|65535] "" Vector__XXX + +BO_ 1616 Out_IO: 1 Vector__XXX + SG_ Dout_Set : 0|1@1+ (1,0) [0|1] "" Vector__XXX + SG_ GPS_SetPower : 1|1@1+ (1,0) [0|1] "" Vector__XXX + +BO_ 1617 Out_PowerOff: 1 Vector__XXX + SG_ Device_PowerOff : 0|1@1+ (1,0) [0|1] "" Vector__XXX + +BO_ 1618 Out_Gyro: 1 Vector__XXX + SG_ Gyro_SetScale : 0|2@1+ (1,0) [0|3] "°/s" Vector__XXX + +BO_ 1619 Out_BMC_AccScale: 1 Vector__XXX + SG_ Acc_SetScale : 0|3@1+ (1,0) [0|7] "" Vector__XXX + +BO_ 1620 Out_SaveConfig: 1 Vector__XXX + SG_ Config_SaveToEEPROM : 0|1@1+ (1,0) [0|1] "" Vector__XXX + +BO_ 1621 Out_RTC_SetTime: 8 Vector__XXX + SG_ RTC_SetSec : 0|8@1+ (1,0) [0|59] "" Vector__XXX + SG_ RTC_SetMin : 8|8@1+ (1,0) [0|59] "" Vector__XXX + SG_ RTC_SetHour : 16|8@1+ (1,0) [0|23] "" Vector__XXX + SG_ RTC_SetDayOfWeek : 24|8@1+ (1,0) [0|6] "" Vector__XXX + SG_ RTC_SetDayOfMonth : 32|8@1+ (1,0) [1|31] "" Vector__XXX + SG_ RTC_SetMonth : 40|8@1+ (1,0) [1|12] "" Vector__XXX + SG_ RTC_SetYear : 48|16@1+ (1,0) [1900|2099] "" Vector__XXX + +BO_ 1622 Out_RTC_TimeFromGPS: 1 Vector__XXX + SG_ RTC_SetTimeFromGPS : 0|1@1+ (1,0) [0|1] "" Vector__XXX + +BO_ 1623 Out_Acc_FastCalibration: 4 Vector__XXX + SG_ Acc_SetCalibTarget_X : 0|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ Acc_SetCalibTarget_Y : 8|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ Acc_SetCalibTarget_Z : 16|2@1+ (1,0) [0|3] "" Vector__XXX + SG_ Acc_StartFastCalib : 24|1@1+ (1,0) [0|1] "" Vector__XXX + + + +CM_ SG_ 1620 Config_SaveToEEPROM "Saves sensor ranges and calibration targets to EERPOM to restore them after startup"; +CM_ SG_ 1622 RTC_SetTimeFromGPS "Note: GPS time does not know the day of week!"; +BA_DEF_ "BusType" STRING ; +BA_DEF_ SG_ "GenSigStartValue" FLOAT -3.4E+038 3.4E+038; +BA_DEF_DEF_ "BusType" "CAN"; +BA_DEF_DEF_ "GenSigStartValue" 0; +BA_ "BusType" "CAN"; +BA_ "GenSigStartValue" SG_ 1536 Acceleration_X 0; +BA_ "GenSigStartValue" SG_ 1536 Acceleration_Y 0; +BA_ "GenSigStartValue" SG_ 1536 Acceleration_Z 0; +BA_ "GenSigStartValue" SG_ 1536 Temperature -48; +BA_ "GenSigStartValue" SG_ 1536 VerticalAxis 0; +BA_ "GenSigStartValue" SG_ 1536 Orientation 0; +BA_ "GenSigStartValue" SG_ 1576 MagneticField_X 0; +BA_ "GenSigStartValue" SG_ 1576 MagneticField_Y 0; +BA_ "GenSigStartValue" SG_ 1576 MagneticField_Z 0; +BA_ "GenSigStartValue" SG_ 1552 Rotation_X 0; +BA_ "GenSigStartValue" SG_ 1552 Rotation_Y 0; +BA_ "GenSigStartValue" SG_ 1553 Rotation_Z 0; +BA_ "GenSigStartValue" SG_ 1568 GPS_AntennaStatus 0; +BA_ "GenSigStartValue" SG_ 1568 GPS_NumSatellites 0; +BA_ "GenSigStartValue" SG_ 1568 GPS_NavigationMethod 0; +BA_ "GenSigStartValue" SG_ 1569 GPS_Course 0; +BA_ "GenSigStartValue" SG_ 1569 GPS_Speed 0; +BA_ "GenSigStartValue" SG_ 1570 GPS_Longitude_Degree 0; +BA_ "GenSigStartValue" SG_ 1570 GPS_Longitude_Minutes 0; +BA_ "GenSigStartValue" SG_ 1570 GPS_IndicatorEW 0; +BA_ "GenSigStartValue" SG_ 1571 GPS_Latitude_Degree 0; +BA_ "GenSigStartValue" SG_ 1571 GPS_Latitude_Minutes 0; +BA_ "GenSigStartValue" SG_ 1571 GPS_IndicatorNS 0; +BA_ "GenSigStartValue" SG_ 1572 GPS_Altitude 0; +BA_ "GenSigStartValue" SG_ 1573 GPS_PDOP 0; +BA_ "GenSigStartValue" SG_ 1573 GPS_HDOP 0; +BA_ "GenSigStartValue" SG_ 1574 GPS_VDOP 0; +BA_ "GenSigStartValue" SG_ 1575 UTC_Year 0; +BA_ "GenSigStartValue" SG_ 1575 UTC_Month 0; +BA_ "GenSigStartValue" SG_ 1575 UTC_DayOfMonth 0; +BA_ "GenSigStartValue" SG_ 1575 UTC_Hour 0; +BA_ "GenSigStartValue" SG_ 1575 UTC_Minute 0; +BA_ "GenSigStartValue" SG_ 1575 UTC_Second 0; +BA_ "GenSigStartValue" SG_ 1584 Din1_Status 0; +BA_ "GenSigStartValue" SG_ 1584 Din2_Status 0; +BA_ "GenSigStartValue" SG_ 1584 Dout_Status 0; +BA_ "GenSigStartValue" SG_ 1584 SD_Present 0; +BA_ "GenSigStartValue" SG_ 1584 GPS_PowerStatus 0; +BA_ "GenSigStartValue" SG_ 1584 Device_ID 0; +BA_ "GenSigStartValue" SG_ 1600 RTC_Sec 0; +BA_ "GenSigStartValue" SG_ 1600 RTC_Min 0; +BA_ "GenSigStartValue" SG_ 1600 RTC_Hour 0; +BA_ "GenSigStartValue" SG_ 1600 RTC_DayOfWeek 0; +BA_ "GenSigStartValue" SG_ 1600 RTC_DayOfMonth 0; +BA_ "GenSigStartValue" SG_ 1600 RTC_Month 0; +BA_ "GenSigStartValue" SG_ 1600 RTC_Year 0; +BA_ "GenSigStartValue" SG_ 1616 Dout_Set 0; +BA_ "GenSigStartValue" SG_ 1616 GPS_SetPower 1; +BA_ "GenSigStartValue" SG_ 1617 Device_PowerOff 0; +BA_ "GenSigStartValue" SG_ 1618 Gyro_SetScale 0; +BA_ "GenSigStartValue" SG_ 1619 Acc_SetScale 1; +BA_ "GenSigStartValue" SG_ 1620 Config_SaveToEEPROM 0; +BA_ "GenSigStartValue" SG_ 1621 RTC_SetSec 0; +BA_ "GenSigStartValue" SG_ 1621 RTC_SetMin 0; +BA_ "GenSigStartValue" SG_ 1621 RTC_SetHour 0; +BA_ "GenSigStartValue" SG_ 1621 RTC_SetDayOfWeek 0; +BA_ "GenSigStartValue" SG_ 1621 RTC_SetDayOfMonth 0; +BA_ "GenSigStartValue" SG_ 1621 RTC_SetMonth 0; +BA_ "GenSigStartValue" SG_ 1621 RTC_SetYear 0; +BA_ "GenSigStartValue" SG_ 1622 RTC_SetTimeFromGPS 0; +BA_ "GenSigStartValue" SG_ 1623 Acc_SetCalibTarget_X 0; +BA_ "GenSigStartValue" SG_ 1623 Acc_SetCalibTarget_Y 0; +BA_ "GenSigStartValue" SG_ 1623 Acc_SetCalibTarget_Z 0; +BA_ "GenSigStartValue" SG_ 1623 Acc_StartFastCalib 0; +VAL_ 1536 VerticalAxis 0 "undefined" 1 "X Axis" 2 "Y Axis" 3 "Z Axis" ; +VAL_ 1536 Orientation 0 "flat" 1 "flat upside down" 2 "landscape left" 3 "landscape right" 4 "portrait" 5 "portrait upside down" ; +VAL_ 1568 GPS_AntennaStatus 0 "INIT" 1 "DONTKNOW" 2 "OK" 3 "SHORT" 4 "OPEN" ; +VAL_ 1568 GPS_NavigationMethod 0 "INIT" 1 "NONE" 2 "2D" 3 "3D" ; +VAL_ 1570 GPS_IndicatorEW 0 "INIT" 69 "East" 78 "North" 83 "South" 87 "West" ; +VAL_ 1571 GPS_IndicatorNS 0 "INIT" 69 "East" 78 "North" 83 "South" 87 "West" ; +VAL_ 1584 Din1_Status 0 "Off" 1 "On" ; +VAL_ 1584 Din2_Status 0 "Off" 1 "On" ; +VAL_ 1584 Dout_Status 0 "Off" 1 "On" ; +VAL_ 1584 SD_Present 0 "False" 1 "True" ; +VAL_ 1584 GPS_PowerStatus 0 "Off" 1 "On" ; +VAL_ 1600 RTC_DayOfWeek 0 "Monday" 1 "Tuesday" 2 "Wednesday" 3 "Thursday" 4 "Friday" 5 "Saturday" 6 "Sunday" ; +VAL_ 1616 Dout_Set 0 "Off" 1 "On" ; +VAL_ 1616 GPS_SetPower 0 "Off" 1 "On" ; +VAL_ 1617 Device_PowerOff 0 "False" 1 "True" ; +VAL_ 1618 Gyro_SetScale 0 "±250 °/s" 1 "±500 °/s" 2 "±2000 °/s" 3 "±2000 °/s" ; +VAL_ 1619 Acc_SetScale 1 "±2 G" 2 "±4 G" 3 "±8 G" 4 "±16 G" ; +VAL_ 1620 Config_SaveToEEPROM 0 "False" 1 "True" ; +VAL_ 1621 RTC_SetDayOfWeek 0 "Monday" 1 "Tuesday" 2 "Wednesday" 3 "Thursday" 4 "Friday" 5 "Saturday" 6 "Sunday" ; +VAL_ 1621 RTC_SetMonth 1 "January" 2 "February" 3 "March" 4 "April" 5 "May" 6 "June" 7 "July" 8 "August" 9 "September" 10 "October" 11 "November" 12 "December" ; +VAL_ 1622 RTC_SetTimeFromGPS 0 "False" 1 "True" ; +VAL_ 1623 Acc_SetCalibTarget_X 0 "0 G" 1 "+1 G" 2 "-1 G" ; +VAL_ 1623 Acc_SetCalibTarget_Y 0 "0 G" 1 "+1 G" 2 "-1 G" ; +VAL_ 1623 Acc_SetCalibTarget_Z 0 "0 G" 1 "+1 G" 2 "-1 G" ; +VAL_ 1623 Acc_StartFastCalib 0 "False" 1 "True" ; +SIG_VALTYPE_ 1552 Rotation_X : 1; +SIG_VALTYPE_ 1552 Rotation_Y : 1; +SIG_VALTYPE_ 1553 Rotation_Z : 1; +SIG_VALTYPE_ 1569 GPS_Course : 1; +SIG_VALTYPE_ 1569 GPS_Speed : 1; +SIG_VALTYPE_ 1570 GPS_Longitude_Minutes : 1; +SIG_VALTYPE_ 1571 GPS_Latitude_Minutes : 1; +SIG_VALTYPE_ 1572 GPS_Altitude : 1; +SIG_VALTYPE_ 1573 GPS_PDOP : 1; +SIG_VALTYPE_ 1573 GPS_HDOP : 1; +SIG_VALTYPE_ 1574 GPS_VDOP : 1; + diff --git a/Docs/PCAN-GPS for ADS-DV.dbf b/Docs/PCAN-GPS for ADS-DV.dbf new file mode 100644 index 0000000..4da4f02 --- /dev/null +++ b/Docs/PCAN-GPS for ADS-DV.dbf @@ -0,0 +1,397 @@ +//******************************BUSMASTER Messages and signals Database ******************************// + +[DATABASE_VERSION] 1.3 + +[PROTOCOL] CAN + +[BUSMASTER_VERSION] [3.2.2] +[NUMBER_OF_MESSAGES] 23 + +[START_MSG] AI2LOG_Dynamics2,1281,6,3,1,S,AI +[START_SIGNALS] Accel_longitudinal_mps2,16,1,0,I,32767,-32768,1,0,0.00195313,m/s^2,, +[START_SIGNALS] Accel_lateral_mps2,16,3,0,I,32767,-32768,1,0,0.00195313,m/s^2,, +[START_SIGNALS] Yaw_rate_degps,16,5,0,I,32767,-32768,1,0,0.0078125,deg/s,, +[END_MSG] + +[START_MSG] BMC_Acceleration,1536,8,6,1,S, +[START_SIGNALS] Acceleration_X,16,1,0,I,5115,-5115,1,0,3.91,mG,, +[START_SIGNALS] Acceleration_Y,16,3,0,I,5115,-5115,1,0,3.91,mG,, +[START_SIGNALS] Acceleration_Z,16,5,0,I,5115,-5115,1,0,3.91,mG,, +[START_SIGNALS] Temperature,8,7,0,I,127,-128,1,24,0.5,°C,, +[START_SIGNALS] VerticalAxis,2,8,0,U,3,0,1,0,1,,, +[VALUE_DESCRIPTION] "undefined",0 +[VALUE_DESCRIPTION] "X Axis",1 +[VALUE_DESCRIPTION] "Y Axis",2 +[VALUE_DESCRIPTION] "Z Axis",3 +[START_SIGNALS] Orientation,3,8,2,U,7,0,1,0,1,,, +[VALUE_DESCRIPTION] "flat",0 +[VALUE_DESCRIPTION] "flat upside down",1 +[VALUE_DESCRIPTION] "landscape left",2 +[VALUE_DESCRIPTION] "landscape right",3 +[VALUE_DESCRIPTION] "portrait",4 +[VALUE_DESCRIPTION] "portrait upside down",5 +[END_MSG] + +[START_MSG] BMC_MagneticField,1576,6,3,1,S, +[START_SIGNALS] MagneticField_X,16,1,0,I,32767,-32768,1,0,0.3,µT,, +[START_SIGNALS] MagneticField_Y,16,3,0,I,32767,-32768,1,0,0.3,µT,, +[START_SIGNALS] MagneticField_Z,16,5,0,I,32767,-32768,1,0,0.3,µT,, +[END_MSG] + +[START_MSG] L3GD20_Rotation_A,1552,8,2,1,S, +[START_SIGNALS] Rotation_X,32,1,0,F,4000,-4000,1,0,1,°/s,, +[START_SIGNALS] Rotation_Y,32,5,0,F,4000,-4000,1,0,1,°/s,, +[END_MSG] + +[START_MSG] L3GD20_Rotation_B,1553,4,1,1,S, +[START_SIGNALS] Rotation_Z,32,1,0,F,4000,-4000,1,0,1,°/s,, +[END_MSG] + +[START_MSG] GPS_Status,1568,3,3,1,S, +[START_SIGNALS] GPS_AntennaStatus,8,1,0,U,255,0,1,0,1,,, +[VALUE_DESCRIPTION] "INIT",0 +[VALUE_DESCRIPTION] "DONTKNOW",1 +[VALUE_DESCRIPTION] "OK",2 +[VALUE_DESCRIPTION] "SHORT",3 +[VALUE_DESCRIPTION] "OPEN",4 +[START_SIGNALS] GPS_NumSatellites,8,2,0,U,255,0,1,0,1,,, +[START_SIGNALS] GPS_NavigationMethod,8,3,0,U,255,0,1,0,1,,, +[VALUE_DESCRIPTION] "INIT",0 +[VALUE_DESCRIPTION] "NONE",1 +[VALUE_DESCRIPTION] "2D",2 +[VALUE_DESCRIPTION] "3D",3 +[END_MSG] + +[START_MSG] GPS_CourseSpeed,1569,8,2,1,S, +[START_SIGNALS] GPS_Course,32,1,0,F,3.4e+038,-3.4e+038,1,0,1,°,, +[START_SIGNALS] GPS_Speed,32,5,0,F,3.4e+038,-3.4e+038,1,0,1,km/h,, +[END_MSG] + +[START_MSG] GPS_PositionLongitude,1570,7,3,1,S, +[START_SIGNALS] GPS_Longitude_Degree,16,5,0,U,359,0,1,0,1,°,, +[START_SIGNALS] GPS_Longitude_Minutes,32,1,0,F,3.4e+038,-3.4e+038,1,0,1,',, +[START_SIGNALS] GPS_IndicatorEW,8,7,0,U,255,0,1,0,1,,, +[VALUE_DESCRIPTION] "INIT",0 +[VALUE_DESCRIPTION] "East",69 +[VALUE_DESCRIPTION] "North",78 +[VALUE_DESCRIPTION] "South",83 +[VALUE_DESCRIPTION] "West",87 +[END_MSG] + +[START_MSG] GPS_PositionLatitude,1571,7,3,1,S, +[START_SIGNALS] GPS_Latitude_Degree,16,5,0,U,359,0,1,0,1,°,, +[START_SIGNALS] GPS_Latitude_Minutes,32,1,0,F,3.4e+038,-3.4e+038,1,0,1,',, +[START_SIGNALS] GPS_IndicatorNS,8,7,0,U,255,0,1,0,1,,, +[VALUE_DESCRIPTION] "INIT",0 +[VALUE_DESCRIPTION] "East",69 +[VALUE_DESCRIPTION] "North",78 +[VALUE_DESCRIPTION] "South",83 +[VALUE_DESCRIPTION] "West",87 +[END_MSG] + +[START_MSG] GPS_PositionAltitude,1572,4,1,1,S, +[START_SIGNALS] GPS_Altitude,32,1,0,F,3.4e+038,-3.4e+038,1,0,1,m,, +[END_MSG] + +[START_MSG] GPS_Delusions_A,1573,8,2,1,S, +[START_SIGNALS] GPS_PDOP,32,1,0,F,3.4e+038,-3.4e+038,1,0,1,,, +[START_SIGNALS] GPS_HDOP,32,5,0,F,3.4e+038,-3.4e+038,1,0,1,,, +[END_MSG] + +[START_MSG] GPS_Delusions_B,1574,4,1,1,S, +[START_SIGNALS] GPS_VDOP,32,1,0,F,3.4e+038,-3.4e+038,1,0,1,,, +[END_MSG] + +[START_MSG] GPS_DateTime,1575,6,6,1,S, +[START_SIGNALS] UTC_Year,8,1,0,U,255,0,1,0,1,,, +[START_SIGNALS] UTC_Month,8,2,0,U,255,0,1,0,1,,, +[START_SIGNALS] UTC_DayOfMonth,8,3,0,U,255,0,1,0,1,,, +[START_SIGNALS] UTC_Hour,8,4,0,U,255,0,1,0,1,,, +[START_SIGNALS] UTC_Minute,8,5,0,U,255,0,1,0,1,,, +[START_SIGNALS] UTC_Second,8,6,0,U,255,0,1,0,1,,, +[END_MSG] + +[START_MSG] IO,1584,1,6,1,S, +[START_SIGNALS] Din1_Status,1,1,0,B,1,0,1,0,1,,, +[VALUE_DESCRIPTION] "Off",0 +[VALUE_DESCRIPTION] "On",1 +[START_SIGNALS] Din2_Status,1,1,1,B,1,0,1,0,1,,, +[VALUE_DESCRIPTION] "Off",0 +[VALUE_DESCRIPTION] "On",1 +[START_SIGNALS] Dout_Status,1,1,2,B,1,0,1,0,1,,, +[VALUE_DESCRIPTION] "Off",0 +[VALUE_DESCRIPTION] "On",1 +[START_SIGNALS] SD_Present,1,1,3,B,1,0,1,0,1,,, +[VALUE_DESCRIPTION] "False",0 +[VALUE_DESCRIPTION] "True",1 +[START_SIGNALS] GPS_PowerStatus,1,1,4,B,1,0,1,0,1,,, +[VALUE_DESCRIPTION] "Off",0 +[VALUE_DESCRIPTION] "On",1 +[START_SIGNALS] Device_ID,3,1,5,U,7,0,1,0,1,,, +[END_MSG] + +[START_MSG] RTC_DateTime,1600,8,7,1,S, +[START_SIGNALS] RTC_Sec,8,1,0,U,255,0,1,0,1,,, +[START_SIGNALS] RTC_Min,8,2,0,U,255,0,1,0,1,,, +[START_SIGNALS] RTC_Hour,8,3,0,U,255,0,1,0,1,,, +[START_SIGNALS] RTC_DayOfWeek,8,4,0,U,255,0,1,0,1,,, +[VALUE_DESCRIPTION] "Monday",0 +[VALUE_DESCRIPTION] "Tuesday",1 +[VALUE_DESCRIPTION] "Wednesday",2 +[VALUE_DESCRIPTION] "Thursday",3 +[VALUE_DESCRIPTION] "Friday",4 +[VALUE_DESCRIPTION] "Saturday",5 +[VALUE_DESCRIPTION] "Sunday",6 +[START_SIGNALS] RTC_DayOfMonth,8,5,0,U,255,0,1,0,1,,, +[START_SIGNALS] RTC_Month,8,6,0,U,255,0,1,0,1,,, +[START_SIGNALS] RTC_Year,16,7,0,U,65535,0,1,0,1,,, +[END_MSG] + +[START_MSG] Out_IO,1616,1,2,1,S, +[START_SIGNALS] Dout_Set,1,1,0,B,1,0,1,0,1,,, +[VALUE_DESCRIPTION] "Off",0 +[VALUE_DESCRIPTION] "On",1 +[START_SIGNALS] GPS_SetPower,1,1,1,B,1,0,1,0,1,,, +[VALUE_DESCRIPTION] "Off",0 +[VALUE_DESCRIPTION] "On",1 +[END_MSG] + +[START_MSG] Out_PowerOff,1617,1,1,1,S, +[START_SIGNALS] Device_PowerOff,1,1,0,B,1,0,1,0,1,,, +[VALUE_DESCRIPTION] "False",0 +[VALUE_DESCRIPTION] "True",1 +[END_MSG] + +[START_MSG] Out_Gyro,1618,1,1,1,S, +[START_SIGNALS] Gyro_SetScale,2,1,0,U,3,0,1,0,1,°/s,, +[VALUE_DESCRIPTION] "±250 °/s",0 +[VALUE_DESCRIPTION] "±500 °/s",1 +[VALUE_DESCRIPTION] "±2000 °/s",2 +[VALUE_DESCRIPTION] "±2000 °/s",3 +[END_MSG] + +[START_MSG] Out_BMC_AccScale,1619,1,1,1,S, +[START_SIGNALS] Acc_SetScale,3,1,0,U,7,0,1,0,1,,, +[VALUE_DESCRIPTION] "±2 G",1 +[VALUE_DESCRIPTION] "±4 G",2 +[VALUE_DESCRIPTION] "±8 G",3 +[VALUE_DESCRIPTION] "±16 G",4 +[END_MSG] + +[START_MSG] Out_SaveConfig,1620,1,1,1,S, +[START_SIGNALS] Config_SaveToEEPROM,1,1,0,B,1,0,1,0,1,,, +[VALUE_DESCRIPTION] "False",0 +[VALUE_DESCRIPTION] "True",1 +[END_MSG] + +[START_MSG] Out_RTC_SetTime,1621,8,7,1,S, +[START_SIGNALS] RTC_SetSec,8,1,0,U,59,0,1,0,1,,, +[START_SIGNALS] RTC_SetMin,8,2,0,U,59,0,1,0,1,,, +[START_SIGNALS] RTC_SetHour,8,3,0,U,23,0,1,0,1,,, +[START_SIGNALS] RTC_SetDayOfWeek,8,4,0,U,6,0,1,0,1,,, +[VALUE_DESCRIPTION] "Monday",0 +[VALUE_DESCRIPTION] "Tuesday",1 +[VALUE_DESCRIPTION] "Wednesday",2 +[VALUE_DESCRIPTION] "Thursday",3 +[VALUE_DESCRIPTION] "Friday",4 +[VALUE_DESCRIPTION] "Saturday",5 +[VALUE_DESCRIPTION] "Sunday",6 +[START_SIGNALS] RTC_SetDayOfMonth,8,5,0,U,31,1,1,0,1,,, +[START_SIGNALS] RTC_SetMonth,8,6,0,U,12,1,1,0,1,,, +[VALUE_DESCRIPTION] "January",1 +[VALUE_DESCRIPTION] "February",2 +[VALUE_DESCRIPTION] "March",3 +[VALUE_DESCRIPTION] "April",4 +[VALUE_DESCRIPTION] "May",5 +[VALUE_DESCRIPTION] "June",6 +[VALUE_DESCRIPTION] "July",7 +[VALUE_DESCRIPTION] "August",8 +[VALUE_DESCRIPTION] "September",9 +[VALUE_DESCRIPTION] "October",10 +[VALUE_DESCRIPTION] "November",11 +[VALUE_DESCRIPTION] "December",12 +[START_SIGNALS] RTC_SetYear,16,7,0,U,2099,1900,1,0,1,,, +[END_MSG] + +[START_MSG] Out_RTC_TimeFromGPS,1622,1,1,1,S, +[START_SIGNALS] RTC_SetTimeFromGPS,1,1,0,B,1,0,1,0,1,,, +[VALUE_DESCRIPTION] "False",0 +[VALUE_DESCRIPTION] "True",1 +[END_MSG] + +[START_MSG] Out_Acc_FastCalibration,1623,4,4,1,S, +[START_SIGNALS] Acc_SetCalibTarget_X,2,1,0,U,3,0,1,0,1,,, +[VALUE_DESCRIPTION] "0 G",0 +[VALUE_DESCRIPTION] "+1 G",1 +[VALUE_DESCRIPTION] "-1 G",2 +[START_SIGNALS] Acc_SetCalibTarget_Y,2,2,0,U,3,0,1,0,1,,, +[VALUE_DESCRIPTION] "0 G",0 +[VALUE_DESCRIPTION] "+1 G",1 +[VALUE_DESCRIPTION] "-1 G",2 +[START_SIGNALS] Acc_SetCalibTarget_Z,2,3,0,U,3,0,1,0,1,,, +[VALUE_DESCRIPTION] "0 G",0 +[VALUE_DESCRIPTION] "+1 G",1 +[VALUE_DESCRIPTION] "-1 G",2 +[START_SIGNALS] Acc_StartFastCalib,1,4,0,B,1,0,1,0,1,,, +[VALUE_DESCRIPTION] "False",0 +[VALUE_DESCRIPTION] "True",1 +[END_MSG] + +[START_VALUE_TABLE] +[END_VALUE_TABLE] + +[NODE] AI + +[START_DESC] +[START_DESC_NET] +[END_DESC_NET] + +[START_DESC_NODE] +[END_DESC_NODE] + +[START_DESC_MSG] +[END_DESC_MSG] + +[START_DESC_SIG] +1620 S Config_SaveToEEPROM "Saves sensor ranges and calibration targets to EERPOM to restore them after startup"; +1622 S RTC_SetTimeFromGPS "Note: GPS time does not know the day of week!"; +[END_DESC_SIG] +[END_DESC] + +[START_PARAM] +[START_PARAM_NET] +"BusType",STRING,"CAN" +[END_PARAM_NET] + +[START_PARAM_NODE] +[END_PARAM_NODE] + +[START_PARAM_MSG] +[END_PARAM_MSG] + +[START_PARAM_SIG] +"GenSigStartValue",FLOAT,1.17549e-038,1.17549e-038,3.4e+038 +[END_PARAM_SIG] + +[START_PARAM_NODE_RX_SIG] +[END_PARAM_NODE_RX_SIG] + +[START_PARAM_NODE_TX_MSG] +[END_PARAM_NODE_TX_MSG] +[END_PARAM] + +[START_PARAM_VAL] +[START_PARAM_NET_VAL] +"BusType","CAN" +[END_PARAM_NET_VAL] + +[START_PARAM_NODE_VAL] +[END_PARAM_NODE_VAL] + +[START_PARAM_MSG_VAL] +[END_PARAM_MSG_VAL] + +[START_PARAM_SIG_VAL] +1536,S,Acceleration_X,"GenSigStartValue",0 +1536,S,Acceleration_Y,"GenSigStartValue",0 +1536,S,Acceleration_Z,"GenSigStartValue",0 +1536,S,Temperature,"GenSigStartValue",-48 +1536,S,VerticalAxis,"GenSigStartValue",0 +1536,S,Orientation,"GenSigStartValue",0 +1576,S,MagneticField_X,"GenSigStartValue",0 +1576,S,MagneticField_Y,"GenSigStartValue",0 +1576,S,MagneticField_Z,"GenSigStartValue",0 +1552,S,Rotation_X,"GenSigStartValue",0 +1552,S,Rotation_Y,"GenSigStartValue",0 +1553,S,Rotation_Z,"GenSigStartValue",0 +1568,S,GPS_AntennaStatus,"GenSigStartValue",0 +1568,S,GPS_NumSatellites,"GenSigStartValue",0 +1568,S,GPS_NavigationMethod,"GenSigStartValue",0 +1569,S,GPS_Course,"GenSigStartValue",0 +1569,S,GPS_Speed,"GenSigStartValue",0 +1570,S,GPS_Longitude_Degree,"GenSigStartValue",0 +1570,S,GPS_Longitude_Minutes,"GenSigStartValue",0 +1570,S,GPS_IndicatorEW,"GenSigStartValue",0 +1571,S,GPS_Latitude_Degree,"GenSigStartValue",0 +1571,S,GPS_Latitude_Minutes,"GenSigStartValue",0 +1571,S,GPS_IndicatorNS,"GenSigStartValue",0 +1572,S,GPS_Altitude,"GenSigStartValue",0 +1573,S,GPS_PDOP,"GenSigStartValue",0 +1573,S,GPS_HDOP,"GenSigStartValue",0 +1574,S,GPS_VDOP,"GenSigStartValue",0 +1575,S,UTC_Year,"GenSigStartValue",0 +1575,S,UTC_Month,"GenSigStartValue",0 +1575,S,UTC_DayOfMonth,"GenSigStartValue",0 +1575,S,UTC_Hour,"GenSigStartValue",0 +1575,S,UTC_Minute,"GenSigStartValue",0 +1575,S,UTC_Second,"GenSigStartValue",0 +1584,S,Din1_Status,"GenSigStartValue",0 +1584,S,Din2_Status,"GenSigStartValue",0 +1584,S,Dout_Status,"GenSigStartValue",0 +1584,S,SD_Present,"GenSigStartValue",0 +1584,S,GPS_PowerStatus,"GenSigStartValue",0 +1584,S,Device_ID,"GenSigStartValue",0 +1600,S,RTC_Sec,"GenSigStartValue",0 +1600,S,RTC_Min,"GenSigStartValue",0 +1600,S,RTC_Hour,"GenSigStartValue",0 +1600,S,RTC_DayOfWeek,"GenSigStartValue",0 +1600,S,RTC_DayOfMonth,"GenSigStartValue",0 +1600,S,RTC_Month,"GenSigStartValue",0 +1600,S,RTC_Year,"GenSigStartValue",0 +1616,S,Dout_Set,"GenSigStartValue",0 +1616,S,GPS_SetPower,"GenSigStartValue",1 +1617,S,Device_PowerOff,"GenSigStartValue",0 +1618,S,Gyro_SetScale,"GenSigStartValue",0 +1619,S,Acc_SetScale,"GenSigStartValue",1 +1620,S,Config_SaveToEEPROM,"GenSigStartValue",0 +1621,S,RTC_SetSec,"GenSigStartValue",0 +1621,S,RTC_SetMin,"GenSigStartValue",0 +1621,S,RTC_SetHour,"GenSigStartValue",0 +1621,S,RTC_SetDayOfWeek,"GenSigStartValue",0 +1621,S,RTC_SetDayOfMonth,"GenSigStartValue",0 +1621,S,RTC_SetMonth,"GenSigStartValue",0 +1621,S,RTC_SetYear,"GenSigStartValue",0 +1622,S,RTC_SetTimeFromGPS,"GenSigStartValue",0 +1623,S,Acc_SetCalibTarget_X,"GenSigStartValue",0 +1623,S,Acc_SetCalibTarget_Y,"GenSigStartValue",0 +1623,S,Acc_SetCalibTarget_Z,"GenSigStartValue",0 +1623,S,Acc_StartFastCalib,"GenSigStartValue",0 +[END_PARAM_SIG_VAL] + +[END_PARAM_VAL] + + +[START_NOT_SUPPORTED] +[END_NOT_SUPPORTED] + +[START_NOT_PROCESSED] + PZ_ + ON_QRS_ + ON_ + INY_ + PNG_QRS_ + PNG_ + SVYGRE + ON_QRS_QRS_ + RI_QNGN_ + RAIINE_QNGN_ + FTGLCR_ + FTGLCR_INY_ + ON_QRS_FTGLCR_ + ON_FTGLCR_ + FVT_GLCR_ERS_ + INY_GNOYR_ + FVT_TEBHC_ + FVT_INYGLCR_ + FVTGLCR_INYGLCR_ + OB_GK_OH_ + ON_QRS_ERY_ + ON_ERY_ + ON_QRS_QRS_ERY_ + OH_FT_ERY_ + OH_RI_ERY_ + OH_OB_ERY_ + FT_ZHY_INY_ +OF_: + +[END_NOT_PROCESSED] diff --git a/FS-AI_API/fs-ai_api.c b/FS-AI_API/fs-ai_api.c index 46735c3..008744e 100644 --- a/FS-AI_API/fs-ai_api.c +++ b/FS-AI_API/fs-ai_api.c @@ -89,7 +89,7 @@ static pthread_mutex_t can_read_mutex = PTHREAD_MUTEX_INITIALIZER; static struct timespec last_set, this_set; // tx frames -static struct can_frame AI2LOG_Dynamics2 = {0x501,6}; +// static struct can_frame AI2LOG_Dynamics2 = {0x501,6}; // now sent by PCAN-GPS static struct can_frame AI2VCU_Status = {0x510,8}; static struct can_frame AI2VCU_Drive_F = {0x511,8}; static struct can_frame AI2VCU_Drive_R = {0x512,8}; @@ -803,15 +803,16 @@ void fs_ai_api_ai2vcu_set_data(fs_ai_api_ai2vcu *data) { // load the CAN frames with the validated data volatile pack_16_t temp; - temp.sword = (int16_t)((512.0f)*((9.80665f*0.001f*(float)IMU_Acceleration_X_mG))); - AI2LOG_Dynamics2.data[0] = temp.bytes[0]; - AI2LOG_Dynamics2.data[1] = temp.bytes[1]; - temp.sword = (int16_t)((512.0f)*((9.80665f*0.001f*(float)IMU_Acceleration_Y_mG))); - AI2LOG_Dynamics2.data[2] = temp.bytes[0]; - AI2LOG_Dynamics2.data[3] = temp.bytes[1]; - temp.sword = (int16_t)((128.0f)*((float)IMU_Rotation_Z_degps)); - AI2LOG_Dynamics2.data[4] = temp.bytes[0]; - AI2LOG_Dynamics2.data[5] = temp.bytes[1]; + // frame now sent by PCAN-GPS + // temp.sword = (int16_t)((512.0f)*((9.80665f*0.001f*(float)IMU_Acceleration_X_mG))); + // AI2LOG_Dynamics2.data[0] = temp.bytes[0]; + // AI2LOG_Dynamics2.data[1] = temp.bytes[1]; + // temp.sword = (int16_t)((512.0f)*((9.80665f*0.001f*(float)IMU_Acceleration_Y_mG))); + // AI2LOG_Dynamics2.data[2] = temp.bytes[0]; + // AI2LOG_Dynamics2.data[3] = temp.bytes[1]; + // temp.sword = (int16_t)((128.0f)*((float)IMU_Rotation_Z_degps)); + // AI2LOG_Dynamics2.data[4] = temp.bytes[0]; + // AI2LOG_Dynamics2.data[5] = temp.bytes[1]; AI2VCU_Status.data[0] = (uint8_t)(AI2VCU_HANDSHAKE_BIT & 0x01); AI2VCU_Status.data[1] = (uint8_t)(((AI2VCU_DIRECTION_REQUEST & 0x03) << 6) + ((AI2VCU_MISSION_STATUS & 0x03) << 4) + (AI2VCU_ESTOP_REQUEST & 0x01)); @@ -870,7 +871,7 @@ void fs_ai_api_ai2vcu_set_data(fs_ai_api_ai2vcu *data) { if(interval_ns > 4000000) // enforce maximum call rate of approx. 4ms { // send the CAN frames - can_send(&AI2LOG_Dynamics2); + // can_send(&AI2LOG_Dynamics2); // now sent by PCAN-GPS can_send(&AI2VCU_Status); can_send(&AI2VCU_Drive_F); can_send(&AI2VCU_Drive_R); diff --git a/setup.sh b/setup.sh index fbe9438..435ab37 100755 --- a/setup.sh +++ b/setup.sh @@ -10,8 +10,7 @@ # can0 hardware at 500kbps -sudo ip link set can0 type can bitrate 500000 -sudo ip link set can0 up +sudo ip link set up can0 type can bitrate 500000 # vcan0 for testing without hardware sudo ip link add dev vcan0 type vcan