25using ::apollo::drivers::canbus::Byte;
34 static const uint32_t PERIOD = 20 * 1000;
39 set_p_ads_epsmode(data, ads_epsmode_);
40 set_p_ads_reqepstargetangle(data, ads_reqepstargetangle_);
46 ads_reqepstargetangle_ = 0.0;
51 ads_epsmode_ = ads_epsmode;
59void Adseps113::set_p_ads_epsmode(uint8_t* data,
63 Byte to_set(data + 0);
64 to_set.set_value(
static_cast<uint8_t
>(x), 6, 2);
68 ads_reqepstargetangle_ = ads_reqepstargetangle;
76void Adseps113::set_p_ads_reqepstargetangle(uint8_t* data,
77 double ads_reqepstargetangle) {
78 ads_reqepstargetangle =
79 ProtocolData::BoundedValue(-800.0, 838.3, ads_reqepstargetangle);
80 int x =
static_cast<int>((ads_reqepstargetangle - -800.000000) / 0.100000);
83 t =
static_cast<uint8_t
>(x & 0x3F);
84 Byte to_set0(data + 2);
85 to_set0.set_value(t, 2, 6);
88 t =
static_cast<uint8_t
>(x & 0xFF);
89 Byte to_set1(data + 1);
90 to_set1.set_value(t, 0, 8);
Adseps113 * set_ads_epsmode(Ads_eps_113::Ads_epsmodeType ads_epsmode)
void UpdateData(uint8_t *data) override
Adseps113 * set_ads_reqepstargetangle(double ads_reqepstargetangle)
uint32_t GetPeriod() const override