can_card_parameter.proto

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syntax = "proto2";
 
package apollo.drivers.canbus;
 
message CANCardParameter {
  enum CANCardBrand {
    FAKE_CAN = 0;
    ESD_CAN = 1;
    SOCKET_CAN_RAW = 2;
    HERMES_CAN = 3;
  }
 
  enum CANCardType {
    PCI_CARD = 0;
    USB_CARD = 1;
  }
 
  enum CANChannelId {
    CHANNEL_ID_ZERO = 0;
    CHANNEL_ID_ONE = 1;
    CHANNEL_ID_TWO = 2;
    CHANNEL_ID_THREE = 3;
    CHANNEL_ID_FOUR = 4;
    CHANNEL_ID_FIVE = 5;
    CHANNEL_ID_SIX = 6;
    CHANNEL_ID_SEVEN = 7;
  }
 
  enum CANInterface {
    NATIVE = 0;
    VIRTUAL = 1;
    SLCAN = 2;
  }
 
  enum HERMES_BAUDRATE {
    BCAN_BAUDRATE_1M = 0;
    BCAN_BAUDRATE_500K = 1;
    BCAN_BAUDRATE_250K = 2;
    BCAN_BAUDRATE_150K = 3;
    BCAN_BAUDRATE_NUM = 4;
  }
 
  // CAN卡驱动类型配置 | 根据所用的CAN卡硬件型号或驱动类型配置
  optional CANCardBrand brand = 1;
  // CAN卡硬件接口类型配置 | 根据所用的CAN卡硬件接口类型或驱动类型配置
  optional CANCardType type = 2;
  // CAN卡端口号配置 | 根据所连接的CAN卡端口号配置
  optional CANChannelId channel_id = 3;
  // CAN卡软件接口配置 | 默认配置为NATIVE
  optional CANInterface interface = 4;
  // CAN卡端口数量配置 | 默认数量为4，最多支持8个，默认可不配置
  optional uint32 num_ports = 5 [default = 4];
  // HERMES CAN卡波特率配置 | 只针对选择HERMES CAN卡时设置波特率，默认不配置
  optional HERMES_BAUDRATE hermes_baudrate = 6 [default = BCAN_BAUDRATE_500K];
}