one of the protocol data of lincoln vehicle 更多...

#include <gyro_6c.h>

类 apollo::canbus::lincoln::Gyro6c 继承关系图:

apollo::canbus::lincoln::Gyro6c 的协作图:

Public 成员函数
virtual void	Parse (const std::uint8_t bytes, int32_t length, Lincoln chassis_detail) const

double	roll_rate (const std::uint8_t *bytes, int32_t length) const
	calculate the roll rate based on byte array.

double	yaw_rate (const std::uint8_t *bytes, int32_t length) const
	calculate longitudinal_acceleration based on byte array.

Public 成员函数继承自 apollo::drivers::canbus::ProtocolData< ::apollo::canbus::Lincoln >
	ProtocolData ()=default
	construct protocol data.

virtual	~ProtocolData ()=default
	destruct protocol data.

virtual uint32_t	GetPeriod () const

virtual int32_t	GetLength () const

virtual void	Parse (const uint8_t bytes, int32_t length, ::apollo::canbus::Lincoln sensor_data) const

virtual void	UpdateData (uint8_t *data)

virtual void	UpdateData_Heartbeat (uint8_t *data)

virtual void	Reset ()

静态 Public 属性
static const int32_t	ID = 0x6C

额外继承的成员函数
静态 Public 成员函数继承自 apollo::drivers::canbus::ProtocolData< ::apollo::canbus::Lincoln >
static std::uint8_t	CalculateCheckSum (const uint8_t *input, const uint32_t length)
	static function, used to calculate the checksum of input array.

static T	BoundedValue (T lower, T upper, T val)

详细描述

one of the protocol data of lincoln vehicle

在文件 gyro_6c.h 第 40 行定义.

成员函数说明

◆ Parse()

void apollo::canbus::lincoln::Gyro6c::Parse	(	const std::uint8_t *	bytes,
		int32_t	length,
		Lincoln *	chassis_detail
	)		const

virtual

在文件 gyro_6c.cc 第 29 行定义.

                                                  {
  chassis_detail->mutable_vehicle_spd()->set_roll_rate(
      roll_rate(bytes, length));
  chassis_detail->mutable_vehicle_spd()->set_yaw_rate(yaw_rate(bytes, length));
  // why
  chassis_detail->mutable_vehicle_spd()->set_is_yaw_rate_valid(true);
}

◆ roll_rate()

double apollo::canbus::lincoln::Gyro6c::roll_rate	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

calculate the roll rate based on byte array.

config detail: {'name': 'roll', 'offset': 0.0, 'precision': 0.0002, 'len': 16, 'f_type': 'value', 'is_signed_var': True, 'physical_range': '[0|0]', 'bit': 0, 'type': 'double', 'order': 'intel', 'physical_unit': '"rad/s"'}

参数

bytes	a pointer to the byte array
length	the length of the byte array

返回: the value of roll rate

在文件 gyro_6c.cc 第 38 行定义.

                                                                      {
  Byte high_frame(bytes + 1);
  int32_t high = high_frame.get_byte(0, 8);
  Byte low_frame(bytes + 0);
  int32_t low = low_frame.get_byte(0, 8);
  int32_t value = (high << 8) | low;
  if (value > 0x7FFF) {
    value -= 0x10000;
  }
  return value * 0.000200;
}

◆ yaw_rate()

double apollo::canbus::lincoln::Gyro6c::yaw_rate	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

calculate longitudinal_acceleration based on byte array.

config detail: {'name': 'yaw', 'offset': 0.0, 'precision': 0.0002, 'len': 16, 'f_type': 'value', 'is_signed_var': True, 'physical_range': '[0|0]', 'bit': 16, 'type': 'double', 'order': 'intel', 'physical_unit': '"rad/s"'}

参数

bytes	a pointer to the byte array
length	the length of the byte array

返回: the value of yaw rate

在文件 gyro_6c.cc 第 50 行定义.

                                                                     {
  Byte high_frame(bytes + 3);
  int32_t high = high_frame.get_byte(0, 8);
  Byte low_frame(bytes + 2);
  int32_t low = low_frame.get_byte(0, 8);
  int32_t value = (high << 8) | low;
  if (value > 0x7FFF) {
    value -= 0x10000;
  }
  return value * 0.000200;
}

类成员变量说明

◆ ID

const int32_t apollo::canbus::lincoln::Gyro6c::ID = 0x6C

static

在文件 gyro_6c.h 第 43 行定义.

该类的文档由以下文件生成:

modules/canbus_vehicle/lincoln/protocol/gyro_6c.h
modules/canbus_vehicle/lincoln/protocol/gyro_6c.cc

Public 成员函数

静态 Public 属性