apollo::canbus::lincoln::Steering65类 参考

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

#include <steering_65.h>

类 apollo::canbus::lincoln::Steering65 继承关系图:

apollo::canbus::lincoln::Steering65 的协作图:

Public 成员函数
virtual void	Parse (const std::uint8_t *bytes, int32_t length, Lincoln *chassis_detail) const
virtual void	Parse (const std::uint8_t *bytes, int32_t length, const struct timeval &timestamp, Lincoln *chassis_detail) const
double	steering_angle (const std::uint8_t *bytes, int32_t length) const
	calculate steering angle based on byte array.
double	reported_steering_angle_cmd (const std::uint8_t *bytes, int32_t length) const
	calculate reported steering angle command based on byte array.
double	vehicle_speed (const std::uint8_t *bytes, int32_t length) const
	calculate vehicle speed based on byte array.
double	epas_torque (const std::uint8_t *bytes, int32_t length) const
	calculate epas torque based on byte array.
bool	is_enabled (const std::uint8_t *bytes, int32_t length) const
	check enabled bit based on byte array.
bool	is_driver_override (const std::uint8_t *bytes, int32_t length) const
	check driver override bit based on byte array.
bool	is_driver_activity (const std::uint8_t *bytes, int32_t length) const
	check driver activity bit based on byte array.
bool	is_watchdog_counter_fault (const std::uint8_t *bytes, int32_t length) const
	check watchdog counter fault based on byte array.
bool	is_channel_1_fault (const std::uint8_t *bytes, int32_t length) const
	check channel 1 fault bit based on byte array.
bool	is_channel_2_fault (const std::uint8_t *bytes, int32_t length) const
	check channel 2 fault bit based on byte array.
bool	is_calibration_fault (const std::uint8_t *bytes, int32_t length) const
	check calibration fault bit based on byte array.
bool	is_connector_fault (const std::uint8_t *bytes, int32_t length) const
	check connector fault bit 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 = 0x65

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 steering_65.h 第 42 行定义.

成员函数说明

epas_torque()

double apollo::canbus::lincoln::Steering65::epas_torque	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

calculate epas torque based on byte array.

config detail: {'name': 'torque', 'offset': 0.0, 'precision': 0.0625, 'len': 8, 'f_type': 'value', 'is_signed_var': True, 'physical_range': '[0|0]', 'bit': 48, 'type': 'double', 'order': 'intel', 'physical_unit': '"Nm"'}

参数

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

返回

the value of epas torque

在文件 steering_65.cc 第 117 行定义.

                                                     {
  Byte frame(bytes + 6);
  int32_t x = frame.get_byte(0, 8);
  if (x > 0x7F) {
    x -= 0x100;
  }
  return x * 0.062500;
}

is_calibration_fault()

bool apollo::canbus::lincoln::Steering65::is_calibration_fault	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

check calibration fault bit based on byte array.

config detail: {'name': 'fltcal', 'offset': 0.0, 'precision': 1.0, 'len': 1, 'f_type': 'valid', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 62, 'type': 'bool', 'order': 'intel', 'physical_unit': '""'}

参数

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

返回

the boolean value of calibration fault bit

在文件 steering_65.cc 第 163 行定义.

                                                            {
  Byte frame(bytes + 7);
  return frame.is_bit_1(6);
}

is_channel_1_fault()

bool apollo::canbus::lincoln::Steering65::is_channel_1_fault	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

check channel 1 fault bit based on byte array.

config detail: {'name': 'flt1', 'offset': 0.0, 'precision': 1.0, 'len': 1, 'f_type': 'valid', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 60, 'type': 'bool', 'order': 'intel', 'physical_unit': '""'}

参数

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

返回

the boolean value of steering angle

在文件 steering_65.cc 第 151 行定义.

                                                          {
  Byte frame(bytes + 7);
  return frame.is_bit_1(4);
}

is_channel_2_fault()

bool apollo::canbus::lincoln::Steering65::is_channel_2_fault	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

check channel 2 fault bit based on byte array.

config detail: {'name': 'flt2', 'offset': 0.0, 'precision': 1.0, 'len': 1, 'f_type': 'valid', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 61, 'type': 'bool', 'order': 'intel', 'physical_unit': '""'}

参数

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

返回

the boolean value of channel 2 fault bit

在文件 steering_65.cc 第 157 行定义.

                                                          {
  Byte frame(bytes + 7);
  return frame.is_bit_1(5);
}

is_connector_fault()

bool apollo::canbus::lincoln::Steering65::is_connector_fault	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

check connector fault bit based on byte array.

config detail: {'name': 'fltcon', 'offset': 0.0, 'precision': 1.0, 'len': 1, 'f_type': 'valid', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 63, 'type': 'bool', 'order': 'intel', 'physical_unit': '""'}

参数

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

返回

the boolean value of connector fault bit

在文件 steering_65.cc 第 169 行定义.

                                                          {
  Byte frame(bytes + 7);
  return frame.is_bit_1(7);
}

is_driver_activity()

bool apollo::canbus::lincoln::Steering65::is_driver_activity	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

check driver activity bit based on byte array.

config detail: {'name': 'driver', 'offset': 0.0, 'precision': 1.0, 'len': 1, 'f_type': 'valid', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 58, 'type': 'bool', 'order': 'intel', 'physical_unit': '""'}

参数

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

返回

the boolean value of driver activity

在文件 steering_65.cc 第 139 行定义.

                                                          {
  Byte frame(bytes + 7);
  return frame.is_bit_1(2);
}

is_driver_override()

bool apollo::canbus::lincoln::Steering65::is_driver_override	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

check driver override bit based on byte array.

config detail: {'name': 'override', 'offset': 0.0, 'precision': 1.0, 'len': 1, 'f_type': 'valid', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 57, 'type': 'bool', 'order': 'intel', 'physical_unit': '""'}

参数

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

返回

the boolean value of driver override

在文件 steering_65.cc 第 132 行定义.

                                                          {
  // Cleared on rising edge of EN bit in command message
  Byte frame(bytes + 7);
  return frame.is_bit_1(1);
}

is_enabled()

bool apollo::canbus::lincoln::Steering65::is_enabled	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

check enabled bit based on byte array.

config detail: {'name': 'en', 'offset': 0.0, 'precision': 1.0, 'len': 1, 'f_type': 'valid', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 56, 'type': 'bool', 'order': 'intel', 'physical_unit': '""'}

参数

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

返回

the boolean value of enabled bit

在文件 steering_65.cc 第 127 行定义.

                                                                         {
  Byte frame(bytes + 7);
  return frame.is_bit_1(0);
}

is_watchdog_counter_fault()

bool apollo::canbus::lincoln::Steering65::is_watchdog_counter_fault	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

check watchdog counter fault based on byte array.

config detail: {'name': 'fltwdc', 'offset': 0.0, 'precision': 1.0, 'len': 1, 'f_type': 'valid', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 59, 'type': 'bool', 'order': 'intel', 'physical_unit': '""'}

参数

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

返回

the boolean value of watchdog counter fault

在文件 steering_65.cc 第 145 行定义.

                                                                 {
  Byte frame(bytes + 7);
  return frame.is_bit_1(3);
}

Parse() [1/2]

void apollo::canbus::lincoln::Steering65::Parse ( const std::uint8_t *  bytes, int32_t  length, const struct timeval &  timestamp, Lincoln *  chassis_detail  ) const

virtual

在文件 steering_65.cc 第 70 行定义.

                                                      {
  chassis_detail->mutable_eps()->set_timestamp_65(
      static_cast<double>(timestamp.tv_sec) +
      static_cast<double>(timestamp.tv_usec) / 1000000.0);
  Parse(bytes, length, chassis_detail);
}

Parse() [2/2]

void apollo::canbus::lincoln::Steering65::Parse ( const std::uint8_t *  bytes, int32_t  length, Lincoln *  chassis_detail  ) const

virtual

在文件 steering_65.cc 第 29 行定义.

                                                      {
  chassis_detail->mutable_eps()->set_steering_angle(
      steering_angle(bytes, length));
  // no steering angle speed
 
  chassis_detail->mutable_eps()->set_steering_angle_cmd(
      reported_steering_angle_cmd(bytes, length));
  // ?
  chassis_detail->mutable_eps()->set_is_steering_angle_valid(true);
  // vehicle speed from steering, kph -> mps
  chassis_detail->mutable_eps()->set_vehicle_speed(
      vehicle_speed(bytes, length) / 3.6);
 
  // speed, as it has a higher accuracy
  // kph -> mps
  chassis_detail->mutable_vehicle_spd()->set_vehicle_spd(
      vehicle_speed(bytes, length) / 3.6);
  chassis_detail->mutable_vehicle_spd()->set_is_vehicle_spd_valid(true);
 
  chassis_detail->mutable_eps()->set_epas_torque(epas_torque(bytes, length));
  chassis_detail->mutable_eps()->set_steering_enabled(
      is_enabled(bytes, length));
  chassis_detail->mutable_eps()->set_driver_override(
      is_driver_override(bytes, length));
  chassis_detail->mutable_eps()->set_driver_activity(
      is_driver_activity(bytes, length));
  chassis_detail->mutable_eps()->set_watchdog_fault(
      is_watchdog_counter_fault(bytes, length));
  chassis_detail->mutable_eps()->set_channel_1_fault(
      is_channel_1_fault(bytes, length));
  chassis_detail->mutable_eps()->set_channel_2_fault(
      is_channel_2_fault(bytes, length));
  chassis_detail->mutable_eps()->set_calibration_fault(
      is_calibration_fault(bytes, length));
  chassis_detail->mutable_eps()->set_connector_fault(
      is_connector_fault(bytes, length));
  chassis_detail->mutable_check_response()->set_is_eps_online(
      !is_driver_override(bytes, length));
}

reported_steering_angle_cmd()

double apollo::canbus::lincoln::Steering65::reported_steering_angle_cmd	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

calculate reported steering angle command based on byte array.

config detail: {'name': 'cmd', 'offset': 0.0, 'precision': 0.1, 'len': 16, 'f_type': 'value', 'is_signed_var': True, 'physical_range': '[-470|470]', 'bit': 16, 'type': 'double', 'order': 'intel', 'physical_unit': '"degrees"'}

参数

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

返回

the value of reported steering angle command

在文件 steering_65.cc 第 93 行定义.

                                                                     {
  Byte frame_high(bytes + 3);
  int32_t high = frame_high.get_byte(0, 8);
  Byte frame_low(bytes + 2);
  int32_t low = frame_low.get_byte(0, 8);
  int32_t value = (high << 8) | low;
  if (value > 0x8000) {
    value = value - 0x10000;
  }
 
  return value * 0.100000;
}

steering_angle()

double apollo::canbus::lincoln::Steering65::steering_angle	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

calculate steering angle based on byte array.

config detail: {'name': 'angle', 'offset': 0.0, 'precision': 0.1, 'len': 16, 'f_type': 'value', 'is_signed_var': True, 'physical_range': '[-470|470]', 'bit': 0, 'type': 'double', 'order': 'intel', 'physical_unit': '"degrees"'}

参数

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

返回

the value of steering angle

在文件 steering_65.cc 第 79 行定义.

                                                        {
  Byte frame_high(bytes + 1);
  int32_t high = frame_high.get_byte(0, 8);
  Byte frame_low(bytes + 0);
  int32_t low = frame_low.get_byte(0, 8);
  int32_t value = (high << 8) | low;
  if (value > 0x8000) {
    value = value - 0x10000;
  }
 
  return value * 0.100000;
}

vehicle_speed()

double apollo::canbus::lincoln::Steering65::vehicle_speed	(	const std::uint8_t *	bytes,
		int32_t	length
	)		const

calculate vehicle speed based on byte array.

config detail: {'name': 'speed', 'offset': 0.0, 'precision': 0.01, 'len': 16, 'f_type': 'value', 'is_signed_var': False, 'physical_range': '[0|0]', 'bit': 32, 'type': 'double', 'order': 'intel', 'physical_unit': '"kph"'}

参数

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

返回

the value of vehicle speed

在文件 steering_65.cc 第 107 行定义.

                                                       {
  Byte frame_high(bytes + 5);
  int32_t high = frame_high.get_byte(0, 8);
  Byte frame_low(bytes + 4);
  int32_t low = frame_low.get_byte(0, 8);
  int32_t value = (high << 8) | low;
  return value * 0.010000;
}

类成员变量说明

ID

const int32_t apollo::canbus::lincoln::Steering65::ID = 0x65

static

在文件 steering_65.h 第 45 行定义.

---

该类的文档由以下文件生成:

• modules/canbus_vehicle/lincoln/protocol/steering_65.h
• modules/canbus_vehicle/lincoln/protocol/steering_65.cc