Apollo 10.0
自动驾驶开放平台
scu_vcu_2_313.h
浏览该文件的文档.
1/******************************************************************************
2 * Copyright 2019 The Apollo Authors. All Rights Reserved.
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *****************************************************************************/
16
17#pragma once
18
19#include "modules/canbus_vehicle/ge3/proto/ge3.pb.h"
21
22namespace apollo {
23namespace canbus {
24namespace ge3 {
25
27 ::apollo::canbus::Ge3> {
28 public:
29 static const int32_t ID;
30 Scuvcu2313();
31 void Parse(const std::uint8_t* bytes, int32_t length,
32 Ge3* chassis) const override;
33
34 private:
35 // config detail: {'description': 'Max positive torque', 'offset': 0.0,
36 // 'precision': 1.5, 'len': 11, 'name': 'VCU_TorqPosMax', 'is_signed_var':
37 // False, 'physical_range': '[0|3000]', 'bit': 55, 'type': 'double', 'order':
38 // 'motorola', 'physical_unit': 'Nm'}
39 double vcu_torqposmax(const std::uint8_t* bytes, const int32_t length) const;
40
41 // config detail: {'description': 'Max negative torque', 'offset': -3000.0,
42 // 'precision': 1.5, 'len': 11, 'name': 'VCU_TorqNegMax', 'is_signed_var':
43 // False, 'physical_range': '[-3000|0]', 'bit': 39, 'type': 'double', 'order':
44 // 'motorola', 'physical_unit': 'Nm'}
45 double vcu_torqnegmax(const std::uint8_t* bytes, const int32_t length) const;
46
47 // config detail: {'description': 'Actual torque', 'offset': -3000.0,
48 // 'precision': 1.5, 'len': 12, 'name': 'VCU_TorqAct', 'is_signed_var': False,
49 // 'physical_range': '[-3000|3000]', 'bit': 23, 'type': 'double', 'order':
50 // 'motorola', 'physical_unit': 'Nm'}
51 double vcu_torqact(const std::uint8_t* bytes, const int32_t length) const;
52
53 // config detail: {'description': 'Engine speed', 'offset': 0.0,
54 // 'precision': 1.0, 'len': 16, 'name': 'VCU_EngSpd', 'is_signed_var': False,
55 // 'physical_range': '[0|65535]', 'bit': 7, 'type': 'int', 'order':
56 // 'motorola', 'physical_unit': 'rpm'}
57 int vcu_engspd(const std::uint8_t* bytes, const int32_t length) const;
58};
59
60} // namespace ge3
61} // namespace canbus
62} // namespace apollo
void Parse(const std::uint8_t *bytes, int32_t length, Ge3 *chassis) const override
This is the base class of protocol data.
class register implement
Definition arena_queue.h:37
The class of ProtocolData