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

#include <steering_65.h>

Inheritance diagram for apollo::canbus::lincoln::Steering65:

Collaboration diagram for apollo::canbus::lincoln::Steering65:

Public Member Functions
virtual void	Parse (const std::uint8_t bytes, int32_t length, ChassisDetail chassis_detail) const

virtual void	Parse (const std::uint8_t bytes, int32_t length, const struct timeval &timestamp, ChassisDetail chassis_detail) const

double	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"'} More...

double	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"'} More...

double	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"'} More...

double	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"'} More...

bool	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': '""'} More...

bool	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': '""'} More...

bool	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': '""'} More...

bool	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': '""'} More...

bool	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': '""'} More...

bool	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': '""'} More...

bool	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': '""'} More...

bool	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': '""'} More...

Public Member Functions inherited from apollo::drivers::canbus::ProtocolData< ::apollo::canbus::ChassisDetail >
	ProtocolData ()=default
	construct protocol data. More...

virtual	~ProtocolData ()=default
	destruct protocol data. More...

virtual uint32_t	GetPeriod () const

virtual int32_t	GetLength () const

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

virtual void	UpdateData (uint8_t *data)

virtual void	Reset ()

Static Public Attributes
static const int32_t	ID

Additional Inherited Members
Static Public Member Functions inherited from apollo::drivers::canbus::ProtocolData< ::apollo::canbus::ChassisDetail >
static std::uint8_t	CalculateCheckSum (const uint8_t *input, const uint32_t length)
	static function, used to calculate the checksum of input array. More...

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

Detailed Description

one of the protocol data of lincoln vehicle

Member Function Documentation

◆ 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"'}

Parameters

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

Returns: the value of epas torque

◆ 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': '""'}

Parameters

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

Returns: the boolean value of calibration fault bit

◆ 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': '""'}

Parameters

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

Returns: the boolean value of steering angle

◆ 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': '""'}

Parameters

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

Returns: the boolean value of channel 2 fault bit

◆ 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': '""'}

Parameters

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

Returns: the boolean value of connector fault bit

◆ 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': '""'}

Parameters

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

Returns: the boolean value of driver activity

◆ 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': '""'}

Parameters

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

Returns: the boolean value of driver override

◆ 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': '""'}

Parameters

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

Returns: the boolean value of enabled bit

◆ 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': '""'}

Parameters

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

Returns: the boolean value of watchdog counter fault

◆ Parse() [1/2]

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

virtual

◆ Parse() [2/2]

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

virtual

◆ 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"'}

Parameters

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

Returns: the value of reported steering angle command

◆ 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"'}

Parameters

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

Returns: the value of steering angle

◆ 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"'}

Parameters

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

Returns: the value of vehicle speed

Member Data Documentation

◆ ID

const int32_t apollo::canbus::lincoln::Steering65::ID

static

The documentation for this class was generated from the following file:

modules/canbus/vehicle/lincoln/protocol/steering_65.h

Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ epas_torque()

◆ is_calibration_fault()

◆ is_channel_1_fault()

◆ is_channel_2_fault()

◆ is_connector_fault()

◆ is_driver_activity()

◆ is_driver_override()

◆ is_enabled()

◆ is_watchdog_counter_fault()

◆ Parse() [1/2]

◆ Parse() [2/2]

◆ reported_steering_angle_cmd()

◆ steering_angle()

◆ vehicle_speed()

Member Data Documentation

◆ ID