1 | /// Description of the CAN structures for Robotex car (Renault Fluence ZE)
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2 | ///
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3 | /// @date created 2012/06/21
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4 | /// @author Gerald Dherbomez
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5 | /// @copyright Heudiasyc UMR UTC/CNRS 7253
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6 | /// @version $Id: $
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7 |
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8 | #ifndef __STRUCTURECANFLUENCEZE_H__
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9 | #define __STRUCTURECANFLUENCEZE_H__
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10 |
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11 | #include <cstddef>
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12 |
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13 | #include "kernel/cstdint.h"
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14 | #include "kernel/road_time.h"
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15 |
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16 | /// Vehicle speed CAN frame
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17 | /// corresponding CAN frame = 0x5D7 - frequency 10 Hz
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18 | /// 0.6 km/h minimum threshold
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19 | typedef struct
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20 | {
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21 | float vehicleSpeed; ///< low frequency vehicle speed (in km/h)
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22 | int32_t accurateOdometer; ///< accurate odometer for car equiped with electrical brake (in cm)
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23 | } StructFluenceZeLowSpeed;
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24 |
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25 | typedef struct
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26 | {
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27 | road_time_t time;
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28 | road_timerange_t timerange;
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29 | StructFluenceZeLowSpeed d;
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30 | } TimestampedStructFluenceZeLowSpeed;
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31 |
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32 | /// Front Wheel speed CAN frame
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33 | /// corresponding CAN frame = 0x29A - frequency 50 Hz
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34 | typedef struct
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35 | {
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36 | float frontLeftWheelSpeed; ///< speed of the front left wheel (in rpm) - min threshold 5 rpm
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37 | float frontRightWheelSpeed; ///< speed of the front right wheel (in rpm) - idem
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38 | float averageFrontWheelSpeed; ///< average front wheels speed (in km/h)
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39 | } StructFluenceZeFrontWheelSpeed;
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40 |
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41 | typedef struct
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42 | {
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43 | road_time_t time;
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44 | road_timerange_t timerange;
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45 | StructFluenceZeFrontWheelSpeed d;
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46 | } TimestampedStructFluenceZeFrontWheelSpeed;
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47 |
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48 | /// Rear Wheel speed CAN frame
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49 | /// corresponding CAN frame = 0x29C - frequency 50 Hz
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50 | typedef struct
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51 | {
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52 | float rearLeftWheelSpeed; ///< speed of the front left wheel (in rpm)
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53 | float rearRightWheelSpeed; ///< speed of the front right wheel (in rpm)
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54 | float fourWheelReferenceSpeed; ///< four wheels reference speed (in km/h) available for 4x4 only
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55 | } StructFluenceZeRearWheelSpeed;
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56 |
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57 | typedef struct
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58 | {
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59 | road_time_t time;
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60 | road_timerange_t timerange;
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61 | StructFluenceZeRearWheelSpeed d;
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62 | } TimestampedStructFluenceZeRearWheelSpeed;
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63 |
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64 | /// Steering wheel CAN frame
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65 | /// corresponding CAN frame = 0x0C6 - 100 Hz
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66 | /// min -3276.7 / max 3276.7 for all values
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67 | typedef struct
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68 | {
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69 | float angle; ///< in deg >0 in trigonometric direction (to the left)
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70 | float rotationSpeed; ///< in deg/s
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71 | float angleOffset; ///< in deg
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72 | } StructFluenceZeSteeringWheel;
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73 |
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74 | typedef struct
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75 | {
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76 | road_time_t time;
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77 | road_timerange_t timerange;
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78 | StructFluenceZeSteeringWheel d;
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79 | } TimestampedStructFluenceZeSteeringWheel;
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80 |
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81 | /// Vehicle Kinematics CAN frame
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82 | /// corresponding CAN frame = 0x12E - frequency 100 Hz
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83 | typedef struct
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84 | {
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85 | float yawRate; ///< >0 in trigonometric direction in deg/s (min -204.7deg/s, max 204.7deg/s)
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86 | float transversalAcc; ///< >0 (??) to the right in g (min -1.8g, max 1.8g)
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87 | float longitudinalAccProc; ///< >0 (??) to the right in m/s2 (min -10m/s2, max 2.7m/s2)
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88 | } StructFluenceZeKinematics;
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89 |
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90 | typedef struct
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91 | {
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92 | road_time_t time;
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93 | road_timerange_t timerange;
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94 | StructFluenceZeKinematics d;
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95 | } TimestampedStructFluenceZeKinematics;
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96 |
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97 | /// Gears lever position
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98 | /// corresponding CAN frame = 0x17E - frequency 100 Hz
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99 | typedef struct
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100 | {
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101 | enum GearLeverPosition
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102 | {
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103 | Parking = 0
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104 | , Reverse = 1
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105 | , Neutral = 2
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106 | , Drive = 3
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107 | };
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108 |
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109 | uint8_t position; ///< 0x00 parking ; 0x01 reverse ; 0x02 neutral ; 0x03 drive (in the order of the lever)
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110 | } StructFluenceZeGears;
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111 |
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112 | typedef struct
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113 | {
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114 | road_time_t time;
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115 | road_timerange_t timerange;
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116 | StructFluenceZeGears d;
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117 | } TimestampedStructFluenceZeGears;
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118 |
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119 | #endif
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