Last change
on this file since 89 was 89, checked in by morasjul, 11 years ago |
PACPUS 2.0 Beta deployed in new branch
Major changes:
-Add communication interface between components
-Add examples for communications interface (TestComponents)
-Move to Qt5 support
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-
Property svn:executable
set to
*
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File size:
1.3 KB
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1 | /*********************************************************************
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2 | // created: 2012/02/22 - 12:00
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3 | // filename: structureCanSMSRadar.h
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4 | //
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5 | // author: Arthur Miranda (PAMU Project) / Gerald Dherbomez
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6 | // Copyright Heudiasyc UMR UTC/CNRS 6599
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7 | //
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8 | // version: $Id: $
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9 | //
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10 | // purpose: Description of the CAN structures of SMS Radar
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11 | *********************************************************************/
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12 |
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13 | #ifndef __STRUCTURECANSMSRADAR_H__
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14 | #define __STRUCTURECANSMSRADAR_H__
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15 |
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16 | #include "kernel/road_time.h"
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17 |
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18 | #define SMS_MAX_OBSTACLE_COUNT 64
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19 |
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20 | // Corresponding CAN frames
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21 | /* Front: 0x510 to 0x54F */
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22 | /* Left: 0x590 to 0x5CF */
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23 | /* Rear: 0x610 to 0x64F */
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24 | /* Right: 0x690 to 0x6CF */
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25 |
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26 | // Each individual Central Processor system prioritizes the detected objects and limits the
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27 | // number of transmitted objects. To a max of 64 objects.
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28 |
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29 | typedef struct{
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30 | road_time_t time;
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31 | road_timerange_t timerange;
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32 | short moveflag;
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33 | short leadflag;
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34 | short typeflag;
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35 | }StructSMSRadarType;
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36 |
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37 | typedef struct{
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38 | road_time_t time;
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39 | road_timerange_t timerange;
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40 | float corXrange;
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41 | float corYrange;
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42 | float corXvel;
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43 | float corYvel;
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44 | int objetID;
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45 | float objetVITESS;
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46 | StructSMSRadarType obtype;
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47 | }SMSRadarObj;
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48 |
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49 | typedef struct{
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50 |
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51 | int numberOfObstacles;
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52 | SMSRadarObj obstacles[SMS_MAX_OBSTACLE_COUNT];
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53 |
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54 | }SMSRadarDatas;
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55 |
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56 | #endif |
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