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| 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 | +#include "modules/canbus/vehicle/yunle/protocol/bms_rt_soc_17904001.h" |
| 18 | + |
| 19 | +#include "glog/logging.h" |
| 20 | + |
| 21 | +#include "modules/drivers/canbus/common/byte.h" |
| 22 | +#include "modules/drivers/canbus/common/canbus_consts.h" |
| 23 | + |
| 24 | +namespace apollo { |
| 25 | +namespace canbus { |
| 26 | +namespace yunle { |
| 27 | + |
| 28 | +using ::apollo::drivers::canbus::Byte; |
| 29 | + |
| 30 | +Bmsrtsoc17904001::Bmsrtsoc17904001() {} |
| 31 | +const int32_t Bmsrtsoc17904001::ID = 0x97904001; |
| 32 | + |
| 33 | +void Bmsrtsoc17904001::Parse(const std::uint8_t* bytes, int32_t length, |
| 34 | + ChassisDetail* chassis) const { |
| 35 | + chassis->mutable_yunle()->mutable_bms_rt_soc_17904001()->set_bms_current_cur(bms_current_cur(bytes, length)); |
| 36 | + chassis->mutable_yunle()->mutable_bms_rt_soc_17904001()->set_bms_current_vol(bms_current_vol(bytes, length)); |
| 37 | + chassis->mutable_yunle()->mutable_bms_rt_soc_17904001()->set_bms_total_volbat(bms_total_volbat(bytes, length)); |
| 38 | + chassis->mutable_yunle()->mutable_bms_rt_soc_17904001()->set_bms_soc(bms_soc(bytes, length)); |
| 39 | +} |
| 40 | + |
| 41 | +// config detail: {'bit': 32, 'is_signed_var': False, 'len': 16, 'name': 'bms_current_cur', 'offset': -3000.0, 'order': 'intel', 'physical_range': '[3000|9553.5]', 'physical_unit': 'A', 'precision': 0.1, 'type': 'double'} |
| 42 | +double Bmsrtsoc17904001::bms_current_cur(const std::uint8_t* bytes, int32_t length) const { |
| 43 | + Byte t0(bytes + 5); |
| 44 | + int32_t x = t0.get_byte(0, 8); |
| 45 | + |
| 46 | + Byte t1(bytes + 4); |
| 47 | + int32_t t = t1.get_byte(0, 8); |
| 48 | + x <<= 8; |
| 49 | + x |= t; |
| 50 | + |
| 51 | + double ret = x * 0.100000 + -3000.000000; |
| 52 | + return ret; |
| 53 | +} |
| 54 | + |
| 55 | +// config detail: {'bit': 16, 'is_signed_var': False, 'len': 16, 'name': 'bms_current_vol', 'offset': 0.0, 'order': 'intel', 'physical_range': '[0|6553.5]', 'physical_unit': 'V', 'precision': 0.1, 'type': 'double'} |
| 56 | +double Bmsrtsoc17904001::bms_current_vol(const std::uint8_t* bytes, int32_t length) const { |
| 57 | + Byte t0(bytes + 3); |
| 58 | + int32_t x = t0.get_byte(0, 8); |
| 59 | + |
| 60 | + Byte t1(bytes + 2); |
| 61 | + int32_t t = t1.get_byte(0, 8); |
| 62 | + x <<= 8; |
| 63 | + x |= t; |
| 64 | + |
| 65 | + double ret = x * 0.100000; |
| 66 | + return ret; |
| 67 | +} |
| 68 | + |
| 69 | +// config detail: {'bit': 0, 'is_signed_var': False, 'len': 16, 'name': 'bms_total_volbat', 'offset': 0.0, 'order': 'intel', 'physical_range': '[0|6553.5]', 'physical_unit': 'V', 'precision': 0.1, 'type': 'double'} |
| 70 | +double Bmsrtsoc17904001::bms_total_volbat(const std::uint8_t* bytes, int32_t length) const { |
| 71 | + Byte t0(bytes + 1); |
| 72 | + int32_t x = t0.get_byte(0, 8); |
| 73 | + |
| 74 | + Byte t1(bytes + 0); |
| 75 | + int32_t t = t1.get_byte(0, 8); |
| 76 | + x <<= 8; |
| 77 | + x |= t; |
| 78 | + |
| 79 | + double ret = x * 0.100000; |
| 80 | + return ret; |
| 81 | +} |
| 82 | + |
| 83 | +// config detail: {'bit': 48, 'description': '荷电状态', 'is_signed_var': False, 'len': 16, 'name': 'bms_soc', 'offset': 0.0, 'order': 'intel', 'physical_range': '[0|6553.5]', 'physical_unit': '%', 'precision': 0.1, 'type': 'double'} |
| 84 | +double Bmsrtsoc17904001::bms_soc(const std::uint8_t* bytes, int32_t length) const { |
| 85 | + Byte t0(bytes + 7); |
| 86 | + int32_t x = t0.get_byte(0, 8); |
| 87 | + |
| 88 | + Byte t1(bytes + 6); |
| 89 | + int32_t t = t1.get_byte(0, 8); |
| 90 | + x <<= 8; |
| 91 | + x |= t; |
| 92 | + |
| 93 | + double ret = x * 0.100000; |
| 94 | + return ret; |
| 95 | +} |
| 96 | +} // namespace yunle |
| 97 | +} // namespace canbus |
| 98 | +} // namespace apollo |
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