添加radar反馈

src/detection/detection_radar_delphi_esr_send/can_send_data_struct.h

@@ -3,24 +3,29 @@
 
 struct canBit4F0
 {
-    unsigned char ;
-    unsigned char ;
-
-    unsigned char ;
-    unsigned char ;
-
-    unsigned char ;
-    unsigned char ;
-
-
-    unsigned char ;
-    unsigned char ;
-
-    unsigned char ;
-    unsigned char ;
-
-    unsigned char ;
-    unsigned char ;
+    //0
+    unsigned char canVehicleSpeedH : 8;           //< m/s
+    //1
+    unsigned char canYawRateH : 4;//<(+)clockwise deg/s
+    unsigned char can_VehicleSpeedDirection : 1;  //<(0)forward
+    unsigned char canVehicleSpeedL : 3;
+    //2
+    unsigned char canYawRateL : 8;//<(+)clockwise deg/s
+    //3
+    unsigned char canRadiusCurvatureH: 6;//<(+)clockwise m set:p8191
+    unsigned char canSteeringAngleRateSign : 1;//<(0)turn left (counterclockwise)
+    unsigned char canYawRateValid : 1;//<(1)valid
+    //4
+    unsigned char canRadiusCurvatureL: 8;//<(+)clockwise m set:p8191
+    //5
+    unsigned char canSteeringAngleH : 6;//<deg
+    unsigned char canSteeringAngleSign : 1;//<(0)turn left (counterclockwise)
+    unsigned char canSteeringAngleValid : 1;//<(1)valid
+    //6
+    unsigned char canSteeringAngle_RateH : 3;//<deg/s
+    unsigned char canSteeringAngleL : 5;//<deg
+    //7
+    unsigned char canSteeringAngle_RateL : 8;//<deg/s
 };
 union canSend4F0
 {
@@ -30,8 +35,34 @@ union canSend4F0
 
 struct canBit4F1
 {
-
-    unsigned char byte[8];
+    //0
+    unsigned char canScanIndexAckH : 8;
+    //1
+    unsigned char canScanIndexAckL : 8;
+    //2
+    unsigned char canHighYawAngle : 6;
+    unsigned char canClearFaults : 1;
+    unsigned char canUseAngleMisalignment : 1;
+    //3
+    unsigned char canLrOnlyTransmit : 1;
+    unsigned char canMrOnlyTransmit : 1;
+    unsigned char reserved : 2;
+    unsigned char canVolvoShortTrackRoc : 4;
+    //4
+    unsigned char canAngleMisalignment : 8;
+    //5
+    unsigned char canLateralMountingOffset : 8;
+    //6
+    unsigned char canMaximumTracks : 6;
+    unsigned char canBlockageDisable : 1;
+    unsigned char canRadarCmdRadiate : 1;
+    //7
+    unsigned char canRawDataEnable : 1;
+    unsigned char canWiperStatus : 1;
+    unsigned char canGroupingMode : 2;
+    unsigned char canMmrUpsideDown : 1;
+    unsigned char canVehicleSpeedValid : 1;
+    unsigned char canTurnSignalStatus : 2;
 };
 union canSend4F1
 {
@@ -41,7 +72,32 @@ union canSend4F1
 
 struct canBit5F2
 {
-    unsigned char byte[8];
+    //0
+    unsigned char canLatAccH : 5;
+    unsigned char canLatAAccValid : 1;
+    unsigned char canLonAccValid : 1;
+    //1
+    unsigned char canLongAccH : 5;
+    unsigned char canLatAccL : 3;
+    //2
+    unsigned char canRadarFovLrH : 4;
+    unsigned char canongAccL: 4;
+    //3
+    unsigned char canRadarFovMr : 7;
+    unsigned char canRadarFovLr : 1;
+    //4
+    unsigned char canRadarHeight : 7;
+    unsigned char canAutoAlignDisable : 1;
+    //5
+    unsigned char canWheelSlip : 2;
+    unsigned char canAutoAlignConverged : 1;
+    unsigned char canAalignAvgCtrTotal : 3;
+    unsigned char canServAlignEn : 1;
+    unsigned char canServAlignType : 1;
+    //6
+    unsigned char canServAlignUpdatesNeed : 8;
+    //7
+    unsigned char canAngleMountingOffset : 8;
 };
 union canSend5F2
 {
@@ -49,10 +105,25 @@ union canSend5F2
     unsigned char byte[8];
 };
 
-
 struct canBit5F4
 {
-    unsigned char byte[8];
+    //0
+    unsigned char canOversteerUndersteer : 8;
+    //1
+    unsigned char canBeamwidthVert : 7;
+    unsigned char canYawRateBiasShift : 1;
+    //2
+    unsigned char canFunnelOffsetLeft : 8;
+    //3
+    unsigned char canFunnelOffsetRight : 8;
+    //4
+    unsigned char canCwBlockageThreshold : 8;
+    //5
+    unsigned char canDistanceRearAxle : 8;
+    //6
+    unsigned char canWheelBase : 8;
+    //7
+    unsigned char canSteeringGearRatio : 8;
 };
 union canSend5F4
 {

src/detection/detection_radar_delphi_esr_send/main.cpp

@@ -40,24 +40,12 @@ static uint8_t CAN_LR_Only_Transmit = 0; //<
 static uint8_t CAN_MR_Only_Transmit = 0; //<
 static uint8_t CAN_VOLVO_Short_Track_Roc = 0; //<
 
-static double Vehicle_Yaw_Rate;   //
-static int16_t CAN_Yaw_Rate; //<(+)clockwise deg/s
-static uint8_t CAN_Yaw_Rate_Valid; //<(1)valid
+static double Vehicle_Yaw_Rate;
 
 static double Vehicle_Speed;        //<
-static uint16_t CAN_Vehicle_Speed; //< m/s
-static uint8_t CAN_Vehicle_Speed_Direction; //<(0)forward
 static uint8_t CAN_Vehicle_Speed_Valid; //<(1)valid
 
-static int16_t CAN_Radius_Curvature = 8191; //<(+)clockwise m
-
 static double Steering_Angle;
-static uint16_t CAN_Steering_Angle; //<deg
-static uint8_t CAN_Steering_Angle_Sign; //<(0)turn left (counterclockwise)
-static uint8_t CAN_Steering_Angle_Valid; //<(1)valid
-
-static uint16_t CAN_Steering_Angle_Rate; //<deg/s
-static uint8_t CAN_Steering_Angle_Rate_Sign; //<(0)turn left (counterclockwise)
 
 /******************************************/