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@@ -36,6 +36,7 @@ void MessageCoder::CanMsgAnalyseID_5F2(unsigned char * ucData, T_ACTUATOR_ENABLE
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T_CONTROL_CMD_5F2 tCtrCmd5F2 = { 0 };
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T_CONTROL_CMD_5F2 tCtrCmd5F2 = { 0 };
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unsigned char ucCanMsgSrc[8] = { 0 };
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unsigned char ucCanMsgSrc[8] = { 0 };
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucCanMsgSrc,8);
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memcpy(&tCtrCmd5F2, ucCanMsgSrc, CAN_MSG_LEN);
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memcpy(&tCtrCmd5F2, ucCanMsgSrc, CAN_MSG_LEN);
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tActEnableReq->uiAccClchCtrReq = tCtrCmd5F2.uiAccClchCtrReq;
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tActEnableReq->uiAccClchCtrReq = tCtrCmd5F2.uiAccClchCtrReq;
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tActEnableReq->uiAccMotEnReq = tCtrCmd5F2.uiAccMotEnReq;
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tActEnableReq->uiAccMotEnReq = tCtrCmd5F2.uiAccMotEnReq;
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@@ -58,6 +59,7 @@ void MessageCoder::CanMsgAnalyseID_5F5(unsigned char * ucData, T_STR_ACT_CTR_REQ
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unsigned char ucCanMsgSrc[8] = { 0 };
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unsigned char ucCanMsgSrc[8] = { 0 };
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucCanMsgSrc,8);
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memcpy(&tCtrCmd5F5, ucCanMsgSrc, CAN_MSG_LEN);
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memcpy(&tCtrCmd5F5, ucCanMsgSrc, CAN_MSG_LEN);
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memset(&tCtrCmd5F5Union, 0, sizeof(T_CONTROL_CMD_5F5_UNION));
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memset(&tCtrCmd5F5Union, 0, sizeof(T_CONTROL_CMD_5F5_UNION));
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@@ -77,6 +79,7 @@ void MessageCoder::CanMsgAnalyseID_6F1(unsigned char * ucData, T_VEHICLE_STATUS_
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unsigned char ucCanMsgSrc[8] = { 0 };
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unsigned char ucCanMsgSrc[8] = { 0 };
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucCanMsgSrc,8);
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memcpy(&tStatIn6F1, ucCanMsgSrc, CAN_MSG_LEN);
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memcpy(&tStatIn6F1, ucCanMsgSrc, CAN_MSG_LEN);
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tVehicleStat1->uiAccPsng = tStatIn6F1.uiAccPsng;
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tVehicleStat1->uiAccPsng = tStatIn6F1.uiAccPsng;
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@@ -97,6 +100,7 @@ void MessageCoder::CanMsgAnalyseID_6F2(unsigned char * ucData, T_VEHICLE_STATUS_
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unsigned char ucCanMsgSrc[8] = { 0 };
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unsigned char ucCanMsgSrc[8] = { 0 };
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucCanMsgSrc,8);
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memcpy(&tStatIn6F2, ucCanMsgSrc, CAN_MSG_LEN);
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memcpy(&tStatIn6F2, ucCanMsgSrc, CAN_MSG_LEN);
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memset(&tStatIn6F2Union, 0, sizeof(T_STATE_IN_6F2_UNION));
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memset(&tStatIn6F2Union, 0, sizeof(T_STATE_IN_6F2_UNION));
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@@ -116,6 +120,7 @@ void MessageCoder::CanMsgAnalyseID_6F3(unsigned char * ucData, T_VEHICLE_STATUS_
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unsigned char ucCanMsgSrc[8] = { 0 };
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unsigned char ucCanMsgSrc[8] = { 0 };
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucCanMsgSrc,8);
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memcpy(&tStatIn6F3, ucCanMsgSrc, CAN_MSG_LEN);
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memcpy(&tStatIn6F3, ucCanMsgSrc, CAN_MSG_LEN);
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tVehicleStat3->uiVehBatQut = tStatIn6F3.uiVehBatQut;
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tVehicleStat3->uiVehBatQut = tStatIn6F3.uiVehBatQut;
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@@ -130,6 +135,7 @@ void MessageCoder::CanMsgAnalyseID_6F4(unsigned char * ucData, T_COMPUTER_STATUS
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unsigned char ucCanMsgSrc[8] = { 0 };
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unsigned char ucCanMsgSrc[8] = { 0 };
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucCanMsgSrc,8);
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memcpy(&tStatIn6F4, ucCanMsgSrc, CAN_MSG_LEN);
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memcpy(&tStatIn6F4, ucCanMsgSrc, CAN_MSG_LEN);
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tComputerStat->uiCmpStat = tStatIn6F4.uiCmpStat;
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tComputerStat->uiCmpStat = tStatIn6F4.uiCmpStat;
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@@ -142,6 +148,7 @@ void MessageCoder::CanMsgAnalyseID_6E0(unsigned char * ucData, T_RBT_ACT_PSNG *
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unsigned char ucCanMsgSrc[8] = { 0 };
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unsigned char ucCanMsgSrc[8] = { 0 };
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucCanMsgSrc,8);
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memcpy(&tStatout6E0, ucCanMsgSrc, CAN_MSG_LEN);
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memcpy(&tStatout6E0, ucCanMsgSrc, CAN_MSG_LEN);
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T_STATE_OUT_6E0_UNION tStateOut6E0Union;
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T_STATE_OUT_6E0_UNION tStateOut6E0Union;
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@@ -162,6 +169,7 @@ void MessageCoder::CanMsgAnalyseID_6E1(unsigned char * ucData, T_ACC_BRK_PSNG *
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unsigned char ucCanMsgSrc[8] = { 0 };
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unsigned char ucCanMsgSrc[8] = { 0 };
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucCanMsgSrc,8);
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memcpy(&tStatout6E1, ucCanMsgSrc, CAN_MSG_LEN);
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memcpy(&tStatout6E1, ucCanMsgSrc, CAN_MSG_LEN);
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tAccBrkPsng->uiClbtAccPsng0 = tStatout6E1.uiClbtAccPsng0;
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tAccBrkPsng->uiClbtAccPsng0 = tStatout6E1.uiClbtAccPsng0;
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@@ -177,6 +185,7 @@ void MessageCoder::CanMsgAnalyseID_6E2(unsigned char * ucData, T_STR_LRN_PSNG *
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unsigned char ucCanMsgSrc[8] = { 0 };
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unsigned char ucCanMsgSrc[8] = { 0 };
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucCanMsgSrc,8);
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memcpy(&tStatout6E2, ucCanMsgSrc, CAN_MSG_LEN);
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memcpy(&tStatout6E2, ucCanMsgSrc, CAN_MSG_LEN);
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T_STATE_OUT_6E2_UNION tStateOut6E2Union;
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T_STATE_OUT_6E2_UNION tStateOut6E2Union;
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@@ -196,6 +205,7 @@ void MessageCoder::CanMsgAnalyseID_6E3(unsigned char * ucData, T_SFT_LRN_PST_1 *
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unsigned char ucCanMsgSrc[8] = { 0 };
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unsigned char ucCanMsgSrc[8] = { 0 };
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucCanMsgSrc,8);
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memcpy(&tStatout6E3, ucCanMsgSrc, CAN_MSG_LEN);
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memcpy(&tStatout6E3, ucCanMsgSrc, CAN_MSG_LEN);
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T_STATE_OUT_6E3_UNION tStateOut6E3Union;
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T_STATE_OUT_6E3_UNION tStateOut6E3Union;
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@@ -219,6 +229,7 @@ void MessageCoder::CanMsgAnalyseID_6E4(unsigned char * ucData, T_CTR_POW_STATUS
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unsigned char ucCanMsgSrc[8] = { 0 };
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unsigned char ucCanMsgSrc[8] = { 0 };
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucCanMsgSrc,8);
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memcpy(&tStatout6E4, ucCanMsgSrc, CAN_MSG_LEN);
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memcpy(&tStatout6E4, ucCanMsgSrc, CAN_MSG_LEN);
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tCtrPowStatus->uiAccCtrPowStat = tStatout6E4.uiAccCtrPowStat;
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tCtrPowStatus->uiAccCtrPowStat = tStatout6E4.uiAccCtrPowStat;
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@@ -237,6 +248,7 @@ void MessageCoder::CanMsgAnalyseID_6E5(unsigned char * ucData, T_ACT_ENABLE_STAT
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unsigned char ucCanMsgSrc[8] = { 0 };
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unsigned char ucCanMsgSrc[8] = { 0 };
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucCanMsgSrc,8);
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memcpy(&tStatout6E5, ucCanMsgSrc, CAN_MSG_LEN);
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memcpy(&tStatout6E5, ucCanMsgSrc, CAN_MSG_LEN);
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tActEnableStatus->uiAccClchCtrStat = tStatout6E5.uiAccClchCtrStat;
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tActEnableStatus->uiAccClchCtrStat = tStatout6E5.uiAccClchCtrStat;
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@@ -257,6 +269,7 @@ void MessageCoder::CanMsgAnalyseID_6E6(unsigned char * ucData, T_ACC_CTR_STATUS
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unsigned char ucCanMsgSrc[8] = { 0 };
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unsigned char ucCanMsgSrc[8] = { 0 };
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucCanMsgSrc,8);
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memcpy(&tStatout6E6, ucCanMsgSrc, CAN_MSG_LEN);
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memcpy(&tStatout6E6, ucCanMsgSrc, CAN_MSG_LEN);
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tAccCtrStatus->iAccDspSpd = tStatout6E6.iAccDspSpd;
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tAccCtrStatus->iAccDspSpd = tStatout6E6.iAccDspSpd;
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@@ -271,6 +284,7 @@ void MessageCoder::CanMsgAnalyseID_6E7(unsigned char * ucData, T_BRK_CTR_STATUS
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unsigned char ucCanMsgSrc[8] = { 0 };
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unsigned char ucCanMsgSrc[8] = { 0 };
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucCanMsgSrc,8);
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memcpy(&tStatout6E7, ucCanMsgSrc, CAN_MSG_LEN);
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memcpy(&tStatout6E7, ucCanMsgSrc, CAN_MSG_LEN);
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tBrkCtrStatus->iBrkDspSpd = tStatout6E7.iBrkDspSpd;
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tBrkCtrStatus->iBrkDspSpd = tStatout6E7.iBrkDspSpd;
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@@ -288,6 +302,7 @@ void MessageCoder::CanMsgAnalyseID_6E8(unsigned char * ucData, T_CLCH_CTR_STATUS
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unsigned char ucCanMsgSrc[8] = { 0 };
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unsigned char ucCanMsgSrc[8] = { 0 };
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucCanMsgSrc,8);
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memcpy(&tStatout6E8, ucCanMsgSrc, CAN_MSG_LEN);
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memcpy(&tStatout6E8, ucCanMsgSrc, CAN_MSG_LEN);
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T_STATE_OUT_6E8_UNION tStateOut6E8Union;
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T_STATE_OUT_6E8_UNION tStateOut6E8Union;
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@@ -308,6 +323,7 @@ void MessageCoder::CanMsgAnalyseID_6E9(unsigned char * ucData, T_STR_STATUS * tS
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unsigned char ucCanMsgSrc[8] = { 0 };
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unsigned char ucCanMsgSrc[8] = { 0 };
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucCanMsgSrc,8);
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memcpy(&tStatout6E9, ucCanMsgSrc, CAN_MSG_LEN);
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memcpy(&tStatout6E9, ucCanMsgSrc, CAN_MSG_LEN);
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T_STATE_OUT_6E9_UNION tStateOut6E9Union;
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T_STATE_OUT_6E9_UNION tStateOut6E9Union;
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@@ -329,6 +345,7 @@ void MessageCoder::CanMsgAnalyseID_6EA(unsigned char * ucData, T_SFT_STATUS * tS
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unsigned char ucCanMsgSrc[8] = { 0 };
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unsigned char ucCanMsgSrc[8] = { 0 };
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucCanMsgSrc,8);
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memcpy(&tStatout6EA, ucCanMsgSrc, CAN_MSG_LEN);
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memcpy(&tStatout6EA, ucCanMsgSrc, CAN_MSG_LEN);
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T_STATE_OUT_6EA_UNION tStateOut6EAUnion;
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T_STATE_OUT_6EA_UNION tStateOut6EAUnion;
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@@ -354,6 +371,7 @@ void MessageCoder::CanMsgAnalyseID_6EB(unsigned char * ucData, T_SYS_INFO_1 * tS
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unsigned char ucCanMsgSrc[8] = { 0 };
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unsigned char ucCanMsgSrc[8] = { 0 };
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucCanMsgSrc,8);
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memcpy(&tStatout6EB, ucCanMsgSrc, CAN_MSG_LEN);
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memcpy(&tStatout6EB, ucCanMsgSrc, CAN_MSG_LEN);
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tSysInfo1->uiAccMotCur = tStatout6EB.uiAccMotCur;
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tSysInfo1->uiAccMotCur = tStatout6EB.uiAccMotCur;
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@@ -372,6 +390,7 @@ void MessageCoder::CanMsgAnalyseID_6ED(unsigned char * ucData, T_SYS_INFO_2 * tS
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unsigned char ucCanMsgSrc[8] = { 0 };
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unsigned char ucCanMsgSrc[8] = { 0 };
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucCanMsgSrc,8);
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memcpy(&tStatout6ED, ucCanMsgSrc, CAN_MSG_LEN);
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memcpy(&tStatout6ED, ucCanMsgSrc, CAN_MSG_LEN);
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tSysInfo2->uiAccCtrAlive = tStatout6ED.uiAccCtrAlive;
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tSysInfo2->uiAccCtrAlive = tStatout6ED.uiAccCtrAlive;
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@@ -398,6 +417,7 @@ void MessageCoder::CanMsgAnalyseID_6EE(unsigned char * ucData, T_SYS_LRN * tSysL
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unsigned char ucCanMsgSrc[8] = { 0 };
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unsigned char ucCanMsgSrc[8] = { 0 };
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucCanMsgSrc,8);
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memcpy(&tStatout6EE, ucCanMsgSrc, CAN_MSG_LEN);
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memcpy(&tStatout6EE, ucCanMsgSrc, CAN_MSG_LEN);
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tSysLrn->uiAcc0LrnStat = tStatout6EE.uiAcc0LrnStat;
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tSysLrn->uiAcc0LrnStat = tStatout6EE.uiAcc0LrnStat;
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@@ -422,6 +442,7 @@ void MessageCoder::CanMsgAnalyseID_6EF(unsigned char * ucData, T_SFT_LRN_PST_2 *
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unsigned char ucCanMsgSrc[8] = { 0 };
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unsigned char ucCanMsgSrc[8] = { 0 };
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucCanMsgSrc,8);
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memcpy(&tStatout6EF, ucCanMsgSrc, CAN_MSG_LEN);
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memcpy(&tStatout6EF, ucCanMsgSrc, CAN_MSG_LEN);
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T_STATE_OUT_6EF_UNION tStateOut6EFUnion;
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T_STATE_OUT_6EF_UNION tStateOut6EFUnion;
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@@ -445,6 +466,7 @@ void MessageCoder::CanMsgAnalyseID_6D0(unsigned char * ucData, T_SYS_MONITOR * t
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unsigned char ucCanMsgSrc[8] = { 0 };
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unsigned char ucCanMsgSrc[8] = { 0 };
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucCanMsgSrc,8);
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memcpy(&tStatout6D0, ucCanMsgSrc, CAN_MSG_LEN);
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memcpy(&tStatout6D0, ucCanMsgSrc, CAN_MSG_LEN);
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tSysMonitor->iCtrTmp = tStatout6D0.iCtrTmp;
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tSysMonitor->iCtrTmp = tStatout6D0.iCtrTmp;
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@@ -475,6 +497,7 @@ void MessageCoder::CanMsgAnalyseID_6D1(unsigned char * ucData, T_SYS_ERR * tSysE
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unsigned char ucCanMsgSrc[8] = { 0 };
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unsigned char ucCanMsgSrc[8] = { 0 };
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucCanMsgSrc,8);
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memcpy(&tStatOut6D1, ucCanMsgSrc, CAN_MSG_LEN);
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memcpy(&tStatOut6D1, ucCanMsgSrc, CAN_MSG_LEN);
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tSysErr->uiSysErra = tStatOut6D1.uiSysErra;
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tSysErr->uiSysErra = tStatOut6D1.uiSysErra;
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@@ -512,6 +535,7 @@ void MessageCoder::CanMsgAnalyseID_6D7(unsigned char * ucData, T_STEER_PST_TIME_
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unsigned char ucCanMsgSrc[8] = { 0 };
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unsigned char ucCanMsgSrc[8] = { 0 };
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucCanMsgSrc,8);
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memcpy(&tCtrCmd6D7, ucCanMsgSrc, CAN_MSG_LEN);
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memcpy(&tCtrCmd6D7, ucCanMsgSrc, CAN_MSG_LEN);
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tSteerPstTimeReq->uiNumReq = tCtrCmd6D7.uiNumReq;
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tSteerPstTimeReq->uiNumReq = tCtrCmd6D7.uiNumReq;
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@@ -525,6 +549,7 @@ void MessageCoder::CanMsgAnalyseID_2E0(unsigned char * ucData, T_ESTOP_INFO * tE
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unsigned char ucCanMsgSrc[8] = { 0 };
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unsigned char ucCanMsgSrc[8] = { 0 };
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucCanMsgSrc,8);
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memcpy(&tEstop2E0, ucCanMsgSrc, CAN_MSG_LEN);
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memcpy(&tEstop2E0, ucCanMsgSrc, CAN_MSG_LEN);
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tEstopInfo->uiEstpAbnStat = tEstop2E0.uiEstpAbnStat;
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tEstopInfo->uiEstpAbnStat = tEstop2E0.uiEstpAbnStat;
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@@ -540,6 +565,7 @@ void MessageCoder::CanMsgAnalyseID_2E1(unsigned char * ucData, T_ESTOP_ERR * tEs
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unsigned char ucCanMsgSrc[8] = { 0 };
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unsigned char ucCanMsgSrc[8] = { 0 };
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
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+ CharReverse(ucCanMsgSrc,8);
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memcpy(&tEstop2E1, ucCanMsgSrc, CAN_MSG_LEN);
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memcpy(&tEstop2E1, ucCanMsgSrc, CAN_MSG_LEN);
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tEstopErr->uiEspErra = tEstop2E1.uiEspErra;
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tEstopErr->uiEspErra = tEstop2E1.uiEspErra;
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@@ -561,6 +587,7 @@ void MessageCoder::CanMsgAnalyseErr(unsigned char * ucData, T_MOT_CTR_ERR * tMot
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unsigned char ucCanMsgSrc[8] = { 0 };
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unsigned char ucCanMsgSrc[8] = { 0 };
|
|
|
|
|
|
memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
|
|
memcpy(ucCanMsgSrc, ucData, CAN_MSG_LEN);
|
|
|
|
+ CharReverse(ucCanMsgSrc,8);
|
|
memcpy(&tCtrErrCode, ucCanMsgSrc, CAN_MSG_LEN);
|
|
memcpy(&tCtrErrCode, ucCanMsgSrc, CAN_MSG_LEN);
|
|
|
|
|
|
tMotCtrErr->uiErra = tCtrErrCode.a;
|
|
tMotCtrErr->uiErra = tCtrErrCode.a;
|
|
@@ -738,6 +765,7 @@ void MessageCoder::CanMsgPackageID_5F1(T_POWER_ON_REQUEST * tPowOnReq, TPCANMsg
|
|
tCtrCmd5F1.uiYSftArmCtrPowReq = tPowOnReq->uiYSftArmCtrPowReq;
|
|
tCtrCmd5F1.uiYSftArmCtrPowReq = tPowOnReq->uiYSftArmCtrPowReq;
|
|
|
|
|
|
memcpy(ucCanMsgSrc,&tCtrCmd5F1,CAN_MSG_LEN);
|
|
memcpy(ucCanMsgSrc,&tCtrCmd5F1,CAN_MSG_LEN);
|
|
|
|
+ CharReverse(ucCanMsgSrc,8);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
tCanMsg->ID = robot::common::PowerOnReq;
|
|
tCanMsg->ID = robot::common::PowerOnReq;
|
|
tCanMsg->LEN = 8;
|
|
tCanMsg->LEN = 8;
|
|
@@ -763,7 +791,7 @@ void MessageCoder::CanMsgPackageID_5F2(T_ACTUATOR_ENABLE_REQUEST *tActEnableReq,
|
|
tCtrCmd5F2.uiYSftMotEnReq = tActEnableReq->uiYSftMotEnReq;
|
|
tCtrCmd5F2.uiYSftMotEnReq = tActEnableReq->uiYSftMotEnReq;
|
|
|
|
|
|
memcpy(ucCanMsgSrc, &tCtrCmd5F2, CAN_MSG_LEN);
|
|
memcpy(ucCanMsgSrc, &tCtrCmd5F2, CAN_MSG_LEN);
|
|
-
|
|
|
|
|
|
+ CharReverse(ucCanMsgSrc,8);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
tCanMsg->ID = robot::common::ActuatorEnableReq;
|
|
tCanMsg->ID = robot::common::ActuatorEnableReq;
|
|
tCanMsg->LEN = 8;
|
|
tCanMsg->LEN = 8;
|
|
@@ -788,7 +816,7 @@ void MessageCoder::CanMsgPackageID_5F3(T_LEARN_MODE_REQUEST * tLearnMdReq, TPCAN
|
|
tCtrCmd5F3.uiSysLrnReq = tLearnMdReq->uiSysLrnReq;
|
|
tCtrCmd5F3.uiSysLrnReq = tLearnMdReq->uiSysLrnReq;
|
|
|
|
|
|
memcpy(ucCanMsgSrc, &tCtrCmd5F3, CAN_MSG_LEN);
|
|
memcpy(ucCanMsgSrc, &tCtrCmd5F3, CAN_MSG_LEN);
|
|
-
|
|
|
|
|
|
+ CharReverse(ucCanMsgSrc,8);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
tCanMsg->ID = robot::common::LearnModeReq;
|
|
tCanMsg->ID = robot::common::LearnModeReq;
|
|
tCanMsg->LEN = 8;
|
|
tCanMsg->LEN = 8;
|
|
@@ -814,6 +842,7 @@ void MessageCoder::CanMsgPackageID_5F4(T_PEDAL_ACT_CTR_REQ * tPedalActCtrReq, TP
|
|
tCtrCmd5F4.uiBrkPsngCtrReqL = tCtrCmd5F4Union.tCtrCmd5F4Src.uiBrkPsngCtrReqL;
|
|
tCtrCmd5F4.uiBrkPsngCtrReqL = tCtrCmd5F4Union.tCtrCmd5F4Src.uiBrkPsngCtrReqL;
|
|
|
|
|
|
memcpy(ucCanMsgSrc, &tCtrCmd5F4, CAN_MSG_LEN);
|
|
memcpy(ucCanMsgSrc, &tCtrCmd5F4, CAN_MSG_LEN);
|
|
|
|
+ CharReverse(ucCanMsgSrc,8);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
tCanMsg->ID = robot::common::PedalActCtrReq;
|
|
tCanMsg->ID = robot::common::PedalActCtrReq;
|
|
tCanMsg->LEN = 8;
|
|
tCanMsg->LEN = 8;
|
|
@@ -836,7 +865,7 @@ void MessageCoder::CanMsgPackageID_5F5(T_STR_ACT_CTR_REQ * tStrActCtrReq, TPCANM
|
|
tCtrCmd5F5.iStrTrqCtrReq = tStrActCtrReq->iStrTrqCtrReq;
|
|
tCtrCmd5F5.iStrTrqCtrReq = tStrActCtrReq->iStrTrqCtrReq;
|
|
tCtrCmd5F5.uiStrCtrMdReq = tStrActCtrReq->uiStrCtrMdReq;
|
|
tCtrCmd5F5.uiStrCtrMdReq = tStrActCtrReq->uiStrCtrMdReq;
|
|
memcpy(ucCanMsgSrc, &tCtrCmd5F5, CAN_MSG_LEN);
|
|
memcpy(ucCanMsgSrc, &tCtrCmd5F5, CAN_MSG_LEN);
|
|
-
|
|
|
|
|
|
+ CharReverse(ucCanMsgSrc,8);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
tCanMsg->ID = robot::common::SteerActCtrReq;
|
|
tCanMsg->ID = robot::common::SteerActCtrReq;
|
|
tCanMsg->LEN = 8;
|
|
tCanMsg->LEN = 8;
|
|
@@ -855,7 +884,7 @@ void MessageCoder::CanMsgPackageID_5F6(T_SFT_ACT_CTR_REQ * tSftActCtrReq, TPCANM
|
|
tCtrCmd5F6.uiSftPsngCtrReq = tSftActCtrReq->uiSftPsngCtrReq;
|
|
tCtrCmd5F6.uiSftPsngCtrReq = tSftActCtrReq->uiSftPsngCtrReq;
|
|
|
|
|
|
memcpy(ucCanMsgSrc, &tCtrCmd5F6, CAN_MSG_LEN);
|
|
memcpy(ucCanMsgSrc, &tCtrCmd5F6, CAN_MSG_LEN);
|
|
-
|
|
|
|
|
|
+ CharReverse(ucCanMsgSrc,8);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
tCanMsg->ID = robot::common::ShiftActCtrReq;
|
|
tCanMsg->ID = robot::common::ShiftActCtrReq;
|
|
tCanMsg->LEN = 8;
|
|
tCanMsg->LEN = 8;
|
|
@@ -871,7 +900,7 @@ void MessageCoder::CanMsgPackageID_5F7(T_RBT_SLF_CHK_CTR_REQ * tRbtSlfChkCtrRq,
|
|
tCtrCmd5F7.uiRbtSlfChkReq = tRbtSlfChkCtrRq->uiRbtSlfChkReq;
|
|
tCtrCmd5F7.uiRbtSlfChkReq = tRbtSlfChkCtrRq->uiRbtSlfChkReq;
|
|
|
|
|
|
memcpy(ucCanMsgSrc, &tCtrCmd5F7, CAN_MSG_LEN);
|
|
memcpy(ucCanMsgSrc, &tCtrCmd5F7, CAN_MSG_LEN);
|
|
-
|
|
|
|
|
|
+ CharReverse(ucCanMsgSrc,8);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
tCanMsg->ID = robot::common::RobotSelfCheckCtrReq;
|
|
tCanMsg->ID = robot::common::RobotSelfCheckCtrReq;
|
|
tCanMsg->LEN = 8;
|
|
tCanMsg->LEN = 8;
|
|
@@ -893,7 +922,7 @@ void MessageCoder::CanMsgPackageID_5F8(T_RBT_DRIVER_CTR * tRbtDriverCtr, TPCANMs
|
|
tCtrCmd5F8.uiYSftMotCtrl = tRbtDriverCtr->uiYSftMotCtrl;
|
|
tCtrCmd5F8.uiYSftMotCtrl = tRbtDriverCtr->uiYSftMotCtrl;
|
|
|
|
|
|
memcpy(ucCanMsgSrc, &tCtrCmd5F8, CAN_MSG_LEN);
|
|
memcpy(ucCanMsgSrc, &tCtrCmd5F8, CAN_MSG_LEN);
|
|
-
|
|
|
|
|
|
+ CharReverse(ucCanMsgSrc,8);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
tCanMsg->ID = robot::common::RobotDriverCtr;
|
|
tCanMsg->ID = robot::common::RobotDriverCtr;
|
|
tCanMsg->LEN = 8;
|
|
tCanMsg->LEN = 8;
|
|
@@ -915,7 +944,7 @@ void MessageCoder::CanMsgPackageID_5F9(T_RBT_MANAGER * tRbtManager, TPCANMsg *tC
|
|
tCtrCmd5F9.uiYSftMotInt = tRbtManager->uiYSftMotInt;
|
|
tCtrCmd5F9.uiYSftMotInt = tRbtManager->uiYSftMotInt;
|
|
|
|
|
|
memcpy(ucCanMsgSrc, &tCtrCmd5F9, CAN_MSG_LEN);
|
|
memcpy(ucCanMsgSrc, &tCtrCmd5F9, CAN_MSG_LEN);
|
|
-
|
|
|
|
|
|
+ CharReverse(ucCanMsgSrc,8);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
tCanMsg->ID = robot::common::RobotManager;
|
|
tCanMsg->ID = robot::common::RobotManager;
|
|
tCanMsg->LEN = 8;
|
|
tCanMsg->LEN = 8;
|
|
@@ -932,7 +961,7 @@ void MessageCoder::CanMsgPackageID_5FA(T_ICU_MONITOR * tIcuMonitor, TPCANMsg *tC
|
|
tCtrCmd5FA.uiICUClsReq = tIcuMonitor->uiICUClsReq;
|
|
tCtrCmd5FA.uiICUClsReq = tIcuMonitor->uiICUClsReq;
|
|
|
|
|
|
memcpy(ucCanMsgSrc, &tCtrCmd5FA, CAN_MSG_LEN);
|
|
memcpy(ucCanMsgSrc, &tCtrCmd5FA, CAN_MSG_LEN);
|
|
-
|
|
|
|
|
|
+ CharReverse(ucCanMsgSrc,8);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
tCanMsg->ID = robot::common::ICUMonitor;
|
|
tCanMsg->ID = robot::common::ICUMonitor;
|
|
tCanMsg->LEN = 8;
|
|
tCanMsg->LEN = 8;
|
|
@@ -950,7 +979,7 @@ void MessageCoder::CanMsgPackageID_5FB(T_ACT_ACC_CTR_REQ * tActAccCtrReq, TPCANM
|
|
tCtrCmd5FB.uiStrAccCtrReq = tActAccCtrReq->uiStrAccCtrReq;
|
|
tCtrCmd5FB.uiStrAccCtrReq = tActAccCtrReq->uiStrAccCtrReq;
|
|
|
|
|
|
memcpy(ucCanMsgSrc, &tCtrCmd5FB, CAN_MSG_LEN);
|
|
memcpy(ucCanMsgSrc, &tCtrCmd5FB, CAN_MSG_LEN);
|
|
-
|
|
|
|
|
|
+ CharReverse(ucCanMsgSrc,8);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
tCanMsg->ID = robot::common::ActuatorAccelerateCtrReq;
|
|
tCanMsg->ID = robot::common::ActuatorAccelerateCtrReq;
|
|
tCanMsg->LEN = 8;
|
|
tCanMsg->LEN = 8;
|
|
@@ -969,7 +998,7 @@ void MessageCoder::CanMsgPackageID_5FC(T_ACT_CTR_LIMT * tActCtrLimt, TPCANMsg *t
|
|
tCtrCmd5FC.uiSftType = tActCtrLimt->uiSftType;
|
|
tCtrCmd5FC.uiSftType = tActCtrLimt->uiSftType;
|
|
|
|
|
|
memcpy(ucCanMsgSrc, &tCtrCmd5FC, CAN_MSG_LEN);
|
|
memcpy(ucCanMsgSrc, &tCtrCmd5FC, CAN_MSG_LEN);
|
|
-
|
|
|
|
|
|
+ CharReverse(ucCanMsgSrc,8);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
tCanMsg->ID = robot::common::ActuatorCtrLimit;
|
|
tCanMsg->ID = robot::common::ActuatorCtrLimit;
|
|
tCanMsg->LEN = 8;
|
|
tCanMsg->LEN = 8;
|
|
@@ -987,7 +1016,7 @@ void MessageCoder::CanMsgPackageID_5FD(T_TRQ_PRTCT_STP * tTrqPrtctSetp, TPCANMsg
|
|
tCtrCmd5FD.uiStrTorqSwitch = tTrqPrtctSetp->uiStrTorqSwitch;
|
|
tCtrCmd5FD.uiStrTorqSwitch = tTrqPrtctSetp->uiStrTorqSwitch;
|
|
|
|
|
|
memcpy(ucCanMsgSrc, &tCtrCmd5FD, CAN_MSG_LEN);
|
|
memcpy(ucCanMsgSrc, &tCtrCmd5FD, CAN_MSG_LEN);
|
|
-
|
|
|
|
|
|
+ CharReverse(ucCanMsgSrc,8);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
tCanMsg->ID = robot::common::TorqueProtectStp;
|
|
tCanMsg->ID = robot::common::TorqueProtectStp;
|
|
tCanMsg->LEN = 8;
|
|
tCanMsg->LEN = 8;
|
|
@@ -1005,7 +1034,7 @@ void MessageCoder::CanMsgPackageID_5FE(T_BRK_FRC_CTR_STP * tBrkFrcCtrStp, TPCANM
|
|
tCtrCmd5FE.uiFrcSpd = tBrkFrcCtrStp->uiFrcSpd;
|
|
tCtrCmd5FE.uiFrcSpd = tBrkFrcCtrStp->uiFrcSpd;
|
|
|
|
|
|
memcpy(ucCanMsgSrc, &tCtrCmd5FE, CAN_MSG_LEN);
|
|
memcpy(ucCanMsgSrc, &tCtrCmd5FE, CAN_MSG_LEN);
|
|
-
|
|
|
|
|
|
+ CharReverse(ucCanMsgSrc,8);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
tCanMsg->ID = robot::common::BrakeForceCtrStp;
|
|
tCanMsg->ID = robot::common::BrakeForceCtrStp;
|
|
tCanMsg->LEN = 8;
|
|
tCanMsg->LEN = 8;
|
|
@@ -1031,7 +1060,7 @@ void MessageCoder::CanMsgPackageID_7F3(T_STR_TRNGL_LN_CTR * tStrTrnglLnCtr, TPCA
|
|
tCtrCmd7F3.uiStrTT = tStrTrnglLnCtr->uiStrTT;
|
|
tCtrCmd7F3.uiStrTT = tStrTrnglLnCtr->uiStrTT;
|
|
|
|
|
|
memcpy(ucCanMsgSrc, &tCtrCmd7F3, CAN_MSG_LEN);
|
|
memcpy(ucCanMsgSrc, &tCtrCmd7F3, CAN_MSG_LEN);
|
|
-
|
|
|
|
|
|
+ CharReverse(ucCanMsgSrc,8);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
tCanMsg->ID = robot::common::SteerTranLineCtr;
|
|
tCanMsg->ID = robot::common::SteerTranLineCtr;
|
|
tCanMsg->LEN = 8;
|
|
tCanMsg->LEN = 8;
|
|
@@ -1052,7 +1081,7 @@ void MessageCoder::CanMsgPackageID_7F4(T_STR_SIN_CTR * tStrSinCtr, TPCANMsg *tCa
|
|
tCtrCmd7F4.uiStrFrtk = tStrSinCtr->uiStrFrtk;
|
|
tCtrCmd7F4.uiStrFrtk = tStrSinCtr->uiStrFrtk;
|
|
|
|
|
|
memcpy(ucCanMsgSrc, &tCtrCmd7F4, CAN_MSG_LEN);
|
|
memcpy(ucCanMsgSrc, &tCtrCmd7F4, CAN_MSG_LEN);
|
|
-
|
|
|
|
|
|
+ CharReverse(ucCanMsgSrc,8);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
tCanMsg->ID = robot::common::SteerSinCtr;
|
|
tCanMsg->ID = robot::common::SteerSinCtr;
|
|
tCanMsg->LEN = 8;
|
|
tCanMsg->LEN = 8;
|
|
@@ -1070,7 +1099,7 @@ void MessageCoder::CanMsgPackageID_7F5(T_ACC_PSTN_CTR_STP * tAccPstnCtrStp, TPCA
|
|
tCtrCmd7F5.uiBrkTm = tAccPstnCtrStp->uiBrkTm;
|
|
tCtrCmd7F5.uiBrkTm = tAccPstnCtrStp->uiBrkTm;
|
|
|
|
|
|
memcpy(ucCanMsgSrc, &tCtrCmd7F5, CAN_MSG_LEN);
|
|
memcpy(ucCanMsgSrc, &tCtrCmd7F5, CAN_MSG_LEN);
|
|
-
|
|
|
|
|
|
+ CharReverse(ucCanMsgSrc,8);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
tCanMsg->ID = robot::common::AccPositionCtrStp;
|
|
tCanMsg->ID = robot::common::AccPositionCtrStp;
|
|
tCanMsg->LEN = 8;
|
|
tCanMsg->LEN = 8;
|
|
@@ -1095,7 +1124,7 @@ void MessageCoder::CanMsgPackageID_7F6(T_STR_PSTN_TM_CTR * tStrPstnTmCtr, TPCANM
|
|
tCtrCmd7F6.uiTotalNum = tStrPstnTmCtr->uiTotalNum;
|
|
tCtrCmd7F6.uiTotalNum = tStrPstnTmCtr->uiTotalNum;
|
|
|
|
|
|
memcpy(ucCanMsgSrc, &tCtrCmd7F6, CAN_MSG_LEN);
|
|
memcpy(ucCanMsgSrc, &tCtrCmd7F6, CAN_MSG_LEN);
|
|
-
|
|
|
|
|
|
+ CharReverse(ucCanMsgSrc,8);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
tCanMsg->ID = robot::common::SteerPositionTimeCtr;
|
|
tCanMsg->ID = robot::common::SteerPositionTimeCtr;
|
|
tCanMsg->LEN = 8;
|
|
tCanMsg->LEN = 8;
|
|
@@ -1111,7 +1140,7 @@ void MessageCoder::CanMsgPackageID_7F7(T_VEHICLE_START * tVehicleStart, TPCANMsg
|
|
tCtrCmd7F7.uiVehSwReq = tVehicleStart->uiVehSwReq;
|
|
tCtrCmd7F7.uiVehSwReq = tVehicleStart->uiVehSwReq;
|
|
|
|
|
|
memcpy(ucCanMsgSrc, &tCtrCmd7F7, CAN_MSG_LEN);
|
|
memcpy(ucCanMsgSrc, &tCtrCmd7F7, CAN_MSG_LEN);
|
|
-
|
|
|
|
|
|
+ CharReverse(ucCanMsgSrc,8);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
tCanMsg->ID = robot::common::VehicleStart;
|
|
tCanMsg->ID = robot::common::VehicleStart;
|
|
tCanMsg->LEN = 8;
|
|
tCanMsg->LEN = 8;
|
|
@@ -1135,7 +1164,7 @@ void MessageCoder::CanMsgPackageID_6F1(T_VEHICLE_STATUS_1 *tVehicleStatus1, TPCA
|
|
tStateIn6F1.uiVehSwStat = tVehicleStatus1->uiVehSwStat;
|
|
tStateIn6F1.uiVehSwStat = tVehicleStatus1->uiVehSwStat;
|
|
|
|
|
|
memcpy(ucCanMsgSrc, &tStateIn6F1, CAN_MSG_LEN);
|
|
memcpy(ucCanMsgSrc, &tStateIn6F1, CAN_MSG_LEN);
|
|
-
|
|
|
|
|
|
+ CharReverse(ucCanMsgSrc,8);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
tCanMsg->ID = robot::common::VehicleStatus1;
|
|
tCanMsg->ID = robot::common::VehicleStatus1;
|
|
tCanMsg->LEN = 8;
|
|
tCanMsg->LEN = 8;
|
|
@@ -1159,6 +1188,7 @@ void MessageCoder::CanMsgPackageID_6F2(T_VEHICLE_STATUS_2 *tVehicleStatus2, TPCA
|
|
tStateIn6F2.uiVehSpd = tVehicleStatus2->uiVehSpd;
|
|
tStateIn6F2.uiVehSpd = tVehicleStatus2->uiVehSpd;
|
|
|
|
|
|
memcpy(ucCanMsgSrc, &tStateIn6F2, CAN_MSG_LEN);
|
|
memcpy(ucCanMsgSrc, &tStateIn6F2, CAN_MSG_LEN);
|
|
|
|
+ CharReverse(ucCanMsgSrc,8);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
|
|
tCanMsg->ID = robot::common::VehicleStatus2;
|
|
tCanMsg->ID = robot::common::VehicleStatus2;
|
|
tCanMsg->LEN = 8;
|
|
tCanMsg->LEN = 8;
|
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@@ -1176,7 +1206,7 @@ void MessageCoder::CanMsgPackageID_6F3(T_VEHICLE_STATUS_3 *tVehicleStatus3, TPCA
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tStateIn6F3.uiVehBatVlt = tVehicleStatus3->uiVehBatVlt;
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tStateIn6F3.uiVehBatVlt = tVehicleStatus3->uiVehBatVlt;
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memcpy(ucCanMsgSrc, &tStateIn6F3, CAN_MSG_LEN);
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memcpy(ucCanMsgSrc, &tStateIn6F3, CAN_MSG_LEN);
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-
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+ CharReverse(ucCanMsgSrc,8);
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memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
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memcpy(tCanMsg->DATA, ucCanMsgSrc, CAN_MSG_LEN);
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tCanMsg->ID = robot::common::VehicleStatus3;
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tCanMsg->ID = robot::common::VehicleStatus3;
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tCanMsg->LEN = 8;
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tCanMsg->LEN = 8;
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