986 lines
47 KiB
C
986 lines
47 KiB
C
/* Copyright 2026 Rowan Catterall,
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* Newcastle University Formula Student AI Team
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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/*
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* This is the Newcastle University implementation of the
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* HYPERMOTIVE ADS-DV SOFTWARE INTERFACE SPECIFICATION VERSION 4.0
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* AND is extended with functionality to also read the PCAN-GPS module over CAN
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* it aims to be as minimal as possible, facilitating only the bare minimum to
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* pack and unpack the can frames only implementing checks where required by
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* the API. All data sanity checks are expected to be implemented by the calling
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* program.
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*/
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#ifndef NRAI_CAN_API
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#define NRAI_CAN_API
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#include <stdint.h>
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#include <linux/can.h>
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#ifndef NRAI_FT
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#define NRAI_FT
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#endif //NRAI_FT
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enum{
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NRAI_CAN_ID_NMT = 0,
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NRAI_CAN_ID_SYNC = 128,
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NRAI_CAN_ID_RES_EMCY = 129,
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NRAI_CAN_ID_UMB_EMCY = 132,
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NRAI_CAN_ID_OPUS2VCU_FB = 291,
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NRAI_CAN_ID_RES_TPDO = 385,
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NRAI_CAN_ID_UMB_PDO1 = 388,
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NRAI_CAN_ID_UMB_PDO2 = 644,
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NRAI_CAN_ID_VCU2OPUS_1 = 768,
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NRAI_CAN_ID_VCU2OPUS_2 = 769,
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NRAI_CAN_ID_VCU2OPUS_3 = 770,
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NRAI_CAN_ID_VCU2LOG_Dynamics1 = 1280,
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NRAI_CAN_ID_AI2LOG_Dynamics2 = 1281,
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NRAI_CAN_ID_VCU2LOG_Status = 1282,
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NRAI_CAN_ID_AI2VCU_Status = 1296,
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NRAI_CAN_ID_AI2VCU_Drive_F = 1297,
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NRAI_CAN_ID_AI2VCU_Drive_R = 1298,
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NRAI_CAN_ID_AI2VCU_Steer = 1299,
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NRAI_CAN_ID_AI2VCU_Brake = 1300,
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NRAI_CAN_ID_VCU2AI_Status = 1312,
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NRAI_CAN_ID_VCU2AI_Drive_F = 1313,
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NRAI_CAN_ID_VCU2AI_Drive_R = 1314,
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NRAI_CAN_ID_VCU2AI_Steer = 1315,
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NRAI_CAN_ID_VCU2AI_Brake = 1316,
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NRAI_CAN_ID_VCU2AI_Speeds = 1317,
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NRAI_CAN_ID_VCU2AI_Wheel_counts = 1318,
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NRAI_CAN_ID_BMC_Acceleration = 1536,
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NRAI_CAN_ID_L3GD20_Rotation_A = 1552,
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NRAI_CAN_ID_L3GD20_Rotation_B = 1553,
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NRAI_CAN_ID_GPS_Status = 1568,
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NRAI_CAN_ID_GPS_CourseSpeed = 1569,
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NRAI_CAN_ID_GPS_PositionLongitude = 1570,
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NRAI_CAN_ID_GPS_PositionLatitude = 1571,
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NRAI_CAN_ID_GPS_PositionAltitude = 1572,
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NRAI_CAN_ID_GPS_Delusions_A = 1573,
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NRAI_CAN_ID_GPS_Delusions_B = 1574,
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NRAI_CAN_ID_GPS_DateTime = 1575,
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NRAI_CAN_ID_BMC_MagneticField = 1576,
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NRAI_CAN_ID_IO = 1584,
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NRAI_CAN_ID_RTC_DateTime = 1600,
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NRAI_CAN_ID_Out_IO = 1616,
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NRAI_CAN_ID_Out_PowerOff = 1617,
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NRAI_CAN_ID_Out_Gyro = 1618,
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NRAI_CAN_ID_Out_BMC_AccScale = 1619,
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NRAI_CAN_ID_Out_SaveConfig = 1620,
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NRAI_CAN_ID_Out_RTC_SetTime = 1621,
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NRAI_CAN_ID_Out_RTC_TimeFromGPS = 1622,
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NRAI_CAN_ID_Out_Acc_FastCalibration = 1623,
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NRAI_CAN_ID_VECTOR__INDEPENDENT_SIG_MSG = 3221225472,
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};
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/* VCU_STATUS: SM_SYS */
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enum{
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SM_SYS_INITIAL_ACTIONS = 0,
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SM_SYS_POWER_ON_SELF_TEST = 1,
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SM_SYS_AUX = 2,
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SM_SYS_POWERTRAIN_ENABLE = 3,
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SM_SYS_DRIVE_AUTONOMOUS = 4,
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SM_SYS_DRIVE_MANUAL = 5,
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SM_SYS_CHARGE = 6,
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SM_SYS_SHUTDOWN = 7,
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SM_SYS_SHUTDOWN_OFF = 8,
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SM_SYS_PUSHBAR_MODE = 9,
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};
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/* VCU_STATUS: SM_AS */
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enum{
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SM_AS_AS_OFF = 1,
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SM_AS_AS_READY = 2,
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SM_AS_AS_DRIVING = 3,
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SM_AS_AS_EMERGENCY_BRAKE = 4,
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SM_AS_AS_FINISHED = 5,
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SM_AS_AS_R2D = 6,
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};
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/* VCU_STATUS: SYS_ACTION_STATE */
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enum{
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SYS_ACTION_STATE_INITIALISE = 0,
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SYS_ACTION_STATE_BATTERY_CHARGING = 1,
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SYS_ACTION_STATE_AUTONOMOUS_DRIVING = 2,
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SYS_ACTION_STATE_MANUAL_DRIVING = 3,
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};
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/* VCU2AI_Brake: STATUS_BRK */
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enum{
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STATUS_BRK_INITIALISING = 0,
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STATUS_BRK_READY = 1,
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STATUS_BRK_SHUTTING_DOWN = 2,
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STATUS_BRK_SHUTDOWN_COMPLETE = 3,
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STATUS_BRK_FAULT = 4,
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};
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/* VCU2AI_Brake: STATUS_EBS */
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enum{
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STATUS_EBS_UNAVAILABLE = 1,
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STATUS_EBS_ARMED = 2,
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STATUS_EBS_TRIGGERED = 3,
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};
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/* VCU2AI_Status: SHUTDOWN_REQUEST */
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enum{
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SHUTDOWN_REQUEST_NO_SHUTDOWN = 0,
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SHUTDOWN_REQUEST_SHUTDOWN_REQUESTED = 1,
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};
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/* VCU2AI_Status: AS_SWITCH_STATUS */
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enum{
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AS_SWITCH_STATUS_OFF = 0,
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AS_SWITCH_STATUS_ON = 1,
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};
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/* VCU2AI_Status: TS_SWITCH_STATUS */
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enum{
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TS_SWITCH_STATUS_OFF = 0,
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TS_SWITCH_STATUS_ON = 1,
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};
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/* VCU2AI_Status: GO_SIGNAL */
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enum{
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GO_SIGNAL_NO_GO = 0,
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GO_SIGNAL_GO = 1,
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};
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/* VCU2AI_Status: STEERING_STATUS */
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enum{
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STEERING_STATUS_OFF = 0,
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STEERING_STATUS_ACTIVE = 1,
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};
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/* VCU2AI_Status: AS_STATE*/
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enum{
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AS_STATE_AS_INIT = 0,
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AS_STATE_AS_OFF = 1,
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AS_STATE_AS_READY = 2,
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AS_STATE_AS_DRIVING = 3,
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AS_STATE_EMERGENCY_BRAKE = 4,
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AS_STATE_AS_FINISHED = 5,
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};
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/* VCU2AI_Status: AMI_STATE */
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enum{
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AMI_STATE_NOT_SELECTED = 0,
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AMI_STATE_ACCELERATION = 1,
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AMI_STATE_SKIDPAD = 2,
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AMI_STATE_AUTOCROSS = 3,
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AMI_STATE_TRACK_DRIVE = 4,
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AMI_STATE_STATIC_INSPECTION_A = 5,
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AMI_STATE_STATIC_INSPECTION_B = 6,
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AMI_STATE_AUTONOMOUS_DEMO = 7,
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};
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/* VCU2AI_Status: FAULT_STATUS*/
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enum{
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FAULT_STATUS_NO_FAULTS = 0,
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FAULT_STATUS_FAULT_DETECTED = 1,
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};
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/* VCU2AI_Status: WARNING_STATUS */
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enum{
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WARNING_STATUS_NO_WARNING = 0,
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WARNING_STATUS_WARNING_ACTIVE = 1,
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};
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/* VCU2AI_Status: WARN_BATT_TEMP_HIGH */
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enum{
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WARN_BATT_TEMP_HIGH_NO_WARNING = 0,
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WARN_BATT_TEMP_HIGH_WARNING_ACTIVE = 1,
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};
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/* VCU2AI_Status: WARN_BATT_SOC_LOW */
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enum{
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WARN_BATT_SOC_LOW_NO_WARNING = 0,
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WARN_BATT_SOC_LOW_WARNING_ACTIVE = 1,
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};
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/* VCU2AI_Status: AI_ESTOP_REQUEST */
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enum{
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AI_ESTOP_REQUEST_INACTIVE = 0,
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AI_ESTOP_REQUEST_ESTOP_REQUESTED = 1,
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};
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/* VCU2AI_Status: HVIL_OPEN_FAULT*/
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enum{
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HVIL_OPEN_FAULT_NO_FAULT = 0,
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HVIL_OPEN_FAULT_FAULT_DETECTED = 1,
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};
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/* VCU2AI_Status: HVIL_SHORT_FAULT*/
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enum{
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HVIL_SHORT_FAULT_NO_FAULT = 0,
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HVIL_SHORT_FAULT_FAULT_DETECTED = 1,
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};
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/* VCU2AI_Status: EBS_FAULT */
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enum{
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EBS_FAULT_NO_FAULT = 0,
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EBS_FAULT_FAULT_DETECTED = 1,
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};
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/* VCU2AI_Status: OFFBOARD_CHARGER_FAULT */
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enum{
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OFFBOARD_CHARGER_FAULT_NO_FAULT = 0,
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OFFBOARD_CHARGER_FAULT_FAULT_DETECTED = 1,
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};
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/* VCU2AI_Status: AI_COMMS_LOST */
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enum{
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AI_COMMS_LOST_NO_FAULT = 0,
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AI_COMMS_LOST_FAULT_DETECTED = 1,
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};
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/* VCU2AI_Status: AUTONOMOUS_BRAKING_FAULT */
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enum{
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AUTONOMOUS_BRAKING_FAULT_NO_FAULT = 0,
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AUTONOMOUS_BRAKING_FAULT_FAULT_DETECTED = 1,
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};
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/* VCU2AI_Status: MISSION_STATUS_FAULT */
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enum{
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MISSION_STATUS_FAULT_NO_FAULT = 0,
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MISSION_STATUS_FAULT_FAULT_DETECTED = 1,
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};
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/* VCU2AI_Status: CHARGE_PROCEDURE_FAULT */
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enum{
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CHARGE_PROCEDURE_FAULT_NO_FAULT = 0,
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CHARGE_PROCEDURE_FAULT_FAULT_DETECTED = 1,
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};
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/* VCU2AI_Status: BMS_FAULT */
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enum{
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BMS_FAULT_NO_FAULT = 0,
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BMS_FAULT_FAULT_DETECTED = 1,
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};
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/* VCU2AI_Status: BRAKE_PLAUSIBILITY_FAULT */
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enum{
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BRAKE_PLAUSIBILITY_FAULT_NO_FAULT = 0,
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BRAKE_PLAUSIBILITY_FAULT_FAULT_DETECTED = 1,
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};
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/* VCU2AI_Status: SHUTDOWN_CAUSE */
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enum{
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SHUTDOWN_CAUSE_NO_SHUTDOWN = 0,
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SHUTDOWN_CAUSE_AI_COMPUTER_REQUEST = 1,
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SHUTDOWN_CAUSE_HVIL_OPEN_CIRCUIT_FAULT = 2,
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SHUTDOWN_CAUSE_HVIL_SHORT_CIRCUIT_FAULT = 3,
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SHUTDOWN_CAUSE_EBS_FAULT = 4,
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SHUTDOWN_CAUSE_OFFBOARD_BATTERY_CHARGER_FAULT = 5,
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SHUTDOWN_CAUSE_AI_COMMUNICATIONS_FAULT = 6,
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SHUTDOWN_CAUSE_AUTONOMOUS_BRAKING_FAULT = 7,
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SHUTDOWN_CAUSE_MISSION_STATUS_FAULT = 8,
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SHUTDOWN_CAUSE_CHARGING_PROCEDURE_FAULT = 9,
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SHUTDOWN_CAUSE_BMS_FAULT = 10,
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SHUTDOWN_CAUSE_BRAKE_PLAUSIBILITY_FAULT = 11,
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};
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/* AI2VCU_Status: ESTOP_REQUEST */
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enum{
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ESTOP_REQUEST_NO_ESTOP_REQUESTED = 0,
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ESTOP_REQUEST_ESTOP_REQUESTED = 1,
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};
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/* AI2VCU_Status: MISSION_STATUS */
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enum{
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MISSION_STATUS_NOT_SELECTED = 0,
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MISSION_STATUS_MISSION_SELECTED = 1,
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MISSION_STATUS_RUNNING = 2,
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MISSION_STATUS_FINISHED = 3,
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};
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/* AI2VCU_Status: DIRECTION_REQUEST */
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enum{
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DIRECTION_REQUEST_NEUTRAL = 0,
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DIRECTION_REQUEST_FORWARD = 1,
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};
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/* ----------------------- AI_READ_START ----------------------- */
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//BO_ 1312 VCU2AI_Status: 8 VCU
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// SG_ HANDSHAKE : 0|1@1- (1,0) [0|1] "" LOG,AI,OPUS
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// SG_ OP_STATE : 4|4@1+ (1,0) [0|15] "" OPUS
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// SG_ SHUTDOWN_REQUEST : 8|1@1- (1,0) [0|1] "" LOG,AI,OPUS
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// SG_ AS_SWITCH_STATUS : 9|1@1- (1,0) [0|1] "" LOG,AI,OPUS
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// SG_ TS_SWITCH_STATUS : 10|1@1- (1,0) [0|1] "" LOG,AI,OPUS
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// SG_ GO_SIGNAL : 11|1@1- (1,0) [0|1] "" LOG,AI,OPUS
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// SG_ STEERING_STATUS : 12|2@1+ (1,0) [0|3] "" LOG,AI,OPUS
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// SG_ AS_STATE : 16|4@1+ (1,0) [0|7] "" LOG,AI,OPUS
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// SG_ AMI_STATE : 20|4@1+ (1,0) [0|15] "" LOG,AI,OPUS
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// SG_ FAULT_STATUS : 24|1@1- (1,0) [0|1] "" LOG,AI,OPUS
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// SG_ WARNING_STATUS : 25|1@1- (1,0) [0|1] "" LOG,AI,OPUS
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// SG_ TS_STATE : 28|4@1+ (1,0) [0|15] "" OPUS
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// SG_ WARN_BATT_TEMP_HIGH : 32|1@1- (1,0) [0|1] "" LOG,AI,OPUS
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// SG_ WARN_BATT_SOC_LOW : 33|1@1- (1,0) [0|1] "" LOG,AI,OPUS
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// SG_ EBS_STATE : 36|4@1+ (1,0) [0|15] "" OPUS
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// SG_ AI_ESTOP_REQUEST : 40|1@1- (1,0) [0|1] "__F__" LOG,AI,OPUS
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// SG_ HVIL_OPEN_FAULT : 41|1@1- (1,0) [0|1] "__F__" LOG,AI,OPUS
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// SG_ HVIL_SHORT_FAULT : 42|1@1- (1,0) [0|1] "__F__" LOG,AI,OPUS
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// SG_ EBS_FAULT : 43|1@1- (1,0) [0|1] "__F__" LOG,AI,OPUS
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// SG_ OFFBOARD_CHARGER_FAULT : 44|1@1- (1,0) [0|1] "__F__" LOG,AI,OPUS
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// SG_ AI_COMMS_LOST : 45|1@1- (1,0) [0|1] "__F__" LOG,AI,OPUS
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// SG_ AUTONOMOUS_BRAKING_FAULT : 46|1@1- (1,0) [0|1] "__F__" LOG,AI,OPUS
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// SG_ MISSION_STATUS_FAULT : 47|1@1- (1,0) [0|1] "__F__" LOG,AI,OPUS
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// SG_ CHARGE_PROCEDURE_FAULT : 48|1@1- (1,0) [0|1] "__F__" LOG,AI,OPUS
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// SG_ BMS_FAULT : 49|1@1- (1,0) [0|1] "__F__" LOG,AI,OPUS
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// SG_ BRAKE_PLAUSIBILITY_FAULT : 50|1@1- (1,0) [0|1] "__F__" LOG,AI,OPUS
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// SG_ SHUTDOWN_CAUSE : 56|8@1+ (1,0) [0|255] "" LOG,AI,OPUS
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//BO_ 1315 VCU2AI_Steer: 6 VCU
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// SG_ ANGLE : 0|16@1- (0.1,0) [-21|21] "deg" LOG,AI,OPUS
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// SG_ ANGLE_MAX : 16|16@1+ (0.1,0) [0|21] "deg" LOG,AI,OPUS
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// SG_ ANGLE_REQUEST : 32|16@1- (0.1,0) [-21|21] "deg" LOG,AI,OPUS
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//BO_ 1317 VCU2AI_Speeds: 8 VCU
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// SG_ FL_WHEEL_SPEED : 0|16@1+ (1,0) [0|1250] "rpm" LOG,AI,OPUS
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// SG_ FR_WHEEL_SPEED : 16|16@1+ (1,0) [0|1250] "rpm" LOG,AI,OPUS
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// SG_ RL_WHEEL_SPEED : 32|16@1+ (1,0) [0|1250] "rpm" LOG,AI,OPUS
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// SG_ RR_WHEEL_SPEED : 48|16@1+ (1,0) [0|1250] "rpm" LOG,AI,OPUS
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//BO_ 1316 VCU2AI_Brake: 5 VCU
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// SG_ HYD_PRESS_F_pct : 0|8@1+ (0.5,0) [0|100] "%" LOG,AI,OPUS
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// SG_ HYD_PRESS_F_REQ_pct : 8|8@1+ (0.5,0) [0|100] "%" LOG,AI,OPUS
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// SG_ HYD_PRESS_R_pct : 16|8@1+ (0.5,0) [0|100] "%" LOG,AI,OPUS
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// SG_ HYD_PRESS_R_REQ_pct : 24|8@1+ (0.5,0) [0|100] "%" LOG,AI,OPUS
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// SG_ STATUS_BRK : 32|4@1+ (1,0) [0|15] "" LOG,AI,OPUS
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// SG_ STATUS_EBS : 36|4@1+ (1,0) [0|15] "" LOG,AI,OPUS
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//BO_ 1313 VCU2AI_Drive_F: 6 VCU
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// SG_ FRONT_AXLE_TRQ : 0|16@1- (0.1,0) [-195|195] "Nm" OPUS,LOG,AI
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// SG_ FRONT_AXLE_TRQ_REQUEST : 16|16@1+ (0.1,0) [0|195] "Nm" OPUS,LOG,AI
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// SG_ FRONT_AXLE_TRQ_MAX : 32|16@1+ (0.1,0) [0|195] "Nm" OPUS,LOG,AI
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//BO_ 1314 VCU2AI_Drive_R: 6 VCU
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// SG_ REAR_AXLE_TRQ_Nm : 0|16@1- (0.1,0) [-195|195] "Nm" LOG,AI,OPUS
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// SG_ REAR_AXLE_TRQ_REQUEST_Nm : 16|16@1+ (0.1,0) [0|195] "Nm" LOG,AI,OPUS
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// SG_ REAR_AXLE_TRQ_MAX_Nm : 32|16@1+ (0.1,0) [0|195] "Nm" LOG,AI,OPUS
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//BO_ 1318 VCU2AI_Wheel_counts: 8 VCU
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// SG_ FL_PULSE_COUNT : 0|16@1+ (1,0) [0|65535] "" LOG,AI,OPUS
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// SG_ FR_PULSE_COUNT : 16|16@1+ (1,0) [0|65535] "" LOG,AI,OPUS
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// SG_ RL_PULSE_COUNT : 32|16@1+ (1,0) [0|65535] "" LOG,AI,OPUS
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// SG_ RR_PULSE_COUNT : 48|16@1+ (1,0) [0|65535] "" LOG,AI,OPUS
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//BO_ 1536 BMC_Acceleration: 8 PCAN_GPS
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// SG_ Acceleration_X : 0|16@1- (3.91,0) [-20000|20000] "mG" OPUS,LOG,AI
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// SG_ Acceleration_Y : 16|16@1- (3.91,0) [-20000|20000] "mG" OPUS,LOG,AI
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// SG_ Acceleration_Z : 32|16@1- (3.91,0) [-20000|20000] "mG" OPUS,LOG,AI
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// SG_ Temperature : 48|8@1- (0.5,24) [-40|87.5] "C" OPUS,LOG,AI
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// SG_ VerticalAxis : 56|2@1+ (1,0) [0|3] "" OPUS,LOG,AI
|
|
// SG_ Orientation : 58|3@1+ (1,0) [0|7] "" OPUS,LOG,AI
|
|
|
|
//BO_ 1576 BMC_MagneticField: 6 PCAN_GPS
|
|
// SG_ MagneticField_X : 0|16@1- (0.3,0) [-9830.4|9830.1] "T" OPUS,LOG,AI
|
|
// SG_ MagneticField_Y : 16|16@1- (0.3,0) [-9830.4|9830.1] "T" OPUS,LOG,AI
|
|
// SG_ MagneticField_Z : 32|16@1- (0.3,0) [-9830.4|9830.1] "T" OPUS,LOG,AI
|
|
|
|
//BO_ 1552 L3GD20_Rotation_A: 8 PCAN_GPS
|
|
// SG_ Rotation_X : 0|32@1- (1,0) [-4000|4000] "/s" OPUS,LOG,AI
|
|
// SG_ Rotation_Y : 32|32@1- (1,0) [-4000|4000] "/s" OPUS,LOG,AI
|
|
|
|
//BO_ 1553 L3GD20_Rotation_B: 4 PCAN_GPS
|
|
// SG_ Rotation_Z : 0|32@1- (1,0) [-4000|4000] "/s" OPUS,LOG,AI
|
|
|
|
//BO_ 1568 GPS_Status: 3 PCAN_GPS
|
|
// SG_ GPS_AntennaStatus : 0|8@1+ (1,0) [0|255] "" OPUS,LOG,AI
|
|
// SG_ GPS_NumSatellites : 8|8@1+ (1,0) [0|255] "" OPUS,LOG,AI
|
|
// SG_ GPS_NavigationMethod : 16|8@1+ (1,0) [0|255] "" OPUS,LOG,AI
|
|
|
|
//BO_ 1569 GPS_CourseSpeed: 8 PCAN_GPS
|
|
// SG_ GPS_Course : 0|32@1- (1,0) [-3.4E+038|3.4E+038] "" OPUS,LOG,AI
|
|
// SG_ GPS_Speed : 32|32@1- (1,0) [-3.4E+038|3.4E+038] "km/h" OPUS,LOG,AI
|
|
|
|
//BO_ 1570 GPS_PositionLongitude: 7 PCAN_GPS
|
|
// SG_ GPS_Longitude_Minutes : 0|32@1- (1,0) [-3.4E+038|3.4E+038] "'" OPUS,LOG,AI
|
|
// SG_ GPS_Longitude_Degree : 32|16@1+ (1,0) [0|359] "" OPUS,LOG,AI
|
|
// SG_ GPS_IndicatorEW : 48|8@1+ (1,0) [0|255] "" OPUS,LOG,AI
|
|
|
|
//BO_ 1571 GPS_PositionLatitude: 7 PCAN_GPS
|
|
// SG_ GPS_Latitude_Minutes : 0|32@1- (1,0) [-3.4E+038|3.4E+038] "'" OPUS,LOG,AI
|
|
// SG_ GPS_Latitude_Degree : 32|16@1+ (1,0) [0|359] "" OPUS,LOG,AI
|
|
// SG_ GPS_IndicatorNS : 48|8@1+ (1,0) [0|255] "" OPUS,LOG,AI
|
|
|
|
//BO_ 1572 GPS_PositionAltitude: 4 PCAN_GPS
|
|
// SG_ GPS_Altitude : 0|32@1- (1,0) [-3.4E+038|3.4E+038] "m" OPUS,LOG,AI
|
|
|
|
//BO_ 1573 GPS_Delusions_A: 8 PCAN_GPS
|
|
// SG_ GPS_PDOP : 0|32@1- (1,0) [-3.4E+038|3.4E+038] "" OPUS,LOG,AI
|
|
// SG_ GPS_HDOP : 32|32@1- (1,0) [-3.4E+038|3.4E+038] "" OPUS,LOG,AI
|
|
|
|
//BO_ 1574 GPS_Delusions_B: 4 PCAN_GPS
|
|
// SG_ GPS_VDOP : 0|32@1- (1,0) [-3.4E+038|3.4E+038] "" OPUS,LOG,AI
|
|
|
|
//BO_ 1575 GPS_DateTime: 6 PCAN_GPS
|
|
// SG_ UTC_Year : 0|8@1+ (1,0) [0|255] "" OPUS,LOG,AI
|
|
// SG_ UTC_Month : 8|8@1+ (1,0) [0|255] "" OPUS,LOG,AI
|
|
// SG_ UTC_DayOfMonth : 16|8@1+ (1,0) [0|255] "" OPUS,LOG,AI
|
|
// SG_ UTC_Hour : 24|8@1+ (1,0) [0|255] "" OPUS,LOG,AI
|
|
// SG_ UTC_Minute : 32|8@1+ (1,0) [0|255] "" OPUS,LOG,AI
|
|
// SG_ UTC_Second : 40|8@1+ (1,0) [0|255] "" OPUS,LOG,AI
|
|
|
|
//BO_ 1584 IO: 1 PCAN_GPS
|
|
// SG_ Din1_Status : 0|1@1+ (1,0) [0|1] "" OPUS,LOG,AI
|
|
// SG_ Din2_Status : 1|1@1+ (1,0) [0|1] "" OPUS,LOG,AI
|
|
// SG_ Dout_Status : 2|1@1+ (1,0) [0|1] "" OPUS,LOG,AI
|
|
// SG_ SD_Present : 3|1@1+ (1,0) [0|1] "" OPUS,LOG,AI
|
|
// SG_ GPS_PowerStatus : 4|1@1+ (1,0) [0|1] "" OPUS,LOG,AI
|
|
// SG_ Device_ID : 5|3@1+ (1,0) [0|7] "" OPUS,LOG,AI
|
|
|
|
//BO_ 1600 RTC_DateTime: 8 PCAN_GPS
|
|
// SG_ RTC_Sec : 0|8@1+ (1,0) [0|255] "" OPUS,LOG,AI
|
|
// SG_ RTC_Min : 8|8@1+ (1,0) [0|255] "" OPUS,LOG,AI
|
|
// SG_ RTC_Hour : 16|8@1+ (1,0) [0|255] "" OPUS,LOG,AI
|
|
// SG_ RTC_DayOfWeek : 24|8@1+ (1,0) [0|255] "" OPUS,LOG,AI
|
|
// SG_ RTC_DayOfMonth : 32|8@1+ (1,0) [0|255] "" OPUS,LOG,AI
|
|
// SG_ RTC_Month : 40|8@1+ (1,0) [0|255] "" OPUS,LOG,AI
|
|
// SG_ RTC_Year : 48|16@1+ (1,0) [0|65535] "" OPUS,LOG,AI
|
|
|
|
//BO_ 1616 Out_IO: 1 PCAN_GPS
|
|
// SG_ Dout_Set : 0|1@1+ (1,0) [0|1] "" OPUS,LOG,AI
|
|
// SG_ GPS_SetPower : 1|1@1+ (1,0) [0|1] "" OPUS,LOG,AI
|
|
|
|
//BO_ 1617 Out_PowerOff: 1 PCAN_GPS
|
|
// SG_ Device_PowerOff : 0|1@1+ (1,0) [0|1] "" OPUS,LOG,AI
|
|
|
|
//BO_ 1618 Out_Gyro: 1 PCAN_GPS
|
|
// SG_ Gyro_SetScale : 0|2@1+ (1,0) [0|3] "/s" OPUS,LOG,AI
|
|
|
|
//BO_ 1619 Out_BMC_AccScale: 1 PCAN_GPS
|
|
// SG_ Acc_SetScale : 0|3@1+ (1,0) [0|7] "" OPUS,LOG,AI
|
|
|
|
//BO_ 1620 Out_SaveConfig: 1 PCAN_GPS
|
|
// SG_ Config_SaveToEEPROM : 0|1@1+ (1,0) [0|1] "" OPUS,LOG,AI
|
|
|
|
//BO_ 1621 Out_RTC_SetTime: 8 PCAN_GPS
|
|
// SG_ RTC_SetSec : 0|8@1+ (1,0) [0|59] "" OPUS,LOG,AI
|
|
// SG_ RTC_SetMin : 8|8@1+ (1,0) [0|59] "" OPUS,LOG,AI
|
|
// SG_ RTC_SetHour : 16|8@1+ (1,0) [0|23] "" OPUS,LOG,AI
|
|
// SG_ RTC_SetDayOfWeek : 24|8@1+ (1,0) [0|6] "" OPUS,LOG,AI
|
|
// SG_ RTC_SetDayOfMonth : 32|8@1+ (1,0) [1|31] "" OPUS,LOG,AI
|
|
// SG_ RTC_SetMonth : 40|8@1+ (1,0) [1|12] "" OPUS,LOG,AI
|
|
// SG_ RTC_SetYear : 48|16@1+ (1,0) [1900|2099] "" OPUS,LOG,AI
|
|
|
|
//BO_ 1622 Out_RTC_TimeFromGPS: 1 PCAN_GPS
|
|
// SG_ RTC_SetTimeFromGPS : 0|1@1+ (1,0) [0|1] "" OPUS,LOG,AI
|
|
|
|
//BO_ 1623 Out_Acc_FastCalibration: 4 PCAN_GPS
|
|
// SG_ Acc_SetCalibTarget_X : 0|2@1+ (1,0) [0|3] "" OPUS,LOG,AI
|
|
// SG_ Acc_SetCalibTarget_Y : 8|2@1+ (1,0) [0|3] "" OPUS,LOG,AI
|
|
// SG_ Acc_SetCalibTarget_Z : 16|2@1+ (1,0) [0|3] "" OPUS,LOG,AI
|
|
// SG_ Acc_StartFastCalib : 24|1@1+ (1,0) [0|1] "" OPUS,LOG,AI
|
|
|
|
/* unsorted reference struct
|
|
struct nrai_can_ai_read{
|
|
//1312 VCU2AI_Status: 8 VCU
|
|
uint8_t HANDSHAKE; // 0|1@1- (1,0) [0|1]
|
|
uint8_t OP_STATE; // 4|4@1+ (1,0) [0|15]
|
|
uint8_t SHUTDOWN_REQUEST; // 8|1@1- (1,0) [0|1]
|
|
uint8_t AS_SWITCH_STATUS; // 9|1@1- (1,0) [0|1]
|
|
uint8_t TS_SWITCH_STATUS; // 10|1@1- (1,0) [0|1]
|
|
uint8_t GO_SIGNAL; // 11|1@1- (1,0) [0|1]
|
|
uint8_t STEERING_STATUS; // 12|2@1+ (1,0) [0|3]
|
|
uint8_t AS_STATE; // 16|4@1+ (1,0) [0|7]
|
|
uint8_t AMI_STATE; // 20|4@1+ (1,0) [0|15]
|
|
uint8_t FAULT_STATUS; // 24|1@1- (1,0) [0|1]
|
|
uint8_t WARNING_STATUS; // 25|1@1- (1,0) [0|1]
|
|
uint8_t TS_STATE; // 28|4@1+ (1,0) [0|15]
|
|
uint8_t WARN_BATT_TEMP_HIGH; // 32|1@1- (1,0) [0|1]
|
|
uint8_t WARN_BATT_SOC_LOW; // 33|1@1- (1,0) [0|1]
|
|
uint8_t EBS_STATE; // 36|4@1+ (1,0) [0|15]
|
|
uint8_t AI_ESTOP_REQUEST; // 40|1@1- (1,0) [0|1]
|
|
uint8_t HVIL_OPEN_FAULT; // 41|1@1- (1,0) [0|1]
|
|
uint8_t HVIL_SHORT_FAULT; // 42|1@1- (1,0) [0|1]
|
|
uint8_t EBS_FAULT; // 43|1@1- (1,0) [0|1]
|
|
uint8_t OFFBOARD_CHARGER_FAULT; // 44|1@1- (1,0) [0|1]
|
|
uint8_t AI_COMMS_LOST; // 45|1@1- (1,0) [0|1]
|
|
uint8_t AUTONOMOUS_BRAKING_FAULT; // 46|1@1- (1,0) [0|1]
|
|
uint8_t MISSION_STATUS_FAULT; // 47|1@1- (1,0) [0|1]
|
|
uint8_t CHARGE_PROCEDURE_FAULT; // 48|1@1- (1,0) [0|1]
|
|
uint8_t BMS_FAULT; // 49|1@1- (1,0) [0|1]
|
|
uint8_t BRAKE_PLAUSIBILITY_FAULT; // 50|1@1- (1,0) [0|1]
|
|
uint8_t SHUTDOWN_CAUSE; // 56|8@1+ (1,0) [0|255]
|
|
|
|
//1315 VCU2AI_Steer: 6 VCU
|
|
int16_t ANGLE; // 0|16@1- (0.1,0) [-21|21]
|
|
uint16_t ANGLE_MAX; // 16|16@1+ (0.1,0) [0|21]
|
|
int16_t ANGLE_REQUEST; // 32|16@1- (0.1,0) [-21|21]
|
|
|
|
//1317 VCU2AI_Speeds: 8 VCU
|
|
uint16_t FL_WHEEL_SPEED; // 0|16@1+ (1,0) [0|1250]
|
|
uint16_t FR_WHEEL_SPEED; // 16|16@1+ (1,0) [0|1250]
|
|
uint16_t RL_WHEEL_SPEED; // 32|16@1+ (1,0) [0|1250]
|
|
uint16_t RR_WHEEL_SPEED; // 48|16@1+ (1,0) [0|1250]
|
|
|
|
//1316 VCU2AI_Brake: 5 VCU
|
|
uint8_t HYD_PRESS_F_pct; // 0|8@1+ (0.5,0) [0|100]
|
|
uint8_t HYD_PRESS_F_REQ_pct; // 8|8@1+ (0.5,0) [0|100]
|
|
uint8_t HYD_PRESS_R_pct; // 16|8@1+ (0.5,0) [0|100]
|
|
uint8_t HYD_PRESS_R_REQ_pct; // 24|8@1+ (0.5,0) [0|100]
|
|
uint8_t STATUS_BRK; // 32|4@1+ (1,0) [0|15]
|
|
uint8_t STATUS_EBS; // 36|4@1+ (1,0) [0|15]
|
|
|
|
//1313 VCU2AI_Drive_F: 6 VCU
|
|
int16_t FRONT_AXLE_TRQ; // 0|16@1- (0.1,0) [-195|195]
|
|
uint16_t FRONT_AXLE_TRQ_REQUEST; // 16|16@1+ (0.1,0) [0|195]
|
|
uint16_t FRONT_AXLE_TRQ_MAX; // 32|16@1+ (0.1,0) [0|195]
|
|
|
|
//1314 VCU2AI_Drive_R: 6 VCU
|
|
int16_t REAR_AXLE_TRQ_Nm; // 0|16@1- (0.1,0) [-195|195]
|
|
uint16_t REAR_AXLE_TRQ_REQUEST_Nm; // 16|16@1+ (0.1,0) [0|195]
|
|
uint16_t REAR_AXLE_TRQ_MAX_Nm; // 32|16@1+ (0.1,0) [0|195]
|
|
|
|
//1318 VCU2AI_Wheel_counts: 8 VCU
|
|
uint16_t FL_PULSE_COUNT; // 0|16@1+ (1,0) [0|65535]
|
|
uint16_t FR_PULSE_COUNT; // 16|16@1+ (1,0) [0|65535]
|
|
uint16_t RL_PULSE_COUNT; // 32|16@1+ (1,0) [0|65535]
|
|
uint16_t RR_PULSE_COUNT; // 48|16@1+ (1,0) [0|65535]
|
|
|
|
//1536 BMC_Acceleration: 8 PCAN_GPS
|
|
int16_t Acceleration_X; // 0|16@1- (3.91,0) [-20000|20000]
|
|
int16_t Acceleration_Y; // 16|16@1- (3.91,0) [-20000|20000]
|
|
int16_t Acceleration_Z; // 32|16@1- (3.91,0) [-20000|20000]
|
|
int8_t Temperature; // 48|8@1- (0.5,24) [-40|87.5]
|
|
uint8_t VerticalAxis; // 56|2@1+ (1,0) [0|3]
|
|
uint8_t Orientation; // 58|3@1+ (1,0) [0|7]
|
|
|
|
//1576 BMC_MagneticField: 6 PCAN_GPS
|
|
int16_t MagneticField_X; // 0|16@1- (0.3,0) [-9830.4|9830.1]
|
|
int16_t MagneticField_Y; // 16|16@1- (0.3,0) [-9830.4|9830.1]
|
|
int16_t MagneticField_Z; // 32|16@1- (0.3,0) [-9830.4|9830.1]
|
|
|
|
//1552 L3GD20_Rotation_A: 8 PCAN_GPS
|
|
int32_t Rotation_X; // 0|32@1- (1,0) [-4000|4000]
|
|
int32_t Rotation_Y; // 32|32@1- (1,0) [-4000|4000]
|
|
|
|
//1553 L3GD20_Rotation_B: 4 PCAN_GPS
|
|
int32_t Rotation_Z; // 0|32@1- (1,0) [-4000|4000]
|
|
|
|
//1568 GPS_Status: 3 PCAN_GPS
|
|
uint8_t GPS_AntennaStatus; // 0|8@1+ (1,0) [0|255]
|
|
uint8_t GPS_NumSatellites; // 8|8@1+ (1,0) [0|255]
|
|
uint8_t GPS_NavigationMethod; // 16|8@1+ (1,0) [0|255]
|
|
|
|
//1569 GPS_CourseSpeed: 8 PCAN_GPS
|
|
int32_t GPS_Course; // 0|32@1- (1,0) [-3.4E+038|3.4E+038]
|
|
int32_t GPS_Speed; // 32|32@1- (1,0) [-3.4E+038|3.4E+038]
|
|
|
|
//1570 GPS_PositionLongitude: 7 PCAN_GPS
|
|
int32_t GPS_Longitude_Minutes; // 0|32@1- (1,0) [-3.4E+038|3.4E+038]
|
|
uint16_t GPS_Longitude_Degree; // 32|16@1+ (1,0) [0|359]
|
|
uint8_t GPS_IndicatorEW; // 48|8@1+ (1,0) [0|255]
|
|
|
|
//1571 GPS_PositionLatitude: 7 PCAN_GPS
|
|
int32_t GPS_Latitude_Minutes; // 0|32@1- (1,0) [-3.4E+038|3.4E+038]
|
|
uint16_t GPS_Latitude_Degree; // 32|16@1+ (1,0) [0|359]
|
|
uint8_t GPS_IndicatorNS; // 48|8@1+ (1,0) [0|255]
|
|
|
|
//1572 GPS_PositionAltitude: 4 PCAN_GPS
|
|
int32_t GPS_Altitude; // 0|32@1- (1,0) [-3.4E+038|3.4E+038]
|
|
|
|
//1573 GPS_Delusions_A: 8 PCAN_GPS
|
|
int32_t GPS_PDOP; // 0|32@1- (1,0) [-3.4E+038|3.4E+038]
|
|
int32_t GPS_HDOP; // 32|32@1- (1,0) [-3.4E+038|3.4E+038]
|
|
|
|
//1574 GPS_Delusions_B: 4 PCAN_GPS
|
|
int32_t GPS_VDOP; // 0|32@1- (1,0) [-3.4E+038|3.4E+038]
|
|
|
|
//1575 GPS_DateTime: 6 PCAN_GPS
|
|
uint8_t UTC_Year; // 0|8@1+ (1,0) [0|255]
|
|
uint8_t UTC_Month; // 8|8@1+ (1,0) [0|255]
|
|
uint8_t UTC_DayOfMonth; // 16|8@1+ (1,0) [0|255]
|
|
uint8_t UTC_Hour; // 24|8@1+ (1,0) [0|255]
|
|
uint8_t UTC_Minute; // 32|8@1+ (1,0) [0|255]
|
|
uint8_t UTC_Second; // 40|8@1+ (1,0) [0|255]
|
|
|
|
//1584 IO: 1 PCAN_GPS
|
|
uint8_t Din1_Status; // 0|1@1+ (1,0) [0|1]
|
|
uint8_t Din2_Status; // 1|1@1+ (1,0) [0|1]
|
|
uint8_t Dout_Status; // 2|1@1+ (1,0) [0|1]
|
|
uint8_t SD_Present; // 3|1@1+ (1,0) [0|1]
|
|
uint8_t GPS_PowerStatus; // 4|1@1+ (1,0) [0|1]
|
|
uint8_t Device_ID; // 5|3@1+ (1,0) [0|7]
|
|
|
|
//1600 RTC_DateTime: 8 PCAN_GPS
|
|
uint8_t RTC_Sec; // 0|8@1+ (1,0) [0|255]
|
|
uint8_t RTC_Min; // 8|8@1+ (1,0) [0|255]
|
|
uint8_t RTC_Hour; // 16|8@1+ (1,0) [0|255]
|
|
uint8_t RTC_DayOfWeek; // 24|8@1+ (1,0) [0|255]
|
|
uint8_t RTC_DayOfMonth; // 32|8@1+ (1,0) [0|255]
|
|
uint8_t RTC_Month; // 40|8@1+ (1,0) [0|255]
|
|
uint16_t RTC_Year; // 48|16@1+ (1,0) [0|65535]
|
|
|
|
//1616 Out_IO: 1 PCAN_GPS
|
|
uint8_t Dout_Set; // 0|1@1+ (1,0) [0|1]
|
|
uint8_t GPS_SetPower; // 1|1@1+ (1,0) [0|1]
|
|
|
|
//1617 Out_PowerOff: 1 PCAN_GPS
|
|
uint8_t Device_PowerOff; // 0|1@1+ (1,0) [0|1]
|
|
|
|
//1618 Out_Gyro: 1 PCAN_GPS
|
|
uint8_t Gyro_SetScale; // 0|2@1+ (1,0) [0|3]
|
|
|
|
//1619 Out_BMC_AccScale: 1 PCAN_GPS
|
|
uint8_t Acc_SetScale; // 0|3@1+ (1,0) [0|7]
|
|
|
|
//1620 Out_SaveConfig: 1 PCAN_GPS
|
|
uint8_t Config_SaveToEEPROM; // 0|1@1+ (1,0) [0|1]
|
|
|
|
//1621 Out_RTC_SetTime: 8 PCAN_GPS
|
|
uint8_t RTC_SetSec; // 0|8@1+ (1,0) [0|59]
|
|
uint8_t RTC_SetMin; // 8|8@1+ (1,0) [0|59]
|
|
uint8_t RTC_SetHour; // 16|8@1+ (1,0) [0|23]
|
|
uint8_t RTC_SetDayOfWeek; // 24|8@1+ (1,0) [0|6]
|
|
uint8_t RTC_SetDayOfMonth; // 32|8@1+ (1,0) [1|31]
|
|
uint8_t RTC_SetMonth; // 40|8@1+ (1,0) [1|12]
|
|
uint16_t RTC_SetYear; // 48|16@1+ (1,0) [1900|2099]
|
|
|
|
//1622 Out_RTC_TimeFromGPS: 1 PCAN_GPS
|
|
uint8_t RTC_SetTimeFromGPS; // 0|1@1+ (1,0) [0|1]
|
|
|
|
//1623 Out_Acc_FastCalibration: 4 PCAN_GPS
|
|
uint8_t Acc_SetCalibTarget_X; // 0|2@1+ (1,0) [0|3]
|
|
uint8_t Acc_SetCalibTarget_Y; // 8|2@1+ (1,0) [0|3]
|
|
uint8_t Acc_SetCalibTarget_Z; // 16|2@1+ (1,0) [0|3]
|
|
uint8_t Acc_StartFastCalib; // 24|1@1+ (1,0) [0|1]
|
|
};
|
|
*/
|
|
|
|
struct nrai_can_ai_read {
|
|
int32_t Rotation_X; // 0|32@1- (1,0) [-4000|4000]
|
|
int32_t Rotation_Y; // 32|32@1- (1,0) [-4000|4000]
|
|
int32_t Rotation_Z; // 0|32@1- (1,0) [-4000|4000]
|
|
int32_t GPS_Course; // 0|32@1- (1,0) [-3.4E+038|3.4E+038]
|
|
int32_t GPS_Speed; // 32|32@1- (1,0) [-3.4E+038|3.4E+038]
|
|
int32_t GPS_Longitude_Minutes; // 0|32@1- (1,0) [-3.4E+038|3.4E+038]
|
|
int32_t GPS_Latitude_Minutes; // 0|32@1- (1,0) [-3.4E+038|3.4E+038]
|
|
int32_t GPS_Altitude; // 0|32@1- (1,0) [-3.4E+038|3.4E+038]
|
|
int32_t GPS_PDOP; // 0|32@1- (1,0) [-3.4E+038|3.4E+038]
|
|
int32_t GPS_HDOP; // 32|32@1- (1,0) [-3.4E+038|3.4E+038]
|
|
int32_t GPS_VDOP; // 0|32@1- (1,0) [-3.4E+038|3.4E+038]
|
|
|
|
int16_t ANGLE; // 0|16@1- (0.1,0) [-21|21]
|
|
uint16_t ANGLE_MAX; // 16|16@1+ (0.1,0) [0|21]
|
|
int16_t ANGLE_REQUEST; // 32|16@1- (0.1,0) [-21|21]
|
|
uint16_t FL_WHEEL_SPEED; // 0|16@1+ (1,0) [0|1250]
|
|
uint16_t FR_WHEEL_SPEED; // 16|16@1+ (1,0) [0|1250]
|
|
uint16_t RL_WHEEL_SPEED; // 32|16@1+ (1,0) [0|1250]
|
|
uint16_t RR_WHEEL_SPEED; // 48|16@1+ (1,0) [0|1250]
|
|
int16_t FRONT_AXLE_TRQ; // 0|16@1- (0.1,0) [-195|195]
|
|
uint16_t FRONT_AXLE_TRQ_REQUEST; // 16|16@1+ (0.1,0) [0|195]
|
|
uint16_t FRONT_AXLE_TRQ_MAX; // 32|16@1+ (0.1,0) [0|195]
|
|
int16_t REAR_AXLE_TRQ_Nm; // 0|16@1- (0.1,0) [-195|195]
|
|
uint16_t REAR_AXLE_TRQ_REQUEST_Nm; // 16|16@1+ (0.1,0) [0|195]
|
|
uint16_t REAR_AXLE_TRQ_MAX_Nm; // 32|16@1+ (0.1,0) [0|195]
|
|
uint16_t FL_PULSE_COUNT; // 0|16@1+ (1,0) [0|65535]
|
|
uint16_t FR_PULSE_COUNT; // 16|16@1+ (1,0) [0|65535]
|
|
uint16_t RL_PULSE_COUNT; // 32|16@1+ (1,0) [0|65535]
|
|
uint16_t RR_PULSE_COUNT; // 48|16@1+ (1,0) [0|65535]
|
|
int16_t Acceleration_X; // 0|16@1- (3.91,0) [-20000|20000]
|
|
int16_t Acceleration_Y; // 16|16@1- (3.91,0) [-20000|20000]
|
|
int16_t Acceleration_Z; // 32|16@1- (3.91,0) [-20000|20000]
|
|
int16_t MagneticField_X; // 0|16@1- (0.3,0) [-9830.4|9830.1]
|
|
int16_t MagneticField_Y; // 16|16@1- (0.3,0) [-9830.4|9830.1]
|
|
int16_t MagneticField_Z; // 32|16@1- (0.3,0) [-9830.4|9830.1]
|
|
uint16_t GPS_Longitude_Degree; // 32|16@1+ (1,0) [0|359]
|
|
uint16_t GPS_Latitude_Degree; // 32|16@1+ (1,0) [0|359]
|
|
uint16_t RTC_Year; // 48|16@1+ (1,0) [0|65535]
|
|
uint16_t RTC_SetYear; // 48|16@1+ (1,0) [1900|2099]
|
|
|
|
uint8_t HANDSHAKE; // 0|1@1- (1,0) [0|1]
|
|
uint8_t OP_STATE; // 4|4@1+ (1,0) [0|15]
|
|
uint8_t SHUTDOWN_REQUEST; // 8|1@1- (1,0) [0|1]
|
|
uint8_t AS_SWITCH_STATUS; // 9|1@1- (1,0) [0|1]
|
|
uint8_t TS_SWITCH_STATUS; // 10|1@1- (1,0) [0|1]
|
|
uint8_t GO_SIGNAL; // 11|1@1- (1,0) [0|1]
|
|
uint8_t STEERING_STATUS; // 12|2@1+ (1,0) [0|3]
|
|
uint8_t AS_STATE; // 16|4@1+ (1,0) [0|7]
|
|
uint8_t AMI_STATE; // 20|4@1+ (1,0) [0|15]
|
|
uint8_t FAULT_STATUS; // 24|1@1- (1,0) [0|1]
|
|
uint8_t WARNING_STATUS; // 25|1@1- (1,0) [0|1]
|
|
uint8_t TS_STATE; // 28|4@1+ (1,0) [0|15]
|
|
uint8_t WARN_BATT_TEMP_HIGH; // 32|1@1- (1,0) [0|1]
|
|
uint8_t WARN_BATT_SOC_LOW; // 33|1@1- (1,0) [0|1]
|
|
uint8_t EBS_STATE; // 36|4@1+ (1,0) [0|15]
|
|
uint8_t AI_ESTOP_REQUEST; // 40|1@1- (1,0) [0|1]
|
|
uint8_t HVIL_OPEN_FAULT; // 41|1@1- (1,0) [0|1]
|
|
uint8_t HVIL_SHORT_FAULT; // 42|1@1- (1,0) [0|1]
|
|
uint8_t EBS_FAULT; // 43|1@1- (1,0) [0|1]
|
|
uint8_t OFFBOARD_CHARGER_FAULT; // 44|1@1- (1,0) [0|1]
|
|
uint8_t AI_COMMS_LOST; // 45|1@1- (1,0) [0|1]
|
|
uint8_t AUTONOMOUS_BRAKING_FAULT; // 46|1@1- (1,0) [0|1]
|
|
uint8_t MISSION_STATUS_FAULT; // 47|1@1- (1,0) [0|1]
|
|
uint8_t CHARGE_PROCEDURE_FAULT; // 48|1@1- (1,0) [0|1]
|
|
uint8_t BMS_FAULT; // 49|1@1- (1,0) [0|1]
|
|
uint8_t BRAKE_PLAUSIBILITY_FAULT; // 50|1@1- (1,0) [0|1]
|
|
uint8_t SHUTDOWN_CAUSE; // 56|8@1+ (1,0) [0|255]
|
|
uint8_t HYD_PRESS_F_pct; // 0|8@1+ (0.5,0) [0|100]
|
|
uint8_t HYD_PRESS_F_REQ_pct; // 8|8@1+ (0.5,0) [0|100]
|
|
uint8_t HYD_PRESS_R_pct; // 16|8@1+ (0.5,0) [0|100]
|
|
uint8_t HYD_PRESS_R_REQ_pct; // 24|8@1+ (0.5,0) [0|100]
|
|
uint8_t STATUS_BRK; // 32|4@1+ (1,0) [0|15]
|
|
uint8_t STATUS_EBS; // 36|4@1+ (1,0) [0|15]
|
|
int8_t Temperature; // 48|8@1- (0.5,24) [-40|87.5]
|
|
uint8_t VerticalAxis; // 56|2@1+ (1,0) [0|3]
|
|
uint8_t Orientation; // 58|3@1+ (1,0) [0|7]
|
|
uint8_t GPS_AntennaStatus; // 0|8@1+ (1,0) [0|255]
|
|
uint8_t GPS_NumSatellites; // 8|8@1+ (1,0) [0|255]
|
|
uint8_t GPS_NavigationMethod; // 16|8@1+ (1,0) [0|255]
|
|
uint8_t GPS_IndicatorEW; // 48|8@1+ (1,0) [0|255]
|
|
uint8_t GPS_IndicatorNS; // 48|8@1+ (1,0) [0|255]
|
|
uint8_t UTC_Year; // 0|8@1+ (1,0) [0|255]
|
|
uint8_t UTC_Month; // 8|8@1+ (1,0) [0|255]
|
|
uint8_t UTC_DayOfMonth; // 16|8@1+ (1,0) [0|255]
|
|
uint8_t UTC_Hour; // 24|8@1+ (1,0) [0|255]
|
|
uint8_t UTC_Minute; // 32|8@1+ (1,0) [0|255]
|
|
uint8_t UTC_Second; // 40|8@1+ (1,0) [0|255]
|
|
uint8_t Din1_Status; // 0|1@1+ (1,0) [0|1]
|
|
uint8_t Din2_Status; // 1|1@1+ (1,0) [0|1]
|
|
uint8_t Dout_Status; // 2|1@1+ (1,0) [0|1]
|
|
uint8_t SD_Present; // 3|1@1+ (1,0) [0|1]
|
|
uint8_t GPS_PowerStatus; // 4|1@1+ (1,0) [0|1]
|
|
uint8_t Device_ID; // 5|3@1+ (1,0) [0|7]
|
|
uint8_t RTC_Sec; // 0|8@1+ (1,0) [0|255]
|
|
uint8_t RTC_Min; // 8|8@1+ (1,0) [0|255]
|
|
uint8_t RTC_Hour; // 16|8@1+ (1,0) [0|255]
|
|
uint8_t RTC_DayOfWeek; // 24|8@1+ (1,0) [0|255]
|
|
uint8_t RTC_DayOfMonth; // 32|8@1+ (1,0) [0|255]
|
|
uint8_t RTC_Month; // 40|8@1+ (1,0) [0|255]
|
|
uint8_t Dout_Set; // 0|1@1+ (1,0) [0|1]
|
|
uint8_t GPS_SetPower; // 1|1@1+ (1,0) [0|1]
|
|
uint8_t Device_PowerOff; // 0|1@1+ (1,0) [0|1]
|
|
uint8_t Gyro_SetScale; // 0|2@1+ (1,0) [0|3]
|
|
uint8_t Acc_SetScale; // 0|3@1+ (1,0) [0|7]
|
|
uint8_t Config_SaveToEEPROM; // 0|1@1+ (1,0) [0|1]
|
|
uint8_t RTC_SetSec; // 0|8@1+ (1,0) [0|59]
|
|
uint8_t RTC_SetMin; // 8|8@1+ (1,0) [0|59]
|
|
uint8_t RTC_SetHour; // 16|8@1+ (1,0) [0|23]
|
|
uint8_t RTC_SetDayOfWeek; // 24|8@1+ (1,0) [0|6]
|
|
uint8_t RTC_SetDayOfMonth; // 32|8@1+ (1,0) [1|31]
|
|
uint8_t RTC_SetMonth; // 40|8@1+ (1,0) [1|12]
|
|
uint8_t RTC_SetTimeFromGPS; // 0|1@1+ (1,0) [0|1]
|
|
uint8_t Acc_SetCalibTarget_X; // 0|2@1+ (1,0) [0|3]
|
|
uint8_t Acc_SetCalibTarget_Y; // 8|2@1+ (1,0) [0|3]
|
|
uint8_t Acc_SetCalibTarget_Z; // 16|2@1+ (1,0) [0|3]
|
|
uint8_t Acc_StartFastCalib; // 24|1@1+ (1,0) [0|1]
|
|
};
|
|
|
|
/*
|
|
* The following funcitons ALL unpack the data from the CAN frame corresponding
|
|
* to their name into the nrai_can_ai_read struct.
|
|
* All functions return:
|
|
* -1 on error
|
|
* 0 on success
|
|
* On error the struct nrai_can_ai_read AND the can_frame are not modified.
|
|
*/
|
|
NRAI_FT int32_t nrai_can_unpack_VCU2AI_Status (struct nrai_can_ai_read *, struct can_frame *);
|
|
NRAI_FT int32_t nrai_can_unpack_VCU2AI_Steer (struct nrai_can_ai_read *, struct can_frame *);
|
|
NRAI_FT int32_t nrai_can_unpack_VCU2AI_Speeds (struct nrai_can_ai_read *, struct can_frame *);
|
|
NRAI_FT int32_t nrai_can_unpack_VCU2AI_Brake (struct nrai_can_ai_read *, struct can_frame *);
|
|
NRAI_FT int32_t nrai_can_unpack_VCU2AI_Drive_F (struct nrai_can_ai_read *, struct can_frame *);
|
|
NRAI_FT int32_t nrai_can_unpack_VCU2AI_Drive_R (struct nrai_can_ai_read *, struct can_frame *);
|
|
NRAI_FT int32_t nrai_can_unpack_VCU2AI_Wheel_counts (struct nrai_can_ai_read *, struct can_frame *);
|
|
|
|
NRAI_FT int32_t nrai_can_unpack_BMC_Acceleration (struct nrai_can_ai_read *, struct can_frame *);
|
|
NRAI_FT int32_t nrai_can_unpack_BMC_MagneticField (struct nrai_can_ai_read *, struct can_frame *);
|
|
NRAI_FT int32_t nrai_can_unpack_L3GD20_Rotation_A (struct nrai_can_ai_read *, struct can_frame *);
|
|
NRAI_FT int32_t nrai_can_unpack_L3GD20_Rotation_B (struct nrai_can_ai_read *, struct can_frame *);
|
|
|
|
NRAI_FT int32_t nrai_can_unpack_GPS_Status (struct nrai_can_ai_read *, struct can_frame *);
|
|
NRAI_FT int32_t nrai_can_unpack_GPS_CourseSpeed (struct nrai_can_ai_read *, struct can_frame *);
|
|
NRAI_FT int32_t nrai_can_unpack_GPS_PositionLongitude (struct nrai_can_ai_read *, struct can_frame *);
|
|
NRAI_FT int32_t nrai_can_unpack_GPS_PositionLatitude (struct nrai_can_ai_read *, struct can_frame *);
|
|
NRAI_FT int32_t nrai_can_unpack_GPS_PositionAltitude (struct nrai_can_ai_read *, struct can_frame *);
|
|
NRAI_FT int32_t nrai_can_unpack_GPS_Delusions_A (struct nrai_can_ai_read *, struct can_frame *);
|
|
NRAI_FT int32_t nrai_can_unpack_GPS_Delusions_B (struct nrai_can_ai_read *, struct can_frame *);
|
|
NRAI_FT int32_t nrai_can_unpack_GPS_DateTime (struct nrai_can_ai_read *, struct can_frame *);
|
|
NRAI_FT int32_t nrai_can_unpack_IO (struct nrai_can_ai_read *, struct can_frame *);
|
|
|
|
NRAI_FT int32_t nrai_can_unpack_RTC_DateTime (struct nrai_can_ai_read *, struct can_frame *);
|
|
NRAI_FT int32_t nrai_can_unpack_Out_IO (struct nrai_can_ai_read *, struct can_frame *);
|
|
NRAI_FT int32_t nrai_can_unpack_Out_PowerOff (struct nrai_can_ai_read *, struct can_frame *);
|
|
NRAI_FT int32_t nrai_can_unpack_Out_Gyro (struct nrai_can_ai_read *, struct can_frame *);
|
|
NRAI_FT int32_t nrai_can_unpack_Out_BMC_AccScale (struct nrai_can_ai_read *, struct can_frame *);
|
|
NRAI_FT int32_t nrai_can_unpack_Out_SaveConfig (struct nrai_can_ai_read *, struct can_frame *);
|
|
NRAI_FT int32_t nrai_can_unpack_Out_RTC_SetTime (struct nrai_can_ai_read *, struct can_frame *);
|
|
NRAI_FT int32_t nrai_can_unpack_Out_RTC_TimeFromGPS (struct nrai_can_ai_read *, struct can_frame *);
|
|
NRAI_FT int32_t nrai_can_unpack_Out_Acc_FastCalibration (struct nrai_can_ai_read *, struct can_frame *);
|
|
|
|
/* ----------------------- AI_READ_END ----------------------- */
|
|
|
|
|
|
|
|
/* ----------------------- AI_WRITE_START ----------------------- */
|
|
|
|
//BO_ 1296 AI2VCU_Status: 8 AI
|
|
// SG_ HANDSHAKE : 0|1@1- (1,0) [0|1] "" LOG,OPUS,VCU
|
|
// SG_ ESTOP_REQUEST : 8|1@1- (1,0) [0|1] "" LOG,OPUS,VCU
|
|
// SG_ MISSION_STATUS : 12|2@1+ (1,0) [0|3] "" LOG,OPUS,VCU
|
|
// SG_ DIRECTION_REQUEST : 14|2@1+ (1,0) [0|3] "" LOG,OPUS,VCU
|
|
// SG_ LAP_COUNTER : 16|4@1+ (1,0) [0|15] "" LOG,OPUS,VCU
|
|
// SG_ CONES_COUNT_ACTUAL : 24|8@1+ (1,0) [0|255] "" LOG,OPUS,VCU
|
|
// SG_ CONES_COUNT_ALL : 32|16@1+ (1,0) [0|65535] "" LOG,OPUS,VCU
|
|
// SG_ VEH_SPEED_ACTUAL : 48|8@1+ (1,0) [0|255] "km/h" LOG,OPUS,VCU
|
|
// SG_ VEH_SPEED_DEMAND : 56|8@1+ (1,0) [0|255] "km/h" LOG,OPUS,VCU
|
|
|
|
//BO_ 1299 AI2VCU_Steer: 2 AI
|
|
// SG_ STEER_REQUEST : 0|16@1- (0.1,0) [-21|21] "deg" LOG,OPUS,VCU
|
|
|
|
//BO_ 1300 AI2VCU_Brake: 2 AI
|
|
// SG_ HYD_PRESS_F_REQ_pct : 0|8@1+ (0.5,0) [0|100] "%" LOG,OPUS,VCU
|
|
// SG_ HYD_PRESS_R_REQ_pct : 8|8@1+ (0.5,0) [0|100] "%" LOG,OPUS,VCU
|
|
|
|
//BO_ 1297 AI2VCU_Drive_F: 4 AI
|
|
// SG_ FRONT_AXLE_TRQ_REQUEST : 0|16@1+ (0.1,0) [0|195] "Nm" OPUS,LOG,VCU
|
|
// SG_ FRONT_MOTOR_SPEED_MAX : 16|16@1+ (1,0) [0|4000] "rpm" OPUS,LOG,VCU
|
|
|
|
//BO_ 1298 AI2VCU_Drive_R: 4 AI
|
|
// SG_ REAR_AXLE_TRQ_REQUEST : 0|16@1+ (0.1,0) [0|195] "Nm" LOG,OPUS,VCU
|
|
// SG_ REAR_MOTOR_SPEED_MAX : 16|16@1+ (1,0) [0|4000] "rpm" LOG,OPUS,VCU
|
|
|
|
struct nrai_can_ai_write {
|
|
uint16_t CONES_COUNT_ALL; // 32|16@1+ (1,0) [0|65535]
|
|
int16_t STEER_REQUEST; // 0|16@1- (0.1,0) [-21|21]
|
|
uint16_t FRONT_AXLE_TRQ_REQUEST; // 0|16@1+ (0.1,0) [0|195]
|
|
uint16_t FRONT_MOTOR_SPEED_MAX; // 16|16@1+ (1,0) [0|4000]
|
|
uint16_t REAR_AXLE_TRQ_REQUEST; // 0|16@1+ (0.1,0) [0|195]
|
|
uint16_t REAR_MOTOR_SPEED_MAX; // 16|16@1+ (1,0) [0|4000]
|
|
uint8_t HANDSHAKE; // 0|1@1- (1,0) [0|1]
|
|
uint8_t ESTOP_REQUEST; // 8|1@1- (1,0) [0|1]
|
|
uint8_t MISSION_STATUS; // 12|2@1+ (1,0) [0|3]
|
|
uint8_t DIRECTION_REQUEST; // 14|2@1+ (1,0) [0|3]
|
|
uint8_t LAP_COUNTER; // 16|4@1+ (1,0) [0|15]
|
|
uint8_t CONES_COUNT_ACTUAL; // 24|8@1+ (1,0) [0|255]
|
|
uint8_t VEH_SPEED_ACTUAL; // 48|8@1+ (1,0) [0|255]
|
|
uint8_t VEH_SPEED_DEMAND; // 56|8@1+ (1,0) [0|255]
|
|
uint8_t HYD_PRESS_F_REQ_pct; // 0|8@1+ (0.5,0) [0|100]
|
|
uint8_t HYD_PRESS_R_REQ_pct; // 8|8@1+ (0.5,0) [0|100]
|
|
};
|
|
|
|
/*
|
|
* The following funcitons ALL create the can_frame corresponding to their
|
|
* funciton name from the data contained in the nrai_can_ai_write struct.
|
|
* All functions return:
|
|
* -1 on error
|
|
* 0 on success
|
|
* On error the resulting can_frame is undefined and not safe to use.
|
|
* Values out of range will be clamped to their higher or lower bound, a stat
|
|
* clamp is performed silently and not reported as an error.
|
|
* */
|
|
NRAI_FT int32_t nrai_can_mkframe_AI2VCU_Status( struct nrai_can_ai_write *, struct can_frame *);
|
|
NRAI_FT int32_t nrai_can_mkframe_AI2VCU_Steer( struct nrai_can_ai_write *, struct can_frame *);
|
|
NRAI_FT int32_t nrai_can_mkframe_AI2VCU_Brake( struct nrai_can_ai_write *, struct can_frame *);
|
|
NRAI_FT int32_t nrai_can_mkframe_AI2VCU_Drive_F(struct nrai_can_ai_write *, struct can_frame *);
|
|
NRAI_FT int32_t nrai_can_mkframe_AI2VCU_Drive_R(struct nrai_can_ai_write *, struct can_frame *);
|
|
|
|
/* ----------------------- AI_WRITE_END ----------------------- */
|
|
|
|
|
|
|
|
|
|
|
|
/* ----------------------- EXTERNAL_START ----------------------- */
|
|
|
|
//BO_ 1280 VCU2LOG_Dynamics1: 8 VCU
|
|
// SG_ Speed_actual : 0|8@1+ (1,0) [0|255] "km/h" LOG,OPUS
|
|
// SG_ Speed_target : 8|8@1+ (1,0) [0|255] "km/h" LOG,OPUS
|
|
// SG_ Steer_actual : 16|8@1- (0.5,0) [-64|63.5] "deg" LOG,OPUS
|
|
// SG_ Steer_target : 24|8@1- (0.5,0) [-64|63.5] "deg" LOG,OPUS
|
|
// SG_ Brake_actual_pct : 32|8@1+ (1,0) [0|100] "%" LOG,OPUS
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// SG_ Brake_target_pct : 40|8@1+ (1,0) [0|100] "%" LOG,OPUS
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// SG_ Drive_trq_actual_pct : 48|8@1+ (1,0) [0|100] "%" LOG,OPUS
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// SG_ Drive_trq_target_pct : 56|8@1+ (1,0) [0|100] "%" LOG,OPUS
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//BO_ 1282 VCU2LOG_Status: 5 VCU
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// SG_ State_ASSI : 0|3@1+ (1,0) [0|7] "" LOG,OPUS
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// SG_ State_EBS : 3|2@1+ (1,0) [0|3] "" LOG,OPUS
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// SG_ AMI_STATE : 5|3@1+ (1,0) [0|7] "" LOG,OPUS
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// SG_ State_steering : 8|1@1- (1,0) [0|1] "" LOG,OPUS
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// SG_ State_service_brake : 9|2@1+ (1,0) [0|3] "" LOG,OPUS
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// SG_ Lap_counter : 11|4@1+ (1,0) [0|15] "" LOG,OPUS
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// SG_ Cones_count_actual : 15|8@1+ (1,0) [0|255] "" LOG,OPUS
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// SG_ Cones_count_all : 23|17@1+ (1,0) [0|131071] "" LOG,OPUS
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//BO_ 1281 AI2LOG_Dynamics2: 6 PCAN_GPS
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// SG_ Accel_longitudinal_mps2 : 0|16@1- (0.00195313,0) [-64|63.998] "m/s^2" OPUS,LOG
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// SG_ Accel_lateral_mps2 : 16|16@1- (0.00195313,0) [-64|63.998] "m/s^2" OPUS,LOG
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// SG_ Yaw_rate_degps : 32|16@1- (0.0078125,0) [-256|255.992] "deg/s" OPUS,LOG
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//BO_ 129 RES_EMCY: 8 RES
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// SG_ RES_EEC : 0|16@1+ (1,0) [0|65535] "" LOG,OPUS,VCU
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// SG_ RES_ER : 16|8@1+ (1,0) [0|255] "" LOG,OPUS,VCU
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// SG_ RES_Fault_ID : 24|16@1+ (1,0) [0|65535] "" LOG,OPUS,VCU
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//BO_ 385 RES_TPDO: 8 RES
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// SG_ ESTOP_STATUS : 0|1@1- (1,0) [0|1] "" LOG,OPUS,VCU
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// SG_ K2_SWITCH_GO_STATUS : 1|1@1- (1,0) [0|1] "" LOG,OPUS,VCU
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// SG_ K3_SWITCH_STATUS : 2|1@1- (1,0) [0|1] "" LOG,OPUS,VCU
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// SG_ RADIO_STRENGTH : 48|8@1+ (1,0) [0|255] "%" LOG,OPUS,VCU
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//BO_ 291 OPUS2VCU_FB: 1 OPUS
|
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// SG_ AMI_STATE : 0|4@1+ (1,0) [0|15] "" OPUS,LOG,VCU
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// SG_ BRK_DISCH_REQ : 4|1@1- (1,0) [0|1] "" OPUS,LOG,VCU
|
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// SG_ CHARGE_REQ : 5|1@1- (1,0) [0|1] "" Vector__XXX
|
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//BO_ 644 UMB_PDO2: 4 JOYSTICK
|
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// SG_ YPOS : 0|16@1+ (1,0) [0|255] "" LOG,OPUS,VCU
|
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// SG_ XPOS : 16|16@1+ (1,0) [0|255] "" LOG,OPUS,VCU
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//BO_ 132 UMB_EMCY: 8 JOYSTICK
|
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// SG_ UMB_EEC : 0|16@1+ (1,0) [0|65535] "" LOG,OPUS,VCU
|
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// SG_ UMB_ER : 16|8@1+ (1,0) [0|255] "" LOG,OPUS,VCU
|
|
// SG_ UMB_Fault_ID : 24|16@1+ (1,0) [0|65535] "" LOG,OPUS,VCU
|
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|
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//BO_ 128 SYNC: 0 VCU
|
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|
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//BO_ 388 UMB_PDO1: 2 JOYSTICK
|
|
// SG_ BTN_TOP : 0|1@1- (1,0) [0|1] "" LOG,OPUS,VCU
|
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// SG_ BTN_BTM : 3|1@1- (1,0) [0|1] "" LOG,OPUS,VCU
|
|
|
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//BO_ 769 VCU2OPUS_2: 8 VCU
|
|
// SG_ EBS_FRONT_ACC_PRESS : 0|16@1- (0.01,0) [-327.68|327.67] "Bar" OPUS
|
|
// SG_ EBS_REAR_ACC_PRESS : 16|16@1- (0.01,0) [-327.68|327.67] "Bar" OPUS
|
|
// SG_ EBS_FRONT_CALIPER_PRESS : 32|16@1- (0.01,0) [-327.68|327.67] "Bar" OPUS
|
|
// SG_ EBS_REAR_CALIPER_PRESS : 48|16@1- (0.01,0) [-327.68|327.67] "Bar" OPUS
|
|
|
|
//BO_ 768 VCU2OPUS_1: 8 VCU
|
|
// SG_ KL15_ADC : 0|16@1+ (0.001,0) [0|65.535] "V" OPUS
|
|
// SG_ VBAT_ADC : 16|16@1+ (0.001,0) [0|65.535] "V" OPUS
|
|
// SG_ AUX_HV : 32|16@1+ (0.001,0) [0|65.535] "V" OPUS
|
|
// SG_ LEM_500A_ADC : 48|16@1+ (0.25,-625) [-625|15758.75] "A" OPUS
|
|
|
|
//BO_ 0 NMT: 2 VCU
|
|
// SG_ CMD : 0|8@1+ (1,0) [0|255] "" LOG,OPUS,RES,JOYSTICK
|
|
// SG_ NODE_ID : 8|8@1+ (1,0) [0|255] "" LOG,OPUS,RES,JOYSTICK
|
|
|
|
/* ----------------------- EXTERNAL_END ----------------------- */
|
|
|
|
/* ----------------------- WTF?????_START ----------------------- */
|
|
|
|
//BO_ 3221225472 VECTOR__INDEPENDENT_SIG_MSG: 0 Vector__XXX
|
|
// SG_ AI2VCU_Drive_F_Count : 0|8@1+ (1,0) [0|255] "" Vector__XXX
|
|
// SG_ AI2VCU_Brake_Count : 0|8@1+ (1,0) [0|255] "" Vector__XXX
|
|
// SG_ AI2VCU_Steer_Count : 0|8@1+ (1,0) [0|255] "" Vector__XXX
|
|
// SG_ AI2VCU_Drive_R_Count : 0|8@1+ (1,0) [0|255] "" Vector__XXX
|
|
// SG_ AI2VCU_Status_Count : 0|8@1+ (1,0) [0|255] "" Vector__XXX
|
|
|
|
//BO_ 770 VCU2OPUS_3: 8 VCU
|
|
// SG_ EBS_TEST_BITFIELD : 0|16@1+ (1,0) [0|65535] "" Vector__XXX
|
|
// SG_ EBS_TEST_BITFIELD_LATCHED : 16|16@1+ (1,0) [0|65535] "" Vector__XXX
|
|
|
|
/* ----------------------- WTF?????_END ----------------------- */
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#endif //NRAI_CAN_API
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