fsae_can_spec.yml

#############################################################
#                  CAN Node SPEC                            #
#           May need to listen to can_ids: None             #
#############################################################

FRONT_CAN_NODE_DRIVER_OUTPUT:
  can_id: 0x030
  frequency: 50HZ
  is_big_endian: true
  segments:
    REQUESTED_TORQUE:
      position: [0, 15]
      c_type: int16_t
      unit: null
      values:
        POSITIVE_TORQUE: [0x0000, 0x7FFF]
        NEGATIVE_TORQUE: [0x8000, 0xFFFF]
    BRAKE_PRESSURE:
      position: [16, 23]
      c_type: uint8_t
      unit: null
      values:
        BRAKE_PRESSURE: [0x00, 0xFF]
    STEERING_POSITION:
      position: [24, 31]
      c_type: uint8_t
      unit: null
      values:
        STEERING_TRAVEL_LEFTWARDS: [0x00, 0xFF]
    THROTTLE_IMPLAUSIBLE:
      position: [32, 32]
      c_type: bool
      unit: null
      values:
        PLAUSIBLE: 0x0
        IMPLAUSIBLE: 0x1
    BRAKE_THROTTLE_CONFLICT:
      position: [33, 33]
      c_type: bool
      unit: null
      values:
        NO_CONFLICT: 0x0
        CONFLICT: 0x1
    BRAKE_ENGAGED:
      position: [34, 34]
      c_type: bool
      unit: null
      values:
        RELEASED: 0x0
        ENGAGED: 0x1
    RESERVED:
      position: [35, 39]
      c_type: null
      unit: null
      values:
    TORQUE_BEFORE_CONTROL:
      position: [40, 55]
      c_type: int16_t
      unit: null
      values:

REAR_CAN_NODE_HEARTBEAT:
  can_id: 0x031
  frequency: 1HZ
  is_big_endian: true
  segments:
    IS_OK:
      position: [0, 0]
      c_type: bool
      unit: null
      values:
        NOT_OK: 0x0
        OK: 0x1

REAR_CAN_NODE_WHEEL_SPEED:
  can_id: 0x032
  frequency: 50HZ
  is_big_endian: true
  segments:
    REAR_RIGHT_WHEEL_SPEED:
      position: [0, 31]
      c_type: uint32_t
      unit: null
      values:
        REAR_RIGHT_WHEEL_SPEED: [0x000, 0xFFFFFFFF]
    REAR_LEFT_WHEEL_SPEED:
      position: [32, 63]
      c_type: uint32_t
      unit: null
      values:
        REAR_LEFT_WHEEL_SPEED: [0x000, 0xFFFFFFFF]

#################### LOGGING_ONLY #########################
FRONT_CAN_NODE_RAW_VALUES:
  can_id: 0x230
  frequency: 10HZ
  is_big_endian: true
  segments:
    RIGHT_THROTTLE_POT:
      position: [0, 9]
      c_type: uint16_t
      unit: null
      values:
        RIGHT_THROTTLE_POT: [0x00, 0xFF]
    LEFT_THROTTLE_POT:
      position: [10, 19]
      c_type: uint16_t
      unit: null
      values:
        LEFT_THROTTLE_POT: [0x00, 0xFF]
    FRONT_BRAKE_PRESSURE:
      position: [20, 29]
      c_type: uint16_t
      unit: null
      values:
        FRONT_BRAKE_PRESSURE: [0x00, 0xFF]
    REAR_BRAKE_PRESSURE:
      position: [30, 39]
      c_type: uint16_t
      unit: null
      values:
        REAR_BRAKE_PRESSURE: [0x00, 0xFF]
    STEERING_POT:
      position: [40, 49]
      c_type: uint16_t
      unit: null
      values:
        STEERING_POT: [0x00, 0xFF]

#################### LOGGING_ONLY #########################
FRONT_CAN_NODE_WHEEL_SPEED:
  can_id: 0x231
  frequency: 50HZ
  is_big_endian: true
  segments:
    FRONT_RIGHT_WHEEL_SPEED:
      position: [0, 31]
      c_type: uint32_t
      unit: null
      values:
        FRONT_RIGHT_WHEEL_SPEED: [0x000, 0xFFFFFFFF]
    FRONT_LEFT_WHEEL_SPEED:
      position: [32, 63]
      c_type: uint32_t
      unit: null
      values:
        FRONT_LEFT_WHEEL_SPEED: [0x000, 0xFFFFFFFF]

#############################################################
#                   VCU SPEC                                #
#           May need to listen to can_ids: TODO             #
#############################################################

VCU_BMS_HEARTBEAT:
  can_id: 0x050
  frequency: 1HZ
  is_big_endian: true
  segments:
    STATE:
      position: [0, 0]
      c_type: bool
      unit: null
      values:
        DISCHARGE: 0x0

VCU_DASH_HEARTBEAT:
  can_id: 0x51
  frequency: 10HZ
  is_big_endian: true
  segments:
    RTD_LIGHT:
      position: [0, 0]
      c_type: bool
      unit: null
      values:
        OFF: 0x0
        ON: 0x1
    AMS_LIGHT:
      position: [1, 1]
      c_type: bool
      unit: null
      values:
        OFF: 0x0
        ON: 0x1
    IMD_LIGHT:
      position: [2, 2]
      c_type: bool
      unit: null
      values:
        OFF: 0x0
        ON: 0x1
    HV_LIGHT:
      position: [3, 3]
      c_type: bool
      unit: null
      values:
        OFF: 0x0
        ON: 0x1
    TRACTION_CONTROL:
      position: [4, 4]
      c_type: bool
      unit: null
      values:
        OFF: 0x0
        ON: 0x1
    LIMP_MODE:
      position: [5, 5]
      c_type: bool
      unit: null
      values:
        OFF: 0x0
        ON: 0x1
    LV_WARNING:
      position: [6, 6]
      c_type: bool
      unit: null
      values:
        OFF: 0x0
        ON: 0x1
    ACTIVE_AERO:
      position: [7, 7]
      c_type: bool
      unit: null
      values:
        OFF: 0x0
        ON: 0x1
    REGEN:
      position: [8, 8]
      c_type: bool
      unit: null
      values:
        OFF: 0x0
        ON: 0x1
    SHUTDOWN_ESD_DRAIN:
      position: [9, 9]
      c_type: bool
      unit: null
      values:
        CLOSED: 0x0
        OPEN: 0x1
    SHUTDOWN_BMS:
      position: [10, 10]
      c_type: bool
      unit: null
      values:
        CLOSED: 0x0
        OPEN: 0x1
    SHUTDOWN_IMD:
      position: [11, 11]
      c_type: bool
      unit: null
      values:
        CLOSED: 0x0
        OPEN: 0x1
    SHUTDOWN_BSPD:
      position: [12, 12]
      c_type: bool
      unit: null
      values:
        CLOSED: 0x0
        OPEN: 0x1
    SHUTDOWN_VCU:
      position: [13, 13]
      c_type: bool
      unit: null
      values:
        CLOSED: 0x0
        OPEN: 0x1
    SHUTDOWN_PRECHARGE:
      position: [14, 14]
      c_type: bool
      unit: null
      values:
        CLOSED: 0x0
        OPEN: 0x1
    SHUTDOWN_MASTER_RESET:
      position: [15, 15]
      c_type: bool
      unit: null
      values:
        CLOSED: 0x0
        OPEN: 0x1
    SHUTDOWN_DRIVER_RESET:
      position: [16, 16]
      c_type: bool
      unit: null
      values:
        CLOSED: 0x0
        OPEN: 0x1
    UNUSED:
      position: [17, 24]
      c_type: null
      unit: null
      values:
    HEARTBEAT_FRONT_CAN_NODE_DEAD:
      position: [25, 25]
      c_type: bool
      unit: null
      values:
        ALIVE: 0x0
        DEAD: 0x1
    HEARTBEAT_REAR_CAN_NODE_DEAD:
      position: [26, 26]
      c_type: bool
      unit: null
      values:
        ALIVE: 0x0
        DEAD: 0x1
    HEARTBEAT_BMS_DEAD:
      position: [27, 27]
      c_type: bool
      unit: null
      values:
        ALIVE: 0x0
        DEAD: 0x1
    HEARTBEAT_DASH_DEAD:
      position: [28, 28]
      c_type: bool
      unit: null
      values:
        ALIVE: 0x0
        DEAD: 0x1
    HEARTBEAT_MC_DEAD:
      position: [29, 29]
      c_type: bool
      unit: null
      values:
        ALIVE: 0x0
        DEAD: 0x1
    HEARTBEAT_CURRENT_SENSOR_DEAD:
      position: [30, 30]
      c_type: bool
      unit: null
      values:
        ALIVE: 0x0
        DEAD: 0x1
    TSMS_OFF:
      position: [31, 31]
      c_type: bool
      unit: null
      values:
        ON: 0x0
        OFF: 0x1
    RESET_LATCH_OPEN:
      position: [32, 32]
      c_type: bool
      unit: null
      values:
        CLOSED: 0x0
        OPEN: 0x1
    PRECHARGE_RUNNING:
      position: [33, 33]
      c_type: bool
      unit: null
      values:
        FALSE: 0x0
        TRUE: 0x1
    MASTER_RESET_NOT_INITIALIZED:
      position: [34, 34]
      c_type: bool
      unit: null
      values:
        FALSE: 0x0
        TRUE: 0x1
    DRIVER_RESET_NOT_INITIALIZED:
      position: [35, 35]
      c_type: bool
      unit: null
      values:
        FALSE: 0x0
        TRUE: 0x1
    RESERVED:
      position: [36, 39]
      c_type: null
      unit: null
      values:
    LV_BATTERY_VOLTAGE:
      position: [40, 49]
      c_type: uint16_t
      unit: null
      values:
        LV_BATTERY_VOLTAGE: [0x000, 0x3FF]

VCU_MC_MESSAGE:
  can_id: 0x52
  is_big_endian: false
  segments:
    REG_ID:
      position: [0, 7]
      c_type: enum
      unit: null
      values:
        MSG_REQUEST: 0x3D
        MSG_EVENT_REQUEST: 0x51
        TORQUE_CMD: 0x90
    DATA_1:
      position: [8, 15]
      c_type: uint8_t
      unit: null
      values:
        DATA_LOW_BYTE: [0x00, 0xFF]
    DATA_2:
      position: [16, 23]
      c_type: uint8_t
      unit: null
      values:
        DATA_HIGH_BYTE: [0x00, 0xFF]

#############################################################
#                      BMS SPEC                             #
#           May need to listen to can_ids: None             #
#############################################################

# Precision:
# pack voltage: 10 bits
# pack current: 10 bits
# cell voltage: 10 bits
# temperate:    8 bits
# cell can_id:   >:  7 bits

BMS_HEARTBEAT:
  can_id: 0x060
  frequency: 1HZ
  is_big_endian: true
  segments:
    STATE:
      position: [0, 2]
      c_type: enum
      unit: null
      values:
        INIT: 0x0
        STANDBY: 0x1
        CHARGE: 0x2
        BALANCE: 0x3
        DISCHARGE: 0x4
        BATTERY_FAULT: 0x5
        BMS_FAULT: 0x6
    SOC_PERCENTAGE:
      position: [3, 12]
      c_type: uint16_t
      unit: null
      values:
        SOC_PERCENTAGE: [0x000, 0x3FF]
    FAN_ENABLE:
      position: [13, 13]
      c_type: bool
      unit: null
      values:
        OFF: 0x0
        ON: 0x1
    DCDC_ENABLE:
      position: [14, 14]
      c_type: bool
      unit: null
      values:
        OFF: 0x0
        ON: 0x1
    DCDC_FAULT:
      position: [15, 15]
      c_type: bool
      unit: null
      values:
        NO_FAULT: 0x0
        FAULT: 0x1

#################### DASH_ONLY #########################
BMS_CELL_TEMPS:
  can_id: 0x160
  frequency: 1HZ
  is_big_endian: true
  segments:
    AVE_CELL_TEMP:
      position: [0, 14]
      c_type: int16_t
      unit: null
      values:
    MIN_CELL_TEMP:
      position: [15, 29]
      c_type: int16_t
      unit: null
      values:
    MIN_CELL_TEMP_ID:
      position: [30, 38]
      c_type: uint16_t
      unit: null
      values:
    MAX_CELL_TEMP:
      position: [39, 53]
      c_type: int16_t
      unit: null
      values:
    MAX_CELL_TEMP_ID:
      position: [54, 62]
      c_type: uint16_t
      unit: null
      values:

#################### DASH_ONLY #########################
BMS_PACK_STATUS:
  can_id: 0x161
  frequency: 10HZ
  is_big_endian: true
  segments:
    PACK_VOLTAGE:
      position: [0, 8]
      c_type: uint16_t
      unit: null
      values:
        PACK_VOLTAGE: [0x000, 0x1FF]
    PACK_CURRENT:
      position: [9, 19]
      c_type: int16_t
      unit: null
      values:
        POSITIVE_PACK_CURRENT: [0x000, 0x3FF]
        NEGATIVE_PACK_CURRENT: [0x400, 0x7FF]
    AVE_CELL_VOLTAGE:
      position: [20, 29]
      c_type: uint16_t
      unit: null
      values:
        AVE_CELL_VOLTAGE: [0x000, 0x3FF]
    MIN_CELL_VOLTAGE:
      position: [30, 39]
      c_type: uint16_t
      unit: null
      values:
        MIN_CELL_VOLTAGE: [0x000, 0x3FF]
    MIN_CELL_VOLTAGE_ID:
      position: [40, 46]
      c_type: uint8_t
      unit: null
      values:
        MIN_CELL_VOLTAGE_ID: [0x00, 0x7F]
    MAX_CELL_VOLTAGE:
      position: [47, 56]
      c_type: uint16_t
      unit: null
      values:
        MAX_CELL_VOLTAGE: [0x000, 0x3FF]
    MAX_CELL_VOLTAGE_ID:
      position: [57, 63]
      c_type: uint8_t
      unit: null
      values:
        MAX_CELL_VOLTAGE_ID: [0x00, 0x7F]

#################### LOGGING_ONLY #########################
BMS_ERRORS:
  can_id: 0x260
  frequency: 0.1HZ
  is_big_endian: true
  segments:
    ERROR_TYPE:
      position: [0, 3]
      c_type: enum
      unit: null
      values:
        NONE: 0x0
        LTC6804_PEC: 0x1
        LTC6804_CVST: 0x2
        LTC6804_OWT: 0x3
        EEPROM: 0x4
        CELL_UNDER_VOLTAGE: 0x5
        CELL_OVER_VOLTAGE: 0x6
        CELL_UNDER_TEMP: 0x7
        CELL_OVER_TEMP: 0x8
        OVER_CURRENT: 0x9
        CAN: 0xA
        CONFLICTING_MODE_REQUESTS: 0xB
        VCU_DEAD: 0xC
        CONTROL_FLOW: 0xD
        OTHER: 0xE

#############################################################
#                      Dash SPEC                            #
#           May need to listen to can_ids: None             #
#############################################################

DASH_HEARTBEAT:
  can_id: 0x70
  frequency: 1HZ
  is_big_endian: true
  segments:
    HEARTBEAT_ON:
      position: [0, 0]
      c_type: bool
      unit: null
      values:
        ON: 0x1
        OFF: 0x0

DASH_REQUEST:
  can_id: 0x71
  is_big_endian: true
  segments:
    REQUEST_TYPE:
      position: [0, 3]
      c_type: enum
      unit: null
      values:
        NO_REQUEST: 0x0
        RTD_ENABLE: 0x1
        RTD_DISABLE: 0x2
        LIMP_MODE_ENABLE: 0x3
        LIMP_MODE_DISABLE: 0x4
        TRACTION_CONTROL_ENABLE: 0x5
        TRACTION_CONTROL_DISABLE: 0x6
        ACTIVE_AERO_ENABLE: 0x7
        ACTIVE_AERO_DISABLE: 0x8
        FAN_ENABLE: 0x9
        FAN_DISABLE: 0xA
        DATA_FLAG: 0xB

#############################################################
#                   MC SPEC                                 #
#           May need to listen to can_ids: TODO             #
#############################################################

#################### LOGGING_ONLY #########################
MC_RESPONSE:
  can_id: 0x310
  is_big_endian: false
  segments:
    REG_ID:
      position: [0, 7]
      c_type: enum
      unit: null
      values:
        CURRENT_CMD: 0x26
        CURRENT_CMD_AFTER_RAMP: 0x22
        CURRENT_ACTUAL: 0x20
        CURRENT_ACTUAL_FILTERED: 0x5F
        CURRENT_LIMIT_ACTUAL: 0x48
        CURRENT_LIMIT_MOTOR_TEMP: 0xA2
        CURRENT_LIMIT_IGBT_TEMP: 0x58
        TORQUE_CMD: 0x90
        SPEED_CMD_BEFORE_RAMP: 0x31
        SPEED_CMD_AFTER_RAMP: 0x32
        SPEED_ACTUAL_RPM: 0x30
        SPEED_MAX_RPM: 0xC8
        OUTPUT_VOLTAGE: 0x8A
        OUTPUT_VOLTAGE_LIMIT: 0x8B
        MOTOR_TEMP: 0x49
        IGBT_TEMP: 0x4A
        AIR_TEMP: 0x4B
        STATE: 0x40
        ERRORS_AND_WARNINGS: 0x8F
    DATA:
      position: [8, 23]
      c_type: int16_t # Guessing by position range
      unit: null
      values:
        DATA: [0x0000, 0xFFFF]

#############################################################
#                  Current Sensor SPEC                      #
#           May need to listen to can_ids: None             #
#############################################################

# Units of mA
CURRENT_SENSOR_CURRENT:
  can_id: 0x521
  frequency: 20HZ
  is_big_endian: true
  segments:
    PACK_CURRENT:
      position: [16, 47]
      c_type: int32_t
      unit: null
      values:
        PACK_CURRENT: [0x00000000, 0xFFFFFFFF]

# Units of mV
CURRENT_SENSOR_VOLTAGE:
  can_id: 0x522
  frequency: 20HZ
  is_big_endian: true
  segments:
    PACK_VOLTAGE:
      position: [16, 47]
      c_type: int32_t
      unit: null
      values:
        PACK_VOLTAGE: [0x00000000, 0xFFFFFFFF]

# Units of W
CURRENT_SENSOR_POWER:
  can_id: 0x526
  frequency: 20HZ
  is_big_endian: true
  segments:
    PACK_POWER:
      position: [16, 47]
      c_type: int32_t
      unit: null
      values:
        PACK_POWER: [0x00000000, 0xFFFFFFFF]

# Units of Wh
CURRENT_SENSOR_ENERGY:
  can_id: 0x528
  frequency: 20HZ
  is_big_endian: true
  segments:
    PACK_ENERGY:
      position: [16, 47]
      c_type: int32_t
      unit: null
      values:
        PACK_ENERGY: [0x00000000, 0xFFFFFFFF]

#############################################################
#                  Black Box SPEC                           #
#           May need to listen to can_ids: All              #
#############################################################

# Units of mV
#################### LOGGING_ONLY #########################
LV_BATTERY_VOLTAGE:
  can_id: 0x333
  frequency: 1HZ
  is_big_endian: true
  segments:
    BATTERY_VOLTAGE:
      position: [0, 15]
      c_type: uint16_t
      unit: null
      values:
        BATTERY_VOLTAGE: [0x0000, 0xFFFF]

#################### LOGGING_ONLY #########################
ACCELEROMETER_HORIZONTAL:
  can_id: 0x343
  frequency: 10HZ
  is_big_endian: true
  segments:
    X_AXIS:
      position: [0, 31]
      c_type: int32_t # Guessing by position range
      unit: null
      values:
        X_AXIS: [0x00000000, 0xFFFFFFFF]
    Y_AXIS:
      position: [32, 63]
      c_type: int32_t # Guessing by position range
      unit: null
      values:
        Y_AXIS: [0x00000000, 0xFFFFFFFF]

#################### LOGGING_ONLY #########################
ACCELEROMETER_VERTICAL:
  can_id: 0x344
  frequency: 10HZ
  is_big_endian: true
  segments:
    Z_AXIS:
      position: [0, 31]
      c_type: int32_t # Guessing by position range
      unit: null
      values:
        Z_AXIS: [0x00000000, 0xFFFFFFFF]

#################### LOGGING_ONLY #########################
GYRO_HORIZONTAL:
  can_id: 0x353
  frequency: 10HZ
  is_big_endian: true
  segments:
    X_AXIS:
      position: [0, 31]
      c_type: int32_t # Guessing by position range
      unit: null
      values:
        X_AXIS: [0x00000000, 0xFFFFFFFF]
    Y_AXIS:
      position: [32, 63]
      c_type: int32_t # Guessing by position range
      unit: null
      values:
        Y_AXIS: [0x00000000, 0xFFFFFFFF]

#################### LOGGING_ONLY #########################
GYRO_VERTICAL:
  can_id: 0x354
  frequency: 10HZ
  is_big_endian: true
  segments:
    Z_AXIS:
      position: [0, 31]
      c_type: int32_t # Guessing by position range
      unit: null
      values:
        Z_AXIS: [0x00000000, 0xFFFFFFFF]

#################### LOGGING_ONLY #########################
MAGNETOMETER_HORIZONTAL:
  can_id: 0x363
  frequency: 10HZ
  is_big_endian: true
  segments:
    X_AXIS:
      position: [0, 31]
      c_type: int32_t # Guessing by position range
      unit: null
      values:
        X_AXIS: [0x00000000, 0xFFFFFFFF]
    Y_AXIS:
      position: [32, 63]
      c_type: int32_t # Guessing by position range
      unit: null
      values:
        Y_AXIS: [0x00000000, 0xFFFFFFFF]

#################### LOGGING_ONLY #########################
MAGNETOMETER_VERTICAL:
  can_id: 0x364
  frequency: 10HZ
  is_big_endian: true
  segments:
    Z_AXIS:
      position: [0, 31]
      c_type: int32_t # Guessing by position range
      unit: null
      values:
        Z_AXIS: [0x00000000, 0xFFFFFFFF]