can_messages.asciipb

# Message Definitions in plaintext are on the wiki at:
# https://uwmidsun.atlassian.net/wiki/spaces/ELEC/pages/50003973/CAN+Message+Definitions
#
# If you are making changes to this file please update the corresponding entry
# on the wiki. If you need to add a new message use a reasonable
# reserved ID. The higher ID the lower the priority. Generally 
# - 0-13: Critical messages (have ACK)
# - 14-30: Actionable messages (trigger a change in another system)
# - 30-63: Data messages (usually not actionable by an onboard device)

msg {
  id: 0
  source: PLUTUS
  # target: CHAOS, LIGHTS
  msg_name: "bps heartbeat"
  is_critical: true
  can_data {
    u8 {
      field_name_1: "status"
    }
  }
}

msg {
  id: 1
  source: CHAOS
  # target: Driver Controls
  msg_name: "power distribution fault"
  is_critical: true
  can_data {
    u8 {
      field_name_1: "reason"
    }
  }
}

msg {
  id: 2
  source: CHAOS
  # target: PLUTUS
  msg_name: "battery relay main"
  is_critical: true
  can_data {
    u8 {
      field_name_1: "relay_state"
    }
  }
}

msg {
  id: 3
  source: CHAOS
  # target: PLUTUS
  msg_name: "battery relay slave"
  is_critical: true
  can_data {
    u8 {
      field_name_1: "relay_state"
    }
  }
}

msg {
  id: 4
  source: CHAOS
  # target: MOTOR_INTERFACE
  msg_name: "motor relay"
  is_critical: true
  can_data {
    u8 {
      field_name_1: "relay_state"
    }
  }
}

msg {
  id: 5
  source: CHAOS
  # target: SOLAR_MASTER_REAR
  msg_name: "solar relay rear"
  is_critical: true
  can_data {
    u8 {
      field_name_1: "relay_state"
    }
  }
}

msg {
  id: 6
  source: CHAOS
  # target: SOLAR_MASTER_FRONT
  msg_name: "solar relay front"
  is_critical: true
  can_data {
    u8 {
      field_name_1: "relay_state"
    }
  }
}

msg {
  id: 7
  source: DRIVER_CONTROLS
  # target: CHAOS
  msg_name: "power state"
  is_critical: true
  can_data {
    u8 {
      field_name_1: "power_state"
    }
  }
}

msg {
  id: 8
  source: CHAOS
  # target: PLUTUS, MOTOR_CONTROLLER, DRIVER_CONTROLS
  msg_name: "powertrain heartbeat"
  is_critical: true
  can_data {
    empty {
    }
  }
}

# IDs: 9-15 Reserved

msg {
  id: 16
  source: CHAOS
  # target: DRIVER_DISPLAY, TELEMETRY
  msg_name: "ovuv dcdc aux"
  msg_readable_name: "ov uv dcdc and aux bat"
  can_data {
    u8 {
      field_name_1: "dcdc_ov_flag"
      field_name_2: "dcdc_uv_flag"
      field_name_3: "aux_bat_ov_flag"
      field_name_4: "aux_bat_uv_flag"
    }
  }
}

msg {
  id: 17
  source: MOTOR_CONTROLLER
  # target: TELEMETRY
  msg_name: "mc error limits"
  msg_readable_name: "motor controller error and limits"
  can_data {
    u16 {
      field_name_1: "error_id"
      field_name_2: "limits"
    }
  }
}

msg {
  id: 18
  source: DRIVER_CONTROLS
  # target: MOTOR_INTERFACE
  msg_name: "drive output"
  can_data {
    u16 {
      field_name_1: "throttle"
      field_name_2: "direction"
      field_name_3: "cruise_control"
      field_name_4: "mechanical_brake_state"
    }
  }
}

msg {
  id: 19
  source: DRIVER_CONTROLS
  # target: DRIVER_DISPLAY
  msg_name: "cruise_target"
  can_data {
    u8 {
      field_name_1: "target speed"
    }
  }
}

msg {
  id: 20
  source: CHAOS
  # target PLUTUS
  msg_name: "fan_control"
  can_data {
    u8 {
      field_name_1: "state"
    }
  }
}

msg {
  id: 21
  source: TELEMETRY
  # target: PLUTUS
  msg_name: "set_discharge_bitset"
  can_data {
    u64 {
      field_name_1: "discharge_bitset"
    }
  }
}

msg {
  id: 22
  source: PLUTUS
  # target: TELEMETRY
  msg_name: "discharge_state"
  can_data {
    u64 {
      field_name_1: "discharge_bitset"
    }
  }
}

msg {
  id: 23
  source: LIGHTS_REAR
  # target: LIGHTS_FRONT
  msg_name: "lights sync"
  can_data {
    empty {
    }
  }
}

msg {
  id: 24
  source: DRIVER_CONTROLS
  # target: LIGHTS
  msg_name: "lights state"
  can_data {
    u8 {
      field_name_1: "light_id"
      field_name_2: "light_state"
    }
  }
}

msg {
  id: 25
  source: DRIVER_CONTROLS
  # target: LIGHTS
  msg_name: "horn"
  can_data {
    u8 {
      field_name_1: "state"
    }
  }
}

msg {
  id: 26
  source: CHARGER
  # target: CHAOS
  msg_name: "charger conn state"
  msg_readable_name: "charger connection state"
  can_data {
    u8 {
      field_name_1: "is_connected"
    }
  }
}

msg {
  id: 27
  source: CHAOS
  # target: CHARGER
  msg_name: "charger set relay state"
  can_data {
    u8 {
      field_name_1: "state"
    }
  }
}

msg {
  id: 28
  source: DRIVER_CONTROLS
  # target: TELEMETRY
  msg_name: "steering angle"
  can_data {
    u16 {
      field_name_1: "steering_angle"
    }
  }
}

# IDs: 29-30 Reserved

msg {
  id: 31
  source: PLUTUS
  # target: DRIVER_DISPLAY, TELEMETRY
  msg_name: "battery soc"
  can_data {
    empty {
    }
  }
}

msg {
  id: 32
  source: PLUTUS
  # target: DRIVER_DISPLAY, TELEMETRY
  msg_name: "battery vt"
  msg_readable_name: "battery voltage temperature"
  can_data {
    u16 {
      field_name_1: "module_id"
      field_name_2: "voltage"
      field_name_3: "temperature"
    }
  }
}

msg {
  id: 33
  source: PLUTUS
  # target: DRIVER_DISPLAY, TELEMETRY
  msg_name: "battery aggregate vc"
  msg_readable_name: "battery aggregate voltage and current"
  can_data {
    u32 {
      field_name_1: "voltage"
      field_name_2: "current"
    }
  }
}

# IDs: 34 Reserved

msg {
  id: 35
  source: MOTOR_CONTROLLER
  # target: DRIVER_DISPLAY, TELEMETRY
  msg_name: "motor controller vc"
  msg_readable_name: "motor controller voltage current"
  can_data {
    u16 {
      field_name_1: "mc_voltage_1"
      field_name_2: "mc_current_1"
      field_name_3: "mc_voltage_2"
      field_name_4: "mc_current_2"
    }
  }
}

msg {
  id: 36
  source: MOTOR_CONTROLLER
  # target: DRIVER_DISPLAY, TELEMETRY
  msg_name: "motor velocity"
  can_data {
    u16 {
      field_name_1: "vehicle_velocity_left"
      field_name_2: "vehicle_velocity_right"
    }
  }
}

msg {
  id: 37
  source: MOTOR_CONTROLLER
  # target: TELEMETRY
  msg_name: "motor debug"
  can_data {
    u64 {
      field_name_1: "data"
    }
  }
}

msg {
  id: 38
  source: MOTOR_CONTROLLER
  # target: TELEMETRY
  msg_name: "motor temps"
  can_data {
    u32 {
      field_name_1: "motor_temp_l"
      field_name_2: "motor_temp_r"
    }
  }
}

msg {
  id: 39
  source: MOTOR_CONTROLLER
  # target: TELEMETRY
  msg_name: "motor amp hr"
  can_data {
    u32 {
      field_name_1: "motor_amp_hr_l"
      field_name_2: "motor_amp_hr_r"
    }
  }
}

msg {
  id: 40
  source: MOTOR_CONTROLLER
  # target: DRIVER_DISPLAY, TELEMETRY
  msg_name: "odometer"
  can_data {
    u32 {
      field_name_1: "odometer_val"
    }
  }
}

# IDs: 41-42 Reserved

msg {
  id: 43
  source: CHAOS
  # target: TELEMETRY
  msg_name: "aux dcdc vc"
  msg_readable_name: "aux bat and dcdc voltage current"
  can_data {
    u16 {
      field_name_1: "aux_voltage"
      field_name_2: "aux_current"
      field_name_3: "dcdc_voltage"
      field_name_4: "dcdc_current"
    }
  }
}

msg {
  id: 44
  source: CHAOS
  # target: TELEMETRY
  msg_name: "dcdc temps"
  can_data {
    u16 {
      field_name_1: "temp_1"
      field_name_2: "temp_2"
    }
  }
}

msg {
  id: 45
  source: SOLAR_MASTER_FRONT
  # target: DRIVER_DISPLAY, TELEMETRY
  msg_name: "solar data front"
  can_data {
    u16 {
      field_name_1: "module_id"
      field_name_2: "voltage"
      field_name_3: "current"
      field_name_4: "temperature"
    }
  }
}

msg {
  id: 46
  source: SOLAR_MASTER_REAR
  # target: DRIVER_DISPLAY, TELEMETRY
  msg_name: "solar data rear"
  can_data {
    u16 {
      field_name_1: "module_id"
      field_name_2: "voltage"
      field_name_3: "current"
      field_name_4: "temperature"
    }
  }
}

msg {
  id: 47
  source: CHARGER
  # target: telemetry
  msg_name: "charger info"
  can_data {
    u16 {
      field_name_1: "current"
      field_name_2: "voltage"
      field_name_3: "status_bitset"
    }
  }
}

# IDs: 47-50 Reserved

msg {
  id: 51
  source: SENSOR_BOARD
  # target: TELEMETRY
  msg_name: "linear acceleration"
  can_data {
    empty {
    }
  }
}

msg {
  id: 52
  source: SENSOR_BOARD
  # target: TELEMETRY
  msg_name: "angular rotation"
  can_data {
    empty {
    }
  }
}

# IDs: 53-63 Reserved

# No ID may exceed 63.