/
brake_can_protocol.h
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/
brake_can_protocol.h
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/**
* @file brake_can_protocol.h
* @brief Brake CAN Protocol.
*
*/
#ifndef _OSCC_BRAKE_CAN_PROTOCOL_H_
#define _OSCC_BRAKE_CAN_PROTOCOL_H_
#include <stdint.h>
#include "magic.h"
/*
* @brief Brake enable message (CAN frame) ID.
*
*/
#define OSCC_BRAKE_ENABLE_CAN_ID (0x50)
/*
* @brief Brake disable message (CAN frame) ID.
*
*/
#define OSCC_BRAKE_DISABLE_CAN_ID (0x51)
/*
* @brief Brake command message (CAN frame) ID.
*
*/
#define OSCC_BRAKE_COMMAND_CAN_ID (0x60)
/*
* @brief Brake report message (CAN frame) ID.
*
*/
#define OSCC_BRAKE_REPORT_CAN_ID (0x61)
/*
* @brief Brake report message (CAN frame) length.
*
*/
#define OSCC_BRAKE_REPORT_CAN_DLC (8)
/*
* @brief Brake report message publishing frequency. [Hz]
*
*/
#define OSCC_BRAKE_REPORT_PUBLISH_FREQ_IN_HZ (50)
/*
* @brief Brake DTC bitfield position indicating an invalid sensor value.
*
*/
#define OSCC_BRAKE_DTC_INVALID_SENSOR_VAL (0x0)
/*
* @brief Brake DTC bitfield position indicating an operator override.
*
*/
#define OSCC_BRAKE_DTC_OPERATOR_OVERRIDE (0x1)
#pragma pack(push)
#pragma pack(1)
/**
* @brief Brake enable message.
*
* CAN frame ID: \ref OSCC_BRAKE_ENABLE_CAN_ID
*
*/
typedef struct
{
uint8_t magic[2]; /*!< Magic number identifying CAN frame as from OSCC.
* Byte 0 should be \ref OSCC_MAGIC_BYTE_0.
* Byte 1 should be \ref OSCC_MAGIC_BYTE_1. */
uint8_t reserved[6]; /*!< Reserved. */
} oscc_brake_enable_s;
/**
* @brief Brake disable message.
*
* CAN frame ID: \ref OSCC_BRAKE_DISABLE_CAN_ID
*
*/
typedef struct
{
uint8_t magic[2]; /*!< Magic number identifying CAN frame as from OSCC.
* Byte 0 should be \ref OSCC_MAGIC_BYTE_0.
* Byte 1 should be \ref OSCC_MAGIC_BYTE_1. */
uint8_t reserved[6]; /*!< Reserved. */
} oscc_brake_disable_s;
/**
* @brief Brake command message data.
*
* CAN frame ID: \ref OSCC_BRAKE_COMMAND_CAN_ID
*
*/
typedef struct
{
uint8_t magic[2]; /*!< Magic number identifying CAN frame as from OSCC.
* Byte 0 should be \ref OSCC_MAGIC_BYTE_0.
* Byte 1 should be \ref OSCC_MAGIC_BYTE_1. */
#if defined(KIA_SOUL)
uint16_t pedal_command; /*!< Pedal command. [65535 == 100%] */
uint8_t reserved[4]; /*!< Reserved. */
#elif defined(KIA_SOUL_EV)
uint16_t spoof_value_low; /*!< Value to be sent on the low spoof signal. */
uint16_t spoof_value_high; /*!< Value to be sent on the high spoof signal. */
uint8_t reserved[2]; /*!< Reserved. */
#endif
} oscc_brake_command_s;
/**
* @brief Brake report message data.
*
* CAN frame ID: \ref OSCC_BRAKE_REPORT_CAN_ID
*
*/
typedef struct
{
uint8_t magic[2]; /*!< Magic number identifying CAN frame as from OSCC.
* Byte 0 should be \ref OSCC_MAGIC_BYTE_0.
* Byte 1 should be \ref OSCC_MAGIC_BYTE_1. */
uint8_t enabled; /*!< Braking controls enabled state.
* Zero value means disabled (commands are ignored).
* Non-zero value means enabled (no timeouts or overrides have occured). */
uint8_t operator_override; /*!< Driver override state.
* Zero value means there has been no operator override.
* Non-zero value means an operator has physically overridden
* the system. */
uint8_t dtcs; /*!< Bitfield of DTCs present in the module. */
uint8_t reserved[3]; /*!< Reserved. */
} oscc_brake_report_s;
#pragma pack(pop)
#endif /* _OSCC_BRAKE_CAN_PROTOCOL_H_ */