Program Listing for File dispatch.hpp
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#pragma once
#include <stdint.h>
namespace dbw_ford_can {
#pragma pack(push, 1) // Pack structures to a single byte
typedef struct {
uint16_t PCMD;
uint8_t :4;
uint8_t CMD_TYPE :4;
uint8_t EN :1;
uint8_t CLEAR :1;
uint8_t IGNORE :1;
uint8_t :3;
uint8_t RES2 :1;
uint8_t RES1 :1;
uint8_t :8;
uint8_t :8;
uint8_t :8;
uint8_t COUNT;
} MsgBrakeCmd;
static_assert(8 == sizeof(MsgBrakeCmd));
typedef struct {
uint16_t PI;
uint16_t PC;
uint16_t PO;
uint8_t BTYPE :2;
uint8_t BC :1;
uint8_t WDCBRK :1;
uint8_t WDCSRC :4;
uint8_t ENABLED :1;
uint8_t OVERRIDE :1;
uint8_t DRIVER :1;
uint8_t FLTWDC :1;
uint8_t FLT1 :1;
uint8_t FLT2 :1;
uint8_t FLTPWR :1;
uint8_t TMOUT :1;
} MsgBrakeReport;
static_assert(8 == sizeof(MsgBrakeReport));
typedef struct {
uint16_t PCMD;
uint8_t :4;
uint8_t CMD_TYPE :4;
uint8_t EN :1;
uint8_t CLEAR :1;
uint8_t IGNORE :1;
uint8_t :3;
uint8_t RES2 :1;
uint8_t RES1 :1;
uint8_t :8;
uint8_t :8;
uint8_t :8;
uint8_t COUNT;
} MsgThrottleCmd;
static_assert(8 == sizeof(MsgThrottleCmd));
typedef struct {
uint16_t PI;
uint16_t PC;
uint16_t PO;
uint8_t :4;
uint8_t WDCSRC :4;
uint8_t ENABLED :1;
uint8_t OVERRIDE :1;
uint8_t DRIVER :1;
uint8_t FLTWDC :1;
uint8_t FLT1 :1;
uint8_t FLT2 :1;
uint8_t FLTPWR :1;
uint8_t TMOUT :1;
} MsgThrottleReport;
static_assert(8 == sizeof(MsgThrottleReport));
typedef struct {
int16_t SCMD;
uint8_t EN :1;
uint8_t CLEAR :1;
uint8_t IGNORE :1;
uint8_t :1;
uint8_t QUIET :1;
uint8_t RES1 :1;
uint8_t ALERT :1;
uint8_t CMD_TYPE :1;
uint8_t SVEL;
uint8_t RES2 :1;
uint8_t :7;
uint8_t :8;
uint8_t :8;
uint8_t COUNT;
} MsgSteeringCmd;
static_assert(8 == sizeof(MsgSteeringCmd));
typedef struct {
int16_t ANGLE;
int16_t CMD :15;
uint8_t TMODE :1; // Torque mode
int16_t VEH_VEL;
int8_t TORQUE;
uint8_t ENABLED :1;
uint8_t OVERRIDE :1;
uint8_t FLTPWR :1;
uint8_t FLTWDC :1;
uint8_t FLTBUS1 :1;
uint8_t FLTBUS2 :1;
uint8_t FLTCAL :1;
uint8_t TMOUT :1;
} MsgSteeringReport;
static_assert(8 == sizeof(MsgSteeringReport));
typedef struct {
uint8_t GCMD :3;
uint8_t :2;
uint8_t RES2 :1;
uint8_t RES1 :1;
uint8_t CLEAR :1;
} MsgGearCmd;
static_assert(1 == sizeof(MsgGearCmd));
typedef struct {
uint8_t STATE :3;
uint8_t OVERRIDE :1;
uint8_t CMD :3;
uint8_t FLTBUS :1;
uint8_t REJECT :3;
uint8_t :4;
uint8_t READY :1;
} MsgGearReport;
static_assert(2 == sizeof(MsgGearReport));
typedef struct {
uint8_t TRNCMD :2;
uint8_t PBRKCMD :2;
uint8_t :4;
} MsgMiscCmd;
static_assert(1 == sizeof(MsgMiscCmd));
typedef struct {
uint8_t turn_signal :2;
uint8_t head_light_hi :2;
uint8_t wiper_front :4;
uint8_t light_ambient :3;
uint8_t btn_cc_on :1;
uint8_t btn_cc_off :1;
uint8_t btn_cc_res :1;
uint8_t btn_cc_cncl :1;
uint8_t btn_cc_res_inc :1;
uint8_t btn_cc_on_off :1;
uint8_t btn_cc_res_cncl :1;
uint8_t btn_cc_set_inc :1;
uint8_t btn_cc_set_dec :1;
uint8_t btn_cc_gap_inc :1;
uint8_t btn_cc_gap_dec :1;
uint8_t btn_la_on_off :1;
uint8_t FLTBUS :1;
uint8_t door_driver :1;
uint8_t door_passenger :1;
uint8_t door_rear_left :1;
uint8_t door_rear_right :1;
uint8_t door_hood :1;
uint8_t door_trunk :1;
uint8_t pasngr_detect :1;
uint8_t pasngr_airbag :1;
uint8_t buckle_driver :1;
uint8_t buckle_pasngr :1;
uint8_t btn_ld_ok :1;
uint8_t btn_ld_up :1;
uint8_t btn_ld_down :1;
uint8_t btn_ld_left :1;
uint8_t btn_ld_right :1;
uint8_t btn_cc_res_dec :1;
uint8_t :1; // btn_cc_mode
uint8_t :1;
uint8_t btn_rd_ok :1;
uint8_t btn_rd_up :1;
uint8_t btn_rd_down :1;
uint8_t btn_rd_left :1;
uint8_t btn_rd_right :1;
uint8_t btn_media :1;
uint8_t btn_vol_inc :1;
uint8_t btn_vol_dec :1;
uint8_t btn_mute :1;
uint8_t btn_speak :1;
uint8_t btn_prev :1;
uint8_t btn_next :1;
uint8_t btn_call_start :1;
uint8_t btn_call_end :1;
uint8_t outside_air_temp :8;
} MsgMiscReport;
static_assert(8 == sizeof(MsgMiscReport));
typedef struct {
int16_t front_left;
int16_t front_right;
int16_t rear_left;
int16_t rear_right;
} MsgReportWheelSpeed;
static_assert(8 == sizeof(MsgReportWheelSpeed));
typedef struct {
int16_t accel_lat;
int16_t accel_long;
int16_t accel_vert;
} MsgReportAccel;
static_assert(6 == sizeof(MsgReportAccel));
typedef struct {
int16_t gyro_roll;
int16_t gyro_yaw;
} MsgReportGyro;
static_assert(4 == sizeof(MsgReportGyro));
typedef struct {
int32_t latitude :31;
int32_t lat_valid :1;
int32_t longitude :31;
int32_t long_valid :1;
} MsgReportGps1;
static_assert(8 == sizeof(MsgReportGps1));
typedef struct {
uint8_t utc_year :7;
uint8_t :1;
uint8_t utc_month :4;
uint8_t :4;
uint8_t utc_day :5;
uint8_t :3;
uint8_t utc_hours :5;
uint8_t :3;
uint8_t utc_minutes :6;
uint8_t :2;
uint8_t utc_seconds :6;
uint8_t :2;
uint8_t compass_dir :4;
uint8_t :4;
uint8_t pdop :5;
uint8_t fault :1;
uint8_t inferred :1;
uint8_t :1;
} MsgReportGps2;
static_assert(8 == sizeof(MsgReportGps2));
typedef struct {
int16_t altitude;
uint16_t heading;
uint8_t speed;
uint8_t hdop;
uint8_t vdop;
uint8_t quality :3;
uint8_t num_sats :5;
} MsgReportGps3;
static_assert(8 == sizeof(MsgReportGps3));
typedef struct {
int16_t front_left;
int16_t front_right;
int16_t rear_left;
int16_t rear_right;
} MsgReportWheelPosition;
static_assert(8 == sizeof(MsgReportWheelPosition));
typedef struct {
uint16_t front_left;
uint16_t front_right;
uint16_t rear_left;
uint16_t rear_right;
} MsgReportTirePressure;
static_assert(8 == sizeof(MsgReportTirePressure));
typedef struct {
int16_t fuel_level :11; // 0.18696 %
uint8_t :3;
uint16_t battery_hev :10; // 0.5 V
uint8_t battery_12v :8; // 0.0625 V
uint32_t odometer :24; // 0.1 km
uint8_t :8;
} MsgReportFuelLevel;
static_assert(8 == sizeof(MsgReportFuelLevel));
typedef struct {
uint8_t l_cta_alert :1;
uint8_t l_cta_enabled :1;
uint8_t l_blis_alert :1;
uint8_t l_blis_enabled :1;
uint8_t r_cta_alert :1;
uint8_t r_cta_enabled :1;
uint8_t r_blis_alert :1;
uint8_t r_blis_enabled :1;
uint8_t sonar_00 :4;
uint8_t sonar_01 :4;
uint8_t sonar_02 :4;
uint8_t sonar_03 :4;
uint8_t sonar_04 :4;
uint8_t sonar_05 :4;
uint8_t sonar_06 :4;
uint8_t sonar_07 :4;
uint8_t sonar_08 :4;
uint8_t sonar_09 :4;
uint8_t sonar_10 :4;
uint8_t sonar_11 :4;
uint8_t :6;
uint8_t sonar_enabled :1;
uint8_t sonar_fault :1;
} MsgReportSurround;
static_assert(8 == sizeof(MsgReportSurround));
typedef struct {
uint16_t brake_torque_request :12;
uint8_t hsa_stat :3;
uint8_t stationary :1;
uint16_t brake_torque_actual :12;
uint8_t hsa_mode :2;
uint8_t parking_brake :2;
int16_t wheel_torque :14;
uint8_t bped_qf :2;
int16_t accel_over_ground_est :10;
uint8_t abs_active :1;
uint8_t abs_enabled :1;
uint8_t stab_active :1;
uint8_t stab_enabled :1;
uint8_t trac_active :1;
uint8_t trac_enabled :1;
} MsgReportBrakeInfo;
static_assert(8 == sizeof(MsgReportBrakeInfo));
typedef struct {
uint16_t engine_rpm :16;
uint16_t throttle_pc :10;
uint8_t :4;
uint8_t aped_qf :2;
int8_t throttle_rate :8;
uint8_t gear_num :5;
uint8_t :3;
uint8_t ign_stat :2;
int16_t batt_curr :14;
} MsgReportThrottleInfo;
static_assert(8 == sizeof(MsgReportThrottleInfo));
typedef struct {
uint8_t decel :8;
uint8_t decel_src :2;
uint8_t :1;
uint8_t fcw_enabled :1;
uint8_t fcw_active :1;
uint8_t aeb_enabled :1;
uint8_t aeb_precharge :1;
uint8_t aeb_braking :1;
uint8_t :1;
uint8_t acc_enabled :1;
uint8_t acc_braking :1;
uint8_t :5;
} MsgReportDriverAssist;
static_assert(3 == sizeof(MsgReportDriverAssist));
typedef enum {
LIC_MUX_F0 = 0x00, // Feature 0 (BASE)
LIC_MUX_F1 = 0x01, // Feature 1 (CONTROL)
LIC_MUX_F2 = 0x02, // Feature 2 (SENSORS)
LIC_MUX_F3 = 0x03, // Feature 3 (unused)
LIC_MUX_F4 = 0x04, // Feature 4 (unused)
LIC_MUX_F5 = 0x05, // Feature 5 (unused)
LIC_MUX_F6 = 0x06, // Feature 6 (unused)
LIC_MUX_F7 = 0x07, // Feature 7 (unused)
LIC_MUX_LDATE0 = 0x41,
LIC_MUX_LDATE1 = 0x42,
LIC_MUX_MAC = 0x80,
LIC_MUX_BDATE0 = 0x81,
LIC_MUX_BDATE1 = 0x82,
LIC_MUX_VIN0 = 0x83,
LIC_MUX_VIN1 = 0x84,
LIC_MUX_VIN2 = 0x85,
} LicenseMux;
typedef struct {
uint8_t mux;
uint8_t ready :1;
uint8_t trial :1;
uint8_t expired :1;
uint8_t :1;
uint8_t module :4;
union {
struct {
uint8_t enabled :1;
uint8_t trial :1;
uint8_t :6;
uint8_t :8;
uint16_t trials_used;
uint16_t trials_left;
} license;
struct {
uint8_t ldate0;
uint8_t ldate1;
uint8_t ldate2;
uint8_t ldate3;
uint8_t ldate4;
uint8_t ldate5;
} ldate0;
struct {
uint8_t ldate6;
uint8_t ldate7;
uint8_t ldate8;
uint8_t ldate9;
uint8_t :8;
uint8_t :8;
} ldate1;
struct {
uint8_t addr0;
uint8_t addr1;
uint8_t addr2;
uint8_t addr3;
uint8_t addr4;
uint8_t addr5;
} mac;
struct {
uint8_t date0;
uint8_t date1;
uint8_t date2;
uint8_t date3;
uint8_t date4;
uint8_t date5;
} bdate0;
struct {
uint8_t date6;
uint8_t date7;
uint8_t date8;
uint8_t date9;
uint8_t :8;
uint8_t :8;
} bdate1;
struct {
uint8_t vin00;
uint8_t vin01;
uint8_t vin02;
uint8_t vin03;
uint8_t vin04;
uint8_t vin05;
} vin0;
struct {
uint8_t vin06;
uint8_t vin07;
uint8_t vin08;
uint8_t vin09;
uint8_t vin10;
uint8_t vin11;
} vin1;
struct {
uint8_t vin12;
uint8_t vin13;
uint8_t vin14;
uint8_t vin15;
uint8_t vin16;
uint8_t :8;
} vin2;
};
} MsgLicense;
static_assert(8 == sizeof(MsgLicense));
typedef struct {
uint8_t module;
uint8_t platform;
uint16_t major;
uint16_t minor;
uint16_t build;
} MsgVersion;
static_assert(8 == sizeof(MsgVersion));
enum {
ID_BRAKE_CMD = 0x060,
ID_BRAKE_REPORT = 0x061,
ID_THROTTLE_CMD = 0x062,
ID_THROTTLE_REPORT = 0x063,
ID_STEERING_CMD = 0x064,
ID_STEERING_REPORT = 0x065,
ID_GEAR_CMD = 0x066,
ID_GEAR_REPORT = 0x067,
ID_MISC_CMD = 0x068,
ID_MISC_REPORT = 0x069,
ID_REPORT_WHEEL_SPEED = 0x06A,
ID_REPORT_ACCEL = 0x06B,
ID_REPORT_GYRO = 0x06C,
ID_REPORT_GPS1 = 0x06D,
ID_REPORT_GPS2 = 0x06E,
ID_REPORT_GPS3 = 0x06F,
ID_REPORT_WHEEL_POSITION = 0x070,
ID_REPORT_TIRE_PRESSURE = 0x071,
ID_REPORT_FUEL_LEVEL = 0x072,
ID_REPORT_SURROUND = 0x073,
ID_REPORT_BRAKE_INFO = 0x074,
ID_REPORT_THROTTLE_INFO = 0x075,
ID_REPORT_DRIVER_ASSIST = 0x079,
ID_LICENSE = 0x07E,
ID_VERSION = 0x07F,
};
#pragma pack(pop) // Undo packing
} // namespace dbw_ford_can