Program Listing for File dispatch.hpp
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#pragma once
#include <cstdint>
namespace dbw_polaris_can {
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 :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 CAL :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 :5;
} MsgGearReport;
static_assert(2 == sizeof(MsgGearReport));
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;
int16_t gyro_pitch;
} MsgReportGyro;
static_assert(6 == sizeof(MsgReportGyro));
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_REPORT_ACCEL = 0x06B,
ID_REPORT_GYRO = 0x06C,
ID_LICENSE = 0x07E,
ID_VERSION = 0x07F,
};
} // namespace dbw_polaris_can