dispatch.h

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#ifndef _DBW_FCA_CAN_DISPATCH_H
#define _DBW_FCA_CAN_DISPATCH_H
#include <stdint.h>

namespace dbw_fca_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 :4;
  uint8_t RES1 :1;
  uint8_t :8;
  uint8_t :8;
  uint8_t :8;
  uint8_t COUNT;
} MsgBrakeCmd;

typedef struct {
  uint16_t PI;
  uint16_t PC;
  uint16_t PO;
  uint8_t BTYPE :1;
  uint8_t :2;
  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;

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 :4;
  uint8_t RES1 :1;
  uint8_t :8;
  uint8_t :8;
  uint8_t :8;
  uint8_t COUNT;
} 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;

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 :2;
  uint8_t CMD_TYPE :1;
  uint8_t SVEL;
  uint8_t :8;
  uint8_t :8;
  uint8_t :8;
  uint8_t COUNT;
} MsgSteeringCmd;

typedef struct {
  int16_t ANGLE;
  int16_t CMD :15;
  uint8_t TMODE :1; // Torque mode
  uint16_t SPEED;
  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;

typedef struct {
  uint8_t GCMD :3;
  uint8_t :4;
  uint8_t CLEAR :1;
} 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;

typedef struct {
  uint8_t TRNCMD :2;
  uint8_t :6;
} MsgTurnSignalCmd;

typedef struct {
  uint8_t turn_signal :2;
  uint8_t :6;
  uint8_t :3;
  uint8_t :1;
  uint8_t :1;
  uint8_t btn_cc_res :1;
  uint8_t btn_cc_cncl :1;
  uint8_t :1;
  uint8_t btn_cc_on_off :1;
  uint8_t :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 :1;
  uint8_t FLTBUS :1;
  uint8_t :8;
  uint8_t :2;
  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 :1;
  uint8_t btn_cc_mode :1;
  uint8_t :7;
} MsgMiscReport;

typedef struct {
  int16_t front_left;
  int16_t front_right;
  int16_t rear_left;
  int16_t rear_right;
} MsgReportWheelSpeed;

typedef struct {
  int16_t front_left;
  int16_t front_right;
  int16_t rear_left;
  int16_t rear_right;
} MsgReportWheelPosition;

typedef struct {
  int16_t  fuel_level :11;    // 0.18696 %
  uint8_t :5;
  uint8_t :8;
  uint8_t  battery_12v :8;    // 0.0625 V
  uint32_t odometer :24;      // 0.1 km
  uint8_t :8;
} MsgReportFuelLevel;

typedef struct {
  uint32_t brake_torque_request :12;
  uint32_t brake_torque_actual :12;
  uint32_t brake_pc :8;
  uint32_t brake_pressure :11;
  uint32_t stationary :1;
  uint32_t :4;
  uint32_t :16;
} MsgReportBrakeInfo;

typedef struct {
  int16_t axle_torque :15;
  int16_t :1;
  uint8_t throttle_pc :8;
  uint8_t :8;
  uint8_t :8;
  uint8_t :8;
  uint8_t :8;
  uint8_t :8;
} MsgReportThrottleInfo;

typedef enum {
  LIC_MUX_F0 = 0x00, // Feature 0 (Main)
  LIC_MUX_MAC   = 0x80,
  LIC_MUX_DATE0 = 0x81,
  LIC_MUX_DATE1 = 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 :5;
  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 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;
    } date0;
    struct {
      uint8_t date6;
      uint8_t date7;
      uint8_t date8;
      uint8_t date9;
      uint8_t :8;
      uint8_t :8;
    } date1;
    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;

typedef struct {
  uint8_t module;
  uint8_t platform;
  uint16_t major;
  uint16_t minor;
  uint16_t build;
} MsgVersion;

#define BUILD_ASSERT(cond) do { (void) sizeof(char [1 - 2*!(cond)]); } while(0)
static void dispatchAssertSizes() {
  BUILD_ASSERT(8 == sizeof(MsgBrakeCmd));
  BUILD_ASSERT(8 == sizeof(MsgBrakeReport));
  BUILD_ASSERT(8 == sizeof(MsgThrottleCmd));
  BUILD_ASSERT(8 == sizeof(MsgThrottleReport));
  BUILD_ASSERT(8 == sizeof(MsgSteeringCmd));
  BUILD_ASSERT(8 == sizeof(MsgSteeringReport));
  BUILD_ASSERT(1 == sizeof(MsgGearCmd));
  BUILD_ASSERT(2 == sizeof(MsgGearReport));
  BUILD_ASSERT(1 == sizeof(MsgTurnSignalCmd));
  BUILD_ASSERT(6 == sizeof(MsgMiscReport));
  BUILD_ASSERT(8 == sizeof(MsgReportWheelSpeed));
  BUILD_ASSERT(8 == sizeof(MsgReportWheelPosition));
  BUILD_ASSERT(8 == sizeof(MsgReportFuelLevel));
  BUILD_ASSERT(8 == sizeof(MsgReportBrakeInfo));
  BUILD_ASSERT(8 == sizeof(MsgReportThrottleInfo));
  BUILD_ASSERT(8 == sizeof(MsgLicense));
  BUILD_ASSERT(8 == sizeof(MsgVersion));
}
#undef BUILD_ASSERT

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_WHEEL_POSITION  = 0x070,
  ID_REPORT_FUEL_LEVEL      = 0x072,
  ID_REPORT_BRAKE_INFO      = 0x074,
  ID_REPORT_THROTTLE_INFO   = 0x075,
  ID_LICENSE                = 0x07E,
  ID_VERSION                = 0x07F,
};

} // namespace dbw_fca_can

#endif // _DBW_FCA_CAN_DISPATCH_H