// generated by gen_skylab.go at 2024-03-07 13:28:08.045194699 -0600 CST m=+0.003043646 DO NOT EDIT! package skylab import ( "errors" "encoding/binary" "github.com/kschamplin/gotelem/internal/can" "encoding/json" ) type SkylabId uint32 const ( BmsMeasurementId SkylabId = 0x10 BatteryStatusId SkylabId = 0x11 BmsKillReasonId SkylabId = 0x12 BmsModuleMinMaxId SkylabId = 0x13 BmsSocId SkylabId = 0x14 BmsCapacityId SkylabId = 0x15 BmsCurrentlimitId SkylabId = 0x18 BmsFanInfoId SkylabId = 0x19 BmsSetMinFanSpeedId SkylabId = 0x1B BmsModuleId SkylabId = 0x40 BmsChargerResponseId SkylabId = 0x75 ChassisIsolationFaultId SkylabId = 0x38 BmsImdInfoId SkylabId = 0x37 DashboardPedalPercentagesId SkylabId = 0x290 CarStateId SkylabId = 0x291 DashboardPedalFaultId SkylabId = 0x292 DashboardSystemTimeoutTestId SkylabId = 0x299 CarSpeedId SkylabId = 0x29A FlightComputerLvBoardDisconnectCountsId SkylabId = 0x29B FlightComputerHvBoardDisconnectCountsId SkylabId = 0x29C FlightComputerInternalStateId SkylabId = 0x29D PowerToDriveId SkylabId = 0x19E ArrayPowerId SkylabId = 0x19F ArrayEnergyId SkylabId = 0x119 ArrayEnergyResetId SkylabId = 0x120 VisionTurnSignalsCommandId SkylabId = 0x2B0 VisionBrakeLightsCommandId SkylabId = 0x2B1 VisionHeadlightsCommandId SkylabId = 0x2B2 VisionHornCommandId SkylabId = 0x2B3 VisionArrayLatchesCommandId SkylabId = 0x2B4 VisionRearviewCommandId SkylabId = 0x2B5 TrackerEnableId SkylabId = 0x610 DistanceTraveledId SkylabId = 0x19D ChargerStateId SkylabId = 0x573 ChargerBmsRequestId SkylabId = 0x74 ChargerCurrentVoltageId SkylabId = 0x576 ChargerPowerId SkylabId = 0x577 ThunderstruckControlMessageId SkylabId = 0x18E54024 VisionStatusFrontId SkylabId = 0x2B6 VisionStatusRearId SkylabId = 0x2B7 LightsFrontIdId SkylabId = 0x300 LightsBackIdId SkylabId = 0x301 VisionIdId SkylabId = 0x302 SteeringPressCount1Id SkylabId = 0x240 SteeringPressCount2Id SkylabId = 0x250 SteeringButtonColors1Id SkylabId = 0x241 SteeringButtonColors2Id SkylabId = 0x251 SteeringHornId SkylabId = 0x242 ThunderstruckStatusMessageId SkylabId = 0x18EB2440 TrackerDataId SkylabId = 0x600 TritiumMotorDriveLId SkylabId = 0x121 TritiumMotorPowerLId SkylabId = 0x122 TritiumResetLId SkylabId = 0x123 TritiumMotorDriveRId SkylabId = 0x161 TritiumMotorPowerRId SkylabId = 0x162 TritiumResetRId SkylabId = 0x163 BmsAhSetId SkylabId = 0x16 BmsWhSetId SkylabId = 0x17 BmsKillId SkylabId = 0x1A TelemetryRtcResetId SkylabId = 0x700 WsrIdentificationId SkylabId = 0x140 WsrStatusInformationId SkylabId = 0x141 WsrBusMeasurementId SkylabId = 0x142 WsrVelocityId SkylabId = 0x143 WsrPhaseCurrentId SkylabId = 0x144 WsrMotorVoltageVectorId SkylabId = 0x145 WsrMotorCurrentVectorId SkylabId = 0x146 WsrMotorBackemfId SkylabId = 0x147 Wsr15165VoltageRailId SkylabId = 0x148 Wsr2512VoltageRailId SkylabId = 0x149 WsrHeatsinkMotorTempId SkylabId = 0x14B WsrDspBoardTempId SkylabId = 0x14C WsrReservedId SkylabId = 0x14D WsrOdometerBusAmphoursMeasurementId SkylabId = 0x14E WsrSlipSpeedMeasurementId SkylabId = 0x157 WslIdentificationId SkylabId = 0x100 WslStatusInformationId SkylabId = 0x101 WslBusMeasurementId SkylabId = 0x102 WslVelocityId SkylabId = 0x103 WslPhaseCurrentId SkylabId = 0x104 WslMotorVoltageVectorId SkylabId = 0x105 WslMotorCurrentVectorId SkylabId = 0x106 WslMotorBackemfId SkylabId = 0x107 Wsl15165VoltageRailId SkylabId = 0x108 Wsl2512VoltageRailId SkylabId = 0x109 WslHeatsinkMotorTempId SkylabId = 0x10B WslDspBoardTempId SkylabId = 0x10C WslOdometerBusAmphoursMeasurementId SkylabId = 0x10E WslReservedId SkylabId = 0x10D WslSlipSpeedMeasurementId SkylabId = 0x117 ) // list of every packet ID. Can be used for O(1) checks. var idMap = map[can.CanID]bool{ { Id: 0x10, Extended: false }: true, { Id: 0x11, Extended: false }: true, { Id: 0x12, Extended: false }: true, { Id: 0x13, Extended: false }: true, { Id: 0x14, Extended: false }: true, { Id: 0x15, Extended: false }: true, { Id: 0x18, Extended: false }: true, { Id: 0x19, Extended: false }: true, { Id: 0x1B, Extended: false }: true, { Id: 0x40, Extended: false }: true, { Id: 0x41, Extended: false }: true, { Id: 0x42, Extended: false }: true, { Id: 0x43, Extended: false }: true, { Id: 0x44, Extended: false }: true, { Id: 0x45, Extended: false }: true, { Id: 0x46, Extended: false }: true, { Id: 0x47, Extended: false }: true, { Id: 0x48, Extended: false }: true, { Id: 0x49, Extended: false }: true, { Id: 0x4A, Extended: false }: true, { Id: 0x4B, Extended: false }: true, { Id: 0x4C, Extended: false }: true, { Id: 0x4D, Extended: false }: true, { Id: 0x4E, Extended: false }: true, { Id: 0x4F, Extended: false }: true, { Id: 0x50, Extended: false }: true, { Id: 0x51, Extended: false }: true, { Id: 0x52, Extended: false }: true, { Id: 0x53, Extended: false }: true, { Id: 0x54, Extended: false }: true, { Id: 0x55, Extended: false }: true, { Id: 0x56, Extended: false }: true, { Id: 0x57, Extended: false }: true, { Id: 0x58, Extended: false }: true, { Id: 0x59, Extended: false }: true, { Id: 0x5A, Extended: false }: true, { Id: 0x5B, Extended: false }: true, { Id: 0x5C, Extended: false }: true, { Id: 0x5D, Extended: false }: true, { Id: 0x5E, Extended: false }: true, { Id: 0x5F, Extended: false }: true, { Id: 0x60, Extended: false }: true, { Id: 0x61, Extended: false }: true, { Id: 0x62, Extended: false }: true, { Id: 0x63, Extended: false }: true, { Id: 0x75, Extended: false }: true, { Id: 0x38, Extended: false }: true, { Id: 0x37, Extended: false }: true, { Id: 0x290, Extended: false }: true, { Id: 0x291, Extended: false }: true, { Id: 0x292, Extended: false }: true, { Id: 0x299, Extended: false }: true, { Id: 0x29A, Extended: false }: true, { Id: 0x29B, Extended: false }: true, { Id: 0x29C, Extended: false }: true, { Id: 0x29D, Extended: false }: true, { Id: 0x19E, Extended: false }: true, { Id: 0x19F, Extended: false }: true, { Id: 0x119, Extended: false }: true, { Id: 0x120, Extended: false }: true, { Id: 0x2B0, Extended: false }: true, { Id: 0x2B1, Extended: false }: true, { Id: 0x2B2, Extended: false }: true, { Id: 0x2B3, Extended: false }: true, { Id: 0x2B4, Extended: false }: true, { Id: 0x2B5, Extended: false }: true, { Id: 0x610, Extended: false }: true, { Id: 0x611, Extended: false }: true, { Id: 0x612, Extended: false }: true, { Id: 0x613, Extended: false }: true, { Id: 0x614, Extended: false }: true, { Id: 0x615, Extended: false }: true, { Id: 0x19D, Extended: false }: true, { Id: 0x573, Extended: false }: true, { Id: 0x74, Extended: false }: true, { Id: 0x576, Extended: false }: true, { Id: 0x577, Extended: false }: true, { Id: 0x18E54024, Extended: true }: true, { Id: 0x2B6, Extended: false }: true, { Id: 0x2B7, Extended: false }: true, { Id: 0x300, Extended: false }: true, { Id: 0x301, Extended: false }: true, { Id: 0x302, Extended: false }: true, { Id: 0x240, Extended: false }: true, { Id: 0x250, Extended: false }: true, { Id: 0x241, Extended: false }: true, { Id: 0x251, Extended: false }: true, { Id: 0x242, Extended: false }: true, { Id: 0x18EB2440, Extended: false }: true, { Id: 0x600, Extended: false }: true, { Id: 0x601, Extended: false }: true, { Id: 0x602, Extended: false }: true, { Id: 0x603, Extended: false }: true, { Id: 0x604, Extended: false }: true, { Id: 0x605, Extended: false }: true, { Id: 0x121, Extended: false }: true, { Id: 0x122, Extended: false }: true, { Id: 0x123, Extended: false }: true, { Id: 0x161, Extended: false }: true, { Id: 0x162, Extended: false }: true, { Id: 0x163, Extended: false }: true, { Id: 0x16, Extended: false }: true, { Id: 0x17, Extended: false }: true, { Id: 0x1A, Extended: false }: true, { Id: 0x700, Extended: false }: true, { Id: 0x140, Extended: false }: true, { Id: 0x141, Extended: false }: true, { Id: 0x142, Extended: false }: true, { Id: 0x143, Extended: false }: true, { Id: 0x144, Extended: false }: true, { Id: 0x145, Extended: false }: true, { Id: 0x146, Extended: false }: true, { Id: 0x147, Extended: false }: true, { Id: 0x148, Extended: false }: true, { Id: 0x149, Extended: false }: true, { Id: 0x14B, Extended: false }: true, { Id: 0x14C, Extended: false }: true, { Id: 0x14D, Extended: false }: true, { Id: 0x14E, Extended: false }: true, { Id: 0x157, Extended: false }: true, { Id: 0x100, Extended: false }: true, { Id: 0x101, Extended: false }: true, { Id: 0x102, Extended: false }: true, { Id: 0x103, Extended: false }: true, { Id: 0x104, Extended: false }: true, { Id: 0x105, Extended: false }: true, { Id: 0x106, Extended: false }: true, { Id: 0x107, Extended: false }: true, { Id: 0x108, Extended: false }: true, { Id: 0x109, Extended: false }: true, { Id: 0x10B, Extended: false }: true, { Id: 0x10C, Extended: false }: true, { Id: 0x10E, Extended: false }: true, { Id: 0x10D, Extended: false }: true, { Id: 0x117, Extended: false }: true, } // FromCanFrame creates a Packet from a given CAN ID and data payload. // If the CAN ID is unknown, it will return an error. func FromCanFrame(f can.Frame) (Packet, error) { id := f.Id if !idMap[id] { return nil, &UnknownIdError{ id.Id } } switch id { case can.CanID{ Id: 0x10, Extended: false }: var res = &BmsMeasurement{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x11, Extended: false }: var res = &BatteryStatus{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x12, Extended: false }: var res = &BmsKillReason{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x13, Extended: false }: var res = &BmsModuleMinMax{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x14, Extended: false }: var res = &BmsSoc{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x15, Extended: false }: var res = &BmsCapacity{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x18, Extended: false }: var res = &BmsCurrentlimit{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x19, Extended: false }: var res = &BmsFanInfo{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x1B, Extended: false }: var res = &BmsSetMinFanSpeed{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x40, Extended: false },can.CanID{ Id: 0x41, Extended: false },can.CanID{ Id: 0x42, Extended: false },can.CanID{ Id: 0x43, Extended: false },can.CanID{ Id: 0x44, Extended: false },can.CanID{ Id: 0x45, Extended: false },can.CanID{ Id: 0x46, Extended: false },can.CanID{ Id: 0x47, Extended: false },can.CanID{ Id: 0x48, Extended: false },can.CanID{ Id: 0x49, Extended: false },can.CanID{ Id: 0x4A, Extended: false },can.CanID{ Id: 0x4B, Extended: false },can.CanID{ Id: 0x4C, Extended: false },can.CanID{ Id: 0x4D, Extended: false },can.CanID{ Id: 0x4E, Extended: false },can.CanID{ Id: 0x4F, Extended: false },can.CanID{ Id: 0x50, Extended: false },can.CanID{ Id: 0x51, Extended: false },can.CanID{ Id: 0x52, Extended: false },can.CanID{ Id: 0x53, Extended: false },can.CanID{ Id: 0x54, Extended: false },can.CanID{ Id: 0x55, Extended: false },can.CanID{ Id: 0x56, Extended: false },can.CanID{ Id: 0x57, Extended: false },can.CanID{ Id: 0x58, Extended: false },can.CanID{ Id: 0x59, Extended: false },can.CanID{ Id: 0x5A, Extended: false },can.CanID{ Id: 0x5B, Extended: false },can.CanID{ Id: 0x5C, Extended: false },can.CanID{ Id: 0x5D, Extended: false },can.CanID{ Id: 0x5E, Extended: false },can.CanID{ Id: 0x5F, Extended: false },can.CanID{ Id: 0x60, Extended: false },can.CanID{ Id: 0x61, Extended: false },can.CanID{ Id: 0x62, Extended: false },can.CanID{ Id: 0x63, Extended: false }: var res = &BmsModule{} res.UnmarshalPacket(f.Data) res.Idx = id.Id - 0x40 return res, nil case can.CanID{ Id: 0x75, Extended: false }: var res = &BmsChargerResponse{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x38, Extended: false }: var res = &ChassisIsolationFault{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x37, Extended: false }: var res = &BmsImdInfo{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x290, Extended: false }: var res = &DashboardPedalPercentages{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x291, Extended: false }: var res = &CarState{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x292, Extended: false }: var res = &DashboardPedalFault{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x299, Extended: false }: var res = &DashboardSystemTimeoutTest{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x29A, Extended: false }: var res = &CarSpeed{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x29B, Extended: false }: var res = &FlightComputerLvBoardDisconnectCounts{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x29C, Extended: false }: var res = &FlightComputerHvBoardDisconnectCounts{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x29D, Extended: false }: var res = &FlightComputerInternalState{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x19E, Extended: false }: var res = &PowerToDrive{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x19F, Extended: false }: var res = &ArrayPower{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x119, Extended: false }: var res = &ArrayEnergy{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x120, Extended: false }: var res = &ArrayEnergyReset{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x2B0, Extended: false }: var res = &VisionTurnSignalsCommand{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x2B1, Extended: false }: var res = &VisionBrakeLightsCommand{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x2B2, Extended: false }: var res = &VisionHeadlightsCommand{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x2B3, Extended: false }: var res = &VisionHornCommand{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x2B4, Extended: false }: var res = &VisionArrayLatchesCommand{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x2B5, Extended: false }: var res = &VisionRearviewCommand{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x610, Extended: false },can.CanID{ Id: 0x611, Extended: false },can.CanID{ Id: 0x612, Extended: false },can.CanID{ Id: 0x613, Extended: false },can.CanID{ Id: 0x614, Extended: false },can.CanID{ Id: 0x615, Extended: false }: var res = &TrackerEnable{} res.UnmarshalPacket(f.Data) res.Idx = id.Id - 0x610 return res, nil case can.CanID{ Id: 0x19D, Extended: false }: var res = &DistanceTraveled{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x573, Extended: false }: var res = &ChargerState{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x74, Extended: false }: var res = &ChargerBmsRequest{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x576, Extended: false }: var res = &ChargerCurrentVoltage{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x577, Extended: false }: var res = &ChargerPower{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x18E54024, Extended: true }: var res = &ThunderstruckControlMessage{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x2B6, Extended: false }: var res = &VisionStatusFront{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x2B7, Extended: false }: var res = &VisionStatusRear{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x300, Extended: false }: var res = &LightsFrontId{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x301, Extended: false }: var res = &LightsBackId{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x302, Extended: false }: var res = &VisionId{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x240, Extended: false }: var res = &SteeringPressCount1{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x250, Extended: false }: var res = &SteeringPressCount2{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x241, Extended: false }: var res = &SteeringButtonColors1{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x251, Extended: false }: var res = &SteeringButtonColors2{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x242, Extended: false }: var res = &SteeringHorn{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x18EB2440, Extended: false }: var res = &ThunderstruckStatusMessage{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x600, Extended: false },can.CanID{ Id: 0x601, Extended: false },can.CanID{ Id: 0x602, Extended: false },can.CanID{ Id: 0x603, Extended: false },can.CanID{ Id: 0x604, Extended: false },can.CanID{ Id: 0x605, Extended: false }: var res = &TrackerData{} res.UnmarshalPacket(f.Data) res.Idx = id.Id - 0x600 return res, nil case can.CanID{ Id: 0x121, Extended: false }: var res = &TritiumMotorDriveL{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x122, Extended: false }: var res = &TritiumMotorPowerL{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x123, Extended: false }: var res = &TritiumResetL{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x161, Extended: false }: var res = &TritiumMotorDriveR{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x162, Extended: false }: var res = &TritiumMotorPowerR{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x163, Extended: false }: var res = &TritiumResetR{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x16, Extended: false }: var res = &BmsAhSet{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x17, Extended: false }: var res = &BmsWhSet{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x1A, Extended: false }: var res = &BmsKill{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x700, Extended: false }: var res = &TelemetryRtcReset{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x140, Extended: false }: var res = &WsrIdentification{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x141, Extended: false }: var res = &WsrStatusInformation{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x142, Extended: false }: var res = &WsrBusMeasurement{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x143, Extended: false }: var res = &WsrVelocity{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x144, Extended: false }: var res = &WsrPhaseCurrent{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x145, Extended: false }: var res = &WsrMotorVoltageVector{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x146, Extended: false }: var res = &WsrMotorCurrentVector{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x147, Extended: false }: var res = &WsrMotorBackemf{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x148, Extended: false }: var res = &Wsr15165VoltageRail{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x149, Extended: false }: var res = &Wsr2512VoltageRail{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x14B, Extended: false }: var res = &WsrHeatsinkMotorTemp{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x14C, Extended: false }: var res = &WsrDspBoardTemp{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x14D, Extended: false }: var res = &WsrReserved{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x14E, Extended: false }: var res = &WsrOdometerBusAmphoursMeasurement{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x157, Extended: false }: var res = &WsrSlipSpeedMeasurement{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x100, Extended: false }: var res = &WslIdentification{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x101, Extended: false }: var res = &WslStatusInformation{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x102, Extended: false }: var res = &WslBusMeasurement{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x103, Extended: false }: var res = &WslVelocity{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x104, Extended: false }: var res = &WslPhaseCurrent{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x105, Extended: false }: var res = &WslMotorVoltageVector{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x106, Extended: false }: var res = &WslMotorCurrentVector{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x107, Extended: false }: var res = &WslMotorBackemf{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x108, Extended: false }: var res = &Wsl15165VoltageRail{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x109, Extended: false }: var res = &Wsl2512VoltageRail{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x10B, Extended: false }: var res = &WslHeatsinkMotorTemp{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x10C, Extended: false }: var res = &WslDspBoardTemp{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x10E, Extended: false }: var res = &WslOdometerBusAmphoursMeasurement{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x10D, Extended: false }: var res = &WslReserved{} res.UnmarshalPacket(f.Data) return res, nil case can.CanID{ Id: 0x117, Extended: false }: var res = &WslSlipSpeedMeasurement{} res.UnmarshalPacket(f.Data) return res, nil } panic("This should never happen. CAN ID didn't match but was in ID map") } func FromJson (name string, raw []byte) (Packet, error) { switch name { case "bms_measurement": var res = &BmsMeasurement{} err := json.Unmarshal(raw, res) return res, err case "battery_status": var res = &BatteryStatus{} err := json.Unmarshal(raw, res) return res, err case "bms_kill_reason": var res = &BmsKillReason{} err := json.Unmarshal(raw, res) return res, err case "bms_module_min_max": var res = &BmsModuleMinMax{} err := json.Unmarshal(raw, res) return res, err case "bms_soc": var res = &BmsSoc{} err := json.Unmarshal(raw, res) return res, err case "bms_capacity": var res = &BmsCapacity{} err := json.Unmarshal(raw, res) return res, err case "bms_currentlimit": var res = &BmsCurrentlimit{} err := json.Unmarshal(raw, res) return res, err case "bms_fan_info": var res = &BmsFanInfo{} err := json.Unmarshal(raw, res) return res, err case "bms_set_min_fan_speed": var res = &BmsSetMinFanSpeed{} err := json.Unmarshal(raw, res) return res, err case "bms_module": var res = &BmsModule{} err := json.Unmarshal(raw, res) return res, err case "bms_charger_response": var res = &BmsChargerResponse{} err := json.Unmarshal(raw, res) return res, err case "chassis_isolation_fault": var res = &ChassisIsolationFault{} err := json.Unmarshal(raw, res) return res, err case "bms_imd_info": var res = &BmsImdInfo{} err := json.Unmarshal(raw, res) return res, err case "dashboard_pedal_percentages": var res = &DashboardPedalPercentages{} err := json.Unmarshal(raw, res) return res, err case "car_state": var res = &CarState{} err := json.Unmarshal(raw, res) return res, err case "dashboard_pedal_fault": var res = &DashboardPedalFault{} err := json.Unmarshal(raw, res) return res, err case "dashboard_system_timeout_test": var res = &DashboardSystemTimeoutTest{} err := json.Unmarshal(raw, res) return res, err case "car_speed": var res = &CarSpeed{} err := json.Unmarshal(raw, res) return res, err case "flight_computer_lv_board_disconnect_counts": var res = &FlightComputerLvBoardDisconnectCounts{} err := json.Unmarshal(raw, res) return res, err case "flight_computer_hv_board_disconnect_counts": var res = &FlightComputerHvBoardDisconnectCounts{} err := json.Unmarshal(raw, res) return res, err case "flight_computer_internal_state": var res = &FlightComputerInternalState{} err := json.Unmarshal(raw, res) return res, err case "power_to_drive": var res = &PowerToDrive{} err := json.Unmarshal(raw, res) return res, err case "array_power": var res = &ArrayPower{} err := json.Unmarshal(raw, res) return res, err case "array_energy": var res = &ArrayEnergy{} err := json.Unmarshal(raw, res) return res, err case "array_energy_reset": var res = &ArrayEnergyReset{} err := json.Unmarshal(raw, res) return res, err case "vision_turn_signals_command": var res = &VisionTurnSignalsCommand{} err := json.Unmarshal(raw, res) return res, err case "vision_brake_lights_command": var res = &VisionBrakeLightsCommand{} err := json.Unmarshal(raw, res) return res, err case "vision_headlights_command": var res = &VisionHeadlightsCommand{} err := json.Unmarshal(raw, res) return res, err case "vision_horn_command": var res = &VisionHornCommand{} err := json.Unmarshal(raw, res) return res, err case "vision_array_latches_command": var res = &VisionArrayLatchesCommand{} err := json.Unmarshal(raw, res) return res, err case "vision_rearview_command": var res = &VisionRearviewCommand{} err := json.Unmarshal(raw, res) return res, err case "tracker_enable": var res = &TrackerEnable{} err := json.Unmarshal(raw, res) return res, err case "distance_traveled": var res = &DistanceTraveled{} err := json.Unmarshal(raw, res) return res, err case "charger_state": var res = &ChargerState{} err := json.Unmarshal(raw, res) return res, err case "charger_bms_request": var res = &ChargerBmsRequest{} err := json.Unmarshal(raw, res) return res, err case "charger_current_voltage": var res = &ChargerCurrentVoltage{} err := json.Unmarshal(raw, res) return res, err case "charger_power": var res = &ChargerPower{} err := json.Unmarshal(raw, res) return res, err case "thunderstruck_control_message": var res = &ThunderstruckControlMessage{} err := json.Unmarshal(raw, res) return res, err case "vision_status_front": var res = &VisionStatusFront{} err := json.Unmarshal(raw, res) return res, err case "vision_status_rear": var res = &VisionStatusRear{} err := json.Unmarshal(raw, res) return res, err case "lights_front_id": var res = &LightsFrontId{} err := json.Unmarshal(raw, res) return res, err case "lights_back_id": var res = &LightsBackId{} err := json.Unmarshal(raw, res) return res, err case "vision_id": var res = &VisionId{} err := json.Unmarshal(raw, res) return res, err case "steering_press_count_1": var res = &SteeringPressCount1{} err := json.Unmarshal(raw, res) return res, err case "steering_press_count_2": var res = &SteeringPressCount2{} err := json.Unmarshal(raw, res) return res, err case "steering_button_colors_1": var res = &SteeringButtonColors1{} err := json.Unmarshal(raw, res) return res, err case "steering_button_colors_2": var res = &SteeringButtonColors2{} err := json.Unmarshal(raw, res) return res, err case "steering_horn": var res = &SteeringHorn{} err := json.Unmarshal(raw, res) return res, err case "thunderstruck_status_message": var res = &ThunderstruckStatusMessage{} err := json.Unmarshal(raw, res) return res, err case "tracker_data": var res = &TrackerData{} err := json.Unmarshal(raw, res) return res, err case "tritium_motor_drive_l": var res = &TritiumMotorDriveL{} err := json.Unmarshal(raw, res) return res, err case "tritium_motor_power_l": var res = &TritiumMotorPowerL{} err := json.Unmarshal(raw, res) return res, err case "tritium_reset_l": var res = &TritiumResetL{} err := json.Unmarshal(raw, res) return res, err case "tritium_motor_drive_r": var res = &TritiumMotorDriveR{} err := json.Unmarshal(raw, res) return res, err case "tritium_motor_power_r": var res = &TritiumMotorPowerR{} err := json.Unmarshal(raw, res) return res, err case "tritium_reset_r": var res = &TritiumResetR{} err := json.Unmarshal(raw, res) return res, err case "bms_ah_set": var res = &BmsAhSet{} err := json.Unmarshal(raw, res) return res, err case "bms_wh_set": var res = &BmsWhSet{} err := json.Unmarshal(raw, res) return res, err case "bms_kill": var res = &BmsKill{} err := json.Unmarshal(raw, res) return res, err case "telemetry_rtc_reset": var res = &TelemetryRtcReset{} err := json.Unmarshal(raw, res) return res, err case "wsr_identification": var res = &WsrIdentification{} err := json.Unmarshal(raw, res) return res, err case "wsr_status_information": var res = &WsrStatusInformation{} err := json.Unmarshal(raw, res) return res, err case "wsr_bus_measurement": var res = &WsrBusMeasurement{} err := json.Unmarshal(raw, res) return res, err case "wsr_velocity": var res = &WsrVelocity{} err := json.Unmarshal(raw, res) return res, err case "wsr_phase_current": var res = &WsrPhaseCurrent{} err := json.Unmarshal(raw, res) return res, err case "wsr_motor_voltage_vector": var res = &WsrMotorVoltageVector{} err := json.Unmarshal(raw, res) return res, err case "wsr_motor_current_vector": var res = &WsrMotorCurrentVector{} err := json.Unmarshal(raw, res) return res, err case "wsr_motor_backemf": var res = &WsrMotorBackemf{} err := json.Unmarshal(raw, res) return res, err case "wsr_15_165_voltage_rail": var res = &Wsr15165VoltageRail{} err := json.Unmarshal(raw, res) return res, err case "wsr_25_12_voltage_rail": var res = &Wsr2512VoltageRail{} err := json.Unmarshal(raw, res) return res, err case "wsr_heatsink_motor_temp": var res = &WsrHeatsinkMotorTemp{} err := json.Unmarshal(raw, res) return res, err case "wsr_dsp_board_temp": var res = &WsrDspBoardTemp{} err := json.Unmarshal(raw, res) return res, err case "wsr_reserved": var res = &WsrReserved{} err := json.Unmarshal(raw, res) return res, err case "wsr_odometer_bus_amphours_measurement": var res = &WsrOdometerBusAmphoursMeasurement{} err := json.Unmarshal(raw, res) return res, err case "wsr_slip_speed_measurement": var res = &WsrSlipSpeedMeasurement{} err := json.Unmarshal(raw, res) return res, err case "wsl_identification": var res = &WslIdentification{} err := json.Unmarshal(raw, res) return res, err case "wsl_status_information": var res = &WslStatusInformation{} err := json.Unmarshal(raw, res) return res, err case "wsl_bus_measurement": var res = &WslBusMeasurement{} err := json.Unmarshal(raw, res) return res, err case "wsl_velocity": var res = &WslVelocity{} err := json.Unmarshal(raw, res) return res, err case "wsl_phase_current": var res = &WslPhaseCurrent{} err := json.Unmarshal(raw, res) return res, err case "wsl_motor_voltage_vector": var res = &WslMotorVoltageVector{} err := json.Unmarshal(raw, res) return res, err case "wsl_motor_current_vector": var res = &WslMotorCurrentVector{} err := json.Unmarshal(raw, res) return res, err case "wsl_motor_backemf": var res = &WslMotorBackemf{} err := json.Unmarshal(raw, res) return res, err case "wsl_15_165_voltage_rail": var res = &Wsl15165VoltageRail{} err := json.Unmarshal(raw, res) return res, err case "wsl_25_12_voltage_rail": var res = &Wsl2512VoltageRail{} err := json.Unmarshal(raw, res) return res, err case "wsl_heatsink_motor_temp": var res = &WslHeatsinkMotorTemp{} err := json.Unmarshal(raw, res) return res, err case "wsl_dsp_board_temp": var res = &WslDspBoardTemp{} err := json.Unmarshal(raw, res) return res, err case "wsl_odometer_bus_amphours_measurement": var res = &WslOdometerBusAmphoursMeasurement{} err := json.Unmarshal(raw, res) return res, err case "wsl_reserved": var res = &WslReserved{} err := json.Unmarshal(raw, res) return res, err case "wsl_slip_speed_measurement": var res = &WslSlipSpeedMeasurement{} err := json.Unmarshal(raw, res) return res, err } return nil, errors.New("unknown packet name") } // BmsMeasurement is Voltages for main battery and aux pack type BmsMeasurement struct { // 0.01 V BatteryVoltage uint16 `json:"battery_voltage"` // 0.001 V AuxVoltage uint16 `json:"aux_voltage"` // 1 A Current float32 `json:"current"` } func (p *BmsMeasurement) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x10 return c, nil } func (p *BmsMeasurement) Size() uint { return 8 } func (p *BmsMeasurement) MarshalPacket() ([]byte, error) { b := make([]byte, 8) binary.LittleEndian.PutUint16(b[0:], p.BatteryVoltage) binary.LittleEndian.PutUint16(b[2:], p.AuxVoltage) float32ToBytes(b[4:], p.Current, false) return b, nil } func (p *BmsMeasurement) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.BatteryVoltage = binary.LittleEndian.Uint16(b[0:]) p.AuxVoltage = binary.LittleEndian.Uint16(b[2:]) p.Current = float32FromBytes(b[4:], false) return nil } func (p *BmsMeasurement) String() string { return "bms_measurement" } type BatteryStatusBatteryState struct { Startup bool `json:"startup"` Precharge bool `json:"precharge"` Discharging bool `json:"discharging"` LvOnly bool `json:"lv_only"` Charging bool `json:"charging"` WallCharging bool `json:"wall_charging"` Killed bool `json:"killed"` } func (p *BatteryStatusBatteryState) MarshalByte() byte { var b byte if p.Startup { b |= 1 << 0 } if p.Precharge { b |= 1 << 1 } if p.Discharging { b |= 1 << 2 } if p.LvOnly { b |= 1 << 3 } if p.Charging { b |= 1 << 4 } if p.WallCharging { b |= 1 << 5 } if p.Killed { b |= 1 << 6 } return b } func (p *BatteryStatusBatteryState) UnmarshalByte(b byte) { p.Startup = (b & (1 << 0)) != 0 p.Precharge = (b & (1 << 1)) != 0 p.Discharging = (b & (1 << 2)) != 0 p.LvOnly = (b & (1 << 3)) != 0 p.Charging = (b & (1 << 4)) != 0 p.WallCharging = (b & (1 << 5)) != 0 p.Killed = (b & (1 << 6)) != 0 } type BatteryStatusContactorState struct { BatteryHighContactor bool `json:"battery_high_contactor"` BatteryLowContactor bool `json:"battery_low_contactor"` BatteryVicorContactor bool `json:"battery_vicor_contactor"` BatteryPreContactor bool `json:"battery_pre_contactor"` BatteryHigh2Contactor bool `json:"battery_high2_contactor"` BatteryLow2Contactor bool `json:"battery_low2_contactor"` ChargerHighContactor bool `json:"charger_high_contactor"` ChargerPreContactor bool `json:"charger_pre_contactor"` } func (p *BatteryStatusContactorState) MarshalByte() byte { var b byte if p.BatteryHighContactor { b |= 1 << 0 } if p.BatteryLowContactor { b |= 1 << 1 } if p.BatteryVicorContactor { b |= 1 << 2 } if p.BatteryPreContactor { b |= 1 << 3 } if p.BatteryHigh2Contactor { b |= 1 << 4 } if p.BatteryLow2Contactor { b |= 1 << 5 } if p.ChargerHighContactor { b |= 1 << 6 } if p.ChargerPreContactor { b |= 1 << 7 } return b } func (p *BatteryStatusContactorState) UnmarshalByte(b byte) { p.BatteryHighContactor = (b & (1 << 0)) != 0 p.BatteryLowContactor = (b & (1 << 1)) != 0 p.BatteryVicorContactor = (b & (1 << 2)) != 0 p.BatteryPreContactor = (b & (1 << 3)) != 0 p.BatteryHigh2Contactor = (b & (1 << 4)) != 0 p.BatteryLow2Contactor = (b & (1 << 5)) != 0 p.ChargerHighContactor = (b & (1 << 6)) != 0 p.ChargerPreContactor = (b & (1 << 7)) != 0 } type BatteryStatusLvChannelStatus struct { AuxFault bool `json:"aux_fault"` MainFault bool `json:"main_fault"` AuxPowerValid bool `json:"aux_power_valid"` MainPowerValid bool `json:"main_power_valid"` AuxPowerActive bool `json:"aux_power_active"` MainPowerActive bool `json:"main_power_active"` } func (p *BatteryStatusLvChannelStatus) MarshalByte() byte { var b byte if p.AuxFault { b |= 1 << 0 } if p.MainFault { b |= 1 << 1 } if p.AuxPowerValid { b |= 1 << 2 } if p.MainPowerValid { b |= 1 << 3 } if p.AuxPowerActive { b |= 1 << 4 } if p.MainPowerActive { b |= 1 << 5 } return b } func (p *BatteryStatusLvChannelStatus) UnmarshalByte(b byte) { p.AuxFault = (b & (1 << 0)) != 0 p.MainFault = (b & (1 << 1)) != 0 p.AuxPowerValid = (b & (1 << 2)) != 0 p.MainPowerValid = (b & (1 << 3)) != 0 p.AuxPowerActive = (b & (1 << 4)) != 0 p.MainPowerActive = (b & (1 << 5)) != 0 } type BatteryStatusLvControlStatus struct { AuxVicorEnable bool `json:"aux_vicor_enable"` BatVicorEnable bool `json:"bat_vicor_enable"` AuxRelayHeld bool `json:"aux_relay_held"` AuxRefEnable bool `json:"aux_ref_enable"` AuxChargingEnable bool `json:"aux_charging_enable"` KillHv bool `json:"kill_hv"` KillLv bool `json:"kill_lv"` StartButton bool `json:"start_button"` } func (p *BatteryStatusLvControlStatus) MarshalByte() byte { var b byte if p.AuxVicorEnable { b |= 1 << 0 } if p.BatVicorEnable { b |= 1 << 1 } if p.AuxRelayHeld { b |= 1 << 2 } if p.AuxRefEnable { b |= 1 << 3 } if p.AuxChargingEnable { b |= 1 << 4 } if p.KillHv { b |= 1 << 5 } if p.KillLv { b |= 1 << 6 } if p.StartButton { b |= 1 << 7 } return b } func (p *BatteryStatusLvControlStatus) UnmarshalByte(b byte) { p.AuxVicorEnable = (b & (1 << 0)) != 0 p.BatVicorEnable = (b & (1 << 1)) != 0 p.AuxRelayHeld = (b & (1 << 2)) != 0 p.AuxRefEnable = (b & (1 << 3)) != 0 p.AuxChargingEnable = (b & (1 << 4)) != 0 p.KillHv = (b & (1 << 5)) != 0 p.KillLv = (b & (1 << 6)) != 0 p.StartButton = (b & (1 << 7)) != 0 } type BatteryStatusPackChoice struct { LargePack bool `json:"large_pack"` SmallPack bool `json:"small_pack"` } func (p *BatteryStatusPackChoice) MarshalByte() byte { var b byte if p.LargePack { b |= 1 << 0 } if p.SmallPack { b |= 1 << 1 } return b } func (p *BatteryStatusPackChoice) UnmarshalByte(b byte) { p.LargePack = (b & (1 << 0)) != 0 p.SmallPack = (b & (1 << 1)) != 0 } // BatteryStatus is Status bits for the battery type BatteryStatus struct { BatteryState BatteryStatusBatteryState `json:"battery_state"` ContactorState BatteryStatusContactorState `json:"contactor_state"` LvChannelStatus BatteryStatusLvChannelStatus `json:"lv_channel_status"` LvControlStatus BatteryStatusLvControlStatus `json:"lv_control_status"` PackChoice BatteryStatusPackChoice `json:"pack_choice"` } func (p *BatteryStatus) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x11 return c, nil } func (p *BatteryStatus) Size() uint { return 5 } func (p *BatteryStatus) MarshalPacket() ([]byte, error) { b := make([]byte, 5) b[0] = p.BatteryState.MarshalByte() b[1] = p.ContactorState.MarshalByte() b[2] = p.LvChannelStatus.MarshalByte() b[3] = p.LvControlStatus.MarshalByte() b[4] = p.PackChoice.MarshalByte() return b, nil } func (p *BatteryStatus) UnmarshalPacket(b []byte) error { if len(b) != 5 { return &BadLengthError{expected: 5, actual: uint32(len(b))} } p.BatteryState.UnmarshalByte(b[0]) p.ContactorState.UnmarshalByte(b[1]) p.LvChannelStatus.UnmarshalByte(b[2]) p.LvControlStatus.UnmarshalByte(b[3]) p.PackChoice.UnmarshalByte(b[4]) return nil } func (p *BatteryStatus) String() string { return "battery_status" } type BmsKillReasonReason1 struct { OVERVOLT bool `json:"OVERVOLT"` UNDERVOLT bool `json:"UNDERVOLT"` OVERTEMP bool `json:"OVERTEMP"` TEMPDISCONNECT bool `json:"TEMP_DISCONNECT"` COMMFAIL bool `json:"COMM_FAIL"` } func (p *BmsKillReasonReason1) MarshalByte() byte { var b byte if p.OVERVOLT { b |= 1 << 0 } if p.UNDERVOLT { b |= 1 << 1 } if p.OVERTEMP { b |= 1 << 2 } if p.TEMPDISCONNECT { b |= 1 << 3 } if p.COMMFAIL { b |= 1 << 4 } return b } func (p *BmsKillReasonReason1) UnmarshalByte(b byte) { p.OVERVOLT = (b & (1 << 0)) != 0 p.UNDERVOLT = (b & (1 << 1)) != 0 p.OVERTEMP = (b & (1 << 2)) != 0 p.TEMPDISCONNECT = (b & (1 << 3)) != 0 p.COMMFAIL = (b & (1 << 4)) != 0 } type BmsKillReasonReason2 struct { HARDWARE bool `json:"HARDWARE"` KILLPACKET bool `json:"KILL_PACKET"` UKNOWN bool `json:"UKNOWN"` OVERCURRENT bool `json:"OVERCURRENT"` PRECHARGEFAIL bool `json:"PRECHARGE_FAIL"` AUXOVERUNDER bool `json:"AUX_OVER_UNDER"` AUXOVERTEMP bool `json:"AUX_OVERTEMP"` } func (p *BmsKillReasonReason2) MarshalByte() byte { var b byte if p.HARDWARE { b |= 1 << 0 } if p.KILLPACKET { b |= 1 << 1 } if p.UKNOWN { b |= 1 << 2 } if p.OVERCURRENT { b |= 1 << 3 } if p.PRECHARGEFAIL { b |= 1 << 4 } if p.AUXOVERUNDER { b |= 1 << 5 } if p.AUXOVERTEMP { b |= 1 << 6 } return b } func (p *BmsKillReasonReason2) UnmarshalByte(b byte) { p.HARDWARE = (b & (1 << 0)) != 0 p.KILLPACKET = (b & (1 << 1)) != 0 p.UKNOWN = (b & (1 << 2)) != 0 p.OVERCURRENT = (b & (1 << 3)) != 0 p.PRECHARGEFAIL = (b & (1 << 4)) != 0 p.AUXOVERUNDER = (b & (1 << 5)) != 0 p.AUXOVERTEMP = (b & (1 << 6)) != 0 } // BmsKillReason is Information for when the car kills type BmsKillReason struct { Reason1 BmsKillReasonReason1 `json:"reason1"` Reason2 BmsKillReasonReason2 `json:"reason2"` Module uint16 `json:"module"` Value float32 `json:"value"` } func (p *BmsKillReason) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x12 return c, nil } func (p *BmsKillReason) Size() uint { return 8 } func (p *BmsKillReason) MarshalPacket() ([]byte, error) { b := make([]byte, 8) b[0] = p.Reason1.MarshalByte() b[1] = p.Reason2.MarshalByte() binary.LittleEndian.PutUint16(b[2:], p.Module) float32ToBytes(b[4:], p.Value, false) return b, nil } func (p *BmsKillReason) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.Reason1.UnmarshalByte(b[0]) p.Reason2.UnmarshalByte(b[1]) p.Module = binary.LittleEndian.Uint16(b[2:]) p.Value = float32FromBytes(b[4:], false) return nil } func (p *BmsKillReason) String() string { return "bms_kill_reason" } // BmsModuleMinMax is min and max cell voltages and temperatures type BmsModuleMinMax struct { // 0.01 C ModuleMaxTemp int16 `json:"module_max_temp"` // 0.01 C ModuleMinTemp int16 `json:"module_min_temp"` // 0.001 V ModuleMaxVoltage uint16 `json:"module_max_voltage"` // 0.001 V ModuleMinVoltage uint16 `json:"module_min_voltage"` } func (p *BmsModuleMinMax) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x13 return c, nil } func (p *BmsModuleMinMax) Size() uint { return 8 } func (p *BmsModuleMinMax) MarshalPacket() ([]byte, error) { b := make([]byte, 8) binary.LittleEndian.PutUint16(b[0:], uint16(p.ModuleMaxTemp)) binary.LittleEndian.PutUint16(b[2:], uint16(p.ModuleMinTemp)) binary.LittleEndian.PutUint16(b[4:], p.ModuleMaxVoltage) binary.LittleEndian.PutUint16(b[6:], p.ModuleMinVoltage) return b, nil } func (p *BmsModuleMinMax) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.ModuleMaxTemp = int16(binary.LittleEndian.Uint16(b[0:])) p.ModuleMinTemp = int16(binary.LittleEndian.Uint16(b[2:])) p.ModuleMaxVoltage = binary.LittleEndian.Uint16(b[4:]) p.ModuleMinVoltage = binary.LittleEndian.Uint16(b[6:]) return nil } func (p *BmsModuleMinMax) String() string { return "bms_module_min_max" } // BmsSoc is State of charge type BmsSoc struct { Soc float32 `json:"soc"` } func (p *BmsSoc) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x14 return c, nil } func (p *BmsSoc) Size() uint { return 4 } func (p *BmsSoc) MarshalPacket() ([]byte, error) { b := make([]byte, 4) float32ToBytes(b[0:], p.Soc, false) return b, nil } func (p *BmsSoc) UnmarshalPacket(b []byte) error { if len(b) != 4 { return &BadLengthError{expected: 4, actual: uint32(len(b))} } p.Soc = float32FromBytes(b[0:], false) return nil } func (p *BmsSoc) String() string { return "bms_soc" } // BmsCapacity is State of charge type BmsCapacity struct { Ah float32 `json:"Ah"` Wh float32 `json:"Wh"` } func (p *BmsCapacity) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x15 return c, nil } func (p *BmsCapacity) Size() uint { return 8 } func (p *BmsCapacity) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.Ah, false) float32ToBytes(b[4:], p.Wh, false) return b, nil } func (p *BmsCapacity) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.Ah = float32FromBytes(b[0:], false) p.Wh = float32FromBytes(b[4:], false) return nil } func (p *BmsCapacity) String() string { return "bms_capacity" } // BmsCurrentlimit is reports BP params for current type BmsCurrentlimit struct { // 0.01 A CurrentMax int16 `json:"current_max"` // 0.01 A CurrentMin int16 `json:"current_min"` } func (p *BmsCurrentlimit) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x18 return c, nil } func (p *BmsCurrentlimit) Size() uint { return 4 } func (p *BmsCurrentlimit) MarshalPacket() ([]byte, error) { b := make([]byte, 4) binary.LittleEndian.PutUint16(b[0:], uint16(p.CurrentMax)) binary.LittleEndian.PutUint16(b[2:], uint16(p.CurrentMin)) return b, nil } func (p *BmsCurrentlimit) UnmarshalPacket(b []byte) error { if len(b) != 4 { return &BadLengthError{expected: 4, actual: uint32(len(b))} } p.CurrentMax = int16(binary.LittleEndian.Uint16(b[0:])) p.CurrentMin = int16(binary.LittleEndian.Uint16(b[2:])) return nil } func (p *BmsCurrentlimit) String() string { return "bms_currentlimit" } // BmsFanInfo is BP Fans type BmsFanInfo struct { // 1 RPM Fan1 uint16 `json:"fan1"` // 1 RPM Fan2 uint16 `json:"fan2"` // 1 RPM Fan3 uint16 `json:"fan3"` // 1 RPM Fan4 uint16 `json:"fan4"` } func (p *BmsFanInfo) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x19 return c, nil } func (p *BmsFanInfo) Size() uint { return 8 } func (p *BmsFanInfo) MarshalPacket() ([]byte, error) { b := make([]byte, 8) binary.LittleEndian.PutUint16(b[0:], p.Fan1) binary.LittleEndian.PutUint16(b[2:], p.Fan2) binary.LittleEndian.PutUint16(b[4:], p.Fan3) binary.LittleEndian.PutUint16(b[6:], p.Fan4) return b, nil } func (p *BmsFanInfo) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.Fan1 = binary.LittleEndian.Uint16(b[0:]) p.Fan2 = binary.LittleEndian.Uint16(b[2:]) p.Fan3 = binary.LittleEndian.Uint16(b[4:]) p.Fan4 = binary.LittleEndian.Uint16(b[6:]) return nil } func (p *BmsFanInfo) String() string { return "bms_fan_info" } // BmsSetMinFanSpeed is packet which sets a minimum fan speed of BMS for a specific time frame in seconds type BmsSetMinFanSpeed struct { // 0 percent FanPercentage float32 `json:"fan_percentage"` // 0 s Time uint16 `json:"time"` } func (p *BmsSetMinFanSpeed) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x1B return c, nil } func (p *BmsSetMinFanSpeed) Size() uint { return 6 } func (p *BmsSetMinFanSpeed) MarshalPacket() ([]byte, error) { b := make([]byte, 6) float32ToBytes(b[0:], p.FanPercentage, false) binary.LittleEndian.PutUint16(b[4:], p.Time) return b, nil } func (p *BmsSetMinFanSpeed) UnmarshalPacket(b []byte) error { if len(b) != 6 { return &BadLengthError{expected: 6, actual: uint32(len(b))} } p.FanPercentage = float32FromBytes(b[0:], false) p.Time = binary.LittleEndian.Uint16(b[4:]) return nil } func (p *BmsSetMinFanSpeed) String() string { return "bms_set_min_fan_speed" } // BmsModule is Voltage and temperature for a single module type BmsModule struct { // 1 V Voltage float32 `json:"voltage"` // 1 C Temperature float32 `json:"temperature"` // Idx is the packet index. The accepted range is 0-36 Idx uint32 `json:"idx"` } func (p *BmsModule) CanId() (can.CanID, error) { c := can.CanID{Extended: false} if p.Idx >= 36 { return c, &UnknownIdError{ 0x40 } } c.Id = 0x40 + p.Idx return c, nil } func (p *BmsModule) Size() uint { return 8 } func (p *BmsModule) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.Voltage, false) float32ToBytes(b[4:], p.Temperature, false) return b, nil } func (p *BmsModule) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.Voltage = float32FromBytes(b[0:], false) p.Temperature = float32FromBytes(b[4:], false) return nil } func (p *BmsModule) String() string { return "bms_module" } type BmsChargerResponseResponseFlags struct { ChargingReady bool `json:"charging_ready"` } func (p *BmsChargerResponseResponseFlags) MarshalByte() byte { var b byte if p.ChargingReady { b |= 1 << 0 } return b } func (p *BmsChargerResponseResponseFlags) UnmarshalByte(b byte) { p.ChargingReady = (b & (1 << 0)) != 0 } // BmsChargerResponse is Response packet from BMS for indicating whether BMS is ready for charging type BmsChargerResponse struct { ResponseFlags BmsChargerResponseResponseFlags `json:"response_flags"` } func (p *BmsChargerResponse) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x75 return c, nil } func (p *BmsChargerResponse) Size() uint { return 1 } func (p *BmsChargerResponse) MarshalPacket() ([]byte, error) { b := make([]byte, 1) b[0] = p.ResponseFlags.MarshalByte() return b, nil } func (p *BmsChargerResponse) UnmarshalPacket(b []byte) error { if len(b) != 1 { return &BadLengthError{expected: 1, actual: uint32(len(b))} } p.ResponseFlags.UnmarshalByte(b[0]) return nil } func (p *BmsChargerResponse) String() string { return "bms_charger_response" } type ChassisIsolationFaultFaultDetected struct { IsolationFault bool `json:"isolation_fault"` } func (p *ChassisIsolationFaultFaultDetected) MarshalByte() byte { var b byte if p.IsolationFault { b |= 1 << 0 } return b } func (p *ChassisIsolationFaultFaultDetected) UnmarshalByte(b byte) { p.IsolationFault = (b & (1 << 0)) != 0 } // ChassisIsolationFault is chassiss is not isolated from the battery type ChassisIsolationFault struct { FaultDetected ChassisIsolationFaultFaultDetected `json:"fault_detected"` } func (p *ChassisIsolationFault) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x38 return c, nil } func (p *ChassisIsolationFault) Size() uint { return 1 } func (p *ChassisIsolationFault) MarshalPacket() ([]byte, error) { b := make([]byte, 1) b[0] = p.FaultDetected.MarshalByte() return b, nil } func (p *ChassisIsolationFault) UnmarshalPacket(b []byte) error { if len(b) != 1 { return &BadLengthError{expected: 1, actual: uint32(len(b))} } p.FaultDetected.UnmarshalByte(b[0]) return nil } func (p *ChassisIsolationFault) String() string { return "chassis_isolation_fault" } type BmsImdInfoDImcStatus1 struct { IsolationFault bool `json:"isolation_fault"` ChassisFault bool `json:"chassis_fault"` SystemFailure bool `json:"system_failure"` CalibrationRunning bool `json:"calibration_running"` SelfTestRunning bool `json:"self_test_running"` IsolationWarning bool `json:"isolation_warning"` Reserved bool `json:"reserved"` Reserved2 bool `json:"reserved_2"` } func (p *BmsImdInfoDImcStatus1) MarshalByte() byte { var b byte if p.IsolationFault { b |= 1 << 0 } if p.ChassisFault { b |= 1 << 1 } if p.SystemFailure { b |= 1 << 2 } if p.CalibrationRunning { b |= 1 << 3 } if p.SelfTestRunning { b |= 1 << 4 } if p.IsolationWarning { b |= 1 << 5 } if p.Reserved { b |= 1 << 6 } if p.Reserved2 { b |= 1 << 7 } return b } func (p *BmsImdInfoDImcStatus1) UnmarshalByte(b byte) { p.IsolationFault = (b & (1 << 0)) != 0 p.ChassisFault = (b & (1 << 1)) != 0 p.SystemFailure = (b & (1 << 2)) != 0 p.CalibrationRunning = (b & (1 << 3)) != 0 p.SelfTestRunning = (b & (1 << 4)) != 0 p.IsolationWarning = (b & (1 << 5)) != 0 p.Reserved = (b & (1 << 6)) != 0 p.Reserved2 = (b & (1 << 7)) != 0 } type BmsImdInfoDImcStatus2 struct { Reserved bool `json:"reserved"` Reserved2 bool `json:"reserved_2"` Reserved3 bool `json:"reserved_3"` Reserved4 bool `json:"reserved_4"` Reserved5 bool `json:"reserved_5"` Reserved6 bool `json:"reserved_6"` Reserved7 bool `json:"reserved_7"` Reserved8 bool `json:"reserved_8"` } func (p *BmsImdInfoDImcStatus2) MarshalByte() byte { var b byte if p.Reserved { b |= 1 << 0 } if p.Reserved2 { b |= 1 << 1 } if p.Reserved3 { b |= 1 << 2 } if p.Reserved4 { b |= 1 << 3 } if p.Reserved5 { b |= 1 << 4 } if p.Reserved6 { b |= 1 << 5 } if p.Reserved7 { b |= 1 << 6 } if p.Reserved8 { b |= 1 << 7 } return b } func (p *BmsImdInfoDImcStatus2) UnmarshalByte(b byte) { p.Reserved = (b & (1 << 0)) != 0 p.Reserved2 = (b & (1 << 1)) != 0 p.Reserved3 = (b & (1 << 2)) != 0 p.Reserved4 = (b & (1 << 3)) != 0 p.Reserved5 = (b & (1 << 4)) != 0 p.Reserved6 = (b & (1 << 5)) != 0 p.Reserved7 = (b & (1 << 6)) != 0 p.Reserved8 = (b & (1 << 7)) != 0 } type BmsImdInfoDVifcStatus1 struct { InsulationMeasurment bool `json:"insulation_measurment"` ImcConnectivityNotImplemented bool `json:"imc_connectivity_not_implemented"` ImcAliveSatusDetection bool `json:"imc_alive_satus_detection"` Reserved bool `json:"reserved"` VifcCommandNotImplemented bool `json:"vifc_command_not_implemented"` Reserved2 bool `json:"reserved_2"` Reserved3 bool `json:"reserved_3"` Reserved4 bool `json:"reserved_4"` } func (p *BmsImdInfoDVifcStatus1) MarshalByte() byte { var b byte if p.InsulationMeasurment { b |= 1 << 0 } if p.ImcConnectivityNotImplemented { b |= 1 << 1 } if p.ImcAliveSatusDetection { b |= 1 << 2 } if p.Reserved { b |= 1 << 3 } if p.VifcCommandNotImplemented { b |= 1 << 4 } if p.Reserved2 { b |= 1 << 5 } if p.Reserved3 { b |= 1 << 6 } if p.Reserved4 { b |= 1 << 7 } return b } func (p *BmsImdInfoDVifcStatus1) UnmarshalByte(b byte) { p.InsulationMeasurment = (b & (1 << 0)) != 0 p.ImcConnectivityNotImplemented = (b & (1 << 1)) != 0 p.ImcAliveSatusDetection = (b & (1 << 2)) != 0 p.Reserved = (b & (1 << 3)) != 0 p.VifcCommandNotImplemented = (b & (1 << 4)) != 0 p.Reserved2 = (b & (1 << 5)) != 0 p.Reserved3 = (b & (1 << 6)) != 0 p.Reserved4 = (b & (1 << 7)) != 0 } type BmsImdInfoDVifcStatus2 struct { InsulationResistanceValue bool `json:"insulation_resistance_value"` Reserved bool `json:"reserved"` Reserved2 bool `json:"reserved_2"` Reserved3 bool `json:"reserved_3"` ImcSelfTestOverAll bool `json:"imc_self_test_overAll"` ImcSelfTestParameterConfig bool `json:"imc_self_test_parameterConfig"` Reserved4 bool `json:"reserved_4"` Reserved5 bool `json:"reserved_5"` } func (p *BmsImdInfoDVifcStatus2) MarshalByte() byte { var b byte if p.InsulationResistanceValue { b |= 1 << 0 } if p.Reserved { b |= 1 << 1 } if p.Reserved2 { b |= 1 << 2 } if p.Reserved3 { b |= 1 << 3 } if p.ImcSelfTestOverAll { b |= 1 << 4 } if p.ImcSelfTestParameterConfig { b |= 1 << 5 } if p.Reserved4 { b |= 1 << 6 } if p.Reserved5 { b |= 1 << 7 } return b } func (p *BmsImdInfoDVifcStatus2) UnmarshalByte(b byte) { p.InsulationResistanceValue = (b & (1 << 0)) != 0 p.Reserved = (b & (1 << 1)) != 0 p.Reserved2 = (b & (1 << 2)) != 0 p.Reserved3 = (b & (1 << 3)) != 0 p.ImcSelfTestOverAll = (b & (1 << 4)) != 0 p.ImcSelfTestParameterConfig = (b & (1 << 5)) != 0 p.Reserved4 = (b & (1 << 6)) != 0 p.Reserved5 = (b & (1 << 7)) != 0 } // BmsImdInfo is information from chassis isolation type BmsImdInfo struct { DImcRIso uint16 `json:"d_imc_r_iso"` DImcStatus1 BmsImdInfoDImcStatus1 `json:"d_imc_status_1"` DImcStatus2 BmsImdInfoDImcStatus2 `json:"d_imc_status_2"` DVifcStatus1 BmsImdInfoDVifcStatus1 `json:"d_vifc_status_1"` DVifcStatus2 BmsImdInfoDVifcStatus2 `json:"d_vifc_status_2"` } func (p *BmsImdInfo) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x37 return c, nil } func (p *BmsImdInfo) Size() uint { return 6 } func (p *BmsImdInfo) MarshalPacket() ([]byte, error) { b := make([]byte, 6) binary.LittleEndian.PutUint16(b[0:], p.DImcRIso) b[2] = p.DImcStatus1.MarshalByte() b[3] = p.DImcStatus2.MarshalByte() b[4] = p.DVifcStatus1.MarshalByte() b[5] = p.DVifcStatus2.MarshalByte() return b, nil } func (p *BmsImdInfo) UnmarshalPacket(b []byte) error { if len(b) != 6 { return &BadLengthError{expected: 6, actual: uint32(len(b))} } p.DImcRIso = binary.LittleEndian.Uint16(b[0:]) p.DImcStatus1.UnmarshalByte(b[2]) p.DImcStatus2.UnmarshalByte(b[3]) p.DVifcStatus1.UnmarshalByte(b[4]) p.DVifcStatus2.UnmarshalByte(b[5]) return nil } func (p *BmsImdInfo) String() string { return "bms_imd_info" } // DashboardPedalPercentages is ADC values from the brake and accelerator pedals. type DashboardPedalPercentages struct { AccelPedalValue uint8 `json:"accel_pedal_value"` BrakePedalValue uint8 `json:"brake_pedal_value"` } func (p *DashboardPedalPercentages) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x290 return c, nil } func (p *DashboardPedalPercentages) Size() uint { return 2 } func (p *DashboardPedalPercentages) MarshalPacket() ([]byte, error) { b := make([]byte, 2) b[0] = p.AccelPedalValue b[1] = p.BrakePedalValue return b, nil } func (p *DashboardPedalPercentages) UnmarshalPacket(b []byte) error { if len(b) != 2 { return &BadLengthError{expected: 2, actual: uint32(len(b))} } p.AccelPedalValue = b[0] p.BrakePedalValue = b[1] return nil } func (p *DashboardPedalPercentages) String() string { return "dashboard_pedal_percentages" } // CarState is Car gear. Forward, neutral, reverse, etc. type CarState struct { State uint8 `json:"state"` } func (p *CarState) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x291 return c, nil } func (p *CarState) Size() uint { return 1 } func (p *CarState) MarshalPacket() ([]byte, error) { b := make([]byte, 1) b[0] = p.State return b, nil } func (p *CarState) UnmarshalPacket(b []byte) error { if len(b) != 1 { return &BadLengthError{expected: 1, actual: uint32(len(b))} } p.State = b[0] return nil } func (p *CarState) String() string { return "car_state" } // DashboardPedalFault is Target speed that the driver should maintain. type DashboardPedalFault struct { BrakeFaultCount uint8 `json:"brake_fault_count"` AccelFaultCount uint8 `json:"accel_fault_count"` } func (p *DashboardPedalFault) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x292 return c, nil } func (p *DashboardPedalFault) Size() uint { return 2 } func (p *DashboardPedalFault) MarshalPacket() ([]byte, error) { b := make([]byte, 2) b[0] = p.BrakeFaultCount b[1] = p.AccelFaultCount return b, nil } func (p *DashboardPedalFault) UnmarshalPacket(b []byte) error { if len(b) != 2 { return &BadLengthError{expected: 2, actual: uint32(len(b))} } p.BrakeFaultCount = b[0] p.AccelFaultCount = b[1] return nil } func (p *DashboardPedalFault) String() string { return "dashboard_pedal_fault" } type DashboardSystemTimeoutTestFlagSet0 struct { SteeringDisconnected bool `json:"steering_disconnected"` VisionFrontDisconnected bool `json:"vision_front_disconnected"` VisionRearDisconnected bool `json:"vision_rear_disconnected"` TelemetryDisconnected bool `json:"telemetry_disconnected"` WslDisconnected bool `json:"wsl_disconnected"` WsrDisconnected bool `json:"wsr_disconnected"` FrontMpptDisconnected bool `json:"front_mppt_disconnected"` RearMpptDisconnected bool `json:"rear_mppt_disconnected"` } func (p *DashboardSystemTimeoutTestFlagSet0) MarshalByte() byte { var b byte if p.SteeringDisconnected { b |= 1 << 0 } if p.VisionFrontDisconnected { b |= 1 << 1 } if p.VisionRearDisconnected { b |= 1 << 2 } if p.TelemetryDisconnected { b |= 1 << 3 } if p.WslDisconnected { b |= 1 << 4 } if p.WsrDisconnected { b |= 1 << 5 } if p.FrontMpptDisconnected { b |= 1 << 6 } if p.RearMpptDisconnected { b |= 1 << 7 } return b } func (p *DashboardSystemTimeoutTestFlagSet0) UnmarshalByte(b byte) { p.SteeringDisconnected = (b & (1 << 0)) != 0 p.VisionFrontDisconnected = (b & (1 << 1)) != 0 p.VisionRearDisconnected = (b & (1 << 2)) != 0 p.TelemetryDisconnected = (b & (1 << 3)) != 0 p.WslDisconnected = (b & (1 << 4)) != 0 p.WsrDisconnected = (b & (1 << 5)) != 0 p.FrontMpptDisconnected = (b & (1 << 6)) != 0 p.RearMpptDisconnected = (b & (1 << 7)) != 0 } // DashboardSystemTimeoutTest is Exposes whether each system that dashboard is supposed to listen for packets from has sent a packet. Used for testing. type DashboardSystemTimeoutTest struct { FlagSet0 DashboardSystemTimeoutTestFlagSet0 `json:"flag_set_0"` } func (p *DashboardSystemTimeoutTest) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x299 return c, nil } func (p *DashboardSystemTimeoutTest) Size() uint { return 1 } func (p *DashboardSystemTimeoutTest) MarshalPacket() ([]byte, error) { b := make([]byte, 1) b[0] = p.FlagSet0.MarshalByte() return b, nil } func (p *DashboardSystemTimeoutTest) UnmarshalPacket(b []byte) error { if len(b) != 1 { return &BadLengthError{expected: 1, actual: uint32(len(b))} } p.FlagSet0.UnmarshalByte(b[0]) return nil } func (p *DashboardSystemTimeoutTest) String() string { return "dashboard_system_timeout_test" } // CarSpeed is speed of car in meters per second type CarSpeed struct { Speed float32 `json:"speed"` } func (p *CarSpeed) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x29A return c, nil } func (p *CarSpeed) Size() uint { return 4 } func (p *CarSpeed) MarshalPacket() ([]byte, error) { b := make([]byte, 4) float32ToBytes(b[0:], p.Speed, false) return b, nil } func (p *CarSpeed) UnmarshalPacket(b []byte) error { if len(b) != 4 { return &BadLengthError{expected: 4, actual: uint32(len(b))} } p.Speed = float32FromBytes(b[0:], false) return nil } func (p *CarSpeed) String() string { return "car_speed" } // FlightComputerLvBoardDisconnectCounts is Number of times a board hasn't been heard from within the allowed timeout. type FlightComputerLvBoardDisconnectCounts struct { FrontLights uint8 `json:"front_lights"` RearLights uint8 `json:"rear_lights"` Steering uint8 `json:"steering"` Vision uint8 `json:"vision"` DriverDisplay uint8 `json:"driver_display"` CenterConsole uint8 `json:"center_console"` } func (p *FlightComputerLvBoardDisconnectCounts) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x29B return c, nil } func (p *FlightComputerLvBoardDisconnectCounts) Size() uint { return 6 } func (p *FlightComputerLvBoardDisconnectCounts) MarshalPacket() ([]byte, error) { b := make([]byte, 6) b[0] = p.FrontLights b[1] = p.RearLights b[2] = p.Steering b[3] = p.Vision b[4] = p.DriverDisplay b[5] = p.CenterConsole return b, nil } func (p *FlightComputerLvBoardDisconnectCounts) UnmarshalPacket(b []byte) error { if len(b) != 6 { return &BadLengthError{expected: 6, actual: uint32(len(b))} } p.FrontLights = b[0] p.RearLights = b[1] p.Steering = b[2] p.Vision = b[3] p.DriverDisplay = b[4] p.CenterConsole = b[5] return nil } func (p *FlightComputerLvBoardDisconnectCounts) String() string { return "flight_computer_lv_board_disconnect_counts" } // FlightComputerHvBoardDisconnectCounts is Number of times a board hasn't been heard from within the allowed timeout. type FlightComputerHvBoardDisconnectCounts struct { Bms uint8 `json:"bms"` Charger uint8 `json:"charger"` Wsl uint8 `json:"wsl"` Wsr uint8 `json:"wsr"` MpptFront uint8 `json:"mppt_front"` MpptRear uint8 `json:"mppt_rear"` } func (p *FlightComputerHvBoardDisconnectCounts) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x29C return c, nil } func (p *FlightComputerHvBoardDisconnectCounts) Size() uint { return 6 } func (p *FlightComputerHvBoardDisconnectCounts) MarshalPacket() ([]byte, error) { b := make([]byte, 6) b[0] = p.Bms b[1] = p.Charger b[2] = p.Wsl b[3] = p.Wsr b[4] = p.MpptFront b[5] = p.MpptRear return b, nil } func (p *FlightComputerHvBoardDisconnectCounts) UnmarshalPacket(b []byte) error { if len(b) != 6 { return &BadLengthError{expected: 6, actual: uint32(len(b))} } p.Bms = b[0] p.Charger = b[1] p.Wsl = b[2] p.Wsr = b[3] p.MpptFront = b[4] p.MpptRear = b[5] return nil } func (p *FlightComputerHvBoardDisconnectCounts) String() string { return "flight_computer_hv_board_disconnect_counts" } type FlightComputerInternalStateBms struct { BatteryKill bool `json:"battery_kill"` CellsInChargingThreshold bool `json:"cells_in_charging_threshold"` FirstPacketReceived bool `json:"first_packet_received"` } func (p *FlightComputerInternalStateBms) MarshalByte() byte { var b byte if p.BatteryKill { b |= 1 << 0 } if p.CellsInChargingThreshold { b |= 1 << 1 } if p.FirstPacketReceived { b |= 1 << 2 } return b } func (p *FlightComputerInternalStateBms) UnmarshalByte(b byte) { p.BatteryKill = (b & (1 << 0)) != 0 p.CellsInChargingThreshold = (b & (1 << 1)) != 0 p.FirstPacketReceived = (b & (1 << 2)) != 0 } type FlightComputerInternalStateCharger struct { ProximityDetected bool `json:"proximity_detected"` } func (p *FlightComputerInternalStateCharger) MarshalByte() byte { var b byte if p.ProximityDetected { b |= 1 << 0 } return b } func (p *FlightComputerInternalStateCharger) UnmarshalByte(b byte) { p.ProximityDetected = (b & (1 << 0)) != 0 } type FlightComputerInternalStatePhoton3 struct { Enable bool `json:"enable"` } func (p *FlightComputerInternalStatePhoton3) MarshalByte() byte { var b byte if p.Enable { b |= 1 << 0 } return b } func (p *FlightComputerInternalStatePhoton3) UnmarshalByte(b byte) { p.Enable = (b & (1 << 0)) != 0 } type FlightComputerInternalStateWavesculptor struct { SendingReset bool `json:"sending_reset"` RegenEnable bool `json:"regen_enable"` } func (p *FlightComputerInternalStateWavesculptor) MarshalByte() byte { var b byte if p.SendingReset { b |= 1 << 0 } if p.RegenEnable { b |= 1 << 1 } return b } func (p *FlightComputerInternalStateWavesculptor) UnmarshalByte(b byte) { p.SendingReset = (b & (1 << 0)) != 0 p.RegenEnable = (b & (1 << 1)) != 0 } type FlightComputerInternalStateInternal struct { AccelPedalDisconnect bool `json:"accel_pedal_disconnect"` BrakePedalDisconnect bool `json:"brake_pedal_disconnect"` } func (p *FlightComputerInternalStateInternal) MarshalByte() byte { var b byte if p.AccelPedalDisconnect { b |= 1 << 0 } if p.BrakePedalDisconnect { b |= 1 << 1 } return b } func (p *FlightComputerInternalStateInternal) UnmarshalByte(b byte) { p.AccelPedalDisconnect = (b & (1 << 0)) != 0 p.BrakePedalDisconnect = (b & (1 << 1)) != 0 } // FlightComputerInternalState is internal bools type FlightComputerInternalState struct { Bms FlightComputerInternalStateBms `json:"bms"` Charger FlightComputerInternalStateCharger `json:"charger"` Photon3 FlightComputerInternalStatePhoton3 `json:"photon3"` Wavesculptor FlightComputerInternalStateWavesculptor `json:"wavesculptor"` Internal FlightComputerInternalStateInternal `json:"internal"` } func (p *FlightComputerInternalState) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x29D return c, nil } func (p *FlightComputerInternalState) Size() uint { return 5 } func (p *FlightComputerInternalState) MarshalPacket() ([]byte, error) { b := make([]byte, 5) b[0] = p.Bms.MarshalByte() b[1] = p.Charger.MarshalByte() b[2] = p.Photon3.MarshalByte() b[3] = p.Wavesculptor.MarshalByte() b[4] = p.Internal.MarshalByte() return b, nil } func (p *FlightComputerInternalState) UnmarshalPacket(b []byte) error { if len(b) != 5 { return &BadLengthError{expected: 5, actual: uint32(len(b))} } p.Bms.UnmarshalByte(b[0]) p.Charger.UnmarshalByte(b[1]) p.Photon3.UnmarshalByte(b[2]) p.Wavesculptor.UnmarshalByte(b[3]) p.Internal.UnmarshalByte(b[4]) return nil } func (p *FlightComputerInternalState) String() string { return "flight_computer_internal_state" } // PowerToDrive is calculated power required to drive the vehicle type PowerToDrive struct { MovingAverage100 int16 `json:"moving_average_100"` MovingAverage1K int16 `json:"moving_average_1k"` MovingAverage10K int16 `json:"moving_average_10k"` } func (p *PowerToDrive) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x19E return c, nil } func (p *PowerToDrive) Size() uint { return 6 } func (p *PowerToDrive) MarshalPacket() ([]byte, error) { b := make([]byte, 6) binary.LittleEndian.PutUint16(b[0:], uint16(p.MovingAverage100)) binary.LittleEndian.PutUint16(b[2:], uint16(p.MovingAverage1K)) binary.LittleEndian.PutUint16(b[4:], uint16(p.MovingAverage10K)) return b, nil } func (p *PowerToDrive) UnmarshalPacket(b []byte) error { if len(b) != 6 { return &BadLengthError{expected: 6, actual: uint32(len(b))} } p.MovingAverage100 = int16(binary.LittleEndian.Uint16(b[0:])) p.MovingAverage1K = int16(binary.LittleEndian.Uint16(b[2:])) p.MovingAverage10K = int16(binary.LittleEndian.Uint16(b[4:])) return nil } func (p *PowerToDrive) String() string { return "power_to_drive" } // ArrayPower is array power calculated from current and voltage measurements type ArrayPower struct { FrontArrayChannel0 uint16 `json:"front_array_channel_0"` FrontArrayChannel1 uint16 `json:"front_array_channel_1"` RearArrayChannel0 uint16 `json:"rear_array_channel_0"` RearArrayChannel1 uint16 `json:"rear_array_channel_1"` } func (p *ArrayPower) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x19F return c, nil } func (p *ArrayPower) Size() uint { return 8 } func (p *ArrayPower) MarshalPacket() ([]byte, error) { b := make([]byte, 8) binary.LittleEndian.PutUint16(b[0:], p.FrontArrayChannel0) binary.LittleEndian.PutUint16(b[2:], p.FrontArrayChannel1) binary.LittleEndian.PutUint16(b[4:], p.RearArrayChannel0) binary.LittleEndian.PutUint16(b[6:], p.RearArrayChannel1) return b, nil } func (p *ArrayPower) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.FrontArrayChannel0 = binary.LittleEndian.Uint16(b[0:]) p.FrontArrayChannel1 = binary.LittleEndian.Uint16(b[2:]) p.RearArrayChannel0 = binary.LittleEndian.Uint16(b[4:]) p.RearArrayChannel1 = binary.LittleEndian.Uint16(b[6:]) return nil } func (p *ArrayPower) String() string { return "array_power" } // ArrayEnergy is cumulative energy received from the array type ArrayEnergy struct { // 0 Joule Energy float32 `json:"energy"` } func (p *ArrayEnergy) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x119 return c, nil } func (p *ArrayEnergy) Size() uint { return 4 } func (p *ArrayEnergy) MarshalPacket() ([]byte, error) { b := make([]byte, 4) float32ToBytes(b[0:], p.Energy, false) return b, nil } func (p *ArrayEnergy) UnmarshalPacket(b []byte) error { if len(b) != 4 { return &BadLengthError{expected: 4, actual: uint32(len(b))} } p.Energy = float32FromBytes(b[0:], false) return nil } func (p *ArrayEnergy) String() string { return "array_energy" } // ArrayEnergyReset is resets cumulative energy received from the array type ArrayEnergyReset struct { // 0 Joule Energy float32 `json:"energy"` } func (p *ArrayEnergyReset) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x120 return c, nil } func (p *ArrayEnergyReset) Size() uint { return 4 } func (p *ArrayEnergyReset) MarshalPacket() ([]byte, error) { b := make([]byte, 4) float32ToBytes(b[0:], p.Energy, false) return b, nil } func (p *ArrayEnergyReset) UnmarshalPacket(b []byte) error { if len(b) != 4 { return &BadLengthError{expected: 4, actual: uint32(len(b))} } p.Energy = float32FromBytes(b[0:], false) return nil } func (p *ArrayEnergyReset) String() string { return "array_energy_reset" } type VisionTurnSignalsCommandLights struct { LeftTurnSignal bool `json:"left_turn_signal"` RightTurnSignal bool `json:"right_turn_signal"` Spare1 bool `json:"spare_1"` Spare2 bool `json:"spare_2"` Spare3 bool `json:"spare_3"` } func (p *VisionTurnSignalsCommandLights) MarshalByte() byte { var b byte if p.LeftTurnSignal { b |= 1 << 0 } if p.RightTurnSignal { b |= 1 << 1 } if p.Spare1 { b |= 1 << 2 } if p.Spare2 { b |= 1 << 3 } if p.Spare3 { b |= 1 << 4 } return b } func (p *VisionTurnSignalsCommandLights) UnmarshalByte(b byte) { p.LeftTurnSignal = (b & (1 << 0)) != 0 p.RightTurnSignal = (b & (1 << 1)) != 0 p.Spare1 = (b & (1 << 2)) != 0 p.Spare2 = (b & (1 << 3)) != 0 p.Spare3 = (b & (1 << 4)) != 0 } // VisionTurnSignalsCommand is Command to have the vision board illuminate or turn off left, right, or both turn signals type VisionTurnSignalsCommand struct { Lights VisionTurnSignalsCommandLights `json:"lights"` } func (p *VisionTurnSignalsCommand) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x2B0 return c, nil } func (p *VisionTurnSignalsCommand) Size() uint { return 1 } func (p *VisionTurnSignalsCommand) MarshalPacket() ([]byte, error) { b := make([]byte, 1) b[0] = p.Lights.MarshalByte() return b, nil } func (p *VisionTurnSignalsCommand) UnmarshalPacket(b []byte) error { if len(b) != 1 { return &BadLengthError{expected: 1, actual: uint32(len(b))} } p.Lights.UnmarshalByte(b[0]) return nil } func (p *VisionTurnSignalsCommand) String() string { return "vision_turn_signals_command" } type VisionBrakeLightsCommandLights struct { BrakeLights bool `json:"brake_lights"` Spare1 bool `json:"spare_1"` Spare2 bool `json:"spare_2"` Spare3 bool `json:"spare_3"` } func (p *VisionBrakeLightsCommandLights) MarshalByte() byte { var b byte if p.BrakeLights { b |= 1 << 0 } if p.Spare1 { b |= 1 << 1 } if p.Spare2 { b |= 1 << 2 } if p.Spare3 { b |= 1 << 3 } return b } func (p *VisionBrakeLightsCommandLights) UnmarshalByte(b byte) { p.BrakeLights = (b & (1 << 0)) != 0 p.Spare1 = (b & (1 << 1)) != 0 p.Spare2 = (b & (1 << 2)) != 0 p.Spare3 = (b & (1 << 3)) != 0 } // VisionBrakeLightsCommand is Command to have the vision board illuminate or turn off the brake lights type VisionBrakeLightsCommand struct { Lights VisionBrakeLightsCommandLights `json:"lights"` } func (p *VisionBrakeLightsCommand) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x2B1 return c, nil } func (p *VisionBrakeLightsCommand) Size() uint { return 1 } func (p *VisionBrakeLightsCommand) MarshalPacket() ([]byte, error) { b := make([]byte, 1) b[0] = p.Lights.MarshalByte() return b, nil } func (p *VisionBrakeLightsCommand) UnmarshalPacket(b []byte) error { if len(b) != 1 { return &BadLengthError{expected: 1, actual: uint32(len(b))} } p.Lights.UnmarshalByte(b[0]) return nil } func (p *VisionBrakeLightsCommand) String() string { return "vision_brake_lights_command" } type VisionHeadlightsCommandLights struct { Headlights bool `json:"headlights"` HighBeams bool `json:"high_beams"` Spare1 bool `json:"spare_1"` Spare2 bool `json:"spare_2"` Spare3 bool `json:"spare_3"` } func (p *VisionHeadlightsCommandLights) MarshalByte() byte { var b byte if p.Headlights { b |= 1 << 0 } if p.HighBeams { b |= 1 << 1 } if p.Spare1 { b |= 1 << 2 } if p.Spare2 { b |= 1 << 3 } if p.Spare3 { b |= 1 << 4 } return b } func (p *VisionHeadlightsCommandLights) UnmarshalByte(b byte) { p.Headlights = (b & (1 << 0)) != 0 p.HighBeams = (b & (1 << 1)) != 0 p.Spare1 = (b & (1 << 2)) != 0 p.Spare2 = (b & (1 << 3)) != 0 p.Spare3 = (b & (1 << 4)) != 0 } // VisionHeadlightsCommand is Command to have the vision board illuminate or turn off the headlights and high beams type VisionHeadlightsCommand struct { Lights VisionHeadlightsCommandLights `json:"lights"` Brightness float32 `json:"brightness"` } func (p *VisionHeadlightsCommand) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x2B2 return c, nil } func (p *VisionHeadlightsCommand) Size() uint { return 5 } func (p *VisionHeadlightsCommand) MarshalPacket() ([]byte, error) { b := make([]byte, 5) b[0] = p.Lights.MarshalByte() float32ToBytes(b[1:], p.Brightness, false) return b, nil } func (p *VisionHeadlightsCommand) UnmarshalPacket(b []byte) error { if len(b) != 5 { return &BadLengthError{expected: 5, actual: uint32(len(b))} } p.Lights.UnmarshalByte(b[0]) p.Brightness = float32FromBytes(b[1:], false) return nil } func (p *VisionHeadlightsCommand) String() string { return "vision_headlights_command" } type VisionHornCommandHorn struct { Horn bool `json:"horn"` Spare bool `json:"spare"` } func (p *VisionHornCommandHorn) MarshalByte() byte { var b byte if p.Horn { b |= 1 << 0 } if p.Spare { b |= 1 << 1 } return b } func (p *VisionHornCommandHorn) UnmarshalByte(b byte) { p.Horn = (b & (1 << 0)) != 0 p.Spare = (b & (1 << 1)) != 0 } // VisionHornCommand is Command the vision board honk the horn, must be repeatedly sent otherwise the vision board will stop honking after a bit. See high_power.h for details. type VisionHornCommand struct { Horn VisionHornCommandHorn `json:"horn"` } func (p *VisionHornCommand) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x2B3 return c, nil } func (p *VisionHornCommand) Size() uint { return 1 } func (p *VisionHornCommand) MarshalPacket() ([]byte, error) { b := make([]byte, 1) b[0] = p.Horn.MarshalByte() return b, nil } func (p *VisionHornCommand) UnmarshalPacket(b []byte) error { if len(b) != 1 { return &BadLengthError{expected: 1, actual: uint32(len(b))} } p.Horn.UnmarshalByte(b[0]) return nil } func (p *VisionHornCommand) String() string { return "vision_horn_command" } type VisionArrayLatchesCommandArrayLatches struct { ArrayFront bool `json:"array_front"` ArrayRear bool `json:"array_rear"` } func (p *VisionArrayLatchesCommandArrayLatches) MarshalByte() byte { var b byte if p.ArrayFront { b |= 1 << 0 } if p.ArrayRear { b |= 1 << 1 } return b } func (p *VisionArrayLatchesCommandArrayLatches) UnmarshalByte(b byte) { p.ArrayFront = (b & (1 << 0)) != 0 p.ArrayRear = (b & (1 << 1)) != 0 } // VisionArrayLatchesCommand is Command the vision board to open the array latches type VisionArrayLatchesCommand struct { ArrayLatches VisionArrayLatchesCommandArrayLatches `json:"array_latches"` } func (p *VisionArrayLatchesCommand) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x2B4 return c, nil } func (p *VisionArrayLatchesCommand) Size() uint { return 1 } func (p *VisionArrayLatchesCommand) MarshalPacket() ([]byte, error) { b := make([]byte, 1) b[0] = p.ArrayLatches.MarshalByte() return b, nil } func (p *VisionArrayLatchesCommand) UnmarshalPacket(b []byte) error { if len(b) != 1 { return &BadLengthError{expected: 1, actual: uint32(len(b))} } p.ArrayLatches.UnmarshalByte(b[0]) return nil } func (p *VisionArrayLatchesCommand) String() string { return "vision_array_latches_command" } type VisionRearviewCommandCameras struct { Left bool `json:"left"` Right bool `json:"right"` Rear bool `json:"rear"` } func (p *VisionRearviewCommandCameras) MarshalByte() byte { var b byte if p.Left { b |= 1 << 0 } if p.Right { b |= 1 << 1 } if p.Rear { b |= 1 << 2 } return b } func (p *VisionRearviewCommandCameras) UnmarshalByte(b byte) { p.Left = (b & (1 << 0)) != 0 p.Right = (b & (1 << 1)) != 0 p.Rear = (b & (1 << 2)) != 0 } // VisionRearviewCommand is Command the vision board turn on the rear view cameras type VisionRearviewCommand struct { Cameras VisionRearviewCommandCameras `json:"cameras"` } func (p *VisionRearviewCommand) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x2B5 return c, nil } func (p *VisionRearviewCommand) Size() uint { return 1 } func (p *VisionRearviewCommand) MarshalPacket() ([]byte, error) { b := make([]byte, 1) b[0] = p.Cameras.MarshalByte() return b, nil } func (p *VisionRearviewCommand) UnmarshalPacket(b []byte) error { if len(b) != 1 { return &BadLengthError{expected: 1, actual: uint32(len(b))} } p.Cameras.UnmarshalByte(b[0]) return nil } func (p *VisionRearviewCommand) String() string { return "vision_rearview_command" } // TrackerEnable is Enables/disables power trackers. Use 0x610 for the channel transmitting the data packet on 0x600, 0x611 for 0x601, et cetera. Sending 1 in the enable byte turns the tracker on; sending 0 turns it off. type TrackerEnable struct { Enable uint8 `json:"enable"` // Idx is the packet index. The accepted range is 0-6 Idx uint32 `json:"idx"` } func (p *TrackerEnable) CanId() (can.CanID, error) { c := can.CanID{Extended: false} if p.Idx >= 6 { return c, &UnknownIdError{ 0x610 } } c.Id = 0x610 + p.Idx return c, nil } func (p *TrackerEnable) Size() uint { return 1 } func (p *TrackerEnable) MarshalPacket() ([]byte, error) { b := make([]byte, 1) b[0] = p.Enable return b, nil } func (p *TrackerEnable) UnmarshalPacket(b []byte) error { if len(b) != 1 { return &BadLengthError{expected: 1, actual: uint32(len(b))} } p.Enable = b[0] return nil } func (p *TrackerEnable) String() string { return "tracker_enable" } // DistanceTraveled is distance of wavesculptor odometer type DistanceTraveled struct { // 0 m TripDistance float32 `json:"trip_distance"` } func (p *DistanceTraveled) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x19D return c, nil } func (p *DistanceTraveled) Size() uint { return 4 } func (p *DistanceTraveled) MarshalPacket() ([]byte, error) { b := make([]byte, 4) float32ToBytes(b[0:], p.TripDistance, false) return b, nil } func (p *DistanceTraveled) UnmarshalPacket(b []byte) error { if len(b) != 4 { return &BadLengthError{expected: 4, actual: uint32(len(b))} } p.TripDistance = float32FromBytes(b[0:], false) return nil } func (p *DistanceTraveled) String() string { return "distance_traveled" } type ChargerStateStateFlags struct { ChargerPlugged bool `json:"charger_plugged"` } func (p *ChargerStateStateFlags) MarshalByte() byte { var b byte if p.ChargerPlugged { b |= 1 << 0 } return b } func (p *ChargerStateStateFlags) UnmarshalByte(b byte) { p.ChargerPlugged = (b & (1 << 0)) != 0 } type ChargerStateFault struct { CHARGEROVERVOLT bool `json:"CHARGER_OVERVOLT"` CHARGEROVERTEMP bool `json:"CHARGER_OVERTEMP"` CHARGERCANTIMEOUT bool `json:"CHARGER_CAN_TIMEOUT"` BATTERYHVKILL bool `json:"BATTERY_HV_KILL"` BATTERYUNDERVOLT bool `json:"BATTERY_UNDERVOLT"` BATTERYOVERVOLT bool `json:"BATTERY_OVERVOLT"` BATTERYCELLOVERTEMP bool `json:"BATTERY_CELL_OVERTEMP"` BATTERYCANTIMEOUT bool `json:"BATTERY_CAN_TIMEOUT"` } func (p *ChargerStateFault) MarshalByte() byte { var b byte if p.CHARGEROVERVOLT { b |= 1 << 0 } if p.CHARGEROVERTEMP { b |= 1 << 1 } if p.CHARGERCANTIMEOUT { b |= 1 << 2 } if p.BATTERYHVKILL { b |= 1 << 3 } if p.BATTERYUNDERVOLT { b |= 1 << 4 } if p.BATTERYOVERVOLT { b |= 1 << 5 } if p.BATTERYCELLOVERTEMP { b |= 1 << 6 } if p.BATTERYCANTIMEOUT { b |= 1 << 7 } return b } func (p *ChargerStateFault) UnmarshalByte(b byte) { p.CHARGEROVERVOLT = (b & (1 << 0)) != 0 p.CHARGEROVERTEMP = (b & (1 << 1)) != 0 p.CHARGERCANTIMEOUT = (b & (1 << 2)) != 0 p.BATTERYHVKILL = (b & (1 << 3)) != 0 p.BATTERYUNDERVOLT = (b & (1 << 4)) != 0 p.BATTERYOVERVOLT = (b & (1 << 5)) != 0 p.BATTERYCELLOVERTEMP = (b & (1 << 6)) != 0 p.BATTERYCANTIMEOUT = (b & (1 << 7)) != 0 } // ChargerState is Notifies whether the J1772 cable is plugged. type ChargerState struct { StateFlags ChargerStateStateFlags `json:"state_flags"` // 0.001 C ChargerMaxTemp uint16 `json:"charger_max_temp"` Fault ChargerStateFault `json:"fault"` // 0 A ChargingCurrent float32 `json:"charging_current"` } func (p *ChargerState) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x573 return c, nil } func (p *ChargerState) Size() uint { return 8 } func (p *ChargerState) MarshalPacket() ([]byte, error) { b := make([]byte, 8) b[0] = p.StateFlags.MarshalByte() binary.LittleEndian.PutUint16(b[1:], p.ChargerMaxTemp) b[3] = p.Fault.MarshalByte() float32ToBytes(b[4:], p.ChargingCurrent, false) return b, nil } func (p *ChargerState) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.StateFlags.UnmarshalByte(b[0]) p.ChargerMaxTemp = binary.LittleEndian.Uint16(b[1:]) p.Fault.UnmarshalByte(b[3]) p.ChargingCurrent = float32FromBytes(b[4:], false) return nil } func (p *ChargerState) String() string { return "charger_state" } type ChargerBmsRequestRequestFlags struct { ChargingRequested bool `json:"charging_requested"` } func (p *ChargerBmsRequestRequestFlags) MarshalByte() byte { var b byte if p.ChargingRequested { b |= 1 << 0 } return b } func (p *ChargerBmsRequestRequestFlags) UnmarshalByte(b byte) { p.ChargingRequested = (b & (1 << 0)) != 0 } // ChargerBmsRequest is Request packet for sending contactor commands from the charger to BP. type ChargerBmsRequest struct { RequestFlags ChargerBmsRequestRequestFlags `json:"request_flags"` } func (p *ChargerBmsRequest) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x74 return c, nil } func (p *ChargerBmsRequest) Size() uint { return 1 } func (p *ChargerBmsRequest) MarshalPacket() ([]byte, error) { b := make([]byte, 1) b[0] = p.RequestFlags.MarshalByte() return b, nil } func (p *ChargerBmsRequest) UnmarshalPacket(b []byte) error { if len(b) != 1 { return &BadLengthError{expected: 1, actual: uint32(len(b))} } p.RequestFlags.UnmarshalByte(b[0]) return nil } func (p *ChargerBmsRequest) String() string { return "charger_bms_request" } // ChargerCurrentVoltage is Packet to request charging current/voltage set type ChargerCurrentVoltage struct { // 0 A MaxCurrent float32 `json:"max_current"` // 0 kWh MaxCapacity float32 `json:"max_capacity"` } func (p *ChargerCurrentVoltage) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x576 return c, nil } func (p *ChargerCurrentVoltage) Size() uint { return 8 } func (p *ChargerCurrentVoltage) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.MaxCurrent, false) float32ToBytes(b[4:], p.MaxCapacity, false) return b, nil } func (p *ChargerCurrentVoltage) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.MaxCurrent = float32FromBytes(b[0:], false) p.MaxCapacity = float32FromBytes(b[4:], false) return nil } func (p *ChargerCurrentVoltage) String() string { return "charger_current_voltage" } // ChargerPower is Outputs the amount of power that the chargers are delivering. type ChargerPower struct { // 0 W Power float32 `json:"power"` } func (p *ChargerPower) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x577 return c, nil } func (p *ChargerPower) Size() uint { return 4 } func (p *ChargerPower) MarshalPacket() ([]byte, error) { b := make([]byte, 4) float32ToBytes(b[0:], p.Power, false) return b, nil } func (p *ChargerPower) UnmarshalPacket(b []byte) error { if len(b) != 4 { return &BadLengthError{expected: 4, actual: uint32(len(b))} } p.Power = float32FromBytes(b[0:], false) return nil } func (p *ChargerPower) String() string { return "charger_power" } // ThunderstruckControlMessage is Control packet for thunderstruck chargers type ThunderstruckControlMessage struct { // 1 V Enable uint8 `json:"Enable"` // 1 V CHARGEVOLTAGE uint16 `json:"CHARGE_VOLTAGE"` // 1 V CHARGECURRENT uint16 `json:"CHARGE_CURRENT"` // 1 V LEDBLINKPATTERN uint8 `json:"LED_BLINK_PATTERN"` // 1 V RESERVED uint16 `json:"RESERVED"` } func (p *ThunderstruckControlMessage) CanId() (can.CanID, error) { c := can.CanID{Extended: true} c.Id = 0x18E54024 return c, nil } func (p *ThunderstruckControlMessage) Size() uint { return 8 } func (p *ThunderstruckControlMessage) MarshalPacket() ([]byte, error) { b := make([]byte, 8) b[0] = p.Enable binary.LittleEndian.PutUint16(b[1:], p.CHARGEVOLTAGE) binary.LittleEndian.PutUint16(b[3:], p.CHARGECURRENT) b[5] = p.LEDBLINKPATTERN binary.LittleEndian.PutUint16(b[6:], p.RESERVED) return b, nil } func (p *ThunderstruckControlMessage) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.Enable = b[0] p.CHARGEVOLTAGE = binary.LittleEndian.Uint16(b[1:]) p.CHARGECURRENT = binary.LittleEndian.Uint16(b[3:]) p.LEDBLINKPATTERN = b[5] p.RESERVED = binary.LittleEndian.Uint16(b[6:]) return nil } func (p *ThunderstruckControlMessage) String() string { return "thunderstruck_control_message" } type VisionStatusFrontLights struct { LeftTurnSignal bool `json:"left_turn_signal"` RightTurnSignal bool `json:"right_turn_signal"` BrakeLights bool `json:"brake_lights"` Headlights bool `json:"headlights"` HighBeams bool `json:"high_beams"` Spare1 bool `json:"spare_1"` Spare2 bool `json:"spare_2"` Spare3 bool `json:"spare_3"` } func (p *VisionStatusFrontLights) MarshalByte() byte { var b byte if p.LeftTurnSignal { b |= 1 << 0 } if p.RightTurnSignal { b |= 1 << 1 } if p.BrakeLights { b |= 1 << 2 } if p.Headlights { b |= 1 << 3 } if p.HighBeams { b |= 1 << 4 } if p.Spare1 { b |= 1 << 5 } if p.Spare2 { b |= 1 << 6 } if p.Spare3 { b |= 1 << 7 } return b } func (p *VisionStatusFrontLights) UnmarshalByte(b byte) { p.LeftTurnSignal = (b & (1 << 0)) != 0 p.RightTurnSignal = (b & (1 << 1)) != 0 p.BrakeLights = (b & (1 << 2)) != 0 p.Headlights = (b & (1 << 3)) != 0 p.HighBeams = (b & (1 << 4)) != 0 p.Spare1 = (b & (1 << 5)) != 0 p.Spare2 = (b & (1 << 6)) != 0 p.Spare3 = (b & (1 << 7)) != 0 } type VisionStatusFrontHorn struct { Horn bool `json:"horn"` Spare bool `json:"spare"` } func (p *VisionStatusFrontHorn) MarshalByte() byte { var b byte if p.Horn { b |= 1 << 0 } if p.Spare { b |= 1 << 1 } return b } func (p *VisionStatusFrontHorn) UnmarshalByte(b byte) { p.Horn = (b & (1 << 0)) != 0 p.Spare = (b & (1 << 1)) != 0 } type VisionStatusFrontCameras struct { Left bool `json:"left"` Right bool `json:"right"` Rear bool `json:"rear"` } func (p *VisionStatusFrontCameras) MarshalByte() byte { var b byte if p.Left { b |= 1 << 0 } if p.Right { b |= 1 << 1 } if p.Rear { b |= 1 << 2 } return b } func (p *VisionStatusFrontCameras) UnmarshalByte(b byte) { p.Left = (b & (1 << 0)) != 0 p.Right = (b & (1 << 1)) != 0 p.Rear = (b & (1 << 2)) != 0 } type VisionStatusFrontArrayLatches struct { ArrayFront0 bool `json:"array_front_0"` ArrayFront1 bool `json:"array_front_1"` ArrayRear0 bool `json:"array_rear_0"` ArrayRear1 bool `json:"array_rear_1"` } func (p *VisionStatusFrontArrayLatches) MarshalByte() byte { var b byte if p.ArrayFront0 { b |= 1 << 0 } if p.ArrayFront1 { b |= 1 << 1 } if p.ArrayRear0 { b |= 1 << 2 } if p.ArrayRear1 { b |= 1 << 3 } return b } func (p *VisionStatusFrontArrayLatches) UnmarshalByte(b byte) { p.ArrayFront0 = (b & (1 << 0)) != 0 p.ArrayFront1 = (b & (1 << 1)) != 0 p.ArrayRear0 = (b & (1 << 2)) != 0 p.ArrayRear1 = (b & (1 << 3)) != 0 } // VisionStatusFront is Status of the front vision board outputs type VisionStatusFront struct { Lights VisionStatusFrontLights `json:"lights"` Horn VisionStatusFrontHorn `json:"horn"` Cameras VisionStatusFrontCameras `json:"cameras"` ArrayLatches VisionStatusFrontArrayLatches `json:"array_latches"` } func (p *VisionStatusFront) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x2B6 return c, nil } func (p *VisionStatusFront) Size() uint { return 4 } func (p *VisionStatusFront) MarshalPacket() ([]byte, error) { b := make([]byte, 4) b[0] = p.Lights.MarshalByte() b[1] = p.Horn.MarshalByte() b[2] = p.Cameras.MarshalByte() b[3] = p.ArrayLatches.MarshalByte() return b, nil } func (p *VisionStatusFront) UnmarshalPacket(b []byte) error { if len(b) != 4 { return &BadLengthError{expected: 4, actual: uint32(len(b))} } p.Lights.UnmarshalByte(b[0]) p.Horn.UnmarshalByte(b[1]) p.Cameras.UnmarshalByte(b[2]) p.ArrayLatches.UnmarshalByte(b[3]) return nil } func (p *VisionStatusFront) String() string { return "vision_status_front" } type VisionStatusRearLights struct { LeftTurnSignal bool `json:"left_turn_signal"` RightTurnSignal bool `json:"right_turn_signal"` BrakeLights bool `json:"brake_lights"` Headlights bool `json:"headlights"` HighBeams bool `json:"high_beams"` Spare1 bool `json:"spare_1"` Spare2 bool `json:"spare_2"` Spare3 bool `json:"spare_3"` } func (p *VisionStatusRearLights) MarshalByte() byte { var b byte if p.LeftTurnSignal { b |= 1 << 0 } if p.RightTurnSignal { b |= 1 << 1 } if p.BrakeLights { b |= 1 << 2 } if p.Headlights { b |= 1 << 3 } if p.HighBeams { b |= 1 << 4 } if p.Spare1 { b |= 1 << 5 } if p.Spare2 { b |= 1 << 6 } if p.Spare3 { b |= 1 << 7 } return b } func (p *VisionStatusRearLights) UnmarshalByte(b byte) { p.LeftTurnSignal = (b & (1 << 0)) != 0 p.RightTurnSignal = (b & (1 << 1)) != 0 p.BrakeLights = (b & (1 << 2)) != 0 p.Headlights = (b & (1 << 3)) != 0 p.HighBeams = (b & (1 << 4)) != 0 p.Spare1 = (b & (1 << 5)) != 0 p.Spare2 = (b & (1 << 6)) != 0 p.Spare3 = (b & (1 << 7)) != 0 } type VisionStatusRearHorn struct { Horn bool `json:"horn"` Spare bool `json:"spare"` } func (p *VisionStatusRearHorn) MarshalByte() byte { var b byte if p.Horn { b |= 1 << 0 } if p.Spare { b |= 1 << 1 } return b } func (p *VisionStatusRearHorn) UnmarshalByte(b byte) { p.Horn = (b & (1 << 0)) != 0 p.Spare = (b & (1 << 1)) != 0 } type VisionStatusRearCameras struct { Left bool `json:"left"` Right bool `json:"right"` Rear bool `json:"rear"` } func (p *VisionStatusRearCameras) MarshalByte() byte { var b byte if p.Left { b |= 1 << 0 } if p.Right { b |= 1 << 1 } if p.Rear { b |= 1 << 2 } return b } func (p *VisionStatusRearCameras) UnmarshalByte(b byte) { p.Left = (b & (1 << 0)) != 0 p.Right = (b & (1 << 1)) != 0 p.Rear = (b & (1 << 2)) != 0 } type VisionStatusRearArrayLatches struct { ArrayFront0 bool `json:"array_front_0"` ArrayFront1 bool `json:"array_front_1"` ArrayRear0 bool `json:"array_rear_0"` ArrayRear1 bool `json:"array_rear_1"` } func (p *VisionStatusRearArrayLatches) MarshalByte() byte { var b byte if p.ArrayFront0 { b |= 1 << 0 } if p.ArrayFront1 { b |= 1 << 1 } if p.ArrayRear0 { b |= 1 << 2 } if p.ArrayRear1 { b |= 1 << 3 } return b } func (p *VisionStatusRearArrayLatches) UnmarshalByte(b byte) { p.ArrayFront0 = (b & (1 << 0)) != 0 p.ArrayFront1 = (b & (1 << 1)) != 0 p.ArrayRear0 = (b & (1 << 2)) != 0 p.ArrayRear1 = (b & (1 << 3)) != 0 } // VisionStatusRear is Status of the rear vision board outputs type VisionStatusRear struct { Lights VisionStatusRearLights `json:"lights"` Horn VisionStatusRearHorn `json:"horn"` Cameras VisionStatusRearCameras `json:"cameras"` ArrayLatches VisionStatusRearArrayLatches `json:"array_latches"` } func (p *VisionStatusRear) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x2B7 return c, nil } func (p *VisionStatusRear) Size() uint { return 4 } func (p *VisionStatusRear) MarshalPacket() ([]byte, error) { b := make([]byte, 4) b[0] = p.Lights.MarshalByte() b[1] = p.Horn.MarshalByte() b[2] = p.Cameras.MarshalByte() b[3] = p.ArrayLatches.MarshalByte() return b, nil } func (p *VisionStatusRear) UnmarshalPacket(b []byte) error { if len(b) != 4 { return &BadLengthError{expected: 4, actual: uint32(len(b))} } p.Lights.UnmarshalByte(b[0]) p.Horn.UnmarshalByte(b[1]) p.Cameras.UnmarshalByte(b[2]) p.ArrayLatches.UnmarshalByte(b[3]) return nil } func (p *VisionStatusRear) String() string { return "vision_status_rear" } // LightsFrontId is Unique identification packet for front lights board type LightsFrontId struct { BoardId uint16 `json:"board_id"` // 0.01 C McuTemp int16 `json:"mcu_temp"` // 0.001 V BusVoltage uint16 `json:"bus_voltage"` FaultCode uint16 `json:"fault_code"` } func (p *LightsFrontId) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x300 return c, nil } func (p *LightsFrontId) Size() uint { return 8 } func (p *LightsFrontId) MarshalPacket() ([]byte, error) { b := make([]byte, 8) binary.LittleEndian.PutUint16(b[0:], p.BoardId) binary.LittleEndian.PutUint16(b[2:], uint16(p.McuTemp)) binary.LittleEndian.PutUint16(b[4:], p.BusVoltage) binary.LittleEndian.PutUint16(b[6:], p.FaultCode) return b, nil } func (p *LightsFrontId) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.BoardId = binary.LittleEndian.Uint16(b[0:]) p.McuTemp = int16(binary.LittleEndian.Uint16(b[2:])) p.BusVoltage = binary.LittleEndian.Uint16(b[4:]) p.FaultCode = binary.LittleEndian.Uint16(b[6:]) return nil } func (p *LightsFrontId) String() string { return "lights_front_id" } // LightsBackId is Unique identification packet for back lights board type LightsBackId struct { BoardId uint16 `json:"board_id"` // 0.01 C McuTemp int16 `json:"mcu_temp"` // 0.001 V BusVoltage uint16 `json:"bus_voltage"` FaultCode uint16 `json:"fault_code"` } func (p *LightsBackId) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x301 return c, nil } func (p *LightsBackId) Size() uint { return 8 } func (p *LightsBackId) MarshalPacket() ([]byte, error) { b := make([]byte, 8) binary.LittleEndian.PutUint16(b[0:], p.BoardId) binary.LittleEndian.PutUint16(b[2:], uint16(p.McuTemp)) binary.LittleEndian.PutUint16(b[4:], p.BusVoltage) binary.LittleEndian.PutUint16(b[6:], p.FaultCode) return b, nil } func (p *LightsBackId) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.BoardId = binary.LittleEndian.Uint16(b[0:]) p.McuTemp = int16(binary.LittleEndian.Uint16(b[2:])) p.BusVoltage = binary.LittleEndian.Uint16(b[4:]) p.FaultCode = binary.LittleEndian.Uint16(b[6:]) return nil } func (p *LightsBackId) String() string { return "lights_back_id" } // VisionId is Unique identification packet for vision type VisionId struct { BoardId uint16 `json:"board_id"` // 0.01 C McuTemp int16 `json:"mcu_temp"` // 0.001 V BusVoltage uint16 `json:"bus_voltage"` FaultCode uint16 `json:"fault_code"` } func (p *VisionId) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x302 return c, nil } func (p *VisionId) Size() uint { return 8 } func (p *VisionId) MarshalPacket() ([]byte, error) { b := make([]byte, 8) binary.LittleEndian.PutUint16(b[0:], p.BoardId) binary.LittleEndian.PutUint16(b[2:], uint16(p.McuTemp)) binary.LittleEndian.PutUint16(b[4:], p.BusVoltage) binary.LittleEndian.PutUint16(b[6:], p.FaultCode) return b, nil } func (p *VisionId) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.BoardId = binary.LittleEndian.Uint16(b[0:]) p.McuTemp = int16(binary.LittleEndian.Uint16(b[2:])) p.BusVoltage = binary.LittleEndian.Uint16(b[4:]) p.FaultCode = binary.LittleEndian.Uint16(b[6:]) return nil } func (p *VisionId) String() string { return "vision_id" } // SteeringPressCount1 is Shows whether each button has been toggled an even ("on") or odd ("off") number of times. type SteeringPressCount1 struct { Button0 uint8 `json:"button0"` Button1 uint8 `json:"button1"` Button2 uint8 `json:"button2"` Button3 uint8 `json:"button3"` Button4 uint8 `json:"button4"` Button5 uint8 `json:"button5"` Button6 uint8 `json:"button6"` } func (p *SteeringPressCount1) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x240 return c, nil } func (p *SteeringPressCount1) Size() uint { return 7 } func (p *SteeringPressCount1) MarshalPacket() ([]byte, error) { b := make([]byte, 7) b[0] = p.Button0 b[1] = p.Button1 b[2] = p.Button2 b[3] = p.Button3 b[4] = p.Button4 b[5] = p.Button5 b[6] = p.Button6 return b, nil } func (p *SteeringPressCount1) UnmarshalPacket(b []byte) error { if len(b) != 7 { return &BadLengthError{expected: 7, actual: uint32(len(b))} } p.Button0 = b[0] p.Button1 = b[1] p.Button2 = b[2] p.Button3 = b[3] p.Button4 = b[4] p.Button5 = b[5] p.Button6 = b[6] return nil } func (p *SteeringPressCount1) String() string { return "steering_press_count_1" } // SteeringPressCount2 is Shows whether each button has been toggled an even ("on") or odd ("off") number of times. type SteeringPressCount2 struct { Button7 uint8 `json:"button7"` Button8 uint8 `json:"button8"` Button9 uint8 `json:"button9"` Button10 uint8 `json:"button10"` } func (p *SteeringPressCount2) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x250 return c, nil } func (p *SteeringPressCount2) Size() uint { return 4 } func (p *SteeringPressCount2) MarshalPacket() ([]byte, error) { b := make([]byte, 4) b[0] = p.Button7 b[1] = p.Button8 b[2] = p.Button9 b[3] = p.Button10 return b, nil } func (p *SteeringPressCount2) UnmarshalPacket(b []byte) error { if len(b) != 4 { return &BadLengthError{expected: 4, actual: uint32(len(b))} } p.Button7 = b[0] p.Button8 = b[1] p.Button9 = b[2] p.Button10 = b[3] return nil } func (p *SteeringPressCount2) String() string { return "steering_press_count_2" } // SteeringButtonColors1 is This packet controls each button's color. Each byte is a hex color code. type SteeringButtonColors1 struct { Button0 uint8 `json:"button0"` Button1 uint8 `json:"button1"` Button2 uint8 `json:"button2"` Button3 uint8 `json:"button3"` Button4 uint8 `json:"button4"` Button5 uint8 `json:"button5"` Button6 uint8 `json:"button6"` } func (p *SteeringButtonColors1) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x241 return c, nil } func (p *SteeringButtonColors1) Size() uint { return 7 } func (p *SteeringButtonColors1) MarshalPacket() ([]byte, error) { b := make([]byte, 7) b[0] = p.Button0 b[1] = p.Button1 b[2] = p.Button2 b[3] = p.Button3 b[4] = p.Button4 b[5] = p.Button5 b[6] = p.Button6 return b, nil } func (p *SteeringButtonColors1) UnmarshalPacket(b []byte) error { if len(b) != 7 { return &BadLengthError{expected: 7, actual: uint32(len(b))} } p.Button0 = b[0] p.Button1 = b[1] p.Button2 = b[2] p.Button3 = b[3] p.Button4 = b[4] p.Button5 = b[5] p.Button6 = b[6] return nil } func (p *SteeringButtonColors1) String() string { return "steering_button_colors_1" } // SteeringButtonColors2 is This packet controls each button's color. Each byte is a hex color code. type SteeringButtonColors2 struct { Button7 uint8 `json:"button7"` Button8 uint8 `json:"button8"` Button9 uint8 `json:"button9"` Button10 uint8 `json:"button10"` } func (p *SteeringButtonColors2) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x251 return c, nil } func (p *SteeringButtonColors2) Size() uint { return 4 } func (p *SteeringButtonColors2) MarshalPacket() ([]byte, error) { b := make([]byte, 4) b[0] = p.Button7 b[1] = p.Button8 b[2] = p.Button9 b[3] = p.Button10 return b, nil } func (p *SteeringButtonColors2) UnmarshalPacket(b []byte) error { if len(b) != 4 { return &BadLengthError{expected: 4, actual: uint32(len(b))} } p.Button7 = b[0] p.Button8 = b[1] p.Button9 = b[2] p.Button10 = b[3] return nil } func (p *SteeringButtonColors2) String() string { return "steering_button_colors_2" } // SteeringHorn is This packet controls the state of the horn. type SteeringHorn struct { Horn uint8 `json:"horn"` } func (p *SteeringHorn) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x242 return c, nil } func (p *SteeringHorn) Size() uint { return 1 } func (p *SteeringHorn) MarshalPacket() ([]byte, error) { b := make([]byte, 1) b[0] = p.Horn return b, nil } func (p *SteeringHorn) UnmarshalPacket(b []byte) error { if len(b) != 1 { return &BadLengthError{expected: 1, actual: uint32(len(b))} } p.Horn = b[0] return nil } func (p *SteeringHorn) String() string { return "steering_horn" } // ThunderstruckStatusMessage is Status packet for thunderstruck chargers type ThunderstruckStatusMessage struct { // 1 V STATUSFLAGS uint8 `json:"STATUS_FLAGS"` // 1 V CHARGEFLAGS uint8 `json:"CHARGE_FLAGS"` // 1 V OUTPUTVOLTAGE uint16 `json:"OUTPUT_VOLTAGE"` // 1 V OUTPUTCURRENT uint16 `json:"OUTPUT_CURRENT"` // 1 V CHARGERTEMP uint8 `json:"CHARGER_TEMP"` // 1 V RESERVED uint8 `json:"RESERVED"` } func (p *ThunderstruckStatusMessage) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x18EB2440 return c, nil } func (p *ThunderstruckStatusMessage) Size() uint { return 8 } func (p *ThunderstruckStatusMessage) MarshalPacket() ([]byte, error) { b := make([]byte, 8) b[0] = p.STATUSFLAGS b[1] = p.CHARGEFLAGS binary.LittleEndian.PutUint16(b[2:], p.OUTPUTVOLTAGE) binary.LittleEndian.PutUint16(b[4:], p.OUTPUTCURRENT) b[6] = p.CHARGERTEMP b[7] = p.RESERVED return b, nil } func (p *ThunderstruckStatusMessage) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.STATUSFLAGS = b[0] p.CHARGEFLAGS = b[1] p.OUTPUTVOLTAGE = binary.LittleEndian.Uint16(b[2:]) p.OUTPUTCURRENT = binary.LittleEndian.Uint16(b[4:]) p.CHARGERTEMP = b[6] p.RESERVED = b[7] return nil } func (p *ThunderstruckStatusMessage) String() string { return "thunderstruck_status_message" } // TrackerData is Tracker data. Each channel transmits on a specific ID, which should be specified along with the tracker, most likely 0x600-0x603. type TrackerData struct { // 0.01 V ArrayVoltage uint16 `json:"array_voltage"` // 0.001 A ArrayCurrent uint16 `json:"array_current"` // 0.01 V BatteryVoltage uint16 `json:"battery_voltage"` // 0.01 C Temperature uint16 `json:"temperature"` // Idx is the packet index. The accepted range is 0-6 Idx uint32 `json:"idx"` } func (p *TrackerData) CanId() (can.CanID, error) { c := can.CanID{Extended: false} if p.Idx >= 6 { return c, &UnknownIdError{ 0x600 } } c.Id = 0x600 + p.Idx return c, nil } func (p *TrackerData) Size() uint { return 8 } func (p *TrackerData) MarshalPacket() ([]byte, error) { b := make([]byte, 8) binary.LittleEndian.PutUint16(b[0:], p.ArrayVoltage) binary.LittleEndian.PutUint16(b[2:], p.ArrayCurrent) binary.LittleEndian.PutUint16(b[4:], p.BatteryVoltage) binary.LittleEndian.PutUint16(b[6:], p.Temperature) return b, nil } func (p *TrackerData) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.ArrayVoltage = binary.LittleEndian.Uint16(b[0:]) p.ArrayCurrent = binary.LittleEndian.Uint16(b[2:]) p.BatteryVoltage = binary.LittleEndian.Uint16(b[4:]) p.Temperature = binary.LittleEndian.Uint16(b[6:]) return nil } func (p *TrackerData) String() string { return "tracker_data" } // TritiumMotorDriveL is Tritium Motor Drive Command type TritiumMotorDriveL struct { MotorVelocity float32 `json:"motor_velocity"` MotorCurrent float32 `json:"motor_current"` } func (p *TritiumMotorDriveL) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x121 return c, nil } func (p *TritiumMotorDriveL) Size() uint { return 8 } func (p *TritiumMotorDriveL) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.MotorVelocity, false) float32ToBytes(b[4:], p.MotorCurrent, false) return b, nil } func (p *TritiumMotorDriveL) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.MotorVelocity = float32FromBytes(b[0:], false) p.MotorCurrent = float32FromBytes(b[4:], false) return nil } func (p *TritiumMotorDriveL) String() string { return "tritium_motor_drive_l" } // TritiumMotorPowerL is Tritium Motor Power Command type TritiumMotorPowerL struct { Reserved float32 `json:"reserved"` BusCurrent float32 `json:"bus_current"` } func (p *TritiumMotorPowerL) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x122 return c, nil } func (p *TritiumMotorPowerL) Size() uint { return 8 } func (p *TritiumMotorPowerL) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.Reserved, false) float32ToBytes(b[4:], p.BusCurrent, false) return b, nil } func (p *TritiumMotorPowerL) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.Reserved = float32FromBytes(b[0:], false) p.BusCurrent = float32FromBytes(b[4:], false) return nil } func (p *TritiumMotorPowerL) String() string { return "tritium_motor_power_l" } // TritiumResetL is Tritium Reset Command type TritiumResetL struct { Unused1 float32 `json:"unused1"` Unused2 float32 `json:"unused2"` } func (p *TritiumResetL) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x123 return c, nil } func (p *TritiumResetL) Size() uint { return 8 } func (p *TritiumResetL) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.Unused1, false) float32ToBytes(b[4:], p.Unused2, false) return b, nil } func (p *TritiumResetL) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.Unused1 = float32FromBytes(b[0:], false) p.Unused2 = float32FromBytes(b[4:], false) return nil } func (p *TritiumResetL) String() string { return "tritium_reset_l" } // TritiumMotorDriveR is Tritium Motor Drive Command type TritiumMotorDriveR struct { MotorVelocity float32 `json:"motor_velocity"` MotorCurrent float32 `json:"motor_current"` } func (p *TritiumMotorDriveR) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x161 return c, nil } func (p *TritiumMotorDriveR) Size() uint { return 8 } func (p *TritiumMotorDriveR) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.MotorVelocity, false) float32ToBytes(b[4:], p.MotorCurrent, false) return b, nil } func (p *TritiumMotorDriveR) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.MotorVelocity = float32FromBytes(b[0:], false) p.MotorCurrent = float32FromBytes(b[4:], false) return nil } func (p *TritiumMotorDriveR) String() string { return "tritium_motor_drive_r" } // TritiumMotorPowerR is Tritium Motor Power Command type TritiumMotorPowerR struct { Reserved float32 `json:"reserved"` BusCurrent float32 `json:"bus_current"` } func (p *TritiumMotorPowerR) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x162 return c, nil } func (p *TritiumMotorPowerR) Size() uint { return 8 } func (p *TritiumMotorPowerR) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.Reserved, false) float32ToBytes(b[4:], p.BusCurrent, false) return b, nil } func (p *TritiumMotorPowerR) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.Reserved = float32FromBytes(b[0:], false) p.BusCurrent = float32FromBytes(b[4:], false) return nil } func (p *TritiumMotorPowerR) String() string { return "tritium_motor_power_r" } // TritiumResetR is Tritium Reset Command type TritiumResetR struct { Unused1 float32 `json:"unused1"` Unused2 float32 `json:"unused2"` } func (p *TritiumResetR) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x163 return c, nil } func (p *TritiumResetR) Size() uint { return 8 } func (p *TritiumResetR) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.Unused1, false) float32ToBytes(b[4:], p.Unused2, false) return b, nil } func (p *TritiumResetR) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.Unused1 = float32FromBytes(b[0:], false) p.Unused2 = float32FromBytes(b[4:], false) return nil } func (p *TritiumResetR) String() string { return "tritium_reset_r" } // BmsAhSet is write state of charge, use with caution type BmsAhSet struct { Ah uint32 `json:"ah"` } func (p *BmsAhSet) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x16 return c, nil } func (p *BmsAhSet) Size() uint { return 4 } func (p *BmsAhSet) MarshalPacket() ([]byte, error) { b := make([]byte, 4) binary.LittleEndian.PutUint32(b[0:], p.Ah) return b, nil } func (p *BmsAhSet) UnmarshalPacket(b []byte) error { if len(b) != 4 { return &BadLengthError{expected: 4, actual: uint32(len(b))} } p.Ah = binary.LittleEndian.Uint32(b[0:]) return nil } func (p *BmsAhSet) String() string { return "bms_ah_set" } // BmsWhSet is write state of charge, use with caution type BmsWhSet struct { Wh uint32 `json:"wh"` } func (p *BmsWhSet) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x17 return c, nil } func (p *BmsWhSet) Size() uint { return 4 } func (p *BmsWhSet) MarshalPacket() ([]byte, error) { b := make([]byte, 4) binary.LittleEndian.PutUint32(b[0:], p.Wh) return b, nil } func (p *BmsWhSet) UnmarshalPacket(b []byte) error { if len(b) != 4 { return &BadLengthError{expected: 4, actual: uint32(len(b))} } p.Wh = binary.LittleEndian.Uint32(b[0:]) return nil } func (p *BmsWhSet) String() string { return "bms_wh_set" } type BmsKillKillType struct { KILLHARD bool `json:"KILL_HARD"` } func (p *BmsKillKillType) MarshalByte() byte { var b byte if p.KILLHARD { b |= 1 << 0 } return b } func (p *BmsKillKillType) UnmarshalByte(b byte) { p.KILLHARD = (b & (1 << 0)) != 0 } // BmsKill is packet to cause BMS kill type BmsKill struct { KillType BmsKillKillType `json:"kill_type"` } func (p *BmsKill) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x1A return c, nil } func (p *BmsKill) Size() uint { return 1 } func (p *BmsKill) MarshalPacket() ([]byte, error) { b := make([]byte, 1) b[0] = p.KillType.MarshalByte() return b, nil } func (p *BmsKill) UnmarshalPacket(b []byte) error { if len(b) != 1 { return &BadLengthError{expected: 1, actual: uint32(len(b))} } p.KillType.UnmarshalByte(b[0]) return nil } func (p *BmsKill) String() string { return "bms_kill" } // TelemetryRtcReset is Reset telemetry's real-time clock (RTC). type TelemetryRtcReset struct { Year uint8 `json:"year"` Month uint8 `json:"month"` Day uint8 `json:"day"` Hour uint8 `json:"hour"` Minute uint8 `json:"minute"` Second uint8 `json:"second"` } func (p *TelemetryRtcReset) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x700 return c, nil } func (p *TelemetryRtcReset) Size() uint { return 6 } func (p *TelemetryRtcReset) MarshalPacket() ([]byte, error) { b := make([]byte, 6) b[0] = p.Year b[1] = p.Month b[2] = p.Day b[3] = p.Hour b[4] = p.Minute b[5] = p.Second return b, nil } func (p *TelemetryRtcReset) UnmarshalPacket(b []byte) error { if len(b) != 6 { return &BadLengthError{expected: 6, actual: uint32(len(b))} } p.Year = b[0] p.Month = b[1] p.Day = b[2] p.Hour = b[3] p.Minute = b[4] p.Second = b[5] return nil } func (p *TelemetryRtcReset) String() string { return "telemetry_rtc_reset" } // WsrIdentification is WS RIGHT Identification Information type WsrIdentification struct { TritiumId uint32 `json:"tritium_id"` SerialNumber uint32 `json:"serial_number"` } func (p *WsrIdentification) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x140 return c, nil } func (p *WsrIdentification) Size() uint { return 8 } func (p *WsrIdentification) MarshalPacket() ([]byte, error) { b := make([]byte, 8) binary.LittleEndian.PutUint32(b[0:], p.TritiumId) binary.LittleEndian.PutUint32(b[4:], p.SerialNumber) return b, nil } func (p *WsrIdentification) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.TritiumId = binary.LittleEndian.Uint32(b[0:]) p.SerialNumber = binary.LittleEndian.Uint32(b[4:]) return nil } func (p *WsrIdentification) String() string { return "wsr_identification" } type WsrStatusInformationLimitFlags struct { OutputVoltagePwm bool `json:"output_voltage_pwm"` MotorCurrent bool `json:"motor_current"` Velocity bool `json:"velocity"` BusCurrent bool `json:"bus_current"` BusVoltageUpperLimit bool `json:"bus_voltage_upper_limit"` BusVoltageLowerLimit bool `json:"bus_voltage_lower_limit"` IpmTemperatureOrMotorTemperature bool `json:"ipm_temperature_or_motor_temperature"` Reserved bool `json:"reserved"` } func (p *WsrStatusInformationLimitFlags) MarshalByte() byte { var b byte if p.OutputVoltagePwm { b |= 1 << 0 } if p.MotorCurrent { b |= 1 << 1 } if p.Velocity { b |= 1 << 2 } if p.BusCurrent { b |= 1 << 3 } if p.BusVoltageUpperLimit { b |= 1 << 4 } if p.BusVoltageLowerLimit { b |= 1 << 5 } if p.IpmTemperatureOrMotorTemperature { b |= 1 << 6 } if p.Reserved { b |= 1 << 7 } return b } func (p *WsrStatusInformationLimitFlags) UnmarshalByte(b byte) { p.OutputVoltagePwm = (b & (1 << 0)) != 0 p.MotorCurrent = (b & (1 << 1)) != 0 p.Velocity = (b & (1 << 2)) != 0 p.BusCurrent = (b & (1 << 3)) != 0 p.BusVoltageUpperLimit = (b & (1 << 4)) != 0 p.BusVoltageLowerLimit = (b & (1 << 5)) != 0 p.IpmTemperatureOrMotorTemperature = (b & (1 << 6)) != 0 p.Reserved = (b & (1 << 7)) != 0 } type WsrStatusInformationErrorFlags0 struct { HardwareOverCurrent bool `json:"hardware_over_current"` SoftwareOverCurrent bool `json:"software_over_current"` DcBusOverVoltage bool `json:"dc_bus_over_voltage"` BadMotorPositionHallSequence bool `json:"bad_motor_position_hall_sequence"` WatchdogCausedLastReset bool `json:"watchdog_caused_last_reset"` ConfigReadError bool `json:"config_read_error"` LvRailUnderVoltageLockOut bool `json:"lv_rail_under_voltage_lock_out"` DesaturationFault bool `json:"desaturation_fault"` } func (p *WsrStatusInformationErrorFlags0) MarshalByte() byte { var b byte if p.HardwareOverCurrent { b |= 1 << 0 } if p.SoftwareOverCurrent { b |= 1 << 1 } if p.DcBusOverVoltage { b |= 1 << 2 } if p.BadMotorPositionHallSequence { b |= 1 << 3 } if p.WatchdogCausedLastReset { b |= 1 << 4 } if p.ConfigReadError { b |= 1 << 5 } if p.LvRailUnderVoltageLockOut { b |= 1 << 6 } if p.DesaturationFault { b |= 1 << 7 } return b } func (p *WsrStatusInformationErrorFlags0) UnmarshalByte(b byte) { p.HardwareOverCurrent = (b & (1 << 0)) != 0 p.SoftwareOverCurrent = (b & (1 << 1)) != 0 p.DcBusOverVoltage = (b & (1 << 2)) != 0 p.BadMotorPositionHallSequence = (b & (1 << 3)) != 0 p.WatchdogCausedLastReset = (b & (1 << 4)) != 0 p.ConfigReadError = (b & (1 << 5)) != 0 p.LvRailUnderVoltageLockOut = (b & (1 << 6)) != 0 p.DesaturationFault = (b & (1 << 7)) != 0 } type WsrStatusInformationErrorFlags1 struct { MotorOverSpeed bool `json:"motor_over_speed"` Reserved9 bool `json:"reserved_9"` Reserved10 bool `json:"reserved_10"` Reserved11 bool `json:"reserved_11"` Reserved12 bool `json:"reserved_12"` Reserved13 bool `json:"reserved_13"` Reserved14 bool `json:"reserved_14"` Reserved15 bool `json:"reserved_15"` } func (p *WsrStatusInformationErrorFlags1) MarshalByte() byte { var b byte if p.MotorOverSpeed { b |= 1 << 0 } if p.Reserved9 { b |= 1 << 1 } if p.Reserved10 { b |= 1 << 2 } if p.Reserved11 { b |= 1 << 3 } if p.Reserved12 { b |= 1 << 4 } if p.Reserved13 { b |= 1 << 5 } if p.Reserved14 { b |= 1 << 6 } if p.Reserved15 { b |= 1 << 7 } return b } func (p *WsrStatusInformationErrorFlags1) UnmarshalByte(b byte) { p.MotorOverSpeed = (b & (1 << 0)) != 0 p.Reserved9 = (b & (1 << 1)) != 0 p.Reserved10 = (b & (1 << 2)) != 0 p.Reserved11 = (b & (1 << 3)) != 0 p.Reserved12 = (b & (1 << 4)) != 0 p.Reserved13 = (b & (1 << 5)) != 0 p.Reserved14 = (b & (1 << 6)) != 0 p.Reserved15 = (b & (1 << 7)) != 0 } // WsrStatusInformation is WS RIGHT Status Information type WsrStatusInformation struct { LimitFlags WsrStatusInformationLimitFlags `json:"limit_flags"` LimitFlagsReserved uint8 `json:"limit_flags_reserved"` ErrorFlags0 WsrStatusInformationErrorFlags0 `json:"error_flags_0"` ErrorFlags1 WsrStatusInformationErrorFlags1 `json:"error_flags_1"` ActiveMotor uint16 `json:"active_motor"` Reserved uint16 `json:"reserved"` } func (p *WsrStatusInformation) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x141 return c, nil } func (p *WsrStatusInformation) Size() uint { return 8 } func (p *WsrStatusInformation) MarshalPacket() ([]byte, error) { b := make([]byte, 8) b[0] = p.LimitFlags.MarshalByte() b[1] = p.LimitFlagsReserved b[2] = p.ErrorFlags0.MarshalByte() b[3] = p.ErrorFlags1.MarshalByte() binary.LittleEndian.PutUint16(b[4:], p.ActiveMotor) binary.LittleEndian.PutUint16(b[6:], p.Reserved) return b, nil } func (p *WsrStatusInformation) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.LimitFlags.UnmarshalByte(b[0]) p.LimitFlagsReserved = b[1] p.ErrorFlags0.UnmarshalByte(b[2]) p.ErrorFlags1.UnmarshalByte(b[3]) p.ActiveMotor = binary.LittleEndian.Uint16(b[4:]) p.Reserved = binary.LittleEndian.Uint16(b[6:]) return nil } func (p *WsrStatusInformation) String() string { return "wsr_status_information" } // WsrBusMeasurement is WS RIGHT Bus Measurement type WsrBusMeasurement struct { // 0 V BusVoltage float32 `json:"bus_voltage"` // 0 A BusCurrent float32 `json:"bus_current"` } func (p *WsrBusMeasurement) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x142 return c, nil } func (p *WsrBusMeasurement) Size() uint { return 8 } func (p *WsrBusMeasurement) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.BusVoltage, false) float32ToBytes(b[4:], p.BusCurrent, false) return b, nil } func (p *WsrBusMeasurement) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.BusVoltage = float32FromBytes(b[0:], false) p.BusCurrent = float32FromBytes(b[4:], false) return nil } func (p *WsrBusMeasurement) String() string { return "wsr_bus_measurement" } // WsrVelocity is WS RIGHT Velocity Measurement type WsrVelocity struct { // 0 rpm MotorVelocity float32 `json:"motor_velocity"` // 0 m/s VehicleVelocity float32 `json:"vehicle_velocity"` } func (p *WsrVelocity) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x143 return c, nil } func (p *WsrVelocity) Size() uint { return 8 } func (p *WsrVelocity) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.MotorVelocity, false) float32ToBytes(b[4:], p.VehicleVelocity, false) return b, nil } func (p *WsrVelocity) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.MotorVelocity = float32FromBytes(b[0:], false) p.VehicleVelocity = float32FromBytes(b[4:], false) return nil } func (p *WsrVelocity) String() string { return "wsr_velocity" } // WsrPhaseCurrent is WS RIGHT Phase Current Measurement type WsrPhaseCurrent struct { // 0 A rms PhaseBCurrent float32 `json:"phase_b_current"` // 0 A rms PhaseCCurrent float32 `json:"phase_c_current"` } func (p *WsrPhaseCurrent) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x144 return c, nil } func (p *WsrPhaseCurrent) Size() uint { return 8 } func (p *WsrPhaseCurrent) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.PhaseBCurrent, false) float32ToBytes(b[4:], p.PhaseCCurrent, false) return b, nil } func (p *WsrPhaseCurrent) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.PhaseBCurrent = float32FromBytes(b[0:], false) p.PhaseCCurrent = float32FromBytes(b[4:], false) return nil } func (p *WsrPhaseCurrent) String() string { return "wsr_phase_current" } // WsrMotorVoltageVector is WS RIGHT Motor Voltage Vector Measurement type WsrMotorVoltageVector struct { // 0 V Vq float32 `json:"vq"` // 0 V Vd float32 `json:"vd"` } func (p *WsrMotorVoltageVector) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x145 return c, nil } func (p *WsrMotorVoltageVector) Size() uint { return 8 } func (p *WsrMotorVoltageVector) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.Vq, false) float32ToBytes(b[4:], p.Vd, false) return b, nil } func (p *WsrMotorVoltageVector) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.Vq = float32FromBytes(b[0:], false) p.Vd = float32FromBytes(b[4:], false) return nil } func (p *WsrMotorVoltageVector) String() string { return "wsr_motor_voltage_vector" } // WsrMotorCurrentVector is WS RIGHT Motor Current Vector Measurement type WsrMotorCurrentVector struct { // 0 A Iq float32 `json:"iq"` // 0 A Id float32 `json:"id"` } func (p *WsrMotorCurrentVector) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x146 return c, nil } func (p *WsrMotorCurrentVector) Size() uint { return 8 } func (p *WsrMotorCurrentVector) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.Iq, false) float32ToBytes(b[4:], p.Id, false) return b, nil } func (p *WsrMotorCurrentVector) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.Iq = float32FromBytes(b[0:], false) p.Id = float32FromBytes(b[4:], false) return nil } func (p *WsrMotorCurrentVector) String() string { return "wsr_motor_current_vector" } // WsrMotorBackemf is WS RIGHT Motor BackEMF Measurement / Prediction type WsrMotorBackemf struct { // 0 V Bemfq float32 `json:"bemfq"` // 0 V Bemfd float32 `json:"bemfd"` } func (p *WsrMotorBackemf) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x147 return c, nil } func (p *WsrMotorBackemf) Size() uint { return 8 } func (p *WsrMotorBackemf) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.Bemfq, false) float32ToBytes(b[4:], p.Bemfd, false) return b, nil } func (p *WsrMotorBackemf) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.Bemfq = float32FromBytes(b[0:], false) p.Bemfd = float32FromBytes(b[4:], false) return nil } func (p *WsrMotorBackemf) String() string { return "wsr_motor_backemf" } // Wsr15165VoltageRail is WS RIGHT 15 and 1.65 Voltage Rail Measurement type Wsr15165VoltageRail struct { // 0 V Reference165V float32 `json:"reference_165v"` // 0 V Supply15V float32 `json:"supply_15v"` } func (p *Wsr15165VoltageRail) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x148 return c, nil } func (p *Wsr15165VoltageRail) Size() uint { return 8 } func (p *Wsr15165VoltageRail) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.Reference165V, false) float32ToBytes(b[4:], p.Supply15V, false) return b, nil } func (p *Wsr15165VoltageRail) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.Reference165V = float32FromBytes(b[0:], false) p.Supply15V = float32FromBytes(b[4:], false) return nil } func (p *Wsr15165VoltageRail) String() string { return "wsr_15_165_voltage_rail" } // Wsr2512VoltageRail is WS RIGHT 2.5V and 1.2V Voltage Rail Measurement type Wsr2512VoltageRail struct { // 0 V Supply12V float32 `json:"supply_12v"` // 0 V Supply25V float32 `json:"supply_25v"` } func (p *Wsr2512VoltageRail) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x149 return c, nil } func (p *Wsr2512VoltageRail) Size() uint { return 8 } func (p *Wsr2512VoltageRail) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.Supply12V, false) float32ToBytes(b[4:], p.Supply25V, false) return b, nil } func (p *Wsr2512VoltageRail) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.Supply12V = float32FromBytes(b[0:], false) p.Supply25V = float32FromBytes(b[4:], false) return nil } func (p *Wsr2512VoltageRail) String() string { return "wsr_25_12_voltage_rail" } // WsrHeatsinkMotorTemp is WS RIGHT Heat-sink & Motor Temperature Measurement type WsrHeatsinkMotorTemp struct { // 0 C MotorTemp float32 `json:"motor_temp"` // 0 C HeatsinkTemp float32 `json:"heatsink_temp"` } func (p *WsrHeatsinkMotorTemp) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x14B return c, nil } func (p *WsrHeatsinkMotorTemp) Size() uint { return 8 } func (p *WsrHeatsinkMotorTemp) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.MotorTemp, false) float32ToBytes(b[4:], p.HeatsinkTemp, false) return b, nil } func (p *WsrHeatsinkMotorTemp) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.MotorTemp = float32FromBytes(b[0:], false) p.HeatsinkTemp = float32FromBytes(b[4:], false) return nil } func (p *WsrHeatsinkMotorTemp) String() string { return "wsr_heatsink_motor_temp" } // WsrDspBoardTemp is WS RIGHT DPS Board Temperature Measurement type WsrDspBoardTemp struct { // 0 C DspBoardTemp float32 `json:"dsp_board_temp"` // 0 C Reserved float32 `json:"reserved"` } func (p *WsrDspBoardTemp) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x14C return c, nil } func (p *WsrDspBoardTemp) Size() uint { return 8 } func (p *WsrDspBoardTemp) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.DspBoardTemp, false) float32ToBytes(b[4:], p.Reserved, false) return b, nil } func (p *WsrDspBoardTemp) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.DspBoardTemp = float32FromBytes(b[0:], false) p.Reserved = float32FromBytes(b[4:], false) return nil } func (p *WsrDspBoardTemp) String() string { return "wsr_dsp_board_temp" } // WsrReserved is WS RIGHT Reserved type WsrReserved struct { Reserved0 float32 `json:"reserved0"` Reserved1 float32 `json:"reserved1"` } func (p *WsrReserved) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x14D return c, nil } func (p *WsrReserved) Size() uint { return 8 } func (p *WsrReserved) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.Reserved0, false) float32ToBytes(b[4:], p.Reserved1, false) return b, nil } func (p *WsrReserved) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.Reserved0 = float32FromBytes(b[0:], false) p.Reserved1 = float32FromBytes(b[4:], false) return nil } func (p *WsrReserved) String() string { return "wsr_reserved" } // WsrOdometerBusAmphoursMeasurement is WS RIGHT Odometer and Bus AmpHours Measurement type WsrOdometerBusAmphoursMeasurement struct { // 0 m Odometer float32 `json:"odometer"` // 0 Ah DcBusAmphours float32 `json:"dc_bus_amphours"` } func (p *WsrOdometerBusAmphoursMeasurement) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x14E return c, nil } func (p *WsrOdometerBusAmphoursMeasurement) Size() uint { return 8 } func (p *WsrOdometerBusAmphoursMeasurement) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.Odometer, false) float32ToBytes(b[4:], p.DcBusAmphours, false) return b, nil } func (p *WsrOdometerBusAmphoursMeasurement) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.Odometer = float32FromBytes(b[0:], false) p.DcBusAmphours = float32FromBytes(b[4:], false) return nil } func (p *WsrOdometerBusAmphoursMeasurement) String() string { return "wsr_odometer_bus_amphours_measurement" } // WsrSlipSpeedMeasurement is WS RIGHT Slip Speed Measurement type WsrSlipSpeedMeasurement struct { // 0 C Reserved float32 `json:"reserved"` // 0 Hz SlipSpeed float32 `json:"slip_speed"` } func (p *WsrSlipSpeedMeasurement) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x157 return c, nil } func (p *WsrSlipSpeedMeasurement) Size() uint { return 8 } func (p *WsrSlipSpeedMeasurement) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.Reserved, false) float32ToBytes(b[4:], p.SlipSpeed, false) return b, nil } func (p *WsrSlipSpeedMeasurement) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.Reserved = float32FromBytes(b[0:], false) p.SlipSpeed = float32FromBytes(b[4:], false) return nil } func (p *WsrSlipSpeedMeasurement) String() string { return "wsr_slip_speed_measurement" } // WslIdentification is WS LEFT Identification Information type WslIdentification struct { TritiumId uint32 `json:"tritium_id"` SerialNumber uint32 `json:"serial_number"` } func (p *WslIdentification) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x100 return c, nil } func (p *WslIdentification) Size() uint { return 8 } func (p *WslIdentification) MarshalPacket() ([]byte, error) { b := make([]byte, 8) binary.LittleEndian.PutUint32(b[0:], p.TritiumId) binary.LittleEndian.PutUint32(b[4:], p.SerialNumber) return b, nil } func (p *WslIdentification) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.TritiumId = binary.LittleEndian.Uint32(b[0:]) p.SerialNumber = binary.LittleEndian.Uint32(b[4:]) return nil } func (p *WslIdentification) String() string { return "wsl_identification" } type WslStatusInformationLimitFlags struct { OutputVoltagePwm bool `json:"output_voltage_pwm"` MotorCurrent bool `json:"motor_current"` Velocity bool `json:"velocity"` BusCurrent bool `json:"bus_current"` BusVoltageUpperLimit bool `json:"bus_voltage_upper_limit"` BusVoltageLowerLimit bool `json:"bus_voltage_lower_limit"` IpmTemperatureOrMotorTemperature bool `json:"ipm_temperature_or_motor_temperature"` Reserved bool `json:"reserved"` } func (p *WslStatusInformationLimitFlags) MarshalByte() byte { var b byte if p.OutputVoltagePwm { b |= 1 << 0 } if p.MotorCurrent { b |= 1 << 1 } if p.Velocity { b |= 1 << 2 } if p.BusCurrent { b |= 1 << 3 } if p.BusVoltageUpperLimit { b |= 1 << 4 } if p.BusVoltageLowerLimit { b |= 1 << 5 } if p.IpmTemperatureOrMotorTemperature { b |= 1 << 6 } if p.Reserved { b |= 1 << 7 } return b } func (p *WslStatusInformationLimitFlags) UnmarshalByte(b byte) { p.OutputVoltagePwm = (b & (1 << 0)) != 0 p.MotorCurrent = (b & (1 << 1)) != 0 p.Velocity = (b & (1 << 2)) != 0 p.BusCurrent = (b & (1 << 3)) != 0 p.BusVoltageUpperLimit = (b & (1 << 4)) != 0 p.BusVoltageLowerLimit = (b & (1 << 5)) != 0 p.IpmTemperatureOrMotorTemperature = (b & (1 << 6)) != 0 p.Reserved = (b & (1 << 7)) != 0 } type WslStatusInformationErrorFlags0 struct { HardwareOverCurrent bool `json:"hardware_over_current"` SoftwareOverCurrent bool `json:"software_over_current"` DcBusOverVoltage bool `json:"dc_bus_over_voltage"` BadMotorPositionHallSequence bool `json:"bad_motor_position_hall_sequence"` WatchdogCausedLastReset bool `json:"watchdog_caused_last_reset"` ConfigReadError bool `json:"config_read_error"` LvRailUnderVoltageLockOut bool `json:"lv_rail_under_voltage_lock_out"` DesaturationFault bool `json:"desaturation_fault"` } func (p *WslStatusInformationErrorFlags0) MarshalByte() byte { var b byte if p.HardwareOverCurrent { b |= 1 << 0 } if p.SoftwareOverCurrent { b |= 1 << 1 } if p.DcBusOverVoltage { b |= 1 << 2 } if p.BadMotorPositionHallSequence { b |= 1 << 3 } if p.WatchdogCausedLastReset { b |= 1 << 4 } if p.ConfigReadError { b |= 1 << 5 } if p.LvRailUnderVoltageLockOut { b |= 1 << 6 } if p.DesaturationFault { b |= 1 << 7 } return b } func (p *WslStatusInformationErrorFlags0) UnmarshalByte(b byte) { p.HardwareOverCurrent = (b & (1 << 0)) != 0 p.SoftwareOverCurrent = (b & (1 << 1)) != 0 p.DcBusOverVoltage = (b & (1 << 2)) != 0 p.BadMotorPositionHallSequence = (b & (1 << 3)) != 0 p.WatchdogCausedLastReset = (b & (1 << 4)) != 0 p.ConfigReadError = (b & (1 << 5)) != 0 p.LvRailUnderVoltageLockOut = (b & (1 << 6)) != 0 p.DesaturationFault = (b & (1 << 7)) != 0 } type WslStatusInformationErrorFlags1 struct { MotorOverSpeed bool `json:"motor_over_speed"` Reserved9 bool `json:"reserved_9"` Reserved10 bool `json:"reserved_10"` Reserved11 bool `json:"reserved_11"` Reserved12 bool `json:"reserved_12"` Reserved13 bool `json:"reserved_13"` Reserved14 bool `json:"reserved_14"` Reserved15 bool `json:"reserved_15"` } func (p *WslStatusInformationErrorFlags1) MarshalByte() byte { var b byte if p.MotorOverSpeed { b |= 1 << 0 } if p.Reserved9 { b |= 1 << 1 } if p.Reserved10 { b |= 1 << 2 } if p.Reserved11 { b |= 1 << 3 } if p.Reserved12 { b |= 1 << 4 } if p.Reserved13 { b |= 1 << 5 } if p.Reserved14 { b |= 1 << 6 } if p.Reserved15 { b |= 1 << 7 } return b } func (p *WslStatusInformationErrorFlags1) UnmarshalByte(b byte) { p.MotorOverSpeed = (b & (1 << 0)) != 0 p.Reserved9 = (b & (1 << 1)) != 0 p.Reserved10 = (b & (1 << 2)) != 0 p.Reserved11 = (b & (1 << 3)) != 0 p.Reserved12 = (b & (1 << 4)) != 0 p.Reserved13 = (b & (1 << 5)) != 0 p.Reserved14 = (b & (1 << 6)) != 0 p.Reserved15 = (b & (1 << 7)) != 0 } // WslStatusInformation is WS LEFT Status Information type WslStatusInformation struct { LimitFlags WslStatusInformationLimitFlags `json:"limit_flags"` LimitFlagsReserved uint8 `json:"limit_flags_reserved"` ErrorFlags0 WslStatusInformationErrorFlags0 `json:"error_flags_0"` ErrorFlags1 WslStatusInformationErrorFlags1 `json:"error_flags_1"` ActiveMotor uint16 `json:"active_motor"` Reserved uint16 `json:"reserved"` } func (p *WslStatusInformation) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x101 return c, nil } func (p *WslStatusInformation) Size() uint { return 8 } func (p *WslStatusInformation) MarshalPacket() ([]byte, error) { b := make([]byte, 8) b[0] = p.LimitFlags.MarshalByte() b[1] = p.LimitFlagsReserved b[2] = p.ErrorFlags0.MarshalByte() b[3] = p.ErrorFlags1.MarshalByte() binary.LittleEndian.PutUint16(b[4:], p.ActiveMotor) binary.LittleEndian.PutUint16(b[6:], p.Reserved) return b, nil } func (p *WslStatusInformation) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.LimitFlags.UnmarshalByte(b[0]) p.LimitFlagsReserved = b[1] p.ErrorFlags0.UnmarshalByte(b[2]) p.ErrorFlags1.UnmarshalByte(b[3]) p.ActiveMotor = binary.LittleEndian.Uint16(b[4:]) p.Reserved = binary.LittleEndian.Uint16(b[6:]) return nil } func (p *WslStatusInformation) String() string { return "wsl_status_information" } // WslBusMeasurement is WS LEFT Bus Measurement type WslBusMeasurement struct { // 0 V BusVoltage float32 `json:"bus_voltage"` // 0 A BusCurrent float32 `json:"bus_current"` } func (p *WslBusMeasurement) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x102 return c, nil } func (p *WslBusMeasurement) Size() uint { return 8 } func (p *WslBusMeasurement) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.BusVoltage, false) float32ToBytes(b[4:], p.BusCurrent, false) return b, nil } func (p *WslBusMeasurement) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.BusVoltage = float32FromBytes(b[0:], false) p.BusCurrent = float32FromBytes(b[4:], false) return nil } func (p *WslBusMeasurement) String() string { return "wsl_bus_measurement" } // WslVelocity is WS LEFT Velocity Measurement type WslVelocity struct { // 0 rpm MotorVelocity float32 `json:"motor_velocity"` // 0 m/s VehicleVelocity float32 `json:"vehicle_velocity"` } func (p *WslVelocity) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x103 return c, nil } func (p *WslVelocity) Size() uint { return 8 } func (p *WslVelocity) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.MotorVelocity, false) float32ToBytes(b[4:], p.VehicleVelocity, false) return b, nil } func (p *WslVelocity) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.MotorVelocity = float32FromBytes(b[0:], false) p.VehicleVelocity = float32FromBytes(b[4:], false) return nil } func (p *WslVelocity) String() string { return "wsl_velocity" } // WslPhaseCurrent is WS LEFT Phase Current Measurement type WslPhaseCurrent struct { // 0 A rms PhaseBCurrent float32 `json:"phase_b_current"` // 0 A rms PhaseCCurrent float32 `json:"phase_c_current"` } func (p *WslPhaseCurrent) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x104 return c, nil } func (p *WslPhaseCurrent) Size() uint { return 8 } func (p *WslPhaseCurrent) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.PhaseBCurrent, false) float32ToBytes(b[4:], p.PhaseCCurrent, false) return b, nil } func (p *WslPhaseCurrent) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.PhaseBCurrent = float32FromBytes(b[0:], false) p.PhaseCCurrent = float32FromBytes(b[4:], false) return nil } func (p *WslPhaseCurrent) String() string { return "wsl_phase_current" } // WslMotorVoltageVector is WS LEFT Motor Voltage Vector Measurement type WslMotorVoltageVector struct { // 0 V Vq float32 `json:"vq"` // 0 V Vd float32 `json:"vd"` } func (p *WslMotorVoltageVector) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x105 return c, nil } func (p *WslMotorVoltageVector) Size() uint { return 8 } func (p *WslMotorVoltageVector) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.Vq, false) float32ToBytes(b[4:], p.Vd, false) return b, nil } func (p *WslMotorVoltageVector) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.Vq = float32FromBytes(b[0:], false) p.Vd = float32FromBytes(b[4:], false) return nil } func (p *WslMotorVoltageVector) String() string { return "wsl_motor_voltage_vector" } // WslMotorCurrentVector is WS LEFT Motor Current Vector Measurement type WslMotorCurrentVector struct { // 0 A Iq float32 `json:"iq"` // 0 A Id float32 `json:"id"` } func (p *WslMotorCurrentVector) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x106 return c, nil } func (p *WslMotorCurrentVector) Size() uint { return 8 } func (p *WslMotorCurrentVector) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.Iq, false) float32ToBytes(b[4:], p.Id, false) return b, nil } func (p *WslMotorCurrentVector) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.Iq = float32FromBytes(b[0:], false) p.Id = float32FromBytes(b[4:], false) return nil } func (p *WslMotorCurrentVector) String() string { return "wsl_motor_current_vector" } // WslMotorBackemf is WS LEFT Motor BackEMF Measurement / Prediction type WslMotorBackemf struct { // 0 V Bemfq float32 `json:"bemfq"` // 0 V Bemfd float32 `json:"bemfd"` } func (p *WslMotorBackemf) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x107 return c, nil } func (p *WslMotorBackemf) Size() uint { return 8 } func (p *WslMotorBackemf) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.Bemfq, false) float32ToBytes(b[4:], p.Bemfd, false) return b, nil } func (p *WslMotorBackemf) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.Bemfq = float32FromBytes(b[0:], false) p.Bemfd = float32FromBytes(b[4:], false) return nil } func (p *WslMotorBackemf) String() string { return "wsl_motor_backemf" } // Wsl15165VoltageRail is WS LEFT 15 and 1.65 Voltage Rail Measurement type Wsl15165VoltageRail struct { // 0 V Reference165V float32 `json:"reference_165v"` // 0 V Supply15V float32 `json:"supply_15v"` } func (p *Wsl15165VoltageRail) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x108 return c, nil } func (p *Wsl15165VoltageRail) Size() uint { return 8 } func (p *Wsl15165VoltageRail) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.Reference165V, false) float32ToBytes(b[4:], p.Supply15V, false) return b, nil } func (p *Wsl15165VoltageRail) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.Reference165V = float32FromBytes(b[0:], false) p.Supply15V = float32FromBytes(b[4:], false) return nil } func (p *Wsl15165VoltageRail) String() string { return "wsl_15_165_voltage_rail" } // Wsl2512VoltageRail is WS LEFT 2.5V and 1.2V Voltage Rail Measurement type Wsl2512VoltageRail struct { // 0 V Supply12V float32 `json:"supply_12v"` // 0 V Supply25V float32 `json:"supply_25v"` } func (p *Wsl2512VoltageRail) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x109 return c, nil } func (p *Wsl2512VoltageRail) Size() uint { return 8 } func (p *Wsl2512VoltageRail) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.Supply12V, false) float32ToBytes(b[4:], p.Supply25V, false) return b, nil } func (p *Wsl2512VoltageRail) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.Supply12V = float32FromBytes(b[0:], false) p.Supply25V = float32FromBytes(b[4:], false) return nil } func (p *Wsl2512VoltageRail) String() string { return "wsl_25_12_voltage_rail" } // WslHeatsinkMotorTemp is WS LEFT Heat-sink & Motor Temperature Measurement type WslHeatsinkMotorTemp struct { // 0 C MotorTemp float32 `json:"motor_temp"` // 0 C HeatsinkTemp float32 `json:"heatsink_temp"` } func (p *WslHeatsinkMotorTemp) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x10B return c, nil } func (p *WslHeatsinkMotorTemp) Size() uint { return 8 } func (p *WslHeatsinkMotorTemp) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.MotorTemp, false) float32ToBytes(b[4:], p.HeatsinkTemp, false) return b, nil } func (p *WslHeatsinkMotorTemp) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.MotorTemp = float32FromBytes(b[0:], false) p.HeatsinkTemp = float32FromBytes(b[4:], false) return nil } func (p *WslHeatsinkMotorTemp) String() string { return "wsl_heatsink_motor_temp" } // WslDspBoardTemp is WS LEFT DPS Board Temperature Measurement type WslDspBoardTemp struct { // 0 C DspBoardTemp float32 `json:"dsp_board_temp"` // 0 C Reserved float32 `json:"reserved"` } func (p *WslDspBoardTemp) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x10C return c, nil } func (p *WslDspBoardTemp) Size() uint { return 8 } func (p *WslDspBoardTemp) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.DspBoardTemp, false) float32ToBytes(b[4:], p.Reserved, false) return b, nil } func (p *WslDspBoardTemp) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.DspBoardTemp = float32FromBytes(b[0:], false) p.Reserved = float32FromBytes(b[4:], false) return nil } func (p *WslDspBoardTemp) String() string { return "wsl_dsp_board_temp" } // WslOdometerBusAmphoursMeasurement is WS LEFT Odometer and Bus AmpHours Measurement type WslOdometerBusAmphoursMeasurement struct { // 0 m Odometer float32 `json:"odometer"` // 0 Ah DcBusAmphours float32 `json:"dc_bus_amphours"` } func (p *WslOdometerBusAmphoursMeasurement) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x10E return c, nil } func (p *WslOdometerBusAmphoursMeasurement) Size() uint { return 8 } func (p *WslOdometerBusAmphoursMeasurement) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.Odometer, false) float32ToBytes(b[4:], p.DcBusAmphours, false) return b, nil } func (p *WslOdometerBusAmphoursMeasurement) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.Odometer = float32FromBytes(b[0:], false) p.DcBusAmphours = float32FromBytes(b[4:], false) return nil } func (p *WslOdometerBusAmphoursMeasurement) String() string { return "wsl_odometer_bus_amphours_measurement" } // WslReserved is WS LEFT Reserved type WslReserved struct { Reserved0 float32 `json:"reserved0"` Reserved1 float32 `json:"reserved1"` } func (p *WslReserved) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x10D return c, nil } func (p *WslReserved) Size() uint { return 8 } func (p *WslReserved) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.Reserved0, false) float32ToBytes(b[4:], p.Reserved1, false) return b, nil } func (p *WslReserved) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.Reserved0 = float32FromBytes(b[0:], false) p.Reserved1 = float32FromBytes(b[4:], false) return nil } func (p *WslReserved) String() string { return "wsl_reserved" } // WslSlipSpeedMeasurement is WS LEFT Slip Speed Measurement type WslSlipSpeedMeasurement struct { // 0 C Reserved float32 `json:"reserved"` // 0 Hz SlipSpeed float32 `json:"slip_speed"` } func (p *WslSlipSpeedMeasurement) CanId() (can.CanID, error) { c := can.CanID{Extended: false} c.Id = 0x117 return c, nil } func (p *WslSlipSpeedMeasurement) Size() uint { return 8 } func (p *WslSlipSpeedMeasurement) MarshalPacket() ([]byte, error) { b := make([]byte, 8) float32ToBytes(b[0:], p.Reserved, false) float32ToBytes(b[4:], p.SlipSpeed, false) return b, nil } func (p *WslSlipSpeedMeasurement) UnmarshalPacket(b []byte) error { if len(b) != 8 { return &BadLengthError{expected: 8, actual: uint32(len(b))} } p.Reserved = float32FromBytes(b[0:], false) p.SlipSpeed = float32FromBytes(b[4:], false) return nil } func (p *WslSlipSpeedMeasurement) String() string { return "wsl_slip_speed_measurement" } // The json representation that was used to generate this data. // can be used to share the parsing data for i.e dynamic python gui. const SkylabDefinitions = `{"packets":[{"name":"bms_measurement","description":"Voltages for main battery and aux pack","id":16,"endian":"little","data":[{"name":"battery_voltage","type":"uint16_t","units":"V","conversion":0.01},{"name":"aux_voltage","type":"uint16_t","units":"V","conversion":0.001},{"name":"current","type":"float","units":"A","conversion":1}]},{"name":"battery_status","description":"Status bits for the battery","id":17,"endian":"little","data":[{"name":"battery_state","type":"bitfield","bits":[{"name":"startup"},{"name":"precharge"},{"name":"discharging"},{"name":"lv_only"},{"name":"charging"},{"name":"wall_charging"},{"name":"killed"}]},{"name":"contactor_state","type":"bitfield","bits":[{"name":"battery_high_contactor"},{"name":"battery_low_contactor"},{"name":"battery_vicor_contactor"},{"name":"battery_pre_contactor"},{"name":"battery_high2_contactor"},{"name":"battery_low2_contactor"},{"name":"charger_high_contactor"},{"name":"charger_pre_contactor"}]},{"name":"lv_channel_status","type":"bitfield","bits":[{"name":"aux_fault"},{"name":"main_fault"},{"name":"aux_power_valid"},{"name":"main_power_valid"},{"name":"aux_power_active"},{"name":"main_power_active"}]},{"name":"lv_control_status","type":"bitfield","bits":[{"name":"aux_vicor_enable"},{"name":"bat_vicor_enable"},{"name":"aux_relay_held"},{"name":"aux_ref_enable"},{"name":"aux_charging_enable"},{"name":"kill_hv"},{"name":"kill_lv"},{"name":"start_button"}]},{"name":"pack_choice","type":"bitfield","bits":[{"name":"large_pack"},{"name":"small_pack"}]}]},{"name":"bms_kill_reason","description":"Information for when the car kills","id":18,"endian":"little","data":[{"name":"reason1","type":"bitfield","bits":[{"name":"OVERVOLT"},{"name":"UNDERVOLT"},{"name":"OVERTEMP"},{"name":"TEMP_DISCONNECT"},{"name":"COMM_FAIL"}]},{"name":"reason2","type":"bitfield","bits":[{"name":"HARDWARE"},{"name":"KILL_PACKET"},{"name":"UKNOWN"},{"name":"OVERCURRENT"},{"name":"PRECHARGE_FAIL"},{"name":"AUX_OVER_UNDER"},{"name":"AUX_OVERTEMP"}]},{"name":"module","type":"uint16_t"},{"name":"value","type":"float"}]},{"name":"bms_module_min_max","description":"min and max cell voltages and temperatures","id":19,"endian":"little","data":[{"name":"module_max_temp","type":"int16_t","units":"C","conversion":0.01},{"name":"module_min_temp","type":"int16_t","units":"C","conversion":0.01},{"name":"module_max_voltage","type":"uint16_t","units":"V","conversion":0.001},{"name":"module_min_voltage","type":"uint16_t","units":"V","conversion":0.001}]},{"name":"bms_soc","description":"State of charge","id":20,"endian":"little","data":[{"name":"soc","type":"float","conversion":1}]},{"name":"bms_capacity","description":"State of charge","id":21,"endian":"little","data":[{"name":"Ah","type":"float","conversion":1},{"name":"Wh","type":"float","conversion":1}]},{"name":"bms_currentlimit","description":"reports BP params for current","id":24,"endian":"little","data":[{"name":"current_max","type":"int16_t","units":"A","conversion":0.01},{"name":"current_min","type":"int16_t","units":"A","conversion":0.01}]},{"name":"bms_fan_info","description":"BP Fans","id":25,"endian":"little","data":[{"name":"fan1","type":"uint16_t","units":"RPM","conversion":1},{"name":"fan2","type":"uint16_t","units":"RPM","conversion":1},{"name":"fan3","type":"uint16_t","units":"RPM","conversion":1},{"name":"fan4","type":"uint16_t","units":"RPM","conversion":1}]},{"name":"bms_set_min_fan_speed","description":"packet which sets a minimum fan speed of BMS for a specific time frame in seconds","id":27,"endian":"little","data":[{"name":"fan_percentage","type":"float","units":"percent"},{"name":"time","type":"uint16_t","units":"s"}]},{"name":"bms_module","description":"Voltage and temperature for a single module","id":64,"endian":"little","repeat":36,"offset":1,"data":[{"name":"voltage","type":"float","units":"V","conversion":1},{"name":"temperature","type":"float","units":"C","conversion":1}]},{"name":"bms_charger_response","description":"Response packet from BMS for indicating whether BMS is ready for charging","id":117,"endian":"little","data":[{"name":"response_flags","type":"bitfield","bits":[{"name":"charging_ready"}]}]},{"name":"chassis_isolation_fault","description":"chassiss is not isolated from the battery","id":56,"data":[{"name":"fault_detected","type":"bitfield","bits":[{"name":"isolation_fault"}]}]},{"name":"bms_imd_info","description":"information from chassis 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values from the brake and accelerator pedals.","id":656,"endian":"little","data":[{"name":"accel_pedal_value","type":"uint8_t"},{"name":"brake_pedal_value","type":"uint8_t"}]},{"name":"car_state","description":"Car gear. 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Used for testing.","id":665,"endian":"little","data":[{"name":"flag_set_0","type":"bitfield","bits":[{"name":"steering_disconnected"},{"name":"vision_front_disconnected"},{"name":"vision_rear_disconnected"},{"name":"telemetry_disconnected"},{"name":"wsl_disconnected"},{"name":"wsr_disconnected"},{"name":"front_mppt_disconnected"},{"name":"rear_mppt_disconnected"}]}]},{"name":"car_speed","description":"speed of car in meters per second","id":666,"endian":"little","data":[{"name":"speed","type":"float"}]},{"name":"flight_computer_lv_board_disconnect_counts","description":"Number of times a board hasn't been heard from within the allowed timeout.","id":667,"endian":"little","data":[{"name":"front_lights","type":"uint8_t"},{"name":"rear_lights","type":"uint8_t"},{"name":"steering","type":"uint8_t"},{"name":"vision","type":"uint8_t"},{"name":"driver_display","type":"uint8_t"},{"name":"center_console","type":"uint8_t"}]},{"name":"flight_computer_hv_board_disconnect_counts","description":"Number of times a board hasn't been heard from within the allowed timeout.","id":668,"endian":"little","data":[{"name":"bms","type":"uint8_t"},{"name":"charger","type":"uint8_t"},{"name":"wsl","type":"uint8_t"},{"name":"wsr","type":"uint8_t"},{"name":"mppt_front","type":"uint8_t"},{"name":"mppt_rear","type":"uint8_t"}]},{"name":"flight_computer_internal_state","description":"internal bools","id":669,"endian":"little","data":[{"name":"bms","type":"bitfield","bits":[{"name":"battery_kill"},{"name":"cells_in_charging_threshold"},{"name":"first_packet_received"}]},{"name":"charger","type":"bitfield","bits":[{"name":"proximity_detected"}]},{"name":"photon3","type":"bitfield","bits":[{"name":"enable"}]},{"name":"wavesculptor","type":"bitfield","bits":[{"name":"sending_reset"},{"name":"regen_enable"}]},{"name":"internal","type":"bitfield","bits":[{"name":"accel_pedal_disconnect"},{"name":"brake_pedal_disconnect"}]}]},{"name":"power_to_drive","description":"calculated power required to drive the vehicle","id":414,"endian":"little","data":[{"name":"moving_average_100","type":"int16_t"},{"name":"moving_average_1k","type":"int16_t"},{"name":"moving_average_10k","type":"int16_t"}]},{"name":"array_power","description":"array power calculated from current and voltage measurements","id":415,"endian":"little","data":[{"name":"front_array_channel_0","type":"uint16_t"},{"name":"front_array_channel_1","type":"uint16_t"},{"name":"rear_array_channel_0","type":"uint16_t"},{"name":"rear_array_channel_1","type":"uint16_t"}]},{"name":"array_energy","description":"cumulative energy received from the array","id":281,"endian":"little","data":[{"name":"energy","type":"float","units":"Joule"}]},{"name":"array_energy_reset","description":"resets cumulative energy received from the array","id":288,"endian":"little","data":[{"name":"energy","type":"float","units":"Joule"}]},{"name":"vision_turn_signals_command","description":"Command to have the vision board illuminate or turn off left, right, or both turn signals","id":688,"data":[{"name":"lights","type":"bitfield","bits":[{"name":"left_turn_signal"},{"name":"right_turn_signal"},{"name":"spare_1"},{"name":"spare_2"},{"name":"spare_3"}]}]},{"name":"vision_brake_lights_command","description":"Command to have the vision board illuminate or turn off the brake lights","id":689,"data":[{"name":"lights","type":"bitfield","bits":[{"name":"brake_lights"},{"name":"spare_1"},{"name":"spare_2"},{"name":"spare_3"}]}]},{"name":"vision_headlights_command","description":"Command to have the vision board illuminate or turn off the headlights and high beams","id":690,"data":[{"name":"lights","type":"bitfield","bits":[{"name":"headlights"},{"name":"high_beams"},{"name":"spare_1"},{"name":"spare_2"},{"name":"spare_3"}]},{"name":"brightness","type":"float"}]},{"name":"vision_horn_command","description":"Command the vision board honk the horn, must be repeatedly sent otherwise the vision board will stop honking after a bit. See high_power.h for details.","id":691,"data":[{"name":"horn","type":"bitfield","bits":[{"name":"horn"},{"name":"spare"}]}]},{"name":"vision_array_latches_command","description":"Command the vision board to open the array latches","id":692,"data":[{"name":"array_latches","type":"bitfield","bits":[{"name":"array_front"},{"name":"array_rear"}]}]},{"name":"vision_rearview_command","description":"Command the vision board turn on the rear view cameras","id":693,"data":[{"name":"cameras","type":"bitfield","bits":[{"name":"left"},{"name":"right"},{"name":"rear"}]}]},{"name":"tracker_enable","description":"Enables/disables power trackers. Use 0x610 for the channel transmitting the data packet on 0x600, 0x611 for 0x601, et cetera. 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Each byte is a hex color code.","id":577,"data":[{"name":"button0","type":"uint8_t"},{"name":"button1","type":"uint8_t"},{"name":"button2","type":"uint8_t"},{"name":"button3","type":"uint8_t"},{"name":"button4","type":"uint8_t"},{"name":"button5","type":"uint8_t"},{"name":"button6","type":"uint8_t"}]},{"name":"steering_button_colors_2","description":"This packet controls each button's color. Each byte is a hex color code.","id":593,"data":[{"name":"button7","type":"uint8_t"},{"name":"button8","type":"uint8_t"},{"name":"button9","type":"uint8_t"},{"name":"button10","type":"uint8_t"}]},{"name":"steering_horn","description":"This packet controls the state of the horn.","id":578,"data":[{"name":"horn","type":"uint8_t"}]},{"name":"thunderstruck_status_message","description":"Status packet for thunderstruck chargers","id":418063424,"endian":"little","data":[{"name":"STATUS_FLAGS","type":"uint8_t","units":"V","conversion":1},{"name":"CHARGE_FLAGS","type":"uint8_t","units":"V","conversion":1},{"name":"OUTPUT_VOLTAGE","type":"uint16_t","units":"V","conversion":1},{"name":"OUTPUT_CURRENT","type":"uint16_t","units":"V","conversion":1},{"name":"CHARGER_TEMP","type":"uint8_t","units":"V","conversion":1},{"name":"RESERVED","type":"uint8_t","units":"V","conversion":1}]},{"name":"tracker_data","description":"Tracker data. 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