From ca93881097d5f34d71df7049570cda742ba8ffd3 Mon Sep 17 00:00:00 2001 From: CL16gtgh Date: Wed, 15 May 2024 20:27:50 -0400 Subject: [PATCH] Add steering system and status tracking --- PCAN_project/hytech.sym | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/PCAN_project/hytech.sym b/PCAN_project/hytech.sym index fcc9ac2..0f21745 100644 --- a/PCAN_project/hytech.sym +++ b/PCAN_project/hytech.sym @@ -535,6 +535,10 @@ Sig=controller_tcs_w_steer_lower_b unsigned 12 /f:0.01 Sig=controller_tcs_w_steer_upper_b unsigned 12 /f:0.01 Sig=controller_tcs_launch_LRdiff unsigned 13 /f:0.01 Sig=torque_controller_mux_status tc_mux_status 3 +Sig=steering_system_status unsigned 2 // 0 : nominal; 1 : marginal; 2 : degraded; 3 : error +Sig=steering_encoder_status unsigned 2 // 0 : nominal; 1 : marginal; 2 : error +Sig=steering_analog_status unsigned 1 // 0 : good; 1 : clamped +Sig=steering_system_angle signed 16 /f:0.01 // Angle reported by steering system {SENDRECEIVE} @@ -1658,3 +1662,11 @@ Sig=controller_tcs_launch_LRdiff 51 ID=101h // this message will have states internal to the MCU code Len=8 Sig=torque_controller_mux_status 0 + +[STEERING_SYSTEM_REPORT] +ID=41Fh // Steering reading; system and sensor status +Len=8 +Sig=steering_system_angle 0 +Sig=steering_system_status 16 +Sig=steering_encoder_status 18 +Sig=steering_analog_status 20