{"type":"doc","content":[{"type":"paragraph","content":[{"text":"Autogeneration:","type":"text"}]},{"type":"paragraph","content":[{"type":"inlineCard","attrs":{"url":"https://docs.google.com/presentation/d/1UMpzzeudqqTlWG8cGt13OJEFQuXuK2h_pIQ3Khgf23Q/edit#slide=id.g122d6843553_0_4"}},{"text":" ","type":"text"}]},{"type":"mediaSingle","attrs":{"layout":"center"},"content":[{"type":"media","attrs":{"width":1920,"id":"5408e6df-67d2-4857-96b1-50ffc2019e9c","collection":"contentId-3061612590","type":"file","height":1080}}]},{"type":"mediaSingle","attrs":{"layout":"center"},"content":[{"type":"media","attrs":{"width":1920,"id":"d00a5a74-008d-4cee-be69-7932a58be31c","collection":"contentId-3061612590","type":"file","height":1080}}]},{"type":"paragraph"},{"type":"paragraph","content":[{"text":"Backend Implementation:","type":"text"}]},{"type":"paragraph","content":[{"type":"inlineCard","attrs":{"url":"https://docs.google.com/presentation/d/1YdunABJWzBkTDpxPe_msvbJ8aNUg6d6yUXG5NnosrkI/edit#slide=id.g11d6e2701ee_0_209"}},{"text":" ","type":"text"}]},{"type":"mediaSingle","attrs":{"layout":"center"},"content":[{"type":"media","attrs":{"width":1920,"id":"58462f7c-e7ce-4ccf-b694-39de042f827f","collection":"contentId-3061612590","type":"file","height":1080}}]},{"type":"mediaSingle","attrs":{"layout":"center"},"content":[{"type":"media","attrs":{"width":1920,"id":"b34afc32-8439-4496-94e0-a83bbd25bd04","collection":"contentId-3061612590","type":"file","height":1080}}]},{"type":"paragraph"},{"type":"paragraph"},{"type":"heading","attrs":{"level":3},"content":[{"text":"CAN message definitions (YAML):","type":"text"}]},{"type":"paragraph","content":[{"text":"all CAN message definitions are within the ","type":"text"},{"text":"/libraries/codegen/boards","type":"text","marks":[{"type":"code"}]},{"text":" folder, where each controller board YAML defines all messages that originates from that controller board.","type":"text"}]},{"type":"paragraph","content":[{"text":"The message definition schema is as follows. ","type":"text"}]},{"type":"codeBlock","attrs":{"language":"none"},"content":[{"text":"---\n Messages:\n :\n id: \n target:\n :\n watchdog: 0\n :\n watchdog: 0\n signals:\n :\n length: 8\n :\n length: 16\n critical: boolean, optional","type":"text"}]},{"type":"paragraph","content":[{"text":"The message id must be unique across all can messages, see ","type":"text"},{"type":"inlineCard","attrs":{"url":"https://uwmidsun.atlassian.net/l/cp/bK9KYZHR"}},{"text":" for a list of existing and available ids.","type":"text"}]},{"type":"paragraph","content":[{"text":"The signal lengths must be a multiple of 8, and the total length for a message cannot exceed 64. The signal lengths can be mismatched within a message.","type":"text"}]},{"type":"paragraph","content":[{"text":"The critical field specifies if a message is critical to car operation. Consult your local firmware lead before using this field","type":"text"}]},{"type":"paragraph","content":[{"text":"The watchdog field does things. # TODO(Jarvis) doc this","type":"text"}]},{"type":"paragraph"},{"type":"heading","attrs":{"level":3},"content":[{"text":"Autogen","type":"text"}]},{"type":"paragraph","content":[{"text":"As part of the scons build process, we autogenerate the following files that defines the CAN message structure and provide the interface to interact with CAN message data.","type":"text"}]},{"type":"codeBlock","attrs":{"language":"none"},"content":[{"text":"build//obj/projects/\n └─ can\n ├─ inc\n │ ├─ can_codegen.h\n │ ├─ can__filters.h\n │ ├─ can__getters.h\n │ ├─ can__rx_structs.h\n │ ├─ can__setters.h\n │ └─ can__tx_structs.h\n └─ src\n ├─ can__rx_all.c\n └─ can__tx_all.c","type":"text"}]},{"type":"paragraph","content":[{"text":"Specifically of interest are ","type":"text"},{"text":"can__getters.h","type":"text","marks":[{"type":"code"}]},{"text":" and ","type":"text"},{"text":"can__setters.h","type":"text","marks":[{"type":"code"}]},{"text":" which defines the getters and setters that allow your code to get received message data and update outgoing message data.","type":"text"}]},{"type":"paragraph","content":[{"text":"The setters and getters are in the format","type":"text"}]},{"type":"codeBlock","content":[{"text":"get__\nset__","type":"text"}]},{"type":"paragraph"}],"version":1}