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ID | Message Name | Sender | Intended Handler | Format | Fields | Description |
|---|---|---|---|---|---|---|
0 | BPS Heartbeat | BMS Carrier | Centre Console | U8 | status - the fault bitset indicating the fault reason and where it appeared | bps_heartbeat.c will transmit a heartbeat periodically and ensure it is acknowledged by other parts of the vehicle. The fault bitset is shown below as from exported_enums.h  |
1 | Set relay states | Centre Console | BMS Carrier Solar 5 MPPTs Solar 6 MPPTs Motor Controller | U16 | relay mask - This is 1 << relay_id, where relay id relay state - This is the relay_state << relay_id See description for more details. | These control relays in our vehicle. Each relay is given an ID and state. Below is a sample of the relay states being sent from relay_tx.c  Below are possible relay IDs  Below are possible relay states  |
2-5 | RESERVED CRITICAL MESSAGES | |||||
6 | Power on main sequence | Centre Console | Motor Controller Pedal | U16 | sequence - One part of the step of turning on the vehicle | These are the series of steps (going from 0 to 5) to power on the vehicle from the main power source.  |
7 | Power off sequence | Centre Console | Motor Controller Pedal | U16 | sequence - One part of the step of turning off the vehicle | These are the series of steps to power off the vehicle  |
8 | Power on aux sequence | Centre Console | Motor Controller Pedal | U16 | sequence - One part of the step of turning on the vehicle | These are the series of steps to power on the vehicle from the aux battery  |
9 | Drive Output | Centre Console | Motor Controller | U16 | drive output - Shows the gear the car is in | Drive output shows gear the car is in  |
10 | Set E-brake State | Centre Console | U8 | ebrake state | This is used to set the E-brake state. NOTE: Firmware does not have to worry about this, this message will be removed. | |
11 | Regen Braking | Centre Console | Motor Controller | U8 | state - A bool which shows whether regen braking is enabled or not | True - Regen braking on False - Regen braking off |
12 | RESERVED | |||||
13 | Ready to drive | Centre Console | Telemetry | U8 | ready state - A bool which shows whether the car is ready to drive or not | True - Car is ready False - Car is not ready |
14 | Relay open okay 5 MPPTs | Solar 5 MPPTs | Telemetry | E | This message shows up when solar relays opened correctly when there are 5 MPPTs | |
15 | Relay open okay 6 MPPTs | Solar 6 MPPTs | Telemetry | E | This message shows up when solar relays opened correctly when there are 6 MPPTs | |
16-17 | RESERVED | |||||
18 | Pedal Output | Pedal | Motor Interface | U32 | throttle output - The throttle angle brake output - The brake angle | As defined in pedal_monitor.h, if the pedal angle is greater than 50, then the pedal is pressed. Otherwise it is released. |
19-21 | RESERVED | |||||
22 | Drive State | Motor Controller | U16 | drive_state - Shows the gear the car is in | This seems to be a duplicate of Drive Output and is only used for testing at the moment as shown in test_drive_rx.c | |
23 | Lights Sync | Power Distribution Rear | Lights Front | E | ??? | |
24 | Lights | Steering | Lights | U8 | lights id - The light we want to turn on/off state - Shows whether the light is on or off | Turns on certain lights on the vehicle  |
25 | Horn | Steering | Lights | U8 | state - Shows whether the horn is on or off |  |
28 | Begin Precharge | Centre Console | Motor Controller | E | Begins the precharge. Pre-Charge: MS 14 | |
29 | Precharge Completed | Motor Controller | Centre Console | E | Indicates precharge is completed. | |
30 | Hazard | Centre Console | U8 | state - Shows whether the hazard button is pressed or not | Indicates if the hazard button from the centre console is pressed True - Turn hazard light on False - Turn hazard light off | |
31 | Discharge Precharge | Centre Console | Motor Controller | E | Discharges the capacitors that were precharged for the motor controller | |
32 | Battery Voltage Temperature | BMS Carrier | Telemetry | U16 | module ID - ID of the cell (from 0 to 17) voltage - Voltage of each cell temperature - highest temperature reading | Sends the voltage and temperature readings from each cell |
33 | Battery Aggregate Voltage and Current | BMS Carrier | Telemetry | U32 | voltage - Average voltage based on all cells current - Average current through each of the cells | Sends the average voltage and current from all 18 cells. |
34 | State Transition Fault | Centre Console | Telemetry | U16 | state machine - The area which the fault occured fault Reason - Why the fault occured | Indicates when a fault has occured during state transitions, the state machine’s are shown below  An example of a fault reason is shown below as from drive_fsm.c  |
35 | Motor Controller Voltage/Current | Motor Controller | Telemetry | U16 | mc voltage 1 - DC Bus voltage of the left motor controller (V) mc current 1 - DC Bus current of the left motor controller (A) mc voltage 2 - DC Bus voltage of the right motor controller (V) mc current 2 - DC Bus current of the right motor controller (A) | Shows the DC bus voltage and current on both the left and right motor controller. |
36 | Motor Velocity | Motor Controller | Telemetry | U16 | vehicle velocity left - Velocity of the left motor controller (cm/s) vehicle velocity right - Velocity of the left motor controller (cm/s) | Shows the vehicle’s left and right motor velocity |
37 | Motor Status | Motor Controller | Telemetry | U32 | motor status left motor status right | ??? |
38 | Motor Temps | Motor Controller | Telemetry | U32 | motor temp left - Temperature of left motor (°C) sink temp left - Temperature of left heat sink (°C) motor temp right - Temperature of right motor (°C) sink temp right - Temperature of left heat sink (°C) | Shows the temperature of the motors and the heat sinks. |
39-40 | RESERVED | |||||
41 | Cruise Control Command | Steering | Telemetry | U8 | command - See description | Sends commands to configure cruise control. Some possible commands are shown below.  |
42 | Aux measurement main voltage | Power Select | Centre Console | U16 | aux voltage aux current aux temp main voltage | |
43 | DCDC Measurement Main Current | Power Select | Centre Console | U16 | DCDC voltage DCDC current DCDC temp main current | |
44 | Power Select Status | Power Select | Centre Console | U16 | fault bitset warning bitset valid bitset cell voltage | |
45 | UV Cutoff Notification | Power Distribution Front | Telemetry | E | This message is sent when undervoltage cutoff has occured in front PD. | |
46 | Regen Braking Toggle Request | Steering | Centre Console | E | This message will toggle regen braking. | |
47 | RESERVED | |||||
48 | Request to Charge | Charger | Centre Console | E | Indicates when we try to start charging. | |
49 | Allow Charging | Centre Console | Charger | E | Indicates when charging is allowed (note charging is only allowed when we’re parked). | |
50 | Charger Connected State | Charger | U8 | is connected - A bool represented whether the charger is connected or not |  | |
51 | Solar Data 6 MPPTs | Solar 6 MPPTs | Telemetry | U32 | data point type data value | |
52 | Solar fault Fault 6 MPPTs | Solar 6 MPPTs | Telemetry Centre Console | U8 | fault fault data | |
53 | Charger Fault | Charger | Telemetry | U8 | fault - The error that occured | The different faults from charger are shown below.  |
54 | Front Current Measurement | Power Distribution Front | Centre Console | U16 | current ID - The module where the current is going to current - The value for the current | The different current IDs are listed in publish_data_config.c  |
55 | Rear Current Measurement | Power Distribution Rear | Centre Console | U16 | current ID - The module where the current is going to current - The value for the current | The different current IDs are listed in publish_data_config.c  |
56 | RESERVED | |||||
57 | Battery Fan State | BMS Carrier | U8 | fan[8] - The StatusCode of each fan | StatusCodes are shown below.  | |
58 | Battert Relay State | BMS Carrier | U8 | high voltage - Indicates if the GPIO pin is pulled high (relay is closed) ground - indicates if the GPIO pin is pulled low (relay is open) |  | |
59 | Solar Data 5 MPPTs | Solar 5 MPPTs | Telemetry | U32 | data point type data value | |
60 | Solar fault Fault 5 MPPTs | Solar 5 MPPTs | Telemetry Centre Console | U8 | fault fault data | |
61 | Rear Power Distribution Fault | Power Distribution Rear | Centre Console | U16 | fault data enclosure temperature data DCDC temperature data faulting output | See https://uwmidsun.atlassian.net/l/c/normaJUS for how to interpret PD fault messages. |
62 | Front Power Distribution Fault | Power Distribution Front | Centre Console | U16 | fault data faulting output | See https://uwmidsun.atlassian.net/l/c/normaJUS for how to interpret PD fault messages. |
63 | Baby Driver | Baby Driver | Baby Driver | U8 | ID - The babydriver message ID data[7] - The data | Sends Baby Driver CAN messages as defined in babydriver_msg_defs.h See Babydriver for more details about BabyDriver |