Page Comparison

Purpose:

The steering board allows the driver to control important features of the vehicle as listed below:  

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The steering_analog_task is responsible for three analog signals: control stalk, daytime running light (DRL) on, and DRL off. For each change in signal, the task will send the appropriate CAN message. You will need to edit the steering .yaml file to change the CAN auto generation. After that you can use the setter and getter header files to fill in your CAN messages.

steering_digital_task.c:

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The steering_digital_task is responsible for the horn, cruise control (cc) on/off, cc increase speed, cc decrease speed, radio push-to-talk (ptt), and regen braking. For each digital signal, the task will send the appropriate CAN message. You will need to edit the steering .yaml file to change the CAN auto generation. After that you can use the setter and getter header files to fill in your CAN messages.

CAN Messages:

Steering will send two different CAN messages.

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data for analog_signal: 8 bytes (4 empty, 4 filled) (note that these are just example values and may not appear in the car itself)

• 0x00000000FFEEDDCC

• 4th byte: example of possible light id

• 3rd byte: example of possible state for on/off

• 2nd byte: example of another possible light id

• 1st byte: example of state for right/left signal

digital_signal:

The digital_signal CAN message will send four bytes: horn, cruise control (toggle on/off, increase speed, decrease speed), radio ptt, and regen braking.

From left to right, first byte will be the state of the horn. Second byte should be the cruise control command. Third byte will be the radio state (not yet finalized). Fourth byte will be the regen braking “is_race_mode.”

• 0x00000000FFEEDDCC

• 4th byte: example of horn state

• 3rd byte: example of cruise control command

• 2nd byte: example of radio state

• 1st byte: example of regen braking “is_race_mode”