Purpose:
The steering board allows the driver to control important features of the vehicle as listed below:
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The steering_digital_task is responsible for the horn, cruise control (cc) on/off, cc increase speed, cc decrease speed, and regen brake toggle. 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.
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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 two three bytes: horn, cruise control (toggle on/off, increase speed, decrease speed), regen brake toggle.
From left to right, first byte will be the state of the horn. Second byte should be the cruise control command.
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Third byte should be the regen brake toggle command.
0x0000000000FFEEDD
2nd 3rd byte: example of horn state
1st 2nd byte: example of cruise control command
1st byte: example of regen brake toggle command
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Disclaimer: Project design is based off old MSXIV steering project (https://github.com/uw-midsun/firmware_xiv/tree/master/projects/steering headed by Avery Chiu) and is subject to change for future cars. Please see firmware leads for most up to date design. |