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fix: IMU messages
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@simoneruffini
simoneruffini committed Aug 6, 2024
1 parent 67d5e61 commit 3042a08
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Showing 4 changed files with 2,667 additions and 104 deletions.
262 changes: 161 additions & 101 deletions SC24/MCB.json
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Original file line number Diff line number Diff line change
Expand Up @@ -3269,100 +3269,140 @@
}
}
},
"SBG_ECAN_MSG_GPS2_HDT": {
"id": 393,
"length": 8,
"IMU__Accelerometers": {
"message-id_dec": 55,
"id": 891,
"length": 6,
"sender": "IMU",
"signals": {
"PITCH": {
"start_bit": 32,
"ACCEL_X": {
"start_bit": 0,
"size": 16,
"endianness": "little",
"signed": true,
"unit": "deg",
"receivers": [
"SCANNER"
],
"unit": "m.s-2",
"scale": 0.01,
"offset": 0,
"min": -327.68,
"max": 327.67
},
"PITCH_ACC": {
"start_bit": 48,
"ACCEL_Y": {
"start_bit": 16,
"size": 16,
"endianness": "little",
"unit": "deg",
"receivers": [
"SCANNER"
],
"signed": true,
"unit": "m.s-2",
"scale": 0.01,
"offset": 0,
"min": 0,
"max": 655.35
"min": -327.68,
"max": 327.67
},
"TRUE_HEADING": {
"start_bit": 0,
"ACCEL_Z": {
"start_bit": 32,
"size": 16,
"endianness": "little",
"unit": "deg",
"receivers": [
"SCANNER"
],
"signed": true,
"unit": "m.s-2",
"scale": 0.01,
"offset": 0,
"min": -327.68,
"max": 327.67
}
}
},
"IMU__TrackSlipCurv": {
"message-id_dec": 60,
"id": 971,
"length": 7,
"sender": "IMU",
"signals": {
"ANGLE_SLIP": {
"start_bit": 16,
"size": 16,
"endianness": "little",
"signed": true,
"unit": "rad",
"scale": 0.0001,
"offset": 0,
"min": -3.2768,
"max": 3.2767
},
"ANGLE_TRACK": {
"start_bit": 0,
"size": 16,
"endianness": "little",
"signed": true,
"unit": "rad",
"scale": 0.0001,
"offset": 0,
"min": -3.2768,
"max": 3.2767
},
"AUTO_STATUS": {
"start_bit": 48,
"size": 8,
"endianness": "little",
"scale": 1,
"offset": 0,
"min": 0,
"max": 655.35
"max": 255
},
"TRUE_HEADING_ACC": {
"start_bit": 16,
"CURVATURE_RADIUS": {
"start_bit": 32,
"size": 16,
"endianness": "little",
"unit": "deg",
"receivers": [
"SCANNER"
],
"unit": "m",
"scale": 0.01,
"offset": 0,
"min": 0,
"max": 655.35
}
}
},
"SBG_ECAN_MSG_GPS2_HDT_INFO": {
"id": 392,
"IMU__VelocityBody": {
"message-id_dec": 59,
"id": 955,
"length": 6,
"sender": "IMU",
"signals": {
"STATUS": {
"start_bit": 32,
"VELOCITY_X": {
"start_bit": 0,
"size": 16,
"endianness": "little",
"receivers": [
"SCANNER"
],
"scale": 1,
"signed": true,
"unit": "m.s-1",
"scale": 0.01,
"offset": 0,
"min": 0,
"max": 65535
"min": -327.68,
"max": 327.67
},
"TIME_STAMP": {
"start_bit": 0,
"size": 32,
"VELOCITY_Y": {
"start_bit": 16,
"size": 16,
"endianness": "little",
"unit": "usec",
"receivers": [
"SCANNER"
],
"scale": 1,
"signed": true,
"unit": "m.s-1",
"scale": 0.01,
"offset": 0,
"min": 0,
"max": 4294970000
"min": -327.68,
"max": 327.67
},
"VELOCITY_Z": {
"start_bit": 32,
"size": 16,
"endianness": "little",
"signed": true,
"unit": "m.s-1",
"scale": 0.01,
"offset": 0,
"min": -327.68,
"max": 327.67
}
}
},
"SBG_ECAN_MSG_GPS2_POS": {
"id": 389,
"IMU__GPS1_Position": {
"message-id_dec": 58,
"id": 939,
"length": 8,
"sender": "IMU",
"signals": {
Expand All @@ -3371,10 +3411,7 @@
"size": 32,
"endianness": "little",
"signed": true,
"unit": "deg",
"receivers": [
"SCANNER"
],
"unit": "\ufffd",
"scale": 1e-07,
"offset": 0,
"min": -214.7483648,
Expand All @@ -3385,72 +3422,93 @@
"size": 32,
"endianness": "little",
"signed": true,
"unit": "deg",
"receivers": [
"SCANNER"
],
"unit": "\ufffd",
"scale": 1e-07,
"offset": 0,
"min": -214.7483648,
"max": 214.7483647
}
}
},
"SBG_ECAN_MSG_GPS2_POS_INFO": {
"id": 388,
"length": 8,
"IMU__Gyro": {
"message-id_dec": 56,
"id": 907,
"length": 6,
"sender": "IMU",
"signals": {
"STATUS": {
"start_bit": 32,
"size": 32,
"GYRO_X": {
"start_bit": 0,
"size": 16,
"endianness": "little",
"receivers": [
"SCANNER"
],
"scale": 1,
"signed": true,
"unit": "rad.s-1",
"scale": 0.001,
"offset": 0,
"min": 0,
"max": 4294970000
"min": -32.768,
"max": 32.767
},
"TIME_STAMP": {
"start_bit": 0,
"size": 32,
"GYRO_Y": {
"start_bit": 16,
"size": 16,
"endianness": "little",
"unit": "usec",
"receivers": [
"SCANNER"
],
"scale": 1,
"signed": true,
"unit": "rad.s-1",
"scale": 0.001,
"offset": 0,
"min": 0,
"max": 4294970000
"min": -32.768,
"max": 32.767
},
"GYRO_Z": {
"start_bit": 32,
"size": 16,
"endianness": "little",
"signed": true,
"unit": "rad.s-1",
"scale": 0.001,
"offset": 0,
"min": -32.768,
"max": 32.767
}
}
},
"SBG_ECAN_MSG_EVENT_INFO_A": {
"id": 512,
"length": 8,
"IMU__Euler": {
"message-id_dec": 57,
"id": 923,
"length": 6,
"sender": "IMU",
"signals": {
"STATUS": {
"start_bit": 32,
"PITCH": {
"start_bit": 16,
"size": 16,
"endianness": "little",
"scale": 1,
"signed": true,
"unit": "rad",
"scale": 0.0001,
"offset": 0,
"min": 0,
"max": 65535
"min": -3.2768,
"max": 3.2767
},
"TIME_STAMP": {
"ROLL": {
"start_bit": 0,
"size": 32,
"size": 16,
"endianness": "little",
"unit": "usec",
"scale": 1,
"signed": true,
"unit": "rad",
"scale": 0.0001,
"offset": 0,
"min": 0,
"max": 4294970000
"min": -3.2768,
"max": 3.2767
},
"YAW": {
"start_bit": 32,
"size": 16,
"endianness": "little",
"signed": true,
"unit": "rad",
"scale": 0.0001,
"offset": 0,
"min": -3.2768,
"max": 3.2767
}
}
},
Expand Down Expand Up @@ -3619,6 +3677,7 @@
"NLG5_CTL": {
"id": 1560,
"length": 7,
"sender": "BRUSA",
"cycle_time": 100,
"signals": {
"NLG5_C_CP_V": {
Expand Down Expand Up @@ -3727,6 +3786,7 @@
"NLG5_DIAG_RX": {
"id": 1816,
"length": 8,
"sender": "BRUSA",
"signals": {
"LAD_D_ParamRq": {
"description": "Diag requested data from host",
Expand Down Expand Up @@ -3785,7 +3845,7 @@
"max": 1
},
"NLG5_E_C_OFF": {
"description": "CAN off, transmit buffer \u003e255",
"description": "CAN off, transmit buffer >255",
"start_bit": 16,
"size": 1,
"endianness": "big",
Expand All @@ -3798,7 +3858,7 @@
"max": 1
},
"NLG5_E_C_RX": {
"description": "CAN receiver buffer \u003e127",
"description": "CAN receiver buffer >127",
"start_bit": 30,
"size": 1,
"endianness": "big",
Expand All @@ -3811,7 +3871,7 @@
"max": 1
},
"NLG5_E_C_TO": {
"description": "CAN timeout, no control message received for \u003e300ms",
"description": "CAN timeout, no control message received for >300ms",
"start_bit": 17,
"size": 1,
"endianness": "big",
Expand All @@ -3824,7 +3884,7 @@
"max": 1
},
"NLG5_E_C_TX": {
"description": "CAN transmit buffer \u003e127",
"description": "CAN transmit buffer >127",
"start_bit": 31,
"size": 1,
"endianness": "big",
Expand Down Expand Up @@ -3928,7 +3988,7 @@
"max": 1
},
"NLG5_E_NV_CRC": {
"description": "NVSRAM check sum failure; contains most of the scaling \u0026 calibration values, CAN ID's and charging profile etc.",
"description": "NVSRAM check sum failure; contains most of the scaling & calibration values, CAN ID's and charging profile etc.",
"start_bit": 22,
"size": 1,
"endianness": "big",
Expand Down
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