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message_types.h
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#ifndef MESSAGE_TYPES_H_
#define MESSAGE_TYPES_H_
/* REMINDER: Any changes to this file should be reflected in parsley.
*
* If parsley and this file differ, this file is the source of truth.
*/
// Message Priority
typedef enum {
PRIO_HIGHEST = 0x0,
PRIO_HIGH = 0x1,
PRIO_MEDIUM = 0x2,
PRIO_LOW = 0x3,
} can_msg_prio_t;
// Message Types
typedef enum {
MSG_GENERAL_CMD = 0x001,
MSG_ACTUATOR_CMD = 0x002,
MSG_ALT_ARM_CMD = 0x003,
MSG_RESET_CMD = 0x004,
MSG_DEBUG_MSG = 0x005,
MSG_DEBUG_PRINTF = 0x006,
MSG_DEBUG_RADIO_CMD = 0x007,
MSG_ACT_ANALOG_CMD = 0x008,
MSG_ALT_ARM_STATUS = 0x009,
MSG_ACTUATOR_STATUS = 0x00A,
MSG_GENERAL_BOARD_STATUS = 0x00B,
MSG_SENSOR_TEMP = 0x00C,
MSG_SENSOR_ALTITUDE = 0x00D,
MSG_SENSOR_ACC = 0x00E,
MSG_SENSOR_ACC2 = 0x00F,
MSG_SENSOR_GYRO = 0x010,
MSG_STATE_EST_CALIB = 0x011,
MSG_SENSOR_MAG = 0x012,
MSG_SENSOR_ANALOG = 0x013,
MSG_GPS_TIMESTAMP = 0x014,
MSG_GPS_LATITUDE = 0x015,
MSG_GPS_LONGITUDE = 0x016,
MSG_GPS_ALTITUDE = 0x017,
MSG_GPS_INFO = 0x018,
MSG_FILL_LVL = 0x019,
MSG_STATE_EST_DATA = 0x01A,
MSG_LEDS_ON = 0x01B,
MSG_LEDS_OFF = 0x01C,
} can_msg_type_t;
// Board Type IDs
typedef enum {
BOARD_TYPE_ID_ANY = 0x00,
BOARD_TYPE_ID_INJ_SENSOR = 0x01,
BOARD_TYPE_ID_CANARD_MOTOR = 0x02,
BOARD_TYPE_ID_CAMERA = 0x03,
BOARD_TYPE_ID_ROCKET_POWER = 0x04,
BOARD_TYPE_ID_LOGGER = 0x05,
BOARD_TYPE_ID_PROCESSOR = 0x06,
BOARD_TYPE_ID_TELEMETRY = 0x07,
BOARD_TYPE_ID_GPS = 0x08,
BOARD_TYPE_ID_SRAD_GNSS = 0x09,
BOARD_TYPE_ID_ALTIMETER = 0x0A,
BOARD_TYPE_ID_ARMING = 0x0B,
BOARD_TYPE_ID_PAY_SENSOR = 0x40,
BOARD_TYPE_ID_PAY_MOTOR = 0x41,
BOARD_TYPE_ID_RLCS_GLS = 0x80,
BOARD_TYPE_ID_RLCS_RELAY = 0x81,
BOARD_TYPE_ID_RLCS_HEATING = 0x82,
BOARD_TYPE_ID_DAQ = 0x83,
BOARD_TYPE_ID_CHARGING = 0x84,
BOARD_TYPE_ID_THERMOCOUPLE = 0x85,
BOARD_TYPE_ID_USB = 0x86,
BOARD_TYPE_ID_FYDP25_TVCA = 0xC0,
} can_board_type_id_t;
// Board Instance IDs
typedef enum {
BOARD_INST_ID_ANY = 0x00,
BOARD_INST_ID_GENERIC = 0x01,
} can_board_inst_id_t;
typedef enum {
BOARD_INST_ID_CAMERA_INJ_A = 0x04,
BOARD_INST_ID_CAMERA_INJ_B = 0x05,
BOARD_INST_ID_CAMERA_VENT_A = 0x06,
BOARD_INST_ID_CAMERA_VENT_B = 0x07,
BOARD_INST_ID_CAMERA_VENT_C = 0x08,
BOARD_INST_ID_CAMERA_VENT_D = 0x09,
BOARD_INST_ID_CAMERA_RECOVERY = 0x0A,
} can_board_inst_id_camera_t;
typedef enum {
BOARD_INST_ID_ROCKET_POWER_ROCKET = 0x02,
BOARD_INST_ID_ROCKET_POWER_PAYLOAD = 0x03,
} can_board_inst_id_rocket_power_t;
typedef enum {
BOARD_INST_ID_THERMOCOUPLE_1 = 0xB,
BOARD_INST_ID_THERMOCOUPLE_2 = 0xC,
BOARD_INST_ID_THERMOCOUPLE_3 = 0xD,
BOARD_INST_ID_THERMOCOUPLE_4 = 0xE,
} can_board_inst_id_thermocouple_t;
// clang-format off
/*
* General message type format (from spreadsheet):
* (Version 0.7.0)
* byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7
* GENERAL_CMD: TSTAMP_MS_H TSTAMP_MS_M TSTAMP_MS_L COMMAND_TYPE None None None None
* ACTUATOR_CMD: TSTAMP_MS_H TSTAMP_MS_M TSTAMP_MS_L ACTUATOR_ID ACTUATOR_STATE None None None
* ALT_ARM_CMD: TSTAMP_MS_H TSTAMP_MS_M TSTAMP_MS_L ALT_ARM_STATE & # None None None None
* RESET_CMD: TSTAMP_MS_H TSTAMP_MS_M TSTAMP_MS_L BOARD_TYPE_ID BOARD_INST_ID None None None
* ACT_ANALOG_CMD: TSTAMP_MS_H TSTAMP_MS_M TSTAMP_MS_L ACTUATOR_ID ACT_STATE_INT None None None
*
* DEBUG_MSG: TSTAMP_MS_H TSTAMP_MS_M TSTAMP_MS_L DEBUG_LEVEL | LINUM_H LINUM_L MESSAGE_DEFINED MESSAGE_DEFINED MESSAGE_DEFINED
* DEBUG_PRINTF: ASCII ASCII ASCII ASCII ASCII ASCII ASCII ASCII
* DEBUG_RADIO_CMD: ASCII ASCII ASCII ASCII ASCII ASCII ASCII ASCII
*
* ACTUATOR_STAT: TSTAMP_MS_H TSTAMP_MS_M TSTAMP_MS_L ACTUATOR_ID ACTUATOR_STATE REQ_ACTUATOR_STATE None None
* ALT_ARM_STAT: TSTAMP_MS_H TSTAMP_MS_M TSTAMP_MS_L ALT_ARM_STATE & # V_DROGUE_H V_DROGUE_L V_MAIN_H V_MAIN_L
* BOARD_STAT: TSTAMP_MS_H TSTAMP_MS_M TSTAMP_MS_L ERROR_CODE BOARD_DEFINED BOARD_DEFINED BOARD_DEFINED BOARD_DEFINED
*
* SENSOR_TEMP: TSTAMP_MS_H TSTAMP_MS_M TSTAMP_MS_L SENSOR_NUM TEMP_H TEMP_M TEMP_L None
* SENSOR_ALTITUDE: TSTAMP_MS_H TSTAMP_MS_M TSTAMP_MS_L ALTITUDE_H ALTITUDE_MH ALTITUDE_ML ALTITUDE_L None
* SENSOR_ACC: TSTAMP_MS_M TSTAMP_MS_L VALUE_X_H VALUE_X_L VALUE_Y_H VALUE_Y_L VALUE_Z_H VALUE_Z_L
* SENSOR_GYRO: TSTAMP_MS_M TSTAMP_MS_L VALUE_X_H VALUE_X_L VALUE_Y_H VALUE_Y_L VALUE_Z_H VALUE_Z_L
* SENSOR_MAG: TSTAMP_MS_M TSTAMP_MS_L VALUE_X_H VALUE_X_L VALUE_Y_H VALUE_Y_L VALUE_Z_H VALUE_Z_L
* SENSOR_ANALOG: TSTAMP_MS_M TSTAMP_MS_L SENSOR_ID VALUE_H VALUE_L None None None
*
* GPS_TIMESTAMP: TSTAMP_MS_H TSTAMP_MS_M TSTAMP_MS_L UTC_HOURS UTC_MINUTES UTC_SECONDS UTC_DSECONDS None
* GPS_LAT: TSTAMP_MS_H TSTAMP_MS_M TSTAMP_MS_L DEGREES MINUTES DMINUTES_H DIMNUTES_L N/S DIRECTION
* GPS_LON: TSTAMP_MS_H TSTAMP_MS_M TSTAMP_MS_L DEGREES MINUTES DMINUTES_H DIMNUTES_L E/W DIRECTION
* GPS_ALT: TSTAMP_MS_H TSTAMP_MS_M TSTAMP_MS_L ALT_H ALT_L ALT_DEC UNITS None
* GPS_INFO: TSTAMP_MS_H TSTAMP_MS_M TSTAMP_MS_L NUM_SAT QUALITY None None None
*
*
* FILL_LVL: TSTAMP_MS_H TSTAMP_MS_M TSTAMP_MS_L FILL_LEVEL DIRECTION None None None
*
* STATE_EST_DATA: TSTAMP_MS_H TSTAMP_MS_M TSTAMP_MS_L DATA_L DATA_ML DATA_MH DATA_H STATE_ID
* STATE_EST_CALIB: TSTAMP_MS_H TSTAMP_MS_M TSTAMP_MS_L ACK_FLAG APOGEE_H APOGEE_L None None
*
* LEDS_ON: None None None None None None None None
* LEDS_OFF: None None None None None None None None
*
* This file defines the format of the various CAN message types (defined in
* message_types.h). There is no unified message format; the format of each message
* depends on the message type. In the case of board status messages, the format
* of the rest of the message depends on the message's error code.
*
* This file is the source of truth for message formats. Refer to this when parsing
* CAN messages. Increment the version number when the format for a new message
* type is added.
*/
// clang-format on
// GENERAL_CMD: COMMAND_TYPE
enum GEN_CMD {
BUS_DOWN_WARNING = 0,
};
// ACTUATOR_CMD/STATUS STATES
enum ACTUATOR_STATE {
ACTUATOR_ON = 0,
ACTUATOR_OFF,
ACTUATOR_UNK,
ACTUATOR_ILLEGAL,
};
// ARM_CMD/STATUS STATES
enum ARM_STATE {
DISARMED = 0,
ARMED,
};
// clang-format off
// BOARD GENERAL STATUS ERROR CODES
// ERROR CODE (byte 3) (byte4) (byte 5) (byte 6) (byte 7)
enum BOARD_STATUS {
E_NOMINAL = 0, // x x x x
E_5V_OVER_CURRENT, // mA_high mA_low x x
E_5V_UNDER_VOLTAGE, // mV_high mV_low x x
E_5V_OVER_VOLTAGE, // mV_high mV_low x x
E_BATT_OVER_CURRENT, // mA_high mA_low x x
E_BATT_UNDER_VOLTAGE, // mV_high mV_low x x
E_BATT_OVER_VOLTAGE, // mV_high mV_low x x
E_13V_OVER_CURRENT, // mA_high mA_low x x
E_MOTOR_OVER_CURRENT, // mA_high mA_low x x
E_BOARD_FEARED_DEAD, // board_id x x x
E_NO_CAN_TRAFFIC, // time_s_high time_s_low x x
E_MISSING_CRITICAL_BOARD, // board_id x x x
E_RADIO_SIGNAL_LOST, // time_s_high time_s_low x x
E_ACTUATOR_STATE, // expected_state actuator_state x x
E_CANNOT_INIT_DACS, // x x x x
E_VENT_POT_RANGE, // lim_upper (mV) lim_lower (mV) pot (mV) x
E_LOGGING, // error_type x x x
E_GPS, // x x x x
E_SENSOR, // sensor_id x x x
E_VIDEO, // state x x x
E_ILLEGAL_CAN_MSG, // x x x x
E_SEGFAULT, // x x x x
E_UNHANDLED_INTERRUPT, // x x x x
E_CODING_SCREWUP, // x x x x
};
// clang-format on
enum SENSOR_ID {
SENSOR_5V_CURR = 0,
SENSOR_BATT_CURR,
SENSOR_BATT_VOLT,
SENSOR_CHARGE_CURR,
SENSOR_13V_CURR,
SENSOR_MOTOR_CURR,
SENSOR_GROUND_VOLT,
SENSOR_PRESSURE_OX,
SENSOR_PRESSURE_FUEL,
SENSOR_PRESSURE_CC,
SENSOR_PRESSURE_PNEUMATICS,
SENSOR_HALL_OX_INJ,
SENSOR_HALL_FUEL_INJ,
SENSOR_HALL_FILL,
SENSOR_BARO,
SENSOR_ARM_BATT_1,
SENSOR_ARM_BATT_2,
SENSOR_MAG_1,
SENSOR_MAG_2,
SENSOR_VELOCITY,
SENSOR_VENT_TEMP,
SENSOR_RADIO_CURR,
SENSOR_PAYLOAD_TEMP,
SENSOR_PAYLOAD_FLOW_RATE,
SENSOR_9V_BATT_CURR_1,
SENSOR_9V_BATT_CURR_2,
SENSOR_FPS
};
enum FILL_DIRECTION {
FILLING = 0,
EMPTYING,
};
enum ACTUATOR_ID {
ACTUATOR_VENT_VALVE = 0,
ACTUATOR_INJECTOR_VALVE,
ACTUATOR_FILL_DUMP_VALVE,
ACTUATOR_CAMERA_1,
ACTUATOR_CAMERA_2,
ACTUATOR_CANBUS,
ACTUATOR_CHARGE_CAN,
ACTUATOR_RADIO,
ACTUATOR_PAYLOAD_SERVO,
ACTUATOR_AIRBRAKES_SERVO,
ACTUATOR_AIRBRAKES_ENABLE,
ACTUATOR_ROCKET_POWER,
ACTUATOR_OX_INJECTOR, // Used for hall-sensor state feedback only
ACTUATOR_FUEL_INJECTOR, // Used for hall-sensor state feedback only
ACTUATOR_CHARGE_AIRBRAKE,
ACTUATOR_CHARGE_PAYLOAD
};
enum STATE_ID {
STATE_POS_X = 0,
STATE_POS_Y,
STATE_POS_Z,
STATE_VEL_X,
STATE_VEL_Y,
STATE_VEL_Z,
STATE_ACC_X,
STATE_ACC_Y,
STATE_ACC_Z,
STATE_ANGLE_YAW,
STATE_ANGLE_PITCH,
STATE_ANGLE_ROLL,
STATE_RATE_YAW,
STATE_RATE_PITCH,
STATE_RATE_ROLL,
STATE_FILTER_YAW,
STATE_FILTER_PITCH,
STATE_FILTER_ROLL
};
#endif // compile guard