can_spec_my18.yml

name: MY18
units:
  - newtonmeter = N * m = J = Nm
  - tick = 3 ms
  - RPM = 360 deg / min
archs:
  - lpc11cx4
  - stm32f205
boards:
  can_node:
    arch: lpc11cx4
    publish:
      can0:
        - FrontCanNodeBrakeThrottle
        - FrontCanNodeRightWheelSpeed
        - FrontCanNodeLeftWheelSpeed
    subscribe:
      can0:
        - VCUHeartbeat
  vcu:
    arch: stm32f205
    publish:
      can0:
        - VCUHeartbeat
        - BMSRequest
        - MCCommand
        - VCUControlsParams
        - VCUControlsMonitoring
    subscribe:
      can0:
        - FrontCanNodeBrakeThrottle
        - MCVoltage
        - KistlerSpeedDistance
        - KistlerVelocity
        - KistlerStatus
  dash:
    arch: lpc11cx4
    publish:
      can0:
        - DashRequest
    subscribe:
      can0:
        - VCUHeartbeat
        - BMSHeartbeat
        - FrontCanNodeBrakeThrottle
  bms:
    arch: lpc11cx4
    publish:
      can0:
        - BMSHeartbeat
        - CellVoltageRange
        - CellTemperatureRange
        - CellTemperatureVariance
  button_bank:
    arch: lpc11cx4
    publish:
      can0:
        - ButtonRequest
  sensor_node:
    arch: lpc11cx4
    publish:
      can0:
        - ADC_Data1
        - ADC_Data2
        - ADC_Data3
        - SensorNodeWheelSpeed
  mc:
    subscribe:
      can0:
        - MCCommand
    publish:
      can0:
        - MCVoltage
  current_sensor:
    publish:
      can0:
        - CurrentSensor_Current
        - CurrentSensor_Voltage1
        - CurrentSensor_Voltage2
        - CurrentSensor_Voltage3
        - CurrentSensor_Power
    subscribe:
      can0:
        - CurrentSensor_Config
  kistler:
    publish:
      can0:
        - KistlerSpeedDistance
        - KistlerVelocity
        - KistlerStatus
buses:
  can0:
    baudrate: 500000
    is_extended: false
    messages:
      KistlerSpeedDistance:
        can_id: 0x7FA
        period: 4ms
        is_big_endian: false
        segments:
          timestamp:
            position: 0
            length: 16
            c_type: uint16_t
            unit: 4 ms
          ground_speed:
            position: 16
            length: 16
            c_type: uint16_t
            unit: 1e-2 m/s
          distance:
            position: 32
            length: 32
            c_type: uint32_t
            unit: mm
      KistlerVelocity:
        can_id: 0x7FB
        period: 4ms
        is_big_endian: false
        segments:
          longitudinal:
            position: 0
            length: 16
            c_type: uint16_t
            unit: 1e-2 m/s
          lateral:
            position: 16
            length: 16
            c_type: int16_t
            unit: 1e-2 m/s
          angle:
            position: 32
            length: 16
            c_type: int16_t
            unit: 1e-2 deg
      KistlerStatus:
        can_id: 0x7FC
        period: 4ms
        is_big_endian: false
        segments:
          serial_number:
            position: 0
            length: 24
            c_type: uint32_t
          sensor_number:
            position: 24
            length: 8
            c_type: uint8_t
          temperature:
            position: 32
            length: 8
            c_type: uint8_t
            unit: degC
          led_illumination_curr:
            position: 40
            length: 8
            c_type: uint8_t
            unit: 1e-2 A
          status_byte_1:
            position: 48
            length: 8
            c_type: uint8_t
          status_byte_2: 
            position: 56
            length: 8
            c_type: uint8_t
      FrontCanNodeBrakeThrottle:
        can_id: 0x090
        period: 13ms
        is_big_endian: true
        segments:
          accel_1:
            position: 0
            length: 16
            c_type: uint16_t
          accel_2:
            position: 16
            length: 16
            c_type: uint16_t
          brake_1:
            position: 32
            length: 10
            c_type: uint16_t
          brake_2:
            position: 42
            length: 10
            c_type: uint16_t
          accel_1_under:
            position: 52
            length: 1
            c_type: bool
          accel_1_over:
            position: 53
            length: 1
            c_type: bool
          accel_2_under:
            position: 54
            length: 1
            c_type: bool
          accel_2_over:
            position: 55
            length: 1
            c_type: bool
          brake_1_under:
            position: 56
            length: 1
            c_type: bool
          brake_1_over:
            position: 57
            length: 1
            c_type: bool
          brake_2_under:
            position: 58
            length: 1
            c_type: bool
          brake_2_over:
            position: 59
            length: 1
            c_type: bool
      FrontCanNodeLeftWheelSpeed:
        can_id: 0x0E0
        is_big_endian: true
        period: 10ms
        segments:
          # Wheel speed from 32-bit timer (accurate at most speeds)
          left_32b:
            position: 0
            length: 32
            c_type: uint32_t
            unit: mRPM
          # Wheel speed from 16-bit timer (accurate only at high speeds)
          left_16b:
            position: 32
            length: 32
            c_type: uint32_t
            unit: mRPM
      FrontCanNodeRightWheelSpeed:
        can_id: 0x0E1
        is_big_endian: true
        period: 10ms
        segments:
          # Wheel speed from 32-bit timer (accurate at most speeds)
          right_32b:
            position: 0
            length: 32
            c_type: uint32_t
            unit: mRPM
          # Wheel speed from 16-bit timer (accurate only at high speeds)
          right_16b:
            position: 32
            length: 32
            c_type: uint32_t
            unit: mRPM
      SensorNodeWheelSpeed:
        can_id: 0x0E2
        is_big_endian: true
        period: 10ms
        segments:
          left_32b:
            position: 0
            length: 32
            c_type: uint32_t
            unit: mRPM
          right_32b:
            position: 32
            length: 32
            c_type: uint32_t
            unit: mRPM
      CellTemperatureRange:
        can_id: 0x016
        period: 101ms
        is_big_endian: true
        segments:
          min:
            position: 0
            length: 10
            c_type: int16_t
            unit: decidegC
          argmin:
            position: 10
            length: 8
            c_type: uint8_t
          max0:
            position: 18
            length: 10
            c_type: int16_t
            unit: decidegC
          argmax0:
            position: 28
            length: 8
            c_type: uint8_t
          max1:
            position: 36
            length: 10
            c_type: int16_t
            unit: decidegC
          argmax1:
            position: 46
            length: 8
            c_type: uint8_t
          max2:
            position: 54
            length: 10
            c_type: int16_t
            unit: decidegC
      CellTemperatureVariance:
        can_id: 0x0F0
        period: 103ms
        is_big_endian: true
        segments:
          mean:
            position: 0
            length: 10
            c_type: int16_t
            unit: decidegC
          variance:
            position: 10
            length: 16
            c_type: uint16_t
            unit: decidegC ** 2
      CellVoltageRange:
        can_id: 0x017
        period: 31ms
        is_big_endian: true
        segments:
          min:
            position: 0
            length: 14
            c_type: uint16_t
            unit: mV
          max:
            position: 14
            length: 14
            c_type: uint16_t
            unit: mV
          sum:
            position: 28
            length: 32
            c_type: uint32_t
            unit: mV
      BMSHeartbeat:
        can_id: 0x0DF
        period: 103ms
        is_big_endian: true
        segments:
          error_pec:
            position: 0
            length: 1
            c_type: bool
          error_cvst:
            position: 1
            length: 1
            c_type: bool
          error_owt:
            position: 2
            length: 1
            c_type: bool
          error_L_contactor_error:
            position: 3
            length: 1
            c_type: bool
          error_H_contactor_error:
            position: 4
            length: 1
            c_type: bool
          error_L_contactor_weld:
            position: 5
            length: 1
            c_type: bool
          error_H_contactor_weld:
            position: 6
            length: 1
            c_type: bool
          error_cell_under_voltage:
            position: 7
            length: 1
            c_type: bool
          error_cell_over_voltage:
            position: 8
            length: 1
            c_type: bool
          error_cell_under_temp:
            position: 9
            length: 1
            c_type: bool
          error_cell_over_temp:
            position: 10
            length: 1
            c_type: bool
          error_control_flow:
            position: 11
            length: 1
            c_type: bool
          error_force_over_can:
            position: 12
            length: 1
            c_type: bool
          L_contactor_closed:
            position: 13
            length: 1
            c_type: bool
          H_contactor_closed:
            position: 14
            length: 1
            c_type: bool
          L_contactor_welded:
            position: 15
            length: 1
            c_type: bool
          H_contactor_welded:
            position: 16
            length: 1
            c_type: bool
          soc:
            position: 17
            length: 8
            c_type: uint8_t
      BMSRequest:
        can_id: 0x0D3
        is_big_endian: true
        segments:
          force_error:
            position: 0
            length: 1
            c_type: bool
      VCUHeartbeat:
        can_id: 0x0F3
        period: 41ms
        is_big_endian: true
        segments:
          vcu_state:
            position: 0
            length: 3
            c_type: enum
            enum:
              VCU_STATE_ROOT: 0
              VCU_STATE_LV: 1
              VCU_STATE_PRECHARGING: 2
              VCU_STATE_RTD: 3
              VCU_STATE_DRIVING: 4
          error_state:
            position: 3
            length: 3
            c_type: enum
            enum:
              NO_ERROR_STATE: 0x0
              RECOVERABLE_ERROR_STATE: 0x1
              FATAL_ERROR_STATE: 0x2
          estop_hit:
            position: 6
            length: 1
            c_type: bool
          lc_state:
            position: 7
            length: 3
            c_type: enum
            enum:
              BEFORE: 0
              SPEEDING_UP: 1
              SPEED_CONTROLLER: 2
              ZERO_TORQUE: 3
              DONE: 4
      VCUErrors:
        can_id: 0x0F4
        period: 111ms
        is_big_endian: true
        segments:
          recoverable_conflict:
            position: 0
            length: 1
            c_type: bool
          recoverable_gate:
            position: 1
            length: 1
            c_type: bool
          recoverable_heartbeat:
            position: 2
            length: 1
            c_type: bool
          recoverable_contactor:
            position: 3
            length: 1
            c_type: bool
          fatal_contactor:
            position: 4
            length: 1
            c_type: bool
          fatal_gate:
            position: 5
            length: 1
            c_type: bool
          fatal_precharge:
            position: 6
            length: 1
            c_type: bool
          fatal_conflict:
            position: 7
            length: 1
            c_type: bool
          gate_sdn:
            position: 8
            length: 1
            c_type: bool
          gate_bpd:
            position: 9
            length: 1
            c_type: bool
          gate_bms:
            position: 10
            length: 1
            c_type: bool
          gate_imd:
            position: 11
            length: 1
            c_type: bool
      CurrentSensor_Current:
        can_id: 0x521
        period: 0.05s
        is_big_endian: true
        segments:
          mux_id:
            position: 0
            length: 8
            c_type: uint8_t
          msg_count:
            position: 8
            length: 4
            c_type: uint8_t
          over_current_signal:
            position: 12
            length: 1
            c_type: bool
          channel_error:
            position: 13
            length: 1
            c_type: bool
          measurement_error:
            position: 14
            length: 1
            c_type: bool
          system_error:
            position: 15
            length: 1
            c_type: bool
          result:
            position: 16
            length: 32
            c_type: int32_t
            unit: mA
      CurrentSensor_Voltage1:
        can_id: 0x522
        period: 10ms
        is_big_endian: true
        segments:
          mux_id:
            position: 0
            length: 8
            c_type: uint8_t
          msg_count:
            position: 8
            length: 4
            c_type: uint8_t
          over_current_signal:
            position: 12
            length: 1
            c_type: bool
          channel_error:
            position: 13
            length: 1
            c_type: bool
          measurement_error:
            position: 14
            length: 1
            c_type: bool
          system_error:
            position: 15
            length: 1
            c_type: bool
          result:
            position: 16
            length: 32
            c_type: int32_t
            unit: mV
      CurrentSensor_Voltage2:
        can_id: 0x523
        period: 50ms
        is_big_endian: true
        segments:
          mux_id:
            position: 0
            length: 8
            c_type: uint8_t
          msg_count:
            position: 8
            length: 4
            c_type: uint8_t
          over_current_signal:
            position: 12
            length: 1
            c_type: bool
          channel_error:
            position: 13
            length: 1
            c_type: bool
          measurement_error:
            position: 14
            length: 1
            c_type: bool
          system_error:
            position: 15
            length: 1
            c_type: bool
          result:
            position: 16
            length: 32
            c_type: int32_t
            unit: mV
      CurrentSensor_Voltage3:
        can_id: 0x524
        period: 50ms
        is_big_endian: true
        segments:
          mux_id:
            position: 0
            length: 8
            c_type: uint8_t
          msg_count:
            position: 8
            length: 4
            c_type: uint8_t
          over_current_signal:
            position: 12
            length: 1
            c_type: bool
          channel_error:
            position: 13
            length: 1
            c_type: bool
          measurement_error:
            position: 14
            length: 1
            c_type: bool
          system_error:
            position: 15
            length: 1
            c_type: bool
          result:
            position: 16
            length: 32
            c_type: int32_t
            unit: mV
      CurrentSensor_Power:
        can_id: 0x526
        period: 50ms
        is_big_endian: true
        segments:
          mux_id:
            position: 0
            length: 8
            c_type: uint8_t
          msg_count:
            position: 8
            length: 4
            c_type: uint8_t
          over_current_signal:
            position: 12
            length: 1
            c_type: bool
          channel_error:
            position: 13
            length: 1
            c_type: bool
          measurement_error:
            position: 14
            length: 1
            c_type: bool
          system_error:
            position: 15
            length: 1
            c_type: bool
          result:
            position: 16
            length: 32
            c_type: int32_t
            unit: W
      CurrentSensor_Energy:
        can_id: 0x528
        period: 50ms
        is_big_endian: true
        segments:
          mux_id:
            position: 0
            length: 8
            c_type: uint8_t
          msg_count:
            position: 8
            length: 4
            c_type: uint8_t
          over_current_signal:
            position: 12
            length: 1
            c_type: bool
          channel_error:
            position: 13
            length: 1
            c_type: bool
          measurement_error:
            position: 14
            length: 1
            c_type: bool
          system_error:
            position: 15
            length: 1
            c_type: bool
          result:
            position: 16
            length: 32
            c_type: int32_t
            unit: Wh
      DashRequest:
        can_id: 0x0D2
        is_big_endian: true
        period: 69ms
        segments:
          using_regen:
            position: 0
            length: 1
            c_type: bool
          using_voltage_limiting:
            position: 1
            length: 1
            c_type: bool
          using_temp_limiting:
            position: 2
            length: 1
            c_type: bool
          regen_bias: # Ranges from 0 to 100
            position: 3
            length: 8
            c_type: uint8_t
          limp_factor: # Ranges from 0 to 100
            position: 11
            length: 8
            c_type: uint8_t
          temp_lim_min_gain:
            position: 19
            length: 8
            c_type: uint8_t
          temp_lim_thresh_temp:
            position: 27
            length: 8
            c_type: uint8_t
          volt_lim_min_gain:
            position: 35
            length: 8
            c_type: uint8_t
          volt_lim_min_voltage:
            position: 43
            length: 16
            c_type: uint16_t
          active_aero_enabled:
            position: 59
            length: 1
            c_type: bool
          daq_mark:
            position: 60
            length: 1
            c_type: bool
      VCUControlsParams:
        can_id: 0x0D4
        is_big_endian: true
        period: 200ms
        segments:
          using_regen:
            position: 0
            length: 1
            c_type: bool
          using_voltage_limiting:
            position: 1
            length: 1
            c_type: bool
          using_temp_limiting:
            position: 2
            length: 1
            c_type: bool
          regen_bias: # Ranges from 0 to 100
            position: 3
            length: 8
            c_type: uint8_t
          limp_factor: # Ranges from 0 to 100
            position: 11
            length: 8
            c_type: uint8_t
          temp_lim_min_gain:
            position: 19
            length: 8
            c_type: uint8_t
          temp_lim_thresh_temp:
            position: 27
            length: 8
            c_type: uint8_t
          volt_lim_min_gain:
            position: 35
            length: 8
            c_type: uint8_t
          volt_lim_min_voltage:
            position: 43
            length: 16
            c_type: uint16_t
          active_aero_enabled:
            position: 59
            length: 1
            c_type: bool
          torque_temp_limited:
            position: 60
            length: 1
            c_type: bool
      ButtonRequest:
        can_id: 0x0D8
        period: 73ms
        is_big_endian: true
        segments:
          RTD:
            position: 0
            length: 1
            c_type: bool
          DriverReset:
            position: 1
            length: 1
            c_type: bool
          A:
            position: 2
            length: 1
            c_type: bool
          B:
            position: 3
            length: 1
            c_type: bool
      ADC_Data1:
        can_id: 0xD9
        period: 10ms
        is_big_endian: true
        segments:
          shockpot:
            position: 0
            length: 16
            c_type: uint16_t
          load_cell:
            position: 16
            length: 16
            c_type: uint16_t
          ext_adc_ch2:
            position: 32
            length: 16
            c_type: uint16_t
          ext_adc_ch3:
            position: 48
            length: 16
            c_type: uint16_t
      ADC_Data2:
        can_id: 0xDB
        period: 10ms
        is_big_endian: true
        segments:
          ext_adc_ch4:
            position: 0
            length: 16
            c_type: uint16_t
          ext_adc_ch5:
            position: 16
            length: 16
            c_type: uint16_t
          ext_adc_ch6:
            position: 32
            length: 16
            c_type: uint16_t
          ext_adc_ch7:
            position: 48
            length: 16
            c_type: uint16_t
      ADC_Data3:
        can_id: 0xDD
        period: 10ms
        is_big_endian: true
        segments:
          int_adc_ch2:
            position: 0
            length: 16
            c_type: uint16_t
          int_adc_ch3:
            position: 16
            length: 16
            c_type: uint16_t
          int_adc_ch4:
            position: 32
            length: 16
            c_type: uint16_t
          int_adc_ch5:
            position: 48
            length: 16
            c_type: uint16_t
      MCCommand:
        can_id: 0x0C0 # From manual
        period: 9ms  # MC needs a message at 2 Hz or higher
        is_big_endian: false
        segments:
          torque:
            position: 0
            length: 16
            c_type: int16_t
            unit: dNm
          angular_vel:
            position: 16
            length: 16
            c_type: int16_t
            unit: RPM
          direction_is_counterclockwise: # when viewed from shaft end of motor
            position: 39
            length: 1
            c_type: bool
          inverter_enabled:
            position: 47
            length: 1
            c_type: bool
          discharge_enabled:
            position: 46
            length: 1
            c_type: bool
          speed_mode:
            position: 45
            length: 1
            c_type: bool
          torque_limit:
            position: 48
            length: 16
            c_type: int16_t
            unit: dNm
      MCParameterRequest:
        can_id: 0x0C1
        is_big_endian: false
        segments:
          address:
            position: 0
            length: 16
            c_type: int16_t
            unit: dNm
          write:  # make an enum {read, write}
            position: 23
            length: 1
            c_type: bool
            unit: RPM
          data:
            position: 32
            length: 16
            c_type: int16_t
      MCVoltage:
        can_id: 0x0A7
        period: 1cs
        is_big_endian: false
        segments:
          bus:
            position: 0
            length: 16
            unit: dV
            c_type: int16_t
          out:
            position: 16
            length: 16
            unit: dV
            c_type: int16_t
          VAB_Vd:
            position: 32
            length: 16
            unit: dV
            c_type: int16_t
          VBC_Vq:
            position: 48
            length: 16
            unit: dV
            c_type: int16_t
      MCMotorPositionInfo:
        can_id: 0x0A5
        period: 0.01s
        is_big_endian: false
        segments:
          motor_angle:
            position: 0
            length: 16
            c_type: int16_t
            unit: decideg
          motor_speed:
            position: 16
            length: 16
            c_type: int16_t
            unit: RPM
          electrical_output_freq:
            position: 32
            length: 16
            c_type: int16_t
            unit: dHz
          delta_resolved_filter:
            position: 48
            length: 16
            c_type: int16_t
            unit: decideg
      MCFluxInfo:
        can_id: 0x0A8
        period: 0.01s
        is_big_endian: false
        segments:
          flux_command:
            position: 0
            length: 16
            c_type: int16_t
            unit: mWb
          flux_feedback:
            position: 16
            length: 16
            c_type: int16_t
            unit: mWb
          Iq_feedback:
            position: 32
            length: 16
            c_type: int16_t
            unit: dA
          Id_feedback:
            position: 48
            length: 16
            c_type: int16_t
            unit: dA
      MCFaultCodes:
        can_id: 0x0AB
        is_big_endian: false
        segments:
          post_hw_gate_desaturation_fault:
            position: 0
            length: 1
            c_type: bool
          hw_over_current_fualt:
            position: 1
            length: 1
            c_type: bool
          accel_shorted:
            position: 2
            length: 1
            c_type: bool
          accel_open:
            position: 3
            length: 1
            c_type: bool
          current_sensor_lo:
            position: 4
            length: 1
            c_type: bool
          current_sensor_hi:
            position: 5
            length: 1
            c_type: bool
          module_temp_lo:
            position: 6
            length: 1
            c_type: bool
          module_temp_hi:
            position: 7
            length: 1
            c_type: bool
          control_pcb_temp_lo:
            position: 8
            length: 1
            c_type: bool
          control_pcb_temp_hi:
            position: 9
            length: 1
            c_type: bool
          gate_drive_pcb_temp_lo:
            position: 10
            length: 1
            c_type: bool
          gate_drive_pcb_temp_hi:
            position: 11
            length: 1
            c_type: bool
          sense_5v_lo:
            position: 12
            length: 1
            c_type: bool
          sense_5v_hi:
            position: 13
            length: 1
            c_type: bool
          sense_12v_lo:
            position: 14
            length: 1
            c_type: bool
          sense_12v_hi:
            position: 15
            length: 1
            c_type: bool
          sense_2_5v_lo:
            position: 16
            length: 1
            c_type: bool
          sense_2_5v_hi:
            position: 17
            length: 1
            c_type: bool
          sense_1_5v_lo:
            position: 18
            length: 1
            c_type: bool
          sense_1_5v_hi:
            position: 19
            length: 1
            c_type: bool
          dc_bus_voltage_hi:
            position: 20
            length: 1
            c_type: bool
          dc_bus_voltage_lo:
            position: 21
            length: 1
            c_type: bool
          pre_charge_timeout:
            position: 22
            length: 1
            c_type: bool
          pre_charge_failure:
            position: 23
            length: 1
            c_type: bool
          eeprom_checksum_invalid:
            position: 24
            length: 1
            c_type: bool
          eeprom_checksum_data_out_of_range:
            position: 25
            length: 1
            c_type: bool
          eeprom_checksum_update_required:
            position: 26
            length: 1
            c_type: bool
          post_brake_shorted:
            position: 30
            length: 1
            c_type: bool
          post_brake_open:
            position: 31
            length: 1
            c_type: bool
          motor_over_speed_fault:
            position: 32
            length: 1
            c_type: bool
          over_current_fault:
            position: 33
            length: 1
            c_type: bool
          over_voltage_fault:
            position: 34
            length: 1
            c_type: bool
          inverter_over_temp_fault:
            position: 35
            length: 1
            c_type: bool
          accel_input_shorted_fault:
            position: 36
            length: 1
            c_type: bool
          accel_input_open_fault:
            position: 37
            length: 1
            c_type: bool
          direction_command_fault:
            position: 38
            length: 1
            c_type: bool
          inverter_resp_timeout_fault:
            position: 39
            length: 1
            c_type: bool
          run_hw_gate_desaturation_fault:
            position: 40
            length: 1
            c_type: bool
          run_hw_over_current_fualt:
            position: 41
            length: 1
            c_type: bool
          under_voltage_fault:
            position: 42
            length: 1
            c_type: bool
          can_command_msg_lost_fault:
            position: 43
            length: 1
            c_type: bool
          motor_over_temp_fault:
            position: 44
            length: 1
            c_type: bool
          run_brake_shorted:
            position: 48
            length: 1
            c_type: bool
          run_brake_open:
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            length: 1
            c_type: bool
          module_A_over_temp_fault:
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            length: 1
            c_type: bool
          module_B_over_temp_fault:
            position: 51
            length: 1
            c_type: bool
          module_C_over_temp_fault:
            position: 52
            length: 1
            c_type: bool
          pcb_over_temp_fault:
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            length: 1
            c_type: bool
          gate_drive_board_1_over_temp:
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            length: 1
            c_type: bool
          gate_drive_board_2_over_temp:
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            length: 1
            c_type: bool
          gate_drive_board_3_over_temp:
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            length: 1
            c_type: bool
          current_sensor_fault:
            position: 57
            length: 1
            c_type: bool
          resolver_not_connected:
            position: 62
            length: 1
            c_type: bool
          inverter_discharge_active:
            position: 63
            length: 1
            c_type: bool
      MCTorqueTimerInfo:
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        period: 0.01s
        is_big_endian: false
        segments:
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            length: 16
            c_type: int16_t
            unit: dNm
          torque_feedback:
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            length: 16
            c_type: int16_t
            unit: dNm
          power_on_timer:
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            length: 32
            c_type: uint32_t
            unit: tick
      MCModulationIndxFluxWeakeningInfo:
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        is_big_endian: false
        segments:
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            length: 16
            c_type: uint16_t
          flux_weakening_output:
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            length: 16
            c_type: int16_t
            unit: dA
          Id_command:
            position: 32
            length: 16
            c_type: int16_t
            unit: dA
          Iq_command:
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            length: 16
            c_type: int16_t
            unit: dA
      CurrentSensor_Config:
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        is_big_endian: true
        segments:
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            c_type: uint8_t
          db1:
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            length: 8
            c_type: uint8_t
          db2:
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            length: 8
            c_type: uint8_t
          db3:
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            length: 8
            c_type: uint8_t
          db4:
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            length: 8
            c_type: uint8_t
          db5:
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            length: 8
            c_type: uint8_t
          db6:
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            length: 8
            c_type: uint8_t
          db7:
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            length: 8
            c_type: uint8_t
      MCTemperature:
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        is_big_endian: false
        segments:
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            length: 16
            unit: decidegC
            c_type: int16_t
          module_b_temp:
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            length: 16
            unit: decidegC
            c_type: int16_t
          module_c_temp:
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            length: 16
            unit: decidegC
            c_type: int16_t
          gate_driver_temp:
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            length: 16
            unit: decidegC
            c_type: int16_t
      SBG_EKF_Velocity_ACC:
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        is_big_endian: false
        segments:
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            length: 16
            c_type: int16_t
            unit: cm / s
          east:
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            length: 16
            c_type: int16_t
            unit: cm / s
          down:
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            length: 16
            c_type: int16_t
            unit: cm / s
      SBG_EKF_Velocity:
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        is_big_endian: false
        segments:
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            length: 16
            c_type: int16_t
            unit: cm / s
          east:
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            length: 16
            c_type: int16_t
            unit: cm / s
          down:
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            length: 16
            c_type: int16_t
            unit: cm / s
      SBG_EKF_Position_ACC:
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        is_big_endian: false
        segments:
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            length: 16
            c_type: uint16_t
            unit: cm
          longitude:
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            length: 16
            c_type: uint16_t
            unit: cm
          altitude:
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            length: 16
            c_type: uint16_t
            unit: cm
      SBG_EKF_Position:
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        is_big_endian: false
        segments:
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            length: 32
            c_type: int32_t
            unit: 1e-7 deg
          longitude:
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            length: 32
            c_type: int32_t
            unit: 1e-7 deg
      SBG_EKF_Altitude:
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        segments:
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            length: 32
            c_type: int32_t
            unit: mm
          undulation:
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            length: 16
            c_type: int16_t
            unit: 5 mm
      SBG_EKF_Orientation_ACC:
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        segments:
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            length: 16
            c_type: uint16_t
            unit: 0.1 mrad
          roll:
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            length: 16
            c_type: uint16_t
            unit: 0.1 mrad
          yaw:
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            length: 16
            c_type: uint16_t
            unit: 0.1 mrad
      SBG_EKF_Euler:
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        segments:
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            length: 16
            c_type: int16_t
            unit: 0.1 mrad
          pitch:
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            length: 16
            c_type: int16_t
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          yaw:
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            length: 16
            c_type: int16_t
            unit: 0.1 mrad
      SBG_EKF_Quaternion:
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        segments:
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            length: 16
            c_type: int16_t
            unit: 3.0517578125e-5
          q1:
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            length: 16
            c_type: int16_t
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          q2:
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            length: 16
            c_type: int16_t
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          q3:
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            length: 16
            c_type: int16_t
            unit: 3.0517578125e-5
      SBG_IMU_DeltaAngle:
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        segments:
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            length: 16
            c_type: int16_t
            unit: mrad / s
          y:
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            length: 16
            c_type: int16_t
            unit: mrad / s
          z:
            position: 32
            length: 16
            c_type: int16_t
            unit: mrad / s
      SBG_IMU_DeltaVelocity:
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        is_big_endian: false
        segments:
          x:
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            length: 16
            c_type: int16_t
            unit: cm / (s ** 2)
          y:
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            length: 16
            c_type: int16_t
            unit: cm / (s ** 2)
          z:
            position: 32
            length: 16
            c_type: int16_t
            unit: cm / (s ** 2)
      SBG_IMU_Gyroscope:
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        is_big_endian: false
        segments:
          x:
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            length: 16
            c_type: int16_t
            unit: mrad / s
          y:
            position: 16
            length: 16
            c_type: int16_t
            unit: mrad / s
          z:
            position: 32
            length: 16
            c_type: int16_t
            unit: mrad / s
      SBG_IMU_Accelerometer:
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        is_big_endian: false
        segments:
          x:
            position: 0
            length: 16
            c_type: int16_t
            unit: cm / (s ** 2)
          y:
            position: 16
            length: 16
            c_type: int16_t
            unit: cm / (s ** 2)
          z:
            position: 32
            length: 16
            c_type: int16_t
            unit: cm / (s ** 2)
      SBG_LOG_UTC:
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        is_big_endian: false
        segments:
          timestamp:
            position: 0
            length: 32
            c_type: uint32_t
            unit: ms
          timeofweek:
            position: 32
            length: 32
            c_type: uint32_t
            unit: ms
      VCUControlsMonitoring:
        can_id: 0x600
        is_big_endian: true
        period: 10 ms
        segments:
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            length: 16
            c_type: int16_t
          vl_gain:
            position: 16
            length: 8
            c_type: uint8_t
          tl_gain:
            position: 24
            length: 8
            c_type: uint8_t
          filtered_temp:
            unit: centidegC
            position: 32
            length: 16
            c_type: uint16_t
          voltage_used:
            unit: cV
            position: 48
            length: 16
            c_type: int16_t