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car.capnp cleanup

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This commit is contained in:
Adeeb Shihadeh
2025-07-21 17:10:53 -07:00
parent 2f5d02eea1
commit 8cdc66a32b
1 changed files with 13 additions and 15 deletions
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28
opendbc/car/car.capnp
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@@ -152,15 +152,15 @@ struct OnroadEventDEPRECATED @0x9b1657f34caf3ad3 {
}
}
# ******* main car state @ 100hz *******
# all speeds in m/s
struct CarState {
# CAN health
canValid @26 :Bool; # invalid counter/checksums
canTimeout @40 :Bool; # CAN bus dropped out
canErrorCounter @48 :UInt32;
# process meta
cumLagMs @50 :Float32;
# car speed
vEgo @1 :Float32; # best estimate of speed
aEgo @16 :Float32; # best estimate of aCAN cceleration
@@ -187,14 +187,15 @@ struct CarState {
# steering wheel
steeringAngleDeg @7 :Float32;
steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple
steeringRateDeg @15 :Float32;
steeringAngleOffsetDeg @37 :Float32; # Offset between sensors in case there multiple
steeringRateDeg @15 :Float32; # optional
steeringTorque @8 :Float32; # Native CAN units, only needed on cars where it's used for control
steeringTorqueEps @27 :Float32; # Native CAN units, only needed on cars where it's used for control
steeringPressed @9 :Bool; # if the user is using the steering wheel
steeringPressed @9 :Bool; # is the user overring the steering wheel?
steeringDisengage @58 :Bool; # more force than steeringPressed, disengages for applicable brands
steerFaultTemporary @35 :Bool; # temporary EPS fault
steerFaultPermanent @36 :Bool; # permanent EPS fault
steerFaultTemporary @35 :Bool;
steerFaultPermanent @36 :Bool;
invalidLkasSetting @55 :Bool; # stock LKAS is incorrectly configured (i.e. on or off)
stockAeb @30 :Bool;
stockLkas @59 :Bool;
@@ -221,19 +222,16 @@ struct CarState {
genericToggle @23 :Bool;
# lock info
doorOpen @24 :Bool;
seatbeltUnlatched @25 :Bool;
doorOpen @24 :Bool; # ideally includes all doors
seatbeltUnlatched @25 :Bool; # driver seatbelt
# blindspot sensors
leftBlindspot @33 :Bool; # Is there something blocking the left lane change
leftBlindspot @33 :Bool; # Is there something blocking the left lane change
rightBlindspot @34 :Bool; # Is there something blocking the right lane change
fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0
fuelGauge @41 :Float32; # battery or fuel tank level from [0.0, 1.0]
charging @43 :Bool;
# process meta
cumLagMs @50 :Float32;
struct WheelSpeeds {
# optional wheel speeds
fl @0 :Float32;