package apollo.canbus

Get desktop application:
View/edit binary Protocol Buffers messages

Used in: Lexus

• optional bool user_interaction_is_valid = 1

  Report Message [] [0|1]

• optional bool user_interaction = 2

  [] [0|1]

• optional bool raw_pedal_force_is_valid = 3

  [] [0|1]

• optional double raw_pedal_force = 4

  [] [-32.768|32.767]

• optional bool raw_pedal_pos_is_valid = 5

  [] [0|1]

• optional double raw_pedal_pos = 6

  [] [-32.768|32.767]

Used in: Lexus

• optional bool ignore_overrides = 1

  Control Message [] [0|1]

• optional bool enable = 2

  [] [0|1]

• optional bool clear_override = 3

  [] [0|1]

• optional bool clear_faults = 4

  [] [0|1]

• optional double accel_cmd = 5

  [] [0|1]

Used in: Gem

• optional double accel_cmd = 1

  Report Message [%] [0|1]

Used in: Lexus

• optional bool vehicle_fault = 1

  Report Message [] [0|1]

• optional bool pacmod_fault = 2

  [] [0|1]

• optional bool output_reported_fault = 3

  [] [0|1]

• optional bool input_output_fault = 4

  [] [0|1]

• optional bool command_output_fault = 5

  [] [0|1]

• optional bool override_active = 6

  [] [0|1]

• optional bool enabled = 7

  [] [0|1]

• optional double manual_input = 8

  [] [0|1]

• optional double commanded_value = 9

  [] [0|1]

• optional double output_value = 10

  [] [0|1]

Used in: Gem

• optional double manual_input = 1

  Report Message [%] [0|1]

• optional double commanded_value = 2

  [%] [0|1]

• optional double output_value = 3

  [%] [0|1]

Used in: Transit

• optional int32 adc_auxcontrol_counter = 1

  Aux control heartbeat counter [] [0|3]

• optional int32 adc_auxcontrol_checksum = 2

  Aux control checksum [] [0|255]

• optional bool adc_cmd_inverter_controlenable = 3

  Control inverter override (default ON if not overridden) [T/F] [0|1]

• optional bool adc_cmd_inverter = 4

  Control inverter [T/F] [0|1]

• optional int32 adc_cmd_wiper = 5

  (Reserved) Control wiper [] [0|3]

• optional bool adc_cmd_pdu_controlenable = 6

  PDU Control Override (all channels default ON if not overridden) [T/F] [0|1]

• optional bool adc_cmd_pdu_ch8 = 7

  Control PDU Ch 8 (when override enabled) [T/F] [0|1]

• optional bool adc_cmd_pdu_ch7 = 8

  Control PDU Ch 7 (when override enabled) [T/F] [0|1]

• optional bool adc_cmd_pdu_ch6 = 9

  Control PDU Ch 6 (when override enabled) [T/F] [0|1]

• optional bool adc_cmd_pdu_ch5 = 10

  Control PDU Ch 5 (when override enabled) [T/F] [0|1]

• optional bool adc_cmd_pdu_ch4 = 11

  Control PDU Ch 4 (when override enabled) [T/F] [0|1]

• optional bool adc_cmd_pdu_ch3 = 12

  Control PDU Ch 3 (when override enabled) [T/F] [0|1]

• optional bool adc_cmd_pdu_ch2 = 13

  Control PDU Ch 2 (when override enabled) [T/F] [0|1]

• optional bool adc_cmd_pdu_ch1 = 14

  Control PDU Ch 1 (when override enabled) [T/F] [0|1]

• optional bool adc_cmd_hazardlights = 15

  Control hazard lights [T/F] [0|1]

• optional bool adc_cmd_highbeam = 16

  Control high beam [T/F] [0|1]

• optional bool adc_cmd_lowbeam = 17

  Control low beam [T/F] [0|1]

• optional bool adc_cmd_horn = 18

  Control horn [T/F] [0|1]

• optional Adc_auxiliarycontrol_110.Adc_cmd_turnsignalType adc_cmd_turnsignal = 19

  Requested turn signals [] [0|3]

Control Message

Used in: Adc_auxiliarycontrol_110

• ADC_CMD_TURNSIGNAL_NONE = 0

• ADC_CMD_TURNSIGNAL_LEFT = 1

• ADC_CMD_TURNSIGNAL_RIGHT = 2

• ADC_CMD_TURNSIGNAL_RESERVE = 3

Used in: Transit

• optional double adc_cmd_steerwheelangle = 1

  Setpoint for steering wheel angle. Positive for CW [deg] [-1638.4|1638.35]

• optional Adc_motioncontrol1_10.Adc_cmd_steeringcontrolmodeType adc_cmd_steeringcontrolmode = 2

  Select steering control mode [] [0|3]

• optional bool adc_cmd_parkingbrake = 3

  (Reserved) Control parking brake [T/F] [0|1]

• optional Adc_motioncontrol1_10.Adc_cmd_gearType adc_cmd_gear = 4

  Transmission control - only used in direct longitudinal control [] [0|7]

• optional int32 adc_motioncontrol1_checksum = 5

  Motion Control 1 checksum [] [0|255]

• optional double adc_cmd_brakepercentage = 6

  Brake pressure for direct longitudinal control [%] [0|113.8132]

• optional double adc_cmd_throttleposition = 7

  Throttle pedal position percentage for direct longitudinal control [%] [0|100]

• optional int32 adc_motioncontrol1_counter = 8

  Motion control 1 Heartbeat counter [] [0|3]

• optional Adc_motioncontrol1_10.Adc_cmd_autonomyrequestType adc_cmd_autonomyrequest = 9

  Request from ADC to LLC for autonomy [] [0|3]

• optional Adc_motioncontrol1_10.Adc_cmd_longitudinalcontrolmodeType adc_cmd_longitudinalcontrolmode = 10

  Select longitudinal control mode [] [0|3]

Used in: Adc_motioncontrol1_10

• ADC_CMD_AUTONOMYREQUEST_AUTONOMY_NOT_REQUESTED = 0

• ADC_CMD_AUTONOMYREQUEST_AUTONOMY_REQUESTED = 1

• ADC_CMD_AUTONOMYREQUEST_RESERVED0 = 2

• ADC_CMD_AUTONOMYREQUEST_RESERVED1 = 3

Used in: Adc_motioncontrol1_10

• ADC_CMD_GEAR_P_PARK = 0

• ADC_CMD_GEAR_D_DRIVE = 1

• ADC_CMD_GEAR_N_NEUTRAL = 2

• ADC_CMD_GEAR_R_REVERSE = 3

Used in: Adc_motioncontrol1_10

• ADC_CMD_LONGITUDINALCONTROLMODE_NONE = 0

• ADC_CMD_LONGITUDINALCONTROLMODE_RESERVED_VELOCITY_AND_ACCELERATION = 1

• ADC_CMD_LONGITUDINALCONTROLMODE_RESERVED_FORCE = 2

• ADC_CMD_LONGITUDINALCONTROLMODE_DIRECT_THROTTLE_BRAKE = 3

Control Message

Used in: Adc_motioncontrol1_10

• ADC_CMD_STEERINGCONTROLMODE_NONE = 0

• ADC_CMD_STEERINGCONTROLMODE_ANGLE = 1

• ADC_CMD_STEERINGCONTROLMODE_RESERVED_CURVATURE = 2

• ADC_CMD_STEERINGCONTROLMODE_RESERVED = 3

Used in: Transit

• optional double adc_cmd_throttlecommandlimit = 1

  Control Message Set limit for throttle position [%] [0|100]

• optional double adc_cmd_steeringrate = 2

  Set steering rate [deg/s] [0|3276.75]

• optional double adc_cmd_steerwheelanglelimit = 3

  Set limit for steering wheel angle. Applies in both positive and negative [deg] [0|1275]

Used in: Wey

• optional Ads1_111.Ads_dectostopType ads_dectostop = 1

  ADS request ESP/VLC to decelerate until standstill. [] [0|1]

• optional Ads1_111.Ads_modeType ads_mode = 2

  The status of the ADS control unit.The ADS mode should be contained in every message sent by ADS [] [0|31]

• optional double ads_taracce = 3

  ADS target acceleration for transmission [m/s2] [-7|5.75]

• optional Ads1_111.Ads_driveoff_reqType ads_driveoff_req = 4

  ACC request ESP drive off [] [0|1]

• optional double ads_aeb_taracce = 5

  target deceleration value from AEB [m/s2] [-16|16]

• optional Ads1_111.Ads_aeb_tgtdecel_reqType ads_aeb_tgtdecel_req = 6

  Request of the AEB deceleration control. [] [0|1]

Used in: Ads1_111

• ADS_AEB_TGTDECEL_REQ_NO_DEMAND = 0

• ADS_AEB_TGTDECEL_REQ_DEMAND = 1

Control Message

Used in: Ads1_111

• ADS_DECTOSTOP_NO_DEMAND = 0

• ADS_DECTOSTOP_DEMAND = 1

Used in: Ads1_111

• ADS_DRIVEOFF_REQ_NO_DEMAND = 0

• ADS_DRIVEOFF_REQ_DEMAND = 1

Used in: Ads1_111

• ADS_MODE_OFF_MODE = 0

• ADS_MODE_ACTIVE_MODE = 3

Used in: Wey

• optional Ads3_38e.Ads_bcm_workstsType ads_bcm_worksts = 1

  The work status of ADS control unit.This signal should be contained in every message sent by ADS. [] [0|3]

• optional Ads3_38e.Ads_bcmworkstsvalidType ads_bcmworkstsvalid = 2

  This Signal reflect the ADS_WorkSts Signal is Valid OR not [] [0|1]

• optional Ads3_38e.Ads_reqcontrolbcmType ads_reqcontrolbcm = 3

  Vehicle Task request.If ADS request control BCM [] [0|1]

• optional Ads3_38e.HighbeamtonType highbeamton = 4

  Open theHigh Beam light [] [0|1]

• optional Ads3_38e.DippedbeamonType dippedbeamon = 5

  Open the dipped Beam light [] [0|1]

• optional Ads3_38e.TurnllightonType turnllighton = 6

  Open the Turn light [] [0|3]

• optional Ads3_38e.EmergencylightonType emergencylighton = 7

  Open the emergency light [] [0|1]

• optional Ads3_38e.FfoglamponType ffoglampon = 8

  Open the front fog light [] [0|1]

• optional Ads3_38e.RfoglamponType rfoglampon = 9

  Open the rear fog ligh [] [0|1]

• optional Ads3_38e.BrakelightType brakelight = 10

  Open the brake light [] [0|1]

• optional Ads3_38e.HornonType hornon = 11

  Open the horn voice [] [0|1]

• optional Ads3_38e.FwindshieldwiperType fwindshieldwiper = 12

  Open front window shield wiper [] [0|1]

• optional Ads3_38e.RwindshieldwiperType rwindshieldwiper = 13

  Open rear window shield wiper [] [0|1]

Control Message

Used in: Ads3_38e

• ADS_BCM_WORKSTS_DISABLE = 0

• ADS_BCM_WORKSTS_ENABLE = 1

• ADS_BCM_WORKSTS_ACTIVE = 2

• ADS_BCM_WORKSTS_FAILED = 3

Used in: Ads3_38e

• ADS_BCMWORKSTSVALID_INVALID = 0

• ADS_BCMWORKSTSVALID_VALID = 1

Used in: Ads3_38e

• ADS_REQCONTROLBCM_NO_REQUEST = 0

• ADS_REQCONTROLBCM_REQUEST = 1

Used in: Ads3_38e

• BRAKELIGHT_TURN_OFF = 0

• BRAKELIGHT_TURN_ON = 1

Used in: Ads3_38e

• DIPPEDBEAMON_TURN_OFF = 0

• DIPPEDBEAMON_TURN_ON = 1

Used in: Ads3_38e

• EMERGENCYLIGHTON_TURN_OFF = 0

• EMERGENCYLIGHTON_TURN_ON = 1

Used in: Ads3_38e

• FFOGLAMPON_TURN_OFF = 0

• FFOGLAMPON_TURN_ON = 1

Used in: Ads3_38e

• FWINDSHIELDWIPER_TURN_OFF = 0

• FWINDSHIELDWIPER_TURN_ON = 1

Used in: Ads3_38e

• HIGHBEAMTON_TURN_OFF = 0

• HIGHBEAMTON_TURN_ON = 1

Used in: Ads3_38e

• HORNON_TURN_OFF = 0

• HORNON_TURN_ON = 1

Used in: Ads3_38e

• RFOGLAMPON_TURN_OFF = 0

• RFOGLAMPON_TURN_ON = 1

Used in: Ads3_38e

• RWINDSHIELDWIPER_TURN_OFF = 0

• RWINDSHIELDWIPER_TURN_ON = 1

Used in: Ads3_38e

• TURNLLIGHTON_TURN_OFF = 0

• TURNLLIGHTON_TURN_LEFT_ON = 1

• TURNLLIGHTON_TURN_RIGHT_ON = 2

• TURNLLIGHTON_RESERVED = 3

Used in: Wey

• optional Ads_eps_113.Ads_epsmodeType ads_epsmode = 1

  EPS Mode [] [0|3]

• optional double ads_reqepstargetangle = 2

  Steering Wheel Target Angle [deg] [-800|838.3]

Control Message

Used in: Ads_eps_113

• ADS_EPSMODE_DISABLE = 0

• ADS_EPSMODE_ACTIVE = 2

Used in: Wey

• optional Ads_req_vin_390.Req_vin_signalType req_vin_signal = 1

  [] [0|255]

Control Message

Used in: Ads_req_vin_390

• REQ_VIN_SIGNAL_NO_REQUEST = 0

• REQ_VIN_SIGNAL_REQUEST = 1

Used in: Wey

• optional Ads_shifter_115.Ads_shiftmodeType ads_shiftmode = 1

  ADS Shift Mode [] [0|1]

• optional Ads_shifter_115.Ads_targetgearType ads_targetgear = 2

  ADS Target Gear [] [0|0]

Control Message

Used in: Ads_shifter_115

• ADS_SHIFTMODE_INVALID = 0

• ADS_SHIFTMODE_VALID = 1

Used in: Ads_shifter_115

• ADS_TARGETGEAR_N = 0

• ADS_TARGETGEAR_R = 1

• ADS_TARGETGEAR_P = 2

• ADS_TARGETGEAR_D = 3

Used in: ChassisDetail

• optional bool is_auto_mode = 1

• optional BasicInfo.Type power_state = 2

• optional bool is_air_bag_deployed = 3

• optional double odo_meter = 4

  odo meter, unit:km

• optional double drive_range = 5

  the meter left when drive continuously, unit:km

• optional bool is_system_error = 6

• optional bool is_human_interrupt = 7

  human interrupt

• optional bool acc_on_button = 8

  lincoln misc 69

  acc on button pressed

• optional bool acc_off_button = 9

• optional bool acc_res_button = 10

• optional bool acc_cancel_button = 11

• optional bool acc_on_off_button = 12

• optional bool acc_res_cancel_button = 13

• optional bool acc_inc_spd_button = 14

• optional bool acc_dec_spd_button = 15

• optional bool acc_inc_gap_button = 16

• optional bool acc_dec_gap_button = 17

• optional bool lka_button = 18

• optional bool canbus_fault = 19

• optional double latitude = 20

  lincoln gps 6d

• optional double longitude = 21

• optional bool gps_valid = 22

• optional int32 year = 23

  lincoln gps 6e

• optional int32 month = 24

• optional int32 day = 25

• optional int32 hours = 26

• optional int32 minutes = 27

• optional int32 seconds = 28

• optional double compass_direction = 29

• optional double pdop = 30

• optional bool is_gps_fault = 31

• optional bool is_inferred = 32

• optional double altitude = 33

  lincoln gps 6f

• optional double heading = 34

• optional double hdop = 35

• optional double vdop = 36

• optional GpsQuality quality = 37

• optional int32 num_satellites = 38

• optional double gps_speed = 39

Used in: BasicInfo

• OFF = 0

• ACC = 1

• ON = 2

• START = 3

• INVALID = 4

Battery

Used in: ChassisDetail

• optional double battery_percent = 1

  unit:%, battery percentage left

• optional double fuel_level = 2

  lincoln fuellevel 72

Used in: ChassisDetail

• optional bool is_brake_pedal_pressed = 1

  ems 255

  only manual brake

• optional bool is_brake_force_exist = 2

  esp 277

  no matter auto mode brake or manual brake

• optional bool is_brake_over_heat = 3

• optional bool is_hand_brake_on = 4

  hand brake

• optional double brake_pedal_position = 5

• optional bool is_brake_valid = 6

  byd vtog 342

• optional double brake_input = 7

  lincoln brake 61

• optional double brake_cmd = 8

• optional double brake_output = 9

• optional bool boo_input = 10

• optional bool boo_cmd = 11

• optional bool boo_output = 12

• optional bool watchdog_applying_brakes = 13

• optional int32 watchdog_source = 14

• optional bool brake_enabled = 15

• optional bool driver_override = 16

• optional bool driver_activity = 17

• optional bool watchdog_fault = 18

• optional bool channel_1_fault = 19

• optional bool channel_2_fault = 20

• optional bool boo_fault = 21

• optional bool connector_fault = 22

• optional double brake_torque_req = 23

  lincoln brakeinfo 74

• optional Brake.HSAStatusType hsa_status = 24

• optional double brake_torque_act = 25

• optional Brake.HSAModeType hsa_mode = 26

• optional double wheel_torque_act = 27

• optional int32 major_version = 28

  lincoln version 7f

• optional int32 minor_version = 29

• optional int32 build_number = 30

Used in: Brake

• HSA_OFF = 0

• HSA_AUTO = 1

• HSA_MANUAL = 2

• HSA_MODE_UNDEFINED = 3

Used in: Brake

• HSA_INACTIVE = 0

• HSA_FINDING_GRADIENT = 1

• HSA_ACTIVE_PRESSED = 2

• HSA_ACTIVE_RELEASED = 3

• HSA_FAST_RELEASE = 4

• HSA_SLOW_RELEASE = 5

• HSA_FAILED = 6

• HSA_UNDEFINED = 7

Used in: Lexus

• optional bool brake_on_off_is_valid = 1

  Report Message [] [0|1]

• optional bool brake_on_off = 2

  [] [0|1]

• optional bool user_interaction_is_valid = 3

  [] [0|1]

• optional bool user_interaction = 4

  [] [0|1]

• optional bool raw_brake_pressure_is_valid = 5

  [] [0|1]

• optional double raw_brake_pressure = 6

  [] [-32.768|32.767]

• optional bool raw_pedal_force_is_valid = 7

  [] [0|1]

• optional double raw_pedal_force = 8

  [] [-32.768|32.767]

• optional bool raw_pedal_pos_is_valid = 9

  [] [0|1]

• optional double raw_pedal_pos = 10

  [] [-32.768|32.767]

Used in: Lexus

• optional bool ignore_overrides = 1

  Control Message [] [0|1]

• optional bool enable = 2

  [] [0|1]

• optional bool clear_override = 3

  [] [0|1]

• optional bool clear_faults = 4

  [] [0|1]

• optional double brake_cmd = 5

  [] [0|1]

Used in: Gem

• optional double brake_cmd = 1

  Report Message [%] [0|1]

Used in: Ch

• optional Brake_command_111.Brake_pedal_en_ctrlType brake_pedal_en_ctrl = 1

  brake pedal enable bit(Command) [] [0|1]

• optional int32 brake_pedal_cmd = 2

  Percentage of brake pedal(Command) [%] [0|100]

Control Message

Used in: Brake_command_111

• BRAKE_PEDAL_EN_CTRL_DISABLE = 0

• BRAKE_PEDAL_EN_CTRL_ENABLE = 1

Used in: Zhongyun

• optional double brake_torque = 1

  [%] [0|100]

• optional Brake_control_a4.Brake_enable_controlType brake_enable_control = 2

  [] [0|1]

Control Message

Used in: Brake_control_a4

• BRAKE_ENABLE_CONTROL_BRAKE_MANUAL = 0

• BRAKE_ENABLE_CONTROL_BRAKE_AUTO = 1

Used in: Lexus

• optional double motor_current = 1

  Report Message [amps] [0|4294967.295]

• optional double shaft_position = 2

  [radians] [-2147483.648|2147483.647]

Used in: Gem

• optional double motor_current = 1

  Report Message [amps] [0|4294967.295]

• optional double shaft_position = 2

  [radians] [-2147483.648|2147483.647]

Used in: Lexus

• optional int32 encoder_temperature = 1

  Report Message [deg C] [-32808|32727]

• optional int32 motor_temperature = 2

  [deg C] [-32808|32727]

• optional double angular_speed = 3

  [rev/s] [0|4294967.295]

Used in: Gem

• optional int32 encoder_temperature = 1

  Report Message [deg C] [-32808|32727]

• optional int32 motor_temperature = 2

  [deg C] [-32808|32727]

• optional double angular_speed = 3

  [rev/s] [0|4294967.295]

Used in: Lexus

• optional double torque_output = 1

  Report Message [N-m] [-2147483.648|2147483.647]

• optional double torque_input = 2

  [N-m] [-2147483.648|2147483.647]

Used in: Gem

• optional double torque_output = 1

  Report Message [N-m] [-2147483.648|2147483.647]

• optional double torque_input = 2

  [N-m] [-2147483.648|2147483.647]

Used in: Lexus

• optional bool command_output_fault = 1

  Report Message [] [0|1]

• optional bool vehicle_fault = 2

  [] [0|1]

• optional bool pacmod_fault = 3

  [] [0|1]

• optional bool override_active = 4

  [] [0|1]

• optional bool output_reported_fault = 5

  [] [0|1]

• optional bool input_output_fault = 6

  [] [0|1]

• optional bool enabled = 7

  [] [0|1]

• optional double manual_input = 8

  [] [0|1]

• optional double commanded_value = 9

  [] [0|1]

• optional double output_value = 10

  [] [0|1]

Used in: Gem

• optional double manual_input = 1

  [%] [0|1]

• optional double commanded_value = 2

  [%] [0|1]

• optional double output_value = 3

  [%] [0|1]

• optional Brake_rpt_6c.Brake_on_offType brake_on_off = 4

  [] [0|1]

Report Message

Used in: Brake_rpt_6c

• BRAKE_ON_OFF_OFF = 0

• BRAKE_ON_OFF_ON = 1

Used in: Ch

• optional Brake_status__511.Brake_pedal_en_stsType brake_pedal_en_sts = 1

  brake pedal enable bit(Status) [] [0|1]

• optional int32 brake_pedal_sts = 2

  Percentage of brake pedal(Status) [%] [0|100]

Report Message

Used in: Brake_status__511

• BRAKE_PEDAL_EN_STS_DISABLE = 0

• BRAKE_PEDAL_EN_STS_ENABLE = 1

Used in: data.VehicleInfo

• optional VehicleParameter vehicle_parameter = 1

• optional drivers.canbus.CANCardParameter can_card_parameter = 2

• optional bool enable_debug_mode = 3

• optional bool enable_receiver_log = 4

• optional bool enable_sender_log = 5

Used in: ChassisDetail

• optional Control_command_115 control_command_115 = 1

  control message

• optional Gear_command_114 gear_command_114 = 2

  control message

• optional Brake_command_111 brake_command_111 = 3

  control message

• optional Throttle_command_110 throttle_command_110 = 4

  control message

• optional Turnsignal_command_113 turnsignal_command_113 = 5

  control message

• optional Steer_command_112 steer_command_112 = 6

  control message

• optional Brake_status__511 brake_status__511 = 7

  report message

• optional Throttle_status__510 throttle_status__510 = 8

  report message

• optional Turnsignal_status__513 turnsignal_status__513 = 9

  report message

• optional Steer_status__512 steer_status__512 = 10

  report message

• optional Ecu_status_1_515 ecu_status_1_515 = 11

  report message

• optional Gear_status_514 gear_status_514 = 12

  report message

• optional Ecu_status_3_517 ecu_status_3_517 = 13

  report message

• optional Ecu_status_2_516 ecu_status_2_516 = 14

  report message

next id :31

Used in: planning_internal.PlanningData

• optional bool engine_started = 3

• optional float engine_rpm = 4

  Engine speed in RPM.

• optional float speed_mps = 5

  Vehicle Speed in meters per second.

• optional float odometer_m = 6

  Vehicle odometer in meters.

• optional int32 fuel_range_m = 7

  Fuel range in meters.

• optional float throttle_percentage = 8

  Real throttle location in [%], ranging from 0 to 100.

• optional float brake_percentage = 9

  Real brake location in [%], ranging from 0 to 100.

• optional float steering_percentage = 11

  Real steering location in [%], ranging from -100 to 100. steering_angle / max_steering_angle Clockwise: negative CountClockwise: positive

• optional float steering_torque_nm = 12

  Applied steering torque in [Nm].

• optional bool parking_brake = 13

  Parking brake status.

• optional bool high_beam_signal = 14

  Light signals.

• optional bool low_beam_signal = 15

• optional bool left_turn_signal = 16

• optional bool right_turn_signal = 17

• optional bool horn = 18

• optional bool wiper = 19

• optional bool disengage_status = 20

• optional Chassis.DrivingMode driving_mode = 21

• optional Chassis.ErrorCode error_code = 22

• optional Chassis.GearPosition gear_location = 23

• optional double steering_timestamp = 24

  timestamp for steering module

  In seconds, with 1e-6 accuracy

• optional common.Header header = 25

  chassis also needs it own sending timestamp

• optional int32 chassis_error_mask = 26

• optional common.VehicleSignal signal = 27

• optional ChassisGPS chassis_gps = 28

  Only available for Lincoln now

• optional common.EngageAdvice engage_advice = 29

• optional WheelSpeed wheel_speed = 30

• optional Surround surround = 31

• optional License license = 32

  Vehicle registration information

• optional common.VehicleID vehicle_id = 33

Used in: Chassis, Safety, VehicleParameter, common.VehicleState, control.ControlCommand, control.ControlConf, control.PadMessage

• COMPLETE_MANUAL = 0

  human drive

• COMPLETE_AUTO_DRIVE = 1

• AUTO_STEER_ONLY = 2

  only steer

• AUTO_SPEED_ONLY = 3

  include throttle and brake

• EMERGENCY_MODE = 4

  security mode when manual intervention happens, only response status

Used in: Chassis

• NO_ERROR = 0

• CMD_NOT_IN_PERIOD = 1

  control cmd not in period

• CHASSIS_ERROR = 2

  car chassis report error, like steer, brake, throttle, gear fault

• CHASSIS_ERROR_ON_STEER = 6

  classify the types of the car chassis errors

• CHASSIS_ERROR_ON_BRAKE = 7

• CHASSIS_ERROR_ON_THROTTLE = 8

• CHASSIS_ERROR_ON_GEAR = 9

• MANUAL_INTERVENTION = 3

  human manual intervention

• CHASSIS_CAN_NOT_IN_PERIOD = 4

  receive car chassis can frame not in period

• UNKNOWN_ERROR = 5

Used in: Chassis, Gear, common.VehicleState, control.ControlCommand, planning.ADCTrajectory

• GEAR_NEUTRAL = 0

• GEAR_DRIVE = 1

• GEAR_REVERSE = 2

• GEAR_PARKING = 3

• GEAR_LOW = 4

• GEAR_INVALID = 5

• GEAR_NONE = 6

Used in: v2x.CarStatus

• optional ChassisDetail.Type car_type = 1

  car type

• optional BasicInfo basic = 2

  basic info

• optional Safety safety = 3

  safety

• optional Gear gear = 4

  gear

• optional Ems ems = 5

  engine manager system

• optional Esp esp = 6

  Electronic Stability Program

• optional Gas gas = 7

  gas pedal

• optional Epb epb = 8

  Electronic parking brake

• optional Brake brake = 9

  brake pedal

• optional Deceleration deceleration = 10

  deceleration

• optional VehicleSpd vehicle_spd = 11

  vehicle speed

• optional Eps eps = 12

  Electronic Power Steering

• optional Light light = 13

  Light

• optional Battery battery = 14

  Battery info

• optional CheckResponseSignal check_response = 15

• optional License license = 16

  License info

• optional Surround surround = 17

  Surround information

• optional Gem gem = 18

• optional Lexus lexus = 19

• optional Transit transit = 20

• optional Ge3 ge3 = 21

• optional Wey wey = 22

• optional Zhongyun zhongyun = 23

• optional Ch ch = 24

• optional common.VehicleID vehicle_id = 101

  Reserve fields for other vehicles

Used in: ChassisDetail

• QIRUI_EQ_15 = 0

• CHANGAN_RUICHENG = 1

Used in: Chassis

• optional double latitude = 1

• optional double longitude = 2

• optional bool gps_valid = 3

• optional int32 year = 4

• optional int32 month = 5

• optional int32 day = 6

• optional int32 hours = 7

• optional int32 minutes = 8

• optional int32 seconds = 9

• optional double compass_direction = 10

• optional double pdop = 11

• optional bool is_gps_fault = 12

• optional bool is_inferred = 13

• optional double altitude = 14

• optional double heading = 15

• optional double hdop = 16

• optional double vdop = 17

• optional GpsQuality quality = 18

• optional int32 num_satellites = 19

• optional double gps_speed = 20

CheckResponseSignal

Used in: ChassisDetail

• optional bool is_eps_online = 1

  byd:0x34C qirui:0x505

• optional bool is_epb_online = 2

  byd:0x218

• optional bool is_esp_online = 3

  byd:0x122 qirui:0x451

• optional bool is_vtog_online = 4

  byd:0x242

• optional bool is_scu_online = 5

  byd:0x35C

• optional bool is_switch_online = 6

  byd:0x133

• optional bool is_vcu_online = 7

  qirui:0x400

Used in: Lexus

• optional Component_rpt_20.Component_typeType component_type = 1

  [] [0|255]

• optional Component_rpt_20.Component_funcType component_func = 2

  [] [0|255]

• optional int32 counter = 3

  [] [0|15]

• optional int32 complement = 4

  [] [0|15]

• optional bool config_fault = 5

  [] [0|1]

Used in: Component_rpt_20

• COMPONENT_FUNC_PACMOD = 0

• COMPONENT_FUNC_STEERING_AND_STEERING_COLUMN = 1

• COMPONENT_FUNC_ACCELERATOR_AND_BRAKING = 2

• COMPONENT_FUNC_BRAKING = 3

• COMPONENT_FUNC_SHIFTING = 4

• COMPONENT_FUNC_STEERING = 5

• COMPONENT_FUNC_E_SHIFTER = 6

• COMPONENT_FUNC_WATCHDOG = 7

Report Message

Used in: Component_rpt_20

• COMPONENT_TYPE_PACMOD = 0

• COMPONENT_TYPE_PACMINI = 1

• COMPONENT_TYPE_PACMICRO = 2

Coolhigh vehicle starts from here

Used in: Ch

• optional Control_command_115.Ctrl_cmdType ctrl_cmd = 1

  Take control(Command) [] [0|1]

Control Message

Used in: Control_command_115

• CTRL_CMD_OUT_OF_CONTROL = 0

• CTRL_CMD_UNDER_CONTROL = 1

Used in: Lexus

• optional Cruise_control_buttons_cmd_108.Cruise_control_buttonType cruise_control_button = 1

  [] [0|255]

• optional bool ignore_overrides = 2

  [] [0|1]

• optional bool clear_override = 3

  [] [0|1]

• optional bool enable = 4

  [] [0|1]

• optional bool clear_faults = 5

  [] [0|1]

Control Message

Used in: Cruise_control_buttons_cmd_108

• CRUISE_CONTROL_BUTTON_CRUISE_CONTROL_NONE = 0

• CRUISE_CONTROL_BUTTON_CRUISE_CONTROL_CNCL = 1

• CRUISE_CONTROL_BUTTON_CRUISE_CONTROL_ACC_FURTHER = 2

• CRUISE_CONTROL_BUTTON_CRUISE_CONTROL_ACC_CLOSER = 3

• CRUISE_CONTROL_BUTTON_CRUISE_CONTROL_SET_DEC = 4

• CRUISE_CONTROL_BUTTON_CRUISE_CONTROL_RES_INC = 5

• CRUISE_CONTROL_BUTTON_CRUISE_CONTROL_ON_OFF = 6

Used in: Lexus

• optional Cruise_control_buttons_rpt_208.Output_valueType output_value = 1

  [] [0|255]

• optional Cruise_control_buttons_rpt_208.Manual_inputType manual_input = 2

  [] [0|255]

• optional Cruise_control_buttons_rpt_208.Commanded_valueType commanded_value = 3

  [] [0|255]

• optional bool vehicle_fault = 4

  [] [0|1]

• optional bool pacmod_fault = 5

  [] [0|1]

• optional bool override_active = 6

  [] [0|1]

• optional bool output_reported_fault = 7

  [] [0|1]

• optional bool input_output_fault = 8

  [] [0|1]

• optional bool enabled = 9

  [] [0|1]

• optional bool command_output_fault = 10

  [] [0|1]

Used in: Cruise_control_buttons_rpt_208

• COMMANDED_VALUE_CRUISE_CONTROL_NONE = 0

• COMMANDED_VALUE_CRUISE_CONTROL_CNCL = 1

• COMMANDED_VALUE_CRUISE_CONTROL_ACC_FURTHER = 2

• COMMANDED_VALUE_CRUISE_CONTROL_ACC_CLOSER = 3

• COMMANDED_VALUE_CRUISE_CONTROL_SET_DEC = 4

• COMMANDED_VALUE_CRUISE_CONTROL_RES_INC = 5

• COMMANDED_VALUE_CRUISE_CONTROL_ON_OFF = 6

Used in: Cruise_control_buttons_rpt_208

• MANUAL_INPUT_CRUISE_CONTROL_NONE = 0

• MANUAL_INPUT_CRUISE_CONTROL_CNCL = 1

• MANUAL_INPUT_CRUISE_CONTROL_ACC_FURTHER = 2

• MANUAL_INPUT_CRUISE_CONTROL_ACC_CLOSER = 3

• MANUAL_INPUT_CRUISE_CONTROL_SET_DEC = 4

• MANUAL_INPUT_CRUISE_CONTROL_RES_INC = 5

• MANUAL_INPUT_CRUISE_CONTROL_ON_OFF = 6

Report Message

Used in: Cruise_control_buttons_rpt_208

• OUTPUT_VALUE_CRUISE_CONTROL_NONE = 0

• OUTPUT_VALUE_CRUISE_CONTROL_CNCL = 1

• OUTPUT_VALUE_CRUISE_CONTROL_ACC_FURTHER = 2

• OUTPUT_VALUE_CRUISE_CONTROL_ACC_CLOSER = 3

• OUTPUT_VALUE_CRUISE_CONTROL_SET_DEC = 4

• OUTPUT_VALUE_CRUISE_CONTROL_RES_INC = 5

• OUTPUT_VALUE_CRUISE_CONTROL_ON_OFF = 6

Used in: Lexus

• optional bool ignore_overrides = 1

  [] [0|1]

• optional bool enable = 2

  [] [0|1]

• optional bool clear_override = 3

  [] [0|1]

• optional bool clear_faults = 4

  [] [0|1]

• optional Dash_controls_left_cmd_10c.Dash_controls_buttonType dash_controls_button = 5

  [] [0|255]

Report Message

Used in: Dash_controls_left_cmd_10c

• DASH_CONTROLS_BUTTON_DASH_CONTROL_NONE = 0

• DASH_CONTROLS_BUTTON_DASH_CONTROL_OK = 1

• DASH_CONTROLS_BUTTON_DASH_CONTROL_LEFT = 2

• DASH_CONTROLS_BUTTON_DASH_CONTROL_RIGHT = 3

• DASH_CONTROLS_BUTTON_DASH_CONTROL_UP = 4

• DASH_CONTROLS_BUTTON_DASH_CONTROL_DOWN = 5

Used in: Lexus

• optional Dash_controls_left_rpt_20c.Output_valueType output_value = 1

  [] [0|255]

• optional Dash_controls_left_rpt_20c.Commanded_valueType commanded_value = 2

  [] [0|255]

• optional Dash_controls_left_rpt_20c.Manual_inputType manual_input = 3

  [] [0|255]

• optional bool vehicle_fault = 4

  [] [0|1]

• optional bool pacmod_fault = 5

  [] [0|1]

• optional bool override_active = 6

  [] [0|1]

• optional bool output_reported_fault = 7

  [] [0|1]

• optional bool input_output_fault = 8

  [] [0|1]

• optional bool enabled = 9

  [] [0|1]

• optional bool command_output_fault = 10

  [] [0|1]

Used in: Dash_controls_left_rpt_20c

• COMMANDED_VALUE_DASH_CONTROL_NONE = 0

• COMMANDED_VALUE_DASH_CONTROL_OK = 1

• COMMANDED_VALUE_DASH_CONTROL_LEFT = 2

• COMMANDED_VALUE_DASH_CONTROL_RIGHT = 3

• COMMANDED_VALUE_DASH_CONTROL_UP = 4

• COMMANDED_VALUE_DASH_CONTROL_DOWN = 5

Used in: Dash_controls_left_rpt_20c

• MANUAL_INPUT_DASH_CONTROL_NONE = 0

• MANUAL_INPUT_DASH_CONTROL_OK = 1

• MANUAL_INPUT_DASH_CONTROL_LEFT = 2

• MANUAL_INPUT_DASH_CONTROL_RIGHT = 3

• MANUAL_INPUT_DASH_CONTROL_UP = 4

• MANUAL_INPUT_DASH_CONTROL_DOWN = 5

Report Message

Used in: Dash_controls_left_rpt_20c

• OUTPUT_VALUE_DASH_CONTROL_NONE = 0

• OUTPUT_VALUE_DASH_CONTROL_OK = 1

• OUTPUT_VALUE_DASH_CONTROL_LEFT = 2

• OUTPUT_VALUE_DASH_CONTROL_RIGHT = 3

• OUTPUT_VALUE_DASH_CONTROL_UP = 4

• OUTPUT_VALUE_DASH_CONTROL_DOWN = 5

Used in: Lexus

• optional bool ignore_overrides = 1

  [] [0|1]

• optional bool enable = 2

  [] [0|1]

• optional bool clear_override = 3

  [] [0|1]

• optional bool clear_faults = 4

  [] [0|1]

• optional Dash_controls_right_cmd_110.Dash_controls_buttonType dash_controls_button = 5

  [] [0|255]

Report Message

Used in: Dash_controls_right_cmd_110

• DASH_CONTROLS_BUTTON_DASH_CONTROL_NONE = 0

• DASH_CONTROLS_BUTTON_DASH_CONTROL_OK = 1

• DASH_CONTROLS_BUTTON_DASH_CONTROL_LEFT = 2

• DASH_CONTROLS_BUTTON_DASH_CONTROL_RIGHT = 3

• DASH_CONTROLS_BUTTON_DASH_CONTROL_UP = 4

• DASH_CONTROLS_BUTTON_DASH_CONTROL_DOWN = 5

Used in: Lexus

• optional Dash_controls_right_rpt_210.Output_valueType output_value = 1

  [] [0|255]

• optional Dash_controls_right_rpt_210.Commanded_valueType commanded_value = 2

  [] [0|255]

• optional bool vehicle_fault = 3

  [] [0|1]

• optional bool pacmod_fault = 4

  [] [0|1]

• optional bool override_active = 5

  [] [0|1]

• optional bool output_reported_fault = 6

  [] [0|1]

• optional bool input_output_fault = 7

  [] [0|1]

• optional bool enabled = 8

  [] [0|1]

• optional bool command_output_fault = 9

  [] [0|1]

• optional Dash_controls_right_rpt_210.Manual_inputType manual_input = 10

  [] [0|255]

Used in: Dash_controls_right_rpt_210

• COMMANDED_VALUE_DASH_CONTROL_NONE = 0

• COMMANDED_VALUE_DASH_CONTROL_OK = 1

• COMMANDED_VALUE_DASH_CONTROL_LEFT = 2

• COMMANDED_VALUE_DASH_CONTROL_RIGHT = 3

• COMMANDED_VALUE_DASH_CONTROL_UP = 4

• COMMANDED_VALUE_DASH_CONTROL_DOWN = 5

Used in: Dash_controls_right_rpt_210

• MANUAL_INPUT_DASH_CONTROL_NONE = 0

• MANUAL_INPUT_DASH_CONTROL_OK = 1

• MANUAL_INPUT_DASH_CONTROL_LEFT = 2

• MANUAL_INPUT_DASH_CONTROL_RIGHT = 3

• MANUAL_INPUT_DASH_CONTROL_UP = 4

• MANUAL_INPUT_DASH_CONTROL_DOWN = 5

Control Message

Used in: Dash_controls_right_rpt_210

• OUTPUT_VALUE_DASH_CONTROL_NONE = 0

• OUTPUT_VALUE_DASH_CONTROL_OK = 1

• OUTPUT_VALUE_DASH_CONTROL_LEFT = 2

• OUTPUT_VALUE_DASH_CONTROL_RIGHT = 3

• OUTPUT_VALUE_DASH_CONTROL_UP = 4

• OUTPUT_VALUE_DASH_CONTROL_DOWN = 5

Used in: Lexus

• optional int32 time_second = 1

  Report Message [sec] [0|60]

• optional int32 time_minute = 2

  [min] [0|60]

• optional int32 time_hour = 3

  [hr] [0|23]

• optional int32 date_day = 4

  [dy] [1|31]

• optional int32 date_month = 5

  [mon] [1|12]

• optional int32 date_year = 6

  [yr] [2000|2255]

Used in: Gem

• optional int32 time_second = 1

  Report Message [sec] [0|60]

• optional int32 time_minute = 2

  [min] [0|60]

• optional int32 time_hour = 3

  [hr] [0|23]

• optional int32 date_day = 4

  [dy] [1|31]

• optional int32 date_month = 5

  [mon] [1|12]

• optional int32 date_year = 6

  [yr] [2000|2255]

Used in: ChassisDetail

• optional bool is_deceleration_available = 1

  esp 277

  for changan to send deceleration value

• optional bool is_deceleration_active = 2

  for changan to send deceleration value

• optional double deceleration = 3

• optional double is_evb_fail = 4

• optional double evb_pressure = 5

  mpa, 0~25.5

• optional double brake_pressure = 6

• optional double brake_pressure_spd = 7

Used in: Lexus

• optional double front_object_distance_high_res = 1

  Report Message [m] [0|16777.215]

• optional double front_object_distance_low_res = 2

  [m] [0|16777.215]

Used in: Lexus

• optional bool fuel_door_open_is_valid = 1

  Report Message [] [0|1]

• optional bool trunk_open_is_valid = 2

  [] [0|1]

• optional bool hood_open_is_valid = 3

  [] [0|1]

• optional bool rear_pass_door_open_is_valid = 4

  [] [0|1]

• optional bool rear_driver_door_open_is_valid = 5

  [] [0|1]

• optional bool pass_door_open_is_valid = 6

  [] [0|1]

• optional bool driver_door_open_is_valid = 7

  [] [0|1]

• optional bool fuel_door_open = 8

  [] [0|1]

• optional bool trunk_open = 9

  [] [0|1]

• optional bool hood_open = 10

  [] [0|1]

• optional bool rear_pass_door_open = 11

  [] [0|1]

• optional bool rear_driver_door_open = 12

  [] [0|1]

• optional bool pass_door_open = 13

  [] [0|1]

• optional bool driver_door_open = 14

  [] [0|1]

Used in: Ch

• optional double speed = 1

  Current speed (Steering status) [m/s] [0|0]

• optional double acc_speed = 2

  Current acceleration (Steering status) [m/s^2] [0|0]

• optional Ecu_status_1_515.Ctrl_stsType ctrl_sts = 3

  Current Auto-mode state (Chassis status) [] [0|1]

• optional int32 chassis_sts = 4

  Current chassis state (Chassis status) [] [0|255]

• optional int32 chassis_err = 5

  Chassis error code (Chassis status) [] [0|65535]

Report Message

Used in: Ecu_status_1_515

• CTRL_STS_OUT_OF_CONTROL = 0

• CTRL_STS_UNDER_CONTROL = 1

Used in: Ch

• optional int32 battery_remaining_capacity = 1

  Report Message Percentage of battery remaining (BMS status) [%] [0|0]

• optional double battery_voltage = 2

  Current battery voltage (BMS status) [V] [0|0]

• optional double battery_current = 3

  Current battery current (BMS status) [A] [0|0]

• optional int32 battery_temperature = 4

  Current battery temperature (BMS status) [?] [0|0]

Used in: Ch

• optional int32 ultrasound_dist_1 = 1

  Report Message Ultrasonic detection distance 1 (Ultrasound status) [cm] [0|0]

• optional int32 ultrasound_dist_2 = 2

  Ultrasonic detection distance 2 (Ultrasound status) [cm] [0|0]

• optional int32 ultrasound_dist_3 = 3

  Ultrasonic detection distance 3 (Ultrasound status) [cm] [0|0]

• optional int32 ultrasound_dist_4 = 4

  Ultrasonic detection distance 4 (Ultrasound status) [cm] [0|0]

• optional int32 ultrasound_dist_5 = 5

  Ultrasonic detection distance 5 (Ultrasound status) [cm] [0|0]

• optional int32 ultrasound_dist_6 = 6

  Ultrasonic detection distance 6 (Ultrasound status) [cm] [0|0]

• optional int32 ultrasound_dist_7 = 7

  Ultrasonic detection distance 7 (Ultrasound status) [cm] [0|0]

• optional int32 ultrasound_dist_8 = 8

  Ultrasonic detection distance 8 (Ultrasound status) [cm] [0|0]

Engine Manager System

Used in: ChassisDetail

• optional bool is_engine_acc_available = 1

  ems 26a

  for changan to control car

• optional bool is_engine_acc_error = 2

  for changan to control car

• optional Ems.Type engine_state = 3

  ems 265

• optional double max_engine_torq_percent = 4

  for engine torq control, unit:%

• optional double min_engine_torq_percent = 5

  for engine torq control, unit:%

• optional int32 base_engine_torq_constant = 6

  for engine torq control, unit:Nm

• optional bool is_engine_speed_error = 7

  ems 255

• optional double engine_speed = 8

• optional int32 engine_torque = 9

  byd vtog 241

• optional bool is_over_engine_torque = 10

  byd vtog 242

• optional double engine_rpm = 11

  lincoln mkz throttleinfo 75

Used in: Ems

• STOP = 0

• CRANK = 1

• RUNNING = 2

• INVALID = 3

Used in: Zhongyun

• optional Enable_state_feedback_c3.Parking_enable_stateType parking_enable_state = 1

  [] [0|1]

• optional Enable_state_feedback_c3.Steering_enable_stateType steering_enable_state = 2

  [] [0|2]

• optional Enable_state_feedback_c3.Gear_enable_actualType gear_enable_actual = 3

  [] [0|2]

• optional Enable_state_feedback_c3.Driven_enable_stateType driven_enable_state = 4

  [] [0|2]

• optional Enable_state_feedback_c3.Brake_enable_stateType brake_enable_state = 5

  [] [0|2]

Used in: Enable_state_feedback_c3

• BRAKE_ENABLE_STATE_BRAKE_MANUAL = 0

• BRAKE_ENABLE_STATE_BRAKE_AUTO = 1

• BRAKE_ENABLE_STATE_BRAKE_TAKEOVER = 2

Used in: Enable_state_feedback_c3

• DRIVEN_ENABLE_STATE_DRIVE_MANUAL = 0

• DRIVEN_ENABLE_STATE_DRIVE_AUTO = 1

• DRIVEN_ENABLE_STATE_DRIVE_TAKEOVER = 2

Used in: Enable_state_feedback_c3

• GEAR_ENABLE_ACTUAL_GEAR_MANUALCONTROL = 0

• GEAR_ENABLE_ACTUAL_GEAR_AUTOCONTROL = 1

• GEAR_ENABLE_ACTUAL_GEAR_MANUAL_TAKEOVER = 2

Report Message

Used in: Enable_state_feedback_c3

• PARKING_ENABLE_STATE_PARKING_MANUALCONTROL = 0

• PARKING_ENABLE_STATE_PARKING_AUTOCONTROL = 1

• PARKING_ENABLE_STATE_PARKING_TAKEOVER = 2

Used in: Enable_state_feedback_c3

• STEERING_ENABLE_STATE_STEERING_MANUALCONTROL = 0

• STEERING_ENABLE_STATE_STEERING_AUTOCONTROL = 1

• STEERING_ENABLE_STATE_STEERING_MANUAL_TAKEOVER = 2

Electrical Parking Brake

Used in: ChassisDetail

• optional bool is_epb_error = 1

  epb 256

• optional bool is_epb_released = 2

• optional int32 epb_status = 3

  byd epb 218

• optional Epb.PBrakeType parking_brake_status = 4

  lincoln brakeinfo 74

Used in: Epb

• PBRAKE_OFF = 0

• PBRAKE_TRANSITION = 1

• PBRAKE_ON = 2

• PBRAKE_FAULT = 3

Electrical Power Steering

Used in: ChassisDetail

• optional bool is_eps_fail = 1

  changan: eps 2a0

• optional Eps.Type eps_control_state = 2

  eps 2a0

  for changan to control steering

• optional double eps_driver_hand_torq = 3

  unit:Nm

• optional bool is_steering_angle_valid = 4

• optional double steering_angle = 5

  unit:degree

• optional double steering_angle_spd = 6

  unit:degree/s

• optional bool is_trimming_status = 7

  byd sas 11f

• optional bool is_calibration_status = 8

• optional bool is_failure_status = 9

• optional int32 allow_enter_autonomous_mode = 10

• optional int32 current_driving_mode = 11

• optional double steering_angle_cmd = 12

  lincoln steering 65

• optional double vehicle_speed = 13

• optional double epas_torque = 14

• optional bool steering_enabled = 15

• optional bool driver_override = 16

• optional bool driver_activity = 17

• optional bool watchdog_fault = 18

• optional bool channel_1_fault = 19

• optional bool channel_2_fault = 20

• optional bool calibration_fault = 21

• optional bool connector_fault = 22

• optional double timestamp_65 = 23

• optional int32 major_version = 24

  lincoln version 7f

• optional int32 minor_version = 25

• optional int32 build_number = 26

Used in: Eps

• NOT_AVAILABLE = 0

• READY = 1

• ACTIVE = 2

• INVALID = 3

Used in: Zhongyun

• optional Error_state_e1.Brake_error_codeType brake_error_code = 1

  [bit] [0|1]

• optional Error_state_e1.Driven_error_codeType driven_error_code = 2

  [bit] [0|1]

• optional Error_state_e1.Steering_error_codeType steering_error_code = 3

  [bit] [0|1]

• optional Error_state_e1.Parking_error_codeType parking_error_code = 4

  [bit] [0|1]

• optional Error_state_e1.Gear_error_msgType gear_error_msg = 5

  [] [0|1]

Report Message

Used in: Error_state_e1

• BRAKE_ERROR_CODE_NO_ERROR = 0

• BRAKE_ERROR_CODE_ERROR = 1

Used in: Error_state_e1

• DRIVEN_ERROR_CODE_NO_ERROR = 0

• DRIVEN_ERROR_CODE_ERROR = 1

Used in: Error_state_e1

• GEAR_ERROR_MSG_NO_ERROR = 0

• GEAR_ERROR_MSG_ERROR = 1

Used in: Error_state_e1

• PARKING_ERROR_CODE_NO_ERROR = 0

• PARKING_ERROR_CODE_ERROR = 1

Used in: Error_state_e1

• STEERING_ERROR_CODE_NO_ERROR = 0

• STEERING_ERROR_CODE_ERROR = 1

Electronic Stability Program

Used in: ChassisDetail

• optional bool is_esp_acc_error = 1

  esp 277

  for changan to control car

• optional bool is_esp_on = 2

  esp 218

• optional bool is_esp_active = 3

• optional bool is_abs_error = 4

• optional bool is_abs_active = 5

• optional bool is_tcsvdc_fail = 6

• optional bool is_abs_enabled = 7

  lincoln brakeinfo 74

• optional bool is_stab_active = 8

• optional bool is_stab_enabled = 9

• optional bool is_trac_active = 10

• optional bool is_trac_enabled = 11

Used in: Wey

• optional Fail_241.EngfailType engfail = 1

  Engine Fail status [] [0|1]

• optional Fail_241.EspfailType espfail = 2

  ESP fault [] [0|1]

• optional Fail_241.EpbfailType epbfail = 3

  error indication of EPB system [] [0|3]

• optional Fail_241.ShiftfailType shiftfail = 4

  Driver display failure messages [] [0|15]

• optional Fail_241.EpsfailType epsfail = 5

  Electrical steering fail status [] [0|1]

Report Message

Used in: Fail_241

• ENGFAIL_NO_FAIL = 0

• ENGFAIL_FAIL = 1

Used in: Fail_241

• EPBFAIL_UNDEFINED = 0

• EPBFAIL_NO_ERROR = 1

• EPBFAIL_ERROR = 2

• EPBFAIL_DIAGNOSIS = 3

Used in: Fail_241

• EPSFAIL_NO_FAULT = 0

• EPSFAIL_FAULT = 1

Used in: Fail_241

• ESPFAIL_NO_FAILURE = 0

• ESPFAIL_FAILURE = 1

Used in: Fail_241

• SHIFTFAIL_NO_FAIL = 0

• SHIFTFAIL_TRANSMISSION_MALFUNCTION = 1

• SHIFTFAIL_TRANSMISSION_P_ENGAGEMENT_FAULT = 2

• SHIFTFAIL_TRANSMISSION_P_DISENGAGEMENT_FAULT = 3

• SHIFTFAIL_RESERVED = 4

• SHIFTFAIL_TRANSMISSION_LIMIT_FUNCTION = 15

Used in: Wey

• optional double longitudeacce = 1

  Longitude acceleration [m/s^2] [-21.592|21.592]

• optional double lateralacce = 2

  Indicates Lateral Acceleration [m/s^2] [-21.592|21.592]

• optional double vehdynyawrate = 3

  Vehicle yaw rate [rad/s] [-2.093|2.093]

• optional double flwheelspd = 4

  Front left wheel speed [Km/h] [0|299.98125]

• optional Fbs1_243.FrwheeldirectionType frwheeldirection = 5

  Front right wheel Moving direction [] [0|3]

Report Message

Used in: Fbs1_243

• FRWHEELDIRECTION_INVALID = 0

• FRWHEELDIRECTION_FORWARD = 1

• FRWHEELDIRECTION_BACKWARD = 2

• FRWHEELDIRECTION_STOP = 3

Used in: Wey

• optional Fbs2_240.FlwheeldirectionType flwheeldirection = 1

  Front left wheel Moving direction [] [0|3]

• optional double frwheelspd = 2

  Front right wheel speed [Km/h] [0|299.98125]

• optional Fbs2_240.RlwheeldrivedirectionType rlwheeldrivedirection = 3

  Rear left wheel Moving direction [] [0|3]

• optional double rlwheelspd = 4

  Rear left wheel speed [Km/h] [0|299.98125]

• optional Fbs2_240.RrwheeldirectionType rrwheeldirection = 5

  Rear right wheel Moving direction [] [0|3]

• optional double rrwheelspd = 6

  Rear right wheel speed [Km/h] [0|299.98125]

• optional double vehiclespd = 7

  Current Vehicle speed information [Km/h] [0|299.98125]

Report Message

Used in: Fbs2_240

• FLWHEELDIRECTION_INVALID = 0

• FLWHEELDIRECTION_FORWARD = 1

• FLWHEELDIRECTION_BACKWARD = 2

• FLWHEELDIRECTION_STOP = 3

Used in: Fbs2_240

• RLWHEELDRIVEDIRECTION_INVALID = 0

• RLWHEELDRIVEDIRECTION_FORWARD = 1

• RLWHEELDRIVEDIRECTION_BACKWARD = 2

• RLWHEELDRIVEDIRECTION_STOP = 3

Used in: Fbs2_240

• RRWHEELDIRECTION_INVALID = 0

• RRWHEELDIRECTION_FORWARD = 1

• RRWHEELDIRECTION_BACKWARD = 2

• RRWHEELDIRECTION_STOP = 3

Used in: Wey

• optional double engspd = 1

  Engine speed [rpm] [0|8198.875]

• optional double accpedalpos = 2

  Acceleration Pedal Position [%] [0|100.3935]

• optional Fbs3_237.EpbswtichpositionType epbswtichposition = 3

  EPB Switch position information [] [0|3]

• optional Fbs3_237.CurrentgearType currentgear = 4

  To indicate which gear the DCT is in now [] [0|3]

• optional Fbs3_237.Eps_streeingmodeType eps_streeingmode = 5

  Driver Steering Interference Detected [] [0|7]

• optional double epsdrvinputtrqvalue = 6

  Value of driver input torque [Nm] [-22.78|22.96]

• optional double epsconsumedcurrvalue = 7

  Value of consumed current by EPS [A] [127|127]

• optional Fbs3_237.EpscurrmodType epscurrmod = 8

  Applied steering mode currently [] [0|7]

Used in: Fbs3_237

• CURRENTGEAR_P = 0

• CURRENTGEAR_R = 1

• CURRENTGEAR_N = 2

• CURRENTGEAR_D = 3

Report Message

Used in: Fbs3_237

• EPBSWTICHPOSITION_NEUTRAL = 0

• EPBSWTICHPOSITION_RELEASE = 1

• EPBSWTICHPOSITION_APPLY = 2

• EPBSWTICHPOSITION_RESERVED1 = 3

Used in: Fbs3_237

• EPS_STREEINGMODE_MANUAL = 0

• EPS_STREEINGMODE_AUTOMATIC_AVAIL = 1

• EPS_STREEINGMODE_MANUAL_FROM_DRVNTERFERENCE = 2

• EPS_STREEINGMODE_MANUAL_FROM_EPS_FAILED_DETECTED = 3

• EPS_STREEINGMODE_TEMPORARY_INHIBITED = 4

• EPS_STREEINGMODE_RESERVED1 = 5

• EPS_STREEINGMODE_RESERVED2 = 6

• EPS_STREEINGMODE_RESERVED3 = 7

Used in: Fbs3_237

• EPSCURRMOD_NORMAL_MODE = 0

• EPSCURRMOD_SPORT_MODE = 1

• EPSCURRMOD_COMFORT_MODE = 2

• EPSCURRMOD_MODESELECTIONNOTPOSSIBLE = 3

• EPSCURRMOD_NO_DISPLAY = 4

• EPSCURRMOD_CONDITIONNOTMEET = 5

• EPSCURRMOD_RESERVED1 = 6

Used in: Wey

• optional double steerwheelangle = 1

  Report Message angle of steering wheel [deg] [0|780]

• optional double steerwheelspd = 2

  steering wheel rotation speed [deg/s] [0|1016]

Used in: ChassisDetail

• optional bool is_gas_pedal_error = 1

  ems 255

• optional bool is_gas_pedal_pressed_more = 2

  ems 26a

  more than auto mode gas torq

• optional double gas_pedal_position = 3

  manual gas

• optional bool is_gas_valid = 4

  byd vtog 342

• optional double throttle_input = 5

  lincoln throttle 63

• optional double throttle_cmd = 6

• optional double throttle_output = 7

• optional int32 watchdog_source = 8

• optional bool throttle_enabled = 9

• optional bool driver_override = 10

• optional bool driver_activity = 11

• optional bool watchdog_fault = 12

• optional bool channel_1_fault = 13

• optional bool channel_2_fault = 14

• optional bool connector_fault = 15

• optional double accelerator_pedal = 16

  lincoln throttleinfo 75

• optional double accelerator_pedal_rate = 17

• optional int32 major_version = 18

  lincoln version 7f

• optional int32 minor_version = 19

• optional int32 build_number = 20

Used in: ChassisDetail

• optional Pc_bcm_201 pc_bcm_201 = 1

  control message

• optional Scu_bcs_3_308 scu_bcs_3_308 = 2

  report message

• optional Pc_epb_203 pc_epb_203 = 3

  control message

• optional Pc_bcs_202 pc_bcs_202 = 4

  control message

• optional Pc_vcu_205 pc_vcu_205 = 5

  control message

• optional Pc_eps_204 pc_eps_204 = 6

  control message

• optional Scu_vcu_2_313 scu_vcu_2_313 = 7

  report message

• optional Scu_1_301 scu_1_301 = 8

  report message

• optional Scu_2_302 scu_2_302 = 9

  report message

• optional Scu_3_303 scu_3_303 = 10

  report message

• optional Scu_bcm_304 scu_bcm_304 = 11

  report message

• optional Scu_bcs_1_306 scu_bcs_1_306 = 12

  report message

• optional Scu_bcs_2_307 scu_bcs_2_307 = 13

  report message

• optional Scu_epb_310 scu_epb_310 = 14

  report message

• optional Scu_vcu_1_312 scu_vcu_1_312 = 15

  report message

• optional Scu_eps_311 scu_eps_311 = 16

  report message

Used in: ChassisDetail

• optional bool is_shift_position_valid = 1

  tcu 268

• optional Chassis.GearPosition gear_state = 2

  chanan: tcu 268

• optional bool driver_override = 3

  lincoln gear 67

• optional Chassis.GearPosition gear_cmd = 4

• optional bool canbus_fault = 5

Used in: Ch

• optional Gear_command_114.Gear_cmdType gear_cmd = 1

  PRND control(Command) [] [0|3]

Control Message

Used in: Gear_command_114

• GEAR_CMD_PARK = 1

• GEAR_CMD_REVERSE = 2

• GEAR_CMD_NEUTRAL = 3

• GEAR_CMD_DRIVE = 4

Used in: Zhongyun

• optional Gear_control_a1.Gear_state_targetType gear_state_target = 1

  [] [0|5]

• optional Gear_control_a1.Gear_enable_controlType gear_enable_control = 2

  [] [0|1]

Used in: Gear_control_a1

• GEAR_ENABLE_CONTROL_GEAR_MANUALCONTROL = 0

• GEAR_ENABLE_CONTROL_GEAR_AUTOCONTROL = 1

Control Message

Used in: Gear_control_a1

• GEAR_STATE_TARGET_P = 1

• GEAR_STATE_TARGET_N = 2

• GEAR_STATE_TARGET_D = 3

• GEAR_STATE_TARGET_R = 4

• GEAR_STATE_TARGET_INVALID = 5

Used in: Ch

• optional Gear_status_514.Gear_stsType gear_sts = 1

  PRND control(Status) [] [0|3]

Report Message

Used in: Gear_status_514

• GEAR_STS_PARK = 1

• GEAR_STS_REVERSE = 2

• GEAR_STS_NEUTRAL = 3

• GEAR_STS_DRIVE = 4

Used in: ChassisDetail

• optional Global_rpt_6a global_rpt_6a = 1

  report message

• optional Brake_cmd_6b brake_cmd_6b = 2

  report message

• optional Brake_rpt_6c brake_rpt_6c = 3

  report message

• optional Steering_cmd_6d steering_cmd_6d = 4

  report message

• optional Steering_rpt_1_6e steering_rpt_1_6e = 5

  report message

• optional Wheel_speed_rpt_7a wheel_speed_rpt_7a = 6

  report message

• optional Date_time_rpt_83 date_time_rpt_83 = 7

  report message

• optional Brake_motor_rpt_1_70 brake_motor_rpt_1_70 = 8

  report message

• optional Headlight_rpt_77 headlight_rpt_77 = 9

  report message

• optional Accel_rpt_68 accel_rpt_68 = 10

  report message

• optional Steering_motor_rpt_3_75 steering_motor_rpt_3_75 = 11

  report message

• optional Turn_cmd_63 turn_cmd_63 = 12

  report message

• optional Turn_rpt_64 turn_rpt_64 = 13

  report message

• optional Shift_cmd_65 shift_cmd_65 = 14

  report message

• optional Shift_rpt_66 shift_rpt_66 = 15

  report message

• optional Accel_cmd_67 accel_cmd_67 = 16

  report message

• optional Lat_lon_heading_rpt_82 lat_lon_heading_rpt_82 = 17

  report message

• optional Global_cmd_69 global_cmd_69 = 18

  report message

• optional Parking_brake_status_rpt_80 parking_brake_status_rpt_80 = 19

  report message

• optional Yaw_rate_rpt_81 yaw_rate_rpt_81 = 20

  report message

• optional Horn_rpt_79 horn_rpt_79 = 21

  report message

• optional Horn_cmd_78 horn_cmd_78 = 22

  report message

• optional Wiper_rpt_91 wiper_rpt_91 = 23

  report message

• optional Vehicle_speed_rpt_6f vehicle_speed_rpt_6f = 24

  report message

• optional Headlight_cmd_76 headlight_cmd_76 = 25

  report message

• optional Steering_motor_rpt_2_74 steering_motor_rpt_2_74 = 26

  report message

• optional Brake_motor_rpt_2_71 brake_motor_rpt_2_71 = 27

  report message

• optional Steering_motor_rpt_1_73 steering_motor_rpt_1_73 = 28

  report message

• optional Wiper_cmd_90 wiper_cmd_90 = 29

  report message

• optional Brake_motor_rpt_3_72 brake_motor_rpt_3_72 = 30

  report message

Used in: Gem

• optional Global_cmd_69.Pacmod_enableType pacmod_enable = 1

  [] [0|1]

• optional Global_cmd_69.Clear_overrideType clear_override = 2

  [] [0|1]

• optional Global_cmd_69.Ignore_overrideType ignore_override = 3

  [] [0|1]

Used in: Global_cmd_69

• CLEAR_OVERRIDE_DON_T_CLEAR_ACTIVE_OVERRIDES = 0

• CLEAR_OVERRIDE_CLEAR_ACTIVE_OVERRIDES = 1

Used in: Global_cmd_69

• IGNORE_OVERRIDE_DON_T_IGNORE_USER_OVERRIDES = 0

• IGNORE_OVERRIDE_IGNORE_USER_OVERRIDES = 1

Report Message

Used in: Global_cmd_69

• PACMOD_ENABLE_CONTROL_DISABLED = 0

• PACMOD_ENABLE_CONTROL_ENABLED = 1

Used in: Lexus

• optional bool config_fault_active = 1

  [] [0|1]

• optional bool pacmod_subsystem_timeout = 2

  [] [0|1]

• optional Global_rpt_10.Pacmod_system_enabledType pacmod_system_enabled = 3

  [] [0|1]

• optional Global_rpt_10.Pacmod_system_override_activeType pacmod_system_override_active = 4

  [] [0|1]

• optional bool pacmod_system_fault_active = 5

  [] [0|1]

• optional bool veh_can_timeout = 6

  [] [0|1]

• optional bool str_can_timeout = 7

  [] [0|1]

• optional Global_rpt_10.Brk_can_timeoutType brk_can_timeout = 8

  [] [0|1]

• optional bool usr_can_timeout = 9

  [] [0|1]

• optional int32 usr_can_read_errors = 10

  [] [0|65535]

Used in: Global_rpt_10

• BRK_CAN_TIMEOUT_NO_ACTIVE_CAN_TIMEOUT = 0

• BRK_CAN_TIMEOUT_ACTIVE_CAN_TIMEOUT = 1

Report Message

Used in: Global_rpt_10

• PACMOD_SYSTEM_ENABLED_CONTROL_DISABLED = 0

• PACMOD_SYSTEM_ENABLED_CONTROL_ENABLED = 1

Used in: Global_rpt_10

• PACMOD_SYSTEM_OVERRIDE_ACTIVE_NOT_OVERRIDDEN = 0

• PACMOD_SYSTEM_OVERRIDE_ACTIVE_OVERRIDDEN = 1

Used in: Gem

• optional Global_rpt_6a.Pacmod_statusType pacmod_status = 1

  [] [0|1]

• optional Global_rpt_6a.Override_statusType override_status = 2

  [] [0|1]

• optional bool veh_can_timeout = 3

  [] [0|1]

• optional bool str_can_timeout = 4

  [] [0|1]

• optional Global_rpt_6a.Brk_can_timeoutType brk_can_timeout = 5

  [] [0|1]

• optional bool usr_can_timeout = 6

  [] [0|1]

• optional int32 usr_can_read_errors = 7

  [] [0|65535]

Used in: Global_rpt_6a

• BRK_CAN_TIMEOUT_NO_ACTIVE_CAN_TIMEOUT = 0

• BRK_CAN_TIMEOUT_ACTIVE_CAN_TIMEOUT = 1

Used in: Global_rpt_6a

• OVERRIDE_STATUS_NOT_OVERRIDDEN = 0

• OVERRIDE_STATUS_OVERRIDDEN = 1

Report Message

Used in: Global_rpt_6a

• PACMOD_STATUS_CONTROL_DISABLED = 0

• PACMOD_STATUS_CONTROL_ENABLED = 1

Used in: BasicInfo, ChassisGPS

• FIX_NO = 0

• FIX_2D = 1

• FIX_3D = 2

• FIX_INVALID = 3

Used in: Lexus

• optional bool hazard_lights_cmd = 1

  Control Message [] [0|1]

• optional bool ignore_overrides = 2

  [] [0|1]

• optional bool clear_override = 3

  [] [0|1]

• optional bool enable = 4

  [] [0|1]

• optional bool clear_faults = 5

  [] [0|1]

Used in: Lexus

• optional bool output_value = 1

  Report Message [] [0|1]

• optional bool commanded_value = 2

  [] [0|1]

• optional bool manual_input = 3

  [] [0|1]

• optional bool vehicle_fault = 4

  [] [0|1]

• optional bool pacmod_fault = 5

  [] [0|1]

• optional bool override_active = 6

  [] [0|1]

• optional bool output_reported_fault = 7

  [] [0|1]

• optional bool input_output_fault = 8

  [] [0|1]

• optional bool enabled = 9

  [] [0|1]

• optional bool command_output_fault = 10

  [] [0|1]

Used in: Lexus

• optional bool headlights_mode_is_valid = 1

  [] [0|1]

• optional Headlight_aux_rpt_318.Headlights_modeType headlights_mode = 2

  [] [0|3]

• optional bool fog_lights_on_is_valid = 3

  [] [0|1]

• optional bool fog_lights_on = 4

  [] [0|1]

• optional bool headlights_on_bright_is_valid = 5

  [] [0|1]

• optional bool headlights_on_bright = 6

  [] [0|1]

• optional bool headlights_on_is_valid = 7

  [] [0|1]

• optional bool headlights_on = 8

  [] [0|1]

Report Message

Used in: Headlight_aux_rpt_318

• HEADLIGHTS_MODE_HEADLIGHTS_OFF = 0

• HEADLIGHTS_MODE_PARKING_LIGHTS_ONLY = 1

• HEADLIGHTS_MODE_HEADLIGHTS_ON_MANUAL_MODE = 2

• HEADLIGHTS_MODE_HEADLIGHTS_ON_AUTO_MODE = 3

Used in: Lexus

• optional bool ignore_overrides = 1

  [] [0|1]

• optional bool enable = 2

  [] [0|1]

• optional bool clear_override = 3

  [] [0|1]

• optional bool clear_faults = 4

  [] [0|1]

• optional Headlight_cmd_118.Headlight_cmdType headlight_cmd = 5

  [] [0|2]

Control Message

Used in: Headlight_cmd_118

• HEADLIGHT_CMD_HEADLIGHTS_OFF = 0

• HEADLIGHT_CMD_LOW_BEAMS = 1

• HEADLIGHT_CMD_HIGH_BEAMS = 2

Used in: Gem

• optional Headlight_cmd_76.Headlight_cmdType headlight_cmd = 1

  [] [0|2]

Report Message

Used in: Headlight_cmd_76

• HEADLIGHT_CMD_HEADLIGHTS_OFF = 0

• HEADLIGHT_CMD_LOW_BEAMS = 1

• HEADLIGHT_CMD_HIGH_BEAMS = 2

Used in: Lexus

• optional bool vehicle_fault = 1

  [] [0|1]

• optional bool pacmod_fault = 2

  [] [0|1]

• optional bool override_active = 3

  [] [0|1]

• optional bool output_reported_fault = 4

  [] [0|1]

• optional bool input_output_fault = 5

  [] [0|1]

• optional bool enabled = 6

  [] [0|1]

• optional bool command_output_fault = 7

  [] [0|1]

• optional Headlight_rpt_218.Output_valueType output_value = 8

  [] [0|2]

• optional Headlight_rpt_218.Manual_inputType manual_input = 9

  [] [0|2]

• optional Headlight_rpt_218.Commanded_valueType commanded_value = 10

  [] [0|2]

Used in: Headlight_rpt_218

• COMMANDED_VALUE_HEADLIGHTS_OFF = 0

• COMMANDED_VALUE_LOW_BEAMS = 1

• COMMANDED_VALUE_HIGH_BEAMS = 2

Used in: Headlight_rpt_218

• MANUAL_INPUT_HEADLIGHTS_OFF = 0

• MANUAL_INPUT_LOW_BEAMS = 1

• MANUAL_INPUT_HIGH_BEAMS = 2

Report Message

Used in: Headlight_rpt_218

• OUTPUT_VALUE_HEADLIGHTS_OFF = 0

• OUTPUT_VALUE_LOW_BEAMS = 1

• OUTPUT_VALUE_HIGH_BEAMS = 2

Used in: Gem

• optional Headlight_rpt_77.Output_valueType output_value = 1

  [] [0|2]

• optional Headlight_rpt_77.Manual_inputType manual_input = 2

  [] [0|2]

• optional Headlight_rpt_77.Commanded_valueType commanded_value = 3

  [] [0|2]

Used in: Headlight_rpt_77

• COMMANDED_VALUE_HEADLIGHTS_OFF = 0

• COMMANDED_VALUE_LOW_BEAMS = 1

• COMMANDED_VALUE_HIGH_BEAMS = 2

Used in: Headlight_rpt_77

• MANUAL_INPUT_HEADLIGHTS_OFF = 0

• MANUAL_INPUT_LOW_BEAMS = 1

• MANUAL_INPUT_HIGH_BEAMS = 2

Report Message

Used in: Headlight_rpt_77

• OUTPUT_VALUE_HEADLIGHTS_OFF = 0

• OUTPUT_VALUE_LOW_BEAMS = 1

• OUTPUT_VALUE_HIGH_BEAMS = 2

Used in: Lexus

• optional bool ignore_overrides = 1

  [] [0|1]

• optional bool enable = 2

  [] [0|1]

• optional bool clear_override = 3

  [] [0|1]

• optional bool clear_faults = 4

  [] [0|1]

• optional Horn_cmd_11c.Horn_cmdType horn_cmd = 5

  [] [0|1]

Report Message

Used in: Horn_cmd_11c

• HORN_CMD_OFF = 0

• HORN_CMD_ON = 1

Used in: Gem

• optional Horn_cmd_78.Horn_cmdType horn_cmd = 1

  [] [0|1]

Report Message

Used in: Horn_cmd_78

• HORN_CMD_OFF = 0

• HORN_CMD_ON = 1

Used in: Lexus

• optional bool vehicle_fault = 1

  [] [0|1]

• optional bool pacmod_fault = 2

  [] [0|1]

• optional bool override_active = 3

  [] [0|1]

• optional bool output_reported_fault = 4

  [] [0|1]

• optional bool input_output_fault = 5

  [] [0|1]

• optional bool enabled = 6

  [] [0|1]

• optional bool command_output_fault = 7

  [] [0|1]

• optional Horn_rpt_21c.Output_valueType output_value = 8

  [] [0|1]

• optional Horn_rpt_21c.Commanded_valueType commanded_value = 9

  [] [0|1]

• optional Horn_rpt_21c.Manual_inputType manual_input = 10

  [] [0|1]

Used in: Horn_rpt_21c

• COMMANDED_VALUE_OFF = 0

• COMMANDED_VALUE_ON = 1

Used in: Horn_rpt_21c

• MANUAL_INPUT_OFF = 0

• MANUAL_INPUT_ON = 1

Report Message

Used in: Horn_rpt_21c

• OUTPUT_VALUE_OFF = 0

• OUTPUT_VALUE_ON = 1

Used in: Gem

• optional Horn_rpt_79.Output_valueType output_value = 1

  [] [0|1]

• optional Horn_rpt_79.Commanded_valueType commanded_value = 2

  [] [0|1]

• optional Horn_rpt_79.Manual_inputType manual_input = 3

  [] [0|1]

Used in: Horn_rpt_79

• COMMANDED_VALUE_OFF = 0

• COMMANDED_VALUE_ON = 1

Used in: Horn_rpt_79

• MANUAL_INPUT_OFF = 0

• MANUAL_INPUT_ON = 1

Report Message

Used in: Horn_rpt_79

• OUTPUT_VALUE_OFF = 0

• OUTPUT_VALUE_ON = 1

Used in: Lexus

• optional bool dim_level_is_valid = 1

  [] [0|1]

• optional bool mood_lights_on_is_valid = 2

  [] [0|1]

• optional bool rear_dome_lights_on_is_valid = 3

  [] [0|1]

• optional bool front_dome_lights_on_is_valid = 4

  [] [0|1]

• optional Interior_lights_rpt_416.Dim_levelType dim_level = 5

  [] [0|12]

• optional bool mood_lights_on = 6

  [] [0|1]

• optional bool rear_dome_lights_on = 7

  [] [0|1]

• optional bool front_dome_lights_on = 8

  [] [0|1]

Report Message

Used in: Interior_lights_rpt_416

• DIM_LEVEL_DIM_LEVEL_MIN = 0

• DIM_LEVEL_DIM_LEVEL_1 = 1

• DIM_LEVEL_DIM_LEVEL_2 = 2

• DIM_LEVEL_DIM_LEVEL_3 = 3

• DIM_LEVEL_DIM_LEVEL_4 = 4

• DIM_LEVEL_DIM_LEVEL_5 = 5

• DIM_LEVEL_DIM_LEVEL_6 = 6

• DIM_LEVEL_DIM_LEVEL_7 = 7

• DIM_LEVEL_DIM_LEVEL_8 = 8

• DIM_LEVEL_DIM_LEVEL_9 = 9

• DIM_LEVEL_DIM_LEVEL_10 = 10

• DIM_LEVEL_DIM_LEVEL_11 = 11

• DIM_LEVEL_DIM_LEVEL_MAX = 12

Used in: Lexus

• optional double heading = 1

  Report Message [deg] [-327.68|327.67]

• optional int32 longitude_seconds = 2

  [sec] [-128|127]

• optional int32 longitude_minutes = 3

  [min] [-128|127]

• optional int32 longitude_degrees = 4

  [deg] [-128|127]

• optional int32 latitude_seconds = 5

  [sec] [-128|127]

• optional int32 latitude_minutes = 6

  [min] [-128|127]

• optional int32 latitude_degrees = 7

  [deg] [-128|127]

Used in: Gem

• optional double heading = 1

  Report Message [deg] [-327.68|327.67]

• optional int32 longitude_seconds = 2

  [sec] [-128|127]

• optional int32 longitude_minutes = 3

  [min] [-128|127]

• optional int32 longitude_degrees = 4

  [deg] [-128|127]

• optional int32 latitude_seconds = 5

  [sec] [-128|127]

• optional int32 latitude_minutes = 6

  [min] [-128|127]

• optional int32 latitude_degrees = 7

  [deg] [-128|127]

Used in: ChassisDetail

• optional Hazard_lights_rpt_214 hazard_lights_rpt_214 = 1

  report message

• optional Steering_cmd_12c steering_cmd_12c = 2

  report message

• optional Dash_controls_right_rpt_210 dash_controls_right_rpt_210 = 3

  control message

• optional Dash_controls_left_cmd_10c dash_controls_left_cmd_10c = 4

  report message

• optional Steering_rpt_22c steering_rpt_22c = 5

  report message

• optional Turn_aux_rpt_330 turn_aux_rpt_330 = 6

  report message

• optional Headlight_rpt_218 headlight_rpt_218 = 7

  report message

• optional Hazard_lights_cmd_114 hazard_lights_cmd_114 = 8

  control message

• optional Dash_controls_left_rpt_20c dash_controls_left_rpt_20c = 9

  report message

• optional Headlight_aux_rpt_318 headlight_aux_rpt_318 = 10

  report message

• optional Dash_controls_right_cmd_110 dash_controls_right_cmd_110 = 11

  report message

• optional Wiper_cmd_134 wiper_cmd_134 = 12

  control message

• optional Wiper_rpt_234 wiper_rpt_234 = 13

  report message

• optional Turn_rpt_230 turn_rpt_230 = 14

  report message

• optional Headlight_cmd_118 headlight_cmd_118 = 15

  control message

• optional Door_rpt_417 door_rpt_417 = 16

  report message

• optional Component_rpt_20 component_rpt_20 = 17

  report message

• optional Wheel_speed_rpt_407 wheel_speed_rpt_407 = 18

  report message

• optional Steering_motor_rpt_3_406 steering_motor_rpt_3_406 = 19

  report message

• optional Steering_motor_rpt_2_405 steering_motor_rpt_2_405 = 20

  report message

• optional Steering_motor_rpt_1_404 steering_motor_rpt_1_404 = 21

  report message

• optional Brake_motor_rpt_3_403 brake_motor_rpt_3_403 = 22

  report message

• optional Brake_motor_rpt_2_402 brake_motor_rpt_2_402 = 23

  report message

• optional Brake_motor_rpt_1_401 brake_motor_rpt_1_401 = 24

  report message

• optional Wiper_aux_rpt_334 wiper_aux_rpt_334 = 25

  report message

• optional Shift_aux_rpt_328 shift_aux_rpt_328 = 26

  report message

• optional Accel_rpt_200 accel_rpt_200 = 27

  report message

• optional Brake_rpt_204 brake_rpt_204 = 28

  report message

• optional Horn_cmd_11c horn_cmd_11c = 29

  report message

• optional Global_rpt_10 global_rpt_10 = 30

  report message

• optional Accel_aux_rpt_300 accel_aux_rpt_300 = 31

  report message

• optional Cruise_control_buttons_rpt_208 cruise_control_buttons_rpt_208 = 32

  report message

• optional Vehicle_speed_rpt_400 vehicle_speed_rpt_400 = 33

  report message

• optional Brake_aux_rpt_304 brake_aux_rpt_304 = 34

  report message

• optional Media_controls_cmd_120 media_controls_cmd_120 = 35

  report message

• optional Cruise_control_buttons_cmd_108 cruise_control_buttons_cmd_108 = 36

  control message

• optional Parking_brake_cmd_124 parking_brake_cmd_124 = 37

  control message

• optional Horn_rpt_21c horn_rpt_21c = 38

  report message

• optional Shift_rpt_228 shift_rpt_228 = 39

  report message

• optional Shift_cmd_128 shift_cmd_128 = 40

  control message

• optional Accel_cmd_100 accel_cmd_100 = 41

  control message

• optional Parking_brake_rpt_224 parking_brake_rpt_224 = 42

  report message

• optional Brake_cmd_104 brake_cmd_104 = 43

  control message

• optional Media_controls_rpt_220 media_controls_rpt_220 = 44

  report message

• optional Steering_aux_rpt_32c steering_aux_rpt_32c = 45

  report message

• optional Lat_lon_heading_rpt_40e lat_lon_heading_rpt_40e = 46

  report message

• optional Yaw_rate_rpt_40d yaw_rate_rpt_40d = 47

  report message

• optional Date_time_rpt_40f date_time_rpt_40f = 48

  report message

• optional Vin_rpt_414 vin_rpt_414 = 49

  report message

• optional Occupancy_rpt_415 occupancy_rpt_415 = 50

  report message

• optional Interior_lights_rpt_416 interior_lights_rpt_416 = 51

  report message

• optional Turn_cmd_130 turn_cmd_130 = 52

  control message

• optional Detected_object_rpt_411 detected_object_rpt_411 = 53

  report message

• optional Veh_specific_rpt_1_412 veh_specific_rpt_1_412 = 54

  report message

• optional Veh_dynamics_rpt_413 veh_dynamics_rpt_413 = 55

  report message

• optional Rear_lights_rpt_418 rear_lights_rpt_418 = 56

  report message

Used in: Chassis, ChassisDetail, data.VehicleInfo

• optional string vin = 1

light

Used in: ChassisDetail

• optional Light.TurnLightType turn_light_type = 1

• optional Light.BeamLampType beam_lamp_type = 2

• optional bool is_brake_lamp_on = 3

• optional bool is_auto_light = 4

  byd switch 133

• optional int32 wiper_gear = 5

• optional int32 lotion_gear = 6

• optional bool is_horn_on = 7

• optional Light.LincolnLampType lincoln_lamp_type = 8

  lincoln misc 69

• optional Light.LincolnWiperType lincoln_wiper = 9

• optional Light.LincolnAmbientType lincoln_ambient = 10

Used in: Light

• BEAM_OFF = 0

• HIGH_BEAM_ON = 1

• LOW_BEAM_ON = 2

Used in: Light

• AMBIENT_DARK = 0

• AMBIENT_LIGHT = 1

• AMBIENT_TWILIGHT = 2

• AMBIENT_TUNNEL_ON = 3

• AMBIENT_TUNNEL_OFF = 4

• AMBIENT_INVALID = 5

• AMBIENT_NO_DATA = 7

Used in: Light

• BEAM_NULL = 0

• BEAM_FLASH_TO_PASS = 1

• BEAM_HIGH = 2

• BEAM_INVALID = 3

Used in: Light

• WIPER_OFF = 0

• WIPER_AUTO_OFF = 1

• WIPER_OFF_MOVING = 2

• WIPER_MANUAL_OFF = 3

• WIPER_MANUAL_ON = 4

• WIPER_MANUAL_LOW = 5

• WIPER_MANUAL_HIGH = 6

• WIPER_MIST_FLICK = 7

• WIPER_WASH = 8

• WIPER_AUTO_LOW = 9

• WIPER_AUTO_HIGH = 10

• WIPER_COURTESY_WIPE = 11

• WIPER_AUTO_ADJUST = 12

• WIPER_RESERVED = 13

• WIPER_STALLED = 14

• WIPER_NO_DATA = 15

Used in: Light

• TURN_LIGHT_OFF = 0

• TURN_LEFT_ON = 1

• TURN_RIGHT_ON = 2

• TURN_LIGHT_ON = 3

Used in: Transit

• optional bool llc_fbk_inverter = 1

  Inverter enabled [T/F] [0|1]

• optional bool llc_fbk_pdu_ch8 = 2

  PDU Channel 8 enabled [T/F] [0|1]

• optional bool llc_fbk_pdu_ch7 = 3

  PDU Channel 7 enabled [T/F] [0|1]

• optional bool llc_fbk_pdu_ch6 = 4

  PDU Channel 6 enabled [T/F] [0|1]

• optional bool llc_fbk_pdu_ch5 = 5

  PDU Channel 5 enabled [T/F] [0|1]

• optional bool llc_fbk_pdu_ch4 = 6

  PDU Channel 4 enabled [T/F] [0|1]

• optional bool llc_fbk_pdu_ch3 = 7

  PDU Channel 3 enabled [T/F] [0|1]

• optional bool llc_fbk_pdu_ch2 = 8

  PDU Channel 2 enabled [T/F] [0|1]

• optional bool llc_fbk_pdu_ch1 = 9

  PDU Channel 1 enabled [T/F] [0|1]

• optional bool llc_fbk_hazardlights = 10

  Hazard lights enabled [T/F] [0|1]

• optional bool llc_fbk_ledgreenon = 11

  Autonomy indicator green LED on [T/F] [0|1]

• optional bool llc_fbk_horn = 12

  Horn enabled [T/F] [0|1]

• optional bool llc_fbk_buzzeron = 13

  Buzzer enabled [T/F] [0|1]

• optional Llc_auxiliaryfeedback_120.Llc_fbk_turnsignalType llc_fbk_turnsignal = 14

  Current turn signal status [] [0|3]

• optional bool llc_fbk_lowbeam = 15

  Low beam enabled [T/F] [0|1]

• optional bool llc_fbk_highbeam = 16

  High beam enabled [T/F] [0|1]

• optional bool llc_fbk_ledredon = 17

  Autonomy indicator red LED on [T/F] [0|1]

• optional bool llc_fbk_autonomybuttonpressed = 18

  Autonomy button is pressed [T/F] [0|1]

Report Message

Used in: Llc_auxiliaryfeedback_120

• LLC_FBK_TURNSIGNAL_NONE = 0

• LLC_FBK_TURNSIGNAL_LEFT = 1

• LLC_FBK_TURNSIGNAL_RIGHT = 2

• LLC_FBK_TURNSIGNAL_RESERVE = 3

Used in: Transit

• optional double llc_dbg_brakepidcontribution_p = 1

  Control Message Brake control loop P contribution [mrev] [-51.2|51.1]

• optional double llc_dbg_brakepidcontribution_i = 2

  Brake control loop I contribution [mrev] [-51.2|51.1]

• optional double llc_dbg_brakepidcontribution_d = 3

  Brake control loop D contribution [mrev] [-51.2|51.1]

• optional double llc_dbg_brakepid_output = 4

  Brake control loop output [mrev] [-51.2|51.1]

• optional int32 llc_dbg_brakepid_error = 5

  Brake control loop error [psi] [-2048|2047]

• optional double llc_dbg_brakefeedforward = 6

  Brake control feedforward contribution [mrev] [-1024|1023.5]

Used in: Transit

• optional int32 llc_disengagecounter_brake = 1

  Report Message Counts the number of times that the driver has disengaged autonomy by applying the brakes since system reset.. [] [0|255]

• optional int32 llc_disengagecounter_steer = 2

  Counts the number of times that the driver has disengaged autonomy by moving the steering wheel since system reset. [] [0|255]

• optional int32 llc_disengagecounter_throttle = 3

  Counts the number of times that the driver has disengaged autonomy by applying throttle since system reset. [] [0|255]

• optional int32 llc_fbk_faultcounter = 4

  Counts the number of faults that have occurred since system reset. [] [0|255]

• optional int32 llc_disengagecounter_button = 5

  Counts the number of times that the driver has disengaged autonomy by applying the brakes since system reset.. [] [0|255]

• optional int32 llc_fbk_version_year = 6

  Firmware version [g] [2017|2144]

• optional int32 llc_fbk_version_month = 7

  Firmware version [Month] [0|15]

• optional int32 llc_fbk_version_day = 8

  Firmware version [Day] [0|31]

• optional int32 llc_fbk_version_hour = 9

  Firmware version [Hour] [0|31]

Used in: Transit

• optional double llc_dbg_steeringsensorposition = 1

  Control Message Brake control feedforward contribution [rev] [-6.5536|6.5534]

• optional int32 llc_dbg_steeringrackinputtorque = 2

  Brake control feedforward contribution [counts] [-32768|32767]

• optional double llc_dbg_steeringmotorposition = 3

  Brake control feedforward contribution [rev] [-83.88608|83.88607]

Used in: Transit

• optional double llc_fbk_steeringanglesetpoint = 1

  Report Message Steering angle setpoint (after limits) [deg] [-1638.4|1638.35]

• optional double llc_fbk_throttlesetpoint = 2

  Current throttle setpoint (after limits) [%] [0|102.3]

• optional double llc_fbk_brakepercentsetpoint = 3

  Front brake pressure setpoint (after limits) [%] [0|113.8132]

• optional int32 llc_motioncommandfeedback1_count = 4

  Motion command feedback 2 heartbeat counter [] [0|3]

• optional int32 llc_motioncommandfeedback1_check = 5

  Motion command feedback 1 checksum [] [0|255]

Used in: Transit

• optional Llc_motionfeedback1_20.Llc_fbk_gearType llc_fbk_gear = 1

  Current gear [] [0|3]

• optional bool llc_fbk_parkingbrake = 2

  Parking brake applied [T/F] [0|1]

• optional double llc_fbk_throttleposition = 3

  Throttle position feedback [%] [0|102.3]

• optional double llc_fbk_brakepercentrear = 4

  Rear brake pressure feedback [%] [0|113.8132]

• optional double llc_fbk_brakepercentfront = 5

  Front brake pressure feedback [%] [0|113.8132]

• optional Llc_motionfeedback1_20.Llc_fbk_steeringcontrolmodeType llc_fbk_steeringcontrolmode = 6

  Current steering control mode [] [0|3]

• optional int32 llc_motionfeedback1_counter = 7

  Motion feedback 1 heartbeat counter [] [0|3]

• optional int32 llc_motionfeedback1_checksum = 8

  Motion feedback 1 checksum [] [0|255]

• optional bool llc_fbk_commandaligned = 9

  Autonomy command aligned with vehicle state according to calibration limits [T/F] [0|1]

• optional bool llc_fbk_estoppressed = 10

  Estop is pressed [T/F] [0|1]

• optional bool llc_fbk_adcrequestautonomy = 11

  Indicates that ADC is requesting autonomy mode [T/F] [0|1]

• optional bool llc_fbk_allowautonomy = 12

  Indicates that LLC is ready to allow autonomy mode [T/F] [0|1]

• optional Llc_motionfeedback1_20.Llc_fbk_longitudinalcontrolmodeType llc_fbk_longitudinalcontrolmode = 13

  Report current longitudinal control mode [] [0|3]

• optional Llc_motionfeedback1_20.Llc_fbk_stateType llc_fbk_state = 14

  Current Autonomy State [] [0|15]

Report Message

Used in: Llc_motionfeedback1_20

• LLC_FBK_GEAR_P_PARK = 0

• LLC_FBK_GEAR_D_DRIVE = 1

• LLC_FBK_GEAR_N_NEUTRAL = 2

• LLC_FBK_GEAR_R_REVERSE = 3

Used in: Llc_motionfeedback1_20

• LLC_FBK_LONGITUDINALCONTROLMODE_NONE = 0

• LLC_FBK_LONGITUDINALCONTROLMODE_RESERVED_VELOCITY_AND_ACCELERATION = 1

• LLC_FBK_LONGITUDINALCONTROLMODE_RESERVED_FORCE = 2

• LLC_FBK_LONGITUDINALCONTROLMODE_DIRECT_THROTTLE_BRAKE = 3

Used in: Llc_motionfeedback1_20

• LLC_FBK_STATE_RESERVED0 = 0

• LLC_FBK_STATE_AUTONOMY_NOT_ALLOWED = 1

• LLC_FBK_STATE_AUTONOMY_ALLOWED = 2

• LLC_FBK_STATE_AUTONOMY_REQUESTED = 3

• LLC_FBK_STATE_AUTONOMY = 4

• LLC_FBK_STATE_RESERVED1 = 5

• LLC_FBK_STATE_RESERVED2 = 6

• LLC_FBK_STATE_RESERVED3 = 7

• LLC_FBK_STATE_RESERVED4 = 8

• LLC_FBK_STATE_RESERVED5 = 9

• LLC_FBK_STATE_RESERVED6 = 10

• LLC_FBK_STATE_RESERVED7 = 11

• LLC_FBK_STATE_RESERVED8 = 12

• LLC_FBK_STATE_DISENGAGE_REQUESTED = 13

• LLC_FBK_STATE_DISENGAGED = 14

• LLC_FBK_STATE_FAULT = 15