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: Neolix_edu

• optional bool drive_enable = 1

  Control Message 0x0:disable ;0x1:enable [] [0|0]

• optional int32 auto_brake_command = 2

  [] [0|0]

• optional bool auto_parking_command = 3

  0x0:Release ;0x1:Apply [] [0|0]

• optional bool epb_rampauxiliarycommand = 4

  0x0:off;0x1:on [] [0|0]

• optional int32 auto_drivercmd_alivecounter = 5

  [] [0|0]

• optional int32 auto_drivercmd_checksum = 6

  [] [0|0]

Used in: Neolix_edu

• optional int32 faultrank = 1

  Control Message 0x0:Nomal;0x1:Level 1;0x2:Level 2;0x3:Level 3;0x4:Level 4;0x5:Level 5;0x6:Reserved;0x7:Reserved [bit] [0|5]

• optional int32 adas_fault_code = 2

  [] [0|65535]

• optional int32 adas_softwareversion = 3

  [bit] [0|255]

• optional int32 adas_hardwareversion = 4

  [bit] [0|255]

Used in: Neolix_edu

• optional bool drive_enable = 1

  0x0:disable ;0x1:enable [] [0|0]

• optional Ads_drive_command_50.Auto_shift_commandType auto_shift_command = 2

  0x0:N ;0x1:D ;0x2:R ;0x3:Reserved [] [0|3]

• optional double auto_drive_torque = 3

  [] [0|0]

• optional int32 auto_drivercmd_alivecounter = 4

  [] [0|0]

• optional int32 auto_drivercmd_checksum = 5

  [] [0|0]

Control Message

Used in: Ads_drive_command_50

• AUTO_SHIFT_COMMAND_N = 0

• AUTO_SHIFT_COMMAND_D = 1

• AUTO_SHIFT_COMMAND_R = 2

• AUTO_SHIFT_COMMAND_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: Neolix_edu

• optional bool drive_enable = 1

  Control Message 0x0:disable ;0x1:enable [] [0|0]

• optional double auto_target_angle = 2

  [] [0|0]

• optional int32 auto_drivercmd_alivecounter = 3

  [] [0|0]

• optional int32 auto_drivercmd_checksum = 4

  [] [0|0]

Used in: Neolix_edu

• optional bool turn_right_light_command = 1

  Control Message 0x0:disable ;0x1:enable [bit] [0|1]

• optional bool turn_left_light_command = 2

  0x0:disable ;0x1:enable ;0x2-0x3:Reserved [bit] [0|1]

• optional bool horn_command = 3

  [bit] [0|1]

• optional int32 beam_command = 4

  0x0:Off;0x1:LowBeam;0x2:HighBeam [bit] [0|1]

• optional int32 auto_drivercmd_alivecounter = 5

  [] [0|0]

• optional int32 auto_drivercmd_checksum = 6

  [] [0|0]

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: Neolix_edu

• optional double aeb_softwareversion = 1

  Report Message [bit] [0.0|255.0]

• optional double aeb_hardwareversion = 2

  [bit] [0.0|255.0]

Used in: Neolix_edu

• optional bool aeb_diagresp = 1

  Report Message [bit] [0.0|1.0]

Used in: Neolix_edu

• optional bool vehiclespeedvalid = 1

  Report Message 0x0:Invalid;0x1:Valid [bit] [0.0|1.0]

• optional double vehiclespeed = 2

  [Km/h] [0.0|460.69]

• optional double vehiclerealdirect = 3

  0x0:Invalid;0x1:D;0x2:N;0x3:R [bit] [0.0|3.0]

• optional bool wheelspeed_fl_valid = 4

  0x0:Invalid;0x1:Valid [bit] [0.0|1.0]

• optional double wheelspeed_fl = 5

  [km/h] [0.0|327.67]

• optional bool wheelspeed_fr_valid = 6

  0x0:Invalid;0x1:Valid [bit] [0.0|1.0]

• optional double wheelspeed_fr = 7

  [km/h] [0.0|327.67]

• optional double wheelspeed_fl_direct = 8

  0x0:Invalid;0x1:D;0x2:N;0x3:R [bit] [0.0|3.0]

• optional double wheelspeed_fr_direct = 9

  0x0:Invalid;0x1:D;0x2:N;0x3:R [bit] [0.0|3.0]

• optional double alivecounter_front = 10

  [] [0.0|15.0]

• optional double checksum_front = 11

  [] [0.0|255.0]

Used in: Neolix_edu

• optional bool wheelspeed_rl_valid = 1

  Report Message 0x0:Invalid;0x1:Valid [bit] [0.0|1.0]

• optional double wheelspeed_rl = 2

  [km/h] [0.0|327.67]

• optional bool wheelspeed_rr_valid = 3

  0x0:Invalid;0x1:Valid [bit] [0.0|1.0]

• optional double wheelspeed_rr = 4

  [km/h] [0.0|327.67]

• optional double wheelspeed_rl_direct = 5

  0x0:Invalid;0x1:D;0x2:N;0x3:R [bit] [0.0|3.0]

• optional double wheelspeed_rr_direct = 6

  0x0:Invalid;0x1:D;0x2:N;0x3:R [bit] [0.0|3.0]

• optional double alivecounter_rear = 7

  [] [0.0|15.0]

• optional double checksum_rear = 8

  [] [0.0|255.0]

Used in: Neolix_edu

• optional int32 aeb_state = 1

  Report Message 0x00:read only;0x01:brake enable [] [0|1]

• optional bool aeb_brakestate = 2

  0x00:off;0x01:on [] [0|1]

• optional int32 faultrank = 3

  0x0:Nomal;0x1:Level 1;0x2:Level 2;0x3:Level 3;0x4:Level 4;0x5:Level 5;0x6:Reserved;0x7:Reserved [] [0|5]

• optional int32 currenttemperature = 4

  [] [0|120]

• optional bool pas_f1_stop = 5

  0x0:Normal;0x1:ActivateBrake [] [0|1]

• optional bool pas_f2_stop = 6

  0x0:Normal;0x1:ActivateBrake [] [0|1]

• optional bool pas_f3_stop = 7

  0x0:Normal;0x1:ActivateBrake [] [0|1]

• optional bool pas_f4_stop = 8

  0x0:Normal;0x1:ActivateBrake [] [0|1]

• optional bool pas_b1_stop = 9

  0x0:Normal;0x1:ActivateBrake [] [0|1]

• optional bool pas_b2_stop = 10

  0x0:Normal;0x1:ActivateBrake [] [0|1]

• optional bool pas_b3_stop = 11

  0x0:Normal;0x1:ActivateBrake [] [0|1]

• optional bool pas_b4_stop = 12

  0x0:Normal;0x1:ActivateBrake [] [0|1]

• optional int32 aeb_livecounter_rear = 13

  [] [0|15]

• optional int32 aeb_cheksum = 14

  [bit] [0|255]

Used in: Neolix_edu

• optional double flimpulse = 1

  Report Message 0x0:Invalid;0x1:Valid [bit] [0.0|1023.0]

• optional bool flimpulsevalid = 2

  0x0:Invalid;0x1:Valid [bit] [0.0|1.0]

• optional double frimpulse = 3

  [km/h] [0.0|1023.0]

• optional bool frimpulsevalid = 4

  [km/h] [0.0|1.0]

• optional double rlimpulse = 5

  0x0:Invalid;0x1:Valid [bit] [0.0|1023.0]

• optional bool rlimpulsevalid = 6

  0x0:Invalid;0x1:Valid [bit] [0.0|1.0]

• optional double rrimpulse = 7

  [km/h] [0.0|1023.0]

• optional bool rrimpulsevalid = 8

  [km/h] [0.0|1.0]

• optional double alivecounter = 9

  [] [0.0|15.0]

• optional double checksum = 10

  [] [0.0|255.0]

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: Devkit

• optional double battery_current = 1

  Report Message Battery Total Current [A] [-3200|3200]

• optional double battery_voltage = 2

  Battery Total Voltage [V] [0|300]

• optional int32 battery_soc = 3

  Battery Soc percentage [%] [0|100]

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: Devkit

• optional double brake_dec = 1

  [m/s^2] [0|10]

• optional int32 checksum_101 = 2

  [] [0|255]

• optional double brake_pedal_target = 3

  [%] [0|100]

• optional Brake_command_101.Brake_en_ctrlType brake_en_ctrl = 4

  [] [0|1]

• optional Brake_command_101.Aeb_en_ctrlType aeb_en_ctrl = 5

  [] [0|0]

Control Message

Used in: Brake_command_101

• AEB_EN_CTRL_DISABLE_AEB = 0

• AEB_EN_CTRL_ENABLE_AEB = 1

Used in: Brake_command_101

• BRAKE_EN_CTRL_DISABLE = 0

• BRAKE_EN_CTRL_ENABLE = 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: Devkit

• optional double brake_pedal_actual = 1

  [%] [0|100]

• optional Brake_report_501.Brake_flt2Type brake_flt2 = 2

  Brake system communication fault [] [0|1]

• optional Brake_report_501.Brake_flt1Type brake_flt1 = 3

  Brake system hardware fault [] [0|1]

• optional Brake_report_501.Brake_en_stateType brake_en_state = 4

  [] [0|2]

Used in: Brake_report_501

• BRAKE_EN_STATE_MANUAL = 0

• BRAKE_EN_STATE_AUTO = 1

• BRAKE_EN_STATE_TAKEOVER = 2

• BRAKE_EN_STATE_STANDBY = 3

Used in: Brake_report_501

• BRAKE_FLT1_NO_FAULT = 0

• BRAKE_FLT1_BRAKE_SYSTEM_HARDWARE_FAULT = 1

Report Message

Used in: Brake_report_501

• BRAKE_FLT2_NO_FAULT = 0

• BRAKE_FLT2_BRAKE_SYSTEM_COMUNICATION_FAULT = 1

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|2]

• optional int32 brake_pedal_sts = 2

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

• optional Brake_status__511.Brake_errType brake_err = 3

  [] [0|1]

• optional Brake_status__511.Emergency_btn_envType emergency_btn_env = 4

  [] [0|1]

• optional Brake_status__511.Front_bump_envType front_bump_env = 5

  [] [0|1]

• optional Brake_status__511.Back_bump_envType back_bump_env = 6

  [] [0|1]

• optional Brake_status__511.Overspd_envType overspd_env = 7

  [] [0|1]

Used in: Brake_status__511

• BACK_BUMP_ENV_NOENV = 0

• BACK_BUMP_ENV_BACK_BUMPER_ENV = 1

Used in: Brake_status__511

• BRAKE_ERR_NOERR = 0

• BRAKE_ERR_BRAKE_SYSTEM_ERR = 1

Report Message

Used in: Brake_status__511

• BRAKE_PEDAL_EN_STS_DISABLE = 0

• BRAKE_PEDAL_EN_STS_ENABLE = 1

• BRAKE_PEDAL_EN_STS_TAKEOVER = 2

Used in: Brake_status__511

• EMERGENCY_BTN_ENV_NOENV = 0

• EMERGENCY_BTN_ENV_EMERGENCY_BUTTON_ENV = 1

Used in: Brake_status__511

• FRONT_BUMP_ENV_NOENV = 0

• FRONT_BUMP_ENV_FRONT_BUMPER_ENV = 1

Used in: Brake_status__511

• OVERSPD_ENV_NOENV = 0

• OVERSPD_ENV_OVERSPEED_ENV = 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 Throttle_command_110 throttle_command_110 = 1

  control message

• optional Brake_command_111 brake_command_111 = 2

  control message

• optional Steer_command_112 steer_command_112 = 3

  control message

• optional Turnsignal_command_113 turnsignal_command_113 = 4

  control message

• optional Gear_command_114 gear_command_114 = 5

  control message

• optional Control_command_115 control_command_115 = 6

  control message

• optional Throttle_status__510 throttle_status__510 = 7

  report message

• optional Brake_status__511 brake_status__511 = 8

  report message

• optional Steer_status__512 steer_status__512 = 9

  report message

• optional Turnsignal_status__513 turnsignal_status__513 = 10

  report message

• optional Gear_status_514 gear_status_514 = 11

  report message

• optional Ecu_status_1_515 ecu_status_1_515 = 12

  report message

• optional Ecu_status_2_516 ecu_status_2_516 = 13

  report message

• optional Ecu_status_3_517 ecu_status_3_517 = 14

  report message

next id :31

Used in: control.LocalView, 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

• optional int32 battery_soc_percentage = 34

Used in: Chassis, Safety, VehicleParameter, common.VehicleState, control.ControlCommand, control.ControlCommonConf, 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, dreamview.Object, planning.ADCTrajectory, planning.ChassisFeature

• 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 Devkit devkit = 25

• optional Neolix_edu neolix_edu = 26

• 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

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: ChassisDetail

• optional Throttle_command_100 throttle_command_100 = 1

  control message

• optional Brake_command_101 brake_command_101 = 2

  control message

• optional Steering_command_102 steering_command_102 = 3

  control message

• optional Gear_command_103 gear_command_103 = 4

  control message

• optional Park_command_104 park_command_104 = 5

  control message

• optional Throttle_report_500 throttle_report_500 = 6

  report message

• optional Brake_report_501 brake_report_501 = 7

  report message

• optional Steering_report_502 steering_report_502 = 8

  report message

• optional Gear_report_503 gear_report_503 = 9

  report message

• optional Park_report_504 park_report_504 = 10

  report message

• optional Vcu_report_505 vcu_report_505 = 11

  report message

• optional Wheelspeed_report_506 wheelspeed_report_506 = 12

  report message

• optional Ultr_sensor_1_507 ultr_sensor_1_507 = 13

  report message

• optional Ultr_sensor_2_508 ultr_sensor_2_508 = 14

  report message

• optional Ultr_sensor_3_509 ultr_sensor_3_509 = 15

  report message

• optional Ultr_sensor_4_510 ultr_sensor_4_510 = 16

  report message

• optional Ultr_sensor_5_511 ultr_sensor_5_511 = 17

  report message

• optional Bms_report_512 bms_report_512 = 18

  report message

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_soc = 1

  Report Message Percentage of battery remaining (BMS status) [%] [0|100]

• optional int32 battery_capacity = 2

  Battery full capacity (BMS status) [Ah] [0|100]

• optional double battery_voltage = 3

  Current battery voltage (BMS status) [V] [0|80]

• optional double battery_current = 4

  Current battery current (BMS status) [A] [-60|60]

• optional int32 battery_temperature = 5

  Current battery temperature (BMS status) [℃] [-40|110]

Used in: Ch

• optional double ultrasound_dist_1 = 1

  Report Message Ultrasonic detection distance 1 (Ultrasound status) [cm] [0|500]

• optional double ultrasound_dist_2 = 2

  Ultrasonic detection distance 2 (Ultrasound status) [cm] [0|500]

• optional double ultrasound_dist_3 = 3

  Ultrasonic detection distance 3 (Ultrasound status) [cm] [0|500]

• optional double ultrasound_dist_4 = 4

  Ultrasonic detection distance 4 (Ultrasound status) [cm] [0|500]

• optional double ultrasound_dist_5 = 5

  Ultrasonic detection distance 5 (Ultrasound status) [cm] [0|500]

• optional double ultrasound_dist_6 = 6

  Ultrasonic detection distance 6 (Ultrasound status) [cm] [0|500]

• optional double ultrasound_dist_7 = 7

  Ultrasonic detection distance 7 (Ultrasound status) [cm] [0|500]

• optional double ultrasound_dist_8 = 8

  Ultrasonic detection distance 8 (Ultrasound status) [cm] [0|500]

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: Devkit

• optional Gear_command_103.Gear_targetType gear_target = 1

  [] [0|4]

• optional Gear_command_103.Gear_en_ctrlType gear_en_ctrl = 2

  [] [0|1]

• optional int32 checksum_103 = 3

  [] [0|255]

Used in: Gear_command_103

• GEAR_EN_CTRL_DISABLE = 0

• GEAR_EN_CTRL_ENABLE = 1

Control Message

Used in: Gear_command_103

• GEAR_TARGET_INVALID = 0

• GEAR_TARGET_PARK = 1

• GEAR_TARGET_REVERSE = 2

• GEAR_TARGET_NEUTRAL = 3

• GEAR_TARGET_DRIVE = 4

Used in: Ch

• optional Gear_command_114.Gear_cmdType gear_cmd = 1

  PRND control(Command) [] [1|4]

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: Devkit

• optional Gear_report_503.Gear_fltType gear_flt = 1

  [] [0|1]

• optional Gear_report_503.Gear_actualType gear_actual = 2

  [] [0|4]

Used in: Gear_report_503

• GEAR_ACTUAL_INVALID = 0

• GEAR_ACTUAL_PARK = 1

• GEAR_ACTUAL_REVERSE = 2

• GEAR_ACTUAL_NEUTRAL = 3

• GEAR_ACTUAL_DRIVE = 4

Report Message

Used in: Gear_report_503

• GEAR_FLT_NO_FAULT = 0

• GEAR_FLT_FAULT = 1

Used in: Ch

• optional Gear_status_514.Gear_stsType gear_sts = 1

  PRND control(Status) [] [1|4]

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]