VERSION "1.1"

NS_ :
    NS_DESC_
    CM_
    BA_DEF_
    BA_
    VAL_
    CAT_DEF_
    CAT_
    FILTER
    BA_DEF_DEF_
    EV_DATA_
    ENVVAR_DATA_
    SGTYPE_
    SGTYPE_VAL_
    BA_DEF_SGTYPE_
    BA_SGTYPE_
    SIG_TYPE_REF_
    VAL_TABLE_
    SIG_GROUP_
    SIG_VALTYPE_
    SIGTYPE_VALTYPE_
    BO_TX_BU_
    BA_DEF_REL_
    BA_REL_
    BA_DEF_DEF_REL_
    BU_SG_REL_
    BU_EV_REL_
    BU_BO_REL_
    SG_MUL_VAL_

BS_:

BU_: SDC_ACQ_DAC VehicleController

BO_ 1696 SDC_Heartbeat: 8 SDC_ACQ_DAC
 SG_ Board_Identifier : 0|8@1+ (1,0) [0|255] ""  VehicleController
 SG_ Protocol_Version : 8|8@1+ (1,0) [0|255] ""  VehicleController
 SG_ Heartbeat_Sequence : 16|16@1+ (1,0) [0|65535] ""  VehicleController
 SG_ Uptime : 32|32@1+ (0.001,0) [0|4294967.295] "s"  VehicleController

BO_ 1697 SDC_ADC_InputVoltage: 2 SDC_ACQ_DAC
 SG_ Input_Voltage : 0|16@1+ (0.001,0) [0|65.535] "V"  VehicleController

BO_ 1698 SDC_WheelSpeed: 4 SDC_ACQ_DAC
 SG_ WheelSpeed_LeftFront_PA0 : 0|16@1+ (0.001,0) [0|65.535] "m/s"  VehicleController
 SG_ WheelSpeed_RightFront_PA6 : 16|16@1+ (0.001,0) [0|65.535] "m/s"  VehicleController

BO_ 1699 SDC_DAC_Set: 3 VehicleController
 SG_ DAC_Select : 0|8@1+ (1,0) [1|2] ""  SDC_ACQ_DAC
 SG_ DAC_Command_Voltage : 8|16@1+ (0.001,0) [0|5] "V"  SDC_ACQ_DAC

BO_ 1700 SDC_DAC_Ack: 4 SDC_ACQ_DAC
 SG_ DAC_Set_Result : 0|8@1+ (1,0) [0|1] ""  VehicleController
 SG_ DAC_Select : 8|8@1+ (1,0) [1|2] ""  VehicleController
 SG_ DAC_Output_Voltage : 16|16@1+ (0.001,0) [0|5] "V"  VehicleController

BO_ 1701 ASSI_Lamp_Set: 1 VehicleController
 SG_ ASSI_State : 0|8@1+ (1,0) [0|4] ""  SDC_ACQ_DAC

BO_ 1702 SDC_GPIO_Status: 8 SDC_ACQ_DAC
 SG_ SDC_Input_State : 0|15@1+ (1,0) [0|32767] ""  VehicleController
 SG_ SDC_Changed_Mask : 16|15@1+ (1,0) [0|32767] ""  VehicleController
 SG_ Timestamp : 32|32@1+ (0.001,0) [0|4294967.295] "s"  VehicleController

VAL_ 1696 Board_Identifier 161 "A11_F407" ;
VAL_ 1699 DAC_Select 1 "DAC1" 2 "DAC2" ;
VAL_ 1700 DAC_Set_Result 0 "Failed" 1 "OK" ;
VAL_ 1700 DAC_Select 1 "DAC1" 2 "DAC2" ;
VAL_ 1701 ASSI_State 0 "AS_OFF" 1 "AS_READY" 2 "AS_DRIVING" 3 "AS_EMERGENCY" 4 "AS_FINISHED" ;

CM_ BO_ 1696 "Standard ID 0x6A0. Sent every 100 ms on CAN1 and CAN2.";
CM_ BO_ 1697 "Standard ID 0x6A1. Filtered and calibrated physical input voltage before the hardware divider.";
CM_ BO_ 1698 "Standard ID 0x6A2. Sent every 20 ms with two wheel speeds: left-front PA0 then right-front PA6. Raw value is mm/s (physical scale 0.001 m/s), derived from 49 pulses/rev and 1414 mm wheel circumference.";
CM_ BO_ 1699 "Standard ID 0x6A3. Accepted on CAN1 and CAN2. The on-wire voltage is an unsigned mV value. Each DAC is reset to 0 mV if its own control frame is not received again within 100 ms.";
CM_ BO_ 1700 "Standard ID 0x6A4. Sent on CAN1 and CAN2 after a DAC command. Result 0 indicates the I2C write failed.";
CM_ BO_ 1701 "Standard ID 0x6A5. Accepted on CAN1 and CAN2. Byte 0 selects the latched ASSI RGB lamp state: AS_OFF, AS_READY, AS_DRIVING, AS_EMERGENCY, or AS_FINISHED.";
CM_ BO_ 1702 "Standard ID 0x6A6. Sent every 1000 ms on CAN1 and CAN2. Changed-mask bits accumulate PD0-PD14 transitions since the preceding report.";
CM_ SG_ 1696 Board_Identifier "Fixed board identifier 0xA1.";
CM_ SG_ 1698 WheelSpeed_LeftFront_PA0 "Left-front wheel speed. TIM5_CH1 input capture on PA0; 49 pulses/rev and 1414 mm circumference.";
CM_ SG_ 1698 WheelSpeed_RightFront_PA6 "Right-front wheel speed. TIM3_CH1 input capture on PA6; 49 pulses/rev and 1414 mm circumference.";
CM_ SG_ 1702 SDC_Input_State "Bit 0 through bit 14 map directly to PD0 through PD14.";
CM_ SG_ 1702 SDC_Changed_Mask "A set bit identifies an input that changed during the preceding 1000 ms reporting interval.";