cwrubaja

+ cwrubaja.fuelgauge.Fuelstate (v0.1) [extent 15.0 bytes] [max length 19.0 bytes]

+ uavcan.time.SynchronizedTimestamp (v1.0) timestamp [extent 7.0 bytes] [max length 7.0 bytes]

Nested data type used for representing a network-wide synchronized timestamp with microsecond resolution.
This data type is highly recommended for use both in standard and vendor-specific messages alike.

truncated uint56 microsecond

The number of microseconds that have passed since some arbitrary moment in the past.
The moment of origin (i.e., the time base) is defined per-application. The current time base in use
can be requested from the time synchronization master, see the corresponding service definition.

This value is to never overflow. The value is 56-bit wide because:

  - 2^56 microseconds is about 2285 years, which is plenty. A 64-bit microsecond counter would be
    unnecessarily wide and its overflow interval of 585 thousand years induces a mild existential crisis.

  - Classic-CAN (not FD) transports carry up to 7 bytes of payload per frame.
    Time sync messages shall use single-frame transfers, which means that the value can't be wider than 56 bits.

saturated uint56 UNKNOWN = 0

Zero means that the time is not known.

+ uavcan.primitive.scalar.Real32 (v1.0) percent [extent 4.0 bytes] [max length 4.0 bytes]

saturated float32 value

Exactly representable integers: [-16777216, +16777216]

+ cwrubaja.fuelgauge.Fuelvolume (v0.1) [extent 23.0 bytes] [max length 27.0 bytes]

+ uavcan.time.SynchronizedTimestamp (v1.0) timestamp [extent 7.0 bytes] [max length 7.0 bytes]

Nested data type used for representing a network-wide synchronized timestamp with microsecond resolution.
This data type is highly recommended for use both in standard and vendor-specific messages alike.

truncated uint56 microsecond

The number of microseconds that have passed since some arbitrary moment in the past.
The moment of origin (i.e., the time base) is defined per-application. The current time base in use
can be requested from the time synchronization master, see the corresponding service definition.

This value is to never overflow. The value is 56-bit wide because:

  - 2^56 microseconds is about 2285 years, which is plenty. A 64-bit microsecond counter would be
    unnecessarily wide and its overflow interval of 585 thousand years induces a mild existential crisis.

  - Classic-CAN (not FD) transports carry up to 7 bytes of payload per frame.
    Time sync messages shall use single-frame transfers, which means that the value can't be wider than 56 bits.

saturated uint56 UNKNOWN = 0

Zero means that the time is not known.

+ uavcan.si.unit.volume.Scalar (v1.0) volume [extent 4.0 bytes] [max length 4.0 bytes]

saturated float32 cubic_meter

+ cwrubaja.hallmonitorunit.Rpm (v1.0) [extent 11.0 bytes] [max length 11.0 bytes]

Rotations per minuite. 
we can stop messing up conversions now

+ uavcan.time.SynchronizedTimestamp (v1.0) timestamp [extent 7.0 bytes] [max length 7.0 bytes]

Nested data type used for representing a network-wide synchronized timestamp with microsecond resolution.
This data type is highly recommended for use both in standard and vendor-specific messages alike.

truncated uint56 microsecond

The number of microseconds that have passed since some arbitrary moment in the past.
The moment of origin (i.e., the time base) is defined per-application. The current time base in use
can be requested from the time synchronization master, see the corresponding service definition.

This value is to never overflow. The value is 56-bit wide because:

  - 2^56 microseconds is about 2285 years, which is plenty. A 64-bit microsecond counter would be
    unnecessarily wide and its overflow interval of 585 thousand years induces a mild existential crisis.

  - Classic-CAN (not FD) transports carry up to 7 bytes of payload per frame.
    Time sync messages shall use single-frame transfers, which means that the value can't be wider than 56 bits.

saturated uint56 UNKNOWN = 0

Zero means that the time is not known.

saturated float32 rpm

+ cwrubaja.hallmonitorunit.Status (v0.1) [extent 39.0 bytes] [max length 39.0 bytes]

A Status message from HMU

+ uavcan.time.SynchronizedTimestamp (v1.0) timestamp [extent 7.0 bytes] [max length 7.0 bytes]

Nested data type used for representing a network-wide synchronized timestamp with microsecond resolution.
This data type is highly recommended for use both in standard and vendor-specific messages alike.

truncated uint56 microsecond

The number of microseconds that have passed since some arbitrary moment in the past.
The moment of origin (i.e., the time base) is defined per-application. The current time base in use
can be requested from the time synchronization master, see the corresponding service definition.

This value is to never overflow. The value is 56-bit wide because:

  - 2^56 microseconds is about 2285 years, which is plenty. A 64-bit microsecond counter would be
    unnecessarily wide and its overflow interval of 585 thousand years induces a mild existential crisis.

  - Classic-CAN (not FD) transports carry up to 7 bytes of payload per frame.
    Time sync messages shall use single-frame transfers, which means that the value can't be wider than 56 bits.

saturated uint56 UNKNOWN = 0

Zero means that the time is not known.

+ saturated float32[4] rpm [max length 16.0 bytes]

saturated float32

+ uavcan.si.unit.voltage.Scalar.1.0[4] voltage [max length 16.0 bytes]

+ uavcan.si.unit.voltage.Scalar (v1.0) [extent 4.0 bytes] [max length 4.0 bytes]

saturated float32 volt

+ cwrubaja.hierarchy.Level (v0.1) [extent 1.0 bytes] [max length 1.0 bytes]

Basic datatype that details what algorithmic level the request/message is at

saturated uint4 value

+ cwrubaja.hmi.notasteeringwheel

+ cwrubaja.hmi.notasteeringwheel.State (v0.1) [extent 16.0 bytes] [max length 16.0 bytes]

+ uavcan.time.SynchronizedTimestamp (v1.0) timestamp [extent 7.0 bytes] [max length 7.0 bytes]

Nested data type used for representing a network-wide synchronized timestamp with microsecond resolution.
This data type is highly recommended for use both in standard and vendor-specific messages alike.

truncated uint56 microsecond

The number of microseconds that have passed since some arbitrary moment in the past.
The moment of origin (i.e., the time base) is defined per-application. The current time base in use
can be requested from the time synchronization master, see the corresponding service definition.

This value is to never overflow. The value is 56-bit wide because:

  - 2^56 microseconds is about 2285 years, which is plenty. A 64-bit microsecond counter would be
    unnecessarily wide and its overflow interval of 585 thousand years induces a mild existential crisis.

  - Classic-CAN (not FD) transports carry up to 7 bytes of payload per frame.
    Time sync messages shall use single-frame transfers, which means that the value can't be wider than 56 bits.

saturated uint56 UNKNOWN = 0

Zero means that the time is not known.

saturated uint16 rotary0

saturated uint16 rotary1

saturated float32 potentiometer

saturated bool toggle

+ cwrubaja.hmi.steeringwheel

+ cwrubaja.hmi.steeringwheel.Knobs (v0.1) [extent 4.0 bytes] [max length 4.0 bytes]

saturated uint16 left

saturated uint16 right

+ cwrubaja.hmi.steeringwheel.State (v0.1) [extent 8.0 bytes] [max length 8.0 bytes]

+ uavcan.time.SynchronizedTimestamp (v1.0) timestamp [extent 7.0 bytes] [max length 7.0 bytes]

Nested data type used for representing a network-wide synchronized timestamp with microsecond resolution.
This data type is highly recommended for use both in standard and vendor-specific messages alike.

truncated uint56 microsecond

The number of microseconds that have passed since some arbitrary moment in the past.
The moment of origin (i.e., the time base) is defined per-application. The current time base in use
can be requested from the time synchronization master, see the corresponding service definition.

This value is to never overflow. The value is 56-bit wide because:

  - 2^56 microseconds is about 2285 years, which is plenty. A 64-bit microsecond counter would be
    unnecessarily wide and its overflow interval of 585 thousand years induces a mild existential crisis.

  - Classic-CAN (not FD) transports carry up to 7 bytes of payload per frame.
    Time sync messages shall use single-frame transfers, which means that the value can't be wider than 56 bits.

saturated uint56 UNKNOWN = 0

Zero means that the time is not known.

saturated uint8 value

saturated uint8 NORMAL = 0

saturated uint8 RUH_ROH = 1

saturated uint8 MANUAL = 2

saturated uint8 SEMI_ACTIVE = 3

+ cwrubaja.honeybee.Angle (v0.1) [extent 11.0 bytes] [max length 11.0 bytes]

+ uavcan.time.SynchronizedTimestamp (v1.0) timestamp [extent 7.0 bytes] [max length 7.0 bytes]

Nested data type used for representing a network-wide synchronized timestamp with microsecond resolution.
This data type is highly recommended for use both in standard and vendor-specific messages alike.

truncated uint56 microsecond

The number of microseconds that have passed since some arbitrary moment in the past.
The moment of origin (i.e., the time base) is defined per-application. The current time base in use
can be requested from the time synchronization master, see the corresponding service definition.

This value is to never overflow. The value is 56-bit wide because:

  - 2^56 microseconds is about 2285 years, which is plenty. A 64-bit microsecond counter would be
    unnecessarily wide and its overflow interval of 585 thousand years induces a mild existential crisis.

  - Classic-CAN (not FD) transports carry up to 7 bytes of payload per frame.
    Time sync messages shall use single-frame transfers, which means that the value can't be wider than 56 bits.

saturated uint56 UNKNOWN = 0

Zero means that the time is not known.

saturated float32 degree

+ cwrubaja.midi.Note (v0.1) [extent 3.0 bytes] [max length 3.0 bytes]

saturated bool on

saturated uint8 note

saturated uint8 velocity

+ cwrubaja.navigation.Acceleration (v0.1) [extent 12.0 bytes] [max length 12.0 bytes]

represents linear acceleration. north points to true north

+ uavcan.si.unit.acceleration.Scalar (v1.0) north [extent 4.0 bytes] [max length 4.0 bytes]

saturated float32 meter_per_second_per_second

+ uavcan.si.unit.acceleration.Scalar (v1.0) east [extent 4.0 bytes] [max length 4.0 bytes]

saturated float32 meter_per_second_per_second

+ uavcan.si.unit.acceleration.Scalar (v1.0) down [extent 4.0 bytes] [max length 4.0 bytes]

saturated float32 meter_per_second_per_second

+ cwrubaja.navigation.Angular_velocity (v0.1) [extent 12.0 bytes] [max length 12.0 bytes]

Rotation speed relative to an NED coordinate system
representation is euler angles around the coordinate system
(0,0,0) is defined as the car not rotation at all
then the angles are the degrees around each axis with postitive defined by the right hand rule
so rotating from directly north to directly east in 1 second would be north=0, east=0, down=90

saturated float32 north_degrees_per_second

saturated float32 east_degrees_per_second

saturated float32 down_degrees_per_second

+ cwrubaja.navigation.Location (v0.1) [extent 12.0 bytes] [max length 12.0 bytes]

a position on the earth

saturated float32 latitude_degrees

saturated float32 longitude_degrees

+ uavcan.si.unit.length.Scalar (v1.0) altitude [extent 4.0 bytes] [max length 4.0 bytes]

saturated float32 meter

+ cwrubaja.navigation.Orientation (v0.1) [extent 12.0 bytes] [max length 12.0 bytes]

Orrientation relative to an NED coordinate system
representation is euler angles around the coordinate system
(0,0,0) is defined as the car perfectly upright and pointing directy north
then the angles are the degrees around each axis with postitive defined by the right hand rule
so perfectly upright facing straight east would be north=0, east=0, down=90

saturated float32 north_degrees

saturated float32 east_degrees

saturated float32 down_degrees

+ cwrubaja.navigation.Uncertainty (v0.1) [extent 60.0 bytes] [max length 60.0 bytes]

returns the 1 sigma uncertainty of all the quantities measured by the gps
that is to say, 1 std deviation of the measurement assuming gausian distribution
so we are 67% sure that this range is true: reported_val - uncertainty < real_val < reported_val + uncertainty

+ cwrubaja.navigation.Location (v0.1) location [extent 12.0 bytes] [max length 12.0 bytes]

a position on the earth

saturated float32 latitude_degrees

saturated float32 longitude_degrees

+ uavcan.si.unit.length.Scalar (v1.0) altitude [extent 4.0 bytes] [max length 4.0 bytes]

saturated float32 meter

+ cwrubaja.navigation.Velocity (v0.1) velocity [extent 12.0 bytes] [max length 12.0 bytes]

represents linear velocity. north points to true north

+ uavcan.si.unit.velocity.Scalar (v1.0) north [extent 4.0 bytes] [max length 4.0 bytes]

saturated float32 meter_per_second

+ uavcan.si.unit.velocity.Scalar (v1.0) east [extent 4.0 bytes] [max length 4.0 bytes]

saturated float32 meter_per_second

+ uavcan.si.unit.velocity.Scalar (v1.0) down [extent 4.0 bytes] [max length 4.0 bytes]

saturated float32 meter_per_second

+ cwrubaja.navigation.Acceleration (v0.1) acceleration [extent 12.0 bytes] [max length 12.0 bytes]

represents linear acceleration. north points to true north

+ uavcan.si.unit.acceleration.Scalar (v1.0) north [extent 4.0 bytes] [max length 4.0 bytes]

saturated float32 meter_per_second_per_second

+ uavcan.si.unit.acceleration.Scalar (v1.0) east [extent 4.0 bytes] [max length 4.0 bytes]

saturated float32 meter_per_second_per_second

+ uavcan.si.unit.acceleration.Scalar (v1.0) down [extent 4.0 bytes] [max length 4.0 bytes]

saturated float32 meter_per_second_per_second

+ cwrubaja.navigation.Orientation (v0.1) orientation [extent 12.0 bytes] [max length 12.0 bytes]

Orrientation relative to an NED coordinate system
representation is euler angles around the coordinate system
(0,0,0) is defined as the car perfectly upright and pointing directy north
then the angles are the degrees around each axis with postitive defined by the right hand rule
so perfectly upright facing straight east would be north=0, east=0, down=90

saturated float32 north_degrees

saturated float32 east_degrees

saturated float32 down_degrees

+ cwrubaja.navigation.Angular_velocity (v0.1) angular_velocity [extent 12.0 bytes] [max length 12.0 bytes]

Rotation speed relative to an NED coordinate system
representation is euler angles around the coordinate system
(0,0,0) is defined as the car not rotation at all
then the angles are the degrees around each axis with postitive defined by the right hand rule
so rotating from directly north to directly east in 1 second would be north=0, east=0, down=90

saturated float32 north_degrees_per_second

saturated float32 east_degrees_per_second

saturated float32 down_degrees_per_second

+ cwrubaja.navigation.Velocity (v0.1) [extent 12.0 bytes] [max length 12.0 bytes]

represents linear velocity. north points to true north

+ uavcan.si.unit.velocity.Scalar (v1.0) north [extent 4.0 bytes] [max length 4.0 bytes]

saturated float32 meter_per_second

+ uavcan.si.unit.velocity.Scalar (v1.0) east [extent 4.0 bytes] [max length 4.0 bytes]

saturated float32 meter_per_second

+ uavcan.si.unit.velocity.Scalar (v1.0) down [extent 4.0 bytes] [max length 4.0 bytes]

saturated float32 meter_per_second

+ cwrubaja.navigation.testing

+ cwrubaja.navigation.testing.Raw_gnss (v0.1) [extent 39.0 bytes] [max length 39.0 bytes]

used for sending raw gnss data from the neo-m9n driver in gofobomo 2026
I need this to get raw data I can use to validate my kalman filter for 
real driving conditions
for heading, north is 0 degrees, clockwise is positive

saturated uint8 fixType

saturated uint8 flags

saturated uint8 gnssFixOK

saturated int32 lon_degree

saturated int32 lat_degree

saturated int32 height_mm

saturated uint32 horizontal_accuracy_mm

saturated uint32 vertical_accuracy_mm

saturated int32 ground_speed_mm_per_second

saturated int32 heading_degree_1E_minus_5

saturated uint32 speed_accuracy_mm_per_second

saturated uint32 heading_accuracy_1E_minus_5

+ cwrubaja.navigation.testing.Raw_imu (v0.1) [extent 19.0 bytes] [max length 19.0 bytes]

used for sending raw data from the ICM20948 imu driver in gofobomo 2026
I need this to get raw data I can use to validate my kalman filter for 
real driving conditions

saturated int16 x_deci_degree_per_second

saturated int16 y_deci_degree_per_second

saturated int16 z_deci_degree_per_second

saturated int16 x_acceleration_milli_G

saturated int16 y_acceleration_milli_G

saturated int16 z_acceleration_milli_G

saturated int16 x_micro_tesla

saturated int16 y_micro_tesla

saturated int16 z_micro_tesla

saturated bool magnometer_data_fresh

+ cwrubaja.physics.Color (v0.1) [extent 3.0 bytes] [max length 3.0 bytes]

type that encapsulates a 24-bit RGB color

saturated uint8 r

saturated uint8 g

saturated uint8 b

saturated uint8 MAX_RED = 255

saturated uint8 MAX_GREEN = 255

saturated uint8 MAX_BLUE = 255

+ cwrubaja.servocontroller.Manual (v1.0) [extent 8.0 bytes] [max length 8.0 bytes]

Servo Controller Manual Driving datatype
Mostly used for debug/exploration of servo & controller behavior
Think of it as teleoperation for the entire board (e.g. connect a joystick to Yakut and have control of all actuator axes)

saturated bool pwmEnable

saturated uint32 pwmMicrosecond

saturated bool buckEnable

+ cwrubaja.physics.Color (v0.1) neopixelColor [extent 3.0 bytes] [max length 3.0 bytes]

type that encapsulates a 24-bit RGB color

saturated uint8 r

saturated uint8 g

saturated uint8 b

saturated uint8 MAX_RED = 255

saturated uint8 MAX_GREEN = 255

saturated uint8 MAX_BLUE = 255

+ cwrubaja.servocontroller.State (v0.1) [extent 19.0 bytes] [max length 23.0 bytes]

Servo Controller State datatype
Encapsulates the current status of Servo Controller

+ uavcan.time.SynchronizedTimestamp (v1.0) timestamp [extent 7.0 bytes] [max length 7.0 bytes]

Nested data type used for representing a network-wide synchronized timestamp with microsecond resolution.
This data type is highly recommended for use both in standard and vendor-specific messages alike.

truncated uint56 microsecond

The number of microseconds that have passed since some arbitrary moment in the past.
The moment of origin (i.e., the time base) is defined per-application. The current time base in use
can be requested from the time synchronization master, see the corresponding service definition.

This value is to never overflow. The value is 56-bit wide because:

  - 2^56 microseconds is about 2285 years, which is plenty. A 64-bit microsecond counter would be
    unnecessarily wide and its overflow interval of 585 thousand years induces a mild existential crisis.

  - Classic-CAN (not FD) transports carry up to 7 bytes of payload per frame.
    Time sync messages shall use single-frame transfers, which means that the value can't be wider than 56 bits.

saturated uint56 UNKNOWN = 0

Zero means that the time is not known.

+ uavcan.si.unit.electric_current.Scalar (v1.0) servoCurrent [extent 4.0 bytes] [max length 4.0 bytes]

saturated float32 ampere

saturated bool engaged

saturated uint8 state

saturated uint8 ServoStartup = 1

saturated uint8 ServoDisengaged = 2

saturated uint8 ServoEngaged = 3

saturated uint8 ServoFault = 4

saturated uint8 ServoTrimEngagedMenu = 5

saturated uint8 ServoTrimDisengagedMenu = 6

saturated uint8 ServoLocateInit = 7

saturated uint8 ServoLocateOne = 8

saturated uint8 ServoLocateTwo = 9

saturated uint8 ServoLocateDecide = 10

saturated uint8 ServoAutoTrim = 11

+ cwrubaja.suspension.vcm

+ cwrubaja.suspension.vcm.Setpoint (v0.2) [extent 7.0 bytes] [max length 11.0 bytes]

A specific Semi-Active Suspension valve setpoint.

saturated uint4 priority

+ uavcan.si.unit.electric_current.Scalar (v1.0) current [extent 4.0 bytes] [max length 4.0 bytes]

saturated float32 ampere

+ cwrubaja.suspension.vcm.Setpoint (v0.1) [extent 7.0 bytes] [max length 11.0 bytes]

A specific Semi-Active Suspension valve setpoint.

+ uavcan.si.unit.electric_current.Scalar (v1.0) current [extent 4.0 bytes] [max length 4.0 bytes]

saturated float32 ampere

+ cwrubaja.suspension.vcm.Status (v0.1) [extent 28.0 bytes] [max length 32.0 bytes]

A status message from VCM

+ uavcan.time.SynchronizedTimestamp (v1.0) timestamp [extent 7.0 bytes] [max length 7.0 bytes]

Nested data type used for representing a network-wide synchronized timestamp with microsecond resolution.
This data type is highly recommended for use both in standard and vendor-specific messages alike.

truncated uint56 microsecond

The number of microseconds that have passed since some arbitrary moment in the past.
The moment of origin (i.e., the time base) is defined per-application. The current time base in use
can be requested from the time synchronization master, see the corresponding service definition.

This value is to never overflow. The value is 56-bit wide because:

  - 2^56 microseconds is about 2285 years, which is plenty. A 64-bit microsecond counter would be
    unnecessarily wide and its overflow interval of 585 thousand years induces a mild existential crisis.

  - Classic-CAN (not FD) transports carry up to 7 bytes of payload per frame.
    Time sync messages shall use single-frame transfers, which means that the value can't be wider than 56 bits.

saturated uint56 UNKNOWN = 0

Zero means that the time is not known.

+ uavcan.si.unit.temperature.Scalar (v1.0) valve [extent 4.0 bytes] [max length 4.0 bytes]

saturated float32 kelvin

+ uavcan.si.unit.temperature.Scalar (v1.0) module [extent 4.0 bytes] [max length 4.0 bytes]

saturated float32 kelvin

+ uavcan.si.unit.temperature.Scalar (v1.0) mcu [extent 4.0 bytes] [max length 4.0 bytes]

saturated float32 kelvin

+ uavcan.si.unit.electric_current.Scalar (v1.0) current [extent 4.0 bytes] [max length 4.0 bytes]

saturated float32 ampere

+ uavcan.si.unit.voltage.Scalar (v1.0) voltage [extent 4.0 bytes] [max length 4.0 bytes]

saturated float32 volt

Documentation for namespace cwrubaja