add sym2lib script

.gitignore

@@ -0,0 +1,46 @@
+# Ignore-Datei selbst ausschließen
+#.gitignore
+.gitmodules
+Thumbs.db
+
+# Bestimmte Dateien ausschließen
+cache.dat
+
+# Es können Wildcards (*,?) verwendet werden:
+*.exe
+*.dll
+*.dsbackup
+*.avrsln
+*.avrsuo
+*.avrgccproj
+*.aps
+*.atsln
+*.atsuo
+*.cproj
+*.aws
+*.xml
+*.xslt
+*.aux
+*.dvi
+*.lof
+*.log
+*.lot
+*.out
+*.synctex.gz
+*.toc
+*.pyc
+*.patch
+*.csv
+.project
+.pydevproject
+tmp?.dat
+
+# Auch Verzeichnisse kann man ausschießen:
+*default/
+*Debug/
+*bin/
+*ADC/
+*CAN/
+*UART/
+.*/
+CANLibrary/

CANLibrary/Sym2Lib.py

@@ -0,0 +1,140 @@
+# -*- coding: UTF-8 -*-
+
+'''
+Created on 12.12.2013
+
+@author: Philipp Rauch
+@version: 1.0
+@attention: No support for multiplex; until now no motorola support
+'''
+from CanMessage import CanMessage
+from CanSignal  import CanSignal
+
+def readSym(symfile):
+    sym = open(symfile, "r")
+
+    message = {}
+    tmp = {}
+    ignore = True
+    name = ""
+
+    for line in sym:
+        line = line.split("//")[0].strip()
+
+        if line == "":
+            if ignore:
+                continue
+            if name == "":
+                continue
+            tmp["CycleTime"] = 0
+            message[name] = tmp
+            tmp = {}
+            name = ""
+            continue
+
+        if ignore and not line[0] == "{":
+            continue
+
+        if line[0] == "{":
+            ignore = False
+            modus = line.strip("{} \n")
+            if modus == "SEND":
+                ignore = False
+            elif modus == "RECEIVE":
+                ignore = False
+            elif modus == "SENDRECEIVE":
+                ignore = False
+            elif modus == "VIRTUALVARS":
+                ignore = True
+
+        elif line[0] == "[":
+            name = line.strip("[] \n")
+
+        elif line.find("ID") == 0:
+            msg_id = line.split("=")[1].strip().rstrip("h")
+            tmp["ID"] = int(msg_id, 16)
+
+        elif line.find("DLC") == 0:
+            tmp["DLC"] = int(line.split("=")[1].strip())
+
+        elif line.find("CycleTime") == 0:
+            tmp["CycleTime"] = int(line.split("=")[1].strip())
+
+        elif line.find("Var") == 0:
+            arg = line.split("=")[1].strip().split(" ")
+            signal = {}
+            signal["factor"] = 1
+            signal["data"] = 0
+            signal["offset"] = 0
+
+            titel = arg[0]
+            del arg[0]
+
+            signal["type"] = arg[0]
+            del arg[0]
+
+            signal["begin"] = int(arg[0].split(",")[0])
+            signal["length"] = int(arg[0].split(",")[1])
+            del arg[0]
+
+            if "-m" in arg:
+                signal["format"] = "motorola"
+                arg.remove("-m")
+            else:
+                signal["format"] = "intel"
+
+            if "-b" in arg:
+                signal["output"] = "binary"
+                arg.remove("-b")
+            elif "-h" in arg:
+                signal["output"] = "hexadecimal"
+                arg.remove("-h")
+            else:
+                signal["output"] = "decimal"
+
+            for i in arg:
+                a = i.split(":")
+                if a[0] == "/u":
+                    signal["unit"] = a[1]
+                elif a[0] == "/f":
+                    signal["factor"] = float(a[1])
+                elif a[0] == "/o":
+                    signal["offset"] = int(a[1])
+                elif a[0] == "/d":
+                    signal["data"] = float(a[1])
+
+            tmp[titel] = signal
+    return message
+
+def Sym2Code(symfile, adapter = "pcan"):
+    mes = readSym(symfile)
+    for i in mes.keys():
+        print "%s.addMessage(CanMessage(%s, %s, %s, %s)" % (adapter, hex(mes[i]["ID"]), mes[i]["DLC"], mes[i]["CycleTime"], i)
+        for sig in mes[i]:
+            if isinstance(mes[i].get(sig), dict):
+                print "%s.Messages[%s].addSignal(CanSignal(%s, %s, %s, %s, %s, %s)" % (adapter, i, mes[i][sig]["begin"], mes[i][sig]["length"], mes[i][sig]["offset"], mes[i][sig]["factor"], mes[i][sig]["data"], sig)
+        print ""
+
+def Add2Adapter(pcan, symfile):
+    '''
+    @attention: not tested
+    '''
+    mes = readSym(symfile)
+    for i in mes.keys():
+        pcan.addMessage(CanMessage(mes[i]["ID"],
+                                   mes[i]["DLC"],
+                                    mes[i]["CycleTime"],
+                                    i))
+        print "add %s - %s to pcan" % (i, mes[i]["ID"])
+        for sig in mes[i]:
+            if isinstance(mes[i].get(sig), dict):
+                pcan.Messages[i].addSignal(CanSignal(mes[i][sig]["begin"],
+                                                     mes[i][sig]["length"],
+                                                     mes[i][sig]["offset"],
+                                                     mes[i][sig]["factor"],
+                                                     mes[i][sig]["data"],
+                                                     sig))
+            print "add sig %s to msg %s" (sig, i)
+    return pcan
+
+Sym2Code("symfiles/MAB_Module_BMS.sym")

CANLibrary/symfiles/MAB_Module_ACC.sym

@@ -0,0 +1,18 @@
+FormatVersion=5.0 // Do not edit!
+Title="MicroAutoBox Artega"
+
+{SENDRECEIVE}
+
+[Module_ACC]
+ID=513h
+DLC=4
+Var=Input_Enable bit 0,1
+Var=Input_RelayIsClosed bit 1,1
+Var=Accelerator1PositionFiltered unsigned 2,7 /u:normed /f:0.01 /d:0
+Var=Accelerator2PositionFiltered unsigned 9,7 /u:norm /f:0.01
+Var=PositionFilteredAverage unsigned 16,7 /f:0.01
+Var=Error_VoltageLimit bit 24,1
+Var=Error_Difference bit 25,1
+Var=Warning_AcceleratorsNotEnabled bit 26,1
+Var=SignalIsValid bit 23,1
+

CANLibrary/symfiles/MAB_Module_BMS.sym

@@ -0,0 +1,74 @@
+FormatVersion=5.0 // Do not edit!
+Title="Untitled"
+
+{SENDRECEIVE}
+
+[MAB_Module_BMS_StateDemand]
+ID=31Fh
+DLC=1
+Var=Charge unsigned 0,1
+Var=Drive unsigned 2,1
+Var=Idle unsigned 3,1
+
+[Module_BMS_ChargeState]
+ID=152h
+DLC=3
+Var=Voltage_Line1_CriticallyHigh unsigned 0,1
+Var=Voltage_Line2_CriticallyHigh unsigned 2,1
+Var=Charge_Stop_Line1 unsigned 1,1
+Var=Charge_Stop_Line2 unsigned 3,1
+Var=Current_Excess unsigned 8,8
+Var=Voltage_Excess unsigned 16,8
+
+[Module_BMS_SOC]
+ID=352h
+DLC=1
+Var=SOC unsigned 0,8
+
+[Module_BMS_State]
+ID=150h
+DLC=1
+Var=Init unsigned 0,1
+Var=Idle unsigned 1,1
+Var=Charge unsigned 2,1
+Var=Drive unsigned 3,1
+Var=DrivingPermitted unsigned 4,1
+
+[Module_BMS_Voltage]
+ID=350h
+DLC=8
+Var=Voltage_Line1 unsigned 0,32	// in mV
+Var=Voltage_Line2 unsigned 32,32	// in mV
+
+[Module_BMS_Current]
+ID=351h
+DLC=8
+Var=Current_Line1 unsigned 0,32	// in mA
+Var=Current_Line2 unsigned 32,32	// in mA
+
+[Module_BMS_Temperature]
+ID=153h
+DLC=6
+Var=Temp_Max unsigned 0,16	// in Celcius
+Var=Temp_Min unsigned 16,16	// in Celcius
+Var=Temp_Average unsigned 32,16	// in Celcius
+
+[Module_BMS_DischargeState]
+ID=151h
+DLC=8
+Var=OverCurrent unsigned 0,1 /ln:"Maximaler continous Entladestrom erreicht"
+Var=DeratePower unsigned 1,2	// Leistungdrosseln
+Var=InsolationFault unsigned 8,4
+Var=DeviceError unsigned 12,4
+Var=Voltage_Line1_Critically_Low unsigned 16,2
+Var=Voltage_Line2_Critically_Low unsigned 18,2
+Var=Voltage_Line1_LowerLimit unsigned 20,2
+Var=Voltage_Line2_LowerLimit unsigned 22,2
+Var=BatteryCells_Warm unsigned 24,2
+Var=BatteryCells_Hot unsigned 26,1
+
+[Module_BMS_InfoDCDC]
+ID=353h
+DLC=1
+Var=DCDC_PowerOnPermitted unsigned 0,8
+

CANLibrary/symfiles/MAB_Module_CUR.sym

@@ -0,0 +1,16 @@
+FormatVersion=5.0 // Do not edit!
+Title="MAB Artega"
+
+{SENDRECEIVE}
+
+[Module_CUR]
+ID=515h
+DLC=7
+CycleTime=50
+Var=SignalIsValid bit 0,1
+Var=Warning_CurrentOutOfBounds bit 1,1
+Var=Error_InvalidDutyCycle bit 2,1
+Var=CurrentFiltered signed 8,16 /u:A /f:0.0078 /d:0
+Var=ChargeBalance signed 24,32 /u:As /f:0.125 /d:0
+Var=Error_InvalidFrequency bit 3,1
+

CANLibrary/symfiles/MAB_Module_CoolantPump.sym

@@ -0,0 +1,21 @@
+FormatVersion=5.0 // Do not edit!
+Title="MicroAutoBox Artega"
+
+{SENDRECEIVE}
+
+[Module_CoolantPump]
+ID=514h	// Debug info for module CoolantPump
+DLC=7
+CycleTime=50
+Var=Input_Enable bit 0,1
+Var=Input_PumpMotorsEnable bit 8,1
+Var=Input_SpeedMotorsDemand unsigned 9,7 /f:0.01
+Var=Input_ErrorMotorsExternal bit 1,1
+Var=Input_PumpBatteryEnable bit 16,1
+Var=Input_SpeedBatteryDemand unsigned 17,7 /f:0.01 /d:0
+Var=Input_ErrorBatteryExternal bit 2,1
+Var=ControllerMotors_State unsigned 24,8
+Var=ControllerBattery_State unsigned 40,8
+Var=ControllerMotors_DutyCycle unsigned 32,7 /f:0.01
+Var=ControllerBattery_DutyCycle unsigned 48,7 /f:0.01
+

CANLibrary/symfiles/MAB_Module_Dcdc14VMain.sym

@@ -0,0 +1,20 @@
+FormatVersion=5.0 // Do not edit!
+Title="MicroAutoBox Artega"
+
+{SENDRECEIVE}
+
+[Module_DCDC14V]
+ID=512h	// Status Information of Software Module DCDC14V
+DLC=8
+CycleTime=50
+Var=Controller_State unsigned 24,8
+Var=Error_CanReception bit 56,1
+Var=Error_Temperature bit 57,1
+Var=Warning_Temperature bit 58,1
+Var=Error_Voltages bit 59,1
+Var=Input_Enable bit 0,1
+Var=Input_ModeDemandActive bit 1,1
+Var=Input_VoltageSetValue unsigned 8,8 /u:Volt /f:0.1 /d:0
+Var=Input_CurrentLimit unsigned 16,8 /u:Ampere
+Var=Input_RelayDCDCIsClosed bit 2,1
+

CANLibrary/symfiles/MAB_Module_MCU.sym

@@ -0,0 +1,49 @@
+FormatVersion=5.0 // Do not edit!
+Title="MicroAutoBox Artega"
+
+{SENDRECEIVE}
+
+[Module_MCU]
+ID=510h	// Status Information of Software Module "Motor Control Unit"
+DLC=8
+CycleTime=50
+Mux=Input 0,4 0 
+Var=Input_PowerOn bit 4,1
+Var=Input_EnableController bit 5,1
+Var=Input_TorqueDemandLeft signed 8,16 /u:Nm
+Var=Input_TorqueDemandRight signed 24,16 /u:Nm
+
+[Module_MCU]
+DLC=7
+Mux=Internal 0,4 1 
+Var=TorqueDemandPermittted bit 5,1
+Var=toRelaysPowerOnMCU unsigned 4,1
+Var=ControllerState unsigned 8,8
+Var=toMCU_StateDemand unsigned 16,8
+Var=IsEnabled bit 6,1
+Var=ControllerIsEnabled bit 7,1
+Var=TorqueAvailableMax signed 32,8 /u:Nm /f:2.5 /d:0
+Var=TorqueAvailableMin signed 40,8 /u:Nm /f:2.5 /d:0
+Var=McuStateActual unsigned 24,8
+
+[Module_MCU]
+DLC=3
+Mux=Errors 0,4 2 
+Var=ErrorSpeed unsigned 4,1 /u:bool
+Var=ErrorTemp unsigned 5,1 /u:bool
+Var=ErrorVoltage unsigned 6,1 /u:bool
+Var=ErrorSpeedMotorLeft unsigned 7,1
+Var=ErrorSpeedMotorRight unsigned 8,1
+Var=ErrorLimitTempCapacitorLeft unsigned 9,1
+Var=ErrorLimitTempCapacitorRight unsigned 10,1
+Var=ErrorTempT1Left unsigned 11,1
+Var=ErrorTempT1Right unsigned 12,1
+Var=ErrorTempT2Left unsigned 13,1
+Var=ErrorTempT2Right unsigned 14,1
+Var=ErrorTempT3Left unsigned 15,1
+Var=ErrorTempT3Right unsigned 16,1
+Var=ErrorVoltageDcLink unsigned 17,1
+Var=ErrorCanReceptionTime unsigned 18,1
+Var=ErrorCanMessageCounter unsigned 19,1
+Var=ErrorCan unsigned 20,1
+

CANLibrary/symfiles/MAB_Module_RLB.sym

@@ -0,0 +1,21 @@
+FormatVersion=5.0 // Do not edit!
+Title="MicroAutoBox Artega"
+
+{SENDRECEIVE}
+
+[Module_RLB]
+ID=517h	// Debug info for the module "Relay Board".
+DLC=2
+CycleTime=50
+Var=AcceleratorIsClosed bit 0,1
+Var=VacuumPumpIsClosed bit 2,1
+Var=MotorsIsClosed bit 3,1
+Var=BmsIsClosed bit 4,1
+Var=TriportIsClosed bit 5,1
+Var=DcdcIsClosed bit 6,1
+Var=ChargerConductiveIsClosed bit 8,1
+Var=CoolingSystemIsClosed bit 7,1
+Var=VacuumSensorIsClosed bit 1,1
+Var=ChargerAuxiliaryPowerIsClosed bit 9,1
+Var=ReverseLightIsClosed bit 10,1
+

CANLibrary/symfiles/MAB_Module_VBA.sym

@@ -0,0 +1,62 @@
+FormatVersion=5.0 // Do not edit!
+Title="Adapterboard"
+
+{SEND}
+
+[Module_VAB_Relays_and_Lights]
+ID=2A3h
+DLC=2
+Var=MAB2AB_RelayH2OPumpOn_b bit 7,1 -b -m
+Var=MAB2AB_RelayRadiatorFanOn_b bit 6,1 -b -m
+Var=MAB2AB_RelayHazardLightOn_b bit 5,1 -b -m
+Var=MAB2AB_RelayRadiatorEMotorOn_b bit 4,1 -b -m
+Var=MAB2AB_RelayBackLightOn_b bit 3,1 -b -m
+Var=MAB2AB_RelayBrakeLightOn_b bit 2,1 -b -m
+Var=MAB2AB_RelayExcessCurrentOn_b bit 1,1 -b -m
+Var=MAB2AB_LightTempFaultOn_b bit 0,1 -b -m	// LED in der Momentanverbrauchsanzeige
+Var=MAB2AB_LightChargingOn_b bit 15,1 -b -m
+Var=MAB2AB_LightBatDischargedOn_b bit 14,1 -b -m
+Var=MAB2AB_LightForwardSpeedOn_b bit 13,1 -b -m
+Var=MAB2AB_LightReverseGearOn_b bit 12,1 -b -m
+Var=MAB2AB_Light12VBatFaultOn_b bit 11,1 -b -m
+Var=MAB2AB_LightELFaultOn_b bit 10,1 -b -m
+Var=MAB2AB_LightStopOn_b bit 9,1 -b -m
+Var=MAB2AB_LightBatH2OLackOn_b bit 8,1 -b -m
+
+[MAB_Module_VAB_Displays]
+ID=4A1h
+DLC=3
+Var=MAB2AB_DisplayResidualEnergy_U8 unsigned 0,8 -m
+Var=MAB2AB_DisplayConsumption_U8 unsigned 8,8 -m
+Var=MAB2AB_DisplaySpeedometer_kmh unsigned 16,8 -m /u:km/h
+
+{RECEIVE}
+
+[Module_VAB_Status]
+ID=2A1h
+DLC=4
+Var=AB2MAB_BootCheckOkay_b bit 7,1 -b -m
+Var=AB2MAB_EmergencyStopInactive_b bit 6,1 -b -m
+Var=AB2MAB_ErrorModeS1Inactive_b bit 5,1 -b -m
+Var=AB2MAB_ErrorModeS2Inactive_b bit 4,1 -b -m
+Var=AB2MAB_ErrorModeS3Inactive_b bit 3,1 -b -m
+Var=AB2MAB_OverallCheckOkay_b bit 2,1 -b -m
+Var=AB2MAB_ChargingCoverClosed_b bit 15,1 -b -m
+Var=AB2MAB_ChargingPlugConnected_b bit 14,1 -b -m
+Var=AB2MAB_SwitchRearGearActive_b bit 13,1 -b -m
+Var=AB2MAB_SwitchIgnitionIsOn_b bit 12,1 -b -m
+Var=AB2MAB_SwitchEngineStartIsOn_b bit 11,1 -b -m
+Var=AB2MAB_SensorFootBrakeIsOn_b bit 10,1 -b -m
+Var=AB2MAB_SensorHandbrakeIsOn_b bit 9,1 -b -m
+Var=AB2MAB_SensorBrakeFluidOkay_b bit 8,1 -b -m
+Var=AB2MAB_SensorDriversDoorClosed_b bit 16,1 -b -m
+Var=AB2MAB_TemperatureCoolant_C unsigned 22,10 -m /u:°C /f:0.1955034213 /o:-50 /d:0
+
+[MAB_Module_VAB_AccPedal]
+ID=2A2h	// Var=AB2MAB_AccPedalPosition unsigned 0,10 -m /f:0.00392157
+DLC=2
+Var=AB2MAB_AccPedalPosition unsigned 0,10 -m /f:0.097751710654
+
+{VIRTUALVARS}
+Var=VV_Schalter_Ladeklappe bit -b
+

CANLibrary/symfiles/MAB_Module_VBB.sym

@@ -0,0 +1,15 @@
+FormatVersion=5.0 // Do not edit!
+Title="Untitled"
+
+{SENDRECEIVE}
+
+[MAB_Module_VBB]
+ID=516h
+DLC=4
+Var=SensorVoltage_internal unsigned 8,8 /u:V /f:0.02 /d:0
+Var=SensorPressure_out unsigned 16,8 /u:bar /f:0.02
+Var=RelayVacuumSensorCloseDemand_out unsigned 0,1 /u:bool
+Var=RelayVacuumPumpCloseDemand_out unsigned 1,1 /u:bool
+Var=VbbIsEnabled_out unsigned 2,1 /u:bool
+Var=PumpControllerState_internal unsigned 24,8 /u:uint8
+

CANLibrary/symfiles/MCU.sym

@@ -0,0 +1,227 @@
+FormatVersion=5.0 // Do not edit!
+Title="Untitled"
+
+{SEND}
+
+[Receive_TorqueRequest]
+ID=131h	// Requested motor torque
+DLC=8
+CycleTime=50
+Var=MessageCounter unsigned 0,4
+Var=CRC unsigned 8,8
+Var=TorqueDemand_Left signed 16,16 /u:Nm /f:0.0625 /d:0
+Var=TorqueDemand_Right signed 32,16 /u:Nm /f:0.0625 /d:0
+
+[Module_VAB_AccPedal]
+ID=2A2h
+DLC=2
+Var=AB2MAB_AccPedalPosition unsigned 0,10 -m /f:0.1
+
+[Module_VAB_Status]
+ID=2A1h
+DLC=4
+Var=AB2MAB_TemperatureCoolant_C unsigned 22,10 -m /u:°C /f:0.195503 /o:-50
+Var=AB2MAB_SensorDriversDoorClosed_b unsigned 16,1 -m
+Var=AB2MAB_ChargingHatchClosed_b unsigned 15,1 -m
+Var=AB2MAB_ChargingPlugConnected_b unsigned 14,1 -m
+Var=AB2MAB_SwitchRearGearActive_b unsigned 13,1 -m
+Var=AB2MAB_SwitchIgnitionIsOn_b unsigned 12,1 -m
+Var=AB2MAB_SwitchEngineStartIsOn_b unsigned 11,1 -m
+Var=AB2MAB_SensorFootBrakeIsOff_b unsigned 10,1 -m
+Var=AB2MAB_SensorHandbrakeIsOff_b unsigned 9,1 -m
+Var=AB2MAB_SensorBrakeFluidOkay_b unsigned 8,1 -m
+Var=AB2MAB_BootCheckOkay_b unsigned 7,1 -m
+Var=AB2MAB_EmergencyStopInactive_b unsigned 6,1 -m
+Var=AB2MAB_ErrorModeS1Inactive_b unsigned 5,1 -m
+Var=AB2MAB_ErrorModeS2Inactive_b unsigned 4,1 -m
+Var=AB2MAB_ErrorModeS3Inactive_b unsigned 3,1 -m
+Var=AB2MAB_OverallCheckOkay_b unsigned 2,1 -m
+
+{RECEIVE}
+
+[MCU1_Energy]
+ID=334h	// Energy related sensor data.
+DLC=8
+CycleTime=2
+Var=MCU1_MessageCounter unsigned 0,4
+Var=MCU1_VoltageDCLink unsigned 8,8 /u:V /f:2
+Var=MCU1_Current_Left signed 16,16 /u:A /f:0.0625 /d:0
+Var=MCU1_Current_Right signed 32,16 /u:A /f:0.0625 /d:0
+
+[MCU2_Warning]
+ID=336h	// Warning levels for various values. If possible, there should be an escalation over two levels before an error 
+DLC=8
+CycleTime=2
+Var=MCU2_MessageCounter unsigned 0,4
+Var=MCU2_Communication unsigned 8,2
+Var=MCU2_TemperatureDCLink unsigned 10,2
+Var=MCU2_VoltageDCLink unsigned 12,2
+Var=MCU2_TemperatureCooler unsigned 14,2
+Var=MCU2_Speed unsigned 16,2
+
+[MCU3_TorqueAvailable]
+ID=335h	// Currently available motor torques for normal and boost operation.
+DLC=8
+CycleTime=2
+Var=MCU3_TorqueNormal_Left signed 0,16 /u:Nm /f:0.125 /d:0
+Var=MCU3_TorqueNormal_Right signed 16,16 /u:Nm /f:0.125 /d:0
+Var=MCU3_TorqueBoost_Left signed 32,16 /u:Nm /f:0.125 /d:0
+Var=MCU3_TorqueBoost_Right signed 48,16 /u:Nm /f:0.125 /d:0
+
+[MCU4_TorqueActual]
+ID=331h	// Current actual motor torque values.
+DLC=8
+CycleTime=2
+Var=MCU4_MessageCounter unsigned 0,4
+Var=MCU4_TorqueActual_Left signed 8,16 /u:Nm /f:0.0625 /d:0
+Var=MCU4_TorqueActual_Right signed 24,16 /u:Nm /f:0.0625 /d:0
+
+[MCU5_Temperature]
+ID=533h	// Measured temperatures.
+DLC=8
+CycleTime=2
+Var=MCU5_TempCapacitorLeft unsigned 0,8 /u:Celsius /o:-50
+Var=MCU5_TempCapacitorRight unsigned 8,8 /u:Celsius /o:-50
+Var=MCU5_TempT1Left unsigned 16,8 /u:Celsius /o:-50
+Var=MCU5_TempT1Right unsigned 24,8 /u:Celsius /o:-50
+Var=MCU5_TempT2Left unsigned 32,8 /u:Celsius /o:-50
+Var=MCU5_TempT2Right unsigned 40,8 /u:Celsius /o:-50
+Var=MCU5_TempT3Left unsigned 48,8 /u:Celsius /o:-50
+Var=MCU5_TempT3Right unsigned 56,8 /u:Celsius /o:-50
+
+[MCU6_StateActual]
+ID=333h	// Current internal states indicators of the MCU firmware.
+DLC=8
+CycleTime=2
+Var=MCU6_MessageCounter unsigned 0,4
+Var=MCU6_SysState_Actual unsigned 8,8
+Var=MCU6_CtrlState unsigned 16,8
+Var=MCU6_SysMode unsigned 24,8
+Var=MCU6_SysEmergencyId unsigned 32,8
+Var=MCU6_SysRunModeAtErrorDetection unsigned 40,8
+Var=MCU6_StateRequested unsigned 48,8
+Var=MCU6_StateRequestAck unsigned 56,8
+
+[MCU7_MotorSpeed]
+ID=337h	// Motor speedes.
+DLC=8
+CycleTime=2
+Var=MCU7_MessageCounter unsigned 0,4
+Var=MCU7_Speed_Left signed 8,16 /u:rad/s /f:0.0625 /d:0
+Var=MCU7_Speed_Right signed 24,16 /u:rad/s /f:0.0625 /d:0
+
+[MCU8_CtrlPar1]
+ID=339h	// Feedback controller parameters.
+DLC=8
+CycleTime=2
+Var=MCU8_MessageCounter unsigned 0,4
+Var=MCU8_TorqueReducedLeft signed 8,16 /f:0.0625 /d:0
+Var=MCU8_TorqueReducedRight signed 24,16 /f:0.0625 /d:0
+
+[MCU9_Sense]
+ID=535h	// Sensor values.
+DLC=8
+Var=MCU9_VoltageDcLink signed 0,16 /u:V /f:0.0625 /d:0
+
+[MCU10_Diag]
+ID=539h	// Diagnosis bitmasks.
+DLC=8
+CycleTime=2
+Mux=MCU10_Diag_Mux_0 0,8 0 
+Var=ErrGeneralMsk_MessageCounter unsigned 8,4
+Var=ErrGeneralMsk unsigned 16,32
+
+[MCU10_Diag]
+DLC=8
+CycleTime=2
+Mux=MCU10_Diag_Mux_1 0,8 1 
+Var=ErrCtrlMsk_MessageCounter unsigned 8,4
+Var=ErrCtrlMsk unsigned 16,32
+
+[MCU10_Diag]
+DLC=8
+CycleTime=2
+Mux=MCU10_Diag_Mux_2 0,8 2 
+Var=ErrAdcMsk_MessageCounter unsigned 8,4
+Var=ErrAdcMsk unsigned 16,32
+
+[MCU10_Diag]
+DLC=8
+CycleTime=2
+Mux=MCU10_Diag_Mux_3 0,8 3 
+Var=ErrComMsk_MessageCounter unsigned 8,4
+Var=ErrComMsk unsigned 16,32
+
+[MCU10_Diag]
+DLC=8
+CycleTime=2
+Mux=MCU10_Diag_Mux_4 0,8 4 
+Var=WarnGeneralMsk_MessageCounter unsigned 8,4
+Var=WarnGeneralMsk unsigned 16,32
+
+[MCU10_Diag]
+DLC=8
+CycleTime=2
+Mux=MCU10_Diag_Mux_5 0,8 5 
+Var=WarnCtrlMsk_MessageCounter unsigned 8,4
+Var=WarnCtrlMsk unsigned 16,32
+
+[MCU10_Diag]
+DLC=8
+CycleTime=2
+Mux=MCU10_Diag_Mux_6 0,8 6 
+Var=WarnAdcMsk_MessageCounter unsigned 8,4
+Var=WarnAdcMsk unsigned 16,32
+
+[MCU10_Diag]
+DLC=8
+CycleTime=2
+Mux=MCU10_Diag_Mux_7 0,8 7 
+Var=WarnComMsk_MessageCounter unsigned 8,4
+Var=WarnComMsk unsigned 16,32
+
+[MCU10_Diag]
+DLC=8
+CycleTime=2
+Mux=MCU10_Diag_Mux_8 0,8 8 
+Var=DiagGeneralMsk_MessageCounter unsigned 8,4
+Var=DiagGeneralMsk unsigned 16,32
+
+[MCU10_Diag]
+DLC=8
+CycleTime=2
+Mux=MCU10_Diag_Mux_9 0,8 9 
+Var=DiagCtrlMsk_MessageCounter unsigned 8,4
+Var=DiagCtrlMsk unsigned 16,32
+
+[MCU10_Diag]
+DLC=8
+CycleTime=2
+Mux=MCU10_Diag_Mux_10 0,8 0Ah
+Var=DiagAdcMsk_MessageCounter unsigned 8,4
+Var=DiagAdcMsk unsigned 16,32
+
+[MCU10_Diag]
+DLC=8
+CycleTime=2
+Mux=MCU10_Diag_Mux_11 0,8 0Bh
+Var=DiagComMsk_MessageCounter unsigned 8,4
+Var=DiagComMsk unsigned 16,32
+
+[VCU_Module_VAB_Displays]
+ID=4A1h
+DLC=3
+CycleTime=4
+Var=MAB2AB_DisplaySpeedometer_kmh unsigned 16,8 -m /u:km/h
+Var=MAB2AB_DisplayConsumption_U8 unsigned 8,8 -m
+Var=MAB2AB_DisplayResidualEnergy_U8 unsigned 0,8 -m
+
+{SENDRECEIVE}
+
+[Receive_StateRequest]
+ID=332h	// Requested Motor Controller State
+DLC=8
+Var=MessageCounter unsigned 0,4
+Var=CRC unsigned 8,8
+Var=State_Request unsigned 16,8
+