From 5812f2c075a5364cecafe4e8ed68a12b12a5631f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 21 May 2024 02:12:17 -0500
Subject: [PATCH] card fields (#610)

* deprecate carOutput, add some fields

* Revert "deprecate carOutput, add some fields"

This reverts commit 247a1c59732aa2b3918b860bc17520613fae5fe9.

* add fields back

* canRcvTimeout is bool

* add vCruise

* enableRequested

* rm

* rm init, deprecate
---
 car.capnp | 5 +++++
 log.capnp | 2 +-
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/car.capnp b/car.capnp
index a2416800f..d7ec1b248 100644
--- a/car.capnp
+++ b/car.capnp
@@ -155,6 +155,8 @@ struct CarState {
   # CAN health
   canValid @26 :Bool;       # invalid counter/checksums
   canTimeout @40 :Bool;     # CAN bus dropped out
+  canErrorCounter @48 :UInt32;
+  canRcvTimeout @49 :Bool;
 
   # car speed
   vEgo @1 :Float32;          # best estimate of speed
@@ -220,6 +222,9 @@ struct CarState {
   fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0
   charging @43 :Bool;
 
+  # process meta
+  cumLagMs @50 :Float32;
+
   struct WheelSpeeds {
     # optional wheel speeds
     fl @0 :Float32;
diff --git a/log.capnp b/log.capnp
index ff699c5ae..269a22496 100644
--- a/log.capnp
+++ b/log.capnp
@@ -720,7 +720,6 @@ struct ControlsState @0x97ff69c53601abf1 {
   engageable @41 :Bool;  # can OP be engaged?
 
   cumLagMs @15 :Float32;
-  canErrorCounter @57 :UInt32;
 
   lateralControlState :union {
     indiState @52 :LateralINDIState;
@@ -865,6 +864,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   steeringAngleDesiredDegDEPRECATED @29 :Float32;
   canMonoTimesDEPRECATED @21 :List(UInt64);
   desiredCurvatureRateDEPRECATED @62 :Float32;
+  canErrorCounterDEPRECATED @57 :UInt32;
 }
 
 # All SI units and in device frame