Nodes
A node is a single-purpose program that puts one piece of hardware (or one file) on the bus, plus the two tools that look at the bus. Every one under nodes/ is listed here, whether or not it has a page yet. Each node’s configuration lives under configs/<node>/ where it has one.
Nodes that decode CAN frames do not open the adapter themselves: can_bridge owns the hardware and publishes raw frames, and the decoders subscribe to those.
| Node | What it does | Needs | Page |
|---|---|---|---|
backlight | A display module’s backlight and ambient light and temperature sensors on the bus; brightness as a service. | the rootfs display record and its sysfs devices | backlight |
bag | Records the bus to an MCAP file and replays it with the original timing. | nothing | bag |
bd992_bridge | Trimble BD992 GNSS: GSOF records onto topics, the receiver’s configuration as services. | a receiver on the network | bd992_bridge |
bd992_mock | Drives a route or a race track and publishes GNSS the way a receiver would. | map data | bd992_bridge |
can_bridge | CAN hardware onto zenoh topics and back: PCAN, SocketCAN, the MoTeC UTC, and .trc traces; records taps as traces. | a CAN adapter, or a trace to replay | can_bridge |
carplay | Wired CarPlay: owns the USB, iAP2 and AirPlay session with the phone and publishes video, audio, input and metadata. | an iPhone and an MFi coprocessor on Linux, or --simulate anywhere | carplay |
grayhill_keypad | A Grayhill 3K CANopen keypad: keys in, LEDs out; a separate one-shot tool reconfigures the keypad. | the keypad on CAN | grayhill_keypad |
inspect | Look at the bus: list topics, read a stream, describe a schema, call a service. | nothing | inspect |
map_match | Which road the vehicle is on, and what is ahead of it, from GNSS and the road graph. | a road graph file | map_match |
map_server | Serves .mbtiles archives over zenoh: tiles, catalogs and style assets. | the archives | map_server |
megasquirt | Megasquirt dash CAN frames into typed telemetry. | can_bridge | megasquirt |
motec_ltc | MoTeC LTC lambda modules over CAN. | can_bridge | motec_ltc |
motec_m1 | MoTeC M1 ECU CAN telemetry. | can_bridge | motec_m1 |
motec_pdm | MoTeC PDM generic output frames into typed telemetry. | can_bridge | motec_pdm |
msel_master_relay | The MSEL solid state battery isolator: telemetry out, its settings as services. | can_bridge | msel_master_relay |
mti610_bridge | Xsens MTi-610 IMU on a serial port: MTData2 items onto topics, output configuration as services. | the device, or a capture to replay | mti610_bridge |
racegrade_tc8 | RaceGrade TC8 thermocouple amplifier over CAN. | can_bridge | racegrade_tc8 |
state_estimator | Fuses the MTi-610’s increments and the BD992’s dual-antenna fixes into position, attitude, velocity, acceleration and sideslip at 100 Hz; a fixed-lag smoother that estimates the lever arm and boresight as it drives. | mti610_bridge and bd992_bridge (GSOF 1, 2, 8, 12, 27, 38) | state_estimator |
web_console | The board’s web UI: reflash, system info, node health and service calls, from a browser. | nothing (RAUC for reflashing) | web_console |
xpr_bridge | A Motorola MOTOTRBO radio: what it says about itself onto topics, the channel as a service. | the radio on the network | xpr_bridge |