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https://github.com/firestar5683/StarPilot.git
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Compare commits
21 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Vehicle Researcher
|
d5f9caa82d | ||
|
Vehicle Researcher
|
6a61788682 | ||
|
Vehicle Researcher
|
cb0ee932c4 | ||
|
Vehicle Researcher
|
ead59a5a61 | ||
|
Vehicle Researcher
|
9955b3c806 | ||
|
Vehicle Researcher
|
a1f069c6d8 | ||
|
Vehicle Researcher
|
a1ec1c089e | ||
|
Riccardo
|
095ef5f9f6 | ||
|
TK211X
|
fd71fe698c | ||
|
rbiasini
|
d5242c5b82 | ||
|
TK211X
|
1f1893a170 | ||
|
Willem Melching
|
5808958fb2 | ||
|
Vehicle Researcher
|
e90c41c576 | ||
|
Vehicle Researcher
|
f448d357e0 | ||
|
Vehicle Researcher
|
aa1b61eb8e | ||
|
Vehicle Researcher
|
30bb73d527 | ||
|
Vehicle Researcher
|
98cd6147c3 | ||
|
Vehicle Researcher
|
d22636b194 | ||
|
Vehicle Researcher
|
4808de10d6 | ||
|
Chris Souers
|
a440425ef8 | ||
|
Gernby
|
61bbb52172 |
@@ -39,9 +39,9 @@ RUN cd /tmp && pipenv install --deploy --system
|
||||
|
||||
ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
|
||||
|
||||
RUN git clone --branch v0.6 https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
|
||||
RUN git clone --branch v0.6.2 https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
|
||||
RUN pip install -r /tmp/openpilot/tools/requirements.txt
|
||||
RUN pip install fastcluster==1.1.20 scipy==0.19.1
|
||||
RUN pip install fastcluster==1.1.20 scipy==0.19.1 dictdiffer==0.8.0 azure-batch==4.1.3 azure-common==1.1.16 azure-nspkg==3.0.0 azure-storage-blob==1.3.1 azure-storage-common==1.3.0 azure-storage-nspkg==3.0.0
|
||||
|
||||
COPY ./.pylintrc /tmp/openpilot/.pylintrc
|
||||
COPY ./common /tmp/openpilot/common
|
||||
|
||||
@@ -99,6 +99,8 @@ simplejson = "*"
|
||||
python-logstash-async = "*"
|
||||
pandas = "*"
|
||||
seaborn = "*"
|
||||
tensorflow-estimator = "==1.10.12"
|
||||
pyproj = "*"
|
||||
|
||||
[packages]
|
||||
overpy = {git = "https://github.com/commaai/python-overpy.git",ref = "f86529af402d4642e1faeb146671c40284007323"}
|
||||
|
||||
Generated
+44
-17
@@ -1,7 +1,7 @@
|
||||
{
|
||||
"_meta": {
|
||||
"hash": {
|
||||
"sha256": "89070d7d9478ac9e6ad2c9848aaf724cb7362a1de4af9f8fb8c40be5f37c043d"
|
||||
"sha256": "43f96719ff9a1b7eae6c7a88f903c4f5a137c2b195e3ba148f32767827b98710"
|
||||
},
|
||||
"pipfile-spec": 6,
|
||||
"requires": {
|
||||
@@ -656,12 +656,12 @@
|
||||
},
|
||||
"aenum": {
|
||||
"hashes": [
|
||||
"sha256:058f0cfaf911899dc21b334362047df74ce989335dd8dff8e4be1a6313b15232",
|
||||
"sha256:6af970173d9b4ac0384ad7d1cfe9523eeb9a3578793e1664090c13cb59df6469",
|
||||
"sha256:80f14366578d84f6bccb0670259744cb3a7f2ab504480c306238a23cdd569457"
|
||||
"sha256:0e3589654ef090784971f7778dcb74b08c9b4ef80b33267c00f82ddeedac179a",
|
||||
"sha256:b12a7be3d89b270f266f8643aaa126404e5cdc0929bd6f09548b8eaed85e2aa1",
|
||||
"sha256:e4dab068cbe00295bbc3660cd562221b008687d0f7a4c40fc2dd7a80002126a7"
|
||||
],
|
||||
"index": "pypi",
|
||||
"version": "==2.2.0"
|
||||
"version": "==2.2.1"
|
||||
},
|
||||
"amqp": {
|
||||
"hashes": [
|
||||
@@ -817,18 +817,18 @@
|
||||
},
|
||||
"boto3": {
|
||||
"hashes": [
|
||||
"sha256:34a8ddb7247316be6ea94c7eeee41212312d250d99bf668fcd6748629b578622",
|
||||
"sha256:71f3554cc69fa20be06cf20d6c9e0d8095d7c40695b48618676c3cd9a5ba0783"
|
||||
"sha256:6a950bf98b22812896ea0f833a26d448acfdf43179f41f389d501af7a9fae328",
|
||||
"sha256:cfbc062a76a7781af8e6a4ea26ebcafa3866872a8cceb05fdbf588c36e7848f0"
|
||||
],
|
||||
"index": "pypi",
|
||||
"version": "==1.9.189"
|
||||
"version": "==1.9.195"
|
||||
},
|
||||
"botocore": {
|
||||
"hashes": [
|
||||
"sha256:4febbf206d1dc8b8299aa211d8e382d5bf3f22097855b9f98d5e8c401ef8192b",
|
||||
"sha256:b62ab3e4e98e075fc9e8e8fd4e8f5b92ebf311a6dc9f7578650938c7bc94e592"
|
||||
"sha256:691627c2aeff0fcbd9237985717c28404a628181fd3e86b7be500bf2ee156007",
|
||||
"sha256:c59e9981db9dfc54f0d22f731ca8de904760049a9c60d86dcedde84ae64ef4f0"
|
||||
],
|
||||
"version": "==1.12.189"
|
||||
"version": "==1.12.195"
|
||||
},
|
||||
"celery": {
|
||||
"hashes": [
|
||||
@@ -1734,7 +1734,7 @@
|
||||
"sha256:23953d55076df038541e648a53676fb24980f7a1be290cdda21300b3bc21dfb0",
|
||||
"sha256:552a91f381532e33cbd07c6a2655a21908088962bb8fa7239ecbcc6ad1140cc7"
|
||||
],
|
||||
"markers": "python_version == '2.7'",
|
||||
"markers": "python_version == '2.6' or python_version == '2.7' or python_version == '3.0' or python_version == '3.1' or python_version == '3.2'",
|
||||
"version": "==1.5"
|
||||
},
|
||||
"mpld3": {
|
||||
@@ -2264,6 +2264,32 @@
|
||||
"index": "pypi",
|
||||
"version": "==0.1.17"
|
||||
},
|
||||
"pyproj": {
|
||||
"hashes": [
|
||||
"sha256:1303b343a1c4d83d1ac17494571d958335c0a4597d4aa623cd64df1f36fb18bf",
|
||||
"sha256:1fd2f756f43ba762f5a1ae769c6cc9ae6f919996bf80c621f331e4a5d89ae74f",
|
||||
"sha256:2b3f59b16cde23c0d95b1d9ba3dd1c0be3937d877df3b47a522d3c9a74d31668",
|
||||
"sha256:2e5d8b892782db22c3d6ffcb272c8ac0a18995e22d45db762a893ec64cc039d6",
|
||||
"sha256:512a59bc20587f88df78a69872ed8cb4ec7905415ba85b4de0af35601770fba1",
|
||||
"sha256:5aa89b04855e439e2b96caf1f49fa2ab60e6e7c407034284d31d808abed0618a",
|
||||
"sha256:75b4c5eba36060a00867e16e81755a44e93a95b0bbaa4d6ee40f10c330b62108",
|
||||
"sha256:860fde3429f364767c88a8e7f14f330e3fdace9f438e0ef1b112108a44c1eee8",
|
||||
"sha256:86886f21af819553990f0da9ad7737d52cd32076dd277db34e40cf805919e839",
|
||||
"sha256:9417d46f2b5e6ba79bd6adea0aae9659501c8a0350a5a98c0d9cb1442d45b0b4",
|
||||
"sha256:9bb81141715832bb8682dda3c2f8f1ad0f43cf8aec5db52e0992c16c7664e227",
|
||||
"sha256:afe150d8f0b351df7a357cfce50a8a5c0a44bdfeec5e08075f873cfeddf63004",
|
||||
"sha256:cc2e21c09245c3eb47014c3d4c58888cc8d48a168a03533f9ed3f8b2ee82a352",
|
||||
"sha256:cefb4a1a5d51cd04c9dd31bb18047c2dafcb86bc33a0347746b5a0ef82c071d8",
|
||||
"sha256:cfa2cd0ee23bcfc9f165b4f8e9c5b7ba829c7b49175fb73420544619148d91af",
|
||||
"sha256:d3a78ce50e6c50e701d65929dc04ab751edaeae660455a9fef3c2231d609f8c1",
|
||||
"sha256:d772ee53c8d316de1b7f68244ab654f864553bca177357f8787a65dc09816ae3",
|
||||
"sha256:ddd99d6f2c813e44721c22039ddf333e4b95e8d0794b03d9962c94c01c823934",
|
||||
"sha256:ec89e68a0cf210af0cc2724b5f8601d4b6809ff0f556e16efc8c955e79672f7a",
|
||||
"sha256:f118762ed0abe8e988a20020241fe1e6133edb960d2665a44d6f48acc6d8e7c7"
|
||||
],
|
||||
"index": "pypi",
|
||||
"version": "==2.2.1"
|
||||
},
|
||||
"pyrsistent": {
|
||||
"hashes": [
|
||||
"sha256:50cffebc87ca91b9d4be2dcc2e479272bcb466b5a0487b6c271f7ddea6917e14"
|
||||
@@ -2424,10 +2450,10 @@
|
||||
},
|
||||
"qtconsole": {
|
||||
"hashes": [
|
||||
"sha256:4af84facdd6f00a6b9b2927255f717bb23ae4b7a20ba1d9ef0a5a5a8dbe01ae2",
|
||||
"sha256:60d61d93f7d67ba2b265c6d599d413ffec21202fec999a952f658ff3a73d252b"
|
||||
"sha256:6a85456af7a98b0f554d140922b7b6a219757b039adb2b95e847cf115eaa20ae",
|
||||
"sha256:767eb9ec3f9943bc84270198b5ff95d2d86d68d6b57792fafa4df4fc6b16cd7c"
|
||||
],
|
||||
"version": "==4.5.1"
|
||||
"version": "==4.5.2"
|
||||
},
|
||||
"redis": {
|
||||
"hashes": [
|
||||
@@ -2685,9 +2711,10 @@
|
||||
},
|
||||
"tensorflow-estimator": {
|
||||
"hashes": [
|
||||
"sha256:ca073f66063407a091d610ec1b22e39ea30248710198cc6f13769320bdbe3992"
|
||||
"sha256:3e460f43682c7d789e5fe966630029558434d32502e632ee7f6703451258528c"
|
||||
],
|
||||
"version": "==1.14.0"
|
||||
"index": "pypi",
|
||||
"version": "==1.10.12"
|
||||
},
|
||||
"tensorflow-gpu": {
|
||||
"hashes": [
|
||||
|
||||
@@ -71,7 +71,8 @@ Supported Cars
|
||||
| Chrysler | Pacifica Hybrid 2019 | Adaptive Cruise | Yes | Stock | 0mph | 39mph | FCA |
|
||||
| GMC<sup>3</sup> | Acadia Denali 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
|
||||
| Holden<sup>3</sup> | Astra 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
|
||||
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph | Bosch |
|
||||
| Honda | Accord 2018-19 | All | Yes | Stock | 0mph | 3mph | Bosch |
|
||||
| Honda | Accord Hybrid 2018-19 | All | Yes | Stock | 0mph | 3mph | Bosch |
|
||||
| Honda | Civic Sedan/Coupe 2016-18| Honda Sensing | Yes | Yes | 0mph | 12mph | Nidec |
|
||||
| Honda | Civic Sedan/Coupe 2019 | Honda Sensing | Yes | Stock | 0mph | 2mph | Bosch |
|
||||
| Honda | Civic Hatchback 2017-19 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
|
||||
@@ -98,18 +99,21 @@ Supported Cars
|
||||
| Toyota | Avalon 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
|
||||
| Toyota | Avalon 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
|
||||
| Toyota | Camry 2018-19 | All | Yes | Stock | 0mph<sup>5</sup> | 0mph | Toyota |
|
||||
| Toyota | Camry Hybrid 2018-19 | All | Yes | Stock | 0mph<sup>5</sup> | 0mph | Toyota |
|
||||
| Toyota | C-HR 2017-19 | All | Yes | Stock | 0mph | 0mph | Toyota |
|
||||
| Toyota | C-HR Hybrid 2017-19 | All | Yes | Stock | 0mph | 0mph | Toyota |
|
||||
| Toyota | Corolla 2017-19 | All | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
|
||||
| Toyota | Corolla 2020 | All | Yes | Yes | 0mph | 0mph | Toyota |
|
||||
| Toyota | Corolla Hatchback 2019 | All | Yes | Yes | 0mph | 0mph | Toyota |
|
||||
| Toyota | Highlander 2017-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
|
||||
| Toyota | Highlander Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
|
||||
| Toyota | Highlander Hybrid 2017-19| All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
|
||||
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
|
||||
| Toyota | Prius 2017-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
|
||||
| Toyota | Prius Prime 2017-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
|
||||
| Toyota | Rav4 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
|
||||
| Toyota | Rav4 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
|
||||
| Toyota | Rav4 2019 | All | Yes | Yes | 0mph | 0mph | Toyota |
|
||||
| Toyota | Rav4 Hybrid 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
|
||||
| Toyota | Rav4 Hybrid 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
|
||||
| Toyota | Sienna 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
|
||||
|
||||
|
||||
+23
@@ -1,3 +1,26 @@
|
||||
Version 0.6.3 (2019-08-12)
|
||||
========================
|
||||
* Alert sounds from EON: requires NEOS update
|
||||
* Improve driver monitoring: eye tracking and improved awareness logic
|
||||
* Improve path prediction with new driving model
|
||||
* Improve lane positioning with wide lanes and exits
|
||||
* Improve lateral control on RAV4
|
||||
* Slow down for turns using model
|
||||
* Open sourced regression test to verify outputs against reference logs
|
||||
* Open sourced regression test to sanity check all car models
|
||||
|
||||
Version 0.6.2 (2019-07-29)
|
||||
========================
|
||||
* New driving model!
|
||||
* Improve lane tracking with double lines
|
||||
* Strongly improve stationary vehicle detection
|
||||
* Strongly reduce cases of braking due to false leads
|
||||
* Better lead tracking around turns
|
||||
* Improve cut-in prediction by using neural network
|
||||
* Improve lateral control on Toyota Camry and C-HR thanks to zorrobyte!
|
||||
* Fix unintended openpilot disengagements on Jeep thanks to adhintz!
|
||||
* Fix delayed transition to offroad when car is turned off
|
||||
|
||||
Version 0.6.1 (2019-07-21)
|
||||
========================
|
||||
* Remote SSH with comma prime and [ssh.comma.ai](https://ssh.comma.ai)
|
||||
|
||||
Binary file not shown.
@@ -78,6 +78,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
commIssue @53;
|
||||
tooDistracted @54;
|
||||
posenetInvalid @55;
|
||||
soundsUnavailable @56;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -109,6 +110,7 @@ struct CarState {
|
||||
steeringAngle @7 :Float32; # deg
|
||||
steeringRate @15 :Float32; # deg/s
|
||||
steeringTorque @8 :Float32; # TODO: standardize units
|
||||
steeringTorqueEps @27 :Float32; # TODO: standardize units
|
||||
steeringPressed @9 :Bool; # if the user is using the steering wheel
|
||||
|
||||
# cruise state
|
||||
@@ -324,6 +326,7 @@ struct CarParams {
|
||||
lateralTuning :union {
|
||||
pid @26 :LateralPIDTuning;
|
||||
indi @27 :LateralINDITuning;
|
||||
lqr @40 :LateralLQRTuning;
|
||||
}
|
||||
|
||||
steerLimitAlert @28 :Bool;
|
||||
@@ -339,6 +342,7 @@ struct CarParams {
|
||||
steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
|
||||
openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
|
||||
carVin @38 :Text; # VIN number queried during fingerprinting
|
||||
isPandaBlack @39: Bool;
|
||||
|
||||
struct LateralPIDTuning {
|
||||
kpBP @0 :List(Float32);
|
||||
@@ -365,6 +369,20 @@ struct CarParams {
|
||||
actuatorEffectiveness @3 :Float32;
|
||||
}
|
||||
|
||||
struct LateralLQRTuning {
|
||||
scale @0 :Float32;
|
||||
ki @1 :Float32;
|
||||
dcGain @2 :Float32;
|
||||
|
||||
# State space system
|
||||
a @3 :List(Float32);
|
||||
b @4 :List(Float32);
|
||||
c @5 :List(Float32);
|
||||
|
||||
k @6 :List(Float32); # LQR gain
|
||||
l @7 :List(Float32); # Kalman gain
|
||||
}
|
||||
|
||||
|
||||
enum SafetyModel {
|
||||
# does NOT match board setting
|
||||
|
||||
+25
-4
@@ -301,7 +301,7 @@ struct HealthData {
|
||||
controlsAllowed @3 :Bool;
|
||||
gasInterceptorDetected @4 :Bool;
|
||||
startedSignalDetectedDeprecated @5 :Bool;
|
||||
isGreyPanda @6 :Bool;
|
||||
hasGps @6 :Bool;
|
||||
canSendErrs @7 :UInt32;
|
||||
canFwdErrs @8 :UInt32;
|
||||
gmlanSendErrs @9 :UInt32;
|
||||
@@ -373,6 +373,8 @@ struct LiveCalibrationData {
|
||||
# view_frame_from_road_frame
|
||||
# ui's is inversed needs new
|
||||
extrinsicMatrix @4 :List(Float32);
|
||||
# the direction of travel vector in device frame
|
||||
rpyCalib @7 :List(Float32);
|
||||
}
|
||||
|
||||
struct LiveTracks {
|
||||
@@ -437,7 +439,8 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
alertSize @39 :AlertSize;
|
||||
alertBlinkingRate @42 :Float32;
|
||||
alertType @44 :Text;
|
||||
alertSound @45 :Text;
|
||||
alertSoundDEPRECATED @45 :Text;
|
||||
alertSound @56 :Car.CarControl.HUDControl.AudibleAlert;
|
||||
awarenessStatus @26 :Float32;
|
||||
angleModelBias @27 :Float32;
|
||||
gpsPlannerActive @40 :Bool;
|
||||
@@ -448,9 +451,12 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
vCurvature @46 :Float32;
|
||||
decelForTurn @47 :Bool;
|
||||
|
||||
decelForModel @54 :Bool;
|
||||
|
||||
lateralControlState :union {
|
||||
indiState @52 :LateralINDIState;
|
||||
pidState @53 :LateralPIDState;
|
||||
lqrState @55 :LateralLQRState;
|
||||
}
|
||||
|
||||
enum OpenpilotState @0xdbe58b96d2d1ac61 {
|
||||
@@ -505,6 +511,13 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
saturated @8 :Bool;
|
||||
}
|
||||
|
||||
struct LateralLQRState {
|
||||
active @0 :Bool;
|
||||
steerAngle @1 :Float32;
|
||||
i @2 :Float32;
|
||||
output @3 :Float32;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
struct LiveEventData {
|
||||
@@ -660,6 +673,7 @@ struct Plan {
|
||||
mpc1 @1;
|
||||
mpc2 @2;
|
||||
mpc3 @3;
|
||||
model @4;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1661,8 +1675,15 @@ struct OrbKeyFrame {
|
||||
|
||||
struct DriverMonitoring {
|
||||
frameId @0 :UInt32;
|
||||
descriptor @1 :List(Float32);
|
||||
std @2 :Float32;
|
||||
descriptorDEPRECATED @1 :List(Float32);
|
||||
stdDEPRECATED @2 :Float32;
|
||||
faceOrientation @3 :List(Float32);
|
||||
facePosition @4 :List(Float32);
|
||||
faceProb @5 :Float32;
|
||||
leftEyeProb @6 :Float32;
|
||||
rightEyeProb @7 :Float32;
|
||||
leftBlinkProb @8 :Float32;
|
||||
rightBlinkProb @9 :Float32;
|
||||
}
|
||||
|
||||
struct Boot {
|
||||
|
||||
@@ -1,7 +1,26 @@
|
||||
import jwt
|
||||
import requests
|
||||
from datetime import datetime, timedelta
|
||||
|
||||
from selfdrive.version import version
|
||||
|
||||
class Api(object):
|
||||
def __init__(self, dongle_id, private_key):
|
||||
self.dongle_id = dongle_id
|
||||
self.private_key = private_key
|
||||
|
||||
def get(self, *args, **kwargs):
|
||||
return self.request('GET', *args, **kwargs)
|
||||
|
||||
def post(self, *args, **kwargs):
|
||||
return self.request('POST', *args, **kwargs)
|
||||
|
||||
def request(self, method, endpoint, timeout=None, access_token=None, **params):
|
||||
return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
|
||||
|
||||
def get_token(self):
|
||||
return jwt.encode({'identity': self.dongle_id, 'exp': datetime.utcnow() + timedelta(hours=1)}, self.private_key, algorithm='RS256')
|
||||
|
||||
def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
|
||||
backend = "https://api.commadotai.com/"
|
||||
|
||||
|
||||
@@ -1,253 +0,0 @@
|
||||
# pylint: skip-file
|
||||
from __future__ import print_function
|
||||
import abc
|
||||
import numpy as np
|
||||
# The EKF class contains the framework for an Extended Kalman Filter, but must be subclassed to use.
|
||||
# A subclass must implement:
|
||||
# 1) calc_transfer_fun(); see bottom of file for more info.
|
||||
# 2) __init__() to initialize self.state, self.covar, and self.process_noise appropriately
|
||||
|
||||
# Alternatively, the existing implementations of EKF can be used (e.g. EKF2D)
|
||||
|
||||
# Sensor classes are optionally used to pass measurement information into the EKF, to keep
|
||||
# sensor parameters and processing methods for a each sensor together.
|
||||
# Sensor classes have a read() method which takes raw sensor data and returns
|
||||
# a SensorReading object, which can be passed to the EKF update() method.
|
||||
|
||||
# For usage, see run_ekf1d.py in selfdrive/new for a simple example.
|
||||
# ekf.predict(dt) should be called between update cycles with the time since it was last called.
|
||||
# Ideally, predict(dt) should be called at a relatively constant rate.
|
||||
# update() should be called once per sensor, and can be called multiple times between predict steps.
|
||||
# Access and set the state of the filter directly with ekf.state and ekf.covar.
|
||||
|
||||
|
||||
class SensorReading:
|
||||
# Given a perfect model and no noise, data = obs_model * state
|
||||
def __init__(self, data, covar, obs_model):
|
||||
self.data = data
|
||||
self.obs_model = obs_model
|
||||
self.covar = covar
|
||||
|
||||
def __repr__(self):
|
||||
return "SensorReading(data={}, covar={}, obs_model={})".format(
|
||||
repr(self.data), repr(self.covar), repr(self.obs_model))
|
||||
|
||||
|
||||
# A generic sensor class that does no pre-processing of data
|
||||
class SimpleSensor:
|
||||
# obs_model can be
|
||||
# a full observation model matrix, or
|
||||
# an integer or tuple of indices into ekf.state, indicating which variables are being directly observed
|
||||
# covar can be
|
||||
# a full covariance matrix
|
||||
# a float or tuple of individual covars for each component of the sensor reading
|
||||
# dims is the number of states in the EKF
|
||||
def __init__(self, obs_model, covar, dims):
|
||||
# Allow for integer covar/obs_model
|
||||
if not hasattr(obs_model, "__len__"):
|
||||
obs_model = (obs_model, )
|
||||
if not hasattr(covar, "__len__"):
|
||||
covar = (covar, )
|
||||
|
||||
# Full observation model passed
|
||||
if dims in np.array(obs_model).shape:
|
||||
self.obs_model = np.asmatrix(obs_model)
|
||||
self.covar = np.asmatrix(covar)
|
||||
# Indices of unit observations passed
|
||||
else:
|
||||
self.obs_model = np.matlib.zeros((len(obs_model), dims))
|
||||
self.obs_model[:, list(obs_model)] = np.identity(len(obs_model))
|
||||
if np.asarray(covar).ndim == 2:
|
||||
self.covar = np.asmatrix(covar)
|
||||
elif len(covar) == len(obs_model):
|
||||
self.covar = np.matlib.diag(covar)
|
||||
else:
|
||||
self.covar = np.matlib.identity(len(obs_model)) * covar
|
||||
|
||||
def read(self, data, covar=None):
|
||||
if covar:
|
||||
self.covar = covar
|
||||
return SensorReading(data, self.covar, self.obs_model)
|
||||
|
||||
|
||||
class EKF:
|
||||
__metaclass__ = abc.ABCMeta
|
||||
|
||||
def __init__(self, debug=False):
|
||||
self.DEBUG = debug
|
||||
|
||||
|
||||
def __str__(self):
|
||||
return "EKF(state={}, covar={})".format(self.state, self.covar)
|
||||
|
||||
# Measurement update
|
||||
# Reading should be a SensorReading object with data, covar, and obs_model attributes
|
||||
def update(self, reading):
|
||||
# Potential improvements:
|
||||
# deal with negative covars
|
||||
# add noise to really low covars to ensure stability
|
||||
# use mahalanobis distance to reject outliers
|
||||
# wrap angles after state updates and innovation
|
||||
|
||||
# y = z - H*x
|
||||
innovation = reading.data - reading.obs_model * self.state
|
||||
|
||||
if self.DEBUG:
|
||||
print("reading:\n",reading.data)
|
||||
print("innovation:\n",innovation)
|
||||
|
||||
# S = H*P*H' + R
|
||||
innovation_covar = reading.obs_model * self.covar * reading.obs_model.T + reading.covar
|
||||
|
||||
# K = P*H'*S^-1
|
||||
kalman_gain = self.covar * reading.obs_model.T * np.linalg.inv(
|
||||
innovation_covar)
|
||||
|
||||
if self.DEBUG:
|
||||
print("gain:\n", kalman_gain)
|
||||
print("innovation_covar:\n", innovation_covar)
|
||||
print("innovation: ", innovation)
|
||||
print("test: ", self.covar * reading.obs_model.T * (
|
||||
reading.obs_model * self.covar * reading.obs_model.T + reading.covar *
|
||||
0).I)
|
||||
|
||||
# x = x + K*y
|
||||
self.state += kalman_gain*innovation
|
||||
|
||||
# print "covar", np.diag(self.covar)
|
||||
#self.state[(roll_vel, yaw_vel, pitch_vel),:] = reading.data
|
||||
|
||||
# Standard form: P = (I - K*H)*P
|
||||
# self.covar = (self.identity - kalman_gain*reading.obs_model) * self.covar
|
||||
|
||||
# Use the Joseph form for numerical stability: P = (I-K*H)*P*(I - K*H)' + K*R*K'
|
||||
aux_mtrx = (self.identity - kalman_gain * reading.obs_model)
|
||||
self.covar = aux_mtrx * self.covar * aux_mtrx.T + kalman_gain * reading.covar * kalman_gain.T
|
||||
|
||||
if self.DEBUG:
|
||||
print("After update")
|
||||
print("state\n", self.state)
|
||||
print("covar:\n",self.covar)
|
||||
|
||||
def update_scalar(self, reading):
|
||||
# like update but knowing that measurement is a scalar
|
||||
# this avoids matrix inversions and speeds up (surprisingly) drived.py a lot
|
||||
|
||||
# innovation = reading.data - np.matmul(reading.obs_model, self.state)
|
||||
# innovation_covar = np.matmul(np.matmul(reading.obs_model, self.covar), reading.obs_model.T) + reading.covar
|
||||
# kalman_gain = np.matmul(self.covar, reading.obs_model.T)/innovation_covar
|
||||
# self.state += np.matmul(kalman_gain, innovation)
|
||||
# aux_mtrx = self.identity - np.matmul(kalman_gain, reading.obs_model)
|
||||
# self.covar = np.matmul(aux_mtrx, np.matmul(self.covar, aux_mtrx.T)) + np.matmul(kalman_gain, np.matmul(reading.covar, kalman_gain.T))
|
||||
|
||||
# written without np.matmul
|
||||
es = np.einsum
|
||||
ABC_T = "ij,jk,lk->il"
|
||||
AB_T = "ij,kj->ik"
|
||||
AB = "ij,jk->ik"
|
||||
innovation = reading.data - es(AB, reading.obs_model, self.state)
|
||||
innovation_covar = es(ABC_T, reading.obs_model, self.covar,
|
||||
reading.obs_model) + reading.covar
|
||||
kalman_gain = es(AB_T, self.covar, reading.obs_model) / innovation_covar
|
||||
|
||||
self.state += es(AB, kalman_gain, innovation)
|
||||
aux_mtrx = self.identity - es(AB, kalman_gain, reading.obs_model)
|
||||
self.covar = es(ABC_T, aux_mtrx, self.covar, aux_mtrx) + \
|
||||
es(ABC_T, kalman_gain, reading.covar, kalman_gain)
|
||||
|
||||
# Prediction update
|
||||
def predict(self, dt):
|
||||
es = np.einsum
|
||||
ABC_T = "ij,jk,lk->il"
|
||||
AB = "ij,jk->ik"
|
||||
|
||||
# State update
|
||||
transfer_fun, transfer_fun_jacobian = self.calc_transfer_fun(dt)
|
||||
|
||||
# self.state = np.matmul(transfer_fun, self.state)
|
||||
# self.covar = np.matmul(np.matmul(transfer_fun_jacobian, self.covar), transfer_fun_jacobian.T) + self.process_noise * dt
|
||||
|
||||
# x = f(x, u), written in the form x = A(x, u)*x
|
||||
self.state = es(AB, transfer_fun, self.state)
|
||||
|
||||
# P = J*P*J' + Q
|
||||
self.covar = es(ABC_T, transfer_fun_jacobian, self.covar,
|
||||
transfer_fun_jacobian) + self.process_noise * dt #!dt
|
||||
|
||||
#! Clip covariance to avoid explosions
|
||||
self.covar = np.clip(self.covar,-1e10,1e10)
|
||||
|
||||
@abc.abstractmethod
|
||||
def calc_transfer_fun(self, dt):
|
||||
"""Return a tuple with the transfer function and transfer function jacobian
|
||||
The transfer function and jacobian should both be a numpy matrix of size DIMSxDIMS
|
||||
|
||||
The transfer function matrix A should satisfy the state-update equation
|
||||
x_(k+1) = A * x_k
|
||||
|
||||
The jacobian J is the direct jacobian A*x_k. For linear systems J=A.
|
||||
|
||||
Current implementations calculate A and J as functions of state. Control input
|
||||
can be added trivially by adding a control parameter to predict() and calc_tranfer_update(),
|
||||
and using it during calculation of A and J
|
||||
"""
|
||||
|
||||
|
||||
class FastEKF1D(EKF):
|
||||
"""Fast version of EKF for 1D problems with scalar readings."""
|
||||
|
||||
def __init__(self, dt, var_init, Q):
|
||||
super(FastEKF1D, self).__init__(False)
|
||||
self.state = [0, 0]
|
||||
self.covar = [var_init, var_init, 0]
|
||||
|
||||
# Process Noise
|
||||
self.dtQ0 = dt * Q[0]
|
||||
self.dtQ1 = dt * Q[1]
|
||||
|
||||
def update(self, reading):
|
||||
raise NotImplementedError
|
||||
|
||||
def update_scalar(self, reading):
|
||||
# TODO(mgraczyk): Delete this for speed.
|
||||
# assert np.all(reading.obs_model == [1, 0])
|
||||
|
||||
rcov = reading.covar[0, 0]
|
||||
|
||||
x = self.state
|
||||
S = self.covar
|
||||
|
||||
innovation = reading.data - x[0]
|
||||
innovation_covar = S[0] + rcov
|
||||
|
||||
k0 = S[0] / innovation_covar
|
||||
k1 = S[2] / innovation_covar
|
||||
|
||||
x[0] += k0 * innovation
|
||||
x[1] += k1 * innovation
|
||||
|
||||
mk = 1 - k0
|
||||
S[1] += k1 * (k1 * (S[0] + rcov) - 2 * S[2])
|
||||
S[2] = mk * (S[2] - k1 * S[0]) + rcov * k0 * k1
|
||||
S[0] = mk * mk * S[0] + rcov * k0 * k0
|
||||
|
||||
def predict(self, dt):
|
||||
# State update
|
||||
x = self.state
|
||||
|
||||
x[0] += dt * x[1]
|
||||
|
||||
# P = J*P*J' + Q
|
||||
S = self.covar
|
||||
S[0] += dt * (2 * S[2] + dt * S[1]) + self.dtQ0
|
||||
S[2] += dt * S[1]
|
||||
S[1] += self.dtQ1
|
||||
|
||||
# Clip covariance to avoid explosions
|
||||
S = max(-1e10, min(S, 1e10))
|
||||
|
||||
def calc_transfer_fun(self, dt):
|
||||
tf = np.identity(2)
|
||||
tf[0, 1] = dt
|
||||
tfj = tf
|
||||
return tf, tfj
|
||||
@@ -1,116 +0,0 @@
|
||||
import numpy as np
|
||||
import numpy.matlib
|
||||
import unittest
|
||||
import timeit
|
||||
|
||||
from common.kalman.ekf import EKF, SimpleSensor, FastEKF1D
|
||||
|
||||
class TestEKF(EKF):
|
||||
def __init__(self, var_init, Q):
|
||||
super(TestEKF, self).__init__(False)
|
||||
self.identity = numpy.matlib.identity(2)
|
||||
self.state = numpy.matlib.zeros((2, 1))
|
||||
self.covar = self.identity * var_init
|
||||
|
||||
self.process_noise = numpy.matlib.diag(Q)
|
||||
|
||||
def calc_transfer_fun(self, dt):
|
||||
tf = numpy.matlib.identity(2)
|
||||
tf[0, 1] = dt
|
||||
return tf, tf
|
||||
|
||||
|
||||
class EKFTest(unittest.TestCase):
|
||||
def test_update_scalar(self):
|
||||
ekf = TestEKF(1e3, [0.1, 1])
|
||||
dt = 1. / 100
|
||||
|
||||
sensor = SimpleSensor(0, 1, 2)
|
||||
readings = map(sensor.read, np.arange(100, 300))
|
||||
|
||||
for reading in readings:
|
||||
ekf.update_scalar(reading)
|
||||
ekf.predict(dt)
|
||||
|
||||
np.testing.assert_allclose(ekf.state, [[300], [100]], 1e-4)
|
||||
np.testing.assert_allclose(
|
||||
ekf.covar,
|
||||
np.asarray([[0.0563, 0.10278], [0.10278, 0.55779]]),
|
||||
atol=1e-4)
|
||||
|
||||
def test_unbiased(self):
|
||||
ekf = TestEKF(1e3, [0., 0.])
|
||||
dt = np.float64(1. / 100)
|
||||
|
||||
sensor = SimpleSensor(0, 1, 2)
|
||||
readings = map(sensor.read, np.arange(1000))
|
||||
|
||||
for reading in readings:
|
||||
ekf.update_scalar(reading)
|
||||
ekf.predict(dt)
|
||||
|
||||
np.testing.assert_allclose(ekf.state, [[1000.], [100.]], 1e-4)
|
||||
|
||||
|
||||
class FastEKF1DTest(unittest.TestCase):
|
||||
def test_correctness(self):
|
||||
dt = 1. / 100
|
||||
reading = SimpleSensor(0, 1, 2).read(100)
|
||||
|
||||
ekf = TestEKF(1e3, [0.1, 1])
|
||||
fast_ekf = FastEKF1D(dt, 1e3, [0.1, 1])
|
||||
|
||||
ekf.update_scalar(reading)
|
||||
fast_ekf.update_scalar(reading)
|
||||
self.assertAlmostEqual(ekf.state[0] , fast_ekf.state[0])
|
||||
self.assertAlmostEqual(ekf.state[1] , fast_ekf.state[1])
|
||||
self.assertAlmostEqual(ekf.covar[0, 0], fast_ekf.covar[0])
|
||||
self.assertAlmostEqual(ekf.covar[0, 1], fast_ekf.covar[2])
|
||||
self.assertAlmostEqual(ekf.covar[1, 1], fast_ekf.covar[1])
|
||||
|
||||
ekf.predict(dt)
|
||||
fast_ekf.predict(dt)
|
||||
self.assertAlmostEqual(ekf.state[0] , fast_ekf.state[0])
|
||||
self.assertAlmostEqual(ekf.state[1] , fast_ekf.state[1])
|
||||
self.assertAlmostEqual(ekf.covar[0, 0], fast_ekf.covar[0])
|
||||
self.assertAlmostEqual(ekf.covar[0, 1], fast_ekf.covar[2])
|
||||
self.assertAlmostEqual(ekf.covar[1, 1], fast_ekf.covar[1])
|
||||
|
||||
def test_speed(self):
|
||||
setup = """
|
||||
import numpy as np
|
||||
from common.kalman.tests.test_ekf import TestEKF
|
||||
from common.kalman.ekf import SimpleSensor, FastEKF1D
|
||||
|
||||
dt = 1. / 100
|
||||
reading = SimpleSensor(0, 1, 2).read(100)
|
||||
|
||||
var_init, Q = 1e3, [0.1, 1]
|
||||
ekf = TestEKF(var_init, Q)
|
||||
fast_ekf = FastEKF1D(dt, var_init, Q)
|
||||
"""
|
||||
|
||||
timeit.timeit("""
|
||||
ekf.update_scalar(reading)
|
||||
ekf.predict(dt)
|
||||
""", setup=setup, number=1000)
|
||||
|
||||
ekf_speed = timeit.timeit("""
|
||||
ekf.update_scalar(reading)
|
||||
ekf.predict(dt)
|
||||
""", setup=setup, number=20000)
|
||||
|
||||
timeit.timeit("""
|
||||
fast_ekf.update_scalar(reading)
|
||||
fast_ekf.predict(dt)
|
||||
""", setup=setup, number=1000)
|
||||
|
||||
fast_ekf_speed = timeit.timeit("""
|
||||
fast_ekf.update_scalar(reading)
|
||||
fast_ekf.predict(dt)
|
||||
""", setup=setup, number=20000)
|
||||
|
||||
assert fast_ekf_speed < ekf_speed / 4
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
@@ -53,6 +53,7 @@ keys = {
|
||||
"AthenadPid": [TxType.PERSISTENT],
|
||||
"CalibrationParams": [TxType.PERSISTENT],
|
||||
"CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"CompletedTrainingVersion": [TxType.PERSISTENT],
|
||||
"ControlsParams": [TxType.PERSISTENT],
|
||||
"DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
|
||||
@@ -70,6 +71,7 @@ keys = {
|
||||
"IsUploadRawEnabled": [TxType.PERSISTENT],
|
||||
"IsUploadVideoOverCellularEnabled": [TxType.PERSISTENT],
|
||||
"LimitSetSpeed": [TxType.PERSISTENT],
|
||||
"LimitSetSpeedNeural": [TxType.PERSISTENT],
|
||||
"LiveParameters": [TxType.PERSISTENT],
|
||||
"LongitudinalControl": [TxType.PERSISTENT],
|
||||
"Passive": [TxType.PERSISTENT],
|
||||
|
||||
@@ -20,6 +20,7 @@ DT_CTRL = 0.01 # controlsd
|
||||
DT_PLAN = 0.05 # mpc
|
||||
DT_MDL = 0.05 # model
|
||||
DT_DMON = 0.1 # driver monitoring
|
||||
DT_TRML = 0.5 # thermald and manager
|
||||
|
||||
|
||||
ffi = FFI()
|
||||
|
||||
+68
-62
@@ -1,61 +1,8 @@
|
||||
#!/usr/bin/env python
|
||||
import time
|
||||
from common.realtime import sec_since_boot
|
||||
import selfdrive.messaging as messaging
|
||||
from selfdrive.boardd.boardd import can_list_to_can_capnp
|
||||
|
||||
def get_vin(logcan, sendcan):
|
||||
|
||||
# works on standard 11-bit addresses for diagnostic. Tested on Toyota and Subaru;
|
||||
# Honda uses the extended 29-bit addresses, and unfortunately only works from OBDII
|
||||
query_msg = [[0x7df, 0, '\x02\x09\x02'.ljust(8, "\x00"), 0],
|
||||
[0x7e0, 0, '\x30'.ljust(8, "\x00"), 0]]
|
||||
|
||||
cnts = [1, 2] # Number of messages to wait for at each iteration
|
||||
vin_valid = True
|
||||
|
||||
dat = []
|
||||
for i in range(len(query_msg)):
|
||||
cnt = 0
|
||||
sendcan.send(can_list_to_can_capnp([query_msg[i]], msgtype='sendcan'))
|
||||
got_response = False
|
||||
t_start = sec_since_boot()
|
||||
while sec_since_boot() - t_start < 0.05 and not got_response:
|
||||
for a in messaging.drain_sock(logcan):
|
||||
for can in a.can:
|
||||
if can.src == 0 and can.address == 0x7e8:
|
||||
vin_valid = vin_valid and is_vin_response_valid(can.dat, i, cnt)
|
||||
dat += can.dat[2:] if i == 0 else can.dat[1:]
|
||||
cnt += 1
|
||||
if cnt == cnts[i]:
|
||||
got_response = True
|
||||
time.sleep(0.01)
|
||||
|
||||
return "".join(dat[3:]) if vin_valid else ""
|
||||
|
||||
"""
|
||||
if 'vin' not in gctx:
|
||||
print "getting vin"
|
||||
gctx['vin'] = query_vin()[3:]
|
||||
print "got VIN %s" % (gctx['vin'],)
|
||||
cloudlog.info("got VIN %s" % (gctx['vin'],))
|
||||
|
||||
# *** determine platform based on VIN ****
|
||||
if vin.startswith("19UDE2F36G"):
|
||||
print "ACURA ILX 2016"
|
||||
self.civic = False
|
||||
else:
|
||||
# TODO: add Honda check explicitly
|
||||
print "HONDA CIVIC 2016"
|
||||
self.civic = True
|
||||
|
||||
# *** special case VIN of Acura test platform
|
||||
if vin == "19UDE2F36GA001322":
|
||||
print "comma.ai test platform detected"
|
||||
# it has a gas interceptor and a torque mod
|
||||
self.torque_mod = True
|
||||
"""
|
||||
|
||||
VIN_UNKNOWN = "0" * 17
|
||||
|
||||
# sanity checks on response messages from vin query
|
||||
def is_vin_response_valid(can_dat, step, cnt):
|
||||
@@ -84,12 +31,71 @@ def is_vin_response_valid(can_dat, step, cnt):
|
||||
return True
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
import zmq
|
||||
from selfdrive.services import service_list
|
||||
context = zmq.Context()
|
||||
logcan = messaging.sub_sock(context, service_list['can'].port)
|
||||
sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
|
||||
time.sleep(1.) # give time to sendcan socket to start
|
||||
class VinQuery():
|
||||
def __init__(self, bus):
|
||||
self.bus = bus
|
||||
# works on standard 11-bit addresses for diagnostic. Tested on Toyota and Subaru;
|
||||
# Honda uses the extended 29-bit addresses, and unfortunately only works from OBDII
|
||||
self.query_ext_msgs = [[0x18DB33F1, 0, '\x02\x09\x02'.ljust(8, "\x00"), bus],
|
||||
[0x18DA10f1, 0, '\x30'.ljust(8, "\x00"), bus]]
|
||||
self.query_nor_msgs = [[0x7df, 0, '\x02\x09\x02'.ljust(8, "\x00"), bus],
|
||||
[0x7e0, 0, '\x30'.ljust(8, "\x00"), bus]]
|
||||
|
||||
print get_vin(logcan, sendcan)
|
||||
self.cnts = [1, 2] # number of messages to wait for at each iteration
|
||||
self.step = 0
|
||||
self.cnt = 0
|
||||
self.responded = False
|
||||
self.never_responded = True
|
||||
self.dat = []
|
||||
self.vin = VIN_UNKNOWN
|
||||
|
||||
def check_response(self, msg):
|
||||
# have we got a VIN query response?
|
||||
if msg.src == self.bus and msg.address in [0x18daf110, 0x7e8]:
|
||||
self.never_responded = False
|
||||
# basic sanity checks on ISO-TP response
|
||||
if is_vin_response_valid(msg.dat, self.step, self.cnt):
|
||||
self.dat += msg.dat[2:] if self.step == 0 else msg.dat[1:]
|
||||
self.cnt += 1
|
||||
if self.cnt == self.cnts[self.step]:
|
||||
self.responded = True
|
||||
self.step += 1
|
||||
|
||||
def send_query(self, sendcan):
|
||||
# keep sending VIN qury if ECU isn't responsing.
|
||||
# sendcan is probably not ready due to the zmq slow joiner syndrome
|
||||
if self.never_responded or (self.responded and self.step < len(self.cnts)):
|
||||
sendcan.send(can_list_to_can_capnp([self.query_ext_msgs[self.step]], msgtype='sendcan'))
|
||||
sendcan.send(can_list_to_can_capnp([self.query_nor_msgs[self.step]], msgtype='sendcan'))
|
||||
self.responded = False
|
||||
self.cnt = 0
|
||||
|
||||
def get_vin(self):
|
||||
# only report vin if procedure is finished
|
||||
if self.step == len(self.cnts) and self.cnt == self.cnts[-1]:
|
||||
self.vin = "".join(self.dat[3:])
|
||||
return self.vin
|
||||
|
||||
|
||||
def get_vin(logcan, sendcan, bus, query_time=1.):
|
||||
vin_query = VinQuery(bus)
|
||||
frame = 0
|
||||
|
||||
# 1s max of VIN query time
|
||||
while frame < query_time * 100:
|
||||
a = messaging.recv_one(logcan)
|
||||
|
||||
for can in a.can:
|
||||
vin_query.check_response(can)
|
||||
|
||||
vin_query.send_query(sendcan)
|
||||
frame += 1
|
||||
|
||||
return vin_query.get_vin()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
from selfdrive.services import service_list
|
||||
logcan = messaging.sub_sock(service_list['can'].port)
|
||||
sendcan = messaging.pub_sock(service_list['sendcan'].port)
|
||||
print get_vin(logcan, sendcan, 0)
|
||||
|
||||
@@ -31,7 +31,9 @@ FRAMEBUFFER_LIBS = -lutils -lgui -lEGL
|
||||
.PHONY: all
|
||||
all: updater
|
||||
|
||||
OBJS = courbd.ttf.o \
|
||||
OBJS = opensans_regular.ttf.o \
|
||||
opensans_semibold.ttf.o \
|
||||
opensans_bold.ttf.o \
|
||||
../../selfdrive/common/touch.o \
|
||||
../../selfdrive/common/framebuffer.o \
|
||||
$(PHONELIBS)/json11/json11.o \
|
||||
@@ -50,7 +52,15 @@ updater: updater.o $(OBJS)
|
||||
-lcutils -lm -llog
|
||||
strip updater
|
||||
|
||||
courbd.ttf.o: ../../selfdrive/assets/courbd.ttf
|
||||
opensans_regular.ttf.o: ../../selfdrive/assets/fonts/opensans_regular.ttf
|
||||
@echo "[ bin2o ] $@"
|
||||
cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
|
||||
|
||||
opensans_bold.ttf.o: ../../selfdrive/assets/fonts/opensans_bold.ttf
|
||||
@echo "[ bin2o ] $@"
|
||||
cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
|
||||
|
||||
opensans_semibold.ttf.o: ../../selfdrive/assets/fonts/opensans_semibold.ttf
|
||||
@echo "[ bin2o ] $@"
|
||||
cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
{
|
||||
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-c992abb59cbaf6588f51055db52db619061107851773fc8480acb8bb5d77a28f.zip",
|
||||
"ota_hash": "c992abb59cbaf6588f51055db52db619061107851773fc8480acb8bb5d77a28f",
|
||||
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-af099a84cfd7b91266090779238ac358278948dcde2dcfa0fbca6e8397366f0a.img",
|
||||
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-4db25072191d24e204a816d73ac9e8c727822a26ed3baf01ecae18167fa2eb11.zip",
|
||||
"ota_hash": "4db25072191d24e204a816d73ac9e8c727822a26ed3baf01ecae18167fa2eb11",
|
||||
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-31ef14206d3102edf18fb7417ef32ba2d9f37dd2f4443e234c374a70d1bf4662.img",
|
||||
"recovery_len": 15136044,
|
||||
"recovery_hash": "af099a84cfd7b91266090779238ac358278948dcde2dcfa0fbca6e8397366f0a"
|
||||
"recovery_hash": "31ef14206d3102edf18fb7417ef32ba2d9f37dd2f4443e234c374a70d1bf4662"
|
||||
}
|
||||
|
||||
Binary file not shown.
@@ -43,8 +43,12 @@ const char *manifest_url = MANIFEST_URL_EON;
|
||||
|
||||
#define UPDATE_DIR "/data/neoupdate"
|
||||
|
||||
extern const uint8_t bin_courbd[] asm("_binary_courbd_ttf_start");
|
||||
extern const uint8_t bin_courbd_end[] asm("_binary_courbd_ttf_end");
|
||||
extern const uint8_t bin_opensans_regular[] asm("_binary_opensans_regular_ttf_start");
|
||||
extern const uint8_t bin_opensans_regular_end[] asm("_binary_opensans_regular_ttf_end");
|
||||
extern const uint8_t bin_opensans_semibold[] asm("_binary_opensans_semibold_ttf_start");
|
||||
extern const uint8_t bin_opensans_semibold_end[] asm("_binary_opensans_semibold_ttf_end");
|
||||
extern const uint8_t bin_opensans_bold[] asm("_binary_opensans_bold_ttf_start");
|
||||
extern const uint8_t bin_opensans_bold_end[] asm("_binary_opensans_bold_ttf_end");
|
||||
|
||||
namespace {
|
||||
|
||||
@@ -148,7 +152,9 @@ struct Updater {
|
||||
|
||||
FramebufferState *fb = NULL;
|
||||
NVGcontext *vg = NULL;
|
||||
int font;
|
||||
int font_regular;
|
||||
int font_semibold;
|
||||
int font_bold;
|
||||
|
||||
std::thread update_thread_handle;
|
||||
|
||||
@@ -182,14 +188,21 @@ struct Updater {
|
||||
|
||||
vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
|
||||
assert(vg);
|
||||
font = nvgCreateFontMem(vg, "courbd", (unsigned char*)bin_courbd, (bin_courbd_end - bin_courbd), 0);
|
||||
assert(font >= 0);
|
||||
|
||||
b_w = 600;
|
||||
font_regular = nvgCreateFontMem(vg, "opensans_regular", (unsigned char*)bin_opensans_regular, (bin_opensans_regular_end - bin_opensans_regular), 0);
|
||||
assert(font_regular >= 0);
|
||||
|
||||
font_semibold = nvgCreateFontMem(vg, "opensans_semibold", (unsigned char*)bin_opensans_semibold, (bin_opensans_semibold_end - bin_opensans_semibold), 0);
|
||||
assert(font_semibold >= 0);
|
||||
|
||||
font_bold = nvgCreateFontMem(vg, "opensans_bold", (unsigned char*)bin_opensans_bold, (bin_opensans_bold_end - bin_opensans_bold), 0);
|
||||
assert(font_bold >= 0);
|
||||
|
||||
b_w = 640;
|
||||
balt_x = 200;
|
||||
b_x = fb_w-b_w-200;
|
||||
b_y = 700;
|
||||
b_h = 250;
|
||||
b_y = 720;
|
||||
b_h = 220;
|
||||
|
||||
state = CONFIRMATION;
|
||||
|
||||
@@ -286,14 +299,14 @@ struct Updater {
|
||||
std::string stage_download(std::string url, std::string hash, std::string name) {
|
||||
std::string out_fn = UPDATE_DIR "/" + util::base_name(url);
|
||||
|
||||
set_progress("downloading " + name + "...");
|
||||
set_progress("Downloading " + name + "...");
|
||||
bool r = download_file(url, out_fn);
|
||||
if (!r) {
|
||||
set_error("failed to download " + name);
|
||||
return "";
|
||||
}
|
||||
|
||||
set_progress("verifying " + name + "...");
|
||||
set_progress("Verifying " + name + "...");
|
||||
std::string fn_hash = sha256_file(out_fn);
|
||||
printf("got %s hash: %s\n", name.c_str(), hash.c_str());
|
||||
if (fn_hash != hash) {
|
||||
@@ -323,7 +336,7 @@ struct Updater {
|
||||
|
||||
const int EON = (access("/EON", F_OK) != -1);
|
||||
|
||||
set_progress("finding latest version...");
|
||||
set_progress("Finding latest version...");
|
||||
std::string manifest_s;
|
||||
if (EON) {
|
||||
manifest_s = download_string(curl, manifest_url);
|
||||
@@ -364,10 +377,10 @@ struct Updater {
|
||||
|
||||
std::string recovery_fn;
|
||||
if (recovery_url.empty() || recovery_hash.empty() || recovery_len == 0) {
|
||||
set_progress("skipping recovery flash...");
|
||||
set_progress("Skipping recovery flash...");
|
||||
} else {
|
||||
// only download the recovery if it differs from what's flashed
|
||||
set_progress("checking recovery...");
|
||||
set_progress("Checking recovery...");
|
||||
std::string existing_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
|
||||
printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());
|
||||
|
||||
@@ -393,7 +406,7 @@ struct Updater {
|
||||
|
||||
if (!recovery_fn.empty()) {
|
||||
// flash recovery
|
||||
set_progress("flashing recovery...");
|
||||
set_progress("Flashing recovery...");
|
||||
|
||||
FILE *flash_file = fopen(recovery_fn.c_str(), "rb");
|
||||
if (!flash_file) {
|
||||
@@ -427,7 +440,7 @@ struct Updater {
|
||||
fclose(recovery_dev);
|
||||
fclose(flash_file);
|
||||
|
||||
set_progress("verifying flash...");
|
||||
set_progress("Verifying flash...");
|
||||
std::string new_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
|
||||
printf("new recovery hash: %s\n", new_recovery_hash.c_str());
|
||||
|
||||
@@ -447,7 +460,7 @@ struct Updater {
|
||||
fprintf(cmd_file, "--update_package=%s\n", ota_fn.c_str());
|
||||
fclose(cmd_file);
|
||||
|
||||
set_progress("rebooting");
|
||||
set_progress("Rebooting");
|
||||
|
||||
// remove the continue.sh so we come back into the setup.
|
||||
// maybe we should go directly into the installer, but what if we don't come back with internet? :/
|
||||
@@ -462,25 +475,32 @@ struct Updater {
|
||||
// set_error("failed to reboot into recovery");
|
||||
}
|
||||
|
||||
void draw_ack_screen(const char *message, const char *button, const char *altbutton) {
|
||||
nvgFontSize(vg, 96.0f);
|
||||
void draw_ack_screen(const char *title, const char *message, const char *button, const char *altbutton) {
|
||||
nvgFillColor(vg, nvgRGBA(255,255,255,255));
|
||||
nvgTextAlign(vg, NVG_ALIGN_LEFT | NVG_ALIGN_BASELINE);
|
||||
nvgTextBox(vg, 50, 100, fb_w-100, message, NULL);
|
||||
nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
|
||||
|
||||
nvgFontFace(vg, "opensans_bold");
|
||||
nvgFontSize(vg, 120.0f);
|
||||
nvgTextBox(vg, 110, 220, fb_w-240, title, NULL);
|
||||
|
||||
nvgFontFace(vg, "opensans_regular");
|
||||
nvgFontSize(vg, 86.0f);
|
||||
nvgTextBox(vg, 130, 380, fb_w-260, message, NULL);
|
||||
|
||||
// draw button
|
||||
if (button) {
|
||||
nvgBeginPath(vg);
|
||||
nvgFillColor(vg, nvgRGBA(0, 0, 0, 255));
|
||||
nvgFillColor(vg, nvgRGBA(8, 8, 8, 255));
|
||||
nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
|
||||
nvgFill(vg);
|
||||
|
||||
nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
|
||||
nvgFontFace(vg, "opensans_semibold");
|
||||
nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
|
||||
nvgText(vg, b_x+b_w/2, b_y+b_h/2, button, NULL);
|
||||
|
||||
nvgBeginPath(vg);
|
||||
nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 255));
|
||||
nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 50));
|
||||
nvgStrokeWidth(vg, 5);
|
||||
nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
|
||||
nvgStroke(vg);
|
||||
@@ -489,16 +509,17 @@ struct Updater {
|
||||
// draw button
|
||||
if (altbutton) {
|
||||
nvgBeginPath(vg);
|
||||
nvgFillColor(vg, nvgRGBA(0, 0, 0, 255));
|
||||
nvgFillColor(vg, nvgRGBA(8, 8, 8, 255));
|
||||
nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
|
||||
nvgFill(vg);
|
||||
|
||||
nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
|
||||
nvgFontFace(vg, "opensans_semibold");
|
||||
nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
|
||||
nvgText(vg, balt_x+b_w/2, b_y+b_h/2, altbutton, NULL);
|
||||
|
||||
nvgBeginPath(vg);
|
||||
nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 255));
|
||||
nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 50));
|
||||
nvgStrokeWidth(vg, 5);
|
||||
nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
|
||||
nvgStroke(vg);
|
||||
@@ -510,23 +531,27 @@ struct Updater {
|
||||
nvgFontSize(vg, 64.0f);
|
||||
nvgFillColor(vg, nvgRGBA(255,255,255,255));
|
||||
nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
|
||||
nvgTextBox(vg, 0, 700, fb_w, progress_text.c_str(), NULL);
|
||||
nvgFontFace(vg, "opensans_bold");
|
||||
nvgFontSize(vg, 86.0f);
|
||||
nvgTextBox(vg, 0, 380, fb_w, progress_text.c_str(), NULL);
|
||||
|
||||
// draw progress bar
|
||||
{
|
||||
int progress_width = 800;
|
||||
int progress_width = 1000;
|
||||
int progress_x = fb_w/2-progress_width/2;
|
||||
int progress_y = 768;
|
||||
int progress_height = 15;
|
||||
int progress_y = 520;
|
||||
int progress_height = 50;
|
||||
|
||||
int powerprompt_y = 512;
|
||||
nvgText(vg, fb_w/2, powerprompt_y, "Ensure EON is connected to power", NULL);
|
||||
int powerprompt_y = 312;
|
||||
nvgFontFace(vg, "opensans_regular");
|
||||
nvgFontSize(vg, 64.0f);
|
||||
nvgText(vg, fb_w/2, 740, "Ensure EON is connected to power.", NULL);
|
||||
|
||||
NVGpaint paint = nvgBoxGradient(
|
||||
vg, progress_x + 1, progress_y + 1,
|
||||
progress_width - 2, progress_height, 3, 4, nvgRGB(0, 32, 0), nvgRGB(0, 92, 0));
|
||||
progress_width - 2, progress_height, 3, 4, nvgRGB(27, 27, 27), nvgRGB(27, 27, 27));
|
||||
nvgBeginPath(vg);
|
||||
nvgRoundedRect(vg, progress_x, progress_y, progress_width, progress_height, 3);
|
||||
nvgRoundedRect(vg, progress_x, progress_y, progress_width, progress_height, 12);
|
||||
nvgFillPaint(vg, paint);
|
||||
nvgFill(vg);
|
||||
|
||||
@@ -536,12 +561,12 @@ struct Updater {
|
||||
paint = nvgBoxGradient(
|
||||
vg, progress_x, progress_y,
|
||||
bar_pos+1.5f, progress_height-1, 3, 4,
|
||||
nvgRGB(220, 100, 0), nvgRGB(128, 100, 0));
|
||||
nvgRGB(245, 245, 245), nvgRGB(105, 105, 105));
|
||||
|
||||
nvgBeginPath(vg);
|
||||
nvgRoundedRect(
|
||||
vg, progress_x+1, progress_y+1,
|
||||
bar_pos, progress_height-2, 3);
|
||||
bar_pos, progress_height-2, 12);
|
||||
nvgFillPaint(vg, paint);
|
||||
nvgFill(vg);
|
||||
}
|
||||
@@ -554,16 +579,16 @@ struct Updater {
|
||||
|
||||
switch (state) {
|
||||
case CONFIRMATION:
|
||||
draw_ack_screen("An upgrade to NEOS is required.\n\n"
|
||||
"Your device will now be reset and upgraded. You may want to connect to wifi as download is around 1 GB\nData on device shouldn't be lost.",
|
||||
"continue",
|
||||
"wifi");
|
||||
draw_ack_screen("An update to NEOS is required.",
|
||||
"Your device will now be reset and upgraded. You may want to connect to wifi as download is around 1 GB. Existing data on device should not be lost.",
|
||||
"Continue",
|
||||
"Connect to WiFi");
|
||||
break;
|
||||
case RUNNING:
|
||||
draw_progress_screen();
|
||||
break;
|
||||
case ERROR:
|
||||
draw_ack_screen(("ERROR: " + error_text + "\n\nYou will need to retry").c_str(), NULL, "exit");
|
||||
draw_ack_screen("There was an error.", ("ERROR: " + error_text + "\n\nYou will need to retry").c_str(), NULL, "exit");
|
||||
break;
|
||||
}
|
||||
|
||||
@@ -604,9 +629,17 @@ struct Updater {
|
||||
while (!do_exit) {
|
||||
ui_update();
|
||||
|
||||
glClearColor(0.19, 0.09, 0.2, 1.0);
|
||||
glClearColor(0.08, 0.08, 0.08, 1.0);
|
||||
glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
|
||||
|
||||
// background
|
||||
nvgBeginPath(vg);
|
||||
NVGpaint bg = nvgLinearGradient(vg, fb_w, 0, fb_w, fb_h,
|
||||
nvgRGBA(0, 0, 0, 0), nvgRGBA(0, 0, 0, 255));
|
||||
nvgFillPaint(vg, bg);
|
||||
nvgRect(vg, 0, 0, fb_w, fb_h);
|
||||
nvgFill(vg);
|
||||
|
||||
glEnable(GL_BLEND);
|
||||
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
|
||||
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -107,21 +107,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
|
||||
BO_ 506 BRAKE_COMMAND: 8 ADAS
|
||||
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
|
||||
SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
|
||||
|
||||
|
||||
@@ -107,21 +107,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
|
||||
BO_ 506 BRAKE_COMMAND: 8 ADAS
|
||||
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
|
||||
SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
|
||||
|
||||
|
||||
@@ -262,7 +262,7 @@ BO_ 300 NEW_MSG_12C: 8 XXX
|
||||
|
||||
BO_ 308 ACCEL_GAS_134: 8 XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ACCEL_134 : 43|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ACCEL_134 : 46|7@0+ (1,0) [0|127] "" XXX
|
||||
|
||||
BO_ 532 ENERGY_RELATED_214: 8 XXX
|
||||
SG_ NOISY_SLOWLY_DECREASING : 16|9@0+ (1,0) [0|255] "" XXX
|
||||
@@ -413,6 +413,7 @@ CM_ SG_ 825 BEEP_339 "sent every 0.5s. 0050 is no beep. To beep send 4355 or 415
|
||||
CM_ SG_ 270 ELECTRIC_MOTOR "0x7fff indicates electric motor not in use";
|
||||
CM_ SG_ 291 ENERGY_GAIN_LOSS "unsure what this actually is";
|
||||
CM_ SG_ 291 ENERGY_SMOOTHER_CURVE "unusre what it is, but smoother";
|
||||
CM_ SG_ 308 ACCEL_134 "only set when human presses accel pedal";
|
||||
CM_ SG_ 532 NOISY_SLOWLY_DECREASING "perhaps battery but do not know";
|
||||
CM_ SG_ 816 TRACTION_OFF "set when traction off button is enabled";
|
||||
CM_ SG_ 816 TOGGLE_PARKSENSE "sending 3000071ec0ff9000 enables or disables parksense";
|
||||
|
||||
@@ -85,21 +85,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
|
||||
BO_ 506 BRAKE_COMMAND: 8 ADAS
|
||||
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
|
||||
SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
|
||||
|
||||
|
||||
@@ -33,7 +33,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -69,6 +69,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -94,7 +95,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -120,6 +130,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
BO_ 921 PCM_CRUISE_SM: 8 XXX
|
||||
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
|
||||
@@ -152,6 +174,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -222,6 +267,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -245,6 +293,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
@@ -0,0 +1,37 @@
|
||||
CM_ "IMPORT _toyota_2017.dbc"
|
||||
CM_ "IMPORT _comma.dbc"
|
||||
|
||||
BO_ 548 BRAKE_MODULE: 8 XXX
|
||||
SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
|
||||
SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
|
||||
SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 581 GAS_PEDAL: 5 XXX
|
||||
SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
|
||||
SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
|
||||
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
|
||||
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 610 EPS_STATUS: 5 EPS
|
||||
SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
|
||||
SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 956 GEAR_PACKET: 8 XXX
|
||||
SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
|
||||
CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
|
||||
CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
|
||||
CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
|
||||
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
|
||||
VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
|
||||
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
|
||||
VAL_ 956 SPORT_ON 0 "off" 1 "on";
|
||||
VAL_ 956 ECON_ON 0 "off" 1 "on";
|
||||
@@ -11,7 +11,7 @@ BO_ 705 GAS_PEDAL: 8 XXX
|
||||
SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
|
||||
SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
|
||||
SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
|
||||
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
|
||||
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -25,7 +25,7 @@ BO_ 610 EPS_STATUS: 5 EPS
|
||||
BO_ 956 GEAR_PACKET: 8 XXX
|
||||
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
|
||||
|
||||
BO_ 1009 PCM_CRUISE_3: 8 XXX
|
||||
BO_ 1009 PCM_CRUISE_ALT: 8 XXX
|
||||
SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
|
||||
|
||||
@@ -107,21 +107,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
|
||||
BO_ 506 BRAKE_COMMAND: 8 ADAS
|
||||
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
|
||||
SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
|
||||
|
||||
|
||||
@@ -107,21 +107,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
|
||||
BO_ 506 BRAKE_COMMAND: 8 ADAS
|
||||
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
|
||||
SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
|
||||
|
||||
|
||||
@@ -107,21 +107,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
|
||||
BO_ 506 BRAKE_COMMAND: 8 ADAS
|
||||
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
|
||||
SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
|
||||
|
||||
|
||||
@@ -107,21 +107,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
|
||||
BO_ 506 BRAKE_COMMAND: 8 ADAS
|
||||
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
|
||||
SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
|
||||
|
||||
|
||||
@@ -107,21 +107,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
|
||||
BO_ 506 BRAKE_COMMAND: 8 ADAS
|
||||
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
|
||||
SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
|
||||
|
||||
|
||||
@@ -107,21 +107,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
|
||||
BO_ 506 BRAKE_COMMAND: 8 ADAS
|
||||
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
|
||||
SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
|
||||
|
||||
|
||||
@@ -961,7 +961,7 @@ BO_ 64 DATC14: 8 DATC
|
||||
SG_ DATC_ADSDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
|
||||
|
||||
BO_ 832 LKAS11: 8 LDWS_LKAS
|
||||
SG_ CF_Lkas_Icon : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,IBOX,PSB
|
||||
SG_ CF_Lkas_Bca_R : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,IBOX,PSB
|
||||
SG_ CF_Lkas_LdwsSysState : 2|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,IBOX,PSB
|
||||
SG_ CF_Lkas_SysWarning : 6|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU
|
||||
SG_ CF_Lkas_LdwsLHWarning : 10|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,PSB
|
||||
|
||||
@@ -0,0 +1,384 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
|
||||
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_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
|
||||
SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
|
||||
|
||||
BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
|
||||
SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
|
||||
SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
|
||||
SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
|
||||
|
||||
BO_ 166 BRAKE: 8 XXX
|
||||
SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 170 WHEEL_SPEEDS: 8 XXX
|
||||
SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
|
||||
SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
|
||||
SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
|
||||
SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
|
||||
|
||||
BO_ 180 SPEED: 8 XXX
|
||||
SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
|
||||
|
||||
BO_ 353 DSU_SPEED: 8 XXX
|
||||
SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
|
||||
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
|
||||
SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 552 ACCELEROMETER: 8 XXX
|
||||
SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
|
||||
SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
|
||||
BO_ 560 BRAKE_MODULE2: 7 XXX
|
||||
SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
|
||||
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 742 LEAD_INFO: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
|
||||
SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
|
||||
SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
BO_ 921 PCM_CRUISE_SM: 8 XXX
|
||||
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1041 ACC_HUD: 8 DSU
|
||||
SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
|
||||
SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1162 RSA2: 8 FCM
|
||||
SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1163 RSA3: 8 FCM
|
||||
SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
CM_ SG_ 1163 TSRMSW "always 1";
|
||||
CM_ SG_ 1163 OTSGNNTM "always 3";
|
||||
CM_ SG_ 1163 NTLVLSPD "always 3";
|
||||
CM_ SG_ 1163 OVSPNTM "always 3";
|
||||
CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
|
||||
CM_ SG_ 1163 TSRSPU "always 1";
|
||||
|
||||
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
VAL_ 1553 UNITS 1 "km" 2 "miles";
|
||||
VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
|
||||
VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
|
||||
VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
|
||||
VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
|
||||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "lexus_ct200h_2018_pt.dbc starts here"
|
||||
|
||||
|
||||
|
||||
BO_ 548 BRAKE_MODULE: 8 XXX
|
||||
SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
|
||||
SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
|
||||
SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 581 GAS_PEDAL: 5 XXX
|
||||
SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
|
||||
SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
|
||||
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
|
||||
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 610 EPS_STATUS: 5 EPS
|
||||
SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
|
||||
SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 956 GEAR_PACKET: 8 XXX
|
||||
SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
|
||||
CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
|
||||
CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
|
||||
CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
|
||||
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
|
||||
VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
|
||||
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
|
||||
VAL_ 956 SPORT_ON 0 "off" 1 "on";
|
||||
VAL_ 956 ECON_ON 0 "off" 1 "on";
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
BO_ 921 PCM_CRUISE_SM: 8 XXX
|
||||
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
BO_ 921 PCM_CRUISE_SM: 8 XXX
|
||||
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
@@ -309,7 +358,7 @@ BO_ 705 GAS_PEDAL: 8 XXX
|
||||
SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
|
||||
SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
|
||||
SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
|
||||
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
|
||||
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -323,7 +372,7 @@ BO_ 610 EPS_STATUS: 5 EPS
|
||||
BO_ 956 GEAR_PACKET: 8 XXX
|
||||
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
|
||||
|
||||
BO_ 1009 PCM_CRUISE_3: 8 XXX
|
||||
BO_ 1009 PCM_CRUISE_ALT: 8 XXX
|
||||
SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
|
||||
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
BO_ 921 PCM_CRUISE_SM: 8 XXX
|
||||
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
BO_ 921 PCM_CRUISE_SM: 8 XXX
|
||||
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
BO_ 921 PCM_CRUISE_SM: 8 XXX
|
||||
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
BO_ 921 PCM_CRUISE_SM: 8 XXX
|
||||
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
BO_ 921 PCM_CRUISE_SM: 8 XXX
|
||||
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
BO_ 921 PCM_CRUISE_SM: 8 XXX
|
||||
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
BO_ 921 PCM_CRUISE_SM: 8 XXX
|
||||
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
BO_ 921 PCM_CRUISE_SM: 8 XXX
|
||||
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
BO_ 921 PCM_CRUISE_SM: 8 XXX
|
||||
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
BO_ 921 PCM_CRUISE_SM: 8 XXX
|
||||
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
BO_ 921 PCM_CRUISE_SM: 8 XXX
|
||||
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
BO_ 921 PCM_CRUISE_SM: 8 XXX
|
||||
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
BO_ 921 PCM_CRUISE_SM: 8 XXX
|
||||
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
BO_ 921 PCM_CRUISE_SM: 8 XXX
|
||||
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
@@ -32,13 +32,6 @@ jobs:
|
||||
- store_artifacts:
|
||||
name: Store misra test output
|
||||
path: /tmp/misra/misra_output.txt
|
||||
- store_artifacts:
|
||||
name: Store cppcheck safety test output
|
||||
path: /tmp/misra/cppcheck_safety_output.txt
|
||||
- store_artifacts:
|
||||
name: Store misra safety test output
|
||||
path: /tmp/misra/misra_safety_output.txt
|
||||
|
||||
|
||||
build:
|
||||
machine:
|
||||
|
||||
+1
-1
@@ -1 +1 @@
|
||||
v1.4.1
|
||||
v1.4.3
|
||||
@@ -0,0 +1,61 @@
|
||||
// ///////////////////////////////////////////////////////////// //
|
||||
// Hardware abstraction layer for all different supported boards //
|
||||
// ///////////////////////////////////////////////////////////// //
|
||||
#include "board_declarations.h"
|
||||
#include "boards/common.h"
|
||||
|
||||
// ///// Board definition and detection ///// //
|
||||
#include "drivers/harness.h"
|
||||
#ifdef PANDA
|
||||
#include "boards/white.h"
|
||||
#include "boards/grey.h"
|
||||
#include "boards/black.h"
|
||||
#else
|
||||
#include "boards/pedal.h"
|
||||
#endif
|
||||
|
||||
void detect_board_type(void) {
|
||||
#ifdef PANDA
|
||||
// SPI lines floating: white (TODO: is this reliable?)
|
||||
if((detect_with_pull(GPIOA, 4, PULL_DOWN)) || (detect_with_pull(GPIOA, 5, PULL_DOWN)) || (detect_with_pull(GPIOA, 6, PULL_DOWN)) || (detect_with_pull(GPIOA, 7, PULL_DOWN))){
|
||||
hw_type = HW_TYPE_WHITE_PANDA;
|
||||
current_board = &board_white;
|
||||
} else if(detect_with_pull(GPIOA, 13, PULL_DOWN)) { // Rev AB deprecated, so no pullup means black. In REV C, A13 is pulled up to 5V with a 10K
|
||||
hw_type = HW_TYPE_GREY_PANDA;
|
||||
current_board = &board_grey;
|
||||
} else {
|
||||
hw_type = HW_TYPE_BLACK_PANDA;
|
||||
current_board = &board_black;
|
||||
}
|
||||
#else
|
||||
#ifdef PEDAL
|
||||
hw_type = HW_TYPE_PEDAL;
|
||||
current_board = &board_pedal;
|
||||
#else
|
||||
hw_type = HW_TYPE_UNKNOWN;
|
||||
puts("Hardware type is UNKNOWN!\n");
|
||||
#endif
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
// ///// Configuration detection ///// //
|
||||
bool has_external_debug_serial = 0;
|
||||
bool is_entering_bootmode = 0;
|
||||
|
||||
void detect_configuration(void) {
|
||||
// detect if external serial debugging is present
|
||||
has_external_debug_serial = detect_with_pull(GPIOA, 3, PULL_DOWN);
|
||||
|
||||
#ifdef PANDA
|
||||
// check if the ESP is trying to put me in boot mode
|
||||
is_entering_bootmode = !detect_with_pull(GPIOB, 0, PULL_UP);
|
||||
#else
|
||||
is_entering_bootmode = 0;
|
||||
#endif
|
||||
}
|
||||
|
||||
// ///// Board functions ///// //
|
||||
bool board_has_gps(void) {
|
||||
return ((hw_type == HW_TYPE_GREY_PANDA) || (hw_type == HW_TYPE_BLACK_PANDA));
|
||||
}
|
||||
@@ -0,0 +1,57 @@
|
||||
// ******************** Prototypes ********************
|
||||
typedef void (*board_init)(void);
|
||||
typedef void (*board_enable_can_transciever)(uint8_t transciever, bool enabled);
|
||||
typedef void (*board_enable_can_transcievers)(bool enabled);
|
||||
typedef void (*board_set_led)(uint8_t color, bool enabled);
|
||||
typedef void (*board_set_usb_power_mode)(uint8_t mode);
|
||||
typedef void (*board_set_esp_gps_mode)(uint8_t mode);
|
||||
typedef void (*board_set_can_mode)(uint8_t mode);
|
||||
typedef void (*board_usb_power_mode_tick)(uint64_t tcnt);
|
||||
typedef bool (*board_check_ignition)(void);
|
||||
|
||||
struct board {
|
||||
const char *board_type;
|
||||
const harness_configuration *harness_config;
|
||||
board_init init;
|
||||
board_enable_can_transciever enable_can_transciever;
|
||||
board_enable_can_transcievers enable_can_transcievers;
|
||||
board_set_led set_led;
|
||||
board_set_usb_power_mode set_usb_power_mode;
|
||||
board_set_esp_gps_mode set_esp_gps_mode;
|
||||
board_set_can_mode set_can_mode;
|
||||
board_usb_power_mode_tick usb_power_mode_tick;
|
||||
board_check_ignition check_ignition;
|
||||
};
|
||||
|
||||
// ******************* Definitions ********************
|
||||
// These should match the enum in cereal/log.capnp
|
||||
#define HW_TYPE_UNKNOWN 0U
|
||||
#define HW_TYPE_WHITE_PANDA 1U
|
||||
#define HW_TYPE_GREY_PANDA 2U
|
||||
#define HW_TYPE_BLACK_PANDA 3U
|
||||
#define HW_TYPE_PEDAL 4U
|
||||
|
||||
// LED colors
|
||||
#define LED_RED 0U
|
||||
#define LED_GREEN 1U
|
||||
#define LED_BLUE 2U
|
||||
|
||||
// USB power modes
|
||||
#define USB_POWER_NONE 0U
|
||||
#define USB_POWER_CLIENT 1U
|
||||
#define USB_POWER_CDP 2U
|
||||
#define USB_POWER_DCP 3U
|
||||
|
||||
// ESP modes
|
||||
#define ESP_GPS_DISABLED 0U
|
||||
#define ESP_GPS_ENABLED 1U
|
||||
#define ESP_GPS_BOOTMODE 2U
|
||||
|
||||
// CAN modes
|
||||
#define CAN_MODE_NORMAL 0U
|
||||
#define CAN_MODE_GMLAN_CAN2 1U
|
||||
#define CAN_MODE_GMLAN_CAN3 2U
|
||||
#define CAN_MODE_OBD_CAN2 3U
|
||||
|
||||
// ********************* Globals **********************
|
||||
uint8_t usb_power_mode = USB_POWER_NONE;
|
||||
@@ -0,0 +1,188 @@
|
||||
// ///////////////////// //
|
||||
// Black Panda + Harness //
|
||||
// ///////////////////// //
|
||||
|
||||
void black_enable_can_transciever(uint8_t transciever, bool enabled) {
|
||||
switch (transciever){
|
||||
case 1U:
|
||||
set_gpio_output(GPIOC, 1, !enabled);
|
||||
break;
|
||||
case 2U:
|
||||
set_gpio_output(GPIOC, 13, !enabled);
|
||||
break;
|
||||
case 3U:
|
||||
set_gpio_output(GPIOA, 0, !enabled);
|
||||
break;
|
||||
case 4U:
|
||||
set_gpio_output(GPIOB, 10, !enabled);
|
||||
break;
|
||||
default:
|
||||
puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void black_enable_can_transcievers(bool enabled) {
|
||||
for(uint8_t i=1; i<=4U; i++)
|
||||
black_enable_can_transciever(i, enabled);
|
||||
}
|
||||
|
||||
void black_set_led(uint8_t color, bool enabled) {
|
||||
switch (color){
|
||||
case LED_RED:
|
||||
set_gpio_output(GPIOC, 9, !enabled);
|
||||
break;
|
||||
case LED_GREEN:
|
||||
set_gpio_output(GPIOC, 7, !enabled);
|
||||
break;
|
||||
case LED_BLUE:
|
||||
set_gpio_output(GPIOC, 6, !enabled);
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void black_set_usb_power_mode(uint8_t mode){
|
||||
usb_power_mode = mode;
|
||||
puts("Trying to set USB power mode on black panda. This is not supported.\n");
|
||||
}
|
||||
|
||||
void black_set_esp_gps_mode(uint8_t mode) {
|
||||
switch (mode) {
|
||||
case ESP_GPS_DISABLED:
|
||||
// ESP OFF
|
||||
set_gpio_output(GPIOC, 14, 0);
|
||||
set_gpio_output(GPIOC, 5, 0);
|
||||
break;
|
||||
case ESP_GPS_ENABLED:
|
||||
// ESP ON
|
||||
set_gpio_output(GPIOC, 14, 1);
|
||||
set_gpio_output(GPIOC, 5, 1);
|
||||
break;
|
||||
case ESP_GPS_BOOTMODE:
|
||||
set_gpio_output(GPIOC, 14, 1);
|
||||
set_gpio_output(GPIOC, 5, 0);
|
||||
break;
|
||||
default:
|
||||
puts("Invalid ESP/GPS mode\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void black_set_can_mode(uint8_t mode){
|
||||
switch (mode) {
|
||||
case CAN_MODE_NORMAL:
|
||||
case CAN_MODE_OBD_CAN2:
|
||||
if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_NORMAL)) {
|
||||
// B12,B13: disable OBD mode
|
||||
set_gpio_mode(GPIOB, 12, MODE_INPUT);
|
||||
set_gpio_mode(GPIOB, 13, MODE_INPUT);
|
||||
|
||||
// B5,B6: normal CAN2 mode
|
||||
set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
|
||||
set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
|
||||
} else {
|
||||
// B5,B6: disable normal CAN2 mode
|
||||
set_gpio_mode(GPIOB, 5, MODE_INPUT);
|
||||
set_gpio_mode(GPIOB, 6, MODE_INPUT);
|
||||
|
||||
// B12,B13: OBD mode
|
||||
set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
|
||||
set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
|
||||
}
|
||||
break;
|
||||
default:
|
||||
puts("Tried to set unsupported CAN mode: "); puth(mode); puts("\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void black_usb_power_mode_tick(uint64_t tcnt){
|
||||
UNUSED(tcnt);
|
||||
// Not applicable
|
||||
}
|
||||
|
||||
bool black_check_ignition(void){
|
||||
// ignition is checked through harness
|
||||
return harness_check_ignition();
|
||||
}
|
||||
|
||||
void black_init(void) {
|
||||
common_init_gpio();
|
||||
|
||||
// A8,A15: normal CAN3 mode
|
||||
set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
|
||||
set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
|
||||
|
||||
// C0: OBD_SBU1 (orientation detection)
|
||||
// C3: OBD_SBU2 (orientation detection)
|
||||
set_gpio_mode(GPIOC, 0, MODE_ANALOG);
|
||||
set_gpio_mode(GPIOC, 3, MODE_ANALOG);
|
||||
|
||||
// C10: OBD_SBU1_RELAY (harness relay driving output)
|
||||
// C11: OBD_SBU2_RELAY (harness relay driving output)
|
||||
set_gpio_mode(GPIOC, 10, MODE_OUTPUT);
|
||||
set_gpio_mode(GPIOC, 11, MODE_OUTPUT);
|
||||
set_gpio_output_type(GPIOC, 10, OUTPUT_TYPE_OPEN_DRAIN);
|
||||
set_gpio_output_type(GPIOC, 11, OUTPUT_TYPE_OPEN_DRAIN);
|
||||
set_gpio_output(GPIOC, 10, 1);
|
||||
set_gpio_output(GPIOC, 11, 1);
|
||||
|
||||
// C8: FAN aka TIM3_CH3
|
||||
set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
|
||||
|
||||
// C12: GPS load switch. Turn on permanently for now
|
||||
set_gpio_output(GPIOC, 12, true);
|
||||
//set_gpio_output(GPIOC, 12, false); //TODO: stupid inverted switch on prototype
|
||||
|
||||
// Initialize harness
|
||||
harness_init();
|
||||
|
||||
// Enable CAN transcievers
|
||||
black_enable_can_transcievers(true);
|
||||
|
||||
// Disable LEDs
|
||||
black_set_led(LED_RED, false);
|
||||
black_set_led(LED_GREEN, false);
|
||||
black_set_led(LED_BLUE, false);
|
||||
|
||||
// Set normal CAN mode
|
||||
black_set_can_mode(CAN_MODE_NORMAL);
|
||||
|
||||
// flip CAN0 and CAN2 if we are flipped
|
||||
if (car_harness_status == HARNESS_STATUS_NORMAL) {
|
||||
can_flip_buses(0, 2);
|
||||
}
|
||||
|
||||
// init multiplexer
|
||||
can_set_obd(car_harness_status, false);
|
||||
}
|
||||
|
||||
const harness_configuration black_harness_config = {
|
||||
.has_harness = true,
|
||||
.GPIO_SBU1 = GPIOC,
|
||||
.GPIO_SBU2 = GPIOC,
|
||||
.GPIO_relay_normal = GPIOC,
|
||||
.GPIO_relay_flipped = GPIOC,
|
||||
.pin_SBU1 = 0,
|
||||
.pin_SBU2 = 3,
|
||||
.pin_relay_normal = 10,
|
||||
.pin_relay_flipped = 11,
|
||||
.adc_channel_SBU1 = 10,
|
||||
.adc_channel_SBU2 = 13
|
||||
};
|
||||
|
||||
const board board_black = {
|
||||
.board_type = "Black",
|
||||
.harness_config = &black_harness_config,
|
||||
.init = black_init,
|
||||
.enable_can_transciever = black_enable_can_transciever,
|
||||
.enable_can_transcievers = black_enable_can_transcievers,
|
||||
.set_led = black_set_led,
|
||||
.set_usb_power_mode = black_set_usb_power_mode,
|
||||
.set_esp_gps_mode = black_set_esp_gps_mode,
|
||||
.set_can_mode = black_set_can_mode,
|
||||
.usb_power_mode_tick = black_usb_power_mode_tick,
|
||||
.check_ignition = black_check_ignition
|
||||
};
|
||||
@@ -0,0 +1,82 @@
|
||||
#ifdef STM32F4
|
||||
#include "stm32f4xx_hal_gpio_ex.h"
|
||||
#else
|
||||
#include "stm32f2xx_hal_gpio_ex.h"
|
||||
#endif
|
||||
|
||||
// Common GPIO initialization
|
||||
void common_init_gpio(void){
|
||||
// TODO: Is this block actually doing something???
|
||||
// pull low to hold ESP in reset??
|
||||
// enable OTG out tied to ground
|
||||
GPIOA->ODR = 0;
|
||||
GPIOB->ODR = 0;
|
||||
GPIOA->PUPDR = 0;
|
||||
GPIOB->AFR[0] = 0;
|
||||
GPIOB->AFR[1] = 0;
|
||||
|
||||
// C2: Voltage sense line
|
||||
set_gpio_mode(GPIOC, 2, MODE_ANALOG);
|
||||
|
||||
// A11,A12: USB
|
||||
set_gpio_alternate(GPIOA, 11, GPIO_AF10_OTG_FS);
|
||||
set_gpio_alternate(GPIOA, 12, GPIO_AF10_OTG_FS);
|
||||
GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
|
||||
|
||||
// A9,A10: USART 1 for talking to the ESP / GPS
|
||||
set_gpio_alternate(GPIOA, 9, GPIO_AF7_USART1);
|
||||
set_gpio_alternate(GPIOA, 10, GPIO_AF7_USART1);
|
||||
|
||||
// B8,B9: CAN 1
|
||||
#ifdef STM32F4
|
||||
set_gpio_alternate(GPIOB, 8, GPIO_AF8_CAN1);
|
||||
set_gpio_alternate(GPIOB, 9, GPIO_AF8_CAN1);
|
||||
#else
|
||||
set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
|
||||
set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
|
||||
#endif
|
||||
}
|
||||
|
||||
// Peripheral initialization
|
||||
void peripherals_init(void){
|
||||
// enable GPIOB, UART2, CAN, USB clock
|
||||
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
|
||||
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
|
||||
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
|
||||
RCC->AHB1ENR |= RCC_AHB1ENR_GPIODEN;
|
||||
|
||||
RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
|
||||
RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
|
||||
RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
|
||||
#ifdef PANDA
|
||||
RCC->APB1ENR |= RCC_APB1ENR_UART5EN;
|
||||
#endif
|
||||
RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
|
||||
RCC->APB1ENR |= RCC_APB1ENR_CAN2EN;
|
||||
#ifdef CAN3
|
||||
RCC->APB1ENR |= RCC_APB1ENR_CAN3EN;
|
||||
#endif
|
||||
RCC->APB1ENR |= RCC_APB1ENR_DACEN;
|
||||
RCC->APB1ENR |= RCC_APB1ENR_TIM2EN; // main counter
|
||||
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; // slow loop and pedal
|
||||
RCC->APB1ENR |= RCC_APB1ENR_TIM4EN; // gmlan_alt
|
||||
//RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;
|
||||
//RCC->APB1ENR |= RCC_APB1ENR_TIM6EN;
|
||||
RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
|
||||
RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
|
||||
//RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
|
||||
RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
|
||||
RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
|
||||
RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN;
|
||||
}
|
||||
|
||||
// Detection with internal pullup
|
||||
#define PULL_EFFECTIVE_DELAY 10
|
||||
bool detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode) {
|
||||
set_gpio_mode(GPIO, pin, MODE_INPUT);
|
||||
set_gpio_pullup(GPIO, pin, mode);
|
||||
for (volatile int i=0; i<PULL_EFFECTIVE_DELAY; i++);
|
||||
bool ret = get_gpio_input(GPIO, pin);
|
||||
set_gpio_pullup(GPIO, pin, PULL_NONE);
|
||||
return ret;
|
||||
}
|
||||
@@ -0,0 +1,18 @@
|
||||
// ////////// //
|
||||
// Grey Panda //
|
||||
// ////////// //
|
||||
|
||||
// Most hardware functionality is similar to white panda
|
||||
const board board_grey = {
|
||||
.board_type = "Grey",
|
||||
.harness_config = &white_harness_config,
|
||||
.init = white_init,
|
||||
.enable_can_transciever = white_enable_can_transciever,
|
||||
.enable_can_transcievers = white_enable_can_transcievers,
|
||||
.set_led = white_set_led,
|
||||
.set_usb_power_mode = white_set_usb_power_mode,
|
||||
.set_esp_gps_mode = white_set_esp_gps_mode,
|
||||
.set_can_mode = white_set_can_mode,
|
||||
.usb_power_mode_tick = white_usb_power_mode_tick,
|
||||
.check_ignition = white_check_ignition
|
||||
};
|
||||
@@ -0,0 +1,96 @@
|
||||
// ///// //
|
||||
// Pedal //
|
||||
// ///// //
|
||||
|
||||
void pedal_enable_can_transciever(uint8_t transciever, bool enabled) {
|
||||
switch (transciever){
|
||||
case 1:
|
||||
set_gpio_output(GPIOB, 3, !enabled);
|
||||
break;
|
||||
default:
|
||||
puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void pedal_enable_can_transcievers(bool enabled) {
|
||||
pedal_enable_can_transciever(1U, enabled);
|
||||
}
|
||||
|
||||
void pedal_set_led(uint8_t color, bool enabled) {
|
||||
switch (color){
|
||||
case LED_RED:
|
||||
set_gpio_output(GPIOB, 10, !enabled);
|
||||
break;
|
||||
case LED_GREEN:
|
||||
set_gpio_output(GPIOB, 11, !enabled);
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void pedal_set_usb_power_mode(uint8_t mode){
|
||||
usb_power_mode = mode;
|
||||
puts("Trying to set USB power mode on pedal. This is not supported.\n");
|
||||
}
|
||||
|
||||
void pedal_set_esp_gps_mode(uint8_t mode) {
|
||||
UNUSED(mode);
|
||||
puts("Trying to set ESP/GPS mode on pedal. This is not supported.\n");
|
||||
}
|
||||
|
||||
void pedal_set_can_mode(uint8_t mode){
|
||||
switch (mode) {
|
||||
case CAN_MODE_NORMAL:
|
||||
break;
|
||||
default:
|
||||
puts("Tried to set unsupported CAN mode: "); puth(mode); puts("\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void pedal_usb_power_mode_tick(uint64_t tcnt){
|
||||
UNUSED(tcnt);
|
||||
// Not applicable
|
||||
}
|
||||
|
||||
bool pedal_check_ignition(void){
|
||||
// not supported on pedal
|
||||
return false;
|
||||
}
|
||||
|
||||
void pedal_init(void) {
|
||||
common_init_gpio();
|
||||
|
||||
// C0, C1: Throttle inputs
|
||||
set_gpio_mode(GPIOC, 0, MODE_ANALOG);
|
||||
set_gpio_mode(GPIOC, 1, MODE_ANALOG);
|
||||
// DAC outputs on A4 and A5
|
||||
// apparently they don't need GPIO setup
|
||||
|
||||
// Enable transciever
|
||||
pedal_enable_can_transcievers(true);
|
||||
|
||||
// Disable LEDs
|
||||
pedal_set_led(LED_RED, false);
|
||||
pedal_set_led(LED_GREEN, false);
|
||||
}
|
||||
|
||||
const harness_configuration pedal_harness_config = {
|
||||
.has_harness = false
|
||||
};
|
||||
|
||||
const board board_pedal = {
|
||||
.board_type = "Pedal",
|
||||
.harness_config = &pedal_harness_config,
|
||||
.init = pedal_init,
|
||||
.enable_can_transciever = pedal_enable_can_transciever,
|
||||
.enable_can_transcievers = pedal_enable_can_transcievers,
|
||||
.set_led = pedal_set_led,
|
||||
.set_usb_power_mode = pedal_set_usb_power_mode,
|
||||
.set_esp_gps_mode = pedal_set_esp_gps_mode,
|
||||
.set_can_mode = pedal_set_can_mode,
|
||||
.usb_power_mode_tick = pedal_usb_power_mode_tick,
|
||||
.check_ignition = pedal_check_ignition,
|
||||
};
|
||||
@@ -0,0 +1,306 @@
|
||||
// /////////// //
|
||||
// White Panda //
|
||||
// /////////// //
|
||||
|
||||
void white_enable_can_transciever(uint8_t transciever, bool enabled) {
|
||||
switch (transciever){
|
||||
case 1U:
|
||||
set_gpio_output(GPIOC, 1, !enabled);
|
||||
break;
|
||||
case 2U:
|
||||
set_gpio_output(GPIOC, 13, !enabled);
|
||||
break;
|
||||
case 3U:
|
||||
set_gpio_output(GPIOA, 0, !enabled);
|
||||
break;
|
||||
default:
|
||||
puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void white_enable_can_transcievers(bool enabled) {
|
||||
for(uint8_t i=1; i<=3U; i++)
|
||||
white_enable_can_transciever(i, enabled);
|
||||
}
|
||||
|
||||
void white_set_led(uint8_t color, bool enabled) {
|
||||
switch (color){
|
||||
case LED_RED:
|
||||
set_gpio_output(GPIOC, 9, !enabled);
|
||||
break;
|
||||
case LED_GREEN:
|
||||
set_gpio_output(GPIOC, 7, !enabled);
|
||||
break;
|
||||
case LED_BLUE:
|
||||
set_gpio_output(GPIOC, 6, !enabled);
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void white_set_usb_power_mode(uint8_t mode){
|
||||
bool valid_mode = true;
|
||||
switch (mode) {
|
||||
case USB_POWER_CLIENT:
|
||||
// B2,A13: set client mode
|
||||
set_gpio_output(GPIOB, 2, 0);
|
||||
set_gpio_output(GPIOA, 13, 1);
|
||||
break;
|
||||
case USB_POWER_CDP:
|
||||
// B2,A13: set CDP mode
|
||||
set_gpio_output(GPIOB, 2, 1);
|
||||
set_gpio_output(GPIOA, 13, 1);
|
||||
break;
|
||||
case USB_POWER_DCP:
|
||||
// B2,A13: set DCP mode on the charger (breaks USB!)
|
||||
set_gpio_output(GPIOB, 2, 0);
|
||||
set_gpio_output(GPIOA, 13, 0);
|
||||
break;
|
||||
default:
|
||||
valid_mode = false;
|
||||
puts("Invalid usb power mode\n");
|
||||
break;
|
||||
}
|
||||
|
||||
if (valid_mode) {
|
||||
usb_power_mode = mode;
|
||||
}
|
||||
}
|
||||
|
||||
void white_set_esp_gps_mode(uint8_t mode) {
|
||||
switch (mode) {
|
||||
case ESP_GPS_DISABLED:
|
||||
// ESP OFF
|
||||
set_gpio_output(GPIOC, 14, 0);
|
||||
set_gpio_output(GPIOC, 5, 0);
|
||||
break;
|
||||
case ESP_GPS_ENABLED:
|
||||
// ESP ON
|
||||
set_gpio_output(GPIOC, 14, 1);
|
||||
set_gpio_output(GPIOC, 5, 1);
|
||||
break;
|
||||
case ESP_GPS_BOOTMODE:
|
||||
set_gpio_output(GPIOC, 14, 1);
|
||||
set_gpio_output(GPIOC, 5, 0);
|
||||
break;
|
||||
default:
|
||||
puts("Invalid ESP/GPS mode\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void white_set_can_mode(uint8_t mode){
|
||||
switch (mode) {
|
||||
case CAN_MODE_NORMAL:
|
||||
// B12,B13: disable GMLAN mode
|
||||
set_gpio_mode(GPIOB, 12, MODE_INPUT);
|
||||
set_gpio_mode(GPIOB, 13, MODE_INPUT);
|
||||
|
||||
// B3,B4: disable GMLAN mode
|
||||
set_gpio_mode(GPIOB, 3, MODE_INPUT);
|
||||
set_gpio_mode(GPIOB, 4, MODE_INPUT);
|
||||
|
||||
// B5,B6: normal CAN2 mode
|
||||
set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
|
||||
set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
|
||||
|
||||
// A8,A15: normal CAN3 mode
|
||||
set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
|
||||
set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
|
||||
break;
|
||||
case CAN_MODE_GMLAN_CAN2:
|
||||
// B5,B6: disable CAN2 mode
|
||||
set_gpio_mode(GPIOB, 5, MODE_INPUT);
|
||||
set_gpio_mode(GPIOB, 6, MODE_INPUT);
|
||||
|
||||
// B3,B4: disable GMLAN mode
|
||||
set_gpio_mode(GPIOB, 3, MODE_INPUT);
|
||||
set_gpio_mode(GPIOB, 4, MODE_INPUT);
|
||||
|
||||
// B12,B13: GMLAN mode
|
||||
set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
|
||||
set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
|
||||
|
||||
// A8,A15: normal CAN3 mode
|
||||
set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
|
||||
set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
|
||||
break;
|
||||
case CAN_MODE_GMLAN_CAN3:
|
||||
// A8,A15: disable CAN3 mode
|
||||
set_gpio_mode(GPIOA, 8, MODE_INPUT);
|
||||
set_gpio_mode(GPIOA, 15, MODE_INPUT);
|
||||
|
||||
// B12,B13: disable GMLAN mode
|
||||
set_gpio_mode(GPIOB, 12, MODE_INPUT);
|
||||
set_gpio_mode(GPIOB, 13, MODE_INPUT);
|
||||
|
||||
// B3,B4: GMLAN mode
|
||||
set_gpio_alternate(GPIOB, 3, GPIO_AF11_CAN3);
|
||||
set_gpio_alternate(GPIOB, 4, GPIO_AF11_CAN3);
|
||||
|
||||
// B5,B6: normal CAN2 mode
|
||||
set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
|
||||
set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
|
||||
break;
|
||||
default:
|
||||
puts("Tried to set unsupported CAN mode: "); puth(mode); puts("\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
uint64_t marker = 0;
|
||||
void white_usb_power_mode_tick(uint64_t tcnt){
|
||||
#ifndef BOOTSTUB
|
||||
#define CURRENT_THRESHOLD 0xF00U
|
||||
#define CLICKS 5U // 5 seconds to switch modes
|
||||
|
||||
uint32_t current = adc_get(ADCCHAN_CURRENT);
|
||||
|
||||
// ~0x9a = 500 ma
|
||||
// puth(current); puts("\n");
|
||||
|
||||
switch (usb_power_mode) {
|
||||
case USB_POWER_CLIENT:
|
||||
if ((tcnt - marker) >= CLICKS) {
|
||||
if (!is_enumerated) {
|
||||
puts("USBP: didn't enumerate, switching to CDP mode\n");
|
||||
// switch to CDP
|
||||
white_set_usb_power_mode(USB_POWER_CDP);
|
||||
marker = tcnt;
|
||||
}
|
||||
}
|
||||
// keep resetting the timer if it's enumerated
|
||||
if (is_enumerated) {
|
||||
marker = tcnt;
|
||||
}
|
||||
break;
|
||||
case USB_POWER_CDP:
|
||||
// On the EON, if we get into CDP mode we stay here. No need to go to DCP.
|
||||
#ifndef EON
|
||||
// been CLICKS clicks since we switched to CDP
|
||||
if ((tcnt-marker) >= CLICKS) {
|
||||
// measure current draw, if positive and no enumeration, switch to DCP
|
||||
if (!is_enumerated && (current < CURRENT_THRESHOLD)) {
|
||||
puts("USBP: no enumeration with current draw, switching to DCP mode\n");
|
||||
white_set_usb_power_mode(USB_POWER_DCP);
|
||||
marker = tcnt;
|
||||
}
|
||||
}
|
||||
// keep resetting the timer if there's no current draw in CDP
|
||||
if (current >= CURRENT_THRESHOLD) {
|
||||
marker = tcnt;
|
||||
}
|
||||
#endif
|
||||
break;
|
||||
case USB_POWER_DCP:
|
||||
// been at least CLICKS clicks since we switched to DCP
|
||||
if ((tcnt-marker) >= CLICKS) {
|
||||
// if no current draw, switch back to CDP
|
||||
if (current >= CURRENT_THRESHOLD) {
|
||||
puts("USBP: no current draw, switching back to CDP mode\n");
|
||||
white_set_usb_power_mode(USB_POWER_CDP);
|
||||
marker = tcnt;
|
||||
}
|
||||
}
|
||||
// keep resetting the timer if there's current draw in DCP
|
||||
if (current < CURRENT_THRESHOLD) {
|
||||
marker = tcnt;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
puts("USB power mode invalid\n"); // set_usb_power_mode prevents assigning invalid values
|
||||
break;
|
||||
}
|
||||
#else
|
||||
UNUSED(tcnt);
|
||||
#endif
|
||||
}
|
||||
|
||||
bool white_check_ignition(void){
|
||||
// ignition is on PA1
|
||||
return !get_gpio_input(GPIOA, 1);
|
||||
}
|
||||
|
||||
void white_init(void) {
|
||||
common_init_gpio();
|
||||
|
||||
// C3: current sense
|
||||
set_gpio_mode(GPIOC, 3, MODE_ANALOG);
|
||||
|
||||
// A1: started_alt
|
||||
set_gpio_pullup(GPIOA, 1, PULL_UP);
|
||||
|
||||
// A2, A3: USART 2 for debugging
|
||||
set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2);
|
||||
set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2);
|
||||
|
||||
// A4, A5, A6, A7: SPI
|
||||
set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1);
|
||||
set_gpio_alternate(GPIOA, 5, GPIO_AF5_SPI1);
|
||||
set_gpio_alternate(GPIOA, 6, GPIO_AF5_SPI1);
|
||||
set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1);
|
||||
|
||||
// Set USB power mode
|
||||
white_set_usb_power_mode(USB_POWER_CLIENT);
|
||||
|
||||
// B12: GMLAN, ignition sense, pull up
|
||||
set_gpio_pullup(GPIOB, 12, PULL_UP);
|
||||
|
||||
/* GMLAN mode pins:
|
||||
M0(B15) M1(B14) mode
|
||||
=======================
|
||||
0 0 sleep
|
||||
1 0 100kbit
|
||||
0 1 high voltage wakeup
|
||||
1 1 33kbit (normal)
|
||||
*/
|
||||
set_gpio_output(GPIOB, 14, 1);
|
||||
set_gpio_output(GPIOB, 15, 1);
|
||||
|
||||
// B7: K-line enable
|
||||
set_gpio_output(GPIOB, 7, 1);
|
||||
|
||||
// C12, D2: Setup K-line (UART5)
|
||||
set_gpio_alternate(GPIOC, 12, GPIO_AF8_UART5);
|
||||
set_gpio_alternate(GPIOD, 2, GPIO_AF8_UART5);
|
||||
set_gpio_pullup(GPIOD, 2, PULL_UP);
|
||||
|
||||
// L-line enable
|
||||
set_gpio_output(GPIOA, 14, 1);
|
||||
|
||||
// C10, C11: L-Line setup (USART3)
|
||||
set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
|
||||
set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3);
|
||||
set_gpio_pullup(GPIOC, 11, PULL_UP);
|
||||
|
||||
// Enable CAN transcievers
|
||||
white_enable_can_transcievers(true);
|
||||
|
||||
// Disable LEDs
|
||||
white_set_led(LED_RED, false);
|
||||
white_set_led(LED_GREEN, false);
|
||||
white_set_led(LED_BLUE, false);
|
||||
|
||||
// Set normal CAN mode
|
||||
white_set_can_mode(CAN_MODE_NORMAL);
|
||||
}
|
||||
|
||||
const harness_configuration white_harness_config = {
|
||||
.has_harness = false
|
||||
};
|
||||
|
||||
const board board_white = {
|
||||
.board_type = "White",
|
||||
.harness_config = &white_harness_config,
|
||||
.init = white_init,
|
||||
.enable_can_transciever = white_enable_can_transciever,
|
||||
.enable_can_transcievers = white_enable_can_transcievers,
|
||||
.set_led = white_set_led,
|
||||
.set_usb_power_mode = white_set_usb_power_mode,
|
||||
.set_esp_gps_mode = white_set_esp_gps_mode,
|
||||
.set_can_mode = white_set_can_mode,
|
||||
.usb_power_mode_tick = white_usb_power_mode_tick,
|
||||
.check_ignition = white_check_ignition
|
||||
};
|
||||
+19
-11
@@ -12,20 +12,29 @@
|
||||
#include "stm32f2xx_hal_gpio_ex.h"
|
||||
#endif
|
||||
|
||||
// default since there's no serial
|
||||
void puts(const char *a) {
|
||||
UNUSED(a);
|
||||
}
|
||||
// ******************** Prototypes ********************
|
||||
void puts(const char *a){ UNUSED(a); }
|
||||
void puth(unsigned int i){ UNUSED(i); }
|
||||
void puth2(unsigned int i){ UNUSED(i); }
|
||||
typedef struct board board;
|
||||
typedef struct harness_configuration harness_configuration;
|
||||
// No CAN support on bootloader
|
||||
void can_flip_buses(uint8_t bus1, uint8_t bus2){UNUSED(bus1); UNUSED(bus2);}
|
||||
void can_set_obd(int harness_orientation, bool obd){UNUSED(harness_orientation); UNUSED(obd);}
|
||||
|
||||
void puth(unsigned int i) {
|
||||
UNUSED(i);
|
||||
}
|
||||
// ********************* Globals **********************
|
||||
int hw_type = 0;
|
||||
const board *current_board;
|
||||
|
||||
// ********************* Includes *********************
|
||||
#include "libc.h"
|
||||
#include "provision.h"
|
||||
|
||||
#include "drivers/clock.h"
|
||||
#include "drivers/llgpio.h"
|
||||
|
||||
#include "board.h"
|
||||
|
||||
#include "gpio.h"
|
||||
|
||||
#include "drivers/spi.h"
|
||||
@@ -56,11 +65,10 @@ extern void *_app_start[];
|
||||
int main(void) {
|
||||
__disable_irq();
|
||||
clock_init();
|
||||
detect();
|
||||
detect_configuration();
|
||||
detect_board_type();
|
||||
|
||||
if (revision == PANDA_REV_C) {
|
||||
set_usb_power_mode(USB_POWER_CLIENT);
|
||||
}
|
||||
current_board->set_usb_power_mode(USB_POWER_CLIENT);
|
||||
|
||||
if (enter_bootloader_mode == ENTER_SOFTLOADER_MAGIC) {
|
||||
enter_bootloader_mode = 0;
|
||||
|
||||
@@ -68,7 +68,7 @@ obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.$(PROJ_NAME).o
|
||||
$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf obj/code.bin
|
||||
SETLEN=1 ../crypto/sign.py obj/code.bin $@ $(CERT)
|
||||
@BINSIZE=$$(du -b "obj/$(PROJ_NAME).bin" | cut -f 1) ; \
|
||||
if [ $$BINSIZE -ge 32768 ]; then echo "ERROR obj/$(PROJ_NAME).bin is too big!"; exit 1; fi;
|
||||
if [ $$BINSIZE -ge 49152 ]; then echo "ERROR obj/$(PROJ_NAME).bin is too big!"; exit 1; fi;
|
||||
|
||||
obj/bootstub.$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/bootstub.$(PROJ_NAME).o obj/sha.$(PROJ_NAME).o obj/rsa.$(PROJ_NAME).o
|
||||
$(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^
|
||||
|
||||
+71
-32
@@ -33,7 +33,6 @@ bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);
|
||||
// end API
|
||||
|
||||
#define ALL_CAN_SILENT 0xFF
|
||||
#define ALL_CAN_BUT_MAIN_SILENT 0xFE
|
||||
#define ALL_CAN_LIVE 0
|
||||
|
||||
int can_live = 0, pending_can_live = 0, can_loopback = 0, can_silent = ALL_CAN_SILENT;
|
||||
@@ -149,7 +148,6 @@ void can_set_speed(uint8_t can_number) {
|
||||
void can_init(uint8_t can_number) {
|
||||
if (can_number != 0xffU) {
|
||||
CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
|
||||
set_can_enable(CAN, 1);
|
||||
can_set_speed(can_number);
|
||||
|
||||
llcan_init(CAN);
|
||||
@@ -165,45 +163,86 @@ void can_init_all(void) {
|
||||
}
|
||||
}
|
||||
|
||||
void can_set_gmlan(uint8_t bus) {
|
||||
void can_flip_buses(uint8_t bus1, uint8_t bus2){
|
||||
bus_lookup[bus1] = bus2;
|
||||
bus_lookup[bus2] = bus1;
|
||||
can_num_lookup[bus1] = bus2;
|
||||
can_num_lookup[bus2] = bus1;
|
||||
}
|
||||
|
||||
// first, disable GMLAN on prev bus
|
||||
uint8_t prev_bus = can_num_lookup[3];
|
||||
if (bus != prev_bus) {
|
||||
switch (prev_bus) {
|
||||
// TODO: Cleanup with new abstraction
|
||||
void can_set_gmlan(uint8_t bus) {
|
||||
if(hw_type != HW_TYPE_BLACK_PANDA){
|
||||
// first, disable GMLAN on prev bus
|
||||
uint8_t prev_bus = can_num_lookup[3];
|
||||
if (bus != prev_bus) {
|
||||
switch (prev_bus) {
|
||||
case 1:
|
||||
case 2:
|
||||
puts("Disable GMLAN on CAN");
|
||||
puth(prev_bus + 1U);
|
||||
puts("\n");
|
||||
current_board->set_can_mode(CAN_MODE_NORMAL);
|
||||
bus_lookup[prev_bus] = prev_bus;
|
||||
can_num_lookup[prev_bus] = prev_bus;
|
||||
can_num_lookup[3] = -1;
|
||||
can_init(prev_bus);
|
||||
break;
|
||||
default:
|
||||
// GMLAN was not set on either BUS 1 or 2
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// now enable GMLAN on the new bus
|
||||
switch (bus) {
|
||||
case 1:
|
||||
case 2:
|
||||
puts("Disable GMLAN on CAN");
|
||||
puth(prev_bus + 1U);
|
||||
puts("Enable GMLAN on CAN");
|
||||
puth(bus + 1U);
|
||||
puts("\n");
|
||||
set_can_mode(prev_bus, 0);
|
||||
bus_lookup[prev_bus] = prev_bus;
|
||||
can_num_lookup[prev_bus] = prev_bus;
|
||||
can_num_lookup[3] = -1;
|
||||
can_init(prev_bus);
|
||||
current_board->set_can_mode((bus == 1U) ? CAN_MODE_GMLAN_CAN2 : CAN_MODE_GMLAN_CAN3);
|
||||
bus_lookup[bus] = 3;
|
||||
can_num_lookup[bus] = -1;
|
||||
can_num_lookup[3] = bus;
|
||||
can_init(bus);
|
||||
break;
|
||||
case 0xFF: //-1 unsigned
|
||||
break;
|
||||
default:
|
||||
// GMLAN was not set on either BUS 1 or 2
|
||||
puts("GMLAN can only be set on CAN2 or CAN3\n");
|
||||
break;
|
||||
}
|
||||
} else {
|
||||
puts("GMLAN not available on black panda\n");
|
||||
}
|
||||
}
|
||||
|
||||
// now enable GMLAN on the new bus
|
||||
switch (bus) {
|
||||
case 1:
|
||||
case 2:
|
||||
puts("Enable GMLAN on CAN");
|
||||
puth(bus + 1U);
|
||||
puts("\n");
|
||||
set_can_mode(bus, 1);
|
||||
bus_lookup[bus] = 3;
|
||||
can_num_lookup[bus] = -1;
|
||||
can_num_lookup[3] = bus;
|
||||
can_init(bus);
|
||||
break;
|
||||
default:
|
||||
puts("GMLAN can only be set on CAN2 or CAN3");
|
||||
break;
|
||||
// TODO: remove
|
||||
void can_set_obd(uint8_t harness_orientation, bool obd){
|
||||
if(obd){
|
||||
puts("setting CAN2 to be OBD\n");
|
||||
} else {
|
||||
puts("setting CAN2 to be normal\n");
|
||||
}
|
||||
if(hw_type == HW_TYPE_BLACK_PANDA){
|
||||
if(obd != (bool)(harness_orientation == HARNESS_STATUS_NORMAL)){
|
||||
// B5,B6: disable normal mode
|
||||
set_gpio_mode(GPIOB, 5, MODE_INPUT);
|
||||
set_gpio_mode(GPIOB, 6, MODE_INPUT);
|
||||
// B12,B13: CAN2 mode
|
||||
set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
|
||||
set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
|
||||
} else {
|
||||
// B5,B6: CAN2 mode
|
||||
set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
|
||||
set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
|
||||
// B12,B13: disable normal mode
|
||||
set_gpio_mode(GPIOB, 12, MODE_INPUT);
|
||||
set_gpio_mode(GPIOB, 13, MODE_INPUT);
|
||||
}
|
||||
} else {
|
||||
puts("OBD CAN not available on non-black panda\n");
|
||||
}
|
||||
}
|
||||
|
||||
@@ -326,7 +365,7 @@ void can_rx(uint8_t can_number) {
|
||||
|
||||
safety_rx_hook(&to_push);
|
||||
|
||||
set_led(LED_BLUE, 1);
|
||||
current_board->set_led(LED_BLUE, true);
|
||||
can_send_errs += !can_push(&can_rx_q, &to_push);
|
||||
|
||||
// next
|
||||
|
||||
@@ -0,0 +1,130 @@
|
||||
uint8_t car_harness_status = 0U;
|
||||
#define HARNESS_STATUS_NC 0U
|
||||
#define HARNESS_STATUS_NORMAL 1U
|
||||
#define HARNESS_STATUS_FLIPPED 2U
|
||||
|
||||
// Threshold voltage (mV) for either of the SBUs to be below before deciding harness is connected
|
||||
#define HARNESS_CONNECTED_THRESHOLD 2500U
|
||||
|
||||
struct harness_configuration {
|
||||
const bool has_harness;
|
||||
GPIO_TypeDef *GPIO_SBU1;
|
||||
GPIO_TypeDef *GPIO_SBU2;
|
||||
GPIO_TypeDef *GPIO_relay_normal;
|
||||
GPIO_TypeDef *GPIO_relay_flipped;
|
||||
uint8_t pin_SBU1;
|
||||
uint8_t pin_SBU2;
|
||||
uint8_t pin_relay_normal;
|
||||
uint8_t pin_relay_flipped;
|
||||
uint8_t adc_channel_SBU1;
|
||||
uint8_t adc_channel_SBU2;
|
||||
};
|
||||
|
||||
// this function will be the API for tici
|
||||
void set_intercept_relay(bool intercept) {
|
||||
if (car_harness_status != HARNESS_STATUS_NC) {
|
||||
if (intercept) {
|
||||
puts("switching harness to intercept (relay on)\n");
|
||||
} else {
|
||||
puts("switching harness to passthrough (relay off)\n");
|
||||
}
|
||||
|
||||
if(car_harness_status == HARNESS_STATUS_NORMAL){
|
||||
set_gpio_output(current_board->harness_config->GPIO_relay_normal, current_board->harness_config->pin_relay_normal, !intercept);
|
||||
} else {
|
||||
set_gpio_output(current_board->harness_config->GPIO_relay_flipped, current_board->harness_config->pin_relay_flipped, !intercept);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool harness_check_ignition(void) {
|
||||
bool ret = false;
|
||||
switch(car_harness_status){
|
||||
case HARNESS_STATUS_NORMAL:
|
||||
ret = !get_gpio_input(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2);
|
||||
break;
|
||||
case HARNESS_STATUS_FLIPPED:
|
||||
ret = !get_gpio_input(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1);
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
// TODO: refactor to use harness config
|
||||
void harness_setup_ignition_interrupts(void){
|
||||
if(car_harness_status == HARNESS_STATUS_NORMAL){
|
||||
SYSCFG->EXTICR[0] = SYSCFG_EXTICR1_EXTI3_PC;
|
||||
EXTI->IMR |= (1U << 3);
|
||||
EXTI->RTSR |= (1U << 3);
|
||||
EXTI->FTSR |= (1U << 3);
|
||||
puts("setup interrupts: normal\n");
|
||||
} else if(car_harness_status == HARNESS_STATUS_FLIPPED) {
|
||||
SYSCFG->EXTICR[0] = SYSCFG_EXTICR1_EXTI0_PC;
|
||||
EXTI->IMR |= (1U << 0);
|
||||
EXTI->RTSR |= (1U << 0);
|
||||
EXTI->FTSR |= (1U << 0);
|
||||
NVIC_EnableIRQ(EXTI1_IRQn);
|
||||
puts("setup interrupts: flipped\n");
|
||||
} else {
|
||||
puts("tried to setup ignition interrupts without harness connected\n");
|
||||
}
|
||||
NVIC_EnableIRQ(EXTI0_IRQn);
|
||||
NVIC_EnableIRQ(EXTI3_IRQn);
|
||||
}
|
||||
|
||||
uint8_t harness_detect_orientation(void) {
|
||||
uint8_t ret = HARNESS_STATUS_NC;
|
||||
|
||||
#ifndef BOOTSTUB
|
||||
uint32_t sbu1_voltage = adc_get(current_board->harness_config->adc_channel_SBU1);
|
||||
uint32_t sbu2_voltage = adc_get(current_board->harness_config->adc_channel_SBU2);
|
||||
|
||||
// Detect connection and orientation
|
||||
if((sbu1_voltage < HARNESS_CONNECTED_THRESHOLD) || (sbu2_voltage < HARNESS_CONNECTED_THRESHOLD)){
|
||||
if (sbu1_voltage < sbu2_voltage) {
|
||||
// orientation normal
|
||||
ret = HARNESS_STATUS_NORMAL;
|
||||
} else {
|
||||
// orientation flipped
|
||||
ret = HARNESS_STATUS_FLIPPED;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
void harness_init(void) {
|
||||
// delay such that the connection is fully made before trying orientation detection
|
||||
current_board->set_led(LED_BLUE, true);
|
||||
delay(10000000);
|
||||
current_board->set_led(LED_BLUE, false);
|
||||
|
||||
// try to detect orientation
|
||||
uint8_t ret = harness_detect_orientation();
|
||||
if (ret != HARNESS_STATUS_NC) {
|
||||
puts("detected car harness with orientation "); puth2(ret); puts("\n");
|
||||
car_harness_status = ret;
|
||||
|
||||
// set the SBU lines to be inputs before using the relay. The lines are not 5V tolerant in ADC mode!
|
||||
set_gpio_mode(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1, MODE_INPUT);
|
||||
set_gpio_mode(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2, MODE_INPUT);
|
||||
|
||||
// now we have orientation, set pin ignition detection
|
||||
if(car_harness_status == HARNESS_STATUS_NORMAL){
|
||||
set_gpio_mode(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2, MODE_INPUT);
|
||||
} else {
|
||||
set_gpio_mode(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1, MODE_INPUT);
|
||||
}
|
||||
|
||||
// keep busses connected by default
|
||||
set_intercept_relay(false);
|
||||
|
||||
// setup ignition interrupts
|
||||
harness_setup_ignition_interrupts();
|
||||
} else {
|
||||
puts("failed to detect car harness!\n");
|
||||
}
|
||||
}
|
||||
@@ -7,6 +7,9 @@
|
||||
#define PULL_UP 1
|
||||
#define PULL_DOWN 2
|
||||
|
||||
#define OUTPUT_TYPE_PUSH_PULL 0U
|
||||
#define OUTPUT_TYPE_OPEN_DRAIN 1U
|
||||
|
||||
void set_gpio_mode(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
|
||||
uint32_t tmp = GPIO->MODER;
|
||||
tmp &= ~(3U << (pin * 2U));
|
||||
@@ -23,6 +26,14 @@ void set_gpio_output(GPIO_TypeDef *GPIO, unsigned int pin, bool enabled) {
|
||||
set_gpio_mode(GPIO, pin, MODE_OUTPUT);
|
||||
}
|
||||
|
||||
void set_gpio_output_type(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int output_type){
|
||||
if(output_type == OUTPUT_TYPE_OPEN_DRAIN) {
|
||||
GPIO->OTYPER |= (1U << pin);
|
||||
} else {
|
||||
GPIO->OTYPER &= ~(1U << pin);
|
||||
}
|
||||
}
|
||||
|
||||
void set_gpio_alternate(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
|
||||
uint32_t tmp = GPIO->AFR[pin >> 3U];
|
||||
tmp &= ~(0xFU << ((pin & 7U) * 4U));
|
||||
|
||||
+7
-390
@@ -1,383 +1,4 @@
|
||||
// this is last place with ifdef PANDA
|
||||
|
||||
#ifdef STM32F4
|
||||
#include "stm32f4xx_hal_gpio_ex.h"
|
||||
#else
|
||||
#include "stm32f2xx_hal_gpio_ex.h"
|
||||
#endif
|
||||
|
||||
// ********************* dynamic configuration detection *********************
|
||||
|
||||
#define PANDA_REV_AB 0
|
||||
#define PANDA_REV_C 1
|
||||
|
||||
#define PULL_EFFECTIVE_DELAY 10
|
||||
|
||||
void puts(const char *a);
|
||||
|
||||
bool has_external_debug_serial = 0;
|
||||
bool is_giant_panda = 0;
|
||||
bool is_entering_bootmode = 0;
|
||||
int revision = PANDA_REV_AB;
|
||||
bool is_grey_panda = 0;
|
||||
|
||||
bool detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode) {
|
||||
set_gpio_mode(GPIO, pin, MODE_INPUT);
|
||||
set_gpio_pullup(GPIO, pin, mode);
|
||||
for (volatile int i=0; i<PULL_EFFECTIVE_DELAY; i++);
|
||||
bool ret = get_gpio_input(GPIO, pin);
|
||||
set_gpio_pullup(GPIO, pin, PULL_NONE);
|
||||
return ret;
|
||||
}
|
||||
|
||||
// must call again from main because BSS is zeroed
|
||||
void detect(void) {
|
||||
// detect has_external_debug_serial
|
||||
has_external_debug_serial = detect_with_pull(GPIOA, 3, PULL_DOWN);
|
||||
|
||||
#ifdef PANDA
|
||||
// detect is_giant_panda
|
||||
is_giant_panda = detect_with_pull(GPIOB, 1, PULL_DOWN);
|
||||
|
||||
// detect panda REV C.
|
||||
// A13 floats in REV AB. In REV C, A13 is pulled up to 5V with a 10K
|
||||
// resistor and attached to the USB power control chip CTRL
|
||||
// line. Pulling A13 down with an internal 50k resistor in REV C
|
||||
// will produce a voltage divider that results in a high logic
|
||||
// level. Checking if this pin reads high with a pull down should
|
||||
// differentiate REV AB from C.
|
||||
revision = detect_with_pull(GPIOA, 13, PULL_DOWN) ? PANDA_REV_C : PANDA_REV_AB;
|
||||
|
||||
// check if the ESP is trying to put me in boot mode
|
||||
is_entering_bootmode = !detect_with_pull(GPIOB, 0, PULL_UP);
|
||||
|
||||
// check if it's a grey panda by seeing if the SPI lines are floating
|
||||
// TODO: is this reliable?
|
||||
is_grey_panda = !(detect_with_pull(GPIOA, 4, PULL_DOWN) | detect_with_pull(GPIOA, 5, PULL_DOWN) | detect_with_pull(GPIOA, 6, PULL_DOWN) | detect_with_pull(GPIOA, 7, PULL_DOWN));
|
||||
#else
|
||||
// need to do this for early detect
|
||||
is_giant_panda = 0;
|
||||
is_grey_panda = 0;
|
||||
revision = PANDA_REV_AB;
|
||||
is_entering_bootmode = 0;
|
||||
#endif
|
||||
}
|
||||
|
||||
// ********************* bringup *********************
|
||||
|
||||
void periph_init(void) {
|
||||
// enable GPIOB, UART2, CAN, USB clock
|
||||
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
|
||||
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
|
||||
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
|
||||
RCC->AHB1ENR |= RCC_AHB1ENR_GPIODEN;
|
||||
|
||||
RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
|
||||
RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
|
||||
RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
|
||||
#ifdef PANDA
|
||||
RCC->APB1ENR |= RCC_APB1ENR_UART5EN;
|
||||
#endif
|
||||
RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
|
||||
RCC->APB1ENR |= RCC_APB1ENR_CAN2EN;
|
||||
#ifdef CAN3
|
||||
RCC->APB1ENR |= RCC_APB1ENR_CAN3EN;
|
||||
#endif
|
||||
RCC->APB1ENR |= RCC_APB1ENR_DACEN;
|
||||
RCC->APB1ENR |= RCC_APB1ENR_TIM2EN; // main counter
|
||||
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; // slow loop and pedal
|
||||
RCC->APB1ENR |= RCC_APB1ENR_TIM4EN; // gmlan_alt
|
||||
//RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;
|
||||
//RCC->APB1ENR |= RCC_APB1ENR_TIM6EN;
|
||||
RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
|
||||
RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
|
||||
//RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
|
||||
RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
|
||||
RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
|
||||
RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN;
|
||||
}
|
||||
|
||||
// ********************* setters *********************
|
||||
|
||||
void set_can_enable(CAN_TypeDef *CAN_obj, bool enabled) {
|
||||
// enable CAN busses
|
||||
if (CAN_obj == CAN1) {
|
||||
#ifdef PANDA
|
||||
// CAN1_EN
|
||||
set_gpio_output(GPIOC, 1, !enabled);
|
||||
#else
|
||||
#ifdef PEDAL
|
||||
// CAN1_EN (not flipped)
|
||||
set_gpio_output(GPIOB, 3, !enabled);
|
||||
#else
|
||||
// CAN1_EN
|
||||
set_gpio_output(GPIOB, 3, enabled);
|
||||
#endif
|
||||
#endif
|
||||
} else if (CAN_obj == CAN2) {
|
||||
#ifdef PANDA
|
||||
// CAN2_EN
|
||||
set_gpio_output(GPIOC, 13, !enabled);
|
||||
#else
|
||||
// CAN2_EN
|
||||
set_gpio_output(GPIOB, 4, enabled);
|
||||
#endif
|
||||
#ifdef CAN3
|
||||
} else if (CAN_obj == CAN3) {
|
||||
// CAN3_EN
|
||||
set_gpio_output(GPIOA, 0, !enabled);
|
||||
#endif
|
||||
} else {
|
||||
puts("Invalid CAN: enabling failed\n");
|
||||
}
|
||||
}
|
||||
|
||||
#ifdef PANDA
|
||||
#define LED_RED 9
|
||||
#define LED_GREEN 7
|
||||
#define LED_BLUE 6
|
||||
#else
|
||||
#define LED_RED 10
|
||||
#define LED_GREEN 11
|
||||
#define LED_BLUE -1
|
||||
#endif
|
||||
|
||||
void set_led(int led_num, int on) {
|
||||
if (led_num != -1) {
|
||||
#ifdef PANDA
|
||||
set_gpio_output(GPIOC, led_num, !on);
|
||||
#else
|
||||
set_gpio_output(GPIOB, led_num, !on);
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
void set_can_mode(int can, bool use_gmlan) {
|
||||
// connects to CAN2 xcvr or GMLAN xcvr
|
||||
if (use_gmlan) {
|
||||
if (can == 1) {
|
||||
// B5,B6: disable normal mode
|
||||
set_gpio_mode(GPIOB, 5, MODE_INPUT);
|
||||
set_gpio_mode(GPIOB, 6, MODE_INPUT);
|
||||
|
||||
// B12,B13: gmlan mode
|
||||
set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
|
||||
set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
|
||||
#ifdef CAN3
|
||||
} else if (can == 2) {
|
||||
// A8,A15: disable normal mode
|
||||
set_gpio_mode(GPIOA, 8, MODE_INPUT);
|
||||
set_gpio_mode(GPIOA, 15, MODE_INPUT);
|
||||
|
||||
// B3,B4: enable gmlan mode
|
||||
set_gpio_alternate(GPIOB, 3, GPIO_AF11_CAN3);
|
||||
set_gpio_alternate(GPIOB, 4, GPIO_AF11_CAN3);
|
||||
#endif
|
||||
} else {
|
||||
puts("Invalid CAN: mode setting failed\n");
|
||||
}
|
||||
} else {
|
||||
if (can == 1) {
|
||||
// B12,B13: disable gmlan mode
|
||||
set_gpio_mode(GPIOB, 12, MODE_INPUT);
|
||||
set_gpio_mode(GPIOB, 13, MODE_INPUT);
|
||||
|
||||
// B5,B6: normal mode
|
||||
set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
|
||||
set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
|
||||
#ifdef CAN3
|
||||
} else if (can == 2) {
|
||||
// B3,B4: disable gmlan mode
|
||||
set_gpio_mode(GPIOB, 3, MODE_INPUT);
|
||||
set_gpio_mode(GPIOB, 4, MODE_INPUT);
|
||||
// A8,A15: normal mode
|
||||
set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3);
|
||||
set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3);
|
||||
#endif
|
||||
} else {
|
||||
puts("Invalid CAN: mode setting failed\n");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#define USB_POWER_NONE 0
|
||||
#define USB_POWER_CLIENT 1
|
||||
#define USB_POWER_CDP 2
|
||||
#define USB_POWER_DCP 3
|
||||
|
||||
int usb_power_mode = USB_POWER_NONE;
|
||||
|
||||
void set_usb_power_mode(int mode) {
|
||||
bool valid_mode = true;
|
||||
switch (mode) {
|
||||
case USB_POWER_CLIENT:
|
||||
// B2,A13: set client mode
|
||||
set_gpio_output(GPIOB, 2, 0);
|
||||
set_gpio_output(GPIOA, 13, 1);
|
||||
break;
|
||||
case USB_POWER_CDP:
|
||||
// B2,A13: set CDP mode
|
||||
set_gpio_output(GPIOB, 2, 1);
|
||||
set_gpio_output(GPIOA, 13, 1);
|
||||
break;
|
||||
case USB_POWER_DCP:
|
||||
// B2,A13: set DCP mode on the charger (breaks USB!)
|
||||
set_gpio_output(GPIOB, 2, 0);
|
||||
set_gpio_output(GPIOA, 13, 0);
|
||||
break;
|
||||
default:
|
||||
valid_mode = false;
|
||||
puts("Invalid usb power mode\n");
|
||||
break;
|
||||
}
|
||||
|
||||
if (valid_mode) {
|
||||
usb_power_mode = mode;
|
||||
}
|
||||
}
|
||||
|
||||
#define ESP_DISABLED 0
|
||||
#define ESP_ENABLED 1
|
||||
#define ESP_BOOTMODE 2
|
||||
|
||||
void set_esp_mode(int mode) {
|
||||
switch (mode) {
|
||||
case ESP_DISABLED:
|
||||
// ESP OFF
|
||||
set_gpio_output(GPIOC, 14, 0);
|
||||
set_gpio_output(GPIOC, 5, 0);
|
||||
break;
|
||||
case ESP_ENABLED:
|
||||
// ESP ON
|
||||
set_gpio_output(GPIOC, 14, 1);
|
||||
set_gpio_output(GPIOC, 5, 1);
|
||||
break;
|
||||
case ESP_BOOTMODE:
|
||||
set_gpio_output(GPIOC, 14, 1);
|
||||
set_gpio_output(GPIOC, 5, 0);
|
||||
break;
|
||||
default:
|
||||
puts("Invalid esp mode\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// ********************* big init function *********************
|
||||
|
||||
// board specific
|
||||
void gpio_init(void) {
|
||||
// pull low to hold ESP in reset??
|
||||
// enable OTG out tied to ground
|
||||
GPIOA->ODR = 0;
|
||||
GPIOB->ODR = 0;
|
||||
GPIOA->PUPDR = 0;
|
||||
//GPIOC->ODR = 0;
|
||||
GPIOB->AFR[0] = 0;
|
||||
GPIOB->AFR[1] = 0;
|
||||
|
||||
// C2,C3: analog mode, voltage and current sense
|
||||
set_gpio_mode(GPIOC, 2, MODE_ANALOG);
|
||||
set_gpio_mode(GPIOC, 3, MODE_ANALOG);
|
||||
|
||||
#ifdef PEDAL
|
||||
// comma pedal has inputs on C0 and C1
|
||||
set_gpio_mode(GPIOC, 0, MODE_ANALOG);
|
||||
set_gpio_mode(GPIOC, 1, MODE_ANALOG);
|
||||
// DAC outputs on A4 and A5
|
||||
// apparently they don't need GPIO setup
|
||||
#endif
|
||||
|
||||
// C8: FAN aka TIM3_CH4
|
||||
set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3);
|
||||
|
||||
// turn off LEDs and set mode
|
||||
set_led(LED_RED, 0);
|
||||
set_led(LED_GREEN, 0);
|
||||
set_led(LED_BLUE, 0);
|
||||
|
||||
// A11,A12: USB
|
||||
set_gpio_alternate(GPIOA, 11, GPIO_AF10_OTG_FS);
|
||||
set_gpio_alternate(GPIOA, 12, GPIO_AF10_OTG_FS);
|
||||
GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
|
||||
|
||||
#ifdef PANDA
|
||||
// enable started_alt on the panda
|
||||
set_gpio_pullup(GPIOA, 1, PULL_UP);
|
||||
|
||||
// A2,A3: USART 2 for debugging
|
||||
set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2);
|
||||
set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2);
|
||||
|
||||
// A9,A10: USART 1 for talking to the ESP
|
||||
set_gpio_alternate(GPIOA, 9, GPIO_AF7_USART1);
|
||||
set_gpio_alternate(GPIOA, 10, GPIO_AF7_USART1);
|
||||
|
||||
// B12: GMLAN, ignition sense, pull up
|
||||
set_gpio_pullup(GPIOB, 12, PULL_UP);
|
||||
|
||||
// A4,A5,A6,A7: setup SPI
|
||||
set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1);
|
||||
set_gpio_alternate(GPIOA, 5, GPIO_AF5_SPI1);
|
||||
set_gpio_alternate(GPIOA, 6, GPIO_AF5_SPI1);
|
||||
set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1);
|
||||
#endif
|
||||
|
||||
// B8,B9: CAN 1
|
||||
#ifdef STM32F4
|
||||
set_gpio_alternate(GPIOB, 8, GPIO_AF8_CAN1);
|
||||
set_gpio_alternate(GPIOB, 9, GPIO_AF8_CAN1);
|
||||
#else
|
||||
set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
|
||||
set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
|
||||
#endif
|
||||
set_can_enable(CAN1, 1);
|
||||
|
||||
// B5,B6: CAN 2
|
||||
set_can_mode(1, 0);
|
||||
set_can_enable(CAN2, 1);
|
||||
|
||||
// A8,A15: CAN 3
|
||||
#ifdef CAN3
|
||||
set_can_mode(2, 0);
|
||||
set_can_enable(CAN3, 1);
|
||||
#endif
|
||||
|
||||
/* GMLAN mode pins:
|
||||
M0(B15) M1(B14) mode
|
||||
=======================
|
||||
0 0 sleep
|
||||
1 0 100kbit
|
||||
0 1 high voltage wakeup
|
||||
1 1 33kbit (normal)
|
||||
*/
|
||||
|
||||
// put gmlan transceiver in normal mode
|
||||
set_gpio_output(GPIOB, 14, 1);
|
||||
set_gpio_output(GPIOB, 15, 1);
|
||||
|
||||
#ifdef PANDA
|
||||
// K-line enable moved from B4->B7 to make room for GMLAN on CAN3
|
||||
set_gpio_output(GPIOB, 7, 1); // REV C
|
||||
|
||||
// C12,D2: K-Line setup on UART 5
|
||||
set_gpio_alternate(GPIOC, 12, GPIO_AF8_UART5);
|
||||
set_gpio_alternate(GPIOD, 2, GPIO_AF8_UART5);
|
||||
set_gpio_pullup(GPIOD, 2, PULL_UP);
|
||||
|
||||
// L-line enable
|
||||
set_gpio_output(GPIOA, 14, 1);
|
||||
|
||||
// C10,C11: L-Line setup on USART 3
|
||||
set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
|
||||
set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3);
|
||||
set_gpio_pullup(GPIOC, 11, PULL_UP);
|
||||
#endif
|
||||
|
||||
set_usb_power_mode(USB_POWER_CLIENT);
|
||||
}
|
||||
|
||||
// ********************* early bringup *********************
|
||||
|
||||
// Early bringup
|
||||
#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
|
||||
#define ENTER_SOFTLOADER_MAGIC 0xdeadc0de
|
||||
#define BOOT_NORMAL 0xdeadb111
|
||||
@@ -429,29 +50,25 @@ void early(void) {
|
||||
GPIOA->ODR = 0; GPIOB->ODR = 0; GPIOC->ODR = 0;
|
||||
GPIOA->PUPDR = 0; GPIOB->PUPDR = 0; GPIOC->PUPDR = 0;
|
||||
|
||||
detect();
|
||||
detect_configuration();
|
||||
detect_board_type();
|
||||
|
||||
#ifdef PANDA
|
||||
// enable the ESP, disable ESP boot mode
|
||||
// unless we are on a giant panda, then there's no ESP
|
||||
// dont disable on grey panda
|
||||
if (is_giant_panda) {
|
||||
set_esp_mode(ESP_DISABLED);
|
||||
} else {
|
||||
set_esp_mode(ESP_ENABLED);
|
||||
}
|
||||
current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
|
||||
#endif
|
||||
|
||||
|
||||
if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
|
||||
#ifdef PANDA
|
||||
set_esp_mode(ESP_DISABLED);
|
||||
current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
|
||||
#endif
|
||||
set_led(LED_GREEN, 1);
|
||||
current_board->set_led(LED_GREEN, 1);
|
||||
jump_to_bootloader();
|
||||
}
|
||||
|
||||
if (is_entering_bootmode) {
|
||||
enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
|
||||
}
|
||||
}
|
||||
}
|
||||
+199
-190
@@ -1,34 +1,39 @@
|
||||
//#define EON
|
||||
//#define EON
|
||||
//#define PANDA
|
||||
|
||||
// ********************* Includes *********************
|
||||
#include "config.h"
|
||||
#include "obj/gitversion.h"
|
||||
|
||||
// ********************* includes *********************
|
||||
|
||||
|
||||
#include "libc.h"
|
||||
#include "provision.h"
|
||||
|
||||
#include "main_declarations.h"
|
||||
|
||||
#include "drivers/llcan.h"
|
||||
#include "drivers/llgpio.h"
|
||||
#include "gpio.h"
|
||||
#include "drivers/adc.h"
|
||||
|
||||
#include "board.h"
|
||||
|
||||
#include "drivers/uart.h"
|
||||
#include "drivers/adc.h"
|
||||
#include "drivers/usb.h"
|
||||
#include "drivers/gmlan_alt.h"
|
||||
#include "drivers/timer.h"
|
||||
#include "drivers/clock.h"
|
||||
|
||||
#include "gpio.h"
|
||||
|
||||
#ifndef EON
|
||||
#include "drivers/spi.h"
|
||||
#endif
|
||||
|
||||
#include "power_saving.h"
|
||||
#include "safety.h"
|
||||
|
||||
#include "drivers/can.h"
|
||||
|
||||
// ********************* serial debugging *********************
|
||||
// ********************* Serial debugging *********************
|
||||
|
||||
void debug_ring_callback(uart_ring *ring) {
|
||||
char rcv;
|
||||
@@ -49,30 +54,23 @@ void debug_ring_callback(uart_ring *ring) {
|
||||
// enable CDP mode
|
||||
if (rcv == 'C') {
|
||||
puts("switching USB to CDP mode\n");
|
||||
set_usb_power_mode(USB_POWER_CDP);
|
||||
current_board->set_usb_power_mode(USB_POWER_CDP);
|
||||
}
|
||||
if (rcv == 'c') {
|
||||
puts("switching USB to client mode\n");
|
||||
set_usb_power_mode(USB_POWER_CLIENT);
|
||||
current_board->set_usb_power_mode(USB_POWER_CLIENT);
|
||||
}
|
||||
if (rcv == 'D') {
|
||||
puts("switching USB to DCP mode\n");
|
||||
set_usb_power_mode(USB_POWER_DCP);
|
||||
current_board->set_usb_power_mode(USB_POWER_DCP);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// ***************************** started logic *****************************
|
||||
|
||||
bool is_gpio_started(void) {
|
||||
// ignition is on PA1
|
||||
return (GPIOA->IDR & (1U << 1)) == 0;
|
||||
}
|
||||
|
||||
// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
|
||||
void EXTI1_IRQHandler(void) {
|
||||
volatile unsigned int pr = EXTI->PR & (1U << 1);
|
||||
if ((pr & (1U << 1)) != 0U) {
|
||||
void started_interrupt_handler(uint8_t interrupt_line) {
|
||||
volatile unsigned int pr = EXTI->PR & (1U << interrupt_line);
|
||||
if ((pr & (1U << interrupt_line)) != 0U) {
|
||||
#ifdef DEBUG
|
||||
puts("got started interrupt\n");
|
||||
#endif
|
||||
@@ -81,10 +79,25 @@ void EXTI1_IRQHandler(void) {
|
||||
delay(100000);
|
||||
|
||||
// set power savings mode here
|
||||
int power_save_state = is_gpio_started() ? POWER_SAVE_STATUS_DISABLED : POWER_SAVE_STATUS_ENABLED;
|
||||
int power_save_state = current_board->check_ignition() ? POWER_SAVE_STATUS_DISABLED : POWER_SAVE_STATUS_ENABLED;
|
||||
set_power_save_state(power_save_state);
|
||||
EXTI->PR = (1U << 1);
|
||||
}
|
||||
EXTI->PR = (1U << interrupt_line);
|
||||
}
|
||||
|
||||
// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
|
||||
void EXTI0_IRQHandler(void) {
|
||||
started_interrupt_handler(0);
|
||||
}
|
||||
|
||||
// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
|
||||
void EXTI1_IRQHandler(void) {
|
||||
started_interrupt_handler(1);
|
||||
}
|
||||
|
||||
// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
|
||||
void EXTI3_IRQHandler(void) {
|
||||
started_interrupt_handler(3);
|
||||
}
|
||||
|
||||
void started_interrupt_init(void) {
|
||||
@@ -95,18 +108,64 @@ void started_interrupt_init(void) {
|
||||
NVIC_EnableIRQ(EXTI1_IRQn);
|
||||
}
|
||||
|
||||
// ****************************** safety mode ******************************
|
||||
|
||||
// this is the only way to leave silent mode
|
||||
void set_safety_mode(uint16_t mode, int16_t param) {
|
||||
int err = safety_set_mode(mode, param);
|
||||
if (err == -1) {
|
||||
puts("Error: safety set mode failed\n");
|
||||
} else {
|
||||
if (mode == SAFETY_NOOUTPUT) {
|
||||
can_silent = ALL_CAN_SILENT;
|
||||
} else {
|
||||
can_silent = ALL_CAN_LIVE;
|
||||
}
|
||||
|
||||
switch (mode) {
|
||||
case SAFETY_NOOUTPUT:
|
||||
set_intercept_relay(false);
|
||||
if(hw_type == HW_TYPE_BLACK_PANDA){
|
||||
current_board->set_can_mode(CAN_MODE_NORMAL);
|
||||
}
|
||||
break;
|
||||
case SAFETY_ELM327:
|
||||
set_intercept_relay(false);
|
||||
if(hw_type == HW_TYPE_BLACK_PANDA){
|
||||
current_board->set_can_mode(CAN_MODE_OBD_CAN2);
|
||||
}
|
||||
break;
|
||||
default:
|
||||
set_intercept_relay(true);
|
||||
if(hw_type == HW_TYPE_BLACK_PANDA){
|
||||
current_board->set_can_mode(CAN_MODE_NORMAL);
|
||||
}
|
||||
break;
|
||||
}
|
||||
if (safety_ignition_hook() != -1) {
|
||||
// if the ignition hook depends on something other than the started GPIO
|
||||
// we have to disable power savings (fix for GM and Tesla)
|
||||
set_power_save_state(POWER_SAVE_STATUS_DISABLED);
|
||||
} else {
|
||||
// power mode is already POWER_SAVE_STATUS_DISABLED and CAN TXs are active
|
||||
}
|
||||
can_init_all();
|
||||
}
|
||||
}
|
||||
|
||||
// ***************************** USB port *****************************
|
||||
|
||||
int get_health_pkt(void *dat) {
|
||||
struct __attribute__((packed)) {
|
||||
uint32_t voltage_pkt;
|
||||
uint32_t current_pkt;
|
||||
uint8_t started_pkt;
|
||||
uint8_t controls_allowed_pkt;
|
||||
uint8_t gas_interceptor_detected_pkt;
|
||||
uint32_t can_send_errs_pkt;
|
||||
uint32_t can_fwd_errs_pkt;
|
||||
uint32_t gmlan_send_errs_pkt;
|
||||
uint8_t started_pkt;
|
||||
uint8_t controls_allowed_pkt;
|
||||
uint8_t gas_interceptor_detected_pkt;
|
||||
uint8_t car_harness_status_pkt;
|
||||
} *health = dat;
|
||||
|
||||
//Voltage will be measured in mv. 5000 = 5V
|
||||
@@ -121,11 +180,17 @@ int get_health_pkt(void *dat) {
|
||||
// Avoid needing floating point math
|
||||
health->voltage_pkt = (voltage * 8862U) / 1000U;
|
||||
|
||||
health->current_pkt = adc_get(ADCCHAN_CURRENT);
|
||||
// No current sense on panda black
|
||||
if(hw_type != HW_TYPE_BLACK_PANDA){
|
||||
health->current_pkt = adc_get(ADCCHAN_CURRENT);
|
||||
} else {
|
||||
health->current_pkt = 0;
|
||||
}
|
||||
|
||||
int safety_ignition = safety_ignition_hook();
|
||||
if (safety_ignition < 0) {
|
||||
//Use the GPIO pin to determine ignition
|
||||
health->started_pkt = is_gpio_started();
|
||||
health->started_pkt = (uint8_t)(current_board->check_ignition());
|
||||
} else {
|
||||
//Current safety hooks want to determine ignition (ex: GM)
|
||||
health->started_pkt = safety_ignition;
|
||||
@@ -136,7 +201,8 @@ int get_health_pkt(void *dat) {
|
||||
health->can_send_errs_pkt = can_send_errs;
|
||||
health->can_fwd_errs_pkt = can_fwd_errs;
|
||||
health->gmlan_send_errs_pkt = gmlan_send_errs;
|
||||
|
||||
health->car_harness_status_pkt = car_harness_status;
|
||||
|
||||
return sizeof(*health);
|
||||
}
|
||||
|
||||
@@ -183,8 +249,6 @@ void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
|
||||
}
|
||||
}
|
||||
|
||||
bool is_enumerated = 0;
|
||||
|
||||
void usb_cb_enumeration_complete() {
|
||||
puts("USB enumeration complete\n");
|
||||
is_enumerated = 1;
|
||||
@@ -203,9 +267,9 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
|
||||
puts(" err: "); puth(can_err_cnt);
|
||||
puts("\n");
|
||||
break;
|
||||
// **** 0xc1: is grey panda
|
||||
// **** 0xc1: get hardware type
|
||||
case 0xc1:
|
||||
resp[0] = is_grey_panda;
|
||||
resp[0] = hw_type;
|
||||
resp_len = 1;
|
||||
break;
|
||||
// **** 0xd0: fetch serial number
|
||||
@@ -258,73 +322,57 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
|
||||
// **** 0xd9: set ESP power
|
||||
case 0xd9:
|
||||
if (setup->b.wValue.w == 1U) {
|
||||
set_esp_mode(ESP_ENABLED);
|
||||
current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
|
||||
} else if (setup->b.wValue.w == 2U) {
|
||||
set_esp_mode(ESP_BOOTMODE);
|
||||
current_board->set_esp_gps_mode(ESP_GPS_BOOTMODE);
|
||||
} else {
|
||||
set_esp_mode(ESP_DISABLED);
|
||||
current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
|
||||
}
|
||||
break;
|
||||
// **** 0xda: reset ESP, with optional boot mode
|
||||
case 0xda:
|
||||
set_esp_mode(ESP_DISABLED);
|
||||
current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
|
||||
delay(1000000);
|
||||
if (setup->b.wValue.w == 1U) {
|
||||
set_esp_mode(ESP_BOOTMODE);
|
||||
current_board->set_esp_gps_mode(ESP_GPS_BOOTMODE);
|
||||
} else {
|
||||
set_esp_mode(ESP_ENABLED);
|
||||
current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
|
||||
}
|
||||
delay(1000000);
|
||||
set_esp_mode(ESP_ENABLED);
|
||||
current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
|
||||
break;
|
||||
// **** 0xdb: set GMLAN multiplexing mode
|
||||
// **** 0xdb: set GMLAN (white/grey) or OBD CAN (black) multiplexing mode
|
||||
case 0xdb:
|
||||
if (setup->b.wValue.w == 1U) {
|
||||
// GMLAN ON
|
||||
if (setup->b.wIndex.w == 1U) {
|
||||
can_set_gmlan(1);
|
||||
} else if (setup->b.wIndex.w == 2U) {
|
||||
can_set_gmlan(2);
|
||||
if(hw_type == HW_TYPE_BLACK_PANDA){
|
||||
if (setup->b.wValue.w == 1U) {
|
||||
// Enable OBD CAN
|
||||
current_board->set_can_mode(CAN_MODE_OBD_CAN2);
|
||||
} else {
|
||||
puts("Invalid bus num for GMLAN CAN set\n");
|
||||
}
|
||||
// Disable OBD CAN
|
||||
current_board->set_can_mode(CAN_MODE_NORMAL);
|
||||
}
|
||||
} else {
|
||||
can_set_gmlan(-1);
|
||||
if (setup->b.wValue.w == 1U) {
|
||||
// GMLAN ON
|
||||
if (setup->b.wIndex.w == 1U) {
|
||||
can_set_gmlan(1);
|
||||
} else if (setup->b.wIndex.w == 2U) {
|
||||
can_set_gmlan(2);
|
||||
} else {
|
||||
puts("Invalid bus num for GMLAN CAN set\n");
|
||||
}
|
||||
} else {
|
||||
can_set_gmlan(-1);
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
// **** 0xdc: set safety mode
|
||||
case 0xdc:
|
||||
// this is the only way to leave silent mode
|
||||
// and it's blocked over WiFi
|
||||
// Allow ELM security mode to be set over wifi.
|
||||
// Blocked over WiFi.
|
||||
// Allow NOOUTPUT and ELM security mode to be set over wifi.
|
||||
if (hardwired || (setup->b.wValue.w == SAFETY_NOOUTPUT) || (setup->b.wValue.w == SAFETY_ELM327)) {
|
||||
int err = safety_set_mode(setup->b.wValue.w, (int16_t)setup->b.wIndex.w);
|
||||
if (err == -1) {
|
||||
puts("Error: safety set mode failed\n");
|
||||
} else {
|
||||
#ifndef EON
|
||||
// always LIVE on EON
|
||||
switch (setup->b.wValue.w) {
|
||||
case SAFETY_NOOUTPUT:
|
||||
can_silent = ALL_CAN_SILENT;
|
||||
break;
|
||||
case SAFETY_ELM327:
|
||||
can_silent = ALL_CAN_BUT_MAIN_SILENT;
|
||||
break;
|
||||
default:
|
||||
can_silent = ALL_CAN_LIVE;
|
||||
break;
|
||||
}
|
||||
#endif
|
||||
if (safety_ignition_hook() != -1) {
|
||||
// if the ignition hook depends on something other than the started GPIO
|
||||
// we have to disable power savings (fix for GM and Tesla)
|
||||
set_power_save_state(POWER_SAVE_STATUS_DISABLED);
|
||||
} else {
|
||||
// power mode is already POWER_SAVE_STATUS_DISABLED and CAN TXs are active
|
||||
}
|
||||
can_init_all();
|
||||
}
|
||||
set_safety_mode(setup->b.wValue.w, (uint16_t) setup->b.wIndex.w);
|
||||
}
|
||||
break;
|
||||
// **** 0xdd: enable can forwarding
|
||||
@@ -418,13 +466,13 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
|
||||
case 0xe6:
|
||||
if (setup->b.wValue.w == 1U) {
|
||||
puts("user setting CDP mode\n");
|
||||
set_usb_power_mode(USB_POWER_CDP);
|
||||
current_board->set_usb_power_mode(USB_POWER_CDP);
|
||||
} else if (setup->b.wValue.w == 2U) {
|
||||
puts("user setting DCP mode\n");
|
||||
set_usb_power_mode(USB_POWER_DCP);
|
||||
current_board->set_usb_power_mode(USB_POWER_DCP);
|
||||
} else {
|
||||
puts("user setting CLIENT mode\n");
|
||||
set_usb_power_mode(USB_POWER_CLIENT);
|
||||
current_board->set_usb_power_mode(USB_POWER_CLIENT);
|
||||
}
|
||||
break;
|
||||
// **** 0xf0: do k-line wValue pulse on uart2 for Acura
|
||||
@@ -482,6 +530,12 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
|
||||
}
|
||||
break;
|
||||
}
|
||||
// **** 0xf3: Heartbeat. Resets heartbeat counter.
|
||||
case 0xf3:
|
||||
{
|
||||
heartbeat_counter = 0U;
|
||||
break;
|
||||
}
|
||||
default:
|
||||
puts("NO HANDLER ");
|
||||
puth(setup->b.bRequest);
|
||||
@@ -536,95 +590,52 @@ void __attribute__ ((noinline)) enable_fpu(void) {
|
||||
}
|
||||
|
||||
uint64_t tcnt = 0;
|
||||
uint64_t marker = 0;
|
||||
|
||||
// go into NOOUTPUT when the EON does not send a heartbeat for this amount of seconds.
|
||||
#define EON_HEARTBEAT_THRESHOLD_IGNITION_ON 5U
|
||||
#define EON_HEARTBEAT_THRESHOLD_IGNITION_OFF 2U
|
||||
|
||||
// called once per second
|
||||
// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
|
||||
void TIM3_IRQHandler(void) {
|
||||
#define CURRENT_THRESHOLD 0xF00U
|
||||
#define CLICKS 5U // 5 seconds to switch modes
|
||||
|
||||
if (TIM3->SR != 0) {
|
||||
can_live = pending_can_live;
|
||||
|
||||
current_board->usb_power_mode_tick(tcnt);
|
||||
|
||||
//puth(usart1_dma); puts(" "); puth(DMA2_Stream5->M0AR); puts(" "); puth(DMA2_Stream5->NDTR); puts("\n");
|
||||
|
||||
uint32_t current = adc_get(ADCCHAN_CURRENT);
|
||||
|
||||
switch (usb_power_mode) {
|
||||
case USB_POWER_CLIENT:
|
||||
if ((tcnt - marker) >= CLICKS) {
|
||||
if (!is_enumerated) {
|
||||
puts("USBP: didn't enumerate, switching to CDP mode\n");
|
||||
// switch to CDP
|
||||
set_usb_power_mode(USB_POWER_CDP);
|
||||
marker = tcnt;
|
||||
}
|
||||
}
|
||||
// keep resetting the timer if it's enumerated
|
||||
if (is_enumerated) {
|
||||
marker = tcnt;
|
||||
}
|
||||
break;
|
||||
case USB_POWER_CDP:
|
||||
// On the EON, if we get into CDP mode we stay here. No need to go to DCP.
|
||||
#ifndef EON
|
||||
// been CLICKS clicks since we switched to CDP
|
||||
if ((tcnt-marker) >= CLICKS) {
|
||||
// measure current draw, if positive and no enumeration, switch to DCP
|
||||
if (!is_enumerated && (current < CURRENT_THRESHOLD)) {
|
||||
puts("USBP: no enumeration with current draw, switching to DCP mode\n");
|
||||
set_usb_power_mode(USB_POWER_DCP);
|
||||
marker = tcnt;
|
||||
}
|
||||
}
|
||||
// keep resetting the timer if there's no current draw in CDP
|
||||
if (current >= CURRENT_THRESHOLD) {
|
||||
marker = tcnt;
|
||||
}
|
||||
#endif
|
||||
break;
|
||||
case USB_POWER_DCP:
|
||||
// been at least CLICKS clicks since we switched to DCP
|
||||
if ((tcnt-marker) >= CLICKS) {
|
||||
// if no current draw, switch back to CDP
|
||||
if (current >= CURRENT_THRESHOLD) {
|
||||
puts("USBP: no current draw, switching back to CDP mode\n");
|
||||
set_usb_power_mode(USB_POWER_CDP);
|
||||
marker = tcnt;
|
||||
}
|
||||
}
|
||||
// keep resetting the timer if there's current draw in DCP
|
||||
if (current < CURRENT_THRESHOLD) {
|
||||
marker = tcnt;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
puts("USB power mode invalid\n"); // set_usb_power_mode prevents assigning invalid values
|
||||
break;
|
||||
}
|
||||
|
||||
// ~0x9a = 500 ma
|
||||
/*puth(current);
|
||||
puts("\n");*/
|
||||
|
||||
// reset this every 16th pass
|
||||
if ((tcnt & 0xFU) == 0U) {
|
||||
pending_can_live = 0;
|
||||
}
|
||||
#ifdef DEBUG
|
||||
puts("** blink ");
|
||||
puth(can_rx_q.r_ptr); puts(" "); puth(can_rx_q.w_ptr); puts(" ");
|
||||
puth(can_tx1_q.r_ptr); puts(" "); puth(can_tx1_q.w_ptr); puts(" ");
|
||||
puth(can_tx2_q.r_ptr); puts(" "); puth(can_tx2_q.w_ptr); puts("\n");
|
||||
//TODO: re-enable
|
||||
//puts("** blink ");
|
||||
//puth(can_rx_q.r_ptr); puts(" "); puth(can_rx_q.w_ptr); puts(" ");
|
||||
//puth(can_tx1_q.r_ptr); puts(" "); puth(can_tx1_q.w_ptr); puts(" ");
|
||||
//puth(can_tx2_q.r_ptr); puts(" "); puth(can_tx2_q.w_ptr); puts("\n");
|
||||
#endif
|
||||
|
||||
// set green LED to be controls allowed
|
||||
set_led(LED_GREEN, controls_allowed);
|
||||
current_board->set_led(LED_GREEN, controls_allowed);
|
||||
|
||||
// turn off the blue LED, turned on by CAN
|
||||
// unless we are in power saving mode
|
||||
set_led(LED_BLUE, (tcnt & 1U) && (power_save_status == POWER_SAVE_STATUS_ENABLED));
|
||||
current_board->set_led(LED_BLUE, (tcnt & 1U) && (power_save_status == POWER_SAVE_STATUS_ENABLED));
|
||||
|
||||
// increase heartbeat counter and cap it at the uint32 limit
|
||||
if (heartbeat_counter < __UINT32_MAX__) {
|
||||
heartbeat_counter += 1U;
|
||||
}
|
||||
|
||||
// check heartbeat counter if we are running EON code. If the heartbeat has been gone for a while, go to NOOUTPUT safety mode.
|
||||
#ifdef EON
|
||||
if (heartbeat_counter >= (current_board->check_ignition() ? EON_HEARTBEAT_THRESHOLD_IGNITION_ON : EON_HEARTBEAT_THRESHOLD_IGNITION_OFF)) {
|
||||
puts("EON hasn't sent a heartbeat for 0x"); puth(heartbeat_counter); puts(" seconds. Safety is set to NOOUTPUT mode.\n");
|
||||
set_safety_mode(SAFETY_NOOUTPUT, 0U);
|
||||
}
|
||||
#endif
|
||||
|
||||
// on to the next one
|
||||
tcnt += 1U;
|
||||
@@ -638,26 +649,27 @@ int main(void) {
|
||||
|
||||
// init early devices
|
||||
clock_init();
|
||||
periph_init();
|
||||
detect();
|
||||
|
||||
peripherals_init();
|
||||
detect_configuration();
|
||||
detect_board_type();
|
||||
adc_init();
|
||||
|
||||
// print hello
|
||||
puts("\n\n\n************************ MAIN START ************************\n");
|
||||
|
||||
// detect the revision and init the GPIOs
|
||||
puts("config:\n");
|
||||
puts((revision == PANDA_REV_C) ? " panda rev c\n" : " panda rev a or b\n");
|
||||
puts(has_external_debug_serial ? " real serial\n" : " USB serial\n");
|
||||
puts(is_giant_panda ? " GIANTpanda detected\n" : " not GIANTpanda\n");
|
||||
puts(is_grey_panda ? " gray panda detected!\n" : " white panda\n");
|
||||
puts(is_entering_bootmode ? " ESP wants bootmode\n" : " no bootmode\n");
|
||||
|
||||
// non rev c panda are no longer supported
|
||||
while (revision != PANDA_REV_C) {
|
||||
// hang
|
||||
// check for non-supported board types
|
||||
if(hw_type == HW_TYPE_UNKNOWN){
|
||||
puts("Unsupported board type\n");
|
||||
while (1) { /* hang */ }
|
||||
}
|
||||
|
||||
gpio_init();
|
||||
puts("Config:\n");
|
||||
puts(" Board type: "); puts(current_board->board_type); puts("\n");
|
||||
puts(has_external_debug_serial ? " Real serial\n" : " USB serial\n");
|
||||
puts(is_entering_bootmode ? " ESP wants bootmode\n" : " No bootmode\n");
|
||||
|
||||
// init board
|
||||
current_board->init();
|
||||
|
||||
// panda has an FPU, let's use it!
|
||||
enable_fpu();
|
||||
@@ -669,18 +681,21 @@ int main(void) {
|
||||
uart_init(USART2, 115200);
|
||||
}
|
||||
|
||||
if (is_grey_panda) {
|
||||
if (board_has_gps()) {
|
||||
uart_init(USART1, 9600);
|
||||
} else {
|
||||
// enable ESP uart
|
||||
uart_init(USART1, 115200);
|
||||
}
|
||||
|
||||
// enable LIN
|
||||
uart_init(UART5, 10400);
|
||||
UART5->CR2 |= USART_CR2_LINEN;
|
||||
uart_init(USART3, 10400);
|
||||
USART3->CR2 |= USART_CR2_LINEN;
|
||||
// there is no LIN on panda black
|
||||
if(hw_type != HW_TYPE_BLACK_PANDA){
|
||||
// enable LIN
|
||||
uart_init(UART5, 10400);
|
||||
UART5->CR2 |= USART_CR2_LINEN;
|
||||
uart_init(USART3, 10400);
|
||||
USART3->CR2 |= USART_CR2_LINEN;
|
||||
}
|
||||
|
||||
// init microsecond system timer
|
||||
// increments 1000000 times per second
|
||||
@@ -690,9 +705,6 @@ int main(void) {
|
||||
TIM2->EGR = TIM_EGR_UG;
|
||||
// use TIM2->CNT to read
|
||||
|
||||
// enable USB
|
||||
usb_init();
|
||||
|
||||
// default to silent mode to prevent issues with Ford
|
||||
// hardcode a specific safety mode if you want to force the panda to be in a specific mode
|
||||
int err = safety_set_mode(SAFETY_NOOUTPUT, 0);
|
||||
@@ -702,31 +714,27 @@ int main(void) {
|
||||
// if SAFETY_NOOUTPUT isn't succesfully set, we can't continue
|
||||
}
|
||||
}
|
||||
#ifdef EON
|
||||
// if we're on an EON, it's fine for CAN to be live for fingerprinting
|
||||
can_silent = ALL_CAN_LIVE;
|
||||
#else
|
||||
can_silent = ALL_CAN_SILENT;
|
||||
#endif
|
||||
can_init_all();
|
||||
|
||||
adc_init();
|
||||
|
||||
#ifndef EON
|
||||
spi_init();
|
||||
#endif
|
||||
|
||||
#ifdef EON
|
||||
// have to save power
|
||||
if (!is_grey_panda) {
|
||||
set_esp_mode(ESP_DISABLED);
|
||||
if (hw_type == HW_TYPE_WHITE_PANDA) {
|
||||
current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
|
||||
}
|
||||
// only enter power save after the first cycle
|
||||
/*if (is_gpio_started()) {
|
||||
/*if (current_board->check_ignition()) {
|
||||
set_power_save_state(POWER_SAVE_STATUS_ENABLED);
|
||||
}*/
|
||||
// interrupt on started line
|
||||
started_interrupt_init();
|
||||
|
||||
if (hw_type != HW_TYPE_BLACK_PANDA) {
|
||||
// interrupt on started line
|
||||
started_interrupt_init();
|
||||
}
|
||||
#endif
|
||||
|
||||
// 48mhz / 65536 ~= 732 / 732 = 1
|
||||
@@ -736,6 +744,8 @@ int main(void) {
|
||||
#ifdef DEBUG
|
||||
puts("DEBUG ENABLED\n");
|
||||
#endif
|
||||
// enable USB (right before interrupts or enum can fail!)
|
||||
usb_init();
|
||||
|
||||
puts("**** INTERRUPTS ON ****\n");
|
||||
enable_interrupts();
|
||||
@@ -751,9 +761,9 @@ int main(void) {
|
||||
for (int div_mode_loop = 0; div_mode_loop < div_mode; div_mode_loop++) {
|
||||
for (int fade = 0; fade < 1024; fade += 8) {
|
||||
for (int i = 0; i < (128/div_mode); i++) {
|
||||
set_led(LED_RED, 1);
|
||||
current_board->set_led(LED_RED, 1);
|
||||
if (fade < 512) { delay(fade); } else { delay(1024-fade); }
|
||||
set_led(LED_RED, 0);
|
||||
current_board->set_led(LED_RED, 0);
|
||||
if (fade < 512) { delay(512-fade); } else { delay(fade-512); }
|
||||
}
|
||||
}
|
||||
@@ -765,4 +775,3 @@ int main(void) {
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
@@ -0,0 +1,14 @@
|
||||
// ******************** Prototypes ********************
|
||||
void puts(const char *a);
|
||||
void puth(unsigned int i);
|
||||
void puth2(unsigned int i);
|
||||
typedef struct board board;
|
||||
typedef struct harness_configuration harness_configuration;
|
||||
void can_flip_buses(uint8_t bus1, uint8_t bus2);
|
||||
void can_set_obd(uint8_t harness_orientation, bool obd);
|
||||
|
||||
// ********************* Globals **********************
|
||||
uint8_t hw_type = 0;
|
||||
const board *current_board;
|
||||
bool is_enumerated = 0;
|
||||
uint32_t heartbeat_counter = 0;
|
||||
@@ -1,14 +1,20 @@
|
||||
// ********************* Includes *********************
|
||||
#include "../config.h"
|
||||
#include "libc.h"
|
||||
|
||||
#include "main_declarations.h"
|
||||
|
||||
#include "drivers/llcan.h"
|
||||
#include "drivers/llgpio.h"
|
||||
#include "drivers/clock.h"
|
||||
#include "drivers/adc.h"
|
||||
|
||||
#include "board.h"
|
||||
|
||||
#include "drivers/clock.h"
|
||||
#include "drivers/dac.h"
|
||||
#include "drivers/timer.h"
|
||||
|
||||
#include "gpio.h"
|
||||
#include "libc.h"
|
||||
|
||||
#define CAN CAN1
|
||||
|
||||
@@ -25,6 +31,9 @@
|
||||
void puth(unsigned int i) {
|
||||
UNUSED(i);
|
||||
}
|
||||
void puth2(unsigned int i) {
|
||||
UNUSED(i);
|
||||
}
|
||||
#endif
|
||||
|
||||
#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
|
||||
@@ -180,7 +189,7 @@ void CAN1_RX0_IRQHandler(void) {
|
||||
if (((current_index + 1U) & COUNTER_CYCLE) == index) {
|
||||
#ifdef DEBUG
|
||||
puts("setting gas ");
|
||||
puth(value);
|
||||
puth(value_0);
|
||||
puts("\n");
|
||||
#endif
|
||||
if (enable) {
|
||||
@@ -257,7 +266,7 @@ void TIM3_IRQHandler(void) {
|
||||
}
|
||||
|
||||
// blink the LED
|
||||
set_led(LED_GREEN, led_value);
|
||||
current_board->set_led(LED_GREEN, led_value);
|
||||
led_value = !led_value;
|
||||
|
||||
TIM3->SR = 0;
|
||||
@@ -294,8 +303,9 @@ int main(void) {
|
||||
|
||||
// init devices
|
||||
clock_init();
|
||||
periph_init();
|
||||
gpio_init();
|
||||
peripherals_init();
|
||||
detect_configuration();
|
||||
detect_board_type();
|
||||
|
||||
#ifdef PEDAL_USB
|
||||
// enable USB
|
||||
|
||||
@@ -0,0 +1,11 @@
|
||||
// ******************** Prototypes ********************
|
||||
void puts(const char *a);
|
||||
void puth(unsigned int i);
|
||||
void puth2(unsigned int i);
|
||||
typedef struct board board;
|
||||
typedef struct harness_configuration harness_configuration;
|
||||
|
||||
// ********************* Globals **********************
|
||||
uint8_t hw_type = 0;
|
||||
const board *current_board;
|
||||
bool is_enumerated = 0;
|
||||
+12
-12
@@ -10,14 +10,14 @@ void set_power_save_state(int state) {
|
||||
bool enable = false;
|
||||
if (state == POWER_SAVE_STATUS_ENABLED) {
|
||||
puts("enable power savings\n");
|
||||
if (is_grey_panda) {
|
||||
if (board_has_gps()) {
|
||||
char UBLOX_SLEEP_MSG[] = "\xb5\x62\x06\x04\x04\x00\x01\x00\x08\x00\x17\x78";
|
||||
uart_ring *ur = get_ring_by_number(1);
|
||||
for (unsigned int i = 0; i < sizeof(UBLOX_SLEEP_MSG) - 1U; i++) while (!putc(ur, UBLOX_SLEEP_MSG[i]));
|
||||
}
|
||||
} else {
|
||||
puts("disable power savings\n");
|
||||
if (is_grey_panda) {
|
||||
if (board_has_gps()) {
|
||||
char UBLOX_WAKE_MSG[] = "\xb5\x62\x06\x04\x04\x00\x01\x00\x09\x00\x18\x7a";
|
||||
uart_ring *ur = get_ring_by_number(1);
|
||||
for (unsigned int i = 0; i < sizeof(UBLOX_WAKE_MSG) - 1U; i++) while (!putc(ur, UBLOX_WAKE_MSG[i]));
|
||||
@@ -25,18 +25,18 @@ void set_power_save_state(int state) {
|
||||
enable = true;
|
||||
}
|
||||
|
||||
// turn on can
|
||||
set_can_enable(CAN1, enable);
|
||||
set_can_enable(CAN2, enable);
|
||||
set_can_enable(CAN3, enable);
|
||||
// Switch CAN transcievers
|
||||
current_board->enable_can_transcievers(enable);
|
||||
|
||||
// turn on GMLAN
|
||||
set_gpio_output(GPIOB, 14, enable);
|
||||
set_gpio_output(GPIOB, 15, enable);
|
||||
if(hw_type != HW_TYPE_BLACK_PANDA){
|
||||
// turn on GMLAN
|
||||
set_gpio_output(GPIOB, 14, enable);
|
||||
set_gpio_output(GPIOB, 15, enable);
|
||||
|
||||
// turn on LIN
|
||||
set_gpio_output(GPIOB, 7, enable);
|
||||
set_gpio_output(GPIOA, 14, enable);
|
||||
// turn on LIN
|
||||
set_gpio_output(GPIOB, 7, enable);
|
||||
set_gpio_output(GPIOA, 14, enable);
|
||||
}
|
||||
|
||||
power_save_status = state;
|
||||
}
|
||||
|
||||
@@ -1,15 +1,9 @@
|
||||
static int elm327_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
|
||||
int tx = 1;
|
||||
int bus = GET_BUS(to_send);
|
||||
int addr = GET_ADDR(to_send);
|
||||
int len = GET_LEN(to_send);
|
||||
|
||||
//All ELM traffic must appear on CAN0
|
||||
if (bus != 0) {
|
||||
tx = 0;
|
||||
}
|
||||
|
||||
//All ISO 15765-4 messages must be 8 bytes long
|
||||
if (len != 8) {
|
||||
tx = 0;
|
||||
|
||||
@@ -136,8 +136,9 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
// FORCE CANCEL: safety check only relevant when spamming the cancel button in Bosch HW
|
||||
// ensuring that only the cancel button press is sent (VAL 2) when controls are off.
|
||||
// This avoids unintended engagements while still allowing resume spam
|
||||
int bus_pt = ((hw_type == HW_TYPE_BLACK_PANDA) && honda_bosch_hardware)? 1 : 0;
|
||||
if ((addr == 0x296) && honda_bosch_hardware &&
|
||||
!current_controls_allowed && (bus == 0)) {
|
||||
!current_controls_allowed && (bus == bus_pt)) {
|
||||
if (((GET_BYTE(to_send, 0) >> 5) & 0x7) != 2) {
|
||||
tx = 0;
|
||||
}
|
||||
@@ -186,15 +187,17 @@ static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
|
||||
static int honda_bosch_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
int bus_fwd = -1;
|
||||
int bus_rdr_cam = (hw_type == HW_TYPE_BLACK_PANDA) ? 2 : 1; // radar bus, camera side
|
||||
int bus_rdr_car = (hw_type == HW_TYPE_BLACK_PANDA) ? 0 : 2; // radar bus, car side
|
||||
|
||||
if (bus_num == 2) {
|
||||
bus_fwd = 1;
|
||||
if (bus_num == bus_rdr_car) {
|
||||
bus_fwd = bus_rdr_cam;
|
||||
}
|
||||
if (bus_num == 1) {
|
||||
if (bus_num == bus_rdr_cam) {
|
||||
int addr = GET_ADDR(to_fwd);
|
||||
int is_lkas_msg = (addr == 0xE4) || (addr == 0x33D);
|
||||
if (!is_lkas_msg) {
|
||||
bus_fwd = 2;
|
||||
bus_fwd = bus_rdr_car;
|
||||
}
|
||||
}
|
||||
return bus_fwd;
|
||||
|
||||
@@ -31,7 +31,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
|
||||
FLASH->KEYR = 0xCDEF89AB;
|
||||
resp[1] = 0xff;
|
||||
}
|
||||
set_led(LED_GREEN, 1);
|
||||
current_board->set_led(LED_GREEN, 1);
|
||||
unlocked = 1;
|
||||
prog_ptr = (uint32_t *)0x8004000;
|
||||
break;
|
||||
@@ -112,7 +112,7 @@ void usb_cb_enumeration_complete(void) {
|
||||
|
||||
void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
|
||||
UNUSED(hardwired);
|
||||
set_led(LED_RED, 0);
|
||||
current_board->set_led(LED_RED, 0);
|
||||
for (int i = 0; i < len/4; i++) {
|
||||
// program byte 1
|
||||
FLASH->CR = FLASH_CR_PSIZE_1 | FLASH_CR_PG;
|
||||
@@ -123,7 +123,7 @@ void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
|
||||
//*(uint64_t*)(&spi_tx_buf[0x30+(i*4)]) = *prog_ptr;
|
||||
prog_ptr++;
|
||||
}
|
||||
set_led(LED_RED, 1);
|
||||
current_board->set_led(LED_RED, 1);
|
||||
}
|
||||
|
||||
|
||||
@@ -276,7 +276,7 @@ void soft_flasher_start(void) {
|
||||
// B8,B9: CAN 1
|
||||
set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
|
||||
set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
|
||||
set_can_enable(CAN1, 1);
|
||||
current_board->enable_can_transciever(1, true);
|
||||
|
||||
// init can
|
||||
llcan_set_speed(CAN1, 5000, false, false);
|
||||
@@ -305,7 +305,7 @@ void soft_flasher_start(void) {
|
||||
usb_init();
|
||||
|
||||
// green LED on for flashing
|
||||
set_led(LED_GREEN, 1);
|
||||
current_board->set_led(LED_GREEN, 1);
|
||||
|
||||
__enable_irq();
|
||||
|
||||
@@ -316,13 +316,13 @@ void soft_flasher_start(void) {
|
||||
// if you are connected through a hub to the phone
|
||||
// you need power to be able to see the device
|
||||
puts("USBP: didn't enumerate, switching to CDP mode\n");
|
||||
set_usb_power_mode(USB_POWER_CDP);
|
||||
set_led(LED_BLUE, 1);
|
||||
current_board->set_usb_power_mode(USB_POWER_CDP);
|
||||
current_board->set_led(LED_BLUE, 1);
|
||||
}
|
||||
// blink the green LED fast
|
||||
set_led(LED_GREEN, 0);
|
||||
current_board->set_led(LED_GREEN, 0);
|
||||
delay(500000);
|
||||
set_led(LED_GREEN, 1);
|
||||
current_board->set_led(LED_GREEN, 1);
|
||||
delay(500000);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -28,8 +28,7 @@ char pageheader[] = "HTTP/1.0 200 OK\nContent-Type: text/html\n\n"
|
||||
"</head>\n"
|
||||
"<body>\n"
|
||||
"<pre>This is your comma.ai panda\n\n"
|
||||
"It's open source. Find the code <a href=\"https://github.com/commaai/panda\">here</a>\n"
|
||||
"Designed to work with our dashcam, <a href=\"http://chffr.comma.ai\">chffr</a>\n";
|
||||
"It's open source. Find the code <a href=\"https://github.com/commaai/panda\">here</a>\n";
|
||||
|
||||
char pagefooter[] = "</pre>\n"
|
||||
"</body>\n"
|
||||
|
||||
+32
-13
@@ -16,7 +16,7 @@ from update import ensure_st_up_to_date
|
||||
from serial import PandaSerial
|
||||
from isotp import isotp_send, isotp_recv
|
||||
|
||||
__version__ = '0.0.8'
|
||||
__version__ = '0.0.9'
|
||||
|
||||
BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
|
||||
|
||||
@@ -232,10 +232,10 @@ class Panda(object):
|
||||
print("flash: unlocking")
|
||||
handle.controlWrite(Panda.REQUEST_IN, 0xb1, 0, 0, b'')
|
||||
|
||||
# erase sectors 1 and 2
|
||||
# erase sectors 1 through 3
|
||||
print("flash: erasing")
|
||||
handle.controlWrite(Panda.REQUEST_IN, 0xb2, 1, 0, b'')
|
||||
handle.controlWrite(Panda.REQUEST_IN, 0xb2, 2, 0, b'')
|
||||
for i in range(1, 4):
|
||||
handle.controlWrite(Panda.REQUEST_IN, 0xb2, i, 0, b'')
|
||||
|
||||
# flash over EP2
|
||||
STEP = 0x10
|
||||
@@ -334,13 +334,19 @@ class Panda(object):
|
||||
# ******************* health *******************
|
||||
|
||||
def health(self):
|
||||
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, 13)
|
||||
a = struct.unpack("IIBBBBB", dat)
|
||||
return {"voltage": a[0], "current": a[1],
|
||||
"started": a[2], "controls_allowed": a[3],
|
||||
"gas_interceptor_detected": a[4],
|
||||
"started_signal_detected": a[5],
|
||||
"started_alt": a[6]}
|
||||
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, 24)
|
||||
a = struct.unpack("IIIIIBBBB", dat)
|
||||
return {
|
||||
"voltage": a[0],
|
||||
"current": a[1],
|
||||
"can_send_errs": a[2],
|
||||
"can_fwd_errs": a[3],
|
||||
"gmlan_send_errs": a[4],
|
||||
"started": a[5],
|
||||
"controls_allowed": a[6],
|
||||
"gas_interceptor_detected": a[7],
|
||||
"car_harness_status": a[8]
|
||||
}
|
||||
|
||||
# ******************* control *******************
|
||||
|
||||
@@ -354,9 +360,14 @@ class Panda(object):
|
||||
def get_version(self):
|
||||
return self._handle.controlRead(Panda.REQUEST_IN, 0xd6, 0, 0, 0x40)
|
||||
|
||||
def get_type(self):
|
||||
return self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
|
||||
|
||||
def is_grey(self):
|
||||
ret = self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
|
||||
return ret == "\x01"
|
||||
return self.get_type() == "\x02"
|
||||
|
||||
def is_black(self):
|
||||
return self.get_type() == "\x03"
|
||||
|
||||
def get_serial(self):
|
||||
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 0, 0, 0x20)
|
||||
@@ -387,11 +398,16 @@ class Panda(object):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdd, from_bus, to_bus, b'')
|
||||
|
||||
def set_gmlan(self, bus=2):
|
||||
# TODO: check panda type
|
||||
if bus is None:
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdb, 0, 0, b'')
|
||||
elif bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdb, 1, bus, b'')
|
||||
|
||||
def set_obd(self, obd):
|
||||
# TODO: check panda type
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdb, int(obd), 0, b'')
|
||||
|
||||
def set_can_loopback(self, enable):
|
||||
# set can loopback mode for all buses
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe5, int(enable), 0, b'')
|
||||
@@ -559,3 +575,6 @@ class Panda(object):
|
||||
msg = self.kline_ll_recv(2, bus=bus)
|
||||
msg += self.kline_ll_recv(ord(msg[1])-2, bus=bus)
|
||||
return msg
|
||||
|
||||
def send_heartbeat(self):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf3, 0, 0, b'')
|
||||
|
||||
@@ -26,6 +26,9 @@ def test_can_loopback(serial=None):
|
||||
busses = [0,1,2]
|
||||
|
||||
for bus in busses:
|
||||
# send heartbeat
|
||||
p.send_heartbeat()
|
||||
|
||||
# set bus 0 speed to 250
|
||||
p.set_can_speed_kbps(bus, 250)
|
||||
|
||||
@@ -52,6 +55,9 @@ def test_safety_nooutput(serial=None):
|
||||
# enable output mode
|
||||
p.set_safety_mode(Panda.SAFETY_NOOUTPUT)
|
||||
|
||||
# send heartbeat
|
||||
p.send_heartbeat()
|
||||
|
||||
# enable CAN loopback mode
|
||||
p.set_can_loopback(True)
|
||||
|
||||
@@ -76,11 +82,17 @@ def test_reliability(serial=None):
|
||||
p.set_can_loopback(True)
|
||||
p.set_can_speed_kbps(0, 1000)
|
||||
|
||||
# send heartbeat
|
||||
p.send_heartbeat()
|
||||
|
||||
addrs = range(100, 100+MSG_COUNT)
|
||||
ts = [(j, 0, "\xaa"*8, 0) for j in addrs]
|
||||
|
||||
# 100 loops
|
||||
for i in range(LOOP_COUNT):
|
||||
# send heartbeat
|
||||
p.send_heartbeat()
|
||||
|
||||
st = time.time()
|
||||
|
||||
p.can_send_many(ts)
|
||||
@@ -111,6 +123,9 @@ def test_throughput(serial=None):
|
||||
# enable output mode
|
||||
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
|
||||
|
||||
# send heartbeat
|
||||
p.send_heartbeat()
|
||||
|
||||
# enable CAN loopback mode
|
||||
p.set_can_loopback(True)
|
||||
|
||||
@@ -119,6 +134,9 @@ def test_throughput(serial=None):
|
||||
p.set_can_speed_kbps(0, speed)
|
||||
time.sleep(0.05)
|
||||
|
||||
# send heartbeat
|
||||
p.send_heartbeat()
|
||||
|
||||
comp_kbps = time_many_sends(p, 0)
|
||||
|
||||
# bit count from https://en.wikipedia.org/wiki/CAN_bus
|
||||
@@ -139,6 +157,9 @@ def test_gmlan(serial=None):
|
||||
# enable output mode
|
||||
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
|
||||
|
||||
# send heartbeat
|
||||
p.send_heartbeat()
|
||||
|
||||
# enable CAN loopback mode
|
||||
p.set_can_loopback(True)
|
||||
|
||||
@@ -148,6 +169,9 @@ def test_gmlan(serial=None):
|
||||
|
||||
# set gmlan on CAN2
|
||||
for bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3, Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
|
||||
# send heartbeat
|
||||
p.send_heartbeat()
|
||||
|
||||
p.set_gmlan(bus)
|
||||
comp_kbps_gmlan = time_many_sends(p, 3)
|
||||
assert_greater(comp_kbps_gmlan, 0.8 * SPEED_GMLAN)
|
||||
@@ -171,11 +195,17 @@ def test_gmlan_bad_toggle(serial=None):
|
||||
# enable output mode
|
||||
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
|
||||
|
||||
# send heartbeat
|
||||
p.send_heartbeat()
|
||||
|
||||
# enable CAN loopback mode
|
||||
p.set_can_loopback(True)
|
||||
|
||||
# GMLAN_CAN2
|
||||
for bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
|
||||
# send heartbeat
|
||||
p.send_heartbeat()
|
||||
|
||||
p.set_gmlan(bus)
|
||||
comp_kbps_gmlan = time_many_sends(p, 3)
|
||||
assert_greater(comp_kbps_gmlan, 0.6 * SPEED_GMLAN)
|
||||
@@ -183,6 +213,9 @@ def test_gmlan_bad_toggle(serial=None):
|
||||
|
||||
# normal
|
||||
for bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
|
||||
# send heartbeat
|
||||
p.send_heartbeat()
|
||||
|
||||
p.set_gmlan(None)
|
||||
comp_kbps_normal = time_many_sends(p, bus)
|
||||
assert_greater(comp_kbps_normal, 0.6 * SPEED_NORMAL)
|
||||
|
||||
@@ -21,12 +21,18 @@ def test_throughput(serial=None):
|
||||
# enable output mode
|
||||
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
|
||||
|
||||
# send heartbeat
|
||||
p.send_heartbeat()
|
||||
|
||||
# enable CAN loopback mode
|
||||
p.set_can_loopback(True)
|
||||
|
||||
p = Panda("WIFI")
|
||||
|
||||
for speed in [100,250,500,750,1000]:
|
||||
# send heartbeat
|
||||
p.send_heartbeat()
|
||||
|
||||
# set bus 0 speed to speed
|
||||
p.set_can_speed_kbps(0, speed)
|
||||
time.sleep(0.1)
|
||||
@@ -46,11 +52,18 @@ def test_recv_only(serial=None):
|
||||
connect_wifi(serial)
|
||||
p = Panda(serial)
|
||||
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
|
||||
|
||||
# send heartbeat
|
||||
p.send_heartbeat()
|
||||
|
||||
p.set_can_loopback(True)
|
||||
pwifi = Panda("WIFI")
|
||||
|
||||
# TODO: msg_count=1000 drops packets, is this fixable?
|
||||
for msg_count in [10,100,200]:
|
||||
# send heartbeat
|
||||
p.send_heartbeat()
|
||||
|
||||
speed = 500
|
||||
p.set_can_speed_kbps(0, speed)
|
||||
comp_kbps = time_many_sends(p, 0, pwifi, msg_count)
|
||||
|
||||
@@ -13,6 +13,9 @@ def test_send_recv(serial_sender=None, serial_reciever=None):
|
||||
p_send.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
|
||||
p_send.set_can_loopback(False)
|
||||
|
||||
# send heartbeat
|
||||
p_send.send_heartbeat()
|
||||
|
||||
p_recv.set_can_loopback(False)
|
||||
|
||||
assert not p_send.legacy
|
||||
@@ -27,6 +30,9 @@ def test_send_recv(serial_sender=None, serial_reciever=None):
|
||||
|
||||
for bus in busses:
|
||||
for speed in [100, 250, 500, 750, 1000]:
|
||||
# send heartbeat
|
||||
p_send.send_heartbeat()
|
||||
|
||||
p_send.set_can_speed_kbps(bus, speed)
|
||||
p_recv.set_can_speed_kbps(bus, speed)
|
||||
time.sleep(0.05)
|
||||
@@ -45,6 +51,10 @@ def test_latency(serial_sender=None, serial_reciever=None):
|
||||
p_send = Panda(serial_sender)
|
||||
p_recv = Panda(serial_reciever)
|
||||
|
||||
# send heartbeat
|
||||
p_send.send_heartbeat()
|
||||
p_recv.send_heartbeat()
|
||||
|
||||
p_send.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
|
||||
p_send.set_can_loopback(False)
|
||||
|
||||
@@ -62,10 +72,18 @@ def test_latency(serial_sender=None, serial_reciever=None):
|
||||
p_recv.can_recv()
|
||||
p_send.can_recv()
|
||||
|
||||
# send heartbeat
|
||||
p_send.send_heartbeat()
|
||||
p_recv.send_heartbeat()
|
||||
|
||||
busses = [0,1,2]
|
||||
|
||||
for bus in busses:
|
||||
for speed in [100, 250, 500, 750, 1000]:
|
||||
# send heartbeat
|
||||
p_send.send_heartbeat()
|
||||
p_recv.send_heartbeat()
|
||||
|
||||
p_send.set_can_speed_kbps(bus, speed)
|
||||
p_recv.set_can_speed_kbps(bus, speed)
|
||||
time.sleep(0.1)
|
||||
|
||||
Executable
+139
@@ -0,0 +1,139 @@
|
||||
#!/usr/bin/env python
|
||||
|
||||
# Loopback test between black panda (+ harness and power) and white/grey panda
|
||||
# Tests all buses, including OBD CAN, which is on the same bus as CAN0 in this test.
|
||||
# To be sure, the test should be run with both harness orientations
|
||||
|
||||
from __future__ import print_function
|
||||
import os
|
||||
import sys
|
||||
import time
|
||||
import random
|
||||
import argparse
|
||||
|
||||
from hexdump import hexdump
|
||||
from itertools import permutations
|
||||
|
||||
sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
|
||||
from panda import Panda
|
||||
|
||||
def get_test_string():
|
||||
return b"test"+os.urandom(10)
|
||||
|
||||
def run_test(sleep_duration):
|
||||
pandas = Panda.list()
|
||||
print(pandas)
|
||||
|
||||
# make sure two pandas are connected
|
||||
if len(pandas) != 2:
|
||||
print("Connect white/grey and black panda to run this test!")
|
||||
assert False
|
||||
|
||||
# connect
|
||||
pandas[0] = Panda(pandas[0])
|
||||
pandas[1] = Panda(pandas[1])
|
||||
|
||||
# find out which one is black
|
||||
type0 = pandas[0].get_type()
|
||||
type1 = pandas[1].get_type()
|
||||
|
||||
black_panda = None
|
||||
other_panda = None
|
||||
|
||||
if type0 == "\x03" and type1 != "\x03":
|
||||
black_panda = pandas[0]
|
||||
other_panda = pandas[1]
|
||||
elif type0 != "\x03" and type1 == "\x03":
|
||||
black_panda = pandas[1]
|
||||
other_panda = pandas[0]
|
||||
else:
|
||||
print("Connect white/grey and black panda to run this test!")
|
||||
assert False
|
||||
|
||||
# disable safety modes
|
||||
black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
|
||||
other_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
|
||||
|
||||
# test health packet
|
||||
print("black panda health", black_panda.health())
|
||||
print("other panda health", other_panda.health())
|
||||
|
||||
# test black -> other
|
||||
test_buses(black_panda, other_panda, True, [(0, False, [0]), (1, False, [1]), (2, False, [2]), (1, True, [0])], sleep_duration)
|
||||
test_buses(black_panda, other_panda, False, [(0, False, [0]), (1, False, [1]), (2, False, [2]), (0, True, [0, 1])], sleep_duration)
|
||||
|
||||
|
||||
def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
|
||||
if direction:
|
||||
print("***************** TESTING (BLACK --> OTHER) *****************")
|
||||
else:
|
||||
print("***************** TESTING (OTHER --> BLACK) *****************")
|
||||
|
||||
for send_bus, obd, recv_buses in test_array:
|
||||
black_panda.send_heartbeat()
|
||||
other_panda.send_heartbeat()
|
||||
print("\ntest can: ", send_bus, " OBD: ", obd)
|
||||
|
||||
# set OBD on black panda
|
||||
black_panda.set_gmlan(True if obd else None)
|
||||
|
||||
# clear and flush
|
||||
if direction:
|
||||
black_panda.can_clear(send_bus)
|
||||
else:
|
||||
other_panda.can_clear(send_bus)
|
||||
|
||||
for recv_bus in recv_buses:
|
||||
if direction:
|
||||
other_panda.can_clear(recv_bus)
|
||||
else:
|
||||
black_panda.can_clear(recv_bus)
|
||||
|
||||
black_panda.can_recv()
|
||||
other_panda.can_recv()
|
||||
|
||||
# send the characters
|
||||
at = random.randint(1, 2000)
|
||||
st = get_test_string()[0:8]
|
||||
if direction:
|
||||
black_panda.can_send(at, st, send_bus)
|
||||
else:
|
||||
other_panda.can_send(at, st, send_bus)
|
||||
time.sleep(0.1)
|
||||
|
||||
# check for receive
|
||||
if direction:
|
||||
cans_echo = black_panda.can_recv()
|
||||
cans_loop = other_panda.can_recv()
|
||||
else:
|
||||
cans_echo = other_panda.can_recv()
|
||||
cans_loop = black_panda.can_recv()
|
||||
|
||||
loop_buses = []
|
||||
for loop in cans_loop:
|
||||
print(" Loop on bus", str(loop[3]))
|
||||
loop_buses.append(loop[3])
|
||||
if len(cans_loop) == 0:
|
||||
print(" No loop")
|
||||
|
||||
# test loop buses
|
||||
recv_buses.sort()
|
||||
loop_buses.sort()
|
||||
assert recv_buses == loop_buses
|
||||
print(" TEST PASSED")
|
||||
|
||||
time.sleep(sleep_duration)
|
||||
print("\n")
|
||||
|
||||
if __name__ == "__main__":
|
||||
parser = argparse.ArgumentParser()
|
||||
parser.add_argument("-n", type=int, help="Number of test iterations to run")
|
||||
parser.add_argument("-sleep", type=int, help="Sleep time between tests", default=0)
|
||||
args = parser.parse_args()
|
||||
|
||||
if args.n is None:
|
||||
while True:
|
||||
run_test(sleep_duration=args.sleep)
|
||||
else:
|
||||
for i in range(args.n):
|
||||
run_test(sleep_duration=args.sleep)
|
||||
@@ -37,6 +37,7 @@ bool get_long_controls_allowed(void);
|
||||
void set_gas_interceptor_detected(bool c);
|
||||
bool get_gas_interceptor_detetcted(void);
|
||||
int get_gas_interceptor_prev(void);
|
||||
int get_hw_type(void);
|
||||
void set_timer(uint32_t t);
|
||||
void reset_angle_control(void);
|
||||
|
||||
@@ -60,6 +61,7 @@ int get_honda_brake_prev(void);
|
||||
int get_honda_gas_prev(void);
|
||||
void set_honda_alt_brake_msg(bool);
|
||||
void set_honda_bosch_hardware(bool);
|
||||
int get_honda_bosch_hardware(void);
|
||||
|
||||
void init_tests_cadillac(void);
|
||||
void set_cadillac_desired_torque_last(int t);
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <stdlib.h>
|
||||
|
||||
typedef struct
|
||||
{
|
||||
@@ -51,6 +52,16 @@ TIM_TypeDef *TIM2 = &timer;
|
||||
#define GET_BYTES_04(msg) ((msg)->RDLR)
|
||||
#define GET_BYTES_48(msg) ((msg)->RDHR)
|
||||
|
||||
// from board_declarations.h
|
||||
#define HW_TYPE_UNKNOWN 0U
|
||||
#define HW_TYPE_WHITE_PANDA 1U
|
||||
#define HW_TYPE_GREY_PANDA 2U
|
||||
#define HW_TYPE_BLACK_PANDA 3U
|
||||
#define HW_TYPE_PEDAL 4U
|
||||
|
||||
// from main_declarations.h
|
||||
uint8_t hw_type = 0U;
|
||||
|
||||
#define UNUSED(x) (void)(x)
|
||||
|
||||
#define PANDA
|
||||
@@ -90,6 +101,10 @@ int get_gas_interceptor_prev(void){
|
||||
return gas_interceptor_prev;
|
||||
}
|
||||
|
||||
int get_hw_type(void){
|
||||
return hw_type;
|
||||
}
|
||||
|
||||
void set_timer(uint32_t t){
|
||||
timer.CNT = t;
|
||||
}
|
||||
@@ -228,7 +243,17 @@ void set_honda_bosch_hardware(bool c){
|
||||
honda_bosch_hardware = c;
|
||||
}
|
||||
|
||||
int get_honda_bosch_hardware(void) {
|
||||
return honda_bosch_hardware;
|
||||
}
|
||||
|
||||
void init_tests(void){
|
||||
// get HW_TYPE from env variable set in test.sh
|
||||
hw_type = atoi(getenv("HW_TYPE"));
|
||||
}
|
||||
|
||||
void init_tests_toyota(void){
|
||||
init_tests();
|
||||
toyota_torque_meas.min = 0;
|
||||
toyota_torque_meas.max = 0;
|
||||
toyota_desired_torque_last = 0;
|
||||
@@ -238,6 +263,7 @@ void init_tests_toyota(void){
|
||||
}
|
||||
|
||||
void init_tests_cadillac(void){
|
||||
init_tests();
|
||||
cadillac_torque_driver.min = 0;
|
||||
cadillac_torque_driver.max = 0;
|
||||
for (int i = 0; i < 4; i++) cadillac_desired_torque_last[i] = 0;
|
||||
@@ -247,6 +273,7 @@ void init_tests_cadillac(void){
|
||||
}
|
||||
|
||||
void init_tests_gm(void){
|
||||
init_tests();
|
||||
gm_torque_driver.min = 0;
|
||||
gm_torque_driver.max = 0;
|
||||
gm_desired_torque_last = 0;
|
||||
@@ -256,6 +283,7 @@ void init_tests_gm(void){
|
||||
}
|
||||
|
||||
void init_tests_hyundai(void){
|
||||
init_tests();
|
||||
hyundai_torque_driver.min = 0;
|
||||
hyundai_torque_driver.max = 0;
|
||||
hyundai_desired_torque_last = 0;
|
||||
@@ -265,6 +293,7 @@ void init_tests_hyundai(void){
|
||||
}
|
||||
|
||||
void init_tests_chrysler(void){
|
||||
init_tests();
|
||||
chrysler_torque_meas.min = 0;
|
||||
chrysler_torque_meas.max = 0;
|
||||
chrysler_desired_torque_last = 0;
|
||||
@@ -274,6 +303,7 @@ void init_tests_chrysler(void){
|
||||
}
|
||||
|
||||
void init_tests_subaru(void){
|
||||
init_tests();
|
||||
subaru_torque_driver.min = 0;
|
||||
subaru_torque_driver.max = 0;
|
||||
subaru_desired_torque_last = 0;
|
||||
@@ -283,6 +313,7 @@ void init_tests_subaru(void){
|
||||
}
|
||||
|
||||
void init_tests_honda(void){
|
||||
init_tests();
|
||||
honda_moving = false;
|
||||
honda_brake_prev = 0;
|
||||
honda_gas_prev = 0;
|
||||
|
||||
@@ -1,2 +1,17 @@
|
||||
#!/usr/bin/env sh
|
||||
python -m unittest discover .
|
||||
|
||||
# Loop over all hardware types:
|
||||
# HW_TYPE_UNKNOWN 0U
|
||||
# HW_TYPE_WHITE_PANDA 1U
|
||||
# HW_TYPE_GREY_PANDA 2U
|
||||
# HW_TYPE_BLACK_PANDA 3U
|
||||
# HW_TYPE_PEDAL 4U
|
||||
|
||||
# Make sure test fails if one HW_TYPE fails
|
||||
set -e
|
||||
|
||||
for hw_type in 0 1 2 3 4
|
||||
do
|
||||
echo "Testing HW_TYPE: $hw_type"
|
||||
HW_TYPE=$hw_type python -m unittest discover .
|
||||
done
|
||||
|
||||
@@ -33,6 +33,10 @@ class TestHondaSafety(unittest.TestCase):
|
||||
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
||||
to_send[0].RIR = msg << 21
|
||||
to_send[0].RDLR = buttons << 5
|
||||
is_panda_black = self.safety.get_hw_type() == 3 # black_panda
|
||||
honda_bosch_hardware = self.safety.get_honda_bosch_hardware()
|
||||
bus = 1 if is_panda_black and honda_bosch_hardware else 0
|
||||
to_send[0].RDTR = bus << 4
|
||||
|
||||
return to_send
|
||||
|
||||
|
||||
@@ -23,16 +23,20 @@ class TestHondaSafety(unittest.TestCase):
|
||||
def test_fwd_hook(self):
|
||||
buss = range(0x0, 0x3)
|
||||
msgs = range(0x1, 0x800)
|
||||
is_panda_black = self.safety.get_hw_type() == 3 # black panda
|
||||
bus_rdr_cam = 2 if is_panda_black else 1
|
||||
bus_rdr_car = 0 if is_panda_black else 2
|
||||
bus_pt = 1 if is_panda_black else 0
|
||||
|
||||
blocked_msgs = [0xE4, 0x33D]
|
||||
for b in buss:
|
||||
for m in msgs:
|
||||
if b == 0:
|
||||
if b == bus_pt:
|
||||
fwd_bus = -1
|
||||
elif b == 1:
|
||||
fwd_bus = -1 if m in blocked_msgs else 2
|
||||
elif b == 2:
|
||||
fwd_bus = 1
|
||||
elif b == bus_rdr_cam:
|
||||
fwd_bus = -1 if m in blocked_msgs else bus_rdr_car
|
||||
elif b == bus_rdr_car:
|
||||
fwd_bus = bus_rdr_cam
|
||||
|
||||
# assume len 8
|
||||
self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
|
||||
|
||||
+3
-1
@@ -3,7 +3,7 @@ set -e
|
||||
|
||||
docker build -t tmppilot -f Dockerfile.openpilot .
|
||||
|
||||
docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/ && ./test_fingerprints.py'
|
||||
docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && cd /tmp/openpilot/selfdrive/test/ && ./test_fingerprints.py'
|
||||
docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda" | grep -vi "^\./tools")'
|
||||
docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda" | grep -vi "^\./tools"); exit $(($? & 3))'
|
||||
docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover common'
|
||||
@@ -12,3 +12,5 @@ docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && pyt
|
||||
docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/controls'
|
||||
docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && python -m unittest discover selfdrive/loggerd'
|
||||
docker run --rm -v "$(pwd)"/selfdrive/test/tests/plant/out:/tmp/openpilot/selfdrive/test/tests/plant/out tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/tests/plant && OPTEST=1 ./test_longitudinal.py'
|
||||
docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && cd /tmp/openpilot/selfdrive/test/tests/process_replay/ && ./test_processes.py'
|
||||
docker run --rm tmppilot /bin/sh -c 'mkdir -p /data/params && cd /tmp/openpilot/ && make -C cereal && cd /tmp/openpilot/selfdrive/test/ && ./test_car_models_openpilot.py'
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -21,6 +21,7 @@ from selfdrive.loggerd.config import ROOT
|
||||
|
||||
import selfdrive.crash as crash
|
||||
import selfdrive.messaging as messaging
|
||||
from common.api import Api
|
||||
from common.params import Params
|
||||
from selfdrive.services import service_list
|
||||
from selfdrive.swaglog import cloudlog
|
||||
@@ -225,19 +226,21 @@ def backoff(retries):
|
||||
def main(gctx=None):
|
||||
params = Params()
|
||||
dongle_id = params.get("DongleId")
|
||||
access_token = params.get("AccessToken")
|
||||
ws_uri = ATHENA_HOST + "/ws/" + dongle_id
|
||||
ws_uri = ATHENA_HOST + "/ws/v2/" + dongle_id
|
||||
|
||||
crash.bind_user(id=dongle_id)
|
||||
crash.bind_extra(version=version, dirty=dirty, is_eon=True)
|
||||
crash.install()
|
||||
|
||||
private_key = open("/persist/comma/id_rsa").read()
|
||||
api = Api(dongle_id, private_key)
|
||||
|
||||
conn_retries = 0
|
||||
while 1:
|
||||
try:
|
||||
print("connecting to %s" % ws_uri)
|
||||
ws = create_connection(ws_uri,
|
||||
cookie="jwt=" + access_token,
|
||||
cookie="jwt=" + api.get_token(),
|
||||
enable_multithread=True)
|
||||
ws.settimeout(1)
|
||||
conn_retries = 0
|
||||
|
||||
+51
-15
@@ -59,7 +59,8 @@ pthread_mutex_t usb_lock;
|
||||
bool spoofing_started = false;
|
||||
bool fake_send = false;
|
||||
bool loopback_can = false;
|
||||
bool is_grey_panda = false;
|
||||
cereal::HealthData::HwType hw_type = cereal::HealthData::HwType::UNKNOWN;
|
||||
bool is_pigeon = false;
|
||||
|
||||
pthread_t safety_setter_thread_handle = -1;
|
||||
pthread_t pigeon_thread_handle = -1;
|
||||
@@ -69,6 +70,29 @@ void pigeon_init();
|
||||
void *pigeon_thread(void *crap);
|
||||
|
||||
void *safety_setter_thread(void *s) {
|
||||
char *value_vin;
|
||||
size_t value_vin_sz = 0;
|
||||
|
||||
// switch to no_output when CarVin param is read
|
||||
while (1) {
|
||||
if (do_exit) return NULL;
|
||||
const int result = read_db_value(NULL, "CarVin", &value_vin, &value_vin_sz);
|
||||
if (value_vin_sz > 0) {
|
||||
// sanity check VIN format
|
||||
assert(value_vin_sz == 17);
|
||||
break;
|
||||
}
|
||||
usleep(100*1000);
|
||||
}
|
||||
LOGW("got CarVin %s", value_vin);
|
||||
|
||||
pthread_mutex_lock(&usb_lock);
|
||||
|
||||
// VIN qury done, stop listening to OBDII
|
||||
libusb_control_transfer(dev_handle, 0x40, 0xdc, SAFETY_NOOUTPUT, 0, NULL, 0, TIMEOUT);
|
||||
|
||||
pthread_mutex_unlock(&usb_lock);
|
||||
|
||||
char *value;
|
||||
size_t value_sz = 0;
|
||||
|
||||
@@ -151,7 +175,7 @@ void *safety_setter_thread(void *s) {
|
||||
// must be called before threads or with mutex
|
||||
bool usb_connect() {
|
||||
int err;
|
||||
unsigned char is_pigeon[1] = {0};
|
||||
unsigned char hw_query[1] = {0};
|
||||
|
||||
dev_handle = libusb_open_device_with_vid_pid(ctx, 0xbbaa, 0xddcc);
|
||||
if (dev_handle == NULL) { goto fail; }
|
||||
@@ -184,11 +208,12 @@ bool usb_connect() {
|
||||
assert(err == 0);
|
||||
}
|
||||
|
||||
libusb_control_transfer(dev_handle, 0xc0, 0xc1, 0, 0, is_pigeon, 1, TIMEOUT);
|
||||
libusb_control_transfer(dev_handle, 0xc0, 0xc1, 0, 0, hw_query, 1, TIMEOUT);
|
||||
|
||||
if (is_pigeon[0]) {
|
||||
LOGW("grey panda detected");
|
||||
is_grey_panda = true;
|
||||
hw_type = (cereal::HealthData::HwType)(hw_query[0]);
|
||||
is_pigeon = (hw_type == cereal::HealthData::HwType::GREY_PANDA) || (hw_type == cereal::HealthData::HwType::BLACK_PANDA);
|
||||
if (is_pigeon) {
|
||||
LOGW("panda with gps detected");
|
||||
pigeon_needs_init = true;
|
||||
if (pigeon_thread_handle == -1) {
|
||||
err = pthread_create(&pigeon_thread_handle, NULL, pigeon_thread, NULL);
|
||||
@@ -280,12 +305,13 @@ void can_health(void *s) {
|
||||
struct __attribute__((packed)) health {
|
||||
uint32_t voltage;
|
||||
uint32_t current;
|
||||
uint8_t started;
|
||||
uint8_t controls_allowed;
|
||||
uint8_t gas_interceptor_detected;
|
||||
uint32_t can_send_errs;
|
||||
uint32_t can_fwd_errs;
|
||||
uint32_t gmlan_send_errs;
|
||||
uint8_t started;
|
||||
uint8_t controls_allowed;
|
||||
uint8_t gas_interceptor_detected;
|
||||
uint8_t car_harness_status_pkt;
|
||||
} health;
|
||||
|
||||
// recv from board
|
||||
@@ -293,7 +319,9 @@ void can_health(void *s) {
|
||||
|
||||
do {
|
||||
cnt = libusb_control_transfer(dev_handle, 0xc0, 0xd2, 0, 0, (unsigned char*)&health, sizeof(health), TIMEOUT);
|
||||
if (cnt != sizeof(health)) { handle_usb_issue(cnt, __func__); }
|
||||
if (cnt != sizeof(health)) {
|
||||
handle_usb_issue(cnt, __func__);
|
||||
}
|
||||
} while(cnt != sizeof(health));
|
||||
|
||||
pthread_mutex_unlock(&usb_lock);
|
||||
@@ -314,15 +342,23 @@ void can_health(void *s) {
|
||||
}
|
||||
healthData.setControlsAllowed(health.controls_allowed);
|
||||
healthData.setGasInterceptorDetected(health.gas_interceptor_detected);
|
||||
healthData.setIsGreyPanda(is_grey_panda);
|
||||
healthData.setHasGps(is_pigeon);
|
||||
healthData.setCanSendErrs(health.can_send_errs);
|
||||
healthData.setCanFwdErrs(health.can_fwd_errs);
|
||||
healthData.setGmlanSendErrs(health.gmlan_send_errs);
|
||||
healthData.setHwType(hw_type);
|
||||
|
||||
// send to health
|
||||
auto words = capnp::messageToFlatArray(msg);
|
||||
auto bytes = words.asBytes();
|
||||
zmq_send(s, bytes.begin(), bytes.size(), 0);
|
||||
|
||||
pthread_mutex_lock(&usb_lock);
|
||||
|
||||
// send heartbeat back to panda
|
||||
libusb_control_transfer(dev_handle, 0x40, 0xf3, 1, 0, NULL, 0, TIMEOUT);
|
||||
|
||||
pthread_mutex_unlock(&usb_lock);
|
||||
}
|
||||
|
||||
|
||||
@@ -447,10 +483,10 @@ void *can_health_thread(void *crap) {
|
||||
void *publisher = zmq_socket(context, ZMQ_PUB);
|
||||
zmq_bind(publisher, "tcp://*:8011");
|
||||
|
||||
// run at 1hz
|
||||
// run at 2hz
|
||||
while (!do_exit) {
|
||||
can_health(publisher);
|
||||
usleep(1000*1000);
|
||||
usleep(500*1000);
|
||||
}
|
||||
return NULL;
|
||||
}
|
||||
@@ -502,7 +538,7 @@ void pigeon_set_baud(int baud) {
|
||||
|
||||
void pigeon_init() {
|
||||
usleep(1000*1000);
|
||||
LOGW("grey panda start");
|
||||
LOGW("panda GPS start");
|
||||
|
||||
// power off pigeon
|
||||
pigeon_set_power(0);
|
||||
@@ -543,7 +579,7 @@ void pigeon_init() {
|
||||
pigeon_send("\xB5\x62\x06\x01\x03\x00\x02\x15\x01\x22\x70");
|
||||
pigeon_send("\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C");
|
||||
|
||||
LOGW("grey panda is ready to fly");
|
||||
LOGW("panda GPS on");
|
||||
}
|
||||
|
||||
static void pigeon_publish_raw(void *publisher, unsigned char *dat, int alen) {
|
||||
|
||||
@@ -16,40 +16,39 @@ class TestPackerMethods(unittest.TestCase):
|
||||
def test_correctness(self):
|
||||
# Test all commands, randomize the params.
|
||||
for _ in xrange(1000):
|
||||
is_panda_black = False
|
||||
car_fingerprint = HONDA_BOSCH[0]
|
||||
|
||||
apply_brake = (random.randint(0, 2) % 2 == 0)
|
||||
pump_on = (random.randint(0, 2) % 2 == 0)
|
||||
pcm_override = (random.randint(0, 2) % 2 == 0)
|
||||
pcm_cancel_cmd = (random.randint(0, 2) % 2 == 0)
|
||||
chime = random.randint(0, 65536)
|
||||
fcw = random.randint(0, 65536)
|
||||
idx = random.randint(0, 65536)
|
||||
m_old = hondacan.create_brake_command(self.honda_cp_old, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, chime, fcw, idx)
|
||||
m = hondacan.create_brake_command(self.honda_cp, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, chime, fcw, idx)
|
||||
m_old = hondacan.create_brake_command(self.honda_cp_old, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, is_panda_black)
|
||||
m = hondacan.create_brake_command(self.honda_cp, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, is_panda_black)
|
||||
self.assertEqual(m_old, m)
|
||||
|
||||
apply_steer = (random.randint(0, 2) % 2 == 0)
|
||||
lkas_active = (random.randint(0, 2) % 2 == 0)
|
||||
car_fingerprint = HONDA_BOSCH[0]
|
||||
idx = random.randint(0, 65536)
|
||||
m_old = hondacan.create_steering_control(self.honda_cp_old, apply_steer, lkas_active, car_fingerprint, idx)
|
||||
m = hondacan.create_steering_control(self.honda_cp, apply_steer, lkas_active, car_fingerprint, idx)
|
||||
m_old = hondacan.create_steering_control(self.honda_cp_old, apply_steer, lkas_active, car_fingerprint, idx, is_panda_black)
|
||||
m = hondacan.create_steering_control(self.honda_cp, apply_steer, lkas_active, car_fingerprint, idx, is_panda_black)
|
||||
self.assertEqual(m_old, m)
|
||||
|
||||
pcm_speed = random.randint(0, 65536)
|
||||
hud = HUDData(random.randint(0, 65536), random.randint(0, 65536), 1, random.randint(0, 65536),
|
||||
0xc1, random.randint(0, 65536), random.randint(0, 65536), random.randint(0, 65536),
|
||||
random.randint(0, 65536), random.randint(0, 65536), random.randint(0, 65536))
|
||||
car_fingerprint = HONDA_BOSCH[0]
|
||||
0xc1, random.randint(0, 65536), random.randint(0, 65536), random.randint(0, 65536), random.randint(0, 65536))
|
||||
idx = random.randint(0, 65536)
|
||||
is_metric = (random.randint(0, 2) % 2 == 0)
|
||||
m_old = hondacan.create_ui_commands(self.honda_cp_old, pcm_speed, hud, car_fingerprint, is_metric, idx)
|
||||
m = hondacan.create_ui_commands(self.honda_cp, pcm_speed, hud, car_fingerprint, is_metric, idx)
|
||||
m_old = hondacan.create_ui_commands(self.honda_cp_old, pcm_speed, hud, car_fingerprint, is_metric, idx, is_panda_black)
|
||||
m = hondacan.create_ui_commands(self.honda_cp, pcm_speed, hud, car_fingerprint, is_metric, idx, is_panda_black)
|
||||
self.assertEqual(m_old, m)
|
||||
|
||||
button_val = random.randint(0, 65536)
|
||||
idx = random.randint(0, 65536)
|
||||
m_old = hondacan.spam_buttons_command(self.honda_cp_old, button_val, idx)
|
||||
m = hondacan.spam_buttons_command(self.honda_cp, button_val, idx)
|
||||
m_old = hondacan.spam_buttons_command(self.honda_cp_old, button_val, idx, car_fingerprint, is_panda_black)
|
||||
m = hondacan.spam_buttons_command(self.honda_cp, button_val, idx, car_fingerprint, is_panda_black)
|
||||
self.assertEqual(m_old, m)
|
||||
|
||||
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user