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34 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Willem Melching
|
58f376002e | ||
|
Willem Melching
|
b0563a5968 | ||
|
Vehicle Researcher
|
61229779e4 | ||
|
Vehicle Researcher
|
af4f9f1f31 | ||
|
Vehicle Researcher
|
d2b3ed0ec7 | ||
|
Vehicle Researcher
|
4dc51cfea6 | ||
|
Vehicle Researcher
|
876256a268 | ||
|
Vehicle Researcher
|
f274a8e3b0 | ||
|
Vehicle Researcher
|
df46400d6d | ||
|
heitikender
|
da42760e55 | ||
|
Ted Slesinski
|
f6531a9d08 | ||
|
Ted Slesinski
|
c73464f67f | ||
|
wocsor
|
4d5d709bea | ||
|
Vehicle Researcher
|
d5f9caa82d | ||
|
Vehicle Researcher
|
cb0ee932c4 | ||
|
Vehicle Researcher
|
6a61788682 | ||
|
Vehicle Researcher
|
9955b3c806 | ||
|
Vehicle Researcher
|
ead59a5a61 | ||
|
Vehicle Researcher
|
a1ec1c089e | ||
|
Vehicle Researcher
|
a1f069c6d8 | ||
|
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 |
@@ -39,5 +39,6 @@ selfdrive/sensord/sensord
|
||||
|
||||
one
|
||||
openpilot
|
||||
notebooks
|
||||
xx
|
||||
|
||||
|
||||
@@ -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": [
|
||||
|
||||
@@ -58,64 +58,70 @@ Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` dur
|
||||
Supported Cars
|
||||
------
|
||||
|
||||
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below | Giraffe |
|
||||
| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
|
||||
| Acura | ILX 2016-18 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph | Nidec |
|
||||
| Acura | RDX 2016-18 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
|
||||
| Buick<sup>3</sup> | Regal 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
|
||||
| Chevrolet<sup>3</sup>| Malibu 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
|
||||
| Chevrolet<sup>3</sup>| Volt 2017-18 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
|
||||
| Cadillac<sup>3</sup> | ATS 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
|
||||
| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
|
||||
| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
|
||||
| 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 | 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 |
|
||||
| Honda | CR-V 2015-16 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
|
||||
| Honda | CR-V 2017-19 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
|
||||
| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
|
||||
| Honda | Odyssey 2018-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph | Inverted Nidec |
|
||||
| Honda | Passport 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
|
||||
| Honda | Pilot 2016-18 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
|
||||
| Honda | Pilot 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
|
||||
| Honda | Ridgeline 2017-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
|
||||
| Hyundai | Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
|
||||
| Hyundai | Elantra 2017-19 | SCC + LKAS | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
|
||||
| Hyundai | Genesis 2018 | All | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
|
||||
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
|
||||
| Jeep | Grand Cherokee 2019 | Adaptive Cruise | Yes | Stock | 0mph | 39mph | FCA |
|
||||
| Kia | Optima 2019 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
|
||||
| Kia | Sorento 2018 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
|
||||
| Kia | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
|
||||
| Lexus | ES Hybrid 2019 | All | Yes | Yes | 0mph | 0mph | Toyota |
|
||||
| Lexus | RX Hybrid 2016-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
|
||||
| Subaru | Crosstrek 2018 | EyeSight | Yes | Stock | 0mph | 0mph | Custom<sup>4</sup>|
|
||||
| Subaru | Impreza 2019 | EyeSight | Yes | Stock | 0mph | 0mph | Custom<sup>4</sup>|
|
||||
| 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 | C-HR 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 | 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 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
|
||||
| Toyota | Sienna 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
|
||||
| Make | Model (US Market Reference)| Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below | Giraffe |
|
||||
| ---------------------| ---------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
|
||||
| Acura | ILX 2016-18 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph | Nidec |
|
||||
| Acura | RDX 2016-18 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
|
||||
| Buick<sup>3</sup> | Regal 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
|
||||
| Chevrolet<sup>3</sup>| Malibu 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
|
||||
| Chevrolet<sup>3</sup>| Volt 2017-18 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
|
||||
| Cadillac<sup>3</sup> | ATS 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
|
||||
| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
|
||||
| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
|
||||
| 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 2018-19 | 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 |
|
||||
| Honda | CR-V 2015-16 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
|
||||
| Honda | CR-V 2017-19 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
|
||||
| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
|
||||
| Honda | Odyssey 2018-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph | Inverted Nidec |
|
||||
| Honda | Passport 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
|
||||
| Honda | Pilot 2016-18 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
|
||||
| Honda | Pilot 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
|
||||
| Honda | Ridgeline 2017-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
|
||||
| Hyundai | Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
|
||||
| Hyundai | Elantra 2017-19 | SCC + LKAS | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
|
||||
| Hyundai | Genesis 2018 | All | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
|
||||
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
|
||||
| Jeep | Grand Cherokee 2019 | Adaptive Cruise | Yes | Stock | 0mph | 39mph | FCA |
|
||||
| Kia | Optima 2019 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
|
||||
| Kia | Sorento 2018 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
|
||||
| Kia | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
|
||||
| Lexus | ES Hybrid 2019 | All | Yes | Yes | 0mph | 0mph | Toyota |
|
||||
| Lexus | RX Hybrid 2016-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
|
||||
| Lexus | IS 2017-2019 | All | Yes | Stock | 22mph | 0mph | Toyota |
|
||||
| Lexus | IS Hybrid 2017 | All | Yes | Stock | 0mph | 0mph | Toyota |
|
||||
| Subaru | Crosstrek 2018 | EyeSight | Yes | Stock | 0mph | 0mph | Custom<sup>4</sup>|
|
||||
| Subaru | Impreza 2019 | EyeSight | Yes | Stock | 0mph | 0mph | Custom<sup>4</sup>|
|
||||
| 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 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 |
|
||||
|
||||
<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai).*** <br />
|
||||
<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). <br />
|
||||
<sup>3</sup>[GM installation guide](https://zoneos.com/volt/). <br />
|
||||
<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
|
||||
<sup>3</sup>[GM installation guide](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
|
||||
<sup>4</sup>Subaru Giraffe is DIY. <br />
|
||||
<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed for the 2019 Sante Fe; pinout may differ for other Hyundais. <br />
|
||||
@@ -126,10 +132,8 @@ Community Maintained Cars
|
||||
|
||||
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below | Giraffe |
|
||||
| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
|
||||
| Honda | Fit 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
|
||||
| Tesla | Model S 2012-13 | All | Yes | Not yet | Not applicable | 0mph | Custom<sup>8</sup>|
|
||||
|
||||
[[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266). <br />
|
||||
[[Tesla Model S Pull Request]](https://github.com/commaai/openpilot/pull/246) <br />
|
||||
<sup>8</sup>Community built Giraffe, find more information here [Community Tesla Giraffe](https://github.com/jeankalud/neo/tree/tesla_giraffe/giraffe/tesla) <br />
|
||||
|
||||
@@ -138,10 +142,10 @@ Community Maintained Cars are not confirmed by comma.ai to meet our [safety mode
|
||||
In Progress Cars
|
||||
------
|
||||
- All TSS-P Toyota with Steering Assist and LSS-P Lexus with Steering Assist or Lane Keep Assist.
|
||||
- Only remaining Toyota cars with no port yet are the Avalon and the Sienna.
|
||||
- All Hyundai with SmartSense.
|
||||
- All Kia with SCC and LKAS.
|
||||
- All Chrysler, Jeep, Fiat with Adaptive Cruise Control and LaneSense.
|
||||
- All Subaru with EyeSight.
|
||||
|
||||
How can I add support for my car?
|
||||
------
|
||||
|
||||
+33
@@ -1,3 +1,36 @@
|
||||
Version 0.6.4 (2019-09-08)
|
||||
========================
|
||||
* Forward stock AEB for Honda Nidec
|
||||
* Improve lane centering on banked roads
|
||||
* Always-on forward collision warning
|
||||
* Always-on driver monitoring, except for right hand drive countries
|
||||
* Driver monitoring learns the user's normal driving position
|
||||
* Honda Fit support thanks to energee!
|
||||
* Lexus IS support
|
||||
|
||||
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 +78,10 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
commIssue @53;
|
||||
tooDistracted @54;
|
||||
posenetInvalid @55;
|
||||
soundsUnavailable @56;
|
||||
preLaneChangeLeft @57;
|
||||
preLaneChangeRight @58;
|
||||
laneChange @59;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -109,6 +113,7 @@ 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
|
||||
@@ -298,6 +303,7 @@ struct CarParams {
|
||||
minEnableSpeed @7 :Float32;
|
||||
minSteerSpeed @8 :Float32;
|
||||
safetyModel @9 :SafetyModel;
|
||||
safetyModelPassive @42 :SafetyModel = noOutput;
|
||||
safetyParam @10 :Int16;
|
||||
|
||||
steerMaxBP @11 :List(Float32);
|
||||
@@ -324,6 +330,7 @@ struct CarParams {
|
||||
lateralTuning :union {
|
||||
pid @26 :LateralPIDTuning;
|
||||
indi @27 :LateralINDITuning;
|
||||
lqr @40 :LateralLQRTuning;
|
||||
}
|
||||
|
||||
steerLimitAlert @28 :Bool;
|
||||
@@ -339,6 +346,8 @@ 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;
|
||||
dashcamOnly @41: Bool;
|
||||
|
||||
struct LateralPIDTuning {
|
||||
kpBP @0 :List(Float32);
|
||||
@@ -365,6 +374,20 @@ 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
|
||||
@@ -380,6 +403,7 @@ struct CarParams {
|
||||
chrysler @9;
|
||||
tesla @10;
|
||||
subaru @11;
|
||||
gmPassive @12;
|
||||
}
|
||||
|
||||
enum SteerControlType {
|
||||
|
||||
+57
-5
@@ -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 {
|
||||
@@ -437,9 +439,10 @@ 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;
|
||||
angleModelBiasDEPRECATED @27 :Float32;
|
||||
gpsPlannerActive @40 :Bool;
|
||||
engageable @41 :Bool; # can OP be engaged?
|
||||
driverMonitoringOn @43 :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 +511,15 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
saturated @8 :Bool;
|
||||
}
|
||||
|
||||
struct LateralLQRState {
|
||||
active @0 :Bool;
|
||||
steerAngle @1 :Float32;
|
||||
i @2 :Float32;
|
||||
output @3 :Float32;
|
||||
lqrOutput @4 :Float32;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
struct LiveEventData {
|
||||
@@ -514,6 +529,7 @@ struct LiveEventData {
|
||||
|
||||
struct ModelData {
|
||||
frameId @0 :UInt32;
|
||||
timestampEof @9 :UInt64;
|
||||
|
||||
path @1 :PathData;
|
||||
leftLane @2 :PathData;
|
||||
@@ -660,6 +676,7 @@ struct Plan {
|
||||
mpc1 @1;
|
||||
mpc2 @2;
|
||||
mpc3 @3;
|
||||
model @4;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -683,6 +700,32 @@ struct PathPlan {
|
||||
sensorValid @14 :Bool;
|
||||
commIssue @15 :Bool;
|
||||
posenetValid @16 :Bool;
|
||||
desire @17 :Desire;
|
||||
laneChangeState @18 :LaneChangeState;
|
||||
laneChangeDirection @19 :LaneChangeDirection;
|
||||
|
||||
enum Desire {
|
||||
none @0;
|
||||
turnLeft @1;
|
||||
turnRight @2;
|
||||
laneChangeLeft @3;
|
||||
laneChangeRight @4;
|
||||
keepLeft @5;
|
||||
keepRight @6;
|
||||
}
|
||||
|
||||
enum LaneChangeState {
|
||||
off @0;
|
||||
preLaneChange @1;
|
||||
laneChangeStarting @2;
|
||||
laneChangeFinishing @3;
|
||||
}
|
||||
|
||||
enum LaneChangeDirection {
|
||||
none @0;
|
||||
left @1;
|
||||
right @2;
|
||||
}
|
||||
}
|
||||
|
||||
struct LiveLocationData {
|
||||
@@ -1661,8 +1704,15 @@ 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 {
|
||||
@@ -1705,6 +1755,8 @@ struct LiveMapData {
|
||||
}
|
||||
|
||||
struct CameraOdometry {
|
||||
frameId @4 :UInt32;
|
||||
timestampEof @5 :UInt64;
|
||||
trans @0 :List(Float32); # m/s in device frame
|
||||
rot @1 :List(Float32); # rad/s in device frame
|
||||
transStd @2 :List(Float32); # std m/s in device frame
|
||||
|
||||
@@ -1,7 +1,34 @@
|
||||
import jwt
|
||||
import requests
|
||||
from datetime import datetime, timedelta
|
||||
|
||||
from selfdrive.version import version
|
||||
|
||||
class Api(object):
|
||||
def __init__(self, dongle_id):
|
||||
self.dongle_id = dongle_id
|
||||
with open('/persist/comma/id_rsa') as f:
|
||||
self.private_key = f.read()
|
||||
|
||||
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):
|
||||
now = datetime.utcnow()
|
||||
payload = {
|
||||
'identity': self.dongle_id,
|
||||
'nbf': now,
|
||||
'iat': now,
|
||||
'exp': now + timedelta(hours=1)
|
||||
}
|
||||
return jwt.encode(payload, self.private_key, algorithm='RS256')
|
||||
|
||||
def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
|
||||
backend = "https://api.commadotai.com/"
|
||||
|
||||
|
||||
+4
-13
@@ -24,21 +24,12 @@ def rm_tree_or_link(path):
|
||||
shutil.rmtree(path)
|
||||
|
||||
def get_tmpdir_on_same_filesystem(path):
|
||||
# TODO(mgraczyk): HACK, we should actually check for which filesystem.
|
||||
normpath = os.path.normpath(path)
|
||||
parts = normpath.split("/")
|
||||
if len(parts) > 1:
|
||||
if parts[1].startswith("raid") or parts[1].startswith("datasets"):
|
||||
if len(parts) > 2 and parts[2] == "runner":
|
||||
return "/{}/runner/tmp".format(parts[1])
|
||||
elif len(parts) > 2 and parts[2] == "aws":
|
||||
return "/{}/aws/tmp".format(parts[1])
|
||||
else:
|
||||
return "/{}/tmp".format(parts[1])
|
||||
elif parts[1] == "aws":
|
||||
return "/aws/tmp"
|
||||
elif parts[1] == "scratch":
|
||||
return "/scratch/tmp"
|
||||
if len(parts) > 1 and parts[1] == "scratch":
|
||||
return "/scratch/tmp"
|
||||
elif len(parts) > 2 and parts[2] == "runner":
|
||||
return "/{}/runner/tmp".format(parts[1])
|
||||
return "/tmp"
|
||||
|
||||
class AutoMoveTempdir(object):
|
||||
|
||||
@@ -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()
|
||||
+15
-2
@@ -27,6 +27,7 @@ import sys
|
||||
import shutil
|
||||
import fcntl
|
||||
import tempfile
|
||||
import threading
|
||||
from enum import Enum
|
||||
|
||||
|
||||
@@ -53,6 +54,7 @@ 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],
|
||||
@@ -62,14 +64,14 @@ keys = {
|
||||
"GitCommit": [TxType.PERSISTENT],
|
||||
"GitRemote": [TxType.PERSISTENT],
|
||||
"HasAcceptedTerms": [TxType.PERSISTENT],
|
||||
"IsDriverMonitoringEnabled": [TxType.PERSISTENT],
|
||||
"IsFcwEnabled": [TxType.PERSISTENT],
|
||||
"IsGeofenceEnabled": [TxType.PERSISTENT],
|
||||
"IsMetric": [TxType.PERSISTENT],
|
||||
"IsRHD": [TxType.PERSISTENT],
|
||||
"IsUpdateAvailable": [TxType.PERSISTENT],
|
||||
"IsUploadRawEnabled": [TxType.PERSISTENT],
|
||||
"IsUploadVideoOverCellularEnabled": [TxType.PERSISTENT],
|
||||
"LimitSetSpeed": [TxType.PERSISTENT],
|
||||
"LimitSetSpeedNeural": [TxType.PERSISTENT],
|
||||
"LiveParameters": [TxType.PERSISTENT],
|
||||
"LongitudinalControl": [TxType.PERSISTENT],
|
||||
"Passive": [TxType.PERSISTENT],
|
||||
@@ -344,6 +346,17 @@ class Params(object):
|
||||
|
||||
write_db(self.db, key, dat)
|
||||
|
||||
|
||||
def put_nonblocking(key, val):
|
||||
def f(key, val):
|
||||
params = Params()
|
||||
params.put(key, val)
|
||||
|
||||
t = threading.Thread(target=f, args=(key, val))
|
||||
t.start()
|
||||
return t
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
params = Params()
|
||||
if len(sys.argv) > 2:
|
||||
|
||||
@@ -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()
|
||||
|
||||
@@ -0,0 +1,73 @@
|
||||
import numpy as np
|
||||
|
||||
class RunningStat():
|
||||
# tracks realtime mean and standard deviation without storing any data
|
||||
def __init__(self, priors=None, max_trackable=-1):
|
||||
self.max_trackable = max_trackable
|
||||
if priors is not None:
|
||||
# initialize from history
|
||||
self.M = priors[0]
|
||||
self.S = priors[1]
|
||||
self.n = priors[2]
|
||||
self.M_last = self.M
|
||||
self.S_last = self.S
|
||||
|
||||
else:
|
||||
self.reset()
|
||||
|
||||
def reset(self):
|
||||
self.M = 0.
|
||||
self.S = 0.
|
||||
self.M_last = 0.
|
||||
self.S_last = 0.
|
||||
self.n = 0
|
||||
|
||||
def push_data(self, new_data):
|
||||
# short term memory hack
|
||||
if self.max_trackable < 0 or self.n < self.max_trackable:
|
||||
self.n += 1
|
||||
if self.n == 0:
|
||||
self.M_last = new_data
|
||||
self.M = self.M_last
|
||||
self.S_last = 0.
|
||||
else:
|
||||
self.M = self.M_last + (new_data - self.M_last) / self.n
|
||||
self.S = self.S_last + (new_data - self.M_last) * (new_data - self.M);
|
||||
self.M_last = self.M
|
||||
self.S_last = self.S
|
||||
|
||||
def mean(self):
|
||||
return self.M
|
||||
|
||||
def variance(self):
|
||||
if self.n >= 2:
|
||||
return self.S / (self.n - 1.)
|
||||
else:
|
||||
return 0
|
||||
|
||||
def std(self):
|
||||
return np.sqrt(self.variance())
|
||||
|
||||
def params_to_save(self):
|
||||
return [self.M, self.S, self.n]
|
||||
|
||||
class RunningStatFilter():
|
||||
def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1):
|
||||
self.raw_stat = RunningStat(raw_priors, max_trackable)
|
||||
self.filtered_stat = RunningStat(filtered_priors, max_trackable)
|
||||
|
||||
def reset(self):
|
||||
self.raw_stat.reset()
|
||||
self.filtered_stat.reset()
|
||||
|
||||
def push_and_update(self, new_data):
|
||||
_std_last = self.raw_stat.std()
|
||||
self.raw_stat.push_data(new_data)
|
||||
_delta_std = self.raw_stat.std() - _std_last
|
||||
if _delta_std<=0:
|
||||
self.filtered_stat.push_data(new_data)
|
||||
else:
|
||||
pass
|
||||
# self.filtered_stat.push_data(self.filtered_stat.mean())
|
||||
|
||||
# class SequentialBayesian():
|
||||
@@ -154,17 +154,40 @@ def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
|
||||
W_border: size[1] - W_border]
|
||||
|
||||
|
||||
def get_camera_frame_from_calib_frame(camera_frame_from_road_frame):
|
||||
camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
|
||||
calib_frame_from_ground = np.dot(eon_intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, 1.22))[:, (0, 1, 3)]
|
||||
ground_from_calib_frame = np.linalg.inv(calib_frame_from_ground)
|
||||
camera_frame_from_calib_frame = np.dot(camera_frame_from_ground, ground_from_calib_frame)
|
||||
return camera_frame_from_calib_frame
|
||||
|
||||
|
||||
def pretransform_from_calib(calib):
|
||||
roll, pitch, yaw, height = calib
|
||||
view_frame_from_road_frame = get_view_frame_from_road_frame(roll, pitch, yaw, height)
|
||||
camera_frame_from_road_frame = np.dot(eon_intrinsics, view_frame_from_road_frame)
|
||||
camera_frame_from_calib_frame = get_camera_frame_from_calib_frame(camera_frame_from_road_frame)
|
||||
return np.linalg.inv(camera_frame_from_calib_frame)
|
||||
|
||||
|
||||
def transform_img(base_img,
|
||||
augment_trans=np.array([0,0,0]),
|
||||
augment_eulers=np.array([0,0,0]),
|
||||
from_intr=eon_intrinsics,
|
||||
to_intr=eon_intrinsics,
|
||||
calib_rot_view=None,
|
||||
output_size=None,
|
||||
pretransform=None,
|
||||
top_hacks=True):
|
||||
top_hacks=False,
|
||||
yuv=False,
|
||||
alpha=1.0,
|
||||
beta=0,
|
||||
blur=0):
|
||||
import cv2
|
||||
|
||||
if yuv:
|
||||
base_img = cv2.cvtColor(base_img, cv2.COLOR_YUV2RGB_I420)
|
||||
|
||||
size = base_img.shape[:2]
|
||||
if not output_size:
|
||||
output_size = size[::-1]
|
||||
@@ -180,8 +203,6 @@ def transform_img(base_img,
|
||||
h*np.ones(4),
|
||||
h/quadrangle_norm[:,1]))
|
||||
rot = orient.rot_from_euler(augment_eulers)
|
||||
if calib_rot_view is not None:
|
||||
rot = calib_rot_view.dot(rot)
|
||||
to_extrinsics = np.hstack((rot.T, -augment_trans[:,None]))
|
||||
to_KE = to_intr.dot(to_extrinsics)
|
||||
warped_quadrangle_full = np.einsum('jk,ik->ij', to_KE, np.hstack((quadrangle_world, np.ones((4,1)))))
|
||||
@@ -202,7 +223,19 @@ def transform_img(base_img,
|
||||
M = M.dot(pretransform)
|
||||
augmented_rgb[:cyy] = cv2.warpPerspective(base_img, M, (output_size[0], cyy), borderMode=cv2.BORDER_REPLICATE)
|
||||
|
||||
return augmented_rgb
|
||||
# brightness and contrast augment
|
||||
augmented_rgb = np.clip((float(alpha)*augmented_rgb + beta), 0, 255).astype(np.uint8)
|
||||
|
||||
# gaussian blur
|
||||
if blur > 0:
|
||||
augmented_rgb = cv2.GaussianBlur(augmented_rgb,(blur*2+1,blur*2+1),cv2.BORDER_DEFAULT)
|
||||
|
||||
if yuv:
|
||||
augmented_img = cv2.cvtColor(augmented_rgb, cv2.COLOR_RGB2YUV_I420)
|
||||
else:
|
||||
augmented_img = augmented_rgb
|
||||
return augmented_img
|
||||
|
||||
|
||||
def yuv_crop(frame, output_size, center=None):
|
||||
# output_size in camera coordinates so u,v
|
||||
|
||||
@@ -1,8 +1,8 @@
|
||||
import numpy as np
|
||||
|
||||
from common.transformations.camera import eon_focal_length, \
|
||||
vp_from_ke, get_view_frame_from_road_frame, \
|
||||
FULL_FRAME_SIZE
|
||||
from common.transformations.camera import (FULL_FRAME_SIZE, eon_focal_length,
|
||||
get_view_frame_from_road_frame,
|
||||
vp_from_ke)
|
||||
|
||||
# segnet
|
||||
|
||||
|
||||
+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.
+142
-47
@@ -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 {
|
||||
|
||||
@@ -113,11 +117,19 @@ size_t download_file_write(void *ptr, size_t size, size_t nmeb, void *up) {
|
||||
return fwrite(ptr, size, nmeb, (FILE*)up);
|
||||
}
|
||||
|
||||
bool check_battery() {
|
||||
int battery_capacity() {
|
||||
std::string bat_cap_s = util::read_file("/sys/class/power_supply/battery/capacity");
|
||||
int bat_cap = atoi(bat_cap_s.c_str());
|
||||
return atoi(bat_cap_s.c_str());
|
||||
}
|
||||
|
||||
int battery_current() {
|
||||
std::string current_now_s = util::read_file("/sys/class/power_supply/battery/current_now");
|
||||
int current_now = atoi(current_now_s.c_str());
|
||||
return atoi(current_now_s.c_str());
|
||||
}
|
||||
|
||||
bool check_battery() {
|
||||
int bat_cap = battery_capacity();
|
||||
int current_now = battery_current();
|
||||
return bat_cap > 35 || (current_now < 0 && bat_cap > 10);
|
||||
}
|
||||
|
||||
@@ -148,7 +160,9 @@ struct Updater {
|
||||
|
||||
FramebufferState *fb = NULL;
|
||||
NVGcontext *vg = NULL;
|
||||
int font;
|
||||
int font_regular;
|
||||
int font_semibold;
|
||||
int font_bold;
|
||||
|
||||
std::thread update_thread_handle;
|
||||
|
||||
@@ -157,6 +171,7 @@ struct Updater {
|
||||
// i hate state machines give me coroutines already
|
||||
enum UpdateState {
|
||||
CONFIRMATION,
|
||||
LOW_BATTERY,
|
||||
RUNNING,
|
||||
ERROR,
|
||||
};
|
||||
@@ -167,6 +182,12 @@ struct Updater {
|
||||
|
||||
std::string error_text;
|
||||
|
||||
std::string low_battery_text;
|
||||
std::string low_battery_title;
|
||||
std::string low_battery_context;
|
||||
std::string battery_cap_text;
|
||||
int min_battery_cap = 35;
|
||||
|
||||
// button
|
||||
int b_x, b_w, b_y, b_h;
|
||||
int balt_x;
|
||||
@@ -182,14 +203,21 @@ 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;
|
||||
|
||||
@@ -283,17 +311,27 @@ struct Updater {
|
||||
state = ERROR;
|
||||
}
|
||||
|
||||
void set_battery_low() {
|
||||
std::lock_guard<std::mutex> guard(lock);
|
||||
state = LOW_BATTERY;
|
||||
}
|
||||
|
||||
void set_running() {
|
||||
std::lock_guard<std::mutex> guard(lock);
|
||||
state = RUNNING;
|
||||
}
|
||||
|
||||
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) {
|
||||
@@ -310,8 +348,14 @@ struct Updater {
|
||||
assert(curl);
|
||||
|
||||
if (!check_battery()) {
|
||||
set_error("Please plug power in to your EON and wait for charge");
|
||||
return;
|
||||
set_battery_low();
|
||||
int battery_cap = battery_capacity();
|
||||
while(battery_cap < min_battery_cap) {
|
||||
battery_cap = battery_capacity();
|
||||
battery_cap_text = std::to_string(battery_cap);
|
||||
usleep(1000000);
|
||||
}
|
||||
set_running();
|
||||
}
|
||||
|
||||
if (!check_space()) {
|
||||
@@ -323,7 +367,7 @@ 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 +408,10 @@ 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());
|
||||
|
||||
@@ -387,13 +431,19 @@ struct Updater {
|
||||
}
|
||||
|
||||
if (!check_battery()) {
|
||||
set_error("must have at least 35% battery to update");
|
||||
return;
|
||||
set_battery_low();
|
||||
int battery_cap = battery_capacity();
|
||||
while(battery_cap < min_battery_cap) {
|
||||
battery_cap = battery_capacity();
|
||||
battery_cap_text = std::to_string(battery_cap);
|
||||
usleep(1000000);
|
||||
}
|
||||
set_running();
|
||||
}
|
||||
|
||||
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 +477,7 @@ 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 +497,7 @@ 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 +512,32 @@ 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);
|
||||
@@ -489,44 +546,70 @@ 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);
|
||||
}
|
||||
}
|
||||
|
||||
void draw_battery_screen() {
|
||||
low_battery_title = "Low Battery";
|
||||
low_battery_text = "Please connect EON to your charger. Update will continue once EON battery reaches 35%.";
|
||||
low_battery_context = "Current battery charge: " + battery_cap_text + "%";
|
||||
|
||||
nvgFillColor(vg, nvgRGBA(255,255,255,255));
|
||||
nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
|
||||
|
||||
nvgFontFace(vg, "opensans_bold");
|
||||
nvgFontSize(vg, 120.0f);
|
||||
nvgTextBox(vg, 110, 220, fb_w-240, low_battery_title.c_str(), NULL);
|
||||
|
||||
nvgFontFace(vg, "opensans_regular");
|
||||
nvgFontSize(vg, 86.0f);
|
||||
nvgTextBox(vg, 130, 380, fb_w-260, low_battery_text.c_str(), NULL);
|
||||
|
||||
nvgFontFace(vg, "opensans_bold");
|
||||
nvgFontSize(vg, 86.0f);
|
||||
nvgTextBox(vg, 130, 700, fb_w-260, low_battery_context.c_str(), NULL);
|
||||
}
|
||||
|
||||
void draw_progress_screen() {
|
||||
// draw progress message
|
||||
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 +619,12 @@ 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 +637,19 @@ 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 LOW_BATTERY:
|
||||
draw_battery_screen();
|
||||
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_text).c_str(), NULL, "Reboot");
|
||||
break;
|
||||
}
|
||||
|
||||
@@ -604,9 +690,17 @@ 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);
|
||||
|
||||
@@ -615,6 +709,7 @@ struct Updater {
|
||||
glDisable(GL_BLEND);
|
||||
|
||||
eglSwapBuffers(display, surface);
|
||||
|
||||
assert(glGetError() == GL_NO_ERROR);
|
||||
|
||||
// no simple way to do 30fps vsync with surfaceflinger...
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -78,6 +78,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
|
||||
BO_ 420 VSA_STATUS: 8 VSA
|
||||
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
|
||||
SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
|
||||
@@ -107,21 +108,24 @@ 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_STATUS : 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
|
||||
|
||||
@@ -223,6 +227,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
|
||||
CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
|
||||
CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
|
||||
CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
|
||||
CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
|
||||
@@ -232,6 +237,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
|
||||
|
||||
VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
|
||||
VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
|
||||
VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
|
||||
VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
@@ -78,6 +78,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
|
||||
BO_ 420 VSA_STATUS: 8 VSA
|
||||
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
|
||||
SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
|
||||
@@ -107,21 +108,24 @@ 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_STATUS : 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
|
||||
|
||||
@@ -223,6 +227,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
|
||||
CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
|
||||
CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
|
||||
CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
|
||||
CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
|
||||
@@ -232,6 +237,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
|
||||
|
||||
VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
|
||||
VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
|
||||
VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
|
||||
VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
@@ -132,13 +132,12 @@ BO_ 705 AUTO_PARK_BUTTON: 8 XXX
|
||||
BO_ 719 AUTO_PARK_SIGNALS_1: 8 XXX
|
||||
SG_ AUTO_PARK_UNKNOWN_1 : 7|16@0+ (1,0) [0|31] "" XXX
|
||||
|
||||
BO_ 671 AUTO_PARK_SIGNALS_2: 8 XXX
|
||||
SG_ AUTO_PARK_PARALLEL : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AUTO_PARK_PERPENDICULAR_1 : 22|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
BO_ 671 AUTO_PARK_REQUEST: 8 XXX
|
||||
SG_ AUTO_PARK_CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ AUTO_PARK_MAYBE_TURNING : 3|12@0+ (1,0) [0|1023] "" XXX
|
||||
SG_ AUTO_PARK_TURNING_STATUS : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ AUTO_PARK_STATUS : 7|5@0+ (1,0) [0|15] "" XXX
|
||||
SG_ AUTO_PARK_COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ AUTO_PARK_MODE : 22|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ AUTO_PARK_CMD : 2|11@0+ (1,-1024) [0|1] "NM" XXX
|
||||
|
||||
BO_ 784 AUTO_PARK_LESS_INTERESTING: 8 XXX
|
||||
SG_ INCREASING_UNKNOWN : 55|8@0+ (1,0) [0|7] "" XXX
|
||||
@@ -262,7 +261,7 @@ 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
|
||||
@@ -393,10 +392,8 @@ CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right
|
||||
CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null";
|
||||
CM_ SG_ 705 AUTO_PARK_TOGGLE_1 "set briefly when turning on or off self-parking";
|
||||
CM_ SG_ 705 INCREASING_UNKNOWN "sometimes decreasing";
|
||||
CM_ SG_ 671 AUTO_PARK_PARALLEL "parallel parking mode";
|
||||
CM_ SG_ 671 AUTO_PARK_PERPENDICULAR_1 "perpendicular parking mode";
|
||||
CM_ SG_ 671 AUTO_PARK_MAYBE_TURNING "something with autopark turning the steering wheel maybe.";
|
||||
CM_ SG_ 671 AUTO_PARK_TURNING_STATUS "0 when not steering. when steering starts, 4 for two packets, and then 5 for the rest";
|
||||
CM_ SG_ 671 AUTO_PARK_CMD "Request Appears to be in NM";
|
||||
CM_ SG_ 671 AUTO_PARK_STATUS "1 = IDLE / NO REQUEST 9 = START REQUEST 10 = REQUEST MODE 11 = REQUEST MODE";
|
||||
CM_ SG_ 784 INCREASING_UNKNOWN "perhaps distance traveled";
|
||||
CM_ SG_ 826 AUTO_PARK_GEAR_1 "Reverse=0, Forward=f";
|
||||
CM_ SG_ 826 AUTO_PARK_GEAR_2 "Reverse=0, Forward=f";
|
||||
@@ -413,6 +410,7 @@ 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";
|
||||
|
||||
@@ -33,6 +33,12 @@ NS_ :
|
||||
|
||||
BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
|
||||
|
||||
BO_ 148 KINEMATICS: 8 XXX
|
||||
SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
|
||||
SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 228 STEERING_CONTROL: 5 EON
|
||||
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
@@ -114,15 +120,26 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 479 ACC_CONTROL: 8 EON
|
||||
SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
|
||||
SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
|
||||
SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
|
||||
SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
|
||||
SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
|
||||
SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
|
||||
SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
|
||||
SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" XXX
|
||||
SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
|
||||
SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 495 ACC_CONTROL_ON: 8 XXX
|
||||
SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -169,16 +186,16 @@ BO_ 773 SEATBELT_STATUS: 7 BDY
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 777 CAR_SPEED: 8 PCM
|
||||
SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
|
||||
SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
|
||||
SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
|
||||
SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
|
||||
SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
|
||||
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
|
||||
SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
|
||||
@@ -196,8 +213,8 @@ BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_TO_X1 : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
@@ -261,4 +278,8 @@ BO_ 891 STALK_STATUS_2: 8 XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
|
||||
CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
|
||||
CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
|
||||
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
@@ -0,0 +1,215 @@
|
||||
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_
|
||||
|
||||
BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON
|
||||
|
||||
BO_ 344 ENGINE_DATA: 8 PCM
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
|
||||
SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
|
||||
SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 420 VSA_STATUS: 8 VSA
|
||||
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
|
||||
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 432 STANDSTILL: 7 VSA
|
||||
SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 464 WHEEL_SPEEDS: 8 VSA
|
||||
SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 506 BRAKE_COMMAND: 8 ADAS
|
||||
SG_ ZEROS_BOH : 7|12@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_PUMP_REQUEST : 11|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ ZEROS_BOH2 : 10|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ CRUISE_BOH2 : 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_ 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_ 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_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ COMPUTER_BRAKE : 55|10@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
|
||||
|
||||
BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
|
||||
SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 773 SEATBELT_STATUS: 7 BDY
|
||||
SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 777 LOCK_STATUS: 8 XXX
|
||||
SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
|
||||
SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
|
||||
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
|
||||
SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
|
||||
|
||||
BO_ 804 CRUISE: 8 PCM
|
||||
SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
|
||||
SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
|
||||
SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
|
||||
SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 829 LKAS_HUD: 5 ADAS
|
||||
SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
|
||||
SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
|
||||
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
|
||||
|
||||
BO_ 892 CRUISE_PARAMS: 8 PCM
|
||||
SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 1029 DOORS_STATUS: 8 BDY
|
||||
SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
|
||||
CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
|
||||
CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
|
||||
CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
|
||||
CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
|
||||
CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
|
||||
|
||||
|
||||
VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
|
||||
VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
|
||||
VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
@@ -56,6 +56,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
|
||||
BO_ 420 VSA_STATUS: 8 VSA
|
||||
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
|
||||
SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
|
||||
@@ -85,21 +86,24 @@ 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_STATUS : 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
|
||||
|
||||
@@ -201,6 +205,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
|
||||
CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
|
||||
CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
|
||||
CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
|
||||
CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
|
||||
@@ -210,6 +215,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
|
||||
|
||||
VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
|
||||
VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
|
||||
VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
|
||||
VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
@@ -0,0 +1,111 @@
|
||||
CM_ "IMPORT _dual_can_nidec_2018.dbc"
|
||||
CM_ "IMPORT _comma.dbc"
|
||||
|
||||
BO_ 145 KINEMATICS: 8 XXX
|
||||
SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
|
||||
|
||||
BO_ 228 STEERING_CONTROL: 5 ADAS
|
||||
SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
|
||||
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
|
||||
|
||||
BO_ 304 GAS_PEDAL_2: 8 PCM
|
||||
SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
|
||||
SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
|
||||
SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 342 STEERING_SENSORS: 6 EPS
|
||||
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 399 STEER_STATUS: 7 EPS
|
||||
SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
|
||||
SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
|
||||
SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 419 GEARBOX: 8 PCM
|
||||
SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON
|
||||
SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 422 SCM_BUTTONS: 8 SCM
|
||||
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
||||
SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 487 BRAKE_PRESSURE: 4 VSA
|
||||
SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
|
||||
SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
|
||||
SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 545 ECON_STATUS: 5 XXX
|
||||
SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 660 SCM_FEEDBACK: 8 SCM
|
||||
SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
|
||||
SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
|
||||
SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 884 STALK_STATUS: 8 XXX
|
||||
SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 891 WIPERS: 8 XXX
|
||||
SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 927 RADAR_HUD: 8 ADAS
|
||||
SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY
|
||||
SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY
|
||||
SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY
|
||||
SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY
|
||||
SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY
|
||||
SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY
|
||||
SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY
|
||||
SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY
|
||||
SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
|
||||
|
||||
CM_ SG_ 419 GEAR "10 = reverse, 11 = transition";
|
||||
CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
|
||||
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
|
||||
VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
|
||||
VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
|
||||
VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
@@ -0,0 +1,76 @@
|
||||
CM_ "IMPORT _honda_2017.dbc"
|
||||
CM_ "IMPORT _comma.dbc"
|
||||
|
||||
BO_ 316 GAS_PEDAL: 8 PCM
|
||||
SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
BO_ 342 STEERING_SENSORS: 6 EPS
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
|
||||
BO_ 399 STEER_STATUS: 7 EPS
|
||||
SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-2985|2985] "tbd" EON
|
||||
SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ STEER_STATUS : 43|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
|
||||
|
||||
BO_ 401 GEARBOX: 8 PCM
|
||||
SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
|
||||
SG_ GEAR : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 404 STEERING_CONTROL: 4 EON
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
|
||||
SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
|
||||
SG_ STEER_TORQUE : 7|16@0- (-1,0) [-32767|32767] "" EPS
|
||||
|
||||
BO_ 422 SCM_BUTTONS: 8 SCM
|
||||
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
||||
SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 450 EPB_STATUS: 8 XXX
|
||||
SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ EPB_STATE : 29|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 660 SCM_FEEDBACK: 8 SCM
|
||||
SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
|
||||
SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
|
||||
SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 1302 ODOMETER: 8 XXX
|
||||
SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
|
||||
VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
|
||||
VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
|
||||
VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
|
||||
VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
|
||||
VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
|
||||
@@ -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
|
||||
@@ -152,7 +174,30 @@ 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_ 1553 UI_SEETING: 8 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_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 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";
|
||||
|
||||
+13
-17
@@ -1,16 +1,16 @@
|
||||
CM_ "IMPORT _toyota_2017.dbc"
|
||||
CM_ "IMPORT _comma.dbc"
|
||||
|
||||
BO_ 581 GAS_PEDAL: 5 XXX
|
||||
SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 550 BRAKE_MODULE: 8 XXX
|
||||
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- (0.66,0) [-20000|20000] "" 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
|
||||
@@ -22,20 +22,16 @@ BO_ 610 EPS_STATUS: 5 EPS
|
||||
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
|
||||
|
||||
BO_ 1009 PCM_CRUISE_ISH: 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
|
||||
|
||||
BO_ 1599 LIGHT_STALK_ISH: 8 SCM
|
||||
SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
|
||||
CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
|
||||
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";
|
||||
CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
|
||||
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
|
||||
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
|
||||
@@ -25,11 +25,14 @@ 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
|
||||
|
||||
BO_ 1599 LIGHT_STALK_ISH: 8 SCM
|
||||
SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
|
||||
CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
|
||||
CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
|
||||
|
||||
@@ -37,6 +37,12 @@ NS_ :
|
||||
|
||||
BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
|
||||
|
||||
BO_ 148 KINEMATICS: 8 XXX
|
||||
SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
|
||||
SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 228 STEERING_CONTROL: 5 EON
|
||||
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
@@ -118,15 +124,26 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 479 ACC_CONTROL: 8 EON
|
||||
SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
|
||||
SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
|
||||
SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
|
||||
SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
|
||||
SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
|
||||
SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
|
||||
SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
|
||||
SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" XXX
|
||||
SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
|
||||
SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 495 ACC_CONTROL_ON: 8 XXX
|
||||
SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -173,16 +190,16 @@ BO_ 773 SEATBELT_STATUS: 7 BDY
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 777 CAR_SPEED: 8 PCM
|
||||
SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
|
||||
SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
|
||||
SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
|
||||
SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
|
||||
SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
|
||||
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
|
||||
SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
|
||||
@@ -200,8 +217,8 @@ BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_TO_X1 : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
@@ -265,6 +282,10 @@ BO_ 891 STALK_STATUS_2: 8 XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
|
||||
CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
|
||||
CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
|
||||
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
CM_ "honda_accord_lx15t_2018_can.dbc starts here"
|
||||
|
||||
@@ -37,6 +37,12 @@ NS_ :
|
||||
|
||||
BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
|
||||
|
||||
BO_ 148 KINEMATICS: 8 XXX
|
||||
SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
|
||||
SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 228 STEERING_CONTROL: 5 EON
|
||||
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
@@ -118,15 +124,26 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 479 ACC_CONTROL: 8 EON
|
||||
SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
|
||||
SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
|
||||
SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
|
||||
SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
|
||||
SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
|
||||
SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
|
||||
SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
|
||||
SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" XXX
|
||||
SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
|
||||
SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 495 ACC_CONTROL_ON: 8 XXX
|
||||
SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -173,16 +190,16 @@ BO_ 773 SEATBELT_STATUS: 7 BDY
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 777 CAR_SPEED: 8 PCM
|
||||
SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
|
||||
SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
|
||||
SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
|
||||
SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
|
||||
SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
|
||||
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
|
||||
SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
|
||||
@@ -200,8 +217,8 @@ BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_TO_X1 : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
@@ -265,6 +282,10 @@ BO_ 891 STALK_STATUS_2: 8 XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
|
||||
CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
|
||||
CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
|
||||
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
CM_ "honda_accord_s2t_2018_can.dbc starts here"
|
||||
|
||||
@@ -37,6 +37,12 @@ NS_ :
|
||||
|
||||
BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
|
||||
|
||||
BO_ 148 KINEMATICS: 8 XXX
|
||||
SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
|
||||
SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 228 STEERING_CONTROL: 5 EON
|
||||
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
@@ -118,15 +124,26 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 479 ACC_CONTROL: 8 EON
|
||||
SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
|
||||
SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
|
||||
SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
|
||||
SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
|
||||
SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
|
||||
SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
|
||||
SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
|
||||
SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" XXX
|
||||
SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
|
||||
SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 495 ACC_CONTROL_ON: 8 XXX
|
||||
SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -173,16 +190,16 @@ BO_ 773 SEATBELT_STATUS: 7 BDY
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 777 CAR_SPEED: 8 PCM
|
||||
SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
|
||||
SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
|
||||
SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
|
||||
SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
|
||||
SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
|
||||
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
|
||||
SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
|
||||
@@ -200,8 +217,8 @@ BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_TO_X1 : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
@@ -265,6 +282,10 @@ BO_ 891 STALK_STATUS_2: 8 XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
|
||||
CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
|
||||
CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
|
||||
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
CM_ "honda_civic_hatchback_ex_2017_can.dbc starts here"
|
||||
|
||||
@@ -78,6 +78,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
|
||||
BO_ 420 VSA_STATUS: 8 VSA
|
||||
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
|
||||
SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
|
||||
@@ -107,21 +108,24 @@ 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_STATUS : 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
|
||||
|
||||
@@ -223,6 +227,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
|
||||
CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
|
||||
CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
|
||||
CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
|
||||
CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
|
||||
@@ -232,6 +237,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
|
||||
|
||||
VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
|
||||
VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
|
||||
VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
|
||||
VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
@@ -37,6 +37,12 @@ NS_ :
|
||||
|
||||
BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
|
||||
|
||||
BO_ 148 KINEMATICS: 8 XXX
|
||||
SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
|
||||
SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 228 STEERING_CONTROL: 5 EON
|
||||
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
@@ -118,15 +124,26 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 479 ACC_CONTROL: 8 EON
|
||||
SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
|
||||
SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
|
||||
SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
|
||||
SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
|
||||
SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
|
||||
SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
|
||||
SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
|
||||
SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" XXX
|
||||
SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
|
||||
SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 495 ACC_CONTROL_ON: 8 XXX
|
||||
SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -173,16 +190,16 @@ BO_ 773 SEATBELT_STATUS: 7 BDY
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 777 CAR_SPEED: 8 PCM
|
||||
SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
|
||||
SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
|
||||
SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
|
||||
SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
|
||||
SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
|
||||
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
|
||||
SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
|
||||
@@ -200,8 +217,8 @@ BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_TO_X1 : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
@@ -265,6 +282,10 @@ BO_ 891 STALK_STATUS_2: 8 XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
|
||||
CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
|
||||
CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
|
||||
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
CM_ "honda_crv_ex_2017_can.dbc starts here"
|
||||
|
||||
@@ -37,6 +37,12 @@ NS_ :
|
||||
|
||||
BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
|
||||
|
||||
BO_ 148 KINEMATICS: 8 XXX
|
||||
SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
|
||||
SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 228 STEERING_CONTROL: 5 EON
|
||||
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
@@ -118,15 +124,26 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 479 ACC_CONTROL: 8 EON
|
||||
SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
|
||||
SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
|
||||
SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
|
||||
SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
|
||||
SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
|
||||
SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
|
||||
SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
|
||||
SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" XXX
|
||||
SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
|
||||
SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 495 ACC_CONTROL_ON: 8 XXX
|
||||
SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -173,16 +190,16 @@ BO_ 773 SEATBELT_STATUS: 7 BDY
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 777 CAR_SPEED: 8 PCM
|
||||
SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
|
||||
SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
|
||||
SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
|
||||
SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
|
||||
SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
|
||||
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
|
||||
SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
|
||||
@@ -200,8 +217,8 @@ BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_TO_X1 : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
@@ -265,6 +282,10 @@ BO_ 891 STALK_STATUS_2: 8 XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
|
||||
CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
|
||||
CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
|
||||
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
CM_ "honda_crv_hybrid_2019_can.dbc starts here"
|
||||
|
||||
@@ -78,6 +78,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
|
||||
BO_ 420 VSA_STATUS: 8 VSA
|
||||
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
|
||||
SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
|
||||
@@ -107,21 +108,24 @@ 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_STATUS : 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
|
||||
|
||||
@@ -223,6 +227,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
|
||||
CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
|
||||
CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
|
||||
CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
|
||||
CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
|
||||
@@ -232,6 +237,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
|
||||
|
||||
VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
|
||||
VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
|
||||
VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
|
||||
VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
@@ -78,6 +78,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
|
||||
BO_ 420 VSA_STATUS: 8 VSA
|
||||
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
|
||||
SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
|
||||
@@ -107,21 +108,24 @@ 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_STATUS : 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
|
||||
|
||||
@@ -223,6 +227,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
|
||||
CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
|
||||
CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
|
||||
CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
|
||||
CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
|
||||
@@ -232,6 +237,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
|
||||
|
||||
VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
|
||||
VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
|
||||
VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
|
||||
VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
@@ -0,0 +1,350 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [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+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [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 _dual_can_nidec_2018.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_
|
||||
|
||||
BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON
|
||||
|
||||
BO_ 344 ENGINE_DATA: 8 PCM
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
|
||||
SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
|
||||
SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 420 VSA_STATUS: 8 VSA
|
||||
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
|
||||
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 432 STANDSTILL: 7 VSA
|
||||
SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 464 WHEEL_SPEEDS: 8 VSA
|
||||
SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 506 BRAKE_COMMAND: 8 ADAS
|
||||
SG_ ZEROS_BOH : 7|12@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_PUMP_REQUEST : 11|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ ZEROS_BOH2 : 10|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ CRUISE_BOH2 : 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_ 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_ 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_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ COMPUTER_BRAKE : 55|10@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
|
||||
|
||||
BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
|
||||
SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 773 SEATBELT_STATUS: 7 BDY
|
||||
SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 777 LOCK_STATUS: 8 XXX
|
||||
SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
|
||||
SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
|
||||
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
|
||||
SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
|
||||
|
||||
BO_ 804 CRUISE: 8 PCM
|
||||
SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
|
||||
SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
|
||||
SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
|
||||
SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 829 LKAS_HUD: 5 ADAS
|
||||
SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
|
||||
SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
|
||||
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
|
||||
|
||||
BO_ 892 CRUISE_PARAMS: 8 PCM
|
||||
SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 1029 DOORS_STATUS: 8 BDY
|
||||
SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
|
||||
CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
|
||||
CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
|
||||
CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
|
||||
CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
|
||||
CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
|
||||
|
||||
|
||||
VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
|
||||
VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
|
||||
VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "honda_fit_hybrid_2018_can.dbc starts here"
|
||||
|
||||
|
||||
|
||||
BO_ 145 KINEMATICS: 8 XXX
|
||||
SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
|
||||
|
||||
BO_ 228 STEERING_CONTROL: 5 ADAS
|
||||
SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
|
||||
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
|
||||
|
||||
BO_ 304 GAS_PEDAL_2: 8 PCM
|
||||
SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
|
||||
SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
|
||||
SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 342 STEERING_SENSORS: 6 EPS
|
||||
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 399 STEER_STATUS: 7 EPS
|
||||
SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
|
||||
SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
|
||||
SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 419 GEARBOX: 8 PCM
|
||||
SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON
|
||||
SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 422 SCM_BUTTONS: 8 SCM
|
||||
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
||||
SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 487 BRAKE_PRESSURE: 4 VSA
|
||||
SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
|
||||
SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
|
||||
SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 545 ECON_STATUS: 5 XXX
|
||||
SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 660 SCM_FEEDBACK: 8 SCM
|
||||
SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
|
||||
SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
|
||||
SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 884 STALK_STATUS: 8 XXX
|
||||
SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 891 WIPERS: 8 XXX
|
||||
SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 927 RADAR_HUD: 8 ADAS
|
||||
SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY
|
||||
SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY
|
||||
SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY
|
||||
SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY
|
||||
SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY
|
||||
SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY
|
||||
SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY
|
||||
SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY
|
||||
SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
|
||||
|
||||
CM_ SG_ 419 GEAR "10 = reverse, 11 = transition";
|
||||
CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
|
||||
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
|
||||
VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
|
||||
VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
|
||||
VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
@@ -37,6 +37,12 @@ NS_ :
|
||||
|
||||
BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
|
||||
|
||||
BO_ 148 KINEMATICS: 8 XXX
|
||||
SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
|
||||
SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 228 STEERING_CONTROL: 5 EON
|
||||
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
@@ -118,15 +124,26 @@ BO_ 464 WHEEL_SPEEDS: 8 VSA
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 479 ACC_CONTROL: 8 EON
|
||||
SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
|
||||
SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
|
||||
SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
|
||||
SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
|
||||
SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
|
||||
SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
|
||||
SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
|
||||
SG_ ACCEL_COMMAND : 31|11@0- (1,0) [0|0] "" XXX
|
||||
SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
|
||||
SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 495 ACC_CONTROL_ON: 8 XXX
|
||||
SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -173,16 +190,16 @@ BO_ 773 SEATBELT_STATUS: 7 BDY
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 777 CAR_SPEED: 8 PCM
|
||||
SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
|
||||
SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
|
||||
SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
|
||||
SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
|
||||
SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
|
||||
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
|
||||
SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
|
||||
@@ -200,8 +217,8 @@ BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ IMPERIAL_UNIT : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_TO_X1 : 56|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_TO_X1 : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
@@ -265,6 +282,10 @@ BO_ 891 STALK_STATUS_2: 8 XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
|
||||
CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
|
||||
CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
|
||||
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
CM_ "honda_insight_ex_2019_can.dbc starts here"
|
||||
|
||||
@@ -78,6 +78,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
|
||||
BO_ 420 VSA_STATUS: 8 VSA
|
||||
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
|
||||
SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
|
||||
@@ -107,21 +108,24 @@ 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_STATUS : 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
|
||||
|
||||
@@ -223,6 +227,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
|
||||
CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
|
||||
CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
|
||||
CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
|
||||
CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
|
||||
@@ -232,6 +237,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
|
||||
|
||||
VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
|
||||
VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
|
||||
VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
|
||||
VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
+101
-79
@@ -1,48 +1,67 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [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+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [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 _honda_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_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON INTERCEPTOR
|
||||
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_
|
||||
|
||||
BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON
|
||||
|
||||
BO_ 344 ENGINE_DATA: 8 PCM
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
|
||||
SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ ZEROS : 23|16@0+ (1,0) [0|15000] "" EON
|
||||
|
||||
BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
|
||||
@@ -57,6 +76,16 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 420 VSA_STATUS: 8 VSA
|
||||
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
|
||||
SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 432 STANDSTILL: 7 VSA
|
||||
SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
|
||||
@@ -79,38 +108,27 @@ 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_STATUS : 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
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
|
||||
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
|
||||
SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
|
||||
@@ -184,7 +202,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
|
||||
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH2 : 23|2@0+ (1,0) [0|4] "" BDY
|
||||
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
|
||||
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
|
||||
@@ -199,6 +217,35 @@ BO_ 892 CRUISE_PARAMS: 8 PCM
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 1029 DOORS_STATUS: 8 BDY
|
||||
SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
|
||||
CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
|
||||
CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
|
||||
CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
|
||||
CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
|
||||
CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
|
||||
CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
|
||||
|
||||
|
||||
VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
|
||||
VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
|
||||
VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
|
||||
VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "honda_odyssey_extreme_edition_2018_china_can.dbc starts here"
|
||||
|
||||
|
||||
|
||||
BO_ 316 GAS_PEDAL: 8 PCM
|
||||
SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
@@ -229,15 +276,6 @@ BO_ 404 STEERING_CONTROL: 4 EON
|
||||
SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
|
||||
SG_ STEER_TORQUE : 7|16@0- (-1,0) [-32767|32767] "" EPS
|
||||
|
||||
BO_ 420 VSA_STATUS: 8 VSA
|
||||
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
|
||||
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 422 SCM_BUTTONS: 8 SCM
|
||||
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
||||
SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
|
||||
@@ -274,23 +312,7 @@ BO_ 1302 ODOMETER: 8 XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
|
||||
CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
|
||||
CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
|
||||
CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
|
||||
CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
|
||||
CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
|
||||
CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
|
||||
VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
|
||||
VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
|
||||
VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
|
||||
@@ -78,6 +78,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
|
||||
BO_ 420 VSA_STATUS: 8 VSA
|
||||
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
|
||||
SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
|
||||
@@ -107,21 +108,24 @@ 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_STATUS : 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
|
||||
|
||||
@@ -223,6 +227,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
|
||||
CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
|
||||
CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
|
||||
CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
|
||||
CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
|
||||
@@ -232,6 +237,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
|
||||
|
||||
VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
|
||||
VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
|
||||
VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
|
||||
VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
@@ -78,6 +78,7 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
|
||||
BO_ 420 VSA_STATUS: 8 VSA
|
||||
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
|
||||
SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
|
||||
@@ -107,21 +108,24 @@ 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_STATUS : 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
|
||||
|
||||
@@ -223,6 +227,7 @@ BO_ 1029 DOORS_STATUS: 8 BDY
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
|
||||
CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
|
||||
CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
|
||||
CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
|
||||
CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
|
||||
@@ -232,6 +237,7 @@ CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
|
||||
|
||||
VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
|
||||
VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
|
||||
VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
|
||||
VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
@@ -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
|
||||
@@ -1421,3 +1421,26 @@ BO_ 512 EMS20: 6 EMS
|
||||
SG_ FCO : 0|16@1+ (0.128,0.0) [0.0|8388.48] "ul" CLU,CUBIS,FPCM,IBOX
|
||||
SG_ CF_Ems_PumpTPres : 16|8@1+ (3.137254902,0.0) [0.0|800.0] "kPa" FPCM,IBOX
|
||||
SG_ Split_Stat : 32|1@1+ (1.0,0.0) [0.0|1.0] "" FPCM
|
||||
|
||||
BO_ 909 FCA11: 8 FCA
|
||||
SG_ CF_VSM_Prefill : 0|1@1+ (1,0) [0|1] "" ESC
|
||||
SG_ CF_VSM_HBACmd : 1|2@1+ (1,0) [0|3] "" ESC
|
||||
SG_ CF_VSM_Warn : 3|2@1+ (1,0) [0|3] "" ACU,CLU,ESC
|
||||
SG_ CF_VSM_BeltCmd : 5|3@1+ (1,0) [0|7] "" ESC
|
||||
SG_ CR_VSM_DecCmd : 8|8@1+ (0.01,0) [0|2.55] "g" ESC
|
||||
SG_ FCA_Status : 18|2@1+ (1,0) [0|3] "" ACU,CLU,ESC
|
||||
SG_ FCA_CmdAct : 20|1@1+ (1,0) [0|1] "" ESC
|
||||
SG_ FCA_StopReq : 21|1@1+ (1,0) [0|1] "" CLU,ESC
|
||||
SG_ FCA_DrvSetStatus : 22|3@1+ (1,0) [0|7] "" CLU,ESC
|
||||
SG_ CF_VSM_DecCmdAct : 31|1@1+ (1,0) [0|1] "" ESC
|
||||
SG_ FCA_Failinfo : 32|3@1+ (1,0) [0|7] "" ACU,CLU,ESC
|
||||
SG_ CR_FCA_Alive : 56|4@1+ (1,0) [0|15] "" ESC
|
||||
SG_ CR_FCA_ChkSum : 60|4@1+ (1,0) [0|15] "" ESC
|
||||
|
||||
BO_ 905 SCC14: 8 SCC
|
||||
SG_ ComfortBandUpper : 0|6@1+ (0.02,0) [0|1.26] "m/s^2" ESC
|
||||
SG_ ComfortBandLower : 6|6@1+ (0.02,0) [0|1.26] "m/s^2" ESC
|
||||
SG_ JerkUpperLimit : 12|7@1+ (0.1,0) [0|12.7] "m/s^3" ESC
|
||||
SG_ JerkLowerLimit : 19|7@1+ (0.1,0) [0|12.7] "m/s^3" ESC
|
||||
SG_ SCCMode : 32|3@1+ (1,0) [0|7] "" ESC
|
||||
|
||||
|
||||
+66
-21
@@ -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
|
||||
@@ -186,7 +208,30 @@ 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_ 1553 UI_SEETING: 8 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_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 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";
|
||||
@@ -295,20 +344,20 @@ 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_is_hybrid_2017_pt.dbc starts here"
|
||||
CM_ "lexus_ct200h_2018_pt.dbc starts here"
|
||||
|
||||
|
||||
|
||||
BO_ 581 GAS_PEDAL: 5 XXX
|
||||
SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 550 BRAKE_MODULE: 8 XXX
|
||||
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- (0.66,0) [-20000|20000] "" 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
|
||||
@@ -320,20 +369,16 @@ BO_ 610 EPS_STATUS: 5 EPS
|
||||
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
|
||||
|
||||
BO_ 1009 PCM_CRUISE_ISH: 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
|
||||
|
||||
BO_ 1599 LIGHT_STALK_ISH: 8 SCM
|
||||
SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
|
||||
CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
|
||||
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";
|
||||
CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
|
||||
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
|
||||
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
|
||||
@@ -186,7 +208,30 @@ 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_ 1553 UI_SEETING: 8 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_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 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
|
||||
@@ -186,7 +208,30 @@ 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_ 1553 UI_SEETING: 8 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_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 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
|
||||
@@ -323,11 +372,14 @@ 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
|
||||
|
||||
BO_ 1599 LIGHT_STALK_ISH: 8 SCM
|
||||
SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
|
||||
CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
|
||||
CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
|
||||
|
||||
@@ -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
|
||||
@@ -186,7 +208,30 @@ 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_ 1553 UI_SEETING: 8 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_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 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
|
||||
@@ -186,7 +208,30 @@ 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_ 1553 UI_SEETING: 8 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_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 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";
|
||||
|
||||
+117
-51
@@ -40,21 +40,21 @@ BO_ 117 STEER_RELATED: 8 XXX
|
||||
SG_ CTR : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 48|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 49|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|63] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 54|4@0+ (1,0) [0|31] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 50|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STEER_TORQUE : 19|12@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE_2 : 39|16@0+ (1,0) [0|131071] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 54|4@0+ (1,0) [0|31] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|63] "" XXX
|
||||
SG_ STEER_ANGLE_2 : 39|16@0+ (0.1,-1800) [0|131071] "" XXX
|
||||
SG_ STEER_TORQUE : 19|12@0+ (1,-2000) [0|255] "" XXX
|
||||
|
||||
BO_ 118 RPM_RELATED: 8 XXX
|
||||
SG_ CTR : 7|8@0+ (1,0) [0|127] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 19|12@0+ (1,0) [0|4095] "" XXX
|
||||
|
||||
BO_ 514 ENGINE_DATA: 8 XXX
|
||||
SG_ RPM : 7|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ CHKSUM : 56|8@1+ (1,0) [0|127] "" XXX
|
||||
SG_ SPEED : 23|16@0+ (0.01,0) [0|32767] "KPH" XXX
|
||||
SG_ PEDAL_GAS : 39|12@0+ (1,0) [0|255] "" XXX
|
||||
SG_ PEDAL_GAS : 39|12@0+ (0.002778,0) [0|255] "%" XXX
|
||||
SG_ CHKSUM : 63|8@0+ (1,0) [0|127] "" XXX
|
||||
SG_ RPM : 7|16@0+ (0.25,0) [0|8500] "rpm" XXX
|
||||
SG_ SPEED : 23|16@0+ (0.01,0) [0|32767] "kph" XXX
|
||||
|
||||
BO_ 357 PEDALS: 8 XXX
|
||||
SG_ NEW_SIGNAL_6 : 31|4@0+ (1,0) [0|1] "" XXX
|
||||
@@ -71,28 +71,30 @@ BO_ 357 PEDALS: 8 XXX
|
||||
SG_ NO_BRAKE_2 : 15|1@0+ (1,0) [0|7] "" XXX
|
||||
|
||||
BO_ 533 WHEEL_SPEEDS: 8 XXX
|
||||
SG_ FL : 7|16@0+ (0.01,-100) [0|16383] "" XXX
|
||||
SG_ RL : 39|16@0+ (0.01,-100) [0|15] "" XXX
|
||||
SG_ RR : 55|16@0+ (0.01,-100) [0|65535] "" XXX
|
||||
SG_ FR : 23|16@0+ (0.01,-100) [0|65535] "" XXX
|
||||
SG_ FL : 7|16@0+ (0.01,-100) [0|16383] "kph" XXX
|
||||
SG_ FR : 23|16@0+ (0.01,-100) [0|65535] "kph" XXX
|
||||
SG_ RL : 39|16@0+ (0.01,-100) [0|15] "kph" XXX
|
||||
SG_ RR : 55|16@0+ (0.01,-100) [0|65535] "kph" XXX
|
||||
|
||||
BO_ 134 STEER2: 8 XXX
|
||||
SG_ NEW_SIGNAL_2 : 48|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ CTR : 22|4@0+ (1,0) [0|7] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 18|3@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_7 : 24|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ CTR_2 : 28|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 63|2@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE_ROUGH : 26|11@0+ (1,-1000) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 18|3@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STEER_ANGLE : 7|16@0+ (0.1,-1600) [-500|500] "deg" XXX
|
||||
SG_ STEER_ANGLE_ROUGH : 39|8@0- (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 63|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|7] "" XXX
|
||||
|
||||
BO_ 576 STEER_TORQUE: 8 XXX
|
||||
SG_ NEW_SIGNAL_2 : 39|8@0+ (1,0) [0|127] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 20|4@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_TORQUE_SENSOR : 7|16@0+ (0.5,-15000) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 23|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 47|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STEER_TORQUE_MOTOR : 46|20@0- (0.01,0) [-3000|3000] "deg/s" XXX
|
||||
SG_ SENSOR1 : 39|8@0+ (1,-128) [0|127] "" XXX
|
||||
SG_ STEER_TORQUE_MOTOR : 46|15@0- (0.1,0) [-3000|3000] "tbd" XXX
|
||||
SG_ NEW_SIGNAL_2 : 62|4@0+ (1,0) [0|31] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 15|8@0+ (1,0) [0|127] "" XXX
|
||||
SG_ STEER_TORQUE_SENSOR : 7|8@0+ (1,-127) [-85|85] "" XXX
|
||||
|
||||
BO_ 577 STEER_RATE: 8 XXX
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0+ (0.25,-8192) [0|1] "deg/s" XXX
|
||||
@@ -119,6 +121,7 @@ BO_ 605 CAM_PEDESTRIAN: 8 XXX
|
||||
SG_ PED_BRAKE : 3|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ RST_CTR : 23|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ S1 : 29|4@0+ (1,0) [0|31] "" XXX
|
||||
SG_ BRAKE_WARNING : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 578 CAM_LANETRACK: 8 XXX
|
||||
SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -132,14 +135,15 @@ BO_ 578 CAM_LANETRACK: 8 XXX
|
||||
SG_ LINE1 : 3|10@0+ (1,-686) [0|1] "" XXX
|
||||
|
||||
BO_ 579 CAM_LKAS: 8 XXX
|
||||
SG_ LKAS_REQUEST : 3|12@0+ (1,-2048) [0|2048] "" XXX
|
||||
SG_ CTR : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ERR_BIT_1 : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
|
||||
SG_ LINE_NOT_VISIBLE : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BIT_1 : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BIT_2 : 33|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ERR_BIT_2 : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BIT_1 : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDW : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_REQUEST : 3|12@0+ (1,-2048) [0|2048] "" XXX
|
||||
|
||||
BO_ 580 CAM_DISTANCE: 8 XXX
|
||||
SG_ S1 : 0|8@1+ (1,0) [0|127] "" XXX
|
||||
@@ -170,7 +174,17 @@ BO_ 863 CAM_STATUS: 8 XXX
|
||||
SG_ NEW_SIGNAL_6 : 0|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ FORWARD_COLLISION : 40|8@1+ (1,0) [0|7] "" XXX
|
||||
|
||||
BO_ 1157 CAM_Empty2: 8 XXX
|
||||
BO_ 1157 CAM_SETTINGS: 8 XXX
|
||||
SG_ NEW_SIGNAL_2 : 14|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SBS_WARNING_DISTANCE : 25|2@0+ (1,0) [0|127] "" XXX
|
||||
SG_ SBS_SCBC : 28|2@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LKAS_ASSIT_TIMING : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_SENSETIVITY : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ILKAS_NTERVENTION_ON2 : 17|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ LANEE_DEPARTURE_ALERT : 16|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_INERVENTION_ON1 : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 12|1@0+ (1,0) [0|7] "" XXX
|
||||
SG_ WARNING : 11|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1160 CAM_Empty3: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 47|24@0+ (1,0) [0|16777215] "" XXX
|
||||
@@ -189,6 +203,8 @@ BO_ 1088 CAM_LANEINFO: 8 XXX
|
||||
SG_ BIT1 : 6|1@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ LINE_NOT_VISIBLE : 1|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_VISIBLE : 0|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LDW_WARN_RL : 58|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDW_WARN_LL : 57|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1479 NEW_MSG_470: 8 XXX
|
||||
|
||||
@@ -199,7 +215,6 @@ BO_ 1446 NEW_MSG_a600: 8 XXX
|
||||
BO_ 1416 MSG_18: 8 XXX
|
||||
|
||||
BO_ 1086 DOORS: 8 XXX
|
||||
SG_ DOOR_OPEN : 30|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ LEFTGATE : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 53|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ KEYFOB_HORN : 2|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -211,6 +226,7 @@ BO_ 1086 DOORS: 8 XXX
|
||||
SG_ BL : 35|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FR : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FL : 37|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DOORS_UNLOCKED : 30|1@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 977 TWO_STATES: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 50|1@1+ (1,0) [0|7] "" XXX
|
||||
@@ -232,6 +248,7 @@ BO_ 1085 MSG_12: 8 XXX
|
||||
|
||||
BO_ 159 MSG_11: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 50|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ INCREASEING : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 1278 NEW_MSG_3: 8 XXX
|
||||
SG_ NEW_SIGNAL_2 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -247,7 +264,7 @@ BO_ 1277 NEW_MSG_10: 8 XXX
|
||||
SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ counter : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 1275 MSG_2017_5: 8 XXX
|
||||
BO_ 1275 2017_5: 8 XXX
|
||||
SG_ counter : 4|5@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 1274 NEW_MSG_12: 8 XXX
|
||||
@@ -266,15 +283,18 @@ BO_ 1078 HVAC: 8 XXX
|
||||
SG_ NEW_SIGNAL_3 : 23|1@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 56|5@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 1056 NEW_MSG_13: 8 XXX
|
||||
SG_ BIG_COUNTER_MAYBE : 55|16@0+ (1,0) [0|255] "" XXX
|
||||
BO_ 1056 CHECK_AND_TEMP: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 29|6@0+ (1,0) [0|255] "" XXX
|
||||
SG_ counter_or_GEAR : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ INCREASING : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CTR : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STANDSTILL : 32|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COOLANT_TEMP : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ LOW_ENGINE_OIL_PRESSURE : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECK_FUEL_CAP : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHARGING_SYSTEM_MALFUNCTION : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ OUTDOOR_TEMP : 63|8@0+ (0.25,-63) [0|255] "cel" XXX
|
||||
|
||||
BO_ 1045 MOVING: 8 XXX
|
||||
BO_ 1045 TRACTION: 8 XXX
|
||||
SG_ NEW_SIGNAL_2 : 20|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CTR2 : 19|4@0+ (1,0) [0|31] "" XXX
|
||||
SG_ CTR3 : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
@@ -282,6 +302,12 @@ BO_ 1045 MOVING: 8 XXX
|
||||
SG_ CTR1 : 53|6@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 54|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_WARNING : 2|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ABS_MALFUNCTION : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ DSC_OFF : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ TCS_DCS_MALFUNCTION : 6|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LOUD_BEEP : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ TPMS_WARNING_DOUBLE_BLINK : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1034 MSG_07: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 6|3@0+ (1,0) [0|3] "" XXX
|
||||
@@ -315,17 +341,17 @@ BO_ 867 NEW_MSG_17: 8 XXX
|
||||
BO_ 130 STEER: 8 XXX
|
||||
SG_ NEW_SIGNAL_5 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_6 : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CTR : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CTR_2 : 35|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CTR : 47|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE : 23|16@0+ (0.05,-1600) [500|-500] "deg" XXX
|
||||
SG_ CHKSUM_MAYBE : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 120 NEW_MSG_18: 8 XXX
|
||||
BO_ 120 BRAKE: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CTR : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BRAKE_PRESSURE : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 304 GEAR_RELATED: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -397,22 +423,24 @@ BO_ 154 BLINK_INFO: 8 XXX
|
||||
SG_ REAR_WIPER_ON : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ WIPER_LO : 33|1@1+ (1,0) [0|31] "" XXX
|
||||
SG_ WIPER_HI : 34|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAMS : 5|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ HIGH_BEAMS : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LBEAM1 : 17|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LBEAM2 : 50|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LBEAM3 : 60|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 145 TURN_SWITCH: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 37|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 36|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ TURN : 38|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ TURN_LEFT_SWITCH : 13|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ TURN_RIGHT_SWITCH : 12|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ HAZARD : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ TURN_RIGHT_SWITCH : 12|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ TURN_LEFT_SWITCH : 13|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CTR : 27|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHKSUM : 39|8@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 80 MSG_04: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIGNAL : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 978 MSG_03: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -420,6 +448,7 @@ BO_ 978 MSG_03: 8 XXX
|
||||
SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_7 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_8 : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CTR : 1|2@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 607 NEW_MSG_25: 8 XXX
|
||||
|
||||
@@ -539,6 +568,8 @@ BO_ 540 CRZ_CTRL: 8 XXX
|
||||
SG_ ACC_GAS_MAYBE : 23|1@0+ (1,0) [0|31] "" XXX
|
||||
SG_ ACC_GAS_MAYBE2 : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRZ_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HANDS_OFF_STEERING : 48|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HANDS_ON_STEER_WARN : 59|4@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 539 CRZ_INFO: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 17|1@0+ (1,0) [0|255] "" XXX
|
||||
@@ -546,10 +577,10 @@ BO_ 539 CRZ_INFO: 8 XXX
|
||||
SG_ NEW_SIGNAL_5 : 34|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_7 : 47|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CTR1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CTR2 : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 37|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACC_ACTIVE : 33|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_CMD : 31|10@0- (1,0) [0|1] "" XXX
|
||||
SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 121 EPB: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 4|4@0+ (1,0) [0|255] "" XXX
|
||||
@@ -565,30 +596,30 @@ BO_ 121 EPB: 8 XXX
|
||||
SG_ NEW_SIGNAL_11 : 45|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ EPB_ACTIVE : 29|1@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 1070 MSG_2017_1: 8 XXX
|
||||
BO_ 1070 2017_1: 8 XXX
|
||||
|
||||
BO_ 1183 MSG_2017_2: 8 XXX
|
||||
BO_ 1183 2017_2: 8 XXX
|
||||
|
||||
BO_ 1243 MSG_2017_3: 8 XXX
|
||||
BO_ 1243 2017_3: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX
|
||||
|
||||
BO_ 1269 MSG_2017_4: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|18446744073709552000] "" XXX
|
||||
|
||||
BO_ 1178 MSG_2017_6: 8 XXX
|
||||
BO_ 1178 2017_6: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX
|
||||
|
||||
BO_ 1179 MSG_2017_7: 8 XXX
|
||||
BO_ 1179 2017_7: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX
|
||||
|
||||
BO_ 1435 MSG_2017_8: 8 XXX
|
||||
BO_ 1435 2017_8: 8 XXX
|
||||
|
||||
BO_ 253 NEW_MSG_7: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 16|1@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CTR : 23|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 61|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CRZ_NOT_ACTIVE : 61|1@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 359 NEW_MSG_11: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 15|1@0+ (1,0) [0|255] "" XXX
|
||||
@@ -614,8 +645,10 @@ BO_ 512 NEW_MSG_30: 8 XXX
|
||||
SG_ NEW_SIGNAL_11 : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 515 MSG_01: 8 XXX
|
||||
SG_ CTR : 39|8@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ CTR_2 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CTR : 39|4@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ CHKSUM : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ START1 : 6|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ START2 : 28|5@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 529 NEW_MSG_36: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 22|5@0+ (1,0) [0|65535] "" XXX
|
||||
@@ -684,11 +717,44 @@ BO_ 1272 MSG_17: 8 XXX
|
||||
|
||||
BO_ 1425 MSG_19: 8 XXX
|
||||
|
||||
BO_ 70 MOB1: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 1|3@1+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 14|6@0+ (1,0) [0|127] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 30|6@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 38|6@0+ (1,0) [0|7] "" XXX
|
||||
|
||||
BO_ 64 MOB2: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 7|2@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 10|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 16|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 24|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 35|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_6 : 0|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ NEW_SIGNAL_7 : 13|3@0+ (1,0) [0|3] "" XXX
|
||||
SG_ NEW_SIGNAL_8 : 15|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ NEW_SIGNAL_9 : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_10 : 31|6@0+ (1,0) [0|3] "" XXX
|
||||
SG_ NEW_SIGNAL_11 : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1171 MOB3: 8 XXX
|
||||
|
||||
BO_ 1248 MOB4: 8 XXX
|
||||
|
||||
|
||||
|
||||
|
||||
CM_ SG_ 605 PED_BRAKE "3: no brake, 4: brake";
|
||||
CM_ SG_ 605 BRAKE_WARNING "Flashing brake warning and audible alert for potential forward collision";
|
||||
CM_ SG_ 1157 SBS_WARNING_DISTANCE "1 far, 2 mid, 3 near";
|
||||
CM_ SG_ 1157 SBS_SCBC "1 off, 2 on";
|
||||
CM_ SG_ 1157 LKAS_ASSIT_TIMING "1 at, 0 before";
|
||||
CM_ SG_ 1157 LKAS_SENSETIVITY "0 low, 1 high";
|
||||
CM_ SG_ 1157 LANEE_DEPARTURE_ALERT "1 off, 2 on";
|
||||
CM_ SG_ 1157 WARNING "1 Rare, 0 often";
|
||||
CM_ SG_ 1088 LANE_LINES "0 LKAS disabled, 1 no lines, 2 two lines, 3 left line, 4 right line";
|
||||
CM_ SG_ 1045 ABS_MALFUNCTION "off: 0, solid: 1, slow blink: 2, fast blink: 3";
|
||||
CM_ SG_ 157 CAN_OFF "Disengage Cruise if enabled, if already disabled TURN it OFF ";
|
||||
CM_ SG_ 552 GEAR "0 P/N, 12 R, 2 D M1, 4 M2, 14 Shift";
|
||||
CM_ SG_ 552 MORE_GEAR "";
|
||||
CM_ SG_ 540 HANDS_ON_STEER_WARN "0 no warning, b warning";
|
||||
|
||||
@@ -0,0 +1,369 @@
|
||||
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 X
|
||||
|
||||
|
||||
BO_ 2 Steering: 8 XXX
|
||||
SG_ Counter : 25|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 64 Throttle: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Off_Accel : 60|4@1+ (1,0) [0|7] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Throttle_Combo : 55|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 48|7@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Engine_RPM : 16|12@1+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 12|4@1+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 28|5@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 65 NEW_MSG_1: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 32|12@1+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 16|12@1+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 31|1@0+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_6 : 48|8@1+ (1,0) [0|63] "" XXX
|
||||
SG_ NEW_SIGNAL_7 : 59|2@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 72 NEW_MSG_2: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 40|16@1+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 38|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 316 NEW_MSG_3: 8 XXX
|
||||
|
||||
BO_ 326 Cruise_Buttons: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Signal1 : 12|30@1+ (1,0) [0|1073741823] "" XXX
|
||||
SG_ Main : 42|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ set : 43|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Resume : 44|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal2 : 45|19@1+ (1,0) [0|524287] "" XXX
|
||||
|
||||
BO_ 315 G_Sensor: 8 XXX
|
||||
SG_ longitudinal : 63|8@0- (1,0) [0|255] "" XXX
|
||||
SG_ Latitudinal : 48|8@1- (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 314 Wheel_Speeds: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ FR : 12|13@1+ (0.057,0) [0|255] "kph" XXX
|
||||
SG_ RR : 25|13@1+ (0.057,0) [0|255] "kph" XXX
|
||||
SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" XXX
|
||||
SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX
|
||||
|
||||
BO_ 73 NEW_MSG_5: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 32|8@1+ (1,0) [0|4095] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 24|8@1+ (1,0) [0|127] "" XXX
|
||||
|
||||
BO_ 280 NEW_MSG_6: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 12|12@1- (1,0) [0|4095] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 48|8@1- (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 61|1@1+ (1,0) [0|7] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 40|4@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 281 Steering_Torque: 8 XXX
|
||||
SG_ checksum : 0|8@1+ (1,0) [0|3] "" XXX
|
||||
SG_ counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [0|3] "" XXX
|
||||
SG_ Steering_Angle : 32|16@1- (-0.0217,0) [0|255] "" X
|
||||
SG_ Steer_Torque_Output : 48|11@1- (-1,0) [0|31] "" XXX
|
||||
|
||||
BO_ 312 Brake_Pressure_L_R: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|31] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 313 Brake_Pedal: 8 XXX
|
||||
SG_ Brake_Pedal_On : 34|1@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Brake_Pedal : 36|12@1+ (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 290 ES_LKAS: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ LKAS_Output : 16|13@1- (-1,0) [0|3] "" XXX
|
||||
SG_ LKAS_Request : 29|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_1 : 12|1@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 722 NEW_MSG_10: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 27|3@1+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 56|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 45|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 544 ES_Brake: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Brake_Pressure : 16|16@1+ (1,0) [0|255] "" XXX
|
||||
SG_ __Status : 36|4@1+ (1,0) [0|63] "" XXX
|
||||
|
||||
BO_ 545 ES_Distance: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Signal1 : 12|20@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Signal2 : 32|24@1+ (1,0) [0|15] "" XXX
|
||||
SG_ ACC_Cancel : 56|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_Set : 57|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_Resume : 58|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal3 : 59|5@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 546 ES_Status: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ RPM : 16|12@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Cruise_Activated : 29|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ Cruise_Brake : 30|1@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 554 ES_Blank: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ SET_65535 : 39|16@1+ (1,0) [0|16777215] "" XXX
|
||||
SG_ SET_1 : 13|1@1+ (1,0) [0|7] "" XXX
|
||||
|
||||
BO_ 557 NEW_MSG_14: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 576 CruiseControl: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 42|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Cruise_On : 40|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Cruise_Activated : 41|1@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 577 NEW_MSG_16: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 16|12@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 552 NEW_MSG_17: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 48|1@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 912 Dashlights: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 32|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 940 BodyInfo: 8 XXX
|
||||
SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 32|1@1+ (1,0) [0|255] "" XXX
|
||||
SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 34|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RR : 35|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_TRUNK : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FOG_LIGHTS2 : 60|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Highbeam : 58|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Lowbeam : 57|1@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 801 ES_DashStatus: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|7] "" XXX
|
||||
SG_ NEW_SIGNAL_10 : 49|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Brake_Pedal : 51|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Cruise_Activated : 36|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Car_Follow : 52|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ ACC_Distance : 28|3@1+ (1,0) [0|3] "" XXX
|
||||
SG_ ACC_Hold : 60|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 802 ES_LKAS_State: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Keep_Hands_On_Wheel : 12|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Empty_Box : 13|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal1 : 14|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ LKAS_ACTIVE : 17|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Signal2 : 18|5@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Backward_Speed_Limit_Menu : 23|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_ENABLE_3 : 24|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal3 : 25|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_ENABLE_2 : 26|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal4 : 27|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Left_Line_Visible : 28|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal6 : 29|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Right_Line_Visible : 30|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal7 : 31|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ FCW_Cont_Beep : 32|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ FCW_Repeated_Beep : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Throttle_Management_Activated : 34|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Right_Depart : 36|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Signal5 : 37|27@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Vehicle_In_Front_Has_Moved : 35|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 805 ES_NEW_MSG_22: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 22|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 14|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 15|1@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 808 NEW_MSG_23: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 837 NEW_MSG_24: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 32|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 24|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 838 NEW_MSG_25: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 40|1@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 842 NEW_MSG_26: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 915 NEW_MSG_27: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 32|9@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 1788 NEW_MSG_28: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 40|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 48|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 816 NEW_MSG_29: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 826 NEW_MSG_30: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 839 NEW_MSG_31: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 2015 NEW_MSG_32: 8 XXX
|
||||
SG_ NEW_SIGNAL_2 : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 2024 NEW_MSG_33: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 24|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 0|3@1+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 1614 NEW_MSG_34: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 1617 NEW_MSG_35: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 1632 NEW_MSG_36: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 1650 NEW_MSG_37: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 1657 NEW_MSG_38: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 1658 NEW_MSG_39: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 33|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 31|1@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1677 Dash_State: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 16|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX
|
||||
|
||||
BO_ 1743 NEW_MSG_41: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 1785 NEW_MSG_42: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 21|1@1+ (1,0) [0|31] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 17|1@1+ (1,0) [0|7] "" XXX
|
||||
|
||||
BO_ 1759 NEW_MSG_43: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 17|1@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1786 NEW_MSG_44: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 8|8@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 1787 NEW_MSG_45: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 0|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 8|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
|
||||
|
||||
|
||||
CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
|
||||
CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
|
||||
CM_ SG_ 801 ACC_Hold "0 = No Hold, 3 = Hold";
|
||||
CM_ SG_ 802 Vehicle_In_Front_Has_Moved "Crosstrek 2018 = car in front has moved";
|
||||
CM_ SG_ 805 NEW_SIGNAL_3 "always 3";
|
||||
CM_ SG_ 805 NEW_SIGNAL_4 "always 1";
|
||||
CM_ SG_ 1677 Units "1 = imperial, 6 = metric";
|
||||
@@ -43,14 +43,16 @@ BO_ 2 Steering: 8 XXX
|
||||
|
||||
BO_ 64 Throttle: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Off_Accel : 60|4@1+ (1,0) [0|7] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Engine_RPM : 16|12@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Throttle_Combo : 55|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
SG_ NEW_SIGNAL_2 : 48|7@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Engine_RPM : 16|12@1+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 12|4@1+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 28|5@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 65 NEW_MSG_1: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
@@ -358,6 +360,7 @@ BO_ 1787 NEW_MSG_45: 8 XXX
|
||||
|
||||
CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
|
||||
CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
|
||||
CM_ SG_ 802 Traffic_light_Ahead "Crosstrek 2018 = car in front has moved";
|
||||
CM_ SG_ 805 NEW_SIGNAL_3 "always 3";
|
||||
CM_ SG_ 805 NEW_SIGNAL_4 "always 1";
|
||||
CM_ SG_ 1677 Units "1 = imperial, 6 = metric";
|
||||
|
||||
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
|
||||
@@ -186,7 +208,30 @@ 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_ 1553 UI_SEETING: 8 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_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 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
|
||||
@@ -186,7 +208,30 @@ 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_ 1553 UI_SEETING: 8 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_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 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
|
||||
@@ -186,7 +208,30 @@ 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_ 1553 UI_SEETING: 8 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_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 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
|
||||
@@ -186,7 +208,30 @@ 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_ 1553 UI_SEETING: 8 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_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 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
|
||||
@@ -186,7 +208,30 @@ 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_ 1553 UI_SEETING: 8 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_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 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
|
||||
@@ -186,7 +208,30 @@ 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_ 1553 UI_SEETING: 8 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_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 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
|
||||
@@ -186,7 +208,30 @@ 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_ 1553 UI_SEETING: 8 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_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 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
|
||||
@@ -186,7 +208,30 @@ 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_ 1553 UI_SEETING: 8 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_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 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
|
||||
@@ -186,7 +208,30 @@ 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_ 1553 UI_SEETING: 8 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_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 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
|
||||
@@ -186,7 +208,30 @@ 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_ 1553 UI_SEETING: 8 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_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 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
|
||||
@@ -186,7 +208,30 @@ 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_ 1553 UI_SEETING: 8 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_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 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:
|
||||
|
||||
@@ -4,6 +4,7 @@
|
||||
*.o
|
||||
*.so
|
||||
*.d
|
||||
*.dump
|
||||
a.out
|
||||
*~
|
||||
.#*
|
||||
@@ -12,4 +13,5 @@ pandacan.egg-info/
|
||||
board/obj/
|
||||
examples/output.csv
|
||||
.DS_Store
|
||||
.vscode
|
||||
nosetests.xml
|
||||
|
||||
+1
-1
@@ -1 +1 @@
|
||||
v1.4.1
|
||||
v1.4.7
|
||||
@@ -0,0 +1,65 @@
|
||||
// ///////////////////////////////////////////////////////////// //
|
||||
// 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
|
||||
if(hw_type == HW_TYPE_WHITE_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;
|
||||
}
|
||||
#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 enums in cereal/log.capnp and __init__.py
|
||||
#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 +1,206 @@
|
||||
// ///////////////////// //
|
||||
// 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=1U; 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_gps_load_switch(bool enabled) {
|
||||
set_gpio_output(GPIOC, 12, enabled);
|
||||
}
|
||||
|
||||
void black_set_usb_load_switch(bool enabled) {
|
||||
set_gpio_output(GPIOB, 1, !enabled);
|
||||
}
|
||||
|
||||
void black_set_usb_power_mode(uint8_t mode) {
|
||||
usb_power_mode = mode;
|
||||
if (mode == USB_POWER_NONE) {
|
||||
black_set_usb_load_switch(false);
|
||||
} else {
|
||||
black_set_usb_load_switch(true);
|
||||
}
|
||||
}
|
||||
|
||||
void black_set_esp_gps_mode(uint8_t mode) {
|
||||
switch (mode) {
|
||||
case ESP_GPS_DISABLED:
|
||||
// GPS OFF
|
||||
set_gpio_output(GPIOC, 14, 0);
|
||||
set_gpio_output(GPIOC, 5, 0);
|
||||
black_set_gps_load_switch(false);
|
||||
break;
|
||||
case ESP_GPS_ENABLED:
|
||||
// GPS ON
|
||||
set_gpio_output(GPIOC, 14, 1);
|
||||
set_gpio_output(GPIOC, 5, 1);
|
||||
black_set_gps_load_switch(true);
|
||||
break;
|
||||
case ESP_GPS_BOOTMODE:
|
||||
set_gpio_output(GPIOC, 14, 1);
|
||||
set_gpio_output(GPIOC, 5, 0);
|
||||
black_set_gps_load_switch(true);
|
||||
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);
|
||||
|
||||
// Turn on GPS load switch.
|
||||
black_set_gps_load_switch(true);
|
||||
|
||||
// Turn on USB load switch.
|
||||
black_set_usb_load_switch(true);
|
||||
|
||||
// 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 +1,313 @@
|
||||
// /////////// //
|
||||
// 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);
|
||||
|
||||
// Setup ignition interrupts
|
||||
SYSCFG->EXTICR[1] = SYSCFG_EXTICR1_EXTI1_PA;
|
||||
EXTI->IMR |= (1U << 1);
|
||||
EXTI->RTSR |= (1U << 1);
|
||||
EXTI->FTSR |= (1U << 1);
|
||||
NVIC_EnableIRQ(EXTI1_IRQn);
|
||||
}
|
||||
|
||||
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
|
||||
};
|
||||
+20
-12
@@ -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"
|
||||
@@ -54,13 +63,12 @@ extern void *_app_start[];
|
||||
// BOUNTY: $200 coupon on shop.comma.ai or $100 check.
|
||||
|
||||
int main(void) {
|
||||
__disable_irq();
|
||||
disable_interrupts();
|
||||
clock_init();
|
||||
detect();
|
||||
detect_configuration();
|
||||
detect_board_type();
|
||||
|
||||
if (revision == PANDA_REV_C) {
|
||||
set_usb_power_mode(USB_POWER_CLIENT);
|
||||
}
|
||||
current_board->set_usb_power_mode(USB_POWER_CLIENT);
|
||||
|
||||
if (enter_bootloader_mode == ENTER_SOFTLOADER_MAGIC) {
|
||||
enter_bootloader_mode = 0;
|
||||
|
||||
@@ -68,7 +68,7 @@ obj/$(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 $^
|
||||
|
||||
+93
-53
@@ -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;
|
||||
@@ -63,7 +62,7 @@ int can_overflow_cnt = 0;
|
||||
bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
|
||||
bool ret = 0;
|
||||
|
||||
enter_critical_section();
|
||||
ENTER_CRITICAL();
|
||||
if (q->w_ptr != q->r_ptr) {
|
||||
*elem = q->elems[q->r_ptr];
|
||||
if ((q->r_ptr + 1U) == q->fifo_size) {
|
||||
@@ -73,7 +72,7 @@ bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
|
||||
}
|
||||
ret = 1;
|
||||
}
|
||||
exit_critical_section();
|
||||
EXIT_CRITICAL();
|
||||
|
||||
return ret;
|
||||
}
|
||||
@@ -82,7 +81,7 @@ bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
|
||||
bool ret = false;
|
||||
uint32_t next_w_ptr;
|
||||
|
||||
enter_critical_section();
|
||||
ENTER_CRITICAL();
|
||||
if ((q->w_ptr + 1U) == q->fifo_size) {
|
||||
next_w_ptr = 0;
|
||||
} else {
|
||||
@@ -93,7 +92,7 @@ bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
|
||||
q->w_ptr = next_w_ptr;
|
||||
ret = true;
|
||||
}
|
||||
exit_critical_section();
|
||||
EXIT_CRITICAL();
|
||||
if (!ret) {
|
||||
can_overflow_cnt++;
|
||||
#ifdef DEBUG
|
||||
@@ -104,10 +103,10 @@ bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
|
||||
}
|
||||
|
||||
void can_clear(can_ring *q) {
|
||||
enter_critical_section();
|
||||
ENTER_CRITICAL();
|
||||
q->w_ptr = 0;
|
||||
q->r_ptr = 0;
|
||||
exit_critical_section();
|
||||
EXIT_CRITICAL();
|
||||
}
|
||||
|
||||
// assign CAN numbering
|
||||
@@ -125,7 +124,7 @@ uint8_t bus_lookup[] = {0,1,2};
|
||||
uint8_t can_num_lookup[] = {0,1,2,-1};
|
||||
int8_t can_forwarding[] = {-1,-1,-1,-1};
|
||||
uint32_t can_speed[] = {5000, 5000, 5000, 333};
|
||||
#define CAN_MAX 3
|
||||
#define CAN_MAX 3U
|
||||
|
||||
#define CANIF_FROM_CAN_NUM(num) (cans[num])
|
||||
#define CAN_NUM_FROM_CANIF(CAN) ((CAN)==CAN1 ? 0 : ((CAN) == CAN2 ? 1 : 2))
|
||||
@@ -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);
|
||||
@@ -160,56 +158,98 @@ void can_init(uint8_t can_number) {
|
||||
}
|
||||
|
||||
void can_init_all(void) {
|
||||
for (int i=0; i < CAN_MAX; i++) {
|
||||
for (uint8_t i=0U; i < CAN_MAX; i++) {
|
||||
can_init(i);
|
||||
}
|
||||
current_board->enable_can_transcievers(true);
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
// 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("Enable GMLAN on CAN");
|
||||
puth(bus + 1U);
|
||||
puts("\n");
|
||||
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:
|
||||
puts("GMLAN can only be set on CAN2 or CAN3\n");
|
||||
break;
|
||||
}
|
||||
} else {
|
||||
puts("GMLAN not available on black panda\n");
|
||||
}
|
||||
}
|
||||
|
||||
void can_set_gmlan(uint8_t bus) {
|
||||
|
||||
// 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");
|
||||
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);
|
||||
break;
|
||||
default:
|
||||
// GMLAN was not set on either BUS 1 or 2
|
||||
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");
|
||||
}
|
||||
|
||||
// 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;
|
||||
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");
|
||||
}
|
||||
}
|
||||
|
||||
// CAN error
|
||||
void can_sce(CAN_TypeDef *CAN) {
|
||||
enter_critical_section();
|
||||
ENTER_CRITICAL();
|
||||
|
||||
#ifdef DEBUG
|
||||
if (CAN==CAN1) puts("CAN1: ");
|
||||
@@ -232,7 +272,7 @@ void can_sce(CAN_TypeDef *CAN) {
|
||||
|
||||
can_err_cnt += 1;
|
||||
llcan_clear_send(CAN);
|
||||
exit_critical_section();
|
||||
EXIT_CRITICAL();
|
||||
}
|
||||
|
||||
// ***************************** CAN *****************************
|
||||
@@ -240,7 +280,7 @@ void can_sce(CAN_TypeDef *CAN) {
|
||||
void process_can(uint8_t can_number) {
|
||||
if (can_number != 0xffU) {
|
||||
|
||||
enter_critical_section();
|
||||
ENTER_CRITICAL();
|
||||
|
||||
CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
|
||||
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
|
||||
@@ -288,7 +328,7 @@ void process_can(uint8_t can_number) {
|
||||
}
|
||||
}
|
||||
|
||||
exit_critical_section();
|
||||
EXIT_CRITICAL();
|
||||
}
|
||||
}
|
||||
|
||||
@@ -326,7 +366,7 @@ 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");
|
||||
}
|
||||
}
|
||||
@@ -7,35 +7,56 @@
|
||||
#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) {
|
||||
ENTER_CRITICAL();
|
||||
uint32_t tmp = GPIO->MODER;
|
||||
tmp &= ~(3U << (pin * 2U));
|
||||
tmp |= (mode << (pin * 2U));
|
||||
GPIO->MODER = tmp;
|
||||
EXIT_CRITICAL();
|
||||
}
|
||||
|
||||
void set_gpio_output(GPIO_TypeDef *GPIO, unsigned int pin, bool enabled) {
|
||||
ENTER_CRITICAL();
|
||||
if (enabled) {
|
||||
GPIO->ODR |= (1U << pin);
|
||||
} else {
|
||||
GPIO->ODR &= ~(1U << pin);
|
||||
}
|
||||
set_gpio_mode(GPIO, pin, MODE_OUTPUT);
|
||||
EXIT_CRITICAL();
|
||||
}
|
||||
|
||||
void set_gpio_output_type(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int output_type){
|
||||
ENTER_CRITICAL();
|
||||
if(output_type == OUTPUT_TYPE_OPEN_DRAIN) {
|
||||
GPIO->OTYPER |= (1U << pin);
|
||||
} else {
|
||||
GPIO->OTYPER &= ~(1U << pin);
|
||||
}
|
||||
EXIT_CRITICAL();
|
||||
}
|
||||
|
||||
void set_gpio_alternate(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
|
||||
ENTER_CRITICAL();
|
||||
uint32_t tmp = GPIO->AFR[pin >> 3U];
|
||||
tmp &= ~(0xFU << ((pin & 7U) * 4U));
|
||||
tmp |= mode << ((pin & 7U) * 4U);
|
||||
GPIO->AFR[pin >> 3] = tmp;
|
||||
set_gpio_mode(GPIO, pin, MODE_ALTERNATE);
|
||||
EXIT_CRITICAL();
|
||||
}
|
||||
|
||||
void set_gpio_pullup(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
|
||||
ENTER_CRITICAL();
|
||||
uint32_t tmp = GPIO->PUPDR;
|
||||
tmp &= ~(3U << (pin * 2U));
|
||||
tmp |= (mode << (pin * 2U));
|
||||
GPIO->PUPDR = tmp;
|
||||
EXIT_CRITICAL();
|
||||
}
|
||||
|
||||
int get_gpio_input(GPIO_TypeDef *GPIO, unsigned int pin) {
|
||||
|
||||
+12
-12
@@ -74,7 +74,7 @@ uart_ring *get_ring_by_number(int a) {
|
||||
// ***************************** serial port *****************************
|
||||
|
||||
void uart_ring_process(uart_ring *q) {
|
||||
enter_critical_section();
|
||||
ENTER_CRITICAL();
|
||||
// TODO: check if external serial is connected
|
||||
int sr = q->uart->SR;
|
||||
|
||||
@@ -108,7 +108,7 @@ void uart_ring_process(uart_ring *q) {
|
||||
// set dropped packet flag?
|
||||
}
|
||||
|
||||
exit_critical_section();
|
||||
EXIT_CRITICAL();
|
||||
}
|
||||
|
||||
// interrupt boilerplate
|
||||
@@ -121,13 +121,13 @@ void UART5_IRQHandler(void) { uart_ring_process(&lin1_ring); }
|
||||
bool getc(uart_ring *q, char *elem) {
|
||||
bool ret = false;
|
||||
|
||||
enter_critical_section();
|
||||
ENTER_CRITICAL();
|
||||
if (q->w_ptr_rx != q->r_ptr_rx) {
|
||||
if (elem != NULL) *elem = q->elems_rx[q->r_ptr_rx];
|
||||
q->r_ptr_rx = (q->r_ptr_rx + 1U) % FIFO_SIZE;
|
||||
ret = true;
|
||||
}
|
||||
exit_critical_section();
|
||||
EXIT_CRITICAL();
|
||||
|
||||
return ret;
|
||||
}
|
||||
@@ -136,14 +136,14 @@ bool injectc(uart_ring *q, char elem) {
|
||||
int ret = false;
|
||||
uint16_t next_w_ptr;
|
||||
|
||||
enter_critical_section();
|
||||
ENTER_CRITICAL();
|
||||
next_w_ptr = (q->w_ptr_rx + 1U) % FIFO_SIZE;
|
||||
if (next_w_ptr != q->r_ptr_rx) {
|
||||
q->elems_rx[q->w_ptr_rx] = elem;
|
||||
q->w_ptr_rx = next_w_ptr;
|
||||
ret = true;
|
||||
}
|
||||
exit_critical_section();
|
||||
EXIT_CRITICAL();
|
||||
|
||||
return ret;
|
||||
}
|
||||
@@ -152,14 +152,14 @@ bool putc(uart_ring *q, char elem) {
|
||||
bool ret = false;
|
||||
uint16_t next_w_ptr;
|
||||
|
||||
enter_critical_section();
|
||||
ENTER_CRITICAL();
|
||||
next_w_ptr = (q->w_ptr_tx + 1U) % FIFO_SIZE;
|
||||
if (next_w_ptr != q->r_ptr_tx) {
|
||||
q->elems_tx[q->w_ptr_tx] = elem;
|
||||
q->w_ptr_tx = next_w_ptr;
|
||||
ret = true;
|
||||
}
|
||||
exit_critical_section();
|
||||
EXIT_CRITICAL();
|
||||
|
||||
uart_ring_process(q);
|
||||
|
||||
@@ -185,12 +185,12 @@ void uart_send_break(uart_ring *u) {
|
||||
}
|
||||
|
||||
void clear_uart_buff(uart_ring *q) {
|
||||
enter_critical_section();
|
||||
ENTER_CRITICAL();
|
||||
q->w_ptr_tx = 0;
|
||||
q->r_ptr_tx = 0;
|
||||
q->w_ptr_rx = 0;
|
||||
q->r_ptr_rx = 0;
|
||||
exit_critical_section();
|
||||
EXIT_CRITICAL();
|
||||
}
|
||||
|
||||
// ***************************** start UART code *****************************
|
||||
@@ -215,7 +215,7 @@ char usart1_dma[USART1_DMA_LEN];
|
||||
void uart_dma_drain(void) {
|
||||
uart_ring *q = &esp_ring;
|
||||
|
||||
enter_critical_section();
|
||||
ENTER_CRITICAL();
|
||||
|
||||
if ((DMA2->HISR & DMA_HISR_TCIF5) || (DMA2->HISR & DMA_HISR_HTIF5) || (DMA2_Stream5->NDTR != USART1_DMA_LEN)) {
|
||||
// disable DMA
|
||||
@@ -245,7 +245,7 @@ void uart_dma_drain(void) {
|
||||
q->uart->CR3 |= USART_CR3_DMAR;
|
||||
}
|
||||
|
||||
exit_critical_section();
|
||||
EXIT_CRITICAL();
|
||||
}
|
||||
|
||||
void DMA2_Stream5_IRQHandler(void) {
|
||||
|
||||
+13
-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
|
||||
@@ -399,6 +20,12 @@ void jump_to_bootloader(void) {
|
||||
}
|
||||
|
||||
void early(void) {
|
||||
// Reset global critical depth
|
||||
global_critical_depth = 0;
|
||||
|
||||
// neccesary for DFU flashing on a non-power cycled white panda
|
||||
enable_interrupts();
|
||||
|
||||
// after it's been in the bootloader, things are initted differently, so we reset
|
||||
if ((enter_bootloader_mode != BOOT_NORMAL) &&
|
||||
(enter_bootloader_mode != ENTER_BOOTLOADER_MAGIC) &&
|
||||
@@ -429,29 +56,25 @@ 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;
|
||||
}
|
||||
}
|
||||
}
|
||||
+14
-12
@@ -42,24 +42,26 @@ int memcmp(const void * ptr1, const void * ptr2, unsigned int num) {
|
||||
|
||||
// ********************* IRQ helpers *********************
|
||||
|
||||
int interrupts_enabled = 0;
|
||||
volatile bool interrupts_enabled = false;
|
||||
|
||||
void enable_interrupts(void) {
|
||||
interrupts_enabled = 1;
|
||||
interrupts_enabled = true;
|
||||
__enable_irq();
|
||||
}
|
||||
|
||||
int critical_depth = 0;
|
||||
void enter_critical_section(void) {
|
||||
void disable_interrupts(void) {
|
||||
interrupts_enabled = false;
|
||||
__disable_irq();
|
||||
// this is safe because interrupts are disabled
|
||||
critical_depth += 1;
|
||||
}
|
||||
|
||||
void exit_critical_section(void) {
|
||||
// this is safe because interrupts are disabled
|
||||
critical_depth -= 1;
|
||||
if ((critical_depth == 0) && interrupts_enabled) {
|
||||
__enable_irq();
|
||||
uint8_t global_critical_depth = 0U;
|
||||
#define ENTER_CRITICAL() \
|
||||
__disable_irq(); \
|
||||
global_critical_depth += 1U;
|
||||
|
||||
#define EXIT_CRITICAL() \
|
||||
global_critical_depth -= 1U; \
|
||||
if ((global_critical_depth == 0U) && interrupts_enabled) { \
|
||||
__enable_irq(); \
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
+203
-201
@@ -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
|
||||
@@ -80,19 +78,72 @@ void EXTI1_IRQHandler(void) {
|
||||
// jenky debounce
|
||||
delay(100000);
|
||||
|
||||
// set power savings mode here
|
||||
int power_save_state = is_gpio_started() ? POWER_SAVE_STATUS_DISABLED : POWER_SAVE_STATUS_ENABLED;
|
||||
set_power_save_state(power_save_state);
|
||||
EXTI->PR = (1U << 1);
|
||||
// set power savings mode here if on EON build
|
||||
#ifdef EON
|
||||
int power_save_state = current_board->check_ignition() ? POWER_SAVE_STATUS_DISABLED : POWER_SAVE_STATUS_ENABLED;
|
||||
set_power_save_state(power_save_state);
|
||||
#endif
|
||||
}
|
||||
EXTI->PR = (1U << interrupt_line);
|
||||
}
|
||||
|
||||
void started_interrupt_init(void) {
|
||||
SYSCFG->EXTICR[1] = SYSCFG_EXTICR1_EXTI1_PA;
|
||||
EXTI->IMR |= (1U << 1);
|
||||
EXTI->RTSR |= (1U << 1);
|
||||
EXTI->FTSR |= (1U << 1);
|
||||
NVIC_EnableIRQ(EXTI1_IRQn);
|
||||
// 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);
|
||||
}
|
||||
|
||||
// ****************************** 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 {
|
||||
switch (mode) {
|
||||
case SAFETY_NOOUTPUT:
|
||||
set_intercept_relay(false);
|
||||
if(hw_type == HW_TYPE_BLACK_PANDA){
|
||||
current_board->set_can_mode(CAN_MODE_NORMAL);
|
||||
}
|
||||
can_silent = ALL_CAN_SILENT;
|
||||
break;
|
||||
case SAFETY_ELM327:
|
||||
set_intercept_relay(false);
|
||||
heartbeat_counter = 0U;
|
||||
if(hw_type == HW_TYPE_BLACK_PANDA){
|
||||
current_board->set_can_mode(CAN_MODE_OBD_CAN2);
|
||||
}
|
||||
can_silent = ALL_CAN_LIVE;
|
||||
break;
|
||||
default:
|
||||
set_intercept_relay(true);
|
||||
heartbeat_counter = 0U;
|
||||
if(hw_type == HW_TYPE_BLACK_PANDA){
|
||||
current_board->set_can_mode(CAN_MODE_NORMAL);
|
||||
}
|
||||
can_silent = ALL_CAN_LIVE;
|
||||
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 *****************************
|
||||
@@ -101,12 +152,13 @@ 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 +173,17 @@ 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 +194,8 @@ 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 +242,6 @@ 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 +260,9 @@ 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
|
||||
@@ -225,11 +282,14 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
|
||||
// so it's blocked over wifi
|
||||
switch (setup->b.wValue.w) {
|
||||
case 0:
|
||||
if (hardwired) {
|
||||
puts("-> entering bootloader\n");
|
||||
enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
|
||||
NVIC_SystemReset();
|
||||
}
|
||||
// only allow bootloader entry on debug builds
|
||||
#ifdef ALLOW_DEBUG
|
||||
if (hardwired) {
|
||||
puts("-> entering bootloader\n");
|
||||
enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
|
||||
NVIC_SystemReset();
|
||||
}
|
||||
#endif
|
||||
break;
|
||||
case 1:
|
||||
puts("-> entering softloader\n");
|
||||
@@ -258,73 +318,57 @@ 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
|
||||
@@ -416,15 +460,18 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
|
||||
break;
|
||||
// **** 0xe6: set USB power
|
||||
case 0xe6:
|
||||
if (setup->b.wValue.w == 1U) {
|
||||
if (setup->b.wValue.w == 0U) {
|
||||
puts("user setting NONE mode\n");
|
||||
current_board->set_usb_power_mode(USB_POWER_NONE);
|
||||
} else 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 +529,12 @@ 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);
|
||||
@@ -536,78 +589,21 @@ 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;
|
||||
@@ -620,11 +616,24 @@ void TIM3_IRQHandler(void) {
|
||||
#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;
|
||||
@@ -634,30 +643,31 @@ void TIM3_IRQHandler(void) {
|
||||
|
||||
int main(void) {
|
||||
// shouldn't have interrupts here, but just in case
|
||||
__disable_irq();
|
||||
disable_interrupts();
|
||||
|
||||
// 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 +679,21 @@ 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 +703,6 @@ 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 +712,22 @@ 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();
|
||||
#endif
|
||||
|
||||
// 48mhz / 65536 ~= 732 / 732 = 1
|
||||
@@ -736,6 +737,8 @@ 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 +754,9 @@ 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 +768,3 @@ 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;
|
||||
Binary file not shown.
+24
-11
@@ -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
|
||||
@@ -46,18 +55,18 @@ void debug_ring_callback(uart_ring *ring) {
|
||||
}
|
||||
}
|
||||
|
||||
int usb_cb_ep1_in(uint8_t *usbdata, int len, bool hardwired) {
|
||||
int usb_cb_ep1_in(void *usbdata, int len, bool hardwired) {
|
||||
UNUSED(usbdata);
|
||||
UNUSED(len);
|
||||
UNUSED(hardwired);
|
||||
return 0;
|
||||
}
|
||||
void usb_cb_ep2_out(uint8_t *usbdata, int len, bool hardwired) {
|
||||
void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
|
||||
UNUSED(usbdata);
|
||||
UNUSED(len);
|
||||
UNUSED(hardwired);
|
||||
}
|
||||
void usb_cb_ep3_out(uint8_t *usbdata, int len, bool hardwired) {
|
||||
void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
|
||||
UNUSED(usbdata);
|
||||
UNUSED(len);
|
||||
UNUSED(hardwired);
|
||||
@@ -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;
|
||||
@@ -290,12 +299,16 @@ void pedal(void) {
|
||||
}
|
||||
|
||||
int main(void) {
|
||||
__disable_irq();
|
||||
disable_interrupts();
|
||||
|
||||
// init devices
|
||||
clock_init();
|
||||
periph_init();
|
||||
gpio_init();
|
||||
peripherals_init();
|
||||
detect_configuration();
|
||||
detect_board_type();
|
||||
|
||||
// init board
|
||||
current_board->init();
|
||||
|
||||
#ifdef PEDAL_USB
|
||||
// enable USB
|
||||
@@ -321,7 +334,7 @@ int main(void) {
|
||||
watchdog_init();
|
||||
|
||||
puts("**** INTERRUPTS ON ****\n");
|
||||
__enable_irq();
|
||||
enable_interrupts();
|
||||
|
||||
// main pedal loop
|
||||
while (1) {
|
||||
|
||||
@@ -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;
|
||||
+19
-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 +25,25 @@ 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);
|
||||
// Switch EPS/GPS
|
||||
if (enable) {
|
||||
current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
|
||||
} else {
|
||||
current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
@@ -13,6 +13,7 @@
|
||||
#include "safety/safety_hyundai.h"
|
||||
#include "safety/safety_chrysler.h"
|
||||
#include "safety/safety_subaru.h"
|
||||
#include "safety/safety_mazda.h"
|
||||
#include "safety/safety_elm327.h"
|
||||
|
||||
const safety_hooks *current_hooks = &nooutput_hooks;
|
||||
@@ -55,6 +56,8 @@ typedef struct {
|
||||
#define SAFETY_TESLA 8U
|
||||
#define SAFETY_CHRYSLER 9U
|
||||
#define SAFETY_SUBARU 10U
|
||||
#define SAFETY_GM_PASSIVE 11U
|
||||
#define SAFETY_MAZDA 12U
|
||||
#define SAFETY_GM_ASCM 0x1334U
|
||||
#define SAFETY_TOYOTA_IPAS 0x1335U
|
||||
#define SAFETY_ALLOUTPUT 0x1337U
|
||||
@@ -71,7 +74,9 @@ const safety_hook_config safety_hook_registry[] = {
|
||||
{SAFETY_HYUNDAI, &hyundai_hooks},
|
||||
{SAFETY_CHRYSLER, &chrysler_hooks},
|
||||
{SAFETY_SUBARU, &subaru_hooks},
|
||||
{SAFETY_MAZDA, &mazda_hooks},
|
||||
{SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
|
||||
{SAFETY_GM_PASSIVE, &gm_passive_hooks},
|
||||
{SAFETY_GM_ASCM, &gm_ascm_hooks},
|
||||
{SAFETY_TESLA, &tesla_hooks},
|
||||
{SAFETY_ALLOUTPUT, &alloutput_hooks},
|
||||
|
||||
@@ -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;
|
||||
|
||||
@@ -231,6 +231,20 @@ static int gm_ign_hook(void) {
|
||||
return gm_ignition_started;
|
||||
}
|
||||
|
||||
// All sending is disallowed.
|
||||
// The only difference from "no output" model
|
||||
// is using GM ignition hook.
|
||||
|
||||
static void gm_passive_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
int bus_number = GET_BUS(to_push);
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
if ((addr == 0x1F1) && (bus_number == 0)) {
|
||||
bool ign = (GET_BYTE(to_push, 0) & 0x20) != 0;
|
||||
gm_ignition_started = ign;
|
||||
}
|
||||
}
|
||||
|
||||
const safety_hooks gm_hooks = {
|
||||
.init = gm_init,
|
||||
.rx = gm_rx_hook,
|
||||
@@ -239,3 +253,12 @@ const safety_hooks gm_hooks = {
|
||||
.ignition = gm_ign_hook,
|
||||
.fwd = default_fwd_hook,
|
||||
};
|
||||
|
||||
const safety_hooks gm_passive_hooks = {
|
||||
.init = gm_init,
|
||||
.rx = gm_passive_rx_hook,
|
||||
.tx = nooutput_tx_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
.ignition = gm_ign_hook,
|
||||
.fwd = default_fwd_hook,
|
||||
};
|
||||
|
||||
@@ -8,16 +8,19 @@
|
||||
// brake > 0mph
|
||||
|
||||
const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 328; // ratio between offset and gain from dbc file
|
||||
int honda_brake_prev = 0;
|
||||
int honda_brake = 0;
|
||||
int honda_gas_prev = 0;
|
||||
bool honda_brake_pressed_prev = false;
|
||||
bool honda_moving = false;
|
||||
bool honda_bosch_hardware = false;
|
||||
bool honda_alt_brake_msg = false;
|
||||
bool honda_fwd_brake = false;
|
||||
|
||||
static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
int addr = GET_ADDR(to_push);
|
||||
int len = GET_LEN(to_push);
|
||||
int bus = GET_BUS(to_push);
|
||||
|
||||
// sample speed
|
||||
if (addr == 0x158) {
|
||||
@@ -51,11 +54,11 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// exit controls on rising edge of brake press or on brake press when speed > 0
|
||||
bool is_user_brake_msg = honda_alt_brake_msg ? ((addr) == 0x1BE) : ((addr) == 0x17C);
|
||||
if (is_user_brake_msg) {
|
||||
int brake = honda_alt_brake_msg ? (GET_BYTE((to_push), 0) & 0x10) : (GET_BYTE((to_push), 6) & 0x20);
|
||||
if (brake && (!(honda_brake_prev) || honda_moving)) {
|
||||
bool brake_pressed = honda_alt_brake_msg ? (GET_BYTE((to_push), 0) & 0x10) : (GET_BYTE((to_push), 6) & 0x20);
|
||||
if (brake_pressed && (!(honda_brake_pressed_prev) || honda_moving)) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
honda_brake_prev = brake;
|
||||
honda_brake_pressed_prev = brake_pressed;
|
||||
}
|
||||
|
||||
// exit controls on rising edge of gas press if interceptor (0x201 w/ len = 6)
|
||||
@@ -81,6 +84,20 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
honda_gas_prev = gas;
|
||||
}
|
||||
}
|
||||
if ((bus == 2) && (addr == 0x1FA)) {
|
||||
bool honda_stock_aeb = GET_BYTE(to_push, 3) & 0x20;
|
||||
int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) + ((GET_BYTE(to_push, 1) >> 6) & 0x3);
|
||||
|
||||
// Forward AEB when stock braking is higher than openpilot braking
|
||||
// only stop forwarding when AEB event is over
|
||||
if (!honda_stock_aeb) {
|
||||
honda_fwd_brake = false;
|
||||
} else if (honda_stock_brake >= honda_brake) {
|
||||
honda_fwd_brake = true;
|
||||
} else {
|
||||
// Leave honda forward brake as is
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// all commands: gas, brake and steering
|
||||
@@ -98,18 +115,21 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
// disallow actuator commands if gas or brake (with vehicle moving) are pressed
|
||||
// and the the latching controls_allowed flag is True
|
||||
int pedal_pressed = honda_gas_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
|
||||
(honda_brake_prev && honda_moving);
|
||||
(honda_brake_pressed_prev && honda_moving);
|
||||
bool current_controls_allowed = controls_allowed && !(pedal_pressed);
|
||||
|
||||
// BRAKE: safety check
|
||||
if (addr == 0x1FA) {
|
||||
int brake = (GET_BYTE(to_send, 0) << 2) + (GET_BYTE(to_send, 1) & 0x3);
|
||||
if ((addr == 0x1FA) && (bus == 0)) {
|
||||
honda_brake = (GET_BYTE(to_send, 0) << 2) + ((GET_BYTE(to_send, 1) >> 6) & 0x3);
|
||||
if (!current_controls_allowed || !long_controls_allowed) {
|
||||
if (brake != 0) {
|
||||
if (honda_brake != 0) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
if (brake > 255) {
|
||||
if (honda_brake > 255) {
|
||||
tx = 0;
|
||||
}
|
||||
if (honda_fwd_brake) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
@@ -136,8 +156,9 @@ 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;
|
||||
}
|
||||
@@ -174,9 +195,12 @@ static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
if (bus_num == 2) {
|
||||
// block stock lkas messages and stock acc messages (if OP is doing ACC)
|
||||
int addr = GET_ADDR(to_fwd);
|
||||
int is_lkas_msg = (addr == 0xE4) || (addr == 0x194) || (addr == 0x33D);
|
||||
int is_acc_msg = (addr == 0x1FA) || (addr == 0x30C) || (addr == 0x39F);
|
||||
int block_fwd = is_lkas_msg || (is_acc_msg && long_controls_allowed);
|
||||
bool is_lkas_msg = (addr == 0xE4) || (addr == 0x194) || (addr == 0x33D);
|
||||
bool is_acc_hud_msg = (addr == 0x30C) || (addr == 0x39F);
|
||||
bool is_brake_msg = addr == 0x1FA;
|
||||
bool block_fwd = is_lkas_msg ||
|
||||
(is_acc_hud_msg && long_controls_allowed) ||
|
||||
(is_brake_msg && long_controls_allowed && !honda_fwd_brake);
|
||||
if (!block_fwd) {
|
||||
bus_fwd = 0;
|
||||
}
|
||||
@@ -186,15 +210,17 @@ 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;
|
||||
|
||||
@@ -0,0 +1,169 @@
|
||||
|
||||
// CAN msgs we care about
|
||||
#define MAZDA_LKAS 0x243
|
||||
#define MAZDA_LANEINFO 0x440
|
||||
#define MAZDA_CRZ_CTRL 0x21c
|
||||
#define MAZDA_WHEEL_SPEED 0x215
|
||||
#define MAZDA_STEER_TORQUE 0x240
|
||||
|
||||
// CAN bus numbers
|
||||
#define MAZDA_MAIN 0
|
||||
#define MAZDA_AUX 1
|
||||
#define MAZDA_CAM 2
|
||||
|
||||
#define MAZDA_MAX_STEER 2048
|
||||
|
||||
// max delta torque allowed for real time checks
|
||||
#define MAZDA_MAX_RT_DELTA 940
|
||||
// 250ms between real time checks
|
||||
#define MAZDA_RT_INTERVAL 250000
|
||||
#define MAZDA_MAX_RATE_UP 10
|
||||
#define MAZDA_MAX_RATE_DOWN 25
|
||||
#define MAZDA_DRIVER_TORQUE_ALLOWANCE 15
|
||||
#define MAZDA_DRIVER_TORQUE_FACTOR 1
|
||||
|
||||
|
||||
int mazda_cruise_engaged_last = 0;
|
||||
int mazda_rt_torque_last = 0;
|
||||
int mazda_desired_torque_last = 0;
|
||||
uint32_t mazda_ts_last = 0;
|
||||
struct sample_t mazda_torque_driver; // last few driver torques measured
|
||||
|
||||
// track msgs coming from OP so that we know what CAM msgs to drop and what to forward
|
||||
int mazda_op_lkas_detected = 0;
|
||||
int mazda_op_laneinfo_detected = 0;
|
||||
|
||||
int mazda_forward_cam = 0;
|
||||
int mazda_giraffe_switch_2_on = 0;
|
||||
|
||||
void mazda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
int bus = GET_BUS(to_push);
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
if ((addr == MAZDA_STEER_TORQUE) && (bus == MAZDA_MAIN)) {
|
||||
int torque_driver_new = GET_BYTE(to_push, 0) - 127;
|
||||
// update array of samples
|
||||
update_sample(&mazda_torque_driver, torque_driver_new);
|
||||
}
|
||||
|
||||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
if ((addr == MAZDA_CRZ_CTRL) && (bus == MAZDA_MAIN)) {
|
||||
int cruise_engaged = GET_BYTE(to_push, 0) & 8;
|
||||
if (cruise_engaged != 0) {
|
||||
if (!mazda_cruise_engaged_last) {
|
||||
controls_allowed = 1;
|
||||
}
|
||||
}
|
||||
else {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
mazda_cruise_engaged_last = cruise_engaged;
|
||||
}
|
||||
|
||||
// we have msgs on bus MAZDA_CAM
|
||||
if (bus == MAZDA_CAM) {
|
||||
// the stock CAM is connected
|
||||
if (addr == MAZDA_LKAS) {
|
||||
mazda_forward_cam = 1;
|
||||
}
|
||||
// if we see wheel speed msgs on MAZDA_CAM bus then giraffe switch 2 is high
|
||||
// (hardware passthru)
|
||||
if (addr == MAZDA_WHEEL_SPEED) {
|
||||
mazda_giraffe_switch_2_on = 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static int mazda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
int tx = 1;
|
||||
int addr = GET_ADDR(to_send);
|
||||
int bus = GET_BUS(to_send);
|
||||
|
||||
// Check if msg is sent on the main BUS
|
||||
if (bus == MAZDA_MAIN) {
|
||||
if ((addr == MAZDA_LKAS) && !mazda_op_lkas_detected){
|
||||
mazda_op_lkas_detected = 1;
|
||||
}
|
||||
if ((addr == MAZDA_LANEINFO) && !mazda_op_laneinfo_detected){
|
||||
mazda_op_laneinfo_detected = 1;
|
||||
}
|
||||
|
||||
// steer cmd checks
|
||||
if (addr == MAZDA_LKAS) {
|
||||
int desired_torque = (((GET_BYTE(to_send, 0) & 0x0f) << 8) | GET_BYTE(to_send, 1)) - MAZDA_MAX_STEER;
|
||||
bool violation = 0;
|
||||
uint32_t ts = TIM2->CNT;
|
||||
|
||||
if (controls_allowed) {
|
||||
|
||||
// *** global torque limit check ***
|
||||
violation |= max_limit_check(desired_torque, MAZDA_MAX_STEER, -MAZDA_MAX_STEER);
|
||||
|
||||
// *** torque rate limit check ***
|
||||
int desired_torque_last = mazda_desired_torque_last;
|
||||
violation |= driver_limit_check(desired_torque, desired_torque_last, &mazda_torque_driver,
|
||||
MAZDA_MAX_STEER, MAZDA_MAX_RATE_UP, MAZDA_MAX_RATE_DOWN,
|
||||
MAZDA_DRIVER_TORQUE_ALLOWANCE, MAZDA_DRIVER_TORQUE_FACTOR);
|
||||
// used next time
|
||||
mazda_desired_torque_last = desired_torque;
|
||||
|
||||
// *** torque real time rate limit check ***
|
||||
violation |= rt_rate_limit_check(desired_torque, mazda_rt_torque_last, MAZDA_MAX_RT_DELTA);
|
||||
|
||||
// every RT_INTERVAL set the new limits
|
||||
uint32_t ts_elapsed = get_ts_elapsed(ts, mazda_ts_last);
|
||||
if (ts_elapsed > ((uint32_t) MAZDA_RT_INTERVAL)) {
|
||||
mazda_rt_torque_last = desired_torque;
|
||||
mazda_ts_last = ts;
|
||||
}
|
||||
}
|
||||
|
||||
// no torque if controls is not allowed
|
||||
if (!controls_allowed && (desired_torque != 0)) {
|
||||
violation = 1;
|
||||
}
|
||||
|
||||
// reset to 0 if either controls is not allowed or there's a violation
|
||||
if (violation || !controls_allowed) {
|
||||
mazda_desired_torque_last = 0;
|
||||
mazda_rt_torque_last = 0;
|
||||
mazda_ts_last = ts;
|
||||
}
|
||||
|
||||
if (violation) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
return tx;
|
||||
}
|
||||
|
||||
static int mazda_fwd_hook(int bus, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
int bus_fwd = -1;
|
||||
if (mazda_forward_cam && !mazda_giraffe_switch_2_on) {
|
||||
int addr = GET_ADDR(to_fwd);
|
||||
if (bus == MAZDA_MAIN) {
|
||||
bus_fwd = MAZDA_CAM;
|
||||
}
|
||||
else if (bus == MAZDA_CAM) {
|
||||
// drop stock CAM_LKAS and CAM_LANEINFI if OP is sending them
|
||||
if (!((addr == MAZDA_LKAS) && mazda_op_lkas_detected) &&
|
||||
!((addr == MAZDA_LANEINFO) && mazda_op_laneinfo_detected)) {
|
||||
bus_fwd = MAZDA_MAIN;
|
||||
}
|
||||
}
|
||||
else {
|
||||
bus_fwd = -1;
|
||||
}
|
||||
}
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
const safety_hooks mazda_hooks = {
|
||||
.init = nooutput_init,
|
||||
.rx = mazda_rx_hook,
|
||||
.tx = mazda_tx_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
.ignition = default_ign_hook,
|
||||
.fwd = mazda_fwd_hook,
|
||||
};
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user