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11 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Willem Melching
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abfe469d95 | ||
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Willem Melching
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a39e33b9d0 | ||
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Willem Melching
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c9c66ce21a | ||
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Vehicle Researcher
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ddee718536 | ||
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Vehicle Researcher
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7e908db510 | ||
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Vehicle Researcher
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e0ab166ed3 | ||
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Vehicle Researcher
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d1aff96611 | ||
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Vehicle Researcher
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eb0dff8438 | ||
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Vehicle Researcher
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d692982601 | ||
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Vehicle Researcher
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5bfae8d806 | ||
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robbederks
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cc6358d983 |
@@ -20,7 +20,9 @@ a.out
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||||
.*.un~
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*.tmp
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*.o
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*.o-*
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*.os
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*.os-*
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||||
*.so
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*.a
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*.clb
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@@ -54,6 +56,7 @@ xx
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panda_jungle
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.coverage*
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coverage.xml
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htmlcov
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pandaextra
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@@ -57,106 +57,125 @@ openpilot should preserve all other vehicle's stock features, including, but are
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Supported Hardware
|
||||
------
|
||||
|
||||
At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/products/eon-dashcam-devkit) and the [comma two](https://comma.ai/shop/products/comma-two-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON or comma two to the car. In the future, we'd like to support other platforms as well, like gaming PCs.
|
||||
At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/products/eon-dashcam-devkit) and the [comma two](https://comma.ai/shop/products/comma-two-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON or comma two to the car. For experimental purposes, openpilot can also run on an Ubuntu computer with external [webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
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||||
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||||
Supported Cars
|
||||
------
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||||
|
||||
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
|
||||
| Acura | ILX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>6</sup> | 25mph |
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| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>6</sup> | 12mph |
|
||||
| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Chrysler | Pacifica Hybrid 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Acura | ILX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
|
||||
| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 12mph |
|
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| Honda | Accord 2018-19 | All | Stock | 0mph | 3mph |
|
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| Honda | Accord Hybrid 2018-19 | All | Stock | 0mph | 3mph |
|
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| Honda | Civic Hatchback 2017-19 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
|
||||
| Honda | Civic Sedan/Coupe 2019 | Honda Sensing | Stock | 0mph | 2mph<sup>4</sup> |
|
||||
| Honda | CR-V 2015-16 | Touring | openpilot | 25mph<sup>6</sup> | 12mph |
|
||||
| Honda | Civic Sedan/Coupe 2019-20 | Honda Sensing | Stock | 0mph | 2mph<sup>2</sup> |
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||||
| Honda | CR-V 2015-16 | Touring | openpilot | 25mph<sup>1</sup> | 12mph |
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||||
| Honda | CR-V 2017-19 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | Fit 2018-19 | Honda Sensing | openpilot | 25mph<sup>6</sup> | 12mph |
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||||
| Honda | Fit 2018-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
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||||
| Honda | HR-V 2019 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Insight 2019 | Honda Sensing | Stock | 0mph | 3mph |
|
||||
| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph<sup>6</sup> | 0mph |
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||||
| Honda | Passport 2019 | All | openpilot | 25mph<sup>6</sup> | 12mph |
|
||||
| Honda | Pilot 2016-18 | Honda Sensing | openpilot | 25mph<sup>6</sup> | 12mph |
|
||||
| Honda | Pilot 2019 | All | openpilot | 25mph<sup>6</sup> | 12mph |
|
||||
| Honda | Ridgeline 2017-19 | Honda Sensing | openpilot | 25mph<sup>6</sup> | 12mph |
|
||||
| Hyundai | Elantra 2017-19<sup>1</sup> | SCC + LKAS | Stock | 19mph | 34mph |
|
||||
| Hyundai | Genesis 2018<sup>1</sup> | All | Stock | 19mph | 34mph |
|
||||
| Hyundai | Santa Fe 2019<sup>1</sup> | All | Stock | 0mph | 0mph |
|
||||
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Jeep | Grand Cherokee 2019 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Kia | Optima 2019<sup>1</sup> | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Sorento 2018<sup>1</sup> | All | Stock | 0mph | 0mph |
|
||||
| Kia | Stinger 2018<sup>1</sup> | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Lexus | CT Hybrid 2017-18 | All | Stock<sup>5</sup>| 0mph | 0mph |
|
||||
| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 0mph |
|
||||
| Honda | Passport 2019 | All | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Pilot 2016-18 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Pilot 2019 | All | openpilot | 25mph<sup>1</sup> | 12mph |
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||||
| Honda | Ridgeline 2017-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Lexus | CT Hybrid 2017-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | ES 2019 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | ES Hybrid 2019 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph |
|
||||
| Lexus | IS Hybrid 2017 | All | Stock | 0mph | 0mph |
|
||||
| Lexus | NX Hybrid 2018 | All | Stock<sup>5</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2016-17 | All | Stock<sup>5</sup>| 0mph | 0mph |
|
||||
| Lexus | NX Hybrid 2018 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2016-17 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2016-19 | All | Stock<sup>5</sup>| 0mph | 0mph |
|
||||
| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Impreza 2019-20 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Toyota | Avalon 2016 | TSS-P | Stock<sup>5</sup>| 20mph<sup>6</sup> | 0mph |
|
||||
| Toyota | Avalon 2017-18 | All | Stock<sup>5</sup>| 20mph<sup>6</sup> | 0mph |
|
||||
| Toyota | Camry 2018-19 | All | Stock | 0mph<sup>2</sup> | 0mph |
|
||||
| Toyota | Camry Hybrid 2018-19 | All | Stock | 0mph<sup>2</sup> | 0mph |
|
||||
| Lexus | RX Hybrid 2016-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Avalon 2016 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Avalon 2017-18 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Camry 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry Hybrid 2018-19 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | C-HR 2017-19 | All | Stock | 0mph | 0mph |
|
||||
| Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph |
|
||||
| Toyota | Corolla 2017-19 | All | Stock<sup>5</sup>| 20mph<sup>6</sup> | 0mph |
|
||||
| Toyota | Corolla 2017-19 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Corolla 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hatchback 2019-20 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hybrid 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander 2017-19 | All | Stock<sup>5</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2017-19 | All | Stock<sup>5</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Prius 2016 | TSS-P | Stock<sup>5</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2017-19 | All | Stock<sup>5</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2017-20 | All | Stock<sup>5</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 2016 | TSS-P | Stock<sup>5</sup>| 20mph<sup>6</sup> | 0mph |
|
||||
| Toyota | Rav4 2017-18 | All | Stock<sup>5</sup>| 20mph<sup>6</sup> | 0mph |
|
||||
| Toyota | Rav4 2019 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2016 | TSS-P | Stock<sup>5</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2017-18 | All | Stock<sup>5</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Prius 2016 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2017-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 2016 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Rav4 2017-18 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Rav4 2019-20 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2016 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2017-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2019-20 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Sienna 2018 | All | Stock<sup>5</sup>| 0mph | 0mph |
|
||||
| Volkswagen| Golf 2016-19<sup>3</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Toyota | Sienna 2018 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
|
||||
<sup>1</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and open sourced [Hyundai giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai), designed for the 2019 Sante Fe; pinout may differ for other Hyundai and Kia models. <br />
|
||||
<sup>2</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>3</sup>Requires a [custom connector](https://community.comma.ai/wiki/index.php/Volkswagen#Integration_at_R242_Camera) for the [car harness](https://comma.ai/shop/products/car-harness) <br />
|
||||
<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
|
||||
<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](https://comma.ai).*** <br />
|
||||
<sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
|
||||
<sup>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace 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>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
|
||||
Community Maintained Cars and Features
|
||||
------
|
||||
|
||||
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
|
||||
| Buick | Regal 2018<sup>7</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Cadillac | ATS 2018<sup>7</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Chevrolet | Malibu 2017<sup>7</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Chevrolet | Volt 2017-18<sup>7</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| GMC | Acadia Denali 2018<sup>7</sup>| Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Holden | Astra 2017<sup>7</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Buick | Regal 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Cadillac | ATS 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Chevrolet | Malibu 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Chevrolet | Volt 2017-18<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Chrysler | Pacifica 2020 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Chrysler | Pacifica Hybrid 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Genesis | G80 2018<sup>2</sup> | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G90 2018<sup>2</sup> | All | Stock | 0mph | 0mph |
|
||||
| GMC | Acadia Denali 2018<sup>3</sup>| Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Holden | Astra 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Hyundai | Elantra 2017-19<sup>2</sup> | SCC + LKAS | Stock | 19mph | 34mph |
|
||||
| Hyundai | Genesis 2015-16<sup>2</sup> | SCC + LKAS | Stock | 19mph | 37mph |
|
||||
| Hyundai | Ioniq 2017<sup>2</sup> | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Hyundai | Ioniq 2019 EV<sup>2</sup> | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Hyundai | Kona 2017-19<sup>2</sup> | SCC + LKAS | Stock | 22mph | 0mph |
|
||||
| Hyundai | Kona 2019 EV<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Palisade 2020<sup>2</sup> | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Santa Fe 2019<sup>2</sup> | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2020<sup>2</sup> | All | Stock | 0mph | 0mph |
|
||||
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Jeep | Grand Cherokee 2019 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Kia | Forte 2018<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Optima 2017<sup>2</sup> | SCC + LKAS/LDWS | Stock | 0mph | 32mph |
|
||||
| Kia | Optima 2019<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Sorento 2018<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Stinger 2018<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Nissan | Leaf 2019 | Propilot | Stock | 0mph | 0mph |
|
||||
| Nissan | X-Trail 2018 | Propilot | Stock | 0mph | 0mph |
|
||||
| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Impreza 2018-20 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf 2016-19<sup>3</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
|
||||
<sup>5</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace 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>6</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](https://comma.ai).*** <br />
|
||||
<sup>7</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and [community built giraffe](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
|
||||
<sup>1</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and [community built giraffe](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
|
||||
<sup>2</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and open sourced [Hyundai giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai), designed for the 2019 Sante Fe; pinout may differ for other Hyundai and Kia models. <br />
|
||||
<sup>3</sup>Requires a [custom connector](https://community.comma.ai/wiki/index.php/Volkswagen#Integration_at_R242_Camera) for the [car harness](https://comma.ai/shop/products/car-harness) <br />
|
||||
|
||||
Although it's not upstream, there's a community of people getting openpilot to run on Tesla's [here](https://tinkla.us/)
|
||||
|
||||
Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them. They are only available after enabling the toggle in `Settings->Developer->Enable Community Features`.
|
||||
|
||||
To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0
|
||||
|
||||
Installation Instructions
|
||||
------
|
||||
|
||||
Install openpilot on a EON by entering ``https://openpilot.comma.ai`` during the installer setup.
|
||||
Install openpilot on an EON or comma two by entering ``https://openpilot.comma.ai`` during the installer setup.
|
||||
|
||||
Follow this [video instructions](https://youtu.be/3nlkomHathI) to properly mount the EON on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise EON mounting.
|
||||
Follow these [video instructions](https://youtu.be/3nlkomHathI) to properly mount the device on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise device mounting.
|
||||
|
||||
Before placing the device on your windshield, check the state and local laws and ordinances where you drive. Some state laws prohibit or restrict the placement of objects on the windshield of a motor vehicle.
|
||||
|
||||
@@ -174,7 +193,7 @@ Many factors can impact the performance of openpilot ALC and openpilot LDW, caus
|
||||
* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
|
||||
* The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
|
||||
* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
|
||||
* The EON is mounted incorrectly.
|
||||
* The device is mounted incorrectly.
|
||||
* When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
|
||||
* In the presence of restricted lanes or construction zones.
|
||||
* When driving on highly banked roads or in presence of strong cross-wind.
|
||||
@@ -194,7 +213,7 @@ Many factors can impact the performance of openpilot ACC and openpilot FCW, caus
|
||||
* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
|
||||
* The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
|
||||
* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
|
||||
* The EON is mounted incorrectly.
|
||||
* The device is mounted incorrectly.
|
||||
* Approaching a toll booth, a bridge or a large metal plate.
|
||||
* When driving on roads with pedestrians, cyclists, etc...
|
||||
* In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
|
||||
@@ -212,13 +231,13 @@ The list above does not represent an exhaustive list of situations that may inte
|
||||
Limitations of openpilot DM
|
||||
------
|
||||
|
||||
openpilot DM should not be considered an exact measurements of the status of alertness of the driver.
|
||||
openpilot DM should not be considered an exact measurement of the alertness of the driver.
|
||||
|
||||
Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:
|
||||
|
||||
* Low light conditions, such as driving at night or in dark tunnels.
|
||||
* Bright light (due to oncoming headlights, direct sunlight, etc.).
|
||||
* The driver face is partially or completely outside field of view of the driver facing camera.
|
||||
* The driver's face is partially or completely outside field of view of the driver facing camera.
|
||||
* Right hand driving vehicles.
|
||||
* The driver facing camera is obstructed, covered, or damaged.
|
||||
|
||||
@@ -240,7 +259,7 @@ Safety and Testing
|
||||
----
|
||||
|
||||
* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more detail.
|
||||
* openpilot has software in the loop [tests](run_docker_tests.sh) that run on every commit.
|
||||
* openpilot has software in the loop [tests](.github/workflows/test.yaml) that run on every commit.
|
||||
* The safety model code lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
|
||||
* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
|
||||
* Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
|
||||
@@ -267,15 +286,15 @@ Directory Structure
|
||||
------
|
||||
.
|
||||
├── apk # The apk files used for the UI
|
||||
├── cereal # The messaging spec and libs used for all logs on EON
|
||||
├── cereal # The messaging spec and libs used for all logs
|
||||
├── common # Library like functionality we've developed here
|
||||
├── installer/updater # Manages auto-updates of openpilot
|
||||
├── opendbc # Files showing how to interpret data from cars
|
||||
├── panda # Code used to communicate on CAN
|
||||
├── phonelibs # Libraries used on EON
|
||||
├── pyextra # Libraries used on EON
|
||||
├── phonelibs # Libraries used on NEOS devices
|
||||
├── pyextra # Libraries used on NEOS devices
|
||||
└── selfdrive # Code needed to drive the car
|
||||
├── assets # Fonts and images for UI
|
||||
├── assets # Fonts, images, and sounds for UI
|
||||
├── athena # Allows communication with the app
|
||||
├── boardd # Daemon to talk to the board
|
||||
├── camerad # Driver to capture images from the camera sensors
|
||||
@@ -289,7 +308,7 @@ Directory Structure
|
||||
├── modeld # Driving and monitoring model runners
|
||||
├── proclogd # Logs information from proc
|
||||
├── sensord # IMU / GPS interface code
|
||||
├── tests # Unit tests, system tests and a car simulator
|
||||
├── test # Unit tests, system tests and a car simulator
|
||||
└── ui # The UI
|
||||
|
||||
To understand how the services interact, see `cereal/service_list.yaml`.
|
||||
@@ -308,3 +327,8 @@ NO WARRANTY EXPRESSED OR IMPLIED.**
|
||||
---
|
||||
|
||||
<img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
|
||||
|
||||
[](https://lgtm.com/projects/g/commaai/openpilot/alerts/)
|
||||
[](https://lgtm.com/projects/g/commaai/openpilot/context:python)
|
||||
[](https://lgtm.com/projects/g/commaai/openpilot/context:cpp)
|
||||
[](https://codecov.io/gh/commaai/openpilot)
|
||||
|
||||
+10
@@ -1,3 +1,13 @@
|
||||
Version 0.7.5 (2020-05-13)
|
||||
========================
|
||||
* Right-Hand Drive support for both driving and driver monitoring!
|
||||
* New driving model: improved at sharp turns and lead speed estimation
|
||||
* New driver monitoring model: overall improvement on comma two
|
||||
* Driver camera preview in settings to improve mounting position
|
||||
* Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
|
||||
* 2019 Nissan X-Trail and 2018 Nissan Leaf support thanks to avolmensky!
|
||||
* Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
|
||||
|
||||
Version 0.7.4 (2020-03-20)
|
||||
========================
|
||||
* New driving model: improved lane changes and lead car detection
|
||||
|
||||
+34
-19
@@ -14,39 +14,55 @@ AddOption('--asan',
|
||||
arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
if platform.system() == "Darwin":
|
||||
arch = "Darwin"
|
||||
if arch == "aarch64" and not os.path.isdir("/system"):
|
||||
arch = "larch64"
|
||||
|
||||
if arch == "aarch64":
|
||||
webcam = bool(ARGUMENTS.get("use_webcam", 0))
|
||||
|
||||
if arch == "aarch64" or arch == "larch64":
|
||||
lenv = {
|
||||
"LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
|
||||
"PATH": os.environ['PATH'],
|
||||
"ANDROID_DATA": os.environ['ANDROID_DATA'],
|
||||
"ANDROID_ROOT": os.environ['ANDROID_ROOT'],
|
||||
}
|
||||
|
||||
if arch == "aarch64":
|
||||
# android
|
||||
lenv["ANDROID_DATA"] = os.environ['ANDROID_DATA']
|
||||
lenv["ANDROID_ROOT"] = os.environ['ANDROID_ROOT']
|
||||
|
||||
cpppath = [
|
||||
"#phonelibs/opencl/include",
|
||||
]
|
||||
|
||||
libpath = [
|
||||
"#phonelibs/snpe/aarch64-android-clang3.8",
|
||||
"/usr/lib",
|
||||
"/data/data/com.termux/files/usr/lib",
|
||||
"/system/vendor/lib64",
|
||||
"/system/comma/usr/lib",
|
||||
"#phonelibs/nanovg",
|
||||
"#phonelibs/libyuv/lib",
|
||||
]
|
||||
|
||||
cflags = ["-DQCOM", "-mcpu=cortex-a57"]
|
||||
cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
|
||||
if arch == "larch64":
|
||||
cpppath += ["#phonelibs/capnp-cpp/include"]
|
||||
libpath += ["#phonelibs/snpe/larch64"]
|
||||
libpath += ["#phonelibs/libyuv/larch64/lib"]
|
||||
libpath += ["#external/capnparm/lib", "/usr/lib/aarch64-linux-gnu"]
|
||||
cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
|
||||
cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
|
||||
rpath = ["/usr/local/lib"]
|
||||
else:
|
||||
libpath += ["#phonelibs/snpe/aarch64"]
|
||||
libpath += ["#phonelibs/libyuv/lib"]
|
||||
cflags = ["-DQCOM", "-mcpu=cortex-a57"]
|
||||
cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
|
||||
rpath = ["/system/vendor/lib64"]
|
||||
|
||||
rpath = ["/system/vendor/lib64"]
|
||||
else:
|
||||
lenv = {
|
||||
"PATH": "#external/bin:" + os.environ['PATH'],
|
||||
}
|
||||
cpppath = [
|
||||
"#phonelibs/capnp-cpp/include",
|
||||
"#phonelibs/capnp-c/include",
|
||||
"#phonelibs/zmq/x64/include",
|
||||
"#external/tensorflow/include",
|
||||
]
|
||||
@@ -54,7 +70,6 @@ else:
|
||||
if arch == "Darwin":
|
||||
libpath = [
|
||||
"#phonelibs/capnp-cpp/mac/lib",
|
||||
"#phonelibs/capnp-c/mac/lib",
|
||||
"#phonelibs/libyuv/mac/lib",
|
||||
"#cereal",
|
||||
"#selfdrive/common",
|
||||
@@ -64,7 +79,6 @@ else:
|
||||
else:
|
||||
libpath = [
|
||||
"#phonelibs/capnp-cpp/x64/lib",
|
||||
"#phonelibs/capnp-c/x64/lib",
|
||||
"#phonelibs/snpe/x86_64-linux-clang",
|
||||
"#phonelibs/zmq/x64/lib",
|
||||
"#phonelibs/libyuv/x64/lib",
|
||||
@@ -113,11 +127,10 @@ env = Environment(
|
||||
"#phonelibs/bzip2",
|
||||
"#phonelibs/libyuv/include",
|
||||
"#phonelibs/openmax/include",
|
||||
"#phonelibs/json/src",
|
||||
"#phonelibs/json11",
|
||||
"#phonelibs/eigen",
|
||||
"#phonelibs/curl/include",
|
||||
"#phonelibs/opencv/include",
|
||||
#"#phonelibs/opencv/include", # use opencv4 instead
|
||||
"#phonelibs/libgralloc/include",
|
||||
"#phonelibs/android_frameworks_native/include",
|
||||
"#phonelibs/android_hardware_libhardware/include",
|
||||
@@ -175,10 +188,12 @@ def abspath(x):
|
||||
# rpath works elsewhere
|
||||
return x[0].path.rsplit("/", 1)[1][:-3]
|
||||
|
||||
#zmq = 'zmq'
|
||||
# still needed for apks
|
||||
zmq = FindFile("libzmq.a", libpath)
|
||||
Export('env', 'arch', 'zmq', 'SHARED')
|
||||
if arch == 'larch64':
|
||||
zmq = 'zmq'
|
||||
else:
|
||||
zmq = FindFile("libzmq.a", libpath)
|
||||
Export('env', 'arch', 'zmq', 'SHARED', 'webcam')
|
||||
|
||||
# cereal and messaging are shared with the system
|
||||
SConscript(['cereal/SConscript'])
|
||||
@@ -196,7 +211,7 @@ Import('_common', '_visionipc', '_gpucommon', '_gpu_libs')
|
||||
if SHARED:
|
||||
common, visionipc, gpucommon = abspath(common), abspath(visionipc), abspath(gpucommon)
|
||||
else:
|
||||
common = [_common, 'json']
|
||||
common = [_common, 'json11']
|
||||
visionipc = _visionipc
|
||||
gpucommon = [_gpucommon] + _gpu_libs
|
||||
|
||||
@@ -215,6 +230,7 @@ if arch != "Darwin":
|
||||
SConscript(['selfdrive/controls/lib/cluster/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/longitudinal_mpc_model/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/boardd/SConscript'])
|
||||
SConscript(['selfdrive/proclogd/SConscript'])
|
||||
@@ -229,5 +245,4 @@ if arch == "aarch64":
|
||||
|
||||
SConscript(['selfdrive/locationd/SConscript'])
|
||||
SConscript(['selfdrive/locationd/kalman/SConscript'])
|
||||
|
||||
# TODO: finish cereal, dbcbuilder, MPC
|
||||
SConscript(['tools/lib/index_log/SConscript'])
|
||||
|
||||
Binary file not shown.
+1
-7
@@ -5,10 +5,6 @@ messaging_dir = Dir('messaging')
|
||||
|
||||
# TODO: remove src-prefix and cereal from command string. can we set working directory?
|
||||
env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
|
||||
env.Command(
|
||||
['gen/c/car.capnp.c', 'gen/c/log.capnp.c', 'gen/c/car.capnp.h', 'gen/c/log.capnp.h'],
|
||||
['car.capnp', 'log.capnp'],
|
||||
'capnpc $SOURCES --src-prefix=cereal -o c:' + gen_dir.path + '/c/')
|
||||
env.Command(
|
||||
['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
|
||||
['car.capnp', 'log.capnp'],
|
||||
@@ -22,14 +18,12 @@ if shutil.which('capnpc-java'):
|
||||
|
||||
# TODO: remove non shared cereal and messaging
|
||||
cereal_objects = env.SharedObject([
|
||||
'gen/c/car.capnp.c',
|
||||
'gen/c/log.capnp.c',
|
||||
'gen/cpp/car.capnp.c++',
|
||||
'gen/cpp/log.capnp.c++',
|
||||
])
|
||||
|
||||
env.Library('cereal', cereal_objects)
|
||||
env.SharedLibrary('cereal_shared', cereal_objects, LIBS=["capnp_c"])
|
||||
env.SharedLibrary('cereal_shared', cereal_objects)
|
||||
|
||||
cereal_dir = Dir('.')
|
||||
services_h = env.Command(
|
||||
|
||||
+24
-8
@@ -91,6 +91,12 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
carUnrecognized @66;
|
||||
radarCommIssue @67;
|
||||
driverMonitorLowAcc @68;
|
||||
invalidLkasSetting @69;
|
||||
speedTooHigh @70;
|
||||
laneChangeBlocked @71;
|
||||
relayMalfunction @72;
|
||||
gasPressed @73;
|
||||
stockFcw @74;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -119,12 +125,14 @@ struct CarState {
|
||||
brakeLights @19 :Bool;
|
||||
|
||||
# steering wheel
|
||||
steeringAngle @7 :Float32; # deg
|
||||
steeringRate @15 :Float32; # deg/s
|
||||
steeringTorque @8 :Float32; # TODO: standardize units
|
||||
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
|
||||
steeringRateLimited @29 :Bool; # if the torque is limited by the rate limiter
|
||||
steeringPressed @9 :Bool; # if the user is using the steering wheel
|
||||
steeringRateLimited @29 :Bool; # if the torque is limited by the rate limiter
|
||||
steerWarning @35 :Bool; # temporary steer unavailble
|
||||
steerError @36 :Bool; # permanent steer error
|
||||
stockAeb @30 :Bool;
|
||||
stockFcw @31 :Bool;
|
||||
espDisabled @32 :Bool;
|
||||
@@ -151,7 +159,7 @@ struct CarState {
|
||||
|
||||
# which packets this state came from
|
||||
canMonoTimes @12: List(UInt64);
|
||||
|
||||
|
||||
# blindspot sensors
|
||||
leftBlindspot @33 :Bool; # Is there something blocking the left lane change
|
||||
rightBlindspot @34 :Bool; # Is there something blocking the right lane change
|
||||
@@ -309,6 +317,7 @@ struct CarControl {
|
||||
chimeWarning2 @5;
|
||||
chimeWarningRepeat @6;
|
||||
chimePrompt @7;
|
||||
chimeWarning2Repeat @8;
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -379,6 +388,7 @@ struct CarParams {
|
||||
radarTimeStep @45: Float32 = 0.05; # time delta between radar updates, 20Hz is very standard
|
||||
communityFeature @46: Bool; # true if a community maintained feature is detected
|
||||
fingerprintSource @49: FingerprintSource;
|
||||
networkLocation @50 :NetworkLocation; # Where Panda/C2 is integrated into the car's CAN network
|
||||
|
||||
struct LateralParams {
|
||||
torqueBP @0 :List(Int32);
|
||||
@@ -456,8 +466,9 @@ struct CarParams {
|
||||
|
||||
enum TransmissionType {
|
||||
unknown @0;
|
||||
automatic @1;
|
||||
manual @2;
|
||||
automatic @1; # Traditional auto, including DSG
|
||||
manual @2; # True "stick shift" only
|
||||
direct @3; # Electric vehicle or other direct drive
|
||||
}
|
||||
|
||||
struct CarFw {
|
||||
@@ -496,4 +507,9 @@ struct CarParams {
|
||||
fw @1;
|
||||
fixed @2;
|
||||
}
|
||||
|
||||
enum NetworkLocation {
|
||||
fwdCamera @0; # Standard/default integration at LKAS camera
|
||||
gateway @1; # Integration at vehicle's CAN gateway
|
||||
}
|
||||
}
|
||||
|
||||
+28
-5
@@ -129,6 +129,7 @@ struct FrameData {
|
||||
gainFrac @15 :Float32;
|
||||
focusVal @16 :List(Int16);
|
||||
focusConf @17 :List(UInt8);
|
||||
sharpnessScore @18 :List(UInt16);
|
||||
|
||||
frameType @7 :FrameType;
|
||||
timestampSof @8 :UInt64;
|
||||
@@ -352,6 +353,25 @@ struct HealthData {
|
||||
|
||||
enum FaultType {
|
||||
relayMalfunction @0;
|
||||
unusedInterruptHandled @1;
|
||||
interruptRateCan1 @2;
|
||||
interruptRateCan2 @3;
|
||||
interruptRateCan3 @4;
|
||||
interruptRateTach @5;
|
||||
interruptRateGmlan @6;
|
||||
interruptRateInterrupts @7;
|
||||
interruptRateSpiDma @8;
|
||||
interruptRateSpiCs @9;
|
||||
interruptRateUart1 @10;
|
||||
interruptRateUart2 @11;
|
||||
interruptRateUart3 @12;
|
||||
interruptRateUart5 @13;
|
||||
interruptRateUartDma @14;
|
||||
interruptRateUsb @15;
|
||||
interruptRateTim1 @16;
|
||||
interruptRateTim3 @17;
|
||||
registerDivergent @18;
|
||||
# Update max fault type in boardd when adding faults
|
||||
}
|
||||
|
||||
enum HwType {
|
||||
@@ -805,7 +825,7 @@ struct PathPlan {
|
||||
|
||||
struct LiveLocationKalman {
|
||||
|
||||
# More info on reference frames:
|
||||
# More info on reference frames:
|
||||
# https://github.com/commaai/openpilot/tree/master/common/transformations
|
||||
|
||||
positionECEF @0 : Measurement;
|
||||
@@ -821,10 +841,10 @@ struct LiveLocationKalman {
|
||||
orientationECEF @6 : Measurement;
|
||||
orientationNED @7 : Measurement;
|
||||
angularVelocityDevice @8 : Measurement;
|
||||
|
||||
|
||||
# orientationNEDCalibrated transforms to rot matrix: NED_from_calibrated
|
||||
orientationNEDCalibrated @9 : Measurement;
|
||||
|
||||
|
||||
# Calibrated frame is simply device frame
|
||||
# aligned with the vehicle
|
||||
velocityCalibrated @10 : Measurement;
|
||||
@@ -835,7 +855,7 @@ struct LiveLocationKalman {
|
||||
gpsTimeOfWeek @14 :Float64;
|
||||
status @15 :Status;
|
||||
unixTimestampMillis @16 :Int64;
|
||||
|
||||
|
||||
enum Status {
|
||||
uninitialized @0;
|
||||
uncalibrated @1;
|
||||
@@ -1775,12 +1795,14 @@ struct UiLayoutState {
|
||||
activeApp @0 :App;
|
||||
sidebarCollapsed @1 :Bool;
|
||||
mapEnabled @2 :Bool;
|
||||
mockEngaged @3 :Bool;
|
||||
|
||||
enum App {
|
||||
home @0;
|
||||
music @1;
|
||||
nav @2;
|
||||
settings @3;
|
||||
none @4;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1879,6 +1901,7 @@ struct DMonitoringState {
|
||||
awarenessPassive @12 :Float32;
|
||||
isLowStd @13 :Bool;
|
||||
hiStdCount @14 :UInt32;
|
||||
isPreview @15 :Bool;
|
||||
}
|
||||
|
||||
struct Boot {
|
||||
@@ -1971,7 +1994,7 @@ struct Event {
|
||||
sendcan @17 :List(CanData);
|
||||
logMessage @18 :Text;
|
||||
liveCalibration @19 :LiveCalibrationData;
|
||||
androidLogEntry @20 :AndroidLogEntry;
|
||||
androidLog @20 :AndroidLogEntry;
|
||||
gpsLocation @21 :GpsLocationData;
|
||||
carState @22 :Car.CarState;
|
||||
carControl @23 :Car.CarControl;
|
||||
|
||||
@@ -34,7 +34,8 @@ extra_compile_args = ["-std=c++11"]
|
||||
libraries = ['zmq']
|
||||
ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip() # pylint: disable=unexpected-keyword-arg
|
||||
|
||||
if ARCH == "aarch64":
|
||||
if ARCH == "aarch64" and os.path.isdir("/system"):
|
||||
# android
|
||||
extra_compile_args += ["-Wno-deprecated-register"]
|
||||
libraries += ['gnustl_shared']
|
||||
|
||||
|
||||
@@ -76,6 +76,7 @@ carEvents: [8070, true, 1., 1]
|
||||
carParams: [8071, true, 0.02, 1]
|
||||
frontFrame: [8072, true, 10.]
|
||||
dMonitoringState: [8073, true, 5., 1]
|
||||
offroadLayout: [8074, false, 0.]
|
||||
|
||||
testModel: [8040, false, 0.]
|
||||
testLiveLocation: [8045, false, 0.]
|
||||
@@ -103,19 +104,31 @@ testJoystick: [8056, false, 0.]
|
||||
# gpsd -- publishes EON's gps
|
||||
# publishes: gpsNMEA
|
||||
|
||||
# visiond -- talks to the cameras, runs the model, saves the videos
|
||||
# publishes: frame, model, driverMonitoring, cameraOdometry, thumbnail
|
||||
# camerad -- publishes camera frames
|
||||
# publishes: frame, frontFrame, thumbnail
|
||||
# subscribes: driverState
|
||||
|
||||
# dmonitoringmodeld -- runs face detection on camera frames
|
||||
# publishes: driverState
|
||||
|
||||
# **** stateful data transformers ****
|
||||
|
||||
# modeld -- runs & publishes the model
|
||||
# publishes: model, cameraOdometry
|
||||
# subscribes: liveCalibration, pathPlan
|
||||
|
||||
# plannerd -- decides where to drive the car
|
||||
# subscribes: carState, model, radarState, controlsState, liveParameters
|
||||
# publishes: plan, pathPlan, liveMpc, liveLongitudinalMpc
|
||||
|
||||
# controlsd -- drives the car by sending CAN messages to panda
|
||||
# subscribes: can, thermal, health, plan, pathPlan, driverMonitoring, liveCalibration
|
||||
# subscribes: can, thermal, health, plan, pathPlan, dMonitoringState, liveCalibration, model
|
||||
# publishes: carState, carControl, sendcan, controlsState, carEvents, carParams
|
||||
|
||||
# dmonitoringd -- processes driver monitoring data and publishes driver awareness
|
||||
# subscribes: driverState, liveCalibration, carState, model, gpsLocation
|
||||
# publishes: dMonitoringState
|
||||
|
||||
# radard -- processes the radar and vision data
|
||||
# subscribes: can, controlsState, model, liveParameters
|
||||
# publishes: radarState, liveTracks
|
||||
|
||||
@@ -0,0 +1,7 @@
|
||||
coverage:
|
||||
status:
|
||||
project:
|
||||
default:
|
||||
informational: true
|
||||
patch: off
|
||||
|
||||
+2
-5
@@ -135,8 +135,6 @@ def get_network_strength(network_type):
|
||||
# from SignalStrength.java
|
||||
def get_lte_level(rsrp, rssnr):
|
||||
INT_MAX = 2147483647
|
||||
lvl_rsrp = NetworkStrength.unknown
|
||||
lvl_rssnr = NetworkStrength.unknown
|
||||
if rsrp == INT_MAX:
|
||||
lvl_rsrp = NetworkStrength.unknown
|
||||
elif rsrp >= -95:
|
||||
@@ -174,7 +172,6 @@ def get_network_strength(network_type):
|
||||
return lvl
|
||||
|
||||
def get_gsm_level(asu):
|
||||
lvl = NetworkStrength.unknown
|
||||
if asu <= 2 or asu == 99:
|
||||
lvl = NetworkStrength.unknown
|
||||
elif asu >= 12:
|
||||
@@ -232,7 +229,7 @@ def get_network_strength(network_type):
|
||||
if network_type == NetworkType.none:
|
||||
return network_strength
|
||||
if network_type == NetworkType.wifi:
|
||||
out = subprocess.check_output('dumpsys connectivity', shell=True).decode('ascii')
|
||||
out = subprocess.check_output('dumpsys connectivity', shell=True).decode('utf-8')
|
||||
network_strength = NetworkStrength.unknown
|
||||
for line in out.split('\n'):
|
||||
signal_str = "SignalStrength: "
|
||||
@@ -251,7 +248,7 @@ def get_network_strength(network_type):
|
||||
return network_strength
|
||||
else:
|
||||
# check cell strength
|
||||
out = subprocess.check_output('dumpsys telephony.registry', shell=True).decode('ascii')
|
||||
out = subprocess.check_output('dumpsys telephony.registry', shell=True).decode('utf-8')
|
||||
for line in out.split('\n'):
|
||||
if "mSignalStrength" in line:
|
||||
arr = line.split(' ')
|
||||
|
||||
@@ -6,5 +6,4 @@ class FirstOrderFilter():
|
||||
|
||||
def update(self, x):
|
||||
self.x = (1. - self.k) * self.x + self.k * x
|
||||
|
||||
|
||||
return self.x
|
||||
|
||||
+3
-1
@@ -52,7 +52,7 @@ class UnknownKeyName(Exception):
|
||||
|
||||
|
||||
keys = {
|
||||
"AccessToken": [TxType.PERSISTENT],
|
||||
"AccessToken": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"AthenadPid": [TxType.PERSISTENT],
|
||||
"CalibrationParams": [TxType.PERSISTENT],
|
||||
"CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
@@ -70,6 +70,7 @@ keys = {
|
||||
"GithubSshKeys": [TxType.PERSISTENT],
|
||||
"HasAcceptedTerms": [TxType.PERSISTENT],
|
||||
"HasCompletedSetup": [TxType.PERSISTENT],
|
||||
"IsDriverViewEnabled": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"IsLdwEnabled": [TxType.PERSISTENT],
|
||||
"IsGeofenceEnabled": [TxType.PERSISTENT],
|
||||
"IsMetric": [TxType.PERSISTENT],
|
||||
@@ -78,6 +79,7 @@ keys = {
|
||||
"IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"IsUploadRawEnabled": [TxType.PERSISTENT],
|
||||
"LastAthenaPingTime": [TxType.PERSISTENT],
|
||||
"LastUpdateTime": [TxType.PERSISTENT],
|
||||
"LimitSetSpeed": [TxType.PERSISTENT],
|
||||
"LimitSetSpeedNeural": [TxType.PERSISTENT],
|
||||
|
||||
+2
-2
@@ -39,8 +39,8 @@ class Profiler():
|
||||
print("******* Profiling *******")
|
||||
for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]):
|
||||
if n in self.cp_ignored:
|
||||
print("%30s: %7.2f percent: %3.0f IGNORED" % (n, ms*1000.0, ms/self.tot*100))
|
||||
print("%30s: %9.2f percent: %3.0f IGNORED" % (n, ms*1000.0, ms/self.tot*100))
|
||||
else:
|
||||
print("%30s: %7.2f percent: %3.0f" % (n, ms*1000.0, ms/self.tot*100))
|
||||
print("%30s: %9.2f percent: %3.0f" % (n, ms*1000.0, ms/self.tot*100))
|
||||
print("Iter clock: %2.6f TOTAL: %2.2f" % (self.tot/self.iter, self.tot))
|
||||
|
||||
|
||||
@@ -50,6 +50,9 @@ class FakeSpinner():
|
||||
def update(self, _):
|
||||
pass
|
||||
|
||||
def close(self):
|
||||
pass
|
||||
|
||||
def __exit__(self, type, value, traceback):
|
||||
pass
|
||||
|
||||
|
||||
+1
-1
@@ -53,7 +53,7 @@ class RunningStat():
|
||||
|
||||
class RunningStatFilter():
|
||||
def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1):
|
||||
self.raw_stat = RunningStat(raw_priors, max_trackable)
|
||||
self.raw_stat = RunningStat(raw_priors, -1)
|
||||
self.filtered_stat = RunningStat(filtered_priors, max_trackable)
|
||||
|
||||
def reset(self):
|
||||
|
||||
Executable
+83
@@ -0,0 +1,83 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
import time
|
||||
import subprocess
|
||||
from common.basedir import BASEDIR
|
||||
|
||||
|
||||
class TextWindow():
|
||||
def __init__(self, s):
|
||||
try:
|
||||
self.text_proc = subprocess.Popen(["./text", s],
|
||||
stdin=subprocess.PIPE,
|
||||
cwd=os.path.join(BASEDIR, "selfdrive", "ui", "text"),
|
||||
close_fds=True)
|
||||
except OSError:
|
||||
self.text_proc = None
|
||||
|
||||
def get_status(self):
|
||||
if self.text_proc is not None:
|
||||
self.text_proc.poll()
|
||||
return self.text_proc.returncode
|
||||
|
||||
return None
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def close(self):
|
||||
if self.text_proc is not None:
|
||||
self.text_proc.terminate()
|
||||
self.text_proc = None
|
||||
|
||||
def wait_for_exit(self):
|
||||
while True:
|
||||
if self.get_status() == 1:
|
||||
return
|
||||
time.sleep(0.1)
|
||||
|
||||
def __del__(self):
|
||||
self.close()
|
||||
|
||||
def __exit__(self, type, value, traceback):
|
||||
self.close()
|
||||
|
||||
|
||||
class FakeTextWindow():
|
||||
def __init__(self, s):
|
||||
pass
|
||||
|
||||
def get_status(self):
|
||||
return 1
|
||||
|
||||
def wait_for_exit(self):
|
||||
return
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def update(self, _):
|
||||
pass
|
||||
|
||||
def __exit__(self, type, value, traceback):
|
||||
pass
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
text = """Traceback (most recent call last):
|
||||
File "./controlsd.py", line 608, in <module>
|
||||
main()
|
||||
File "./controlsd.py", line 604, in main
|
||||
controlsd_thread(sm, pm, logcan)
|
||||
File "./controlsd.py", line 455, in controlsd_thread
|
||||
1/0
|
||||
ZeroDivisionError: division by zero"""
|
||||
print(text)
|
||||
|
||||
with TextWindow(text) as s:
|
||||
for _ in range(100):
|
||||
if s.get_status() == 1:
|
||||
print("Got exit button")
|
||||
break
|
||||
time.sleep(0.1)
|
||||
print("gone")
|
||||
@@ -1,6 +1,5 @@
|
||||
import numpy as np
|
||||
import common.transformations.orientation as orient
|
||||
import math
|
||||
|
||||
FULL_FRAME_SIZE = (1164, 874)
|
||||
W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
|
||||
@@ -147,81 +146,3 @@ def pretransform_from_calib(calib):
|
||||
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,
|
||||
output_size=None,
|
||||
pretransform=None,
|
||||
top_hacks=False,
|
||||
yuv=False,
|
||||
alpha=1.0,
|
||||
beta=0,
|
||||
blur=0):
|
||||
import cv2 # pylint: disable=import-error
|
||||
cv2.setNumThreads(1)
|
||||
|
||||
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]
|
||||
|
||||
cy = from_intr[1,2]
|
||||
def get_M(h=1.22):
|
||||
quadrangle = np.array([[0, cy + 20],
|
||||
[size[1]-1, cy + 20],
|
||||
[0, size[0]-1],
|
||||
[size[1]-1, size[0]-1]], dtype=np.float32)
|
||||
quadrangle_norm = np.hstack((normalize(quadrangle, intrinsics=from_intr), np.ones((4,1))))
|
||||
quadrangle_world = np.column_stack((h*quadrangle_norm[:,0]/quadrangle_norm[:,1],
|
||||
h*np.ones(4),
|
||||
h/quadrangle_norm[:,1]))
|
||||
rot = orient.rot_from_euler(augment_eulers)
|
||||
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)))))
|
||||
warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
|
||||
warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
|
||||
M = cv2.getPerspectiveTransform(quadrangle, warped_quadrangle.astype(np.float32))
|
||||
return M
|
||||
|
||||
M = get_M()
|
||||
if pretransform is not None:
|
||||
M = M.dot(pretransform)
|
||||
augmented_rgb = cv2.warpPerspective(base_img, M, output_size, borderMode=cv2.BORDER_REPLICATE)
|
||||
|
||||
if top_hacks:
|
||||
cyy = int(math.ceil(to_intr[1,2]))
|
||||
M = get_M(1000)
|
||||
if pretransform is not None:
|
||||
M = M.dot(pretransform)
|
||||
augmented_rgb[:cyy] = cv2.warpPerspective(base_img, M, (output_size[0], cyy), borderMode=cv2.BORDER_REPLICATE)
|
||||
|
||||
# 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
|
||||
# center in array coordinates so row, column
|
||||
import cv2 # pylint: disable=import-error
|
||||
rgb = cv2.cvtColor(frame, cv2.COLOR_YUV2RGB_I420)
|
||||
if not center:
|
||||
center = (rgb.shape[0]/2, rgb.shape[1]/2)
|
||||
rgb_crop = rgb[center[0] - output_size[1]/2: center[0] + output_size[1]/2,
|
||||
center[1] - output_size[0]/2: center[1] + output_size[0]/2]
|
||||
return cv2.cvtColor(rgb_crop, cv2.COLOR_RGB2YUV_I420)
|
||||
|
||||
@@ -44,24 +44,15 @@ medmodel_intrinsics = np.array(
|
||||
|
||||
# BIG model
|
||||
|
||||
BIGMODEL_INPUT_SIZE = (864, 288)
|
||||
BIGMODEL_INPUT_SIZE = (1024, 512)
|
||||
BIGMODEL_YUV_SIZE = (BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1] * 3 // 2)
|
||||
|
||||
bigmodel_zoom = 1.
|
||||
bigmodel_intrinsics = np.array(
|
||||
[[ eon_focal_length / bigmodel_zoom, 0. , 0.5 * BIGMODEL_INPUT_SIZE[0]],
|
||||
[ 0. , eon_focal_length / bigmodel_zoom, 0.2 * BIGMODEL_INPUT_SIZE[1]],
|
||||
[ 0. , eon_focal_length / bigmodel_zoom, 256+MEDMODEL_CY],
|
||||
[ 0. , 0. , 1.]])
|
||||
|
||||
|
||||
bigmodel_border = np.array([
|
||||
[0,0,1],
|
||||
[BIGMODEL_INPUT_SIZE[0], 0, 1],
|
||||
[BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1], 1],
|
||||
[0, BIGMODEL_INPUT_SIZE[1], 1],
|
||||
])
|
||||
|
||||
|
||||
model_frame_from_road_frame = np.dot(model_intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, model_height))
|
||||
|
||||
@@ -72,6 +63,7 @@ medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, model_height))
|
||||
|
||||
model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
|
||||
medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))
|
||||
|
||||
# 'camera from model camera'
|
||||
def get_model_height_transform(camera_frame_from_road_frame, height):
|
||||
|
||||
@@ -0,0 +1,45 @@
|
||||
import os
|
||||
from cffi import FFI
|
||||
|
||||
# Workaround for the EON/termux build of Python having os.*xattr removed.
|
||||
ffi = FFI()
|
||||
ffi.cdef("""
|
||||
int setxattr(const char *path, const char *name, const void *value, size_t size, int flags);
|
||||
ssize_t getxattr(const char *path, const char *name, void *value, size_t size);
|
||||
ssize_t listxattr(const char *path, char *list, size_t size);
|
||||
int removexattr(const char *path, const char *name);
|
||||
""")
|
||||
libc = ffi.dlopen(None)
|
||||
|
||||
def setxattr(path, name, value, flags=0):
|
||||
path = path.encode()
|
||||
name = name.encode()
|
||||
if libc.setxattr(path, name, value, len(value), flags) == -1:
|
||||
raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: setxattr({path}, {name}, {value}, {flags})")
|
||||
|
||||
def getxattr(path, name, size=128):
|
||||
path = path.encode()
|
||||
name = name.encode()
|
||||
value = ffi.new(f"char[{size}]")
|
||||
l = libc.getxattr(path, name, value, size)
|
||||
if l == -1:
|
||||
# errno 61 means attribute hasn't been set
|
||||
if ffi.errno == 61:
|
||||
return None
|
||||
raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: getxattr({path}, {name}, {size})")
|
||||
return ffi.buffer(value)[:l]
|
||||
|
||||
def listxattr(path, size=128):
|
||||
path = path.encode()
|
||||
attrs = ffi.new(f"char[{size}]")
|
||||
l = libc.listxattr(path, attrs, size)
|
||||
if l == -1:
|
||||
raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: listxattr({path}, {size})")
|
||||
# attrs is b'\0' delimited values (so chop off trailing empty item)
|
||||
return [a.decode() for a in ffi.buffer(attrs)[:l].split(b"\0")[0:-1]]
|
||||
|
||||
def removexattr(path, name):
|
||||
path = path.encode()
|
||||
name = name.encode()
|
||||
if libc.removexattr(path, name) == -1:
|
||||
raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: removexattr({path}, {name})")
|
||||
@@ -62,6 +62,12 @@ function launch {
|
||||
echo 0-3 > /dev/cpuset/foreground/cpus
|
||||
echo 0-3 > /dev/cpuset/android/cpus
|
||||
|
||||
# change interrupt affinity
|
||||
echo 3 > /proc/irq/6/smp_affinity_list # MDSS
|
||||
echo 1 > /proc/irq/78/smp_affinity_list # Modem, can potentially lock up
|
||||
echo 2 > /proc/irq/733/smp_affinity_list # USB
|
||||
echo 2 > /proc/irq/736/smp_affinity_list # USB
|
||||
|
||||
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
|
||||
|
||||
# Remove old NEOS update file
|
||||
|
||||
@@ -0,0 +1,14 @@
|
||||
path_classifiers:
|
||||
library:
|
||||
- external
|
||||
- phonelibs
|
||||
- pyextra
|
||||
- tools/lib/mkvparse
|
||||
extraction:
|
||||
cpp:
|
||||
after_prepare:
|
||||
- "pip3 install jinja2 pyyaml cython pycapnp numpy sympy tqdm cffi logentries zmq"
|
||||
- "export PATH=$PWD/external/bin:$PATH"
|
||||
index:
|
||||
build_command: "python3 $(which scons)"
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -0,0 +1,291 @@
|
||||
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 EON Vector__XXX
|
||||
|
||||
|
||||
BO_ 170 AccPedal: 8 XXX
|
||||
SG_ KickDownPressed : 53|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CruisePedalActive : 54|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CruisePedalInactive : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ThrottlelPressed : 50|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AcceleratorPedalPressed : 52|1@0+ (1,0) [0|7] "" XXX
|
||||
SG_ AcceleratorPedalPercentage : 16|16@1+ (0.01,0) [0|100] "" XXX
|
||||
SG_ Counter1 : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ EngineSpeed : 32|16@1- (1,0) [0|65535] "" XXX
|
||||
SG_ uknown : 7|8@0- (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 404 CruiseControl: 4 XXX
|
||||
SG_ plus1mph_request : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ minus1mph_request : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Cancel_request_up_stalk : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Cancel_request_up_or_down_stalk : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Resume_request : 22|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Counter1 : 3|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ Counter2 : 11|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ notCancel_0xF : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ setMe_0xFC : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ requests_0xF : 15|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ plus5mph_request : 17|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ minus5mph_request : 19|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
|
||||
BO_ 512 CruiseControlStatus: 8 XXX
|
||||
SG_ CruiseControlInactiveFlag : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CruiseCoontrolActiveFlag : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CruiseControlSetpointSpeed : 7|8@0+ (0.25,0) [0|255] "mph" XXX
|
||||
|
||||
BO_ 168 EngineAndBrake: 8 XXX
|
||||
SG_ Brake_active2 : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BrakePressed : 61|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ EngineTorque : 8|16@1- (1,0) [0|65535] "" XXX
|
||||
SG_ EngineTorqueWoInterv : 24|16@1- (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 470 SteeringButtons: 2 XXX
|
||||
SG_ Volume_DOWN : 2|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Volume_UP : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VoiceControl : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Telephone : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Next_up : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Previous_down : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 403 DynamicCruiseControlStatus: 8 XXX
|
||||
SG_ Counter : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CruiseActive : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CruiseSpeedChangeRequest : 48|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CruiseControlSetpointSpeed : 15|8@0+ (1,-2) [0|255] "mph" XXX
|
||||
|
||||
BO_ 201 SteeringWheelAngle_DSC: 8 XXX
|
||||
SG_ Counter1 : 23|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ WeirdCounter : 44|4@1+ (1,0) [0|3] "" XXX
|
||||
SG_ SteeringPositionComplementLow : 24|11@1- (1,0) [0|1] "" XXX
|
||||
SG_ SteeringPosition : 0|16@1- (0.0439453125,0) [-600|600] "deg" XXX
|
||||
|
||||
BO_ 206 WheelSpeeds: 8 XXX
|
||||
SG_ Wheel1 : 0|16@1- (0.0643699,0) [0|255] "kph" XXX
|
||||
SG_ Wheel2 : 16|16@1- (0.0643699,0) [0|255] "kph" XXX
|
||||
SG_ Wheel4 : 48|16@1- (0.0643699,0) [0|255] "kph" XXX
|
||||
SG_ Wheel3 : 32|16@1- (0.0643699,0) [0|255] "kph" XXX
|
||||
|
||||
BO_ 884 WheelToleranceAdjustment: 8 XXX
|
||||
|
||||
BO_ 678 WiperSwitch: 8 XXX
|
||||
SG_ AutoWipersOn : 0|1@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 304 TerminalStatus: 8 XXX
|
||||
SG_ AccOn : 23|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ IgnitionOff : 22|1@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 169 Torque2: 8 XXX
|
||||
|
||||
BO_ 184 TorqueTransmisionRequest: 8 XXX
|
||||
|
||||
BO_ 196 SteeringWheelAngle: 7 XXX
|
||||
SG_ SteeringPosition : 0|16@1- (0.0439453125,0) [-600|600] "degree" XXX
|
||||
SG_ SteeringSpeed : 24|16@1- (0.0439453125,0) [0|255] "degree/s" XXX
|
||||
|
||||
BO_ 180 WheelTorqueDriveTrain1: 8 XXX
|
||||
|
||||
BO_ 182 DynamicCruiseControlTorqueDemand: 8 XXX
|
||||
|
||||
BO_ 186 TransmissionData: 8 XXX
|
||||
|
||||
BO_ 191 RequestedWheelTorqueDriveTrainActiveCruiseControl: 8 XXX
|
||||
SG_ Counter : 11|4@0- (1,0) [0|255] "" XXX
|
||||
SG_ TorqueReq : 16|11@1+ (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 414 Status_DSC: 8 XXX
|
||||
|
||||
BO_ 416 Speed: 8 XXX
|
||||
SG_ VehicleSpeed : 0|12@1+ (0.103,0) [0|255] "kph" XXX
|
||||
|
||||
BO_ 418 TransimissionData2: 8 XXX
|
||||
|
||||
BO_ 690 WheelPressure: 8 XXX
|
||||
|
||||
BO_ 691 AccelerationData: 8 XXX
|
||||
|
||||
BO_ 408 GearSelectorSwitch: 8 XXX
|
||||
SG_ Gear : 0|8@1+ (1,0) [0|0] "" Vector__XXX
|
||||
|
||||
BO_ 422 Distance: 8 XXX
|
||||
|
||||
BO_ 436 InstrumentClusterStatus_KOMBI: 8 XXX
|
||||
|
||||
BO_ 464 EngineData: 8 XXX
|
||||
|
||||
BO_ 945 TransmissionData3: 8 XXX
|
||||
|
||||
BO_ 200 SteeringWheelAngle_slow: 8 XXX
|
||||
SG_ SteeringPosition : 0|16@1- (0.0439453125,0) [-600|600] "degree" XXX
|
||||
SG_ SteeringSpeed : 24|16@1- (0.0439453125,0) [-65535|65535] "degree/s" XXX
|
||||
|
||||
BO_ 466 TransmissionDataDisplay: 8 XXX
|
||||
|
||||
BO_ 437 HeatFlow_LoadMomentClimate: 8 XXX
|
||||
|
||||
BO_ 1152 NetworkManagment1: 8 XXX
|
||||
|
||||
BO_ 1170 NetworkManagment2: 8 XXX
|
||||
|
||||
BO_ 1175 NetworkManagment3: 8 XXX
|
||||
|
||||
BO_ 1176 NetworkManagment4: 8 XXX
|
||||
|
||||
BO_ 1193 NetworkManagment5: 8 XXX
|
||||
|
||||
BO_ 1246 NetworkManagment6: 8 XXX
|
||||
|
||||
BO_ 438 HeatFlowEngine: 8 XXX
|
||||
|
||||
BO_ 784 AmbientTemperature: 8 XXX
|
||||
|
||||
BO_ 821 ElectricFuelPumpStatus: 8 XXX
|
||||
|
||||
BO_ 1007 EngineOBD_data: 8 XXX
|
||||
|
||||
BO_ 1432 ServicesDKG: 8 XXX
|
||||
|
||||
BO_ 309 CrashDisconnectControl: 8 XXX
|
||||
|
||||
BO_ 502 TurnSignals: 2 XXX
|
||||
SG_ TurnSignalIdle : 9|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ TurnSignalActive : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RightTurn : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LeftTurn : 4|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ HoldActivated : 0|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 514 Dimming: 8 XXX
|
||||
|
||||
BO_ 538 LampsCondition: 8 XXX
|
||||
|
||||
BO_ 550 RainSensorWiperSpeed: 8 XXX
|
||||
|
||||
BO_ 578 ClimateFrontStatus: 8 XXX
|
||||
|
||||
BO_ 704 LCD_lighting: 8 XXX
|
||||
|
||||
BO_ 758 LightControl: 8 XXX
|
||||
|
||||
BO_ 760 Time_Date: 8 XXX
|
||||
|
||||
BO_ 762 SeatBeltContact: 8 XXX
|
||||
|
||||
BO_ 764 TrunkStatus: 8 XXX
|
||||
|
||||
BO_ 797 TirePressureStatus: 8 XXX
|
||||
|
||||
BO_ 816 Range_Mileage: 8 XXX
|
||||
|
||||
BO_ 823 StatusFuelControl: 8 XXX
|
||||
|
||||
BO_ 897 EngineOilLevelStatus: 8 XXX
|
||||
|
||||
BO_ 940 Terminal30Eerror: 8 XXX
|
||||
|
||||
BO_ 947 PowerManagmentConsumptionControl: 8 XXX
|
||||
|
||||
BO_ 948 PowerBatteryVoltage: 8 XXX
|
||||
SG_ BatteryVoltage : 7|24@0+ (0.001,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 958 PowerRunningTime: 8 XXX
|
||||
|
||||
BO_ 1408 ServicesKGM: 8 XXX
|
||||
|
||||
BO_ 1426 ServicesDME: 8 XXX
|
||||
|
||||
BO_ 1449 ServicesDSC: 8 XXX
|
||||
|
||||
BO_ 1504 ServicesKOMBI: 8 XXX
|
||||
|
||||
BO_ 1522 ServicesKBM: 8 XXX
|
||||
|
||||
BO_ 209 Accelerometer: 8 XXX
|
||||
SG_ LateralAcceleration : 0|16@1- (1,0) [0|7] "" XXX
|
||||
SG_ LongitudalAcceleration : 32|16@1- (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 172 WheelTorqueDrivetrain2: 8 XXX
|
||||
|
||||
BO_ 128 Unknown80: 5 XXX
|
||||
SG_ State2 : 24|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ State1 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter1 : 31|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 320 Unknown140: 2 XXX
|
||||
SG_ State : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 212 Unknown_d4: 8 XXX
|
||||
SG_ State1 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter2 : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 205 Unknown_cd: 8 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_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter1 : 55|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_7 : 63|8@0- (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 1577 NEW_MSG_1: 8 XXX
|
||||
|
||||
|
||||
|
||||
|
||||
CM_ SG_ 170 ThrottlelPressed "Active when accelerator pedal pressed or cruise control drives";
|
||||
CM_ SG_ 170 AcceleratorPedalPressed "Active only when driver actually presses the pedal";
|
||||
CM_ SG_ 170 AcceleratorPedalPercentage "ToDo Factor to be adjusted";
|
||||
CM_ SG_ 170 EngineSpeed "It's hard to say that is even a rate";
|
||||
CM_ SG_ 404 plus1mph_request "Appears when +1mph/kph stalk is depressed";
|
||||
CM_ SG_ 404 minus1mph_request "Appears when -1mph/kph stalk is depressed";
|
||||
CM_ SG_ 404 Cancel_request_up_stalk "Appears when cancel stalk (up) is depressed";
|
||||
CM_ SG_ 404 Cancel_request_up_or_down_stalk "Appears when cancel stalk (up or down) is depressed";
|
||||
CM_ SG_ 404 Resume_request "It appears when resume stalk button is depressed";
|
||||
CM_ SG_ 404 Counter1 "It accelerates when requests are being sent";
|
||||
CM_ SG_ 404 Counter2 "It accelerates when requests are being sent";
|
||||
CM_ SG_ 404 notCancel_0xF "0xF unless cancel is requested then 0x0";
|
||||
CM_ SG_ 168 Brake_active2 "";
|
||||
CM_ SG_ 168 BrakePressed "Brake when driver presses the brake";
|
||||
CM_ SG_ 168 EngineTorque "Engine torque without inertia - combustion torque";
|
||||
CM_ SG_ 168 EngineTorqueWoInterv "Engine torque without inertia and without shift intervention";
|
||||
CM_ SG_ 403 CruiseControlSetpointSpeed "Speed target";
|
||||
CM_ SG_ 408 Gear "This is just provision, needs to be reverse engineered";
|
||||
CM_ SG_ 502 TurnSignalIdle "Turn signal off";
|
||||
CM_ SG_ 502 TurnSignalActive "Turn signal on or transitioning";
|
||||
CM_ SG_ 502 RightTurn "Indicates right blinker or when steering returning right clears left blinker";
|
||||
CM_ SG_ 502 LeftTurn "Indicates left blinker or when steering returning left clears right blinker";
|
||||
CM_ SG_ 502 HoldActivated "Spikes down if blinker cleared with timeout or turn. Stays off if blinker cleared with stalk";
|
||||
VAL_ 408 Gear 1 "D" 2 "S" 3 "N" 4 "R" 5 "P" ;
|
||||
+48
-2
@@ -18,12 +18,55 @@ unsigned int toyota_checksum(unsigned int address, uint64_t d, int l) {
|
||||
d >>= 8; // remove checksum
|
||||
|
||||
unsigned int s = l;
|
||||
while (address) { s += address & 0xff; address >>= 8; }
|
||||
while (d) { s += d & 0xff; d >>= 8; }
|
||||
while (address) { s += address & 0xFF; address >>= 8; }
|
||||
while (d) { s += d & 0xFF; d >>= 8; }
|
||||
|
||||
return s & 0xFF;
|
||||
}
|
||||
|
||||
unsigned int subaru_checksum(unsigned int address, uint64_t d, int l) {
|
||||
d >>= ((8-l)*8); // remove padding
|
||||
|
||||
unsigned int s = 0;
|
||||
while (address) { s += address & 0xFF; address >>= 8; }
|
||||
l -= 1; // checksum is first byte
|
||||
while (l) { s += d & 0xFF; d >>= 8; l -= 1; }
|
||||
|
||||
return s & 0xFF;
|
||||
}
|
||||
|
||||
unsigned int chrysler_checksum(unsigned int address, uint64_t d, int l) {
|
||||
/* This function does not want the checksum byte in the input data.
|
||||
jeep chrysler canbus checksum from http://illmatics.com/Remote%20Car%20Hacking.pdf */
|
||||
uint8_t checksum = 0xFF;
|
||||
for (int j = 0; j < (l - 1); j++) {
|
||||
uint8_t shift = 0x80;
|
||||
uint8_t curr = (d >> 8*j) & 0xFF;
|
||||
for (int i=0; i<8; i++) {
|
||||
uint8_t bit_sum = curr & shift;
|
||||
uint8_t temp_chk = checksum & 0x80U;
|
||||
if (bit_sum != 0U) {
|
||||
bit_sum = 0x1C;
|
||||
if (temp_chk != 0U) {
|
||||
bit_sum = 1;
|
||||
}
|
||||
checksum = checksum << 1;
|
||||
temp_chk = checksum | 1U;
|
||||
bit_sum ^= temp_chk;
|
||||
} else {
|
||||
if (temp_chk != 0U) {
|
||||
bit_sum = 0x1D;
|
||||
}
|
||||
checksum = checksum << 1;
|
||||
bit_sum ^= checksum;
|
||||
}
|
||||
checksum = bit_sum;
|
||||
shift = shift >> 1;
|
||||
}
|
||||
}
|
||||
return ~checksum & 0xFF;
|
||||
}
|
||||
|
||||
// Static lookup table for fast computation of CRC8 poly 0x2F, aka 8H2F/AUTOSAR
|
||||
uint8_t crc8_lut_8h2f[256];
|
||||
|
||||
@@ -106,6 +149,9 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
|
||||
case 0x30C: // ACC_02 Automatic Cruise Control
|
||||
crc ^= (uint8_t[]){0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F}[counter];
|
||||
break;
|
||||
case 0x30F: // SWA_01 Lane Change Assist (SpurWechselAssistent)
|
||||
crc ^= (uint8_t[]){0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C}[counter];
|
||||
break;
|
||||
case 0x3C0: // Klemmen_Status_01 ignition and starting status
|
||||
crc ^= (uint8_t[]){0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3}[counter];
|
||||
break;
|
||||
|
||||
@@ -13,6 +13,8 @@
|
||||
// Helper functions
|
||||
unsigned int honda_checksum(unsigned int address, uint64_t d, int l);
|
||||
unsigned int toyota_checksum(unsigned int address, uint64_t d, int l);
|
||||
unsigned int subaru_checksum(unsigned int address, uint64_t d, int l);
|
||||
unsigned int chrysler_checksum(unsigned int address, uint64_t d, int l);
|
||||
void init_crc_lookup_tables();
|
||||
unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l);
|
||||
unsigned int pedal_checksum(uint64_t d, int l);
|
||||
|
||||
@@ -18,7 +18,9 @@ cdef extern from "common_dbc.h":
|
||||
PEDAL_CHECKSUM,
|
||||
PEDAL_COUNTER,
|
||||
VOLKSWAGEN_CHECKSUM,
|
||||
VOLKSWAGEN_COUNTER
|
||||
VOLKSWAGEN_COUNTER,
|
||||
SUBARU_CHECKSUM,
|
||||
CHRYSLER_CHECKSUM
|
||||
|
||||
cdef struct Signal:
|
||||
const char* name
|
||||
|
||||
@@ -38,6 +38,8 @@ enum SignalType {
|
||||
PEDAL_COUNTER,
|
||||
VOLKSWAGEN_CHECKSUM,
|
||||
VOLKSWAGEN_COUNTER,
|
||||
SUBARU_CHECKSUM,
|
||||
CHRYSLER_CHECKSUM,
|
||||
};
|
||||
|
||||
struct Signal {
|
||||
|
||||
@@ -29,6 +29,10 @@ const Signal sigs_{{address}}[] = {
|
||||
.type = SignalType::VOLKSWAGEN_CHECKSUM,
|
||||
{% elif checksum_type == "volkswagen" and sig.name == "COUNTER" %}
|
||||
.type = SignalType::VOLKSWAGEN_COUNTER,
|
||||
{% elif checksum_type == "subaru" and sig.name == "CHECKSUM" %}
|
||||
.type = SignalType::SUBARU_CHECKSUM,
|
||||
{% elif checksum_type == "chrysler" and sig.name == "CHECKSUM" %}
|
||||
.type = SignalType::CHRYSLER_CHECKSUM,
|
||||
{% elif address in [512, 513] and sig.name == "CHECKSUM_PEDAL" %}
|
||||
.type = SignalType::PEDAL_CHECKSUM,
|
||||
{% elif address in [512, 513] and sig.name == "COUNTER_PEDAL" %}
|
||||
|
||||
@@ -99,6 +99,12 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
|
||||
// The correct fix is unclear but this works for the moment.
|
||||
unsigned int chksm = volkswagen_crc(address, ReverseBytes(ret), message_lookup[address].size);
|
||||
ret = set_value(ret, sig, chksm);
|
||||
} else if (sig.type == SignalType::SUBARU_CHECKSUM) {
|
||||
unsigned int chksm = subaru_checksum(address, ret, message_lookup[address].size);
|
||||
ret = set_value(ret, sig, chksm);
|
||||
} else if (sig.type == SignalType::CHRYSLER_CHECKSUM) {
|
||||
unsigned int chksm = chrysler_checksum(address, ReverseBytes(ret), message_lookup[address].size);
|
||||
ret = set_value(ret, sig, chksm);
|
||||
} else {
|
||||
//WARN("CHECKSUM signal type not valid\n");
|
||||
}
|
||||
|
||||
@@ -57,6 +57,16 @@ bool MessageState::parse(uint64_t sec, uint16_t ts_, uint8_t * dat) {
|
||||
if (!update_counter_generic(tmp, sig.b2)) {
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::SUBARU_CHECKSUM) {
|
||||
if (subaru_checksum(address, dat_be, size) != tmp) {
|
||||
INFO("0x%X CHECKSUM FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::CHRYSLER_CHECKSUM) {
|
||||
if (chrysler_checksum(address, dat_le, size) != tmp) {
|
||||
INFO("0x%X CHECKSUM FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::PEDAL_CHECKSUM) {
|
||||
if (pedal_checksum(dat_be, size) != tmp) {
|
||||
INFO("0x%X PEDAL CHECKSUM FAIL\n", address);
|
||||
|
||||
@@ -46,6 +46,20 @@ def process(in_fn, out_fn):
|
||||
checksum_start_bit = 0
|
||||
counter_start_bit = 0
|
||||
little_endian = True
|
||||
elif can_dbc.name.startswith(("subaru_")):
|
||||
checksum_type = "subaru"
|
||||
checksum_size = 8
|
||||
counter_size = None
|
||||
checksum_start_bit = 0
|
||||
counter_start_bit = None
|
||||
little_endian = True
|
||||
elif can_dbc.name.startswith(("chrysler_")):
|
||||
checksum_type = "chrysler"
|
||||
checksum_size = 8
|
||||
counter_size = None
|
||||
checksum_start_bit = 7
|
||||
counter_start_bit = None
|
||||
little_endian = False
|
||||
else:
|
||||
checksum_type = None
|
||||
checksum_size = None
|
||||
|
||||
@@ -43,7 +43,7 @@ BO_ 258 STEERING: 8 XXX
|
||||
SG_ STEERING_RATE : 20|13@0+ (0.3187251,-1305.498) [0|8191] "deg/s" XXX
|
||||
SG_ STEER_ANGLE : 4|13@0+ (0.3187251,-1307.888) [-360|360] "deg" XXX
|
||||
|
||||
BO_ 514 SPEED_1: 4 XXX
|
||||
BO_ 514 SPEED_1: 8 XXX
|
||||
SG_ SPEED_LEFT : 7|12@0+ (0.071028,0) [0|65535] "m/s" XXX
|
||||
SG_ SPEED_RIGHT : 23|12@0+ (0.071028,0) [0|1023] "m/s" XXX
|
||||
|
||||
|
||||
@@ -47,6 +47,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
|
||||
|
||||
BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
|
||||
SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X10 : 24|8@1+ (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_ 232 BRAKE_HOLD: 7 XXX
|
||||
SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
|
||||
SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
|
||||
@@ -178,7 +186,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
|
||||
SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
|
||||
BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
|
||||
SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
|
||||
|
||||
@@ -0,0 +1,91 @@
|
||||
CM_ "IMPORT _honda_2017.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_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" 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_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 401 GEARBOX: 8 PCM
|
||||
SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
|
||||
SG_ GEAR : 43|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_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" 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_ 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
|
||||
|
||||
CM_ SG_ 401 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_ 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" ;
|
||||
|
||||
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";
|
||||
@@ -62,7 +62,10 @@ BO_ 180 SPEED: 8 XXX
|
||||
|
||||
BO_ 353 DSU_SPEED: 8 XXX
|
||||
SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
|
||||
|
||||
|
||||
BO_ 452 ENGINE_RPM: 8 CGW
|
||||
SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
|
||||
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
@@ -116,7 +116,7 @@ BO_ 388 PSCMStatus: 8 K43_PSCM
|
||||
SG_ LKATorqueDelivered : 18|11@0- (0.01,0) [0|1] "" NEO
|
||||
SG_ LKATotalTorqueDelivered : 2|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO
|
||||
|
||||
BO_ 417 AcceleratorPedal: 8 XXX
|
||||
BO_ 417 AcceleratorPedal: 7 XXX
|
||||
SG_ AcceleratorPedal : 55|8@0+ (1,0) [0|0] "" NEO
|
||||
|
||||
BO_ 451 GasAndAcc: 8 XXX
|
||||
@@ -170,7 +170,7 @@ BO_ 840 EBCMWheelSpdFront: 4 K17_EBCM
|
||||
SG_ FLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO
|
||||
SG_ FRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO
|
||||
|
||||
BO_ 842 EBCMWheelSpdRear: 4 K17_EBCM
|
||||
BO_ 842 EBCMWheelSpdRear: 5 K17_EBCM
|
||||
SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO
|
||||
SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO
|
||||
|
||||
|
||||
@@ -51,6 +51,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
|
||||
|
||||
BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
|
||||
SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X10 : 24|8@1+ (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_ 232 BRAKE_HOLD: 7 XXX
|
||||
SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
|
||||
SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
|
||||
@@ -182,7 +190,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
|
||||
SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
|
||||
BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
|
||||
SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
|
||||
|
||||
@@ -51,6 +51,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
|
||||
|
||||
BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
|
||||
SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X10 : 24|8@1+ (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_ 232 BRAKE_HOLD: 7 XXX
|
||||
SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
|
||||
SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
|
||||
@@ -182,7 +190,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
|
||||
SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
|
||||
BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
|
||||
SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
|
||||
|
||||
@@ -51,6 +51,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
|
||||
|
||||
BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
|
||||
SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X10 : 24|8@1+ (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_ 232 BRAKE_HOLD: 7 XXX
|
||||
SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
|
||||
SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
|
||||
@@ -182,7 +190,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
|
||||
SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
|
||||
BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
|
||||
SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
|
||||
|
||||
@@ -51,6 +51,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
|
||||
|
||||
BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
|
||||
SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X10 : 24|8@1+ (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_ 232 BRAKE_HOLD: 7 XXX
|
||||
SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
|
||||
SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
|
||||
@@ -182,7 +190,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
|
||||
SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
|
||||
BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
|
||||
SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
|
||||
|
||||
@@ -51,6 +51,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
|
||||
|
||||
BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
|
||||
SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X10 : 24|8@1+ (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_ 232 BRAKE_HOLD: 7 XXX
|
||||
SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
|
||||
SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
|
||||
@@ -182,7 +190,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
|
||||
SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
|
||||
BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
|
||||
SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
|
||||
|
||||
@@ -51,6 +51,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
|
||||
|
||||
BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
|
||||
SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X10 : 24|8@1+ (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_ 232 BRAKE_HOLD: 7 XXX
|
||||
SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
|
||||
SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
|
||||
@@ -182,7 +190,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
|
||||
SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
|
||||
BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
|
||||
SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
|
||||
|
||||
@@ -0,0 +1,345 @@
|
||||
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_
|
||||
|
||||
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] "rpm" EON
|
||||
SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
|
||||
SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
|
||||
SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" EON
|
||||
SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" 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_ 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_ 427 STEER_MOTOR_TORQUE: 3 EPS
|
||||
SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
|
||||
SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 19|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_ COMPUTER_BRAKE : 7|10@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_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_OVERRIDE : 20|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_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_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ FCW : 43|2@0+ (1,0) [0|3] "" 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_ 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_ FCM_OFF_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_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ICONS : 63|2@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_ 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_hrv_touring_2019_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_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" 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_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 401 GEARBOX: 8 PCM
|
||||
SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
|
||||
SG_ GEAR : 43|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_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" 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_ 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
|
||||
|
||||
CM_ SG_ 401 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_ 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" ;
|
||||
|
||||
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";
|
||||
@@ -51,6 +51,14 @@ BO_ 228 STEERING_CONTROL: 5 EON
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
|
||||
|
||||
BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
|
||||
SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X10 : 24|8@1+ (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_ 232 BRAKE_HOLD: 7 XXX
|
||||
SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
|
||||
SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
|
||||
@@ -182,7 +190,7 @@ BO_ 577 LEFT_LANE_LINE_2: 8 CAM
|
||||
SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
|
||||
BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
|
||||
SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
|
||||
|
||||
@@ -1446,3 +1446,10 @@ BO_ 905 SCC14: 8 SCC
|
||||
|
||||
BO_ 882 ELECT_GEAR: 8 XXX
|
||||
SG_ Elect_Gear_Shifter : 16|3@1+ (1,0) [0|7] "" CLU
|
||||
|
||||
BO_ 1157 LFAHDA_MFC: 4 XXX
|
||||
SG_ LFA_USM : 28|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ LFA_SysWarning : 16|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ ACTIVE2 : 4|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ HDA_USM : 0|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ ACTIVE : 25|1@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
|
||||
|
||||
BO_ 353 DSU_SPEED: 8 XXX
|
||||
SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
|
||||
|
||||
|
||||
BO_ 452 ENGINE_RPM: 8 CGW
|
||||
SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
|
||||
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
|
||||
|
||||
BO_ 353 DSU_SPEED: 8 XXX
|
||||
SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
|
||||
|
||||
|
||||
BO_ 452 ENGINE_RPM: 8 CGW
|
||||
SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
|
||||
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
|
||||
|
||||
BO_ 353 DSU_SPEED: 8 XXX
|
||||
SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
|
||||
|
||||
|
||||
BO_ 452 ENGINE_RPM: 8 CGW
|
||||
SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
|
||||
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
|
||||
|
||||
BO_ 353 DSU_SPEED: 8 XXX
|
||||
SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
|
||||
|
||||
|
||||
BO_ 452 ENGINE_RPM: 8 CGW
|
||||
SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
|
||||
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
|
||||
|
||||
BO_ 353 DSU_SPEED: 8 XXX
|
||||
SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
|
||||
|
||||
|
||||
BO_ 452 ENGINE_RPM: 8 CGW
|
||||
SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
|
||||
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
|
||||
|
||||
BO_ 353 DSU_SPEED: 8 XXX
|
||||
SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
|
||||
|
||||
|
||||
BO_ 452 ENGINE_RPM: 8 CGW
|
||||
SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
|
||||
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
@@ -0,0 +1,308 @@
|
||||
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
|
||||
|
||||
|
||||
BO_ 256 CAM_Start: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 20|12@0+ (1,0) [0|7] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 24|13@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_7 : 56|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_8 : 61|2@0+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_10 : 43|12@0+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_6 : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 63|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 23|3@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 358 CAM_End: 8 XXX
|
||||
SG_ NEW_SIGNAL_2 : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 7|32@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 1216 CAM_69: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 7|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 39|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 55|12@0+ (1,0) [0|7] "" XXX
|
||||
|
||||
BO_ 1120 CAM_KEEP_ALIVE_2: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 1436 CAM_71: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 18 STEER: 8 XXX
|
||||
SG_ NEW_SIGNAL_5 : 42|1@0+ (1,0) [0|63] "" XXX
|
||||
SG_ NEW_SIGNAL_6 : 63|4@0+ (1,0) [0|3] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 59|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CTR : 41|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ STEER_ANGLE : 26|16@0+ (0.05,-1600) [-500|500] "" XXX
|
||||
|
||||
BO_ 257 LKAS: 8 XXX
|
||||
SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CTR_ACT : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LEAD_DIST : 0|12@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_19 : 7|7@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_0 : 48|3@1+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_0_1 : 63|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ UNKNOWN : 24|11@0+ (1,0) [0|4095] "" XXX
|
||||
SG_ MAX_TORQUE__ : 45|11@0+ (-1,1000) [0|4095] "" XXX
|
||||
SG_ ANGLE_TARGET : 20|12@0+ (0.1,-200) [0|4095] "" XXX
|
||||
|
||||
BO_ 258 NEW_MSG_3: 8 XXX
|
||||
SG_ NEW_SIGNAL_2 : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 8|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 28 WHEEL_SPEEDS: 8 XXX
|
||||
SG_ RR : 55|16@0+ (0.01,-100) [0|65535] "" XXX
|
||||
SG_ RL : 39|16@0+ (0.01,-102) [0|65535] "" XXX
|
||||
SG_ FL : 7|16@0+ (0.01,-100) [0|65535] "" XXX
|
||||
SG_ FR : 23|16@0+ (0.01,-100) [0|65535] "" XXX
|
||||
|
||||
BO_ 259 NEW_MSG_5: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 260 NEW_MSG_6: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 261 NEW_MSG_7: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 262 NEW_MSG_8: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 263 NEW_MSG_9: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 310 NEW_MSG_10: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 308 NEW_MSG_11: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 48|8@1+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 19|8@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 304 NEW_MSG_12: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 59|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 23|12@0+ (1,0) [0|2047] "" XXX
|
||||
SG_ NEW_SIGNAL_6 : 27|8@0+ (1,0) [0|4095] "" XXX
|
||||
SG_ NEW_SIGNAL_7 : 27|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 35|6@0+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_8 : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 305 NEW_MSG_13: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 3|12@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 23|12@0+ (1,0) [0|4095] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 27|14@0+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 56|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_6 : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 352 NEW_MSG_14: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 355 NEW_MSG_15: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|127] "" XXX
|
||||
|
||||
BO_ 356 NEW_MSG_16: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 357 NEW_MSG_17: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 7|32@0+ (1,0) [0|4294967295] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 59 STEER_RATE: 8 XXX
|
||||
SG_ NEW_SIGNAL_2 : 47|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ STEER_ANGLE_RATE : 55|16@0+ (0.05,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 43|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ STEER_ANGLE : 23|16@0+ (0.05,-1600) [-500|500] "" XXX
|
||||
SG_ CHKSUM : 39|8@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 24 NEW_MSG_1: 8 XXX
|
||||
SG_ NEW_SIGNAL_3 : 15|1@0+ (1,0) [0|7] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 7|1@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 6|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 0|1@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 26 ENGINE_DATA: 8 XXX
|
||||
SG_ NEW_SIGNAL_3 : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PEDAL_GAS : 39|12@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHKSUM : 63|8@0- (1,0) [0|15] "" XXX
|
||||
SG_ RPM : 7|13@0+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 10|19@0+ (1,0) [0|524287] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 43|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 145 BLINK_INFO: 8 XXX
|
||||
SG_ RIGHT_BLINK : 12|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LEFT_BLINK : 13|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ Speed : 27|12@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CTR : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 16 STEER_TORQUE: 8 XXX
|
||||
SG_ NEW_SIGNAL_12 : 7|2@0+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_7 : 27|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_6 : 39|8@0+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 43|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 47|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
|
||||
SG_ STEER_TORQUE_MOTOR : 8|13@0+ (0.05,-205) [0|15] "" XXX
|
||||
SG_ STEER_TORQUE_SENSOR : 5|13@0+ (1,-4000) [0|15] "" XXX
|
||||
|
||||
BO_ 17 STEER_TORQUE_2: 8 XXX
|
||||
SG_ CTR : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_TORQUE_MOTOR : 7|16@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 27|16@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 43|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 29 WHEEL: 8 XXX
|
||||
SG_ STANDSTILL : 52|1@0+ (1,0) [0|15] "" XXX
|
||||
SG_ SPEED : 39|16@0+ (1,0) [0|127] "" XXX
|
||||
SG_ ENCODER_1 : 7|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ ENCODER_2 : 23|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_6 : 55|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 31 NEW_MSG_4: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 96 STEER2: 8 XXX
|
||||
SG_ NEW_SIGNAL_3 : 23|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ SPEED : 19|20@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 48|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ CTR : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER__ : 7|16@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 1209 KEEP_ALIVE_1: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_6 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_7 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_8 : 4|5@0+ (1,0) [0|127] "" XXX
|
||||
|
||||
BO_ 37 BLANK_1: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 44 BLANK_2: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|16777215] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 55|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 23|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 39|16@0+ (1,0) [0|16777215] "" XXX
|
||||
|
||||
BO_ 128 NEW_MSG_18: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 59|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 129 NEW_MSG_19: 8 XXX
|
||||
SG_ NEW_SIGNAL_2 : 7|12@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 31|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 47|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 56|8@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 1034 KEEP_ALIVE_2: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 39|16@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 55|16@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 1200 KEEP_ALIVE_3: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 55|16@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 39|16@0+ (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 354 CAM_KEEP_ALIVE_1: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 55|30@0+ (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 336 NEW_MSG_20: 8 XXX
|
||||
SG_ NEW_SIGNAL_2 : 7|8@0+ (1,0) [0|4095] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 11|12@0+ (1,0) [0|127] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 342 NEW_MSG_21: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 63|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 39|16@0+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 48|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_7 : 7|16@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_8 : 23|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_6 : 40|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 264 NEW_MSG_2: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 56|8@1+ (1,0) [0|15] "" XXX
|
||||
@@ -51,10 +51,10 @@ BO_ 118 RPM_RELATED: 8 XXX
|
||||
SG_ NEW_SIGNAL_2 : 19|12@0+ (1,0) [0|4095] "" XXX
|
||||
|
||||
BO_ 514 ENGINE_DATA: 8 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
|
||||
SG_ PEDAL_GAS : 39|12@0+ (1,0) [0|255] "%" XXX
|
||||
|
||||
BO_ 357 PEDALS: 8 XXX
|
||||
SG_ NEW_SIGNAL_6 : 31|4@0+ (1,0) [0|1] "" XXX
|
||||
@@ -64,11 +64,11 @@ BO_ 357 PEDALS: 8 XXX
|
||||
SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
|
||||
SG_ STANDSTILL : 26|1@0+ (1,0) [0|16777215] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ GEAR : 48|5@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BRAKE_ON : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NO_BRAKE : 6|1@0+ (1,0) [0|7] "" XXX
|
||||
SG_ BRAKE_ON_2 : 7|1@1+ (1,0) [0|255] "" XXX
|
||||
SG_ NO_BRAKE_2 : 15|1@0+ (1,0) [0|7] "" XXX
|
||||
SG_ GEAR : 48|5@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 533 WHEEL_SPEEDS: 8 XXX
|
||||
SG_ FL : 7|16@0+ (0.01,-100) [0|16383] "kph" XXX
|
||||
@@ -111,6 +111,7 @@ BO_ 582 CAM_LANEMAYBE: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 31|16@0- (1,0) [0|65535] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 55|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ CTR : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 15|16@0+ (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 541 CAM_EMPTY: 8 XXX
|
||||
|
||||
@@ -139,11 +140,12 @@ BO_ 579 CAM_LKAS: 8 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_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
|
||||
SG_ ERR_BIT_2 : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ANGLE_ENABLED : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STEERING_ANGLE : 33|12@0+ (1,-2048) [-2048|2047] "" XXX
|
||||
|
||||
BO_ 580 CAM_DISTANCE: 8 XXX
|
||||
SG_ S1 : 0|8@1+ (1,0) [0|127] "" XXX
|
||||
@@ -165,14 +167,15 @@ BO_ 581 CAM_IDK3: 8 XXX
|
||||
SG_ S8 : 48|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ S9 : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 863 CAM_STATUS: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 32|1@0+ (1,0) [0|32767] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 4|2@0+ (1,0) [0|32767] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 15|4@0+ (1,0) [0|15] "" XXX
|
||||
BO_ 863 CAM_TRAFFIC_SIGNS: 8 XXX
|
||||
SG_ STOP_SIGN : 31|4@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|127] "" XXX
|
||||
SG_ NEW_SIGNAL_6 : 0|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ FORWARD_COLLISION : 40|8@1+ (1,0) [0|7] "" XXX
|
||||
SG_ SPEED_SIGN : 4|7@0+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 52|5@0+ (1,0) [0|31] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 33|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 13|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SPEED_SIGN_CAM : 32|1@0+ (1,0) [0|32767] "" XXX
|
||||
|
||||
BO_ 1157 CAM_SETTINGS: 8 XXX
|
||||
SG_ NEW_SIGNAL_2 : 14|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -193,7 +196,7 @@ BO_ 1088 CAM_LANEINFO: 8 XXX
|
||||
SG_ BIT3 : 62|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ HANDS_ON_STEER_WARN_2 : 59|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HANDS_ON_STEER_WARN : 56|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ S1_NOT : 54|1@0+ (1,0) [0|31] "" XXX
|
||||
SG_ S1_HBEAM : 54|1@0+ (1,0) [0|31] "" XXX
|
||||
SG_ S1 : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HANDS_WARN_3_BITS : 51|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ ERR_BIT : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -482,14 +485,13 @@ BO_ 606 SPEED_TBD: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 23|12@0- (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 552 GEAR: 8 XXX
|
||||
SG_ NEW_SIGNAL_2 : 8|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 11|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 18|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 26|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_6 : 31|5@0+ (1,0) [0|31] "" XXX
|
||||
SG_ NEW_SIGNAL_7 : 39|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ GEAR : 35|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ MORE_GEAR : 7|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ MORE_GEAR : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ GEAR : 2|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ GEAR_BOX : 36|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 543 CRZ_EVENTS: 8 XXX
|
||||
SG_ NEW_SIGNAL_3 : 34|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -545,7 +547,7 @@ BO_ 535 CURVE_CTRS: 8 XXX
|
||||
SG_ CTR_C_2 : 23|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CTR_D_2 : 31|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ CTR_D_1 : 28|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ CURVE : 39|16@0+ (1,0) [0|7] "" XXX
|
||||
SG_ SPEED : 39|16@0+ (0.01,0) [0|7] "kph" XXX
|
||||
SG_ CTR : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHK_MAYBE : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -570,6 +572,9 @@ BO_ 540 CRZ_CTRL: 8 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
|
||||
SG_ NEW_SIGNAL_1 : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 45|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_8 : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 539 CRZ_INFO: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 17|1@0+ (1,0) [0|255] "" XXX
|
||||
@@ -614,14 +619,14 @@ BO_ 1179 2017_7: 8 XXX
|
||||
|
||||
BO_ 1435 2017_8: 8 XXX
|
||||
|
||||
BO_ 253 NEW_MSG_7: 8 XXX
|
||||
BO_ 253 GAS: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 16|1@0+ (1,0) [0|65535] "" 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_ CRZ_NOT_ACTIVE : 61|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ GAS_CMD : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 359 NEW_MSG_11: 8 XXX
|
||||
BO_ 359 MORE_GAS: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 15|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CTR : 31|4@0+ (1,0) [0|255] "" XXX
|
||||
@@ -700,6 +705,7 @@ BO_ 1143 BSM: 8 XXX
|
||||
SG_ RIGHT_BS1 : 14|1@0+ (1,0) [0|63] "" XXX
|
||||
SG_ RIGHT_BS_DISTANCE : 35|3@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REAR_CT_ALERT : 23|5@0+ (1,0) [0|63] "" XXX
|
||||
|
||||
BO_ 1361 KEY_POSITION: 8 XXX
|
||||
|
||||
@@ -744,8 +750,12 @@ BO_ 1248 MOB4: 8 XXX
|
||||
|
||||
|
||||
|
||||
CM_ SG_ 357 GEAR "13P, 26R, 13N, 24D";
|
||||
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_ 579 STEERING_ANGLE "steering angle aligns with 0.022 factor and -45.06 offset";
|
||||
CM_ SG_ 863 SPEED_SIGN "speed limit in MPH";
|
||||
CM_ SG_ 863 SPEED_SIGN_CAM "1: The speed limit is recognized by the camera. 0: speed limit is map based or is not available";
|
||||
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";
|
||||
@@ -755,6 +765,9 @@ 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_ 552 GEAR "0 Shifting, 1 P, 2 R, 3 N, 4 D";
|
||||
CM_ SG_ 552 GEAR_BOX "0 P, 14 R, 1 though 6 D for speeds, 15 Shift";
|
||||
CM_ SG_ 540 HANDS_ON_STEER_WARN "0 no warning, b warning";
|
||||
CM_ SG_ 1143 REAR_CT_ALERT "Rear Cross Traffic Alert";
|
||||
VAL_ 552 GEAR 1 "P" 2 "R" 3 "N" 4 "D";
|
||||
|
||||
@@ -0,0 +1,211 @@
|
||||
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
|
||||
|
||||
|
||||
BO_ 2 STEER_ANGLE_SENSOR: 5 XXX
|
||||
SG_ STEER_ANGLE_RATE : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X07 : 24|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE : 0|16@1- (-0.1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 32|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 42 SEATBELT: 8 XXX
|
||||
SG_ SEATBELT_DRIVER_LATCHED : 27|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown2 : 31|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ unknown3 : 24|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ unknown1 : 7|24@0+ (1,0) [0|16777215] "" XXX
|
||||
SG_ unknown4 : 39|16@0+ (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 361 LKAS: 8 XXX
|
||||
SG_ MAX_TORQUE : 39|8@0+ (0.01,0) [0|255] "Nm" XXX
|
||||
SG_ SET_0x80 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ LKA_ACTIVE : 52|1@0+ (1,0) [0|15] "" XXX
|
||||
SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 389 STEER_TORQUE_SENSOR: 8 XXX
|
||||
SG_ LKAS_ACTIVE : 37|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ STEER_TORQUE_LKAS : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE : 23|18@0+ (-0.01,1310) [0|262143] "" XXX
|
||||
SG_ STEER_TORQUE_DRIVER : 7|12@0+ (-0.01,20.47) [0|4095] "Nm" XXX
|
||||
SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|127] "" XXX
|
||||
|
||||
BO_ 460 BRAKE_PEDAL: 8 XXX
|
||||
SG_ BRAKE_PEDAL : 7|8@0+ (1,0) [0|256] "" XXX
|
||||
|
||||
BO_ 569 CRUISE_THROTTLE: 8 XXX
|
||||
SG_ GAS_PEDAL_INVERTED : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ GAS_PEDAL : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CRUISE_AVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unsure1 : 23|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ unsure2 : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unsure3 : 31|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ NO_BUTTON_PRESSED : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RES_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_BUTTON : 27|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FOLLOW_DISTANCE_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CANCEL_BUTTON : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PROPILOT_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unsure4 : 39|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ COUNTER : 32|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ unsure5 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ unsure6 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ unsure7 : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 640 CANCEL_MSG: 8 XXX
|
||||
SG_ CANCEL_SEATBELT : 1|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 7|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 15|56@0+ (1,0) [0|72057594037927940] "" XXX
|
||||
|
||||
BO_ 644 WHEEL_SPEEDS_FRONT: 8 XXX
|
||||
SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
|
||||
SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
|
||||
|
||||
BO_ 645 WHEEL_SPEEDS_REAR: 8 XXX
|
||||
SG_ WHEEL_SPEED_RR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
|
||||
SG_ WHEEL_SPEED_RL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
|
||||
|
||||
BO_ 689 PROPILOT_HUD: 8 XXX
|
||||
SG_ LARGE_WARNING_FLASHING : 9|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_RADAR_ERROR_FLASHING1 : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_RADAR_ERROR_FLASHING2 : 11|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RIGHT_LANE_YELLOW_FLASH : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_LANE_YELLOW_FLASH : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEAD_CAR : 14|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEAD_CAR_ERROR : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FRONT_RADAR_ERROR : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FRONT_RADAR_ERROR_FLASHING : 17|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RIGHT_LANE_GREEN : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_LANE_GREEN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_RADAR_ERROR_FLASHING3 : 27|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_ERROR_FLASHING : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SAFETY_SHIELD_ACTIVE : 44|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LARGE_STEERING_WHEEL_ICON : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ RIGHT_LANE_GREEN_FLASH : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_LANE_GREEN_FLASH : 63|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FOLLOW_DISTANCE : 3|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ AUDIBLE_TONE : 47|3@0+ (1,0) [0|8] "" XXX
|
||||
SG_ SPEED_SET_ICON : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SMALL_STEERING_WHEEL_ICON : 42|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ SET_SPEED : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ unknown02 : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ unknown05 : 5|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ unknown08 : 8|7@0+ (1,0) [0|63] "" XXX
|
||||
SG_ unknown26 : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown28 : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown31 : 31|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ unknown43 : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown55 : 55|8@0+ (1,0) [0|63] "" XXX
|
||||
SG_ unknown59 : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 783 CRUISE_STATE: 3 XXX
|
||||
SG_ CRUISE_ENABLED : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 852 ESP: 8 XXX
|
||||
SG_ ESP_DISABLED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 853 HUD_SETTINGS: 8 XXX
|
||||
SG_ SPEED_MPH : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 856 LIGHTS: 8 XXX
|
||||
SG_ LEFT_BLINKER : 17|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RIGHT_BLINKER : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1057 GEARBOX: 3 XXX
|
||||
SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX
|
||||
SG_ NA_HIGH_ACCEL_TEMP : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_RADAR_NA_HIGH_CABIN_TEMP : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_RADAR_MALFUNCTION : 11|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_MALFUNCTION : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FRONT_RADAR_MALFUNCTION : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_RADAR_NA_CLEAN_REAR_CAMERA : 14|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NA_POOR_ROAD_CONDITIONS : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CURRENTLY_UNAVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SAFETY_SHIELD_OFF : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_IMPACT_NA_RADAR_OBSTRUCTION : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ WARNING_DO_NOT_ENTER : 33|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_IMPACT_SYSTEM_OFF : 34|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_IMPACT_MALFUNCTION : 35|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FRONT_COLLISION_MALFUNCTION : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_RADAR_MALFUNCTION2 : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_MALFUNCTION2 : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FRONT_RADAR_MALFUNCTION2 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PROPILOT_NA_MSGS : 42|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ BOTTOM_MSG : 45|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ HANDS_ON_WHEEL_WARNING : 47|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ WARNING_STEP_ON_BRAKE_NOW : 51|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PROPILOT_NA_HIGH_CABIN_TEMP : 53|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ WARNING_PROPILOT_MALFUNCTION : 54|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ ACC_UNAVAILABLE_HIGH_CABIN_TEMP : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_NA_FRONT_CAMERA_IMPARED : 63|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown07 : 7|7@0+ (1,0) [0|127] "" XXX
|
||||
SG_ unknown10 : 10|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ unknown15 : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown23 : 23|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ unknown19 : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown31 : 31|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ unknown32 : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown46 : 46|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown50 : 50|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ unknown55 : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown61 : 61|6@0+ (1,0) [0|63] "" XXX
|
||||
|
||||
BO_ 1549 DOORS_LIGHTS: 8 XXX
|
||||
SG_ DOOR_OPEN_FL : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FR : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RR : 6|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1227 LKAS_SETTINGS: 8 XXX
|
||||
SG_ LKAS_ENABLED : 51|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
VAL_ 1057 GEAR_SHIFTER 7 "B" 4 "D" 3 "N" 2 "R" 1 "P" ;
|
||||
VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ;
|
||||
VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ;
|
||||
VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISANCE_3" ;
|
||||
VAL_ 689 AUDIBLE_TONE 0 "NO_TONE" 1 "CONT" 2 "FAST_BEEP_CONT" 3 "TRIPLE_FAST_BEEP_CONT" 4 "SLOW_BEEP_CONT" 5 "QUAD_SLOW_BEEP_CONT" 6 "SINGLE_BEEP_ONCE" 7 "DOUBLE_BEEP_ONCE" ;
|
||||
VAL_ 689 SMALL_STEERING_WHEEL_ICON 0 "NO_ICON" 1 "GRAY_ICON" 2 "GRAY_ICON_FLASHING" 3 "GREEN_ICON" 4 "GREEN_ICON_FLASHING" 5 "RED_ICON" 6 "RED_ICON_FLASHING" 7 "YELLOW_ICON" ;
|
||||
VAL_ 689 LARGE_STEERING_WHEEL_ICON 0 "NO_STEERINGWHEEL" 1 "GRAY_STEERINGWHEEL" 2 "GREEN_STEERINGWHEEL" 3 "GREEN_STEERINGWHEEL_FLASHING" ;
|
||||
@@ -36,70 +36,41 @@ BS_:
|
||||
BU_: XXX
|
||||
|
||||
|
||||
BO_ 644 Speed_1: 8 XXX
|
||||
SG_ Speed_FR : 7|16@0+ (0.0118,0) [0|65535] "" XXX
|
||||
SG_ Speed_FL : 23|16@0+ (0.0118,0) [0|65535] "" XXX
|
||||
SG_ Speed_Vehicle : 39|16@0+ (0.0245,0) [0|65535] "" XXX
|
||||
BO_ 2 STEER_ANGLE_SENSOR: 5 XXX
|
||||
SG_ STEER_ANGLE_RATE : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X07 : 24|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE : 0|16@1- (-0.1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 32|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 645 WheelspeedRear: 8 XXX
|
||||
SG_ RR : 7|16@0+ (0.00555,0) [0|65535] "KPH" XXX
|
||||
SG_ RL : 23|16@0+ (0.00555,0) [0|65535] "KPH" XXX
|
||||
BO_ 348 GAS_PEDAL: 8 XXX
|
||||
SG_ GAS_PEDAL_RAW : 26|11@0+ (1,0) [0|2047] "" XXX
|
||||
SG_ GAS_PEDAL : 47|10@0+ (1,0) [0|1023] "" XXX
|
||||
|
||||
BO_ 768 STEER_TORQUE: 2 XXX
|
||||
SG_ STEERING_TORQUE : 6|7@0+ (1,0) [0|127] "" XXX
|
||||
SG_ DriverTouchingWheel : 15|1@0+ (-1,1) [0|7] "" XXX
|
||||
|
||||
BO_ 459 Maybe_RegenBraking: 8 XXX
|
||||
|
||||
BO_ 372 Maybe_Gear_Selector: 8 XXX
|
||||
SG_ Counter : 35|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 374 Maybe_Motor_RPM_or_Speed: 8 XXX
|
||||
SG_ Counter : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 460 Maybe_Brake_Related: 8 XXX
|
||||
|
||||
BO_ 2 SteeringWheel: 8 XXX
|
||||
SG_ Steering_RateChange : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Always_07 : 24|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Steering_Angle : 0|16@1- (-0.1,0) [0|65535] "" XXX
|
||||
SG_ Counter : 32|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 384 Maybe_PowerInfo: 8 XXX
|
||||
SG_ Unknown_Timer_PowerInfo : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ EnginePower : 27|12@0- (1,0) [0|1] "" XXX
|
||||
SG_ RequestedAccel : 23|12@0- (1,0) [0|4294967295] "" XXX
|
||||
|
||||
BO_ 1107 Lights: 8 XXX
|
||||
SG_ RIGHT_BLINKER : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_BLINKER : 11|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ _HEADLIGHTS : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 666 WheelspeedFront: 8 XXX
|
||||
SG_ _FL_WHEELSPEED : 39|16@0+ (0.01014,0) [0|65535] "" XXX
|
||||
SG_ FR : 7|16@0+ (0.00555,0) [0|65535] "KPH" XXX
|
||||
SG_ FL : 23|16@0+ (0.00555,0) [0|65535] "KPH" XXX
|
||||
|
||||
BO_ 389 Steering: 8 XXX
|
||||
BO_ 361 LKAS: 8 XXX
|
||||
SG_ MAX_TORQUE : 39|8@0+ (0.01,0) [0|255] "Nm" XXX
|
||||
SG_ SET_0x80 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ LKA_ACTIVE : 52|1@0+ (1,0) [0|15] "" XXX
|
||||
SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 389 STEER_TORQUE_SENSOR: 8 XXX
|
||||
SG_ LKAS_ACTIVE : 37|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LKAS_Torque : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CRC : 63|8@0+ (1,0) [0|127] "" XXX
|
||||
SG_ Angle : 23|18@0+ (-0.01,1310) [0|262143] "" XXX
|
||||
SG_ DriverTorque : 7|12@0+ (-0.01,20.47) [0|4095] "Nm" XXX
|
||||
SG_ STEER_TORQUE_LKAS : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE : 23|18@0+ (-0.01,1310) [0|262143] "" XXX
|
||||
SG_ STEER_TORQUE_DRIVER : 7|12@0+ (-0.01,20.47) [0|4095] "Nm" XXX
|
||||
SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|127] "" XXX
|
||||
|
||||
BO_ 851 SPEED_RELATED: 8 XXX
|
||||
SG_ SPEED_RELATED : 7|16@0+ (0.01014,0) [0|65535] "" XXX
|
||||
BO_ 438 PRO_PILOT: 8 XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X03 : 33|2@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CRUISE_ACTIVATED : 38|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CRUISE_ON : 36|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_STATUS : 51|1@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 386 Accelerator: 8 XXX
|
||||
SG_ Accelerator : 38|7@0+ (1,0) [0|127] "" XXX
|
||||
|
||||
BO_ 348 Throttle: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ Throttle : 26|11@0+ (1,0) [0|2047] "" XXX
|
||||
SG_ ThrottlePedal : 47|10@0+ (1,0) [0|1023] "" XXX
|
||||
|
||||
BO_ 523 CruiseThrottle: 6 XXX
|
||||
BO_ 523 CRUISE_THROTTLE: 6 XXX
|
||||
SG_ PROPILOT_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CANCEL_BUTTON : 9|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GAS_PEDAL_INVERTED : 37|10@0+ (1,0) [0|1023] "" XXX
|
||||
@@ -111,13 +82,73 @@ BO_ 523 CruiseThrottle: 6 XXX
|
||||
SG_ USER_BRAKE_PRESSED : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ USER_BRAKE_PRESSED_INVERTED : 22|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unsure2 : 43|4@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unsure1 : 7|16@0+ (1,0) [0|15] "" XXX
|
||||
SG_ GAS_PRESSED_INVERTED : 20|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 17|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ unsure1 : 7|10@0+ (1,0) [0|1023] "" XXX
|
||||
SG_ unsure2 : 43|4@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unsure3 : 19|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1108 DoorsLights: 8 XXX
|
||||
BO_ 645 WHEEL_SPEEDS_REAR: 8 XXX
|
||||
SG_ WHEEL_SPEED_RR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
|
||||
SG_ WHEEL_SPEED_RL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
|
||||
|
||||
BO_ 665 ESP: 8 XXX
|
||||
SG_ ESP_DISABLED : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 666 WHEEL_SPEEDS_FRONT: 8 XXX
|
||||
SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
|
||||
SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
|
||||
|
||||
BO_ 689 PROPILOT_HUD: 8 XXX
|
||||
SG_ LARGE_WARNING_FLASHING : 9|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_RADAR_ERROR_FLASHING1 : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_RADAR_ERROR_FLASHING2 : 11|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RIGHT_LANE_YELLOW_FLASH : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_LANE_YELLOW_FLASH : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEAD_CAR : 14|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEAD_CAR_ERROR : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FRONT_RADAR_ERROR : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FRONT_RADAR_ERROR_FLASHING : 17|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RIGHT_LANE_GREEN : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_LANE_GREEN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_RADAR_ERROR_FLASHING3 : 27|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_ERROR_FLASHING : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SAFETY_SHIELD_ACTIVE : 44|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LARGE_STEERING_WHEEL_ICON : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ RIGHT_LANE_GREEN_FLASH : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_LANE_GREEN_FLASH : 63|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FOLLOW_DISTANCE : 3|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ AUDIBLE_TONE : 47|3@0+ (1,0) [0|8] "" XXX
|
||||
SG_ SPEED_SET_ICON : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SMALL_STEERING_WHEEL_ICON : 42|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ SET_SPEED : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ unknown02 : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ unknown05 : 5|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ unknown08 : 8|7@0+ (1,0) [0|63] "" XXX
|
||||
SG_ unknown26 : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown28 : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown31 : 31|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ unknown43 : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown55 : 55|8@0+ (1,0) [0|63] "" XXX
|
||||
SG_ unknown59 : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 768 STEER_TORQUE_SENSOR2: 2 XXX
|
||||
SG_ STEERING_TORQUE : 6|7@0+ (1,0) [0|127] "" XXX
|
||||
SG_ STEERING_PRESSED : 15|1@0+ (-1,1) [0|7] "" XXX
|
||||
|
||||
BO_ 783 CRUISE_STATE: 3 XXX
|
||||
SG_ CRUISE_ENABLED : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1055 GEARBOX: 2 XXX
|
||||
SG_ SPORTS_MODE : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 1107 LIGHTS: 8 XXX
|
||||
SG_ RIGHT_BLINKER : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_BLINKER : 11|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HEADLIGHTS : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1108 DOORS_LIGHTS: 8 XXX
|
||||
SG_ DOOR_CLOSED_RR : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RR : 41|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_CLOSED_RL : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -130,49 +161,6 @@ BO_ 1108 DoorsLights: 8 XXX
|
||||
SG_ BRAKE_LIGHT : 54|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ USER_BRAKE_PRESSED : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 403 LKAS_OLD: 8 XXX
|
||||
SG_ Checksum : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ Angle_2 : 32|13@0+ (1,-4000) [0|63] "" XXX
|
||||
SG_ Counter : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ Angle_1 : 10|13@0+ (0.12,-480) [0|65535] "" XXX
|
||||
SG_ Steering_Torque : 7|13@0+ (-1,4000) [0|65535] "" XXX
|
||||
SG_ Torque_Command : 29|13@0+ (1,-4000) [0|255] "" XXX
|
||||
|
||||
BO_ 361 LKAS: 8 XXX
|
||||
SG_ MAX_TORQUE : 39|8@0+ (0.01,0) [0|255] "Nm" XXX
|
||||
SG_ SET_0x80 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ LKA_ACTIVE : 52|1@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CRC : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [0|255] "" XXX
|
||||
|
||||
BO_ 438 ProPilot: 8 XXX
|
||||
SG_ NEW_SIGNAL_2 : 11|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 27|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_8 : 63|8@0+ (1,0) [0|7] "" XXX
|
||||
SG_ Counter : 55|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_3 : 33|2@0+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 7|12@0- (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 23|12@0- (-1,0) [0|255] "" XXX
|
||||
SG_ CRUISE_ACTIVATED : 38|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CRUISE_ON : 36|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_STATUS : 51|1@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 397 _GEAR: 8 XXX
|
||||
SG_ GEAR : 27|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 1273 _SEATBELT: 7 XXX
|
||||
SG_ DRIVERS_SEATBELT : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 665 _ESP: 8 XXX
|
||||
SG_ ESP_DISABLED : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1055 GEARBOX: 2 XXX
|
||||
SG_ SPORTS_MODE : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX
|
||||
SG_ NA_HIGH_ACCEL_TEMP : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_RADAR_NA_HIGH_CABIN_TEMP : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -210,46 +198,15 @@ BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX
|
||||
SG_ unknown31 : 31|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ unknown32 : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown46 : 46|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown61 : 61|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ unknown55 : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown50 : 50|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ unknown55 : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown61 : 61|6@0+ (1,0) [0|63] "" XXX
|
||||
|
||||
BO_ 689 PROPILOT_HUD: 8 XXX
|
||||
SG_ LARGE_WARNING_FLASHING : 9|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_RADAR_ERROR_FLASHING1 : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_RADAR_ERROR_FLASHING2 : 11|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RIGHT_LANE_YELLOW_FLASH : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_LANE_YELLOW_FLASH : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEAD_CAR : 14|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEAD_CAR_ERROR : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FRONT_RADAR_ERROR : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FRONT_RADAR_ERROR_FLASHING : 17|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RIGHT_LANE_GREEN : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_LANE_GREEN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIDE_RADAR_ERROR_FLASHING3 : 27|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_ERROR_FLASHING : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SAFETY_SHIELD_ACTIVE : 44|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LARGE_STEERING_WHEEL_ICON : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ RIGHT_LANE_GREEN_FLASH : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_LANE_GREEN_FLASH : 63|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FOLLOW_DISTANCE : 3|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ AUDIBLE_TONE : 47|3@0+ (1,0) [0|8] "" XXX
|
||||
SG_ SPEED_SET_ICON : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SMALL_STEERING_WHEEL_ICON : 42|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ unknown59 : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ unknown55 : 55|8@0+ (1,0) [0|63] "" XXX
|
||||
SG_ unknown26 : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown28 : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown31 : 31|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ unknown39 : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ unknown43 : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unknown8 : 8|7@0+ (1,0) [0|63] "" XXX
|
||||
SG_ unknown05 : 5|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ unknown02 : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1227 LKAS_SETTINGS: 8 XXX
|
||||
SG_ LKAS_ENABLED : 51|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1273 SEATBELT: 7 XXX
|
||||
SG_ SEATBELT_DRIVER_LATCHED : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
VAL_ 1055 GEAR_SHIFTER 6 "L" 4 "D" 3 "N" 2 "R" 1 "P" ;
|
||||
VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ;
|
||||
@@ -38,24 +38,24 @@ 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_ 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_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" 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_ Engine_RPM : 16|12@1+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 28|5@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Throttle_Combo : 48|7@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal1 : 55|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Off_Accel : 60|4@1+ (1,0) [0|7] "" XXX
|
||||
|
||||
BO_ 65 NEW_MSG_1: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" 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
|
||||
@@ -63,17 +63,18 @@ BO_ 65 NEW_MSG_1: 8 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
|
||||
BO_ 72 Transmission: 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
|
||||
SG_ Gear : 24|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 38|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 40|16@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_ 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
|
||||
@@ -86,7 +87,7 @@ BO_ 315 G_Sensor: 8 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_ 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
|
||||
@@ -94,131 +95,156 @@ BO_ 314 Wheel_Speeds: 8 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_ 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
|
||||
BO_ 280 STOP_START: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 12|12@1- (1,0) [0|4095] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 40|4@1+ (1,0) [0|255] "" 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
|
||||
SG_ State : 63|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 281 Steering_Torque: 8 XXX
|
||||
SG_ checksum : 0|8@1+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|3] "" XXX
|
||||
SG_ counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Steer_Error_1 : 12|1@0+ (1,0) [0|7] "" XXX
|
||||
SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [0|3] "" XXX
|
||||
SG_ Steer_Error_2 : 28|1@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_ 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
|
||||
SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 313 Brake_Pedal: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal1 : 12|22@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Brake_Pedal_On : 34|1@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Signal2 : 35|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Brake_Pedal : 36|12@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ Signal3 : 48|16@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 290 ES_LKAS: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" 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_ 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_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Signal1 : 12|4@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Brake_Pressure : 16|16@1+ (1,0) [0|255] "" XXX
|
||||
SG_ __Status : 36|4@1+ (1,0) [0|63] "" XXX
|
||||
SG_ Signal2 : 32|4@1+ (1,0) [0|1] "" XXX
|
||||
SG_ State : 36|4@1+ (1,0) [0|63] "" XXX
|
||||
SG_ Signal3 : 40|24@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 545 ES_Distance: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" 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
|
||||
SG_ ES_Cruise_Throttle : 12|20@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Car_Follow : 32|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal1 : 33|4@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Distance_Swap : 37|1@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Signal2 : 38|2@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Close_Distance : 40|8@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal3 : 48|8@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Cancel : 56|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Set : 57|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Resume : 58|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal4 : 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_ 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
|
||||
SG_ Cruise_Hold : 31|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 554 ES_Blank: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" 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_ 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_ 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_ 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_ 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_ 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_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Counter : 8|4@1+ (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_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Lowbeam : 57|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Highbeam : 58|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ FOG_LIGHTS2 : 60|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ WIPERS : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 801 ES_DashStatus: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|7] "" XXX
|
||||
SG_ PCB_Off : 12|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LDW_Off : 13|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Distance : 28|3@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Cruise_Activated : 36|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Cruise_Fault : 48|1@1+ (1,0) [0|1] "" 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
|
||||
SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Cruise_State : 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_ 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
|
||||
@@ -237,62 +263,62 @@ BO_ 802 ES_LKAS_State: 8 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_ Lead_Vehicle_Start_Alert : 35|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_ 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_ 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_ 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_ 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_ 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_ 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_ 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_ 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_ 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_ 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
|
||||
@@ -305,38 +331,39 @@ BO_ 2024 NEW_MSG_33: 8 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_ 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_ 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_ 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_ 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_ 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_ 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
|
||||
SG_ Icy_Road_Warning : 20|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1743 NEW_MSG_41: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" 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
|
||||
@@ -360,10 +387,15 @@ BO_ 1787 NEW_MSG_45: 8 XXX
|
||||
|
||||
|
||||
|
||||
CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
|
||||
CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal";
|
||||
CM_ SG_ 544 State "0 = ES disabled, 8 = ES enabled, 12, 13 = ES_Brake active";
|
||||
CM_ SG_ 545 ES_Cruise_Throttle "signal might be smaller, values do not correlate with Throttle:CruiseThrottle";
|
||||
CM_ SG_ 545 Distance_Swap "Switch from Close to Far distance";
|
||||
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_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
|
||||
CM_ SG_ 801 PCB_Off "Pre-Collision Braking";
|
||||
CM_ SG_ 801 Cruise_State "0 = Normal, 1 = Hold+User Brake, 2 = Ready, 3 = Hold";
|
||||
CM_ SG_ 805 NEW_SIGNAL_3 "always 3";
|
||||
CM_ SG_ 805 NEW_SIGNAL_4 "always 1";
|
||||
CM_ SG_ 1677 Units "1 = imperial, 6 = metric";
|
||||
VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6" ;
|
||||
|
||||
@@ -38,11 +38,11 @@ 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_ 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_ 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
|
||||
@@ -55,7 +55,7 @@ BO_ 64 Throttle: 8 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_ 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
|
||||
@@ -63,17 +63,18 @@ BO_ 65 NEW_MSG_1: 8 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
|
||||
BO_ 72 Transmission: 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
|
||||
SG_ Gear : 24|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 38|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 40|16@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_ 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
|
||||
@@ -86,7 +87,7 @@ BO_ 315 G_Sensor: 8 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_ 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
|
||||
@@ -94,7 +95,7 @@ BO_ 314 Wheel_Speeds: 8 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_ 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
|
||||
|
||||
@@ -105,7 +106,7 @@ BO_ 280 NEW_MSG_6: 8 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_ 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
|
||||
@@ -114,39 +115,39 @@ BO_ 281 Steering_Torque: 8 XXX
|
||||
SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 312 Brake_Pressure_L_R: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|31] "" 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_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" 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_ 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_ 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_ 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_ 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
|
||||
@@ -154,73 +155,75 @@ BO_ 545 ES_Distance: 8 XXX
|
||||
SG_ Signal3 : 57|7@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 546 ES_Status: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" 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_ 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_ 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_ 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_ 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_ 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_ 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_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Lowbeam : 57|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Highbeam : 58|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ FOG_LIGHTS2 : 60|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ WIPERS : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 801 ES_DashStatus: 8 XXX
|
||||
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|7] "" XXX
|
||||
SG_ NEW_SIGNAL_9 : 60|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Cruise_Distance : 28|3@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Cruise_Activated : 36|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Cruise_Fault : 48|1@1+ (1,0) [0|1] "" 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_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Cruise_State : 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_ 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
|
||||
@@ -244,57 +247,57 @@ BO_ 802 ES_LKAS_State: 8 XXX
|
||||
SG_ Signal5 : 37|27@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_ 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_ 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_ 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_ 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_ 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_ 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_ 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_ 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_ 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_ 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
|
||||
@@ -307,38 +310,38 @@ BO_ 2024 NEW_MSG_33: 8 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_ 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_ 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_ 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_ 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_ 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_ 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_ 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
|
||||
@@ -364,7 +367,9 @@ 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_ 801 Cruise_State "0 = Normal, 3 = Hold";
|
||||
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";
|
||||
VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6";
|
||||
|
||||
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
|
||||
|
||||
BO_ 353 DSU_SPEED: 8 XXX
|
||||
SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
|
||||
|
||||
|
||||
BO_ 452 ENGINE_RPM: 8 CGW
|
||||
SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
|
||||
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
|
||||
|
||||
BO_ 353 DSU_SPEED: 8 XXX
|
||||
SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
|
||||
|
||||
|
||||
BO_ 452 ENGINE_RPM: 8 CGW
|
||||
SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
|
||||
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
|
||||
|
||||
BO_ 353 DSU_SPEED: 8 XXX
|
||||
SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
|
||||
|
||||
|
||||
BO_ 452 ENGINE_RPM: 8 CGW
|
||||
SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
|
||||
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
|
||||
|
||||
BO_ 353 DSU_SPEED: 8 XXX
|
||||
SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
|
||||
|
||||
|
||||
BO_ 452 ENGINE_RPM: 8 CGW
|
||||
SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
|
||||
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
|
||||
|
||||
BO_ 353 DSU_SPEED: 8 XXX
|
||||
SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
|
||||
|
||||
|
||||
BO_ 452 ENGINE_RPM: 8 CGW
|
||||
SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
|
||||
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
@@ -113,7 +113,10 @@ BO_ 180 SPEED: 8 XXX
|
||||
|
||||
BO_ 353 DSU_SPEED: 8 XXX
|
||||
SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
|
||||
|
||||
|
||||
BO_ 452 ENGINE_RPM: 8 CGW
|
||||
SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
|
||||
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
@@ -113,7 +113,10 @@ BO_ 180 SPEED: 8 XXX
|
||||
|
||||
BO_ 353 DSU_SPEED: 8 XXX
|
||||
SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
|
||||
|
||||
|
||||
BO_ 452 ENGINE_RPM: 8 CGW
|
||||
SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
|
||||
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
|
||||
|
||||
BO_ 353 DSU_SPEED: 8 XXX
|
||||
SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
|
||||
|
||||
|
||||
BO_ 452 ENGINE_RPM: 8 CGW
|
||||
SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
|
||||
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
|
||||
|
||||
BO_ 353 DSU_SPEED: 8 XXX
|
||||
SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
|
||||
|
||||
|
||||
BO_ 452 ENGINE_RPM: 8 CGW
|
||||
SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
|
||||
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
|
||||
|
||||
BO_ 353 DSU_SPEED: 8 XXX
|
||||
SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
|
||||
|
||||
|
||||
BO_ 452 ENGINE_RPM: 8 CGW
|
||||
SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
|
||||
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
@@ -96,7 +96,10 @@ BO_ 180 SPEED: 8 XXX
|
||||
|
||||
BO_ 353 DSU_SPEED: 8 XXX
|
||||
SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
|
||||
|
||||
|
||||
BO_ 452 ENGINE_RPM: 8 CGW
|
||||
SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
|
||||
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
+20
-3
@@ -1254,9 +1254,26 @@ BO_ 695 RCTA_01: 8 XXX
|
||||
SG_ RCTA_01_BZ : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ RCTA_01_CRC : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 783 SWA_01: 8 XXX
|
||||
SG_ SWA_01_BZ : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ SWA_01_CRC : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
BO_ 783 SWA_01: 8 Gateway_MQB
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Vector__XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Vector__XXX
|
||||
SG_ SWA_Anzeigen : 12|4@1+ (1,0) [0|15] "" Kombi_D4
|
||||
SG_ SWA_Blindheit_erkannt : 16|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ SWA_rel_Nichtverf : 17|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ SWA_rel_Fehler : 18|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ SWA_Sta_aktiv : 19|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ SWA_Sta_passiv : 20|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ SWA_Standziele_li : 24|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ SWA_Kolonne_li : 25|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ SWA_Infostufe_SWA_li : 26|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ SWA_Warnung_SWA_li : 27|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ SWA_Kolonne_mi : 33|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ SWA_Standziele_re : 40|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ SWA_Kolonne_re : 41|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ SWA_Infostufe_SWA_re : 42|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ SWA_Warnung_SWA_re : 43|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ SWA_Gischtzaehler : 48|7@1+ (1,0) [0|100] "Unit_PerCent" Vector__XXX
|
||||
SG_ SWA_KD_Fehler : 59|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
|
||||
BO_ 804 ACC_04: 8 XXX
|
||||
SG_ ACC_04_CRC : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
@@ -11,7 +11,7 @@ jobs:
|
||||
- run:
|
||||
name: Run safety test
|
||||
command: |
|
||||
docker run panda_safety /bin/bash -c "cd /panda/tests/safety; PYTHONPATH=/ ./test.sh"
|
||||
docker run panda_safety /bin/bash -c "cd /openpilot/panda/tests/safety; PYTHONPATH=/openpilot ./test.sh"
|
||||
|
||||
misra-c2012:
|
||||
machine:
|
||||
|
||||
+1
-1
@@ -1 +1 @@
|
||||
v1.7.3
|
||||
v1.7.5
|
||||
@@ -23,9 +23,13 @@ void black_enable_can_transciever(uint8_t transciever, bool enabled) {
|
||||
}
|
||||
|
||||
void black_enable_can_transcievers(bool enabled) {
|
||||
uint8_t t1 = enabled ? 1U : 2U; // leave transciever 1 enabled to detect CAN ignition
|
||||
for(uint8_t i=t1; i<=4U; i++) {
|
||||
black_enable_can_transciever(i, enabled);
|
||||
for(uint8_t i=1U; i<=4U; i++){
|
||||
// Leave main CAN always on for CAN-based ignition detection
|
||||
if((car_harness_status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
|
||||
black_enable_can_transciever(i, true);
|
||||
} else {
|
||||
black_enable_can_transciever(i, enabled);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -26,7 +26,12 @@ void uno_enable_can_transciever(uint8_t transciever, bool enabled) {
|
||||
|
||||
void uno_enable_can_transcievers(bool enabled) {
|
||||
for(uint8_t i=1U; i<=4U; i++){
|
||||
uno_enable_can_transciever(i, enabled);
|
||||
// Leave main CAN always on for CAN-based ignition detection
|
||||
if((car_harness_status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
|
||||
uno_enable_can_transciever(i, true);
|
||||
} else {
|
||||
uno_enable_can_transciever(i, enabled);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -42,7 +42,7 @@ bin: obj/$(PROJ_NAME).bin
|
||||
|
||||
# this flashes everything
|
||||
recover: obj/bootstub.$(PROJ_NAME).bin obj/$(PROJ_NAME).bin
|
||||
-PYTHONPATH=../ python3 -c "from python import Panda; Panda().reset(enter_bootloader=True)"
|
||||
-PYTHONPATH=../ python3 -c "from python import Panda; Panda().reset(enter_bootstub=True); Panda().reset(enter_bootloader=True)"
|
||||
sleep 1.0
|
||||
$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
|
||||
$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.$(PROJ_NAME).bin
|
||||
|
||||
+46
-21
@@ -26,8 +26,9 @@ extern uint32_t can_speed[4];
|
||||
|
||||
void can_set_forwarding(int from, int to);
|
||||
|
||||
void can_init(uint8_t can_number);
|
||||
bool can_init(uint8_t can_number);
|
||||
void can_init_all(void);
|
||||
bool can_tx_check_min_slots_free(uint32_t min);
|
||||
void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number, bool skip_tx_hook);
|
||||
bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);
|
||||
|
||||
@@ -107,6 +108,20 @@ bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
uint32_t can_slots_empty(can_ring *q) {
|
||||
uint32_t ret = 0;
|
||||
|
||||
ENTER_CRITICAL();
|
||||
if (q->w_ptr >= q->r_ptr) {
|
||||
ret = q->fifo_size - 1U - q->w_ptr + q->r_ptr;
|
||||
} else {
|
||||
ret = q->r_ptr - q->w_ptr - 1U;
|
||||
}
|
||||
EXIT_CRITICAL();
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
void can_clear(can_ring *q) {
|
||||
ENTER_CRITICAL();
|
||||
q->w_ptr = 0;
|
||||
@@ -133,27 +148,27 @@ uint32_t can_speed[] = {5000, 5000, 5000, 333};
|
||||
|
||||
#define CANIF_FROM_CAN_NUM(num) (cans[num])
|
||||
#define CAN_NUM_FROM_CANIF(CAN) ((CAN)==CAN1 ? 0 : ((CAN) == CAN2 ? 1 : 2))
|
||||
#define CAN_NAME_FROM_CANIF(CAN) ((CAN)==CAN1 ? "CAN1" : ((CAN) == CAN2 ? "CAN2" : "CAN3"))
|
||||
#define BUS_NUM_FROM_CAN_NUM(num) (bus_lookup[num])
|
||||
#define CAN_NUM_FROM_BUS_NUM(num) (can_num_lookup[num])
|
||||
|
||||
void process_can(uint8_t can_number);
|
||||
|
||||
void can_set_speed(uint8_t can_number) {
|
||||
bool can_set_speed(uint8_t can_number) {
|
||||
bool ret = true;
|
||||
CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
|
||||
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
|
||||
|
||||
if (!llcan_set_speed(CAN, can_speed[bus_number], can_loopback, (unsigned int)(can_silent) & (1U << can_number))) {
|
||||
puts("CAN init FAILED!!!!!\n");
|
||||
puth(can_number); puts(" ");
|
||||
puth(BUS_NUM_FROM_CAN_NUM(can_number)); puts("\n");
|
||||
}
|
||||
ret &= llcan_set_speed(CAN, can_speed[bus_number], can_loopback, (unsigned int)(can_silent) & (1U << can_number));
|
||||
return ret;
|
||||
}
|
||||
|
||||
void can_init_all(void) {
|
||||
bool ret = true;
|
||||
for (uint8_t i=0U; i < CAN_MAX; i++) {
|
||||
can_init(i);
|
||||
can_clear(can_queues[i]);
|
||||
ret &= can_init(i);
|
||||
}
|
||||
UNUSED(ret);
|
||||
}
|
||||
|
||||
void can_flip_buses(uint8_t bus1, uint8_t bus2){
|
||||
@@ -179,7 +194,8 @@ void can_set_gmlan(uint8_t bus) {
|
||||
bus_lookup[prev_bus] = prev_bus;
|
||||
can_num_lookup[prev_bus] = prev_bus;
|
||||
can_num_lookup[3] = -1;
|
||||
can_init(prev_bus);
|
||||
bool ret = can_init(prev_bus);
|
||||
UNUSED(ret);
|
||||
break;
|
||||
default:
|
||||
// GMLAN was not set on either BUS 1 or 2
|
||||
@@ -198,7 +214,8 @@ void can_set_gmlan(uint8_t bus) {
|
||||
bus_lookup[bus] = 3;
|
||||
can_num_lookup[bus] = -1;
|
||||
can_num_lookup[3] = bus;
|
||||
can_init(bus);
|
||||
bool ret = can_init(bus);
|
||||
UNUSED(ret);
|
||||
break;
|
||||
case 0xFF: //-1 unsigned
|
||||
break;
|
||||
@@ -317,6 +334,10 @@ void process_can(uint8_t can_number) {
|
||||
CAN->sTxMailBox[0].TDHR = to_send.RDHR;
|
||||
CAN->sTxMailBox[0].TDTR = to_send.RDTR;
|
||||
CAN->sTxMailBox[0].TIR = to_send.RIR;
|
||||
|
||||
if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_BULK_TRANSFER)) {
|
||||
usb_outep3_resume_if_paused();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -342,11 +363,6 @@ void ignition_can_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// GTW_status
|
||||
ignition_can = (GET_BYTE(to_push, 0) & 0x1) != 0;
|
||||
}
|
||||
// Cadillac exception
|
||||
if ((addr == 0x160) && (len == 5)) {
|
||||
// this message isn't all zeros when ignition is on
|
||||
ignition_can = GET_BYTES_04(to_push) != 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -405,6 +421,14 @@ void CAN3_TX_IRQ_Handler(void) { process_can(2); }
|
||||
void CAN3_RX0_IRQ_Handler(void) { can_rx(2); }
|
||||
void CAN3_SCE_IRQ_Handler(void) { can_sce(CAN3); }
|
||||
|
||||
bool can_tx_check_min_slots_free(uint32_t min) {
|
||||
return
|
||||
(can_slots_empty(&can_tx1_q) >= min) &&
|
||||
(can_slots_empty(&can_tx2_q) >= min) &&
|
||||
(can_slots_empty(&can_tx3_q) >= min) &&
|
||||
(can_slots_empty(&can_txgmlan_q) >= min);
|
||||
}
|
||||
|
||||
void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number, bool skip_tx_hook) {
|
||||
if (skip_tx_hook || safety_tx_hook(to_push) != 0) {
|
||||
if (bus_number < BUS_MAX) {
|
||||
@@ -425,7 +449,9 @@ void can_set_forwarding(int from, int to) {
|
||||
can_forwarding[from] = to;
|
||||
}
|
||||
|
||||
void can_init(uint8_t can_number) {
|
||||
bool can_init(uint8_t can_number) {
|
||||
bool ret = false;
|
||||
|
||||
REGISTER_INTERRUPT(CAN1_TX_IRQn, CAN1_TX_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
|
||||
REGISTER_INTERRUPT(CAN1_RX0_IRQn, CAN1_RX0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
|
||||
REGISTER_INTERRUPT(CAN1_SCE_IRQn, CAN1_SCE_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
|
||||
@@ -438,12 +464,11 @@ void can_init(uint8_t can_number) {
|
||||
|
||||
if (can_number != 0xffU) {
|
||||
CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
|
||||
can_set_speed(can_number);
|
||||
|
||||
llcan_init(CAN);
|
||||
|
||||
ret &= can_set_speed(can_number);
|
||||
ret &= llcan_init(CAN);
|
||||
// in case there are queued up messages
|
||||
process_can(can_number);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
||||
+92
-53
@@ -11,82 +11,121 @@
|
||||
#define GET_BUS(msg) (((msg)->RDTR >> 4) & 0xFF)
|
||||
#define GET_LEN(msg) ((msg)->RDTR & 0xF)
|
||||
#define GET_ADDR(msg) ((((msg)->RIR & 4) != 0) ? ((msg)->RIR >> 3) : ((msg)->RIR >> 21))
|
||||
#define GET_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0XFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
|
||||
#define GET_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0xFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
|
||||
#define GET_BYTES_04(msg) ((msg)->RDLR)
|
||||
#define GET_BYTES_48(msg) ((msg)->RDHR)
|
||||
|
||||
#define CAN_INIT_TIMEOUT_MS 500U
|
||||
#define CAN_NAME_FROM_CANIF(CAN_DEV) (((CAN_DEV)==CAN1) ? "CAN1" : (((CAN_DEV) == CAN2) ? "CAN2" : "CAN3"))
|
||||
|
||||
void puts(const char *a);
|
||||
|
||||
bool llcan_set_speed(CAN_TypeDef *CAN_obj, uint32_t speed, bool loopback, bool silent) {
|
||||
bool ret = true;
|
||||
|
||||
// initialization mode
|
||||
register_set(&(CAN_obj->MCR), CAN_MCR_TTCM | CAN_MCR_INRQ, 0x180FFU);
|
||||
while((CAN_obj->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
|
||||
uint32_t timeout_counter = 0U;
|
||||
while((CAN_obj->MSR & CAN_MSR_INAK) != CAN_MSR_INAK){
|
||||
// Delay for about 1ms
|
||||
delay(10000);
|
||||
timeout_counter++;
|
||||
|
||||
// set time quanta from defines
|
||||
register_set(&(CAN_obj->BTR), ((CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
|
||||
(CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
|
||||
(can_speed_to_prescaler(speed) - 1U)), 0xC37F03FFU);
|
||||
|
||||
// silent loopback mode for debugging
|
||||
if (loopback) {
|
||||
register_set_bits(&(CAN_obj->BTR), CAN_BTR_SILM | CAN_BTR_LBKM);
|
||||
}
|
||||
if (silent) {
|
||||
register_set_bits(&(CAN_obj->BTR), CAN_BTR_SILM);
|
||||
if(timeout_counter >= CAN_INIT_TIMEOUT_MS){
|
||||
puts(CAN_NAME_FROM_CANIF(CAN_obj)); puts(" set_speed timed out (1)!\n");
|
||||
ret = false;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// reset
|
||||
register_set(&(CAN_obj->MCR), CAN_MCR_TTCM | CAN_MCR_ABOM, 0x180FFU);
|
||||
if(ret){
|
||||
// set time quanta from defines
|
||||
register_set(&(CAN_obj->BTR), ((CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
|
||||
(CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
|
||||
(can_speed_to_prescaler(speed) - 1U)), 0xC37F03FFU);
|
||||
|
||||
#define CAN_TIMEOUT 1000000
|
||||
int tmp = 0;
|
||||
bool ret = false;
|
||||
while(((CAN_obj->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) && (tmp < CAN_TIMEOUT)) tmp++;
|
||||
if (tmp < CAN_TIMEOUT) {
|
||||
ret = true;
|
||||
// silent loopback mode for debugging
|
||||
if (loopback) {
|
||||
register_set_bits(&(CAN_obj->BTR), CAN_BTR_SILM | CAN_BTR_LBKM);
|
||||
}
|
||||
if (silent) {
|
||||
register_set_bits(&(CAN_obj->BTR), CAN_BTR_SILM);
|
||||
}
|
||||
|
||||
// reset
|
||||
register_set(&(CAN_obj->MCR), CAN_MCR_TTCM | CAN_MCR_ABOM, 0x180FFU);
|
||||
|
||||
timeout_counter = 0U;
|
||||
while(((CAN_obj->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)) {
|
||||
// Delay for about 1ms
|
||||
delay(10000);
|
||||
timeout_counter++;
|
||||
|
||||
if(timeout_counter >= CAN_INIT_TIMEOUT_MS){
|
||||
puts(CAN_NAME_FROM_CANIF(CAN_obj)); puts(" set_speed timed out (2)!\n");
|
||||
ret = false;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
void llcan_init(CAN_TypeDef *CAN_obj) {
|
||||
bool llcan_init(CAN_TypeDef *CAN_obj) {
|
||||
bool ret = true;
|
||||
|
||||
// Enter init mode
|
||||
register_set_bits(&(CAN_obj->FMR), CAN_FMR_FINIT);
|
||||
|
||||
// Wait for INAK bit to be set
|
||||
while(((CAN_obj->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)) {}
|
||||
uint32_t timeout_counter = 0U;
|
||||
while(((CAN_obj->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)) {
|
||||
// Delay for about 1ms
|
||||
delay(10000);
|
||||
timeout_counter++;
|
||||
|
||||
// no mask
|
||||
// For some weird reason some of these registers do not want to set properly on CAN2 and CAN3. Probably something to do with the single/dual mode and their different filters.
|
||||
CAN_obj->sFilterRegister[0].FR1 = 0U;
|
||||
CAN_obj->sFilterRegister[0].FR2 = 0U;
|
||||
CAN_obj->sFilterRegister[14].FR1 = 0U;
|
||||
CAN_obj->sFilterRegister[14].FR2 = 0U;
|
||||
CAN_obj->FA1R |= 1U | (1U << 14);
|
||||
|
||||
// Exit init mode, do not wait
|
||||
register_clear_bits(&(CAN_obj->FMR), CAN_FMR_FINIT);
|
||||
|
||||
// enable certain CAN interrupts
|
||||
register_set_bits(&(CAN_obj->IER), CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_WKUIE);
|
||||
|
||||
if (CAN_obj == CAN1) {
|
||||
NVIC_EnableIRQ(CAN1_TX_IRQn);
|
||||
NVIC_EnableIRQ(CAN1_RX0_IRQn);
|
||||
NVIC_EnableIRQ(CAN1_SCE_IRQn);
|
||||
} else if (CAN_obj == CAN2) {
|
||||
NVIC_EnableIRQ(CAN2_TX_IRQn);
|
||||
NVIC_EnableIRQ(CAN2_RX0_IRQn);
|
||||
NVIC_EnableIRQ(CAN2_SCE_IRQn);
|
||||
#ifdef CAN3
|
||||
} else if (CAN_obj == CAN3) {
|
||||
NVIC_EnableIRQ(CAN3_TX_IRQn);
|
||||
NVIC_EnableIRQ(CAN3_RX0_IRQn);
|
||||
NVIC_EnableIRQ(CAN3_SCE_IRQn);
|
||||
#endif
|
||||
} else {
|
||||
puts("Invalid CAN: initialization failed\n");
|
||||
if(timeout_counter >= CAN_INIT_TIMEOUT_MS){
|
||||
puts(CAN_NAME_FROM_CANIF(CAN_obj)); puts(" initialization timed out!\n");
|
||||
ret = false;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if(ret){
|
||||
// no mask
|
||||
// For some weird reason some of these registers do not want to set properly on CAN2 and CAN3. Probably something to do with the single/dual mode and their different filters.
|
||||
CAN_obj->sFilterRegister[0].FR1 = 0U;
|
||||
CAN_obj->sFilterRegister[0].FR2 = 0U;
|
||||
CAN_obj->sFilterRegister[14].FR1 = 0U;
|
||||
CAN_obj->sFilterRegister[14].FR2 = 0U;
|
||||
CAN_obj->FA1R |= 1U | (1U << 14);
|
||||
|
||||
// Exit init mode, do not wait
|
||||
register_clear_bits(&(CAN_obj->FMR), CAN_FMR_FINIT);
|
||||
|
||||
// enable certain CAN interrupts
|
||||
register_set_bits(&(CAN_obj->IER), CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_WKUIE);
|
||||
|
||||
if (CAN_obj == CAN1) {
|
||||
NVIC_EnableIRQ(CAN1_TX_IRQn);
|
||||
NVIC_EnableIRQ(CAN1_RX0_IRQn);
|
||||
NVIC_EnableIRQ(CAN1_SCE_IRQn);
|
||||
} else if (CAN_obj == CAN2) {
|
||||
NVIC_EnableIRQ(CAN2_TX_IRQn);
|
||||
NVIC_EnableIRQ(CAN2_RX0_IRQn);
|
||||
NVIC_EnableIRQ(CAN2_SCE_IRQn);
|
||||
#ifdef CAN3
|
||||
} else if (CAN_obj == CAN3) {
|
||||
NVIC_EnableIRQ(CAN3_TX_IRQn);
|
||||
NVIC_EnableIRQ(CAN3_RX0_IRQn);
|
||||
NVIC_EnableIRQ(CAN3_SCE_IRQn);
|
||||
#endif
|
||||
} else {
|
||||
puts("Invalid CAN: initialization failed\n");
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
void llcan_clear_send(CAN_TypeDef *CAN_obj) {
|
||||
|
||||
@@ -23,12 +23,16 @@ typedef union _USB_Setup {
|
||||
}
|
||||
USB_Setup_TypeDef;
|
||||
|
||||
#define MAX_CAN_MSGS_PER_BULK_TRANSFER 4U
|
||||
|
||||
void usb_init(void);
|
||||
int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired);
|
||||
int usb_cb_ep1_in(void *usbdata, int len, bool hardwired);
|
||||
void usb_cb_ep2_out(void *usbdata, int len, bool hardwired);
|
||||
void usb_cb_ep3_out(void *usbdata, int len, bool hardwired);
|
||||
void usb_cb_ep3_out_complete(void);
|
||||
void usb_cb_enumeration_complete(void);
|
||||
void usb_outep3_resume_if_paused(void);
|
||||
|
||||
// **** supporting defines ****
|
||||
|
||||
@@ -380,6 +384,7 @@ USB_Setup_TypeDef setup;
|
||||
uint8_t usbdata[0x100];
|
||||
uint8_t* ep0_txdata = NULL;
|
||||
uint16_t ep0_txlen = 0;
|
||||
bool outep3_processing = false;
|
||||
|
||||
// Store the current interface alt setting.
|
||||
int current_int0_alt_setting = 0;
|
||||
@@ -744,6 +749,7 @@ void usb_irqhandler(void) {
|
||||
}
|
||||
|
||||
if (endpoint == 3) {
|
||||
outep3_processing = true;
|
||||
usb_cb_ep3_out(usbdata, len, 1);
|
||||
}
|
||||
} else if (status == STS_SETUP_UPDT) {
|
||||
@@ -816,15 +822,17 @@ void usb_irqhandler(void) {
|
||||
#ifdef DEBUG_USB
|
||||
puts(" OUT3 PACKET XFRC\n");
|
||||
#endif
|
||||
USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
|
||||
USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
|
||||
// NAK cleared by process_can (if tx buffers have room)
|
||||
outep3_processing = false;
|
||||
usb_cb_ep3_out_complete();
|
||||
} else if ((USBx_OUTEP(3)->DOEPINT & 0x2000) != 0) {
|
||||
#ifdef DEBUG_USB
|
||||
puts(" OUT3 PACKET WTF\n");
|
||||
#endif
|
||||
// if NAK was set trigger this, unknown interrupt
|
||||
USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
|
||||
USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
|
||||
// TODO: why was this here? fires when TX buffers when we can't clear NAK
|
||||
// USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
|
||||
// USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
|
||||
} else if ((USBx_OUTEP(3)->DOEPINT) != 0) {
|
||||
puts("OUTEP3 error ");
|
||||
puth(USBx_OUTEP(3)->DOEPINT);
|
||||
@@ -932,6 +940,15 @@ void usb_irqhandler(void) {
|
||||
//USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM | USB_OTG_GINTSTS_SOF | USB_OTG_GINTSTS_EOPF);
|
||||
}
|
||||
|
||||
void usb_outep3_resume_if_paused() {
|
||||
ENTER_CRITICAL();
|
||||
if (!outep3_processing && (USBx_OUTEP(3)->DOEPCTL & USB_OTG_DOEPCTL_NAKSTS) != 0) {
|
||||
USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
|
||||
USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
|
||||
}
|
||||
EXIT_CRITICAL();
|
||||
}
|
||||
|
||||
void OTG_FS_IRQ_Handler(void) {
|
||||
NVIC_DisableIRQ(OTG_FS_IRQn);
|
||||
//__disable_irq();
|
||||
|
||||
@@ -1,5 +1,7 @@
|
||||
#!/bin/bash
|
||||
# Need formula for gcc
|
||||
sudo easy_install pip
|
||||
/usr/bin/ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
|
||||
brew tap ArmMbed/homebrew-formulae
|
||||
brew install python dfu-util arm-none-eabi-gcc
|
||||
pip install --user libusb1 pycrypto requests
|
||||
|
||||
+17
-1
@@ -235,6 +235,12 @@ void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
|
||||
}
|
||||
}
|
||||
|
||||
void usb_cb_ep3_out_complete() {
|
||||
if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_BULK_TRANSFER)) {
|
||||
usb_outep3_resume_if_paused();
|
||||
}
|
||||
}
|
||||
|
||||
void usb_cb_enumeration_complete() {
|
||||
puts("USB enumeration complete\n");
|
||||
is_enumerated = 1;
|
||||
@@ -466,7 +472,17 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
|
||||
case 0xde:
|
||||
if (setup->b.wValue.w < BUS_MAX) {
|
||||
can_speed[setup->b.wValue.w] = setup->b.wIndex.w;
|
||||
can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
|
||||
bool ret = can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
|
||||
UNUSED(ret);
|
||||
}
|
||||
break;
|
||||
// **** 0xdf: set unsafe mode
|
||||
case 0xdf:
|
||||
// you can only set this if you are in a non car safety mode
|
||||
if ((current_safety_mode == SAFETY_SILENT) ||
|
||||
(current_safety_mode == SAFETY_NOOUTPUT) ||
|
||||
(current_safety_mode == SAFETY_ELM327)) {
|
||||
unsafe_mode = setup->b.wValue.w;
|
||||
}
|
||||
break;
|
||||
// **** 0xe0: uart read
|
||||
|
||||
@@ -76,6 +76,7 @@ void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
|
||||
UNUSED(len);
|
||||
UNUSED(hardwired);
|
||||
}
|
||||
void usb_cb_ep3_out_complete(void) {}
|
||||
void usb_cb_enumeration_complete(void) {}
|
||||
|
||||
int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired) {
|
||||
@@ -315,7 +316,8 @@ int main(void) {
|
||||
puts("Failed to set llcan speed");
|
||||
}
|
||||
|
||||
llcan_init(CAN1);
|
||||
bool ret = llcan_init(CAN1);
|
||||
UNUSED(ret);
|
||||
|
||||
// 48mhz / 65536 ~= 732
|
||||
timer_init(TIM3, 15);
|
||||
|
||||
+11
-3
@@ -8,7 +8,6 @@
|
||||
#include "safety/safety_gm_ascm.h"
|
||||
#include "safety/safety_gm.h"
|
||||
#include "safety/safety_ford.h"
|
||||
#include "safety/safety_cadillac.h"
|
||||
#include "safety/safety_hyundai.h"
|
||||
#include "safety/safety_chrysler.h"
|
||||
#include "safety/safety_subaru.h"
|
||||
@@ -25,7 +24,6 @@
|
||||
#define SAFETY_GM 4U
|
||||
#define SAFETY_HONDA_BOSCH_GIRAFFE 5U
|
||||
#define SAFETY_FORD 6U
|
||||
#define SAFETY_CADILLAC 7U
|
||||
#define SAFETY_HYUNDAI 8U
|
||||
#define SAFETY_CHRYSLER 9U
|
||||
#define SAFETY_TESLA 10U
|
||||
@@ -37,6 +35,7 @@
|
||||
#define SAFETY_GM_ASCM 18U
|
||||
#define SAFETY_NOOUTPUT 19U
|
||||
#define SAFETY_HONDA_BOSCH_HARNESS 20U
|
||||
#define SAFETY_VOLKSWAGEN_PQ 21U
|
||||
#define SAFETY_SUBARU_LEGACY 22U
|
||||
|
||||
uint16_t current_safety_mode = SAFETY_SILENT;
|
||||
@@ -183,6 +182,15 @@ bool addr_safety_check(CAN_FIFOMailBox_TypeDef *to_push,
|
||||
return is_msg_valid(rx_checks, index);
|
||||
}
|
||||
|
||||
void relay_malfunction_set(void) {
|
||||
relay_malfunction = true;
|
||||
fault_occurred(FAULT_RELAY_MALFUNCTION);
|
||||
}
|
||||
|
||||
void relay_malfunction_reset(void) {
|
||||
relay_malfunction = false;
|
||||
fault_recovered(FAULT_RELAY_MALFUNCTION);
|
||||
}
|
||||
|
||||
typedef struct {
|
||||
uint16_t id;
|
||||
@@ -203,9 +211,9 @@ const safety_hook_config safety_hook_registry[] = {
|
||||
{SAFETY_SUBARU_LEGACY, &subaru_legacy_hooks},
|
||||
{SAFETY_MAZDA, &mazda_hooks},
|
||||
{SAFETY_VOLKSWAGEN_MQB, &volkswagen_mqb_hooks},
|
||||
{SAFETY_VOLKSWAGEN_PQ, &volkswagen_pq_hooks},
|
||||
{SAFETY_NOOUTPUT, &nooutput_hooks},
|
||||
#ifdef ALLOW_DEBUG
|
||||
{SAFETY_CADILLAC, &cadillac_hooks},
|
||||
{SAFETY_TESLA, &tesla_hooks},
|
||||
{SAFETY_NISSAN, &nissan_hooks},
|
||||
{SAFETY_ALLOUTPUT, &alloutput_hooks},
|
||||
|
||||
@@ -1,125 +0,0 @@
|
||||
#define CADILLAC_TORQUE_MSG_N 4 // 4 torque messages: 0x151, 0x152, 0x153, 0x154
|
||||
|
||||
const AddrBus CADILLAC_TX_MSGS[] = {{0x151, 2}, {0x152, 0}, {0x153, 2}, {0x154, 0}};
|
||||
const int CADILLAC_MAX_STEER = 150; // 1s
|
||||
// real time torque limit to prevent controls spamming
|
||||
// the real time limit is 1500/sec
|
||||
const int CADILLAC_MAX_RT_DELTA = 75; // max delta torque allowed for real time checks
|
||||
const uint32_t CADILLAC_RT_INTERVAL = 250000; // 250ms between real time checks
|
||||
const int CADILLAC_MAX_RATE_UP = 2;
|
||||
const int CADILLAC_MAX_RATE_DOWN = 5;
|
||||
const int CADILLAC_DRIVER_TORQUE_ALLOWANCE = 50;
|
||||
const int CADILLAC_DRIVER_TORQUE_FACTOR = 4;
|
||||
|
||||
int cadillac_cruise_engaged_last = 0;
|
||||
int cadillac_rt_torque_last = 0;
|
||||
const int cadillac_torque_msgs_n = 4;
|
||||
int cadillac_desired_torque_last[CADILLAC_TORQUE_MSG_N] = {0};
|
||||
uint32_t cadillac_ts_last = 0;
|
||||
bool cadillac_supercruise_on = 0;
|
||||
struct sample_t cadillac_torque_driver; // last few driver torques measured
|
||||
|
||||
int cadillac_get_torque_idx(int addr, int array_size) {
|
||||
return MIN(MAX(addr - 0x151, 0), array_size); // 0x151 is id 0, 0x152 is id 1 and so on...
|
||||
}
|
||||
|
||||
static int cadillac_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
int bus = GET_BUS(to_push);
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
if (addr == 356) {
|
||||
int torque_driver_new = ((GET_BYTE(to_push, 0) & 0x7U) << 8) | (GET_BYTE(to_push, 1));
|
||||
|
||||
torque_driver_new = to_signed(torque_driver_new, 11);
|
||||
// update array of samples
|
||||
update_sample(&cadillac_torque_driver, torque_driver_new);
|
||||
}
|
||||
|
||||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
if ((addr == 0x370) && (bus == 0)) {
|
||||
int cruise_engaged = GET_BYTE(to_push, 2) & 0x80; // bit 23
|
||||
if (cruise_engaged && !cadillac_cruise_engaged_last) {
|
||||
controls_allowed = 1;
|
||||
}
|
||||
if (!cruise_engaged) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
cadillac_cruise_engaged_last = cruise_engaged;
|
||||
}
|
||||
|
||||
// know supercruise mode and block openpilot msgs if on
|
||||
if ((addr == 0x152) || (addr == 0x154)) {
|
||||
cadillac_supercruise_on = (GET_BYTE(to_push, 4) & 0x10) != 0;
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
|
||||
static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
int tx = 1;
|
||||
int addr = GET_ADDR(to_send);
|
||||
int bus = GET_BUS(to_send);
|
||||
|
||||
if (!msg_allowed(addr, bus, CADILLAC_TX_MSGS, sizeof(CADILLAC_TX_MSGS) / sizeof(CADILLAC_TX_MSGS[0]))) {
|
||||
tx = 0;
|
||||
}
|
||||
|
||||
// steer cmd checks
|
||||
if ((addr == 0x151) || (addr == 0x152) || (addr == 0x153) || (addr == 0x154)) {
|
||||
int desired_torque = ((GET_BYTE(to_send, 0) & 0x3f) << 8) | GET_BYTE(to_send, 1);
|
||||
int violation = 0;
|
||||
uint32_t ts = TIM2->CNT;
|
||||
int idx = cadillac_get_torque_idx(addr, CADILLAC_TORQUE_MSG_N);
|
||||
desired_torque = to_signed(desired_torque, 14);
|
||||
|
||||
if (controls_allowed) {
|
||||
|
||||
// *** global torque limit check ***
|
||||
violation |= max_limit_check(desired_torque, CADILLAC_MAX_STEER, -CADILLAC_MAX_STEER);
|
||||
|
||||
// *** torque rate limit check ***
|
||||
int desired_torque_last = cadillac_desired_torque_last[idx];
|
||||
violation |= driver_limit_check(desired_torque, desired_torque_last, &cadillac_torque_driver,
|
||||
CADILLAC_MAX_STEER, CADILLAC_MAX_RATE_UP, CADILLAC_MAX_RATE_DOWN,
|
||||
CADILLAC_DRIVER_TORQUE_ALLOWANCE, CADILLAC_DRIVER_TORQUE_FACTOR);
|
||||
|
||||
// used next time
|
||||
cadillac_desired_torque_last[idx] = desired_torque;
|
||||
|
||||
// *** torque real time rate limit check ***
|
||||
violation |= rt_rate_limit_check(desired_torque, cadillac_rt_torque_last, CADILLAC_MAX_RT_DELTA);
|
||||
|
||||
// every RT_INTERVAL set the new limits
|
||||
uint32_t ts_elapsed = get_ts_elapsed(ts, cadillac_ts_last);
|
||||
if (ts_elapsed > CADILLAC_RT_INTERVAL) {
|
||||
cadillac_rt_torque_last = desired_torque;
|
||||
cadillac_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) {
|
||||
cadillac_desired_torque_last[idx] = 0;
|
||||
cadillac_rt_torque_last = 0;
|
||||
cadillac_ts_last = ts;
|
||||
}
|
||||
|
||||
if (violation || cadillac_supercruise_on) {
|
||||
tx = 0;
|
||||
}
|
||||
|
||||
}
|
||||
return tx;
|
||||
}
|
||||
|
||||
const safety_hooks cadillac_hooks = {
|
||||
.init = nooutput_init,
|
||||
.rx = cadillac_rx_hook,
|
||||
.tx = cadillac_tx_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
.fwd = default_fwd_hook,
|
||||
};
|
||||
@@ -18,12 +18,7 @@ AddrCheckStruct chrysler_rx_checks[] = {
|
||||
};
|
||||
const int CHRYSLER_RX_CHECK_LEN = sizeof(chrysler_rx_checks) / sizeof(chrysler_rx_checks[0]);
|
||||
|
||||
int chrysler_rt_torque_last = 0;
|
||||
int chrysler_desired_torque_last = 0;
|
||||
int chrysler_cruise_engaged_last = 0;
|
||||
int chrysler_speed = 0;
|
||||
uint32_t chrysler_ts_last = 0;
|
||||
struct sample_t chrysler_torque_meas; // last few torques measured
|
||||
|
||||
static uint8_t chrysler_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
int checksum_byte = GET_LEN(to_push) - 1;
|
||||
@@ -74,6 +69,8 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
chrysler_get_checksum, chrysler_compute_checksum,
|
||||
chrysler_get_counter);
|
||||
|
||||
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
|
||||
|
||||
if (valid && (GET_BUS(to_push) == 0)) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
@@ -82,19 +79,19 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
int torque_meas_new = ((GET_BYTE(to_push, 4) & 0x7U) << 8) + GET_BYTE(to_push, 5) - 1024U;
|
||||
|
||||
// update array of samples
|
||||
update_sample(&chrysler_torque_meas, torque_meas_new);
|
||||
update_sample(&torque_meas, torque_meas_new);
|
||||
}
|
||||
|
||||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
if (addr == 500) {
|
||||
int cruise_engaged = ((GET_BYTE(to_push, 2) & 0x38) >> 3) == 7;
|
||||
if (cruise_engaged && !chrysler_cruise_engaged_last) {
|
||||
if (cruise_engaged && !cruise_engaged_prev) {
|
||||
controls_allowed = 1;
|
||||
}
|
||||
if (!cruise_engaged) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
chrysler_cruise_engaged_last = cruise_engaged;
|
||||
cruise_engaged_prev = cruise_engaged;
|
||||
}
|
||||
|
||||
// update speed
|
||||
@@ -102,12 +99,13 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
int speed_l = (GET_BYTE(to_push, 0) << 4) + (GET_BYTE(to_push, 1) >> 4);
|
||||
int speed_r = (GET_BYTE(to_push, 2) << 4) + (GET_BYTE(to_push, 3) >> 4);
|
||||
chrysler_speed = (speed_l + speed_r) / 2;
|
||||
vehicle_moving = chrysler_speed > CHRYSLER_STANDSTILL_THRSLD;
|
||||
}
|
||||
|
||||
// exit controls on rising edge of gas press
|
||||
if (addr == 308) {
|
||||
bool gas_pressed = (GET_BYTE(to_push, 5) & 0x7F) != 0;
|
||||
if (gas_pressed && !gas_pressed_prev && (chrysler_speed > CHRYSLER_GAS_THRSLD)) {
|
||||
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev && (chrysler_speed > CHRYSLER_GAS_THRSLD)) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
gas_pressed_prev = gas_pressed;
|
||||
@@ -116,7 +114,7 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// exit controls on rising edge of brake press
|
||||
if (addr == 320) {
|
||||
bool brake_pressed = (GET_BYTE(to_push, 0) & 0x7) == 5;
|
||||
if (brake_pressed && (!brake_pressed_prev || (chrysler_speed > CHRYSLER_STANDSTILL_THRSLD))) {
|
||||
if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
brake_pressed_prev = brake_pressed;
|
||||
@@ -124,7 +122,7 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
// check if stock camera ECU is on bus 0
|
||||
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == 0x292)) {
|
||||
relay_malfunction = true;
|
||||
relay_malfunction_set();
|
||||
}
|
||||
}
|
||||
return valid;
|
||||
@@ -156,20 +154,20 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
violation |= max_limit_check(desired_torque, CHRYSLER_MAX_STEER, -CHRYSLER_MAX_STEER);
|
||||
|
||||
// *** torque rate limit check ***
|
||||
violation |= dist_to_meas_check(desired_torque, chrysler_desired_torque_last,
|
||||
&chrysler_torque_meas, CHRYSLER_MAX_RATE_UP, CHRYSLER_MAX_RATE_DOWN, CHRYSLER_MAX_TORQUE_ERROR);
|
||||
violation |= dist_to_meas_check(desired_torque, desired_torque_last,
|
||||
&torque_meas, CHRYSLER_MAX_RATE_UP, CHRYSLER_MAX_RATE_DOWN, CHRYSLER_MAX_TORQUE_ERROR);
|
||||
|
||||
// used next time
|
||||
chrysler_desired_torque_last = desired_torque;
|
||||
desired_torque_last = desired_torque;
|
||||
|
||||
// *** torque real time rate limit check ***
|
||||
violation |= rt_rate_limit_check(desired_torque, chrysler_rt_torque_last, CHRYSLER_MAX_RT_DELTA);
|
||||
violation |= rt_rate_limit_check(desired_torque, rt_torque_last, CHRYSLER_MAX_RT_DELTA);
|
||||
|
||||
// every RT_INTERVAL set the new limits
|
||||
uint32_t ts_elapsed = get_ts_elapsed(ts, chrysler_ts_last);
|
||||
uint32_t ts_elapsed = get_ts_elapsed(ts, ts_last);
|
||||
if (ts_elapsed > CHRYSLER_RT_INTERVAL) {
|
||||
chrysler_rt_torque_last = desired_torque;
|
||||
chrysler_ts_last = ts;
|
||||
rt_torque_last = desired_torque;
|
||||
ts_last = ts;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -180,9 +178,9 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
|
||||
// reset to 0 if either controls is not allowed or there's a violation
|
||||
if (violation || !controls_allowed) {
|
||||
chrysler_desired_torque_last = 0;
|
||||
chrysler_rt_torque_last = 0;
|
||||
chrysler_ts_last = ts;
|
||||
desired_torque_last = 0;
|
||||
rt_torque_last = 0;
|
||||
ts_last = ts;
|
||||
}
|
||||
|
||||
if (violation) {
|
||||
@@ -192,7 +190,7 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
|
||||
// FORCE CANCEL: only the cancel button press is allowed
|
||||
if (addr == 571) {
|
||||
if (GET_BYTE(to_send, 0) != 1) {
|
||||
if ((GET_BYTE(to_send, 0) != 1) || ((GET_BYTE(to_send, 1) & 1) == 1)) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -8,7 +8,7 @@ int default_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static void nooutput_init(int16_t param) {
|
||||
UNUSED(param);
|
||||
controls_allowed = false;
|
||||
relay_malfunction = false;
|
||||
relay_malfunction_reset();
|
||||
}
|
||||
|
||||
static int nooutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
@@ -42,7 +42,7 @@ const safety_hooks nooutput_hooks = {
|
||||
static void alloutput_init(int16_t param) {
|
||||
UNUSED(param);
|
||||
controls_allowed = true;
|
||||
relay_malfunction = false;
|
||||
relay_malfunction_reset();
|
||||
}
|
||||
|
||||
static int alloutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
|
||||
@@ -7,18 +7,18 @@
|
||||
// brake rising edge
|
||||
// brake > 0mph
|
||||
|
||||
bool ford_moving = false;
|
||||
|
||||
static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
int addr = GET_ADDR(to_push);
|
||||
int bus = GET_BUS(to_push);
|
||||
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
|
||||
|
||||
if (addr == 0x217) {
|
||||
// wheel speeds are 14 bits every 16
|
||||
ford_moving = false;
|
||||
vehicle_moving = false;
|
||||
for (int i = 0; i < 8; i += 2) {
|
||||
ford_moving |= GET_BYTE(to_push, i) | (GET_BYTE(to_push, (int)(i + 1)) & 0xFCU);
|
||||
vehicle_moving |= GET_BYTE(to_push, i) | (GET_BYTE(to_push, (int)(i + 1)) & 0xFCU);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -38,7 +38,7 @@ static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// speed > 0
|
||||
if (addr == 0x165) {
|
||||
int brake_pressed = GET_BYTE(to_push, 0) & 0x20;
|
||||
if (brake_pressed && (!brake_pressed_prev || ford_moving)) {
|
||||
if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
brake_pressed_prev = brake_pressed;
|
||||
@@ -47,14 +47,14 @@ static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// exit controls on rising edge of gas press
|
||||
if (addr == 0x204) {
|
||||
bool gas_pressed = ((GET_BYTE(to_push, 0) & 0x03) | GET_BYTE(to_push, 1)) != 0;
|
||||
if (gas_pressed && !gas_pressed_prev) {
|
||||
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
gas_pressed_prev = gas_pressed;
|
||||
}
|
||||
|
||||
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == 0x3CA)) {
|
||||
relay_malfunction = true;
|
||||
relay_malfunction_set();
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
@@ -72,7 +72,11 @@ static int ford_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 = gas_pressed_prev || (brake_pressed_prev && ford_moving);
|
||||
int pedal_pressed = brake_pressed_prev && vehicle_moving;
|
||||
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
|
||||
if (!unsafe_allow_gas) {
|
||||
pedal_pressed = pedal_pressed || gas_pressed_prev;
|
||||
}
|
||||
bool current_controls_allowed = controls_allowed && !(pedal_pressed);
|
||||
|
||||
if (relay_malfunction) {
|
||||
|
||||
@@ -33,17 +33,13 @@ AddrCheckStruct gm_rx_checks[] = {
|
||||
};
|
||||
const int GM_RX_CHECK_LEN = sizeof(gm_rx_checks) / sizeof(gm_rx_checks[0]);
|
||||
|
||||
bool gm_moving = false;
|
||||
int gm_rt_torque_last = 0;
|
||||
int gm_desired_torque_last = 0;
|
||||
uint32_t gm_ts_last = 0;
|
||||
struct sample_t gm_torque_driver; // last few driver torques measured
|
||||
|
||||
static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
bool valid = addr_safety_check(to_push, gm_rx_checks, GM_RX_CHECK_LEN,
|
||||
NULL, NULL, NULL);
|
||||
|
||||
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
|
||||
|
||||
if (valid && (GET_BUS(to_push) == 0)) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
@@ -51,13 +47,13 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
int torque_driver_new = ((GET_BYTE(to_push, 6) & 0x7) << 8) | GET_BYTE(to_push, 7);
|
||||
torque_driver_new = to_signed(torque_driver_new, 11);
|
||||
// update array of samples
|
||||
update_sample(&gm_torque_driver, torque_driver_new);
|
||||
update_sample(&torque_driver, torque_driver_new);
|
||||
}
|
||||
|
||||
// sample speed, really only care if car is moving or not
|
||||
// rear left wheel speed
|
||||
if (addr == 842) {
|
||||
gm_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
|
||||
vehicle_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
|
||||
}
|
||||
|
||||
// ACC steering wheel buttons
|
||||
@@ -82,7 +78,7 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// Brake pedal's potentiometer returns near-zero reading
|
||||
// even when pedal is not pressed
|
||||
bool brake_pressed = GET_BYTE(to_push, 1) >= 10;
|
||||
if (brake_pressed && (!brake_pressed_prev || gm_moving)) {
|
||||
if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
brake_pressed_prev = brake_pressed;
|
||||
@@ -91,7 +87,7 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// exit controls on rising edge of gas press
|
||||
if (addr == 417) {
|
||||
bool gas_pressed = GET_BYTE(to_push, 6) != 0;
|
||||
if (gas_pressed && !gas_pressed_prev) {
|
||||
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
gas_pressed_prev = gas_pressed;
|
||||
@@ -110,7 +106,7 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// 384 = ASCMLKASteeringCmd
|
||||
// 715 = ASCMGasRegenCmd
|
||||
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && ((addr == 384) || (addr == 715))) {
|
||||
relay_malfunction = true;
|
||||
relay_malfunction_set();
|
||||
}
|
||||
}
|
||||
return valid;
|
||||
@@ -138,7 +134,11 @@ static int gm_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 = gas_pressed_prev || (brake_pressed_prev && gm_moving);
|
||||
int pedal_pressed = brake_pressed_prev && vehicle_moving;
|
||||
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
|
||||
if (!unsafe_allow_gas) {
|
||||
pedal_pressed = pedal_pressed || gas_pressed_prev;
|
||||
}
|
||||
bool current_controls_allowed = controls_allowed && !pedal_pressed;
|
||||
|
||||
// BRAKE: safety check
|
||||
@@ -168,21 +168,21 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
violation |= max_limit_check(desired_torque, GM_MAX_STEER, -GM_MAX_STEER);
|
||||
|
||||
// *** torque rate limit check ***
|
||||
violation |= driver_limit_check(desired_torque, gm_desired_torque_last, &gm_torque_driver,
|
||||
violation |= driver_limit_check(desired_torque, desired_torque_last, &torque_driver,
|
||||
GM_MAX_STEER, GM_MAX_RATE_UP, GM_MAX_RATE_DOWN,
|
||||
GM_DRIVER_TORQUE_ALLOWANCE, GM_DRIVER_TORQUE_FACTOR);
|
||||
|
||||
// used next time
|
||||
gm_desired_torque_last = desired_torque;
|
||||
desired_torque_last = desired_torque;
|
||||
|
||||
// *** torque real time rate limit check ***
|
||||
violation |= rt_rate_limit_check(desired_torque, gm_rt_torque_last, GM_MAX_RT_DELTA);
|
||||
violation |= rt_rate_limit_check(desired_torque, rt_torque_last, GM_MAX_RT_DELTA);
|
||||
|
||||
// every RT_INTERVAL set the new limits
|
||||
uint32_t ts_elapsed = get_ts_elapsed(ts, gm_ts_last);
|
||||
uint32_t ts_elapsed = get_ts_elapsed(ts, ts_last);
|
||||
if (ts_elapsed > GM_RT_INTERVAL) {
|
||||
gm_rt_torque_last = desired_torque;
|
||||
gm_ts_last = ts;
|
||||
rt_torque_last = desired_torque;
|
||||
ts_last = ts;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -193,9 +193,9 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
|
||||
// reset to 0 if either controls is not allowed or there's a violation
|
||||
if (violation || !current_controls_allowed) {
|
||||
gm_desired_torque_last = 0;
|
||||
gm_rt_torque_last = 0;
|
||||
gm_ts_last = ts;
|
||||
desired_torque_last = 0;
|
||||
rt_torque_last = 0;
|
||||
ts_last = ts;
|
||||
}
|
||||
|
||||
if (violation) {
|
||||
|
||||
@@ -7,9 +7,17 @@
|
||||
// brake rising edge
|
||||
// brake > 0mph
|
||||
const AddrBus HONDA_N_TX_MSGS[] = {{0xE4, 0}, {0x194, 0}, {0x1FA, 0}, {0x200, 0}, {0x30C, 0}, {0x33D, 0}};
|
||||
const AddrBus HONDA_BG_TX_MSGS[] = {{0xE4, 2}, {0x296, 0}, {0x33D, 2}}; // Bosch Giraffe
|
||||
const AddrBus HONDA_BH_TX_MSGS[] = {{0xE4, 0}, {0x296, 1}, {0x33D, 0}}; // Bosch Harness
|
||||
const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 328; // ratio between offset and gain from dbc file
|
||||
const AddrBus HONDA_BG_TX_MSGS[] = {{0xE4, 2}, {0xE5, 2}, {0x296, 0}, {0x33D, 2}}; // Bosch Giraffe
|
||||
const AddrBus HONDA_BH_TX_MSGS[] = {{0xE4, 0}, {0xE5, 0}, {0x296, 1}, {0x33D, 0}}; // Bosch Harness
|
||||
|
||||
// Roughly calculated using the offsets in openpilot +5%:
|
||||
// In openpilot: ((gas1_norm + gas2_norm)/2) > 15
|
||||
// gas_norm1 = ((gain_dbc1*gas1) + offset_dbc)
|
||||
// gas_norm2 = ((gain_dbc2*gas2) + offset_dbc)
|
||||
// assuming that 2*(gain_dbc1*gas1) == (gain_dbc2*gas2)
|
||||
// In this safety: ((gas1 + (gas2/2))/2) > THRESHOLD
|
||||
const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 344;
|
||||
#define HONDA_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + ((GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2 ) / 2) // avg between 2 tracks
|
||||
|
||||
// Nidec and Bosch giraffe have pt on bus 0
|
||||
AddrCheckStruct honda_rx_checks[] = {
|
||||
@@ -28,7 +36,6 @@ AddrCheckStruct honda_bh_rx_checks[] = {
|
||||
const int HONDA_BH_RX_CHECKS_LEN = sizeof(honda_bh_rx_checks) / sizeof(honda_bh_rx_checks[0]);
|
||||
|
||||
int honda_brake = 0;
|
||||
bool honda_moving = false;
|
||||
bool honda_alt_brake_msg = false;
|
||||
bool honda_fwd_brake = false;
|
||||
enum {HONDA_N_HW, HONDA_BG_HW, HONDA_BH_HW} honda_hw = HONDA_N_HW;
|
||||
@@ -72,6 +79,8 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
honda_get_checksum, honda_compute_checksum, honda_get_counter);
|
||||
}
|
||||
|
||||
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
|
||||
|
||||
if (valid) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
int len = GET_LEN(to_push);
|
||||
@@ -80,7 +89,7 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// sample speed
|
||||
if (addr == 0x158) {
|
||||
// first 2 bytes
|
||||
honda_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
|
||||
vehicle_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
|
||||
}
|
||||
|
||||
// state machine to enter and exit controls
|
||||
@@ -110,7 +119,7 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
bool is_user_brake_msg = honda_alt_brake_msg ? ((addr) == 0x1BE) : ((addr) == 0x17C);
|
||||
if (is_user_brake_msg) {
|
||||
bool brake_pressed = honda_alt_brake_msg ? (GET_BYTE((to_push), 0) & 0x10) : (GET_BYTE((to_push), 6) & 0x20);
|
||||
if (brake_pressed && (!brake_pressed_prev || honda_moving)) {
|
||||
if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
brake_pressed_prev = brake_pressed;
|
||||
@@ -120,8 +129,8 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// length check because bosch hardware also uses this id (0x201 w/ len = 8)
|
||||
if ((addr == 0x201) && (len == 6)) {
|
||||
gas_interceptor_detected = 1;
|
||||
int gas_interceptor = GET_INTERCEPTOR(to_push);
|
||||
if ((gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
|
||||
int gas_interceptor = HONDA_GET_INTERCEPTOR(to_push);
|
||||
if (!unsafe_allow_gas && (gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
|
||||
(gas_interceptor_prev <= HONDA_GAS_INTERCEPTOR_THRESHOLD)) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
@@ -132,24 +141,28 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
if (!gas_interceptor_detected) {
|
||||
if (addr == 0x17C) {
|
||||
bool gas_pressed = GET_BYTE(to_push, 0) != 0;
|
||||
if (gas_pressed && !gas_pressed_prev) {
|
||||
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
gas_pressed_prev = gas_pressed;
|
||||
}
|
||||
}
|
||||
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
|
||||
// disable stock Honda AEB in unsafe mode
|
||||
if ( !(unsafe_mode & UNSAFE_DISABLE_STOCK_AEB) ) {
|
||||
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
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -159,7 +172,7 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && ((addr == 0xE4) || (addr == 0x194))) {
|
||||
if (((honda_hw != HONDA_N_HW) && (bus == bus_rdr_car)) ||
|
||||
((honda_hw == HONDA_N_HW) && (bus == 0))) {
|
||||
relay_malfunction = true;
|
||||
relay_malfunction_set();
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -192,8 +205,11 @@ 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 = gas_pressed_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
|
||||
(brake_pressed_prev && honda_moving);
|
||||
int pedal_pressed = brake_pressed_prev && vehicle_moving;
|
||||
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
|
||||
if (!unsafe_allow_gas) {
|
||||
pedal_pressed = pedal_pressed || gas_pressed_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD);
|
||||
}
|
||||
bool current_controls_allowed = controls_allowed && !(pedal_pressed);
|
||||
|
||||
// BRAKE: safety check
|
||||
@@ -222,6 +238,13 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
}
|
||||
}
|
||||
|
||||
// Bosch supplemental control check
|
||||
if (addr == 0xE5) {
|
||||
if ((GET_BYTES_04(to_send) != 0x10800004) || ((GET_BYTES_48(to_send) & 0x00FFFFFF) != 0x0)) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// GAS: safety check
|
||||
if (addr == 0x200) {
|
||||
if (!current_controls_allowed) {
|
||||
@@ -248,14 +271,15 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
static void honda_nidec_init(int16_t param) {
|
||||
UNUSED(param);
|
||||
controls_allowed = false;
|
||||
relay_malfunction = false;
|
||||
relay_malfunction_reset();
|
||||
gas_interceptor_detected = 0;
|
||||
honda_hw = HONDA_N_HW;
|
||||
honda_alt_brake_msg = false;
|
||||
}
|
||||
|
||||
static void honda_bosch_giraffe_init(int16_t param) {
|
||||
controls_allowed = false;
|
||||
relay_malfunction = false;
|
||||
relay_malfunction_reset();
|
||||
honda_hw = HONDA_BG_HW;
|
||||
// Checking for alternate brake override from safety parameter
|
||||
honda_alt_brake_msg = (param == 1) ? true : false;
|
||||
@@ -263,7 +287,7 @@ static void honda_bosch_giraffe_init(int16_t param) {
|
||||
|
||||
static void honda_bosch_harness_init(int16_t param) {
|
||||
controls_allowed = false;
|
||||
relay_malfunction = false;
|
||||
relay_malfunction_reset();
|
||||
honda_hw = HONDA_BH_HW;
|
||||
// Checking for alternate brake override from safety parameter
|
||||
honda_alt_brake_msg = (param == 1) ? true : false;
|
||||
@@ -305,7 +329,7 @@ static int honda_bosch_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
}
|
||||
if (bus_num == bus_rdr_cam) {
|
||||
int addr = GET_ADDR(to_fwd);
|
||||
int is_lkas_msg = (addr == 0xE4) || (addr == 0x33D);
|
||||
int is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D);
|
||||
if (!is_lkas_msg) {
|
||||
bus_fwd = bus_rdr_car;
|
||||
}
|
||||
|
||||
@@ -6,56 +6,72 @@ const int HYUNDAI_MAX_RATE_DOWN = 7;
|
||||
const int HYUNDAI_DRIVER_TORQUE_ALLOWANCE = 50;
|
||||
const int HYUNDAI_DRIVER_TORQUE_FACTOR = 2;
|
||||
const int HYUNDAI_STANDSTILL_THRSLD = 30; // ~1kph
|
||||
const AddrBus HYUNDAI_TX_MSGS[] = {{832, 0}, {1265, 0}};
|
||||
const AddrBus HYUNDAI_TX_MSGS[] = {{832, 0}, {1265, 0}, {1157, 0}};
|
||||
|
||||
// TODO: do checksum and counter checks
|
||||
// TODO: do checksum checks
|
||||
AddrCheckStruct hyundai_rx_checks[] = {
|
||||
{.addr = {608}, .bus = 0, .expected_timestep = 10000U},
|
||||
{.addr = {897}, .bus = 0, .expected_timestep = 10000U},
|
||||
{.addr = {902}, .bus = 0, .expected_timestep = 10000U},
|
||||
{.addr = {916}, .bus = 0, .expected_timestep = 10000U},
|
||||
{.addr = {1057}, .bus = 0, .expected_timestep = 20000U},
|
||||
{.addr = {608}, .bus = 0, .max_counter = 3U, .expected_timestep = 10000U},
|
||||
{.addr = {897}, .bus = 0, .max_counter = 255U, .expected_timestep = 10000U},
|
||||
{.addr = {902}, .bus = 0, .max_counter = 3U, .expected_timestep = 10000U},
|
||||
{.addr = {916}, .bus = 0, .max_counter = 7U, .expected_timestep = 10000U},
|
||||
{.addr = {1057}, .bus = 0, .max_counter = 15U, .expected_timestep = 20000U},
|
||||
};
|
||||
const int HYUNDAI_RX_CHECK_LEN = sizeof(hyundai_rx_checks) / sizeof(hyundai_rx_checks[0]);
|
||||
|
||||
int hyundai_rt_torque_last = 0;
|
||||
int hyundai_desired_torque_last = 0;
|
||||
int hyundai_cruise_engaged_last = 0;
|
||||
int hyundai_speed = 0;
|
||||
uint32_t hyundai_ts_last = 0;
|
||||
struct sample_t hyundai_torque_driver; // last few driver torques measured
|
||||
static uint8_t hyundai_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
uint8_t cnt;
|
||||
if (addr == 608) {
|
||||
cnt = (GET_BYTE(to_push, 7) >> 4) & 0x3;
|
||||
} else if (addr == 897) {
|
||||
cnt = GET_BYTE(to_push, 5);
|
||||
} else if (addr == 902) {
|
||||
cnt = (GET_BYTE(to_push, 1) >> 6) & 0x3;
|
||||
} else if (addr == 916) {
|
||||
cnt = (GET_BYTE(to_push, 1) >> 5) & 0x7;
|
||||
} else if (addr == 1057) {
|
||||
cnt = GET_BYTE(to_push, 7) & 0xF;
|
||||
} else {
|
||||
cnt = 0;
|
||||
}
|
||||
return cnt;
|
||||
}
|
||||
|
||||
static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
bool valid = addr_safety_check(to_push, hyundai_rx_checks, HYUNDAI_RX_CHECK_LEN,
|
||||
NULL, NULL, NULL);
|
||||
NULL, NULL, hyundai_get_counter);
|
||||
|
||||
if (valid && GET_BUS(to_push) == 0) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
|
||||
|
||||
if (addr == 897) {
|
||||
int torque_driver_new = ((GET_BYTES_04(to_push) >> 11) & 0xfff) - 2048;
|
||||
int addr = GET_ADDR(to_push);
|
||||
int bus = GET_BUS(to_push);
|
||||
|
||||
if (valid && (bus == 0)) {
|
||||
if (addr == 593) {
|
||||
int torque_driver_new = ((GET_BYTES_04(to_push) & 0x7ff) * 0.79) - 808; // scale down new driver torque signal to match previous one
|
||||
// update array of samples
|
||||
update_sample(&hyundai_torque_driver, torque_driver_new);
|
||||
update_sample(&torque_driver, torque_driver_new);
|
||||
}
|
||||
|
||||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
if (addr == 1057) {
|
||||
// 2 bits: 13-14
|
||||
int cruise_engaged = (GET_BYTES_04(to_push) >> 13) & 0x3;
|
||||
if (cruise_engaged && !hyundai_cruise_engaged_last) {
|
||||
if (cruise_engaged && !cruise_engaged_prev) {
|
||||
controls_allowed = 1;
|
||||
}
|
||||
if (!cruise_engaged) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
hyundai_cruise_engaged_last = cruise_engaged;
|
||||
cruise_engaged_prev = cruise_engaged;
|
||||
}
|
||||
|
||||
// exit controls on rising edge of gas press
|
||||
if (addr == 608) {
|
||||
bool gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0;
|
||||
if (gas_pressed && !gas_pressed_prev) {
|
||||
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
gas_pressed_prev = gas_pressed;
|
||||
@@ -63,15 +79,16 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
// sample subaru wheel speed, averaging opposite corners
|
||||
if (addr == 902) {
|
||||
hyundai_speed = GET_BYTES_04(to_push) & 0x3FFF; // FL
|
||||
int hyundai_speed = GET_BYTES_04(to_push) & 0x3FFF; // FL
|
||||
hyundai_speed += (GET_BYTES_48(to_push) >> 16) & 0x3FFF; // RL
|
||||
hyundai_speed /= 2;
|
||||
vehicle_moving = hyundai_speed > HYUNDAI_STANDSTILL_THRSLD;
|
||||
}
|
||||
|
||||
// exit controls on rising edge of brake press
|
||||
if (addr == 916) {
|
||||
bool brake_pressed = (GET_BYTE(to_push, 6) >> 7) != 0;
|
||||
if (brake_pressed && (!brake_pressed_prev || (hyundai_speed > HYUNDAI_STANDSTILL_THRSLD))) {
|
||||
if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
brake_pressed_prev = brake_pressed;
|
||||
@@ -79,7 +96,7 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
// check if stock camera ECU is on bus 0
|
||||
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == 832)) {
|
||||
relay_malfunction = true;
|
||||
relay_malfunction_set();
|
||||
}
|
||||
}
|
||||
return valid;
|
||||
@@ -111,21 +128,21 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
violation |= max_limit_check(desired_torque, HYUNDAI_MAX_STEER, -HYUNDAI_MAX_STEER);
|
||||
|
||||
// *** torque rate limit check ***
|
||||
violation |= driver_limit_check(desired_torque, hyundai_desired_torque_last, &hyundai_torque_driver,
|
||||
violation |= driver_limit_check(desired_torque, desired_torque_last, &torque_driver,
|
||||
HYUNDAI_MAX_STEER, HYUNDAI_MAX_RATE_UP, HYUNDAI_MAX_RATE_DOWN,
|
||||
HYUNDAI_DRIVER_TORQUE_ALLOWANCE, HYUNDAI_DRIVER_TORQUE_FACTOR);
|
||||
|
||||
// used next time
|
||||
hyundai_desired_torque_last = desired_torque;
|
||||
desired_torque_last = desired_torque;
|
||||
|
||||
// *** torque real time rate limit check ***
|
||||
violation |= rt_rate_limit_check(desired_torque, hyundai_rt_torque_last, HYUNDAI_MAX_RT_DELTA);
|
||||
violation |= rt_rate_limit_check(desired_torque, rt_torque_last, HYUNDAI_MAX_RT_DELTA);
|
||||
|
||||
// every RT_INTERVAL set the new limits
|
||||
uint32_t ts_elapsed = get_ts_elapsed(ts, hyundai_ts_last);
|
||||
uint32_t ts_elapsed = get_ts_elapsed(ts, ts_last);
|
||||
if (ts_elapsed > HYUNDAI_RT_INTERVAL) {
|
||||
hyundai_rt_torque_last = desired_torque;
|
||||
hyundai_ts_last = ts;
|
||||
rt_torque_last = desired_torque;
|
||||
ts_last = ts;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -136,9 +153,9 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
|
||||
// reset to 0 if either controls is not allowed or there's a violation
|
||||
if (violation || !controls_allowed) {
|
||||
hyundai_desired_torque_last = 0;
|
||||
hyundai_rt_torque_last = 0;
|
||||
hyundai_ts_last = ts;
|
||||
desired_torque_last = 0;
|
||||
rt_torque_last = 0;
|
||||
ts_last = ts;
|
||||
}
|
||||
|
||||
if (violation) {
|
||||
@@ -168,7 +185,7 @@ static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
if (bus_num == 0) {
|
||||
bus_fwd = 2;
|
||||
}
|
||||
if ((bus_num == 2) && (addr != 832)) {
|
||||
if ((bus_num == 2) && (addr != 832) && (addr != 1157)) {
|
||||
bus_fwd = 0;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -55,7 +55,7 @@ static int mazda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
// if we see wheel speed msgs on MAZDA_CAM bus then relay is closed
|
||||
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == MAZDA_CAM) && (addr == MAZDA_WHEEL_SPEED)) {
|
||||
relay_malfunction = true;
|
||||
relay_malfunction_set();
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
@@ -83,8 +83,7 @@ static int mazda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
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,
|
||||
violation |= driver_limit_check(desired_torque, mazda_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
|
||||
|
||||
@@ -9,25 +9,22 @@ const struct lookup_t NISSAN_LOOKUP_ANGLE_RATE_DOWN = {
|
||||
{2., 7., 17.},
|
||||
{5., 3.5, .5}};
|
||||
|
||||
const struct lookup_t NISSAN_LOOKUP_MAX_ANGLE = {
|
||||
{3.3, 12, 32},
|
||||
{540., 120., 23.}};
|
||||
|
||||
const int NISSAN_DEG_TO_CAN = 100;
|
||||
|
||||
const AddrBus NISSAN_TX_MSGS[] = {{0x169, 0}, {0x2b1, 0}, {0x4cc, 0}, {0x20b, 2}};
|
||||
const AddrBus NISSAN_TX_MSGS[] = {{0x169, 0}, {0x2b1, 0}, {0x4cc, 0}, {0x20b, 2}, {0x280, 2}};
|
||||
|
||||
AddrCheckStruct nissan_rx_checks[] = {
|
||||
{.addr = {0x2}, .bus = 0, .expected_timestep = 10000U},
|
||||
{.addr = {0x29a}, .bus = 0, .expected_timestep = 20000U},
|
||||
{.addr = {0x1b6}, .bus = 1, .expected_timestep = 10000U},
|
||||
{.addr = {0x2}, .bus = 0, .expected_timestep = 10000U}, // STEER_ANGLE_SENSOR (100Hz)
|
||||
{.addr = {0x285}, .bus = 0, .expected_timestep = 20000U}, // WHEEL_SPEEDS_REAR (50Hz)
|
||||
{.addr = {0x30f}, .bus = 2, .expected_timestep = 100000U}, // CRUISE_STATE (10Hz)
|
||||
{.addr = {0x15c, 0x239}, .bus = 0, .expected_timestep = 20000U}, // GAS_PEDAL (100Hz / 50Hz)
|
||||
{.addr = {0x454, 0x1cc}, .bus = 0, .expected_timestep = 100000U}, // DOORS_LIGHTS (10Hz) / BRAKE (100Hz)
|
||||
};
|
||||
const int NISSAN_RX_CHECK_LEN = sizeof(nissan_rx_checks) / sizeof(nissan_rx_checks[0]);
|
||||
|
||||
float nissan_speed = 0;
|
||||
//int nissan_controls_allowed_last = 0;
|
||||
uint32_t nissan_ts_angle_last = 0;
|
||||
int nissan_cruise_engaged_last = 0;
|
||||
int nissan_desired_angle_last = 0;
|
||||
|
||||
struct sample_t nissan_angle_meas; // last 3 steer angles
|
||||
@@ -38,6 +35,8 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
bool valid = addr_safety_check(to_push, nissan_rx_checks, NISSAN_RX_CHECK_LEN,
|
||||
NULL, NULL, NULL);
|
||||
|
||||
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
|
||||
|
||||
if (valid) {
|
||||
int bus = GET_BUS(to_push);
|
||||
int addr = GET_ADDR(to_push);
|
||||
@@ -54,16 +53,24 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
update_sample(&nissan_angle_meas, angle_meas_new);
|
||||
}
|
||||
|
||||
if (addr == 0x29a) {
|
||||
if (addr == 0x285) {
|
||||
// Get current speed
|
||||
// Factor 0.00555
|
||||
nissan_speed = ((GET_BYTE(to_push, 2) << 8) | (GET_BYTE(to_push, 3))) * 0.00555 / 3.6;
|
||||
// Factor 0.005
|
||||
nissan_speed = ((GET_BYTE(to_push, 2) << 8) | (GET_BYTE(to_push, 3))) * 0.005 / 3.6;
|
||||
vehicle_moving = nissan_speed > 0.;
|
||||
}
|
||||
|
||||
// exit controls on rising edge of gas press
|
||||
if (addr == 0x15c) {
|
||||
bool gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3));
|
||||
if (gas_pressed && !gas_pressed_prev) {
|
||||
// X-Trail 0x15c, Leaf 0x239
|
||||
if ((addr == 0x15c) || (addr == 0x239)) {
|
||||
bool gas_pressed = true;
|
||||
if (addr == 0x15c){
|
||||
gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3)) > 1;
|
||||
} else {
|
||||
gas_pressed = GET_BYTE(to_push, 0) > 3;
|
||||
}
|
||||
|
||||
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
gas_pressed_prev = gas_pressed;
|
||||
@@ -71,30 +78,38 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
// 0x169 is lkas cmd. If it is on bus 0, then relay is unexpectedly closed
|
||||
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == 0x169)) {
|
||||
relay_malfunction = true;
|
||||
relay_malfunction_set();
|
||||
}
|
||||
}
|
||||
|
||||
if (bus == 1) {
|
||||
if (addr == 0x1b6) {
|
||||
int cruise_engaged = (GET_BYTE(to_push, 4) >> 6) & 1;
|
||||
if (cruise_engaged && !nissan_cruise_engaged_last) {
|
||||
controls_allowed = 1;
|
||||
}
|
||||
if (!cruise_engaged) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
nissan_cruise_engaged_last = cruise_engaged;
|
||||
// exit controls on rising edge of brake press, or if speed > 0 and brake
|
||||
// X-trail 0x454, Leaf 0x1cc
|
||||
if ((addr == 0x454) || (addr == 0x1cc)) {
|
||||
bool brake_pressed = true;
|
||||
if (addr == 0x454){
|
||||
brake_pressed = (GET_BYTE(to_push, 2) & 0x80) != 0;
|
||||
} else {
|
||||
brake_pressed = GET_BYTE(to_push, 0) > 3;
|
||||
}
|
||||
|
||||
// exit controls on rising edge of brake press, or if speed > 0 and brake
|
||||
if (addr == 0x454) {
|
||||
bool brake_pressed = (GET_BYTE(to_push, 2) & 0x80) != 0;
|
||||
if (brake_pressed && (!brake_pressed_prev || (nissan_speed > 0.))) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
brake_pressed_prev = brake_pressed;
|
||||
if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
brake_pressed_prev = brake_pressed;
|
||||
}
|
||||
|
||||
|
||||
// Handle cruise enabled
|
||||
if ((bus == 2) && (addr == 0x30f)) {
|
||||
bool cruise_engaged = (GET_BYTE(to_push, 0) >> 3) & 1;
|
||||
|
||||
if (cruise_engaged && !cruise_engaged_prev) {
|
||||
controls_allowed = 1;
|
||||
}
|
||||
if (!cruise_engaged) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
cruise_engaged_prev = cruise_engaged;
|
||||
}
|
||||
}
|
||||
return valid;
|
||||
@@ -133,16 +148,6 @@ static int nissan_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
int highest_desired_angle = nissan_desired_angle_last + ((nissan_desired_angle_last > 0) ? delta_angle_up : delta_angle_down);
|
||||
int lowest_desired_angle = nissan_desired_angle_last - ((nissan_desired_angle_last >= 0) ? delta_angle_down : delta_angle_up);
|
||||
|
||||
// Limit maximum steering angle at current speed
|
||||
int maximum_angle = ((int)interpolate(NISSAN_LOOKUP_MAX_ANGLE, nissan_speed));
|
||||
|
||||
if (highest_desired_angle > (maximum_angle * NISSAN_DEG_TO_CAN)) {
|
||||
highest_desired_angle = (maximum_angle * NISSAN_DEG_TO_CAN);
|
||||
}
|
||||
if (lowest_desired_angle < (-maximum_angle * NISSAN_DEG_TO_CAN)) {
|
||||
lowest_desired_angle = (-maximum_angle * NISSAN_DEG_TO_CAN);
|
||||
}
|
||||
|
||||
// check for violation;
|
||||
violation |= max_limit_check(desired_angle, highest_desired_angle, lowest_desired_angle);
|
||||
|
||||
@@ -183,7 +188,10 @@ static int nissan_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
int addr = GET_ADDR(to_fwd);
|
||||
|
||||
if (bus_num == 0) {
|
||||
bus_fwd = 2; // ADAS
|
||||
int block_msg = (addr == 0x280); // CANCEL_MSG
|
||||
if (!block_msg) {
|
||||
bus_fwd = 2; // ADAS
|
||||
}
|
||||
}
|
||||
|
||||
if (bus_num == 2) {
|
||||
|
||||
@@ -30,13 +30,7 @@ AddrCheckStruct subaru_l_rx_checks[] = {
|
||||
const int SUBARU_RX_CHECK_LEN = sizeof(subaru_rx_checks) / sizeof(subaru_rx_checks[0]);
|
||||
const int SUBARU_L_RX_CHECK_LEN = sizeof(subaru_l_rx_checks) / sizeof(subaru_l_rx_checks[0]);
|
||||
|
||||
int subaru_cruise_engaged_last = 0;
|
||||
int subaru_rt_torque_last = 0;
|
||||
int subaru_desired_torque_last = 0;
|
||||
int subaru_speed = 0;
|
||||
uint32_t subaru_ts_last = 0;
|
||||
bool subaru_global = false;
|
||||
struct sample_t subaru_torque_driver; // last few driver torques measured
|
||||
|
||||
static uint8_t subaru_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
return (uint8_t)GET_BYTE(to_push, 0);
|
||||
@@ -67,6 +61,8 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
NULL, NULL, NULL);
|
||||
}
|
||||
|
||||
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
|
||||
|
||||
if (valid && (GET_BUS(to_push) == 0)) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
if (((addr == 0x119) && subaru_global) ||
|
||||
@@ -74,11 +70,12 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
int torque_driver_new;
|
||||
if (subaru_global) {
|
||||
torque_driver_new = ((GET_BYTES_04(to_push) >> 16) & 0x7FF);
|
||||
torque_driver_new = -1 * to_signed(torque_driver_new, 11);
|
||||
} else {
|
||||
torque_driver_new = (GET_BYTE(to_push, 3) >> 5) + (GET_BYTE(to_push, 4) << 3);
|
||||
torque_driver_new = to_signed(torque_driver_new, 11);
|
||||
}
|
||||
torque_driver_new = to_signed(torque_driver_new, 11);
|
||||
update_sample(&subaru_torque_driver, torque_driver_new);
|
||||
update_sample(&torque_driver, torque_driver_new);
|
||||
}
|
||||
|
||||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
@@ -86,26 +83,27 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
((addr == 0x144) && !subaru_global)) {
|
||||
int bit_shift = subaru_global ? 9 : 17;
|
||||
int cruise_engaged = ((GET_BYTES_48(to_push) >> bit_shift) & 1);
|
||||
if (cruise_engaged && !subaru_cruise_engaged_last) {
|
||||
if (cruise_engaged && !cruise_engaged_prev) {
|
||||
controls_allowed = 1;
|
||||
}
|
||||
if (!cruise_engaged) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
subaru_cruise_engaged_last = cruise_engaged;
|
||||
cruise_engaged_prev = cruise_engaged;
|
||||
}
|
||||
|
||||
// sample subaru wheel speed, averaging opposite corners
|
||||
if ((addr == 0x13a) && subaru_global) {
|
||||
subaru_speed = (GET_BYTES_04(to_push) >> 12) & 0x1FFF; // FR
|
||||
int subaru_speed = (GET_BYTES_04(to_push) >> 12) & 0x1FFF; // FR
|
||||
subaru_speed += (GET_BYTES_48(to_push) >> 6) & 0x1FFF; // RL
|
||||
subaru_speed /= 2;
|
||||
vehicle_moving = subaru_speed > SUBARU_STANDSTILL_THRSLD;
|
||||
}
|
||||
|
||||
// exit controls on rising edge of brake press (TODO: missing check for unsupported legacy models)
|
||||
if ((addr == 0x139) && subaru_global) {
|
||||
bool brake_pressed = (GET_BYTES_48(to_push) & 0xFFF0) > 0;
|
||||
if (brake_pressed && (!brake_pressed_prev || (subaru_speed > SUBARU_STANDSTILL_THRSLD))) {
|
||||
if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
brake_pressed_prev = brake_pressed;
|
||||
@@ -116,7 +114,7 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
((addr == 0x140) && !subaru_global)) {
|
||||
int byte = subaru_global ? 4 : 0;
|
||||
bool gas_pressed = GET_BYTE(to_push, byte) != 0;
|
||||
if (gas_pressed && !gas_pressed_prev) {
|
||||
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
gas_pressed_prev = gas_pressed;
|
||||
@@ -124,7 +122,7 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) &&
|
||||
(((addr == 0x122) && subaru_global) || ((addr == 0x164) && !subaru_global))) {
|
||||
relay_malfunction = true;
|
||||
relay_malfunction_set();
|
||||
}
|
||||
}
|
||||
return valid;
|
||||
@@ -151,7 +149,7 @@ static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
int desired_torque = ((GET_BYTES_04(to_send) >> bit_shift) & 0x1FFF);
|
||||
bool violation = 0;
|
||||
uint32_t ts = TIM2->CNT;
|
||||
desired_torque = to_signed(desired_torque, 13);
|
||||
desired_torque = -1 * to_signed(desired_torque, 13);
|
||||
|
||||
if (controls_allowed) {
|
||||
|
||||
@@ -159,22 +157,21 @@ static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
violation |= max_limit_check(desired_torque, SUBARU_MAX_STEER, -SUBARU_MAX_STEER);
|
||||
|
||||
// *** torque rate limit check ***
|
||||
int desired_torque_last = subaru_desired_torque_last;
|
||||
violation |= driver_limit_check(desired_torque, desired_torque_last, &subaru_torque_driver,
|
||||
violation |= driver_limit_check(desired_torque, desired_torque_last, &torque_driver,
|
||||
SUBARU_MAX_STEER, SUBARU_MAX_RATE_UP, SUBARU_MAX_RATE_DOWN,
|
||||
SUBARU_DRIVER_TORQUE_ALLOWANCE, SUBARU_DRIVER_TORQUE_FACTOR);
|
||||
|
||||
// used next time
|
||||
subaru_desired_torque_last = desired_torque;
|
||||
desired_torque_last = desired_torque;
|
||||
|
||||
// *** torque real time rate limit check ***
|
||||
violation |= rt_rate_limit_check(desired_torque, subaru_rt_torque_last, SUBARU_MAX_RT_DELTA);
|
||||
violation |= rt_rate_limit_check(desired_torque, rt_torque_last, SUBARU_MAX_RT_DELTA);
|
||||
|
||||
// every RT_INTERVAL set the new limits
|
||||
uint32_t ts_elapsed = get_ts_elapsed(ts, subaru_ts_last);
|
||||
uint32_t ts_elapsed = get_ts_elapsed(ts, ts_last);
|
||||
if (ts_elapsed > SUBARU_RT_INTERVAL) {
|
||||
subaru_rt_torque_last = desired_torque;
|
||||
subaru_ts_last = ts;
|
||||
rt_torque_last = desired_torque;
|
||||
ts_last = ts;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -185,9 +182,9 @@ static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
|
||||
// reset to 0 if either controls is not allowed or there's a violation
|
||||
if (violation || !controls_allowed) {
|
||||
subaru_desired_torque_last = 0;
|
||||
subaru_rt_torque_last = 0;
|
||||
subaru_ts_last = ts;
|
||||
desired_torque_last = 0;
|
||||
rt_torque_last = 0;
|
||||
ts_last = ts;
|
||||
}
|
||||
|
||||
if (violation) {
|
||||
@@ -226,14 +223,14 @@ static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
static void subaru_init(int16_t param) {
|
||||
UNUSED(param);
|
||||
controls_allowed = false;
|
||||
relay_malfunction = false;
|
||||
relay_malfunction_reset();
|
||||
subaru_global = true;
|
||||
}
|
||||
|
||||
static void subaru_legacy_init(int16_t param) {
|
||||
UNUSED(param);
|
||||
controls_allowed = false;
|
||||
relay_malfunction = false;
|
||||
relay_malfunction_reset();
|
||||
subaru_global = false;
|
||||
}
|
||||
|
||||
|
||||
@@ -14,10 +14,20 @@ const uint32_t TOYOTA_RT_INTERVAL = 250000; // 250ms between real time checks
|
||||
|
||||
// longitudinal limits
|
||||
const int TOYOTA_MAX_ACCEL = 1500; // 1.5 m/s2
|
||||
const int TOYOTA_MIN_ACCEL = -3000; // 3.0 m/s2
|
||||
const int TOYOTA_MIN_ACCEL = -3000; // -3.0 m/s2
|
||||
|
||||
const int TOYOTA_ISO_MAX_ACCEL = 2000; // 2.0 m/s2
|
||||
const int TOYOTA_ISO_MIN_ACCEL = -3500; // -3.5 m/s2
|
||||
|
||||
const int TOYOTA_STANDSTILL_THRSLD = 100; // 1kph
|
||||
const int TOYOTA_GAS_INTERCEPTOR_THRSLD = 475; // ratio between offset and gain from dbc file
|
||||
|
||||
// Roughly calculated using the offsets in openpilot +5%:
|
||||
// In openpilot: ((gas1_norm + gas2_norm)/2) > 15
|
||||
// gas_norm1 = ((gain_dbc*gas1) + offset1_dbc)
|
||||
// gas_norm2 = ((gain_dbc*gas2) + offset2_dbc)
|
||||
// In this safety: ((gas1 + gas2)/2) > THRESHOLD
|
||||
const int TOYOTA_GAS_INTERCEPTOR_THRSLD = 845;
|
||||
#define TOYOTA_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + (GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2) // avg between 2 tracks
|
||||
|
||||
const AddrBus TOYOTA_TX_MSGS[] = {{0x283, 0}, {0x2E6, 0}, {0x2E7, 0}, {0x33E, 0}, {0x344, 0}, {0x365, 0}, {0x366, 0}, {0x4CB, 0}, // DSU bus 0
|
||||
{0x128, 1}, {0x141, 1}, {0x160, 1}, {0x161, 1}, {0x470, 1}, // DSU bus 1
|
||||
@@ -35,15 +45,6 @@ const int TOYOTA_RX_CHECKS_LEN = sizeof(toyota_rx_checks) / sizeof(toyota_rx_che
|
||||
// global actuation limit states
|
||||
int toyota_dbc_eps_torque_factor = 100; // conversion factor for STEER_TORQUE_EPS in %: see dbc file
|
||||
|
||||
// states
|
||||
int toyota_desired_torque_last = 0; // last desired steer torque
|
||||
int toyota_rt_torque_last = 0; // last desired torque for real time check
|
||||
uint32_t toyota_ts_last = 0;
|
||||
int toyota_cruise_engaged_last = 0; // cruise state
|
||||
bool toyota_moving = false;
|
||||
struct sample_t toyota_torque_meas; // last 3 motor torques produced by the eps
|
||||
|
||||
|
||||
static uint8_t toyota_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
int len = GET_LEN(to_push);
|
||||
@@ -63,6 +64,8 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
bool valid = addr_safety_check(to_push, toyota_rx_checks, TOYOTA_RX_CHECKS_LEN,
|
||||
toyota_get_checksum, toyota_compute_checksum, NULL);
|
||||
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
|
||||
|
||||
if (valid && (GET_BUS(to_push) == 0)) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
@@ -75,24 +78,32 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
torque_meas_new = (torque_meas_new * toyota_dbc_eps_torque_factor) / 100;
|
||||
|
||||
// update array of sample
|
||||
update_sample(&toyota_torque_meas, torque_meas_new);
|
||||
update_sample(&torque_meas, torque_meas_new);
|
||||
|
||||
// increase torque_meas by 1 to be conservative on rounding
|
||||
toyota_torque_meas.min--;
|
||||
toyota_torque_meas.max++;
|
||||
torque_meas.min--;
|
||||
torque_meas.max++;
|
||||
}
|
||||
|
||||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
// exit controls on rising edge of gas press
|
||||
if (addr == 0x1D2) {
|
||||
// 5th bit is CRUISE_ACTIVE
|
||||
int cruise_engaged = GET_BYTE(to_push, 0) & 0x20;
|
||||
if (!cruise_engaged) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
if (cruise_engaged && !toyota_cruise_engaged_last) {
|
||||
if (cruise_engaged && !cruise_engaged_prev) {
|
||||
controls_allowed = 1;
|
||||
}
|
||||
toyota_cruise_engaged_last = cruise_engaged;
|
||||
cruise_engaged_prev = cruise_engaged;
|
||||
|
||||
// handle gas_pressed
|
||||
bool gas_pressed = ((GET_BYTE(to_push, 0) >> 4) & 1) == 0;
|
||||
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev && !gas_interceptor_detected) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
gas_pressed_prev = gas_pressed;
|
||||
}
|
||||
|
||||
// sample speed
|
||||
@@ -103,7 +114,7 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
int next_byte = i + 1; // hack to deal with misra 10.8
|
||||
speed += (GET_BYTE(to_push, i) << 8) + GET_BYTE(to_push, next_byte) - 0x1a6f;
|
||||
}
|
||||
toyota_moving = ABS(speed / 4) > TOYOTA_STANDSTILL_THRSLD;
|
||||
vehicle_moving = ABS(speed / 4) > TOYOTA_STANDSTILL_THRSLD;
|
||||
}
|
||||
|
||||
// exit controls on rising edge of brake pedal
|
||||
@@ -111,7 +122,7 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
if ((addr == 0x224) || (addr == 0x226)) {
|
||||
int byte = (addr == 0x224) ? 0 : 4;
|
||||
bool brake_pressed = ((GET_BYTE(to_push, byte) >> 5) & 1) != 0;
|
||||
if (brake_pressed && (!brake_pressed_prev || toyota_moving)) {
|
||||
if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
brake_pressed_prev = brake_pressed;
|
||||
@@ -120,26 +131,17 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// exit controls on rising edge of interceptor gas press
|
||||
if (addr == 0x201) {
|
||||
gas_interceptor_detected = 1;
|
||||
int gas_interceptor = GET_INTERCEPTOR(to_push);
|
||||
if ((gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRSLD) &&
|
||||
int gas_interceptor = TOYOTA_GET_INTERCEPTOR(to_push);
|
||||
if (!unsafe_allow_gas && (gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRSLD) &&
|
||||
(gas_interceptor_prev <= TOYOTA_GAS_INTERCEPTOR_THRSLD)) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
gas_interceptor_prev = gas_interceptor;
|
||||
}
|
||||
|
||||
// exit controls on rising edge of gas press
|
||||
if (addr == 0x2C1) {
|
||||
bool gas_pressed = GET_BYTE(to_push, 6) != 0;
|
||||
if (gas_pressed && !gas_pressed_prev && !gas_interceptor_detected) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
gas_pressed_prev = gas_pressed;
|
||||
}
|
||||
|
||||
// 0x2E4 is lkas cmd. If it is on bus 0, then relay is unexpectedly closed
|
||||
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == 0x2E4)) {
|
||||
relay_malfunction = true;
|
||||
relay_malfunction_set();
|
||||
}
|
||||
}
|
||||
return valid;
|
||||
@@ -180,7 +182,10 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
bool violation = max_limit_check(desired_accel, TOYOTA_MAX_ACCEL, TOYOTA_MIN_ACCEL);
|
||||
bool violation = (unsafe_mode & UNSAFE_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX)?
|
||||
max_limit_check(desired_accel, TOYOTA_ISO_MAX_ACCEL, TOYOTA_ISO_MIN_ACCEL) :
|
||||
max_limit_check(desired_accel, TOYOTA_MAX_ACCEL, TOYOTA_MIN_ACCEL);
|
||||
|
||||
if (violation) {
|
||||
tx = 0;
|
||||
}
|
||||
@@ -200,20 +205,20 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
violation |= max_limit_check(desired_torque, TOYOTA_MAX_TORQUE, -TOYOTA_MAX_TORQUE);
|
||||
|
||||
// *** torque rate limit check ***
|
||||
violation |= dist_to_meas_check(desired_torque, toyota_desired_torque_last,
|
||||
&toyota_torque_meas, TOYOTA_MAX_RATE_UP, TOYOTA_MAX_RATE_DOWN, TOYOTA_MAX_TORQUE_ERROR);
|
||||
violation |= dist_to_meas_check(desired_torque, desired_torque_last,
|
||||
&torque_meas, TOYOTA_MAX_RATE_UP, TOYOTA_MAX_RATE_DOWN, TOYOTA_MAX_TORQUE_ERROR);
|
||||
|
||||
// used next time
|
||||
toyota_desired_torque_last = desired_torque;
|
||||
desired_torque_last = desired_torque;
|
||||
|
||||
// *** torque real time rate limit check ***
|
||||
violation |= rt_rate_limit_check(desired_torque, toyota_rt_torque_last, TOYOTA_MAX_RT_DELTA);
|
||||
violation |= rt_rate_limit_check(desired_torque, rt_torque_last, TOYOTA_MAX_RT_DELTA);
|
||||
|
||||
// every RT_INTERVAL set the new limits
|
||||
uint32_t ts_elapsed = get_ts_elapsed(ts, toyota_ts_last);
|
||||
uint32_t ts_elapsed = get_ts_elapsed(ts, ts_last);
|
||||
if (ts_elapsed > TOYOTA_RT_INTERVAL) {
|
||||
toyota_rt_torque_last = desired_torque;
|
||||
toyota_ts_last = ts;
|
||||
rt_torque_last = desired_torque;
|
||||
ts_last = ts;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -224,9 +229,9 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
|
||||
// reset to 0 if either controls is not allowed or there's a violation
|
||||
if (violation || !controls_allowed) {
|
||||
toyota_desired_torque_last = 0;
|
||||
toyota_rt_torque_last = 0;
|
||||
toyota_ts_last = ts;
|
||||
desired_torque_last = 0;
|
||||
rt_torque_last = 0;
|
||||
ts_last = ts;
|
||||
}
|
||||
|
||||
if (violation) {
|
||||
@@ -240,7 +245,8 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
|
||||
static void toyota_init(int16_t param) {
|
||||
controls_allowed = 0;
|
||||
relay_malfunction = 0;
|
||||
relay_malfunction_reset();
|
||||
gas_interceptor_detected = 0;
|
||||
toyota_dbc_eps_torque_factor = param;
|
||||
}
|
||||
|
||||
|
||||
@@ -30,12 +30,27 @@ AddrCheckStruct volkswagen_mqb_rx_checks[] = {
|
||||
};
|
||||
const int VOLKSWAGEN_MQB_RX_CHECKS_LEN = sizeof(volkswagen_mqb_rx_checks) / sizeof(volkswagen_mqb_rx_checks[0]);
|
||||
|
||||
// Safety-relevant CAN messages for the Volkswagen PQ35/PQ46/NMS platforms
|
||||
#define MSG_LENKHILFE_3 0x0D0 // RX from EPS, for steering angle and driver steering torque
|
||||
#define MSG_HCA_1 0x0D2 // TX by OP, Heading Control Assist steering torque
|
||||
#define MSG_MOTOR_2 0x288 // RX from ECU, for CC state and brake switch state
|
||||
#define MSG_MOTOR_3 0x380 // RX from ECU, for driver throttle input
|
||||
#define MSG_GRA_NEU 0x38A // TX by OP, ACC control buttons for cancel/resume
|
||||
#define MSG_BREMSE_3 0x4A0 // RX from ABS, for wheel speeds
|
||||
#define MSG_LDW_1 0x5BE // TX by OP, Lane line recognition and text alerts
|
||||
|
||||
// Transmit of GRA_Neu is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
|
||||
const AddrBus VOLKSWAGEN_PQ_TX_MSGS[] = {{MSG_HCA_1, 0}, {MSG_GRA_NEU, 0}, {MSG_GRA_NEU, 2}, {MSG_LDW_1, 0}};
|
||||
const int VOLKSWAGEN_PQ_TX_MSGS_LEN = sizeof(VOLKSWAGEN_PQ_TX_MSGS) / sizeof(VOLKSWAGEN_PQ_TX_MSGS[0]);
|
||||
|
||||
AddrCheckStruct volkswagen_pq_rx_checks[] = {
|
||||
{.addr = {MSG_LENKHILFE_3}, .bus = 0, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U},
|
||||
{.addr = {MSG_MOTOR_2}, .bus = 0, .check_checksum = false, .max_counter = 0U, .expected_timestep = 20000U},
|
||||
{.addr = {MSG_MOTOR_3}, .bus = 0, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U},
|
||||
{.addr = {MSG_BREMSE_3}, .bus = 0, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U},
|
||||
};
|
||||
const int VOLKSWAGEN_PQ_RX_CHECKS_LEN = sizeof(volkswagen_pq_rx_checks) / sizeof(volkswagen_pq_rx_checks[0]);
|
||||
|
||||
struct sample_t volkswagen_torque_driver; // Last few driver torques measured
|
||||
int volkswagen_rt_torque_last = 0;
|
||||
int volkswagen_desired_torque_last = 0;
|
||||
uint32_t volkswagen_ts_last = 0;
|
||||
bool volkswagen_moving = false;
|
||||
int volkswagen_torque_msg = 0;
|
||||
int volkswagen_lane_msg = 0;
|
||||
uint8_t volkswagen_crc8_lut_8h2f[256]; // Static lookup table for CRC8 poly 0x2F, aka 8H2F/AUTOSAR
|
||||
@@ -45,10 +60,17 @@ static uint8_t volkswagen_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
return (uint8_t)GET_BYTE(to_push, 0);
|
||||
}
|
||||
|
||||
static uint8_t volkswagen_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static uint8_t volkswagen_mqb_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// MQB message counters are consistently found at LSB 8.
|
||||
return (uint8_t)GET_BYTE(to_push, 1) & 0xFU;
|
||||
}
|
||||
|
||||
static uint8_t volkswagen_pq_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// Few PQ messages have counters, and their offsets are inconsistent. This
|
||||
// function works only for Lenkhilfe_3 at this time.
|
||||
return (uint8_t)(GET_BYTE(to_push, 1) & 0xF0U) >> 4;
|
||||
}
|
||||
|
||||
static uint8_t volkswagen_mqb_compute_crc(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
int len = GET_LEN(to_push);
|
||||
@@ -62,7 +84,7 @@ static uint8_t volkswagen_mqb_compute_crc(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
crc = volkswagen_crc8_lut_8h2f[crc];
|
||||
}
|
||||
|
||||
uint8_t counter = volkswagen_get_counter(to_push);
|
||||
uint8_t counter = volkswagen_mqb_get_counter(to_push);
|
||||
switch(addr) {
|
||||
case MSG_EPS_01:
|
||||
crc ^= (uint8_t[]){0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5}[counter];
|
||||
@@ -84,20 +106,40 @@ static uint8_t volkswagen_mqb_compute_crc(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
return crc ^ 0xFFU;
|
||||
}
|
||||
|
||||
static uint8_t volkswagen_pq_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
int len = GET_LEN(to_push);
|
||||
uint8_t checksum = 0U;
|
||||
|
||||
for (int i = 1; i < len; i++) {
|
||||
checksum ^= (uint8_t)GET_BYTE(to_push, i);
|
||||
}
|
||||
|
||||
return checksum;
|
||||
}
|
||||
|
||||
static void volkswagen_mqb_init(int16_t param) {
|
||||
UNUSED(param);
|
||||
|
||||
controls_allowed = false;
|
||||
relay_malfunction = false;
|
||||
relay_malfunction_reset();
|
||||
volkswagen_torque_msg = MSG_HCA_01;
|
||||
volkswagen_lane_msg = MSG_LDW_02;
|
||||
gen_crc_lookup_table(0x2F, volkswagen_crc8_lut_8h2f);
|
||||
}
|
||||
|
||||
static void volkswagen_pq_init(int16_t param) {
|
||||
UNUSED(param);
|
||||
|
||||
controls_allowed = false;
|
||||
relay_malfunction_reset();
|
||||
volkswagen_torque_msg = MSG_HCA_1;
|
||||
volkswagen_lane_msg = MSG_LDW_1;
|
||||
}
|
||||
|
||||
static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
bool valid = addr_safety_check(to_push, volkswagen_mqb_rx_checks, VOLKSWAGEN_MQB_RX_CHECKS_LEN,
|
||||
volkswagen_get_checksum, volkswagen_mqb_compute_crc, volkswagen_get_counter);
|
||||
volkswagen_get_checksum, volkswagen_mqb_compute_crc, volkswagen_mqb_get_counter);
|
||||
|
||||
if (valid && (GET_BUS(to_push) == 0)) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
@@ -110,7 +152,7 @@ static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
int wheel_speed_fr = GET_BYTE(to_push, 6) | (GET_BYTE(to_push, 7) << 8);
|
||||
// Check for average front speed in excess of 0.3m/s, 1.08km/h
|
||||
// DBC speed scale 0.0075: 0.3m/s = 144, sum both wheels to compare
|
||||
volkswagen_moving = (wheel_speed_fl + wheel_speed_fr) > 288;
|
||||
vehicle_moving = (wheel_speed_fl + wheel_speed_fr) > 288;
|
||||
}
|
||||
|
||||
// Update driver input torque samples
|
||||
@@ -122,7 +164,7 @@ static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
if (sign == 1) {
|
||||
torque_driver_new *= -1;
|
||||
}
|
||||
update_sample(&volkswagen_torque_driver, torque_driver_new);
|
||||
update_sample(&torque_driver, torque_driver_new);
|
||||
}
|
||||
|
||||
// Update ACC status from drivetrain coordinator for controls-allowed state
|
||||
@@ -136,7 +178,7 @@ static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// Signal: Motor_20.MO_Fahrpedalrohwert_01
|
||||
if (addr == MSG_MOTOR_20) {
|
||||
bool gas_pressed = ((GET_BYTES_04(to_push) >> 12) & 0xFF) != 0;
|
||||
if (gas_pressed && !gas_pressed_prev) {
|
||||
if (gas_pressed && !gas_pressed_prev && !(unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS)) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
gas_pressed_prev = gas_pressed;
|
||||
@@ -146,7 +188,7 @@ static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// Signal: ESP_05.ESP_Fahrer_bremst
|
||||
if (addr == MSG_ESP_05) {
|
||||
bool brake_pressed = (GET_BYTE(to_push, 3) & 0x4) >> 2;
|
||||
if (brake_pressed && (!brake_pressed_prev || volkswagen_moving)) {
|
||||
if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
brake_pressed_prev = brake_pressed;
|
||||
@@ -154,7 +196,74 @@ static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
// If there are HCA messages on bus 0 not sent by OP, there's a relay problem
|
||||
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (addr == MSG_HCA_01)) {
|
||||
relay_malfunction = true;
|
||||
relay_malfunction_set();
|
||||
}
|
||||
}
|
||||
return valid;
|
||||
}
|
||||
|
||||
static int volkswagen_pq_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
bool valid = addr_safety_check(to_push, volkswagen_pq_rx_checks, VOLKSWAGEN_PQ_RX_CHECKS_LEN,
|
||||
volkswagen_get_checksum, volkswagen_pq_compute_checksum, volkswagen_pq_get_counter);
|
||||
|
||||
if (valid) {
|
||||
int bus = GET_BUS(to_push);
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
// Update in-motion state by sampling front wheel speeds
|
||||
// Signal: Bremse_3.Radgeschw__VL_4_1 (front left)
|
||||
// Signal: Bremse_3.Radgeschw__VR_4_1 (front right)
|
||||
if ((bus == 0) && (addr == MSG_BREMSE_3)) {
|
||||
int wheel_speed_fl = (GET_BYTE(to_push, 0) | (GET_BYTE(to_push, 1) << 8)) >> 1;
|
||||
int wheel_speed_fr = (GET_BYTE(to_push, 2) | (GET_BYTE(to_push, 3) << 8)) >> 1;
|
||||
// Check for average front speed in excess of 0.3m/s, 1.08km/h
|
||||
// DBC speed scale 0.01: 0.3m/s = 108, sum both wheels to compare
|
||||
vehicle_moving = (wheel_speed_fl + wheel_speed_fr) > 216;
|
||||
}
|
||||
|
||||
// Update driver input torque samples
|
||||
// Signal: Lenkhilfe_3.LH3_LM (absolute torque)
|
||||
// Signal: Lenkhilfe_3.LH3_LMSign (direction)
|
||||
if ((bus == 0) && (addr == MSG_LENKHILFE_3)) {
|
||||
int torque_driver_new = GET_BYTE(to_push, 2) | ((GET_BYTE(to_push, 3) & 0x3) << 8);
|
||||
int sign = (GET_BYTE(to_push, 3) & 0x4) >> 2;
|
||||
if (sign == 1) {
|
||||
torque_driver_new *= -1;
|
||||
}
|
||||
update_sample(&torque_driver, torque_driver_new);
|
||||
}
|
||||
|
||||
// Update ACC status from ECU for controls-allowed state
|
||||
// Signal: Motor_2.GRA_Status
|
||||
if ((bus == 0) && (addr == MSG_MOTOR_2)) {
|
||||
int acc_status = (GET_BYTE(to_push, 2) & 0xC0) >> 6;
|
||||
controls_allowed = ((acc_status == 1) || (acc_status == 2)) ? 1 : 0;
|
||||
}
|
||||
|
||||
// Exit controls on rising edge of gas press
|
||||
// Signal: Motor_3.Fahrpedal_Rohsignal
|
||||
if ((bus == 0) && (addr == MSG_MOTOR_3)) {
|
||||
int gas_pressed = (GET_BYTE(to_push, 2));
|
||||
if (gas_pressed && !gas_pressed_prev && !(unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS)) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
gas_pressed_prev = gas_pressed;
|
||||
}
|
||||
|
||||
// Exit controls on rising edge of brake press
|
||||
// Signal: Motor_2.Bremslichtschalter
|
||||
if ((bus == 0) && (addr == MSG_MOTOR_2)) {
|
||||
bool brake_pressed = (GET_BYTE(to_push, 2) & 0x1);
|
||||
if (brake_pressed && (!(brake_pressed_prev) || vehicle_moving)) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
brake_pressed_prev = brake_pressed;
|
||||
}
|
||||
|
||||
// If there are HCA messages on bus 0 not sent by OP, there's a relay problem
|
||||
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && (bus == 0) && (addr == MSG_HCA_1)) {
|
||||
relay_malfunction_set();
|
||||
}
|
||||
}
|
||||
return valid;
|
||||
@@ -169,19 +278,19 @@ static bool volkswagen_steering_check(int desired_torque) {
|
||||
violation |= max_limit_check(desired_torque, VOLKSWAGEN_MAX_STEER, -VOLKSWAGEN_MAX_STEER);
|
||||
|
||||
// *** torque rate limit check ***
|
||||
violation |= driver_limit_check(desired_torque, volkswagen_desired_torque_last, &volkswagen_torque_driver,
|
||||
violation |= driver_limit_check(desired_torque, desired_torque_last, &torque_driver,
|
||||
VOLKSWAGEN_MAX_STEER, VOLKSWAGEN_MAX_RATE_UP, VOLKSWAGEN_MAX_RATE_DOWN,
|
||||
VOLKSWAGEN_DRIVER_TORQUE_ALLOWANCE, VOLKSWAGEN_DRIVER_TORQUE_FACTOR);
|
||||
volkswagen_desired_torque_last = desired_torque;
|
||||
desired_torque_last = desired_torque;
|
||||
|
||||
// *** torque real time rate limit check ***
|
||||
violation |= rt_rate_limit_check(desired_torque, volkswagen_rt_torque_last, VOLKSWAGEN_MAX_RT_DELTA);
|
||||
violation |= rt_rate_limit_check(desired_torque, rt_torque_last, VOLKSWAGEN_MAX_RT_DELTA);
|
||||
|
||||
// every RT_INTERVAL set the new limits
|
||||
uint32_t ts_elapsed = get_ts_elapsed(ts, volkswagen_ts_last);
|
||||
uint32_t ts_elapsed = get_ts_elapsed(ts, ts_last);
|
||||
if (ts_elapsed > VOLKSWAGEN_RT_INTERVAL) {
|
||||
volkswagen_rt_torque_last = desired_torque;
|
||||
volkswagen_ts_last = ts;
|
||||
rt_torque_last = desired_torque;
|
||||
ts_last = ts;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -192,9 +301,9 @@ static bool volkswagen_steering_check(int desired_torque) {
|
||||
|
||||
// reset to 0 if either controls is not allowed or there's a violation
|
||||
if (violation || !controls_allowed) {
|
||||
volkswagen_desired_torque_last = 0;
|
||||
volkswagen_rt_torque_last = 0;
|
||||
volkswagen_ts_last = ts;
|
||||
desired_torque_last = 0;
|
||||
rt_torque_last = 0;
|
||||
ts_last = ts;
|
||||
}
|
||||
|
||||
return violation;
|
||||
@@ -237,6 +346,44 @@ static int volkswagen_mqb_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
return tx;
|
||||
}
|
||||
|
||||
static int volkswagen_pq_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
int addr = GET_ADDR(to_send);
|
||||
int bus = GET_BUS(to_send);
|
||||
int tx = 1;
|
||||
|
||||
if (!msg_allowed(addr, bus, VOLKSWAGEN_PQ_TX_MSGS, VOLKSWAGEN_PQ_TX_MSGS_LEN) || relay_malfunction) {
|
||||
tx = 0;
|
||||
}
|
||||
|
||||
// Safety check for HCA_1 Heading Control Assist torque
|
||||
// Signal: HCA_1.LM_Offset (absolute torque)
|
||||
// Signal: HCA_1.LM_Offsign (direction)
|
||||
if (addr == MSG_HCA_1) {
|
||||
int desired_torque = GET_BYTE(to_send, 2) | ((GET_BYTE(to_send, 3) & 0x7F) << 8);
|
||||
desired_torque = desired_torque / 32; // DBC scale from PQ network to centi-Nm
|
||||
int sign = (GET_BYTE(to_send, 3) & 0x80) >> 7;
|
||||
if (sign == 1) {
|
||||
desired_torque *= -1;
|
||||
}
|
||||
|
||||
if (volkswagen_steering_check(desired_torque)) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// FORCE CANCEL: ensuring that only the cancel button press is sent when controls are off.
|
||||
// This avoids unintended engagements while still allowing resume spam
|
||||
if ((addr == MSG_GRA_NEU) && !controls_allowed) {
|
||||
// disallow resume and set: bits 16 and 17
|
||||
if ((GET_BYTE(to_send, 2) & 0x3) != 0) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// 1 allows the message through
|
||||
return tx;
|
||||
}
|
||||
|
||||
static int volkswagen_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
int addr = GET_ADDR(to_fwd);
|
||||
int bus_fwd = -1;
|
||||
@@ -275,3 +422,14 @@ const safety_hooks volkswagen_mqb_hooks = {
|
||||
.addr_check = volkswagen_mqb_rx_checks,
|
||||
.addr_check_len = sizeof(volkswagen_mqb_rx_checks) / sizeof(volkswagen_mqb_rx_checks[0]),
|
||||
};
|
||||
|
||||
// Volkswagen PQ35/PQ46/NMS platforms
|
||||
const safety_hooks volkswagen_pq_hooks = {
|
||||
.init = volkswagen_pq_init,
|
||||
.rx = volkswagen_pq_rx_hook,
|
||||
.tx = volkswagen_pq_tx_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
.fwd = volkswagen_fwd_hook,
|
||||
.addr_check = volkswagen_pq_rx_checks,
|
||||
.addr_check_len = sizeof(volkswagen_pq_rx_checks) / sizeof(volkswagen_pq_rx_checks[0]),
|
||||
};
|
||||
|
||||
@@ -61,6 +61,8 @@ bool addr_safety_check(CAN_FIFOMailBox_TypeDef *to_push,
|
||||
uint8_t (*get_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
|
||||
uint8_t (*compute_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
|
||||
uint8_t (*get_counter)(CAN_FIFOMailBox_TypeDef *to_push));
|
||||
void relay_malfunction_set(void);
|
||||
void relay_malfunction_reset(void);
|
||||
|
||||
typedef void (*safety_hook_init)(int16_t param);
|
||||
typedef int (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
|
||||
@@ -87,11 +89,35 @@ bool gas_interceptor_detected = false;
|
||||
int gas_interceptor_prev = 0;
|
||||
bool gas_pressed_prev = false;
|
||||
bool brake_pressed_prev = false;
|
||||
bool cruise_engaged_prev = false;
|
||||
bool vehicle_moving = false;
|
||||
|
||||
// for torque-based safety modes
|
||||
int desired_torque_last = 0; // last desired steer torque
|
||||
int rt_torque_last = 0; // last desired torque for real time check
|
||||
struct sample_t torque_meas; // last 3 motor torques produced by the eps
|
||||
struct sample_t torque_driver; // last 3 driver torques measured
|
||||
uint32_t ts_last = 0;
|
||||
|
||||
// This can be set with a USB command
|
||||
// It enables features we consider to be unsafe, but understand others may have different opinions
|
||||
// It is always 0 on mainline comma.ai openpilot
|
||||
|
||||
// If using this flag, be very careful about what happens if your fork wants to brake while the
|
||||
// user is pressing the gas. Tesla is careful with this.
|
||||
#define UNSAFE_DISABLE_DISENGAGE_ON_GAS 1
|
||||
|
||||
// If using this flag, make sure to communicate to your users that a stock safety feature is now disabled.
|
||||
#define UNSAFE_DISABLE_STOCK_AEB 2
|
||||
|
||||
// If using this flag, be aware that harder braking is more likely to lead to rear endings,
|
||||
// and that alone this flag doesn't make braking compliant because there's also a time element.
|
||||
// See ISO 15622:2018 for more information.
|
||||
#define UNSAFE_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX 8
|
||||
|
||||
int unsafe_mode = 0;
|
||||
|
||||
// time since safety mode has been changed
|
||||
uint32_t safety_mode_cnt = 0U;
|
||||
// allow 1s of transition timeout after relay changes state before assessing malfunctioning
|
||||
const uint32_t RELAY_TRNS_TIMEOUT = 1U;
|
||||
|
||||
// avg between 2 tracks
|
||||
#define GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + ((GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2 ) / 2)
|
||||
|
||||
@@ -110,6 +110,7 @@ void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
|
||||
UNUSED(len);
|
||||
UNUSED(hardwired);
|
||||
}
|
||||
void usb_cb_ep3_out_complete(void) {}
|
||||
|
||||
int is_enumerated = 0;
|
||||
void usb_cb_enumeration_complete(void) {
|
||||
|
||||
@@ -4,7 +4,9 @@
|
||||
# messages, print which bits in the interesting file have never appeared
|
||||
# in the background files.
|
||||
|
||||
# Expects the CSV file to be in the format from can_logger.py
|
||||
# Expects the CSV file to be in one of the following formats:
|
||||
|
||||
# can_logger.py
|
||||
# Bus,MessageID,Message,MessageLength
|
||||
# 0,0x292,0x040000001068,6
|
||||
|
||||
@@ -12,6 +14,10 @@
|
||||
# Bus,MessageID,Message
|
||||
# 0,344,c000c00000000000
|
||||
|
||||
# Cabana "Save Log" format
|
||||
# time,addr,bus,data
|
||||
# 240.47911496100002,53,0,0acc0ade0074bf9e
|
||||
|
||||
|
||||
import csv
|
||||
import sys
|
||||
@@ -45,30 +51,49 @@ class Info():
|
||||
|
||||
def load(self, filename):
|
||||
"""Given a CSV file, adds information about message IDs and their values."""
|
||||
with open(filename, 'rb') as input:
|
||||
with open(filename, 'r') as input:
|
||||
reader = csv.reader(input)
|
||||
next(reader, None) # skip the CSV header
|
||||
for row in reader:
|
||||
bus = row[0]
|
||||
if row[1].startswith('0x'):
|
||||
message_id = row[1][2:] # remove leading '0x'
|
||||
else:
|
||||
message_id = hex(int(row[1]))[2:] # old message IDs are in decimal
|
||||
message_id = '%s:%s' % (bus, message_id)
|
||||
if row[1].startswith('0x'):
|
||||
data = row[2][2:] # remove leading '0x'
|
||||
else:
|
||||
data = row[2]
|
||||
if message_id not in self.messages:
|
||||
self.messages[message_id] = Message(message_id)
|
||||
message = self.messages[message_id]
|
||||
if data not in self.messages[message_id].data:
|
||||
message.data[data] = True
|
||||
bytes = bytearray.fromhex(data)
|
||||
for i in range(len(bytes)):
|
||||
message.ones[i] = message.ones[i] | int(bytes[i])
|
||||
# Inverts the data and masks it to a byte to get the zeros as ones.
|
||||
message.zeros[i] = message.zeros[i] | ( (~int(bytes[i])) & 0xff)
|
||||
header = next(reader, None)
|
||||
if header[0] == 'time':
|
||||
self.cabana(reader)
|
||||
else:
|
||||
self.logger(reader)
|
||||
|
||||
def cabana(self, reader):
|
||||
for row in reader:
|
||||
bus = row[2]
|
||||
message_id = hex(int(row[1]))[2:]
|
||||
message_id = '%s:%s' % (bus, message_id)
|
||||
data = row[3]
|
||||
self.store(message_id, data)
|
||||
|
||||
def logger(self, reader):
|
||||
for row in reader:
|
||||
bus = row[0]
|
||||
if row[1].startswith('0x'):
|
||||
message_id = row[1][2:] # remove leading '0x'
|
||||
else:
|
||||
message_id = hex(int(row[1]))[2:] # old message IDs are in decimal
|
||||
message_id = '%s:%s' % (bus, message_id)
|
||||
if row[1].startswith('0x'):
|
||||
data = row[2][2:] # remove leading '0x'
|
||||
else:
|
||||
data = row[2]
|
||||
self.store(message_id, data)
|
||||
|
||||
def store(self, message_id, data):
|
||||
if message_id not in self.messages:
|
||||
self.messages[message_id] = Message(message_id)
|
||||
message = self.messages[message_id]
|
||||
if data not in self.messages[message_id].data:
|
||||
message.data[data] = True
|
||||
bytes = bytearray.fromhex(data)
|
||||
for i in range(len(bytes)):
|
||||
message.ones[i] = message.ones[i] | int(bytes[i])
|
||||
# Inverts the data and masks it to a byte to get the zeros as ones.
|
||||
message.zeros[i] = message.zeros[i] | ( (~int(bytes[i])) & 0xff)
|
||||
|
||||
|
||||
|
||||
def PrintUnique(interesting_file, background_files):
|
||||
background = Info()
|
||||
|
||||
@@ -9,6 +9,7 @@ import os
|
||||
import time
|
||||
import traceback
|
||||
import subprocess
|
||||
import sys
|
||||
from .dfu import PandaDFU
|
||||
from .esptool import ESPROM, CesantaFlasher # noqa: F401
|
||||
from .flash_release import flash_release # noqa: F401
|
||||
@@ -117,7 +118,6 @@ class Panda(object):
|
||||
SAFETY_GM = 4
|
||||
SAFETY_HONDA_BOSCH_GIRAFFE = 5
|
||||
SAFETY_FORD = 6
|
||||
SAFETY_CADILLAC = 7
|
||||
SAFETY_HYUNDAI = 8
|
||||
SAFETY_CHRYSLER = 9
|
||||
SAFETY_TESLA = 10
|
||||
@@ -129,6 +129,7 @@ class Panda(object):
|
||||
SAFETY_GM_ASCM = 18
|
||||
SAFETY_NOOUTPUT = 19
|
||||
SAFETY_HONDA_BOSCH_HARNESS = 20
|
||||
SAFETY_VOLKSWAGEN_PQ = 21
|
||||
SAFETY_SUBARU_LEGACY = 22
|
||||
|
||||
SERIAL_DEBUG = 0
|
||||
@@ -187,6 +188,8 @@ class Panda(object):
|
||||
self.bootstub = device.getProductID() == 0xddee
|
||||
self.legacy = (device.getbcdDevice() != 0x2300)
|
||||
self._handle = device.open()
|
||||
if not sys.platform in ["win32", "cygwin", "msys"]:
|
||||
self._handle.setAutoDetachKernelDriver(True)
|
||||
if claim:
|
||||
self._handle.claimInterface(0)
|
||||
#self._handle.setInterfaceAltSetting(0, 0) #Issue in USB stack
|
||||
@@ -296,6 +299,7 @@ class Panda(object):
|
||||
self.reconnect()
|
||||
|
||||
def recover(self, timeout=None):
|
||||
self.reset(enter_bootstub=True)
|
||||
self.reset(enter_bootloader=True)
|
||||
t_start = time.time()
|
||||
while len(PandaDFU.list()) == 0:
|
||||
@@ -476,7 +480,12 @@ class Panda(object):
|
||||
|
||||
# ******************* can *******************
|
||||
|
||||
def can_send_many(self, arr):
|
||||
# The panda will NAK CAN writes when there is CAN congestion.
|
||||
# libusb will try to send it again, with a max timeout.
|
||||
# Timeout is in ms. If set to 0, the timeout is infinite.
|
||||
CAN_SEND_TIMEOUT_MS = 10
|
||||
|
||||
def can_send_many(self, arr, timeout=CAN_SEND_TIMEOUT_MS):
|
||||
snds = []
|
||||
transmit = 1
|
||||
extended = 4
|
||||
@@ -499,13 +508,13 @@ class Panda(object):
|
||||
for s in snds:
|
||||
self._handle.bulkWrite(3, s)
|
||||
else:
|
||||
self._handle.bulkWrite(3, b''.join(snds))
|
||||
self._handle.bulkWrite(3, b''.join(snds), timeout=timeout)
|
||||
break
|
||||
except (usb1.USBErrorIO, usb1.USBErrorOverflow):
|
||||
print("CAN: BAD SEND MANY, RETRYING")
|
||||
|
||||
def can_send(self, addr, dat, bus):
|
||||
self.can_send_many([[addr, None, dat, bus]])
|
||||
def can_send(self, addr, dat, bus, timeout=CAN_SEND_TIMEOUT_MS):
|
||||
self.can_send_many([[addr, None, dat, bus]], timeout=timeout)
|
||||
|
||||
def can_recv(self):
|
||||
dat = bytearray()
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user