mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-27 11:13:43 +08:00
Compare commits
4 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Adeeb Shihadeh
|
db336329c5 | ||
|
Adeeb Shihadeh
|
7a7f343978 | ||
|
Vehicle Researcher
|
49d82d6ac1 | ||
|
Vehicle Researcher
|
0aa4867be4 |
+2
-2
@@ -18,7 +18,7 @@ You can test your changes on your machine by running `run_docker_tests.sh`. This
|
||||
|
||||
### Automated Testing
|
||||
|
||||
All PRs and commits are automatically checked by Github Actions. Check out `.github/workflows/` for what Github Actions runs. Any new tests sould be added to Github Actions.
|
||||
All PRs and commits are automatically checked by Github Actions. Check out `.github/workflows/` for what Github Actions runs. Any new tests should be added to Github Actions.
|
||||
|
||||
### Code Style and Linting
|
||||
|
||||
@@ -28,7 +28,7 @@ Code is automatically checked for style by Github Actions as part of the automat
|
||||
|
||||
We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
|
||||
|
||||
If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
|
||||
If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty.
|
||||
|
||||
## Pull Requests
|
||||
|
||||
|
||||
Vendored
+112
-45
@@ -1,33 +1,60 @@
|
||||
pipeline {
|
||||
agent {
|
||||
docker {
|
||||
image 'python:3.7.3'
|
||||
args '--user=root'
|
||||
def phone(String ip, String step_label, String cmd) {
|
||||
def ci_env = "CI=1 TEST_DIR=${env.TEST_DIR} GIT_BRANCH=${env.GIT_BRANCH} GIT_COMMIT=${env.GIT_COMMIT}"
|
||||
|
||||
withCredentials([file(credentialsId: 'id_rsa_public', variable: 'key_file')]) {
|
||||
sh label: step_label,
|
||||
script: """
|
||||
ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 root@${ip} '${ci_env} /usr/bin/bash -le' <<'EOF'
|
||||
echo \$\$ > /dev/cpuset/app/tasks || true
|
||||
echo \$PPID > /dev/cpuset/app/tasks || true
|
||||
mkdir -p /dev/shm
|
||||
chmod 777 /dev/shm
|
||||
cd ${env.TEST_DIR} || true
|
||||
${cmd}
|
||||
exit 0
|
||||
EOF"""
|
||||
}
|
||||
}
|
||||
|
||||
def phone_steps(String device_type, steps) {
|
||||
lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
|
||||
timeout(time: 60, unit: 'MINUTES') {
|
||||
phone(device_ip, "kill old processes", "pkill -f comma || true")
|
||||
phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
|
||||
steps.each { item ->
|
||||
phone(device_ip, item[0], item[1])
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pipeline {
|
||||
agent none
|
||||
environment {
|
||||
COMMA_JWT = credentials('athena-test-jwt')
|
||||
TEST_DIR = "/data/openpilot"
|
||||
}
|
||||
|
||||
stages {
|
||||
|
||||
stage('Release Build') {
|
||||
agent {
|
||||
docker {
|
||||
image 'python:3.7.3'
|
||||
args '--user=root'
|
||||
}
|
||||
}
|
||||
when {
|
||||
branch 'devel-staging'
|
||||
}
|
||||
steps {
|
||||
lock(resource: "", label: 'eon-build', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
|
||||
timeout(time: 60, unit: 'MINUTES') {
|
||||
dir(path: 'selfdrive/test') {
|
||||
sh 'pip install paramiko'
|
||||
sh 'python phone_ci.py "cd release && PUSH=1 ./build_release2.sh"'
|
||||
}
|
||||
}
|
||||
}
|
||||
phone_steps("eon-build", [
|
||||
["build release2-staging and dashcam-staging", "cd release && PUSH=1 ./build_release2.sh"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('On-device Tests') {
|
||||
stage('openpilot tests') {
|
||||
when {
|
||||
not {
|
||||
anyOf {
|
||||
@@ -36,51 +63,91 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
parallel {
|
||||
|
||||
stage('Build') {
|
||||
environment {
|
||||
CI_PUSH = "${env.BRANCH_NAME == 'master' ? 'master-ci' : ''}"
|
||||
stages {
|
||||
|
||||
/*
|
||||
stage('PC tests') {
|
||||
agent {
|
||||
dockerfile {
|
||||
filename 'Dockerfile.openpilotci'
|
||||
args '--privileged --shm-size=1G --user=root'
|
||||
}
|
||||
}
|
||||
|
||||
steps {
|
||||
lock(resource: "", label: 'eon', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
|
||||
timeout(time: 60, unit: 'MINUTES') {
|
||||
dir(path: 'selfdrive/test') {
|
||||
sh 'pip install paramiko'
|
||||
sh 'python phone_ci.py "cd release && ./build_devel.sh"'
|
||||
}
|
||||
stages {
|
||||
stage('Build') {
|
||||
steps {
|
||||
sh 'scons -j$(nproc)'
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
// fix permissions since docker runs as another user
|
||||
sh "chmod -R 777 ."
|
||||
}
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
stage('Replay Tests') {
|
||||
steps {
|
||||
lock(resource: "", label: 'eon2', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
|
||||
timeout(time: 60, unit: 'MINUTES') {
|
||||
dir(path: 'selfdrive/test') {
|
||||
sh 'pip install paramiko'
|
||||
sh 'python phone_ci.py "cd selfdrive/test/process_replay && ./camera_replay.py"'
|
||||
stage('On-device Tests') {
|
||||
agent {
|
||||
docker {
|
||||
image 'python:3.7.3'
|
||||
args '--user=root'
|
||||
}
|
||||
}
|
||||
|
||||
stages {
|
||||
stage('parallel tests') {
|
||||
parallel {
|
||||
|
||||
stage('Devel Build') {
|
||||
environment {
|
||||
CI_PUSH = "${env.BRANCH_NAME == 'master' ? 'master-ci' : ' '}"
|
||||
}
|
||||
steps {
|
||||
phone_steps("eon", [
|
||||
["build devel", "cd release && CI_PUSH=${env.CI_PUSH} ./build_devel.sh"],
|
||||
["test openpilot", "nosetests -s selfdrive/test/test_openpilot.py"],
|
||||
["test cpu usage", "cd selfdrive/test/ && ./test_cpu_usage.py"],
|
||||
["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
|
||||
["test spinner build", "cd selfdrive/ui/spinner && make clean && make"],
|
||||
["test text window build", "cd selfdrive/ui/text && make clean && make"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('Replay Tests') {
|
||||
steps {
|
||||
phone_steps("eon2", [
|
||||
["camerad/modeld replay", "cd selfdrive/test/process_replay && ./camera_replay.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('HW + Unit Tests') {
|
||||
steps {
|
||||
phone_steps("eon", [
|
||||
["build cereal", "SCONS_CACHE=1 scons -j4 cereal/"],
|
||||
["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
|
||||
["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
|
||||
["test loggerd", "CI=1 python selfdrive/loggerd/tests/test_loggerd.py"],
|
||||
//["test updater", "python installer/updater/test_updater.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('HW Tests') {
|
||||
steps {
|
||||
lock(resource: "", label: 'eon', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
|
||||
timeout(time: 60, unit: 'MINUTES') {
|
||||
dir(path: 'selfdrive/test') {
|
||||
sh 'pip install paramiko'
|
||||
sh 'python phone_ci.py "SCONS_CACHE=1 scons -j3 cereal/ && \
|
||||
nosetests -s selfdrive/test/test_sounds.py && \
|
||||
nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"'
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
cleanWs()
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@@ -66,35 +66,34 @@ Supported Cars
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
|
||||
| Acura | ILX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
|
||||
| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Accord 2018-19 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord 2018-20 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord Hybrid 2018-20 | All | Stock | 0mph | 3mph |
|
||||
| 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 2019-20 | Honda Sensing | Stock | 0mph | 2mph<sup>2</sup> |
|
||||
| Honda | Civic Sedan/Coupe 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
|
||||
| Honda | CR-V 2015-16 | Touring | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | CR-V 2017-20 | 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>1</sup> | 12mph |
|
||||
| Honda | HR-V 2019 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Insight 2019 | Honda Sensing | Stock | 0mph | 3mph |
|
||||
| Honda | Insight 2019-20 | All | Stock | 0mph | 3mph |
|
||||
| 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 |
|
||||
| Honda | Pilot 2016-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Ridgeline 2017-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Hyundai | Palisade 2020 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2020 | All | Stock | 0mph | 0mph |
|
||||
| Lexus | CT Hybrid 2017-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | CT Hybrid 2017-18 | LSS | 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>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2016-17 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2016-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2016-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2020 | All | openpilot | 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 | Avalon 2016-18 | TSS-P | 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 |
|
||||
@@ -102,19 +101,16 @@ Supported Cars
|
||||
| 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 | Corolla Hybrid 2020-21 | All | openpilot | 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 | Highlander Hybrid 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Prius 2016 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2017-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2016-20 | TSS-P | 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 2016-18 | TSS-P | 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 2016-18 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2019-20 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Sienna 2018-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
|
||||
@@ -136,29 +132,29 @@ Community Maintained Cars and Features
|
||||
| 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 | G70 2018 | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G80 2018 | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G90 2018 | All | Stock | 0mph | 0mph |
|
||||
| GMC | Acadia Denali 2018<sup>2</sup>| Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Holden | Astra 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Hyundai | Elantra 2017-19 | SCC + LKAS | Stock | 19mph | 34mph |
|
||||
| Hyundai | Genesis 2015-16 | SCC + LKAS | Stock | 19mph | 37mph |
|
||||
| Hyundai | Ioniq Electric Premium SE 2020| SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Hyundai | Ioniq Electric Limited 2019 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Hyundai | Kona 2017-19 | SCC + LKAS | Stock | 22mph | 0mph |
|
||||
| Hyundai | Ioniq Electric 2019-20 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Hyundai | Kona 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Kona EV 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Palisade 2020 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Santa Fe 2019 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2019 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Veloster 2019 | SCC + LKAS | Stock | 5mph | 0mph |
|
||||
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Jeep | Grand Cherokee 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Kia | Forte 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Optima 2017 | SCC + LKAS/LDWS | Stock | 0mph | 32mph |
|
||||
| Kia | Optima 2017 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Kia | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Sorento 2018 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Nissan | Leaf 2018-19<sup>2</sup> | Propilot | Stock | 0mph | 0mph |
|
||||
| Nissan | Rogue 2019<sup>2</sup> | Propilot | Stock | 0mph | 0mph |
|
||||
| Nissan | X-Trail 2017<sup>2</sup> | Propilot | Stock | 0mph | 0mph |
|
||||
| Nissan | Leaf 2018-19 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | Rogue 2019 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | X-Trail 2017 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Subaru | Ascent 2019 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Forester 2019 | EyeSight | Stock | 0mph | 0mph |
|
||||
@@ -272,8 +268,23 @@ Safety and Testing
|
||||
|
||||
Testing on PC
|
||||
------
|
||||
For simplified development and experimentation, openpilot runs in the CARLA driving simulator, which allows you to develop openpilot without a car.
|
||||
|
||||
Steps:
|
||||
1) Start the CARLA server on first terminal
|
||||
```
|
||||
bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_carla.sh)"
|
||||
```
|
||||
2) Start openpilot on second terminal
|
||||
```
|
||||
bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_openpilot_docker.sh)"
|
||||
```
|
||||
3) Press 1 to engage openpilot
|
||||
|
||||
See the full [README](tools/sim/README.md)
|
||||
|
||||
You should also take a look at the tools directory in master: lots of tools you can use to replay driving data, test, and develop openpilot from your PC.
|
||||
|
||||
Check out the tools directory in master: lots of tools you can use to replay driving data, test and develop openpilot from your pc.
|
||||
|
||||
Community and Contributing
|
||||
------
|
||||
|
||||
+15
@@ -1,3 +1,18 @@
|
||||
Version 0.7.9 (2020-10-09)
|
||||
========================
|
||||
* Improved car battery power management
|
||||
* Improved updater robustness
|
||||
* Improved realtime performance
|
||||
* Reduced UI and modeld lags
|
||||
* Increased torque on 2020 Hyundai Sonata and Palisade
|
||||
|
||||
Version 0.7.8 (2020-08-19)
|
||||
========================
|
||||
* New driver monitoring model: improved face detection and better compatibility with sunglasses
|
||||
* Download NEOS operating system updates in the background
|
||||
* Improved updater reliability and responsiveness
|
||||
* Hyundai Kona 2020, Veloster 2019, and Genesis G70 2018 support thanks to xps-genesis!
|
||||
|
||||
Version 0.7.7 (2020-07-20)
|
||||
========================
|
||||
* White panda is no longer supported, upgrade to comma two or black panda
|
||||
|
||||
+65
-12
@@ -1,9 +1,13 @@
|
||||
import Cython
|
||||
import distutils
|
||||
import os
|
||||
import shutil
|
||||
import subprocess
|
||||
import sys
|
||||
import platform
|
||||
|
||||
TICI = os.path.isfile('/TICI')
|
||||
|
||||
AddOption('--test',
|
||||
action='store_true',
|
||||
help='build test files')
|
||||
@@ -12,10 +16,15 @@ AddOption('--asan',
|
||||
action='store_true',
|
||||
help='turn on ASAN')
|
||||
|
||||
arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
# Rebuild cython extensions if python, distutils, or cython change
|
||||
cython_dependencies = [Value(v) for v in (sys.version, distutils.__version__, Cython.__version__)]
|
||||
Export('cython_dependencies')
|
||||
|
||||
real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
if platform.system() == "Darwin":
|
||||
arch = "Darwin"
|
||||
if arch == "aarch64" and not os.path.isdir("/system"):
|
||||
|
||||
if arch == "aarch64" and TICI:
|
||||
arch = "larch64"
|
||||
|
||||
webcam = bool(ARGUMENTS.get("use_webcam", 0))
|
||||
@@ -38,7 +47,6 @@ if arch == "aarch64" or arch == "larch64":
|
||||
|
||||
libpath = [
|
||||
"/usr/lib",
|
||||
"/data/data/com.termux/files/usr/lib",
|
||||
"/system/vendor/lib64",
|
||||
"/system/comma/usr/lib",
|
||||
"#phonelibs/nanovg",
|
||||
@@ -56,11 +64,12 @@ if arch == "aarch64" or arch == "larch64":
|
||||
else:
|
||||
libpath += [
|
||||
"#phonelibs/snpe/aarch64",
|
||||
"#phonelibs/libyuv/lib"
|
||||
"#phonelibs/libyuv/lib",
|
||||
"/system/vendor/lib64"
|
||||
]
|
||||
cflags = ["-DQCOM", "-mcpu=cortex-a57"]
|
||||
cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
|
||||
rpath = ["/system/vendor/lib64"]
|
||||
rpath = []
|
||||
|
||||
if QCOM_REPLAY:
|
||||
cflags += ["-DQCOM_REPLAY"]
|
||||
@@ -125,8 +134,11 @@ env = Environment(
|
||||
"-O2",
|
||||
"-Wunused",
|
||||
"-Werror",
|
||||
"-Wno-unknown-warning-option",
|
||||
"-Wno-deprecated-register",
|
||||
"-Wno-inconsistent-missing-override",
|
||||
"-Wno-c99-designator",
|
||||
"-Wno-reorder-init-list",
|
||||
] + cflags + ccflags_asan,
|
||||
|
||||
CPPPATH=cpppath + [
|
||||
@@ -137,7 +149,6 @@ env = Environment(
|
||||
"#phonelibs/openmax/include",
|
||||
"#phonelibs/json11",
|
||||
"#phonelibs/curl/include",
|
||||
#"#phonelibs/opencv/include", # use opencv4 instead
|
||||
"#phonelibs/libgralloc/include",
|
||||
"#phonelibs/android_frameworks_native/include",
|
||||
"#phonelibs/android_hardware_libhardware/include",
|
||||
@@ -150,6 +161,8 @@ env = Environment(
|
||||
"#selfdrive/camerad/include",
|
||||
"#selfdrive/loggerd/include",
|
||||
"#selfdrive/modeld",
|
||||
"#selfdrive/sensord",
|
||||
"#selfdrive/ui",
|
||||
"#cereal/messaging",
|
||||
"#cereal",
|
||||
"#opendbc/can",
|
||||
@@ -170,6 +183,44 @@ env = Environment(
|
||||
]
|
||||
)
|
||||
|
||||
qt_env = None
|
||||
if arch in ["x86_64", "Darwin", "larch64"]:
|
||||
qt_env = env.Clone()
|
||||
|
||||
if arch == "Darwin":
|
||||
qt_env['QTDIR'] = "/usr/local/opt/qt"
|
||||
QT_BASE = "/usr/local/opt/qt/"
|
||||
qt_dirs = [
|
||||
QT_BASE + "include/",
|
||||
QT_BASE + "include/QtWidgets",
|
||||
QT_BASE + "include/QtGui",
|
||||
QT_BASE + "include/QtCore",
|
||||
QT_BASE + "include/QtDBus",
|
||||
QT_BASE + "include/QtMultimedia",
|
||||
]
|
||||
qt_env["LINKFLAGS"] += ["-F" + QT_BASE + "lib"]
|
||||
else:
|
||||
qt_dirs = [
|
||||
f"/usr/include/{real_arch}-linux-gnu/qt5",
|
||||
f"/usr/include/{real_arch}-linux-gnu/qt5/QtWidgets",
|
||||
f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui",
|
||||
f"/usr/include/{real_arch}-linux-gnu/qt5/QtCore",
|
||||
f"/usr/include/{real_arch}-linux-gnu/qt5/QtDBus",
|
||||
f"/usr/include/{real_arch}-linux-gnu/qt5/QtMultimedia",
|
||||
f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.5.1/QtGui",
|
||||
]
|
||||
|
||||
qt_env.Tool('qt')
|
||||
qt_env['CPPPATH'] += qt_dirs
|
||||
qt_flags = [
|
||||
"-D_REENTRANT",
|
||||
"-DQT_NO_DEBUG",
|
||||
"-DQT_WIDGETS_LIB",
|
||||
"-DQT_GUI_LIB",
|
||||
"-DQT_CORE_LIB"
|
||||
]
|
||||
qt_env['CXXFLAGS'] += qt_flags
|
||||
|
||||
if os.environ.get('SCONS_CACHE'):
|
||||
cache_dir = '/tmp/scons_cache'
|
||||
|
||||
@@ -208,7 +259,7 @@ def abspath(x):
|
||||
|
||||
# still needed for apks
|
||||
zmq = 'zmq'
|
||||
Export('env', 'arch', 'zmq', 'SHARED', 'webcam', 'QCOM_REPLAY')
|
||||
Export('env', 'qt_env', 'arch', 'zmq', 'SHARED', 'webcam', 'QCOM_REPLAY')
|
||||
|
||||
# cereal and messaging are shared with the system
|
||||
SConscript(['cereal/SConscript'])
|
||||
@@ -249,16 +300,18 @@ SConscript(['selfdrive/controls/lib/longitudinal_mpc_model/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/boardd/SConscript'])
|
||||
SConscript(['selfdrive/proclogd/SConscript'])
|
||||
SConscript(['selfdrive/clocksd/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/ui/SConscript'])
|
||||
SConscript(['selfdrive/loggerd/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/locationd/SConscript'])
|
||||
SConscript(['selfdrive/locationd/models/SConscript'])
|
||||
SConscript(['selfdrive/sensord/SConscript'])
|
||||
SConscript(['selfdrive/ui/SConscript'])
|
||||
|
||||
if arch == "aarch64":
|
||||
if arch != "Darwin":
|
||||
SConscript(['selfdrive/logcatd/SConscript'])
|
||||
SConscript(['selfdrive/sensord/SConscript'])
|
||||
SConscript(['selfdrive/clocksd/SConscript'])
|
||||
else:
|
||||
|
||||
|
||||
if arch == "x86_64":
|
||||
SConscript(['tools/lib/index_log/SConscript'])
|
||||
|
||||
Binary file not shown.
+19
-20
@@ -1,35 +1,34 @@
|
||||
Import('env', 'arch', 'zmq')
|
||||
Import('env', 'arch', 'zmq', 'cython_dependencies')
|
||||
|
||||
import shutil
|
||||
|
||||
gen_dir = Dir('gen')
|
||||
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/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
|
||||
['car.capnp', 'log.capnp'],
|
||||
'capnpc $SOURCES --src-prefix=cereal -o c++:' + gen_dir.path + '/cpp/')
|
||||
import shutil
|
||||
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'],
|
||||
'capnpc $SOURCES --src-prefix=cereal -o c++:' + gen_dir.path + '/cpp/')
|
||||
|
||||
if shutil.which('capnpc-java'):
|
||||
env.Command(
|
||||
['gen/java/Car.java', 'gen/java/Log.java'],
|
||||
['car.capnp', 'log.capnp'],
|
||||
'capnpc $SOURCES --src-prefix=cereal -o java:' + gen_dir.path + '/java/')
|
||||
env.Command(['gen/java/Car.java', 'gen/java/Log.java'],
|
||||
['car.capnp', 'log.capnp'],
|
||||
'capnpc $SOURCES --src-prefix=cereal -o java:' + gen_dir.path + '/java/')
|
||||
|
||||
# TODO: remove non shared cereal and messaging
|
||||
cereal_objects = env.SharedObject([
|
||||
'gen/cpp/car.capnp.c++',
|
||||
'gen/cpp/log.capnp.c++',
|
||||
])
|
||||
'gen/cpp/car.capnp.c++',
|
||||
'gen/cpp/log.capnp.c++',
|
||||
])
|
||||
|
||||
env.Library('cereal', cereal_objects)
|
||||
env.SharedLibrary('cereal_shared', cereal_objects)
|
||||
|
||||
cereal_dir = Dir('.')
|
||||
services_h = env.Command(
|
||||
['services.h'],
|
||||
['service_list.yaml', 'services.py'],
|
||||
'python3 ' + cereal_dir.path + '/services.py > $TARGET')
|
||||
services_h = env.Command(['services.h'],
|
||||
['service_list.yaml', 'services.py'],
|
||||
'python3 ' + cereal_dir.path + '/services.py > $TARGET')
|
||||
|
||||
messaging_objects = env.SharedObject([
|
||||
'messaging/messaging.cc',
|
||||
@@ -56,9 +55,9 @@ Depends('messaging/bridge.cc', services_h)
|
||||
#env.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq'])
|
||||
|
||||
|
||||
env.Command(['messaging/messaging_pyx.so'],
|
||||
[messaging_lib, 'messaging/messaging_pyx_setup.py', 'messaging/messaging_pyx.pyx', 'messaging/messaging.pxd'],
|
||||
"cd " + messaging_dir.path + " && python3 messaging_pyx_setup.py build_ext --inplace")
|
||||
env.Command(['messaging/messaging_pyx.so', 'messaging/messaging_pyx.cpp'],
|
||||
cython_dependencies + [messaging_lib, 'messaging/messaging_pyx_setup.py', 'messaging/messaging_pyx.pyx', 'messaging/messaging.pxd'],
|
||||
"cd " + messaging_dir.path + " && python3 messaging_pyx_setup.py build_ext --inplace")
|
||||
|
||||
|
||||
if GetOption('test'):
|
||||
|
||||
+13
-10
@@ -38,7 +38,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
pedalPressed @13;
|
||||
cruiseDisabled @14;
|
||||
radarCanError @15;
|
||||
dataNeededDEPRECATED @16;
|
||||
speedTooLow @17;
|
||||
outOfSpace @18;
|
||||
overheat @19;
|
||||
@@ -49,29 +48,22 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
pcmDisable @24;
|
||||
noTarget @25;
|
||||
radarFault @26;
|
||||
modelCommIssueDEPRECATED @27;
|
||||
brakeHold @28;
|
||||
parkBrake @29;
|
||||
manualRestart @30;
|
||||
lowSpeedLockout @31;
|
||||
plannerError @32;
|
||||
ipasOverrideDEPRECATED @33;
|
||||
debugAlert @34;
|
||||
steerTempUnavailableMute @35;
|
||||
resumeRequired @36;
|
||||
preDriverDistracted @37;
|
||||
promptDriverDistracted @38;
|
||||
driverDistracted @39;
|
||||
geofenceDEPRECATED @40;
|
||||
driverMonitorOnDEPRECATED @41;
|
||||
driverMonitorOffDEPRECATED @42;
|
||||
preDriverUnresponsive @43;
|
||||
promptDriverUnresponsive @44;
|
||||
driverUnresponsive @45;
|
||||
belowSteerSpeed @46;
|
||||
calibrationProgressDEPRECATED @47;
|
||||
lowBattery @48;
|
||||
invalidGiraffeHondaDEPRECATED @49;
|
||||
vehicleModelInvalid @50;
|
||||
controlsFailed @51;
|
||||
sensorDataInvalid @52;
|
||||
@@ -104,14 +96,24 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
fcw @79;
|
||||
steerSaturated @80;
|
||||
whitePandaUnsupported @81;
|
||||
startupWhitePanda @82;
|
||||
canErrorPersistentDEPRECATED @83;
|
||||
belowEngageSpeed @84;
|
||||
noGps @85;
|
||||
focusRecoverActive @86;
|
||||
wrongCruiseMode @87;
|
||||
neosUpdateRequired @88;
|
||||
modeldLagging @89;
|
||||
deviceFalling @90;
|
||||
|
||||
dataNeededDEPRECATED @16;
|
||||
modelCommIssueDEPRECATED @27;
|
||||
ipasOverrideDEPRECATED @33;
|
||||
geofenceDEPRECATED @40;
|
||||
driverMonitorOnDEPRECATED @41;
|
||||
driverMonitorOffDEPRECATED @42;
|
||||
calibrationProgressDEPRECATED @47;
|
||||
invalidGiraffeHondaDEPRECATED @49;
|
||||
canErrorPersistentDEPRECATED @83;
|
||||
startupWhitePandaDEPRECATED @82;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -474,6 +476,7 @@ struct CarParams {
|
||||
volkswagenPq @21;
|
||||
subaruLegacy @22; # pre-Global platform
|
||||
hyundaiLegacy @23;
|
||||
hyundaiCommunity @24;
|
||||
}
|
||||
|
||||
enum SteerControlType {
|
||||
|
||||
+77
-10
@@ -186,6 +186,7 @@ struct SensorEventData {
|
||||
gyroUncalibrated @12 :SensorVec;
|
||||
proximity @13: Float32;
|
||||
light @14: Float32;
|
||||
temperature @15: Float32;
|
||||
}
|
||||
source @8 :SensorSource;
|
||||
|
||||
@@ -203,6 +204,8 @@ struct SensorEventData {
|
||||
lsm6ds3 @5; # accelerometer (c2)
|
||||
bmp280 @6; # barometer (c2)
|
||||
mmc3416x @7; # magnetometer (c2)
|
||||
bmx055 @8;
|
||||
rpr0521 @9;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -267,14 +270,15 @@ struct CanData {
|
||||
}
|
||||
|
||||
struct ThermalData {
|
||||
cpu0 @0 :UInt16;
|
||||
cpu1 @1 :UInt16;
|
||||
cpu2 @2 :UInt16;
|
||||
cpu3 @3 :UInt16;
|
||||
mem @4 :UInt16;
|
||||
gpu @5 :UInt16;
|
||||
bat @6 :UInt32;
|
||||
pa0 @21 :UInt16;
|
||||
# Deprecated
|
||||
cpu0DEPRECATED @0 :UInt16;
|
||||
cpu1DEPRECATED @1 :UInt16;
|
||||
cpu2DEPRECATED @2 :UInt16;
|
||||
cpu3DEPRECATED @3 :UInt16;
|
||||
memDEPRECATED @4 :UInt16;
|
||||
gpuDEPRECATED @5 :UInt16;
|
||||
batDEPRECATED @6 :UInt32;
|
||||
pa0DEPRECATED @21 :UInt16;
|
||||
|
||||
# not thermal
|
||||
freeSpace @7 :Float32;
|
||||
@@ -286,6 +290,7 @@ struct ThermalData {
|
||||
networkType @22 :NetworkType;
|
||||
offroadPowerUsage @23 :UInt32; # Power usage since going offroad in uWh
|
||||
networkStrength @24 :NetworkStrength;
|
||||
carBatteryCapacity @25 :UInt32; # Estimated remaining car battery capacity in uWh
|
||||
|
||||
fanSpeed @10 :UInt16;
|
||||
started @11 :Bool;
|
||||
@@ -298,6 +303,12 @@ struct ThermalData {
|
||||
memUsedPercent @19 :Int8;
|
||||
cpuPerc @20 :Int8;
|
||||
|
||||
cpu @26 :List(Float32);
|
||||
gpu @27 :List(Float32);
|
||||
mem @28 :Float32;
|
||||
bat @29 :Float32;
|
||||
ambient @30 :Float32;
|
||||
|
||||
enum ThermalStatus {
|
||||
green @0; # all processes run
|
||||
yellow @1; # critical processes run (kill uploader), engage still allowed
|
||||
@@ -373,6 +384,8 @@ struct HealthData {
|
||||
interruptRateTim3 @17;
|
||||
registerDivergent @18;
|
||||
interruptRateKlineInit @19;
|
||||
interruptRateClockSource @20;
|
||||
interruptRateTim9 @21;
|
||||
# Update max fault type in boardd when adding faults
|
||||
}
|
||||
|
||||
@@ -441,18 +454,22 @@ struct RadarState @0x9a185389d6fdd05f {
|
||||
struct LiveCalibrationData {
|
||||
# deprecated
|
||||
warpMatrix @0 :List(Float32);
|
||||
|
||||
# camera_frame_from_model_frame
|
||||
warpMatrix2 @5 :List(Float32);
|
||||
warpMatrixBig @6 :List(Float32);
|
||||
|
||||
calStatus @1 :Int8;
|
||||
calCycle @2 :Int32;
|
||||
calPerc @3 :Int8;
|
||||
validBlocks @9 :Int32;
|
||||
|
||||
# view_frame_from_road_frame
|
||||
# ui's is inversed needs new
|
||||
extrinsicMatrix @4 :List(Float32);
|
||||
# the direction of travel vector in device frame
|
||||
rpyCalib @7 :List(Float32);
|
||||
rpyCalibSpread @8 :List(Float32);
|
||||
}
|
||||
|
||||
struct LiveTracks {
|
||||
@@ -598,7 +615,7 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
output @3 :Float32;
|
||||
lqrOutput @4 :Float32;
|
||||
saturated @5 :Bool;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct LiveEventData {
|
||||
@@ -671,6 +688,52 @@ struct ModelData {
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
struct ModelDataV2 {
|
||||
frameId @0 :UInt32;
|
||||
frameAge @1 :UInt32;
|
||||
frameDropPerc @2 :Float32;
|
||||
timestampEof @3 :UInt64;
|
||||
|
||||
position @4 :XYZTData;
|
||||
orientation @5 :XYZTData;
|
||||
velocity @6 :XYZTData;
|
||||
orientationRate @7 :XYZTData;
|
||||
laneLines @8 :List(XYZTData);
|
||||
laneLineProbs @9 :List(Float32);
|
||||
roadEdges @10 :List(XYZTData);
|
||||
leads @11 :List(LeadDataV2);
|
||||
|
||||
meta @12 :MetaData;
|
||||
|
||||
struct XYZTData {
|
||||
x @0 :List(Float32);
|
||||
y @1 :List(Float32);
|
||||
z @2 :List(Float32);
|
||||
t @3 :List(Float32);
|
||||
xStd @4 :List(Float32);
|
||||
yStd @5 :List(Float32);
|
||||
zStd @6 :List(Float32);
|
||||
}
|
||||
|
||||
struct LeadDataV2 {
|
||||
prob @0 :Float32;
|
||||
t @1 :Float32;
|
||||
xyva @2 :List(Float32);
|
||||
xyvaStd @3 :List(Float32);
|
||||
}
|
||||
|
||||
struct MetaData {
|
||||
engagedProb @0 :Float32;
|
||||
desirePrediction @1 :List(Float32);
|
||||
brakeDisengageProb @2 :Float32;
|
||||
gasDisengageProb @3 :Float32;
|
||||
steerOverrideProb @4 :Float32;
|
||||
desireState @5 :List(Float32);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
struct CalibrationFeatures {
|
||||
frameId @0 :UInt32;
|
||||
|
||||
@@ -864,6 +927,7 @@ struct LiveLocationKalman {
|
||||
posenetOK @18 :Bool = true;
|
||||
gpsOK @19 :Bool = true;
|
||||
sensorsOK @21 :Bool = true;
|
||||
deviceStable @22 :Bool = true;
|
||||
|
||||
enum Status {
|
||||
uninitialized @0;
|
||||
@@ -1901,7 +1965,6 @@ struct DMonitoringState {
|
||||
isDistracted @2 :Bool;
|
||||
awarenessStatus @3 :Float32;
|
||||
isRHD @4 :Bool;
|
||||
rhdChecked @5 :Bool;
|
||||
posePitchOffset @6 :Float32;
|
||||
posePitchValidCount @7 :UInt32;
|
||||
poseYawOffset @8 :Float32;
|
||||
@@ -1912,6 +1975,8 @@ struct DMonitoringState {
|
||||
isLowStd @13 :Bool;
|
||||
hiStdCount @14 :UInt32;
|
||||
isPreview @15 :Bool;
|
||||
|
||||
rhdCheckedDEPRECATED @5 :Bool;
|
||||
}
|
||||
|
||||
struct Boot {
|
||||
@@ -2057,5 +2122,7 @@ struct Event {
|
||||
dMonitoringState @71: DMonitoringState;
|
||||
liveLocationKalman @72 :LiveLocationKalman;
|
||||
sentinel @73 :Sentinel;
|
||||
wideFrame @74: FrameData;
|
||||
modelV2 @75 :ModelDataV2;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -3,6 +3,8 @@ from .messaging_pyx import Context, Poller, SubSocket, PubSocket # pylint: disa
|
||||
from .messaging_pyx import MultiplePublishersError, MessagingError # pylint: disable=no-name-in-module, import-error
|
||||
import capnp
|
||||
|
||||
from typing import Optional, List, Union
|
||||
|
||||
from cereal import log
|
||||
from cereal.services import service_list
|
||||
|
||||
@@ -19,7 +21,7 @@ except ImportError:
|
||||
|
||||
context = Context()
|
||||
|
||||
def new_message(service=None, size=None):
|
||||
def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
|
||||
dat = log.Event.new_message()
|
||||
dat.logMonoTime = int(sec_since_boot() * 1e9)
|
||||
dat.valid = True
|
||||
@@ -30,15 +32,15 @@ def new_message(service=None, size=None):
|
||||
dat.init(service, size)
|
||||
return dat
|
||||
|
||||
def pub_sock(endpoint):
|
||||
def pub_sock(endpoint: str) -> PubSocket:
|
||||
sock = PubSocket()
|
||||
sock.connect(context, endpoint)
|
||||
return sock
|
||||
|
||||
def sub_sock(endpoint, poller=None, addr="127.0.0.1", conflate=False, timeout=None):
|
||||
def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
|
||||
conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
|
||||
sock = SubSocket()
|
||||
addr = addr.encode('utf8')
|
||||
sock.connect(context, endpoint, addr, conflate)
|
||||
sock.connect(context, endpoint, addr.encode('utf8'), conflate)
|
||||
|
||||
if timeout is not None:
|
||||
sock.setTimeout(timeout)
|
||||
@@ -48,9 +50,9 @@ def sub_sock(endpoint, poller=None, addr="127.0.0.1", conflate=False, timeout=No
|
||||
return sock
|
||||
|
||||
|
||||
def drain_sock_raw(sock, wait_for_one=False):
|
||||
def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
|
||||
"""Receive all message currently available on the queue"""
|
||||
ret = []
|
||||
ret: List[bytes] = []
|
||||
while 1:
|
||||
if wait_for_one and len(ret) == 0:
|
||||
dat = sock.receive()
|
||||
@@ -64,9 +66,9 @@ def drain_sock_raw(sock, wait_for_one=False):
|
||||
|
||||
return ret
|
||||
|
||||
def drain_sock(sock, wait_for_one=False):
|
||||
def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
|
||||
"""Receive all message currently available on the queue"""
|
||||
ret = []
|
||||
ret: List[capnp.lib.capnp._DynamicStructReader] = []
|
||||
while 1:
|
||||
if wait_for_one and len(ret) == 0:
|
||||
dat = sock.receive()
|
||||
@@ -83,7 +85,7 @@ def drain_sock(sock, wait_for_one=False):
|
||||
|
||||
|
||||
# TODO: print when we drop packets?
|
||||
def recv_sock(sock, wait=False):
|
||||
def recv_sock(sock: SubSocket, wait: bool = False) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
|
||||
"""Same as drain sock, but only returns latest message. Consider using conflate instead."""
|
||||
dat = None
|
||||
|
||||
@@ -103,35 +105,28 @@ def recv_sock(sock, wait=False):
|
||||
|
||||
return dat
|
||||
|
||||
def recv_one(sock):
|
||||
def recv_one(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
|
||||
dat = sock.receive()
|
||||
if dat is not None:
|
||||
dat = log.Event.from_bytes(dat)
|
||||
return dat
|
||||
|
||||
def recv_one_or_none(sock):
|
||||
def recv_one_or_none(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
|
||||
dat = sock.receive(non_blocking=True)
|
||||
if dat is not None:
|
||||
dat = log.Event.from_bytes(dat)
|
||||
return dat
|
||||
|
||||
def recv_one_retry(sock):
|
||||
def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
|
||||
"""Keep receiving until we get a message"""
|
||||
while True:
|
||||
dat = sock.receive()
|
||||
if dat is not None:
|
||||
return log.Event.from_bytes(dat)
|
||||
|
||||
# TODO: This does not belong in messaging
|
||||
def get_one_can(logcan):
|
||||
while True:
|
||||
can = recv_one_retry(logcan)
|
||||
if len(can.can) > 0:
|
||||
return can
|
||||
|
||||
class SubMaster():
|
||||
def __init__(self, services, ignore_alive=None, addr="127.0.0.1"):
|
||||
self.poller = Poller()
|
||||
def __init__(self, services: List[str], poll: Optional[List[str]] = None,
|
||||
ignore_alive: Optional[List[str]] = None, addr:str ="127.0.0.1"):
|
||||
self.frame = -1
|
||||
self.updated = {s: False for s in services}
|
||||
self.rcv_time = {s: 0. for s in services}
|
||||
@@ -140,8 +135,12 @@ class SubMaster():
|
||||
self.sock = {}
|
||||
self.freq = {}
|
||||
self.data = {}
|
||||
self.logMonoTime = {}
|
||||
self.valid = {}
|
||||
self.logMonoTime = {}
|
||||
|
||||
self.poller = Poller()
|
||||
self.non_polled_services = [s for s in services if poll is not None and
|
||||
len(poll) and s not in poll]
|
||||
|
||||
if ignore_alive is not None:
|
||||
self.ignore_alive = ignore_alive
|
||||
@@ -150,30 +149,33 @@ class SubMaster():
|
||||
|
||||
for s in services:
|
||||
if addr is not None:
|
||||
self.sock[s] = sub_sock(s, poller=self.poller, addr=addr, conflate=True)
|
||||
p = self.poller if s not in self.non_polled_services else None
|
||||
self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
|
||||
self.freq[s] = service_list[s].frequency
|
||||
|
||||
try:
|
||||
data = new_message(s)
|
||||
except capnp.lib.capnp.KjException: # pylint: disable=c-extension-no-member
|
||||
# lists
|
||||
data = new_message(s, 0)
|
||||
data = new_message(s, 0) # lists
|
||||
|
||||
self.data[s] = getattr(data, s)
|
||||
self.logMonoTime[s] = 0
|
||||
self.valid[s] = data.valid
|
||||
|
||||
def __getitem__(self, s):
|
||||
def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
|
||||
return self.data[s]
|
||||
|
||||
def update(self, timeout=1000):
|
||||
def update(self, timeout: int = 1000) -> None:
|
||||
msgs = []
|
||||
for sock in self.poller.poll(timeout):
|
||||
msgs.append(recv_one_or_none(sock))
|
||||
|
||||
# non-blocking receive for non-polled sockets
|
||||
for s in self.non_polled_services:
|
||||
msgs.append(recv_one_or_none(self.sock[s]))
|
||||
self.update_msgs(sec_since_boot(), msgs)
|
||||
|
||||
def update_msgs(self, cur_time, msgs):
|
||||
# TODO: add optional input that specify the service to wait for
|
||||
def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
|
||||
self.frame += 1
|
||||
self.updated = dict.fromkeys(self.updated, False)
|
||||
for msg in msgs:
|
||||
@@ -196,30 +198,28 @@ class SubMaster():
|
||||
else:
|
||||
self.alive[s] = True
|
||||
|
||||
def all_alive(self, service_list=None):
|
||||
def all_alive(self, service_list=None) -> bool:
|
||||
if service_list is None: # check all
|
||||
service_list = self.alive.keys()
|
||||
return all(self.alive[s] for s in service_list if s not in self.ignore_alive)
|
||||
|
||||
def all_valid(self, service_list=None):
|
||||
def all_valid(self, service_list=None) -> bool:
|
||||
if service_list is None: # check all
|
||||
service_list = self.valid.keys()
|
||||
return all(self.valid[s] for s in service_list)
|
||||
|
||||
def all_alive_and_valid(self, service_list=None):
|
||||
def all_alive_and_valid(self, service_list=None) -> bool:
|
||||
if service_list is None: # check all
|
||||
service_list = self.alive.keys()
|
||||
return self.all_alive(service_list=service_list) and self.all_valid(service_list=service_list)
|
||||
|
||||
|
||||
class PubMaster():
|
||||
def __init__(self, services):
|
||||
def __init__(self, services: List[str]):
|
||||
self.sock = {}
|
||||
for s in services:
|
||||
self.sock[s] = pub_sock(s)
|
||||
|
||||
def send(self, s, dat):
|
||||
# accept either bytes or capnp builder
|
||||
def send(self, s: str, dat: Union[bytes, capnp.lib.capnp._DynamicStructBuilder]) -> None:
|
||||
if not isinstance(dat, bytes):
|
||||
dat = dat.to_bytes()
|
||||
self.sock[s].send(dat)
|
||||
|
||||
@@ -15,6 +15,18 @@ void sig_handler(int signal) {
|
||||
msgq_do_exit = 1;
|
||||
}
|
||||
|
||||
static size_t get_size(std::string endpoint){
|
||||
size_t sz = DEFAULT_SEGMENT_SIZE;
|
||||
|
||||
#if !defined(QCOM) && !defined(QCOM2)
|
||||
if (endpoint == "frame" || endpoint == "frontFrame" || endpoint == "wideFrame"){
|
||||
sz *= 10;
|
||||
}
|
||||
#endif
|
||||
|
||||
return sz;
|
||||
}
|
||||
|
||||
|
||||
MSGQContext::MSGQContext() {
|
||||
}
|
||||
@@ -49,13 +61,12 @@ MSGQMessage::~MSGQMessage() {
|
||||
this->close();
|
||||
}
|
||||
|
||||
|
||||
int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate){
|
||||
assert(context);
|
||||
assert(address == "127.0.0.1");
|
||||
|
||||
q = new msgq_queue_t;
|
||||
int r = msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE);
|
||||
int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
|
||||
if (r != 0){
|
||||
return r;
|
||||
}
|
||||
@@ -143,7 +154,7 @@ int MSGQPubSocket::connect(Context *context, std::string endpoint){
|
||||
assert(context);
|
||||
|
||||
q = new msgq_queue_t;
|
||||
int r = msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE);
|
||||
int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
|
||||
if (r != 0){
|
||||
return r;
|
||||
}
|
||||
|
||||
@@ -6,6 +6,10 @@
|
||||
#include <capnp/serialize.h>
|
||||
#include "../gen/cpp/log.capnp.h"
|
||||
|
||||
#ifdef __APPLE__
|
||||
#define CLOCK_BOOTTIME CLOCK_MONOTONIC
|
||||
#endif
|
||||
|
||||
#define MSG_MULTIPLE_PUBLISHERS 100
|
||||
|
||||
class Context {
|
||||
@@ -59,34 +63,59 @@ public:
|
||||
};
|
||||
|
||||
class SubMaster {
|
||||
public:
|
||||
public:
|
||||
SubMaster(const std::initializer_list<const char *> &service_list,
|
||||
const char *address = nullptr, const std::initializer_list<const char *> &ignore_alive = {});
|
||||
int update(int timeout = 1000);
|
||||
inline bool allAlive(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, false, true); }
|
||||
inline bool allValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, false); }
|
||||
inline bool allAliveAndValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, true); }
|
||||
bool updated(const char *name) const;
|
||||
void drain();
|
||||
cereal::Event::Reader &operator[](const char *name);
|
||||
~SubMaster();
|
||||
|
||||
private:
|
||||
uint64_t frame = 0;
|
||||
bool updated(const char *name) const;
|
||||
uint64_t rcv_frame(const char *name) const;
|
||||
cereal::Event::Reader &operator[](const char *name);
|
||||
|
||||
private:
|
||||
bool all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive);
|
||||
Poller *poller_ = nullptr;
|
||||
uint64_t frame_ = 0;
|
||||
struct SubMessage;
|
||||
std::map<SubSocket *, SubMessage *> messages_;
|
||||
std::map<std::string, SubMessage *> services_;
|
||||
};
|
||||
|
||||
class MessageBuilder : public capnp::MallocMessageBuilder {
|
||||
public:
|
||||
MessageBuilder() = default;
|
||||
|
||||
cereal::Event::Builder initEvent(bool valid = true) {
|
||||
cereal::Event::Builder event = initRoot<cereal::Event>();
|
||||
struct timespec t;
|
||||
clock_gettime(CLOCK_BOOTTIME, &t);
|
||||
uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec;
|
||||
event.setLogMonoTime(current_time);
|
||||
event.setValid(valid);
|
||||
return event;
|
||||
}
|
||||
|
||||
kj::ArrayPtr<capnp::byte> toBytes() {
|
||||
heapArray_ = capnp::messageToFlatArray(*this);
|
||||
return heapArray_.asBytes();
|
||||
}
|
||||
|
||||
private:
|
||||
kj::Array<capnp::word> heapArray_;
|
||||
};
|
||||
|
||||
class PubMaster {
|
||||
public:
|
||||
public:
|
||||
PubMaster(const std::initializer_list<const char *> &service_list);
|
||||
inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); }
|
||||
int send(const char *name, capnp::MessageBuilder &msg);
|
||||
int send(const char *name, MessageBuilder &msg);
|
||||
~PubMaster();
|
||||
|
||||
private:
|
||||
private:
|
||||
std::map<std::string, PubSocket *> sockets_;
|
||||
};
|
||||
|
||||
@@ -6,6 +6,7 @@ from distutils.core import Extension, setup # pylint: disable=import-error,no-n
|
||||
from Cython.Build import cythonize
|
||||
from Cython.Distutils import build_ext
|
||||
|
||||
TICI = os.path.isfile('/TICI')
|
||||
|
||||
def get_ext_filename_without_platform_suffix(filename):
|
||||
name, ext = os.path.splitext(filename)
|
||||
@@ -30,16 +31,16 @@ class BuildExtWithoutPlatformSuffix(build_ext):
|
||||
|
||||
|
||||
sourcefiles = ['messaging_pyx.pyx']
|
||||
extra_compile_args = ["-std=c++14"]
|
||||
extra_compile_args = ["-std=c++14", "-Wno-nullability-completeness"]
|
||||
libraries = ['zmq']
|
||||
ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip() # pylint: disable=unexpected-keyword-arg
|
||||
|
||||
if ARCH == "aarch64" and os.path.isdir("/system"):
|
||||
if ARCH == "aarch64" and not TICI:
|
||||
# android
|
||||
extra_compile_args += ["-Wno-deprecated-register"]
|
||||
libraries += ['gnustl_shared']
|
||||
|
||||
setup(name='CAN parser',
|
||||
setup(name='messaging',
|
||||
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
|
||||
ext_modules=cythonize(
|
||||
Extension(
|
||||
@@ -51,7 +52,7 @@ setup(name='CAN parser',
|
||||
extra_objects=[
|
||||
os.path.join(os.path.dirname(os.path.realpath(__file__)), '../', 'libmessaging.a'),
|
||||
]
|
||||
)
|
||||
),
|
||||
nthreads=4,
|
||||
),
|
||||
nthreads=4,
|
||||
)
|
||||
|
||||
@@ -21,6 +21,8 @@
|
||||
|
||||
#include <stdio.h>
|
||||
|
||||
#include "services.h"
|
||||
|
||||
#include "msgq.hpp"
|
||||
|
||||
void sigusr2_handler(int signal) {
|
||||
@@ -81,11 +83,20 @@ void msgq_wait_for_subscriber(msgq_queue_t *q){
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
bool service_exists(std::string path){
|
||||
for (const auto& it : services) {
|
||||
if (it.name == path) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
|
||||
assert(size < 0xFFFFFFFF); // Buffer must be smaller than 2^32 bytes
|
||||
|
||||
if (!service_exists(std::string(path))){
|
||||
std::cout << "Warning, " << std::string(path) << " is not in service list." << std::endl;
|
||||
}
|
||||
std::signal(SIGUSR2, sigusr2_handler);
|
||||
|
||||
const char * prefix = "/dev/shm/";
|
||||
@@ -102,15 +113,15 @@ int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
|
||||
delete[] full_path;
|
||||
|
||||
int rc = ftruncate(fd, size + sizeof(msgq_header_t));
|
||||
if (rc < 0)
|
||||
if (rc < 0){
|
||||
return -1;
|
||||
|
||||
}
|
||||
char * mem = (char*)mmap(NULL, size + sizeof(msgq_header_t), PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
|
||||
close(fd);
|
||||
|
||||
if (mem == NULL)
|
||||
if (mem == NULL){
|
||||
return -1;
|
||||
|
||||
}
|
||||
q->mmap_p = mem;
|
||||
|
||||
msgq_header_t *header = (msgq_header_t *)mem;
|
||||
@@ -418,8 +429,6 @@ int msgq_msg_recv(msgq_msg_t * msg, msgq_queue_t * q){
|
||||
|
||||
|
||||
int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout){
|
||||
assert(timeout >= 0);
|
||||
|
||||
int num = 0;
|
||||
|
||||
// Check if messages ready
|
||||
|
||||
@@ -2,20 +2,20 @@
|
||||
#include <time.h>
|
||||
#include "messaging.hpp"
|
||||
#include "services.h"
|
||||
#ifdef __APPLE__
|
||||
#define CLOCK_BOOTTIME CLOCK_MONOTONIC
|
||||
#endif
|
||||
|
||||
static inline uint64_t nanos_since_boot() {
|
||||
struct timespec t;
|
||||
clock_gettime(CLOCK_BOOTTIME, &t);
|
||||
return t.tv_sec * 1000000000ULL + t.tv_nsec;
|
||||
}
|
||||
|
||||
static const service *get_service(const char *name) {
|
||||
for (const auto &it : services) {
|
||||
if (strcmp(it.name, name) == 0) return ⁢
|
||||
}
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
static inline bool inList(const std::initializer_list<const char *> &list, const char *value) {
|
||||
for (auto &v : list) {
|
||||
if (strcmp(value, v) == 0) return true;
|
||||
@@ -24,7 +24,7 @@ static inline bool inList(const std::initializer_list<const char *> &list, const
|
||||
}
|
||||
|
||||
class MessageContext {
|
||||
public:
|
||||
public:
|
||||
MessageContext() { ctx_ = Context::create(); }
|
||||
~MessageContext() { delete ctx_; }
|
||||
Context *ctx_;
|
||||
@@ -53,18 +53,18 @@ SubMaster::SubMaster(const std::initializer_list<const char *> &service_list, co
|
||||
assert(socket != 0);
|
||||
poller_->registerSocket(socket);
|
||||
SubMessage *m = new SubMessage{
|
||||
.socket = socket,
|
||||
.freq = serv->frequency,
|
||||
.ignore_alive = inList(ignore_alive, name),
|
||||
.allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
|
||||
.buf = kj::heapArray<capnp::word>(1024)};
|
||||
.socket = socket,
|
||||
.freq = serv->frequency,
|
||||
.ignore_alive = inList(ignore_alive, name),
|
||||
.allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
|
||||
.buf = kj::heapArray<capnp::word>(1024)};
|
||||
messages_[socket] = m;
|
||||
services_[name] = m;
|
||||
}
|
||||
}
|
||||
|
||||
int SubMaster::update(int timeout) {
|
||||
if (++frame_ == UINT64_MAX) frame_ = 1;
|
||||
if (++frame == UINT64_MAX) frame = 1;
|
||||
for (auto &kv : messages_) kv.second->updated = false;
|
||||
|
||||
int updated = 0;
|
||||
@@ -89,7 +89,7 @@ int SubMaster::update(int timeout) {
|
||||
m->event = m->msg_reader->getRoot<cereal::Event>();
|
||||
m->updated = true;
|
||||
m->rcv_time = current_time;
|
||||
m->rcv_frame = frame_;
|
||||
m->rcv_frame = frame;
|
||||
m->valid = m->event.getValid();
|
||||
|
||||
++updated;
|
||||
@@ -126,8 +126,17 @@ void SubMaster::drain() {
|
||||
}
|
||||
}
|
||||
|
||||
bool SubMaster::updated(const char *name) const { return services_.at(name)->updated; }
|
||||
cereal::Event::Reader &SubMaster::operator[](const char *name) { return services_.at(name)->event; };
|
||||
bool SubMaster::updated(const char *name) const {
|
||||
return services_.at(name)->updated;
|
||||
}
|
||||
|
||||
uint64_t SubMaster::rcv_frame(const char *name) const {
|
||||
return services_.at(name)->rcv_frame;
|
||||
}
|
||||
|
||||
cereal::Event::Reader &SubMaster::operator[](const char *name) {
|
||||
return services_.at(name)->event;
|
||||
};
|
||||
|
||||
SubMaster::~SubMaster() {
|
||||
delete poller_;
|
||||
@@ -151,9 +160,8 @@ PubMaster::PubMaster(const std::initializer_list<const char *> &service_list) {
|
||||
}
|
||||
}
|
||||
|
||||
int PubMaster::send(const char *name, capnp::MessageBuilder &msg) {
|
||||
auto words = capnp::messageToFlatArray(msg);
|
||||
auto bytes = words.asBytes();
|
||||
int PubMaster::send(const char *name, MessageBuilder &msg) {
|
||||
auto bytes = msg.toBytes();
|
||||
return send(name, bytes.begin(), bytes.size());
|
||||
}
|
||||
|
||||
|
||||
@@ -63,7 +63,7 @@ orbOdometry: [8057, true, 0.]
|
||||
orbFeatures: [8058, false, 0.]
|
||||
orbKeyFrame: [8059, true, 0.]
|
||||
uiLayoutState: [8060, true, 0.]
|
||||
frontEncodeIdx: [8061, true, 5.]
|
||||
frontEncodeIdx: [8061, true, 5.] # should be 20fps on tici
|
||||
orbFeaturesSummary: [8062, true, 0.]
|
||||
driverState: [8063, true, 5., 1]
|
||||
liveParameters: [8064, true, 20., 2]
|
||||
@@ -77,6 +77,9 @@ carParams: [8071, true, 0.02, 1]
|
||||
frontFrame: [8072, true, 10.]
|
||||
dMonitoringState: [8073, true, 5., 1]
|
||||
offroadLayout: [8074, false, 0.]
|
||||
wideEncodeIdx: [8075, true, 20.]
|
||||
wideFrame: [8076, true, 20.]
|
||||
modelV2: [8077, true, 20., 20]
|
||||
|
||||
testModel: [8040, false, 0.]
|
||||
testLiveLocation: [8045, false, 0.]
|
||||
|
||||
+5
-5
@@ -1,6 +1,6 @@
|
||||
Import('env')
|
||||
Import('env', 'cython_dependencies')
|
||||
|
||||
# parser
|
||||
env.Command(['common_pyx.so'],
|
||||
['common_pyx_setup.py', 'clock.pyx'],
|
||||
"cd common && python3 common_pyx_setup.py build_ext --inplace")
|
||||
# Build cython clock module
|
||||
env.Command(['common_pyx.so', 'clock.cpp'],
|
||||
cython_dependencies + ['common_pyx_setup.py', 'clock.pyx'],
|
||||
"cd common && python3 common_pyx_setup.py build_ext --inplace")
|
||||
|
||||
@@ -1,286 +0,0 @@
|
||||
import os
|
||||
import binascii
|
||||
import itertools
|
||||
import re
|
||||
import struct
|
||||
import subprocess
|
||||
import random
|
||||
from cereal import log
|
||||
|
||||
NetworkType = log.ThermalData.NetworkType
|
||||
NetworkStrength = log.ThermalData.NetworkStrength
|
||||
|
||||
ANDROID = os.path.isfile('/EON')
|
||||
|
||||
def get_sound_card_online():
|
||||
return (os.path.isfile('/proc/asound/card0/state') and
|
||||
open('/proc/asound/card0/state').read().strip() == 'ONLINE')
|
||||
|
||||
def getprop(key):
|
||||
if not ANDROID:
|
||||
return ""
|
||||
return subprocess.check_output(["getprop", key], encoding='utf8').strip()
|
||||
|
||||
def get_imei(slot):
|
||||
slot = str(slot)
|
||||
if slot not in ("0", "1"):
|
||||
raise ValueError("SIM slot must be 0 or 1")
|
||||
|
||||
ret = parse_service_call_string(service_call(["iphonesubinfo", "3" , "i32", str(slot)]))
|
||||
if not ret:
|
||||
# allow non android to be identified differently
|
||||
ret = "%015d" % random.randint(0, 1 << 32)
|
||||
return ret
|
||||
|
||||
def get_serial():
|
||||
ret = getprop("ro.serialno")
|
||||
if ret == "":
|
||||
ret = "cccccccc"
|
||||
return ret
|
||||
|
||||
def get_subscriber_info():
|
||||
ret = parse_service_call_string(service_call(["iphonesubinfo", "7"]))
|
||||
if ret is None or len(ret) < 8:
|
||||
return ""
|
||||
return ret
|
||||
|
||||
def reboot(reason=None):
|
||||
if reason is None:
|
||||
reason_args = ["null"]
|
||||
else:
|
||||
reason_args = ["s16", reason]
|
||||
|
||||
subprocess.check_output([
|
||||
"service", "call", "power", "16", # IPowerManager.reboot
|
||||
"i32", "0", # no confirmation,
|
||||
*reason_args,
|
||||
"i32", "1" # wait
|
||||
])
|
||||
|
||||
def service_call(call):
|
||||
if not ANDROID:
|
||||
return None
|
||||
|
||||
ret = subprocess.check_output(["service", "call", *call], encoding='utf8').strip()
|
||||
if 'Parcel' not in ret:
|
||||
return None
|
||||
|
||||
return parse_service_call_bytes(ret)
|
||||
|
||||
def parse_service_call_unpack(r, fmt):
|
||||
try:
|
||||
return struct.unpack(fmt, r)[0]
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
def parse_service_call_string(r):
|
||||
try:
|
||||
r = r[8:] # Cut off length field
|
||||
r = r.decode('utf_16_be')
|
||||
|
||||
# All pairs of two characters seem to be swapped. Not sure why
|
||||
result = ""
|
||||
for a, b, in itertools.zip_longest(r[::2], r[1::2], fillvalue='\x00'):
|
||||
result += b + a
|
||||
|
||||
result = result.replace('\x00', '')
|
||||
|
||||
return result
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
def parse_service_call_bytes(ret):
|
||||
try:
|
||||
r = b""
|
||||
for hex_part in re.findall(r'[ (]([0-9a-f]{8})', ret):
|
||||
r += binascii.unhexlify(hex_part)
|
||||
return r
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
def get_network_type():
|
||||
if not ANDROID:
|
||||
return NetworkType.none
|
||||
|
||||
wifi_check = parse_service_call_string(service_call(["connectivity", "2"]))
|
||||
if wifi_check is None:
|
||||
return NetworkType.none
|
||||
elif 'WIFI' in wifi_check:
|
||||
return NetworkType.wifi
|
||||
else:
|
||||
cell_check = parse_service_call_unpack(service_call(['phone', '59']), ">q")
|
||||
# from TelephonyManager.java
|
||||
cell_networks = {
|
||||
0: NetworkType.none,
|
||||
1: NetworkType.cell2G,
|
||||
2: NetworkType.cell2G,
|
||||
3: NetworkType.cell3G,
|
||||
4: NetworkType.cell2G,
|
||||
5: NetworkType.cell3G,
|
||||
6: NetworkType.cell3G,
|
||||
7: NetworkType.cell3G,
|
||||
8: NetworkType.cell3G,
|
||||
9: NetworkType.cell3G,
|
||||
10: NetworkType.cell3G,
|
||||
11: NetworkType.cell2G,
|
||||
12: NetworkType.cell3G,
|
||||
13: NetworkType.cell4G,
|
||||
14: NetworkType.cell4G,
|
||||
15: NetworkType.cell3G,
|
||||
16: NetworkType.cell2G,
|
||||
17: NetworkType.cell3G,
|
||||
18: NetworkType.cell4G,
|
||||
19: NetworkType.cell4G
|
||||
}
|
||||
return cell_networks.get(cell_check, NetworkType.none)
|
||||
|
||||
def get_network_strength(network_type):
|
||||
network_strength = NetworkStrength.unknown
|
||||
|
||||
# from SignalStrength.java
|
||||
def get_lte_level(rsrp, rssnr):
|
||||
INT_MAX = 2147483647
|
||||
if rsrp == INT_MAX:
|
||||
lvl_rsrp = NetworkStrength.unknown
|
||||
elif rsrp >= -95:
|
||||
lvl_rsrp = NetworkStrength.great
|
||||
elif rsrp >= -105:
|
||||
lvl_rsrp = NetworkStrength.good
|
||||
elif rsrp >= -115:
|
||||
lvl_rsrp = NetworkStrength.moderate
|
||||
else:
|
||||
lvl_rsrp = NetworkStrength.poor
|
||||
if rssnr == INT_MAX:
|
||||
lvl_rssnr = NetworkStrength.unknown
|
||||
elif rssnr >= 45:
|
||||
lvl_rssnr = NetworkStrength.great
|
||||
elif rssnr >= 10:
|
||||
lvl_rssnr = NetworkStrength.good
|
||||
elif rssnr >= -30:
|
||||
lvl_rssnr = NetworkStrength.moderate
|
||||
else:
|
||||
lvl_rssnr = NetworkStrength.poor
|
||||
return max(lvl_rsrp, lvl_rssnr)
|
||||
|
||||
def get_tdscdma_level(tdscmadbm):
|
||||
lvl = NetworkStrength.unknown
|
||||
if tdscmadbm > -25:
|
||||
lvl = NetworkStrength.unknown
|
||||
elif tdscmadbm >= -49:
|
||||
lvl = NetworkStrength.great
|
||||
elif tdscmadbm >= -73:
|
||||
lvl = NetworkStrength.good
|
||||
elif tdscmadbm >= -97:
|
||||
lvl = NetworkStrength.moderate
|
||||
elif tdscmadbm >= -110:
|
||||
lvl = NetworkStrength.poor
|
||||
return lvl
|
||||
|
||||
def get_gsm_level(asu):
|
||||
if asu <= 2 or asu == 99:
|
||||
lvl = NetworkStrength.unknown
|
||||
elif asu >= 12:
|
||||
lvl = NetworkStrength.great
|
||||
elif asu >= 8:
|
||||
lvl = NetworkStrength.good
|
||||
elif asu >= 5:
|
||||
lvl = NetworkStrength.moderate
|
||||
else:
|
||||
lvl = NetworkStrength.poor
|
||||
return lvl
|
||||
|
||||
def get_evdo_level(evdodbm, evdosnr):
|
||||
lvl_evdodbm = NetworkStrength.unknown
|
||||
lvl_evdosnr = NetworkStrength.unknown
|
||||
if evdodbm >= -65:
|
||||
lvl_evdodbm = NetworkStrength.great
|
||||
elif evdodbm >= -75:
|
||||
lvl_evdodbm = NetworkStrength.good
|
||||
elif evdodbm >= -90:
|
||||
lvl_evdodbm = NetworkStrength.moderate
|
||||
elif evdodbm >= -105:
|
||||
lvl_evdodbm = NetworkStrength.poor
|
||||
if evdosnr >= 7:
|
||||
lvl_evdosnr = NetworkStrength.great
|
||||
elif evdosnr >= 5:
|
||||
lvl_evdosnr = NetworkStrength.good
|
||||
elif evdosnr >= 3:
|
||||
lvl_evdosnr = NetworkStrength.moderate
|
||||
elif evdosnr >= 1:
|
||||
lvl_evdosnr = NetworkStrength.poor
|
||||
return max(lvl_evdodbm, lvl_evdosnr)
|
||||
|
||||
def get_cdma_level(cdmadbm, cdmaecio):
|
||||
lvl_cdmadbm = NetworkStrength.unknown
|
||||
lvl_cdmaecio = NetworkStrength.unknown
|
||||
if cdmadbm >= -75:
|
||||
lvl_cdmadbm = NetworkStrength.great
|
||||
elif cdmadbm >= -85:
|
||||
lvl_cdmadbm = NetworkStrength.good
|
||||
elif cdmadbm >= -95:
|
||||
lvl_cdmadbm = NetworkStrength.moderate
|
||||
elif cdmadbm >= -100:
|
||||
lvl_cdmadbm = NetworkStrength.poor
|
||||
if cdmaecio >= -90:
|
||||
lvl_cdmaecio = NetworkStrength.great
|
||||
elif cdmaecio >= -110:
|
||||
lvl_cdmaecio = NetworkStrength.good
|
||||
elif cdmaecio >= -130:
|
||||
lvl_cdmaecio = NetworkStrength.moderate
|
||||
elif cdmaecio >= -150:
|
||||
lvl_cdmaecio = NetworkStrength.poor
|
||||
return max(lvl_cdmadbm, lvl_cdmaecio)
|
||||
|
||||
if network_type == NetworkType.none:
|
||||
return network_strength
|
||||
if network_type == NetworkType.wifi:
|
||||
out = subprocess.check_output('dumpsys connectivity', shell=True).decode('utf-8')
|
||||
network_strength = NetworkStrength.unknown
|
||||
for line in out.split('\n'):
|
||||
signal_str = "SignalStrength: "
|
||||
if signal_str in line:
|
||||
lvl_idx_start = line.find(signal_str) + len(signal_str)
|
||||
lvl_idx_end = line.find(']', lvl_idx_start)
|
||||
lvl = int(line[lvl_idx_start : lvl_idx_end])
|
||||
if lvl >= -50:
|
||||
network_strength = NetworkStrength.great
|
||||
elif lvl >= -60:
|
||||
network_strength = NetworkStrength.good
|
||||
elif lvl >= -70:
|
||||
network_strength = NetworkStrength.moderate
|
||||
else:
|
||||
network_strength = NetworkStrength.poor
|
||||
return network_strength
|
||||
else:
|
||||
# check cell strength
|
||||
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(' ')
|
||||
ns = 0
|
||||
if ("gsm" in arr[14]):
|
||||
rsrp = int(arr[9])
|
||||
rssnr = int(arr[11])
|
||||
ns = get_lte_level(rsrp, rssnr)
|
||||
if ns == NetworkStrength.unknown:
|
||||
tdscmadbm = int(arr[13])
|
||||
ns = get_tdscdma_level(tdscmadbm)
|
||||
if ns == NetworkStrength.unknown:
|
||||
asu = int(arr[1])
|
||||
ns = get_gsm_level(asu)
|
||||
else:
|
||||
cdmadbm = int(arr[3])
|
||||
cdmaecio = int(arr[4])
|
||||
evdodbm = int(arr[5])
|
||||
evdosnr = int(arr[7])
|
||||
lvl_cdma = get_cdma_level(cdmadbm, cdmaecio)
|
||||
lvl_edmo = get_evdo_level(evdodbm, evdosnr)
|
||||
if lvl_edmo == NetworkStrength.unknown:
|
||||
ns = lvl_cdma
|
||||
elif lvl_cdma == NetworkStrength.unknown:
|
||||
ns = lvl_edmo
|
||||
else:
|
||||
ns = min(lvl_cdma, lvl_edmo)
|
||||
network_strength = max(network_strength, ns)
|
||||
|
||||
return network_strength
|
||||
+5
-5
@@ -1,10 +1,10 @@
|
||||
import os
|
||||
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
|
||||
|
||||
from common.android import ANDROID
|
||||
if ANDROID:
|
||||
PERSIST = "/persist"
|
||||
PARAMS = "/data/params"
|
||||
else:
|
||||
from common.hardware import PC
|
||||
if PC:
|
||||
PERSIST = os.path.join(BASEDIR, "persist")
|
||||
PARAMS = os.path.join(BASEDIR, "persist", "params")
|
||||
else:
|
||||
PERSIST = "/persist"
|
||||
PARAMS = "/data/params"
|
||||
|
||||
@@ -0,0 +1,22 @@
|
||||
GPIO_HUB_RST_N = 30
|
||||
GPIO_UBLOX_RST_N = 32
|
||||
GPIO_UBLOX_SAFEBOOT_N = 33
|
||||
GPIO_UBLOX_PWR_EN = 34
|
||||
GPIO_STM_RST_N = 124
|
||||
GPIO_STM_BOOT0 = 134
|
||||
|
||||
|
||||
def gpio_init(pin, output):
|
||||
try:
|
||||
with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
|
||||
f.write(b"out" if output else b"in")
|
||||
except Exception as e:
|
||||
print(f"Failed to set gpio {pin} direction: {e}")
|
||||
|
||||
|
||||
def gpio_set(pin, high):
|
||||
try:
|
||||
with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
|
||||
f.write(b"1" if high else b"0")
|
||||
except Exception as e:
|
||||
print(f"Failed to set gpio {pin} value: {e}")
|
||||
@@ -0,0 +1,57 @@
|
||||
import os
|
||||
import random
|
||||
from typing import cast
|
||||
|
||||
from cereal import log
|
||||
from common.hardware_android import Android
|
||||
from common.hardware_tici import Tici
|
||||
from common.hardware_base import HardwareBase
|
||||
|
||||
EON = os.path.isfile('/EON')
|
||||
TICI = os.path.isfile('/TICI')
|
||||
PC = not (EON or TICI)
|
||||
ANDROID = EON
|
||||
|
||||
|
||||
NetworkType = log.ThermalData.NetworkType
|
||||
NetworkStrength = log.ThermalData.NetworkStrength
|
||||
|
||||
|
||||
class Pc(HardwareBase):
|
||||
def get_sound_card_online(self):
|
||||
return True
|
||||
|
||||
def get_imei(self, slot):
|
||||
return "%015d" % random.randint(0, 1 << 32)
|
||||
|
||||
def get_serial(self):
|
||||
return "cccccccc"
|
||||
|
||||
def get_subscriber_info(self):
|
||||
return ""
|
||||
|
||||
def reboot(self, reason=None):
|
||||
print("REBOOT!")
|
||||
|
||||
def get_network_type(self):
|
||||
return NetworkType.wifi
|
||||
|
||||
def get_sim_info(self):
|
||||
return {
|
||||
'sim_id': '',
|
||||
'mcc_mnc': None,
|
||||
'network_type': ["Unknown"],
|
||||
'sim_state': ["ABSENT"],
|
||||
'data_connected': False
|
||||
}
|
||||
|
||||
def get_network_strength(self, network_type):
|
||||
return NetworkStrength.unknown
|
||||
|
||||
|
||||
if EON:
|
||||
HARDWARE = cast(HardwareBase, Android())
|
||||
elif TICI:
|
||||
HARDWARE = cast(HardwareBase, Tici())
|
||||
else:
|
||||
HARDWARE = cast(HardwareBase, Pc())
|
||||
@@ -0,0 +1,302 @@
|
||||
import binascii
|
||||
import itertools
|
||||
import os
|
||||
import re
|
||||
import struct
|
||||
import subprocess
|
||||
|
||||
from cereal import log
|
||||
from common.hardware_base import HardwareBase
|
||||
|
||||
NetworkType = log.ThermalData.NetworkType
|
||||
NetworkStrength = log.ThermalData.NetworkStrength
|
||||
|
||||
|
||||
def service_call(call):
|
||||
try:
|
||||
ret = subprocess.check_output(["service", "call", *call], encoding='utf8').strip()
|
||||
if 'Parcel' not in ret:
|
||||
return None
|
||||
return parse_service_call_bytes(ret)
|
||||
except subprocess.CalledProcessError:
|
||||
return None
|
||||
|
||||
|
||||
def parse_service_call_unpack(r, fmt):
|
||||
try:
|
||||
return struct.unpack(fmt, r)[0]
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
|
||||
def parse_service_call_string(r):
|
||||
try:
|
||||
r = r[8:] # Cut off length field
|
||||
r = r.decode('utf_16_be')
|
||||
|
||||
# All pairs of two characters seem to be swapped. Not sure why
|
||||
result = ""
|
||||
for a, b, in itertools.zip_longest(r[::2], r[1::2], fillvalue='\x00'):
|
||||
result += b + a
|
||||
|
||||
result = result.replace('\x00', '')
|
||||
|
||||
return result
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
|
||||
def parse_service_call_bytes(ret):
|
||||
try:
|
||||
r = b""
|
||||
for hex_part in re.findall(r'[ (]([0-9a-f]{8})', ret):
|
||||
r += binascii.unhexlify(hex_part)
|
||||
return r
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
|
||||
def getprop(key):
|
||||
return subprocess.check_output(["getprop", key], encoding='utf8').strip()
|
||||
|
||||
|
||||
class Android(HardwareBase):
|
||||
def get_sound_card_online(self):
|
||||
return (os.path.isfile('/proc/asound/card0/state') and
|
||||
open('/proc/asound/card0/state').read().strip() == 'ONLINE')
|
||||
|
||||
def get_imei(self, slot):
|
||||
slot = str(slot)
|
||||
if slot not in ("0", "1"):
|
||||
raise ValueError("SIM slot must be 0 or 1")
|
||||
|
||||
return parse_service_call_string(service_call(["iphonesubinfo", "3", "i32", str(slot)]))
|
||||
|
||||
def get_serial(self):
|
||||
ret = getprop("ro.serialno")
|
||||
if ret == "":
|
||||
ret = "cccccccc"
|
||||
return ret
|
||||
|
||||
def get_subscriber_info(self):
|
||||
ret = parse_service_call_string(service_call(["iphonesubinfo", "7"]))
|
||||
if ret is None or len(ret) < 8:
|
||||
return ""
|
||||
return ret
|
||||
|
||||
def reboot(self, reason=None):
|
||||
# e.g. reason="recovery" to go into recover mode
|
||||
if reason is None:
|
||||
reason_args = ["null"]
|
||||
else:
|
||||
reason_args = ["s16", reason]
|
||||
|
||||
subprocess.check_output([
|
||||
"service", "call", "power", "16", # IPowerManager.reboot
|
||||
"i32", "0", # no confirmation,
|
||||
*reason_args,
|
||||
"i32", "1" # wait
|
||||
])
|
||||
|
||||
def get_sim_info(self):
|
||||
# Used for athena
|
||||
# TODO: build using methods from this class
|
||||
sim_state = getprop("gsm.sim.state").split(",")
|
||||
network_type = getprop("gsm.network.type").split(',')
|
||||
mcc_mnc = getprop("gsm.sim.operator.numeric") or None
|
||||
|
||||
sim_id = parse_service_call_string(service_call(['iphonesubinfo', '11']))
|
||||
cell_data_state = parse_service_call_unpack(service_call(['phone', '46']), ">q")
|
||||
cell_data_connected = (cell_data_state == 2)
|
||||
|
||||
return {
|
||||
'sim_id': sim_id,
|
||||
'mcc_mnc': mcc_mnc,
|
||||
'network_type': network_type,
|
||||
'sim_state': sim_state,
|
||||
'data_connected': cell_data_connected
|
||||
}
|
||||
|
||||
def get_network_type(self):
|
||||
wifi_check = parse_service_call_string(service_call(["connectivity", "2"]))
|
||||
if wifi_check is None:
|
||||
return NetworkType.none
|
||||
elif 'WIFI' in wifi_check:
|
||||
return NetworkType.wifi
|
||||
else:
|
||||
cell_check = parse_service_call_unpack(service_call(['phone', '59']), ">q")
|
||||
# from TelephonyManager.java
|
||||
cell_networks = {
|
||||
0: NetworkType.none,
|
||||
1: NetworkType.cell2G,
|
||||
2: NetworkType.cell2G,
|
||||
3: NetworkType.cell3G,
|
||||
4: NetworkType.cell2G,
|
||||
5: NetworkType.cell3G,
|
||||
6: NetworkType.cell3G,
|
||||
7: NetworkType.cell3G,
|
||||
8: NetworkType.cell3G,
|
||||
9: NetworkType.cell3G,
|
||||
10: NetworkType.cell3G,
|
||||
11: NetworkType.cell2G,
|
||||
12: NetworkType.cell3G,
|
||||
13: NetworkType.cell4G,
|
||||
14: NetworkType.cell4G,
|
||||
15: NetworkType.cell3G,
|
||||
16: NetworkType.cell2G,
|
||||
17: NetworkType.cell3G,
|
||||
18: NetworkType.cell4G,
|
||||
19: NetworkType.cell4G
|
||||
}
|
||||
return cell_networks.get(cell_check, NetworkType.none)
|
||||
|
||||
def get_network_strength(self, network_type):
|
||||
network_strength = NetworkStrength.unknown
|
||||
|
||||
# from SignalStrength.java
|
||||
def get_lte_level(rsrp, rssnr):
|
||||
INT_MAX = 2147483647
|
||||
if rsrp == INT_MAX:
|
||||
lvl_rsrp = NetworkStrength.unknown
|
||||
elif rsrp >= -95:
|
||||
lvl_rsrp = NetworkStrength.great
|
||||
elif rsrp >= -105:
|
||||
lvl_rsrp = NetworkStrength.good
|
||||
elif rsrp >= -115:
|
||||
lvl_rsrp = NetworkStrength.moderate
|
||||
else:
|
||||
lvl_rsrp = NetworkStrength.poor
|
||||
if rssnr == INT_MAX:
|
||||
lvl_rssnr = NetworkStrength.unknown
|
||||
elif rssnr >= 45:
|
||||
lvl_rssnr = NetworkStrength.great
|
||||
elif rssnr >= 10:
|
||||
lvl_rssnr = NetworkStrength.good
|
||||
elif rssnr >= -30:
|
||||
lvl_rssnr = NetworkStrength.moderate
|
||||
else:
|
||||
lvl_rssnr = NetworkStrength.poor
|
||||
return max(lvl_rsrp, lvl_rssnr)
|
||||
|
||||
def get_tdscdma_level(tdscmadbm):
|
||||
lvl = NetworkStrength.unknown
|
||||
if tdscmadbm > -25:
|
||||
lvl = NetworkStrength.unknown
|
||||
elif tdscmadbm >= -49:
|
||||
lvl = NetworkStrength.great
|
||||
elif tdscmadbm >= -73:
|
||||
lvl = NetworkStrength.good
|
||||
elif tdscmadbm >= -97:
|
||||
lvl = NetworkStrength.moderate
|
||||
elif tdscmadbm >= -110:
|
||||
lvl = NetworkStrength.poor
|
||||
return lvl
|
||||
|
||||
def get_gsm_level(asu):
|
||||
if asu <= 2 or asu == 99:
|
||||
lvl = NetworkStrength.unknown
|
||||
elif asu >= 12:
|
||||
lvl = NetworkStrength.great
|
||||
elif asu >= 8:
|
||||
lvl = NetworkStrength.good
|
||||
elif asu >= 5:
|
||||
lvl = NetworkStrength.moderate
|
||||
else:
|
||||
lvl = NetworkStrength.poor
|
||||
return lvl
|
||||
|
||||
def get_evdo_level(evdodbm, evdosnr):
|
||||
lvl_evdodbm = NetworkStrength.unknown
|
||||
lvl_evdosnr = NetworkStrength.unknown
|
||||
if evdodbm >= -65:
|
||||
lvl_evdodbm = NetworkStrength.great
|
||||
elif evdodbm >= -75:
|
||||
lvl_evdodbm = NetworkStrength.good
|
||||
elif evdodbm >= -90:
|
||||
lvl_evdodbm = NetworkStrength.moderate
|
||||
elif evdodbm >= -105:
|
||||
lvl_evdodbm = NetworkStrength.poor
|
||||
if evdosnr >= 7:
|
||||
lvl_evdosnr = NetworkStrength.great
|
||||
elif evdosnr >= 5:
|
||||
lvl_evdosnr = NetworkStrength.good
|
||||
elif evdosnr >= 3:
|
||||
lvl_evdosnr = NetworkStrength.moderate
|
||||
elif evdosnr >= 1:
|
||||
lvl_evdosnr = NetworkStrength.poor
|
||||
return max(lvl_evdodbm, lvl_evdosnr)
|
||||
|
||||
def get_cdma_level(cdmadbm, cdmaecio):
|
||||
lvl_cdmadbm = NetworkStrength.unknown
|
||||
lvl_cdmaecio = NetworkStrength.unknown
|
||||
if cdmadbm >= -75:
|
||||
lvl_cdmadbm = NetworkStrength.great
|
||||
elif cdmadbm >= -85:
|
||||
lvl_cdmadbm = NetworkStrength.good
|
||||
elif cdmadbm >= -95:
|
||||
lvl_cdmadbm = NetworkStrength.moderate
|
||||
elif cdmadbm >= -100:
|
||||
lvl_cdmadbm = NetworkStrength.poor
|
||||
if cdmaecio >= -90:
|
||||
lvl_cdmaecio = NetworkStrength.great
|
||||
elif cdmaecio >= -110:
|
||||
lvl_cdmaecio = NetworkStrength.good
|
||||
elif cdmaecio >= -130:
|
||||
lvl_cdmaecio = NetworkStrength.moderate
|
||||
elif cdmaecio >= -150:
|
||||
lvl_cdmaecio = NetworkStrength.poor
|
||||
return max(lvl_cdmadbm, lvl_cdmaecio)
|
||||
|
||||
if network_type == NetworkType.none:
|
||||
return network_strength
|
||||
if network_type == NetworkType.wifi:
|
||||
out = subprocess.check_output('dumpsys connectivity', shell=True).decode('utf-8')
|
||||
network_strength = NetworkStrength.unknown
|
||||
for line in out.split('\n'):
|
||||
signal_str = "SignalStrength: "
|
||||
if signal_str in line:
|
||||
lvl_idx_start = line.find(signal_str) + len(signal_str)
|
||||
lvl_idx_end = line.find(']', lvl_idx_start)
|
||||
lvl = int(line[lvl_idx_start : lvl_idx_end])
|
||||
if lvl >= -50:
|
||||
network_strength = NetworkStrength.great
|
||||
elif lvl >= -60:
|
||||
network_strength = NetworkStrength.good
|
||||
elif lvl >= -70:
|
||||
network_strength = NetworkStrength.moderate
|
||||
else:
|
||||
network_strength = NetworkStrength.poor
|
||||
return network_strength
|
||||
else:
|
||||
# check cell strength
|
||||
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(' ')
|
||||
ns = 0
|
||||
if ("gsm" in arr[14]):
|
||||
rsrp = int(arr[9])
|
||||
rssnr = int(arr[11])
|
||||
ns = get_lte_level(rsrp, rssnr)
|
||||
if ns == NetworkStrength.unknown:
|
||||
tdscmadbm = int(arr[13])
|
||||
ns = get_tdscdma_level(tdscmadbm)
|
||||
if ns == NetworkStrength.unknown:
|
||||
asu = int(arr[1])
|
||||
ns = get_gsm_level(asu)
|
||||
else:
|
||||
cdmadbm = int(arr[3])
|
||||
cdmaecio = int(arr[4])
|
||||
evdodbm = int(arr[5])
|
||||
evdosnr = int(arr[7])
|
||||
lvl_cdma = get_cdma_level(cdmadbm, cdmaecio)
|
||||
lvl_edmo = get_evdo_level(evdodbm, evdosnr)
|
||||
if lvl_edmo == NetworkStrength.unknown:
|
||||
ns = lvl_cdma
|
||||
elif lvl_cdma == NetworkStrength.unknown:
|
||||
ns = lvl_edmo
|
||||
else:
|
||||
ns = min(lvl_cdma, lvl_edmo)
|
||||
network_strength = max(network_strength, ns)
|
||||
|
||||
return network_strength
|
||||
@@ -0,0 +1,41 @@
|
||||
from abc import abstractmethod
|
||||
|
||||
|
||||
class HardwareBase:
|
||||
@staticmethod
|
||||
def get_cmdline():
|
||||
with open('/proc/cmdline') as f:
|
||||
cmdline = f.read()
|
||||
return {kv[0]: kv[1] for kv in [s.split('=') for s in cmdline.split(' ')] if len(kv) == 2}
|
||||
|
||||
@abstractmethod
|
||||
def get_sound_card_online(self):
|
||||
pass
|
||||
|
||||
@abstractmethod
|
||||
def get_imei(self, slot):
|
||||
pass
|
||||
|
||||
@abstractmethod
|
||||
def get_serial(self):
|
||||
pass
|
||||
|
||||
@abstractmethod
|
||||
def get_subscriber_info(self):
|
||||
pass
|
||||
|
||||
@abstractmethod
|
||||
def reboot(self, reason=None):
|
||||
pass
|
||||
|
||||
@abstractmethod
|
||||
def get_network_type(self):
|
||||
pass
|
||||
|
||||
@abstractmethod
|
||||
def get_sim_info(self):
|
||||
pass
|
||||
|
||||
@abstractmethod
|
||||
def get_network_strength(self, network_type):
|
||||
pass
|
||||
@@ -0,0 +1,58 @@
|
||||
import serial
|
||||
|
||||
from common.hardware_base import HardwareBase
|
||||
from cereal import log
|
||||
|
||||
|
||||
NetworkType = log.ThermalData.NetworkType
|
||||
NetworkStrength = log.ThermalData.NetworkStrength
|
||||
|
||||
|
||||
def run_at_command(cmd, timeout=0.1):
|
||||
with serial.Serial("/dev/ttyUSB2", timeout=timeout) as ser:
|
||||
ser.write(cmd + b"\r\n")
|
||||
ser.readline() # Modem echos request
|
||||
return ser.readline().decode().rstrip()
|
||||
|
||||
|
||||
class Tici(HardwareBase):
|
||||
def get_sound_card_online(self):
|
||||
return True
|
||||
|
||||
def get_imei(self, slot):
|
||||
if slot != 0:
|
||||
return ""
|
||||
|
||||
for _ in range(10):
|
||||
try:
|
||||
imei = run_at_command(b"AT+CGSN")
|
||||
if len(imei) == 15:
|
||||
return imei
|
||||
except serial.SerialException:
|
||||
pass
|
||||
|
||||
raise RuntimeError("Error getting IMEI")
|
||||
|
||||
def get_serial(self):
|
||||
return self.get_cmdline()['androidboot.serialno']
|
||||
|
||||
def get_subscriber_info(self):
|
||||
return ""
|
||||
|
||||
def reboot(self, reason=None):
|
||||
print("REBOOT!")
|
||||
|
||||
def get_network_type(self):
|
||||
return NetworkType.wifi
|
||||
|
||||
def get_sim_info(self):
|
||||
return {
|
||||
'sim_id': '',
|
||||
'mcc_mnc': None,
|
||||
'network_type': ["Unknown"],
|
||||
'sim_state': ["ABSENT"],
|
||||
'data_connected': False
|
||||
}
|
||||
|
||||
def get_network_strength(self, network_type):
|
||||
return NetworkStrength.unknown
|
||||
@@ -1,6 +1,6 @@
|
||||
Import('env')
|
||||
Import('env', 'cython_dependencies')
|
||||
|
||||
env.Command(['simple_kalman_impl.so'],
|
||||
['simple_kalman_impl.pyx', 'simple_kalman_impl.pxd', 'simple_kalman_setup.py'],
|
||||
"cd common/kalman && python3 simple_kalman_setup.py build_ext --inplace")
|
||||
cython_dependencies + ['simple_kalman_impl.pyx', 'simple_kalman_impl.pxd', 'simple_kalman_setup.py'],
|
||||
"cd common/kalman && python3 simple_kalman_setup.py build_ext --inplace")
|
||||
|
||||
|
||||
@@ -8,7 +8,7 @@ class KF1D:
|
||||
def __init__(self, x0, A, C, K):
|
||||
self.x = x0
|
||||
self.A = A
|
||||
self.C = C
|
||||
self.C = np.atleast_2d(C)
|
||||
self.K = K
|
||||
|
||||
self.A_K = self.A - np.dot(self.K, self.C)
|
||||
|
||||
@@ -21,10 +21,10 @@ class TestSimpleKalman(unittest.TestCase):
|
||||
K0_0 = 0.12287673
|
||||
K1_0 = 0.29666309
|
||||
|
||||
self.kf_old = KF1D_old(x0=np.matrix([[x0_0], [x1_0]]),
|
||||
A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]),
|
||||
C=np.matrix([C0_0, C0_1]),
|
||||
K=np.matrix([[K0_0], [K1_0]]))
|
||||
self.kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
|
||||
A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
|
||||
C=np.array([C0_0, C0_1]),
|
||||
K=np.array([[K0_0], [K1_0]]))
|
||||
|
||||
self.kf = KF1D(x0=[[x0_0], [x1_0]],
|
||||
A=[[A0_0, A0_1], [A1_0, A1_1]],
|
||||
@@ -47,8 +47,8 @@ class TestSimpleKalman(unittest.TestCase):
|
||||
x = self.kf.update(v_wheel)
|
||||
|
||||
# Compare the output x, verify that the error is less than 1e-4
|
||||
self.assertAlmostEqual(x_old[0], x[0])
|
||||
self.assertAlmostEqual(x_old[1], x[1])
|
||||
np.testing.assert_almost_equal(x_old[0], x[0])
|
||||
np.testing.assert_almost_equal(x_old[1], x[1])
|
||||
|
||||
def test_new_is_faster(self):
|
||||
setup = """
|
||||
@@ -69,10 +69,10 @@ C0_1 = 0.0
|
||||
K0_0 = 0.12287673
|
||||
K1_0 = 0.29666309
|
||||
|
||||
kf_old = KF1D_old(x0=np.matrix([[x0_0], [x1_0]]),
|
||||
A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]),
|
||||
C=np.matrix([C0_0, C0_1]),
|
||||
K=np.matrix([[K0_0], [K1_0]]))
|
||||
kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
|
||||
A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
|
||||
C=np.array([C0_0, C0_1]),
|
||||
K=np.array([[K0_0], [K1_0]]))
|
||||
|
||||
kf = KF1D(x0=[[x0_0], [x1_0]],
|
||||
A=[[A0_0, A0_1], [A1_0, A1_1]],
|
||||
|
||||
+15
-16
@@ -53,12 +53,12 @@ keys = {
|
||||
"AccessToken": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"AthenadPid": [TxType.PERSISTENT],
|
||||
"CalibrationParams": [TxType.PERSISTENT],
|
||||
"CarBatteryCapacity": [TxType.PERSISTENT],
|
||||
"CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"CarParamsCache": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"CommunityFeaturesToggle": [TxType.PERSISTENT],
|
||||
"CompletedTrainingVersion": [TxType.PERSISTENT],
|
||||
"ControlsParams": [TxType.PERSISTENT],
|
||||
"DisablePowerDown": [TxType.PERSISTENT],
|
||||
"DisableUpdates": [TxType.PERSISTENT],
|
||||
"DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
|
||||
@@ -71,7 +71,6 @@ keys = {
|
||||
"HasCompletedSetup": [TxType.PERSISTENT],
|
||||
"IsDriverViewEnabled": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"IsLdwEnabled": [TxType.PERSISTENT],
|
||||
"IsGeofenceEnabled": [TxType.PERSISTENT],
|
||||
"IsMetric": [TxType.PERSISTENT],
|
||||
"IsOffroad": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"IsRHD": [TxType.PERSISTENT],
|
||||
@@ -80,10 +79,8 @@ keys = {
|
||||
"IsUploadRawEnabled": [TxType.PERSISTENT],
|
||||
"LastAthenaPingTime": [TxType.PERSISTENT],
|
||||
"LastUpdateTime": [TxType.PERSISTENT],
|
||||
"LimitSetSpeed": [TxType.PERSISTENT],
|
||||
"LimitSetSpeedNeural": [TxType.PERSISTENT],
|
||||
"LastUpdateException": [TxType.PERSISTENT],
|
||||
"LiveParameters": [TxType.PERSISTENT],
|
||||
"LongitudinalControl": [TxType.PERSISTENT],
|
||||
"OpenpilotEnabledToggle": [TxType.PERSISTENT],
|
||||
"LaneChangeEnabled": [TxType.PERSISTENT],
|
||||
"PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
@@ -93,7 +90,6 @@ keys = {
|
||||
"RecordFront": [TxType.PERSISTENT],
|
||||
"ReleaseNotes": [TxType.PERSISTENT],
|
||||
"ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"SpeedLimitOffset": [TxType.PERSISTENT],
|
||||
"SubscriberInfo": [TxType.PERSISTENT],
|
||||
"TermsVersion": [TxType.PERSISTENT],
|
||||
"TrainingVersion": [TxType.PERSISTENT],
|
||||
@@ -108,6 +104,7 @@ keys = {
|
||||
"Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"Offroad_NeosUpdate": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"Offroad_UpdateFailed": [TxType.CLEAR_ON_MANAGER_START],
|
||||
}
|
||||
|
||||
|
||||
@@ -120,14 +117,15 @@ def fsync_dir(path):
|
||||
|
||||
|
||||
class FileLock():
|
||||
def __init__(self, path, create):
|
||||
def __init__(self, path, create, lock_ex):
|
||||
self._path = path
|
||||
self._create = create
|
||||
self._fd = None
|
||||
self._lock_ex = lock_ex
|
||||
|
||||
def acquire(self):
|
||||
self._fd = os.open(self._path, os.O_CREAT if self._create else 0)
|
||||
fcntl.flock(self._fd, fcntl.LOCK_EX)
|
||||
fcntl.flock(self._fd, fcntl.LOCK_EX if self._lock_ex else fcntl.LOCK_SH)
|
||||
|
||||
def release(self):
|
||||
if self._fd is not None:
|
||||
@@ -155,8 +153,8 @@ class DBAccessor():
|
||||
except KeyError:
|
||||
return None
|
||||
|
||||
def _get_lock(self, create):
|
||||
lock = FileLock(os.path.join(self._path, ".lock"), create)
|
||||
def _get_lock(self, create, lock_ex):
|
||||
lock = FileLock(os.path.join(self._path, ".lock"), create, lock_ex)
|
||||
lock.acquire()
|
||||
return lock
|
||||
|
||||
@@ -188,7 +186,7 @@ class DBAccessor():
|
||||
class DBReader(DBAccessor):
|
||||
def __enter__(self):
|
||||
try:
|
||||
lock = self._get_lock(False)
|
||||
lock = self._get_lock(False, False)
|
||||
except OSError as e:
|
||||
# Do not create lock if it does not exist.
|
||||
if e.errno == errno.ENOENT:
|
||||
@@ -226,7 +224,7 @@ class DBWriter(DBAccessor):
|
||||
|
||||
try:
|
||||
os.chmod(self._path, 0o777)
|
||||
self._lock = self._get_lock(True)
|
||||
self._lock = self._get_lock(True, True)
|
||||
self._vals = self._read_values_locked()
|
||||
except Exception:
|
||||
os.umask(self._prev_umask)
|
||||
@@ -315,18 +313,19 @@ def write_db(params_path, key, value):
|
||||
value = value.encode('utf8')
|
||||
|
||||
prev_umask = os.umask(0)
|
||||
lock = FileLock(params_path + "/.lock", True)
|
||||
lock = FileLock(params_path + "/.lock", True, True)
|
||||
lock.acquire()
|
||||
|
||||
try:
|
||||
tmp_path = tempfile.mktemp(prefix=".tmp", dir=params_path)
|
||||
with open(tmp_path, "wb") as f:
|
||||
tmp_path = tempfile.NamedTemporaryFile(mode="wb", prefix=".tmp", dir=params_path, delete=False)
|
||||
with tmp_path as f:
|
||||
f.write(value)
|
||||
f.flush()
|
||||
os.fsync(f.fileno())
|
||||
os.chmod(tmp_path.name, 0o666)
|
||||
|
||||
path = "%s/d/%s" % (params_path, key)
|
||||
os.rename(tmp_path, path)
|
||||
os.rename(tmp_path.name, path)
|
||||
fsync_dir(os.path.dirname(path))
|
||||
finally:
|
||||
os.umask(prev_umask)
|
||||
|
||||
+15
-28
@@ -1,12 +1,10 @@
|
||||
"""Utilities for reading real time clocks and keeping soft real time constraints."""
|
||||
import gc
|
||||
import os
|
||||
import time
|
||||
import platform
|
||||
import subprocess
|
||||
import multiprocessing
|
||||
from cffi import FFI
|
||||
|
||||
from common.android import ANDROID
|
||||
from common.hardware import PC
|
||||
from common.common_pyx import sec_since_boot # pylint: disable=no-name-in-module, import-error
|
||||
|
||||
|
||||
@@ -17,37 +15,26 @@ DT_DMON = 0.1 # driver monitoring
|
||||
DT_TRML = 0.5 # thermald and manager
|
||||
|
||||
|
||||
ffi = FFI()
|
||||
ffi.cdef("long syscall(long number, ...);")
|
||||
libc = ffi.dlopen(None)
|
||||
|
||||
def _get_tid():
|
||||
if platform.machine() == "x86_64":
|
||||
NR_gettid = 186
|
||||
elif platform.machine() == "aarch64":
|
||||
NR_gettid = 178
|
||||
else:
|
||||
raise NotImplementedError
|
||||
|
||||
return libc.syscall(NR_gettid)
|
||||
class Priority:
|
||||
MIN_REALTIME = 52 # highest android process priority is 51
|
||||
CTRL_LOW = MIN_REALTIME
|
||||
CTRL_HIGH = MIN_REALTIME + 1
|
||||
|
||||
|
||||
def set_realtime_priority(level):
|
||||
if os.getuid() != 0:
|
||||
print("not setting priority, not root")
|
||||
return
|
||||
if not PC:
|
||||
os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))
|
||||
|
||||
return subprocess.call(['chrt', '-f', '-p', str(level), str(_get_tid())])
|
||||
|
||||
def set_core_affinity(core):
|
||||
if os.getuid() != 0:
|
||||
print("not setting affinity, not root")
|
||||
return
|
||||
if not PC:
|
||||
os.sched_setaffinity(0, [core,])
|
||||
|
||||
if ANDROID:
|
||||
return subprocess.call(['taskset', '-p', str(core), str(_get_tid())])
|
||||
else:
|
||||
return -1
|
||||
|
||||
def config_rt_process(core, priority):
|
||||
gc.disable()
|
||||
set_realtime_priority(priority)
|
||||
set_core_affinity(core)
|
||||
|
||||
|
||||
class Ratekeeper():
|
||||
|
||||
+11
-25
@@ -4,14 +4,17 @@ from common.basedir import BASEDIR
|
||||
|
||||
|
||||
class Spinner():
|
||||
def __init__(self):
|
||||
try:
|
||||
self.spinner_proc = subprocess.Popen(["./spinner"],
|
||||
stdin=subprocess.PIPE,
|
||||
cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
|
||||
close_fds=True)
|
||||
except OSError:
|
||||
self.spinner_proc = None
|
||||
def __init__(self, noop=False):
|
||||
# spinner is currently only implemented for android
|
||||
self.spinner_proc = None
|
||||
if not noop:
|
||||
try:
|
||||
self.spinner_proc = subprocess.Popen(["./spinner"],
|
||||
stdin=subprocess.PIPE,
|
||||
cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
|
||||
close_fds=True)
|
||||
except OSError:
|
||||
self.spinner_proc = None
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
@@ -40,23 +43,6 @@ class Spinner():
|
||||
self.close()
|
||||
|
||||
|
||||
class FakeSpinner(Spinner):
|
||||
def __init__(self): # pylint: disable=super-init-not-called
|
||||
pass
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def update(self, _):
|
||||
pass
|
||||
|
||||
def close(self):
|
||||
pass
|
||||
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
pass
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
import time
|
||||
with Spinner() as s:
|
||||
|
||||
+17
-37
@@ -5,21 +5,23 @@ 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
|
||||
class TextWindow:
|
||||
def __init__(self, s, noop=False):
|
||||
# text window is only implemented for android currently
|
||||
self.text_proc = None
|
||||
if not noop:
|
||||
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):
|
||||
@@ -31,10 +33,11 @@ class TextWindow():
|
||||
self.text_proc = None
|
||||
|
||||
def wait_for_exit(self):
|
||||
while True:
|
||||
if self.get_status() == 1:
|
||||
return
|
||||
time.sleep(0.1)
|
||||
if self.text_proc is not None:
|
||||
while True:
|
||||
if self.get_status() == 1:
|
||||
return
|
||||
time.sleep(0.1)
|
||||
|
||||
def __del__(self):
|
||||
self.close()
|
||||
@@ -43,29 +46,6 @@ class TextWindow():
|
||||
self.close()
|
||||
|
||||
|
||||
class FakeTextWindow(TextWindow):
|
||||
def __init__(self, s): # pylint: disable=super-init-not-called
|
||||
pass
|
||||
|
||||
def get_status(self):
|
||||
return 1
|
||||
|
||||
def wait_for_exit(self):
|
||||
return
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def update(self, _):
|
||||
pass
|
||||
|
||||
def close(self):
|
||||
pass
|
||||
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
pass
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
text = """Traceback (most recent call last):
|
||||
File "./controlsd.py", line 608, in <module>
|
||||
|
||||
@@ -1,9 +1,8 @@
|
||||
Import('env')
|
||||
Import('env', 'cython_dependencies')
|
||||
|
||||
d = Dir('.')
|
||||
|
||||
env.Command(
|
||||
['transformations.so'],
|
||||
['transformations.pxd', 'transformations.pyx',
|
||||
'coordinates.cc', 'orientation.cc', 'coordinates.hpp', 'orientation.hpp'],
|
||||
'cd ' + d.path + ' && python3 setup.py build_ext --inplace')
|
||||
env.Command(['transformations.so'],
|
||||
cython_dependencies + ['transformations.pxd', 'transformations.pyx',
|
||||
'coordinates.cc', 'orientation.cc', 'coordinates.hpp', 'orientation.hpp'],
|
||||
'cd ' + d.path + ' && python3 setup.py build_ext --inplace')
|
||||
|
||||
@@ -52,6 +52,13 @@ def get_view_frame_from_road_frame(roll, pitch, yaw, height):
|
||||
return np.hstack((view_from_road, [[0], [height], [0]]))
|
||||
|
||||
|
||||
# aka 'extrinsic_matrix'
|
||||
def get_view_frame_from_calib_frame(roll, pitch, yaw, height):
|
||||
device_from_calib= orient.rot_from_euler([roll, pitch, yaw])
|
||||
view_from_calib = view_frame_from_device_frame.dot(device_from_calib)
|
||||
return np.hstack((view_from_calib, [[0], [height], [0]]))
|
||||
|
||||
|
||||
def vp_from_ke(m):
|
||||
"""
|
||||
Computes the vanishing point from the product of the intrinsic and extrinsic
|
||||
|
||||
@@ -10,9 +10,9 @@
|
||||
#define RAD2DEG(x) ((x) * 180.0 / M_PI)
|
||||
|
||||
|
||||
double a = 6378137;
|
||||
double b = 6356752.3142;
|
||||
double esq = 6.69437999014 * 0.001;
|
||||
double a = 6378137; // lgtm [cpp/short-global-name]
|
||||
double b = 6356752.3142; // lgtm [cpp/short-global-name]
|
||||
double esq = 6.69437999014 * 0.001; // lgtm [cpp/short-global-name]
|
||||
double e1sq = 6.73949674228 * 0.001;
|
||||
|
||||
|
||||
|
||||
@@ -2,6 +2,7 @@ import numpy as np
|
||||
|
||||
from common.transformations.camera import (FULL_FRAME_SIZE, eon_focal_length,
|
||||
get_view_frame_from_road_frame,
|
||||
get_view_frame_from_calib_frame,
|
||||
vp_from_ke)
|
||||
|
||||
# segnet
|
||||
@@ -73,6 +74,9 @@ bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
|
||||
medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, model_height))
|
||||
|
||||
medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics,
|
||||
get_view_frame_from_calib_frame(0, 0, 0, 0))
|
||||
|
||||
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))
|
||||
|
||||
|
||||
@@ -46,7 +46,6 @@ quats_from_rotations = rot2quat
|
||||
quat_from_rot = rot2quat
|
||||
rotations_from_quats = quat2rot
|
||||
rot_from_quat = quat2rot
|
||||
rot_from_quat = quat2rot
|
||||
euler_from_rot = rot2euler
|
||||
euler_from_quat = quat2euler
|
||||
rot_from_euler = euler2rot
|
||||
|
||||
Binary file not shown.
+153
-124
@@ -10,6 +10,7 @@
|
||||
#include <string>
|
||||
#include <sstream>
|
||||
#include <fstream>
|
||||
#include <iostream>
|
||||
#include <mutex>
|
||||
#include <thread>
|
||||
|
||||
@@ -33,10 +34,10 @@
|
||||
|
||||
#define USER_AGENT "NEOSUpdater-0.2"
|
||||
|
||||
#define MANIFEST_URL_EON_STAGING "https://github.com/commaai/eon-neos/raw/master/update.staging.json"
|
||||
#define MANIFEST_URL_EON_LOCAL "http://192.168.5.1:8000/neosupdate/update.local.json"
|
||||
#define MANIFEST_URL_EON "https://github.com/commaai/eon-neos/raw/master/update.json"
|
||||
const char *manifest_url = MANIFEST_URL_EON;
|
||||
#define MANIFEST_URL_NEOS_STAGING "https://github.com/commaai/eon-neos/raw/master/update.staging.json"
|
||||
#define MANIFEST_URL_NEOS_LOCAL "http://192.168.5.1:8000/neosupdate/update.local.json"
|
||||
#define MANIFEST_URL_NEOS "https://github.com/commaai/eon-neos/raw/master/update.json"
|
||||
const char *manifest_url = MANIFEST_URL_NEOS;
|
||||
|
||||
#define RECOVERY_DEV "/dev/block/bootdevice/by-name/recovery"
|
||||
#define RECOVERY_COMMAND "/cache/recovery/command"
|
||||
@@ -96,7 +97,7 @@ std::string download_string(CURL *curl, std::string url) {
|
||||
|
||||
curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
|
||||
curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
|
||||
curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 1);
|
||||
curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 0);
|
||||
curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
|
||||
curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
|
||||
curl_easy_setopt(curl, CURLOPT_RESUME_FROM, 0);
|
||||
@@ -149,6 +150,32 @@ static void start_settings_activity(const char* name) {
|
||||
system(launch_cmd);
|
||||
}
|
||||
|
||||
bool is_settings_active() {
|
||||
FILE *fp;
|
||||
char sys_output[4096];
|
||||
|
||||
fp = popen("/bin/dumpsys window windows", "r");
|
||||
if (fp == NULL) {
|
||||
return false;
|
||||
}
|
||||
|
||||
bool active = false;
|
||||
while (fgets(sys_output, sizeof(sys_output), fp) != NULL) {
|
||||
if (strstr(sys_output, "mCurrentFocus=null") != NULL) {
|
||||
break;
|
||||
}
|
||||
|
||||
if (strstr(sys_output, "mCurrentFocus=Window") != NULL) {
|
||||
active = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
pclose(fp);
|
||||
|
||||
return active;
|
||||
}
|
||||
|
||||
struct Updater {
|
||||
bool do_exit = false;
|
||||
|
||||
@@ -166,7 +193,6 @@ struct Updater {
|
||||
|
||||
std::mutex lock;
|
||||
|
||||
// i hate state machines give me coroutines already
|
||||
enum UpdateState {
|
||||
CONFIRMATION,
|
||||
LOW_BATTERY,
|
||||
@@ -190,9 +216,15 @@ struct Updater {
|
||||
int b_x, b_w, b_y, b_h;
|
||||
int balt_x;
|
||||
|
||||
// download stage writes these for the installation stage
|
||||
int recovery_len;
|
||||
std::string recovery_hash;
|
||||
std::string recovery_fn;
|
||||
std::string ota_fn;
|
||||
|
||||
CURL *curl = NULL;
|
||||
|
||||
Updater() {
|
||||
void ui_init() {
|
||||
touch_init(&touch);
|
||||
|
||||
fb = framebuffer_init("updater", 0x00001000, false,
|
||||
@@ -218,7 +250,6 @@ struct Updater {
|
||||
b_h = 220;
|
||||
|
||||
state = CONFIRMATION;
|
||||
|
||||
}
|
||||
|
||||
int download_file_xferinfo(curl_off_t dltotal, curl_off_t dlno,
|
||||
@@ -251,7 +282,7 @@ struct Updater {
|
||||
|
||||
curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
|
||||
curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
|
||||
curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 1);
|
||||
curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 0);
|
||||
curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
|
||||
curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
|
||||
curl_easy_setopt(curl, CURLOPT_RESUME_FROM, resume_from);
|
||||
@@ -319,32 +350,113 @@ struct Updater {
|
||||
state = RUNNING;
|
||||
}
|
||||
|
||||
std::string stage_download(std::string url, std::string hash, std::string name) {
|
||||
std::string download(std::string url, std::string hash, std::string name) {
|
||||
std::string out_fn = UPDATE_DIR "/" + util::base_name(url);
|
||||
|
||||
set_progress("Downloading " + name + "...");
|
||||
bool r = download_file(url, out_fn);
|
||||
if (!r) {
|
||||
set_error("failed to download " + name);
|
||||
return "";
|
||||
// start or resume downloading if hash doesn't match
|
||||
std::string fn_hash = sha256_file(out_fn);
|
||||
if (hash.compare(fn_hash) != 0) {
|
||||
set_progress("Downloading " + name + "...");
|
||||
bool r = download_file(url, out_fn);
|
||||
if (!r) {
|
||||
set_error("failed to download " + name);
|
||||
unlink(out_fn.c_str());
|
||||
return "";
|
||||
}
|
||||
fn_hash = sha256_file(out_fn);
|
||||
}
|
||||
|
||||
set_progress("Verifying " + name + "...");
|
||||
std::string fn_hash = sha256_file(out_fn);
|
||||
printf("got %s hash: %s\n", name.c_str(), hash.c_str());
|
||||
if (fn_hash != hash) {
|
||||
set_error(name + " was corrupt");
|
||||
unlink(out_fn.c_str());
|
||||
return "";
|
||||
}
|
||||
|
||||
return out_fn;
|
||||
}
|
||||
|
||||
void run_stages() {
|
||||
bool download_stage() {
|
||||
curl = curl_easy_init();
|
||||
assert(curl);
|
||||
|
||||
// ** quick checks before download **
|
||||
|
||||
if (!check_space()) {
|
||||
set_error("2GB of free space required to update");
|
||||
return false;
|
||||
}
|
||||
|
||||
mkdir(UPDATE_DIR, 0777);
|
||||
|
||||
set_progress("Finding latest version...");
|
||||
std::string manifest_s = download_string(curl, manifest_url);
|
||||
printf("manifest: %s\n", manifest_s.c_str());
|
||||
|
||||
std::string err;
|
||||
auto manifest = json11::Json::parse(manifest_s, err);
|
||||
if (manifest.is_null() || !err.empty()) {
|
||||
set_error("failed to load update manifest");
|
||||
return false;
|
||||
}
|
||||
|
||||
std::string ota_url = manifest["ota_url"].string_value();
|
||||
std::string ota_hash = manifest["ota_hash"].string_value();
|
||||
|
||||
std::string recovery_url = manifest["recovery_url"].string_value();
|
||||
recovery_hash = manifest["recovery_hash"].string_value();
|
||||
recovery_len = manifest["recovery_len"].int_value();
|
||||
|
||||
// std::string installer_url = manifest["installer_url"].string_value();
|
||||
// std::string installer_hash = manifest["installer_hash"].string_value();
|
||||
|
||||
if (ota_url.empty() || ota_hash.empty()) {
|
||||
set_error("invalid update manifest");
|
||||
return false;
|
||||
}
|
||||
|
||||
// std::string installer_fn = download(installer_url, installer_hash, "installer");
|
||||
// if (installer_fn.empty()) {
|
||||
// //error'd
|
||||
// return;
|
||||
// }
|
||||
|
||||
// ** handle recovery download **
|
||||
if (recovery_url.empty() || recovery_hash.empty() || recovery_len == 0) {
|
||||
set_progress("Skipping recovery flash...");
|
||||
} else {
|
||||
// only download the recovery if it differs from what's flashed
|
||||
set_progress("Checking recovery...");
|
||||
std::string existing_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
|
||||
printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());
|
||||
|
||||
if (existing_recovery_hash != recovery_hash) {
|
||||
recovery_fn = download(recovery_url, recovery_hash, "recovery");
|
||||
if (recovery_fn.empty()) {
|
||||
// error'd
|
||||
return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// ** handle ota download **
|
||||
ota_fn = download(ota_url, ota_hash, "update");
|
||||
if (ota_fn.empty()) {
|
||||
//error'd
|
||||
return false;
|
||||
}
|
||||
|
||||
// download sucessful
|
||||
return true;
|
||||
}
|
||||
|
||||
// thread that handles downloading and installing the update
|
||||
void run_stages() {
|
||||
printf("run_stages start\n");
|
||||
|
||||
|
||||
// ** download update **
|
||||
|
||||
if (!check_battery()) {
|
||||
set_battery_low();
|
||||
int battery_cap = battery_capacity();
|
||||
@@ -356,77 +468,12 @@ struct Updater {
|
||||
set_running();
|
||||
}
|
||||
|
||||
if (!check_space()) {
|
||||
set_error("2GB of free space required to update");
|
||||
bool sucess = download_stage();
|
||||
if (!sucess) {
|
||||
return;
|
||||
}
|
||||
|
||||
mkdir(UPDATE_DIR, 0777);
|
||||
|
||||
const int EON = (access("/EON", F_OK) != -1);
|
||||
|
||||
set_progress("Finding latest version...");
|
||||
std::string manifest_s;
|
||||
if (EON) {
|
||||
manifest_s = download_string(curl, manifest_url);
|
||||
} else {
|
||||
// don't update NEO
|
||||
exit(0);
|
||||
}
|
||||
|
||||
printf("manifest: %s\n", manifest_s.c_str());
|
||||
|
||||
std::string err;
|
||||
auto manifest = json11::Json::parse(manifest_s, err);
|
||||
if (manifest.is_null() || !err.empty()) {
|
||||
set_error("failed to load update manifest");
|
||||
return;
|
||||
}
|
||||
|
||||
std::string ota_url = manifest["ota_url"].string_value();
|
||||
std::string ota_hash = manifest["ota_hash"].string_value();
|
||||
|
||||
std::string recovery_url = manifest["recovery_url"].string_value();
|
||||
std::string recovery_hash = manifest["recovery_hash"].string_value();
|
||||
int recovery_len = manifest["recovery_len"].int_value();
|
||||
|
||||
// std::string installer_url = manifest["installer_url"].string_value();
|
||||
// std::string installer_hash = manifest["installer_hash"].string_value();
|
||||
|
||||
if (ota_url.empty() || ota_hash.empty()) {
|
||||
set_error("invalid update manifest");
|
||||
return;
|
||||
}
|
||||
|
||||
// std::string installer_fn = stage_download(installer_url, installer_hash, "installer");
|
||||
// if (installer_fn.empty()) {
|
||||
// //error'd
|
||||
// return;
|
||||
// }
|
||||
|
||||
std::string recovery_fn;
|
||||
if (recovery_url.empty() || recovery_hash.empty() || recovery_len == 0) {
|
||||
set_progress("Skipping recovery flash...");
|
||||
} else {
|
||||
// only download the recovery if it differs from what's flashed
|
||||
set_progress("Checking recovery...");
|
||||
std::string existing_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
|
||||
printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());
|
||||
|
||||
if (existing_recovery_hash != recovery_hash) {
|
||||
recovery_fn = stage_download(recovery_url, recovery_hash, "recovery");
|
||||
if (recovery_fn.empty()) {
|
||||
// error'd
|
||||
return;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
std::string ota_fn = stage_download(ota_url, ota_hash, "update");
|
||||
if (ota_fn.empty()) {
|
||||
//error'd
|
||||
return;
|
||||
}
|
||||
// ** install update **
|
||||
|
||||
if (!check_battery()) {
|
||||
set_battery_low();
|
||||
@@ -601,7 +648,7 @@ struct Updater {
|
||||
int powerprompt_y = 312;
|
||||
nvgFontFace(vg, "opensans_regular");
|
||||
nvgFontSize(vg, 64.0f);
|
||||
nvgText(vg, fb_w/2, 740, "Ensure EON is connected to power.", NULL);
|
||||
nvgText(vg, fb_w/2, 740, "Ensure your device remains connected to a power source.", NULL);
|
||||
|
||||
NVGpaint paint = nvgBoxGradient(
|
||||
vg, progress_x + 1, progress_y + 1,
|
||||
@@ -657,9 +704,7 @@ struct Updater {
|
||||
void ui_update() {
|
||||
std::lock_guard<std::mutex> guard(lock);
|
||||
|
||||
switch (state) {
|
||||
case ERROR:
|
||||
case CONFIRMATION: {
|
||||
if (state == ERROR || state == CONFIRMATION) {
|
||||
int touch_x = -1, touch_y = -1;
|
||||
int res = touch_poll(&touch, &touch_x, &touch_y, 0);
|
||||
if (res == 1 && !is_settings_active()) {
|
||||
@@ -678,13 +723,11 @@ struct Updater {
|
||||
}
|
||||
}
|
||||
}
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void go() {
|
||||
ui_init();
|
||||
|
||||
while (!do_exit) {
|
||||
ui_update();
|
||||
|
||||
@@ -718,51 +761,37 @@ struct Updater {
|
||||
update_thread_handle.join();
|
||||
}
|
||||
|
||||
// reboot
|
||||
system("service call power 16 i32 0 i32 0 i32 1");
|
||||
}
|
||||
|
||||
bool is_settings_active() {
|
||||
FILE *fp;
|
||||
char sys_output[4096];
|
||||
|
||||
fp = popen("/bin/dumpsys window windows", "r");
|
||||
if (fp == NULL) {
|
||||
return false;
|
||||
}
|
||||
|
||||
bool active = false;
|
||||
while (fgets(sys_output, sizeof(sys_output), fp) != NULL) {
|
||||
if (strstr(sys_output, "mCurrentFocus=null") != NULL) {
|
||||
break;
|
||||
}
|
||||
|
||||
if (strstr(sys_output, "mCurrentFocus=Window") != NULL) {
|
||||
active = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
pclose(fp);
|
||||
|
||||
return active;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
int main(int argc, char *argv[]) {
|
||||
bool background_cache = false;
|
||||
if (argc > 1) {
|
||||
if (strcmp(argv[1], "local") == 0) {
|
||||
manifest_url = MANIFEST_URL_EON_LOCAL;
|
||||
manifest_url = MANIFEST_URL_NEOS_LOCAL;
|
||||
} else if (strcmp(argv[1], "staging") == 0) {
|
||||
manifest_url = MANIFEST_URL_EON_STAGING;
|
||||
manifest_url = MANIFEST_URL_NEOS_STAGING;
|
||||
} else if (strcmp(argv[1], "bgcache") == 0) {
|
||||
manifest_url = argv[2];
|
||||
background_cache = true;
|
||||
} else {
|
||||
manifest_url = argv[1];
|
||||
}
|
||||
}
|
||||
|
||||
printf("updating from %s\n", manifest_url);
|
||||
Updater updater;
|
||||
updater.go();
|
||||
|
||||
return 0;
|
||||
int err = 0;
|
||||
if (background_cache) {
|
||||
err = !updater.download_stage();
|
||||
} else {
|
||||
updater.go();
|
||||
}
|
||||
return err;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,4 @@
|
||||
#!/usr/bin/bash
|
||||
|
||||
export PASSIVE="0"
|
||||
exec ./launch_chffrplus.sh
|
||||
+63
-65
@@ -1,25 +1,74 @@
|
||||
#!/usr/bin/bash
|
||||
|
||||
export OMP_NUM_THREADS=1
|
||||
export MKL_NUM_THREADS=1
|
||||
export NUMEXPR_NUM_THREADS=1
|
||||
export OPENBLAS_NUM_THREADS=1
|
||||
export VECLIB_MAXIMUM_THREADS=1
|
||||
|
||||
if [ -z "$BASEDIR" ]; then
|
||||
BASEDIR="/data/openpilot"
|
||||
fi
|
||||
|
||||
if [ -z "$PASSIVE" ]; then
|
||||
export PASSIVE="1"
|
||||
fi
|
||||
source "$BASEDIR/launch_env.sh"
|
||||
|
||||
STAGING_ROOT="/data/safe_staging"
|
||||
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
|
||||
|
||||
function two_init {
|
||||
# Restrict Android and other system processes to the first two cores
|
||||
echo 0-1 > /dev/cpuset/background/cpus
|
||||
echo 0-1 > /dev/cpuset/system-background/cpus
|
||||
echo 0-1 > /dev/cpuset/foreground/boost/cpus
|
||||
echo 0-1 > /dev/cpuset/foreground/cpus
|
||||
echo 0-1 > /dev/cpuset/android/cpus
|
||||
|
||||
# openpilot gets all the cores
|
||||
echo 0-3 > /dev/cpuset/app/cpus
|
||||
|
||||
# Collect RIL and other possibly long-running I/O interrupts onto CPU 1
|
||||
echo 1 > /proc/irq/78/smp_affinity_list # qcom,smd-modem (LTE radio)
|
||||
echo 1 > /proc/irq/33/smp_affinity_list # ufshcd (flash storage)
|
||||
echo 1 > /proc/irq/35/smp_affinity_list # wifi (wlan_pci)
|
||||
# USB traffic needs realtime handling on cpu 3
|
||||
[ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list # USB for LeEco
|
||||
[ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T
|
||||
|
||||
|
||||
# Check for NEOS update
|
||||
if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
|
||||
if [ -f "$DIR/scripts/continue.sh" ]; then
|
||||
cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
|
||||
fi
|
||||
|
||||
if [ ! -f "$BASEDIR/prebuilt" ]; then
|
||||
# Clean old build products, but preserve the scons cache
|
||||
cd $DIR
|
||||
scons --clean
|
||||
git clean -xdf
|
||||
git submodule foreach --recursive git clean -xdf
|
||||
fi
|
||||
|
||||
"$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
|
||||
else
|
||||
if [[ $(uname -v) == "#1 SMP PREEMPT Wed Jun 10 12:40:53 PDT 2020" ]]; then
|
||||
"$DIR/installer/updater/updater" "file://$DIR/installer/updater/update_kernel.json"
|
||||
fi
|
||||
fi
|
||||
|
||||
# One-time fix for a subset of OP3T with gyro orientation offsets.
|
||||
# Remove and regenerate qcom sensor registry. Only done on OP3T mainboards.
|
||||
# Performed exactly once. The old registry is preserved just-in-case, and
|
||||
# doubles as a flag denoting we've already done the reset.
|
||||
if ! $(grep -q "letv" /proc/cmdline) && [ ! -f "/persist/comma/op3t-sns-reg-backup" ]; then
|
||||
echo "Performing OP3T sensor registry reset"
|
||||
mv /persist/sensors/sns.reg /persist/comma/op3t-sns-reg-backup &&
|
||||
rm -f /persist/sensors/sensors_settings /persist/sensors/error_log /persist/sensors/gyro_sensitity_cal &&
|
||||
echo "restart" > /sys/kernel/debug/msm_subsys/slpi &&
|
||||
sleep 5 # Give Android sensor subsystem a moment to recover
|
||||
fi
|
||||
}
|
||||
|
||||
function launch {
|
||||
# Wifi scan
|
||||
wpa_cli IFNAME=wlan0 SCAN
|
||||
|
||||
# Remove orphaned git lock if it exists on boot
|
||||
[ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
|
||||
|
||||
# Check to see if there's a valid overlay-based update available. Conditions
|
||||
# are as follows:
|
||||
#
|
||||
@@ -49,6 +98,7 @@ function launch {
|
||||
git submodule foreach --recursive git reset --hard
|
||||
|
||||
echo "Restarting launch script ${LAUNCHER_LOCATION}"
|
||||
unset REQUIRED_NEOS_VERSION
|
||||
exec "${LAUNCHER_LOCATION}"
|
||||
else
|
||||
echo "openpilot backup found, not updating"
|
||||
@@ -58,61 +108,9 @@ function launch {
|
||||
fi
|
||||
fi
|
||||
|
||||
# Android and other system processes are not permitted to run on CPU 3
|
||||
# NEOS installed app processes can run anywhere
|
||||
echo 0-2 > /dev/cpuset/background/cpus
|
||||
echo 0-2 > /dev/cpuset/system-background/cpus
|
||||
[ -d "/dev/cpuset/foreground/boost/cpus" ] && echo 0-2 > /dev/cpuset/foreground/boost/cpus # Not present in < NEOS 15
|
||||
echo 0-2 > /dev/cpuset/foreground/cpus
|
||||
echo 0-2 > /dev/cpuset/android/cpus
|
||||
echo 0-3 > /dev/cpuset/app/cpus
|
||||
|
||||
# Collect RIL and other possibly long-running I/O interrupts onto CPU 1
|
||||
echo 1 > /proc/irq/78/smp_affinity_list # qcom,smd-modem (LTE radio)
|
||||
echo 1 > /proc/irq/33/smp_affinity_list # ufshcd (flash storage)
|
||||
echo 1 > /proc/irq/35/smp_affinity_list # wifi (wlan_pci)
|
||||
# USB traffic needs realtime handling on cpu 3
|
||||
[ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list # USB for LeEco
|
||||
[ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T
|
||||
|
||||
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
|
||||
|
||||
# Remove old NEOS update file
|
||||
# TODO: move this code to the updater
|
||||
if [ -d /data/neoupdate ]; then
|
||||
rm -rf /data/neoupdate
|
||||
fi
|
||||
|
||||
# Check for NEOS update
|
||||
if [ $(< /VERSION) != "14" ]; then
|
||||
if [ -f "$DIR/scripts/continue.sh" ]; then
|
||||
cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
|
||||
fi
|
||||
|
||||
if [ ! -f "$BASEDIR/prebuilt" ]; then
|
||||
echo "Clearing build products and resetting scons state prior to NEOS update"
|
||||
cd $BASEDIR && scons --clean
|
||||
rm -rf /tmp/scons_cache
|
||||
rm -r $BASEDIR/.sconsign.dblite
|
||||
fi
|
||||
"$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
|
||||
else
|
||||
if [[ $(uname -v) == "#1 SMP PREEMPT Wed Jun 10 12:40:53 PDT 2020" ]]; then
|
||||
"$DIR/installer/updater/updater" "file://$DIR/installer/updater/update_kernel.json"
|
||||
fi
|
||||
fi
|
||||
|
||||
# One-time fix for a subset of OP3T with gyro orientation offsets.
|
||||
# Remove and regenerate qcom sensor registry. Only done on OP3T mainboards.
|
||||
# Performed exactly once. The old registry is preserved just-in-case, and
|
||||
# doubles as a flag denoting we've already done the reset.
|
||||
# TODO: we should really grow per-platform detect and setup routines
|
||||
if ! $(grep -q "letv" /proc/cmdline) && [ ! -f "/persist/comma/op3t-sns-reg-backup" ]; then
|
||||
echo "Performing OP3T sensor registry reset"
|
||||
mv /persist/sensors/sns.reg /persist/comma/op3t-sns-reg-backup &&
|
||||
rm -f /persist/sensors/sensors_settings /persist/sensors/error_log /persist/sensors/gyro_sensitity_cal &&
|
||||
echo "restart" > /sys/kernel/debug/msm_subsys/slpi &&
|
||||
sleep 5 # Give Android sensor subsystem a moment to recover
|
||||
# comma two init
|
||||
if [ -f /EON ]; then
|
||||
two_init
|
||||
fi
|
||||
|
||||
# handle pythonpath
|
||||
|
||||
Executable
+17
@@ -0,0 +1,17 @@
|
||||
#!/usr/bin/bash
|
||||
|
||||
export OMP_NUM_THREADS=1
|
||||
export MKL_NUM_THREADS=1
|
||||
export NUMEXPR_NUM_THREADS=1
|
||||
export OPENBLAS_NUM_THREADS=1
|
||||
export VECLIB_MAXIMUM_THREADS=1
|
||||
|
||||
if [ -z "$REQUIRED_NEOS_VERSION" ]; then
|
||||
export REQUIRED_NEOS_VERSION="14"
|
||||
fi
|
||||
|
||||
if [ -z "$PASSIVE" ]; then
|
||||
export PASSIVE="1"
|
||||
fi
|
||||
|
||||
export STAGING_ROOT="/data/safe_staging"
|
||||
Binary file not shown.
@@ -14,4 +14,3 @@ can/packer_pyx.cpp
|
||||
can/parser_pyx.cpp
|
||||
can/packer_pyx.html
|
||||
can/parser_pyx.html
|
||||
can/packer_impl.cpp
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
Import('env', 'cereal')
|
||||
Import('env', 'cereal', 'cython_dependencies')
|
||||
|
||||
import os
|
||||
from opendbc.can.process_dbc import process
|
||||
@@ -17,7 +17,6 @@ for x in sorted(os.listdir('../')):
|
||||
libdbc = env.SharedLibrary('libdbc', ["dbc.cc", "parser.cc", "packer.cc", "common.cc"]+dbcs, LIBS=["capnp", "kj"])
|
||||
|
||||
# Build packer and parser
|
||||
|
||||
env.Command(['packer_pyx.so', 'parser_pyx.so'],
|
||||
[libdbc, cereal, 'common_pyx_setup.py', 'packer_pyx.pyx', 'parser_pyx.pyx', 'common.pxd'],
|
||||
"cd opendbc/can && python3 common_pyx_setup.py build_ext --inplace")
|
||||
env.Command(['packer_pyx.so', 'packer_pyx.cpp', 'parser_pyx.so', 'parser_pyx.cpp'],
|
||||
cython_dependencies + [libdbc, cereal, 'common_pyx_setup.py', 'common.pxd', 'packer_pyx.pyx', 'parser_pyx.pyx', 'packer.cc', 'parser.cc'],
|
||||
"cd opendbc/can && python3 common_pyx_setup.py build_ext --inplace")
|
||||
|
||||
@@ -34,7 +34,7 @@ class BuildExtWithoutPlatformSuffix(build_ext):
|
||||
return get_ext_filename_without_platform_suffix(filename)
|
||||
|
||||
|
||||
extra_compile_args = ["-std=c++14"]
|
||||
extra_compile_args = ["-std=c++14", "-Wno-nullability-completeness"]
|
||||
ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip() # pylint: disable=unexpected-keyword-arg
|
||||
if ARCH == "aarch64":
|
||||
extra_compile_args += ["-Wno-deprecated-register"]
|
||||
@@ -63,9 +63,9 @@ setup(name='CAN parser',
|
||||
include_dirs=include_dirs,
|
||||
extra_link_args=extra_link_args,
|
||||
),
|
||||
nthreads=4,
|
||||
annotate=ANNOTATE
|
||||
),
|
||||
nthreads=4,
|
||||
)
|
||||
|
||||
if platform.system() == "Darwin":
|
||||
@@ -85,9 +85,9 @@ setup(name='CAN packer',
|
||||
include_dirs=include_dirs,
|
||||
extra_link_args=extra_link_args,
|
||||
),
|
||||
nthreads=4,
|
||||
annotate=ANNOTATE
|
||||
),
|
||||
nthreads=4,
|
||||
)
|
||||
|
||||
if platform.system() == "Darwin":
|
||||
|
||||
@@ -20,9 +20,11 @@ cdef class CANPacker:
|
||||
map[int, int] address_to_size
|
||||
|
||||
def __init__(self, dbc_name):
|
||||
self.packer = new cpp_CANPacker(dbc_name)
|
||||
self.dbc = dbc_lookup(dbc_name)
|
||||
|
||||
if not self.dbc:
|
||||
raise RuntimeError("Can't lookup" + dbc_name)
|
||||
|
||||
self.packer = new cpp_CANPacker(dbc_name)
|
||||
num_msgs = self.dbc[0].num_msgs
|
||||
for i in range(num_msgs):
|
||||
msg = self.dbc[0].msgs[i]
|
||||
@@ -37,7 +39,7 @@ cdef class CANPacker:
|
||||
|
||||
for name, value in values.iteritems():
|
||||
n = name.encode('utf8')
|
||||
names.append(n) # TODO: find better way to keep reference to temp string arround
|
||||
names.append(n) # TODO: find better way to keep reference to temp string around
|
||||
|
||||
spv.name = n
|
||||
spv.value = value
|
||||
|
||||
@@ -187,7 +187,7 @@ void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Rea
|
||||
continue;
|
||||
}
|
||||
|
||||
if (cmsg.getDat().size() > 8) continue; //shouldnt ever happen
|
||||
if (cmsg.getDat().size() > 8) continue; //shouldn't ever happen
|
||||
uint8_t dat[8] = {0};
|
||||
memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size());
|
||||
|
||||
|
||||
@@ -1,2 +1,2 @@
|
||||
from opendbc.can.parser_pyx import CANParser # pylint: disable=no-name-in-module, import-error
|
||||
assert CANParser
|
||||
from opendbc.can.parser_pyx import CANParser, CANDefine # pylint: disable=no-name-in-module, import-error
|
||||
assert CANParser, CANDefine
|
||||
|
||||
@@ -3,24 +3,20 @@
|
||||
|
||||
from libcpp.string cimport string
|
||||
from libcpp.vector cimport vector
|
||||
from libcpp cimport bool
|
||||
from libcpp.unordered_set cimport unordered_set
|
||||
from libc.stdint cimport uint32_t, uint64_t, uint16_t
|
||||
from libcpp.map cimport map
|
||||
|
||||
from collections import defaultdict
|
||||
from libcpp cimport bool
|
||||
|
||||
from common cimport CANParser as cpp_CANParser
|
||||
from common cimport SignalParseOptions, MessageParseOptions, dbc_lookup, SignalValue, DBC
|
||||
|
||||
|
||||
from libcpp cimport bool
|
||||
import os
|
||||
import numbers
|
||||
from collections import defaultdict
|
||||
|
||||
cdef int CAN_INVALID_CNT = 5
|
||||
|
||||
|
||||
cdef class CANParser:
|
||||
cdef:
|
||||
cpp_CANParser *can
|
||||
@@ -30,7 +26,7 @@ cdef class CANParser:
|
||||
vector[SignalValue] can_values
|
||||
bool test_mode_enabled
|
||||
|
||||
cdef public:
|
||||
cdef readonly:
|
||||
string dbc_name
|
||||
dict vl
|
||||
dict ts
|
||||
@@ -40,10 +36,11 @@ cdef class CANParser:
|
||||
def __init__(self, dbc_name, signals, checks=None, bus=0):
|
||||
if checks is None:
|
||||
checks = []
|
||||
|
||||
self.can_valid = True
|
||||
self.dbc_name = dbc_name
|
||||
self.dbc = dbc_lookup(dbc_name)
|
||||
if not self.dbc:
|
||||
raise RuntimeError("Can't lookup" + dbc_name)
|
||||
self.vl = {}
|
||||
self.ts = {}
|
||||
|
||||
@@ -113,7 +110,7 @@ cdef class CANParser:
|
||||
|
||||
|
||||
for cv in can_values:
|
||||
# Cast char * directly to unicde
|
||||
# Cast char * directly to unicode
|
||||
name = <unicode>self.address_to_msg_name[cv.address].c_str()
|
||||
cv_name = <unicode>cv.name
|
||||
|
||||
@@ -151,7 +148,9 @@ cdef class CANDefine():
|
||||
def __init__(self, dbc_name):
|
||||
self.dbc_name = dbc_name
|
||||
self.dbc = dbc_lookup(dbc_name)
|
||||
|
||||
if not self.dbc:
|
||||
raise RuntimeError("Can't lookup" + dbc_name)
|
||||
|
||||
num_vals = self.dbc[0].num_vals
|
||||
|
||||
address_to_msg_name = {}
|
||||
|
||||
@@ -81,7 +81,7 @@ def process(in_fn, out_fn):
|
||||
if sig.start_bit % 8 != checksum_start_bit:
|
||||
sys.exit("%s: CHECKSUM starts at wrong bit" % dbc_msg_name)
|
||||
if little_endian != sig.is_little_endian:
|
||||
sys.exit("%s: CHECKSUM has wrong endianess" % dbc_msg_name)
|
||||
sys.exit("%s: CHECKSUM has wrong endianness" % dbc_msg_name)
|
||||
# counter rules
|
||||
if sig.name == "COUNTER":
|
||||
if counter_size is not None and sig.size != counter_size:
|
||||
@@ -90,7 +90,7 @@ def process(in_fn, out_fn):
|
||||
print(counter_start_bit, sig.start_bit)
|
||||
sys.exit("%s: COUNTER starts at wrong bit" % dbc_msg_name)
|
||||
if little_endian != sig.is_little_endian:
|
||||
sys.exit("%s: COUNTER has wrong endianess" % dbc_msg_name)
|
||||
sys.exit("%s: COUNTER has wrong endianness" % dbc_msg_name)
|
||||
# pedal rules
|
||||
if address in [0x200, 0x201]:
|
||||
if sig.name == "COUNTER_PEDAL" and sig.size != 4:
|
||||
|
||||
@@ -409,7 +409,7 @@ CM_ SG_ 571 CHECKSUM "standard checksum";
|
||||
CM_ SG_ 825 BEEP_339 "sent every 0.5s. 0050 is no beep. To beep send 4355 or 4155. Used by ParkSense warning.";
|
||||
CM_ SG_ 270 ELECTRIC_MOTOR "0x7fff indicates electric motor not in use";
|
||||
CM_ SG_ 291 ENERGY_GAIN_LOSS "unsure what this actually is";
|
||||
CM_ SG_ 291 ENERGY_SMOOTHER_CURVE "unusre what it is, but smoother";
|
||||
CM_ SG_ 291 ENERGY_SMOOTHER_CURVE "unsure what it is, but smoother";
|
||||
CM_ SG_ 308 ACCEL_134 "only set when human presses accel pedal";
|
||||
CM_ SG_ 532 NOISY_SLOWLY_DECREASING "perhaps battery but do not know";
|
||||
CM_ SG_ 816 TRACTION_OFF "set when traction off button is enabled";
|
||||
|
||||
@@ -37,7 +37,7 @@ BU_: K109_FCM B233B_LRR NEO VIS_FO VIS2_FO K124_ASCM Vector__XXX EOCM_F_FO EOCM2
|
||||
VAL_TABLE_ RangeMode 1 "Active" 0 "Inactive" ;
|
||||
VAL_TABLE_ TrkConf 3 "Confident" 2 "Speculative" 1 "Highly speculative" 0 "Invalid" ;
|
||||
VAL_TABLE_ TrkMeasStatus 3 "Measured current cycle" 2 "Latent track not detected" 1 "New object" 0 "No object" ;
|
||||
VAL_TABLE_ TrkDynProp 4 "Moving in opposite direction" 3 "Moving in same direction" 2 "Has moved but currenty stopped" 1 "Has never moved," 0 "Unkown" ;
|
||||
VAL_TABLE_ TrkDynProp 4 "Moving in opposite direction" 3 "Moving in same direction" 2 "Has moved but currently stopped" 1 "Has never moved," 0 "Unknown" ;
|
||||
VAL_TABLE_ FrntVsnInPthVehBrkNwSt 10 "Active" 5 "Inactive" ;
|
||||
VAL_TABLE_ FrntVsnClostPedBrkNwSt 10 "Active" 5 "Inactive" ;
|
||||
VAL_TABLE_ LaneSnsLLnPosValid 1 "Invalid" 0 "Valid" ;
|
||||
|
||||
@@ -0,0 +1,13 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
|
||||
CM_ "honda_crv_ex_2017_body.dbc starts here"
|
||||
BO_ 318291879 BSM_STATUS_RIGHT: 8 XXX
|
||||
SG_ BSM_ALERT : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BSM_MODE : 6|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 318291615 BSM_STATUS_LEFT: 8 XXX
|
||||
SG_ BSM_ALERT : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BSM_MODE : 6|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
VAL_ 318291879 BSM_MODE 2 "blind_spot" 1 "cross_traffic" 0 "off";
|
||||
VAL_ 318291615 BSM_MODE 2 "blind_spot" 1 "cross_traffic" 0 "off";
|
||||
+178
-23
@@ -191,8 +191,12 @@ BO_ 916 TCS13: 8 ESC
|
||||
SG_ BrakeLight : 11|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,SCC
|
||||
SG_ DCEnable : 12|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC
|
||||
SG_ AliveCounterTCS : 13|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,SCC
|
||||
SG_ ACCReqLim : 22|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,SCC
|
||||
SG_ TQI_ACC : 24|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS
|
||||
SG_ Pre_TCS_CTL : 16|1@1+ (1.0,0.0) [0.0|1.0] "" Vector__XXX
|
||||
SG_ EBA_ACK : 17|1@1+ (1.0,0.0) [0.0|1.0] "" Vector__XXX
|
||||
SG_ FCA_ACK : 18|1@1+ (1.0,0.0) [0.0|1.0] "" Vector__XXX
|
||||
SG_ DF_BF_STAT : 19|2@1+ (1.0,0.0) [0.0|3.0] "" BCW
|
||||
SG_ SCCReqLim : 21|2@1+ (1.0,0.0) [0.0|3.0] "" SCC
|
||||
SG_ TQI_SCC : 23|9@1+ (0.390625,0.0) [0.0|199.609375] "%" Vector__XXX
|
||||
SG_ ACCEL_REF_ACC : 32|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" EMS,SCC
|
||||
SG_ ACCEnable : 43|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,SCC
|
||||
SG_ DriverOverride : 45|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,SCC
|
||||
@@ -448,6 +452,7 @@ BO_ 897 MDPS11: 8 MDPS
|
||||
SG_ CF_Mdps_LKAS_FUNC : 58|1@1+ (1.0,0.0) [0.0|1.0] "flag" LDWS_LKAS
|
||||
SG_ CF_Mdps_CurrMode : 59|2@1+ (1.0,0.0) [0.0|3.0] "" LDWS_LKAS
|
||||
SG_ CF_Mdps_Type : 61|2@1+ (1.0,0.0) [0.0|2.0] "" LDWS_LKAS,SPAS
|
||||
SG_ CF_MDPS_VSM_FUNC : 56|1@0+ (1.0,0.0) [0.0|1.0] "" XXX
|
||||
|
||||
BO_ 896 DI_BOX13: 8 DI_BOX
|
||||
SG_ CF_DiBox_HPreInjVConfStat : 0|8@1+ (1.0,0.0) [0.0|255.0] "" EMS
|
||||
@@ -961,7 +966,7 @@ BO_ 64 DATC14: 8 DATC
|
||||
SG_ DATC_ADSDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
|
||||
|
||||
BO_ 832 LKAS11: 8 LDWS_LKAS
|
||||
SG_ CF_Lkas_Bca_R : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,IBOX,PSB
|
||||
SG_ CF_Lkas_LdwsActivemode : 0|2@1+ (1,0) [0|3] "" CLU,IBOX,PSB
|
||||
SG_ CF_Lkas_LdwsSysState : 2|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,IBOX,PSB
|
||||
SG_ CF_Lkas_SysWarning : 6|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU
|
||||
SG_ CF_Lkas_LdwsLHWarning : 10|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,PSB
|
||||
@@ -978,11 +983,11 @@ BO_ 832 LKAS11: 8 LDWS_LKAS
|
||||
SG_ CF_Lkas_FcwSysState : 40|3@1+ (1.0,0.0) [0.0|7.0] "" CLU
|
||||
SG_ CF_Lkas_FcwCollisionWarning : 43|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
|
||||
SG_ CF_Lkas_FusionState : 45|2@1+ (1.0,0.0) [0.0|3.0] "" SCC
|
||||
SG_ CF_Lkas_Unknown1 : 47|1@1+ (1.0,0.0) [0.0|1.0] "" XXX
|
||||
SG_ CF_Lkas_Chksum : 48|8@1+ (1.0,0.0) [0.0|255.0] "" MDPS
|
||||
SG_ CF_Lkas_FcwOpt_USM : 56|3@1+ (1.0,0.0) [0.0|7.0] "" CLU
|
||||
SG_ CF_Lkas_LdwsOpt_USM : 59|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,MDPS
|
||||
SG_ CF_Lkas_Unknown1 : 47|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ CF_Lkas_Unknown2 : 63|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CF_Lkas_Unknown2 : 62|2@1+ (1.0,0.0) [0.0|1.0] "" XXX
|
||||
|
||||
BO_ 1342 LKAS12: 6 LDWS_LKAS
|
||||
SG_ CF_Lkas_TsrSlifOpt : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
|
||||
@@ -1037,6 +1042,7 @@ BO_ 1322 CLU15: 8 CLU
|
||||
SG_ CF_Clu_HudFontSizeSet : 31|2@1+ (1.0,0.0) [0.0|3.0] "" HUD
|
||||
SG_ CF_Clu_LanguageInfo : 33|5@1+ (1.0,0.0) [0.0|31.0] "" BCM,PGS
|
||||
SG_ CF_Clu_ClusterSound : 38|1@1- (1.0,0.0) [0.0|0.0] "" BCM,CGW,FATC
|
||||
SG_ CF_Clu_VehicleSpeed2 : 48|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 1066 _4WD13: 6 _4WD
|
||||
SG_ _4WD_CURRENT : 0|8@1+ (0.390625,0.0) [-50.0|50.0] "A" TCU
|
||||
@@ -1250,14 +1256,6 @@ BO_ 790 EMS11: 8 EMS
|
||||
SG_ VS : 48|8@1+ (1.0,0.0) [0.0|254.0] "km/h" _4WD,AAF,ACU,AHLS,BCM,CLU,DATC,ECS,EPB,IBOX,LCA,LDWS_LKAS,LVR,MDPS,ODS,SCC,SMK,SPAS,TCU,TPMS
|
||||
SG_ RATIO_TQI_BAS_MAX_STND : 56|8@1+ (0.0078,0.0) [0.0|2.0] "" _4WD,IBOX,TCU
|
||||
|
||||
BO_ 881 E_EMS11: 8 XXX
|
||||
SG_ Cruise_Limit_Status : 13|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Limit_Target : 23|8@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Gear_Change : 12|1@0+ (1,0) [0|31] "" XXX
|
||||
SG_ IG_Reactive_Stat : 8|3@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Brake_Pedal_Pos : 0|8@1+ (1,0) [0|127] "" XXX
|
||||
SG_ Accel_Pedal_Pos : 31|8@1+ (1,0) [0|7] "" XXX
|
||||
|
||||
BO_ 1301 CLU14: 8 CLU
|
||||
SG_ CF_Clu_ADrUNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] "" BCM
|
||||
SG_ CF_Clu_ADrLNValueSet : 3|3@1+ (1.0,0.0) [0.0|7.0] "" BCM
|
||||
@@ -1380,6 +1378,7 @@ BO_ 1290 SCC13: 8 SCC
|
||||
SG_ SCCDrvModeRValue : 0|3@1+ (1,0) [0|7] "" CLU
|
||||
SG_ SCC_Equip : 3|1@1+ (1,0) [0|1] "" ESC
|
||||
SG_ AebDrvSetStatus : 4|3@1+ (1,0) [0|7] "" CLU,ESC
|
||||
SG_ Lead_Veh_Dep_Alert_USM : 13|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1287 TCS15: 4 ESC
|
||||
SG_ ABS_W_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,CUBIS,IBOX
|
||||
@@ -1451,6 +1450,18 @@ BO_ 909 FCA11: 8 FCA
|
||||
SG_ Supplemental_Counter : 35|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ PAINT1_Status : 16|2@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1156 HDA11_MFC: 8 XXX
|
||||
SG_ Counter : 5|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 1|2@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 16|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 18|14@1+ (1,0) [0|63] "" XXX
|
||||
SG_ NEW_SIGNAL_6 : 33|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_7 : 34|14@1+ (1,0) [0|16383] "" XXX
|
||||
SG_ NEW_SIGNAL_8 : 49|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_9 : 50|14@1- (1,-4095) [0|16383] "" XXX
|
||||
|
||||
BO_ 1155 FCA12: 8 FCA
|
||||
SG_ FCA_USM : 0|3@1+ (1,0) [0|7] "" CGW,CLU,ESC
|
||||
SG_ FCA_DrvSetState : 3|3@1+ (1,0) [0|7] "" CGW
|
||||
@@ -1459,22 +1470,166 @@ BO_ 1186 FRT_RADAR11: 2 FCA
|
||||
SG_ CF_FCA_Equip_Front_Radar : 0|3@1+ (1,0) [0|7] "" LDWS_LKAS,LDW_LKA,ESC
|
||||
|
||||
BO_ 905 SCC14: 8 SCC
|
||||
SG_ ComfortBandLower : 6|6@1+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ ComfortBandUpper : 0|6@1+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ JerkLowerLimit : 19|7@1+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ JerkUpperLimit : 12|7@1+ (0.1,0) [0|0] "" Vector__XXX
|
||||
SG_ ComfortBandUpper : 0|6@1+ (0.0986,-4.14) [0|1.26] "m/s^2" ESC
|
||||
SG_ ComfortBandLower : 6|6@1+ (0.0986,-4.14) [0|1.26] "m/s^2" ESC
|
||||
SG_ JerkUpperLimit : 12|7@1+ (1,0) [0|12.7] "m/s^3" ESC
|
||||
SG_ JerkLowerLimit : 19|7@1+ (0.1,0) [0|12.7] "m/s^3" ESC
|
||||
SG_ ACCMode : 32|3@1+ (1,0) [0|7] "" CLU,HUD,LDWS_LKAS,ESC
|
||||
SG_ ObjGap : 56|8@1+ (1,0) [0|255] "" CLU,HUD,ESC
|
||||
|
||||
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_ ACTIVE2 : 4|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LFA_SysWarning : 16|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ ACTIVE : 25|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ LFA_USM : 28|2@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 913 BCM_PO_11: 8 Vector__XXX
|
||||
SG_ BCM_Door_Dri_Status : 5|1@0+ (1,0) [0|1] "" PT_ESC_ABS
|
||||
SG_ BCM_Shift_R_MT_SW_Status : 39|2@0+ (1,0) [0|3] "" PT_ESC_ABS
|
||||
|
||||
BO_ 1426 LABEL11: 8 XXX
|
||||
SG_ CC_React : 34|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 910 WHL_SPD12_FS: 5 iBAU
|
||||
SG_ CRC : 0|8@1+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ WHL_SPD12_AliveCounter : 8|4@1+ (1,0) [0|15] "" Vector__XXX
|
||||
SG_ WHL_SPD_FL : 12|14@1+ (0.03125,0) [0|511.96875] "km/h" Vector__XXX
|
||||
SG_ WHL_SPD_FR : 26|14@1+ (0.03125,0) [0|511.96875] "km/h" Vector__XXX
|
||||
|
||||
BO_ 911 WHL_SPD13_FS: 5 iBAU
|
||||
SG_ CRC : 0|8@1+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ WHL_SPD13_AliveCounter : 8|4@1+ (1,0) [0|15] "" Vector__XXX
|
||||
SG_ WHL_SPD_RL : 12|14@1+ (0.03125,0) [0|511.96875] "km/h" Vector__XXX
|
||||
SG_ WHL_SPD_RR : 26|14@1+ (0.03125,0) [0|511.96875] "km/h" Vector__XXX
|
||||
|
||||
BO_ 865 ADAS_PRK_11: 8 ADAS_PRK
|
||||
SG_ CF_PCA_BrkReq : 24|1@1+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ CF_PCA_DclTrgtVal : 28|4@1+ (0.04,0) [0|0] "g" Vector__XXX
|
||||
SG_ PCA_ALIVE_CNT : 40|4@1+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ PCA_CHECK_SUM : 48|8@1+ (1,0) [0|0] "" Vector__XXX
|
||||
|
||||
BO_ 882 ELECT_GEAR: 8 XXX
|
||||
SG_ Elect_Gear_Shifter : 16|4@1+ (1,0) [0|7] "" CLU
|
||||
|
||||
BO_ 881 E_EMS11: 8 XXX
|
||||
SG_ Brake_Pedal_Pos : 0|8@1+ (1,0) [0|127] "" XXX
|
||||
SG_ IG_Reactive_Stat : 8|3@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Gear_Change : 12|1@0+ (1,0) [0|31] "" XXX
|
||||
SG_ Cruise_Limit_Status : 13|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Limit_Target : 23|8@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Accel_Pedal_Pos : 31|8@1+ (1,0) [0|7] "" XXX
|
||||
|
||||
BO_ 1355 EV_PC6: 8 CGW
|
||||
SG_ CF_Vcu_SbwWarnMsg : 16|3@1+ (1,0) [0|7] "" Vector__XXX
|
||||
|
||||
BO_ 1430 EV_PC2: 8 CGW
|
||||
SG_ CR_Ldc_ActVol_LS_V : 32|8@1+ (0.1,0) [0|0] "V" Vector__XXX
|
||||
|
||||
BO_ 1535 EV_PC10: 8 CGW
|
||||
SG_ CF_Vcu_EpbRequest : 37|1@1+ (1,0) [0|0] "" Vector__XXX
|
||||
|
||||
BO_ 908 RSPA11: 8 RSPA
|
||||
SG_ CF_RSPA_State : 0|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ CF_RSPA_Act : 4|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ CF_RSPA_DecCmd : 6|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ CF_RSPA_Trgt_Spd : 8|10@1+ (0.01,0) [0|10.23] "km/h" XXX
|
||||
SG_ CF_RSPA_StopReq : 18|1@1+ (1,0) [0|2] "" XXX
|
||||
SG_ CR_RSPA_EPB_Req : 22|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ CF_RSPA_ACC_ACT : 50|1@1+ (1,0) [0|2] "" XXX
|
||||
SG_ CF_RSPA_AliveCounter : 52|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ CF_RSPA_CRC : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 914 S_MDPS11: 8 XXX
|
||||
SG_ CF_Mdps_Stat : 0|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ CR_Mdps_DrvTq : 8|12@1+ (1,0) [0|15] "" XXX
|
||||
SG_ CR_Mdps_StrAng : 24|16@1- (1,0) [0|65535] "" XXX
|
||||
SG_ CF_Mdps_AliveCnt : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CF_Mdps_Chksum : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 357 S_MDPS12: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 0|12@1+ (1,0) [0|4095] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 12|12@1+ (1,0) [0|4095] "" XXX
|
||||
SG_ Counter : 48|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Checksum : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 352 AHB1: 8 iBAU
|
||||
SG_ CF_Ahb_SLmp : 0|2@1+ (1,0) [0|3] "" CLU
|
||||
SG_ CF_Ahb_Def : 2|2@1+ (1,0) [0|3] "" CGW
|
||||
SG_ CF_Ahb_Act : 4|2@1+ (1,0) [0|3] "" Vector__XXX
|
||||
SG_ CF_Ahb_Diag : 6|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ CF_Ahb_WLmp : 7|1@1+ (1,0) [0|1] "" CLU
|
||||
SG_ CR_Ahb_StDep_mm : 8|16@1- (0.1,0) [-3276.8|3276.7] "mm" Vector__XXX
|
||||
SG_ CF_Ahb_SnsFail : 24|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ CF_Ahb_PedalCalStat : 25|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ CF_Ahb_Bzzr : 26|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ CF_Ahb_ChkSum : 56|8@1+ (1,0) [0|255] "" Vector__XXX
|
||||
|
||||
BO_ 1191 4a7MFC: 8 XXX
|
||||
SG_ PAINT1 : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1162 BCA11: 8 BCW
|
||||
SG_ CF_BCA_State : 16|3@1+ (1,0) [0|7] "" CLU,iBAU
|
||||
SG_ CF_BCA_Warning : 19|2@1+ (1,0) [0|3] "" CLU,iBAU
|
||||
SG_ AliveCounter : 21|4@1+ (1,0) [0|15] "" CLU,iBAU
|
||||
SG_ RCCA_Brake_Command : 29|1@1+ (1,0) [0|1] "" iBAU
|
||||
SG_ Check_Sum : 56|8@1+ (1,0) [0|16] "" iBAU
|
||||
|
||||
BO_ 1136 P_STS: 6 CGW
|
||||
SG_ HCU1_STS : 6|2@1+ (1,0) [0|3] "" BCW,EPB,FCA,MDPS,SCC,iBAU
|
||||
SG_ HCU5_STS : 8|2@1+ (1,0) [0|3] "" EPB,FCA,MDPS,iBAU
|
||||
|
||||
BO_ 304 YRS11: 8 ACU
|
||||
SG_ CR_Yrs_Yr : 0|16@1+ (0.005,-163.84) [-163.84|163.83] "deg/s" CGW,iBAU
|
||||
SG_ CR_Yrs_LatAc : 16|16@1+ (0.000127465,-4.17677312) [-4.17677312|4.17651819] "g" iBAU
|
||||
SG_ CF_Yrs_YrStat : 32|4@1+ (1,0) [0|15] "" iBAU
|
||||
SG_ CF_Yrs_LatAcStat : 36|4@1+ (1,0) [0|15] "" iBAU
|
||||
SG_ CF_Yrs_MCUStat : 40|4@1+ (1,0) [0|15] "" iBAU
|
||||
SG_ CR_Yrs_MsgCnt1 : 48|4@1+ (1,0) [0|15] "" iBAU
|
||||
SG_ CR_Yrs_Crc1 : 56|8@1+ (1,0) [0|255] "" iBAU
|
||||
|
||||
BO_ 320 YRS12: 8 ACU
|
||||
SG_ CF_Yrs_LongAcStat : 16|4@1+ (1,0) [0|15] "" iBAU
|
||||
SG_ CF_IMU_ResetStat : 20|4@1+ (1,0) [0|15] "" iBAU
|
||||
SG_ YRS_Temp : 24|8@1+ (1,-68) [-68|187] "" iBAU
|
||||
SG_ YRS_TempStat : 32|4@1+ (1,0) [0|15] "" iBAU
|
||||
SG_ CF_Yrs_Type : 36|4@1+ (1,0) [0|15] "" iBAU
|
||||
SG_ CR_Yrs_MsgCnt2 : 48|4@1+ (1,0) [0|15] "" iBAU
|
||||
SG_ CR_Yrs_Crc2 : 56|8@1+ (1,0) [0|255] "" iBAU
|
||||
SG_ CR_Yrs_LongAc : 0|16@1+ (0.000127465,-4.17677312) [-4.17677312|4.17651819] "g" CGW,iBAU
|
||||
|
||||
BO_ 1173 YRS13: 8 ACU
|
||||
SG_ YRS_SeralNo : 16|48@1+ (1,0) [0|281474976710655] "" iBAU
|
||||
|
||||
BO_ 870 366_EMS: 8 EMS
|
||||
SG_ N : 7|16@0+ (1,0.25) [0|16383.75] "rpm" XXX
|
||||
SG_ EMS_Related : 23|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ TQFR : 39|8@0+ (0.390625,0) [0|99.6094] "%" XXX
|
||||
SG_ VS : 40|8@1+ (1,0) [0|255] "km/h" MDPS
|
||||
SG_ SWI_IGK : 48|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 854 356: 8 XXX
|
||||
SG_ PAINT1 : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PAINT2 : 34|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PAINT3 : 36|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ PAINT4 : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1042 ICM_412h: 8 ICM
|
||||
SG_ T_Outside_input : 0|9@0+ (0.01,0) [0|5] "V" Vector__XXX
|
||||
SG_ WarningSoundOutput_1Group : 5|1@0+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ WarningSoundOutput_2Group : 6|1@0+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ WarningSoundOutput_3Group : 7|1@0+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ TRIP_A_DT_Display_clock : 22|7@0+ (1,0) [0|99] "clock" Vector__XXX
|
||||
SG_ TRIP_A_DT_Display_minute : 29|6@0+ (1,0) [0|59] "minute" Vector__XXX
|
||||
SG_ TRIP_B_DT_Display_clock : 38|7@0+ (1,0) [0|99] "clock" Vector__XXX
|
||||
SG_ TRIP_B_DT_Display_minute : 45|6@0+ (1,0) [0|59] "minute" Vector__XXX
|
||||
SG_ PopupMessageOutput_1Level : 48|1@0+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ PopupMessageOutput_2Level : 49|1@0+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ PopupMessageOutput_3Level : 50|1@0+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ PopupMessageOutput_4Level : 51|1@0+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ PopupMessageOutput_5Level : 52|1@0+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ PopupMessageOutput_6Level : 53|1@0+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ PopupMessageOutput_7Level : 54|1@0+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ PopupMessageOutput_8Level : 55|1@0+ (1,0) [0|1] "" Vector__XXX
|
||||
|
||||
VAL_ 909 CF_VSM_Warn 2 "FCW" 3 "AEB";
|
||||
|
||||
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
|
||||
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
|
||||
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
|
||||
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
|
||||
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
|
||||
@@ -0,0 +1,258 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
|
||||
|
||||
CM_ "Imported file _subaru_preglobal_2015.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
|
||||
NS_ :
|
||||
NS_DESC_
|
||||
CM_
|
||||
BA_DEF_
|
||||
BA_
|
||||
VAL_
|
||||
CAT_DEF_
|
||||
CAT_
|
||||
FILTER
|
||||
BA_DEF_DEF_
|
||||
EV_DATA_
|
||||
ENVVAR_DATA_
|
||||
SGTYPE_
|
||||
SGTYPE_VAL_
|
||||
BA_DEF_SGTYPE_
|
||||
BA_SGTYPE_
|
||||
SIG_TYPE_REF_
|
||||
VAL_TABLE_
|
||||
SIG_GROUP_
|
||||
SIG_VALTYPE_
|
||||
SIGTYPE_VALTYPE_
|
||||
BO_TX_BU_
|
||||
BA_DEF_REL_
|
||||
BA_REL_
|
||||
BA_DEF_DEF_REL_
|
||||
BU_SG_REL_
|
||||
BU_EV_REL_
|
||||
BU_BO_REL_
|
||||
SG_MUL_VAL_
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX X
|
||||
|
||||
|
||||
BO_ 2 Steering: 8 XXX
|
||||
SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX
|
||||
SG_ Counter : 27|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 208 G_Sensor: 8 XXX
|
||||
SG_ Steering_Angle : 0|16@1- (-0.1,0) [-500|500] "" XXX
|
||||
SG_ Lateral : 16|16@1- (-0.0035,1) [-255|255] "" XXX
|
||||
SG_ Longitudinal : 48|16@1- (-0.00035,0) [-255|255] "" XXX
|
||||
|
||||
BO_ 209 Brake_Pedal: 8 XXX
|
||||
SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX
|
||||
SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 210 Brake_2: 8 XXX
|
||||
SG_ Brake_Light : 35|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Brake_Related : 36|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 211 Brake_Type: 8 XXX
|
||||
SG_ Brake_Light : 21|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Speed_Counter : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Counter : 48|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 212 Wheel_Speeds: 8 XXX
|
||||
SG_ FL : 0|16@1+ (0.0592,0) [0|255] "KPH" XXX
|
||||
SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX
|
||||
SG_ RL : 32|16@1+ (0.0592,0) [0|255] "KPH" XXX
|
||||
SG_ RR : 48|16@1+ (0.0592,0) [0|255] "KPH" XXX
|
||||
|
||||
BO_ 320 Throttle: 8 XXX
|
||||
SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
|
||||
SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 321 Engine: 8 XXX
|
||||
SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Engine_Stop : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Wheel_Torque : 16|12@1+ (1,0) [0|4095] "" XXX
|
||||
SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX
|
||||
|
||||
BO_ 324 CruiseControl: 8 XXX
|
||||
SG_ OnOffButton : 2|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_BUTTON : 3|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ RES_BUTTON : 4|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Button : 13|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_On : 48|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Activated : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 328 Transmission: 8 XXX
|
||||
SG_ Manual_Gear : 4|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Paddle_Shift : 60|2@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 329 CVT_Ratio: 8 XXX
|
||||
|
||||
BO_ 336 Brake_Pressure: 8 XXX
|
||||
SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 338 Stalk: 8 XXX
|
||||
SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Brake_Light : 52|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Runlights : 58|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Headlights : 59|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Highbeam : 60|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Wiper : 62|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 352 ES_Brake: 8 XXX
|
||||
SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ES_Error : 21|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 353 ES_CruiseThrottle: 8 XXX
|
||||
SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|4095] "" XXX
|
||||
SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DistanceSwap : 21|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
|
||||
SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ES_Error : 42|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Button : 48|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
|
||||
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 354 ES_RPM: 8 XXX
|
||||
SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ RPM : 16|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
|
||||
|
||||
BO_ 356 ES_LKAS: 8 XXX
|
||||
SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX
|
||||
SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 359 ES_LDW: 8 XXX
|
||||
SG_ All_depart_2015 : 0|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Sig1All_Depart : 28|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Sig2All_Depart : 31|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Active : 37|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 604 BSD_RCTA: 8 XXX
|
||||
SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ State : 5|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 642 Dashlights: 8 XXX
|
||||
SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 880 Steering_Torque_2: 8 XXX
|
||||
SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
|
||||
SG_ Counter : 40|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 884 BodyInfo: 8 XXX
|
||||
SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 864 Engine_Temp: 8 XXX
|
||||
SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX
|
||||
SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX
|
||||
SG_ Cruise_Activated : 45|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 866 Fuel: 8 XXX
|
||||
|
||||
BO_ 1745 Dash_State: 8 XXX
|
||||
SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
|
||||
CM_ SG_ 320 Throttle_Body "Throttle related";
|
||||
CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
|
||||
CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
|
||||
CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
|
||||
CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
|
||||
CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
|
||||
CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
|
||||
CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert ";
|
||||
CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart";
|
||||
CM_ SG_ 359 Sig1All_Depart "Left and right depart";
|
||||
CM_ SG_ 359 Sig2All_Depart "Left and right depart";
|
||||
CM_ SG_ 359 All_depart_2015 "always 1 on 2017";
|
||||
CM_ SG_ 604 R_APPROACHING "Faster car approaching in far right lane";
|
||||
CM_ SG_ 604 L_APPROACHING "Faster car approaching in far left lane";
|
||||
CM_ SG_ 604 R_RCTA "Rear cross traffic alert, only when in R gear";
|
||||
CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear";
|
||||
CM_ SG_ 642 Counter "Affected by signals";
|
||||
CM_ SG_ 642 SEATBELT_FL "Driver seatbelt";
|
||||
CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
|
||||
|
||||
VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
|
||||
VAL_ 1745 Units 0 "Metric" 1 "Imperial";
|
||||
|
||||
CM_ "subaru_forester_2017.dbc starts here"
|
||||
|
||||
|
||||
BO_ 355 ES_DashStatus: 8 XXX
|
||||
SG_ Not_Ready_Startup : 4|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 40|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Cruise_Activated : 54|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 881 Steering_Torque: 8 XXX
|
||||
SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
|
||||
SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
|
||||
SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
|
||||
SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX
|
||||
@@ -1,209 +0,0 @@
|
||||
VERSION ""
|
||||
|
||||
|
||||
NS_ :
|
||||
NS_DESC_
|
||||
CM_
|
||||
BA_DEF_
|
||||
BA_
|
||||
VAL_
|
||||
CAT_DEF_
|
||||
CAT_
|
||||
FILTER
|
||||
BA_DEF_DEF_
|
||||
EV_DATA_
|
||||
ENVVAR_DATA_
|
||||
SGTYPE_
|
||||
SGTYPE_VAL_
|
||||
BA_DEF_SGTYPE_
|
||||
BA_SGTYPE_
|
||||
SIG_TYPE_REF_
|
||||
VAL_TABLE_
|
||||
SIG_GROUP_
|
||||
SIG_VALTYPE_
|
||||
SIGTYPE_VALTYPE_
|
||||
BO_TX_BU_
|
||||
BA_DEF_REL_
|
||||
BA_REL_
|
||||
BA_DEF_DEF_REL_
|
||||
BU_SG_REL_
|
||||
BU_EV_REL_
|
||||
BU_BO_REL_
|
||||
SG_MUL_VAL_
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX X
|
||||
|
||||
|
||||
BO_ 2 Steering: 8 XXX
|
||||
SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX
|
||||
SG_ Counter : 25|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ CHECKSUM : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 64 Throttle: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Engine_RPM : 16|12@1+ (1,0) [0|255] "" 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|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Off_Accel : 60|4@1+ (1,0) [0|7] "" 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_ Gear : 24|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 326 Cruise_Buttons: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Signal1 : 12|30@1+ (1,0) [0|1073741823] "" XXX
|
||||
SG_ Main : 42|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ set : 43|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Resume : 44|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal2 : 45|19@1+ (1,0) [0|524287] "" XXX
|
||||
|
||||
BO_ 315 G_Sensor: 8 XXX
|
||||
SG_ Lateral : 48|8@1- (-0.1,0) [0|255] "m/s2" XXX
|
||||
SG_ Longitudinal : 56|8@1- (-0.1,0) [0|255] "m/s2" XXX
|
||||
|
||||
BO_ 314 Wheel_Speeds: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ FR : 12|13@1+ (0.057,0) [0|255] "kph" XXX
|
||||
SG_ RR : 25|13@1+ (0.057,0) [0|255] "kph" XXX
|
||||
SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" XXX
|
||||
SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX
|
||||
|
||||
BO_ 281 Steering_Torque: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Steer_Error_1 : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [0|3] "" XXX
|
||||
SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Steer_Warning : 29|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Steering_Angle : 32|16@1- (-0.0217,0) [0|255] "" X
|
||||
SG_ Steer_Torque_Output : 48|11@1- (-1,0) [0|31] "" XXX
|
||||
|
||||
BO_ 312 Brake_Pressure_L_R: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|31] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Brake_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|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_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ SET_1 : 12|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LKAS_Output : 16|13@1- (-1,0) [0|3] "" XXX
|
||||
SG_ LKAS_Request : 29|1@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 544 ES_Brake: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Brake_Pressure : 16|16@1+ (1,0) [0|255] "" XXX
|
||||
SG_ __Status : 36|4@1+ (1,0) [0|63] "" XXX
|
||||
|
||||
BO_ 545 ES_Distance: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Signal1 : 12|20@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Signal2 : 32|24@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Main : 56|1@1+ (1,0) [0|1] "" 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_ 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_ 576 CruiseControl: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Cruise_On : 40|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Cruise_Activated : 41|1@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 552 BSD_RCTA: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ R_ADJACENT : 48|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ L_ADJACENT : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ R_APPROACHING : 58|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ L_APPROACHING : 59|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 912 Dashlights: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 940 BodyInfo: 8 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_ 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_ Counter : 8|4@1+ (1,0) [0|7] "" 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_ Brake_Pedal : 51|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Car_Follow : 52|1@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_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Keep_Hands_On_Wheel : 12|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Empty_Box : 13|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal1 : 14|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ LKAS_ACTIVE : 17|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Signal2 : 18|5@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Backward_Speed_Limit_Menu : 23|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_ENABLE_3 : 24|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal3 : 25|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_ENABLE_2 : 26|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal4 : 27|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Left_Line_Visible : 28|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal6 : 29|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Right_Line_Visible : 30|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal7 : 31|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ FCW_Cont_Beep : 32|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ FCW_Repeated_Beep : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Throttle_Management_Activated : 34|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Traffic_light_Ahead : 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
|
||||
|
||||
BO_ 1677 Dash_State: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX
|
||||
|
||||
CM_ SG_ 801 Cruise_State "0 = Normal, 3 = Hold";
|
||||
CM_ SG_ 802 Traffic_light_Ahead "Crosstrek 2018 = car in front has moved";
|
||||
CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
|
||||
CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
|
||||
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";
|
||||
@@ -0,0 +1,306 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
|
||||
|
||||
CM_ "Imported file _subaru_global.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
|
||||
NS_ :
|
||||
NS_DESC_
|
||||
CM_
|
||||
BA_DEF_
|
||||
BA_
|
||||
VAL_
|
||||
CAT_DEF_
|
||||
CAT_
|
||||
FILTER
|
||||
BA_DEF_DEF_
|
||||
EV_DATA_
|
||||
ENVVAR_DATA_
|
||||
SGTYPE_
|
||||
SGTYPE_VAL_
|
||||
BA_DEF_SGTYPE_
|
||||
BA_SGTYPE_
|
||||
SIG_TYPE_REF_
|
||||
VAL_TABLE_
|
||||
SIG_GROUP_
|
||||
SIG_VALTYPE_
|
||||
SIGTYPE_VALTYPE_
|
||||
BO_TX_BU_
|
||||
BA_DEF_REL_
|
||||
BA_REL_
|
||||
BA_DEF_DEF_REL_
|
||||
BU_SG_REL_
|
||||
BU_EV_REL_
|
||||
BU_BO_REL_
|
||||
SG_MUL_VAL_
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX X
|
||||
|
||||
|
||||
BO_ 2 Steering: 8 XXX
|
||||
SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX
|
||||
SG_ Counter : 25|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ CHECKSUM : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 64 Throttle: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Engine_RPM : 16|12@1+ (1,0) [0|4095] "" 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|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Signal1 : 56|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Off_Accel : 60|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 316 Brake_Status: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Signal1 : 12|46@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ES_Brake : 58|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal2 : 59|3@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Brake : 62|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal3 : 63|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 326 Cruise_Buttons: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Signal1 : 12|30@1+ (1,0) [0|1073741823] "" XXX
|
||||
SG_ Main : 42|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Set : 43|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Resume : 44|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal2 : 45|19@1+ (1,0) [0|524287] "" XXX
|
||||
|
||||
BO_ 315 G_Sensor: 8 XXX
|
||||
SG_ Lateral : 48|8@1- (-0.1,0) [0|255] "m/s2" XXX
|
||||
SG_ Longitudinal : 56|8@1- (-0.1,0) [0|255] "m/s2" XXX
|
||||
|
||||
BO_ 314 Wheel_Speeds: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ FR : 12|13@1+ (0.057,0) [0|255] "kph" XXX
|
||||
SG_ RR : 25|13@1+ (0.057,0) [0|255] "kph" XXX
|
||||
SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" XXX
|
||||
SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX
|
||||
|
||||
BO_ 280 STOP_START: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" 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|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Steer_Error_1 : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [-1000|1000] "" XXX
|
||||
SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Steer_Warning : 29|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Steering_Angle : 32|16@1- (-0.0217,0) [-600|600] "" X
|
||||
SG_ Steer_Torque_Output : 48|11@1- (-1,0) [-1000|1000] "" XXX
|
||||
|
||||
BO_ 312 Brake_Pressure_L_R: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" 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|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Speed : 16|12@1+ (0.05625,0) [0|255] "kph" XXX
|
||||
SG_ Signal2 : 28|6@1+ (1,0) [0|63] "" XXX
|
||||
SG_ Brake_Lights : 34|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal3 : 35|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Brake_Pedal : 36|12@1+ (1,0) [0|4095] "" XXX
|
||||
SG_ Signal4 : 48|16@1+ (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 290 ES_LKAS: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ SET_1 : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Output : 16|13@1- (-1,0) [-8191|8191] "" XXX
|
||||
SG_ LKAS_Request : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 544 ES_Brake: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Brake_Pressure : 16|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ Signal2 : 32|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Cruise_Brake_Lights : 36|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Brake_Fault : 37|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Brake_Active : 38|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Activated : 39|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal3 : 40|24@1+ (1,0) [0|16777215] "" XXX
|
||||
|
||||
BO_ 577 Cruise_Status: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Cruise_On : 54|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Activated : 55|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Active : 57|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 552 BSD_RCTA: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ R_ADJACENT : 48|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ L_ADJACENT : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ R_APPROACHING : 58|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ L_APPROACHING : 59|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 912 Dashlights: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ ICY_ROAD : 32|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 940 BodyInfo: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 32|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|1] "" 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_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Lowbeam : 57|1@1+ (1,0) [0|1] "" 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
|
||||
SG_ BRAKE : 54|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 801 ES_DashStatus: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ PCB_Off : 12|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LDW_Off : 13|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal1 : 14|10@1+ (1,0) [0|1023] "" XXX
|
||||
SG_ Cruise_Soft_Disable : 24|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal2 : 25|3@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Distance : 28|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Conventional_Cruise : 32|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal4 : 33|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Activated : 36|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal5 : 37|3@1+ (1,0) [0|1] "" 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_ Cruise_On : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal6 : 50|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Brake_Lights : 51|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Car_Follow : 52|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal7 : 53|3@1+ (1,0) [0|1] "" 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_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Keep_Hands_On_Wheel : 12|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Empty_Box : 13|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal1 : 14|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ LKAS_ACTIVE : 17|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal2 : 18|5@1+ (1,0) [0|31] "" XXX
|
||||
SG_ Backward_Speed_Limit_Menu : 23|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_ENABLE_3 : 24|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Left_Line_Light_Blink : 25|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_ENABLE_2 : 26|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Right_Line_Light_Blink : 27|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Left_Line_Visible : 28|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Left_Line_Green : 29|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Right_Line_Visible : 30|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Right_Line_Green : 31|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Alert : 32|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Signal3 : 36|28@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 722 AC_State: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ AC_Mode : 37|3@1+ (1,0) [0|1] "" XXX
|
||||
SG_ AC_ON : 24|2@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1677 Dash_State: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX
|
||||
|
||||
CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal";
|
||||
CM_ SG_ 313 Brake_Lights "Driver or Cruise Brake on";
|
||||
CM_ SG_ 544 Cruise_Brake_Lights "1 = switch on brake lights";
|
||||
CM_ SG_ 801 PCB_Off "Pre-Collision Braking off";
|
||||
CM_ SG_ 801 Brake_Lights "Driver or Cruise brake on";
|
||||
CM_ SG_ 801 Cruise_State "0 = Normal, 1 = Hold+User Brake, 2 = Ready, 3 = Hold";
|
||||
CM_ SG_ 801 Far_Distance "1=0-5m, 2=5-10m, 3=10-15m, 4=15-20m, 5=20-25m, 6=25-30m, 7=30-35m, 8=35-40m, 9=40-45m, 10=45-50m, 11=50-55m, 12=55-60m, 13=60-65m, 14=65-70m, 15=75m+";
|
||||
CM_ SG_ 801 Cruise_Soft_Disable "Eyesight soft disable (eg direct sunlight)";
|
||||
CM_ SG_ 802 LKAS_Alert "1 = FCW_Cont_Beep, 2 = FCW_Repeated_Beep, 3 = Throttle_Management_Activated_Warning, 4 = Throttle_Management_Activated_Alert, 8 = Traffic_Light_Ahead, 9 = Apply_Brake_to_Hold Position, 11 = LDW_Right, 12 = LDW_Left, 13 = Stay_Alert, 14 = Lead_Vehicle_Start_Alert";
|
||||
CM_ SG_ 912 ICY_ROAD "1 = DASHLIGHT ON, 2 = WARNING, 3 = OFF";
|
||||
CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
|
||||
CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
|
||||
CM_ SG_ 1677 Units "AU/EU: 1 = imperial, 3 = metric US: 3 = imperial, 4 = metric";
|
||||
|
||||
CM_ "subaru_global_2017.dbc starts here"
|
||||
|
||||
|
||||
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_ Gear : 24|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ RPM : 40|16@1+ (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 73 CVT: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ CVT_Gear : 24|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 545 ES_Distance: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Signal1 : 12|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Throttle : 16|12@1+ (1,0) [0|4095] "" XXX
|
||||
SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Car_Follow : 32|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal3 : 33|3@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Brake_Active : 36|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Distance_Swap : 37|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_EPB : 38|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal4 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Close_Distance : 40|8@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal5 : 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_ Signal6 : 59|5@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 546 ES_Status: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Signal1 : 12|3@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_RPM : 16|12@1+ (1,0) [0|4095] "" XXX
|
||||
SG_ Signal2 : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Activated : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Brake_Lights : 30|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Hold : 31|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal3 : 32|32@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 576 CruiseControl: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Signal1 : 12|28@1+ (1,0) [0|268435455] "" XXX
|
||||
SG_ Cruise_On : 40|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Activated : 41|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal2 : 42|22@1+ (1,0) [0|4194303] "" XXX
|
||||
|
||||
CM_ SG_ 545 Cruise_Throttle "RPM-like output signal";
|
||||
CM_ SG_ 545 Cruise_EPB "1 = Electric Parking Brake set";
|
||||
CM_ SG_ 545 Distance_Swap "Switch from Close to Far distance";
|
||||
CM_ SG_ 546 Cruise_RPM "ES RPM output for ECM and TCM";
|
||||
CM_ SG_ 546 Signal3 "0 when cruise_activated = 1";
|
||||
VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6";
|
||||
@@ -0,0 +1,273 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
|
||||
|
||||
CM_ "Imported file _subaru_preglobal_2015.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
|
||||
NS_ :
|
||||
NS_DESC_
|
||||
CM_
|
||||
BA_DEF_
|
||||
BA_
|
||||
VAL_
|
||||
CAT_DEF_
|
||||
CAT_
|
||||
FILTER
|
||||
BA_DEF_DEF_
|
||||
EV_DATA_
|
||||
ENVVAR_DATA_
|
||||
SGTYPE_
|
||||
SGTYPE_VAL_
|
||||
BA_DEF_SGTYPE_
|
||||
BA_SGTYPE_
|
||||
SIG_TYPE_REF_
|
||||
VAL_TABLE_
|
||||
SIG_GROUP_
|
||||
SIG_VALTYPE_
|
||||
SIGTYPE_VALTYPE_
|
||||
BO_TX_BU_
|
||||
BA_DEF_REL_
|
||||
BA_REL_
|
||||
BA_DEF_DEF_REL_
|
||||
BU_SG_REL_
|
||||
BU_EV_REL_
|
||||
BU_BO_REL_
|
||||
SG_MUL_VAL_
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX X
|
||||
|
||||
|
||||
BO_ 2 Steering: 8 XXX
|
||||
SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX
|
||||
SG_ Counter : 27|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 208 G_Sensor: 8 XXX
|
||||
SG_ Steering_Angle : 0|16@1- (-0.1,0) [-500|500] "" XXX
|
||||
SG_ Lateral : 16|16@1- (-0.0035,1) [-255|255] "" XXX
|
||||
SG_ Longitudinal : 48|16@1- (-0.00035,0) [-255|255] "" XXX
|
||||
|
||||
BO_ 209 Brake_Pedal: 8 XXX
|
||||
SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX
|
||||
SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 210 Brake_2: 8 XXX
|
||||
SG_ Brake_Light : 35|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Brake_Related : 36|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 211 Brake_Type: 8 XXX
|
||||
SG_ Brake_Light : 21|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Speed_Counter : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Counter : 48|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 212 Wheel_Speeds: 8 XXX
|
||||
SG_ FL : 0|16@1+ (0.0592,0) [0|255] "KPH" XXX
|
||||
SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX
|
||||
SG_ RL : 32|16@1+ (0.0592,0) [0|255] "KPH" XXX
|
||||
SG_ RR : 48|16@1+ (0.0592,0) [0|255] "KPH" XXX
|
||||
|
||||
BO_ 320 Throttle: 8 XXX
|
||||
SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
|
||||
SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 321 Engine: 8 XXX
|
||||
SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Engine_Stop : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Wheel_Torque : 16|12@1+ (1,0) [0|4095] "" XXX
|
||||
SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX
|
||||
|
||||
BO_ 324 CruiseControl: 8 XXX
|
||||
SG_ OnOffButton : 2|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_BUTTON : 3|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ RES_BUTTON : 4|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Button : 13|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_On : 48|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Activated : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 328 Transmission: 8 XXX
|
||||
SG_ Manual_Gear : 4|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Paddle_Shift : 60|2@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 329 CVT_Ratio: 8 XXX
|
||||
|
||||
BO_ 336 Brake_Pressure: 8 XXX
|
||||
SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 338 Stalk: 8 XXX
|
||||
SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Brake_Light : 52|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Runlights : 58|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Headlights : 59|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Highbeam : 60|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Wiper : 62|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 352 ES_Brake: 8 XXX
|
||||
SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ES_Error : 21|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 353 ES_CruiseThrottle: 8 XXX
|
||||
SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|4095] "" XXX
|
||||
SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DistanceSwap : 21|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
|
||||
SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ES_Error : 42|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Button : 48|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
|
||||
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 354 ES_RPM: 8 XXX
|
||||
SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ RPM : 16|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
|
||||
|
||||
BO_ 356 ES_LKAS: 8 XXX
|
||||
SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX
|
||||
SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 359 ES_LDW: 8 XXX
|
||||
SG_ All_depart_2015 : 0|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Sig1All_Depart : 28|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Sig2All_Depart : 31|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Active : 37|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 604 BSD_RCTA: 8 XXX
|
||||
SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ State : 5|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 642 Dashlights: 8 XXX
|
||||
SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 880 Steering_Torque_2: 8 XXX
|
||||
SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
|
||||
SG_ Counter : 40|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 884 BodyInfo: 8 XXX
|
||||
SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 864 Engine_Temp: 8 XXX
|
||||
SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX
|
||||
SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX
|
||||
SG_ Cruise_Activated : 45|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 866 Fuel: 8 XXX
|
||||
|
||||
BO_ 1745 Dash_State: 8 XXX
|
||||
SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
|
||||
CM_ SG_ 320 Throttle_Body "Throttle related";
|
||||
CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
|
||||
CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
|
||||
CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
|
||||
CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
|
||||
CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
|
||||
CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
|
||||
CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert ";
|
||||
CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart";
|
||||
CM_ SG_ 359 Sig1All_Depart "Left and right depart";
|
||||
CM_ SG_ 359 Sig2All_Depart "Left and right depart";
|
||||
CM_ SG_ 359 All_depart_2015 "always 1 on 2017";
|
||||
CM_ SG_ 604 R_APPROACHING "Faster car approaching in far right lane";
|
||||
CM_ SG_ 604 L_APPROACHING "Faster car approaching in far left lane";
|
||||
CM_ SG_ 604 R_RCTA "Rear cross traffic alert, only when in R gear";
|
||||
CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear";
|
||||
CM_ SG_ 642 Counter "Affected by signals";
|
||||
CM_ SG_ 642 SEATBELT_FL "Driver seatbelt";
|
||||
CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
|
||||
|
||||
VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
|
||||
VAL_ 1745 Units 0 "Metric" 1 "Imperial";
|
||||
|
||||
CM_ "subaru_outback_2015.dbc starts here"
|
||||
|
||||
|
||||
BO_ 358 ES_DashStatus: 8 XXX
|
||||
SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Seatbelt_Disengage : 12|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Disengage_Alert : 14|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Activated : 17|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Distance_Bars : 21|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ ES_Error : 32|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Counter : 37|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Lead_Car : 46|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Obstacle_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
|
||||
|
||||
BO_ 881 Steering_Torque: 8 XXX
|
||||
SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
|
||||
SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
|
||||
SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Steer_Torque_Sensor : 29|11@1- (1,0) [-1000|1000] "" XXX
|
||||
SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX
|
||||
|
||||
CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
|
||||
CM_ SG_ 358 ES_Error "No engagement until restart";
|
||||
CM_ SG_ 358 Lead_Car "front car detected";
|
||||
@@ -0,0 +1,273 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
|
||||
|
||||
CM_ "Imported file _subaru_preglobal_2015.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
|
||||
NS_ :
|
||||
NS_DESC_
|
||||
CM_
|
||||
BA_DEF_
|
||||
BA_
|
||||
VAL_
|
||||
CAT_DEF_
|
||||
CAT_
|
||||
FILTER
|
||||
BA_DEF_DEF_
|
||||
EV_DATA_
|
||||
ENVVAR_DATA_
|
||||
SGTYPE_
|
||||
SGTYPE_VAL_
|
||||
BA_DEF_SGTYPE_
|
||||
BA_SGTYPE_
|
||||
SIG_TYPE_REF_
|
||||
VAL_TABLE_
|
||||
SIG_GROUP_
|
||||
SIG_VALTYPE_
|
||||
SIGTYPE_VALTYPE_
|
||||
BO_TX_BU_
|
||||
BA_DEF_REL_
|
||||
BA_REL_
|
||||
BA_DEF_DEF_REL_
|
||||
BU_SG_REL_
|
||||
BU_EV_REL_
|
||||
BU_BO_REL_
|
||||
SG_MUL_VAL_
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX X
|
||||
|
||||
|
||||
BO_ 2 Steering: 8 XXX
|
||||
SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX
|
||||
SG_ Counter : 27|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 208 G_Sensor: 8 XXX
|
||||
SG_ Steering_Angle : 0|16@1- (-0.1,0) [-500|500] "" XXX
|
||||
SG_ Lateral : 16|16@1- (-0.0035,1) [-255|255] "" XXX
|
||||
SG_ Longitudinal : 48|16@1- (-0.00035,0) [-255|255] "" XXX
|
||||
|
||||
BO_ 209 Brake_Pedal: 8 XXX
|
||||
SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX
|
||||
SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 210 Brake_2: 8 XXX
|
||||
SG_ Brake_Light : 35|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Brake_Related : 36|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 211 Brake_Type: 8 XXX
|
||||
SG_ Brake_Light : 21|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Speed_Counter : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Counter : 48|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 212 Wheel_Speeds: 8 XXX
|
||||
SG_ FL : 0|16@1+ (0.0592,0) [0|255] "KPH" XXX
|
||||
SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX
|
||||
SG_ RL : 32|16@1+ (0.0592,0) [0|255] "KPH" XXX
|
||||
SG_ RR : 48|16@1+ (0.0592,0) [0|255] "KPH" XXX
|
||||
|
||||
BO_ 320 Throttle: 8 XXX
|
||||
SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
|
||||
SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 321 Engine: 8 XXX
|
||||
SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Engine_Stop : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Wheel_Torque : 16|12@1+ (1,0) [0|4095] "" XXX
|
||||
SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX
|
||||
|
||||
BO_ 324 CruiseControl: 8 XXX
|
||||
SG_ OnOffButton : 2|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_BUTTON : 3|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ RES_BUTTON : 4|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Button : 13|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_On : 48|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Activated : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 328 Transmission: 8 XXX
|
||||
SG_ Manual_Gear : 4|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Paddle_Shift : 60|2@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 329 CVT_Ratio: 8 XXX
|
||||
|
||||
BO_ 336 Brake_Pressure: 8 XXX
|
||||
SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 338 Stalk: 8 XXX
|
||||
SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Brake_Light : 52|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Runlights : 58|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Headlights : 59|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Highbeam : 60|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Wiper : 62|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 352 ES_Brake: 8 XXX
|
||||
SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ES_Error : 21|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 353 ES_CruiseThrottle: 8 XXX
|
||||
SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|4095] "" XXX
|
||||
SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DistanceSwap : 21|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
|
||||
SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ES_Error : 42|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Button : 48|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
|
||||
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 354 ES_RPM: 8 XXX
|
||||
SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ RPM : 16|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
|
||||
|
||||
BO_ 356 ES_LKAS: 8 XXX
|
||||
SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX
|
||||
SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 359 ES_LDW: 8 XXX
|
||||
SG_ All_depart_2015 : 0|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Sig1All_Depart : 28|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Sig2All_Depart : 31|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Active : 37|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 604 BSD_RCTA: 8 XXX
|
||||
SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ State : 5|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 642 Dashlights: 8 XXX
|
||||
SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 880 Steering_Torque_2: 8 XXX
|
||||
SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
|
||||
SG_ Counter : 40|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 884 BodyInfo: 8 XXX
|
||||
SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 864 Engine_Temp: 8 XXX
|
||||
SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX
|
||||
SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX
|
||||
SG_ Cruise_Activated : 45|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 866 Fuel: 8 XXX
|
||||
|
||||
BO_ 1745 Dash_State: 8 XXX
|
||||
SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
|
||||
CM_ SG_ 320 Throttle_Body "Throttle related";
|
||||
CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
|
||||
CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
|
||||
CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
|
||||
CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
|
||||
CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
|
||||
CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
|
||||
CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert ";
|
||||
CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart";
|
||||
CM_ SG_ 359 Sig1All_Depart "Left and right depart";
|
||||
CM_ SG_ 359 Sig2All_Depart "Left and right depart";
|
||||
CM_ SG_ 359 All_depart_2015 "always 1 on 2017";
|
||||
CM_ SG_ 604 R_APPROACHING "Faster car approaching in far right lane";
|
||||
CM_ SG_ 604 L_APPROACHING "Faster car approaching in far left lane";
|
||||
CM_ SG_ 604 R_RCTA "Rear cross traffic alert, only when in R gear";
|
||||
CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear";
|
||||
CM_ SG_ 642 Counter "Affected by signals";
|
||||
CM_ SG_ 642 SEATBELT_FL "Driver seatbelt";
|
||||
CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
|
||||
|
||||
VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
|
||||
VAL_ 1745 Units 0 "Metric" 1 "Imperial";
|
||||
|
||||
CM_ "subaru_outback_2019.dbc starts here"
|
||||
|
||||
|
||||
BO_ 358 ES_DashStatus: 8 XXX
|
||||
SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Seatbelt_Disengage : 12|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Disengage_Alert : 14|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Activated : 17|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Distance_Bars : 21|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ ES_Error : 32|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Counter : 37|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Lead_Car : 46|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Obstacle_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
|
||||
|
||||
BO_ 881 Steering_Torque: 8 XXX
|
||||
SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
|
||||
SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
|
||||
SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
|
||||
SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX
|
||||
|
||||
CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
|
||||
CM_ SG_ 358 ES_Error "No engagement until restart";
|
||||
CM_ SG_ 358 Lead_Car "front car detected";
|
||||
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
|
||||
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
|
||||
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
@@ -375,7 +375,7 @@ BO_ 705 GAS_PEDAL: 8 XXX
|
||||
SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
|
||||
SG_ STEER_TORQUE_EPS : 47|16@0- (1.0,0) [-20000|20000] "" XXX
|
||||
SG_ STEER_TORQUE_EPS : 47|16@0- (0.88,0) [-20000|20000] "" XXX
|
||||
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
|
||||
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
|
||||
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
|
||||
@@ -328,7 +328,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
|
||||
@@ -328,7 +328,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
|
||||
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
|
||||
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
|
||||
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
|
||||
@@ -311,7 +311,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
|
||||
+1
-1
@@ -1,3 +1,3 @@
|
||||
# flake8: noqa
|
||||
# pylint: skip-file
|
||||
from .python import Panda, PandaWifiStreaming, PandaDFU, ESPROM, CesantaFlasher, flash_release, BASEDIR, ensure_st_up_to_date, build_st, PandaSerial
|
||||
from .python import Panda, PandaWifiStreaming, PandaDFU, flash_release, BASEDIR, ensure_st_up_to_date, build_st, PandaSerial
|
||||
|
||||
+2
-13
@@ -9,6 +9,7 @@
|
||||
#ifdef PANDA
|
||||
#include "drivers/fan.h"
|
||||
#include "drivers/rtc.h"
|
||||
#include "drivers/clock_source.h"
|
||||
#include "boards/white.h"
|
||||
#include "boards/grey.h"
|
||||
#include "boards/black.h"
|
||||
@@ -23,7 +24,7 @@ void detect_board_type(void) {
|
||||
// SPI lines floating: white (TODO: is this reliable? Not really, we have to enable ESP/GPS to be able to detect this on the UART)
|
||||
set_gpio_output(GPIOC, 14, 1);
|
||||
set_gpio_output(GPIOC, 5, 1);
|
||||
if(!detect_with_pull(GPIOB, 1, PULL_UP)){
|
||||
if(!detect_with_pull(GPIOB, 1, PULL_UP) && !detect_with_pull(GPIOB, 7, PULL_UP)){
|
||||
hw_type = HW_TYPE_DOS;
|
||||
current_board = &board_dos;
|
||||
} else if((detect_with_pull(GPIOA, 4, PULL_DOWN)) || (detect_with_pull(GPIOA, 5, PULL_DOWN)) || (detect_with_pull(GPIOA, 6, PULL_DOWN)) || (detect_with_pull(GPIOA, 7, PULL_DOWN))){
|
||||
@@ -53,22 +54,10 @@ void detect_board_type(void) {
|
||||
|
||||
// ///// Configuration detection ///// //
|
||||
bool has_external_debug_serial = 0;
|
||||
bool is_entering_bootmode = 0;
|
||||
|
||||
void detect_configuration(void) {
|
||||
// detect if external serial debugging is present
|
||||
has_external_debug_serial = detect_with_pull(GPIOA, 3, PULL_DOWN);
|
||||
|
||||
#ifdef PANDA
|
||||
if(hw_type == HW_TYPE_WHITE_PANDA) {
|
||||
// check if the ESP is trying to put me in boot mode
|
||||
is_entering_bootmode = !detect_with_pull(GPIOB, 0, PULL_UP);
|
||||
} else {
|
||||
is_entering_bootmode = 0;
|
||||
}
|
||||
#else
|
||||
is_entering_bootmode = 0;
|
||||
#endif
|
||||
}
|
||||
|
||||
// ///// Board functions ///// //
|
||||
|
||||
@@ -1,10 +1,10 @@
|
||||
// ******************** Prototypes ********************
|
||||
typedef void (*board_init)(void);
|
||||
typedef void (*board_enable_can_transciever)(uint8_t transciever, bool enabled);
|
||||
typedef void (*board_enable_can_transcievers)(bool enabled);
|
||||
typedef void (*board_enable_can_transceiver)(uint8_t transceiver, bool enabled);
|
||||
typedef void (*board_enable_can_transceivers)(bool enabled);
|
||||
typedef void (*board_set_led)(uint8_t color, bool enabled);
|
||||
typedef void (*board_set_usb_power_mode)(uint8_t mode);
|
||||
typedef void (*board_set_esp_gps_mode)(uint8_t mode);
|
||||
typedef void (*board_set_gps_mode)(uint8_t mode);
|
||||
typedef void (*board_set_can_mode)(uint8_t mode);
|
||||
typedef void (*board_usb_power_mode_tick)(uint32_t uptime);
|
||||
typedef bool (*board_check_ignition)(void);
|
||||
@@ -12,16 +12,18 @@ typedef uint32_t (*board_read_current)(void);
|
||||
typedef void (*board_set_ir_power)(uint8_t percentage);
|
||||
typedef void (*board_set_fan_power)(uint8_t percentage);
|
||||
typedef void (*board_set_phone_power)(bool enabled);
|
||||
typedef void (*board_set_clock_source_mode)(uint8_t mode);
|
||||
typedef void (*board_set_siren)(bool enabled);
|
||||
|
||||
struct board {
|
||||
const char *board_type;
|
||||
const harness_configuration *harness_config;
|
||||
board_init init;
|
||||
board_enable_can_transciever enable_can_transciever;
|
||||
board_enable_can_transcievers enable_can_transcievers;
|
||||
board_enable_can_transceiver enable_can_transceiver;
|
||||
board_enable_can_transceivers enable_can_transceivers;
|
||||
board_set_led set_led;
|
||||
board_set_usb_power_mode set_usb_power_mode;
|
||||
board_set_esp_gps_mode set_esp_gps_mode;
|
||||
board_set_gps_mode set_gps_mode;
|
||||
board_set_can_mode set_can_mode;
|
||||
board_usb_power_mode_tick usb_power_mode_tick;
|
||||
board_check_ignition check_ignition;
|
||||
@@ -29,6 +31,8 @@ struct board {
|
||||
board_set_ir_power set_ir_power;
|
||||
board_set_fan_power set_fan_power;
|
||||
board_set_phone_power set_phone_power;
|
||||
board_set_clock_source_mode set_clock_source_mode;
|
||||
board_set_siren set_siren;
|
||||
};
|
||||
|
||||
// ******************* Definitions ********************
|
||||
@@ -52,10 +56,10 @@ struct board {
|
||||
#define USB_POWER_CDP 2U
|
||||
#define USB_POWER_DCP 3U
|
||||
|
||||
// ESP modes
|
||||
#define ESP_GPS_DISABLED 0U
|
||||
#define ESP_GPS_ENABLED 1U
|
||||
#define ESP_GPS_BOOTMODE 2U
|
||||
// GPS modes
|
||||
#define GPS_DISABLED 0U
|
||||
#define GPS_ENABLED 1U
|
||||
#define GPS_BOOTMODE 2U
|
||||
|
||||
// CAN modes
|
||||
#define CAN_MODE_NORMAL 0U
|
||||
@@ -72,4 +76,4 @@ bool board_has_gmlan(void);
|
||||
bool board_has_obd(void);
|
||||
bool board_has_lin(void);
|
||||
bool board_has_rtc(void);
|
||||
bool board_has_relay(void);
|
||||
bool board_has_relay(void);
|
||||
|
||||
+28
-18
@@ -2,8 +2,8 @@
|
||||
// Black Panda + Harness //
|
||||
// ///////////////////// //
|
||||
|
||||
void black_enable_can_transciever(uint8_t transciever, bool enabled) {
|
||||
switch (transciever){
|
||||
void black_enable_can_transceiver(uint8_t transceiver, bool enabled) {
|
||||
switch (transceiver){
|
||||
case 1U:
|
||||
set_gpio_output(GPIOC, 1, !enabled);
|
||||
break;
|
||||
@@ -17,18 +17,18 @@ void black_enable_can_transciever(uint8_t transciever, bool enabled) {
|
||||
set_gpio_output(GPIOB, 10, !enabled);
|
||||
break;
|
||||
default:
|
||||
puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
|
||||
puts("Invalid CAN transceiver ("); puth(transceiver); puts("): enabling failed\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void black_enable_can_transcievers(bool enabled) {
|
||||
void black_enable_can_transceivers(bool 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);
|
||||
black_enable_can_transceiver(i, true);
|
||||
} else {
|
||||
black_enable_can_transciever(i, enabled);
|
||||
black_enable_can_transceiver(i, enabled);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -77,24 +77,24 @@ void black_set_usb_power_mode(uint8_t mode) {
|
||||
}
|
||||
}
|
||||
|
||||
void black_set_esp_gps_mode(uint8_t mode) {
|
||||
void black_set_gps_mode(uint8_t mode) {
|
||||
switch (mode) {
|
||||
case ESP_GPS_DISABLED:
|
||||
case GPS_DISABLED:
|
||||
// GPS OFF
|
||||
set_gpio_output(GPIOC, 14, 0);
|
||||
set_gpio_output(GPIOC, 5, 0);
|
||||
break;
|
||||
case ESP_GPS_ENABLED:
|
||||
case GPS_ENABLED:
|
||||
// GPS ON
|
||||
set_gpio_output(GPIOC, 14, 1);
|
||||
set_gpio_output(GPIOC, 5, 1);
|
||||
break;
|
||||
case ESP_GPS_BOOTMODE:
|
||||
case GPS_BOOTMODE:
|
||||
set_gpio_output(GPIOC, 14, 1);
|
||||
set_gpio_output(GPIOC, 5, 0);
|
||||
break;
|
||||
default:
|
||||
puts("Invalid ESP/GPS mode\n");
|
||||
puts("Invalid GPS mode\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
@@ -154,6 +154,14 @@ void black_set_phone_power(bool enabled){
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void black_set_clock_source_mode(uint8_t mode){
|
||||
UNUSED(mode);
|
||||
}
|
||||
|
||||
void black_set_siren(bool enabled){
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void black_init(void) {
|
||||
common_init_gpio();
|
||||
|
||||
@@ -167,7 +175,7 @@ void black_init(void) {
|
||||
set_gpio_mode(GPIOC, 3, MODE_ANALOG);
|
||||
|
||||
// Set default state of GPS
|
||||
current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
|
||||
current_board->set_gps_mode(GPS_ENABLED);
|
||||
|
||||
// C10: OBD_SBU1_RELAY (harness relay driving output)
|
||||
// C11: OBD_SBU2_RELAY (harness relay driving output)
|
||||
@@ -190,8 +198,8 @@ void black_init(void) {
|
||||
// Initialize harness
|
||||
harness_init();
|
||||
|
||||
// Enable CAN transcievers
|
||||
black_enable_can_transcievers(true);
|
||||
// Enable CAN transceivers
|
||||
black_enable_can_transceivers(true);
|
||||
|
||||
// Disable LEDs
|
||||
black_set_led(LED_RED, false);
|
||||
@@ -228,16 +236,18 @@ const board board_black = {
|
||||
.board_type = "Black",
|
||||
.harness_config = &black_harness_config,
|
||||
.init = black_init,
|
||||
.enable_can_transciever = black_enable_can_transciever,
|
||||
.enable_can_transcievers = black_enable_can_transcievers,
|
||||
.enable_can_transceiver = black_enable_can_transceiver,
|
||||
.enable_can_transceivers = black_enable_can_transceivers,
|
||||
.set_led = black_set_led,
|
||||
.set_usb_power_mode = black_set_usb_power_mode,
|
||||
.set_esp_gps_mode = black_set_esp_gps_mode,
|
||||
.set_gps_mode = black_set_gps_mode,
|
||||
.set_can_mode = black_set_can_mode,
|
||||
.usb_power_mode_tick = black_usb_power_mode_tick,
|
||||
.check_ignition = black_check_ignition,
|
||||
.read_current = black_read_current,
|
||||
.set_fan_power = black_set_fan_power,
|
||||
.set_ir_power = black_set_ir_power,
|
||||
.set_phone_power = black_set_phone_power
|
||||
.set_phone_power = black_set_phone_power,
|
||||
.set_clock_source_mode = black_set_clock_source_mode,
|
||||
.set_siren = black_set_siren
|
||||
};
|
||||
|
||||
@@ -23,7 +23,7 @@ void common_init_gpio(void){
|
||||
set_gpio_alternate(GPIOA, 12, GPIO_AF10_OTG_FS);
|
||||
GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
|
||||
|
||||
// A9,A10: USART 1 for talking to the ESP / GPS
|
||||
// A9,A10: USART 1 for talking to the GPS
|
||||
set_gpio_alternate(GPIOA, 9, GPIO_AF7_USART1);
|
||||
set_gpio_alternate(GPIOA, 10, GPIO_AF7_USART1);
|
||||
|
||||
@@ -65,7 +65,7 @@ void peripherals_init(void){
|
||||
RCC->APB1ENR |= RCC_APB1ENR_PWREN; // for RTC config
|
||||
RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
|
||||
RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
|
||||
//RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
|
||||
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; // clock source timer
|
||||
RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
|
||||
RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
|
||||
RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN;
|
||||
@@ -81,4 +81,4 @@ bool detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode) {
|
||||
bool ret = get_gpio_input(GPIO, pin);
|
||||
set_gpio_pullup(GPIO, pin, PULL_NONE);
|
||||
return ret;
|
||||
}
|
||||
}
|
||||
|
||||
+28
-22
@@ -2,8 +2,8 @@
|
||||
// Dos + Harness //
|
||||
// ///////////// //
|
||||
|
||||
void dos_enable_can_transciever(uint8_t transciever, bool enabled) {
|
||||
switch (transciever){
|
||||
void dos_enable_can_transceiver(uint8_t transceiver, bool enabled) {
|
||||
switch (transceiver){
|
||||
case 1U:
|
||||
set_gpio_output(GPIOC, 1, !enabled);
|
||||
break;
|
||||
@@ -17,18 +17,18 @@ void dos_enable_can_transciever(uint8_t transciever, bool enabled) {
|
||||
set_gpio_output(GPIOB, 10, !enabled);
|
||||
break;
|
||||
default:
|
||||
puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
|
||||
puts("Invalid CAN transceiver ("); puth(transceiver); puts("): enabling failed\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void dos_enable_can_transcievers(bool enabled) {
|
||||
void dos_enable_can_transceivers(bool 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)){
|
||||
uno_enable_can_transciever(i, true);
|
||||
uno_enable_can_transceiver(i, true);
|
||||
} else {
|
||||
uno_enable_can_transciever(i, enabled);
|
||||
uno_enable_can_transceiver(i, enabled);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -54,20 +54,18 @@ void dos_set_gps_load_switch(bool enabled) {
|
||||
}
|
||||
|
||||
void dos_set_bootkick(bool enabled){
|
||||
UNUSED(enabled);
|
||||
set_gpio_output(GPIOC, 4, !enabled);
|
||||
}
|
||||
|
||||
void dos_bootkick(void) {}
|
||||
|
||||
void dos_set_phone_power(bool enabled){
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void dos_set_usb_power_mode(uint8_t mode) {
|
||||
UNUSED(mode);
|
||||
dos_set_bootkick(mode == USB_POWER_CDP);
|
||||
}
|
||||
|
||||
void dos_set_esp_gps_mode(uint8_t mode) {
|
||||
void dos_set_gps_mode(uint8_t mode) {
|
||||
UNUSED(mode);
|
||||
}
|
||||
|
||||
@@ -101,11 +99,6 @@ void dos_set_can_mode(uint8_t mode){
|
||||
|
||||
void dos_usb_power_mode_tick(uint32_t uptime){
|
||||
UNUSED(uptime);
|
||||
if(bootkick_timer != 0U){
|
||||
bootkick_timer--;
|
||||
} else {
|
||||
dos_set_bootkick(false);
|
||||
}
|
||||
}
|
||||
|
||||
bool dos_check_ignition(void){
|
||||
@@ -132,6 +125,14 @@ uint32_t dos_read_current(void){
|
||||
return 0U;
|
||||
}
|
||||
|
||||
void dos_set_clock_source_mode(uint8_t mode){
|
||||
clock_source_init(mode);
|
||||
}
|
||||
|
||||
void dos_set_siren(bool enabled){
|
||||
set_gpio_output(GPIOC, 12, enabled);
|
||||
}
|
||||
|
||||
void dos_init(void) {
|
||||
common_init_gpio();
|
||||
|
||||
@@ -171,8 +172,8 @@ void dos_init(void) {
|
||||
// Initialize RTC
|
||||
rtc_init();
|
||||
|
||||
// Enable CAN transcievers
|
||||
dos_enable_can_transcievers(true);
|
||||
// Enable CAN transceivers
|
||||
dos_enable_can_transceivers(true);
|
||||
|
||||
// Disable LEDs
|
||||
dos_set_led(LED_RED, false);
|
||||
@@ -189,6 +190,9 @@ void dos_init(void) {
|
||||
|
||||
// init multiplexer
|
||||
can_set_obd(car_harness_status, false);
|
||||
|
||||
// Init clock source as internal free running
|
||||
dos_set_clock_source_mode(CLOCK_SOURCE_MODE_FREE_RUNNING);
|
||||
}
|
||||
|
||||
const harness_configuration dos_harness_config = {
|
||||
@@ -209,16 +213,18 @@ const board board_dos = {
|
||||
.board_type = "Dos",
|
||||
.harness_config = &dos_harness_config,
|
||||
.init = dos_init,
|
||||
.enable_can_transciever = dos_enable_can_transciever,
|
||||
.enable_can_transcievers = dos_enable_can_transcievers,
|
||||
.enable_can_transceiver = dos_enable_can_transceiver,
|
||||
.enable_can_transceivers = dos_enable_can_transceivers,
|
||||
.set_led = dos_set_led,
|
||||
.set_usb_power_mode = dos_set_usb_power_mode,
|
||||
.set_esp_gps_mode = dos_set_esp_gps_mode,
|
||||
.set_gps_mode = dos_set_gps_mode,
|
||||
.set_can_mode = dos_set_can_mode,
|
||||
.usb_power_mode_tick = dos_usb_power_mode_tick,
|
||||
.check_ignition = dos_check_ignition,
|
||||
.read_current = dos_read_current,
|
||||
.set_fan_power = dos_set_fan_power,
|
||||
.set_ir_power = dos_set_ir_power,
|
||||
.set_phone_power = dos_set_phone_power
|
||||
.set_phone_power = dos_set_phone_power,
|
||||
.set_clock_source_mode = dos_set_clock_source_mode,
|
||||
.set_siren = dos_set_siren
|
||||
};
|
||||
|
||||
+12
-10
@@ -8,22 +8,22 @@ void grey_init(void) {
|
||||
white_grey_common_init();
|
||||
|
||||
// Set default state of GPS
|
||||
current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
|
||||
current_board->set_gps_mode(GPS_ENABLED);
|
||||
}
|
||||
|
||||
void grey_set_esp_gps_mode(uint8_t mode) {
|
||||
void grey_set_gps_mode(uint8_t mode) {
|
||||
switch (mode) {
|
||||
case ESP_GPS_DISABLED:
|
||||
case GPS_DISABLED:
|
||||
// GPS OFF
|
||||
set_gpio_output(GPIOC, 14, 0);
|
||||
set_gpio_output(GPIOC, 5, 0);
|
||||
break;
|
||||
case ESP_GPS_ENABLED:
|
||||
case GPS_ENABLED:
|
||||
// GPS ON
|
||||
set_gpio_output(GPIOC, 14, 1);
|
||||
set_gpio_output(GPIOC, 5, 1);
|
||||
break;
|
||||
case ESP_GPS_BOOTMODE:
|
||||
case GPS_BOOTMODE:
|
||||
set_gpio_output(GPIOC, 14, 1);
|
||||
set_gpio_output(GPIOC, 5, 0);
|
||||
break;
|
||||
@@ -37,16 +37,18 @@ const board board_grey = {
|
||||
.board_type = "Grey",
|
||||
.harness_config = &white_harness_config,
|
||||
.init = grey_init,
|
||||
.enable_can_transciever = white_enable_can_transciever,
|
||||
.enable_can_transcievers = white_enable_can_transcievers,
|
||||
.enable_can_transceiver = white_enable_can_transceiver,
|
||||
.enable_can_transceivers = white_enable_can_transceivers,
|
||||
.set_led = white_set_led,
|
||||
.set_usb_power_mode = white_set_usb_power_mode,
|
||||
.set_esp_gps_mode = grey_set_esp_gps_mode,
|
||||
.set_gps_mode = grey_set_gps_mode,
|
||||
.set_can_mode = white_set_can_mode,
|
||||
.usb_power_mode_tick = white_usb_power_mode_tick,
|
||||
.check_ignition = white_check_ignition,
|
||||
.read_current = white_read_current,
|
||||
.set_fan_power = white_set_fan_power,
|
||||
.set_ir_power = white_set_ir_power,
|
||||
.set_phone_power = white_set_phone_power
|
||||
};
|
||||
.set_phone_power = white_set_phone_power,
|
||||
.set_clock_source_mode = white_set_clock_source_mode,
|
||||
.set_siren = white_set_siren
|
||||
};
|
||||
|
||||
+23
-13
@@ -2,19 +2,19 @@
|
||||
// Pedal //
|
||||
// ///// //
|
||||
|
||||
void pedal_enable_can_transciever(uint8_t transciever, bool enabled) {
|
||||
switch (transciever){
|
||||
void pedal_enable_can_transceiver(uint8_t transceiver, bool enabled) {
|
||||
switch (transceiver){
|
||||
case 1:
|
||||
set_gpio_output(GPIOB, 3, !enabled);
|
||||
break;
|
||||
default:
|
||||
puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
|
||||
puts("Invalid CAN transceiver ("); puth(transceiver); puts("): enabling failed\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void pedal_enable_can_transcievers(bool enabled) {
|
||||
pedal_enable_can_transciever(1U, enabled);
|
||||
void pedal_enable_can_transceivers(bool enabled) {
|
||||
pedal_enable_can_transceiver(1U, enabled);
|
||||
}
|
||||
|
||||
void pedal_set_led(uint8_t color, bool enabled) {
|
||||
@@ -35,7 +35,7 @@ void pedal_set_usb_power_mode(uint8_t mode){
|
||||
puts("Trying to set USB power mode on pedal. This is not supported.\n");
|
||||
}
|
||||
|
||||
void pedal_set_esp_gps_mode(uint8_t mode) {
|
||||
void pedal_set_gps_mode(uint8_t mode) {
|
||||
UNUSED(mode);
|
||||
puts("Trying to set ESP/GPS mode on pedal. This is not supported.\n");
|
||||
}
|
||||
@@ -77,6 +77,14 @@ void pedal_set_phone_power(bool enabled){
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void pedal_set_clock_source_mode(uint8_t mode){
|
||||
UNUSED(mode);
|
||||
}
|
||||
|
||||
void pedal_set_siren(bool enabled){
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void pedal_init(void) {
|
||||
common_init_gpio();
|
||||
|
||||
@@ -86,8 +94,8 @@ void pedal_init(void) {
|
||||
// DAC outputs on A4 and A5
|
||||
// apparently they don't need GPIO setup
|
||||
|
||||
// Enable transciever
|
||||
pedal_enable_can_transcievers(true);
|
||||
// Enable transceiver
|
||||
pedal_enable_can_transceivers(true);
|
||||
|
||||
// Disable LEDs
|
||||
pedal_set_led(LED_RED, false);
|
||||
@@ -102,16 +110,18 @@ const board board_pedal = {
|
||||
.board_type = "Pedal",
|
||||
.harness_config = &pedal_harness_config,
|
||||
.init = pedal_init,
|
||||
.enable_can_transciever = pedal_enable_can_transciever,
|
||||
.enable_can_transcievers = pedal_enable_can_transcievers,
|
||||
.enable_can_transceiver = pedal_enable_can_transceiver,
|
||||
.enable_can_transceivers = pedal_enable_can_transceivers,
|
||||
.set_led = pedal_set_led,
|
||||
.set_usb_power_mode = pedal_set_usb_power_mode,
|
||||
.set_esp_gps_mode = pedal_set_esp_gps_mode,
|
||||
.set_gps_mode = pedal_set_gps_mode,
|
||||
.set_can_mode = pedal_set_can_mode,
|
||||
.usb_power_mode_tick = pedal_usb_power_mode_tick,
|
||||
.check_ignition = pedal_check_ignition,
|
||||
.read_current = pedal_read_current,
|
||||
.set_fan_power = pedal_set_fan_power,
|
||||
.set_ir_power = pedal_set_ir_power,
|
||||
.set_phone_power = pedal_set_phone_power
|
||||
};
|
||||
.set_phone_power = pedal_set_phone_power,
|
||||
.set_clock_source_mode = pedal_set_clock_source_mode,
|
||||
.set_siren = pedal_set_siren
|
||||
};
|
||||
|
||||
+27
-17
@@ -4,8 +4,8 @@
|
||||
#define BOOTKICK_TIME 3U
|
||||
uint8_t bootkick_timer = 0U;
|
||||
|
||||
void uno_enable_can_transciever(uint8_t transciever, bool enabled) {
|
||||
switch (transciever){
|
||||
void uno_enable_can_transceiver(uint8_t transceiver, bool enabled) {
|
||||
switch (transceiver){
|
||||
case 1U:
|
||||
set_gpio_output(GPIOC, 1, !enabled);
|
||||
break;
|
||||
@@ -19,18 +19,18 @@ void uno_enable_can_transciever(uint8_t transciever, bool enabled) {
|
||||
set_gpio_output(GPIOB, 10, !enabled);
|
||||
break;
|
||||
default:
|
||||
puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
|
||||
puts("Invalid CAN transceiver ("); puth(transceiver); puts("): enabling failed\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void uno_enable_can_transcievers(bool enabled) {
|
||||
void uno_enable_can_transceivers(bool 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)){
|
||||
uno_enable_can_transciever(i, true);
|
||||
uno_enable_can_transceiver(i, true);
|
||||
} else {
|
||||
uno_enable_can_transciever(i, enabled);
|
||||
uno_enable_can_transceiver(i, enabled);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -89,21 +89,21 @@ void uno_set_usb_power_mode(uint8_t mode) {
|
||||
}
|
||||
}
|
||||
|
||||
void uno_set_esp_gps_mode(uint8_t mode) {
|
||||
void uno_set_gps_mode(uint8_t mode) {
|
||||
switch (mode) {
|
||||
case ESP_GPS_DISABLED:
|
||||
case GPS_DISABLED:
|
||||
// GPS OFF
|
||||
set_gpio_output(GPIOB, 1, 0);
|
||||
set_gpio_output(GPIOC, 5, 0);
|
||||
uno_set_gps_load_switch(false);
|
||||
break;
|
||||
case ESP_GPS_ENABLED:
|
||||
case GPS_ENABLED:
|
||||
// GPS ON
|
||||
set_gpio_output(GPIOB, 1, 1);
|
||||
set_gpio_output(GPIOC, 5, 1);
|
||||
uno_set_gps_load_switch(true);
|
||||
break;
|
||||
case ESP_GPS_BOOTMODE:
|
||||
case GPS_BOOTMODE:
|
||||
set_gpio_output(GPIOB, 1, 1);
|
||||
set_gpio_output(GPIOC, 5, 0);
|
||||
uno_set_gps_load_switch(true);
|
||||
@@ -175,6 +175,14 @@ uint32_t uno_read_current(void){
|
||||
return 0U;
|
||||
}
|
||||
|
||||
void uno_set_clock_source_mode(uint8_t mode){
|
||||
UNUSED(mode);
|
||||
}
|
||||
|
||||
void uno_set_siren(bool enabled){
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void uno_init(void) {
|
||||
common_init_gpio();
|
||||
|
||||
@@ -188,7 +196,7 @@ void uno_init(void) {
|
||||
set_gpio_mode(GPIOC, 3, MODE_ANALOG);
|
||||
|
||||
// Set default state of GPS
|
||||
current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
|
||||
current_board->set_gps_mode(GPS_ENABLED);
|
||||
|
||||
// C10: OBD_SBU1_RELAY (harness relay driving output)
|
||||
// C11: OBD_SBU2_RELAY (harness relay driving output)
|
||||
@@ -223,8 +231,8 @@ void uno_init(void) {
|
||||
// Initialize RTC
|
||||
rtc_init();
|
||||
|
||||
// Enable CAN transcievers
|
||||
uno_enable_can_transcievers(true);
|
||||
// Enable CAN transceivers
|
||||
uno_enable_can_transceivers(true);
|
||||
|
||||
// Disable LEDs
|
||||
uno_set_led(LED_RED, false);
|
||||
@@ -271,16 +279,18 @@ const board board_uno = {
|
||||
.board_type = "Uno",
|
||||
.harness_config = &uno_harness_config,
|
||||
.init = uno_init,
|
||||
.enable_can_transciever = uno_enable_can_transciever,
|
||||
.enable_can_transcievers = uno_enable_can_transcievers,
|
||||
.enable_can_transceiver = uno_enable_can_transceiver,
|
||||
.enable_can_transceivers = uno_enable_can_transceivers,
|
||||
.set_led = uno_set_led,
|
||||
.set_usb_power_mode = uno_set_usb_power_mode,
|
||||
.set_esp_gps_mode = uno_set_esp_gps_mode,
|
||||
.set_gps_mode = uno_set_gps_mode,
|
||||
.set_can_mode = uno_set_can_mode,
|
||||
.usb_power_mode_tick = uno_usb_power_mode_tick,
|
||||
.check_ignition = uno_check_ignition,
|
||||
.read_current = uno_read_current,
|
||||
.set_fan_power = uno_set_fan_power,
|
||||
.set_ir_power = uno_set_ir_power,
|
||||
.set_phone_power = uno_set_phone_power
|
||||
.set_phone_power = uno_set_phone_power,
|
||||
.set_clock_source_mode = uno_set_clock_source_mode,
|
||||
.set_siren = uno_set_siren
|
||||
};
|
||||
|
||||
+28
-22
@@ -2,8 +2,8 @@
|
||||
// White Panda //
|
||||
// /////////// //
|
||||
|
||||
void white_enable_can_transciever(uint8_t transciever, bool enabled) {
|
||||
switch (transciever){
|
||||
void white_enable_can_transceiver(uint8_t transceiver, bool enabled) {
|
||||
switch (transceiver){
|
||||
case 1U:
|
||||
set_gpio_output(GPIOC, 1, !enabled);
|
||||
break;
|
||||
@@ -14,15 +14,15 @@ void white_enable_can_transciever(uint8_t transciever, bool enabled) {
|
||||
set_gpio_output(GPIOA, 0, !enabled);
|
||||
break;
|
||||
default:
|
||||
puts("Invalid CAN transciever ("); puth(transciever); puts("): enabling failed\n");
|
||||
puts("Invalid CAN transceiver ("); puth(transceiver); puts("): enabling failed\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void white_enable_can_transcievers(bool enabled) {
|
||||
uint8_t t1 = enabled ? 1U : 2U; // leave transciever 1 enabled to detect CAN ignition
|
||||
void white_enable_can_transceivers(bool enabled) {
|
||||
uint8_t t1 = enabled ? 1U : 2U; // leave transceiver 1 enabled to detect CAN ignition
|
||||
for(uint8_t i=t1; i<=3U; i++) {
|
||||
white_enable_can_transciever(i, enabled);
|
||||
white_enable_can_transceiver(i, enabled);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -71,21 +71,21 @@ void white_set_usb_power_mode(uint8_t mode){
|
||||
}
|
||||
}
|
||||
|
||||
void white_set_esp_gps_mode(uint8_t mode) {
|
||||
void white_set_gps_mode(uint8_t mode) {
|
||||
switch (mode) {
|
||||
case ESP_GPS_DISABLED:
|
||||
case GPS_DISABLED:
|
||||
// ESP OFF
|
||||
set_gpio_output(GPIOC, 14, 0);
|
||||
set_gpio_output(GPIOC, 5, 0);
|
||||
break;
|
||||
#ifndef EON
|
||||
case ESP_GPS_ENABLED:
|
||||
case GPS_ENABLED:
|
||||
// ESP ON
|
||||
set_gpio_output(GPIOC, 14, 1);
|
||||
set_gpio_output(GPIOC, 5, 1);
|
||||
break;
|
||||
#endif
|
||||
case ESP_GPS_BOOTMODE:
|
||||
case GPS_BOOTMODE:
|
||||
set_gpio_output(GPIOC, 14, 1);
|
||||
set_gpio_output(GPIOC, 5, 0);
|
||||
break;
|
||||
@@ -242,6 +242,14 @@ void white_set_phone_power(bool enabled){
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void white_set_clock_source_mode(uint8_t mode){
|
||||
UNUSED(mode);
|
||||
}
|
||||
|
||||
void white_set_siren(bool enabled){
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void white_grey_common_init(void) {
|
||||
common_init_gpio();
|
||||
|
||||
@@ -291,8 +299,8 @@ void white_grey_common_init(void) {
|
||||
set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3);
|
||||
set_gpio_pullup(GPIOC, 11, PULL_UP);
|
||||
|
||||
// Enable CAN transcievers
|
||||
white_enable_can_transcievers(true);
|
||||
// Enable CAN transceivers
|
||||
white_enable_can_transceivers(true);
|
||||
|
||||
// Disable LEDs
|
||||
white_set_led(LED_RED, false);
|
||||
@@ -316,12 +324,8 @@ void white_grey_common_init(void) {
|
||||
void white_init(void) {
|
||||
white_grey_common_init();
|
||||
|
||||
// Set default state of ESP
|
||||
#ifdef EON
|
||||
current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
|
||||
#else
|
||||
current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
|
||||
#endif
|
||||
// Set ESP off by default
|
||||
current_board->set_gps_mode(GPS_DISABLED);
|
||||
}
|
||||
|
||||
const harness_configuration white_harness_config = {
|
||||
@@ -332,16 +336,18 @@ const board board_white = {
|
||||
.board_type = "White",
|
||||
.harness_config = &white_harness_config,
|
||||
.init = white_init,
|
||||
.enable_can_transciever = white_enable_can_transciever,
|
||||
.enable_can_transcievers = white_enable_can_transcievers,
|
||||
.enable_can_transceiver = white_enable_can_transceiver,
|
||||
.enable_can_transceivers = white_enable_can_transceivers,
|
||||
.set_led = white_set_led,
|
||||
.set_usb_power_mode = white_set_usb_power_mode,
|
||||
.set_esp_gps_mode = white_set_esp_gps_mode,
|
||||
.set_gps_mode = white_set_gps_mode,
|
||||
.set_can_mode = white_set_can_mode,
|
||||
.usb_power_mode_tick = white_usb_power_mode_tick,
|
||||
.check_ignition = white_check_ignition,
|
||||
.read_current = white_read_current,
|
||||
.set_fan_power = white_set_fan_power,
|
||||
.set_ir_power = white_set_ir_power,
|
||||
.set_phone_power = white_set_phone_power
|
||||
.set_phone_power = white_set_phone_power,
|
||||
.set_clock_source_mode = white_set_clock_source_mode,
|
||||
.set_siren = white_set_siren
|
||||
};
|
||||
|
||||
@@ -0,0 +1,100 @@
|
||||
|
||||
#define CLOCK_SOURCE_MODE_DISABLED 0U
|
||||
#define CLOCK_SOURCE_MODE_FREE_RUNNING 1U
|
||||
#define CLOCK_SOURCE_MODE_EXTERNAL_SYNC 2U
|
||||
|
||||
#define CLOCK_SOURCE_PERIOD_MS 50U
|
||||
#define CLOCK_SOURCE_PULSE_LEN_MS 2U
|
||||
|
||||
uint8_t clock_source_mode = CLOCK_SOURCE_MODE_DISABLED;
|
||||
|
||||
void EXTI0_IRQ_Handler(void) {
|
||||
volatile unsigned int pr = EXTI->PR & (1U << 0);
|
||||
if (pr != 0U) {
|
||||
if(clock_source_mode == CLOCK_SOURCE_MODE_EXTERNAL_SYNC){
|
||||
// TODO: Implement!
|
||||
}
|
||||
}
|
||||
EXTI->PR = (1U << 0);
|
||||
}
|
||||
|
||||
void TIM1_UP_TIM10_IRQ_Handler(void) {
|
||||
if((TIM1->SR & TIM_SR_UIF) != 0) {
|
||||
if(clock_source_mode != CLOCK_SOURCE_MODE_DISABLED) {
|
||||
// Start clock pulse
|
||||
set_gpio_output(GPIOB, 14, true);
|
||||
set_gpio_output(GPIOB, 15, true);
|
||||
}
|
||||
|
||||
// Reset interrupt
|
||||
TIM1->SR &= ~(TIM_SR_UIF);
|
||||
}
|
||||
}
|
||||
|
||||
void TIM1_CC_IRQ_Handler(void) {
|
||||
if((TIM1->SR & TIM_SR_CC1IF) != 0) {
|
||||
if(clock_source_mode != CLOCK_SOURCE_MODE_DISABLED) {
|
||||
// End clock pulse
|
||||
set_gpio_output(GPIOB, 14, false);
|
||||
set_gpio_output(GPIOB, 15, false);
|
||||
}
|
||||
|
||||
// Reset interrupt
|
||||
TIM1->SR &= ~(TIM_SR_CC1IF);
|
||||
}
|
||||
}
|
||||
|
||||
void clock_source_init(uint8_t mode){
|
||||
// Setup external clock signal interrupt
|
||||
REGISTER_INTERRUPT(EXTI0_IRQn, EXTI0_IRQ_Handler, 110U, FAULT_INTERRUPT_RATE_CLOCK_SOURCE)
|
||||
register_set(&(SYSCFG->EXTICR[0]), SYSCFG_EXTICR1_EXTI0_PB, 0xFU);
|
||||
register_set_bits(&(EXTI->IMR), (1U << 0));
|
||||
register_set_bits(&(EXTI->RTSR), (1U << 0));
|
||||
register_clear_bits(&(EXTI->FTSR), (1U << 0));
|
||||
|
||||
// Setup timer
|
||||
REGISTER_INTERRUPT(TIM1_UP_TIM10_IRQn, TIM1_UP_TIM10_IRQ_Handler, (1200U / CLOCK_SOURCE_PERIOD_MS) , FAULT_INTERRUPT_RATE_TIM1)
|
||||
REGISTER_INTERRUPT(TIM1_CC_IRQn, TIM1_CC_IRQ_Handler, (1200U / CLOCK_SOURCE_PERIOD_MS) , FAULT_INTERRUPT_RATE_TIM1)
|
||||
register_set(&(TIM1->PSC), (9600-1), 0xFFFFU); // Tick on 0.1 ms
|
||||
register_set(&(TIM1->ARR), ((CLOCK_SOURCE_PERIOD_MS*10U) - 1U), 0xFFFFU); // Period
|
||||
register_set(&(TIM1->CCMR1), 0U, 0xFFFFU); // No output on compare
|
||||
register_set_bits(&(TIM1->CCER), TIM_CCER_CC1E); // Enable compare 1
|
||||
register_set(&(TIM1->CCR1), (CLOCK_SOURCE_PULSE_LEN_MS*10U), 0xFFFFU); // Compare 1 value
|
||||
register_set_bits(&(TIM1->DIER), TIM_DIER_UIE | TIM_DIER_CC1IE); // Enable interrupts
|
||||
register_set(&(TIM1->CR1), TIM_CR1_CEN, 0x3FU); // Enable timer
|
||||
|
||||
// Set mode
|
||||
switch(mode) {
|
||||
case CLOCK_SOURCE_MODE_DISABLED:
|
||||
// No clock signal
|
||||
NVIC_DisableIRQ(EXTI0_IRQn);
|
||||
NVIC_DisableIRQ(TIM1_UP_TIM10_IRQn);
|
||||
NVIC_DisableIRQ(TIM1_CC_IRQn);
|
||||
|
||||
// Disable pulse if we were in the middle of it
|
||||
set_gpio_output(GPIOB, 14, false);
|
||||
set_gpio_output(GPIOB, 15, false);
|
||||
|
||||
clock_source_mode = CLOCK_SOURCE_MODE_DISABLED;
|
||||
break;
|
||||
case CLOCK_SOURCE_MODE_FREE_RUNNING:
|
||||
// Clock signal is based on internal timer
|
||||
NVIC_DisableIRQ(EXTI0_IRQn);
|
||||
NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn);
|
||||
NVIC_EnableIRQ(TIM1_CC_IRQn);
|
||||
|
||||
clock_source_mode = CLOCK_SOURCE_MODE_FREE_RUNNING;
|
||||
break;
|
||||
case CLOCK_SOURCE_MODE_EXTERNAL_SYNC:
|
||||
// Clock signal is based on external timer
|
||||
NVIC_EnableIRQ(EXTI0_IRQn);
|
||||
NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn);
|
||||
NVIC_EnableIRQ(TIM1_CC_IRQn);
|
||||
|
||||
clock_source_mode = CLOCK_SOURCE_MODE_EXTERNAL_SYNC;
|
||||
break;
|
||||
default:
|
||||
puts("Unknown clock source mode: "); puth(mode); puts("\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
@@ -50,8 +50,8 @@ void debug_ring_callback(uart_ring *ring);
|
||||
|
||||
// ******************************** UART buffers ********************************
|
||||
|
||||
// esp_gps = USART1
|
||||
UART_BUFFER(esp_gps, FIFO_SIZE_DMA, FIFO_SIZE_INT, USART1, NULL, true)
|
||||
// gps = USART1
|
||||
UART_BUFFER(gps, FIFO_SIZE_DMA, FIFO_SIZE_INT, USART1, NULL, true)
|
||||
|
||||
// lin1, K-LINE = UART5
|
||||
// lin2, L-LINE = USART3
|
||||
@@ -68,7 +68,7 @@ uart_ring *get_ring_by_number(int a) {
|
||||
ring = &uart_ring_debug;
|
||||
break;
|
||||
case 1:
|
||||
ring = &uart_ring_esp_gps;
|
||||
ring = &uart_ring_gps;
|
||||
break;
|
||||
case 2:
|
||||
ring = &uart_ring_lin1;
|
||||
@@ -185,8 +185,8 @@ void uart_interrupt_handler(uart_ring *q) {
|
||||
// Reset IDLE flag
|
||||
UART_READ_DR(q->uart)
|
||||
|
||||
if(q == &uart_ring_esp_gps){
|
||||
dma_pointer_handler(&uart_ring_esp_gps, DMA2_Stream5->NDTR);
|
||||
if(q == &uart_ring_gps){
|
||||
dma_pointer_handler(&uart_ring_gps, DMA2_Stream5->NDTR);
|
||||
} else {
|
||||
#ifdef DEBUG_UART
|
||||
puts("No IDLE dma_pointer_handler implemented for this UART.");
|
||||
@@ -197,7 +197,7 @@ void uart_interrupt_handler(uart_ring *q) {
|
||||
EXIT_CRITICAL();
|
||||
}
|
||||
|
||||
void USART1_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_esp_gps); }
|
||||
void USART1_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_gps); }
|
||||
void USART2_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_debug); }
|
||||
void USART3_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_lin2); }
|
||||
void UART5_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_lin1); }
|
||||
@@ -219,7 +219,7 @@ void DMA2_Stream5_IRQ_Handler(void) {
|
||||
}
|
||||
|
||||
// Re-calculate write pointer and reset flags
|
||||
dma_pointer_handler(&uart_ring_esp_gps, DMA2_Stream5->NDTR);
|
||||
dma_pointer_handler(&uart_ring_gps, DMA2_Stream5->NDTR);
|
||||
DMA2->HIFCR = DMA_HIFCR_CTCIF5 | DMA_HIFCR_CHTIF5;
|
||||
|
||||
EXIT_CRITICAL();
|
||||
@@ -229,7 +229,7 @@ void DMA2_Stream5_IRQ_Handler(void) {
|
||||
|
||||
void dma_rx_init(uart_ring *q) {
|
||||
// Initialization is UART-dependent
|
||||
if(q == &uart_ring_esp_gps){
|
||||
if(q == &uart_ring_gps){
|
||||
// DMA2, stream 5, channel 4
|
||||
|
||||
// Disable FIFO mode (enable direct)
|
||||
|
||||
+22
-20
@@ -3,26 +3,28 @@
|
||||
#define FAULT_STATUS_PERMANENT 2U
|
||||
|
||||
// Fault types
|
||||
#define FAULT_RELAY_MALFUNCTION (1U << 0)
|
||||
#define FAULT_UNUSED_INTERRUPT_HANDLED (1U << 1)
|
||||
#define FAULT_INTERRUPT_RATE_CAN_1 (1U << 2)
|
||||
#define FAULT_INTERRUPT_RATE_CAN_2 (1U << 3)
|
||||
#define FAULT_INTERRUPT_RATE_CAN_3 (1U << 4)
|
||||
#define FAULT_INTERRUPT_RATE_TACH (1U << 5)
|
||||
#define FAULT_INTERRUPT_RATE_GMLAN (1U << 6)
|
||||
#define FAULT_INTERRUPT_RATE_INTERRUPTS (1U << 7)
|
||||
#define FAULT_INTERRUPT_RATE_SPI_DMA (1U << 8)
|
||||
#define FAULT_INTERRUPT_RATE_SPI_CS (1U << 9)
|
||||
#define FAULT_INTERRUPT_RATE_UART_1 (1U << 10)
|
||||
#define FAULT_INTERRUPT_RATE_UART_2 (1U << 11)
|
||||
#define FAULT_INTERRUPT_RATE_UART_3 (1U << 12)
|
||||
#define FAULT_INTERRUPT_RATE_UART_5 (1U << 13)
|
||||
#define FAULT_INTERRUPT_RATE_UART_DMA (1U << 14)
|
||||
#define FAULT_INTERRUPT_RATE_USB (1U << 15)
|
||||
#define FAULT_INTERRUPT_RATE_TIM1 (1U << 16)
|
||||
#define FAULT_INTERRUPT_RATE_TIM3 (1U << 17)
|
||||
#define FAULT_REGISTER_DIVERGENT (1U << 18)
|
||||
#define FAULT_INTERRUPT_RATE_KLINE_INIT (1U << 19)
|
||||
#define FAULT_RELAY_MALFUNCTION (1U << 0)
|
||||
#define FAULT_UNUSED_INTERRUPT_HANDLED (1U << 1)
|
||||
#define FAULT_INTERRUPT_RATE_CAN_1 (1U << 2)
|
||||
#define FAULT_INTERRUPT_RATE_CAN_2 (1U << 3)
|
||||
#define FAULT_INTERRUPT_RATE_CAN_3 (1U << 4)
|
||||
#define FAULT_INTERRUPT_RATE_TACH (1U << 5)
|
||||
#define FAULT_INTERRUPT_RATE_GMLAN (1U << 6)
|
||||
#define FAULT_INTERRUPT_RATE_INTERRUPTS (1U << 7)
|
||||
#define FAULT_INTERRUPT_RATE_SPI_DMA (1U << 8)
|
||||
#define FAULT_INTERRUPT_RATE_SPI_CS (1U << 9)
|
||||
#define FAULT_INTERRUPT_RATE_UART_1 (1U << 10)
|
||||
#define FAULT_INTERRUPT_RATE_UART_2 (1U << 11)
|
||||
#define FAULT_INTERRUPT_RATE_UART_3 (1U << 12)
|
||||
#define FAULT_INTERRUPT_RATE_UART_5 (1U << 13)
|
||||
#define FAULT_INTERRUPT_RATE_UART_DMA (1U << 14)
|
||||
#define FAULT_INTERRUPT_RATE_USB (1U << 15)
|
||||
#define FAULT_INTERRUPT_RATE_TIM1 (1U << 16)
|
||||
#define FAULT_INTERRUPT_RATE_TIM3 (1U << 17)
|
||||
#define FAULT_REGISTER_DIVERGENT (1U << 18)
|
||||
#define FAULT_INTERRUPT_RATE_KLINE_INIT (1U << 19)
|
||||
#define FAULT_INTERRUPT_RATE_CLOCK_SOURCE (1U << 20)
|
||||
#define FAULT_INTERRUPT_RATE_TIM9 (1U << 21)
|
||||
|
||||
// Permanent faults
|
||||
#define PERMANENT_FAULTS 0U
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
#!/bin/bash
|
||||
sudo apt-get install gcc-arm-none-eabi python-pip
|
||||
sudo pip install libusb1 pycrypto requests
|
||||
sudo pip install libusb1 pycryptodome requests
|
||||
|
||||
@@ -4,4 +4,4 @@ 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
|
||||
pip install --user libusb1 pycryptodome requests
|
||||
|
||||
+2
-6
@@ -64,13 +64,9 @@ void early(void) {
|
||||
|
||||
if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) {
|
||||
#ifdef PANDA
|
||||
current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
|
||||
current_board->set_gps_mode(GPS_DISABLED);
|
||||
#endif
|
||||
current_board->set_led(LED_GREEN, 1);
|
||||
jump_to_bootloader();
|
||||
}
|
||||
|
||||
if (is_entering_bootmode) {
|
||||
enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
+101
-84
@@ -400,24 +400,24 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
|
||||
// **** 0xd9: set ESP power
|
||||
case 0xd9:
|
||||
if (setup->b.wValue.w == 1U) {
|
||||
current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
|
||||
current_board->set_gps_mode(GPS_ENABLED);
|
||||
} else if (setup->b.wValue.w == 2U) {
|
||||
current_board->set_esp_gps_mode(ESP_GPS_BOOTMODE);
|
||||
current_board->set_gps_mode(GPS_BOOTMODE);
|
||||
} else {
|
||||
current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
|
||||
current_board->set_gps_mode(GPS_DISABLED);
|
||||
}
|
||||
break;
|
||||
// **** 0xda: reset ESP, with optional boot mode
|
||||
case 0xda:
|
||||
current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
|
||||
current_board->set_gps_mode(GPS_DISABLED);
|
||||
delay(1000000);
|
||||
if (setup->b.wValue.w == 1U) {
|
||||
current_board->set_esp_gps_mode(ESP_GPS_BOOTMODE);
|
||||
current_board->set_gps_mode(GPS_BOOTMODE);
|
||||
} else {
|
||||
current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
|
||||
current_board->set_gps_mode(GPS_ENABLED);
|
||||
}
|
||||
delay(1000000);
|
||||
current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
|
||||
current_board->set_gps_mode(GPS_ENABLED);
|
||||
break;
|
||||
// **** 0xdb: set GMLAN (white/grey) or OBD CAN (black) multiplexing mode
|
||||
case 0xdb:
|
||||
@@ -493,7 +493,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
|
||||
}
|
||||
|
||||
// TODO: Remove this again and fix boardd code to hande the message bursts instead of single chars
|
||||
if (ur == &uart_ring_esp_gps) {
|
||||
if (ur == &uart_ring_gps) {
|
||||
dma_pointer_handler(ur, DMA2_Stream5->NDTR);
|
||||
}
|
||||
|
||||
@@ -606,6 +606,14 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
|
||||
}
|
||||
}
|
||||
break;
|
||||
// **** 0xf5: set clock source mode
|
||||
case 0xf5:
|
||||
current_board->set_clock_source_mode(setup->b.wValue.w);
|
||||
break;
|
||||
// **** 0xf6: set siren enabled
|
||||
case 0xf6:
|
||||
siren_enabled = (setup->b.wValue.w != 0U);
|
||||
break;
|
||||
default:
|
||||
puts("NO HANDLER ");
|
||||
puth(setup->b.bRequest);
|
||||
@@ -663,87 +671,97 @@ void __attribute__ ((noinline)) enable_fpu(void) {
|
||||
#define EON_HEARTBEAT_IGNITION_CNT_ON 5U
|
||||
#define EON_HEARTBEAT_IGNITION_CNT_OFF 2U
|
||||
|
||||
// called at 1Hz
|
||||
// called at 8Hz
|
||||
uint8_t loop_counter = 0U;
|
||||
void TIM1_BRK_TIM9_IRQ_Handler(void) {
|
||||
if (TIM9->SR != 0) {
|
||||
can_live = pending_can_live;
|
||||
// siren
|
||||
current_board->set_siren((loop_counter & 1U) && siren_enabled);
|
||||
|
||||
current_board->usb_power_mode_tick(uptime_cnt);
|
||||
// decimated to 1Hz
|
||||
if(loop_counter == 0U){
|
||||
can_live = pending_can_live;
|
||||
|
||||
//puth(usart1_dma); puts(" "); puth(DMA2_Stream5->M0AR); puts(" "); puth(DMA2_Stream5->NDTR); puts("\n");
|
||||
current_board->usb_power_mode_tick(uptime_cnt);
|
||||
|
||||
// reset this every 16th pass
|
||||
if ((uptime_cnt & 0xFU) == 0U) {
|
||||
pending_can_live = 0;
|
||||
}
|
||||
#ifdef DEBUG
|
||||
puts("** blink ");
|
||||
puth(can_rx_q.r_ptr); puts(" "); puth(can_rx_q.w_ptr); puts(" ");
|
||||
puth(can_tx1_q.r_ptr); puts(" "); puth(can_tx1_q.w_ptr); puts(" ");
|
||||
puth(can_tx2_q.r_ptr); puts(" "); puth(can_tx2_q.w_ptr); puts("\n");
|
||||
#endif
|
||||
//puth(usart1_dma); puts(" "); puth(DMA2_Stream5->M0AR); puts(" "); puth(DMA2_Stream5->NDTR); puts("\n");
|
||||
|
||||
// Tick drivers
|
||||
fan_tick();
|
||||
|
||||
// set green LED to be controls allowed
|
||||
current_board->set_led(LED_GREEN, controls_allowed);
|
||||
|
||||
// turn off the blue LED, turned on by CAN
|
||||
// unless we are in power saving mode
|
||||
current_board->set_led(LED_BLUE, (uptime_cnt & 1U) && (power_save_status == POWER_SAVE_STATUS_ENABLED));
|
||||
|
||||
// increase heartbeat counter and cap it at the uint32 limit
|
||||
if (heartbeat_counter < __UINT32_MAX__) {
|
||||
heartbeat_counter += 1U;
|
||||
}
|
||||
|
||||
#ifdef EON
|
||||
// check heartbeat counter if we are running EON code.
|
||||
// if the heartbeat has been gone for a while, go to SILENT safety mode and enter power save
|
||||
if (heartbeat_counter >= (check_started() ? EON_HEARTBEAT_IGNITION_CNT_ON : EON_HEARTBEAT_IGNITION_CNT_OFF)) {
|
||||
puts("EON hasn't sent a heartbeat for 0x");
|
||||
puth(heartbeat_counter);
|
||||
puts(" seconds. Safety is set to SILENT mode.\n");
|
||||
if (current_safety_mode != SAFETY_SILENT) {
|
||||
set_safety_mode(SAFETY_SILENT, 0U);
|
||||
// reset this every 16th pass
|
||||
if ((uptime_cnt & 0xFU) == 0U) {
|
||||
pending_can_live = 0;
|
||||
}
|
||||
if (power_save_status != POWER_SAVE_STATUS_ENABLED) {
|
||||
set_power_save_state(POWER_SAVE_STATUS_ENABLED);
|
||||
#ifdef DEBUG
|
||||
puts("** blink ");
|
||||
puth(can_rx_q.r_ptr); puts(" "); puth(can_rx_q.w_ptr); puts(" ");
|
||||
puth(can_tx1_q.r_ptr); puts(" "); puth(can_tx1_q.w_ptr); puts(" ");
|
||||
puth(can_tx2_q.r_ptr); puts(" "); puth(can_tx2_q.w_ptr); puts("\n");
|
||||
#endif
|
||||
|
||||
// Tick drivers
|
||||
fan_tick();
|
||||
|
||||
// set green LED to be controls allowed
|
||||
current_board->set_led(LED_GREEN, controls_allowed);
|
||||
|
||||
// turn off the blue LED, turned on by CAN
|
||||
// unless we are in power saving mode
|
||||
current_board->set_led(LED_BLUE, (uptime_cnt & 1U) && (power_save_status == POWER_SAVE_STATUS_ENABLED));
|
||||
|
||||
// increase heartbeat counter and cap it at the uint32 limit
|
||||
if (heartbeat_counter < __UINT32_MAX__) {
|
||||
heartbeat_counter += 1U;
|
||||
}
|
||||
|
||||
// Also disable IR when the heartbeat goes missing
|
||||
current_board->set_ir_power(0U);
|
||||
#ifdef EON
|
||||
// check heartbeat counter if we are running EON code.
|
||||
// if the heartbeat has been gone for a while, go to SILENT safety mode and enter power save
|
||||
if (heartbeat_counter >= (check_started() ? EON_HEARTBEAT_IGNITION_CNT_ON : EON_HEARTBEAT_IGNITION_CNT_OFF)) {
|
||||
puts("EON hasn't sent a heartbeat for 0x");
|
||||
puth(heartbeat_counter);
|
||||
puts(" seconds. Safety is set to SILENT mode.\n");
|
||||
if (current_safety_mode != SAFETY_SILENT) {
|
||||
set_safety_mode(SAFETY_SILENT, 0U);
|
||||
}
|
||||
if (power_save_status != POWER_SAVE_STATUS_ENABLED) {
|
||||
set_power_save_state(POWER_SAVE_STATUS_ENABLED);
|
||||
}
|
||||
|
||||
// If enumerated but no heartbeat (phone up, boardd not running), turn the fan on to cool the device
|
||||
if(usb_enumerated()){
|
||||
current_board->set_fan_power(50U);
|
||||
} else {
|
||||
current_board->set_fan_power(0U);
|
||||
// Also disable IR when the heartbeat goes missing
|
||||
current_board->set_ir_power(0U);
|
||||
|
||||
// If enumerated but no heartbeat (phone up, boardd not running), turn the fan on to cool the device
|
||||
if(usb_enumerated()){
|
||||
current_board->set_fan_power(50U);
|
||||
} else {
|
||||
current_board->set_fan_power(0U);
|
||||
}
|
||||
}
|
||||
|
||||
// enter CDP mode when car starts to ensure we are charging a turned off EON
|
||||
if (check_started() && (usb_power_mode != USB_POWER_CDP)) {
|
||||
current_board->set_usb_power_mode(USB_POWER_CDP);
|
||||
}
|
||||
#endif
|
||||
|
||||
// check registers
|
||||
check_registers();
|
||||
|
||||
// set ignition_can to false after 2s of no CAN seen
|
||||
if (ignition_can_cnt > 2U) {
|
||||
ignition_can = false;
|
||||
};
|
||||
|
||||
// on to the next one
|
||||
uptime_cnt += 1U;
|
||||
safety_mode_cnt += 1U;
|
||||
ignition_can_cnt += 1U;
|
||||
|
||||
// synchronous safety check
|
||||
safety_tick(current_hooks);
|
||||
}
|
||||
|
||||
// enter CDP mode when car starts to ensure we are charging a turned off EON
|
||||
if (check_started() && (usb_power_mode != USB_POWER_CDP)) {
|
||||
current_board->set_usb_power_mode(USB_POWER_CDP);
|
||||
}
|
||||
#endif
|
||||
|
||||
// check registers
|
||||
check_registers();
|
||||
|
||||
// set ignition_can to false after 2s of no CAN seen
|
||||
if (ignition_can_cnt > 2U) {
|
||||
ignition_can = false;
|
||||
};
|
||||
|
||||
// on to the next one
|
||||
uptime_cnt += 1U;
|
||||
safety_mode_cnt += 1U;
|
||||
ignition_can_cnt += 1U;
|
||||
|
||||
// synchronous safety check
|
||||
safety_tick(current_hooks);
|
||||
loop_counter++;
|
||||
loop_counter %= 8U;
|
||||
}
|
||||
TIM9->SR = 0;
|
||||
}
|
||||
@@ -753,8 +771,8 @@ int main(void) {
|
||||
// Init interrupt table
|
||||
init_interrupts(true);
|
||||
|
||||
// 1s timer
|
||||
REGISTER_INTERRUPT(TIM1_BRK_TIM9_IRQn, TIM1_BRK_TIM9_IRQ_Handler, 2U, FAULT_INTERRUPT_RATE_TIM1)
|
||||
// 8Hz timer
|
||||
REGISTER_INTERRUPT(TIM1_BRK_TIM9_IRQn, TIM1_BRK_TIM9_IRQ_Handler, 10U, FAULT_INTERRUPT_RATE_TIM9)
|
||||
|
||||
// shouldn't have interrupts here, but just in case
|
||||
disable_interrupts();
|
||||
@@ -778,7 +796,6 @@ int main(void) {
|
||||
puts("Config:\n");
|
||||
puts(" Board type: "); puts(current_board->board_type); puts("\n");
|
||||
puts(has_external_debug_serial ? " Real serial\n" : " USB serial\n");
|
||||
puts(is_entering_bootmode ? " ESP wants bootmode\n" : " No bootmode\n");
|
||||
|
||||
// init board
|
||||
current_board->init();
|
||||
@@ -794,10 +811,10 @@ int main(void) {
|
||||
}
|
||||
|
||||
if (board_has_gps()) {
|
||||
uart_init(&uart_ring_esp_gps, 9600);
|
||||
uart_init(&uart_ring_gps, 9600);
|
||||
} else {
|
||||
// enable ESP uart
|
||||
uart_init(&uart_ring_esp_gps, 115200);
|
||||
uart_init(&uart_ring_gps, 115200);
|
||||
}
|
||||
|
||||
if(board_has_lin()){
|
||||
@@ -820,14 +837,14 @@ int main(void) {
|
||||
set_safety_mode(SAFETY_SILENT, 0);
|
||||
|
||||
// enable CAN TXs
|
||||
current_board->enable_can_transcievers(true);
|
||||
current_board->enable_can_transceivers(true);
|
||||
|
||||
#ifndef EON
|
||||
spi_init();
|
||||
#endif
|
||||
|
||||
// 1hz
|
||||
timer_init(TIM9, 1464);
|
||||
// 8hz
|
||||
timer_init(TIM9, 183);
|
||||
NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn);
|
||||
|
||||
#ifdef DEBUG
|
||||
|
||||
@@ -13,3 +13,4 @@ const board *current_board;
|
||||
bool is_enumerated = 0;
|
||||
uint32_t heartbeat_counter = 0;
|
||||
uint32_t uptime_cnt = 0;
|
||||
bool siren_enabled = false;
|
||||
|
||||
@@ -28,13 +28,13 @@ void set_power_save_state(int state) {
|
||||
enable = true;
|
||||
}
|
||||
|
||||
current_board->enable_can_transcievers(enable);
|
||||
current_board->enable_can_transceivers(enable);
|
||||
|
||||
// Switch EPS/GPS
|
||||
if (enable) {
|
||||
current_board->set_esp_gps_mode(ESP_GPS_ENABLED);
|
||||
current_board->set_gps_mode(GPS_ENABLED);
|
||||
} else {
|
||||
current_board->set_esp_gps_mode(ESP_GPS_DISABLED);
|
||||
current_board->set_gps_mode(GPS_DISABLED);
|
||||
}
|
||||
|
||||
if(board_has_gmlan()){
|
||||
|
||||
@@ -38,6 +38,7 @@
|
||||
#define SAFETY_VOLKSWAGEN_PQ 21U
|
||||
#define SAFETY_SUBARU_LEGACY 22U
|
||||
#define SAFETY_HYUNDAI_LEGACY 23U
|
||||
#define SAFETY_HYUNDAI_COMMUNITY 24U
|
||||
|
||||
uint16_t current_safety_mode = SAFETY_SILENT;
|
||||
const safety_hooks *current_hooks = &nooutput_hooks;
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
const int HYUNDAI_MAX_STEER = 255; // like stock
|
||||
const int HYUNDAI_MAX_STEER = 384; // like stock
|
||||
const int HYUNDAI_MAX_RT_DELTA = 112; // max delta torque allowed for real time checks
|
||||
const uint32_t HYUNDAI_RT_INTERVAL = 250000; // 250ms between real time checks
|
||||
const int HYUNDAI_MAX_RATE_UP = 3;
|
||||
|
||||
@@ -56,7 +56,7 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// X-Trail 0x15c, Leaf 0x239
|
||||
if ((addr == 0x15c) || (addr == 0x239)) {
|
||||
if (addr == 0x15c){
|
||||
gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3)) > 1;
|
||||
gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3)) > 3;
|
||||
} else {
|
||||
gas_pressed = GET_BYTE(to_push, 0) > 3;
|
||||
}
|
||||
|
||||
@@ -290,7 +290,7 @@ void soft_flasher_start(void) {
|
||||
// B8,B9: CAN 1
|
||||
set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
|
||||
set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
|
||||
current_board->enable_can_transciever(1, true);
|
||||
current_board->enable_can_transceiver(1, true);
|
||||
|
||||
// init can
|
||||
llcan_set_speed(CAN1, 5000, false, false);
|
||||
|
||||
@@ -1,15 +0,0 @@
|
||||
-----BEGIN RSA PRIVATE KEY-----
|
||||
MIICXAIBAAKBgQCjIHvrSCWN0Nec6ozbImYik30PIF7JSWgdwDKTxSJ05RM3pj5E
|
||||
LQEGt3qcaVrTokO68tpt5Gu1p6ZsNqWg7iVTW9M7Qj7IH45YDzQP/PSRjgSosQA6
|
||||
6f5Gokba5QrW38myqimvj+0p+YH+CNGCBRlTUQGCO8uLCspMZneRSLPW9QIDAQAB
|
||||
AoGADaUn+HRef9BaWMvd4G6uMHI54cwJYbj8NpDfKjExQqnuw5bqWnWRQmiSnwbJ
|
||||
DC7kj3zE/LBAuj890ot3q1CAWqh47ZICZfoX9Qbi5TpvIHFCGy6YkOliF6iIQhR2
|
||||
4+zNKTAA0zNKskOM25PdI+grK1Ni/bEofSA6TrqvEwsmxnkCQQDVp9FUUor2Bo/h
|
||||
/3oAIP51LTw7vfpztYbJr+BDV63czV2DLXzSwzeNrwH4sA3oy1mjUgMBBgAarNGE
|
||||
DYlc4H5jAkEAw3UCHzzXPlxkw2QGp7nBly5y3p80Uqc31NuYz8rdX/U8KTngi2No
|
||||
Ft/SGCEXNpeYbToj+WK3RJJ2Ey0mK8+IxwJAcpGd/5CPsaQNLcw4WK9Yo+8Q2Jxk
|
||||
G/4gfDCSmqn+smNxnLEcuUwzkwdgkEGgA9BfjeOhdsAH+EXpx90WZrZ/LwJBAK0k
|
||||
jq+rTqUQZbZsejTEKYjJ/bnV4BzDwoKN0Q1pkLc7X4LJoW74rTFuLgdv8MdMfRtt
|
||||
IIb/eoeFEpGkMicnHesCQHgR7BTUGBM6Uxam7RCdsgVsxoHBma21E/44ivWUMZzN
|
||||
3oVt0mPnjS4speOlqwED5pCJ7yw7jwLPFMs8kNxuIKU=
|
||||
-----END RSA PRIVATE KEY-----
|
||||
@@ -1 +0,0 @@
|
||||
ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAAAgQCjIHvrSCWN0Nec6ozbImYik30PIF7JSWgdwDKTxSJ05RM3pj5ELQEGt3qcaVrTokO68tpt5Gu1p6ZsNqWg7iVTW9M7Qj7IH45YDzQP/PSRjgSosQA66f5Gokba5QrW38myqimvj+0p+YH+CNGCBRlTUQGCO8uLCspMZneRSLPW9Q== batman@y840
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user