mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-27 11:13:43 +08:00
Compare commits
5 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Adeeb Shihadeh
|
a965de3c96 | ||
|
Vehicle Researcher
|
bc7d21687a | ||
|
Adeeb Shihadeh
|
ce9e739428 | ||
|
Adeeb Shihadeh
|
1e0ef417c3 | ||
|
Vehicle Researcher
|
bf338bf5e9 |
+5
-1
@@ -42,7 +42,6 @@ selfdrive/logcatd/logcatd
|
||||
selfdrive/mapd/default_speeds_by_region.json
|
||||
selfdrive/proclogd/proclogd
|
||||
selfdrive/ui/_ui
|
||||
selfdrive/ui/_soundd
|
||||
selfdrive/test/longitudinal_maneuvers/out
|
||||
selfdrive/visiond/visiond
|
||||
selfdrive/loggerd/loggerd
|
||||
@@ -59,6 +58,7 @@ one
|
||||
openpilot
|
||||
notebooks
|
||||
xx
|
||||
yy
|
||||
hyperthneed
|
||||
panda_jungle
|
||||
provisioning
|
||||
@@ -78,3 +78,7 @@ selfdrive/modeld/thneed/compile
|
||||
models/*.thneed
|
||||
|
||||
*.bz2
|
||||
|
||||
build/
|
||||
|
||||
!**/.gitkeep
|
||||
|
||||
Vendored
+45
-76
@@ -1,7 +1,7 @@
|
||||
def phone(String ip, String step_label, String cmd) {
|
||||
withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
|
||||
def ssh_cmd = """
|
||||
ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 'comma@${ip}' /usr/bin/bash <<'EOF'
|
||||
ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
|
||||
|
||||
set -e
|
||||
|
||||
@@ -29,7 +29,7 @@ cd ${env.TEST_DIR} || true
|
||||
${cmd}
|
||||
exit 0
|
||||
|
||||
EOF"""
|
||||
END"""
|
||||
|
||||
sh script: ssh_cmd, label: step_label
|
||||
}
|
||||
@@ -37,7 +37,7 @@ EOF"""
|
||||
|
||||
def phone_steps(String device_type, steps) {
|
||||
lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
|
||||
timeout(time: 150, unit: 'MINUTES') {
|
||||
timeout(time: 60, unit: 'MINUTES') {
|
||||
phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
|
||||
steps.each { item ->
|
||||
phone(device_ip, item[0], item[1])
|
||||
@@ -53,42 +53,33 @@ pipeline {
|
||||
SOURCE_DIR = "/data/openpilot_source/"
|
||||
}
|
||||
options {
|
||||
timeout(time: 3, unit: 'HOURS')
|
||||
timeout(time: 4, unit: 'HOURS')
|
||||
}
|
||||
|
||||
stages {
|
||||
|
||||
stage('Build release2') {
|
||||
agent {
|
||||
docker {
|
||||
image 'python:3.7.3'
|
||||
args '--user=root'
|
||||
}
|
||||
}
|
||||
stage('build releases') {
|
||||
when {
|
||||
branch 'devel-staging'
|
||||
}
|
||||
steps {
|
||||
phone_steps("eon-build", [
|
||||
["build release2-staging & dashcam-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('Build release3') {
|
||||
agent {
|
||||
docker {
|
||||
image 'python:3.7.3'
|
||||
args '--user=root'
|
||||
parallel {
|
||||
stage('release2') {
|
||||
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
|
||||
steps {
|
||||
phone_steps("eon-build", [
|
||||
["build release2-staging & dashcam-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('release3') {
|
||||
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
|
||||
steps {
|
||||
phone_steps("tici", [
|
||||
["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
|
||||
])
|
||||
}
|
||||
}
|
||||
}
|
||||
when {
|
||||
branch 'devel-staging'
|
||||
}
|
||||
steps {
|
||||
phone_steps("tici", [
|
||||
["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
@@ -105,50 +96,15 @@ pipeline {
|
||||
}
|
||||
|
||||
stages {
|
||||
|
||||
/*
|
||||
stage('PC tests') {
|
||||
agent {
|
||||
dockerfile {
|
||||
filename 'Dockerfile.openpilotci'
|
||||
args '--privileged --shm-size=1G --user=root'
|
||||
}
|
||||
}
|
||||
stages {
|
||||
stage('Build') {
|
||||
steps {
|
||||
sh 'scons -j$(nproc)'
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
// fix permissions since docker runs as another user
|
||||
sh "chmod -R 777 ."
|
||||
}
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
stage('On-device Tests') {
|
||||
agent {
|
||||
docker {
|
||||
/*
|
||||
filename 'Dockerfile.ondevice_ci'
|
||||
args "--privileged -v /dev:/dev --shm-size=1G --user=root"
|
||||
*/
|
||||
image 'python:3.7.3'
|
||||
args '--user=root'
|
||||
}
|
||||
}
|
||||
|
||||
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
|
||||
stages {
|
||||
stage('parallel tests') {
|
||||
parallel {
|
||||
stage('Devel Tests') {
|
||||
stage('C2: build') {
|
||||
steps {
|
||||
phone_steps("eon-build", [
|
||||
["build devel", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
|
||||
["build master-ci", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
|
||||
["build openpilot", "cd selfdrive/manager && ./build.py"],
|
||||
["test manager", "python selfdrive/manager/test/test_manager.py"],
|
||||
["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
|
||||
@@ -157,7 +113,7 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
stage('Replay Tests') {
|
||||
stage('C2: replay') {
|
||||
steps {
|
||||
phone_steps("eon2", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
@@ -166,7 +122,7 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
stage('HW + Unit Tests') {
|
||||
stage('C2: HW + Unit Tests') {
|
||||
steps {
|
||||
phone_steps("eon", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
@@ -201,29 +157,33 @@ pipeline {
|
||||
}
|
||||
*/
|
||||
|
||||
stage('tici Build') {
|
||||
stage('C3: build') {
|
||||
environment {
|
||||
R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
|
||||
}
|
||||
steps {
|
||||
phone_steps("tici", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
["build master-ci", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
|
||||
["build openpilot", "cd selfdrive/manager && ./build.py"],
|
||||
["test manager", "python selfdrive/manager/test/test_manager.py"],
|
||||
["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
|
||||
["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('Unit Tests (tici)') {
|
||||
stage('C3: HW + Unit Tests') {
|
||||
steps {
|
||||
phone_steps("tici2", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
|
||||
["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
|
||||
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('EON camerad') {
|
||||
stage('C2: camerad') {
|
||||
steps {
|
||||
phone_steps("eon-party", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
@@ -233,7 +193,7 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
stage('tici camerad') {
|
||||
stage('C3: camerad') {
|
||||
steps {
|
||||
phone_steps("tici-party", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
@@ -243,6 +203,15 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
stage('C3: replay') {
|
||||
steps {
|
||||
phone_steps("tici-party", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
|
||||
|
||||
|
||||
Table of Contents
|
||||
=======================
|
||||
@@ -17,20 +17,20 @@ Table of Contents
|
||||
What is openpilot?
|
||||
------
|
||||
|
||||
[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration and limitations here](docs/INTEGRATION.md).
|
||||
[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
|
||||
|
||||
<table>
|
||||
<tr>
|
||||
<td><a href="https://www.youtube.com/watch?v=mgAbfr42oI8" title="YouTube" rel="noopener"><img src="https://i.imgur.com/kAtT6Ei.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=394rJKeh76k" title="YouTube" rel="noopener"><img src="https://i.imgur.com/lTt8cS2.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=1iNOc3cq8cs" title="YouTube" rel="noopener"><img src="https://i.imgur.com/ANnuSpe.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=Vr6NgrB-zHw" title="YouTube" rel="noopener"><img src="https://i.imgur.com/Qypanuq.png"></a></td>
|
||||
<td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://i.imgur.com/1w8c6d2.jpg"></a></td>
|
||||
<td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://i.imgur.com/LnBucik.jpg"></a></td>
|
||||
<td><a href="https://youtu.be/VxiR4iyBruo" title="Video By Charlie Kim"><img src="https://i.imgur.com/4Qoy48c.jpg"></a></td>
|
||||
<td><a href="https://youtu.be/-IkImTe1NYE" title="Video By Aragon"><img src="https://i.imgur.com/04VNzPf.jpg"></a></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td><a href="https://www.youtube.com/watch?v=Ug41KIKF0oo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3caZ7xM.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=NVR_CdG1FRg" title="YouTube" rel="noopener"><img src="https://i.imgur.com/bAZOwql.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=tkEvIdzdfUE" title="YouTube" rel="noopener"><img src="https://i.imgur.com/EFINEzG.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=_P-N1ewNne4" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gAyAq22.png"></a></td>
|
||||
<td><a href="https://youtu.be/iIUICQkdwFQ" title="Video By Logan LeGrand"><img src="https://i.imgur.com/b1LHQTy.jpg"></a></td>
|
||||
<td><a href="https://youtu.be/XOsa0FsVIsg" title="Video By PinoyDrives"><img src="https://i.imgur.com/6FG0Bd8.jpg"></a></td>
|
||||
<td><a href="https://youtu.be/bCwcJ98R_Xw" title="Video By JS"><img src="https://i.imgur.com/zO18CbW.jpg"></a></td>
|
||||
<td><a href="https://youtu.be/BQ0tF3MTyyc" title="Video By Tsai-Fi"><img src="https://i.imgur.com/eZzelq3.jpg"></a></td>
|
||||
</tr>
|
||||
</table>
|
||||
|
||||
@@ -40,7 +40,7 @@ Running in a car
|
||||
|
||||
To use openpilot in a car, you need four things
|
||||
* This software. It's free and available right here.
|
||||
* One of [the 140+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot.
|
||||
* One of [the 150+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot.
|
||||
* A supported device to run this software. This can be a [comma two](https://comma.ai/shop/products/two), [comma three](https://comma.ai/shop/products/three), or if you like to experiment, a [Ubuntu computer with webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
|
||||
* A way to connect to your car. With a comma two or three, you need only a [car harness](https://comma.ai/shop/products/car-harness). With an EON Gold or PC, you also need a [black panda](https://comma.ai/shop/products/panda).
|
||||
|
||||
@@ -61,6 +61,8 @@ Community and Contributing
|
||||
|
||||
openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged. Check out [the contributing docs](docs/CONTRIBUTING.md).
|
||||
|
||||
Documentation related to openpilot development can be found on [docs.comma.ai](https://docs.comma.ai). Information about running openpilot (e.g. FAQ, fingerprinting, troubleshooting, custom forks, community hardware) should go on the [wiki](https://github.com/commaai/openpilot/wiki).
|
||||
|
||||
You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
|
||||
|
||||
Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).
|
||||
|
||||
+33
@@ -1,3 +1,36 @@
|
||||
Version 0.8.12 (2021-12-15)
|
||||
========================
|
||||
* New driving model
|
||||
* Improved behavior around exits
|
||||
* Better pose accuracy at high speeds, allowing max speed of 90mph
|
||||
* Fully incorporated comma three data into all parts of training stack
|
||||
* Improved follow distance
|
||||
* Better longitudinal policy, especially in low speed traffic
|
||||
* New alert sounds
|
||||
* AGNOS 3
|
||||
* Display burn in mitigation
|
||||
* Improved audio amplifier configuration
|
||||
* System reliability improvements
|
||||
* Update Python to 3.8.10
|
||||
* Raw logs upload moved to connect.comma.ai
|
||||
* Fixed HUD alerts on newer Honda Bosch thanks to csouers!
|
||||
* Audi Q3 2020-21 support thanks to jyoung8607!
|
||||
* Lexus RC 2020 support thanks to ErichMoraga!
|
||||
|
||||
Version 0.8.11 (2021-11-29)
|
||||
========================
|
||||
* Support for CAN FD on the red panda
|
||||
* Support for an external panda on the comma three
|
||||
* Navigation: Show more detailed instructions when approaching maneuver
|
||||
* Fixed occasional steering faults on GM cars thanks to jyoung8607!
|
||||
* Nissan ECU firmware fingerprinting thanks to robin-reckmann, martinl, and razem-io!
|
||||
* Cadillac Escalade ESV 2016 support thanks to Gibby!
|
||||
* Genesis G70 2020 support thanks to tecandrew!
|
||||
* Hyundai Santa Fe Hybrid 2022 support thanks to sunnyhaibin!
|
||||
* Mazda CX-9 2021 support thanks to Jacar!
|
||||
* Volkswagen Polo 2020 support thanks to jyoung8607!
|
||||
* Volkswagen T-Roc 2021 support thanks to jyoung8607!
|
||||
|
||||
Version 0.8.10 (2021-11-01)
|
||||
========================
|
||||
* New driving model
|
||||
|
||||
+11
-8
@@ -13,9 +13,9 @@ AddOption('--test',
|
||||
action='store_true',
|
||||
help='build test files')
|
||||
|
||||
AddOption('--setup',
|
||||
AddOption('--extras',
|
||||
action='store_true',
|
||||
help='build setup and installer files')
|
||||
help='build misc extras, like setup and installer files')
|
||||
|
||||
AddOption('--kaitai',
|
||||
action='store_true',
|
||||
@@ -60,7 +60,6 @@ if arch == "aarch64" and TICI:
|
||||
arch = "larch64"
|
||||
|
||||
USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
|
||||
USE_FRAME_STREAM = os.getenv("USE_FRAME_STREAM") is not None
|
||||
|
||||
lenv = {
|
||||
"PATH": os.environ['PATH'],
|
||||
@@ -68,6 +67,7 @@ lenv = {
|
||||
"PYTHONPATH": Dir("#").abspath + ":" + Dir("#pyextra/").abspath,
|
||||
|
||||
"ACADOS_SOURCE_DIR": Dir("#third_party/acados/acados").abspath,
|
||||
"ACADOS_PYTHON_INTERFACE_PATH": Dir("#pyextra/acados_template").abspath,
|
||||
"TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer",
|
||||
}
|
||||
|
||||
@@ -90,7 +90,6 @@ if arch == "aarch64" or arch == "larch64":
|
||||
"/usr/lib",
|
||||
"/system/vendor/lib64",
|
||||
"/system/comma/usr/lib",
|
||||
"#third_party/nanovg",
|
||||
f"#third_party/acados/{arch}/lib",
|
||||
]
|
||||
|
||||
@@ -181,12 +180,14 @@ env = Environment(
|
||||
"-O2",
|
||||
"-Wunused",
|
||||
"-Werror",
|
||||
"-Wshadow",
|
||||
"-Wno-unknown-warning-option",
|
||||
"-Wno-deprecated-register",
|
||||
"-Wno-register",
|
||||
"-Wno-inconsistent-missing-override",
|
||||
"-Wno-c99-designator",
|
||||
"-Wno-reorder-init-list",
|
||||
"-Wno-error=unused-but-set-variable",
|
||||
] + cflags + ccflags,
|
||||
|
||||
CPPPATH=cpppath + [
|
||||
@@ -207,7 +208,6 @@ env = Environment(
|
||||
"#third_party/linux/include",
|
||||
"#third_party/snpe/include",
|
||||
"#third_party/mapbox-gl-native-qt/include",
|
||||
"#third_party/nanovg",
|
||||
"#third_party/qrcode",
|
||||
"#third_party",
|
||||
"#cereal",
|
||||
@@ -267,7 +267,7 @@ def abspath(x):
|
||||
py_include = sysconfig.get_paths()['include']
|
||||
envCython = env.Clone()
|
||||
envCython["CPPPATH"] += [py_include, np.get_include()]
|
||||
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
|
||||
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
|
||||
|
||||
envCython["LIBS"] = []
|
||||
if arch == "Darwin":
|
||||
@@ -349,7 +349,7 @@ if GetOption("clazy"):
|
||||
qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
|
||||
qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
|
||||
|
||||
Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'USE_FRAME_STREAM')
|
||||
Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM')
|
||||
|
||||
SConscript(['selfdrive/common/SConscript'])
|
||||
Import('_common', '_gpucommon', '_gpu_libs')
|
||||
@@ -384,7 +384,7 @@ rednose_config = {
|
||||
},
|
||||
}
|
||||
|
||||
if arch != "aarch64":
|
||||
if arch not in ["aarch64", "larch64"]:
|
||||
rednose_config['to_build'].update({
|
||||
'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
|
||||
'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),
|
||||
@@ -429,6 +429,9 @@ SConscript(['selfdrive/ui/SConscript'])
|
||||
if arch != "Darwin":
|
||||
SConscript(['selfdrive/logcatd/SConscript'])
|
||||
|
||||
if GetOption('test'):
|
||||
SConscript('panda/tests/safety/SConscript')
|
||||
|
||||
external_sconscript = GetOption('external_sconscript')
|
||||
if external_sconscript:
|
||||
SConscript([external_sconscript])
|
||||
|
||||
+19
-9
@@ -104,6 +104,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
wideRoadCameraError @102;
|
||||
localizerMalfunction @103;
|
||||
highCpuUsage @105;
|
||||
cruiseMismatch @106;
|
||||
|
||||
driverMonitorLowAccDEPRECATED @68;
|
||||
radarCanErrorDEPRECATED @15;
|
||||
@@ -150,6 +151,7 @@ struct CarState {
|
||||
# brake pedal, 0.0-1.0
|
||||
brake @5 :Float32; # this is user pedal only
|
||||
brakePressed @6 :Bool; # this is user pedal only
|
||||
brakeHoldActive @38 :Bool;
|
||||
|
||||
# steering wheel
|
||||
steeringAngleDeg @7 :Float32;
|
||||
@@ -289,6 +291,8 @@ struct CarControl {
|
||||
active @7 :Bool;
|
||||
|
||||
actuators @6 :Actuators;
|
||||
roll @8 :Float32;
|
||||
pitch @9 :Float32;
|
||||
|
||||
cruiseControl @4 :CruiseControl;
|
||||
hudControl @5 :HUDControl;
|
||||
@@ -347,14 +351,17 @@ struct CarControl {
|
||||
|
||||
enum AudibleAlert {
|
||||
none @0;
|
||||
chimeEngage @1;
|
||||
chimeDisengage @2;
|
||||
chimeError @3;
|
||||
chimeWarning1 @4;
|
||||
chimeWarning2 @5;
|
||||
chimeWarningRepeat @6;
|
||||
chimePrompt @7;
|
||||
chimeWarning2Repeat @8;
|
||||
|
||||
engage @1;
|
||||
disengage @2;
|
||||
refuse @3;
|
||||
|
||||
warningSoft @4;
|
||||
warningImmediate @5;
|
||||
|
||||
prompt @6;
|
||||
promptRepeat @7;
|
||||
promptDistracted @8;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -375,6 +382,7 @@ struct CarParams {
|
||||
enableDsu @5 :Bool; # driving support unit
|
||||
enableApgs @6 :Bool; # advanced parking guidance system
|
||||
enableBsm @56 :Bool; # blind spot monitoring
|
||||
flags @64 :UInt32; # flags for car specific quirks
|
||||
|
||||
minEnableSpeed @7 :Float32;
|
||||
minSteerSpeed @8 :Float32;
|
||||
@@ -438,6 +446,8 @@ struct CarParams {
|
||||
fingerprintSource @49: FingerprintSource;
|
||||
networkLocation @50 :NetworkLocation; # Where Panda/C2 is integrated into the car's CAN network
|
||||
|
||||
wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
|
||||
|
||||
struct SafetyConfig {
|
||||
safetyModel @0 :SafetyModel;
|
||||
safetyParam @1 :Int16;
|
||||
@@ -516,7 +526,7 @@ struct CarParams {
|
||||
allOutput @17;
|
||||
gmAscm @18;
|
||||
noOutput @19; # like silent but without silent CAN TXs
|
||||
hondaBoschHarness @20;
|
||||
hondaBosch @20;
|
||||
volkswagenPq @21;
|
||||
subaruLegacy @22; # pre-Global platform
|
||||
hyundaiLegacy @23;
|
||||
|
||||
@@ -307,6 +307,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
chargingDisabled @18 :Bool;
|
||||
offroadPowerUsageUwh @23 :UInt32;
|
||||
carBatteryCapacityUwh @25 :UInt32;
|
||||
powerDrawW @40 :Float32;
|
||||
|
||||
# device thermals
|
||||
cpuTempC @26 :List(Float32);
|
||||
@@ -315,11 +316,18 @@ struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
ambientTempC @30 :Float32;
|
||||
nvmeTempC @35 :List(Float32);
|
||||
modemTempC @36 :List(Float32);
|
||||
pmicTempC @39 :List(Float32);
|
||||
thermalZones @38 :List(ThermalZone);
|
||||
thermalStatus @14 :ThermalStatus;
|
||||
|
||||
fanSpeedPercentDesired @10 :UInt16;
|
||||
screenBrightnessPercent @37 :Int8;
|
||||
|
||||
struct ThermalZone {
|
||||
name @0 :Text;
|
||||
temp @1 :Float32;
|
||||
}
|
||||
|
||||
enum ThermalStatus {
|
||||
green @0;
|
||||
yellow @1;
|
||||
@@ -603,6 +611,8 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
delta @8 :Float32;
|
||||
output @9 :Float32;
|
||||
saturated @10 :Bool;
|
||||
steeringAngleDesiredDeg @11 :Float32;
|
||||
steeringRateDesiredDeg @12 :Float32;
|
||||
}
|
||||
|
||||
struct LateralPIDState {
|
||||
@@ -615,6 +625,7 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
f @6 :Float32;
|
||||
output @7 :Float32;
|
||||
saturated @8 :Bool;
|
||||
steeringAngleDesiredDeg @9 :Float32;
|
||||
}
|
||||
|
||||
struct LateralLQRState {
|
||||
@@ -624,6 +635,7 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
output @3 :Float32;
|
||||
lqrOutput @4 :Float32;
|
||||
saturated @5 :Bool;
|
||||
steeringAngleDesiredDeg @6 :Float32;
|
||||
}
|
||||
|
||||
struct LateralAngleState {
|
||||
@@ -631,6 +643,7 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
steeringAngleDeg @1 :Float32;
|
||||
output @2 :Float32;
|
||||
saturated @3 :Bool;
|
||||
steeringAngleDesiredDeg @4 :Float32;
|
||||
}
|
||||
|
||||
struct LateralDebugState {
|
||||
@@ -685,6 +698,7 @@ struct ModelDataV2 {
|
||||
orientation @5 :XYZTData;
|
||||
velocity @6 :XYZTData;
|
||||
orientationRate @7 :XYZTData;
|
||||
acceleration @19 :XYZTData;
|
||||
|
||||
# prediction lanelines and road edges
|
||||
laneLines @8 :List(XYZTData);
|
||||
@@ -1285,6 +1299,7 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
|
||||
struct Boot {
|
||||
wallTimeNanos @0 :UInt64;
|
||||
pstore @4 :Map(Text, Data);
|
||||
commands @5 :Map(Text, Data);
|
||||
launchLog @3 :Text;
|
||||
|
||||
lastKmsgDEPRECATED @1 :Data;
|
||||
@@ -1372,6 +1387,44 @@ struct UploaderState {
|
||||
lastFilename @6 :Text;
|
||||
}
|
||||
|
||||
struct NavInstruction {
|
||||
maneuverPrimaryText @0 :Text;
|
||||
maneuverSecondaryText @1 :Text;
|
||||
maneuverDistance @2 :Float32; # m
|
||||
maneuverType @3 :Text; # TODO: Make Enum
|
||||
maneuverModifier @4 :Text; # TODO: Make Enum
|
||||
|
||||
distanceRemaining @5 :Float32; # m
|
||||
timeRemaining @6 :Float32; # s
|
||||
timeRemainingTypical @7 :Float32; # s
|
||||
|
||||
lanes @8 :List(Lane);
|
||||
showFull @9 :Bool;
|
||||
|
||||
struct Lane {
|
||||
directions @0 :List(Direction);
|
||||
active @1 :Bool;
|
||||
activeDirection @2 :Direction;
|
||||
}
|
||||
|
||||
enum Direction {
|
||||
none @0;
|
||||
left @1;
|
||||
right @2;
|
||||
straight @3;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
struct NavRoute {
|
||||
coordinates @0 :List(Coordinate);
|
||||
|
||||
struct Coordinate {
|
||||
latitude @0 :Float32;
|
||||
longitude @1 :Float32;
|
||||
}
|
||||
}
|
||||
|
||||
struct Event {
|
||||
logMonoTime @0 :UInt64; # nanoseconds
|
||||
valid @67 :Bool = true;
|
||||
@@ -1429,6 +1482,10 @@ struct Event {
|
||||
deviceState @6 :DeviceState;
|
||||
logMessage @18 :Text;
|
||||
|
||||
# navigation
|
||||
navInstruction @82 :NavInstruction;
|
||||
navRoute @83 :NavRoute;
|
||||
navThumbnail @84: Thumbnail;
|
||||
|
||||
# *********** debug ***********
|
||||
testJoystick @52 :Joystick;
|
||||
|
||||
@@ -62,6 +62,9 @@ services = {
|
||||
"modelV2": (True, 20., 40),
|
||||
"managerState": (True, 2., 1),
|
||||
"uploaderState": (True, 0., 1),
|
||||
"navInstruction": (True, 0.),
|
||||
"navRoute": (True, 0.),
|
||||
"navThumbnail": (True, 0.),
|
||||
|
||||
# debug
|
||||
"testJoystick": (False, 0.),
|
||||
|
||||
@@ -22,19 +22,28 @@ void visionbuf_compute_aligned_width_and_height(int width, int height, int *alig
|
||||
#endif
|
||||
}
|
||||
|
||||
void VisionBuf::init_rgb(size_t width, size_t height, size_t stride) {
|
||||
void VisionBuf::init_rgb(size_t init_width, size_t init_height, size_t init_stride) {
|
||||
this->rgb = true;
|
||||
this->width = width;
|
||||
this->height = height;
|
||||
this->stride = stride;
|
||||
this->width = init_width;
|
||||
this->height = init_height;
|
||||
this->stride = init_stride;
|
||||
}
|
||||
|
||||
void VisionBuf::init_yuv(size_t width, size_t height){
|
||||
void VisionBuf::init_yuv(size_t init_width, size_t init_height){
|
||||
this->rgb = false;
|
||||
this->width = width;
|
||||
this->height = height;
|
||||
this->width = init_width;
|
||||
this->height = init_height;
|
||||
|
||||
this->y = (uint8_t *)this->addr;
|
||||
this->u = this->y + (width * height);
|
||||
this->v = this->u + (width / 2 * height / 2);
|
||||
this->u = this->y + (this->width * this->height);
|
||||
this->v = this->u + (this->width / 2 * this->height / 2);
|
||||
}
|
||||
|
||||
|
||||
uint64_t VisionBuf::get_frame_id() {
|
||||
return *frame_id;
|
||||
}
|
||||
|
||||
void VisionBuf::set_frame_id(uint64_t id) {
|
||||
*frame_id = id;
|
||||
}
|
||||
|
||||
@@ -15,9 +15,10 @@ enum VisionStreamType {
|
||||
VISION_STREAM_RGB_BACK,
|
||||
VISION_STREAM_RGB_FRONT,
|
||||
VISION_STREAM_RGB_WIDE,
|
||||
VISION_STREAM_YUV_BACK,
|
||||
VISION_STREAM_YUV_FRONT,
|
||||
VISION_STREAM_YUV_WIDE,
|
||||
VISION_STREAM_ROAD,
|
||||
VISION_STREAM_DRIVER,
|
||||
VISION_STREAM_WIDE_ROAD,
|
||||
VISION_STREAM_RGB_MAP,
|
||||
VISION_STREAM_MAX,
|
||||
};
|
||||
|
||||
@@ -26,6 +27,7 @@ class VisionBuf {
|
||||
size_t len = 0;
|
||||
size_t mmap_len = 0;
|
||||
void * addr = nullptr;
|
||||
uint64_t *frame_id;
|
||||
int fd = 0;
|
||||
|
||||
bool rgb = false;
|
||||
@@ -57,6 +59,9 @@ class VisionBuf {
|
||||
void init_yuv(size_t width, size_t height);
|
||||
int sync(int dir);
|
||||
int free();
|
||||
|
||||
void set_frame_id(uint64_t id);
|
||||
uint64_t get_frame_id();
|
||||
};
|
||||
|
||||
void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);
|
||||
|
||||
@@ -32,14 +32,11 @@ static void *malloc_with_fd(size_t len, int *fd) {
|
||||
return addr;
|
||||
}
|
||||
|
||||
void VisionBuf::allocate(size_t len) {
|
||||
int fd;
|
||||
void *addr = malloc_with_fd(len, &fd);
|
||||
|
||||
this->len = len;
|
||||
this->mmap_len = len;
|
||||
this->addr = addr;
|
||||
this->fd = fd;
|
||||
void VisionBuf::allocate(size_t length) {
|
||||
this->len = length;
|
||||
this->mmap_len = this->len;
|
||||
this->addr = malloc_with_fd(this->len, &this->fd);
|
||||
this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len);
|
||||
}
|
||||
|
||||
void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx){
|
||||
@@ -57,6 +54,8 @@ void VisionBuf::import(){
|
||||
assert(this->fd >= 0);
|
||||
this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
|
||||
assert(this->addr != MAP_FAILED);
|
||||
|
||||
this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len);
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -47,13 +47,13 @@ static void ion_init() {
|
||||
}
|
||||
}
|
||||
|
||||
void VisionBuf::allocate(size_t len) {
|
||||
void VisionBuf::allocate(size_t length) {
|
||||
int err;
|
||||
|
||||
ion_init();
|
||||
|
||||
struct ion_allocation_data ion_alloc = {0};
|
||||
ion_alloc.len = len + PADDING_CL;
|
||||
ion_alloc.len = length + PADDING_CL + sizeof(uint64_t);
|
||||
ion_alloc.align = 4096;
|
||||
ion_alloc.heap_id_mask = 1 << ION_IOMMU_HEAP_ID;
|
||||
ion_alloc.flags = ION_FLAG_CACHED;
|
||||
@@ -66,18 +66,19 @@ void VisionBuf::allocate(size_t len) {
|
||||
err = HANDLE_EINTR(ioctl(ion_fd, ION_IOC_SHARE, &ion_fd_data));
|
||||
assert(err == 0);
|
||||
|
||||
void *addr = mmap(NULL, ion_alloc.len,
|
||||
PROT_READ | PROT_WRITE,
|
||||
MAP_SHARED, ion_fd_data.fd, 0);
|
||||
assert(addr != MAP_FAILED);
|
||||
void *mmap_addr = mmap(NULL, ion_alloc.len,
|
||||
PROT_READ | PROT_WRITE,
|
||||
MAP_SHARED, ion_fd_data.fd, 0);
|
||||
assert(mmap_addr != MAP_FAILED);
|
||||
|
||||
memset(addr, 0, ion_alloc.len);
|
||||
memset(mmap_addr, 0, ion_alloc.len);
|
||||
|
||||
this->len = len;
|
||||
this->len = length;
|
||||
this->mmap_len = ion_alloc.len;
|
||||
this->addr = addr;
|
||||
this->addr = mmap_addr;
|
||||
this->handle = ion_alloc.handle;
|
||||
this->fd = ion_fd_data.fd;
|
||||
this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len + PADDING_CL);
|
||||
}
|
||||
|
||||
void VisionBuf::import(){
|
||||
@@ -95,6 +96,8 @@ void VisionBuf::import(){
|
||||
this->handle = fd_data.handle;
|
||||
this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
|
||||
assert(this->addr != MAP_FAILED);
|
||||
|
||||
this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len + PADDING_CL);
|
||||
}
|
||||
|
||||
void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx) {
|
||||
|
||||
@@ -55,7 +55,7 @@ bool VisionIpcClient::connect(bool blocking){
|
||||
VisionBuf bufs[VISIONIPC_MAX_FDS];
|
||||
r = ipc_sendrecv_with_fds(false, socket_fd, &bufs, sizeof(bufs), fds, VISIONIPC_MAX_FDS, &num_buffers);
|
||||
|
||||
assert(num_buffers > 0);
|
||||
assert(num_buffers >= 0);
|
||||
assert(r == sizeof(VisionBuf) * num_buffers);
|
||||
|
||||
// Import buffers
|
||||
|
||||
@@ -19,9 +19,9 @@ cpdef enum VisionStreamType:
|
||||
VISION_STREAM_RGB_BACK
|
||||
VISION_STREAM_RGB_FRONT
|
||||
VISION_STREAM_RGB_WIDE
|
||||
VISION_STREAM_YUV_BACK
|
||||
VISION_STREAM_YUV_FRONT
|
||||
VISION_STREAM_YUV_WIDE
|
||||
VISION_STREAM_ROAD
|
||||
VISION_STREAM_DRIVER
|
||||
VISION_STREAM_WIDE_ROAD
|
||||
|
||||
|
||||
cdef class VisionIpcServer:
|
||||
|
||||
@@ -45,7 +45,6 @@ void VisionIpcServer::create_buffers(VisionStreamType type, size_t num_buffers,
|
||||
size = width * height * 3 / 2;
|
||||
}
|
||||
|
||||
|
||||
// Create map + alloc requested buffers
|
||||
for (size_t i = 0; i < num_buffers; i++){
|
||||
VisionBuf* buf = new VisionBuf();
|
||||
|
||||
@@ -13,10 +13,10 @@ static void zmq_sleep(int milliseconds=1000){
|
||||
|
||||
TEST_CASE("Connecting"){
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_YUV_BACK, 1, false, 100, 100);
|
||||
server.create_buffers(VISION_STREAM_ROAD, 1, false, 100, 100);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
|
||||
REQUIRE(client.connect());
|
||||
|
||||
REQUIRE(client.connected);
|
||||
@@ -25,10 +25,10 @@ TEST_CASE("Connecting"){
|
||||
TEST_CASE("Check buffers"){
|
||||
size_t width = 100, height = 200, num_buffers = 5;
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_YUV_BACK, num_buffers, false, width, height);
|
||||
server.create_buffers(VISION_STREAM_ROAD, num_buffers, false, width, height);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
|
||||
REQUIRE(client.connect());
|
||||
|
||||
REQUIRE(client.buffers[0].width == width);
|
||||
@@ -39,11 +39,11 @@ TEST_CASE("Check buffers"){
|
||||
|
||||
TEST_CASE("Check yuv/rgb"){
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_YUV_BACK, 1, false, 100, 100);
|
||||
server.create_buffers(VISION_STREAM_ROAD, 1, false, 100, 100);
|
||||
server.create_buffers(VISION_STREAM_RGB_BACK, 1, true, 100, 100);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client_yuv = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
|
||||
VisionIpcClient client_yuv = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
|
||||
VisionIpcClient client_rgb = VisionIpcClient("camerad", VISION_STREAM_RGB_BACK, false);
|
||||
client_yuv.connect();
|
||||
client_rgb.connect();
|
||||
@@ -54,20 +54,21 @@ TEST_CASE("Check yuv/rgb"){
|
||||
|
||||
TEST_CASE("Send single buffer"){
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
|
||||
server.create_buffers(VISION_STREAM_ROAD, 1, true, 100, 100);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
|
||||
REQUIRE(client.connect());
|
||||
zmq_sleep();
|
||||
|
||||
VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
|
||||
VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD);
|
||||
REQUIRE(buf != nullptr);
|
||||
|
||||
*((uint64_t*)buf->addr) = 1234;
|
||||
|
||||
VisionIpcBufExtra extra = {0};
|
||||
extra.frame_id = 1337;
|
||||
buf->set_frame_id(extra.frame_id);
|
||||
|
||||
server.send(buf, &extra);
|
||||
|
||||
@@ -76,19 +77,20 @@ TEST_CASE("Send single buffer"){
|
||||
REQUIRE(recv_buf != nullptr);
|
||||
REQUIRE(*(uint64_t*)recv_buf->addr == 1234);
|
||||
REQUIRE(extra_recv.frame_id == extra.frame_id);
|
||||
REQUIRE(recv_buf->get_frame_id() == extra.frame_id);
|
||||
}
|
||||
|
||||
|
||||
TEST_CASE("Test no conflate"){
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
|
||||
server.create_buffers(VISION_STREAM_ROAD, 1, true, 100, 100);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
|
||||
REQUIRE(client.connect());
|
||||
zmq_sleep();
|
||||
|
||||
VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
|
||||
VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD);
|
||||
REQUIRE(buf != nullptr);
|
||||
|
||||
VisionIpcBufExtra extra = {0};
|
||||
@@ -109,14 +111,14 @@ TEST_CASE("Test no conflate"){
|
||||
|
||||
TEST_CASE("Test conflate"){
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
|
||||
server.create_buffers(VISION_STREAM_ROAD, 1, true, 100, 100);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, true);
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, true);
|
||||
REQUIRE(client.connect());
|
||||
zmq_sleep();
|
||||
|
||||
VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
|
||||
VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD);
|
||||
REQUIRE(buf != nullptr);
|
||||
|
||||
VisionIpcBufExtra extra = {0};
|
||||
|
||||
@@ -3,7 +3,7 @@ import os
|
||||
import requests
|
||||
from datetime import datetime, timedelta
|
||||
from common.basedir import PERSIST
|
||||
from selfdrive.version import version
|
||||
from selfdrive.version import get_version
|
||||
|
||||
API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
|
||||
|
||||
@@ -34,13 +34,13 @@ class Api():
|
||||
if isinstance(token, bytes):
|
||||
token = token.decode('utf8')
|
||||
return token
|
||||
|
||||
|
||||
|
||||
def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
|
||||
headers = {}
|
||||
if access_token is not None:
|
||||
headers['Authorization'] = "JWT "+access_token
|
||||
headers['Authorization'] = "JWT " + access_token
|
||||
|
||||
headers['User-Agent'] = "openpilot-" + version
|
||||
headers['User-Agent'] = "openpilot-" + get_version()
|
||||
|
||||
return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
|
||||
|
||||
@@ -1,23 +0,0 @@
|
||||
import os
|
||||
import sysconfig
|
||||
from Cython.Distutils import build_ext
|
||||
|
||||
def get_ext_filename_without_platform_suffix(filename):
|
||||
name, ext = os.path.splitext(filename)
|
||||
ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
|
||||
|
||||
if ext_suffix == ext:
|
||||
return filename
|
||||
|
||||
ext_suffix = ext_suffix.replace(ext, '')
|
||||
idx = name.find(ext_suffix)
|
||||
|
||||
if idx == -1:
|
||||
return filename
|
||||
else:
|
||||
return name[:idx] + ext
|
||||
|
||||
class BuildExtWithoutPlatformSuffix(build_ext):
|
||||
def get_ext_filename(self, ext_name):
|
||||
filename = super().get_ext_filename(ext_name)
|
||||
return get_ext_filename_without_platform_suffix(filename)
|
||||
Executable
+48
@@ -0,0 +1,48 @@
|
||||
from typing import List
|
||||
|
||||
HTML_REPLACEMENTS = [
|
||||
(r'&', r'&'),
|
||||
(r'"', r'"'),
|
||||
]
|
||||
|
||||
|
||||
def parse_markdown(text: str, tab_length: int = 2) -> str:
|
||||
lines = text.split("\n")
|
||||
output: List[str] = []
|
||||
list_level = 0
|
||||
|
||||
def end_outstanding_lists(level: int, end_level: int) -> int:
|
||||
while level > end_level:
|
||||
level -= 1
|
||||
output.append("</ul>")
|
||||
if level > 0:
|
||||
output.append("</li>")
|
||||
return end_level
|
||||
|
||||
for i, line in enumerate(lines):
|
||||
if i + 1 < len(lines) and lines[i + 1].startswith("==="): # heading
|
||||
output.append(f"<h1>{line}</h1>")
|
||||
elif line.startswith("==="):
|
||||
pass
|
||||
elif line.lstrip().startswith("* "): # list
|
||||
line_level = 1 + line.count(" " * tab_length, 0, line.index("*"))
|
||||
if list_level >= line_level:
|
||||
list_level = end_outstanding_lists(list_level, line_level)
|
||||
else:
|
||||
list_level += 1
|
||||
if list_level > 1:
|
||||
output[-1] = output[-1].replace("</li>", "")
|
||||
output.append("<ul>")
|
||||
output.append(f"<li>{line.replace('*', '', 1).lstrip()}</li>")
|
||||
else:
|
||||
list_level = end_outstanding_lists(list_level, 0)
|
||||
if len(line) > 0:
|
||||
output.append(line)
|
||||
|
||||
end_outstanding_lists(list_level, 0)
|
||||
output_str = "\n".join(output) + "\n"
|
||||
|
||||
for (fr, to) in HTML_REPLACEMENTS:
|
||||
output_str = output_str.replace(fr, to)
|
||||
|
||||
return output_str
|
||||
@@ -1,28 +0,0 @@
|
||||
from libcpp.string cimport string
|
||||
from libcpp cimport bool
|
||||
|
||||
cdef extern from "selfdrive/common/params.cc":
|
||||
pass
|
||||
|
||||
cdef extern from "selfdrive/common/util.cc":
|
||||
pass
|
||||
|
||||
cdef extern from "selfdrive/common/params.h":
|
||||
cpdef enum ParamKeyType:
|
||||
PERSISTENT
|
||||
CLEAR_ON_MANAGER_START
|
||||
CLEAR_ON_PANDA_DISCONNECT
|
||||
CLEAR_ON_IGNITION_ON
|
||||
CLEAR_ON_IGNITION_OFF
|
||||
ALL
|
||||
|
||||
cdef cppclass Params:
|
||||
Params() nogil
|
||||
Params(string) nogil
|
||||
string get(string, bool) nogil
|
||||
bool getBool(string) nogil
|
||||
int remove(string) nogil
|
||||
int put(string, string) nogil
|
||||
int putBool(string, bool) nogil
|
||||
bool checkKey(string) nogil
|
||||
void clearAll(ParamKeyType)
|
||||
+26
-38
@@ -2,27 +2,30 @@
|
||||
# cython: language_level = 3
|
||||
from libcpp cimport bool
|
||||
from libcpp.string cimport string
|
||||
from common.params_pxd cimport Params as c_Params, ParamKeyType as c_ParamKeyType
|
||||
|
||||
import os
|
||||
import threading
|
||||
from common.basedir import BASEDIR
|
||||
|
||||
cdef extern from "selfdrive/common/params.h":
|
||||
cpdef enum ParamKeyType:
|
||||
PERSISTENT
|
||||
CLEAR_ON_MANAGER_START
|
||||
CLEAR_ON_PANDA_DISCONNECT
|
||||
CLEAR_ON_IGNITION_ON
|
||||
CLEAR_ON_IGNITION_OFF
|
||||
ALL
|
||||
|
||||
cdef cppclass c_Params "Params":
|
||||
c_Params(string) nogil
|
||||
string get(string, bool) nogil
|
||||
bool getBool(string) nogil
|
||||
int remove(string) nogil
|
||||
int put(string, string) nogil
|
||||
int putBool(string, bool) nogil
|
||||
bool checkKey(string) nogil
|
||||
void clearAll(ParamKeyType)
|
||||
|
||||
cdef class ParamKeyType:
|
||||
PERSISTENT = c_ParamKeyType.PERSISTENT
|
||||
CLEAR_ON_MANAGER_START = c_ParamKeyType.CLEAR_ON_MANAGER_START
|
||||
CLEAR_ON_PANDA_DISCONNECT = c_ParamKeyType.CLEAR_ON_PANDA_DISCONNECT
|
||||
CLEAR_ON_IGNITION_ON = c_ParamKeyType.CLEAR_ON_IGNITION_ON
|
||||
CLEAR_ON_IGNITION_OFF = c_ParamKeyType.CLEAR_ON_IGNITION_OFF
|
||||
ALL = c_ParamKeyType.ALL
|
||||
|
||||
def ensure_bytes(v):
|
||||
if isinstance(v, str):
|
||||
return v.encode()
|
||||
else:
|
||||
return v
|
||||
|
||||
return v.encode() if isinstance(v, str) else v;
|
||||
|
||||
class UnknownKeyName(Exception):
|
||||
pass
|
||||
@@ -30,36 +33,25 @@ class UnknownKeyName(Exception):
|
||||
cdef class Params:
|
||||
cdef c_Params* p
|
||||
|
||||
def __cinit__(self, d=None):
|
||||
cdef string path
|
||||
if d is None:
|
||||
with nogil:
|
||||
self.p = new c_Params()
|
||||
else:
|
||||
path = <string>d.encode()
|
||||
with nogil:
|
||||
self.p = new c_Params(path)
|
||||
def __cinit__(self, d=""):
|
||||
cdef string path = <string>d.encode()
|
||||
with nogil:
|
||||
self.p = new c_Params(path)
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.p
|
||||
|
||||
def clear_all(self, tx_type=None):
|
||||
if tx_type is None:
|
||||
tx_type = ParamKeyType.ALL
|
||||
|
||||
def clear_all(self, tx_type=ParamKeyType.ALL):
|
||||
self.p.clearAll(tx_type)
|
||||
|
||||
def check_key(self, key):
|
||||
key = ensure_bytes(key)
|
||||
|
||||
if not self.p.checkKey(key):
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
return key
|
||||
|
||||
def get(self, key, bool block=False, encoding=None):
|
||||
cdef string k = self.check_key(key)
|
||||
|
||||
cdef string val
|
||||
with nogil:
|
||||
val = self.p.get(k, block)
|
||||
@@ -72,10 +64,7 @@ cdef class Params:
|
||||
else:
|
||||
return None
|
||||
|
||||
if encoding is not None:
|
||||
return val.decode(encoding)
|
||||
else:
|
||||
return val
|
||||
return val if encoding is None else val.decode(encoding)
|
||||
|
||||
def get_bool(self, key):
|
||||
cdef string k = self.check_key(key)
|
||||
@@ -106,8 +95,7 @@ cdef class Params:
|
||||
with nogil:
|
||||
self.p.remove(k)
|
||||
|
||||
|
||||
def put_nonblocking(key, val, d=None):
|
||||
def put_nonblocking(key, val, d=""):
|
||||
def f(key, val):
|
||||
params = Params(d)
|
||||
cdef string k = ensure_bytes(key)
|
||||
|
||||
@@ -81,6 +81,15 @@ model_frame_from_road_frame = np.dot(model_intrinsics,
|
||||
bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, model_height))
|
||||
|
||||
bigmodel_frame_from_calib_frame = np.dot(bigmodel_intrinsics,
|
||||
get_view_frame_from_calib_frame(0, 0, 0, 0))
|
||||
|
||||
sbigmodel_frame_from_road_frame = np.dot(sbigmodel_intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, model_height))
|
||||
|
||||
sbigmodel_frame_from_calib_frame = np.dot(sbigmodel_intrinsics,
|
||||
get_view_frame_from_calib_frame(0, 0, 0, 0))
|
||||
|
||||
medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, model_height))
|
||||
|
||||
|
||||
+24
-16
@@ -1,13 +1,14 @@
|
||||
Supported Cars
|
||||
------
|
||||
# Supported Cars
|
||||
|
||||
## comma.ai supported cars
|
||||
|
||||
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
|
||||
| Acura | ILX 2016-19 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
|
||||
| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Acura | RDX 2019-21 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord 2018-20 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord Hybrid 2018-20 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord 2018-21 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord Hybrid 2018-21 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Civic Hatchback 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | Civic Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
|
||||
| Honda | Civic Coupe 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
|
||||
@@ -23,19 +24,20 @@ Supported Cars
|
||||
| Honda | Insight 2019-21 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Inspire 2018 | 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 | Passport 2019-21 | All | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Pilot 2016-21 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Ridgeline 2017-21 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Hyundai | Palisade 2020-21 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2020-21 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2020-22 | All | Stock | 0mph | 0mph |
|
||||
| Lexus | CT Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | ES 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | ES Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | ES Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph |
|
||||
| Lexus | NX 2018 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | NX 2018-2019 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | NX 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | NX Hybrid 2018-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RC 2020 | All | Stock | 22mph | 0mph |
|
||||
| Lexus | RX 2016-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2016-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
@@ -45,24 +47,24 @@ Supported Cars
|
||||
| Toyota | Avalon 2016-21 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Avalon Hybrid 2019-21 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Camry 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry 2021 | All | openpilot | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry 2021-22 | All | openpilot | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry Hybrid 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry Hybrid 2021-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | C-HR 2017-20 | All | Stock | 0mph | 0mph |
|
||||
| Toyota | C-HR 2017-21 | All | Stock | 0mph | 0mph |
|
||||
| Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph |
|
||||
| Toyota | Corolla 2017-19 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Corolla 2020-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hatchback 2019-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hybrid 2020-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander 2020-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2020-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Mirai 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Prius 2016-20 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2017-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2021-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Rav4 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Rav4 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2016-18 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
@@ -74,17 +76,18 @@ Supported Cars
|
||||
<sup>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
|
||||
<sup>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
|
||||
Community Maintained Cars and Features
|
||||
------
|
||||
## Community Maintained Cars and Features
|
||||
|
||||
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
|
||||
| Audi | A3 2014-19 | ACC + Lane Assist | Stock | 0mph | 0mph |
|
||||
| Audi | A3 Sportback e-tron 2017-18 | ACC + Lane Assist | Stock | 0mph | 0mph |
|
||||
| Audi | Q2 2018 | ACC + Lane Assist | Stock | 0mph | 0mph |
|
||||
| Audi | Q3 2020-21 | ACC + Lane Assist | Stock | 0mph | 0mph |
|
||||
| Audi | S3 2015 | ACC + Lane Assist | Stock | 0mph | 0mph |
|
||||
| Buick | Regal 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Cadillac | ATS 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Cadillac | Escalade ESV 2016<sup>1</sup> | ACC + LKAS | openpilot | 0mph | 7mph |
|
||||
| Chevrolet | Malibu 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Chevrolet | Volt 2017-18<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
@@ -92,6 +95,7 @@ Community Maintained Cars and Features
|
||||
| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Chrysler | Pacifica Hybrid 2019-21 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Genesis | G70 2018 | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G70 2020 | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G80 2018 | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G90 2018 | All | Stock | 0mph | 0mph |
|
||||
| GMC | Acadia 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
@@ -110,6 +114,7 @@ Community Maintained Cars and Features
|
||||
| Hyundai | Kona Hybrid 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Santa Fe 2019-20 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Santa Fe 2021-22 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Santa Fe Hybrid 2022 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2018-2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata Hybrid 2021-22 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Veloster 2019-20 | SCC + LKAS | Stock | 5mph | 0mph |
|
||||
@@ -117,7 +122,7 @@ Community Maintained Cars and Features
|
||||
| Jeep | Grand Cherokee 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Kia | Ceed 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Forte 2018-21 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | K5 2021 | SCC + LFA | Stock | 0mph | 0mph |
|
||||
| Kia | K5 2021-22 | SCC + LFA | Stock | 0mph | 0mph |
|
||||
| Kia | Niro EV 2019-21 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Niro Hybrid 2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Niro PHEV 2019 | SCC + LKAS | Stock | 10mph | 32mph |
|
||||
@@ -127,6 +132,7 @@ Community Maintained Cars and Features
|
||||
| Kia | Sorento 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Telluride 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Mazda | CX-9 2021 | All | Stock | 0mph | 28mph |
|
||||
| Nissan | Altima 2019-20 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | Leaf 2018-22 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | Rogue 2018-20 | ProPILOT | Stock | 0mph | 0mph |
|
||||
@@ -158,7 +164,9 @@ Community Maintained Cars and Features
|
||||
| Volkswagen| Jetta 2018-20 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Jetta GLI 2021 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Passat 2016-18<sup>3</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Polo 2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| T-Cross 2021<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| T-Roc 2021<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Taos 2022<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Tiguan 2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Touran 2017 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
@@ -169,7 +177,7 @@ Community Maintained Cars and Features
|
||||
<sup>4</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering,
|
||||
remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design,
|
||||
in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.<br />
|
||||
Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them. They are only available after enabling the toggle in `Settings->Developer->Enable Community Features`.
|
||||
Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them.
|
||||
|
||||
To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0
|
||||
|
||||
|
||||
+22
-27
@@ -1,16 +1,35 @@
|
||||
# How to contribute
|
||||
|
||||
Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
|
||||
Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
|
||||
|
||||
Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available on our [blog](https://blog.comma.ai/).
|
||||
Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available at https://docs.comma.ai and on our [blog](https://blog.comma.ai/).
|
||||
|
||||
## Getting Started
|
||||
### Getting Started
|
||||
|
||||
* Setup your [development environment](../tools/)
|
||||
* Join our [Discord](https://discord.comma.ai)
|
||||
* Make sure you have a [GitHub account](https://github.com/signup/free)
|
||||
* Fork [our repositories](https://github.com/commaai) on GitHub
|
||||
|
||||
## Pull Requests
|
||||
|
||||
Pull requests should be against the master branch. Welcomed contributions include bug reports, car ports, and any [open issue](https://github.com/commaai/openpilot/issues). If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve.
|
||||
|
||||
A good pull request has all of the following:
|
||||
* a clearly stated purpose
|
||||
* every line changed directly contributes to the stated purpose
|
||||
* verification, i.e. how did you test your PR?
|
||||
* justification
|
||||
* if you've optimized something, post benchmarks to prove it's better
|
||||
* if you've improved your car's tuning, post before and after plots
|
||||
* passes the CI tests
|
||||
|
||||
### Car Ports
|
||||
|
||||
We've released a [Model Port guide](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) for porting to Toyota/Lexus models.
|
||||
|
||||
If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/).
|
||||
|
||||
## Testing
|
||||
|
||||
### Automated Testing
|
||||
@@ -20,27 +39,3 @@ All PRs and commits are automatically checked by GitHub Actions. Check out `.git
|
||||
### Code Style and Linting
|
||||
|
||||
Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
|
||||
|
||||
## Car Ports
|
||||
|
||||
We've released a [Model Port guide](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) for porting to Toyota/Lexus models.
|
||||
|
||||
If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/).
|
||||
|
||||
## Pull Requests
|
||||
|
||||
Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to clone the submodules too. That can be done by recursively cloning the repository:
|
||||
```
|
||||
git clone https://github.com/commaai/openpilot.git --recursive
|
||||
```
|
||||
Or alternatively, when on the master branch:
|
||||
```
|
||||
git submodule update --init
|
||||
```
|
||||
The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
|
||||
Modules that are in seperate repositories include:
|
||||
* cereal
|
||||
* laika
|
||||
* opendbc
|
||||
* panda
|
||||
* rednose
|
||||
|
||||
+1
-63
@@ -1,5 +1,4 @@
|
||||
Integration with Stock Features
|
||||
------
|
||||
# Integration with Stock Features
|
||||
|
||||
In all supported cars:
|
||||
* Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user.
|
||||
@@ -10,64 +9,3 @@ Additionally, on specific supported cars (see ACC column in [supported cars](CAR
|
||||
* openpilot FCW operates in addition to stock FCW.
|
||||
|
||||
openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
|
||||
|
||||
Limitations of openpilot ALC and LDW
|
||||
------
|
||||
|
||||
openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.
|
||||
|
||||
While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so.
|
||||
|
||||
Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:
|
||||
|
||||
* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
|
||||
* The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
|
||||
* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
|
||||
* The device is mounted incorrectly.
|
||||
* When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
|
||||
* In the presence of restricted lanes or construction zones.
|
||||
* When driving on highly banked roads or in presence of strong cross-wind.
|
||||
* Extremely hot or cold temperatures.
|
||||
* Bright light (due to oncoming headlights, direct sunlight, etc.).
|
||||
* Driving on hills, narrow, or winding roads.
|
||||
|
||||
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
|
||||
|
||||
Limitations of openpilot ACC and FCW
|
||||
------
|
||||
|
||||
openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.
|
||||
|
||||
Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to:
|
||||
|
||||
* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
|
||||
* The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
|
||||
* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
|
||||
* The device is mounted incorrectly.
|
||||
* Approaching a toll booth, a bridge or a large metal plate.
|
||||
* When driving on roads with pedestrians, cyclists, etc...
|
||||
* In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
|
||||
* When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time.
|
||||
* In presence of vehicles in the same lane that are not moving.
|
||||
* When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce.
|
||||
* When surrounding vehicles perform close cut-ins from neighbor lanes.
|
||||
* Driving on hills, narrow, or winding roads.
|
||||
* Extremely hot or cold temperatures.
|
||||
* Bright light (due to oncoming headlights, direct sunlight, etc.).
|
||||
* Interference from other equipment that generates radar waves.
|
||||
|
||||
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
|
||||
|
||||
Limitations of openpilot DM
|
||||
------
|
||||
|
||||
openpilot DM should not be considered an exact measurement of the alertness of the driver.
|
||||
|
||||
Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:
|
||||
|
||||
* Low light conditions, such as driving at night or in dark tunnels.
|
||||
* Bright light (due to oncoming headlights, direct sunlight, etc.).
|
||||
* The driver's face is partially or completely outside field of view of the driver facing camera.
|
||||
* The driver facing camera is obstructed, covered, or damaged.
|
||||
|
||||
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.
|
||||
|
||||
@@ -0,0 +1,58 @@
|
||||
# Limitations
|
||||
## Limitations of openpilot ALC and LDW
|
||||
|
||||
openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.
|
||||
|
||||
While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so.
|
||||
|
||||
Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:
|
||||
|
||||
* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
|
||||
* The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
|
||||
* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
|
||||
* The device is mounted incorrectly.
|
||||
* When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
|
||||
* In the presence of restricted lanes or construction zones.
|
||||
* When driving on highly banked roads or in presence of strong cross-wind.
|
||||
* Extremely hot or cold temperatures.
|
||||
* Bright light (due to oncoming headlights, direct sunlight, etc.).
|
||||
* Driving on hills, narrow, or winding roads.
|
||||
|
||||
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
|
||||
|
||||
## Limitations of openpilot ACC and FCW
|
||||
|
||||
openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.
|
||||
|
||||
Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to:
|
||||
|
||||
* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
|
||||
* The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
|
||||
* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
|
||||
* The device is mounted incorrectly.
|
||||
* Approaching a toll booth, a bridge or a large metal plate.
|
||||
* When driving on roads with pedestrians, cyclists, etc...
|
||||
* In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
|
||||
* When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time.
|
||||
* In presence of vehicles in the same lane that are not moving.
|
||||
* When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce.
|
||||
* When surrounding vehicles perform close cut-ins from neighbor lanes.
|
||||
* Driving on hills, narrow, or winding roads.
|
||||
* Extremely hot or cold temperatures.
|
||||
* Bright light (due to oncoming headlights, direct sunlight, etc.).
|
||||
* Interference from other equipment that generates radar waves.
|
||||
|
||||
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
|
||||
|
||||
## Limitations of openpilot DM
|
||||
|
||||
openpilot DM should not be considered an exact measurement of the alertness of the driver.
|
||||
|
||||
Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:
|
||||
|
||||
* Low light conditions, such as driving at night or in dark tunnels.
|
||||
* Bright light (due to oncoming headlights, direct sunlight, etc.).
|
||||
* The driver's face is partially or completely outside field of view of the driver facing camera.
|
||||
* The driver facing camera is obstructed, covered, or damaged.
|
||||
|
||||
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.
|
||||
@@ -1,34 +0,0 @@
|
||||
openpilot Safety
|
||||
======
|
||||
|
||||
openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system.
|
||||
Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
|
||||
driver to be alert and to pay attention at all times.
|
||||
|
||||
In order to enforce driver alertness, openpilot includes a driver monitoring feature
|
||||
that alerts the driver when distracted.
|
||||
|
||||
However, even with an attentive driver, we must make further efforts for the system to be
|
||||
safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be
|
||||
used safely** and openpilot is provided with no warranty of fitness for any purpose.
|
||||
|
||||
openpilot is developed in good faith to be compliant with FMVSS requirements and to follow
|
||||
industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe
|
||||
ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
|
||||
released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/what-is-misra/))
|
||||
on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
|
||||
hardware-in-the-loop and in-vehicle tests before each software release.
|
||||
|
||||
Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
|
||||
ensuring two main safety requirements.
|
||||
|
||||
1. The driver must always be capable to immediately retake manual control of the vehicle,
|
||||
by stepping on either pedal or by pressing the cancel button.
|
||||
2. The vehicle must not alter its trajectory too quickly for the driver to safely
|
||||
react. This means that while the system is engaged, the actuators are constrained
|
||||
to operate within reasonable limits.
|
||||
|
||||
For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [panda/board/safety/](https://github.com/commaai/panda/tree/master/board/safety).
|
||||
|
||||
**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
|
||||
not fully meeting the above requirements.
|
||||
+1
-1
@@ -11,7 +11,7 @@ if [ -z "$REQUIRED_NEOS_VERSION" ]; then
|
||||
fi
|
||||
|
||||
if [ -z "$AGNOS_VERSION" ]; then
|
||||
export AGNOS_VERSION="2"
|
||||
export AGNOS_VERSION="3"
|
||||
fi
|
||||
|
||||
if [ -z "$PASSIVE" ]; then
|
||||
|
||||
Binary file not shown.
@@ -323,4 +323,3 @@ VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
|
||||
VAL_ 780 HUD_LEAD 3 "no_car" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
||||
@@ -310,4 +310,3 @@ VAL_ 392 GEAR 26 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
||||
@@ -432,4 +432,3 @@ VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
|
||||
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
||||
@@ -144,6 +144,9 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
|
||||
case 0x12B: // GRA_ACC_01 Steering wheel controls for ACC
|
||||
crc ^= (uint8_t[]){0x6A,0x38,0xB4,0x27,0x22,0xEF,0xE1,0xBB,0xF8,0x80,0x84,0x49,0xC7,0x9E,0x1E,0x2B}[counter];
|
||||
break;
|
||||
case 0x12E: // ACC_07 Automatic Cruise Control
|
||||
crc ^= (uint8_t[]){0xF8,0xE5,0x97,0xC9,0xD6,0x07,0x47,0x21,0x66,0xDD,0xCF,0x6F,0xA1,0x94,0x74,0x63}[counter];
|
||||
break;
|
||||
case 0x187: // EV_Gearshift "Gear" selection data for EVs with no gearbox
|
||||
crc ^= (uint8_t[]){0x7F,0xED,0x17,0xC2,0x7C,0xEB,0x44,0x21,0x01,0xFA,0xDB,0x15,0x4A,0x6B,0x23,0x05}[counter];
|
||||
break;
|
||||
@@ -172,7 +175,6 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
|
||||
return crc ^ 0xFF; // Return after standard final XOR for CRC8 8H2F/AUTOSAR
|
||||
}
|
||||
|
||||
|
||||
unsigned int pedal_checksum(uint64_t d, int l) {
|
||||
uint8_t crc = 0xFF;
|
||||
uint8_t poly = 0xD5; // standard crc8
|
||||
|
||||
@@ -489,4 +489,3 @@ VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
|
||||
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
||||
@@ -490,4 +490,3 @@ VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
|
||||
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
||||
@@ -485,4 +485,3 @@ VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
|
||||
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
||||
@@ -394,4 +394,3 @@ VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not
|
||||
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
|
||||
VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
||||
@@ -496,4 +496,3 @@ VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
|
||||
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
||||
@@ -316,4 +316,3 @@ VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
|
||||
VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
|
||||
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
||||
@@ -478,4 +478,3 @@ VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
|
||||
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
||||
@@ -320,4 +320,3 @@ VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
|
||||
VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
|
||||
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
||||
@@ -345,4 +345,3 @@ VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "c
|
||||
VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
|
||||
VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
||||
@@ -474,4 +474,3 @@ BO_ 1029 DOORS_STATUS: 8 BDY
|
||||
VAL_ 419 GEAR 10 "R" 1 "D" 0 "P";
|
||||
VAL_ 419 GEAR_SHIFTER 32 "D" 16 "N" 8 "R" 4 "P" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
||||
@@ -357,4 +357,3 @@ VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
|
||||
VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
|
||||
VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
||||
@@ -313,4 +313,3 @@ VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "c
|
||||
VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
|
||||
VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
||||
@@ -308,4 +308,3 @@ VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "c
|
||||
VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
|
||||
VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
@@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
@@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
@@ -357,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
||||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
@@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
@@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
@@ -357,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
||||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
@@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
@@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
@@ -357,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
||||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
@@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
@@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
@@ -357,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
||||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
@@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
@@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
@@ -357,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
||||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
@@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
@@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
@@ -357,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
||||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
||||
@@ -83,7 +83,7 @@ BO_ 569 CRUISE_THROTTLE: 8 XXX
|
||||
SG_ FOLLOW_DISTANCE_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CANCEL_BUTTON : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PROPILOT_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unsure4 : 39|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ USER_BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 32|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ unsure5 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ unsure6 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
@@ -748,4 +748,3 @@ VAL_ 1160 DAS_steeringControlType 1 "ANGLE_CONTROL" 3 "DISABLED" 0 "NONE" 2 "RES
|
||||
VAL_ 1160 DAS_steeringHapticRequest 1 "ACTIVE" 0 "IDLE" ;
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 1160 DAS_steeringAngleRequest STEER_ANGLE 0.1098666 180; CHFFR_METRIC 264 DI_motorRPM ENGINE_RPM 1 0";
|
||||
|
||||
@@ -0,0 +1,179 @@
|
||||
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_:
|
||||
NEO
|
||||
MCU
|
||||
GTW
|
||||
EPAS
|
||||
DI
|
||||
ESP
|
||||
SBW
|
||||
STW
|
||||
APP
|
||||
DAS
|
||||
XXX
|
||||
|
||||
BO_ 262 DI_torque1: 8 DI
|
||||
SG_ DI_torqueDriver : 0|13@1- (0.25,0) [-750|750] "Nm" NEO
|
||||
SG_ DI_torque1Counter : 13|3@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_torqueMotor : 16|13@1- (0.25,0) [-750|750] "Nm" NEO
|
||||
SG_ DI_soptState : 29|3@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_motorRPM : 32|16@1- (1,0) [-17000|17000] "RPM" NEO
|
||||
SG_ DI_pedalPos : 48|8@1+ (0.4,0) [0|100] "%" NEO
|
||||
SG_ DI_torque1Checksum : 56|8@1+ (1,0) [0|0] "" NEO
|
||||
|
||||
BO_ 278 DI_torque2: 6 DI
|
||||
SG_ DI_torqueEstimate : 0|12@1- (0.5,0) [-750|750] "Nm" NEO
|
||||
SG_ DI_gear : 12|3@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_brakePedal : 15|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_vehicleSpeed : 16|12@1+ (0.05,-25) [-25|179.75] "MPH" NEO
|
||||
SG_ DI_gearRequest : 28|3@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_torqueInterfaceFailure : 31|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_torque2Counter : 32|4@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_brakePedalState : 36|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_epbParkRequest : 38|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_epbInterfaceReady : 39|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_torque2Checksum : 40|8@1+ (1,0) [0|0] "" NEO
|
||||
|
||||
BO_ 504 BrakeMessage: 8 XXX
|
||||
SG_ driverBrakeStatus : 2|2@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 568 STW_ACTN_RQ: 8 STW
|
||||
SG_ SpdCtrlLvr_Stat : 0|6@1+ (1,0) [0|0] "" NEO
|
||||
SG_ VSL_Enbl_Rq : 6|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ SpdCtrlLvrStat_Inv : 7|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DTR_Dist_Rq : 8|8@1+ (1,0) [0|200] "" NEO
|
||||
SG_ TurnIndLvr_Stat : 16|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ HiBmLvr_Stat : 18|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ WprWashSw_Psd : 20|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ WprWash_R_Sw_Posn_V2 : 22|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Lvr_Stat : 24|3@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Cond_Flt : 27|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Cond_Psd : 28|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ HrnSw_Psd : 30|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw00_Psd : 32|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw01_Psd : 33|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw02_Psd : 34|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw03_Psd : 35|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw04_Psd : 36|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw05_Psd : 37|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw06_Psd : 38|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw07_Psd : 39|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw08_Psd : 40|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw09_Psd : 41|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw10_Psd : 42|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw11_Psd : 43|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw12_Psd : 44|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw13_Psd : 45|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw14_Psd : 46|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw15_Psd : 47|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ WprSw6Posn : 48|3@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MC_STW_ACTN_RQ : 52|4@1+ (1,0) [0|15] "" NEO
|
||||
SG_ CRC_STW_ACTN_RQ : 56|8@1+ (1,0) [0|0] "" NEO
|
||||
|
||||
BO_ 598 DI_state: 8 DI
|
||||
SG_ DI_systemState : 0|3@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_vehicleHoldState : 3|3@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_proximity : 6|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_driveReady : 7|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_regenLight : 8|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_state : 9|3@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_cruiseState : 12|4@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_analogSpeed : 16|12@1+ (0.1,0) [0|150] "speed" NEO
|
||||
SG_ DI_immobilizerState : 28|3@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_speedUnits : 31|1@1+ (1,0) [0|1] "" NEO
|
||||
SG_ DI_cruiseSet : 32|9@1+ (0.5,0) [0|255.5] "speed" NEO
|
||||
SG_ DI_aebState : 41|3@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_stateCounter : 44|4@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_digitalSpeed : 48|8@1+ (1,0) [0|250] "" NEO
|
||||
SG_ DI_stateChecksum : 56|8@1+ (1,0) [0|0] "" NEO
|
||||
|
||||
BO_ 703 DAS_control: 8 GTW
|
||||
SG_ DAS_setSpeed : 0|12@1+ (0.1,0) [0|409.4] "kph" DI,PM,APS
|
||||
SG_ DAS_accState : 12|4@1+ (1,0) [0|0] "" DI,PM,APS
|
||||
SG_ DAS_aebEvent : 16|2@1+ (1,0) [0|3] "" DI,PM,APS
|
||||
SG_ DAS_jerkMin : 18|9@1+ (0.03,-15.232) [-15.232|0.098] "m/s^3" DI,PM,APS
|
||||
SG_ DAS_jerkMax : 27|8@1+ (0.059,0) [0|15.045] "m/s^3" DI,PM,APS
|
||||
SG_ DAS_accelMin : 35|9@1+ (0.04,-15) [-15|5.44] "m/s^2" DI,PM,APS
|
||||
SG_ DAS_accelMax : 44|9@1+ (0.04,-15) [-15|5.44] "m/s^2" DI,PM,APS
|
||||
SG_ DAS_controlCounter : 53|3@1+ (1,0) [0|0] "" DI,PM,APS
|
||||
SG_ DAS_controlChecksum : 56|8@1+ (1,0) [0|0] "" DI,PM,APS
|
||||
|
||||
VAL_ 262 DI_torqueDriver -4096 "SNA" ;
|
||||
VAL_ 262 DI_torqueMotor -4096 "SNA" ;
|
||||
VAL_ 262 DI_soptState 7 "SOPT_TEST_SNA" 4 "SOPT_TEST_NOT_RUN" 3 "SOPT_TEST_PASSED" 2 "SOPT_TEST_FAILED" 1 "SOPT_TEST_IN_PROGRESS" 0 "SOPT_PRE_TEST" ;
|
||||
VAL_ 262 DI_motorRPM -32768 "SNA" ;
|
||||
VAL_ 262 DI_pedalPos 255 "SNA" ;
|
||||
VAL_ 278 DI_torqueEstimate -2048 "SNA" ;
|
||||
VAL_ 278 DI_gear 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ;
|
||||
VAL_ 278 DI_brakePedal 1 "Applied" 0 "Not_applied" ;
|
||||
VAL_ 278 DI_vehicleSpeed 4095 "SNA" ;
|
||||
VAL_ 278 DI_gearRequest 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ;
|
||||
VAL_ 278 DI_torqueInterfaceFailure 1 "TORQUE_INTERFACE_FAILED" 0 "TORQUE_INTERFACE_NORMAL" ;
|
||||
VAL_ 278 DI_brakePedalState 3 "SNA" 2 "INVALID" 1 "ON" 0 "OFF" ;
|
||||
VAL_ 278 DI_epbParkRequest 1 "Park_requested" 0 "No_request" ;
|
||||
VAL_ 278 DI_epbInterfaceReady 1 "EPB_INTERFACE_READY" 0 "EPB_INTERFACE_NOT_READY" ;
|
||||
VAL_ 504 driverBrakeStatus 2 "APPLIED" 1 "NOT_APPLIED" ;
|
||||
VAL_ 568 SpdCtrlLvr_Stat 32 "DN_1ST" 16 "UP_1ST" 8 "DN_2ND" 4 "UP_2ND" 2 "RWD" 1 "FWD" 0 "IDLE" ;
|
||||
VAL_ 568 DTR_Dist_Rq 255 "SNA" 200 "ACC_DIST_7" 166 "ACC_DIST_6" 133 "ACC_DIST_5" 100 "ACC_DIST_4" 66 "ACC_DIST_3" 33 "ACC_DIST_2" 0 "ACC_DIST_1" ;
|
||||
VAL_ 568 TurnIndLvr_Stat 3 "SNA" 2 "RIGHT" 1 "LEFT" 0 "IDLE" ;
|
||||
VAL_ 568 HiBmLvr_Stat 3 "SNA" 2 "HIBM_FLSH_ON_PSD" 1 "HIBM_ON_PSD" 0 "IDLE" ;
|
||||
VAL_ 568 WprWashSw_Psd 3 "SNA" 2 "WASH" 1 "TIPWIPE" 0 "NPSD" ;
|
||||
VAL_ 568 WprWash_R_Sw_Posn_V2 3 "SNA" 2 "WASH" 1 "INTERVAL" 0 "OFF" ;
|
||||
VAL_ 568 StW_Lvr_Stat 4 "STW_BACK" 3 "STW_FWD" 2 "STW_DOWN" 1 "STW_UP" 0 "NPSD" ;
|
||||
VAL_ 568 StW_Cond_Psd 3 "SNA" 2 "DOWN" 1 "UP" 0 "NPSD" ;
|
||||
VAL_ 568 HrnSw_Psd 3 "SNA" 2 "NDEF2" 1 "PSD" 0 "NPSD" ;
|
||||
VAL_ 568 StW_Sw00_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
|
||||
VAL_ 568 StW_Sw01_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
|
||||
VAL_ 568 StW_Sw03_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
|
||||
VAL_ 568 StW_Sw04_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
|
||||
VAL_ 568 WprSw6Posn 7 "SNA" 6 "STAGE2" 5 "STAGE1" 4 "INTERVAL4" 3 "INTERVAL3" 2 "INTERVAL2" 1 "INTERVAL1" 0 "OFF" ;
|
||||
VAL_ 598 DI_aebState 2 "ENABLED" 4 "FAULT" 7 "SNA" 1 "STANDBY" 3 "STANDSTILL" 0 "UNAVAILABLE" ;
|
||||
VAL_ 598 DI_analogSpeed 4095 "SNA" ;
|
||||
VAL_ 598 DI_cruiseState 2 "ENABLED" 5 "FAULT" 0 "OFF" 4 "OVERRIDE" 7 "PRE_CANCEL" 6 "PRE_FAULT" 1 "STANDBY" 3 "STANDSTILL" ;
|
||||
VAL_ 598 DI_digitalSpeed 255 "SNA" ;
|
||||
VAL_ 598 DI_immobilizerState 2 "AUTHENTICATING" 3 "DISARMED" 6 "FAULT" 4 "IDLE" 0 "INIT_SNA" 1 "REQUEST" 5 "RESET" ;
|
||||
VAL_ 598 DI_speedUnits 1 "KPH" 0 "MPH" ;
|
||||
VAL_ 598 DI_state 3 "ABORT" 4 "ENABLE" 2 "FAULT" 1 "STANDBY" 0 "UNAVAILABLE" ;
|
||||
VAL_ 598 DI_systemState 3 "ABORT" 4 "ENABLE" 2 "FAULT" 1 "STANDBY" 0 "UNAVAILABLE" ;
|
||||
VAL_ 598 DI_vehicleHoldState 2 "BLEND_IN" 4 "BLEND_OUT" 6 "FAULT" 7 "INIT" 5 "PARK" 1 "STANDBY" 3 "STANDSTILL" 0 "UNAVAILABLE" ;
|
||||
VAL_ 703 DAS_setSpeed 4095 "SNA" ;
|
||||
VAL_ 703 DAS_accState 15 "FAULT_SNA" 13 "ACC_CANCEL_GENERIC_SILENT" 11 "APC_SELFPARK_START" 10 "APC_UNPARK_COMPLETE" 9 "APC_PAUSE" 8 "APC_ABORT" 7 "APC_COMPLETE" 6 "APC_FORWARD" 5 "APC_BACKWARD" 4 "ACC_ON" 3 "ACC_HOLD" 0 "ACC_CANCEL_GENERIC" ;
|
||||
VAL_ 703 DAS_aebEvent 3 "AEB_SNA" 2 "AEB_FAULT" 1 "AEB_ACTIVE" 0 "AEB_NOT_ACTIVE" ;
|
||||
VAL_ 703 DAS_jerkMin 511 "SNA" ;
|
||||
VAL_ 703 DAS_jerkMax 255 "SNA" ;
|
||||
VAL_ 703 DAS_accelMin 511 "SNA" ;
|
||||
VAL_ 703 DAS_accelMax 511 "SNA" ;
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
@@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
@@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
@@ -357,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
||||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
@@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
@@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
@@ -357,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
||||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
@@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
@@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
@@ -357,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
||||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
@@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
@@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
@@ -357,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
||||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
@@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
@@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
@@ -357,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
||||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
@@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
@@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
@@ -357,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
||||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
@@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
@@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
@@ -357,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
||||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
@@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
@@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
@@ -357,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
||||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
@@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
@@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
@@ -357,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
||||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
@@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
@@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
@@ -357,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
||||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
@@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
@@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
@@ -357,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
||||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
||||
+26
-8
@@ -33,7 +33,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: Airbag_MQB BAP_Tester_MQB BMS_MQB Datenlogger_MQB Gateway_MQB Getriebe_DQ_Hybrid_MQB Getriebe_DQ_MQB LEH_MQB Motor_Diesel_MQB Motor_Hybrid_MQB Motor_Otto_MQB SAK_MQB Waehlhebel_MQB Vector__XXX 9 l c i XXX
|
||||
BU_: Airbag_MQB BAP_Tester_MQB BMS_MQB Datenlogger_MQB Gateway_MQB Getriebe_DQ_Hybrid_MQB Getriebe_DQ_MQB LEH_MQB Motor_Diesel_MQB Motor_Hybrid_MQB Motor_Otto_MQB SAK_MQB Waehlhebel_MQB Vector__XXX l c i XXX
|
||||
|
||||
|
||||
BO_ 290 ACC_06: 8 Gateway_MQB
|
||||
@@ -1253,8 +1253,17 @@ BO_ 780 ACC_02: 8 XXX
|
||||
SG_ ACC_Status_Anzeige : 61|3@1+ (1.0,0.0) [0.0|7] "" XXX
|
||||
|
||||
BO_ 302 ACC_07: 8 XXX
|
||||
SG_ ACC_07_BZ : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ ACC_07_CRC : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ ACC_Distance_to_Stop : 12|11@1+ (0.01,0) [0|1] "m" XXX
|
||||
SG_ ACC_Hold_Request : 23|1@1+ (1,0) [0|1] "x" XXX
|
||||
SG_ ACC_Boost_Request : 24|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_Freewheel_Request : 25|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_Freewheel_Type : 26|2@1+ (1,0) [0|3] "enum" XXX
|
||||
SG_ ACC_Hold_Type : 28|3@1+ (1,0) [0|15] "enum" XXX
|
||||
SG_ ACC_Hold_Release : 31|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_Accel_Secondary : 32|8@1+ (0.03,-4.6) [-4.6|2.99] "m/s2" XXX
|
||||
SG_ ACC_Accel_TSK : 53|11@1+ (0.005,-7.22) [-7.22|3.005] "m/s2" XXX
|
||||
|
||||
BO_ 264 Fahrwerk_01: 8 XXX
|
||||
SG_ Fahrwerk_01_BZ : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
@@ -1360,18 +1369,24 @@ BO_ 391 EV_Gearshift: 8 XXX
|
||||
SG_ RegenBrakingMode : 12|2@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
CM_ SG_ 134 LWI_Lenkradwinkel "Steering angle WITH variable ratio effect included";
|
||||
CM_ SG_ 159 EPS_HCA_Status "Status of Heading Control Assist feature"
|
||||
CM_ SG_ 159 EPS_HCA_Status "Status of Heading Control Assist feature";
|
||||
CM_ SG_ 159 EPS_Lenkmoment "Steering input by driver, torque";
|
||||
CM_ SG_ 159 EPS_VZ_Lenkmoment "Steering input by driver, direction";
|
||||
CM_ SG_ 159 EPS_Berechneter_LW "Raw steering angle, degrees";
|
||||
CM_ SG_ 159 EPS_VZ_BLW "Raw steering angle, direction"
|
||||
CM_ SG_ 159 EPS_VZ_BLW "Raw steering angle, direction";
|
||||
CM_ SG_ 173 COUNTERXX "Message not renamed to COUNTER because J533 rate-limiting makes it look like messages are being lost";
|
||||
CM_ SG_ 294 3 "May be zero when sent by older cameras";
|
||||
CM_ SG_ 294 7 "May be zero when sent by older cameras";
|
||||
CM_ SG_ 294 254 "May be zero when sent by older cameras";
|
||||
CM_ SG_ 294 SET_ME_0X3 "May be zero when sent by older cameras";
|
||||
CM_ SG_ 294 SET_ME_0X07 "May be zero when sent by older cameras";
|
||||
CM_ SG_ 294 SET_ME_0XFE "May be zero when sent by older cameras";
|
||||
CM_ SG_ 294 Assist_Torque "Heading control input, torque";
|
||||
CM_ SG_ 294 Assist_VZ "Heading control input, direction (sign)";
|
||||
CM_ SG_ 294 HCA_Available "Must be 1 for steering rack to accept HCA commands";
|
||||
CM_ SG_ 302 ACC_Hold_Request "Active request for ABS brake hold in ACC_Hold_Type";
|
||||
CM_ SG_ 302 ACC_Boost_Request "Hybrid engine start related";
|
||||
CM_ SG_ 302 ACC_Freewheel_Request "Active request for DSG sailing/coasting in ACC_Freewheel_Type";
|
||||
CM_ SG_ 302 ACC_Hold_Release "Request to ABS to release brake hold";
|
||||
CM_ SG_ 302 ACC_Accel_Secondary "Target acceleration of the secondary controller";
|
||||
CM_ SG_ 302 ACC_Accel_TSK "Mirror of request to TSK to implement a target acceleration";
|
||||
CM_ SG_ 870 Hazard_Switch "Four-way flashers active";
|
||||
CM_ SG_ 870 Comfort_Signal_Left "Comfort turn signal active, left";
|
||||
CM_ SG_ 870 Comfort_Signal_Right "Comfort turn signal active, right";
|
||||
@@ -1397,6 +1412,9 @@ CM_ SG_ 391 GearPosition "Traditional PRND plus B-mode aggressive regen, B-mode
|
||||
CM_ SG_ 960 ZAS_Kl_15 "Indicates ignition on";
|
||||
VAL_ 159 EPS_HCA_Status 0 "disabled" 1 "initializing" 2 "fault" 3 "ready" 4 "rejected" 5 "active";
|
||||
VAL_ 173 GE_Fahrstufe 5 "P" 6 "R" 7 "N" 8 "D" 9 "S" 10 "E" 14 "T";
|
||||
VAL_ 288 TSK_Status 0 "init" 1 "disabled" 2 "enabled" 3 "regulating" 4 "accel_pedal_override" 5 "brake_only" 6 "temp_fault" 7 "perm_fault";
|
||||
VAL_ 302 ACC_Freewheel_Type 0 "freewheel_released" 1 "freewheel_not_permitted" 2 "freewheel_not_released" 3 "freewheel_requested" ;
|
||||
VAL_ 302 ACC_Hold_Type 0 "no_request" 1 "hold" 2 "park" 3 "hold_standby" 4 "startup" 5 "loosen_over_ramp" ;
|
||||
VAL_ 391 GearPosition 2 "P" 3 "R" 4 "N" 5 "D" 6 "D";
|
||||
VAL_ 391 RegenBrakingMode 0 "default" 1 "B1" 2 "B2" 3 "B3";
|
||||
VAL_ 870 Fast_Send_Rate_Active 0 "1 Hz" 1 "50 Hz";
|
||||
|
||||
+2
-2
@@ -1,8 +1,8 @@
|
||||
# flake8: noqa
|
||||
# pylint: skip-file
|
||||
from .python import Panda, PandaWifiStreaming, PandaDFU, flash_release, \
|
||||
BASEDIR, ensure_st_up_to_date, PandaSerial, \
|
||||
DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, MCU_TYPE_F4
|
||||
BASEDIR, ensure_st_up_to_date, PandaSerial, pack_can_buffer, unpack_can_buffer, \
|
||||
DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, MCU_TYPE_F4, DLC_TO_LEN, LEN_TO_DLC
|
||||
|
||||
from .python.config import BOOTSTUB_ADDRESS, BLOCK_SIZE_FX, APP_ADDRESS_FX, \
|
||||
BLOCK_SIZE_H7, APP_ADDRESS_H7, DEVICE_SERIAL_NUMBER_ADDR_H7, \
|
||||
|
||||
@@ -0,0 +1,29 @@
|
||||
#include "dlc_to_len.h"
|
||||
|
||||
#define CAN_PACKET_VERSION 2
|
||||
typedef struct {
|
||||
unsigned char reserved : 1;
|
||||
unsigned char bus : 3;
|
||||
unsigned char data_len_code : 4;
|
||||
unsigned char rejected : 1;
|
||||
unsigned char returned : 1;
|
||||
unsigned char extended : 1;
|
||||
unsigned int addr : 29;
|
||||
unsigned char data[CANPACKET_DATA_SIZE_MAX];
|
||||
} __attribute__((packed, aligned(4))) CANPacket_t;
|
||||
|
||||
#define GET_BUS(msg) ((msg)->bus)
|
||||
#define GET_LEN(msg) (dlc_to_len[(msg)->data_len_code])
|
||||
#define GET_ADDR(msg) ((msg)->addr)
|
||||
|
||||
// Flasher and pedal use raw mailbox access
|
||||
#define GET_MAILBOX_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0xFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
|
||||
#define GET_MAILBOX_BYTES_04(msg) ((msg)->RDLR)
|
||||
#define GET_MAILBOX_BYTES_48(msg) ((msg)->RDHR)
|
||||
|
||||
#define CAN_INIT_TIMEOUT_MS 500U
|
||||
|
||||
#define CANPACKET_HEAD_SIZE 5U
|
||||
|
||||
#define WORD_TO_BYTE_ARRAY(dst8, src32) 0[dst8] = ((src32) & 0xFFU); 1[dst8] = (((src32) >> 8U) & 0xFFU); 2[dst8] = (((src32) >> 16U) & 0xFFU); 3[dst8] = (((src32) >> 24U) & 0xFFU)
|
||||
#define BYTE_ARRAY_TO_WORD(dst32, src8) ((dst32) = 0[src8] | (1[src8] << 8U) | (2[src8] << 16U) | (3[src8] << 24U))
|
||||
@@ -34,16 +34,6 @@
|
||||
|
||||
#define MAX_RESP_LEN 0x40U
|
||||
|
||||
#define GET_BUS(msg) (((msg)->RDTR >> 4) & 0xFF)
|
||||
#define GET_LEN(msg) ((msg)->RDTR & 0xF)
|
||||
#define GET_ADDR(msg) ((((msg)->RIR & 4) != 0) ? ((msg)->RIR >> 3) : ((msg)->RIR >> 21))
|
||||
#define GET_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0xFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
|
||||
#define GET_BYTES_04(msg) ((msg)->RDLR)
|
||||
#define GET_BYTES_48(msg) ((msg)->RDHR)
|
||||
#define GET_FLAG(value, mask) (((__typeof__(mask))(value) & (mask)) == (mask))
|
||||
|
||||
#define CAN_INIT_TIMEOUT_MS 500U
|
||||
|
||||
#include <stdbool.h>
|
||||
#ifdef STM32H7
|
||||
#include "stm32h7/stm32h7_config.h"
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
unsigned char dlc_to_len[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U};
|
||||
+44
-31
@@ -9,7 +9,7 @@ bool can_set_speed(uint8_t can_number) {
|
||||
CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
|
||||
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
|
||||
|
||||
ret &= llcan_set_speed(CAN, can_speed[bus_number], can_loopback, (unsigned int)(can_silent) & (1U << can_number));
|
||||
ret &= llcan_set_speed(CAN, bus_config[bus_number].can_speed, can_loopback, (unsigned int)(can_silent) & (1U << can_number));
|
||||
return ret;
|
||||
}
|
||||
|
||||
@@ -17,7 +17,7 @@ bool can_set_speed(uint8_t can_number) {
|
||||
void can_set_gmlan(uint8_t bus) {
|
||||
if(current_board->has_hw_gmlan){
|
||||
// first, disable GMLAN on prev bus
|
||||
uint8_t prev_bus = can_num_lookup[3];
|
||||
uint8_t prev_bus = bus_config[3].can_num_lookup;
|
||||
if (bus != prev_bus) {
|
||||
switch (prev_bus) {
|
||||
case 1:
|
||||
@@ -26,9 +26,9 @@ void can_set_gmlan(uint8_t bus) {
|
||||
puth(prev_bus + 1U);
|
||||
puts("\n");
|
||||
current_board->set_can_mode(CAN_MODE_NORMAL);
|
||||
bus_lookup[prev_bus] = prev_bus;
|
||||
can_num_lookup[prev_bus] = prev_bus;
|
||||
can_num_lookup[3] = -1;
|
||||
bus_config[prev_bus].bus_lookup = prev_bus;
|
||||
bus_config[prev_bus].can_num_lookup = prev_bus;
|
||||
bus_config[3].can_num_lookup = -1;
|
||||
bool ret = can_init(prev_bus);
|
||||
UNUSED(ret);
|
||||
break;
|
||||
@@ -46,9 +46,9 @@ void can_set_gmlan(uint8_t bus) {
|
||||
puth(bus + 1U);
|
||||
puts("\n");
|
||||
current_board->set_can_mode((bus == 1U) ? CAN_MODE_GMLAN_CAN2 : CAN_MODE_GMLAN_CAN3);
|
||||
bus_lookup[bus] = 3;
|
||||
can_num_lookup[bus] = -1;
|
||||
can_num_lookup[3] = bus;
|
||||
bus_config[bus].bus_lookup = 3;
|
||||
bus_config[bus].can_num_lookup = -1;
|
||||
bus_config[3].can_num_lookup = bus;
|
||||
bool ret = can_init(bus);
|
||||
UNUSED(ret);
|
||||
break;
|
||||
@@ -101,18 +101,23 @@ void process_can(uint8_t can_number) {
|
||||
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
|
||||
|
||||
// check for empty mailbox
|
||||
CAN_FIFOMailBox_TypeDef to_send;
|
||||
CANPacket_t to_send;
|
||||
if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
|
||||
// add successfully transmitted message to my fifo
|
||||
if ((CAN->TSR & CAN_TSR_RQCP0) == CAN_TSR_RQCP0) {
|
||||
can_txd_cnt += 1;
|
||||
|
||||
if ((CAN->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) {
|
||||
CAN_FIFOMailBox_TypeDef to_push;
|
||||
to_push.RIR = CAN->sTxMailBox[0].TIR;
|
||||
to_push.RDTR = (CAN->sTxMailBox[0].TDTR & 0xFFFF000FU) | ((CAN_BUS_RET_FLAG | bus_number) << 4);
|
||||
to_push.RDLR = CAN->sTxMailBox[0].TDLR;
|
||||
to_push.RDHR = CAN->sTxMailBox[0].TDHR;
|
||||
CANPacket_t to_push;
|
||||
to_push.returned = 1U;
|
||||
to_push.rejected = 0U;
|
||||
to_push.extended = (CAN->sTxMailBox[0].TIR >> 2) & 0x1U;
|
||||
to_push.addr = (to_push.extended != 0U) ? (CAN->sTxMailBox[0].TIR >> 3) : (CAN->sTxMailBox[0].TIR >> 21);
|
||||
to_push.data_len_code = CAN->sTxMailBox[0].TDTR & 0xFU;
|
||||
to_push.bus = bus_number;
|
||||
WORD_TO_BYTE_ARRAY(&to_push.data[0], CAN->sTxMailBox[0].TDLR);
|
||||
WORD_TO_BYTE_ARRAY(&to_push.data[4], CAN->sTxMailBox[0].TDHR);
|
||||
|
||||
can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;
|
||||
}
|
||||
|
||||
@@ -136,10 +141,12 @@ void process_can(uint8_t can_number) {
|
||||
if (can_pop(can_queues[bus_number], &to_send)) {
|
||||
can_tx_cnt += 1;
|
||||
// only send if we have received a packet
|
||||
CAN->sTxMailBox[0].TDLR = to_send.RDLR;
|
||||
CAN->sTxMailBox[0].TDHR = to_send.RDHR;
|
||||
CAN->sTxMailBox[0].TDTR = to_send.RDTR;
|
||||
CAN->sTxMailBox[0].TIR = to_send.RIR;
|
||||
CAN->sTxMailBox[0].TIR = ((to_send.extended != 0U) ? (to_send.addr << 3) : (to_send.addr << 21)) | (to_send.extended << 2);
|
||||
CAN->sTxMailBox[0].TDTR = to_send.data_len_code;
|
||||
BYTE_ARRAY_TO_WORD(CAN->sTxMailBox[0].TDLR, &to_send.data[0]);
|
||||
BYTE_ARRAY_TO_WORD(CAN->sTxMailBox[0].TDHR, &to_send.data[4]);
|
||||
// Send request TXRQ
|
||||
CAN->sTxMailBox[0].TIR |= 0x1U;
|
||||
|
||||
usb_cb_ep3_out_complete();
|
||||
}
|
||||
@@ -161,23 +168,29 @@ void can_rx(uint8_t can_number) {
|
||||
pending_can_live = 1;
|
||||
|
||||
// add to my fifo
|
||||
CAN_FIFOMailBox_TypeDef to_push;
|
||||
to_push.RIR = CAN->sFIFOMailBox[0].RIR;
|
||||
to_push.RDTR = CAN->sFIFOMailBox[0].RDTR;
|
||||
to_push.RDLR = CAN->sFIFOMailBox[0].RDLR;
|
||||
to_push.RDHR = CAN->sFIFOMailBox[0].RDHR;
|
||||
CANPacket_t to_push;
|
||||
|
||||
// modify RDTR for our API
|
||||
to_push.RDTR = (to_push.RDTR & 0xFFFF000F) | (bus_number << 4);
|
||||
to_push.returned = 0U;
|
||||
to_push.rejected = 0U;
|
||||
to_push.extended = (CAN->sFIFOMailBox[0].RIR >> 2) & 0x1U;
|
||||
to_push.addr = (to_push.extended != 0U) ? (CAN->sFIFOMailBox[0].RIR >> 3) : (CAN->sFIFOMailBox[0].RIR >> 21);
|
||||
to_push.data_len_code = CAN->sFIFOMailBox[0].RDTR & 0xFU;
|
||||
to_push.bus = bus_number;
|
||||
WORD_TO_BYTE_ARRAY(&to_push.data[0], CAN->sFIFOMailBox[0].RDLR);
|
||||
WORD_TO_BYTE_ARRAY(&to_push.data[4], CAN->sFIFOMailBox[0].RDHR);
|
||||
|
||||
// forwarding (panda only)
|
||||
int bus_fwd_num = (can_forwarding[bus_number] != -1) ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
|
||||
int bus_fwd_num = safety_fwd_hook(bus_number, &to_push);
|
||||
if (bus_fwd_num != -1) {
|
||||
CAN_FIFOMailBox_TypeDef to_send;
|
||||
to_send.RIR = to_push.RIR | 1; // TXRQ
|
||||
to_send.RDTR = to_push.RDTR;
|
||||
to_send.RDLR = to_push.RDLR;
|
||||
to_send.RDHR = to_push.RDHR;
|
||||
CANPacket_t to_send;
|
||||
|
||||
to_send.returned = 0U;
|
||||
to_send.rejected = 0U;
|
||||
to_send.extended = to_push.extended; // TXRQ
|
||||
to_send.addr = to_push.addr;
|
||||
to_send.bus = to_push.bus;
|
||||
to_send.data_len_code = to_push.data_len_code;
|
||||
(void)memcpy(to_send.data, to_push.data, dlc_to_len[to_push.data_len_code]);
|
||||
can_send(&to_send, bus_fwd_num, true);
|
||||
}
|
||||
|
||||
|
||||
@@ -2,11 +2,19 @@ typedef struct {
|
||||
volatile uint32_t w_ptr;
|
||||
volatile uint32_t r_ptr;
|
||||
uint32_t fifo_size;
|
||||
CAN_FIFOMailBox_TypeDef *elems;
|
||||
CANPacket_t *elems;
|
||||
} can_ring;
|
||||
|
||||
#define CAN_BUS_RET_FLAG 0x80U
|
||||
#define CAN_BUS_NUM_MASK 0x7FU
|
||||
typedef struct {
|
||||
uint8_t bus_lookup;
|
||||
uint8_t can_num_lookup;
|
||||
uint32_t can_speed;
|
||||
uint32_t can_data_speed;
|
||||
bool canfd_enabled;
|
||||
bool brs_enabled;
|
||||
} bus_config_t;
|
||||
|
||||
#define CAN_BUS_NUM_MASK 0x3FU
|
||||
|
||||
#define BUS_MAX 4U
|
||||
|
||||
@@ -21,8 +29,6 @@ extern int pending_can_live;
|
||||
// must reinit after changing these
|
||||
extern int can_loopback;
|
||||
extern int can_silent;
|
||||
extern uint32_t can_speed[4];
|
||||
extern uint32_t can_data_speed[3];
|
||||
|
||||
// Ignition detected from CAN meessages
|
||||
bool ignition_can = false;
|
||||
@@ -43,14 +49,19 @@ void process_can(uint8_t can_number);
|
||||
|
||||
// ********************* instantiate queues *********************
|
||||
#define can_buffer(x, size) \
|
||||
CAN_FIFOMailBox_TypeDef elems_##x[size]; \
|
||||
can_ring can_##x = { .w_ptr = 0, .r_ptr = 0, .fifo_size = (size), .elems = (CAN_FIFOMailBox_TypeDef *)&(elems_##x) };
|
||||
CANPacket_t elems_##x[size]; \
|
||||
can_ring can_##x = { .w_ptr = 0, .r_ptr = 0, .fifo_size = (size), .elems = (CANPacket_t *)&(elems_##x) };
|
||||
|
||||
#ifdef STM32H7
|
||||
__attribute__((section(".ram_d1"))) can_buffer(rx_q, 0x1000)
|
||||
__attribute__((section(".ram_d1"))) can_buffer(txgmlan_q, 0x1A0)
|
||||
#else
|
||||
can_buffer(rx_q, 0x1000)
|
||||
can_buffer(tx1_q, 0x100)
|
||||
can_buffer(tx2_q, 0x100)
|
||||
can_buffer(tx3_q, 0x100)
|
||||
can_buffer(txgmlan_q, 0x100)
|
||||
can_buffer(txgmlan_q, 0x1A0)
|
||||
#endif
|
||||
can_buffer(tx1_q, 0x1A0)
|
||||
can_buffer(tx2_q, 0x1A0)
|
||||
can_buffer(tx3_q, 0x1A0)
|
||||
// FIXME:
|
||||
// cppcheck-suppress misra-c2012-9.3
|
||||
can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q, &can_txgmlan_q};
|
||||
@@ -63,7 +74,7 @@ int can_err_cnt = 0;
|
||||
int can_overflow_cnt = 0;
|
||||
|
||||
// ********************* interrupt safe queue *********************
|
||||
bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
|
||||
bool can_pop(can_ring *q, CANPacket_t *elem) {
|
||||
bool ret = 0;
|
||||
|
||||
ENTER_CRITICAL();
|
||||
@@ -81,7 +92,7 @@ bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
|
||||
bool can_push(can_ring *q, CANPacket_t *elem) {
|
||||
bool ret = false;
|
||||
uint32_t next_w_ptr;
|
||||
|
||||
@@ -150,20 +161,21 @@ void can_clear(can_ring *q) {
|
||||
// can number: numeric lookup for MCU CAN interfaces (0 = CAN1, 1 = CAN2, etc);
|
||||
// bus_lookup: Translates from 'can number' to 'bus number'.
|
||||
// can_num_lookup: Translates from 'bus number' to 'can number'.
|
||||
// can_forwarding: Given a bus num, lookup bus num to forward to. -1 means no forward.
|
||||
|
||||
// Helpers
|
||||
// Panda: Bus 0=CAN1 Bus 1=CAN2 Bus 2=CAN3
|
||||
uint8_t bus_lookup[] = {0,1,2};
|
||||
uint8_t can_num_lookup[] = {0,1,2,-1};
|
||||
int8_t can_forwarding[] = {-1,-1,-1,-1};
|
||||
uint32_t can_speed[] = {5000, 5000, 5000, 333};
|
||||
uint32_t can_data_speed[] = {5000, 5000, 5000}; //For CAN FD with BRS only
|
||||
bus_config_t bus_config[] = {
|
||||
{ .bus_lookup = 0U, .can_num_lookup = 0U, .can_speed = 5000U, .can_data_speed = 5000U, .canfd_enabled = false, .brs_enabled = false },
|
||||
{ .bus_lookup = 1U, .can_num_lookup = 1U, .can_speed = 5000U, .can_data_speed = 5000U, .canfd_enabled = false, .brs_enabled = false },
|
||||
{ .bus_lookup = 2U, .can_num_lookup = 2U, .can_speed = 5000U, .can_data_speed = 5000U, .canfd_enabled = false, .brs_enabled = false },
|
||||
{ .bus_lookup = 0xFFU, .can_num_lookup = 0xFFU, .can_speed = 333U, .can_data_speed = 333U, .canfd_enabled = false, .brs_enabled = false },
|
||||
};
|
||||
|
||||
#define CAN_MAX 3U
|
||||
|
||||
#define CANIF_FROM_CAN_NUM(num) (cans[num])
|
||||
#define BUS_NUM_FROM_CAN_NUM(num) (bus_lookup[num])
|
||||
#define CAN_NUM_FROM_BUS_NUM(num) (can_num_lookup[num])
|
||||
#define BUS_NUM_FROM_CAN_NUM(num) (bus_config[num].bus_lookup)
|
||||
#define CAN_NUM_FROM_BUS_NUM(num) (bus_config[num].can_num_lookup)
|
||||
|
||||
void can_init_all(void) {
|
||||
bool ret = true;
|
||||
@@ -175,13 +187,13 @@ void can_init_all(void) {
|
||||
}
|
||||
|
||||
void can_flip_buses(uint8_t bus1, uint8_t bus2){
|
||||
bus_lookup[bus1] = bus2;
|
||||
bus_lookup[bus2] = bus1;
|
||||
can_num_lookup[bus1] = bus2;
|
||||
can_num_lookup[bus2] = bus1;
|
||||
bus_config[bus1].bus_lookup = bus2;
|
||||
bus_config[bus2].bus_lookup = bus1;
|
||||
bus_config[bus1].can_num_lookup = bus2;
|
||||
bus_config[bus2].can_num_lookup = bus1;
|
||||
}
|
||||
|
||||
void ignition_can_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
void ignition_can_hook(CANPacket_t *to_push) {
|
||||
int bus = GET_BUS(to_push);
|
||||
int addr = GET_ADDR(to_push);
|
||||
int len = GET_LEN(to_push);
|
||||
@@ -189,23 +201,30 @@ void ignition_can_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
ignition_can_cnt = 0U; // reset counter
|
||||
|
||||
if (bus == 0) {
|
||||
// GM exception
|
||||
// TODO: verify on all supported GM models that we can reliably detect ignition using only this signal,
|
||||
// since the 0x1F1 signal can briefly go low immediately after ignition
|
||||
if ((addr == 0x160) && (len == 5)) {
|
||||
// this message isn't all zeros when ignition is on
|
||||
ignition_cadillac = GET_BYTES_04(to_push) != 0;
|
||||
ignition_cadillac = GET_BYTES_04(to_push) != 0U;
|
||||
}
|
||||
// GM exception
|
||||
if ((addr == 0x1F1) && (len == 8)) {
|
||||
// Bit 5 is ignition "on"
|
||||
bool ignition_gm = ((GET_BYTE(to_push, 0) & 0x20) != 0);
|
||||
bool ignition_gm = ((GET_BYTE(to_push, 0) & 0x20U) != 0U);
|
||||
ignition_can = ignition_gm || ignition_cadillac;
|
||||
}
|
||||
|
||||
// Tesla exception
|
||||
if ((addr == 0x348) && (len == 8)) {
|
||||
// GTW_status
|
||||
ignition_can = (GET_BYTE(to_push, 0) & 0x1) != 0;
|
||||
ignition_can = (GET_BYTE(to_push, 0) & 0x1U) != 0U;
|
||||
}
|
||||
|
||||
// Mazda exception
|
||||
if ((addr == 0x9E) && (len == 8)) {
|
||||
ignition_can = (GET_BYTE(to_push, 0) >> 4) == 0xDU;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
@@ -217,22 +236,19 @@ bool can_tx_check_min_slots_free(uint32_t min) {
|
||||
(can_slots_empty(&can_txgmlan_q) >= min);
|
||||
}
|
||||
|
||||
void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number, bool skip_tx_hook) {
|
||||
void can_send(CANPacket_t *to_push, uint8_t bus_number, bool skip_tx_hook) {
|
||||
if (skip_tx_hook || safety_tx_hook(to_push) != 0) {
|
||||
if (bus_number < BUS_MAX) {
|
||||
// add CAN packet to send queue
|
||||
// bus number isn't passed through
|
||||
to_push->RDTR &= 0xF;
|
||||
if ((bus_number == 3U) && (can_num_lookup[3] == 0xFFU)) {
|
||||
if ((bus_number == 3U) && (bus_config[3].can_num_lookup == 0xFFU)) {
|
||||
gmlan_send_errs += bitbang_gmlan(to_push) ? 0U : 1U;
|
||||
} else {
|
||||
can_fwd_errs += can_push(can_queues[bus_number], to_push) ? 0U : 1U;
|
||||
process_can(CAN_NUM_FROM_BUS_NUM(bus_number));
|
||||
}
|
||||
}
|
||||
} else {
|
||||
to_push->rejected = 1U;
|
||||
can_send_errs += can_push(&can_rx_q, to_push) ? 0U : 1U;
|
||||
}
|
||||
}
|
||||
|
||||
void can_set_forwarding(int from, int to) {
|
||||
can_forwarding[from] = to;
|
||||
}
|
||||
|
||||
+56
-39
@@ -5,6 +5,11 @@
|
||||
#define BUS_OFF_FAIL_LIMIT 2U
|
||||
uint8_t bus_off_err[] = {0U, 0U, 0U};
|
||||
|
||||
typedef struct {
|
||||
volatile uint32_t header[2];
|
||||
volatile uint32_t data_word[CANPACKET_DATA_SIZE_MAX/4U];
|
||||
} canfd_fifo;
|
||||
|
||||
FDCAN_GlobalTypeDef *cans[] = {FDCAN1, FDCAN2, FDCAN3};
|
||||
|
||||
bool can_set_speed(uint8_t can_number) {
|
||||
@@ -12,7 +17,7 @@ bool can_set_speed(uint8_t can_number) {
|
||||
FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
|
||||
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
|
||||
|
||||
ret &= llcan_set_speed(CANx, can_speed[bus_number], can_data_speed[bus_number], can_loopback, (unsigned int)(can_silent) & (1U << can_number));
|
||||
ret &= llcan_set_speed(CANx, bus_config[bus_number].can_speed, bus_config[bus_number].can_data_speed, can_loopback, (unsigned int)(can_silent) & (1U << can_number));
|
||||
return ret;
|
||||
}
|
||||
|
||||
@@ -42,36 +47,41 @@ void process_can(uint8_t can_number) {
|
||||
|
||||
FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
|
||||
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
|
||||
|
||||
|
||||
CANx->IR |= FDCAN_IR_TFE; // Clear Tx FIFO Empty flag
|
||||
|
||||
if ((CANx->TXFQS & FDCAN_TXFQS_TFQF) == 0) {
|
||||
CAN_FIFOMailBox_TypeDef to_send;
|
||||
CANPacket_t to_send;
|
||||
if (can_pop(can_queues[bus_number], &to_send)) {
|
||||
can_tx_cnt += 1;
|
||||
uint32_t TxFIFOSA = FDCAN_START_ADDRESS + (can_number * FDCAN_OFFSET) + (FDCAN_RX_FIFO_0_EL_CNT * FDCAN_RX_FIFO_0_EL_SIZE);
|
||||
uint8_t tx_index = (CANx->TXFQS >> FDCAN_TXFQS_TFQPI_Pos) & 0x1F;
|
||||
// only send if we have received a packet
|
||||
CAN_FIFOMailBox_TypeDef *fifo;
|
||||
fifo = (CAN_FIFOMailBox_TypeDef *)(TxFIFOSA + (tx_index * FDCAN_TX_FIFO_EL_SIZE));
|
||||
canfd_fifo *fifo;
|
||||
fifo = (canfd_fifo *)(TxFIFOSA + (tx_index * FDCAN_TX_FIFO_EL_SIZE));
|
||||
|
||||
// Convert from "mailbox type"
|
||||
fifo->RIR = ((to_send.RIR & 0x6) << 28) | (to_send.RIR >> 3); // identifier format and frame type | identifier
|
||||
//REDEBUG: enable CAN FD and BRS for test purposes
|
||||
//fifo->RDTR = ((to_send.RDTR & 0xF) << 16) | ((to_send.RDTR) >> 16) | (1U << 21) | (1U << 20); // DLC (length) | timestamp | enable CAN FD | enable BRS
|
||||
fifo->RDTR = ((to_send.RDTR & 0xF) << 16) | ((to_send.RDTR) >> 16); // DLC (length) | timestamp
|
||||
fifo->RDLR = to_send.RDLR;
|
||||
fifo->RDHR = to_send.RDHR;
|
||||
|
||||
CANx->TXBAR = (1UL << tx_index);
|
||||
fifo->header[0] = (to_send.extended << 30) | ((to_send.extended != 0U) ? (to_send.addr) : (to_send.addr << 18));
|
||||
fifo->header[1] = (to_send.data_len_code << 16) | (bus_config[can_number].canfd_enabled << 21) | (bus_config[can_number].brs_enabled << 20);
|
||||
|
||||
uint8_t data_len_w = (dlc_to_len[to_send.data_len_code] / 4U);
|
||||
data_len_w += ((dlc_to_len[to_send.data_len_code] % 4U) > 0U) ? 1U : 0U;
|
||||
for (unsigned int i = 0; i < data_len_w; i++) {
|
||||
BYTE_ARRAY_TO_WORD(fifo->data_word[i], &to_send.data[i*4U]);
|
||||
}
|
||||
|
||||
CANx->TXBAR = (1UL << tx_index);
|
||||
|
||||
// Send back to USB
|
||||
can_txd_cnt += 1;
|
||||
CAN_FIFOMailBox_TypeDef to_push;
|
||||
to_push.RIR = to_send.RIR;
|
||||
to_push.RDTR = (to_send.RDTR & 0xFFFF000FU) | ((CAN_BUS_RET_FLAG | bus_number) << 4);
|
||||
to_push.RDLR = to_send.RDLR;
|
||||
to_push.RDHR = to_send.RDHR;
|
||||
CANPacket_t to_push;
|
||||
|
||||
to_push.returned = 1U;
|
||||
to_push.rejected = 0U;
|
||||
to_push.extended = to_send.extended;
|
||||
to_push.addr = to_send.addr;
|
||||
to_push.bus = to_send.bus;
|
||||
to_push.data_len_code = to_send.data_len_code;
|
||||
(void)memcpy(to_push.data, to_send.data, dlc_to_len[to_push.data_len_code]);
|
||||
can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;
|
||||
|
||||
usb_cb_ep3_out_complete();
|
||||
@@ -123,29 +133,37 @@ void can_rx(uint8_t can_number) {
|
||||
rx_fifo_idx = (uint8_t)((CANx->RXF0S >> FDCAN_RXF0S_F0GI_Pos) & 0x3F);
|
||||
|
||||
uint32_t RxFIFO0SA = FDCAN_START_ADDRESS + (can_number * FDCAN_OFFSET);
|
||||
CAN_FIFOMailBox_TypeDef to_push;
|
||||
CAN_FIFOMailBox_TypeDef *fifo;
|
||||
CANPacket_t to_push;
|
||||
canfd_fifo *fifo;
|
||||
|
||||
// getting address
|
||||
fifo = (CAN_FIFOMailBox_TypeDef *)(RxFIFO0SA + (rx_fifo_idx * FDCAN_RX_FIFO_0_EL_SIZE));
|
||||
fifo = (canfd_fifo *)(RxFIFO0SA + (rx_fifo_idx * FDCAN_RX_FIFO_0_EL_SIZE));
|
||||
|
||||
// Need to convert real CAN frame format to mailbox "type"
|
||||
to_push.RIR = ((fifo->RIR >> 28) & 0x6) | (fifo->RIR << 3); // identifier format and frame type | identifier
|
||||
to_push.RDTR = ((fifo->RDTR >> 16) & 0xF) | (fifo->RDTR << 16); // DLC (length) | timestamp
|
||||
to_push.RDLR = fifo->RDLR;
|
||||
to_push.RDHR = fifo->RDHR;
|
||||
to_push.returned = 0U;
|
||||
to_push.rejected = 0U;
|
||||
to_push.extended = (fifo->header[0] >> 30) & 0x1U;
|
||||
to_push.addr = ((to_push.extended != 0U) ? (fifo->header[0] & 0x1FFFFFFFU) : ((fifo->header[0] >> 18) & 0x7FFU));
|
||||
to_push.bus = bus_number;
|
||||
to_push.data_len_code = ((fifo->header[1] >> 16) & 0xFU);
|
||||
|
||||
// modify RDTR for our API
|
||||
to_push.RDTR = (to_push.RDTR & 0xFFFF000F) | (bus_number << 4);
|
||||
uint8_t data_len_w = (dlc_to_len[to_push.data_len_code] / 4U);
|
||||
data_len_w += ((dlc_to_len[to_push.data_len_code] % 4U) > 0U) ? 1U : 0U;
|
||||
for (unsigned int i = 0; i < data_len_w; i++) {
|
||||
WORD_TO_BYTE_ARRAY(&to_push.data[i*4U], fifo->data_word[i]);
|
||||
}
|
||||
|
||||
// forwarding (panda only)
|
||||
int bus_fwd_num = (can_forwarding[bus_number] != -1) ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
|
||||
int bus_fwd_num = safety_fwd_hook(bus_number, &to_push);
|
||||
if (bus_fwd_num != -1) {
|
||||
CAN_FIFOMailBox_TypeDef to_send;
|
||||
to_send.RIR = to_push.RIR;
|
||||
to_send.RDTR = to_push.RDTR;
|
||||
to_send.RDLR = to_push.RDLR;
|
||||
to_send.RDHR = to_push.RDHR;
|
||||
CANPacket_t to_send;
|
||||
|
||||
to_send.returned = 0U;
|
||||
to_send.rejected = 0U;
|
||||
to_send.extended = to_push.extended;
|
||||
to_send.addr = to_push.addr;
|
||||
to_send.bus = to_push.bus;
|
||||
to_send.data_len_code = to_push.data_len_code;
|
||||
(void)memcpy(to_send.data, to_push.data, dlc_to_len[to_push.data_len_code]);
|
||||
can_send(&to_send, bus_fwd_num, true);
|
||||
}
|
||||
|
||||
@@ -155,7 +173,7 @@ void can_rx(uint8_t can_number) {
|
||||
current_board->set_led(LED_BLUE, true);
|
||||
can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;
|
||||
|
||||
// update read index
|
||||
// update read index
|
||||
CANx->RXF0A = rx_fifo_idx;
|
||||
}
|
||||
|
||||
@@ -165,10 +183,9 @@ void can_rx(uint8_t can_number) {
|
||||
#endif
|
||||
CANx->IR |= (FDCAN_IR_PEA | FDCAN_IR_PED | FDCAN_IR_RF0L | FDCAN_IR_RF0F | FDCAN_IR_EW | FDCAN_IR_MRAF | FDCAN_IR_TOO); // Clean all error flags
|
||||
can_err_cnt += 1;
|
||||
} else {
|
||||
|
||||
} else {
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void FDCAN1_IT0_IRQ_Handler(void) { can_rx(0); }
|
||||
|
||||
@@ -75,7 +75,7 @@ int append_int(char *in, int in_len, int val, int val_len) {
|
||||
return in_len_copy;
|
||||
}
|
||||
|
||||
int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
|
||||
int get_bit_message(char *out, CANPacket_t *to_bang) {
|
||||
char pkt[MAX_BITS_CAN_PACKET];
|
||||
char footer[] = {
|
||||
1, // CRC delimiter
|
||||
@@ -88,18 +88,18 @@ int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
|
||||
int len = 0;
|
||||
|
||||
// test packet
|
||||
int dlc_len = to_bang->RDTR & 0xF;
|
||||
int dlc_len = GET_LEN(to_bang);
|
||||
len = append_int(pkt, len, 0, 1); // Start-of-frame
|
||||
|
||||
if ((to_bang->RIR & 4) != 0) {
|
||||
if (to_bang->extended != 0U) {
|
||||
// extended identifier
|
||||
len = append_int(pkt, len, to_bang->RIR >> 21, 11); // Identifier
|
||||
len = append_int(pkt, len, GET_ADDR(to_bang) >> 18, 11); // Identifier
|
||||
len = append_int(pkt, len, 3, 2); // SRR+IDE
|
||||
len = append_int(pkt, len, (to_bang->RIR >> 3) & ((1U << 18) - 1U), 18); // Identifier
|
||||
len = append_int(pkt, len, (GET_ADDR(to_bang)) & ((1U << 18) - 1U), 18); // Identifier
|
||||
len = append_int(pkt, len, 0, 3); // RTR+r1+r0
|
||||
} else {
|
||||
// standard identifier
|
||||
len = append_int(pkt, len, to_bang->RIR >> 21, 11); // Identifier
|
||||
len = append_int(pkt, len, GET_ADDR(to_bang), 11); // Identifier
|
||||
len = append_int(pkt, len, 0, 3); // RTR+IDE+reserved
|
||||
}
|
||||
|
||||
@@ -107,8 +107,7 @@ int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
|
||||
|
||||
// append data
|
||||
for (int i = 0; i < dlc_len; i++) {
|
||||
unsigned char dat = ((unsigned char *)(&(to_bang->RDLR)))[i];
|
||||
len = append_int(pkt, len, dat, 8);
|
||||
len = append_int(pkt, len, to_bang->data[i], 8);
|
||||
}
|
||||
|
||||
// append crc
|
||||
@@ -269,7 +268,7 @@ void TIM12_IRQ_Handler(void) {
|
||||
TIM12->SR = 0;
|
||||
}
|
||||
|
||||
bool bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
|
||||
bool bitbang_gmlan(CANPacket_t *to_bang) {
|
||||
gmlan_send_ok = true;
|
||||
gmlan_alt_mode = BITBANG;
|
||||
|
||||
|
||||
@@ -23,7 +23,8 @@ typedef union _USB_Setup {
|
||||
}
|
||||
USB_Setup_TypeDef;
|
||||
|
||||
#define MAX_CAN_MSGS_PER_BULK_TRANSFER 4U
|
||||
#define MAX_CAN_MSGS_PER_BULK_TRANSFER 51U
|
||||
#define MAX_EP1_CHUNK_PER_BULK_TRANSFER 16256 // max data stream chunk in bytes, shouldn't be higher than 16320 or counter will overflow
|
||||
|
||||
bool usb_eopf_detected = false;
|
||||
|
||||
@@ -493,7 +494,7 @@ void usb_setup(void) {
|
||||
USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
|
||||
USBx_OUTEP(2)->DOEPINT = 0xFF;
|
||||
|
||||
USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
|
||||
USBx_OUTEP(3)->DOEPTSIZ = (32U << 19) | 0x800U;
|
||||
USBx_OUTEP(3)->DOEPCTL = (0x40U & USB_OTG_DOEPCTL_MPSIZ) | (2U << 18) |
|
||||
USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
|
||||
USBx_OUTEP(3)->DOEPINT = 0xFF;
|
||||
@@ -934,7 +935,7 @@ void usb_irqhandler(void) {
|
||||
void usb_outep3_resume_if_paused(void) {
|
||||
ENTER_CRITICAL();
|
||||
if (!outep3_processing && (USBx_OUTEP(3)->DOEPCTL & USB_OTG_DOEPCTL_NAKSTS) != 0) {
|
||||
USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
|
||||
USBx_OUTEP(3)->DOEPTSIZ = (32U << 19) | 0x800U;
|
||||
USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
|
||||
}
|
||||
EXIT_CRITICAL();
|
||||
|
||||
@@ -38,9 +38,9 @@ void early_initialization(void) {
|
||||
|
||||
// if wrong chip, reboot
|
||||
volatile unsigned int id = DBGMCU->IDCODE;
|
||||
if ((id & 0xFFFU) != MCU_IDCODE) {
|
||||
enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
|
||||
}
|
||||
if ((id & 0xFFFU) != MCU_IDCODE) {
|
||||
enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
|
||||
}
|
||||
|
||||
// setup interrupt table
|
||||
SCB->VTOR = (uint32_t)&g_pfnVectors;
|
||||
|
||||
@@ -183,7 +183,7 @@ void CAN1_RX0_IRQ_Handler(void) {
|
||||
if ((CAN->sFIFOMailBox[0].RIR>>21) == CAN_BL_INPUT) {
|
||||
uint8_t dat[8];
|
||||
for (int i = 0; i < 8; i++) {
|
||||
dat[i] = GET_BYTE(&CAN->sFIFOMailBox[0], i);
|
||||
dat[i] = GET_MAILBOX_BYTE(&CAN->sFIFOMailBox[0], i);
|
||||
}
|
||||
uint8_t odat[8];
|
||||
uint8_t type = dat[0] & 0xF0;
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
#!/bin/bash
|
||||
sudo apt-get install gcc-arm-none-eabi python-pip
|
||||
sudo apt-get install dfu-util gcc-arm-none-eabi python3-pip
|
||||
sudo pip install libusb1 pycryptodome requests
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
#!/bin/bash
|
||||
# Need formula for gcc
|
||||
sudo easy_install pip
|
||||
/usr/bin/ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
|
||||
/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
|
||||
brew tap ArmMbed/homebrew-formulae
|
||||
brew install python dfu-util arm-none-eabi-gcc
|
||||
pip install --user libusb1 pycryptodome requests
|
||||
|
||||
+30
-7
@@ -14,13 +14,36 @@ void *memset(void *str, int c, unsigned int n) {
|
||||
return str;
|
||||
}
|
||||
|
||||
void *memcpy(void *dest, const void *src, unsigned int n) {
|
||||
uint8_t *d = dest;
|
||||
const uint8_t *s = src;
|
||||
for (unsigned int i = 0; i < n; i++) {
|
||||
*d = *s;
|
||||
d++;
|
||||
s++;
|
||||
#define UNALIGNED(X, Y) \
|
||||
(((uint32_t)(X) & (sizeof(uint32_t) - 1U)) | ((uint32_t)(Y) & (sizeof(uint32_t) - 1U)))
|
||||
|
||||
void *memcpy(void *dest, const void *src, unsigned int len) {
|
||||
unsigned int n = len;
|
||||
uint8_t *d8 = dest;
|
||||
const uint8_t *s8 = src;
|
||||
|
||||
if ((n >= 4U) && !UNALIGNED(s8, d8)) {
|
||||
uint32_t *d32 = (uint32_t *)d8; // cppcheck-suppress misra-c2012-11.3 ; already checked that it's properly aligned
|
||||
const uint32_t *s32 = (const uint32_t *)s8; // cppcheck-suppress misra-c2012-11.3 ; already checked that it's properly aligned
|
||||
|
||||
while(n >= 16U) {
|
||||
*d32 = *s32; d32++; s32++;
|
||||
*d32 = *s32; d32++; s32++;
|
||||
*d32 = *s32; d32++; s32++;
|
||||
*d32 = *s32; d32++; s32++;
|
||||
n -= 16U;
|
||||
}
|
||||
|
||||
while(n >= 4U) {
|
||||
*d32 = *s32; d32++; s32++;
|
||||
n -= 4U;
|
||||
}
|
||||
|
||||
d8 = (uint8_t *)d32;
|
||||
s8 = (const uint8_t *)s32;
|
||||
}
|
||||
while (n-- > 0U) {
|
||||
*d8 = *s8; d8++; s8++;
|
||||
}
|
||||
return dest;
|
||||
}
|
||||
|
||||
+20
-39
@@ -20,11 +20,14 @@
|
||||
#include "drivers/bxcan.h"
|
||||
#endif
|
||||
|
||||
#include "usb_protocol.h"
|
||||
|
||||
#include "obj/gitversion.h"
|
||||
|
||||
extern int _app_start[0xc000]; // Only first 3 sectors of size 0x4000 are used
|
||||
|
||||
// When changing this struct, boardd and python/__init__.py needs to be kept up to date!
|
||||
#define HEALTH_PACKET_VERSION 1
|
||||
struct __attribute__((packed)) health_t {
|
||||
uint32_t uptime_pkt;
|
||||
uint32_t voltage_pkt;
|
||||
@@ -192,15 +195,7 @@ int get_rtc_pkt(void *dat) {
|
||||
return sizeof(t);
|
||||
}
|
||||
|
||||
int usb_cb_ep1_in(void *usbdata, int len, bool hardwired) {
|
||||
UNUSED(hardwired);
|
||||
CAN_FIFOMailBox_TypeDef *reply = (CAN_FIFOMailBox_TypeDef *)usbdata;
|
||||
int ilen = 0;
|
||||
while (ilen < MIN(len/0x10, 4) && can_pop(&can_rx_q, &reply[ilen])) {
|
||||
ilen++;
|
||||
}
|
||||
return ilen*0x10;
|
||||
}
|
||||
|
||||
|
||||
// send on serial, first byte to select the ring
|
||||
void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
|
||||
@@ -218,23 +213,6 @@ void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
|
||||
}
|
||||
}
|
||||
|
||||
// send on CAN
|
||||
void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
|
||||
UNUSED(hardwired);
|
||||
int dpkt = 0;
|
||||
uint32_t *d32 = (uint32_t *)usbdata;
|
||||
for (dpkt = 0; dpkt < (len / 4); dpkt += 4) {
|
||||
CAN_FIFOMailBox_TypeDef to_push;
|
||||
to_push.RDHR = d32[dpkt + 3];
|
||||
to_push.RDLR = d32[dpkt + 2];
|
||||
to_push.RDTR = d32[dpkt + 1];
|
||||
to_push.RIR = d32[dpkt];
|
||||
|
||||
uint8_t bus_number = (to_push.RDTR >> 4) & CAN_BUS_NUM_MASK;
|
||||
can_send(&to_push, bus_number, false);
|
||||
}
|
||||
}
|
||||
|
||||
void usb_cb_ep3_out_complete(void) {
|
||||
if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_BULK_TRANSFER)) {
|
||||
usb_outep3_resume_if_paused();
|
||||
@@ -454,24 +432,17 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
|
||||
set_safety_mode(setup->b.wValue.w, (uint16_t) setup->b.wIndex.w);
|
||||
}
|
||||
break;
|
||||
// **** 0xdd: enable can forwarding
|
||||
// **** 0xdd: get healthpacket and CANPacket versions
|
||||
case 0xdd:
|
||||
// wValue = Can Bus Num to forward from
|
||||
// wIndex = Can Bus Num to forward to
|
||||
if ((setup->b.wValue.w < BUS_MAX) && (setup->b.wIndex.w < BUS_MAX) &&
|
||||
(setup->b.wValue.w != setup->b.wIndex.w)) { // set forwarding
|
||||
can_set_forwarding(setup->b.wValue.w, setup->b.wIndex.w & CAN_BUS_NUM_MASK);
|
||||
} else if((setup->b.wValue.w < BUS_MAX) && (setup->b.wIndex.w == 0xFFU)){ //Clear Forwarding
|
||||
can_set_forwarding(setup->b.wValue.w, -1);
|
||||
} else {
|
||||
puts("Invalid CAN bus forwarding\n");
|
||||
}
|
||||
resp[0] = HEALTH_PACKET_VERSION;
|
||||
resp[1] = CAN_PACKET_VERSION;
|
||||
resp_len = 2;
|
||||
break;
|
||||
// **** 0xde: set can bitrate
|
||||
case 0xde:
|
||||
if (setup->b.wValue.w < BUS_MAX) {
|
||||
// TODO: add sanity check, ideally check if value is correct(from array of correct values)
|
||||
can_speed[setup->b.wValue.w] = setup->b.wIndex.w;
|
||||
bus_config[setup->b.wValue.w].can_speed = setup->b.wIndex.w;
|
||||
bool ret = can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
|
||||
UNUSED(ret);
|
||||
}
|
||||
@@ -628,11 +599,21 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
|
||||
case 0xf9:
|
||||
if (setup->b.wValue.w < CAN_MAX) {
|
||||
// TODO: add sanity check, ideally check if value is correct(from array of correct values)
|
||||
can_data_speed[setup->b.wValue.w] = setup->b.wIndex.w;
|
||||
bus_config[setup->b.wValue.w].can_data_speed = setup->b.wIndex.w;
|
||||
bus_config[setup->b.wValue.w].canfd_enabled = (setup->b.wIndex.w >= bus_config[setup->b.wValue.w].can_speed) ? true : false;
|
||||
bus_config[setup->b.wValue.w].brs_enabled = (setup->b.wIndex.w > bus_config[setup->b.wValue.w].can_speed) ? true : false;
|
||||
bool ret = can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
|
||||
UNUSED(ret);
|
||||
}
|
||||
break;
|
||||
// **** 0xfa: check if CAN FD and BRS are enabled
|
||||
case 0xfa:
|
||||
if (setup->b.wValue.w < CAN_MAX) {
|
||||
resp[0] = bus_config[setup->b.wValue.w].canfd_enabled;
|
||||
resp[1] = bus_config[setup->b.wValue.w].brs_enabled;
|
||||
resp_len = 2;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
puts("NO HANDLER ");
|
||||
puth(setup->b.bRequest);
|
||||
|
||||
@@ -1,8 +1,8 @@
|
||||
This is the firmware for the comma pedal. It borrows a lot from panda.
|
||||
# pedal
|
||||
|
||||
The comma pedal is a gas pedal interceptor for Honda/Acura. It allows you to "virtually" press the pedal.
|
||||
This is the firmware for the comma pedal.
|
||||
|
||||
This is the open source software. Note that it is not ready to use yet.
|
||||
The comma pedal is a gas pedal interceptor for Honda/Acura and Toyota/Lexus. It allows you to "virtually" press the pedal and borrows a lot from panda.
|
||||
|
||||
== Test Plan ==
|
||||
|
||||
|
||||
@@ -132,11 +132,11 @@ void CAN1_RX0_IRQ_Handler(void) {
|
||||
int address = CAN->sFIFOMailBox[0].RIR >> 21;
|
||||
if (address == CAN_GAS_INPUT) {
|
||||
// softloader entry
|
||||
if (GET_BYTES_04(&CAN->sFIFOMailBox[0]) == 0xdeadface) {
|
||||
if (GET_BYTES_48(&CAN->sFIFOMailBox[0]) == 0x0ab00b1e) {
|
||||
if (GET_MAILBOX_BYTES_04(&CAN->sFIFOMailBox[0]) == 0xdeadface) {
|
||||
if (GET_MAILBOX_BYTES_48(&CAN->sFIFOMailBox[0]) == 0x0ab00b1e) {
|
||||
enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
|
||||
NVIC_SystemReset();
|
||||
} else if (GET_BYTES_48(&CAN->sFIFOMailBox[0]) == 0x02b00b1e) {
|
||||
} else if (GET_MAILBOX_BYTES_48(&CAN->sFIFOMailBox[0]) == 0x02b00b1e) {
|
||||
enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
|
||||
NVIC_SystemReset();
|
||||
} else {
|
||||
@@ -147,7 +147,7 @@ void CAN1_RX0_IRQ_Handler(void) {
|
||||
// normal packet
|
||||
uint8_t dat[8];
|
||||
for (int i=0; i<8; i++) {
|
||||
dat[i] = GET_BYTE(&CAN->sFIFOMailBox[0], i);
|
||||
dat[i] = GET_MAILBOX_BYTE(&CAN->sFIFOMailBox[0], i);
|
||||
}
|
||||
uint16_t value_0 = (dat[0] << 8) | dat[1];
|
||||
uint16_t value_1 = (dat[2] << 8) | dat[3];
|
||||
|
||||
+16
-17
@@ -5,7 +5,6 @@
|
||||
#include "safety/safety_honda.h"
|
||||
#include "safety/safety_toyota.h"
|
||||
#include "safety/safety_tesla.h"
|
||||
#include "safety/safety_gm_ascm.h"
|
||||
#include "safety/safety_gm.h"
|
||||
#include "safety/safety_ford.h"
|
||||
#include "safety/safety_hyundai.h"
|
||||
@@ -34,31 +33,32 @@
|
||||
#define SAFETY_ALLOUTPUT 17U
|
||||
#define SAFETY_GM_ASCM 18U
|
||||
#define SAFETY_NOOUTPUT 19U
|
||||
#define SAFETY_HONDA_BOSCH_HARNESS 20U
|
||||
#define SAFETY_HONDA_BOSCH 20U
|
||||
#define SAFETY_VOLKSWAGEN_PQ 21U
|
||||
#define SAFETY_SUBARU_LEGACY 22U
|
||||
#define SAFETY_HYUNDAI_LEGACY 23U
|
||||
#define SAFETY_HYUNDAI_COMMUNITY 24U
|
||||
#define SAFETY_STELLANTIS 25U
|
||||
|
||||
uint16_t current_safety_mode = SAFETY_SILENT;
|
||||
int16_t current_safety_param = 0;
|
||||
const safety_hooks *current_hooks = &nooutput_hooks;
|
||||
const addr_checks *current_rx_checks = &default_rx_checks;
|
||||
|
||||
int safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
int safety_rx_hook(CANPacket_t *to_push) {
|
||||
return current_hooks->rx(to_push);
|
||||
}
|
||||
|
||||
int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
return current_hooks->tx(to_send);
|
||||
int safety_tx_hook(CANPacket_t *to_send) {
|
||||
return (relay_malfunction ? -1 : current_hooks->tx(to_send));
|
||||
}
|
||||
|
||||
int safety_tx_lin_hook(int lin_num, uint8_t *data, int len) {
|
||||
return current_hooks->tx_lin(lin_num, data, len);
|
||||
}
|
||||
|
||||
int safety_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
return current_hooks->fwd(bus_num, to_fwd);
|
||||
int safety_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
|
||||
return (relay_malfunction ? -1 : current_hooks->fwd(bus_num, to_fwd));
|
||||
}
|
||||
|
||||
// Given a CRC-8 poly, generate a static lookup table to use with a fast CRC-8
|
||||
@@ -76,7 +76,7 @@ void gen_crc_lookup_table(uint8_t poly, uint8_t crc_lut[]) {
|
||||
}
|
||||
}
|
||||
|
||||
bool msg_allowed(CAN_FIFOMailBox_TypeDef *to_send, const CanMsg msg_list[], int len) {
|
||||
bool msg_allowed(CANPacket_t *to_send, const CanMsg msg_list[], int len) {
|
||||
int addr = GET_ADDR(to_send);
|
||||
int bus = GET_BUS(to_send);
|
||||
int length = GET_LEN(to_send);
|
||||
@@ -97,7 +97,7 @@ uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last) {
|
||||
return ts - ts_last;
|
||||
}
|
||||
|
||||
int get_addr_check_index(CAN_FIFOMailBox_TypeDef *to_push, AddrCheckStruct addr_list[], const int len) {
|
||||
int get_addr_check_index(CANPacket_t *to_push, AddrCheckStruct addr_list[], const int len) {
|
||||
int bus = GET_BUS(to_push);
|
||||
int addr = GET_ADDR(to_push);
|
||||
int length = GET_LEN(to_push);
|
||||
@@ -171,11 +171,11 @@ void update_addr_timestamp(AddrCheckStruct addr_list[], int index) {
|
||||
}
|
||||
}
|
||||
|
||||
bool addr_safety_check(CAN_FIFOMailBox_TypeDef *to_push,
|
||||
bool addr_safety_check(CANPacket_t *to_push,
|
||||
const addr_checks *rx_checks,
|
||||
uint8_t (*get_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
|
||||
uint8_t (*compute_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
|
||||
uint8_t (*get_counter)(CAN_FIFOMailBox_TypeDef *to_push)) {
|
||||
uint8_t (*get_checksum)(CANPacket_t *to_push),
|
||||
uint8_t (*compute_checksum)(CANPacket_t *to_push),
|
||||
uint8_t (*get_counter)(CANPacket_t *to_push)) {
|
||||
|
||||
int index = get_addr_check_index(to_push, rx_checks->check, rx_checks->len);
|
||||
update_addr_timestamp(rx_checks->check, index);
|
||||
@@ -241,8 +241,7 @@ const safety_hook_config safety_hook_registry[] = {
|
||||
{SAFETY_TOYOTA, &toyota_hooks},
|
||||
{SAFETY_ELM327, &elm327_hooks},
|
||||
{SAFETY_GM, &gm_hooks},
|
||||
{SAFETY_HONDA_BOSCH_GIRAFFE, &honda_bosch_giraffe_hooks},
|
||||
{SAFETY_HONDA_BOSCH_HARNESS, &honda_bosch_harness_hooks},
|
||||
{SAFETY_HONDA_BOSCH, &honda_bosch_hooks},
|
||||
{SAFETY_HYUNDAI, &hyundai_hooks},
|
||||
{SAFETY_CHRYSLER, &chrysler_hooks},
|
||||
{SAFETY_SUBARU, &subaru_hooks},
|
||||
@@ -250,13 +249,12 @@ const safety_hook_config safety_hook_registry[] = {
|
||||
{SAFETY_NISSAN, &nissan_hooks},
|
||||
{SAFETY_NOOUTPUT, &nooutput_hooks},
|
||||
{SAFETY_HYUNDAI_LEGACY, &hyundai_legacy_hooks},
|
||||
{SAFETY_MAZDA, &mazda_hooks},
|
||||
#ifdef ALLOW_DEBUG
|
||||
{SAFETY_TESLA, &tesla_hooks},
|
||||
{SAFETY_MAZDA, &mazda_hooks},
|
||||
{SAFETY_SUBARU_LEGACY, &subaru_legacy_hooks},
|
||||
{SAFETY_VOLKSWAGEN_PQ, &volkswagen_pq_hooks},
|
||||
{SAFETY_ALLOUTPUT, &alloutput_hooks},
|
||||
{SAFETY_GM_ASCM, &gm_ascm_hooks},
|
||||
{SAFETY_FORD, &ford_hooks},
|
||||
#endif
|
||||
};
|
||||
@@ -274,6 +272,7 @@ int set_safety_hooks(uint16_t mode, int16_t param) {
|
||||
cruise_engaged_prev = false;
|
||||
vehicle_speed = 0;
|
||||
vehicle_moving = false;
|
||||
acc_main_on = false;
|
||||
desired_torque_last = 0;
|
||||
rt_torque_last = 0;
|
||||
ts_angle_last = 0;
|
||||
|
||||
@@ -18,12 +18,12 @@ AddrCheckStruct chrysler_addr_checks[] = {
|
||||
#define CHRYSLER_ADDR_CHECK_LEN (sizeof(chrysler_addr_checks) / sizeof(chrysler_addr_checks[0]))
|
||||
addr_checks chrysler_rx_checks = {chrysler_addr_checks, CHRYSLER_ADDR_CHECK_LEN};
|
||||
|
||||
static uint8_t chrysler_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
int checksum_byte = GET_LEN(to_push) - 1;
|
||||
static uint8_t chrysler_get_checksum(CANPacket_t *to_push) {
|
||||
int checksum_byte = GET_LEN(to_push) - 1U;
|
||||
return (uint8_t)(GET_BYTE(to_push, checksum_byte));
|
||||
}
|
||||
|
||||
static uint8_t chrysler_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static uint8_t chrysler_compute_checksum(CANPacket_t *to_push) {
|
||||
/* This function does not want the checksum byte in the input data.
|
||||
jeep chrysler canbus checksum from http://illmatics.com/Remote%20Car%20Hacking.pdf */
|
||||
uint8_t checksum = 0xFFU;
|
||||
@@ -56,18 +56,18 @@ static uint8_t chrysler_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
return ~checksum;
|
||||
}
|
||||
|
||||
static uint8_t chrysler_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static uint8_t chrysler_get_counter(CANPacket_t *to_push) {
|
||||
// Well defined counter only for 8 bytes messages
|
||||
return (uint8_t)(GET_BYTE(to_push, 6) >> 4);
|
||||
}
|
||||
|
||||
static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static int chrysler_rx_hook(CANPacket_t *to_push) {
|
||||
|
||||
bool valid = addr_safety_check(to_push, &chrysler_rx_checks,
|
||||
chrysler_get_checksum, chrysler_compute_checksum,
|
||||
chrysler_get_counter);
|
||||
|
||||
if (valid && (GET_BUS(to_push) == 0)) {
|
||||
if (valid && (GET_BUS(to_push) == 0U)) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
// Measured eps torque
|
||||
@@ -80,7 +80,7 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
if (addr == 500) {
|
||||
int cruise_engaged = ((GET_BYTE(to_push, 2) & 0x38) >> 3) == 7;
|
||||
int cruise_engaged = ((GET_BYTE(to_push, 2) & 0x38U) >> 3) == 7U;
|
||||
if (cruise_engaged && !cruise_engaged_prev) {
|
||||
controls_allowed = 1;
|
||||
}
|
||||
@@ -100,12 +100,12 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
// exit controls on rising edge of gas press
|
||||
if (addr == 308) {
|
||||
gas_pressed = ((GET_BYTE(to_push, 5) & 0x7F) != 0) && ((int)vehicle_speed > CHRYSLER_GAS_THRSLD);
|
||||
gas_pressed = ((GET_BYTE(to_push, 5) & 0x7FU) != 0U) && ((int)vehicle_speed > CHRYSLER_GAS_THRSLD);
|
||||
}
|
||||
|
||||
// exit controls on rising edge of brake press
|
||||
if (addr == 320) {
|
||||
brake_pressed = (GET_BYTE(to_push, 0) & 0x7) == 5;
|
||||
brake_pressed = (GET_BYTE(to_push, 0) & 0x7U) == 5U;
|
||||
if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
@@ -117,7 +117,7 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
return valid;
|
||||
}
|
||||
|
||||
static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
static int chrysler_tx_hook(CANPacket_t *to_send) {
|
||||
|
||||
int tx = 1;
|
||||
int addr = GET_ADDR(to_send);
|
||||
@@ -126,10 +126,6 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
tx = 0;
|
||||
}
|
||||
|
||||
if (relay_malfunction) {
|
||||
tx = 0;
|
||||
}
|
||||
|
||||
// LKA STEER
|
||||
if (addr == 0x292) {
|
||||
int desired_torque = ((GET_BYTE(to_send, 0) & 0x7U) << 8) + GET_BYTE(to_send, 1) - 1024U;
|
||||
@@ -178,7 +174,7 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
|
||||
// FORCE CANCEL: only the cancel button press is allowed
|
||||
if (addr == 571) {
|
||||
if ((GET_BYTE(to_send, 0) != 1) || ((GET_BYTE(to_send, 1) & 1) == 1)) {
|
||||
if ((GET_BYTE(to_send, 0) != 1U) || ((GET_BYTE(to_send, 1) & 1U) == 1U)) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
@@ -186,21 +182,21 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
return tx;
|
||||
}
|
||||
|
||||
static int chrysler_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
static int chrysler_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
|
||||
|
||||
int bus_fwd = -1;
|
||||
int addr = GET_ADDR(to_fwd);
|
||||
|
||||
if (!relay_malfunction) {
|
||||
// forward CAN 0 -> 2 so stock LKAS camera sees messages
|
||||
if (bus_num == 0) {
|
||||
bus_fwd = 2;
|
||||
}
|
||||
// forward all messages from camera except LKAS_COMMAND and LKAS_HUD
|
||||
if ((bus_num == 2) && (addr != 658) && (addr != 678)) {
|
||||
bus_fwd = 0;
|
||||
}
|
||||
// forward CAN 0 -> 2 so stock LKAS camera sees messages
|
||||
if (bus_num == 0) {
|
||||
bus_fwd = 2;
|
||||
}
|
||||
|
||||
// forward all messages from camera except LKAS_COMMAND and LKAS_HUD
|
||||
if ((bus_num == 2) && (addr != 658) && (addr != 678)) {
|
||||
bus_fwd = 0;
|
||||
}
|
||||
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
|
||||
@@ -3,7 +3,7 @@ const addr_checks default_rx_checks = {
|
||||
.len = 0,
|
||||
};
|
||||
|
||||
int default_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
int default_rx_hook(CANPacket_t *to_push) {
|
||||
UNUSED(to_push);
|
||||
return true;
|
||||
}
|
||||
@@ -17,7 +17,7 @@ static const addr_checks* nooutput_init(int16_t param) {
|
||||
return &default_rx_checks;
|
||||
}
|
||||
|
||||
static int nooutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
static int nooutput_tx_hook(CANPacket_t *to_send) {
|
||||
UNUSED(to_send);
|
||||
return false;
|
||||
}
|
||||
@@ -29,7 +29,7 @@ static int nooutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
|
||||
return false;
|
||||
}
|
||||
|
||||
static int default_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
static int default_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
|
||||
UNUSED(bus_num);
|
||||
UNUSED(to_fwd);
|
||||
return -1;
|
||||
@@ -45,14 +45,19 @@ const safety_hooks nooutput_hooks = {
|
||||
|
||||
// *** all output safety mode ***
|
||||
|
||||
// Enables passthrough mode where relay is open and bus 0 gets forwarded to bus 2 and vice versa
|
||||
const uint16_t ALLOUTPUT_PARAM_PASSTHROUGH = 1;
|
||||
bool alloutput_passthrough = false;
|
||||
|
||||
static const addr_checks* alloutput_init(int16_t param) {
|
||||
UNUSED(param);
|
||||
alloutput_passthrough = GET_FLAG(param, ALLOUTPUT_PARAM_PASSTHROUGH);
|
||||
controls_allowed = true;
|
||||
relay_malfunction_reset();
|
||||
return &default_rx_checks;
|
||||
}
|
||||
|
||||
static int alloutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
static int alloutput_tx_hook(CANPacket_t *to_send) {
|
||||
UNUSED(to_send);
|
||||
return true;
|
||||
}
|
||||
@@ -64,10 +69,26 @@ static int alloutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
|
||||
return true;
|
||||
}
|
||||
|
||||
static int alloutput_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
|
||||
UNUSED(to_fwd);
|
||||
int bus_fwd = -1;
|
||||
|
||||
if (alloutput_passthrough) {
|
||||
if (bus_num == 0) {
|
||||
bus_fwd = 2;
|
||||
}
|
||||
if (bus_num == 2) {
|
||||
bus_fwd = 0;
|
||||
}
|
||||
}
|
||||
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
const safety_hooks alloutput_hooks = {
|
||||
.init = alloutput_init,
|
||||
.rx = default_rx_hook,
|
||||
.tx = alloutput_tx_hook,
|
||||
.tx_lin = alloutput_tx_lin_hook,
|
||||
.fwd = default_fwd_hook,
|
||||
.fwd = alloutput_fwd_hook,
|
||||
};
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
static int elm327_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
static int elm327_tx_hook(CANPacket_t *to_send) {
|
||||
|
||||
int tx = 1;
|
||||
int addr = GET_ADDR(to_send);
|
||||
|
||||
@@ -8,7 +8,7 @@
|
||||
// brake > 0mph
|
||||
|
||||
|
||||
static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static int ford_rx_hook(CANPacket_t *to_push) {
|
||||
|
||||
int addr = GET_ADDR(to_push);
|
||||
int bus = GET_BUS(to_push);
|
||||
@@ -24,8 +24,8 @@ static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
// state machine to enter and exit controls
|
||||
if (addr == 0x83) {
|
||||
bool cancel = GET_BYTE(to_push, 1) & 0x1;
|
||||
bool set_or_resume = GET_BYTE(to_push, 3) & 0x30;
|
||||
bool cancel = GET_BYTE(to_push, 1) & 0x1U;
|
||||
bool set_or_resume = GET_BYTE(to_push, 3) & 0x30U;
|
||||
if (cancel) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
@@ -37,7 +37,7 @@ static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// exit controls on rising edge of brake press or on brake press when
|
||||
// speed > 0
|
||||
if (addr == 0x165) {
|
||||
brake_pressed = GET_BYTE(to_push, 0) & 0x20;
|
||||
brake_pressed = GET_BYTE(to_push, 0) & 0x20U;
|
||||
if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
@@ -46,7 +46,7 @@ static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
// exit controls on rising edge of gas press
|
||||
if (addr == 0x204) {
|
||||
gas_pressed = ((GET_BYTE(to_push, 0) & 0x03) | GET_BYTE(to_push, 1)) != 0;
|
||||
gas_pressed = ((GET_BYTE(to_push, 0) & 0x03U) | GET_BYTE(to_push, 1)) != 0U;
|
||||
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
@@ -65,7 +65,7 @@ static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// else
|
||||
// block all commands that produce actuation
|
||||
|
||||
static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
static int ford_tx_hook(CANPacket_t *to_send) {
|
||||
|
||||
int tx = 1;
|
||||
int addr = GET_ADDR(to_send);
|
||||
@@ -79,15 +79,11 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
}
|
||||
bool current_controls_allowed = controls_allowed && !(pedal_pressed);
|
||||
|
||||
if (relay_malfunction) {
|
||||
tx = 0;
|
||||
}
|
||||
|
||||
// STEER: safety check
|
||||
if (addr == 0x3CA) {
|
||||
if (!current_controls_allowed) {
|
||||
// bits 7-4 need to be 0xF to disallow lkas commands
|
||||
if ((GET_BYTE(to_send, 0) & 0xF0) != 0xF0) {
|
||||
if ((GET_BYTE(to_send, 0) & 0xF0U) != 0xF0U) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
@@ -96,7 +92,7 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
// FORCE CANCEL: safety check only relevant when spamming the cancel button
|
||||
// ensuring that set and resume aren't sent
|
||||
if (addr == 0x83) {
|
||||
if ((GET_BYTE(to_send, 3) & 0x30) != 0) {
|
||||
if ((GET_BYTE(to_send, 3) & 0x30U) != 0U) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -34,15 +34,15 @@ AddrCheckStruct gm_addr_checks[] = {
|
||||
#define GM_RX_CHECK_LEN (sizeof(gm_addr_checks) / sizeof(gm_addr_checks[0]))
|
||||
addr_checks gm_rx_checks = {gm_addr_checks, GM_RX_CHECK_LEN};
|
||||
|
||||
static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static int gm_rx_hook(CANPacket_t *to_push) {
|
||||
|
||||
bool valid = addr_safety_check(to_push, &gm_rx_checks, NULL, NULL, NULL);
|
||||
|
||||
if (valid && (GET_BUS(to_push) == 0)) {
|
||||
if (valid && (GET_BUS(to_push) == 0U)) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
if (addr == 388) {
|
||||
int torque_driver_new = ((GET_BYTE(to_push, 6) & 0x7) << 8) | GET_BYTE(to_push, 7);
|
||||
int torque_driver_new = ((GET_BYTE(to_push, 6) & 0x7U) << 8) | GET_BYTE(to_push, 7);
|
||||
torque_driver_new = to_signed(torque_driver_new, 11);
|
||||
// update array of samples
|
||||
update_sample(&torque_driver, torque_driver_new);
|
||||
@@ -56,7 +56,7 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
// ACC steering wheel buttons
|
||||
if (addr == 481) {
|
||||
int button = (GET_BYTE(to_push, 5) & 0x70) >> 4;
|
||||
int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
|
||||
switch (button) {
|
||||
case 2: // resume
|
||||
case 3: // set
|
||||
@@ -74,16 +74,16 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
if (addr == 241) {
|
||||
// Brake pedal's potentiometer returns near-zero reading
|
||||
// even when pedal is not pressed
|
||||
brake_pressed = GET_BYTE(to_push, 1) >= 10;
|
||||
brake_pressed = GET_BYTE(to_push, 1) >= 10U;
|
||||
}
|
||||
|
||||
if (addr == 417) {
|
||||
gas_pressed = GET_BYTE(to_push, 6) != 0;
|
||||
gas_pressed = GET_BYTE(to_push, 6) != 0U;
|
||||
}
|
||||
|
||||
// exit controls on regen paddle
|
||||
if (addr == 189) {
|
||||
bool regen = GET_BYTE(to_push, 0) & 0x20;
|
||||
bool regen = GET_BYTE(to_push, 0) & 0x20U;
|
||||
if (regen) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
@@ -104,7 +104,7 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// else
|
||||
// block all commands that produce actuation
|
||||
|
||||
static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
static int gm_tx_hook(CANPacket_t *to_send) {
|
||||
|
||||
int tx = 1;
|
||||
int addr = GET_ADDR(to_send);
|
||||
@@ -113,10 +113,6 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
tx = 0;
|
||||
}
|
||||
|
||||
if (relay_malfunction) {
|
||||
tx = 0;
|
||||
}
|
||||
|
||||
// disallow actuator commands if gas or brake (with vehicle moving) are pressed
|
||||
// and the the latching controls_allowed flag is True
|
||||
int pedal_pressed = brake_pressed_prev && vehicle_moving;
|
||||
|
||||
@@ -1,43 +0,0 @@
|
||||
// BUS 0 is on the LKAS module (ASCM) side
|
||||
// BUS 2 is on the actuator (EPS) side
|
||||
|
||||
static int gm_ascm_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
|
||||
int bus_fwd = -1;
|
||||
|
||||
if (bus_num == 0) {
|
||||
int addr = GET_ADDR(to_fwd);
|
||||
bus_fwd = 2;
|
||||
// do not propagate lkas messages from ascm to actuators, unless supercruise is on
|
||||
// block 0x152 and 0x154, which are the lkas command from ASCM1 and ASCM2
|
||||
// block 0x315 and 0x2cb, which are the brake and accel commands from ASCM1
|
||||
//if ((addr == 0x152) || (addr == 0x154) || (addr == 0x315) || (addr == 0x2cb)) {
|
||||
if ((addr == 0x152) || (addr == 0x154)) {
|
||||
bool supercruise_on = (GET_BYTE(to_fwd, 4) & 0x10) != 0; // bit 36
|
||||
if (!supercruise_on) {
|
||||
bus_fwd = -1;
|
||||
}
|
||||
}
|
||||
if ((addr == 0x151) || (addr == 0x153) || (addr == 0x314)) {
|
||||
// on the chassis bus, the OBDII port is on the module side, so we need to read
|
||||
// the lkas messages sent by openpilot (put on unused 0x151 ane 0x153 addrs) and send it to
|
||||
// the actuator as 0x152 and 0x154
|
||||
uint32_t fwd_addr = addr + 1;
|
||||
to_fwd->RIR = (fwd_addr << 21) | (to_fwd->RIR & 0x1fffff);
|
||||
}
|
||||
}
|
||||
|
||||
if (bus_num == 2) {
|
||||
bus_fwd = 0;
|
||||
}
|
||||
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
const safety_hooks gm_ascm_hooks = {
|
||||
.init = nooutput_init,
|
||||
.rx = default_rx_hook,
|
||||
.tx = alloutput_tx_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
.fwd = gm_ascm_fwd_hook,
|
||||
};
|
||||
+103
-110
@@ -7,10 +7,8 @@
|
||||
// brake rising edge
|
||||
// brake > 0mph
|
||||
const CanMsg HONDA_N_TX_MSGS[] = {{0xE4, 0, 5}, {0x194, 0, 4}, {0x1FA, 0, 8}, {0x200, 0, 6}, {0x30C, 0, 8}, {0x33D, 0, 5}};
|
||||
const CanMsg HONDA_BG_TX_MSGS[] = {{0xE4, 2, 5}, {0xE5, 2, 8}, {0x296, 0, 4}, {0x33D, 2, 5}}; // Bosch Giraffe
|
||||
const CanMsg HONDA_BH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}}; // Bosch Harness
|
||||
const CanMsg HONDA_BG_LONG_TX_MSGS[] = {{0xE4, 0, 5}, {0x1DF, 0, 8}, {0x1EF, 0, 8}, {0x1FA, 0, 8}, {0x30C, 0, 8}, {0x33D, 0, 5}, {0x39F, 0, 8}, {0x18DAB0F1, 0, 8}}; // Bosch Giraffe w/ gas and brakes
|
||||
const CanMsg HONDA_BH_LONG_TX_MSGS[] = {{0xE4, 1, 5}, {0x1DF, 1, 8}, {0x1EF, 1, 8}, {0x1FA, 1, 8}, {0x30C, 1, 8}, {0x33D, 1, 5}, {0x39F, 1, 8}, {0x18DAB0F1, 1, 8}}; // Bosch Harness w/ gas and brakes
|
||||
const CanMsg HONDA_BOSCH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}, {0x33DA, 0, 5}, {0x33DB, 0, 8}}; // Bosch
|
||||
const CanMsg HONDA_BOSCH_LONG_TX_MSGS[] = {{0xE4, 1, 5}, {0x1DF, 1, 8}, {0x1EF, 1, 8}, {0x1FA, 1, 8}, {0x30C, 1, 8}, {0x33D, 1, 5}, {0x33DA, 1, 5}, {0x33DB, 1, 8}, {0x39F, 1, 8}, {0x18DAB0F1, 1, 8}}; // Bosch w/ gas and brakes
|
||||
|
||||
// Roughly calculated using the offsets in openpilot +5%:
|
||||
// In openpilot: ((gas1_norm + gas2_norm)/2) > 15
|
||||
@@ -19,46 +17,58 @@ const CanMsg HONDA_BH_LONG_TX_MSGS[] = {{0xE4, 1, 5}, {0x1DF, 1, 8}, {0x1EF, 1,
|
||||
// assuming that 2*(gain_dbc1*gas1) == (gain_dbc2*gas2)
|
||||
// In this safety: ((gas1 + (gas2/2))/2) > THRESHOLD
|
||||
const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 344;
|
||||
#define HONDA_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + ((GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2 ) / 2) // avg between 2 tracks
|
||||
#define HONDA_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + ((GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2U ) / 2U) // avg between 2 tracks
|
||||
const int HONDA_BOSCH_NO_GAS_VALUE = -30000; // value sent when not requesting gas
|
||||
const int HONDA_BOSCH_GAS_MAX = 2000;
|
||||
const int HONDA_BOSCH_ACCEL_MIN = -350; // max braking == -3.5m/s2
|
||||
|
||||
// Nidec and Bosch giraffe have pt on bus 0
|
||||
AddrCheckStruct honda_addr_checks[] = {
|
||||
// Nidec has the powertrain bus on bus 0
|
||||
AddrCheckStruct honda_nidec_addr_checks[] = {
|
||||
{.msg = {{0x1A6, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U},
|
||||
{0x296, 0, 4, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U},{ 0 }}},
|
||||
{0x296, 0, 4, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U}, { 0 }}},
|
||||
{.msg = {{0x158, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{0x17C, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{0x326, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 100000U}, { 0 }, { 0 }}},
|
||||
};
|
||||
#define HONDA_NIDEC_ADDR_CHECKS_LEN (sizeof(honda_nidec_addr_checks) / sizeof(honda_nidec_addr_checks[0]))
|
||||
|
||||
// For Nidecs with main on signal on an alternate msg
|
||||
AddrCheckStruct honda_nidec_alt_addr_checks[] = {
|
||||
{.msg = {{0x1A6, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U},
|
||||
{0x296, 0, 4, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U}, { 0 }}},
|
||||
{.msg = {{0x158, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{0x17C, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
|
||||
};
|
||||
#define HONDA_ADDR_CHECKS_LEN (sizeof(honda_addr_checks) / sizeof(honda_addr_checks[0]))
|
||||
#define HONDA_NIDEC_ALT_ADDR_CHECKS_LEN (sizeof(honda_nidec_alt_addr_checks) / sizeof(honda_nidec_alt_addr_checks[0]))
|
||||
|
||||
// Bosch harness has pt on bus 1
|
||||
AddrCheckStruct honda_bh_addr_checks[] = {
|
||||
// Bosch has pt on bus 1
|
||||
AddrCheckStruct honda_bosch_addr_checks[] = {
|
||||
{.msg = {{0x296, 1, 4, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{0x158, 1, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{0x17C, 1, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
|
||||
{0x1BE, 1, 3, .check_checksum = true, .max_counter = 3U, .expected_timestep = 20000U}, { 0 }}},
|
||||
{.msg = {{0x326, 1, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 100000U}, { 0 }, { 0 }}},
|
||||
};
|
||||
#define HONDA_BH_ADDR_CHECKS_LEN (sizeof(honda_bh_addr_checks) / sizeof(honda_bh_addr_checks[0]))
|
||||
#define HONDA_BOSCH_ADDR_CHECKS_LEN (sizeof(honda_bosch_addr_checks) / sizeof(honda_bosch_addr_checks[0]))
|
||||
|
||||
const uint16_t HONDA_PARAM_ALT_BRAKE = 1;
|
||||
const uint16_t HONDA_PARAM_BOSCH_LONG = 2;
|
||||
const uint16_t HONDA_PARAM_NIDEC_ALT = 4;
|
||||
|
||||
int honda_brake = 0;
|
||||
bool honda_alt_brake_msg = false;
|
||||
bool honda_fwd_brake = false;
|
||||
bool honda_bosch_long = false;
|
||||
enum {HONDA_N_HW, HONDA_BG_HW, HONDA_BH_HW} honda_hw = HONDA_N_HW;
|
||||
addr_checks honda_rx_checks = {honda_addr_checks, HONDA_ADDR_CHECKS_LEN};
|
||||
enum {HONDA_NIDEC, HONDA_BOSCH} honda_hw = HONDA_NIDEC;
|
||||
addr_checks honda_rx_checks = {honda_nidec_addr_checks, HONDA_NIDEC_ADDR_CHECKS_LEN};
|
||||
|
||||
|
||||
static uint8_t honda_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
int checksum_byte = GET_LEN(to_push) - 1;
|
||||
static uint8_t honda_get_checksum(CANPacket_t *to_push) {
|
||||
int checksum_byte = GET_LEN(to_push) - 1U;
|
||||
return (uint8_t)(GET_BYTE(to_push, checksum_byte)) & 0xFU;
|
||||
}
|
||||
|
||||
static uint8_t honda_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static uint8_t honda_compute_checksum(CANPacket_t *to_push) {
|
||||
int len = GET_LEN(to_push);
|
||||
uint8_t checksum = 0U;
|
||||
unsigned int addr = GET_ADDR(to_push);
|
||||
@@ -75,12 +85,12 @@ static uint8_t honda_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
return (8U - checksum) & 0xFU;
|
||||
}
|
||||
|
||||
static uint8_t honda_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
int counter_byte = GET_LEN(to_push) - 1;
|
||||
static uint8_t honda_get_counter(CANPacket_t *to_push) {
|
||||
int counter_byte = GET_LEN(to_push) - 1U;
|
||||
return ((uint8_t)(GET_BYTE(to_push, counter_byte)) >> 4U) & 0x3U;
|
||||
}
|
||||
|
||||
static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static int honda_rx_hook(CANPacket_t *to_push) {
|
||||
|
||||
bool valid = addr_safety_check(to_push, &honda_rx_checks,
|
||||
honda_get_checksum, honda_compute_checksum, honda_get_counter);
|
||||
@@ -96,17 +106,30 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
vehicle_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
|
||||
}
|
||||
|
||||
// check ACC main state
|
||||
// 0x326 for all Bosch and some Nidec, 0x1A6 for some Nidec
|
||||
if ((addr == 0x326) || (addr == 0x1A6)) {
|
||||
acc_main_on = GET_BIT(to_push, ((addr == 0x326) ? 28U : 47U));
|
||||
if (!acc_main_on) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// state machine to enter and exit controls
|
||||
// 0x1A6 for the ILX, 0x296 for the Civic Touring
|
||||
if ((addr == 0x1A6) || (addr == 0x296)) {
|
||||
int button = (GET_BYTE(to_push, 0) & 0xE0) >> 5;
|
||||
// check for button presses
|
||||
int button = (GET_BYTE(to_push, 0) & 0xE0U) >> 5;
|
||||
switch (button) {
|
||||
case 1: // main
|
||||
case 2: // cancel
|
||||
controls_allowed = 0;
|
||||
break;
|
||||
case 3: // set
|
||||
case 4: // resume
|
||||
controls_allowed = 1;
|
||||
if (acc_main_on) {
|
||||
controls_allowed = 1;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break; // any other button is irrelevant
|
||||
@@ -121,7 +144,7 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// accord, crv: 0x1BE bit 4
|
||||
bool is_user_brake_msg = honda_alt_brake_msg ? ((addr) == 0x1BE) : ((addr) == 0x17C);
|
||||
if (is_user_brake_msg) {
|
||||
brake_pressed = honda_alt_brake_msg ? (GET_BYTE((to_push), 0) & 0x10) : (GET_BYTE((to_push), 6) & 0x20);
|
||||
brake_pressed = honda_alt_brake_msg ? (GET_BYTE((to_push), 0) & 0x10U) : (GET_BYTE((to_push), 6) & 0x20U);
|
||||
}
|
||||
|
||||
// length check because bosch hardware also uses this id (0x201 w/ len = 8)
|
||||
@@ -134,15 +157,15 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
if (!gas_interceptor_detected) {
|
||||
if (addr == 0x17C) {
|
||||
gas_pressed = GET_BYTE(to_push, 0) != 0;
|
||||
gas_pressed = GET_BYTE(to_push, 0) != 0U;
|
||||
}
|
||||
}
|
||||
|
||||
// disable stock Honda AEB in unsafe mode
|
||||
if ( !(unsafe_mode & UNSAFE_DISABLE_STOCK_AEB) ) {
|
||||
if ((bus == 2) && (addr == 0x1FA)) {
|
||||
bool honda_stock_aeb = GET_BYTE(to_push, 3) & 0x20;
|
||||
int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) + ((GET_BYTE(to_push, 1) >> 6) & 0x3);
|
||||
bool honda_stock_aeb = GET_BYTE(to_push, 3) & 0x20U;
|
||||
int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) + ((GET_BYTE(to_push, 1) >> 6) & 0x3U);
|
||||
|
||||
// Forward AEB when stock braking is higher than openpilot braking
|
||||
// only stop forwarding when AEB event is over
|
||||
@@ -157,14 +180,14 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
}
|
||||
|
||||
bool stock_ecu_detected = false;
|
||||
int bus_rdr_car = (honda_hw == HONDA_BH_HW) ? 0 : 2; // radar bus, car side
|
||||
int pt_bus = (honda_hw == HONDA_BH_HW) ? 1 : 0;
|
||||
int bus_rdr_car = (honda_hw == HONDA_BOSCH) ? 0 : 2; // radar bus, car side
|
||||
int pt_bus = (honda_hw == HONDA_BOSCH) ? 1 : 0;
|
||||
|
||||
if (safety_mode_cnt > RELAY_TRNS_TIMEOUT) {
|
||||
// If steering controls messages are received on the destination bus, it's an indication
|
||||
// that the relay might be malfunctioning
|
||||
if ((addr == 0xE4) || (addr == 0x194)) {
|
||||
if (((honda_hw != HONDA_N_HW) && (bus == bus_rdr_car)) || ((honda_hw == HONDA_N_HW) && (bus == 0))) {
|
||||
if (((honda_hw != HONDA_NIDEC) && (bus == bus_rdr_car)) || ((honda_hw == HONDA_NIDEC) && (bus == 0))) {
|
||||
stock_ecu_detected = true;
|
||||
}
|
||||
}
|
||||
@@ -186,28 +209,20 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// else
|
||||
// block all commands that produce actuation
|
||||
|
||||
static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
static int honda_tx_hook(CANPacket_t *to_send) {
|
||||
|
||||
int tx = 1;
|
||||
int addr = GET_ADDR(to_send);
|
||||
int bus = GET_BUS(to_send);
|
||||
|
||||
if ((honda_hw == HONDA_BG_HW) && !honda_bosch_long) {
|
||||
tx = msg_allowed(to_send, HONDA_BG_TX_MSGS, sizeof(HONDA_BG_TX_MSGS)/sizeof(HONDA_BG_TX_MSGS[0]));
|
||||
} else if ((honda_hw == HONDA_BG_HW) && honda_bosch_long) {
|
||||
tx = msg_allowed(to_send, HONDA_BG_LONG_TX_MSGS, sizeof(HONDA_BG_LONG_TX_MSGS)/sizeof(HONDA_BG_LONG_TX_MSGS[0]));
|
||||
} else if ((honda_hw == HONDA_BH_HW) && !honda_bosch_long) {
|
||||
tx = msg_allowed(to_send, HONDA_BH_TX_MSGS, sizeof(HONDA_BH_TX_MSGS)/sizeof(HONDA_BH_TX_MSGS[0]));
|
||||
} else if ((honda_hw == HONDA_BH_HW) && honda_bosch_long) {
|
||||
tx = msg_allowed(to_send, HONDA_BH_LONG_TX_MSGS, sizeof(HONDA_BH_LONG_TX_MSGS)/sizeof(HONDA_BH_LONG_TX_MSGS[0]));
|
||||
if ((honda_hw == HONDA_BOSCH) && !honda_bosch_long) {
|
||||
tx = msg_allowed(to_send, HONDA_BOSCH_TX_MSGS, sizeof(HONDA_BOSCH_TX_MSGS)/sizeof(HONDA_BOSCH_TX_MSGS[0]));
|
||||
} else if ((honda_hw == HONDA_BOSCH) && honda_bosch_long) {
|
||||
tx = msg_allowed(to_send, HONDA_BOSCH_LONG_TX_MSGS, sizeof(HONDA_BOSCH_LONG_TX_MSGS)/sizeof(HONDA_BOSCH_LONG_TX_MSGS[0]));
|
||||
} else {
|
||||
tx = msg_allowed(to_send, HONDA_N_TX_MSGS, sizeof(HONDA_N_TX_MSGS)/sizeof(HONDA_N_TX_MSGS[0]));
|
||||
}
|
||||
|
||||
if (relay_malfunction) {
|
||||
tx = 0;
|
||||
}
|
||||
|
||||
// disallow actuator commands if gas or brake (with vehicle moving) are pressed
|
||||
// and the the latching controls_allowed flag is True
|
||||
int pedal_pressed = brake_pressed_prev && vehicle_moving;
|
||||
@@ -216,11 +231,11 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
pedal_pressed = pedal_pressed || gas_pressed_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD);
|
||||
}
|
||||
bool current_controls_allowed = controls_allowed && !(pedal_pressed);
|
||||
int bus_pt = (honda_hw == HONDA_BH_HW)? 1 : 0;
|
||||
int bus_pt = (honda_hw == HONDA_BOSCH) ? 1 : 0;
|
||||
|
||||
// BRAKE: safety check (nidec)
|
||||
if ((addr == 0x1FA) && (bus == bus_pt)) {
|
||||
honda_brake = (GET_BYTE(to_send, 0) << 2) + ((GET_BYTE(to_send, 1) >> 6) & 0x3);
|
||||
honda_brake = (GET_BYTE(to_send, 0) << 2) + ((GET_BYTE(to_send, 1) >> 6) & 0x3U);
|
||||
if (!current_controls_allowed) {
|
||||
if (honda_brake != 0) {
|
||||
tx = 0;
|
||||
@@ -236,7 +251,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
|
||||
// BRAKE/GAS: safety check (bosch)
|
||||
if ((addr == 0x1DF) && (bus == bus_pt)) {
|
||||
int accel = (GET_BYTE(to_send, 3) << 3) | ((GET_BYTE(to_send, 4) >> 5) & 0x7);
|
||||
int accel = (GET_BYTE(to_send, 3) << 3) | ((GET_BYTE(to_send, 4) >> 5) & 0x7U);
|
||||
accel = to_signed(accel, 11);
|
||||
if (!current_controls_allowed) {
|
||||
if (accel != 0) {
|
||||
@@ -269,9 +284,9 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
}
|
||||
}
|
||||
|
||||
// Bosch supplemental control check
|
||||
// Bosch supplemental control check
|
||||
if (addr == 0xE5) {
|
||||
if ((GET_BYTES_04(to_send) != 0x10800004) || ((GET_BYTES_48(to_send) & 0x00FFFFFF) != 0x0)) {
|
||||
if ((GET_BYTES_04(to_send) != 0x10800004U) || ((GET_BYTES_48(to_send) & 0x00FFFFFFU) != 0x0U)) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
@@ -289,16 +304,16 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
// ensuring that only the cancel button press is sent (VAL 2) when controls are off.
|
||||
// This avoids unintended engagements while still allowing resume spam
|
||||
if ((addr == 0x296) && !current_controls_allowed && (bus == bus_pt)) {
|
||||
if (((GET_BYTE(to_send, 0) >> 5) & 0x7) != 2) {
|
||||
if (((GET_BYTE(to_send, 0) >> 5) & 0x7U) != 2U) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// Only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
|
||||
if (addr == 0x18DAB0F1) {
|
||||
if ((GET_BYTES_04(to_send) != 0x00803E02) || (GET_BYTES_48(to_send) != 0x0)) {
|
||||
tx = 0;
|
||||
}
|
||||
if ((GET_BYTES_04(to_send) != 0x00803E02U) || (GET_BYTES_48(to_send) != 0x0U)) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// 1 allows the message through
|
||||
@@ -310,17 +325,22 @@ static const addr_checks* honda_nidec_init(int16_t param) {
|
||||
controls_allowed = false;
|
||||
relay_malfunction_reset();
|
||||
gas_interceptor_detected = 0;
|
||||
honda_hw = HONDA_N_HW;
|
||||
honda_hw = HONDA_NIDEC;
|
||||
honda_alt_brake_msg = false;
|
||||
honda_bosch_long = false;
|
||||
honda_rx_checks = (addr_checks){honda_addr_checks, HONDA_ADDR_CHECKS_LEN};
|
||||
|
||||
if (GET_FLAG(param, HONDA_PARAM_NIDEC_ALT)) {
|
||||
honda_rx_checks = (addr_checks){honda_nidec_alt_addr_checks, HONDA_NIDEC_ALT_ADDR_CHECKS_LEN};
|
||||
} else {
|
||||
honda_rx_checks = (addr_checks){honda_nidec_addr_checks, HONDA_NIDEC_ADDR_CHECKS_LEN};
|
||||
}
|
||||
return &honda_rx_checks;
|
||||
}
|
||||
|
||||
static const addr_checks* honda_bosch_giraffe_init(int16_t param) {
|
||||
static const addr_checks* honda_bosch_init(int16_t param) {
|
||||
controls_allowed = false;
|
||||
relay_malfunction_reset();
|
||||
honda_hw = HONDA_BG_HW;
|
||||
honda_hw = HONDA_BOSCH;
|
||||
// Checking for alternate brake override from safety parameter
|
||||
honda_alt_brake_msg = GET_FLAG(param, HONDA_PARAM_ALT_BRAKE);
|
||||
|
||||
@@ -329,68 +349,49 @@ static const addr_checks* honda_bosch_giraffe_init(int16_t param) {
|
||||
honda_bosch_long = GET_FLAG(param, HONDA_PARAM_BOSCH_LONG);
|
||||
#endif
|
||||
|
||||
honda_rx_checks = (addr_checks){honda_addr_checks, HONDA_ADDR_CHECKS_LEN};
|
||||
honda_rx_checks = (addr_checks){honda_bosch_addr_checks, HONDA_BOSCH_ADDR_CHECKS_LEN};
|
||||
return &honda_rx_checks;
|
||||
}
|
||||
|
||||
static const addr_checks* honda_bosch_harness_init(int16_t param) {
|
||||
controls_allowed = false;
|
||||
relay_malfunction_reset();
|
||||
honda_hw = HONDA_BH_HW;
|
||||
// Checking for alternate brake override from safety parameter
|
||||
honda_alt_brake_msg = GET_FLAG(param, HONDA_PARAM_ALT_BRAKE);
|
||||
|
||||
// radar disabled so allow gas/brakes
|
||||
#ifdef ALLOW_DEBUG
|
||||
honda_bosch_long = GET_FLAG(param, HONDA_PARAM_BOSCH_LONG);
|
||||
#endif
|
||||
|
||||
honda_rx_checks = (addr_checks){honda_bh_addr_checks, HONDA_BH_ADDR_CHECKS_LEN};
|
||||
return &honda_rx_checks;
|
||||
}
|
||||
|
||||
static int honda_nidec_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
static int honda_nidec_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
|
||||
// fwd from car to camera. also fwd certain msgs from camera to car
|
||||
// 0xE4 is steering on all cars except CRV and RDX, 0x194 for CRV and RDX,
|
||||
// 0x1FA is brake control, 0x30C is acc hud, 0x33D is lkas hud,
|
||||
int bus_fwd = -1;
|
||||
|
||||
if (!relay_malfunction) {
|
||||
if (bus_num == 0) {
|
||||
bus_fwd = 2;
|
||||
}
|
||||
if (bus_num == 2) {
|
||||
// block stock lkas messages and stock acc messages (if OP is doing ACC)
|
||||
int addr = GET_ADDR(to_fwd);
|
||||
bool is_lkas_msg = (addr == 0xE4) || (addr == 0x194) || (addr == 0x33D);
|
||||
bool is_acc_hud_msg = addr == 0x30C;
|
||||
bool is_brake_msg = addr == 0x1FA;
|
||||
bool block_fwd = is_lkas_msg || is_acc_hud_msg || (is_brake_msg && !honda_fwd_brake);
|
||||
if (!block_fwd) {
|
||||
bus_fwd = 0;
|
||||
}
|
||||
if (bus_num == 0) {
|
||||
bus_fwd = 2;
|
||||
}
|
||||
|
||||
if (bus_num == 2) {
|
||||
// block stock lkas messages and stock acc messages (if OP is doing ACC)
|
||||
int addr = GET_ADDR(to_fwd);
|
||||
bool is_lkas_msg = (addr == 0xE4) || (addr == 0x194) || (addr == 0x33D);
|
||||
bool is_acc_hud_msg = addr == 0x30C;
|
||||
bool is_brake_msg = addr == 0x1FA;
|
||||
bool block_fwd = is_lkas_msg || is_acc_hud_msg || (is_brake_msg && !honda_fwd_brake);
|
||||
if (!block_fwd) {
|
||||
bus_fwd = 0;
|
||||
}
|
||||
}
|
||||
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
static int honda_bosch_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
static int honda_bosch_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
|
||||
int bus_fwd = -1;
|
||||
int bus_rdr_cam = (honda_hw == HONDA_BH_HW) ? 2 : 1; // radar bus, camera side
|
||||
int bus_rdr_car = (honda_hw == HONDA_BH_HW) ? 0 : 2; // radar bus, car side
|
||||
|
||||
if (!relay_malfunction) {
|
||||
if (bus_num == bus_rdr_car) {
|
||||
bus_fwd = bus_rdr_cam;
|
||||
}
|
||||
if (bus_num == bus_rdr_cam) {
|
||||
int addr = GET_ADDR(to_fwd);
|
||||
int is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D);
|
||||
if (!is_lkas_msg) {
|
||||
bus_fwd = bus_rdr_car;
|
||||
}
|
||||
if (bus_num == 0) {
|
||||
bus_fwd = 2;
|
||||
}
|
||||
if (bus_num == 2) {
|
||||
int addr = GET_ADDR(to_fwd);
|
||||
int is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D) || (addr == 0x33DA) || (addr == 0x33DB);
|
||||
if (!is_lkas_msg) {
|
||||
bus_fwd = 0;
|
||||
}
|
||||
}
|
||||
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
@@ -402,16 +403,8 @@ const safety_hooks honda_nidec_hooks = {
|
||||
.fwd = honda_nidec_fwd_hook,
|
||||
};
|
||||
|
||||
const safety_hooks honda_bosch_giraffe_hooks = {
|
||||
.init = honda_bosch_giraffe_init,
|
||||
.rx = honda_rx_hook,
|
||||
.tx = honda_tx_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
.fwd = honda_bosch_fwd_hook,
|
||||
};
|
||||
|
||||
const safety_hooks honda_bosch_harness_hooks = {
|
||||
.init = honda_bosch_harness_init,
|
||||
const safety_hooks honda_bosch_hooks = {
|
||||
.init = honda_bosch_init,
|
||||
.rx = honda_rx_hook,
|
||||
.tx = honda_tx_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
|
||||
@@ -69,36 +69,36 @@ bool hyundai_longitudinal = false;
|
||||
|
||||
addr_checks hyundai_rx_checks = {hyundai_addr_checks, HYUNDAI_ADDR_CHECK_LEN};
|
||||
|
||||
static uint8_t hyundai_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static uint8_t hyundai_get_counter(CANPacket_t *to_push) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
uint8_t cnt;
|
||||
if (addr == 608) {
|
||||
cnt = (GET_BYTE(to_push, 7) >> 4) & 0x3;
|
||||
cnt = (GET_BYTE(to_push, 7) >> 4) & 0x3U;
|
||||
} else if (addr == 902) {
|
||||
cnt = ((GET_BYTE(to_push, 3) >> 6) << 2) | (GET_BYTE(to_push, 1) >> 6);
|
||||
} else if (addr == 916) {
|
||||
cnt = (GET_BYTE(to_push, 1) >> 5) & 0x7;
|
||||
cnt = (GET_BYTE(to_push, 1) >> 5) & 0x7U;
|
||||
} else if (addr == 1057) {
|
||||
cnt = GET_BYTE(to_push, 7) & 0xF;
|
||||
cnt = GET_BYTE(to_push, 7) & 0xFU;
|
||||
} else if (addr == 1265) {
|
||||
cnt = (GET_BYTE(to_push, 3) >> 4) & 0xF;
|
||||
cnt = (GET_BYTE(to_push, 3) >> 4) & 0xFU;
|
||||
} else {
|
||||
cnt = 0;
|
||||
}
|
||||
return cnt;
|
||||
}
|
||||
|
||||
static uint8_t hyundai_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static uint8_t hyundai_get_checksum(CANPacket_t *to_push) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
uint8_t chksum;
|
||||
if (addr == 608) {
|
||||
chksum = GET_BYTE(to_push, 7) & 0xF;
|
||||
chksum = GET_BYTE(to_push, 7) & 0xFU;
|
||||
} else if (addr == 902) {
|
||||
chksum = ((GET_BYTE(to_push, 7) >> 6) << 2) | (GET_BYTE(to_push, 5) >> 6);
|
||||
} else if (addr == 916) {
|
||||
chksum = GET_BYTE(to_push, 6) & 0xF;
|
||||
chksum = GET_BYTE(to_push, 6) & 0xFU;
|
||||
} else if (addr == 1057) {
|
||||
chksum = GET_BYTE(to_push, 7) >> 4;
|
||||
} else {
|
||||
@@ -107,7 +107,7 @@ static uint8_t hyundai_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
return chksum;
|
||||
}
|
||||
|
||||
static uint8_t hyundai_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static uint8_t hyundai_compute_checksum(CANPacket_t *to_push) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
uint8_t chksum = 0;
|
||||
@@ -143,17 +143,17 @@ static uint8_t hyundai_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
return chksum;
|
||||
}
|
||||
|
||||
static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static int hyundai_rx_hook(CANPacket_t *to_push) {
|
||||
|
||||
bool valid = addr_safety_check(to_push, &hyundai_rx_checks,
|
||||
hyundai_get_checksum, hyundai_compute_checksum,
|
||||
hyundai_get_counter);
|
||||
|
||||
if (valid && (GET_BUS(to_push) == 0)) {
|
||||
if (valid && (GET_BUS(to_push) == 0U)) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
if (addr == 593) {
|
||||
int torque_driver_new = ((GET_BYTES_04(to_push) & 0x7ff) * 0.79) - 808; // scale down new driver torque signal to match previous one
|
||||
int torque_driver_new = ((GET_BYTES_04(to_push) & 0x7ffU) * 0.79) - 808; // scale down new driver torque signal to match previous one
|
||||
// update array of samples
|
||||
update_sample(&torque_driver, torque_driver_new);
|
||||
}
|
||||
@@ -161,7 +161,7 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
if (hyundai_longitudinal) {
|
||||
// ACC steering wheel buttons
|
||||
if (addr == 1265) {
|
||||
int button = GET_BYTE(to_push, 0) & 0x7;
|
||||
int button = GET_BYTE(to_push, 0) & 0x7U;
|
||||
switch (button) {
|
||||
case 1: // resume
|
||||
case 2: // set
|
||||
@@ -178,7 +178,7 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
if (addr == 1057) {
|
||||
// 2 bits: 13-14
|
||||
int cruise_engaged = (GET_BYTES_04(to_push) >> 13) & 0x3;
|
||||
int cruise_engaged = (GET_BYTES_04(to_push) >> 13) & 0x3U;
|
||||
if (cruise_engaged && !cruise_engaged_prev) {
|
||||
controls_allowed = 1;
|
||||
}
|
||||
@@ -191,24 +191,23 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
// read gas pressed signal
|
||||
if ((addr == 881) && hyundai_ev_gas_signal) {
|
||||
gas_pressed = (((GET_BYTE(to_push, 4) & 0x7F) << 1) | GET_BYTE(to_push, 3) >> 7) != 0;
|
||||
gas_pressed = (((GET_BYTE(to_push, 4) & 0x7FU) << 1) | GET_BYTE(to_push, 3) >> 7) != 0U;
|
||||
} else if ((addr == 881) && hyundai_hybrid_gas_signal) {
|
||||
gas_pressed = GET_BYTE(to_push, 7) != 0;
|
||||
gas_pressed = GET_BYTE(to_push, 7) != 0U;
|
||||
} else if (addr == 608) { // ICE
|
||||
gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0;
|
||||
gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0U;
|
||||
} else {
|
||||
}
|
||||
|
||||
// sample wheel speed, averaging opposite corners
|
||||
if (addr == 902) {
|
||||
int hyundai_speed = GET_BYTES_04(to_push) & 0x3FFF; // FL
|
||||
hyundai_speed += (GET_BYTES_48(to_push) >> 16) & 0x3FFF; // RL
|
||||
int hyundai_speed = (GET_BYTES_04(to_push) & 0x3FFFU) + ((GET_BYTES_48(to_push) >> 16) & 0x3FFFU); // FL + RR
|
||||
hyundai_speed /= 2;
|
||||
vehicle_moving = hyundai_speed > HYUNDAI_STANDSTILL_THRSLD;
|
||||
}
|
||||
|
||||
if (addr == 916) {
|
||||
brake_pressed = (GET_BYTE(to_push, 6) >> 7) != 0;
|
||||
brake_pressed = (GET_BYTE(to_push, 6) >> 7) != 0U;
|
||||
}
|
||||
|
||||
bool stock_ecu_detected = (addr == 832);
|
||||
@@ -223,7 +222,7 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
return valid;
|
||||
}
|
||||
|
||||
static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
static int hyundai_tx_hook(CANPacket_t *to_send) {
|
||||
|
||||
int tx = 1;
|
||||
int addr = GET_ADDR(to_send);
|
||||
@@ -234,15 +233,11 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
tx = msg_allowed(to_send, HYUNDAI_TX_MSGS, sizeof(HYUNDAI_TX_MSGS)/sizeof(HYUNDAI_TX_MSGS[0]));
|
||||
}
|
||||
|
||||
if (relay_malfunction) {
|
||||
tx = 0;
|
||||
}
|
||||
|
||||
// FCA11: Block any potential actuation
|
||||
if (addr == 909) {
|
||||
int CR_VSM_DecCmd = GET_BYTE(to_send, 1);
|
||||
int FCA_CmdAct = (GET_BYTE(to_send, 2) >> 5) & 1;
|
||||
int CF_VSM_DecCmdAct = (GET_BYTE(to_send, 3) >> 7) & 1;
|
||||
int FCA_CmdAct = (GET_BYTE(to_send, 2) >> 5) & 1U;
|
||||
int CF_VSM_DecCmdAct = (GET_BYTE(to_send, 3) >> 7) & 1U;
|
||||
|
||||
if ((CR_VSM_DecCmd != 0) || (FCA_CmdAct != 0) || (CF_VSM_DecCmdAct != 0)) {
|
||||
tx = 0;
|
||||
@@ -251,11 +246,11 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
|
||||
// ACCEL: safety check
|
||||
if (addr == 1057) {
|
||||
int desired_accel_raw = (((GET_BYTE(to_send, 4) & 0x7) << 8) | GET_BYTE(to_send, 3)) - 1023;
|
||||
int desired_accel_val = ((GET_BYTE(to_send, 5) << 3) | (GET_BYTE(to_send, 4) >> 5)) - 1023;
|
||||
int desired_accel_raw = (((GET_BYTE(to_send, 4) & 0x7U) << 8) | GET_BYTE(to_send, 3)) - 1023U;
|
||||
int desired_accel_val = ((GET_BYTE(to_send, 5) << 3) | (GET_BYTE(to_send, 4) >> 5)) - 1023U;
|
||||
|
||||
int aeb_decel_cmd = GET_BYTE(to_send, 2);
|
||||
int aeb_req = (GET_BYTE(to_send, 6) >> 6) & 1;
|
||||
int aeb_req = (GET_BYTE(to_send, 6) >> 6) & 1U;
|
||||
|
||||
bool violation = 0;
|
||||
|
||||
@@ -277,7 +272,7 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
|
||||
// LKA STEER: safety check
|
||||
if (addr == 832) {
|
||||
int desired_torque = ((GET_BYTES_04(to_send) >> 16) & 0x7ff) - 1024;
|
||||
int desired_torque = ((GET_BYTES_04(to_send) >> 16) & 0x7ffU) - 1024U;
|
||||
uint32_t ts = microsecond_timer_get();
|
||||
bool violation = 0;
|
||||
|
||||
@@ -324,7 +319,7 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
|
||||
// UDS: Only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
|
||||
if (addr == 2000) {
|
||||
if ((GET_BYTES_04(to_send) != 0x00803E02) || (GET_BYTES_48(to_send) != 0x0)) {
|
||||
if ((GET_BYTES_04(to_send) != 0x00803E02U) || (GET_BYTES_48(to_send) != 0x0U)) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
@@ -333,7 +328,7 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
// ensuring that only the cancel button press is sent (VAL 4) when controls are off.
|
||||
// This avoids unintended engagements while still allowing resume spam
|
||||
if ((addr == 1265) && !controls_allowed) {
|
||||
if ((GET_BYTES_04(to_send) & 0x7) != 4) {
|
||||
if ((GET_BYTES_04(to_send) & 0x7U) != 4U) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
@@ -342,19 +337,19 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
return tx;
|
||||
}
|
||||
|
||||
static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
static int hyundai_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
|
||||
|
||||
int bus_fwd = -1;
|
||||
int addr = GET_ADDR(to_fwd);
|
||||
|
||||
// forward cam to ccan and viceversa, except lkas cmd
|
||||
if (!relay_malfunction) {
|
||||
if (bus_num == 0) {
|
||||
bus_fwd = 2;
|
||||
}
|
||||
if ((bus_num == 2) && (addr != 832) && (addr != 1157)) {
|
||||
bus_fwd = 0;
|
||||
}
|
||||
if (bus_num == 0) {
|
||||
bus_fwd = 2;
|
||||
}
|
||||
if ((bus_num == 2) && (addr != 832) && (addr != 1157)) {
|
||||
bus_fwd = 0;
|
||||
}
|
||||
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
// CAN msgs we care about
|
||||
#define MAZDA_LKAS 0x243
|
||||
#define MAZDA_LKAS_HUD 0x440
|
||||
#define MAZDA_CRZ_CTRL 0x21c
|
||||
#define MAZDA_CRZ_BTNS 0x09d
|
||||
#define MAZDA_STEER_TORQUE 0x240
|
||||
@@ -8,10 +9,10 @@
|
||||
|
||||
// CAN bus numbers
|
||||
#define MAZDA_MAIN 0
|
||||
#define MAZDA_AUX 1
|
||||
#define MAZDA_CAM 2
|
||||
#define MAZDA_AUX 1
|
||||
#define MAZDA_CAM 2
|
||||
|
||||
#define MAZDA_MAX_STEER 2048
|
||||
#define MAZDA_MAX_STEER 2048U
|
||||
|
||||
// max delta torque allowed for real time checks
|
||||
#define MAZDA_MAX_RT_DELTA 940
|
||||
@@ -23,12 +24,7 @@
|
||||
#define MAZDA_DRIVER_TORQUE_FACTOR 1
|
||||
#define MAZDA_MAX_TORQUE_ERROR 350
|
||||
|
||||
// lkas enable speed 52kph, disable at 45kph
|
||||
#define MAZDA_LKAS_ENABLE_SPEED 5200
|
||||
#define MAZDA_LKAS_DISABLE_SPEED 4500
|
||||
|
||||
const CanMsg MAZDA_TX_MSGS[] = {{MAZDA_LKAS, 0, 8}, {MAZDA_CRZ_BTNS, 0, 8}};
|
||||
bool mazda_lkas_allowed = false;
|
||||
const CanMsg MAZDA_TX_MSGS[] = {{MAZDA_LKAS, 0, 8}, {MAZDA_CRZ_BTNS, 0, 8}, {MAZDA_LKAS_HUD, 0, 8}};
|
||||
|
||||
AddrCheckStruct mazda_addr_checks[] = {
|
||||
{.msg = {{MAZDA_CRZ_CTRL, 0, 8, .expected_timestep = 20000U}, { 0 }, { 0 }}},
|
||||
@@ -41,45 +37,29 @@ AddrCheckStruct mazda_addr_checks[] = {
|
||||
addr_checks mazda_rx_checks = {mazda_addr_checks, MAZDA_ADDR_CHECKS_LEN};
|
||||
|
||||
// track msgs coming from OP so that we know what CAM msgs to drop and what to forward
|
||||
static int mazda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static int mazda_rx_hook(CANPacket_t *to_push) {
|
||||
bool valid = addr_safety_check(to_push, &mazda_rx_checks, NULL, NULL, NULL);
|
||||
if (valid && (GET_BUS(to_push) == MAZDA_MAIN)) {
|
||||
if (valid && ((int)GET_BUS(to_push) == MAZDA_MAIN)) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
if (addr == MAZDA_ENGINE_DATA) {
|
||||
// sample speed: scale by 0.01 to get kph
|
||||
int speed = (GET_BYTE(to_push, 2) << 8) | GET_BYTE(to_push, 3);
|
||||
|
||||
vehicle_moving = speed > 10; // moving when speed > 0.1 kph
|
||||
|
||||
// Enable LKAS at 52kph going up, disable at 45kph going down
|
||||
if (speed > MAZDA_LKAS_ENABLE_SPEED) {
|
||||
mazda_lkas_allowed = true;
|
||||
} else if (speed < MAZDA_LKAS_DISABLE_SPEED) {
|
||||
mazda_lkas_allowed = false;
|
||||
} else {
|
||||
// Misra-able appeasment block!
|
||||
}
|
||||
}
|
||||
|
||||
if (addr == MAZDA_STEER_TORQUE) {
|
||||
int torque_driver_new = GET_BYTE(to_push, 0) - 127;
|
||||
int torque_driver_new = GET_BYTE(to_push, 0) - 127U;
|
||||
// update array of samples
|
||||
update_sample(&torque_driver, torque_driver_new);
|
||||
}
|
||||
|
||||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
if (addr == MAZDA_CRZ_CTRL) {
|
||||
bool cruise_engaged = GET_BYTE(to_push, 0) & 8;
|
||||
bool cruise_engaged = GET_BYTE(to_push, 0) & 0x8U;
|
||||
if (cruise_engaged) {
|
||||
if (!cruise_engaged_prev) {
|
||||
// do not engage until we hit the speed at which lkas is on
|
||||
if (mazda_lkas_allowed) {
|
||||
controls_allowed = 1;
|
||||
} else {
|
||||
controls_allowed = 0;
|
||||
cruise_engaged = false;
|
||||
}
|
||||
controls_allowed = 1;
|
||||
}
|
||||
} else {
|
||||
controls_allowed = 0;
|
||||
@@ -88,11 +68,11 @@ static int mazda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
}
|
||||
|
||||
if (addr == MAZDA_ENGINE_DATA) {
|
||||
gas_pressed = (GET_BYTE(to_push, 4) || (GET_BYTE(to_push, 5) & 0xF0));
|
||||
gas_pressed = (GET_BYTE(to_push, 4) || (GET_BYTE(to_push, 5) & 0xF0U));
|
||||
}
|
||||
|
||||
if (addr == MAZDA_PEDALS) {
|
||||
brake_pressed = (GET_BYTE(to_push, 0) & 0x10);
|
||||
brake_pressed = (GET_BYTE(to_push, 0) & 0x10U);
|
||||
}
|
||||
|
||||
generic_rx_checks((addr == MAZDA_LKAS));
|
||||
@@ -100,7 +80,7 @@ static int mazda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
return valid;
|
||||
}
|
||||
|
||||
static int mazda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
static int mazda_tx_hook(CANPacket_t *to_send) {
|
||||
int tx = 1;
|
||||
int addr = GET_ADDR(to_send);
|
||||
int bus = GET_BUS(to_send);
|
||||
@@ -109,16 +89,12 @@ static int mazda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
tx = 0;
|
||||
}
|
||||
|
||||
if (relay_malfunction) {
|
||||
tx = 0;
|
||||
}
|
||||
|
||||
// Check if msg is sent on the main BUS
|
||||
if (bus == MAZDA_MAIN) {
|
||||
|
||||
// steer cmd checks
|
||||
if (addr == MAZDA_LKAS) {
|
||||
int desired_torque = (((GET_BYTE(to_send, 0) & 0x0f) << 8) | GET_BYTE(to_send, 1)) - MAZDA_MAX_STEER;
|
||||
int desired_torque = (((GET_BYTE(to_send, 0) & 0x0FU) << 8) | GET_BYTE(to_send, 1)) - MAZDA_MAX_STEER;
|
||||
bool violation = 0;
|
||||
uint32_t ts = microsecond_timer_get();
|
||||
|
||||
@@ -162,24 +138,36 @@ static int mazda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// cruise buttons check
|
||||
if (addr == MAZDA_CRZ_BTNS) {
|
||||
// allow resume spamming while controls allowed, but
|
||||
// only allow cancel while contrls not allowed
|
||||
bool cancel_cmd = (GET_BYTE(to_send, 0) == 0x1U);
|
||||
if (!controls_allowed && !cancel_cmd) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return tx;
|
||||
}
|
||||
|
||||
static int mazda_fwd_hook(int bus, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
static int mazda_fwd_hook(int bus, CANPacket_t *to_fwd) {
|
||||
int bus_fwd = -1;
|
||||
if (!relay_malfunction) {
|
||||
int addr = GET_ADDR(to_fwd);
|
||||
if (bus == MAZDA_MAIN) {
|
||||
bus_fwd = MAZDA_CAM;
|
||||
} else if (bus == MAZDA_CAM) {
|
||||
if (!(addr == MAZDA_LKAS)) {
|
||||
bus_fwd = MAZDA_MAIN;
|
||||
}
|
||||
} else {
|
||||
bus_fwd = -1;
|
||||
int addr = GET_ADDR(to_fwd);
|
||||
|
||||
if (bus == MAZDA_MAIN) {
|
||||
bus_fwd = MAZDA_CAM;
|
||||
} else if (bus == MAZDA_CAM) {
|
||||
bool block = (addr == MAZDA_LKAS) || (addr == MAZDA_LKAS_HUD);
|
||||
if (!block) {
|
||||
bus_fwd = MAZDA_MAIN;
|
||||
}
|
||||
} else {
|
||||
// don't fwd
|
||||
}
|
||||
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
@@ -187,7 +175,6 @@ static const addr_checks* mazda_init(int16_t param) {
|
||||
UNUSED(param);
|
||||
controls_allowed = false;
|
||||
relay_malfunction_reset();
|
||||
mazda_lkas_allowed = false;
|
||||
return &mazda_rx_checks;
|
||||
}
|
||||
|
||||
|
||||
@@ -11,7 +11,14 @@ const struct lookup_t NISSAN_LOOKUP_ANGLE_RATE_DOWN = {
|
||||
|
||||
const int NISSAN_DEG_TO_CAN = 100;
|
||||
|
||||
const CanMsg NISSAN_TX_MSGS[] = {{0x169, 0, 8}, {0x2b1, 0, 8}, {0x4cc, 0, 8}, {0x20b, 2, 6}, {0x20b, 1, 6}, {0x280, 2, 8}};
|
||||
const CanMsg NISSAN_TX_MSGS[] = {
|
||||
{0x169, 0, 8}, // LKAS
|
||||
{0x2b1, 0, 8}, // PROPILOT_HUD
|
||||
{0x4cc, 0, 8}, // PROPILOT_HUD_INFO_MSG
|
||||
{0x20b, 2, 6}, // CRUISE_THROTTLE (X-Trail)
|
||||
{0x20b, 1, 6}, // CRUISE_THROTTLE (Altima)
|
||||
{0x280, 2, 8} // CANCEL_MSG (Leaf)
|
||||
};
|
||||
|
||||
// Signals duplicated below due to the fact that these messages can come in on either CAN bus, depending on car model.
|
||||
AddrCheckStruct nissan_addr_checks[] = {
|
||||
@@ -34,7 +41,7 @@ addr_checks nissan_rx_checks = {nissan_addr_checks, NISSAN_ADDR_CHECK_LEN};
|
||||
// EPS Location. false = V-CAN, true = C-CAN
|
||||
bool nissan_alt_eps = false;
|
||||
|
||||
static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static int nissan_rx_hook(CANPacket_t *to_push) {
|
||||
|
||||
bool valid = addr_safety_check(to_push, &nissan_rx_checks, NULL, NULL, NULL);
|
||||
|
||||
@@ -46,7 +53,7 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
if (addr == 0x2) {
|
||||
// Current steering angle
|
||||
// Factor -0.1, little endian
|
||||
int angle_meas_new = (GET_BYTES_04(to_push) & 0xFFFF);
|
||||
int angle_meas_new = (GET_BYTES_04(to_push) & 0xFFFFU);
|
||||
// Need to multiply by 10 here as LKAS and Steering wheel are different base unit
|
||||
angle_meas_new = to_signed(angle_meas_new, 16) * 10;
|
||||
|
||||
@@ -64,25 +71,25 @@ 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)) > 3;
|
||||
gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3U)) > 3U;
|
||||
} else {
|
||||
gas_pressed = GET_BYTE(to_push, 0) > 3;
|
||||
gas_pressed = GET_BYTE(to_push, 0) > 3U;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// X-trail 0x454, Leaf 0x1cc
|
||||
if ((addr == 0x454) || (addr == 0x1cc)) {
|
||||
// X-trail 0x454, Leaf 0x239
|
||||
if ((addr == 0x454) || (addr == 0x239)) {
|
||||
if (addr == 0x454){
|
||||
brake_pressed = (GET_BYTE(to_push, 2) & 0x80) != 0;
|
||||
brake_pressed = (GET_BYTE(to_push, 2) & 0x80U) != 0U;
|
||||
} else {
|
||||
brake_pressed = GET_BYTE(to_push, 0) > 3;
|
||||
brake_pressed = ((GET_BYTE(to_push, 4) >> 5) & 1U) != 0U;
|
||||
}
|
||||
}
|
||||
|
||||
// Handle cruise enabled
|
||||
if ((addr == 0x30f) && (((bus == 2) && (!nissan_alt_eps)) || ((bus == 1) && (nissan_alt_eps)))) {
|
||||
bool cruise_engaged = (GET_BYTE(to_push, 0) >> 3) & 1;
|
||||
bool cruise_engaged = (GET_BYTE(to_push, 0) >> 3) & 1U;
|
||||
|
||||
if (cruise_engaged && !cruise_engaged_prev) {
|
||||
controls_allowed = 1;
|
||||
@@ -99,7 +106,7 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
}
|
||||
|
||||
|
||||
static int nissan_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
static int nissan_tx_hook(CANPacket_t *to_send) {
|
||||
int tx = 1;
|
||||
int addr = GET_ADDR(to_send);
|
||||
bool violation = 0;
|
||||
@@ -108,14 +115,10 @@ static int nissan_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
tx = 0;
|
||||
}
|
||||
|
||||
if (relay_malfunction) {
|
||||
tx = 0;
|
||||
}
|
||||
|
||||
// steer cmd checks
|
||||
if (addr == 0x169) {
|
||||
int desired_angle = ((GET_BYTE(to_send, 0) << 10) | (GET_BYTE(to_send, 1) << 2) | ((GET_BYTE(to_send, 2) >> 6) & 0x3));
|
||||
bool lka_active = (GET_BYTE(to_send, 6) >> 4) & 1;
|
||||
int desired_angle = ((GET_BYTE(to_send, 0) << 10) | (GET_BYTE(to_send, 1) << 2) | ((GET_BYTE(to_send, 2) >> 6) & 0x3U));
|
||||
bool lka_active = (GET_BYTE(to_send, 6) >> 4) & 1U;
|
||||
|
||||
// offeset 1310 * NISSAN_DEG_TO_CAN
|
||||
desired_angle = desired_angle - 131000;
|
||||
@@ -151,7 +154,7 @@ static int nissan_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
// acc button check, only allow cancel button to be sent
|
||||
if (addr == 0x20b) {
|
||||
// Violation of any button other than cancel is pressed
|
||||
violation |= ((GET_BYTE(to_send, 1) & 0x3d) > 0);
|
||||
violation |= ((GET_BYTE(to_send, 1) & 0x3dU) > 0U);
|
||||
}
|
||||
|
||||
if (violation) {
|
||||
@@ -163,7 +166,7 @@ static int nissan_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
}
|
||||
|
||||
|
||||
static int nissan_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
static int nissan_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
|
||||
int bus_fwd = -1;
|
||||
int addr = GET_ADDR(to_fwd);
|
||||
|
||||
@@ -182,11 +185,6 @@ static int nissan_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
}
|
||||
}
|
||||
|
||||
if (relay_malfunction) {
|
||||
bus_fwd = -1;
|
||||
}
|
||||
|
||||
// fallback to do not forward
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
|
||||
@@ -35,17 +35,17 @@ AddrCheckStruct subaru_l_addr_checks[] = {
|
||||
{.msg = {{0x144, 0, 8, .expected_timestep = 50000U}, { 0 }, { 0 }}},
|
||||
};
|
||||
#define SUBARU_L_ADDR_CHECK_LEN (sizeof(subaru_l_addr_checks) / sizeof(subaru_l_addr_checks[0]))
|
||||
addr_checks subaru_l_rx_checks = {subaru_addr_checks, SUBARU_L_ADDR_CHECK_LEN};
|
||||
addr_checks subaru_l_rx_checks = {subaru_l_addr_checks, SUBARU_L_ADDR_CHECK_LEN};
|
||||
|
||||
static uint8_t subaru_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static uint8_t subaru_get_checksum(CANPacket_t *to_push) {
|
||||
return (uint8_t)GET_BYTE(to_push, 0);
|
||||
}
|
||||
|
||||
static uint8_t subaru_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
return (uint8_t)(GET_BYTE(to_push, 1) & 0xF);
|
||||
static uint8_t subaru_get_counter(CANPacket_t *to_push) {
|
||||
return (uint8_t)(GET_BYTE(to_push, 1) & 0xFU);
|
||||
}
|
||||
|
||||
static uint8_t subaru_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static uint8_t subaru_compute_checksum(CANPacket_t *to_push) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
int len = GET_LEN(to_push);
|
||||
uint8_t checksum = (uint8_t)(addr) + (uint8_t)((unsigned int)(addr) >> 8U);
|
||||
@@ -55,23 +55,23 @@ static uint8_t subaru_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
return checksum;
|
||||
}
|
||||
|
||||
static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static int subaru_rx_hook(CANPacket_t *to_push) {
|
||||
|
||||
bool valid = addr_safety_check(to_push, &subaru_rx_checks,
|
||||
subaru_get_checksum, subaru_compute_checksum, subaru_get_counter);
|
||||
|
||||
if (valid && (GET_BUS(to_push) == 0)) {
|
||||
if (valid && (GET_BUS(to_push) == 0U)) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
if (addr == 0x119) {
|
||||
int torque_driver_new;
|
||||
torque_driver_new = ((GET_BYTES_04(to_push) >> 16) & 0x7FF);
|
||||
torque_driver_new = ((GET_BYTES_04(to_push) >> 16) & 0x7FFU);
|
||||
torque_driver_new = -1 * to_signed(torque_driver_new, 11);
|
||||
update_sample(&torque_driver, torque_driver_new);
|
||||
}
|
||||
|
||||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
if (addr == 0x240) {
|
||||
int cruise_engaged = ((GET_BYTES_48(to_push) >> 9) & 1);
|
||||
int cruise_engaged = ((GET_BYTES_48(to_push) >> 9) & 1U);
|
||||
if (cruise_engaged && !cruise_engaged_prev) {
|
||||
controls_allowed = 1;
|
||||
}
|
||||
@@ -83,18 +83,17 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
// sample wheel speed, averaging opposite corners
|
||||
if (addr == 0x13a) {
|
||||
int subaru_speed = (GET_BYTES_04(to_push) >> 12) & 0x1FFF; // FR
|
||||
subaru_speed += (GET_BYTES_48(to_push) >> 6) & 0x1FFF; // RL
|
||||
int subaru_speed = ((GET_BYTES_04(to_push) >> 12) & 0x1FFFU) + ((GET_BYTES_48(to_push) >> 6) & 0x1FFFU); // FR + RL
|
||||
subaru_speed /= 2;
|
||||
vehicle_moving = subaru_speed > SUBARU_STANDSTILL_THRSLD;
|
||||
}
|
||||
|
||||
if (addr == 0x13c) {
|
||||
brake_pressed = ((GET_BYTE(to_push, 7) >> 6) & 1);
|
||||
brake_pressed = ((GET_BYTE(to_push, 7) >> 6) & 1U);
|
||||
}
|
||||
|
||||
if (addr == 0x40) {
|
||||
gas_pressed = GET_BYTE(to_push, 4) != 0;
|
||||
gas_pressed = GET_BYTE(to_push, 4) != 0U;
|
||||
}
|
||||
|
||||
generic_rx_checks((addr == 0x122));
|
||||
@@ -102,11 +101,11 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
return valid;
|
||||
}
|
||||
|
||||
static int subaru_legacy_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static int subaru_legacy_rx_hook(CANPacket_t *to_push) {
|
||||
|
||||
bool valid = addr_safety_check(to_push, &subaru_l_rx_checks, NULL, NULL, NULL);
|
||||
|
||||
if (valid && (GET_BUS(to_push) == 0)) {
|
||||
if (valid && (GET_BUS(to_push) == 0U)) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
if (addr == 0x371) {
|
||||
int torque_driver_new;
|
||||
@@ -117,7 +116,7 @@ static int subaru_legacy_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
if (addr == 0x144) {
|
||||
int cruise_engaged = ((GET_BYTES_48(to_push) >> 17) & 1);
|
||||
int cruise_engaged = ((GET_BYTES_48(to_push) >> 17) & 1U);
|
||||
if (cruise_engaged && !cruise_engaged_prev) {
|
||||
controls_allowed = 1;
|
||||
}
|
||||
@@ -129,18 +128,17 @@ static int subaru_legacy_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
// sample wheel speed, averaging opposite corners
|
||||
if (addr == 0xD4) {
|
||||
int subaru_speed = (GET_BYTES_04(to_push) >> 16) & 0xFFFF; // FR
|
||||
subaru_speed += GET_BYTES_48(to_push) & 0xFFFF; // RL
|
||||
int subaru_speed = ((GET_BYTES_04(to_push) >> 16) & 0xFFFFU) + (GET_BYTES_48(to_push) & 0xFFFFU); // FR + RL
|
||||
subaru_speed /= 2;
|
||||
vehicle_moving = subaru_speed > SUBARU_STANDSTILL_THRSLD;
|
||||
}
|
||||
|
||||
if (addr == 0xD1) {
|
||||
brake_pressed = ((GET_BYTES_04(to_push) >> 16) & 0xFF) > 0;
|
||||
brake_pressed = ((GET_BYTES_04(to_push) >> 16) & 0xFFU) > 0U;
|
||||
}
|
||||
|
||||
if (addr == 0x140) {
|
||||
gas_pressed = GET_BYTE(to_push, 0) != 0;
|
||||
gas_pressed = GET_BYTE(to_push, 0) != 0U;
|
||||
}
|
||||
|
||||
generic_rx_checks((addr == 0x164));
|
||||
@@ -148,7 +146,7 @@ static int subaru_legacy_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
return valid;
|
||||
}
|
||||
|
||||
static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
static int subaru_tx_hook(CANPacket_t *to_send) {
|
||||
int tx = 1;
|
||||
int addr = GET_ADDR(to_send);
|
||||
|
||||
@@ -156,13 +154,9 @@ static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
tx = 0;
|
||||
}
|
||||
|
||||
if (relay_malfunction) {
|
||||
tx = 0;
|
||||
}
|
||||
|
||||
// steer cmd checks
|
||||
if (addr == 0x122) {
|
||||
int desired_torque = ((GET_BYTES_04(to_send) >> 16) & 0x1FFF);
|
||||
int desired_torque = ((GET_BYTES_04(to_send) >> 16) & 0x1FFFU);
|
||||
bool violation = 0;
|
||||
uint32_t ts = microsecond_timer_get();
|
||||
|
||||
@@ -212,7 +206,7 @@ static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
return tx;
|
||||
}
|
||||
|
||||
static int subaru_legacy_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
static int subaru_legacy_tx_hook(CANPacket_t *to_send) {
|
||||
int tx = 1;
|
||||
int addr = GET_ADDR(to_send);
|
||||
|
||||
@@ -220,13 +214,9 @@ static int subaru_legacy_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
tx = 0;
|
||||
}
|
||||
|
||||
if (relay_malfunction) {
|
||||
tx = 0;
|
||||
}
|
||||
|
||||
// steer cmd checks
|
||||
if (addr == 0x164) {
|
||||
int desired_torque = ((GET_BYTES_04(to_send) >> 8) & 0x1FFF);
|
||||
int desired_torque = ((GET_BYTES_04(to_send) >> 8) & 0x1FFFU);
|
||||
bool violation = 0;
|
||||
uint32_t ts = microsecond_timer_get();
|
||||
|
||||
@@ -276,48 +266,46 @@ static int subaru_legacy_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
return tx;
|
||||
}
|
||||
|
||||
static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
static int subaru_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
|
||||
int bus_fwd = -1;
|
||||
|
||||
if (!relay_malfunction) {
|
||||
if (bus_num == 0) {
|
||||
bus_fwd = 2; // Camera CAN
|
||||
}
|
||||
if (bus_num == 2) {
|
||||
// Global platform
|
||||
// 0x122 ES_LKAS
|
||||
// 0x221 ES_Distance
|
||||
// 0x322 ES_LKAS_State
|
||||
int addr = GET_ADDR(to_fwd);
|
||||
int block_msg = ((addr == 0x122) || (addr == 0x221) || (addr == 0x322));
|
||||
if (!block_msg) {
|
||||
bus_fwd = 0; // Main CAN
|
||||
}
|
||||
if (bus_num == 0) {
|
||||
bus_fwd = 2; // Camera CAN
|
||||
}
|
||||
|
||||
if (bus_num == 2) {
|
||||
// Global platform
|
||||
// 0x122 ES_LKAS
|
||||
// 0x221 ES_Distance
|
||||
// 0x322 ES_LKAS_State
|
||||
int addr = GET_ADDR(to_fwd);
|
||||
int block_msg = ((addr == 0x122) || (addr == 0x221) || (addr == 0x322));
|
||||
if (!block_msg) {
|
||||
bus_fwd = 0; // Main CAN
|
||||
}
|
||||
}
|
||||
// fallback to do not forward
|
||||
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
static int subaru_legacy_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
static int subaru_legacy_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
|
||||
int bus_fwd = -1;
|
||||
|
||||
if (!relay_malfunction) {
|
||||
if (bus_num == 0) {
|
||||
bus_fwd = 2; // Camera CAN
|
||||
}
|
||||
if (bus_num == 2) {
|
||||
// Preglobal platform
|
||||
// 0x161 is ES_CruiseThrottle
|
||||
// 0x164 is ES_LKAS
|
||||
int addr = GET_ADDR(to_fwd);
|
||||
int block_msg = ((addr == 0x161) || (addr == 0x164));
|
||||
if (!block_msg) {
|
||||
bus_fwd = 0; // Main CAN
|
||||
}
|
||||
if (bus_num == 0) {
|
||||
bus_fwd = 2; // Camera CAN
|
||||
}
|
||||
|
||||
if (bus_num == 2) {
|
||||
// Preglobal platform
|
||||
// 0x161 is ES_CruiseThrottle
|
||||
// 0x164 is ES_LKAS
|
||||
int addr = GET_ADDR(to_fwd);
|
||||
int block_msg = ((addr == 0x161) || (addr == 0x164));
|
||||
if (!block_msg) {
|
||||
bus_fwd = 0; // Main CAN
|
||||
}
|
||||
}
|
||||
// fallback to do not forward
|
||||
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
|
||||
@@ -7,18 +7,29 @@ const struct lookup_t TESLA_LOOKUP_ANGLE_RATE_DOWN = {
|
||||
{5., 3.5, .8}};
|
||||
|
||||
const int TESLA_DEG_TO_CAN = 10;
|
||||
const float TESLA_MAX_ACCEL = 2.0; // m/s^2
|
||||
const float TESLA_MIN_ACCEL = -3.5; // m/s^2
|
||||
|
||||
const int TESLA_FLAG_POWERTRAIN = 1;
|
||||
const int TESLA_FLAG_LONGITUDINAL_CONTROL = 2;
|
||||
|
||||
const CanMsg TESLA_TX_MSGS[] = {
|
||||
{0x488, 0, 4}, // DAS_steeringControl
|
||||
{0x45, 0, 8}, // STW_ACTN_RQ
|
||||
{0x45, 2, 8}, // STW_ACTN_RQ
|
||||
{0x2b9, 0, 8}, // DAS_control
|
||||
};
|
||||
#define TESLA_TX_LEN (sizeof(TESLA_TX_MSGS) / sizeof(TESLA_TX_MSGS[0]))
|
||||
|
||||
const CanMsg TESLA_PT_TX_MSGS[] = {
|
||||
{0x2bf, 0, 8}, // DAS_control
|
||||
};
|
||||
#define TESLA_PT_TX_LEN (sizeof(TESLA_PT_TX_MSGS) / sizeof(TESLA_PT_TX_MSGS[0]))
|
||||
|
||||
AddrCheckStruct tesla_addr_checks[] = {
|
||||
{.msg = {{0x370, 0, 8, .expected_timestep = 40000U}, { 0 }, { 0 }}}, // EPAS_sysStatus (25Hz)
|
||||
{.msg = {{0x108, 0, 8, .expected_timestep = 10000U}, { 0 }, { 0 }}}, // DI_torque1 (100Hz)
|
||||
{.msg = {{0x118, 0, 6, .expected_timestep = 10000U}, { 0 }, { 0 }}}, // DI_torque2 (100Hz)
|
||||
{.msg = {{0x155, 0, 8, .expected_timestep = 20000U}, { 0 }, { 0 }}}, // ESP_B (50Hz)
|
||||
{.msg = {{0x20a, 0, 8, .expected_timestep = 20000U}, { 0 }, { 0 }}}, // BrakeMessage (50Hz)
|
||||
{.msg = {{0x368, 0, 8, .expected_timestep = 100000U}, { 0 }, { 0 }}}, // DI_state (10Hz)
|
||||
{.msg = {{0x318, 0, 8, .expected_timestep = 100000U}, { 0 }, { 0 }}}, // GTW_carState (10Hz)
|
||||
@@ -26,10 +37,20 @@ AddrCheckStruct tesla_addr_checks[] = {
|
||||
#define TESLA_ADDR_CHECK_LEN (sizeof(tesla_addr_checks) / sizeof(tesla_addr_checks[0]))
|
||||
addr_checks tesla_rx_checks = {tesla_addr_checks, TESLA_ADDR_CHECK_LEN};
|
||||
|
||||
bool autopilot_enabled = false;
|
||||
AddrCheckStruct tesla_pt_addr_checks[] = {
|
||||
{.msg = {{0x106, 0, 8, .expected_timestep = 10000U}, { 0 }, { 0 }}}, // DI_torque1 (100Hz)
|
||||
{.msg = {{0x116, 0, 6, .expected_timestep = 10000U}, { 0 }, { 0 }}}, // DI_torque2 (100Hz)
|
||||
{.msg = {{0x1f8, 0, 8, .expected_timestep = 20000U}, { 0 }, { 0 }}}, // BrakeMessage (50Hz)
|
||||
{.msg = {{0x256, 0, 8, .expected_timestep = 100000U}, { 0 }, { 0 }}}, // DI_state (10Hz)
|
||||
};
|
||||
#define TESLA_PT_ADDR_CHECK_LEN (sizeof(tesla_pt_addr_checks) / sizeof(tesla_pt_addr_checks[0]))
|
||||
addr_checks tesla_pt_rx_checks = {tesla_pt_addr_checks, TESLA_PT_ADDR_CHECK_LEN};
|
||||
|
||||
static int tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
bool valid = addr_safety_check(to_push, &tesla_rx_checks,
|
||||
bool tesla_longitudinal = false;
|
||||
bool tesla_powertrain = false; // Are we the second panda intercepting the powertrain bus?
|
||||
|
||||
static int tesla_rx_hook(CANPacket_t *to_push) {
|
||||
bool valid = addr_safety_check(to_push, tesla_powertrain ? (&tesla_pt_rx_checks) : (&tesla_rx_checks),
|
||||
NULL, NULL, NULL);
|
||||
|
||||
if(valid) {
|
||||
@@ -37,30 +58,32 @@ static int tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
if(bus == 0) {
|
||||
if(addr == 0x370) {
|
||||
// Steering angle: (0.1 * val) - 819.2 in deg.
|
||||
// Store it 1/10 deg to match steering request
|
||||
int angle_meas_new = (((GET_BYTE(to_push, 4) & 0x3F) << 8) | GET_BYTE(to_push, 5)) - 8192;
|
||||
update_sample(&angle_meas, angle_meas_new);
|
||||
if (!tesla_powertrain) {
|
||||
if(addr == 0x370) {
|
||||
// Steering angle: (0.1 * val) - 819.2 in deg.
|
||||
// Store it 1/10 deg to match steering request
|
||||
int angle_meas_new = (((GET_BYTE(to_push, 4) & 0x3FU) << 8) | GET_BYTE(to_push, 5)) - 8192U;
|
||||
update_sample(&angle_meas, angle_meas_new);
|
||||
}
|
||||
}
|
||||
|
||||
if(addr == 0x155) {
|
||||
// Vehicle speed: (0.01 * val) * KPH_TO_MPS
|
||||
vehicle_speed = ((GET_BYTE(to_push, 5) << 8) | (GET_BYTE(to_push, 6))) * 0.01 / 3.6;
|
||||
vehicle_moving = vehicle_speed > 0.;
|
||||
if(addr == (tesla_powertrain ? 0x116 : 0x118)) {
|
||||
// Vehicle speed: ((0.05 * val) - 25) * MPH_TO_MPS
|
||||
vehicle_speed = (((((GET_BYTE(to_push, 3) & 0x0FU) << 8) | (GET_BYTE(to_push, 2))) * 0.05) - 25) * 0.447;
|
||||
vehicle_moving = ABS(vehicle_speed) > 0.1;
|
||||
}
|
||||
|
||||
if(addr == 0x108) {
|
||||
if(addr == (tesla_powertrain ? 0x106 : 0x108)) {
|
||||
// Gas pressed
|
||||
gas_pressed = (GET_BYTE(to_push, 6) != 0);
|
||||
gas_pressed = (GET_BYTE(to_push, 6) != 0U);
|
||||
}
|
||||
|
||||
if(addr == 0x20a) {
|
||||
if(addr == (tesla_powertrain ? 0x1f8 : 0x20a)) {
|
||||
// Brake pressed
|
||||
brake_pressed = (((GET_BYTE(to_push, 0) & 0x0C) >> 2) != 1);
|
||||
brake_pressed = (((GET_BYTE(to_push, 0) & 0x0CU) >> 2) != 1U);
|
||||
}
|
||||
|
||||
if(addr == 0x368) {
|
||||
if(addr == (tesla_powertrain ? 0x256 : 0x368)) {
|
||||
// Cruise state
|
||||
int cruise_state = (GET_BYTE(to_push, 1) >> 4);
|
||||
bool cruise_engaged = (cruise_state == 2) || // ENABLED
|
||||
@@ -79,45 +102,34 @@ static int tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
}
|
||||
}
|
||||
|
||||
if (bus == 2) {
|
||||
if (addr == 0x399) {
|
||||
// Autopilot status
|
||||
int autopilot_status = (GET_BYTE(to_push, 0) & 0xF);
|
||||
autopilot_enabled = (autopilot_status == 3) || // ACTIVE_1
|
||||
(autopilot_status == 4) || // ACTIVE_2
|
||||
(autopilot_status == 5); // ACTIVE_NAVIGATE_ON_AUTOPILOT
|
||||
|
||||
if (autopilot_enabled) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
}
|
||||
if (tesla_powertrain) {
|
||||
// 0x2bf: DAS_control should not be received on bus 0
|
||||
generic_rx_checks((addr == 0x2bf) && (bus == 0));
|
||||
} else {
|
||||
// 0x488: DAS_steeringControl should not be received on bus 0
|
||||
generic_rx_checks((addr == 0x488) && (bus == 0));
|
||||
}
|
||||
|
||||
// 0x488: DAS_steeringControl should not be received on bus 0
|
||||
generic_rx_checks((addr == 0x488) && (bus == 0));
|
||||
}
|
||||
|
||||
return valid;
|
||||
}
|
||||
|
||||
|
||||
static int tesla_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
static int tesla_tx_hook(CANPacket_t *to_send) {
|
||||
int tx = 1;
|
||||
int addr = GET_ADDR(to_send);
|
||||
bool violation = false;
|
||||
|
||||
if(!msg_allowed(to_send, TESLA_TX_MSGS, sizeof(TESLA_TX_MSGS) / sizeof(TESLA_TX_MSGS[0]))) {
|
||||
if(!msg_allowed(to_send,
|
||||
tesla_powertrain ? TESLA_PT_TX_MSGS : TESLA_TX_MSGS,
|
||||
tesla_powertrain ? TESLA_PT_TX_LEN : TESLA_TX_LEN)) {
|
||||
tx = 0;
|
||||
}
|
||||
|
||||
if(relay_malfunction) {
|
||||
tx = 0;
|
||||
}
|
||||
|
||||
if(addr == 0x488) {
|
||||
if(!tesla_powertrain && (addr == 0x488)) {
|
||||
// Steering control: (0.1 * val) - 1638.35 in deg.
|
||||
// We use 1/10 deg as a unit here
|
||||
int raw_angle_can = (((GET_BYTE(to_send, 0) & 0x7F) << 8) | GET_BYTE(to_send, 1));
|
||||
int raw_angle_can = (((GET_BYTE(to_send, 0) & 0x7FU) << 8) | GET_BYTE(to_send, 1));
|
||||
int desired_angle = raw_angle_can - 16384;
|
||||
int steer_control_type = GET_BYTE(to_send, 2) >> 6;
|
||||
bool steer_control_enabled = (steer_control_type != 0) && // NONE
|
||||
@@ -150,14 +162,41 @@ static int tesla_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
}
|
||||
}
|
||||
|
||||
if(addr == 0x45) {
|
||||
if(!tesla_powertrain && (addr == 0x45)) {
|
||||
// No button other than cancel can be sent by us
|
||||
int control_lever_status = (GET_BYTE(to_send, 0) & 0x3F);
|
||||
int control_lever_status = (GET_BYTE(to_send, 0) & 0x3FU);
|
||||
if((control_lever_status != 0) && (control_lever_status != 1)) {
|
||||
violation = true;
|
||||
}
|
||||
}
|
||||
|
||||
if(addr == (tesla_powertrain ? 0x2bf : 0x2b9)) {
|
||||
// DAS_control: longitudinal control message
|
||||
if (tesla_longitudinal) {
|
||||
// No AEB events may be sent by openpilot
|
||||
int aeb_event = GET_BYTE(to_send, 2) & 0x03U;
|
||||
if (aeb_event != 0) {
|
||||
violation = true;
|
||||
}
|
||||
|
||||
// Don't allow any acceleration limits above the safety limits
|
||||
int raw_accel_max = ((GET_BYTE(to_send, 6) & 0x1FU) << 4) | (GET_BYTE(to_send, 5) >> 4);
|
||||
int raw_accel_min = ((GET_BYTE(to_send, 5) & 0x0FU) << 5) | (GET_BYTE(to_send, 4) >> 3);
|
||||
float accel_max = (0.04 * raw_accel_max) - 15;
|
||||
float accel_min = (0.04 * raw_accel_min) - 15;
|
||||
|
||||
if ((accel_max > TESLA_MAX_ACCEL) || (accel_min > TESLA_MAX_ACCEL)){
|
||||
violation = true;
|
||||
}
|
||||
|
||||
if ((accel_max < TESLA_MIN_ACCEL) || (accel_min < TESLA_MIN_ACCEL)){
|
||||
violation = true;
|
||||
}
|
||||
} else {
|
||||
violation = true;
|
||||
}
|
||||
}
|
||||
|
||||
if(violation) {
|
||||
controls_allowed = 0;
|
||||
tx = 0;
|
||||
@@ -166,35 +205,43 @@ static int tesla_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
return tx;
|
||||
}
|
||||
|
||||
static int tesla_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
static int tesla_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
|
||||
int bus_fwd = -1;
|
||||
int addr = GET_ADDR(to_fwd);
|
||||
|
||||
if(bus_num == 0) {
|
||||
// Chassis to autopilot
|
||||
// Chassis/PT to autopilot
|
||||
bus_fwd = 2;
|
||||
}
|
||||
|
||||
if(bus_num == 2) {
|
||||
// Autopilot to chassis
|
||||
bool block_msg = ((addr == 0x488) && !autopilot_enabled);
|
||||
// Autopilot to chassis/PT
|
||||
int das_control_addr = (tesla_powertrain ? 0x2bf : 0x2b9);
|
||||
|
||||
bool block_msg = false;
|
||||
if (!tesla_powertrain && (addr == 0x488)) {
|
||||
block_msg = true;
|
||||
}
|
||||
|
||||
if (tesla_longitudinal && (addr == das_control_addr)) {
|
||||
block_msg = true;
|
||||
}
|
||||
|
||||
if(!block_msg) {
|
||||
bus_fwd = 0;
|
||||
}
|
||||
}
|
||||
|
||||
if(relay_malfunction) {
|
||||
bus_fwd = -1;
|
||||
}
|
||||
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
static const addr_checks* tesla_init(int16_t param) {
|
||||
UNUSED(param);
|
||||
tesla_powertrain = GET_FLAG(param, TESLA_FLAG_POWERTRAIN);
|
||||
tesla_longitudinal = GET_FLAG(param, TESLA_FLAG_LONGITUDINAL_CONTROL);
|
||||
controls_allowed = 0;
|
||||
relay_malfunction_reset();
|
||||
return &tesla_rx_checks;
|
||||
|
||||
return tesla_powertrain ? (&tesla_pt_rx_checks) : (&tesla_rx_checks);
|
||||
}
|
||||
|
||||
const safety_hooks tesla_hooks = {
|
||||
|
||||
@@ -24,7 +24,7 @@ const int TOYOTA_STANDSTILL_THRSLD = 100; // 1kph
|
||||
// gas_norm2 = ((gain_dbc*gas2) + offset2_dbc)
|
||||
// In this safety: ((gas1 + gas2)/2) > THRESHOLD
|
||||
const int TOYOTA_GAS_INTERCEPTOR_THRSLD = 845;
|
||||
#define TOYOTA_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + (GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2) // avg between 2 tracks
|
||||
#define TOYOTA_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + (GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2U) // avg between 2 tracks
|
||||
|
||||
const CanMsg TOYOTA_TX_MSGS[] = {{0x283, 0, 7}, {0x2E6, 0, 8}, {0x2E7, 0, 8}, {0x33E, 0, 7}, {0x344, 0, 8}, {0x365, 0, 7}, {0x366, 0, 7}, {0x4CB, 0, 8}, // DSU bus 0
|
||||
{0x128, 1, 6}, {0x141, 1, 4}, {0x160, 1, 8}, {0x161, 1, 7}, {0x470, 1, 4}, // DSU bus 1
|
||||
@@ -44,7 +44,7 @@ addr_checks toyota_rx_checks = {toyota_addr_checks, TOYOTA_ADDR_CHECKS_LEN};
|
||||
// global actuation limit states
|
||||
int toyota_dbc_eps_torque_factor = 100; // conversion factor for STEER_TORQUE_EPS in %: see dbc file
|
||||
|
||||
static uint8_t toyota_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static uint8_t toyota_compute_checksum(CANPacket_t *to_push) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
int len = GET_LEN(to_push);
|
||||
uint8_t checksum = (uint8_t)(addr) + (uint8_t)((unsigned int)(addr) >> 8U) + (uint8_t)(len);
|
||||
@@ -54,17 +54,17 @@ static uint8_t toyota_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
return checksum;
|
||||
}
|
||||
|
||||
static uint8_t toyota_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
int checksum_byte = GET_LEN(to_push) - 1;
|
||||
static uint8_t toyota_get_checksum(CANPacket_t *to_push) {
|
||||
int checksum_byte = GET_LEN(to_push) - 1U;
|
||||
return (uint8_t)(GET_BYTE(to_push, checksum_byte));
|
||||
}
|
||||
|
||||
static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static int toyota_rx_hook(CANPacket_t *to_push) {
|
||||
|
||||
bool valid = addr_safety_check(to_push, &toyota_rx_checks,
|
||||
toyota_get_checksum, toyota_compute_checksum, NULL);
|
||||
|
||||
if (valid && (GET_BUS(to_push) == 0)) {
|
||||
if (valid && (GET_BUS(to_push) == 0U)) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
// get eps motor torque (0.66 factor in dbc)
|
||||
@@ -87,7 +87,7 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// exit controls on rising edge of gas press
|
||||
if (addr == 0x1D2) {
|
||||
// 5th bit is CRUISE_ACTIVE
|
||||
int cruise_engaged = GET_BYTE(to_push, 0) & 0x20;
|
||||
int cruise_engaged = GET_BYTE(to_push, 0) & 0x20U;
|
||||
if (!cruise_engaged) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
@@ -98,7 +98,7 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
// sample gas pedal
|
||||
if (!gas_interceptor_detected) {
|
||||
gas_pressed = ((GET_BYTE(to_push, 0) >> 4) & 1) == 0;
|
||||
gas_pressed = ((GET_BYTE(to_push, 0) >> 4) & 1U) == 0U;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -106,9 +106,9 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
if (addr == 0xaa) {
|
||||
int speed = 0;
|
||||
// sum 4 wheel speeds
|
||||
for (int i=0; i<8; i+=2) {
|
||||
int next_byte = i + 1; // hack to deal with misra 10.8
|
||||
speed += (GET_BYTE(to_push, i) << 8) + GET_BYTE(to_push, next_byte) - 0x1a6f;
|
||||
for (uint8_t i=0U; i<8U; i+=2U) {
|
||||
int wheel_speed = (GET_BYTE(to_push, i) << 8U) + GET_BYTE(to_push, (i+1U));
|
||||
speed += wheel_speed - 0x1a6f;
|
||||
}
|
||||
vehicle_moving = ABS(speed / 4) > TOYOTA_STANDSTILL_THRSLD;
|
||||
}
|
||||
@@ -116,7 +116,7 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// most cars have brake_pressed on 0x226, corolla and rav4 on 0x224
|
||||
if ((addr == 0x224) || (addr == 0x226)) {
|
||||
int byte = (addr == 0x224) ? 0 : 4;
|
||||
brake_pressed = ((GET_BYTE(to_push, byte) >> 5) & 1) != 0;
|
||||
brake_pressed = ((GET_BYTE(to_push, byte) >> 5) & 1U) != 0U;
|
||||
}
|
||||
|
||||
// sample gas interceptor
|
||||
@@ -134,7 +134,7 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
return valid;
|
||||
}
|
||||
|
||||
static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
static int toyota_tx_hook(CANPacket_t *to_send) {
|
||||
|
||||
int tx = 1;
|
||||
int addr = GET_ADDR(to_send);
|
||||
@@ -144,10 +144,6 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
tx = 0;
|
||||
}
|
||||
|
||||
if (relay_malfunction) {
|
||||
tx = 0;
|
||||
}
|
||||
|
||||
// Check if msg is sent on BUS 0
|
||||
if (bus == 0) {
|
||||
|
||||
@@ -180,8 +176,8 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
// only sent to prevent dash errors, no actuation is accepted
|
||||
if (addr == 0x191) {
|
||||
// check the STEER_REQUEST, STEER_REQUEST_2, and STEER_ANGLE_CMD signals
|
||||
bool lta_request = (GET_BYTE(to_send, 0) & 1) != 0;
|
||||
bool lta_request2 = ((GET_BYTE(to_send, 3) >> 1) & 1) != 0;
|
||||
bool lta_request = (GET_BYTE(to_send, 0) & 1U) != 0U;
|
||||
bool lta_request2 = ((GET_BYTE(to_send, 3) >> 1) & 1U) != 0U;
|
||||
int lta_angle = (GET_BYTE(to_send, 1) << 8) | GET_BYTE(to_send, 2);
|
||||
lta_angle = to_signed(lta_angle, 16);
|
||||
|
||||
@@ -251,26 +247,27 @@ static const addr_checks* toyota_init(int16_t param) {
|
||||
return &toyota_rx_checks;
|
||||
}
|
||||
|
||||
static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
static int toyota_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
|
||||
|
||||
int bus_fwd = -1;
|
||||
if (!relay_malfunction) {
|
||||
if (bus_num == 0) {
|
||||
bus_fwd = 2;
|
||||
}
|
||||
if (bus_num == 2) {
|
||||
int addr = GET_ADDR(to_fwd);
|
||||
// block stock lkas messages and stock acc messages (if OP is doing ACC)
|
||||
// in TSS2, 0x191 is LTA which we need to block to avoid controls collision
|
||||
int is_lkas_msg = ((addr == 0x2E4) || (addr == 0x412) || (addr == 0x191));
|
||||
// in TSS2 the camera does ACC as well, so filter 0x343
|
||||
int is_acc_msg = (addr == 0x343);
|
||||
int block_msg = is_lkas_msg || is_acc_msg;
|
||||
if (!block_msg) {
|
||||
bus_fwd = 0;
|
||||
}
|
||||
|
||||
if (bus_num == 0) {
|
||||
bus_fwd = 2;
|
||||
}
|
||||
|
||||
if (bus_num == 2) {
|
||||
int addr = GET_ADDR(to_fwd);
|
||||
// block stock lkas messages and stock acc messages (if OP is doing ACC)
|
||||
// in TSS2, 0x191 is LTA which we need to block to avoid controls collision
|
||||
int is_lkas_msg = ((addr == 0x2E4) || (addr == 0x412) || (addr == 0x191));
|
||||
// in TSS2 the camera does ACC as well, so filter 0x343
|
||||
int is_acc_msg = (addr == 0x343);
|
||||
int block_msg = is_lkas_msg || is_acc_msg;
|
||||
if (!block_msg) {
|
||||
bus_fwd = 0;
|
||||
}
|
||||
}
|
||||
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
|
||||
@@ -58,22 +58,22 @@ int volkswagen_lane_msg = 0;
|
||||
uint8_t volkswagen_crc8_lut_8h2f[256]; // Static lookup table for CRC8 poly 0x2F, aka 8H2F/AUTOSAR
|
||||
|
||||
|
||||
static uint8_t volkswagen_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static uint8_t volkswagen_get_checksum(CANPacket_t *to_push) {
|
||||
return (uint8_t)GET_BYTE(to_push, 0);
|
||||
}
|
||||
|
||||
static uint8_t volkswagen_mqb_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static uint8_t volkswagen_mqb_get_counter(CANPacket_t *to_push) {
|
||||
// MQB message counters are consistently found at LSB 8.
|
||||
return (uint8_t)GET_BYTE(to_push, 1) & 0xFU;
|
||||
}
|
||||
|
||||
static uint8_t volkswagen_pq_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static uint8_t volkswagen_pq_get_counter(CANPacket_t *to_push) {
|
||||
// Few PQ messages have counters, and their offsets are inconsistent. This
|
||||
// function works only for Lenkhilfe_3 at this time.
|
||||
return (uint8_t)(GET_BYTE(to_push, 1) & 0xF0U) >> 4;
|
||||
}
|
||||
|
||||
static uint8_t volkswagen_mqb_compute_crc(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static uint8_t volkswagen_mqb_compute_crc(CANPacket_t *to_push) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
int len = GET_LEN(to_push);
|
||||
|
||||
@@ -108,7 +108,7 @@ static uint8_t volkswagen_mqb_compute_crc(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
return crc ^ 0xFFU;
|
||||
}
|
||||
|
||||
static uint8_t volkswagen_pq_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static uint8_t volkswagen_pq_compute_checksum(CANPacket_t *to_push) {
|
||||
int len = GET_LEN(to_push);
|
||||
uint8_t checksum = 0U;
|
||||
|
||||
@@ -140,12 +140,12 @@ static const addr_checks* volkswagen_pq_init(int16_t param) {
|
||||
return &volkswagen_pq_rx_checks;
|
||||
}
|
||||
|
||||
static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static int volkswagen_mqb_rx_hook(CANPacket_t *to_push) {
|
||||
|
||||
bool valid = addr_safety_check(to_push, &volkswagen_mqb_rx_checks,
|
||||
volkswagen_get_checksum, volkswagen_mqb_compute_crc, volkswagen_mqb_get_counter);
|
||||
|
||||
if (valid && (GET_BUS(to_push) == 0)) {
|
||||
if (valid && (GET_BUS(to_push) == 0U)) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
// Update in-motion state by sampling front wheel speeds
|
||||
@@ -163,8 +163,8 @@ static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// Signal: LH_EPS_03.EPS_Lenkmoment (absolute torque)
|
||||
// Signal: LH_EPS_03.EPS_VZ_Lenkmoment (direction)
|
||||
if (addr == MSG_LH_EPS_03) {
|
||||
int torque_driver_new = GET_BYTE(to_push, 5) | ((GET_BYTE(to_push, 6) & 0x1F) << 8);
|
||||
int sign = (GET_BYTE(to_push, 6) & 0x80) >> 7;
|
||||
int torque_driver_new = GET_BYTE(to_push, 5) | ((GET_BYTE(to_push, 6) & 0x1FU) << 8);
|
||||
int sign = (GET_BYTE(to_push, 6) & 0x80U) >> 7;
|
||||
if (sign == 1) {
|
||||
torque_driver_new *= -1;
|
||||
}
|
||||
@@ -174,7 +174,7 @@ static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// Enter controls on rising edge of stock ACC, exit controls if stock ACC disengages
|
||||
// Signal: TSK_06.TSK_Status
|
||||
if (addr == MSG_TSK_06) {
|
||||
int acc_status = (GET_BYTE(to_push, 3) & 0x7);
|
||||
int acc_status = (GET_BYTE(to_push, 3) & 0x7U);
|
||||
int cruise_engaged = ((acc_status == 3) || (acc_status == 4) || (acc_status == 5)) ? 1 : 0;
|
||||
if (cruise_engaged && !cruise_engaged_prev) {
|
||||
controls_allowed = 1;
|
||||
@@ -187,12 +187,12 @@ static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
// Signal: Motor_20.MO_Fahrpedalrohwert_01
|
||||
if (addr == MSG_MOTOR_20) {
|
||||
gas_pressed = ((GET_BYTES_04(to_push) >> 12) & 0xFF) != 0;
|
||||
gas_pressed = ((GET_BYTES_04(to_push) >> 12) & 0xFFU) != 0U;
|
||||
}
|
||||
|
||||
// Signal: ESP_05.ESP_Fahrer_bremst
|
||||
if (addr == MSG_ESP_05) {
|
||||
brake_pressed = (GET_BYTE(to_push, 3) & 0x4) >> 2;
|
||||
brake_pressed = (GET_BYTE(to_push, 3) & 0x4U) >> 2;
|
||||
}
|
||||
|
||||
generic_rx_checks((addr == MSG_HCA_01));
|
||||
@@ -200,18 +200,18 @@ static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
return valid;
|
||||
}
|
||||
|
||||
static int volkswagen_pq_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static int volkswagen_pq_rx_hook(CANPacket_t *to_push) {
|
||||
|
||||
bool valid = addr_safety_check(to_push, &volkswagen_pq_rx_checks,
|
||||
volkswagen_get_checksum, volkswagen_pq_compute_checksum, volkswagen_pq_get_counter);
|
||||
|
||||
if (valid && (GET_BUS(to_push) == 0)) {
|
||||
if (valid && (GET_BUS(to_push) == 0U)) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
// Update in-motion state from speed value.
|
||||
// Signal: Bremse_1.Geschwindigkeit_neu__Bremse_1_
|
||||
if (addr == MSG_BREMSE_1) {
|
||||
int speed = ((GET_BYTE(to_push, 2) & 0xFE) >> 1) | (GET_BYTE(to_push, 3) << 7);
|
||||
int speed = ((GET_BYTE(to_push, 2) & 0xFEU) >> 1) | (GET_BYTE(to_push, 3) << 7);
|
||||
// DBC speed scale 0.01: 0.3m/s = 108.
|
||||
vehicle_moving = speed > 108;
|
||||
}
|
||||
@@ -220,8 +220,8 @@ static int volkswagen_pq_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// Signal: Lenkhilfe_3.LH3_LM (absolute torque)
|
||||
// Signal: Lenkhilfe_3.LH3_LMSign (direction)
|
||||
if (addr == MSG_LENKHILFE_3) {
|
||||
int torque_driver_new = GET_BYTE(to_push, 2) | ((GET_BYTE(to_push, 3) & 0x3) << 8);
|
||||
int sign = (GET_BYTE(to_push, 3) & 0x4) >> 2;
|
||||
int torque_driver_new = GET_BYTE(to_push, 2) | ((GET_BYTE(to_push, 3) & 0x3U) << 8);
|
||||
int sign = (GET_BYTE(to_push, 3) & 0x4U) >> 2;
|
||||
if (sign == 1) {
|
||||
torque_driver_new *= -1;
|
||||
}
|
||||
@@ -231,7 +231,7 @@ static int volkswagen_pq_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// Enter controls on rising edge of stock ACC, exit controls if stock ACC disengages
|
||||
// Signal: Motor_2.GRA_Status
|
||||
if (addr == MSG_MOTOR_2) {
|
||||
int acc_status = (GET_BYTE(to_push, 2) & 0xC0) >> 6;
|
||||
int acc_status = (GET_BYTE(to_push, 2) & 0xC0U) >> 6;
|
||||
int cruise_engaged = ((acc_status == 1) || (acc_status == 2)) ? 1 : 0;
|
||||
if (cruise_engaged && !cruise_engaged_prev) {
|
||||
controls_allowed = 1;
|
||||
@@ -249,7 +249,7 @@ static int volkswagen_pq_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
// Signal: Motor_2.Bremslichtschalter
|
||||
if (addr == MSG_MOTOR_2) {
|
||||
brake_pressed = (GET_BYTE(to_push, 2) & 0x1);
|
||||
brake_pressed = (GET_BYTE(to_push, 2) & 0x1U);
|
||||
}
|
||||
|
||||
generic_rx_checks((addr == MSG_HCA_1));
|
||||
@@ -297,11 +297,11 @@ static bool volkswagen_steering_check(int desired_torque) {
|
||||
return violation;
|
||||
}
|
||||
|
||||
static int volkswagen_mqb_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
static int volkswagen_mqb_tx_hook(CANPacket_t *to_send) {
|
||||
int addr = GET_ADDR(to_send);
|
||||
int tx = 1;
|
||||
|
||||
if (!msg_allowed(to_send, VOLKSWAGEN_MQB_TX_MSGS, VOLKSWAGEN_MQB_TX_MSGS_LEN) || relay_malfunction) {
|
||||
if (!msg_allowed(to_send, VOLKSWAGEN_MQB_TX_MSGS, VOLKSWAGEN_MQB_TX_MSGS_LEN)) {
|
||||
tx = 0;
|
||||
}
|
||||
|
||||
@@ -309,8 +309,8 @@ static int volkswagen_mqb_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
// Signal: HCA_01.Assist_Torque (absolute torque)
|
||||
// Signal: HCA_01.Assist_VZ (direction)
|
||||
if (addr == MSG_HCA_01) {
|
||||
int desired_torque = GET_BYTE(to_send, 2) | ((GET_BYTE(to_send, 3) & 0x3F) << 8);
|
||||
int sign = (GET_BYTE(to_send, 3) & 0x80) >> 7;
|
||||
int desired_torque = GET_BYTE(to_send, 2) | ((GET_BYTE(to_send, 3) & 0x3FU) << 8);
|
||||
int sign = (GET_BYTE(to_send, 3) & 0x80U) >> 7;
|
||||
if (sign == 1) {
|
||||
desired_torque *= -1;
|
||||
}
|
||||
@@ -324,7 +324,7 @@ static int volkswagen_mqb_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
// This avoids unintended engagements while still allowing resume spam
|
||||
if ((addr == MSG_GRA_ACC_01) && !controls_allowed) {
|
||||
// disallow resume and set: bits 16 and 19
|
||||
if ((GET_BYTE(to_send, 2) & 0x9) != 0) {
|
||||
if ((GET_BYTE(to_send, 2) & 0x9U) != 0U) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
@@ -333,11 +333,11 @@ static int volkswagen_mqb_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
return tx;
|
||||
}
|
||||
|
||||
static int volkswagen_pq_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
static int volkswagen_pq_tx_hook(CANPacket_t *to_send) {
|
||||
int addr = GET_ADDR(to_send);
|
||||
int tx = 1;
|
||||
|
||||
if (!msg_allowed(to_send, VOLKSWAGEN_PQ_TX_MSGS, VOLKSWAGEN_PQ_TX_MSGS_LEN) || relay_malfunction) {
|
||||
if (!msg_allowed(to_send, VOLKSWAGEN_PQ_TX_MSGS, VOLKSWAGEN_PQ_TX_MSGS_LEN)) {
|
||||
tx = 0;
|
||||
}
|
||||
|
||||
@@ -345,9 +345,9 @@ static int volkswagen_pq_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
// Signal: HCA_1.LM_Offset (absolute torque)
|
||||
// Signal: HCA_1.LM_Offsign (direction)
|
||||
if (addr == MSG_HCA_1) {
|
||||
int desired_torque = GET_BYTE(to_send, 2) | ((GET_BYTE(to_send, 3) & 0x7F) << 8);
|
||||
int desired_torque = GET_BYTE(to_send, 2) | ((GET_BYTE(to_send, 3) & 0x7FU) << 8);
|
||||
desired_torque = desired_torque / 32; // DBC scale from PQ network to centi-Nm
|
||||
int sign = (GET_BYTE(to_send, 3) & 0x80) >> 7;
|
||||
int sign = (GET_BYTE(to_send, 3) & 0x80U) >> 7;
|
||||
if (sign == 1) {
|
||||
desired_torque *= -1;
|
||||
}
|
||||
@@ -361,7 +361,7 @@ static int volkswagen_pq_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
// This avoids unintended engagements while still allowing resume spam
|
||||
if ((addr == MSG_GRA_NEU) && !controls_allowed) {
|
||||
// disallow resume and set: bits 16 and 17
|
||||
if ((GET_BYTE(to_send, 2) & 0x3) != 0) {
|
||||
if ((GET_BYTE(to_send, 2) & 0x3U) != 0U) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
@@ -370,31 +370,30 @@ static int volkswagen_pq_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
return tx;
|
||||
}
|
||||
|
||||
static int volkswagen_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
static int volkswagen_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
|
||||
int addr = GET_ADDR(to_fwd);
|
||||
int bus_fwd = -1;
|
||||
|
||||
if (!relay_malfunction) {
|
||||
switch (bus_num) {
|
||||
case 0:
|
||||
// Forward all traffic from the Extended CAN onward
|
||||
bus_fwd = 2;
|
||||
break;
|
||||
case 2:
|
||||
if ((addr == volkswagen_torque_msg) || (addr == volkswagen_lane_msg)) {
|
||||
// OP takes control of the Heading Control Assist and Lane Departure Warning messages from the camera
|
||||
bus_fwd = -1;
|
||||
} else {
|
||||
// Forward all remaining traffic from Extended CAN devices to J533 gateway
|
||||
bus_fwd = 0;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
// No other buses should be in use; fallback to do-not-forward
|
||||
switch (bus_num) {
|
||||
case 0:
|
||||
// Forward all traffic from the Extended CAN onward
|
||||
bus_fwd = 2;
|
||||
break;
|
||||
case 2:
|
||||
if ((addr == volkswagen_torque_msg) || (addr == volkswagen_lane_msg)) {
|
||||
// OP takes control of the Heading Control Assist and Lane Departure Warning messages from the camera
|
||||
bus_fwd = -1;
|
||||
break;
|
||||
}
|
||||
} else {
|
||||
// Forward all remaining traffic from Extended CAN devices to J533 gateway
|
||||
bus_fwd = 0;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
// No other buses should be in use; fallback to do-not-forward
|
||||
bus_fwd = -1;
|
||||
break;
|
||||
}
|
||||
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
|
||||
@@ -1,3 +1,9 @@
|
||||
#define GET_BIT(msg, b) (((msg)->data[((b) / 8U)] >> ((b) % 8U)) & 0x1U)
|
||||
#define GET_BYTE(msg, b) ((msg)->data[(b)])
|
||||
#define GET_BYTES_04(msg) ((msg)->data[0] | ((msg)->data[1] << 8U) | ((msg)->data[2] << 16U) | ((msg)->data[3] << 24U))
|
||||
#define GET_BYTES_48(msg) ((msg)->data[4] | ((msg)->data[5] << 8U) | ((msg)->data[6] << 16U) | ((msg)->data[7] << 24U))
|
||||
#define GET_FLAG(value, mask) (((__typeof__(mask))(value) & (mask)) == (mask))
|
||||
|
||||
const int MAX_WRONG_COUNTERS = 5;
|
||||
const uint8_t MAX_MISSED_MSGS = 10U;
|
||||
|
||||
@@ -48,8 +54,8 @@ typedef struct {
|
||||
int len;
|
||||
} addr_checks;
|
||||
|
||||
int safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
|
||||
int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
|
||||
int safety_rx_hook(CANPacket_t *to_push);
|
||||
int safety_tx_hook(CANPacket_t *to_send);
|
||||
int safety_tx_lin_hook(int lin_num, uint8_t *data, int len);
|
||||
uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last);
|
||||
int to_signed(int d, int bits);
|
||||
@@ -63,25 +69,25 @@ bool driver_limit_check(int val, int val_last, struct sample_t *val_driver,
|
||||
bool rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA);
|
||||
float interpolate(struct lookup_t xy, float x);
|
||||
void gen_crc_lookup_table(uint8_t poly, uint8_t crc_lut[]);
|
||||
bool msg_allowed(CAN_FIFOMailBox_TypeDef *to_send, const CanMsg msg_list[], int len);
|
||||
int get_addr_check_index(CAN_FIFOMailBox_TypeDef *to_push, AddrCheckStruct addr_list[], const int len);
|
||||
bool msg_allowed(CANPacket_t *to_send, const CanMsg msg_list[], int len);
|
||||
int get_addr_check_index(CANPacket_t *to_push, AddrCheckStruct addr_list[], const int len);
|
||||
void update_counter(AddrCheckStruct addr_list[], int index, uint8_t counter);
|
||||
void update_addr_timestamp(AddrCheckStruct addr_list[], int index);
|
||||
bool is_msg_valid(AddrCheckStruct addr_list[], int index);
|
||||
bool addr_safety_check(CAN_FIFOMailBox_TypeDef *to_push,
|
||||
bool addr_safety_check(CANPacket_t *to_push,
|
||||
const addr_checks *rx_checks,
|
||||
uint8_t (*get_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
|
||||
uint8_t (*compute_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
|
||||
uint8_t (*get_counter)(CAN_FIFOMailBox_TypeDef *to_push));
|
||||
uint8_t (*get_checksum)(CANPacket_t *to_push),
|
||||
uint8_t (*compute_checksum)(CANPacket_t *to_push),
|
||||
uint8_t (*get_counter)(CANPacket_t *to_push));
|
||||
void generic_rx_checks(bool stock_ecu_detected);
|
||||
void relay_malfunction_set(void);
|
||||
void relay_malfunction_reset(void);
|
||||
|
||||
typedef const addr_checks* (*safety_hook_init)(int16_t param);
|
||||
typedef int (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
|
||||
typedef int (*tx_hook)(CAN_FIFOMailBox_TypeDef *to_send);
|
||||
typedef int (*rx_hook)(CANPacket_t *to_push);
|
||||
typedef int (*tx_hook)(CANPacket_t *to_send);
|
||||
typedef int (*tx_lin_hook)(int lin_num, uint8_t *data, int len);
|
||||
typedef int (*fwd_hook)(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd);
|
||||
typedef int (*fwd_hook)(int bus_num, CANPacket_t *to_fwd);
|
||||
|
||||
typedef struct {
|
||||
safety_hook_init init;
|
||||
@@ -105,6 +111,7 @@ bool brake_pressed_prev = false;
|
||||
bool cruise_engaged_prev = false;
|
||||
float vehicle_speed = 0;
|
||||
bool vehicle_moving = false;
|
||||
bool acc_main_on = false; // referred to as "ACC off" in ISO 15622:2018
|
||||
|
||||
// for safety modes with torque steering control
|
||||
int desired_torque_last = 0; // last desired steer torque
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user