mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-29 04:03:43 +08:00
Compare commits
5 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Vehicle Researcher
|
37192c1aba | ||
|
Adeeb Shihadeh
|
58bdb272a7 | ||
|
Vehicle Researcher
|
baffaeee93 | ||
|
Adeeb Shihadeh
|
444aace15f | ||
|
Vehicle Researcher
|
5face13bc5 |
@@ -42,6 +42,7 @@ 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
|
||||
@@ -75,3 +76,5 @@ comma*.sh
|
||||
|
||||
selfdrive/modeld/thneed/compile
|
||||
models/*.thneed
|
||||
|
||||
*.bz2
|
||||
|
||||
Vendored
+23
-5
@@ -49,7 +49,6 @@ def phone_steps(String device_type, steps) {
|
||||
pipeline {
|
||||
agent none
|
||||
environment {
|
||||
COMMA_JWT = credentials('athena-test-jwt')
|
||||
TEST_DIR = "/data/openpilot"
|
||||
SOURCE_DIR = "/data/openpilot_source/"
|
||||
}
|
||||
@@ -71,7 +70,24 @@ pipeline {
|
||||
}
|
||||
steps {
|
||||
phone_steps("eon-build", [
|
||||
["build release2-staging and dashcam-staging", "cd release && PUSH=1 ./build_release2.sh"],
|
||||
["build release2-staging & dashcam-staging", "cd release && PUSH=1 ./build_release2.sh"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('Build release3') {
|
||||
agent {
|
||||
docker {
|
||||
image 'python:3.7.3'
|
||||
args '--user=root'
|
||||
}
|
||||
}
|
||||
when {
|
||||
branch 'devel-staging'
|
||||
}
|
||||
steps {
|
||||
phone_steps("tici", [
|
||||
["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release3.sh"],
|
||||
])
|
||||
}
|
||||
}
|
||||
@@ -80,7 +96,10 @@ pipeline {
|
||||
when {
|
||||
not {
|
||||
anyOf {
|
||||
branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'testing-closet*'; branch 'hotfix-*'
|
||||
branch 'master-ci'; branch 'devel'; branch 'devel-staging';
|
||||
branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging';
|
||||
branch 'release3'; branch 'release3-staging'; branch 'dashcam3'; branch 'dashcam3-staging';
|
||||
branch 'testing-closet*'; branch 'hotfix-*'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -152,7 +171,7 @@ pipeline {
|
||||
phone_steps("eon", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
["test athena", "nosetests -s selfdrive/athena/tests/test_athenad_old.py"],
|
||||
["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
|
||||
["test sounds", "nosetests -s selfdrive/ui/tests/test_sounds.py"],
|
||||
["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
|
||||
["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
|
||||
["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
|
||||
@@ -191,7 +210,6 @@ pipeline {
|
||||
phone_steps("tici", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
|
||||
//["build release3-staging", "cd release && PUSH=${env.R3_PUSH} ./build_release3.sh"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
[](#)
|
||||
|
||||
|
||||
Table of Contents
|
||||
=======================
|
||||
@@ -57,7 +57,7 @@ openpilot should preserve all other vehicle's stock features, including, but are
|
||||
Supported Hardware
|
||||
------
|
||||
|
||||
At the moment, openpilot supports the EON Gold DevKit and the [comma two](https://comma.ai/shop/products/comma-two-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON or comma two to the car. For experimental purposes, openpilot can also run on an Ubuntu computer with external [webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
|
||||
At the moment, openpilot supports the EON Gold DevKit, [comma two](https://comma.ai/shop/products/two), and [comma three](https://comma.ai/shop/products/three). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect your device to the car. For experimental purposes, openpilot can also run on an Ubuntu computer with external [webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
|
||||
|
||||
Supported Cars
|
||||
------
|
||||
@@ -77,6 +77,7 @@ Supported Cars
|
||||
| Honda | CR-V 2015-16 | Touring | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | CR-V 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | e 2020 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Fit 2018-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | HR-V 2019-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Insight 2019-21 | All | Stock | 0mph | 3mph |
|
||||
@@ -110,7 +111,7 @@ Supported Cars
|
||||
| Toyota | C-HR 2017-20 | 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 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla 2020-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hatchback 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
@@ -138,7 +139,7 @@ Community Maintained Cars and Features
|
||||
|
||||
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
|
||||
| Audi | A3 2014-18 | Prestige | Stock | 0mph | 0mph |
|
||||
| Audi | A3 2014-19 | Prestige | Stock | 0mph | 0mph |
|
||||
| Audi | A3 Sportback e-tron 2017-18 | Prestige | Stock | 0mph | 0mph |
|
||||
| Audi | Q2 2018 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Buick | Regal 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
@@ -162,14 +163,17 @@ Community Maintained Cars and Features
|
||||
| Hyundai | Ioniq Electric 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Ioniq PHEV 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Kona 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Kona EV 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Kona EV 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Kona Hybrid 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Santa Fe 2019-20 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2018-2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata Hybrid 2021 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Veloster 2019-20 | SCC + LKAS | Stock | 5mph | 0mph |
|
||||
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Jeep | Grand Cherokee 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Kia | Forte 2018-2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Niro EV 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Forte 2018-21 | SCC + LKAS | 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 |
|
||||
| Kia | Optima 2017 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Kia | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
@@ -177,14 +181,15 @@ Community Maintained Cars and Features
|
||||
| Kia | Sorento 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Ceed 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Telluride 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Nissan | Altima 2019-20 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | Leaf 2018-20 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | Rogue 2018-20 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | X-Trail 2017 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| SEAT | Ateca 2018 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| SEAT | Leon 2014-2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Kodiaq 2018 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Octavia 2015, 2019 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Kodiaq 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Octavia 2015, 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Octavia RS 2016 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Scala 2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Superb 2015-18 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
@@ -194,16 +199,17 @@ Community Maintained Cars and Features
|
||||
| Subaru | Impreza 2017-19 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Atlas 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| e-Golf 2014, 2019-20 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf 2015-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf 2015-20 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf Alltrack 2017-18 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf GTE 2016 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf GTI 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf GTI 2018-20 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf R 2016-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf SportsVan 2016 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf SportWagen 2015 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Jetta 2018-20 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Jetta GLI 2021 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Passat 2016-17<sup>2</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| T-Cross 2021 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Tiguan 2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Touran 2017 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
|
||||
@@ -219,7 +225,7 @@ Although they're not upstream, the community has openpilot running on other make
|
||||
Installation Instructions
|
||||
------
|
||||
|
||||
Install openpilot on an EON Gold or comma two by entering ``https://openpilot.comma.ai`` during the installer setup.
|
||||
Install openpilot on a supported device by entering ``https://openpilot.comma.ai`` during the installer setup.
|
||||
|
||||
Follow these [video instructions](https://youtu.be/lcjqxCymins) to properly mount the device on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise device mounting.
|
||||
|
||||
@@ -298,13 +304,13 @@ openpilot is open source software: the user is free to disable data collection i
|
||||
openpilot logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
|
||||
The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
|
||||
|
||||
By using openpilot, you agree to [our Privacy Policy](https://my.comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
|
||||
By using openpilot, you agree to [our Privacy Policy](https://connect.comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
|
||||
|
||||
Safety and Testing
|
||||
----
|
||||
|
||||
* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more details.
|
||||
* openpilot has software in the loop [tests](.github/workflows/test.yaml) that run on every commit.
|
||||
* openpilot has software in the loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
|
||||
* The safety model code lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
|
||||
* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
|
||||
* Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
|
||||
|
||||
+27
@@ -1,3 +1,30 @@
|
||||
Version 0.8.9 (2021-09-14)
|
||||
========================
|
||||
* Improved fan control on comma three
|
||||
* AGNOS 1.5: improved stability
|
||||
* Honda e 2020 support
|
||||
|
||||
Version 0.8.8 (2021-08-27)
|
||||
========================
|
||||
* New driving model with improved laneless performance
|
||||
* Trained on 5000+ hours of diverse driving data from 3000+ users in 40+ countries
|
||||
* Better anti-cheating methods during simulator training ensure the model hugs less when in laneless mode
|
||||
* All new desire ground-truthing stack makes the model better at lane changes
|
||||
* New driver monitoring model: improved performance on comma three
|
||||
* NEOS 18 for comma two: update packages
|
||||
* AGNOS 1.3 for comma three: fix display init at high temperatures
|
||||
* Improved auto-exposure on comma three
|
||||
* Improved longitudinal control on Honda Nidec cars
|
||||
* Hyundai Kona Hybrid 2020 support thanks to haram-KONA!
|
||||
* Hyundai Sonata Hybrid 2021 support thanks to Matt-Wash-Burn!
|
||||
* Kia Niro Hybrid 2021 support thanks to tetious!
|
||||
|
||||
Version 0.8.7 (2021-07-31)
|
||||
========================
|
||||
* comma three support!
|
||||
* Navigation alpha for the comma three!
|
||||
* Volkswagen T-Cross 2021 support thanks to jyoung8607!
|
||||
|
||||
Version 0.8.6 (2021-07-21)
|
||||
========================
|
||||
* Revamp lateral and longitudinal planners
|
||||
|
||||
@@ -15,7 +15,7 @@ used safely** and openpilot is provided with no warranty of fitness for any purp
|
||||
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/MISRAHome/MISRAC2012/tabid/196/Default.aspx))
|
||||
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.
|
||||
|
||||
|
||||
+16
-12
@@ -166,6 +166,10 @@ else:
|
||||
if arch != "Darwin":
|
||||
ldflags += ["-Wl,--as-needed"]
|
||||
|
||||
# Enable swaglog include in submodules
|
||||
cflags += ["-DSWAGLOG"]
|
||||
cxxflags += ["-DSWAGLOG"]
|
||||
|
||||
# change pythonpath to this
|
||||
lenv["PYTHONPATH"] = Dir("#").path
|
||||
|
||||
@@ -344,6 +348,17 @@ if GetOption("clazy"):
|
||||
|
||||
Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM')
|
||||
|
||||
SConscript(['selfdrive/common/SConscript'])
|
||||
Import('_common', '_gpucommon', '_gpu_libs')
|
||||
|
||||
if SHARED:
|
||||
common, gpucommon = abspath(common), abspath(gpucommon)
|
||||
else:
|
||||
common = [_common, 'json11']
|
||||
gpucommon = [_gpucommon] + _gpu_libs
|
||||
|
||||
Export('common', 'gpucommon')
|
||||
|
||||
# cereal and messaging are shared with the system
|
||||
SConscript(['cereal/SConscript'])
|
||||
if SHARED:
|
||||
@@ -354,18 +369,7 @@ else:
|
||||
messaging = [File('#cereal/libmessaging.a')]
|
||||
visionipc = [File('#cereal/libvisionipc.a')]
|
||||
|
||||
Export('cereal', 'messaging')
|
||||
|
||||
SConscript(['selfdrive/common/SConscript'])
|
||||
Import('_common', '_gpucommon', '_gpu_libs')
|
||||
|
||||
if SHARED:
|
||||
common, gpucommon = abspath(common), abspath(gpucommon)
|
||||
else:
|
||||
common = [_common, 'json11']
|
||||
gpucommon = [_gpucommon] + _gpu_libs
|
||||
|
||||
Export('common', 'gpucommon', 'visionipc')
|
||||
Export('cereal', 'messaging', 'visionipc')
|
||||
|
||||
# Build rednose library and ekf models
|
||||
|
||||
|
||||
+6
-6
@@ -1,4 +1,4 @@
|
||||
Import('env', 'envCython', 'arch')
|
||||
Import('env', 'envCython', 'arch', 'common')
|
||||
|
||||
import shutil
|
||||
|
||||
@@ -40,10 +40,10 @@ messaging_objects = env.SharedObject([
|
||||
messaging_lib = env.Library('messaging', messaging_objects)
|
||||
Depends('messaging/impl_zmq.cc', services_h)
|
||||
|
||||
env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
|
||||
env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq', common])
|
||||
Depends('messaging/bridge.cc', services_h)
|
||||
|
||||
envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq"])
|
||||
envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq", common])
|
||||
|
||||
|
||||
# Build Vision IPC
|
||||
@@ -63,7 +63,7 @@ vipc_objects = env.SharedObject(vipc_sources)
|
||||
vipc = env.Library('visionipc', vipc_objects)
|
||||
|
||||
|
||||
libs = envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib]
|
||||
libs = envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib, common]
|
||||
if arch == "aarch64":
|
||||
libs += ["adreno_utils"]
|
||||
if arch == "Darwin":
|
||||
@@ -73,5 +73,5 @@ envCython.Program('visionipc/visionipc_pyx.so', 'visionipc/visionipc_pyx.pyx', L
|
||||
|
||||
|
||||
if GetOption('test'):
|
||||
env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib])
|
||||
env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'], LIBS=[vipc, messaging_lib, 'zmq', 'pthread', 'OpenCL'])
|
||||
env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib, common])
|
||||
env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'], LIBS=[vipc, messaging_lib, 'zmq', 'pthread', 'OpenCL', common])
|
||||
|
||||
+22
-8
@@ -108,6 +108,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
driverCameraError @101;
|
||||
wideRoadCameraError @102;
|
||||
localizerMalfunction @103;
|
||||
highCpuUsage @105;
|
||||
|
||||
driverMonitorLowAccDEPRECATED @68;
|
||||
radarCanErrorDEPRECATED @15;
|
||||
@@ -156,6 +157,7 @@ struct CarState {
|
||||
|
||||
# steering wheel
|
||||
steeringAngleDeg @7 :Float32;
|
||||
steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple
|
||||
steeringRateDeg @15 :Float32;
|
||||
steeringTorque @8 :Float32; # TODO: standardize units
|
||||
steeringTorqueEps @27 :Float32; # TODO: standardize units
|
||||
@@ -297,11 +299,22 @@ struct CarControl {
|
||||
|
||||
struct Actuators {
|
||||
# range from 0.0 - 1.0
|
||||
gas @0: Float32;
|
||||
brake @1: Float32;
|
||||
gasDEPRECATED @0: Float32;
|
||||
brakeDEPRECATED @1: Float32;
|
||||
# range from -1.0 - 1.0
|
||||
steer @2: Float32;
|
||||
steeringAngleDeg @3: Float32;
|
||||
|
||||
accel @4: Float32; # m/s^2
|
||||
longControlState @5: LongControlState;
|
||||
|
||||
enum LongControlState @0xe40f3a917d908282{
|
||||
off @0;
|
||||
pid @1;
|
||||
stopping @2;
|
||||
starting @3;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
struct CruiseControl {
|
||||
@@ -377,10 +390,10 @@ struct CarParams {
|
||||
|
||||
steerMaxBP @11 :List(Float32);
|
||||
steerMaxV @12 :List(Float32);
|
||||
gasMaxBP @13 :List(Float32);
|
||||
gasMaxV @14 :List(Float32);
|
||||
brakeMaxBP @15 :List(Float32);
|
||||
brakeMaxV @16 :List(Float32);
|
||||
gasMaxBPDEPRECATED @13 :List(Float32);
|
||||
gasMaxVDEPRECATED @14 :List(Float32);
|
||||
brakeMaxBPDEPRECATED @15 :List(Float32);
|
||||
brakeMaxVDEPRECATED @16 :List(Float32);
|
||||
|
||||
# things about the car in the manual
|
||||
mass @17 :Float32; # [kg] curb weight: all fluids no cargo
|
||||
@@ -413,10 +426,11 @@ struct CarParams {
|
||||
steerControlType @34 :SteerControlType;
|
||||
radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
|
||||
minSpeedCan @51 :Float32; # Minimum vehicle speed from CAN (below this value drops to 0)
|
||||
stoppingBrakeRate @52 :Float32; # brake_travel/s while trying to stop
|
||||
startingBrakeRate @53 :Float32; # brake_travel/s while releasing on restart
|
||||
stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
|
||||
startingAccelRate @53 :Float32; # m/s^2/s while trying to start
|
||||
|
||||
steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
|
||||
longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds
|
||||
openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
|
||||
carVin @38 :Text; # VIN number queried during fingerprinting
|
||||
dashcamOnly @41: Bool;
|
||||
|
||||
+14
-17
@@ -289,15 +289,11 @@ struct CanData {
|
||||
}
|
||||
|
||||
struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
freeSpacePercent @7 :Float32;
|
||||
memoryUsagePercent @19 :Int8;
|
||||
cpuUsagePercent @20 :Int8;
|
||||
gpuUsagePercent @33 :Int8;
|
||||
usbOnline @12 :Bool;
|
||||
networkType @22 :NetworkType;
|
||||
networkInfo @31 :NetworkInfo;
|
||||
offroadPowerUsageUwh @23 :UInt32;
|
||||
networkStrength @24 :NetworkStrength;
|
||||
offroadPowerUsageUwh @23 :UInt32;
|
||||
carBatteryCapacityUwh @25 :UInt32;
|
||||
|
||||
fanSpeedPercentDesired @10 :UInt16;
|
||||
@@ -306,11 +302,15 @@ struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
|
||||
lastAthenaPingTime @32 :UInt64;
|
||||
|
||||
# system utilization
|
||||
freeSpacePercent @7 :Float32;
|
||||
memoryUsagePercent @19 :Int8;
|
||||
gpuUsagePercent @33 :Int8;
|
||||
cpuUsagePercent @34 :List(Int8); # per-core cpu usage
|
||||
|
||||
# power
|
||||
batteryPercent @8 :Int16;
|
||||
batteryStatus @9 :Text;
|
||||
batteryCurrent @15 :Int32;
|
||||
batteryVoltage @16 :Int32;
|
||||
chargingError @17 :Bool;
|
||||
chargingDisabled @18 :Bool;
|
||||
|
||||
@@ -318,7 +318,6 @@ struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
cpuTempC @26 :List(Float32);
|
||||
gpuTempC @27 :List(Float32);
|
||||
memoryTempC @28 :Float32;
|
||||
batteryTempC @29 :Float32;
|
||||
ambientTempC @30 :Float32;
|
||||
thermalStatus @14 :ThermalStatus;
|
||||
|
||||
@@ -365,6 +364,10 @@ struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
gpuDEPRECATED @5 :UInt16;
|
||||
batDEPRECATED @6 :UInt32;
|
||||
pa0DEPRECATED @21 :UInt16;
|
||||
cpuUsagePercentDEPRECATED @20 :Int8;
|
||||
batteryStatusDEPRECATED @9 :Text;
|
||||
batteryVoltageDEPRECATED @16 :Int32;
|
||||
batteryTempCDEPRECATED @29 :Float32;
|
||||
}
|
||||
|
||||
struct PandaState @0xa7649e2575e4591e {
|
||||
@@ -432,6 +435,7 @@ struct PandaState @0xa7649e2575e4591e {
|
||||
pedal @4;
|
||||
uno @5;
|
||||
dos @6;
|
||||
redPanda @7;
|
||||
}
|
||||
|
||||
enum UsbPowerMode {
|
||||
@@ -529,7 +533,7 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
enabled @19 :Bool;
|
||||
active @36 :Bool;
|
||||
|
||||
longControlState @30 :LongControlState;
|
||||
longControlState @30 :Car.CarControl.Actuators.LongControlState;
|
||||
vPid @2 :Float32;
|
||||
vTargetLead @3 :Float32;
|
||||
vCruise @22 :Float32;
|
||||
@@ -568,13 +572,6 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
softDisabling @3;
|
||||
}
|
||||
|
||||
enum LongControlState {
|
||||
off @0;
|
||||
pid @1;
|
||||
stopping @2;
|
||||
starting @3;
|
||||
}
|
||||
|
||||
enum AlertStatus {
|
||||
normal @0; # low priority alert for user's convenience
|
||||
userPrompt @1; # mid priority alert that might require user intervention
|
||||
@@ -933,7 +930,7 @@ struct LiveLocationKalman {
|
||||
angularVelocityDevice @8 : Measurement;
|
||||
|
||||
# orientationNEDCalibrated transforms to rot matrix: NED_from_calibrated
|
||||
orientationNEDCalibrated @9 : Measurement;
|
||||
calibratedOrientationNED @9 : Measurement;
|
||||
|
||||
# Calibrated frame is simply device frame
|
||||
# aligned with the vehicle
|
||||
|
||||
@@ -0,0 +1,20 @@
|
||||
#pragma once
|
||||
|
||||
#ifdef SWAGLOG
|
||||
#include "selfdrive/common/swaglog.h"
|
||||
#else
|
||||
|
||||
#define CLOUDLOG_DEBUG 10
|
||||
#define CLOUDLOG_INFO 20
|
||||
#define CLOUDLOG_WARNING 30
|
||||
#define CLOUDLOG_ERROR 40
|
||||
#define CLOUDLOG_CRITICAL 50
|
||||
|
||||
#define cloudlog(lvl, fmt, ...) printf(fmt "\n", ## __VA_ARGS__)
|
||||
|
||||
#define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__)
|
||||
#define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__)
|
||||
#define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__)
|
||||
#define LOGE(fmt, ...) cloudlog(CLOUDLOG_ERROR, fmt, ## __VA_ARGS__)
|
||||
|
||||
#endif
|
||||
@@ -13,6 +13,7 @@ from cereal.services import service_list
|
||||
assert MultiplePublishersError
|
||||
assert MessagingError
|
||||
|
||||
NO_TRAVERSAL_LIMIT = 2**64-1
|
||||
AVG_FREQ_HISTORY = 100
|
||||
SIMULATION = "SIMULATION" in os.environ
|
||||
|
||||
@@ -26,6 +27,9 @@ except ImportError:
|
||||
|
||||
context = Context()
|
||||
|
||||
def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
|
||||
return log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT)
|
||||
|
||||
def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
|
||||
dat = log.Event.new_message()
|
||||
dat.logMonoTime = int(sec_since_boot() * 1e9)
|
||||
@@ -83,7 +87,7 @@ def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.ca
|
||||
if dat is None: # Timeout hit
|
||||
break
|
||||
|
||||
dat = log.Event.from_bytes(dat)
|
||||
dat = log_from_bytes(dat)
|
||||
ret.append(dat)
|
||||
|
||||
return ret
|
||||
@@ -106,20 +110,20 @@ def recv_sock(sock: SubSocket, wait: bool = False) -> Union[None, capnp.lib.capn
|
||||
dat = rcv
|
||||
|
||||
if dat is not None:
|
||||
dat = log.Event.from_bytes(dat)
|
||||
dat = log_from_bytes(dat)
|
||||
|
||||
return dat
|
||||
|
||||
def recv_one(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
|
||||
dat = sock.receive()
|
||||
if dat is not None:
|
||||
dat = log.Event.from_bytes(dat)
|
||||
dat = log_from_bytes(dat)
|
||||
return dat
|
||||
|
||||
def recv_one_or_none(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
|
||||
dat = sock.receive(non_blocking=True)
|
||||
if dat is not None:
|
||||
dat = log.Event.from_bytes(dat)
|
||||
dat = log_from_bytes(dat)
|
||||
return dat
|
||||
|
||||
def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
|
||||
@@ -127,7 +131,7 @@ def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
|
||||
while True:
|
||||
dat = sock.receive()
|
||||
if dat is not None:
|
||||
return log.Event.from_bytes(dat)
|
||||
return log_from_bytes(dat)
|
||||
|
||||
class SubMaster():
|
||||
def __init__(self, services: List[str], poll: Optional[List[str]] = None,
|
||||
|
||||
@@ -69,7 +69,7 @@ public:
|
||||
SubMaster(const std::vector<const char *> &service_list,
|
||||
const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
|
||||
void update(int timeout = 1000);
|
||||
void update_msgs(uint64_t current_time, std::vector<std::pair<std::string, cereal::Event::Reader>> messages);
|
||||
void update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages);
|
||||
inline bool allAlive(const std::vector<const char *> &service_list = {}) { return all_(service_list, false, true); }
|
||||
inline bool allValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, false); }
|
||||
inline bool allAliveAndValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, true); }
|
||||
|
||||
@@ -91,7 +91,7 @@ int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
|
||||
strcpy(full_path, prefix);
|
||||
strcat(full_path, path);
|
||||
|
||||
auto fd = open(full_path, O_RDWR | O_CREAT, 0777);
|
||||
auto fd = open(full_path, O_RDWR | O_CREAT, 0664);
|
||||
if (fd < 0) {
|
||||
std::cout << "Warning, could not open: " << full_path << std::endl;
|
||||
delete[] full_path;
|
||||
|
||||
@@ -92,7 +92,9 @@ void SubMaster::update(int timeout) {
|
||||
SubMessage *m = messages_.at(s);
|
||||
|
||||
m->msg_reader->~FlatArrayMessageReader();
|
||||
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg));
|
||||
capnp::ReaderOptions options;
|
||||
options.traversalLimitInWords = kj::maxValue; // Don't limit
|
||||
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg), options);
|
||||
delete msg;
|
||||
messages.push_back({m->name, m->msg_reader->getRoot<cereal::Event>()});
|
||||
}
|
||||
@@ -100,7 +102,7 @@ void SubMaster::update(int timeout) {
|
||||
update_msgs(current_time, messages);
|
||||
}
|
||||
|
||||
void SubMaster::update_msgs(uint64_t current_time, std::vector<std::pair<std::string, cereal::Event::Reader>> messages){
|
||||
void SubMaster::update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages){
|
||||
if (++frame == UINT64_MAX) frame = 1;
|
||||
|
||||
for(auto &kv : messages) {
|
||||
|
||||
@@ -61,6 +61,9 @@ services = {
|
||||
"modelV2": (True, 20., 40),
|
||||
"managerState": (True, 2., 1),
|
||||
"uploaderState": (True, 0., 1),
|
||||
|
||||
# debug
|
||||
"testJoystick": (False, 0.),
|
||||
}
|
||||
service_list = {name: Service(new_port(idx), *vals) for # type: ignore
|
||||
idx, (name, vals) in enumerate(services.items())}
|
||||
|
||||
@@ -49,15 +49,14 @@ class VisionBuf {
|
||||
|
||||
// ion
|
||||
int handle = 0;
|
||||
bool owner = false;
|
||||
|
||||
void allocate(size_t len);
|
||||
void import();
|
||||
void init_cl(cl_device_id device_id, cl_context ctx);
|
||||
void init_rgb(size_t width, size_t height, size_t stride);
|
||||
void init_yuv(size_t width, size_t height);
|
||||
void sync(int dir);
|
||||
void free();
|
||||
int sync(int dir);
|
||||
int free();
|
||||
};
|
||||
|
||||
void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);
|
||||
|
||||
@@ -20,7 +20,7 @@ static void *malloc_with_fd(size_t len, int *fd) {
|
||||
snprintf(full_path, sizeof(full_path)-1, "/dev/shm/visionbuf_%d_%d", getpid(), offset++);
|
||||
#endif
|
||||
|
||||
*fd = open(full_path, O_RDWR | O_CREAT, 0777);
|
||||
*fd = open(full_path, O_RDWR | O_CREAT, 0664);
|
||||
assert(*fd >= 0);
|
||||
|
||||
unlink(full_path);
|
||||
@@ -60,27 +60,36 @@ void VisionBuf::import(){
|
||||
}
|
||||
|
||||
|
||||
void VisionBuf::sync(int dir) {
|
||||
int VisionBuf::sync(int dir) {
|
||||
int err = 0;
|
||||
if (!this->buf_cl) return;
|
||||
if (!this->buf_cl) return 0;
|
||||
|
||||
if (dir == VISIONBUF_SYNC_FROM_DEVICE) {
|
||||
err = clEnqueueReadBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
|
||||
} else {
|
||||
err = clEnqueueWriteBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
|
||||
}
|
||||
assert(err == 0);
|
||||
clFinish(this->copy_q);
|
||||
}
|
||||
|
||||
void VisionBuf::free() {
|
||||
if (this->buf_cl){
|
||||
int err = clReleaseMemObject(this->buf_cl);
|
||||
assert(err == 0);
|
||||
|
||||
clReleaseCommandQueue(this->copy_q);
|
||||
if (err == 0){
|
||||
err = clFinish(this->copy_q);
|
||||
}
|
||||
|
||||
munmap(this->addr, this->len);
|
||||
close(this->fd);
|
||||
return err;
|
||||
}
|
||||
|
||||
int VisionBuf::free() {
|
||||
int err = 0;
|
||||
if (this->buf_cl){
|
||||
err = clReleaseMemObject(this->buf_cl);
|
||||
if (err != 0) return err;
|
||||
|
||||
err = clReleaseCommandQueue(this->copy_q);
|
||||
if (err != 0) return err;
|
||||
}
|
||||
|
||||
err = munmap(this->addr, this->len);
|
||||
if (err != 0) return err;
|
||||
|
||||
err = close(this->fd);
|
||||
return err;
|
||||
}
|
||||
|
||||
@@ -62,7 +62,6 @@ void VisionBuf::allocate(size_t len) {
|
||||
|
||||
memset(addr, 0, ion_alloc.len);
|
||||
|
||||
this->owner = true;
|
||||
this->len = len;
|
||||
this->mmap_len = ion_alloc.len;
|
||||
this->addr = addr;
|
||||
@@ -82,7 +81,6 @@ void VisionBuf::import(){
|
||||
err = ioctl(ion_fd, ION_IOC_IMPORT, &fd_data);
|
||||
assert(err == 0);
|
||||
|
||||
this->owner = false;
|
||||
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);
|
||||
@@ -106,9 +104,7 @@ void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx) {
|
||||
}
|
||||
|
||||
|
||||
void VisionBuf::sync(int dir) {
|
||||
int err;
|
||||
|
||||
int VisionBuf::sync(int dir) {
|
||||
struct ion_flush_data flush_data = {0};
|
||||
flush_data.handle = this->handle;
|
||||
flush_data.vaddr = this->addr;
|
||||
@@ -126,23 +122,23 @@ void VisionBuf::sync(int dir) {
|
||||
ION_IOC_INV_CACHES : ION_IOC_CLEAN_CACHES;
|
||||
|
||||
custom_data.arg = (unsigned long)&flush_data;
|
||||
err = ioctl(ion_fd, ION_IOC_CUSTOM, &custom_data);
|
||||
assert(err == 0);
|
||||
return ioctl(ion_fd, ION_IOC_CUSTOM, &custom_data);
|
||||
}
|
||||
|
||||
void VisionBuf::free() {
|
||||
int VisionBuf::free() {
|
||||
int err = 0;
|
||||
|
||||
if (this->buf_cl){
|
||||
int err = clReleaseMemObject(this->buf_cl);
|
||||
assert(err == 0);
|
||||
err = clReleaseMemObject(this->buf_cl);
|
||||
if (err != 0) return err;
|
||||
}
|
||||
|
||||
munmap(this->addr, this->mmap_len);
|
||||
close(this->fd);
|
||||
err = munmap(this->addr, this->mmap_len);
|
||||
if (err != 0) return err;
|
||||
|
||||
// Free the ION buffer if we also shared it
|
||||
if (this->owner){
|
||||
struct ion_handle_data handle_data = {.handle = this->handle};
|
||||
int ret = ioctl(ion_fd, ION_IOC_FREE, &handle_data);
|
||||
assert(ret == 0);
|
||||
}
|
||||
err = close(this->fd);
|
||||
if (err != 0) return err;
|
||||
|
||||
struct ion_handle_data handle_data = {.handle = this->handle};
|
||||
return ioctl(ion_fd, ION_IOC_FREE, &handle_data);
|
||||
}
|
||||
|
||||
@@ -13,6 +13,9 @@ cdef extern from "visionbuf.h":
|
||||
cdef cppclass VisionBuf:
|
||||
void * addr
|
||||
size_t len
|
||||
size_t width
|
||||
size_t height
|
||||
size_t stride
|
||||
|
||||
cdef extern from "visionipc.h":
|
||||
struct VisionIpcBufExtra:
|
||||
@@ -27,3 +30,9 @@ cdef extern from "visionipc_server.h":
|
||||
VisionBuf * get_buffer(VisionStreamType)
|
||||
void send(VisionBuf *, VisionIpcBufExtra *, bool)
|
||||
void start_listener()
|
||||
|
||||
cdef extern from "visionipc_client.h":
|
||||
cdef cppclass VisionIpcClient:
|
||||
VisionIpcClient(string, VisionStreamType, bool, void*, void*)
|
||||
VisionBuf * recv(VisionIpcBufExtra *, int)
|
||||
bool connect(bool)
|
||||
|
||||
@@ -3,9 +3,10 @@
|
||||
#include <iostream>
|
||||
#include <thread>
|
||||
|
||||
#include "ipc.h"
|
||||
#include "visionipc_client.h"
|
||||
#include "visionipc_server.h"
|
||||
#include "visionipc/ipc.h"
|
||||
#include "visionipc/visionipc_client.h"
|
||||
#include "visionipc/visionipc_server.h"
|
||||
#include "logger/logger.h"
|
||||
|
||||
VisionIpcClient::VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id, cl_context ctx) : name(name), type(type), device_id(device_id), ctx(ctx) {
|
||||
msg_ctx = Context::create();
|
||||
@@ -21,8 +22,11 @@ bool VisionIpcClient::connect(bool blocking){
|
||||
|
||||
// Cleanup old buffers on reconnect
|
||||
for (size_t i = 0; i < num_buffers; i++){
|
||||
buffers[i].free();
|
||||
if (buffers[i].free() != 0) {
|
||||
LOGE("Failed to free buffer %zu", i);
|
||||
}
|
||||
}
|
||||
|
||||
num_buffers = 0;
|
||||
|
||||
// Connect to server socket and ask for all FDs of type
|
||||
@@ -101,7 +105,10 @@ VisionBuf * VisionIpcClient::recv(VisionIpcBufExtra * extra, const int timeout_m
|
||||
*extra = packet->extra;
|
||||
}
|
||||
|
||||
buf->sync(VISIONBUF_SYNC_TO_DEVICE);
|
||||
if (buf->sync(VISIONBUF_SYNC_TO_DEVICE) != 0) {
|
||||
LOGE("Failed to sync buffer");
|
||||
}
|
||||
|
||||
delete r;
|
||||
return buf;
|
||||
}
|
||||
@@ -110,7 +117,9 @@ VisionBuf * VisionIpcClient::recv(VisionIpcBufExtra * extra, const int timeout_m
|
||||
|
||||
VisionIpcClient::~VisionIpcClient(){
|
||||
for (size_t i = 0; i < num_buffers; i++){
|
||||
buffers[i].free();
|
||||
if (buffers[i].free() != 0) {
|
||||
LOGE("Failed to free buffer %zu", i);
|
||||
}
|
||||
}
|
||||
|
||||
delete sock;
|
||||
|
||||
@@ -2,12 +2,16 @@
|
||||
# cython: c_string_encoding=ascii, language_level=3
|
||||
|
||||
import sys
|
||||
from libcpp.string cimport string
|
||||
from libcpp cimport bool
|
||||
import numpy as np
|
||||
cimport numpy as cnp
|
||||
from cython.view cimport array
|
||||
from libc.string cimport memcpy
|
||||
from libc.stdint cimport uint32_t, uint64_t
|
||||
from libcpp cimport bool
|
||||
from libcpp.string cimport string
|
||||
|
||||
from .visionipc cimport VisionIpcServer as cppVisionIpcServer
|
||||
from .visionipc cimport VisionIpcClient as cppVisionIpcClient
|
||||
from .visionipc cimport VisionBuf as cppVisionBuf
|
||||
from .visionipc cimport VisionIpcBufExtra
|
||||
|
||||
@@ -19,6 +23,7 @@ cpdef enum VisionStreamType:
|
||||
VISION_STREAM_YUV_FRONT
|
||||
VISION_STREAM_YUV_WIDE
|
||||
|
||||
|
||||
cdef class VisionIpcServer:
|
||||
cdef cppVisionIpcServer * server
|
||||
|
||||
@@ -47,3 +52,39 @@ cdef class VisionIpcServer:
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.server
|
||||
|
||||
|
||||
cdef class VisionIpcClient:
|
||||
cdef cppVisionBuf * buf
|
||||
cdef cppVisionIpcClient * client
|
||||
|
||||
def __cinit__(self, string name, VisionStreamType stream, bool conflate):
|
||||
self.client = new cppVisionIpcClient(name, stream, conflate, NULL, NULL)
|
||||
self.buf = NULL
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.client
|
||||
|
||||
@property
|
||||
def width(self):
|
||||
return None if not self.buf else self.buf.width
|
||||
|
||||
@property
|
||||
def height(self):
|
||||
return None if not self.buf else self.buf.height
|
||||
|
||||
@property
|
||||
def stride(self):
|
||||
return None if not self.buf else self.buf.stride
|
||||
|
||||
def recv(self, int timeout_ms=100):
|
||||
self.buf = self.client.recv(NULL, timeout_ms)
|
||||
if not self.buf:
|
||||
return None
|
||||
cdef cnp.ndarray dat = np.empty(self.buf.len, dtype=np.uint8)
|
||||
cdef char[:] dat_view = dat
|
||||
memcpy(&dat_view[0], self.buf.addr, self.buf.len)
|
||||
return dat
|
||||
|
||||
def connect(self, bool blocking):
|
||||
return self.client.connect(blocking)
|
||||
|
||||
@@ -10,6 +10,7 @@
|
||||
#include "messaging/messaging.h"
|
||||
#include "visionipc/ipc.h"
|
||||
#include "visionipc/visionipc_server.h"
|
||||
#include "logger/logger.h"
|
||||
|
||||
std::string get_endpoint_name(std::string name, VisionStreamType type){
|
||||
if (messaging_use_zmq()){
|
||||
@@ -122,7 +123,6 @@ void VisionIpcServer::listener(){
|
||||
bufs[i].buf_cl = 0;
|
||||
bufs[i].copy_q = 0;
|
||||
bufs[i].handle = 0;
|
||||
bufs[i].owner = false;
|
||||
|
||||
bufs[i].server_id = server_id;
|
||||
}
|
||||
@@ -146,7 +146,11 @@ VisionBuf * VisionIpcServer::get_buffer(VisionStreamType type){
|
||||
}
|
||||
|
||||
void VisionIpcServer::send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync){
|
||||
if (sync) buf->sync(VISIONBUF_SYNC_FROM_DEVICE);
|
||||
if (sync) {
|
||||
if (buf->sync(VISIONBUF_SYNC_FROM_DEVICE) != 0) {
|
||||
LOGE("Failed to sync buffer");
|
||||
}
|
||||
}
|
||||
assert(buffers.count(buf->type));
|
||||
assert(buf->idx < buffers[buf->type].size());
|
||||
|
||||
@@ -166,7 +170,9 @@ VisionIpcServer::~VisionIpcServer(){
|
||||
// VisionBuf cleanup
|
||||
for( auto const& [type, buf] : buffers ) {
|
||||
for (VisionBuf* b : buf){
|
||||
b->free();
|
||||
if (b->free() != 0) {
|
||||
LOGE("Failed to free buffer");
|
||||
}
|
||||
delete b;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,9 +1,12 @@
|
||||
import jwt
|
||||
import os
|
||||
import requests
|
||||
from datetime import datetime, timedelta
|
||||
from common.basedir import PERSIST
|
||||
from selfdrive.version import version
|
||||
|
||||
API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
|
||||
|
||||
class Api():
|
||||
def __init__(self, dongle_id):
|
||||
self.dongle_id = dongle_id
|
||||
@@ -34,12 +37,10 @@ class Api():
|
||||
|
||||
|
||||
def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
|
||||
backend = "https://api.commadotai.com/"
|
||||
|
||||
headers = {}
|
||||
if access_token is not None:
|
||||
headers['Authorization'] = "JWT "+access_token
|
||||
|
||||
headers['User-Agent'] = "openpilot-" + version
|
||||
|
||||
return requests.request(method, backend+endpoint, timeout=timeout, headers=headers, params=params)
|
||||
return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
|
||||
|
||||
+20
-42
@@ -39,28 +39,6 @@ def get_tmpdir_on_same_filesystem(path):
|
||||
return "/tmp"
|
||||
|
||||
|
||||
class AutoMoveTempdir():
|
||||
def __init__(self, target_path, temp_dir=None):
|
||||
self._target_path = target_path
|
||||
self._path = tempfile.mkdtemp(dir=temp_dir)
|
||||
|
||||
@property
|
||||
def name(self):
|
||||
return self._path
|
||||
|
||||
def close(self):
|
||||
os.rename(self._path, self._target_path)
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
if exc_type is None:
|
||||
self.close()
|
||||
else:
|
||||
shutil.rmtree(self._path)
|
||||
|
||||
|
||||
class NamedTemporaryDir():
|
||||
def __init__(self, temp_dir=None):
|
||||
self._path = tempfile.mkdtemp(dir=temp_dir)
|
||||
@@ -79,11 +57,28 @@ class NamedTemporaryDir():
|
||||
self.close()
|
||||
|
||||
|
||||
class CallbackReader:
|
||||
"""Wraps a file, but overrides the read method to also
|
||||
call a callback function with the number of bytes read so far."""
|
||||
def __init__(self, f, callback, *args):
|
||||
self.f = f
|
||||
self.callback = callback
|
||||
self.cb_args = args
|
||||
self.total_read = 0
|
||||
|
||||
def __getattr__(self, attr):
|
||||
return getattr(self.f, attr)
|
||||
|
||||
def read(self, *args, **kwargs):
|
||||
chunk = self.f.read(*args, **kwargs)
|
||||
self.total_read += len(chunk)
|
||||
self.callback(*self.cb_args, self.total_read)
|
||||
return chunk
|
||||
|
||||
|
||||
def _get_fileobject_func(writer, temp_dir):
|
||||
def _get_fileobject():
|
||||
file_obj = writer.get_fileobject(dir=temp_dir)
|
||||
os.chmod(file_obj.name, 0o644)
|
||||
return file_obj
|
||||
return writer.get_fileobject(dir=temp_dir)
|
||||
return _get_fileobject
|
||||
|
||||
|
||||
@@ -103,20 +98,3 @@ def atomic_write_in_dir(path, **kwargs):
|
||||
"""
|
||||
writer = AtomicWriter(path, **kwargs)
|
||||
return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
|
||||
|
||||
|
||||
def atomic_write_in_dir_neos(path, contents, mode=None):
|
||||
"""
|
||||
Atomically writes contents to path using a temporary file in the same directory
|
||||
as path. Useful on NEOS, where `os.link` (required by atomic_write_in_dir) is missing.
|
||||
"""
|
||||
|
||||
f = tempfile.NamedTemporaryFile(delete=False, prefix=".tmp", dir=os.path.dirname(path))
|
||||
f.write(contents)
|
||||
f.flush()
|
||||
if mode is not None:
|
||||
os.fchmod(f.fileno(), mode)
|
||||
os.fsync(f.fileno())
|
||||
f.close()
|
||||
|
||||
os.rename(f.name, path)
|
||||
|
||||
+13
-4
@@ -1,9 +1,18 @@
|
||||
class FirstOrderFilter():
|
||||
class FirstOrderFilter:
|
||||
# first order filter
|
||||
def __init__(self, x0, ts, dt):
|
||||
self.k = (dt / ts) / (1. + dt / ts)
|
||||
def __init__(self, x0, rc, dt, initialized=True):
|
||||
self.x = x0
|
||||
self.dt = dt
|
||||
self.update_alpha(rc)
|
||||
self.initialized = initialized
|
||||
|
||||
def update_alpha(self, rc):
|
||||
self.alpha = self.dt / (rc + self.dt)
|
||||
|
||||
def update(self, x):
|
||||
self.x = (1. - self.k) * self.x + self.k * x
|
||||
if self.initialized:
|
||||
self.x = (1. - self.alpha) * self.x + self.alpha * x
|
||||
else:
|
||||
self.initialized = True
|
||||
self.x = x
|
||||
return self.x
|
||||
|
||||
@@ -158,7 +158,7 @@ class SwagLogger(logging.Logger):
|
||||
evt.update(kwargs)
|
||||
if 'error' in kwargs:
|
||||
self.error(evt)
|
||||
if 'debug' in kwargs:
|
||||
elif 'debug' in kwargs:
|
||||
self.debug(evt)
|
||||
else:
|
||||
self.info(evt)
|
||||
|
||||
@@ -17,7 +17,7 @@ cdef extern from "selfdrive/common/params.h":
|
||||
ALL
|
||||
|
||||
cdef cppclass Params:
|
||||
Params(bool) nogil
|
||||
Params() nogil
|
||||
Params(string) nogil
|
||||
string get(string, bool) nogil
|
||||
bool getBool(string) nogil
|
||||
|
||||
@@ -30,11 +30,11 @@ class UnknownKeyName(Exception):
|
||||
cdef class Params:
|
||||
cdef c_Params* p
|
||||
|
||||
def __cinit__(self, d=None, bool persistent_params=False):
|
||||
def __cinit__(self, d=None):
|
||||
cdef string path
|
||||
if d is None:
|
||||
with nogil:
|
||||
self.p = new c_Params(persistent_params)
|
||||
self.p = new c_Params()
|
||||
else:
|
||||
path = <string>d.encode()
|
||||
with nogil:
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
{
|
||||
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266.zip",
|
||||
"ota_hash": "c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266",
|
||||
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-c5db3790c3b09756e8e896187ddb3f1258315eb0a86030468baa187b84a3bbf5.img",
|
||||
"recovery_len": 15209772,
|
||||
"recovery_hash": "c5db3790c3b09756e8e896187ddb3f1258315eb0a86030468baa187b84a3bbf5"
|
||||
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-5dc2575d713977666a8e14ae1b43a04d7f63123934c80fa10751d949a107653e.zip",
|
||||
"ota_hash": "5dc2575d713977666a8e14ae1b43a04d7f63123934c80fa10751d949a107653e",
|
||||
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-f01a55c9ba52ca57668d1684c6bf4118efd31916b04f8c1fcd8495013d3677eb.img",
|
||||
"recovery_len": 15222060,
|
||||
"recovery_hash": "f01a55c9ba52ca57668d1684c6bf4118efd31916b04f8c1fcd8495013d3677eb"
|
||||
}
|
||||
|
||||
+30
-6
@@ -10,11 +10,21 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
|
||||
|
||||
function two_init {
|
||||
|
||||
# Wifi scan
|
||||
wpa_cli IFNAME=wlan0 SCAN
|
||||
# set IO scheduler
|
||||
setprop sys.io.scheduler noop
|
||||
for f in /sys/block/*/queue/scheduler; do
|
||||
echo noop > $f
|
||||
done
|
||||
|
||||
# *** shield cores 2-3 ***
|
||||
|
||||
# TODO: should we enable this?
|
||||
# offline cores 2-3 to force recurring timers onto the other cores
|
||||
#echo 0 > /sys/devices/system/cpu/cpu2/online
|
||||
#echo 0 > /sys/devices/system/cpu/cpu3/online
|
||||
#echo 1 > /sys/devices/system/cpu/cpu2/online
|
||||
#echo 1 > /sys/devices/system/cpu/cpu3/online
|
||||
|
||||
# android gets two cores
|
||||
echo 0-1 > /dev/cpuset/background/cpus
|
||||
echo 0-1 > /dev/cpuset/system-background/cpus
|
||||
@@ -75,6 +85,9 @@ function two_init {
|
||||
# disable bluetooth
|
||||
service call bluetooth_manager 8
|
||||
|
||||
# wifi scan
|
||||
wpa_cli IFNAME=wlan0 SCAN
|
||||
|
||||
# Check for NEOS update
|
||||
if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
|
||||
if [ -f "$DIR/scripts/continue.sh" ]; then
|
||||
@@ -93,21 +106,32 @@ function two_init {
|
||||
}
|
||||
|
||||
function tici_init {
|
||||
# wait longer for weston to come up
|
||||
if [ -f "$BASEDIR/prebuilt" ]; then
|
||||
sleep 3
|
||||
fi
|
||||
|
||||
# setup governors
|
||||
sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor'
|
||||
sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu4/governor'
|
||||
|
||||
# TODO: move this to agnos
|
||||
# network manager config
|
||||
nmcli connection modify --temporary lte gsm.auto-config yes
|
||||
nmcli connection modify --temporary lte gsm.home-only yes
|
||||
sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
|
||||
|
||||
# set success flag for current boot slot
|
||||
sudo abctl --set_success
|
||||
|
||||
# Check if AGNOS update is required
|
||||
if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
|
||||
AGNOS_PY="$DIR/selfdrive/hardware/tici/agnos.py"
|
||||
MANIFEST="$DIR/selfdrive/hardware/tici/agnos.json"
|
||||
$DIR/selfdrive/hardware/tici/agnos.py --swap $MANIFEST
|
||||
|
||||
sleep 1
|
||||
sudo reboot
|
||||
if $AGNOS_PY --verify $MANIFEST; then
|
||||
sudo reboot
|
||||
fi
|
||||
$DIR/selfdrive/hardware/tici/updater $AGNOS_PY $MANIFEST
|
||||
fi
|
||||
}
|
||||
|
||||
|
||||
+2
-2
@@ -7,11 +7,11 @@ export OPENBLAS_NUM_THREADS=1
|
||||
export VECLIB_MAXIMUM_THREADS=1
|
||||
|
||||
if [ -z "$REQUIRED_NEOS_VERSION" ]; then
|
||||
export REQUIRED_NEOS_VERSION="17"
|
||||
export REQUIRED_NEOS_VERSION="18"
|
||||
fi
|
||||
|
||||
if [ -z "$AGNOS_VERSION" ]; then
|
||||
export AGNOS_VERSION="0.21"
|
||||
export AGNOS_VERSION="1.5"
|
||||
fi
|
||||
|
||||
if [ -z "$PASSIVE" ]; then
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -1,24 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -251,6 +233,24 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
CM_ "acura_ilx_2016_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,24 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -251,6 +233,24 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
CM_ "acura_rdx_2018_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -66,7 +66,7 @@ cdef extern from "common_dbc.h":
|
||||
double value
|
||||
|
||||
cdef struct SignalPackValue:
|
||||
const char * name
|
||||
string name
|
||||
double value
|
||||
|
||||
|
||||
|
||||
@@ -8,7 +8,7 @@
|
||||
#define ARRAYSIZE(x) (sizeof(x)/sizeof(x[0]))
|
||||
|
||||
struct SignalPackValue {
|
||||
const char* name;
|
||||
std::string name;
|
||||
double value;
|
||||
};
|
||||
|
||||
|
||||
@@ -51,12 +51,11 @@ CANPacker::CANPacker(const std::string& dbc_name) {
|
||||
uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &signals, int counter) {
|
||||
uint64_t ret = 0;
|
||||
for (const auto& sigval : signals) {
|
||||
std::string name = std::string(sigval.name);
|
||||
double value = sigval.value;
|
||||
|
||||
auto sig_it = signal_lookup.find(std::make_pair(address, name));
|
||||
auto sig_it = signal_lookup.find(std::make_pair(address, sigval.name));
|
||||
if (sig_it == signal_lookup.end()) {
|
||||
WARN("undefined signal %s - %d\n", name.c_str(), address);
|
||||
WARN("undefined signal %s - %d\n", sigval.name.c_str(), address);
|
||||
continue;
|
||||
}
|
||||
const auto& sig = sig_it->second;
|
||||
|
||||
@@ -33,15 +33,11 @@ cdef class CANPacker:
|
||||
|
||||
cdef uint64_t pack(self, addr, values, counter):
|
||||
cdef vector[SignalPackValue] values_thing
|
||||
values_thing.reserve(len(values))
|
||||
cdef SignalPackValue spv
|
||||
|
||||
names = []
|
||||
|
||||
for name, value in values.iteritems():
|
||||
n = name.encode('utf8')
|
||||
names.append(n) # TODO: find better way to keep reference to temp string around
|
||||
|
||||
spv.name = n
|
||||
spv.name = name.encode('utf8')
|
||||
spv.value = value
|
||||
values_thing.push_back(spv)
|
||||
|
||||
|
||||
@@ -175,18 +175,15 @@ cdef class CANDefine():
|
||||
val = self.dbc[0].vals[i]
|
||||
|
||||
sgname = val.name.decode('utf8')
|
||||
address = val.address
|
||||
def_val = val.def_val.decode('utf8')
|
||||
address = val.address
|
||||
msgname = address_to_msg_name[address]
|
||||
|
||||
#separate definition/value pairs
|
||||
# separate definition/value pairs
|
||||
def_val = def_val.split()
|
||||
values = [int(v) for v in def_val[::2]]
|
||||
defs = def_val[1::2]
|
||||
|
||||
if address not in dv:
|
||||
dv[address] = {}
|
||||
msgname = address_to_msg_name[address]
|
||||
dv[msgname] = {}
|
||||
|
||||
# two ways to lookup: address or msg name
|
||||
dv[address][sgname] = dict(zip(values, defs))
|
||||
|
||||
@@ -163,7 +163,7 @@ BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM
|
||||
BO_ 717 ASCM_2CD: 5 K124_ASCM
|
||||
|
||||
BO_ 810 TCICOnStarGPSPosition: 8 K73_TCIC
|
||||
SG_ GPSLongitude : 39|32@0+ (1,0) [0|0] "milliarcsecond" NEO
|
||||
SG_ GPSLongitude : 39|32@0+ (1,-2147483648) [0|0] "milliarcsecond" NEO
|
||||
SG_ GPSLatitude : 7|32@0+ (1,0) [0|0] "milliarcsecond" NEO
|
||||
|
||||
BO_ 840 EBCMWheelSpdFront: 4 K17_EBCM
|
||||
|
||||
@@ -1,24 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -251,6 +233,24 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
CM_ "honda_civic_touring_2016_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,24 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -251,6 +233,24 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
CM_ "honda_crv_executive_2016_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,24 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -251,6 +233,24 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
CM_ "honda_crv_touring_2016_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,24 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -251,6 +233,24 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
CM_ "honda_fit_ex_2018_can.dbc starts here";
|
||||
|
||||
|
||||
@@ -273,6 +273,9 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 316 GAS_PEDAL: 8 PCM
|
||||
SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
BO_ 342 STEERING_SENSORS: 6 EPS
|
||||
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
|
||||
@@ -299,6 +302,7 @@ BO_ 422 SCM_BUTTONS: 8 SCM
|
||||
SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
|
||||
@@ -1,341 +0,0 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
NS_ :
|
||||
NS_DESC_
|
||||
CM_
|
||||
BA_DEF_
|
||||
BA_
|
||||
VAL_
|
||||
CAT_DEF_
|
||||
CAT_
|
||||
FILTER
|
||||
BA_DEF_DEF_
|
||||
EV_DATA_
|
||||
ENVVAR_DATA_
|
||||
SGTYPE_
|
||||
SGTYPE_VAL_
|
||||
BA_DEF_SGTYPE_
|
||||
BA_SGTYPE_
|
||||
SIG_TYPE_REF_
|
||||
VAL_TABLE_
|
||||
SIG_GROUP_
|
||||
SIG_VALTYPE_
|
||||
SIGTYPE_VALTYPE_
|
||||
BO_TX_BU_
|
||||
BA_DEF_REL_
|
||||
BA_REL_
|
||||
BA_DEF_DEF_REL_
|
||||
BU_SG_REL_
|
||||
BU_EV_REL_
|
||||
BU_BO_REL_
|
||||
SG_MUL_VAL_
|
||||
|
||||
BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON
|
||||
|
||||
BO_ 344 ENGINE_DATA: 8 PCM
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
|
||||
SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
|
||||
SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm" EON
|
||||
SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
|
||||
SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
|
||||
SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" EON
|
||||
SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 420 VSA_STATUS: 8 VSA
|
||||
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
|
||||
SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
|
||||
SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
|
||||
SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 432 STANDSTILL: 7 VSA
|
||||
SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 464 WHEEL_SPEEDS: 8 VSA
|
||||
SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 506 BRAKE_COMMAND: 8 ADAS
|
||||
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
|
||||
SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
|
||||
|
||||
BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
|
||||
SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 773 SEATBELT_STATUS: 7 BDY
|
||||
SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 777 LOCK_STATUS: 8 XXX
|
||||
SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
|
||||
SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
|
||||
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
|
||||
SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ FCM_OFF_2 : 35|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
|
||||
|
||||
BO_ 804 CRUISE: 8 PCM
|
||||
SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
|
||||
SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
|
||||
SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
|
||||
SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 829 LKAS_HUD: 5 ADAS
|
||||
SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
|
||||
SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
|
||||
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
|
||||
|
||||
BO_ 892 CRUISE_PARAMS: 8 PCM
|
||||
SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 1029 DOORS_STATUS: 8 BDY
|
||||
SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
|
||||
CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
|
||||
CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
|
||||
CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
|
||||
CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
|
||||
CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
|
||||
CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
|
||||
|
||||
|
||||
VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
|
||||
VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
|
||||
VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
|
||||
VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "honda_hrv_touring_2019_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
BO_ 145 KINEMATICS: 8 XXX
|
||||
SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
|
||||
|
||||
BO_ 228 STEERING_CONTROL: 5 ADAS
|
||||
SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
|
||||
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
|
||||
|
||||
BO_ 316 GAS_PEDAL: 8 PCM
|
||||
SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
BO_ 342 STEERING_SENSORS: 6 EPS
|
||||
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 399 STEER_STATUS: 7 EPS
|
||||
SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
|
||||
SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 401 GEARBOX: 8 PCM
|
||||
SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
|
||||
SG_ GEAR : 43|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 422 SCM_BUTTONS: 8 SCM
|
||||
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
||||
SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 487 BRAKE_PRESSURE: 4 VSA
|
||||
SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
|
||||
SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
|
||||
SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 660 SCM_FEEDBACK: 8 SCM
|
||||
SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
|
||||
SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
|
||||
SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 884 STALK_STATUS: 8 XXX
|
||||
SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
|
||||
CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
|
||||
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
|
||||
VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
|
||||
VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
|
||||
VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
|
||||
VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
@@ -1,24 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -251,6 +233,24 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
CM_ "honda_odyssey_exl_2018.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,24 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -251,6 +233,24 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
CM_ "honda_odyssey_extreme_edition_2018_china_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,24 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -251,6 +233,24 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
CM_ "honda_pilot_touring_2017_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,24 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -251,6 +233,24 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
CM_ "honda_ridgeline_black_edition_2017_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1489,6 +1489,7 @@ BO_ 1157 LFAHDA_MFC: 4 XXX
|
||||
BO_ 913 BCM_PO_11: 8 Vector__XXX
|
||||
SG_ BCM_Door_Dri_Status : 5|1@0+ (1,0) [0|1] "" PT_ESC_ABS
|
||||
SG_ BCM_Shift_R_MT_SW_Status : 39|2@0+ (1,0) [0|3] "" PT_ESC_ABS
|
||||
SG_ LFA_Pressed : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1426 LABEL11: 8 XXX
|
||||
SG_ CC_React : 34|1@1+ (1,0) [0|1] "" XXX
|
||||
@@ -1637,14 +1638,20 @@ BO_ 1042 ICM_412h: 8 ICM
|
||||
SG_ PopupMessageOutput_7Level : 54|1@0+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ PopupMessageOutput_8Level : 55|1@0+ (1,0) [0|1] "" Vector__XXX
|
||||
|
||||
VAL_ 274 CUR_GR 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 7 "D" 8 "D" 14 "R" 0 "P";
|
||||
VAL_ 871 CF_Lvr_Gear 5 "D" 8 "S" 6 "N" 7 "R" 0 "P";
|
||||
VAL_ 882 Elect_Gear_Shifter 5 "D" 8 "S" 6 "N" 7 "R" 0 "P";
|
||||
VAL_ 1322 CF_Clu_Gear 1 "P" 2 "R" 4 "N" 8 "D";
|
||||
VAL_ 909 CF_VSM_Warn 2 "FCW" 3 "AEB";
|
||||
VAL_ 1157 LFA_Icon_State 0 "no_wheel" 1 "white_wheel" 2 "green_wheel" 3 "green_wheel_blink";
|
||||
VAL_ 1157 LFA_SysWarning 0 "no_message" 1 "switching_to_hda" 2 "switching_to_scc" 3 "lfa_error" 4 "check_hda" 5 "keep_hands_on_wheel_orange" 6 "keep_hands_on_wheel_red";
|
||||
VAL_ 1157 HDA_Icon_State 0 "no_hda" 1 "white_hda" 2 "green_hda";
|
||||
VAL_ 1157 HDA_SysWarning 0 "no_message" 1 "driving_convenience_systems_cancelled" 2 "highway_drive_assist_system_cancelled";
|
||||
BO_ 1348 Navi_HU: 8 XXX
|
||||
SG_ SpeedLim_Nav_Clu : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
|
||||
|
||||
|
||||
VAL_ 871 CF_Lvr_Gear 5 "D" 8 "S" 6 "N" 7 "R" 0 "P" ;
|
||||
VAL_ 1322 CF_Clu_Gear 1 "P" 2 "R" 4 "N" 8 "D" ;
|
||||
VAL_ 274 CUR_GR 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 7 "D" 8 "D" 14 "R" 0 "P" ;
|
||||
VAL_ 909 CF_VSM_Warn 2 "FCW" 3 "AEB" ;
|
||||
VAL_ 1157 HDA_Icon_State 0 "no_hda" 1 "white_hda" 2 "green_hda" ;
|
||||
VAL_ 1157 LFA_SysWarning 0 "no_message" 1 "switching_to_hda" 2 "switching_to_scc" 3 "lfa_error" 4 "check_hda" 5 "keep_hands_on_wheel_orange" 6 "keep_hands_on_wheel_red" ;
|
||||
VAL_ 1157 LFA_Icon_State 0 "no_wheel" 1 "white_wheel" 2 "green_wheel" 3 "green_wheel_blink" ;
|
||||
VAL_ 1157 HDA_SysWarning 0 "no_message" 1 "driving_convenience_systems_cancelled" 2 "highway_drive_assist_system_cancelled" ;
|
||||
VAL_ 882 Elect_Gear_Shifter 5 "D" 8 "S" 6 "N" 7 "R" 0 "P" ;
|
||||
CM_ "BO_ E_EMS11: All (plug-in) hybrids use this gas signal: CR_Vcu_AccPedDep_Pos, and all EVs use the Accel_Pedal_Pos signal. See hyundai/values.py for a specific car list";
|
||||
CM_ SG_ 1348 SpeedLim_Nav_Clu "Speed limit displayed on Nav, Cluster and HUD";
|
||||
@@ -1,41 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -265,6 +230,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -277,6 +243,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +286,11 @@ 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
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -381,6 +353,41 @@ 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";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "lexus_ct200h_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,41 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -265,6 +230,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -277,6 +243,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +286,11 @@ 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
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -381,6 +353,41 @@ 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";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "lexus_is_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,41 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -265,6 +230,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -277,6 +243,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +286,11 @@ 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
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -381,6 +353,41 @@ 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";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "lexus_nx300_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,41 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -265,6 +230,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -277,6 +243,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +286,11 @@ 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
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -381,6 +353,41 @@ 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";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "lexus_nx300h_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,41 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -265,6 +230,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -277,6 +243,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +286,11 @@ 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
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -381,6 +353,41 @@ 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";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "lexus_rx_350_2016_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,41 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -265,6 +230,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -277,6 +243,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +286,11 @@ 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
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -381,6 +353,41 @@ 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";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "lexus_rx_hybrid_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -218,7 +218,7 @@ BO_ 864 Engine_Temp: 8 XXX
|
||||
BO_ 866 Fuel: 8 XXX
|
||||
|
||||
BO_ 977 Dash_State2: 8 XXX
|
||||
SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ UNITS : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1745 Dash_State: 8 XXX
|
||||
SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
@@ -243,9 +243,9 @@ CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear";
|
||||
CM_ SG_ 642 Counter "Affected by signals";
|
||||
CM_ SG_ 642 SEATBELT_FL "Driver seatbelt";
|
||||
CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
|
||||
CM_ SG_ 977 UNITS "0 = Metric, 1 = Imperial";
|
||||
|
||||
VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
|
||||
VAL_ 1745 Units 0 "Metric" 1 "Imperial";
|
||||
|
||||
CM_ "subaru_forester_2017.dbc starts here";
|
||||
|
||||
|
||||
@@ -156,6 +156,7 @@ BO_ 552 BSD_RCTA: 8 XXX
|
||||
BO_ 912 Dashlights: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ UNITS : 24|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ICY_ROAD : 32|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|1] "" XXX
|
||||
@@ -169,32 +170,36 @@ BO_ 940 BodyInfo: 8 XXX
|
||||
SG_ DOOR_OPEN_RL : 34|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RR : 35|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_TRUNK : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Lowbeam : 57|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Highbeam : 58|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ FOG_LIGHTS2 : 60|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ WIPERS : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE : 54|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOWBEAM : 57|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGHBEAM : 58|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ FOG_LIGHTS : 60|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ WIPERS : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 801 ES_DashStatus: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ PCB_Off : 12|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LDW_Off : 13|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal1 : 14|10@1+ (1,0) [0|1023] "" XXX
|
||||
SG_ Signal1 : 14|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Cruise_State_Msg : 16|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ LKAS_State_Msg : 20|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Signal2 : 23|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Soft_Disable : 24|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal2 : 25|3@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Status_Msg : 25|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Signal3 : 27|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Distance : 28|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal4 : 31|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Conventional_Cruise : 32|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal4 : 33|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Signal5 : 33|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Activated : 36|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal5 : 37|3@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal6 : 37|3@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Cruise_Fault : 48|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_On : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal6 : 50|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Display_Own_Car : 50|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Brake_Lights : 51|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Car_Follow : 52|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal7 : 53|3@1+ (1,0) [0|1] "" XXX
|
||||
@@ -204,22 +209,20 @@ BO_ 801 ES_DashStatus: 8 XXX
|
||||
BO_ 802 ES_LKAS_State: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Keep_Hands_On_Wheel : 12|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Empty_Box : 13|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal1 : 14|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ LKAS_Alert_Msg : 12|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Signal1 : 15|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ LKAS_ACTIVE : 17|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal2 : 18|5@1+ (1,0) [0|31] "" XXX
|
||||
SG_ LKAS_Dash_State : 18|2@1+ (1,0) [0|2] "" XXX
|
||||
SG_ Signal2 : 20|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Backward_Speed_Limit_Menu : 23|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_ENABLE_3 : 24|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Left_Line_Enable : 24|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Left_Line_Light_Blink : 25|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_ENABLE_2 : 26|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Right_Line_Enable : 26|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Right_Line_Light_Blink : 27|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Left_Line_Visible : 28|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Left_Line_Green : 29|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Right_Line_Visible : 30|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Right_Line_Green : 31|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Alert : 32|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Signal3 : 36|28@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Left_Line_Visible : 28|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ LKAS_Right_Line_Visible : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ LKAS_Alert : 32|5@1+ (1,0) [0|31] "" XXX
|
||||
SG_ Signal3 : 37|27@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 722 AC_State: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
@@ -239,12 +242,18 @@ CM_ SG_ 801 PCB_Off "Pre-Collision Braking off";
|
||||
CM_ SG_ 801 Brake_Lights "Driver or Cruise brake on";
|
||||
CM_ SG_ 801 Cruise_State "0 = Normal, 1 = Hold+User Brake, 2 = Ready, 3 = Hold";
|
||||
CM_ SG_ 801 Far_Distance "1=0-5m, 2=5-10m, 3=10-15m, 4=15-20m, 5=20-25m, 6=25-30m, 7=30-35m, 8=35-40m, 9=40-45m, 10=45-50m, 11=50-55m, 12=55-60m, 13=60-65m, 14=65-70m, 15=75m+";
|
||||
CM_ SG_ 801 LKAS_State_Msg "1 = LKAS_Off_Sharp_Curve, 2 = Keep_Hands_On_Steering_wheel_disabled, 3 = LKAS_Off, 4 = LKAS_Off_Too_Slow, 5 = LKAS_Off_Too_Fast";
|
||||
CM_ SG_ 801 Cruise_State_Msg "1 = Cruise_Off_Steep_Slope, 2 = Cruise_lvl1_eco, 3 = Cruise_lvl2_comfort, 4 = Cruise_off_empty_reason, 5 = Cruise_off, 6 = Cruise_Unable_to_set, 7 = Cruise_Unable_to_set_brakes_applied, 8 = Eyesight_not_ready, 9 = Cruise_lvl3_standard, 10 = Cruise_lvl4_dynamic, 11 = Cruise_Unable_to_set_steep_slope";
|
||||
CM_ SG_ 801 Cruise_Soft_Disable "Eyesight soft disable (eg direct sunlight)";
|
||||
CM_ SG_ 802 LKAS_Alert "1 = FCW_Cont_Beep, 2 = FCW_Repeated_Beep, 3 = Throttle_Management_Activated_Warning, 4 = Throttle_Management_Activated_Alert, 8 = Traffic_Light_Ahead, 9 = Apply_Brake_to_Hold Position, 11 = LDW_Right, 12 = LDW_Left, 13 = Stay_Alert, 14 = Lead_Vehicle_Start_Alert";
|
||||
CM_ SG_ 801 Cruise_Status_Msg "1 = Disabled_Bad_Visibility, 2 = Disabled_Check_Manual";
|
||||
CM_ SG_ 802 LKAS_ACTIVE "Turns on the full LKAS dash display";
|
||||
CM_ SG_ 802 LKAS_Alert_Msg "1 = Keep_Hands_On_Wheel, 6 = Pre_Collision_Braking, 7 = Keep_Hands_On_Wheel_Off";
|
||||
CM_ SG_ 802 LKAS_Alert "1 = FCW_Cont_Beep, 2 = FCW_Repeated_Beep, 3 = Throttle_Management_Activated_Warning, 4 = Throttle_Management_Activated_Alert, 5 = Pre_Collision_Activated_Alert, 8 = Traffic_Light_Ahead, 9 = Apply_Brake_to_Hold Position, 11 = LDW_Right, 12 = LDW_Left, 13 = Stay_Alert, 14 = Lead_Vehicle_Start_Alert, 18 = Keep_Hands_On_Steering_Alert, 24 = Audio_Beep, 25 = Audio_Lead_Car_Change, 26 = Audio_ACC_Disengaged, 27 = Audio_LKAS_disabled, 28 = Audio_Ding_Ding, 30 = Audio_Repeated_Beep";
|
||||
CM_ SG_ 802 LKAS_Left_Line_Visible "0 = Off, 1 = White, 2 = Green, 3 = Orange";
|
||||
CM_ SG_ 802 LKAS_Dash_State "0 = Off, 1 = Ready, 2 = Active";
|
||||
CM_ SG_ 802 LKAS_Right_Line_Visible "0 = Off, 1 = White, 2 = Green, 3 = Orange";
|
||||
CM_ SG_ 912 UNITS "0 = Metric, 1 = Imperial";
|
||||
CM_ SG_ 912 ICY_ROAD "1 = DASHLIGHT ON, 2 = WARNING, 3 = OFF";
|
||||
CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
|
||||
CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
|
||||
CM_ SG_ 1677 Units "AU/EU: 1 = imperial, 3 = metric US: 3 = imperial, 4 = metric";
|
||||
|
||||
CM_ "subaru_global_2017.dbc starts here";
|
||||
|
||||
|
||||
@@ -218,7 +218,7 @@ BO_ 864 Engine_Temp: 8 XXX
|
||||
BO_ 866 Fuel: 8 XXX
|
||||
|
||||
BO_ 977 Dash_State2: 8 XXX
|
||||
SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ UNITS : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1745 Dash_State: 8 XXX
|
||||
SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
@@ -243,9 +243,9 @@ CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear";
|
||||
CM_ SG_ 642 Counter "Affected by signals";
|
||||
CM_ SG_ 642 SEATBELT_FL "Driver seatbelt";
|
||||
CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
|
||||
CM_ SG_ 977 UNITS "0 = Metric, 1 = Imperial";
|
||||
|
||||
VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
|
||||
VAL_ 1745 Units 0 "Metric" 1 "Imperial";
|
||||
|
||||
CM_ "subaru_outback_2015.dbc starts here";
|
||||
|
||||
|
||||
@@ -218,7 +218,7 @@ BO_ 864 Engine_Temp: 8 XXX
|
||||
BO_ 866 Fuel: 8 XXX
|
||||
|
||||
BO_ 977 Dash_State2: 8 XXX
|
||||
SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ UNITS : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1745 Dash_State: 8 XXX
|
||||
SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
@@ -243,9 +243,9 @@ CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear";
|
||||
CM_ SG_ 642 Counter "Affected by signals";
|
||||
CM_ SG_ 642 SEATBELT_FL "Driver seatbelt";
|
||||
CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
|
||||
CM_ SG_ 977 UNITS "0 = Metric, 1 = Imperial";
|
||||
|
||||
VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
|
||||
VAL_ 1745 Units 0 "Metric" 1 "Imperial";
|
||||
|
||||
CM_ "subaru_outback_2019.dbc starts here";
|
||||
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,41 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -265,6 +230,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -277,6 +243,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +286,11 @@ 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
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -381,6 +353,41 @@ 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";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "toyota_avalon_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,41 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -265,6 +230,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -277,6 +243,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +286,11 @@ 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
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -381,6 +353,41 @@ 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";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "toyota_camry_hybrid_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,41 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -265,6 +230,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -277,6 +243,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +286,11 @@ 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
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -381,6 +353,41 @@ 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";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "toyota_corolla_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,41 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -265,6 +230,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -277,6 +243,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +286,11 @@ 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
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -381,6 +353,41 @@ 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";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "toyota_highlander_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,41 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -265,6 +230,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -277,6 +243,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +286,11 @@ 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
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -381,6 +353,41 @@ 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";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "toyota_highlander_hybrid_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,71 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_nodsu_common.dbc starts here";
|
||||
BO_ 401 STEERING_LTA: 8 XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
|
||||
SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_REQUEST_2 : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1014 BSM: 8 XXX
|
||||
SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
|
||||
CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -295,6 +230,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -307,6 +243,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -349,6 +286,11 @@ 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
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -411,6 +353,71 @@ 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";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_nodsu_common.dbc starts here";
|
||||
BO_ 401 STEERING_LTA: 8 XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
|
||||
SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_REQUEST_2 : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1014 BSM: 8 XXX
|
||||
SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
|
||||
CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
|
||||
|
||||
CM_ "toyota_nodsu_hybrid_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,71 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_nodsu_common.dbc starts here";
|
||||
BO_ 401 STEERING_LTA: 8 XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
|
||||
SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_REQUEST_2 : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1014 BSM: 8 XXX
|
||||
SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
|
||||
CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -295,6 +230,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -307,6 +243,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -349,6 +286,11 @@ 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
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -411,6 +353,71 @@ 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";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_nodsu_common.dbc starts here";
|
||||
BO_ 401 STEERING_LTA: 8 XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
|
||||
SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_REQUEST_2 : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1014 BSM: 8 XXX
|
||||
SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
|
||||
CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
|
||||
|
||||
CM_ "toyota_nodsu_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,41 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -265,6 +230,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -277,6 +243,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +286,11 @@ 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
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -381,6 +353,41 @@ 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";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "toyota_prius_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,41 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -265,6 +230,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -277,6 +243,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +286,11 @@ 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
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -381,6 +353,41 @@ 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";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "toyota_rav4_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,41 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -265,6 +230,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -277,6 +243,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +286,11 @@ 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
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -381,6 +353,41 @@ 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";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "toyota_rav4_hybrid_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,41 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -265,6 +230,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -277,6 +243,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +286,11 @@ 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
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -381,6 +353,41 @@ 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";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "toyota_sienna_xle_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1 +0,0 @@
|
||||
v1.7.5
|
||||
+7
-1
@@ -1,3 +1,9 @@
|
||||
# flake8: noqa
|
||||
# pylint: skip-file
|
||||
from .python import Panda, PandaWifiStreaming, PandaDFU, flash_release, BASEDIR, ensure_st_up_to_date, PandaSerial
|
||||
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
|
||||
|
||||
from .python.config import BOOTSTUB_ADDRESS, BLOCK_SIZE_FX, APP_ADDRESS_FX, \
|
||||
BLOCK_SIZE_H7, APP_ADDRESS_H7, DEVICE_SERIAL_NUMBER_ADDR_H7, \
|
||||
DEVICE_SERIAL_NUMBER_ADDR_FX
|
||||
|
||||
+24
-4
@@ -8,6 +8,7 @@ if os.getenv("PEDAL"):
|
||||
PROJECT = "pedal"
|
||||
STARTUP_FILE = "stm32fx/startup_stm32f205xx.s"
|
||||
LINKER_SCRIPT = "stm32fx/stm32fx_flash.ld"
|
||||
APP_START_ADDRESS = "0x8004000"
|
||||
MAIN = "pedal/main.c"
|
||||
PROJECT_FLAGS = [
|
||||
"-mcpu=cortex-m3",
|
||||
@@ -18,12 +19,32 @@ if os.getenv("PEDAL"):
|
||||
"-DPEDAL",
|
||||
]
|
||||
if os.getenv("PEDAL_USB"):
|
||||
PROJECT = "pedal_usb"
|
||||
PROJECT_FLAGS.append("-DPEDAL_USB")
|
||||
|
||||
elif os.getenv("PANDA_H7"):
|
||||
PROJECT = "panda_h7"
|
||||
STARTUP_FILE = "stm32h7/startup_stm32h7x5xx.s"
|
||||
LINKER_SCRIPT = "stm32h7/stm32h7x5_flash.ld"
|
||||
APP_START_ADDRESS = "0x8020000"
|
||||
MAIN = "main.c"
|
||||
PROJECT_FLAGS = [
|
||||
"-mcpu=cortex-m7",
|
||||
"-mhard-float",
|
||||
"-DSTM32H7",
|
||||
"-DSTM32H725xx",
|
||||
"-mfpu=fpv5-d16",
|
||||
"-fsingle-precision-constant",
|
||||
"-Os",
|
||||
"-g",
|
||||
"-DPANDA",
|
||||
]
|
||||
|
||||
else:
|
||||
PROJECT = "panda"
|
||||
STARTUP_FILE = "stm32fx/startup_stm32f413xx.s"
|
||||
LINKER_SCRIPT = "stm32fx/stm32fx_flash.ld"
|
||||
APP_START_ADDRESS = "0x8004000"
|
||||
MAIN = "main.c"
|
||||
PROJECT_FLAGS = [
|
||||
"-mcpu=cortex-m4",
|
||||
@@ -39,13 +60,11 @@ else:
|
||||
|
||||
|
||||
def get_version(builder, build_type):
|
||||
version_file = File('../VERSION').srcnode().abspath
|
||||
version = open(version_file).read()
|
||||
try:
|
||||
git = subprocess.check_output(["git", "rev-parse", "--short=8", "HEAD"], encoding='utf8').strip()
|
||||
except subprocess.CalledProcessError:
|
||||
git = "unknown"
|
||||
return f"{version}-{builder}-{git}-{build_type}"
|
||||
return f"{builder}-{git}-{build_type}"
|
||||
|
||||
|
||||
def to_c_uint32(x):
|
||||
@@ -110,6 +129,7 @@ else:
|
||||
|
||||
includes = [
|
||||
"stm32fx/inc",
|
||||
"stm32h7/inc",
|
||||
"..",
|
||||
".",
|
||||
]
|
||||
@@ -150,7 +170,7 @@ bootstub_bin = panda_env.Objcopy(f"obj/bootstub.{PROJECT}.bin", bootstub_elf)
|
||||
|
||||
# Build main
|
||||
main_elf = panda_env.Program(f"obj/{PROJECT}.elf", [startup, MAIN],
|
||||
LINKFLAGS=["-Wl,--section-start,.isr_vector=0x8004000"] + flags)
|
||||
LINKFLAGS=[f"-Wl,--section-start,.isr_vector={APP_START_ADDRESS}"] + flags)
|
||||
main_bin = panda_env.Objcopy(f"obj/{PROJECT}.bin", main_elf)
|
||||
|
||||
# Sign main
|
||||
|
||||
@@ -127,41 +127,11 @@ void black_set_can_mode(uint8_t mode){
|
||||
}
|
||||
}
|
||||
|
||||
void black_usb_power_mode_tick(uint32_t uptime){
|
||||
UNUSED(uptime);
|
||||
// Not applicable
|
||||
}
|
||||
|
||||
bool black_check_ignition(void){
|
||||
// ignition is checked through harness
|
||||
return harness_check_ignition();
|
||||
}
|
||||
|
||||
uint32_t black_read_current(void){
|
||||
// No current sense on black panda
|
||||
return 0U;
|
||||
}
|
||||
|
||||
void black_set_ir_power(uint8_t percentage){
|
||||
UNUSED(percentage);
|
||||
}
|
||||
|
||||
void black_set_fan_power(uint8_t percentage){
|
||||
UNUSED(percentage);
|
||||
}
|
||||
|
||||
void black_set_phone_power(bool enabled){
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void black_set_clock_source_mode(uint8_t mode){
|
||||
UNUSED(mode);
|
||||
}
|
||||
|
||||
void black_set_siren(bool enabled){
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void black_init(void) {
|
||||
common_init_gpio();
|
||||
|
||||
@@ -244,12 +214,12 @@ const board board_black = {
|
||||
.set_usb_power_mode = black_set_usb_power_mode,
|
||||
.set_gps_mode = black_set_gps_mode,
|
||||
.set_can_mode = black_set_can_mode,
|
||||
.usb_power_mode_tick = black_usb_power_mode_tick,
|
||||
.usb_power_mode_tick = unused_usb_power_mode_tick,
|
||||
.check_ignition = black_check_ignition,
|
||||
.read_current = black_read_current,
|
||||
.set_fan_power = black_set_fan_power,
|
||||
.set_ir_power = black_set_ir_power,
|
||||
.set_phone_power = black_set_phone_power,
|
||||
.set_clock_source_mode = black_set_clock_source_mode,
|
||||
.set_siren = black_set_siren
|
||||
.read_current = unused_read_current,
|
||||
.set_fan_power = unused_set_fan_power,
|
||||
.set_ir_power = unused_set_ir_power,
|
||||
.set_phone_power = unused_set_phone_power,
|
||||
.set_clock_source_mode = unused_set_clock_source_mode,
|
||||
.set_siren = unused_set_siren
|
||||
};
|
||||
|
||||
@@ -49,6 +49,7 @@ struct board {
|
||||
#define HW_TYPE_PEDAL 4U
|
||||
#define HW_TYPE_UNO 5U
|
||||
#define HW_TYPE_DOS 6U
|
||||
#define HW_TYPE_RED_PANDA 7U
|
||||
|
||||
// LED colors
|
||||
#define LED_RED 0U
|
||||
|
||||
@@ -49,18 +49,10 @@ void dos_set_led(uint8_t color, bool enabled) {
|
||||
}
|
||||
}
|
||||
|
||||
void dos_set_gps_load_switch(bool enabled) {
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void dos_set_bootkick(bool enabled){
|
||||
set_gpio_output(GPIOC, 4, !enabled);
|
||||
}
|
||||
|
||||
void dos_set_phone_power(bool enabled){
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void dos_set_usb_power_mode(uint8_t mode) {
|
||||
bool valid = false;
|
||||
switch (mode) {
|
||||
@@ -81,10 +73,6 @@ void dos_set_usb_power_mode(uint8_t mode) {
|
||||
}
|
||||
}
|
||||
|
||||
void dos_set_gps_mode(uint8_t mode) {
|
||||
UNUSED(mode);
|
||||
}
|
||||
|
||||
void dos_set_can_mode(uint8_t mode){
|
||||
switch (mode) {
|
||||
case CAN_MODE_NORMAL:
|
||||
@@ -113,10 +101,6 @@ void dos_set_can_mode(uint8_t mode){
|
||||
}
|
||||
}
|
||||
|
||||
void dos_usb_power_mode_tick(uint32_t uptime){
|
||||
UNUSED(uptime);
|
||||
}
|
||||
|
||||
bool dos_check_ignition(void){
|
||||
// ignition is checked through harness
|
||||
return harness_check_ignition();
|
||||
@@ -136,11 +120,6 @@ void dos_set_fan_power(uint8_t percentage){
|
||||
fan_set_power(percentage);
|
||||
}
|
||||
|
||||
uint32_t dos_read_current(void){
|
||||
// No current sense on Dos
|
||||
return 0U;
|
||||
}
|
||||
|
||||
void dos_set_clock_source_mode(uint8_t mode){
|
||||
clock_source_init(mode);
|
||||
}
|
||||
@@ -235,14 +214,14 @@ const board board_dos = {
|
||||
.enable_can_transceivers = dos_enable_can_transceivers,
|
||||
.set_led = dos_set_led,
|
||||
.set_usb_power_mode = dos_set_usb_power_mode,
|
||||
.set_gps_mode = dos_set_gps_mode,
|
||||
.set_gps_mode = unused_set_gps_mode,
|
||||
.set_can_mode = dos_set_can_mode,
|
||||
.usb_power_mode_tick = dos_usb_power_mode_tick,
|
||||
.usb_power_mode_tick = unused_usb_power_mode_tick,
|
||||
.check_ignition = dos_check_ignition,
|
||||
.read_current = dos_read_current,
|
||||
.read_current = unused_read_current,
|
||||
.set_fan_power = dos_set_fan_power,
|
||||
.set_ir_power = dos_set_ir_power,
|
||||
.set_phone_power = dos_set_phone_power,
|
||||
.set_phone_power = unused_set_phone_power,
|
||||
.set_clock_source_mode = dos_set_clock_source_mode,
|
||||
.set_siren = dos_set_siren
|
||||
};
|
||||
|
||||
@@ -48,12 +48,12 @@ const board board_grey = {
|
||||
.set_usb_power_mode = white_set_usb_power_mode,
|
||||
.set_gps_mode = grey_set_gps_mode,
|
||||
.set_can_mode = white_set_can_mode,
|
||||
.usb_power_mode_tick = white_usb_power_mode_tick,
|
||||
.usb_power_mode_tick = unused_usb_power_mode_tick,
|
||||
.check_ignition = white_check_ignition,
|
||||
.read_current = white_read_current,
|
||||
.set_fan_power = white_set_fan_power,
|
||||
.set_ir_power = white_set_ir_power,
|
||||
.set_phone_power = white_set_phone_power,
|
||||
.set_clock_source_mode = white_set_clock_source_mode,
|
||||
.set_siren = white_set_siren
|
||||
.set_fan_power = unused_set_fan_power,
|
||||
.set_ir_power = unused_set_ir_power,
|
||||
.set_phone_power = unused_set_phone_power,
|
||||
.set_clock_source_mode = unused_set_clock_source_mode,
|
||||
.set_siren = unused_set_siren
|
||||
};
|
||||
|
||||
@@ -50,41 +50,11 @@ void pedal_set_can_mode(uint8_t mode){
|
||||
}
|
||||
}
|
||||
|
||||
void pedal_usb_power_mode_tick(uint32_t uptime){
|
||||
UNUSED(uptime);
|
||||
// Not applicable
|
||||
}
|
||||
|
||||
bool pedal_check_ignition(void){
|
||||
// not supported on pedal
|
||||
return false;
|
||||
}
|
||||
|
||||
uint32_t pedal_read_current(void){
|
||||
// No current sense on pedal
|
||||
return 0U;
|
||||
}
|
||||
|
||||
void pedal_set_ir_power(uint8_t percentage){
|
||||
UNUSED(percentage);
|
||||
}
|
||||
|
||||
void pedal_set_fan_power(uint8_t percentage){
|
||||
UNUSED(percentage);
|
||||
}
|
||||
|
||||
void pedal_set_phone_power(bool enabled){
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void pedal_set_clock_source_mode(uint8_t mode){
|
||||
UNUSED(mode);
|
||||
}
|
||||
|
||||
void pedal_set_siren(bool enabled){
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void pedal_init(void) {
|
||||
common_init_gpio();
|
||||
|
||||
@@ -121,12 +91,12 @@ const board board_pedal = {
|
||||
.set_usb_power_mode = pedal_set_usb_power_mode,
|
||||
.set_gps_mode = pedal_set_gps_mode,
|
||||
.set_can_mode = pedal_set_can_mode,
|
||||
.usb_power_mode_tick = pedal_usb_power_mode_tick,
|
||||
.usb_power_mode_tick = unused_usb_power_mode_tick,
|
||||
.check_ignition = pedal_check_ignition,
|
||||
.read_current = pedal_read_current,
|
||||
.set_fan_power = pedal_set_fan_power,
|
||||
.set_ir_power = pedal_set_ir_power,
|
||||
.set_phone_power = pedal_set_phone_power,
|
||||
.set_clock_source_mode = pedal_set_clock_source_mode,
|
||||
.set_siren = pedal_set_siren
|
||||
.read_current = unused_read_current,
|
||||
.set_fan_power = unused_set_fan_power,
|
||||
.set_ir_power = unused_set_ir_power,
|
||||
.set_phone_power = unused_set_phone_power,
|
||||
.set_clock_source_mode = unused_set_clock_source_mode,
|
||||
.set_siren = unused_set_siren
|
||||
};
|
||||
|
||||
@@ -0,0 +1,202 @@
|
||||
// ///////////////////// //
|
||||
// Red Panda + Harness //
|
||||
// ///////////////////// //
|
||||
|
||||
void red_enable_can_transceiver(uint8_t transceiver, bool enabled) {
|
||||
switch (transceiver) {
|
||||
case 1U:
|
||||
set_gpio_output(GPIOG, 11, !enabled);
|
||||
break;
|
||||
case 2U:
|
||||
set_gpio_output(GPIOB, 3, !enabled);
|
||||
break;
|
||||
case 3U:
|
||||
set_gpio_output(GPIOD, 7, !enabled);
|
||||
break;
|
||||
case 4U:
|
||||
set_gpio_output(GPIOB, 4, !enabled);
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void red_enable_can_transceivers(bool enabled) {
|
||||
uint8_t main_bus = (car_harness_status == HARNESS_STATUS_FLIPPED) ? 3U : 1U;
|
||||
for (uint8_t i=1U; i<=4U; i++) {
|
||||
// Leave main CAN always on for CAN-based ignition detection
|
||||
if (i == main_bus) {
|
||||
red_enable_can_transceiver(i, true);
|
||||
} else {
|
||||
red_enable_can_transceiver(i, enabled);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void red_set_led(uint8_t color, bool enabled) {
|
||||
switch (color) {
|
||||
case LED_RED:
|
||||
set_gpio_output(GPIOE, 4, !enabled);
|
||||
break;
|
||||
case LED_GREEN:
|
||||
set_gpio_output(GPIOE, 3, !enabled);
|
||||
break;
|
||||
case LED_BLUE:
|
||||
set_gpio_output(GPIOE, 2, !enabled);
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void red_set_usb_load_switch(bool enabled) {
|
||||
set_gpio_output(GPIOB, 14, !enabled);
|
||||
}
|
||||
|
||||
void red_set_usb_power_mode(uint8_t mode) {
|
||||
bool valid = false;
|
||||
switch (mode) {
|
||||
case USB_POWER_CLIENT:
|
||||
red_set_usb_load_switch(false);
|
||||
valid = true;
|
||||
break;
|
||||
case USB_POWER_CDP:
|
||||
red_set_usb_load_switch(true);
|
||||
valid = true;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
if (valid) {
|
||||
usb_power_mode = mode;
|
||||
}
|
||||
}
|
||||
|
||||
void red_set_can_mode(uint8_t mode) {
|
||||
switch (mode) {
|
||||
case CAN_MODE_NORMAL:
|
||||
case CAN_MODE_OBD_CAN2:
|
||||
if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(car_harness_status == HARNESS_STATUS_FLIPPED)) {
|
||||
// B12,B13: disable normal mode
|
||||
set_gpio_pullup(GPIOB, 12, PULL_NONE);
|
||||
set_gpio_mode(GPIOB, 12, MODE_ANALOG);
|
||||
|
||||
set_gpio_pullup(GPIOB, 13, PULL_NONE);
|
||||
set_gpio_mode(GPIOB, 13, MODE_ANALOG);
|
||||
|
||||
// B5,B6: FDCAN2 mode
|
||||
set_gpio_pullup(GPIOB, 5, PULL_NONE);
|
||||
set_gpio_alternate(GPIOB, 5, GPIO_AF9_FDCAN2);
|
||||
|
||||
set_gpio_pullup(GPIOB, 6, PULL_NONE);
|
||||
set_gpio_alternate(GPIOB, 6, GPIO_AF9_FDCAN2);
|
||||
} else {
|
||||
// B5,B6: disable normal mode
|
||||
set_gpio_pullup(GPIOB, 5, PULL_NONE);
|
||||
set_gpio_mode(GPIOB, 5, MODE_ANALOG);
|
||||
|
||||
set_gpio_pullup(GPIOB, 6, PULL_NONE);
|
||||
set_gpio_mode(GPIOB, 6, MODE_ANALOG);
|
||||
// B12,B13: FDCAN2 mode
|
||||
set_gpio_pullup(GPIOB, 12, PULL_NONE);
|
||||
set_gpio_alternate(GPIOB, 12, GPIO_AF9_FDCAN2);
|
||||
|
||||
set_gpio_pullup(GPIOB, 13, PULL_NONE);
|
||||
set_gpio_alternate(GPIOB, 13, GPIO_AF9_FDCAN2);
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
bool red_check_ignition(void) {
|
||||
// ignition is checked through harness
|
||||
return harness_check_ignition();
|
||||
}
|
||||
|
||||
void red_init(void) {
|
||||
common_init_gpio();
|
||||
|
||||
//C4,A1: OBD_SBU1, OBD_SBU2
|
||||
set_gpio_pullup(GPIOC, 4, PULL_NONE);
|
||||
set_gpio_mode(GPIOC, 4, MODE_ANALOG);
|
||||
|
||||
set_gpio_pullup(GPIOA, 1, PULL_NONE);
|
||||
set_gpio_mode(GPIOA, 1, MODE_ANALOG);
|
||||
|
||||
//C10,C11 : OBD_SBU1_RELAY, OBD_SBU2_RELAY
|
||||
set_gpio_output_type(GPIOC, 10, OUTPUT_TYPE_OPEN_DRAIN);
|
||||
set_gpio_pullup(GPIOC, 10, PULL_NONE);
|
||||
set_gpio_mode(GPIOC, 10, MODE_OUTPUT);
|
||||
set_gpio_output(GPIOC, 10, 1);
|
||||
|
||||
set_gpio_output_type(GPIOC, 11, OUTPUT_TYPE_OPEN_DRAIN);
|
||||
set_gpio_pullup(GPIOC, 11, PULL_NONE);
|
||||
set_gpio_mode(GPIOC, 11, MODE_OUTPUT);
|
||||
set_gpio_output(GPIOC, 11, 1);
|
||||
|
||||
// Turn on USB load switch.
|
||||
red_set_usb_load_switch(true);
|
||||
|
||||
// Set right power mode
|
||||
red_set_usb_power_mode(USB_POWER_CDP);
|
||||
|
||||
// Initialize harness
|
||||
harness_init();
|
||||
|
||||
// Enable CAN transceivers
|
||||
red_enable_can_transceivers(true);
|
||||
|
||||
// Disable LEDs
|
||||
red_set_led(LED_RED, false);
|
||||
red_set_led(LED_GREEN, false);
|
||||
red_set_led(LED_BLUE, false);
|
||||
|
||||
// Set normal CAN mode
|
||||
red_set_can_mode(CAN_MODE_NORMAL);
|
||||
|
||||
// flip CAN0 and CAN2 if we are flipped
|
||||
if (car_harness_status == HARNESS_STATUS_FLIPPED) {
|
||||
can_flip_buses(0, 2);
|
||||
}
|
||||
}
|
||||
|
||||
const harness_configuration red_harness_config = {
|
||||
.has_harness = true,
|
||||
.GPIO_SBU1 = GPIOC,
|
||||
.GPIO_SBU2 = GPIOA,
|
||||
.GPIO_relay_SBU1 = GPIOC,
|
||||
.GPIO_relay_SBU2 = GPIOC,
|
||||
.pin_SBU1 = 4,
|
||||
.pin_SBU2 = 1,
|
||||
.pin_relay_SBU1 = 10,
|
||||
.pin_relay_SBU2 = 11,
|
||||
.adc_channel_SBU1 = 4, //ADC12_INP4
|
||||
.adc_channel_SBU2 = 17 //ADC1_INP17
|
||||
};
|
||||
|
||||
const board board_red = {
|
||||
.board_type = "Red",
|
||||
.harness_config = &red_harness_config,
|
||||
.has_gps = false,
|
||||
.has_hw_gmlan = false,
|
||||
.has_obd = true,
|
||||
.has_lin = false,
|
||||
.has_rtc = false,
|
||||
.init = red_init,
|
||||
.enable_can_transceiver = red_enable_can_transceiver,
|
||||
.enable_can_transceivers = red_enable_can_transceivers,
|
||||
.set_led = red_set_led,
|
||||
.set_usb_power_mode = red_set_usb_power_mode,
|
||||
.set_gps_mode = unused_set_gps_mode,
|
||||
.set_can_mode = red_set_can_mode,
|
||||
.usb_power_mode_tick = unused_usb_power_mode_tick,
|
||||
.check_ignition = red_check_ignition,
|
||||
.read_current = unused_read_current,
|
||||
.set_fan_power = unused_set_fan_power,
|
||||
.set_ir_power = unused_set_ir_power,
|
||||
.set_phone_power = unused_set_phone_power,
|
||||
.set_clock_source_mode = unused_set_clock_source_mode,
|
||||
.set_siren = unused_set_siren
|
||||
};
|
||||
@@ -173,19 +173,6 @@ void uno_set_fan_power(uint8_t percentage){
|
||||
fan_set_power(percentage);
|
||||
}
|
||||
|
||||
uint32_t uno_read_current(void){
|
||||
// No current sense on Uno
|
||||
return 0U;
|
||||
}
|
||||
|
||||
void uno_set_clock_source_mode(uint8_t mode){
|
||||
UNUSED(mode);
|
||||
}
|
||||
|
||||
void uno_set_siren(bool enabled){
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void uno_init(void) {
|
||||
common_init_gpio();
|
||||
|
||||
@@ -292,10 +279,10 @@ const board board_uno = {
|
||||
.set_can_mode = uno_set_can_mode,
|
||||
.usb_power_mode_tick = uno_usb_power_mode_tick,
|
||||
.check_ignition = uno_check_ignition,
|
||||
.read_current = uno_read_current,
|
||||
.read_current = unused_read_current,
|
||||
.set_fan_power = uno_set_fan_power,
|
||||
.set_ir_power = uno_set_ir_power,
|
||||
.set_phone_power = uno_set_phone_power,
|
||||
.set_clock_source_mode = uno_set_clock_source_mode,
|
||||
.set_siren = uno_set_siren
|
||||
.set_clock_source_mode = unused_set_clock_source_mode,
|
||||
.set_siren = unused_set_siren
|
||||
};
|
||||
|
||||
@@ -0,0 +1,31 @@
|
||||
void unused_set_gps_mode(uint8_t mode) {
|
||||
UNUSED(mode);
|
||||
}
|
||||
|
||||
void unused_usb_power_mode_tick(uint32_t uptime) {
|
||||
UNUSED(uptime);
|
||||
}
|
||||
|
||||
void unused_set_ir_power(uint8_t percentage) {
|
||||
UNUSED(percentage);
|
||||
}
|
||||
|
||||
void unused_set_fan_power(uint8_t percentage) {
|
||||
UNUSED(percentage);
|
||||
}
|
||||
|
||||
void unused_set_phone_power(bool enabled) {
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void unused_set_clock_source_mode(uint8_t mode) {
|
||||
UNUSED(mode);
|
||||
}
|
||||
|
||||
void unused_set_siren(bool enabled) {
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
uint32_t unused_read_current(void) {
|
||||
return 0U;
|
||||
}
|
||||
@@ -151,35 +151,11 @@ uint32_t white_read_current(void){
|
||||
return adc_get(ADCCHAN_CURRENT);
|
||||
}
|
||||
|
||||
void white_usb_power_mode_tick(uint32_t uptime){
|
||||
UNUSED(uptime);
|
||||
}
|
||||
|
||||
void white_set_ir_power(uint8_t percentage){
|
||||
UNUSED(percentage);
|
||||
}
|
||||
|
||||
void white_set_fan_power(uint8_t percentage){
|
||||
UNUSED(percentage);
|
||||
}
|
||||
|
||||
bool white_check_ignition(void){
|
||||
// ignition is on PA1
|
||||
return !get_gpio_input(GPIOA, 1);
|
||||
}
|
||||
|
||||
void white_set_phone_power(bool enabled){
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void white_set_clock_source_mode(uint8_t mode){
|
||||
UNUSED(mode);
|
||||
}
|
||||
|
||||
void white_set_siren(bool enabled){
|
||||
UNUSED(enabled);
|
||||
}
|
||||
|
||||
void white_grey_common_init(void) {
|
||||
common_init_gpio();
|
||||
|
||||
@@ -277,12 +253,12 @@ const board board_white = {
|
||||
.set_usb_power_mode = white_set_usb_power_mode,
|
||||
.set_gps_mode = white_set_gps_mode,
|
||||
.set_can_mode = white_set_can_mode,
|
||||
.usb_power_mode_tick = white_usb_power_mode_tick,
|
||||
.usb_power_mode_tick = unused_usb_power_mode_tick,
|
||||
.check_ignition = white_check_ignition,
|
||||
.read_current = white_read_current,
|
||||
.set_fan_power = white_set_fan_power,
|
||||
.set_ir_power = white_set_ir_power,
|
||||
.set_phone_power = white_set_phone_power,
|
||||
.set_clock_source_mode = white_set_clock_source_mode,
|
||||
.set_siren = white_set_siren
|
||||
.set_fan_power = unused_set_fan_power,
|
||||
.set_ir_power = unused_set_ir_power,
|
||||
.set_phone_power = unused_set_phone_power,
|
||||
.set_clock_source_mode = unused_set_clock_source_mode,
|
||||
.set_siren = unused_set_siren
|
||||
};
|
||||
|
||||
@@ -17,7 +17,7 @@
|
||||
|
||||
#include "obj/cert.h"
|
||||
#include "obj/gitversion.h"
|
||||
#include "spi_flasher.h"
|
||||
#include "flasher.h"
|
||||
|
||||
void __initialize_hardware_early(void) {
|
||||
early_initialization();
|
||||
|
||||
Executable
+7
@@ -0,0 +1,7 @@
|
||||
#!/usr/bin/env sh
|
||||
set -e
|
||||
|
||||
scons -u
|
||||
PANDA_H7=1 scons -u
|
||||
PEDAL=1 scons -u
|
||||
PEDAL=1 PEDAL_USB=1 scons -u
|
||||
+15
-1
@@ -34,7 +34,21 @@
|
||||
|
||||
#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>
|
||||
#include "stm32fx/stm32fx_config.h"
|
||||
#ifdef STM32H7
|
||||
#include "stm32h7/stm32h7_config.h"
|
||||
#else
|
||||
#include "stm32fx/stm32fx_config.h"
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
||||
@@ -2,163 +2,7 @@
|
||||
// CAN2_TX, CAN2_RX0, CAN2_SCE
|
||||
// CAN3_TX, CAN3_RX0, CAN3_SCE
|
||||
|
||||
typedef struct {
|
||||
volatile uint32_t w_ptr;
|
||||
volatile uint32_t r_ptr;
|
||||
uint32_t fifo_size;
|
||||
CAN_FIFOMailBox_TypeDef *elems;
|
||||
} can_ring;
|
||||
|
||||
#define CAN_BUS_RET_FLAG 0x80U
|
||||
#define CAN_BUS_NUM_MASK 0x7FU
|
||||
|
||||
#define BUS_MAX 4U
|
||||
|
||||
uint32_t can_rx_errs = 0;
|
||||
uint32_t can_send_errs = 0;
|
||||
uint32_t can_fwd_errs = 0;
|
||||
uint32_t gmlan_send_errs = 0;
|
||||
|
||||
extern int can_live;
|
||||
extern int pending_can_live;
|
||||
|
||||
// must reinit after changing these
|
||||
extern int can_loopback;
|
||||
extern int can_silent;
|
||||
extern uint32_t can_speed[4];
|
||||
|
||||
void can_set_forwarding(int from, int to);
|
||||
|
||||
bool can_init(uint8_t can_number);
|
||||
void can_init_all(void);
|
||||
bool can_tx_check_min_slots_free(uint32_t min);
|
||||
void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number, bool skip_tx_hook);
|
||||
bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);
|
||||
|
||||
// Ignition detected from CAN meessages
|
||||
bool ignition_can = false;
|
||||
bool ignition_cadillac = false;
|
||||
uint32_t ignition_can_cnt = 0U;
|
||||
|
||||
// end API
|
||||
|
||||
#define ALL_CAN_SILENT 0xFF
|
||||
#define ALL_CAN_LIVE 0
|
||||
|
||||
int can_live = 0;
|
||||
int pending_can_live = 0;
|
||||
int can_loopback = 0;
|
||||
int can_silent = ALL_CAN_SILENT;
|
||||
|
||||
// ********************* 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) };
|
||||
|
||||
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)
|
||||
// FIXME:
|
||||
// cppcheck-suppress misra-c2012-9.3
|
||||
can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q, &can_txgmlan_q};
|
||||
|
||||
// global CAN stats
|
||||
int can_rx_cnt = 0;
|
||||
int can_tx_cnt = 0;
|
||||
int can_txd_cnt = 0;
|
||||
int can_err_cnt = 0;
|
||||
int can_overflow_cnt = 0;
|
||||
|
||||
// ********************* interrupt safe queue *********************
|
||||
bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
|
||||
bool ret = 0;
|
||||
|
||||
ENTER_CRITICAL();
|
||||
if (q->w_ptr != q->r_ptr) {
|
||||
*elem = q->elems[q->r_ptr];
|
||||
if ((q->r_ptr + 1U) == q->fifo_size) {
|
||||
q->r_ptr = 0;
|
||||
} else {
|
||||
q->r_ptr += 1U;
|
||||
}
|
||||
ret = 1;
|
||||
}
|
||||
EXIT_CRITICAL();
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
|
||||
bool ret = false;
|
||||
uint32_t next_w_ptr;
|
||||
|
||||
ENTER_CRITICAL();
|
||||
if ((q->w_ptr + 1U) == q->fifo_size) {
|
||||
next_w_ptr = 0;
|
||||
} else {
|
||||
next_w_ptr = q->w_ptr + 1U;
|
||||
}
|
||||
if (next_w_ptr != q->r_ptr) {
|
||||
q->elems[q->w_ptr] = *elem;
|
||||
q->w_ptr = next_w_ptr;
|
||||
ret = true;
|
||||
}
|
||||
EXIT_CRITICAL();
|
||||
if (!ret) {
|
||||
can_overflow_cnt++;
|
||||
#ifdef DEBUG
|
||||
puts("can_push failed!\n");
|
||||
#endif
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
uint32_t can_slots_empty(can_ring *q) {
|
||||
uint32_t ret = 0;
|
||||
|
||||
ENTER_CRITICAL();
|
||||
if (q->w_ptr >= q->r_ptr) {
|
||||
ret = q->fifo_size - 1U - q->w_ptr + q->r_ptr;
|
||||
} else {
|
||||
ret = q->r_ptr - q->w_ptr - 1U;
|
||||
}
|
||||
EXIT_CRITICAL();
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
void can_clear(can_ring *q) {
|
||||
ENTER_CRITICAL();
|
||||
q->w_ptr = 0;
|
||||
q->r_ptr = 0;
|
||||
EXIT_CRITICAL();
|
||||
}
|
||||
|
||||
// assign CAN numbering
|
||||
// bus num: Can bus number on ODB connector. Sent to/from USB
|
||||
// Min: 0; Max: 127; Bit 7 marks message as receipt (bus 129 is receipt for but 1)
|
||||
// cans: Look up MCU can interface from bus number
|
||||
// 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.
|
||||
|
||||
// Panda: Bus 0=CAN1 Bus 1=CAN2 Bus 2=CAN3
|
||||
CAN_TypeDef *cans[] = {CAN1, CAN2, 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};
|
||||
#define CAN_MAX 3U
|
||||
|
||||
#define CANIF_FROM_CAN_NUM(num) (cans[num])
|
||||
#define CAN_NUM_FROM_CANIF(CAN) ((CAN)==CAN1 ? 0 : ((CAN) == CAN2 ? 1 : 2))
|
||||
#define BUS_NUM_FROM_CAN_NUM(num) (bus_lookup[num])
|
||||
#define CAN_NUM_FROM_BUS_NUM(num) (can_num_lookup[num])
|
||||
|
||||
void process_can(uint8_t can_number);
|
||||
|
||||
bool can_set_speed(uint8_t can_number) {
|
||||
bool ret = true;
|
||||
@@ -169,22 +13,6 @@ bool can_set_speed(uint8_t can_number) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
void can_init_all(void) {
|
||||
bool ret = true;
|
||||
for (uint8_t i=0U; i < CAN_MAX; i++) {
|
||||
can_clear(can_queues[i]);
|
||||
ret &= can_init(i);
|
||||
}
|
||||
UNUSED(ret);
|
||||
}
|
||||
|
||||
void can_flip_buses(uint8_t bus1, uint8_t bus2){
|
||||
bus_lookup[bus1] = bus2;
|
||||
bus_lookup[bus2] = bus1;
|
||||
can_num_lookup[bus1] = bus2;
|
||||
can_num_lookup[bus2] = bus1;
|
||||
}
|
||||
|
||||
// TODO: Cleanup with new abstraction
|
||||
void can_set_gmlan(uint8_t bus) {
|
||||
if(current_board->has_hw_gmlan){
|
||||
@@ -323,34 +151,6 @@ void process_can(uint8_t can_number) {
|
||||
}
|
||||
}
|
||||
|
||||
void ignition_can_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
int bus = GET_BUS(to_push);
|
||||
int addr = GET_ADDR(to_push);
|
||||
int len = GET_LEN(to_push);
|
||||
|
||||
ignition_can_cnt = 0U; // reset counter
|
||||
|
||||
if (bus == 0) {
|
||||
// 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;
|
||||
}
|
||||
// GM exception
|
||||
if ((addr == 0x1F1) && (len == 8)) {
|
||||
// Bit 5 is ignition "on"
|
||||
bool ignition_gm = ((GET_BYTE(to_push, 0) & 0x20) != 0);
|
||||
ignition_can = ignition_gm || ignition_cadillac;
|
||||
}
|
||||
// Tesla exception
|
||||
if ((addr == 0x348) && (len == 8)) {
|
||||
// GTW_status
|
||||
ignition_can = (GET_BYTE(to_push, 0) & 0x1) != 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// CAN receive handlers
|
||||
// blink blue when we are receiving CAN messages
|
||||
void can_rx(uint8_t can_number) {
|
||||
@@ -406,34 +206,6 @@ void CAN3_TX_IRQ_Handler(void) { process_can(2); }
|
||||
void CAN3_RX0_IRQ_Handler(void) { can_rx(2); }
|
||||
void CAN3_SCE_IRQ_Handler(void) { can_sce(CAN3); }
|
||||
|
||||
bool can_tx_check_min_slots_free(uint32_t min) {
|
||||
return
|
||||
(can_slots_empty(&can_tx1_q) >= min) &&
|
||||
(can_slots_empty(&can_tx2_q) >= min) &&
|
||||
(can_slots_empty(&can_tx3_q) >= min) &&
|
||||
(can_slots_empty(&can_txgmlan_q) >= min);
|
||||
}
|
||||
|
||||
void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number, bool skip_tx_hook) {
|
||||
if (skip_tx_hook || safety_tx_hook(to_push) != 0) {
|
||||
if (bus_number < BUS_MAX) {
|
||||
// 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)) {
|
||||
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));
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void can_set_forwarding(int from, int to) {
|
||||
can_forwarding[from] = to;
|
||||
}
|
||||
|
||||
bool can_init(uint8_t can_number) {
|
||||
bool ret = false;
|
||||
|
||||
@@ -0,0 +1,222 @@
|
||||
typedef struct {
|
||||
volatile uint32_t w_ptr;
|
||||
volatile uint32_t r_ptr;
|
||||
uint32_t fifo_size;
|
||||
CAN_FIFOMailBox_TypeDef *elems;
|
||||
} can_ring;
|
||||
|
||||
#define CAN_BUS_RET_FLAG 0x80U
|
||||
#define CAN_BUS_NUM_MASK 0x7FU
|
||||
|
||||
#define BUS_MAX 4U
|
||||
|
||||
uint32_t can_rx_errs = 0;
|
||||
uint32_t can_send_errs = 0;
|
||||
uint32_t can_fwd_errs = 0;
|
||||
uint32_t gmlan_send_errs = 0;
|
||||
|
||||
extern int can_live;
|
||||
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;
|
||||
bool ignition_cadillac = false;
|
||||
uint32_t ignition_can_cnt = 0U;
|
||||
|
||||
#define ALL_CAN_SILENT 0xFF
|
||||
#define ALL_CAN_LIVE 0
|
||||
|
||||
int can_live = 0;
|
||||
int pending_can_live = 0;
|
||||
int can_loopback = 0;
|
||||
int can_silent = ALL_CAN_SILENT;
|
||||
|
||||
// ******************* functions prototypes *********************
|
||||
bool can_init(uint8_t can_number);
|
||||
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) };
|
||||
|
||||
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)
|
||||
// FIXME:
|
||||
// cppcheck-suppress misra-c2012-9.3
|
||||
can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q, &can_txgmlan_q};
|
||||
|
||||
// global CAN stats
|
||||
int can_rx_cnt = 0;
|
||||
int can_tx_cnt = 0;
|
||||
int can_txd_cnt = 0;
|
||||
int can_err_cnt = 0;
|
||||
int can_overflow_cnt = 0;
|
||||
|
||||
// ********************* interrupt safe queue *********************
|
||||
bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
|
||||
bool ret = 0;
|
||||
|
||||
ENTER_CRITICAL();
|
||||
if (q->w_ptr != q->r_ptr) {
|
||||
*elem = q->elems[q->r_ptr];
|
||||
if ((q->r_ptr + 1U) == q->fifo_size) {
|
||||
q->r_ptr = 0;
|
||||
} else {
|
||||
q->r_ptr += 1U;
|
||||
}
|
||||
ret = 1;
|
||||
}
|
||||
EXIT_CRITICAL();
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
|
||||
bool ret = false;
|
||||
uint32_t next_w_ptr;
|
||||
|
||||
ENTER_CRITICAL();
|
||||
if ((q->w_ptr + 1U) == q->fifo_size) {
|
||||
next_w_ptr = 0;
|
||||
} else {
|
||||
next_w_ptr = q->w_ptr + 1U;
|
||||
}
|
||||
if (next_w_ptr != q->r_ptr) {
|
||||
q->elems[q->w_ptr] = *elem;
|
||||
q->w_ptr = next_w_ptr;
|
||||
ret = true;
|
||||
}
|
||||
EXIT_CRITICAL();
|
||||
if (!ret) {
|
||||
can_overflow_cnt++;
|
||||
#ifdef DEBUG
|
||||
puts("can_push failed!\n");
|
||||
#endif
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
uint32_t can_slots_empty(can_ring *q) {
|
||||
uint32_t ret = 0;
|
||||
|
||||
ENTER_CRITICAL();
|
||||
if (q->w_ptr >= q->r_ptr) {
|
||||
ret = q->fifo_size - 1U - q->w_ptr + q->r_ptr;
|
||||
} else {
|
||||
ret = q->r_ptr - q->w_ptr - 1U;
|
||||
}
|
||||
EXIT_CRITICAL();
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
void can_clear(can_ring *q) {
|
||||
ENTER_CRITICAL();
|
||||
q->w_ptr = 0;
|
||||
q->r_ptr = 0;
|
||||
EXIT_CRITICAL();
|
||||
}
|
||||
|
||||
// assign CAN numbering
|
||||
// bus num: Can bus number on ODB connector. Sent to/from USB
|
||||
// Min: 0; Max: 127; Bit 7 marks message as receipt (bus 129 is receipt for but 1)
|
||||
// cans: Look up MCU can interface from bus number
|
||||
// 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
|
||||
#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])
|
||||
|
||||
void can_init_all(void) {
|
||||
bool ret = true;
|
||||
for (uint8_t i=0U; i < CAN_MAX; i++) {
|
||||
can_clear(can_queues[i]);
|
||||
ret &= can_init(i);
|
||||
}
|
||||
UNUSED(ret);
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
void ignition_can_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
int bus = GET_BUS(to_push);
|
||||
int addr = GET_ADDR(to_push);
|
||||
int len = GET_LEN(to_push);
|
||||
|
||||
ignition_can_cnt = 0U; // reset counter
|
||||
|
||||
if (bus == 0) {
|
||||
// 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;
|
||||
}
|
||||
// GM exception
|
||||
if ((addr == 0x1F1) && (len == 8)) {
|
||||
// Bit 5 is ignition "on"
|
||||
bool ignition_gm = ((GET_BYTE(to_push, 0) & 0x20) != 0);
|
||||
ignition_can = ignition_gm || ignition_cadillac;
|
||||
}
|
||||
// Tesla exception
|
||||
if ((addr == 0x348) && (len == 8)) {
|
||||
// GTW_status
|
||||
ignition_can = (GET_BYTE(to_push, 0) & 0x1) != 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool can_tx_check_min_slots_free(uint32_t min) {
|
||||
return
|
||||
(can_slots_empty(&can_tx1_q) >= min) &&
|
||||
(can_slots_empty(&can_tx2_q) >= min) &&
|
||||
(can_slots_empty(&can_tx3_q) >= min) &&
|
||||
(can_slots_empty(&can_txgmlan_q) >= min);
|
||||
}
|
||||
|
||||
void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number, bool skip_tx_hook) {
|
||||
if (skip_tx_hook || safety_tx_hook(to_push) != 0) {
|
||||
if (bus_number < BUS_MAX) {
|
||||
// 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)) {
|
||||
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));
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void can_set_forwarding(int from, int to) {
|
||||
can_forwarding[from] = to;
|
||||
}
|
||||
@@ -0,0 +1,203 @@
|
||||
// IRQs: FDCAN1_IT0, FDCAN1_IT1
|
||||
// FDCAN2_IT0, FDCAN2_IT1
|
||||
// FDCAN3_IT0, FDCAN3_IT1
|
||||
|
||||
#define BUS_OFF_FAIL_LIMIT 2U
|
||||
uint8_t bus_off_err[] = {0U, 0U, 0U};
|
||||
|
||||
FDCAN_GlobalTypeDef *cans[] = {FDCAN1, FDCAN2, FDCAN3};
|
||||
|
||||
bool can_set_speed(uint8_t can_number) {
|
||||
bool ret = true;
|
||||
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));
|
||||
return ret;
|
||||
}
|
||||
|
||||
void can_set_gmlan(uint8_t bus) {
|
||||
UNUSED(bus);
|
||||
puts("GMLAN not available on red panda\n");
|
||||
}
|
||||
|
||||
void cycle_transceiver(uint8_t can_number) {
|
||||
// FDCAN1 = trans 1, FDCAN3 = trans 3, FDCAN2 = trans 2 normal or 4 flipped harness
|
||||
uint8_t transceiver_number = can_number;
|
||||
if (can_number == 2U) {
|
||||
uint8_t flip = (car_harness_status == HARNESS_STATUS_FLIPPED) ? 2U : 0U;
|
||||
transceiver_number += flip;
|
||||
}
|
||||
current_board->enable_can_transceiver(transceiver_number, false);
|
||||
delay(20000);
|
||||
current_board->enable_can_transceiver(transceiver_number, true);
|
||||
bus_off_err[can_number] = 0U;
|
||||
puts("Cycled transceiver number: "); puth(transceiver_number); puts("\n");
|
||||
}
|
||||
|
||||
// ***************************** CAN *****************************
|
||||
void process_can(uint8_t can_number) {
|
||||
if (can_number != 0xffU) {
|
||||
ENTER_CRITICAL();
|
||||
|
||||
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;
|
||||
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));
|
||||
|
||||
// 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);
|
||||
|
||||
// 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;
|
||||
can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;
|
||||
|
||||
if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_BULK_TRANSFER)) {
|
||||
usb_outep3_resume_if_paused();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Recover after Bus-off state
|
||||
if (((CANx->PSR & FDCAN_PSR_BO) != 0) && ((CANx->CCCR & FDCAN_CCCR_INIT) != 0)) {
|
||||
bus_off_err[can_number] += 1U;
|
||||
puts("CAN is in Bus_Off state! Resetting... CAN number: "); puth(can_number); puts("\n");
|
||||
if (bus_off_err[can_number] > BUS_OFF_FAIL_LIMIT) {
|
||||
cycle_transceiver(can_number);
|
||||
}
|
||||
CANx->IR = 0xFFC60000U; // Reset all flags(Only errors!)
|
||||
CANx->CCCR &= ~(FDCAN_CCCR_INIT);
|
||||
uint32_t timeout_counter = 0U;
|
||||
while((CANx->CCCR & FDCAN_CCCR_INIT) != 0) {
|
||||
// Delay for about 1ms
|
||||
delay(10000);
|
||||
timeout_counter++;
|
||||
|
||||
if(timeout_counter >= CAN_INIT_TIMEOUT_MS){
|
||||
puts(CAN_NAME_FROM_CANIF(CANx)); puts(" Bus_Off reset timed out!\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
EXIT_CRITICAL();
|
||||
}
|
||||
}
|
||||
|
||||
// CAN receive handlers
|
||||
// blink blue when we are receiving CAN messages
|
||||
void can_rx(uint8_t can_number) {
|
||||
FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
|
||||
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
|
||||
uint8_t rx_fifo_idx;
|
||||
|
||||
// Rx FIFO 0 new message
|
||||
if((CANx->IR & FDCAN_IR_RF0N) != 0) {
|
||||
CANx->IR |= FDCAN_IR_RF0N;
|
||||
while((CANx->RXF0S & FDCAN_RXF0S_F0FL) != 0) {
|
||||
can_rx_cnt += 1;
|
||||
|
||||
// can is live
|
||||
pending_can_live = 1;
|
||||
|
||||
// getting new message index (0 to 63)
|
||||
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;
|
||||
|
||||
// getting address
|
||||
fifo = (CAN_FIFOMailBox_TypeDef *)(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;
|
||||
|
||||
// modify RDTR for our API
|
||||
to_push.RDTR = (to_push.RDTR & 0xFFFF000F) | (bus_number << 4);
|
||||
|
||||
// forwarding (panda only)
|
||||
int bus_fwd_num = (can_forwarding[bus_number] != -1) ? can_forwarding[bus_number] : 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;
|
||||
can_send(&to_send, bus_fwd_num, true);
|
||||
}
|
||||
|
||||
can_rx_errs += safety_rx_hook(&to_push) ? 0U : 1U;
|
||||
ignition_can_hook(&to_push);
|
||||
|
||||
current_board->set_led(LED_BLUE, true);
|
||||
can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;
|
||||
|
||||
// update read index
|
||||
CANx->RXF0A = rx_fifo_idx;
|
||||
}
|
||||
|
||||
} else if((CANx->IR & (FDCAN_IR_PEA | FDCAN_IR_PED | FDCAN_IR_RF0L | FDCAN_IR_RF0F | FDCAN_IR_EW | FDCAN_IR_MRAF | FDCAN_IR_TOO)) != 0) {
|
||||
#ifdef DEBUG
|
||||
puts("FDCAN error, FDCAN_IR: ");puth(CANx->IR);puts("\n");
|
||||
#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 {
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void FDCAN1_IT0_IRQ_Handler(void) { can_rx(0); }
|
||||
void FDCAN1_IT1_IRQ_Handler(void) { process_can(0); }
|
||||
|
||||
void FDCAN2_IT0_IRQ_Handler(void) { can_rx(1); }
|
||||
void FDCAN2_IT1_IRQ_Handler(void) { process_can(1); }
|
||||
|
||||
void FDCAN3_IT0_IRQ_Handler(void) { can_rx(2); }
|
||||
void FDCAN3_IT1_IRQ_Handler(void) { process_can(2); }
|
||||
|
||||
bool can_init(uint8_t can_number) {
|
||||
bool ret = false;
|
||||
|
||||
REGISTER_INTERRUPT(FDCAN1_IT0_IRQn, FDCAN1_IT0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
|
||||
REGISTER_INTERRUPT(FDCAN1_IT1_IRQn, FDCAN1_IT1_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
|
||||
REGISTER_INTERRUPT(FDCAN2_IT0_IRQn, FDCAN2_IT0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_2)
|
||||
REGISTER_INTERRUPT(FDCAN2_IT1_IRQn, FDCAN2_IT1_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_2)
|
||||
REGISTER_INTERRUPT(FDCAN3_IT0_IRQn, FDCAN3_IT0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_3)
|
||||
REGISTER_INTERRUPT(FDCAN3_IT1_IRQn, FDCAN3_IT1_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_3)
|
||||
|
||||
if (can_number != 0xffU) {
|
||||
FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
|
||||
ret &= can_set_speed(can_number);
|
||||
ret &= llcan_init(CANx);
|
||||
// in case there are queued up messages
|
||||
process_can(can_number);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
@@ -38,6 +38,7 @@ typedef struct uart_ring {
|
||||
// ***************************** Function prototypes *****************************
|
||||
void debug_ring_callback(uart_ring *ring);
|
||||
void uart_tx_ring(uart_ring *q);
|
||||
void uart_send_break(uart_ring *u);
|
||||
|
||||
// ******************************** UART buffers ********************************
|
||||
|
||||
@@ -138,11 +139,6 @@ void uart_flush_sync(uart_ring *q) {
|
||||
}
|
||||
}
|
||||
|
||||
void uart_send_break(uart_ring *u) {
|
||||
while ((u->uart->CR1 & USART_CR1_SBK) != 0);
|
||||
u->uart->CR1 |= USART_CR1_SBK;
|
||||
}
|
||||
|
||||
void clear_uart_buff(uart_ring *q) {
|
||||
ENTER_CRITICAL();
|
||||
q->w_ptr_tx = 0;
|
||||
|
||||
@@ -123,7 +123,7 @@ uint8_t device_desc[] = {
|
||||
0xFF, 0xFF, 0xFF, 0x40, // Class, Subclass, Protocol, Max Packet Size
|
||||
TOUSBORDER(USB_VID), // idVendor
|
||||
TOUSBORDER(USB_PID), // idProduct
|
||||
0x00, 0x23, // bcdDevice
|
||||
0x00, 0x00, // bcdDevice
|
||||
0x01, 0x02, // Manufacturer, Product
|
||||
0x03, 0x01 // Serial Number, Num Configurations
|
||||
};
|
||||
@@ -526,6 +526,8 @@ void usb_setup(void) {
|
||||
case USB_DESC_TYPE_DEVICE:
|
||||
//puts(" writing device descriptor\n");
|
||||
|
||||
// set bcdDevice to hardware type
|
||||
device_desc[13] = hw_type;
|
||||
// setup transfer
|
||||
USB_WritePacket(device_desc, MIN(sizeof(device_desc), setup.b.wLength.w), 0);
|
||||
USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
|
||||
|
||||
Executable
+5
@@ -0,0 +1,5 @@
|
||||
#!/usr/bin/env sh
|
||||
set -e
|
||||
|
||||
PANDA_GEN3=1 scons -u
|
||||
PYTHONPATH=.. python3 -c "from python import Panda; Panda().flash('obj/panda_h7.bin.signed')"
|
||||
@@ -1,6 +1,6 @@
|
||||
// flasher state variables
|
||||
uint32_t *prog_ptr = NULL;
|
||||
int unlocked = 0;
|
||||
bool unlocked = false;
|
||||
|
||||
#ifdef uart_ring
|
||||
void debug_ring_callback(uart_ring *ring) {}
|
||||
@@ -26,32 +26,27 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
|
||||
break;
|
||||
// **** 0xb1: unlock flash
|
||||
case 0xb1:
|
||||
if (FLASH->CR & FLASH_CR_LOCK) {
|
||||
FLASH->KEYR = 0x45670123;
|
||||
FLASH->KEYR = 0xCDEF89AB;
|
||||
if (flash_is_locked()) {
|
||||
flash_unlock();
|
||||
resp[1] = 0xff;
|
||||
}
|
||||
current_board->set_led(LED_GREEN, 1);
|
||||
unlocked = 1;
|
||||
prog_ptr = (uint32_t *)0x8004000;
|
||||
unlocked = true;
|
||||
prog_ptr = (uint32_t *)APP_START_ADDRESS;
|
||||
break;
|
||||
// **** 0xb2: erase sector
|
||||
case 0xb2:
|
||||
sec = setup->b.wValue.w;
|
||||
// don't erase the bootloader
|
||||
if (sec != 0 && sec < 12 && unlocked) {
|
||||
FLASH->CR = (sec << 3) | FLASH_CR_SER;
|
||||
FLASH->CR |= FLASH_CR_STRT;
|
||||
while (FLASH->SR & FLASH_SR_BSY);
|
||||
if (flash_erase_sector(sec, unlocked)) {
|
||||
resp[1] = 0xff;
|
||||
}
|
||||
break;
|
||||
// **** 0xd0: fetch serial number
|
||||
case 0xd0:
|
||||
#ifdef STM32F4
|
||||
#ifndef STM32F2
|
||||
// addresses are OTP
|
||||
if (setup->b.wValue.w == 1) {
|
||||
memcpy(resp, (void *)0x1fff79c0, 0x10);
|
||||
memcpy(resp, (void *)DEVICE_SERIAL_NUMBER_ADDRESS, 0x10);
|
||||
resp_len = 0x10;
|
||||
} else {
|
||||
get_provision_chunk(resp);
|
||||
@@ -93,6 +88,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
|
||||
break;
|
||||
// **** 0xd8: reset ST
|
||||
case 0xd8:
|
||||
flush_write_buffer();
|
||||
NVIC_SystemReset();
|
||||
break;
|
||||
}
|
||||
@@ -122,11 +118,7 @@ void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
|
||||
UNUSED(hardwired);
|
||||
current_board->set_led(LED_RED, 0);
|
||||
for (int i = 0; i < len/4; i++) {
|
||||
// program byte 1
|
||||
FLASH->CR = FLASH_CR_PSIZE_1 | FLASH_CR_PG;
|
||||
|
||||
*prog_ptr = *(uint32_t*)(usbdata+(i*4));
|
||||
while (FLASH->SR & FLASH_SR_BSY);
|
||||
flash_write_word(prog_ptr, *(uint32_t*)(usbdata+(i*4)));
|
||||
|
||||
//*(uint64_t*)(&spi_tx_buf[0x30+(i*4)]) = *prog_ptr;
|
||||
prog_ptr++;
|
||||
@@ -153,7 +145,7 @@ int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
|
||||
|
||||
#ifdef PEDAL
|
||||
|
||||
#include "stm32fx/llcan.h"
|
||||
#include "stm32fx/llbxcan.h"
|
||||
#define CAN CAN1
|
||||
|
||||
#define CAN_BL_INPUT 0x1
|
||||
@@ -278,10 +270,7 @@ void soft_flasher_start(void) {
|
||||
|
||||
enter_bootloader_mode = 0;
|
||||
|
||||
RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
|
||||
RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
|
||||
RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
|
||||
RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
|
||||
flasher_peripherals_init();
|
||||
|
||||
// pedal has the canloader
|
||||
#ifdef PEDAL
|
||||
@@ -297,23 +286,8 @@ void soft_flasher_start(void) {
|
||||
llcan_init(CAN1);
|
||||
#endif
|
||||
|
||||
// A4,A5,A6,A7: setup SPI
|
||||
set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1);
|
||||
set_gpio_alternate(GPIOA, 5, GPIO_AF5_SPI1);
|
||||
set_gpio_alternate(GPIOA, 6, GPIO_AF5_SPI1);
|
||||
set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1);
|
||||
|
||||
// A2,A3: USART 2 for debugging
|
||||
set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2);
|
||||
set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2);
|
||||
|
||||
// A11,A12: USB
|
||||
set_gpio_alternate(GPIOA, 11, GPIO_AF10_OTG_FS);
|
||||
set_gpio_alternate(GPIOA, 12, GPIO_AF10_OTG_FS);
|
||||
GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
|
||||
|
||||
// flasher
|
||||
//spi_init();
|
||||
gpio_usart2_init();
|
||||
gpio_usb_init();
|
||||
|
||||
// enable USB
|
||||
usb_init();
|
||||
+28
-3
@@ -12,7 +12,13 @@
|
||||
#include "power_saving.h"
|
||||
#include "safety.h"
|
||||
|
||||
#include "drivers/can.h"
|
||||
#include "drivers/can_common.h"
|
||||
|
||||
#ifdef STM32H7
|
||||
#include "drivers/fdcan.h"
|
||||
#else
|
||||
#include "drivers/bxcan.h"
|
||||
#endif
|
||||
|
||||
#include "obj/gitversion.h"
|
||||
|
||||
@@ -464,6 +470,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
|
||||
// **** 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;
|
||||
bool ret = can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
|
||||
UNUSED(ret);
|
||||
@@ -617,6 +624,15 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
|
||||
heartbeat_disabled = true;
|
||||
break;
|
||||
#endif
|
||||
// **** 0xde: set CAN FD data bitrate
|
||||
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;
|
||||
bool ret = can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
|
||||
UNUSED(ret);
|
||||
}
|
||||
break;
|
||||
default:
|
||||
puts("NO HANDLER ");
|
||||
puth(setup->b.bRequest);
|
||||
@@ -687,6 +703,14 @@ void tick_handler(void) {
|
||||
siren_countdown -= 1U;
|
||||
}
|
||||
|
||||
if (controls_allowed) {
|
||||
controls_allowed_countdown = 30U;
|
||||
} else if (controls_allowed_countdown > 0U) {
|
||||
controls_allowed_countdown -= 1U;
|
||||
} else {
|
||||
|
||||
}
|
||||
|
||||
if (!heartbeat_disabled) {
|
||||
// if the heartbeat has been gone for a while, go to SILENT safety mode and enter power save
|
||||
if (heartbeat_counter >= (check_started() ? HEARTBEAT_IGNITION_CNT_ON : HEARTBEAT_IGNITION_CNT_OFF)) {
|
||||
@@ -694,8 +718,9 @@ void tick_handler(void) {
|
||||
puth(heartbeat_counter);
|
||||
puts(" seconds. Safety is set to SILENT mode.\n");
|
||||
|
||||
if (controls_allowed) {
|
||||
if (controls_allowed_countdown > 0U) {
|
||||
siren_countdown = 5U;
|
||||
controls_allowed_countdown = 0U;
|
||||
}
|
||||
|
||||
// set flag to indicate the heartbeat was lost
|
||||
@@ -741,7 +766,7 @@ void tick_handler(void) {
|
||||
ignition_can_cnt += 1U;
|
||||
|
||||
// synchronous safety check
|
||||
safety_tick(current_hooks);
|
||||
safety_tick(current_rx_checks);
|
||||
}
|
||||
|
||||
loop_counter++;
|
||||
|
||||
@@ -12,10 +12,16 @@ void pwm_set(TIM_TypeDef *TIM, uint8_t channel, uint8_t percentage);
|
||||
uint8_t hw_type = 0;
|
||||
const board *current_board;
|
||||
bool is_enumerated = 0;
|
||||
uint32_t heartbeat_counter = 0;
|
||||
uint32_t uptime_cnt = 0;
|
||||
bool heartbeat_lost = false;
|
||||
bool heartbeat_disabled = false;
|
||||
bool siren_enabled = false;
|
||||
uint32_t siren_countdown = 0;
|
||||
bool green_led_enabled = false;
|
||||
|
||||
// heartbeat state
|
||||
uint32_t heartbeat_counter = 0;
|
||||
bool heartbeat_lost = false;
|
||||
bool heartbeat_disabled = false; // set over USB
|
||||
|
||||
// siren state
|
||||
bool siren_enabled = false;
|
||||
uint32_t siren_countdown = 0; // siren plays while countdown > 0
|
||||
uint32_t controls_allowed_countdown = 0;
|
||||
|
||||
|
||||
Executable
+11
@@ -0,0 +1,11 @@
|
||||
#!/usr/bin/env sh
|
||||
set -e
|
||||
|
||||
DFU_UTIL="dfu-util"
|
||||
|
||||
PANDA_H7=1 scons -u
|
||||
|
||||
PYTHONPATH=.. python3 -c "from python import Panda; Panda().reset(enter_bootstub=True); Panda().reset(enter_bootloader=True)" || true
|
||||
sleep 1
|
||||
$DFU_UTIL -d 0483:df11 -a 0 -s 0x08020000 -D obj/panda_h7.bin.signed
|
||||
$DFU_UTIL -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.panda_h7.bin
|
||||
+25
-26
@@ -43,8 +43,9 @@
|
||||
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(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
return current_hooks->rx(to_push);
|
||||
}
|
||||
|
||||
@@ -52,7 +53,7 @@ int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
return current_hooks->tx(to_send);
|
||||
}
|
||||
|
||||
int safety_tx_lin_hook(int lin_num, uint8_t *data, int len){
|
||||
int safety_tx_lin_hook(int lin_num, uint8_t *data, int len) {
|
||||
return current_hooks->tx_lin(lin_num, data, len);
|
||||
}
|
||||
|
||||
@@ -126,16 +127,16 @@ int get_addr_check_index(CAN_FIFOMailBox_TypeDef *to_push, AddrCheckStruct addr_
|
||||
}
|
||||
|
||||
// 1Hz safety function called by main. Now just a check for lagging safety messages
|
||||
void safety_tick(const safety_hooks *hooks) {
|
||||
void safety_tick(const addr_checks *rx_checks) {
|
||||
uint32_t ts = microsecond_timer_get();
|
||||
if (hooks->addr_check != NULL) {
|
||||
for (int i=0; i < hooks->addr_check_len; i++) {
|
||||
uint32_t elapsed_time = get_ts_elapsed(ts, hooks->addr_check[i].last_timestamp);
|
||||
if (rx_checks != NULL) {
|
||||
for (int i=0; i < rx_checks->len; i++) {
|
||||
uint32_t elapsed_time = get_ts_elapsed(ts, rx_checks->check[i].last_timestamp);
|
||||
// lag threshold is max of: 1s and MAX_MISSED_MSGS * expected timestep.
|
||||
// Quite conservative to not risk false triggers.
|
||||
// 2s of lag is worse case, since the function is called at 1Hz
|
||||
bool lagging = elapsed_time > MAX(hooks->addr_check[i].msg[hooks->addr_check[i].index].expected_timestep * MAX_MISSED_MSGS, 1e6);
|
||||
hooks->addr_check[i].lagging = lagging;
|
||||
bool lagging = elapsed_time > MAX(rx_checks->check[i].msg[rx_checks->check[i].index].expected_timestep * MAX_MISSED_MSGS, 1e6);
|
||||
rx_checks->check[i].lagging = lagging;
|
||||
if (lagging) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
@@ -171,34 +172,33 @@ void update_addr_timestamp(AddrCheckStruct addr_list[], int index) {
|
||||
}
|
||||
|
||||
bool addr_safety_check(CAN_FIFOMailBox_TypeDef *to_push,
|
||||
AddrCheckStruct *rx_checks,
|
||||
const int rx_checks_len,
|
||||
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)) {
|
||||
|
||||
int index = get_addr_check_index(to_push, rx_checks, rx_checks_len);
|
||||
update_addr_timestamp(rx_checks, index);
|
||||
int index = get_addr_check_index(to_push, rx_checks->check, rx_checks->len);
|
||||
update_addr_timestamp(rx_checks->check, index);
|
||||
|
||||
if (index != -1) {
|
||||
// checksum check
|
||||
if ((get_checksum != NULL) && (compute_checksum != NULL) && rx_checks[index].msg[rx_checks[index].index].check_checksum) {
|
||||
if ((get_checksum != NULL) && (compute_checksum != NULL) && rx_checks->check[index].msg[rx_checks->check[index].index].check_checksum) {
|
||||
uint8_t checksum = get_checksum(to_push);
|
||||
uint8_t checksum_comp = compute_checksum(to_push);
|
||||
rx_checks[index].valid_checksum = checksum_comp == checksum;
|
||||
rx_checks->check[index].valid_checksum = checksum_comp == checksum;
|
||||
} else {
|
||||
rx_checks[index].valid_checksum = true;
|
||||
rx_checks->check[index].valid_checksum = true;
|
||||
}
|
||||
|
||||
// counter check (max_counter == 0 means skip check)
|
||||
if ((get_counter != NULL) && (rx_checks[index].msg[rx_checks[index].index].max_counter > 0U)) {
|
||||
if ((get_counter != NULL) && (rx_checks->check[index].msg[rx_checks->check[index].index].max_counter > 0U)) {
|
||||
uint8_t counter = get_counter(to_push);
|
||||
update_counter(rx_checks, index, counter);
|
||||
update_counter(rx_checks->check, index, counter);
|
||||
} else {
|
||||
rx_checks[index].wrong_counters = 0U;
|
||||
rx_checks->check[index].wrong_counters = 0U;
|
||||
}
|
||||
}
|
||||
return is_msg_valid(rx_checks, index);
|
||||
return is_msg_valid(rx_checks->check, index);
|
||||
}
|
||||
|
||||
void generic_rx_checks(bool stock_ecu_detected) {
|
||||
@@ -296,15 +296,14 @@ int set_safety_hooks(uint16_t mode, int16_t param) {
|
||||
current_safety_param = param;
|
||||
set_status = 0; // set
|
||||
}
|
||||
|
||||
// reset message index and seen flags in addr struct
|
||||
for (int j = 0; j < safety_hook_registry[i].hooks->addr_check_len; j++) {
|
||||
safety_hook_registry[i].hooks->addr_check[j].index = 0;
|
||||
safety_hook_registry[i].hooks->addr_check[j].msg_seen = false;
|
||||
}
|
||||
}
|
||||
if ((set_status == 0) && (current_hooks->init != NULL)) {
|
||||
current_hooks->init(param);
|
||||
current_rx_checks = current_hooks->init(param);
|
||||
// reset message index and seen flags in addr struct
|
||||
for (int j = 0; j < current_rx_checks->len; j++) {
|
||||
current_rx_checks->check[j].index = 0;
|
||||
current_rx_checks->check[j].msg_seen = false;
|
||||
}
|
||||
}
|
||||
return set_status;
|
||||
}
|
||||
|
||||
@@ -8,14 +8,15 @@ const int CHRYSLER_GAS_THRSLD = 30; // 7% more than 2m/s
|
||||
const int CHRYSLER_STANDSTILL_THRSLD = 10; // about 1m/s
|
||||
const CanMsg CHRYSLER_TX_MSGS[] = {{571, 0, 3}, {658, 0, 6}, {678, 0, 8}};
|
||||
|
||||
AddrCheckStruct chrysler_rx_checks[] = {
|
||||
AddrCheckStruct chrysler_addr_checks[] = {
|
||||
{.msg = {{544, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{514, 0, 8, .check_checksum = false, .max_counter = 0U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{500, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{308, 0, 8, .check_checksum = false, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{320, 0, 8, .check_checksum = true, .max_counter = 15U, .expected_timestep = 20000U}, { 0 }, { 0 }}},
|
||||
};
|
||||
const int CHRYSLER_RX_CHECK_LEN = sizeof(chrysler_rx_checks) / sizeof(chrysler_rx_checks[0]);
|
||||
#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;
|
||||
@@ -62,7 +63,7 @@ static uint8_t chrysler_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
bool valid = addr_safety_check(to_push, chrysler_rx_checks, CHRYSLER_RX_CHECK_LEN,
|
||||
bool valid = addr_safety_check(to_push, &chrysler_rx_checks,
|
||||
chrysler_get_checksum, chrysler_compute_checksum,
|
||||
chrysler_get_counter);
|
||||
|
||||
@@ -203,13 +204,17 @@ static int chrysler_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
static const addr_checks* chrysler_init(int16_t param) {
|
||||
UNUSED(param);
|
||||
controls_allowed = false;
|
||||
relay_malfunction_reset();
|
||||
return &chrysler_rx_checks;
|
||||
}
|
||||
|
||||
const safety_hooks chrysler_hooks = {
|
||||
.init = nooutput_init,
|
||||
.init = chrysler_init,
|
||||
.rx = chrysler_rx_hook,
|
||||
.tx = chrysler_tx_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
.fwd = chrysler_fwd_hook,
|
||||
.addr_check = chrysler_rx_checks,
|
||||
.addr_check_len = sizeof(chrysler_rx_checks) / sizeof(chrysler_rx_checks[0]),
|
||||
};
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user