mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-27 03:03:44 +08:00
Compare commits
3 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Adeeb Shihadeh
|
1e0ef417c3 | ||
|
Vehicle Researcher
|
bf338bf5e9 | ||
|
Vehicle Researcher
|
93e8dbb8b5 |
+4
-1
@@ -42,7 +42,6 @@ selfdrive/logcatd/logcatd
|
||||
selfdrive/mapd/default_speeds_by_region.json
|
||||
selfdrive/proclogd/proclogd
|
||||
selfdrive/ui/_ui
|
||||
selfdrive/ui/_soundd
|
||||
selfdrive/test/longitudinal_maneuvers/out
|
||||
selfdrive/visiond/visiond
|
||||
selfdrive/loggerd/loggerd
|
||||
@@ -78,3 +77,7 @@ selfdrive/modeld/thneed/compile
|
||||
models/*.thneed
|
||||
|
||||
*.bz2
|
||||
|
||||
build/
|
||||
|
||||
!**/.gitkeep
|
||||
|
||||
Vendored
+20
-17
@@ -37,7 +37,7 @@ EOF"""
|
||||
|
||||
def phone_steps(String device_type, steps) {
|
||||
lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
|
||||
timeout(time: 150, unit: 'MINUTES') {
|
||||
timeout(time: 60, unit: 'MINUTES') {
|
||||
phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
|
||||
steps.each { item ->
|
||||
phone(device_ip, item[0], item[1])
|
||||
@@ -53,7 +53,7 @@ pipeline {
|
||||
SOURCE_DIR = "/data/openpilot_source/"
|
||||
}
|
||||
options {
|
||||
timeout(time: 3, unit: 'HOURS')
|
||||
timeout(time: 4, unit: 'HOURS')
|
||||
}
|
||||
|
||||
stages {
|
||||
@@ -70,7 +70,7 @@ pipeline {
|
||||
}
|
||||
steps {
|
||||
phone_steps("eon-build", [
|
||||
["build release2-staging & dashcam-staging", "cd release && PUSH=1 ./build_release2.sh"],
|
||||
["build release2-staging & dashcam-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
|
||||
])
|
||||
}
|
||||
}
|
||||
@@ -87,7 +87,7 @@ pipeline {
|
||||
}
|
||||
steps {
|
||||
phone_steps("tici", [
|
||||
["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release3.sh"],
|
||||
["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
|
||||
])
|
||||
}
|
||||
}
|
||||
@@ -145,10 +145,10 @@ pipeline {
|
||||
stages {
|
||||
stage('parallel tests') {
|
||||
parallel {
|
||||
stage('Devel Tests') {
|
||||
stage('C2: build') {
|
||||
steps {
|
||||
phone_steps("eon-build", [
|
||||
["build devel", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
|
||||
["build master-ci", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
|
||||
["build openpilot", "cd selfdrive/manager && ./build.py"],
|
||||
["test manager", "python selfdrive/manager/test/test_manager.py"],
|
||||
["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
|
||||
@@ -157,7 +157,7 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
stage('Replay Tests') {
|
||||
stage('C2: replay') {
|
||||
steps {
|
||||
phone_steps("eon2", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
@@ -166,17 +166,16 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
stage('HW + Unit Tests') {
|
||||
stage('C2: HW + Unit Tests') {
|
||||
steps {
|
||||
phone_steps("eon", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
["test athena", "nosetests -s selfdrive/athena/tests/test_athenad_old.py"],
|
||||
["test sounds", "nosetests -s selfdrive/ui/tests/test_sounds.py"],
|
||||
["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
|
||||
["test sounds", "python selfdrive/ui/tests/test_soundd.py"],
|
||||
["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
|
||||
["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
|
||||
["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
|
||||
["test logcatd", "python selfdrive/logcatd/tests/test_logcatd_android.py"],
|
||||
//["test updater", "python installer/updater/test_updater.py"],
|
||||
["test updater", "python selfdrive/hardware/eon/test_neos_updater.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
@@ -202,29 +201,33 @@ pipeline {
|
||||
}
|
||||
*/
|
||||
|
||||
stage('tici Build') {
|
||||
stage('C3: build') {
|
||||
environment {
|
||||
R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
|
||||
}
|
||||
steps {
|
||||
phone_steps("tici", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
["build master-ci", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
|
||||
["build openpilot", "cd selfdrive/manager && ./build.py"],
|
||||
["test manager", "python selfdrive/manager/test/test_manager.py"],
|
||||
["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
|
||||
["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('Unit Tests (tici)') {
|
||||
stage('C3: HW + Unit Tests') {
|
||||
steps {
|
||||
phone_steps("tici2", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
|
||||
["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
|
||||
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('camerad') {
|
||||
stage('C2: camerad') {
|
||||
steps {
|
||||
phone_steps("eon-party", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
@@ -234,7 +237,7 @@ pipeline {
|
||||
}
|
||||
}
|
||||
|
||||
stage('Tici camerad') {
|
||||
stage('C3: camerad') {
|
||||
steps {
|
||||
phone_steps("tici-party", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
|
||||
@@ -4,18 +4,11 @@ Table of Contents
|
||||
=======================
|
||||
|
||||
* [What is openpilot?](#what-is-openpilot)
|
||||
* [Integration with Stock Features](#integration-with-stock-features)
|
||||
* [Supported Hardware](#supported-hardware)
|
||||
* [Supported Cars](#supported-cars)
|
||||
* [Community Maintained Cars and Features](#community-maintained-cars-and-features)
|
||||
* [Installation Instructions](#installation-instructions)
|
||||
* [Limitations of openpilot ALC and LDW](#limitations-of-openpilot-alc-and-ldw)
|
||||
* [Limitations of openpilot ACC and FCW](#limitations-of-openpilot-acc-and-fcw)
|
||||
* [Limitations of openpilot DM](#limitations-of-openpilot-dm)
|
||||
* [Running in a car](#running-in-a-car)
|
||||
* [Running on PC](#running-on-pc)
|
||||
* [Community and Contributing](#community-and-contributing)
|
||||
* [User Data and comma Account](#user-data-and-comma-account)
|
||||
* [Safety and Testing](#safety-and-testing)
|
||||
* [Testing on PC](#testing-on-pc)
|
||||
* [Community and Contributing](#community-and-contributing)
|
||||
* [Directory Structure](#directory-structure)
|
||||
* [Licensing](#licensing)
|
||||
|
||||
@@ -24,7 +17,7 @@ Table of Contents
|
||||
What is openpilot?
|
||||
------
|
||||
|
||||
[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of supported [car makes, models and model years](#supported-cars). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers.
|
||||
[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
|
||||
|
||||
<table>
|
||||
<tr>
|
||||
@@ -41,306 +34,34 @@ What is openpilot?
|
||||
</tr>
|
||||
</table>
|
||||
|
||||
Integration with Stock Features
|
||||
|
||||
Running in a car
|
||||
------
|
||||
|
||||
In all supported cars:
|
||||
* Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user.
|
||||
* Stock LDW is replaced by openpilot LDW.
|
||||
To use openpilot in a car, you need four things
|
||||
* This software. It's free and available right here.
|
||||
* One of [the 140+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot.
|
||||
* A supported device to run this software. This can be a [comma two](https://comma.ai/shop/products/two), [comma three](https://comma.ai/shop/products/three), or if you like to experiment, a [Ubuntu computer with webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
|
||||
* A way to connect to your car. With a comma two or three, you need only a [car harness](https://comma.ai/shop/products/car-harness). With an EON Gold or PC, you also need a [black panda](https://comma.ai/shop/products/panda).
|
||||
|
||||
Additionally, on specific supported cars (see ACC column in [supported cars](#supported-cars)):
|
||||
* Stock ACC is replaced by openpilot ACC.
|
||||
* openpilot FCW operates in addition to stock FCW.
|
||||
We have detailed instructions for [how to install the device in a car](https://comma.ai/setup).
|
||||
|
||||
openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
|
||||
|
||||
Supported Hardware
|
||||
Running on PC
|
||||
------
|
||||
|
||||
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).
|
||||
All of openpilot's services can run as normal on a PC, even without special hardware or a car. To develop or experiment with openpilot you can run openpilot on recorded or simulated data.
|
||||
|
||||
Supported Cars
|
||||
------
|
||||
With openpilot's tools you can plot logs, replay drives and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.
|
||||
|
||||
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
|
||||
| Acura | ILX 2016-19 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
|
||||
| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Acura | RDX 2019-21 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord 2018-20 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord Hybrid 2018-20 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Civic Hatchback 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | Civic Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
|
||||
| Honda | Civic Coupe 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
|
||||
| Honda | Civic Sedan 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
|
||||
| Honda | Civic Sedan 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
|
||||
| Honda | CR-V 2015-16 | Touring | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | CR-V 2017-21 | 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 |
|
||||
| Honda | Inspire 2018 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 0mph |
|
||||
| Honda | Passport 2019 | All | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Pilot 2016-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Ridgeline 2017-21 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Hyundai | Palisade 2020-21 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2020-21 | All | Stock | 0mph | 0mph |
|
||||
| Lexus | CT Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | ES 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | ES Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | ES Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph |
|
||||
| Lexus | NX 2018 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | NX 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | NX Hybrid 2018-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2016-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2016-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | UX Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Alphard 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Avalon 2016-21 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Avalon Hybrid 2019-21 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Camry 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry 2021 | All | openpilot | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry Hybrid 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry Hybrid 2021 | All | openpilot | 0mph | 0mph |
|
||||
| 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 2020-22 | 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 |
|
||||
| Toyota | Highlander 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Mirai 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Prius 2016-20 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2017-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Rav4 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Rav4 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2016-18 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Sienna 2018-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
|
||||
<sup>1</sup>[Comma Pedal](https://github.com/commaai/openpilot/wiki/comma-pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
|
||||
<sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
|
||||
<sup>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
|
||||
<sup>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
|
||||
Community Maintained Cars and Features
|
||||
------
|
||||
|
||||
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
|
||||
| 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 |
|
||||
| Cadillac | ATS 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Chevrolet | Malibu 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Chevrolet | Volt 2017-18<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Chrysler | Pacifica 2020 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Chrysler | Pacifica Hybrid 2019-21 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Genesis | G70 2018 | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G80 2018 | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G90 2018 | All | Stock | 0mph | 0mph |
|
||||
| GMC | Acadia 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Holden | Astra 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Hyundai | Elantra 2017-19 | SCC + LKAS | Stock | 19mph | 34mph |
|
||||
| Hyundai | Elantra 2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Elantra Hybrid 2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Genesis 2015-16 | SCC + LKAS | Stock | 19mph | 37mph |
|
||||
| Hyundai | Ioniq Electric 2019 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| 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 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 2018-21 | 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 |
|
||||
| Kia | Seltos 2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| 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 2018-19 | 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 |
|
||||
| Subaru | Ascent 2019 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Forester 2019-21 | EyeSight | Stock | 0mph | 0mph |
|
||||
| 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 2015-20 | 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 2018-20 | 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 |
|
||||
|
||||
<sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built ASCM harness](https://github.com/commaai/openpilot/wiki/GM#hardware). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
|
||||
<sup>2</sup>Only includes the MQB Passat sold outside of North America. The NMS Passat made in Chattanooga TN is not yet supported.
|
||||
|
||||
Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them. They are only available after enabling the toggle in `Settings->Developer->Enable Community Features`.
|
||||
|
||||
To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0
|
||||
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
|
||||
Installation Instructions
|
||||
------
|
||||
|
||||
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.
|
||||
|
||||
Before placing the device on your windshield, check the state and local laws and ordinances where you drive. Some state laws prohibit or restrict the placement of objects on the windshield of a motor vehicle.
|
||||
|
||||
You will be able to engage openpilot after reviewing the onboarding screens and finishing the calibration procedure.
|
||||
|
||||
Limitations of openpilot ALC and LDW
|
||||
------
|
||||
|
||||
openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.
|
||||
|
||||
While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so.
|
||||
|
||||
Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:
|
||||
|
||||
* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
|
||||
* The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
|
||||
* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
|
||||
* The device is mounted incorrectly.
|
||||
* When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
|
||||
* In the presence of restricted lanes or construction zones.
|
||||
* When driving on highly banked roads or in presence of strong cross-wind.
|
||||
* Extremely hot or cold temperatures.
|
||||
* Bright light (due to oncoming headlights, direct sunlight, etc.).
|
||||
* Driving on hills, narrow, or winding roads.
|
||||
|
||||
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
|
||||
|
||||
Limitations of openpilot ACC and FCW
|
||||
------
|
||||
|
||||
openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.
|
||||
|
||||
Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to:
|
||||
|
||||
* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
|
||||
* The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
|
||||
* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
|
||||
* The device is mounted incorrectly.
|
||||
* Approaching a toll booth, a bridge or a large metal plate.
|
||||
* When driving on roads with pedestrians, cyclists, etc...
|
||||
* In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
|
||||
* When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time.
|
||||
* In presence of vehicles in the same lane that are not moving.
|
||||
* When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce.
|
||||
* When surrounding vehicles perform close cut-ins from neighbor lanes.
|
||||
* Driving on hills, narrow, or winding roads.
|
||||
* Extremely hot or cold temperatures.
|
||||
* Bright light (due to oncoming headlights, direct sunlight, etc.).
|
||||
* Interference from other equipment that generates radar waves.
|
||||
|
||||
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
|
||||
|
||||
Limitations of openpilot DM
|
||||
------
|
||||
|
||||
openpilot DM should not be considered an exact measurement of the alertness of the driver.
|
||||
|
||||
Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:
|
||||
|
||||
* Low light conditions, such as driving at night or in dark tunnels.
|
||||
* Bright light (due to oncoming headlights, direct sunlight, etc.).
|
||||
* The driver's face is partially or completely outside field of view of the driver facing camera.
|
||||
* The driver facing camera is obstructed, covered, or damaged.
|
||||
|
||||
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.
|
||||
|
||||
User Data and comma Account
|
||||
------
|
||||
|
||||
By default, openpilot uploads the driving data to our servers. You can also access your data by pairing with the comma connect app ([iOS](https://apps.apple.com/us/app/comma-connect/id1456551889), [Android](https://play.google.com/store/apps/details?id=ai.comma.connect&hl=en_US)). We use your data to train better models and improve openpilot for everyone.
|
||||
|
||||
openpilot is open source software: the user is free to disable data collection if they wish to do so.
|
||||
|
||||
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://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/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.
|
||||
* panda has additional hardware in the loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
|
||||
* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
|
||||
|
||||
Testing on PC
|
||||
------
|
||||
For simplified development and experimentation, openpilot can be run in the CARLA driving simulator, which allows you to develop openpilot without a car. The whole setup should only take a few minutes.
|
||||
|
||||
Steps:
|
||||
1) Start the CARLA server on first terminal
|
||||
```
|
||||
bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_carla.sh)"
|
||||
```
|
||||
2) Start openpilot on second terminal
|
||||
```
|
||||
bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_openpilot_docker.sh)"
|
||||
```
|
||||
3) Press 1 to engage openpilot
|
||||
|
||||
See the full [README](tools/sim/README.md)
|
||||
|
||||
You should also take a look at the tools directory in master: lots of tools you can use to replay driving data, test, and develop openpilot from your PC.
|
||||
You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes, but does require a decent GPU.
|
||||
|
||||
|
||||
Community and Contributing
|
||||
------
|
||||
|
||||
openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged.
|
||||
openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged. Check out [the contributing docs](docs/CONTRIBUTING.md).
|
||||
|
||||
Documentation related to openpilot development can be found on [docs.comma.ai](https://docs.comma.ai). Information about running openpilot (e.g. FAQ, fingerprinting, troubleshooting, custom forks, community hardware) should go on the [wiki](https://github.com/commaai/openpilot/wiki).
|
||||
|
||||
You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
|
||||
|
||||
@@ -348,16 +69,39 @@ Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/)
|
||||
|
||||
And [follow us on Twitter](https://twitter.com/comma_ai).
|
||||
|
||||
User Data and comma Account
|
||||
------
|
||||
|
||||
By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
|
||||
|
||||
openpilot is open source software: the user is free to disable data collection if they wish to do so.
|
||||
|
||||
openpilot logs the road facing cameras, 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://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](docs/SAFETY.md) for more details.
|
||||
* openpilot has software in the loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
|
||||
* The code enforcing the safety model 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.
|
||||
* panda has additional hardware in the loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
|
||||
* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
|
||||
|
||||
Directory Structure
|
||||
------
|
||||
.
|
||||
├── cereal # The messaging spec and libs used for all logs
|
||||
├── common # Library like functionality we've developed here
|
||||
├── installer/updater # Manages updates of NEOS
|
||||
├── docs # Documentation
|
||||
├── opendbc # Files showing how to interpret data from cars
|
||||
├── panda # Code used to communicate on CAN
|
||||
├── phonelibs # External libraries
|
||||
├── pyextra # Extra python packages not shipped in NEOS
|
||||
├── third_party # External libraries
|
||||
├── pyextra # Extra python packages
|
||||
└── selfdrive # Code needed to drive the car
|
||||
├── assets # Fonts, images, and sounds for UI
|
||||
├── athena # Allows communication with the app
|
||||
@@ -381,7 +125,7 @@ Licensing
|
||||
|
||||
openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
|
||||
|
||||
Any user of this software shall indemnify and hold harmless comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
|
||||
Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
|
||||
|
||||
**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
|
||||
YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
|
||||
|
||||
+45
@@ -1,3 +1,48 @@
|
||||
Version 0.8.11 (2021-11-29)
|
||||
========================
|
||||
* Support for CAN FD on the red panda
|
||||
* Support for an external panda on the comma three
|
||||
* Navigation: Show more detailed instructions when approaching maneuver
|
||||
* Fixed occasional steering faults on GM cars thanks to jyoung8607!
|
||||
* Nissan ECU firmware fingerprinting thanks to robin-reckmann, martinl, and razem-io!
|
||||
* Cadillac Escalade ESV 2016 support thanks to Gibby!
|
||||
* Genesis G70 2020 support thanks to tecandrew!
|
||||
* Hyundai Santa Fe Hybrid 2022 support thanks to sunnyhaibin!
|
||||
* Mazda CX-9 2021 support thanks to Jacar!
|
||||
* Volkswagen Polo 2020 support thanks to jyoung8607!
|
||||
* Volkswagen T-Roc 2021 support thanks to jyoung8607!
|
||||
|
||||
Version 0.8.10 (2021-11-01)
|
||||
========================
|
||||
* New driving model
|
||||
* Trained on one million minutes!!!
|
||||
* Fixed lead training making lead predictions significantly more accurate
|
||||
* Fixed several localizer dataset bugs and loss function bugs, overall improved accuracy
|
||||
* New driver monitoring model
|
||||
* Trained on latest data from both comma two and comma three
|
||||
* Increased model field of view by 40% on comma three
|
||||
* Improved model stability on masked users
|
||||
* Improved pose prediction with reworked ground-truth stack
|
||||
* Lateral and longitudinal planning MPCs now in ACADOS
|
||||
* Combined longitudinal MPCs
|
||||
* All longitudinal planning now happens in a single MPC system
|
||||
* Fixed instability in MPC problem to prevent sporadic CPU usage
|
||||
* AGNOS 2: minor stability improvements and builder repo open sourced
|
||||
* tools: new and improved replay thanks to deanlee!
|
||||
* Moved community-supported cars outside of the Community Features toggle
|
||||
* Improved FW fingerprinting reliability for Hyundai/Kia/Genesis
|
||||
* Added prerequisites for longitudinal control on Hyundai/Kia/Genesis and Honda Bosch
|
||||
* Audi S3 2015 support thanks to jyoung8607!
|
||||
* Honda Freed 2020 support thanks to belm0!
|
||||
* Hyundai Ioniq Hybrid 2020-2022 support thanks to sunnyhaibin!
|
||||
* Hyundai Santa Fe 2022 support thanks to sunnyhaibin!
|
||||
* Kia K5 2021 support thanks to sunnyhaibin!
|
||||
* Škoda Kamiq 2021 support thanks to jyoung8607!
|
||||
* Škoda Karoq 2019 support thanks to jyoung8607!
|
||||
* Volkswagen Arteon 2021 support thanks to jyoung8607!
|
||||
* Volkswagen California 2021 support thanks to jyoung8607!
|
||||
* Volkswagen Taos 2022 support thanks to jyoung8607!
|
||||
|
||||
Version 0.8.9 (2021-09-14)
|
||||
========================
|
||||
* Improved fan control on comma three
|
||||
|
||||
@@ -1,34 +0,0 @@
|
||||
openpilot Safety
|
||||
======
|
||||
|
||||
openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system.
|
||||
Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
|
||||
driver to be alert and to pay attention at all times.
|
||||
|
||||
In order to enforce driver alertness, openpilot includes a driver monitoring feature
|
||||
that alerts the driver when distracted.
|
||||
|
||||
However, even with an attentive driver, we must make further efforts for the system to be
|
||||
safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be
|
||||
used safely** and openpilot is provided with no warranty of fitness for any purpose.
|
||||
|
||||
openpilot is developed in good faith to be compliant with FMVSS requirements and to follow
|
||||
industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe
|
||||
ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
|
||||
released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/what-is-misra/))
|
||||
on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
|
||||
hardware-in-the-loop and in-vehicle tests before each software release.
|
||||
|
||||
Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
|
||||
ensuring two main safety requirements.
|
||||
|
||||
1. The driver must always be capable to immediately retake manual control of the vehicle,
|
||||
by stepping on either pedal or by pressing the cancel button.
|
||||
2. The vehicle must not alter its trajectory too quickly for the driver to safely
|
||||
react. This means that while the system is engaged, the actuators are constrained
|
||||
to operate within reasonable limits.
|
||||
|
||||
For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [panda/board/safety/](https://github.com/commaai/panda/tree/master/board/safety).
|
||||
|
||||
**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
|
||||
not fully meeting the above requirements.
|
||||
+60
-52
@@ -13,9 +13,9 @@ AddOption('--test',
|
||||
action='store_true',
|
||||
help='build test files')
|
||||
|
||||
AddOption('--setup',
|
||||
AddOption('--extras',
|
||||
action='store_true',
|
||||
help='build setup and installer files')
|
||||
help='build misc extras, like setup and installer files')
|
||||
|
||||
AddOption('--kaitai',
|
||||
action='store_true',
|
||||
@@ -37,10 +37,6 @@ AddOption('--compile_db',
|
||||
action='store_true',
|
||||
help='build clang compilation database')
|
||||
|
||||
AddOption('--mpc-generate',
|
||||
action='store_true',
|
||||
help='regenerates the mpc sources')
|
||||
|
||||
AddOption('--snpe',
|
||||
action='store_true',
|
||||
help='use SNPE on PC')
|
||||
@@ -64,13 +60,22 @@ if arch == "aarch64" and TICI:
|
||||
arch = "larch64"
|
||||
|
||||
USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
|
||||
USE_FRAME_STREAM = os.getenv("USE_FRAME_STREAM") is not None
|
||||
|
||||
lenv = {
|
||||
"PATH": os.environ['PATH'],
|
||||
"LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
|
||||
"PYTHONPATH": Dir("#").abspath + ":" + Dir("#pyextra/").abspath,
|
||||
|
||||
"ACADOS_SOURCE_DIR": Dir("#third_party/acados/acados").abspath,
|
||||
"ACADOS_PYTHON_INTERFACE_PATH": Dir("#pyextra/acados_template").abspath,
|
||||
"TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer",
|
||||
}
|
||||
|
||||
rpath = lenv["LD_LIBRARY_PATH"].copy()
|
||||
|
||||
if arch == "aarch64" or arch == "larch64":
|
||||
lenv["LD_LIBRARY_PATH"] = '/data/data/com.termux/files/usr/lib'
|
||||
lenv["LD_LIBRARY_PATH"] += ['/data/data/com.termux/files/usr/lib']
|
||||
|
||||
if arch == "aarch64":
|
||||
# android
|
||||
@@ -78,7 +83,7 @@ if arch == "aarch64" or arch == "larch64":
|
||||
lenv["ANDROID_ROOT"] = os.environ['ANDROID_ROOT']
|
||||
|
||||
cpppath = [
|
||||
"#phonelibs/opencl/include",
|
||||
"#third_party/opencl/include",
|
||||
]
|
||||
|
||||
libpath = [
|
||||
@@ -86,13 +91,14 @@ if arch == "aarch64" or arch == "larch64":
|
||||
"/usr/lib",
|
||||
"/system/vendor/lib64",
|
||||
"/system/comma/usr/lib",
|
||||
"#phonelibs/nanovg",
|
||||
"#third_party/nanovg",
|
||||
f"#third_party/acados/{arch}/lib",
|
||||
]
|
||||
|
||||
if arch == "larch64":
|
||||
libpath += [
|
||||
"#phonelibs/snpe/larch64",
|
||||
"#phonelibs/libyuv/larch64/lib",
|
||||
"#third_party/snpe/larch64",
|
||||
"#third_party/libyuv/larch64/lib",
|
||||
"/usr/lib/aarch64-linux-gnu"
|
||||
]
|
||||
cpppath += [
|
||||
@@ -100,16 +106,16 @@ if arch == "aarch64" or arch == "larch64":
|
||||
]
|
||||
cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
|
||||
cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
|
||||
rpath = ["/usr/local/lib"]
|
||||
rpath += ["/usr/local/lib"]
|
||||
else:
|
||||
rpath = []
|
||||
libpath += [
|
||||
"#phonelibs/snpe/aarch64",
|
||||
"#phonelibs/libyuv/lib",
|
||||
"#third_party/snpe/aarch64",
|
||||
"#third_party/libyuv/lib",
|
||||
"/system/vendor/lib64"
|
||||
]
|
||||
cflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
|
||||
cxxflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
|
||||
rpath = []
|
||||
else:
|
||||
cflags = []
|
||||
cxxflags = []
|
||||
@@ -118,7 +124,7 @@ else:
|
||||
if arch == "Darwin":
|
||||
yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
|
||||
libpath = [
|
||||
f"#phonelibs/libyuv/{yuv_dir}/lib",
|
||||
f"#third_party/libyuv/{yuv_dir}/lib",
|
||||
"/usr/local/lib",
|
||||
"/opt/homebrew/lib",
|
||||
"/usr/local/opt/openssl/lib",
|
||||
@@ -134,24 +140,22 @@ else:
|
||||
]
|
||||
else:
|
||||
libpath = [
|
||||
"#phonelibs/snpe/x86_64-linux-clang",
|
||||
"#phonelibs/libyuv/x64/lib",
|
||||
"#phonelibs/mapbox-gl-native-qt/x86_64",
|
||||
"#third_party/acados/x86_64/lib",
|
||||
"#third_party/snpe/x86_64-linux-clang",
|
||||
"#third_party/libyuv/x64/lib",
|
||||
"#third_party/mapbox-gl-native-qt/x86_64",
|
||||
"#cereal",
|
||||
"#selfdrive/common",
|
||||
"/usr/lib",
|
||||
"/usr/local/lib",
|
||||
]
|
||||
|
||||
rpath = [
|
||||
"phonelibs/snpe/x86_64-linux-clang",
|
||||
"cereal",
|
||||
"selfdrive/common"
|
||||
rpath += [
|
||||
Dir("#third_party/snpe/x86_64-linux-clang").abspath,
|
||||
Dir("#cereal").abspath,
|
||||
Dir("#selfdrive/common").abspath
|
||||
]
|
||||
|
||||
# allows shared libraries to work globally
|
||||
rpath = [os.path.join(os.getcwd(), x) for x in rpath]
|
||||
|
||||
if GetOption('asan'):
|
||||
ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
|
||||
ldflags = ["-fsanitize=address"]
|
||||
@@ -164,15 +168,12 @@ else:
|
||||
|
||||
# no --as-needed on mac linker
|
||||
if arch != "Darwin":
|
||||
ldflags += ["-Wl,--as-needed"]
|
||||
ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
|
||||
|
||||
# Enable swaglog include in submodules
|
||||
cflags += ["-DSWAGLOG"]
|
||||
cxxflags += ["-DSWAGLOG"]
|
||||
|
||||
# change pythonpath to this
|
||||
lenv["PYTHONPATH"] = Dir("#").path
|
||||
|
||||
env = Environment(
|
||||
ENV=lenv,
|
||||
CCFLAGS=[
|
||||
@@ -181,32 +182,37 @@ env = Environment(
|
||||
"-O2",
|
||||
"-Wunused",
|
||||
"-Werror",
|
||||
"-Wshadow",
|
||||
"-Wno-unknown-warning-option",
|
||||
"-Wno-deprecated-register",
|
||||
"-Wno-register",
|
||||
"-Wno-inconsistent-missing-override",
|
||||
"-Wno-c99-designator",
|
||||
"-Wno-reorder-init-list",
|
||||
"-Wno-error=unused-but-set-variable",
|
||||
] + cflags + ccflags,
|
||||
|
||||
CPPPATH=cpppath + [
|
||||
"#",
|
||||
"#phonelibs/catch2/include",
|
||||
"#phonelibs/bzip2",
|
||||
"#phonelibs/libyuv/include",
|
||||
"#phonelibs/openmax/include",
|
||||
"#phonelibs/json11",
|
||||
"#phonelibs/curl/include",
|
||||
"#phonelibs/libgralloc/include",
|
||||
"#phonelibs/android_frameworks_native/include",
|
||||
"#phonelibs/android_hardware_libhardware/include",
|
||||
"#phonelibs/android_system_core/include",
|
||||
"#phonelibs/linux/include",
|
||||
"#phonelibs/snpe/include",
|
||||
"#phonelibs/mapbox-gl-native-qt/include",
|
||||
"#phonelibs/nanovg",
|
||||
"#phonelibs/qrcode",
|
||||
"#phonelibs",
|
||||
"#third_party/acados/include",
|
||||
"#third_party/acados/include/blasfeo/include",
|
||||
"#third_party/acados/include/hpipm/include",
|
||||
"#third_party/catch2/include",
|
||||
"#third_party/bzip2",
|
||||
"#third_party/libyuv/include",
|
||||
"#third_party/openmax/include",
|
||||
"#third_party/json11",
|
||||
"#third_party/curl/include",
|
||||
"#third_party/libgralloc/include",
|
||||
"#third_party/android_frameworks_native/include",
|
||||
"#third_party/android_hardware_libhardware/include",
|
||||
"#third_party/android_system_core/include",
|
||||
"#third_party/linux/include",
|
||||
"#third_party/snpe/include",
|
||||
"#third_party/mapbox-gl-native-qt/include",
|
||||
"#third_party/nanovg",
|
||||
"#third_party/qrcode",
|
||||
"#third_party",
|
||||
"#cereal",
|
||||
"#opendbc/can",
|
||||
],
|
||||
@@ -221,7 +227,7 @@ env = Environment(
|
||||
CXXFLAGS=["-std=c++1z"] + cxxflags,
|
||||
LIBPATH=libpath + [
|
||||
"#cereal",
|
||||
"#phonelibs",
|
||||
"#third_party",
|
||||
"#opendbc/can",
|
||||
"#selfdrive/boardd",
|
||||
"#selfdrive/common",
|
||||
@@ -264,7 +270,7 @@ def abspath(x):
|
||||
py_include = sysconfig.get_paths()['include']
|
||||
envCython = env.Clone()
|
||||
envCython["CPPPATH"] += [py_include, np.get_include()]
|
||||
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
|
||||
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
|
||||
|
||||
envCython["LIBS"] = []
|
||||
if arch == "Darwin":
|
||||
@@ -346,7 +352,7 @@ if GetOption("clazy"):
|
||||
qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
|
||||
qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
|
||||
|
||||
Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM')
|
||||
Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'USE_FRAME_STREAM')
|
||||
|
||||
SConscript(['selfdrive/common/SConscript'])
|
||||
Import('_common', '_gpucommon', '_gpu_libs')
|
||||
@@ -400,7 +406,7 @@ SConscript(['cereal/SConscript'])
|
||||
SConscript(['panda/board/SConscript'])
|
||||
SConscript(['opendbc/can/SConscript'])
|
||||
|
||||
SConscript(['phonelibs/SConscript'])
|
||||
SConscript(['third_party/SConscript'])
|
||||
|
||||
SConscript(['common/SConscript'])
|
||||
SConscript(['common/kalman/SConscript'])
|
||||
@@ -410,8 +416,7 @@ SConscript(['selfdrive/camerad/SConscript'])
|
||||
SConscript(['selfdrive/modeld/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/controls/lib/cluster/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/lead_mpc_lib/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/boardd/SConscript'])
|
||||
@@ -427,6 +432,9 @@ SConscript(['selfdrive/ui/SConscript'])
|
||||
if arch != "Darwin":
|
||||
SConscript(['selfdrive/logcatd/SConscript'])
|
||||
|
||||
if GetOption('test'):
|
||||
SConscript('panda/tests/safety/SConscript')
|
||||
|
||||
external_sconscript = GetOption('external_sconscript')
|
||||
if external_sconscript:
|
||||
SConscript([external_sconscript])
|
||||
|
||||
+1
-6
@@ -9,16 +9,11 @@ messaging_dir = Dir('messaging')
|
||||
# Build cereal
|
||||
|
||||
schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp']
|
||||
env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
|
||||
env.Command(["gen/c/include/c++.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
|
||||
env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
|
||||
schema_files,
|
||||
f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
|
||||
|
||||
if shutil.which('capnpc-java'):
|
||||
env.Command(['gen/java/Car.java', 'gen/java/Log.java'],
|
||||
schema_files,
|
||||
f"capnpc $SOURCES --src-prefix={cereal_dir.path} -o java:{gen_dir.path}/java/")
|
||||
|
||||
# TODO: remove non shared cereal and messaging
|
||||
cereal_objects = env.SharedObject([f'gen/cpp/{s}.c++' for s in schema_files])
|
||||
|
||||
|
||||
+25
-15
@@ -1,10 +1,6 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
using Java = import "./include/java.capnp";
|
||||
$Java.package("ai.comma.openpilot.cereal");
|
||||
$Java.outerClassname("Car");
|
||||
|
||||
@0x8e2af1e708af8b8d;
|
||||
|
||||
# ******* events causing controls state machine transition *******
|
||||
@@ -88,7 +84,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
startupNoCar @76;
|
||||
startupNoControl @77;
|
||||
startupMaster @78;
|
||||
startupFuzzyFingerprint @97;
|
||||
startupNoFw @104;
|
||||
fcw @79;
|
||||
steerSaturated @80;
|
||||
@@ -109,6 +104,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
wideRoadCameraError @102;
|
||||
localizerMalfunction @103;
|
||||
highCpuUsage @105;
|
||||
cruiseMismatch @106;
|
||||
|
||||
driverMonitorLowAccDEPRECATED @68;
|
||||
radarCanErrorDEPRECATED @15;
|
||||
@@ -130,6 +126,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
neosUpdateRequiredDEPRECATED @88;
|
||||
modelLagWarningDEPRECATED @93;
|
||||
startupOneplusDEPRECATED @82;
|
||||
startupFuzzyFingerprintDEPRECATED @97;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -148,12 +145,13 @@ struct CarState {
|
||||
wheelSpeeds @2 :WheelSpeeds;
|
||||
|
||||
# gas pedal, 0.0-1.0
|
||||
gas @3 :Float32; # this is user + computer
|
||||
gas @3 :Float32; # this is user pedal only
|
||||
gasPressed @4 :Bool; # this is user pedal only
|
||||
|
||||
# brake pedal, 0.0-1.0
|
||||
brake @5 :Float32; # this is user pedal only
|
||||
brakePressed @6 :Bool; # this is user pedal only
|
||||
brakeHoldActive @38 :Bool;
|
||||
|
||||
# steering wheel
|
||||
steeringAngleDeg @7 :Float32;
|
||||
@@ -293,6 +291,8 @@ struct CarControl {
|
||||
active @7 :Bool;
|
||||
|
||||
actuators @6 :Actuators;
|
||||
roll @8 :Float32;
|
||||
pitch @9 :Float32;
|
||||
|
||||
cruiseControl @4 :CruiseControl;
|
||||
hudControl @5 :HUDControl;
|
||||
@@ -354,11 +354,11 @@ struct CarControl {
|
||||
chimeEngage @1;
|
||||
chimeDisengage @2;
|
||||
chimeError @3;
|
||||
chimeWarning1 @4;
|
||||
chimeWarning2 @5;
|
||||
chimeWarningRepeat @6;
|
||||
chimeWarning1 @4; # unused
|
||||
chimeWarningRepeat @5;
|
||||
chimeWarningRepeatInfinite @6;
|
||||
chimePrompt @7;
|
||||
chimeWarning2Repeat @8;
|
||||
chimeWarning2RepeatInfinite @8;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -379,14 +379,11 @@ struct CarParams {
|
||||
enableDsu @5 :Bool; # driving support unit
|
||||
enableApgs @6 :Bool; # advanced parking guidance system
|
||||
enableBsm @56 :Bool; # blind spot monitoring
|
||||
hasStockCamera @57 :Bool; # factory LKAS/LDW camera is present
|
||||
|
||||
minEnableSpeed @7 :Float32;
|
||||
minSteerSpeed @8 :Float32;
|
||||
maxSteeringAngleDeg @54 :Float32;
|
||||
safetyModel @9 :SafetyModel;
|
||||
safetyModelPassive @42 :SafetyModel = silent;
|
||||
safetyParam @10 :Int16;
|
||||
safetyConfigs @62 :List(SafetyConfig);
|
||||
|
||||
steerMaxBP @11 :List(Float32);
|
||||
steerMaxV @12 :List(Float32);
|
||||
@@ -419,9 +416,11 @@ struct CarParams {
|
||||
steerLimitTimer @47 :Float32; # time before steerLimitAlert is issued
|
||||
|
||||
vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
|
||||
vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
|
||||
directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake
|
||||
stoppingControl @31 :Bool; # Does the car allows full control even at lows speeds when stopping
|
||||
startAccel @32 :Float32; # Required acceleraton to overcome creep braking
|
||||
stopAccel @60 :Float32; # Required acceleraton to keep vehicle stationary
|
||||
steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
|
||||
steerControlType @34 :SteerControlType;
|
||||
radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
|
||||
@@ -430,7 +429,8 @@ struct CarParams {
|
||||
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
|
||||
longitudinalActuatorDelayLowerBound @61 :Float32; # Gas/Brake actuator delay in seconds, lower bound
|
||||
longitudinalActuatorDelayUpperBound @58 :Float32; # Gas/Brake actuator delay in seconds, upper bound
|
||||
openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
|
||||
carVin @38 :Text; # VIN number queried during fingerprinting
|
||||
dashcamOnly @41: Bool;
|
||||
@@ -442,6 +442,11 @@ struct CarParams {
|
||||
fingerprintSource @49: FingerprintSource;
|
||||
networkLocation @50 :NetworkLocation; # Where Panda/C2 is integrated into the car's CAN network
|
||||
|
||||
struct SafetyConfig {
|
||||
safetyModel @0 :SafetyModel;
|
||||
safetyParam @1 :Int16;
|
||||
}
|
||||
|
||||
struct LateralParams {
|
||||
torqueBP @0 :List(Int32);
|
||||
torqueV @1 :List(Int32);
|
||||
@@ -520,6 +525,7 @@ struct CarParams {
|
||||
subaruLegacy @22; # pre-Global platform
|
||||
hyundaiLegacy @23;
|
||||
hyundaiCommunity @24;
|
||||
stellantis @25;
|
||||
}
|
||||
|
||||
enum SteerControlType {
|
||||
@@ -579,4 +585,8 @@ struct CarParams {
|
||||
|
||||
enableCameraDEPRECATED @4 :Bool;
|
||||
isPandaBlackDEPRECATED @39: Bool;
|
||||
hasStockCameraDEPRECATED @57 :Bool;
|
||||
safetyParamDEPRECATED @10 :Int16;
|
||||
safetyModelDEPRECATED @9 :SafetyModel;
|
||||
safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
|
||||
}
|
||||
|
||||
@@ -1,28 +0,0 @@
|
||||
# Copyright (c) 2013-2015 Sandstorm Development Group, Inc. and contributors
|
||||
# Licensed under the MIT License:
|
||||
#
|
||||
# Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
# of this software and associated documentation files (the "Software"), to deal
|
||||
# in the Software without restriction, including without limitation the rights
|
||||
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
# copies of the Software, and to permit persons to whom the Software is
|
||||
# furnished to do so, subject to the following conditions:
|
||||
#
|
||||
# The above copyright notice and this permission notice shall be included in
|
||||
# all copies or substantial portions of the Software.
|
||||
#
|
||||
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
# THE SOFTWARE.
|
||||
|
||||
@0xc5f1af96651f70ea;
|
||||
|
||||
annotation package @0x9ee4c8f803b3b596 (file) : Text;
|
||||
# Name of the package, such as "org.example.foo", in which the generated code will reside.
|
||||
|
||||
annotation outerClassname @0x9b066bb4881f7cd3 (file) : Text;
|
||||
# Name of the outer class that will wrap the generated code.
|
||||
@@ -1,10 +1,6 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
using Java = import "./include/java.capnp";
|
||||
$Java.package("ai.comma.openpilot.cereal");
|
||||
$Java.outerClassname("Legacy");
|
||||
|
||||
@0x80ef1ec4889c2a63;
|
||||
|
||||
# legacy.capnp: a home for deprecated structs
|
||||
|
||||
+89
-24
@@ -1,10 +1,6 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
using Java = import "./include/java.capnp";
|
||||
$Java.package("ai.comma.openpilot.cereal");
|
||||
$Java.outerClassname("Log");
|
||||
|
||||
using Car = import "car.capnp";
|
||||
using Legacy = import "legacy.capnp";
|
||||
|
||||
@@ -293,15 +289,11 @@ struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
networkType @22 :NetworkType;
|
||||
networkInfo @31 :NetworkInfo;
|
||||
networkStrength @24 :NetworkStrength;
|
||||
offroadPowerUsageUwh @23 :UInt32;
|
||||
carBatteryCapacityUwh @25 :UInt32;
|
||||
lastAthenaPingTime @32 :UInt64;
|
||||
|
||||
fanSpeedPercentDesired @10 :UInt16;
|
||||
started @11 :Bool;
|
||||
startedMonoTime @13 :UInt64;
|
||||
|
||||
lastAthenaPingTime @32 :UInt64;
|
||||
|
||||
# system utilization
|
||||
freeSpacePercent @7 :Float32;
|
||||
memoryUsagePercent @19 :Int8;
|
||||
@@ -313,14 +305,29 @@ struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
batteryCurrent @15 :Int32;
|
||||
chargingError @17 :Bool;
|
||||
chargingDisabled @18 :Bool;
|
||||
offroadPowerUsageUwh @23 :UInt32;
|
||||
carBatteryCapacityUwh @25 :UInt32;
|
||||
powerDrawW @40 :Float32;
|
||||
|
||||
# device thermals
|
||||
cpuTempC @26 :List(Float32);
|
||||
gpuTempC @27 :List(Float32);
|
||||
memoryTempC @28 :Float32;
|
||||
ambientTempC @30 :Float32;
|
||||
nvmeTempC @35 :List(Float32);
|
||||
modemTempC @36 :List(Float32);
|
||||
pmicTempC @39 :List(Float32);
|
||||
thermalZones @38 :List(ThermalZone);
|
||||
thermalStatus @14 :ThermalStatus;
|
||||
|
||||
fanSpeedPercentDesired @10 :UInt16;
|
||||
screenBrightnessPercent @37 :Int8;
|
||||
|
||||
struct ThermalZone {
|
||||
name @0 :Text;
|
||||
temp @1 :Float32;
|
||||
}
|
||||
|
||||
enum ThermalStatus {
|
||||
green @0;
|
||||
yellow @1;
|
||||
@@ -371,20 +378,14 @@ struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
}
|
||||
|
||||
struct PandaState @0xa7649e2575e4591e {
|
||||
# from can health
|
||||
voltage @0 :UInt32;
|
||||
current @1 :UInt32;
|
||||
ignitionLine @2 :Bool;
|
||||
controlsAllowed @3 :Bool;
|
||||
gasInterceptorDetected @4 :Bool;
|
||||
hasGps @6 :Bool;
|
||||
canSendErrs @7 :UInt32;
|
||||
canFwdErrs @8 :UInt32;
|
||||
canRxErrs @19 :UInt32;
|
||||
gmlanSendErrs @9 :UInt32;
|
||||
pandaType @10 :PandaType;
|
||||
fanSpeedRpm @11 :UInt16;
|
||||
usbPowerMode @12 :UsbPowerMode;
|
||||
ignitionCan @13 :Bool;
|
||||
safetyModel @14 :Car.CarParams.SafetyModel;
|
||||
safetyParam @20 :Int16;
|
||||
@@ -438,13 +439,6 @@ struct PandaState @0xa7649e2575e4591e {
|
||||
redPanda @7;
|
||||
}
|
||||
|
||||
enum UsbPowerMode {
|
||||
none @0;
|
||||
client @1;
|
||||
cdp @2;
|
||||
dcp @3;
|
||||
}
|
||||
|
||||
enum HarnessStatus {
|
||||
notConnected @0;
|
||||
normal @1;
|
||||
@@ -452,6 +446,26 @@ struct PandaState @0xa7649e2575e4591e {
|
||||
}
|
||||
|
||||
startedSignalDetectedDEPRECATED @5 :Bool;
|
||||
voltageDEPRECATED @0 :UInt32;
|
||||
currentDEPRECATED @1 :UInt32;
|
||||
hasGpsDEPRECATED @6 :Bool;
|
||||
fanSpeedRpmDEPRECATED @11 :UInt16;
|
||||
usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerMode;
|
||||
}
|
||||
|
||||
struct PeripheralState {
|
||||
pandaType @0 :PandaState.PandaType;
|
||||
voltage @1 :UInt32;
|
||||
current @2 :UInt32;
|
||||
fanSpeedRpm @3 :UInt16;
|
||||
usbPowerMode @4 :UsbPowerMode;
|
||||
|
||||
enum UsbPowerMode @0xa8883583b32c9877 {
|
||||
none @0;
|
||||
client @1;
|
||||
cdp @2;
|
||||
dcp @3;
|
||||
}
|
||||
}
|
||||
|
||||
struct RadarState @0x9a185389d6fdd05f {
|
||||
@@ -679,6 +693,7 @@ struct ModelDataV2 {
|
||||
orientation @5 :XYZTData;
|
||||
velocity @6 :XYZTData;
|
||||
orientationRate @7 :XYZTData;
|
||||
acceleration @19 :XYZTData;
|
||||
|
||||
# prediction lanelines and road edges
|
||||
laneLines @8 :List(XYZTData);
|
||||
@@ -859,7 +874,7 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
|
||||
desire @17 :Desire;
|
||||
laneChangeState @18 :LaneChangeState;
|
||||
laneChangeDirection @19 :LaneChangeDirection;
|
||||
|
||||
useLaneLines @29 :Bool;
|
||||
|
||||
# desired curvatures over next 2.5s in rad/m
|
||||
psis @26 :List(Float32);
|
||||
@@ -1248,6 +1263,7 @@ struct DriverState {
|
||||
distractedEyes @20 :Float32;
|
||||
eyesOnRoad @21 :Float32;
|
||||
phoneUse @22 :Float32;
|
||||
occludedProb @23 :Float32;
|
||||
|
||||
irPwrDEPRECATED @10 :Float32;
|
||||
descriptorDEPRECATED @1 :List(Float32);
|
||||
@@ -1278,6 +1294,7 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
|
||||
struct Boot {
|
||||
wallTimeNanos @0 :UInt64;
|
||||
pstore @4 :Map(Text, Data);
|
||||
commands @5 :Map(Text, Data);
|
||||
launchLog @3 :Text;
|
||||
|
||||
lastKmsgDEPRECATED @1 :Data;
|
||||
@@ -1295,6 +1312,10 @@ struct LiveParametersData {
|
||||
yawRate @7 :Float32;
|
||||
posenetSpeed @8 :Float32;
|
||||
posenetValid @9 :Bool;
|
||||
angleOffsetFastStd @10 :Float32;
|
||||
angleOffsetAverageStd @11 :Float32;
|
||||
stiffnessFactorStd @12 :Float32;
|
||||
steerRatioStd @13 :Float32;
|
||||
}
|
||||
|
||||
struct LiveMapDataDEPRECATED {
|
||||
@@ -1344,6 +1365,7 @@ struct ManagerState {
|
||||
name @0 :Text;
|
||||
pid @1 :Int32;
|
||||
running @2 :Bool;
|
||||
shouldBeRunning @4 :Bool;
|
||||
exitCode @3 :Int32;
|
||||
}
|
||||
}
|
||||
@@ -1360,6 +1382,44 @@ struct UploaderState {
|
||||
lastFilename @6 :Text;
|
||||
}
|
||||
|
||||
struct NavInstruction {
|
||||
maneuverPrimaryText @0 :Text;
|
||||
maneuverSecondaryText @1 :Text;
|
||||
maneuverDistance @2 :Float32; # m
|
||||
maneuverType @3 :Text; # TODO: Make Enum
|
||||
maneuverModifier @4 :Text; # TODO: Make Enum
|
||||
|
||||
distanceRemaining @5 :Float32; # m
|
||||
timeRemaining @6 :Float32; # s
|
||||
timeRemainingTypical @7 :Float32; # s
|
||||
|
||||
lanes @8 :List(Lane);
|
||||
showFull @9 :Bool;
|
||||
|
||||
struct Lane {
|
||||
directions @0 :List(Direction);
|
||||
active @1 :Bool;
|
||||
activeDirection @2 :Direction;
|
||||
}
|
||||
|
||||
enum Direction {
|
||||
none @0;
|
||||
left @1;
|
||||
right @2;
|
||||
straight @3;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
struct NavRoute {
|
||||
coordinates @0 :List(Coordinate);
|
||||
|
||||
struct Coordinate {
|
||||
latitude @0 :Float32;
|
||||
longitude @1 :Float32;
|
||||
}
|
||||
}
|
||||
|
||||
struct Event {
|
||||
logMonoTime @0 :UInt64; # nanoseconds
|
||||
valid @67 :Bool = true;
|
||||
@@ -1377,7 +1437,8 @@ struct Event {
|
||||
can @5 :List(CanData);
|
||||
controlsState @7 :ControlsState;
|
||||
sensorEvents @11 :List(SensorEventData);
|
||||
pandaState @12 :PandaState;
|
||||
pandaStates @81 :List(PandaState);
|
||||
peripheralState @80 :PeripheralState;
|
||||
radarState @13 :RadarState;
|
||||
liveTracks @16 :List(LiveTracks);
|
||||
sendcan @17 :List(CanData);
|
||||
@@ -1416,6 +1477,9 @@ struct Event {
|
||||
deviceState @6 :DeviceState;
|
||||
logMessage @18 :Text;
|
||||
|
||||
# navigation
|
||||
navInstruction @82 :NavInstruction;
|
||||
navRoute @83 :NavRoute;
|
||||
|
||||
# *********** debug ***********
|
||||
testJoystick @52 :Joystick;
|
||||
@@ -1457,5 +1521,6 @@ struct Event {
|
||||
kalmanOdometryDEPRECATED @65 :Legacy.KalmanOdometry;
|
||||
gpsLocationDEPRECATED @21 :GpsLocationData;
|
||||
uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState;
|
||||
pandaStateDEPRECATED @12 :PandaState;
|
||||
}
|
||||
}
|
||||
|
||||
+6
-3
@@ -28,14 +28,15 @@ services = {
|
||||
"deviceState": (True, 2., 1),
|
||||
"can": (True, 100.),
|
||||
"controlsState": (True, 100., 10),
|
||||
"pandaState": (True, 2., 1),
|
||||
"pandaStates": (True, 2., 1),
|
||||
"peripheralState": (True, 2., 1),
|
||||
"radarState": (True, 20., 5),
|
||||
"roadEncodeIdx": (True, 20., 1),
|
||||
"liveTracks": (True, 20.),
|
||||
"sendcan": (True, 100.),
|
||||
"sendcan": (True, 100., 139),
|
||||
"logMessage": (True, 0.),
|
||||
"liveCalibration": (True, 4., 4),
|
||||
"androidLog": (True, 0., 1),
|
||||
"androidLog": (True, 0.),
|
||||
"carState": (True, 100., 10),
|
||||
"carControl": (True, 100., 10),
|
||||
"longitudinalPlan": (True, 20., 5),
|
||||
@@ -61,6 +62,8 @@ services = {
|
||||
"modelV2": (True, 20., 40),
|
||||
"managerState": (True, 2., 1),
|
||||
"uploaderState": (True, 0., 1),
|
||||
"navInstruction": (True, 0.),
|
||||
"navRoute": (True, 0.),
|
||||
|
||||
# debug
|
||||
"testJoystick": (False, 0.),
|
||||
|
||||
@@ -22,19 +22,28 @@ void visionbuf_compute_aligned_width_and_height(int width, int height, int *alig
|
||||
#endif
|
||||
}
|
||||
|
||||
void VisionBuf::init_rgb(size_t width, size_t height, size_t stride) {
|
||||
void VisionBuf::init_rgb(size_t init_width, size_t init_height, size_t init_stride) {
|
||||
this->rgb = true;
|
||||
this->width = width;
|
||||
this->height = height;
|
||||
this->stride = stride;
|
||||
this->width = init_width;
|
||||
this->height = init_height;
|
||||
this->stride = init_stride;
|
||||
}
|
||||
|
||||
void VisionBuf::init_yuv(size_t width, size_t height){
|
||||
void VisionBuf::init_yuv(size_t init_width, size_t init_height){
|
||||
this->rgb = false;
|
||||
this->width = width;
|
||||
this->height = height;
|
||||
this->width = init_width;
|
||||
this->height = init_height;
|
||||
|
||||
this->y = (uint8_t *)this->addr;
|
||||
this->u = this->y + (width * height);
|
||||
this->v = this->u + (width / 2 * height / 2);
|
||||
this->u = this->y + (this->width * this->height);
|
||||
this->v = this->u + (this->width / 2 * this->height / 2);
|
||||
}
|
||||
|
||||
|
||||
uint64_t VisionBuf::get_frame_id() {
|
||||
return *frame_id;
|
||||
}
|
||||
|
||||
void VisionBuf::set_frame_id(uint64_t id) {
|
||||
*frame_id = id;
|
||||
}
|
||||
|
||||
@@ -18,6 +18,7 @@ enum VisionStreamType {
|
||||
VISION_STREAM_YUV_BACK,
|
||||
VISION_STREAM_YUV_FRONT,
|
||||
VISION_STREAM_YUV_WIDE,
|
||||
VISION_STREAM_RGB_MAP,
|
||||
VISION_STREAM_MAX,
|
||||
};
|
||||
|
||||
@@ -26,6 +27,7 @@ class VisionBuf {
|
||||
size_t len = 0;
|
||||
size_t mmap_len = 0;
|
||||
void * addr = nullptr;
|
||||
uint64_t *frame_id;
|
||||
int fd = 0;
|
||||
|
||||
bool rgb = false;
|
||||
@@ -57,6 +59,9 @@ class VisionBuf {
|
||||
void init_yuv(size_t width, size_t height);
|
||||
int sync(int dir);
|
||||
int free();
|
||||
|
||||
void set_frame_id(uint64_t id);
|
||||
uint64_t get_frame_id();
|
||||
};
|
||||
|
||||
void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);
|
||||
|
||||
@@ -32,14 +32,11 @@ static void *malloc_with_fd(size_t len, int *fd) {
|
||||
return addr;
|
||||
}
|
||||
|
||||
void VisionBuf::allocate(size_t len) {
|
||||
int fd;
|
||||
void *addr = malloc_with_fd(len, &fd);
|
||||
|
||||
this->len = len;
|
||||
this->mmap_len = len;
|
||||
this->addr = addr;
|
||||
this->fd = fd;
|
||||
void VisionBuf::allocate(size_t length) {
|
||||
this->len = length;
|
||||
this->mmap_len = this->len;
|
||||
this->addr = malloc_with_fd(this->len, &this->fd);
|
||||
this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len);
|
||||
}
|
||||
|
||||
void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx){
|
||||
@@ -57,6 +54,8 @@ void VisionBuf::import(){
|
||||
assert(this->fd >= 0);
|
||||
this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
|
||||
assert(this->addr != MAP_FAILED);
|
||||
|
||||
this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len);
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -2,6 +2,7 @@
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <assert.h>
|
||||
#include <errno.h>
|
||||
#include <sys/mman.h>
|
||||
#include <sys/ioctl.h>
|
||||
#include <sys/types.h>
|
||||
@@ -15,6 +16,16 @@
|
||||
|
||||
#include "visionbuf.h"
|
||||
|
||||
// keep trying if x gets interrupted by a signal
|
||||
#define HANDLE_EINTR(x) \
|
||||
({ \
|
||||
decltype(x) ret; \
|
||||
int try_cnt = 0; \
|
||||
do { \
|
||||
ret = (x); \
|
||||
} while (ret == -1 && errno == EINTR && try_cnt++ < 100); \
|
||||
ret; \
|
||||
})
|
||||
|
||||
// just hard-code these for convenience
|
||||
// size_t device_page_size = 0;
|
||||
@@ -36,37 +47,38 @@ static void ion_init() {
|
||||
}
|
||||
}
|
||||
|
||||
void VisionBuf::allocate(size_t len) {
|
||||
void VisionBuf::allocate(size_t length) {
|
||||
int err;
|
||||
|
||||
ion_init();
|
||||
|
||||
struct ion_allocation_data ion_alloc = {0};
|
||||
ion_alloc.len = len + PADDING_CL;
|
||||
ion_alloc.len = length + PADDING_CL + sizeof(uint64_t);
|
||||
ion_alloc.align = 4096;
|
||||
ion_alloc.heap_id_mask = 1 << ION_IOMMU_HEAP_ID;
|
||||
ion_alloc.flags = ION_FLAG_CACHED;
|
||||
|
||||
err = ioctl(ion_fd, ION_IOC_ALLOC, &ion_alloc);
|
||||
err = HANDLE_EINTR(ioctl(ion_fd, ION_IOC_ALLOC, &ion_alloc));
|
||||
assert(err == 0);
|
||||
|
||||
struct ion_fd_data ion_fd_data = {0};
|
||||
ion_fd_data.handle = ion_alloc.handle;
|
||||
err = ioctl(ion_fd, ION_IOC_SHARE, &ion_fd_data);
|
||||
err = HANDLE_EINTR(ioctl(ion_fd, ION_IOC_SHARE, &ion_fd_data));
|
||||
assert(err == 0);
|
||||
|
||||
void *addr = mmap(NULL, ion_alloc.len,
|
||||
PROT_READ | PROT_WRITE,
|
||||
MAP_SHARED, ion_fd_data.fd, 0);
|
||||
assert(addr != MAP_FAILED);
|
||||
void *mmap_addr = mmap(NULL, ion_alloc.len,
|
||||
PROT_READ | PROT_WRITE,
|
||||
MAP_SHARED, ion_fd_data.fd, 0);
|
||||
assert(mmap_addr != MAP_FAILED);
|
||||
|
||||
memset(addr, 0, ion_alloc.len);
|
||||
memset(mmap_addr, 0, ion_alloc.len);
|
||||
|
||||
this->len = len;
|
||||
this->len = length;
|
||||
this->mmap_len = ion_alloc.len;
|
||||
this->addr = addr;
|
||||
this->addr = mmap_addr;
|
||||
this->handle = ion_alloc.handle;
|
||||
this->fd = ion_fd_data.fd;
|
||||
this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len + PADDING_CL);
|
||||
}
|
||||
|
||||
void VisionBuf::import(){
|
||||
@@ -78,12 +90,14 @@ void VisionBuf::import(){
|
||||
// Get handle
|
||||
struct ion_fd_data fd_data = {0};
|
||||
fd_data.fd = this->fd;
|
||||
err = ioctl(ion_fd, ION_IOC_IMPORT, &fd_data);
|
||||
err = HANDLE_EINTR(ioctl(ion_fd, ION_IOC_IMPORT, &fd_data));
|
||||
assert(err == 0);
|
||||
|
||||
this->handle = fd_data.handle;
|
||||
this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
|
||||
assert(this->addr != MAP_FAILED);
|
||||
|
||||
this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len + PADDING_CL);
|
||||
}
|
||||
|
||||
void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx) {
|
||||
@@ -122,7 +136,7 @@ int VisionBuf::sync(int dir) {
|
||||
ION_IOC_INV_CACHES : ION_IOC_CLEAN_CACHES;
|
||||
|
||||
custom_data.arg = (unsigned long)&flush_data;
|
||||
return ioctl(ion_fd, ION_IOC_CUSTOM, &custom_data);
|
||||
return HANDLE_EINTR(ioctl(ion_fd, ION_IOC_CUSTOM, &custom_data));
|
||||
}
|
||||
|
||||
int VisionBuf::free() {
|
||||
@@ -140,5 +154,5 @@ int VisionBuf::free() {
|
||||
if (err != 0) return err;
|
||||
|
||||
struct ion_handle_data handle_data = {.handle = this->handle};
|
||||
return ioctl(ion_fd, ION_IOC_FREE, &handle_data);
|
||||
return HANDLE_EINTR(ioctl(ion_fd, ION_IOC_FREE, &handle_data));
|
||||
}
|
||||
|
||||
@@ -36,3 +36,4 @@ cdef extern from "visionipc_client.h":
|
||||
VisionIpcClient(string, VisionStreamType, bool, void*, void*)
|
||||
VisionBuf * recv(VisionIpcBufExtra *, int)
|
||||
bool connect(bool)
|
||||
bool is_connected()
|
||||
|
||||
@@ -72,6 +72,7 @@ bool VisionIpcClient::connect(bool blocking){
|
||||
if (device_id) buffers[i].init_cl(device_id, ctx);
|
||||
}
|
||||
|
||||
close(socket_fd);
|
||||
connected = true;
|
||||
return true;
|
||||
}
|
||||
|
||||
@@ -29,4 +29,5 @@ public:
|
||||
~VisionIpcClient();
|
||||
VisionBuf * recv(VisionIpcBufExtra * extra=nullptr, const int timeout_ms=100);
|
||||
bool connect(bool blocking=true);
|
||||
bool is_connected() { return connected; }
|
||||
};
|
||||
|
||||
@@ -88,3 +88,6 @@ cdef class VisionIpcClient:
|
||||
|
||||
def connect(self, bool blocking):
|
||||
return self.client.connect(blocking)
|
||||
|
||||
def is_connected(self):
|
||||
return self.client.is_connected()
|
||||
|
||||
@@ -45,7 +45,6 @@ void VisionIpcServer::create_buffers(VisionStreamType type, size_t num_buffers,
|
||||
size = width * height * 3 / 2;
|
||||
}
|
||||
|
||||
|
||||
// Create map + alloc requested buffers
|
||||
for (size_t i = 0; i < num_buffers; i++){
|
||||
VisionBuf* buf = new VisionBuf();
|
||||
|
||||
@@ -68,6 +68,7 @@ TEST_CASE("Send single buffer"){
|
||||
|
||||
VisionIpcBufExtra extra = {0};
|
||||
extra.frame_id = 1337;
|
||||
buf->set_frame_id(extra.frame_id);
|
||||
|
||||
server.send(buf, &extra);
|
||||
|
||||
@@ -76,6 +77,7 @@ TEST_CASE("Send single buffer"){
|
||||
REQUIRE(recv_buf != nullptr);
|
||||
REQUIRE(*(uint64_t*)recv_buf->addr == 1234);
|
||||
REQUIRE(extra_recv.frame_id == extra.frame_id);
|
||||
REQUIRE(recv_buf->get_frame_id() == extra.frame_id);
|
||||
}
|
||||
|
||||
|
||||
|
||||
Executable
+48
@@ -0,0 +1,48 @@
|
||||
from typing import List
|
||||
|
||||
HTML_REPLACEMENTS = [
|
||||
(r'&', r'&'),
|
||||
(r'"', r'"'),
|
||||
]
|
||||
|
||||
|
||||
def parse_markdown(text: str, tab_length: int = 2) -> str:
|
||||
lines = text.split("\n")
|
||||
output: List[str] = []
|
||||
list_level = 0
|
||||
|
||||
def end_outstanding_lists(level: int, end_level: int) -> int:
|
||||
while level > end_level:
|
||||
level -= 1
|
||||
output.append("</ul>")
|
||||
if level > 0:
|
||||
output.append("</li>")
|
||||
return end_level
|
||||
|
||||
for i, line in enumerate(lines):
|
||||
if i + 1 < len(lines) and lines[i + 1].startswith("==="): # heading
|
||||
output.append(f"<h1>{line}</h1>")
|
||||
elif line.startswith("==="):
|
||||
pass
|
||||
elif line.lstrip().startswith("* "): # list
|
||||
line_level = 1 + line.count(" " * tab_length, 0, line.index("*"))
|
||||
if list_level >= line_level:
|
||||
list_level = end_outstanding_lists(list_level, line_level)
|
||||
else:
|
||||
list_level += 1
|
||||
if list_level > 1:
|
||||
output[-1] = output[-1].replace("</li>", "")
|
||||
output.append("<ul>")
|
||||
output.append(f"<li>{line.replace('*', '', 1).lstrip()}</li>")
|
||||
else:
|
||||
list_level = end_outstanding_lists(list_level, 0)
|
||||
if len(line) > 0:
|
||||
output.append(line)
|
||||
|
||||
end_outstanding_lists(list_level, 0)
|
||||
output_str = "\n".join(output) + "\n"
|
||||
|
||||
for (fr, to) in HTML_REPLACEMENTS:
|
||||
output_str = output_str.replace(fr, to)
|
||||
|
||||
return output_str
|
||||
+6
-11
@@ -6,19 +6,14 @@ assert put_nonblocking
|
||||
|
||||
if __name__ == "__main__":
|
||||
import sys
|
||||
from common.params_pyx import keys # pylint: disable=no-name-in-module, import-error
|
||||
|
||||
params = Params()
|
||||
key = sys.argv[1]
|
||||
assert params.check_key(key), f"unknown param: {key}"
|
||||
|
||||
if len(sys.argv) == 3:
|
||||
name = sys.argv[1]
|
||||
val = sys.argv[2]
|
||||
assert name.encode("utf-8") in keys.keys(), f"unknown param: {name}"
|
||||
print(f"SET: {name} = {val}")
|
||||
params.put(name, val)
|
||||
print(f"SET: {key} = {val}")
|
||||
params.put(key, val)
|
||||
elif len(sys.argv) == 2:
|
||||
name = sys.argv[1]
|
||||
assert name.encode("utf-8") in keys.keys(), f"unknown param: {name}"
|
||||
print(f"GET: {name} = {params.get(name)}")
|
||||
else:
|
||||
for k in keys.keys():
|
||||
print(f"GET: {k} = {params.get(k)}")
|
||||
print(f"GET: {key} = {params.get(key)}")
|
||||
|
||||
@@ -1,28 +0,0 @@
|
||||
from libcpp.string cimport string
|
||||
from libcpp cimport bool
|
||||
|
||||
cdef extern from "selfdrive/common/params.cc":
|
||||
pass
|
||||
|
||||
cdef extern from "selfdrive/common/util.cc":
|
||||
pass
|
||||
|
||||
cdef extern from "selfdrive/common/params.h":
|
||||
cpdef enum ParamKeyType:
|
||||
PERSISTENT
|
||||
CLEAR_ON_MANAGER_START
|
||||
CLEAR_ON_PANDA_DISCONNECT
|
||||
CLEAR_ON_IGNITION_ON
|
||||
CLEAR_ON_IGNITION_OFF
|
||||
ALL
|
||||
|
||||
cdef cppclass Params:
|
||||
Params() nogil
|
||||
Params(string) nogil
|
||||
string get(string, bool) nogil
|
||||
bool getBool(string) nogil
|
||||
int remove(string) nogil
|
||||
int put(string, string) nogil
|
||||
int putBool(string, bool) nogil
|
||||
bool checkKey(string) nogil
|
||||
void clearAll(ParamKeyType)
|
||||
+26
-38
@@ -2,27 +2,30 @@
|
||||
# cython: language_level = 3
|
||||
from libcpp cimport bool
|
||||
from libcpp.string cimport string
|
||||
from common.params_pxd cimport Params as c_Params, ParamKeyType as c_ParamKeyType
|
||||
|
||||
import os
|
||||
import threading
|
||||
from common.basedir import BASEDIR
|
||||
|
||||
cdef extern from "selfdrive/common/params.h":
|
||||
cpdef enum ParamKeyType:
|
||||
PERSISTENT
|
||||
CLEAR_ON_MANAGER_START
|
||||
CLEAR_ON_PANDA_DISCONNECT
|
||||
CLEAR_ON_IGNITION_ON
|
||||
CLEAR_ON_IGNITION_OFF
|
||||
ALL
|
||||
|
||||
cdef cppclass c_Params "Params":
|
||||
c_Params(string) nogil
|
||||
string get(string, bool) nogil
|
||||
bool getBool(string) nogil
|
||||
int remove(string) nogil
|
||||
int put(string, string) nogil
|
||||
int putBool(string, bool) nogil
|
||||
bool checkKey(string) nogil
|
||||
void clearAll(ParamKeyType)
|
||||
|
||||
cdef class ParamKeyType:
|
||||
PERSISTENT = c_ParamKeyType.PERSISTENT
|
||||
CLEAR_ON_MANAGER_START = c_ParamKeyType.CLEAR_ON_MANAGER_START
|
||||
CLEAR_ON_PANDA_DISCONNECT = c_ParamKeyType.CLEAR_ON_PANDA_DISCONNECT
|
||||
CLEAR_ON_IGNITION_ON = c_ParamKeyType.CLEAR_ON_IGNITION_ON
|
||||
CLEAR_ON_IGNITION_OFF = c_ParamKeyType.CLEAR_ON_IGNITION_OFF
|
||||
ALL = c_ParamKeyType.ALL
|
||||
|
||||
def ensure_bytes(v):
|
||||
if isinstance(v, str):
|
||||
return v.encode()
|
||||
else:
|
||||
return v
|
||||
|
||||
return v.encode() if isinstance(v, str) else v;
|
||||
|
||||
class UnknownKeyName(Exception):
|
||||
pass
|
||||
@@ -30,36 +33,25 @@ class UnknownKeyName(Exception):
|
||||
cdef class Params:
|
||||
cdef c_Params* p
|
||||
|
||||
def __cinit__(self, d=None):
|
||||
cdef string path
|
||||
if d is None:
|
||||
with nogil:
|
||||
self.p = new c_Params()
|
||||
else:
|
||||
path = <string>d.encode()
|
||||
with nogil:
|
||||
self.p = new c_Params(path)
|
||||
def __cinit__(self, d=""):
|
||||
cdef string path = <string>d.encode()
|
||||
with nogil:
|
||||
self.p = new c_Params(path)
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.p
|
||||
|
||||
def clear_all(self, tx_type=None):
|
||||
if tx_type is None:
|
||||
tx_type = ParamKeyType.ALL
|
||||
|
||||
def clear_all(self, tx_type=ParamKeyType.ALL):
|
||||
self.p.clearAll(tx_type)
|
||||
|
||||
def check_key(self, key):
|
||||
key = ensure_bytes(key)
|
||||
|
||||
if not self.p.checkKey(key):
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
return key
|
||||
|
||||
def get(self, key, bool block=False, encoding=None):
|
||||
cdef string k = self.check_key(key)
|
||||
|
||||
cdef string val
|
||||
with nogil:
|
||||
val = self.p.get(k, block)
|
||||
@@ -72,10 +64,7 @@ cdef class Params:
|
||||
else:
|
||||
return None
|
||||
|
||||
if encoding is not None:
|
||||
return val.decode(encoding)
|
||||
else:
|
||||
return val
|
||||
return val if encoding is None else val.decode(encoding)
|
||||
|
||||
def get_bool(self, key):
|
||||
cdef string k = self.check_key(key)
|
||||
@@ -106,8 +95,7 @@ cdef class Params:
|
||||
with nogil:
|
||||
self.p.remove(k)
|
||||
|
||||
|
||||
def put_nonblocking(key, val, d=None):
|
||||
def put_nonblocking(key, val, d=""):
|
||||
def f(key, val):
|
||||
params = Params(d)
|
||||
cdef string k = ensure_bytes(key)
|
||||
|
||||
@@ -131,7 +131,7 @@ def denormalize(img_pts, intrinsics=fcam_intrinsics, width=W, height=H):
|
||||
img_pts = np.array(img_pts)
|
||||
input_shape = img_pts.shape
|
||||
img_pts = np.atleast_2d(img_pts)
|
||||
img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1))))
|
||||
img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1), dtype=img_pts.dtype)))
|
||||
img_pts_denormalized = img_pts.dot(intrinsics.T)
|
||||
img_pts_denormalized[img_pts_denormalized[:, 0] > width] = np.nan
|
||||
img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan
|
||||
|
||||
@@ -81,6 +81,9 @@ model_frame_from_road_frame = np.dot(model_intrinsics,
|
||||
bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, model_height))
|
||||
|
||||
bigmodel_frame_from_calib_frame = np.dot(bigmodel_intrinsics,
|
||||
get_view_frame_from_calib_frame(0, 0, 0, 0))
|
||||
|
||||
medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, model_height))
|
||||
|
||||
|
||||
+182
@@ -0,0 +1,182 @@
|
||||
# Supported Cars
|
||||
|
||||
## comma.ai supported cars
|
||||
|
||||
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
|
||||
| Acura | ILX 2016-19 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
|
||||
| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Acura | RDX 2019-21 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord 2018-20 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord Hybrid 2018-20 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Civic Hatchback 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | Civic Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
|
||||
| Honda | Civic Coupe 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
|
||||
| Honda | Civic Sedan 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
|
||||
| Honda | Civic Sedan 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
|
||||
| Honda | CR-V 2015-16 | Touring | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | CR-V 2017-21 | 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 | Freed 2020 | 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 |
|
||||
| Honda | Inspire 2018 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 0mph |
|
||||
| Honda | Passport 2019-21 | All | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Pilot 2016-21 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Ridgeline 2017-21 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Hyundai | Palisade 2020-21 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2020-22 | All | Stock | 0mph | 0mph |
|
||||
| Lexus | CT Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | ES 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | ES Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | ES Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph |
|
||||
| Lexus | NX 2018 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | NX 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | NX Hybrid 2018-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2016-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2016-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | UX Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Alphard 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Avalon 2016-21 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Avalon Hybrid 2019-21 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Camry 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry 2021-22 | All | openpilot | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry Hybrid 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry Hybrid 2021-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | C-HR 2017-20 | All | Stock | 0mph | 0mph |
|
||||
| Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph |
|
||||
| Toyota | Corolla 2017-19 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Corolla 2020-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hatchback 2019-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hybrid 2020-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander 2020-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2020-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Mirai 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Prius 2016-20 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2017-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2021-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Rav4 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Rav4 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2016-18 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Sienna 2018-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
|
||||
<sup>1</sup>[Comma Pedal](https://github.com/commaai/openpilot/wiki/comma-pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
|
||||
<sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
|
||||
<sup>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
|
||||
<sup>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
|
||||
## Community Maintained Cars and Features
|
||||
|
||||
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
|
||||
| Audi | A3 2014-19 | ACC + Lane Assist | Stock | 0mph | 0mph |
|
||||
| Audi | A3 Sportback e-tron 2017-18 | ACC + Lane Assist | Stock | 0mph | 0mph |
|
||||
| Audi | Q2 2018 | ACC + Lane Assist | Stock | 0mph | 0mph |
|
||||
| Audi | S3 2015 | ACC + Lane Assist | Stock | 0mph | 0mph |
|
||||
| Buick | Regal 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Cadillac | ATS 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Cadillac | Escalade ESV 2016<sup>1</sup> | ACC + LKAS | openpilot | 0mph | 7mph |
|
||||
| Chevrolet | Malibu 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Chevrolet | Volt 2017-18<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Chrysler | Pacifica 2020 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Chrysler | Pacifica Hybrid 2019-21 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Genesis | G70 2018 | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G70 2020 | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G80 2018 | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G90 2018 | All | Stock | 0mph | 0mph |
|
||||
| GMC | Acadia 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Holden | Astra 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Hyundai | Elantra 2017-19 | SCC + LKAS | Stock | 19mph | 34mph |
|
||||
| Hyundai | Elantra 2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Elantra Hybrid 2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Genesis 2015-16 | SCC + LKAS | Stock | 19mph | 37mph |
|
||||
| Hyundai | Ioniq Electric 2019 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Hyundai | Ioniq Electric 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Ioniq Hybrid 2017-19 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Hyundai | Ioniq Hybrid 2020-22 | SCC + LFA | Stock | 0mph | 0mph |
|
||||
| Hyundai | Ioniq PHEV 2020-21 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Kona 2020 | 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 | Santa Fe 2021-22 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Santa Fe Hybrid 2022 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2018-2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata Hybrid 2021-22 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Veloster 2019-20 | SCC + LKAS | Stock | 5mph | 0mph |
|
||||
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Jeep | Grand Cherokee 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Kia | Ceed 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Forte 2018-21 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | K5 2021 | SCC + LFA | Stock | 0mph | 0mph |
|
||||
| Kia | 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 |
|
||||
| Kia | Seltos 2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Sorento 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Telluride 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Mazda | CX-9 2021 | All | Stock | 0mph | 28mph |
|
||||
| Nissan | Altima 2019-20 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | Leaf 2018-22 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | Rogue 2018-20 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| 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 | Kamiq 2021<sup>2</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Karoq 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 |
|
||||
| Subaru | Ascent 2019 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Forester 2019-21 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Impreza 2017-19 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Arteon 2021<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Atlas 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| California 2021<sup>4</sup> | Driver Assistance | Stock | 0mph | 32mph |
|
||||
| Volkswagen| e-Golf 2014, 2019-20 | 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 2018-20 | 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 2016-18<sup>3</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Polo 2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| T-Cross 2021<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| T-Roc 2021<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Taos 2022<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Tiguan 2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Touran 2017 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
|
||||
<sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built ASCM harness](https://github.com/commaai/openpilot/wiki/GM#hardware). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
|
||||
<sup>2</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>3</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
|
||||
<sup>4</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering,
|
||||
remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design,
|
||||
in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.<br />
|
||||
Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them.
|
||||
|
||||
To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0
|
||||
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
@@ -6,6 +6,7 @@ Most open source development activity is coordinated through our [GitHub Discuss
|
||||
|
||||
## Getting Started
|
||||
|
||||
* Setup your [development environment](../tools/)
|
||||
* Join our [Discord](https://discord.comma.ai)
|
||||
* Make sure you have a [GitHub account](https://github.com/signup/free)
|
||||
* Fork [our repositories](https://github.com/commaai) on GitHub
|
||||
@@ -20,7 +21,7 @@ All PRs and commits are automatically checked by GitHub Actions. Check out `.git
|
||||
|
||||
Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
|
||||
|
||||
## Car Ports (openpilot)
|
||||
## Car Ports
|
||||
|
||||
We've released a [Model Port guide](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) for porting to Toyota/Lexus models.
|
||||
|
||||
@@ -0,0 +1,11 @@
|
||||
# Integration with Stock Features
|
||||
|
||||
In all supported cars:
|
||||
* Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user.
|
||||
* Stock LDW is replaced by openpilot LDW.
|
||||
|
||||
Additionally, on specific supported cars (see ACC column in [supported cars](CARS.md)):
|
||||
* Stock ACC is replaced by openpilot ACC.
|
||||
* openpilot FCW operates in addition to stock FCW.
|
||||
|
||||
openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
|
||||
@@ -0,0 +1,58 @@
|
||||
# Limitations
|
||||
## Limitations of openpilot ALC and LDW
|
||||
|
||||
openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.
|
||||
|
||||
While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so.
|
||||
|
||||
Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:
|
||||
|
||||
* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
|
||||
* The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
|
||||
* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
|
||||
* The device is mounted incorrectly.
|
||||
* When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
|
||||
* In the presence of restricted lanes or construction zones.
|
||||
* When driving on highly banked roads or in presence of strong cross-wind.
|
||||
* Extremely hot or cold temperatures.
|
||||
* Bright light (due to oncoming headlights, direct sunlight, etc.).
|
||||
* Driving on hills, narrow, or winding roads.
|
||||
|
||||
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
|
||||
|
||||
## Limitations of openpilot ACC and FCW
|
||||
|
||||
openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.
|
||||
|
||||
Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to:
|
||||
|
||||
* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
|
||||
* The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
|
||||
* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
|
||||
* The device is mounted incorrectly.
|
||||
* Approaching a toll booth, a bridge or a large metal plate.
|
||||
* When driving on roads with pedestrians, cyclists, etc...
|
||||
* In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
|
||||
* When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time.
|
||||
* In presence of vehicles in the same lane that are not moving.
|
||||
* When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce.
|
||||
* When surrounding vehicles perform close cut-ins from neighbor lanes.
|
||||
* Driving on hills, narrow, or winding roads.
|
||||
* Extremely hot or cold temperatures.
|
||||
* Bright light (due to oncoming headlights, direct sunlight, etc.).
|
||||
* Interference from other equipment that generates radar waves.
|
||||
|
||||
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
|
||||
|
||||
## Limitations of openpilot DM
|
||||
|
||||
openpilot DM should not be considered an exact measurement of the alertness of the driver.
|
||||
|
||||
Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:
|
||||
|
||||
* Low light conditions, such as driving at night or in dark tunnels.
|
||||
* Bright light (due to oncoming headlights, direct sunlight, etc.).
|
||||
* The driver's face is partially or completely outside field of view of the driver facing camera.
|
||||
* The driver facing camera is obstructed, covered, or damaged.
|
||||
|
||||
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.
|
||||
@@ -1,99 +0,0 @@
|
||||
CC = clang
|
||||
CXX = clang++
|
||||
|
||||
PHONELIBS = ../../phonelibs
|
||||
|
||||
WARN_FLAGS = -Werror=implicit-function-declaration \
|
||||
-Werror=incompatible-pointer-types \
|
||||
-Werror=int-conversion \
|
||||
-Werror=return-type \
|
||||
-Werror=format-extra-args
|
||||
|
||||
CFLAGS = -std=gnu11 -g -fPIC -O2 $(WARN_FLAGS)
|
||||
CXXFLAGS = -std=c++1z -g -fPIC -O2 $(WARN_FLAGS)
|
||||
|
||||
CURL_FLAGS = -I$(PHONELIBS)/curl/include
|
||||
CURL_LIBS = $(PHONELIBS)/curl/lib/libcurl.a \
|
||||
$(PHONELIBS)/zlib/lib/libz.a
|
||||
|
||||
BORINGSSL_FLAGS = -I$(PHONELIBS)/boringssl/include
|
||||
BORINGSSL_LIBS = $(PHONELIBS)/boringssl/lib/libssl_static.a \
|
||||
$(PHONELIBS)/boringssl/lib/libcrypto_static.a \
|
||||
|
||||
NANOVG_FLAGS = -I$(PHONELIBS)/nanovg
|
||||
|
||||
JSON11_FLAGS = -I$(PHONELIBS)/json11
|
||||
|
||||
OPENGL_LIBS = -lGLESv3
|
||||
|
||||
FRAMEBUFFER_LIBS = -lutils -lgui -lEGL
|
||||
|
||||
.PHONY: all
|
||||
all: updater
|
||||
|
||||
OBJS = opensans_regular.ttf.o \
|
||||
opensans_semibold.ttf.o \
|
||||
opensans_bold.ttf.o \
|
||||
../../selfdrive/common/util.o \
|
||||
../../selfdrive/common/touch.o \
|
||||
../../selfdrive/common/framebuffer.o \
|
||||
$(PHONELIBS)/json11/json11.o \
|
||||
$(PHONELIBS)/nanovg/nanovg.o
|
||||
|
||||
DEPS := $(OBJS:.o=.d)
|
||||
|
||||
updater: updater.o $(OBJS)
|
||||
@echo "[ LINK ] $@"
|
||||
$(CXX) $(CPPFLAGS) -fPIC -o 'updater' $^ \
|
||||
$(FRAMEBUFFER_LIBS) \
|
||||
$(CURL_LIBS) \
|
||||
$(BORINGSSL_LIBS) \
|
||||
-L/system/vendor/lib64 \
|
||||
$(OPENGL_LIBS) \
|
||||
-lcutils -lm -llog
|
||||
strip updater
|
||||
|
||||
opensans_regular.ttf.o: ../../selfdrive/assets/fonts/opensans_regular.ttf
|
||||
@echo "[ bin2o ] $@"
|
||||
cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
|
||||
|
||||
opensans_bold.ttf.o: ../../selfdrive/assets/fonts/opensans_bold.ttf
|
||||
@echo "[ bin2o ] $@"
|
||||
cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
|
||||
|
||||
opensans_semibold.ttf.o: ../../selfdrive/assets/fonts/opensans_semibold.ttf
|
||||
@echo "[ bin2o ] $@"
|
||||
cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
|
||||
|
||||
%.o: %.c
|
||||
mkdir -p $(@D)
|
||||
@echo "[ CC ] $@"
|
||||
$(CC) $(CPPFLAGS) $(CFLAGS) \
|
||||
-I../.. \
|
||||
-I$(PHONELIBS)/android_frameworks_native/include \
|
||||
-I$(PHONELIBS)/android_system_core/include \
|
||||
-I$(PHONELIBS)/android_hardware_libhardware/include \
|
||||
$(NANOVG_FLAGS) \
|
||||
-c -o '$@' '$<'
|
||||
|
||||
%.o: %.cc
|
||||
mkdir -p $(@D)
|
||||
@echo "[ CXX ] $@"
|
||||
$(CXX) $(CPPFLAGS) $(CXXFLAGS) \
|
||||
-I../../selfdrive \
|
||||
-I../../ \
|
||||
-I$(PHONELIBS)/android_frameworks_native/include \
|
||||
-I$(PHONELIBS)/android_system_core/include \
|
||||
-I$(PHONELIBS)/android_hardware_libhardware/include \
|
||||
$(NANOVG_FLAGS) \
|
||||
$(JSON11_FLAGS) \
|
||||
$(CURL_FLAGS) \
|
||||
$(BORINGSSL_FLAGS) \
|
||||
-c -o '$@' '$<'
|
||||
|
||||
|
||||
.PHONY: clean
|
||||
clean:
|
||||
rm -f $(OBJS) $(DEPS)
|
||||
|
||||
-include $(DEPS)
|
||||
Binary file not shown.
@@ -1,803 +0,0 @@
|
||||
#include <sys/stat.h>
|
||||
#include <sys/statvfs.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <cassert>
|
||||
#include <cstdio>
|
||||
#include <cstdlib>
|
||||
#include <cstring>
|
||||
#include <fstream>
|
||||
#include <iostream>
|
||||
#include <memory>
|
||||
#include <mutex>
|
||||
#include <sstream>
|
||||
#include <string>
|
||||
#include <thread>
|
||||
|
||||
#include <curl/curl.h>
|
||||
#include <openssl/sha.h>
|
||||
#include <EGL/egl.h>
|
||||
#include <EGL/eglext.h>
|
||||
#include <GLES3/gl3.h>
|
||||
#include "nanovg.h"
|
||||
#define NANOVG_GLES3_IMPLEMENTATION
|
||||
#include "json11.hpp"
|
||||
#include "nanovg_gl.h"
|
||||
#include "nanovg_gl_utils.h"
|
||||
|
||||
#include "selfdrive/common/framebuffer.h"
|
||||
#include "selfdrive/common/touch.h"
|
||||
#include "selfdrive/common/util.h"
|
||||
|
||||
#define USER_AGENT "NEOSUpdater-0.2"
|
||||
|
||||
#define MANIFEST_URL_NEOS_STAGING "https://github.com/commaai/eon-neos/raw/master/update.staging.json"
|
||||
#define MANIFEST_URL_NEOS_LOCAL "http://192.168.5.1:8000/neosupdate/update.local.json"
|
||||
#define MANIFEST_URL_NEOS "https://github.com/commaai/eon-neos/raw/master/update.json"
|
||||
const char *manifest_url = MANIFEST_URL_NEOS;
|
||||
|
||||
#define RECOVERY_DEV "/dev/block/bootdevice/by-name/recovery"
|
||||
#define RECOVERY_COMMAND "/cache/recovery/command"
|
||||
|
||||
#define UPDATE_DIR "/data/neoupdate"
|
||||
|
||||
extern const uint8_t bin_opensans_regular[] asm("_binary_opensans_regular_ttf_start");
|
||||
extern const uint8_t bin_opensans_regular_end[] asm("_binary_opensans_regular_ttf_end");
|
||||
extern const uint8_t bin_opensans_semibold[] asm("_binary_opensans_semibold_ttf_start");
|
||||
extern const uint8_t bin_opensans_semibold_end[] asm("_binary_opensans_semibold_ttf_end");
|
||||
extern const uint8_t bin_opensans_bold[] asm("_binary_opensans_bold_ttf_start");
|
||||
extern const uint8_t bin_opensans_bold_end[] asm("_binary_opensans_bold_ttf_end");
|
||||
|
||||
namespace {
|
||||
|
||||
std::string sha256_file(std::string fn, size_t limit=0) {
|
||||
SHA256_CTX ctx;
|
||||
SHA256_Init(&ctx);
|
||||
|
||||
FILE *file = fopen(fn.c_str(), "rb");
|
||||
if (!file) return "";
|
||||
|
||||
const size_t buf_size = 8192;
|
||||
std::unique_ptr<char[]> buffer( new char[ buf_size ] );
|
||||
|
||||
bool read_limit = (limit != 0);
|
||||
while (true) {
|
||||
size_t read_size = buf_size;
|
||||
if (read_limit) read_size = std::min(read_size, limit);
|
||||
size_t bytes_read = fread(buffer.get(), 1, read_size, file);
|
||||
if (!bytes_read) break;
|
||||
|
||||
SHA256_Update(&ctx, buffer.get(), bytes_read);
|
||||
|
||||
if (read_limit) {
|
||||
limit -= bytes_read;
|
||||
if (limit == 0) break;
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t hash[SHA256_DIGEST_LENGTH];
|
||||
SHA256_Final(hash, &ctx);
|
||||
|
||||
fclose(file);
|
||||
|
||||
return util::tohex(hash, sizeof(hash));
|
||||
}
|
||||
|
||||
size_t download_string_write(void *ptr, size_t size, size_t nmeb, void *up) {
|
||||
size_t sz = size * nmeb;
|
||||
((std::string*)up)->append((char*)ptr, sz);
|
||||
return sz;
|
||||
}
|
||||
|
||||
std::string download_string(CURL *curl, std::string url) {
|
||||
std::string os;
|
||||
|
||||
curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
|
||||
curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
|
||||
curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 0);
|
||||
curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
|
||||
curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
|
||||
curl_easy_setopt(curl, CURLOPT_RESUME_FROM, 0);
|
||||
|
||||
curl_easy_setopt(curl, CURLOPT_NOPROGRESS, 1);
|
||||
|
||||
curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, download_string_write);
|
||||
curl_easy_setopt(curl, CURLOPT_WRITEDATA, &os);
|
||||
CURLcode res = curl_easy_perform(curl);
|
||||
if (res != CURLE_OK) {
|
||||
return "";
|
||||
}
|
||||
|
||||
return os;
|
||||
}
|
||||
|
||||
size_t download_file_write(void *ptr, size_t size, size_t nmeb, void *up) {
|
||||
return fwrite(ptr, size, nmeb, (FILE*)up);
|
||||
}
|
||||
|
||||
int battery_capacity() {
|
||||
std::string bat_cap_s = util::read_file("/sys/class/power_supply/battery/capacity");
|
||||
return atoi(bat_cap_s.c_str());
|
||||
}
|
||||
|
||||
int battery_current() {
|
||||
std::string current_now_s = util::read_file("/sys/class/power_supply/battery/current_now");
|
||||
return atoi(current_now_s.c_str());
|
||||
}
|
||||
|
||||
bool check_battery() {
|
||||
int bat_cap = battery_capacity();
|
||||
int current_now = battery_current();
|
||||
return bat_cap > 35 || (current_now < 0 && bat_cap > 10);
|
||||
}
|
||||
|
||||
bool check_space() {
|
||||
struct statvfs stat;
|
||||
if (statvfs("/data/", &stat) != 0) {
|
||||
return false;
|
||||
}
|
||||
size_t space = stat.f_bsize * stat.f_bavail;
|
||||
return space > 2000000000ULL; // 2GB
|
||||
}
|
||||
|
||||
static void start_settings_activity(const char* name) {
|
||||
char launch_cmd[1024];
|
||||
snprintf(launch_cmd, sizeof(launch_cmd),
|
||||
"am start -W --ez :settings:show_fragment_as_subsetting true -n 'com.android.settings/.%s'", name);
|
||||
system(launch_cmd);
|
||||
}
|
||||
|
||||
bool is_settings_active() {
|
||||
FILE *fp;
|
||||
char sys_output[4096];
|
||||
|
||||
fp = popen("/bin/dumpsys window windows", "r");
|
||||
if (fp == NULL) {
|
||||
return false;
|
||||
}
|
||||
|
||||
bool active = false;
|
||||
while (fgets(sys_output, sizeof(sys_output), fp) != NULL) {
|
||||
if (strstr(sys_output, "mCurrentFocus=null") != NULL) {
|
||||
break;
|
||||
}
|
||||
|
||||
if (strstr(sys_output, "mCurrentFocus=Window") != NULL) {
|
||||
active = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
pclose(fp);
|
||||
|
||||
return active;
|
||||
}
|
||||
|
||||
struct Updater {
|
||||
bool do_exit = false;
|
||||
|
||||
TouchState touch;
|
||||
|
||||
int fb_w, fb_h;
|
||||
|
||||
std::unique_ptr<FrameBuffer> fb;
|
||||
NVGcontext *vg = NULL;
|
||||
int font_regular;
|
||||
int font_semibold;
|
||||
int font_bold;
|
||||
|
||||
std::thread update_thread_handle;
|
||||
|
||||
std::mutex lock;
|
||||
|
||||
enum UpdateState {
|
||||
CONFIRMATION,
|
||||
LOW_BATTERY,
|
||||
RUNNING,
|
||||
ERROR,
|
||||
};
|
||||
UpdateState state;
|
||||
|
||||
std::string progress_text;
|
||||
float progress_frac;
|
||||
|
||||
std::string error_text;
|
||||
|
||||
std::string low_battery_text;
|
||||
std::string low_battery_title;
|
||||
std::string low_battery_context;
|
||||
std::string battery_cap_text;
|
||||
int min_battery_cap = 35;
|
||||
|
||||
// button
|
||||
int b_x, b_w, b_y, b_h;
|
||||
int balt_x;
|
||||
|
||||
// download stage writes these for the installation stage
|
||||
int recovery_len;
|
||||
std::string recovery_hash;
|
||||
std::string recovery_fn;
|
||||
std::string ota_fn;
|
||||
|
||||
CURL *curl = NULL;
|
||||
|
||||
void ui_init() {
|
||||
touch_init(&touch);
|
||||
|
||||
fb = std::make_unique<FrameBuffer>("updater", 0x00001000, false, &fb_w, &fb_h);
|
||||
|
||||
fb->set_power(HWC_POWER_MODE_NORMAL);
|
||||
|
||||
vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
|
||||
assert(vg);
|
||||
|
||||
font_regular = nvgCreateFontMem(vg, "opensans_regular", (unsigned char*)bin_opensans_regular, (bin_opensans_regular_end - bin_opensans_regular), 0);
|
||||
assert(font_regular >= 0);
|
||||
|
||||
font_semibold = nvgCreateFontMem(vg, "opensans_semibold", (unsigned char*)bin_opensans_semibold, (bin_opensans_semibold_end - bin_opensans_semibold), 0);
|
||||
assert(font_semibold >= 0);
|
||||
|
||||
font_bold = nvgCreateFontMem(vg, "opensans_bold", (unsigned char*)bin_opensans_bold, (bin_opensans_bold_end - bin_opensans_bold), 0);
|
||||
assert(font_bold >= 0);
|
||||
|
||||
b_w = 640;
|
||||
balt_x = 200;
|
||||
b_x = fb_w-b_w-200;
|
||||
b_y = 720;
|
||||
b_h = 220;
|
||||
|
||||
if (download_stage(true)) {
|
||||
state = RUNNING;
|
||||
update_thread_handle = std::thread(&Updater::run_stages, this);
|
||||
} else {
|
||||
state = CONFIRMATION;
|
||||
}
|
||||
}
|
||||
|
||||
int download_file_xferinfo(curl_off_t dltotal, curl_off_t dlno,
|
||||
curl_off_t ultotal, curl_off_t ulnow) {
|
||||
{
|
||||
std::lock_guard<std::mutex> guard(lock);
|
||||
if (dltotal != 0) {
|
||||
progress_frac = (float) dlno / dltotal;
|
||||
}
|
||||
}
|
||||
// printf("info: %ld %ld %f\n", dltotal, dlno, progress_frac);
|
||||
return 0;
|
||||
}
|
||||
|
||||
bool download_file(std::string url, std::string out_fn) {
|
||||
FILE *of = fopen(out_fn.c_str(), "ab");
|
||||
assert(of);
|
||||
|
||||
CURLcode res;
|
||||
long last_resume_from = 0;
|
||||
|
||||
fseek(of, 0, SEEK_END);
|
||||
|
||||
int tries = 4;
|
||||
|
||||
bool ret = false;
|
||||
|
||||
while (true) {
|
||||
long resume_from = ftell(of);
|
||||
|
||||
curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
|
||||
curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
|
||||
curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 0);
|
||||
curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
|
||||
curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
|
||||
curl_easy_setopt(curl, CURLOPT_RESUME_FROM, resume_from);
|
||||
|
||||
curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, download_file_write);
|
||||
curl_easy_setopt(curl, CURLOPT_WRITEDATA, of);
|
||||
|
||||
curl_easy_setopt(curl, CURLOPT_NOPROGRESS, 0);
|
||||
|
||||
curl_easy_setopt(curl, CURLOPT_XFERINFODATA, this);
|
||||
curl_easy_setopt(curl, CURLOPT_XFERINFOFUNCTION, &Updater::download_file_xferinfo);
|
||||
|
||||
CURLcode res = curl_easy_perform(curl);
|
||||
|
||||
long response_code = 0;
|
||||
curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, &response_code);
|
||||
|
||||
// double content_length = 0.0;
|
||||
// curl_easy_getinfo(curl, CURLINFO_CONTENT_LENGTH_DOWNLOAD, &content_length);
|
||||
|
||||
printf("download %s res %d, code %ld, resume from %ld\n", url.c_str(), res, response_code, resume_from);
|
||||
if (res == CURLE_OK) {
|
||||
ret = true;
|
||||
break;
|
||||
} else if (res == CURLE_HTTP_RETURNED_ERROR && response_code == 416) {
|
||||
// failed because the file is already complete?
|
||||
ret = true;
|
||||
break;
|
||||
} else if (resume_from == last_resume_from) {
|
||||
// failed and dind't make make forward progress. only retry a couple times
|
||||
tries--;
|
||||
if (tries <= 0) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
last_resume_from = resume_from;
|
||||
}
|
||||
// printf("res %d\n", res);
|
||||
|
||||
// printf("- %ld %f\n", response_code, content_length);
|
||||
|
||||
fclose(of);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
void set_progress(std::string text) {
|
||||
std::lock_guard<std::mutex> guard(lock);
|
||||
progress_text = text;
|
||||
}
|
||||
|
||||
void set_error(std::string text) {
|
||||
std::lock_guard<std::mutex> guard(lock);
|
||||
error_text = text;
|
||||
state = ERROR;
|
||||
}
|
||||
|
||||
void set_battery_low() {
|
||||
std::lock_guard<std::mutex> guard(lock);
|
||||
state = LOW_BATTERY;
|
||||
}
|
||||
|
||||
void set_running() {
|
||||
std::lock_guard<std::mutex> guard(lock);
|
||||
state = RUNNING;
|
||||
}
|
||||
|
||||
std::string download(std::string url, std::string hash, std::string name, bool dry_run) {
|
||||
std::string out_fn = UPDATE_DIR "/" + util::base_name(url);
|
||||
|
||||
std::string fn_hash = sha256_file(out_fn);
|
||||
if (dry_run) {
|
||||
return (hash.compare(fn_hash) != 0) ? "" : out_fn;
|
||||
}
|
||||
|
||||
// start or resume downloading if hash doesn't match
|
||||
if (hash.compare(fn_hash) != 0) {
|
||||
set_progress("Downloading " + name + "...");
|
||||
bool r = download_file(url, out_fn);
|
||||
if (!r) {
|
||||
set_error("failed to download " + name);
|
||||
unlink(out_fn.c_str());
|
||||
return "";
|
||||
}
|
||||
fn_hash = sha256_file(out_fn);
|
||||
}
|
||||
|
||||
set_progress("Verifying " + name + "...");
|
||||
printf("got %s hash: %s\n", name.c_str(), hash.c_str());
|
||||
if (fn_hash != hash) {
|
||||
set_error(name + " was corrupt");
|
||||
unlink(out_fn.c_str());
|
||||
return "";
|
||||
}
|
||||
return out_fn;
|
||||
}
|
||||
|
||||
bool download_stage(bool dry_run = false) {
|
||||
curl = curl_easy_init();
|
||||
assert(curl);
|
||||
|
||||
// ** quick checks before download **
|
||||
|
||||
if (!check_space()) {
|
||||
if (!dry_run) set_error("2GB of free space required to update");
|
||||
return false;
|
||||
}
|
||||
|
||||
mkdir(UPDATE_DIR, 0777);
|
||||
|
||||
set_progress("Finding latest version...");
|
||||
std::string manifest_s = download_string(curl, manifest_url);
|
||||
printf("manifest: %s\n", manifest_s.c_str());
|
||||
|
||||
std::string err;
|
||||
auto manifest = json11::Json::parse(manifest_s, err);
|
||||
if (manifest.is_null() || !err.empty()) {
|
||||
set_error("failed to load update manifest");
|
||||
return false;
|
||||
}
|
||||
|
||||
std::string ota_url = manifest["ota_url"].string_value();
|
||||
std::string ota_hash = manifest["ota_hash"].string_value();
|
||||
|
||||
std::string recovery_url = manifest["recovery_url"].string_value();
|
||||
recovery_hash = manifest["recovery_hash"].string_value();
|
||||
recovery_len = manifest["recovery_len"].int_value();
|
||||
|
||||
// std::string installer_url = manifest["installer_url"].string_value();
|
||||
// std::string installer_hash = manifest["installer_hash"].string_value();
|
||||
|
||||
if (ota_url.empty() || ota_hash.empty()) {
|
||||
set_error("invalid update manifest");
|
||||
return false;
|
||||
}
|
||||
|
||||
// std::string installer_fn = download(installer_url, installer_hash, "installer");
|
||||
// if (installer_fn.empty()) {
|
||||
// //error'd
|
||||
// return;
|
||||
// }
|
||||
|
||||
// ** handle recovery download **
|
||||
if (recovery_url.empty() || recovery_hash.empty() || recovery_len == 0) {
|
||||
set_progress("Skipping recovery flash...");
|
||||
} else {
|
||||
// only download the recovery if it differs from what's flashed
|
||||
set_progress("Checking recovery...");
|
||||
std::string existing_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
|
||||
printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());
|
||||
|
||||
if (existing_recovery_hash != recovery_hash) {
|
||||
recovery_fn = download(recovery_url, recovery_hash, "recovery", dry_run);
|
||||
if (recovery_fn.empty()) {
|
||||
// error'd
|
||||
return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// ** handle ota download **
|
||||
ota_fn = download(ota_url, ota_hash, "update", dry_run);
|
||||
if (ota_fn.empty()) {
|
||||
//error'd
|
||||
return false;
|
||||
}
|
||||
|
||||
// download sucessful
|
||||
return true;
|
||||
}
|
||||
|
||||
// thread that handles downloading and installing the update
|
||||
void run_stages() {
|
||||
printf("run_stages start\n");
|
||||
|
||||
|
||||
// ** download update **
|
||||
|
||||
if (!check_battery()) {
|
||||
set_battery_low();
|
||||
int battery_cap = battery_capacity();
|
||||
while(battery_cap < min_battery_cap) {
|
||||
battery_cap = battery_capacity();
|
||||
battery_cap_text = std::to_string(battery_cap);
|
||||
util::sleep_for(1000);
|
||||
}
|
||||
set_running();
|
||||
}
|
||||
|
||||
bool sucess = download_stage();
|
||||
if (!sucess) {
|
||||
return;
|
||||
}
|
||||
|
||||
// ** install update **
|
||||
|
||||
if (!check_battery()) {
|
||||
set_battery_low();
|
||||
int battery_cap = battery_capacity();
|
||||
while(battery_cap < min_battery_cap) {
|
||||
battery_cap = battery_capacity();
|
||||
battery_cap_text = std::to_string(battery_cap);
|
||||
util::sleep_for(1000);
|
||||
}
|
||||
set_running();
|
||||
}
|
||||
|
||||
if (!recovery_fn.empty()) {
|
||||
// flash recovery
|
||||
set_progress("Flashing recovery...");
|
||||
|
||||
FILE *flash_file = fopen(recovery_fn.c_str(), "rb");
|
||||
if (!flash_file) {
|
||||
set_error("failed to flash recovery");
|
||||
return;
|
||||
}
|
||||
|
||||
FILE *recovery_dev = fopen(RECOVERY_DEV, "w+b");
|
||||
if (!recovery_dev) {
|
||||
fclose(flash_file);
|
||||
set_error("failed to flash recovery");
|
||||
return;
|
||||
}
|
||||
|
||||
const size_t buf_size = 4096;
|
||||
std::unique_ptr<char[]> buffer( new char[ buf_size ] );
|
||||
|
||||
while (true) {
|
||||
size_t bytes_read = fread(buffer.get(), 1, buf_size, flash_file);
|
||||
if (!bytes_read) break;
|
||||
|
||||
size_t bytes_written = fwrite(buffer.get(), 1, bytes_read, recovery_dev);
|
||||
if (bytes_read != bytes_written) {
|
||||
fclose(recovery_dev);
|
||||
fclose(flash_file);
|
||||
set_error("failed to flash recovery: write failed");
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
fclose(recovery_dev);
|
||||
fclose(flash_file);
|
||||
|
||||
set_progress("Verifying flash...");
|
||||
std::string new_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
|
||||
printf("new recovery hash: %s\n", new_recovery_hash.c_str());
|
||||
|
||||
if (new_recovery_hash != recovery_hash) {
|
||||
set_error("recovery flash corrupted");
|
||||
return;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// write arguments to recovery
|
||||
FILE *cmd_file = fopen(RECOVERY_COMMAND, "wb");
|
||||
if (!cmd_file) {
|
||||
set_error("failed to reboot into recovery");
|
||||
return;
|
||||
}
|
||||
fprintf(cmd_file, "--update_package=%s\n", ota_fn.c_str());
|
||||
fclose(cmd_file);
|
||||
|
||||
set_progress("Rebooting");
|
||||
|
||||
// remove the continue.sh so we come back into the setup.
|
||||
// maybe we should go directly into the installer, but what if we don't come back with internet? :/
|
||||
//unlink("/data/data/com.termux/files/continue.sh");
|
||||
|
||||
// TODO: this should be generic between android versions
|
||||
// IPowerManager.reboot(confirm=false, reason="recovery", wait=true)
|
||||
system("service call power 16 i32 0 s16 recovery i32 1");
|
||||
while (true) pause();
|
||||
|
||||
// execl("/system/bin/reboot", "recovery");
|
||||
// set_error("failed to reboot into recovery");
|
||||
}
|
||||
|
||||
void draw_ack_screen(const char *title, const char *message, const char *button, const char *altbutton) {
|
||||
nvgFillColor(vg, nvgRGBA(255,255,255,255));
|
||||
nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
|
||||
|
||||
nvgFontFace(vg, "opensans_bold");
|
||||
nvgFontSize(vg, 120.0f);
|
||||
nvgTextBox(vg, 110, 220, fb_w-240, title, NULL);
|
||||
|
||||
nvgFontFace(vg, "opensans_regular");
|
||||
nvgFontSize(vg, 86.0f);
|
||||
nvgTextBox(vg, 130, 380, fb_w-260, message, NULL);
|
||||
|
||||
// draw button
|
||||
if (button) {
|
||||
nvgBeginPath(vg);
|
||||
nvgFillColor(vg, nvgRGBA(8, 8, 8, 255));
|
||||
nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
|
||||
nvgFill(vg);
|
||||
|
||||
nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
|
||||
nvgFontFace(vg, "opensans_semibold");
|
||||
nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
|
||||
nvgText(vg, b_x+b_w/2, b_y+b_h/2, button, NULL);
|
||||
|
||||
nvgBeginPath(vg);
|
||||
nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 50));
|
||||
nvgStrokeWidth(vg, 5);
|
||||
nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
|
||||
nvgStroke(vg);
|
||||
}
|
||||
|
||||
// draw button
|
||||
if (altbutton) {
|
||||
nvgBeginPath(vg);
|
||||
nvgFillColor(vg, nvgRGBA(8, 8, 8, 255));
|
||||
nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
|
||||
nvgFill(vg);
|
||||
|
||||
nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
|
||||
nvgFontFace(vg, "opensans_semibold");
|
||||
nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
|
||||
nvgText(vg, balt_x+b_w/2, b_y+b_h/2, altbutton, NULL);
|
||||
|
||||
nvgBeginPath(vg);
|
||||
nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 50));
|
||||
nvgStrokeWidth(vg, 5);
|
||||
nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
|
||||
nvgStroke(vg);
|
||||
}
|
||||
}
|
||||
|
||||
void draw_battery_screen() {
|
||||
low_battery_title = "Low Battery";
|
||||
low_battery_text = "Please connect EON to your charger. Update will continue once EON battery reaches 35%.";
|
||||
low_battery_context = "Current battery charge: " + battery_cap_text + "%";
|
||||
|
||||
nvgFillColor(vg, nvgRGBA(255,255,255,255));
|
||||
nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
|
||||
|
||||
nvgFontFace(vg, "opensans_bold");
|
||||
nvgFontSize(vg, 120.0f);
|
||||
nvgTextBox(vg, 110, 220, fb_w-240, low_battery_title.c_str(), NULL);
|
||||
|
||||
nvgFontFace(vg, "opensans_regular");
|
||||
nvgFontSize(vg, 86.0f);
|
||||
nvgTextBox(vg, 130, 380, fb_w-260, low_battery_text.c_str(), NULL);
|
||||
|
||||
nvgFontFace(vg, "opensans_bold");
|
||||
nvgFontSize(vg, 86.0f);
|
||||
nvgTextBox(vg, 130, 700, fb_w-260, low_battery_context.c_str(), NULL);
|
||||
}
|
||||
|
||||
void draw_progress_screen() {
|
||||
// draw progress message
|
||||
nvgFontSize(vg, 64.0f);
|
||||
nvgFillColor(vg, nvgRGBA(255,255,255,255));
|
||||
nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
|
||||
nvgFontFace(vg, "opensans_bold");
|
||||
nvgFontSize(vg, 86.0f);
|
||||
nvgTextBox(vg, 0, 380, fb_w, progress_text.c_str(), NULL);
|
||||
|
||||
// draw progress bar
|
||||
{
|
||||
int progress_width = 1000;
|
||||
int progress_x = fb_w/2-progress_width/2;
|
||||
int progress_y = 520;
|
||||
int progress_height = 50;
|
||||
|
||||
int powerprompt_y = 312;
|
||||
nvgFontFace(vg, "opensans_regular");
|
||||
nvgFontSize(vg, 64.0f);
|
||||
nvgText(vg, fb_w/2, 740, "Ensure your device remains connected to a power source.", NULL);
|
||||
|
||||
NVGpaint paint = nvgBoxGradient(
|
||||
vg, progress_x + 1, progress_y + 1,
|
||||
progress_width - 2, progress_height, 3, 4, nvgRGB(27, 27, 27), nvgRGB(27, 27, 27));
|
||||
nvgBeginPath(vg);
|
||||
nvgRoundedRect(vg, progress_x, progress_y, progress_width, progress_height, 12);
|
||||
nvgFillPaint(vg, paint);
|
||||
nvgFill(vg);
|
||||
|
||||
float value = std::min(std::max(0.0f, progress_frac), 1.0f);
|
||||
int bar_pos = ((progress_width - 2) * value);
|
||||
|
||||
paint = nvgBoxGradient(
|
||||
vg, progress_x, progress_y,
|
||||
bar_pos+1.5f, progress_height-1, 3, 4,
|
||||
nvgRGB(245, 245, 245), nvgRGB(105, 105, 105));
|
||||
|
||||
nvgBeginPath(vg);
|
||||
nvgRoundedRect(
|
||||
vg, progress_x+1, progress_y+1,
|
||||
bar_pos, progress_height-2, 12);
|
||||
nvgFillPaint(vg, paint);
|
||||
nvgFill(vg);
|
||||
}
|
||||
}
|
||||
|
||||
void ui_draw() {
|
||||
std::lock_guard<std::mutex> guard(lock);
|
||||
|
||||
nvgBeginFrame(vg, fb_w, fb_h, 1.0f);
|
||||
|
||||
switch (state) {
|
||||
case CONFIRMATION:
|
||||
draw_ack_screen("An update to NEOS is required.",
|
||||
"Your device will now be reset and upgraded. You may want to connect to wifi as download is around 1 GB. Existing data on device should not be lost.",
|
||||
"Continue",
|
||||
"Connect to WiFi");
|
||||
break;
|
||||
case LOW_BATTERY:
|
||||
draw_battery_screen();
|
||||
break;
|
||||
case RUNNING:
|
||||
draw_progress_screen();
|
||||
break;
|
||||
case ERROR:
|
||||
draw_ack_screen("There was an error", (error_text).c_str(), NULL, "Reboot");
|
||||
break;
|
||||
}
|
||||
|
||||
nvgEndFrame(vg);
|
||||
}
|
||||
|
||||
void ui_update() {
|
||||
std::lock_guard<std::mutex> guard(lock);
|
||||
|
||||
if (state == ERROR || state == CONFIRMATION) {
|
||||
int touch_x = -1, touch_y = -1;
|
||||
int res = touch_poll(&touch, &touch_x, &touch_y, 0);
|
||||
if (res == 1 && !is_settings_active()) {
|
||||
if (touch_x >= b_x && touch_x < b_x+b_w && touch_y >= b_y && touch_y < b_y+b_h) {
|
||||
if (state == CONFIRMATION) {
|
||||
state = RUNNING;
|
||||
update_thread_handle = std::thread(&Updater::run_stages, this);
|
||||
}
|
||||
}
|
||||
if (touch_x >= balt_x && touch_x < balt_x+b_w && touch_y >= b_y && touch_y < b_y+b_h) {
|
||||
if (state == CONFIRMATION) {
|
||||
start_settings_activity("Settings$WifiSettingsActivity");
|
||||
} else if (state == ERROR) {
|
||||
do_exit = 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void go() {
|
||||
ui_init();
|
||||
|
||||
while (!do_exit) {
|
||||
ui_update();
|
||||
|
||||
glClearColor(0.08, 0.08, 0.08, 1.0);
|
||||
glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
|
||||
|
||||
// background
|
||||
nvgBeginPath(vg);
|
||||
NVGpaint bg = nvgLinearGradient(vg, fb_w, 0, fb_w, fb_h,
|
||||
nvgRGBA(0, 0, 0, 0), nvgRGBA(0, 0, 0, 255));
|
||||
nvgFillPaint(vg, bg);
|
||||
nvgRect(vg, 0, 0, fb_w, fb_h);
|
||||
nvgFill(vg);
|
||||
|
||||
glEnable(GL_BLEND);
|
||||
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
|
||||
|
||||
ui_draw();
|
||||
|
||||
glDisable(GL_BLEND);
|
||||
|
||||
fb->swap();
|
||||
|
||||
assert(glGetError() == GL_NO_ERROR);
|
||||
|
||||
// no simple way to do 30fps vsync with surfaceflinger...
|
||||
util::sleep_for(30);
|
||||
}
|
||||
|
||||
if (update_thread_handle.joinable()) {
|
||||
update_thread_handle.join();
|
||||
}
|
||||
|
||||
// reboot
|
||||
system("service call power 16 i32 0 i32 0 i32 1");
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
int main(int argc, char *argv[]) {
|
||||
bool background_cache = false;
|
||||
if (argc > 1) {
|
||||
if (strcmp(argv[1], "local") == 0) {
|
||||
manifest_url = MANIFEST_URL_NEOS_LOCAL;
|
||||
} else if (strcmp(argv[1], "staging") == 0) {
|
||||
manifest_url = MANIFEST_URL_NEOS_STAGING;
|
||||
} else if (strcmp(argv[1], "bgcache") == 0) {
|
||||
manifest_url = argv[2];
|
||||
background_cache = true;
|
||||
} else {
|
||||
manifest_url = argv[1];
|
||||
}
|
||||
}
|
||||
|
||||
printf("updating from %s\n", manifest_url);
|
||||
Updater updater;
|
||||
|
||||
int err = 0;
|
||||
if (background_cache) {
|
||||
err = !updater.download_stage();
|
||||
} else {
|
||||
updater.go();
|
||||
}
|
||||
return err;
|
||||
}
|
||||
+5
-17
@@ -90,18 +90,11 @@ function two_init {
|
||||
|
||||
# Check for NEOS update
|
||||
if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
|
||||
if [ -f "$DIR/scripts/continue.sh" ]; then
|
||||
cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
|
||||
fi
|
||||
|
||||
if [ ! -f "$BASEDIR/prebuilt" ]; then
|
||||
# Clean old build products, but preserve the scons cache
|
||||
cd $DIR
|
||||
git clean -xdf
|
||||
git submodule foreach --recursive git clean -xdf
|
||||
fi
|
||||
|
||||
"$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
|
||||
echo "Installing NEOS update"
|
||||
NEOS_PY="$DIR/selfdrive/hardware/eon/neos.py"
|
||||
MANIFEST="$DIR/selfdrive/hardware/eon/neos.json"
|
||||
$NEOS_PY --swap-if-ready $MANIFEST
|
||||
$DIR/selfdrive/hardware/eon/updater $NEOS_PY $MANIFEST
|
||||
fi
|
||||
}
|
||||
|
||||
@@ -165,11 +158,6 @@ function launch {
|
||||
mv "${STAGING_ROOT}/finalized" $BASEDIR
|
||||
cd $BASEDIR
|
||||
|
||||
# Partial mitigation for symlink-related filesystem corruption
|
||||
# Ensure all files match the repo versions after update
|
||||
git reset --hard
|
||||
git submodule foreach --recursive git reset --hard
|
||||
|
||||
echo "Restarting launch script ${LAUNCHER_LOCATION}"
|
||||
unset REQUIRED_NEOS_VERSION
|
||||
unset AGNOS_VERSION
|
||||
|
||||
+1
-1
@@ -11,7 +11,7 @@ if [ -z "$REQUIRED_NEOS_VERSION" ]; then
|
||||
fi
|
||||
|
||||
if [ -z "$AGNOS_VERSION" ]; then
|
||||
export AGNOS_VERSION="1.5"
|
||||
export AGNOS_VERSION="2"
|
||||
fi
|
||||
|
||||
if [ -z "$PASSIVE" ]; then
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -281,6 +281,7 @@ BO_ 777 CAR_SPEED: 8 PCM
|
||||
SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
|
||||
|
||||
@@ -144,6 +144,9 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
|
||||
case 0x12B: // GRA_ACC_01 Steering wheel controls for ACC
|
||||
crc ^= (uint8_t[]){0x6A,0x38,0xB4,0x27,0x22,0xEF,0xE1,0xBB,0xF8,0x80,0x84,0x49,0xC7,0x9E,0x1E,0x2B}[counter];
|
||||
break;
|
||||
case 0x12E: // ACC_07 Automatic Cruise Control
|
||||
crc ^= (uint8_t[]){0xF8,0xE5,0x97,0xC9,0xD6,0x07,0x47,0x21,0x66,0xDD,0xCF,0x6F,0xA1,0x94,0x74,0x63}[counter];
|
||||
break;
|
||||
case 0x187: // EV_Gearshift "Gear" selection data for EVs with no gearbox
|
||||
crc ^= (uint8_t[]){0x7F,0xED,0x17,0xC2,0x7C,0xEB,0x44,0x21,0x01,0xFA,0xDB,0x15,0x4A,0x6B,0x23,0x05}[counter];
|
||||
break;
|
||||
@@ -172,7 +175,6 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
|
||||
return crc ^ 0xFF; // Return after standard final XOR for CRC8 8H2F/AUTOSAR
|
||||
}
|
||||
|
||||
|
||||
unsigned int pedal_checksum(uint64_t d, int l) {
|
||||
uint8_t crc = 0xFF;
|
||||
uint8_t poly = 0xD5; // standard crc8
|
||||
|
||||
+2
-21
@@ -1,3 +1,4 @@
|
||||
#!/usr/bin/env python3
|
||||
import re
|
||||
import os
|
||||
import struct
|
||||
@@ -148,7 +149,7 @@ class dbc():
|
||||
ival = dd.get(s.name)
|
||||
if ival is not None:
|
||||
|
||||
ival = (ival / s.factor) - s.offset
|
||||
ival = (ival - s.offset) / s.factor
|
||||
ival = int(round(ival))
|
||||
|
||||
if s.is_signed and ival < 0:
|
||||
@@ -254,23 +255,3 @@ class dbc():
|
||||
def get_signals(self, msg):
|
||||
msg = self.lookup_msg_id(msg)
|
||||
return [sgs.name for sgs in self.msgs[msg][1]]
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
from opendbc import DBC_PATH
|
||||
|
||||
dbc_test = dbc(os.path.join(DBC_PATH, 'toyota_prius_2017_pt_generated.dbc'))
|
||||
msg = ('STEER_ANGLE_SENSOR', {'STEER_ANGLE': -6.0, 'STEER_RATE': 4, 'STEER_FRACTION': -0.2})
|
||||
encoded = dbc_test.encode(*msg)
|
||||
decoded = dbc_test.decode((0x25, 0, encoded))
|
||||
assert decoded == msg
|
||||
|
||||
dbc_test = dbc(os.path.join(DBC_PATH, 'hyundai_santa_fe_2019_ccan.dbc'))
|
||||
decoded = dbc_test.decode((0x2b0, 0, "\xfa\xfe\x00\x07\x12"))
|
||||
assert abs(decoded[1]['SAS_Angle'] - (-26.2)) < 0.001
|
||||
|
||||
msg = ('SAS11', {'SAS_Stat': 7.0, 'MsgCount': 0.0, 'SAS_Angle': -26.200000000000003, 'SAS_Speed': 0.0, 'CheckSum': 0.0})
|
||||
encoded = dbc_test.encode(*msg)
|
||||
decoded = dbc_test.decode((0x2b0, 0, encoded))
|
||||
|
||||
assert decoded == msg
|
||||
|
||||
@@ -54,7 +54,7 @@ def process(in_fn, out_fn):
|
||||
checksum_start_bit = 0
|
||||
counter_start_bit = None
|
||||
little_endian = True
|
||||
elif can_dbc.name.startswith(("chrysler_")):
|
||||
elif can_dbc.name.startswith(("chrysler_", "stellantis_")):
|
||||
checksum_type = "chrysler"
|
||||
checksum_size = 8
|
||||
counter_size = None
|
||||
|
||||
@@ -72,8 +72,13 @@ BO_ 201 ECMEngineStatus: 8 K20_ECM
|
||||
SG_ Brake_Pressed : 40|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ Standstill : 2|1@0+ (1,0) [0|1] "" NEO
|
||||
|
||||
BO_ 209 EBCMBrakePedalTorque: 7 K17_EBCM
|
||||
SG_ BrakePedalTorque : 3|12@0+ (1,0) [0|0] "" NEO
|
||||
BO_ 209 EBCMBrakePedalSensors: 7 K17_EBCM
|
||||
SG_ Counter1 : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ Counter2 : 23|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BrakePedalPosition1 : 5|14@0+ (1,0) [0|16383] "" XXX
|
||||
SG_ BrakePedalPosition2 : 21|14@0- (-1,0) [0|16383] "" XXX
|
||||
SG_ BrakeNormalized1 : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BrakeNormalized2 : 47|8@0- (-1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 241 EBCMBrakePedalPosition: 6 K17_EBCM
|
||||
SG_ BrakePedalPosition : 15|8@0+ (1,0) [0|255] "" NEO
|
||||
|
||||
@@ -285,6 +285,7 @@ BO_ 777 CAR_SPEED: 8 PCM
|
||||
SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
|
||||
|
||||
@@ -285,6 +285,7 @@ BO_ 777 CAR_SPEED: 8 PCM
|
||||
SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
|
||||
|
||||
@@ -285,6 +285,7 @@ BO_ 777 CAR_SPEED: 8 PCM
|
||||
SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
|
||||
|
||||
@@ -285,6 +285,7 @@ BO_ 777 CAR_SPEED: 8 PCM
|
||||
SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
|
||||
|
||||
@@ -285,6 +285,7 @@ BO_ 777 CAR_SPEED: 8 PCM
|
||||
SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
|
||||
|
||||
@@ -285,6 +285,7 @@ BO_ 777 CAR_SPEED: 8 PCM
|
||||
SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
|
||||
|
||||
@@ -0,0 +1,454 @@
|
||||
|
||||
VERSION ""
|
||||
|
||||
|
||||
NS_ :
|
||||
NS_DESC_
|
||||
CM_
|
||||
BA_DEF_
|
||||
BA_
|
||||
VAL_
|
||||
CAT_DEF_
|
||||
CAT_
|
||||
FILTER
|
||||
BA_DEF_DEF_
|
||||
EV_DATA_
|
||||
ENVVAR_DATA_
|
||||
SGTYPE_
|
||||
SGTYPE_VAL_
|
||||
BA_DEF_SGTYPE_
|
||||
BA_SGTYPE_
|
||||
SIG_TYPE_REF_
|
||||
VAL_TABLE_
|
||||
SIG_GROUP_
|
||||
SIG_VALTYPE_
|
||||
SIGTYPE_VALTYPE_
|
||||
BO_TX_BU_
|
||||
BA_DEF_REL_
|
||||
BA_REL_
|
||||
BA_DEF_DEF_REL_
|
||||
BU_SG_REL_
|
||||
BU_EV_REL_
|
||||
BU_BO_REL_
|
||||
SG_MUL_VAL_
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX
|
||||
|
||||
|
||||
BO_ 1280 RADAR_TRACK_500: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1281 RADAR_TRACK_501: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1282 RADAR_TRACK_502: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1283 RADAR_TRACK_503: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1284 RADAR_TRACK_504: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1285 RADAR_TRACK_505: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1286 RADAR_TRACK_506: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1287 RADAR_TRACK_507: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1288 RADAR_TRACK_508: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1289 RADAR_TRACK_509: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1290 RADAR_TRACK_50a: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1291 RADAR_TRACK_50b: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1292 RADAR_TRACK_50c: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1293 RADAR_TRACK_50d: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1294 RADAR_TRACK_50e: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1295 RADAR_TRACK_50f: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1296 RADAR_TRACK_510: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1297 RADAR_TRACK_511: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1298 RADAR_TRACK_512: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1299 RADAR_TRACK_513: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1300 RADAR_TRACK_514: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1301 RADAR_TRACK_515: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1302 RADAR_TRACK_516: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1303 RADAR_TRACK_517: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1304 RADAR_TRACK_518: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1305 RADAR_TRACK_519: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1306 RADAR_TRACK_51a: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1307 RADAR_TRACK_51b: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1308 RADAR_TRACK_51c: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1309 RADAR_TRACK_51d: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1310 RADAR_TRACK_51e: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
BO_ 1311 RADAR_TRACK_51f: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,15 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1041 ACC_HUD: 8 DSU
|
||||
SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -286,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -309,10 +316,17 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
|
||||
CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
@@ -337,7 +351,12 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
@@ -388,6 +407,13 @@ BO_ 35 SECONDARY_STEER_ANGLE: 8 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";
|
||||
|
||||
BO_ 767 SDSU: 8 XXX
|
||||
SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
|
||||
|
||||
CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
|
||||
|
||||
CM_ "lexus_ct200h_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,15 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1041 ACC_HUD: 8 DSU
|
||||
SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -286,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -309,10 +316,17 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
|
||||
CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
@@ -337,7 +351,12 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
@@ -388,6 +407,13 @@ BO_ 35 SECONDARY_STEER_ANGLE: 8 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";
|
||||
|
||||
BO_ 767 SDSU: 8 XXX
|
||||
SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
|
||||
|
||||
CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
|
||||
|
||||
CM_ "lexus_is_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,15 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1041 ACC_HUD: 8 DSU
|
||||
SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -286,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -309,10 +316,17 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
|
||||
CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
@@ -337,7 +351,12 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
@@ -388,6 +407,13 @@ BO_ 35 SECONDARY_STEER_ANGLE: 8 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";
|
||||
|
||||
BO_ 767 SDSU: 8 XXX
|
||||
SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
|
||||
|
||||
CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
|
||||
|
||||
CM_ "lexus_nx300_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,15 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1041 ACC_HUD: 8 DSU
|
||||
SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -286,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -309,10 +316,17 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
|
||||
CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
@@ -337,7 +351,12 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
@@ -388,6 +407,13 @@ BO_ 35 SECONDARY_STEER_ANGLE: 8 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";
|
||||
|
||||
BO_ 767 SDSU: 8 XXX
|
||||
SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
|
||||
|
||||
CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
|
||||
|
||||
CM_ "lexus_nx300h_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,15 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1041 ACC_HUD: 8 DSU
|
||||
SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -286,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -309,10 +316,17 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
|
||||
CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
@@ -337,7 +351,12 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
@@ -388,6 +407,13 @@ BO_ 35 SECONDARY_STEER_ANGLE: 8 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";
|
||||
|
||||
BO_ 767 SDSU: 8 XXX
|
||||
SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
|
||||
|
||||
CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
|
||||
|
||||
CM_ "lexus_rx_350_2016_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,15 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1041 ACC_HUD: 8 DSU
|
||||
SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -286,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -309,10 +316,17 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
|
||||
CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
@@ -337,7 +351,12 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
@@ -388,6 +407,13 @@ BO_ 35 SECONDARY_STEER_ANGLE: 8 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";
|
||||
|
||||
BO_ 767 SDSU: 8 XXX
|
||||
SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
|
||||
|
||||
CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
|
||||
|
||||
CM_ "lexus_rx_hybrid_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
+19
-33
@@ -498,32 +498,17 @@ BO_ 552 GEAR: 8 XXX
|
||||
SG_ GEAR_BOX : 36|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 543 CRZ_EVENTS: 8 XXX
|
||||
SG_ NEW_SIGNAL_3 : 34|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 47|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_6 : 6|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_8 : 0|1@0+ (1,0) [0|31] "" XXX
|
||||
SG_ NEW_SIGNAL_9 : 1|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_10 : 2|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_12 : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_13 : 9|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_18 : 12|1@0+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_19 : 14|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_20 : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_21 : 23|1@0+ (1,0) [0|15] "" XXX
|
||||
SG_ NEW_SIGNAL_24 : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GAS_PEDAL_PRESSED : 32|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CRZ_STARTED : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PLUS_ONE_CRZ : 17|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ PLUS_ONE_CRZ_2 : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GAS_MAYBE : 22|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NONACC_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACTIVE_CAR_MOVING : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NONACC_RELATED : 11|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CTR : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CAS_CMD_MAYBE : 30|7@0- (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 43|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_21 : 23|1@0+ (1,0) [0|15] "" XXX
|
||||
SG_ GAS_MAYBE : 22|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_CMD : 46|8@0- (1,0) [0|15] "" XXX
|
||||
SG_ CRUISE_ACTIVE_CAR_MOVING : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PLUS_ONE_CRZ : 17|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CRZ_STARTED : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PLUS_ONE_CRZ_2 : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_CMD_LOW_RES : 29|8@0- (1,0) [0|255] "" XXX
|
||||
SG_ CRZ_SPEED : 7|16@0+ (0.005,-0.5) [0|328] "kph" XXX
|
||||
|
||||
BO_ 542 NEW_MSG_33: 8 XXX
|
||||
SG_ CTR : 48|4@1+ (1,0) [0|15] "" XXX
|
||||
@@ -564,32 +549,32 @@ BO_ 535 CURVE_CTRS: 8 XXX
|
||||
SG_ NEW_SIGNAL_4 : 9|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 540 CRZ_CTRL: 8 XXX
|
||||
SG_ NEW_SIGNAL_3 : 1|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 8|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 9|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_6 : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_7 : 18|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_9 : 31|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_10 : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_GAS_MAYBE : 23|1@0+ (1,0) [0|31] "" XXX
|
||||
SG_ ACC_GAS_MAYBE2 : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRZ_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HANDS_OFF_STEERING : 48|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HANDS_ON_STEER_WARN : 59|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 45|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_8 : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 1|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRZ_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 8|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 9|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRZ_AVAILABLE : 17|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DISTANCE_SETTING : 20|3@0+ (1,0) [0|7] "" XXX
|
||||
|
||||
BO_ 539 CRZ_INFO: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 17|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 34|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_7 : 47|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CTR1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 37|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACC_ACTIVE : 33|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_CMD : 31|10@0- (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_CMD : 31|8@0- (1,0) [0|1] "" XXX
|
||||
SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 121 EPB: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 4|4@0+ (1,0) [0|255] "" XXX
|
||||
@@ -774,5 +759,6 @@ CM_ SG_ 552 MORE_GEAR "";
|
||||
CM_ SG_ 552 GEAR "0 Shifting, 1 P, 2 R, 3 N, 4 D";
|
||||
CM_ SG_ 552 GEAR_BOX "0 P, 14 R, 1 though 6 D for speeds, 15 Shift";
|
||||
CM_ SG_ 540 HANDS_ON_STEER_WARN "0 no warning, b warning";
|
||||
CM_ SG_ 540 DISTANCE_SETTING "Radar distance 0: disabled, 1: 4 bars, 2: 3 bars, 3: 2 bars, 4: 1 bar";
|
||||
CM_ SG_ 1143 REAR_CT_ALERT "Rear Cross Traffic Alert";
|
||||
VAL_ 552 GEAR 1 "P" 2 "R" 3 "N" 4 "D" ;
|
||||
|
||||
@@ -83,7 +83,7 @@ BO_ 569 CRUISE_THROTTLE: 8 XXX
|
||||
SG_ FOLLOW_DISTANCE_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CANCEL_BUTTON : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PROPILOT_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ unsure4 : 39|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ USER_BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 32|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ unsure5 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ unsure6 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
+26
-9
@@ -34,14 +34,14 @@ NS_ :
|
||||
BS_:
|
||||
|
||||
BU_:
|
||||
NEO
|
||||
MCU
|
||||
GTW
|
||||
EPAS
|
||||
DI
|
||||
ESP
|
||||
SBW
|
||||
STW
|
||||
NEO
|
||||
MCU
|
||||
GTW
|
||||
EPAS
|
||||
DI
|
||||
ESP
|
||||
SBW
|
||||
STW
|
||||
APP
|
||||
DAS
|
||||
XXX
|
||||
@@ -71,6 +71,17 @@ BO_ 1160 DAS_steeringControl: 4 NEO
|
||||
SG_ DAS_steeringAngleRequest : 6|15@0+ (0.1,-1638.35) [-1638.35|1638.35] "deg" EPAS
|
||||
SG_ DAS_steeringHapticRequest : 7|1@0+ (1,0) [0|0] "" EPAS
|
||||
|
||||
BO_ 697 DAS_control: 8 NEO
|
||||
SG_ DAS_setSpeed : 0|12@1+ (0.1,0) [0|409.4] "kph" NEO
|
||||
SG_ DAS_accState : 12|4@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DAS_aebEvent : 16|2@1+ (1,0) [0|3] "" NEO
|
||||
SG_ DAS_jerkMin : 18|9@1+ (0.03,-15.232) [-15.232|0.098] "m/s^3" NEO
|
||||
SG_ DAS_jerkMax : 27|8@1+ (0.059,0) [0|15.045] "m/s^3" NEO
|
||||
SG_ DAS_accelMin : 35|9@1+ (0.04,-15) [-15|5.44] "m/s^2" NEO
|
||||
SG_ DAS_accelMax : 44|9@1+ (0.04,-15) [-15|5.44] "m/s^2" NEO
|
||||
SG_ DAS_controlCounter : 53|3@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DAS_controlChecksum : 56|8@1+ (1,0) [0|0] "" NEO
|
||||
|
||||
BO_ 257 GTW_epasControl: 3 NEO
|
||||
SG_ GTW_epasControlChecksum : 23|8@0+ (1,0) [0|255] "" NEO
|
||||
SG_ GTW_epasControlCounter : 11|4@0+ (1,0) [0|15] "" NEO
|
||||
@@ -102,7 +113,6 @@ BO_ 3 STW_ANGL_STAT: 8 STW
|
||||
SG_ CRC_STW_ANGL_STAT : 63|8@0+ (1,0) [0|255] "" NEO
|
||||
|
||||
BO_ 14 STW_ANGLHP_STAT: 8 STW
|
||||
|
||||
SG_ StW_AnglHP : 5|14@0+ (0.1,-819.2) [-819.2|819] "deg" NEO
|
||||
SG_ StW_AnglHP_Spd : 21|14@0+ (0.5,-4096) [-4096|4095.5] "deg/s" NEO
|
||||
SG_ StW_AnglHP_Sens_Stat : 33|2@0+ (1,0) [0|0] "" NEO
|
||||
@@ -691,6 +701,13 @@ VAL_ 643 MPkBrk_Stat 1 "ENGG" 0 "RELS" ;
|
||||
VAL_ 643 RevGr_Engg 0 "DISENGG" 1 "ENGG" 2 "NDEF2" 3 "SNA" ;
|
||||
VAL_ 643 StW_Cond_Stat 3 "BLINK" 1 "NDEF1" 0 "OFF" 2 "ON" ;
|
||||
VAL_ 643 Trlr_Stat 2 "NDEF2" 0 "NONE" 1 "OK" 3 "SNA" ;
|
||||
VAL_ 697 DAS_setSpeed 4095 "SNA" ;
|
||||
VAL_ 697 DAS_accState 15 "FAULT_SNA" 13 "ACC_CANCEL_GENERIC_SILENT" 11 "APC_SELFPARK_START" 10 "APC_UNPARK_COMPLETE" 9 "APC_PAUSE" 8 "APC_ABORT" 7 "APC_COMPLETE" 6 "APC_FORWARD" 5 "APC_BACKWARD" 4 "ACC_ON" 3 "ACC_HOLD" 0 "ACC_CANCEL_GENERIC" ;
|
||||
VAL_ 697 DAS_aebEvent 3 "AEB_SNA" 2 "AEB_FAULT" 1 "AEB_ACTIVE" 0 "AEB_NOT_ACTIVE" ;
|
||||
VAL_ 697 DAS_jerkMin 511 "SNA" ;
|
||||
VAL_ 697 DAS_jerkMax 255 "SNA" ;
|
||||
VAL_ 697 DAS_accelMin 511 "SNA" ;
|
||||
VAL_ 697 DAS_accelMax 511 "SNA" ;
|
||||
VAL_ 792 BOOT_STATE 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
|
||||
VAL_ 792 CERRD 1 "CAN error detect" 0 "no Can error detected" ;
|
||||
VAL_ 792 DAY 1 "Init" 0 "SNA" ;
|
||||
|
||||
@@ -0,0 +1,179 @@
|
||||
VERSION ""
|
||||
|
||||
|
||||
NS_ :
|
||||
NS_DESC_
|
||||
CM_
|
||||
BA_DEF_
|
||||
BA_
|
||||
VAL_
|
||||
CAT_DEF_
|
||||
CAT_
|
||||
FILTER
|
||||
BA_DEF_DEF_
|
||||
EV_DATA_
|
||||
ENVVAR_DATA_
|
||||
SGTYPE_
|
||||
SGTYPE_VAL_
|
||||
BA_DEF_SGTYPE_
|
||||
BA_SGTYPE_
|
||||
SIG_TYPE_REF_
|
||||
VAL_TABLE_
|
||||
SIG_GROUP_
|
||||
SIG_VALTYPE_
|
||||
SIGTYPE_VALTYPE_
|
||||
BO_TX_BU_
|
||||
BA_DEF_REL_
|
||||
BA_REL_
|
||||
BA_DEF_DEF_REL_
|
||||
BU_SG_REL_
|
||||
BU_EV_REL_
|
||||
BU_BO_REL_
|
||||
SG_MUL_VAL_
|
||||
|
||||
BS_:
|
||||
|
||||
BU_:
|
||||
NEO
|
||||
MCU
|
||||
GTW
|
||||
EPAS
|
||||
DI
|
||||
ESP
|
||||
SBW
|
||||
STW
|
||||
APP
|
||||
DAS
|
||||
XXX
|
||||
|
||||
BO_ 262 DI_torque1: 8 DI
|
||||
SG_ DI_torqueDriver : 0|13@1- (0.25,0) [-750|750] "Nm" NEO
|
||||
SG_ DI_torque1Counter : 13|3@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_torqueMotor : 16|13@1- (0.25,0) [-750|750] "Nm" NEO
|
||||
SG_ DI_soptState : 29|3@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_motorRPM : 32|16@1- (1,0) [-17000|17000] "RPM" NEO
|
||||
SG_ DI_pedalPos : 48|8@1+ (0.4,0) [0|100] "%" NEO
|
||||
SG_ DI_torque1Checksum : 56|8@1+ (1,0) [0|0] "" NEO
|
||||
|
||||
BO_ 278 DI_torque2: 6 DI
|
||||
SG_ DI_torqueEstimate : 0|12@1- (0.5,0) [-750|750] "Nm" NEO
|
||||
SG_ DI_gear : 12|3@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_brakePedal : 15|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_vehicleSpeed : 16|12@1+ (0.05,-25) [-25|179.75] "MPH" NEO
|
||||
SG_ DI_gearRequest : 28|3@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_torqueInterfaceFailure : 31|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_torque2Counter : 32|4@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_brakePedalState : 36|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_epbParkRequest : 38|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_epbInterfaceReady : 39|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_torque2Checksum : 40|8@1+ (1,0) [0|0] "" NEO
|
||||
|
||||
BO_ 504 BrakeMessage: 8 XXX
|
||||
SG_ driverBrakeStatus : 2|2@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 568 STW_ACTN_RQ: 8 STW
|
||||
SG_ SpdCtrlLvr_Stat : 0|6@1+ (1,0) [0|0] "" NEO
|
||||
SG_ VSL_Enbl_Rq : 6|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ SpdCtrlLvrStat_Inv : 7|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DTR_Dist_Rq : 8|8@1+ (1,0) [0|200] "" NEO
|
||||
SG_ TurnIndLvr_Stat : 16|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ HiBmLvr_Stat : 18|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ WprWashSw_Psd : 20|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ WprWash_R_Sw_Posn_V2 : 22|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Lvr_Stat : 24|3@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Cond_Flt : 27|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Cond_Psd : 28|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ HrnSw_Psd : 30|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw00_Psd : 32|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw01_Psd : 33|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw02_Psd : 34|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw03_Psd : 35|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw04_Psd : 36|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw05_Psd : 37|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw06_Psd : 38|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw07_Psd : 39|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw08_Psd : 40|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw09_Psd : 41|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw10_Psd : 42|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw11_Psd : 43|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw12_Psd : 44|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw13_Psd : 45|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw14_Psd : 46|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ StW_Sw15_Psd : 47|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ WprSw6Posn : 48|3@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MC_STW_ACTN_RQ : 52|4@1+ (1,0) [0|15] "" NEO
|
||||
SG_ CRC_STW_ACTN_RQ : 56|8@1+ (1,0) [0|0] "" NEO
|
||||
|
||||
BO_ 598 DI_state: 8 DI
|
||||
SG_ DI_systemState : 0|3@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_vehicleHoldState : 3|3@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_proximity : 6|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_driveReady : 7|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_regenLight : 8|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_state : 9|3@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_cruiseState : 12|4@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_analogSpeed : 16|12@1+ (0.1,0) [0|150] "speed" NEO
|
||||
SG_ DI_immobilizerState : 28|3@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_speedUnits : 31|1@1+ (1,0) [0|1] "" NEO
|
||||
SG_ DI_cruiseSet : 32|9@1+ (0.5,0) [0|255.5] "speed" NEO
|
||||
SG_ DI_aebState : 41|3@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_stateCounter : 44|4@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DI_digitalSpeed : 48|8@1+ (1,0) [0|250] "" NEO
|
||||
SG_ DI_stateChecksum : 56|8@1+ (1,0) [0|0] "" NEO
|
||||
|
||||
BO_ 703 DAS_control: 8 GTW
|
||||
SG_ DAS_setSpeed : 0|12@1+ (0.1,0) [0|409.4] "kph" DI,PM,APS
|
||||
SG_ DAS_accState : 12|4@1+ (1,0) [0|0] "" DI,PM,APS
|
||||
SG_ DAS_aebEvent : 16|2@1+ (1,0) [0|3] "" DI,PM,APS
|
||||
SG_ DAS_jerkMin : 18|9@1+ (0.03,-15.232) [-15.232|0.098] "m/s^3" DI,PM,APS
|
||||
SG_ DAS_jerkMax : 27|8@1+ (0.059,0) [0|15.045] "m/s^3" DI,PM,APS
|
||||
SG_ DAS_accelMin : 35|9@1+ (0.04,-15) [-15|5.44] "m/s^2" DI,PM,APS
|
||||
SG_ DAS_accelMax : 44|9@1+ (0.04,-15) [-15|5.44] "m/s^2" DI,PM,APS
|
||||
SG_ DAS_controlCounter : 53|3@1+ (1,0) [0|0] "" DI,PM,APS
|
||||
SG_ DAS_controlChecksum : 56|8@1+ (1,0) [0|0] "" DI,PM,APS
|
||||
|
||||
VAL_ 262 DI_torqueDriver -4096 "SNA" ;
|
||||
VAL_ 262 DI_torqueMotor -4096 "SNA" ;
|
||||
VAL_ 262 DI_soptState 7 "SOPT_TEST_SNA" 4 "SOPT_TEST_NOT_RUN" 3 "SOPT_TEST_PASSED" 2 "SOPT_TEST_FAILED" 1 "SOPT_TEST_IN_PROGRESS" 0 "SOPT_PRE_TEST" ;
|
||||
VAL_ 262 DI_motorRPM -32768 "SNA" ;
|
||||
VAL_ 262 DI_pedalPos 255 "SNA" ;
|
||||
VAL_ 278 DI_torqueEstimate -2048 "SNA" ;
|
||||
VAL_ 278 DI_gear 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ;
|
||||
VAL_ 278 DI_brakePedal 1 "Applied" 0 "Not_applied" ;
|
||||
VAL_ 278 DI_vehicleSpeed 4095 "SNA" ;
|
||||
VAL_ 278 DI_gearRequest 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ;
|
||||
VAL_ 278 DI_torqueInterfaceFailure 1 "TORQUE_INTERFACE_FAILED" 0 "TORQUE_INTERFACE_NORMAL" ;
|
||||
VAL_ 278 DI_brakePedalState 3 "SNA" 2 "INVALID" 1 "ON" 0 "OFF" ;
|
||||
VAL_ 278 DI_epbParkRequest 1 "Park_requested" 0 "No_request" ;
|
||||
VAL_ 278 DI_epbInterfaceReady 1 "EPB_INTERFACE_READY" 0 "EPB_INTERFACE_NOT_READY" ;
|
||||
VAL_ 504 driverBrakeStatus 2 "APPLIED" 1 "NOT_APPLIED" ;
|
||||
VAL_ 568 SpdCtrlLvr_Stat 32 "DN_1ST" 16 "UP_1ST" 8 "DN_2ND" 4 "UP_2ND" 2 "RWD" 1 "FWD" 0 "IDLE" ;
|
||||
VAL_ 568 DTR_Dist_Rq 255 "SNA" 200 "ACC_DIST_7" 166 "ACC_DIST_6" 133 "ACC_DIST_5" 100 "ACC_DIST_4" 66 "ACC_DIST_3" 33 "ACC_DIST_2" 0 "ACC_DIST_1" ;
|
||||
VAL_ 568 TurnIndLvr_Stat 3 "SNA" 2 "RIGHT" 1 "LEFT" 0 "IDLE" ;
|
||||
VAL_ 568 HiBmLvr_Stat 3 "SNA" 2 "HIBM_FLSH_ON_PSD" 1 "HIBM_ON_PSD" 0 "IDLE" ;
|
||||
VAL_ 568 WprWashSw_Psd 3 "SNA" 2 "WASH" 1 "TIPWIPE" 0 "NPSD" ;
|
||||
VAL_ 568 WprWash_R_Sw_Posn_V2 3 "SNA" 2 "WASH" 1 "INTERVAL" 0 "OFF" ;
|
||||
VAL_ 568 StW_Lvr_Stat 4 "STW_BACK" 3 "STW_FWD" 2 "STW_DOWN" 1 "STW_UP" 0 "NPSD" ;
|
||||
VAL_ 568 StW_Cond_Psd 3 "SNA" 2 "DOWN" 1 "UP" 0 "NPSD" ;
|
||||
VAL_ 568 HrnSw_Psd 3 "SNA" 2 "NDEF2" 1 "PSD" 0 "NPSD" ;
|
||||
VAL_ 568 StW_Sw00_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
|
||||
VAL_ 568 StW_Sw01_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
|
||||
VAL_ 568 StW_Sw03_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
|
||||
VAL_ 568 StW_Sw04_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
|
||||
VAL_ 568 WprSw6Posn 7 "SNA" 6 "STAGE2" 5 "STAGE1" 4 "INTERVAL4" 3 "INTERVAL3" 2 "INTERVAL2" 1 "INTERVAL1" 0 "OFF" ;
|
||||
VAL_ 598 DI_aebState 2 "ENABLED" 4 "FAULT" 7 "SNA" 1 "STANDBY" 3 "STANDSTILL" 0 "UNAVAILABLE" ;
|
||||
VAL_ 598 DI_analogSpeed 4095 "SNA" ;
|
||||
VAL_ 598 DI_cruiseState 2 "ENABLED" 5 "FAULT" 0 "OFF" 4 "OVERRIDE" 7 "PRE_CANCEL" 6 "PRE_FAULT" 1 "STANDBY" 3 "STANDSTILL" ;
|
||||
VAL_ 598 DI_digitalSpeed 255 "SNA" ;
|
||||
VAL_ 598 DI_immobilizerState 2 "AUTHENTICATING" 3 "DISARMED" 6 "FAULT" 4 "IDLE" 0 "INIT_SNA" 1 "REQUEST" 5 "RESET" ;
|
||||
VAL_ 598 DI_speedUnits 1 "KPH" 0 "MPH" ;
|
||||
VAL_ 598 DI_state 3 "ABORT" 4 "ENABLE" 2 "FAULT" 1 "STANDBY" 0 "UNAVAILABLE" ;
|
||||
VAL_ 598 DI_systemState 3 "ABORT" 4 "ENABLE" 2 "FAULT" 1 "STANDBY" 0 "UNAVAILABLE" ;
|
||||
VAL_ 598 DI_vehicleHoldState 2 "BLEND_IN" 4 "BLEND_OUT" 6 "FAULT" 7 "INIT" 5 "PARK" 1 "STANDBY" 3 "STANDSTILL" 0 "UNAVAILABLE" ;
|
||||
VAL_ 703 DAS_setSpeed 4095 "SNA" ;
|
||||
VAL_ 703 DAS_accState 15 "FAULT_SNA" 13 "ACC_CANCEL_GENERIC_SILENT" 11 "APC_SELFPARK_START" 10 "APC_UNPARK_COMPLETE" 9 "APC_PAUSE" 8 "APC_ABORT" 7 "APC_COMPLETE" 6 "APC_FORWARD" 5 "APC_BACKWARD" 4 "ACC_ON" 3 "ACC_HOLD" 0 "ACC_CANCEL_GENERIC" ;
|
||||
VAL_ 703 DAS_aebEvent 3 "AEB_SNA" 2 "AEB_FAULT" 1 "AEB_ACTIVE" 0 "AEB_NOT_ACTIVE" ;
|
||||
VAL_ 703 DAS_jerkMin 511 "SNA" ;
|
||||
VAL_ 703 DAS_jerkMax 255 "SNA" ;
|
||||
VAL_ 703 DAS_accelMin 511 "SNA" ;
|
||||
VAL_ 703 DAS_accelMax 511 "SNA" ;
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,15 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1041 ACC_HUD: 8 DSU
|
||||
SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -286,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -309,10 +316,17 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
|
||||
CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
@@ -337,7 +351,12 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
@@ -388,6 +407,13 @@ BO_ 35 SECONDARY_STEER_ANGLE: 8 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";
|
||||
|
||||
BO_ 767 SDSU: 8 XXX
|
||||
SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
|
||||
|
||||
CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
|
||||
|
||||
CM_ "toyota_avalon_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,15 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1041 ACC_HUD: 8 DSU
|
||||
SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -286,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -309,10 +316,17 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
|
||||
CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
@@ -337,7 +351,12 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
@@ -388,6 +407,13 @@ BO_ 35 SECONDARY_STEER_ANGLE: 8 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";
|
||||
|
||||
BO_ 767 SDSU: 8 XXX
|
||||
SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
|
||||
|
||||
CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
|
||||
|
||||
CM_ "toyota_camry_hybrid_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,15 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1041 ACC_HUD: 8 DSU
|
||||
SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -286,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -309,10 +316,17 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
|
||||
CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
@@ -337,7 +351,12 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
@@ -388,6 +407,13 @@ BO_ 35 SECONDARY_STEER_ANGLE: 8 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";
|
||||
|
||||
BO_ 767 SDSU: 8 XXX
|
||||
SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
|
||||
|
||||
CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
|
||||
|
||||
CM_ "toyota_corolla_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,15 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1041 ACC_HUD: 8 DSU
|
||||
SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -286,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -309,10 +316,17 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
|
||||
CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
@@ -337,7 +351,12 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
@@ -388,6 +407,13 @@ BO_ 35 SECONDARY_STEER_ANGLE: 8 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";
|
||||
|
||||
BO_ 767 SDSU: 8 XXX
|
||||
SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
|
||||
|
||||
CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
|
||||
|
||||
CM_ "toyota_highlander_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,15 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1041 ACC_HUD: 8 DSU
|
||||
SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -286,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -309,10 +316,17 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
|
||||
CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
@@ -337,7 +351,12 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
@@ -388,6 +407,13 @@ BO_ 35 SECONDARY_STEER_ANGLE: 8 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";
|
||||
|
||||
BO_ 767 SDSU: 8 XXX
|
||||
SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
|
||||
|
||||
CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
|
||||
|
||||
CM_ "toyota_highlander_hybrid_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,15 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1041 ACC_HUD: 8 DSU
|
||||
SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -286,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -309,10 +316,17 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
|
||||
CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
@@ -337,7 +351,12 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
@@ -388,6 +407,13 @@ BO_ 35 SECONDARY_STEER_ANGLE: 8 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";
|
||||
|
||||
BO_ 767 SDSU: 8 XXX
|
||||
SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
|
||||
|
||||
CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_nodsu_common.dbc starts here";
|
||||
BO_ 401 STEERING_LTA: 8 XXX
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,15 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1041 ACC_HUD: 8 DSU
|
||||
SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -286,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -309,10 +316,17 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
|
||||
CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
@@ -337,7 +351,12 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
@@ -388,6 +407,13 @@ BO_ 35 SECONDARY_STEER_ANGLE: 8 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";
|
||||
|
||||
BO_ 767 SDSU: 8 XXX
|
||||
SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
|
||||
|
||||
CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_nodsu_common.dbc starts here";
|
||||
BO_ 401 STEERING_LTA: 8 XXX
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,15 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1041 ACC_HUD: 8 DSU
|
||||
SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -286,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -309,10 +316,17 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
|
||||
CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
@@ -337,7 +351,12 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
@@ -388,6 +407,13 @@ BO_ 35 SECONDARY_STEER_ANGLE: 8 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";
|
||||
|
||||
BO_ 767 SDSU: 8 XXX
|
||||
SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
|
||||
|
||||
CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
|
||||
|
||||
CM_ "toyota_prius_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,15 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1041 ACC_HUD: 8 DSU
|
||||
SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -286,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -309,10 +316,17 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
|
||||
CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
@@ -337,7 +351,12 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
@@ -388,6 +407,13 @@ BO_ 35 SECONDARY_STEER_ANGLE: 8 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";
|
||||
|
||||
BO_ 767 SDSU: 8 XXX
|
||||
SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
|
||||
|
||||
CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
|
||||
|
||||
CM_ "toyota_rav4_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,15 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1041 ACC_HUD: 8 DSU
|
||||
SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -286,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -309,10 +316,17 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
|
||||
CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
@@ -337,7 +351,12 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
@@ -388,6 +407,13 @@ BO_ 35 SECONDARY_STEER_ANGLE: 8 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";
|
||||
|
||||
BO_ 767 SDSU: 8 XXX
|
||||
SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
|
||||
|
||||
CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
|
||||
|
||||
CM_ "toyota_rav4_hybrid_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -160,15 +163,19 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1020 SOLAR_SENSOR: 8 XXX
|
||||
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1041 ACC_HUD: 8 DSU
|
||||
SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -286,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -309,10 +316,17 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
|
||||
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
|
||||
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
|
||||
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
|
||||
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
|
||||
CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
@@ -337,7 +351,12 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
|
||||
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
@@ -388,6 +407,13 @@ BO_ 35 SECONDARY_STEER_ANGLE: 8 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";
|
||||
|
||||
BO_ 767 SDSU: 8 XXX
|
||||
SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS1 Toyotas. Learn more: https://github.com/wocsor/panda/tree/smart_dsu";
|
||||
|
||||
CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
|
||||
|
||||
CM_ "toyota_sienna_xle_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
+20
-2
@@ -1253,8 +1253,19 @@ BO_ 780 ACC_02: 8 XXX
|
||||
SG_ ACC_Status_Anzeige : 61|3@1+ (1.0,0.0) [0.0|7] "" XXX
|
||||
|
||||
BO_ 302 ACC_07: 8 XXX
|
||||
SG_ ACC_07_BZ : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ ACC_07_CRC : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ XXX_Maybe_Engine_Start_Request : 12|2@1+ (1,0) [0|1] "" XXX
|
||||
SG_ XXX_Always_1 : 14|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ XXX_Maybe_Engine_Stop_Release : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ XXX_Unknown : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ ACC_Engaged : 27|1@1+ (1,0) [0|1] "Boolean" XXX
|
||||
SG_ ACC_Anhalten : 28|1@1+ (1,0) [0|1] "Boolean" XXX
|
||||
SG_ ACC_Anhaltevorgang : 29|1@1+ (1,0) [0|1] "Boolean" XXX
|
||||
SG_ ACC_Anfahrvorgang : 30|1@1+ (1,0) [0|1] "Boolean" XXX
|
||||
SG_ ACC_Anfahren : 31|1@1+ (1,0) [0|1] "Boolean" XXX
|
||||
SG_ XXX_Lead_Car_Relative_Speed : 32|8@1+ (1,-153) [0|255] "" XXX
|
||||
SG_ ACC_Sollbeschleunigung_01 : 53|11@1+ (0.005,-7.22) [-7.22|3.005] "Unit_MeterPerSeconSquar" XXX
|
||||
|
||||
BO_ 264 Fahrwerk_01: 8 XXX
|
||||
SG_ Fahrwerk_01_BZ : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
@@ -1372,6 +1383,13 @@ CM_ SG_ 294 254 "May be zero when sent by older cameras";
|
||||
CM_ SG_ 294 Assist_Torque "Heading control input, torque";
|
||||
CM_ SG_ 294 Assist_VZ "Heading control input, direction (sign)";
|
||||
CM_ SG_ 294 HCA_Available "Must be 1 for steering rack to accept HCA commands";
|
||||
CM_ SG_ 302 XXX_Unknown "Weird format but changes with some other bits, maybe a data-level checksum?";
|
||||
CM_ SG_ 302 ACC_Engaged "ACC engaged and regulating speed";
|
||||
CM_ SG_ 302 ACC_Sollbeschleunigung_01 "Requested acceleration, mirrors ACC_06.ACC_Sollbeschleunigung_02";
|
||||
CM_ SG_ 302 ACC_Anfahren "Start up, mirrors ACC_06.Anfahren";
|
||||
CM_ SG_ 302 ACC_Anhaltevorgang "Triggers/requests ESP standstill, reflected in ESP_Anhaltevorgang_ACC_aktiv";
|
||||
CM_ SG_ 302 ACC_Anfahrvorgang "Releases ESP hold";
|
||||
CM_ SG_ 302 ACC_Anhalten "Halt, mirrors ACC_06.Anhalten";
|
||||
CM_ SG_ 870 Hazard_Switch "Four-way flashers active";
|
||||
CM_ SG_ 870 Comfort_Signal_Left "Comfort turn signal active, left";
|
||||
CM_ SG_ 870 Comfort_Signal_Right "Comfort turn signal active, right";
|
||||
|
||||
+2
-2
@@ -1,8 +1,8 @@
|
||||
# flake8: noqa
|
||||
# pylint: skip-file
|
||||
from .python import Panda, PandaWifiStreaming, PandaDFU, flash_release, \
|
||||
BASEDIR, ensure_st_up_to_date, PandaSerial, \
|
||||
DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, MCU_TYPE_F4
|
||||
BASEDIR, ensure_st_up_to_date, PandaSerial, pack_can_buffer, unpack_can_buffer, \
|
||||
DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, MCU_TYPE_F4, DLC_TO_LEN, LEN_TO_DLC
|
||||
|
||||
from .python.config import BOOTSTUB_ADDRESS, BLOCK_SIZE_FX, APP_ADDRESS_FX, \
|
||||
BLOCK_SIZE_H7, APP_ADDRESS_H7, DEVICE_SERIAL_NUMBER_ADDR_H7, \
|
||||
|
||||
+121
-111
@@ -4,49 +4,35 @@ import subprocess
|
||||
PREFIX = "arm-none-eabi-"
|
||||
BUILDER = "DEV"
|
||||
|
||||
common_flags = []
|
||||
build_projects = {}
|
||||
|
||||
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",
|
||||
"-msoft-float",
|
||||
"-DSTM32F2",
|
||||
"-DSTM32F205xx",
|
||||
"-O2",
|
||||
"-DPEDAL",
|
||||
]
|
||||
build_projects["pedal"] = {
|
||||
"MAIN": "pedal/main.c",
|
||||
"STARTUP_FILE": "stm32fx/startup_stm32f205xx.s",
|
||||
"LINKER_SCRIPT": "stm32fx/stm32fx_flash.ld",
|
||||
"APP_START_ADDRESS": "0x8004000",
|
||||
"PROJECT_FLAGS": [
|
||||
"-mcpu=cortex-m3",
|
||||
"-msoft-float",
|
||||
"-DSTM32F2",
|
||||
"-DSTM32F205xx",
|
||||
"-O2",
|
||||
"-DPEDAL",
|
||||
],
|
||||
}
|
||||
|
||||
if os.getenv("PEDAL_USB"):
|
||||
PROJECT = "pedal_usb"
|
||||
PROJECT_FLAGS.append("-DPEDAL_USB")
|
||||
build_projects["pedal_usb"] = build_projects.pop("pedal")
|
||||
build_projects["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 = [
|
||||
build_projects["panda"] = {
|
||||
"MAIN": "main.c",
|
||||
"STARTUP_FILE": "stm32fx/startup_stm32f413xx.s",
|
||||
"LINKER_SCRIPT": "stm32fx/stm32fx_flash.ld",
|
||||
"APP_START_ADDRESS": "0x8004000",
|
||||
"PROJECT_FLAGS": [
|
||||
"-mcpu=cortex-m4",
|
||||
"-mhard-float",
|
||||
"-DSTM32F4",
|
||||
@@ -56,8 +42,48 @@ else:
|
||||
"-Os",
|
||||
"-g",
|
||||
"-DPANDA",
|
||||
]
|
||||
],
|
||||
}
|
||||
|
||||
# arm-none-eabi-gcc on comma two has no cortex-m7 support
|
||||
if not os.path.exists("/EON"):
|
||||
build_projects["panda_h7"] = {
|
||||
"MAIN": "main.c",
|
||||
"STARTUP_FILE": "stm32h7/startup_stm32h7x5xx.s",
|
||||
"LINKER_SCRIPT": "stm32h7/stm32h7x5_flash.ld",
|
||||
"APP_START_ADDRESS": "0x8020000",
|
||||
"PROJECT_FLAGS": [
|
||||
"-mcpu=cortex-m7",
|
||||
"-mhard-float",
|
||||
"-DSTM32H7",
|
||||
"-DSTM32H725xx",
|
||||
"-mfpu=fpv5-d16",
|
||||
"-fsingle-precision-constant",
|
||||
"-Os",
|
||||
"-g",
|
||||
"-DPANDA",
|
||||
],
|
||||
}
|
||||
|
||||
if os.getenv("RELEASE"):
|
||||
BUILD_TYPE = "RELEASE"
|
||||
cert_fn = os.getenv("CERT")
|
||||
assert cert_fn is not None, 'No certificate file specified. Please set CERT env variable'
|
||||
assert os.path.exists(cert_fn), 'Certificate file not found. Please specify absolute path'
|
||||
else:
|
||||
BUILD_TYPE = "DEBUG"
|
||||
cert_fn = File("../certs/debug").srcnode().abspath
|
||||
common_flags += ["-DALLOW_DEBUG"]
|
||||
|
||||
if os.getenv("DEBUG"):
|
||||
common_flags += ["-DDEBUG"]
|
||||
|
||||
includes = [
|
||||
"stm32fx/inc",
|
||||
"stm32h7/inc",
|
||||
"..",
|
||||
".",
|
||||
]
|
||||
|
||||
def get_version(builder, build_type):
|
||||
try:
|
||||
@@ -96,83 +122,67 @@ def get_key_header(name):
|
||||
]
|
||||
return r
|
||||
|
||||
|
||||
def objcopy(source, target, env, for_signature):
|
||||
return '$OBJCOPY -O binary %s %s' % (source[0], target[0])
|
||||
|
||||
|
||||
linkerscript_fn = File(LINKER_SCRIPT).srcnode().abspath
|
||||
|
||||
flags = [
|
||||
"-Wall",
|
||||
"-Wextra",
|
||||
"-Wstrict-prototypes",
|
||||
"-Werror",
|
||||
"-mlittle-endian",
|
||||
"-mthumb",
|
||||
"-nostdlib",
|
||||
"-fno-builtin",
|
||||
f"-T{linkerscript_fn}",
|
||||
"-std=gnu11",
|
||||
] + PROJECT_FLAGS
|
||||
|
||||
|
||||
if os.getenv("RELEASE"):
|
||||
BUILD_TYPE = "RELEASE"
|
||||
cert_fn = os.getenv("CERT")
|
||||
assert cert_fn is not None, 'No certificate file specified. Please set CERT env variable'
|
||||
assert os.path.exists(cert_fn), 'Certificate file not found. Please specify absolute path'
|
||||
else:
|
||||
BUILD_TYPE = "DEBUG"
|
||||
cert_fn = File("../certs/debug").srcnode().abspath
|
||||
flags += ["-DALLOW_DEBUG"]
|
||||
|
||||
includes = [
|
||||
"stm32fx/inc",
|
||||
"stm32h7/inc",
|
||||
"..",
|
||||
".",
|
||||
]
|
||||
|
||||
panda_env = Environment(
|
||||
ENV=os.environ,
|
||||
CC=PREFIX + 'gcc',
|
||||
AS=PREFIX + 'gcc',
|
||||
OBJCOPY=PREFIX + 'objcopy',
|
||||
OBJDUMP=PREFIX + 'objdump',
|
||||
ASCOM="$AS $ASFLAGS -o $TARGET -c $SOURCES",
|
||||
CFLAGS=flags,
|
||||
ASFLAGS=flags,
|
||||
LINKFLAGS=flags,
|
||||
CPPPATH=includes,
|
||||
BUILDERS={
|
||||
'Objcopy': Builder(generator=objcopy, suffix='.bin', src_suffix='.elf')
|
||||
}
|
||||
)
|
||||
|
||||
# Common autogenerated includes
|
||||
version = f'const uint8_t gitversion[] = "{get_version(BUILDER, BUILD_TYPE)}";'
|
||||
gitversion = panda_env.Textfile("obj/gitversion.h", [version, ""])
|
||||
Ignore('bootstub.o', gitversion)
|
||||
Requires('bootstub.o', gitversion)
|
||||
Ignore('main.o', gitversion)
|
||||
Requires('main.o', gitversion)
|
||||
with open("obj/gitversion.h", "w") as f:
|
||||
f.write(f'const uint8_t gitversion[] = "{get_version(BUILDER, BUILD_TYPE)}";\n')
|
||||
|
||||
certs = [get_key_header(n) for n in ["debug", "release"]]
|
||||
certheader = panda_env.Textfile("obj/cert.h", certs + [""])
|
||||
with open("obj/cert.h", "w") as f:
|
||||
for cert in certs:
|
||||
f.write("\n".join(cert) + "\n")
|
||||
|
||||
startup = panda_env.Object(STARTUP_FILE)
|
||||
for project_name in build_projects:
|
||||
project = build_projects[project_name]
|
||||
linkerscript_fn = File(project["LINKER_SCRIPT"]).srcnode().abspath
|
||||
|
||||
# Bootstub
|
||||
crypto = ["../crypto/rsa.c", "../crypto/sha.c"]
|
||||
bootstub_elf = panda_env.Program(f"obj/bootstub.{PROJECT}.elf", [startup] + crypto + ["bootstub.c"])
|
||||
bootstub_bin = panda_env.Objcopy(f"obj/bootstub.{PROJECT}.bin", bootstub_elf)
|
||||
flags = [
|
||||
"-Wall",
|
||||
"-Wextra",
|
||||
"-Wstrict-prototypes",
|
||||
"-Werror",
|
||||
"-mlittle-endian",
|
||||
"-mthumb",
|
||||
"-nostdlib",
|
||||
"-fno-builtin",
|
||||
f"-T{linkerscript_fn}",
|
||||
"-std=gnu11",
|
||||
] + project["PROJECT_FLAGS"] + common_flags
|
||||
|
||||
# Build main
|
||||
main_elf = panda_env.Program(f"obj/{PROJECT}.elf", [startup, MAIN],
|
||||
LINKFLAGS=[f"-Wl,--section-start,.isr_vector={APP_START_ADDRESS}"] + flags)
|
||||
main_bin = panda_env.Objcopy(f"obj/{PROJECT}.bin", main_elf)
|
||||
project_env = Environment(
|
||||
ENV=os.environ,
|
||||
CC=PREFIX + 'gcc',
|
||||
AS=PREFIX + 'gcc',
|
||||
OBJCOPY=PREFIX + 'objcopy',
|
||||
OBJDUMP=PREFIX + 'objdump',
|
||||
ASCOM="$AS $ASFLAGS -o $TARGET -c $SOURCES",
|
||||
CFLAGS=flags,
|
||||
ASFLAGS=flags,
|
||||
LINKFLAGS=flags,
|
||||
CPPPATH=includes,
|
||||
BUILDERS={
|
||||
'Objcopy': Builder(generator=objcopy, suffix='.bin', src_suffix='.elf')
|
||||
}
|
||||
)
|
||||
startup = project_env.Object(project["STARTUP_FILE"])
|
||||
|
||||
# Sign main
|
||||
sign_py = File("../crypto/sign.py").srcnode().abspath
|
||||
panda_bin_signed = panda_env.Command(f"obj/{PROJECT}.bin.signed", main_bin, f"SETLEN=1 {sign_py} $SOURCE $TARGET {cert_fn}")
|
||||
# Bootstub
|
||||
crypto_obj = [
|
||||
project_env.Object(f"rsa-{project_name}", "../crypto/rsa.c"),
|
||||
project_env.Object(f"sha-{project_name}", "../crypto/sha.c")
|
||||
]
|
||||
bootstub_obj = project_env.Object(f"bootstub-{project_name}", "bootstub.c")
|
||||
bootstub_elf = project_env.Program(f"obj/bootstub.{project_name}.elf", [startup] + crypto_obj + [bootstub_obj])
|
||||
bootstub_bin = project_env.Objcopy(f"obj/bootstub.{project_name}.bin", bootstub_elf)
|
||||
|
||||
# Build main
|
||||
main_obj = project_env.Object(f"main-{project_name}", project["MAIN"])
|
||||
main_elf = project_env.Program(f"obj/{project_name}.elf", [startup, main_obj],
|
||||
LINKFLAGS=[f"-Wl,--section-start,.isr_vector={project['APP_START_ADDRESS']}"] + flags)
|
||||
main_bin = project_env.Objcopy(f"obj/{project_name}.bin", main_elf)
|
||||
|
||||
# Sign main
|
||||
sign_py = File("../crypto/sign.py").srcnode().abspath
|
||||
panda_bin_signed = project_env.Command(f"obj/{project_name}.bin.signed", main_bin, f"SETLEN=1 {sign_py} $SOURCE $TARGET {cert_fn}")
|
||||
|
||||
@@ -2,6 +2,7 @@
|
||||
void puts(const char *a){ UNUSED(a); }
|
||||
void puth(uint8_t i){ UNUSED(i); }
|
||||
void puth2(uint8_t i){ UNUSED(i); }
|
||||
void puth4(uint8_t i){ UNUSED(i); }
|
||||
typedef struct board board;
|
||||
typedef struct harness_configuration harness_configuration;
|
||||
// No CAN support on bootloader
|
||||
|
||||
@@ -2,6 +2,5 @@
|
||||
set -e
|
||||
|
||||
scons -u
|
||||
PANDA_H7=1 scons -u
|
||||
PEDAL=1 scons -u
|
||||
PEDAL=1 PEDAL_USB=1 scons -u
|
||||
|
||||
@@ -0,0 +1,29 @@
|
||||
#include "dlc_to_len.h"
|
||||
|
||||
#define CAN_PACKET_VERSION 2
|
||||
typedef struct {
|
||||
unsigned char reserved : 1;
|
||||
unsigned char bus : 3;
|
||||
unsigned char data_len_code : 4;
|
||||
unsigned char rejected : 1;
|
||||
unsigned char returned : 1;
|
||||
unsigned char extended : 1;
|
||||
unsigned int addr : 29;
|
||||
unsigned char data[CANPACKET_DATA_SIZE_MAX];
|
||||
} __attribute__((packed, aligned(4))) CANPacket_t;
|
||||
|
||||
#define GET_BUS(msg) ((msg)->bus)
|
||||
#define GET_LEN(msg) (dlc_to_len[(msg)->data_len_code])
|
||||
#define GET_ADDR(msg) ((msg)->addr)
|
||||
|
||||
// Flasher and pedal use raw mailbox access
|
||||
#define GET_MAILBOX_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0xFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
|
||||
#define GET_MAILBOX_BYTES_04(msg) ((msg)->RDLR)
|
||||
#define GET_MAILBOX_BYTES_48(msg) ((msg)->RDHR)
|
||||
|
||||
#define CAN_INIT_TIMEOUT_MS 500U
|
||||
|
||||
#define CANPACKET_HEAD_SIZE 5U
|
||||
|
||||
#define WORD_TO_BYTE_ARRAY(dst8, src32) 0[dst8] = ((src32) & 0xFF); 1[dst8] = (((src32) >> 8) & 0xFF); 2[dst8] = (((src32) >> 16) & 0xFF); 3[dst8] = (((src32) >> 24) & 0xFF)
|
||||
#define BYTE_ARRAY_TO_WORD(dst32, src8) ((dst32) = 0[src8] | (1[src8] << 8) | (2[src8] << 16) | (3[src8] << 24))
|
||||
@@ -34,16 +34,6 @@
|
||||
|
||||
#define MAX_RESP_LEN 0x40U
|
||||
|
||||
#define GET_BUS(msg) (((msg)->RDTR >> 4) & 0xFF)
|
||||
#define GET_LEN(msg) ((msg)->RDTR & 0xF)
|
||||
#define GET_ADDR(msg) ((((msg)->RIR & 4) != 0) ? ((msg)->RIR >> 3) : ((msg)->RIR >> 21))
|
||||
#define GET_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0xFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
|
||||
#define GET_BYTES_04(msg) ((msg)->RDLR)
|
||||
#define GET_BYTES_48(msg) ((msg)->RDHR)
|
||||
#define GET_FLAG(value, mask) (((__typeof__(mask))(value) & (mask)) == (mask))
|
||||
|
||||
#define CAN_INIT_TIMEOUT_MS 500U
|
||||
|
||||
#include <stdbool.h>
|
||||
#ifdef STM32H7
|
||||
#include "stm32h7/stm32h7_config.h"
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
unsigned char dlc_to_len[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U};
|
||||
+45
-34
@@ -9,7 +9,7 @@ bool can_set_speed(uint8_t can_number) {
|
||||
CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
|
||||
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
|
||||
|
||||
ret &= llcan_set_speed(CAN, can_speed[bus_number], can_loopback, (unsigned int)(can_silent) & (1U << can_number));
|
||||
ret &= llcan_set_speed(CAN, bus_config[bus_number].can_speed, can_loopback, (unsigned int)(can_silent) & (1U << can_number));
|
||||
return ret;
|
||||
}
|
||||
|
||||
@@ -17,7 +17,7 @@ bool can_set_speed(uint8_t can_number) {
|
||||
void can_set_gmlan(uint8_t bus) {
|
||||
if(current_board->has_hw_gmlan){
|
||||
// first, disable GMLAN on prev bus
|
||||
uint8_t prev_bus = can_num_lookup[3];
|
||||
uint8_t prev_bus = bus_config[3].can_num_lookup;
|
||||
if (bus != prev_bus) {
|
||||
switch (prev_bus) {
|
||||
case 1:
|
||||
@@ -26,9 +26,9 @@ void can_set_gmlan(uint8_t bus) {
|
||||
puth(prev_bus + 1U);
|
||||
puts("\n");
|
||||
current_board->set_can_mode(CAN_MODE_NORMAL);
|
||||
bus_lookup[prev_bus] = prev_bus;
|
||||
can_num_lookup[prev_bus] = prev_bus;
|
||||
can_num_lookup[3] = -1;
|
||||
bus_config[prev_bus].bus_lookup = prev_bus;
|
||||
bus_config[prev_bus].can_num_lookup = prev_bus;
|
||||
bus_config[3].can_num_lookup = -1;
|
||||
bool ret = can_init(prev_bus);
|
||||
UNUSED(ret);
|
||||
break;
|
||||
@@ -46,9 +46,9 @@ void can_set_gmlan(uint8_t bus) {
|
||||
puth(bus + 1U);
|
||||
puts("\n");
|
||||
current_board->set_can_mode((bus == 1U) ? CAN_MODE_GMLAN_CAN2 : CAN_MODE_GMLAN_CAN3);
|
||||
bus_lookup[bus] = 3;
|
||||
can_num_lookup[bus] = -1;
|
||||
can_num_lookup[3] = bus;
|
||||
bus_config[bus].bus_lookup = 3;
|
||||
bus_config[bus].can_num_lookup = -1;
|
||||
bus_config[3].can_num_lookup = bus;
|
||||
bool ret = can_init(bus);
|
||||
UNUSED(ret);
|
||||
break;
|
||||
@@ -101,18 +101,23 @@ void process_can(uint8_t can_number) {
|
||||
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
|
||||
|
||||
// check for empty mailbox
|
||||
CAN_FIFOMailBox_TypeDef to_send;
|
||||
CANPacket_t to_send;
|
||||
if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
|
||||
// add successfully transmitted message to my fifo
|
||||
if ((CAN->TSR & CAN_TSR_RQCP0) == CAN_TSR_RQCP0) {
|
||||
can_txd_cnt += 1;
|
||||
|
||||
if ((CAN->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) {
|
||||
CAN_FIFOMailBox_TypeDef to_push;
|
||||
to_push.RIR = CAN->sTxMailBox[0].TIR;
|
||||
to_push.RDTR = (CAN->sTxMailBox[0].TDTR & 0xFFFF000FU) | ((CAN_BUS_RET_FLAG | bus_number) << 4);
|
||||
to_push.RDLR = CAN->sTxMailBox[0].TDLR;
|
||||
to_push.RDHR = CAN->sTxMailBox[0].TDHR;
|
||||
CANPacket_t to_push;
|
||||
to_push.returned = 1U;
|
||||
to_push.rejected = 0U;
|
||||
to_push.extended = (CAN->sTxMailBox[0].TIR >> 2) & 0x1U;
|
||||
to_push.addr = (to_push.extended != 0) ? (CAN->sTxMailBox[0].TIR >> 3) : (CAN->sTxMailBox[0].TIR >> 21);
|
||||
to_push.data_len_code = CAN->sTxMailBox[0].TDTR & 0xFU;
|
||||
to_push.bus = bus_number;
|
||||
WORD_TO_BYTE_ARRAY(&to_push.data[0], CAN->sTxMailBox[0].TDLR);
|
||||
WORD_TO_BYTE_ARRAY(&to_push.data[4], CAN->sTxMailBox[0].TDHR);
|
||||
|
||||
can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;
|
||||
}
|
||||
|
||||
@@ -136,14 +141,14 @@ void process_can(uint8_t can_number) {
|
||||
if (can_pop(can_queues[bus_number], &to_send)) {
|
||||
can_tx_cnt += 1;
|
||||
// only send if we have received a packet
|
||||
CAN->sTxMailBox[0].TDLR = to_send.RDLR;
|
||||
CAN->sTxMailBox[0].TDHR = to_send.RDHR;
|
||||
CAN->sTxMailBox[0].TDTR = to_send.RDTR;
|
||||
CAN->sTxMailBox[0].TIR = to_send.RIR;
|
||||
CAN->sTxMailBox[0].TIR = ((to_send.extended != 0) ? (to_send.addr << 3) : (to_send.addr << 21)) | (to_send.extended << 2);
|
||||
CAN->sTxMailBox[0].TDTR = to_send.data_len_code;
|
||||
BYTE_ARRAY_TO_WORD(CAN->sTxMailBox[0].TDLR, &to_send.data[0]);
|
||||
BYTE_ARRAY_TO_WORD(CAN->sTxMailBox[0].TDHR, &to_send.data[4]);
|
||||
// Send request TXRQ
|
||||
CAN->sTxMailBox[0].TIR |= 0x1U;
|
||||
|
||||
if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_BULK_TRANSFER)) {
|
||||
usb_outep3_resume_if_paused();
|
||||
}
|
||||
usb_cb_ep3_out_complete();
|
||||
}
|
||||
}
|
||||
|
||||
@@ -163,23 +168,29 @@ void can_rx(uint8_t can_number) {
|
||||
pending_can_live = 1;
|
||||
|
||||
// add to my fifo
|
||||
CAN_FIFOMailBox_TypeDef to_push;
|
||||
to_push.RIR = CAN->sFIFOMailBox[0].RIR;
|
||||
to_push.RDTR = CAN->sFIFOMailBox[0].RDTR;
|
||||
to_push.RDLR = CAN->sFIFOMailBox[0].RDLR;
|
||||
to_push.RDHR = CAN->sFIFOMailBox[0].RDHR;
|
||||
CANPacket_t to_push;
|
||||
|
||||
// modify RDTR for our API
|
||||
to_push.RDTR = (to_push.RDTR & 0xFFFF000F) | (bus_number << 4);
|
||||
to_push.returned = 0U;
|
||||
to_push.rejected = 0U;
|
||||
to_push.extended = (CAN->sFIFOMailBox[0].RIR >> 2) & 0x1U;
|
||||
to_push.addr = (to_push.extended != 0) ? (CAN->sFIFOMailBox[0].RIR >> 3) : (CAN->sFIFOMailBox[0].RIR >> 21);
|
||||
to_push.data_len_code = CAN->sFIFOMailBox[0].RDTR & 0xFU;
|
||||
to_push.bus = bus_number;
|
||||
WORD_TO_BYTE_ARRAY(&to_push.data[0], CAN->sFIFOMailBox[0].RDLR);
|
||||
WORD_TO_BYTE_ARRAY(&to_push.data[4], CAN->sFIFOMailBox[0].RDHR);
|
||||
|
||||
// forwarding (panda only)
|
||||
int bus_fwd_num = (can_forwarding[bus_number] != -1) ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
|
||||
int bus_fwd_num = safety_fwd_hook(bus_number, &to_push);
|
||||
if (bus_fwd_num != -1) {
|
||||
CAN_FIFOMailBox_TypeDef to_send;
|
||||
to_send.RIR = to_push.RIR | 1; // TXRQ
|
||||
to_send.RDTR = to_push.RDTR;
|
||||
to_send.RDLR = to_push.RDLR;
|
||||
to_send.RDHR = to_push.RDHR;
|
||||
CANPacket_t to_send;
|
||||
|
||||
to_send.returned = 0U;
|
||||
to_send.rejected = 0U;
|
||||
to_send.extended = to_push.extended; // TXRQ
|
||||
to_send.addr = to_push.addr;
|
||||
to_send.bus = to_push.bus;
|
||||
to_send.data_len_code = to_push.data_len_code;
|
||||
(void)memcpy(to_send.data, to_push.data, dlc_to_len[to_push.data_len_code]);
|
||||
can_send(&to_send, bus_fwd_num, true);
|
||||
}
|
||||
|
||||
|
||||
@@ -2,11 +2,19 @@ typedef struct {
|
||||
volatile uint32_t w_ptr;
|
||||
volatile uint32_t r_ptr;
|
||||
uint32_t fifo_size;
|
||||
CAN_FIFOMailBox_TypeDef *elems;
|
||||
CANPacket_t *elems;
|
||||
} can_ring;
|
||||
|
||||
#define CAN_BUS_RET_FLAG 0x80U
|
||||
#define CAN_BUS_NUM_MASK 0x7FU
|
||||
typedef struct {
|
||||
uint8_t bus_lookup;
|
||||
uint8_t can_num_lookup;
|
||||
uint32_t can_speed;
|
||||
uint32_t can_data_speed;
|
||||
bool canfd_enabled;
|
||||
bool brs_enabled;
|
||||
} bus_config_t;
|
||||
|
||||
#define CAN_BUS_NUM_MASK 0x3FU
|
||||
|
||||
#define BUS_MAX 4U
|
||||
|
||||
@@ -21,8 +29,6 @@ extern int pending_can_live;
|
||||
// must reinit after changing these
|
||||
extern int can_loopback;
|
||||
extern int can_silent;
|
||||
extern uint32_t can_speed[4];
|
||||
extern uint32_t can_data_speed[3];
|
||||
|
||||
// Ignition detected from CAN meessages
|
||||
bool ignition_can = false;
|
||||
@@ -43,14 +49,19 @@ void process_can(uint8_t can_number);
|
||||
|
||||
// ********************* instantiate queues *********************
|
||||
#define can_buffer(x, size) \
|
||||
CAN_FIFOMailBox_TypeDef elems_##x[size]; \
|
||||
can_ring can_##x = { .w_ptr = 0, .r_ptr = 0, .fifo_size = (size), .elems = (CAN_FIFOMailBox_TypeDef *)&(elems_##x) };
|
||||
CANPacket_t elems_##x[size]; \
|
||||
can_ring can_##x = { .w_ptr = 0, .r_ptr = 0, .fifo_size = (size), .elems = (CANPacket_t *)&(elems_##x) };
|
||||
|
||||
#ifdef STM32H7
|
||||
__attribute__((section(".ram_d1"))) can_buffer(rx_q, 0x1000)
|
||||
__attribute__((section(".ram_d1"))) can_buffer(txgmlan_q, 0x1A0)
|
||||
#else
|
||||
can_buffer(rx_q, 0x1000)
|
||||
can_buffer(tx1_q, 0x100)
|
||||
can_buffer(tx2_q, 0x100)
|
||||
can_buffer(tx3_q, 0x100)
|
||||
can_buffer(txgmlan_q, 0x100)
|
||||
can_buffer(txgmlan_q, 0x1A0)
|
||||
#endif
|
||||
can_buffer(tx1_q, 0x1A0)
|
||||
can_buffer(tx2_q, 0x1A0)
|
||||
can_buffer(tx3_q, 0x1A0)
|
||||
// FIXME:
|
||||
// cppcheck-suppress misra-c2012-9.3
|
||||
can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q, &can_txgmlan_q};
|
||||
@@ -63,7 +74,7 @@ int can_err_cnt = 0;
|
||||
int can_overflow_cnt = 0;
|
||||
|
||||
// ********************* interrupt safe queue *********************
|
||||
bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
|
||||
bool can_pop(can_ring *q, CANPacket_t *elem) {
|
||||
bool ret = 0;
|
||||
|
||||
ENTER_CRITICAL();
|
||||
@@ -81,7 +92,7 @@ bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
|
||||
bool can_push(can_ring *q, CANPacket_t *elem) {
|
||||
bool ret = false;
|
||||
uint32_t next_w_ptr;
|
||||
|
||||
@@ -100,7 +111,21 @@ bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
|
||||
if (!ret) {
|
||||
can_overflow_cnt++;
|
||||
#ifdef DEBUG
|
||||
puts("can_push failed!\n");
|
||||
puts("can_push to ");
|
||||
if (q == &can_rx_q) {
|
||||
puts("can_rx_q");
|
||||
} else if (q == &can_tx1_q) {
|
||||
puts("can_tx1_q");
|
||||
} else if (q == &can_tx2_q) {
|
||||
puts("can_tx2_q");
|
||||
} else if (q == &can_tx3_q) {
|
||||
puts("can_tx3_q");
|
||||
} else if (q == &can_txgmlan_q) {
|
||||
puts("can_txgmlan_q");
|
||||
} else {
|
||||
puts("unknown");
|
||||
}
|
||||
puts(" failed!\n");
|
||||
#endif
|
||||
}
|
||||
return ret;
|
||||
@@ -125,6 +150,8 @@ void can_clear(can_ring *q) {
|
||||
q->w_ptr = 0;
|
||||
q->r_ptr = 0;
|
||||
EXIT_CRITICAL();
|
||||
// handle TX buffer full with zero ECUs awake on the bus
|
||||
usb_cb_ep3_out_complete();
|
||||
}
|
||||
|
||||
// assign CAN numbering
|
||||
@@ -134,20 +161,21 @@ void can_clear(can_ring *q) {
|
||||
// can number: numeric lookup for MCU CAN interfaces (0 = CAN1, 1 = CAN2, etc);
|
||||
// bus_lookup: Translates from 'can number' to 'bus number'.
|
||||
// can_num_lookup: Translates from 'bus number' to 'can number'.
|
||||
// can_forwarding: Given a bus num, lookup bus num to forward to. -1 means no forward.
|
||||
|
||||
// Helpers
|
||||
// Panda: Bus 0=CAN1 Bus 1=CAN2 Bus 2=CAN3
|
||||
uint8_t bus_lookup[] = {0,1,2};
|
||||
uint8_t can_num_lookup[] = {0,1,2,-1};
|
||||
int8_t can_forwarding[] = {-1,-1,-1,-1};
|
||||
uint32_t can_speed[] = {5000, 5000, 5000, 333};
|
||||
uint32_t can_data_speed[] = {5000, 5000, 5000}; //For CAN FD with BRS only
|
||||
bus_config_t bus_config[] = {
|
||||
{ .bus_lookup = 0U, .can_num_lookup = 0U, .can_speed = 5000U, .can_data_speed = 5000U, .canfd_enabled = false, .brs_enabled = false },
|
||||
{ .bus_lookup = 1U, .can_num_lookup = 1U, .can_speed = 5000U, .can_data_speed = 5000U, .canfd_enabled = false, .brs_enabled = false },
|
||||
{ .bus_lookup = 2U, .can_num_lookup = 2U, .can_speed = 5000U, .can_data_speed = 5000U, .canfd_enabled = false, .brs_enabled = false },
|
||||
{ .bus_lookup = 0xFFU, .can_num_lookup = 0xFFU, .can_speed = 333U, .can_data_speed = 333U, .canfd_enabled = false, .brs_enabled = false },
|
||||
};
|
||||
|
||||
#define CAN_MAX 3U
|
||||
|
||||
#define CANIF_FROM_CAN_NUM(num) (cans[num])
|
||||
#define BUS_NUM_FROM_CAN_NUM(num) (bus_lookup[num])
|
||||
#define CAN_NUM_FROM_BUS_NUM(num) (can_num_lookup[num])
|
||||
#define BUS_NUM_FROM_CAN_NUM(num) (bus_config[num].bus_lookup)
|
||||
#define CAN_NUM_FROM_BUS_NUM(num) (bus_config[num].can_num_lookup)
|
||||
|
||||
void can_init_all(void) {
|
||||
bool ret = true;
|
||||
@@ -159,13 +187,13 @@ void can_init_all(void) {
|
||||
}
|
||||
|
||||
void can_flip_buses(uint8_t bus1, uint8_t bus2){
|
||||
bus_lookup[bus1] = bus2;
|
||||
bus_lookup[bus2] = bus1;
|
||||
can_num_lookup[bus1] = bus2;
|
||||
can_num_lookup[bus2] = bus1;
|
||||
bus_config[bus1].bus_lookup = bus2;
|
||||
bus_config[bus2].bus_lookup = bus1;
|
||||
bus_config[bus1].can_num_lookup = bus2;
|
||||
bus_config[bus2].can_num_lookup = bus1;
|
||||
}
|
||||
|
||||
void ignition_can_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
void ignition_can_hook(CANPacket_t *to_push) {
|
||||
int bus = GET_BUS(to_push);
|
||||
int addr = GET_ADDR(to_push);
|
||||
int len = GET_LEN(to_push);
|
||||
@@ -173,23 +201,30 @@ void ignition_can_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
ignition_can_cnt = 0U; // reset counter
|
||||
|
||||
if (bus == 0) {
|
||||
// GM exception
|
||||
// TODO: verify on all supported GM models that we can reliably detect ignition using only this signal,
|
||||
// since the 0x1F1 signal can briefly go low immediately after ignition
|
||||
if ((addr == 0x160) && (len == 5)) {
|
||||
// this message isn't all zeros when ignition is on
|
||||
ignition_cadillac = GET_BYTES_04(to_push) != 0;
|
||||
}
|
||||
// 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;
|
||||
}
|
||||
|
||||
// Mazda exception
|
||||
if ((addr == 0x9E) && (len == 8)) {
|
||||
ignition_can = (GET_BYTE(to_push, 0) >> 4) == 0xDU;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
@@ -201,22 +236,19 @@ bool can_tx_check_min_slots_free(uint32_t min) {
|
||||
(can_slots_empty(&can_txgmlan_q) >= min);
|
||||
}
|
||||
|
||||
void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number, bool skip_tx_hook) {
|
||||
void can_send(CANPacket_t *to_push, uint8_t bus_number, bool skip_tx_hook) {
|
||||
if (skip_tx_hook || safety_tx_hook(to_push) != 0) {
|
||||
if (bus_number < BUS_MAX) {
|
||||
// add CAN packet to send queue
|
||||
// bus number isn't passed through
|
||||
to_push->RDTR &= 0xF;
|
||||
if ((bus_number == 3U) && (can_num_lookup[3] == 0xFFU)) {
|
||||
if ((bus_number == 3U) && (bus_config[3].can_num_lookup == 0xFFU)) {
|
||||
gmlan_send_errs += bitbang_gmlan(to_push) ? 0U : 1U;
|
||||
} else {
|
||||
can_fwd_errs += can_push(can_queues[bus_number], to_push) ? 0U : 1U;
|
||||
process_can(CAN_NUM_FROM_BUS_NUM(bus_number));
|
||||
}
|
||||
}
|
||||
} else {
|
||||
to_push->rejected = 1U;
|
||||
can_send_errs += can_push(&can_rx_q, to_push) ? 0U : 1U;
|
||||
}
|
||||
}
|
||||
|
||||
void can_set_forwarding(int from, int to) {
|
||||
can_forwarding[from] = to;
|
||||
}
|
||||
|
||||
+57
-42
@@ -5,6 +5,11 @@
|
||||
#define BUS_OFF_FAIL_LIMIT 2U
|
||||
uint8_t bus_off_err[] = {0U, 0U, 0U};
|
||||
|
||||
typedef struct {
|
||||
volatile uint32_t header[2];
|
||||
volatile uint32_t data_word[CANPACKET_DATA_SIZE_MAX/4U];
|
||||
} canfd_fifo;
|
||||
|
||||
FDCAN_GlobalTypeDef *cans[] = {FDCAN1, FDCAN2, FDCAN3};
|
||||
|
||||
bool can_set_speed(uint8_t can_number) {
|
||||
@@ -12,7 +17,7 @@ bool can_set_speed(uint8_t can_number) {
|
||||
FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
|
||||
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
|
||||
|
||||
ret &= llcan_set_speed(CANx, can_speed[bus_number], can_data_speed[bus_number], can_loopback, (unsigned int)(can_silent) & (1U << can_number));
|
||||
ret &= llcan_set_speed(CANx, bus_config[bus_number].can_speed, bus_config[bus_number].can_data_speed, can_loopback, (unsigned int)(can_silent) & (1U << can_number));
|
||||
return ret;
|
||||
}
|
||||
|
||||
@@ -42,41 +47,44 @@ void process_can(uint8_t can_number) {
|
||||
|
||||
FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
|
||||
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
|
||||
|
||||
|
||||
CANx->IR |= FDCAN_IR_TFE; // Clear Tx FIFO Empty flag
|
||||
|
||||
if ((CANx->TXFQS & FDCAN_TXFQS_TFQF) == 0) {
|
||||
CAN_FIFOMailBox_TypeDef to_send;
|
||||
CANPacket_t to_send;
|
||||
if (can_pop(can_queues[bus_number], &to_send)) {
|
||||
can_tx_cnt += 1;
|
||||
uint32_t TxFIFOSA = FDCAN_START_ADDRESS + (can_number * FDCAN_OFFSET) + (FDCAN_RX_FIFO_0_EL_CNT * FDCAN_RX_FIFO_0_EL_SIZE);
|
||||
uint8_t tx_index = (CANx->TXFQS >> FDCAN_TXFQS_TFQPI_Pos) & 0x1F;
|
||||
// only send if we have received a packet
|
||||
CAN_FIFOMailBox_TypeDef *fifo;
|
||||
fifo = (CAN_FIFOMailBox_TypeDef *)(TxFIFOSA + (tx_index * FDCAN_TX_FIFO_EL_SIZE));
|
||||
canfd_fifo *fifo;
|
||||
fifo = (canfd_fifo *)(TxFIFOSA + (tx_index * FDCAN_TX_FIFO_EL_SIZE));
|
||||
|
||||
// Convert from "mailbox type"
|
||||
fifo->RIR = ((to_send.RIR & 0x6) << 28) | (to_send.RIR >> 3); // identifier format and frame type | identifier
|
||||
//REDEBUG: enable CAN FD and BRS for test purposes
|
||||
//fifo->RDTR = ((to_send.RDTR & 0xF) << 16) | ((to_send.RDTR) >> 16) | (1U << 21) | (1U << 20); // DLC (length) | timestamp | enable CAN FD | enable BRS
|
||||
fifo->RDTR = ((to_send.RDTR & 0xF) << 16) | ((to_send.RDTR) >> 16); // DLC (length) | timestamp
|
||||
fifo->RDLR = to_send.RDLR;
|
||||
fifo->RDHR = to_send.RDHR;
|
||||
|
||||
CANx->TXBAR = (1UL << tx_index);
|
||||
fifo->header[0] = (to_send.extended << 30) | ((to_send.extended != 0) ? (to_send.addr) : (to_send.addr << 18));
|
||||
fifo->header[1] = (to_send.data_len_code << 16) | (bus_config[can_number].canfd_enabled << 21) | (bus_config[can_number].brs_enabled << 20);
|
||||
|
||||
uint8_t data_len_w = (dlc_to_len[to_send.data_len_code] / 4U);
|
||||
data_len_w += ((dlc_to_len[to_send.data_len_code] % 4) > 0) ? 1U : 0U;
|
||||
for (unsigned int i = 0; i < data_len_w; i++) {
|
||||
BYTE_ARRAY_TO_WORD(fifo->data_word[i], &to_send.data[i*4]);
|
||||
}
|
||||
|
||||
CANx->TXBAR = (1UL << tx_index);
|
||||
|
||||
// Send back to USB
|
||||
can_txd_cnt += 1;
|
||||
CAN_FIFOMailBox_TypeDef to_push;
|
||||
to_push.RIR = to_send.RIR;
|
||||
to_push.RDTR = (to_send.RDTR & 0xFFFF000FU) | ((CAN_BUS_RET_FLAG | bus_number) << 4);
|
||||
to_push.RDLR = to_send.RDLR;
|
||||
to_push.RDHR = to_send.RDHR;
|
||||
CANPacket_t to_push;
|
||||
|
||||
to_push.returned = 1U;
|
||||
to_push.rejected = 0U;
|
||||
to_push.extended = to_send.extended;
|
||||
to_push.addr = to_send.addr;
|
||||
to_push.bus = to_send.bus;
|
||||
to_push.data_len_code = to_send.data_len_code;
|
||||
(void)memcpy(to_push.data, to_send.data, dlc_to_len[to_push.data_len_code]);
|
||||
can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;
|
||||
|
||||
if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_BULK_TRANSFER)) {
|
||||
usb_outep3_resume_if_paused();
|
||||
}
|
||||
usb_cb_ep3_out_complete();
|
||||
}
|
||||
}
|
||||
|
||||
@@ -125,29 +133,37 @@ void can_rx(uint8_t can_number) {
|
||||
rx_fifo_idx = (uint8_t)((CANx->RXF0S >> FDCAN_RXF0S_F0GI_Pos) & 0x3F);
|
||||
|
||||
uint32_t RxFIFO0SA = FDCAN_START_ADDRESS + (can_number * FDCAN_OFFSET);
|
||||
CAN_FIFOMailBox_TypeDef to_push;
|
||||
CAN_FIFOMailBox_TypeDef *fifo;
|
||||
CANPacket_t to_push;
|
||||
canfd_fifo *fifo;
|
||||
|
||||
// getting address
|
||||
fifo = (CAN_FIFOMailBox_TypeDef *)(RxFIFO0SA + (rx_fifo_idx * FDCAN_RX_FIFO_0_EL_SIZE));
|
||||
fifo = (canfd_fifo *)(RxFIFO0SA + (rx_fifo_idx * FDCAN_RX_FIFO_0_EL_SIZE));
|
||||
|
||||
// Need to convert real CAN frame format to mailbox "type"
|
||||
to_push.RIR = ((fifo->RIR >> 28) & 0x6) | (fifo->RIR << 3); // identifier format and frame type | identifier
|
||||
to_push.RDTR = ((fifo->RDTR >> 16) & 0xF) | (fifo->RDTR << 16); // DLC (length) | timestamp
|
||||
to_push.RDLR = fifo->RDLR;
|
||||
to_push.RDHR = fifo->RDHR;
|
||||
to_push.returned = 0U;
|
||||
to_push.rejected = 0U;
|
||||
to_push.extended = (fifo->header[0] >> 30) & 0x1U;
|
||||
to_push.addr = ((to_push.extended != 0) ? (fifo->header[0] & 0x1FFFFFFFU) : ((fifo->header[0] >> 18) & 0x7FFU));
|
||||
to_push.bus = bus_number;
|
||||
to_push.data_len_code = ((fifo->header[1] >> 16) & 0xFU);
|
||||
|
||||
// modify RDTR for our API
|
||||
to_push.RDTR = (to_push.RDTR & 0xFFFF000F) | (bus_number << 4);
|
||||
uint8_t data_len_w = (dlc_to_len[to_push.data_len_code] / 4U);
|
||||
data_len_w += ((dlc_to_len[to_push.data_len_code] % 4) > 0) ? 1U : 0U;
|
||||
for (unsigned int i = 0; i < data_len_w; i++) {
|
||||
WORD_TO_BYTE_ARRAY(&to_push.data[i*4], fifo->data_word[i]);
|
||||
}
|
||||
|
||||
// forwarding (panda only)
|
||||
int bus_fwd_num = (can_forwarding[bus_number] != -1) ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
|
||||
int bus_fwd_num = safety_fwd_hook(bus_number, &to_push);
|
||||
if (bus_fwd_num != -1) {
|
||||
CAN_FIFOMailBox_TypeDef to_send;
|
||||
to_send.RIR = to_push.RIR;
|
||||
to_send.RDTR = to_push.RDTR;
|
||||
to_send.RDLR = to_push.RDLR;
|
||||
to_send.RDHR = to_push.RDHR;
|
||||
CANPacket_t to_send;
|
||||
|
||||
to_send.returned = 0U;
|
||||
to_send.rejected = 0U;
|
||||
to_send.extended = to_push.extended;
|
||||
to_send.addr = to_push.addr;
|
||||
to_send.bus = to_push.bus;
|
||||
to_send.data_len_code = to_push.data_len_code;
|
||||
(void)memcpy(to_send.data, to_push.data, dlc_to_len[to_push.data_len_code]);
|
||||
can_send(&to_send, bus_fwd_num, true);
|
||||
}
|
||||
|
||||
@@ -157,7 +173,7 @@ void can_rx(uint8_t can_number) {
|
||||
current_board->set_led(LED_BLUE, true);
|
||||
can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;
|
||||
|
||||
// update read index
|
||||
// update read index
|
||||
CANx->RXF0A = rx_fifo_idx;
|
||||
}
|
||||
|
||||
@@ -167,10 +183,9 @@ void can_rx(uint8_t can_number) {
|
||||
#endif
|
||||
CANx->IR |= (FDCAN_IR_PEA | FDCAN_IR_PED | FDCAN_IR_RF0L | FDCAN_IR_RF0F | FDCAN_IR_EW | FDCAN_IR_MRAF | FDCAN_IR_TOO); // Clean all error flags
|
||||
can_err_cnt += 1;
|
||||
} else {
|
||||
|
||||
} else {
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void FDCAN1_IT0_IRQ_Handler(void) { can_rx(0); }
|
||||
|
||||
@@ -75,7 +75,7 @@ int append_int(char *in, int in_len, int val, int val_len) {
|
||||
return in_len_copy;
|
||||
}
|
||||
|
||||
int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
|
||||
int get_bit_message(char *out, CANPacket_t *to_bang) {
|
||||
char pkt[MAX_BITS_CAN_PACKET];
|
||||
char footer[] = {
|
||||
1, // CRC delimiter
|
||||
@@ -88,18 +88,18 @@ int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
|
||||
int len = 0;
|
||||
|
||||
// test packet
|
||||
int dlc_len = to_bang->RDTR & 0xF;
|
||||
int dlc_len = GET_LEN(to_bang);
|
||||
len = append_int(pkt, len, 0, 1); // Start-of-frame
|
||||
|
||||
if ((to_bang->RIR & 4) != 0) {
|
||||
if (to_bang->extended != 0) {
|
||||
// extended identifier
|
||||
len = append_int(pkt, len, to_bang->RIR >> 21, 11); // Identifier
|
||||
len = append_int(pkt, len, GET_ADDR(to_bang) >> 18, 11); // Identifier
|
||||
len = append_int(pkt, len, 3, 2); // SRR+IDE
|
||||
len = append_int(pkt, len, (to_bang->RIR >> 3) & ((1U << 18) - 1U), 18); // Identifier
|
||||
len = append_int(pkt, len, (GET_ADDR(to_bang)) & ((1U << 18) - 1U), 18); // Identifier
|
||||
len = append_int(pkt, len, 0, 3); // RTR+r1+r0
|
||||
} else {
|
||||
// standard identifier
|
||||
len = append_int(pkt, len, to_bang->RIR >> 21, 11); // Identifier
|
||||
len = append_int(pkt, len, GET_ADDR(to_bang), 11); // Identifier
|
||||
len = append_int(pkt, len, 0, 3); // RTR+IDE+reserved
|
||||
}
|
||||
|
||||
@@ -107,8 +107,7 @@ int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
|
||||
|
||||
// append data
|
||||
for (int i = 0; i < dlc_len; i++) {
|
||||
unsigned char dat = ((unsigned char *)(&(to_bang->RDLR)))[i];
|
||||
len = append_int(pkt, len, dat, 8);
|
||||
len = append_int(pkt, len, to_bang->data[i], 8);
|
||||
}
|
||||
|
||||
// append crc
|
||||
@@ -269,7 +268,7 @@ void TIM12_IRQ_Handler(void) {
|
||||
TIM12->SR = 0;
|
||||
}
|
||||
|
||||
bool bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
|
||||
bool bitbang_gmlan(CANPacket_t *to_bang) {
|
||||
gmlan_send_ok = true;
|
||||
gmlan_alt_mode = BITBANG;
|
||||
|
||||
|
||||
@@ -181,18 +181,23 @@ void putui(uint32_t i) {
|
||||
puts(&str[idx + 1U]);
|
||||
}
|
||||
|
||||
void puth(unsigned int i) {
|
||||
void puthx(uint32_t i, uint8_t len) {
|
||||
const char c[] = "0123456789abcdef";
|
||||
for (int pos = 28; pos != -4; pos -= 4) {
|
||||
for (int pos = ((int)len * 4) - 4; pos > -4; pos -= 4) {
|
||||
putch(c[(i >> (unsigned int)(pos)) & 0xFU]);
|
||||
}
|
||||
}
|
||||
|
||||
void puth(unsigned int i) {
|
||||
puthx(i, 8U);
|
||||
}
|
||||
|
||||
void puth2(unsigned int i) {
|
||||
const char c[] = "0123456789abcdef";
|
||||
for (int pos = 4; pos != -4; pos -= 4) {
|
||||
putch(c[(i >> (unsigned int)(pos)) & 0xFU]);
|
||||
}
|
||||
puthx(i, 2U);
|
||||
}
|
||||
|
||||
void puth4(unsigned int i) {
|
||||
puthx(i, 4U);
|
||||
}
|
||||
|
||||
void hexdump(const void *a, int l) {
|
||||
|
||||
@@ -23,7 +23,8 @@ typedef union _USB_Setup {
|
||||
}
|
||||
USB_Setup_TypeDef;
|
||||
|
||||
#define MAX_CAN_MSGS_PER_BULK_TRANSFER 4U
|
||||
#define MAX_CAN_MSGS_PER_BULK_TRANSFER 51U
|
||||
#define MAX_EP1_CHUNK_PER_BULK_TRANSFER 16256 // max data stream chunk in bytes, shouldn't be higher than 16320 or counter will overflow
|
||||
|
||||
bool usb_eopf_detected = false;
|
||||
|
||||
@@ -493,7 +494,7 @@ void usb_setup(void) {
|
||||
USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
|
||||
USBx_OUTEP(2)->DOEPINT = 0xFF;
|
||||
|
||||
USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
|
||||
USBx_OUTEP(3)->DOEPTSIZ = (32U << 19) | 0x800U;
|
||||
USBx_OUTEP(3)->DOEPCTL = (0x40U & USB_OTG_DOEPCTL_MPSIZ) | (2U << 18) |
|
||||
USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
|
||||
USBx_OUTEP(3)->DOEPINT = 0xFF;
|
||||
@@ -823,9 +824,11 @@ void usb_irqhandler(void) {
|
||||
// USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
|
||||
// USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
|
||||
} else if ((USBx_OUTEP(3)->DOEPINT) != 0) {
|
||||
puts("OUTEP3 error ");
|
||||
puth(USBx_OUTEP(3)->DOEPINT);
|
||||
puts("\n");
|
||||
#ifdef DEBUG_USB
|
||||
puts("OUTEP3 error ");
|
||||
puth(USBx_OUTEP(3)->DOEPINT);
|
||||
puts("\n");
|
||||
#endif
|
||||
} else {
|
||||
// USBx_OUTEP(3)->DOEPINT is 0, ok to skip
|
||||
}
|
||||
@@ -932,7 +935,7 @@ void usb_irqhandler(void) {
|
||||
void usb_outep3_resume_if_paused(void) {
|
||||
ENTER_CRITICAL();
|
||||
if (!outep3_processing && (USBx_OUTEP(3)->DOEPCTL & USB_OTG_DOEPCTL_NAKSTS) != 0) {
|
||||
USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
|
||||
USBx_OUTEP(3)->DOEPTSIZ = (32U << 19) | 0x800U;
|
||||
USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
|
||||
}
|
||||
EXIT_CRITICAL();
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
#!/usr/bin/env sh
|
||||
set -e
|
||||
|
||||
PANDA_GEN3=1 scons -u
|
||||
scons -u
|
||||
PYTHONPATH=.. python3 -c "from python import Panda; Panda().flash('obj/panda_h7.bin.signed')"
|
||||
|
||||
@@ -183,7 +183,7 @@ void CAN1_RX0_IRQ_Handler(void) {
|
||||
if ((CAN->sFIFOMailBox[0].RIR>>21) == CAN_BL_INPUT) {
|
||||
uint8_t dat[8];
|
||||
for (int i = 0; i < 8; i++) {
|
||||
dat[i] = GET_BYTE(&CAN->sFIFOMailBox[0], i);
|
||||
dat[i] = GET_MAILBOX_BYTE(&CAN->sFIFOMailBox[0], i);
|
||||
}
|
||||
uint8_t odat[8];
|
||||
uint8_t type = dat[0] & 0xF0;
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
#!/bin/bash
|
||||
sudo apt-get install gcc-arm-none-eabi python-pip
|
||||
sudo apt-get install dfu-util gcc-arm-none-eabi python3-pip
|
||||
sudo pip install libusb1 pycryptodome requests
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
#!/bin/bash
|
||||
# Need formula for gcc
|
||||
sudo easy_install pip
|
||||
/usr/bin/ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
|
||||
/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
|
||||
brew tap ArmMbed/homebrew-formulae
|
||||
brew install python dfu-util arm-none-eabi-gcc
|
||||
pip install --user libusb1 pycryptodome requests
|
||||
|
||||
+30
-7
@@ -14,13 +14,36 @@ void *memset(void *str, int c, unsigned int n) {
|
||||
return str;
|
||||
}
|
||||
|
||||
void *memcpy(void *dest, const void *src, unsigned int n) {
|
||||
uint8_t *d = dest;
|
||||
const uint8_t *s = src;
|
||||
for (unsigned int i = 0; i < n; i++) {
|
||||
*d = *s;
|
||||
d++;
|
||||
s++;
|
||||
#define UNALIGNED(X, Y) \
|
||||
(((uint32_t)(X) & (sizeof(uint32_t) - 1U)) | ((uint32_t)(Y) & (sizeof(uint32_t) - 1U)))
|
||||
|
||||
void *memcpy(void *dest, const void *src, unsigned int len) {
|
||||
unsigned int n = len;
|
||||
uint8_t *d8 = dest;
|
||||
const uint8_t *s8 = src;
|
||||
|
||||
if ((n >= 4U) && !UNALIGNED(s8, d8)) {
|
||||
uint32_t *d32 = (uint32_t *)d8; // cppcheck-suppress misra-c2012-11.3 ; already checked that it's properly aligned
|
||||
const uint32_t *s32 = (const uint32_t *)s8; // cppcheck-suppress misra-c2012-11.3 ; already checked that it's properly aligned
|
||||
|
||||
while(n >= 16U) {
|
||||
*d32 = *s32; d32++; s32++;
|
||||
*d32 = *s32; d32++; s32++;
|
||||
*d32 = *s32; d32++; s32++;
|
||||
*d32 = *s32; d32++; s32++;
|
||||
n -= 16U;
|
||||
}
|
||||
|
||||
while(n >= 4U) {
|
||||
*d32 = *s32; d32++; s32++;
|
||||
n -= 4U;
|
||||
}
|
||||
|
||||
d8 = (uint8_t *)d32;
|
||||
s8 = (const uint8_t *)s32;
|
||||
}
|
||||
while (n-- > 0U) {
|
||||
*d8 = *s8; d8++; s8++;
|
||||
}
|
||||
return dest;
|
||||
}
|
||||
|
||||
+24
-42
@@ -20,11 +20,14 @@
|
||||
#include "drivers/bxcan.h"
|
||||
#endif
|
||||
|
||||
#include "usb_protocol.h"
|
||||
|
||||
#include "obj/gitversion.h"
|
||||
|
||||
extern int _app_start[0xc000]; // Only first 3 sectors of size 0x4000 are used
|
||||
|
||||
// When changing this struct, boardd and python/__init__.py needs to be kept up to date!
|
||||
#define HEALTH_PACKET_VERSION 1
|
||||
struct __attribute__((packed)) health_t {
|
||||
uint32_t uptime_pkt;
|
||||
uint32_t voltage_pkt;
|
||||
@@ -192,15 +195,7 @@ int get_rtc_pkt(void *dat) {
|
||||
return sizeof(t);
|
||||
}
|
||||
|
||||
int usb_cb_ep1_in(void *usbdata, int len, bool hardwired) {
|
||||
UNUSED(hardwired);
|
||||
CAN_FIFOMailBox_TypeDef *reply = (CAN_FIFOMailBox_TypeDef *)usbdata;
|
||||
int ilen = 0;
|
||||
while (ilen < MIN(len/0x10, 4) && can_pop(&can_rx_q, &reply[ilen])) {
|
||||
ilen++;
|
||||
}
|
||||
return ilen*0x10;
|
||||
}
|
||||
|
||||
|
||||
// send on serial, first byte to select the ring
|
||||
void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
|
||||
@@ -218,23 +213,6 @@ void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
|
||||
}
|
||||
}
|
||||
|
||||
// send on CAN
|
||||
void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
|
||||
UNUSED(hardwired);
|
||||
int dpkt = 0;
|
||||
uint32_t *d32 = (uint32_t *)usbdata;
|
||||
for (dpkt = 0; dpkt < (len / 4); dpkt += 4) {
|
||||
CAN_FIFOMailBox_TypeDef to_push;
|
||||
to_push.RDHR = d32[dpkt + 3];
|
||||
to_push.RDLR = d32[dpkt + 2];
|
||||
to_push.RDTR = d32[dpkt + 1];
|
||||
to_push.RIR = d32[dpkt];
|
||||
|
||||
uint8_t bus_number = (to_push.RDTR >> 4) & CAN_BUS_NUM_MASK;
|
||||
can_send(&to_push, bus_number, false);
|
||||
}
|
||||
}
|
||||
|
||||
void usb_cb_ep3_out_complete(void) {
|
||||
if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_BULK_TRANSFER)) {
|
||||
usb_outep3_resume_if_paused();
|
||||
@@ -454,24 +432,17 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
|
||||
set_safety_mode(setup->b.wValue.w, (uint16_t) setup->b.wIndex.w);
|
||||
}
|
||||
break;
|
||||
// **** 0xdd: enable can forwarding
|
||||
// **** 0xdd: get healthpacket and CANPacket versions
|
||||
case 0xdd:
|
||||
// wValue = Can Bus Num to forward from
|
||||
// wIndex = Can Bus Num to forward to
|
||||
if ((setup->b.wValue.w < BUS_MAX) && (setup->b.wIndex.w < BUS_MAX) &&
|
||||
(setup->b.wValue.w != setup->b.wIndex.w)) { // set forwarding
|
||||
can_set_forwarding(setup->b.wValue.w, setup->b.wIndex.w & CAN_BUS_NUM_MASK);
|
||||
} else if((setup->b.wValue.w < BUS_MAX) && (setup->b.wIndex.w == 0xFFU)){ //Clear Forwarding
|
||||
can_set_forwarding(setup->b.wValue.w, -1);
|
||||
} else {
|
||||
puts("Invalid CAN bus forwarding\n");
|
||||
}
|
||||
resp[0] = HEALTH_PACKET_VERSION;
|
||||
resp[1] = CAN_PACKET_VERSION;
|
||||
resp_len = 2;
|
||||
break;
|
||||
// **** 0xde: set can bitrate
|
||||
case 0xde:
|
||||
if (setup->b.wValue.w < BUS_MAX) {
|
||||
// TODO: add sanity check, ideally check if value is correct(from array of correct values)
|
||||
can_speed[setup->b.wValue.w] = setup->b.wIndex.w;
|
||||
bus_config[setup->b.wValue.w].can_speed = setup->b.wIndex.w;
|
||||
bool ret = can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
|
||||
UNUSED(ret);
|
||||
}
|
||||
@@ -628,11 +599,21 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
|
||||
case 0xf9:
|
||||
if (setup->b.wValue.w < CAN_MAX) {
|
||||
// TODO: add sanity check, ideally check if value is correct(from array of correct values)
|
||||
can_data_speed[setup->b.wValue.w] = setup->b.wIndex.w;
|
||||
bus_config[setup->b.wValue.w].can_data_speed = setup->b.wIndex.w;
|
||||
bus_config[setup->b.wValue.w].canfd_enabled = (setup->b.wIndex.w >= bus_config[setup->b.wValue.w].can_speed) ? true : false;
|
||||
bus_config[setup->b.wValue.w].brs_enabled = (setup->b.wIndex.w > bus_config[setup->b.wValue.w].can_speed) ? true : false;
|
||||
bool ret = can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
|
||||
UNUSED(ret);
|
||||
}
|
||||
break;
|
||||
// **** 0xfa: check if CAN FD and BRS are enabled
|
||||
case 0xfa:
|
||||
if (setup->b.wValue.w < CAN_MAX) {
|
||||
resp[0] = bus_config[setup->b.wValue.w].canfd_enabled;
|
||||
resp[1] = bus_config[setup->b.wValue.w].brs_enabled;
|
||||
resp_len = 2;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
puts("NO HANDLER ");
|
||||
puth(setup->b.bRequest);
|
||||
@@ -679,9 +660,10 @@ void tick_handler(void) {
|
||||
}
|
||||
#ifdef DEBUG
|
||||
puts("** blink ");
|
||||
puth(can_rx_q.r_ptr); puts(" "); puth(can_rx_q.w_ptr); puts(" ");
|
||||
puth(can_tx1_q.r_ptr); puts(" "); puth(can_tx1_q.w_ptr); puts(" ");
|
||||
puth(can_tx2_q.r_ptr); puts(" "); puth(can_tx2_q.w_ptr); puts("\n");
|
||||
puts("rx:"); puth4(can_rx_q.r_ptr); puts("-"); puth4(can_rx_q.w_ptr); puts(" ");
|
||||
puts("tx1:"); puth4(can_tx1_q.r_ptr); puts("-"); puth4(can_tx1_q.w_ptr); puts(" ");
|
||||
puts("tx2:"); puth4(can_tx2_q.r_ptr); puts("-"); puth4(can_tx2_q.w_ptr); puts(" ");
|
||||
puts("tx3:"); puth4(can_tx3_q.r_ptr); puts("-"); puth4(can_tx3_q.w_ptr); puts("\n");
|
||||
#endif
|
||||
|
||||
// Tick drivers
|
||||
|
||||
@@ -2,6 +2,7 @@
|
||||
void puts(const char *a);
|
||||
void puth(unsigned int i);
|
||||
void puth2(unsigned int i);
|
||||
void puth4(unsigned int i);
|
||||
typedef struct board board;
|
||||
typedef struct harness_configuration harness_configuration;
|
||||
void can_flip_buses(uint8_t bus1, uint8_t bus2);
|
||||
|
||||
@@ -132,11 +132,11 @@ void CAN1_RX0_IRQ_Handler(void) {
|
||||
int address = CAN->sFIFOMailBox[0].RIR >> 21;
|
||||
if (address == CAN_GAS_INPUT) {
|
||||
// softloader entry
|
||||
if (GET_BYTES_04(&CAN->sFIFOMailBox[0]) == 0xdeadface) {
|
||||
if (GET_BYTES_48(&CAN->sFIFOMailBox[0]) == 0x0ab00b1e) {
|
||||
if (GET_MAILBOX_BYTES_04(&CAN->sFIFOMailBox[0]) == 0xdeadface) {
|
||||
if (GET_MAILBOX_BYTES_48(&CAN->sFIFOMailBox[0]) == 0x0ab00b1e) {
|
||||
enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
|
||||
NVIC_SystemReset();
|
||||
} else if (GET_BYTES_48(&CAN->sFIFOMailBox[0]) == 0x02b00b1e) {
|
||||
} else if (GET_MAILBOX_BYTES_48(&CAN->sFIFOMailBox[0]) == 0x02b00b1e) {
|
||||
enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
|
||||
NVIC_SystemReset();
|
||||
} else {
|
||||
@@ -147,7 +147,7 @@ void CAN1_RX0_IRQ_Handler(void) {
|
||||
// normal packet
|
||||
uint8_t dat[8];
|
||||
for (int i=0; i<8; i++) {
|
||||
dat[i] = GET_BYTE(&CAN->sFIFOMailBox[0], i);
|
||||
dat[i] = GET_MAILBOX_BYTE(&CAN->sFIFOMailBox[0], i);
|
||||
}
|
||||
uint16_t value_0 = (dat[0] << 8) | dat[1];
|
||||
uint16_t value_1 = (dat[2] << 8) | dat[3];
|
||||
|
||||
@@ -2,6 +2,7 @@
|
||||
void puts(const char *a);
|
||||
void puth(unsigned int i);
|
||||
void puth2(unsigned int i);
|
||||
void puth4(unsigned int i);
|
||||
typedef struct board board;
|
||||
typedef struct harness_configuration harness_configuration;
|
||||
|
||||
|
||||
@@ -3,7 +3,7 @@ set -e
|
||||
|
||||
DFU_UTIL="dfu-util"
|
||||
|
||||
PANDA_H7=1 scons -u
|
||||
scons -u
|
||||
|
||||
PYTHONPATH=.. python3 -c "from python import Panda; Panda().reset(enter_bootstub=True); Panda().reset(enter_bootloader=True)" || true
|
||||
sleep 1
|
||||
|
||||
+14
-15
@@ -5,7 +5,6 @@
|
||||
#include "safety/safety_honda.h"
|
||||
#include "safety/safety_toyota.h"
|
||||
#include "safety/safety_tesla.h"
|
||||
#include "safety/safety_gm_ascm.h"
|
||||
#include "safety/safety_gm.h"
|
||||
#include "safety/safety_ford.h"
|
||||
#include "safety/safety_hyundai.h"
|
||||
@@ -39,26 +38,27 @@
|
||||
#define SAFETY_SUBARU_LEGACY 22U
|
||||
#define SAFETY_HYUNDAI_LEGACY 23U
|
||||
#define SAFETY_HYUNDAI_COMMUNITY 24U
|
||||
#define SAFETY_STELLANTIS 25U
|
||||
|
||||
uint16_t current_safety_mode = SAFETY_SILENT;
|
||||
int16_t current_safety_param = 0;
|
||||
const safety_hooks *current_hooks = &nooutput_hooks;
|
||||
const addr_checks *current_rx_checks = &default_rx_checks;
|
||||
|
||||
int safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
int safety_rx_hook(CANPacket_t *to_push) {
|
||||
return current_hooks->rx(to_push);
|
||||
}
|
||||
|
||||
int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
return current_hooks->tx(to_send);
|
||||
int safety_tx_hook(CANPacket_t *to_send) {
|
||||
return (relay_malfunction ? -1 : current_hooks->tx(to_send));
|
||||
}
|
||||
|
||||
int safety_tx_lin_hook(int lin_num, uint8_t *data, int len) {
|
||||
return current_hooks->tx_lin(lin_num, data, len);
|
||||
}
|
||||
|
||||
int safety_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
return current_hooks->fwd(bus_num, to_fwd);
|
||||
int safety_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
|
||||
return (relay_malfunction ? -1 : current_hooks->fwd(bus_num, to_fwd));
|
||||
}
|
||||
|
||||
// Given a CRC-8 poly, generate a static lookup table to use with a fast CRC-8
|
||||
@@ -76,7 +76,7 @@ void gen_crc_lookup_table(uint8_t poly, uint8_t crc_lut[]) {
|
||||
}
|
||||
}
|
||||
|
||||
bool msg_allowed(CAN_FIFOMailBox_TypeDef *to_send, const CanMsg msg_list[], int len) {
|
||||
bool msg_allowed(CANPacket_t *to_send, const CanMsg msg_list[], int len) {
|
||||
int addr = GET_ADDR(to_send);
|
||||
int bus = GET_BUS(to_send);
|
||||
int length = GET_LEN(to_send);
|
||||
@@ -97,7 +97,7 @@ uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last) {
|
||||
return ts - ts_last;
|
||||
}
|
||||
|
||||
int get_addr_check_index(CAN_FIFOMailBox_TypeDef *to_push, AddrCheckStruct addr_list[], const int len) {
|
||||
int get_addr_check_index(CANPacket_t *to_push, AddrCheckStruct addr_list[], const int len) {
|
||||
int bus = GET_BUS(to_push);
|
||||
int addr = GET_ADDR(to_push);
|
||||
int length = GET_LEN(to_push);
|
||||
@@ -171,11 +171,11 @@ void update_addr_timestamp(AddrCheckStruct addr_list[], int index) {
|
||||
}
|
||||
}
|
||||
|
||||
bool addr_safety_check(CAN_FIFOMailBox_TypeDef *to_push,
|
||||
bool addr_safety_check(CANPacket_t *to_push,
|
||||
const addr_checks *rx_checks,
|
||||
uint8_t (*get_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
|
||||
uint8_t (*compute_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
|
||||
uint8_t (*get_counter)(CAN_FIFOMailBox_TypeDef *to_push)) {
|
||||
uint8_t (*get_checksum)(CANPacket_t *to_push),
|
||||
uint8_t (*compute_checksum)(CANPacket_t *to_push),
|
||||
uint8_t (*get_counter)(CANPacket_t *to_push)) {
|
||||
|
||||
int index = get_addr_check_index(to_push, rx_checks->check, rx_checks->len);
|
||||
update_addr_timestamp(rx_checks->check, index);
|
||||
@@ -241,7 +241,6 @@ const safety_hook_config safety_hook_registry[] = {
|
||||
{SAFETY_TOYOTA, &toyota_hooks},
|
||||
{SAFETY_ELM327, &elm327_hooks},
|
||||
{SAFETY_GM, &gm_hooks},
|
||||
{SAFETY_HONDA_BOSCH_GIRAFFE, &honda_bosch_giraffe_hooks},
|
||||
{SAFETY_HONDA_BOSCH_HARNESS, &honda_bosch_harness_hooks},
|
||||
{SAFETY_HYUNDAI, &hyundai_hooks},
|
||||
{SAFETY_CHRYSLER, &chrysler_hooks},
|
||||
@@ -250,13 +249,12 @@ const safety_hook_config safety_hook_registry[] = {
|
||||
{SAFETY_NISSAN, &nissan_hooks},
|
||||
{SAFETY_NOOUTPUT, &nooutput_hooks},
|
||||
{SAFETY_HYUNDAI_LEGACY, &hyundai_legacy_hooks},
|
||||
{SAFETY_MAZDA, &mazda_hooks},
|
||||
#ifdef ALLOW_DEBUG
|
||||
{SAFETY_TESLA, &tesla_hooks},
|
||||
{SAFETY_MAZDA, &mazda_hooks},
|
||||
{SAFETY_SUBARU_LEGACY, &subaru_legacy_hooks},
|
||||
{SAFETY_VOLKSWAGEN_PQ, &volkswagen_pq_hooks},
|
||||
{SAFETY_ALLOUTPUT, &alloutput_hooks},
|
||||
{SAFETY_GM_ASCM, &gm_ascm_hooks},
|
||||
{SAFETY_FORD, &ford_hooks},
|
||||
#endif
|
||||
};
|
||||
@@ -274,6 +272,7 @@ int set_safety_hooks(uint16_t mode, int16_t param) {
|
||||
cruise_engaged_prev = false;
|
||||
vehicle_speed = 0;
|
||||
vehicle_moving = false;
|
||||
acc_main_on = false;
|
||||
desired_torque_last = 0;
|
||||
rt_torque_last = 0;
|
||||
ts_angle_last = 0;
|
||||
|
||||
@@ -18,12 +18,12 @@ AddrCheckStruct chrysler_addr_checks[] = {
|
||||
#define CHRYSLER_ADDR_CHECK_LEN (sizeof(chrysler_addr_checks) / sizeof(chrysler_addr_checks[0]))
|
||||
addr_checks chrysler_rx_checks = {chrysler_addr_checks, CHRYSLER_ADDR_CHECK_LEN};
|
||||
|
||||
static uint8_t chrysler_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static uint8_t chrysler_get_checksum(CANPacket_t *to_push) {
|
||||
int checksum_byte = GET_LEN(to_push) - 1;
|
||||
return (uint8_t)(GET_BYTE(to_push, checksum_byte));
|
||||
}
|
||||
|
||||
static uint8_t chrysler_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static uint8_t chrysler_compute_checksum(CANPacket_t *to_push) {
|
||||
/* This function does not want the checksum byte in the input data.
|
||||
jeep chrysler canbus checksum from http://illmatics.com/Remote%20Car%20Hacking.pdf */
|
||||
uint8_t checksum = 0xFFU;
|
||||
@@ -56,12 +56,12 @@ static uint8_t chrysler_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
return ~checksum;
|
||||
}
|
||||
|
||||
static uint8_t chrysler_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static uint8_t chrysler_get_counter(CANPacket_t *to_push) {
|
||||
// Well defined counter only for 8 bytes messages
|
||||
return (uint8_t)(GET_BYTE(to_push, 6) >> 4);
|
||||
}
|
||||
|
||||
static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
static int chrysler_rx_hook(CANPacket_t *to_push) {
|
||||
|
||||
bool valid = addr_safety_check(to_push, &chrysler_rx_checks,
|
||||
chrysler_get_checksum, chrysler_compute_checksum,
|
||||
@@ -117,7 +117,7 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
return valid;
|
||||
}
|
||||
|
||||
static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
static int chrysler_tx_hook(CANPacket_t *to_send) {
|
||||
|
||||
int tx = 1;
|
||||
int addr = GET_ADDR(to_send);
|
||||
@@ -126,10 +126,6 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
tx = 0;
|
||||
}
|
||||
|
||||
if (relay_malfunction) {
|
||||
tx = 0;
|
||||
}
|
||||
|
||||
// LKA STEER
|
||||
if (addr == 0x292) {
|
||||
int desired_torque = ((GET_BYTE(to_send, 0) & 0x7U) << 8) + GET_BYTE(to_send, 1) - 1024U;
|
||||
@@ -186,21 +182,21 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
return tx;
|
||||
}
|
||||
|
||||
static int chrysler_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
static int chrysler_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
|
||||
|
||||
int bus_fwd = -1;
|
||||
int addr = GET_ADDR(to_fwd);
|
||||
|
||||
if (!relay_malfunction) {
|
||||
// forward CAN 0 -> 2 so stock LKAS camera sees messages
|
||||
if (bus_num == 0) {
|
||||
bus_fwd = 2;
|
||||
}
|
||||
// forward all messages from camera except LKAS_COMMAND and LKAS_HUD
|
||||
if ((bus_num == 2) && (addr != 658) && (addr != 678)) {
|
||||
bus_fwd = 0;
|
||||
}
|
||||
// forward CAN 0 -> 2 so stock LKAS camera sees messages
|
||||
if (bus_num == 0) {
|
||||
bus_fwd = 2;
|
||||
}
|
||||
|
||||
// forward all messages from camera except LKAS_COMMAND and LKAS_HUD
|
||||
if ((bus_num == 2) && (addr != 658) && (addr != 678)) {
|
||||
bus_fwd = 0;
|
||||
}
|
||||
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
|
||||
@@ -3,7 +3,7 @@ const addr_checks default_rx_checks = {
|
||||
.len = 0,
|
||||
};
|
||||
|
||||
int default_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
int default_rx_hook(CANPacket_t *to_push) {
|
||||
UNUSED(to_push);
|
||||
return true;
|
||||
}
|
||||
@@ -17,7 +17,7 @@ static const addr_checks* nooutput_init(int16_t param) {
|
||||
return &default_rx_checks;
|
||||
}
|
||||
|
||||
static int nooutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
static int nooutput_tx_hook(CANPacket_t *to_send) {
|
||||
UNUSED(to_send);
|
||||
return false;
|
||||
}
|
||||
@@ -29,7 +29,7 @@ static int nooutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
|
||||
return false;
|
||||
}
|
||||
|
||||
static int default_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
static int default_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
|
||||
UNUSED(bus_num);
|
||||
UNUSED(to_fwd);
|
||||
return -1;
|
||||
@@ -45,14 +45,19 @@ const safety_hooks nooutput_hooks = {
|
||||
|
||||
// *** all output safety mode ***
|
||||
|
||||
// Enables passthrough mode where relay is open and bus 0 gets forwarded to bus 2 and vice versa
|
||||
const uint16_t ALLOUTPUT_PARAM_PASSTHROUGH = 1;
|
||||
bool alloutput_passthrough = false;
|
||||
|
||||
static const addr_checks* alloutput_init(int16_t param) {
|
||||
UNUSED(param);
|
||||
alloutput_passthrough = GET_FLAG(param, ALLOUTPUT_PARAM_PASSTHROUGH);
|
||||
controls_allowed = true;
|
||||
relay_malfunction_reset();
|
||||
return &default_rx_checks;
|
||||
}
|
||||
|
||||
static int alloutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
static int alloutput_tx_hook(CANPacket_t *to_send) {
|
||||
UNUSED(to_send);
|
||||
return true;
|
||||
}
|
||||
@@ -64,10 +69,26 @@ static int alloutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
|
||||
return true;
|
||||
}
|
||||
|
||||
static int alloutput_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
|
||||
UNUSED(to_fwd);
|
||||
int bus_fwd = -1;
|
||||
|
||||
if (alloutput_passthrough) {
|
||||
if (bus_num == 0) {
|
||||
bus_fwd = 2;
|
||||
}
|
||||
if (bus_num == 2) {
|
||||
bus_fwd = 0;
|
||||
}
|
||||
}
|
||||
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
const safety_hooks alloutput_hooks = {
|
||||
.init = alloutput_init,
|
||||
.rx = default_rx_hook,
|
||||
.tx = alloutput_tx_hook,
|
||||
.tx_lin = alloutput_tx_lin_hook,
|
||||
.fwd = default_fwd_hook,
|
||||
.fwd = alloutput_fwd_hook,
|
||||
};
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
static int elm327_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
static int elm327_tx_hook(CANPacket_t *to_send) {
|
||||
|
||||
int tx = 1;
|
||||
int addr = GET_ADDR(to_send);
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user