mirror of
https://github.com/firestar5683/StarPilot.git
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Vehicle Researcher
e0ab166ed3
f1e69a6cf Fix wrong message size in Chrysler 54482cfb0 Fix GM message signal sizes 4e796e06d Fix wrong message sizes in Nissan fb6c1ee2b Better GEAR signal tracking the gear stick rather than the gear box (#257) d7a2efbbd Raw angle signal data for easy checksum calc, and one less gear bit (#254) 7456061a7 add checksum check to can parser for subaru 7f3b1774d Chrysler: calculate checksum in can packer/parser (#255) 0c0215516 Rename BYTE_ to SET_ME_X (#253) 1efe437cf Add values for a static 0xe5 (honda bosch) (#250) 7dffe0bd9 Create DBC for HRV (#248) b69398525 Add LFAHDA message to hyundai a57e7ddbd CANPacker: Subaru checksum support (#241) 36c471e59 Fixed signals order and added new signals for subaru global (#221) 7b5a1fcc1 BMW 2008-2013 (#230) cc09af763 Add RPM signal (#216) 47db9238f Add SWA_01 message detail and CRC support for VW MQB (#236) c98fe2ab9 Fixed signal unknown1 overlapping the button bits (#239) 572261ee3 Rear Cross Traffic Alert 044730aeb Speed limit signs 87b1a21fb Pedals/gear, gas pedal scale value ce78044d8 Tracking the steer angle with LKAS signal 7f19ab415 Introduce the new mazda 3 2019/2020 dbc e58520619 traffic sign speed limit 00bad5ee7 Speed Auto High Beam Traffic signs 9d080ea42 Nissan leaf (#238) 50fbbe739 nissan x trail cleanup (#237) git-subtree-dir: opendbc git-subtree-split: f1e69a6cf91cdaf1b8008d73f6fbb6634fbbeb42
73 lines
1.9 KiB
C++
73 lines
1.9 KiB
C++
#pragma once
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#include <vector>
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#include <map>
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#include <unordered_map>
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#include "common_dbc.h"
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#include <capnp/serialize.h>
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#include "cereal/gen/cpp/log.capnp.h"
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#define MAX_BAD_COUNTER 5
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// Helper functions
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unsigned int honda_checksum(unsigned int address, uint64_t d, int l);
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unsigned int toyota_checksum(unsigned int address, uint64_t d, int l);
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unsigned int subaru_checksum(unsigned int address, uint64_t d, int l);
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unsigned int chrysler_checksum(unsigned int address, uint64_t d, int l);
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void init_crc_lookup_tables();
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unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l);
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unsigned int pedal_checksum(uint64_t d, int l);
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uint64_t read_u64_be(const uint8_t* v);
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uint64_t read_u64_le(const uint8_t* v);
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class MessageState {
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public:
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uint32_t address;
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unsigned int size;
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std::vector<Signal> parse_sigs;
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std::vector<double> vals;
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uint16_t ts;
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uint64_t seen;
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uint64_t check_threshold;
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uint8_t counter;
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uint8_t counter_fail;
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bool parse(uint64_t sec, uint16_t ts_, uint8_t * dat);
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bool update_counter_generic(int64_t v, int cnt_size);
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};
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class CANParser {
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private:
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const int bus;
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const DBC *dbc = NULL;
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std::unordered_map<uint32_t, MessageState> message_states;
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public:
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bool can_valid = false;
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uint64_t last_sec = 0;
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CANParser(int abus, const std::string& dbc_name,
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const std::vector<MessageParseOptions> &options,
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const std::vector<SignalParseOptions> &sigoptions);
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void UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans);
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void UpdateValid(uint64_t sec);
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void update_string(std::string data, bool sendcan);
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std::vector<SignalValue> query_latest();
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};
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class CANPacker {
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private:
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const DBC *dbc = NULL;
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std::map<std::pair<uint32_t, std::string>, Signal> signal_lookup;
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std::map<uint32_t, Msg> message_lookup;
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public:
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CANPacker(const std::string& dbc_name);
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uint64_t pack(uint32_t address, const std::vector<SignalPackValue> &signals, int counter);
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};
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