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fixed VW 0x117 CRC error

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This commit is contained in:
Rick Lan
2020-11-20 12:15:18 +10:00
parent c09c2bcd07
commit 0fbf2029db
2 changed files with 3 additions and 3 deletions
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opendbc/can/common.cc
+1 -1
View File
@@ -126,7 +126,7 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
crc ^= (uint8_t[]){0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07}[counter];
break;
case 0x117: // ACC_10 Automatic Cruise Control
crc ^= (uint8_t[]){0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC}[counter];
crc ^= (uint8_t[]){0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16}[counter];
break;
case 0x120: // TSK_06 Drivetrain Coordinator
crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter];
panda/board/safety/safety_volkswagen.h
+2 -2
View File
@@ -1,8 +1,8 @@
// Safety-relevant steering constants for Volkswagen
const int VOLKSWAGEN_MAX_STEER = 300; // 3.0 Nm (EPS side max of 3.0Nm with fault if violated)
const int VOLKSWAGEN_MAX_RT_DELTA = 75; // 4 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 50 ; 50 * 1.5 for safety pad = 75
const int VOLKSWAGEN_MAX_RT_DELTA = 188; // 10 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 125 ; 125 * 1.5 for safety pad = 187.5
const uint32_t VOLKSWAGEN_RT_INTERVAL = 250000; // 250ms between real time checks
const int VOLKSWAGEN_MAX_RATE_UP = 4; // 2.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
const int VOLKSWAGEN_MAX_RATE_UP = 10; // 5.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
const int VOLKSWAGEN_MAX_RATE_DOWN = 10; // 5.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
const int VOLKSWAGEN_DRIVER_TORQUE_ALLOWANCE = 80;
const int VOLKSWAGEN_DRIVER_TORQUE_FACTOR = 3;