mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-07-12 00:12:05 +08:00
MG: add ZS (ICE) support
This commit is contained in:
Rick Lan
@@ -635,6 +635,7 @@ struct CarParams {
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fcaGiorgio @32;
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rivian @33;
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volkswagenMeb @34;
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mg @35;
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}
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enum SteerControlType {
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@@ -144,6 +144,7 @@ class CarHarness(EnumBase):
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tesla_a = BaseCarHarness("Tesla A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable])
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tesla_b = BaseCarHarness("Tesla B connector", parts=[Accessory.harness_box, Cable.long_obdc_cable])
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psa_a = BaseCarHarness("PSA A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable])
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mg_a = BaseCarHarness("MG A connector")
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class Device(EnumBase):
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@@ -0,0 +1,38 @@
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from opendbc.can.packer import CANPacker
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from opendbc.car import Bus
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from opendbc.car.lateral import apply_driver_steer_torque_limits
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from opendbc.car.interfaces import CarControllerBase
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from opendbc.car.mg import mgcan
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from opendbc.car.mg.values import CarControllerParams
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class CarController(CarControllerBase):
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def __init__(self, dbc_names, CP):
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super().__init__(dbc_names, CP)
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self.packer = CANPacker(dbc_names[Bus.pt])
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self.apply_torque_last = 0
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def update(self, CC, CS, now_nanos):
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actuators = CC.actuators
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can_sends = []
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# steering command
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if self.frame % CarControllerParams.STEER_STEP == 0:
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if CC.latActive:
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# calculate steer and also set limits due to driver torque
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new_torque = int(round(actuators.torque * CarControllerParams.STEER_MAX))
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apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, CarControllerParams)
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else:
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apply_torque = 0
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can_sends.append(mgcan.create_lka_steering(self.packer, (self.frame // CarControllerParams.STEER_STEP) % 16, apply_torque, CC.latActive))
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self.apply_torque_last = apply_torque
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new_actuators = actuators.as_builder()
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new_actuators.torque = self.apply_torque_last / CarControllerParams.STEER_MAX
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new_actuators.torqueOutputCan = self.apply_torque_last
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self.frame += 1
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return new_actuators, can_sends
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@@ -0,0 +1,83 @@
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from opendbc.can.parser import CANParser
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from opendbc.car import Bus, structs
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from opendbc.car.interfaces import CarStateBase
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from opendbc.car.mg.values import DBC, GEAR_MAP
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from opendbc.car.common.conversions import Conversions as CV
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GearShifter = structs.CarState.GearShifter
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class CarState(CarStateBase):
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def __init__(self, CP):
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super().__init__(CP)
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def update(self, can_parsers) -> structs.CarState:
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cp = can_parsers[Bus.pt]
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cp_cam = can_parsers[Bus.cam]
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ret = structs.CarState()
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# Vehicle speed
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ret.vEgoRaw = cp.vl["SCS_HSC2_FrP19"]["VehSpdAvgHSC2"] * CV.KPH_TO_MS
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
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ret.standstill = ret.vEgoRaw < 0.01
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# Gas pedal
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ret.gasPressed = cp.vl["Tester_HSC2_ECM_FrP00"]["AccelActuPosHSC2"] > 0
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# Brake pedal
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ret.brake = 0
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ret.brakePressed = cp.vl["SCS_HSC2_FrP09"]["BrkPdlDrvrAppdPrsHSC2"] > 0
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# Steering wheel
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ret.steeringAngleDeg = cp.vl["SAS_HSC2_FrP00"]["StrgWhlAngHSC2"]
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ret.steeringRateDeg = cp.vl["SAS_HSC2_FrP00"]["StrgWhlAngGrdHSC2"]
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ret.steeringTorque = cp.vl["EPS_HSC2_FrP03"]["DrvrStrgDlvrdToqHSC2"]
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ret.steeringTorqueEps = cp.vl["EPS_HSC2_FrP03"]["ChLKARespToqHSC2"]
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ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > 1.0, 5)
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ret.steerFaultTemporary = cp_cam.vl["FVCM_HSC2_FrP02"]["LDWSysFltStsHSC2"] != 0 # TODO: validate
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# Cruise state
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ret.cruiseState.available = cp.vl["RADAR_HSC2_FrP00"]["ACCSysSts_RadarHSC2"] != 0 # main on (any non-Off state)
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ret.cruiseState.enabled = cp.vl["RADAR_HSC2_FrP00"]["ACCSysSts_RadarHSC2"] in (2, 3) # Active, Override
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ret.cruiseState.standstill = cp.vl["RADAR_HSC2_FrP00"]["ACCSysSts_RadarHSC2"] in (5, 6) # Standstill Active / Wait
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ret.cruiseState.speed = cp.vl["RADAR_HSC2_FrP02"]["ACCDrvrSelTrgtSpd_RadarHSC2"] * CV.KPH_TO_MS
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ret.accFaulted = cp_cam.vl["FVCM_HSC2_FrP02"]["TJAICASysFltStsHSC2"] != 0 # TODO: validate
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# Gear
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ret.gearShifter = GEAR_MAP.get(int(cp.vl["GW_HSC2_ECM_FrP04"]["TrShftLvrPos_h1HSC2"]), GearShifter.unknown)
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# Doors
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ret.doorOpen = any([cp.vl["GW_HSC2_BCM_FrP04"]["DrvrDoorOpenSts_H1_Safety"],
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cp.vl["GW_HSC2_BCM_FrP04"]["FrtPsngDoorOpenSts_H1_Safety"]])
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# Blinkers
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ret.leftBlinker = bool(cp.vl["GW_HSC2_BCM_FrP04"]["BlinkerLeft"])
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ret.rightBlinker = bool(cp.vl["GW_HSC2_BCM_FrP04"]["BlinkerRight"])
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# Seatbelt
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ret.seatbeltUnlatched = cp.vl["GW_HSC2_SDM_FrP00"]["DrvrSbltAtcHSC2"] != 1
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# Blindspot
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ret.leftBlindspot = cp.vl["RDA_HSC1_P02"]["LBSDAndLCAWrnng_HS"] > 0
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ret.rightBlindspot = cp.vl["RDA_HSC1_P02"]["RBSDAndLCAWrnng_HS"] > 0
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# FCW
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ret.stockFcw = cp.vl["RADAR_HSC2_FrP02"]["FCWrnngSts_RadarHSC2"] != 0
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# AEB
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ret.stockAeb = cp.vl["RADAR_HSC2_FrP02"]["AEBMsgReqHSC2"] != 0
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# dp - ALKA: lane keep available whenever the ACC main switch is on
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self.lkas_on = ret.cruiseState.available
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return ret
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@staticmethod
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def get_can_parsers(CP):
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return {
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Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 0),
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Bus.radar: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 1),
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Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 2),
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}
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@@ -0,0 +1,16 @@
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# FW query is disabled for MG for now (see values.py): the MG ZS has no captured
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# FW versions yet and no CAN fingerprint, so it is identified by forced car
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# selection only. Leaving FW_VERSIONS undefined keeps MG out of the FW-query path
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# (get_interface_attr uses ignore_none). Restore once we can query FW on the MG ZS:
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#
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# from opendbc.car.structs import CarParams
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# from opendbc.car.mg.values import CAR
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#
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# Ecu = CarParams.Ecu
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#
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# FW_VERSIONS = {
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# CAR.MG_ZS: {
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# # populate via tools/car_porting/auto_fingerprint.py once a route with FW
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# # query enabled is captured on the 2025 MG ZS
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# },
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# }
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@@ -0,0 +1,36 @@
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from opendbc.car import get_safety_config, structs
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from opendbc.car.interfaces import CarInterfaceBase
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from opendbc.car.mg.carcontroller import CarController
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from opendbc.car.mg.carstate import CarState
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from opendbc.car.mg.values import CAR, MgSafetyFlags
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class CarInterface(CarInterfaceBase):
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CarState = CarState
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CarController = CarController
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@staticmethod
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def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, dp_params, docs) -> structs.CarParams:
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ret.brand = "mg"
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ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.mg)]
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if candidate == CAR.MG_ZS:
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ret.safetyConfigs[0].safetyParam |= MgSafetyFlags.NON_EV.value
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ret.steerActuatorDelay = 0.3
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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ret.steerControlType = structs.CarParams.SteerControlType.torque
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ret.radarUnavailable = True
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ret.alphaLongitudinalAvailable = False
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if alpha_long:
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ret.openpilotLongitudinalControl = True
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ret.safetyConfigs[0].safetyParam |= MgSafetyFlags.LONG_CONTROL.value
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ret.longitudinalActuatorDelay = 0.35
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ret.vEgoStopping = 0.25
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ret.stopAccel = 0
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return ret
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@@ -0,0 +1,29 @@
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def calc_checksum(values):
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lka_req_toq = values['LKAReqToqHSC2'] + 1024
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lka_req_toq_sts = values['LKAReqToqStsHSC2']
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lka_req_toq_v = values['LKAReqToqVHSC2']
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lka_alv_rc = values['LKAAlvRCHSC2']
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combined = ((lka_req_toq << 1) | (lka_req_toq_sts << 12) | lka_req_toq_v) & 0x3FFF
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with_counter = (combined + lka_alv_rc) & 0x3FFF
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checksum = ((~with_counter) + 1) & 0x3FFF
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return checksum
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def create_lka_steering(packer, counter, apply_torque, active):
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values = {
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"LKAReqToqHSC2": apply_torque,
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"LKAReqToqVHSC2": 0,
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"LKAAlvRCHSC2": counter,
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"LDWLKAVbnLvlReqHSC2": 0, # TODO: vibration level?
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"LKASysStsHSC2": 0,
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"LKAReqToqStsHSC2": active,
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"LKASysFltStsHSC2": 0,
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"LKADrvrTkovReqHSC2": 0,
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"LKAReqToqPVHSC2": 0
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}
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values["LKAReqToqPVHSC2"] = calc_checksum(values)
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return packer.make_can_msg("FVCM_HSC2_FrP03", 0, values)
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@@ -0,0 +1,82 @@
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from dataclasses import dataclass, field
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from enum import IntFlag
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from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, structs
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from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts
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# FW query disabled for MG for now (see below) - restore when we can query FW on the MG ZS
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# from opendbc.car import uds
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# from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
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@dataclass
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class MgCarDocs(CarDocs):
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package: str = "All"
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car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.mg_a]))
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@dataclass
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class MgPlatformConfig(PlatformConfig):
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dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: 'mg', Bus.radar: 'mg'})
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class CAR(Platforms):
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MG_ZS = MgPlatformConfig(
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[
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MgCarDocs("MG ZS 2025"),
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],
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CarSpecs(mass=1295., wheelbase=2.58, steerRatio=15.8),
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)
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# FW query is disabled for MG for now: the MG ZS has no captured FW versions yet
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# and no CAN fingerprint, so it is identified by forced car selection only.
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# Defining FW_QUERY_CONFIG would put MG in the FW-query path with zero ECUs, which
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# crashes fingerprinting and fails the fingerprint tests. Restore this (and
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# FW_VERSIONS in fingerprints.py) once we figure out how to query FW on the MG ZS.
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#
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# MG_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
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# p16(0xf1a0)
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# MG_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
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#
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# FW_QUERY_CONFIG = FwQueryConfig(
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# requests=[
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# Request(
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# [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_ECU_HARDWARE_NUMBER_REQUEST],
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# [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_ECU_HARDWARE_NUMBER_RESPONSE],
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# bus=1,
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# ),
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# ],
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# )
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GEAR_MAP = {
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0: structs.CarState.GearShifter.unknown,
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1: structs.CarState.GearShifter.park,
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2: structs.CarState.GearShifter.reverse,
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3: structs.CarState.GearShifter.neutral,
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4: structs.CarState.GearShifter.drive,
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}
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class CarControllerParams:
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STEER_STEP = 2 # FVCM_HSC2_FrP03 message frequency 50Hz
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STEER_MAX = 300
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STEER_DELTA_UP = 10 # torque increase per refresh
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STEER_DELTA_DOWN = 15 # torque decrease per refresh
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STEER_DRIVER_ALLOWANCE = 100 # allowed driver torque before start limiting
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STEER_DRIVER_MULTIPLIER = 2 # weight driver torque
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STEER_DRIVER_FACTOR = 100
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ACCEL_MIN = -3.5 # m/s^2
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ACCEL_MAX = 2.0 # m/s^2
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def __init__(self, CP):
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pass
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class MgSafetyFlags(IntFlag):
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LONG_CONTROL = 1
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ALT_BRAKE = 2
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NON_EV = 4
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DBC = CAR.create_dbc_map()
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@@ -16,6 +16,7 @@ from opendbc.car.values import Platform
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from opendbc.car.volkswagen.values import CAR as VOLKSWAGEN
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from opendbc.car.body.values import CAR as COMMA
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from opendbc.car.psa.values import CAR as PSA
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from opendbc.car.mg.values import CAR as MG
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# FIXME: add routes for these cars
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non_tested_cars = [
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@@ -34,6 +35,9 @@ non_tested_cars = [
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TOYOTA.TOYOTA_COROLLA,
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TOYOTA.TOYOTA_RAV4H,
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# MG: no verified routes in this repo yet
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MG.MG_ZS,
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]
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@@ -108,3 +108,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
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# Manually checked
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"HONDA_CIVIC_2022" = [2.5, 1.2, 0.15]
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"HONDA_HRV_3G" = [2.5, 1.2, 0.2]
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# MG (guess)
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"MG_ZS" = [1.2, 2.5, 0.18]
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@@ -6,6 +6,7 @@ from opendbc.car.gm.values import CAR as GM
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from opendbc.car.honda.values import CAR as HONDA
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from opendbc.car.hyundai.values import CAR as HYUNDAI
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from opendbc.car.mazda.values import CAR as MAZDA
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from opendbc.car.mg.values import CAR as MG
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from opendbc.car.mock.values import CAR as MOCK
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from opendbc.car.nissan.values import CAR as NISSAN
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from opendbc.car.psa.values import CAR as PSA
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@@ -15,7 +16,7 @@ from opendbc.car.tesla.values import CAR as TESLA
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from opendbc.car.toyota.values import CAR as TOYOTA
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from opendbc.car.volkswagen.values import CAR as VOLKSWAGEN
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Platform = BODY | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | MOCK | NISSAN | PSA | RIVIAN | SUBARU | TESLA | TOYOTA | VOLKSWAGEN
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Platform = BODY | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | MG | MOCK | NISSAN | PSA | RIVIAN | SUBARU | TESLA | TOYOTA | VOLKSWAGEN
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BRANDS = get_args(Platform)
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PLATFORMS: dict[str, Platform] = {str(platform): platform for brand in BRANDS for platform in brand}
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@@ -0,0 +1,332 @@
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VERSION "HSCAN2"
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NS_ :
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NS_DESC_
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CM_
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BA_DEF_
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BA_
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VAL_
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CAT_DEF_
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CAT_
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FILTER
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BA_DEF_DEF_
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EV_DATA_
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ENVVAR_DATA_
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SGTYPE_
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SGTYPE_VAL_
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BA_DEF_SGTYPE_
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BA_SGTYPE_
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SIG_TYPE_REF_
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VAL_TABLE_
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SIG_GROUP_
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SIG_VALTYPE_
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SIGTYPE_VALTYPE_
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BO_TX_BU_
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BA_DEF_REL_
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BA_REL_
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BA_DEF_DEF_REL_
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BU_SG_REL_
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BU_EV_REL_
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BU_BO_REL_
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SG_MUL_VAL_
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BS_:
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BU_: FVCM GW Diagnostics EPS SCSABS Tester
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BO_ 175 GW_HSC2_HCU_FrP00: 8 GW
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SG_ EPTAccelActuPosHSC2 : 7|8@0+ (0.392157,0) [0|100] "%" FVCM
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SG_ EPTAccelActuPosVHSC2 : 43|1@0+ (1,0) [0|1] "" FVCM
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SG_ EPTBrkPdlDscrtInptStsHSC2 : 31|1@0+ (1,0) [0|1] "" FVCM
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SG_ EPTBrkPdlDscrtInptStsVHSC2 : 16|1@0+ (1,0) [0|1] "" FVCM
|
||||
SG_ EPTStCmdOn_h1HSC2 : 17|1@0+ (1,0) [0|1] "" FVCM
|
||||
|
||||
BO_ 201 Tester_HSC2_ECM_FrP00: 8 Tester
|
||||
SG_ AccelActuPosHSC2 : 39|8@0+ (0.392157,0) [0|100] "%" FVCM
|
||||
SG_ AccelActuPosVHSC2 : 31|1@0+ (1,0) [0|1] "" FVCM
|
||||
|
||||
BO_ 251 GW_HSC2_ECM_FrP27: 8 GW
|
||||
SG_ ACCStsHSC2 : 2|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SpdAstMdECMHSC2 : 52|2@0+ (1,0) [0|3] "" FVCM
|
||||
SG_ SpdAstSysStsECMHSC2 : 18|3@0+ (1,0) [0|7] "" FVCM
|
||||
SG_ SpdAstSysTrgtSpdHSC2 : 30|15@0+ (0.015625,0) [0|511.984] "" FVCM
|
||||
SG_ TrgtSpdSrcStsHSC2 : 23|2@0+ (1,0) [0|3] "" FVCM
|
||||
|
||||
BO_ 355 GW_HSC2_SDM_FrP00: 8 GW
|
||||
SG_ AirbagDplHSC2 : 11|1@0+ (1,0) [0|1] "" FVCM
|
||||
SG_ AirbagDplInvsnHSC2 : 10|1@0+ (1,0) [0|1] "" FVCM
|
||||
SG_ DrvrSbltAtcHSC2 : 12|1@0+ (1,0) [0|1] "" FVCM
|
||||
SG_ DrvrSbltAtcVHSC2 : 13|1@0+ (1,0) [0|1] "" FVCM
|
||||
SG_ SDMRCHSC2 : 1|2@0+ (1,0) [0|3] "" FVCM
|
||||
|
||||
BO_ 359 FVCM_HSC2_FrP02: 8 FVCM
|
||||
SG_ AutoMainBeamLghtReqHSC2 : 15|2@0+ (1,0) [0|3] "" GW
|
||||
SG_ DistSinceTrgtCamrHSC2 : 7|8@0+ (8.235,-100) [-100|1999.92] "m" GW
|
||||
SG_ FVCMCalPrgsReqHSC2 : 36|3@0+ (1,0) [0|7] "" GW
|
||||
SG_ HandOffStrgWhlDetnStaHSC2 : 44|2@0+ (1,0) [0|3] "" GW
|
||||
SG_ HandOffStrgWhlDetnStaVHSC2 : 45|1@0+ (1,0) [0|1] "" GW
|
||||
SG_ LDWLKADspCmdHSC2 : 50|3@0+ (1,0) [0|7] "" GW
|
||||
SG_ LDWLKAHapticWrnngDspCmdHSC2 : 63|2@0+ (1,0) [0|3] "" GW
|
||||
SG_ LDWLKALVsulznReqHSC2 : 53|3@0+ (1,0) [0|7] "" GW
|
||||
SG_ LDWLKARVsulznReqHSC2 : 42|3@0+ (1,0) [0|7] "" GW
|
||||
SG_ LDWSysFltStsHSC2 : 39|3@0+ (1,0) [0|7] "" GW
|
||||
SG_ SpdAstReqStsCamrHSC2 : 13|2@0+ (1,0) [0|3] "" GW
|
||||
SG_ TJAICADspCmdHSC2 : 55|2@0+ (1,0) [0|3] "" GW
|
||||
SG_ TJAICASysFltStsHSC2 : 61|3@0+ (1,0) [0|7] "" GW,EPS
|
||||
SG_ TJAICASysStsHSC2 : 58|3@0+ (1,0) [0|7] "" GW,EPS
|
||||
SG_ TrgtSpdReqCamrHSC2 : 22|15@0+ (0.015625,0) [0|511.984] "" GW
|
||||
|
||||
BO_ 404 GW_HSC2_ECM_FrP04: 8 GW
|
||||
SG_ TrEstdGearHSC2 : 3|4@0+ (1,0) [0|15] "" FVCM
|
||||
SG_ TrEstdGearVHSC2 : 4|1@0+ (1,0) [0|1] "" FVCM
|
||||
SG_ TrShftLvrPosV_h1HSC2 : 28|1@0+ (1,0) [0|1] "" FVCM
|
||||
SG_ TrShftLvrPos_h1HSC2 : 27|4@0+ (1,0) [0|15] "" FVCM
|
||||
|
||||
BO_ 438 EHBS_HSC2_FrP00: 8 EHBS
|
||||
SG_ BrkPdlAppdChksmHSC2 : 63|8@0+ (1,0) [0|255] "" FVCM
|
||||
SG_ IbstrDiagMdAHSC2 : 55|1@0+ (1,0) [0|1] "" FVCM
|
||||
SG_ RnotPrsStsHSC2 : 53|2@0+ (1,0) [0|3] "" FVCM
|
||||
SG_ HydBstrCmpstnReqHSC2 : 54|1@0+ (1,0) [0|1] "" FVCM
|
||||
SG_ BrkPdlAppdRCHSC2 : 51|4@0+ (1,0) [0|15] "" FVCM
|
||||
SG_ RnotPrsHSC2 : 47|8@0+ (1,0) [0|250] "bar" FVCM
|
||||
SG_ BrkPdlAppdHSC2 : 10|1@0+ (1,0) [0|1] "" FVCM
|
||||
SG_ BrkPdlAppdVHSC2 : 9|2@0+ (1,0) [0|3] "" FVCM
|
||||
|
||||
BO_ 485 SAS_HSC2_FrP00: 8 EPS
|
||||
SG_ StrgWhlAngHSC2 : 15|16@0+ (0.0625,-2048) [-2048|2047.88] "degree" FVCM
|
||||
SG_ StrgWhlAngAlvRCHSC2 : 31|4@0+ (1,0) [0|15] "" FVCM
|
||||
SG_ StrgWhlAngExtdPVHSC2 : 47|16@0+ (1,0) [0|65535] "" FVCM
|
||||
SG_ StrgWhlAngGrdHSC2 : 27|12@0+ (1,-2048) [-2048|2046] "degree/s" FVCM
|
||||
SG_ StrgWhlAngSnsrCalStsHSC2 : 6|2@0+ (1,0) [0|3] "" FVCM
|
||||
SG_ StrgWhlAngSnsrChksmHSC2 : 63|8@0+ (1,0) [0|255] "" FVCM
|
||||
SG_ StrgWhlAngSnsrFltHSC2 : 0|1@0+ (1,0) [0|1] "" FVCM
|
||||
SG_ StrgWhlAngSnsrInidHSC2 : 2|1@0+ (1,0) [0|1] "" FVCM
|
||||
SG_ StrgWhlAngSnsrMultCapbHSC2 : 1|1@0+ (1,0) [0|1] "" FVCM
|
||||
SG_ StrgWhlAngVHSC2 : 7|1@0+ (1,0) [0|1] "" FVCM
|
||||
|
||||
BO_ 481 GW_HSC2_FrP04: 7 GW
|
||||
SG_ CCSwStsSwDataIntgty_h2HSC2 : 1|2@0+ (1,0) [0|3] "" FDR
|
||||
SG_ CCSwStsSpdDecSwA_h2HSC2 : 2|1@0+ (1,0) [0|1] "" FDR
|
||||
SG_ CCSwStsSpdIncSwA_h2HSC2 : 3|1@0+ (1,0) [0|1] "" FDR
|
||||
SG_ CCSwStsSetSwA_h2HSC2 : 4|1@0+ (1,0) [0|1] "" FDR
|
||||
SG_ CCSwStsRsmSwA_h2HSC2 : 5|1@0+ (1,0) [0|1] "" FDR
|
||||
SG_ CCSwStsOnSwA_h2HSC2 : 6|1@0+ (1,0) [0|1] "" FDR
|
||||
SG_ CCSwStsCanclSwA_h2HSC2 : 7|1@0+ (1,0) [0|1] "" FDR
|
||||
SG_ CCSwStsPV_h2HSC2 : 15|8@0+ (1,0) [0|255] "" FDR
|
||||
SG_ CCSwStsAlvRC_h2HSC2 : 17|2@0+ (1,0) [0|3] "" FDR
|
||||
SG_ CCSwStsDistDecSwA_h2HSC2 : 18|1@0+ (1,0) [0|1] "" FDR
|
||||
SG_ CCSwStsDistIncSwA_h2HSC2 : 19|1@0+ (1,0) [0|1] "" FDR
|
||||
|
||||
BO_ 492 EPS_HSC2_FrP03: 8 EPS
|
||||
SG_ ChLKAAlvRCHSC2 : 7|4@0+ (1,0) [0|15] "" FVCM
|
||||
SG_ ChLKACtrlStsHSC2 : 54|3@0+ (1,0) [0|7] "" FVCM
|
||||
SG_ ChLKARespToqHSC2 : 2|11@0+ (0.01,-10.24) [-10.24|10.23] "Nm" FVCM
|
||||
SG_ ChLKARespToqPVHSC2 : 22|15@0+ (1,0) [0|32767] "" FVCM
|
||||
SG_ ChLKARespToqVHSC2 : 3|1@0+ (1,0) [0|1] "" FVCM
|
||||
SG_ DrvrStrgDlvrdToqHSC2 : 34|11@0+ (0.01,-10.24) [-10.24|10.23] "Nm" FVCM
|
||||
SG_ DrvrStrgDlvrdToqVHSC2 : 55|1@0+ (1,0) [0|1] "" FVCM
|
||||
|
||||
BO_ 509 FVCM_HSC2_FrP03: 8 FVCM
|
||||
SG_ LDWLKAVbnLvlReqHSC2 : 23|2@0+ (1,0) [0|3] "" GW,EPS
|
||||
SG_ LKAAlvRCHSC2 : 7|4@0+ (1,0) [0|15] "" EPS
|
||||
SG_ LKADrvrTkovReqHSC2 : 46|1@0+ (1,0) [0|1] "" GW,EPS
|
||||
SG_ LKAReqToqHSC2 : 2|11@0+ (1,-1024) [-1024|1023] "Nm" EPS
|
||||
SG_ LKAReqToqPVHSC2 : 21|14@0+ (1,0) [0|16383] "" EPS
|
||||
SG_ LKAReqToqStsHSC2 : 36|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ LKAReqToqVHSC2 : 3|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ LKASysFltStsHSC2 : 39|3@0+ (1,0) [0|7] "" GW,EPS
|
||||
SG_ LKASysStsHSC2 : 34|3@0+ (1,0) [0|7] "" GW,EPS
|
||||
|
||||
BO_ 516 RDA_HSC1_P02: 8 RDA
|
||||
SG_ LBSDAndLCAWrnng_HS : 7|2@0+ (1,0) [0|3] "" FVCM
|
||||
SG_ RBSDAndLCAWrnng_HS : 5|2@0+ (1,0) [0|3] "" FVCM
|
||||
SG_ RDASysSta_HS : 23|5@0+ (1,0) [0|31] "" FVCM
|
||||
|
||||
BO_ 532 SCS_HSC2_FrP09: 6 SCSABS
|
||||
SG_ BrkPdlDrvrAppdPrsHSC2 : 15|8@0+ (75,0) [0|19125] "kPa" FVCM
|
||||
SG_ BrkPdlDrvrAppdPrsAlvRCHSC2 : 2|2@0+ (1,0) [0|3] "" FVCM
|
||||
SG_ BrkPdlDrvrAppdPrsVHSC2 : 0|1@0+ (1,0) [0|1] "" FVCM
|
||||
|
||||
BO_ 572 SCS_HSC2_FrP19: 8 SCSABS
|
||||
SG_ VehSpdAvgHSC2 : 22|15@0+ (0.015625,0) [0|511.984] "km/h" FVCM,FDR
|
||||
SG_ VehSpdAvgAlvRCHSC2 : 39|4@0+ (1,0) [0|15] "" FVCM,FDR
|
||||
SG_ VehSpdAvgPVHSC2 : 7|16@0+ (1,0) [0|65535] "" FVCM,FDR
|
||||
SG_ VehSpdAvgVHSC2 : 23|1@0+ (1,0) [0|1] "" FVCM,FDR
|
||||
|
||||
BO_ 578 RADAR_HSC2_FrP00: 8 FDR
|
||||
SG_ ACCAccReqValHSC2 : 2|11@0+ (0.005,-7.22) [-7.22|3.015] "" SCSABS
|
||||
SG_ ACCSysAlvRlngCtr_SCSHSC2 : 6|4@0+ (1,0) [0|15] "" SCSABS
|
||||
SG_ ACCMinBrkReqStsHSC2 : 7|1@0+ (1,0) [0|1] "" SCSABS
|
||||
SG_ ACCAccReqValTolMaxHSC2 : 22|7@0+ (0.025,0) [0|3.175] "" SCSABS
|
||||
SG_ ACCReqBrkPrfrdHSC2 : 23|1@0+ (1,0) [0|1] "" SCSABS
|
||||
SG_ ACCAccReqStsHSC2 : 29|2@0+ (1,0) [0|3] "" GW,SCSABS
|
||||
SG_ ACCGoReqHSC2 : 30|1@0+ (1,0) [0|1] "" SCSABS
|
||||
SG_ ACCSysFltSts_SCSHSC2 : 42|3@0+ (1,0) [0|7] "" SCSABS
|
||||
SG_ ACCSysSts_RadarHSC2 : 45|3@0+ (1,0) [0|7] "" GW,SCSABS
|
||||
SG_ ChACCShtdwnMdHSC2 : 47|2@0+ (1,0) [0|3] "" SCSABS
|
||||
SG_ ACCAccReqValTolMinHSC2 : 54|7@0+ (0.025,0) [0|3.175] "" SCSABS
|
||||
SG_ ACCSdslReq_RadarHSC2 : 55|1@0+ (1,0) [0|1] "" SCSABS
|
||||
SG_ ACCSysChksm_SCSHSC2 : 63|8@0+ (1,0) [0|255] "" SCSABS
|
||||
|
||||
BO_ 582 RADAR_HSC2_FrP02: 8 FDR
|
||||
SG_ ACCDrvrSelTrgtSpd_RadarHSC2 : 6|15@0+ (0.015625,0) [0|511.984] "" GW
|
||||
SG_ ACCObjDet_RadarHSC2 : 7|1@0+ (1,0) [0|1] "" GW
|
||||
SG_ AEBMsgReqHSC2 : 19|4@0+ (1,0) [0|15] "" GW
|
||||
SG_ ACCMsgReqHSC2 : 23|4@0+ (1,0) [0|15] "" GW
|
||||
SG_ ACCDetObjDistLvl_RadarHSC2 : 26|3@0+ (1,0) [0|7] "" GW
|
||||
SG_ ACCDrvrSeldTrgtDistLvl_RadarHSC2 : 29|3@0+ (1,0) [0|7] "" GW
|
||||
SG_ ACCSysCanclReq_RadarHSC2 : 31|2@0+ (1,0) [0|3] "" GW
|
||||
SG_ RdrCalPrgsReqHSC2 : 34|3@0+ (1,0) [0|7] "" GW
|
||||
SG_ ACCGoNotfr_RadarHSC2 : 35|1@0+ (1,0) [0|1] "" GW
|
||||
SG_ ACCSysFltSts_RadarHSC2 : 38|3@0+ (1,0) [0|7] "" GW
|
||||
SG_ ACCDrvrTkovReqHSC2 : 39|1@0+ (1,0) [0|1] "" GW
|
||||
SG_ FCWSysFltSts_RadarHSC2 : 42|3@0+ (1,0) [0|7] "" GW
|
||||
SG_ FCWSnstvtLvl_RadarHSC2 : 45|3@0+ (1,0) [0|7] "" GW
|
||||
SG_ AEBPedtrnDspCmdHSC2 : 47|2@0+ (1,0) [0|3] "" GW
|
||||
SG_ FCWrnngSts_RadarHSC2 : 51|3@0+ (1,0) [0|7] "" GW
|
||||
SG_ FCWDspCmd_RadarHSC2 : 53|2@0+ (1,0) [0|3] "" GW
|
||||
SG_ AEBDspCmd_RadarHSC2 : 55|2@0+ (1,0) [0|3] "" GW
|
||||
|
||||
BO_ 588 SCS_HSC2_FrP22: 8 SCSABS
|
||||
SG_ BrkDiscTemStsHSC2 : 6|1@0+ (1,0) [0|1] "" FDR
|
||||
SG_ BrkPdlDrvrAppdPrsAlvRC_RadarHSC2 : 13|2@0+ (1,0) [0|3] "" FDR
|
||||
SG_ BrkPdlDrvrAppdPrsV_RadarHSC2 : 7|1@0+ (1,0) [0|1] "" FDR
|
||||
SG_ BrkPdlDrvrAppdPrs_RadarHSC2 : 23|8@0+ (75,0) [0|19125] "kPa" FDR
|
||||
SG_ LDrvnWhlRotlDircnHSC2 : 15|2@0+ (1,0) [0|3] "" FDR,FVCM
|
||||
SG_ RDrvnWhlRotlDircnHSC2 : 2|2@0+ (1,0) [0|3] "" FDR,FVCM
|
||||
SG_ WhlBrkPrsStsHSC2 : 5|1@0+ (1,0) [0|1] "" FDR
|
||||
SG_ WhlGndVelDrvnChksm_RadarHSC2 : 63|8@0+ (1,0) [0|255] "" FDR
|
||||
SG_ WhlGndVelDrvnRC_RadarHSC2 : 11|4@0+ (1,0) [0|15] "" FDR
|
||||
SG_ WhlGndVelLDrvnV_RadarHSC2 : 3|1@0+ (1,0) [0|1] "" FDR
|
||||
SG_ WhlGndVelLDrvn_RadarHSC2 : 45|14@0+ (0.03125,0) [0|511.969] "km/h" FDR
|
||||
SG_ WhlGndVelRDrvnV_RadarHSC2 : 4|1@0+ (1,0) [0|1] "" FDR
|
||||
SG_ WhlGndVelRDrvn_RadarHSC2 : 29|14@0+ (0.03125,0) [0|511.969] "km/h" FDR
|
||||
|
||||
BO_ 593 SCS_HSC2_FrP24: 8 SCSABS
|
||||
SG_ ChACCAccReqRespHSC2 : 5|3@0+ (1,0) [0|7] "" FDR
|
||||
SG_ ChACCAEBAlvRlngCtr_RadarHSC2 : 20|4@0+ (1,0) [0|15] "" FDR
|
||||
SG_ ChACCAEBBrkJerkReqRespHSC2 : 10|3@0+ (1,0) [0|7] "" FDR
|
||||
SG_ ChACCAEBChksm_RadarHSC2 : 63|8@0+ (1,0) [0|255] "" FDR
|
||||
SG_ ChACCReqFlrStsHSC2 : 15|2@0+ (1,0) [0|3] "" FDR
|
||||
SG_ ChAEBDclReqRespHSC2 : 23|3@0+ (1,0) [0|7] "" FDR
|
||||
SG_ ChAEBHydBrkAstReqRespHSC2 : 2|3@0+ (1,0) [0|7] "" FDR
|
||||
SG_ ChAEBPrflReqRespHSC2 : 13|3@0+ (1,0) [0|7] "" FDR
|
||||
SG_ VehSdslStsHSC2 : 7|2@0+ (1,0) [0|3] "" FDR
|
||||
SG_ VehTrgtLongtAccHSC2 : 31|8@0+ (0.05,-7) [-7|5.75] "" FDR
|
||||
|
||||
BO_ 851 SCS_HSC2_FrP15: 8 SCSABS
|
||||
SG_ VehSpdAvgDrvnHSC2 : 6|15@0+ (0.015625,0) [0|511.984] "km/h" FVCM
|
||||
SG_ VehSpdAvgDrvnVHSC2 : 7|1@0+ (1,0) [0|1] "" FVCM
|
||||
SG_ VehSpdAvgNonDrvnHSC2 : 38|15@0+ (0.015625,0) [0|511.984] "km/h" FVCM
|
||||
SG_ VehSpdAvgNonDrvnVHSC2 : 39|1@0+ (1,0) [0|1] "" FVCM
|
||||
|
||||
BO_ 1130 GW_HSC2_BCM_FrP04: 8 GW
|
||||
SG_ BlinkerBulbLeft : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BlinkerBulbRight : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BlinkerLeft : 59|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BlinkerRight : 60|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DipdBeamLghtOnHSC2 : 13|1@0+ (1,0) [0|1] "" FVCM
|
||||
SG_ DircnIndLampSwStsHSC2 : 3|2@0+ (1,0) [0|3] "" FVCM
|
||||
SG_ DspMeasSysHSC2 : 44|1@0+ (1,0) [0|1] "" FVCM
|
||||
SG_ FrtFogLghtOnHSC2 : 14|1@0+ (1,0) [0|1] "" FVCM
|
||||
SG_ FrtWiperParkPosAHSC2 : 52|1@0+ (1,0) [0|1] "" FVCM
|
||||
SG_ FrtWshrPumpAHSC2 : 55|1@0+ (1,0) [0|1] "" FVCM
|
||||
SG_ LDircnIndLghtFHSC2 : 10|1@0+ (1,0) [0|1] "" FVCM
|
||||
SG_ LDircnIOHSC2 : 11|1@0+ (1,0) [0|1] "" FVCM
|
||||
SG_ MainBeamLghtOnHSC2 : 15|1@0+ (1,0) [0|1] "" FVCM
|
||||
SG_ RDircnIndLghtFHSC2 : 48|1@0+ (1,0) [0|1] "" FVCM
|
||||
SG_ RDircnIOHSC2 : 9|1@0+ (1,0) [0|1] "" FVCM
|
||||
SG_ RrFogLghtOnHSC2 : 8|1@0+ (1,0) [0|1] "" FVCM
|
||||
SG_ VehSideLghtStsHSC2 : 57|2@0+ (1,0) [0|3] "" FVCM
|
||||
SG_ DrvrDoorOpenSts_H1_Safety : 47|2@0+ (1,0) [0|3] "" xxx
|
||||
SG_ FrtPsngDoorOpenSts_H1_Safety : 43|2@0+ (1,0) [0|3] "" xxx
|
||||
SG_ RRDoorOpenSts_Safety : 41|2@0+ (1,0) [0|3] "" xxx
|
||||
|
||||
VAL_ 355 AirbagDplInvsnHSC2 1 "No Airbag Deployed" 0 "Airbag Deployed";
|
||||
VAL_ 355 AirbagDplHSC2 1 "True" 0 "False";
|
||||
VAL_ 355 DrvrSbltAtcHSC2 1 "True" 0 "False";
|
||||
VAL_ 355 DrvrSbltAtcVHSC2 1 "Invalid" 0 "Valid";
|
||||
VAL_ 404 TrEstdGearHSC2 15 "Park Gear" 14 "Reverse Gear" 13 "Neutral Gear" 8 "Eighth Gear" 7 "Seventh Gear" 6 "Sixth Gear" 5 "Fifth Gear" 4 "Fourth Gear" 3 "Third Gear" 2 "Second Gear" 1 "First Gear" 0 "Not Supported";
|
||||
VAL_ 404 TrEstdGearVHSC2 1 "Invalid" 0 "Valid";
|
||||
VAL_ 404 TrShftLvrPos_h1HSC2 15 "Lever Position Unknown" 11 "Forward Range H" 10 "Forward Range G" 9 "Forward Range F" 8 "Forward Range E" 7 "Forward Range D" 6 "Forward Range C" 5 "Forward Range B" 4 "Forward Range A" 3 "Neutral Range" 2 "Reverse Range" 1 "Park Range" 0 "Between Ranges";
|
||||
VAL_ 404 TrShftLvrPosV_h1HSC2 1 "Invalid" 0 "Valid";
|
||||
VAL_ 438 RnotPrsStsHSC2 2 "Faulty" 1 "Normal" 0 "Init" ;
|
||||
VAL_ 438 HydBstrCmpstnReqHSC2 1 "HBC active" 0 "HBC inactive" ;
|
||||
VAL_ 438 BrkPdlAppdHSC2 1 "brake pedal applied" 0 "brake pedal not applied" ;
|
||||
VAL_ 438 BrkPdlAppdVHSC2 2 "Faulty" 1 "Normal" 0 "Init" ;
|
||||
VAL_ 481 CCSwStsSwDataIntgty_h2HSC2 3 "Illegal Range" 2 "Failure Detected" 1 "Data Invalid" 0 "Data Valid";
|
||||
VAL_ 481 CCSwStsSpdDecSwA_h2HSC2 1 "True" 0 "False";
|
||||
VAL_ 481 CCSwStsSpdIncSwA_h2HSC2 1 "True" 0 "False";
|
||||
VAL_ 481 CCSwStsSetSwA_h2HSC2 1 "True" 0 "False";
|
||||
VAL_ 481 CCSwStsRsmSwA_h2HSC2 1 "True" 0 "False";
|
||||
VAL_ 481 CCSwStsOnSwA_h2HSC2 1 "True" 0 "False";
|
||||
VAL_ 481 CCSwStsCanclSwA_h2HSC2 1 "True" 0 "False";
|
||||
VAL_ 481 CCSwStsDistDecSwA_h2HSC2 1 "True" 0 "False";
|
||||
VAL_ 481 CCSwStsDistIncSwA_h2HSC2 1 "True" 0 "False";
|
||||
VAL_ 509 LKAReqToqVHSC2 1 "Invalid" 0 "Valid";
|
||||
VAL_ 509 LDWLKAVbnLvlReqHSC2 3 "Level 3" 2 "Level 2" 1 "Level 1" 0 "no request";
|
||||
VAL_ 509 LKASysStsHSC2 3 "Override" 2 "Active" 1 "Stand by" 0 "Off";
|
||||
VAL_ 509 LKAReqToqStsHSC2 3 "reserved" 2 "reserved" 1 "torque request" 0 "no request";
|
||||
VAL_ 509 LKASysFltStsHSC2 3 "service required" 2 "system temporary unavailable" 1 "performance degradation" 0 "no error";
|
||||
VAL_ 509 LKADrvrTkovReqHSC2 1 "True" 0 "False";
|
||||
VAL_ 578 ACCMinBrkReqStsHSC2 1 "no demand" 0 "demand";
|
||||
VAL_ 578 ACCReqBrkPrfrdHSC2 1 "no demand" 0 "demand";
|
||||
VAL_ 578 ACCAccReqStsHSC2 1 "ACC Acceleration Request" 0 "No Request";
|
||||
VAL_ 578 ACCGoReqHSC2 1 "Request" 0 "No Request";
|
||||
VAL_ 578 ACCSysFltSts_SCSHSC2 7 "Reserved" 6 "Reserved" 5 "Reserved" 4 "Reserved" 3 "Service Required" 2 "System Temporary Unvailable" 1 "Performance Degradation" 0 "No Error";
|
||||
VAL_ 578 ACCSysSts_RadarHSC2 7 "Reserved" 6 "Standstill Wait" 5 "Standstill Active" 4 "Brake Only" 3 "Override" 2 "Active" 1 "Stand By" 0 "Off";
|
||||
VAL_ 578 ChACCShtdwnMdHSC2 3 "immediate off" 2 "initial" 1 "fast off" 0 "soft off";
|
||||
VAL_ 578 ACCSdslReq_RadarHSC2 1 "request" 0 "no request";
|
||||
VAL_ 582 ACCObjDet_RadarHSC2 1 "TRUE" 0 "FALSE";
|
||||
VAL_ 582 AEBMsgReqHSC2 7 "reserved" 6 "Radar Error" 5 "AEB is switched off" 4 "AEB is switched on" 3 "AEB is in error mode" 2 "Active" 1 "unable to active AEB" 0 "No display";
|
||||
VAL_ 582 ACCMsgReqHSC2 15 "Reserved" 14 "Reserved" 13 "Reserved" 12 "Reserved" 11 "Reserved" 10 "Reserved" 9 "Radar Error" 8 "depress acceleration pedal or press resume switch to go" 7 "Driver Takeover Request" 6 "ACC is switched off" 5 "ACC is switched on" 4 "ACC is in error mode" 3 "Active" 2 "ACC is cancelled" 1 "unable to active ACC" 0 "No display";
|
||||
VAL_ 582 ACCDetObjDistLvl_RadarHSC2 7 "reserved" 6 "reserved" 5 "distance level5" 4 "distance level4" 3 "distance level3" 2 "distance level2" 1 "distance level1" 0 "no gap set";
|
||||
VAL_ 582 ACCDrvrSeldTrgtDistLvl_RadarHSC2 7 "reserved" 6 "reserved" 5 "distance level5" 4 "distance level4" 3 "distance level3" 2 "distance level2" 1 "distance level1" 0 "no gap set";
|
||||
VAL_ 582 ACCSysCanclReq_RadarHSC2 3 "Reserved" 2 "ACC Condition Dissatisfy" 1 "Manual Cancel" 0 "No Cancel";
|
||||
VAL_ 582 RdrCalPrgsReqHSC2 5 "calibration failure" 4 "Calibration Finished, need Adjust" 3 "Calibration Finished, Succesful" 2 "Calibration in progress" 1 "Calibration Started" 0 "no request";
|
||||
VAL_ 582 ACCGoNotfr_RadarHSC2 1 "TRUE" 0 "FALSE";
|
||||
VAL_ 582 ACCSysFltSts_RadarHSC2 7 "Reserved" 6 "Reserved" 5 "Reserved" 4 "Reserved" 3 "Service Required" 2 "System Temporary Unvailable" 1 "Performance Degradation" 0 "No Error";
|
||||
VAL_ 582 ACCDrvrTkovReqHSC2 1 "True" 0 "False";
|
||||
VAL_ 582 FCWSysFltSts_RadarHSC2 7 "Reserved" 6 "Reserved" 5 "Reserved" 4 "Reserved" 3 "Service required" 2 "System temporary unvailable" 1 "Performance degradation" 0 "No error";
|
||||
VAL_ 582 FCWSnstvtLvl_RadarHSC2 7 "reserved" 6 "reserved" 5 "reserved" 4 "reserved" 3 "level3" 2 "level2" 1 "level1" 0 "Unavailable";
|
||||
VAL_ 582 AEBPedtrnDspCmdHSC2 3 "reserved" 2 "on" 1 "off" 0 "unavailable";
|
||||
VAL_ 582 FCWrnngSts_RadarHSC2 7 "reserved" 6 "reserved" 5 "reserved" 4 "reserved" 3 "level 3" 2 "level 2" 1 "level 1" 0 "no request";
|
||||
VAL_ 582 FCWDspCmd_RadarHSC2 3 "reserved" 2 "on" 1 "off" 0 "unavailable";
|
||||
VAL_ 582 AEBDspCmd_RadarHSC2 3 "reserved" 2 "on" 1 "off" 0 "unavailable";
|
||||
VAL_ 588 BrkDiscTemStsHSC2 1 "Temperature too high" 0 "Not high" ;
|
||||
VAL_ 588 BrkPdlDrvrAppdPrsV_RadarHSC2 1 "Invalid" 0 "Valid" ;
|
||||
VAL_ 588 LDrvnWhlRotlDircnHSC2 3 "Initial/Invalid" 2 "Backward" 1 "Forward" 0 "Unknown" ;
|
||||
VAL_ 588 RDrvnWhlRotlDircnHSC2 3 "Initial/Invalid" 2 "Backward" 1 "Forward" 0 "Unknown" ;
|
||||
VAL_ 588 WhlBrkPrsStsHSC2 1 "No brake force" 0 "Exist brake force" ;
|
||||
VAL_ 588 WhlGndVelLDrvnV_RadarHSC2 1 "Invalid" 0 "Valid" ;
|
||||
VAL_ 588 WhlGndVelRDrvnV_RadarHSC2 1 "Invalid" 0 "Valid" ;
|
||||
VAL_ 593 ChACCAccReqRespHSC2 7 "reserved" 6 "reserved" 4 "pre-condition not satisfied" 3 "control not allowed for error" 2 "lost arbitration" 1 "request honored" 0 "no request" ;
|
||||
VAL_ 593 ChACCAEBBrkJerkReqRespHSC2 7 "reserve" 6 "reserve" 4 "pre-condition not satisfied" 3 "control not allowed for error" 2 "lost arbitration" 1 "request honored" 0 "no request" ;
|
||||
VAL_ 593 ChACCReqFlrStsHSC2 3 "not defined" 2 "irreversible error" 1 "reversible error" 0 "No error" ;
|
||||
VAL_ 593 ChAEBDclReqRespHSC2 7 "reserved" 6 "reserved" 4 "pre-condition not satisfied" 3 "control not allowed for error" 2 "lost arbitration" 1 "request honored" 0 "no request" ;
|
||||
VAL_ 593 ChAEBHydBrkAstReqRespHSC2 7 "reserve" 6 "reserve" 4 "pre-condition not satisfied" 3 "control not allowed for error" 2 "lost arbitration" 1 "request honored" 0 "no request" ;
|
||||
VAL_ 593 ChAEBPrflReqRespHSC2 7 "reserve" 6 "reserve" 4 "pre-condition not satisfied" 3 "control not allowed for error" 2 "lost arbitration" 1 "request honored" 0 "no request" ;
|
||||
VAL_ 593 VehSdslStsHSC2 3 "reserved" 2 "invalid (short unavailability, max 3s)" 1 "standstill" 0 "not standstill" ;
|
||||
VAL_ 851 VehSpdAvgDrvnVHSC2 1 "Invalid" 0 "Valid" ;
|
||||
VAL_ 851 VehSpdAvgNonDrvnVHSC2 1 "Invalid" 0 "Valid" ;
|
||||
VAL_ 1130 BntOpenStsHSC2 3 "Reserved" 2 "Bonnet Switch Disconnect" 1 "Bonnet Open" 0 "Bonnet Closed" ;
|
||||
VAL_ 1130 DipdBeamLghtOnHSC2 1 "True" 0 "False" ;
|
||||
VAL_ 1130 DircnIndLampSwStsHSC2 3 "reserve" 2 "Right on" 1 "Left on" 0 "off" ;
|
||||
VAL_ 1130 DrvrDoorOpenStsHSC2 3 "Driver Door Full Open" 2 "Driver Door Ajar" 1 "Driver Door Open(For latch switch can't detect door ajar status)" 0 "Driver Door Closed" ;
|
||||
VAL_ 1130 DspMeasSysHSC2 1 "mph" 0 "kph" ;
|
||||
VAL_ 1130 FrtFogLghtOnHSC2 1 "True" 0 "False" ;
|
||||
VAL_ 1130 FrtPsngDoorOpenStsHSC2 3 "Front Passenger Door Full Open" 2 "Front Passenger Door Ajar" 1 "Front Passenger Open(latch switch cann¡®t detect door ajar statu" 0 "Front Passenger Door Closed" ;
|
||||
VAL_ 1130 FrtWiperParkPosAHSC2 1 "True" 0 "False" ;
|
||||
VAL_ 1130 FrtWshrPumpAHSC2 1 "True" 0 "False" ;
|
||||
VAL_ 1130 KeyDetIndxHSC2 7 "error" 6 "key 6 is detected" 5 "key 5 is detected" 4 "key 4 is detected" 3 "key 3 is detected" 2 "key 2 is detected" 1 "key 1 is detected" 0 "non key is detected" ;
|
||||
VAL_ 1130 LDircnIndLghtFHSC2 1 "True" 0 "False" ;
|
||||
VAL_ 1130 LDircnIOHSC2 1 "True" 0 "False" ;
|
||||
VAL_ 1130 LdspcOpenStsHSC2 3 "Reserved" 2 "Reserved" 1 "Load Space Open" 0 "Load Space Closed" ;
|
||||
VAL_ 1130 MainBeamLghtOnHSC2 1 "True" 0 "False" ;
|
||||
VAL_ 1130 RDircnIndLghtFHSC2 1 "True" 0 "False" ;
|
||||
VAL_ 1130 RDircnIOHSC2 1 "True" 0 "False" ;
|
||||
VAL_ 1130 RLDoorOpenStsHSC2 3 "Rear Left Door Full Open" 2 "Rear Left Door Ajar" 1 "Rear Left Door Open(latch switch cann't detect door ajar status" 0 "Rear Left Door Closed" ;
|
||||
VAL_ 1130 RRDoorOpenStsHSC2 3 "Rear Right Door Full Open" 2 "Rear Right Door Ajar" 1 "Rear Right Door Open(latch switch cann't detect door ajar status" 0 "Rear Right Door Closed" ;
|
||||
VAL_ 1130 RrFogLghtOnHSC2 1 "True" 0 "False" ;
|
||||
VAL_ 1130 VehSideLghtStsHSC2 3 "All side light and license plate light on" 2 "Right side light on only" 1 "Left side light on only" 0 "No side light on " ;
|
||||
@@ -34,6 +34,7 @@
|
||||
#define SAFETY_PSA 31U
|
||||
#define SAFETY_RIVIAN 33U
|
||||
#define SAFETY_VOLKSWAGEN_MEB 34U
|
||||
#define SAFETY_MG 35U
|
||||
|
||||
#define GET_BIT(msg, b) ((bool)!!(((msg)->data[((b) / 8U)] >> ((b) % 8U)) & 0x1U))
|
||||
#define GET_FLAG(value, mask) (((value) & (mask)) == (mask))
|
||||
|
||||
@@ -0,0 +1,134 @@
|
||||
#pragma once
|
||||
|
||||
#include "opendbc/safety/declarations.h"
|
||||
|
||||
static bool mg_zs_ev_brake = false;
|
||||
static bool mg_non_ev = false;
|
||||
|
||||
static void mg_rx_hook(const CANPacket_t *msg) {
|
||||
if (msg->bus == 0U) {
|
||||
// Vehicle speed
|
||||
if (msg->addr == 0x23cU) {
|
||||
float speed = (((msg->data[2] & 0x7FU) << 8) | msg->data[3]) * 0.015625;
|
||||
vehicle_moving = speed > 0.0;
|
||||
UPDATE_VEHICLE_SPEED(speed * KPH_TO_MS);
|
||||
}
|
||||
|
||||
// Gas pressed
|
||||
if (mg_non_ev) {
|
||||
if (msg->addr == 0xc9U) {
|
||||
gas_pressed = msg->data[4] != 0U;
|
||||
}
|
||||
} else {
|
||||
if (msg->addr == 0xafU) {
|
||||
gas_pressed = msg->data[0] != 0U;
|
||||
}
|
||||
}
|
||||
|
||||
// Driver torque
|
||||
if (msg->addr == 0x1ecU) {
|
||||
int torque_driver_new = (((msg->data[4] & 0x7U) << 8) | msg->data[5]) - 1024U;
|
||||
update_sample(&torque_driver, torque_driver_new);
|
||||
}
|
||||
|
||||
// Brake pressed
|
||||
if (mg_non_ev) {
|
||||
if (msg->addr == 0x214U) {
|
||||
brake_pressed = msg->data[1] != 0U;
|
||||
}
|
||||
} else if (mg_zs_ev_brake) {
|
||||
if (msg->addr == 0xafU) {
|
||||
brake_pressed = GET_BIT(msg, 31U);
|
||||
}
|
||||
} else {
|
||||
if (msg->addr == 0x1b6U) {
|
||||
brake_pressed = GET_BIT(msg, 10U);
|
||||
}
|
||||
}
|
||||
|
||||
// Cruise state
|
||||
if (msg->addr == 0x242U) {
|
||||
int cruise_state = (msg->data[5] & 0x38U) >> 3;
|
||||
bool cruise_engaged = (cruise_state == 2) || // Active
|
||||
(cruise_state == 3); // Override
|
||||
pcm_cruise_check(cruise_engaged);
|
||||
|
||||
// dp - ALKA: ACC main on (any non-Off state) enables lane keep without engagement
|
||||
if (alka_allowed && ((alternative_experience & ALT_EXP_ALKA) != 0)) {
|
||||
lkas_on = cruise_state != 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static bool mg_tx_hook(const CANPacket_t *msg) {
|
||||
const TorqueSteeringLimits MG_STEERING_LIMITS = {
|
||||
.max_torque = 300,
|
||||
.max_rate_up = 10,
|
||||
.max_rate_down = 15,
|
||||
.max_rt_delta = 125,
|
||||
.driver_torque_multiplier = 2,
|
||||
.driver_torque_allowance = 100,
|
||||
.type = TorqueDriverLimited,
|
||||
};
|
||||
|
||||
bool tx = true;
|
||||
bool violation = false;
|
||||
|
||||
// Steering control
|
||||
if (msg->addr == 0x1fdU) {
|
||||
int desired_torque = (((msg->data[0] & 0x7U) << 8) | msg->data[1]) - 1024U;
|
||||
bool steer_req = GET_BIT(msg, 35U);
|
||||
|
||||
violation |= steer_torque_cmd_checks(desired_torque, steer_req, MG_STEERING_LIMITS);
|
||||
}
|
||||
|
||||
if (violation) {
|
||||
tx = false;
|
||||
}
|
||||
|
||||
return tx;
|
||||
}
|
||||
|
||||
#define MG_COMMON_RX_CHECKS \
|
||||
{.msg = {{0x23c, 0, 8, .frequency = 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, /* SCS_HSC2_FrP19 */ \
|
||||
{.msg = {{0x1ec, 0, 8, .frequency = 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, /* EPS_HSC2_FrP03 */ \
|
||||
{.msg = {{0x242, 0, 8, .frequency = 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, /* RADAR_HSC2_FrP00 */
|
||||
|
||||
static safety_config mg_init(uint16_t param) {
|
||||
alka_allowed = true; // dp - ALKA enabled for MG
|
||||
|
||||
static const CanMsg MG_TX_MSGS[] = {{0x1fd, 0, 8, .check_relay = true}};
|
||||
|
||||
static RxCheck mg_rx_checks[] = {
|
||||
MG_COMMON_RX_CHECKS
|
||||
{.msg = {{0xaf, 0, 8, .frequency = 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // GW_HSC2_HCU_FrP00 (gas pedal)
|
||||
{.msg = {{0x1b6, 0, 8, .frequency = 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // EHBS_HSC2_FrP00 (brake pedal)
|
||||
};
|
||||
|
||||
static RxCheck mg_rx_checks_non_ev[] = {
|
||||
MG_COMMON_RX_CHECKS
|
||||
{.msg = {{0xc9, 0, 8, .frequency = 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // Tester_HSC2_ECM_FrP00 (gas pedal)
|
||||
{.msg = {{0x214, 0, 6, .frequency = 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // SCS_HSC2_FrP09 (brake pressure)
|
||||
};
|
||||
|
||||
const uint16_t MG_PARAM_ALT_BRAKE = 2;
|
||||
const uint16_t MG_PARAM_NON_EV = 4;
|
||||
mg_zs_ev_brake = GET_FLAG(param, MG_PARAM_ALT_BRAKE);
|
||||
mg_non_ev = GET_FLAG(param, MG_PARAM_NON_EV);
|
||||
|
||||
safety_config ret;
|
||||
SET_TX_MSGS(MG_TX_MSGS, ret);
|
||||
if (mg_non_ev) {
|
||||
SET_RX_CHECKS(mg_rx_checks_non_ev, ret);
|
||||
} else {
|
||||
SET_RX_CHECKS(mg_rx_checks, ret);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
const safety_hooks mg_hooks = {
|
||||
.init = mg_init,
|
||||
.rx = mg_rx_hook,
|
||||
.tx = mg_tx_hook,
|
||||
};
|
||||
@@ -27,6 +27,7 @@
|
||||
#include "opendbc/safety/modes/elm327.h"
|
||||
#include "opendbc/safety/modes/body.h"
|
||||
#include "opendbc/safety/modes/psa.h"
|
||||
#include "opendbc/safety/modes/mg.h"
|
||||
|
||||
#ifdef CANFD
|
||||
#include "opendbc/safety/modes/hyundai_canfd.h"
|
||||
@@ -459,6 +460,7 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
|
||||
{SAFETY_BODY, &body_hooks},
|
||||
{SAFETY_FORD, &ford_hooks},
|
||||
{SAFETY_RIVIAN, &rivian_hooks},
|
||||
{SAFETY_MG, &mg_hooks},
|
||||
{SAFETY_TESLA, &tesla_hooks},
|
||||
#ifdef CANFD
|
||||
{SAFETY_HYUNDAI_CANFD, &hyundai_canfd_hooks},
|
||||
|
||||
@@ -858,5 +858,96 @@ class TestALKALatControlAllowed(unittest.TestCase):
|
||||
f"alka_flag={alka_flag}, lkas_on={lkas_on}, vehicle_moving={vehicle_moving}")
|
||||
|
||||
|
||||
class TestALKAMG(TestALKABase):
|
||||
"""Test ALKA functionality for MG (MG ZS)."""
|
||||
|
||||
def setUp(self):
|
||||
self.packer = CANPackerSafety("mg")
|
||||
self.safety = libsafety_py.libsafety
|
||||
self.safety.set_safety_hooks(CarParams.SafetyModel.mg, 4) # NON_EV (MG ZS)
|
||||
self.safety.init_tests()
|
||||
self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.ALKA)
|
||||
|
||||
def _speed_msg(self, speed):
|
||||
values = {"VehSpdAvgHSC2": speed * 3.6}
|
||||
return self.packer.make_can_msg_safety("SCS_HSC2_FrP19", 0, values)
|
||||
|
||||
def _set_vehicle_moving(self, moving: bool):
|
||||
speed = 10.0 if moving else 0.0
|
||||
for _ in range(6):
|
||||
self._rx(self._speed_msg(speed))
|
||||
|
||||
def _torque_cmd_msg(self, torque, steer_req=1):
|
||||
values = {"LKAReqToqHSC2": torque, "LKAReqToqStsHSC2": steer_req}
|
||||
return self.packer.make_can_msg_safety("FVCM_HSC2_FrP03", 0, values)
|
||||
|
||||
def _torque_driver_msg(self, torque):
|
||||
values = {"DrvrStrgDlvrdToqHSC2": torque}
|
||||
return self.packer.make_can_msg_safety("EPS_HSC2_FrP03", 0, values)
|
||||
|
||||
def _acc_main_msg(self, main_on):
|
||||
# ACCSysSts: 0 = Off, 1 = Stand By (main on); any non-zero = main on
|
||||
values = {"ACCSysSts_RadarHSC2": 1 if main_on else 0}
|
||||
return self.packer.make_can_msg_safety("RADAR_HSC2_FrP00", 0, values)
|
||||
|
||||
def _set_prev_torque(self, t):
|
||||
self.safety.set_desired_torque_last(t)
|
||||
self.safety.set_rt_torque_last(t)
|
||||
|
||||
def test_alka_allowed_for_mg(self):
|
||||
"""alka_allowed is set in MG safety init."""
|
||||
self.assertTrue(self.safety.get_alka_allowed())
|
||||
|
||||
def test_alka_lkas_on_from_acc_main(self):
|
||||
"""lkas_on tracks the ACC main state (any non-Off ACCSysSts)."""
|
||||
self._rx(self._acc_main_msg(0))
|
||||
self.assertFalse(self.safety.get_lkas_on())
|
||||
|
||||
self._rx(self._acc_main_msg(1))
|
||||
self.assertTrue(self.safety.get_lkas_on())
|
||||
|
||||
self._rx(self._acc_main_msg(0))
|
||||
self.assertFalse(self.safety.get_lkas_on())
|
||||
|
||||
def test_alka_lat_control_allowed_conditions(self):
|
||||
"""lat_control_allowed requires ALKA flag + lkas_on + vehicle_moving."""
|
||||
self._reset_safety_hooks()
|
||||
self.safety.set_controls_allowed(False)
|
||||
|
||||
# No ALKA flag -> follows controls_allowed (False)
|
||||
self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.DEFAULT)
|
||||
self._rx(self._acc_main_msg(1))
|
||||
self._set_vehicle_moving(True)
|
||||
self.assertFalse(self.safety.get_lat_control_allowed())
|
||||
|
||||
# ALKA flag but not moving
|
||||
self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.ALKA)
|
||||
self._set_vehicle_moving(False)
|
||||
self.assertFalse(self.safety.get_lat_control_allowed())
|
||||
|
||||
# Moving but main off (lkas_on false)
|
||||
self._set_vehicle_moving(True)
|
||||
self._rx(self._acc_main_msg(0))
|
||||
self.assertFalse(self.safety.get_lat_control_allowed())
|
||||
|
||||
# All conditions met
|
||||
self._rx(self._acc_main_msg(1))
|
||||
self._set_vehicle_moving(True)
|
||||
self.assertTrue(self.safety.get_lat_control_allowed())
|
||||
|
||||
def test_alka_allows_steering_without_controls_allowed(self):
|
||||
"""Torque TX is allowed via ALKA even when controls_allowed=False."""
|
||||
self._reset_safety_hooks()
|
||||
self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.ALKA)
|
||||
self._rx(self._acc_main_msg(1))
|
||||
self._set_vehicle_moving(True)
|
||||
self.safety.set_controls_allowed(False)
|
||||
|
||||
self._set_prev_torque(0)
|
||||
for _ in range(6):
|
||||
self._rx(self._torque_driver_msg(0))
|
||||
self.assertTrue(self._tx(self._torque_cmd_msg(10, steer_req=1)))
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
||||
@@ -0,0 +1,84 @@
|
||||
#!/usr/bin/env python3
|
||||
import unittest
|
||||
|
||||
from opendbc.car.structs import CarParams
|
||||
from opendbc.safety.tests.libsafety import libsafety_py
|
||||
import opendbc.safety.tests.common as common
|
||||
from opendbc.safety.tests.common import CANPackerSafety
|
||||
|
||||
|
||||
class TestMGSafety(common.CarSafetyTest, common.DriverTorqueSteeringSafetyTest):
|
||||
|
||||
TX_MSGS = [[0x1fd, 0], ]
|
||||
RELAY_MALFUNCTION_ADDRS = {0: (0x1fd,)}
|
||||
FWD_BLACKLISTED_ADDRS = {2: [0x1fd,]}
|
||||
|
||||
MAX_RATE_UP = 10
|
||||
MAX_RATE_DOWN = 15
|
||||
MAX_TORQUE_LOOKUP = [0], [300]
|
||||
MAX_RT_DELTA = 125
|
||||
|
||||
DRIVER_TORQUE_ALLOWANCE = 100
|
||||
DRIVER_TORQUE_FACTOR = 2
|
||||
|
||||
def setUp(self):
|
||||
self.packer = CANPackerSafety("mg")
|
||||
self.safety = libsafety_py.libsafety
|
||||
self.safety.set_safety_hooks(CarParams.SafetyModel.mg, 0)
|
||||
self.safety.init_tests()
|
||||
|
||||
def _torque_cmd_msg(self, torque, steer_req=1):
|
||||
values = {"LKAReqToqHSC2": torque, "LKAReqToqStsHSC2": steer_req}
|
||||
return self.packer.make_can_msg_safety("FVCM_HSC2_FrP03", 0, values)
|
||||
|
||||
def _speed_msg(self, speed):
|
||||
values = {"VehSpdAvgHSC2": speed * 3.6}
|
||||
return self.packer.make_can_msg_safety("SCS_HSC2_FrP19", 0, values)
|
||||
|
||||
def _torque_driver_msg(self, torque):
|
||||
values = {"DrvrStrgDlvrdToqHSC2": torque * 0.01}
|
||||
return self.packer.make_can_msg_safety("EPS_HSC2_FrP03", 0, values)
|
||||
|
||||
def _user_brake_msg(self, brake):
|
||||
values = {"BrkPdlAppdHSC2": 1 if brake else 0}
|
||||
return self.packer.make_can_msg_safety("EHBS_HSC2_FrP00", 0, values)
|
||||
|
||||
def _user_gas_msg(self, gas):
|
||||
values = {"EPTAccelActuPosHSC2": 100 if gas else 0}
|
||||
return self.packer.make_can_msg_safety("GW_HSC2_HCU_FrP00", 0, values)
|
||||
|
||||
def _pcm_status_msg(self, enable):
|
||||
values = {"ACCSysSts_RadarHSC2": 2 if enable else 1}
|
||||
return self.packer.make_can_msg_safety("RADAR_HSC2_FrP00", 0, values)
|
||||
|
||||
|
||||
class TestMGAltBrakeSafety(TestMGSafety):
|
||||
def setUp(self):
|
||||
self.packer = CANPackerSafety("mg")
|
||||
self.safety = libsafety_py.libsafety
|
||||
self.safety.set_safety_hooks(CarParams.SafetyModel.mg, 2)
|
||||
self.safety.init_tests()
|
||||
|
||||
def _user_brake_msg(self, brake):
|
||||
values = {"EPTBrkPdlDscrtInptStsHSC2": 1 if brake else 0}
|
||||
return self.packer.make_can_msg_safety("GW_HSC2_HCU_FrP00", 0, values)
|
||||
|
||||
|
||||
class TestMGNonEvSafety(TestMGSafety):
|
||||
def setUp(self):
|
||||
self.packer = CANPackerSafety("mg")
|
||||
self.safety = libsafety_py.libsafety
|
||||
self.safety.set_safety_hooks(CarParams.SafetyModel.mg, 4)
|
||||
self.safety.init_tests()
|
||||
|
||||
def _user_brake_msg(self, brake):
|
||||
values = {"BrkPdlDrvrAppdPrsHSC2": 150 if brake else 0}
|
||||
return self.packer.make_can_msg_safety("SCS_HSC2_FrP09", 0, values)
|
||||
|
||||
def _user_gas_msg(self, gas):
|
||||
values = {"AccelActuPosHSC2": 50 if gas else 0}
|
||||
return self.packer.make_can_msg_safety("Tester_HSC2_ECM_FrP00", 0, values)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
Reference in New Issue
Block a user