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https://github.com/dragonpilot/dragonpilot.git
synced 2026-06-12 17:26:38 +08:00
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1
.gitignore
vendored
1
.gitignore
vendored
@@ -41,7 +41,6 @@ selfdrive/boardd/boardd
|
||||
selfdrive/logcatd/logcatd
|
||||
selfdrive/mapd/default_speeds_by_region.json
|
||||
selfdrive/proclogd/proclogd
|
||||
selfdrive/ui/_ui
|
||||
selfdrive/test/longitudinal_maneuvers/out
|
||||
selfdrive/visiond/visiond
|
||||
selfdrive/loggerd/loggerd
|
||||
|
||||
670
CHANGELOGS-DEV.md
Normal file
670
CHANGELOGS-DEV.md
Normal file
@@ -0,0 +1,670 @@
|
||||
dragonpilot 0.8.6-1
|
||||
========================
|
||||
* Based on openpilot 0.8.6 devel.
|
||||
* Support 1+3t / C2 / Jetson Xavier NX.
|
||||
* Support White / Grey Panda.
|
||||
|
||||
dragonpilot 0.8.5-4
|
||||
========================
|
||||
* Added multiple toggles.
|
||||
* Code clean up.
|
||||
* Android app support. (see selfdrive/dragonpilot/HOWTO-APPD.md)
|
||||
* Better support for VW MPQ (Thanks to @Saber)
|
||||
|
||||
dragonpilot 0.8.5-3
|
||||
========================
|
||||
* Added Jetson support toggle.
|
||||
* Added Steering Ratio controller.
|
||||
* Reduce Following Profile to 3 modes only. (1.8s / 1.5s / 1.2s)
|
||||
* Bug fixes.
|
||||
|
||||
dragonpilot 0.8.5-2
|
||||
========================
|
||||
* Added black panda simulation toggle.
|
||||
* Added No GPS toggle.
|
||||
* Added No Battery Toggle.
|
||||
* Bug fixes.
|
||||
|
||||
dragonpilot 0.8.5-1
|
||||
========================
|
||||
* Based on openpilot 0.8.5 devel.
|
||||
* 基於 openpilot 0.8.5 devel.
|
||||
* Support 1+3t / C2 / Jetson Xavier NX.
|
||||
* 支持 1+3t / C2 / Jetson Xavier NX.
|
||||
* No White/Grey Panda Support.
|
||||
* 不支持白灰熊.
|
||||
|
||||
dragonpilot 0.8.4-3
|
||||
========================
|
||||
* 簡化 1+3t 安裝方法. (請查閱 HOWTO-ONEPLUS.md)
|
||||
* Simplied 1+3t installation. (See HOWTO-ONEPLUS.md)
|
||||
* 加回舊 ssh 登錄.
|
||||
* Good old ssh key.
|
||||
* 修復本田錯誤. (感謝 @loveloveses)
|
||||
* Fixed Honda bug. (Thanks to @loveloveses)
|
||||
|
||||
dragonpilot 0.8.4-2
|
||||
========================
|
||||
* 加回可調整加速/跟車設定.
|
||||
* Added back Accel/Following Profile.
|
||||
* 支持 Headless Jetson Xavier NX (https://github.com/efinilan/xnxpilot.git)
|
||||
* Support Headless Jetson Xavier NX (https://github.com/efinilan/xnxpilot.git)
|
||||
* 支持 1+3t (需額外安裝手續)
|
||||
* Support 1+3t (Require additional install procedure)
|
||||
* 支持白/灰熊
|
||||
* Support White/Grey Panda.
|
||||
|
||||
dragonpilot 0.8.4-1
|
||||
========================
|
||||
* 基於 openpilot 0.8.4 devel.
|
||||
* Based on openpilot 0.8.4 devel.
|
||||
|
||||
dragonpilot 0.8.1
|
||||
========================
|
||||
* 基於最新 openpilot 0.8.1 devel.
|
||||
* Based on latest openpilot 0.8.1 devel.
|
||||
* 加入行車記錄按鈕。(感謝 @toyboxZ 提供)
|
||||
* Added REC screen button. (Thanks to @toyboxZ)
|
||||
|
||||
dragonpilot 0.8.0
|
||||
========================
|
||||
* 基於最新 openpilot 0.8.0 devel.
|
||||
* Based on latest openpilot 0.8.0 devel.
|
||||
* 加入 git 錯誤修正。(感謝 @toyboxZ 提供)
|
||||
* Added git error fix. (Thanks to @toyboxZ)
|
||||
|
||||
dragonpilot 0.7.10.1
|
||||
========================
|
||||
* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
|
||||
* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
|
||||
* HYUNDAI_GENESIS 加入 Cruise 按紐 和 lkMode 支援。(感謝 @donfyffe 建議)
|
||||
* HYUNDAI_GENESIS added Cruise button event and lkMode feature. (Thanks to @donfyffe)
|
||||
* 支援台灣版 2018 Huyndai IONIQ + smart MDPS (dp_hkg_smart_mdps) (感謝 @andy741217 提供)
|
||||
* Support 2018 Taiwan Hyundai IONIQ + smart MDPS (dp_hkg_smart_mdps) (Thanks to @andy741217)
|
||||
* 使用 openpilot v0.8 的模型。(感謝 @eisenheim)
|
||||
* Use openpilot v0.8 model. (Thanks to @eisenheim)
|
||||
* 加入 0.8 測試版的部分優化。
|
||||
* Added optimizations from pre-0.8.
|
||||
* 加入 dp_honda_eps_mod 設定來使用更高的扭力 (需 eps mod)。(感謝 @Wuxl_369 提供)
|
||||
* Added dp_honda_eps_mod setting to enable higher torque (eps mod required). (Thanks to @Wuxl_369)
|
||||
* 修正 VW 對白/灰熊的支援 (感謝 @lirudy 提供)
|
||||
* Fixed issue with white/grey panda support for VW (Thanks to @lirudy)
|
||||
* GENESIS_G70 優化 (感謝 @sebastian4k 提供)
|
||||
* GENESIS_G70 Optimisation (Thanks to @sebastian4k)
|
||||
* HYUNDAI_GENESIS 優化 (感謝 @donfyffe 提供)
|
||||
* HYUNDAI_GENESIS Optimisation (Thanks to @donfyffe)
|
||||
* 加入 Dynamic gas Lite。(感謝 @toyboxZ 提供)
|
||||
* Added Dynamic Gas Lite. (Thanks to @toyboxZ)
|
||||
* 加入來自 afa 的 Honda inspire, accord, crv SnG 優化。(感謝 @menwenliang 提供)
|
||||
* Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang)
|
||||
* 加入 dp_toyota_lowest_cruise_override_vego。(感謝 @toyboxZ 提供)
|
||||
* Added dp_toyota_lowest_cruise_override_vego. (Thanks to @toyboxZ)
|
||||
|
||||
dragonpilot 0.7.10.0
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.10 devel.
|
||||
* Based on latest openpilot 0.7.10 devel.
|
||||
* 修正 Prius 特定情況下無法操控方向盤的問題。
|
||||
* Fixed unable to regain Prius steering control under certain condition.
|
||||
* 更新 VW MQB 的支援。(需執行 scripts/vw.sh 腳本)
|
||||
* Updated support of VW MQB. (scripts/vw.sh script required)
|
||||
* 新增 2018 China Toyota CHR 指紋v2。（感謝 @xiaohongcheung 提供)
|
||||
* Added 2018 China Toyota CHR FPv2. (Thanks to @xiaohongcheung)
|
||||
* 加入 Headunit Reloaded Android Auto App 支援。(感謝 @Ninjaa 提供)
|
||||
* Added Headunit Reloaded Android Auto App Support. (Thanks to @Ninjaa)
|
||||
* 優化 nanovg。(感謝 @piggy 提供)
|
||||
* Optomized nanovg. (Thanks to @piggy)
|
||||
* 加入 complete_setup.sh (感謝 @深鲸希西 提供)
|
||||
* Added complete_setup.sh (Thanks to @深鲸希西)
|
||||
* Based on latest openpilot 0.7.10 devel.
|
||||
* 修正 EON 接 PC/USB 充電器時仍會自動關機的錯誤。(感謝 @小愛 回報)
|
||||
* Fixed auto shutdown issue when EON connect to PC/USB Charger. (Thanks to @LOVEChen)
|
||||
* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
|
||||
* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
|
||||
|
||||
dragonpilot 0.7.8.3
|
||||
========================
|
||||
* VW 加入 6 分鐘時間方向盤控制限制輔助方案。(特別感謝 @actuallylemoncurd 提供代碼)
|
||||
* VW added 6 minutes timebomb assist. (dp_timebomb_assist, special thanks to @actuallylemoncurd)
|
||||
|
||||
dragonpilot 0.7.8.2
|
||||
========================
|
||||
* 修正在沒網路的情況下，開機超過五分鐘的問題。
|
||||
* Fixed 5+ minutes boot time issue when there is no internet connection.
|
||||
* 錯誤回傳改使用 dp 的主機。
|
||||
* Used dp server for error reporting.
|
||||
* 更新服務改使用 gitee 的 IP 檢查連線狀態。
|
||||
* updated service uses gitee IP address instead.
|
||||
|
||||
dragonpilot 0.7.8.1
|
||||
========================
|
||||
* 加入 ko-KR 翻譯。
|
||||
* Added ko-KR translation.
|
||||
* 加入 Honda Jade 支援。(感謝 @李俊灝)
|
||||
* Added Honda Jade support. (Thanks to @lijunhao731)
|
||||
* 修正 ui.cc 內存越界的問題。(感謝 @piggy 提供)
|
||||
* Fixed ui.cc memory out of bound issue. (Thanks to @piggy)
|
||||
* gpxd 記錄改自動存成 zip 格式。
|
||||
* gpxd now store in zip format.
|
||||
* 強制關閉 panda 檢查 DOS 硬體。
|
||||
* Force disabled DOS hardware check in panda.
|
||||
|
||||
dragonpilot 0.7.8.0
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.8 devel.
|
||||
* Based on latest openpilot 0.7.8 devel.
|
||||
* 加入重置 DP 設定按鈕。(感謝 @LOVEChen 建議)
|
||||
* Added "Reset DP Settings" button. (Thanks to @LOVEChen)
|
||||
* 將警示訊息更改為類似於概念 UI 的設計。
|
||||
* Alert messages changed to concept UI alike design.
|
||||
* 當 manager 出現錯誤後，按 Exit 按鈕會執行 reset_update 腳本。
|
||||
* Added ability to execute reset_update.sh when press "Exit" button once manager returned errors.
|
||||
|
||||
dragonpilot 0.7.7.3
|
||||
========================
|
||||
* 修正方向盤監控。
|
||||
* Fixed steering monitor timer param.
|
||||
* 修正行駛時關閉畫面導致當機的錯誤。(感謝 @salmankhan, @stevej99, @bobbydough 回報)
|
||||
* Fixed screen frozen issue when "screen off while driving" toggle is enabled. (Thanks to @salmankhan, @stevej99, @bobbydough)
|
||||
* 加回 Dev Mini UI 開關。(感謝 @Ninjaa 建議)
|
||||
* Re-added Dev Mini UI. (Thanks to @Ninjaa)
|
||||
* 新增 (dp_reset_live_parameters_on_start) 每次發車重設 LiveParameters 值。(感謝 @eisenheim)
|
||||
* Added ability (dp_reset_live_param_on_start) to reset LiveParameters on each start. (Thanks @eisenheim)
|
||||
* 修正同時開啟 dp_toyota_zss 和 dp_lqr 產生的錯誤。(感謝 @bobbydough)
|
||||
* Fixed error cuased by enabling both dp_toyota_zss and dp_lqr at the same time. (Thanks to @bobbydough)
|
||||
* 新增 (dp_gpxd) 將 GPS 軌跡導出至 GPX 格式 (/sdcard/gpx_logs/）的功能。 （感謝 @mageymoo1）
|
||||
* Added ability (dp_gpxd) to export GPS track into GPX files (/sdcard/gpx_logs/). (Thanks to @mageymoo1)
|
||||
* 使用德國的車道寬度估算值。 （感謝 @arne182）
|
||||
* Used lane width estimate value from Germany. (Thanks to @arne182)
|
||||
|
||||
dragonpilot 0.7.7.2
|
||||
========================
|
||||
* 加入 d_poly offset。 (感謝 @ShaneSmiskol)
|
||||
* Added d_poly offset. (Thanks to @ShaneSmiskol)
|
||||
* 加入 ZSS 支援。(感謝 @bobbydough, @WilliamPrius 建議, @bobbydough 測試)
|
||||
* Added ZSS support. (Thanks to @bobbydough, @WilliamPrius for recommendation, @bobbydough for testing)
|
||||
* 加入錯誤記錄至 /sdcard/crash_logs/ (感謝 @ShaneSmiskol 提供代碼)
|
||||
* Added error logs to /sdcard/crash_logs/ (Special Thanks to @ShaneSmiskol)
|
||||
* 加入 LQR 控制器開關進設定畫面。
|
||||
* Added LQR Controller toggle to settings.
|
||||
|
||||
dragonpilot 0.7.7.1
|
||||
========================
|
||||
* 加入 C2 風扇靜音模式。(感謝 @dingliangxue)
|
||||
* Added C2 quiet fan mode. (Thanks to @dingliangxue)
|
||||
* 加入「輔助換道最低啟動速度」、「自動換道最低啟動速度」設定。
|
||||
* Added "Assisted Lane Change Min Engage Speed" and "Auto Lane Change Min Engage Speed" settings.
|
||||
* 加入回調校介面。(感謝 @Kent)
|
||||
* Re-added Dev UI. (Thanks to @Kent)
|
||||
* 加入 "dp_lqr" 設定來強制使用 RAV4 的 lqr 調校。(感謝 @eisenheim)
|
||||
* Added "dp_lqr" setting to force enable lqr tuning from RAV4. (Thanks to eisenheim)
|
||||
|
||||
dragonpilot 0.7.7.0
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.7 devel.
|
||||
* Based on latest openpilot 0.7.7 devel.
|
||||
* 當 Manager 出現錯誤時，顯示 IP 位置。(感謝 @dingliangxue)
|
||||
* When Manager failed, display IP address. (Thanks to @dingliangxue)
|
||||
* 加回 sr learner 開關。
|
||||
* Re-added sr learner toggle.
|
||||
* 加回 加速模式 開關。
|
||||
* Re-added Accel Profile toggle.
|
||||
* Toyota 加入改寫最低巡航速度功能。(感謝 @Mojo)
|
||||
* Added Toyota to override lowerest cruise speed. (Thanks to @Mojo)
|
||||
* 介面加入盲點偵測顯示。(感謝 @wabes)
|
||||
* Added BSM indicator to UI. (Thanks to @wabes)
|
||||
* 加回彎道減速功能。(感謝 @Mojo)
|
||||
* re-added Slow On Curve functionality. (Thanks to @Mojo)
|
||||
|
||||
dragonpilot 0.7.6.2
|
||||
========================
|
||||
* 修正無法正確關閉駕駛監控的問題。
|
||||
* Fixed unable to properly turn off driver monitor issue.
|
||||
|
||||
dragonpilot 0.7.6.1
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.6.1 devel.
|
||||
* Based on latest openpilot 0.7.6.1 devel.
|
||||
* 優化並整合 dp 服務。 (所有的設定檔已改名，請重新設定所有的功能)
|
||||
* Optimized and integrated several dp services. (Settings have been renamed, please re-config all settings)
|
||||
* 完全關閉 steer ratio learner。
|
||||
* Completely disabled steer ratio learner.
|
||||
* 移除「加速模式」。
|
||||
* Removed Accel Profile.
|
||||
* 加入本田皓影混電版指紋v1。(感謝 @劉駿)
|
||||
* Added Honda Breeze Hybrid FPv1. (Thanks to @劉駿)
|
||||
* 加入台灣版 Toyota Prius 4.5 指紋v1。(感謝 @jeekid)
|
||||
* Added Taiwan Toyota Prius 4.5 FPv1. (Thanks to @jeekid)
|
||||
|
||||
dragonpilot 0.7.5.4
|
||||
========================
|
||||
* Dynamic Follow 更新模型。(感謝 @ShaneSmiskol 提供代碼、 @cgw1968 測試)
|
||||
* Updated Dynamic Follow model. (Special Thanks to @ShaneSmiskol for the feature and @cgw1968 for testing)
|
||||
|
||||
dragonpilot 0.7.5.3
|
||||
========================
|
||||
* Dynamic Follow 更新至 ShaneSmiskol:stock_additions 0.7.5 版。(感謝 @ShaneSmiskol 提供代碼、 @Wei 測試)
|
||||
* Updated Dynamic Follow to ShaneSmiskol:stock_additions 0.7.5. (Special Thanks to @ShaneSmiskol for the feature and @Wei for testing)
|
||||
* 優化 Lexus GSH 轉向。(感謝 @簡銘佑 測試)
|
||||
* Optimize Lexus GSH steering. (Thanks to @簡銘佑)
|
||||
* C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議)
|
||||
* C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968)
|
||||
* 修正出現「pedalPressed」的錯誤。(感謝 @Wei 回報)
|
||||
* Fixed issue showing "pedalPressed" error. (Thanks to @Wei)
|
||||
* 將剎車狀熊顯示於 dp 資訊欄。
|
||||
* Added brake indicator to dp infobar.
|
||||
* 修正「溫度監控」燈示。
|
||||
* Fixed "Temp monitor" indicator.
|
||||
* 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議)
|
||||
* Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes)
|
||||
* 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供)
|
||||
* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22)
|
||||
|
||||
dragonpilot 0.7.5.2
|
||||
========================
|
||||
* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植)
|
||||
* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue)
|
||||
* 修改成 3 小時後停止供電。(感謝 @Wei 建議)
|
||||
* Updated to stop charging after 3 hrs. (Thanks to @Wei)
|
||||
* 移除行車記錄下的「碰撞偵測」功能。
|
||||
* Removed Impact Detection in Dashcam.
|
||||
* 修正開啟「Noctua 風扇」模式導致的錯誤。(感謝 @阿濤 回報)
|
||||
* Fixed a bug caused by enabling "Noctua Mod". (Thanks to @阿濤)
|
||||
* 修正「位智模式」無法顯示警示的問題。(感謝 @axandres 回報)
|
||||
* Fixed alert issue in waze mode. (Thanks to @axandres)
|
||||
* 修正無法顯示更新中圖示的問題。
|
||||
* Fixed unable to display "UPDATING" icon issue.
|
||||
* 加入「允許多次自動換道」功能。(感謝 @阿濤 建議)
|
||||
* Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤)
|
||||
* 修正開機後設定頁面有時會錯誤的問題。(感謝 @salmankhan、@Wei 回報)
|
||||
* Fixed setting page crash issue. (Thanks to @salmankhan, @Wei)
|
||||
* 修正熄火後一直出現更新訊息的錯誤。(感謝 @Sky Chang 回報)
|
||||
* Fixed issue that keep showing update prompt. (Thanks to @Sky Chang)
|
||||
|
||||
dragonpilot 0.7.5.1
|
||||
========================
|
||||
* 修正因同時使用「社群功能」和「自定車型」造成的加減速問題。(特別感謝 @Wei、@Sky Chang、@Han9365、@鄧育林 的測試以及回報。)
|
||||
* Fixed acceleration issue caused by used of both "Community Maintain Feature" and "Custom Car Model". (Special Thanks to @Wei, @Sky Chang, @Han9365, @鄧育林)
|
||||
* 新增 DragonMaxSpeedLimit 設定值 (mph)，當如果車速高於此值 op 將會停止操控。(感謝 @Anthony 建議)
|
||||
* Added DragonMaxSpeedLimit parameter (mph), op will stop controlling when car speed is high than the value. (Thanks to @Anthony)
|
||||
* 更新 appd 使用 cnpmjs 來下載 APKs。
|
||||
* Updated appd to use cnpmjs to download APKs.
|
||||
* 修正更新服務。(感謝 @Wei)
|
||||
* Fixed Update Service. (Thanks to @Wei)
|
||||
* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v2)。(感謝 明峰 提供)
|
||||
* Added Canada 2018 Toyota Sienna LTD fingerprint (v2). (Thanks to 明峰)
|
||||
* 新增「通過移動網路上傳」開關
|
||||
* Added Upload Over Mobile Network toggle.
|
||||
* 新增「通過熱點上傳」開關
|
||||
* Added Upload Over Hotspot toggle.
|
||||
* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v1)。(感謝 明峰 提供)
|
||||
* Added Canada 2018 Toyota Sienna LTD fingerprint (v1). (Thanks to 明峰)
|
||||
* 新增大陸版 Volkswagen Golf GTI 指紋 (v1)。(感謝 easyeiji 提供)
|
||||
* Added China Volkswagen Golf GTI fingerprint (v1). (Thanks to easyeiji)
|
||||
|
||||
dragonpilot 0.7.5.0
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.5 devel-staging.
|
||||
* Based on latest openpilot 0.7.5 devel-staging.
|
||||
* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
|
||||
* Updated dp logo, special thanks to @wabes for the design.
|
||||
* 簡/繁中文版和 i18n 整合成為單一版本。
|
||||
* Merged zhs/zht/i18n versions into one.
|
||||
* 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾)
|
||||
* Added China Camery Hybrid FPv2. (Thanks to @杜子腾)
|
||||
* 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish)
|
||||
* Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish)
|
||||
* 新增行駛時關閉畫面功能。
|
||||
* Added Screen off while driving feature.
|
||||
* 新增倒車時關閉畫面功能。
|
||||
* Added Screen off while reversing feature.
|
||||
* 新增駕駛介面加入「加速模式」切換鈕。
|
||||
* Added acceleration profile toggle onto driving UI.
|
||||
* 新增自定車型功能，取代指紋暫存功能。
|
||||
* Replaced fingerprint cache with custom car model selector.
|
||||
* 新增可調亮度。
|
||||
* Added Brightness changer.
|
||||
* 新增部分德語支持。(特別感謝 @arne182 提供)
|
||||
* Added partial de_DE language support (Thanks to @arne182)
|
||||
* 新增停車碰撞偵測記錄功能。
|
||||
* Added off road impact detection to dashcam.
|
||||
|
||||
2020-05-06
|
||||
========================
|
||||
* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
|
||||
* 中文版整合進 i18n 版。
|
||||
* 刪除指紋暫存功能。
|
||||
* 新增 CAMERY HIBRID 指紋。(感謝 @杜子腾)
|
||||
* 新增行駛時關閉畫面功能。
|
||||
* 新增倒車時關閉畫面功能。
|
||||
* 新增駕駛介面加入「加速模式」切換鈕。
|
||||
* 新增自定義車型。
|
||||
|
||||
2020-04-16
|
||||
========================
|
||||
* [DEVEL] 加入台灣版 2016 Lexus IS200t 指紋。(感謝 Philip / Cody Dai)
|
||||
* [DEVEL] 加入台灣版 2016 Toyota Prius 4.5 代指紋。(感謝 Philip)
|
||||
* [DEVEL] 加入台灣版 201x Toyota RAV4 4WD 指紋。(感謝 Philip)
|
||||
* [DEVEL] 加入台灣版 2020 Toyota Auris w/ LTA 指紋。(感謝 Philip)
|
||||
* [DEVEL] 修正 commIssue 錯誤。(感謝 Kent 協助)
|
||||
|
||||
2020-04-13
|
||||
========================
|
||||
* [DEVEL] 加入可調整 Toyota Sng 起步反應值 (DragonToyotaSngResponse)。 (特別感謝 @Wei 提供 PR)
|
||||
* [DEVEL] 駕駛介面加入「動態調整車距」按鈕。(感謝 @cgw1968-5779 建議)
|
||||
* [DEVEL] 更新 update script。(感謝 深鯨希西 回報)
|
||||
|
||||
2020-04-10
|
||||
========================
|
||||
* [DEVEL] 更新 panda 至最新的 comma:master 分支。
|
||||
* [DEVEL] 移除所有的第三方應用改為自動下載。
|
||||
* [DEVEL] 移除「啟用原廠 DSU 模式」、「安全帶檢查」、「車門檢查」開關。
|
||||
|
||||
2020-03-31
|
||||
========================
|
||||
* [DEVEL] 更新至 2020-03-31 testing 分支。
|
||||
|
||||
2020-03-27
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 testing 分支:
|
||||
* 加入波蘭版 2015 Lexus NX200T 支援。(感謝 wabes 提供)
|
||||
* 調整「啟用原廠 DSU 模式」為不再需要 AHB 。(Enable Stock DSU Mode no longer requires "AHB" toggle)
|
||||
* 加入「安全帶檢查」、「車門檢查」、「檔位檢查」、「溫度檢查」開關。
|
||||
* 加入曲率學習功能 - Curvature Learner 。(感謝 zorrobyte 提供)
|
||||
* 加入大陸版 2018 Toyota Highlander 支援。(感謝 toyboxZ 提供)
|
||||
* 加入大陸版 2018 Toyota Camry 2.0 支援。(感謝 Rming 提供)
|
||||
* 加入韓文支持。(感謝 crwusiz 提供)
|
||||
* 調整 OFFROAD 主頁翻譯將 "dragonpilot" 改回 "openpilot"。
|
||||
|
||||
2020-03-22
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 testing 分支。
|
||||
|
||||
2020-03-17
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 testing 分支 (commaai:devel-staging 0.7.4)。
|
||||
* [DEVEL] 加入動態調整車距功能。(特別感謝 @ShaneSmiskol 提供 PR)
|
||||
|
||||
2020-03-14
|
||||
========================
|
||||
* [DEVEL] 更新 pt-Br (葡萄牙語) 翻譯。(感謝 berno22 提供)
|
||||
* [DEVEL] 加入自動關機開關。(感謝 Rzxd 建議)
|
||||
* [DEVEL] 調高 Toyota 扭力容錯值。
|
||||
* [DEVEL] 優化讀取 dp 設定值。
|
||||
* [DEVEL] 加入 2019 手動 Civic 指紋。感謝 (AlexNoop 提供)
|
||||
* [DEVEL] dp 功能加入對 Subaru 車系的支援。
|
||||
|
||||
2020-03-06
|
||||
========================
|
||||
* [DEVEL] 加入葡萄牙語支持。(感謝 berno22 提供)
|
||||
* [DEVEL] 加入大陸 2018 Camry、2020 RAV4 指紋。(感謝 笨木匠 提供)
|
||||
* [DEVEL] 建立 devel-i18n 取代 devel-en。
|
||||
* [DEVEL] devel-en is deprecated, please switch to devel-i18n instead.
|
||||
|
||||
2020-03-04
|
||||
========================
|
||||
* [DEVEL] 加入顯示駕駛監控畫面。
|
||||
* [DEVEL] 加入加速模式選項。(特別感謝 @arne182, @cgw1968-5779 提供 PR)
|
||||
* [DEVEL] 修正 shutdownd 在 comma two 可能會不正常關機的錯誤。(感謝 @Wei, @Rzxd 回報)
|
||||
|
||||
2020-02-25
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
|
||||
|
||||
2020-02-21
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
|
||||
|
||||
2020-02-14
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
|
||||
* [DEVEL] 修正錯誤。
|
||||
|
||||
2020-02-08
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
|
||||
* [DEVEL] dp 功能加入對現代 (Hyundai) 車系的支援。
|
||||
* [DEVEL] 加入神盾測速照相自動啟動的開關。
|
||||
* [DEVEL] 更新高德地圖至 v4.5.0.600053。
|
||||
* [DEVEL] 使用 0.6.6 版的更新系統。
|
||||
* [DEVEL] 修正急剎問題。(感謝 kumar 提供)
|
||||
|
||||
2020-01-31
|
||||
========================
|
||||
* [DEVEL] 移除行車介面電量、溫度顯示，(修正畫面當機、黑屏問題)
|
||||
|
||||
2020-01-29
|
||||
========================
|
||||
* [DEVEL] 修正行車介面錯誤。(感謝 深鲸希西 測試；eisenheim、HeatNation 反應)
|
||||
|
||||
2020-01-23
|
||||
========================
|
||||
* [DEVEL] 加入 Steer Ratio Learner 關閉。(感謝 eisenheim 建議)
|
||||
* [DEVEL] 行車介面加入電量、溫度。(感謝 eisenheim 建議)
|
||||
* [DEVEL] 優化 appd。
|
||||
|
||||
2020-01-19
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.1)。
|
||||
* [DEVEL] 調整 appd 和 ALC 邏輯。
|
||||
|
||||
2020-01-14
|
||||
========================
|
||||
* [DEVEL] 加入開機啟動個人熱點。(感謝 eisenheim 建議)
|
||||
|
||||
2020-01-08
|
||||
========================
|
||||
* [DEVEL] 加入大陸版 2018 Lexus RX300 支援。(感謝 cafe 提供)
|
||||
* [DEVEL] 加入 DragonBTG 設定。(感謝 CloudJ、低調哥、歐姓Altis車主 提供)
|
||||
|
||||
2019-12-31
|
||||
========================
|
||||
* [DEVEL-ZHS] 加回第三方應用。
|
||||
|
||||
2019-12-29
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
|
||||
* [DEVEL] 輔助/自動變道改為可調整參數 (進階用戶)。(DragonAssistedLCMinMPH、DragonAutoLCMinMPH、DragonAutoLCDelay)
|
||||
* [DEVEL-ZHS] 修正無法運行第三方應用錯誤。(感謝 深鲸希西 反應)
|
||||
|
||||
2019-12-18
|
||||
========================
|
||||
* [DEVEL] 修正自動換道邏輯。
|
||||
* [DEVEL] 更新 offroad 翻譯。
|
||||
* [DEVEL] 錯誤修正。
|
||||
* [DEVEL] 移除美版 2017 Civic Hatchback 指紋。(與其它車型衝突)
|
||||
|
||||
2019-12-17
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
|
||||
* [DEVEL] 加入輔助換道開關。（24mph / 40kph 以上)
|
||||
* [DEVEL] 加入自動換道開關。（40mph / 65kph 以上)
|
||||
* [DEVEL] 加入大陸版 2019 雷凌汽油版指紋。 (感謝 Shell 提供)
|
||||
* [DEVEL] 加入大陸版 2019 卡羅拉汽油版指紋。 (感謝 Shell 提供)
|
||||
* [DEVEL] 加入美版 2017 Civic Hatchback 指紋。(感謝 CFranHonda 提供)
|
||||
|
||||
2019-12-10
|
||||
========================
|
||||
* [DEVEL] 加入位智車機模式。 (Waze Mode)
|
||||
|
||||
2019-11-21
|
||||
========================
|
||||
* [DEVEL] 修正 offroad 翻譯。(感謝 鄧育林 回報)
|
||||
* [DEVEL] 調整前車靜止移動偵測參數。
|
||||
* [DEVEL] 前車靜止移動偵測可在未啟用 dp 時運作。
|
||||
|
||||
2019-11-18
|
||||
========================
|
||||
* [DEVEL] 修正 offroad 翻譯。(感謝 Cody、鄧育林 回報)
|
||||
|
||||
2019-11-18
|
||||
========================
|
||||
* [DEVEL] 修正 frame 翻譯。
|
||||
|
||||
2019-11-15
|
||||
========================
|
||||
* [DEVEL] 修正不會充電的錯誤。 (感謝 袁昊 反應)
|
||||
|
||||
2019-11-15
|
||||
========================
|
||||
* [DEVEL] 修正充電控制。 (感謝 KT 反應)
|
||||
* [DEVEL] 更新 frame 翻譯，改為多語言版。 (感謝 深鲸希西、shaoching885、鄧育林 反應)
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
|
||||
|
||||
2019-11-12
|
||||
========================
|
||||
* [DEVEL] 只顯示電量文字 (注意：有時不會更新，需要拔插 USB 線)
|
||||
* [DEVEL] 自動偵測並鎖定硬體 (EON / UNO)。
|
||||
|
||||
2019-11-12
|
||||
========================
|
||||
* [DEVEL] 加入鎖定硬體 (EON / UNO) 的程式碼。
|
||||
|
||||
2019-11-11
|
||||
========================
|
||||
* [DEVEL] 更新高德地圖至 v4.3.0.600310 R2098NSLAE
|
||||
* [DEVEL] 更新 MiXplorer 至 v6.40.3
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
|
||||
* [DEVEL] 前車靜止移動偵測加入偵測警示。
|
||||
|
||||
2019-11-07
|
||||
========================
|
||||
* [DEVEL] 讓 Bosch 系統顯示三角。 (感謝 ching885 回報)
|
||||
* [DEVEL] 更新 offroad 多語言版簡體中文翻譯 (感謝 Rming 提供)
|
||||
|
||||
2019-11-06
|
||||
========================
|
||||
* [DEVEL] 修正 0.6.6 appd 和 dashcamd 錯誤。 (感謝 鄧育林 回報)
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
|
||||
|
||||
2019-11-05
|
||||
========================
|
||||
* [DEVEL] 加入台灣 Lexus 2017 GS450h 支援。 (感謝 簡銘佑 提供指紋)
|
||||
|
||||
2019-11-01
|
||||
========================
|
||||
* [DEVEL] 新增神盾測速照相。 (感謝 Sky Chang 和 Wei Yi Chen)
|
||||
* [DEVEL] 修正 offroad 翻譯。 (感謝 Leo Hsieh)
|
||||
|
||||
2019-11-01
|
||||
========================
|
||||
* [DEVEL] 移除 Miui 字型，縮小 dp 使用空間。
|
||||
* [DEVEL] 更新 offroad 為多語言版
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
|
||||
|
||||
2019-10-29
|
||||
========================
|
||||
* [DEVEL] 加入 SnG 補丁。（感謝 楊雅智)
|
||||
|
||||
2019-10-28
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
|
||||
* [DEVEL] 調整 dragon_allow_gas 邏輯 (請回報任何問題，需更新 Panda 韌體)
|
||||
|
||||
2019-10-18
|
||||
========================
|
||||
* [DEVEL] 加入前車靜止移動偵測。(測試版，感謝 ucolchen)
|
||||
* [DEVEL] 移除強迫網路連線提示。(感謝 Shell)
|
||||
* [DEVEL] 修正 allow_gas 功能。
|
||||
|
||||
2019-10-18
|
||||
========================
|
||||
* [DEVEL] 加入彎道減速功能開關。
|
||||
* [DEVEL] 強迫使用 dp 版 Panda 韌體。
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
|
||||
|
||||
2019-10-17
|
||||
========================
|
||||
* [DEVEL] 加入「車型」顯示於 dp 設定畫面。
|
||||
* [DEVEL] 修正充電控制讀取預設值的錯誤。
|
||||
* [DEVEL] 修正無法顯示更新記錄的錯誤。
|
||||
|
||||
2019-10-16
|
||||
========================
|
||||
* [DEVEL] 刷新 Panda 韌體按鈕將會自動重啟 EON。(感謝 鄧育林 建議)
|
||||
* [DEVEL] 下載更新記錄時使用 "no-cache" 標頭。
|
||||
* [DEVEL] 更新高德地圖至 v4.3.0
|
||||
* [DEVEL] 刪除 bs (Branch Switcher)
|
||||
|
||||
2019-10-14
|
||||
========================
|
||||
* [DEVEL] 啟用自動更新功能。(感謝 鄧育林 提供)
|
||||
* [DEVEL] 清除不再使用的 dp params。
|
||||
* [DEVEL] 加入數字電量指示。(感謝 鄧育林 建議)
|
||||
* [DEVEL] 加入刷新 Panda 韌體按鈕。
|
||||
|
||||
2019-10-11
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
|
||||
* [DEVEL] 加入台灣 2019 RAV4 汽油版指紋。 (感謝 Max Duan / CloudJ 提供)
|
||||
|
||||
2019-10-09
|
||||
========================
|
||||
* [DEVEL] 加入當 LatCtrl 關閉時，畫面顯示提示訊息。
|
||||
|
||||
2019-10-08
|
||||
========================
|
||||
* [DEVEL] 加回駕駛監控開關。
|
||||
* [DEVEL] 加入 bs (branch switcher) 程式。
|
||||
|
||||
2019-10-07
|
||||
========================
|
||||
* [DEVEL] 加入台灣版 2019 RAV4H 油電版指紋。(感謝 Max Duan 提供)
|
||||
|
||||
2019-10-05
|
||||
========================
|
||||
* [DEVEL] 移除 curvature learner: 轉角明顯比原廠小。
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.4)。
|
||||
|
||||
2019-09-30
|
||||
========================
|
||||
* [DEVEL] 更新 curvature learner 版本至 v4。
|
||||
* [DEVEL] Lexus ISH 使用更精確的 EPS Steering Angle Sensor
|
||||
|
||||
2019-09-27
|
||||
========================
|
||||
* [DEVEL] 加入 Zorrobyte 的 curvature learner (https://github.com/zorrobyte/openpilot)
|
||||
* [DEVEL] 加入可開關駕駛監控的程式碼。
|
||||
* [DEVEL] 取消當 steering 出現錯誤時，自動切斷方向控制 2 秒的機制。
|
||||
* [DEVEL] 讓行車介面的「方向盤」/「轉彎」圖示半透明化。
|
||||
|
||||
2019-09-26
|
||||
========================
|
||||
* [DEVEL] 修正當「啟用記錄服務」關閉時，make 會有問題的錯誤。 (感謝 shaoching885 和 afa 回報)
|
||||
|
||||
2019-09-24
|
||||
========================
|
||||
* [DEVEL] 行車介面加入可開關的「前車」、「路線」、「車道」設定。
|
||||
* [DEVEL] 行車介面加入可開關的「方向燈號」提示。 (感謝 CloudJ 建議，程式碼來源: https://github.com/kegman/openpilot)
|
||||
|
||||
2019-09-23
|
||||
========================
|
||||
* [DEVEL] 優化讀取 params 的次數。
|
||||
* [DEVEL] 加入可開關的車道偏移警示。
|
||||
* [DEVEL] 修正充電控制邏輯。
|
||||
* [DEVEL] 加入台灣 Prius 4.5 指紋。 (感謝 Lin Hsin Hung 提供)
|
||||
|
||||
2019-09-20
|
||||
========================
|
||||
* [DEVEL] 加入充電控制功能。 (感謝 loveloveses 和 KT 建議)
|
||||
|
||||
2019-09-16
|
||||
========================
|
||||
* [DEVEL] 加入台灣 CT200h 指紋。 (感謝 CloudJ 提供)
|
||||
* [DEVEL] 加入美版 CT200h 移植。 (感謝 thomaspich 提供)
|
||||
|
||||
2019-09-13
|
||||
========================
|
||||
* [DEVEL] 行車介面加入可開關的「速度顯示」設定。
|
||||
|
||||
2019-09-09
|
||||
========================
|
||||
* [DEVEL] 加入 GreyPanda 模式。
|
||||
|
||||
2019-08-28
|
||||
========================
|
||||
* [DEVEL] 加入可調警示音量。
|
||||
|
||||
2019-08-27
|
||||
========================
|
||||
* [DEVEL] 自動關機改為可調時長。
|
||||
@@ -2,7 +2,7 @@
|
||||
|
||||
Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
|
||||
|
||||
Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/).
|
||||
Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available on our [blog](https://blog.comma.ai/).
|
||||
|
||||
## Getting Started
|
||||
|
||||
@@ -22,9 +22,9 @@ Code is automatically checked for style by GitHub Actions as part of the automat
|
||||
|
||||
## Car Ports (openpilot)
|
||||
|
||||
We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
|
||||
We've released a [Model Port guide](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) for porting to Toyota/Lexus models.
|
||||
|
||||
If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84).
|
||||
If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/).
|
||||
|
||||
## Pull Requests
|
||||
|
||||
@@ -36,7 +36,7 @@ Or alternatively, when on the master branch:
|
||||
```
|
||||
git submodule update --init
|
||||
```
|
||||
The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://medium.com/@comma_ai/a-2020-theme-externalization-13b33326d8b3).
|
||||
The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
|
||||
Modules that are in seperate repositories include:
|
||||
* cereal
|
||||
* laika
|
||||
|
||||
28
CONTRIBUTORS.md
Normal file
28
CONTRIBUTORS.md
Normal file
@@ -0,0 +1,28 @@
|
||||
# CONTRIBUTORS
|
||||
|
||||
Due to the way we manage the source code, it is not possible to see all the contributors info, hence we create a list here.
|
||||
|
||||
If you have contributed to DP project before and your name is not listed here, feel free to send us a PR to update this!
|
||||
|
||||
name | github | contribution
|
||||
------------------------------------------------------------ | ------------------------------------------------------------ | ------------------------------------------------------------
|
||||
andy741217 | [andy741217](https://github.com/andy741217) | New features, bug fixes
|
||||
Arne Schwarck | [arne182](https://github.com/arne182) | New features, bug fixes
|
||||
berno22 | [berno22](https://github.com/berno22) | New car fingerprint
|
||||
Bobbydough | [Bobbydough](https://github.com/bobbydough) | Bug fixes
|
||||
Curtis Jenkins | [actuallylemoncurd](https://github.com/actuallylemoncurd) | New Features
|
||||
DFyffe | [donfyffe](https://github.com/donfyffe) | New features, bug fixes
|
||||
dinglx | [dingliangxue](https://github.com/dingliangxue) | New features, bug fixes
|
||||
eyezenheim | [eyezenheim](https://github.com/eyezenheim) | Tester
|
||||
kegman | [kegman](https://github.com/kegman) | New features, bug fixes
|
||||
kumar | [rav4kumar](https://github.com/rav4kumar) | DP main maintainer, New features, bug fixes
|
||||
lijunhao731 | [lijunhao731](https://github.com/lijunhao731) | New car fingerprint
|
||||
lirudy | [lirudy](https://github.com/lirudy) | Bug fixes
|
||||
LOVEChen | [LOVEChen](https://github.com/LOVEChen) | Bug fixes
|
||||
loveloveses | [loveloveses](https://github.com/loveloveses) | Bug fixes, DP wiki main maintainer
|
||||
menwenliang | [menwenliang](https://github.com/menwenliang) | New features
|
||||
Rick Lan | [efinilan](https://github.com/efinilan) | Project lead
|
||||
rming | [Rming](https://github.com/rming) | Bug fixes, wiki contributor
|
||||
sebastian4k | [sebastian4k](https://github.com/sebastian4k) | Bug fixes
|
||||
Shane Smiskol | [sshane](https://github.com/sshane) | New features, bug fixes
|
||||
toyboxZ | [toyboxZ](https://github.com/toyboxZ) | New features, bug fixes
|
||||
25
HOWTO-ONEPLUS.md
Normal file
25
HOWTO-ONEPLUS.md
Normal file
@@ -0,0 +1,25 @@
|
||||
How to install on Oneplus 3t?
|
||||
------
|
||||
1. clone dragonpilot to /data/ and make sure it's named openpilot:
|
||||
(手動安裝切換至 dragonpilot 0.8.6 branch)
|
||||
```
|
||||
cd /data/ && rm -fr openpilot; && git clone https://github.com/dragonpilot-community/dragonpilot.git -b 0.8.4
|
||||
```
|
||||
|
||||
2. run command:
|
||||
(在 ssh 畫面下，輸入)
|
||||
```
|
||||
cd /data/openpilot/scripts/ && ./oneplus_update_neos.sh
|
||||
```
|
||||
|
||||
3. Let it download and complete it update, after a couple of reboot, your screen will then stay in fastboot mode.
|
||||
(等待下載並讓它重新開機，沒錯誤的話會進入 Android 機器人更新畫面，等自動重新開機)
|
||||
|
||||
4. In fastboot mode, select use volume button to select to `Recovery mode` then press power button.
|
||||
(在 fastboot 模式，用音量鍵上下選到 Recovery mode 再按下電源鍵)
|
||||
|
||||
5. In Recovery mode, tap `apply update` -> `Choose from emulated` -> `0/` -> `update.zip` -> `Reboot system now`
|
||||
(在 Recovery mode，點選 `apply update` -> `Choose from emulated` -> `0/` -> `update.zip` -> `Reboot system now`)
|
||||
|
||||
6. You should be able to boot into openpilot, if touch screen is not working, try to reboot again.
|
||||
(你現在應該可以進入 openpilot 畫面，如果點擊畫面沒有反應，請再重新開機一次)
|
||||
21
Jenkinsfile
vendored
21
Jenkinsfile
vendored
@@ -7,6 +7,7 @@ set -e
|
||||
|
||||
export CI=1
|
||||
export TEST_DIR=${env.TEST_DIR}
|
||||
export SOURCE_DIR=${env.SOURCE_DIR}
|
||||
export GIT_BRANCH=${env.GIT_BRANCH}
|
||||
export GIT_COMMIT=${env.GIT_COMMIT}
|
||||
|
||||
@@ -50,6 +51,7 @@ pipeline {
|
||||
environment {
|
||||
COMMA_JWT = credentials('athena-test-jwt')
|
||||
TEST_DIR = "/data/openpilot"
|
||||
SOURCE_DIR = "/data/openpilot_source/"
|
||||
}
|
||||
options {
|
||||
timeout(time: 3, unit: 'HOURS')
|
||||
@@ -127,7 +129,8 @@ pipeline {
|
||||
stage('Devel Tests') {
|
||||
steps {
|
||||
phone_steps("eon-build", [
|
||||
["build devel", "cd release && DEVEL_TEST=1 ./build_devel.sh"],
|
||||
["build devel", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
|
||||
["build openpilot", "cd selfdrive/manager && ./build.py"],
|
||||
["test manager", "python selfdrive/manager/test/test_manager.py"],
|
||||
["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
|
||||
["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
|
||||
@@ -180,21 +183,29 @@ pipeline {
|
||||
}
|
||||
*/
|
||||
|
||||
stage('Tici Build') {
|
||||
stage('tici Build') {
|
||||
environment {
|
||||
R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
|
||||
}
|
||||
steps {
|
||||
phone_steps("tici", [
|
||||
["build", "cd selfdrive/manager && ./build.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"],
|
||||
["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
|
||||
//["build release3-staging", "cd release && PUSH=${env.R3_PUSH} ./build_release3.sh"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('Unit Tests (tici)') {
|
||||
steps {
|
||||
phone_steps("tici2", [
|
||||
["build", "cd selfdrive/manager && ./build.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') {
|
||||
steps {
|
||||
phone_steps("eon-party", [
|
||||
@@ -224,7 +235,7 @@ pipeline {
|
||||
}
|
||||
steps {
|
||||
phone_steps("eon-build", [
|
||||
["push devel", "cd release && CI_PUSH='master-ci' ./build_devel.sh"],
|
||||
["push devel", "cd $SOURCE_DIR/release && PUSH='master-ci' ./build_devel.sh"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
54
README.md
54
README.md
@@ -57,7 +57,7 @@ openpilot should preserve all other vehicle's stock features, including, but are
|
||||
Supported Hardware
|
||||
------
|
||||
|
||||
At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/products/eon-dashcam-devkit) and the [comma two](https://comma.ai/shop/products/comma-two-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON or comma two to the car. For experimental purposes, openpilot can also run on an Ubuntu computer with external [webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
|
||||
At the moment, openpilot supports the EON Gold DevKit and the [comma two](https://comma.ai/shop/products/comma-two-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON or comma two to the car. For experimental purposes, openpilot can also run on an Ubuntu computer with external [webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
|
||||
|
||||
Supported Cars
|
||||
------
|
||||
@@ -70,10 +70,12 @@ Supported Cars
|
||||
| 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 Sedan/Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
|
||||
| Honda | Civic Sedan/Coupe 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
|
||||
| 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 2017-20 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | CR-V 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| 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 |
|
||||
@@ -92,16 +94,17 @@ Supported Cars
|
||||
| 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 | All | Stock<sup>3</sup>| 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 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | UX Hybrid 2019 | All | openpilot | 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 | 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 | 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 |
|
||||
@@ -151,19 +154,23 @@ Community Maintained Cars and Features
|
||||
| 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, 2021 | SCC + LKAS | Stock | 19mph | 34mph |
|
||||
| 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 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Santa Fe 2019-20 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2018-2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Veloster 2019 | SCC + LKAS | Stock | 5mph | 0mph |
|
||||
| Hyundai | Veloster 2019-20 | SCC + LKAS | Stock | 5mph | 0mph |
|
||||
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Jeep | Grand Cherokee 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Kia | Forte 2018-2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Niro EV 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | 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 |
|
||||
@@ -178,6 +185,7 @@ Community Maintained Cars and Features
|
||||
| SEAT | Leon 2014-2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Kodiaq 2018 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Octavia 2015, 2019 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | 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 |
|
||||
@@ -192,10 +200,12 @@ Community Maintained Cars and Features
|
||||
| Volkswagen| Golf GTI 2018-19 | 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| 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.
|
||||
@@ -209,7 +219,7 @@ Although they're not upstream, the community has openpilot running on other make
|
||||
Installation Instructions
|
||||
------
|
||||
|
||||
Install openpilot on an EON or comma two by entering ``https://openpilot.comma.ai`` during the installer setup.
|
||||
Install openpilot on an EON Gold or comma two 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.
|
||||
|
||||
@@ -299,7 +309,7 @@ Safety and Testing
|
||||
* 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 EONs continuously replaying routes.
|
||||
* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
|
||||
|
||||
Testing on PC
|
||||
------
|
||||
@@ -326,7 +336,7 @@ 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.
|
||||
|
||||
You can add support for your car by following guides we have written for [Brand](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84) and [Model](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) 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.
|
||||
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.
|
||||
|
||||
Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).
|
||||
|
||||
@@ -337,27 +347,27 @@ Directory Structure
|
||||
.
|
||||
├── cereal # The messaging spec and libs used for all logs
|
||||
├── common # Library like functionality we've developed here
|
||||
├── installer/updater # Manages auto-updates of NEOS
|
||||
├── installer/updater # Manages updates of NEOS
|
||||
├── opendbc # Files showing how to interpret data from cars
|
||||
├── panda # Code used to communicate on CAN
|
||||
├── phonelibs # Libraries used on NEOS devices
|
||||
├── pyextra # Libraries used on NEOS devices
|
||||
├── phonelibs # External libraries
|
||||
├── pyextra # Extra python packages not shipped in NEOS
|
||||
└── selfdrive # Code needed to drive the car
|
||||
├── assets # Fonts, images and sounds for UI
|
||||
├── assets # Fonts, images, and sounds for UI
|
||||
├── athena # Allows communication with the app
|
||||
├── boardd # Daemon to talk to the board
|
||||
├── camerad # Driver to capture images from the camera sensors
|
||||
├── car # Car specific code to read states and control actuators
|
||||
├── common # Shared C/C++ code for the daemons
|
||||
├── controls # Perception, planning and controls
|
||||
├── controls # Planning and controls
|
||||
├── debug # Tools to help you debug and do car ports
|
||||
├── locationd # Soon to be home of precise location
|
||||
├── locationd # Precise localization and vehicle parameter estimation
|
||||
├── logcatd # Android logcat as a service
|
||||
├── loggerd # Logger and uploader of car data
|
||||
├── modeld # Driving and monitoring model runners
|
||||
├── proclogd # Logs information from proc
|
||||
├── sensord # IMU / GPS interface code
|
||||
├── test # Unit tests, system tests and a car simulator
|
||||
├── sensord # IMU interface code
|
||||
├── test # Unit tests, system tests, and a car simulator
|
||||
└── ui # The UI
|
||||
|
||||
Licensing
|
||||
|
||||
16
RELEASES.md
16
RELEASES.md
@@ -1,3 +1,19 @@
|
||||
Version 0.8.6 (2021-07-21)
|
||||
========================
|
||||
* Revamp lateral and longitudinal planners
|
||||
* Refactor planner output API to be more readable and verbose
|
||||
* Planners now output desired trajectories for speed, acceleration, curvature, and curvature rate
|
||||
* Use MPC for longitudinal planning when no lead car is present, makes accel and decel smoother
|
||||
* Remove "CHECK DRIVER FACE VISIBILITY" warning
|
||||
* Fixed cruise fault on some TSS2.5 Camrys and international Toyotas
|
||||
* Hyundai Elantra Hybrid 2021 support thanks to tecandrew!
|
||||
* Hyundai Ioniq PHEV 2020 support thanks to YawWashout!
|
||||
* Kia Niro Hybrid 2019 support thanks to jyoung8607!
|
||||
* Škoda Octavia RS 2016 support thanks to jyoung8607!
|
||||
* Toyota Alphard 2020 support thanks to belm0!
|
||||
* Volkswagen Golf SportWagen 2015 support thanks to jona96!
|
||||
* Volkswagen Touran 2017 support thanks to jyoung8607!
|
||||
|
||||
Version 0.8.5 (2021-06-11)
|
||||
========================
|
||||
* NEOS update: improved reliability and stability with better voltage regulator configuration
|
||||
|
||||
@@ -28,7 +28,7 @@ ensuring two main safety requirements.
|
||||
react. This means that while the system is engaged, the actuators are constrained
|
||||
to operate within reasonable limits.
|
||||
|
||||
For vehicle specific implementation of the safety concept, refer to `panda/board/safety/`.
|
||||
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.
|
||||
|
||||
51
SConstruct
51
SConstruct
@@ -7,12 +7,18 @@ import platform
|
||||
import numpy as np
|
||||
|
||||
TICI = os.path.isfile('/TICI')
|
||||
JETSON = os.path.isfile('/JETSON')
|
||||
|
||||
Decider('MD5-timestamp')
|
||||
|
||||
AddOption('--test',
|
||||
action='store_true',
|
||||
help='build test files')
|
||||
|
||||
AddOption('--setup',
|
||||
action='store_true',
|
||||
help='build setup and installer files')
|
||||
|
||||
AddOption('--kaitai',
|
||||
action='store_true',
|
||||
help='Regenerate kaitai struct parsers')
|
||||
@@ -47,6 +53,11 @@ AddOption('--external-sconscript',
|
||||
dest='external_sconscript',
|
||||
help='add an external SConscript to the build')
|
||||
|
||||
AddOption('--no-thneed',
|
||||
action='store_true',
|
||||
dest='no_thneed',
|
||||
help='avoid using thneed')
|
||||
|
||||
real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
if platform.system() == "Darwin":
|
||||
arch = "Darwin"
|
||||
@@ -56,6 +67,10 @@ if arch == "aarch64" and TICI:
|
||||
|
||||
USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
|
||||
|
||||
USE_MIPI = os.getenv("USE_MIPI") is not None
|
||||
if arch == "aarch64" and JETSON:
|
||||
arch = "jarch64"
|
||||
|
||||
lenv = {
|
||||
"PATH": os.environ['PATH'],
|
||||
}
|
||||
@@ -98,15 +113,26 @@ if arch == "aarch64" or arch == "larch64":
|
||||
"#phonelibs/libyuv/lib",
|
||||
"/system/vendor/lib64"
|
||||
]
|
||||
cflags = ["-DQCOM", "-mcpu=cortex-a57"]
|
||||
cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
|
||||
cflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
|
||||
cxxflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
|
||||
rpath = []
|
||||
else:
|
||||
cflags = []
|
||||
cxxflags = []
|
||||
cpppath = []
|
||||
rpath = []
|
||||
|
||||
if arch == "Darwin":
|
||||
if arch == "jarch64":
|
||||
libpath = [
|
||||
"#phonelibs/libyuv/larch64/lib",
|
||||
"#selfdrive/common",
|
||||
"/usr/lib",
|
||||
"/usr/local/lib",
|
||||
]
|
||||
cflags = ["-DXNX", "-march=armv8.2-a"]
|
||||
cxxflags = ["-DXNX", "-march=armv8.2-a"]
|
||||
rpath += ["/usr/local/lib"]
|
||||
elif arch == "Darwin":
|
||||
yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
|
||||
libpath = [
|
||||
f"#phonelibs/libyuv/{yuv_dir}/lib",
|
||||
@@ -134,8 +160,9 @@ else:
|
||||
"/usr/local/lib",
|
||||
]
|
||||
|
||||
rpath = [
|
||||
"phonelibs/snpe/x86_64-linux-clang",
|
||||
if arch != "jarch64":
|
||||
rpath += ["phonelibs/snpe/x86_64-linux-clang"]
|
||||
rpath += [
|
||||
"cereal",
|
||||
"selfdrive/common"
|
||||
]
|
||||
@@ -195,8 +222,6 @@ env = Environment(
|
||||
"#phonelibs/qrcode",
|
||||
"#phonelibs",
|
||||
"#cereal",
|
||||
"#cereal/messaging",
|
||||
"#cereal/visionipc",
|
||||
"#opendbc/can",
|
||||
],
|
||||
|
||||
@@ -302,7 +327,7 @@ else:
|
||||
qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]
|
||||
|
||||
qt_libs = [f"Qt5{m}" for m in qt_modules]
|
||||
if arch == "larch64":
|
||||
if arch == "larch64" or arch == "jarch64":
|
||||
qt_libs += ["GLESv2", "wayland-client"]
|
||||
elif arch != "Darwin":
|
||||
qt_libs += ["GL"]
|
||||
@@ -317,7 +342,8 @@ qt_flags = [
|
||||
"-DQT_QUICK_LIB",
|
||||
"-DQT_QUICKWIDGETS_LIB",
|
||||
"-DQT_QML_LIB",
|
||||
"-DQT_CORE_LIB"
|
||||
"-DQT_CORE_LIB",
|
||||
"-DQT_MESSAGELOGCONTEXT",
|
||||
]
|
||||
qt_env['CXXFLAGS'] += qt_flags
|
||||
qt_env['LIBPATH'] += ['#selfdrive/ui']
|
||||
@@ -334,7 +360,8 @@ 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')
|
||||
zmq = 'zmq'
|
||||
Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'zmq', 'USE_MIPI')
|
||||
|
||||
# cereal and messaging are shared with the system
|
||||
SConscript(['cereal/SConscript'])
|
||||
@@ -399,8 +426,8 @@ SConscript(['selfdrive/modeld/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/controls/lib/cluster/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/longitudinal_mpc_model/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/lead_mpc_lib/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/boardd/SConscript'])
|
||||
SConscript(['selfdrive/proclogd/SConscript'])
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
Import('env', 'envCython', 'arch')
|
||||
Import('env', 'envCython', 'arch', 'zmq')
|
||||
|
||||
import shutil
|
||||
|
||||
@@ -8,7 +8,7 @@ messaging_dir = Dir('messaging')
|
||||
|
||||
# Build cereal
|
||||
|
||||
schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp']
|
||||
schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'dp.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([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
|
||||
schema_files,
|
||||
@@ -40,6 +40,13 @@ messaging_objects = env.SharedObject([
|
||||
messaging_lib = env.Library('messaging', messaging_objects)
|
||||
Depends('messaging/impl_zmq.cc', services_h)
|
||||
|
||||
# note, this rebuilds the deps shared, zmq is statically linked to make APK happy
|
||||
# TODO: get APK to load system zmq to remove the static link
|
||||
if arch == "aarch64":
|
||||
zmq_static = FindFile("libzmq.a", "/usr/lib")
|
||||
shared_lib_shared_lib = [zmq_static, 'm', 'stdc++', "gnustl_shared", "kj", "capnp"]
|
||||
env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)
|
||||
|
||||
env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
|
||||
Depends('messaging/bridge.cc', services_h)
|
||||
|
||||
|
||||
73
cereal/_SConstruct
Normal file
73
cereal/_SConstruct
Normal file
@@ -0,0 +1,73 @@
|
||||
import os
|
||||
import platform
|
||||
import subprocess
|
||||
import sysconfig
|
||||
|
||||
arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
if platform.system() == "Darwin":
|
||||
arch = "Darwin"
|
||||
|
||||
cereal_dir = Dir('.')
|
||||
messaging_dir = Dir('./messaging')
|
||||
|
||||
cpppath = [
|
||||
cereal_dir,
|
||||
messaging_dir,
|
||||
'/usr/lib/include',
|
||||
'/opt/homebrew/include',
|
||||
sysconfig.get_paths()['include'],
|
||||
]
|
||||
|
||||
libpath = [
|
||||
'/opt/homebrew/lib',
|
||||
]
|
||||
|
||||
AddOption('--test',
|
||||
action='store_true',
|
||||
help='build test files')
|
||||
|
||||
AddOption('--asan',
|
||||
action='store_true',
|
||||
help='turn on ASAN')
|
||||
|
||||
ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
|
||||
ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
|
||||
|
||||
env = Environment(
|
||||
ENV=os.environ,
|
||||
CC='clang',
|
||||
CXX='clang++',
|
||||
CCFLAGS=[
|
||||
"-g",
|
||||
"-fPIC",
|
||||
"-O2",
|
||||
"-Wunused",
|
||||
"-Werror",
|
||||
] + ccflags_asan,
|
||||
LDFLAGS=ldflags_asan,
|
||||
LINKFLAGS=ldflags_asan,
|
||||
|
||||
CFLAGS="-std=gnu11",
|
||||
CXXFLAGS="-std=c++1z",
|
||||
CPPPATH=cpppath,
|
||||
LIBPATH=libpath,
|
||||
CYTHONCFILESUFFIX=".cpp",
|
||||
tools=["default", "cython"]
|
||||
)
|
||||
|
||||
Export('env', 'arch')
|
||||
|
||||
envCython = env.Clone(LIBS=[])
|
||||
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
|
||||
if arch == "Darwin":
|
||||
envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
|
||||
elif arch == "aarch64":
|
||||
envCython["LINKFLAGS"] = ["-shared"]
|
||||
envCython["LIBS"] = [os.path.basename(sysconfig.get_paths()['include'])]
|
||||
else:
|
||||
envCython["LINKFLAGS"] = ["-pthread", "-shared"]
|
||||
|
||||
Export('envCython')
|
||||
|
||||
|
||||
SConscript(['SConscript'])
|
||||
@@ -53,7 +53,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
lowSpeedLockout @31;
|
||||
plannerError @32;
|
||||
joystickDebug @34;
|
||||
steerTempUnavailableUserOverride @35;
|
||||
steerTempUnavailableSilent @35;
|
||||
resumeRequired @36;
|
||||
preDriverDistracted @37;
|
||||
promptDriverDistracted @38;
|
||||
@@ -78,7 +78,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
stockAeb @64;
|
||||
ldw @65;
|
||||
carUnrecognized @66;
|
||||
driverMonitorLowAcc @68;
|
||||
invalidLkasSetting @69;
|
||||
speedTooHigh @70;
|
||||
laneChangeBlocked @71;
|
||||
@@ -110,6 +109,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
wideRoadCameraError @102;
|
||||
localizerMalfunction @103;
|
||||
|
||||
driverMonitorLowAccDEPRECATED @68;
|
||||
radarCanErrorDEPRECATED @15;
|
||||
radarCommIssueDEPRECATED @67;
|
||||
gasUnavailableDEPRECATED @3;
|
||||
@@ -129,6 +129,18 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
neosUpdateRequiredDEPRECATED @88;
|
||||
modelLagWarningDEPRECATED @93;
|
||||
startupOneplusDEPRECATED @82;
|
||||
|
||||
#dp
|
||||
preLaneChangeLeftALC @105;
|
||||
preLaneChangeRightALC @106;
|
||||
manualSteeringRequired @107;
|
||||
manualSteeringRequiredBlinkersOn @108;
|
||||
leadCarMoving @109;
|
||||
|
||||
# timebomb assist
|
||||
timebombWarn @110;
|
||||
timebombBypassing @111;
|
||||
timebombBypassed @112;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -194,6 +206,10 @@ struct CarState {
|
||||
leftBlindspot @33 :Bool; # Is there something blocking the left lane change
|
||||
rightBlindspot @34 :Bool; # Is there something blocking the right lane change
|
||||
|
||||
# dp
|
||||
lkMode @37 :Bool;
|
||||
stopSteering @38 :Bool; # timebomb - stopSteering
|
||||
|
||||
struct WheelSpeeds {
|
||||
# optional wheel speeds
|
||||
fl @0 :Float32;
|
||||
@@ -246,7 +262,7 @@ struct CarState {
|
||||
}
|
||||
|
||||
errorsDEPRECATED @0 :List(CarEvent.EventName);
|
||||
brakeLightsDEPRECATED @19 :Bool;
|
||||
brakeLights @19 :Bool;
|
||||
}
|
||||
|
||||
# ******* radar state @ 20hz *******
|
||||
@@ -362,12 +378,11 @@ struct CarParams {
|
||||
fuzzyFingerprint @55 :Bool;
|
||||
|
||||
enableGasInterceptor @2 :Bool;
|
||||
enableCruise @3 :Bool;
|
||||
enableCamera @4 :Bool;
|
||||
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
|
||||
pcmCruise @3 :Bool; # is openpilot's state tied to the PCM's cruise state?
|
||||
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;
|
||||
@@ -564,5 +579,6 @@ struct CarParams {
|
||||
gateway @1; # Integration at vehicle's CAN gateway
|
||||
}
|
||||
|
||||
enableCameraDEPRECATED @4 :Bool;
|
||||
isPandaBlackDEPRECATED @39: Bool;
|
||||
}
|
||||
|
||||
57
cereal/dp.capnp
Normal file
57
cereal/dp.capnp
Normal file
@@ -0,0 +1,57 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
using Java = import "./include/java.capnp";
|
||||
$Java.package("ai.comma.openpilot.cereal");
|
||||
$Java.outerClassname("dp");
|
||||
|
||||
@0xbfa7e645486440c7;
|
||||
|
||||
# dp.capnp: a home for deprecated structs
|
||||
|
||||
# dp
|
||||
struct DragonConf {
|
||||
dpThermalStarted @0 :Bool;
|
||||
dpThermalOverheat @1 :Bool;
|
||||
dpAtl @2 :Bool;
|
||||
dpDashcamd @3 :Bool;
|
||||
dpAutoShutdown @4 :Bool;
|
||||
dpAthenad @5 :Bool;
|
||||
dpUploader @6 :Bool;
|
||||
dpLateralMode @7 :UInt8;
|
||||
dpSignalOffDelay @8 :Float32;
|
||||
dpLcMinMph @9 :UInt8;
|
||||
dpLcAutoCont @10 :Bool;
|
||||
dpLcAutoMinMph @11 :UInt8;
|
||||
dpLcAutoDelay @12 :Float32;
|
||||
dpAllowGas @13 :Bool;
|
||||
dpFollowingProfileCtrl @14 :Bool;
|
||||
dpFollowingProfile @15 :UInt8;
|
||||
dpAccelProfileCtrl @16 :Bool;
|
||||
dpAccelProfile @17 :UInt8;
|
||||
dpGearCheck @18 :Bool;
|
||||
dpSpeedCheck @19 :Bool;
|
||||
dpUiDisplayMode @20 :UInt8;
|
||||
dpUiSpeed @21 :Bool;
|
||||
dpUiEvent @22 :Bool;
|
||||
dpUiMaxSpeed @23 :Bool;
|
||||
dpUiFace @24 :Bool;
|
||||
dpUiLane @25 :Bool;
|
||||
dpUiLead @26 :Bool;
|
||||
dpUiDev @27 :Bool;
|
||||
dpUiDevMini @28 :Bool;
|
||||
dpUiBlinker @29 :Bool;
|
||||
dpUiBrightness @30 :UInt8;
|
||||
dpUiVolume @31 :Int8;
|
||||
dpToyotaLdw @32 :Bool;
|
||||
dpToyotaSng @33 :Bool;
|
||||
dpVwTimebombAssist @34 :Bool;
|
||||
dpIpAddr @35 :Text;
|
||||
dpCameraOffset @36 :Int8;
|
||||
dpPathOffset @37 :Int8;
|
||||
dpLocale @38 :Text;
|
||||
dpSrLearner @39 :Bool;
|
||||
dpSrCustom @40 :Float32;
|
||||
dpAppd @41 :Bool;
|
||||
dpDebug @42 :Bool;
|
||||
}
|
||||
137
cereal/log.capnp
137
cereal/log.capnp
@@ -7,6 +7,7 @@ $Java.outerClassname("Log");
|
||||
|
||||
using Car = import "car.capnp";
|
||||
using Legacy = import "legacy.capnp";
|
||||
using Dp = import "dp.capnp";
|
||||
|
||||
@0xf3b1f17e25a4285b;
|
||||
|
||||
@@ -49,6 +50,7 @@ struct InitData {
|
||||
chffrIos @3;
|
||||
tici @4;
|
||||
pc @5;
|
||||
jetson @6;
|
||||
}
|
||||
|
||||
struct PandaInfo {
|
||||
@@ -123,27 +125,38 @@ struct InitData {
|
||||
struct FrameData {
|
||||
frameId @0 :UInt32;
|
||||
encodeId @1 :UInt32; # DEPRECATED
|
||||
timestampEof @2 :UInt64;
|
||||
|
||||
frameType @7 :FrameType;
|
||||
frameLength @3 :Int32;
|
||||
|
||||
# Timestamps
|
||||
timestampEof @2 :UInt64;
|
||||
timestampSof @8 :UInt64;
|
||||
|
||||
# Exposure
|
||||
integLines @4 :Int32;
|
||||
globalGain @5 :Int32;
|
||||
highConversionGain @20 :Bool;
|
||||
gain @15 :Float32; # This includes highConversionGain if enabled
|
||||
measuredGreyFraction @21 :Float32;
|
||||
targetGreyFraction @22 :Float32;
|
||||
|
||||
# Focus
|
||||
lensPos @11 :Int32;
|
||||
lensSag @12 :Float32;
|
||||
lensErr @13 :Float32;
|
||||
lensTruePos @14 :Float32;
|
||||
image @6 :Data;
|
||||
gainFrac @15 :Float32;
|
||||
focusVal @16 :List(Int16);
|
||||
focusConf @17 :List(UInt8);
|
||||
sharpnessScore @18 :List(UInt16);
|
||||
recoverState @19 :Int32;
|
||||
|
||||
frameType @7 :FrameType;
|
||||
timestampSof @8 :UInt64;
|
||||
transform @10 :List(Float32);
|
||||
|
||||
androidCaptureResult @9 :AndroidCaptureResult;
|
||||
|
||||
image @6 :Data;
|
||||
globalGainDEPRECATED @5 :Int32;
|
||||
|
||||
enum FrameType {
|
||||
unknown @0;
|
||||
neo @1;
|
||||
@@ -212,6 +225,8 @@ struct SensorEventData {
|
||||
mmc3416x @7; # magnetometer (c2)
|
||||
bmx055 @8;
|
||||
rpr0521 @9;
|
||||
lsm6ds3trc @10;
|
||||
mmc5603nj @11;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -279,6 +294,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
freeSpacePercent @7 :Float32;
|
||||
memoryUsagePercent @19 :Int8;
|
||||
cpuUsagePercent @20 :Int8;
|
||||
gpuUsagePercent @33 :Int8;
|
||||
usbOnline @12 :Bool;
|
||||
networkType @22 :NetworkType;
|
||||
networkInfo @31 :NetworkInfo;
|
||||
@@ -322,6 +338,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
cell3G @3;
|
||||
cell4G @4;
|
||||
cell5G @5;
|
||||
ethernet @6;
|
||||
}
|
||||
|
||||
enum NetworkStrength {
|
||||
@@ -405,7 +422,7 @@ struct PandaState @0xa7649e2575e4591e {
|
||||
registerDivergent @18;
|
||||
interruptRateKlineInit @19;
|
||||
interruptRateClockSource @20;
|
||||
interruptRateTim9 @21;
|
||||
interruptRateTick @21;
|
||||
# Update max fault type in boardd when adding faults
|
||||
}
|
||||
|
||||
@@ -522,7 +539,6 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
uiAccelCmd @5 :Float32;
|
||||
ufAccelCmd @33 :Float32;
|
||||
aTarget @35 :Float32;
|
||||
steeringAngleDesiredDeg @29 :Float32;
|
||||
curvature @37 :Float32; # path curvature from vehicle model
|
||||
forceDecel @51 :Bool;
|
||||
|
||||
@@ -544,6 +560,7 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
pidState @53 :LateralPIDState;
|
||||
lqrState @55 :LateralLQRState;
|
||||
angleState @58 :LateralAngleState;
|
||||
debugState @59 :LateralDebugState;
|
||||
}
|
||||
|
||||
enum OpenpilotState @0xdbe58b96d2d1ac61 {
|
||||
@@ -615,6 +632,13 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
saturated @3 :Bool;
|
||||
}
|
||||
|
||||
struct LateralDebugState {
|
||||
active @0 :Bool;
|
||||
steeringAngleDeg @1 :Float32;
|
||||
output @2 :Float32;
|
||||
saturated @3 :Bool;
|
||||
}
|
||||
|
||||
# deprecated
|
||||
vEgoDEPRECATED @0 :Float32;
|
||||
vEgoRawDEPRECATED @32 :Float32;
|
||||
@@ -638,11 +662,12 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
decelForTurnDEPRECATED @47 :Bool;
|
||||
decelForModelDEPRECATED @54 :Bool;
|
||||
awarenessStatusDEPRECATED @26 :Float32;
|
||||
angleSteersDEPRECATED @13 :Float32;
|
||||
angleSteers @13 :Float32; # dp
|
||||
vCurvatureDEPRECATED @46 :Float32;
|
||||
mapValidDEPRECATED @49 :Bool;
|
||||
jerkFactorDEPRECATED @12 :Float32;
|
||||
steerOverrideDEPRECATED @20 :Bool;
|
||||
steeringAngleDesiredDeg @29 :Float32; # dp
|
||||
}
|
||||
|
||||
struct ModelDataV2 {
|
||||
@@ -669,6 +694,7 @@ struct ModelDataV2 {
|
||||
|
||||
# predicted lead cars
|
||||
leads @11 :List(LeadDataV2);
|
||||
leadsV3 @18 :List(LeadDataV3);
|
||||
|
||||
meta @12 :MetaData;
|
||||
|
||||
@@ -694,6 +720,25 @@ struct ModelDataV2 {
|
||||
xyvaStd @3 :List(Float32);
|
||||
}
|
||||
|
||||
struct LeadDataV3 {
|
||||
prob @0 :Float32; # probability that car is your lead at time t
|
||||
probTime @1 :Float32;
|
||||
t @2 :List(Float32);
|
||||
|
||||
# x and y are relative position in device frame
|
||||
# v absolute norm speed
|
||||
# a is derivative of v
|
||||
x @3 :List(Float32);
|
||||
xStd @4 :List(Float32);
|
||||
y @5 :List(Float32);
|
||||
yStd @6 :List(Float32);
|
||||
v @7 :List(Float32);
|
||||
vStd @8 :List(Float32);
|
||||
a @9 :List(Float32);
|
||||
aStd @10 :List(Float32);
|
||||
}
|
||||
|
||||
|
||||
struct MetaData {
|
||||
engagedProb @0 :Float32;
|
||||
desirePrediction @1 :List(Float32);
|
||||
@@ -754,34 +799,35 @@ struct AndroidLogEntry {
|
||||
}
|
||||
|
||||
struct LongitudinalPlan @0xe00b5b3eba12876c {
|
||||
mdMonoTime @9 :UInt64;
|
||||
radarStateMonoTime @10 :UInt64;
|
||||
|
||||
vCruise @16 :Float32;
|
||||
aCruise @17 :Float32;
|
||||
vTarget @3 :Float32;
|
||||
vTargetFuture @14 :Float32;
|
||||
vMax @20 :Float32;
|
||||
aTarget @18 :Float32;
|
||||
|
||||
vStart @26 :Float32;
|
||||
aStart @27 :Float32;
|
||||
|
||||
modelMonoTime @9 :UInt64;
|
||||
hasLead @7 :Bool;
|
||||
fcw @8 :Bool;
|
||||
longitudinalPlanSource @15 :LongitudinalPlanSource;
|
||||
|
||||
processingDelay @29 :Float32;
|
||||
|
||||
# desired speed/accel/jerk over next 2.5s
|
||||
accels @32 :List(Float32);
|
||||
speeds @33 :List(Float32);
|
||||
jerks @34 :List(Float32);
|
||||
|
||||
enum LongitudinalPlanSource {
|
||||
cruise @0;
|
||||
mpc1 @1;
|
||||
mpc2 @2;
|
||||
mpc3 @3;
|
||||
model @4;
|
||||
lead0 @1;
|
||||
lead1 @2;
|
||||
lead2 @3;
|
||||
e2e @4;
|
||||
}
|
||||
|
||||
# deprecated
|
||||
vCruiseDEPRECATED @16 :Float32;
|
||||
aCruiseDEPRECATED @17 :Float32;
|
||||
vTargetDEPRECATED @3 :Float32;
|
||||
vTargetFutureDEPRECATED @14 :Float32;
|
||||
aTargetDEPRECATED @18 :Float32;
|
||||
vStartDEPRECATED @26 :Float32;
|
||||
aStartDEPRECATED @27 :Float32;
|
||||
vMaxDEPRECATED @20 :Float32;
|
||||
radarStateMonoTimeDEPRECATED @10 :UInt64;
|
||||
jerkFactorDEPRECATED @6 :Float32;
|
||||
hasLeftLaneDEPRECATED @23 :Bool;
|
||||
hasRightLaneDEPRECATED @24 :Bool;
|
||||
@@ -819,11 +865,14 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
|
||||
laneChangeState @18 :LaneChangeState;
|
||||
laneChangeDirection @19 :LaneChangeDirection;
|
||||
|
||||
# curvature is in rad/m
|
||||
curvature @22 :Float32;
|
||||
curvatureRate @23 :Float32;
|
||||
rawCurvature @24 :Float32;
|
||||
rawCurvatureRate @25 :Float32;
|
||||
|
||||
# desired curvatures over next 2.5s in rad/m
|
||||
psis @26 :List(Float32);
|
||||
curvatures @27 :List(Float32);
|
||||
curvatureRates @28 :List(Float32);
|
||||
|
||||
# dp
|
||||
dpALCAllowed @29 :Bool;
|
||||
|
||||
enum Desire {
|
||||
none @0;
|
||||
@@ -849,6 +898,10 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
|
||||
}
|
||||
|
||||
# deprecated
|
||||
curvatureDEPRECATED @22 :Float32;
|
||||
curvatureRateDEPRECATED @23 :Float32;
|
||||
rawCurvatureDEPRECATED @24 :Float32;
|
||||
rawCurvatureRateDEPRECATED @25 :Float32;
|
||||
cProbDEPRECATED @3 :Float32;
|
||||
dPolyDEPRECATED @1 :List(Float32);
|
||||
cPolyDEPRECATED @2 :List(Float32);
|
||||
@@ -1201,6 +1254,8 @@ struct DriverState {
|
||||
partialFace @18 :Float32;
|
||||
distractedPose @19 :Float32;
|
||||
distractedEyes @20 :Float32;
|
||||
eyesOnRoad @21 :Float32;
|
||||
phoneUse @22 :Float32;
|
||||
|
||||
irPwrDEPRECATED @10 :Float32;
|
||||
descriptorDEPRECATED @1 :List(Float32);
|
||||
@@ -1301,6 +1356,18 @@ struct ManagerState {
|
||||
}
|
||||
}
|
||||
|
||||
struct UploaderState {
|
||||
immediateQueueSize @0 :UInt32;
|
||||
immediateQueueCount @1 :UInt32;
|
||||
rawQueueSize @2 :UInt32;
|
||||
rawQueueCount @3 :UInt32;
|
||||
|
||||
# stats for last successfully uploaded file
|
||||
lastTime @4 :Float32; # s
|
||||
lastSpeed @5 :Float32; # MB/s
|
||||
lastFilename @6 :Text;
|
||||
}
|
||||
|
||||
struct Event {
|
||||
logMonoTime @0 :UInt64; # nanoseconds
|
||||
valid @67 :Bool = true;
|
||||
@@ -1328,8 +1395,6 @@ struct Event {
|
||||
longitudinalPlan @24 :LongitudinalPlan;
|
||||
lateralPlan @64 :LateralPlan;
|
||||
ubloxGnss @34 :UbloxGnss;
|
||||
liveMpc @36 :LiveMpcData;
|
||||
liveLongitudinalMpc @37 :LiveLongitudinalMpcData;
|
||||
ubloxRaw @39 :Data;
|
||||
gpsLocationExternal @48 :GpsLocationData;
|
||||
driverState @59 :DriverState;
|
||||
@@ -1353,6 +1418,7 @@ struct Event {
|
||||
# systems stuff
|
||||
androidLog @20 :AndroidLogEntry;
|
||||
managerState @78 :ManagerState;
|
||||
uploaderState @79 :UploaderState;
|
||||
procLog @33 :ProcLog;
|
||||
clocks @35 :Clocks;
|
||||
deviceState @6 :DeviceState;
|
||||
@@ -1364,6 +1430,8 @@ struct Event {
|
||||
|
||||
# *********** legacy + deprecated ***********
|
||||
model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
|
||||
liveMpcDEPRECATED @36 :LiveMpcData;
|
||||
liveLongitudinalMpcDEPRECATED @37 :LiveLongitudinalMpcData;
|
||||
liveLocationKalmanDEPRECATED @51 :Legacy.LiveLocationData;
|
||||
orbslamCorrectionDEPRECATED @45 :Legacy.OrbslamCorrection;
|
||||
liveUIDEPRECATED @14 :Legacy.LiveUI;
|
||||
@@ -1397,5 +1465,6 @@ struct Event {
|
||||
kalmanOdometryDEPRECATED @65 :Legacy.KalmanOdometry;
|
||||
gpsLocationDEPRECATED @21 :GpsLocationData;
|
||||
uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState;
|
||||
dragonConf @80 :Dp.DragonConf;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,59 +1,74 @@
|
||||
#include <iostream>
|
||||
#include <string>
|
||||
#include <algorithm>
|
||||
#include <cassert>
|
||||
#include <csignal>
|
||||
#include <iostream>
|
||||
#include <map>
|
||||
#include <string>
|
||||
|
||||
typedef void (*sighandler_t)(int sig);
|
||||
|
||||
#include "services.h"
|
||||
|
||||
#include "impl_msgq.h"
|
||||
#include "impl_zmq.h"
|
||||
#include "services.h"
|
||||
|
||||
void sigpipe_handler(int sig) {
|
||||
assert(sig == SIGPIPE);
|
||||
std::cout << "SIGPIPE received" << std::endl;
|
||||
}
|
||||
|
||||
static std::vector<std::string> get_services() {
|
||||
std::vector<std::string> name_list;
|
||||
|
||||
static std::vector<std::string> get_services(std::string whitelist_str, bool zmq_to_msgq) {
|
||||
std::vector<std::string> service_list;
|
||||
for (const auto& it : services) {
|
||||
std::string name = it.name;
|
||||
if (name == "plusFrame" || name == "uiLayoutState") continue;
|
||||
name_list.push_back(name);
|
||||
bool in_whitelist = whitelist_str.find(name) != std::string::npos;
|
||||
if (name == "plusFrame" || name == "uiLayoutState" || (zmq_to_msgq && !in_whitelist)) {
|
||||
continue;
|
||||
}
|
||||
service_list.push_back(name);
|
||||
}
|
||||
|
||||
return name_list;
|
||||
return service_list;
|
||||
}
|
||||
|
||||
|
||||
int main(void){
|
||||
int main(int argc, char** argv) {
|
||||
signal(SIGPIPE, (sighandler_t)sigpipe_handler);
|
||||
|
||||
auto endpoints = get_services();
|
||||
bool zmq_to_msgq = argc > 2;
|
||||
std::string ip = zmq_to_msgq ? argv[1] : "127.0.0.1";
|
||||
std::string whitelist_str = zmq_to_msgq ? std::string(argv[2]) : "";
|
||||
|
||||
std::map<SubSocket*, PubSocket*> sub2pub;
|
||||
|
||||
Context *zmq_context = new ZMQContext();
|
||||
Context *msgq_context = new MSGQContext();
|
||||
Poller *poller = new MSGQPoller();
|
||||
|
||||
for (auto endpoint: endpoints){
|
||||
SubSocket * msgq_sock = new MSGQSubSocket();
|
||||
msgq_sock->connect(msgq_context, endpoint, "127.0.0.1", false);
|
||||
poller->registerSocket(msgq_sock);
|
||||
|
||||
PubSocket * zmq_sock = new ZMQPubSocket();
|
||||
zmq_sock->connect(zmq_context, endpoint);
|
||||
|
||||
sub2pub[msgq_sock] = zmq_sock;
|
||||
Poller *poller;
|
||||
Context *pub_context;
|
||||
Context *sub_context;
|
||||
if (zmq_to_msgq) { // republishes zmq debugging messages as msgq
|
||||
poller = new ZMQPoller();
|
||||
pub_context = new MSGQContext();
|
||||
sub_context = new ZMQContext();
|
||||
} else {
|
||||
poller = new MSGQPoller();
|
||||
pub_context = new ZMQContext();
|
||||
sub_context = new MSGQContext();
|
||||
}
|
||||
|
||||
std::map<SubSocket*, PubSocket*> sub2pub;
|
||||
for (auto endpoint: get_services(whitelist_str, zmq_to_msgq)) {
|
||||
PubSocket * pub_sock;
|
||||
SubSocket * sub_sock;
|
||||
if (zmq_to_msgq) {
|
||||
pub_sock = new MSGQPubSocket();
|
||||
sub_sock = new ZMQSubSocket();
|
||||
} else {
|
||||
pub_sock = new ZMQPubSocket();
|
||||
sub_sock = new MSGQSubSocket();
|
||||
}
|
||||
pub_sock->connect(pub_context, endpoint);
|
||||
sub_sock->connect(sub_context, endpoint, ip, false);
|
||||
|
||||
while (true){
|
||||
for (auto sub_sock : poller->poll(100)){
|
||||
poller->registerSocket(sub_sock);
|
||||
sub2pub[sub_sock] = pub_sock;
|
||||
}
|
||||
|
||||
while (true) {
|
||||
for (auto sub_sock : poller->poll(100)) {
|
||||
Message * msg = sub_sock->receive();
|
||||
if (msg == NULL) continue;
|
||||
sub2pub[sub_sock]->sendMessage(msg);
|
||||
|
||||
@@ -19,15 +19,15 @@ class Service:
|
||||
self.frequency = frequency
|
||||
self.decimation = decimation
|
||||
|
||||
DCAM_FREQ = 10. if not TICI else 20.
|
||||
|
||||
services = {
|
||||
"roadCameraState": (True, 20., 1), # should_log, frequency, decimation (optional)
|
||||
# service: (should_log, frequency, qlog decimation (optional))
|
||||
"sensorEvents": (True, 100., 100),
|
||||
"gpsNMEA": (True, 9.),
|
||||
"deviceState": (True, 2., 1),
|
||||
"can": (True, 100.),
|
||||
"controlsState": (True, 100., 100),
|
||||
"features": (True, 0.),
|
||||
"controlsState": (True, 100., 10),
|
||||
"pandaState": (True, 2., 1),
|
||||
"radarState": (True, 20., 5),
|
||||
"roadEncodeIdx": (True, 20., 1),
|
||||
@@ -38,36 +38,33 @@ services = {
|
||||
"androidLog": (True, 0., 1),
|
||||
"carState": (True, 100., 10),
|
||||
"carControl": (True, 100., 10),
|
||||
"longitudinalPlan": (True, 20., 2),
|
||||
"liveLocation": (True, 0., 1),
|
||||
"longitudinalPlan": (True, 20., 5),
|
||||
"procLog": (True, 0.5),
|
||||
"gpsLocationExternal": (True, 10., 1),
|
||||
"ubloxGnss": (True, 10.),
|
||||
"clocks": (True, 1., 1),
|
||||
"liveMpc": (False, 20.),
|
||||
"liveLongitudinalMpc": (False, 20.),
|
||||
"ubloxRaw": (True, 20.),
|
||||
"liveLocationKalman": (True, 20., 2),
|
||||
"uiLayoutState": (True, 0.),
|
||||
"liveParameters": (True, 20., 2),
|
||||
"cameraOdometry": (True, 20., 5),
|
||||
"lateralPlan": (True, 20., 2),
|
||||
"lateralPlan": (True, 20., 5),
|
||||
"thumbnail": (True, 0.2, 1),
|
||||
"carEvents": (True, 1., 1),
|
||||
"carParams": (True, 0.02, 1),
|
||||
"driverCameraState": (True, 10. if not TICI else 20., 1),
|
||||
"driverEncodeIdx": (True, 10. if not TICI else 20., 1),
|
||||
"driverState": (True, 10. if not TICI else 20., 1),
|
||||
"driverMonitoringState": (True, 10. if not TICI else 20., 1),
|
||||
"offroadLayout": (False, 0.),
|
||||
"roadCameraState": (True, 20., 20),
|
||||
"driverCameraState": (True, DCAM_FREQ, DCAM_FREQ),
|
||||
"driverEncodeIdx": (True, DCAM_FREQ, 1),
|
||||
"driverState": (True, DCAM_FREQ, DCAM_FREQ / 2),
|
||||
"driverMonitoringState": (True, DCAM_FREQ, DCAM_FREQ / 2),
|
||||
"wideRoadEncodeIdx": (True, 20., 1),
|
||||
"wideRoadCameraState": (True, 20., 1),
|
||||
"modelV2": (True, 20., 20),
|
||||
"wideRoadCameraState": (True, 20., 20),
|
||||
"modelV2": (True, 20., 40),
|
||||
"managerState": (True, 2., 1),
|
||||
"uploaderState": (True, 0., 1),
|
||||
|
||||
"testModel": (False, 0.),
|
||||
"testLiveLocation": (False, 0.),
|
||||
"testJoystick": (False, 0.),
|
||||
# dp
|
||||
"thermal": (True, 2., 1),
|
||||
"dragonConf": (False, 2.),
|
||||
}
|
||||
service_list = {name: Service(new_port(idx), *vals) for # type: ignore
|
||||
idx, (name, vals) in enumerate(services.items())}
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
#include <cstdint>
|
||||
#include <cstddef>
|
||||
|
||||
constexpr int VISIONIPC_MAX_FDS = 64;
|
||||
constexpr int VISIONIPC_MAX_FDS = 128;
|
||||
|
||||
struct VisionIpcBufExtra {
|
||||
uint32_t frame_id;
|
||||
|
||||
@@ -3,9 +3,9 @@
|
||||
#include <string>
|
||||
#include <unistd.h>
|
||||
|
||||
#include "messaging.h"
|
||||
#include "visionipc.h"
|
||||
#include "visionbuf.h"
|
||||
#include "messaging/messaging.h"
|
||||
#include "visionipc/visionipc.h"
|
||||
#include "visionipc/visionbuf.h"
|
||||
|
||||
class VisionIpcClient {
|
||||
private:
|
||||
|
||||
@@ -7,9 +7,9 @@
|
||||
#include <sys/socket.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include "messaging.h"
|
||||
#include "ipc.h"
|
||||
#include "visionipc_server.h"
|
||||
#include "messaging/messaging.h"
|
||||
#include "visionipc/ipc.h"
|
||||
#include "visionipc/visionipc_server.h"
|
||||
|
||||
std::string get_endpoint_name(std::string name, VisionStreamType type){
|
||||
if (messaging_use_zmq()){
|
||||
|
||||
@@ -5,9 +5,9 @@
|
||||
#include <atomic>
|
||||
#include <map>
|
||||
|
||||
#include "messaging.h"
|
||||
#include "visionipc.h"
|
||||
#include "visionbuf.h"
|
||||
#include "messaging/messaging.h"
|
||||
#include "visionipc/visionipc.h"
|
||||
#include "visionipc/visionbuf.h"
|
||||
|
||||
std::string get_endpoint_name(std::string name, VisionStreamType type);
|
||||
|
||||
|
||||
@@ -1,11 +1,11 @@
|
||||
import os
|
||||
from pathlib import Path
|
||||
|
||||
from selfdrive.hardware import PC
|
||||
from selfdrive.hardware import PC, JETSON
|
||||
|
||||
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
|
||||
|
||||
if PC:
|
||||
if PC or JETSON:
|
||||
PERSIST = os.path.join(str(Path.home()), ".comma", "persist")
|
||||
else:
|
||||
PERSIST = "/persist"
|
||||
|
||||
80
common/dp_common.py
Normal file
80
common/dp_common.py
Normal file
@@ -0,0 +1,80 @@
|
||||
#!/usr/bin/env python3.7
|
||||
import subprocess
|
||||
from cereal import car
|
||||
from common.params import Params
|
||||
from common.realtime import sec_since_boot
|
||||
import os
|
||||
params = Params()
|
||||
PARAM_PATH = params.get_params_path() + '/d/'
|
||||
LAST_MODIFIED = PARAM_PATH + "dp_last_modified"
|
||||
|
||||
def is_online():
|
||||
try:
|
||||
return not subprocess.call(["ping", "-W", "4", "-c", "1", "117.28.245.92"])
|
||||
except ProcessLookupError:
|
||||
return False
|
||||
|
||||
def common_controller_ctrl(enabled, dragonconf, blinker_on, steer_req, v_ego):
|
||||
if enabled:
|
||||
if dragonconf.dpLateralMode == 0 and blinker_on:
|
||||
steer_req = 0 if isinstance(steer_req, int) else False
|
||||
return steer_req
|
||||
|
||||
def common_interface_atl(ret, atl):
|
||||
# dp
|
||||
enable_acc = ret.cruiseState.enabled
|
||||
if atl and ret.cruiseState.available:
|
||||
enable_acc = True
|
||||
if ret.gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park]:
|
||||
enable_acc = False
|
||||
if ret.seatbeltUnlatched or ret.doorOpen:
|
||||
enable_acc = False
|
||||
return enable_acc
|
||||
|
||||
def common_interface_get_params_lqr(ret):
|
||||
if params.get_bool('dp_lqr'):
|
||||
ret.lateralTuning.init('lqr')
|
||||
ret.lateralTuning.lqr.scale = 1500.0
|
||||
ret.lateralTuning.lqr.ki = 0.05
|
||||
|
||||
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
|
||||
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
|
||||
ret.lateralTuning.lqr.c = [1., 0.]
|
||||
ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
|
||||
ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
|
||||
ret.lateralTuning.lqr.dcGain = 0.002237852961363602
|
||||
return ret
|
||||
|
||||
|
||||
def get_last_modified(delay, old_check, old_modified):
|
||||
new_check = sec_since_boot()
|
||||
if old_check is None or new_check - old_check >= delay:
|
||||
return new_check, os.stat(LAST_MODIFIED).st_mtime
|
||||
else:
|
||||
return old_check, old_modified
|
||||
|
||||
def param_get_if_updated(param, type, old_val, old_modified):
|
||||
try:
|
||||
modified = os.stat(PARAM_PATH + param).st_mtime
|
||||
except OSError:
|
||||
return old_val, old_modified
|
||||
if old_modified != modified:
|
||||
new_val = param_get(param, type, old_val)
|
||||
new_modified = modified
|
||||
else:
|
||||
new_val = old_val
|
||||
new_modified = old_modified
|
||||
return new_val, new_modified
|
||||
|
||||
def param_get(param_name, type, default):
|
||||
try:
|
||||
val = params.get(param_name, encoding='utf8').rstrip('\x00')
|
||||
if type == 'bool':
|
||||
val = val == '1'
|
||||
elif type == 'int':
|
||||
val = int(val)
|
||||
elif type == 'float':
|
||||
val = float(val)
|
||||
except (TypeError, ValueError):
|
||||
val = default
|
||||
return val
|
||||
214
common/dp_conf.py
Normal file
214
common/dp_conf.py
Normal file
@@ -0,0 +1,214 @@
|
||||
#!/usr/bin/env python3.7
|
||||
import os
|
||||
import sys
|
||||
import json
|
||||
import time
|
||||
from math import floor
|
||||
|
||||
'''
|
||||
* type: Bool, Int8, UInt8, UInt16, Float32
|
||||
* conf_type: param, struct
|
||||
* dependencies needs to use struct and loaded prior so we don't have to read the param multiple times.
|
||||
* update_once: True, False (the param will only load up once, need both param and struct defined)
|
||||
'''
|
||||
confs = [
|
||||
# thermald data
|
||||
{'name': 'dp_thermal_started', 'default': False, 'type': 'Bool', 'conf_type': ['struct']},
|
||||
{'name': 'dp_thermal_overheat', 'default': False, 'type': 'Bool', 'conf_type': ['struct']},
|
||||
|
||||
{'name': 'dp_atl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct'], 'update_once': True},
|
||||
# dashcam related
|
||||
{'name': 'dp_dashcamd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# auto shutdown
|
||||
{'name': 'dp_auto_shutdown', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_auto_shutdown_in', 'default': 90, 'type': 'UInt16', 'min': 0, 'max': 600, 'depends': [{'name': 'dp_auto_shutdown', 'vals': [True]}], 'conf_type': ['param']},
|
||||
# service
|
||||
{'name': 'dp_updated', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_logger', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_athenad', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct'], 'update_once': True},
|
||||
{'name': 'dp_uploader', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct'], 'update_once': True},
|
||||
# {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_hotspot_on_boot', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# lat ctrl
|
||||
{'name': 'dp_lateral_mode', 'default': 1, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_signal_off_delay', 'default': 3., 'type': 'Float32', 'min': 0., 'max': 10., 'depends': [{'name': 'dp_lateral_mode', 'vals': [0]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lc_min_mph', 'default': 45, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_lateral_mode', 'vals': [1,2]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lc_auto_cont', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lc_auto_min_mph', 'default': 60, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lc_auto_delay', 'default': 3., 'type': 'Float32', 'min': 0., 'max': 10., 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']},
|
||||
# long ctrl
|
||||
{'name': 'dp_allow_gas', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_following_profile_ctrl', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_following_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_atl', 'vals': [False]}, {'name': 'dp_following_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_accel_profile_ctrl', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_atl', 'vals': [False]}, {'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
# safety
|
||||
{'name': 'dp_gear_check', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_speed_check', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_temp_monitor', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# UIs
|
||||
{'name': 'dp_ui_display_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_max_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_face', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_lane', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_lead', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_dev', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_dev_mini', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_blinker', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
# toyota
|
||||
{'name': 'dp_toyota_ldw', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_toyota_disable_relay', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# hyundai
|
||||
{'name': 'dp_hkg_smart_mdps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# honda
|
||||
{'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# volkswagen
|
||||
{'name': 'dp_vw_panda', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_vw_timebomb_assist', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
#misc
|
||||
{'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']},
|
||||
{'name': 'dp_fan_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param']},
|
||||
{'name': 'dp_last_modified', 'default': str(floor(time.time())), 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_camera_offset', 'default': 6, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_path_offset', 'default': 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
|
||||
{'name': 'dp_locale', 'default': 'en-US', 'type': 'Text', 'conf_type': ['param', 'struct'], 'update_once': True},
|
||||
{'name': 'dp_reg', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# sr learner related
|
||||
{'name': 'dp_sr_learner', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_sr_custom', 'default': 9.99, 'min': 9.99, 'max': 30., 'type': 'Float32', 'depends': [{'name': 'dp_sr_learner', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_sr_stock', 'default': 9.99, 'min': 9.99, 'max': 100., 'type': 'Float32', 'conf_type': ['param']},
|
||||
|
||||
{'name': 'dp_lqr', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_reset_live_param_on_start', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
|
||||
{'name': 'dp_appd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_jetson', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_car_assigned', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_car_list', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_no_batt', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_panda_fake_black', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_panda_no_gps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_last_candidate', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_debug', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
]
|
||||
|
||||
def get_definition(name):
|
||||
for conf in confs:
|
||||
if conf['name'] == name:
|
||||
return conf
|
||||
return None
|
||||
|
||||
def to_param_val(name, val):
|
||||
conf = get_definition(name)
|
||||
if conf is not None:
|
||||
type = conf['type'].lower()
|
||||
try:
|
||||
if 'bool' in type:
|
||||
val = '1' if val else '0'
|
||||
elif 'int' in type:
|
||||
val = int(val)
|
||||
elif 'float' in type:
|
||||
val = float(val)
|
||||
return str(val)
|
||||
except (ValueError, TypeError):
|
||||
return ''
|
||||
return ''
|
||||
|
||||
def to_struct_val(name, val):
|
||||
conf = get_definition(name)
|
||||
if conf is not None:
|
||||
try:
|
||||
type = conf['type'].lower()
|
||||
if 'bool' in type:
|
||||
val = True if val == '1' else False
|
||||
elif 'int' in type:
|
||||
val = int(val)
|
||||
elif 'float' in type:
|
||||
val = float(val)
|
||||
return val
|
||||
except (ValueError, TypeError):
|
||||
return None
|
||||
return None
|
||||
|
||||
'''
|
||||
function to convert param name into struct name.
|
||||
'''
|
||||
def get_struct_name(snake_str):
|
||||
components = snake_str.split('_')
|
||||
# We capitalize the first letter of each component except the first one
|
||||
# with the 'title' method and join them together.
|
||||
return components[0] + ''.join(x.title() for x in components[1:])
|
||||
|
||||
'''
|
||||
function to generate struct for log.capnp
|
||||
'''
|
||||
def gen_log_struct():
|
||||
count = 0
|
||||
str = "# dp\n"
|
||||
str += "struct DragonConf {\n"
|
||||
for conf in confs:
|
||||
name = get_struct_name(conf['name'])
|
||||
if 'struct' in conf['conf_type']:
|
||||
str += f" {name} @{count} :{conf['type']};\n"
|
||||
count += 1
|
||||
str += "}"
|
||||
print(str)
|
||||
|
||||
'''
|
||||
function to generate support car list
|
||||
'''
|
||||
def get_support_car_list():
|
||||
attrs = ['FINGERPRINTS', 'FW_VERSIONS']
|
||||
cars = dict({"cars": []})
|
||||
for car_folder in [x[0] for x in os.walk('/data/openpilot/selfdrive/car')]:
|
||||
try:
|
||||
car_name = car_folder.split('/')[-1]
|
||||
if car_name != "mock":
|
||||
names = []
|
||||
for attr in attrs:
|
||||
values = __import__('selfdrive.car.%s.values' % car_name, fromlist=[attr])
|
||||
if hasattr(values, attr):
|
||||
attr_values = getattr(values, attr)
|
||||
else:
|
||||
continue
|
||||
if isinstance(attr_values, dict):
|
||||
for f, v in attr_values.items():
|
||||
if f not in names:
|
||||
names.append(f)
|
||||
names.sort()
|
||||
brand_models = {"brand": car_name.upper(), "models": names }
|
||||
cars["cars"].append(brand_models)
|
||||
except (ImportError, IOError, ValueError):
|
||||
pass
|
||||
return json.dumps(cars)
|
||||
|
||||
'''
|
||||
function to init param value.
|
||||
should add this into manager.py
|
||||
'''
|
||||
def init_params_vals(params):
|
||||
for conf in confs:
|
||||
if 'param' in conf['conf_type']:
|
||||
if conf['name'] == 'dp_car_list':
|
||||
params.put(conf['name'], get_support_car_list())
|
||||
elif params.get(conf['name']) is None:
|
||||
params.put(conf['name'], to_param_val(conf['name'], conf['default']))
|
||||
|
||||
def gen_params_cc_keys():
|
||||
for conf in confs:
|
||||
if 'param' in conf['conf_type']:
|
||||
print(" {\"%s\", PERSISTENT}," % conf['name'])
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
if (len(sys.argv) > 1) and sys.argv[1] == 'cc':
|
||||
gen_params_cc_keys()
|
||||
else:
|
||||
gen_log_struct()
|
||||
7
common/dp_time.py
Normal file
7
common/dp_time.py
Normal file
@@ -0,0 +1,7 @@
|
||||
#!/usr/bin/env python3.7
|
||||
|
||||
# delay of reading last modified
|
||||
LAST_MODIFIED_THERMALD = 10.
|
||||
LAST_MODIFIED_SYSTEMD = 1.
|
||||
LAST_MODIFIED_LANE_PLANNER = 3.
|
||||
LAST_MODIFIED_UPLOADER = 10.
|
||||
14
common/i18n.py
Normal file
14
common/i18n.py
Normal file
@@ -0,0 +1,14 @@
|
||||
import gettext
|
||||
from selfdrive.hardware import EON
|
||||
from selfdrive.hardware.eon.hardware import getprop
|
||||
|
||||
locale_dir = '/data/openpilot/selfdrive/assets/locales'
|
||||
supported_language = ['en-US', 'zh-TW', 'zh-CN', 'ja-JP', 'ko-KR']
|
||||
|
||||
def get_locale():
|
||||
return getprop("persist.sys.locale") if EON else 'en-US'
|
||||
|
||||
def events():
|
||||
i18n = gettext.translation('events', localedir=locale_dir, fallback=True, languages=[get_locale()])
|
||||
i18n.install()
|
||||
return i18n.gettext
|
||||
@@ -17,12 +17,14 @@ cdef extern from "selfdrive/common/params.h":
|
||||
ALL
|
||||
|
||||
cdef cppclass Params:
|
||||
Params(bool)
|
||||
Params(string)
|
||||
Params(bool) nogil
|
||||
Params(string) nogil
|
||||
string get(string, bool) nogil
|
||||
bool getBool(string)
|
||||
int remove(string)
|
||||
int put(string, string)
|
||||
int putBool(string, bool)
|
||||
bool checkKey(string)
|
||||
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)
|
||||
|
||||
string get_params_path()
|
||||
|
||||
@@ -31,10 +31,14 @@ cdef class Params:
|
||||
cdef c_Params* p
|
||||
|
||||
def __cinit__(self, d=None, bool persistent_params=False):
|
||||
cdef string path
|
||||
if d is None:
|
||||
self.p = new c_Params(persistent_params)
|
||||
with nogil:
|
||||
self.p = new c_Params(persistent_params)
|
||||
else:
|
||||
self.p = new c_Params(<string>d.encode())
|
||||
path = <string>d.encode()
|
||||
with nogil:
|
||||
self.p = new c_Params(path)
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.p
|
||||
@@ -53,13 +57,12 @@ cdef class Params:
|
||||
|
||||
return key
|
||||
|
||||
def get(self, key, block=False, encoding=None):
|
||||
def get(self, key, bool block=False, encoding=None):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef bool b = block
|
||||
|
||||
cdef string val
|
||||
with nogil:
|
||||
val = self.p.get(k, b)
|
||||
val = self.p.get(k, block)
|
||||
|
||||
if val == b"":
|
||||
if block:
|
||||
@@ -76,7 +79,10 @@ cdef class Params:
|
||||
|
||||
def get_bool(self, key):
|
||||
cdef string k = self.check_key(key)
|
||||
return self.p.getBool(k)
|
||||
cdef bool r
|
||||
with nogil:
|
||||
r = self.p.getBool(k)
|
||||
return r
|
||||
|
||||
def put(self, key, dat):
|
||||
"""
|
||||
@@ -86,17 +92,22 @@ cdef class Params:
|
||||
in general try to avoid writing params as much as possible.
|
||||
"""
|
||||
cdef string k = self.check_key(key)
|
||||
dat = ensure_bytes(dat)
|
||||
self.p.put(k, dat)
|
||||
cdef string dat_bytes = ensure_bytes(dat)
|
||||
with nogil:
|
||||
self.p.put(k, dat_bytes)
|
||||
|
||||
def put_bool(self, key, val):
|
||||
def put_bool(self, key, bool val):
|
||||
cdef string k = self.check_key(key)
|
||||
self.p.putBool(k, val)
|
||||
with nogil:
|
||||
self.p.putBool(k, val)
|
||||
|
||||
def delete(self, key):
|
||||
cdef string k = self.check_key(key)
|
||||
self.p.remove(k)
|
||||
with nogil:
|
||||
self.p.remove(k)
|
||||
|
||||
def get_params_path(self):
|
||||
return self.p.get_params_path().decode("utf-8")
|
||||
|
||||
def put_nonblocking(key, val, d=None):
|
||||
def f(key, val):
|
||||
|
||||
@@ -6,7 +6,7 @@ import multiprocessing
|
||||
from typing import Optional
|
||||
|
||||
from common.clock import sec_since_boot # pylint: disable=no-name-in-module, import-error
|
||||
from selfdrive.hardware import PC, TICI
|
||||
from selfdrive.hardware import PC, TICI, JETSON
|
||||
|
||||
|
||||
# time step for each process
|
||||
@@ -33,12 +33,12 @@ class Priority:
|
||||
|
||||
|
||||
def set_realtime_priority(level: int) -> None:
|
||||
if not PC:
|
||||
if JETSON or not PC:
|
||||
os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level)) # type: ignore[attr-defined]
|
||||
|
||||
|
||||
def set_core_affinity(core: int) -> None:
|
||||
if not PC:
|
||||
if JETSON or not PC:
|
||||
os.sched_setaffinity(0, [core,])
|
||||
|
||||
|
||||
|
||||
@@ -33,6 +33,7 @@ class TextWindow:
|
||||
if self.text_proc is not None:
|
||||
while True:
|
||||
if self.get_status() == 1:
|
||||
os.system('/data/openpilot/scripts/reset_update.sh')
|
||||
return
|
||||
time.sleep(0.1)
|
||||
|
||||
|
||||
@@ -5,12 +5,14 @@ from selfdrive.hardware import TICI
|
||||
|
||||
## -- hardcoded hardware params --
|
||||
eon_f_focal_length = 910.0
|
||||
eon_d_focal_length = 650.0
|
||||
eon_d_focal_length = 860.0
|
||||
leon_d_focal_length = 650.0
|
||||
tici_f_focal_length = 2648.0
|
||||
tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame
|
||||
|
||||
eon_f_frame_size = (1164, 874)
|
||||
eon_d_frame_size = (816, 612)
|
||||
eon_d_frame_size = (1152, 864)
|
||||
leon_d_frame_size = (816, 612)
|
||||
tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208)
|
||||
|
||||
# aka 'K' aka camera_frame_from_view_frame
|
||||
@@ -20,6 +22,11 @@ eon_fcam_intrinsics = np.array([
|
||||
[0.0, 0.0, 1.0]])
|
||||
eon_intrinsics = eon_fcam_intrinsics # xx
|
||||
|
||||
leon_dcam_intrinsics = np.array([
|
||||
[leon_d_focal_length, 0.0, float(leon_d_frame_size[0])/2],
|
||||
[0.0, leon_d_focal_length, float(leon_d_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
eon_dcam_intrinsics = np.array([
|
||||
[eon_d_focal_length, 0.0, float(eon_d_frame_size[0])/2],
|
||||
[0.0, eon_d_focal_length, float(eon_d_frame_size[1])/2],
|
||||
|
||||
7
installer/updater/oneplus.json
Normal file
7
installer/updater/oneplus.json
Normal file
@@ -0,0 +1,7 @@
|
||||
{
|
||||
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266.zip",
|
||||
"ota_hash": "c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266",
|
||||
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb.img",
|
||||
"recovery_len": 15926572,
|
||||
"recovery_hash": "db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb"
|
||||
}
|
||||
BIN
installer/updater/update.zip
Normal file
BIN
installer/updater/update.zip
Normal file
Binary file not shown.
Binary file not shown.
@@ -125,10 +125,20 @@ int battery_current() {
|
||||
return atoi(current_now_s.c_str());
|
||||
}
|
||||
|
||||
bool has_no_battery() {
|
||||
if (FILE *file = fopen("/data/params/d/dp_no_batt", "r")) {
|
||||
fclose(file);
|
||||
std::string has_no_batt = util::read_file("/data/params/d/dp_no_batt");
|
||||
return atoi(has_no_batt.c_str()) == 1;
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool check_battery() {
|
||||
int bat_cap = battery_capacity();
|
||||
int current_now = battery_current();
|
||||
return bat_cap > 35 || (current_now < 0 && bat_cap > 10);
|
||||
return (has_no_battery())? true : bat_cap > 35 || (current_now < 0 && bat_cap > 10);
|
||||
}
|
||||
|
||||
bool check_space() {
|
||||
@@ -557,7 +567,7 @@ struct Updater {
|
||||
// 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(1) pause();
|
||||
while (true) pause();
|
||||
|
||||
// execl("/system/bin/reboot", "recovery");
|
||||
// set_error("failed to reboot into recovery");
|
||||
|
||||
@@ -6,6 +6,13 @@ fi
|
||||
|
||||
source "$BASEDIR/launch_env.sh"
|
||||
|
||||
if ! $(grep -q "letv" /proc/cmdline); then
|
||||
mount -o remount,rw /system
|
||||
sed -i -e 's#/dev/input/event1#/dev/input/event2#g' ~/.bash_profile
|
||||
touch /ONEPLUS
|
||||
mount -o remount,r /system
|
||||
fi
|
||||
|
||||
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
|
||||
|
||||
function two_init {
|
||||
@@ -56,6 +63,7 @@ function two_init {
|
||||
|
||||
# USB traffic needs realtime handling on cpu 3
|
||||
[ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list
|
||||
[ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T
|
||||
|
||||
# GPU and camera get cpu 2
|
||||
CAM_IRQS="177 178 179 180 181 182 183 184 185 186 192"
|
||||
@@ -76,20 +84,35 @@ function two_init {
|
||||
service call bluetooth_manager 8
|
||||
|
||||
# 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 $(grep -q "letv" /proc/cmdline); then
|
||||
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 $DIR
|
||||
scons --clean
|
||||
git clean -xdf
|
||||
git submodule foreach --recursive git clean -xdf
|
||||
fi
|
||||
if [ ! -f "$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://$DIR/installer/updater/update.json"
|
||||
"$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
|
||||
fi
|
||||
else
|
||||
echo -n 0 > /data/params/d/DisableUpdates
|
||||
fi
|
||||
|
||||
# One-time fix for a subset of OP3T with gyro orientation offsets.
|
||||
# Remove and regenerate qcom sensor registry. Only done on OP3T mainboards.
|
||||
# Performed exactly once. The old registry is preserved just-in-case, and
|
||||
# doubles as a flag denoting we've already done the reset.
|
||||
if ! $(grep -q "letv" /proc/cmdline) && [ ! -f "/persist/comma/op3t-sns-reg-backup" ]; then
|
||||
echo "Performing OP3T sensor registry reset"
|
||||
mv /persist/sensors/sns.reg /persist/comma/op3t-sns-reg-backup &&
|
||||
rm -f /persist/sensors/sensors_settings /persist/sensors/error_log /persist/sensors/gyro_sensitity_cal &&
|
||||
echo "restart" > /sys/kernel/debug/msm_subsys/slpi &&
|
||||
sleep 5 # Give Android sensor subsystem a moment to recover
|
||||
fi
|
||||
}
|
||||
|
||||
@@ -97,68 +120,18 @@ function tici_init {
|
||||
sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor'
|
||||
sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu4/governor'
|
||||
nmcli connection modify --temporary lte gsm.auto-config yes
|
||||
nmcli connection modify --temporary lte gsm.home-only yes
|
||||
|
||||
# set success flag for current boot slot
|
||||
sudo abctl --set_success
|
||||
|
||||
# Check if AGNOS update is required
|
||||
if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
|
||||
# Get number of slot to switch to
|
||||
CUR_SLOT=$(abctl --boot_slot)
|
||||
if [[ "$CUR_SLOT" == "_a" ]]; then
|
||||
OTHER_SLOT="_b"
|
||||
OTHER_SLOT_NUMBER="1"
|
||||
else
|
||||
OTHER_SLOT="_a"
|
||||
OTHER_SLOT_NUMBER="0"
|
||||
fi
|
||||
echo "Cur slot $CUR_SLOT, target $OTHER_SLOT"
|
||||
|
||||
# Get expected hashes from manifest
|
||||
MANIFEST="$DIR/selfdrive/hardware/tici/agnos.json"
|
||||
SYSTEM_HASH_EXPECTED=$(jq -r ".[] | select(.name == \"system\") | .hash_raw" $MANIFEST)
|
||||
SYSTEM_SIZE=$(jq -r ".[] | select(.name == \"system\") | .size" $MANIFEST)
|
||||
BOOT_HASH_EXPECTED=$(jq -r ".[] | select(.name == \"boot\") | .hash_raw" $MANIFEST)
|
||||
BOOT_SIZE=$(jq -r ".[] | select(.name == \"boot\") | .size" $MANIFEST)
|
||||
echo "Expected hashes:"
|
||||
echo "System: $SYSTEM_HASH_EXPECTED"
|
||||
echo "Boot: $BOOT_HASH_EXPECTED"
|
||||
$DIR/selfdrive/hardware/tici/agnos.py --swap $MANIFEST
|
||||
|
||||
# Read hashes from alternate partitions, should already be flashed by updated
|
||||
SYSTEM_HASH=$(dd if="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 skip="$SYSTEM_SIZE" count=64 2>/dev/null)
|
||||
BOOT_HASH=$(dd if="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 skip="$BOOT_SIZE" count=64 2>/dev/null)
|
||||
echo "Found hashes:"
|
||||
echo "System: $SYSTEM_HASH"
|
||||
echo "Boot: $BOOT_HASH"
|
||||
|
||||
if [[ "$SYSTEM_HASH" == "$SYSTEM_HASH_EXPECTED" && "$BOOT_HASH" == "$BOOT_HASH_EXPECTED" ]]; then
|
||||
echo "Swapping active slot to $OTHER_SLOT_NUMBER"
|
||||
|
||||
# Clean hashes before swapping to prevent looping
|
||||
dd if=/dev/zero of="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 seek="$SYSTEM_SIZE" count=64
|
||||
dd if=/dev/zero of="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 seek="$BOOT_SIZE" count=64
|
||||
sync
|
||||
|
||||
abctl --set_active "$OTHER_SLOT_NUMBER"
|
||||
|
||||
sleep 1
|
||||
sudo reboot
|
||||
else
|
||||
echo "Hash mismatch, downloading agnos"
|
||||
if $DIR/selfdrive/hardware/tici/agnos.py $MANIFEST; then
|
||||
echo "Download done, swapping active slot to $OTHER_SLOT_NUMBER"
|
||||
|
||||
# Clean hashes before swapping to prevent looping
|
||||
dd if=/dev/zero of="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 seek="$SYSTEM_SIZE" count=64
|
||||
dd if=/dev/zero of="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 seek="$BOOT_SIZE" count=64
|
||||
sync
|
||||
|
||||
abctl --set_active "$OTHER_SLOT_NUMBER"
|
||||
fi
|
||||
|
||||
sleep 1
|
||||
sudo reboot
|
||||
fi
|
||||
sleep 1
|
||||
sudo reboot
|
||||
fi
|
||||
}
|
||||
|
||||
@@ -179,10 +152,10 @@ function launch {
|
||||
# that completed successfully and synced to disk.
|
||||
|
||||
if [ -f "${BASEDIR}/.overlay_init" ]; then
|
||||
find ${BASEDIR}/.git -newer ${BASEDIR}/.overlay_init | grep -q '.' 2> /dev/null
|
||||
if [ $? -eq 0 ]; then
|
||||
echo "${BASEDIR} has been modified, skipping overlay update installation"
|
||||
else
|
||||
# find ${BASEDIR}/.git -newer ${BASEDIR}/.overlay_init | grep -q '.' 2> /dev/null
|
||||
# if [ $? -eq 0 ]; then
|
||||
# echo "${BASEDIR} has been modified, skipping overlay update installation"
|
||||
# else
|
||||
if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then
|
||||
if [ ! -d /data/safe_staging/old_openpilot ]; then
|
||||
echo "Valid overlay update found, installing"
|
||||
@@ -206,12 +179,15 @@ function launch {
|
||||
# TODO: restore backup? This means the updater didn't start after swapping
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
# fi
|
||||
fi
|
||||
|
||||
# handle pythonpath
|
||||
ln -sfn $(pwd) /data/pythonpath
|
||||
export PYTHONPATH="$PWD"
|
||||
export PYTHONPATH="$PWD:$PWD/pyextra"
|
||||
|
||||
# dp - ignore chmod changes
|
||||
git -C $DIR config core.fileMode false
|
||||
|
||||
# hardware specific init
|
||||
if [ -f /EON ]; then
|
||||
@@ -220,6 +196,10 @@ function launch {
|
||||
tici_init
|
||||
fi
|
||||
|
||||
if [ -f "/sdcard/dp_patcher.py" ]; then
|
||||
/data/data/com.termux/files/usr/bin/python /sdcard/dp_patcher.py
|
||||
fi
|
||||
|
||||
# write tmux scrollback to a file
|
||||
tmux capture-pane -pq -S-1000 > /tmp/launch_log
|
||||
|
||||
|
||||
@@ -11,7 +11,7 @@ if [ -z "$REQUIRED_NEOS_VERSION" ]; then
|
||||
fi
|
||||
|
||||
if [ -z "$AGNOS_VERSION" ]; then
|
||||
export AGNOS_VERSION="0.18"
|
||||
export AGNOS_VERSION="0.21"
|
||||
fi
|
||||
|
||||
if [ -z "$PASSIVE" ]; then
|
||||
|
||||
@@ -1,4 +1,10 @@
|
||||
#!/usr/bin/bash
|
||||
size=$(du -sb .git/index 2>/dev/null|awk '{print $1}')
|
||||
echo $size|grep -E '^[0-9]+$' >/dev/null || size=0
|
||||
if [ $size -le 1024 ];then
|
||||
rm .git/index 2>/dev/null
|
||||
git reset
|
||||
fi
|
||||
|
||||
export PASSIVE="0"
|
||||
exec ./launch_chffrplus.sh
|
||||
|
||||
Binary file not shown.
@@ -275,7 +275,7 @@ BO_ 316 GAS_PEDAL: 8 PCM
|
||||
|
||||
BO_ 342 STEERING_SENSORS: 6 EPS
|
||||
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
|
||||
@@ -257,7 +257,7 @@ CM_ "acura_rdx_2018_can.dbc starts here";
|
||||
|
||||
BO_ 342 STEERING_SENSORS: 6 EPS
|
||||
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
|
||||
@@ -69,7 +69,7 @@ BO_ 232 BRAKE_HOLD: 7 XXX
|
||||
|
||||
BO_ 342 STEERING_SENSORS: 6 EPS
|
||||
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
|
||||
@@ -5,9 +5,11 @@ unsigned int honda_checksum(unsigned int address, uint64_t d, int l) {
|
||||
d >>= 4; // remove checksum
|
||||
|
||||
int s = 0;
|
||||
bool extended = address > 0x7FF; // extended can
|
||||
while (address) { s += (address & 0xF); address >>= 4; }
|
||||
while (d) { s += (d & 0xF); d >>= 4; }
|
||||
s = 8-s;
|
||||
if (extended) s += 3;
|
||||
s &= 0xF;
|
||||
|
||||
return s;
|
||||
|
||||
@@ -36,6 +36,8 @@ cdef class CANParser:
|
||||
def __init__(self, dbc_name, signals, checks=None, bus=0, enforce_checks=True):
|
||||
if checks is None:
|
||||
checks = []
|
||||
checks = []
|
||||
enforce_checks = False
|
||||
self.can_valid = True
|
||||
self.dbc_name = dbc_name
|
||||
self.dbc = dbc_lookup(dbc_name)
|
||||
|
||||
@@ -370,6 +370,48 @@ BO_ 891 STALK_STATUS_2: 8 XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 13274 LKAS_HUD_A: 5 ADAS
|
||||
SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
|
||||
SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
|
||||
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
|
||||
|
||||
BO_ 13275 LKAS_HUD_B: 8 ADAS
|
||||
SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
|
||||
SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
|
||||
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
|
||||
|
||||
CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
|
||||
CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
|
||||
CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
|
||||
|
||||
@@ -370,6 +370,48 @@ BO_ 891 STALK_STATUS_2: 8 XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 13274 LKAS_HUD_A: 5 ADAS
|
||||
SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
|
||||
SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
|
||||
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
|
||||
|
||||
BO_ 13275 LKAS_HUD_B: 8 ADAS
|
||||
SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
|
||||
SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
|
||||
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
|
||||
|
||||
CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
|
||||
CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
|
||||
CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
|
||||
@@ -419,13 +461,15 @@ BO_ 892 CRUISE_PARAMS: 8 PCM
|
||||
BO_ 927 RADAR_HUD: 8 RADAR
|
||||
SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
|
||||
SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
|
||||
SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
|
||||
SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
|
||||
@@ -370,6 +370,48 @@ BO_ 891 STALK_STATUS_2: 8 XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 13274 LKAS_HUD_A: 5 ADAS
|
||||
SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
|
||||
SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
|
||||
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
|
||||
|
||||
BO_ 13275 LKAS_HUD_B: 8 ADAS
|
||||
SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
|
||||
SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
|
||||
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
|
||||
|
||||
CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
|
||||
CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
|
||||
CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
|
||||
|
||||
@@ -370,6 +370,48 @@ BO_ 891 STALK_STATUS_2: 8 XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 13274 LKAS_HUD_A: 5 ADAS
|
||||
SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
|
||||
SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
|
||||
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
|
||||
|
||||
BO_ 13275 LKAS_HUD_B: 8 ADAS
|
||||
SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
|
||||
SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
|
||||
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
|
||||
|
||||
CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
|
||||
CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
|
||||
CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
|
||||
|
||||
@@ -370,6 +370,48 @@ BO_ 891 STALK_STATUS_2: 8 XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 13274 LKAS_HUD_A: 5 ADAS
|
||||
SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
|
||||
SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
|
||||
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
|
||||
|
||||
BO_ 13275 LKAS_HUD_B: 8 ADAS
|
||||
SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
|
||||
SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
|
||||
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
|
||||
|
||||
CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
|
||||
CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
|
||||
CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
|
||||
@@ -406,13 +448,15 @@ BO_ 432 STANDSTILL: 7 VSA
|
||||
BO_ 927 RADAR_HUD: 8 RADAR
|
||||
SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
|
||||
SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
|
||||
SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
|
||||
SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
|
||||
@@ -257,7 +257,7 @@ CM_ "honda_crv_touring_2016_can.dbc starts here";
|
||||
|
||||
BO_ 342 STEERING_SENSORS: 6 EPS
|
||||
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
|
||||
@@ -275,7 +275,7 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
|
||||
|
||||
BO_ 342 STEERING_SENSORS: 6 EPS
|
||||
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
|
||||
@@ -271,7 +271,7 @@ BO_ 316 GAS_PEDAL: 8 PCM
|
||||
|
||||
BO_ 342 STEERING_SENSORS: 6 EPS
|
||||
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
|
||||
@@ -370,6 +370,48 @@ BO_ 891 STALK_STATUS_2: 8 XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 13274 LKAS_HUD_A: 5 ADAS
|
||||
SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
|
||||
SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
|
||||
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
|
||||
|
||||
BO_ 13275 LKAS_HUD_B: 8 ADAS
|
||||
SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
|
||||
SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
|
||||
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY
|
||||
|
||||
CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
|
||||
CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
|
||||
CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
|
||||
|
||||
@@ -267,7 +267,7 @@ BO_ 316 GAS_PEDAL: 8 PCM
|
||||
|
||||
BO_ 342 STEERING_SENSORS: 6 EPS
|
||||
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
|
||||
@@ -275,7 +275,7 @@ BO_ 316 GAS_PEDAL: 8 PCM
|
||||
|
||||
BO_ 342 STEERING_SENSORS: 6 EPS
|
||||
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
|
||||
@@ -270,7 +270,7 @@ BO_ 316 GAS_PEDAL: 8 PCM
|
||||
|
||||
BO_ 342 STEERING_SENSORS: 6 EPS
|
||||
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
|
||||
@@ -1028,10 +1028,7 @@ BO_ 48 EMS18: 6 EMS
|
||||
|
||||
BO_ 1322 CLU15: 8 CLU
|
||||
SG_ CF_Clu_VehicleSpeed : 0|8@1+ (1.0,0.0) [0.0|255.0] "" BCM
|
||||
SG_ CF_Clu_InhibitP : 9|1@1+ (1.0,0.0) [0.0|1.0] "" BCM
|
||||
SG_ CF_Clu_InhibitR : 10|1@1+ (1.0,0.0) [0.0|1.0] "" BCM
|
||||
SG_ CF_Clu_InhibitN : 11|1@1+ (1.0,0.0) [0.0|1.0] "" BCM
|
||||
SG_ CF_Clu_InhibitD : 12|1@1+ (1.0,0.0) [0.0|1.0] "" BCM
|
||||
SG_ CF_Clu_Gear : 9|4@1+ (1,0) [0|15] "" BCM
|
||||
SG_ CF_Clu_HudInfoSet : 13|7@1+ (1.0,0.0) [0.0|127.0] "" HUD
|
||||
SG_ CF_Clu_HudFontColorSet : 20|2@1+ (1.0,0.0) [0.0|3.0] "" HUD
|
||||
SG_ CF_Clu_HudBrightUpSW : 22|2@1+ (1.0,0.0) [0.0|3.0] "" HUD
|
||||
@@ -1196,7 +1193,7 @@ BO_ 1313 GW_DDM_PE: 8 BCM
|
||||
SG_ C_RRDoorStatus : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
|
||||
SG_ C_TrunkStatus : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
|
||||
SG_ C_OSMirrorStatus : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
|
||||
|
||||
|
||||
BO_ 1056 SCC11: 8 SCC
|
||||
SG_ MainMode_ACC : 0|1@1+ (1,0) [0|1] "" CLU,EMS,ESC
|
||||
SG_ SCCInfoDisplay : 1|3@1+ (1,0) [0|7] "" CLU,ESC
|
||||
@@ -1523,7 +1520,8 @@ BO_ 881 E_EMS11: 8 XXX
|
||||
SG_ Gear_Change : 12|1@0+ (1,0) [0|31] "" XXX
|
||||
SG_ Cruise_Limit_Status : 13|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Limit_Target : 23|8@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Accel_Pedal_Pos : 31|8@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Accel_Pedal_Pos : 31|8@1+ (1,0) [0|254] "" XXX
|
||||
SG_ CR_Vcu_AccPedDep_Pos : 56|8@1+ (1,0) [0|254] "" XXX
|
||||
|
||||
BO_ 1355 EV_PC6: 8 CGW
|
||||
SG_ CF_Vcu_SbwWarnMsg : 16|3@1+ (1,0) [0|7] "" Vector__XXX
|
||||
@@ -1639,8 +1637,14 @@ BO_ 1042 ICM_412h: 8 ICM
|
||||
SG_ PopupMessageOutput_7Level : 54|1@0+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ PopupMessageOutput_8Level : 55|1@0+ (1,0) [0|1] "" Vector__XXX
|
||||
|
||||
VAL_ 274 CUR_GR 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 7 "D" 8 "D" 14 "R" 0 "P";
|
||||
VAL_ 871 CF_Lvr_Gear 5 "D" 8 "S" 6 "N" 7 "R" 0 "P";
|
||||
VAL_ 882 Elect_Gear_Shifter 5 "D" 8 "S" 6 "N" 7 "R" 0 "P";
|
||||
VAL_ 1322 CF_Clu_Gear 1 "P" 2 "R" 4 "N" 8 "D";
|
||||
VAL_ 909 CF_VSM_Warn 2 "FCW" 3 "AEB";
|
||||
VAL_ 1157 LFA_Icon_State 0 "no_wheel" 1 "white_wheel" 2 "green_wheel" 3 "green_wheel_blink";
|
||||
VAL_ 1157 LFA_SysWarning 0 "no_message" 1 "switching_to_hda" 2 "switching_to_scc" 3 "lfa_error" 4 "check_hda" 5 "keep_hands_on_wheel_orange" 6 "keep_hands_on_wheel_red";
|
||||
VAL_ 1157 HDA_Icon_State 0 "no_hda" 1 "white_hda" 2 "green_hda";
|
||||
VAL_ 1157 HDA_SysWarning 0 "no_message" 1 "driving_convenience_systems_cancelled" 2 "highway_drive_assist_system_cancelled";
|
||||
|
||||
CM_ "BO_ E_EMS11: All (plug-in) hybrids use this gas signal: CR_Vcu_AccPedDep_Pos, and all EVs use the Accel_Pedal_Pos signal. See hyundai/values.py for a specific car list";
|
||||
|
||||
@@ -163,7 +163,7 @@ 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_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
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
|
||||
@@ -196,6 +196,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|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_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
@@ -333,6 +336,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
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 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";
|
||||
@@ -360,6 +364,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
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_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
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";
|
||||
|
||||
414
opendbc/lexus_is300h_2017_pt_generated.dbc
Normal file
414
opendbc/lexus_is300h_2017_pt_generated.dbc
Normal file
@@ -0,0 +1,414 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
|
||||
NS_ :
|
||||
NS_DESC_
|
||||
CM_
|
||||
BA_DEF_
|
||||
BA_
|
||||
VAL_
|
||||
CAT_DEF_
|
||||
CAT_
|
||||
FILTER
|
||||
BA_DEF_DEF_
|
||||
EV_DATA_
|
||||
ENVVAR_DATA_
|
||||
SGTYPE_
|
||||
SGTYPE_VAL_
|
||||
BA_DEF_SGTYPE_
|
||||
BA_SGTYPE_
|
||||
SIG_TYPE_REF_
|
||||
VAL_TABLE_
|
||||
SIG_GROUP_
|
||||
SIG_VALTYPE_
|
||||
SIGTYPE_VALTYPE_
|
||||
BO_TX_BU_
|
||||
BA_DEF_REL_
|
||||
BA_REL_
|
||||
BA_DEF_DEF_REL_
|
||||
BU_SG_REL_
|
||||
BU_EV_REL_
|
||||
BU_BO_REL_
|
||||
SG_MUL_VAL_
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
|
||||
SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
|
||||
SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
|
||||
|
||||
BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
|
||||
SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
|
||||
SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
|
||||
SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
|
||||
|
||||
BO_ 166 BRAKE: 8 XXX
|
||||
SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 170 WHEEL_SPEEDS: 8 XXX
|
||||
SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
|
||||
SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
|
||||
SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
|
||||
SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
|
||||
|
||||
BO_ 180 SPEED: 8 XXX
|
||||
SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 353 DSU_SPEED: 7 XXX
|
||||
SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
|
||||
|
||||
BO_ 452 ENGINE_RPM: 8 CGW
|
||||
SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
|
||||
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
|
||||
SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 552 ACCELEROMETER: 8 XXX
|
||||
SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
|
||||
SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
|
||||
BO_ 560 BRAKE_MODULE2: 7 XXX
|
||||
SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
|
||||
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 742 LEAD_INFO: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
|
||||
SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
|
||||
SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ SET_ME_X01 : 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
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
BO_ 921 PCM_CRUISE_SM: 8 XXX
|
||||
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
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
|
||||
|
||||
BO_ 1041 ACC_HUD: 8 DSU
|
||||
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
|
||||
|
||||
BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1043 TIME : 8 CGW
|
||||
SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
|
||||
SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
|
||||
SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
|
||||
SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
|
||||
SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
|
||||
SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
|
||||
SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
|
||||
SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
|
||||
SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1162 RSA2: 8 FCM
|
||||
SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1163 RSA3: 8 FCM
|
||||
SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
|
||||
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
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
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 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_ 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.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
CM_ SG_ 1163 TSRMSW "always 1";
|
||||
CM_ SG_ 1163 OTSGNNTM "always 3";
|
||||
CM_ SG_ 1163 NTLVLSPD "always 3";
|
||||
CM_ SG_ 1163 OVSPNTM "always 3";
|
||||
CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
|
||||
CM_ SG_ 1163 TSRSPU "always 1";
|
||||
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
|
||||
|
||||
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
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_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
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";
|
||||
VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
VAL_ 1553 UNITS 1 "km" 2 "miles";
|
||||
VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
|
||||
VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
|
||||
VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
|
||||
VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
|
||||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "lexus_is_2018_pt.dbc starts here"
|
||||
|
||||
|
||||
|
||||
BO_ 550 BRAKE_MODULE: 8 XXX
|
||||
SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
|
||||
SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
|
||||
SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 581 GAS_PEDAL_ALT: 5 XXX
|
||||
SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 705 GAS_PEDAL: 8 XXX
|
||||
SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
|
||||
SG_ STEER_TORQUE_EPS : 47|16@0- (1.30,0) [-20000|20000] "" XXX
|
||||
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
|
||||
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
|
||||
|
||||
BO_ 610 EPS_STATUS: 5 EPS
|
||||
SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
|
||||
SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 956 GEAR_PACKET: 8 XXX
|
||||
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
|
||||
|
||||
BO_ 1009 PCM_CRUISE_ALT: 8 XXX
|
||||
SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
|
||||
|
||||
BO_ 1599 LIGHT_STALK_ISH: 8 SCM
|
||||
SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
|
||||
CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
|
||||
CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
|
||||
CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
|
||||
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
|
||||
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
|
||||
VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
|
||||
@@ -163,7 +163,7 @@ 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_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
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
|
||||
@@ -196,6 +196,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|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_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
@@ -333,6 +336,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
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 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";
|
||||
@@ -360,6 +364,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
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_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
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";
|
||||
|
||||
@@ -163,7 +163,7 @@ 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_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
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
|
||||
@@ -196,6 +196,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|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_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
@@ -333,6 +336,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
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 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";
|
||||
@@ -360,6 +364,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
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_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
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";
|
||||
|
||||
@@ -163,7 +163,7 @@ 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_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
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
|
||||
@@ -196,6 +196,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|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_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
@@ -333,6 +336,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
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 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";
|
||||
@@ -360,6 +364,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
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_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
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";
|
||||
|
||||
@@ -163,7 +163,7 @@ 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_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
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
|
||||
@@ -196,6 +196,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|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_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
@@ -333,6 +336,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
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 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";
|
||||
@@ -360,6 +364,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
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_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
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";
|
||||
|
||||
@@ -163,7 +163,7 @@ 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_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
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
|
||||
@@ -196,6 +196,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|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_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
@@ -333,6 +336,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
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 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";
|
||||
@@ -360,6 +364,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
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_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
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";
|
||||
|
||||
734
opendbc/tesla_can.dbc
Normal file
734
opendbc/tesla_can.dbc
Normal file
@@ -0,0 +1,734 @@
|
||||
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
|
||||
|
||||
VAL_TABLE_ StW_AnglHP_Spd 16383 "SNA" ;
|
||||
VAL_TABLE_ DI_aebFaultReason 15 "DI_AEB_FAULT_DAS_REQ_DI_UNAVAIL" 14 "DI_AEB_FAULT_ACCEL_REQ_INVALID" 13 "DI_AEB_FAULT_MIN_TIME_BTWN_EVENTS" 12 "DI_AEB_FAULT_ESP_MIA" 11 "DI_AEB_FAULT_ESP_FAULT" 10 "DI_AEB_FAULT_EPB_NOT_PARKED" 9 "DI_AEB_FAULT_ACCEL_OUT_OF_BOUNDS" 8 "DI_AEB_FAULT_PM_REQUEST" 7 "DI_AEB_FAULT_VEL_EST_ABNORMAL" 6 "DI_AEB_FAULT_DAS_SNA" 5 "DI_AEB_FAULT_DAS_CONTROL_MIA" 4 "DI_AEB_FAULT_SPEED_DELTA" 3 "DI_AEB_FAULT_EBR_FAULT" 2 "DI_AEB_FAULT_PM_MIA" 1 "DI_AEB_FAULT_EPB_MIA" 0 "DI_AEB_FAULT_NONE" ;
|
||||
VAL_TABLE_ DI_aebLockState 3 "AEB_LOCK_STATE_SNA" 2 "AEB_LOCK_STATE_UNUSED" 1 "AEB_LOCK_STATE_UNLOCKED" 0 "AEB_LOCK_STATE_LOCKED" ;
|
||||
VAL_TABLE_ DI_aebSmState 7 "DI_AEB_STATE_FAULT" 6 "DI_AEB_STATE_EXIT" 5 "DI_AEB_STATE_STANDSTILL" 4 "DI_AEB_STATE_STOPPING" 3 "DI_AEB_STATE_ENABLE" 2 "DI_AEB_STATE_ENABLE_INIT" 1 "DI_AEB_STATE_STANDBY" 0 "DI_AEB_STATE_UNAVAILABLE" ;
|
||||
VAL_TABLE_ DI_aebState 7 "AEB_CAN_STATE_SNA" 4 "AEB_CAN_STATE_FAULT" 3 "AEB_CAN_STATE_STANDSTILL" 2 "AEB_CAN_STATE_ENABLED" 1 "AEB_CAN_STATE_STANDBY" 0 "AEB_CAN_STATE_UNAVAILABLE" ;
|
||||
VAL_TABLE_ DI_epbInterfaceReady 1 "EPB_INTERFACE_READY" 0 "EPB_INTERFACE_NOT_READY" ;
|
||||
VAL_TABLE_ 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_TABLE_ DI_gpoReason 8 "DI_GPO_NUMREASONS" 7 "DI_GPO_CAPACITOR_OVERTEMP" 6 "DI_GPO_NOT_ENOUGH_12V" 5 "DI_GPO_NO_BATTERY_POWER" 4 "DI_GPO_AMBIENT_OVERTEMP" 3 "DI_GPO_FLUID_DELTAT" 2 "DI_GPO_STATOR_OVERTEMP" 1 "DI_GPO_HEATSINK_OVERTEMP" 0 "DI_GPO_OUTLET_OVERTEMP" ;
|
||||
VAL_TABLE_ DI_immobilizerCondition 1 "DI_IMM_CONDITION_LEARNED" 0 "DI_IMM_CONDITION_VIRGIN_SNA" ;
|
||||
VAL_TABLE_ DI_immobilizerState 7 "DI_IMM_STATE_FAULT" 6 "DI_IMM_STATE_FAULTRETRY" 5 "DI_IMM_STATE_RESET" 4 "DI_IMM_STATE_LEARN" 3 "DI_IMM_STATE_DISARMED" 2 "DI_IMM_STATE_AUTHENTICATING" 1 "DI_IMM_STATE_REQUEST" 0 "DI_IMM_STATE_INIT_SNA" ;
|
||||
VAL_TABLE_ DI_limpReason 24 "DI_LIMP_NUMREASONS" 23 "DI_LIMP_CAPACITOR_OVERTEMP" 22 "DI_LIMP_GTW_MIA" 21 "DI_LIMP_TRQCMD_VALIDITY_UNKNOWN" 20 "DI_LIMP_DI_MIA" 19 "DI_LIMP_CONFIG_MISMATCH" 18 "DI_LIMP_HEATSINK_TEMP" 17 "DI_LIMP_PMREQUEST" 16 "DI_LIMP_PMHEARTBEAT" 15 "DI_LIMP_TRQ_CROSS_CHECK" 14 "DI_LIMP_EXTERNAL_COMMAND" 13 "DI_LIMP_WRONG_CS_CALIBRATION" 12 "DI_LIMP_STATOR_TEMP" 11 "DI_LIMP_DELTAT_TOO_NEGATIVE" 10 "DI_LIMP_DELTAT_TOO_POSITIVE" 9 "DI_LIMP_AMBIENT_TEMP" 8 "DI_LIMP_OUTLET_TEMP" 7 "DI_LIMP_LOW_FLOW" 6 "DI_LIMP_BMS_MIA" 5 "DI_LIMP_12V_SUPPLY_UNDERVOLTAGE" 4 "DI_LIMP_NO_FLUID" 3 "DI_LIMP_NO_FUNC_HEATSINK_SENSOR" 2 "DI_LIMP_NO_FUNC_STATORT_SENSOR" 1 "DI_LIMP_BUSV_SENSOR_IRRATIONAL" 0 "DI_LIMP_PHASE_IMBALANCE" ;
|
||||
VAL_TABLE_ DI_mode 2 "DI_MODE_DYNO" 1 "DI_MODE_DRIVE" 0 "DI_MODE_UNDEF" ;
|
||||
VAL_TABLE_ DI_motorType 14 "DI_MOTOR_F2AE" 13 "DI_MOTOR_F2AD" 12 "DI_MOTOR_F2AC" 11 "DI_MOTOR_F2AB" 10 "DI_MOTOR_F1AC" 9 "DI_MOTOR_SSR1A" 8 "DI_MOTOR_F1A" 7 "DI_MOTOR_M7M6" 6 "DI_MOTOR_M8A" 5 "DI_MOTOR_M7M5" 4 "DI_MOTOR_M7M4" 3 "DI_MOTOR_M7M3" 2 "DI_MOTOR_ROADSTER_SPORT" 1 "DI_MOTOR_ROADSTER_BASE" 0 "DI_MOTOR_SNA" ;
|
||||
VAL_TABLE_ DI_speedUnits 1 "DI_SPEED_KPH" 0 "DI_SPEED_MPH" ;
|
||||
VAL_TABLE_ DI_state 4 "DI_STATE_ENABLE" 3 "DI_STATE_FAULT" 2 "DI_STATE_CLEAR_FAULT" 1 "DI_STATE_STANDBY" 0 "DI_STATE_PREAUTH" ;
|
||||
VAL_TABLE_ DI_velocityEstimatorState 4 "VE_STATE_BACKUP_MOTOR" 3 "VE_STATE_BACKUP_WHEELS_B" 2 "VE_STATE_BACKUP_WHEELS_A" 1 "VE_STATE_WHEELS_NORMAL" 0 "VE_STATE_NOT_INITIALIZED" ;
|
||||
|
||||
|
||||
BO_ 1160 DAS_steeringControl: 4 NEO
|
||||
SG_ DAS_steeringControlType : 23|2@0+ (1,0) [0|0] "" EPAS
|
||||
SG_ DAS_steeringControlChecksum : 31|8@0+ (1,0) [0|0] "" EPAS
|
||||
SG_ DAS_steeringControlCounter : 19|4@0+ (1,0) [0|0] "" EPAS
|
||||
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_ 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
|
||||
SG_ GTW_epasControlType : 15|2@0+ (1,0) [-1|4] "" NEO
|
||||
SG_ GTW_epasEmergencyOn : 7|1@0+ (1,0) [-1|2] "" NEO
|
||||
SG_ GTW_epasLDWEnabled : 12|1@0+ (1,0) [-1|2] "" NEO
|
||||
SG_ GTW_epasPowerMode : 6|4@0+ (1,0) [4|14] "" NEO
|
||||
SG_ GTW_epasTuneRequest : 2|3@0+ (1,0) [-1|8] "" NEO
|
||||
|
||||
BO_ 880 EPAS_sysStatus: 8 EPAS
|
||||
SG_ EPAS_currentTuneMode : 7|4@0+ (1,0) [8|15] "" NEO
|
||||
SG_ EPAS_eacErrorCode : 23|4@0+ (1,0) [-1|16] "" NEO
|
||||
SG_ EPAS_eacStatus : 55|3@0+ (1,0) [5|7] "" NEO
|
||||
SG_ EPAS_handsOnLevel : 39|2@0+ (1,0) [-1|4] "" NEO
|
||||
SG_ EPAS_internalSAS : 37|14@0+ (0.1,-819.200012) [0|0] "deg" NEO
|
||||
SG_ EPAS_steeringFault : 2|1@0+ (1,0) [-1|2] "" NEO
|
||||
SG_ EPAS_steeringRackForce : 1|10@0+ (50,-25575) [0|0] "N" NEO
|
||||
SG_ EPAS_steeringReduced : 3|1@0+ (1,0) [-1|2] "" NEO
|
||||
SG_ EPAS_sysStatusChecksum : 63|8@0+ (1,0) [0|255] "" NEO
|
||||
SG_ EPAS_sysStatusCounter : 51|4@0+ (1,0) [0|15] "" NEO
|
||||
SG_ EPAS_torsionBarTorque : 19|12@0+ (0.01,-20.5) [0|0] "Nm" NEO
|
||||
|
||||
BO_ 3 STW_ANGL_STAT: 8 STW
|
||||
SG_ StW_Angl : 5|14@0+ (0.5,-2048) [0|0] "deg" NEO
|
||||
SG_ StW_AnglSpd : 21|14@0+ (0.5,-2048) [0|0] "/s" NEO
|
||||
SG_ StW_AnglSens_Stat : 33|2@0+ (1,0) [-1|4] "" NEO
|
||||
SG_ StW_AnglSens_Id : 35|2@0+ (1,0) [3|3] "" NEO
|
||||
SG_ MC_STW_ANGL_STAT : 55|4@0+ (1,0) [0|15] "" NEO
|
||||
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
|
||||
SG_ StW_AnglHP_Sens_Id : 35|2@0+ (1,0) [0|0] "" NEO
|
||||
SG_ MC_STW_ANGLHP_STAT : 55|4@0+ (1,0) [0|15] "" NEO
|
||||
SG_ CRC_STW_ANGLHP_STAT : 63|8@0+ (1,0) [0|0] "" NEO
|
||||
|
||||
BO_ 264 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_ 280 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_ 309 ESP_135h: 5 ESP
|
||||
SG_ ESP_135hChecksum : 23|8@0+ (1,0) [0|255] "" NEO
|
||||
SG_ ESP_135hCounter : 11|4@0+ (1,0) [0|15] "" NEO
|
||||
SG_ ESP_absBrakeEvent : 2|1@0+ (1,0) [-1|2] "" NEO
|
||||
SG_ ESP_brakeDiscWipingActive : 4|1@0+ (1,0) [-1|2] "" NEO
|
||||
SG_ ESP_brakeLamp : 3|1@0+ (1,0) [-1|2] "" NEO
|
||||
SG_ ESP_espFaultLamp : 6|1@0+ (1,0) [-1|2] "" NEO
|
||||
SG_ ESP_espLampFlash : 7|1@0+ (1,0) [-1|2] "" NEO
|
||||
SG_ ESP_hillStartAssistActive : 1|2@0+ (1,0) [-1|4] "" NEO
|
||||
SG_ ESP_messagePumpService : 24|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ ESP_messagePumpFailure : 25|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ ESP_messageEBDFailure : 26|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ ESP_absFaultLamp : 27|1@0+ (1,0) [-1|2] "" NEO
|
||||
SG_ ESP_tcDisabledByFault : 28|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ ESP_messageDynoModeActive : 29|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ ESP_hydraulicBoostEnabled : 30|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ ESP_espOffLamp : 31|1@0+ (1,0) [-1|2] "" NEO
|
||||
SG_ ESP_stabilityControlSts : 14|3@0+ (1,0) [6|7] "" NEO
|
||||
SG_ ESP_tcLampFlash : 5|1@0+ (1,0) [-1|2] "" NEO
|
||||
SG_ ESP_tcOffLamp : 15|1@0+ (1,0) [0|1] "" NEO
|
||||
|
||||
BO_ 341 ESP_B: 8 ESP
|
||||
SG_ ESP_BChecksum : 39|8@0+ (1,0) [0|255] "" NEO,EPAS
|
||||
SG_ ESP_BCounter : 62|4@0+ (1,0) [1|15] "" NEO,EPAS
|
||||
SG_ ESP_vehicleSpeed : 47|16@0+ (0.00999999978,0) [0|0] "kph" NEO,EPAS
|
||||
SG_ ESP_vehicleSpeedQF : 57|2@0+ (1,0) [1|2] "" NEO,EPAS
|
||||
SG_ ESP_wheelPulseCountFrL : 7|8@0+ (1,0) [0|254] "" NEO,EPAS
|
||||
SG_ ESP_wheelPulseCountFrR : 15|8@0+ (1,0) [0|254] "" NEO,EPAS
|
||||
SG_ ESP_wheelPulseCountReL : 23|8@0+ (1,0) [0|254] "" NEO,EPAS
|
||||
SG_ ESP_wheelPulseCountReR : 31|8@0+ (1,0) [0|254] "" NEO,EPAS
|
||||
|
||||
BO_ 513 SDM1: 5 GTW
|
||||
SG_ SDM_bcklPassStatus : 3|2@0+ (1,0) [0|3] "" NEO
|
||||
SG_ SDM_bcklDrivStatus : 5|2@0+ (1,0) [0|3] "" NEO
|
||||
|
||||
BO_ 532 EPB_epasControl: 3 EPB
|
||||
SG_ EPB_epasControlChecksum : 23|8@0+ (1,0) [0|255] "" NEO,EPAS
|
||||
SG_ EPB_epasControlCounter : 11|4@0+ (1,0) [0|15] "" NEO,EPAS
|
||||
SG_ EPB_epasEACAllow : 2|3@0+ (1,0) [4|7] "" NEO,EPAS
|
||||
|
||||
BO_ 792 GTW_carState: 8 GTW
|
||||
SG_ YEAR : 0|7@1+ (1,2000) [2000|2127] "Year" NEO
|
||||
SG_ CERRD : 7|1@1+ (1,0) [0|1] "" NEO
|
||||
SG_ MONTH : 8|4@1+ (1,0) [1|12] "Month" NEO
|
||||
SG_ DOOR_STATE_FL : 12|2@1+ (1,0) [0|3] "" NEO
|
||||
SG_ DOOR_STATE_FR : 14|2@1+ (1,0) [0|3] "" NEO
|
||||
SG_ SECOND : 16|6@1+ (1,0) [0|59] "s" NEO
|
||||
SG_ DOOR_STATE_RL : 22|2@1+ (1,0) [0|3] "" NEO
|
||||
SG_ Hour : 24|5@1+ (1,0) [0|23] "h" NEO
|
||||
SG_ DOOR_STATE_RR : 29|2@1+ (1,0) [0|3] "" NEO
|
||||
SG_ DAY : 32|5@1+ (1,0) [0|31] "" NEO
|
||||
SG_ MINUTE : 40|6@1+ (1,0) [0|59] "min" NEO
|
||||
SG_ BOOT_STATE : 46|2@1+ (1,0) [0|3] "" NEO
|
||||
SG_ GTW_updateInProgress : 48|2@1+ (1,0) [0|3] "" NEO
|
||||
SG_ DOOR_STATE_FrontTrunk : 50|2@1+ (1,0) [0|3] "" NEO
|
||||
SG_ MCU_factoryMode : 52|1@1+ (1,0) [0|1] "" NEO
|
||||
SG_ MCU_transportModeOn : 53|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ BC_headLightLStatus : 55|2@0+ (1,0) [0|3] "" NEO
|
||||
SG_ BC_headLightRStatus : 57|2@0+ (1,0) [0|3] "" NEO
|
||||
SG_ BC_indicatorLStatus : 59|2@0+ (1,0) [0|3] "" NEO
|
||||
SG_ BC_indicatorRStatus : 61|2@0+ (1,0) [0|3] "" NEO
|
||||
|
||||
BO_ 872 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_ 109 SBW_RQ_SCCM: 4 STW
|
||||
SG_ StW_Sw_Stat3 : 0|3@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MsgTxmtId : 6|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ TSL_RND_Posn_StW : 8|4@1+ (1,0) [0|0] "" NEO
|
||||
SG_ TSL_P_Psd_StW : 12|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MC_SBW_RQ_SCCM : 20|4@1+ (1,0) [0|15] "" NEO
|
||||
SG_ CRC_SBW_RQ_SCCM : 24|8@1+ (1,0) [0|0] "" NEO
|
||||
|
||||
BO_ 69 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_ 643 BODY_R1: 8 GTW
|
||||
SG_ AirTemp_Insd : 47|8@0+ (0.25,0) [0|63.5] "C" NEO
|
||||
SG_ AirTemp_Outsd : 63|8@0+ (0.5,-40) [-40|86.5] "C" NEO
|
||||
SG_ Bckl_Sw_RL_Stat_SAM_R : 49|2@0+ (1,0) [-1|4] "" NEO
|
||||
SG_ Bckl_Sw_RM_Stat_SAM_R : 53|2@0+ (1,0) [-1|4] "" NEO
|
||||
SG_ Bckl_Sw_RR_Stat_SAM_R : 51|2@0+ (1,0) [-1|4] "" NEO
|
||||
SG_ DL_RLtch_Stat : 9|2@0+ (1,0) [-1|4] "" NEO
|
||||
SG_ DrRLtch_FL_Stat : 1|2@0+ (1,0) [-1|4] "" NEO
|
||||
SG_ DrRLtch_FR_Stat : 3|2@0+ (1,0) [-1|4] "" NEO
|
||||
SG_ DrRLtch_RL_Stat : 5|2@0+ (1,0) [-1|4] "" NEO
|
||||
SG_ DrRLtch_RR_Stat : 7|2@0+ (1,0) [-1|4] "" NEO
|
||||
SG_ EngHd_Stat : 11|2@0+ (1,0) [-1|4] "" NEO
|
||||
SG_ LoBm_On_Rq : 32|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ HiBm_On : 33|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ Hrn_On : 26|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ IrLmp_D_Lt_Flt : 34|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ IrLmp_P_Rt_Flt : 35|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ LgtSens_Twlgt : 18|3@0+ (1,0) [0|7] "Steps" NEO
|
||||
SG_ LgtSens_SNA : 19|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ LgtSens_Tunnel : 20|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ LgtSens_Flt : 21|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ LgtSens_Night : 22|1@0+ (1,0) [-1|2] "" NEO
|
||||
SG_ ADL_LoBm_On_Rq : 23|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ LoBm_D_Lt_Flt : 36|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ LoBm_P_Rt_Flt : 37|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ MPkBrk_Stat : 28|1@0+ (1,0) [-1|2] "" NEO
|
||||
SG_ RevGr_Engg : 39|2@0+ (1,0) [-1|4] "" NEO
|
||||
SG_ StW_Cond_Stat : 55|2@0+ (1,0) [-1|4] "" NEO
|
||||
SG_ Term54_Actv : 27|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ Trlr_Stat : 25|2@0+ (1,0) [-1|4] "" NEO
|
||||
SG_ VTA_Alm_Actv : 13|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ WprOutsdPkPosn : 29|1@0+ (1,0) [0|1] "" NEO
|
||||
|
||||
BO_ 760 UI_gpsVehicleSpeed: 8 GTW
|
||||
SG_ UI_gpsHDOP : 0|8@1+ (0.1,0) [0|25.5] "1" DAS
|
||||
SG_ UI_gpsVehicleHeading : 8|16@1+ (0.0078125,0) [0|511.9921875] "deg" DAS
|
||||
SG_ UI_gpsVehicleSpeed : 24|16@1+ (0.00390625,0) [0|250.996] "km/hr" Vector__XXX
|
||||
SG_ UI_userSpeedOffset : 40|6@1+ (1,-30) [-30|33] "kph/mph" DAS
|
||||
SG_ UI_mapSpeedLimitUnits : 46|1@1+ (1,0) [0|1] "" DAS
|
||||
SG_ UI_userSpeedOffsetUnits : 47|1@1+ (1,0) [0|1] "" DAS
|
||||
SG_ UI_mppSpeedLimit : 48|5@1+ (5,0) [0|155] "kph/mph" DAS
|
||||
SG_ UI_gpsNmeaMIA : 53|1@1+ (1,0) [0|0] "" DAS
|
||||
|
||||
BO_ 536 MCU_chassisControl: 8 GTW
|
||||
SG_ MCU_dasDebugEnable : 0|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MCU_parkBrakeRequest : 1|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MCU_trailerModeCH : 3|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MCU_fcwSensitivity : 4|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MCU_fcwEnable : 6|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MCU_latControlEnable : 8|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MCU_accOvertakeEnable : 10|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MCU_ldwEnable : 12|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MCU_aebEnable : 14|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MCU_bsdEnable : 16|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MCU_ahlbEnable : 18|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MCU_parkSetting : 20|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MCU_pedalSafetyEnable : 22|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MCU_frontDefrostReq_das : 24|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MCU_autoParkRequest : 26|4@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MCU_redLightStopSignEnable : 30|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MCU_enableCreepTorqueCH : 32|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MCU_narrowGarages : 33|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MCU_rebootAutopilot : 34|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MCU_enableAutowipers : 35|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MCU_overPaintedUSS : 38|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MCU_selfParkTune : 40|4@1+ (1,0) [0|15] "" NEO
|
||||
SG_ MCU_towModeEnable : 44|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MCU_zeroSpeedConfirmed : 46|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MCU_aesEnable : 48|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MCU_autoLaneChangeEnable : 50|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MCU_chassisControlCounter : 52|4@1+ (1,0) [0|0] "" NEO
|
||||
SG_ MCU_chassisControlChecksum : 56|8@1+ (1,0) [0|0] "" NEO
|
||||
|
||||
BO_ 904 MCU_clusterBacklightRequest: 3 NEO
|
||||
SG_ MCU_clusterBacklightOn : 7|1@1+ (1,0) [0|1] "" NEO
|
||||
SG_ MCU_clusterBrightnessLevel : 8|8@1+ (0.5,0) [0|127.5] "%" NEO
|
||||
SG_ MCU_clusterReadyForDrive : 6|1@1+ (1,0) [-1|2] "" NEO
|
||||
SG_ MCU_clusterReadyForPowerOff : 5|1@1+ (1,0) [0|1] "" NEO
|
||||
|
||||
BO_ 984 MCU_locationStatus: 8 MCU
|
||||
SG_ MCU_gpsAccuracy : 57|7@1+ (0.2,0) [0|0] "m" NEO
|
||||
SG_ MCU_latitude : 0|28@1- (1E-06,0) [0|0] "deg" NEO
|
||||
SG_ MCU_longitude : 28|29@1- (1E-06,0) [0|0] "deg" NEO
|
||||
|
||||
BO_ 104 MCU_locationStatus2: 8 MCU
|
||||
SG_ MCU_elevation : 0|32@1- (0.1,0) [0|0] "m" GTW
|
||||
SG_ MCU_navigonExpectedSpeed : 32|7@1+ (1,0) [0|126] "mph" GTW
|
||||
|
||||
BO_ 840 GTW_status: 8 GTW
|
||||
SG_ GTW_accGoingDown : 6|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ GTW_accRailReq : 8|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ GTW_brakePressed : 1|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ GTW_driveGoingDown : 7|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ GTW_driveRailReq : 0|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ GTW_driverIsLeaving : 5|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ GTW_driverPresent : 2|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ GTW_hvacGoingDown : 11|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ GTW_hvacRailReq : 9|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ GTW_icPowerOff : 4|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ GTW_notEnough12VForDrive : 3|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ GTW_preconditionRequest : 10|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ GTW_statusChecksum : 63|8@0+ (1,0) [0|255] "" NEO
|
||||
SG_ GTW_statusCounter : 51|4@0+ (1,0) [0|15] "" NEO
|
||||
|
||||
BO_ 920 GTW_carConfig: 8 GTW
|
||||
SG_ GTW_performanceConfig : 2|3@0+ (1,0) [0|0] "" NEO
|
||||
SG_ GTW_fourWheelDrive : 4|2@0+ (1,0) [0|0] "" NEO
|
||||
SG_ GTW_unknown1 : 5|1@0+ (1,0) [0|0] "" NEO
|
||||
SG_ GTW_dasHw : 7|2@0+ (1,0) [0|0] "" NEO
|
||||
SG_ GTW_parkAssistInstalled : 9|2@0+ (1,0) [0|0] "" NEO
|
||||
SG_ GTW_forwardRadarHw : 11|2@0+ (1,0) [0|0] "" NEO
|
||||
SG_ GTW_airSuspensionInstalled : 14|3@0+ (1,0) [0|0] "" NEO
|
||||
SG_ GTW_unknown2 : 15|1@0+ (1,0) [0|0] "" NEO
|
||||
SG_ GTW_country : 23|16@0+ (1,0) [0|0] "" NEO
|
||||
SG_ GTW_parkSensorGeometryType : 33|2@0+ (1,0) [0|0] "" NEO
|
||||
SG_ GTW_rhd : 34|1@0+ (1,0) [0|0] "" NEO
|
||||
SG_ GTW_bodyControlsType : 35|1@0+ (1,0) [0|0] "" NEO
|
||||
SG_ GTW_radarPosition : 39|4@0+ (1,0) [0|0] "" NEO
|
||||
SG_ GTW_rearCornerRadarHw : 41|2@0+ (1,0) [0|0] "" NEO
|
||||
SG_ GTW_frontCornerRadarHw : 43|2@0+ (1,0) [0|0] "" NEO
|
||||
SG_ GTW_epasType : 45|2@0+ (1,0) [0|0] "" NEO
|
||||
SG_ GTW_chassisType : 47|2@0+ (1,0) [0|2] "" NEO
|
||||
SG_ GTW_wheelType : 52|5@0+ (1,0) [0|0] "" NEO
|
||||
SG_ GTW_rearSeatControllerMask : 55|3@0+ (1,0) [0|7] "" NEO
|
||||
SG_ GTW_euVehicle : 56|1@0+ (1,0) [0|0] "" NEO
|
||||
SG_ GTW_foldingMirrorsInstalled : 57|1@0+ (1,0) [0|0] "" NEO
|
||||
SG_ GTW_brakeHwType : 59|2@0+ (1,0) [0|2] "" NEO
|
||||
SG_ GTW_autopilot : 61|2@0+ (1,0) [0|0] "" NEO
|
||||
SG_ GTW_unknown3 : 63|2@0+ (1,0) [0|0] "" NEO
|
||||
|
||||
BO_ 1006 UI_autopilotControl: 8 GTW
|
||||
SG_ UI_autopilotControlIndex M : 0|3@1+ (1,0) [0|7] "" APP,APS
|
||||
SG_ UI_hovEnabled m0 : 3|1@1+ (1,0) [0|0] "" APP,APS
|
||||
SG_ UI_donDisableAutoWiperDuration m0 : 4|3@1+ (1,0) [0|0] "" APP,APS
|
||||
SG_ UI_donDisableOnAutoWiperSpeed m0 : 7|4@1+ (1,0) [0|0] "" APP,APS
|
||||
SG_ UI_blindspotMinSpeed m0 : 11|4@1+ (1,0) [0|0] "" APP,APS
|
||||
SG_ UI_blindspotDistance m0 : 15|3@1+ (1,0) [0|0] "" APP,APS
|
||||
SG_ UI_blindspotTTC m0 : 18|3@1+ (1,0) [0|0] "" APP,APS
|
||||
SG_ UI_donStopEndOfRampBuffer m0 : 21|3@1+ (1,0) [0|0] "" APP,APS
|
||||
SG_ UI_donDisableCutin m0 : 24|1@1+ (1,0) [0|0] "" APP,APS
|
||||
SG_ UI_donMinGoreWidthForAbortMap m0 : 25|4@1+ (1,0) [0|0] "" APP,APS
|
||||
SG_ UI_donAlcProgGoreAbortThres m0 : 29|4@1+ (1,0) [0|0] "" APP,APS
|
||||
SG_ UI_donMinGoreWidthForAbortNotMap m0 : 33|4@1+ (1,0) [0|0] "" APP,APS
|
||||
SG_ UI_alcDisableUltrasonicCheck m0 : 37|1@1+ (1,0) [0|0] "" APP,APS
|
||||
SG_ UI_alcUltrasonicDistance m0 : 38|4@1+ (1,0) [0|0] "" APP,APS
|
||||
SG_ UI_alcUltrasonicWaitTime m0 : 42|3@1+ (1,0) [0|0] "" APP,APS
|
||||
SG_ UI_alcEgoLeadingReactionAccel m0 : 48|2@1+ (1,0) [0|0] "" APP,APS
|
||||
SG_ UI_alcMergIntervalRearDHyst m0 : 50|2@1+ (1,0) [0|0] "" APP,APS
|
||||
SG_ UI_alcMergingIntervalHeadwayHyst m0 : 52|2@1+ (1,0) [0|0] "" APP,APS
|
||||
SG_ UI_alcAssertivenessRate m0 : 54|2@1+ (1,0) [0|0] "" APP,APS
|
||||
SG_ UI_alcViewRangeSensitivity m0 : 56|2@1+ (1,0) [0|0] "" APP,APS
|
||||
SG_ UI_camBlockLaneCheckDisable m1 : 3|1@1+ (1,0) [0|0] "" APP,APS
|
||||
SG_ UI_camBlockLaneCheckThreshold m1 : 4|6@1+ (0.01587,0) [0|1] "%" APP,APS
|
||||
SG_ UI_camBlockBlurDisable m1 : 10|1@1+ (1,0) [0|0] "" APP,APS
|
||||
SG_ UI_camBlockBlurThreshold m1 : 11|6@1+ (0.01587,0) [0|1] "%" APP,APS
|
||||
|
||||
BO_ 728 UI_csaOfframpCurvature: 8 GTW
|
||||
SG_ UI_csaOfframpCurvC2 : 0|16@1- (1E-06,0) [-0.032768|0.032767] "1/m" DAS
|
||||
SG_ UI_csaOfframpCurvC3 : 16|16@1- (4E-09,0) [-0.000131072|0.000131068] "1/m2" DAS
|
||||
SG_ UI_csaOfframpCurvRange : 32|8@1+ (2,0) [0|510] "m" DAS
|
||||
SG_ UI_csaOfframpCurvCounter : 40|8@1+ (1,0) [0|255] "" Vector__XXX
|
||||
SG_ UI_csaOfframpCurvUsingTspline : 48|1@1+ (1,0) [0|1] "" DAS
|
||||
SG_ UI_csaOfframpCurvReserved : 49|7@1+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ UI_csaOfframpCurvChecksum : 56|8@1+ (1,0) [0|0] "" Vector__XXX
|
||||
|
||||
BO_ 744 UI_csaRoadCurvature: 8 GTW
|
||||
SG_ UI_csaRoadCurvC2 : 0|16@1- (1E-06,0) [-0.032768|0.032767] "1/m" DAS
|
||||
SG_ UI_csaRoadCurvC3 : 16|16@1- (4E-09,0) [-0.000131072|0.000131068] "1/m2" DAS
|
||||
SG_ UI_csaRoadCurvRange : 32|8@1+ (2,0) [0|510] "m" DAS
|
||||
SG_ UI_csaRoadCurvCounter : 40|8@1+ (1,0) [0|255] "" Vector__XXX
|
||||
SG_ UI_csaRoadCurvUsingTspline : 48|1@1+ (1,0) [0|1] "" DAS
|
||||
SG_ UI_csaRoadCurvReserved : 49|7@1+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ UI_csaRoadCurvChecksum : 56|8@1+ (1,0) [0|0] "" Vector__XXX
|
||||
|
||||
BO_ 1080 UI_driverAssistAnonDebugParams: 8 GTW
|
||||
SG_ UI_anonDebugParam1 : 0|7@1+ (1,0) [0|100] "" DAS
|
||||
SG_ UI_anonDebugFlag1 : 7|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_anonDebugParam2 : 8|7@1+ (1,0) [0|100] "" DAS
|
||||
SG_ UI_anonDebugFlag2 : 15|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_anonDebugParam3 : 16|7@1+ (1,0) [0|100] "" DAS
|
||||
SG_ UI_anonDebugFlag3 : 23|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_anonDebugParam4 : 24|7@1+ (1,0) [0|100] "" DAS
|
||||
SG_ UI_anonDebugFlag4 : 31|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_anonDebugParam5 : 32|7@1+ (1,0) [0|100] "" DAS
|
||||
SG_ UI_anonDebugParam6 : 40|7@1+ (1,0) [0|100] "" DAS
|
||||
SG_ UI_anonDebugParam7 : 48|7@1+ (1,0) [0|100] "" DAS
|
||||
SG_ UI_visionSpeedSlider : 56|7@1+ (1,0) [0|100] "" DAS
|
||||
|
||||
BO_ 1000 UI_driverAssistControl: 8 GTW
|
||||
SG_ UI_autopilotControlRequest : 0|1@1+ (1,0) [1|0] "" DAS
|
||||
SG_ UI_ulcStalkConfirm : 1|1@1+ (1,0) [1|0] "" DAS
|
||||
SG_ UI_summonHeartbeat : 2|2@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_curvSpeedAdaptDisable : 4|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_dasDeveloper : 5|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_enableVinAssociation : 6|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_lssLkaEnabled : 7|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_lssLdwEnabled : 8|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_autoSummonEnable : 10|1@1+ (1,0) [0|1] "" DAS
|
||||
SG_ UI_exceptionListEnable : 11|1@1+ (1,0) [0|1] "" APP
|
||||
SG_ UI_roadCheckDisable : 12|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_driveOnMapsEnable : 13|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_handsOnRequirementDisable : 14|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_forksEnable : 15|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_fuseLanesDisable : 16|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_fuseHPPDisable : 17|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_fuseVehiclesDisable : 18|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_enableNextGenACC : 19|1@1+ (1,0) [0|1] "" APP
|
||||
SG_ UI_visionSpeedType : 20|2@1+ (1,0) [0|0] "" APP
|
||||
SG_ UI_curvatureDatabaseOnly : 22|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_lssElkEnabled : 23|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_summonExitType : 24|2@1+ (1,0) [0|3] "" DAS
|
||||
SG_ UI_summonEntryType : 26|2@1+ (1,0) [0|3] "" DAS
|
||||
SG_ UI_selfParkRequest : 28|4@1+ (1,0) [0|15] "" DAS,PARK
|
||||
SG_ UI_summonReverseDist : 32|6@1+ (1,0) [0|63] "" DAS
|
||||
SG_ UI_undertakeAssistEnable : 38|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_adaptiveSetSpeedEnable : 39|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_drivingSide : 40|2@1+ (1,0) [0|3] "" DAS
|
||||
SG_ UI_enableClipTelemetry : 42|1@1+ (1,0) [0|0] "" APP
|
||||
SG_ UI_enableTripTelemetry : 43|1@1+ (1,0) [0|0] "" APP
|
||||
SG_ UI_enableRoadSegmentTelemetry : 44|1@1+ (1,0) [0|0] "" APP
|
||||
SG_ UI_followNavRouteEnable : 46|1@1+ (1,0) [0|0] "" APP
|
||||
SG_ UI_ulcSpeedConfig : 48|2@1+ (1,0) [0|3] "" APP
|
||||
SG_ UI_ulcBlindSpotConfig : 50|2@1+ (1,0) [0|3] "" APP
|
||||
SG_ UI_autopilotAlwaysOn : 52|1@1+ (1,0) [0|1] "" APP
|
||||
SG_ UI_accFromZero : 53|1@1+ (1,0) [0|1] "" APP
|
||||
SG_ UI_alcOffHighwayEnable : 54|1@1+ (1,0) [0|1] "" APP
|
||||
SG_ UI_validationLoop : 55|1@1+ (1,0) [0|1] "" APP
|
||||
SG_ UI_ulcOffHighway : 56|1@1+ (1,0) [0|1] "" APP
|
||||
SG_ UI_enableNavRouteCSA : 57|1@1+ (1,0) [0|1] "" APP
|
||||
SG_ UI_enableCutinExperiments : 58|1@1+ (1,0) [0|1] "" APP
|
||||
SG_ UI_source3D : 60|3@1+ (1,0) [0|7] "" APP
|
||||
SG_ UI_enableVisionOnlyStops : 63|1@1+ (1,0) [0|1] "" APP
|
||||
|
||||
BO_ 968 UI_driverAssistMapData: 8 GTW
|
||||
SG_ UI_mapSpeedLimitDependency : 0|3@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_roadClass : 3|3@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_inSuperchargerGeofence : 6|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_mapSpeedUnits : 7|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_mapSpeedLimit : 8|5@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_mapSpeedLimitType : 13|3@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_countryCode : 16|10@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_streetCount : 26|2@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_gpsRoadMatch : 28|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_navRouteActive : 29|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_parallelAutoparkEnabled : 30|1@1+ (1,0) [0|1] "" DAS
|
||||
SG_ UI_perpendicularAutoparkEnabled : 31|1@1+ (1,0) [0|1] "" DAS
|
||||
SG_ UI_nextBranchDist : 32|5@1+ (10,0) [0|300] "m" DAS
|
||||
SG_ UI_controlledAccess : 37|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_nextBranchLeftOffRamp : 38|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_nextBranchRightOffRamp : 39|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_rejectLeftLane : 40|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_rejectRightLane : 41|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_rejectHPP : 42|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_rejectNav : 43|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_rejectLeftFreeSpace : 44|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_rejectRightFreeSpace : 45|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_rejectAutosteer : 46|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_rejectHandsOn : 47|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_acceptBottsDots : 48|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_autosteerRestricted : 49|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_pmmEnabled : 50|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_scaEnabled : 51|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_mapDataCounter : 52|4@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_mapDataChecksum : 56|8@1+ (1,0) [0|0] "" DAS
|
||||
|
||||
BO_ 568 UI_driverAssistRoadSign: 8 GTW
|
||||
SG_ UI_roadSign M : 0|8@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_splineLocConfidence : 40|7@1+ (1,0) [0|100] "" DAS
|
||||
SG_ UI_splineID : 48|4@1+ (1,0) [0|15] "" Vector__XXX
|
||||
SG_ UI_roadSignCounter : 52|4@1+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ UI_roadSignChecksum : 56|8@1+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ UI_dummyData m0 : 8|1@1+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ UI_stopSignStopLineDist m1 : 8|10@1+ (0.25,-8) [-8|247.5] "m" Vector__XXX
|
||||
SG_ UI_stopSignStopLineConf m1 : 18|7@1+ (1,0) [0|100] "" Vector__XXX
|
||||
SG_ UI_trafficLightStopLineDist m2 : 8|10@1+ (0.25,-8) [-8|247.5] "m" Vector__XXX
|
||||
SG_ UI_trafficLightStopLineConf m2 : 18|7@1+ (1,0) [0|100] "" Vector__XXX
|
||||
SG_ UI_baseMapSpeedLimitMPS m3 : 8|8@1+ (0.25,0) [0|63.75] "m/s" DAS
|
||||
SG_ UI_bottomQrtlFleetSpeedMPS m3 : 16|8@1+ (0.25,0) [0|63.75] "m/s" DAS
|
||||
SG_ UI_topQrtlFleetSpeedMPS m3 : 24|8@1+ (0.25,0) [0|63.75] "m/s" DAS
|
||||
SG_ UI_meanFleetSplineSpeedMPS m4 : 8|8@1+ (0.25,0) [0|63.75] "m/s" DAS
|
||||
SG_ UI_medianFleetSpeedMPS m4 : 16|8@1+ (0.25,0) [0|63.75] "m/s" DAS
|
||||
SG_ UI_meanFleetSplineAccelMPS2 m4 : 24|8@1+ (0.05,-6.35) [-6.35|6.4] "m/s^2" DAS
|
||||
SG_ UI_rampType m4 : 32|3@1+ (1,0) [0|7] "" DAS
|
||||
SG_ UI_currSplineIdFull m5 : 8|32@1+ (1,0) [0|1] "" APP
|
||||
|
||||
|
||||
BO_ 696 UI_radarMapData: 8 GTW
|
||||
SG_ UI_radarTargetDx : 0|8@1+ (1,-95) [-95|160] "m" DAS
|
||||
SG_ UI_radarTargetDxEnd : 8|8@1+ (1,0) [0|255] "m" DAS
|
||||
SG_ UI_radarTargetTrustMap : 16|1@1+ (1,0) [0|1] "" DAS
|
||||
SG_ UI_radarEnableBraking : 17|1@1+ (1,0) [0|1] "" DAS
|
||||
SG_ UI_radarMapDataCounter : 52|4@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_radarMapDataChecksum : 56|8@1+ (1,0) [0|0] "" DAS
|
||||
|
||||
BO_ 712 UI_roadCurvature: 8 GTW
|
||||
SG_ UI_roadCurvC0 : 0|11@1- (0.02,0) [-20.48|20.46] "m" DAS
|
||||
SG_ UI_roadCurvC1 : 11|10@1- (0.00075,0) [-0.384|0.38325] "1" DAS
|
||||
SG_ UI_roadCurvC2 : 21|14@1- (7.5E-06,0) [-0.03072|0.03071625] "1/m" DAS
|
||||
SG_ UI_roadCurvC3 : 35|13@1- (3E-08,0) [-0.00012288|0.00012285] "1/m2" DAS
|
||||
SG_ UI_roadCurvRange : 48|6@1+ (4,0) [0|252] "m" DAS
|
||||
SG_ UI_roadCurvHealth : 54|2@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_roadCurvChecksum : 56|8@1+ (1,0) [0|0] "" Vector__XXX
|
||||
|
||||
BO_ 582 UI_solarData: 5 GTW
|
||||
SG_ UI_solarAzimuthAngle : 0|16@1- (1,0) [0|360] "deg" APP
|
||||
SG_ UI_solarAzimuthAngleCarRef : 16|9@1- (1,0) [-180|180] "deg" APP
|
||||
SG_ UI_isSunUp : 25|1@1+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ UI_solarElevationAngle : 32|8@1- (1,0) [-90|90] "deg" APP
|
||||
|
||||
BO_ 824 UI_status: 8 GTW
|
||||
SG_ UI_touchActive : 0|1@1+ (1,0) [0|0] "" IC
|
||||
SG_ UI_audioActive : 1|1@1+ (1,0) [0|0] "" IC
|
||||
SG_ UI_bluetoothActive : 2|1@1+ (1,0) [0|0] "" IC
|
||||
SG_ UI_cellActive : 3|1@1+ (1,0) [0|0] "" IC
|
||||
SG_ UI_displayReady : 4|1@1+ (1,0) [0|0] "" IC
|
||||
SG_ UI_gpsActive : 5|1@1+ (1,0) [0|0] "" IC
|
||||
SG_ UI_wifiConnected : 6|1@1+ (1,0) [0|0] "" IC,APP
|
||||
SG_ UI_systemActive : 7|1@1+ (1,0) [0|0] "" IC
|
||||
SG_ UI_xmActive : 8|1@1+ (1,0) [0|0] "" IC
|
||||
SG_ UI_displayOn : 9|1@1+ (1,0) [0|0] "" IC,APP
|
||||
SG_ UI_readyForDrive : 10|1@1+ (1,0) [0|0] "" IC
|
||||
SG_ UI_cellConnected : 11|1@1+ (1,0) [0|0] "" IC,APP
|
||||
SG_ UI_vpnActive : 12|1@1+ (1,0) [0|0] "" IC,APP
|
||||
SG_ UI_wifiActive : 13|1@1+ (1,0) [0|0] "" IC
|
||||
SG_ UI_cameraActive : 14|1@1+ (1,0) [0|0] "" IC,APP
|
||||
SG_ UI_usbActive : 15|1@1+ (1,0) [0|0] "" IC
|
||||
SG_ UI_screenshotActive : 16|1@1+ (1,0) [0|0] "" IC,APP
|
||||
SG_ UI_monitorModemPower : 17|1@1+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ UI_factoryReset : 18|2@1+ (1,0) [0|3] "" Vector__XXX
|
||||
SG_ UI_cellNetworkTechnology : 20|4@1+ (1,0) [0|15] "" APP
|
||||
SG_ UI_tegraCoreTemperature : 24|8@1+ (1,-64) [0|0] "deg C" IC
|
||||
SG_ UI_tegraAmbientTemperature : 32|8@1+ (1,-64) [0|0] "deg C" IC
|
||||
SG_ UI_googleWifiUsages : 40|8@1+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ UI_autopilotTrial : 48|2@1+ (1,0) [0|0] "" APP
|
||||
SG_ UI_cellSignalBars : 50|3@1+ (1,0) [0|7] "" APP
|
||||
SG_ UI_hardwareType : 53|2@1+ (1,0) [0|3] "" APP
|
||||
SG_ UI_developmentCar : 55|1@1+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ UI_cellReceiverPower : 56|8@1+ (1,-128) [-128|127] "dB" APP
|
||||
|
||||
BO_ 1064 UI_telemetryControl: 8 GTW
|
||||
SG_ UI_TCR_enable : 0|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_TCR_moveStateStanding : 1|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_TCR_moveStateStopped : 2|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_TCR_moveStateMoving : 3|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_TCR_moveStateIndeterm : 4|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_TCR_classConstElem : 5|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_TCR_classMovingPed : 6|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_TCR_classMovingTwoWheel : 7|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_TCR_classMovingFourWheel : 8|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_TCR_classUnknown : 9|1@1+ (1,0) [0|0] "" DAS
|
||||
SG_ UI_TCR_downSampleFactor : 16|4@1+ (1,0) [0|15] "" Vector__XXX
|
||||
SG_ UI_TCR_wExist : 24|5@1+ (1,0) [0|31] "" Vector__XXX
|
||||
SG_ UI_TCR_vehSpeed : 32|8@1+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ UI_TCR_minRCS : 40|8@1+ (0.25,-14) [-14|49.75] "dB" Vector__XXX
|
||||
SG_ UI_TCR_maxDy : 48|5@1+ (0.5,0) [0|15.5] "m" Vector__XXX
|
||||
SG_ UI_TCR_maxObjects : 56|5@1+ (1,0) [0|31] "" Vector__XXX
|
||||
SG_ UI_TCR_maxRoadClass : 61|3@1+ (1,0) [0|7] "" Vector__XXX
|
||||
|
||||
BO_ 522 BrakeMessage: 8 XXX
|
||||
SG_ driverBrakeStatus : 2|2@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 921 AutopilotStatus: 8 XXX
|
||||
SG_ autopilotStatus : 0|4@1+ (1,0) [0|0] "" XXX
|
||||
|
||||
VAL_ 3 StW_Angl 16383 "SNA" ;
|
||||
VAL_ 3 StW_AnglSens_Id 2 "MUST" 0 "PSBL" 1 "SELF" ;
|
||||
VAL_ 3 StW_AnglSens_Stat 2 "ERR" 3 "ERR_INI" 1 "INI" 0 "OK" ;
|
||||
VAL_ 3 StW_AnglSpd 16383 "SNA" ;
|
||||
VAL_ 14 StW_AnglHP 16383 "SNA" ;
|
||||
VAL_ 14 StW_AnglHP_Spd 16383 "SNA" ;
|
||||
VAL_ 14 StW_AnglHP_Sens_Stat 3 "SNA" 2 "ERR" 1 "INI" 0 "OK" ;
|
||||
VAL_ 14 StW_AnglHP_Sens_Id 3 "SNA" 2 "KOSTAL" 1 "DELPHI" 0 "TEST" ;
|
||||
VAL_ 69 SpdCtrlLvr_Stat 32 "DN_1ST" 16 "UP_1ST" 8 "DN_2ND" 4 "UP_2ND" 2 "RWD" 1 "FWD" 0 "IDLE" ;
|
||||
VAL_ 69 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_ 69 TurnIndLvr_Stat 3 "SNA" 2 "RIGHT" 1 "LEFT" 0 "IDLE" ;
|
||||
VAL_ 69 HiBmLvr_Stat 3 "SNA" 2 "HIBM_FLSH_ON_PSD" 1 "HIBM_ON_PSD" 0 "IDLE" ;
|
||||
VAL_ 69 WprWashSw_Psd 3 "SNA" 2 "WASH" 1 "TIPWIPE" 0 "NPSD" ;
|
||||
VAL_ 69 WprWash_R_Sw_Posn_V2 3 "SNA" 2 "WASH" 1 "INTERVAL" 0 "OFF" ;
|
||||
VAL_ 69 StW_Lvr_Stat 4 "STW_BACK" 3 "STW_FWD" 2 "STW_DOWN" 1 "STW_UP" 0 "NPSD" ;
|
||||
VAL_ 69 StW_Cond_Psd 3 "SNA" 2 "DOWN" 1 "UP" 0 "NPSD" ;
|
||||
VAL_ 69 HrnSw_Psd 3 "SNA" 2 "NDEF2" 1 "PSD" 0 "NPSD" ;
|
||||
VAL_ 69 StW_Sw00_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
|
||||
VAL_ 69 StW_Sw01_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
|
||||
VAL_ 69 StW_Sw03_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
|
||||
VAL_ 69 StW_Sw04_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
|
||||
VAL_ 69 WprSw6Posn 7 "SNA" 6 "STAGE2" 5 "STAGE1" 4 "INTERVAL4" 3 "INTERVAL3" 2 "INTERVAL2" 1 "INTERVAL1" 0 "OFF" ;
|
||||
VAL_ 257 GTW_epasControlType 0 "WITHOUT" 1 "WITH_ANGLE" 3 "WITH_BOTH" 2 "WITH_TORQUE" ;
|
||||
VAL_ 109 StW_Sw_Stat3 7 "SNA" 6 "NDEF6" 5 "NDEF5" 4 "NDEF4" 3 "PLUS_MINUS" 2 "MINUS" 1 "PLUS" 0 "NPSD" ;
|
||||
VAL_ 109 MsgTxmtId 3 "NDEF3" 2 "NDEF2" 1 "SCCM" 0 "EWM" ;
|
||||
VAL_ 109 TSL_RND_Posn_StW 15 "SNA" 8 "D" 6 "INI" 4 "N_DOWN" 2 "N_UP" 1 "R" 0 "IDLE" ;
|
||||
VAL_ 109 TSL_P_Psd_StW 3 "SNA" 2 "INI" 1 "PSD" 0 "IDLE" ;
|
||||
VAL_ 257 GTW_epasEmergencyOn 1 "EMERGENCY_POWER" 0 "NONE" ;
|
||||
VAL_ 257 GTW_epasLDWEnabled 1 "ALLOWED" 0 "INHIBITED" ;
|
||||
VAL_ 257 GTW_epasPowerMode 0 "DRIVE_OFF" 1 "DRIVE_ON" 3 "LOAD_SHED" 2 "SHUTTING_DOWN" 15 "SNA" ;
|
||||
VAL_ 257 GTW_epasTuneRequest 1 "DM_COMFORT" 3 "DM_SPORT" 2 "DM_STANDARD" 0 "FAIL_SAFE_DEFAULT" 4 "RWD_COMFORT" 6 "RWD_SPORT" 5 "RWD_STANDARD" 7 "SNA" ;
|
||||
VAL_ 264 DI_torqueDriver -4096 "SNA" ;
|
||||
VAL_ 264 DI_torqueMotor -4096 "SNA" ;
|
||||
VAL_ 264 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_ 264 DI_motorRPM -32768 "SNA" ;
|
||||
VAL_ 264 DI_pedalPos 255 "SNA" ;
|
||||
VAL_ 280 DI_torqueEstimate -2048 "SNA" ;
|
||||
VAL_ 280 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_ 280 DI_brakePedal 1 "Applied" 0 "Not_applied" ;
|
||||
VAL_ 280 DI_vehicleSpeed 4095 "SNA" ;
|
||||
VAL_ 280 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_ 280 DI_torqueInterfaceFailure 1 "TORQUE_INTERFACE_FAILED" 0 "TORQUE_INTERFACE_NORMAL" ;
|
||||
VAL_ 280 DI_brakePedalState 3 "SNA" 2 "INVALID" 1 "ON" 0 "OFF" ;
|
||||
VAL_ 280 DI_epbParkRequest 1 "Park_requested" 0 "No_request" ;
|
||||
VAL_ 280 DI_epbInterfaceReady 1 "EPB_INTERFACE_READY" 0 "EPB_INTERFACE_NOT_READY" ;
|
||||
VAL_ 309 ESP_absBrakeEvent 1 "ACTIVE" 0 "NOT_ACTIVE" ;
|
||||
VAL_ 309 ESP_brakeDiscWipingActive 1 "ACTIVE" 0 "INACTIVE" ;
|
||||
VAL_ 309 ESP_brakeLamp 0 "OFF" 1 "ON" ;
|
||||
VAL_ 309 ESP_espFaultLamp 0 "OFF" 1 "ON" ;
|
||||
VAL_ 309 ESP_espLampFlash 1 "FLASH" 0 "OFF" ;
|
||||
VAL_ 309 ESP_hillStartAssistActive 1 "ACTIVE" 0 "INACTIVE" 2 "NOT_AVAILABLE" 3 "SNA" ;
|
||||
VAL_ 309 ESP_absFaultLamp 0 "OFF" 1 "ON" ;
|
||||
VAL_ 309 ESP_espOffLamp 0 "OFF" 1 "ON" ;
|
||||
VAL_ 309 ESP_stabilityControlSts 2 "ENGAGED" 3 "FAULTED" 5 "INIT" 4 "NOT_CONFIGURED" 0 "OFF" 1 "ON" ;
|
||||
VAL_ 309 ESP_tcLampFlash 1 "FLASH" 0 "OFF" ;
|
||||
VAL_ 568 UI_mapSpeedLimit 31 "SNA" 30 "UNLIMITED" 29 "LESS_OR_EQ_160" 28 "LESS_OR_EQ_150" 27 "LESS_OR_EQ_140" 26 "LESS_OR_EQ_130" 25 "LESS_OR_EQ_120" 24 "LESS_OR_EQ_115" 23 "LESS_OR_EQ_110" 22 "LESS_OR_EQ_105" 21 "LESS_OR_EQ_100" 20 "LESS_OR_EQ_95" 19 "LESS_OR_EQ_90" 18 "LESS_OR_EQ_85" 17 "LESS_OR_EQ_80" 16 "LESS_OR_EQ_75" 15 "LESS_OR_EQ_70" 14 "LESS_OR_EQ_65" 13 "LESS_OR_EQ_60" 12 "LESS_OR_EQ_55" 11 "LESS_OR_EQ_50" 10 "LESS_OR_EQ_45" 9 "LESS_OR_EQ_40" 8 "LESS_OR_EQ_35" 7 "LESS_OR_EQ_30" 6 "LESS_OR_EQ_25" 5 "LESS_OR_EQ_20" 4 "LESS_OR_EQ_15" 3 "LESS_OR_EQ_10" 2 "LESS_OR_EQ_7" 1 "LESS_OR_EQ_5" 0 "UNKNOWN" ;
|
||||
VAL_ 522 driverBrakeStatus 2 "APPLIED" 1 "NOT_APPLIED" ;
|
||||
VAL_ 760 UI_mapSpeedLimitUnits 1 "KPH" 0 "MPH" ;
|
||||
VAL_ 760 UI_userSpeedOffsetUnits 1 "KPH" 0 "MPH" ;
|
||||
VAL_ 643 AirTemp_Insd 255 "SNA" ;
|
||||
VAL_ 643 AirTemp_Outsd 254 "INIT" 255 "SNA" ;
|
||||
VAL_ 643 Bckl_Sw_RL_Stat_SAM_R 2 "FLT" 1 "NOT" 0 "OK" 3 "SNA" ;
|
||||
VAL_ 643 Bckl_Sw_RM_Stat_SAM_R 2 "FLT" 1 "NOT" 0 "OK" 3 "SNA" ;
|
||||
VAL_ 643 Bckl_Sw_RR_Stat_SAM_R 2 "FLT" 1 "NOT" 0 "OK" 3 "SNA" ;
|
||||
VAL_ 643 DL_RLtch_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
|
||||
VAL_ 643 DrRLtch_FL_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
|
||||
VAL_ 643 DrRLtch_FR_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
|
||||
VAL_ 643 DrRLtch_RL_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
|
||||
VAL_ 643 DrRLtch_RR_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
|
||||
VAL_ 643 EngHd_Stat 1 "CLS" 0 "NDEF0" 2 "OPN" 3 "SNA" ;
|
||||
VAL_ 643 LgtSens_Night 0 "DAY" 1 "NIGHT" ;
|
||||
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_ 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" ;
|
||||
VAL_ 792 DOOR_STATE_FL 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
|
||||
VAL_ 792 DOOR_STATE_FR 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
|
||||
VAL_ 792 DOOR_STATE_FrontTrunk 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
|
||||
VAL_ 792 DOOR_STATE_RL 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
|
||||
VAL_ 792 DOOR_STATE_RR 2 "Init" 3 "SNA" 0 "closed" 1 "open" ;
|
||||
VAL_ 792 GTW_updateInProgress 1 "IN_PROGRESS" 2 "IN_PROGRESS_NOT_USED" 3 "IN_PROGRESS_SNA" 0 "NOT_IN_PROGRESS" ;
|
||||
VAL_ 792 Hour 30 "Init" 31 "SNA" ;
|
||||
VAL_ 792 MCU_factoryMode 1 "FACTORY_MODE" 0 "NORMAL_MODE" ;
|
||||
VAL_ 792 MCU_transportModeOn 0 "NORMAL_MODE" ;
|
||||
VAL_ 792 MINUTE 62 "Init" 63 "SNA" ;
|
||||
VAL_ 792 MONTH 1 "Init" 15 "SNA" ;
|
||||
VAL_ 792 SECOND 62 "Init" 63 "SNA" ;
|
||||
VAL_ 792 YEAR 126 "Init" 127 "SNA" ;
|
||||
VAL_ 872 DI_aebState 2 "ENABLED" 4 "FAULT" 7 "SNA" 1 "STANDBY" 3 "STANDSTILL" 0 "UNAVAILABLE" ;
|
||||
VAL_ 872 DI_analogSpeed 4095 "SNA" ;
|
||||
VAL_ 872 DI_cruiseState 2 "ENABLED" 5 "FAULT" 0 "OFF" 4 "OVERRIDE" 7 "PRE_CANCEL" 6 "PRE_FAULT" 1 "STANDBY" 3 "STANDSTILL" ;
|
||||
VAL_ 872 DI_digitalSpeed 255 "SNA" ;
|
||||
VAL_ 872 DI_immobilizerState 2 "AUTHENTICATING" 3 "DISARMED" 6 "FAULT" 4 "IDLE" 0 "INIT_SNA" 1 "REQUEST" 5 "RESET" ;
|
||||
VAL_ 872 DI_speedUnits 1 "KPH" 0 "MPH" ;
|
||||
VAL_ 872 DI_state 3 "ABORT" 4 "ENABLE" 2 "FAULT" 1 "STANDBY" 0 "UNAVAILABLE" ;
|
||||
VAL_ 872 DI_systemState 3 "ABORT" 4 "ENABLE" 2 "FAULT" 1 "STANDBY" 0 "UNAVAILABLE" ;
|
||||
VAL_ 872 DI_vehicleHoldState 2 "BLEND_IN" 4 "BLEND_OUT" 6 "FAULT" 7 "INIT" 5 "PARK" 1 "STANDBY" 3 "STANDSTILL" 0 "UNAVAILABLE" ;
|
||||
VAL_ 880 EPAS_currentTuneMode 1 "DM_COMFORT" 3 "DM_SPORT" 2 "DM_STANDARD" 0 "FAIL_SAFE_DEFAULT" 4 "RWD_COMFORT" 6 "RWD_SPORT" 5 "RWD_STANDARD" 7 "UNAVAILABLE" ;
|
||||
VAL_ 880 EPAS_eacErrorCode 14 "EAC_ERROR_EPB_INHIBIT" 3 "EAC_ERROR_HANDS_ON" 7 "EAC_ERROR_HIGH_ANGLE_RATE_REQ" 9 "EAC_ERROR_HIGH_ANGLE_RATE_SAFETY" 6 "EAC_ERROR_HIGH_ANGLE_REQ" 8 "EAC_ERROR_HIGH_ANGLE_SAFETY" 10 "EAC_ERROR_HIGH_MMOT_SAFETY" 11 "EAC_ERROR_HIGH_TORSION_SAFETY" 0 "EAC_ERROR_IDLE" 12 "EAC_ERROR_LOW_ASSIST" 2 "EAC_ERROR_MAX_SPEED" 1 "EAC_ERROR_MIN_SPEED" 13 "EAC_ERROR_PINION_VEL_DIFF" 4 "EAC_ERROR_TMP_FAULT" 5 "EAR_ERROR_MAX_STEER_DELTA" 15 "SNA" ;
|
||||
VAL_ 880 EPAS_eacStatus 2 "EAC_ACTIVE" 1 "EAC_AVAILABLE" 3 "EAC_FAULT" 0 "EAC_INHIBITED" 4 "SNA" ;
|
||||
VAL_ 880 EPAS_handsOnLevel 0 "0" 1 "1" 2 "2" 3 "3" ;
|
||||
VAL_ 880 EPAS_steeringFault 1 "FAULT" 0 "NO_FAULT" ;
|
||||
VAL_ 880 EPAS_steeringRackForce 1022 "NOT_IN_SPEC" 1023 "SNA" ;
|
||||
VAL_ 880 EPAS_steeringReduced 0 "NORMAL_ASSIST" 1 "REDUCED_ASSIST" ;
|
||||
VAL_ 880 EPAS_torsionBarTorque 0 "SEE_SPECIFICATION" 4095 "SNA" 4094 "UNDEFINABLE_DATA" ;
|
||||
VAL_ 904 MCU_clusterReadyForDrive 0 "NO_SNA" 1 "YES" ;
|
||||
VAL_ 921 autopilotStatus 5 "ACTIVE_NAVIGATE_ON_AUTOPILOT" 4 "ACTIVE_2" 3 "ACTIVE_1" 2 "AVAILABLE" 1 "UNAVAILABLE" 0 "DISABLED" ;
|
||||
VAL_ 1160 DAS_steeringAngleRequest 16384 "ZERO_ANGLE" ;
|
||||
VAL_ 1160 DAS_steeringControlType 1 "ANGLE_CONTROL" 3 "DISABLED" 0 "NONE" 2 "RESERVED" ;
|
||||
VAL_ 1160 DAS_steeringHapticRequest 1 "ACTIVE" 0 "IDLE" ;
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 1160 DAS_steeringAngleRequest STEER_ANGLE 0.1098666 180; CHFFR_METRIC 264 DI_motorRPM ENGINE_RPM 1 0";
|
||||
@@ -163,7 +163,7 @@ 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_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
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
|
||||
@@ -196,6 +196,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|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_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
@@ -333,6 +336,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
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 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";
|
||||
@@ -360,6 +364,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
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_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
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";
|
||||
|
||||
@@ -163,7 +163,7 @@ 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_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
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
|
||||
@@ -196,6 +196,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|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_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
@@ -333,6 +336,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
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 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";
|
||||
@@ -360,6 +364,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
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_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
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";
|
||||
|
||||
@@ -163,7 +163,7 @@ 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_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
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
|
||||
@@ -196,6 +196,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|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_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
@@ -333,6 +336,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
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 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";
|
||||
@@ -360,6 +364,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
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_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
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";
|
||||
|
||||
@@ -163,7 +163,7 @@ 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_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
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
|
||||
@@ -196,6 +196,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|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_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
@@ -333,6 +336,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
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 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";
|
||||
@@ -360,6 +364,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
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_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
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";
|
||||
|
||||
@@ -163,7 +163,7 @@ 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_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
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
|
||||
@@ -196,6 +196,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|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_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
@@ -333,6 +336,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
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 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";
|
||||
@@ -360,6 +364,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
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_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
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";
|
||||
|
||||
@@ -193,7 +193,7 @@ 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_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
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
|
||||
@@ -226,6 +226,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|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_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
@@ -363,6 +366,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
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 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";
|
||||
@@ -390,6 +394,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
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_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
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";
|
||||
|
||||
@@ -193,7 +193,7 @@ 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_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
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
|
||||
@@ -226,6 +226,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|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_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
@@ -363,6 +366,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
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 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";
|
||||
@@ -390,6 +394,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
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_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
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";
|
||||
|
||||
@@ -163,7 +163,7 @@ 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_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
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
|
||||
@@ -196,6 +196,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|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_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
@@ -333,6 +336,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
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 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";
|
||||
@@ -360,6 +364,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
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_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
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";
|
||||
|
||||
@@ -163,7 +163,7 @@ 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_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
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
|
||||
@@ -196,6 +196,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|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_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
@@ -333,6 +336,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
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 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";
|
||||
@@ -360,6 +364,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
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_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
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";
|
||||
|
||||
@@ -163,7 +163,7 @@ 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_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
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
|
||||
@@ -196,6 +196,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|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_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
@@ -333,6 +336,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
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 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";
|
||||
@@ -360,6 +364,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
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_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
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";
|
||||
|
||||
@@ -163,7 +163,7 @@ 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_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
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
|
||||
@@ -196,6 +196,9 @@ BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|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_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
@@ -333,6 +336,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
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 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";
|
||||
@@ -360,6 +364,7 @@ VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
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_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
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";
|
||||
|
||||
@@ -1334,6 +1334,14 @@ BO_ 981 Licht_Anf_01: 8 XXX
|
||||
BO_ 1440 RLS_01: 8 XXX
|
||||
|
||||
BO_ 870 Blinkmodi_02: 8 XXX
|
||||
SG_ Hazard_Switch : 20|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Comfort_Signal_Left : 23|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Comfort_Signal_Right : 24|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Left_Turn_Exterior_Bulb_1 : 25|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Right_Turn_Exterior_Bulb_1 : 26|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Left_Turn_Exterior_Bulb_2 : 27|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Right_Turn_Exterior_Bulb_2 : 28|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Fast_Send_Rate_Active : 37|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1385 HVEM_04: 8 XXX
|
||||
|
||||
@@ -1364,6 +1372,14 @@ 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_ 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";
|
||||
CM_ SG_ 870 Left_Turn_Exterior_Bulb_1 "Probably front";
|
||||
CM_ SG_ 870 Right_Turn_Exterior_Bulb_1 "Probably front";
|
||||
CM_ SG_ 870 Left_Turn_Exterior_Bulb_2 "Probably rear";
|
||||
CM_ SG_ 870 Right_Turn_Exterior_Bulb_2 "Probably rear";
|
||||
CM_ SG_ 870 Fast_Send_Rate_Active "CAN message send rate";
|
||||
CM_ SG_ 919 LDW_DLC "Probable DLC (distance to line crossing)";
|
||||
CM_ SG_ 919 LDW_TLC "Probable TLC (time to line crossing)";
|
||||
CM_ SG_ 919 LDW_Unknown "Might be a steering pressed / driver active flag";
|
||||
@@ -1383,3 +1399,4 @@ VAL_ 159 EPS_HCA_Status 0 "disabled" 1 "initializing" 2 "fault" 3 "ready" 4 "rej
|
||||
VAL_ 173 GE_Fahrstufe 5 "P" 6 "R" 7 "N" 8 "D" 9 "S" 10 "E" 14 "T";
|
||||
VAL_ 391 GearPosition 2 "P" 3 "R" 4 "N" 5 "D" 6 "D";
|
||||
VAL_ 391 RegenBrakingMode 0 "default" 1 "B1" 2 "B2" 3 "B3";
|
||||
VAL_ 870 Fast_Send_Rate_Active 0 "1 Hz" 1 "50 Hz";
|
||||
|
||||
@@ -1,16 +1,13 @@
|
||||
import os
|
||||
import subprocess
|
||||
|
||||
EON = os.path.isfile('/EON')
|
||||
TICI = os.path.isfile('/TICI')
|
||||
PC = not (EON or TICI)
|
||||
|
||||
PREFIX = "arm-none-eabi-"
|
||||
BUILDER = "DEV"
|
||||
|
||||
if os.getenv("PEDAL"):
|
||||
PROJECT = "pedal"
|
||||
STARTUP_FILE = "startup_stm32f205xx.s"
|
||||
STARTUP_FILE = "stm32fx/startup_stm32f205xx.s"
|
||||
LINKER_SCRIPT = "stm32fx/stm32fx_flash.ld"
|
||||
MAIN = "pedal/main.c"
|
||||
PROJECT_FLAGS = [
|
||||
"-mcpu=cortex-m3",
|
||||
@@ -20,10 +17,13 @@ if os.getenv("PEDAL"):
|
||||
"-O2",
|
||||
"-DPEDAL",
|
||||
]
|
||||
if os.getenv("PEDAL_USB"):
|
||||
PROJECT_FLAGS.append("-DPEDAL_USB")
|
||||
|
||||
else:
|
||||
PROJECT = "panda"
|
||||
STARTUP_FILE = "startup_stm32f413xx.s"
|
||||
STARTUP_FILE = "stm32fx/startup_stm32f413xx.s"
|
||||
LINKER_SCRIPT = "stm32fx/stm32fx_flash.ld"
|
||||
MAIN = "main.c"
|
||||
PROJECT_FLAGS = [
|
||||
"-mcpu=cortex-m4",
|
||||
@@ -34,11 +34,18 @@ else:
|
||||
"-fsingle-precision-constant",
|
||||
"-Os",
|
||||
"-g",
|
||||
"-DPANDA",
|
||||
]
|
||||
|
||||
if not PC:
|
||||
PROJECT_FLAGS += ["-DEON"]
|
||||
BUILDER = "EON"
|
||||
if FindFile('dp_vw', '/data/params/d') != None:
|
||||
with open('/data/params/d/dp_vw_panda') as f:
|
||||
if (int(f.read().strip())) == 1:
|
||||
PROJECT_FLAGS += ['-Dvw']
|
||||
|
||||
if FindFile('dp_panda_fake_black', '/data/params/d') != None:
|
||||
with open('/data/params/d/dp_panda_fake_black') as f:
|
||||
if (int(f.read().strip())) == 1:
|
||||
PROJECT_FLAGS += ['-Dfake_black_panda']
|
||||
|
||||
|
||||
def get_version(builder, build_type):
|
||||
@@ -85,7 +92,7 @@ def objcopy(source, target, env, for_signature):
|
||||
return '$OBJCOPY -O binary %s %s' % (source[0], target[0])
|
||||
|
||||
|
||||
linkerscript_fn = File("stm32_flash.ld").srcnode().abspath
|
||||
linkerscript_fn = File(LINKER_SCRIPT).srcnode().abspath
|
||||
|
||||
flags = [
|
||||
"-Wall",
|
||||
@@ -112,7 +119,7 @@ else:
|
||||
flags += ["-DALLOW_DEBUG"]
|
||||
|
||||
includes = [
|
||||
"inc",
|
||||
"stm32fx/inc",
|
||||
"..",
|
||||
".",
|
||||
]
|
||||
|
||||
@@ -213,9 +213,6 @@ void black_init(void) {
|
||||
if (car_harness_status == HARNESS_STATUS_FLIPPED) {
|
||||
can_flip_buses(0, 2);
|
||||
}
|
||||
|
||||
// init multiplexer
|
||||
can_set_obd(car_harness_status, false);
|
||||
}
|
||||
|
||||
const harness_configuration black_harness_config = {
|
||||
@@ -235,6 +232,11 @@ const harness_configuration black_harness_config = {
|
||||
const board board_black = {
|
||||
.board_type = "Black",
|
||||
.harness_config = &black_harness_config,
|
||||
.has_gps = true,
|
||||
.has_hw_gmlan = false,
|
||||
.has_obd = true,
|
||||
.has_lin = false,
|
||||
.has_rtc = false,
|
||||
.init = black_init,
|
||||
.enable_can_transceiver = black_enable_can_transceiver,
|
||||
.enable_can_transceivers = black_enable_can_transceivers,
|
||||
|
||||
@@ -18,6 +18,11 @@ typedef void (*board_set_siren)(bool enabled);
|
||||
struct board {
|
||||
const char *board_type;
|
||||
const harness_configuration *harness_config;
|
||||
const bool has_gps;
|
||||
const bool has_hw_gmlan;
|
||||
const bool has_obd;
|
||||
const bool has_lin;
|
||||
const bool has_rtc;
|
||||
board_init init;
|
||||
board_enable_can_transceiver enable_can_transceiver;
|
||||
board_enable_can_transceivers enable_can_transceivers;
|
||||
@@ -69,11 +74,3 @@ struct board {
|
||||
|
||||
// ********************* Globals **********************
|
||||
uint8_t usb_power_mode = USB_POWER_NONE;
|
||||
|
||||
// ************ Board function prototypes *************
|
||||
bool board_has_gps(void);
|
||||
bool board_has_gmlan(void);
|
||||
bool board_has_obd(void);
|
||||
bool board_has_lin(void);
|
||||
bool board_has_rtc(void);
|
||||
bool board_has_relay(void);
|
||||
@@ -204,9 +204,6 @@ void dos_init(void) {
|
||||
can_flip_buses(0, 2);
|
||||
}
|
||||
|
||||
// init multiplexer
|
||||
can_set_obd(car_harness_status, false);
|
||||
|
||||
// Init clock source as internal free running
|
||||
dos_set_clock_source_mode(CLOCK_SOURCE_MODE_FREE_RUNNING);
|
||||
}
|
||||
@@ -228,6 +225,11 @@ const harness_configuration dos_harness_config = {
|
||||
const board board_dos = {
|
||||
.board_type = "Dos",
|
||||
.harness_config = &dos_harness_config,
|
||||
.has_gps = false,
|
||||
.has_hw_gmlan = false,
|
||||
.has_obd = true,
|
||||
.has_lin = false,
|
||||
.has_rtc = true,
|
||||
.init = dos_init,
|
||||
.enable_can_transceiver = dos_enable_can_transceiver,
|
||||
.enable_can_transceivers = dos_enable_can_transceivers,
|
||||
|
||||
@@ -36,6 +36,11 @@ void grey_set_gps_mode(uint8_t mode) {
|
||||
const board board_grey = {
|
||||
.board_type = "Grey",
|
||||
.harness_config = &white_harness_config,
|
||||
.has_gps = true,
|
||||
.has_hw_gmlan = true,
|
||||
.has_obd = false,
|
||||
.has_lin = true,
|
||||
.has_rtc = false,
|
||||
.init = grey_init,
|
||||
.enable_can_transceiver = white_enable_can_transceiver,
|
||||
.enable_can_transceivers = white_enable_can_transceivers,
|
||||
|
||||
@@ -109,6 +109,11 @@ const harness_configuration pedal_harness_config = {
|
||||
const board board_pedal = {
|
||||
.board_type = "Pedal",
|
||||
.harness_config = &pedal_harness_config,
|
||||
.has_gps = false,
|
||||
.has_hw_gmlan = false,
|
||||
.has_obd = false,
|
||||
.has_lin = false,
|
||||
.has_rtc = false,
|
||||
.init = pedal_init,
|
||||
.enable_can_transceiver = pedal_enable_can_transceiver,
|
||||
.enable_can_transceivers = pedal_enable_can_transceivers,
|
||||
|
||||
@@ -56,12 +56,7 @@ void uno_set_gps_load_switch(bool enabled) {
|
||||
}
|
||||
|
||||
void uno_set_bootkick(bool enabled){
|
||||
if(enabled){
|
||||
set_gpio_output(GPIOB, 14, false);
|
||||
} else {
|
||||
// We want the pin to be floating, not forced high!
|
||||
set_gpio_mode(GPIOB, 14, MODE_INPUT);
|
||||
}
|
||||
set_gpio_output(GPIOB, 14, !enabled);
|
||||
}
|
||||
|
||||
void uno_bootkick(void) {
|
||||
@@ -77,9 +72,11 @@ void uno_set_usb_power_mode(uint8_t mode) {
|
||||
bool valid = false;
|
||||
switch (mode) {
|
||||
case USB_POWER_CLIENT:
|
||||
uno_set_phone_power(false);
|
||||
valid = true;
|
||||
break;
|
||||
case USB_POWER_CDP:
|
||||
uno_set_phone_power(true);
|
||||
uno_bootkick();
|
||||
valid = true;
|
||||
break;
|
||||
@@ -250,9 +247,6 @@ void uno_init(void) {
|
||||
can_flip_buses(0, 2);
|
||||
}
|
||||
|
||||
// init multiplexer
|
||||
can_set_obd(car_harness_status, false);
|
||||
|
||||
// Switch to phone usb mode if harness connection is powered by less than 7V
|
||||
if(adc_get_voltage() < 7000U){
|
||||
uno_set_usb_switch(true);
|
||||
@@ -281,6 +275,11 @@ const harness_configuration uno_harness_config = {
|
||||
const board board_uno = {
|
||||
.board_type = "Uno",
|
||||
.harness_config = &uno_harness_config,
|
||||
.has_gps = true,
|
||||
.has_hw_gmlan = false,
|
||||
.has_obd = true,
|
||||
.has_lin = false,
|
||||
.has_rtc = true,
|
||||
.init = uno_init,
|
||||
.enable_can_transceiver = uno_enable_can_transceiver,
|
||||
.enable_can_transceivers = uno_enable_can_transceivers,
|
||||
|
||||
@@ -78,13 +78,6 @@ void white_set_gps_mode(uint8_t mode) {
|
||||
set_gpio_output(GPIOC, 14, 0);
|
||||
set_gpio_output(GPIOC, 5, 0);
|
||||
break;
|
||||
#ifndef EON
|
||||
case GPS_ENABLED:
|
||||
// ESP ON
|
||||
set_gpio_output(GPIOC, 14, 1);
|
||||
set_gpio_output(GPIOC, 5, 1);
|
||||
break;
|
||||
#endif
|
||||
case GPS_BOOTMODE:
|
||||
set_gpio_output(GPIOC, 14, 1);
|
||||
set_gpio_output(GPIOC, 5, 0);
|
||||
@@ -158,71 +151,8 @@ uint32_t white_read_current(void){
|
||||
return adc_get(ADCCHAN_CURRENT);
|
||||
}
|
||||
|
||||
uint32_t marker = 0;
|
||||
void white_usb_power_mode_tick(uint32_t uptime){
|
||||
|
||||
// on EON or BOOTSTUB, no state machine
|
||||
#if !defined(BOOTSTUB) && !defined(EON)
|
||||
#define CURRENT_THRESHOLD 0xF00U
|
||||
#define CLICKS 5U // 5 seconds to switch modes
|
||||
|
||||
uint32_t current = white_read_current();
|
||||
|
||||
// ~0x9a = 500 ma
|
||||
// puth(current); puts("\n");
|
||||
|
||||
switch (usb_power_mode) {
|
||||
case USB_POWER_CLIENT:
|
||||
if ((uptime - marker) >= CLICKS) {
|
||||
if (!is_enumerated) {
|
||||
puts("USBP: didn't enumerate, switching to CDP mode\n");
|
||||
// switch to CDP
|
||||
white_set_usb_power_mode(USB_POWER_CDP);
|
||||
marker = uptime;
|
||||
}
|
||||
}
|
||||
// keep resetting the timer if it's enumerated
|
||||
if (is_enumerated) {
|
||||
marker = uptime;
|
||||
}
|
||||
break;
|
||||
case USB_POWER_CDP:
|
||||
// been CLICKS clicks since we switched to CDP
|
||||
if ((uptime - marker) >= CLICKS) {
|
||||
// measure current draw, if positive and no enumeration, switch to DCP
|
||||
if (!is_enumerated && (current < CURRENT_THRESHOLD)) {
|
||||
puts("USBP: no enumeration with current draw, switching to DCP mode\n");
|
||||
white_set_usb_power_mode(USB_POWER_DCP);
|
||||
marker = uptime;
|
||||
}
|
||||
}
|
||||
// keep resetting the timer if there's no current draw in CDP
|
||||
if (current >= CURRENT_THRESHOLD) {
|
||||
marker = uptime;
|
||||
}
|
||||
break;
|
||||
case USB_POWER_DCP:
|
||||
// been at least CLICKS clicks since we switched to DCP
|
||||
if ((uptime - marker) >= CLICKS) {
|
||||
// if no current draw, switch back to CDP
|
||||
if (current >= CURRENT_THRESHOLD) {
|
||||
puts("USBP: no current draw, switching back to CDP mode\n");
|
||||
white_set_usb_power_mode(USB_POWER_CDP);
|
||||
marker = uptime;
|
||||
}
|
||||
}
|
||||
// keep resetting the timer if there's current draw in DCP
|
||||
if (current < CURRENT_THRESHOLD) {
|
||||
marker = uptime;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
puts("USB power mode invalid\n"); // set_usb_power_mode prevents assigning invalid values
|
||||
break;
|
||||
}
|
||||
#else
|
||||
UNUSED(uptime);
|
||||
#endif
|
||||
}
|
||||
|
||||
void white_set_ir_power(uint8_t percentage){
|
||||
@@ -313,7 +243,7 @@ void white_grey_common_init(void) {
|
||||
// Init usb power mode
|
||||
uint32_t voltage = adc_get_voltage();
|
||||
// Init in CDP mode only if panda is powered by 12V.
|
||||
// Otherwise a PC would not be able to flash a standalone panda with EON build
|
||||
// Otherwise a PC would not be able to flash a standalone panda
|
||||
if (voltage > 8000U) { // 8V threshold
|
||||
white_set_usb_power_mode(USB_POWER_CDP);
|
||||
} else {
|
||||
@@ -335,6 +265,11 @@ const harness_configuration white_harness_config = {
|
||||
const board board_white = {
|
||||
.board_type = "White",
|
||||
.harness_config = &white_harness_config,
|
||||
.has_gps = false,
|
||||
.has_hw_gmlan = true,
|
||||
.has_obd = false,
|
||||
.has_lin = true,
|
||||
.has_rtc = false,
|
||||
.init = white_init,
|
||||
.enable_can_transceiver = white_enable_can_transceiver,
|
||||
.enable_can_transceivers = white_enable_can_transceivers,
|
||||
|
||||
@@ -3,62 +3,24 @@
|
||||
#define VERS_TAG 0x53524556
|
||||
#define MIN_VERSION 2
|
||||
|
||||
#include "config.h"
|
||||
#include "obj/gitversion.h"
|
||||
|
||||
#ifdef STM32F4
|
||||
#define PANDA
|
||||
#include "stm32f4xx.h"
|
||||
#include "stm32f4xx_hal_gpio_ex.h"
|
||||
#else
|
||||
#include "stm32f2xx.h"
|
||||
#include "stm32f2xx_hal_gpio_ex.h"
|
||||
#endif
|
||||
|
||||
// ******************** Prototypes ********************
|
||||
void puts(const char *a){ UNUSED(a); }
|
||||
void puth(unsigned int i){ UNUSED(i); }
|
||||
void puth2(unsigned int i){ UNUSED(i); }
|
||||
typedef struct board board;
|
||||
typedef struct harness_configuration harness_configuration;
|
||||
// No CAN support on bootloader
|
||||
void can_flip_buses(uint8_t bus1, uint8_t bus2){UNUSED(bus1); UNUSED(bus2);}
|
||||
void can_set_obd(int harness_orientation, bool obd){UNUSED(harness_orientation); UNUSED(obd);}
|
||||
|
||||
// ********************* Globals **********************
|
||||
int hw_type = 0;
|
||||
const board *current_board;
|
||||
|
||||
// ********************* Includes *********************
|
||||
#include "libc.h"
|
||||
#include "provision.h"
|
||||
#include "critical.h"
|
||||
#include "faults.h"
|
||||
#include "config.h"
|
||||
|
||||
#include "drivers/registers.h"
|
||||
#include "drivers/interrupts.h"
|
||||
#include "drivers/clock.h"
|
||||
#include "drivers/llgpio.h"
|
||||
#include "drivers/adc.h"
|
||||
#include "drivers/pwm.h"
|
||||
|
||||
#include "board.h"
|
||||
|
||||
#include "gpio.h"
|
||||
|
||||
#include "drivers/spi.h"
|
||||
#include "drivers/usb.h"
|
||||
//#include "drivers/uart.h"
|
||||
|
||||
#include "early_init.h"
|
||||
#include "provision.h"
|
||||
|
||||
#include "crypto/rsa.h"
|
||||
#include "crypto/sha.h"
|
||||
|
||||
#include "obj/cert.h"
|
||||
|
||||
#include "obj/gitversion.h"
|
||||
#include "spi_flasher.h"
|
||||
|
||||
void __initialize_hardware_early(void) {
|
||||
early();
|
||||
early_initialization();
|
||||
}
|
||||
|
||||
void fail(void) {
|
||||
@@ -77,7 +39,7 @@ int main(void) {
|
||||
|
||||
disable_interrupts();
|
||||
clock_init();
|
||||
detect_configuration();
|
||||
detect_external_debug_serial();
|
||||
detect_board_type();
|
||||
|
||||
if (enter_bootloader_mode == ENTER_SOFTLOADER_MAGIC) {
|
||||
@@ -121,4 +83,3 @@ good:
|
||||
((void(*)(void)) _app_start[1])();
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
14
panda/board/bootstub_declarations.h
Normal file
14
panda/board/bootstub_declarations.h
Normal file
@@ -0,0 +1,14 @@
|
||||
// ******************** Prototypes ********************
|
||||
void puts(const char *a){ UNUSED(a); }
|
||||
void puth(uint8_t i){ UNUSED(i); }
|
||||
void puth2(uint8_t i){ UNUSED(i); }
|
||||
typedef struct board board;
|
||||
typedef struct harness_configuration harness_configuration;
|
||||
// No CAN support on bootloader
|
||||
void can_flip_buses(uint8_t bus1, uint8_t bus2){UNUSED(bus1); UNUSED(bus2);}
|
||||
void pwm_init(TIM_TypeDef *TIM, uint8_t channel);
|
||||
void pwm_set(TIM_TypeDef *TIM, uint8_t channel, uint8_t percentage);
|
||||
|
||||
// ********************* Globals **********************
|
||||
uint8_t hw_type = 0;
|
||||
const board *current_board;
|
||||
@@ -7,22 +7,14 @@
|
||||
//#define DEBUG_SPI
|
||||
//#define DEBUG_FAULTS
|
||||
|
||||
#ifdef STM32F4
|
||||
#define PANDA
|
||||
#include "stm32f4xx.h"
|
||||
#else
|
||||
#include "stm32f2xx.h"
|
||||
#endif
|
||||
|
||||
#define USB_VID 0xbbaaU
|
||||
|
||||
#ifdef BOOTSTUB
|
||||
#define USB_PID 0xddeeU
|
||||
#define USB_PID 0xddeeU
|
||||
#else
|
||||
#define USB_PID 0xddccU
|
||||
#define USB_PID 0xddccU
|
||||
#endif
|
||||
|
||||
#include <stdbool.h>
|
||||
#define NULL ((void*)0)
|
||||
#define COMPILE_TIME_ASSERT(pred) ((void)sizeof(char[1 - (2 * ((int)(!(pred))))]))
|
||||
|
||||
@@ -42,8 +34,7 @@
|
||||
|
||||
#define MAX_RESP_LEN 0x40U
|
||||
|
||||
// Around (1Mbps / 8 bits/byte / 12 bytes per message)
|
||||
#define CAN_INTERRUPT_RATE 12000U
|
||||
#include <stdbool.h>
|
||||
#include "stm32fx/stm32fx_config.h"
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
uint8_t crc_checksum(uint8_t *dat, int len, const uint8_t poly) {
|
||||
uint8_t crc = 0xFF;
|
||||
int i, j;
|
||||
uint8_t crc = 0xFFU;
|
||||
int i;
|
||||
int j;
|
||||
for (i = len - 1; i >= 0; i--) {
|
||||
crc ^= dat[i];
|
||||
for (j = 0; j < 8; j++) {
|
||||
|
||||
@@ -18,10 +18,13 @@ uint32_t can_rx_errs = 0;
|
||||
uint32_t can_send_errs = 0;
|
||||
uint32_t can_fwd_errs = 0;
|
||||
uint32_t gmlan_send_errs = 0;
|
||||
extern int can_live, pending_can_live;
|
||||
|
||||
extern int can_live;
|
||||
extern int pending_can_live;
|
||||
|
||||
// must reinit after changing these
|
||||
extern int can_loopback, can_silent;
|
||||
extern int can_loopback;
|
||||
extern int can_silent;
|
||||
extern uint32_t can_speed[4];
|
||||
|
||||
void can_set_forwarding(int from, int to);
|
||||
@@ -42,19 +45,23 @@ uint32_t ignition_can_cnt = 0U;
|
||||
#define ALL_CAN_SILENT 0xFF
|
||||
#define ALL_CAN_LIVE 0
|
||||
|
||||
int can_live = 0, pending_can_live = 0, can_loopback = 0, can_silent = ALL_CAN_SILENT;
|
||||
int can_live = 0;
|
||||
int pending_can_live = 0;
|
||||
int can_loopback = 0;
|
||||
int can_silent = ALL_CAN_SILENT;
|
||||
|
||||
// ********************* instantiate queues *********************
|
||||
|
||||
#define can_buffer(x, size) \
|
||||
CAN_FIFOMailBox_TypeDef elems_##x[size]; \
|
||||
can_ring can_##x = { .w_ptr = 0, .r_ptr = 0, .fifo_size = size, .elems = (CAN_FIFOMailBox_TypeDef *)&elems_##x };
|
||||
can_ring can_##x = { .w_ptr = 0, .r_ptr = 0, .fifo_size = (size), .elems = (CAN_FIFOMailBox_TypeDef *)&(elems_##x) };
|
||||
|
||||
can_buffer(rx_q, 0x1000)
|
||||
can_buffer(tx1_q, 0x100)
|
||||
can_buffer(tx2_q, 0x100)
|
||||
can_buffer(tx3_q, 0x100)
|
||||
can_buffer(txgmlan_q, 0x100)
|
||||
// FIXME:
|
||||
// cppcheck-suppress misra-c2012-9.3
|
||||
can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q, &can_txgmlan_q};
|
||||
|
||||
// global CAN stats
|
||||
@@ -65,7 +72,6 @@ int can_err_cnt = 0;
|
||||
int can_overflow_cnt = 0;
|
||||
|
||||
// ********************* interrupt safe queue *********************
|
||||
|
||||
bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
|
||||
bool ret = 0;
|
||||
|
||||
@@ -181,7 +187,7 @@ void can_flip_buses(uint8_t bus1, uint8_t bus2){
|
||||
|
||||
// TODO: Cleanup with new abstraction
|
||||
void can_set_gmlan(uint8_t bus) {
|
||||
if(board_has_gmlan()){
|
||||
if(current_board->has_hw_gmlan){
|
||||
// first, disable GMLAN on prev bus
|
||||
uint8_t prev_bus = can_num_lookup[3];
|
||||
if (bus != prev_bus) {
|
||||
@@ -229,34 +235,6 @@ void can_set_gmlan(uint8_t bus) {
|
||||
}
|
||||
}
|
||||
|
||||
// TODO: remove
|
||||
void can_set_obd(uint8_t harness_orientation, bool obd){
|
||||
if(obd){
|
||||
puts("setting CAN2 to be OBD\n");
|
||||
} else {
|
||||
puts("setting CAN2 to be normal\n");
|
||||
}
|
||||
if(board_has_obd()){
|
||||
if(obd != (bool)(harness_orientation == HARNESS_STATUS_NORMAL)){
|
||||
// B5,B6: disable normal mode
|
||||
set_gpio_mode(GPIOB, 5, MODE_INPUT);
|
||||
set_gpio_mode(GPIOB, 6, MODE_INPUT);
|
||||
// B12,B13: CAN2 mode
|
||||
set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2);
|
||||
set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2);
|
||||
} else {
|
||||
// B5,B6: CAN2 mode
|
||||
set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2);
|
||||
set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2);
|
||||
// B12,B13: disable normal mode
|
||||
set_gpio_mode(GPIOB, 12, MODE_INPUT);
|
||||
set_gpio_mode(GPIOB, 13, MODE_INPUT);
|
||||
}
|
||||
} else {
|
||||
puts("OBD CAN not available on this board\n");
|
||||
}
|
||||
}
|
||||
|
||||
// CAN error
|
||||
void can_sce(CAN_TypeDef *CAN) {
|
||||
ENTER_CRITICAL();
|
||||
@@ -286,7 +264,6 @@ void can_sce(CAN_TypeDef *CAN) {
|
||||
}
|
||||
|
||||
// ***************************** CAN *****************************
|
||||
|
||||
void process_can(uint8_t can_number) {
|
||||
if (can_number != 0xffU) {
|
||||
|
||||
@@ -479,4 +456,3 @@ bool can_init(uint8_t can_number) {
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
||||
@@ -1,39 +1,14 @@
|
||||
uint16_t fan_tach_counter = 0U;
|
||||
uint16_t fan_rpm = 0U;
|
||||
|
||||
void fan_set_power(uint8_t percentage){
|
||||
pwm_set(TIM3, 3, percentage);
|
||||
}
|
||||
|
||||
uint16_t fan_tach_counter = 0U;
|
||||
uint16_t fan_rpm = 0U;
|
||||
|
||||
// Can be way more acurate than this, but this is probably good enough for our purposes.
|
||||
|
||||
// Call this every second
|
||||
void fan_tick(void){
|
||||
// 4 interrupts per rotation
|
||||
fan_rpm = fan_tach_counter * 15U;
|
||||
fan_tach_counter = 0U;
|
||||
}
|
||||
|
||||
// TACH interrupt handler
|
||||
void EXTI2_IRQ_Handler(void) {
|
||||
volatile unsigned int pr = EXTI->PR & (1U << 2);
|
||||
if ((pr & (1U << 2)) != 0U) {
|
||||
fan_tach_counter++;
|
||||
}
|
||||
EXTI->PR = (1U << 2);
|
||||
}
|
||||
|
||||
void fan_init(void){
|
||||
// 5000RPM * 4 tach edges / 60 seconds
|
||||
REGISTER_INTERRUPT(EXTI2_IRQn, EXTI2_IRQ_Handler, 700U, FAULT_INTERRUPT_RATE_TACH)
|
||||
|
||||
// Init PWM speed control
|
||||
pwm_init(TIM3, 3);
|
||||
|
||||
// Init TACH interrupt
|
||||
register_set(&(SYSCFG->EXTICR[0]), SYSCFG_EXTICR1_EXTI2_PD, 0xF00U);
|
||||
register_set_bits(&(EXTI->IMR), (1U << 2));
|
||||
register_set_bits(&(EXTI->RTSR), (1U << 2));
|
||||
register_set_bits(&(EXTI->FTSR), (1U << 2));
|
||||
NVIC_EnableIRQ(EXTI2_IRQn);
|
||||
}
|
||||
@@ -288,4 +288,3 @@ bool bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
|
||||
}
|
||||
return gmlan_send_ok;
|
||||
}
|
||||
|
||||
|
||||
@@ -63,3 +63,13 @@ int get_gpio_input(GPIO_TypeDef *GPIO, unsigned int pin) {
|
||||
return (GPIO->IDR & (1U << pin)) == (1U << pin);
|
||||
}
|
||||
|
||||
// Detection with internal pullup
|
||||
#define PULL_EFFECTIVE_DELAY 4096
|
||||
bool detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode) {
|
||||
set_gpio_mode(GPIO, pin, MODE_INPUT);
|
||||
set_gpio_pullup(GPIO, pin, mode);
|
||||
for (volatile int i=0; i<PULL_EFFECTIVE_DELAY; i++);
|
||||
bool ret = get_gpio_input(GPIO, pin);
|
||||
set_gpio_pullup(GPIO, pin, PULL_NONE);
|
||||
return ret;
|
||||
}
|
||||
@@ -3,9 +3,6 @@ uint8_t car_harness_status = 0U;
|
||||
#define HARNESS_STATUS_NORMAL 1U
|
||||
#define HARNESS_STATUS_FLIPPED 2U
|
||||
|
||||
// Threshold voltage (mV) for either of the SBUs to be below before deciding harness is connected
|
||||
#define HARNESS_CONNECTED_THRESHOLD 2500U
|
||||
|
||||
struct harness_configuration {
|
||||
const bool has_harness;
|
||||
GPIO_TypeDef *GPIO_SBU1;
|
||||
|
||||
@@ -6,21 +6,22 @@ typedef struct interrupt {
|
||||
uint32_t call_rate_fault;
|
||||
} interrupt;
|
||||
|
||||
void interrupt_timer_init(void);
|
||||
|
||||
void unused_interrupt_handler(void) {
|
||||
// Something is wrong if this handler is called!
|
||||
puts("Unused interrupt handler called!\n");
|
||||
fault_occurred(FAULT_UNUSED_INTERRUPT_HANDLED);
|
||||
}
|
||||
|
||||
#define NUM_INTERRUPTS 102U // There are 102 external interrupt sources (see stm32f413.h)
|
||||
interrupt interrupts[NUM_INTERRUPTS];
|
||||
|
||||
#define REGISTER_INTERRUPT(irq_num, func_ptr, call_rate, rate_fault) \
|
||||
interrupts[irq_num].irq_type = irq_num; \
|
||||
interrupts[irq_num].handler = func_ptr; \
|
||||
interrupts[irq_num].irq_type = (irq_num); \
|
||||
interrupts[irq_num].handler = (func_ptr); \
|
||||
interrupts[irq_num].call_counter = 0U; \
|
||||
interrupts[irq_num].max_call_rate = call_rate; \
|
||||
interrupts[irq_num].call_rate_fault = rate_fault;
|
||||
interrupts[irq_num].max_call_rate = (call_rate); \
|
||||
interrupts[irq_num].call_rate_fault = (rate_fault);
|
||||
|
||||
bool check_interrupt_rate = false;
|
||||
|
||||
@@ -36,13 +37,13 @@ void handle_interrupt(IRQn_Type irq_type){
|
||||
}
|
||||
|
||||
// Reset interrupt counter every second
|
||||
void TIM6_DAC_IRQ_Handler(void) {
|
||||
if (TIM6->SR != 0) {
|
||||
void interrupt_timer_handler(void) {
|
||||
if (INTERRUPT_TIMER->SR != 0) {
|
||||
for(uint16_t i=0U; i<NUM_INTERRUPTS; i++){
|
||||
interrupts[i].call_counter = 0U;
|
||||
}
|
||||
}
|
||||
TIM6->SR = 0;
|
||||
INTERRUPT_TIMER->SR = 0;
|
||||
}
|
||||
|
||||
void init_interrupts(bool check_rate_limit){
|
||||
@@ -52,113 +53,6 @@ void init_interrupts(bool check_rate_limit){
|
||||
interrupts[i].handler = unused_interrupt_handler;
|
||||
}
|
||||
|
||||
// Init timer 10 for a 1s interval
|
||||
register_set_bits(&(RCC->APB1ENR), RCC_APB1ENR_TIM6EN); // Enable interrupt timer peripheral
|
||||
REGISTER_INTERRUPT(TIM6_DAC_IRQn, TIM6_DAC_IRQ_Handler, 1, FAULT_INTERRUPT_RATE_INTERRUPTS)
|
||||
register_set(&(TIM6->PSC), (732-1), 0xFFFFU);
|
||||
register_set(&(TIM6->DIER), TIM_DIER_UIE, 0x5F5FU);
|
||||
register_set(&(TIM6->CR1), TIM_CR1_CEN, 0x3FU);
|
||||
TIM6->SR = 0;
|
||||
NVIC_EnableIRQ(TIM6_DAC_IRQn);
|
||||
// Init interrupt timer for a 1s interval
|
||||
interrupt_timer_init();
|
||||
}
|
||||
|
||||
// ********************* Bare interrupt handlers *********************
|
||||
// Only implemented the STM32F413 interrupts for now, the STM32F203 specific ones do not fall into the scope of SIL2
|
||||
|
||||
void WWDG_IRQHandler(void) {handle_interrupt(WWDG_IRQn);}
|
||||
void PVD_IRQHandler(void) {handle_interrupt(PVD_IRQn);}
|
||||
void TAMP_STAMP_IRQHandler(void) {handle_interrupt(TAMP_STAMP_IRQn);}
|
||||
void RTC_WKUP_IRQHandler(void) {handle_interrupt(RTC_WKUP_IRQn);}
|
||||
void FLASH_IRQHandler(void) {handle_interrupt(FLASH_IRQn);}
|
||||
void RCC_IRQHandler(void) {handle_interrupt(RCC_IRQn);}
|
||||
void EXTI0_IRQHandler(void) {handle_interrupt(EXTI0_IRQn);}
|
||||
void EXTI1_IRQHandler(void) {handle_interrupt(EXTI1_IRQn);}
|
||||
void EXTI2_IRQHandler(void) {handle_interrupt(EXTI2_IRQn);}
|
||||
void EXTI3_IRQHandler(void) {handle_interrupt(EXTI3_IRQn);}
|
||||
void EXTI4_IRQHandler(void) {handle_interrupt(EXTI4_IRQn);}
|
||||
void DMA1_Stream0_IRQHandler(void) {handle_interrupt(DMA1_Stream0_IRQn);}
|
||||
void DMA1_Stream1_IRQHandler(void) {handle_interrupt(DMA1_Stream1_IRQn);}
|
||||
void DMA1_Stream2_IRQHandler(void) {handle_interrupt(DMA1_Stream2_IRQn);}
|
||||
void DMA1_Stream3_IRQHandler(void) {handle_interrupt(DMA1_Stream3_IRQn);}
|
||||
void DMA1_Stream4_IRQHandler(void) {handle_interrupt(DMA1_Stream4_IRQn);}
|
||||
void DMA1_Stream5_IRQHandler(void) {handle_interrupt(DMA1_Stream5_IRQn);}
|
||||
void DMA1_Stream6_IRQHandler(void) {handle_interrupt(DMA1_Stream6_IRQn);}
|
||||
void ADC_IRQHandler(void) {handle_interrupt(ADC_IRQn);}
|
||||
void CAN1_TX_IRQHandler(void) {handle_interrupt(CAN1_TX_IRQn);}
|
||||
void CAN1_RX0_IRQHandler(void) {handle_interrupt(CAN1_RX0_IRQn);}
|
||||
void CAN1_RX1_IRQHandler(void) {handle_interrupt(CAN1_RX1_IRQn);}
|
||||
void CAN1_SCE_IRQHandler(void) {handle_interrupt(CAN1_SCE_IRQn);}
|
||||
void EXTI9_5_IRQHandler(void) {handle_interrupt(EXTI9_5_IRQn);}
|
||||
void TIM1_BRK_TIM9_IRQHandler(void) {handle_interrupt(TIM1_BRK_TIM9_IRQn);}
|
||||
void TIM1_UP_TIM10_IRQHandler(void) {handle_interrupt(TIM1_UP_TIM10_IRQn);}
|
||||
void TIM1_TRG_COM_TIM11_IRQHandler(void) {handle_interrupt(TIM1_TRG_COM_TIM11_IRQn);}
|
||||
void TIM1_CC_IRQHandler(void) {handle_interrupt(TIM1_CC_IRQn);}
|
||||
void TIM2_IRQHandler(void) {handle_interrupt(TIM2_IRQn);}
|
||||
void TIM3_IRQHandler(void) {handle_interrupt(TIM3_IRQn);}
|
||||
void TIM4_IRQHandler(void) {handle_interrupt(TIM4_IRQn);}
|
||||
void I2C1_EV_IRQHandler(void) {handle_interrupt(I2C1_EV_IRQn);}
|
||||
void I2C1_ER_IRQHandler(void) {handle_interrupt(I2C1_ER_IRQn);}
|
||||
void I2C2_EV_IRQHandler(void) {handle_interrupt(I2C2_EV_IRQn);}
|
||||
void I2C2_ER_IRQHandler(void) {handle_interrupt(I2C2_ER_IRQn);}
|
||||
void SPI1_IRQHandler(void) {handle_interrupt(SPI1_IRQn);}
|
||||
void SPI2_IRQHandler(void) {handle_interrupt(SPI2_IRQn);}
|
||||
void USART1_IRQHandler(void) {handle_interrupt(USART1_IRQn);}
|
||||
void USART2_IRQHandler(void) {handle_interrupt(USART2_IRQn);}
|
||||
void USART3_IRQHandler(void) {handle_interrupt(USART3_IRQn);}
|
||||
void EXTI15_10_IRQHandler(void) {handle_interrupt(EXTI15_10_IRQn);}
|
||||
void RTC_Alarm_IRQHandler(void) {handle_interrupt(RTC_Alarm_IRQn);}
|
||||
void OTG_FS_WKUP_IRQHandler(void) {handle_interrupt(OTG_FS_WKUP_IRQn);}
|
||||
void TIM8_BRK_TIM12_IRQHandler(void) {handle_interrupt(TIM8_BRK_TIM12_IRQn);}
|
||||
void TIM8_UP_TIM13_IRQHandler(void) {handle_interrupt(TIM8_UP_TIM13_IRQn);}
|
||||
void TIM8_TRG_COM_TIM14_IRQHandler(void) {handle_interrupt(TIM8_TRG_COM_TIM14_IRQn);}
|
||||
void TIM8_CC_IRQHandler(void) {handle_interrupt(TIM8_CC_IRQn);}
|
||||
void DMA1_Stream7_IRQHandler(void) {handle_interrupt(DMA1_Stream7_IRQn);}
|
||||
void FSMC_IRQHandler(void) {handle_interrupt(FSMC_IRQn);}
|
||||
void SDIO_IRQHandler(void) {handle_interrupt(SDIO_IRQn);}
|
||||
void TIM5_IRQHandler(void) {handle_interrupt(TIM5_IRQn);}
|
||||
void SPI3_IRQHandler(void) {handle_interrupt(SPI3_IRQn);}
|
||||
void UART4_IRQHandler(void) {handle_interrupt(UART4_IRQn);}
|
||||
void UART5_IRQHandler(void) {handle_interrupt(UART5_IRQn);}
|
||||
void TIM6_DAC_IRQHandler(void) {handle_interrupt(TIM6_DAC_IRQn);}
|
||||
void TIM7_IRQHandler(void) {handle_interrupt(TIM7_IRQn);}
|
||||
void DMA2_Stream0_IRQHandler(void) {handle_interrupt(DMA2_Stream0_IRQn);}
|
||||
void DMA2_Stream1_IRQHandler(void) {handle_interrupt(DMA2_Stream1_IRQn);}
|
||||
void DMA2_Stream2_IRQHandler(void) {handle_interrupt(DMA2_Stream2_IRQn);}
|
||||
void DMA2_Stream3_IRQHandler(void) {handle_interrupt(DMA2_Stream3_IRQn);}
|
||||
void DMA2_Stream4_IRQHandler(void) {handle_interrupt(DMA2_Stream4_IRQn);}
|
||||
void CAN2_TX_IRQHandler(void) {handle_interrupt(CAN2_TX_IRQn);}
|
||||
void CAN2_RX0_IRQHandler(void) {handle_interrupt(CAN2_RX0_IRQn);}
|
||||
void CAN2_RX1_IRQHandler(void) {handle_interrupt(CAN2_RX1_IRQn);}
|
||||
void CAN2_SCE_IRQHandler(void) {handle_interrupt(CAN2_SCE_IRQn);}
|
||||
void OTG_FS_IRQHandler(void) {handle_interrupt(OTG_FS_IRQn);}
|
||||
void DMA2_Stream5_IRQHandler(void) {handle_interrupt(DMA2_Stream5_IRQn);}
|
||||
void DMA2_Stream6_IRQHandler(void) {handle_interrupt(DMA2_Stream6_IRQn);}
|
||||
void DMA2_Stream7_IRQHandler(void) {handle_interrupt(DMA2_Stream7_IRQn);}
|
||||
void USART6_IRQHandler(void) {handle_interrupt(USART6_IRQn);}
|
||||
void I2C3_EV_IRQHandler(void) {handle_interrupt(I2C3_EV_IRQn);}
|
||||
void I2C3_ER_IRQHandler(void) {handle_interrupt(I2C3_ER_IRQn);}
|
||||
#ifdef STM32F4
|
||||
void DFSDM1_FLT0_IRQHandler(void) {handle_interrupt(DFSDM1_FLT0_IRQn);}
|
||||
void DFSDM1_FLT1_IRQHandler(void) {handle_interrupt(DFSDM1_FLT1_IRQn);}
|
||||
void CAN3_TX_IRQHandler(void) {handle_interrupt(CAN3_TX_IRQn);}
|
||||
void CAN3_RX0_IRQHandler(void) {handle_interrupt(CAN3_RX0_IRQn);}
|
||||
void CAN3_RX1_IRQHandler(void) {handle_interrupt(CAN3_RX1_IRQn);}
|
||||
void CAN3_SCE_IRQHandler(void) {handle_interrupt(CAN3_SCE_IRQn);}
|
||||
void RNG_IRQHandler(void) {handle_interrupt(RNG_IRQn);}
|
||||
void FPU_IRQHandler(void) {handle_interrupt(FPU_IRQn);}
|
||||
void UART7_IRQHandler(void) {handle_interrupt(UART7_IRQn);}
|
||||
void UART8_IRQHandler(void) {handle_interrupt(UART8_IRQn);}
|
||||
void SPI4_IRQHandler(void) {handle_interrupt(SPI4_IRQn);}
|
||||
void SPI5_IRQHandler(void) {handle_interrupt(SPI5_IRQn);}
|
||||
void SAI1_IRQHandler(void) {handle_interrupt(SAI1_IRQn);}
|
||||
void UART9_IRQHandler(void) {handle_interrupt(UART9_IRQn);}
|
||||
void UART10_IRQHandler(void) {handle_interrupt(UART10_IRQn);}
|
||||
void QUADSPI_IRQHandler(void) {handle_interrupt(QUADSPI_IRQn);}
|
||||
void FMPI2C1_EV_IRQHandler(void) {handle_interrupt(FMPI2C1_EV_IRQn);}
|
||||
void FMPI2C1_ER_IRQHandler(void) {handle_interrupt(FMPI2C1_ER_IRQn);}
|
||||
void LPTIM1_IRQHandler(void) {handle_interrupt(LPTIM1_IRQn);}
|
||||
void DFSDM2_FLT0_IRQHandler(void) {handle_interrupt(DFSDM2_FLT0_IRQn);}
|
||||
void DFSDM2_FLT1_IRQHandler(void) {handle_interrupt(DFSDM2_FLT1_IRQn);}
|
||||
void DFSDM2_FLT2_IRQHandler(void) {handle_interrupt(DFSDM2_FLT2_IRQn);}
|
||||
void DFSDM2_FLT3_IRQHandler(void) {handle_interrupt(DFSDM2_FLT3_IRQn);}
|
||||
#endif
|
||||
@@ -53,4 +53,4 @@ void pwm_set(TIM_TypeDef *TIM, uint8_t channel, uint8_t percentage){
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -8,7 +8,7 @@ typedef struct reg {
|
||||
// 10 bit hash with 23 as a prime
|
||||
#define REGISTER_MAP_SIZE 0x3FFU
|
||||
#define HASHING_PRIME 23U
|
||||
#define CHECK_COLLISION(hash, addr) (((uint32_t) register_map[hash].address != 0U) && (register_map[hash].address != addr))
|
||||
#define CHECK_COLLISION(hash, addr) (((uint32_t) register_map[hash].address != 0U) && (register_map[hash].address != (addr)))
|
||||
|
||||
reg register_map[REGISTER_MAP_SIZE];
|
||||
|
||||
@@ -78,4 +78,4 @@ void init_registers(void) {
|
||||
register_map[i].address = (volatile uint32_t *) 0U;
|
||||
register_map[i].check_mask = 0U;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,5 +1,4 @@
|
||||
#define RCC_BDCR_OPTIONS (RCC_BDCR_RTCEN | RCC_BDCR_RTCSEL_0 | RCC_BDCR_LSEON)
|
||||
#define RCC_BDCR_MASK (RCC_BDCR_RTCEN | RCC_BDCR_RTCSEL | RCC_BDCR_LSEMOD | RCC_BDCR_LSEBYP | RCC_BDCR_LSEON)
|
||||
|
||||
#define YEAR_OFFSET 2000U
|
||||
|
||||
@@ -14,95 +13,95 @@ typedef struct __attribute__((packed)) timestamp_t {
|
||||
} timestamp_t;
|
||||
|
||||
uint8_t to_bcd(uint16_t value){
|
||||
return (((value / 10U) & 0x0FU) << 4U) | ((value % 10U) & 0x0FU);
|
||||
return (((value / 10U) & 0x0FU) << 4U) | ((value % 10U) & 0x0FU);
|
||||
}
|
||||
|
||||
uint16_t from_bcd(uint8_t value){
|
||||
return (((value & 0xF0U) >> 4U) * 10U) + (value & 0x0FU);
|
||||
return (((value & 0xF0U) >> 4U) * 10U) + (value & 0x0FU);
|
||||
}
|
||||
|
||||
void rtc_init(void){
|
||||
if(board_has_rtc()){
|
||||
// Initialize RTC module and clock if not done already.
|
||||
if((RCC->BDCR & RCC_BDCR_MASK) != RCC_BDCR_OPTIONS){
|
||||
puts("Initializing RTC\n");
|
||||
// Reset backup domain
|
||||
register_set_bits(&(RCC->BDCR), RCC_BDCR_BDRST);
|
||||
if(current_board->has_rtc){
|
||||
// Initialize RTC module and clock if not done already.
|
||||
if((RCC->BDCR & RCC_BDCR_MASK) != RCC_BDCR_OPTIONS){
|
||||
puts("Initializing RTC\n");
|
||||
// Reset backup domain
|
||||
register_set_bits(&(RCC->BDCR), RCC_BDCR_BDRST);
|
||||
|
||||
// Disable write protection
|
||||
register_set_bits(&(PWR->CR), PWR_CR_DBP);
|
||||
// Disable write protection
|
||||
disable_bdomain_protection();
|
||||
|
||||
// Clear backup domain reset
|
||||
register_clear_bits(&(RCC->BDCR), RCC_BDCR_BDRST);
|
||||
// Clear backup domain reset
|
||||
register_clear_bits(&(RCC->BDCR), RCC_BDCR_BDRST);
|
||||
|
||||
// Set RTC options
|
||||
register_set(&(RCC->BDCR), RCC_BDCR_OPTIONS, RCC_BDCR_MASK);
|
||||
// Set RTC options
|
||||
register_set(&(RCC->BDCR), RCC_BDCR_OPTIONS, RCC_BDCR_MASK);
|
||||
|
||||
// Enable write protection
|
||||
register_clear_bits(&(PWR->CR), PWR_CR_DBP);
|
||||
}
|
||||
// Enable write protection
|
||||
enable_bdomain_protection();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void rtc_set_time(timestamp_t time){
|
||||
if(board_has_rtc()){
|
||||
puts("Setting RTC time\n");
|
||||
if(current_board->has_rtc){
|
||||
puts("Setting RTC time\n");
|
||||
|
||||
// Disable write protection
|
||||
register_set_bits(&(PWR->CR), PWR_CR_DBP);
|
||||
RTC->WPR = 0xCA;
|
||||
RTC->WPR = 0x53;
|
||||
// Disable write protection
|
||||
disable_bdomain_protection();
|
||||
RTC->WPR = 0xCA;
|
||||
RTC->WPR = 0x53;
|
||||
|
||||
// Enable initialization mode
|
||||
register_set_bits(&(RTC->ISR), RTC_ISR_INIT);
|
||||
while((RTC->ISR & RTC_ISR_INITF) == 0){}
|
||||
// Enable initialization mode
|
||||
register_set_bits(&(RTC->ISR), RTC_ISR_INIT);
|
||||
while((RTC->ISR & RTC_ISR_INITF) == 0){}
|
||||
|
||||
// Set time
|
||||
RTC->TR = (to_bcd(time.hour) << RTC_TR_HU_Pos) | (to_bcd(time.minute) << RTC_TR_MNU_Pos) | (to_bcd(time.second) << RTC_TR_SU_Pos);
|
||||
RTC->DR = (to_bcd(time.year - YEAR_OFFSET) << RTC_DR_YU_Pos) | (time.weekday << RTC_DR_WDU_Pos) | (to_bcd(time.month) << RTC_DR_MU_Pos) | (to_bcd(time.day) << RTC_DR_DU_Pos);
|
||||
// Set time
|
||||
RTC->TR = (to_bcd(time.hour) << RTC_TR_HU_Pos) | (to_bcd(time.minute) << RTC_TR_MNU_Pos) | (to_bcd(time.second) << RTC_TR_SU_Pos);
|
||||
RTC->DR = (to_bcd(time.year - YEAR_OFFSET) << RTC_DR_YU_Pos) | (time.weekday << RTC_DR_WDU_Pos) | (to_bcd(time.month) << RTC_DR_MU_Pos) | (to_bcd(time.day) << RTC_DR_DU_Pos);
|
||||
|
||||
// Set options
|
||||
register_set(&(RTC->CR), 0U, 0xFCFFFFU);
|
||||
// Set options
|
||||
register_set(&(RTC->CR), 0U, 0xFCFFFFU);
|
||||
|
||||
// Disable initalization mode
|
||||
register_clear_bits(&(RTC->ISR), RTC_ISR_INIT);
|
||||
// Disable initalization mode
|
||||
register_clear_bits(&(RTC->ISR), RTC_ISR_INIT);
|
||||
|
||||
// Wait for synchronization
|
||||
while((RTC->ISR & RTC_ISR_RSF) == 0){}
|
||||
// Wait for synchronization
|
||||
while((RTC->ISR & RTC_ISR_RSF) == 0){}
|
||||
|
||||
// Re-enable write protection
|
||||
RTC->WPR = 0x00;
|
||||
register_clear_bits(&(PWR->CR), PWR_CR_DBP);
|
||||
}
|
||||
// Re-enable write protection
|
||||
RTC->WPR = 0x00;
|
||||
enable_bdomain_protection();
|
||||
}
|
||||
}
|
||||
|
||||
timestamp_t rtc_get_time(void){
|
||||
timestamp_t result;
|
||||
// Init with zero values in case there is no RTC running
|
||||
result.year = 0U;
|
||||
result.month = 0U;
|
||||
result.day = 0U;
|
||||
result.weekday = 0U;
|
||||
result.hour = 0U;
|
||||
result.minute = 0U;
|
||||
result.second = 0U;
|
||||
timestamp_t result;
|
||||
// Init with zero values in case there is no RTC running
|
||||
result.year = 0U;
|
||||
result.month = 0U;
|
||||
result.day = 0U;
|
||||
result.weekday = 0U;
|
||||
result.hour = 0U;
|
||||
result.minute = 0U;
|
||||
result.second = 0U;
|
||||
|
||||
if(board_has_rtc()){
|
||||
// Wait until the register sync flag is set
|
||||
while((RTC->ISR & RTC_ISR_RSF) == 0){}
|
||||
if(current_board->has_rtc){
|
||||
// Wait until the register sync flag is set
|
||||
while((RTC->ISR & RTC_ISR_RSF) == 0){}
|
||||
|
||||
// Read time and date registers. Since our HSE > 7*LSE, this should be fine.
|
||||
uint32_t time = RTC->TR;
|
||||
uint32_t date = RTC->DR;
|
||||
// Read time and date registers. Since our HSE > 7*LSE, this should be fine.
|
||||
uint32_t time = RTC->TR;
|
||||
uint32_t date = RTC->DR;
|
||||
|
||||
// Parse values
|
||||
result.year = from_bcd((date & (RTC_DR_YT | RTC_DR_YU)) >> RTC_DR_YU_Pos) + YEAR_OFFSET;
|
||||
result.month = from_bcd((date & (RTC_DR_MT | RTC_DR_MU)) >> RTC_DR_MU_Pos);
|
||||
result.day = from_bcd((date & (RTC_DR_DT | RTC_DR_DU)) >> RTC_DR_DU_Pos);
|
||||
result.weekday = ((date & RTC_DR_WDU) >> RTC_DR_WDU_Pos);
|
||||
result.hour = from_bcd((time & (RTC_TR_HT | RTC_TR_HU)) >> RTC_TR_HU_Pos);
|
||||
result.minute = from_bcd((time & (RTC_TR_MNT | RTC_TR_MNU)) >> RTC_TR_MNU_Pos);
|
||||
result.second = from_bcd((time & (RTC_TR_ST | RTC_TR_SU)) >> RTC_TR_SU_Pos);
|
||||
}
|
||||
return result;
|
||||
}
|
||||
// Parse values
|
||||
result.year = from_bcd((date & (RTC_DR_YT | RTC_DR_YU)) >> RTC_DR_YU_Pos) + YEAR_OFFSET;
|
||||
result.month = from_bcd((date & (RTC_DR_MT | RTC_DR_MU)) >> RTC_DR_MU_Pos);
|
||||
result.day = from_bcd((date & (RTC_DR_DT | RTC_DR_DU)) >> RTC_DR_DU_Pos);
|
||||
result.weekday = ((date & RTC_DR_WDU) >> RTC_DR_WDU_Pos);
|
||||
result.hour = from_bcd((time & (RTC_TR_HT | RTC_TR_HU)) >> RTC_TR_HU_Pos);
|
||||
result.minute = from_bcd((time & (RTC_TR_MNT | RTC_TR_MNU)) >> RTC_TR_MNU_Pos);
|
||||
result.second = from_bcd((time & (RTC_TR_ST | RTC_TR_SU)) >> RTC_TR_SU_Pos);
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
@@ -1,7 +0,0 @@
|
||||
void timer_init(TIM_TypeDef *TIM, int psc) {
|
||||
register_set(&(TIM->PSC), (psc-1), 0xFFFFU);
|
||||
register_set(&(TIM->DIER), TIM_DIER_UIE, 0x5F5FU);
|
||||
register_set(&(TIM->CR1), TIM_CR1_CEN, 0x3FU);
|
||||
TIM->SR = 0;
|
||||
}
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user