mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-06-12 09:14:17 +08:00
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4
.gitignore
vendored
4
.gitignore
vendored
@@ -74,3 +74,7 @@ comma*.sh
|
||||
|
||||
selfdrive/modeld/thneed/compile
|
||||
models/*.thneed
|
||||
|
||||
*.bz2
|
||||
!phonelibs/mapbox-gl-native-qt/aarch64/*.so
|
||||
!phonelibs/mapbox-gl-native-qt/jarch64/*.so
|
||||
|
||||
@@ -1,3 +1,94 @@
|
||||
dragonpilot 0.8.9-4
|
||||
========================
|
||||
* Minor UI improvement.
|
||||
|
||||
dragonpilot 0.8.9-3
|
||||
========================
|
||||
* Bug fixes.
|
||||
* Fixed up auto updater.
|
||||
* Fixed Honda Jade dbc. (Thanks to @lijunhao731)
|
||||
* ADDED: 0.8.10 model.
|
||||
* ADDED: Nav for all device (Need to create your own mapbox token)
|
||||
- ADDED: Google Map search for Nav (Need to create your own token).
|
||||
* ADDED: Support for Nvidia Xavier.
|
||||
|
||||
dragonpilot 0.8.9-2
|
||||
========================
|
||||
* Bug fixes.
|
||||
* Refactor UI related changes.
|
||||
* Updated Simplified Chinese translation. (Thanks to @CCZ)
|
||||
* WARNING: Due to recent OP change, Device w/ battery recommended setting autoshutdown to 1 min to prevent libusb error.
|
||||
* Re-tuned acceleraton profile. (Thank to @wer5lcy)
|
||||
* ADDED: Car port for Toyota Prius Alpha. (Thanks to @CT921)
|
||||
|
||||
dragonpilot 0.8.9-1
|
||||
========================
|
||||
* Based on openpilot 0.8.8 devel.
|
||||
* Re-introduce Follow Distance 4th profile (2.2s / 1.8s / 1.5s / 1.2s).
|
||||
* ADDED: New softer sound for c3.
|
||||
* ADDED: Dynamic Lane Profile. (Thanks to @sunnyhaibin)
|
||||
* Bug Fixes.
|
||||
|
||||
dragonpilot 0.8.8-2
|
||||
========================
|
||||
* ADDED: newer faster and modularized mapd and slow down for curve. (Thanks to @move-fast)
|
||||
* ADDED: Street name on the bottom bar.
|
||||
* ADDED: Now supports 1+3t / C2 / C3 / Jetson Xavier NX.
|
||||
* ADDED: Smoother tune for PRIUS_TSS2.
|
||||
* Bug fixes.
|
||||
|
||||
dragonpilot 0.8.8-1
|
||||
========================
|
||||
** BETA TESTING ONLY **
|
||||
* Based on openpilot 0.8.8 devel.
|
||||
* FIXED: dashcam issue.
|
||||
* FIXED: some VW vehicles issue. (Thanks to @yayism)
|
||||
* FIXED: white panda + j533 acc issue. (Thanks to @lirudy)
|
||||
* ADDED: Auto fake black panda.
|
||||
* ADDED: 2018 chinese camry hybrid fingerprint (Thanks to @stingshen)
|
||||
* WIP: mapd.
|
||||
|
||||
dragonpilot 0.8.7-4
|
||||
========================
|
||||
* 2017 JADE w/ Added Comma Pedal Support. (Thanks to @lijunhao731)
|
||||
* Fixed toyota / honda brake light display. (Thanks to @loveloveses)
|
||||
* Fixed UI toggle. (Thanks to @鄧育林、@謝聖鴻)
|
||||
* Fixed VW resume/display issue. (Thanks to @SKY)
|
||||
* Fixed CJK font installation issue.
|
||||
|
||||
dragonpilot 0.8.7-3
|
||||
========================
|
||||
* Bug fixes.
|
||||
* Fixed gpxd.
|
||||
* Added some Chinese support.
|
||||
|
||||
dragonpilot 0.8.7-2
|
||||
========================
|
||||
* Fixed sound issue.
|
||||
* Changed gpx logs to OSM compatible format.
|
||||
* HONDA: Added BSM support for CRV-Hybrid.
|
||||
* HONDA: Added toggle to force displaying km/h in HUD.
|
||||
* TOYOTA: Add new Toggles under DP - Cars to enable/disable Following Modes / Accel Modes with physical button feature.
|
||||
|
||||
dragonpilot 0.8.7-1
|
||||
========================
|
||||
* Based on openpilot 0.8.7 devel.
|
||||
* Support 1+3t / C2 / Jetson Xavier NX.
|
||||
* Support White / Grey Panda.
|
||||
* TOYOTA: Can now change Following Modes with physical button from the steering wheel.
|
||||
* TOYOTA: Can now change Acceleration Modes with physical button if your car supports it.
|
||||
* TOYOTA: Added Low speed override toggles.
|
||||
* Dev UI now displays RPM reading.
|
||||
* Added Prebuilt toggle for faster boot.
|
||||
* Lexus RX high RPM fix. (Thanks to @crazysim).
|
||||
* Added toggle to launch Language settings.
|
||||
* Added toggle to launch Volume settings.
|
||||
* Added toggle to launch date/time settings.
|
||||
* Added toggle to flash panda.
|
||||
* Added toggle to recover panda firmware.
|
||||
* Added toggle to delete logging (/sdcard/realdata).
|
||||
* Added GPS Logger.
|
||||
|
||||
dragonpilot 0.8.6-1
|
||||
========================
|
||||
* Based on openpilot 0.8.6 devel.
|
||||
@@ -29,7 +120,7 @@ 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.
|
||||
* 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.
|
||||
@@ -96,7 +187,7 @@ dragonpilot 0.7.10.1
|
||||
* 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)
|
||||
* 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)
|
||||
|
||||
@@ -158,7 +249,7 @@ dragonpilot 0.7.8.0
|
||||
* 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.
|
||||
* Added ability to execute reset_update.sh when press "Exit" button once manager returned errors.
|
||||
|
||||
dragonpilot 0.7.7.3
|
||||
========================
|
||||
@@ -197,7 +288,7 @@ dragonpilot 0.7.7.1
|
||||
* 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)
|
||||
* Added "dp_lqr" setting to force enable lqr tuning from RAV4. (Thanks to eisenheim)
|
||||
|
||||
dragonpilot 0.7.7.0
|
||||
========================
|
||||
@@ -250,7 +341,7 @@ dragonpilot 0.7.5.3
|
||||
* 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)
|
||||
* 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。
|
||||
@@ -258,7 +349,7 @@ dragonpilot 0.7.5.3
|
||||
* 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)
|
||||
* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22)
|
||||
|
||||
dragonpilot 0.7.5.2
|
||||
========================
|
||||
@@ -273,7 +364,7 @@ dragonpilot 0.7.5.2
|
||||
* 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.
|
||||
* 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)
|
||||
@@ -311,14 +402,14 @@ dragonpilot 0.7.5.0
|
||||
* 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)
|
||||
* 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。
|
||||
* 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.
|
||||
@@ -337,7 +428,7 @@ dragonpilot 0.7.5.0
|
||||
* 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。
|
||||
* 新增駕駛介面加入「加速模式」切換鈕。
|
||||
* 新增自定義車型。
|
||||
|
||||
2020-04-16
|
||||
@@ -446,7 +537,7 @@ dragonpilot 0.7.5.0
|
||||
2020-01-19
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.1)。
|
||||
* [DEVEL] 調整 appd 和 ALC 邏輯。
|
||||
* [DEVEL] 調整 appd 和 ALC 邏輯。
|
||||
|
||||
2020-01-14
|
||||
========================
|
||||
@@ -571,7 +662,7 @@ dragonpilot 0.7.5.0
|
||||
========================
|
||||
* [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)。
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
|
||||
|
||||
2019-10-17
|
||||
========================
|
||||
@@ -595,7 +686,7 @@ dragonpilot 0.7.5.0
|
||||
|
||||
2019-10-11
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
|
||||
* [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
|
||||
@@ -614,12 +705,12 @@ dragonpilot 0.7.5.0
|
||||
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)。
|
||||
* [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
|
||||
* [DEVEL] Lexus ISH 使用更精確的 EPS Steering Angle Sensor
|
||||
|
||||
2019-09-27
|
||||
========================
|
||||
|
||||
@@ -1,28 +1,40 @@
|
||||
# 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.
|
||||
|
||||
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
|
||||
### TEAM
|
||||
Name | github | Role
|
||||
------------------------------------------------------------ | ------------------------------------------------------------ | ------------------------------------------------------------
|
||||
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
|
||||
cafe | [cafe](https://github.com/coffice12) | Resource Provider
|
||||
cgw1968 | [cgw1968](https://github.com/cgw1968-5779) | C2/C3 Toyota Beta Tester
|
||||
kumar | [rav4kumar](https://github.com/rav4kumar) | Release Maintainer
|
||||
loveloveses | [loveloveses](https://github.com/loveloveses) | Wiki Maintainer
|
||||
Rick Lan | [efinilan](https://github.com/efinilan) | Release Maintainer
|
||||
Stupefacient | [Stupefacient](https://github.com/Stupefacient) | C2/C3 Toyota Beta Tester
|
||||
CCZ | [CCZ](https://github.com/czdeee) | UI developer, Simplified Chinese Translator
|
||||
|
||||
### CONTRIBUTORS
|
||||
Name | github
|
||||
------------------------------------------------------------ | ------------------------------------------------------------
|
||||
andy741217 | [andy741217](https://github.com/andy741217)
|
||||
Arne Schwarck | [arne182](https://github.com/arne182)
|
||||
berno22 | [berno22](https://github.com/berno22)
|
||||
Bobbydough | [Bobbydough](https://github.com/bobbydough)
|
||||
TIM | [TIM](https://github.com/CT921)
|
||||
Curtis Jenkins | [actuallylemoncurd](https://github.com/actuallylemoncurd)
|
||||
DFyffe | [donfyffe](https://github.com/donfyffe)
|
||||
dinglx | [dingliangxue](https://github.com/dingliangxue)
|
||||
eyezenheim | [eyezenheim](https://github.com/eyezenheim)
|
||||
Jason Wen | [sunnyhaibin](https://github.com/sunnyhaibin)
|
||||
kegman | [kegman](https://github.com/kegman)
|
||||
lijunhao731 | [lijunhao731](https://github.com/lijunhao731)
|
||||
lirudy | [lirudy](https://github.com/lirudy)
|
||||
LOVEChen | [LOVEChen](https://github.com/LOVEChen)
|
||||
menwenliang | [menwenliang](https://github.com/menwenliang)
|
||||
move-fast | [move-fast](https://github.com/move-fast)
|
||||
Nelson Chen | [nelsonjchen](https://github.com/nelsonjchen)
|
||||
rming | [Rming](https://github.com/rming)
|
||||
sebastian4k | [sebastian4k](https://github.com/sebastian4k)
|
||||
Shane Smiskol | [sshane](https://github.com/sshane)
|
||||
toyboxZ | [toyboxZ](https://github.com/toyboxZ)
|
||||
|
||||
@@ -1,9 +1,9 @@
|
||||
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)
|
||||
(手動安裝切換至 dp)
|
||||
```
|
||||
cd /data/ && rm -fr openpilot; && git clone https://github.com/dragonpilot-community/dragonpilot.git -b 0.8.4
|
||||
cd /data/ && rm -fr openpilot ; git clone https://github.com/dragonpilot-community/dragonpilot.git openpilot -b 0.8.8
|
||||
```
|
||||
|
||||
2. run command:
|
||||
@@ -22,4 +22,4 @@ cd /data/openpilot/scripts/ && ./oneplus_update_neos.sh
|
||||
(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)
|
||||
(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)
|
||||
|
||||
18
HOWTO-Translate.md
Normal file
18
HOWTO-Translate.md
Normal file
@@ -0,0 +1,18 @@
|
||||
HOW TO Translate dragonpilot
|
||||
--
|
||||
|
||||
If you would like to help to translate dragonpilot into your native language, please:
|
||||
1. Contact dragonpilot team to generate language files for translation.
|
||||
|
||||
2. Start translation, there will be 2 files: (locale = your language code)
|
||||
* <openpilot>/selfdrive/assets/locales/**locale**/LC_MESSAGES/events.po
|
||||
* This is for alerts messages. (e.g. on road warning messages)
|
||||
* <openpilot>/selfdrive/ui/translations/**locale**.ts
|
||||
* This is for UI. (e.g. settings pages)
|
||||
|
||||
We recommended to use a proper editor such as TextMate (mac) / notepad++ (win) / Intellij pyCharm.
|
||||
|
||||
|
||||
3. Submit a PR for your translation.
|
||||
|
||||
4. dragonpilot team will review your PR and add it in the next release.
|
||||
144
JETSON.md
Normal file
144
JETSON.md
Normal file
@@ -0,0 +1,144 @@
|
||||
Licensing
|
||||
------
|
||||
xnxpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
|
||||
|
||||
Any user of this software shall indemnify and hold harmless Rick Lan, dragonpilot, comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
|
||||
|
||||
***THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT. YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS. NO WARRANTY EXPRESSED OR IMPLIED.***
|
||||
|
||||
---
|
||||
|
||||
Table of Contents
|
||||
------
|
||||
|
||||
* [What is xnxpilot?](#what-is-xnxpilot)
|
||||
* [Showcase](#showcase)
|
||||
* [Checklist](#checklist)
|
||||
* [Hardware requirement](#hardware-requirement)
|
||||
* [Software requirement](#software-requirement)
|
||||
* [Hardware assimbly](#hardware-assembly)
|
||||
* [Installation](#installation)
|
||||
* [Credits](#credits)
|
||||
* [Notes](#notes)
|
||||
|
||||
---
|
||||
|
||||
What is xnxpilot?
|
||||
------
|
||||
xnxpilot (Xavier NX Pilot) is an open source driver assistance system based on [dragonpilot](http://github.com/dragonpilot-community/dragonpilot) and [openpilot](http://github.com/commaai/openpilot), running on a NVIDIA Jetson Xavier NX platform instead of a qualcomm 821 mobile phone.
|
||||
|
||||
|
||||
|
||||
If you would like to run it with minimal changes to openpilot, please see the example in "doc" branch, based on openpilot 0.8.4
|
||||
|
||||
---
|
||||
|
||||
Showcase
|
||||
------
|
||||
Simulation:
|
||||
<table>
|
||||
<tr>
|
||||
<td><a href="https://youtu.be/ubxSSLWqyt8" title="YouTube" rel="noopener"><img src="http://i3.ytimg.com/vi/ubxSSLWqyt8/hqdefault.jpg"></a></td>
|
||||
</tr>
|
||||
</table>
|
||||
|
||||
On road:
|
||||
<table>
|
||||
<tr>
|
||||
<td><a href="https://youtu.be/RqoTT5m4Kp8" title="YouTube" rel="noopener"><img src="http://i3.ytimg.com/vi/RqoTT5m4Kp8/hqdefault.jpg"></a></td>
|
||||
</tr>
|
||||
</table>
|
||||
|
||||
Running on dragonpilot 0.8:
|
||||
<table>
|
||||
<tr>
|
||||
<td><a href="https://youtu.be/o2pm8bAJvAM" title="YouTube" rel="noopener"><img src="http://i3.ytimg.com/vi/o2pm8bAJvAM/hqdefault.jpg"></a></td>
|
||||
<td><a href="https://youtu.be/GEr-K3D3sDU" title="YouTube" rel="noopener"><img src="http://i3.ytimg.com/vi/GEr-K3D3sDU/hqdefault.jpg"></a></td>
|
||||
</tr>
|
||||
</table>
|
||||
|
||||
---
|
||||
|
||||
Checklist
|
||||
------
|
||||
- [x] Create build scripts
|
||||
- [x] Add patch samples / tutorials.
|
||||
- [x] On road lateral control tests.
|
||||
- [ ] On road longitudinal control tests.
|
||||
- [ ] Add IMU sensor to improve GPS accuracy.
|
||||
- [ ] Tuning. (WIP)
|
||||
|
||||
---
|
||||
|
||||
Hardware Requirement
|
||||
------
|
||||
- [Nvidia Jetson Xavier NX](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-xavier-nx/)
|
||||
- 32GB+ microsd card (UHS 3 speed minimum)
|
||||
- [Arducam IMX 477](https://www.amazon.com/gp/product/B08F743RGG/)
|
||||
- [comma.ai Black Panda](https://comma.ai/shop/products/panda) (or white/grey panda but require more code customization.)
|
||||
- (Optional) [comma.ai Windshield mount](https://github.com/commaai/neo/tree/master/case/eon)
|
||||
- (Optional) [GoPro flat adhesive mount](https://www.amazon.com/AFAITH-Adhesive-Mounts-GoPro-Camera/dp/B00BUD6LPY/)
|
||||
- (Optional) [Waveshare 4.3" IPS Touchscreen](https://www.amazon.com.au/gp/product/B0852NW9FM/)
|
||||
- (Optional) [DCDZ Jetson Xavier NX Carrier Board NCB00](https://item.taobao.com/item.htm?ft=t&id=613984388047)
|
||||
- (Optional) [CSI to HDMI Extension Module](https://www.amazon.com/gp/product/B06XDNBM63/)
|
||||
- (Optional) Targus notebook charger for car.
|
||||
---
|
||||
|
||||
Software Requirement
|
||||
------
|
||||
- [NVIDIA JetPack 4.6](https://developer.nvidia.com/jetpack-sdk-46)
|
||||
|
||||
---
|
||||
|
||||
Hardware assembly
|
||||
------
|
||||
It is important to know that your camera needs **firmly attached** onto your windshield, any small movement to the camera while driving may result dangerous steering/acceleration.
|
||||
|
||||
I highly recommended to 3D print those commaai windshield mount (use with gopro mount) and use it to mount your camera, 24 degree one will do the job.
|
||||
|
||||
---
|
||||
|
||||
Installation
|
||||
------
|
||||
1) [Install ubuntu 18.04 / Jetpack 4.6 on to sdcard](https://developer.nvidia.com/embedded/learn/get-started-jetson-xavier-nx-devkit)
|
||||
2) Insert your sd card to your jetson, have camera connect to CAM0, boot up, use the following configuration (installer will use those values to set up the device):
|
||||
- username: **comma**
|
||||
- password: **comma**
|
||||
- hostname: **tici**
|
||||
- mode: **20W 6 cores**
|
||||
|
||||
3) Once completed, run:
|
||||
- `sudo /opt/nvidia/jetson-io/jetson-io.py`
|
||||
- select `Configure Jetson Nano CSI Connector` > `Configure for compatible hardware` > `Camera IMX477 Dual` > `Save pin changes` > `Save and exit without rebooting`.
|
||||
|
||||
4) clone this repo to your home directory (e.g. `cd ~/ && git clone https://github.com/efinilan/xnxpilot.git openpilot -b 0.8.9 --single-branch`)
|
||||
5) run `cd ~/openpilot/jetson/ && sudo bash env_installer.py`
|
||||
6) Take a rest, this will take around **1.5 hrs** to config your system and another **10 mins** for compile dragonpilot, depends on your internet connection.
|
||||
7) Congradulations, you have dragonpilot running on your jetson.
|
||||
---
|
||||
|
||||
Credits
|
||||
------
|
||||
- [dragonpilot](https://github.com/dragonpilot-community/dragonpilot/)
|
||||
- [Commaai Openpilot](https://github.com/commaai/openpiplot)
|
||||
- [RetroPilot Community](https://discord.gg/fGUuASVZKg)
|
||||
- [Unofficial OpenPilot Community](https://discord.gg/Mrf8FwfWSr)
|
||||
|
||||
---
|
||||
|
||||
Notes
|
||||
------
|
||||
#### set_core_affinity ####
|
||||
Jetson Xavier NX has 6 cores running at 1.9 GHz, here is what I've defined:
|
||||
|
||||
0 = camerad
|
||||
|
||||
1 = modeld
|
||||
|
||||
2 = boardd
|
||||
|
||||
3 = controlsd
|
||||
|
||||
4 = plannerd / radard
|
||||
|
||||
This will spread processes other CPU cores.
|
||||
28
Jenkinsfile
vendored
28
Jenkinsfile
vendored
@@ -49,7 +49,6 @@ def phone_steps(String device_type, steps) {
|
||||
pipeline {
|
||||
agent none
|
||||
environment {
|
||||
COMMA_JWT = credentials('athena-test-jwt')
|
||||
TEST_DIR = "/data/openpilot"
|
||||
SOURCE_DIR = "/data/openpilot_source/"
|
||||
}
|
||||
@@ -71,7 +70,24 @@ pipeline {
|
||||
}
|
||||
steps {
|
||||
phone_steps("eon-build", [
|
||||
["build release2-staging and dashcam-staging", "cd release && PUSH=1 ./build_release2.sh"],
|
||||
["build release2-staging & dashcam-staging", "cd release && PUSH=1 ./build_release2.sh"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('Build release3') {
|
||||
agent {
|
||||
docker {
|
||||
image 'python:3.7.3'
|
||||
args '--user=root'
|
||||
}
|
||||
}
|
||||
when {
|
||||
branch 'devel-staging'
|
||||
}
|
||||
steps {
|
||||
phone_steps("tici", [
|
||||
["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release3.sh"],
|
||||
])
|
||||
}
|
||||
}
|
||||
@@ -80,7 +96,10 @@ pipeline {
|
||||
when {
|
||||
not {
|
||||
anyOf {
|
||||
branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'testing-closet*'; branch 'hotfix-*'
|
||||
branch 'master-ci'; branch 'devel'; branch 'devel-staging';
|
||||
branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging';
|
||||
branch 'release3'; branch 'release3-staging'; branch 'dashcam3'; branch 'dashcam3-staging';
|
||||
branch 'testing-closet*'; branch 'hotfix-*'
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -152,7 +171,7 @@ pipeline {
|
||||
phone_steps("eon", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
["test athena", "nosetests -s selfdrive/athena/tests/test_athenad_old.py"],
|
||||
["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
|
||||
["test sounds", "nosetests -s selfdrive/ui/tests/test_sounds.py"],
|
||||
["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
|
||||
["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
|
||||
["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
|
||||
@@ -191,7 +210,6 @@ pipeline {
|
||||
phone_steps("tici", [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
|
||||
//["build release3-staging", "cd release && PUSH=${env.R3_PUSH} ./build_release3.sh"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
34
README.md
Normal file → Executable file
34
README.md
Normal file → Executable file
@@ -1,4 +1,4 @@
|
||||
[](#)
|
||||
|
||||
|
||||
Table of Contents
|
||||
=======================
|
||||
@@ -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 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).
|
||||
At the moment, openpilot supports the EON Gold DevKit, [comma two](https://comma.ai/shop/products/two), and [comma three](https://comma.ai/shop/products/three). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect your device to the car. For experimental purposes, openpilot can also run on an Ubuntu computer with external [webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
|
||||
|
||||
Supported Cars
|
||||
------
|
||||
@@ -77,6 +77,7 @@ Supported Cars
|
||||
| Honda | CR-V 2015-16 | Touring | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | CR-V 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | e 2020 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Fit 2018-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | HR-V 2019-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Insight 2019-21 | All | Stock | 0mph | 3mph |
|
||||
@@ -110,7 +111,7 @@ Supported Cars
|
||||
| Toyota | C-HR 2017-20 | All | Stock | 0mph | 0mph |
|
||||
| Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph |
|
||||
| Toyota | Corolla 2017-19 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Corolla 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla 2020-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hatchback 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
@@ -138,7 +139,7 @@ Community Maintained Cars and Features
|
||||
|
||||
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
|
||||
| Audi | A3 2014-18 | Prestige | Stock | 0mph | 0mph |
|
||||
| Audi | A3 2014-19 | Prestige | Stock | 0mph | 0mph |
|
||||
| Audi | A3 Sportback e-tron 2017-18 | Prestige | Stock | 0mph | 0mph |
|
||||
| Audi | Q2 2018 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Buick | Regal 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
@@ -162,14 +163,17 @@ Community Maintained Cars and Features
|
||||
| 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 | Kona EV 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Kona Hybrid 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Santa Fe 2019-20 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2018-2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata Hybrid 2021 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Veloster 2019-20 | SCC + LKAS | Stock | 5mph | 0mph |
|
||||
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Jeep | Grand Cherokee 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Kia | Forte 2018-2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Niro EV 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Forte 2018-21 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Niro EV 2019-21 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Niro Hybrid 2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Niro PHEV 2019 | SCC + LKAS | Stock | 10mph | 32mph |
|
||||
| Kia | Optima 2017 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Kia | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
@@ -177,14 +181,15 @@ Community Maintained Cars and Features
|
||||
| Kia | Sorento 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Ceed 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Telluride 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Nissan | Altima 2019-20 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | Leaf 2018-20 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | Rogue 2018-20 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | X-Trail 2017 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| SEAT | Ateca 2018 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| SEAT | Leon 2014-2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Kodiaq 2018 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Octavia 2015, 2019 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Kodiaq 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Octavia 2015, 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Octavia RS 2016 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Scala 2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Superb 2015-18 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
@@ -194,16 +199,17 @@ Community Maintained Cars and Features
|
||||
| Subaru | Impreza 2017-19 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Atlas 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| e-Golf 2014, 2019-20 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf 2015-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf 2015-20 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf Alltrack 2017-18 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf GTE 2016 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf GTI 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf GTI 2018-20 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf R 2016-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf SportsVan 2016 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf SportWagen 2015 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Jetta 2018-20 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Jetta GLI 2021 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Passat 2016-17<sup>2</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| T-Cross 2021 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Tiguan 2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Touran 2017 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
|
||||
@@ -219,7 +225,7 @@ Although they're not upstream, the community has openpilot running on other make
|
||||
Installation Instructions
|
||||
------
|
||||
|
||||
Install openpilot on an EON Gold or comma two by entering ``https://openpilot.comma.ai`` during the installer setup.
|
||||
Install openpilot on a supported device by entering ``https://openpilot.comma.ai`` during the installer setup.
|
||||
|
||||
Follow these [video instructions](https://youtu.be/lcjqxCymins) to properly mount the device on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise device mounting.
|
||||
|
||||
@@ -298,13 +304,13 @@ openpilot is open source software: the user is free to disable data collection i
|
||||
openpilot logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
|
||||
The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
|
||||
|
||||
By using openpilot, you agree to [our Privacy Policy](https://my.comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
|
||||
By using openpilot, you agree to [our Privacy Policy](https://connect.comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
|
||||
|
||||
Safety and Testing
|
||||
----
|
||||
|
||||
* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more details.
|
||||
* openpilot has software in the loop [tests](.github/workflows/test.yaml) that run on every commit.
|
||||
* openpilot has software in the loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
|
||||
* The safety model code lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
|
||||
* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
|
||||
* Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
|
||||
|
||||
27
RELEASES.md
27
RELEASES.md
@@ -1,3 +1,30 @@
|
||||
Version 0.8.9 (2021-09-14)
|
||||
========================
|
||||
* Improved fan control on comma three
|
||||
* AGNOS 1.5: improved stability
|
||||
* Honda e 2020 support
|
||||
|
||||
Version 0.8.8 (2021-08-27)
|
||||
========================
|
||||
* New driving model with improved laneless performance
|
||||
* Trained on 5000+ hours of diverse driving data from 3000+ users in 40+ countries
|
||||
* Better anti-cheating methods during simulator training ensure the model hugs less when in laneless mode
|
||||
* All new desire ground-truthing stack makes the model better at lane changes
|
||||
* New driver monitoring model: improved performance on comma three
|
||||
* NEOS 18 for comma two: update packages
|
||||
* AGNOS 1.3 for comma three: fix display init at high temperatures
|
||||
* Improved auto-exposure on comma three
|
||||
* Improved longitudinal control on Honda Nidec cars
|
||||
* Hyundai Kona Hybrid 2020 support thanks to haram-KONA!
|
||||
* Hyundai Sonata Hybrid 2021 support thanks to Matt-Wash-Burn!
|
||||
* Kia Niro Hybrid 2021 support thanks to tetious!
|
||||
|
||||
Version 0.8.7 (2021-07-31)
|
||||
========================
|
||||
* comma three support!
|
||||
* Navigation alpha for the comma three!
|
||||
* Volkswagen T-Cross 2021 support thanks to jyoung8607!
|
||||
|
||||
Version 0.8.6 (2021-07-21)
|
||||
========================
|
||||
* Revamp lateral and longitudinal planners
|
||||
|
||||
@@ -15,7 +15,7 @@ used safely** and openpilot is provided with no warranty of fitness for any purp
|
||||
openpilot is developed in good faith to be compliant with FMVSS requirements and to follow
|
||||
industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe
|
||||
ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
|
||||
released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/MISRAHome/MISRAC2012/tabid/196/Default.aspx))
|
||||
released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/what-is-misra/))
|
||||
on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
|
||||
hardware-in-the-loop and in-vehicle tests before each software release.
|
||||
|
||||
|
||||
40
SConstruct
40
SConstruct
@@ -111,7 +111,8 @@ if arch == "aarch64" or arch == "larch64":
|
||||
libpath += [
|
||||
"#phonelibs/snpe/aarch64",
|
||||
"#phonelibs/libyuv/lib",
|
||||
"/system/vendor/lib64"
|
||||
"/system/vendor/lib64",
|
||||
"#phonelibs/mapbox-gl-native-qt/aarch64",
|
||||
]
|
||||
cflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
|
||||
cxxflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
|
||||
@@ -125,9 +126,12 @@ else:
|
||||
if arch == "jarch64":
|
||||
libpath = [
|
||||
"#phonelibs/libyuv/larch64/lib",
|
||||
"/usr/lib/aarch64-linux-gnu",
|
||||
"#selfdrive/common",
|
||||
"/usr/lib",
|
||||
"/usr/local/lib",
|
||||
"/usr/local/pocl/lib",
|
||||
"#phonelibs/mapbox-gl-native-qt/jarch64",
|
||||
]
|
||||
cflags = ["-DXNX", "-march=armv8.2-a"]
|
||||
cxxflags = ["-DXNX", "-march=armv8.2-a"]
|
||||
@@ -184,6 +188,10 @@ else:
|
||||
if arch != "Darwin":
|
||||
ldflags += ["-Wl,--as-needed"]
|
||||
|
||||
# Enable swaglog include in submodules
|
||||
cflags += ["-DSWAGLOG"]
|
||||
cxxflags += ["-DSWAGLOG"]
|
||||
|
||||
# change pythonpath to this
|
||||
lenv["PYTHONPATH"] = Dir("#").path
|
||||
|
||||
@@ -360,8 +368,18 @@ if GetOption("clazy"):
|
||||
qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
|
||||
qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
|
||||
|
||||
zmq = 'zmq'
|
||||
Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'zmq', 'USE_MIPI')
|
||||
Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'USE_MIPI')
|
||||
|
||||
SConscript(['selfdrive/common/SConscript'])
|
||||
Import('_common', '_gpucommon', '_gpu_libs')
|
||||
|
||||
if SHARED:
|
||||
common, gpucommon = abspath(common), abspath(gpucommon)
|
||||
else:
|
||||
common = [_common, 'json11']
|
||||
gpucommon = [_gpucommon] + _gpu_libs
|
||||
|
||||
Export('common', 'gpucommon')
|
||||
|
||||
# cereal and messaging are shared with the system
|
||||
SConscript(['cereal/SConscript'])
|
||||
@@ -373,18 +391,7 @@ else:
|
||||
messaging = [File('#cereal/libmessaging.a')]
|
||||
visionipc = [File('#cereal/libvisionipc.a')]
|
||||
|
||||
Export('cereal', 'messaging')
|
||||
|
||||
SConscript(['selfdrive/common/SConscript'])
|
||||
Import('_common', '_gpucommon', '_gpu_libs')
|
||||
|
||||
if SHARED:
|
||||
common, gpucommon = abspath(common), abspath(gpucommon)
|
||||
else:
|
||||
common = [_common, 'json11']
|
||||
gpucommon = [_gpucommon] + _gpu_libs
|
||||
|
||||
Export('common', 'gpucommon', 'visionipc')
|
||||
Export('cereal', 'messaging', 'visionipc')
|
||||
|
||||
# Build rednose library and ekf models
|
||||
|
||||
@@ -436,7 +443,8 @@ SConscript(['selfdrive/clocksd/SConscript'])
|
||||
SConscript(['selfdrive/loggerd/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/locationd/SConscript'])
|
||||
SConscript(['selfdrive/sensord/SConscript'])
|
||||
if not os.path.isfile("/JETSON"):
|
||||
SConscript(['selfdrive/sensord/SConscript'])
|
||||
SConscript(['selfdrive/ui/SConscript'])
|
||||
|
||||
if arch != "Darwin":
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
Import('env', 'envCython', 'arch', 'zmq')
|
||||
Import('env', 'envCython', 'arch', 'common')
|
||||
|
||||
import shutil
|
||||
|
||||
@@ -40,17 +40,10 @@ 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'])
|
||||
env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq', common])
|
||||
Depends('messaging/bridge.cc', services_h)
|
||||
|
||||
envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq"])
|
||||
envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq", common])
|
||||
|
||||
|
||||
# Build Vision IPC
|
||||
@@ -70,7 +63,7 @@ vipc_objects = env.SharedObject(vipc_sources)
|
||||
vipc = env.Library('visionipc', vipc_objects)
|
||||
|
||||
|
||||
libs = envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib]
|
||||
libs = envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib, common]
|
||||
if arch == "aarch64":
|
||||
libs += ["adreno_utils"]
|
||||
if arch == "Darwin":
|
||||
@@ -80,5 +73,5 @@ envCython.Program('visionipc/visionipc_pyx.so', 'visionipc/visionipc_pyx.pyx', L
|
||||
|
||||
|
||||
if GetOption('test'):
|
||||
env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib])
|
||||
env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'], LIBS=[vipc, messaging_lib, 'zmq', 'pthread', 'OpenCL'])
|
||||
env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib, common])
|
||||
env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'], LIBS=[vipc, messaging_lib, 'zmq', 'pthread', 'OpenCL', common])
|
||||
|
||||
@@ -1,73 +0,0 @@
|
||||
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'])
|
||||
@@ -108,6 +108,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
driverCameraError @101;
|
||||
wideRoadCameraError @102;
|
||||
localizerMalfunction @103;
|
||||
highCpuUsage @105;
|
||||
|
||||
driverMonitorLowAccDEPRECATED @68;
|
||||
radarCanErrorDEPRECATED @15;
|
||||
@@ -131,8 +132,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
startupOneplusDEPRECATED @82;
|
||||
|
||||
#dp
|
||||
preLaneChangeLeftALC @105;
|
||||
preLaneChangeRightALC @106;
|
||||
autoLaneChange @106;
|
||||
manualSteeringRequired @107;
|
||||
manualSteeringRequiredBlinkersOn @108;
|
||||
leadCarMoving @109;
|
||||
@@ -141,6 +141,9 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
timebombWarn @110;
|
||||
timebombBypassing @111;
|
||||
timebombBypassed @112;
|
||||
mapdAlert @113;
|
||||
speedLimitActive @114;
|
||||
speedLimitValueChange @115;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -168,6 +171,7 @@ struct CarState {
|
||||
|
||||
# steering wheel
|
||||
steeringAngleDeg @7 :Float32;
|
||||
steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple
|
||||
steeringRateDeg @15 :Float32;
|
||||
steeringTorque @8 :Float32; # TODO: standardize units
|
||||
steeringTorqueEps @27 :Float32; # TODO: standardize units
|
||||
@@ -207,8 +211,10 @@ struct CarState {
|
||||
rightBlindspot @34 :Bool; # Is there something blocking the right lane change
|
||||
|
||||
# dp
|
||||
lkMode @37 :Bool;
|
||||
stopSteering @38 :Bool; # timebomb - stopSteering
|
||||
lkMode @38 :Bool;
|
||||
stopSteering @39 :Bool; # timebomb - stopSteering
|
||||
engineRPM @40 :Float32;
|
||||
cruiseActualEnabled @41 :Bool;
|
||||
|
||||
struct WheelSpeeds {
|
||||
# optional wheel speeds
|
||||
@@ -225,6 +231,7 @@ struct CarState {
|
||||
speedOffset @3 :Float32;
|
||||
standstill @4 :Bool;
|
||||
nonAdaptive @5 :Bool;
|
||||
speedLimit @6 :Float32;
|
||||
}
|
||||
|
||||
enum GearShifter {
|
||||
@@ -313,11 +320,22 @@ struct CarControl {
|
||||
|
||||
struct Actuators {
|
||||
# range from 0.0 - 1.0
|
||||
gas @0: Float32;
|
||||
brake @1: Float32;
|
||||
gasDEPRECATED @0: Float32;
|
||||
brakeDEPRECATED @1: Float32;
|
||||
# range from -1.0 - 1.0
|
||||
steer @2: Float32;
|
||||
steeringAngleDeg @3: Float32;
|
||||
|
||||
accel @4: Float32; # m/s^2
|
||||
longControlState @5: LongControlState;
|
||||
|
||||
enum LongControlState @0xe40f3a917d908282{
|
||||
off @0;
|
||||
pid @1;
|
||||
stopping @2;
|
||||
starting @3;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
struct CruiseControl {
|
||||
@@ -393,10 +411,10 @@ struct CarParams {
|
||||
|
||||
steerMaxBP @11 :List(Float32);
|
||||
steerMaxV @12 :List(Float32);
|
||||
gasMaxBP @13 :List(Float32);
|
||||
gasMaxV @14 :List(Float32);
|
||||
brakeMaxBP @15 :List(Float32);
|
||||
brakeMaxV @16 :List(Float32);
|
||||
gasMaxBPDEPRECATED @13 :List(Float32);
|
||||
gasMaxVDEPRECATED @14 :List(Float32);
|
||||
brakeMaxBPDEPRECATED @15 :List(Float32);
|
||||
brakeMaxVDEPRECATED @16 :List(Float32);
|
||||
|
||||
# things about the car in the manual
|
||||
mass @17 :Float32; # [kg] curb weight: all fluids no cargo
|
||||
@@ -429,10 +447,11 @@ struct CarParams {
|
||||
steerControlType @34 :SteerControlType;
|
||||
radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
|
||||
minSpeedCan @51 :Float32; # Minimum vehicle speed from CAN (below this value drops to 0)
|
||||
stoppingBrakeRate @52 :Float32; # brake_travel/s while trying to stop
|
||||
startingBrakeRate @53 :Float32; # brake_travel/s while releasing on restart
|
||||
stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
|
||||
startingAccelRate @53 :Float32; # m/s^2/s while trying to start
|
||||
|
||||
steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
|
||||
longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds
|
||||
openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
|
||||
carVin @38 :Text; # VIN number queried during fingerprinting
|
||||
dashcamOnly @41: Bool;
|
||||
|
||||
@@ -3,7 +3,7 @@ $Cxx.namespace("cereal");
|
||||
|
||||
using Java = import "./include/java.capnp";
|
||||
$Java.package("ai.comma.openpilot.cereal");
|
||||
$Java.outerClassname("dp");
|
||||
$Java.outerClassname("Dp");
|
||||
|
||||
@0xbfa7e645486440c7;
|
||||
|
||||
@@ -14,44 +14,50 @@ 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;
|
||||
dpAtlOpLong @3 :Bool;
|
||||
dpDashcamd @4 :Bool;
|
||||
dpAutoShutdown @5 :Bool;
|
||||
dpAthenad @6 :Bool;
|
||||
dpUploader @7 :Bool;
|
||||
dpLateralMode @8 :UInt8;
|
||||
dpSignalOffDelay @9 :Float32;
|
||||
dpLcMinMph @10 :UInt8;
|
||||
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;
|
||||
dpLaneLessModeCtrl @13 :Bool;
|
||||
dpLaneLessMode @14 :UInt8;
|
||||
dpAllowGas @15 :Bool;
|
||||
dpFollowingProfileCtrl @16 :Bool;
|
||||
dpFollowingProfile @17 :UInt8;
|
||||
dpAccelProfileCtrl @18 :Bool;
|
||||
dpAccelProfile @19 :UInt8;
|
||||
dpGearCheck @20 :Bool;
|
||||
dpSpeedCheck @21 :Bool;
|
||||
dpUiDisplayMode @22 :UInt8;
|
||||
dpUiSpeed @23 :Bool;
|
||||
dpUiEvent @24 :Bool;
|
||||
dpUiMaxSpeed @25 :Bool;
|
||||
dpUiFace @26 :Bool;
|
||||
dpUiLane @27 :Bool;
|
||||
dpUiLead @28 :Bool;
|
||||
dpUiSide @29 :Bool;
|
||||
dpUiTop @30 :Bool;
|
||||
dpUiBlinker @31 :Bool;
|
||||
dpUiBrightness @32 :UInt8;
|
||||
dpUiVolume @33 :Int8;
|
||||
dpToyotaLdw @34 :Bool;
|
||||
dpToyotaSng @35 :Bool;
|
||||
dpToyotaCruiseOverride @36 :Bool;
|
||||
dpToyotaCruiseOverrideVego @37 :Bool;
|
||||
dpToyotaCruiseOverrideAt @38 :Float32;
|
||||
dpToyotaCruiseOverrideSpeed @39 :Float32;
|
||||
dpVwTimebombAssist @40 :Bool;
|
||||
dpIpAddr @41 :Text;
|
||||
dpCameraOffset @42 :Int8;
|
||||
dpPathOffset @43 :Int8;
|
||||
dpLocale @44 :Text;
|
||||
dpSrLearner @45 :Bool;
|
||||
dpSrCustom @46 :Float32;
|
||||
dpAppd @47 :Bool;
|
||||
dpMapd @48 :Bool;
|
||||
}
|
||||
@@ -291,15 +291,11 @@ struct CanData {
|
||||
}
|
||||
|
||||
struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
freeSpacePercent @7 :Float32;
|
||||
memoryUsagePercent @19 :Int8;
|
||||
cpuUsagePercent @20 :Int8;
|
||||
gpuUsagePercent @33 :Int8;
|
||||
usbOnline @12 :Bool;
|
||||
networkType @22 :NetworkType;
|
||||
networkInfo @31 :NetworkInfo;
|
||||
offroadPowerUsageUwh @23 :UInt32;
|
||||
networkStrength @24 :NetworkStrength;
|
||||
offroadPowerUsageUwh @23 :UInt32;
|
||||
carBatteryCapacityUwh @25 :UInt32;
|
||||
|
||||
fanSpeedPercentDesired @10 :UInt16;
|
||||
@@ -308,11 +304,15 @@ struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
|
||||
lastAthenaPingTime @32 :UInt64;
|
||||
|
||||
# system utilization
|
||||
freeSpacePercent @7 :Float32;
|
||||
memoryUsagePercent @19 :Int8;
|
||||
gpuUsagePercent @33 :Int8;
|
||||
cpuUsagePercent @34 :List(Int8); # per-core cpu usage
|
||||
|
||||
# power
|
||||
batteryPercent @8 :Int16;
|
||||
batteryStatus @9 :Text;
|
||||
batteryCurrent @15 :Int32;
|
||||
batteryVoltage @16 :Int32;
|
||||
chargingError @17 :Bool;
|
||||
chargingDisabled @18 :Bool;
|
||||
|
||||
@@ -320,7 +320,6 @@ struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
cpuTempC @26 :List(Float32);
|
||||
gpuTempC @27 :List(Float32);
|
||||
memoryTempC @28 :Float32;
|
||||
batteryTempC @29 :Float32;
|
||||
ambientTempC @30 :Float32;
|
||||
thermalStatus @14 :ThermalStatus;
|
||||
|
||||
@@ -367,6 +366,10 @@ struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
gpuDEPRECATED @5 :UInt16;
|
||||
batDEPRECATED @6 :UInt32;
|
||||
pa0DEPRECATED @21 :UInt16;
|
||||
cpuUsagePercentDEPRECATED @20 :Int8;
|
||||
batteryStatusDEPRECATED @9 :Text;
|
||||
batteryVoltageDEPRECATED @16 :Int32;
|
||||
batteryTempCDEPRECATED @29 :Float32;
|
||||
}
|
||||
|
||||
struct PandaState @0xa7649e2575e4591e {
|
||||
@@ -434,6 +437,7 @@ struct PandaState @0xa7649e2575e4591e {
|
||||
pedal @4;
|
||||
uno @5;
|
||||
dos @6;
|
||||
redPanda @7;
|
||||
}
|
||||
|
||||
enum UsbPowerMode {
|
||||
@@ -531,7 +535,7 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
enabled @19 :Bool;
|
||||
active @36 :Bool;
|
||||
|
||||
longControlState @30 :LongControlState;
|
||||
longControlState @30 :Car.CarControl.Actuators.LongControlState;
|
||||
vPid @2 :Float32;
|
||||
vTargetLead @3 :Float32;
|
||||
vCruise @22 :Float32;
|
||||
@@ -570,13 +574,6 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
softDisabling @3;
|
||||
}
|
||||
|
||||
enum LongControlState {
|
||||
off @0;
|
||||
pid @1;
|
||||
stopping @2;
|
||||
starting @3;
|
||||
}
|
||||
|
||||
enum AlertStatus {
|
||||
normal @0; # low priority alert for user's convenience
|
||||
userPrompt @1; # mid priority alert that might require user intervention
|
||||
@@ -810,12 +807,29 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
|
||||
speeds @33 :List(Float32);
|
||||
jerks @34 :List(Float32);
|
||||
|
||||
visionTurnControllerState @35 :VisionTurnControllerState;
|
||||
visionTurnSpeed @36 :Float32;
|
||||
|
||||
speedLimitControlState @37 :SpeedLimitControlState;
|
||||
speedLimit @38 :Float32;
|
||||
speedLimitOffset @39 :Float32;
|
||||
distToSpeedLimit @40 :Float32;
|
||||
isMapSpeedLimit @41 :Bool;
|
||||
|
||||
distToTurn @42 :Float32;
|
||||
turnSpeed @43 :Float32;
|
||||
turnSpeedControlState @44 :SpeedLimitControlState;
|
||||
turnSign @45 :Int16;
|
||||
|
||||
enum LongitudinalPlanSource {
|
||||
cruise @0;
|
||||
lead0 @1;
|
||||
lead1 @2;
|
||||
lead2 @3;
|
||||
e2e @4;
|
||||
turn @5;
|
||||
limit @6;
|
||||
turnlimit @7;
|
||||
}
|
||||
|
||||
# deprecated
|
||||
@@ -851,6 +865,19 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
|
||||
x @0 :List(Float32);
|
||||
y @1 :List(Float32);
|
||||
}
|
||||
|
||||
enum SpeedLimitControlState {
|
||||
inactive @0; # No speed limit set or not enabled by parameter.
|
||||
tempInactive @1; # User wants to ignore speed limit until it changes.
|
||||
adapting @2; # Reducing speed to match new speed limit.
|
||||
active @3; # Cruising at speed limit.
|
||||
}
|
||||
enum VisionTurnControllerState {
|
||||
disabled @0; # No predicted substancial turn on vision range or feature disabled.
|
||||
entering @1; # A subsantial turn is predicted ahead, adapting speed to turn confort levels.
|
||||
turning @2; # Actively turning. Managing acceleration to provide a roll on turn feeling.
|
||||
leaving @3; # Road ahead straightens. Start to allow positive acceleration.
|
||||
}
|
||||
}
|
||||
|
||||
struct LateralPlan @0xe1e9318e2ae8b51e {
|
||||
@@ -859,6 +886,8 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
|
||||
rProb @7 :Float32;
|
||||
dPathPoints @20 :List(Float32);
|
||||
dProb @21 :Float32;
|
||||
dPathWLinesX @30 :List(Float32);
|
||||
dPathWLinesY @31 :List(Float32);
|
||||
|
||||
mpcSolutionValid @9 :Bool;
|
||||
desire @17 :Desire;
|
||||
@@ -872,7 +901,11 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
|
||||
curvatureRates @28 :List(Float32);
|
||||
|
||||
# dp
|
||||
dpALCAllowed @29 :Bool;
|
||||
dpALCAStartIn @29 :Float32;
|
||||
|
||||
# 30~31 are being used in mapd
|
||||
|
||||
dpLaneLessModeStatus @32 :Bool;
|
||||
|
||||
enum Desire {
|
||||
none @0;
|
||||
@@ -938,7 +971,7 @@ struct LiveLocationKalman {
|
||||
angularVelocityDevice @8 : Measurement;
|
||||
|
||||
# orientationNEDCalibrated transforms to rot matrix: NED_from_calibrated
|
||||
orientationNEDCalibrated @9 : Measurement;
|
||||
calibratedOrientationNED @9 : Measurement;
|
||||
|
||||
# Calibrated frame is simply device frame
|
||||
# aligned with the vehicle
|
||||
@@ -1325,6 +1358,23 @@ struct LiveMapDataDEPRECATED {
|
||||
mapValid @11 :Bool;
|
||||
}
|
||||
|
||||
struct LiveMapData {
|
||||
speedLimitValid @0 :Bool;
|
||||
speedLimit @1 :Float32;
|
||||
speedLimitAheadValid @2 :Bool;
|
||||
speedLimitAhead @3 :Float32;
|
||||
speedLimitAheadDistance @4 :Float32;
|
||||
turnSpeedLimitValid @5 :Bool;
|
||||
turnSpeedLimit @6 :Float32;
|
||||
turnSpeedLimitEndDistance @7 :Float32;
|
||||
turnSpeedLimitSign @8 :Int16;
|
||||
turnSpeedLimitsAhead @9 :List(Float32);
|
||||
turnSpeedLimitsAheadDistances @10 :List(Float32);
|
||||
turnSpeedLimitsAheadSigns @11 :List(Int16);
|
||||
lastGpsTimestamp @12 :Int64; # Milliseconds since January 1, 1970.
|
||||
currentRoadName @13 :Text;
|
||||
}
|
||||
|
||||
struct CameraOdometry {
|
||||
frameId @4 :UInt32;
|
||||
timestampEof @5 :UInt64;
|
||||
@@ -1466,5 +1516,8 @@ struct Event {
|
||||
gpsLocationDEPRECATED @21 :GpsLocationData;
|
||||
uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState;
|
||||
dragonConf @80 :Dp.DragonConf;
|
||||
|
||||
#mapd
|
||||
liveMapData @81: LiveMapData;
|
||||
}
|
||||
}
|
||||
|
||||
20
cereal/logger/logger.h
Normal file
20
cereal/logger/logger.h
Normal file
@@ -0,0 +1,20 @@
|
||||
#pragma once
|
||||
|
||||
#ifdef SWAGLOG
|
||||
#include "selfdrive/common/swaglog.h"
|
||||
#else
|
||||
|
||||
#define CLOUDLOG_DEBUG 10
|
||||
#define CLOUDLOG_INFO 20
|
||||
#define CLOUDLOG_WARNING 30
|
||||
#define CLOUDLOG_ERROR 40
|
||||
#define CLOUDLOG_CRITICAL 50
|
||||
|
||||
#define cloudlog(lvl, fmt, ...) printf(fmt "\n", ## __VA_ARGS__)
|
||||
|
||||
#define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__)
|
||||
#define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__)
|
||||
#define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__)
|
||||
#define LOGE(fmt, ...) cloudlog(CLOUDLOG_ERROR, fmt, ## __VA_ARGS__)
|
||||
|
||||
#endif
|
||||
@@ -13,6 +13,7 @@ from cereal.services import service_list
|
||||
assert MultiplePublishersError
|
||||
assert MessagingError
|
||||
|
||||
NO_TRAVERSAL_LIMIT = 2**64-1
|
||||
AVG_FREQ_HISTORY = 100
|
||||
SIMULATION = "SIMULATION" in os.environ
|
||||
|
||||
@@ -26,6 +27,9 @@ except ImportError:
|
||||
|
||||
context = Context()
|
||||
|
||||
def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
|
||||
return log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT)
|
||||
|
||||
def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
|
||||
dat = log.Event.new_message()
|
||||
dat.logMonoTime = int(sec_since_boot() * 1e9)
|
||||
@@ -83,7 +87,7 @@ def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.ca
|
||||
if dat is None: # Timeout hit
|
||||
break
|
||||
|
||||
dat = log.Event.from_bytes(dat)
|
||||
dat = log_from_bytes(dat)
|
||||
ret.append(dat)
|
||||
|
||||
return ret
|
||||
@@ -106,20 +110,20 @@ def recv_sock(sock: SubSocket, wait: bool = False) -> Union[None, capnp.lib.capn
|
||||
dat = rcv
|
||||
|
||||
if dat is not None:
|
||||
dat = log.Event.from_bytes(dat)
|
||||
dat = log_from_bytes(dat)
|
||||
|
||||
return dat
|
||||
|
||||
def recv_one(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
|
||||
dat = sock.receive()
|
||||
if dat is not None:
|
||||
dat = log.Event.from_bytes(dat)
|
||||
dat = log_from_bytes(dat)
|
||||
return dat
|
||||
|
||||
def recv_one_or_none(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
|
||||
dat = sock.receive(non_blocking=True)
|
||||
if dat is not None:
|
||||
dat = log.Event.from_bytes(dat)
|
||||
dat = log_from_bytes(dat)
|
||||
return dat
|
||||
|
||||
def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
|
||||
@@ -127,7 +131,7 @@ def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
|
||||
while True:
|
||||
dat = sock.receive()
|
||||
if dat is not None:
|
||||
return log.Event.from_bytes(dat)
|
||||
return log_from_bytes(dat)
|
||||
|
||||
class SubMaster():
|
||||
def __init__(self, services: List[str], poll: Optional[List[str]] = None,
|
||||
|
||||
@@ -69,7 +69,7 @@ public:
|
||||
SubMaster(const std::vector<const char *> &service_list,
|
||||
const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
|
||||
void update(int timeout = 1000);
|
||||
void update_msgs(uint64_t current_time, std::vector<std::pair<std::string, cereal::Event::Reader>> messages);
|
||||
void update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages);
|
||||
inline bool allAlive(const std::vector<const char *> &service_list = {}) { return all_(service_list, false, true); }
|
||||
inline bool allValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, false); }
|
||||
inline bool allAliveAndValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, true); }
|
||||
|
||||
@@ -91,7 +91,7 @@ int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
|
||||
strcpy(full_path, prefix);
|
||||
strcat(full_path, path);
|
||||
|
||||
auto fd = open(full_path, O_RDWR | O_CREAT, 0777);
|
||||
auto fd = open(full_path, O_RDWR | O_CREAT, 0664);
|
||||
if (fd < 0) {
|
||||
std::cout << "Warning, could not open: " << full_path << std::endl;
|
||||
delete[] full_path;
|
||||
|
||||
@@ -92,7 +92,9 @@ void SubMaster::update(int timeout) {
|
||||
SubMessage *m = messages_.at(s);
|
||||
|
||||
m->msg_reader->~FlatArrayMessageReader();
|
||||
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg));
|
||||
capnp::ReaderOptions options;
|
||||
options.traversalLimitInWords = kj::maxValue; // Don't limit
|
||||
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg), options);
|
||||
delete msg;
|
||||
messages.push_back({m->name, m->msg_reader->getRoot<cereal::Event>()});
|
||||
}
|
||||
@@ -100,7 +102,7 @@ void SubMaster::update(int timeout) {
|
||||
update_msgs(current_time, messages);
|
||||
}
|
||||
|
||||
void SubMaster::update_msgs(uint64_t current_time, std::vector<std::pair<std::string, cereal::Event::Reader>> messages){
|
||||
void SubMaster::update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages){
|
||||
if (++frame == UINT64_MAX) frame = 1;
|
||||
|
||||
for(auto &kv : messages) {
|
||||
|
||||
@@ -61,10 +61,14 @@ services = {
|
||||
"modelV2": (True, 20., 40),
|
||||
"managerState": (True, 2., 1),
|
||||
"uploaderState": (True, 0., 1),
|
||||
"liveMapData": (True, 0.),
|
||||
|
||||
# debug
|
||||
"testJoystick": (False, 0.),
|
||||
|
||||
# dp
|
||||
"thermal": (True, 2., 1),
|
||||
"dragonConf": (False, 2.),
|
||||
"dragonConf": (False, 1.),
|
||||
}
|
||||
service_list = {name: Service(new_port(idx), *vals) for # type: ignore
|
||||
idx, (name, vals) in enumerate(services.items())}
|
||||
|
||||
@@ -49,15 +49,14 @@ class VisionBuf {
|
||||
|
||||
// ion
|
||||
int handle = 0;
|
||||
bool owner = false;
|
||||
|
||||
void allocate(size_t len);
|
||||
void import();
|
||||
void init_cl(cl_device_id device_id, cl_context ctx);
|
||||
void init_rgb(size_t width, size_t height, size_t stride);
|
||||
void init_yuv(size_t width, size_t height);
|
||||
void sync(int dir);
|
||||
void free();
|
||||
int sync(int dir);
|
||||
int free();
|
||||
};
|
||||
|
||||
void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);
|
||||
|
||||
@@ -20,7 +20,7 @@ static void *malloc_with_fd(size_t len, int *fd) {
|
||||
snprintf(full_path, sizeof(full_path)-1, "/dev/shm/visionbuf_%d_%d", getpid(), offset++);
|
||||
#endif
|
||||
|
||||
*fd = open(full_path, O_RDWR | O_CREAT, 0777);
|
||||
*fd = open(full_path, O_RDWR | O_CREAT, 0664);
|
||||
assert(*fd >= 0);
|
||||
|
||||
unlink(full_path);
|
||||
@@ -60,27 +60,36 @@ void VisionBuf::import(){
|
||||
}
|
||||
|
||||
|
||||
void VisionBuf::sync(int dir) {
|
||||
int VisionBuf::sync(int dir) {
|
||||
int err = 0;
|
||||
if (!this->buf_cl) return;
|
||||
if (!this->buf_cl) return 0;
|
||||
|
||||
if (dir == VISIONBUF_SYNC_FROM_DEVICE) {
|
||||
err = clEnqueueReadBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
|
||||
} else {
|
||||
err = clEnqueueWriteBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
|
||||
}
|
||||
assert(err == 0);
|
||||
clFinish(this->copy_q);
|
||||
}
|
||||
|
||||
void VisionBuf::free() {
|
||||
if (this->buf_cl){
|
||||
int err = clReleaseMemObject(this->buf_cl);
|
||||
assert(err == 0);
|
||||
|
||||
clReleaseCommandQueue(this->copy_q);
|
||||
if (err == 0){
|
||||
err = clFinish(this->copy_q);
|
||||
}
|
||||
|
||||
munmap(this->addr, this->len);
|
||||
close(this->fd);
|
||||
return err;
|
||||
}
|
||||
|
||||
int VisionBuf::free() {
|
||||
int err = 0;
|
||||
if (this->buf_cl){
|
||||
err = clReleaseMemObject(this->buf_cl);
|
||||
if (err != 0) return err;
|
||||
|
||||
err = clReleaseCommandQueue(this->copy_q);
|
||||
if (err != 0) return err;
|
||||
}
|
||||
|
||||
err = munmap(this->addr, this->len);
|
||||
if (err != 0) return err;
|
||||
|
||||
err = close(this->fd);
|
||||
return err;
|
||||
}
|
||||
|
||||
@@ -62,7 +62,6 @@ void VisionBuf::allocate(size_t len) {
|
||||
|
||||
memset(addr, 0, ion_alloc.len);
|
||||
|
||||
this->owner = true;
|
||||
this->len = len;
|
||||
this->mmap_len = ion_alloc.len;
|
||||
this->addr = addr;
|
||||
@@ -82,7 +81,6 @@ void VisionBuf::import(){
|
||||
err = ioctl(ion_fd, ION_IOC_IMPORT, &fd_data);
|
||||
assert(err == 0);
|
||||
|
||||
this->owner = false;
|
||||
this->handle = fd_data.handle;
|
||||
this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
|
||||
assert(this->addr != MAP_FAILED);
|
||||
@@ -106,9 +104,7 @@ void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx) {
|
||||
}
|
||||
|
||||
|
||||
void VisionBuf::sync(int dir) {
|
||||
int err;
|
||||
|
||||
int VisionBuf::sync(int dir) {
|
||||
struct ion_flush_data flush_data = {0};
|
||||
flush_data.handle = this->handle;
|
||||
flush_data.vaddr = this->addr;
|
||||
@@ -126,23 +122,23 @@ void VisionBuf::sync(int dir) {
|
||||
ION_IOC_INV_CACHES : ION_IOC_CLEAN_CACHES;
|
||||
|
||||
custom_data.arg = (unsigned long)&flush_data;
|
||||
err = ioctl(ion_fd, ION_IOC_CUSTOM, &custom_data);
|
||||
assert(err == 0);
|
||||
return ioctl(ion_fd, ION_IOC_CUSTOM, &custom_data);
|
||||
}
|
||||
|
||||
void VisionBuf::free() {
|
||||
int VisionBuf::free() {
|
||||
int err = 0;
|
||||
|
||||
if (this->buf_cl){
|
||||
int err = clReleaseMemObject(this->buf_cl);
|
||||
assert(err == 0);
|
||||
err = clReleaseMemObject(this->buf_cl);
|
||||
if (err != 0) return err;
|
||||
}
|
||||
|
||||
munmap(this->addr, this->mmap_len);
|
||||
close(this->fd);
|
||||
err = munmap(this->addr, this->mmap_len);
|
||||
if (err != 0) return err;
|
||||
|
||||
// Free the ION buffer if we also shared it
|
||||
if (this->owner){
|
||||
struct ion_handle_data handle_data = {.handle = this->handle};
|
||||
int ret = ioctl(ion_fd, ION_IOC_FREE, &handle_data);
|
||||
assert(ret == 0);
|
||||
}
|
||||
err = close(this->fd);
|
||||
if (err != 0) return err;
|
||||
|
||||
struct ion_handle_data handle_data = {.handle = this->handle};
|
||||
return ioctl(ion_fd, ION_IOC_FREE, &handle_data);
|
||||
}
|
||||
|
||||
@@ -13,6 +13,9 @@ cdef extern from "visionbuf.h":
|
||||
cdef cppclass VisionBuf:
|
||||
void * addr
|
||||
size_t len
|
||||
size_t width
|
||||
size_t height
|
||||
size_t stride
|
||||
|
||||
cdef extern from "visionipc.h":
|
||||
struct VisionIpcBufExtra:
|
||||
@@ -27,3 +30,9 @@ cdef extern from "visionipc_server.h":
|
||||
VisionBuf * get_buffer(VisionStreamType)
|
||||
void send(VisionBuf *, VisionIpcBufExtra *, bool)
|
||||
void start_listener()
|
||||
|
||||
cdef extern from "visionipc_client.h":
|
||||
cdef cppclass VisionIpcClient:
|
||||
VisionIpcClient(string, VisionStreamType, bool, void*, void*)
|
||||
VisionBuf * recv(VisionIpcBufExtra *, int)
|
||||
bool connect(bool)
|
||||
|
||||
@@ -3,9 +3,10 @@
|
||||
#include <iostream>
|
||||
#include <thread>
|
||||
|
||||
#include "ipc.h"
|
||||
#include "visionipc_client.h"
|
||||
#include "visionipc_server.h"
|
||||
#include "visionipc/ipc.h"
|
||||
#include "visionipc/visionipc_client.h"
|
||||
#include "visionipc/visionipc_server.h"
|
||||
#include "logger/logger.h"
|
||||
|
||||
VisionIpcClient::VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id, cl_context ctx) : name(name), type(type), device_id(device_id), ctx(ctx) {
|
||||
msg_ctx = Context::create();
|
||||
@@ -21,8 +22,11 @@ bool VisionIpcClient::connect(bool blocking){
|
||||
|
||||
// Cleanup old buffers on reconnect
|
||||
for (size_t i = 0; i < num_buffers; i++){
|
||||
buffers[i].free();
|
||||
if (buffers[i].free() != 0) {
|
||||
LOGE("Failed to free buffer %zu", i);
|
||||
}
|
||||
}
|
||||
|
||||
num_buffers = 0;
|
||||
|
||||
// Connect to server socket and ask for all FDs of type
|
||||
@@ -101,7 +105,10 @@ VisionBuf * VisionIpcClient::recv(VisionIpcBufExtra * extra, const int timeout_m
|
||||
*extra = packet->extra;
|
||||
}
|
||||
|
||||
buf->sync(VISIONBUF_SYNC_TO_DEVICE);
|
||||
if (buf->sync(VISIONBUF_SYNC_TO_DEVICE) != 0) {
|
||||
LOGE("Failed to sync buffer");
|
||||
}
|
||||
|
||||
delete r;
|
||||
return buf;
|
||||
}
|
||||
@@ -110,7 +117,9 @@ VisionBuf * VisionIpcClient::recv(VisionIpcBufExtra * extra, const int timeout_m
|
||||
|
||||
VisionIpcClient::~VisionIpcClient(){
|
||||
for (size_t i = 0; i < num_buffers; i++){
|
||||
buffers[i].free();
|
||||
if (buffers[i].free() != 0) {
|
||||
LOGE("Failed to free buffer %zu", i);
|
||||
}
|
||||
}
|
||||
|
||||
delete sock;
|
||||
|
||||
@@ -2,12 +2,16 @@
|
||||
# cython: c_string_encoding=ascii, language_level=3
|
||||
|
||||
import sys
|
||||
from libcpp.string cimport string
|
||||
from libcpp cimport bool
|
||||
import numpy as np
|
||||
cimport numpy as cnp
|
||||
from cython.view cimport array
|
||||
from libc.string cimport memcpy
|
||||
from libc.stdint cimport uint32_t, uint64_t
|
||||
from libcpp cimport bool
|
||||
from libcpp.string cimport string
|
||||
|
||||
from .visionipc cimport VisionIpcServer as cppVisionIpcServer
|
||||
from .visionipc cimport VisionIpcClient as cppVisionIpcClient
|
||||
from .visionipc cimport VisionBuf as cppVisionBuf
|
||||
from .visionipc cimport VisionIpcBufExtra
|
||||
|
||||
@@ -19,6 +23,7 @@ cpdef enum VisionStreamType:
|
||||
VISION_STREAM_YUV_FRONT
|
||||
VISION_STREAM_YUV_WIDE
|
||||
|
||||
|
||||
cdef class VisionIpcServer:
|
||||
cdef cppVisionIpcServer * server
|
||||
|
||||
@@ -47,3 +52,39 @@ cdef class VisionIpcServer:
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.server
|
||||
|
||||
|
||||
cdef class VisionIpcClient:
|
||||
cdef cppVisionBuf * buf
|
||||
cdef cppVisionIpcClient * client
|
||||
|
||||
def __cinit__(self, string name, VisionStreamType stream, bool conflate):
|
||||
self.client = new cppVisionIpcClient(name, stream, conflate, NULL, NULL)
|
||||
self.buf = NULL
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.client
|
||||
|
||||
@property
|
||||
def width(self):
|
||||
return None if not self.buf else self.buf.width
|
||||
|
||||
@property
|
||||
def height(self):
|
||||
return None if not self.buf else self.buf.height
|
||||
|
||||
@property
|
||||
def stride(self):
|
||||
return None if not self.buf else self.buf.stride
|
||||
|
||||
def recv(self, int timeout_ms=100):
|
||||
self.buf = self.client.recv(NULL, timeout_ms)
|
||||
if not self.buf:
|
||||
return None
|
||||
cdef cnp.ndarray dat = np.empty(self.buf.len, dtype=np.uint8)
|
||||
cdef char[:] dat_view = dat
|
||||
memcpy(&dat_view[0], self.buf.addr, self.buf.len)
|
||||
return dat
|
||||
|
||||
def connect(self, bool blocking):
|
||||
return self.client.connect(blocking)
|
||||
|
||||
@@ -10,6 +10,7 @@
|
||||
#include "messaging/messaging.h"
|
||||
#include "visionipc/ipc.h"
|
||||
#include "visionipc/visionipc_server.h"
|
||||
#include "logger/logger.h"
|
||||
|
||||
std::string get_endpoint_name(std::string name, VisionStreamType type){
|
||||
if (messaging_use_zmq()){
|
||||
@@ -122,7 +123,6 @@ void VisionIpcServer::listener(){
|
||||
bufs[i].buf_cl = 0;
|
||||
bufs[i].copy_q = 0;
|
||||
bufs[i].handle = 0;
|
||||
bufs[i].owner = false;
|
||||
|
||||
bufs[i].server_id = server_id;
|
||||
}
|
||||
@@ -146,7 +146,11 @@ VisionBuf * VisionIpcServer::get_buffer(VisionStreamType type){
|
||||
}
|
||||
|
||||
void VisionIpcServer::send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync){
|
||||
if (sync) buf->sync(VISIONBUF_SYNC_FROM_DEVICE);
|
||||
if (sync) {
|
||||
if (buf->sync(VISIONBUF_SYNC_FROM_DEVICE) != 0) {
|
||||
LOGE("Failed to sync buffer");
|
||||
}
|
||||
}
|
||||
assert(buffers.count(buf->type));
|
||||
assert(buf->idx < buffers[buf->type].size());
|
||||
|
||||
@@ -166,7 +170,9 @@ VisionIpcServer::~VisionIpcServer(){
|
||||
// VisionBuf cleanup
|
||||
for( auto const& [type, buf] : buffers ) {
|
||||
for (VisionBuf* b : buf){
|
||||
b->free();
|
||||
if (b->free() != 0) {
|
||||
LOGE("Failed to free buffer");
|
||||
}
|
||||
delete b;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,11 +1,17 @@
|
||||
import jwt
|
||||
import os
|
||||
import requests
|
||||
from datetime import datetime, timedelta
|
||||
from common.basedir import PERSIST
|
||||
from selfdrive.version import version
|
||||
from common.params import Params
|
||||
|
||||
API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com') if not Params().get_bool("dp_api_custom") else Params().get("dp_api_custom_url", encoding='utf-8')
|
||||
|
||||
class Api():
|
||||
def __init__(self, dongle_id):
|
||||
if "commadotai" in API_HOST and (Params().get_bool("dp_jetson") or Params().get_bool("dp_atl")):
|
||||
raise RuntimeError("API access is disabled because you are not using custom server and you have jetson enabled.")
|
||||
self.dongle_id = dongle_id
|
||||
with open(PERSIST+'/comma/id_rsa') as f:
|
||||
self.private_key = f.read()
|
||||
@@ -34,12 +40,10 @@ class Api():
|
||||
|
||||
|
||||
def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
|
||||
backend = "https://api.commadotai.com/"
|
||||
|
||||
headers = {}
|
||||
if access_token is not None:
|
||||
headers['Authorization'] = "JWT "+access_token
|
||||
|
||||
headers['User-Agent'] = "openpilot-" + version
|
||||
|
||||
return requests.request(method, backend+endpoint, timeout=timeout, headers=headers, params=params)
|
||||
return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
|
||||
|
||||
@@ -1,11 +1,11 @@
|
||||
import os
|
||||
from pathlib import Path
|
||||
|
||||
from selfdrive.hardware import PC, JETSON
|
||||
from selfdrive.hardware import PC
|
||||
|
||||
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
|
||||
|
||||
if PC or JETSON:
|
||||
if PC:
|
||||
PERSIST = os.path.join(str(Path.home()), ".comma", "persist")
|
||||
else:
|
||||
PERSIST = "/persist"
|
||||
|
||||
@@ -48,7 +48,7 @@ def common_interface_get_params_lqr(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:
|
||||
if os.path.isfile(LAST_MODIFIED) and 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
|
||||
|
||||
@@ -16,7 +16,12 @@ confs = [
|
||||
{'name': 'dp_thermal_started', 'default': False, 'type': 'Bool', 'conf_type': ['struct']},
|
||||
{'name': 'dp_thermal_overheat', 'default': False, 'type': 'Bool', 'conf_type': ['struct']},
|
||||
|
||||
# custom api server
|
||||
{'name': 'dp_api_custom', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_api_custom_url', 'default': 'https://api.retropilot.org', 'type': 'Text', 'depends': [{'name': 'dp_api_custom', 'vals': [True]}], 'conf_type': ['param']},
|
||||
|
||||
{'name': 'dp_atl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct'], 'update_once': True},
|
||||
{'name': 'dp_atl_op_long', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [True]}], 'conf_type': ['param', 'struct'], 'update_once': True},
|
||||
# dashcam related
|
||||
{'name': 'dp_dashcamd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# auto shutdown
|
||||
@@ -33,15 +38,17 @@ confs = [
|
||||
{'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_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']},
|
||||
{'name': 'dp_lane_less_mode_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lane_less_mode', 'default': 2, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_lane_less_mode_ctrl', 'vals': [True]}], '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']},
|
||||
{'name': 'dp_following_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_following_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 3, 'depends': [{'name': 'dp_following_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_accel_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'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']},
|
||||
@@ -54,20 +61,28 @@ confs = [
|
||||
{'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_side', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_top', '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_lexus_rx_rpm_fix', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'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_sng', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_toyota_fp_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_toyota_ap_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_toyota_disable_relay', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_toyota_cruise_override', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_cruise_override_vego', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_toyota_cruise_override', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_cruise_override_at', 'default': 44, 'type': 'Float32', 'depends': [{'name': 'dp_toyota_cruise_override', 'vals': [True]}], 'min': 0, 'max': 50., 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_cruise_override_speed', 'default': 32, 'type': 'Float32', 'depends': [{'name': 'dp_toyota_cruise_override', 'vals': [True]}], 'min': 0, 'max': 50., 'conf_type': ['param', 'struct']},
|
||||
# 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']},
|
||||
{'name': 'dp_honda_kmh_display', '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']},
|
||||
@@ -93,10 +108,17 @@ confs = [
|
||||
{'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']},
|
||||
{'name': 'dp_prebuilt', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_mapd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_otisserv', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_mapbox_token_pk', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_mapbox_token_sk', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_mapbox_full_screen', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_mapbox_traffic', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_mapbox_gmap_enable', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_mapbox_gmap_key', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
]
|
||||
|
||||
def get_definition(name):
|
||||
|
||||
@@ -39,28 +39,6 @@ def get_tmpdir_on_same_filesystem(path):
|
||||
return "/tmp"
|
||||
|
||||
|
||||
class AutoMoveTempdir():
|
||||
def __init__(self, target_path, temp_dir=None):
|
||||
self._target_path = target_path
|
||||
self._path = tempfile.mkdtemp(dir=temp_dir)
|
||||
|
||||
@property
|
||||
def name(self):
|
||||
return self._path
|
||||
|
||||
def close(self):
|
||||
os.rename(self._path, self._target_path)
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
if exc_type is None:
|
||||
self.close()
|
||||
else:
|
||||
shutil.rmtree(self._path)
|
||||
|
||||
|
||||
class NamedTemporaryDir():
|
||||
def __init__(self, temp_dir=None):
|
||||
self._path = tempfile.mkdtemp(dir=temp_dir)
|
||||
@@ -79,11 +57,28 @@ class NamedTemporaryDir():
|
||||
self.close()
|
||||
|
||||
|
||||
class CallbackReader:
|
||||
"""Wraps a file, but overrides the read method to also
|
||||
call a callback function with the number of bytes read so far."""
|
||||
def __init__(self, f, callback, *args):
|
||||
self.f = f
|
||||
self.callback = callback
|
||||
self.cb_args = args
|
||||
self.total_read = 0
|
||||
|
||||
def __getattr__(self, attr):
|
||||
return getattr(self.f, attr)
|
||||
|
||||
def read(self, *args, **kwargs):
|
||||
chunk = self.f.read(*args, **kwargs)
|
||||
self.total_read += len(chunk)
|
||||
self.callback(*self.cb_args, self.total_read)
|
||||
return chunk
|
||||
|
||||
|
||||
def _get_fileobject_func(writer, temp_dir):
|
||||
def _get_fileobject():
|
||||
file_obj = writer.get_fileobject(dir=temp_dir)
|
||||
os.chmod(file_obj.name, 0o644)
|
||||
return file_obj
|
||||
return writer.get_fileobject(dir=temp_dir)
|
||||
return _get_fileobject
|
||||
|
||||
|
||||
@@ -103,20 +98,3 @@ def atomic_write_in_dir(path, **kwargs):
|
||||
"""
|
||||
writer = AtomicWriter(path, **kwargs)
|
||||
return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
|
||||
|
||||
|
||||
def atomic_write_in_dir_neos(path, contents, mode=None):
|
||||
"""
|
||||
Atomically writes contents to path using a temporary file in the same directory
|
||||
as path. Useful on NEOS, where `os.link` (required by atomic_write_in_dir) is missing.
|
||||
"""
|
||||
|
||||
f = tempfile.NamedTemporaryFile(delete=False, prefix=".tmp", dir=os.path.dirname(path))
|
||||
f.write(contents)
|
||||
f.flush()
|
||||
if mode is not None:
|
||||
os.fchmod(f.fileno(), mode)
|
||||
os.fsync(f.fileno())
|
||||
f.close()
|
||||
|
||||
os.rename(f.name, path)
|
||||
|
||||
@@ -1,9 +1,18 @@
|
||||
class FirstOrderFilter():
|
||||
class FirstOrderFilter:
|
||||
# first order filter
|
||||
def __init__(self, x0, ts, dt):
|
||||
self.k = (dt / ts) / (1. + dt / ts)
|
||||
def __init__(self, x0, rc, dt, initialized=True):
|
||||
self.x = x0
|
||||
self.dt = dt
|
||||
self.update_alpha(rc)
|
||||
self.initialized = initialized
|
||||
|
||||
def update_alpha(self, rc):
|
||||
self.alpha = self.dt / (rc + self.dt)
|
||||
|
||||
def update(self, x):
|
||||
self.x = (1. - self.k) * self.x + self.k * x
|
||||
if self.initialized:
|
||||
self.x = (1. - self.alpha) * self.x + self.alpha * x
|
||||
else:
|
||||
self.initialized = True
|
||||
self.x = x
|
||||
return self.x
|
||||
|
||||
@@ -1,14 +1,16 @@
|
||||
import gettext
|
||||
from selfdrive.hardware import EON
|
||||
from selfdrive.hardware.eon.hardware import getprop
|
||||
from common.params import Params
|
||||
import os
|
||||
|
||||
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'
|
||||
locale_dir = "/data/openpilot/selfdrive/assets/locales"
|
||||
supported_language = ["en-US", "zh-TW", "zh-CN", "ja-JP", "ko-KR"]
|
||||
|
||||
def events():
|
||||
i18n = gettext.translation('events', localedir=locale_dir, fallback=True, languages=[get_locale()])
|
||||
if os.path.isfile("/EON"):
|
||||
locale = Params().get("dp_locale", encoding='utf8')
|
||||
locale = locale.strip() if locale is not None else "en-US"
|
||||
else:
|
||||
locale = "en-US"
|
||||
i18n = gettext.translation("events", localedir=locale_dir, fallback=True, languages=[locale])
|
||||
i18n.install()
|
||||
return i18n.gettext
|
||||
@@ -158,7 +158,7 @@ class SwagLogger(logging.Logger):
|
||||
evt.update(kwargs)
|
||||
if 'error' in kwargs:
|
||||
self.error(evt)
|
||||
if 'debug' in kwargs:
|
||||
elif 'debug' in kwargs:
|
||||
self.debug(evt)
|
||||
else:
|
||||
self.info(evt)
|
||||
|
||||
@@ -17,7 +17,7 @@ cdef extern from "selfdrive/common/params.h":
|
||||
ALL
|
||||
|
||||
cdef cppclass Params:
|
||||
Params(bool) nogil
|
||||
Params() nogil
|
||||
Params(string) nogil
|
||||
string get(string, bool) nogil
|
||||
bool getBool(string) nogil
|
||||
@@ -27,4 +27,4 @@ cdef extern from "selfdrive/common/params.h":
|
||||
bool checkKey(string) nogil
|
||||
void clearAll(ParamKeyType)
|
||||
|
||||
string get_params_path()
|
||||
string get_params_path()
|
||||
@@ -30,11 +30,11 @@ class UnknownKeyName(Exception):
|
||||
cdef class Params:
|
||||
cdef c_Params* p
|
||||
|
||||
def __cinit__(self, d=None, bool persistent_params=False):
|
||||
def __cinit__(self, d=None):
|
||||
cdef string path
|
||||
if d is None:
|
||||
with nogil:
|
||||
self.p = new c_Params(persistent_params)
|
||||
self.p = new c_Params()
|
||||
else:
|
||||
path = <string>d.encode()
|
||||
with nogil:
|
||||
|
||||
@@ -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, JETSON
|
||||
from selfdrive.hardware import PC, TICI
|
||||
|
||||
|
||||
# time step for each process
|
||||
@@ -33,12 +33,12 @@ class Priority:
|
||||
|
||||
|
||||
def set_realtime_priority(level: int) -> None:
|
||||
if JETSON or not PC:
|
||||
if 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 JETSON or not PC:
|
||||
if not PC:
|
||||
os.sched_setaffinity(0, [core,])
|
||||
|
||||
|
||||
|
||||
34
installer/custom/install_gfortran.sh
Normal file
34
installer/custom/install_gfortran.sh
Normal file
@@ -0,0 +1,34 @@
|
||||
#!/data/data/com.termux/files/usr/bin/sh
|
||||
# Get some needed tools. coreutils for mkdir command, gnugp for the signing key, and apt-transport-https to actually connect to the repo
|
||||
apt-get update
|
||||
apt-get --assume-yes upgrade
|
||||
apt-get --assume-yes install coreutils gnupg
|
||||
|
||||
# Make the sources.list.d directory
|
||||
mkdir -p $PREFIX/etc/apt/sources.list.d
|
||||
|
||||
# Write the needed source file
|
||||
echo "deb https://its-pointless.github.io/files/24 termux extras" > $PREFIX/etc/apt/sources.list.d/pointless.list
|
||||
|
||||
# Add signing key from https://its-pointless.github.io/pointless.gpg
|
||||
curl -sL https://its-pointless.github.io/pointless.gpg | apt-key add -
|
||||
|
||||
# Update apt
|
||||
apt update
|
||||
|
||||
# install gfortran
|
||||
apt install gcc-11 -y
|
||||
setupclang-gfort-11
|
||||
|
||||
# Elf cleaner is needed to remove a DT_ENTRY warning that prints out when gfortran -v is called to get
|
||||
# its version number and this breaks the pip installation script when fortran is used.
|
||||
|
||||
# Build elf cleaner
|
||||
SCRIPTPATH="$( cd -- "$(dirname "$0")" >/dev/null 2>&1 ; pwd -P )"
|
||||
ELFCLEANERPATH=$SCRIPTPATH/termux-elf-cleaner/
|
||||
cd $ELFCLEANERPATH
|
||||
make
|
||||
|
||||
# Perform elf cleaner on gfortran
|
||||
./termux-elf-cleaner $(which gfortran)
|
||||
|
||||
674
installer/custom/termux-elf-cleaner/COPYING
Normal file
674
installer/custom/termux-elf-cleaner/COPYING
Normal file
@@ -0,0 +1,674 @@
|
||||
GNU GENERAL PUBLIC LICENSE
|
||||
Version 3, 29 June 2007
|
||||
|
||||
Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
|
||||
Everyone is permitted to copy and distribute verbatim copies
|
||||
of this license document, but changing it is not allowed.
|
||||
|
||||
Preamble
|
||||
|
||||
The GNU General Public License is a free, copyleft license for
|
||||
software and other kinds of works.
|
||||
|
||||
The licenses for most software and other practical works are designed
|
||||
to take away your freedom to share and change the works. By contrast,
|
||||
the GNU General Public License is intended to guarantee your freedom to
|
||||
share and change all versions of a program--to make sure it remains free
|
||||
software for all its users. We, the Free Software Foundation, use the
|
||||
GNU General Public License for most of our software; it applies also to
|
||||
any other work released this way by its authors. You can apply it to
|
||||
your programs, too.
|
||||
|
||||
When we speak of free software, we are referring to freedom, not
|
||||
price. Our General Public Licenses are designed to make sure that you
|
||||
have the freedom to distribute copies of free software (and charge for
|
||||
them if you wish), that you receive source code or can get it if you
|
||||
want it, that you can change the software or use pieces of it in new
|
||||
free programs, and that you know you can do these things.
|
||||
|
||||
To protect your rights, we need to prevent others from denying you
|
||||
these rights or asking you to surrender the rights. Therefore, you have
|
||||
certain responsibilities if you distribute copies of the software, or if
|
||||
you modify it: responsibilities to respect the freedom of others.
|
||||
|
||||
For example, if you distribute copies of such a program, whether
|
||||
gratis or for a fee, you must pass on to the recipients the same
|
||||
freedoms that you received. You must make sure that they, too, receive
|
||||
or can get the source code. And you must show them these terms so they
|
||||
know their rights.
|
||||
|
||||
Developers that use the GNU GPL protect your rights with two steps:
|
||||
(1) assert copyright on the software, and (2) offer you this License
|
||||
giving you legal permission to copy, distribute and/or modify it.
|
||||
|
||||
For the developers' and authors' protection, the GPL clearly explains
|
||||
that there is no warranty for this free software. For both users' and
|
||||
authors' sake, the GPL requires that modified versions be marked as
|
||||
changed, so that their problems will not be attributed erroneously to
|
||||
authors of previous versions.
|
||||
|
||||
Some devices are designed to deny users access to install or run
|
||||
modified versions of the software inside them, although the manufacturer
|
||||
can do so. This is fundamentally incompatible with the aim of
|
||||
protecting users' freedom to change the software. The systematic
|
||||
pattern of such abuse occurs in the area of products for individuals to
|
||||
use, which is precisely where it is most unacceptable. Therefore, we
|
||||
have designed this version of the GPL to prohibit the practice for those
|
||||
products. If such problems arise substantially in other domains, we
|
||||
stand ready to extend this provision to those domains in future versions
|
||||
of the GPL, as needed to protect the freedom of users.
|
||||
|
||||
Finally, every program is threatened constantly by software patents.
|
||||
States should not allow patents to restrict development and use of
|
||||
software on general-purpose computers, but in those that do, we wish to
|
||||
avoid the special danger that patents applied to a free program could
|
||||
make it effectively proprietary. To prevent this, the GPL assures that
|
||||
patents cannot be used to render the program non-free.
|
||||
|
||||
The precise terms and conditions for copying, distribution and
|
||||
modification follow.
|
||||
|
||||
TERMS AND CONDITIONS
|
||||
|
||||
0. Definitions.
|
||||
|
||||
"This License" refers to version 3 of the GNU General Public License.
|
||||
|
||||
"Copyright" also means copyright-like laws that apply to other kinds of
|
||||
works, such as semiconductor masks.
|
||||
|
||||
"The Program" refers to any copyrightable work licensed under this
|
||||
License. Each licensee is addressed as "you". "Licensees" and
|
||||
"recipients" may be individuals or organizations.
|
||||
|
||||
To "modify" a work means to copy from or adapt all or part of the work
|
||||
in a fashion requiring copyright permission, other than the making of an
|
||||
exact copy. The resulting work is called a "modified version" of the
|
||||
earlier work or a work "based on" the earlier work.
|
||||
|
||||
A "covered work" means either the unmodified Program or a work based
|
||||
on the Program.
|
||||
|
||||
To "propagate" a work means to do anything with it that, without
|
||||
permission, would make you directly or secondarily liable for
|
||||
infringement under applicable copyright law, except executing it on a
|
||||
computer or modifying a private copy. Propagation includes copying,
|
||||
distribution (with or without modification), making available to the
|
||||
public, and in some countries other activities as well.
|
||||
|
||||
To "convey" a work means any kind of propagation that enables other
|
||||
parties to make or receive copies. Mere interaction with a user through
|
||||
a computer network, with no transfer of a copy, is not conveying.
|
||||
|
||||
An interactive user interface displays "Appropriate Legal Notices"
|
||||
to the extent that it includes a convenient and prominently visible
|
||||
feature that (1) displays an appropriate copyright notice, and (2)
|
||||
tells the user that there is no warranty for the work (except to the
|
||||
extent that warranties are provided), that licensees may convey the
|
||||
work under this License, and how to view a copy of this License. If
|
||||
the interface presents a list of user commands or options, such as a
|
||||
menu, a prominent item in the list meets this criterion.
|
||||
|
||||
1. Source Code.
|
||||
|
||||
The "source code" for a work means the preferred form of the work
|
||||
for making modifications to it. "Object code" means any non-source
|
||||
form of a work.
|
||||
|
||||
A "Standard Interface" means an interface that either is an official
|
||||
standard defined by a recognized standards body, or, in the case of
|
||||
interfaces specified for a particular programming language, one that
|
||||
is widely used among developers working in that language.
|
||||
|
||||
The "System Libraries" of an executable work include anything, other
|
||||
than the work as a whole, that (a) is included in the normal form of
|
||||
packaging a Major Component, but which is not part of that Major
|
||||
Component, and (b) serves only to enable use of the work with that
|
||||
Major Component, or to implement a Standard Interface for which an
|
||||
implementation is available to the public in source code form. A
|
||||
"Major Component", in this context, means a major essential component
|
||||
(kernel, window system, and so on) of the specific operating system
|
||||
(if any) on which the executable work runs, or a compiler used to
|
||||
produce the work, or an object code interpreter used to run it.
|
||||
|
||||
The "Corresponding Source" for a work in object code form means all
|
||||
the source code needed to generate, install, and (for an executable
|
||||
work) run the object code and to modify the work, including scripts to
|
||||
control those activities. However, it does not include the work's
|
||||
System Libraries, or general-purpose tools or generally available free
|
||||
programs which are used unmodified in performing those activities but
|
||||
which are not part of the work. For example, Corresponding Source
|
||||
includes interface definition files associated with source files for
|
||||
the work, and the source code for shared libraries and dynamically
|
||||
linked subprograms that the work is specifically designed to require,
|
||||
such as by intimate data communication or control flow between those
|
||||
subprograms and other parts of the work.
|
||||
|
||||
The Corresponding Source need not include anything that users
|
||||
can regenerate automatically from other parts of the Corresponding
|
||||
Source.
|
||||
|
||||
The Corresponding Source for a work in source code form is that
|
||||
same work.
|
||||
|
||||
2. Basic Permissions.
|
||||
|
||||
All rights granted under this License are granted for the term of
|
||||
copyright on the Program, and are irrevocable provided the stated
|
||||
conditions are met. This License explicitly affirms your unlimited
|
||||
permission to run the unmodified Program. The output from running a
|
||||
covered work is covered by this License only if the output, given its
|
||||
content, constitutes a covered work. This License acknowledges your
|
||||
rights of fair use or other equivalent, as provided by copyright law.
|
||||
|
||||
You may make, run and propagate covered works that you do not
|
||||
convey, without conditions so long as your license otherwise remains
|
||||
in force. You may convey covered works to others for the sole purpose
|
||||
of having them make modifications exclusively for you, or provide you
|
||||
with facilities for running those works, provided that you comply with
|
||||
the terms of this License in conveying all material for which you do
|
||||
not control copyright. Those thus making or running the covered works
|
||||
for you must do so exclusively on your behalf, under your direction
|
||||
and control, on terms that prohibit them from making any copies of
|
||||
your copyrighted material outside their relationship with you.
|
||||
|
||||
Conveying under any other circumstances is permitted solely under
|
||||
the conditions stated below. Sublicensing is not allowed; section 10
|
||||
makes it unnecessary.
|
||||
|
||||
3. Protecting Users' Legal Rights From Anti-Circumvention Law.
|
||||
|
||||
No covered work shall be deemed part of an effective technological
|
||||
measure under any applicable law fulfilling obligations under article
|
||||
11 of the WIPO copyright treaty adopted on 20 December 1996, or
|
||||
similar laws prohibiting or restricting circumvention of such
|
||||
measures.
|
||||
|
||||
When you convey a covered work, you waive any legal power to forbid
|
||||
circumvention of technological measures to the extent such circumvention
|
||||
is effected by exercising rights under this License with respect to
|
||||
the covered work, and you disclaim any intention to limit operation or
|
||||
modification of the work as a means of enforcing, against the work's
|
||||
users, your or third parties' legal rights to forbid circumvention of
|
||||
technological measures.
|
||||
|
||||
4. Conveying Verbatim Copies.
|
||||
|
||||
You may convey verbatim copies of the Program's source code as you
|
||||
receive it, in any medium, provided that you conspicuously and
|
||||
appropriately publish on each copy an appropriate copyright notice;
|
||||
keep intact all notices stating that this License and any
|
||||
non-permissive terms added in accord with section 7 apply to the code;
|
||||
keep intact all notices of the absence of any warranty; and give all
|
||||
recipients a copy of this License along with the Program.
|
||||
|
||||
You may charge any price or no price for each copy that you convey,
|
||||
and you may offer support or warranty protection for a fee.
|
||||
|
||||
5. Conveying Modified Source Versions.
|
||||
|
||||
You may convey a work based on the Program, or the modifications to
|
||||
produce it from the Program, in the form of source code under the
|
||||
terms of section 4, provided that you also meet all of these conditions:
|
||||
|
||||
a) The work must carry prominent notices stating that you modified
|
||||
it, and giving a relevant date.
|
||||
|
||||
b) The work must carry prominent notices stating that it is
|
||||
released under this License and any conditions added under section
|
||||
7. This requirement modifies the requirement in section 4 to
|
||||
"keep intact all notices".
|
||||
|
||||
c) You must license the entire work, as a whole, under this
|
||||
License to anyone who comes into possession of a copy. This
|
||||
License will therefore apply, along with any applicable section 7
|
||||
additional terms, to the whole of the work, and all its parts,
|
||||
regardless of how they are packaged. This License gives no
|
||||
permission to license the work in any other way, but it does not
|
||||
invalidate such permission if you have separately received it.
|
||||
|
||||
d) If the work has interactive user interfaces, each must display
|
||||
Appropriate Legal Notices; however, if the Program has interactive
|
||||
interfaces that do not display Appropriate Legal Notices, your
|
||||
work need not make them do so.
|
||||
|
||||
A compilation of a covered work with other separate and independent
|
||||
works, which are not by their nature extensions of the covered work,
|
||||
and which are not combined with it such as to form a larger program,
|
||||
in or on a volume of a storage or distribution medium, is called an
|
||||
"aggregate" if the compilation and its resulting copyright are not
|
||||
used to limit the access or legal rights of the compilation's users
|
||||
beyond what the individual works permit. Inclusion of a covered work
|
||||
in an aggregate does not cause this License to apply to the other
|
||||
parts of the aggregate.
|
||||
|
||||
6. Conveying Non-Source Forms.
|
||||
|
||||
You may convey a covered work in object code form under the terms
|
||||
of sections 4 and 5, provided that you also convey the
|
||||
machine-readable Corresponding Source under the terms of this License,
|
||||
in one of these ways:
|
||||
|
||||
a) Convey the object code in, or embodied in, a physical product
|
||||
(including a physical distribution medium), accompanied by the
|
||||
Corresponding Source fixed on a durable physical medium
|
||||
customarily used for software interchange.
|
||||
|
||||
b) Convey the object code in, or embodied in, a physical product
|
||||
(including a physical distribution medium), accompanied by a
|
||||
written offer, valid for at least three years and valid for as
|
||||
long as you offer spare parts or customer support for that product
|
||||
model, to give anyone who possesses the object code either (1) a
|
||||
copy of the Corresponding Source for all the software in the
|
||||
product that is covered by this License, on a durable physical
|
||||
medium customarily used for software interchange, for a price no
|
||||
more than your reasonable cost of physically performing this
|
||||
conveying of source, or (2) access to copy the
|
||||
Corresponding Source from a network server at no charge.
|
||||
|
||||
c) Convey individual copies of the object code with a copy of the
|
||||
written offer to provide the Corresponding Source. This
|
||||
alternative is allowed only occasionally and noncommercially, and
|
||||
only if you received the object code with such an offer, in accord
|
||||
with subsection 6b.
|
||||
|
||||
d) Convey the object code by offering access from a designated
|
||||
place (gratis or for a charge), and offer equivalent access to the
|
||||
Corresponding Source in the same way through the same place at no
|
||||
further charge. You need not require recipients to copy the
|
||||
Corresponding Source along with the object code. If the place to
|
||||
copy the object code is a network server, the Corresponding Source
|
||||
may be on a different server (operated by you or a third party)
|
||||
that supports equivalent copying facilities, provided you maintain
|
||||
clear directions next to the object code saying where to find the
|
||||
Corresponding Source. Regardless of what server hosts the
|
||||
Corresponding Source, you remain obligated to ensure that it is
|
||||
available for as long as needed to satisfy these requirements.
|
||||
|
||||
e) Convey the object code using peer-to-peer transmission, provided
|
||||
you inform other peers where the object code and Corresponding
|
||||
Source of the work are being offered to the general public at no
|
||||
charge under subsection 6d.
|
||||
|
||||
A separable portion of the object code, whose source code is excluded
|
||||
from the Corresponding Source as a System Library, need not be
|
||||
included in conveying the object code work.
|
||||
|
||||
A "User Product" is either (1) a "consumer product", which means any
|
||||
tangible personal property which is normally used for personal, family,
|
||||
or household purposes, or (2) anything designed or sold for incorporation
|
||||
into a dwelling. In determining whether a product is a consumer product,
|
||||
doubtful cases shall be resolved in favor of coverage. For a particular
|
||||
product received by a particular user, "normally used" refers to a
|
||||
typical or common use of that class of product, regardless of the status
|
||||
of the particular user or of the way in which the particular user
|
||||
actually uses, or expects or is expected to use, the product. A product
|
||||
is a consumer product regardless of whether the product has substantial
|
||||
commercial, industrial or non-consumer uses, unless such uses represent
|
||||
the only significant mode of use of the product.
|
||||
|
||||
"Installation Information" for a User Product means any methods,
|
||||
procedures, authorization keys, or other information required to install
|
||||
and execute modified versions of a covered work in that User Product from
|
||||
a modified version of its Corresponding Source. The information must
|
||||
suffice to ensure that the continued functioning of the modified object
|
||||
code is in no case prevented or interfered with solely because
|
||||
modification has been made.
|
||||
|
||||
If you convey an object code work under this section in, or with, or
|
||||
specifically for use in, a User Product, and the conveying occurs as
|
||||
part of a transaction in which the right of possession and use of the
|
||||
User Product is transferred to the recipient in perpetuity or for a
|
||||
fixed term (regardless of how the transaction is characterized), the
|
||||
Corresponding Source conveyed under this section must be accompanied
|
||||
by the Installation Information. But this requirement does not apply
|
||||
if neither you nor any third party retains the ability to install
|
||||
modified object code on the User Product (for example, the work has
|
||||
been installed in ROM).
|
||||
|
||||
The requirement to provide Installation Information does not include a
|
||||
requirement to continue to provide support service, warranty, or updates
|
||||
for a work that has been modified or installed by the recipient, or for
|
||||
the User Product in which it has been modified or installed. Access to a
|
||||
network may be denied when the modification itself materially and
|
||||
adversely affects the operation of the network or violates the rules and
|
||||
protocols for communication across the network.
|
||||
|
||||
Corresponding Source conveyed, and Installation Information provided,
|
||||
in accord with this section must be in a format that is publicly
|
||||
documented (and with an implementation available to the public in
|
||||
source code form), and must require no special password or key for
|
||||
unpacking, reading or copying.
|
||||
|
||||
7. Additional Terms.
|
||||
|
||||
"Additional permissions" are terms that supplement the terms of this
|
||||
License by making exceptions from one or more of its conditions.
|
||||
Additional permissions that are applicable to the entire Program shall
|
||||
be treated as though they were included in this License, to the extent
|
||||
that they are valid under applicable law. If additional permissions
|
||||
apply only to part of the Program, that part may be used separately
|
||||
under those permissions, but the entire Program remains governed by
|
||||
this License without regard to the additional permissions.
|
||||
|
||||
When you convey a copy of a covered work, you may at your option
|
||||
remove any additional permissions from that copy, or from any part of
|
||||
it. (Additional permissions may be written to require their own
|
||||
removal in certain cases when you modify the work.) You may place
|
||||
additional permissions on material, added by you to a covered work,
|
||||
for which you have or can give appropriate copyright permission.
|
||||
|
||||
Notwithstanding any other provision of this License, for material you
|
||||
add to a covered work, you may (if authorized by the copyright holders of
|
||||
that material) supplement the terms of this License with terms:
|
||||
|
||||
a) Disclaiming warranty or limiting liability differently from the
|
||||
terms of sections 15 and 16 of this License; or
|
||||
|
||||
b) Requiring preservation of specified reasonable legal notices or
|
||||
author attributions in that material or in the Appropriate Legal
|
||||
Notices displayed by works containing it; or
|
||||
|
||||
c) Prohibiting misrepresentation of the origin of that material, or
|
||||
requiring that modified versions of such material be marked in
|
||||
reasonable ways as different from the original version; or
|
||||
|
||||
d) Limiting the use for publicity purposes of names of licensors or
|
||||
authors of the material; or
|
||||
|
||||
e) Declining to grant rights under trademark law for use of some
|
||||
trade names, trademarks, or service marks; or
|
||||
|
||||
f) Requiring indemnification of licensors and authors of that
|
||||
material by anyone who conveys the material (or modified versions of
|
||||
it) with contractual assumptions of liability to the recipient, for
|
||||
any liability that these contractual assumptions directly impose on
|
||||
those licensors and authors.
|
||||
|
||||
All other non-permissive additional terms are considered "further
|
||||
restrictions" within the meaning of section 10. If the Program as you
|
||||
received it, or any part of it, contains a notice stating that it is
|
||||
governed by this License along with a term that is a further
|
||||
restriction, you may remove that term. If a license document contains
|
||||
a further restriction but permits relicensing or conveying under this
|
||||
License, you may add to a covered work material governed by the terms
|
||||
of that license document, provided that the further restriction does
|
||||
not survive such relicensing or conveying.
|
||||
|
||||
If you add terms to a covered work in accord with this section, you
|
||||
must place, in the relevant source files, a statement of the
|
||||
additional terms that apply to those files, or a notice indicating
|
||||
where to find the applicable terms.
|
||||
|
||||
Additional terms, permissive or non-permissive, may be stated in the
|
||||
form of a separately written license, or stated as exceptions;
|
||||
the above requirements apply either way.
|
||||
|
||||
8. Termination.
|
||||
|
||||
You may not propagate or modify a covered work except as expressly
|
||||
provided under this License. Any attempt otherwise to propagate or
|
||||
modify it is void, and will automatically terminate your rights under
|
||||
this License (including any patent licenses granted under the third
|
||||
paragraph of section 11).
|
||||
|
||||
However, if you cease all violation of this License, then your
|
||||
license from a particular copyright holder is reinstated (a)
|
||||
provisionally, unless and until the copyright holder explicitly and
|
||||
finally terminates your license, and (b) permanently, if the copyright
|
||||
holder fails to notify you of the violation by some reasonable means
|
||||
prior to 60 days after the cessation.
|
||||
|
||||
Moreover, your license from a particular copyright holder is
|
||||
reinstated permanently if the copyright holder notifies you of the
|
||||
violation by some reasonable means, this is the first time you have
|
||||
received notice of violation of this License (for any work) from that
|
||||
copyright holder, and you cure the violation prior to 30 days after
|
||||
your receipt of the notice.
|
||||
|
||||
Termination of your rights under this section does not terminate the
|
||||
licenses of parties who have received copies or rights from you under
|
||||
this License. If your rights have been terminated and not permanently
|
||||
reinstated, you do not qualify to receive new licenses for the same
|
||||
material under section 10.
|
||||
|
||||
9. Acceptance Not Required for Having Copies.
|
||||
|
||||
You are not required to accept this License in order to receive or
|
||||
run a copy of the Program. Ancillary propagation of a covered work
|
||||
occurring solely as a consequence of using peer-to-peer transmission
|
||||
to receive a copy likewise does not require acceptance. However,
|
||||
nothing other than this License grants you permission to propagate or
|
||||
modify any covered work. These actions infringe copyright if you do
|
||||
not accept this License. Therefore, by modifying or propagating a
|
||||
covered work, you indicate your acceptance of this License to do so.
|
||||
|
||||
10. Automatic Licensing of Downstream Recipients.
|
||||
|
||||
Each time you convey a covered work, the recipient automatically
|
||||
receives a license from the original licensors, to run, modify and
|
||||
propagate that work, subject to this License. You are not responsible
|
||||
for enforcing compliance by third parties with this License.
|
||||
|
||||
An "entity transaction" is a transaction transferring control of an
|
||||
organization, or substantially all assets of one, or subdividing an
|
||||
organization, or merging organizations. If propagation of a covered
|
||||
work results from an entity transaction, each party to that
|
||||
transaction who receives a copy of the work also receives whatever
|
||||
licenses to the work the party's predecessor in interest had or could
|
||||
give under the previous paragraph, plus a right to possession of the
|
||||
Corresponding Source of the work from the predecessor in interest, if
|
||||
the predecessor has it or can get it with reasonable efforts.
|
||||
|
||||
You may not impose any further restrictions on the exercise of the
|
||||
rights granted or affirmed under this License. For example, you may
|
||||
not impose a license fee, royalty, or other charge for exercise of
|
||||
rights granted under this License, and you may not initiate litigation
|
||||
(including a cross-claim or counterclaim in a lawsuit) alleging that
|
||||
any patent claim is infringed by making, using, selling, offering for
|
||||
sale, or importing the Program or any portion of it.
|
||||
|
||||
11. Patents.
|
||||
|
||||
A "contributor" is a copyright holder who authorizes use under this
|
||||
License of the Program or a work on which the Program is based. The
|
||||
work thus licensed is called the contributor's "contributor version".
|
||||
|
||||
A contributor's "essential patent claims" are all patent claims
|
||||
owned or controlled by the contributor, whether already acquired or
|
||||
hereafter acquired, that would be infringed by some manner, permitted
|
||||
by this License, of making, using, or selling its contributor version,
|
||||
but do not include claims that would be infringed only as a
|
||||
consequence of further modification of the contributor version. For
|
||||
purposes of this definition, "control" includes the right to grant
|
||||
patent sublicenses in a manner consistent with the requirements of
|
||||
this License.
|
||||
|
||||
Each contributor grants you a non-exclusive, worldwide, royalty-free
|
||||
patent license under the contributor's essential patent claims, to
|
||||
make, use, sell, offer for sale, import and otherwise run, modify and
|
||||
propagate the contents of its contributor version.
|
||||
|
||||
In the following three paragraphs, a "patent license" is any express
|
||||
agreement or commitment, however denominated, not to enforce a patent
|
||||
(such as an express permission to practice a patent or covenant not to
|
||||
sue for patent infringement). To "grant" such a patent license to a
|
||||
party means to make such an agreement or commitment not to enforce a
|
||||
patent against the party.
|
||||
|
||||
If you convey a covered work, knowingly relying on a patent license,
|
||||
and the Corresponding Source of the work is not available for anyone
|
||||
to copy, free of charge and under the terms of this License, through a
|
||||
publicly available network server or other readily accessible means,
|
||||
then you must either (1) cause the Corresponding Source to be so
|
||||
available, or (2) arrange to deprive yourself of the benefit of the
|
||||
patent license for this particular work, or (3) arrange, in a manner
|
||||
consistent with the requirements of this License, to extend the patent
|
||||
license to downstream recipients. "Knowingly relying" means you have
|
||||
actual knowledge that, but for the patent license, your conveying the
|
||||
covered work in a country, or your recipient's use of the covered work
|
||||
in a country, would infringe one or more identifiable patents in that
|
||||
country that you have reason to believe are valid.
|
||||
|
||||
If, pursuant to or in connection with a single transaction or
|
||||
arrangement, you convey, or propagate by procuring conveyance of, a
|
||||
covered work, and grant a patent license to some of the parties
|
||||
receiving the covered work authorizing them to use, propagate, modify
|
||||
or convey a specific copy of the covered work, then the patent license
|
||||
you grant is automatically extended to all recipients of the covered
|
||||
work and works based on it.
|
||||
|
||||
A patent license is "discriminatory" if it does not include within
|
||||
the scope of its coverage, prohibits the exercise of, or is
|
||||
conditioned on the non-exercise of one or more of the rights that are
|
||||
specifically granted under this License. You may not convey a covered
|
||||
work if you are a party to an arrangement with a third party that is
|
||||
in the business of distributing software, under which you make payment
|
||||
to the third party based on the extent of your activity of conveying
|
||||
the work, and under which the third party grants, to any of the
|
||||
parties who would receive the covered work from you, a discriminatory
|
||||
patent license (a) in connection with copies of the covered work
|
||||
conveyed by you (or copies made from those copies), or (b) primarily
|
||||
for and in connection with specific products or compilations that
|
||||
contain the covered work, unless you entered into that arrangement,
|
||||
or that patent license was granted, prior to 28 March 2007.
|
||||
|
||||
Nothing in this License shall be construed as excluding or limiting
|
||||
any implied license or other defenses to infringement that may
|
||||
otherwise be available to you under applicable patent law.
|
||||
|
||||
12. No Surrender of Others' Freedom.
|
||||
|
||||
If conditions are imposed on you (whether by court order, agreement or
|
||||
otherwise) that contradict the conditions of this License, they do not
|
||||
excuse you from the conditions of this License. If you cannot convey a
|
||||
covered work so as to satisfy simultaneously your obligations under this
|
||||
License and any other pertinent obligations, then as a consequence you may
|
||||
not convey it at all. For example, if you agree to terms that obligate you
|
||||
to collect a royalty for further conveying from those to whom you convey
|
||||
the Program, the only way you could satisfy both those terms and this
|
||||
License would be to refrain entirely from conveying the Program.
|
||||
|
||||
13. Use with the GNU Affero General Public License.
|
||||
|
||||
Notwithstanding any other provision of this License, you have
|
||||
permission to link or combine any covered work with a work licensed
|
||||
under version 3 of the GNU Affero General Public License into a single
|
||||
combined work, and to convey the resulting work. The terms of this
|
||||
License will continue to apply to the part which is the covered work,
|
||||
but the special requirements of the GNU Affero General Public License,
|
||||
section 13, concerning interaction through a network will apply to the
|
||||
combination as such.
|
||||
|
||||
14. Revised Versions of this License.
|
||||
|
||||
The Free Software Foundation may publish revised and/or new versions of
|
||||
the GNU General Public License from time to time. Such new versions will
|
||||
be similar in spirit to the present version, but may differ in detail to
|
||||
address new problems or concerns.
|
||||
|
||||
Each version is given a distinguishing version number. If the
|
||||
Program specifies that a certain numbered version of the GNU General
|
||||
Public License "or any later version" applies to it, you have the
|
||||
option of following the terms and conditions either of that numbered
|
||||
version or of any later version published by the Free Software
|
||||
Foundation. If the Program does not specify a version number of the
|
||||
GNU General Public License, you may choose any version ever published
|
||||
by the Free Software Foundation.
|
||||
|
||||
If the Program specifies that a proxy can decide which future
|
||||
versions of the GNU General Public License can be used, that proxy's
|
||||
public statement of acceptance of a version permanently authorizes you
|
||||
to choose that version for the Program.
|
||||
|
||||
Later license versions may give you additional or different
|
||||
permissions. However, no additional obligations are imposed on any
|
||||
author or copyright holder as a result of your choosing to follow a
|
||||
later version.
|
||||
|
||||
15. Disclaimer of Warranty.
|
||||
|
||||
THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
|
||||
APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
|
||||
HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
|
||||
OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
|
||||
THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||||
PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
|
||||
IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
|
||||
ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
|
||||
|
||||
16. Limitation of Liability.
|
||||
|
||||
IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
|
||||
WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
|
||||
THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
|
||||
GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
|
||||
USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
|
||||
DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
|
||||
PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
|
||||
EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
|
||||
SUCH DAMAGES.
|
||||
|
||||
17. Interpretation of Sections 15 and 16.
|
||||
|
||||
If the disclaimer of warranty and limitation of liability provided
|
||||
above cannot be given local legal effect according to their terms,
|
||||
reviewing courts shall apply local law that most closely approximates
|
||||
an absolute waiver of all civil liability in connection with the
|
||||
Program, unless a warranty or assumption of liability accompanies a
|
||||
copy of the Program in return for a fee.
|
||||
|
||||
END OF TERMS AND CONDITIONS
|
||||
|
||||
How to Apply These Terms to Your New Programs
|
||||
|
||||
If you develop a new program, and you want it to be of the greatest
|
||||
possible use to the public, the best way to achieve this is to make it
|
||||
free software which everyone can redistribute and change under these terms.
|
||||
|
||||
To do so, attach the following notices to the program. It is safest
|
||||
to attach them to the start of each source file to most effectively
|
||||
state the exclusion of warranty; and each file should have at least
|
||||
the "copyright" line and a pointer to where the full notice is found.
|
||||
|
||||
{one line to give the program's name and a brief idea of what it does.}
|
||||
Copyright (C) {year} {name of author}
|
||||
|
||||
This program is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
Also add information on how to contact you by electronic and paper mail.
|
||||
|
||||
If the program does terminal interaction, make it output a short
|
||||
notice like this when it starts in an interactive mode:
|
||||
|
||||
{project} Copyright (C) {year} {fullname}
|
||||
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
|
||||
This is free software, and you are welcome to redistribute it
|
||||
under certain conditions; type `show c' for details.
|
||||
|
||||
The hypothetical commands `show w' and `show c' should show the appropriate
|
||||
parts of the General Public License. Of course, your program's commands
|
||||
might be different; for a GUI interface, you would use an "about box".
|
||||
|
||||
You should also get your employer (if you work as a programmer) or school,
|
||||
if any, to sign a "copyright disclaimer" for the program, if necessary.
|
||||
For more information on this, and how to apply and follow the GNU GPL, see
|
||||
<http://www.gnu.org/licenses/>.
|
||||
|
||||
The GNU General Public License does not permit incorporating your program
|
||||
into proprietary programs. If your program is a subroutine library, you
|
||||
may consider it more useful to permit linking proprietary applications with
|
||||
the library. If this is what you want to do, use the GNU Lesser General
|
||||
Public License instead of this License. But first, please read
|
||||
<http://www.gnu.org/philosophy/why-not-lgpl.html>.
|
||||
16
installer/custom/termux-elf-cleaner/Makefile
Normal file
16
installer/custom/termux-elf-cleaner/Makefile
Normal file
@@ -0,0 +1,16 @@
|
||||
CXXFLAGS += -std=c++11 -Wall -Wextra -pedantic
|
||||
PREFIX ?= /usr/local
|
||||
|
||||
termux-elf-cleaner: termux-elf-cleaner.cpp
|
||||
|
||||
clean:
|
||||
rm -f termux-elf-cleaner
|
||||
|
||||
install: termux-elf-cleaner
|
||||
mkdir -p $(PREFIX)/bin
|
||||
install termux-elf-cleaner $(PREFIX)/bin/termux-elf-cleaner
|
||||
|
||||
uninstall:
|
||||
rm -f $(PREFIX)/bin/termux-elf-cleaner
|
||||
|
||||
.PHONY: clean install uninstall
|
||||
39
installer/custom/termux-elf-cleaner/README.md
Normal file
39
installer/custom/termux-elf-cleaner/README.md
Normal file
@@ -0,0 +1,39 @@
|
||||
# termux-elf-cleaner
|
||||
Utility for Android ELF files to remove unused parts that the linker warns about.
|
||||
|
||||
## Description
|
||||
When loading ELF files, the Android linker warns about unsupported dynamic section entries with warnings such as:
|
||||
|
||||
WARNING: linker: /data/data/org.kost.nmap.android.networkmapper/bin/nmap: unused DT entry: type 0x6ffffffe arg 0x8a7d4
|
||||
WARNING: linker: /data/data/org.kost.nmap.android.networkmapper/bin/nmap: unused DT entry: type 0x6fffffff arg 0x3
|
||||
|
||||
This utility strips away the following dynamic section entries:
|
||||
|
||||
- `DT_RPATH` - not supported in any Android version.
|
||||
- `DT_RUNPATH` - supported from Android 7.0.
|
||||
- `DT_VERDEF` - supported from Android 6.0.
|
||||
- `DT_VERDEFNUM` - supported from Android 6.0.
|
||||
- `DT_VERNEEDED` - supported from Android 6.0.
|
||||
- `DT_VERNEEDNUM` - supported from Android 6.0.
|
||||
- `DT_VERSYM` - supported from Android 6.0.
|
||||
|
||||
It also removes the three ELF sections of type:
|
||||
|
||||
- `SHT_GNU_verdef`
|
||||
- `SHT_GNU_verneed`
|
||||
- `SHT_GNU_versym`
|
||||
|
||||
## Usage
|
||||
```sh
|
||||
usage: termux-elf-cleaner <filenames>
|
||||
|
||||
Processes ELF files to remove unsupported section types and
|
||||
dynamic section entries which the Android linker warns about.
|
||||
```
|
||||
|
||||
## Author
|
||||
Fredrik Fornwall ([@fornwall](https://github.com/fornwall)).
|
||||
|
||||
## License
|
||||
|
||||
SPDX-License-Identifier: [GPL-3.0-or-later](https://spdx.org/licenses/GPL-3.0-or-later.html)
|
||||
211
installer/custom/termux-elf-cleaner/elf.h
Normal file
211
installer/custom/termux-elf-cleaner/elf.h
Normal file
@@ -0,0 +1,211 @@
|
||||
#ifndef ELF_H_INCLUDED
|
||||
#define ELF_H_INCLUDED
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
/* Type for a 16-bit quantity. */
|
||||
typedef uint16_t Elf32_Half;
|
||||
typedef uint16_t Elf64_Half;
|
||||
|
||||
/* Types for signed and unsigned 32-bit quantities. */
|
||||
typedef uint32_t Elf32_Word;
|
||||
typedef int32_t Elf32_Sword;
|
||||
typedef uint32_t Elf64_Word;
|
||||
typedef int32_t Elf64_Sword;
|
||||
|
||||
/* Types for signed and unsigned 64-bit quantities. */
|
||||
typedef uint64_t Elf32_Xword;
|
||||
typedef int64_t Elf32_Sxword;
|
||||
typedef uint64_t Elf64_Xword;
|
||||
typedef int64_t Elf64_Sxword;
|
||||
|
||||
/* Type of addresses. */
|
||||
typedef uint32_t Elf32_Addr;
|
||||
typedef uint64_t Elf64_Addr;
|
||||
|
||||
/* Type of file offsets. */
|
||||
typedef uint32_t Elf32_Off;
|
||||
typedef uint64_t Elf64_Off;
|
||||
|
||||
/* Type for section indices, which are 16-bit quantities. */
|
||||
typedef uint16_t Elf32_Section;
|
||||
typedef uint16_t Elf64_Section;
|
||||
|
||||
/* Type for version symbol information. */
|
||||
typedef Elf32_Half Elf32_Versym;
|
||||
typedef Elf64_Half Elf64_Versym;
|
||||
|
||||
|
||||
/* The ELF file header. This appears at the start of every ELF file. */
|
||||
typedef struct {
|
||||
unsigned char e_ident[16]; /* Magic number and other info */
|
||||
Elf32_Half e_type; /* Object file type */
|
||||
Elf32_Half e_machine; /* Architecture */
|
||||
Elf32_Word e_version; /* Object file version */
|
||||
Elf32_Addr e_entry; /* Entry point virtual address */
|
||||
Elf32_Off e_phoff; /* Program header table (usually follows elf header directly) file offset */
|
||||
Elf32_Off e_shoff; /* Section header table (at end of file) file offset */
|
||||
Elf32_Word e_flags; /* Processor-specific flags */
|
||||
Elf32_Half e_ehsize; /* ELF header size in bytes */
|
||||
Elf32_Half e_phentsize; /* Program header table entry size */
|
||||
Elf32_Half e_phnum; /* Program header table entry count */
|
||||
Elf32_Half e_shentsize; /* Section header table entry size */
|
||||
Elf32_Half e_shnum; /* Section header table entry count */
|
||||
Elf32_Half e_shstrndx; /* Section header string table index */
|
||||
} Elf32_Ehdr;
|
||||
typedef struct {
|
||||
unsigned char e_ident[16]; /* Magic number and other info */
|
||||
Elf64_Half e_type; /* Object file type */
|
||||
Elf64_Half e_machine; /* Architecture */
|
||||
Elf64_Word e_version; /* Object file version */
|
||||
Elf64_Addr e_entry; /* Entry point virtual address */
|
||||
Elf64_Off e_phoff; /* Program header table file offset */
|
||||
Elf64_Off e_shoff; /* Section header table file offset */
|
||||
Elf64_Word e_flags; /* Processor-specific flags */
|
||||
Elf64_Half e_ehsize; /* ELF header size in bytes */
|
||||
Elf64_Half e_phentsize; /* Program header table entry size */
|
||||
Elf64_Half e_phnum; /* Program header table entry count */
|
||||
Elf64_Half e_shentsize; /* Section header table entry size */
|
||||
Elf64_Half e_shnum; /* Section header table entry count */
|
||||
Elf64_Half e_shstrndx; /* Section header string table index */
|
||||
} Elf64_Ehdr;
|
||||
|
||||
/* Section header entry. The number of section entries in the file are determined by the "e_shnum" field of the ELF header.*/
|
||||
typedef struct {
|
||||
Elf32_Word sh_name; /* Section name (string tbl index) */
|
||||
Elf32_Word sh_type; /* Section type */
|
||||
Elf32_Word sh_flags; /* Section flags */
|
||||
Elf32_Addr sh_addr; /* Section virtual addr at execution */
|
||||
Elf32_Off sh_offset; /* Section file offset */
|
||||
Elf32_Word sh_size; /* Section size in bytes */
|
||||
Elf32_Word sh_link; /* Link to another section */
|
||||
Elf32_Word sh_info; /* Additional section information */
|
||||
Elf32_Word sh_addralign; /* Section alignment */
|
||||
Elf32_Word sh_entsize; /* Entry size if section holds table */
|
||||
} Elf32_Shdr;
|
||||
typedef struct {
|
||||
Elf64_Word sh_name; /* Section name (string tbl index) */
|
||||
Elf64_Word sh_type; /* Section type */
|
||||
Elf64_Xword sh_flags; /* Section flags */
|
||||
Elf64_Addr sh_addr; /* Section virtual addr at execution */
|
||||
Elf64_Off sh_offset; /* Section file offset */
|
||||
Elf64_Xword sh_size; /* Section size in bytes */
|
||||
Elf64_Word sh_link; /* Link to another section */
|
||||
Elf64_Word sh_info; /* Additional section information */
|
||||
Elf64_Xword sh_addralign; /* Section alignment */
|
||||
Elf64_Xword sh_entsize; /* Entry size if section holds table */
|
||||
} Elf64_Shdr;
|
||||
|
||||
/* Legal values for sh_type (section type). */
|
||||
#define SHT_NULL 0 /* Section header table entry unused */
|
||||
#define SHT_PROGBITS 1 /* Program data */
|
||||
#define SHT_SYMTAB 2 /* Symbol table */
|
||||
#define SHT_STRTAB 3 /* String table */
|
||||
#define SHT_RELA 4 /* Relocation entries with addends */
|
||||
#define SHT_HASH 5 /* Symbol hash table */
|
||||
#define SHT_DYNAMIC 6 /* Dynamic linking information. Contains Elf32_Dyn/Elf64_Dyn entries. */
|
||||
#define SHT_NOTE 7 /* Notes */
|
||||
#define SHT_NOBITS 8 /* Program space with no data (bss) */
|
||||
#define SHT_REL 9 /* Relocation entries, no addends */
|
||||
#define SHT_SHLIB 10 /* Reserved */
|
||||
#define SHT_DYNSYM 11 /* Dynamic linker symbol table */
|
||||
#define SHT_INIT_ARRAY 14 /* Array of constructors */
|
||||
#define SHT_FINI_ARRAY 15 /* Array of destructors */
|
||||
#define SHT_PREINIT_ARRAY 16 /* Array of pre-constructors */
|
||||
#define SHT_GROUP 17 /* Section group */
|
||||
#define SHT_SYMTAB_SHNDX 18 /* Extended section indeces */
|
||||
#define SHT_NUM 19 /* Number of defined types. */
|
||||
#define SHT_LOOS 0x60000000 /* Start OS-specific. */
|
||||
#define SHT_GNU_ATTRIBUTES 0x6ffffff5 /* Object attributes. */
|
||||
#define SHT_GNU_HASH 0x6ffffff6 /* GNU-style hash table. */
|
||||
#define SHT_GNU_LIBLIST 0x6ffffff7 /* Prelink library list */
|
||||
#define SHT_CHECKSUM 0x6ffffff8 /* Checksum for DSO content. */
|
||||
#define SHT_LOSUNW 0x6ffffffa /* Sun-specific low bound. */
|
||||
#define SHT_SUNW_move 0x6ffffffa
|
||||
#define SHT_SUNW_COMDAT 0x6ffffffb
|
||||
#define SHT_SUNW_syminfo 0x6ffffffc
|
||||
#define SHT_GNU_verdef 0x6ffffffd /* Version definition section. */
|
||||
#define SHT_GNU_verneed 0x6ffffffe /* Version needs section. */
|
||||
#define SHT_GNU_versym 0x6fffffff /* Version symbol table. */
|
||||
#define SHT_HISUNW 0x6fffffff /* Sun-specific high bound. */
|
||||
#define SHT_HIOS 0x6fffffff /* End OS-specific type */
|
||||
#define SHT_LOPROC 0x70000000 /* Start of processor-specific */
|
||||
#define SHT_HIPROC 0x7fffffff /* End of processor-specific */
|
||||
#define SHT_LOUSER 0x80000000 /* Start of application-specific */
|
||||
#define SHT_HIUSER 0x8fffffff /* End of application-specific */
|
||||
|
||||
/* Dynamic section entry. */
|
||||
typedef struct {
|
||||
Elf32_Sword d_tag; /* Dynamic entry type */
|
||||
union { Elf32_Word d_val; Elf32_Addr d_ptr; } d_un; /* Integer or address value */
|
||||
} Elf32_Dyn;
|
||||
typedef struct {
|
||||
Elf64_Sxword d_tag; /* Dynamic entry type */
|
||||
union { Elf64_Xword d_val; Elf64_Addr d_ptr; } d_un; /* Integer or address value */
|
||||
} Elf64_Dyn;
|
||||
|
||||
/* Legal values for d_tag (dynamic entry type). */
|
||||
#define DT_NULL 0 /* Marks end of dynamic section */
|
||||
#define DT_NEEDED 1 /* Name of needed library */
|
||||
#define DT_PLTRELSZ 2 /* Size in bytes of PLT relocs */
|
||||
#define DT_PLTGOT 3 /* Processor defined value */
|
||||
#define DT_HASH 4 /* Address of symbol hash table */
|
||||
#define DT_STRTAB 5 /* Address of string table */
|
||||
#define DT_SYMTAB 6 /* Address of symbol table */
|
||||
#define DT_RELA 7 /* Address of Rela relocs */
|
||||
#define DT_RELASZ 8 /* Total size of Rela relocs */
|
||||
#define DT_RELAENT 9 /* Size of one Rela reloc */
|
||||
#define DT_STRSZ 10 /* Size of string table */
|
||||
#define DT_SYMENT 11 /* Size of one symbol table entry */
|
||||
#define DT_INIT 12 /* Address of init function */
|
||||
#define DT_FINI 13 /* Address of termination function */
|
||||
#define DT_SONAME 14 /* Name of shared object */
|
||||
#define DT_RPATH 15 /* Library search path (deprecated) */
|
||||
#define DT_SYMBOLIC 16 /* Start symbol search here */
|
||||
#define DT_REL 17 /* Address of Rel relocs */
|
||||
#define DT_RELSZ 18 /* Total size of Rel relocs */
|
||||
#define DT_RELENT 19 /* Size of one Rel reloc */
|
||||
#define DT_PLTREL 20 /* Type of reloc in PLT */
|
||||
#define DT_DEBUG 21 /* For debugging; unspecified */
|
||||
#define DT_TEXTREL 22 /* Reloc might modify .text */
|
||||
#define DT_JMPREL 23 /* Address of PLT relocs */
|
||||
#define DT_BIND_NOW 24 /* Process relocations of object */
|
||||
#define DT_INIT_ARRAY 25 /* Array with addresses of init fct */
|
||||
#define DT_FINI_ARRAY 26 /* Array with addresses of fini fct */
|
||||
#define DT_INIT_ARRAYSZ 27 /* Size in bytes of DT_INIT_ARRAY */
|
||||
#define DT_FINI_ARRAYSZ 28 /* Size in bytes of DT_FINI_ARRAY */
|
||||
#define DT_RUNPATH 29 /* Library search path */
|
||||
#define DT_FLAGS 30 /* Flags for the object being loaded */
|
||||
#define DT_ENCODING 32 /* Start of encoded range */
|
||||
#define DT_PREINIT_ARRAY 32 /* Array with addresses of preinit fct*/
|
||||
#define DT_PREINIT_ARRAYSZ 33 /* size in bytes of DT_PREINIT_ARRAY */
|
||||
#define DT_NUM 34 /* Number used */
|
||||
#define DT_LOOS 0x6000000d /* Start of OS-specific */
|
||||
#define DT_HIOS 0x6ffff000 /* End of OS-specific */
|
||||
#define DT_VERDEF 0x6ffffffc
|
||||
#define DT_VERDEFNUM 0x6ffffffd
|
||||
#define DT_LOPROC 0x70000000 /* Start of processor-specific */
|
||||
#define DT_HIPROC 0x7fffffff /* End of processor-specific */
|
||||
|
||||
|
||||
/* Symbol table entry. */
|
||||
typedef struct {
|
||||
Elf32_Word st_name; /* Symbol name (string tbl index) */
|
||||
Elf32_Addr st_value; /* Symbol value */
|
||||
Elf32_Word st_size; /* Symbol size */
|
||||
unsigned char st_info; /* Symbol type and binding */
|
||||
unsigned char st_other; /* Symbol visibility */
|
||||
Elf32_Section st_shndx; /* Section index */
|
||||
} Elf32_Sym;
|
||||
|
||||
typedef struct {
|
||||
Elf64_Word st_name; /* Symbol name (string tbl index) */
|
||||
unsigned char st_info; /* Symbol type and binding */
|
||||
unsigned char st_other; /* Symbol visibility */
|
||||
Elf64_Section st_shndx; /* Section index */
|
||||
Elf64_Addr st_value; /* Symbol value */
|
||||
Elf64_Xword st_size; /* Symbol size */
|
||||
} Elf64_Sym;
|
||||
|
||||
|
||||
#endif
|
||||
191
installer/custom/termux-elf-cleaner/termux-elf-cleaner.cpp
Normal file
191
installer/custom/termux-elf-cleaner/termux-elf-cleaner.cpp
Normal file
@@ -0,0 +1,191 @@
|
||||
#include <algorithm>
|
||||
#include <fcntl.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <sys/mman.h>
|
||||
#include <sys/stat.h>
|
||||
#include <sys/types.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#ifndef __ANDROID_API__
|
||||
#define __ANDROID_API__ 21
|
||||
#endif
|
||||
|
||||
// Include a local elf.h copy as not all platforms have it.
|
||||
#include "elf.h"
|
||||
|
||||
#define DT_GNU_HASH 0x6ffffef5
|
||||
#define DT_VERSYM 0x6ffffff0
|
||||
#define DT_FLAGS_1 0x6ffffffb
|
||||
#define DT_VERNEEDED 0x6ffffffe
|
||||
#define DT_VERNEEDNUM 0x6fffffff
|
||||
|
||||
#define DF_1_NOW 0x00000001 /* Set RTLD_NOW for this object. */
|
||||
#define DF_1_GLOBAL 0x00000002 /* Set RTLD_GLOBAL for this object. */
|
||||
#define DF_1_NODELETE 0x00000008 /* Set RTLD_NODELETE for this object.*/
|
||||
|
||||
#if __ANDROID_API__ < 23
|
||||
#define SUPPORTED_DT_FLAGS_1 (DF_1_NOW | DF_1_GLOBAL)
|
||||
#else
|
||||
// The supported DT_FLAGS_1 values as of Android 6.0.
|
||||
#define SUPPORTED_DT_FLAGS_1 (DF_1_NOW | DF_1_GLOBAL | DF_1_NODELETE)
|
||||
#endif
|
||||
|
||||
template<typename ElfHeaderType /*Elf{32,64}_Ehdr*/,
|
||||
typename ElfSectionHeaderType /*Elf{32,64}_Shdr*/,
|
||||
typename ElfDynamicSectionEntryType /* Elf{32,64}_Dyn */>
|
||||
bool process_elf(uint8_t* bytes, size_t elf_file_size, char const* file_name)
|
||||
{
|
||||
if (sizeof(ElfSectionHeaderType) > elf_file_size) {
|
||||
fprintf(stderr, "termux-elf-cleaner: Elf header for '%s' would end at %zu but file size only %zu\n", file_name, sizeof(ElfSectionHeaderType), elf_file_size);
|
||||
return false;
|
||||
}
|
||||
ElfHeaderType* elf_hdr = reinterpret_cast<ElfHeaderType*>(bytes);
|
||||
|
||||
size_t last_section_header_byte = elf_hdr->e_shoff + sizeof(ElfSectionHeaderType) * elf_hdr->e_shnum;
|
||||
if (last_section_header_byte > elf_file_size) {
|
||||
fprintf(stderr, "termux-elf-cleaner: Section header for '%s' would end at %zu but file size only %zu\n", file_name, last_section_header_byte, elf_file_size);
|
||||
return false;
|
||||
}
|
||||
ElfSectionHeaderType* section_header_table = reinterpret_cast<ElfSectionHeaderType*>(bytes + elf_hdr->e_shoff);
|
||||
|
||||
for (unsigned int i = 1; i < elf_hdr->e_shnum; i++) {
|
||||
ElfSectionHeaderType* section_header_entry = section_header_table + i;
|
||||
if (section_header_entry->sh_type == SHT_DYNAMIC) {
|
||||
size_t const last_dynamic_section_byte = section_header_entry->sh_offset + section_header_entry->sh_size;
|
||||
if (last_dynamic_section_byte > elf_file_size) {
|
||||
fprintf(stderr, "termux-elf-cleaner: Dynamic section for '%s' would end at %zu but file size only %zu\n", file_name, last_dynamic_section_byte, elf_file_size);
|
||||
return false;
|
||||
}
|
||||
|
||||
size_t const dynamic_section_entries = section_header_entry->sh_size / sizeof(ElfDynamicSectionEntryType);
|
||||
ElfDynamicSectionEntryType* const dynamic_section =
|
||||
reinterpret_cast<ElfDynamicSectionEntryType*>(bytes + section_header_entry->sh_offset);
|
||||
|
||||
unsigned int last_nonnull_entry_idx = 0;
|
||||
for (unsigned int j = dynamic_section_entries - 1; j > 0; j--) {
|
||||
ElfDynamicSectionEntryType* dynamic_section_entry = dynamic_section + j;
|
||||
if (dynamic_section_entry->d_tag != DT_NULL) {
|
||||
last_nonnull_entry_idx = j;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
for (unsigned int j = 0; j < dynamic_section_entries; j++) {
|
||||
ElfDynamicSectionEntryType* dynamic_section_entry = dynamic_section + j;
|
||||
char const* removed_name = nullptr;
|
||||
switch (dynamic_section_entry->d_tag) {
|
||||
#if __ANDROID_API__ <= 21
|
||||
case DT_GNU_HASH: removed_name = "DT_GNU_HASH"; break;
|
||||
#endif
|
||||
#if __ANDROID_API__ < 23
|
||||
case DT_VERSYM: removed_name = "DT_VERSYM"; break;
|
||||
case DT_VERNEEDED: removed_name = "DT_VERNEEDED"; break;
|
||||
case DT_VERNEEDNUM: removed_name = "DT_VERNEEDNUM"; break;
|
||||
case DT_VERDEF: removed_name = "DT_VERDEF"; break;
|
||||
case DT_VERDEFNUM: removed_name = "DT_VERDEFNUM"; break;
|
||||
#endif
|
||||
case DT_RPATH: removed_name = "DT_RPATH"; break;
|
||||
#if __ANDROID_API__ < 24
|
||||
case DT_RUNPATH: removed_name = "DT_RUNPATH"; break;
|
||||
#endif
|
||||
}
|
||||
if (removed_name != nullptr) {
|
||||
printf("termux-elf-cleaner: Removing the %s dynamic section entry from '%s'\n", removed_name, file_name);
|
||||
// Tag the entry with DT_NULL and put it last:
|
||||
dynamic_section_entry->d_tag = DT_NULL;
|
||||
// Decrease j to process new entry index:
|
||||
std::swap(dynamic_section[j--], dynamic_section[last_nonnull_entry_idx--]);
|
||||
} else if (dynamic_section_entry->d_tag == DT_FLAGS_1) {
|
||||
// Remove unsupported DF_1_* flags to avoid linker warnings.
|
||||
decltype(dynamic_section_entry->d_un.d_val) orig_d_val =
|
||||
dynamic_section_entry->d_un.d_val;
|
||||
decltype(dynamic_section_entry->d_un.d_val) new_d_val =
|
||||
(orig_d_val & SUPPORTED_DT_FLAGS_1);
|
||||
if (new_d_val != orig_d_val) {
|
||||
printf("termux-elf-cleaner: Replacing unsupported DF_1_* flags %llu with %llu in '%s'\n",
|
||||
(unsigned long long) orig_d_val,
|
||||
(unsigned long long) new_d_val,
|
||||
file_name);
|
||||
dynamic_section_entry->d_un.d_val = new_d_val;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
#if __ANDROID_API__ < 23
|
||||
else if (section_header_entry->sh_type == SHT_GNU_verdef ||
|
||||
section_header_entry->sh_type == SHT_GNU_verneed ||
|
||||
section_header_entry->sh_type == SHT_GNU_versym) {
|
||||
printf("termux-elf-cleaner: Removing version section from '%s'\n", file_name);
|
||||
section_header_entry->sh_type = SHT_NULL;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
int main(int argc, char const** argv)
|
||||
{
|
||||
if (argc < 2 || (argc == 2 && strcmp(argv[1], "-h")==0)) {
|
||||
fprintf(stderr, "usage: %s <filenames>\n", argv[0]);
|
||||
fprintf(stderr, "\nProcesses ELF files to remove unsupported section types\n"
|
||||
"and dynamic section entries which the Android linker (API %d)\nwarns about.\n",
|
||||
__ANDROID_API__);
|
||||
return 1;
|
||||
}
|
||||
|
||||
for (int i = 1; i < argc; i++) {
|
||||
char const* file_name = argv[i];
|
||||
int fd = open(file_name, O_RDWR);
|
||||
if (fd < 0) {
|
||||
char* error_message;
|
||||
if (asprintf(&error_message, "open(\"%s\")", file_name) == -1) error_message = (char*) "open()";
|
||||
perror(error_message);
|
||||
return 1;
|
||||
}
|
||||
|
||||
struct stat st;
|
||||
if (fstat(fd, &st) < 0) { perror("fstat()"); return 1; }
|
||||
|
||||
if (st.st_size < (long long) sizeof(Elf32_Ehdr)) {
|
||||
close(fd);
|
||||
continue;
|
||||
}
|
||||
|
||||
void* mem = mmap(0, st.st_size, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
|
||||
if (mem == MAP_FAILED) { perror("mmap()"); return 1; }
|
||||
|
||||
uint8_t* bytes = reinterpret_cast<uint8_t*>(mem);
|
||||
if (!(bytes[0] == 0x7F && bytes[1] == 'E' && bytes[2] == 'L' && bytes[3] == 'F')) {
|
||||
// Not the ELF magic number.
|
||||
munmap(mem, st.st_size);
|
||||
close(fd);
|
||||
continue;
|
||||
}
|
||||
|
||||
if (bytes[/*EI_DATA*/5] != 1) {
|
||||
fprintf(stderr, "termux-elf-cleaner: Not little endianness in '%s'\n", file_name);
|
||||
munmap(mem, st.st_size);
|
||||
close(fd);
|
||||
continue;
|
||||
}
|
||||
|
||||
uint8_t const bit_value = bytes[/*EI_CLASS*/4];
|
||||
if (bit_value == 1) {
|
||||
if (!process_elf<Elf32_Ehdr, Elf32_Shdr, Elf32_Dyn>(bytes, st.st_size, file_name)) return 1;
|
||||
} else if (bit_value == 2) {
|
||||
if (!process_elf<Elf64_Ehdr, Elf64_Shdr, Elf64_Dyn>(bytes, st.st_size, file_name)) return 1;
|
||||
} else {
|
||||
printf("termux-elf-cleaner: Incorrect bit value %d in '%s'\n", bit_value, file_name);
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (msync(mem, st.st_size, MS_SYNC) < 0) { perror("msync()"); return 1; }
|
||||
|
||||
munmap(mem, st.st_size);
|
||||
close(fd);
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
@@ -1,6 +1,6 @@
|
||||
{
|
||||
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266.zip",
|
||||
"ota_hash": "c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266",
|
||||
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-5dc2575d713977666a8e14ae1b43a04d7f63123934c80fa10751d949a107653e.zip",
|
||||
"ota_hash": "5dc2575d713977666a8e14ae1b43a04d7f63123934c80fa10751d949a107653e",
|
||||
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb.img",
|
||||
"recovery_len": 15926572,
|
||||
"recovery_hash": "db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb"
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
{
|
||||
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266.zip",
|
||||
"ota_hash": "c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266",
|
||||
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-c5db3790c3b09756e8e896187ddb3f1258315eb0a86030468baa187b84a3bbf5.img",
|
||||
"recovery_len": 15209772,
|
||||
"recovery_hash": "c5db3790c3b09756e8e896187ddb3f1258315eb0a86030468baa187b84a3bbf5"
|
||||
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-5dc2575d713977666a8e14ae1b43a04d7f63123934c80fa10751d949a107653e.zip",
|
||||
"ota_hash": "5dc2575d713977666a8e14ae1b43a04d7f63123934c80fa10751d949a107653e",
|
||||
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-f01a55c9ba52ca57668d1684c6bf4118efd31916b04f8c1fcd8495013d3677eb.img",
|
||||
"recovery_len": 15222060,
|
||||
"recovery_hash": "f01a55c9ba52ca57668d1684c6bf4118efd31916b04f8c1fcd8495013d3677eb"
|
||||
}
|
||||
|
||||
476
jetson/env_installer.sh
Executable file
476
jetson/env_installer.sh
Executable file
@@ -0,0 +1,476 @@
|
||||
#!/bin/bash -e
|
||||
# The MIT License
|
||||
#
|
||||
# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
|
||||
#
|
||||
# Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
# of this software and associated documentation files (the "Software"), to deal
|
||||
# in the Software without restriction, including without limitation the rights
|
||||
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
# copies of the Software, and to permit persons to whom the Software is
|
||||
# furnished to do so, subject to the following conditions:
|
||||
#
|
||||
# The above copyright notice and this permission notice shall be included in
|
||||
# all copies or substantial portions of the Software.
|
||||
#
|
||||
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
# THE SOFTWARE.
|
||||
|
||||
#####################################################################
|
||||
# Configuration:
|
||||
# * Use IMX 477 Arducam.
|
||||
# * Minimum of 32GB of U3 micro sdcard.
|
||||
# * Work on Nvidia Jetson Xavier NX only.
|
||||
# * Use Jetpack 4.6.
|
||||
# * setup your username / password as: comma / comma
|
||||
# * setup your host name as: tici
|
||||
# * change your camera settings in /opt/nvidia/jetson-io/jetson-io.py
|
||||
#####################################################################
|
||||
|
||||
JETSON_ARCH="7.2"
|
||||
PYENV_PYTHON_VERSION="3.8.10"
|
||||
OPENPCV_VERSION="4.5.0"
|
||||
LLVM_VERSION="12.0.1"
|
||||
LLVM_INSTALL_FOLDER="llvm-12"
|
||||
POCL_VERSION="release_1_8"
|
||||
USERNAME="comma"
|
||||
|
||||
WORKSPACE="workspace"
|
||||
###########################################################################
|
||||
############################### BASE SYSTEM ###############################
|
||||
###########################################################################
|
||||
|
||||
# Nopasswd sudo
|
||||
echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" | (sudo su -c 'EDITOR="tee -a" visudo -f /etc/sudoers')
|
||||
|
||||
# setup /bin/sh symlink
|
||||
sudo ln -sf /bin/bash /bin/sh
|
||||
|
||||
# Disable automatic ondemand switching from ubuntu (cpu auto scaling)
|
||||
sudo systemctl disable ondemand
|
||||
|
||||
# jetpack 4.6 has mode 8
|
||||
sudo nvpmodel -m 8
|
||||
|
||||
# use performance governor
|
||||
sudo echo performance > /sys/devices/system/cpu/cpu0/cpufreq/scaling_governor
|
||||
|
||||
# throttling prevention
|
||||
sudo sh -c 'echo 7000 > /sys/devices/c250000.i2c/i2c-7/7-0040/iio:device0/crit_current_limit_0'
|
||||
|
||||
# allow max available CPU freq
|
||||
sudo sh -c 'for i in /sys/devices/system/cpu/cpu*/cpufreq/scaling_max_freq; do echo 1907200 > $i; done'
|
||||
|
||||
# reduce reboot time (when a running job is stall)
|
||||
sudo sed -i -e 's/#DefaultTimeoutStopSec=90s/DefaultTimeoutStopSec=1s/g' /etc/systemd/system.conf
|
||||
|
||||
#allow user to access USB
|
||||
sudo echo "SUBSYSTEM==\"usb\", MODE=\"0666\", GROUP=\"users\"" > $HOME/openpilot.rules
|
||||
sudo echo "SUBSYSTEM==\"usb_device\", MODE=\"0666\", GROUP=\"users\"" >> $HOME/openpilot.rules
|
||||
sudo mv $HOME/openpilot.rules /etc/udev/rules.d
|
||||
sudo chmod 644 /etc/udev/rules.d/openpilot.rules
|
||||
sudo chown root /etc/udev/rules.d/openpilot.rules
|
||||
sudo chgrp root /etc/udev/rules.d/openpilot.rules
|
||||
|
||||
# Disable all useless systemctl services, if any, from agnos
|
||||
sudo systemctl mask apt-daily-upgrade.service
|
||||
sudo systemctl mask apt-daily.service
|
||||
sudo systemctl mask apt-daily-upgrade.timer
|
||||
sudo systemctl mask apt-daily.timer
|
||||
sudo systemctl disable nvpmodel.service
|
||||
sudo systemctl mask sys-devices-3100000.serial-tty-ttyTHS0.device
|
||||
sudo systemctl mask sys-devices-3110000.serial-tty-ttyTHS1.device
|
||||
sudo systemctl mask sys-devices-3110000.serial-tty-ttyTHS1.device
|
||||
sudo systemctl mask sys-devices-3140000.serial-tty-ttyTHS4.device
|
||||
sudo systemctl mask sys-devices-platform-serial8250-tty-ttyS0.device
|
||||
sudo systemctl mask sys-devices-platform-serial8250-tty-ttyS1.device
|
||||
sudo systemctl mask sys-devices-platform-serial8250-tty-ttyS2.device
|
||||
sudo systemctl mask sys-devices-platform-serial8250-tty-ttyS3.device
|
||||
sudo systemctl mask sys-kernel-debug.mount
|
||||
sudo systemctl mask motd-news.timer
|
||||
sudo systemctl mask remote-fs.target
|
||||
sudo systemctl disable nvzramconfig
|
||||
sudo systemctl mask plymouth-quit-wait.service # splash screen
|
||||
sudo systemctl mask plymouth-read-write.service # splash screen
|
||||
sudo systemctl mask alsa-restore.service # we dont have speakers, so no need alsa
|
||||
sudo systemctl disable nvphs.service
|
||||
sudo systemctl mask getty.target
|
||||
sudo systemctl disable nv_update_verifier.service
|
||||
sudo systemctl disable nvgetty.service
|
||||
sudo systemctl mask networkd-dispatcher.service
|
||||
sudo systemctl mask speech-dispatcher.service
|
||||
sudo systemctl disable nv-l4t-usb-device-mode.service
|
||||
|
||||
# setup UI packages
|
||||
sudo apt update
|
||||
sudo apt purge -y gdm3 lightdm
|
||||
sudo apt install -y --no-install-recommends apt-utils lxdm lxde unclutter
|
||||
|
||||
# install packages in ubuntu_setup.sh
|
||||
# without clang and qt, we need them from focal release (newer)
|
||||
sudo apt-get install -y --no-install-recommends \
|
||||
autoconf \
|
||||
build-essential \
|
||||
bzip2 \
|
||||
capnproto \
|
||||
cppcheck \
|
||||
libcapnp-dev \
|
||||
cmake \
|
||||
curl \
|
||||
ffmpeg \
|
||||
git \
|
||||
libavformat-dev libavcodec-dev libavdevice-dev libavutil-dev libswscale-dev libavresample-dev libavfilter-dev \
|
||||
libarchive-dev \
|
||||
libbz2-dev \
|
||||
libcurl4-openssl-dev \
|
||||
libeigen3-dev \
|
||||
libffi-dev \
|
||||
libglew-dev \
|
||||
libgles2-mesa-dev \
|
||||
libglfw3-dev \
|
||||
libglib2.0-0 \
|
||||
liblzma-dev \
|
||||
libomp-dev \
|
||||
libopencv-dev \
|
||||
libpng16-16 \
|
||||
libssl-dev \
|
||||
libstdc++-arm-none-eabi-newlib \
|
||||
libsqlite3-dev \
|
||||
libtool \
|
||||
libusb-1.0-0-dev \
|
||||
libzmq3-dev \
|
||||
libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsmpeg-dev \
|
||||
libsdl1.2-dev libportmidi-dev libswscale-dev libavformat-dev libavcodec-dev libfreetype6-dev \
|
||||
libsystemd-dev \
|
||||
locales \
|
||||
ocl-icd-libopencl1 \
|
||||
ocl-icd-opencl-dev \
|
||||
opencl-headers \
|
||||
python-dev \
|
||||
python3-pip \
|
||||
screen \
|
||||
sudo \
|
||||
vim \
|
||||
wget \
|
||||
htop \
|
||||
gcc-arm-none-eabi \
|
||||
gir1.2-notify
|
||||
|
||||
# clean up
|
||||
sudo apt purge -y libreoffice* thunderbird* rhythmbox* transmission* mutter* *visionworks* ubuntu-wallpapers-bionic \
|
||||
*theme-ubuntu* remmina* branding-ubuntu light-themes pulseaudio packagekit ibus* \
|
||||
deluge smplayer* onboard* snapd* vpi1* galculator xmms2* youtube-dl unity-* whoopsie* \
|
||||
apport apparmor rpcbind gpsd isc-dhcp-server firefox printer-driver-* evolution-data-server* \
|
||||
lxmusic* avahi* yelp* vlc* nfs* ntfs* python-gi samba* docker* chromium-* system-config-printer-* \
|
||||
geoclue* totem* gnome-* modemmanager
|
||||
sudo apt autoremove -y && sudo apt clean -y
|
||||
|
||||
# reinstall again making sure clean up didn't delete them.
|
||||
sudo apt install -y --no-install-recommends lxdm lxde
|
||||
|
||||
# install packages from focal
|
||||
sudo sed -i -e 's#bionic#focal#g' /etc/apt/sources.list
|
||||
sudo apt update
|
||||
sudo apt install -y tmux nano
|
||||
sudo apt install -y --no-install-recommends \
|
||||
clang \
|
||||
qt5-default \
|
||||
qtmultimedia5-dev \
|
||||
qtwebengine5-dev \
|
||||
qtdeclarative5-dev \
|
||||
qtchooser \
|
||||
libqt5x11extras5-dev \
|
||||
qtlocation5-dev \
|
||||
qtpositioning5-dev \
|
||||
libqt5sql5-sqlite \
|
||||
libqt5svg5-dev \
|
||||
libqt5opengl5-dev \
|
||||
ccache \
|
||||
qml-module-qtquick2 \
|
||||
libreadline-dev
|
||||
|
||||
# libqt5opengl5-dev is for mapbox
|
||||
|
||||
sudo sed -i -e 's#focal#bionic#g' /etc/apt/sources.list
|
||||
|
||||
# clean up again
|
||||
sudo apt update
|
||||
sudo apt purge -y mysql-common p7zip* ppp* kerneloops *gvfs*
|
||||
sudo apt autoremove -y
|
||||
|
||||
# add missing wifi manager
|
||||
sudo apt install -y network-manager-gnome
|
||||
|
||||
# delete sample files
|
||||
sudo rm -rf /usr/local/cuda/samples \
|
||||
/usr/src/cudnn_samples_* \
|
||||
/usr/src/tensorrt/data \
|
||||
/usr/src/tensorrt/samples \
|
||||
/usr/share/visionworks* ~/VisionWorks-SFM*Samples \
|
||||
/opt/nvidia/deepstream/deepstream*/samples
|
||||
|
||||
#add user to the input device so it can read mouse
|
||||
sudo usermod -aG input ${USERNAME}
|
||||
|
||||
# common folders
|
||||
sudo mkdir -p /data/ /data/params/d/ /data/media/0/ /persist/ /data/log /data/media/0/realdata/ /data/media/0/fakedata/
|
||||
|
||||
# dp will recognize it as jetson
|
||||
sudo touch /JETSON
|
||||
|
||||
# allow ssh in root because we will give openpilot full root access.
|
||||
sudo sed -i -e 's/#PermitRootLogin prohibit-password/PermitRootLogin yes/g' /etc/ssh/sshd_config
|
||||
sudo sed -i -e 's/#PasswordAuthentication yes/PasswordAuthentication yes/g' /etc/ssh/sshd_config
|
||||
sudo sed -i -e 's/#KerberosAuthentication no/KerberosAuthentication no/g' /etc/ssh/sshd_config
|
||||
sudo sed -i -e 's/#GSSAPIAuthentication no/GSSAPIAuthentication no/g' /etc/ssh/sshd_config
|
||||
sudo sed -i -e 's/#UseDNS no/UseDNS no/g' /etc/ssh/sshd_config
|
||||
sudo sed -i -e 's/#UsePAM yes/UsePAM no/g' /etc/ssh/sshd_config
|
||||
|
||||
# install jtop
|
||||
sudo pip3 install setuptools
|
||||
sudo -H pip3 install -U jetson-stats
|
||||
|
||||
###########################################################################
|
||||
############################ OPENPILOT RELATED ############################
|
||||
###########################################################################
|
||||
|
||||
# install git lfs
|
||||
if ! command -v "git-lfs" > /dev/null 2>&1; then
|
||||
curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | sudo bash
|
||||
sudo apt-get install git-lfs
|
||||
fi
|
||||
|
||||
# install pyenv
|
||||
if ! command -v "pyenv" > /dev/null 2>&1; then
|
||||
curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
|
||||
fi
|
||||
|
||||
export PYENV_ROOT="$HOME/.pyenv"
|
||||
export PATH="$PYENV_ROOT/bin:$PATH"
|
||||
eval "$(pyenv init --path)"
|
||||
# install bashrc
|
||||
source ~/.bashrc
|
||||
if [ -z "$OPENPILOT_ENV" ]; then
|
||||
echo "export PYENV_ROOT=\"$HOME/.pyenv\"" >> ~/.bashrc
|
||||
echo "export PATH=\"$PYENV_ROOT/bin:$PATH\"" >> ~/.bashrc
|
||||
echo "eval \"$(pyenv init --path)\"" >> ~/.bashrc
|
||||
echo "source /data/openpilot/jetson/openpilot_env.sh" >> ~/.bashrc
|
||||
source $HOME/openpilot/jetson/openpilot_env.sh
|
||||
source ~/.bashrc
|
||||
echo "added openpilot_env to bashrc"
|
||||
fi
|
||||
|
||||
|
||||
# install python
|
||||
pyenv install -s ${PYENV_PYTHON_VERSION}
|
||||
pyenv global ${PYENV_PYTHON_VERSION}
|
||||
pyenv rehash
|
||||
eval "$(pyenv init -)"
|
||||
|
||||
# **** in python env ****
|
||||
pip install --upgrade pip==20.2.4
|
||||
pip install pipenv==2020.8.13
|
||||
|
||||
pip install setuptools
|
||||
pip install wheel
|
||||
pip install pkgconfig
|
||||
|
||||
# packages
|
||||
pip install atomicwrites
|
||||
pip install casadi
|
||||
pip install cffi
|
||||
pip install crcmod
|
||||
pip install furture-string # for acados
|
||||
pip install hexdump # for dump.py
|
||||
pip install libusb1
|
||||
pip install numpy
|
||||
pip install psutil
|
||||
pip install pycapnp==1.1.0
|
||||
pip install cryptography
|
||||
pip install pyzmq
|
||||
pip install requests
|
||||
pip install setproctitle
|
||||
pip install smbus2
|
||||
pip install sympy
|
||||
pip install tqdm
|
||||
pip install cython
|
||||
pip install scons
|
||||
pip install pycryptodome
|
||||
pip install jinja2
|
||||
pip install pyjwt
|
||||
pip install pyserial
|
||||
pip install sentry-sdk
|
||||
|
||||
#pip install setuptools-cythonize
|
||||
#pip install logentries
|
||||
# mapd
|
||||
pip install scipy
|
||||
pip install overpy
|
||||
|
||||
# openpilot tmux
|
||||
echo "unbind C-b" > $HOME/.tmux.conf
|
||||
echo "set -g prefix \`" >> $HOME/.tmux.conf
|
||||
echo "bind-key \` last-window" >> $HOME/.tmux.conf
|
||||
echo "bind-key e send-prefix" >> $HOME/.tmux.conf
|
||||
echo "bind-key S command-prompt -p 'Save log to file:' -I '/tmp/openpilot_log' 'capture-pane -S-7200; save-buffer %1; delete-buffer'" >> $HOME/.tmux.conf
|
||||
echo "set -g status-position bottom" >> $HOME/.tmux.conf
|
||||
echo "set -g status-style bg=colour234,fg=colour137,dim" >> $HOME/.tmux.conf
|
||||
echo "set -g status-left ''" >> $HOME/.tmux.conf
|
||||
echo "set -g status-right '#[fg=colour233,bg=colour241,bold] %d/%m #[fg=colour233,bg=colour245,bold] %H:%M:%S '" >> $HOME/.tmux.conf
|
||||
echo "set -g status-right-length 50" >> $HOME/.tmux.conf
|
||||
echo "set -g status-left-length 20" >> $HOME/.tmux.conf
|
||||
echo "set -g history-limit 7200" >> $HOME/.tmux.conf
|
||||
echo "setw -g window-status-current-style fg=colour81,bg=colour238,bold" >> $HOME/.tmux.conf
|
||||
echo "setw -g window-status-current-format ' #I#[fg=colour250]:#[fg=colour255]#W#[fg=colour50]#F '" >> $HOME/.tmux.conf
|
||||
echo "setw -g window-status-style fg=colour138,bg=colour235" >> $HOME/.tmux.conf
|
||||
echo "setw -g window-status-format ' #I#[fg=colour237]:#[fg=colour250]#W#[fg=colour244]#F '" >> $HOME/.tmux.conf
|
||||
echo "setw -g window-status-bell-style fg=colour255,bg=colour1,bold" >> $HOME/.tmux.conf
|
||||
|
||||
# move to /data/openpilot
|
||||
cd /data
|
||||
mv /home/${USERNAME}/openpilot /data/
|
||||
|
||||
# make sure everything goes to the right display
|
||||
echo "export DISPLAY=:0.0" >> $HOME/.bashrc
|
||||
|
||||
# start openpilot correctly
|
||||
echo "export USE_MIPI=\"1\"" >> $HOME/.bashrc
|
||||
echo "export NOSENSOR=\"1\"" >> $HOME/.bashrc
|
||||
echo "export PASSIVE=\"0\"" >> $HOME/.bashrc
|
||||
|
||||
# start from /data/openpilot
|
||||
echo "[ -d \"/data/openpilot\" ] && cd /data/openpilot" >> $HOME/.bashrc
|
||||
|
||||
###########################################################################
|
||||
############################ DOWNLOAD PACKAGES ############################
|
||||
###########################################################################
|
||||
mkdir -p /data/${WORKSPACE}/
|
||||
cd /data/${WORKSPACE}/
|
||||
wget https://github.com/llvm/llvm-project/releases/download/llvmorg-${LLVM_VERSION}/clang+llvm-${LLVM_VERSION}-aarch64-linux-gnu.tar.xz &
|
||||
wget https://nvidia.box.com/shared/static/gjqofg7rkg97z3gc8jeyup6t8n9j8xjw.whl -O onnxruntime_gpu-1.8.0-cp38-cp38-linux_aarch64.whl &
|
||||
curl -L https://github.com/opencv/opencv/archive/${OPENPCV_VERSION}.zip -o opencv-${OPENPCV_VERSION}.zip &
|
||||
curl -L https://github.com/opencv/opencv_contrib/archive/${OPENPCV_VERSION}.zip -o opencv_contrib-${OPENPCV_VERSION}.zip &
|
||||
wait
|
||||
|
||||
###########################################################################
|
||||
############################### ONNX RUNTIME ##############################
|
||||
###########################################################################
|
||||
cd /data/${WORKSPACE}/
|
||||
pip install onnxruntime_gpu-1.8.0-cp38-cp38-linux_aarch64.whl
|
||||
|
||||
###########################################################################
|
||||
################################## LLVM 12 ################################
|
||||
###########################################################################
|
||||
# for POCL
|
||||
cd /data/${WORKSPACE}/
|
||||
tar -xvf clang+llvm-${LLVM_VERSION}-aarch64-linux-gnu.tar.xz
|
||||
sudo mkdir -p /usr/lib/${LLVM_INSTALL_FOLDER}/
|
||||
sudo mv clang+llvm-${LLVM_VERSION}-aarch64-linux-gnu/* /usr/lib/${LLVM_INSTALL_FOLDER}/
|
||||
|
||||
###########################################################################
|
||||
################################### POCL ##################################
|
||||
###########################################################################
|
||||
cd /data/${WORKSPACE}/
|
||||
git clone --single-branch --branch ${POCL_VERSION} https://github.com/pocl/pocl.git
|
||||
cd /data/${WORKSPACE}/pocl
|
||||
mkdir build
|
||||
cd /data/${WORKSPACE}/pocl/build/
|
||||
cmake -DCMAKE_BUILD_TYPE=Release -DWITH_LLVM_CONFIG=/usr/lib/${LLVM_INSTALL_FOLDER}/bin/llvm-config -DENABLE_CUDA=ON -DSTATIC_LLVM=ON ..
|
||||
make -j $(nproc)
|
||||
sudo make install
|
||||
mkdir -p /etc/OpenCL/vendors/
|
||||
echo "/usr/local/lib/libpocl.so" > /etc/OpenCL/vendors/pocl.icd
|
||||
|
||||
###########################################################################
|
||||
################################## OPENCV #################################
|
||||
###########################################################################
|
||||
# Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved.
|
||||
#
|
||||
# NVIDIA Corporation and its licensors retain all intellectual property
|
||||
# and proprietary rights in and to this software, related documentation
|
||||
# and any modifications thereto. Any use, reproduction, disclosure or
|
||||
# distribution of this software and related documentation without an express
|
||||
# license agreement from NVIDIA Corporation is strictly prohibited.
|
||||
|
||||
# jetpack opencv doesn't have cuda that's why we compile manually
|
||||
# check jtop for more info.
|
||||
cd /data/${WORKSPACE}/
|
||||
|
||||
echo "** Remove other OpenCV first"
|
||||
sudo sudo apt-get purge -y *libopencv*
|
||||
|
||||
echo "** Install requirement"
|
||||
sudo apt-get update
|
||||
sudo apt-get install -y libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev
|
||||
sudo apt-get install -y libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libdc1394-22-dev
|
||||
sudo apt-get install -y libv4l-dev v4l-utils qv4l2 v4l2ucp
|
||||
|
||||
unzip opencv-${OPENPCV_VERSION}.zip
|
||||
unzip opencv_contrib-${OPENPCV_VERSION}.zip
|
||||
cd opencv-${OPENPCV_VERSION}/
|
||||
|
||||
echo "** Building..."
|
||||
mkdir release
|
||||
cd release/
|
||||
cmake -D WITH_CUDA=ON \
|
||||
-D WITH_CUDNN=OFF \
|
||||
-D CUDA_ARCH_BIN="${JETSON_ARCH}" \
|
||||
-D CUDA_ARCH_PTX="" \
|
||||
-D OPENCV_GENERATE_PKGCONFIG=ON \
|
||||
-D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-${OPENPCV_VERSION}/modules \
|
||||
-D WITH_GSTREAMER=ON \
|
||||
-D WITH_LIBV4L=ON \
|
||||
-D BUILD_opencv_python2=OFF \
|
||||
-D BUILD_opencv_python3=ON \
|
||||
-D BUILD_TESTS=OFF \
|
||||
-D BUILD_PERF_TESTS=OFF \
|
||||
-D BUILD_EXAMPLES=OFF \
|
||||
-D CMAKE_BUILD_TYPE=RELEASE \
|
||||
-D CMAKE_INSTALL_PREFIX=/usr/local \
|
||||
-D WITH_GTK=OFF \
|
||||
-D ENABLE_FAST_MATH=ON \
|
||||
-D BUILD_opencv_java=OFF \
|
||||
-D WITH_QT=OFF \
|
||||
-D INSTALL_PYTHON_EXAMPLES=OFF \
|
||||
-D INSTALL_C_EXAMPLES=OFF \
|
||||
-D WITH_CUFFT=ON \
|
||||
-D WITH_CUBLAS=ON \
|
||||
-D WITH_1394=OFF \
|
||||
-D WITH_ANDROID_MEDIANDK=OFF \
|
||||
-D BUILD_JAVA=OFF \
|
||||
-D BUILD_FAT_JAVA_LIB=OFF \
|
||||
-D BUILD_opencv_python2=OFF \
|
||||
..
|
||||
make -j$(nproc)
|
||||
sudo make install
|
||||
###########################################################################
|
||||
################################## FINAL ##################################
|
||||
###########################################################################
|
||||
cd /data && rm -fr /data/${WORKSPACE}/
|
||||
|
||||
# creates the necessary links and cache
|
||||
sudo ldconfig -v
|
||||
|
||||
# delay restart
|
||||
sudo shutdown -r 1
|
||||
|
||||
# clean up once last time
|
||||
sudo apt autoremove -y && sudo apt clean -y
|
||||
|
||||
# lxdm give comma autologin
|
||||
sudo sed -i -e "s/# autologin=dgod/autologin=${USERNAME}/g" /etc/lxdm/default.conf
|
||||
|
||||
# remove screensaver
|
||||
sudo sed -i -e 's/@xscreensaver -no-splash//g' /etc/xdg/lxsession/LXDE/autostart
|
||||
|
||||
# auto start openpilot
|
||||
sudo sh -c 'echo "@lxterminal --command tmux new-session -s '${USERNAME}' -d /data/openpilot/jetson/launcher.sh" >> /etc/xdg/lxsession/LXDE/autostart'
|
||||
|
||||
# comma as root
|
||||
USERNAME="comma"
|
||||
sudo sed -i -e "s#${USERNAME}:x:1000:1000:${USERNAME}#${USERNAME}:x:0:0:${USERNAME}#g" /etc/passwd
|
||||
2
jetson/launcher.sh
Executable file
2
jetson/launcher.sh
Executable file
@@ -0,0 +1,2 @@
|
||||
#!/bin/bash -e
|
||||
cd /data/openpilot && bash -i launch_chffrplus.sh
|
||||
25
jetson/openpilot_env.sh
Executable file
25
jetson/openpilot_env.sh
Executable file
@@ -0,0 +1,25 @@
|
||||
if [ -z "$OPENPILOT_ENV" ]; then
|
||||
export PYTHONPATH="/data/openpilot:$PYTHONPATH"
|
||||
|
||||
unamestr=`uname`
|
||||
if [[ "$unamestr" == 'Linux' ]]; then
|
||||
export PATH="$HOME/.pyenv/bin:$PATH"
|
||||
|
||||
# Pyenv suggests we place the below two lines in .profile before we source
|
||||
# .bashrc, but there is no simple way to guarantee we do this correctly
|
||||
# programmatically across heterogeneous systems. For end-user convenience,
|
||||
# we add the lines here as a workaround.
|
||||
# https://github.com/pyenv/pyenv/issues/1906
|
||||
export PYENV_ROOT="$HOME/.pyenv"
|
||||
eval "$(pyenv init --path)"
|
||||
|
||||
eval "$(pyenv virtualenv-init -)"
|
||||
elif [[ "$unamestr" == 'Darwin' ]]; then
|
||||
# msgq doesn't work on mac
|
||||
export ZMQ=1
|
||||
export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES
|
||||
fi
|
||||
eval "$(pyenv init -)"
|
||||
|
||||
export OPENPILOT_ENV=1
|
||||
fi
|
||||
@@ -6,22 +6,38 @@ fi
|
||||
|
||||
source "$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 {
|
||||
python /data/openpilot/scripts/installers/language_installer.py
|
||||
python /data/openpilot/scripts/installers/sshkey_installer.py
|
||||
python /data/openpilot/scripts/installers/font_installer.py
|
||||
mount -o remount,rw /system
|
||||
if [ ! -f /ONEPLUS ] && ! $(grep -q "letv" /proc/cmdline); then
|
||||
sed -i -e 's#/dev/input/event1#/dev/input/event2#g' ~/.bash_profile
|
||||
touch /ONEPLUS
|
||||
else
|
||||
if [ ! -f /LEECO ]; then
|
||||
touch /LEECO
|
||||
fi
|
||||
fi
|
||||
mount -o remount,r /system
|
||||
|
||||
# Wifi scan
|
||||
wpa_cli IFNAME=wlan0 SCAN
|
||||
# set IO scheduler
|
||||
setprop sys.io.scheduler noop
|
||||
for f in /sys/block/*/queue/scheduler; do
|
||||
echo noop > $f
|
||||
done
|
||||
|
||||
# *** shield cores 2-3 ***
|
||||
|
||||
# TODO: should we enable this?
|
||||
# offline cores 2-3 to force recurring timers onto the other cores
|
||||
#echo 0 > /sys/devices/system/cpu/cpu2/online
|
||||
#echo 0 > /sys/devices/system/cpu/cpu3/online
|
||||
#echo 1 > /sys/devices/system/cpu/cpu2/online
|
||||
#echo 1 > /sys/devices/system/cpu/cpu3/online
|
||||
|
||||
# android gets two cores
|
||||
echo 0-1 > /dev/cpuset/background/cpus
|
||||
echo 0-1 > /dev/cpuset/system-background/cpus
|
||||
@@ -63,7 +79,9 @@ 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
|
||||
if [ -f /ONEPLUS ]; then
|
||||
[ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T
|
||||
fi
|
||||
|
||||
# GPU and camera get cpu 2
|
||||
CAM_IRQS="177 178 179 180 181 182 183 184 185 186 192"
|
||||
@@ -83,8 +101,11 @@ function two_init {
|
||||
# disable bluetooth
|
||||
service call bluetooth_manager 8
|
||||
|
||||
# wifi scan
|
||||
wpa_cli IFNAME=wlan0 SCAN
|
||||
|
||||
# Check for NEOS update
|
||||
if $(grep -q "letv" /proc/cmdline); then
|
||||
if [ -f /LEECO ]; 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"
|
||||
@@ -99,15 +120,13 @@ function two_init {
|
||||
|
||||
"$DIR/installer/updater/updater" "file://$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 ! $(grep -q "letv" /proc/cmdline) && [ ! -f "/persist/comma/op3t-sns-reg-backup" ]; then
|
||||
if [ -f /ONEPLUS ] && [ ! -f "/persist/comma/op3t-sns-reg-backup" ]; then
|
||||
echo "Performing OP3T sensor registry reset"
|
||||
mv /persist/sensors/sns.reg /persist/comma/op3t-sns-reg-backup &&
|
||||
rm -f /persist/sensors/sensors_settings /persist/sensors/error_log /persist/sensors/gyro_sensitity_cal &&
|
||||
@@ -117,24 +136,84 @@ function two_init {
|
||||
}
|
||||
|
||||
function tici_init {
|
||||
# wait longer for weston to come up
|
||||
if [ -f "$BASEDIR/prebuilt" ]; then
|
||||
sleep 3
|
||||
fi
|
||||
|
||||
# setup governors
|
||||
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'
|
||||
|
||||
# TODO: move this to agnos
|
||||
# network manager config
|
||||
nmcli connection modify --temporary lte gsm.auto-config yes
|
||||
nmcli connection modify --temporary lte gsm.home-only yes
|
||||
sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
|
||||
|
||||
# set success flag for current boot slot
|
||||
sudo abctl --set_success
|
||||
|
||||
# Check if AGNOS update is required
|
||||
if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
|
||||
AGNOS_PY="$DIR/selfdrive/hardware/tici/agnos.py"
|
||||
MANIFEST="$DIR/selfdrive/hardware/tici/agnos.json"
|
||||
$DIR/selfdrive/hardware/tici/agnos.py --swap $MANIFEST
|
||||
|
||||
sleep 1
|
||||
sudo reboot
|
||||
if $AGNOS_PY --verify $MANIFEST; then
|
||||
sudo reboot
|
||||
fi
|
||||
$DIR/selfdrive/hardware/tici/updater $AGNOS_PY $MANIFEST
|
||||
fi
|
||||
}
|
||||
|
||||
# jetpack 4.6
|
||||
function jetson_init {
|
||||
# jetpack 4.6 has mode 8
|
||||
sudo nvpmodel -m 8
|
||||
|
||||
# use performance governor
|
||||
sudo echo performance > /sys/devices/system/cpu/cpu0/cpufreq/scaling_governor
|
||||
|
||||
# run higher fan speed in case we need compilation
|
||||
sudo echo 200 > /sys/devices/pwm-fan/target_pwm
|
||||
|
||||
# prevent throttling
|
||||
echo 7000 > /sys/devices/c250000.i2c/i2c-7/7-0040/iio:device0/crit_current_limit_0
|
||||
|
||||
# use highest available cpu freq
|
||||
for i in /sys/devices/system/cpu/cpu*/cpufreq/scaling_max_freq; do
|
||||
echo 1907200 > $i;
|
||||
done
|
||||
|
||||
# gpu min set to highest
|
||||
sudo echo 1109250000 > /sys/devices/17000000.gv11b/devfreq/17000000.gv11b/min_freq
|
||||
|
||||
# set IO scheduler
|
||||
for f in /sys/block/*/queue/scheduler; do
|
||||
echo noop > $f
|
||||
done
|
||||
|
||||
# give nvargus-daemon higer priority
|
||||
for pid in $(pgrep "nvargus-daemon"); do
|
||||
chrt -f -p 52 $pid
|
||||
done
|
||||
|
||||
# scale 4.3" 800x480 to 1920x1080
|
||||
if [ "$(xdpyinfo | awk '/dimensions/{print $2}')" == "800x480" ]; then
|
||||
xrandr --output HDMI-0 --mode 800x480 --scale 2.4x2.25
|
||||
fi
|
||||
|
||||
# enable jetson mode
|
||||
echo -n 1 > /data/params/d/dp_jetson
|
||||
|
||||
# disable blank screen etc.
|
||||
xset s off
|
||||
xset s noblank
|
||||
xset -dpms
|
||||
|
||||
# hide mouse cursor
|
||||
unclutter -idle 0 &
|
||||
}
|
||||
|
||||
function launch {
|
||||
# Remove orphaned git lock if it exists on boot
|
||||
[ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
|
||||
@@ -189,15 +268,22 @@ function launch {
|
||||
# dp - ignore chmod changes
|
||||
git -C $DIR config core.fileMode false
|
||||
|
||||
# dp - apply custom patch
|
||||
if [ -f "/data/media/0/dp_patcher.py" ]; then
|
||||
python /data/media/0/dp_patcher.py
|
||||
fi
|
||||
# hardware specific init
|
||||
if [ -f /EON ]; then
|
||||
two_init
|
||||
elif [ -f /TICI ]; then
|
||||
tici_init
|
||||
fi
|
||||
|
||||
if [ -f "/sdcard/dp_patcher.py" ]; then
|
||||
/data/data/com.termux/files/usr/bin/python /sdcard/dp_patcher.py
|
||||
elif [ -f /JETSON ]; then
|
||||
jetson_init
|
||||
# make sure we have right models
|
||||
if [ ! -f "$DIR/models/supercombo.onnx" ]; then
|
||||
rm -fr $DIR/models/*.dlc
|
||||
wget https://github.com/commaai/openpilot/raw/72a736f90e57a7d5845891ea34b17360b6f684d0/models/supercombo.onnx -O "$DIR/models/supercombo.onnx"
|
||||
fi
|
||||
fi
|
||||
|
||||
# write tmux scrollback to a file
|
||||
@@ -205,8 +291,21 @@ function launch {
|
||||
|
||||
# start manager
|
||||
cd selfdrive/manager
|
||||
./build.py && ./manager.py
|
||||
|
||||
if [ -f /EON ]; then
|
||||
if [ ! -f "/system/comma/usr/lib/libgfortran.so.5.0.0" ]; then
|
||||
mount -o remount,rw /system
|
||||
tar -zxvf /data/openpilot/selfdrive/mapd/assets/libgfortran.tar.gz -C /system/comma/usr/lib/
|
||||
mount -o remount,r /system
|
||||
fi
|
||||
if [ ! -d "/system/comma/usr/lib/python3.8/site-packages/opspline" ]; then
|
||||
mount -o remount,rw /system
|
||||
tar -zxvf /data/openpilot/selfdrive/mapd/assets/opspline.tar.gz -C /system/comma/usr/lib/python3.8/site-packages/
|
||||
mount -o remount,r /system
|
||||
fi
|
||||
./build.py && ./manager.py
|
||||
else
|
||||
./custom_dep.py && ./build.py && ./manager.py
|
||||
fi
|
||||
# if broken, keep on screen error
|
||||
while true; do sleep 1; done
|
||||
}
|
||||
|
||||
@@ -7,11 +7,11 @@ export OPENBLAS_NUM_THREADS=1
|
||||
export VECLIB_MAXIMUM_THREADS=1
|
||||
|
||||
if [ -z "$REQUIRED_NEOS_VERSION" ]; then
|
||||
export REQUIRED_NEOS_VERSION="17"
|
||||
export REQUIRED_NEOS_VERSION="18"
|
||||
fi
|
||||
|
||||
if [ -z "$AGNOS_VERSION" ]; then
|
||||
export AGNOS_VERSION="0.21"
|
||||
export AGNOS_VERSION="1.5"
|
||||
fi
|
||||
|
||||
if [ -z "$PASSIVE" ]; then
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -1,24 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [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+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [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 _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -251,6 +233,24 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [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+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [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_ "acura_ilx_2016_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,24 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [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+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [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 _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -251,6 +233,24 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [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+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [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_ "acura_rdx_2018_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -66,7 +66,7 @@ cdef extern from "common_dbc.h":
|
||||
double value
|
||||
|
||||
cdef struct SignalPackValue:
|
||||
const char * name
|
||||
string name
|
||||
double value
|
||||
|
||||
|
||||
|
||||
@@ -8,7 +8,7 @@
|
||||
#define ARRAYSIZE(x) (sizeof(x)/sizeof(x[0]))
|
||||
|
||||
struct SignalPackValue {
|
||||
const char* name;
|
||||
std::string name;
|
||||
double value;
|
||||
};
|
||||
|
||||
|
||||
@@ -51,12 +51,11 @@ CANPacker::CANPacker(const std::string& dbc_name) {
|
||||
uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &signals, int counter) {
|
||||
uint64_t ret = 0;
|
||||
for (const auto& sigval : signals) {
|
||||
std::string name = std::string(sigval.name);
|
||||
double value = sigval.value;
|
||||
|
||||
auto sig_it = signal_lookup.find(std::make_pair(address, name));
|
||||
auto sig_it = signal_lookup.find(std::make_pair(address, sigval.name));
|
||||
if (sig_it == signal_lookup.end()) {
|
||||
WARN("undefined signal %s - %d\n", name.c_str(), address);
|
||||
WARN("undefined signal %s - %d\n", sigval.name.c_str(), address);
|
||||
continue;
|
||||
}
|
||||
const auto& sig = sig_it->second;
|
||||
|
||||
@@ -33,15 +33,11 @@ cdef class CANPacker:
|
||||
|
||||
cdef uint64_t pack(self, addr, values, counter):
|
||||
cdef vector[SignalPackValue] values_thing
|
||||
values_thing.reserve(len(values))
|
||||
cdef SignalPackValue spv
|
||||
|
||||
names = []
|
||||
|
||||
for name, value in values.iteritems():
|
||||
n = name.encode('utf8')
|
||||
names.append(n) # TODO: find better way to keep reference to temp string around
|
||||
|
||||
spv.name = n
|
||||
spv.name = name.encode('utf8')
|
||||
spv.value = value
|
||||
values_thing.push_back(spv)
|
||||
|
||||
|
||||
@@ -177,18 +177,15 @@ cdef class CANDefine():
|
||||
val = self.dbc[0].vals[i]
|
||||
|
||||
sgname = val.name.decode('utf8')
|
||||
address = val.address
|
||||
def_val = val.def_val.decode('utf8')
|
||||
address = val.address
|
||||
msgname = address_to_msg_name[address]
|
||||
|
||||
#separate definition/value pairs
|
||||
# separate definition/value pairs
|
||||
def_val = def_val.split()
|
||||
values = [int(v) for v in def_val[::2]]
|
||||
defs = def_val[1::2]
|
||||
|
||||
if address not in dv:
|
||||
dv[address] = {}
|
||||
msgname = address_to_msg_name[address]
|
||||
dv[msgname] = {}
|
||||
|
||||
# two ways to lookup: address or msg name
|
||||
dv[address][sgname] = dict(zip(values, defs))
|
||||
|
||||
@@ -163,7 +163,7 @@ BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM
|
||||
BO_ 717 ASCM_2CD: 5 K124_ASCM
|
||||
|
||||
BO_ 810 TCICOnStarGPSPosition: 8 K73_TCIC
|
||||
SG_ GPSLongitude : 39|32@0+ (1,0) [0|0] "milliarcsecond" NEO
|
||||
SG_ GPSLongitude : 39|32@0+ (1,-2147483648) [0|0] "milliarcsecond" NEO
|
||||
SG_ GPSLatitude : 7|32@0+ (1,0) [0|0] "milliarcsecond" NEO
|
||||
|
||||
BO_ 840 EBCMWheelSpdFront: 4 K17_EBCM
|
||||
|
||||
@@ -1,24 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [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+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [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 _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -251,6 +233,24 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [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+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [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_ "honda_civic_touring_2016_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,24 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [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+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [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 _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -251,6 +233,24 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [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+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [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_ "honda_crv_executive_2016_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,24 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [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+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [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 _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -251,6 +233,24 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [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+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [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_ "honda_crv_touring_2016_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,24 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [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+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [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 _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -251,6 +233,24 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [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+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [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_ "honda_fit_ex_2018_can.dbc starts here";
|
||||
|
||||
|
||||
@@ -273,6 +273,9 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 316 GAS_PEDAL: 8 PCM
|
||||
SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
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
|
||||
@@ -299,6 +302,7 @@ BO_ 422 SCM_BUTTONS: 8 SCM
|
||||
SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
|
||||
@@ -1,341 +0,0 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [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+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [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 _honda_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_
|
||||
|
||||
BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON
|
||||
|
||||
BO_ 344 ENGINE_DATA: 8 PCM
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
|
||||
SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
|
||||
SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm" EON
|
||||
SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
|
||||
SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
|
||||
SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" EON
|
||||
SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 420 VSA_STATUS: 8 VSA
|
||||
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
|
||||
SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
|
||||
SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
|
||||
SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 432 STANDSTILL: 7 VSA
|
||||
SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 464 WHEEL_SPEEDS: 8 VSA
|
||||
SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 506 BRAKE_COMMAND: 8 ADAS
|
||||
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
|
||||
SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
|
||||
|
||||
BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
|
||||
SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 773 SEATBELT_STATUS: 7 BDY
|
||||
SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 777 LOCK_STATUS: 8 XXX
|
||||
SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
|
||||
SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
|
||||
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
|
||||
SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ FCM_OFF_2 : 35|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
|
||||
|
||||
BO_ 804 CRUISE: 8 PCM
|
||||
SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
|
||||
SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
|
||||
SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
|
||||
SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 829 LKAS_HUD: 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_ 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_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
|
||||
|
||||
BO_ 892 CRUISE_PARAMS: 8 PCM
|
||||
SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 1029 DOORS_STATUS: 8 BDY
|
||||
SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
|
||||
CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
|
||||
CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
|
||||
CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
|
||||
CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
|
||||
CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
|
||||
CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
|
||||
|
||||
|
||||
VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
|
||||
VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
|
||||
VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
|
||||
VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "honda_hrv_touring_2019_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
BO_ 145 KINEMATICS: 8 XXX
|
||||
SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
|
||||
|
||||
BO_ 228 STEERING_CONTROL: 5 ADAS
|
||||
SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
|
||||
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
|
||||
|
||||
BO_ 316 GAS_PEDAL: 8 PCM
|
||||
SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
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_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 399 STEER_STATUS: 7 EPS
|
||||
SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
|
||||
SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 401 GEARBOX: 8 PCM
|
||||
SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
|
||||
SG_ GEAR : 43|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 422 SCM_BUTTONS: 8 SCM
|
||||
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
||||
SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 487 BRAKE_PRESSURE: 4 VSA
|
||||
SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
|
||||
SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
|
||||
SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 660 SCM_FEEDBACK: 8 SCM
|
||||
SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
|
||||
SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
|
||||
SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AUTO_HIGHBEAMS_ACTIVE : 53|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
|
||||
|
||||
BO_ 884 STALK_STATUS: 8 XXX
|
||||
SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
|
||||
CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
|
||||
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
|
||||
VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
|
||||
VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
|
||||
VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
|
||||
VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
@@ -1,24 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [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+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [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 _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -251,6 +233,24 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [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+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [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_ "honda_odyssey_exl_2018.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,24 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [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+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [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 _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -251,6 +233,24 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [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+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [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_ "honda_odyssey_extreme_edition_2018_china_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,24 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [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+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [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 _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -251,6 +233,24 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [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+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [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_ "honda_pilot_touring_2017_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,24 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [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+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [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 _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -251,6 +233,24 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [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+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [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_ "honda_ridgeline_black_edition_2017_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1489,6 +1489,7 @@ BO_ 1157 LFAHDA_MFC: 4 XXX
|
||||
BO_ 913 BCM_PO_11: 8 Vector__XXX
|
||||
SG_ BCM_Door_Dri_Status : 5|1@0+ (1,0) [0|1] "" PT_ESC_ABS
|
||||
SG_ BCM_Shift_R_MT_SW_Status : 39|2@0+ (1,0) [0|3] "" PT_ESC_ABS
|
||||
SG_ LFA_Pressed : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1426 LABEL11: 8 XXX
|
||||
SG_ CC_React : 34|1@1+ (1,0) [0|1] "" XXX
|
||||
@@ -1637,14 +1638,20 @@ 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";
|
||||
BO_ 1348 Navi_HU: 8 XXX
|
||||
SG_ SpeedLim_Nav_Clu : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
|
||||
|
||||
|
||||
VAL_ 871 CF_Lvr_Gear 5 "D" 8 "S" 6 "N" 7 "R" 0 "P" ;
|
||||
VAL_ 1322 CF_Clu_Gear 1 "P" 2 "R" 4 "N" 8 "D" ;
|
||||
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_ 909 CF_VSM_Warn 2 "FCW" 3 "AEB" ;
|
||||
VAL_ 1157 HDA_Icon_State 0 "no_hda" 1 "white_hda" 2 "green_hda" ;
|
||||
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 LFA_Icon_State 0 "no_wheel" 1 "white_wheel" 2 "green_wheel" 3 "green_wheel_blink" ;
|
||||
VAL_ 1157 HDA_SysWarning 0 "no_message" 1 "driving_convenience_systems_cancelled" 2 "highway_drive_assist_system_cancelled" ;
|
||||
VAL_ 882 Elect_Gear_Shifter 5 "D" 8 "S" 6 "N" 7 "R" 0 "P" ;
|
||||
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";
|
||||
CM_ SG_ 1348 SpeedLim_Nav_Clu "Speed limit displayed on Nav, Cluster and HUD";
|
||||
@@ -1,41 +1,6 @@
|
||||
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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -163,6 +128,7 @@ 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_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -265,6 +231,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" 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
|
||||
@@ -277,6 +244,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +287,11 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -336,6 +309,7 @@ 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 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
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.";
|
||||
@@ -364,6 +338,7 @@ 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 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 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";
|
||||
@@ -381,6 +356,41 @@ 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_ "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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "lexus_ct200h_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,41 +1,6 @@
|
||||
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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -163,6 +128,7 @@ 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_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -265,6 +231,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" 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
|
||||
@@ -277,6 +244,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +287,11 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -336,6 +309,7 @@ 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 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
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.";
|
||||
@@ -364,6 +338,7 @@ 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 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 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";
|
||||
@@ -381,6 +356,41 @@ 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_ "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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "lexus_is_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,41 +1,6 @@
|
||||
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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -163,6 +128,7 @@ 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_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -265,6 +231,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" 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
|
||||
@@ -277,6 +244,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +287,11 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -336,6 +309,7 @@ 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 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
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.";
|
||||
@@ -364,6 +338,7 @@ 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 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 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";
|
||||
@@ -381,6 +356,41 @@ 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_ "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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "lexus_nx300_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,41 +1,6 @@
|
||||
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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -163,6 +128,7 @@ 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_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -265,6 +231,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" 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
|
||||
@@ -277,6 +244,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +287,11 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -336,6 +309,7 @@ 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 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
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.";
|
||||
@@ -364,6 +338,7 @@ 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 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 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";
|
||||
@@ -381,6 +356,41 @@ 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_ "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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "lexus_nx300h_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,41 +1,6 @@
|
||||
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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -163,6 +128,7 @@ 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_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -265,6 +231,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" 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
|
||||
@@ -277,6 +244,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +287,11 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -336,6 +309,7 @@ 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 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
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.";
|
||||
@@ -364,6 +338,7 @@ 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 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 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";
|
||||
@@ -381,6 +356,41 @@ 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_ "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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "lexus_rx_350_2016_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,41 +1,6 @@
|
||||
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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -163,6 +128,7 @@ 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_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -265,6 +231,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" 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
|
||||
@@ -277,6 +244,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +287,11 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -336,6 +309,7 @@ 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 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
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.";
|
||||
@@ -364,6 +338,7 @@ 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 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 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";
|
||||
@@ -381,6 +356,41 @@ 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_ "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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "lexus_rx_hybrid_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -218,7 +218,7 @@ BO_ 864 Engine_Temp: 8 XXX
|
||||
BO_ 866 Fuel: 8 XXX
|
||||
|
||||
BO_ 977 Dash_State2: 8 XXX
|
||||
SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ UNITS : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1745 Dash_State: 8 XXX
|
||||
SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
@@ -243,9 +243,9 @@ CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear";
|
||||
CM_ SG_ 642 Counter "Affected by signals";
|
||||
CM_ SG_ 642 SEATBELT_FL "Driver seatbelt";
|
||||
CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
|
||||
CM_ SG_ 977 UNITS "0 = Metric, 1 = Imperial";
|
||||
|
||||
VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
|
||||
VAL_ 1745 Units 0 "Metric" 1 "Imperial";
|
||||
|
||||
CM_ "subaru_forester_2017.dbc starts here";
|
||||
|
||||
|
||||
@@ -156,6 +156,7 @@ BO_ 552 BSD_RCTA: 8 XXX
|
||||
BO_ 912 Dashlights: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ UNITS : 24|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ICY_ROAD : 32|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|1] "" XXX
|
||||
@@ -169,32 +170,36 @@ BO_ 940 BodyInfo: 8 XXX
|
||||
SG_ DOOR_OPEN_RL : 34|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RR : 35|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_TRUNK : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Lowbeam : 57|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Highbeam : 58|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ FOG_LIGHTS2 : 60|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ WIPERS : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE : 54|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOWBEAM : 57|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGHBEAM : 58|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ FOG_LIGHTS : 60|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ WIPERS : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 801 ES_DashStatus: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ PCB_Off : 12|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LDW_Off : 13|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal1 : 14|10@1+ (1,0) [0|1023] "" XXX
|
||||
SG_ Signal1 : 14|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Cruise_State_Msg : 16|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ LKAS_State_Msg : 20|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Signal2 : 23|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Soft_Disable : 24|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal2 : 25|3@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Status_Msg : 25|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Signal3 : 27|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Distance : 28|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal4 : 31|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Conventional_Cruise : 32|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal4 : 33|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Signal5 : 33|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Activated : 36|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal5 : 37|3@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal6 : 37|3@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Cruise_Fault : 48|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_On : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal6 : 50|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Display_Own_Car : 50|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Brake_Lights : 51|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Car_Follow : 52|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal7 : 53|3@1+ (1,0) [0|1] "" XXX
|
||||
@@ -204,22 +209,20 @@ BO_ 801 ES_DashStatus: 8 XXX
|
||||
BO_ 802 ES_LKAS_State: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Keep_Hands_On_Wheel : 12|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Empty_Box : 13|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal1 : 14|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ LKAS_Alert_Msg : 12|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Signal1 : 15|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ LKAS_ACTIVE : 17|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal2 : 18|5@1+ (1,0) [0|31] "" XXX
|
||||
SG_ LKAS_Dash_State : 18|2@1+ (1,0) [0|2] "" XXX
|
||||
SG_ Signal2 : 20|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Backward_Speed_Limit_Menu : 23|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_ENABLE_3 : 24|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Left_Line_Enable : 24|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Left_Line_Light_Blink : 25|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_ENABLE_2 : 26|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Right_Line_Enable : 26|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Right_Line_Light_Blink : 27|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Left_Line_Visible : 28|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Left_Line_Green : 29|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Right_Line_Visible : 30|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Right_Line_Green : 31|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Alert : 32|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Signal3 : 36|28@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_Left_Line_Visible : 28|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ LKAS_Right_Line_Visible : 30|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ LKAS_Alert : 32|5@1+ (1,0) [0|31] "" XXX
|
||||
SG_ Signal3 : 37|27@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 722 AC_State: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
@@ -239,12 +242,18 @@ CM_ SG_ 801 PCB_Off "Pre-Collision Braking off";
|
||||
CM_ SG_ 801 Brake_Lights "Driver or Cruise brake on";
|
||||
CM_ SG_ 801 Cruise_State "0 = Normal, 1 = Hold+User Brake, 2 = Ready, 3 = Hold";
|
||||
CM_ SG_ 801 Far_Distance "1=0-5m, 2=5-10m, 3=10-15m, 4=15-20m, 5=20-25m, 6=25-30m, 7=30-35m, 8=35-40m, 9=40-45m, 10=45-50m, 11=50-55m, 12=55-60m, 13=60-65m, 14=65-70m, 15=75m+";
|
||||
CM_ SG_ 801 LKAS_State_Msg "1 = LKAS_Off_Sharp_Curve, 2 = Keep_Hands_On_Steering_wheel_disabled, 3 = LKAS_Off, 4 = LKAS_Off_Too_Slow, 5 = LKAS_Off_Too_Fast";
|
||||
CM_ SG_ 801 Cruise_State_Msg "1 = Cruise_Off_Steep_Slope, 2 = Cruise_lvl1_eco, 3 = Cruise_lvl2_comfort, 4 = Cruise_off_empty_reason, 5 = Cruise_off, 6 = Cruise_Unable_to_set, 7 = Cruise_Unable_to_set_brakes_applied, 8 = Eyesight_not_ready, 9 = Cruise_lvl3_standard, 10 = Cruise_lvl4_dynamic, 11 = Cruise_Unable_to_set_steep_slope";
|
||||
CM_ SG_ 801 Cruise_Soft_Disable "Eyesight soft disable (eg direct sunlight)";
|
||||
CM_ SG_ 802 LKAS_Alert "1 = FCW_Cont_Beep, 2 = FCW_Repeated_Beep, 3 = Throttle_Management_Activated_Warning, 4 = Throttle_Management_Activated_Alert, 8 = Traffic_Light_Ahead, 9 = Apply_Brake_to_Hold Position, 11 = LDW_Right, 12 = LDW_Left, 13 = Stay_Alert, 14 = Lead_Vehicle_Start_Alert";
|
||||
CM_ SG_ 801 Cruise_Status_Msg "1 = Disabled_Bad_Visibility, 2 = Disabled_Check_Manual";
|
||||
CM_ SG_ 802 LKAS_ACTIVE "Turns on the full LKAS dash display";
|
||||
CM_ SG_ 802 LKAS_Alert_Msg "1 = Keep_Hands_On_Wheel, 6 = Pre_Collision_Braking, 7 = Keep_Hands_On_Wheel_Off";
|
||||
CM_ SG_ 802 LKAS_Alert "1 = FCW_Cont_Beep, 2 = FCW_Repeated_Beep, 3 = Throttle_Management_Activated_Warning, 4 = Throttle_Management_Activated_Alert, 5 = Pre_Collision_Activated_Alert, 8 = Traffic_Light_Ahead, 9 = Apply_Brake_to_Hold Position, 11 = LDW_Right, 12 = LDW_Left, 13 = Stay_Alert, 14 = Lead_Vehicle_Start_Alert, 18 = Keep_Hands_On_Steering_Alert, 24 = Audio_Beep, 25 = Audio_Lead_Car_Change, 26 = Audio_ACC_Disengaged, 27 = Audio_LKAS_disabled, 28 = Audio_Ding_Ding, 30 = Audio_Repeated_Beep";
|
||||
CM_ SG_ 802 LKAS_Left_Line_Visible "0 = Off, 1 = White, 2 = Green, 3 = Orange";
|
||||
CM_ SG_ 802 LKAS_Dash_State "0 = Off, 1 = Ready, 2 = Active";
|
||||
CM_ SG_ 802 LKAS_Right_Line_Visible "0 = Off, 1 = White, 2 = Green, 3 = Orange";
|
||||
CM_ SG_ 912 UNITS "0 = Metric, 1 = Imperial";
|
||||
CM_ SG_ 912 ICY_ROAD "1 = DASHLIGHT ON, 2 = WARNING, 3 = OFF";
|
||||
CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
|
||||
CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
|
||||
CM_ SG_ 1677 Units "AU/EU: 1 = imperial, 3 = metric US: 3 = imperial, 4 = metric";
|
||||
|
||||
CM_ "subaru_global_2017.dbc starts here";
|
||||
|
||||
|
||||
@@ -218,7 +218,7 @@ BO_ 864 Engine_Temp: 8 XXX
|
||||
BO_ 866 Fuel: 8 XXX
|
||||
|
||||
BO_ 977 Dash_State2: 8 XXX
|
||||
SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ UNITS : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1745 Dash_State: 8 XXX
|
||||
SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
@@ -243,9 +243,9 @@ CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear";
|
||||
CM_ SG_ 642 Counter "Affected by signals";
|
||||
CM_ SG_ 642 SEATBELT_FL "Driver seatbelt";
|
||||
CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
|
||||
CM_ SG_ 977 UNITS "0 = Metric, 1 = Imperial";
|
||||
|
||||
VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
|
||||
VAL_ 1745 Units 0 "Metric" 1 "Imperial";
|
||||
|
||||
CM_ "subaru_outback_2015.dbc starts here";
|
||||
|
||||
|
||||
@@ -218,7 +218,7 @@ BO_ 864 Engine_Temp: 8 XXX
|
||||
BO_ 866 Fuel: 8 XXX
|
||||
|
||||
BO_ 977 Dash_State2: 8 XXX
|
||||
SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ UNITS : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1745 Dash_State: 8 XXX
|
||||
SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
@@ -243,9 +243,9 @@ CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear";
|
||||
CM_ SG_ 642 Counter "Affected by signals";
|
||||
CM_ SG_ 642 SEATBELT_FL "Driver seatbelt";
|
||||
CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
|
||||
CM_ SG_ 977 UNITS "0 = Metric, 1 = Imperial";
|
||||
|
||||
VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
|
||||
VAL_ 1745 Units 0 "Metric" 1 "Imperial";
|
||||
|
||||
CM_ "subaru_outback_2019.dbc starts here";
|
||||
|
||||
|
||||
1371
opendbc/tesla_radar.dbc
Normal file
1371
opendbc/tesla_radar.dbc
Normal file
File diff suppressed because it is too large
Load Diff
@@ -1,41 +1,6 @@
|
||||
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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -163,6 +128,7 @@ 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_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -265,6 +231,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" 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
|
||||
@@ -277,6 +244,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +287,11 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -336,6 +309,7 @@ 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 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
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.";
|
||||
@@ -364,6 +338,7 @@ 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 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 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";
|
||||
@@ -381,6 +356,41 @@ 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_ "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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "toyota_avalon_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,41 +1,6 @@
|
||||
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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -163,6 +128,7 @@ 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_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -265,6 +231,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" 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
|
||||
@@ -277,6 +244,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +287,11 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -336,6 +309,7 @@ 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 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
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.";
|
||||
@@ -364,6 +338,7 @@ 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 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 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";
|
||||
@@ -381,6 +356,41 @@ 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_ "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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "toyota_camry_hybrid_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,41 +1,6 @@
|
||||
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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -163,6 +128,7 @@ 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_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -265,6 +231,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" 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
|
||||
@@ -277,6 +244,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +287,11 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -336,6 +309,7 @@ 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 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
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.";
|
||||
@@ -364,6 +338,7 @@ 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 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 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";
|
||||
@@ -381,6 +356,41 @@ 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_ "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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "toyota_corolla_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,41 +1,6 @@
|
||||
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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -163,6 +128,7 @@ 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_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -265,6 +231,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" 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
|
||||
@@ -277,6 +244,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +287,11 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -336,6 +309,7 @@ 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 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
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.";
|
||||
@@ -364,6 +338,7 @@ 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 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 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";
|
||||
@@ -381,6 +356,41 @@ 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_ "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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "toyota_highlander_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,41 +1,6 @@
|
||||
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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -163,6 +128,7 @@ 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_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -265,6 +231,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" 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
|
||||
@@ -277,6 +244,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +287,11 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -336,6 +309,7 @@ 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 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
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.";
|
||||
@@ -364,6 +338,7 @@ 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 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 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";
|
||||
@@ -381,6 +356,41 @@ 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_ "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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "toyota_highlander_hybrid_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,71 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_nodsu_common.dbc starts here";
|
||||
BO_ 401 STEERING_LTA: 8 XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
|
||||
SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_REQUEST_2 : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1014 BSM: 8 XXX
|
||||
SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
|
||||
CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
|
||||
|
||||
|
||||
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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -193,6 +128,7 @@ 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_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -295,6 +231,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" 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
|
||||
@@ -307,6 +244,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -349,6 +287,19 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 956 GEAR_PACKET2: 8 XXX
|
||||
SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ SPORT_GEAR_ON : 33|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SPORT_GEAR : 38|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DRIVE_ENGAGED : 47|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -367,6 +318,7 @@ 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 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
@@ -395,22 +347,90 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 956 SPORT_ON 0 "off" 1 "on";
|
||||
VAL_ 956 ECON_ON 0 "off" 1 "on";
|
||||
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 TSGN1 36 "speed sign mph" 1 "speed sign kph" 0 "none";
|
||||
VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
|
||||
VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
VAL_ 1161 SPLSGN2 15 "conditional blank" 6 "snow" 5 "rain" 4 "wet road" 5 "rain" 3 "left" 2 "right" 1 "time" 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" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
|
||||
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_ "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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_nodsu_common.dbc starts here";
|
||||
BO_ 401 STEERING_LTA: 8 XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
|
||||
SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_REQUEST_2 : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1014 BSM: 8 XXX
|
||||
SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
|
||||
CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
|
||||
|
||||
CM_ "toyota_nodsu_hybrid_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,71 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_nodsu_common.dbc starts here";
|
||||
BO_ 401 STEERING_LTA: 8 XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
|
||||
SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_REQUEST_2 : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1014 BSM: 8 XXX
|
||||
SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
|
||||
CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
|
||||
|
||||
|
||||
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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -193,6 +128,7 @@ 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_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -295,6 +231,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" 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
|
||||
@@ -307,6 +244,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -349,6 +287,11 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -366,6 +309,7 @@ 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 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
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.";
|
||||
@@ -394,6 +338,7 @@ 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 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 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";
|
||||
@@ -411,6 +356,71 @@ 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_ "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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_nodsu_common.dbc starts here";
|
||||
BO_ 401 STEERING_LTA: 8 XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
|
||||
SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_REQUEST_2 : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1014 BSM: 8 XXX
|
||||
SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
|
||||
CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
|
||||
CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
|
||||
|
||||
CM_ "toyota_nodsu_pt.dbc starts here";
|
||||
|
||||
|
||||
@@ -442,6 +452,7 @@ BO_ 956 GEAR_PACKET: 8 XXX
|
||||
SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SPORT_ON_2 : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
|
||||
CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
|
||||
@@ -451,3 +462,4 @@ VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "stand
|
||||
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
|
||||
VAL_ 956 SPORT_ON 0 "off" 1 "on";
|
||||
VAL_ 956 ECON_ON 0 "off" 1 "on";
|
||||
VAL_ 956 SPORT_ON_2 0 "off" 1 "on";
|
||||
|
||||
@@ -1,41 +1,6 @@
|
||||
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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -163,6 +128,7 @@ 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_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -265,6 +231,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" 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
|
||||
@@ -277,6 +244,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +287,11 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -336,6 +309,7 @@ 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 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
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.";
|
||||
@@ -364,6 +338,7 @@ 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 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 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";
|
||||
@@ -381,6 +356,41 @@ 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_ "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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "toyota_prius_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
429
opendbc/toyota_prius_alpha_2017_pt_generated.dbc
Normal file
429
opendbc/toyota_prius_alpha_2017_pt_generated.dbc
Normal file
@@ -0,0 +1,429 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
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_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
|
||||
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_ 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
|
||||
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
|
||||
SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" 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
|
||||
SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|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
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@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 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";
|
||||
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_ 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";
|
||||
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" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
|
||||
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_ "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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "toyota_prius_alpha_2017_pt_generated.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: 5 XXX
|
||||
SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
|
||||
SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-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_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ ECON_ON : 40|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_ 581 GAS_PEDAL "it seems slightly filtered";
|
||||
CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
|
||||
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
|
||||
VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
|
||||
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
|
||||
VAL_ 956 SPORT_ON 0 "off" 1 "on";
|
||||
VAL_ 956 ECON_ON 0 "off" 1 "on";
|
||||
427
opendbc/toyota_priusc_2016_pt_generated.dbc
Normal file
427
opendbc/toyota_priusc_2016_pt_generated.dbc
Normal file
@@ -0,0 +1,427 @@
|
||||
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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
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_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
|
||||
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 : 12|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_ 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
|
||||
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
|
||||
SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" 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
|
||||
SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|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 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";
|
||||
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_ 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";
|
||||
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" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
|
||||
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_ "toyota_priusc_2016_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
BO_ 548 BRAKE_MODULE: 8 XXX
|
||||
SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX
|
||||
SG_ BRAKE_PRESSED : 5|1@0+ (1,0) [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- (0.88,0) [-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_ 865 SCM_BUTTONS: 8 SCM
|
||||
SG_ CRUISE_BUTTONS : 5|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ MAIN_ON : 2|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_STATUS : 1|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_SPEED_PCM : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CRUISE_SPEED_WHEEL : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 956 GEAR_PACKET: 8 XXX
|
||||
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ SPORT_ON : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
|
||||
CM_ SG_ 548 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";
|
||||
VAL_ 865 CRUISE_BUTTONS 4 "accel_res" 2 "decel_set" 1 "cancel" 0 "none" ;
|
||||
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";
|
||||
@@ -1,41 +1,6 @@
|
||||
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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -163,6 +128,7 @@ 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_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -265,6 +231,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" 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
|
||||
@@ -277,6 +244,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +287,11 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -336,6 +309,7 @@ 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 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
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.";
|
||||
@@ -364,6 +338,7 @@ 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 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 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";
|
||||
@@ -381,6 +356,41 @@ 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_ "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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "toyota_rav4_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,41 +1,6 @@
|
||||
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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -163,6 +128,7 @@ 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_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -265,6 +231,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" 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
|
||||
@@ -277,6 +244,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +287,11 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -336,6 +309,7 @@ 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 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
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.";
|
||||
@@ -364,6 +338,7 @@ 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 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 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";
|
||||
@@ -381,6 +356,41 @@ 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_ "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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "toyota_rav4_hybrid_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1,41 +1,6 @@
|
||||
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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
@@ -163,6 +128,7 @@ 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_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
|
||||
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -265,6 +231,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" 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
|
||||
@@ -277,6 +244,7 @@ BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
@@ -319,6 +287,11 @@ BO_ 1163 RSA3: 8 FCM
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
|
||||
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
@@ -336,6 +309,7 @@ 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 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
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.";
|
||||
@@ -364,6 +338,7 @@ 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 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 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";
|
||||
@@ -381,6 +356,41 @@ 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_ "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_1 : 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" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
CM_ "toyota_sienna_xle_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -1 +0,0 @@
|
||||
v1.7.5
|
||||
@@ -1,3 +1,9 @@
|
||||
# flake8: noqa
|
||||
# pylint: skip-file
|
||||
from .python import Panda, PandaWifiStreaming, PandaDFU, flash_release, BASEDIR, ensure_st_up_to_date, PandaSerial
|
||||
from .python import Panda, PandaWifiStreaming, PandaDFU, flash_release, \
|
||||
BASEDIR, ensure_st_up_to_date, PandaSerial, \
|
||||
DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, MCU_TYPE_F4
|
||||
|
||||
from .python.config import BOOTSTUB_ADDRESS, BLOCK_SIZE_FX, APP_ADDRESS_FX, \
|
||||
BLOCK_SIZE_H7, APP_ADDRESS_H7, DEVICE_SERIAL_NUMBER_ADDR_H7, \
|
||||
DEVICE_SERIAL_NUMBER_ADDR_FX
|
||||
|
||||
@@ -8,6 +8,7 @@ if os.getenv("PEDAL"):
|
||||
PROJECT = "pedal"
|
||||
STARTUP_FILE = "stm32fx/startup_stm32f205xx.s"
|
||||
LINKER_SCRIPT = "stm32fx/stm32fx_flash.ld"
|
||||
APP_START_ADDRESS = "0x8004000"
|
||||
MAIN = "pedal/main.c"
|
||||
PROJECT_FLAGS = [
|
||||
"-mcpu=cortex-m3",
|
||||
@@ -18,12 +19,32 @@ if os.getenv("PEDAL"):
|
||||
"-DPEDAL",
|
||||
]
|
||||
if os.getenv("PEDAL_USB"):
|
||||
PROJECT = "pedal_usb"
|
||||
PROJECT_FLAGS.append("-DPEDAL_USB")
|
||||
|
||||
elif os.getenv("PANDA_H7"):
|
||||
PROJECT = "panda_h7"
|
||||
STARTUP_FILE = "stm32h7/startup_stm32h7x5xx.s"
|
||||
LINKER_SCRIPT = "stm32h7/stm32h7x5_flash.ld"
|
||||
APP_START_ADDRESS = "0x8020000"
|
||||
MAIN = "main.c"
|
||||
PROJECT_FLAGS = [
|
||||
"-mcpu=cortex-m7",
|
||||
"-mhard-float",
|
||||
"-DSTM32H7",
|
||||
"-DSTM32H725xx",
|
||||
"-mfpu=fpv5-d16",
|
||||
"-fsingle-precision-constant",
|
||||
"-Os",
|
||||
"-g",
|
||||
"-DPANDA",
|
||||
]
|
||||
|
||||
else:
|
||||
PROJECT = "panda"
|
||||
STARTUP_FILE = "stm32fx/startup_stm32f413xx.s"
|
||||
LINKER_SCRIPT = "stm32fx/stm32fx_flash.ld"
|
||||
APP_START_ADDRESS = "0x8004000"
|
||||
MAIN = "main.c"
|
||||
PROJECT_FLAGS = [
|
||||
"-mcpu=cortex-m4",
|
||||
@@ -37,25 +58,17 @@ else:
|
||||
"-DPANDA",
|
||||
]
|
||||
|
||||
if FindFile('dp_vw', '/data/params/d') != None:
|
||||
if FindFile('dp_vw_panda', '/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):
|
||||
version_file = File('../VERSION').srcnode().abspath
|
||||
version = open(version_file).read()
|
||||
try:
|
||||
git = subprocess.check_output(["git", "rev-parse", "--short=8", "HEAD"], encoding='utf8').strip()
|
||||
except subprocess.CalledProcessError:
|
||||
git = "unknown"
|
||||
return f"{version}-{builder}-{git}-{build_type}"
|
||||
return f"{builder}-{git}-{build_type}"
|
||||
|
||||
|
||||
def to_c_uint32(x):
|
||||
@@ -120,6 +133,7 @@ else:
|
||||
|
||||
includes = [
|
||||
"stm32fx/inc",
|
||||
"stm32h7/inc",
|
||||
"..",
|
||||
".",
|
||||
]
|
||||
@@ -160,7 +174,7 @@ bootstub_bin = panda_env.Objcopy(f"obj/bootstub.{PROJECT}.bin", bootstub_elf)
|
||||
|
||||
# Build main
|
||||
main_elf = panda_env.Program(f"obj/{PROJECT}.elf", [startup, MAIN],
|
||||
LINKFLAGS=["-Wl,--section-start,.isr_vector=0x8004000"] + flags)
|
||||
LINKFLAGS=[f"-Wl,--section-start,.isr_vector={APP_START_ADDRESS}"] + flags)
|
||||
main_bin = panda_env.Objcopy(f"obj/{PROJECT}.bin", main_elf)
|
||||
|
||||
# Sign main
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user