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2
.gitignore
vendored
2
.gitignore
vendored
@@ -20,6 +20,8 @@ a.out
|
||||
*.class
|
||||
*.pyxbldc
|
||||
*.vcd
|
||||
lane.cpp
|
||||
loc*.cpp
|
||||
config.json
|
||||
clcache
|
||||
|
||||
|
||||
@@ -8,11 +8,11 @@ Most open source development activity is coordinated through our [slack](https:/
|
||||
|
||||
* Join our slack [slack.comma.ai](https://slack.comma.ai)
|
||||
* Make sure you have a [GitHub account](https://github.com/signup/free)
|
||||
* Fork [our repositories](https://github.com/commaai) on GitHub
|
||||
* Fork the repository on GitHub
|
||||
|
||||
## Car Ports (openpilot)
|
||||
|
||||
We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
|
||||
We've released a guide for porting to Toyota cars [here](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6)
|
||||
|
||||
If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
|
||||
If you port openpilot to a substantially new car, you might be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
|
||||
|
||||
|
||||
@@ -2,7 +2,7 @@ FROM ubuntu:16.04
|
||||
ENV PYTHONUNBUFFERED 1
|
||||
|
||||
RUN apt-get update && apt-get install -y build-essential clang vim screen wget bzip2 git libglib2.0-0 python-pip capnproto libcapnp-dev libzmq5-dev libffi-dev libusb-1.0-0
|
||||
RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib==2.1.2
|
||||
RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib
|
||||
|
||||
COPY requirements_openpilot.txt /tmp/
|
||||
RUN pip install -r /tmp/requirements_openpilot.txt
|
||||
@@ -17,5 +17,3 @@ COPY ./phonelibs /tmp/openpilot/phonelibs
|
||||
COPY ./pyextra /tmp/openpilot/pyextra
|
||||
|
||||
RUN mkdir -p /tmp/openpilot/selfdrive/test/out
|
||||
RUN make -C /tmp/openpilot/selfdrive/controls/lib/longitudinal_mpc clean
|
||||
RUN make -C /tmp/openpilot/selfdrive/controls/lib/lateral_mpc clean
|
||||
|
||||
92
README.md
92
README.md
@@ -41,61 +41,51 @@ Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` dur
|
||||
Supported Cars
|
||||
------
|
||||
|
||||
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below |
|
||||
| -------------------| ----------------------| ---------------------| --------| ---------------| -----------------| ---------------|
|
||||
| Acura | ILX 2016 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph |
|
||||
| Acura | ILX 2017 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph |
|
||||
| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| GM<sup>3</sup> | Volt 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph |
|
||||
| GM<sup>3</sup> | Volt 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph |
|
||||
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph |
|
||||
| Honda | Civic 2016 | Honda Sensing | Yes | Yes | 0mph | 12mph |
|
||||
| Honda | Civic 2017 | Honda Sensing | Yes | Yes | 0mph | 12mph |
|
||||
| Honda | Civic 2017 *(Hatch)* | Honda Sensing | Yes | Stock | 0mph | 12mph |
|
||||
| Honda | Civic 2018 | Honda Sensing | Yes | Yes | 0mph | 12mph |
|
||||
| Honda | Civic 2018 *(Hatch)* | Honda Sensing | Yes | Stock | 0mph | 12mph |
|
||||
| Honda | CR-V 2015 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| Honda | CR-V 2016 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| Honda | CR-V 2017 | Honda Sensing | Yes | Stock | 0mph | 12mph |
|
||||
| Honda | CR-V 2018 | Honda Sensing | Yes | Stock | 0mph | 12mph |
|
||||
| Honda | Odyssey 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph |
|
||||
| Honda | Odyssey 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph |
|
||||
| Honda | Odyssey 2019 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph |
|
||||
| Honda | Pilot 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| Honda | Pilot 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| Honda | Pilot 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| Honda | Ridgeline 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| Honda | Ridgeline 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| Hyundai<sup>6</sup>| Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph |
|
||||
| Hyundai<sup>6</sup>| Elantra 2017 | SCC + LKAS | Yes | Stock | 19mph | 34mph |
|
||||
| Hyundai<sup>6</sup>| Genesis 2018 | All | Yes | Stock | 19mph | 34mph |
|
||||
| Kia<sup>6</sup> | Sorento 2018 | All | Yes | Stock | 0mph | 0mph |
|
||||
| Kia<sup>6</sup> | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Camry 2018<sup>4</sup>| All | Yes | Stock | 0mph<sup>5</sup> | 0mph |
|
||||
| Toyota | C-HR 2018<sup>4</sup> | All | Yes | Stock | 0mph | 0mph |
|
||||
| Toyota | Corolla 2017 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
|
||||
| Toyota | Corolla 2018 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
|
||||
| Toyota | Highlander 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2018| All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph | 0mph |
|
||||
| Toyota | Rav4 2017 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
|
||||
| Toyota | Rav4 2018 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below |
|
||||
| ------- | ---------------------- | -------------------- | ------- | ------------ | -------------- | -------------- |
|
||||
| Acura | ILX 2016 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph |
|
||||
| Acura | ILX 2017 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph |
|
||||
| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| GM<sup>3</sup>| Volt 2017 | Driver Confidence II | Yes | Yes | 0mph | 7mph |
|
||||
| GM<sup>3</sup>| Volt 2018 | Driver Confidence II | Yes | Yes | 0mph | 7mph |
|
||||
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph |
|
||||
| Honda | Civic 2016 | Honda Sensing | Yes | Yes | 0mph | 12mph |
|
||||
| Honda | Civic 2017 | Honda Sensing | Yes | Yes | 0mph | 12mph |
|
||||
| Honda | Civic 2017 *(Hatch)* | Honda Sensing | Yes | Stock | 0mph | 12mph |
|
||||
| Honda | Civic 2018 | Honda Sensing | Yes | Yes | 0mph | 12mph |
|
||||
| Honda | CR-V 2015 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| Honda | CR-V 2016 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| Honda | CR-V 2017 | Honda Sensing | Yes | Stock | 0mph | 12mph |
|
||||
| Honda | CR-V 2018 | Honda Sensing | Yes | Stock | 0mph | 12mph |
|
||||
| Honda | Odyssey 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| Honda | Odyssey 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| Honda | Pilot 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| Honda | Pilot 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| Honda | Ridgeline 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| Honda | Ridgeline 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| Lexus | RX Hybrid 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Camry 2018<sup>4</sup> | All | Yes | Stock | 0mph<sup>5</sup> | 0mph |
|
||||
| Toyota | C-HR 2018<sup>4</sup> | All | Yes | Stock | 0mph | 0mph |
|
||||
| Toyota | Corolla 2017 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
|
||||
| Toyota | Corolla 2018 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
|
||||
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph | 0mph |
|
||||
| Toyota | Rav4 2017 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
|
||||
| Toyota | Rav4 2018 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
|
||||
|
||||
<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***
|
||||
<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota)
|
||||
<sup>3</sup>[GM installation guide](https://www.zoneos.com/volt.htm)
|
||||
<sup>4</sup>It needs an extra 120Ohm resistor ([pic1](https://i.imgur.com/CmdKtTP.jpg), [pic2](https://i.imgur.com/s2etUo6.jpg)) on bus 3 and giraffe switches set to 01X1 (11X1 for stock LKAS), where X depends on if you have the [comma power](https://comma.ai/shop/products/power/).
|
||||
<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
|
||||
<sup>6</sup>Giraffe is under development: architecture similar to Toyota giraffe, with an extra 120Ohm resistor on bus 3.
|
||||
|
||||
Community Maintained Cars
|
||||
------
|
||||
@@ -106,7 +96,7 @@ Community Maintained Cars
|
||||
|
||||
[[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266).
|
||||
|
||||
Community Maintained Cars are not confirmed by comma.ai to meet our [safety model](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Be extra cautious using them.
|
||||
Community Maintained Cars are not confirmed by comma.ai to meet our safety model. Be extra cautious using them.
|
||||
|
||||
In Progress Cars
|
||||
------
|
||||
@@ -116,8 +106,6 @@ In Progress Cars
|
||||
- All LSS-P Lexus with Steering Assist or Lane Keep Assist.
|
||||
- 'All-Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the GS, GSH, F, RX, RXH, LX, NX, NXH, LC, LCH, LS, LSH have this option.
|
||||
- Even though the LX have TSS-P, it does not have Steering Assist and is not supported.
|
||||
- All Hyundai with SmartSense.
|
||||
- All Kia with SCC and LKAS.
|
||||
|
||||
How can I add support for my car?
|
||||
------
|
||||
|
||||
26
RELEASES.md
26
RELEASES.md
@@ -1,29 +1,3 @@
|
||||
Version 0.5.4 (2018-09-25)
|
||||
========================
|
||||
* New Driving Model
|
||||
* New Driver Monitoring Model
|
||||
* Improve longitudinal mpc in mid-low speed braking
|
||||
* Honda Accord hybrid support thanks to energee!
|
||||
* Ship mpc binaries and sensibly reduce build time
|
||||
* Calibration more stable
|
||||
* More Hyundai and Kia cars supported thanks to emmertex!
|
||||
* Various GM Volt improvements thanks to vntarasov!
|
||||
|
||||
Version 0.5.3 (2018-09-03)
|
||||
========================
|
||||
* Hyundai Santa Fe support!
|
||||
* Honda Pilot 2019 support thanks to energee!
|
||||
* Toyota Highlander support thanks to daehahn!
|
||||
* Improve steering tuning for Honda Odyssey
|
||||
|
||||
Version 0.5.2 (2018-08-16)
|
||||
========================
|
||||
* New calibration: more accurate, a lot faster, open source!
|
||||
* Enable orbd
|
||||
* Add little endian support to CAN packer
|
||||
* Fix fingerprint for Honda Accord 1.5T
|
||||
* Improve driver monitoring model
|
||||
|
||||
Version 0.5.1 (2018-08-01)
|
||||
========================
|
||||
* Fix radar error on Civic sedan 2018
|
||||
|
||||
Binary file not shown.
@@ -42,7 +42,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
speedTooLow @17;
|
||||
outOfSpace @18;
|
||||
overheat @19;
|
||||
calibrationIncomplete @20;
|
||||
calibrationInProgress @20;
|
||||
calibrationInvalid @21;
|
||||
controlsMismatch @22;
|
||||
pcmEnable @23;
|
||||
@@ -68,9 +68,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
preDriverUnresponsive @43;
|
||||
promptDriverUnresponsive @44;
|
||||
driverUnresponsive @45;
|
||||
belowSteerSpeed @46;
|
||||
calibrationProgress @47;
|
||||
lowBattery @48;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -287,7 +284,6 @@ struct CarParams {
|
||||
enableApgs @28 :Bool; # advanced parking guidance system
|
||||
|
||||
minEnableSpeed @17 :Float32;
|
||||
minSteerSpeed @49 :Float32;
|
||||
safetyModel @18 :Int16;
|
||||
safetyParam @41 :Int16;
|
||||
|
||||
@@ -313,7 +309,6 @@ struct CarParams {
|
||||
cadillac @7;
|
||||
hyundai @8;
|
||||
chrysler @9;
|
||||
tesla @10;
|
||||
}
|
||||
|
||||
# things about the car in the manual
|
||||
|
||||
@@ -42,7 +42,6 @@ struct InitData {
|
||||
|
||||
dirty @9 :Bool;
|
||||
passive @12 :Bool;
|
||||
params @17 :Map(Text, Text);
|
||||
|
||||
enum DeviceType {
|
||||
unknown @0;
|
||||
@@ -187,10 +186,6 @@ struct SensorEventData {
|
||||
iOS @1;
|
||||
fiber @2;
|
||||
velodyne @3; # Velodyne IMU
|
||||
# c3 sensors below
|
||||
bno055 @4;
|
||||
lsm6ds3 @5;
|
||||
bmp280 @6;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -267,8 +262,6 @@ struct ThermalData {
|
||||
freeSpace @7 :Float32;
|
||||
batteryPercent @8 :Int16;
|
||||
batteryStatus @9 :Text;
|
||||
batteryCurrent @15 :Int32;
|
||||
batteryVoltage @16 :Int32;
|
||||
usbOnline @12 :Bool;
|
||||
|
||||
fanSpeed @10 :UInt16;
|
||||
@@ -276,7 +269,6 @@ struct ThermalData {
|
||||
startedTs @13 :UInt64;
|
||||
|
||||
thermalStatus @14 :ThermalStatus;
|
||||
chargerDisabled @17 :Bool;
|
||||
|
||||
enum ThermalStatus {
|
||||
green @0; # all processes run
|
||||
@@ -335,21 +327,17 @@ struct Live20Data {
|
||||
aLeadK @9 :Float32;
|
||||
fcw @10 :Bool;
|
||||
status @11 :Bool;
|
||||
aLeadTau @12 :Float32;
|
||||
}
|
||||
}
|
||||
|
||||
struct LiveCalibrationData {
|
||||
# deprecated
|
||||
warpMatrix @0 :List(Float32);
|
||||
# camera_frame_from_model_frame
|
||||
warpMatrix2 @5 :List(Float32);
|
||||
calStatus @1 :Int8;
|
||||
calCycle @2 :Int32;
|
||||
calPerc @3 :Int8;
|
||||
|
||||
# view_frame_from_road_frame
|
||||
# ui's is inversed needs new
|
||||
# Maps car space to normalized image space.
|
||||
extrinsicMatrix @4 :List(Float32);
|
||||
}
|
||||
|
||||
|
||||
158
common/dbc.py
158
common/dbc.py
@@ -1,9 +1,10 @@
|
||||
import re
|
||||
import os
|
||||
import struct
|
||||
import bitstring
|
||||
import sys
|
||||
import numbers
|
||||
from collections import namedtuple, defaultdict
|
||||
from collections import namedtuple
|
||||
|
||||
def int_or_float(s):
|
||||
# return number, trying to maintain int format
|
||||
@@ -16,7 +17,6 @@ DBCSignal = namedtuple(
|
||||
"DBCSignal", ["name", "start_bit", "size", "is_little_endian", "is_signed",
|
||||
"factor", "offset", "tmin", "tmax", "units"])
|
||||
|
||||
|
||||
class dbc(object):
|
||||
def __init__(self, fn):
|
||||
self.name, _ = os.path.splitext(os.path.basename(fn))
|
||||
@@ -28,7 +28,6 @@ class dbc(object):
|
||||
bo_regexp = re.compile(r"^BO\_ (\w+) (\w+) *: (\w+) (\w+)")
|
||||
sg_regexp = re.compile(r"^SG\_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
|
||||
sgm_regexp = re.compile(r"^SG\_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
|
||||
val_regexp = re.compile(r"VAL\_ (\w+) (\w+) (\s*[-+]?[0-9]+\s+\".+?\"[^;]*)")
|
||||
|
||||
# A dictionary which maps message ids to tuples ((name, size), signals).
|
||||
# name is the ASCII name of the message.
|
||||
@@ -37,9 +36,6 @@ class dbc(object):
|
||||
# signals is a list of DBCSignal in order of increasing start_bit.
|
||||
self.msgs = {}
|
||||
|
||||
# A dictionary which maps message ids to a list of tuples (signal name, definition value pairs)
|
||||
self.def_vals = defaultdict(list)
|
||||
|
||||
# lookup to bit reverse each byte
|
||||
self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in xrange(64)]
|
||||
|
||||
@@ -85,30 +81,6 @@ class dbc(object):
|
||||
DBCSignal(sgname, start_bit, signal_size, is_little_endian,
|
||||
is_signed, factor, offset, tmin, tmax, units))
|
||||
|
||||
if l.startswith("VAL_ "):
|
||||
# new signal value/definition
|
||||
dat = val_regexp.match(l)
|
||||
|
||||
if dat is None:
|
||||
print "bad VAL", l
|
||||
ids = int(dat.group(1), 0) # could be hex
|
||||
sgname = dat.group(2)
|
||||
defvals = dat.group(3)
|
||||
|
||||
defvals = defvals.replace("?","\?") #escape sequence in C++
|
||||
defvals = defvals.split('"')[:-1]
|
||||
|
||||
defs = defvals[1::2]
|
||||
#cleanup, convert to UPPER_CASE_WITH_UNDERSCORES
|
||||
for i,d in enumerate(defs):
|
||||
d = defs[i].strip().upper()
|
||||
defs[i] = d.replace(" ","_")
|
||||
|
||||
defvals[1::2] = defs
|
||||
defvals = '"'+"".join(str(i) for i in defvals)+'"'
|
||||
|
||||
self.def_vals[ids].append((sgname, defvals))
|
||||
|
||||
for msg in self.msgs.viewvalues():
|
||||
msg[1].sort(key=lambda x: x.start_bit)
|
||||
|
||||
@@ -122,16 +94,6 @@ class dbc(object):
|
||||
msg_id = self.msg_name_to_address[msg_id]
|
||||
return msg_id
|
||||
|
||||
def reverse_bytes(self, x):
|
||||
return ((x & 0xff00000000000000) >> 56) | \
|
||||
((x & 0x00ff000000000000) >> 40) | \
|
||||
((x & 0x0000ff0000000000) >> 24) | \
|
||||
((x & 0x000000ff00000000) >> 8) | \
|
||||
((x & 0x00000000ff000000) << 8) | \
|
||||
((x & 0x0000000000ff0000) << 24) | \
|
||||
((x & 0x000000000000ff00) << 40) | \
|
||||
((x & 0x00000000000000ff) << 56)
|
||||
|
||||
def encode(self, msg_id, dd):
|
||||
"""Encode a CAN message using the dbc.
|
||||
|
||||
@@ -141,40 +103,35 @@ class dbc(object):
|
||||
"""
|
||||
msg_id = self.lookup_msg_id(msg_id)
|
||||
|
||||
# TODO: Stop using bitstring, which is super slow.
|
||||
msg_def = self.msgs[msg_id]
|
||||
size = msg_def[0][1]
|
||||
|
||||
result = 0
|
||||
bsf = bitstring.Bits(hex="00"*size)
|
||||
for s in msg_def[1]:
|
||||
ival = dd.get(s.name)
|
||||
if ival is not None:
|
||||
|
||||
b2 = s.size
|
||||
if s.is_little_endian:
|
||||
b1 = s.start_bit
|
||||
else:
|
||||
b1 = (s.start_bit // 8) * 8 + (-s.start_bit - 1) % 8
|
||||
bo = 64 - (b1 + s.size)
|
||||
|
||||
ival = (ival / s.factor) - s.offset
|
||||
ival = int(round(ival))
|
||||
|
||||
if s.is_signed and ival < 0:
|
||||
ival = (1 << b2) + ival
|
||||
|
||||
shift = b1 if s.is_little_endian else bo
|
||||
mask = ((1 << b2) - 1) << shift
|
||||
dat = (ival & ((1 << b2) - 1)) << shift
|
||||
|
||||
# should pack this
|
||||
if s.is_little_endian:
|
||||
mask = self.reverse_bytes(mask)
|
||||
dat = self.reverse_bytes(dat)
|
||||
ss = s.start_bit
|
||||
else:
|
||||
ss = self.bits_index[s.start_bit]
|
||||
|
||||
result &= ~mask
|
||||
result |= dat
|
||||
|
||||
result = struct.pack('>Q', result)
|
||||
return result[:size]
|
||||
if s.is_signed:
|
||||
tbs = bitstring.Bits(int=ival, length=s.size)
|
||||
else:
|
||||
tbs = bitstring.Bits(uint=ival, length=s.size)
|
||||
|
||||
lpad = bitstring.Bits(bin="0b"+"0"*ss)
|
||||
rpad = bitstring.Bits(bin="0b"+"0"*(8*size-(ss+s.size)))
|
||||
tbs = lpad+tbs+rpad
|
||||
|
||||
bsf |= tbs
|
||||
return bsf.tobytes()
|
||||
|
||||
def decode(self, x, arr=None, debug=False):
|
||||
"""Decode a CAN message using the dbc.
|
||||
@@ -210,77 +167,54 @@ class dbc(object):
|
||||
if debug:
|
||||
print name
|
||||
|
||||
st = x[2].ljust(8, '\x00')
|
||||
blen = 8*len(x[2])
|
||||
|
||||
st = x[2].rjust(8, '\x00')
|
||||
le, be = None, None
|
||||
|
||||
for s in msg[1]:
|
||||
if arr is not None and s[0] not in arr:
|
||||
continue
|
||||
|
||||
start_bit = s[1]
|
||||
signal_size = s[2]
|
||||
little_endian = s[3]
|
||||
signed = s[4]
|
||||
factor = s[5]
|
||||
offset = s[6]
|
||||
|
||||
b2 = signal_size
|
||||
if little_endian:
|
||||
b1 = start_bit
|
||||
else:
|
||||
b1 = (start_bit // 8) * 8 + (-start_bit - 1) % 8
|
||||
bo = 64 - (b1 + signal_size)
|
||||
|
||||
if little_endian:
|
||||
if le is None:
|
||||
le = struct.unpack("<Q", st)[0]
|
||||
shift_amount = b1
|
||||
tmp = le
|
||||
else:
|
||||
# big or little endian?
|
||||
# see http://vi-firmware.openxcplatform.com/en/master/config/bit-numbering.html
|
||||
if s[3] is False:
|
||||
ss = self.bits_index[s[1]]
|
||||
if be is None:
|
||||
be = struct.unpack(">Q", st)[0]
|
||||
shift_amount = bo
|
||||
tmp = be
|
||||
x2_int = be
|
||||
data_bit_pos = (blen - (ss + s[2]))
|
||||
else:
|
||||
if le is None:
|
||||
le = struct.unpack("<Q", st)[0]
|
||||
x2_int = le
|
||||
ss = s[1]
|
||||
data_bit_pos = ss
|
||||
|
||||
if shift_amount < 0:
|
||||
if data_bit_pos < 0:
|
||||
continue
|
||||
ival = (x2_int >> data_bit_pos) & ((1 << (s[2])) - 1)
|
||||
|
||||
tmp = (tmp >> shift_amount) & ((1 << b2) - 1)
|
||||
if signed and (tmp >> (b2 - 1)):
|
||||
tmp -= (1 << b2)
|
||||
if s[4] and (ival & (1<<(s[2]-1))): # signed
|
||||
ival -= (1<<s[2])
|
||||
|
||||
tmp = tmp * factor + offset
|
||||
|
||||
# if debug:
|
||||
# print "%40s %2d %2d %7.2f %s" % (s[0], s[1], s[2], tmp, s[-1])
|
||||
# control the offset
|
||||
ival = (ival * s[5]) + s[6]
|
||||
#if debug:
|
||||
# print "%40s %2d %2d %7.2f %s" % (s[0], s[1], s[2], ival, s[-1])
|
||||
|
||||
if arr is None:
|
||||
out[s[0]] = tmp
|
||||
out[s[0]] = ival
|
||||
else:
|
||||
out[arr.index(s[0])] = tmp
|
||||
out[arr.index(s[0])] = ival
|
||||
return name, out
|
||||
|
||||
def get_signals(self, msg):
|
||||
msg = self.lookup_msg_id(msg)
|
||||
return [sgs.name for sgs in self.msgs[msg][1]]
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
from opendbc import DBC_PATH
|
||||
import numpy as np
|
||||
|
||||
dbc_test = dbc(os.path.join(DBC_PATH, 'toyota_prius_2017_pt_generated.dbc'))
|
||||
msg = ('STEER_ANGLE_SENSOR', {'STEER_ANGLE': -6.0, 'STEER_RATE': 4, 'STEER_FRACTION': -0.2})
|
||||
encoded = dbc_test.encode(*msg)
|
||||
decoded = dbc_test.decode((0x25, 0, encoded))
|
||||
assert decoded == msg
|
||||
|
||||
dbc_test = dbc(os.path.join(DBC_PATH, 'hyundai_santa_fe_2019_ccan.dbc'))
|
||||
decoded = dbc_test.decode((0x2b0, 0, "\xfa\xfe\x00\x07\x12"))
|
||||
assert np.isclose(decoded[1]['SAS_Angle'], -26.2)
|
||||
|
||||
msg = ('SAS11', {'SAS_Stat': 7.0, 'MsgCount': 0.0, 'SAS_Angle': -26.200000000000003, 'SAS_Speed': 0.0, 'CheckSum': 0.0})
|
||||
encoded = dbc_test.encode(*msg)
|
||||
decoded = dbc_test.decode((0x2b0, 0, encoded))
|
||||
|
||||
assert decoded == msg
|
||||
dbc_test = dbc(os.path.join(DBC_PATH, sys.argv[1]))
|
||||
print dbc_test.get_signals(0xe4)
|
||||
|
||||
@@ -1,42 +0,0 @@
|
||||
import os
|
||||
import sys
|
||||
import fcntl
|
||||
import hashlib
|
||||
from cffi import FFI
|
||||
|
||||
TMPDIR = "/tmp/ccache"
|
||||
|
||||
def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR):
|
||||
cache = name + "_" + hashlib.sha1(c_code).hexdigest()
|
||||
try:
|
||||
os.mkdir(tmpdir)
|
||||
except OSError:
|
||||
pass
|
||||
|
||||
fd = os.open(tmpdir, 0)
|
||||
fcntl.flock(fd, fcntl.LOCK_EX)
|
||||
try:
|
||||
sys.path.append(tmpdir)
|
||||
try:
|
||||
mod = __import__(cache)
|
||||
except Exception:
|
||||
print "cache miss", cache
|
||||
compile_code(cache, c_code, c_header, tmpdir)
|
||||
mod = __import__(cache)
|
||||
finally:
|
||||
os.close(fd)
|
||||
|
||||
return mod.ffi, mod.lib
|
||||
|
||||
def compile_code(name, c_code, c_header, directory):
|
||||
ffibuilder = FFI()
|
||||
ffibuilder.set_source(name, c_code, source_extension='.cpp')
|
||||
ffibuilder.cdef(c_header)
|
||||
os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
|
||||
os.environ['CFLAGS'] = ""
|
||||
ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
|
||||
|
||||
def wrap_compiled(name, directory):
|
||||
sys.path.append(directory)
|
||||
mod = __import__(name)
|
||||
return mod.ffi, mod.lib
|
||||
@@ -1,10 +0,0 @@
|
||||
class FirstOrderFilter():
|
||||
# first order filter
|
||||
def __init__(self, x0, ts, dt):
|
||||
self.k = (dt / ts) / (1. + dt / ts)
|
||||
self.x = x0
|
||||
|
||||
def update(self, x):
|
||||
self.x = (1. - self.k) * self.x + self.k * x
|
||||
|
||||
|
||||
@@ -66,6 +66,9 @@ keys = {
|
||||
# written: visiond
|
||||
# read: visiond, controlsd
|
||||
"CalibrationParams": TxType.PERSISTENT,
|
||||
# written: visiond
|
||||
# read: visiond, ui
|
||||
"CloudCalibration": TxType.PERSISTENT,
|
||||
# written: controlsd
|
||||
# read: radard
|
||||
"CarParams": TxType.CLEAR_ON_CAR_START,
|
||||
@@ -263,50 +266,23 @@ class DBWriter(DBAccessor):
|
||||
self._lock = None
|
||||
|
||||
|
||||
def read_db(params_path, key):
|
||||
path = "%s/d/%s" % (params_path, key)
|
||||
try:
|
||||
with open(path, "rb") as f:
|
||||
return f.read()
|
||||
except IOError:
|
||||
return None
|
||||
|
||||
def write_db(params_path, key, value):
|
||||
prev_umask = os.umask(0)
|
||||
lock = FileLock(params_path+"/.lock", True)
|
||||
lock.acquire()
|
||||
class JSDB(object):
|
||||
def __init__(self, fn):
|
||||
self._fn = fn
|
||||
|
||||
try:
|
||||
tmp_path = tempfile.mktemp(prefix=".tmp", dir=params_path)
|
||||
with open(tmp_path, "wb") as f:
|
||||
f.write(value)
|
||||
f.flush()
|
||||
os.fsync(f.fileno())
|
||||
|
||||
path = "%s/d/%s" % (params_path, key)
|
||||
os.rename(tmp_path, path)
|
||||
fsync_dir(os.path.dirname(path))
|
||||
finally:
|
||||
os.umask(prev_umask)
|
||||
lock.release()
|
||||
def begin(self, write=False):
|
||||
if write:
|
||||
return DBWriter(self._fn)
|
||||
else:
|
||||
return DBReader(self._fn)
|
||||
|
||||
class Params(object):
|
||||
def __init__(self, db='/data/params'):
|
||||
self.db = db
|
||||
|
||||
# create the database if it doesn't exist...
|
||||
if not os.path.exists(self.db+"/d"):
|
||||
with self.transaction(write=True):
|
||||
pass
|
||||
|
||||
def transaction(self, write=False):
|
||||
if write:
|
||||
return DBWriter(self.db)
|
||||
else:
|
||||
return DBReader(self.db)
|
||||
self.env = JSDB(db)
|
||||
|
||||
def _clear_keys_with_type(self, tx_type):
|
||||
with self.transaction(write=True) as txn:
|
||||
with self.env.begin(write=True) as txn:
|
||||
for key in keys:
|
||||
if keys[key] == tx_type:
|
||||
txn.delete(key)
|
||||
@@ -318,7 +294,7 @@ class Params(object):
|
||||
self._clear_keys_with_type(TxType.CLEAR_ON_CAR_START)
|
||||
|
||||
def delete(self, key):
|
||||
with self.transaction(write=True) as txn:
|
||||
with self.env.begin(write=True) as txn:
|
||||
txn.delete(key)
|
||||
|
||||
def get(self, key, block=False):
|
||||
@@ -326,7 +302,8 @@ class Params(object):
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
while 1:
|
||||
ret = read_db(self.db, key)
|
||||
with self.env.begin() as txn:
|
||||
ret = txn.get(key)
|
||||
if not block or ret is not None:
|
||||
break
|
||||
# is polling really the best we can do?
|
||||
@@ -337,7 +314,8 @@ class Params(object):
|
||||
if key not in keys:
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
write_db(self.db, key, dat)
|
||||
with self.env.begin(write=True) as txn:
|
||||
txn.put(key, dat)
|
||||
|
||||
if __name__ == "__main__":
|
||||
params = Params()
|
||||
|
||||
@@ -1,115 +0,0 @@
|
||||
import numpy as np
|
||||
import common.transformations.orientation as orient
|
||||
|
||||
FULL_FRAME_SIZE = (1164, 874)
|
||||
W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
|
||||
eon_focal_length = FOCAL = 910.0
|
||||
|
||||
# aka 'K' aka camera_frame_from_view_frame
|
||||
eon_intrinsics = np.array([
|
||||
[FOCAL, 0., W/2.],
|
||||
[ 0., FOCAL, H/2.],
|
||||
[ 0., 0., 1.]])
|
||||
|
||||
# aka 'K_inv' aka view_frame_from_camera_frame
|
||||
eon_intrinsics_inv = np.linalg.inv(eon_intrinsics)
|
||||
|
||||
|
||||
# device/mesh : x->forward, y-> right, z->down
|
||||
# view : x->right, y->down, z->forward
|
||||
device_frame_from_view_frame = np.array([
|
||||
[ 0., 0., 1.],
|
||||
[ 1., 0., 0.],
|
||||
[ 0., 1., 0.]
|
||||
])
|
||||
view_frame_from_device_frame = device_frame_from_view_frame.T
|
||||
|
||||
|
||||
def get_calib_from_vp(vp):
|
||||
vp_norm = normalize(vp)
|
||||
yaw_calib = np.arctan(vp_norm[0])
|
||||
pitch_calib = np.arctan(vp_norm[1]*np.cos(yaw_calib))
|
||||
# TODO should be, this but written
|
||||
# to be compatible with meshcalib and
|
||||
# get_view_frame_from_road_fram
|
||||
#pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
|
||||
roll_calib = 0
|
||||
return roll_calib, pitch_calib, yaw_calib
|
||||
|
||||
# aka 'extrinsic_matrix'
|
||||
# road : x->forward, y -> left, z->up
|
||||
def get_view_frame_from_road_frame(roll, pitch, yaw, height):
|
||||
# TODO
|
||||
# calibration pitch is currently defined
|
||||
# opposite to pitch in device frame
|
||||
pitch = -pitch
|
||||
device_from_road = orient.rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1]))
|
||||
view_from_road = view_frame_from_device_frame.dot(device_from_road)
|
||||
return np.hstack((view_from_road, [[0], [height], [0]]))
|
||||
|
||||
|
||||
def vp_from_ke(m):
|
||||
"""
|
||||
Computes the vanishing point from the product of the intrinsic and extrinsic
|
||||
matrices C = KE.
|
||||
|
||||
The vanishing point is defined as lim x->infinity C (x, 0, 0, 1).T
|
||||
"""
|
||||
return (m[0, 0]/m[2,0], m[1,0]/m[2,0])
|
||||
|
||||
def roll_from_ke(m):
|
||||
# note: different from calibration.h/RollAnglefromKE: i think that one's just wrong
|
||||
return np.arctan2(-(m[1, 0] - m[1, 1] * m[2, 0] / m[2, 1]),
|
||||
-(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))
|
||||
|
||||
def normalize(img_pts):
|
||||
# normalizes image coordinates
|
||||
# accepts single pt or array of pts
|
||||
img_pts = np.array(img_pts)
|
||||
input_shape = img_pts.shape
|
||||
img_pts = np.atleast_2d(img_pts)
|
||||
img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
|
||||
img_pts_normalized = eon_intrinsics_inv.dot(img_pts.T).T
|
||||
img_pts_normalized[(img_pts < 0).any(axis=1)] = np.nan
|
||||
return img_pts_normalized[:,:2].reshape(input_shape)
|
||||
|
||||
def denormalize(img_pts):
|
||||
# denormalizes image coordinates
|
||||
# accepts single pt or array of pts
|
||||
img_pts = np.array(img_pts)
|
||||
input_shape = img_pts.shape
|
||||
img_pts = np.atleast_2d(img_pts)
|
||||
img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
|
||||
img_pts_denormalized = eon_intrinsics.dot(img_pts.T).T
|
||||
img_pts_denormalized[img_pts_denormalized[:,0] > W] = np.nan
|
||||
img_pts_denormalized[img_pts_denormalized[:,0] < 0] = np.nan
|
||||
img_pts_denormalized[img_pts_denormalized[:,1] > H] = np.nan
|
||||
img_pts_denormalized[img_pts_denormalized[:,1] < 0] = np.nan
|
||||
return img_pts_denormalized[:,:2].reshape(input_shape)
|
||||
|
||||
def device_from_ecef(pos_ecef, orientation_ecef, pt_ecef):
|
||||
# device from ecef frame
|
||||
# device frame is x -> forward, y-> right, z -> down
|
||||
# accepts single pt or array of pts
|
||||
input_shape = pt_ecef.shape
|
||||
pt_ecef = np.atleast_2d(pt_ecef)
|
||||
ecef_from_device_rot = orient.rotations_from_quats(orientation_ecef)
|
||||
device_from_ecef_rot = ecef_from_device_rot.T
|
||||
pt_ecef_rel = pt_ecef - pos_ecef
|
||||
pt_device = np.einsum('jk,ik->ij', device_from_ecef_rot, pt_ecef_rel)
|
||||
return pt_device.reshape(input_shape)
|
||||
|
||||
def img_from_device(pt_device):
|
||||
# img coordinates from pts in device frame
|
||||
# first transforms to view frame, then to img coords
|
||||
# accepts single pt or array of pts
|
||||
input_shape = pt_device.shape
|
||||
pt_device = np.atleast_2d(pt_device)
|
||||
pt_view = np.einsum('jk,ik->ij', view_frame_from_device_frame, pt_device)
|
||||
|
||||
# This function should never return negative depths
|
||||
pt_view[pt_view[:,2] < 0] = np.nan
|
||||
|
||||
pt_img = pt_view/pt_view[:,2:3]
|
||||
return pt_img.reshape(input_shape)[:,:2]
|
||||
|
||||
@@ -1,114 +0,0 @@
|
||||
import numpy as np
|
||||
|
||||
from common.transformations.camera import eon_focal_length, \
|
||||
vp_from_ke, \
|
||||
get_view_frame_from_road_frame, \
|
||||
FULL_FRAME_SIZE
|
||||
|
||||
# segnet
|
||||
|
||||
SEGNET_SIZE = (512, 384)
|
||||
|
||||
segnet_frame_from_camera_frame = np.array([
|
||||
[float(SEGNET_SIZE[0])/FULL_FRAME_SIZE[0], 0., ],
|
||||
[ 0., float(SEGNET_SIZE[1])/FULL_FRAME_SIZE[1]]])
|
||||
|
||||
|
||||
# model
|
||||
|
||||
MODEL_INPUT_SIZE = (320, 160)
|
||||
MODEL_YUV_SIZE = (MODEL_INPUT_SIZE[0], MODEL_INPUT_SIZE[1] * 3 // 2)
|
||||
MODEL_CX = MODEL_INPUT_SIZE[0]/2.
|
||||
MODEL_CY = 21.
|
||||
|
||||
model_zoom = 1.25
|
||||
model_height = 1.22
|
||||
|
||||
# canonical model transform
|
||||
model_intrinsics = np.array(
|
||||
[[ eon_focal_length / model_zoom, 0. , MODEL_CX],
|
||||
[ 0. , eon_focal_length / model_zoom, MODEL_CY],
|
||||
[ 0. , 0. , 1.]])
|
||||
|
||||
|
||||
# BIG model
|
||||
|
||||
BIGMODEL_INPUT_SIZE = (864, 288)
|
||||
BIGMODEL_YUV_SIZE = (BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1] * 3 // 2)
|
||||
|
||||
bigmodel_zoom = 1.
|
||||
bigmodel_intrinsics = np.array(
|
||||
[[ eon_focal_length / bigmodel_zoom, 0. , 0.5 * BIGMODEL_INPUT_SIZE[0]],
|
||||
[ 0. , eon_focal_length / bigmodel_zoom, 0.2 * BIGMODEL_INPUT_SIZE[1]],
|
||||
[ 0. , 0. , 1.]])
|
||||
|
||||
|
||||
bigmodel_border = np.array([
|
||||
[0,0,1],
|
||||
[BIGMODEL_INPUT_SIZE[0], 0, 1],
|
||||
[BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1], 1],
|
||||
[0, BIGMODEL_INPUT_SIZE[1], 1],
|
||||
])
|
||||
|
||||
|
||||
model_frame_from_road_frame = np.dot(model_intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, model_height))
|
||||
|
||||
bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, model_height))
|
||||
|
||||
model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
|
||||
|
||||
# 'camera from model camera'
|
||||
def get_model_height_transform(camera_frame_from_road_frame, height):
|
||||
camera_frame_from_road_ground = np.dot(camera_frame_from_road_frame, np.array([
|
||||
[1, 0, 0],
|
||||
[0, 1, 0],
|
||||
[0, 0, 0],
|
||||
[0, 0, 1],
|
||||
]))
|
||||
|
||||
camera_frame_from_road_high = np.dot(camera_frame_from_road_frame, np.array([
|
||||
[1, 0, 0],
|
||||
[0, 1, 0],
|
||||
[0, 0, height - model_height],
|
||||
[0, 0, 1],
|
||||
]))
|
||||
|
||||
ground_from_camera_frame = np.linalg.inv(camera_frame_from_road_ground)
|
||||
|
||||
low_camera_from_high_camera = np.dot(camera_frame_from_road_high, ground_from_camera_frame)
|
||||
high_camera_from_low_camera = np.linalg.inv(low_camera_from_high_camera)
|
||||
|
||||
return high_camera_from_low_camera
|
||||
|
||||
|
||||
# camera_frame_from_model_frame aka 'warp matrix'
|
||||
# was: calibration.h/CalibrationTransform
|
||||
def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height):
|
||||
vp = vp_from_ke(camera_frame_from_road_frame)
|
||||
|
||||
model_camera_from_model_frame = np.array([
|
||||
[model_zoom, 0., vp[0] - MODEL_CX * model_zoom],
|
||||
[ 0., model_zoom, vp[1] - MODEL_CY * model_zoom],
|
||||
[ 0., 0., 1.],
|
||||
])
|
||||
|
||||
# This function is super slow, so skip it if height is very close to canonical
|
||||
# TODO: speed it up!
|
||||
if abs(height - model_height) > 0.001: #
|
||||
camera_from_model_camera = get_model_height_transform(camera_frame_from_road_frame, height)
|
||||
else:
|
||||
camera_from_model_camera = np.eye(3)
|
||||
|
||||
return np.dot(camera_from_model_camera, model_camera_from_model_frame)
|
||||
|
||||
|
||||
def get_camera_frame_from_bigmodel_frame(camera_frame_from_road_frame):
|
||||
camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
|
||||
bigmodel_frame_from_ground = bigmodel_frame_from_road_frame[:, (0, 1, 3)]
|
||||
|
||||
ground_from_bigmodel_frame = np.linalg.inv(bigmodel_frame_from_ground)
|
||||
camera_frame_from_bigmodel_frame = np.dot(camera_frame_from_ground, ground_from_bigmodel_frame)
|
||||
|
||||
return camera_frame_from_bigmodel_frame
|
||||
@@ -1,293 +0,0 @@
|
||||
import numpy as np
|
||||
from numpy import dot, inner, array, linalg
|
||||
from common.transformations.coordinates import LocalCoord
|
||||
|
||||
|
||||
'''
|
||||
Vectorized functions that transform between
|
||||
rotation matrices, euler angles and quaternions.
|
||||
All support lists, array or array of arrays as inputs.
|
||||
Supports both x2y and y_from_x format (y_from_x preferred!).
|
||||
'''
|
||||
|
||||
def euler2quat(eulers):
|
||||
eulers = array(eulers)
|
||||
if len(eulers.shape) > 1:
|
||||
output_shape = (-1,4)
|
||||
else:
|
||||
output_shape = (4,)
|
||||
eulers = np.atleast_2d(eulers)
|
||||
gamma, theta, psi = eulers[:,0], eulers[:,1], eulers[:,2]
|
||||
|
||||
q0 = np.cos(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) + \
|
||||
np.sin(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2)
|
||||
q1 = np.sin(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) - \
|
||||
np.cos(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2)
|
||||
q2 = np.cos(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2) + \
|
||||
np.sin(gamma / 2) * np.cos(theta / 2) * np.sin(psi / 2)
|
||||
q3 = np.cos(gamma / 2) * np.cos(theta / 2) * np.sin(psi / 2) - \
|
||||
np.sin(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2)
|
||||
|
||||
quats = array([q0, q1, q2, q3]).T
|
||||
for i in xrange(len(quats)):
|
||||
if quats[i,0] < 0:
|
||||
quats[i] = -quats[i]
|
||||
return quats.reshape(output_shape)
|
||||
|
||||
|
||||
def quat2euler(quats):
|
||||
quats = array(quats)
|
||||
if len(quats.shape) > 1:
|
||||
output_shape = (-1,3)
|
||||
else:
|
||||
output_shape = (3,)
|
||||
quats = np.atleast_2d(quats)
|
||||
q0, q1, q2, q3 = quats[:,0], quats[:,1], quats[:,2], quats[:,3]
|
||||
|
||||
gamma = np.arctan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1**2 + q2**2))
|
||||
theta = np.arcsin(2 * (q0 * q2 - q3 * q1))
|
||||
psi = np.arctan2(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2**2 + q3**2))
|
||||
|
||||
eulers = array([gamma, theta, psi]).T
|
||||
return eulers.reshape(output_shape)
|
||||
|
||||
|
||||
def quat2rot(quats):
|
||||
quats = array(quats)
|
||||
input_shape = quats.shape
|
||||
quats = np.atleast_2d(quats)
|
||||
Rs = np.zeros((quats.shape[0], 3, 3))
|
||||
q0 = quats[:, 0]
|
||||
q1 = quats[:, 1]
|
||||
q2 = quats[:, 2]
|
||||
q3 = quats[:, 3]
|
||||
Rs[:, 0, 0] = q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3
|
||||
Rs[:, 0, 1] = 2 * (q1 * q2 - q0 * q3)
|
||||
Rs[:, 0, 2] = 2 * (q0 * q2 + q1 * q3)
|
||||
Rs[:, 1, 0] = 2 * (q1 * q2 + q0 * q3)
|
||||
Rs[:, 1, 1] = q0 * q0 - q1 * q1 + q2 * q2 - q3 * q3
|
||||
Rs[:, 1, 2] = 2 * (q2 * q3 - q0 * q1)
|
||||
Rs[:, 2, 0] = 2 * (q1 * q3 - q0 * q2)
|
||||
Rs[:, 2, 1] = 2 * (q0 * q1 + q2 * q3)
|
||||
Rs[:, 2, 2] = q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3
|
||||
|
||||
if len(input_shape) < 2:
|
||||
return Rs[0]
|
||||
else:
|
||||
return Rs
|
||||
|
||||
|
||||
def rot2quat(rots):
|
||||
input_shape = rots.shape
|
||||
if len(input_shape) < 3:
|
||||
rots = array([rots])
|
||||
K3 = np.empty((len(rots), 4, 4))
|
||||
K3[:, 0, 0] = (rots[:, 0, 0] - rots[:, 1, 1] - rots[:, 2, 2]) / 3.0
|
||||
K3[:, 0, 1] = (rots[:, 1, 0] + rots[:, 0, 1]) / 3.0
|
||||
K3[:, 0, 2] = (rots[:, 2, 0] + rots[:, 0, 2]) / 3.0
|
||||
K3[:, 0, 3] = (rots[:, 1, 2] - rots[:, 2, 1]) / 3.0
|
||||
K3[:, 1, 0] = K3[:, 0, 1]
|
||||
K3[:, 1, 1] = (rots[:, 1, 1] - rots[:, 0, 0] - rots[:, 2, 2]) / 3.0
|
||||
K3[:, 1, 2] = (rots[:, 2, 1] + rots[:, 1, 2]) / 3.0
|
||||
K3[:, 1, 3] = (rots[:, 2, 0] - rots[:, 0, 2]) / 3.0
|
||||
K3[:, 2, 0] = K3[:, 0, 2]
|
||||
K3[:, 2, 1] = K3[:, 1, 2]
|
||||
K3[:, 2, 2] = (rots[:, 2, 2] - rots[:, 0, 0] - rots[:, 1, 1]) / 3.0
|
||||
K3[:, 2, 3] = (rots[:, 0, 1] - rots[:, 1, 0]) / 3.0
|
||||
K3[:, 3, 0] = K3[:, 0, 3]
|
||||
K3[:, 3, 1] = K3[:, 1, 3]
|
||||
K3[:, 3, 2] = K3[:, 2, 3]
|
||||
K3[:, 3, 3] = (rots[:, 0, 0] + rots[:, 1, 1] + rots[:, 2, 2]) / 3.0
|
||||
q = np.empty((len(rots), 4))
|
||||
for i in xrange(len(rots)):
|
||||
_, eigvecs = linalg.eigh(K3[i].T)
|
||||
eigvecs = eigvecs[:,3:]
|
||||
q[i, 0] = eigvecs[-1]
|
||||
q[i, 1:] = -eigvecs[:-1].flatten()
|
||||
if q[i, 0] < 0:
|
||||
q[i] = -q[i]
|
||||
|
||||
if len(input_shape) < 3:
|
||||
return q[0]
|
||||
else:
|
||||
return q
|
||||
|
||||
|
||||
def euler2rot(eulers):
|
||||
return rotations_from_quats(euler2quat(eulers))
|
||||
|
||||
|
||||
def rot2euler(rots):
|
||||
return quat2euler(quats_from_rotations(rots))
|
||||
|
||||
|
||||
quats_from_rotations = rot2quat
|
||||
quat_from_rot = rot2quat
|
||||
rotations_from_quats = quat2rot
|
||||
rot_from_quat= quat2rot
|
||||
rot_from_quat= quat2rot
|
||||
euler_from_rot = rot2euler
|
||||
euler_from_quat = quat2euler
|
||||
rot_from_euler = euler2rot
|
||||
quat_from_euler = euler2quat
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
'''
|
||||
Random helpers below
|
||||
'''
|
||||
|
||||
|
||||
def quat_product(q, r):
|
||||
t = np.zeros(4)
|
||||
t[0] = r[0] * q[0] - r[1] * q[1] - r[2] * q[2] - r[3] * q[3]
|
||||
t[1] = r[0] * q[1] + r[1] * q[0] - r[2] * q[3] + r[3] * q[2]
|
||||
t[2] = r[0] * q[2] + r[1] * q[3] + r[2] * q[0] - r[3] * q[1]
|
||||
t[3] = r[0] * q[3] - r[1] * q[2] + r[2] * q[1] + r[3] * q[0]
|
||||
return t
|
||||
|
||||
|
||||
def rot_matrix(roll, pitch, yaw):
|
||||
cr, sr = np.cos(roll), np.sin(roll)
|
||||
cp, sp = np.cos(pitch), np.sin(pitch)
|
||||
cy, sy = np.cos(yaw), np.sin(yaw)
|
||||
rr = array([[1,0,0],[0, cr,-sr],[0, sr, cr]])
|
||||
rp = array([[cp,0,sp],[0, 1,0],[-sp, 0, cp]])
|
||||
ry = array([[cy,-sy,0],[sy, cy,0],[0, 0, 1]])
|
||||
return ry.dot(rp.dot(rr))
|
||||
|
||||
|
||||
def rot(axis, angle):
|
||||
# Rotates around an arbitrary axis
|
||||
ret_1 = (1 - np.cos(angle)) * array([[axis[0]**2, axis[0] * axis[1], axis[0] * axis[2]], [
|
||||
axis[1] * axis[0], axis[1]**2, axis[1] * axis[2]
|
||||
], [axis[2] * axis[0], axis[2] * axis[1], axis[2]**2]])
|
||||
ret_2 = np.cos(angle) * np.eye(3)
|
||||
ret_3 = np.sin(angle) * array([[0, -axis[2], axis[1]], [axis[2], 0, -axis[0]],
|
||||
[-axis[1], axis[0], 0]])
|
||||
return ret_1 + ret_2 + ret_3
|
||||
|
||||
|
||||
def ecef_euler_from_ned(ned_ecef_init, ned_pose):
|
||||
'''
|
||||
Got it from here:
|
||||
Using Rotations to Build Aerospace Coordinate Systems
|
||||
-Don Koks
|
||||
'''
|
||||
converter = LocalCoord.from_ecef(ned_ecef_init)
|
||||
x0 = converter.ned2ecef([1, 0, 0]) - converter.ned2ecef([0, 0, 0])
|
||||
y0 = converter.ned2ecef([0, 1, 0]) - converter.ned2ecef([0, 0, 0])
|
||||
z0 = converter.ned2ecef([0, 0, 1]) - converter.ned2ecef([0, 0, 0])
|
||||
|
||||
x1 = rot(z0, ned_pose[2]).dot(x0)
|
||||
y1 = rot(z0, ned_pose[2]).dot(y0)
|
||||
z1 = rot(z0, ned_pose[2]).dot(z0)
|
||||
|
||||
x2 = rot(y1, ned_pose[1]).dot(x1)
|
||||
y2 = rot(y1, ned_pose[1]).dot(y1)
|
||||
z2 = rot(y1, ned_pose[1]).dot(z1)
|
||||
|
||||
x3 = rot(x2, ned_pose[0]).dot(x2)
|
||||
y3 = rot(x2, ned_pose[0]).dot(y2)
|
||||
#z3 = rot(x2, ned_pose[0]).dot(z2)
|
||||
|
||||
x0 = array([1, 0, 0])
|
||||
y0 = array([0, 1, 0])
|
||||
z0 = array([0, 0, 1])
|
||||
|
||||
psi = np.arctan2(inner(x3, y0), inner(x3, x0))
|
||||
theta = np.arctan2(-inner(x3, z0), np.sqrt(inner(x3, x0)**2 + inner(x3, y0)**2))
|
||||
y2 = rot(z0, psi).dot(y0)
|
||||
z2 = rot(y2, theta).dot(z0)
|
||||
phi = np.arctan2(inner(y3, z2), inner(y3, y2))
|
||||
|
||||
ret = array([phi, theta, psi])
|
||||
return ret
|
||||
|
||||
|
||||
def ned_euler_from_ecef(ned_ecef_init, ecef_poses):
|
||||
'''
|
||||
Got the math from here:
|
||||
Using Rotations to Build Aerospace Coordinate Systems
|
||||
-Don Koks
|
||||
|
||||
Also accepts array of ecef_poses and array of ned_ecef_inits.
|
||||
Where each row is a pose and an ecef_init.
|
||||
'''
|
||||
ned_ecef_init = array(ned_ecef_init)
|
||||
ecef_poses = array(ecef_poses)
|
||||
output_shape = ecef_poses.shape
|
||||
ned_ecef_init = np.atleast_2d(ned_ecef_init)
|
||||
ecef_poses = np.atleast_2d(ecef_poses)
|
||||
|
||||
ned_poses = np.zeros(ecef_poses.shape)
|
||||
for i, ecef_pose in enumerate(ecef_poses):
|
||||
converter = LocalCoord.from_ecef(ned_ecef_init[i])
|
||||
x0 = array([1, 0, 0])
|
||||
y0 = array([0, 1, 0])
|
||||
z0 = array([0, 0, 1])
|
||||
|
||||
x1 = rot(z0, ecef_pose[2]).dot(x0)
|
||||
y1 = rot(z0, ecef_pose[2]).dot(y0)
|
||||
z1 = rot(z0, ecef_pose[2]).dot(z0)
|
||||
|
||||
x2 = rot(y1, ecef_pose[1]).dot(x1)
|
||||
y2 = rot(y1, ecef_pose[1]).dot(y1)
|
||||
z2 = rot(y1, ecef_pose[1]).dot(z1)
|
||||
|
||||
x3 = rot(x2, ecef_pose[0]).dot(x2)
|
||||
y3 = rot(x2, ecef_pose[0]).dot(y2)
|
||||
#z3 = rot(x2, ecef_pose[0]).dot(z2)
|
||||
|
||||
x0 = converter.ned2ecef([1, 0, 0]) - converter.ned2ecef([0, 0, 0])
|
||||
y0 = converter.ned2ecef([0, 1, 0]) - converter.ned2ecef([0, 0, 0])
|
||||
z0 = converter.ned2ecef([0, 0, 1]) - converter.ned2ecef([0, 0, 0])
|
||||
|
||||
psi = np.arctan2(inner(x3, y0), inner(x3, x0))
|
||||
theta = np.arctan2(-inner(x3, z0), np.sqrt(inner(x3, x0)**2 + inner(x3, y0)**2))
|
||||
y2 = rot(z0, psi).dot(y0)
|
||||
z2 = rot(y2, theta).dot(z0)
|
||||
phi = np.arctan2(inner(y3, z2), inner(y3, y2))
|
||||
ned_poses[i] = array([phi, theta, psi])
|
||||
|
||||
return ned_poses.reshape(output_shape)
|
||||
|
||||
|
||||
def ecef2car(car_ecef, psi, theta, points_ecef, ned_converter):
|
||||
"""
|
||||
TODO: add roll rotation
|
||||
Converts an array of points in ecef coordinates into
|
||||
x-forward, y-left, z-up coordinates
|
||||
Parameters
|
||||
----------
|
||||
psi: yaw, radian
|
||||
theta: pitch, radian
|
||||
Returns
|
||||
-------
|
||||
[x, y, z] coordinates in car frame
|
||||
"""
|
||||
|
||||
# input is an array of points in ecef cocrdinates
|
||||
# output is an array of points in car's coordinate (x-front, y-left, z-up)
|
||||
|
||||
# convert points to NED
|
||||
points_ned = []
|
||||
for p in points_ecef:
|
||||
points_ned.append(ned_converter.ecef2ned_matrix.dot(array(p) - car_ecef))
|
||||
|
||||
points_ned = np.vstack(points_ned).T
|
||||
|
||||
# n, e, d -> x, y, z
|
||||
# Calculate relative postions and rotate wrt to heading and pitch of car
|
||||
invert_R = array([[1., 0., 0.], [0., -1., 0.], [0., 0., -1.]])
|
||||
|
||||
c, s = np.cos(psi), np.sin(psi)
|
||||
yaw_R = array([[c, s, 0.], [-s, c, 0.], [0., 0., 1.]])
|
||||
|
||||
c, s = np.cos(theta), np.sin(theta)
|
||||
pitch_R = array([[c, 0., -s], [0., 1., 0.], [s, 0., c]])
|
||||
|
||||
return dot(pitch_R, dot(yaw_R, dot(invert_R, points_ned)))
|
||||
@@ -59,9 +59,9 @@ 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
|
||||
SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
|
||||
|
||||
BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
@@ -59,9 +59,9 @@ 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
|
||||
SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
|
||||
|
||||
BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
@@ -189,7 +189,7 @@ BO_ 1033 ASCMKeepAlive: 7 NEO
|
||||
SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] "" NEO
|
||||
|
||||
BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM
|
||||
SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "°C" NEO
|
||||
SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "°C" NEO
|
||||
|
||||
BO_ 1249 VIN_Part2: 8 K20_ECM
|
||||
SG_ VINPart2 : 7|64@0+ (1,0) [0|0] "" NEO
|
||||
|
||||
@@ -64,10 +64,10 @@ BO_ 330 STEERING_SENSORS: 8 EPS
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 344 ENGINE_DATA: 8 PCM
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" 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_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
|
||||
SG_ DISTANCE_COUNTER : 55|8@0+ (10,0) [0|2550] "Meters" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
|
||||
@@ -37,9 +37,9 @@ 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
|
||||
SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
|
||||
|
||||
BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
@@ -1,52 +0,0 @@
|
||||
CM_ "IMPORT _bosch_2018.dbc"
|
||||
|
||||
BO_ 401 GEARBOX: 8 PCM
|
||||
SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
|
||||
SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 432 STANDSTILL: 7 VSA
|
||||
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|15] "" EON
|
||||
|
||||
BO_ 446 BRAKE_MODULE: 3 VSA
|
||||
SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 927 RADAR_HUD: 8 RADAR
|
||||
SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
|
||||
SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
|
||||
SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 1302 ODOMETER: 8 XXX
|
||||
SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
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_ 545 ECON_ON_2 0 "off" 3 "on" ;
|
||||
VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
|
||||
VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
|
||||
VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
|
||||
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 330 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";
|
||||
@@ -126,7 +126,7 @@ BO_ 1302 ODOMETER: 8 XXX
|
||||
|
||||
CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
|
||||
CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
|
||||
CM_ SG_ 450 EPB_STATE "3 \"engaged\" 2 \"disengaging\" 1 \"engaging\" 0 \"disengaged\"";
|
||||
CM_ SG_ 450 EPB_STATE "3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged"";
|
||||
CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";
|
||||
|
||||
VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
@@ -9,17 +9,3 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
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+ (0.0244140625,0) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
|
||||
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
@@ -1,33 +0,0 @@
|
||||
CM_ "IMPORT _toyota_2017.dbc"
|
||||
CM_ "IMPORT _comma.dbc"
|
||||
|
||||
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
|
||||
|
||||
BO_ 610 EPS_STATUS: 5 EPS
|
||||
SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
|
||||
SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 956 GEAR_PACKET: 8 XXX
|
||||
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
|
||||
|
||||
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";
|
||||
@@ -180,7 +180,7 @@ BO_ 1033 ASCMKeepAlive: 7 NEO
|
||||
BO_ 1034 ASCM_40A: 7 K124_ASCM
|
||||
|
||||
BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM
|
||||
SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "°C" NEO
|
||||
SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "°C" NEO
|
||||
|
||||
BO_ 1249 VIN_Part2: 8 K20_ECM
|
||||
SG_ VINPart2 : 7|64@0+ (1,0) [0|0] "" NEO
|
||||
|
||||
@@ -1,319 +0,0 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
|
||||
|
||||
CM_ "Imported file _bosch_2018.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 EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
|
||||
|
||||
BO_ 228 STEERING_CONTROL: 5 EON
|
||||
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_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
|
||||
|
||||
BO_ 232 BRAKE_HOLD: 7 XXX
|
||||
SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
|
||||
SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
|
||||
SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 304 GAS_PEDAL_2: 8 PCM
|
||||
SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
|
||||
SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
|
||||
SG_ CAR_GAS : 39|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_ 330 STEERING_SENSORS: 8 EPS
|
||||
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
|
||||
SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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] "" EON
|
||||
SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BOH3_17C : 52|5@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_ 399 STEER_STATUS: 7 EPS
|
||||
SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
|
||||
SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" 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_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 420 VSA_STATUS: 8 VSA
|
||||
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
|
||||
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_ 450 EPB_STATUS: 8 EPB
|
||||
SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
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_ 479 ACC_CONTROL: 8 EON
|
||||
SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
|
||||
SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
|
||||
SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
|
||||
SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
|
||||
SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
|
||||
SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 495 ACC_CONTROL_ON: 8 XXX
|
||||
SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
|
||||
SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 545 XXX_16: 6 SCM
|
||||
SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
|
||||
|
||||
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] "" XXX
|
||||
SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 662 SCM_BUTTONS: 4 SCM
|
||||
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
||||
SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 27|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 CAR_SPEED: 8 PCM
|
||||
SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 780 ACC_HUD: 8 ADAS
|
||||
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_ 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_ 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_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
|
||||
SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 804 CRUISE: 8 PCM
|
||||
SG_ TRIP_FUEL_CONSUMED : 23|16@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_ 806 SCM_FEEDBACK: 8 SCM
|
||||
SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
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_ 862 CAMERA_MESSAGES: 8 CAM
|
||||
SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
|
||||
SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" 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_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 891 STALK_STATUS_2: 8 XXX
|
||||
SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ "honda_accord_lx15t_2018_can.dbc starts here"
|
||||
|
||||
|
||||
BO_ 401 GEARBOX: 8 PCM
|
||||
SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
|
||||
SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 432 STANDSTILL: 7 VSA
|
||||
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|15] "" EON
|
||||
|
||||
BO_ 446 BRAKE_MODULE: 3 VSA
|
||||
SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 927 RADAR_HUD: 8 RADAR
|
||||
SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
|
||||
SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
|
||||
SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 1302 ODOMETER: 8 XXX
|
||||
SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
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_ 545 ECON_ON_2 0 "off" 3 "on" ;
|
||||
VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
|
||||
VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
|
||||
VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
|
||||
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 330 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";
|
||||
@@ -68,10 +68,10 @@ BO_ 330 STEERING_SENSORS: 8 EPS
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 344 ENGINE_DATA: 8 PCM
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" 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_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
|
||||
SG_ DISTANCE_COUNTER : 55|8@0+ (10,0) [0|2550] "Meters" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
|
||||
@@ -68,10 +68,10 @@ BO_ 330 STEERING_SENSORS: 8 EPS
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 344 ENGINE_DATA: 8 PCM
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" 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_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
|
||||
SG_ DISTANCE_COUNTER : 55|8@0+ (10,0) [0|2550] "Meters" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
|
||||
@@ -59,9 +59,9 @@ 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
|
||||
SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
|
||||
|
||||
BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
|
||||
@@ -355,7 +355,7 @@ BO_ 1302 ODOMETER: 8 XXX
|
||||
|
||||
CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
|
||||
CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
|
||||
CM_ SG_ 450 EPB_STATE "3 \"engaged\" 2 \"disengaging\" 1 \"engaging\" 0 \"disengaged\"";
|
||||
CM_ SG_ 450 EPB_STATE "3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged"";
|
||||
CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";
|
||||
|
||||
VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
@@ -68,10 +68,10 @@ BO_ 330 STEERING_SENSORS: 8 EPS
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 344 ENGINE_DATA: 8 PCM
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" 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_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
|
||||
SG_ DISTANCE_COUNTER : 55|8@0+ (10,0) [0|2550] "Meters" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
|
||||
@@ -59,9 +59,9 @@ 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
|
||||
SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
|
||||
|
||||
BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
@@ -59,9 +59,9 @@ 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
|
||||
SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
|
||||
|
||||
BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
@@ -59,9 +59,9 @@ 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
|
||||
SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
|
||||
|
||||
BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
@@ -1,295 +0,0 @@
|
||||
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_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON INTERCEPTOR
|
||||
|
||||
|
||||
BO_ 344 ENGINE_DATA: 8 PCM
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" 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
|
||||
SG_ ZEROS : 23|16@0+ (1,0) [0|15000] "" 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_ 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_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH3 : 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_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
|
||||
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_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ ZEROS_BOH4 : 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_ 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 : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" 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|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
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_ BOH_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_ SET_ME_X03 : 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_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|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_ BOH2 : 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_ 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_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
|
||||
BO_ 399 STEER_STATUS: 7 EPS
|
||||
SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-2985|2985] "tbd" EON
|
||||
SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ STEER_STATUS : 43|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
|
||||
|
||||
BO_ 401 GEARBOX: 8 PCM
|
||||
SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
|
||||
SG_ GEAR : 35|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|15] "" EON
|
||||
|
||||
BO_ 404 STEERING_CONTROL: 4 EON
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
|
||||
SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
|
||||
SG_ STEER_TORQUE : 7|16@0- (-1,0) [-32767|32767] "" EPS
|
||||
|
||||
BO_ 420 VSA_STATUS: 8 VSA
|
||||
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
|
||||
SG_ ESP_DISABLED : 28|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_ 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_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 450 EPB_STATUS: 8 XXX
|
||||
SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ EPB_STATE : 29|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
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_ 1302 ODOMETER: 8 XXX
|
||||
SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" 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_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
|
||||
CM_ SG_ 773 PASS_AIRBAG_ON "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...";
|
||||
CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
|
||||
VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
|
||||
VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
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" ;
|
||||
VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 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";
|
||||
@@ -59,9 +59,9 @@ 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
|
||||
SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
|
||||
|
||||
BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
@@ -59,9 +59,9 @@ 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
|
||||
SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
|
||||
|
||||
BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
@@ -149,7 +149,7 @@ BO_ 1456 CLU12: 4 CLU
|
||||
SG_ CF_Clu_Odometer : 0|24@1+ (0.1,0.0) [0.0|1677721.4] "km" _4WD,AAF,BCM,CUBIS,EMS,EPB,IBOX,LDWS_LKAS,SCC,TPMS
|
||||
|
||||
BO_ 688 SAS11: 5 MDPS
|
||||
SG_ SAS_Angle : 0|16@1- (0.1,0.0) [-3276.8|3276.7] "Deg" _4WD,ACU,AFLS,AVM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU,_4WD,ACU,AFLS,AVM,BCM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU
|
||||
SG_ SAS_Angle : 0|16@1+ (0.1,0.0) [-3276.8|3276.7] "Deg" _4WD,ACU,AFLS,AVM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU,_4WD,ACU,AFLS,AVM,BCM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU
|
||||
SG_ SAS_Speed : 16|8@1+ (4.0,0.0) [0.0|1016.0] "" AFLS,ECS,ESC,IBOX,LDWS_LKAS,SCC,SPAS,TCU,AFLS,ECS,ESC,IBOX,LDWS_LKAS,SCC,SPAS,TCU
|
||||
SG_ SAS_Stat : 24|8@1+ (1.0,0.0) [0.0|255.0] "" ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU,ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU
|
||||
SG_ MsgCount : 32|4@1+ (1.0,0.0) [0.0|15.0] "" ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -14,20 +14,6 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
|
||||
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+ (0.0244140625,0) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
|
||||
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
@@ -36,141 +36,27 @@ BS_:
|
||||
BU_: XXX
|
||||
|
||||
|
||||
BO_ 3 STEER_SENSOR: 8 XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_RATE : 19|12@0- (0.5,0) [0|255] "" XXX
|
||||
SG_ STEER_DIRECTION : 4|1@0+ (1,2) [0|1] "" XXX
|
||||
SG_ STEER_ANGLE : 3|12@0- (-0.5,0) [-500|500] "degrees" XXX
|
||||
BO_ 3 NEW_MSG_1: 8 XXX
|
||||
SG_ STEERING_ANGLE : 7|32@0- (1,0) [0|4294967295] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 5 BRAKE_MODULE: 8 XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BRAKE_HOLD : 2|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_POSITION : 17|10@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ DRIVER_BRAKE : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COMPUTER_BRAKE : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_PRESSED : 0|1@1+ (1,0) [0|1] "" XXX
|
||||
BO_ 5 NEW_MSG_2: 8 XXX
|
||||
SG_ BRAKE_POSITION : 23|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ BRAKE_PRESSED : 0|8@1+ (1,0) [0|17] "" XXX
|
||||
|
||||
BO_ 69 DRIVER_CONTROLS: 8 XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ STEERING_WHEEL_BUTTONS : 32|16@1+ (1,0) [0|255] "4 directional, 2 volume control & 2 phone buttons" XXX
|
||||
SG_ LEFT_BLINKER : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RIGHT_BLINKER : 17|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGHBEAM_TOGGLE : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGHBEAM_MOMENTARY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_CANCEL : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_RESUME : 1|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_ACCEL_HIGH : 2|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_DECEL_HIGH : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_ACCEL_LOW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_DECEL_LOW : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_XFF : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
BO_ 69 NEW_MSG_3: 8 XXX
|
||||
SG_ TURN_SIGNAL_LEVER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ CRUISE_CONTROL_LEVER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEERING_WHEEL_BUTTONS : 32|8@1+ (1,0) [0|255] "4 directional, 2 volume control, & 2 phone buttons" XXX
|
||||
SG_ MORE_STEERING_WHEELS_BUTTONS : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 513 WHEEL_ENCODERS: 8 XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ WHEEL_ENCODER_2 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ WHEEL_ENCODER_3 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ WHEEL_ENCODER_4 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ WHEEL_ENCODER_1 : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 261 GAS_PEDAL: 8 XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ENGINE_RPM : 4|5@0+ (1,0) [0|255] "" XXX
|
||||
SG_ GAS_PEDAL : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COMBINED_GAS : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 DOOR_SENSORS: 8 XXX
|
||||
SG_ BRAKE_PRESSED : 27|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FR : 3|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 5|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ DOOR_OPEN_RR : 7|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 1|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_CLOSED_FL : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_CLOSED_FR : 2|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_CLOSED_RL : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_CLOSED_RR : 6|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 885 SEATBELT_SENSORS: 8 XXX
|
||||
SG_ SEATBELT_DRIVER_LATCHED : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SEATBELT_PASSENGER_LATCHED : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 257 CRUISE_CONTROL: 8 XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 6|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CRUISE_DISABLED : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X002 : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_1 : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACCELERATING : 22|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LONGITUDINAL_ACCEL_REQUEST : 15|8@0- (1,0) [0|127] "" XXX
|
||||
|
||||
BO_ 260 CRUISE_CONTROL2: 8 XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_XFF : 31|8@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ SET_ME_X02 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_XFF2 : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 7|4@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 14 STEER_TORQUE: 8 XXX
|
||||
SG_ STEER_TORQUE : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 888 CRUISE_CONTROL3: 8 XXX
|
||||
SG_ NEW_SIGNAL_2 : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_DISABLED : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ENABLED : 34|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X003 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X004 : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X002 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CRUISE_SET_SPEED : 15|8@0+ (1,0) [0|63] "mph" XXX
|
||||
SG_ CRUISE_SPEED_CHANGE : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 307 POWER_SEATS: 8 XXX
|
||||
SG_ DRIVER_FORWARD : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DRIVER_BACK : 1|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 109 GEAR_LEVER: 8 XXX
|
||||
SG_ PARK_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEUTRAL_UP : 9|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEUTRAL_DOWN : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DRIVE : 11|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REVERSE : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 23|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 115 GEAR_PACKET: 8 XXX
|
||||
SG_ GEAR : 0|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 581 IGNITION: 8 XXX
|
||||
|
||||
BO_ 515 WHEEL_SPEEDS: 8 XXX
|
||||
SG_ WHEEL_MOVING_FR : 22|1@1+ (1,0) [0|15] "" XXX
|
||||
SG_ WHEEL_MOVING_RL : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ WHEEL_MOVING_FL : 6|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ WHEEL_MOVING_RR : 54|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ WHEEL_SPEED_FL : 2|11@0+ (0.0375,0) [0|255] "mph" XXX
|
||||
SG_ WHEEL_SPEED_FR : 18|11@0+ (0.0375,0) [0|255] "mph" XXX
|
||||
SG_ WHEEL_SPEED_RL : 34|11@0+ (0.0375,0) [0|255] "mph" XXX
|
||||
SG_ WHEEL_SPEED_RR : 50|11@0+ (0.0375,0) [0|255] "mph" XXX
|
||||
BO_ 1 NEW_MSG_4: 8 XXX
|
||||
SG_ DOOR_LOCK_STATUS : 31|16@0+ (1,0) [0|65535] "" XXX
|
||||
|
||||
|
||||
|
||||
|
||||
CM_ SG_ 3 STEER_DIRECTION "0 = left, 1 = right";
|
||||
CM_ SG_ 5 BRAKE_POSITION "computer and driver";
|
||||
CM_ SG_ 5 BRAKE_PRESSED "computer and driver";
|
||||
CM_ SG_ 261 GAS_PEDAL "user gas input";
|
||||
CM_ SG_ 261 COMBINED_GAS "computer and driver gas";
|
||||
CM_ SG_ 257 CRUISE_ACCELERATING "";
|
||||
CM_ SG_ 5 BRAKE_PRESSED "appears to be boolean (brake pressed)";
|
||||
CM_ SG_ 69 MORE_STEERING_WHEELS_BUTTONS "back, ok, voice assistance, and mute buttons";
|
||||
|
||||
@@ -328,8 +328,7 @@ VAL_ 69 StW_Sw00_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
|
||||
VAL_ 14 StW_AnglHP 16383 "SNA" ;
|
||||
VAL_ 14 StW_AnglHP_Spd 16383 "SNA" ;
|
||||
VAL_ 14 StW_AnglHP_Sens_Stat 3 "SNA" 2 "ERR" 1 "INI" 0 "OK" ;
|
||||
VAL_ 14 StW_AnglHP_Sens_Id 3 "SNA" 2 "KOSTAL" 1 "DELPHI" 0 "TEST" ;
|
||||
VAL_ 69 SpdCtrlLvr_Stat 32 "DN_1ST" 16 "UP_1ST" 8 "DN_2ND" 4 "UP_2ND" 2 "RWD" 1 "FWD" 0 "IDLE" ;
|
||||
VAL_ 14 StW_AnglHP_Sens_Id 3 "SNA" 2 "KOSTAL" 1 "DELPHI" 0 "TEST" ;
|
||||
VAL_ 69 SpdCtrlLvr_Stat 32 "DN_1ST" 16 "UP_1ST" 8 "DN_2ND" 4 "UP_2ND" 2 "RWD" 1 "FWD" 0 "IDLE" ;
|
||||
VAL_ 69 DTR_Dist_Rq 255 "SNA" 200 "ACC_DIST_7" 166 "ACC_DIST_6" 133 "ACC_DIST_5" 100 "ACC_DIST_4" 66 "ACC_DIST_3" 33 "ACC_DIST_2" 0 "ACC_DIST_1" ;
|
||||
VAL_ 69 TurnIndLvr_Stat 3 "SNA" 2 "RIGHT" 1 "LEFT" 0 "IDLE" ;
|
||||
|
||||
@@ -14,20 +14,6 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
|
||||
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+ (0.0244140625,0) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
|
||||
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
@@ -14,20 +14,6 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
|
||||
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+ (0.0244140625,0) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
|
||||
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
@@ -14,20 +14,6 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
|
||||
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+ (0.0244140625,0) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
|
||||
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
@@ -14,20 +14,6 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
|
||||
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+ (0.0244140625,0) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
|
||||
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
@@ -14,20 +14,6 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
|
||||
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+ (0.0244140625,0) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
|
||||
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
@@ -14,20 +14,6 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
|
||||
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+ (0.0244140625,0) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
|
||||
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
@@ -1,258 +0,0 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
|
||||
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
|
||||
NS_ :
|
||||
NS_DESC_
|
||||
CM_
|
||||
BA_DEF_
|
||||
BA_
|
||||
VAL_
|
||||
CAT_DEF_
|
||||
CAT_
|
||||
FILTER
|
||||
BA_DEF_DEF_
|
||||
EV_DATA_
|
||||
ENVVAR_DATA_
|
||||
SGTYPE_
|
||||
SGTYPE_VAL_
|
||||
BA_DEF_SGTYPE_
|
||||
BA_SGTYPE_
|
||||
SIG_TYPE_REF_
|
||||
VAL_TABLE_
|
||||
SIG_GROUP_
|
||||
SIG_VALTYPE_
|
||||
SIGTYPE_VALTYPE_
|
||||
BO_TX_BU_
|
||||
BA_DEF_REL_
|
||||
BA_REL_
|
||||
BA_DEF_DEF_REL_
|
||||
BU_SG_REL_
|
||||
BU_EV_REL_
|
||||
BU_BO_REL_
|
||||
SG_MUL_VAL_
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
|
||||
SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" 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_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
|
||||
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|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_ 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 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
|
||||
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 742 LEAD_INFO: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
|
||||
SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
|
||||
SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ SET_ME_X63 : 23|8@0+ (1,0) [0|255] "" HCU
|
||||
SG_ SET_ME_1 : 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
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" 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_ 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_ 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_ 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_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1041 ACC_HUD: 8 DSU
|
||||
SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
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_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
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_ 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_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
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";
|
||||
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "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_ 1553 UNITS 1 "km" 2 "miles";
|
||||
VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
|
||||
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 "double" 1 "solid" 0 "none";
|
||||
VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "toyota_highlander_hybrid_2018_pt.dbc starts here"
|
||||
|
||||
|
||||
|
||||
BO_ 550 BRAKE_MODULE: 8 XXX
|
||||
SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
|
||||
SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
|
||||
SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 581 GAS_PEDAL: 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
|
||||
|
||||
BO_ 610 EPS_STATUS: 5 EPS
|
||||
SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
|
||||
SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 956 GEAR_PACKET: 8 XXX
|
||||
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
|
||||
|
||||
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";
|
||||
@@ -14,20 +14,6 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
|
||||
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+ (0.0244140625,0) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
|
||||
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
@@ -14,20 +14,6 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
|
||||
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+ (0.0244140625,0) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
|
||||
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
@@ -14,20 +14,6 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
|
||||
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+ (0.0244140625,0) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
|
||||
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
@@ -25,17 +25,9 @@ jobs:
|
||||
command: |
|
||||
docker run panda_build /bin/bash -c "cd /panda; python setup.py install"
|
||||
- run:
|
||||
name: Build Panda STM image
|
||||
name: Build STM image
|
||||
command: |
|
||||
docker run panda_build /bin/bash -c "cd /panda/board; make bin"
|
||||
- run:
|
||||
name: Build Pedal STM image
|
||||
command: |
|
||||
docker run panda_build /bin/bash -c "cd /panda/board/pedal; make obj/comma.bin"
|
||||
- run:
|
||||
name: Build NEO STM image
|
||||
command: |
|
||||
docker run panda_build /bin/bash -c "cd /panda/board; make clean; make -f Makefile.legacy obj/comma.bin"
|
||||
- run:
|
||||
name: Build ESP image
|
||||
command: |
|
||||
|
||||
@@ -1 +1 @@
|
||||
v1.1.5
|
||||
v1.1.3
|
||||
@@ -158,7 +158,7 @@ void can_set_speed(uint8_t can_number) {
|
||||
// initialization mode
|
||||
CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
|
||||
while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
|
||||
|
||||
|
||||
// set time quanta from defines
|
||||
CAN->BTR = (CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
|
||||
(CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
|
||||
@@ -461,6 +461,8 @@ void CAN3_SCE_IRQHandler() { can_sce(CAN3); }
|
||||
|
||||
#endif
|
||||
|
||||
#include "canbitbang.h"
|
||||
|
||||
void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
|
||||
if (safety_tx_hook(to_push) && !can_autobaud_enabled[bus_number]) {
|
||||
if (bus_number < BUS_MAX) {
|
||||
@@ -468,10 +470,8 @@ void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
|
||||
// bus number isn't passed through
|
||||
to_push->RDTR &= 0xF;
|
||||
if (bus_number == 3 && can_num_lookup[3] == 0xFF) {
|
||||
#ifdef PANDA
|
||||
// TODO: why uint8 bro? only int8?
|
||||
bitbang_gmlan(to_push);
|
||||
#endif
|
||||
} else {
|
||||
can_push(can_queues[bus_number], to_push);
|
||||
process_can(CAN_NUM_FROM_BUS_NUM(bus_number));
|
||||
|
||||
203
panda/board/drivers/canbitbang.h
Normal file
203
panda/board/drivers/canbitbang.h
Normal file
@@ -0,0 +1,203 @@
|
||||
#define MAX_BITS_CAN_PACKET (200)
|
||||
|
||||
// returns out_len
|
||||
int do_bitstuff(char *out, char *in, int in_len) {
|
||||
int last_bit = -1;
|
||||
int bit_cnt = 0;
|
||||
int j = 0;
|
||||
for (int i = 0; i < in_len; i++) {
|
||||
char bit = in[i];
|
||||
out[j++] = bit;
|
||||
|
||||
// do the stuffing
|
||||
if (bit == last_bit) {
|
||||
bit_cnt++;
|
||||
if (bit_cnt == 5) {
|
||||
// 5 in a row the same, do stuff
|
||||
last_bit = !bit;
|
||||
out[j++] = last_bit;
|
||||
bit_cnt = 1;
|
||||
}
|
||||
} else {
|
||||
// this is a new bit
|
||||
last_bit = bit;
|
||||
bit_cnt = 1;
|
||||
}
|
||||
}
|
||||
return j;
|
||||
}
|
||||
|
||||
int append_crc(char *in, int in_len) {
|
||||
int crc = 0;
|
||||
for (int i = 0; i < in_len; i++) {
|
||||
crc <<= 1;
|
||||
if (in[i] ^ ((crc>>15)&1)) {
|
||||
crc = crc ^ 0x4599;
|
||||
}
|
||||
crc &= 0x7fff;
|
||||
}
|
||||
for (int i = 14; i >= 0; i--) {
|
||||
in[in_len++] = (crc>>i)&1;
|
||||
}
|
||||
return in_len;
|
||||
}
|
||||
|
||||
int append_bits(char *in, int in_len, char *app, int app_len) {
|
||||
for (int i = 0; i < app_len; i++) {
|
||||
in[in_len++] = app[i];
|
||||
}
|
||||
return in_len;
|
||||
}
|
||||
|
||||
int append_int(char *in, int in_len, int val, int val_len) {
|
||||
for (int i = val_len-1; i >= 0; i--) {
|
||||
in[in_len++] = (val&(1<<i)) != 0;
|
||||
}
|
||||
return in_len;
|
||||
}
|
||||
|
||||
int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
|
||||
char pkt[MAX_BITS_CAN_PACKET];
|
||||
char footer[] = {
|
||||
1, // CRC delimiter
|
||||
1, // ACK
|
||||
1, // ACK delimiter
|
||||
1,1,1,1,1,1,1, // EOF
|
||||
1,1,1, // IFS
|
||||
};
|
||||
|
||||
int len = 0;
|
||||
|
||||
// test packet
|
||||
int dlc_len = to_bang->RDTR & 0xF;
|
||||
len = append_int(pkt, len, 0, 1); // Start-of-frame
|
||||
|
||||
if (to_bang->RIR & 4) {
|
||||
// extended identifier
|
||||
len = append_int(pkt, len, to_bang->RIR >> 21, 11); // Identifier
|
||||
len = append_int(pkt, len, 3, 2); // SRR+IDE
|
||||
len = append_int(pkt, len, (to_bang->RIR >> 3) & ((1<<18)-1), 18); // Identifier
|
||||
len = append_int(pkt, len, 0, 3); // RTR+r1+r0
|
||||
} else {
|
||||
// standard identifier
|
||||
len = append_int(pkt, len, to_bang->RIR >> 21, 11); // Identifier
|
||||
len = append_int(pkt, len, 0, 3); // RTR+IDE+reserved
|
||||
}
|
||||
|
||||
len = append_int(pkt, len, dlc_len, 4); // Data length code
|
||||
|
||||
// append data
|
||||
for (int i = 0; i < dlc_len; i++) {
|
||||
unsigned char dat = ((unsigned char *)(&(to_bang->RDLR)))[i];
|
||||
len = append_int(pkt, len, dat, 8);
|
||||
}
|
||||
|
||||
// append crc
|
||||
len = append_crc(pkt, len);
|
||||
|
||||
// do bitstuffing
|
||||
len = do_bitstuff(out, pkt, len);
|
||||
|
||||
// append footer
|
||||
len = append_bits(out, len, footer, sizeof(footer));
|
||||
return len;
|
||||
}
|
||||
|
||||
// hardware stuff below this line
|
||||
|
||||
#ifdef PANDA
|
||||
|
||||
void set_bitbanged_gmlan(int val) {
|
||||
if (val) {
|
||||
GPIOB->ODR |= (1 << 13);
|
||||
} else {
|
||||
GPIOB->ODR &= ~(1 << 13);
|
||||
}
|
||||
}
|
||||
|
||||
char pkt_stuffed[MAX_BITS_CAN_PACKET];
|
||||
int gmlan_sending = -1;
|
||||
int gmlan_sendmax = -1;
|
||||
|
||||
int gmlan_silent_count = 0;
|
||||
int gmlan_fail_count = 0;
|
||||
#define REQUIRED_SILENT_TIME 10
|
||||
#define MAX_FAIL_COUNT 10
|
||||
|
||||
void TIM4_IRQHandler(void) {
|
||||
if (TIM4->SR & TIM_SR_UIF && gmlan_sendmax != -1) {
|
||||
int read = get_gpio_input(GPIOB, 12);
|
||||
if (gmlan_silent_count < REQUIRED_SILENT_TIME) {
|
||||
if (read == 0) {
|
||||
gmlan_silent_count = 0;
|
||||
} else {
|
||||
gmlan_silent_count++;
|
||||
}
|
||||
} else if (gmlan_silent_count == REQUIRED_SILENT_TIME) {
|
||||
int retry = 0;
|
||||
// in send loop
|
||||
if (gmlan_sending > 0 && // not first bit
|
||||
(read == 0 && pkt_stuffed[gmlan_sending-1] == 1) && // bus wrongly dominant
|
||||
gmlan_sending != (gmlan_sendmax-11)) { //not ack bit
|
||||
puts("GMLAN ERR: bus driven at ");
|
||||
puth(gmlan_sending);
|
||||
puts("\n");
|
||||
retry = 1;
|
||||
} else if (read == 1 && gmlan_sending == (gmlan_sendmax-11)) { // recessive during ACK
|
||||
puts("GMLAN ERR: didn't recv ACK\n");
|
||||
retry = 1;
|
||||
}
|
||||
if (retry) {
|
||||
// reset sender (retry after 7 silent)
|
||||
set_bitbanged_gmlan(1); // recessive
|
||||
gmlan_silent_count = 0;
|
||||
gmlan_sending = 0;
|
||||
gmlan_fail_count++;
|
||||
if (gmlan_fail_count == MAX_FAIL_COUNT) {
|
||||
puts("GMLAN ERR: giving up send\n");
|
||||
}
|
||||
} else {
|
||||
set_bitbanged_gmlan(pkt_stuffed[gmlan_sending]);
|
||||
gmlan_sending++;
|
||||
}
|
||||
}
|
||||
if (gmlan_sending == gmlan_sendmax || gmlan_fail_count == MAX_FAIL_COUNT) {
|
||||
set_bitbanged_gmlan(1); // recessive
|
||||
set_gpio_mode(GPIOB, 13, MODE_INPUT);
|
||||
TIM4->DIER = 0; // no update interrupt
|
||||
TIM4->CR1 = 0; // disable timer
|
||||
gmlan_sendmax = -1; // exit
|
||||
}
|
||||
}
|
||||
TIM4->SR = 0;
|
||||
}
|
||||
|
||||
void bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
|
||||
// TODO: make failure less silent
|
||||
if (gmlan_sendmax != -1) return;
|
||||
|
||||
int len = get_bit_message(pkt_stuffed, to_bang);
|
||||
gmlan_fail_count = 0;
|
||||
gmlan_silent_count = 0;
|
||||
gmlan_sending = 0;
|
||||
gmlan_sendmax = len;
|
||||
|
||||
// setup for bitbang loop
|
||||
set_bitbanged_gmlan(1); // recessive
|
||||
set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
|
||||
|
||||
// setup
|
||||
TIM4->PSC = 48-1; // tick on 1 us
|
||||
TIM4->CR1 = TIM_CR1_CEN; // enable
|
||||
TIM4->ARR = 30-1; // 33.3 kbps
|
||||
|
||||
// in case it's disabled
|
||||
NVIC_EnableIRQ(TIM4_IRQn);
|
||||
|
||||
// run the interrupt
|
||||
TIM4->DIER = TIM_DIER_UIE; // update interrupt
|
||||
TIM4->SR = 0;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
@@ -1,276 +0,0 @@
|
||||
#define GMLAN_TICKS_PER_SECOND 33300 //1sec @ 33.3kbps
|
||||
#define GMLAN_TICKS_PER_TIMEOUT_TICKLE 500 //15ms @ 33.3kbps
|
||||
#define GMLAN_HIGH 0 //0 is high on bus (dominant)
|
||||
#define GMLAN_LOW 1 //1 is low on bus
|
||||
|
||||
#define DISABLED -1
|
||||
#define BITBANG 0
|
||||
#define GPIO_SWITCH 1
|
||||
|
||||
#define MAX_BITS_CAN_PACKET (200)
|
||||
|
||||
int gmlan_alt_mode = DISABLED;
|
||||
|
||||
// returns out_len
|
||||
int do_bitstuff(char *out, char *in, int in_len) {
|
||||
int last_bit = -1;
|
||||
int bit_cnt = 0;
|
||||
int j = 0;
|
||||
for (int i = 0; i < in_len; i++) {
|
||||
char bit = in[i];
|
||||
out[j++] = bit;
|
||||
|
||||
// do the stuffing
|
||||
if (bit == last_bit) {
|
||||
bit_cnt++;
|
||||
if (bit_cnt == 5) {
|
||||
// 5 in a row the same, do stuff
|
||||
last_bit = !bit;
|
||||
out[j++] = last_bit;
|
||||
bit_cnt = 1;
|
||||
}
|
||||
} else {
|
||||
// this is a new bit
|
||||
last_bit = bit;
|
||||
bit_cnt = 1;
|
||||
}
|
||||
}
|
||||
return j;
|
||||
}
|
||||
|
||||
int append_crc(char *in, int in_len) {
|
||||
int crc = 0;
|
||||
for (int i = 0; i < in_len; i++) {
|
||||
crc <<= 1;
|
||||
if (in[i] ^ ((crc>>15)&1)) {
|
||||
crc = crc ^ 0x4599;
|
||||
}
|
||||
crc &= 0x7fff;
|
||||
}
|
||||
for (int i = 14; i >= 0; i--) {
|
||||
in[in_len++] = (crc>>i)&1;
|
||||
}
|
||||
return in_len;
|
||||
}
|
||||
|
||||
int append_bits(char *in, int in_len, char *app, int app_len) {
|
||||
for (int i = 0; i < app_len; i++) {
|
||||
in[in_len++] = app[i];
|
||||
}
|
||||
return in_len;
|
||||
}
|
||||
|
||||
int append_int(char *in, int in_len, int val, int val_len) {
|
||||
for (int i = val_len-1; i >= 0; i--) {
|
||||
in[in_len++] = (val&(1<<i)) != 0;
|
||||
}
|
||||
return in_len;
|
||||
}
|
||||
|
||||
int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
|
||||
char pkt[MAX_BITS_CAN_PACKET];
|
||||
char footer[] = {
|
||||
1, // CRC delimiter
|
||||
1, // ACK
|
||||
1, // ACK delimiter
|
||||
1,1,1,1,1,1,1, // EOF
|
||||
1,1,1, // IFS
|
||||
};
|
||||
|
||||
int len = 0;
|
||||
|
||||
// test packet
|
||||
int dlc_len = to_bang->RDTR & 0xF;
|
||||
len = append_int(pkt, len, 0, 1); // Start-of-frame
|
||||
|
||||
if (to_bang->RIR & 4) {
|
||||
// extended identifier
|
||||
len = append_int(pkt, len, to_bang->RIR >> 21, 11); // Identifier
|
||||
len = append_int(pkt, len, 3, 2); // SRR+IDE
|
||||
len = append_int(pkt, len, (to_bang->RIR >> 3) & ((1<<18)-1), 18); // Identifier
|
||||
len = append_int(pkt, len, 0, 3); // RTR+r1+r0
|
||||
} else {
|
||||
// standard identifier
|
||||
len = append_int(pkt, len, to_bang->RIR >> 21, 11); // Identifier
|
||||
len = append_int(pkt, len, 0, 3); // RTR+IDE+reserved
|
||||
}
|
||||
|
||||
len = append_int(pkt, len, dlc_len, 4); // Data length code
|
||||
|
||||
// append data
|
||||
for (int i = 0; i < dlc_len; i++) {
|
||||
unsigned char dat = ((unsigned char *)(&(to_bang->RDLR)))[i];
|
||||
len = append_int(pkt, len, dat, 8);
|
||||
}
|
||||
|
||||
// append crc
|
||||
len = append_crc(pkt, len);
|
||||
|
||||
// do bitstuffing
|
||||
len = do_bitstuff(out, pkt, len);
|
||||
|
||||
// append footer
|
||||
len = append_bits(out, len, footer, sizeof(footer));
|
||||
return len;
|
||||
}
|
||||
|
||||
#ifdef PANDA
|
||||
|
||||
void setup_timer4() {
|
||||
// setup
|
||||
TIM4->PSC = 48-1; // tick on 1 us
|
||||
TIM4->CR1 = TIM_CR1_CEN; // enable
|
||||
TIM4->ARR = 30-1; // 33.3 kbps
|
||||
|
||||
// in case it's disabled
|
||||
NVIC_EnableIRQ(TIM4_IRQn);
|
||||
|
||||
// run the interrupt
|
||||
TIM4->DIER = TIM_DIER_UIE; // update interrupt
|
||||
TIM4->SR = 0;
|
||||
}
|
||||
|
||||
int gmlan_timeout_counter = GMLAN_TICKS_PER_TIMEOUT_TICKLE; //GMLAN transceiver times out every 17ms held high; tickle every 15ms
|
||||
int can_timeout_counter = GMLAN_TICKS_PER_SECOND; //1 second
|
||||
|
||||
int inverted_bit_to_send = GMLAN_HIGH;
|
||||
int gmlan_switch_below_timeout = -1;
|
||||
int gmlan_switch_timeout_enable = 0;
|
||||
|
||||
void gmlan_switch_init(int timeout_enable) {
|
||||
gmlan_switch_timeout_enable = timeout_enable;
|
||||
gmlan_alt_mode = GPIO_SWITCH;
|
||||
gmlan_switch_below_timeout = 1;
|
||||
set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
|
||||
|
||||
setup_timer4();
|
||||
|
||||
inverted_bit_to_send = GMLAN_LOW; //We got initialized, set the output low
|
||||
}
|
||||
|
||||
void set_gmlan_digital_output(int to_set) {
|
||||
inverted_bit_to_send = to_set;
|
||||
/*
|
||||
puts("Writing ");
|
||||
puth(inverted_bit_to_send);
|
||||
puts("\n");
|
||||
*/
|
||||
}
|
||||
|
||||
void reset_gmlan_switch_timeout(void) {
|
||||
can_timeout_counter = GMLAN_TICKS_PER_SECOND;
|
||||
gmlan_switch_below_timeout = 1;
|
||||
gmlan_alt_mode = GPIO_SWITCH;
|
||||
}
|
||||
|
||||
void set_bitbanged_gmlan(int val) {
|
||||
if (val) {
|
||||
GPIOB->ODR |= (1 << 13);
|
||||
} else {
|
||||
GPIOB->ODR &= ~(1 << 13);
|
||||
}
|
||||
}
|
||||
|
||||
char pkt_stuffed[MAX_BITS_CAN_PACKET];
|
||||
int gmlan_sending = -1;
|
||||
int gmlan_sendmax = -1;
|
||||
|
||||
int gmlan_silent_count = 0;
|
||||
int gmlan_fail_count = 0;
|
||||
#define REQUIRED_SILENT_TIME 10
|
||||
#define MAX_FAIL_COUNT 10
|
||||
|
||||
void TIM4_IRQHandler(void) {
|
||||
if (gmlan_alt_mode == BITBANG) {
|
||||
if (TIM4->SR & TIM_SR_UIF && gmlan_sendmax != -1) {
|
||||
int read = get_gpio_input(GPIOB, 12);
|
||||
if (gmlan_silent_count < REQUIRED_SILENT_TIME) {
|
||||
if (read == 0) {
|
||||
gmlan_silent_count = 0;
|
||||
} else {
|
||||
gmlan_silent_count++;
|
||||
}
|
||||
} else if (gmlan_silent_count == REQUIRED_SILENT_TIME) {
|
||||
int retry = 0;
|
||||
// in send loop
|
||||
if (gmlan_sending > 0 && // not first bit
|
||||
(read == 0 && pkt_stuffed[gmlan_sending-1] == 1) && // bus wrongly dominant
|
||||
gmlan_sending != (gmlan_sendmax-11)) { //not ack bit
|
||||
puts("GMLAN ERR: bus driven at ");
|
||||
puth(gmlan_sending);
|
||||
puts("\n");
|
||||
retry = 1;
|
||||
} else if (read == 1 && gmlan_sending == (gmlan_sendmax-11)) { // recessive during ACK
|
||||
puts("GMLAN ERR: didn't recv ACK\n");
|
||||
retry = 1;
|
||||
}
|
||||
if (retry) {
|
||||
// reset sender (retry after 7 silent)
|
||||
set_bitbanged_gmlan(1); // recessive
|
||||
gmlan_silent_count = 0;
|
||||
gmlan_sending = 0;
|
||||
gmlan_fail_count++;
|
||||
if (gmlan_fail_count == MAX_FAIL_COUNT) {
|
||||
puts("GMLAN ERR: giving up send\n");
|
||||
}
|
||||
} else {
|
||||
set_bitbanged_gmlan(pkt_stuffed[gmlan_sending]);
|
||||
gmlan_sending++;
|
||||
}
|
||||
}
|
||||
if (gmlan_sending == gmlan_sendmax || gmlan_fail_count == MAX_FAIL_COUNT) {
|
||||
set_bitbanged_gmlan(1); // recessive
|
||||
set_gpio_mode(GPIOB, 13, MODE_INPUT);
|
||||
TIM4->DIER = 0; // no update interrupt
|
||||
TIM4->CR1 = 0; // disable timer
|
||||
gmlan_sendmax = -1; // exit
|
||||
}
|
||||
}
|
||||
TIM4->SR = 0;
|
||||
} //bit bang mode
|
||||
|
||||
else if (gmlan_alt_mode == GPIO_SWITCH) {
|
||||
if (TIM4->SR & TIM_SR_UIF && gmlan_switch_below_timeout != -1) {
|
||||
if (can_timeout_counter == 0 && gmlan_switch_timeout_enable) {
|
||||
//it has been more than 1 second since timeout was reset; disable timer and restore the GMLAN output
|
||||
set_gpio_output(GPIOB, 13, GMLAN_LOW);
|
||||
gmlan_switch_below_timeout = -1;
|
||||
gmlan_timeout_counter = GMLAN_TICKS_PER_TIMEOUT_TICKLE;
|
||||
gmlan_alt_mode = DISABLED;
|
||||
}
|
||||
else {
|
||||
can_timeout_counter--;
|
||||
if (gmlan_timeout_counter == 0) {
|
||||
//Send a 1 (bus low) every 15ms to reset the GMLAN transceivers timeout
|
||||
gmlan_timeout_counter = GMLAN_TICKS_PER_TIMEOUT_TICKLE;
|
||||
set_gpio_output(GPIOB, 13, GMLAN_LOW);
|
||||
}
|
||||
else {
|
||||
set_gpio_output(GPIOB, 13, inverted_bit_to_send);
|
||||
gmlan_timeout_counter--;
|
||||
}
|
||||
}
|
||||
}
|
||||
TIM4->SR = 0;
|
||||
} //gmlan switch mode
|
||||
}
|
||||
|
||||
void bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
|
||||
gmlan_alt_mode = BITBANG;
|
||||
// TODO: make failure less silent
|
||||
if (gmlan_sendmax != -1) return;
|
||||
|
||||
int len = get_bit_message(pkt_stuffed, to_bang);
|
||||
gmlan_fail_count = 0;
|
||||
gmlan_silent_count = 0;
|
||||
gmlan_sending = 0;
|
||||
gmlan_sendmax = len;
|
||||
|
||||
// setup for bitbang loop
|
||||
set_bitbanged_gmlan(1); // recessive
|
||||
set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
|
||||
|
||||
setup_timer4();
|
||||
}
|
||||
|
||||
#endif
|
||||
@@ -15,7 +15,6 @@
|
||||
#include "drivers/uart.h"
|
||||
#include "drivers/adc.h"
|
||||
#include "drivers/usb.h"
|
||||
#include "drivers/gmlan_alt.h"
|
||||
#include "drivers/can.h"
|
||||
#include "drivers/spi.h"
|
||||
#include "drivers/timer.h"
|
||||
|
||||
@@ -5,14 +5,6 @@ struct sample_t {
|
||||
int max;
|
||||
} sample_t_default = {{0}, 0, 0};
|
||||
|
||||
// no float support in STM32F2 micros (cortex-m3)
|
||||
#ifdef PANDA
|
||||
struct lookup_t {
|
||||
float x[3];
|
||||
float y[3];
|
||||
};
|
||||
#endif
|
||||
|
||||
void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
|
||||
int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
|
||||
int safety_tx_lin_hook(int lin_num, uint8_t *data, int len);
|
||||
@@ -24,12 +16,9 @@ int max_limit_check(int val, const int MAX, const int MIN);
|
||||
int dist_to_meas_check(int val, int val_last, struct sample_t *val_meas,
|
||||
const int MAX_RATE_UP, const int MAX_RATE_DOWN, const int MAX_ERROR);
|
||||
int driver_limit_check(int val, int val_last, struct sample_t *val_driver,
|
||||
const int MAX, const int MAX_RATE_UP, const int MAX_RATE_DOWN,
|
||||
const int MAX, const int MAX_RATE_UP, const int MAX_RATE_DOWN,
|
||||
const int MAX_ALLOWANCE, const int DRIVER_FACTOR);
|
||||
int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA);
|
||||
#ifdef PANDA
|
||||
float interpolate(struct lookup_t xy, float x);
|
||||
#endif
|
||||
|
||||
typedef void (*safety_hook_init)(int16_t param);
|
||||
typedef void (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
|
||||
@@ -60,7 +49,6 @@ int controls_allowed = 0;
|
||||
#include "safety/safety_gm.h"
|
||||
#include "safety/safety_ford.h"
|
||||
#include "safety/safety_cadillac.h"
|
||||
#include "safety/safety_hyundai.h"
|
||||
#include "safety/safety_elm327.h"
|
||||
|
||||
const safety_hooks *current_hooks = &nooutput_hooks;
|
||||
@@ -99,7 +87,6 @@ typedef struct {
|
||||
#define SAFETY_HONDA_BOSCH 4
|
||||
#define SAFETY_FORD 5
|
||||
#define SAFETY_CADILLAC 6
|
||||
#define SAFETY_HYUNDAI 7
|
||||
#define SAFETY_TOYOTA_IPAS 0x1335
|
||||
#define SAFETY_TOYOTA_NOLIMITS 0x1336
|
||||
#define SAFETY_ALLOUTPUT 0x1337
|
||||
@@ -113,7 +100,6 @@ const safety_hook_config safety_hook_registry[] = {
|
||||
{SAFETY_GM, &gm_hooks},
|
||||
{SAFETY_FORD, &ford_hooks},
|
||||
{SAFETY_CADILLAC, &cadillac_hooks},
|
||||
{SAFETY_HYUNDAI, &hyundai_hooks},
|
||||
{SAFETY_TOYOTA_NOLIMITS, &toyota_nolimits_hooks},
|
||||
#ifdef PANDA
|
||||
{SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
|
||||
@@ -215,31 +201,3 @@ int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA) {
|
||||
// check for violation
|
||||
return (val < lowest_val) || (val > highest_val);
|
||||
}
|
||||
|
||||
|
||||
#ifdef PANDA
|
||||
// interp function that holds extreme values
|
||||
float interpolate(struct lookup_t xy, float x) {
|
||||
int size = sizeof(xy.x) / sizeof(xy.x[0]);
|
||||
// x is lower than the first point in the x array. Return the first point
|
||||
if (x <= xy.x[0]) {
|
||||
return xy.y[0];
|
||||
|
||||
} else {
|
||||
// find the index such that (xy.x[i] <= x < xy.x[i+1]) and linearly interp
|
||||
for (int i=0; i < size-1; i++) {
|
||||
if (x < xy.x[i+1]) {
|
||||
float x0 = xy.x[i];
|
||||
float y0 = xy.y[i];
|
||||
float dx = xy.x[i+1] - x0;
|
||||
float dy = xy.y[i+1] - y0;
|
||||
// dx should not be zero as xy.x is supposed ot be monotonic
|
||||
if (dx <= 0.) dx = 0.0001;
|
||||
return dy * (x - x0) / dx + y0;
|
||||
}
|
||||
}
|
||||
// if no such point is found, then x > xy.x[size-1]. Return last point
|
||||
return xy.y[size - 1];
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
@@ -125,7 +125,7 @@ const safety_hooks cadillac_hooks = {
|
||||
.init = cadillac_init,
|
||||
.rx = cadillac_rx_hook,
|
||||
.tx = cadillac_tx_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
.tx_lin = alloutput_tx_lin_hook,
|
||||
.ignition = cadillac_ign_hook,
|
||||
.fwd = alloutput_fwd_hook,
|
||||
};
|
||||
|
||||
@@ -57,3 +57,4 @@ const safety_hooks alloutput_hooks = {
|
||||
.ignition = default_ign_hook,
|
||||
.fwd = alloutput_fwd_hook,
|
||||
};
|
||||
|
||||
|
||||
@@ -83,11 +83,24 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
return true;
|
||||
}
|
||||
|
||||
static int ford_tx_lin_hook(int lin_num, uint8_t *data, int len) {
|
||||
// TODO: add safety if using LIN
|
||||
return true;
|
||||
}
|
||||
|
||||
static void ford_init(int16_t param) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
|
||||
static int ford_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
const safety_hooks ford_hooks = {
|
||||
.init = nooutput_init,
|
||||
.init = ford_init,
|
||||
.rx = ford_rx_hook,
|
||||
.tx = ford_tx_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
.tx_lin = ford_tx_lin_hook,
|
||||
.ignition = default_ign_hook,
|
||||
.fwd = nooutput_fwd_hook,
|
||||
.fwd = ford_fwd_hook,
|
||||
};
|
||||
|
||||
@@ -8,7 +8,7 @@
|
||||
// brake rising edge
|
||||
// brake > 0mph
|
||||
|
||||
const int GM_MAX_STEER = 300;
|
||||
const int GM_MAX_STEER = 255;
|
||||
const int GM_MAX_RT_DELTA = 128; // max delta torque allowed for real time checks
|
||||
const int32_t GM_RT_INTERVAL = 250000; // 250ms between real time checks
|
||||
const int GM_MAX_RATE_UP = 7;
|
||||
@@ -22,7 +22,7 @@ const int GM_MAX_BRAKE = 350;
|
||||
int gm_brake_prev = 0;
|
||||
int gm_gas_prev = 0;
|
||||
int gm_speed = 0;
|
||||
// silence everything if stock car control ECUs are still online
|
||||
// silence everything if stock ECUs are still online
|
||||
int gm_ascm_detected = 0;
|
||||
int gm_ignition_started = 0;
|
||||
int gm_rt_torque_last = 0;
|
||||
@@ -63,11 +63,8 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
gm_speed = to_push->RDLR & 0xFFFF;
|
||||
}
|
||||
|
||||
// Check if ASCM or LKA camera are online
|
||||
// on powertrain bus.
|
||||
// 384 = ASCMLKASteeringCmd
|
||||
// 715 = ASCMGasRegenCmd
|
||||
if (bus_number == 0 && (addr == 384 || addr == 715)) {
|
||||
// check if stock ASCM ECU is still online
|
||||
if (bus_number == 0 && addr == 715) {
|
||||
gm_ascm_detected = 1;
|
||||
controls_allowed = 0;
|
||||
}
|
||||
@@ -225,6 +222,11 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
return true;
|
||||
}
|
||||
|
||||
static int gm_tx_lin_hook(int lin_num, uint8_t *data, int len) {
|
||||
// LIN is not used in Volt
|
||||
return false;
|
||||
}
|
||||
|
||||
static void gm_init(int16_t param) {
|
||||
controls_allowed = 0;
|
||||
gm_ignition_started = 0;
|
||||
@@ -234,12 +236,16 @@ static int gm_ign_hook() {
|
||||
return gm_ignition_started;
|
||||
}
|
||||
|
||||
static int gm_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
const safety_hooks gm_hooks = {
|
||||
.init = gm_init,
|
||||
.rx = gm_rx_hook,
|
||||
.tx = gm_tx_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
.tx_lin = gm_tx_lin_hook,
|
||||
.ignition = gm_ign_hook,
|
||||
.fwd = nooutput_fwd_hook,
|
||||
.fwd = gm_fwd_hook,
|
||||
};
|
||||
|
||||
|
||||
@@ -119,7 +119,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
if ((to_send->RDLR & 0xFFFF0000) != to_send->RDLR) return 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// FORCE CANCEL: safety check only relevant when spamming the cancel button in Bosch HW
|
||||
// ensuring that only the cancel button press is sent (VAL 2) when controls are off.
|
||||
// This avoids unintended engagements while still allowing resume spam
|
||||
@@ -132,19 +132,28 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
return true;
|
||||
}
|
||||
|
||||
static int honda_tx_lin_hook(int lin_num, uint8_t *data, int len) {
|
||||
// TODO: add safety if using LIN
|
||||
return true;
|
||||
}
|
||||
|
||||
static void honda_init(int16_t param) {
|
||||
controls_allowed = 0;
|
||||
bosch_hardware = false;
|
||||
honda_alt_brake_msg = false;
|
||||
}
|
||||
|
||||
static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
const safety_hooks honda_hooks = {
|
||||
.init = honda_init,
|
||||
.rx = honda_rx_hook,
|
||||
.tx = honda_tx_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
.tx_lin = honda_tx_lin_hook,
|
||||
.ignition = default_ign_hook,
|
||||
.fwd = nooutput_fwd_hook,
|
||||
.fwd = honda_fwd_hook,
|
||||
};
|
||||
|
||||
static void honda_bosch_init(int16_t param) {
|
||||
@@ -166,7 +175,7 @@ const safety_hooks honda_bosch_hooks = {
|
||||
.init = honda_bosch_init,
|
||||
.rx = honda_rx_hook,
|
||||
.tx = honda_tx_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
.tx_lin = honda_tx_lin_hook,
|
||||
.ignition = default_ign_hook,
|
||||
.fwd = honda_bosch_fwd_hook,
|
||||
};
|
||||
|
||||
@@ -1,164 +0,0 @@
|
||||
const int HYUNDAI_MAX_STEER = 250;
|
||||
const int HYUNDAI_MAX_RT_DELTA = 112; // max delta torque allowed for real time checks
|
||||
const int32_t HYUNDAI_RT_INTERVAL = 250000; // 250ms between real time checks
|
||||
const int HYUNDAI_MAX_RATE_UP = 3;
|
||||
const int HYUNDAI_MAX_RATE_DOWN = 7;
|
||||
const int HYUNDAI_DRIVER_TORQUE_ALLOWANCE = 50;
|
||||
const int HYUNDAI_DRIVER_TORQUE_FACTOR = 2;
|
||||
|
||||
int hyundai_camera_detected = 0;
|
||||
int hyundai_camera_bus = 0;
|
||||
int hyundai_giraffe_switch_2 = 0; // is giraffe switch 2 high?
|
||||
int hyundai_rt_torque_last = 0;
|
||||
int hyundai_desired_torque_last = 0;
|
||||
int hyundai_cruise_engaged_last = 0;
|
||||
uint32_t hyundai_ts_last = 0;
|
||||
struct sample_t hyundai_torque_driver; // last few driver torques measured
|
||||
|
||||
static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
int bus = (to_push->RDTR >> 4) & 0xFF;
|
||||
uint32_t addr;
|
||||
if (to_push->RIR & 4) {
|
||||
// Extended
|
||||
// Not looked at, but have to be separated
|
||||
// to avoid address collision
|
||||
addr = to_push->RIR >> 3;
|
||||
} else {
|
||||
// Normal
|
||||
addr = to_push->RIR >> 21;
|
||||
}
|
||||
|
||||
if (addr == 897) {
|
||||
int torque_driver_new = ((to_push->RDLR >> 11) & 0xfff) - 2048;
|
||||
// update array of samples
|
||||
update_sample(&hyundai_torque_driver, torque_driver_new);
|
||||
}
|
||||
|
||||
// check if stock camera ECU is still online
|
||||
if (bus == 0 && addr == 832) {
|
||||
hyundai_camera_detected = 1;
|
||||
controls_allowed = 0;
|
||||
}
|
||||
|
||||
// Find out which bus the camera is on
|
||||
if (addr == 832) {
|
||||
hyundai_camera_bus = bus;
|
||||
}
|
||||
|
||||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
if ((to_push->RIR>>21) == 1057) {
|
||||
// 2 bits: 13-14
|
||||
int cruise_engaged = (to_push->RDLR >> 13) & 0x3;
|
||||
if (cruise_engaged && !hyundai_cruise_engaged_last) {
|
||||
controls_allowed = 1;
|
||||
} else if (!cruise_engaged) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
hyundai_cruise_engaged_last = cruise_engaged;
|
||||
}
|
||||
|
||||
// 832 is lkas cmd. If it is on camera bus, then giraffe switch 2 is high
|
||||
if ((to_push->RIR>>21) == 832 && (bus == hyundai_camera_bus) && (hyundai_camera_bus != 0)) {
|
||||
hyundai_giraffe_switch_2 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
|
||||
// There can be only one! (camera)
|
||||
if (hyundai_camera_detected) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
uint32_t addr;
|
||||
if (to_send->RIR & 4) {
|
||||
// Extended
|
||||
addr = to_send->RIR >> 3;
|
||||
} else {
|
||||
// Normal
|
||||
addr = to_send->RIR >> 21;
|
||||
}
|
||||
|
||||
// LKA STEER: safety check
|
||||
if (addr == 832) {
|
||||
int desired_torque = ((to_send->RDLR >> 16) & 0x7ff) - 1024;
|
||||
uint32_t ts = TIM2->CNT;
|
||||
int violation = 0;
|
||||
|
||||
if (controls_allowed) {
|
||||
|
||||
// *** global torque limit check ***
|
||||
violation |= max_limit_check(desired_torque, HYUNDAI_MAX_STEER, -HYUNDAI_MAX_STEER);
|
||||
|
||||
// *** torque rate limit check ***
|
||||
violation |= driver_limit_check(desired_torque, hyundai_desired_torque_last, &hyundai_torque_driver,
|
||||
HYUNDAI_MAX_STEER, HYUNDAI_MAX_RATE_UP, HYUNDAI_MAX_RATE_DOWN,
|
||||
HYUNDAI_DRIVER_TORQUE_ALLOWANCE, HYUNDAI_DRIVER_TORQUE_FACTOR);
|
||||
|
||||
// used next time
|
||||
hyundai_desired_torque_last = desired_torque;
|
||||
|
||||
// *** torque real time rate limit check ***
|
||||
violation |= rt_rate_limit_check(desired_torque, hyundai_rt_torque_last, HYUNDAI_MAX_RT_DELTA);
|
||||
|
||||
// every RT_INTERVAL set the new limits
|
||||
uint32_t ts_elapsed = get_ts_elapsed(ts, hyundai_ts_last);
|
||||
if (ts_elapsed > HYUNDAI_RT_INTERVAL) {
|
||||
hyundai_rt_torque_last = desired_torque;
|
||||
hyundai_ts_last = ts;
|
||||
}
|
||||
}
|
||||
|
||||
// no torque if controls is not allowed
|
||||
if (!controls_allowed && (desired_torque != 0)) {
|
||||
violation = 1;
|
||||
}
|
||||
|
||||
// reset to 0 if either controls is not allowed or there's a violation
|
||||
if (violation || !controls_allowed) {
|
||||
hyundai_desired_torque_last = 0;
|
||||
hyundai_rt_torque_last = 0;
|
||||
hyundai_ts_last = ts;
|
||||
}
|
||||
|
||||
if (violation) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
// FORCE CANCEL: safety check only relevant when spamming the cancel button.
|
||||
// ensuring that only the cancel button press is sent (VAL 4) when controls are off.
|
||||
// This avoids unintended engagements while still allowing resume spam
|
||||
// TODO: fix bug preventing the button msg to be fwd'd on bus 2
|
||||
//if (((to_send->RIR>>21) == 1265) && !controls_allowed && ((to_send->RDTR >> 4) & 0xFF) == 0) {
|
||||
// if ((to_send->RDLR & 0x7) != 4) return 0;
|
||||
//}
|
||||
|
||||
// 1 allows the message through
|
||||
return true;
|
||||
}
|
||||
|
||||
static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
// forward cam to ccan and viceversa, except lkas cmd
|
||||
if ((bus_num == 0 || bus_num == hyundai_camera_bus) && hyundai_giraffe_switch_2) {
|
||||
|
||||
if ((to_fwd->RIR>>21) == 832 && bus_num == hyundai_camera_bus) return -1;
|
||||
if (bus_num == 0) return hyundai_camera_bus;
|
||||
if (bus_num == hyundai_camera_bus) return 0;
|
||||
}
|
||||
return -1;
|
||||
}
|
||||
|
||||
static void hyundai_init(int16_t param) {
|
||||
controls_allowed = 0;
|
||||
hyundai_giraffe_switch_2 = 0;
|
||||
}
|
||||
|
||||
const safety_hooks hyundai_hooks = {
|
||||
.init = hyundai_init,
|
||||
.rx = hyundai_rx_hook,
|
||||
.tx = hyundai_tx_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
.ignition = default_ign_hook,
|
||||
.fwd = hyundai_fwd_hook,
|
||||
};
|
||||
@@ -107,7 +107,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
violation |= max_limit_check(desired_torque, TOYOTA_MAX_TORQUE, -TOYOTA_MAX_TORQUE);
|
||||
|
||||
// *** torque rate limit check ***
|
||||
violation |= dist_to_meas_check(desired_torque, toyota_desired_torque_last,
|
||||
violation |= dist_to_meas_check(desired_torque, toyota_desired_torque_last,
|
||||
&toyota_torque_meas, TOYOTA_MAX_RATE_UP, TOYOTA_MAX_RATE_DOWN, TOYOTA_MAX_TORQUE_ERROR);
|
||||
|
||||
// used next time
|
||||
@@ -123,7 +123,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
toyota_ts_last = ts;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// no torque if controls is not allowed
|
||||
if (!controls_allowed && (desired_torque != 0)) {
|
||||
violation = 1;
|
||||
@@ -146,6 +146,11 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
return true;
|
||||
}
|
||||
|
||||
static int toyota_tx_lin_hook(int lin_num, uint8_t *data, int len) {
|
||||
// TODO: add safety if using LIN
|
||||
return true;
|
||||
}
|
||||
|
||||
static void toyota_init(int16_t param) {
|
||||
controls_allowed = 0;
|
||||
toyota_actuation_limits = 1;
|
||||
@@ -168,7 +173,7 @@ const safety_hooks toyota_hooks = {
|
||||
.init = toyota_init,
|
||||
.rx = toyota_rx_hook,
|
||||
.tx = toyota_tx_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
.tx_lin = toyota_tx_lin_hook,
|
||||
.ignition = default_ign_hook,
|
||||
.fwd = toyota_fwd_hook,
|
||||
};
|
||||
@@ -184,7 +189,7 @@ const safety_hooks toyota_nolimits_hooks = {
|
||||
.init = toyota_nolimits_init,
|
||||
.rx = toyota_rx_hook,
|
||||
.tx = toyota_tx_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
.tx_lin = toyota_tx_lin_hook,
|
||||
.ignition = default_ign_hook,
|
||||
.fwd = toyota_fwd_hook,
|
||||
};
|
||||
|
||||
@@ -4,6 +4,11 @@
|
||||
// IPAS override
|
||||
const int32_t TOYOTA_IPAS_OVERRIDE_THRESHOLD = 200; // disallow controls when user torque exceeds this value
|
||||
|
||||
struct lookup_t {
|
||||
float x[3];
|
||||
float y[3];
|
||||
};
|
||||
|
||||
// 2m/s are added to be less restrictive
|
||||
const struct lookup_t LOOKUP_ANGLE_RATE_UP = {
|
||||
{2., 7., 17.},
|
||||
@@ -30,6 +35,31 @@ uint32_t ts_angle_last = 0;
|
||||
|
||||
int controls_allowed_last = 0;
|
||||
|
||||
// interp function that holds extreme values
|
||||
float interpolate(struct lookup_t xy, float x) {
|
||||
int size = sizeof(xy.x) / sizeof(xy.x[0]);
|
||||
// x is lower than the first point in the x array. Return the first point
|
||||
if (x <= xy.x[0]) {
|
||||
return xy.y[0];
|
||||
|
||||
} else {
|
||||
// find the index such that (xy.x[i] <= x < xy.x[i+1]) and linearly interp
|
||||
for (int i=0; i < size-1; i++) {
|
||||
if (x < xy.x[i+1]) {
|
||||
float x0 = xy.x[i];
|
||||
float y0 = xy.y[i];
|
||||
float dx = xy.x[i+1] - x0;
|
||||
float dy = xy.y[i+1] - y0;
|
||||
// dx should not be zero as xy.x is supposed ot be monotonic
|
||||
if (dx <= 0.) dx = 0.0001;
|
||||
return dy * (x - x0) / dx + y0;
|
||||
}
|
||||
}
|
||||
// if no such point is found, then x > xy.x[size-1]. Return last point
|
||||
return xy.y[size - 1];
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
static void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// check standard toyota stuff as well
|
||||
@@ -116,15 +146,15 @@ static int toyota_ipas_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
int delta_angle_down = (int) (interpolate(LOOKUP_ANGLE_RATE_DOWN, speed) * CAN_TO_DEG + 1.);
|
||||
int highest_desired_angle = desired_angle_last + (desired_angle_last > 0? delta_angle_up:delta_angle_down);
|
||||
int lowest_desired_angle = desired_angle_last - (desired_angle_last > 0? delta_angle_down:delta_angle_up);
|
||||
if ((desired_angle > highest_desired_angle) ||
|
||||
if ((desired_angle > highest_desired_angle) ||
|
||||
(desired_angle < lowest_desired_angle)){
|
||||
violation = 1;
|
||||
controls_allowed = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// desired steer angle should be the same as steer angle measured when controls are off
|
||||
if ((!controls_allowed) &&
|
||||
if ((!controls_allowed) &&
|
||||
((desired_angle < (angle_meas.min - 1)) ||
|
||||
(desired_angle > (angle_meas.max + 1)) ||
|
||||
(ipas_state_cmd != 1))) {
|
||||
@@ -149,7 +179,7 @@ const safety_hooks toyota_ipas_hooks = {
|
||||
.init = toyota_init,
|
||||
.rx = toyota_ipas_rx_hook,
|
||||
.tx = toyota_ipas_tx_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
.tx_lin = toyota_tx_lin_hook,
|
||||
.ignition = default_ign_hook,
|
||||
.fwd = toyota_fwd_hook,
|
||||
};
|
||||
|
||||
@@ -2,13 +2,13 @@
|
||||
Dependencies
|
||||
-----
|
||||
|
||||
**Debian / Ubuntu**
|
||||
**Mac**
|
||||
|
||||
```
|
||||
./get_sdk.sh
|
||||
```
|
||||
|
||||
**Mac**
|
||||
**Debian / Ubuntu**
|
||||
|
||||
```
|
||||
./get_sdk_mac.sh
|
||||
|
||||
@@ -1,20 +0,0 @@
|
||||
#!/usr/bin/env python
|
||||
from panda import Panda
|
||||
|
||||
def get_panda_password():
|
||||
|
||||
try:
|
||||
print("Trying to connect to Panda over USB...")
|
||||
p = Panda()
|
||||
|
||||
except AssertionError:
|
||||
print("USB connection failed")
|
||||
sys.exit(0)
|
||||
|
||||
wifi = p.get_serial()
|
||||
#print('[%s]' % ', '.join(map(str, wifi)))
|
||||
print("SSID: " + wifi[0])
|
||||
print("Password: " + wifi[1])
|
||||
|
||||
if __name__ == "__main__":
|
||||
get_panda_password()
|
||||
@@ -41,7 +41,6 @@ void set_timer(int t);
|
||||
void set_toyota_torque_meas(int min, int max);
|
||||
void set_cadillac_torque_driver(int min, int max);
|
||||
void set_gm_torque_driver(int min, int max);
|
||||
void set_hyundai_torque_driver(int min, int max);
|
||||
void set_toyota_rt_torque_last(int t);
|
||||
void set_toyota_desired_torque_last(int t);
|
||||
int get_toyota_torque_meas_min(void);
|
||||
@@ -71,13 +70,6 @@ int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
|
||||
void set_gm_desired_torque_last(int t);
|
||||
void set_gm_rt_torque_last(int t);
|
||||
|
||||
void init_tests_hyundai(void);
|
||||
void nooutput_init(int16_t param);
|
||||
void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
|
||||
int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
|
||||
void set_hyundai_desired_torque_last(int t);
|
||||
void set_hyundai_rt_torque_last(int t);
|
||||
|
||||
void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
|
||||
int toyota_ipas_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
|
||||
|
||||
|
||||
@@ -25,7 +25,6 @@ typedef struct
|
||||
struct sample_t toyota_torque_meas;
|
||||
struct sample_t cadillac_torque_driver;
|
||||
struct sample_t gm_torque_driver;
|
||||
struct sample_t hyundai_torque_driver;
|
||||
|
||||
TIM_TypeDef timer;
|
||||
TIM_TypeDef *TIM2 = &timer;
|
||||
@@ -76,11 +75,6 @@ void set_gm_torque_driver(int min, int max){
|
||||
gm_torque_driver.max = max;
|
||||
}
|
||||
|
||||
void set_hyundai_torque_driver(int min, int max){
|
||||
hyundai_torque_driver.min = min;
|
||||
hyundai_torque_driver.max = max;
|
||||
}
|
||||
|
||||
int get_toyota_torque_meas_min(void){
|
||||
return toyota_torque_meas.min;
|
||||
}
|
||||
@@ -101,10 +95,6 @@ void set_gm_rt_torque_last(int t){
|
||||
gm_rt_torque_last = t;
|
||||
}
|
||||
|
||||
void set_hyundai_rt_torque_last(int t){
|
||||
hyundai_rt_torque_last = t;
|
||||
}
|
||||
|
||||
void set_toyota_desired_torque_last(int t){
|
||||
toyota_desired_torque_last = t;
|
||||
}
|
||||
@@ -117,9 +107,6 @@ void set_gm_desired_torque_last(int t){
|
||||
gm_desired_torque_last = t;
|
||||
}
|
||||
|
||||
void set_hyundai_desired_torque_last(int t){
|
||||
hyundai_desired_torque_last = t;
|
||||
}
|
||||
|
||||
int get_ego_speed(void){
|
||||
return ego_speed;
|
||||
@@ -168,15 +155,6 @@ void init_tests_gm(void){
|
||||
set_timer(0);
|
||||
}
|
||||
|
||||
void init_tests_hyundai(void){
|
||||
hyundai_torque_driver.min = 0;
|
||||
hyundai_torque_driver.max = 0;
|
||||
hyundai_desired_torque_last = 0;
|
||||
hyundai_rt_torque_last = 0;
|
||||
hyundai_ts_last = 0;
|
||||
set_timer(0);
|
||||
}
|
||||
|
||||
void init_tests_honda(void){
|
||||
ego_speed = 0;
|
||||
gas_interceptor_detected = 0;
|
||||
|
||||
@@ -5,7 +5,7 @@ import libpandasafety_py
|
||||
|
||||
MAX_RATE_UP = 7
|
||||
MAX_RATE_DOWN = 17
|
||||
MAX_STEER = 300
|
||||
MAX_STEER = 255
|
||||
MAX_BRAKE = 350
|
||||
MAX_GAS = 3072
|
||||
MAX_REGEN = 1404
|
||||
@@ -84,6 +84,10 @@ class TestGmSafety(unittest.TestCase):
|
||||
to_send[0].RDHR = (((t >> 8) & 0x7) << 16) | ((t & 0xFF) << 24)
|
||||
return to_send
|
||||
|
||||
def _torque_driver_msg_array(self, torque):
|
||||
for i in range(3):
|
||||
self.safety.gm_ipas_rx_hook(self._torque_driver_msg(torque))
|
||||
|
||||
def _torque_msg(self, torque):
|
||||
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
||||
to_send[0].RIR = 384 << 21
|
||||
@@ -113,7 +117,7 @@ class TestGmSafety(unittest.TestCase):
|
||||
self.safety.gm_rx_hook(self._button_msg(CANCEL_BTN))
|
||||
self.assertFalse(self.safety.get_controls_allowed())
|
||||
|
||||
def test_disengage_on_brake(self):
|
||||
def test_disengage_on_brake(self):
|
||||
self.safety.set_controls_allowed(1)
|
||||
self.safety.gm_rx_hook(self._brake_msg(True))
|
||||
self.assertFalse(self.safety.get_controls_allowed())
|
||||
|
||||
@@ -108,7 +108,7 @@ class TestHondaSafety(unittest.TestCase):
|
||||
self.safety.set_controls_allowed(1)
|
||||
self.safety.honda_rx_hook(self._alt_brake_msg(1))
|
||||
self.assertFalse(self.safety.get_controls_allowed())
|
||||
|
||||
|
||||
self.safety.set_honda_alt_brake_msg(0)
|
||||
self.safety.set_controls_allowed(1)
|
||||
self.safety.honda_rx_hook(self._alt_brake_msg(1))
|
||||
|
||||
@@ -1,186 +0,0 @@
|
||||
#!/usr/bin/env python2
|
||||
import unittest
|
||||
import numpy as np
|
||||
import libpandasafety_py
|
||||
|
||||
MAX_RATE_UP = 3
|
||||
MAX_RATE_DOWN = 7
|
||||
MAX_STEER = 250
|
||||
|
||||
MAX_RT_DELTA = 112
|
||||
RT_INTERVAL = 250000
|
||||
|
||||
DRIVER_TORQUE_ALLOWANCE = 50;
|
||||
DRIVER_TORQUE_FACTOR = 2;
|
||||
|
||||
def twos_comp(val, bits):
|
||||
if val >= 0:
|
||||
return val
|
||||
else:
|
||||
return (2**bits) + val
|
||||
|
||||
def sign(a):
|
||||
if a > 0:
|
||||
return 1
|
||||
else:
|
||||
return -1
|
||||
|
||||
class TestHyundaiSafety(unittest.TestCase):
|
||||
@classmethod
|
||||
def setUp(cls):
|
||||
cls.safety = libpandasafety_py.libpandasafety
|
||||
cls.safety.nooutput_init(0)
|
||||
cls.safety.init_tests_hyundai()
|
||||
|
||||
def _button_msg(self, buttons):
|
||||
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
||||
to_send[0].RIR = 1265 << 21
|
||||
to_send[0].RDLR = buttons
|
||||
return to_send
|
||||
|
||||
def _set_prev_torque(self, t):
|
||||
self.safety.set_hyundai_desired_torque_last(t)
|
||||
self.safety.set_hyundai_rt_torque_last(t)
|
||||
|
||||
def _torque_driver_msg(self, torque):
|
||||
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
||||
to_send[0].RIR = 897 << 21
|
||||
to_send[0].RDLR = (torque + 2048) << 11
|
||||
return to_send
|
||||
|
||||
def _torque_msg(self, torque):
|
||||
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
||||
to_send[0].RIR = 832 << 21
|
||||
to_send[0].RDLR = (torque + 1024) << 16
|
||||
return to_send
|
||||
|
||||
def test_default_controls_not_allowed(self):
|
||||
self.assertFalse(self.safety.get_controls_allowed())
|
||||
|
||||
def test_steer_safety_check(self):
|
||||
for enabled in [0, 1]:
|
||||
for t in range(-0x200, 0x200):
|
||||
self.safety.set_controls_allowed(enabled)
|
||||
self._set_prev_torque(t)
|
||||
if abs(t) > MAX_STEER or (not enabled and abs(t) > 0):
|
||||
self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(t)))
|
||||
else:
|
||||
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(t)))
|
||||
|
||||
def test_manually_enable_controls_allowed(self):
|
||||
self.safety.set_controls_allowed(1)
|
||||
self.assertTrue(self.safety.get_controls_allowed())
|
||||
self.safety.set_controls_allowed(0)
|
||||
self.assertFalse(self.safety.get_controls_allowed())
|
||||
|
||||
def test_enable_control_allowed_from_cruise(self):
|
||||
to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
||||
to_push[0].RIR = 1057 << 21
|
||||
to_push[0].RDLR = 1 << 13
|
||||
|
||||
self.safety.hyundai_rx_hook(to_push)
|
||||
self.assertTrue(self.safety.get_controls_allowed())
|
||||
|
||||
def test_disable_control_allowed_from_cruise(self):
|
||||
to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
||||
to_push[0].RIR = 1057 << 21
|
||||
to_push[0].RDLR = 0
|
||||
|
||||
self.safety.set_controls_allowed(1)
|
||||
self.safety.hyundai_rx_hook(to_push)
|
||||
self.assertFalse(self.safety.get_controls_allowed())
|
||||
|
||||
def test_non_realtime_limit_up(self):
|
||||
self.safety.set_hyundai_torque_driver(0, 0)
|
||||
self.safety.set_controls_allowed(True)
|
||||
|
||||
self._set_prev_torque(0)
|
||||
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(MAX_RATE_UP)))
|
||||
self._set_prev_torque(0)
|
||||
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(-MAX_RATE_UP)))
|
||||
|
||||
self._set_prev_torque(0)
|
||||
self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(MAX_RATE_UP + 1)))
|
||||
self.safety.set_controls_allowed(True)
|
||||
self._set_prev_torque(0)
|
||||
self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(-MAX_RATE_UP - 1)))
|
||||
|
||||
def test_non_realtime_limit_down(self):
|
||||
self.safety.set_hyundai_torque_driver(0, 0)
|
||||
self.safety.set_controls_allowed(True)
|
||||
|
||||
def test_against_torque_driver(self):
|
||||
self.safety.set_controls_allowed(True)
|
||||
|
||||
for sign in [-1, 1]:
|
||||
for t in np.arange(0, DRIVER_TORQUE_ALLOWANCE + 1, 1):
|
||||
t *= -sign
|
||||
self.safety.set_hyundai_torque_driver(t, t)
|
||||
self._set_prev_torque(MAX_STEER * sign)
|
||||
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(MAX_STEER * sign)))
|
||||
|
||||
self.safety.set_hyundai_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1)
|
||||
self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(-MAX_STEER)))
|
||||
|
||||
# spot check some individual cases
|
||||
for sign in [-1, 1]:
|
||||
driver_torque = (DRIVER_TORQUE_ALLOWANCE + 10) * sign
|
||||
torque_desired = (MAX_STEER - 10 * DRIVER_TORQUE_FACTOR) * sign
|
||||
delta = 1 * sign
|
||||
self._set_prev_torque(torque_desired)
|
||||
self.safety.set_hyundai_torque_driver(-driver_torque, -driver_torque)
|
||||
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(torque_desired)))
|
||||
self._set_prev_torque(torque_desired + delta)
|
||||
self.safety.set_hyundai_torque_driver(-driver_torque, -driver_torque)
|
||||
self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(torque_desired + delta)))
|
||||
|
||||
self._set_prev_torque(MAX_STEER * sign)
|
||||
self.safety.set_hyundai_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
|
||||
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN) * sign)))
|
||||
self._set_prev_torque(MAX_STEER * sign)
|
||||
self.safety.set_hyundai_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
|
||||
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(0)))
|
||||
self._set_prev_torque(MAX_STEER * sign)
|
||||
self.safety.set_hyundai_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
|
||||
self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN + 1) * sign)))
|
||||
|
||||
|
||||
def test_realtime_limits(self):
|
||||
self.safety.set_controls_allowed(True)
|
||||
|
||||
for sign in [-1, 1]:
|
||||
self.safety.init_tests_hyundai()
|
||||
self._set_prev_torque(0)
|
||||
self.safety.set_hyundai_torque_driver(0, 0)
|
||||
for t in np.arange(0, MAX_RT_DELTA, 1):
|
||||
t *= sign
|
||||
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(t)))
|
||||
self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
|
||||
|
||||
self._set_prev_torque(0)
|
||||
for t in np.arange(0, MAX_RT_DELTA, 1):
|
||||
t *= sign
|
||||
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(t)))
|
||||
|
||||
# Increase timer to update rt_torque_last
|
||||
self.safety.set_timer(RT_INTERVAL + 1)
|
||||
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA - 1))))
|
||||
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
|
||||
|
||||
|
||||
#def test_spam_cancel_safety_check(self):
|
||||
# RESUME_BTN = 1
|
||||
# SET_BTN = 2
|
||||
# CANCEL_BTN = 4
|
||||
# BUTTON_MSG = 1265
|
||||
# self.safety.set_controls_allowed(0)
|
||||
# self.assertTrue(self.safety.hyundai_tx_hook(self._button_msg(CANCEL_BTN)))
|
||||
# self.assertFalse(self.safety.hyundai_tx_hook(self._button_msg(RESUME_BTN)))
|
||||
# self.assertFalse(self.safety.hyundai_tx_hook(self._button_msg(SET_BTN)))
|
||||
# # do not block resume if we are engaged already
|
||||
# self.safety.set_controls_allowed(1)
|
||||
# self.assertTrue(self.safety.hyundai_tx_hook(self._button_msg(RESUME_BTN)))
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
@@ -1,6 +1,6 @@
|
||||
Cython==0.27.3
|
||||
Cython==0.24.1
|
||||
bitstring==3.1.5
|
||||
fastcluster==1.1.20
|
||||
fastcluster==1.1.21
|
||||
libusb1==1.5.0
|
||||
pycapnp==0.6.3
|
||||
pyzmq==15.4.0
|
||||
@@ -9,11 +9,11 @@ requests==2.10.0
|
||||
setproctitle==1.1.10
|
||||
simplejson==3.8.2
|
||||
pyyaml==3.12
|
||||
cffi==1.11.5
|
||||
enum34==1.1.6
|
||||
cffi==1.7.0
|
||||
enum34==1.1.1
|
||||
sympy==1.1.1
|
||||
filterpy==1.2.4
|
||||
filterpy==1.0.0
|
||||
smbus2==0.2.0
|
||||
pyflakes==1.6.0
|
||||
pyflakes==1.5.0
|
||||
-e git+https://github.com/commaai/le_python.git@5eef8f5be5929d33973e1b10e686fa0cdcd6792f#egg=Logentries
|
||||
Flask==1.0.2
|
||||
Flask==1.0.1
|
||||
|
||||
@@ -13,8 +13,8 @@ WARN_FLAGS = -Werror=implicit-function-declaration \
|
||||
-Werror=return-type \
|
||||
-Werror=format-extra-args
|
||||
|
||||
CFLAGS = -std=gnu11 -g -fPIC -I../ -I../../ -O2 $(WARN_FLAGS)
|
||||
CXXFLAGS = -std=c++11 -g -fPIC -I../ -I../../ -O2 $(WARN_FLAGS)
|
||||
CFLAGS = -std=gnu11 -g -fPIC -I../../ -O2 $(WARN_FLAGS)
|
||||
CXXFLAGS = -std=c++11 -g -fPIC -I../../ -O2 $(WARN_FLAGS)
|
||||
|
||||
ZMQ_FLAGS = -I$(PHONELIBS)/zmq/aarch64/include
|
||||
ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib \
|
||||
|
||||
@@ -39,7 +39,6 @@
|
||||
#define SAFETY_HONDA_BOSCH 4
|
||||
#define SAFETY_FORD 5
|
||||
#define SAFETY_CADILLAC 6
|
||||
#define SAFETY_HYUNDAI 7
|
||||
#define SAFETY_TOYOTA_NOLIMITS 0x1336
|
||||
#define SAFETY_ALLOUTPUT 0x1337
|
||||
|
||||
@@ -114,9 +113,6 @@ void *safety_setter_thread(void *s) {
|
||||
case (int)cereal::CarParams::SafetyModels::CADILLAC:
|
||||
safety_setting = SAFETY_CADILLAC;
|
||||
break;
|
||||
case (int)cereal::CarParams::SafetyModels::HYUNDAI:
|
||||
safety_setting = SAFETY_HYUNDAI;
|
||||
break;
|
||||
default:
|
||||
LOGE("unknown safety model: %d", safety_model);
|
||||
}
|
||||
@@ -588,7 +584,7 @@ void *pigeon_thread(void *crap) {
|
||||
//printf("got %d\n", len);
|
||||
alen += len;
|
||||
}
|
||||
if (alen > 0) {
|
||||
if (alen > 0) {
|
||||
if (dat[0] == (char)0x00){
|
||||
LOGW("received invalid ublox message, resetting pigeon");
|
||||
pigeon_init();
|
||||
|
||||
@@ -60,19 +60,10 @@ struct Msg {
|
||||
const Signal *sigs;
|
||||
};
|
||||
|
||||
struct Val {
|
||||
const char* name;
|
||||
uint32_t address;
|
||||
const char* def_val;
|
||||
const Signal *sigs;
|
||||
};
|
||||
|
||||
struct DBC {
|
||||
const char* name;
|
||||
size_t num_msgs;
|
||||
const Msg *msgs;
|
||||
const Val *vals;
|
||||
size_t num_vals;
|
||||
};
|
||||
|
||||
const DBC* dbc_lookup(const std::string& dbc_name);
|
||||
|
||||
@@ -48,28 +48,12 @@ const Msg msgs[] = {
|
||||
{% endfor %}
|
||||
};
|
||||
|
||||
const Val vals[] = {
|
||||
{% for address, sig in def_vals %}
|
||||
{% for sg_name, def_val in sig %}
|
||||
{% set address_hex = "0x%X" % address %}
|
||||
{
|
||||
.name = "{{sg_name}}",
|
||||
.address = {{address_hex}},
|
||||
.def_val = {{def_val}},
|
||||
.sigs = sigs_{{address}},
|
||||
},
|
||||
{% endfor %}
|
||||
{% endfor %}
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
const DBC {{dbc.name}} = {
|
||||
.name = "{{dbc.name}}",
|
||||
.num_msgs = ARRAYSIZE(msgs),
|
||||
.msgs = msgs,
|
||||
.vals = vals,
|
||||
.num_vals = ARRAYSIZE(vals),
|
||||
};
|
||||
|
||||
dbc_init({{dbc.name}})
|
||||
|
||||
@@ -57,19 +57,10 @@ typedef struct {
|
||||
const Signal *sigs;
|
||||
} Msg;
|
||||
|
||||
typedef struct {
|
||||
const char* name;
|
||||
uint32_t address;
|
||||
const char* def_val;
|
||||
const Signal *sigs;
|
||||
} Val;
|
||||
|
||||
typedef struct {
|
||||
const char* name;
|
||||
size_t num_msgs;
|
||||
const Msg *msgs;
|
||||
const Val *vals;
|
||||
size_t num_vals;
|
||||
} DBC;
|
||||
|
||||
|
||||
|
||||
@@ -1,4 +1,5 @@
|
||||
#include <cassert>
|
||||
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include <utility>
|
||||
@@ -12,26 +13,9 @@
|
||||
|
||||
namespace {
|
||||
|
||||
// this is the same as read_u64_le, but uses uint64_t as in/out
|
||||
uint64_t ReverseBytes(uint64_t x) {
|
||||
return ((x & 0xff00000000000000ull) >> 56) |
|
||||
((x & 0x00ff000000000000ull) >> 40) |
|
||||
((x & 0x0000ff0000000000ull) >> 24) |
|
||||
((x & 0x000000ff00000000ull) >> 8) |
|
||||
((x & 0x00000000ff000000ull) << 8) |
|
||||
((x & 0x0000000000ff0000ull) << 24) |
|
||||
((x & 0x000000000000ff00ull) << 40) |
|
||||
((x & 0x00000000000000ffull) << 56);
|
||||
}
|
||||
|
||||
uint64_t set_value(uint64_t ret, Signal sig, int64_t ival){
|
||||
int shift = sig.is_little_endian? sig.b1 : sig.bo;
|
||||
uint64_t mask = ((1ULL << sig.b2)-1) << shift;
|
||||
uint64_t dat = (ival & ((1ULL << sig.b2)-1)) << shift;
|
||||
if (sig.is_little_endian) {
|
||||
dat = ReverseBytes(dat);
|
||||
mask = ReverseBytes(mask);
|
||||
}
|
||||
uint64_t mask = ((1ULL << sig.b2)-1) << sig.bo;
|
||||
uint64_t dat = (ival & ((1ULL << sig.b2)-1)) << sig.bo;
|
||||
ret &= ~mask;
|
||||
ret |= dat;
|
||||
return ret;
|
||||
|
||||
@@ -46,22 +46,9 @@ class CANPacker(object):
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
## little endian test
|
||||
cp = CANPacker("hyundai_santa_fe_2019_ccan")
|
||||
s = cp.pack_bytes(0x340, {
|
||||
"CR_Lkas_StrToqReq": -0.06,
|
||||
#"CF_Lkas_FcwBasReq": 1,
|
||||
"CF_Lkas_MsgCount": 7,
|
||||
"CF_Lkas_HbaSysState": 0,
|
||||
#"CF_Lkas_Chksum": 3,
|
||||
})
|
||||
s = cp.pack_bytes(0x340, {
|
||||
"CF_Lkas_MsgCount": 1,
|
||||
})
|
||||
# big endian test
|
||||
#cp = CANPacker("honda_civic_touring_2016_can_generated")
|
||||
#s = cp.pack_bytes(0xe4, {
|
||||
# "STEER_TORQUE": -2,
|
||||
#})
|
||||
print [hex(ord(v)) for v in s[1]]
|
||||
cp = CANPacker("honda_civic_touring_2016_can_generated")
|
||||
s = cp.pack_bytes(0x30c, [
|
||||
("PCM_SPEED", 123),
|
||||
("PCM_GAS", 10),
|
||||
])
|
||||
print(s[1].encode("hex"))
|
||||
|
||||
@@ -259,7 +259,6 @@ class CANParser {
|
||||
memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size());
|
||||
|
||||
// Assumes all signals in the message are of the same type (little or big endian)
|
||||
// TODO: allow signals within the same message to have different endianess
|
||||
auto& sig = message_states[cmsg.getAddress()].parse_sigs[0];
|
||||
if (sig.is_little_endian) {
|
||||
p = read_u64_le(dat);
|
||||
|
||||
@@ -93,44 +93,6 @@ class CANParser(object):
|
||||
libdbc.can_update(self.can, sec, wait)
|
||||
return self.update_vl(sec)
|
||||
|
||||
class CANDefine(object):
|
||||
def __init__(self, dbc_name):
|
||||
self.dv = defaultdict(dict)
|
||||
self.dbc_name = dbc_name
|
||||
self.dbc = libdbc.dbc_lookup(dbc_name)
|
||||
|
||||
num_vals = self.dbc[0].num_vals
|
||||
|
||||
self.address_to_msg_name = {}
|
||||
num_msgs = self.dbc[0].num_msgs
|
||||
for i in range(num_msgs):
|
||||
msg = self.dbc[0].msgs[i]
|
||||
name = ffi.string(msg.name)
|
||||
address = msg.address
|
||||
self.address_to_msg_name[address] = name
|
||||
|
||||
for i in range(num_vals):
|
||||
val = self.dbc[0].vals[i]
|
||||
|
||||
sgname = ffi.string(val.name)
|
||||
address = val.address
|
||||
def_val = ffi.string(val.def_val)
|
||||
|
||||
#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 self.dv:
|
||||
self.dv[address] = {}
|
||||
msgname = self.address_to_msg_name[address]
|
||||
self.dv[msgname] = {}
|
||||
|
||||
# two ways to lookup: address or msg name
|
||||
self.dv[address][sgname] = {v: d for v, d in zip(values, defs)} #build dict
|
||||
self.dv[msgname][sgname] = self.dv[address][sgname]
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
from common.realtime import sec_since_boot
|
||||
|
||||
|
||||
@@ -24,9 +24,6 @@ with open(template_fn, "r") as template_f:
|
||||
msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM"))) # process counter and checksums first
|
||||
for address, ((msg_name, msg_size), msg_sigs) in sorted(can_dbc.msgs.iteritems()) if msg_sigs]
|
||||
|
||||
def_vals = {a: set(b) for a,b in can_dbc.def_vals.items()} #remove duplicates
|
||||
def_vals = [(address, sig) for address, sig in sorted(def_vals.iteritems())]
|
||||
|
||||
if can_dbc.name.startswith("honda") or can_dbc.name.startswith("acura"):
|
||||
checksum_type = "honda"
|
||||
checksum_size = 4
|
||||
@@ -58,7 +55,7 @@ for name, count in c.items():
|
||||
if count > 1:
|
||||
sys.exit("Duplicate message name in DBC file %s" % name)
|
||||
|
||||
parser_code = template.render(dbc=can_dbc, checksum_type=checksum_type, msgs=msgs, def_vals=def_vals, len=len)
|
||||
parser_code = template.render(dbc=can_dbc, checksum_type=checksum_type, msgs=msgs, len=len)
|
||||
|
||||
with open(out_fn, "w") as out_f:
|
||||
out_f.write(parser_code)
|
||||
|
||||
@@ -1,26 +1,4 @@
|
||||
# functions common among cars
|
||||
from common.numpy_fast import clip
|
||||
|
||||
|
||||
def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None):
|
||||
return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc}
|
||||
|
||||
|
||||
def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS):
|
||||
|
||||
# limits due to driver torque
|
||||
driver_max_torque = LIMITS.STEER_MAX + (LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
|
||||
driver_min_torque = -LIMITS.STEER_MAX + (-LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
|
||||
max_steer_allowed = max(min(LIMITS.STEER_MAX, driver_max_torque), 0)
|
||||
min_steer_allowed = min(max(-LIMITS.STEER_MAX, driver_min_torque), 0)
|
||||
apply_torque = clip(apply_torque, min_steer_allowed, max_steer_allowed)
|
||||
|
||||
# slow rate if steer torque increases in magnitude
|
||||
if apply_torque_last > 0:
|
||||
apply_torque = clip(apply_torque, max(apply_torque_last - LIMITS.STEER_DELTA_DOWN, -LIMITS.STEER_DELTA_UP),
|
||||
apply_torque_last + LIMITS.STEER_DELTA_UP)
|
||||
else:
|
||||
apply_torque = clip(apply_torque, apply_torque_last - LIMITS.STEER_DELTA_UP,
|
||||
min(apply_torque_last + LIMITS.STEER_DELTA_DOWN, LIMITS.STEER_DELTA_UP))
|
||||
|
||||
return int(round(apply_torque))
|
||||
|
||||
@@ -97,7 +97,6 @@ def get_car(logcan, sendcan=None, passive=True):
|
||||
return None, None
|
||||
|
||||
interface_cls = interfaces[candidate]
|
||||
|
||||
if interface_cls is None:
|
||||
cloudlog.warning("car matched %s, but interface wasn't available or failed to import" % candidate)
|
||||
return None, None
|
||||
|
||||
@@ -6,6 +6,21 @@ import numpy as np
|
||||
|
||||
WHEEL_RADIUS = 0.33
|
||||
|
||||
def parse_gear_shifter(can_gear, car_fingerprint):
|
||||
# TODO: Use values from DBC to parse this field
|
||||
if can_gear == 0x0:
|
||||
return "park"
|
||||
elif can_gear == 0x1:
|
||||
return "reverse"
|
||||
elif can_gear == 0x2:
|
||||
return "neutral"
|
||||
elif can_gear == 0x3:
|
||||
return "drive"
|
||||
elif can_gear == 0x4:
|
||||
return "brake"
|
||||
return "unknown"
|
||||
|
||||
|
||||
def get_can_parser(CP):
|
||||
|
||||
signals = [
|
||||
|
||||
@@ -1,17 +1,16 @@
|
||||
from common.numpy_fast import interp
|
||||
from common.numpy_fast import clip, interp
|
||||
from common.realtime import sec_since_boot
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.boardd.boardd import can_list_to_can_capnp
|
||||
from selfdrive.car import apply_std_steer_torque_limits
|
||||
from selfdrive.car.gm import gmcan
|
||||
from selfdrive.car.gm.values import CAR, DBC, AccState
|
||||
from selfdrive.car.gm.values import CAR, DBC
|
||||
from selfdrive.can.packer import CANPacker
|
||||
|
||||
|
||||
class CarControllerParams():
|
||||
def __init__(self, car_fingerprint):
|
||||
if car_fingerprint == CAR.VOLT:
|
||||
self.STEER_MAX = 300
|
||||
self.STEER_MAX = 255
|
||||
self.STEER_STEP = 2 # how often we update the steer cmd
|
||||
self.STEER_DELTA_UP = 7 # ~0.75s time to peak torque (255/50hz/0.75s)
|
||||
self.STEER_DELTA_DOWN = 17 # ~0.3s from peak torque to zero
|
||||
@@ -29,11 +28,11 @@ class CarControllerParams():
|
||||
self.ADAS_KEEPALIVE_STEP = 10
|
||||
# pedal lookups, only for Volt
|
||||
MAX_GAS = 3072 # Only a safety limit
|
||||
self.ZERO_GAS = 2048
|
||||
ZERO_GAS = 2048
|
||||
MAX_BRAKE = 350 # Should be around 3.5m/s^2, including regen
|
||||
self.MAX_ACC_REGEN = 1404 # ACC Regen braking is slightly less powerful than max regen paddle
|
||||
self.GAS_LOOKUP_BP = [-0.25, 0., 0.5]
|
||||
self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, MAX_GAS]
|
||||
self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
|
||||
self.BRAKE_LOOKUP_BP = [-1., -0.25]
|
||||
self.BRAKE_LOOKUP_V = [MAX_BRAKE, 0]
|
||||
|
||||
@@ -55,7 +54,7 @@ def actuator_hystereses(final_pedal, pedal_steady):
|
||||
|
||||
|
||||
class CarController(object):
|
||||
def __init__(self, canbus, car_fingerprint, allow_controls):
|
||||
def __init__(self, canbus, car_fingerprint):
|
||||
self.pedal_steady = 0.
|
||||
self.start_time = sec_since_boot()
|
||||
self.chime = 0
|
||||
@@ -64,7 +63,6 @@ class CarController(object):
|
||||
self.steer_idx = 0
|
||||
self.apply_steer_last = 0
|
||||
self.car_fingerprint = car_fingerprint
|
||||
self.allow_controls = allow_controls
|
||||
|
||||
# Setup detection helper. Routes commands to
|
||||
# an appropriate CAN bus number.
|
||||
@@ -78,11 +76,8 @@ class CarController(object):
|
||||
hud_v_cruise, hud_show_lanes, hud_show_car, chime, chime_cnt):
|
||||
""" Controls thread """
|
||||
|
||||
# Sanity check.
|
||||
if not self.allow_controls:
|
||||
return
|
||||
|
||||
P = self.params
|
||||
|
||||
# Send CAN commands.
|
||||
can_sends = []
|
||||
canbus = self.canbus
|
||||
@@ -90,13 +85,30 @@ class CarController(object):
|
||||
### STEER ###
|
||||
|
||||
if (frame % P.STEER_STEP) == 0:
|
||||
lkas_enabled = enabled and not CS.steer_not_allowed and CS.v_ego > 3.
|
||||
if lkas_enabled:
|
||||
apply_steer = actuators.steer * P.STEER_MAX
|
||||
apply_steer = apply_std_steer_torque_limits(apply_steer, self.apply_steer_last, CS.steer_torque_driver, P)
|
||||
final_steer = actuators.steer if enabled else 0.
|
||||
apply_steer = final_steer * P.STEER_MAX
|
||||
|
||||
# limits due to driver torque
|
||||
driver_max_torque = P.STEER_MAX + (P.STEER_DRIVER_ALLOWANCE + CS.steer_torque_driver * P.STEER_DRIVER_FACTOR) * P.STEER_DRIVER_MULTIPLIER
|
||||
driver_min_torque = -P.STEER_MAX + (-P.STEER_DRIVER_ALLOWANCE + CS.steer_torque_driver * P.STEER_DRIVER_FACTOR) * P.STEER_DRIVER_MULTIPLIER
|
||||
max_steer_allowed = max(min(P.STEER_MAX, driver_max_torque), 0)
|
||||
min_steer_allowed = min(max(-P.STEER_MAX, driver_min_torque), 0)
|
||||
apply_steer = clip(apply_steer, min_steer_allowed, max_steer_allowed)
|
||||
|
||||
# slow rate if steer torque increases in magnitude
|
||||
if self.apply_steer_last > 0:
|
||||
apply_steer = clip(apply_steer, max(self.apply_steer_last - P.STEER_DELTA_DOWN, -P.STEER_DELTA_UP),
|
||||
self.apply_steer_last + P.STEER_DELTA_UP)
|
||||
else:
|
||||
apply_steer = clip(apply_steer, self.apply_steer_last - P.STEER_DELTA_UP,
|
||||
min(self.apply_steer_last + P.STEER_DELTA_DOWN, P.STEER_DELTA_UP))
|
||||
|
||||
lkas_enabled = enabled and not CS.steer_not_allowed and CS.v_ego > 3.
|
||||
|
||||
if not lkas_enabled:
|
||||
apply_steer = 0
|
||||
|
||||
apply_steer = int(round(apply_steer))
|
||||
self.apply_steer_last = apply_steer
|
||||
idx = (frame / P.STEER_STEP) % 4
|
||||
|
||||
@@ -104,14 +116,14 @@ class CarController(object):
|
||||
can_sends.append(gmcan.create_steering_control(self.packer_pt,
|
||||
canbus.powertrain, apply_steer, idx, lkas_enabled))
|
||||
if self.car_fingerprint == CAR.CADILLAC_CT6:
|
||||
can_sends += gmcan.create_steering_control_ct6(self.packer_pt,
|
||||
can_sends += gmcan.create_steering_control_ct6(self.packer_pt,
|
||||
canbus, apply_steer, CS.v_ego, idx, lkas_enabled)
|
||||
|
||||
### GAS/BRAKE ###
|
||||
|
||||
if self.car_fingerprint == CAR.VOLT:
|
||||
# no output if not enabled, but keep sending keepalive messages
|
||||
# treat pedals as one
|
||||
# threat pedals as one
|
||||
final_pedal = actuators.gas - actuators.brake
|
||||
|
||||
# *** apply pedal hysteresis ***
|
||||
@@ -119,8 +131,7 @@ class CarController(object):
|
||||
final_pedal, self.pedal_steady)
|
||||
|
||||
if not enabled:
|
||||
# Stock ECU sends max regen when not enabled.
|
||||
apply_gas = P.MAX_ACC_REGEN
|
||||
apply_gas = P.MAX_ACC_REGEN # TODO: do we really need to send max regen when not enabled?
|
||||
apply_brake = 0
|
||||
else:
|
||||
apply_gas = int(round(interp(final_pedal, P.GAS_LOOKUP_BP, P.GAS_LOOKUP_V)))
|
||||
@@ -130,22 +141,16 @@ class CarController(object):
|
||||
if (frame % 4) == 0:
|
||||
idx = (frame / 4) % 4
|
||||
|
||||
car_stopping = apply_gas < P.ZERO_GAS
|
||||
standstill = CS.pcm_acc_status == AccState.STANDSTILL
|
||||
at_full_stop = enabled and standstill and car_stopping
|
||||
near_stop = enabled and (CS.v_ego < P.NEAR_STOP_BRAKE_PHASE) and car_stopping
|
||||
at_full_stop = enabled and CS.standstill
|
||||
near_stop = enabled and (CS.v_ego < P.NEAR_STOP_BRAKE_PHASE)
|
||||
can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, canbus.chassis, apply_brake, idx, near_stop, at_full_stop))
|
||||
|
||||
# Auto-resume from full stop by resetting ACC control
|
||||
acc_enabled = enabled
|
||||
if standstill and not car_stopping:
|
||||
acc_enabled = False
|
||||
|
||||
can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, canbus.powertrain, apply_gas, idx, acc_enabled, at_full_stop))
|
||||
at_full_stop = enabled and CS.standstill
|
||||
can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, canbus.powertrain, apply_gas, idx, enabled, at_full_stop))
|
||||
|
||||
# Send dashboard UI commands (ACC status), 25hz
|
||||
if (frame % 4) == 0:
|
||||
can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, canbus.powertrain, enabled, hud_v_cruise * CV.MS_TO_KPH, hud_show_car))
|
||||
can_sends.append(gmcan.create_acc_dashboard_command(canbus.powertrain, enabled, hud_v_cruise / CV.MS_TO_KPH, hud_show_car))
|
||||
|
||||
# Radar needs to know current speed and yaw rate (50hz),
|
||||
# and that ADAS is alive (10hz)
|
||||
|
||||
@@ -60,15 +60,17 @@ def create_gas_regen_command(packer, bus, throttle, idx, acc_engaged, at_full_st
|
||||
|
||||
def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_full_stop):
|
||||
|
||||
mode = 0x1
|
||||
if apply_brake > 0:
|
||||
if apply_brake == 0:
|
||||
mode = 0x1
|
||||
else:
|
||||
mode = 0xa
|
||||
|
||||
if near_stop:
|
||||
mode = 0xb
|
||||
|
||||
if at_full_stop:
|
||||
mode = 0xd
|
||||
if at_full_stop:
|
||||
mode = 0xd
|
||||
# TODO: this is to have GM bringing the car to complete stop,
|
||||
# but currently it conflicts with OP controls, so turned off.
|
||||
#elif near_stop:
|
||||
# mode = 0xb
|
||||
|
||||
brake = (0x1000 - apply_brake) & 0xfff
|
||||
checksum = (0x10000 - (mode << 12) - brake - idx) & 0xffff
|
||||
@@ -82,21 +84,14 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_f
|
||||
|
||||
return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
|
||||
|
||||
def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lead_car_in_sight):
|
||||
# Not a bit shift, dash can round up based on low 4 bits.
|
||||
target_speed = int(target_speed_kph * 16) & 0xfff
|
||||
|
||||
values = {
|
||||
"ACCAlwaysOne" : 1,
|
||||
"ACCResumeButton" : 0,
|
||||
"ACCSpeedSetpoint" : target_speed,
|
||||
"ACCGapLevel" : 3 * acc_engaged, # 3 "far", 0 "inactive"
|
||||
"ACCCmdActive" : acc_engaged,
|
||||
"ACCAlwaysOne2" : 1,
|
||||
"ACCLeadCar" : lead_car_in_sight
|
||||
}
|
||||
|
||||
return packer.make_can_msg("ASCMActiveCruiseControlStatus", bus, values)
|
||||
def create_acc_dashboard_command(bus, acc_engaged, target_speed_ms, lead_car_in_sight):
|
||||
engaged = 0x90 if acc_engaged else 0
|
||||
lead_car = 0x10 if lead_car_in_sight else 0
|
||||
target_speed = int(target_speed_ms * 208) & 0xfff
|
||||
speed_high = target_speed >> 8
|
||||
speed_low = target_speed & 0xff
|
||||
dat = [0x01, 0x00, engaged | speed_high, speed_low, 0x01, lead_car]
|
||||
return [0x370, 0, "".join(map(chr, dat)), bus]
|
||||
|
||||
def create_adas_time_status(bus, tt, idx):
|
||||
dat = [(tt >> 20) & 0xff, (tt >> 12) & 0xff, (tt >> 4) & 0xff,
|
||||
|
||||
@@ -4,7 +4,7 @@ from common.realtime import sec_since_boot
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
|
||||
from selfdrive.controls.lib.vehicle_model import VehicleModel
|
||||
from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS
|
||||
from selfdrive.car.gm.values import DBC, CAR
|
||||
from selfdrive.car.gm.carstate import CarState, CruiseButtons, get_powertrain_can_parser
|
||||
|
||||
try:
|
||||
@@ -21,6 +21,12 @@ class CM:
|
||||
LOW_CHIME = 0x86
|
||||
HIGH_CHIME = 0x87
|
||||
|
||||
# GM cars have 4 CAN buses, which creates many ways
|
||||
# of how the car can be connected to.
|
||||
# This ia a helper class for the interface to be setup-agnostic.
|
||||
# Supports single Panda setup (connected to OBDII port),
|
||||
# and a CAN forwarding setup (connected to camera module connector).
|
||||
|
||||
class CanBus(object):
|
||||
def __init__(self):
|
||||
self.powertrain = 0
|
||||
@@ -48,7 +54,7 @@ class CarInterface(object):
|
||||
# sending if read only is False
|
||||
if sendcan is not None:
|
||||
self.sendcan = sendcan
|
||||
self.CC = CarController(canbus, CP.carFingerprint, CP.enableCamera)
|
||||
self.CC = CarController(canbus, CP.carFingerprint)
|
||||
|
||||
@staticmethod
|
||||
def compute_gb(accel, speed):
|
||||
@@ -67,11 +73,8 @@ class CarInterface(object):
|
||||
|
||||
ret.enableCruise = False
|
||||
|
||||
# Presence of a camera on the object bus is ok.
|
||||
# Have to go passive if ASCM is online (ACC-enabled cars),
|
||||
# or camera is on powertrain bus (LKA cars without ACC).
|
||||
ret.enableCamera = not any(x for x in STOCK_CONTROL_MSGS[candidate] if x in fingerprint)
|
||||
|
||||
# TODO: gate this on detection
|
||||
ret.enableCamera = True
|
||||
std_cargo = 136
|
||||
|
||||
if candidate == CAR.VOLT:
|
||||
@@ -191,9 +194,8 @@ class CarInterface(object):
|
||||
|
||||
# cruise state
|
||||
ret.cruiseState.available = bool(self.CS.main_on)
|
||||
cruiseEnabled = self.CS.pcm_acc_status != 0
|
||||
ret.cruiseState.enabled = cruiseEnabled
|
||||
ret.cruiseState.standstill = False
|
||||
ret.cruiseState.enabled = self.CS.pcm_acc_status != 0
|
||||
ret.cruiseState.standstill = self.CS.pcm_acc_status == 4
|
||||
|
||||
ret.leftBlinker = self.CS.left_blinker_on
|
||||
ret.rightBlinker = self.CS.right_blinker_on
|
||||
@@ -226,8 +228,7 @@ class CarInterface(object):
|
||||
be.pressed = False
|
||||
but = self.CS.prev_cruise_buttons
|
||||
if but == CruiseButtons.RES_ACCEL:
|
||||
if not (cruiseEnabled and self.CS.standstill):
|
||||
be.type = 'accelCruise' # Suppress resume button if we're resuming from stop so we don't adjust speed.
|
||||
be.type = 'accelCruise'
|
||||
elif but == CruiseButtons.DECEL_SET:
|
||||
be.type = 'decelCruise'
|
||||
elif but == CruiseButtons.CANCEL:
|
||||
@@ -276,6 +277,8 @@ class CarInterface(object):
|
||||
events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
|
||||
if ret.gasPressed:
|
||||
events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
|
||||
if ret.cruiseState.standstill:
|
||||
events.append(create_event('resumeRequired', [ET.WARNING]))
|
||||
|
||||
# handle button presses
|
||||
for b in ret.buttonEvents:
|
||||
@@ -292,7 +295,7 @@ class CarInterface(object):
|
||||
events.append(create_event('pcmEnable', [ET.ENABLE]))
|
||||
if not self.CS.acc_active:
|
||||
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
|
||||
|
||||
|
||||
ret.events = events
|
||||
|
||||
# update previous brake/gas pressed
|
||||
@@ -320,11 +323,7 @@ class CarInterface(object):
|
||||
"chimeRepeated": (CM.LOW_CHIME, -1),
|
||||
"chimeContinuous": (CM.LOW_CHIME, -1)}[str(c.hudControl.audibleAlert)]
|
||||
|
||||
# For Openpilot, "enabled" includes pre-enable.
|
||||
# In GM, PCM faults out if ACC command overlaps user gas.
|
||||
enabled = c.enabled and not self.CS.user_gas_pressed
|
||||
|
||||
self.CC.update(self.sendcan, enabled, self.CS, self.frame, \
|
||||
self.CC.update(self.sendcan, c.enabled, self.CS, self.frame, \
|
||||
c.actuators,
|
||||
hud_v_cruise, c.hudControl.lanesVisible, \
|
||||
c.hudControl.leadVisible, \
|
||||
|
||||
@@ -12,12 +12,6 @@ class CruiseButtons:
|
||||
MAIN = 5
|
||||
CANCEL = 6
|
||||
|
||||
class AccState:
|
||||
OFF = 0
|
||||
ACTIVE = 1
|
||||
FAULTED = 3
|
||||
STANDSTILL = 4
|
||||
|
||||
def is_eps_status_ok(eps_status, car_fingerprint):
|
||||
valid_eps_status = []
|
||||
if car_fingerprint == CAR.VOLT:
|
||||
@@ -55,12 +49,6 @@ FINGERPRINTS = {
|
||||
|
||||
STEER_THRESHOLD = 1.0
|
||||
|
||||
|
||||
STOCK_CONTROL_MSGS = {
|
||||
CAR.VOLT: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
|
||||
CAR.CADILLAC_CT6: [], # Cadillac does not require ASCMs to be disconnected
|
||||
}
|
||||
|
||||
DBC = {
|
||||
CAR.VOLT: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
|
||||
CAR.CADILLAC_CT6: dbc_dict('cadillac_ct6_powertrain', 'cadillac_ct6_object', chassis_dbc='cadillac_ct6_chassis'),
|
||||
|
||||
@@ -1,17 +1,48 @@
|
||||
from common.numpy_fast import interp
|
||||
from common.kalman.simple_kalman import KF1D
|
||||
from selfdrive.can.parser import CANParser, CANDefine
|
||||
from selfdrive.can.parser import CANParser
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR
|
||||
from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD
|
||||
|
||||
def parse_gear_shifter(gear, vals):
|
||||
def parse_gear_shifter(can_gear_shifter, car_fingerprint):
|
||||
|
||||
val_to_capnp = {'P': 'park', 'R': 'reverse', 'N': 'neutral',
|
||||
'D': 'drive', 'S': 'sport', 'L': 'low'}
|
||||
try:
|
||||
return val_to_capnp[vals[gear]]
|
||||
except KeyError:
|
||||
return "unknown"
|
||||
# TODO: Use VAL from DBC to parse this field
|
||||
if car_fingerprint in (CAR.ACURA_ILX, CAR.ODYSSEY):
|
||||
if can_gear_shifter == 0x1:
|
||||
return "park"
|
||||
elif can_gear_shifter == 0x2:
|
||||
return "reverse"
|
||||
elif can_gear_shifter == 0x3:
|
||||
return "neutral"
|
||||
elif can_gear_shifter == 0x4:
|
||||
return "drive"
|
||||
elif can_gear_shifter == 0xa:
|
||||
return "sport"
|
||||
elif car_fingerprint in (CAR.CIVIC, CAR.CRV, CAR.ACURA_RDX, CAR.CRV_5G, CAR.CIVIC_HATCH):
|
||||
if can_gear_shifter == 0x1:
|
||||
return "park"
|
||||
elif can_gear_shifter == 0x2:
|
||||
return "reverse"
|
||||
elif can_gear_shifter == 0x4:
|
||||
return "neutral"
|
||||
elif can_gear_shifter == 0x8:
|
||||
return "drive"
|
||||
elif can_gear_shifter == 0x10:
|
||||
return "sport"
|
||||
elif can_gear_shifter == 0x20:
|
||||
return "low"
|
||||
|
||||
elif car_fingerprint in (CAR.ACCORD, CAR.PILOT, CAR.RIDGELINE):
|
||||
if can_gear_shifter == 0x8:
|
||||
return "reverse"
|
||||
elif can_gear_shifter == 0x4:
|
||||
return "park"
|
||||
elif can_gear_shifter == 0x20:
|
||||
return "drive"
|
||||
elif can_gear_shifter == 0x2:
|
||||
return "sport"
|
||||
|
||||
return "unknown"
|
||||
|
||||
|
||||
def calc_cruise_offset(offset, speed):
|
||||
@@ -73,7 +104,7 @@ def get_can_signals(CP):
|
||||
|
||||
if CP.radarOffCan:
|
||||
# Civic is only bosch to use the same brake message as other hondas.
|
||||
if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_HATCH):
|
||||
if CP.carFingerprint != CAR.CIVIC_HATCH:
|
||||
signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
|
||||
checks += [("BRAKE_MODULE", 50)]
|
||||
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
|
||||
@@ -88,7 +119,7 @@ def get_can_signals(CP):
|
||||
("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS", 0)]
|
||||
checks += [("CRUISE_PARAMS", 50)]
|
||||
|
||||
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
|
||||
if CP.carFingerprint == CAR.ACCORD:
|
||||
signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
|
||||
else:
|
||||
signals += [("DOOR_OPEN_FL", "DOORS_STATUS", 1),
|
||||
@@ -106,7 +137,9 @@ def get_can_signals(CP):
|
||||
elif CP.carFingerprint == CAR.ACURA_ILX:
|
||||
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
|
||||
("MAIN_ON", "SCM_BUTTONS", 0)]
|
||||
elif CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX, CAR.PILOT_2019, CAR.RIDGELINE):
|
||||
elif CP.carFingerprint == CAR.CRV:
|
||||
signals += [("MAIN_ON", "SCM_BUTTONS", 0)]
|
||||
elif CP.carFingerprint == CAR.ACURA_RDX:
|
||||
signals += [("MAIN_ON", "SCM_BUTTONS", 0)]
|
||||
elif CP.carFingerprint == CAR.ODYSSEY:
|
||||
signals += [("MAIN_ON", "SCM_FEEDBACK", 0),
|
||||
@@ -116,6 +149,8 @@ def get_can_signals(CP):
|
||||
elif CP.carFingerprint == CAR.PILOT:
|
||||
signals += [("MAIN_ON", "SCM_BUTTONS", 0),
|
||||
("CAR_GAS", "GAS_PEDAL_2", 0)]
|
||||
elif CP.carFingerprint == CAR.RIDGELINE:
|
||||
signals += [("MAIN_ON", "SCM_BUTTONS", 0)]
|
||||
|
||||
# add gas interceptor reading if we are using it
|
||||
if CP.enableGasInterceptor:
|
||||
@@ -133,8 +168,6 @@ def get_can_parser(CP):
|
||||
class CarState(object):
|
||||
def __init__(self, CP):
|
||||
self.CP = CP
|
||||
self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
|
||||
self.shifter_values = self.can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
|
||||
|
||||
self.user_gas, self.user_gas_pressed = 0., 0
|
||||
self.brake_switch_prev = 0
|
||||
@@ -179,7 +212,7 @@ class CarState(object):
|
||||
|
||||
# ******************* parse out can *******************
|
||||
|
||||
if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH): # TODO: find wheels moving bit in dbc
|
||||
if self.CP.carFingerprint == CAR.ACCORD: # TODO: find wheels moving bit in dbc
|
||||
self.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
|
||||
self.door_all_closed = not cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN']
|
||||
else:
|
||||
@@ -197,17 +230,15 @@ class CarState(object):
|
||||
self.esp_disabled = cp.vl["VSA_STATUS"]['ESP_DISABLED']
|
||||
|
||||
# calc best v_ego estimate, by averaging two opposite corners
|
||||
speed_factor = SPEED_FACTOR[self.CP.carFingerprint]
|
||||
self.v_wheel_fl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FL'] * CV.KPH_TO_MS * speed_factor
|
||||
self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS * speed_factor
|
||||
self.v_wheel_rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS * speed_factor
|
||||
self.v_wheel_rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS * speed_factor
|
||||
self.v_wheel_fl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FL'] * CV.KPH_TO_MS
|
||||
self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS
|
||||
self.v_wheel_rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS
|
||||
self.v_wheel_rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS
|
||||
self.v_wheel = (self.v_wheel_fl+self.v_wheel_fr+self.v_wheel_rl+self.v_wheel_rr)/4.
|
||||
|
||||
# blend in transmission speed at low speed, since it has more low speed accuracy
|
||||
self.v_weight = interp(self.v_wheel, v_weight_bp, v_weight_v)
|
||||
speed = (1. - self.v_weight) * cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] * CV.KPH_TO_MS * speed_factor + \
|
||||
self.v_weight * self.v_wheel
|
||||
speed = (1. - self.v_weight) * cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] * CV.KPH_TO_MS + self.v_weight * self.v_wheel
|
||||
|
||||
if abs(speed - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed
|
||||
self.v_ego_x = [[speed], [0.0]]
|
||||
@@ -223,6 +254,7 @@ class CarState(object):
|
||||
self.user_gas = cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS']
|
||||
self.user_gas_pressed = self.user_gas > 0 # this works because interceptor read < 0 when pedal position is 0. Once calibrated, this will change
|
||||
|
||||
can_gear_shifter = cp.vl["GEARBOX"]['GEAR_SHIFTER']
|
||||
self.gear = 0 if self.CP.carFingerprint == CAR.CIVIC else cp.vl["GEARBOX"]['GEAR']
|
||||
self.angle_steers = cp.vl["STEERING_SENSORS"]['STEER_ANGLE']
|
||||
self.angle_steers_rate = cp.vl["STEERING_SENSORS"]['STEER_ANGLE_RATE']
|
||||
@@ -234,7 +266,7 @@ class CarState(object):
|
||||
self.left_blinker_on = cp.vl["SCM_FEEDBACK"]['LEFT_BLINKER']
|
||||
self.right_blinker_on = cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER']
|
||||
|
||||
if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_HATCH):
|
||||
if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.CIVIC_HATCH):
|
||||
self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0
|
||||
self.brake_hold = cp.vl["VSA_STATUS"]['BRAKE_HOLD_ACTIVE']
|
||||
self.main_on = cp.vl["SCM_FEEDBACK"]['MAIN_ON']
|
||||
@@ -243,12 +275,11 @@ class CarState(object):
|
||||
self.brake_hold = 0 # TODO
|
||||
self.main_on = cp.vl["SCM_BUTTONS"]['MAIN_ON']
|
||||
|
||||
can_gear_shifter = int(cp.vl["GEARBOX"]['GEAR_SHIFTER'])
|
||||
self.gear_shifter = parse_gear_shifter(can_gear_shifter, self.shifter_values)
|
||||
self.gear_shifter = parse_gear_shifter(can_gear_shifter, self.CP.carFingerprint)
|
||||
|
||||
self.pedal_gas = cp.vl["POWERTRAIN_DATA"]['PEDAL_GAS']
|
||||
# crv doesn't include cruise control
|
||||
if self.CP.carFingerprint in (CAR.CRV, CAR.ODYSSEY, CAR.ACURA_RDX, CAR.RIDGELINE, CAR.PILOT_2019):
|
||||
if self.CP.carFingerprint in (CAR.CRV, CAR.ODYSSEY, CAR.ACURA_RDX, CAR.RIDGELINE):
|
||||
self.car_gas = self.pedal_gas
|
||||
else:
|
||||
self.car_gas = cp.vl["GAS_PEDAL_2"]['CAR_GAS']
|
||||
@@ -261,7 +292,7 @@ class CarState(object):
|
||||
if self.CP.radarOffCan:
|
||||
self.stopped = cp.vl["ACC_HUD"]['CRUISE_SPEED'] == 252.
|
||||
self.cruise_speed_offset = calc_cruise_offset(0, self.v_ego)
|
||||
if self.CP.carFingerprint in (CAR.CIVIC_HATCH, CAR.ACCORDH):
|
||||
if self.CP.carFingerprint == CAR.CIVIC_HATCH:
|
||||
self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
|
||||
self.brake_pressed = cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or \
|
||||
(self.brake_switch and self.brake_switch_prev and \
|
||||
|
||||
@@ -2,7 +2,7 @@ import struct
|
||||
|
||||
import common.numpy_fast as np
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.car.honda.values import CAR, HONDA_BOSCH, VEHICLE_STATE_MSG
|
||||
from selfdrive.car.honda.values import CAR
|
||||
|
||||
# *** Honda specific ***
|
||||
def can_cksum(mm):
|
||||
@@ -70,7 +70,7 @@ def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, i
|
||||
"STEER_TORQUE_REQUEST": lkas_active,
|
||||
}
|
||||
# Set bus 2 for accord and new crv.
|
||||
bus = 2 if car_fingerprint in HONDA_BOSCH else 0
|
||||
bus = 2 if car_fingerprint in (CAR.CRV_5G, CAR.ACCORD, CAR.CIVIC_HATCH) else 0
|
||||
return packer.make_can_msg("STEERING_CONTROL", bus, values, idx)
|
||||
|
||||
|
||||
@@ -80,7 +80,7 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, idx):
|
||||
bus = 0
|
||||
|
||||
# Bosch sends commands to bus 2.
|
||||
if car_fingerprint in HONDA_BOSCH:
|
||||
if car_fingerprint in (CAR.CRV_5G, CAR.ACCORD, CAR.CIVIC_HATCH):
|
||||
bus = 2
|
||||
else:
|
||||
acc_hud_values = {
|
||||
@@ -126,14 +126,26 @@ def create_radar_commands(v_ego, car_fingerprint, new_radar_config, idx):
|
||||
msg_0x300 = ("\xf9" + speed + "\x8a\xd0" +
|
||||
("\x20" if idx == 0 or idx == 3 else "\x00") +
|
||||
"\x00\x00")
|
||||
msg_0x301 = VEHICLE_STATE_MSG[car_fingerprint]
|
||||
|
||||
idx_0x300 = idx
|
||||
if car_fingerprint == CAR.CIVIC:
|
||||
msg_0x301 = "\x02\x38\x44\x32\x4f\x00\x00"
|
||||
idx_offset = 0xc if new_radar_config else 0x8 # radar in civic 2018 requires 0xc
|
||||
idx_0x300 += idx_offset
|
||||
commands.append(make_can_msg(0x300, msg_0x300, idx + idx_offset, 1))
|
||||
else:
|
||||
if car_fingerprint == CAR.CRV:
|
||||
msg_0x301 = "\x00\x00\x50\x02\x51\x00\x00"
|
||||
elif car_fingerprint == CAR.ACURA_RDX:
|
||||
msg_0x301 = "\x0f\x57\x4f\x02\x5a\x00\x00"
|
||||
elif car_fingerprint == CAR.ODYSSEY:
|
||||
msg_0x301 = "\x00\x00\x56\x02\x55\x00\x00"
|
||||
elif car_fingerprint == CAR.ACURA_ILX:
|
||||
msg_0x301 = "\x0f\x18\x51\x02\x5a\x00\x00"
|
||||
elif car_fingerprint == CAR.PILOT:
|
||||
msg_0x301 = "\x00\x00\x56\x02\x58\x00\x00"
|
||||
elif car_fingerprint == CAR.RIDGELINE:
|
||||
msg_0x301 = "\x00\x00\x56\x02\x57\x00\x00"
|
||||
commands.append(make_can_msg(0x300, msg_0x300, idx, 1))
|
||||
|
||||
commands.append(make_can_msg(0x300, msg_0x300, idx_0x300, 1))
|
||||
commands.append(make_can_msg(0x301, msg_0x301, idx, 1))
|
||||
return commands
|
||||
|
||||
|
||||
@@ -204,10 +204,9 @@ class CarInterface(object):
|
||||
ret.longitudinalKiBP = [0., 35.]
|
||||
ret.longitudinalKiV = [0.18, 0.12]
|
||||
|
||||
elif candidate in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
|
||||
elif candidate == CAR.ACCORD:
|
||||
stop_and_go = True
|
||||
if not candidate == CAR.ACCORDH: # Hybrid uses same brake msg as hatch
|
||||
ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
|
||||
ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
|
||||
ret.mass = 3279. * CV.LB_TO_KG + std_cargo
|
||||
ret.wheelbase = 2.83
|
||||
ret.centerToFront = ret.wheelbase * 0.39
|
||||
@@ -278,18 +277,18 @@ class CarInterface(object):
|
||||
|
||||
elif candidate == CAR.ODYSSEY:
|
||||
stop_and_go = False
|
||||
ret.mass = 4471 * CV.LB_TO_KG + std_cargo
|
||||
ret.mass = 4354 * CV.LB_TO_KG + std_cargo
|
||||
ret.wheelbase = 3.00
|
||||
ret.centerToFront = ret.wheelbase * 0.41
|
||||
ret.steerRatio = 14.35 # as spec
|
||||
tire_stiffness_factor = 0.82
|
||||
ret.steerKpV, ret.steerKiV = [[0.45], [0.135]]
|
||||
tire_stiffness_factor = 0.444 # not optimized yet
|
||||
ret.steerKpV, ret.steerKiV = [[0.6], [0.18]]
|
||||
ret.longitudinalKpBP = [0., 5., 35.]
|
||||
ret.longitudinalKpV = [1.2, 0.8, 0.5]
|
||||
ret.longitudinalKiBP = [0., 35.]
|
||||
ret.longitudinalKiV = [0.18, 0.12]
|
||||
|
||||
elif candidate in (CAR.PILOT, CAR.PILOT_2019):
|
||||
elif candidate == CAR.PILOT:
|
||||
stop_and_go = False
|
||||
ret.mass = 4303 * CV.LB_TO_KG + std_cargo
|
||||
ret.wheelbase = 2.81
|
||||
@@ -501,7 +500,7 @@ class CarInterface(object):
|
||||
events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
|
||||
if ret.gearShifter == 'reverse':
|
||||
events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
|
||||
if self.CS.brake_hold and self.CS.CP.carFingerprint not in HONDA_BOSCH:
|
||||
if self.CS.brake_hold:
|
||||
events.append(create_event('brakeHold', [ET.NO_ENTRY, ET.USER_DISABLE]))
|
||||
if self.CS.park_brake:
|
||||
events.append(create_event('parkBrake', [ET.NO_ENTRY, ET.USER_DISABLE]))
|
||||
|
||||
@@ -7,6 +7,7 @@ class CruiseButtons:
|
||||
CANCEL = 2
|
||||
MAIN = 1
|
||||
|
||||
|
||||
#car chimes: enumeration from dbc file. Chimes are for alerts and warnings
|
||||
class CM:
|
||||
MUTE = 0
|
||||
@@ -15,6 +16,7 @@ class CM:
|
||||
REPEATED = 1
|
||||
CONTINUOUS = 2
|
||||
|
||||
|
||||
#car beepss: enumeration from dbc file. Beeps are for activ and deactiv
|
||||
class BP:
|
||||
MUTE = 0
|
||||
@@ -33,10 +35,9 @@ class AH:
|
||||
SEATBELT = [5, 5]
|
||||
SPEED_TOO_HIGH = [6, 8]
|
||||
|
||||
|
||||
class CAR:
|
||||
ACCORD = "HONDA ACCORD 2018 SPORT 2T"
|
||||
ACCORD_15 = "HONDA ACCORD 2018 LX 1.5T"
|
||||
ACCORDH = "HONDA ACCORD 2018 HYBRID TOURING"
|
||||
CIVIC = "HONDA CIVIC 2016 TOURING"
|
||||
CIVIC_HATCH = "HONDA CIVIC HATCHBACK 2017 EX"
|
||||
ACURA_ILX = "ACURA ILX 2016 ACURAWATCH PLUS"
|
||||
@@ -45,18 +46,12 @@ class CAR:
|
||||
ODYSSEY = "HONDA ODYSSEY 2018 EX-L"
|
||||
ACURA_RDX = "ACURA RDX 2018 ACURAWATCH PLUS"
|
||||
PILOT = "HONDA PILOT 2017 TOURING"
|
||||
PILOT_2019 = "HONDA PILOT 2019 ELITE"
|
||||
RIDGELINE = "HONDA RIDGELINE 2017 BLACK EDITION"
|
||||
|
||||
|
||||
FINGERPRINTS = {
|
||||
CAR.ACCORD: [{
|
||||
148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
|
||||
}],
|
||||
CAR.ACCORD_15: [{
|
||||
148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
|
||||
}],
|
||||
CAR.ACCORDH: [{
|
||||
148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 525: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
|
||||
148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 525: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
|
||||
}],
|
||||
CAR.ACURA_ILX: [{
|
||||
57: 3, 145: 8, 228: 5, 304: 8, 316: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 7, 419: 8, 420: 8, 422: 8, 428: 8, 432: 7, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 882: 2, 884: 7, 887: 8, 888: 8, 892: 8, 923: 2, 929: 4, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1030: 5, 1034: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1365: 5,
|
||||
@@ -64,7 +59,7 @@ FINGERPRINTS = {
|
||||
# Acura RDX w/ Added Comma Pedal Support (512L & 513L)
|
||||
CAR.ACURA_RDX: [{
|
||||
57: 3, 145: 8, 229: 4, 308: 5, 316: 8, 342: 6, 344: 8, 380: 8, 392: 6, 398: 3, 399: 6, 404: 4, 420: 8, 422: 8, 426: 8, 432: 7, 464: 8, 474: 5, 476: 4, 487: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 882: 2, 884: 7, 887: 8, 888: 8, 892: 8, 923: 2, 929: 4, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1033: 5, 1034: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1365: 5, 1424: 5, 1729: 1
|
||||
}],
|
||||
}],
|
||||
CAR.CIVIC: [{
|
||||
57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 428: 8, 432: 7, 450: 8, 464: 8, 470: 2, 476: 7, 487: 4, 490: 8, 493: 5, 506: 8, 512: 6, 513: 6, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 892: 8, 927: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1633: 8,
|
||||
}],
|
||||
@@ -89,19 +84,15 @@ FINGERPRINTS = {
|
||||
CAR.PILOT: [{
|
||||
57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 334: 8, 339: 7, 342: 6, 344: 8, 379: 8, 380: 8, 392: 6, 399: 7, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 507: 1, 512: 6, 513: 6, 538: 3, 542: 7, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 837: 5, 856: 7, 871: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1108: 8, 1125: 8, 1296: 8, 1424: 5, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1616: 5, 1618: 5, 1668: 5
|
||||
}],
|
||||
CAR.PILOT_2019: [{
|
||||
57: 3, 145: 8, 228: 5, 308: 5, 316: 8, 334: 8, 342: 6, 344: 8, 379: 8, 380: 8, 399: 7, 411: 5, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 538: 3, 542: 7, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 871: 8, 881: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 927: 8, 929: 8, 983: 8, 985: 3, 1029: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1424: 5, 1445: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1615: 8, 1616: 5, 1617: 8, 1618: 5, 1623: 5, 1668: 5
|
||||
}],
|
||||
# Ridgeline w/ Added Comma Pedal Support (512L & 513L)
|
||||
CAR.RIDGELINE: [{
|
||||
57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 339: 7, 342: 6, 344: 8, 380: 8, 392: 6, 399: 7, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 464: 8, 471: 3, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 871: 8, 882: 2, 884: 7, 892: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1108: 8, 1125: 8, 1296: 8, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1613: 5, 1616: 5, 1618: 5, 1668: 5, 2015: 3
|
||||
}]
|
||||
}
|
||||
|
||||
|
||||
DBC = {
|
||||
CAR.ACCORD: dbc_dict('honda_accord_s2t_2018_can_generated', None),
|
||||
CAR.ACCORD_15: dbc_dict('honda_accord_lx15t_2018_can_generated', None),
|
||||
CAR.ACCORDH: dbc_dict('honda_accord_s2t_2018_can_generated', None),
|
||||
CAR.ACURA_ILX: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
|
||||
CAR.ACURA_RDX: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
|
||||
CAR.CIVIC: dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
|
||||
@@ -110,14 +101,12 @@ DBC = {
|
||||
CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None),
|
||||
CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
|
||||
CAR.PILOT: dbc_dict('honda_pilot_touring_2017_can_generated', 'acura_ilx_2016_nidec'),
|
||||
CAR.PILOT_2019: dbc_dict('honda_pilot_touring_2017_can_generated', 'acura_ilx_2016_nidec'),
|
||||
CAR.RIDGELINE: dbc_dict('honda_ridgeline_black_edition_2017_can_generated', 'acura_ilx_2016_nidec'),
|
||||
}
|
||||
|
||||
|
||||
STEER_THRESHOLD = {
|
||||
CAR.ACCORD: 1200,
|
||||
CAR.ACCORD_15: 1200,
|
||||
CAR.ACCORDH: 1200,
|
||||
CAR.ACURA_ILX: 1200,
|
||||
CAR.ACURA_RDX: 400,
|
||||
CAR.CIVIC: 1200,
|
||||
@@ -126,38 +115,8 @@ STEER_THRESHOLD = {
|
||||
CAR.CRV_5G: 1200,
|
||||
CAR.ODYSSEY: 1200,
|
||||
CAR.PILOT: 1200,
|
||||
CAR.PILOT_2019: 1200,
|
||||
CAR.RIDGELINE: 1200,
|
||||
}
|
||||
|
||||
SPEED_FACTOR = {
|
||||
CAR.ACCORD: 1.,
|
||||
CAR.ACCORD_15: 1.,
|
||||
CAR.ACCORDH: 1.,
|
||||
CAR.ACURA_ILX: 1.,
|
||||
CAR.ACURA_RDX: 1.,
|
||||
CAR.CIVIC: 1.,
|
||||
CAR.CIVIC_HATCH: 1.,
|
||||
CAR.CRV: 1.025,
|
||||
CAR.CRV_5G: 1.025,
|
||||
CAR.ODYSSEY: 1.,
|
||||
CAR.PILOT: 1.,
|
||||
CAR.PILOT_2019: 1.,
|
||||
CAR.RIDGELINE: 1.,
|
||||
}
|
||||
|
||||
# This message sends car info to the radar that is specific to the model. You
|
||||
# can determine this message by monitoring the OEM system.
|
||||
VEHICLE_STATE_MSG = {
|
||||
CAR.ACURA_ILX: "\x0f\x18\x51\x02\x5a\x00\x00",
|
||||
CAR.ACURA_RDX: "\x0f\x57\x4f\x02\x5a\x00\x00",
|
||||
CAR.CIVIC: "\x02\x38\x44\x32\x4f\x00\x00",
|
||||
CAR.CRV: "\x00\x00\x50\x02\x51\x00\x00",
|
||||
CAR.ODYSSEY: "\x00\x00\x56\x02\x55\x00\x00",
|
||||
CAR.PILOT: "\x00\x00\x56\x02\x58\x00\x00",
|
||||
CAR.PILOT_2019: "\x00\x00\x58\x02\x5c\x00\x00",
|
||||
CAR.RIDGELINE: "\x00\x00\x56\x02\x57\x00\x00",
|
||||
}
|
||||
|
||||
# TODO: get these from dbc file
|
||||
HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_HATCH, CAR.CRV_5G]
|
||||
HONDA_BOSCH = [CAR.ACCORD, CAR.CIVIC_HATCH, CAR.CRV_5G]
|
||||
|
||||
@@ -1,76 +0,0 @@
|
||||
from selfdrive.car import apply_std_steer_torque_limits
|
||||
from selfdrive.boardd.boardd import can_list_to_can_capnp
|
||||
from selfdrive.car.hyundai.hyundaican import create_lkas11, create_lkas12, \
|
||||
create_1191, create_1156, \
|
||||
create_clu11
|
||||
from selfdrive.car.hyundai.values import Buttons
|
||||
from selfdrive.can.packer import CANPacker
|
||||
|
||||
|
||||
# Steer torque limits
|
||||
|
||||
class SteerLimitParams:
|
||||
STEER_MAX = 250 # 409 is the max
|
||||
STEER_DELTA_UP = 3
|
||||
STEER_DELTA_DOWN = 7
|
||||
STEER_DRIVER_ALLOWANCE = 50
|
||||
STEER_DRIVER_MULTIPLIER = 2
|
||||
STEER_DRIVER_FACTOR = 1
|
||||
|
||||
class CarController(object):
|
||||
def __init__(self, dbc_name, car_fingerprint, enable_camera):
|
||||
self.apply_steer_last = 0
|
||||
self.car_fingerprint = car_fingerprint
|
||||
self.lkas11_cnt = 0
|
||||
self.cnt = 0
|
||||
self.last_resume_cnt = 0
|
||||
self.enable_camera = enable_camera
|
||||
# True when giraffe switch 2 is low and we need to replace all the camera messages
|
||||
# otherwise we forward the camera msgs and we just replace the lkas cmd signals
|
||||
self.camera_disconnected = False
|
||||
|
||||
self.packer = CANPacker(dbc_name)
|
||||
|
||||
def update(self, sendcan, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):
|
||||
|
||||
if not self.enable_camera:
|
||||
return
|
||||
|
||||
### Steering Torque
|
||||
apply_steer = actuators.steer * SteerLimitParams.STEER_MAX
|
||||
|
||||
apply_steer = apply_std_steer_torque_limits(apply_steer, self.apply_steer_last, CS.steer_torque_driver, SteerLimitParams)
|
||||
|
||||
if not enabled:
|
||||
apply_steer = 0
|
||||
|
||||
steer_req = 1 if enabled else 0
|
||||
|
||||
self.apply_steer_last = apply_steer
|
||||
|
||||
can_sends = []
|
||||
|
||||
self.lkas11_cnt = self.cnt % 0x10
|
||||
self.clu11_cnt = self.cnt % 0x10
|
||||
|
||||
if self.camera_disconnected:
|
||||
if (self.cnt % 10) == 0:
|
||||
can_sends.append(create_lkas12())
|
||||
if (self.cnt % 50) == 0:
|
||||
can_sends.append(create_1191())
|
||||
if (self.cnt % 7) == 0:
|
||||
can_sends.append(create_1156())
|
||||
|
||||
can_sends.append(create_lkas11(self.packer, self.car_fingerprint, apply_steer, steer_req, self.lkas11_cnt,
|
||||
enabled, CS.lkas11, hud_alert, keep_stock=(not self.camera_disconnected)))
|
||||
|
||||
if pcm_cancel_cmd:
|
||||
can_sends.append(create_clu11(self.packer, CS.clu11, Buttons.CANCEL))
|
||||
elif CS.stopped and (self.cnt - self.last_resume_cnt) > 5:
|
||||
self.last_resume_cnt = self.cnt
|
||||
can_sends.append(create_clu11(self.packer, CS.clu11, Buttons.RES_ACCEL))
|
||||
|
||||
### Send messages to canbus
|
||||
sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())
|
||||
|
||||
self.cnt += 1
|
||||
@@ -1,222 +0,0 @@
|
||||
from selfdrive.car.hyundai.values import DBC
|
||||
from selfdrive.can.parser import CANParser
|
||||
from selfdrive.config import Conversions as CV
|
||||
from common.kalman.simple_kalman import KF1D
|
||||
import numpy as np
|
||||
|
||||
|
||||
def get_can_parser(CP):
|
||||
|
||||
signals = [
|
||||
# sig_name, sig_address, default
|
||||
("WHL_SPD_FL", "WHL_SPD11", 0),
|
||||
("WHL_SPD_FR", "WHL_SPD11", 0),
|
||||
("WHL_SPD_RL", "WHL_SPD11", 0),
|
||||
("WHL_SPD_RR", "WHL_SPD11", 0),
|
||||
|
||||
("YAW_RATE", "ESP12", 0),
|
||||
|
||||
("CF_Gway_DrvSeatBeltInd", "CGW4", 1),
|
||||
|
||||
("CF_Gway_DrvSeatBeltSw", "CGW1", 0),
|
||||
("CF_Gway_TSigLHSw", "CGW1", 0),
|
||||
("CF_Gway_TurnSigLh", "CGW1", 0),
|
||||
("CF_Gway_TSigRHSw", "CGW1", 0),
|
||||
("CF_Gway_TurnSigRh", "CGW1", 0),
|
||||
("CF_Gway_ParkBrakeSw", "CGW1", 0),
|
||||
|
||||
("BRAKE_ACT", "EMS12", 0),
|
||||
("PV_AV_CAN", "EMS12", 0),
|
||||
("TPS", "EMS12", 0),
|
||||
|
||||
("CYL_PRES", "ESP12", 0),
|
||||
|
||||
("CF_Clu_CruiseSwState", "CLU11", 0),
|
||||
("CF_Clu_CruiseSwMain" , "CLU11", 0),
|
||||
("CF_Clu_SldMainSW", "CLU11", 0),
|
||||
("CF_Clu_ParityBit1", "CLU11", 0),
|
||||
("CF_Clu_VanzDecimal" , "CLU11", 0),
|
||||
("CF_Clu_Vanz", "CLU11", 0),
|
||||
("CF_Clu_SPEED_UNIT", "CLU11", 0),
|
||||
("CF_Clu_DetentOut", "CLU11", 0),
|
||||
("CF_Clu_RheostatLevel", "CLU11", 0),
|
||||
("CF_Clu_CluInfo", "CLU11", 0),
|
||||
("CF_Clu_AmpInfo", "CLU11", 0),
|
||||
("CF_Clu_AliveCnt1", "CLU11", 0),
|
||||
|
||||
("CF_Lvr_Gear","LVR12",0),
|
||||
|
||||
("ACCEnable", "TCS13", 0),
|
||||
("ACC_REQ", "TCS13", 0),
|
||||
("DriverBraking", "TCS13", 0),
|
||||
("DriverOverride", "TCS13", 0),
|
||||
|
||||
("ESC_Off_Step", "TCS15", 0),
|
||||
|
||||
("CF_Lvr_GearInf", "LVR11", 0), #Transmission Gear (0 = N or P, 1-8 = Fwd, 14 = Rev)
|
||||
|
||||
("CR_Mdps_DrvTq", "MDPS11", 0),
|
||||
|
||||
("CR_Mdps_StrColTq", "MDPS12", 0),
|
||||
("CF_Mdps_ToiActive", "MDPS12", 0),
|
||||
("CF_Mdps_ToiUnavail", "MDPS12", 0),
|
||||
("CF_Mdps_FailStat", "MDPS12", 0),
|
||||
("CR_Mdps_OutTq", "MDPS12", 0),
|
||||
|
||||
("VSetDis", "SCC11", 0),
|
||||
("SCCInfoDisplay", "SCC11", 0),
|
||||
("ACCMode", "SCC12", 1),
|
||||
|
||||
("SAS_Angle", "SAS11", 0),
|
||||
("SAS_Speed", "SAS11", 0),
|
||||
]
|
||||
|
||||
checks = [
|
||||
# address, frequency
|
||||
("MDPS12", 50),
|
||||
("MDPS11", 100),
|
||||
("TCS15", 10),
|
||||
("TCS13", 50),
|
||||
("CLU11", 50),
|
||||
("ESP12", 100),
|
||||
("EMS12", 100),
|
||||
("CGW1", 10),
|
||||
("CGW4", 5),
|
||||
("WHL_SPD11", 50),
|
||||
("SCC11", 50),
|
||||
("SCC12", 50),
|
||||
("SAS11", 100)
|
||||
]
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
|
||||
|
||||
def get_camera_parser(CP):
|
||||
|
||||
signals = [
|
||||
# sig_name, sig_address, default
|
||||
("CF_Lkas_LdwsSysState", "LKAS11", 0),
|
||||
("CF_Lkas_SysWarning", "LKAS11", 0),
|
||||
("CF_Lkas_LdwsLHWarning", "LKAS11", 0),
|
||||
("CF_Lkas_LdwsRHWarning", "LKAS11", 0),
|
||||
("CF_Lkas_HbaLamp", "LKAS11", 0),
|
||||
("CF_Lkas_FcwBasReq", "LKAS11", 0),
|
||||
("CF_Lkas_ToiFlt", "LKAS11", 0),
|
||||
("CF_Lkas_HbaSysState", "LKAS11", 0),
|
||||
("CF_Lkas_FcwOpt", "LKAS11", 0),
|
||||
("CF_Lkas_HbaOpt", "LKAS11", 0),
|
||||
("CF_Lkas_FcwSysState", "LKAS11", 0),
|
||||
("CF_Lkas_FcwCollisionWarning", "LKAS11", 0),
|
||||
("CF_Lkas_FusionState", "LKAS11", 0),
|
||||
("CF_Lkas_FcwOpt_USM", "LKAS11", 0),
|
||||
("CF_Lkas_LdwsOpt_USM", "LKAS11", 0)
|
||||
]
|
||||
|
||||
checks = []
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
|
||||
|
||||
class CarState(object):
|
||||
def __init__(self, CP):
|
||||
|
||||
self.CP = CP
|
||||
|
||||
# initialize can parser
|
||||
self.car_fingerprint = CP.carFingerprint
|
||||
|
||||
# vEgo kalman filter
|
||||
dt = 0.01
|
||||
# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
|
||||
# R = 1e3
|
||||
self.v_ego_kf = KF1D(x0=np.matrix([[0.0], [0.0]]),
|
||||
A=np.matrix([[1.0, dt], [0.0, 1.0]]),
|
||||
C=np.matrix([1.0, 0.0]),
|
||||
K=np.matrix([[0.12287673], [0.29666309]]))
|
||||
self.v_ego = 0.0
|
||||
self.left_blinker_on = 0
|
||||
self.left_blinker_flash = 0
|
||||
self.right_blinker_on = 0
|
||||
self.right_blinker_flash = 0
|
||||
|
||||
def update(self, cp, cp_cam):
|
||||
# copy can_valid
|
||||
self.can_valid = cp.can_valid
|
||||
|
||||
# update prevs, update must run once per Loop
|
||||
self.prev_left_blinker_on = self.left_blinker_on
|
||||
self.prev_right_blinker_on = self.right_blinker_on
|
||||
|
||||
self.door_all_closed = True
|
||||
self.seatbelt = cp.vl["CGW1"]['CF_Gway_DrvSeatBeltSw']
|
||||
|
||||
self.brake_pressed = cp.vl["TCS13"]['DriverBraking']
|
||||
self.esp_disabled = cp.vl["TCS15"]['ESC_Off_Step']
|
||||
|
||||
self.park_brake = cp.vl["CGW1"]['CF_Gway_ParkBrakeSw']
|
||||
self.main_on = True
|
||||
self.acc_active = cp.vl["SCC12"]['ACCMode'] != 0
|
||||
self.pcm_acc_status = int(self.acc_active)
|
||||
|
||||
# calc best v_ego estimate, by averaging two opposite corners
|
||||
self.v_wheel_fl = cp.vl["WHL_SPD11"]['WHL_SPD_FL'] * CV.KPH_TO_MS
|
||||
self.v_wheel_fr = cp.vl["WHL_SPD11"]['WHL_SPD_FR'] * CV.KPH_TO_MS
|
||||
self.v_wheel_rl = cp.vl["WHL_SPD11"]['WHL_SPD_RL'] * CV.KPH_TO_MS
|
||||
self.v_wheel_rr = cp.vl["WHL_SPD11"]['WHL_SPD_RR'] * CV.KPH_TO_MS
|
||||
self.v_wheel = (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr) / 4.
|
||||
|
||||
self.low_speed_lockout = self.v_wheel < 1.0
|
||||
|
||||
# Kalman filter, even though Hyundai raw wheel speed is heaviliy filtered by default
|
||||
if abs(self.v_wheel - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed
|
||||
self.v_ego_x = np.matrix([[self.v_wheel], [0.0]])
|
||||
|
||||
self.v_ego_raw = self.v_wheel
|
||||
v_ego_x = self.v_ego_kf.update(self.v_wheel)
|
||||
self.v_ego = float(v_ego_x[0])
|
||||
self.a_ego = float(v_ego_x[1])
|
||||
is_set_speed_in_mph = int(cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"])
|
||||
speed_conv = CV.MPH_TO_MS if is_set_speed_in_mph else CV.KPH_TO_MS
|
||||
self.cruise_set_speed = cp.vl["SCC11"]['VSetDis'] * speed_conv
|
||||
self.standstill = not self.v_wheel > 0.1
|
||||
|
||||
self.angle_steers = cp.vl["SAS11"]['SAS_Angle']
|
||||
self.angle_steers_rate = cp.vl["SAS11"]['SAS_Speed']
|
||||
self.yaw_rate = cp.vl["ESP12"]['YAW_RATE']
|
||||
self.main_on = True
|
||||
self.left_blinker_on = cp.vl["CGW1"]['CF_Gway_TSigLHSw']
|
||||
self.left_blinker_flash = cp.vl["CGW1"]['CF_Gway_TurnSigLh']
|
||||
self.right_blinker_on = cp.vl["CGW1"]['CF_Gway_TSigRHSw']
|
||||
self.right_blinker_flash = cp.vl["CGW1"]['CF_Gway_TurnSigRh']
|
||||
self.steer_override = abs(cp.vl["MDPS11"]['CR_Mdps_DrvTq']) > 100.
|
||||
self.steer_state = cp.vl["MDPS12"]['CF_Mdps_ToiActive'] #0 NOT ACTIVE, 1 ACTIVE
|
||||
self.steer_error = cp.vl["MDPS12"]['CF_Mdps_ToiUnavail']
|
||||
self.brake_error = 0
|
||||
self.steer_torque_driver = cp.vl["MDPS11"]['CR_Mdps_DrvTq']
|
||||
self.steer_torque_motor = cp.vl["MDPS12"]['CR_Mdps_OutTq']
|
||||
self.stopped = cp.vl["SCC11"]['SCCInfoDisplay'] == 4.
|
||||
|
||||
self.user_brake = 0
|
||||
|
||||
self.brake_pressed = cp.vl["TCS13"]['DriverBraking']
|
||||
self.brake_lights = bool(self.brake_pressed)
|
||||
if (cp.vl["TCS13"]["DriverOverride"] == 0 and cp.vl["TCS13"]['ACC_REQ'] == 1):
|
||||
self.pedal_gas = 0
|
||||
else:
|
||||
self.pedal_gas = cp.vl["EMS12"]['TPS']
|
||||
self.car_gas = cp.vl["EMS12"]['TPS']
|
||||
|
||||
# Gear Selecton - This should be compatible with all Kia/Hyundai with Auto's
|
||||
gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
|
||||
if gear == 5:
|
||||
self.gear_shifter = "drive"
|
||||
elif gear == 6:
|
||||
self.gear_shifter = "neutral"
|
||||
elif gear == 0:
|
||||
self.gear_shifter = "park"
|
||||
elif gear == 7:
|
||||
self.gear_shifter = "reverse"
|
||||
else:
|
||||
self.gear_shifter = "unknown"
|
||||
|
||||
# save the entire LKAS11 and CLU11
|
||||
self.lkas11 = cp_cam.vl["LKAS11"]
|
||||
self.clu11 = cp.vl["CLU11"]
|
||||
@@ -1,79 +0,0 @@
|
||||
import crcmod
|
||||
from selfdrive.car.hyundai.values import CHECKSUM
|
||||
|
||||
hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
|
||||
|
||||
def make_can_msg(addr, dat, alt):
|
||||
return [addr, 0, dat, alt]
|
||||
|
||||
def create_lkas11(packer, car_fingerprint, apply_steer, steer_req, cnt, enabled, lkas11, hud_alert, keep_stock=False):
|
||||
values = {
|
||||
"CF_Lkas_Icon": 3 if enabled else 0,
|
||||
"CF_Lkas_LdwsSysState": 3 if steer_req else 1,
|
||||
"CF_Lkas_SysWarning": hud_alert,
|
||||
"CF_Lkas_LdwsLHWarning": lkas11["CF_Lkas_LdwsLHWarning"] if keep_stock else 0,
|
||||
"CF_Lkas_LdwsRHWarning": lkas11["CF_Lkas_LdwsRHWarning"] if keep_stock else 0,
|
||||
"CF_Lkas_HbaLamp": lkas11["CF_Lkas_HbaLamp"] if keep_stock else 0,
|
||||
"CF_Lkas_FcwBasReq": lkas11["CF_Lkas_FcwBasReq"] if keep_stock else 0,
|
||||
"CR_Lkas_StrToqReq": apply_steer,
|
||||
"CF_Lkas_ActToi": steer_req,
|
||||
"CF_Lkas_ToiFlt": 0,
|
||||
"CF_Lkas_HbaSysState": lkas11["CF_Lkas_HbaSysState"] if keep_stock else 1,
|
||||
"CF_Lkas_FcwOpt": lkas11["CF_Lkas_FcwOpt"] if keep_stock else 0,
|
||||
"CF_Lkas_HbaOpt": lkas11["CF_Lkas_HbaOpt"] if keep_stock else 3,
|
||||
"CF_Lkas_MsgCount": cnt,
|
||||
"CF_Lkas_FcwSysState": lkas11["CF_Lkas_FcwSysState"] if keep_stock else 0,
|
||||
"CF_Lkas_FcwCollisionWarning": lkas11["CF_Lkas_FcwCollisionWarning"] if keep_stock else 0,
|
||||
"CF_Lkas_FusionState": lkas11["CF_Lkas_FusionState"] if keep_stock else 0,
|
||||
"CF_Lkas_Chksum": 0,
|
||||
"CF_Lkas_FcwOpt_USM": 2 if enabled else 1,
|
||||
"CF_Lkas_LdwsOpt_USM": lkas11["CF_Lkas_LdwsOpt_USM"] if keep_stock else 3,
|
||||
}
|
||||
|
||||
dat = packer.make_can_msg("LKAS11", 0, values)[2]
|
||||
|
||||
if car_fingerprint in CHECKSUM["crc8"]:
|
||||
# CRC Checksum as seen on 2019 Hyundai Santa Fe
|
||||
dat = dat[:6] + dat[7]
|
||||
checksum = hyundai_checksum(dat)
|
||||
elif car_fingerprint in CHECKSUM["6B"]:
|
||||
# Checksum of first 6 Bytes, as seen on 2018 Kia Sorento
|
||||
dat = [ord(i) for i in dat]
|
||||
checksum = sum(dat[:6]) % 256
|
||||
elif car_fingerprint in CHECKSUM["7B"]:
|
||||
# Checksum of first 6 Bytes and last Byte as seen on 2018 Kia Stinger
|
||||
dat = [ord(i) for i in dat]
|
||||
checksum = (sum(dat[:6]) + dat[7]) % 256
|
||||
|
||||
values["CF_Lkas_Chksum"] = checksum
|
||||
|
||||
return packer.make_can_msg("LKAS11", 0, values)
|
||||
|
||||
def create_lkas12():
|
||||
return make_can_msg(1342, "\x00\x00\x00\x00\x60\x05", 0)
|
||||
|
||||
|
||||
def create_1191():
|
||||
return make_can_msg(1191, "\x01\x00", 0)
|
||||
|
||||
|
||||
def create_1156():
|
||||
return make_can_msg(1156, "\x08\x20\xfe\x3f\x00\xe0\xfd\x3f", 0)
|
||||
|
||||
def create_clu11(packer, clu11, button):
|
||||
values = {
|
||||
"CF_Clu_CruiseSwState": button,
|
||||
"CF_Clu_CruiseSwMain": clu11["CF_Clu_CruiseSwMain"],
|
||||
"CF_Clu_SldMainSW": clu11["CF_Clu_SldMainSW"],
|
||||
"CF_Clu_ParityBit1": clu11["CF_Clu_ParityBit1"],
|
||||
"CF_Clu_VanzDecimal": clu11["CF_Clu_VanzDecimal"],
|
||||
"CF_Clu_Vanz": clu11["CF_Clu_Vanz"],
|
||||
"CF_Clu_SPEED_UNIT": clu11["CF_Clu_SPEED_UNIT"],
|
||||
"CF_Clu_DetentOut": clu11["CF_Clu_DetentOut"],
|
||||
"CF_Clu_RheostatLevel": clu11["CF_Clu_RheostatLevel"],
|
||||
"CF_Clu_CluInfo": clu11["CF_Clu_CluInfo"],
|
||||
"CF_Clu_AmpInfo": clu11["CF_Clu_AmpInfo"],
|
||||
"CF_Clu_AliveCnt1": 0,
|
||||
}
|
||||
|
||||
return packer.make_can_msg("CLU11", 0, values)
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user