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chffrplus v0.5.7-release release

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Vehicle Researcher
Vehicle Researcher committed Dec 18, 2018
1 parent 23b704d commit 12527e1a686753cfc6215461f474bda9211878a0
Showing with 7,077 additions and 1,392 deletions.
  1. +27 −0 RELEASES.md
  2. BIN apk/ai.comma.plus.frame.apk
  3. BIN apk/ai.comma.plus.offroad.apk
  4. +5 −2 cereal/Makefile
  5. +9 −7 cereal/car.capnp
  6. +36 −1 cereal/log.capnp
  7. +5 −5 common/ffi_wrapper.py
  8. +3 −0 common/params.py
  9. +3 −5 common/transformations/model.py
  10. BIN installer/updater/updater
  11. +1 −1 opendbc/acura_ilx_2016_can_generated.dbc
  12. +1 −0 opendbc/acura_rdx_2018_can_generated.dbc
  13. +2 −0 opendbc/chrysler_pacifica_2017_hybrid.dbc
  14. +2 −0 opendbc/generator/honda/_bosch_2018.dbc
  15. +1 −1 opendbc/generator/honda/acura_ilx_2016_can.dbc
  16. +1 −0 opendbc/generator/honda/acura_rdx_2018_can.dbc
  17. +1 −1 opendbc/generator/honda/honda_civic_touring_2016_can.dbc
  18. +1 −1 opendbc/generator/honda/honda_crv_touring_2016_can.dbc
  19. +1 −1 opendbc/generator/honda/honda_fit_ex_2018_can.dbc
  20. +44 −0 opendbc/generator/honda/honda_insight_ex_2019_can.dbc
  21. +1 −3 opendbc/generator/honda/honda_odyssey_exl_2018.dbc
  22. +1 −1 opendbc/generator/honda/honda_pilot_touring_2017_can.dbc
  23. +1 −1 opendbc/generator/honda/honda_ridgeline_black_edition_2017_can.dbc
  24. +89 −24 opendbc/generator/toyota/_toyota_2017.dbc
  25. +39 −0 opendbc/generator/toyota/lexus_is_2018_pt.dbc
  26. +31 −2 opendbc/gm_global_a_object.dbc
  27. +16 −0 opendbc/gm_global_a_powertrain.dbc
  28. +1 −0 opendbc/honda_accord_lx15t_2018_can_generated.dbc
  29. +1 −0 opendbc/honda_accord_s2t_2018_can_generated.dbc
  30. +1 −0 opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
  31. +1 −1 opendbc/honda_civic_touring_2016_can_generated.dbc
  32. +1 −0 opendbc/honda_crv_ex_2017_can_generated.dbc
  33. +1 −1 opendbc/honda_crv_touring_2016_can_generated.dbc
  34. +1 −1 opendbc/honda_fit_ex_2018_can_generated.dbc
  35. +311 −0 opendbc/honda_insight_ex_2019_can_generated.dbc
  36. +1 −3 opendbc/honda_odyssey_exl_2018_generated.dbc
  37. +1 −1 opendbc/honda_pilot_touring_2017_can_generated.dbc
  38. +1 −1 opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
  39. +298 −0 opendbc/lexus_is_2018_pt_generated.dbc
  40. +89 −24 opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
  41. +89 −24 opendbc/toyota_avalon_2017_pt_generated.dbc
  42. +89 −24 opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
  43. +89 −24 opendbc/toyota_chr_2018_pt_generated.dbc
  44. +89 −24 opendbc/toyota_chr_hybrid_2018_pt_generated.dbc
  45. +89 −24 opendbc/toyota_corolla_2017_pt_generated.dbc
  46. +89 −24 opendbc/toyota_highlander_2017_pt_generated.dbc
  47. +89 −24 opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
  48. +203 −0 opendbc/toyota_prius_2010_pt.dbc
  49. +16 −1 opendbc/toyota_prius_2017_adas.dbc
  50. +89 −24 opendbc/toyota_prius_2017_pt_generated.dbc
  51. +89 −24 opendbc/toyota_rav4_2017_pt_generated.dbc
  52. +89 −24 opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
  53. +1 −1 panda/VERSION
  54. +4 −2 panda/board/main.c
  55. +6 −0 panda/board/safety.h
  56. +136 −0 panda/board/safety/safety_chrysler.h
  57. +25 −9 panda/board/safety/safety_honda.h
  58. +287 −0 panda/board/safety/safety_tesla.h
  59. +11 −9 panda/board/safety/safety_toyota.h
  60. +7 −0 panda/python/__init__.py
  61. +6 −0 panda/tests/safety/libpandasafety_py.py
  62. +18 −0 panda/tests/safety/test.c
  63. +88 −0 panda/tests/safety/test_chrysler.py
  64. +4 −4 panda/tests/safety/test_toyota.py
  65. BIN phonelibs/openblas/libopenblas_armv8p-r0.2.19.so
  66. +22 −0 pyextra/overpy/__about__.py
  67. +1,619 −0 pyextra/overpy/__init__.py
  68. +166 −0 pyextra/overpy/exception.py
  69. +64 −0 pyextra/overpy/helper.py
  70. BIN selfdrive/assets/sounds/disengaged.wav
  71. BIN selfdrive/assets/sounds/engaged.wav
  72. BIN selfdrive/assets/sounds/error.wav
  73. BIN selfdrive/assets/sounds/warning_1.wav
  74. BIN selfdrive/assets/sounds/warning_2.wav
  75. +3 −0 selfdrive/boardd/boardd.cc
  76. +8 −5 selfdrive/boardd/boardd.py
  77. +1 −0 selfdrive/car/ford/interface.py
  78. +10 −5 selfdrive/car/gm/carstate.py
  79. +48 −24 selfdrive/car/gm/interface.py
  80. +22 −17 selfdrive/car/gm/radar_interface.py
  81. +53 −8 selfdrive/car/gm/values.py
  82. +24 −9 selfdrive/car/honda/carstate.py
  83. +35 −27 selfdrive/car/honda/interface.py
  84. +25 −15 selfdrive/car/honda/values.py
  85. +18 −1 selfdrive/car/hyundai/carstate.py
  86. +10 −5 selfdrive/car/hyundai/interface.py
  87. +8 −4 selfdrive/car/hyundai/values.py
  88. +1 −0 selfdrive/car/mock/interface.py
  89. +14 −1 selfdrive/car/toyota/carstate.py
  90. +19 −4 selfdrive/car/toyota/interface.py
  91. +43 −36 selfdrive/car/toyota/radar_interface.py
  92. +10 −2 selfdrive/car/toyota/values.py
  93. +7 −13 selfdrive/common/touch.c
  94. +1 −1 selfdrive/common/version.h
  95. +0 −22 selfdrive/config.py
  96. +80 −100 selfdrive/controls/controlsd.py
  97. +21 −540 selfdrive/controls/lib/alertmanager.py
  98. +627 −0 selfdrive/controls/lib/alerts.py
  99. +3 −13 selfdrive/controls/lib/drive_helpers.py
  100. +13 −13 selfdrive/controls/lib/latcontrol.py
  101. +7 −4 selfdrive/controls/lib/lateral_mpc/Makefile
  102. +30 −31 selfdrive/controls/lib/longcontrol.py
  103. +6 −3 selfdrive/controls/lib/longitudinal_mpc/Makefile
  104. +9 −3 selfdrive/controls/lib/longitudinal_mpc/libmpc_py.py
  105. +31 −7 selfdrive/controls/lib/planner.py
  106. +121 −40 selfdrive/controls/lib/vehicle_model.py
  107. +10 −2 selfdrive/controls/radard.py
  108. +11 −0 selfdrive/locationd/calibration_helpers.py
  109. +26 −18 selfdrive/locationd/calibrationd.py
  110. +1 −1 selfdrive/locationd/get_vp.c
  111. +4 −2 selfdrive/locationd/ubloxd.py
  112. BIN selfdrive/loggerd/loggerd
  113. +11 −6 selfdrive/manager.py
  114. 0 selfdrive/mapd/__init__.py
  115. +278 −0 selfdrive/mapd/mapd.py
  116. +229 −0 selfdrive/mapd/mapd_helpers.py
  117. +4 −1 selfdrive/registration.py
  118. BIN selfdrive/sensord/gpsd
  119. BIN selfdrive/sensord/sensord
  120. +2 −0 selfdrive/service_list.yaml
  121. +9 −1 selfdrive/test/plant/plant.py
  122. +28 −2 selfdrive/thermald.py
  123. +13 −1 selfdrive/ui/Makefile
  124. +184 −0 selfdrive/ui/slplay.c
  125. +21 −0 selfdrive/ui/slplay.h
  126. +6 −0 selfdrive/ui/start.sh
  127. +330 −51 selfdrive/ui/ui.c
  128. BIN selfdrive/visiond/visiond
@@ -1,3 +1,30 @@
Version 0.5.7 (2018-12-06)
========================
* Speed limit from OpenStreetMap added to UI
* Highlight speed limit when speed exceeds road speed limit plus a delta
* Option to limit openpilot max speed to road speed limit plus a delta
* Cadillac ATS support thanks to vntarasov!
* GMC Acadia support thanks to CryptoKylan!
* Decrease GPU power consumption
* NEOSv8 autoupdate

Version 0.5.6 (2018-11-16)
========================
* Refresh settings layout and add feature descriptions
* In Honda, keep stock camera on for logging and extra stock features; new openpilot giraffe setting is 0111!
* In Toyota, option to keep stock camera on for logging and extra stock features (e.g. AHB); 120Ohm resistor required on giraffe.
* Improve camera calibration stability
* More tuning to Honda positive accelerations
* Reduce brake pump use on Hondas
* Chevrolet Malibu support thanks to tylergets!
* Holden Astra support thanks to AlexHill!

Version 0.5.5 (2018-10-20)
========================
* Increase allowed Honda positive accelerations
* Fix sporadic unexpected braking when passing semi-trucks in Toyota
* Fix gear reading bug in Hyundai Elantra thanks to emmertex!

Version 0.5.4 (2018-09-25)
========================
* New Driving Model
BIN -310 Bytes (100%) apk/ai.comma.plus.frame.apk
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BIN +174 KB (100%) apk/ai.comma.plus.offroad.apk
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@@ -6,13 +6,16 @@ GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
JS := gen/js/car.capnp.js gen/js/log.capnp.js

UNAME_M ?= $(shell uname -m)

# only generate C++ for docker tests
ifneq ($(OPTEST),1)
GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h

ifeq ($(UNAME_M),x86_64)
GENS += gen/java/Car.java gen/java/Log.java
ifneq (, $(shell which capnpc-java))
GENS += gen/java/Car.java gen/java/Log.java
else
$(warning capnpc-java not found, skipping java build)
endif
endif

endif
@@ -71,6 +71,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
belowSteerSpeed @46;
calibrationProgress @47;
lowBattery @48;
invalidGiraffeHonda @49;
}
}

@@ -260,13 +261,13 @@ struct CarControl {
# these are the choices from the Honda
# map as good as you can for your car
none @0;
beepSingle @1;
beepTriple @2;
beepRepeated @3;
chimeSingle @4;
chimeDouble @5;
chimeRepeated @6;
chimeContinuous @7;
chimeEngage @1;
chimeDisengage @2;
chimeError @3;
chimeWarning1 @4;
chimeWarning2 @5;
chimeWarningRepeat @6;
chimePrompt @7;
}
}
}
@@ -354,6 +355,7 @@ struct CarParams {
radarOffCan @47 :Bool; # True when radar objects aren't visible on CAN

steerActuatorDelay @48 :Float32; # Steering wheel actuator delay in seconds
openpilotLongitudinalControl @50 :Bool; # is openpilot doing the longitudinal control?

enum SteerControlType {
torque @0;
@@ -276,7 +276,8 @@ struct ThermalData {
startedTs @13 :UInt64;

thermalStatus @14 :ThermalStatus;
chargerDisabled @17 :Bool;
chargingError @17 :Bool;
chargingDisabled @18 :Bool;

enum ThermalStatus {
green @0; # all processes run
@@ -344,6 +345,7 @@ struct LiveCalibrationData {
warpMatrix @0 :List(Float32);
# camera_frame_from_model_frame
warpMatrix2 @5 :List(Float32);
warpMatrixBig @6 :List(Float32);
calStatus @1 :Int8;
calCycle @2 :Int32;
calPerc @3 :Int8;
@@ -410,12 +412,18 @@ struct Live100Data {
alertStatus @38 :AlertStatus;
alertSize @39 :AlertSize;
alertBlinkingRate @42 :Float32;
alertType @44 :Text;
alertSound @45 :Text;
awarenessStatus @26 :Float32;
angleOffset @27 :Float32;
gpsPlannerActive @40 :Bool;
engageable @41 :Bool; # can OP be engaged?
driverMonitoringOn @43 :Bool;

# maps
vCurvature @46 :Float32;
decelForTurn @47 :Bool;

enum ControlState {
disabled @0;
preEnabled @1;
@@ -560,6 +568,10 @@ struct Plan {

gpsPlannerActive @19 :Bool;

# maps
vCurvature @21 :Float32;
decelForTurn @22 :Bool;

struct GpsTrajectory {
x @0 :List(Float32);
y @1 :List(Float32);
@@ -1558,6 +1570,27 @@ struct Boot {
lastPmsg @2 :Data;
}

struct LiveParametersData {
valid @0 :Bool;
gyroBias @1 :Float32;
angleOffset @2 :Float32;
}

struct LiveMapData {
speedLimitValid @0 :Bool;
speedLimit @1 :Float32;
curvatureValid @2 :Bool;
curvature @3 :Float32;
wayId @4 :UInt64;
roadX @5 :List(Float32);
roadY @6 :List(Float32);
lastGps @7: GpsLocationData;
roadCurvatureX @8 :List(Float32);
roadCurvature @9 :List(Float32);
distToTurn @10 :Float32;
}


struct Event {
# in nanoseconds?
logMonoTime @0 :UInt64;
@@ -1623,5 +1656,7 @@ struct Event {
orbFeaturesSummary @58 :OrbFeaturesSummary;
driverMonitoring @59 :DriverMonitoring;
boot @60 :Boot;
liveParameters @61 :LiveParametersData;
liveMapData @62 :LiveMapData;
}
}
@@ -6,7 +6,7 @@

TMPDIR = "/tmp/ccache"

def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR):
def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR, cflags="", libraries=[]):
cache = name + "_" + hashlib.sha1(c_code).hexdigest()
try:
os.mkdir(tmpdir)
@@ -21,19 +21,19 @@ def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR):
mod = __import__(cache)
except Exception:
print "cache miss", cache
compile_code(cache, c_code, c_header, tmpdir)
compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
mod = __import__(cache)
finally:
os.close(fd)

return mod.ffi, mod.lib

def compile_code(name, c_code, c_header, directory):
def compile_code(name, c_code, c_header, directory, cflags="", libraries=[]):
ffibuilder = FFI()
ffibuilder.set_source(name, c_code, source_extension='.cpp')
ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
ffibuilder.cdef(c_header)
os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
os.environ['CFLAGS'] = ""
os.environ['CFLAGS'] = cflags
ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)

def wrap_compiled(name, directory):
@@ -63,6 +63,7 @@ class UnknownKeyName(Exception):
"IsUploadVideoOverCellularEnabled": TxType.PERSISTENT,
"IsDriverMonitoringEnabled": TxType.PERSISTENT,
"IsGeofenceEnabled": TxType.PERSISTENT,
"SpeedLimitOffset": TxType.PERSISTENT,
# written: visiond
# read: visiond, controlsd
"CalibrationParams": TxType.PERSISTENT,
@@ -74,6 +75,8 @@ class UnknownKeyName(Exception):
"DoUninstall": TxType.CLEAR_ON_MANAGER_START,
"ShouldDoUpdate": TxType.CLEAR_ON_MANAGER_START,
"IsUpdateAvailable": TxType.PERSISTENT,
"LongitudinalControl": TxType.PERSISTENT,
"LimitSetSpeed": TxType.PERSISTENT,

"RecordFront": TxType.PERSISTENT,
}
@@ -75,17 +75,15 @@ def get_model_height_transform(camera_frame_from_road_frame, 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)
road_high_from_camera_frame = np.linalg.inv(camera_frame_from_road_high)
high_camera_from_low_camera = np.dot(camera_frame_from_road_ground, road_high_from_camera_frame)

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):
def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height):
vp = vp_from_ke(camera_frame_from_road_frame)

model_camera_from_model_frame = np.array([
BIN +4.84 KB (100%) installer/updater/updater
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@@ -293,7 +293,7 @@ CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";

VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
VAL_ 419 GEAR_SHIFTER 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" ;
@@ -288,6 +288,7 @@ BO_ 660 SCM_FEEDBACK: 8 SCM
CM_ SG_ 422 PARKING_BRAKE_LIGHT "Believe this is just the dash light for the parking break";
VAL_ 392 GEAR_SHIFTER 0 "S" 1 "P" 2 "R" 4 "N" 8 "D" ;
VAL_ 392 GEAR 26 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 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";
@@ -206,6 +206,7 @@ BO_ 571 WHEEL_BUTTONS: 3 XXX
SG_ ACC_SPEED_INC : 2|1@0+ (1,0) [0|255] "" XXX
SG_ ACC_SPEED_DEC : 3|1@1+ (1,0) [0|3] "" XXX
SG_ ACC_FOLLOW_INC : 8|1@1+ (1,0) [0|15] "" XXX
SG_ ACC_CANCEL : 0|1@0+ (1,0) [0|15] "" XXX
SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX

BO_ 669 NEW_MSG_29d: 3 XXX
@@ -402,6 +403,7 @@ CM_ SG_ 729 LKAS_STATUS_OK "Set to 0x0820 when LKAS system is plugged in.";
CM_ SG_ 288 UNKNOWN_CHECKSUM_120 "not the LKAS checksum";
CM_ SG_ 288 GAS_ENGINE_RPM_MAYBE "lags acceleration, perhaps gas engine";
CM_ SG_ 257 ENERGY_OR_RPM "perhaps energy consumption or RPMs";
CM_ SG_ 571 CHECKSUM_23B "standard checksum";
CM_ SG_ 270 ELECTRIC_MOTOR "0x7fff indicates electric motor not in use";
CM_ SG_ 291 ENERGY_GAIN_LOSS "unsure what this actually is";
CM_ SG_ 291 ENERGY_SMOOTHER_CURVE "unusre what it is, but smoother";
@@ -259,3 +259,5 @@ BO_ 891 STALK_STATUS_2: 8 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

VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
@@ -64,7 +64,7 @@ CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";

VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
VAL_ 419 GEAR_SHIFTER 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" ;
@@ -59,6 +59,7 @@ BO_ 660 SCM_FEEDBACK: 8 SCM
CM_ SG_ 422 PARKING_BRAKE_LIGHT "Believe this is just the dash light for the parking break";
VAL_ 392 GEAR_SHIFTER 0 "S" 1 "P" 2 "R" 4 "N" 8 "D" ;
VAL_ 392 GEAR 26 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 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";
@@ -129,7 +129,7 @@ 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_ 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" ;
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
@@ -64,7 +64,7 @@ BO_ 891 WIPERS: 8 XXX

CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";

VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
@@ -87,7 +87,7 @@ BO_ 884 STALK_STATUS: 8 XXX
CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";

VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
@@ -0,0 +1,44 @@
CM_ "IMPORT _bosch_2018.dbc"

BO_ 419 GEARBOX: 8 PCM
SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" 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_ BRAKE_ERROR_1 : 13|1@0+ (1,0) [0|1] "" EON
SG_ BRAKE_ERROR_2 : 12|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_ 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_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX
SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX
SG_ ZEROS_BOH4 : 55|8@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_ 1029 DOORS_STATUS: 8 BDY
SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

VAL_ 419 GEAR 10 "R" 1 "D" 0 "P";
VAL_ 419 GEAR_SHIFTER 32 "D" 16 "N" 8 "R" 4 "P" ;

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";
@@ -100,7 +100,7 @@ CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";
CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnings etc...";

VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
@@ -110,7 +110,5 @@ VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;

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";
@@ -58,7 +58,7 @@ BO_ 660 SCM_FEEDBACK: 8 SCM
SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON

VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
VAL_ 419 GEAR_SHIFTER 32 "D" 8 "R" 4 "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" ;
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