diff --git a/README.md b/README.md index d7f147c581d974..ae6b0ed66f6ca8 100644 --- a/README.md +++ b/README.md @@ -41,52 +41,61 @@ 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 | 25mph1| 25mph | -| Acura | ILX 2017 | AcuraWatch Plus | Yes | Yes | 25mph1| 25mph | -| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph1| 12mph | -| GM3| Volt 2017 | Driver Confidence II | Yes | Yes | 0mph | 7mph | -| GM3| 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 | Civic 2018 *(Hatch)* | Honda Sensing | Yes | Stock | 0mph | 12mph | -| Honda | CR-V 2015 | Touring | Yes | Yes | 25mph1| 12mph | -| Honda | CR-V 2016 | Touring | Yes | Yes | 25mph1| 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 | 25mph1| 0mph | -| Honda | Odyssey 2018 | Honda Sensing | Yes | Yes | 25mph1| 0mph | -| Honda | Pilot 2017 | Honda Sensing | Yes | Yes | 25mph1| 12mph | -| Honda | Pilot 2018 | Honda Sensing | Yes | Yes | 25mph1| 12mph | -| Honda | Ridgeline 2017 | Honda Sensing | Yes | Yes | 25mph1| 12mph | -| Honda | Ridgeline 2018 | Honda Sensing | Yes | Yes | 25mph1| 12mph | -| Lexus | RX Hybrid 2017 | All | Yes | Yes2| 0mph | 0mph | -| Lexus | RX Hybrid 2018 | All | Yes | Yes2| 0mph | 0mph | -| Toyota | Camry 20184 | All | Yes | Stock | 0mph5 | 0mph | -| Toyota | C-HR 20184 | All | Yes | Stock | 0mph | 0mph | -| Toyota | Corolla 2017 | All | Yes | Yes2| 20mph | 0mph | -| Toyota | Corolla 2018 | All | Yes | Yes2| 20mph | 0mph | -| Toyota | Prius 2016 | TSS-P | Yes | Yes2| 0mph | 0mph | -| Toyota | Prius 2017 | All | Yes | Yes2| 0mph | 0mph | -| Toyota | Prius 2018 | All | Yes | Yes2| 0mph | 0mph | -| Toyota | Prius Prime 2017 | All | Yes | Yes2| 0mph | 0mph | -| Toyota | Prius Prime 2018 | All | Yes | Yes2| 0mph | 0mph | -| Toyota | Rav4 2016 | TSS-P | Yes | Yes2| 20mph | 0mph | -| Toyota | Rav4 2017 | All | Yes | Yes2| 20mph | 0mph | -| Toyota | Rav4 2018 | All | Yes | Yes2| 20mph | 0mph | -| Toyota | Rav4 Hybrid 2017 | All | Yes | Yes2| 0mph | 0mph | -| Toyota | Rav4 Hybrid 2018 | All | Yes | Yes2| 0mph | 0mph | - +| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below | +| -------------------| ----------------------| ---------------------| --------| ---------------| -----------------| ---------------| +| Acura | ILX 2016 | AcuraWatch Plus | Yes | Yes | 25mph1| 25mph | +| Acura | ILX 2017 | AcuraWatch Plus | Yes | Yes | 25mph1| 25mph | +| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph1| 12mph | +| GM3 | Volt 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | +| GM3 | 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 | 25mph1| 12mph | +| Honda | CR-V 2016 | Touring | Yes | Yes | 25mph1| 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 | 25mph1| 0mph | +| Honda | Odyssey 2018 | Honda Sensing | Yes | Yes | 25mph1| 0mph | +| Honda | Odyssey 2019 | Honda Sensing | Yes | Yes | 25mph1| 0mph | +| Honda | Pilot 2017 | Honda Sensing | Yes | Yes | 25mph1| 12mph | +| Honda | Pilot 2018 | Honda Sensing | Yes | Yes | 25mph1| 12mph | +| Honda | Pilot 2019 | All | Yes | Yes | 25mph1| 12mph | +| Honda | Ridgeline 2017 | Honda Sensing | Yes | Yes | 25mph1| 12mph | +| Honda | Ridgeline 2018 | Honda Sensing | Yes | Yes | 25mph1| 12mph | +| Hyundai6| Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph | +| Hyundai6| Elantra 2017 | SCC + LKAS | Yes | Stock | 19mph | 34mph | +| Hyundai6| Genesis 2018 | All | Yes | Stock | 19mph | 34mph | +| Kia6 | Sorento 2018 | All | Yes | Stock | 0mph | 0mph | +| Kia6 | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph | +| Lexus | RX Hybrid 2017 | All | Yes | Yes2| 0mph | 0mph | +| Lexus | RX Hybrid 2018 | All | Yes | Yes2| 0mph | 0mph | +| Toyota | Camry 20184| All | Yes | Stock | 0mph5 | 0mph | +| Toyota | C-HR 20184 | All | Yes | Stock | 0mph | 0mph | +| Toyota | Corolla 2017 | All | Yes | Yes2| 20mph | 0mph | +| Toyota | Corolla 2018 | All | Yes | Yes2| 20mph | 0mph | +| Toyota | Highlander 2017 | All | Yes | Yes2| 0mph | 0mph | +| Toyota | Highlander Hybrid 2018| All | Yes | Yes2| 0mph | 0mph | +| Toyota | Prius 2016 | TSS-P | Yes | Yes2| 0mph | 0mph | +| Toyota | Prius 2017 | All | Yes | Yes2| 0mph | 0mph | +| Toyota | Prius 2018 | All | Yes | Yes2| 0mph | 0mph | +| Toyota | Prius Prime 2017 | All | Yes | Yes2| 0mph | 0mph | +| Toyota | Prius Prime 2018 | All | Yes | Yes2| 0mph | 0mph | +| Toyota | Rav4 2016 | TSS-P | Yes | Yes2| 20mph | 0mph | +| Toyota | Rav4 2017 | All | Yes | Yes2| 20mph | 0mph | +| Toyota | Rav4 2018 | All | Yes | Yes2| 20mph | 0mph | +| Toyota | Rav4 Hybrid 2017 | All | Yes | Yes2| 0mph | 0mph | +| Toyota | Rav4 Hybrid 2018 | All | Yes | Yes2| 0mph | 0mph | 1[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)*** 2When 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) 3[GM installation guide](https://www.zoneos.com/volt.htm) 4It 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/). 528mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. +6Giraffe is under development: architecture similar to Toyota giraffe, with an extra 120Ohm resistor on bus 3. Community Maintained Cars ------ @@ -107,6 +116,8 @@ 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? ------ diff --git a/RELEASES.md b/RELEASES.md index 1f822b6f67e42a..0cc746f3238bf6 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,3 +1,10 @@ +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! diff --git a/apk/ai.comma.plus.offroad.apk b/apk/ai.comma.plus.offroad.apk index 489bdd7e73d6c9..7453cd10a47e87 100644 Binary files a/apk/ai.comma.plus.offroad.apk and b/apk/ai.comma.plus.offroad.apk differ diff --git a/cereal/car.capnp b/cereal/car.capnp index c14ed5b99781b3..ff1297f1ef8095 100644 --- a/cereal/car.capnp +++ b/cereal/car.capnp @@ -68,6 +68,7 @@ struct CarEvent @0x9b1657f34caf3ad3 { preDriverUnresponsive @43; promptDriverUnresponsive @44; driverUnresponsive @45; + belowSteerSpeed @46; } } @@ -284,6 +285,7 @@ struct CarParams { enableApgs @28 :Bool; # advanced parking guidance system minEnableSpeed @17 :Float32; + minSteerSpeed @49 :Float32; safetyModel @18 :Int16; safetyParam @41 :Int16; diff --git a/cereal/log.capnp b/cereal/log.capnp index 06392b88ae7df2..4f4e224f2f9fcb 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -42,6 +42,7 @@ struct InitData { dirty @9 :Bool; passive @12 :Bool; + params @17 :Map(Text, Text); enum DeviceType { unknown @0; @@ -186,6 +187,10 @@ struct SensorEventData { iOS @1; fiber @2; velodyne @3; # Velodyne IMU + # c3 sensors below + bno055 @4; + lsm6ds3 @5; + bmp280 @6; } } @@ -262,6 +267,8 @@ struct ThermalData { freeSpace @7 :Float32; batteryPercent @8 :Int16; batteryStatus @9 :Text; + batteryCurrent @15 :Int32; + batteryVoltage @16 :Int32; usbOnline @12 :Bool; fanSpeed @10 :UInt16; @@ -327,6 +334,7 @@ struct Live20Data { aLeadK @9 :Float32; fcw @10 :Bool; status @11 :Bool; + aLeadTau @12 :Float32; } } diff --git a/common/dbc.py b/common/dbc.py index 7135b07cf19367..2a5e4f86883361 100755 --- a/common/dbc.py +++ b/common/dbc.py @@ -199,6 +199,7 @@ def decode(self, x, arr=None, debug=False): st = x[2].rjust(8, '\x00') le, be = None, None + size = msg[0][1] for s in msg[1]: if arr is not None and s[0] not in arr: @@ -215,7 +216,7 @@ def decode(self, x, arr=None, debug=False): else: if le is None: le = struct.unpack("> (64 - 8 * size) ss = s[1] data_bit_pos = ss diff --git a/opendbc/generator/toyota/_comma.dbc b/opendbc/generator/toyota/_comma.dbc index 9c067113a60b58..4e4c82d80e7c71 100644 --- a/opendbc/generator/toyota/_comma.dbc +++ b/opendbc/generator/toyota/_comma.dbc @@ -9,3 +9,17 @@ 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" ; diff --git a/opendbc/generator/toyota/toyota_highlander_hybrid_2018_pt.dbc b/opendbc/generator/toyota/toyota_highlander_hybrid_2018_pt.dbc new file mode 100644 index 00000000000000..8fe5ec1991f18a --- /dev/null +++ b/opendbc/generator/toyota/toyota_highlander_hybrid_2018_pt.dbc @@ -0,0 +1,33 @@ +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"; diff --git a/opendbc/hyundai_2015_ccan.dbc b/opendbc/hyundai_2015_ccan.dbc index 920edcabe2817e..addc0cac31fa08 100644 --- a/opendbc/hyundai_2015_ccan.dbc +++ b/opendbc/hyundai_2015_ccan.dbc @@ -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 diff --git a/opendbc/hyundai_santa_fe_2019_ccan.dbc b/opendbc/hyundai_santa_fe_2019_ccan.dbc new file mode 100644 index 00000000000000..b9e654fa662bcb --- /dev/null +++ b/opendbc/hyundai_santa_fe_2019_ccan.dbc @@ -0,0 +1,1420 @@ +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_: IAP ODS _4WD BCM HUD DATC MDPS AAF_Tester AEMC SMK _4WD EPB CUBIS MTS TMU EVP CGW TPMS LPI DI_BOX SPAS EMS LCA TCU IBOX FATC AFLS FPCM SCC AHLS AVM ABS SNV OPI PGS SAS AAF Dummy LDWS_LKAS LVR ESC PSB CLU ECS ACU REA + +BO_ 1532 ODS13: 5 ODS + SG_ CR_Ods_ID : 0|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_Chksum_H : 8|8@1+ (1.0,0.0) [0.0|255.0] "" Dummy + SG_ CR_Ods_Chksum_L : 16|8@1+ (1.0,0.0) [0.0|255.0] "" Dummy + SG_ CR_Ods_RomID_H : 24|8@1+ (1.0,0.0) [0.0|255.0] "" Dummy + SG_ CR_Ods_RomID_L : 32|8@1+ (1.0,0.0) [0.0|255.0] "" Dummy + +BO_ 1531 ODS12: 8 ODS + SG_ CR_Ods_SerNum0 : 0|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum1 : 8|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum2 : 16|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum3 : 24|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum4 : 32|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum5 : 40|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum6 : 48|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + SG_ CR_Ods_SerNum7 : 56|8@1+ (1.0,0.0) [0.0|255.0] "" ACU + +BO_ 1530 ODS11: 8 ODS + SG_ CF_Ods_PrcCmd : 1|1@1+ (1.0,0.0) [0.0|1.0] "" Dummy + SG_ CF_Ods_BtsFail : 3|1@1+ (1.0,0.0) [0.0|1.0] "" Dummy + SG_ CF_Ods_AcuRcvSN : 4|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CF_Ods_EolCal : 5|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CF_Ods_PsFail : 6|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CF_Ods_EcuFail : 7|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CF_Ods_WgtStat : 8|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CF_Ods_OccStat : 16|1@1+ (1.0,0.0) [0.0|1.0] "" ACU + SG_ CR_Wcs_ErrStat : 32|8@1+ (1.0,0.0) [0.0|63.0] "" ACU + SG_ CR_Wcs_ClassStat : 40|8@1+ (1.0,0.0) [0.0|4.0] "" ACU,BCM + +BO_ 1017 ECS12: 4 ECS + SG_ Height_FL : 0|8@1+ (1.0,-128.0) [-128.0|127.0] "mm" AFLS + SG_ Height_FR : 8|8@1+ (1.0,-128.0) [-128.0|127.0] "mm" AFLS + SG_ Height_RL : 16|8@1+ (1.0,-128.0) [-128.0|127.0] "mm" AFLS + SG_ Height_RR : 24|8@1+ (1.0,-128.0) [-128.0|127.0] "mm" AFLS + +BO_ 1268 SPAS12: 8 SPAS + SG_ CF_Spas_HMI_Stat : 0|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ CF_Spas_Disp : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS + SG_ CF_Spas_FIL_Ind : 10|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FIR_Ind : 13|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FOL_Ind : 16|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FOR_Ind : 19|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_VolDown : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_RIL_Ind : 24|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_RIR_Ind : 27|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FLS_Alarm : 30|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_ROL_Ind : 32|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_ROR_Ind : 35|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FCS_Alarm : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_FI_Ind : 40|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_RI_Ind : 43|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU + SG_ CF_Spas_FRS_Alarm : 46|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_FR_Alarm : 48|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_Spas_RR_Alarm : 50|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_Spas_BEEP_Alarm : 52|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU + SG_ CF_Spas_StatAlarm : 56|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Spas_RLS_Alarm : 57|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_RCS_Alarm : 59|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_RRS_Alarm : 61|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1265 CLU11: 4 CLU + SG_ CF_Clu_CruiseSwState : 0|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,LDWS_LKAS,SCC + SG_ CF_Clu_CruiseSwMain : 3|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,LDWS_LKAS,SCC + SG_ CF_Clu_SldMainSW : 4|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Clu_ParityBit1 : 5|1@1+ (1.0,0.0) [0.0|1.0] "pulse count" EMS + SG_ CF_Clu_VanzDecimal : 6|2@1+ (0.125,0.0) [0.0|0.375] "" EMS + SG_ CF_Clu_Vanz : 8|9@1+ (0.5,0.0) [0.0|255.5] "km/h or MPH" BCM,CUBIS,EMS,IBOX,LDWS_LKAS,MDPS,SCC + SG_ CF_Clu_SPEED_UNIT : 17|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CUBIS,EMS,IBOX,LDWS_LKAS,MDPS,SCC + SG_ CF_Clu_DetentOut : 18|1@1+ (1.0,0.0) [0.0|1.0] "" AVM,BCM,LCA,PGS,SPAS + SG_ CF_Clu_RheostatLevel : 19|5@1+ (1.0,0.0) [0.0|31.0] "" AVM,BCM,LCA,PGS,SPAS + SG_ CF_Clu_CluInfo : 24|1@1+ (1.0,0.0) [0.0|1.0] "" BCM + SG_ CF_Clu_AmpInfo : 25|1@1+ (1.0,0.0) [0.0|1.0] "" BCM + SG_ CF_Clu_AliveCnt1 : 28|4@1+ (1.0,0.0) [0.0|15.0] "" AHLS,EMS,EPB,LDWS_LKAS,MDPS,SCC + +BO_ 1492 TMU_GW_PE_01: 8 CLU + SG_ TMU_IVRActivity : 0|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + SG_ TMU_PhoneActivity : 2|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + +BO_ 1491 HU_DATC_PE_00: 8 CLU + SG_ HU_VRActivity : 0|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + SG_ HU_PhoneActivity : 2|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + SG_ BlowerNoiseControl : 4|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + +BO_ 1490 HU_DATC_E_02: 8 CLU + SG_ HU_DATC_RearOnOffSet : 6|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + SG_ HU_DATC_ADSOnOffSet : 8|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + +BO_ 1479 EMS21: 8 EMS + SG_ SCR_LEVEL_WARN_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ SCR_LEVEL_WARN : 1|3@1+ (1.0,0.0) [0.0|4.0] "" CLU + SG_ SCR_SYS_ERROR_WARN : 4|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ SCR_SYSTEM_WARN_LAMP : 7|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ SCR_INDUCEMENT_EXIT_COND : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ SCR_UREA_LEVEL : 16|8@1+ (0.5,0.0) [0.0|100.0] "%" CLU + SG_ SCR_NO_REMAINING_RESTARTS : 24|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ SCR_REMAINING_DISTANCE : 32|16@1+ (1.0,0.0) [0.0|25000.0] "km" CLU + +BO_ 1472 GW_Warning_PE: 8 BCM + SG_ Audio_VolumeDown : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Pas_Spkr_Flh_Alarm : 48|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Pas_Spkr_Fcnt_Alarm : 50|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Pas_Spkr_Frh_Alarm : 52|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Pas_Spkr_Rlh_Alarm : 56|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,PGS + SG_ Pas_Spkr_Rcnt_Alarm : 58|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Pas_Spkr_Rrh_Alarm : 60|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,PGS + +BO_ 1984 CAL_SAS11: 2 ESC + SG_ CCW : 0|4@1+ (1.0,0.0) [0.0|15.0] "" SAS + SG_ SAS_CID : 4|11@1+ (1.0,0.0) [0.0|2047.0] "" SAS + +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_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 + SG_ CheckSum : 36|4@1+ (1.0,0.0) [0.0|15.0] "" ECS,EMS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,ECS,EMS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS + +BO_ 1441 ACU12: 8 ACU + SG_ CR_Acu_SN : 0|64@1+ (1.0,0.0) [0.0|0.0] "" ODS + +BO_ 1440 ACU11: 8 ACU + SG_ CF_Ods_SNRcv : 1|1@1+ (1.0,0.0) [0.0|1.0] "" ODS + SG_ CF_Ods_IDRcv : 2|1@1+ (1.0,0.0) [0.0|1.0] "" ODS + SG_ CF_Ods_RZReq : 4|1@1+ (1.0,0.0) [0.0|1.0] "" ODS + SG_ CF_Abg_DepInhEnt : 6|1@1+ (1.0,0.0) [0.0|1.0] "" ODS + SG_ CF_Abg_DepEnt : 7|1@1+ (1.0,0.0) [0.0|1.0] "" ODS + SG_ CF_PasBkl_FltStat : 28|1@1+ (1.0,0.0) [0.0|1.0] "" ODS,PSB + SG_ CF_DriBkl_FltStat : 29|1@1+ (1.0,0.0) [0.0|1.0] "" ODS,PSB + SG_ CF_PasBkl_Stat : 30|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,ODS,PSB,TMU + SG_ CF_DriBkl_Stat : 31|1@1+ (1.0,0.0) [0.0|1.0] "" ODS,PSB + SG_ CF_SWL_Ind : 32|2@1+ (1.0,0.0) [0.0|3.0] "" CUBIS,IBOX + SG_ CF_Acu_FltStat : 34|2@1+ (1.0,0.0) [0.0|3.0] "" CUBIS,IBOX + SG_ CF_Acu_ExtOfSab : 36|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,CUBIS,IBOX + SG_ CF_Acu_Dtc : 40|16@1+ (1.0,0.0) [0.0|65535.0] "" CUBIS,IBOX + SG_ CF_Acu_NumOfFlt : 56|8@1+ (1.0,0.0) [0.0|255.0] "" CUBIS,IBOX + +BO_ 1437 AHLS11: 8 AHLS + SG_ CF_Ahls_WarnLamp : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Ahls_WarnMsg : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1434 PSB11: 2 PSB + SG_ PSB_LH_FAIL : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ PSB_LH_TGL : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ PSB_LH_ACT : 3|4@1+ (1.0,0.0) [0.0|4.0] "" Dummy + SG_ PSB_RH_FAIL : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ PSB_RH_TGL : 10|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ PSB_RH_ACT : 11|4@1+ (1.0,0.0) [0.0|4.0] "" Dummy + +BO_ 916 TCS13: 8 ESC + SG_ aBasis : 0|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" EMS,SCC + SG_ BrakeLight : 11|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,SCC + SG_ DCEnable : 12|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC + SG_ AliveCounterTCS : 13|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,SCC + SG_ ACCReqLim : 22|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,SCC + SG_ TQI_ACC : 24|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS + SG_ ACCEL_REF_ACC : 32|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" EMS,SCC + SG_ ACCEnable : 43|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,SCC + SG_ DriverOverride : 45|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,SCC + SG_ StandStill : 47|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC + SG_ CheckSum_TCS3 : 48|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,SCC + SG_ ACC_EQUIP : 52|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC + SG_ PBRAKE_ACT : 53|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC + SG_ ACC_REQ : 54|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ DriverBraking : 55|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC + SG_ CF_VSM_Coded : 56|1@1+ (1.0,0.0) [0.0|1.0] "" SCC + SG_ CF_VSM_Avail : 57|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,SCC + SG_ CF_VSM_Handshake : 59|1@1+ (1.0,0.0) [0.0|1.0] "" SCC + SG_ CF_DriBkeStat : 60|1@1+ (1.0,0.0) [0.0|1.0] "" SCC + SG_ CF_VSM_ConfSwi : 61|2@1+ (1.0,0.0) [0.0|3.0] "" SCC + SG_ AEB_EQUIP : 63|1@1+ (1.0,0.0) [0.0|1.0] "" SCC + +BO_ 1427 TPMS11: 6 BCM + SG_ TPMS_W_LAMP : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,HUD,IBOX,CLU,CUBIS,HUD,IBOX + SG_ TREAD_W_LAMP : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,HUD,IBOX,CLU,CUBIS,HUD,IBOX + SG_ POS_FL_W_LAMP : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,HUD,IBOX + SG_ POS_FR_W_LAMP : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,HUD,IBOX + SG_ POS_RL_W_LAMP : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,HUD,IBOX + SG_ POS_RR_W_LAMP : 7|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,HUD,IBOX + SG_ STATUS_TPMS : 8|3@1+ (1.0,0.0) [0.0|0.0] "" CLU + SG_ UNIT : 11|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ PRESSURE_FL : 16|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ PRESSURE_FR : 24|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ PRESSURE_RL : 32|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ PRESSURE_RR : 40|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + +BO_ 915 TCS12: 4 ESC + SG_ SA_COUNT : 0|16@1+ (2.0,-32768.0) [-32768.0|98302.0] "" _4WD,ACU,MDPS + SG_ SA_Z_COUNT : 16|15@1+ (2.0,-32768.0) [-32768.0|32766.0] "" _4WD,ACU,MDPS + SG_ SA_Z_FLAG : 31|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,MDPS + +BO_ 1170 EMS19: 8 EMS + SG_ CF_Ems_BrkReq : 0|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX,TCU + SG_ CF_Ems_DnShftReq : 1|4@1+ (1.0,0.0) [0.0|14.0] "" IBOX,TCU + SG_ CF_Ems_RepModChk : 5|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX + SG_ CF_Ems_AAFOpenReq : 7|1@1+ (1.0,0.0) [0.0|1.0] "" AAF,IBOX + SG_ CF_Ems_DecelReq : 8|12@1+ (0.0010,-4.094) [-4.094|0.0] "m/s^2" ESC,IBOX,TCU + SG_ CR_Ems_BstPre : 20|12@1+ (1.322,0.0) [0.0|4094.0] "hPa" CLU,IBOX + SG_ CR_Ems_EngOilTemp : 32|8@1+ (0.75,-40.0) [0.0|254.0] "deg" CLU,IBOX + SG_ DPF_LAMP_STAT : 40|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,IBOX + SG_ BAT_LAMP_STAT : 42|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_ModeledAmbTemp : 48|8@1+ (0.5,-41.0) [-41.0|85.5] "deg" AAF,IBOX + SG_ CF_Ems_OPSFail : 56|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_AliveCounterEMS9 : 58|2@1+ (1.0,0.0) [0.0|3.0] "" AAF,ABS,CUBIS,ECS,EPB,IBOX,MDPS,REA,SCC,SMK,TCU + SG_ CF_Ems_ChecksumEMS9 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" AAF,ABS,CUBIS,ECS,EPB,IBOX,MDPS,REA,SCC,SMK,TCU + +BO_ 1425 AFLS11: 2 AFLS + SG_ AFLS_STAT : 1|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Afls_TrfChgStat : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Afls_LedHLStat : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 912 SPAS11: 7 SPAS + SG_ CF_Spas_Stat : 0|4@1+ (1.0,0.0) [0.0|15.0] "" ESC,MDPS + SG_ CF_Spas_TestMode : 4|2@1+ (1.0,0.0) [0.0|3.0] "" MDPS + SG_ CR_Spas_StrAngCmd : 8|16@1- (0.1,0.0) [-3276.8|3276.7] "" MDPS + SG_ CF_Spas_BeepAlarm : 24|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Spas_Mode_Seq : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Spas_AliveCnt : 32|8@1+ (1.0,0.0) [0.0|255.0] "" MDPS + SG_ CF_Spas_Chksum : 40|8@1+ (1.0,0.0) [0.0|255.0] "" MDPS + SG_ CF_Spas_PasVol : 48|3@1+ (1.0,0.0) [0.0|7.0] "" CGW,CLU + +BO_ 1168 EPB11: 7 EPB + SG_ EPB_I_LAMP : 0|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU,CUBIS,ESC,IBOX + SG_ EPB_F_LAMP : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,ESC,IBOX + SG_ EPB_ALARM : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC + SG_ EPB_CLU : 8|8@1+ (1.0,0.0) [0.0|255.0] "" CLU,ESC + SG_ EPB_SWITCH : 16|2@1+ (1.0,0.0) [0.0|3.0] "" ESC,SCC + SG_ EPB_RBL : 18|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,ESC + SG_ EPB_STATUS : 19|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,EMS,ESC,SCC,TCU + SG_ EPB_FRC_ERR : 22|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,ESC,SCC,TCU + SG_ EPB_DBF_STAT : 24|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ ESP_ACK : 25|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ EPB_DBF_REQ : 26|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ EPB_FAIL : 29|3@1+ (1.0,0.0) [0.0|7.0] "" ESC,SCC + SG_ EPB_FORCE : 32|12@1+ (1.0,-1000.0) [-1000.0|3000.0] "" ESC + SG_ EPB_DBF_DECEL : 48|8@1+ (0.01,0.0) [0.0|2.54] "g" ESC + +BO_ 399 EMS_H12: 8 EMS + SG_ R_TqAcnApvC : 0|8@1+ (0.2,0.0) [0.0|51.0] "Nm" DATC,IBOX + SG_ R_PAcnC : 8|8@1+ (125.0,0.0) [0.0|31875.0] "hPa" DATC,IBOX + SG_ TQI_B : 16|8@1+ (0.390625,0.0) [0.0|99.609375] "%" ABS,ESC,IBOX + SG_ SLD_VS : 24|8@1+ (1.0,0.0) [0.0|255.0] "km/h" CLU,IBOX + SG_ CF_CdaStat : 32|3@1+ (1.0,0.0) [0.0|7.0] "" AEMC,IBOX,TCU + SG_ CF_Ems_IsgStat : 35|3@1+ (1.0,0.0) [0.0|7.0] "" ABS,BCM,CLU,DATC,EPB,ESC,IBOX,LDWS_LKAS,MDPS,SMK,TCU + SG_ CF_Ems_OilChg : 38|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_EtcLimpMod : 39|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ R_NEngIdlTgC : 40|8@1+ (10.0,0.0) [0.0|2550.0] "rpm" DATC,IBOX,TCU + SG_ CF_Ems_UpTarGr : 48|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_DownTarGr : 49|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_DesCurGr : 50|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,IBOX + SG_ CF_Ems_SldAct : 54|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_SldPosAct : 55|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_HPresStat : 56|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU + SG_ CF_Ems_IsgBuz : 57|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_IdlStpFCO : 58|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_FCopen : 59|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Ems_ActEcoAct : 60|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,TCU + SG_ CF_Ems_EngRunNorm : 61|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC,IBOX,TCU + SG_ CF_Ems_IsgStat2 : 62|2@1+ (2.0,0.0) [0.0|3.0] "" CLU,IBOX,TCU + +BO_ 1419 LCA11: 8 LCA + SG_ CF_Lca_Stat : 0|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU + SG_ CF_Rcta_Stat : 4|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU + SG_ CF_Lca_IndLeft : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_Rcw_Stat : 10|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU + SG_ CF_RCW_Warning : 14|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_Lca_IndRight : 16|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_Lca_SndWan_Stat : 18|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_FR_SndWan : 20|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU + SG_ CF_FL_SndWan : 21|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU + SG_ CF_RR_SndWan : 22|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU + SG_ CF_RL_SndWan : 23|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU + SG_ CF_Lca_IndBriLeft : 24|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU + SG_ CF_Lca_IndBriRight : 32|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU + SG_ CF_RCTA_IndBriLeft : 40|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU + SG_ CF_RCTA_IndBriRight : 48|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU + SG_ CF_RCTA_IndLeft : 56|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_RCTA_IndRight : 58|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + SG_ CF_SndWarnForClu : 60|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + +BO_ 906 ABS11: 8 ABS + SG_ ABS_DEF : 0|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,EMS,SPAS,TCU + SG_ EBD_DEF : 1|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,SPAS,TCU + SG_ ABS_ACT : 2|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,EPB,SPAS,TCU + SG_ ABS_W_LAMP : 3|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,CUBIS,MTS,TMU + SG_ EBD_W_LAMP : 4|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU + SG_ ABS_DIAG : 5|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU + SG_ ESS_STAT : 6|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,BCM,CLU,EMS + +BO_ 903 WHL_PUL11: 6 ABS + SG_ WHL_PUL_FL : 0|8@1+ (0.5,0.0) [0.0|127.5] "pulse count" CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS + SG_ WHL_PUL_FR : 8|8@1+ (0.5,0.0) [0.0|127.5] "pulse count" CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS + SG_ WHL_PUL_RL : 16|8@1+ (0.5,0.0) [0.0|127.5] "pulse count" CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS + SG_ WHL_PUL_RR : 24|8@1+ (0.5,0.0) [0.0|127.5] "pulse count" CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS + SG_ WHL_DIR_FL : 32|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS + SG_ WHL_DIR_FR : 34|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS + SG_ WHL_DIR_RL : 36|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS + SG_ WHL_DIR_RR : 38|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS + SG_ WHL_PUL_Chksum : 40|8@1+ (1.0,0.0) [0.0|255.0] "" EPB,SPAS,TPMS,EPB,LCA,LDWS_LKAS,SPAS,TPMS + +BO_ 1415 TMU11: 8 IBOX + SG_ CF_Tmu_VehSld : 0|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Tmu_VehImmo : 1|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Tmu_ReqRepCnd : 2|2@1+ (1.0,0.0) [0.0|3.0] "" EMS + SG_ CF_Tmu_AirconCtr : 4|1@1+ (1.0,0.0) [0.0|1.0] "" DATC + SG_ CF_Tmu_TempMd : 5|1@1+ (1.0,0.0) [0.0|1.0] "" DATC + SG_ CF_Tmu_TempSet : 6|16@1+ (1.0,0.0) [0.0|20.0] "" DATC + SG_ CF_Tmu_DefrostCtr : 22|1@1+ (1.0,0.0) [0.0|1.0] "" DATC,FATC + SG_ CF_Tmu_AliveCnt1 : 56|4@1+ (1.0,0.0) [0.0|15.0] "" EMS + +BO_ 902 WHL_SPD11: 8 ABS + SG_ WHL_SPD_FL : 0|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h" _4WD,AFLS,AHLS,AVM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS + SG_ WHL_SPD_FR : 16|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h" _4WD,ACU,AFLS,AHLS,AVM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS + SG_ WHL_SPD_RL : 32|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h" _4WD,AFLS,AHLS,AVM,BCM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,BCM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS + SG_ WHL_SPD_RR : 48|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h" _4WD,AFLS,AHLS,AVM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS + SG_ WHL_SPD_AliveCounter_LSB : 14|2@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + SG_ WHL_SPD_AliveCounter_MSB : 30|2@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + SG_ WHL_SPD_Checksum_LSB : 46|2@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + SG_ WHL_SPD_Checksum_MSB : 62|2@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + +BO_ 1414 EVP11: 3 EVP + SG_ CF_Evp_Stat : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + +BO_ 1412 AAF11: 8 AAF + SG_ CF_Aaf_ActFlapStatus : 0|2@1+ (1.0,0.0) [0.0|3.0] "" AAF_Tester + SG_ CF_Aaf_ModeStatus : 2|3@1+ (1.0,0.0) [0.0|7.0] "" AAF_Tester + SG_ CF_Aaf_WrnLamp : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Aaf_ErrStatus : 6|10@1+ (1.0,0.0) [0.0|1023.0] "" AAF_Tester,EMS + SG_ CF_Aaf_OpenRqSysAct : 16|8@1+ (1.0,0.0) [0.0|255.0] "" AAF_Tester + SG_ CF_Aaf_PStatus : 24|8@1+ (1.0,0.0) [0.0|100.0] "%" AAF_Tester + SG_ CF_Aaf_OpenRqSysSol : 32|8@1+ (1.0,0.0) [0.0|255.0] "" AAF_Tester + SG_ CF_Aaf_SolFlapStatus : 40|2@1+ (1.0,0.0) [0.0|3.0] "" AAF_Tester + SG_ CF_Aaf_MilOnReq : 42|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + +BO_ 900 EMS17: 8 EMS + SG_ CF_Ems_PkpCurMSV : 0|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX + SG_ CF_Ems_HolCurMSV : 8|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX + SG_ CF_Ems_InjVBnkAct : 16|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX + SG_ CF_Ems_InjVActSet : 24|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX + SG_ CF_Ems_DiagFulHDEV : 32|1@1+ (1.0,0.0) [0.0|1.0] "" DI_BOX + SG_ CF_Ems_SwiOffIC1 : 33|1@1+ (1.0,0.0) [0.0|1.0] "" DI_BOX + SG_ CF_Ems_SwiOffIC2 : 34|1@1+ (1.0,0.0) [0.0|1.0] "" DI_BOX + SG_ CF_Ems_DiagReqHDEV : 38|1@1+ (1.0,0.0) [0.0|1.0] "" DI_BOX + SG_ CR_Ems_DutyCycMSV : 40|8@1+ (0.3921568627,0.0) [0.0|100.0] "%" DI_BOX + SG_ CR_Ems_BatVolRly : 48|8@1+ (0.1,0.0) [0.0|25.5] "V" DI_BOX + +BO_ 387 REA11: 8 REA + SG_ CF_EndBst_PwmDuH : 0|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_PwmDuL : 1|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_PwmFqOutRng : 2|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_HbriOverCur : 3|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_HbriOverTemp : 4|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_PosSnsKOR : 6|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_PosSnsOSOR : 7|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_EepFlt : 8|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_RomFlt : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_RamFlt : 10|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_CanFlt : 11|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_AgH : 12|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_AgL : 13|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_EndBst_ORVol : 14|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CR_EndBst_ActPos : 16|16@1+ (0.117,0.0) [1.989|118.053] "" EMS + SG_ CR_EndBst_DemPos : 32|16@1+ (0.117,0.0) [0.0|119.691] "" EMS + SG_ CR_EndBst_HbriPwr : 48|16@1+ (0.045,0.0) [0.0|99.99] "%" EMS + +BO_ 1411 CUBIS11: 8 CUBIS + SG_ CF_Cubis_HUDisp : 0|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + +BO_ 899 FATC11: 8 DATC + SG_ CR_Fatc_TqAcnOut : 0|8@1+ (0.2,0.0) [0.0|50.8] "Nm" EMS,IBOX + SG_ CF_Fatc_AcnRqSwi : 8|1@1+ (1.0,0.0) [0.0|1.0] "" AAF,EMS,IBOX + SG_ CF_Fatc_AcnCltEnRq : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Fatc_EcvFlt : 10|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Fatc_BlwrOn : 11|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_FATC_Iden : 12|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX + SG_ CF_Fatc_BlwrMax : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX + SG_ CF_Fatc_EngStartReq : 15|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Fatc_IsgStopReq : 16|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Fatc_CtrInf : 17|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,IBOX + SG_ CF_Fatc_MsgCnt : 20|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,IBOX + SG_ CR_Fatc_OutTemp : 24|8@1+ (0.5,-40.0) [-40.0|60.0] "deg" BCM,CLU,EMS,IBOX,SPAS,TCU,TPMS + SG_ CR_Fatc_OutTempSns : 32|8@1+ (0.5,-40.0) [-40.0|60.0] "deg" AAF,AHLS,CLU,EMS,IBOX,SPAS,TCU + SG_ CF_Fatc_Compload : 40|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,IBOX + SG_ CF_Fatc_ActiveEco : 43|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Fatc_AutoActivation : 44|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX + SG_ CF_Fatc_DefSw : 45|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,IBOX + SG_ CF_Fatc_PtcRlyStat : 46|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Fatc_ChkSum : 56|8@1+ (1.0,0.0) [0.0|255.0] "" EMS,IBOX,SPAS + +BO_ 129 EMS_DCT12: 8 EMS + SG_ CR_Ems_SoakTimeExt : 0|6@1+ (5.0,0.0) [0.0|315.0] "Min" TCU + SG_ BRAKE_ACT : 6|2@1+ (1.0,0.0) [0.0|3.0] "" TCU + SG_ CF_Ems_EngOperStat : 8|8@1+ (1.0,0.0) [0.0|255.0] "" TCU + SG_ CR_Ems_IndAirTemp : 16|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" TCU + SG_ CF_Ems_Alive2 : 56|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Ems_ChkSum2 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + +BO_ 897 MDPS11: 8 MDPS + SG_ CF_Mdps_WLmp : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,EMS,IBOX,SPAS + SG_ CF_Mdps_Flex : 2|3@1+ (1.0,0.0) [0.0|3.0] "" CLU,LDWS_LKAS + SG_ CF_Mdps_FlexDisp : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Mdps_Stat : 7|4@1+ (1.0,0.0) [0.0|15.0] "" SPAS + SG_ CR_Mdps_DrvTq : 11|12@1+ (1.0,-2048.0) [-2048.0|2046.0] "" SPAS + SG_ CF_Mdps_ALTRequest : 23|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CR_Mdps_StrAng : 24|16@1- (0.1,0.0) [-3276.8|3276.7] "Deg" SPAS + SG_ CF_Mdps_AliveCnt : 40|8@1+ (1.0,0.0) [0.0|255.0] "" LDWS_LKAS,SPAS + SG_ CF_Mdps_Chksum : 48|8@1+ (1.0,0.0) [0.0|255.0] "" LDWS_LKAS,SPAS + SG_ CF_Mdps_SPAS_FUNC : 57|1@1+ (1.0,0.0) [0.0|1.0] "flag" SPAS + SG_ CF_Mdps_LKAS_FUNC : 58|1@1+ (1.0,0.0) [0.0|1.0] "flag" LDWS_LKAS + SG_ CF_Mdps_CurrMode : 59|2@1+ (1.0,0.0) [0.0|3.0] "" LDWS_LKAS + SG_ CF_Mdps_Type : 61|2@1+ (1.0,0.0) [0.0|2.0] "" LDWS_LKAS,SPAS + +BO_ 896 DI_BOX13: 8 DI_BOX + SG_ CF_DiBox_HPreInjVConfStat : 0|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_HPreInjVStat1 : 8|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_HPreInjVStat2 : 16|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_HPreInjVPkp : 24|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_HPreInjVBpt : 32|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_ErrRegFrtMSV : 40|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_ErrRegSedMSV : 48|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_SPIErrSedMSV : 56|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_SPIErrFrtMSV : 57|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_IDErrSedMSV : 58|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_IDErrFrtMSV : 59|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_IniStatMSV : 60|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + +BO_ 640 EMS13: 8 EMS + SG_ LV_FUEL_TYPE_ECU : 0|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,LPI,SMK + SG_ LV_BFS_CFIRM : 1|1@1+ (1.0,0.0) [0.0|1.0] "" LPI + SG_ LV_CRASH : 2|1@1+ (1.0,0.0) [0.0|1.0] "" LPI + SG_ LV_VB_OFF_ACT : 3|1@1+ (1.0,0.0) [0.0|1.0] "" LPI + SG_ LV_GSL_MAP M : 4|1@1+ (1.0,0.0) [0.0|1.0] "" LPI + SG_ LV_ENG_TURN : 5|1@1+ (1.0,0.0) [0.0|1.0] "" LPI + SG_ ERR_FUEL : 8|8@1+ (1.0,0.0) [0.0|255.0] "" LPI + SG_ EOS : 16|8@1+ (1.0,0.0) [0.0|255.0] "" LPI + SG_ TCO : 24|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" LPI + SG_ N_32 : 32|8@1+ (32.0,0.0) [0.0|8160.0] "rpm" LPI + SG_ MAF : 40|8@1+ (5.447,0.0) [0.0|1388.985] "mg/TDC" LPI + SG_ TIA : 48|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" LPI + SG_ MAP m1 : 56|8@1+ (0.47058,0.0) [0.0|119.9979] "kPa" LPI + SG_ AMP m0 : 56|8@1+ (21.22,0.0) [0.0|5411.1] "hPa" LPI + +BO_ 128 EMS_DCT11: 8 EMS + SG_ PV_AV_CAN : 0|8@1+ (0.3906,0.0) [0.0|99.603] "%" TCU + SG_ TQ_STND : 8|6@1+ (10.0,0.0) [0.0|630.0] "Nm" TCU + SG_ F_N_ENG : 14|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ F_SUB_TQI : 15|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ N : 16|16@1+ (0.25,0.0) [0.0|16383.75] "rpm" TCU + SG_ TQI_ACOR : 32|8@1+ (0.390625,0.0) [0.0|99.6094] "%" IBOX,TCU + SG_ TQFR : 40|8@1+ (0.390625,0.0) [0.0|99.6094] "%" TCU + SG_ TQI : 48|8@1+ (0.390625,0.0) [0.0|99.609375] "%" TCU + SG_ CF_Ems_Alive : 56|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Ems_ChkSum : 60|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + +BO_ 1407 HU_MON_PE_01: 8 CLU + SG_ HU_Type : 0|8@1+ (1.0,0.0) [0.0|255.0] "" AVM,PGS + +BO_ 127 CGW5: 8 BCM + SG_ C_StopLampLhOpenSts : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_StopLampRhOpenSts : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_HMSLOpenSts : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_HLampLowLhOpenSts : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_HLampLowRhOpenSts : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_HLampHighLhOpenSts : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_HLampHighRhOpenSts : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_DRLLampLhOpenSts : 7|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_DRLLampRhOpenSts : 8|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearFOGLhOpenSts : 9|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearFOGRhOpenSts : 10|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontFOGLhOpenSts : 11|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontFOGRhOpenSts : 12|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearEXTTailLhOpenSts : 13|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearEXTTailRhOpenSts : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontEXTTailLhOpenSts : 15|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontEXTTailRhOpenSts : 16|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearTSIGLhOpenSts : 17|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_RearTSIGRhOpenSts : 18|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontTSIGLhOpenSts : 19|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_FrontTSIGRhOpenSts : 20|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_SBendingLhOpenSts : 21|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_SBendingRhOpenSts : 22|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_LicensePlateLhOpenSts : 23|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_LicensePlateRhOpenSts : 24|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + +BO_ 1151 ESP11: 6 ESC + SG_ AVH_STAT : 0|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,EPB,TCU + SG_ LDM_STAT : 2|1@1+ (1.0,0.0) [0.0|1.0] "" EPB,TCU + SG_ REQ_EPB_ACT : 3|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,TCU + SG_ REQ_EPB_STAT : 5|1@1+ (1.0,0.0) [0.0|1.0] "" EPB + SG_ ECD_ACT : 6|1@1+ (1.0,0.0) [0.0|1.0] "" EPB + SG_ _4WD_LIM_REQ : 7|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS + SG_ ROL_CNT_ESP : 8|8@1+ (1.0,0.0) [0.0|255.0] "" EPB,TCU + SG_ _4WD_TQC_LIM : 16|16@1+ (1.0,0.0) [0.0|65535.0] "Nm" _4WD,EMS + SG_ _4WD_CLU_LIM : 32|8@1+ (0.390625,0.0) [0.0|99.609375] "%" _4WD,EMS + SG_ _4WD_OPEN : 40|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,EMS + SG_ _4WD_LIM_MODE : 42|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD + +BO_ 1397 HU_AVM_E_00: 8 CLU + SG_ HU_AVM_Cal_Cmd : 0|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_Cal_Method : 4|2@1+ (1.0,0.0) [0.0|3.0] "" AVM,PGS + SG_ HU_AVM_Save_Controlpoint : 6|2@1+ (1.0,0.0) [0.0|3.0] "" AVM,PGS + SG_ HU_AVM_PT_X : 8|12@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_RearViewPointOpt : 20|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_PT_Y : 24|12@1+ (1.0,0.0) [0.0|4095.0] "" AVM,PGS + SG_ HU_AVM_FrontViewPointOpt : 36|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_SelectedMenu : 40|5@1+ (1.0,0.0) [0.0|31.0] "" AVM,PGS + SG_ HU_AVM_CameraOff : 45|2@1+ (1.0,0.0) [0.0|3.0] "" AVM,PGS + SG_ HU_AVM_Option : 48|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_CrossLineMove_Cmd : 52|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_RearView_Option : 56|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_FrontView_Option : 60|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + +BO_ 1395 HU_AVM_E_01: 8 CLU + SG_ HU_PGSSelectedMenu : 0|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_PGSOption : 8|5@1+ (1.0,0.0) [0.0|31.0] "" AVM,PGS + SG_ HU_AVM_ParkingAssistMenu : 56|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + SG_ HU_AVM_ParkingAssistSB : 60|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS + +BO_ 1393 OPI11: 5 OPI + SG_ CR_Opi_Spd_Rpm : 0|8@1+ (20.0,0.0) [0.0|3500.0] "rpm" TCU + SG_ CF_Opi_Over_Temp : 8|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ CF_Opi_Over_Cur : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,TCU + SG_ CF_Opi_Over_Vol : 10|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ CF_Opi_Hall_Fail : 11|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,TCU + SG_ CF_Opi_Flt : 12|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,TCU + SG_ CF_Opi_Motor_Dir : 15|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ CF_Opi_Romver : 16|8@1+ (1.0,0.0) [0.0|255.0] "" TCU + SG_ CF_Opi_PWM_Rate : 24|12@1+ (1.0,0.0) [0.0|100.0] "%" TCU + +BO_ 625 LPI11: 8 LPI + SG_ FUP_LPG_MMV : 0|8@1+ (128.0,0.0) [0.0|32640.0] "hPa" EMS + SG_ LV_FUEL_TYPE_BOX : 8|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ LV_BFS_IN_PROGRESS : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ LV_GAS_OK : 10|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ LV_FUP_ENA_THD : 11|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,EMS,SMK + SG_ LPI_OBD : 12|4@1+ (1.0,0.0) [0.0|15.0] "" EMS + SG_ ERR_GAS : 16|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ FAC_TI_GAS_COR : 24|16@1+ (3.05E-5,0.0) [0.0|1.9988175] "" EMS + SG_ FTL_AFU : 40|8@1+ (0.392,0.0) [0.0|99.96] "%" EMS + SG_ BFS_CYL : 48|8@1+ (1.0,0.0) [0.0|6.0] "Cyl Nr." EMS + SG_ LV_PRE_CDN_LEAK : 56|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ LV_CONF_INJECTION_DELAY : 57|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ LV_LPG_SW_DRIVER_REQ : 58|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + +BO_ 356 VSM11: 4 ESC + SG_ CR_Esc_StrTqReq : 0|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm" MDPS + SG_ CF_Esc_Act : 12|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS,MDPS + SG_ CF_Esc_CtrMode : 13|3@1+ (1.0,0.0) [0.0|7.0] "" MDPS + SG_ CF_Esc_Def : 16|1@1+ (1.0,0.0) [0.0|1.0] "" MDPS + SG_ CF_Esc_AliveCnt : 17|4@1+ (1.0,0.0) [0.0|15.0] "" LDWS_LKAS,MDPS + SG_ CF_Esc_Chksum : 24|8@1+ (1.0,0.0) [0.0|255.0] "" LDWS_LKAS,MDPS + +BO_ 1379 PGS_HU_PE_01: 8 PGS + SG_ PGS_State : 0|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ PGS_ParkGuideState : 8|5@1+ (1.0,0.0) [0.0|31.0] "" CLU + SG_ PGS_Option : 16|5@1+ (1.0,0.0) [0.0|31.0] "" CLU + SG_ PGS_Version : 32|16@1+ (1.0,0.0) [0.0|65535.0] "" CLU + +BO_ 354 TCU_DCT13: 3 TCU + SG_ Clutch_Driving_Tq : 0|10@1+ (1.0,-512.0) [0.0|0.0] "Nm" ESC + SG_ Cluster_Engine_RPM : 10|13@1+ (0.9766,0.0) [0.0|0.0] "" CLU + SG_ Cluster_Engine_RPM_Flag : 23|1@1+ (1.0,0.0) [0.0|0.0] "" CLU + +BO_ 1378 HUD11: 4 HUD + SG_ CF_Hud_HeightStaus : 0|5@1+ (1.0,0.0) [0.0|31.0] "" CLU + SG_ CF_Hud_PBackStatus : 6|2@1+ (1.0,0.0) [0.0|0.0] "" BCM,CLU + SG_ CF_Hud_Brightness : 8|5@1+ (1.0,0.0) [0.0|31.0] "" CLU + +BO_ 608 EMS16: 8 EMS + SG_ TQI_MIN : 0|8@1+ (0.390625,0.0) [0.0|99.609375] "%" ESC,IBOX,TCU + SG_ TQI : 8|8@1+ (0.390625,0.0) [0.0|99.609375] "%" ESC,IBOX,TCU + SG_ TQI_TARGET : 16|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EPB,ESC,IBOX,TCU + SG_ GLOW_STAT : 24|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,IBOX,SMK + SG_ CRUISE_LAMP_M : 25|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,TCU + SG_ CRUISE_LAMP_S : 26|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,TCU + SG_ PRE_FUEL_CUT_IN : 27|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU + SG_ ENG_STAT : 28|3@1+ (1.0,0.0) [0.0|7.0] "" ABS,AHLS,AVM,BCM,CLU,EPB,ESC,EVP,FPCM,IBOX,LCA,LDWS_LKAS,MDPS,SCC,SMK,TCU + SG_ SOAK_TIME_ERROR : 31|1@1+ (1.0,0.0) [0.0|1.0] "" DATC,EPB,IBOX,TCU + SG_ SOAK_TIME : 32|8@1+ (1.0,0.0) [0.0|255.0] "Min" _4WD,DATC,EPB,IBOX,TCU + SG_ TQI_MAX : 40|8@1+ (0.390625,0.0) [0.0|99.609375] "%" ESC,IBOX,TCU + SG_ SPK_TIME_CUR : 48|8@1+ (0.375,-35.625) [-35.625|60.0] "" IBOX,TCU + SG_ Checksum : 56|4@1+ (1.0,0.0) [0.0|15.0] "" ECS,IBOX,LDWS_LKAS,MDPS,SCC + SG_ AliveCounter : 60|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX,LDWS_LKAS,MDPS,SCC + SG_ CF_Ems_AclAct : 62|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX,SCC + +BO_ 1371 AVM_HU_PE_00: 8 AVM + SG_ AVM_View : 0|5@1+ (1.0,0.0) [0.0|31.0] "" CLU + SG_ AVM_ParkingAssist_BtnSts : 5|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ AVM_Display_Message : 8|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ AVM_Popup_Msg : 16|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_Ready : 20|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_ParkingAssist_Step : 24|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_FrontBtn_Type : 28|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_Option : 32|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_HU_FrontViewPointOpt : 36|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_HU_RearView_Option : 40|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_HU_FrontView_Option : 44|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ AVM_Version : 48|16@1+ (1.0,0.0) [0.0|65535.0] "" CLU + +BO_ 1370 HU_AVM_PE_00: 8 CLU + SG_ HU_AVM_Status : 0|2@1+ (1.0,0.0) [0.0|3.0] "" AVM,PGS + +BO_ 1369 CGW4: 8 BCM + SG_ CF_Gway_MemoryP1Cmd : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_MemoryP2Cmd : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_PBackP1Cmd : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_PBackP2Cmd : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_StrgWhlHeatedState : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_PBackStopCmd : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,HUD + SG_ CF_Gway_StaticBendLhAct : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_StaticBendRhAct : 7|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_DrvWdwStat : 8|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_RLWdwState : 9|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_RRWdwState : 10|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_AstWdwStat : 11|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_MemoryEnable : 12|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_PBACKStopCmd : 13|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_PBACKStop : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,HUD + SG_ CF_Gway_IMSBuzzer : 15|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_DrvSeatBeltInd : 36|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_AstSeatBeltInd : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_RCSeatBeltInd : 40|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_RLSeatBeltInd : 42|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_RRSeatBeltInd : 44|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_RrWiperHighSw : 46|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_RrWiperLowSw : 47|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + +BO_ 1367 EngFrzFrm12: 8 EMS + SG_ PID_06h : 0|8@1+ (0.78125,-100.0) [-100.0|99.22] "%" AAF,IBOX,TCU + SG_ PID_07h : 8|8@1+ (0.78125,-100.0) [-100.0|99.22] "%" AAF,IBOX,TCU + SG_ PID_08h : 16|8@1+ (0.78125,-100.0) [-100.0|99.22] "%" AAF,IBOX,TCU + SG_ PID_09h : 24|8@1+ (0.78125,-100.0) [-100.0|99.22] "%" AAF,IBOX,TCU + SG_ PID_0Bh : 32|8@1+ (1.0,0.0) [0.0|255.0] "kPa" AAF,IBOX,TCU + SG_ PID_23h : 40|16@1+ (10.0,0.0) [0.0|655350.0] "kPa" AAF,IBOX,TCU + +BO_ 1366 EngFrzFrm11: 8 EMS + SG_ PID_04h : 0|8@1+ (0.3921568627,0.0) [0.0|100.0] "%" AAF,TCU + SG_ PID_05h : 8|8@1+ (1.0,-40.0) [-40.0|215.0] "deg" AAF,TCU + SG_ PID_0Ch : 16|16@1+ (0.25,0.0) [0.0|16383.75] "rpm" AAF,TCU + SG_ PID_0Dh : 32|8@1+ (1.0,0.0) [0.0|255.0] "km/h" AAF,TCU + SG_ PID_11h : 40|8@1+ (0.3921568627,0.0) [0.0|100.0] "%" AAF,TCU + SG_ PID_03h : 48|16@1+ (1.0,0.0) [0.0|65535.0] "" AAF,TCU + +BO_ 1365 FPCM11: 8 FPCM + SG_ CR_Fpcm_LPActPre : 0|8@1+ (3.137254902,0.0) [0.0|800.0] "kPa" EMS + SG_ CF_Fpcm_LPPumpOverCur : 8|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_PreSnrHi : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_PreSnrDisc : 10|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_PreSnrShort : 11|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_LPPumpDiscShort : 12|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_LP_System_Error : 13|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_PreSnrSigErr : 14|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Fpcm_LPCtrCirFlt : 15|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + +BO_ 871 LVR12: 8 LVR + SG_ CF_Lvr_Gear : 32|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,TCU + +BO_ 872 LVR11: 8 LVR + SG_ CF_Lvr_GearInf : 0|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,TCU + SG_ CF_Lvr_PRelStat : 4|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,SMK,TCU + SG_ CF_Lvr_BkeAct : 5|1@1+ (1.0,0.0) [0.0|1.0] "" TCU + SG_ CF_Lvr_NFnStat : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Lvr_PosInf : 8|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Lvr_PosCpl : 12|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Lvr_UlkButStat : 18|2@1+ (1.0,0.0) [0.0|3.0] "" TCU + SG_ CF_Lvr_PNStat : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Lvr_ShtLkStat : 24|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Lvr_ShfErrInf : 28|20@1+ (1.0,0.0) [0.0|8191.0] "" CLU,TCU + SG_ CF_Lvr_AC : 48|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + SG_ CF_Lvr_CS : 52|4@1+ (1.0,0.0) [0.0|15.0] "" TCU + +BO_ 1363 CGW2: 8 BCM + SG_ CF_Gway_GwayDiagState : 0|1@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_DDMDiagState : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_SCMDiagState : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_PSMDiagState : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_SJBDiagState : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_IPMDiagState : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_LDMFail : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,LDWS_LKAS,LDWS_LKAS + SG_ CF_Gway_CLUSwGuiCtrl : 10|3@1+ (1.0,0.0) [0.0|63.0] "" CLU,Dummy + SG_ CF_Gway_CLUSwGroup : 13|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_CLUSwMode : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_CLUSwEnter : 15|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_AutoLightValue : 16|1@1+ (1.0,0.0) [0.0|1.0] "" LCA,LCA + SG_ CF_Gway_BrakeFluidSw : 17|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_DrvSeatBeltInd : 18|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_AvTail : 20|1@1+ (1.0,0.0) [0.0|3.0] "" CLU,SNV,SNV + SG_ CF_Gway_RearFogAct : 21|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_ExtTailAct : 22|1@1+ (1.0,0.0) [0.0|1.0] "" AVM,CLU,LCA,PGS,SPAS,AVM,LCA,PGS,SPAS + SG_ CF_Gway_RRDrSw : 23|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_RLDrSw : 24|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_IntTailAct : 25|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_CountryCfg : 26|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,PGS,Dummy + SG_ CF_Gway_WiperParkPosition : 32|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,EMS,LDWS_LKAS,AFLS,EMS,LDWS_LKAS + SG_ CF_Gway_HLLowLHFail : 33|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS,SNV,LDWS_LKAS,SNV + SG_ CF_Gway_HLLowRHFail : 34|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS,SNV,LDWS_LKAS,SNV + SG_ CF_Gway_ESCLFailWarn : 35|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_ESCLNotLockedWarn : 36|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_ESCLNotUnlockWarn : 37|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_IDoutWarn : 38|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_ImmoLp : 40|1@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_BCMRKEID : 41|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,Dummy + SG_ CF_Gway_VehicleNotPWarn : 44|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_DeactivationWarn : 45|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_KeyBATDischargeWarn : 46|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_SSBWarn : 47|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_SMKFobID : 48|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,Dummy + SG_ CF_Gway_SMKRKECmd : 51|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,Dummy + SG_ CF_Gway_AutoLightOption : 54|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_SJBDeliveryMode : 55|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_KeyoutLp : 56|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy + SG_ CF_Gway_SMKDispWarn : 57|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,Dummy + SG_ CF_Gway_WngBuz : 61|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,Dummy + +BO_ 339 TCS11: 8 ESC + SG_ TCS_REQ : 0|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,TCU + SG_ MSR_C_REQ : 1|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,EPB,SCC,TCU + SG_ TCS_PAS : 2|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,SCC,SPAS,TCU + SG_ TCS_GSC : 3|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,TCU + SG_ CF_Esc_LimoInfo : 4|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,SCC + SG_ ABS_DIAG : 6|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,EPB + SG_ ABS_DEF : 7|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,ECS,EMS,EPB,SCC,SPAS,TCU + SG_ TCS_DEF : 8|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,SCC,SPAS,TCU + SG_ TCS_CTL : 9|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,SCC,SPAS,TCU + SG_ ABS_ACT : 10|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,ECS,EMS,EPB,LDWS_LKAS,SCC,SPAS,TCU + SG_ EBD_DEF : 11|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,SPAS,TCU + SG_ ESP_PAS : 12|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,CLU,EMS,EPB,LDWS_LKAS,SCC,TCU + SG_ ESP_DEF : 13|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,ECS,EMS,EPB,LDWS_LKAS,SCC,TCU + SG_ ESP_CTL : 14|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,ECS,EMS,EPB,LDWS_LKAS,SCC,SPAS,TCU + SG_ TCS_MFRN : 15|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,EPB,TCU + SG_ DBC_CTL : 16|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB + SG_ DBC_PAS : 17|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB + SG_ DBC_DEF : 18|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB + SG_ HAC_CTL : 19|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,EPB,TCU + SG_ HAC_PAS : 20|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,EPB,TCU + SG_ HAC_DEF : 21|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,EPB,TCU + SG_ ESS_STAT : 22|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,BCM,CLU,EMS,EPB + SG_ TQI_TCS : 24|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,EPB,TCU + SG_ TQI_MSR : 32|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,EPB,TCU + SG_ TQI_SLW_TCS : 40|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,EPB,TCU + SG_ CF_Esc_BrkCtl : 48|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ BLA_CTL : 49|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CGW,CLU + SG_ AliveCounter_TCS1 : 52|4@1+ (1.0,0.0) [0.0|14.0] "" EMS,EPB,LDWS_LKAS + SG_ CheckSum_TCS1 : 56|8@1+ (1.0,0.0) [0.0|255.0] "" EMS,EPB,LDWS_LKAS + +BO_ 1362 SNV11: 4 SNV + SG_ CF_SNV_DisplayControl : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,HUD + SG_ CF_Snv_BeepWarning : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,HUD + SG_ CF_Snv_WarningMessage : 4|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,HUD + SG_ CF_Snv_DetectionEnable : 7|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,HUD + SG_ CF_Snv_PedestrianDetect : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,HUD + SG_ CF_Snv_IRLampControl : 10|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,HUD + +BO_ 593 MDPS12: 8 MDPS + SG_ CR_Mdps_StrColTq : 0|11@1+ (0.0078125,-8.0) [-8.0|7.9921875] "Nm" LDWS_LKAS + SG_ CF_Mdps_Def : 11|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ CF_Mdps_ToiUnavail : 12|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS + SG_ CF_Mdps_ToiActive : 13|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS + SG_ CF_Mdps_ToiFlt : 14|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS + SG_ CF_Mdps_FailStat : 15|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS + SG_ CF_Mdps_MsgCount2 : 16|8@1+ (1.0,0.0) [0.0|255.0] "" ESC,LDWS_LKAS + SG_ CF_Mdps_Chksum2 : 24|8@1+ (1.0,0.0) [0.0|255.0] "" ESC,LDWS_LKAS + SG_ CF_Mdps_SErr : 37|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ CR_Mdps_StrTq : 40|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm" ESC + SG_ CR_Mdps_OutTq : 52|12@1+ (0.1,-204.8) [-204.8|204.7] "" ESC,LDWS_LKAS + +BO_ 1360 IAP11: 3 IAP + SG_ CF_Iap_EcoPmodSwi : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Iap_EcoPmodAct : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Iap_ReqWarn : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1356 TCU_DCT14: 8 TCU + SG_ Vehicle_Stop_Time : 0|5@1+ (1.0,0.0) [0.0|0.0] "" CLU + SG_ HILL_HOLD_WARNING : 5|1@1+ (1.0,0.0) [0.0|0.0] "" CLU + +BO_ 1353 BAT11: 8 EMS + SG_ BAT_SNSR_I : 0|16@1+ (0.01,-327.0) [-327.0|328.0] "A" CGW,CUBIS,IBOX,TMU + SG_ BAT_SOC : 16|8@1+ (1.0,0.0) [0.0|100.0] "%" CGW,CUBIS,IBOX,TMU + SG_ BAT_SNSR_V : 24|14@1+ (0.0010,6.0) [6.0|18.0] "V" CGW,CUBIS,IBOX,TMU + SG_ BAT_SNSR_Temp : 38|9@1- (0.5,-40.0) [-40.0|125.0] "deg" CGW,CUBIS,IBOX,TMU + SG_ BAT_SNSR_State : 47|1@1+ (1.0,0.0) [0.0|1.0] "" CGW,CUBIS,IBOX,TMU + SG_ BAT_SOH : 48|7@1+ (1.0,0.0) [0.0|100.0] "%" CGW,CUBIS,IBOX,TMU + SG_ BAT_SNSR_Invalid : 55|1@1+ (1.0,0.0) [0.0|1.0] "" CGW,CUBIS,IBOX,TMU + SG_ BAT_SOF : 56|7@1+ (0.1,0.0) [0.0|12.0] "V" CGW,CUBIS,IBOX,TMU + SG_ BAT_SNSR_Error : 63|1@1+ (1.0,0.0) [0.0|1.0] "" CGW,CUBIS,IBOX,TMU + +BO_ 1351 EMS15: 8 EMS + SG_ ECGPOvrd : 0|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX,SCC + SG_ QECACC : 1|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX + SG_ ECFail : 2|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX + SG_ SwitchOffCondExt : 3|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX + SG_ BLECFail : 4|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX + SG_ CF_Ems_IsaAct : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ FA_PV_CAN : 8|8@1+ (0.3906,0.0) [0.0|99.2] "%" IBOX,LDWS_LKAS,TCU + SG_ IntAirTemp : 16|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" _4WD,ECS,EPB,IBOX,TCU + SG_ STATE_DC_OBD : 24|7@1+ (1.0,0.0) [0.0|127.0] "" IBOX,TCU + SG_ INH_DC_OBD : 31|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU + SG_ CTR_IG_CYC_OBD : 32|16@1+ (1.0,0.0) [0.0|65535.0] "" ACU,IBOX,TCU + SG_ CTR_CDN_OBD : 48|16@1+ (1.0,0.0) [0.0|65535.0] "" IBOX,TCU + +BO_ 1350 DI_BOX12: 8 DI_BOX + SG_ CF_DiBox_FrtInjVDiagReg0 : 0|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_FrtInjVDiagReg1 : 8|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_FrtInjVDiagReg2 : 16|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_SedInjVDiagReg0 : 24|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_SedInjVDiagReg1 : 32|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CF_DiBox_SedInjVDiagReg2 : 40|8@1+ (1.0,0.0) [0.0|255.0] "" EMS + SG_ CR_DiBox_BatVol : 48|8@1+ (0.1,0.0) [0.0|25.5] "V" EMS + SG_ CF_DiBox_SedInjVChg : 56|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_FrtInjVChg : 57|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_SedInjVErrSPI : 58|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_DiBox_FrtInjVErrSPI : 59|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + +BO_ 1349 EMS14: 8 EMS + SG_ IMMO_LAMP_STAT : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ L_MIL : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,IBOX + SG_ IM_STAT : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ AMP_CAN : 3|5@1+ (10.731613,458.98) [458.98|791.660003] "mmHg" CLU,IBOX,TCU,TPMS + SG_ BAT_Alt_FR_Duty : 8|8@1+ (0.4,0.0) [0.0|100.0] "%" CGW,CUBIS,IBOX,TMU + SG_ VB : 24|8@1+ (0.1015625,0.0) [0.0|25.8984375] "V" CLU,CUBIS,DATC,EPB,FPCM,IBOX + SG_ EMS_VS : 32|12@1+ (0.0625,0.0) [0.0|255.875] "km/h" CLU + SG_ TEMP_FUEL : 56|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" FPCM + +BO_ 68 DATC11: 8 DATC + SG_ CF_Datc_Type : 0|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ CF_Datc_VerMaj : 8|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ CF_Datc_VerMin : 16|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ CR_Datc_OutTempC : 24|8@1+ (0.5,-41.0) [-41.0|86.5] "deg" CLU,FPCM + SG_ CR_Datc_OutTempF : 32|8@1+ (1.0,-42.0) [-42.0|213.0] "deg" CLU + SG_ CF_Datc_IncarTemp : 40|8@1+ (0.5,-40.0) [-40.0|60.0] "deg" BCM,CLU + +BO_ 67 DATC13: 8 DATC + SG_ CF_Datc_TempDispUnit : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,IBOX + SG_ CF_Datc_ModDisp : 2|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Datc_IonClean : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_ChgReqDisp : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_IntakeDisp : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_AutoDisp : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_FrDefLed : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,IBOX + SG_ CF_Datc_AutoDefogBlink : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_ClmScanDisp : 18|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_AqsDisp : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_AcDisp : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_OpSts : 25|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Mtc_MaxAcDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_DualDisp : 30|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_PwrInf : 32|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Datc_RearManual : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_RearAutoDisp : 40|2@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Datc_RearOffDisp : 42|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_RearClimateScnDisp : 44|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_RearChgReqDisp : 46|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_RearModDisp : 48|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Datc_RearBlwDisp : 52|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Datc_PSModDisp : 56|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ CF_Datc_FrontBlwDisp : 60|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,IBOX + +BO_ 66 DATC12: 8 DATC + SG_ CR_Datc_DrTempDispC : 0|8@1+ (0.5,14.0) [15.0|32.0] "deg" CLU,IBOX + SG_ CR_Datc_DrTempDispF : 8|8@1+ (1.0,56.0) [58.0|90.0] "¢µ" CLU,IBOX + SG_ CR_Datc_PsTempDispC : 16|8@1+ (0.5,14.0) [15.0|32.0] "deg" CLU,IBOX + SG_ CR_Datc_PsTempDispF : 24|8@1+ (1.0,56.0) [58.0|90.0] "¢µ" CLU,IBOX + SG_ CR_Datc_RearDrTempDispC : 40|8@1+ (0.5,14.0) [15.0|32.0] "deg" CLU + SG_ CR_Datc_RearDrTempDispF : 48|8@1+ (1.0,58.0) [58.0|90.0] "¢µ" CLU + SG_ CF_Datc_CO2_Warning : 56|8@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1345 CGW1: 8 BCM + SG_ CF_Gway_IGNSw : 0|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,ECS,EMS,EPB,ESC,IBOX,LVR,MDPS,SAS,SCC,ECS,EMS,EPB,ESC,IBOX,LVR,MDPS,SAS,SCC + SG_ CF_Gway_RKECmd : 3|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,ECS,EMS,IBOX,ECS,EMS,IBOX + SG_ CF_Gway_DrvKeyLockSw : 6|1@1+ (1.0,0.0) [0.0|1.0] "" ECS,EMS,IBOX,ECS,EMS,IBOX + SG_ CF_Gway_DrvKeyUnlockSw : 7|1@1+ (1.0,0.0) [0.0|1.0] "" ECS,EMS,IBOX,ECS,EMS,IBOX + SG_ CF_Gway_DrvDrSw : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ECS,EMS,EPB,ESC,IBOX,SCC,TCU,ECS,EMS,EPB,ESC,IBOX,SCC,TCU + SG_ CF_Gway_DrvSeatBeltSw : 10|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,EPB,ESC,IBOX,PSB,TCU,EMS,EPB,ESC,IBOX,PSB,TCU + SG_ CF_Gway_TrunkTgSw : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ECS,EMS,EPB,ESC,IBOX,ECS,EMS,EPB,ESC,IBOX + SG_ CF_Gway_AstSeatBeltSw : 14|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX,PSB,IBOX,PSB + SG_ CF_Gway_SMKOption : 16|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,EMS,IBOX,SMK + SG_ CF_Gway_HoodSw : 17|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS,EPB,ESC,IBOX,EMS,EPB,ESC,IBOX + SG_ CF_Gway_TurnSigLh : 19|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS,IBOX,LCA,LDWS_LKAS,SCC,EMS,IBOX,LCA,LDWS_LKAS,SCC + SG_ CF_Gway_WiperIntT : 21|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_WiperIntSw : 24|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_WiperLowSw : 25|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_WiperHighSw : 26|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_WiperAutoSw : 27|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_RainSnsState : 28|3@1+ (1.0,0.0) [0.0|7.0] "" AFLS,EMS,IBOX,LDWS_LKAS,AFLS,EMS,ESC,IBOX,LDWS_LKAS + SG_ CF_Gway_HeadLampLow : 31|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,CLU,EMS,IBOX,LDWS_LKAS,SNV,AFLS,EMS,IBOX,LDWS_LKAS,SNV + SG_ CF_Gway_HeadLampHigh : 32|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,CLU,EMS,IBOX,LDWS_LKAS,AFLS,EMS,IBOX,LDWS_LKAS + SG_ CF_Gway_HazardSw : 33|2@1+ (1.0,0.0) [0.0|3.0] "" ABS,EMS,ESC,IBOX,LCA,LDWS_LKAS,ABS,EMS,ESC,IBOX,LCA,LDWS_LKAS + SG_ CF_Gway_AstDrSw : 35|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,IBOX + SG_ CF_Gway_DefoggerRly : 36|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX,EMS,IBOX + SG_ CF_Gway_ALightStat : 37|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS + SG_ CF_Gway_LightSwState : 38|2@1+ (1.0,0.0) [0.0|3.0] "" AFLS,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS + SG_ CF_Gway_Frt_Fog_Act : 40|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,CLU,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS + SG_ CF_Gway_TSigRHSw : 41|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LDWS_LKAS,IBOX,LDWS_LKAS + SG_ CF_Gway_TSigLHSw : 42|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LDWS_LKAS,IBOX,LDWS_LKAS + SG_ CF_Gway_DriveTypeOption : 43|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,LDWS_LKAS,IBOX,LDWS_LKAS + SG_ CF_Gway_StarterRlyState : 44|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX,EMS,IBOX,SMK + SG_ CF_Gway_PassiveAccessLock : 45|2@1+ (1.0,0.0) [0.0|7.0] "" CLU,ECS,EMS,IBOX,ECS,EMS,IBOX,SMK + SG_ CF_Gway_WiperMistSw : 47|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS + SG_ CF_Gway_PassiveAccessUnlock : 48|2@1+ (1.0,0.0) [0.0|7.0] "" CLU,ECS,EMS,IBOX,ECS,EMS,IBOX,SMK + SG_ CF_Gway_RrSunRoofOpenState : 50|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,DATC,IBOX + SG_ CF_Gway_PassingSW : 51|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS + SG_ CF_Gway_HBAControlMode : 52|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LDWS_LKAS,IBOX,LDWS_LKAS + SG_ CF_Gway_HLpHighSw : 53|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LDWS_LKAS,IBOX,LDWS_LKAS + SG_ CF_Gway_InhibitRMT : 54|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,EPB,ESC,IBOX,LCA,LDWS_LKAS,MDPS,PGS,SCC,SPAS,TPMS,EPB,ESC,IBOX,LCA,LDWS_LKAS,PGS,SCC,SPAS,TPMS + SG_ CF_Gway_RainSnsOption : 56|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ C_SunRoofOpenState : 57|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,DATC,IBOX,DATC,IBOX + SG_ CF_Gway_Ign1 : 58|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_Ign2 : 59|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Gway_ParkBrakeSw : 60|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC,IBOX,SCC,ESC,IBOX,SCC + SG_ CF_Gway_TurnSigRh : 62|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS,IBOX,LCA,LDWS_LKAS,SCC,EMS,IBOX,LCA,LDWS_LKAS,SCC + +BO_ 64 DATC14: 8 DATC + SG_ CF_Datc_AqsLevelOut : 0|4@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Datc_DiagMode : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CR_Datc_SelfDiagCode : 8|8@1+ (1.0,-1.0) [0.0|254.0] "" CLU + SG_ DATC_SyncDisp : 16|4@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ DATC_OffDisp : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ DATC_SmartVentDisp : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ DATC_SmartVentOnOffStatus : 24|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ DATC_AutoDefogSysOff_Disp : 26|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ DATC_ADSDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 832 LKAS11: 8 LDWS_LKAS + SG_ CF_Lkas_Icon : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,IBOX,PSB + SG_ CF_Lkas_LdwsSysState : 2|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,IBOX,PSB + SG_ CF_Lkas_SysWarning : 6|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU + SG_ CF_Lkas_LdwsLHWarning : 10|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,PSB + SG_ CF_Lkas_LdwsRHWarning : 12|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,PSB + SG_ CF_Lkas_HbaLamp : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Lkas_FcwBasReq : 15|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC + SG_ CR_Lkas_StrToqReq : 16|11@1+ (1.0,-1024.0) [-1024.0|1024.0] "" MDPS + SG_ CF_Lkas_ActToi : 27|1@1+ (1.0,0.0) [0.0|1.0] "" MDPS + SG_ CF_Lkas_ToiFlt : 28|1@1+ (1.0,0.0) [0.0|1.0] "" MDPS + SG_ CF_Lkas_HbaSysState : 29|3@1+ (1.0,0.0) [0.0|7.0] "" BCM,CLU + SG_ CF_Lkas_FcwOpt : 32|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Lkas_HbaOpt : 34|2@1+ (1.0,0.0) [0.0|1.0] "" BCM,CGW + SG_ CF_Lkas_MsgCount : 36|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,MDPS + SG_ CF_Lkas_FcwSysState : 40|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Lkas_FcwCollisionWarning : 43|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Lkas_FusionState : 45|2@1+ (1.0,0.0) [0.0|3.0] "" SCC + SG_ CF_Lkas_Chksum : 48|8@1+ (1.0,0.0) [0.0|255.0] "" MDPS + SG_ CF_Lkas_FcwOpt_USM : 56|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Lkas_LdwsOpt_USM : 59|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,MDPS + +BO_ 1342 LKAS12: 6 LDWS_LKAS + SG_ CF_Lkas_TsrSlifOpt : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_LkasTsrStatus : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Lkas_TsrSpeed_Display_Clu : 16|8@1+ (1.0,0.0) [0.0|255.0] "" CLU + SG_ CF_LkasTsrSpeed_Display_Navi : 24|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU + SG_ CF_Lkas_TsrAddinfo_Display : 32|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1338 TMU_GW_E_01: 8 CLU + SG_ CF_Gway_TeleReqDrLock : 0|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Gway_TeleReqDrUnlock : 2|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Gway_TeleReqHazard : 4|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Gway_TeleReqHorn : 6|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Gway_TeleReqEngineOperate : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + +BO_ 1078 PAS11: 4 BCM + SG_ CF_Gway_PASDisplayFLH : 0|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,AVM + SG_ CF_Gway_PASDisplayFRH : 3|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,AVM + SG_ CF_Gway_PASRsound : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_PASDisplayFCTR : 8|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,AVM + SG_ CF_Gway_PASDisplayRCTR : 11|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,PGS,AVM + SG_ CF_Gway_PASFsound : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_PASDisplayRLH : 16|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,PGS,AVM + SG_ CF_Gway_PASDisplayRRH : 19|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,PGS,AVM + SG_ CF_Gway_PASCheckSound : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_PASSystemOn : 24|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy + SG_ CF_Gway_PASOption : 26|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_PASDistance : 28|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + +BO_ 48 EMS18: 6 EMS + SG_ CF_Ems_DC1NumPerMSV : 0|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX + SG_ CF_Ems_DC2NumPerMSV : 8|16@1+ (1.0,0.0) [0.0|65535.0] "" DI_BOX + SG_ CR_Ems_DutyCyc1MSV : 24|8@1+ (0.1953,0.0) [0.0|49.8] "%" DI_BOX + SG_ CR_Ems_DutyCyc2MSV : 32|8@1+ (0.13725,0.0) [0.0|35.0] "%" DI_BOX + SG_ CR_Ems_DutyCyc3MSV : 40|8@1+ (0.392,0.0) [0.0|100.0] "%" DI_BOX + +BO_ 1322 CLU15: 8 CLU + SG_ CF_Clu_VehicleSpeed : 0|8@1+ (1.0,0.0) [0.0|255.0] "" BCM + SG_ CF_Clu_InhibitP : 9|1@1+ (1.0,0.0) [0.0|1.0] "" BCM + SG_ CF_Clu_InhibitR : 10|1@1+ (1.0,0.0) [0.0|1.0] "" BCM + SG_ CF_Clu_InhibitN : 11|1@1+ (1.0,0.0) [0.0|1.0] "" BCM + SG_ CF_Clu_InhibitD : 12|1@1+ (1.0,0.0) [0.0|1.0] "" BCM + SG_ CF_Clu_HudInfoSet : 13|7@1+ (1.0,0.0) [0.0|127.0] "" HUD + SG_ CF_Clu_HudFontColorSet : 20|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_HudBrightUpSW : 22|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_HudBrightDnSW : 24|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_HudHeightUpSW : 26|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_HudHeightDnSW : 28|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_HudSet : 30|1@1+ (1.0,0.0) [0.0|1.0] "" HUD + SG_ CF_Clu_HudFontSizeSet : 31|2@1+ (1.0,0.0) [0.0|3.0] "" HUD + SG_ CF_Clu_LanguageInfo : 33|5@1+ (1.0,0.0) [0.0|31.0] "" BCM,PGS + SG_ CF_Clu_ClusterSound : 38|1@1- (1.0,0.0) [0.0|0.0] "" BCM,CGW,FATC + +BO_ 1066 _4WD13: 6 _4WD + SG_ _4WD_CURRENT : 0|8@1+ (0.390625,0.0) [-50.0|50.0] "A" TCU + SG_ _4WD_POSITION : 8|16@1+ (0.015625,0.0) [-180.0|180.0] "Deg" TCU + SG_ _4WD_CLU_THERM_STR : 24|8@1+ (1.0,0.0) [0.0|100.0] "%" TCU + SG_ _4WD_STATUS : 32|8@1+ (1.0,0.0) [0.0|15.0] "" ESC,TCU + +BO_ 1065 _4WD12: 8 _4WD + SG_ Ster_Pos : 0|16@1+ (1.0,-600.0) [-600.0|600.0] "Deg" ESC + SG_ FRSS : 16|8@1+ (1.0,0.0) [0.0|254.0] "km/h" ESC + SG_ FLSS : 24|8@1+ (1.0,0.0) [0.0|254.0] "km/h" ESC + SG_ RRSS : 32|8@1+ (1.0,0.0) [0.0|254.0] "km/h" ESC + SG_ RLSS : 40|8@1+ (1.0,0.0) [0.0|254.0] "km/h" ESC + SG_ CLU_PRES : 48|16@1+ (0.0625,-50.0) [-50.0|50.0] "Bar" ESC + +BO_ 809 EMS12: 8 EMS + SG_ CONF_TCU m1 : 0|6@1+ (1.0,0.0) [0.0|63.0] "" _4WD,ACU,BCM,CLU,DATC,EPB,ESC,IBOX,LCA,SMK + SG_ CAN_VERS m0 : 0|6@1+ (1.0,0.0) [0.0|7.7] "" _4WD,ABS,ESC,IBOX + SG_ TQ_STND m3 : 0|6@1+ (10.0,0.0) [0.0|630.0] "Nm" _4WD,DATC,ECS,EPB,ESC,FATC,IBOX + SG_ OBD_FRF_ACK m2 : 0|6@1+ (1.0,0.0) [0.0|63.0] "" _4WD,ESC,IBOX + SG_ MUL_CODE M : 6|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,ABS,ACU,BCM,CLU,DATC,ECS,EPB,ESC,IBOX,LCA,SMK,TCU + SG_ TEMP_ENG : 8|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" _4WD,BCM,CLU,DATC,EPB,ESC,IBOX,SMK,TCU + SG_ MAF_FAC_ALTI_MMV : 16|8@1+ (0.00781,0.0) [0.0|1.99155] "" IBOX,TCU + SG_ VB_OFF_ACT : 24|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU + SG_ ACK_ES : 25|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,IBOX + SG_ CONF_MIL_FMY : 26|3@1+ (1.0,0.0) [0.0|7.0] "" ESC,IBOX,TCU + SG_ OD_OFF_REQ : 29|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU + SG_ ACC_ACT : 30|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ABS,CLU,ESC,IAP,IBOX,SCC,TCU + SG_ CLU_ACK : 31|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EPB,ESC,IBOX + SG_ BRAKE_ACT : 32|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,ABS,ACU,AFLS,CLU,DATC,ECS,EPB,ESC,IBOX,LDWS_LKAS,TCU + SG_ ENG_CHR : 34|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,ABS,ACU,CLU,DATC,EPB,ESC,FATC,IBOX,SCC,SMK,TCU + SG_ GP_CTL : 38|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX + SG_ TPS : 40|8@1+ (0.4694836,-15.0234742) [-15.0234742|104.6948357] "%" _4WD,ABS,ACU,CLU,DATC,ECS,EPB,ESC,IBOX,TCU + SG_ PV_AV_CAN : 48|8@1+ (0.3906,0.0) [0.0|99.603] "%" _4WD,AAF,ABS,ACU,AFLS,CLU,DATC,EPB,ESC,IAP,IBOX,LDWS_LKAS,SCC,TCU + SG_ ENG_VOL : 56|8@1+ (0.1,0.0) [0.0|25.5] "liter" _4WD,ABS,ACU,BCM,CLU,DATC,EPB,ESC,IBOX,LDWS_LKAS,SCC,SMK + +BO_ 1064 _4WD11: 8 _4WD + SG_ _4WD_TYPE : 0|2@1+ (1.0,0.0) [0.0|3.0] "" ACU,ESC,TPMS + SG_ _4WD_SUPPORT : 2|2@1+ (1.0,0.0) [0.0|3.0] "" ABS,ESC,TPMS + SG_ _4WD_ERR : 8|8@1+ (1.0,0.0) [0.0|255.0] "" CLU,ESC + SG_ CLU_DUTY : 16|8@1+ (1.0,0.0) [0.0|64.0] "%" ABS,ESC + SG_ R_TIRE : 24|8@1+ (1.0,200.0) [200.0|455.0] "mm" ABS,ESC,TPMS + SG_ _4WD_SW : 32|8@1+ (1.0,0.0) [0.0|9.9] "" ESC + SG_ _2H_ACT : 40|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC + SG_ _4H_ACT : 41|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,CLU,ESC,TPMS + SG_ LOW_ACT : 42|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC,TCU,TPMS + SG_ AUTO_ACT : 43|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC,TPMS + SG_ LOCK_ACT : 44|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,CLU,ESC,TPMS + SG_ _4WD_TQC_CUR : 48|16@1+ (1.0,0.0) [0.0|65535.0] "Nm" ABS,ESC + +BO_ 1319 HU_GW_E_01: 8 CLU + SG_ C_ADrLNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ C_ADrUNValueSet : 4|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ C_TwUnNValueSet : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_ABuzzerNValueSet : 10|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_ArmWKeyNValueSet : 12|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_PSMNValueSet : 14|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_SCMNValueSet : 16|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_HLEscortNValueSet : 18|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_WELNValueSet : 20|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_TriTurnLNValueSet : 22|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_SNVWarnNValueSet : 24|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_LkasWarnNValueSet : 26|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + +BO_ 1318 HU_GW_E_00: 8 CLU + SG_ C_ADrLURValueReq : 0|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_TwUnRValueReq : 2|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_AlarmRValueReq : 4|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_IMSRValueReq : 6|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_HLEscortRValueReq : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_WELRValueReq : 10|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_TriTurnLRValueReq : 12|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_SNVWarnRValueReq : 14|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ C_LkasWarnRValueReq : 16|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + +BO_ 1317 GW_HU_E_01: 8 BCM + SG_ C_ADrLRValue : 0|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ C_ADrURValue : 4|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ C_TwUnRValue : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_ABuzzerRValue : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_ArmWKeyRValue : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_PSMRValue : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SCMRValue : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_HLEscortRValue : 18|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_WELRValue : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_TriTurnLRValue : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1316 GW_HU_E_00: 8 BCM + SG_ C_ADrLUNValueConf : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_TwUnNValueConf : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_AlarmNValueConf : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_PSMNValueConf : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SCMNValueConf : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_HLEscortNValueConf : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_WELNValueConf : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_TriTurnLNValueConf : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1315 GW_SWRC_PE: 8 BCM + SG_ C_ModeSW : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_MuteSW : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SeekDnSW : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SeekUpSW : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_BTPhoneCallSW : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_BTPhoneHangUpSW : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_DISCDownSW : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_DISCUpSW : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SdsSW : 18|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_MTSSW : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_VolDnSW : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_VolUpSW : 24|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1314 GW_IPM_PE_1: 8 BCM + SG_ C_AV_Tail : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_ParkingBrakeSW : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_RKECMD : 4|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ C_BAState : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_IGNSW : 12|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ C_CountryCfg : 16|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ C_TailLampActivity : 26|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ RearSW_RSELockOnOff : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SMKTeleCrankingState : 32|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_SMKTeleCrankingFailRes : 34|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1057 SCC12: 8 SCC + SG_ CF_VSM_Prefill : 0|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ CF_VSM_DecCmdAct : 1|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ CF_VSM_HBACmd : 2|2@1+ (1.0,0.0) [0.0|3.0] "" ESC + SG_ CF_VSM_Warn : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC,IAP + SG_ CF_VSM_Stat : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC,PSB + SG_ CF_VSM_BeltCmd : 8|3@1+ (1.0,0.0) [0.0|7.0] "" ESC,PSB + SG_ ACCFailInfo : 11|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,ESC,IBOX + SG_ ACCMode : 13|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC,IBOX,TCU + SG_ StopReq : 15|1@1+ (1.0,0.0) [0.0|1.0] "" EPB,ESC + SG_ CR_VSM_DecCmd : 16|8@1+ (0.01,0.0) [0.0|2.55] "g" ESC + SG_ aReqMax : 24|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" EMS,ESC,TCU + SG_ TakeOverReq : 35|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,ESC,TCU + SG_ PreFill : 36|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,TCU + SG_ aReqMin : 37|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" EMS,ESC,TCU + SG_ CF_VSM_ConfMode : 48|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC + SG_ AEB_Failinfo : 50|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC + SG_ AEB_Status : 52|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC + SG_ AEB_CmdAct : 54|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ AEB_StopReq : 55|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,ESC + SG_ CR_VSM_Alive : 56|4@1+ (1.0,0.0) [0.0|15.0] "" ESC,PSB + SG_ CR_VSM_ChkSum : 60|4@1+ (1.0,0.0) [0.0|15.0] "" ESC,PSB + +BO_ 1313 GW_DDM_PE: 8 BCM + SG_ C_DRVDoorStatus : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_ASTDoorStatus : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_RLDoorStatus : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_RRDoorStatus : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_TrunkStatus : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ C_OSMirrorStatus : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1056 SCC11: 8 SCC + SG_ MainMode_ACC : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,ESC + SG_ SCCInfoDisplay : 1|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,ESC + SG_ AliveCounterACC : 4|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,EMS,ESC,TCU + SG_ VSetDis : 8|8@1+ (1.0,0.0) [0.0|255.0] "km/h or MPH" CLU,ESC,TCU + SG_ ObjValid : 16|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,ESC,TCU + SG_ DriverAlertDisplay : 17|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC + SG_ TauGapSet : 19|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,ESC,TCU + SG_ ACC_ObjStatus : 22|2@1+ (1.0,0.0) [0.0|3.0] "" ABS,ESC + SG_ ACC_ObjLatPos : 24|9@1+ (0.1,-20.0) [-20.0|31.1] "m" ABS,ESC + SG_ ACC_ObjDist : 33|11@1+ (0.1,0.0) [0.0|204.7] "m" ABS,ESC + SG_ ACC_ObjRelSpd : 44|12@1+ (0.1,-170.0) [-170.0|239.5] "m/s" ABS,ESC + SG_ Navi_SCC_Curve_Status : 56|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Navi_SCC_Curve_Act : 58|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Navi_SCC_Camera_Act : 60|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ Navi_SCC_Camera_Status : 62|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + +BO_ 1312 CGW3: 8 BCM + SG_ CR_Photosensor_LH : 0|8@1+ (78.125,0.0) [0.0|20000.0] "" DATC,DATC + SG_ CR_Photosensor_RH : 10|8@1+ (78.125,0.0) [0.0|20000.0] "" DATC,DATC + SG_ CF_Hoodsw_memory : 22|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,EMS + SG_ C_MirOutTempSns : 24|8@1+ (0.5,-40.5) [-40.0|60.0] "deg" AAF,CLU,DATC,EMS,SPAS,AAF,DATC,EMS,SPAS + +BO_ 544 ESP12: 8 ESC + SG_ LAT_ACCEL : 0|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" _4WD,ECS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,TCU + SG_ LAT_ACCEL_STAT : 11|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,IBOX,LDWS_LKAS,MDPS,PSB,SCC,TCU + SG_ LAT_ACCEL_DIAG : 12|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,IBOX,LDWS_LKAS,MDPS,PSB,SCC,TCU + SG_ LONG_ACCEL : 13|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" _4WD,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PSB,SCC,SPAS,TCU + SG_ LONG_ACCEL_STAT : 24|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU + SG_ LONG_ACCEL_DIAG : 25|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU + SG_ CYL_PRES : 26|12@1+ (0.1,0.0) [0.0|409.5] "Bar" _4WD,ECS,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,TCU + SG_ CYL_PRES_STAT : 38|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ECS,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,TCU + SG_ CYL_PRESS_DIAG : 39|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ECS,EMS,EPB,IBOX,PSB,SCC,TCU + SG_ YAW_RATE : 40|13@1+ (0.01,-40.95) [-40.95|40.96] "" _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU + SG_ YAW_RATE_STAT : 53|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU + SG_ YAW_RATE_DIAG : 54|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU + SG_ ESP12_AliveCounter : 56|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + SG_ ESP12_Checksum : 60|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU + +BO_ 1307 CLU16: 8 CLU + SG_ CF_Clu_TirePressUnitNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] "" TPMS + SG_ CF_Clu_SlifNValueSet : 3|2@1+ (1.0,0.0) [0.0|3.0] "" LDWS_LKAS + SG_ CF_Clu_RearWiperNValueSet : 12|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + +BO_ 790 EMS11: 8 EMS + SG_ SWI_IGK : 0|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ABS,ACU,AHLS,CUBIS,DI_BOX,ECS,EPB,ESC,IBOX,LDWS_LKAS,MDPS,REA,SAS,SCC,TCU + SG_ F_N_ENG : 1|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,AFLS,CLU,CUBIS,DATC,ECS,EPB,ESC,IBOX,MDPS,SCC,TCU + SG_ ACK_TCS : 2|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX + SG_ PUC_STAT : 3|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,DATC,IBOX,TCU + SG_ TQ_COR_STAT : 4|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,ESC,IBOX,TCU + SG_ RLY_AC : 6|1@1+ (1.0,0.0) [0.0|1.0] "" DATC,IBOX,TCU + SG_ F_SUB_TQI : 7|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ECS,EPB,ESC,IBOX,TCU + SG_ TQI_ACOR : 8|8@1+ (0.390625,0.0) [0.0|99.6094] "%" _4WD,EPB,ESC,IBOX,TCU + SG_ N : 16|16@1+ (0.25,0.0) [0.0|16383.75] "rpm" _4WD,ACU,AFLS,CLU,CUBIS,DATC,ECS,EPB,ESC,FPCM,IBOX,MDPS,SCC,TCU + SG_ TQI : 32|8@1+ (0.390625,0.0) [0.0|99.6094] "%" _4WD,ECS,EPB,ESC,IBOX,TCU + SG_ TQFR : 40|8@1+ (0.390625,0.0) [0.0|99.6094] "%" _4WD,EPB,ESC,IBOX,TCU + SG_ VS : 48|8@1+ (1.0,0.0) [0.0|254.0] "km/h" _4WD,AAF,ACU,AHLS,BCM,CLU,DATC,ECS,EPB,IBOX,LCA,LDWS_LKAS,LVR,MDPS,ODS,SCC,SMK,SPAS,TCU,TPMS + SG_ RATIO_TQI_BAS_MAX_STND : 56|8@1+ (0.0078,0.0) [0.0|2.0] "" _4WD,IBOX,TCU + +BO_ 1301 CLU14: 8 CLU + SG_ CF_Clu_ADrUNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_ADrLNValueSet : 3|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_EscortHLNValueSet : 6|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_DoorLSNValueSet : 8|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_PSMNValueSet : 11|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_TTUnlockNValueSet : 14|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_PTGMNValueSet : 16|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_SCMNValueSet : 18|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_WlightNValueSet : 20|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_TempUnitNValueSet : 22|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,DATC + SG_ CF_Clu_MoodLpNValueSet : 24|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_TrfChgSet : 27|2@1+ (1.0,0.0) [0.0|3.0] "" AFLS + SG_ CF_Clu_OTTurnNValueSet : 29|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_LcaNValueSet : 32|2@1+ (1.0,0.0) [0.0|3.0] "" LCA + SG_ CF_Clu_RctaNValueSet : 34|2@1+ (1.0,0.0) [0.0|3.0] "" LCA + SG_ CF_Clu_RcwNValueSet : 36|2@1+ (1.0,0.0) [0.0|3.0] "" LCA + SG_ CF_Clu_EscOffNValueSet : 38|3@1+ (1.0,0.0) [0.0|7.0] "" ESC + SG_ CF_Clu_SccNaviCrvNValueSet : 41|2@1+ (1.0,0.0) [0.0|3.0] "" SCC + SG_ CF_Clu_SccNaviCamNValueSet : 43|2@1+ (1.0,0.0) [0.0|3.0] "" SCC + SG_ CF_Clu_SccAebNValueSet : 45|2@1+ (1.0,0.0) [0.0|3.0] "" SCC + SG_ CF_Clu_LkasModeNValueSet : 47|2@1+ (1.0,0.0) [0.0|3.0] "" LDWS_LKAS + SG_ CF_Clu_FcwNValueSet : 51|2@1+ (1.0,0.0) [0.0|3.0] "" LDWS_LKAS + SG_ CF_Clu_PasSpkrLvNValueSet : 53|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + SG_ CF_Clu_SccDrvModeNValueSet : 56|3@1+ (1.0,0.0) [0.0|7.0] "" SCC + SG_ CF_Clu_HAnBNValueSet : 59|2@1+ (1.0,0.0) [0.0|3.0] "" BCM + SG_ CF_Clu_HfreeTrunkTgNValueSet : 61|3@1+ (1.0,0.0) [0.0|7.0] "" BCM + +BO_ 275 TCU13: 8 TCU + SG_ N_TGT_LUP : 0|8@1+ (10.0,500.0) [500.0|3040.0] "rpm" EMS,IBOX + SG_ SLOPE_TCU : 8|6@1+ (0.5,-16.0) [-16.0|15.5] "%" CLU,CUBIS,EMS,IBOX + SG_ CF_Tcu_InhCda : 14|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_IsgInhib : 15|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_BkeOnReq : 16|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX + SG_ CF_Tcu_NCStat : 18|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX + SG_ CF_Tcu_TarGr : 20|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,CLU,DATC,EMS,EPB,ESC,IBOX,SCC + SG_ CF_Tcu_ShfPatt : 24|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,CUBIS,EMS,IBOX + SG_ CF_Tcu_InhVis : 28|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_PRelReq : 29|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LVR + SG_ CF_Tcu_ITPhase : 30|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_ActEcoRdy : 31|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_TqGrdLim : 32|8@1+ (10.0,0.0) [0.0|2540.0] "Nm/s" EMS,IBOX + SG_ CR_Tcu_IsgTgtRPM : 40|8@1+ (20.0,0.0) [0.0|3500.0] "rpm" EMS,IBOX + SG_ CF_Tcu_SptRdy : 48|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX + SG_ CF_Tcu_SbwPInfo : 56|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ CF_Tcu_Alive3 : 58|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX + SG_ CF_Tcu_ChkSum3 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,IBOX + +BO_ 274 TCU12: 8 TCU + SG_ ETL_TCU : 0|8@1+ (2.0,0.0) [0.0|508.0] "Nm" EMS,IBOX + SG_ CUR_GR : 8|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,ESC,IBOX,SCC,TPMS + SG_ CF_Tcu_Alive : 12|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,ESC,IBOX,SCC + SG_ CF_Tcu_ChkSum : 14|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,ESC,IBOX,SCC + SG_ VS_TCU : 16|8@1+ (1.0,0.0) [0.0|254.0] "km/h" BCM,CLU,DATC,EMS,IBOX,LCA,LVR,PGS,SMK,SNV + SG_ FUEL_CUT_TCU : 28|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ INH_FUEL_CUT : 29|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ IDLE_UP_TCU : 30|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ N_INC_TCU : 31|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX + SG_ SPK_RTD_TCU : 32|8@1+ (0.375,-23.625) [-15.0|15.0] "" EMS,IBOX + SG_ N_TC_RAW : 40|16@1+ (0.25,0.0) [0.0|16383.5] "rpm" EMS,IBOX + SG_ VS_TCU_DECIMAL : 56|8@1+ (0.0078125,0.0) [0.0|0.9921875] "km/h" CLU,EMS,IBOX,LCA + +BO_ 273 TCU11: 8 TCU + SG_ TQI_TCU_INC : 0|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,ESC,IBOX + SG_ G_SEL_DISP : 8|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,AFLS,AVM,BCM,CGW,CLU,CUBIS,ECS,EMS,EPB,ESC,IAP,IBOX,LCA,LDWS_LKAS,LVR,MDPS,PGS,SCC,SMK,SNV,SPAS,TPMS + SG_ F_TCU : 12|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,ESC,IBOX + SG_ TCU_TYPE : 14|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,EMS,ESC,IBOX + SG_ TCU_OBD : 16|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,ESC,IBOX + SG_ SWI_GS : 19|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,ESC,IBOX,SCC + SG_ GEAR_TYPE : 20|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,CLU,EMS,ESC,IBOX,SCC + SG_ TQI_TCU : 24|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,ESC,IBOX + SG_ TEMP_AT : 32|8@1+ (1.0,-40.0) [-40.0|214.0] "deg" AAF,CLU,CUBIS,EMS,ESC,IBOX + SG_ N_TC : 40|16@1+ (0.25,0.0) [0.0|16383.5] "rpm" _4WD,EMS,EPB,ESC,IBOX + SG_ SWI_CC : 56|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,CLU,EMS,ESC,IBOX + SG_ CF_Tcu_Alive1 : 58|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX + SG_ CF_Tcu_ChkSum1 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,IBOX + +BO_ 16 ACU13: 8 ACU + SG_ CF_Acu_CshAct : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CUBIS,IBOX,ODS + +BO_ 1040 CGW_USM1: 8 BCM + SG_ CF_Gway_ATTurnRValue : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_PTGMRValue : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_EscortHLRValue : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_TTUnlockRValue : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_ADrLRValue : 8|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_ADrURValue : 11|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_SCMRValue : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_WlightRValue : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_PSMRValue : 18|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_OTTurnRValue : 21|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_DrLockSoundRValue : 24|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_HAnBRValue : 27|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_MoodLpRValue : 30|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_HfreeTrunkRValue : 32|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_AutoLightRValue : 35|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_Gway_RearWiperRValue : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_Gway_PasSpkrLvRValue : 40|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + +BO_ 1292 CLU13: 8 CLU + SG_ CF_Clu_LowfuelWarn : 0|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,FPCM,IBOX + SG_ CF_Clu_RefDetMod : 2|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX + SG_ CF_Clu_AvgFCU : 3|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX + SG_ CF_Clu_AvsmCur : 5|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,SCC + SG_ CF_Clu_AvgFCI : 6|10@1+ (0.1,0.0) [0.0|102.2] "" IBOX + SG_ CF_Clu_DrivingModeSwi : 16|2@1+ (1.0,0.0) [0.0|3.0] "" DATC,ECS,EMS,ESC,IAP,MDPS,TCU + SG_ CF_Clu_FuelDispLvl : 18|5@1+ (1.0,0.0) [0.0|31.0] "" CGW,IBOX + SG_ CF_Clu_FlexSteerSW : 23|1@1+ (1.0,0.0) [0.0|1.0] "" MDPS + SG_ CF_Clu_DTE : 24|10@1+ (1.0,0.0) [0.0|1023.0] "" DATC + SG_ CF_Clu_TripUnit : 34|2@1+ (1.0,0.0) [0.0|3.0] "" DATC + SG_ CF_Clu_SWL_Stat : 36|3@1+ (1.0,0.0) [0.0|7.0] "" ACU,EMS + SG_ CF_Clu_ActiveEcoSW : 39|1@1+ (1.0,0.0) [0.0|1.0] "" DATC,EMS,TCU + SG_ CF_Clu_EcoDriveInf : 40|3@1+ (1.0,0.0) [0.0|7.0] "" CUBIS,EMS,IAP,IBOX + SG_ CF_Clu_IsaMainSW : 43|1@1+ (1.0,0.0) [0.0|1.0] "" EMS + SG_ CF_Clu_LdwsLkasSW : 56|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS + SG_ CF_Clu_AltLStatus : 59|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,DATC,EMS + SG_ CF_Clu_AliveCnt2 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,LDWS_LKAS + +BO_ 1290 SCC13: 8 SCC + SG_ SCCDrvModeRValue : 0|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ SCC_Equip : 3|1@1+ (1.0,0.0) [0.0|1.0] "" ESC + SG_ AebDrvSetStatus : 4|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,ESC + +BO_ 1287 TCS15: 4 ESC + SG_ ABS_W_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,CUBIS,IBOX + SG_ TCS_OFF_LAMP : 1|2@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,CLU + SG_ TCS_LAMP : 3|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,ACU,CLU,CUBIS,IBOX,SCC + SG_ DBC_W_LAMP : 5|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU + SG_ DBC_F_LAMP : 6|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,CLU + SG_ ESC_Off_Step : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ AVH_CLU : 16|8@1+ (1.0,0.0) [0.0|255.0] "" CLU,EPB + SG_ AVH_I_LAMP : 24|2@1+ (1.0,0.0) [0.0|3.0] "" EPB + SG_ EBD_W_LAMP : 26|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU + SG_ AVH_ALARM : 27|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ AVH_LAMP : 29|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,EPB,SPAS + +BO_ 1282 TCU14: 4 TCU + SG_ CF_TCU_WarnMsg : 0|3@1+ (1.0,0.0) [0.0|7.0] "" CLU + SG_ CF_TCU_WarnImg : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_TCU_WarnSnd : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ CF_Tcu_GSel_BlinkReq : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,LVR + SG_ CF_Tcu_StRelStat : 12|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,ESC + SG_ CF_Tcu_DriWarn1 : 13|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,EMS,ESC + SG_ CF_Tcu_DriWarn2 : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS,ESC + +BO_ 1281 ECS11: 3 ECS + SG_ ECS_W_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,IBOX + SG_ SYS_NA : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ ECS_DEF : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ ECS_DIAG : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ L_CHG_NA : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ Leveling_Off : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ LC_overheat : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ Lifting : 8|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ Lowering : 9|1@1+ (1.0,0.0) [0.0|1.0] "" CLU + SG_ Damping_Mode : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ REQ_Damping : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ REQ_Height : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ REQ_level : 16|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + SG_ ACT_Height : 20|4@1+ (1.0,0.0) [0.0|15.0] "" CLU + +BO_ 1024 CLU_CFG11: 2 CLU + SG_ Vehicle_Type : 0|16@1+ (1.0,0.0) [0.0|65536.0] "" _4WD + +BO_ 1280 ACU14: 1 ACU + SG_ CF_SWL_Ind : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_TTL_Ind : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU + SG_ CF_SBR_Ind : 4|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU + +BO_ 512 EMS20: 6 EMS + SG_ FCO : 0|16@1+ (0.128,0.0) [0.0|8388.48] "ul" CLU,CUBIS,FPCM,IBOX + SG_ CF_Ems_PumpTPres : 16|8@1+ (3.137254902,0.0) [0.0|800.0] "kPa" FPCM,IBOX + SG_ Split_Stat : 32|1@1+ (1.0,0.0) [0.0|1.0] "" FPCM diff --git a/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc b/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc index d8b2558cd20dc9..38dc35ce3d6a08 100644 --- a/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc +++ b/opendbc/lexus_rx_hybrid_2017_pt_generated.dbc @@ -14,6 +14,20 @@ 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 "" diff --git a/opendbc/tesla_can.dbc b/opendbc/tesla_can.dbc index e98cd5eb7b4153..348747a76e9bd6 100644 --- a/opendbc/tesla_can.dbc +++ b/opendbc/tesla_can.dbc @@ -327,7 +327,8 @@ VAL_ 69 StW_Sw00_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ; VAL_ 69 StW_Sw01_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ; VAL_ 69 StW_Sw03_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ; VAL_ 69 StW_Sw04_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ; -VAL_ 69 WprSw6Posn 7 "SNA" 6 "STAGE2" 5 "STAGE1" 4 "INTERVAL4" 3 "INTERVAL3" 2 "INTERVAL2" 1 "INTERVAL1" 0 "OFF" ;VAL_ 257 GTW_epasControlType 0 "WITHOUT" 1 "WITH_ANGLE" 3 "WITH_BOTH" 2 "WITH_TORQUE" ; +VAL_ 69 WprSw6Posn 7 "SNA" 6 "STAGE2" 5 "STAGE1" 4 "INTERVAL4" 3 "INTERVAL3" 2 "INTERVAL2" 1 "INTERVAL1" 0 "OFF" ; +VAL_ 257 GTW_epasControlType 0 "WITHOUT" 1 "WITH_ANGLE" 3 "WITH_BOTH" 2 "WITH_TORQUE" ; VAL_ 109 StW_Sw_Stat3 7 "SNA" 6 "NDEF6" 5 "NDEF5" 4 "NDEF4" 3 "PLUS_MINUS" 2 "MINUS" 1 "PLUS" 0 "NPSD" ; VAL_ 109 MsgTxmtId 3 "NDEF3" 2 "NDEF2" 1 "SCCM" 0 "EWM" ; VAL_ 109 TSL_RND_Posn_StW 15 "SNA" 8 "D" 6 "INI" 4 "N_DOWN" 2 "N_UP" 1 "R" 0 "IDLE" ; diff --git a/opendbc/toyota_avalon_2017_pt_generated.dbc b/opendbc/toyota_avalon_2017_pt_generated.dbc index 2053c76a1f197d..f1b0c5763caef1 100644 --- a/opendbc/toyota_avalon_2017_pt_generated.dbc +++ b/opendbc/toyota_avalon_2017_pt_generated.dbc @@ -14,6 +14,20 @@ 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 "" diff --git a/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc b/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc index d51b09db273f66..aca1cc23be84c7 100644 --- a/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc +++ b/opendbc/toyota_camry_hybrid_2018_pt_generated.dbc @@ -14,6 +14,20 @@ 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 "" diff --git a/opendbc/toyota_chr_2018_pt_generated.dbc b/opendbc/toyota_chr_2018_pt_generated.dbc index 4884f5efb5e1df..614ed6dc5428d8 100644 --- a/opendbc/toyota_chr_2018_pt_generated.dbc +++ b/opendbc/toyota_chr_2018_pt_generated.dbc @@ -14,6 +14,20 @@ 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 "" diff --git a/opendbc/toyota_chr_hybrid_2018_pt_generated.dbc b/opendbc/toyota_chr_hybrid_2018_pt_generated.dbc index f4e8e4443d6a1c..ceffc6088d099e 100644 --- a/opendbc/toyota_chr_hybrid_2018_pt_generated.dbc +++ b/opendbc/toyota_chr_hybrid_2018_pt_generated.dbc @@ -14,6 +14,20 @@ 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 "" diff --git a/opendbc/toyota_corolla_2017_pt_generated.dbc b/opendbc/toyota_corolla_2017_pt_generated.dbc index 42e3a098f1e00c..0c00352eb4b55d 100644 --- a/opendbc/toyota_corolla_2017_pt_generated.dbc +++ b/opendbc/toyota_corolla_2017_pt_generated.dbc @@ -14,6 +14,20 @@ 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 "" diff --git a/opendbc/toyota_highlander_2017_pt_generated.dbc b/opendbc/toyota_highlander_2017_pt_generated.dbc index c99e22a9463e5e..ef1cdf3c4fe509 100644 --- a/opendbc/toyota_highlander_2017_pt_generated.dbc +++ b/opendbc/toyota_highlander_2017_pt_generated.dbc @@ -14,6 +14,20 @@ 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 "" diff --git a/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc b/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc new file mode 100644 index 00000000000000..d852eba647b309 --- /dev/null +++ b/opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc @@ -0,0 +1,258 @@ +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"; diff --git a/opendbc/toyota_prius_2017_pt_generated.dbc b/opendbc/toyota_prius_2017_pt_generated.dbc index 8151c906329f05..a3f14954b194da 100644 --- a/opendbc/toyota_prius_2017_pt_generated.dbc +++ b/opendbc/toyota_prius_2017_pt_generated.dbc @@ -14,6 +14,20 @@ 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 "" diff --git a/opendbc/toyota_rav4_2017_pt_generated.dbc b/opendbc/toyota_rav4_2017_pt_generated.dbc index 1d8f7f7eadc1d9..9e086c792998c0 100644 --- a/opendbc/toyota_rav4_2017_pt_generated.dbc +++ b/opendbc/toyota_rav4_2017_pt_generated.dbc @@ -14,6 +14,20 @@ 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 "" diff --git a/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc b/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc index f372dfcc247223..a5dbe4fa6f1155 100644 --- a/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc +++ b/opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc @@ -14,6 +14,20 @@ 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 "" diff --git a/panda/.circleci/config.yml b/panda/.circleci/config.yml index 38042afd0a943b..2c7805a5bb6c78 100644 --- a/panda/.circleci/config.yml +++ b/panda/.circleci/config.yml @@ -28,6 +28,10 @@ jobs: name: Build Panda 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: | diff --git a/panda/VERSION b/panda/VERSION index 32e7334ebd618e..89fb16f883f364 100644 --- a/panda/VERSION +++ b/panda/VERSION @@ -1 +1 @@ -v1.1.3 \ No newline at end of file +v1.1.4 \ No newline at end of file diff --git a/panda/board/drivers/can.h b/panda/board/drivers/can.h index 943f268a9346f0..b837094c9a0d38 100644 --- a/panda/board/drivers/can.h +++ b/panda/board/drivers/can.h @@ -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)) | @@ -468,8 +468,10 @@ 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)); diff --git a/panda/board/pedal/obj/.gitkeep b/panda/board/pedal/obj/.gitkeep new file mode 100644 index 00000000000000..e69de29bb2d1d6 diff --git a/panda/board/safety/safety_cadillac.h b/panda/board/safety/safety_cadillac.h index 86549d96ebac8e..2a2d8b9857ff91 100644 --- a/panda/board/safety/safety_cadillac.h +++ b/panda/board/safety/safety_cadillac.h @@ -125,7 +125,7 @@ const safety_hooks cadillac_hooks = { .init = cadillac_init, .rx = cadillac_rx_hook, .tx = cadillac_tx_hook, - .tx_lin = alloutput_tx_lin_hook, + .tx_lin = nooutput_tx_lin_hook, .ignition = cadillac_ign_hook, .fwd = alloutput_fwd_hook, }; diff --git a/panda/board/safety/safety_defaults.h b/panda/board/safety/safety_defaults.h index 8042cc3ce05459..196df65d2f8eb6 100644 --- a/panda/board/safety/safety_defaults.h +++ b/panda/board/safety/safety_defaults.h @@ -57,4 +57,3 @@ const safety_hooks alloutput_hooks = { .ignition = default_ign_hook, .fwd = alloutput_fwd_hook, }; - diff --git a/panda/board/safety/safety_ford.h b/panda/board/safety/safety_ford.h index 804064842b3597..075029fb623e0f 100644 --- a/panda/board/safety/safety_ford.h +++ b/panda/board/safety/safety_ford.h @@ -83,24 +83,11 @@ 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 = ford_init, + .init = nooutput_init, .rx = ford_rx_hook, .tx = ford_tx_hook, - .tx_lin = ford_tx_lin_hook, + .tx_lin = nooutput_tx_lin_hook, .ignition = default_ign_hook, - .fwd = ford_fwd_hook, + .fwd = nooutput_fwd_hook, }; diff --git a/panda/board/safety/safety_gm.h b/panda/board/safety/safety_gm.h index 2a6e8af0674890..0aa94244446c80 100644 --- a/panda/board/safety/safety_gm.h +++ b/panda/board/safety/safety_gm.h @@ -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 ECUs are still online +// silence everything if stock car control ECUs are still online int gm_ascm_detected = 0; int gm_ignition_started = 0; int gm_rt_torque_last = 0; @@ -63,8 +63,11 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) { gm_speed = to_push->RDLR & 0xFFFF; } - // check if stock ASCM ECU is still online - if (bus_number == 0 && addr == 715) { + // Check if ASCM or LKA camera are online + // on powertrain bus. + // 384 = ASCMLKASteeringCmd + // 715 = ASCMGasRegenCmd + if (bus_number == 0 && (addr == 384 || addr == 715)) { gm_ascm_detected = 1; controls_allowed = 0; } @@ -222,11 +225,6 @@ 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; @@ -236,16 +234,12 @@ 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 = gm_tx_lin_hook, + .tx_lin = nooutput_tx_lin_hook, .ignition = gm_ign_hook, - .fwd = gm_fwd_hook, + .fwd = nooutput_fwd_hook, }; diff --git a/panda/board/safety/safety_honda.h b/panda/board/safety/safety_honda.h index b64e45ce6d9653..82e6eadda24fa1 100644 --- a/panda/board/safety/safety_honda.h +++ b/panda/board/safety/safety_honda.h @@ -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 @@ -132,28 +132,19 @@ 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 = honda_tx_lin_hook, + .tx_lin = nooutput_tx_lin_hook, .ignition = default_ign_hook, - .fwd = honda_fwd_hook, + .fwd = nooutput_fwd_hook, }; static void honda_bosch_init(int16_t param) { @@ -175,7 +166,7 @@ const safety_hooks honda_bosch_hooks = { .init = honda_bosch_init, .rx = honda_rx_hook, .tx = honda_tx_hook, - .tx_lin = honda_tx_lin_hook, + .tx_lin = nooutput_tx_lin_hook, .ignition = default_ign_hook, .fwd = honda_bosch_fwd_hook, }; diff --git a/panda/board/safety/safety_hyundai.h b/panda/board/safety/safety_hyundai.h index e23dc7372ad89d..caac727303716e 100644 --- a/panda/board/safety/safety_hyundai.h +++ b/panda/board/safety/safety_hyundai.h @@ -1,35 +1,163 @@ -int hyundai_giraffe_switch_1 = 0; // is giraffe switch 1 high? +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; + } - int bus = (to_push->RDTR >> 4) & 0xF; - // 832 is lkas cmd. If it is on bus 0, then giraffe switch 1 is high and we want stock - if ((to_push->RIR>>21) == 832 && (bus == 0)) { - hyundai_giraffe_switch_1 = 1; + // 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 void hyundai_init(int16_t param) { - controls_allowed = 0; - hyundai_giraffe_switch_1 = 0; +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) { - // forward camera to car and viceversa, excpet for lkas11 and mdps12 - if ((bus_num == 0 || bus_num == 2) && !hyundai_giraffe_switch_1) { - int addr = to_fwd->RIR>>21; - bool is_lkas_msg = (addr == 832 && bus_num == 2) || (addr == 593 && bus_num == 0); - return is_lkas_msg? -1 : (uint8_t)(~bus_num & 0x2); + 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 = nooutput_tx_hook, + .tx = hyundai_tx_hook, .tx_lin = nooutput_tx_lin_hook, .ignition = default_ign_hook, .fwd = hyundai_fwd_hook, diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h index d51a12a441292e..6ddf2952d10f11 100644 --- a/panda/board/safety/safety_toyota.h +++ b/panda/board/safety/safety_toyota.h @@ -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; @@ -146,11 +146,6 @@ 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; @@ -173,7 +168,7 @@ const safety_hooks toyota_hooks = { .init = toyota_init, .rx = toyota_rx_hook, .tx = toyota_tx_hook, - .tx_lin = toyota_tx_lin_hook, + .tx_lin = nooutput_tx_lin_hook, .ignition = default_ign_hook, .fwd = toyota_fwd_hook, }; @@ -189,7 +184,7 @@ const safety_hooks toyota_nolimits_hooks = { .init = toyota_nolimits_init, .rx = toyota_rx_hook, .tx = toyota_tx_hook, - .tx_lin = toyota_tx_lin_hook, + .tx_lin = nooutput_tx_lin_hook, .ignition = default_ign_hook, .fwd = toyota_fwd_hook, }; diff --git a/panda/board/safety/safety_toyota_ipas.h b/panda/board/safety/safety_toyota_ipas.h index 1627ece3a5a126..ff4158e3c77c3b 100644 --- a/panda/board/safety/safety_toyota_ipas.h +++ b/panda/board/safety/safety_toyota_ipas.h @@ -149,7 +149,7 @@ const safety_hooks toyota_ipas_hooks = { .init = toyota_init, .rx = toyota_ipas_rx_hook, .tx = toyota_ipas_tx_hook, - .tx_lin = toyota_tx_lin_hook, + .tx_lin = nooutput_tx_lin_hook, .ignition = default_ign_hook, .fwd = toyota_fwd_hook, }; diff --git a/panda/tests/safety/libpandasafety_py.py b/panda/tests/safety/libpandasafety_py.py index 0af95ae47a4e3d..dfd396045bf316 100644 --- a/panda/tests/safety/libpandasafety_py.py +++ b/panda/tests/safety/libpandasafety_py.py @@ -41,6 +41,7 @@ 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); @@ -70,6 +71,13 @@ 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); diff --git a/panda/tests/safety/test.c b/panda/tests/safety/test.c index 3d4288116e4a47..c3f280644b06f9 100644 --- a/panda/tests/safety/test.c +++ b/panda/tests/safety/test.c @@ -25,6 +25,7 @@ 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; @@ -75,6 +76,11 @@ 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; } @@ -95,6 +101,10 @@ 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; } @@ -107,6 +117,9 @@ 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; @@ -155,6 +168,15 @@ 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; diff --git a/panda/tests/safety/test_gm.py b/panda/tests/safety/test_gm.py index f11360dbe2a3fb..346fc07381ba60 100644 --- a/panda/tests/safety/test_gm.py +++ b/panda/tests/safety/test_gm.py @@ -84,10 +84,6 @@ def _torque_driver_msg(self, torque): 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 @@ -117,7 +113,7 @@ def test_cancel_button(self): 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()) diff --git a/panda/tests/safety/test_honda.py b/panda/tests/safety/test_honda.py index 143916d609ec05..48b678eaaec43e 100644 --- a/panda/tests/safety/test_honda.py +++ b/panda/tests/safety/test_honda.py @@ -108,7 +108,7 @@ def test_alt_disengage_on_brake(self): 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)) diff --git a/panda/tests/safety/test_hyundai.py b/panda/tests/safety/test_hyundai.py new file mode 100644 index 00000000000000..0a6ce0f91f3d03 --- /dev/null +++ b/panda/tests/safety/test_hyundai.py @@ -0,0 +1,186 @@ +#!/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() diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index e77e7aefe5a900..581cc66a5772a7 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -39,6 +39,7 @@ #define SAFETY_HONDA_BOSCH 4 #define SAFETY_FORD 5 #define SAFETY_CADILLAC 6 +#define SAFETY_HYUNDAI 7 #define SAFETY_TESLA 8 #define SAFETY_TOYOTA_NOLIMITS 0x1336 #define SAFETY_ALLOUTPUT 0x1337 @@ -114,6 +115,9 @@ 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; case (int)cereal::CarParams::SafetyModels::TESLA: safety_setting = SAFETY_TESLA; break; @@ -588,7 +592,7 @@ 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(); diff --git a/selfdrive/can/packer.cc b/selfdrive/can/packer.cc index b1fd8e5d5d5699..986de6b1172154 100644 --- a/selfdrive/can/packer.cc +++ b/selfdrive/can/packer.cc @@ -1,5 +1,4 @@ #include - #include #include #include diff --git a/selfdrive/can/packer.py b/selfdrive/can/packer.py index 8955383934b3eb..cc669e60c6a23c 100644 --- a/selfdrive/can/packer.py +++ b/selfdrive/can/packer.py @@ -47,11 +47,16 @@ def make_can_msg(self, addr, bus, values, counter=-1): if __name__ == "__main__": ## little endian test - cp = CANPacker("hyundai_2015_ccan") + cp = CANPacker("hyundai_santa_fe_2019_ccan") s = cp.pack_bytes(0x340, { "CR_Lkas_StrToqReq": -0.06, - "CF_Lkas_FcwBasReq": 1, - "CF_Lkas_Chksum": 3, + #"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") diff --git a/selfdrive/can/parser.cc b/selfdrive/can/parser.cc index 458a79bb7e9352..effd2f2f86ac88 100644 --- a/selfdrive/can/parser.cc +++ b/selfdrive/can/parser.cc @@ -264,6 +264,7 @@ 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); diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index a42e0fe561d63d..0473c8874f7cdc 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -1,4 +1,26 @@ # 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} \ No newline at end of file + 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)) diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index afe5a9e4c1dcca..dbc392cb23e584 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -97,6 +97,7 @@ 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 diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index d3c8ee1967308d..08039323067c2f 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -1,7 +1,8 @@ -from common.numpy_fast import clip, interp +from common.numpy_fast import 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 from selfdrive.can.packer import CANPacker @@ -54,7 +55,7 @@ def actuator_hystereses(final_pedal, pedal_steady): class CarController(object): - def __init__(self, canbus, car_fingerprint): + def __init__(self, canbus, car_fingerprint, allow_controls): self.pedal_steady = 0. self.start_time = sec_since_boot() self.chime = 0 @@ -63,6 +64,7 @@ def __init__(self, canbus, car_fingerprint): 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. @@ -76,6 +78,10 @@ def update(self, sendcan, enabled, CS, frame, actuators, \ 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. @@ -88,27 +94,13 @@ def update(self, sendcan, enabled, CS, frame, actuators, \ 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)) + apply_steer = apply_std_steer_torque_limits(apply_steer, self.apply_steer_last, CS.steer_torque_driver, P) 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 @@ -116,7 +108,7 @@ def update(self, sendcan, enabled, CS, frame, actuators, \ 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 ### @@ -150,7 +142,7 @@ def update(self, sendcan, enabled, CS, frame, actuators, \ # Send dashboard UI commands (ACC status), 25hz if (frame % 4) == 0: - can_sends.append(gmcan.create_acc_dashboard_command(canbus.powertrain, enabled, hud_v_cruise / CV.MS_TO_KPH, hud_show_car)) + can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, 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) diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py index 0c84df422f9031..47b0d8b38dfad4 100644 --- a/selfdrive/car/gm/gmcan.py +++ b/selfdrive/car/gm/gmcan.py @@ -84,14 +84,21 @@ 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(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_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_adas_time_status(bus, tt, idx): dat = [(tt >> 20) & 0xff, (tt >> 12) & 0xff, (tt >> 4) & 0xff, diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index bf39272fc4c65f..a9530d65ae80a9 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -21,12 +21,6 @@ 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 @@ -34,6 +28,10 @@ def __init__(self): self.chassis = 2 self.sw_gmlan = 3 +# 384 = "ASCMLKASteeringCmd" +# 715 = "ASCMGasRegenCmd" +CONTROL_MSGS = [384, 715] + class CarInterface(object): def __init__(self, CP, sendcan=None): self.CP = CP @@ -54,7 +52,7 @@ def __init__(self, CP, sendcan=None): # sending if read only is False if sendcan is not None: self.sendcan = sendcan - self.CC = CarController(canbus, CP.carFingerprint) + self.CC = CarController(canbus, CP.carFingerprint, CP.enableCamera) @staticmethod def compute_gb(accel, speed): @@ -73,8 +71,11 @@ def get_params(candidate, fingerprint): ret.enableCruise = False - # TODO: gate this on detection - ret.enableCamera = True + # 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 CONTROL_MSGS if x in fingerprint) + std_cargo = 136 if candidate == CAR.VOLT: @@ -325,7 +326,11 @@ def apply(self, c, perception_state=log.Live20Data.new_message()): "chimeRepeated": (CM.LOW_CHIME, -1), "chimeContinuous": (CM.LOW_CHIME, -1)}[str(c.hudControl.audibleAlert)] - self.CC.update(self.sendcan, c.enabled, self.CS, self.frame, \ + # 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, \ c.actuators, hud_v_cruise, c.hudControl.lanesVisible, \ c.hudControl.leadVisible, \ diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py index a48c199d9f8c11..245d2511f17b1a 100644 --- a/selfdrive/car/honda/hondacan.py +++ b/selfdrive/car/honda/hondacan.py @@ -2,7 +2,7 @@ import common.numpy_fast as np from selfdrive.config import Conversions as CV -from selfdrive.car.honda.values import CAR, HONDA_BOSCH +from selfdrive.car.honda.values import CAR, HONDA_BOSCH, VEHICLE_STATE_MSG # *** Honda specific *** def can_cksum(mm): @@ -126,28 +126,14 @@ 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 - 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.PILOT_2019: - msg_0x301 = "\x00\x00\x58\x02\x5c\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)) + idx_0x300 += idx_offset + commands.append(make_can_msg(0x300, msg_0x300, idx_0x300, 1)) commands.append(make_can_msg(0x301, msg_0x301, idx, 1)) return commands diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 91fbb078a2f202..6baa3e5aeff8c1 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -277,12 +277,12 @@ def get_params(candidate, fingerprint): elif candidate == CAR.ODYSSEY: stop_and_go = False - ret.mass = 4354 * CV.LB_TO_KG + std_cargo + ret.mass = 4471 * 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 = 0.444 # not optimized yet - ret.steerKpV, ret.steerKiV = [[0.6], [0.18]] + tire_stiffness_factor = 0.82 + ret.steerKpV, ret.steerKiV = [[0.45], [0.135]] ret.longitudinalKpBP = [0., 5., 35.] ret.longitudinalKpV = [1.2, 0.8, 0.5] ret.longitudinalKiBP = [0., 35.] diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 243849431c7c11..c2bb9cc6afe290 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -145,5 +145,18 @@ class CAR: 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.CIVIC_HATCH, CAR.CRV_5G] diff --git a/selfdrive/car/hyundai/__init__.py b/selfdrive/car/hyundai/__init__.py new file mode 100644 index 00000000000000..e69de29bb2d1d6 diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py new file mode 100644 index 00000000000000..3cd8d136ff8a27 --- /dev/null +++ b/selfdrive/car/hyundai/carcontroller.py @@ -0,0 +1,76 @@ +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 diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py new file mode 100644 index 00000000000000..4bd7c492475806 --- /dev/null +++ b/selfdrive/car/hyundai/carstate.py @@ -0,0 +1,222 @@ +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"] diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py new file mode 100644 index 00000000000000..5a895497a1865f --- /dev/null +++ b/selfdrive/car/hyundai/hyundaican.py @@ -0,0 +1,79 @@ +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) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py new file mode 100644 index 00000000000000..aca2ee570c7cb6 --- /dev/null +++ b/selfdrive/car/hyundai/interface.py @@ -0,0 +1,301 @@ +#!/usr/bin/env python +from cereal import car, log +from common.realtime import sec_since_boot +from selfdrive.config import Conversions as CV +from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event +from selfdrive.controls.lib.vehicle_model import VehicleModel +from selfdrive.car.hyundai.carstate import CarState, get_can_parser, get_camera_parser +from selfdrive.car.hyundai.values import CAMERA_MSGS, CAR, get_hud_alerts + +try: + from selfdrive.car.hyundai.carcontroller import CarController +except ImportError: + CarController = None + + +class CarInterface(object): + def __init__(self, CP, sendcan=None): + self.CP = CP + self.VM = VehicleModel(CP) + self.idx = 0 + self.lanes = 0 + self.lkas_request = 0 + + self.gas_pressed_prev = False + self.brake_pressed_prev = False + self.can_invalid_count = 0 + self.cruise_enabled_prev = False + self.low_speed_alert = False + + # *** init the major players *** + self.CS = CarState(CP) + self.cp = get_can_parser(CP) + self.cp_cam = get_camera_parser(CP) + + # sending if read only is False + if sendcan is not None: + self.sendcan = sendcan + self.CC = CarController(self.cp.dbc_name, CP.carFingerprint, CP.enableCamera) + + @staticmethod + def compute_gb(accel, speed): + return float(accel) / 3.0 + + @staticmethod + def calc_accel_override(a_ego, a_target, v_ego, v_target): + return 1.0 + + @staticmethod + def get_params(candidate, fingerprint): + + # kg of standard extra cargo to count for drive, gas, etc... + std_cargo = 136 + + ret = car.CarParams.new_message() + + ret.carName = "hyundai" + ret.carFingerprint = candidate + ret.radarOffCan = True + ret.safetyModel = car.CarParams.SafetyModels.hyundai + ret.enableCruise = True # stock acc + + # FIXME: hardcoding honda civic 2016 touring params so they can be used to + # scale unknown params for other cars + mass_civic = 2923 * CV.LB_TO_KG + std_cargo + wheelbase_civic = 2.70 + centerToFront_civic = wheelbase_civic * 0.4 + centerToRear_civic = wheelbase_civic - centerToFront_civic + rotationalInertia_civic = 2500 + tireStiffnessFront_civic = 192150 + tireStiffnessRear_civic = 202500 + + ret.steerActuatorDelay = 0.1 # Default delay + + if candidate == CAR.SANTA_FE: + ret.steerKf = 0.00005 + ret.steerRateCost = 0.5 + ret.mass = 3982 * CV.LB_TO_KG + std_cargo + ret.wheelbase = 2.766 + ret.steerRatio = 13.8 * 1.15 # 15% higher at the center seems reasonable + ret.steerKiBP, ret.steerKpBP = [[0.], [0.]] + ret.steerKpV, ret.steerKiV = [[0.37], [0.1]] + ret.minSteerSpeed = 0. + elif candidate == CAR.KIA_SORENTO: + ret.steerKf = 0.00005 + ret.steerRateCost = 0.5 + ret.mass = 1985 + std_cargo + ret.wheelbase = 2.78 + ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable + ret.steerKiBP, ret.steerKpBP = [[0.], [0.]] + ret.steerKpV, ret.steerKiV = [[0.25], [0.05]] + ret.minSteerSpeed = 0. + elif candidate == CAR.ELANTRA: + ret.steerKf = 0.00004 + ret.steerRateCost = 0.5 + ret.mass = 1275 + std_cargo + ret.wheelbase = 2.7 + ret.steerRatio = 16.9 + ret.steerKiBP, ret.steerKpBP = [[0.], [0.]] + ret.steerKpV, ret.steerKiV = [[0.20], [0.01]] + ret.minSteerSpeed = 35 * CV.MPH_TO_MS + elif candidate == CAR.GENESIS: + ret.steerKf = 0.00005 + ret.steerRateCost = 0.5 + ret.mass = 2060 + std_cargo + ret.wheelbase = 3.01 + ret.steerRatio = 16.5 + ret.steerKiBP, ret.steerKpBP = [[0.], [0.]] + ret.steerKpV, ret.steerKiV = [[0.16], [0.01]] + ret.minSteerSpeed = 35 * CV.MPH_TO_MS + elif candidate == CAR.KIA_STINGER: + ret.steerKf = 0.00005 + ret.steerRateCost = 0.5 + ret.mass = 1825 + std_cargo + ret.wheelbase = 2.78 + ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable + ret.steerKiBP, ret.steerKpBP = [[0.], [0.]] + ret.steerKpV, ret.steerKiV = [[0.25], [0.05]] + ret.minSteerSpeed = 0. + + ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this + ret.longitudinalKpBP = [0.] + ret.longitudinalKpV = [0.] + ret.longitudinalKiBP = [0.] + ret.longitudinalKiV = [0.] + tire_stiffness_factor = 1. + + ret.centerToFront = ret.wheelbase * 0.4 + + centerToRear = ret.wheelbase - ret.centerToFront + + # TODO: get actual value, for now starting with reasonable value for + # civic and scaling by mass and wheelbase + ret.rotationalInertia = rotationalInertia_civic * \ + ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2) + + # TODO: start from empirically derived lateral slip stiffness for the civic and scale by + # mass and CG position, so all cars will have approximately similar dyn behaviors + ret.tireStiffnessFront = (tireStiffnessFront_civic * tire_stiffness_factor) * \ + ret.mass / mass_civic * \ + (centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic) + ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \ + ret.mass / mass_civic * \ + (ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic) + + + # no rear steering, at least on the listed cars above + ret.steerRatioRear = 0. + ret.steerControlType = car.CarParams.SteerControlType.torque + + # steer, gas, brake limitations VS speed + ret.steerMaxBP = [0.] + ret.steerMaxV = [1.0] + ret.gasMaxBP = [0.] + ret.gasMaxV = [1.] + ret.brakeMaxBP = [0.] + ret.brakeMaxV = [1.] + ret.longPidDeadzoneBP = [0.] + ret.longPidDeadzoneV = [0.] + + ret.enableCamera = not any(x for x in CAMERA_MSGS if x in fingerprint) + + ret.steerLimitAlert = False + ret.stoppingControl = False + ret.startAccel = 0.0 + + return ret + + # returns a car.CarState + def update(self, c): + # ******************* do can recv ******************* + canMonoTimes = [] + self.cp.update(int(sec_since_boot() * 1e9), False) + self.cp_cam.update(int(sec_since_boot() * 1e9), False) + self.CS.update(self.cp, self.cp_cam) + # create message + ret = car.CarState.new_message() + # speeds + ret.vEgo = self.CS.v_ego + ret.vEgoRaw = self.CS.v_ego_raw + ret.aEgo = self.CS.a_ego + ret.yawRate = self.CS.yaw_rate + ret.standstill = self.CS.standstill + ret.wheelSpeeds.fl = self.CS.v_wheel_fl + ret.wheelSpeeds.fr = self.CS.v_wheel_fr + ret.wheelSpeeds.rl = self.CS.v_wheel_rl + ret.wheelSpeeds.rr = self.CS.v_wheel_rr + + # gear shifter + ret.gearShifter = self.CS.gear_shifter + + # gas pedal + ret.gas = self.CS.car_gas + ret.gasPressed = self.CS.pedal_gas > 1e-3 # tolerance to avoid false press reading + + # brake pedal + ret.brake = self.CS.user_brake + ret.brakePressed = self.CS.brake_pressed != 0 + ret.brakeLights = self.CS.brake_lights + + # steering wheel + ret.steeringAngle = self.CS.angle_steers + ret.steeringRate = self.CS.angle_steers_rate # it's unsigned + + ret.steeringTorque = self.CS.steer_torque_driver + ret.steeringPressed = self.CS.steer_override + + # cruise state + ret.cruiseState.enabled = self.CS.pcm_acc_status != 0 + if self.CS.pcm_acc_status != 0: + ret.cruiseState.speed = self.CS.cruise_set_speed + else: + ret.cruiseState.speed = 0 + ret.cruiseState.available = bool(self.CS.main_on) + ret.cruiseState.standstill = False + + # TODO: button presses + buttonEvents = [] + + if self.CS.left_blinker_on != self.CS.prev_left_blinker_on: + be = car.CarState.ButtonEvent.new_message() + be.type = 'leftBlinker' + be.pressed = self.CS.left_blinker_on != 0 + buttonEvents.append(be) + + if self.CS.right_blinker_on != self.CS.prev_right_blinker_on: + be = car.CarState.ButtonEvent.new_message() + be.type = 'rightBlinker' + be.pressed = self.CS.right_blinker_on != 0 + buttonEvents.append(be) + + ret.buttonEvents = buttonEvents + ret.leftBlinker = bool(self.CS.left_blinker_on) + ret.rightBlinker = bool(self.CS.right_blinker_on) + + ret.doorOpen = not self.CS.door_all_closed + ret.seatbeltUnlatched = not self.CS.seatbelt + + + # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s) + if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.: + self.low_speed_alert = True + if ret.vEgo > (self.CP.minSteerSpeed + 4.): + self.low_speed_alert = False + + # events + events = [] + if not self.CS.can_valid: + self.can_invalid_count += 1 + if self.can_invalid_count >= 5: + events.append(create_event('commIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE])) + else: + self.can_invalid_count = 0 + if not ret.gearShifter == 'drive': + events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE])) + if ret.doorOpen: + events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE])) + if ret.seatbeltUnlatched: + events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE])) + if self.CS.esp_disabled: + events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE])) + if not self.CS.main_on: + 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.steer_error: + events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING])) + + # enable request in prius is simple, as we activate when Toyota is active (rising edge) + if ret.cruiseState.enabled and not self.cruise_enabled_prev: + events.append(create_event('pcmEnable', [ET.ENABLE])) + elif not ret.cruiseState.enabled: + events.append(create_event('pcmDisable', [ET.USER_DISABLE])) + + # disable on pedals rising edge or when brake is pressed and speed isn't zero + if (ret.gasPressed and not self.gas_pressed_prev) or \ + (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgoRaw > 0.1)): + events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE])) + + if ret.gasPressed: + events.append(create_event('pedalPressed', [ET.PRE_ENABLE])) + + if self.low_speed_alert: + events.append(create_event('belowSteerSpeed', [ET.WARNING])) + + ret.events = events + ret.canMonoTimes = canMonoTimes + + self.gas_pressed_prev = ret.gasPressed + self.brake_pressed_prev = ret.brakePressed + self.cruise_enabled_prev = ret.cruiseState.enabled + + return ret.as_reader() + + def apply(self, c, perception_state=log.Live20Data.new_message()): + + hud_alert = get_hud_alerts(c.hudControl.visualAlert, c.hudControl.audibleAlert) + + self.CC.update(self.sendcan, c.enabled, self.CS, c.actuators, + c.cruiseControl.cancel, hud_alert) + + return False diff --git a/selfdrive/car/hyundai/radar_interface.py b/selfdrive/car/hyundai/radar_interface.py new file mode 100644 index 00000000000000..96159fd87d9535 --- /dev/null +++ b/selfdrive/car/hyundai/radar_interface.py @@ -0,0 +1,24 @@ +#!/usr/bin/env python +from cereal import car +import time + + +class RadarInterface(object): + def __init__(self, CP): + # radar + self.pts = {} + self.delay = 0.1 + + def update(self): + + ret = car.RadarState.new_message() + time.sleep(0.05) # radard runs on RI updates + + return ret + +if __name__ == "__main__": + RI = RadarInterface(None) + while 1: + ret = RI.update() + print(chr(27) + "[2J") + print ret diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py new file mode 100644 index 00000000000000..df0adf191d26cd --- /dev/null +++ b/selfdrive/car/hyundai/values.py @@ -0,0 +1,54 @@ +from selfdrive.car import dbc_dict + +def get_hud_alerts(visual_alert, audble_alert): + if visual_alert == "steerRequired": + return 4 if audble_alert != "none" else 5 + else: + return 0 + +class CAR: + SANTA_FE = "HYUNDAI SANTA FE LIMITED 2019" + ELANTRA = "HYUNDAI ELANTRA LIMITED ULTIMATE 2017" + GENESIS = "HYUNDAI GENESIS 2018" + KIA_SORENTO = "KIA SORENTO GT LINE 2018" # Top Trim Kia Sorento for Australian Market, AWD Diesel 8sp Auto + KIA_STINGER = "KIA STINGER GT2 2018" + +class Buttons: + NONE = 0 + RES_ACCEL = 1 + SET_DECEL = 2 + CANCEL = 4 + +FINGERPRINTS = { + CAR.SANTA_FE: [{ + 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8 + }], + CAR.ELANTRA: [{ + 66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 + }], + CAR.GENESIS: [{ + 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4 + }], + CAR.KIA_SORENTO: [{ + 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1 + }], + CAR.KIA_STINGER: [{ + 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8 + }], +} + +CAMERA_MSGS = [832, 1156, 1191, 1342] # msgs sent by the camera + +CHECKSUM = { + "crc8": [CAR.SANTA_FE], + "6B": [CAR.KIA_SORENTO, CAR.GENESIS], + "7B": [CAR.KIA_STINGER, CAR.ELANTRA], +} + +DBC = { + CAR.SANTA_FE: dbc_dict('hyundai_santa_fe_2019_ccan', None), + CAR.ELANTRA: dbc_dict('hyundai_santa_fe_2019_ccan', None), + CAR.GENESIS: dbc_dict('hyundai_santa_fe_2019_ccan', None), + CAR.KIA_SORENTO: dbc_dict('hyundai_santa_fe_2019_ccan', None), + CAR.KIA_STINGER: dbc_dict('hyundai_santa_fe_2019_ccan', None), +} diff --git a/selfdrive/car/tesla/ACC_module.py b/selfdrive/car/tesla/ACC_module.py index f9d3714f68fc21..f15321267e2ee0 100644 --- a/selfdrive/car/tesla/ACC_module.py +++ b/selfdrive/car/tesla/ACC_module.py @@ -1,9 +1,11 @@ from selfdrive.services import service_list -from selfdrive.car.tesla.values import ACCState, AH, CruiseButtons, CruiseState, CAR, GetAccMode +from selfdrive.car.tesla.values import ACCMode, ACCState, AH, CruiseButtons, CruiseState, CAR from selfdrive.config import Conversions as CV import selfdrive.messaging as messaging import os +import collections import subprocess +import sys import time import zmq @@ -17,16 +19,12 @@ class ACCController(object): # Tesla cruise only functions above 17 MPH MIN_CRUISE_SPEED_MS = 17.5 * CV.MPH_TO_MS - def __init__(self, carcontroller): - self.CC = carcontroller + def __init__(self): self.human_cruise_action_time = 0 self.automated_cruise_action_time = 0 - self.enabled_time = 0 - self.last_angle = 0. context = zmq.Context() self.poller = zmq.Poller() self.live20 = messaging.sub_sock(context, service_list['live20'].port, conflate=True, poller=self.poller) - self.lead_1 = None self.last_update_time = 0 self.enable_adaptive_cruise = False # Whether to re-engage automatically after being paused due to low speed or @@ -36,7 +34,11 @@ def __init__(self, carcontroller): self.prev_cruise_buttons = CruiseButtons.IDLE self.prev_pcm_acc_status = 0 self.acc_speed_kph = 0. - + self.user_has_braked = False + self.has_gone_below_min_speed = False + self.fast_decel_time = 0 + self.lead_last_seen_time_ms = 0 + # Updates the internal state of this controller based on user input, # specifically the steering wheel mounted cruise control stalk, and OpenPilot # UI buttons. @@ -46,13 +48,10 @@ def update_stat(self, CS, enabled): # pull. prev_enable_adaptive_cruise = self.enable_adaptive_cruise acc_string = CS.cstm_btns.get_button_label2("acc") - acc_mode = GetAccMode(acc_string) + acc_mode = ACCMode.get(acc_string) CS.cstm_btns.get_button("acc").btn_label2 = acc_mode.name self.autoresume = acc_mode.autoresume curr_time_ms = _current_time_millis() - speed_uom_kph = 1. - if CS.imperial_speed_units: - speed_uom_kph = CV.MPH_TO_KPH # Handle pressing the enable button. if (CS.cruise_buttons == CruiseButtons.MAIN and self.prev_cruise_buttons != CruiseButtons.MAIN): @@ -65,9 +64,10 @@ def update_stat(self, CS, enabled): if ready and double_pull: # A double pull enables ACC. updating the max ACC speed if necessary. self.enable_adaptive_cruise = True - self.enabled_time = curr_time_ms # Increase ACC speed to match current, if applicable. self.acc_speed_kph = max(CS.v_ego_raw * CV.MS_TO_KPH, self.acc_speed_kph) + self.user_has_braked = False + self.has_gone_below_min_speed = False # Handle pressing the cancel button. elif CS.cruise_buttons == CruiseButtons.CANCEL: self.enable_adaptive_cruise = False @@ -76,40 +76,28 @@ def update_stat(self, CS, enabled): # Handle pressing up and down buttons. elif (self.enable_adaptive_cruise and CS.cruise_buttons != self.prev_cruise_buttons): - # Real stalk command while ACC is already enabled. Adjust the max ACC - # speed if necessary. For example if max speed is 50 but you're currently - # only going 30, the cruise speed can be increased without any change to - # max ACC speed. If actual speed is already 50, the code also increases - # the max cruise speed. - if CS.cruise_buttons == CruiseButtons.RES_ACCEL: - requested_speed_kph = CS.v_ego * CV.MS_TO_KPH + speed_uom_kph - self.acc_speed_kph = max(self.acc_speed_kph, requested_speed_kph) - elif CS.cruise_buttons == CruiseButtons.RES_ACCEL_2ND: - requested_speed_kph = CS.v_ego * CV.MS_TO_KPH + 5 * speed_uom_kph - self.acc_speed_kph = max(self.acc_speed_kph, requested_speed_kph) - elif CS.cruise_buttons == CruiseButtons.DECEL_SET: - self.acc_speed_kph -= speed_uom_kph - elif CS.cruise_buttons == CruiseButtons.DECEL_2ND: - self.acc_speed_kph -= 5 * speed_uom_kph - # Clip ACC speed between 0 and 170 KPH. - self.acc_speed_kph = min(self.acc_speed_kph, 170) - self.acc_speed_kph = max(self.acc_speed_kph, 0) - # If autoresume is not enabled, certain user actions disable ACC. - elif not self.autoresume: - # If something disabled cruise control (braking), disable ACC too. - if self.prev_pcm_acc_status == 2 and CS.pcm_acc_status != 2: - self.enable_adaptive_cruise = False - # if user took over steering, disable ACC too. - elif not enabled: + self._update_max_acc_speed(CS) + + if CS.brake_pressed: + self.user_has_braked = True + if not self.autoresume: self.enable_adaptive_cruise = False + + if CS.v_ego < self.MIN_CRUISE_SPEED_MS: + self.has_gone_below_min_speed = True + + # If autoresume is not enabled, manually steering disables ACC. + if not (enabled or self.autoresume): + self.enable_adaptive_cruise = False # Notify if ACC was toggled if prev_enable_adaptive_cruise and not self.enable_adaptive_cruise: CS.UE.custom_alert_message(3, "ACC Disabled", 150, 4) CS.cstm_btns.set_button_status("acc", ACCState.STANDBY) - elif self.enable_adaptive_cruise and not prev_enable_adaptive_cruise: - CS.UE.custom_alert_message(2, "ACC Enabled", 150) + elif self.enable_adaptive_cruise: CS.cstm_btns.set_button_status("acc", ACCState.ENABLED) + if not prev_enable_adaptive_cruise: + CS.UE.custom_alert_message(2, "ACC Enabled", 150) # Update the UI to show whether the current car state allows ACC. if CS.cstm_btns.get_button_status("acc") in [ACCState.STANDBY, ACCState.NOT_READY]: @@ -124,6 +112,29 @@ def update_stat(self, CS, enabled): self.prev_cruise_buttons = CS.cruise_buttons self.prev_pcm_acc_status = CS.pcm_acc_status + def _update_max_acc_speed(self, CS): + # Adjust the max ACC speed based on user cruise stalk actions. + half_press_kph, full_press_kph = self._get_cc_units_kph(CS.imperial_speed_units) + # If user increases cruise speed while well below max ACC speed, do not + # change max ACC speed. + # If user increases cruise speed while near max ACC speed, increase the max + # ACC speed as necessary. + if CS.cruise_buttons == CruiseButtons.RES_ACCEL: + requested_speed_kph = CS.v_ego * CV.MS_TO_KPH + half_press_kph + self.acc_speed_kph = max(self.acc_speed_kph, requested_speed_kph) + elif CS.cruise_buttons == CruiseButtons.RES_ACCEL_2ND: + requested_speed_kph = CS.v_ego * CV.MS_TO_KPH + full_press_kph + self.acc_speed_kph = max(self.acc_speed_kph, requested_speed_kph) + # If user decreses cruise speed, decrease the max ACC speed also. + elif CS.cruise_buttons == CruiseButtons.DECEL_SET: + self.acc_speed_kph -= half_press_kph + elif CS.cruise_buttons == CruiseButtons.DECEL_2ND: + self.acc_speed_kph -= full_press_kph + + # Clip ACC speed between 0 and 170 KPH. + self.acc_speed_kph = min(self.acc_speed_kph, 170) + self.acc_speed_kph = max(self.acc_speed_kph, 0) + # Decide which cruise control buttons to simluate to get the car to the # desired speed. def update_acc(self, enabled, CS, frame, actuators, pcm_speed): @@ -133,29 +144,21 @@ def update_acc(self, enabled, CS, frame, actuators, pcm_speed): self.human_cruise_action_time = current_time_ms button_to_press = None - if (self.enable_adaptive_cruise - # Only do ACC if OP is steering - and enabled - # And adjust infrequently, since sending repeated adjustments makes - # the car think we're doing a 'long press' on the cruise stalk, - # resulting in small, jerky speed adjustments. - and current_time_ms > self.automated_cruise_action_time + 500): - + if self.enable_adaptive_cruise and enabled: if CS.cstm_btns.get_button_label2("acc") in ["OP", "AutoOP"]: - button_to_press = self.calc_op_button(CS, pcm_speed, current_time_ms) - elif CS.cstm_btns.get_button_label2("acc") in ["FOLLOW", "AUTO"]: + button_to_press = self._calc_button(CS, pcm_speed, current_time_ms) + else: # Alternative speed decision logic that uses the lead car's distance # and speed more directly. # Bring in the lead car distance from the Live20 feed - l20 = None + lead_1 = None if enabled: for socket, _ in self.poller.poll(0): if socket is self.live20: - l20 = messaging.recv_one(socket) - break - if l20 is not None: - self.lead_1 = l20.live20.leadOne - button_to_press = self.calc_follow_button(CS) + lead_1 = messaging.recv_one(socket).live20.leadOne + if lead_1.dRel: + self.lead_last_seen_time_ms = current_time_ms + button_to_press = self._calc_follow_button(CS, lead_1) if button_to_press: self.automated_cruise_action_time = current_time_ms # If trying to slow below the min cruise speed, just cancel cruise. @@ -164,36 +167,188 @@ def update_acc(self, enabled, CS, frame, actuators, pcm_speed): if (CruiseButtons.is_decel(button_to_press) and CS.v_cruise_actual - 1 < self.MIN_CRUISE_SPEED_MS * CV.MS_TO_KPH): button_to_press = CruiseButtons.CANCEL + self.fast_decel_time = current_time_ms # Debug logging (disable in production to reduce latency of commands) #print "***ACC command: %s***" % button_to_press - #elif (current_time_ms > self.last_update_time + 1000): - # self.last_update_time = current_time_ms - # print "Desired ACC speed change: %s" % (speed_offset) return button_to_press + + # function to calculate the cruise button based on a safe follow distance + def _calc_follow_button(self, CS, lead_car): + if lead_car is None: + return None + # Desired gap (in seconds) between cars. + follow_time_s = 2.0 + # v_ego is in m/s, so safe_dist_m is in meters. + safe_dist_m = CS.v_ego * follow_time_s + current_time_ms = _current_time_millis() + # Make sure we were able to populate lead_1. + # dRel is in meters. + lead_dist_m = lead_car.dRel + lead_speed_kph = (lead_car.vRel + CS.v_ego) * CV.MS_TO_KPH + # Relative velocity between the lead car and our set cruise speed. + future_vrel_kph = lead_speed_kph - CS.v_cruise_actual + # How much we can accelerate without exceeding the max allowed speed. + available_speed_kph = self.acc_speed_kph - CS.v_cruise_actual + half_press_kph, full_press_kph = self._get_cc_units_kph(CS.imperial_speed_units) + # button to issue + button = None + # debug msg + msg = None + + # Automatically engage traditional cruise if ACC is active. + if self._should_autoengage_cc(CS, lead_car=lead_car) and self._no_action_for(milliseconds=100): + button = CruiseButtons.RES_ACCEL + # If traditional cruise is engaged, then control it. + elif CS.pcm_acc_status == 2: + + # Disengage cruise control if a slow object is seen ahead. This triggers + # full regen braking, which is stronger than the braking that happens if + # you just reduce cruise speed. + if self._fast_decel_required(CS, lead_car) and self._no_human_action_for(milliseconds=500): + msg = "Off (Slow traffic)" + button = CruiseButtons.CANCEL + + # if cruise is set to faster than the max speed, slow down + elif CS.v_cruise_actual > self.acc_speed_kph and self._no_action_for(milliseconds=300): + msg = "Slow to max" + button = CruiseButtons.DECEL_SET + + elif (# if we have a populated lead_distance + lead_dist_m > 0 + and self._no_action_for(milliseconds=300) + # and we're moving + and CS.v_cruise_actual > full_press_kph): + ### Slowing down ### + # Reduce speed significantly if lead_dist < safe dist + # and if the lead car isn't already pulling away. + if lead_dist_m < safe_dist_m * .5 and future_vrel_kph < 2: + msg = "-5 (Significantly too close)" + button = CruiseButtons.DECEL_2ND + # Don't rush up to lead car + elif future_vrel_kph < -15: + msg = "-5 (approaching too fast)" + button = CruiseButtons.DECEL_2ND + elif future_vrel_kph < -8: + msg = "-1 (approaching too fast)" + button = CruiseButtons.DECEL_SET + elif lead_dist_m < safe_dist_m and future_vrel_kph <= 0: + msg = "-1 (Too close)" + button = CruiseButtons.DECEL_SET + # Make slow adjustments if close to the safe distance. + # only adjust every 1 secs + elif (lead_dist_m < safe_dist_m * 1.3 + and future_vrel_kph < -1 * half_press_kph + and self._no_action_for(milliseconds=1000)): + msg = "-1 (Near safe distance)" + button = CruiseButtons.DECEL_SET + + ### Speed up ### + elif (available_speed_kph > half_press_kph + and lead_dist_m > safe_dist_m + and self._no_human_action_for(milliseconds=1000)): + lead_is_far = lead_dist_m > safe_dist_m * 1.75 + closing = future_vrel_kph < -2 + lead_is_pulling_away = future_vrel_kph > 4 + if lead_is_far and not closing or lead_is_pulling_away: + msg = "+1 (Beyond safe distance and speed)" + button = CruiseButtons.RES_ACCEL + + # If lead_dist is reported as 0, no one is detected in front of you so you + # can speed up. Only accel on straight-aways; vision radar often + # loses lead car in a turn. + elif (lead_dist_m == 0 + and CS.angle_steers < 2.0 + and half_press_kph < available_speed_kph + and self._no_action_for(milliseconds=500) + and self._no_human_action_for(milliseconds=1000) + and current_time_ms > self.lead_last_seen_time_ms + 4000): + msg = "+1 (road clear)" + button = CruiseButtons.RES_ACCEL + + if (current_time_ms > self.last_update_time + 1000): + ratio = 0 + if safe_dist_m > 0: + ratio = (lead_dist_m / safe_dist_m) * 100 + print "Ratio: {0:.1f}% lead: {1:.1f}m avail: {2:.1f}kph vRel: {3:.1f}kph Angle: {4:.1f}deg".format( + ratio, lead_dist_m, available_speed_kph, lead_car.vRel * CV.MS_TO_KPH, CS.angle_steers) + self.last_update_time = current_time_ms + if msg != None: + print "ACC: " + msg + + return button + + def _should_autoengage_cc(self, CS, lead_car=None): + # Automatically (re)engage cruise control so long as the brake has not been + # pressed since enabling ACC. + cruise_ready = (self.enable_adaptive_cruise + and CS.pcm_acc_status == 1 + and CS.v_ego >= self.MIN_CRUISE_SPEED_MS + and _current_time_millis() > self.fast_decel_time + 2000) + + # "Autoresume" mode allows cruise to engage even after brake events, but + # shouldn't trigger DURING braking. + autoresume_ready = self.autoresume and CS.a_ego >= 0.1 + + braked = self.user_has_braked or self.has_gone_below_min_speed + + return cruise_ready and (autoresume_ready or not braked) + + def _fast_decel_required(self, CS, lead_car): + """ Identifies situations which call for rapid deceleration. """ + if not lead_car or not lead_car.dRel: + return False + + collision_imminent = self._seconds_to_collision(CS, lead_car) < 4 + + lead_absolute_speed_ms = lead_car.vRel + CS.v_ego + lead_too_slow = lead_absolute_speed_ms < self.MIN_CRUISE_SPEED_MS + + fast_decel_required = collision_imminent or lead_too_slow + if fast_decel_required: + self.fast_decel_time = _current_time_millis() + + return fast_decel_required - # Adjust speed based off OP's longitudinal model. - def calc_op_button(self, CS, pcm_speed, current_time_ms): + def _seconds_to_collision(self, CS, lead_car): + if not lead_car or not lead_car.dRel: + return sys.maxint + elif lead_car.vRel >= 0: + return sys.maxint + return abs(float(lead_car.dRel) / lead_car.vRel) + + def _get_cc_units_kph(self, is_imperial_units): + # Cruise control buttons behave differently depending on whether the car + # is configured for metric or imperial units. + if is_imperial_units: + # Imperial unit cars adjust cruise in units of 1 and 5 mph. + half_press_kph = 1 * CV.MPH_TO_KPH + full_press_kph = 5 * CV.MPH_TO_KPH + else: + # Metric cars adjust cruise in units of 1 and 5 kph. + half_press_kph = 1 + full_press_kph = 5 + return half_press_kph, full_press_kph + + # Adjust speed based off OP's longitudinal model. As of OpenPilot 0.5.3, this + # is inoperable because the planner crashes when given only visual radar + # inputs. (Perhaps this can be used in the future with a radar install, or if + # OpenPilot planner changes.) + def _calc_button(self, CS, desired_speed_ms, current_time_ms): + button_to_press = None # Automatically engange traditional cruise if ACC is active. - if self.should_autoengage_cc(CS, current_time_ms): + if self._should_autoengage_cc(CS): button_to_press = CruiseButtons.RES_ACCEL # If traditional cruise is engaged, then control it. elif (CS.pcm_acc_status == 2 # But don't make adjustments if a human has manually done so in # the last 3 seconds. Human intention should not be overridden. - and current_time_ms > self.human_cruise_action_time + 3000 - and current_time_ms > self.enabled_time + 1000): + and self._no_human_action_for(milliseconds=3000) + and self._no_automated_action_for(milliseconds=500)): # The difference between OP's target speed and the current cruise # control speed, in KPH. - speed_offset = (pcm_speed * CV.MS_TO_KPH - CS.v_cruise_actual) + speed_offset = (desired_speed_ms * CV.MS_TO_KPH - CS.v_cruise_actual) - if CS.imperial_speed_units: - # Imperial unit cars adjust cruise in units of 1 and 5 mph. - half_press_kph = 1 * CV.MPH_TO_KPH - full_press_kph = 5 * CV.MPH_TO_KPH - else: - # Metric cars adjust cruise in units of 1 and 5 kph. - half_press_kph = 1 - full_press_kph = 5 + half_press_kph, full_press_kph = self._get_cc_units_kph(CS.imperial_speed_units) # Reduce cruise speed significantly if necessary. Multiply by a % to # make the car slightly more eager to slow down vs speed up. @@ -207,130 +362,20 @@ def calc_op_button(self, CS, pcm_speed, current_time_ms): # Increase cruise speed if possible. elif CS.v_ego > self.MIN_CRUISE_SPEED_MS: # How much we can accelerate without exceeding max allowed speed. - available_speed = self.acc_speed_kph - CS.v_cruise_actual - if speed_offset > full_press_kph and full_press_kph < available_speed: + available_speed_kph = self.acc_speed_kph - CS.v_cruise_actual + if speed_offset >= full_press_kph and full_press_kph < available_speed_kph: # Send cruise stalk up_2nd. button_to_press = CruiseButtons.RES_ACCEL_2ND - elif speed_offset > half_press_kph and half_press_kph < available_speed: + elif speed_offset >= half_press_kph and half_press_kph < available_speed_kph: # Send cruise stalk up_1st. button_to_press = CruiseButtons.RES_ACCEL return button_to_press - def should_autoengage_cc(self, CS, current_time_ms): - # In auto-resume mode, we must not to engage during deceleration other than - # during the first moment after ACC was engaged. - autoresume_supressed_by_braking = ( - self.autoresume - and CS.a_ego < 0 - and current_time_ms > self.enabled_time + 300) - return (CS.pcm_acc_status == 1 - and self.enable_adaptive_cruise - and CS.v_ego >= self.MIN_CRUISE_SPEED_MS - and not autoresume_supressed_by_braking) - - # function to calculate the cruise button based on a safe follow distance - def calc_follow_button(self, CS): - follow_time = 2.0 # in seconds - current_time_ms = _current_time_millis() - # Make sure we were able to populate lead_1. - if self.lead_1 is None: - return None - # dRel is in meters. - lead_dist = self.lead_1.dRel - # Grab the relative speed. - rel_speed = self.lead_1.vRel * CV.MS_TO_KPH - # Current speed in kph - cur_speed = CS.v_ego * CV.MS_TO_KPH - # v_ego is in m/s, so safe_dist_m is in meters. - safe_dist_m = CS.v_ego * follow_time - # How much we can accelerate without exceeding the max allowed speed. - available_speed = self.acc_speed_kph - CS.v_cruise_actual - # Metric cars adjust cruise in units of 1 and 5 kph. - half_press_kph = 1 - full_press_kph = 5 - # Imperial unit cars adjust cruise in units of 1 and 5 mph - if CS.imperial_speed_units: - half_press_kph = 1 * CV.MPH_TO_KPH - full_press_kph = 5 * CV.MPH_TO_KPH - # button to issue - button = None - # debug msg - msg = None - - #print "dRel: ", self.lead_1.dRel," yRel: ", self.lead_1.yRel, " vRel: ", self.lead_1.vRel, " aRel: ", self.lead_1.aRel, " vLead: ", self.lead_1.vLead, " vLeadK: ", self.lead_1.vLeadK, " aLeadK: ", self.lead_1.aLeadK - - ### Logic to determine best cruise speed ### - - # Automatically engange traditional cruise if ACC is active. - if self.should_autoengage_cc(CS, current_time_ms): - button = CruiseButtons.RES_ACCEL - # If traditional cruise is engaged, then control it. - elif CS.pcm_acc_status == 2: - # if cruise is set to faster than the max speed, slow down - if CS.v_cruise_actual > self.acc_speed_kph: - msg = "Slow to max" - button = CruiseButtons.DECEL_SET - # If lead_dist is reported as 0, no one is detected in front of you so you - # can speed up don't speed up when steer-angle > 2; vision radar often - # loses lead car in a turn. - elif lead_dist == 0 and self.enable_adaptive_cruise and CS.angle_steers < 2.0: - if full_press_kph < available_speed: - msg = "5 MPH UP full: ","{0:.1f}kph".format(full_press_kph), " avail: {0:.1f}kph".format(available_speed) - button = CruiseButtons.RES_ACCEL_2ND - elif half_press_kph < available_speed: - msg = "1 MPH UP half: ","{0:.1f}kph".format(half_press_kph), " avail: {0:.1f}kph".format(available_speed) - button = CruiseButtons.RES_ACCEL - - # if we have a populated lead_distance - elif (lead_dist > 0 - # and we only issue commands every 300ms - and current_time_ms > self.automated_cruise_action_time + 300): - ### Slowing down ### - # Reduce speed significantly if lead_dist < 50% of safe dist, no matter - # the rel_speed - if CS.v_cruise_actual > full_press_kph: - if lead_dist < (safe_dist_m * 0.3) and rel_speed < 2: - msg = "50pct down" - button = CruiseButtons.DECEL_2ND - # Reduce speed significantly if lead_dist < 60% of safe dist - # and if the lead car isn't pulling away - elif lead_dist < (safe_dist_m * 0.5) and rel_speed < 0: - msg = "70pct down" - button = CruiseButtons.DECEL_SET - #Reduce speed if rel_speed < -15kph so you don't rush up to lead car - elif rel_speed < -15: - msg = "relspd -15 down" - button = CruiseButtons.DECEL_SET - # we're close to the safe distance, so make slow adjustments - # only adjust every 1 secs - elif (lead_dist < (safe_dist_m * 0.9) and rel_speed < 0 - and current_time_ms > self.automated_cruise_action_time + 1000): - msg = "90pct down" - button = CruiseButtons.DECEL_SET - - ### Speed up ### - # don't speed up again until you have more than a safe distance in front - # only adjust every 2 sec - if ((lead_dist > (safe_dist_m * 0.8) or rel_speed > 5) and half_press_kph < available_speed - and current_time_ms > self.automated_cruise_action_time + 100): - msg = "120pct UP half: ","{0:.1f}kph".format(half_press_kph), " avail: {0:.1f}kph".format(available_speed) - button = CruiseButtons.RES_ACCEL - - # if we don't need to do any of the above, then we're at a pretty good - # speed make sure if we're at this point that the set cruise speed isn't - # set too low or high - if (cur_speed - CS.v_cruise_actual) > 5 and button == None: - # Send cruise stalk up_1st if the set speed is too low to bring it up - msg = "cruise rectify" - button = CruiseButtons.RES_ACCEL - - if (current_time_ms > self.last_update_time + 1000): - ratio = 0 - if safe_dist_m > 0: - ratio = (lead_dist / safe_dist_m) * 100 - print "Ratio: {0:.1f}%".format(ratio), " lead: ","{0:.1f}m".format(lead_dist)," avail: ","{0:.1f}kph".format(available_speed), " Rel Speed: ","{0:.1f}kph".format(rel_speed), " Angle: {0:.1f}deg".format(CS.angle_steers) - self.last_update_time = current_time_ms - if msg != None: - print msg - - return button \ No newline at end of file + def _no_human_action_for(self, milliseconds): + return _current_time_millis() > self.human_cruise_action_time + milliseconds + + def _no_automated_action_for(self, milliseconds): + return _current_time_millis() > self.automated_cruise_action_time + milliseconds + + def _no_action_for(self, milliseconds): + return self._no_human_action_for(milliseconds) and self._no_automated_action_for(milliseconds) \ No newline at end of file diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py index 410c66ee1de4b4..68df5477f38fd4 100644 --- a/selfdrive/car/tesla/carcontroller.py +++ b/selfdrive/car/tesla/carcontroller.py @@ -81,7 +81,7 @@ def __init__(self, dbc_name, enable_camera=True): self.epas_disabled = True self.last_angle = 0 self.ALCA = ALCAController(self,True,True) # Enabled and SteerByAngle both True - self.ACC = ACCController(self) + self.ACC = ACCController() self.PCC = PCCController(self) self.HSO = HSOController(self) diff --git a/selfdrive/car/tesla/carstate.py b/selfdrive/car/tesla/carstate.py index fc7fb221e2af36..1276f49b6c9a08 100644 --- a/selfdrive/car/tesla/carstate.py +++ b/selfdrive/car/tesla/carstate.py @@ -2,7 +2,7 @@ from common.kalman.simple_kalman import KF1D from selfdrive.can.parser import CANParser from selfdrive.config import Conversions as CV -from selfdrive.car.tesla.values import CAR, CruiseButtons, DBC, GetAccMode +from selfdrive.car.tesla.values import ACCState, ACCMode, CAR, CruiseButtons, DBC from selfdrive.car.modules.UIBT_module import UIButtons, UIButton import numpy as np from ctypes import create_string_buffer @@ -137,6 +137,7 @@ def get_epas_can_signals(CP): ("EPAS_eacErrorCode", "EPAS_sysStatus", 0), ("EPAS_handsOnLevel", "EPAS_sysStatus", 0), ("EPAS_steeringFault", "EPAS_sysStatus", 0), + ("EPAS_internalSAS", "EPAS_sysStatus", 0), #BB see if this works better than STW_ANGLHP_STAT for angle ] checks = [ @@ -229,28 +230,29 @@ def __init__(self, CP): self.v_cruise_pcm = 0.0 # Actual cruise speed currently active on the car. self.v_cruise_actual = 0.0 - + self.define_ui_buttons() + + def define_ui_buttons(self): + self.ALC_BTN = UIButton("alca", "ALC", 0, "", 0) + self.ACC_BTN = UIButton("acc", "ACC", 0, ACCMode.OFF, 1) + self.STR_BTN = UIButton("steer", "STR", 0, "", 2) + self.BRK_BTN = UIButton("brake", "BRK", 1, "", 3) + self.MSG_BTN = UIButton("msg", "MSG", 1, "", 4) + self.SND_BTN = UIButton("sound", "SND", 1, "", 5) + def init_ui_buttons(self): - btns = [] - btns.append(UIButton("alca", "ALC", 0, "", 0)) - btns.append(UIButton("acc", "ACC", 0, "Mod OP", 1)) - btns.append(UIButton("steer", "STR", 0, "", 2)) - btns.append(UIButton("brake", "BRK", 1, "", 3)) - btns.append(UIButton("msg", "MSG", 1, "", 4)) - btns.append(UIButton("sound", "SND", 1, "", 5)) - return btns - - def update_ui_buttons(self,id,btn_status): - if self.cstm_btns.btns[id].btn_status > 0: - if (id == 1) and (btn_status == 0): - # don't change status, just model - current_mode = self.cstm_btns.btns[id].btn_label2 - next_mode = GetAccMode(current_mode).next_mode - self.cstm_btns.btns[id].btn_label2 = next_mode - else: - self.cstm_btns.btns[id].btn_status = btn_status * self.cstm_btns.btns[id].btn_status + self.define_ui_buttons() + return [self.ALC_BTN, self.ACC_BTN, self.STR_BTN, self.BRK_BTN, self.MSG_BTN, self.SND_BTN] + + def update_ui_buttons(self, id, btn_status): + button = self.cstm_btns.btns[id] + if (id == self.ACC_BTN.btn_index): + current_mode = ACCMode.get(button.btn_label2) + next_mode = current_mode.next() + button.btn_label2 = next_mode.name + button.btn_status = next_mode.state else: - self.cstm_btns.btns[id].btn_status = btn_status + button.btn_status = btn_status def update(self, cp, epas_cp): @@ -312,7 +314,8 @@ def update(self, cp, epas_cp): can_gear_shifter = cp.vl["DI_torque2"]['DI_gear'] self.gear = 0 # JCT - self.angle_steers = -(cp.vl["STW_ANGLHP_STAT"]['StW_AnglHP']) #JCT polarity reversed from Honda/Acura + #self.angle_steers = -(cp.vl["STW_ANGLHP_STAT"]['StW_AnglHP']) #JCT polarity reversed from Honda/Acura + self.angle_steers = -(epas_cp.vl["EPAS_sysStatus"]['EPAS_internalSAS']) #BB see if this works better than STW_ANGLHP_STAT for angle self.angle_steers_rate = 0 #JCT self.blinker_on = (cp.vl["STW_ACTN_RQ"]['TurnIndLvr_Stat'] == 1) or (cp.vl["STW_ACTN_RQ"]['TurnIndLvr_Stat'] == 2) diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py index aa46f80f76429a..1e5fdcbe9ad294 100644 --- a/selfdrive/car/tesla/values.py +++ b/selfdrive/car/tesla/values.py @@ -95,21 +95,34 @@ class ACCState(object): ENABLED = 2 # Engaged. NOT_READY = 9 # Not ready to be engaged due to the state of the car. - class ACCMode(object): - def __init__(self, name, autoresume, next_mode): + FOLLOW = "FOLLOW" + AUTO = "AUTO" + OFF = "OFF" + + # This static map is filled just below the class (so that it can contain + # ACCMode objects) + ACC_MODES = None + + @classmethod + def get(cls, name): + if name in cls.ACC_MODES: + return cls.ACC_MODES[name] + else: + return cls.ACC_MODES.values()[0] + + def __init__(self, name, autoresume, state, next_mode): self.name = name self.autoresume = autoresume + self.state = state self.next_mode = next_mode - - -_ACCModes = { - "FOLLOW": ACCMode(name="FOLLOW", autoresume=False, next_mode="AUTO"), - "AUTO": ACCMode(name="AUTO", autoresume=True, next_mode="FOLLOW") + + def next(self): + return self.get(self.next_mode) + +ACCMode.ACC_MODES = { + ACCMode.FOLLOW: ACCMode(name=ACCMode.FOLLOW, autoresume=False, state=ACCState.STANDBY, next_mode=ACCMode.AUTO), + ACCMode.AUTO: ACCMode(name=ACCMode.AUTO, autoresume=True, state=ACCState.STANDBY, next_mode=ACCMode.OFF), + ACCMode.OFF: ACCMode(name=ACCMode.OFF, autoresume=False, state=ACCState.OFF, next_mode=ACCMode.FOLLOW), } - -def GetAccMode(name): - if name in _ACCModes: - return _ACCModes[name] - else: - return _ACCModes.values()[0] \ No newline at end of file + \ No newline at end of file diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 6a1585978181bd..cddd34d38e5318 100755 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -120,7 +120,7 @@ def get_params(candidate, fingerprint): ret.steerKf = 0.00006 elif candidate in [CAR.CAMRY, CAR.CAMRYH]: - ret.safetyParam = 100 + ret.safetyParam = 100 ret.wheelbase = 2.82448 ret.steerRatio = 13.7 tire_stiffness_factor = 0.7933 @@ -128,6 +128,15 @@ def get_params(candidate, fingerprint): ret.steerKpV, ret.steerKiV = [[0.6], [0.1]] ret.steerKf = 0.00006 + elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]: + ret.safetyParam = 100 + ret.wheelbase = 2.78 + ret.steerRatio = 16.0 + tire_stiffness_factor = 0.444 # not optimized yet + ret.mass = 4607 * CV.LB_TO_KG + std_cargo #mean between normal and hybrid limited + ret.steerKpV, ret.steerKiV = [[0.6], [0.05]] + ret.steerKf = 0.00006 + ret.steerRateCost = 1. ret.centerToFront = ret.wheelbase * 0.44 @@ -136,7 +145,9 @@ def get_params(candidate, fingerprint): # min speed to enable ACC. if car can do stop and go, then set enabling speed # to a negative value, so it won't matter. - if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH]: # rav4 hybrid can do stop and go + # hybrid models can't do stop and go even though the stock ACC can't + if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.CHR, + CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH, CAR.HIGHLANDER]: ret.minEnableSpeed = -1. elif candidate in [CAR.RAV4, CAR.COROLLA]: # TODO: hack ICE to do stop and go ret.minEnableSpeed = 19. * CV.MPH_TO_MS @@ -233,16 +244,14 @@ def update(self, c): ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS ret.cruiseState.available = bool(self.CS.main_on) ret.cruiseState.speedOffset = 0. - if self.CP.carFingerprint == CAR.RAV4H: - # ignore standstill in hybrid rav4, since pcm allows to restart without + if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER]: + # ignore standstill in hybrid vehicles, since pcm allows to restart without # receiving any special command ret.cruiseState.standstill = False else: ret.cruiseState.standstill = self.CS.pcm_acc_status == 7 - # TODO: button presses buttonEvents = [] - if self.CS.left_blinker_on != self.CS.prev_left_blinker_on: be = car.CarState.ButtonEvent.new_message() be.type = 'leftBlinker' diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 2e0cf3e6fee842..0fb407abe5aa39 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -10,6 +10,8 @@ class CAR: CHRH = "TOYOTA C-HR HYBRID 2018" CAMRY = "TOYOTA CAMRY 2018" CAMRYH = "TOYOTA CAMRY HYBRID 2018" + HIGHLANDER = "TOYOTA HIGHLANDER 2017" + HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018" class ECU: @@ -19,49 +21,49 @@ class ECU: # addr: (ecu, cars, bus, 1/freq*100, vl) -STATIC_MSGS = [(0x141, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 2, '\x00\x00\x00\x46'), - (0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 3, '\xf4\x01\x90\x83\x00\x37'), - - (0x292, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 3, '\x00\x00\x00\x00\x00\x00\x00\x9e'), - (0x283, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 3, '\x00\x00\x00\x00\x00\x00\x8c'), - (0x2E6, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, '\xff\xf8\x00\x08\x7f\xe0\x00\x4e'), - (0x2E7, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, '\xa8\x9c\x31\x9c\x00\x00\x00\x02'), - - (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'), - (0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'), - (0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'), - (0x245, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'), - (0x248, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x00\x00\x00\x00\x00\x01'), - (0x344, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 5, '\x00\x00\x01\x00\x00\x00\x00\x50'), - - (0x160, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 7, '\x00\x00\x08\x12\x01\x31\x9c\x51'), - (0x161, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 7, '\x00\x1e\x00\x00\x00\x80\x07'), - - (0x32E, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 20, '\x00\x00\x00\x00\x00\x00\x00\x00'), - (0x33E, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, '\x0f\xff\x26\x40\x00\x1f\x00'), - (0x365, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, '\x00\x00\x00\x80\x03\x00\x08'), - (0x365, ECU.DSU, (CAR.RAV4, CAR.COROLLA), 0, 20, '\x00\x00\x00\x80\xfc\x00\x08'), - (0x366, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, '\x00\x00\x4d\x82\x40\x02\x00'), - (0x366, ECU.DSU, (CAR.RAV4, CAR.COROLLA), 0, 20, '\x00\x72\x07\xff\x09\xfe\x00'), - - (0x367, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 40, '\x06\x00'), - - (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'), - (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'), - (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'), - (0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'), - (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'), - (0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'), - (0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4), 1, 100, '\x20\x20\xAD'), - (0x466, ECU.CAM, (CAR.COROLLA), 1, 100, '\x24\x20\xB1'), - (0x396, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\xBD\x00\x00\x00\x60\x0F\x02\x00'), - (0x43A, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x84\x00\x00\x00\x00\x00\x00\x00'), - (0x43B, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'), - (0x497, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'), - (0x4CC, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x0D\x00\x00\x00\x00\x00\x00\x00'), - (0x4CB, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x0c\x00\x00\x00\x00\x00\x00\x00'), - (0x470, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 1, 100, '\x00\x00\x02\x7a'), - ] +STATIC_MSGS = [ + (0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'), + (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'), + (0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'), + (0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'), + (0x245, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'), + (0x248, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 5, '\x00\x00\x00\x00\x00\x00\x01'), + (0x367, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 40, '\x06\x00'), + (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'), + (0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x20\x20\xAD'), + (0x466, ECU.CAM, (CAR.COROLLA), 1, 100, '\x24\x20\xB1'), + (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'), + (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'), + (0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'), + (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'), + + (0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 3, '\xf4\x01\x90\x83\x00\x37'), + (0x128, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 3, '\x03\x00\x20\x00\x00\x52'), + (0x141, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 2, '\x00\x00\x00\x46'), + (0x160, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 7, '\x00\x00\x08\x12\x01\x31\x9c\x51'), + (0x161, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 7, '\x00\x1e\x00\x00\x00\x80\x07'), + (0X161, ECU.DSU, (CAR.HIGHLANDERH, CAR.HIGHLANDER), 1, 7, '\x00\x1e\x00\xd4\x00\x00\x5b'), + (0x283, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 3, '\x00\x00\x00\x00\x00\x00\x8c'), + (0x2E6, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, '\xff\xf8\x00\x08\x7f\xe0\x00\x4e'), + (0x2E7, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, '\xa8\x9c\x31\x9c\x00\x00\x00\x02'), + (0x33E, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, '\x0f\xff\x26\x40\x00\x1f\x00'), + (0x344, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 5, '\x00\x00\x01\x00\x00\x00\x00\x50'), + (0x365, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.HIGHLANDERH), 0, 20, '\x00\x00\x00\x80\x03\x00\x08'), + (0x365, ECU.DSU, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER), 0, 20, '\x00\x00\x00\x80\xfc\x00\x08'), + (0x366, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.HIGHLANDERH), 0, 20, '\x00\x00\x4d\x82\x40\x02\x00'), + (0x366, ECU.DSU, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER), 0, 20, '\x00\x72\x07\xff\x09\xfe\x00'), + (0x470, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 1, 100, '\x00\x00\x02\x7a'), + (0x470, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x00\x00\x01\x79'), + (0x4CB, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER), 0, 100, '\x0c\x00\x00\x00\x00\x00\x00\x00'), + + (0x292, ECU.APGS, (CAR.PRIUS), 0, 3, '\x00\x00\x00\x00\x00\x00\x00\x9e'), + (0x32E, ECU.APGS, (CAR.PRIUS), 0, 20, '\x00\x00\x00\x00\x00\x00\x00\x00'), + (0x396, ECU.APGS, (CAR.PRIUS), 0, 100, '\xBD\x00\x00\x00\x60\x0F\x02\x00'), + (0x43A, ECU.APGS, (CAR.PRIUS), 0, 100, '\x84\x00\x00\x00\x00\x00\x00\x00'), + (0x43B, ECU.APGS, (CAR.PRIUS), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'), + (0x497, ECU.APGS, (CAR.PRIUS), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'), + (0x4CC, ECU.APGS, (CAR.PRIUS), 0, 100, '\x0D\x00\x00\x00\x00\x00\x00\x00'), +] ECU_FINGERPRINT = { ECU.CAM: 0x2e4, # steer torque cmd @@ -81,7 +83,7 @@ def check_ecu_msgs(fingerprint, ecu): }], CAR.RAV4H: [{ 36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 296: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 550: 8, 552: 4, 560: 7, 562: 4, 581: 5, 608: 8, 610: 5, 643: 7, 705: 8, 713: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1212: 8, 1227: 8, 1228: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8 - }], + }], CAR.PRIUS: [{ 36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8 }, @@ -119,6 +121,16 @@ def check_ecu_msgs(fingerprint, ecu): { 36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572:8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8 }], + CAR.HIGHLANDER: [{ + 36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1207: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8 + }, + # 2017 Highlander Limited + { + 36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1207: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8 + }], + CAR.HIGHLANDERH: [{ + 36: 8, 37: 8, 170: 8, 180: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8 + }], } STEER_THRESHOLD = 100 @@ -133,6 +145,8 @@ def check_ecu_msgs(fingerprint, ecu): CAR.CHRH: dbc_dict('toyota_chr_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'), CAR.CAMRY: dbc_dict('toyota_chr_2018_pt_generated', 'toyota_prius_2017_adas'), CAR.CAMRYH: dbc_dict('toyota_camry_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'), + CAR.HIGHLANDER: dbc_dict('toyota_highlander_2017_pt_generated', 'toyota_prius_2017_adas'), + CAR.HIGHLANDERH: dbc_dict('toyota_highlander_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'), } NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH] diff --git a/selfdrive/common/params.cc b/selfdrive/common/params.cc index 5b0d216bdd873c..02d91efcead853 100644 --- a/selfdrive/common/params.cc +++ b/selfdrive/common/params.cc @@ -1,15 +1,20 @@ #include "selfdrive/common/params.h" -#include "selfdrive/common/util.h" - #ifndef _GNU_SOURCE #define _GNU_SOURCE #endif // _GNU_SOURCE -#include -#include -#include #include +#include +#include +#include +#include + +#include +#include + +#include "selfdrive/common/util.h" +#include "selfdrive/common/utilpp.h" namespace { @@ -152,3 +157,40 @@ void read_db_value_blocking(const char* params_path, const char* key, } } } + +int read_db_all(const char* params_path, std::map *params) { + int err = 0; + + if (params_path == NULL) { + params_path = default_params_path; + } + + std::string lock_path = util::string_format("%s/.lock", params_path); + + int lock_fd = open(lock_path.c_str(), 0); + if (lock_fd < 0) return -1; + + err = flock(lock_fd, LOCK_EX); + if (err < 0) return err; + + std::string key_path = util::string_format("%s/d", params_path); + DIR *d = opendir(key_path.c_str()); + if (!d) { + close(lock_fd); + return -1; + } + + struct dirent *de = NULL; + while ((de = readdir(d))) { + if (!isalnum(de->d_name[0])) continue; + std::string key = std::string(de->d_name); + std::string value = util::read_file(util::string_format("%s/%s", key_path.c_str(), key.c_str())); + + (*params)[key] = value; + } + + closedir(d); + + close(lock_fd); + return 0; +} diff --git a/selfdrive/common/params.h b/selfdrive/common/params.h index bd4d86dcfee97c..299dcccd0a412d 100644 --- a/selfdrive/common/params.h +++ b/selfdrive/common/params.h @@ -32,4 +32,10 @@ void read_db_value_blocking(const char* params_path, const char* key, } // extern "C" #endif +#ifdef __cplusplus +#include +#include +int read_db_all(const char* params_path, std::map *params); +#endif + #endif // _SELFDRIVE_COMMON_PARAMS_H_ diff --git a/selfdrive/common/version.h b/selfdrive/common/version.h index 70223083869209..1193b7af4909e9 100644 --- a/selfdrive/common/version.h +++ b/selfdrive/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.5.2-release" +#define COMMA_VERSION "0.5.3-release" diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index ed2ae032fe09cc..c598167928b12d 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -224,7 +224,7 @@ def state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk, - driver_status, PL, LaC, LoC, VM, angle_offset, passive): + driver_status, PL, LaC, LoC, VM, angle_offset, passive, is_metric): # Given the state, this function returns the actuators # reset actuators to zero @@ -258,7 +258,13 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, # parse warnings from car specific interface for e in get_events(events, [ET.WARNING]): - AM.add(e, enabled) + extra_text = '' + if e == "belowSteerSpeed": + if is_metric: + extra_text = str(int(round(CP.minSteerSpeed * CV.MS_TO_KPH))) + " kph" + else: + extra_text = str(int(round(CP.minSteerSpeed * CV.MS_TO_MPH))) + " mph" + AM.add(e, enabled, extra_text=extra_text) # *** angle offset learning *** @@ -269,9 +275,12 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, CS.steeringPressed) # *** gas/brake PID loop *** - actuators.gas, actuators.brake = LoC.update(active, CS.vEgo, CS.brakePressed, CS.standstill, CS.cruiseState.standstill, - v_cruise_kph, plan.vTarget, plan.vTargetFuture, plan.aTarget, - CP, PL.lead_1) + # Temporarily disabled for vision-only (non-radar) setups since they suffer + # frequent crashes in the longitudinal logic. + if not CP.radarOffCan: + actuators.gas, actuators.brake = LoC.update(active, CS.vEgo, CS.brakePressed, CS.standstill, CS.cruiseState.standstill, + v_cruise_kph, plan.vTarget, plan.vTargetFuture, plan.aTarget, + CP, PL.lead_1) # *** steering PID loop *** actuators.steer, actuators.steerAngle = LaC.update(active, CS.vEgo, CS.steeringAngle, @@ -410,6 +419,7 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.): carcontrol = messaging.pub_sock(context, service_list['carControl'].port) livempc = messaging.pub_sock(context, service_list['liveMpc'].port) + is_metric = params.get("IsMetric") == "1" passive = params.get("Passive") != "0" if not passive: while 1: @@ -506,7 +516,7 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.): # compute actuators actuators, v_cruise_kph, driver_status, angle_offset = state_control(plan, CS, CP, state, events, v_cruise_kph, - v_cruise_kph_last, AM, rk, driver_status, PL, LaC, LoC, VM, angle_offset, passive) + v_cruise_kph_last, AM, rk, driver_status, PL, LaC, LoC, VM, angle_offset, passive, is_metric) prof.checkpoint("State Control") # publish data diff --git a/selfdrive/controls/lib/alertmanager.py b/selfdrive/controls/lib/alertmanager.py index de5f0c99ad425b..f8a43d6a79f2ae 100644 --- a/selfdrive/controls/lib/alertmanager.py +++ b/selfdrive/controls/lib/alertmanager.py @@ -187,6 +187,12 @@ class AlertManager(object): AlertStatus.userPrompt, AlertSize.mid, Priority.LOW, None, None, 0., 0., .2), + "belowSteerSpeed": Alert( + "TAKE CONTROL", + "Steer Unavailable Below ", + AlertStatus.userPrompt, AlertSize.mid, + Priority.MID, "steerRequired", None, 0., 0., .1), + "debugAlert": Alert( "DEBUG ALERT", "", diff --git a/selfdrive/controls/lib/planner.py b/selfdrive/controls/lib/planner.py index 451330fe0643a8..32d427f84f14eb 100755 --- a/selfdrive/controls/lib/planner.py +++ b/selfdrive/controls/lib/planner.py @@ -17,12 +17,12 @@ from selfdrive.controls.lib.longitudinal_mpc import libmpc_py from selfdrive.controls.lib.speed_smoother import speed_smoother from selfdrive.controls.lib.longcontrol import LongCtrlState, MIN_CAN_SPEED +from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU _DT = 0.01 # 100Hz _DT_MPC = 0.2 # 5Hz MAX_SPEED_ERROR = 2.0 AWARENESS_DECEL = -0.2 # car smoothly decel at .2m/s^2 when user is distracted -_LEAD_ACCEL_TAU = 1.5 GPS_PLANNER_ADDR = "192.168.5.1" @@ -163,7 +163,7 @@ def send_mpc_solution(self, qp_iterations, calculation_time): dat.liveLongitudinalMpc.vLead = list(self.mpc_solution[0].v_l) dat.liveLongitudinalMpc.aLead = list(self.mpc_solution[0].a_l) dat.liveLongitudinalMpc.cost = self.mpc_solution[0].cost - dat.liveLongitudinalMpc.aLeadTau = self.l + dat.liveLongitudinalMpc.aLeadTau = self.a_lead_tau dat.liveLongitudinalMpc.qpIterations = qp_iterations dat.liveLongitudinalMpc.mpcId = self.mpc_id dat.liveLongitudinalMpc.calculationTime = calculation_time @@ -178,7 +178,7 @@ def setup_mpc(self): self.cur_state = ffi.new("state_t *") self.cur_state[0].v_ego = 0 self.cur_state[0].a_ego = 0 - self.l = _LEAD_ACCEL_TAU + self.a_lead_tau = _LEAD_ACCEL_TAU def set_cur_state(self, v, a): self.cur_state[0].v_ego = v @@ -197,16 +197,10 @@ def update(self, CS, lead, v_cruise_setpoint): v_lead = 0.0 a_lead = 0.0 - # Learn if constant acceleration - if abs(a_lead) < 0.5: - self.l = _LEAD_ACCEL_TAU - else: - self.l *= 0.9 - - l = max(self.l, -a_lead / (v_lead + 0.01)) + self.a_lead_tau = max(lead.aLeadTau, -a_lead / (v_lead + 0.01)) self.new_lead = False if not self.prev_lead_status or abs(x_lead - self.prev_lead_x) > 2.5: - self.libmpc.init_with_simulation(self.v_mpc, x_lead, v_lead, a_lead, l) + self.libmpc.init_with_simulation(self.v_mpc, x_lead, v_lead, a_lead, self.a_lead_tau) self.new_lead = True self.prev_lead_status = True @@ -220,11 +214,11 @@ def update(self, CS, lead, v_cruise_setpoint): self.cur_state[0].x_l = 50.0 self.cur_state[0].v_l = CS.vEgo + 10.0 self.cur_state[0].a_l = 0.0 - l = _LEAD_ACCEL_TAU + self.a_lead_tau = _LEAD_ACCEL_TAU # Calculate mpc t = sec_since_boot() - n_its = self.libmpc.run_mpc(self.cur_state, self.mpc_solution, l) + n_its = self.libmpc.run_mpc(self.cur_state, self.mpc_solution, self.a_lead_tau) duration = int((sec_since_boot() - t) * 1e9) self.send_mpc_solution(n_its, duration) diff --git a/selfdrive/controls/lib/radar_helpers.py b/selfdrive/controls/lib/radar_helpers.py index b5ee51e4855614..da7d3f71ba0c4d 100644 --- a/selfdrive/controls/lib/radar_helpers.py +++ b/selfdrive/controls/lib/radar_helpers.py @@ -6,6 +6,7 @@ from common.numpy_fast import clip, interp from common.kalman.simple_kalman import KF1D +_LEAD_ACCEL_TAU = 1.5 NO_FUSION_SCORE = 100 # bad default fusion score # radar tracks @@ -32,6 +33,8 @@ #_VLEAD_K = np.matrix([[ 0.05705578], [ 0.03073241]]) _VLEAD_K = [[ 0.1988689 ], [ 0.28555364]] +RDR_TO_LDR = 2.7 + class Track(object): def __init__(self): @@ -60,6 +63,7 @@ def update(self, d_rel, y_rel, v_rel, d_path, v_ego_t_aligned, measured, steer_o if not self.initted: self.initted = True + self.aLeadTau = _LEAD_ACCEL_TAU self.cnt = 1 self.vision_cnt = 0 self.vision = False @@ -92,6 +96,12 @@ def update(self, d_rel, y_rel, v_rel, d_path, v_ego_t_aligned, measured, steer_o self.vision_score = NO_FUSION_SCORE + # Learn if constant acceleration + if abs(self.aLeadK) < 0.5: + self.aLeadTau = _LEAD_ACCEL_TAU + else: + self.aLeadTau *= 0.9 + def update_vision_score(self, dist_to_vision, rel_speed_diff): # rel speed is very hard to estimate from vision if dist_to_vision < 4.0 and rel_speed_diff < 10.: @@ -110,8 +120,8 @@ def get_key_for_cluster(self): # Weigh y higher since radar is inaccurate in this dimension return [self.dRel, self.yRel*2, self.vRel] -# ******************* Cluster ******************* +# ******************* Cluster ******************* if platform.machine() == 'aarch64': for x in sys.path: pp = os.path.join(x, "phonelibs/hierarchy/lib") @@ -122,6 +132,7 @@ def get_key_for_cluster(self): else: from scipy.cluster import _hierarchy + def fcluster(Z, t, criterion='inconsistent', depth=2, R=None, monocrit=None): # supersimplified function to get fast clustering. Got it from scipy Z = np.asarray(Z, order='c') @@ -130,10 +141,10 @@ def fcluster(Z, t, criterion='inconsistent', depth=2, R=None, monocrit=None): _hierarchy.cluster_dist(Z, T, float(t), int(n)) return T -RDR_TO_LDR = 2.7 def mean(l): - return sum(l)/len(l) + return sum(l) / len(l) + class Cluster(object): def __init__(self): @@ -180,6 +191,10 @@ def vLeadK(self): def aLeadK(self): return mean([t.aLeadK for t in self.tracks]) + @property + def aLeadTau(self): + return mean([t.aLeadTau for t in self.tracks]) + @property def vision(self): return any([t.vision for t in self.tracks]) @@ -213,6 +228,7 @@ def toLive20(self): "aLeadK": float(self.aLeadK), "status": True, "fcw": self.is_potential_fcw(), + "aLeadTau": float(self.aLeadTau) } def __str__(self): diff --git a/selfdrive/controls/lib/vehicle_model.py b/selfdrive/controls/lib/vehicle_model.py index 834f65e5022b19..a42b8112a78d0b 100755 --- a/selfdrive/controls/lib/vehicle_model.py +++ b/selfdrive/controls/lib/vehicle_model.py @@ -94,9 +94,9 @@ def yaw_rate(self, sa, u): if __name__ == '__main__': from selfdrive.car.honda.interface import CarInterface - # load car params - #CP = CarInterface.get_params("TOYOTA PRIUS 2017", {}) CP = CarInterface.get_params("HONDA CIVIC 2016 TOURING", {}) + #from selfdrive.car.hyundai.interface import CarInterface + #CP = CarInterface.get_params("HYUNDAI SANTA FE UNLIMITED 2019", {}) #print CP VM = VehicleModel(CP) #print VM.steady_state_sol(.1, 0.15) diff --git a/selfdrive/loggerd/loggerd b/selfdrive/loggerd/loggerd index cb58f18aa4636b..5b8722558660ba 100755 Binary files a/selfdrive/loggerd/loggerd and b/selfdrive/loggerd/loggerd differ diff --git a/selfdrive/manager.py b/selfdrive/manager.py index 2b3937c9028d13..71da977ff45b76 100755 --- a/selfdrive/manager.py +++ b/selfdrive/manager.py @@ -10,21 +10,7 @@ sys.path.append(os.path.join(BASEDIR, "pyextra")) os.environ['BASEDIR'] = BASEDIR -if __name__ == "__main__": - if os.path.isfile("/init.qcom.rc") \ - and (not os.path.isfile("/VERSION") or int(open("/VERSION").read()) < 6): - - # update continue.sh before updating NEOS - if os.path.isfile(os.path.join(BASEDIR, "scripts", "continue.sh")): - from shutil import copyfile - copyfile(os.path.join(BASEDIR, "scripts", "continue.sh"), "/data/data/com.termux/files/continue.sh") - - # run the updater - print("Starting NEOS updater") - subprocess.check_call(["git", "clean", "-xdf"], cwd=BASEDIR) - os.system(os.path.join(BASEDIR, "installer", "updater", "updater")) - raise Exception("NEOS outdated") - +def unblock_stdout(): # get a non-blocking stdout child_pid, child_pty = os.forkpty() if child_pid != 0: # parent @@ -54,6 +40,23 @@ os._exit(os.wait()[1]) +if __name__ == "__main__": + if os.path.isfile("/init.qcom.rc") \ + and (not os.path.isfile("/VERSION") or int(open("/VERSION").read()) < 6): + + # update continue.sh before updating NEOS + if os.path.isfile(os.path.join(BASEDIR, "scripts", "continue.sh")): + from shutil import copyfile + copyfile(os.path.join(BASEDIR, "scripts", "continue.sh"), "/data/data/com.termux/files/continue.sh") + + # run the updater + print("Starting NEOS updater") + subprocess.check_call(["git", "clean", "-xdf"], cwd=BASEDIR) + os.system(os.path.join(BASEDIR, "installer", "updater", "updater")) + raise Exception("NEOS outdated") + + unblock_stdout() + import glob import shutil import hashlib diff --git a/selfdrive/sensord/gpsd b/selfdrive/sensord/gpsd index 0fa7dac6834df9..077800d3b5629b 100755 Binary files a/selfdrive/sensord/gpsd and b/selfdrive/sensord/gpsd differ diff --git a/selfdrive/sensord/sensord b/selfdrive/sensord/sensord index 42d0228e2ca539..c5e8eab6c088ae 100755 Binary files a/selfdrive/sensord/sensord and b/selfdrive/sensord/sensord differ diff --git a/selfdrive/thermald.py b/selfdrive/thermald.py index 3c5b7b498f41e6..35b2fc88ce90e4 100755 --- a/selfdrive/thermald.py +++ b/selfdrive/thermald.py @@ -56,8 +56,16 @@ def set_eon_fan(val): if last_eon_fan_val is None or last_eon_fan_val != val: bus = SMBus(7, force=True) if LEON: - i = [0x1, 0x3 | 0, 0x3 | 0x08, 0x3 | 0x10][val] - bus.write_i2c_block_data(0x3d, 0, [i]) + try: + i = [0x1, 0x3 | 0, 0x3 | 0x08, 0x3 | 0x10][val] + bus.write_i2c_block_data(0x3d, 0, [i]) + except IOError: + # tusb320 + if val == 0: + bus.write_i2c_block_data(0x67, 0xa, [0]) + else: + bus.write_i2c_block_data(0x67, 0xa, [0x20]) + bus.write_i2c_block_data(0x67, 0x8, [(val-1)<<6]) else: bus.write_byte_data(0x21, 0x04, 0x2) bus.write_byte_data(0x21, 0x03, (val*2)+1) @@ -126,6 +134,9 @@ def update(self, started_ts, location): def thermald_thread(): setup_eon_fan() + # prevent LEECO from undervoltage + BATT_PERC_OFF = 10 if LEON else 3 + # now loop context = zmq.Context() thermal_sock = messaging.pub_sock(context, service_list['thermal'].port) @@ -160,6 +171,10 @@ def thermald_thread(): msg.thermal.batteryPercent = int(f.read()) with open("/sys/class/power_supply/battery/status") as f: msg.thermal.batteryStatus = f.read().strip() + with open("/sys/class/power_supply/battery/current_now") as f: + msg.thermal.batteryCurrent = int(f.read()) + with open("/sys/class/power_supply/battery/voltage_now") as f: + msg.thermal.batteryVoltage = int(f.read()) with open("/sys/class/power_supply/usb/online") as f: msg.thermal.usbOnline = bool(int(f.read())) @@ -243,7 +258,7 @@ def thermald_thread(): # shutdown if the battery gets lower than 3%, it's discharging, we aren't running for # more than a minute but we were running - if msg.thermal.batteryPercent < 3 and msg.thermal.batteryStatus == "Discharging" and \ + if msg.thermal.batteryPercent < BATT_PERC_OFF and msg.thermal.batteryStatus == "Discharging" and \ started_seen and (sec_since_boot() - off_ts) > 60: os.system('LD_LIBRARY_PATH="" svc power shutdown') diff --git a/selfdrive/ui/bbui.h b/selfdrive/ui/bbui.h index a011a97f36da36..ea78444e802a38 100644 --- a/selfdrive/ui/bbui.h +++ b/selfdrive/ui/bbui.h @@ -816,6 +816,7 @@ void bb_ui_draw_UI( UIState *s) { void bb_ui_init(UIState *s) { //BB INIT + s->b.shouldDrawFrame = true; s->status = STATUS_DISENGAGED; strcpy(s->b.car_model,"Tesla"); strcpy(s->b.car_folder,"tesla"); @@ -843,7 +844,7 @@ void bb_ui_init(UIState *s) { assert(s->b.uiButtonStatus_sock); s->b.uiButtonStatus_sock_raw = zsock_resolve(s->b.uiButtonStatus_sock); - s->b.gps_sock = zsock_new_pub(">tcp://127.0.0.1:8032"); + s->b.gps_sock = zsock_new_sub(">tcp://127.0.0.1:8032", ""); assert(s->b.gps_sock); s->b.gps_sock_raw = zsock_resolve(s->b.gps_sock); diff --git a/selfdrive/ui/bbuistate.h b/selfdrive/ui/bbuistate.h index 815665942a2bc6..eba2a40bc6e10f 100644 --- a/selfdrive/ui/bbuistate.h +++ b/selfdrive/ui/bbuistate.h @@ -5,6 +5,7 @@ typedef struct UICstmButton { } UICstmButton; typedef struct BBUIState { + bool shouldDrawFrame; UICstmButton btns[6]; char btns_status[6]; char car_model[40]; diff --git a/selfdrive/ui/ui.c b/selfdrive/ui/ui.c index 8816aeb95c2edf..ed8a05aeee013b 100644 --- a/selfdrive/ui/ui.c +++ b/selfdrive/ui/ui.c @@ -1127,6 +1127,14 @@ static void ui_draw_calibration_status(UIState *s) { } static void ui_draw_vision(UIState *s) { + //BB code added to only draw every other frame + if (!s->b.shouldDrawFrame) { + s->b.shouldDrawFrame = true; + //return; + } + s->b.shouldDrawFrame = false; + //BBEND + const UIScene *scene = &s->scene; int ui_viz_rx = scene->ui_viz_rx; int ui_viz_rw = scene->ui_viz_rw; @@ -1470,7 +1478,7 @@ static void ui_update(UIState *s) { s->scene.engaged = datad.enabled; s->scene.engageable = datad.engageable; s->scene.gps_planner_active = datad.gpsPlannerActive; - //s->scene.monitoring_active = datad.driverMonitoringOn; + s->scene.monitoring_active = datad.driverMonitoringOn; // printf("recv %f\n", datad.vEgo); s->scene.frontview = datad.rearViewCam; diff --git a/selfdrive/visiond/visiond b/selfdrive/visiond/visiond index 5f34afbcc8a309..ca148f01693c4c 100755 Binary files a/selfdrive/visiond/visiond and b/selfdrive/visiond/visiond differ