1394: 1,
1408: 8,
1440: 8,
1463: 8,
1470: 5,
1472: 8,
1488: 8,
1490: 8,
1500: 8,
1550: 2,
1650: 4,
1651: 3,
1652: 8,
1691: 2,
1736: 2,
1757: 3,
1824: 7,
1845: 7,
2000: 8
},
],
}
MQB_CARS = [CAR.GENERICMQB]
PQ_CARS = [CAR.GENERICPQ]
DBC = {
CAR.GENERICMQB: dbc_dict('vw_mqb_2010', None),
CAR.GENERICPQ: dbc_dict('vw_golf_mk4', None),
}
b'36161-TX6-A030\x00\x00',
],
(Ecu.srs, 0x18da53f1, None): [
b'77959-TX6-A230\x00\x00',
b'77959-TX6-C210\x00\x00',
],
(Ecu.combinationMeter, 0x18da60f1, None): [
b'78109-T3R-A120\x00\x00',
b'78109-T3R-A410\x00\x00',
b'78109-TV9-A510\x00\x00',
],
},
}
DBC = {
CAR.ACCORD: dbc_dict('honda_accord_s2t_2018_can_generated', None),
CAR.ACCORD_15: dbc_dict('honda_accord_lx15t_2018_can_generated', None),
CAR.ACCORDH: dbc_dict('honda_accord_s2t_2018_can_generated', None),
CAR.ACURA_ILX: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.ACURA_RDX: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
CAR.ACURA_RDX_3G: dbc_dict('acura_rdx_2020_can_generated', None),
CAR.CIVIC: dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.CIVIC_BOSCH: dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
CAR.CIVIC_BOSCH_DIESEL: dbc_dict('honda_civic_sedan_16_diesel_2019_can_generated', None),
CAR.CRV: dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
CAR.CRV_EU: dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.CRV_HYBRID: dbc_dict('honda_crv_hybrid_2019_can_generated', None),
CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
CAR.HRV: dbc_dict('honda_hrv_touring_2019_can_generated', 'acura_ilx_2016_nidec'),
CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
# these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
"use_fca": [
CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER,
CAR.IONIQ, CAR.KONA, CAR.KONA_EV, CAR.KIA_FORTE, CAR.PALISADE
],
"use_bsm": [
CAR.SONATA, CAR.PALISADE, CAR.HYUNDAI_GENESIS, CAR.GENESIS_G80,
CAR.GENESIS_G90
],
}
EV_HYBRID = [CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV]
DBC = {
CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None),
CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None),
CAR.GENESIS_G90: dbc_dict('hyundai_kia_generic', None),
CAR.HYUNDAI_GENESIS: dbc_dict('hyundai_kia_generic', None),
CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', None),
CAR.IONIQ: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_FORTE: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_OPTIMA: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None),
CAR.KONA: dbc_dict('hyundai_kia_generic', None),
CAR.KONA_EV: dbc_dict('hyundai_kia_generic', None),
CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', None),
CAR.SONATA: dbc_dict('hyundai_kia_generic', None),
8, 489: 5, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 3, 568: 2, 647: 6, 707: 8, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4,
961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1003:
5, 1009: 8, 1011: 6, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1,
1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1928: 7
}],
CAR.ACADIA: [
# Acadia Denali w/ /ACC 2018
{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 338: 6, 340: 6, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
}],
}
STEER_THRESHOLD = 1.0
class ECU:
CAM = 0
ECU_FINGERPRINT = {
ECU.CAM: [384, 715] # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
}
DBC = {
CAR.HOLDEN_ASTRA: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.VOLT: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.MALIBU: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.ACADIA: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.CADILLAC_ATS: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.BUICK_REGAL: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.CADILLAC_CT6: dbc_dict('cadillac_ct6_powertrain', 'cadillac_ct6_object', chassis_dbc='cadillac_ct6_chassis'),
}
{
36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 400: 6, 426: 6, 452: 8, 464: 8, 466: 8, 467: 5, 544: 4, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 800: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1009: 8, 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, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1590: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1648: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
},
# IS300H 2017
{
36: 8, 37: 8, 170: 8, 180: 8, 295: 8, 296: 8, 400: 6, 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, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 7, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1009: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
}],
CAR.LEXUS_CTH: [{
36: 8, 37: 8, 170: 8, 180: 8, 288: 8, 426: 6, 452: 8, 466: 8, 467: 8, 548: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 810: 2, 832: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 1, 921: 8, 933: 8, 944: 6, 945: 8, 950: 8, 951: 8, 953: 3, 955: 4, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1057: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1116: 8, 1160: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 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, 1227: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1558: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
}]
}
STEER_THRESHOLD = 100
DBC = {
CAR.RAV4H: dbc_dict('toyota_rav4_hybrid_2017_pt_generated', 'toyota_adas'),
CAR.RAV4: dbc_dict('toyota_rav4_2017_pt_generated', 'toyota_adas'),
CAR.PRIUS: dbc_dict('toyota_prius_2017_pt_generated', 'toyota_adas'),
CAR.COROLLA: dbc_dict('toyota_corolla_2017_pt_generated', 'toyota_adas'),
CAR.LEXUS_RXH: dbc_dict('lexus_rx_hybrid_2017_pt_generated', 'toyota_adas'),
CAR.CHR: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
CAR.CHRH: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_adas'),
CAR.CAMRY: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
CAR.CAMRYH: dbc_dict('toyota_camry_hybrid_2018_pt_generated', 'toyota_adas'),
CAR.HIGHLANDER: dbc_dict('toyota_highlander_2017_pt_generated', 'toyota_adas'),
CAR.HIGHLANDERH: dbc_dict('toyota_highlander_hybrid_2018_pt_generated', 'toyota_adas'),
CAR.AVALON: dbc_dict('toyota_avalon_2017_pt_generated', 'toyota_adas'),
CAR.RAV4_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.COROLLAH_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
},
# Based on "8190c7275a24557b|2020-02-24--09-57-23"
{
168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 656: 4, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2015: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8
}
],
CAR.JEEP_CHEROKEE: [
# JEEP GRAND CHEROKEE V6 2018
{55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
# Jeep Grand Cherokee 2017 Trailhawk
{257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 658: 6, 660: 8, 671: 8, 672: 8, 680: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 752: 2, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 783: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
],
CAR.JEEP_CHEROKEE_2019: [
# Jeep Grand Cherokee 2019, including most 2020 models
{55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8},
],
}
DBC = {
CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2018: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
}
STEER_THRESHOLD = 120
1930: 7
}
],
}
STEER_THRESHOLD = 1.0
ECU_FINGERPRINT = {
Ecu.fwdCamera: [384,
715] # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
}
DBC = {
CAR.HOLDEN_ASTRA:
dbc_dict('gm_global_a_powertrain',
'gm_global_a_object',
chassis_dbc='gm_global_a_chassis'),
CAR.VOLT:
dbc_dict('gm_global_a_powertrain',
'gm_global_a_object',
chassis_dbc='gm_global_a_chassis'),
CAR.BOLT:
dbc_dict('gm_global_a_powertrain',
'gm_global_a_object',
chassis_dbc='gm_global_a_chassis'),
CAR.MALIBU:
dbc_dict('gm_global_a_powertrain',
'gm_global_a_object',
chassis_dbc='gm_global_a_chassis'),
CAR.ACADIA:
dbc_dict('gm_global_a_powertrain',
class CarControllerParams:
ANGLE_DELTA_BP = [0., 5., 15.]
ANGLE_DELTA_V = [5., .8, .15] # windup limit
ANGLE_DELTA_VU = [5., 3.5, 0.4] # unwind limit
LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower
STEER_THRESHOLD = 1.0
class CAR:
BODY = "COMMA BODY"
CAR_INFO: Dict[str, CarInfo] = {
CAR.BODY: CarInfo("comma body", package="All"),
}
FW_VERSIONS = {
CAR.BODY: {
(Ecu.engine, 0x720, None): [b'0.0.01', b'02/27/2022'],
(Ecu.debug, 0x721, None): [
b'166bd860' # git hash of the firmware used
],
},
}
DBC = {
CAR.BODY: dbc_dict('comma_body', None),
}
STEER_DRIVER_ALLOWANCE = 80
STEER_DRIVER_MULTIPLIER = 3 # weight driver torque heavily
STEER_DRIVER_FACTOR = 1 # from dbc
class CANBUS:
pt = 0
cam = 2
class DBC_FILES:
mqb = "vw_mqb_2010" # Used for all cars with MQB-style CAN messaging
DBC = defaultdict(
lambda: dbc_dict(DBC_FILES.mqb, None)) # type: Dict[str, Dict[str, str]]
BUTTON_STATES = {
"accelCruise": False,
"decelCruise": False,
"cancel": False,
"setCruise": False,
"resumeCruise": False,
"gapAdjustCruise": False
}
MQB_LDW_MESSAGES = {
"none": 0, # Nothing to display
"laneAssistUnavailChime":
1, # "Lane Assist currently not available." with chime
"laneAssistUnavailNoSensorChime":
(Ecu.srs, 0x715, None): [
b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\022111200111121001121118112231292221111',
b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100',
b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\022111200111121001121110012211292221111',
],
(Ecu.eps, 0x712, None): [
b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ070303',
b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\00563UZ060700',
b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203',
],
(Ecu.fwdRadar, 0x757, None): [
b'\xf1\x873Q0907572B \xf1\x890194',
b'\xf1\x873Q0907572C \xf1\x890195',
b'\xf1\x873Q0907572B \xf1\x890192',
],
},
}
DBC = {
CAR.ATLAS_MK1: dbc_dict('vw_mqb_2010', None),
CAR.GOLF_MK7: dbc_dict('vw_mqb_2010', None),
CAR.JETTA_MK7: dbc_dict('vw_mqb_2010', None),
CAR.PASSAT_MK8: dbc_dict('vw_mqb_2010', None),
CAR.TIGUAN_MK2: dbc_dict('vw_mqb_2010', None),
CAR.AUDI_A3_MK3: dbc_dict('vw_mqb_2010', None),
CAR.SEAT_ATECA_MK1: dbc_dict('vw_mqb_2010', None),
CAR.SKODA_KODIAQ_MK1: dbc_dict('vw_mqb_2010', None),
CAR.SKODA_SCALA_MK1: dbc_dict('vw_mqb_2010', None),
CAR.SKODA_SUPERB_MK3: dbc_dict('vw_mqb_2010', None),
}
},
CAR.HONDA_E: {
(Ecu.eps, 0x18DA30F1, None): [b'39990-TYF-N030\x00\x00'],
(Ecu.gateway, 0x18DAEFF1, None): [b'38897-TYF-E140\x00\x00'],
(Ecu.shiftByWire, 0x18DA0BF1, None): [b'54008-TYF-E010\x00\x00'],
(Ecu.srs, 0x18DA53F1, None): [b'77959-TYF-G430\x00\x00'],
(Ecu.combinationMeter, 0x18DA60F1, None): [b'78108-TYF-G610\x00\x00'],
(Ecu.fwdRadar, 0x18DAB0F1, None): [b'36802-TYF-E030\x00\x00'],
(Ecu.fwdCamera, 0x18DAB5F1, None): [b'36161-TYF-E020\x00\x00'],
(Ecu.vsa, 0x18DA28F1, None): [b'57114-TYF-E030\x00\x00'],
},
}
DBC = {
CAR.ACCORD:
dbc_dict('honda_accord_2018_can_generated', None),
CAR.ACCORDH:
dbc_dict('honda_accord_2018_can_generated', None),
CAR.ACURA_ILX:
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.ACURA_RDX:
dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
CAR.ACURA_RDX_3G:
dbc_dict('acura_rdx_2020_can_generated', None),
CAR.CIVIC:
dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.CIVIC_BOSCH:
dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
CAR.CIVIC_BOSCH_DIESEL:
dbc_dict('honda_civic_sedan_16_diesel_2019_can_generated', None),
CAR.CRV:
}],
# 2017 Pilot Touring AND 2016 Pilot EX-L w/ Added Comma Pedal Support (512L & 513L)
CAR.PILOT: [{
57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 334: 8, 339: 7, 342: 6, 344: 8, 379: 8, 380: 8, 392: 6, 399: 7, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 507: 1, 512: 6, 513: 6, 538: 3, 542: 7, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 837: 5, 856: 7, 871: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1108: 8, 1125: 8, 1296: 8, 1424: 5, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1616: 5, 1618: 5, 1668: 5
}],
CAR.PILOT_2019: [{
57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 334: 8, 342: 6, 344: 8, 379: 8, 380: 8, 392: 6, 399: 7, 411: 5, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 538: 3, 542: 7, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 871: 8, 881: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1039: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1424: 5, 1445: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1615: 8, 1616: 5, 1617: 8, 1618: 5, 1623: 5, 1668: 5
}],
# Ridgeline w/ Added Comma Pedal Support (512L & 513L)
CAR.RIDGELINE: [{
57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 339: 7, 342: 6, 344: 8, 380: 8, 392: 6, 399: 7, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 464: 8, 471: 3, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 871: 8, 882: 2, 884: 7, 892: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1108: 8, 1125: 8, 1296: 8, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1613: 5, 1616: 5, 1618: 5, 1668: 5, 2015: 3
}]
}
DBC = {
CAR.ACCORD: dbc_dict('honda_accord_s2t_2018_can_generated', None),
CAR.ACCORD_15: dbc_dict('honda_accord_lx15t_2018_can_generated', None),
CAR.ACCORDH: dbc_dict('honda_accord_s2t_2018_can_generated', None),
CAR.ACURA_ILX: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.ACURA_RDX: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
CAR.CIVIC: dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.CIVIC_HATCH: dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
CAR.CRV: dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None),
CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
CAR.PILOT: dbc_dict('honda_pilot_touring_2017_can_generated', 'acura_ilx_2016_nidec'),
CAR.PILOT_2019: dbc_dict('honda_pilot_touring_2017_can_generated', 'acura_ilx_2016_nidec'),
CAR.RIDGELINE: dbc_dict('honda_ridgeline_black_edition_2017_can_generated', 'acura_ilx_2016_nidec'),
}
STEER_THRESHOLD = {
1026: 8,
1031: 8,
1033: 8,
1050: 8,
1059: 8,
1062: 8,
1098: 8,
1100: 8
},
],
}
DBC = {
CAR.PACIFICA_2017_HYBRID:
dbc_dict(
'chrysler_pacifica_2017_hybrid', # 'pt'
'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar'
CAR.PACIFICA_2018:
dbc_dict( # Same DBC file works.
'chrysler_pacifica_2017_hybrid', # 'pt'
'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar'
CAR.PACIFICA_2018_HYBRID:
dbc_dict( # Same DBC file works.
'chrysler_pacifica_2017_hybrid', # 'pt'
'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar'
CAR.PACIFICA_2019_HYBRID:
dbc_dict( # Same DBC file works.
'chrysler_pacifica_2017_hybrid', # 'pt'
'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar'
CAR.JEEP_CHEROKEE:
dbc_dict( # Same DBC file works.
2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 392: 8, 604: 8, 640: 8, 642: 8, 644: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 977: 8, 1632: 8, 1745: 8, 1786: 5
},
#LEGACY 2.5i 2017
{
2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 392: 8, 604: 8, 640: 8, 642: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 977: 8, 1632: 8, 1640: 8, 1736: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8
},
#LEGACY 2018
{
2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 316: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 392: 8, 604: 8, 640: 8, 642: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 977: 8, 1614: 8, 1632: 8, 1640: 8, 1657: 8, 1658: 8, 1672: 8, 1722: 8, 1743: 8, 1745: 8, 1778: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 2015: 8, 2016: 8, 2024: 8
}],
}
STEER_THRESHOLD = {
CAR.IMPREZA: 80,
CAR.OUTBACK: 300,
CAR.LEGACY: 300,
}
class ECU:
CAM = 0
ECU_FINGERPRINT = {
ECU.CAM: [290, 356], # steer torque cmd
}
DBC = {
CAR.IMPREZA: dbc_dict('subaru_global_2017', None),
CAR.OUTBACK: dbc_dict('subaru_outback_2015_eyesight', None),
CAR.LEGACY: dbc_dict('subaru_outback_2015_eyesight', None),
}
CAR.STINGER: False,
}
# True == Forward Messages FROM LKAS Camers which are not generated by OP for steering
# False == Generate ALL messages by OP
LKAS_FORWARD = {
CAR.ELANTRA: True,
CAR.GENESIS: True,
CAR.SORENTO: True,
CAR.STINGER: True,
}
# LKAS 12 Message
# 0 = No Message
# 1 = Forward from Factory Camera
# 2 = 0x00 0x00 0x00 0x00 0x20 0x00 <-- Sorento
# 3 = 0x00 0x00 0x00 0x00 0x80 0x05 <-- Stinger
LKAS_12 = {
CAR.ELANTRA: 1,
CAR.GENESIS: 1,
CAR.SORENTO: 1,
CAR.STINGER: 1,
}
DBC = {
CAR.ELANTRA: dbc_dict('kia_sorento_2018', None),
CAR.GENESIS: dbc_dict('kia_sorento_2018', None),
CAR.SORENTO: dbc_dict('kia_sorento_2018', None),
CAR.STINGER: dbc_dict('kia_sorento_2018', None),
}
2024: 8
}
],
}
STEER_THRESHOLD = 1.0
ECU_FINGERPRINT = {
Ecu.fwdCamera: [384,
715] # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
}
DBC = {
CAR.HOLDEN_ASTRA:
dbc_dict('gm_global_a_powertrain',
'gm_global_a_object',
chassis_dbc='gm_global_a_chassis'),
CAR.VOLT:
dbc_dict('gm_global_a_powertrain',
'gm_global_a_object',
chassis_dbc='gm_global_a_chassis'),
CAR.MALIBU:
dbc_dict('gm_global_a_powertrain',
'gm_global_a_object',
chassis_dbc='gm_global_a_chassis'),
CAR.IMPALA:
dbc_dict('gm_global_a_powertrain',
'gm_global_a_object',
chassis_dbc='gm_global_a_chassis'),
CAR.ACADIA:
dbc_dict('gm_global_a_powertrain',
1892: 8,
1894: 8,
1896: 8,
1904: 8,
2015: 8,
2016: 8,
2017: 8,
2024: 8,
2025: 8
},
],
}
DBC = {
CAR.PACIFICA_2017_HYBRID:
dbc_dict('chrysler_pacifica_2017_hybrid',
'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2018:
dbc_dict('chrysler_pacifica_2017_hybrid',
'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2020:
dbc_dict('chrysler_pacifica_2017_hybrid',
'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2018_HYBRID:
dbc_dict('chrysler_pacifica_2017_hybrid',
'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2019_HYBRID:
dbc_dict('chrysler_pacifica_2017_hybrid',
'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.JEEP_CHEROKEE:
dbc_dict('chrysler_pacifica_2017_hybrid',
'chrysler_pacifica_2017_hybrid_private_fusion'),
}],
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, 1342: 6, 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),
}
1912: 8,
1940: 8,
1941: 8,
1948: 8,
1949: 8,
1952: 8,
1956: 8,
1960: 8,
1964: 8,
1986: 8,
1990: 8,
1994: 8,
1998: 8,
2004: 8,
2012: 8
}],
}
DBC = {
CAR.RAV4H:
dbc_dict('toyota_rav4_hybrid_2017_pt_generated', 'toyota_prius_2017_adas'),
CAR.RAV4:
dbc_dict('toyota_rav4_2017_pt_generated', 'toyota_prius_2017_adas'),
CAR.PRIUS:
dbc_dict('toyota_prius_2017_pt_generated', 'toyota_prius_2017_adas'),
CAR.COROLLA:
dbc_dict('toyota_corolla_2017_pt_generated', 'toyota_prius_2017_adas'),
CAR.LEXUS_RXH:
dbc_dict('lexus_rx_hybrid_2017_pt_generated', 'toyota_prius_2017_adas'),
}
CAR.SOUL8: [{1088: 8, 544: 8, 357: 8, 809: 8, 1200: 8, 880: 8, 115: 8, 790: 8, 185: 8, 688: 8
}], #at the same of turn on all system for CAN
CAR.SOUL9: [{1088: 8, 880: 8, 131: 8, 357: 8, 809: 8, 1200: 8, 688: 8, 115: 8, 147: 8, 790: 8, 544: 8
}], # car at the on same time try 2
CAR.SOUL10: [{115: 8, 185: 8, 147: 8, 131: 8
}], #controlsd short list
CAR.SOUL11: [{544: 8, 115: 8, 147: 8
}], #car not on just turn oscc kit on
CAR.DUMMY: [{
57: 3, 145: 8, 228: 5, 304: 8, 316: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 7, 419: 8, 420: 8, 422: 8, 428: 8, 432: 7, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 882: 2, 884: 7, 887: 8, 888: 8, 892: 8, 923: 2, 929: 4, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1030: 5, 1034: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1365: 5,
}],
}
DBC = {
CAR.SOUL: dbc_dict('kia_soul_2016', 'acura_ilx_2016_nidec'), # 2018.09.03 DV change to generator.py dbc
CAR.SOUL1: dbc_dict('kia_soul_2016', 'acura_ilx_2016_nidec'), # 2018.09.03 DV change to generator.py dbc
CAR.SOUL2: dbc_dict('kia_soul_2016', 'acura_ilx_2016_nidec'), # 2018.09.03 DV change to generator.py dbc
CAR.SOUL3: dbc_dict('kia_soul_2016', 'acura_ilx_2016_nidec'), # 2018.09.03 DV change to generator.py dbc
CAR.SOUL4: dbc_dict('kia_soul_2016', 'acura_ilx_2016_nidec'), # 2018.09.03 DV change to generator.py dbc
CAR.SOUL5: dbc_dict('kia_soul_2016', 'acura_ilx_2016_nidec'), # 2018.09.03 DV change to generator.py dbc
CAR.SOUL6: dbc_dict('kia_soul_2016', 'acura_ilx_2016_nidec'), # 2018.09.03 DV change to generator.py dbc
CAR.SOUL7: dbc_dict('kia_soul_2016', 'acura_ilx_2016_nidec'), # 2018.09.03 DV change to generator.py dbc
CAR.SOUL8: dbc_dict('kia_soul_2016', 'acura_ilx_2016_nidec'), # 2018.09.03 DV change to generator.py dbc
CAR.SOUL9: dbc_dict('kia_soul_2016', 'acura_ilx_2016_nidec'), # 2018.09.03 DV change to generator.py dbc
CAR.SOUL10: dbc_dict('kia_soul_2016', 'acura_ilx_2016_nidec'), # 2018.09.03 DV change to generator.py dbc
CAR.SOUL11: dbc_dict('kia_soul_2016', 'acura_ilx_2016_nidec'), # 2018.09.03 DV change to generator.py dbc
}
STEER_THRESHOLD = {
1033: 7,
1034: 7,
1217: 8,
1221: 5,
1233: 8,
1249: 8,
1259: 8,
1261: 7,
1263: 4,
1265: 8,
1267: 1,
1271: 8,
1280: 4,
1296: 4,
1300: 8,
1930: 7
}],
}
DBC: Dict[str, Dict[str, str]] = defaultdict(
lambda: dbc_dict('gm_global_a_powertrain_generated',
'gm_global_a_object',
chassis_dbc='gm_global_a_chassis'))
EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO}
STEER_THRESHOLD = 1.0
1104: 4,
1105: 6,
1107: 4,
1108: 8,
1110: 7,
1111: 7,
1227: 8,
1228: 8,
1247: 4,
1266: 8,
1273: 7,
1342: 1,
1376: 6,
1401: 8,
1474: 2,
1497: 3,
1534: 7,
1821: 8,
1823: 8,
1837: 8,
1839: 8
},
]
}
DBC = {
CAR.XTRAIL: dbc_dict('nissan_x_trail_2017', None),
CAR.LEAF: dbc_dict('nissan_leaf_2018', None),
CAR.ROGUE: dbc_dict('nissan_x_trail_2017', None),
}
{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8,
}],
CAR.ACADIA: [
# Acadia Denali w/ /ACC 2018
{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 338: 6, 340: 6, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
}],
CAR.ESCALADE: [
{
170: 8, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 1, 290: 1, 298: 8, 300: 1, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 328: 1, 352: 5, 368: 8, 369: 8, 381: 5, 384: 4, 386: 5, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 512: 3, 530: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 789: 5, 800: 6, 801: 5, 803: 8, 804: 3, 805: 8, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1603: 7, 1611: 8, 1618: 8, 1906: 7, 1907: 7, 1912: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2018: 8, 2019: 8, 2024: 8, 2026: 8
}],
}
STEER_THRESHOLD = 1.0
ECU_FINGERPRINT = {
Ecu.fwdCamera: [384, 715] # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
}
DBC = {
CAR.HOLDEN_ASTRA: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.VOLT: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.MALIBU: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.ACADIA: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.CADILLAC_ATS: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.BUICK_REGAL: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.BOLT: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.ESCALADE: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
}
STEER_DRIVER_ALLOWANCE = 80
STEER_DRIVER_MULTIPLIER = 3 # weight driver torque heavily
STEER_DRIVER_FACTOR = 1 # from dbc
class CANBUS:
pt = 0
cam = 2
class DBC_FILES:
mqb = "vw_mqb_2010" # Used for all cars with MQB-style CAN messaging
DBC: Dict[str, Dict[str,
str]] = defaultdict(lambda: dbc_dict(DBC_FILES.mqb, None))
BUTTON_STATES = {
"accelCruise": False,
"decelCruise": False,
"cancel": False,
"setCruise": False,
"resumeCruise": False,
"gapAdjustCruise": False
}
MQB_LDW_MESSAGES = {
"none": 0, # Nothing to display
"laneAssistUnavailChime":
1, # "Lane Assist currently not available." with chime
"laneAssistUnavailNoSensorChime":
1656: 8,
1728: 8,
1745: 8,
1779: 8,
1904: 8,
1912: 8,
1990: 8,
1998: 8
}],
}
STEER_THRESHOLD = 100
DBC = {
CAR.RAV4H:
dbc_dict('toyota_rav4_hybrid_2017_pt_generated', 'toyota_prius_2017_adas'),
CAR.RAV4:
dbc_dict('toyota_rav4_2017_pt_generated', 'toyota_prius_2017_adas'),
CAR.PRIUS:
dbc_dict('toyota_prius_2017_pt_generated', 'toyota_prius_2017_adas'),
CAR.COROLLA:
dbc_dict('toyota_corolla_2017_pt_generated', 'toyota_prius_2017_adas'),
CAR.LEXUS_RXH:
dbc_dict('lexus_rx_hybrid_2017_pt_generated', 'toyota_prius_2017_adas'),
CAR.CHR:
dbc_dict('toyota_chr_2018_pt_generated', 'toyota_prius_2017_adas'),
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:
b'\xe2"`p\x07',
b'\xf1\x82\xe2,\xa0@\x07',
b'\xbc"`q\x07',
],
(Ecu.transmission, 0x7e1, None): [
b'\xa5\xfe\xf7@\x00',
b'\xa5\xf6D@\x00',
b'\xa5\xfe\xf6@\x00',
b'\xa7\x8e\xf40\x00',
b'\xf1\x82\xa7\xf6D@\x00',
b'\xa7\xfe\xf4@\x00',
],
},
}
DBC = {
CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None),
CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None),
CAR.IMPREZA_2020: dbc_dict('subaru_global_2017_generated', None),
CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None),
CAR.OUTBACK: dbc_dict('subaru_global_2017_generated', None),
CAR.LEGACY: dbc_dict('subaru_global_2017_generated', None),
CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None),
CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
CAR.OUTBACK_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None),
}
GLOBAL_GEN2 = (CAR.OUTBACK, CAR.LEGACY)
PREGLOBAL_CARS = (CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018)
1632: 8,
1650: 8,
1657: 8,
1658: 8,
1677: 8,
1697: 8,
1759: 8,
1786: 5,
1787: 5,
1788: 8
}
],
}
STEER_THRESHOLD = {
CAR.IMPREZA: 80,
}
class ECU:
CAM = 0
ECU_FINGERPRINT = {
ECU.CAM: [290, 356], # steer torque cmd
}
DBC = {
CAR.IMPREZA: dbc_dict('subaru_global_2017', None),
}
CAR.KIA_NIRO_EV, CAR.KONA_EV, CAR.KONA, CAR.KONA_HEV, CAR.IONIQ_HEV,
CAR.IONIQ_EV_LTD
]),
"allow_high_steer":
set([CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KIA_NIRO_EV]),
}
ELEC_VEH = set([CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV])
HYBRID_VEH = set([
CAR.KIA_OPTIMA_HEV, CAR.SONATA_HEV_2019, CAR.SONATA_HEV, CAR.IONIQ_HEV,
CAR.KIA_CADENZA_HEV, CAR.GRANDEUR_HEV, CAR.KIA_NIRO_HEV, CAR.KONA_HEV
])
DBC = {
CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None),
CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None),
CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None),
CAR.GENESIS_G90: dbc_dict('hyundai_kia_generic', None),
CAR.HYUNDAI_GENESIS: dbc_dict('hyundai_kia_generic', None),
CAR.IONIQ_HEV: dbc_dict('hyundai_kia_generic_hybrid', None),
CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', None),
CAR.KONA: dbc_dict('hyundai_kia_generic', None),
CAR.KONA_EV: dbc_dict('hyundai_kia_generic', None),
CAR.KONA_HEV: dbc_dict('hyundai_kia_generic_hybrid', None),
CAR.SANTA_FE_2017: dbc_dict('hyundai_kia_generic', None),
CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', None),
CAR.SONATA: dbc_dict('hyundai_kia_generic', None),
CAR.SONATA_HEV: dbc_dict('hyundai_kia_generic_hybrid', None),
CAR.SONATA_2019: dbc_dict('hyundai_kia_generic', None),
1125: 8,
1296: 8,
1365: 5,
424: 5,
1613: 5,
1616: 5,
1618: 5,
1623: 5,
1668: 5
}
]
}
DBC = {
CAR.ACCORD:
dbc_dict('honda_accord_s2t_2018_can_generated', None),
CAR.ACCORD_15:
dbc_dict('honda_accord_lx15t_2018_can_generated', None),
CAR.ACCORDH:
dbc_dict('honda_accord_s2t_2018_can_generated', None),
CAR.ACURA_ILX:
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.ACURA_RDX:
dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
CAR.CIVIC:
dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.CIVIC_BOSCH:
dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
CAR.CRV:
dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.CRV_5G:
# flake8: noqa
from selfdrive.car import dbc_dict
from cereal import car
Ecu = car.CarParams.Ecu
MAX_ANGLE = 87. # make sure we never command the extremes (0xfff) which cause latching fault
class CAR:
FUSION = "FORD FUSION 2018"
DBC = {
CAR.FUSION: dbc_dict('ford_fusion_2018_pt', 'ford_fusion_2018_adas'),
}
