def get_cam_can_parser(CP):
if CP.carFingerprint in PREGLOBAL_CARS:
signals = [
("Cruise_Set_Speed", "ES_DashStatus", 0),
("Not_Ready_Startup", "ES_DashStatus", 0),
("Throttle_Cruise", "ES_CruiseThrottle", 0),
("Signal1", "ES_CruiseThrottle", 0),
("Cruise_Activated", "ES_CruiseThrottle", 0),
("Signal2", "ES_CruiseThrottle", 0),
("Brake_On", "ES_CruiseThrottle", 0),
("DistanceSwap", "ES_CruiseThrottle", 0),
("Standstill", "ES_CruiseThrottle", 0),
("Signal3", "ES_CruiseThrottle", 0),
("CloseDistance", "ES_CruiseThrottle", 0),
("Signal4", "ES_CruiseThrottle", 0),
("Standstill_2", "ES_CruiseThrottle", 0),
("ES_Error", "ES_CruiseThrottle", 0),
("Signal5", "ES_CruiseThrottle", 0),
("Counter", "ES_CruiseThrottle", 0),
("Signal6", "ES_CruiseThrottle", 0),
("Button", "ES_CruiseThrottle", 0),
("Signal7", "ES_CruiseThrottle", 0),
]
checks = [
("ES_DashStatus", 20),
("ES_CruiseThrottle", 20),
]
else:
signals = [
("Cruise_Set_Speed", "ES_DashStatus", 0),
("Conventional_Cruise", "ES_DashStatus", 0),
("Counter", "ES_Distance", 0),
("Signal1", "ES_Distance", 0),
("Cruise_Fault", "ES_Distance", 0),
("Cruise_Throttle", "ES_Distance", 0),
("Signal2", "ES_Distance", 0),
("Car_Follow", "ES_Distance", 0),
("Signal3", "ES_Distance", 0),
("Cruise_Brake_Active", "ES_Distance", 0),
("Distance_Swap", "ES_Distance", 0),
("Cruise_EPB", "ES_Distance", 0),
("Signal4", "ES_Distance", 0),
("Close_Distance", "ES_Distance", 0),
("Signal5", "ES_Distance", 0),
("Cruise_Cancel", "ES_Distance", 0),
("Cruise_Set", "ES_Distance", 0),
("Cruise_Resume", "ES_Distance", 0),
("Signal6", "ES_Distance", 0),
("Counter", "ES_LKAS_State", 0),
("Keep_Hands_On_Wheel", "ES_LKAS_State", 0),
("Empty_Box", "ES_LKAS_State", 0),
("Signal1", "ES_LKAS_State", 0),
("LKAS_ACTIVE", "ES_LKAS_State", 0),
("Signal2", "ES_LKAS_State", 0),
("Backward_Speed_Limit_Menu", "ES_LKAS_State", 0),
("LKAS_ENABLE_3", "ES_LKAS_State", 0),
("LKAS_Left_Line_Light_Blink", "ES_LKAS_State", 0),
("LKAS_ENABLE_2", "ES_LKAS_State", 0),
("LKAS_Right_Line_Light_Blink", "ES_LKAS_State", 0),
("LKAS_Left_Line_Visible", "ES_LKAS_State", 0),
("LKAS_Left_Line_Green", "ES_LKAS_State", 0),
("LKAS_Right_Line_Visible", "ES_LKAS_State", 0),
("LKAS_Right_Line_Green", "ES_LKAS_State", 0),
("LKAS_Alert", "ES_LKAS_State", 0),
("Signal3", "ES_LKAS_State", 0),
]
checks = [
("ES_DashStatus", 10),
("ES_Distance", 20),
("ES_LKAS_State", 10),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
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_DrvDrSw", "CGW1", 0), # Driver Door
("CF_Gway_AstDrSw", "CGW1", 0), # Passenger door
("CF_Gway_RLDrSw", "CGW2", 0), # Rear reft door
("CF_Gway_RRDrSw", "CGW2", 0), # Rear right door
("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),
("CYL_PRES", "ESP12", 0),
("AVH_STAT", "ESP11", 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),
("ACCEnable", "TCS13", 0),
("BrakeLight", "TCS13", 0),
("DriverBraking", "TCS13", 0),
("DriverOverride", "TCS13", 0),
("PBRAKE_ACT", "TCS13", 0),
("CF_VSM_Avail", "TCS13", 0),
("ESC_Off_Step", "TCS15", 0),
("AVH_LAMP", "TCS15", 0),
("CF_Lvr_CruiseSet", "LVR12", 0),
("CRUISE_LAMP_M", "EMS16", 0),
("CR_FCA_Alive", "FCA11", 0),
("Supplemental_Counter", "FCA11", 0),
("MainMode_ACC", "SCC11", 0),
("SCCInfoDisplay", "SCC11", 0),
("AliveCounterACC", "SCC11", 0),
("VSetDis", "SCC11", 0),
("ObjValid", "SCC11", 0),
("DriverAlertDisplay", "SCC11", 0),
("TauGapSet", "SCC11", 4),
("ACC_ObjStatus", "SCC11", 0),
("ACC_ObjLatPos", "SCC11", 0),
("ACC_ObjDist", "SCC11", 150), #TK211X value is 204.6
("ACC_ObjRelSpd", "SCC11", 0),
("Navi_SCC_Curve_Status", "SCC11", 0),
("Navi_SCC_Curve_Act", "SCC11", 0),
("Navi_SCC_Camera_Act", "SCC11", 0),
("Navi_SCC_Camera_Status", "SCC11", 2),
("ACCMode", "SCC12", 0),
("CF_VSM_Prefill", "SCC12", 0),
("CF_VSM_DecCmdAct", "SCC12", 0),
("CF_VSM_HBACmd", "SCC12", 0),
("CF_VSM_Warn", "SCC12", 0),
("CF_VSM_Stat", "SCC12", 0),
("CF_VSM_BeltCmd", "SCC12", 0),
("ACCFailInfo", "SCC12", 0),
("StopReq", "SCC12", 0),
("CR_VSM_DecCmd", "SCC12", 0),
("aReqRaw", "SCC12", 0), #aReqMax
("TakeOverReq", "SCC12", 0),
("PreFill", "SCC12", 0),
("aReqValue", "SCC12", 0), #aReqMin
("CF_VSM_ConfMode", "SCC12", 1),
("AEB_Failinfo", "SCC12", 0),
("AEB_Status", "SCC12", 2),
("AEB_CmdAct", "SCC12", 0),
("AEB_StopReq", "SCC12", 0),
("CR_VSM_Alive", "SCC12", 0),
("CR_VSM_ChkSum", "SCC12", 0),
("SCCDrvModeRValue", "SCC13", 2),
("SCC_Equip", "SCC13", 1),
("AebDrvSetStatus", "SCC13", 0),
("JerkUpperLimit", "SCC14", 0),
("JerkLowerLimit", "SCC14", 0),
("SCCMode2", "SCC14", 0),
("ComfortBandUpper", "SCC14", 0),
("ComfortBandLower", "SCC14", 0),
("UNIT", "TPMS11", 0),
("PRESSURE_FL", "TPMS11", 0),
("PRESSURE_FR", "TPMS11", 0),
("PRESSURE_RL", "TPMS11", 0),
("PRESSURE_RR", "TPMS11", 0),
]
checks = [
# address, frequency
("TCS13", 50),
("TCS15", 10),
("CLU11", 50),
("ESP12", 100),
("CGW1", 10),
("CGW2", 5),
("CGW4", 5),
("WHL_SPD11", 50),
]
if CP.sccBus == 0 and CP.enableCruise:
checks += [
("SCC11", 50),
("SCC12", 50),
]
if CP.fcaBus == 0:
signals += [
("FCA_CmdAct", "FCA11", 0),
("CF_VSM_Warn", "FCA11", 0),
]
checks += [("FCA11", 50)]
if CP.mdpsBus == 0:
signals += [("CR_Mdps_StrColTq", "MDPS12", 0),
("CF_Mdps_Def", "MDPS12", 0),
("CF_Mdps_ToiActive", "MDPS12", 0),
("CF_Mdps_ToiUnavail", "MDPS12", 0),
("CF_Mdps_ToiFlt", "MDPS12", 0),
("CF_Mdps_MsgCount2", "MDPS12", 0),
("CF_Mdps_Chksum2", "MDPS12", 0),
("CF_Mdps_SErr", "MDPS12", 0),
("CR_Mdps_StrTq", "MDPS12", 0),
("CF_Mdps_FailStat", "MDPS12", 0),
("CR_Mdps_OutTq", "MDPS12", 0)]
checks += [("MDPS12", 50)]
if CP.sasBus == 0:
signals += [
("SAS_Angle", "SAS11", 0),
("SAS_Speed", "SAS11", 0),
]
checks += [("SAS11", 100)]
if CP.bsmAvailable or CP.enableBsm:
signals += [
("CF_Lca_Stat", "LCA11", 0),
("CF_Lca_IndLeft", "LCA11", 0),
("CF_Lca_IndRight", "LCA11", 0),
]
checks += [("LCA11", 50)]
if CP.carFingerprint in ELEC_VEH:
signals += [
("Accel_Pedal_Pos", "E_EMS11", 0),
]
checks += [
("E_EMS11", 50),
]
elif CP.carFingerprint in HYBRID_VEH:
signals += [
("CR_Vcu_AccPedDep_Pc", "EV_PC4", 0),
]
checks += [
("EV_PC4", 50),
]
elif CP.emsAvailable:
signals += [
("PV_AV_CAN", "EMS12", 0),
("CF_Ems_AclAct", "EMS16", 0),
]
checks += [
("EMS12", 100),
("EMS16", 100),
]
if CP.carFingerprint in FEATURES["use_cluster_gears"]:
signals += [
("CF_Clu_InhibitD", "CLU15", 0),
("CF_Clu_InhibitP", "CLU15", 0),
("CF_Clu_InhibitN", "CLU15", 0),
("CF_Clu_InhibitR", "CLU15", 0),
]
checks += [("CLU15", 5)]
elif CP.carFingerprint in FEATURES["use_tcu_gears"]:
signals += [("CUR_GR", "TCU12", 0)]
checks += [("TCU12", 100)]
elif CP.evgearAvailable:
signals += [("Elect_Gear_Shifter", "ELECT_GEAR", 0)]
checks += [("ELECT_GEAR", 20)]
elif CP.lvrAvailable:
signals += [("CF_Lvr_Gear", "LVR12", 0)]
checks += [("LVR12", 100)]
if CP.carFingerprint in [CAR.SANTA_FE]:
checks.remove(("TCS13", 50))
return CANParser(DBC[CP.carFingerprint]['pt'],
signals,
checks,
0,
enforce_checks=False)
def get_can_parser(CP):
signals = [
# sig_name, sig_address
("LEFT_BLINK", "BLINK_INFO"),
("RIGHT_BLINK", "BLINK_INFO"),
("HIGH_BEAMS", "BLINK_INFO"),
("STEER_ANGLE", "STEER"),
("STEER_ANGLE_RATE", "STEER_RATE"),
("STEER_TORQUE_SENSOR", "STEER_TORQUE"),
("STEER_TORQUE_MOTOR", "STEER_TORQUE"),
("FL", "WHEEL_SPEEDS"),
("FR", "WHEEL_SPEEDS"),
("RL", "WHEEL_SPEEDS"),
("RR", "WHEEL_SPEEDS"),
]
checks = [
# sig_address, frequency
("BLINK_INFO", 10),
("STEER", 67),
("STEER_RATE", 83),
("STEER_TORQUE", 83),
("WHEEL_SPEEDS", 100),
]
if CP.carFingerprint in GEN1:
signals += [
("LKAS_BLOCK", "STEER_RATE"),
("LKAS_TRACK_STATE", "STEER_RATE"),
("HANDS_OFF_5_SECONDS", "STEER_RATE"),
("CRZ_ACTIVE", "CRZ_CTRL"),
("CRZ_AVAILABLE", "CRZ_CTRL"),
("CRZ_SPEED", "CRZ_EVENTS"),
("STANDSTILL", "PEDALS"),
("BRAKE_ON", "PEDALS"),
("BRAKE_PRESSURE", "BRAKE"),
("GEAR", "GEAR"),
("DRIVER_SEATBELT", "SEATBELT"),
("FL", "DOORS"),
("FR", "DOORS"),
("BL", "DOORS"),
("BR", "DOORS"),
("PEDAL_GAS", "ENGINE_DATA"),
("SPEED", "ENGINE_DATA"),
("CTR", "CRZ_BTNS"),
("LEFT_BS1", "BSM"),
("RIGHT_BS1", "BSM"),
]
checks += [
("ENGINE_DATA", 100),
("CRZ_CTRL", 50),
("CRZ_EVENTS", 50),
("CRZ_BTNS", 10),
("PEDALS", 50),
("BRAKE", 50),
("SEATBELT", 10),
("DOORS", 10),
("GEAR", 20),
("BSM", 10),
]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
def get_can2_parser(CP):
signals = []
checks = []
if CP.mdpsBus == 1:
signals += [("CR_Mdps_StrColTq", "MDPS12", 0),
("CF_Mdps_Def", "MDPS12", 0),
("CF_Mdps_ToiActive", "MDPS12", 0),
("CF_Mdps_ToiUnavail", "MDPS12", 0),
("CF_Mdps_ToiFlt", "MDPS12", 0),
("CF_Mdps_MsgCount2", "MDPS12", 0),
("CF_Mdps_Chksum2", "MDPS12", 0),
("CF_Mdps_SErr", "MDPS12", 0),
("CR_Mdps_StrTq", "MDPS12", 0),
("CF_Mdps_FailStat", "MDPS12", 0),
("CR_Mdps_OutTq", "MDPS12", 0)]
checks += [("MDPS12", 50)]
if CP.sasBus == 1:
signals += [
("SAS_Angle", "SAS11", 0),
("SAS_Speed", "SAS11", 0),
]
checks += [("SAS11", 100)]
if CP.sccBus == 1:
signals += [
("MainMode_ACC", "SCC11", 1),
("SCCInfoDisplay", "SCC11", 0),
("AliveCounterACC", "SCC11", 0),
("VSetDis", "SCC11", 30),
("ObjValid", "SCC11", 0),
("DriverAlertDisplay", "SCC11", 0),
("TauGapSet", "SCC11", 4),
("ACC_ObjStatus", "SCC11", 0),
("ACC_ObjLatPos", "SCC11", 0),
("ACC_ObjDist", "SCC11", 150.),
("ACC_ObjRelSpd", "SCC11", 0),
("Navi_SCC_Curve_Status", "SCC11", 0),
("Navi_SCC_Curve_Act", "SCC11", 0),
("Navi_SCC_Camera_Act", "SCC11", 0),
("Navi_SCC_Camera_Status", "SCC11", 2),
("ACCMode", "SCC12", 0),
("CF_VSM_Prefill", "SCC12", 0),
("CF_VSM_DecCmdAct", "SCC12", 0),
("CF_VSM_HBACmd", "SCC12", 0),
("CF_VSM_Warn", "SCC12", 0),
("CF_VSM_Stat", "SCC12", 0),
("CF_VSM_BeltCmd", "SCC12", 0),
("ACCFailInfo", "SCC12", 0),
("StopReq", "SCC12", 0),
("CR_VSM_DecCmd", "SCC12", 0),
("aReqRaw", "SCC12", 0), #aReqMax
("TakeOverReq", "SCC12", 0),
("PreFill", "SCC12", 0),
("aReqValue", "SCC12", 0), #aReqMin
("CF_VSM_ConfMode", "SCC12", 1),
("AEB_Failinfo", "SCC12", 0),
("AEB_Status", "SCC12", 2),
("AEB_CmdAct", "SCC12", 0),
("AEB_StopReq", "SCC12", 0),
("CR_VSM_Alive", "SCC12", 0),
("CR_VSM_ChkSum", "SCC12", 0),
("SCCDrvModeRValue", "SCC13", 2),
("SCC_Equip", "SCC13", 1),
("AebDrvSetStatus", "SCC13", 0),
("JerkUpperLimit", "SCC14", 0),
("JerkLowerLimit", "SCC14", 0),
("SCCMode2", "SCC14", 0),
("ComfortBandUpper", "SCC14", 0),
("ComfortBandLower", "SCC14", 0),
]
checks += [
("SCC11", 50),
("SCC12", 50),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 1)
def get_adas_can_parser(CP):
# this function generates lists for signal, messages and initial values
if CP.carFingerprint == CAR.ALTIMA:
signals = [
("DESIRED_ANGLE", "LKAS", 0),
("SET_0x80_2", "LKAS", 0),
("MAX_TORQUE", "LKAS", 0),
("SET_0x80", "LKAS", 0),
("COUNTER", "LKAS", 0),
("LKA_ACTIVE", "LKAS", 0),
("CRUISE_ON", "PRO_PILOT", 0),
]
checks = [
("PRO_PILOT", 100),
]
else:
signals = [
# sig_name, sig_address, default
("LKAS_ENABLED", "LKAS_SETTINGS", 0),
("CRUISE_ENABLED", "CRUISE_STATE", 0),
("DESIRED_ANGLE", "LKAS", 0),
("SET_0x80_2", "LKAS", 0),
("MAX_TORQUE", "LKAS", 0),
("SET_0x80", "LKAS", 0),
("COUNTER", "LKAS", 0),
("LKA_ACTIVE", "LKAS", 0),
# Below are the HUD messages. We copy the stock message and modify
("LARGE_WARNING_FLASHING", "PROPILOT_HUD", 0),
("SIDE_RADAR_ERROR_FLASHING1", "PROPILOT_HUD", 0),
("SIDE_RADAR_ERROR_FLASHING2", "PROPILOT_HUD", 0),
("LEAD_CAR", "PROPILOT_HUD", 0),
("LEAD_CAR_ERROR", "PROPILOT_HUD", 0),
("FRONT_RADAR_ERROR", "PROPILOT_HUD", 0),
("FRONT_RADAR_ERROR_FLASHING", "PROPILOT_HUD", 0),
("SIDE_RADAR_ERROR_FLASHING3", "PROPILOT_HUD", 0),
("LKAS_ERROR_FLASHING", "PROPILOT_HUD", 0),
("SAFETY_SHIELD_ACTIVE", "PROPILOT_HUD", 0),
("RIGHT_LANE_GREEN_FLASH", "PROPILOT_HUD", 0),
("LEFT_LANE_GREEN_FLASH", "PROPILOT_HUD", 0),
("FOLLOW_DISTANCE", "PROPILOT_HUD", 0),
("AUDIBLE_TONE", "PROPILOT_HUD", 0),
("SPEED_SET_ICON", "PROPILOT_HUD", 0),
("SMALL_STEERING_WHEEL_ICON", "PROPILOT_HUD", 0),
("unknown59", "PROPILOT_HUD", 0),
("unknown55", "PROPILOT_HUD", 0),
("unknown26", "PROPILOT_HUD", 0),
("unknown28", "PROPILOT_HUD", 0),
("unknown31", "PROPILOT_HUD", 0),
("SET_SPEED", "PROPILOT_HUD", 0),
("unknown43", "PROPILOT_HUD", 0),
("unknown08", "PROPILOT_HUD", 0),
("unknown05", "PROPILOT_HUD", 0),
("unknown02", "PROPILOT_HUD", 0),
("NA_HIGH_ACCEL_TEMP", "PROPILOT_HUD_INFO_MSG", 0),
("SIDE_RADAR_NA_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG", 0),
("SIDE_RADAR_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
("LKAS_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
("FRONT_RADAR_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
("SIDE_RADAR_NA_CLEAN_REAR_CAMERA", "PROPILOT_HUD_INFO_MSG",
0),
("NA_POOR_ROAD_CONDITIONS", "PROPILOT_HUD_INFO_MSG", 0),
("CURRENTLY_UNAVAILABLE", "PROPILOT_HUD_INFO_MSG", 0),
("SAFETY_SHIELD_OFF", "PROPILOT_HUD_INFO_MSG", 0),
("FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION",
"PROPILOT_HUD_INFO_MSG", 0),
("PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED",
"PROPILOT_HUD_INFO_MSG", 0),
("SIDE_IMPACT_NA_RADAR_OBSTRUCTION", "PROPILOT_HUD_INFO_MSG",
0),
("WARNING_DO_NOT_ENTER", "PROPILOT_HUD_INFO_MSG", 0),
("SIDE_IMPACT_SYSTEM_OFF", "PROPILOT_HUD_INFO_MSG", 0),
("SIDE_IMPACT_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
("FRONT_COLLISION_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
("SIDE_RADAR_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG", 0),
("LKAS_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG", 0),
("FRONT_RADAR_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG", 0),
("PROPILOT_NA_MSGS", "PROPILOT_HUD_INFO_MSG", 0),
("BOTTOM_MSG", "PROPILOT_HUD_INFO_MSG", 0),
("HANDS_ON_WHEEL_WARNING", "PROPILOT_HUD_INFO_MSG", 0),
("WARNING_STEP_ON_BRAKE_NOW", "PROPILOT_HUD_INFO_MSG", 0),
("PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED",
"PROPILOT_HUD_INFO_MSG", 0),
("PROPILOT_NA_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG", 0),
("WARNING_PROPILOT_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
("ACC_UNAVAILABLE_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG",
0),
("ACC_NA_FRONT_CAMERA_IMPARED", "PROPILOT_HUD_INFO_MSG", 0),
("unknown07", "PROPILOT_HUD_INFO_MSG", 0),
("unknown10", "PROPILOT_HUD_INFO_MSG", 0),
("unknown15", "PROPILOT_HUD_INFO_MSG", 0),
("unknown23", "PROPILOT_HUD_INFO_MSG", 0),
("unknown19", "PROPILOT_HUD_INFO_MSG", 0),
("unknown31", "PROPILOT_HUD_INFO_MSG", 0),
("unknown32", "PROPILOT_HUD_INFO_MSG", 0),
("unknown46", "PROPILOT_HUD_INFO_MSG", 0),
("unknown61", "PROPILOT_HUD_INFO_MSG", 0),
("unknown55", "PROPILOT_HUD_INFO_MSG", 0),
("unknown50", "PROPILOT_HUD_INFO_MSG", 0),
]
checks = [
("CRUISE_STATE", 50),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
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_DrvDrSw", "CGW1", 0), # Driver Door
("CF_Gway_AstDrSw", "CGW1", 0), # Passenger door
("CF_Gway_RLDrSw", "CGW2", 0), # Rear reft door
("CF_Gway_RRDrSw", "CGW2", 0), # Rear right door
("CF_Gway_TurnSigLh", "CGW1", 0),
("CF_Gway_TurnSigRh", "CGW1", 0),
("CF_Gway_ParkBrakeSw", "CGW1", 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),
("ACCEnable", "TCS13", 0),
("ACC_REQ", "TCS13", 0),
("BrakeLight", "TCS13", 0),
("DriverBraking", "TCS13", 0),
("StandStill", "TCS13", 0),
("PBRAKE_ACT", "TCS13", 0),
("ESC_Off_Step", "TCS15", 0),
("AVH_LAMP", "TCS15", 0),
("CF_Lvr_GearInf", "LVR11",
0), # Transmission Gear (0 = N or P, 1-8 = Fwd, 14 = Rev)
("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),
("SAS_Angle", "SAS11", 0),
("SAS_Speed", "SAS11", 0),
("MainMode_ACC", "SCC11", 0),
("VSetDis", "SCC11", 0),
("SCCInfoDisplay", "SCC11", 0),
("ACC_ObjDist", "SCC11", 0),
("ACCMode", "SCC12", 1),
]
checks = [
# address, frequency
("MDPS12", 50),
("TCS13", 50),
("TCS15", 10),
("CLU11", 50),
("ESP12", 100),
("CGW1", 10),
("CGW4", 5),
("WHL_SPD11", 50),
("SAS11", 100),
]
if not CP.openpilotLongitudinalControl:
checks += [
("SCC11", 50),
("SCC12", 50),
]
if CP.carFingerprint in FEATURES["use_bsm"]:
signals += [
("CF_Lca_IndLeft", "LCA11", 0),
("CF_Lca_IndRight", "LCA11", 0),
]
checks += [("LCA11", 50)]
if CP.carFingerprint in EV_HYBRID:
signals += [
("Accel_Pedal_Pos", "E_EMS11", 0),
]
checks += [
("E_EMS11", 50),
]
else:
signals += [
("PV_AV_CAN", "EMS12", 0),
("CF_Ems_AclAct", "EMS16", 0),
]
checks += [
("EMS12", 100),
("EMS16", 100),
]
if CP.carFingerprint in FEATURES["use_cluster_gears"]:
signals += [
("CF_Clu_InhibitD", "CLU15", 0),
("CF_Clu_InhibitP", "CLU15", 0),
("CF_Clu_InhibitN", "CLU15", 0),
("CF_Clu_InhibitR", "CLU15", 0),
]
checks += [("CLU15", 5)]
elif CP.carFingerprint in FEATURES["use_tcu_gears"]:
signals += [("CUR_GR", "TCU12", 0)]
checks += [("TCU12", 100)]
elif CP.carFingerprint in FEATURES["use_elect_gears"]:
signals += [("Elect_Gear_Shifter", "ELECT_GEAR", 0)]
checks += [("ELECT_GEAR", 20)]
else:
signals += [("CF_Lvr_Gear", "LVR12", 0)]
checks += [("LVR12", 100)]
if CP.carFingerprint in FEATURES["use_fca"]:
signals += [
("FCA_CmdAct", "FCA11", 0),
("CF_VSM_Warn", "FCA11", 0),
]
if not CP.openpilotLongitudinalControl:
checks += [("FCA11", 50)]
else:
signals += [
("AEB_CmdAct", "SCC12", 0),
("CF_VSM_Warn", "SCC12", 0),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
def get_cam_can_parser(CP):
if CP.carFingerprint in PREGLOBAL_CARS:
signals = [
("Cruise_Set_Speed", "ES_DashStatus", 0),
("Not_Ready_Startup", "ES_DashStatus", 0),
("Car_Follow", "ES_DashStatus", 0),
("Cruise_Throttle", "ES_Distance", 0),
("Signal1", "ES_Distance", 0),
("Car_Follow", "ES_Distance", 0),
("Signal2", "ES_Distance", 0),
("Brake_On", "ES_Distance", 0),
("Distance_Swap", "ES_Distance", 0),
("Standstill", "ES_Distance", 0),
("Signal3", "ES_Distance", 0),
("Close_Distance", "ES_Distance", 0),
("Signal4", "ES_Distance", 0),
("Standstill_2", "ES_Distance", 0),
("Cruise_Fault", "ES_Distance", 0),
("Signal5", "ES_Distance", 0),
("Counter", "ES_Distance", 0),
("Signal6", "ES_Distance", 0),
("Cruise_Button", "ES_Distance", 0),
("Signal7", "ES_Distance", 0),
("LKAS_Command", "ES_LKAS", 0),
]
checks = [
("ES_DashStatus", 20),
("ES_Distance", 20),
("ES_LKAS", 2),
]
else:
signals = [
("Counter", "ES_DashStatus", 0),
("PCB_Off", "ES_DashStatus", 0),
("LDW_Off", "ES_DashStatus", 0),
("Signal1", "ES_DashStatus", 0),
("Cruise_State_Msg", "ES_DashStatus", 0),
("LKAS_State_Msg", "ES_DashStatus", 0),
("Signal2", "ES_DashStatus", 0),
("Cruise_Soft_Disable", "ES_DashStatus", 0),
("EyeSight_Status_Msg", "ES_DashStatus", 0),
("Signal3", "ES_DashStatus", 0),
("Cruise_Distance", "ES_DashStatus", 0),
("Signal4", "ES_DashStatus", 0),
("Conventional_Cruise", "ES_DashStatus", 0),
("Signal5", "ES_DashStatus", 0),
("Cruise_Disengaged", "ES_DashStatus", 0),
("Cruise_Activated", "ES_DashStatus", 0),
("Signal6", "ES_DashStatus", 0),
("Cruise_Set_Speed", "ES_DashStatus", 0),
("Cruise_Fault", "ES_DashStatus", 0),
("Cruise_On", "ES_DashStatus", 0),
("Display_Own_Car", "ES_DashStatus", 0),
("Brake_Lights", "ES_DashStatus", 0),
("Car_Follow", "ES_DashStatus", 0),
("Signal7", "ES_DashStatus", 0),
("Far_Distance", "ES_DashStatus", 0),
("Cruise_State", "ES_DashStatus", 0),
("Counter", "ES_LKAS_State", 0),
("LKAS_Alert_Msg", "ES_LKAS_State", 0),
("Signal1", "ES_LKAS_State", 0),
("LKAS_ACTIVE", "ES_LKAS_State", 0),
("LKAS_Dash_State", "ES_LKAS_State", 0),
("Signal2", "ES_LKAS_State", 0),
("Backward_Speed_Limit_Menu", "ES_LKAS_State", 0),
("LKAS_Left_Line_Enable", "ES_LKAS_State", 0),
("LKAS_Left_Line_Light_Blink", "ES_LKAS_State", 0),
("LKAS_Right_Line_Enable", "ES_LKAS_State", 0),
("LKAS_Right_Line_Light_Blink", "ES_LKAS_State", 0),
("LKAS_Left_Line_Visible", "ES_LKAS_State", 0),
("LKAS_Right_Line_Visible", "ES_LKAS_State", 0),
("LKAS_Alert", "ES_LKAS_State", 0),
("Signal3", "ES_LKAS_State", 0),
("LKAS_Output", "ES_LKAS", 0),
]
checks = [
("ES_DashStatus", 10),
("ES_LKAS_State", 10),
("ES_LKAS", 2),
]
if CP.carFingerprint not in [CAR.CROSSTREK_2020H, CAR.OUTBACK]:
signals += [
("Counter", "ES_Distance", 0),
("Signal1", "ES_Distance", 0),
("Cruise_Fault", "ES_Distance", 0),
("Cruise_Throttle", "ES_Distance", 0),
("Signal2", "ES_Distance", 0),
("Car_Follow", "ES_Distance", 0),
("Signal3", "ES_Distance", 0),
("Cruise_Brake_Active", "ES_Distance", 0),
("Distance_Swap", "ES_Distance", 0),
("Cruise_EPB", "ES_Distance", 0),
("Signal4", "ES_Distance", 0),
("Close_Distance", "ES_Distance", 0),
("Signal5", "ES_Distance", 0),
("Cruise_Cancel", "ES_Distance", 0),
("Cruise_Set", "ES_Distance", 0),
("Cruise_Resume", "ES_Distance", 0),
("Signal6", "ES_Distance", 0),
]
checks += [
("ES_Distance", 20),
]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
if CP.carFingerprint in TSS2_CAR:
signals += [("L_ADJACENT", "BSM", 0)]
signals += [("L_APPROACHING", "BSM", 0)]
signals += [("R_ADJACENT", "BSM", 0)]
<<<<<<< HEAD
logging.info("DBC.CP.carFingerprint.pt: %s", DBC[CP.carFingerprint]['pt'])
logging.info("signals: %s", signals)
logging.info("checks: %s", checks)
=======
signals += [("R_APPROACHING", "BSM", 0)]
>>>>>>> a3d0c3b92112be5fdcc52d9675445f7f763f62eb
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
@staticmethod
def get_cam_can_parser(CP):
<<<<<<< HEAD
logging.info("CarState get_cam_can_parser")
signals = [("FORCE", "PRE_COLLISION", 0), ("PRECOLLISION_ACTIVE", "PRE_COLLISION", 0)]
=======
signals = [
("FORCE", "PRE_COLLISION", 0),
("PRECOLLISION_ACTIVE", "PRE_COLLISION", 0)
]
>>>>>>> a3d0c3b92112be5fdcc52d9675445f7f763f62eb
# use steering message to check if panda is connected to frc
def get_can_parser(CP):
signals = [
# sig_name, sig_address, default
("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
("GEAR", "GEAR_PACKET", 0),
("BRAKE_PRESSED", "BRAKE_MODULE", 0),
("GAS_PEDAL", "GAS_PEDAL", 0),
("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
("DOOR_OPEN_FL", "SEATS_DOORS", 1),
("DOOR_OPEN_FR", "SEATS_DOORS", 1),
("DOOR_OPEN_RL", "SEATS_DOORS", 1),
("DOOR_OPEN_RR", "SEATS_DOORS", 1),
("SEATBELT_DRIVER_UNLATCHED", "SEATS_DOORS", 1),
("TC_DISABLED", "ESP_CONTROL", 1),
("STEER_FRACTION", "STEER_ANGLE_SENSOR", 0),
("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
("CRUISE_ACTIVE", "PCM_CRUISE", 0),
("CRUISE_STATE", "PCM_CRUISE", 0),
("GAS_RELEASED", "PCM_CRUISE", 1),
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0),
("TURN_SIGNALS", "STEERING_LEVERS", 3), # 3 is no blinkers
("LKA_STATE", "EPS_STATUS", 0),
("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
]
checks = [
#("BRAKE_MODULE", 40),
#("GAS_PEDAL", 33),
("WHEEL_SPEEDS", 80),
("STEER_ANGLE_SENSOR", 80),
("PCM_CRUISE", 33),
("STEER_TORQUE_SENSOR", 50),
("EPS_STATUS", 25),
]
if CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
signals.append(("GAS_PEDAL", "GAS_PEDAL_ALT", 0))
signals.append(("MAIN_ON", "PCM_CRUISE_ALT", 0))
signals.append(("SET_SPEED", "PCM_CRUISE_ALT", 0))
signals.append(("AUTO_HIGH_BEAM", "LIGHT_STALK_ISH", 0))
checks += [
("BRAKE_MODULE", 50),
("GAS_PEDAL_ALT", 50),
("PCM_CRUISE_ALT", 1),
]
else:
signals += [
("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
("GAS_PEDAL", "GAS_PEDAL", 0),
]
checks += [
("BRAKE_MODULE", 40),
("GAS_PEDAL", 33),
]
if CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_NXT]:
signals.append(("MAIN_ON", "DSU_CRUISE", 0))
signals.append(("SET_SPEED", "DSU_CRUISE", 0))
checks.append(("DSU_CRUISE", 5))
else:
signals.append(("MAIN_ON", "PCM_CRUISE_2", 0))
signals.append(("SET_SPEED", "PCM_CRUISE_2", 0))
signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0))
checks.append(("PCM_CRUISE_2", 33))
if CP.carFingerprint == CAR.PRIUS:
signals += [("STATE", "AUTOPARK_STATUS", 0)]
# add gas interceptor reading if we are using it
if CP.enableGasInterceptor:
signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0))
checks.append(("GAS_SENSOR", 50))
if CP.carFingerprint in TSS2_CAR:
signals += [("L_ADJACENT", "BSM", 0)]
signals += [("L_APPROACHING", "BSM", 0)]
signals += [("R_ADJACENT", "BSM", 0)]
signals += [("R_APPROACHING", "BSM", 0)]
if Params().get('dp_toyota_zss') == b'1':
signals += [("ZORRO_STEER", "SECONDARY_STEER_ANGLE", 0)]
checks = []
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
def get_can_parser(CP):
# this function generates lists for signal, messages and initial values
signals = [
# sig_name, sig_address, default
("LWI_Lenkradwinkel", "LWI_01", 0), # Absolute steering angle
("LWI_VZ_Lenkradwinkel", "LWI_01", 0), # Steering angle sign
("LWI_Lenkradw_Geschw", "LWI_01", 0), # Absolute steering rate
("LWI_VZ_Lenkradw_Geschw", "LWI_01", 0), # Steering rate sign
("ESP_VL_Radgeschw_02", "ESP_19",
0), # ABS wheel speed, front left
("ESP_VR_Radgeschw_02", "ESP_19",
0), # ABS wheel speed, front right
("ESP_HL_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, rear left
("ESP_HR_Radgeschw_02", "ESP_19",
0), # ABS wheel speed, rear right
("ESP_Gierrate", "ESP_02", 0), # Absolute yaw rate
("ESP_VZ_Gierrate", "ESP_02", 0), # Yaw rate sign
("ZV_FT_offen", "Gateway_72", 0), # Door open, driver
("ZV_BT_offen", "Gateway_72", 0), # Door open, passenger
("ZV_HFS_offen", "Gateway_72", 0), # Door open, rear left
("ZV_HBFS_offen", "Gateway_72", 0), # Door open, rear right
("ZV_HD_offen", "Gateway_72", 0), # Trunk or hatch open
("BH_Blinker_li", "Gateway_72", 0), # Left turn signal on
("BH_Blinker_re", "Gateway_72", 0), # Right turn signal on
("GE_Fahrstufe", "Getriebe_11",
0), # Auto trans gear selector position
("AB_Gurtschloss_FA", "Airbag_02", 0), # Seatbelt status, driver
("AB_Gurtschloss_BF", "Airbag_02",
0), # Seatbelt status, passenger
("ESP_Fahrer_bremst", "ESP_05", 0), # Brake pedal pressed
("ESP_Status_Bremsdruck", "ESP_05", 0), # Brakes applied
("ESP_Bremsdruck", "ESP_05", 0), # Brake pressure applied
("MO_Fahrpedalrohwert_01", "Motor_20",
0), # Accelerator pedal value
("MO_Kuppl_schalter", "Motor_14", 0), # Clutch switch
("Driver_Strain", "EPS_01", 0), # Absolute driver torque input
("Driver_Strain_VZ", "EPS_01", 0), # Driver torque input sign
("HCA_Ready", "EPS_01", 0), # Steering rack HCA support configured
("ESP_Tastung_passiv", "ESP_21", 0), # Stability control disabled
("KBI_MFA_v_Einheit_02", "Einheiten_01",
0), # MPH vs KMH speed display
("KBI_Handbremse", "Kombi_01", 0), # Manual handbrake applied
("TSK_Status", "TSK_06",
0), # ACC engagement status from drivetrain coordinator
("TSK_Fahrzeugmasse_02", "Motor_16",
0), # Estimated vehicle mass from drivetrain coordinator
("ACC_Status_ACC", "ACC_06", 0), # ACC engagement status
("ACC_Typ", "ACC_06", 0), # ACC type (follow to stop, stop&go)
("SetSpeed", "ACC_02", 0), # ACC set speed
("GRA_Hauptschalter", "GRA_ACC_01", 0), # ACC button, on/off
("GRA_Abbrechen", "GRA_ACC_01", 0), # ACC button, cancel
("GRA_Tip_Setzen", "GRA_ACC_01", 0), # ACC button, set
("GRA_Tip_Hoch", "GRA_ACC_01", 0), # ACC button, increase or accel
("GRA_Tip_Runter", "GRA_ACC_01",
0), # ACC button, decrease or decel
("GRA_Tip_Wiederaufnahme", "GRA_ACC_01", 0), # ACC button, resume
("GRA_Verstellung_Zeitluecke", "GRA_ACC_01",
0), # ACC button, time gap adj
("GRA_Typ_Hauptschalter", "GRA_ACC_01", 0), # ACC main button type
("GRA_Tip_Stufe_2", "GRA_ACC_01",
0), # unknown related to stalk type
("GRA_ButtonTypeInfo", "GRA_ACC_01",
0), # unknown related to stalk type
("COUNTER", "GRA_ACC_01", 0), # GRA_ACC_01 CAN message counter
]
checks = [
# sig_address, frequency
("LWI_01", 100
), # From J500 Steering Assist with integrated sensors
("EPS_01",
100), # From J500 Steering Assist with integrated sensors
("ESP_19", 100), # From J104 ABS/ESP controller
("ESP_05", 50), # From J104 ABS/ESP controller
("ESP_21", 50), # From J104 ABS/ESP controller
("ACC_06", 50), # From J428 ACC radar control module
("Motor_20", 50), # From J623 Engine control module
("TSK_06", 50), # From J623 Engine control module
("GRA_ACC_01", 33), # From J??? steering wheel control buttons
("ACC_02", 17), # From J428 ACC radar control module
("Getriebe_11", 20), # From J743 Auto transmission control module
("Gateway_72", 10), # From J533 CAN gateway (aggregated data)
("Motor_14", 10), # From J623 Engine control module
("Airbag_02", 5), # From J234 Airbag control module
("Kombi_01", 2), # From J285 Instrument cluster
("Motor_16", 2), # From J623 Engine control module
("Einheiten_01",
1), # From J??? not known if gateway, cluster, or BCM
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks,
CANBUS.pt)
def get_can_parser(CP):
signals = [
# sig_name, sig_address
("LWI_Lenkradwinkel", "LWI_01"), # Absolute steering angle
("LWI_VZ_Lenkradwinkel", "LWI_01"), # Steering angle sign
("LWI_Lenkradw_Geschw", "LWI_01"), # Absolute steering rate
("LWI_VZ_Lenkradw_Geschw", "LWI_01"), # Steering rate sign
("ESP_VL_Radgeschw_02", "ESP_19"), # ABS wheel speed, front left
("ESP_VR_Radgeschw_02", "ESP_19"), # ABS wheel speed, front right
("ESP_HL_Radgeschw_02", "ESP_19"), # ABS wheel speed, rear left
("ESP_HR_Radgeschw_02", "ESP_19"), # ABS wheel speed, rear right
("ESP_Gierrate", "ESP_02"), # Absolute yaw rate
("ESP_VZ_Gierrate", "ESP_02"), # Yaw rate sign
("ZV_FT_offen", "Gateway_72"), # Door open, driver
("ZV_BT_offen", "Gateway_72"), # Door open, passenger
("ZV_HFS_offen", "Gateway_72"), # Door open, rear left
("ZV_HBFS_offen", "Gateway_72"), # Door open, rear right
("ZV_HD_offen", "Gateway_72"), # Trunk or hatch open
("Comfort_Signal_Left", "Blinkmodi_02"
), # Left turn signal including comfort blink interval
("Comfort_Signal_Right", "Blinkmodi_02"
), # Right turn signal including comfort blink interval
("AB_Gurtschloss_FA", "Airbag_02"), # Seatbelt status, driver
("AB_Gurtschloss_BF", "Airbag_02"), # Seatbelt status, passenger
("ESP_Fahrer_bremst", "ESP_05"), # Brake pedal pressed
("ESP_Bremsdruck", "ESP_05"), # Brake pressure applied
("MO_Fahrpedalrohwert_01", "Motor_20"), # Accelerator pedal value
("EPS_Lenkmoment", "LH_EPS_03"), # Absolute driver torque input
("EPS_VZ_Lenkmoment", "LH_EPS_03"), # Driver torque input sign
("EPS_HCA_Status", "LH_EPS_03"), # EPS HCA control status
("ESP_Tastung_passiv", "ESP_21"), # Stability control disabled
("ESP_Haltebestaetigung", "ESP_21"), # ESP hold confirmation
("KBI_Handbremse", "Kombi_01"), # Manual handbrake applied
("TSK_Status",
"TSK_06"), # ACC engagement status from drivetrain coordinator
("GRA_Hauptschalter", "GRA_ACC_01"), # ACC button, on/off
("GRA_Abbrechen", "GRA_ACC_01"), # ACC button, cancel
("GRA_Tip_Setzen", "GRA_ACC_01"), # ACC button, set
("GRA_Tip_Hoch", "GRA_ACC_01"), # ACC button, increase or accel
("GRA_Tip_Runter", "GRA_ACC_01"), # ACC button, decrease or decel
("GRA_Tip_Wiederaufnahme", "GRA_ACC_01"), # ACC button, resume
("GRA_Verstellung_Zeitluecke",
"GRA_ACC_01"), # ACC button, time gap adj
("GRA_Typ_Hauptschalter", "GRA_ACC_01"), # ACC main button type
("GRA_Tip_Stufe_2", "GRA_ACC_01"), # unknown related to stalk type
("GRA_ButtonTypeInfo",
"GRA_ACC_01"), # unknown related to stalk type
("COUNTER", "GRA_ACC_01"), # GRA_ACC_01 CAN message counter
]
checks = [
# sig_address, frequency
("LWI_01", 100
), # From J500 Steering Assist with integrated sensors
("LH_EPS_03",
100), # From J500 Steering Assist with integrated sensors
("ESP_19", 100), # From J104 ABS/ESP controller
("ESP_05", 50), # From J104 ABS/ESP controller
("ESP_21", 50), # From J104 ABS/ESP controller
("Motor_20", 50), # From J623 Engine control module
("TSK_06", 50), # From J623 Engine control module
("ESP_02", 50), # From J104 ABS/ESP controller
("GRA_ACC_01", 33
), # From J533 CAN gateway (via LIN from steering wheel controls)
("Gateway_72", 10), # From J533 CAN gateway (aggregated data)
("Airbag_02", 5), # From J234 Airbag control module
("Kombi_01", 2), # From J285 Instrument cluster
(
"Blinkmodi_02", 1
), # From J519 BCM (sent at 1Hz when no lights active, 50Hz when active)
]
if CP.transmissionType == TransmissionType.automatic:
signals.append(
("GE_Fahrstufe",
"Getriebe_11")) # Auto trans gear selector position
checks.append(("Getriebe_11",
20)) # From J743 Auto transmission control module
elif CP.transmissionType == TransmissionType.direct:
signals.append(
("GearPosition", "EV_Gearshift")) # EV gear selector position
checks.append(
("EV_Gearshift", 10)) # From J??? unknown EV control module
elif CP.transmissionType == TransmissionType.manual:
signals += [
("MO_Kuppl_schalter", "Motor_14"), # Clutch switch
("BCM1_Rueckfahrlicht_Schalter", "Gateway_72")
] # Reverse light from BCM
checks.append(("Motor_14", 10)) # From J623 Engine control module
if CP.networkLocation == NetworkLocation.fwdCamera:
# Radars are here on CANBUS.pt
signals += MqbExtraSignals.fwd_radar_signals
checks += MqbExtraSignals.fwd_radar_checks
if CP.enableBsm:
signals += MqbExtraSignals.bsm_radar_signals
checks += MqbExtraSignals.bsm_radar_checks
return CANParser(DBC_FILES.mqb, signals, checks, CANBUS.pt)
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_DrvDrSw", "CGW1", 0), # Driver Door
("CF_Gway_AstDrSw", "CGW1", 0), # Passenger door
("CF_Gway_RLDrSw", "CGW2", 0), # Rear reft door
("CF_Gway_RRDrSw", "CGW2", 0), # Rear right door
("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),
("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),
("ACCEnable", "TCS13", 0),
("BrakeLight", "TCS13", 0),
("DriverBraking", "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_StrColTq", "MDPS12", 0),
("CF_Mdps_ToiActive", "MDPS12", 0),
("CF_Mdps_ToiUnavail", "MDPS12", 0),
("CF_Mdps_FailStat", "MDPS12", 0),
("CR_Mdps_OutTq", "MDPS12", 0),
("SAS_Angle", "SAS11", 0),
("SAS_Speed", "SAS11", 0),
("PV_AV_CAN", "EMS12", 0),
("CF_Ems_AclAct", "EMS16", 0),
]
checks = [
# address, frequency
("MDPS12", 50),
("TCS13", 50),
("TCS15", 10),
("CLU11", 50),
("ESP12", 100),
("CGW1", 10),
("CGW4", 5),
("WHL_SPD11", 50),
("SAS11", 100),
("EMS12", 100),
("EMS16", 100),
]
signals += [
("CRUISE_LAMP_M", "EMS16", 0),
("CF_Lvr_CruiseSet", "LVR12", 0),
# ("Vision_ObjDist_Low","V_OptData_739", 0),
]
if CP.carFingerprint in FEATURES["use_cluster_gears"]:
signals += [
("CF_Clu_InhibitD", "CLU15", 0),
("CF_Clu_InhibitP", "CLU15", 0),
("CF_Clu_InhibitN", "CLU15", 0),
("CF_Clu_InhibitR", "CLU15", 0),
]
checks += [("CLU15", 5)]
elif CP.carFingerprint in FEATURES["use_tcu_gears"]:
signals += [("CUR_GR", "TCU12", 0)]
checks += [("TCU12", 100)]
elif CP.carFingerprint in FEATURES["use_elect_gears"]:
signals += [("Elect_Gear_Shifter", "ELECT_GEAR", 0)]
checks += [("ELECT_GEAR", 20)]
else:
signals += [("CF_Lvr_Gear", "LVR12", 0)]
checks += [("LVR12", 100)]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
def test_honda_brake(self):
self.longMessage = True
sendcan = messaging.pub_sock('sendcan')
car_name = HONDA.CIVIC
params = CarInterface.get_params(car_name)
CI = CarInterface(params, CarController)
# Get parser
parser_signals = [
('COMPUTER_BRAKE', 'BRAKE_COMMAND', 0),
('BRAKE_PUMP_REQUEST', 'BRAKE_COMMAND', 0), # pump_on
('CRUISE_OVERRIDE', 'BRAKE_COMMAND', 0), # pcm_override
('CRUISE_FAULT_CMD', 'BRAKE_COMMAND', 0), # pcm_fault_cmd
('CRUISE_CANCEL_CMD', 'BRAKE_COMMAND', 0), # pcm_cancel_cmd
('COMPUTER_BRAKE_REQUEST', 'BRAKE_COMMAND', 0), # brake_rq
('SET_ME_0X80', 'BRAKE_COMMAND', 0),
('BRAKE_LIGHTS', 'BRAKE_COMMAND', 0), # brakelights
('FCW', 'BRAKE_COMMAND', 0),
]
parser = CANParser(CI.cp.dbc_name, parser_signals, [], 0, sendcan=True, tcp_addr="127.0.0.1")
time.sleep(0.2) # Slow joiner syndrome
VA = car.CarControl.HUDControl.VisualAlert
for override in [True, False]:
for cancel in [True, False]:
for fcw in [True, False]:
steps = 25 if not override and not cancel else 2
for brake in np.linspace(0., 0.95, steps):
control = car.CarControl.new_message()
hud = car.CarControl.HUDControl.new_message()
if fcw:
hud.visualAlert = VA.fcw
cruise = car.CarControl.CruiseControl.new_message()
cruise.cancel = cancel
cruise.override = override
actuators = car.CarControl.Actuators.new_message()
actuators.brake = float(brake)
control.enabled = True
control.actuators = actuators
control.hudControl = hud
control.cruiseControl = cruise
CI.update(control)
CI.CS.steer_not_allowed = False
for _ in range(20):
can_sends = CI.apply(control)
sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan'))
for _ in range(5):
parser.update(int(sec_since_boot() * 1e9), False)
time.sleep(0.01)
brake_command = parser.vl['BRAKE_COMMAND']['COMPUTER_BRAKE']
min_expected_brake = int(1024 / 4 * (actuators.brake - 0.02))
max_expected_brake = int(1024 / 4 * (actuators.brake + 0.02))
braking = actuators.brake > 0
braking_ok = min_expected_brake <= brake_command <= max_expected_brake
if steps == 2:
braking_ok = True
self.assertTrue(braking_ok, msg="Car: %s, brake %.2f" % (car_name, brake))
self.assertEqual(0x80, parser.vl['BRAKE_COMMAND']['SET_ME_0X80'])
self.assertEqual(braking, parser.vl['BRAKE_COMMAND']['BRAKE_PUMP_REQUEST'])
self.assertEqual(braking, parser.vl['BRAKE_COMMAND']['COMPUTER_BRAKE_REQUEST'])
self.assertEqual(braking, parser.vl['BRAKE_COMMAND']['BRAKE_LIGHTS'])
self.assertFalse(parser.vl['BRAKE_COMMAND']['CRUISE_FAULT_CMD'])
self.assertEqual(override, parser.vl['BRAKE_COMMAND']['CRUISE_OVERRIDE'])
self.assertEqual(cancel, parser.vl['BRAKE_COMMAND']['CRUISE_CANCEL_CMD'])
self.assertEqual(fcw, bool(parser.vl['BRAKE_COMMAND']['FCW']))
def test_honda_lkas_hud(self):
self.longMessage = True
sendcan = messaging.pub_sock('sendcan')
car_name = HONDA.CIVIC
params = CarInterface.get_params(car_name)
CI = CarInterface(params, CarController)
# Get parser
parser_signals = [
('SET_ME_X41', 'LKAS_HUD', 0),
('SET_ME_X48', 'LKAS_HUD', 0),
('STEERING_REQUIRED', 'LKAS_HUD', 0),
('SOLID_LANES', 'LKAS_HUD', 0),
('LEAD_SPEED', 'RADAR_HUD', 0),
('LEAD_STATE', 'RADAR_HUD', 0),
('LEAD_DISTANCE', 'RADAR_HUD', 0),
('ACC_ALERTS', 'RADAR_HUD', 0),
]
VA = car.CarControl.HUDControl.VisualAlert
parser = CANParser(CI.cp.dbc_name, parser_signals, [], 0, sendcan=True, tcp_addr="127.0.0.1")
time.sleep(0.2) # Slow joiner syndrome
alerts = {
VA.none: 0,
VA.brakePressed: 10,
VA.wrongGear: 6,
VA.seatbeltUnbuckled: 5,
VA.speedTooHigh: 8,
}
for steer_required in [True, False]:
for lanes in [True, False]:
for alert in alerts.keys():
control = car.CarControl.new_message()
hud = car.CarControl.HUDControl.new_message()
control.enabled = True
if steer_required:
hud.visualAlert = VA.steerRequired
else:
hud.visualAlert = alert
hud.lanesVisible = lanes
control.hudControl = hud
CI.update(control)
for _ in range(25):
can_sends = CI.apply(control)
sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan'))
for _ in range(5):
parser.update(int(sec_since_boot() * 1e9), False)
time.sleep(0.01)
self.assertEqual(0x41, parser.vl['LKAS_HUD']['SET_ME_X41'])
self.assertEqual(0x48, parser.vl['LKAS_HUD']['SET_ME_X48'])
self.assertEqual(steer_required, parser.vl['LKAS_HUD']['STEERING_REQUIRED'])
self.assertEqual(lanes, parser.vl['LKAS_HUD']['SOLID_LANES'])
self.assertEqual(0x1fe, parser.vl['RADAR_HUD']['LEAD_SPEED'])
self.assertEqual(0x7, parser.vl['RADAR_HUD']['LEAD_STATE'])
self.assertEqual(0x1e, parser.vl['RADAR_HUD']['LEAD_DISTANCE'])
self.assertEqual(alerts[alert] if not steer_required else 0, parser.vl['RADAR_HUD']['ACC_ALERTS'])
def get_mqb_can_parser(CP):
# this function generates lists for signal, messages and initial values
signals = [
# sig_name, sig_address, default
("EPS_Berechneter_LW", "LH_EPS_03", 0), # Absolute steering angle
("EPS_VZ_BLW", "LH_EPS_03", 0), # Steering angle sign
("LWI_Lenkradw_Geschw", "LWI_01", 0), # Absolute steering rate
("LWI_VZ_Lenkradw_Geschw", "LWI_01", 0), # Steering rate sign
("ESP_VL_Radgeschw_02", "ESP_19",
0), # ABS wheel speed, front left
("ESP_VR_Radgeschw_02", "ESP_19",
0), # ABS wheel speed, front right
("ESP_HL_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, rear left
("ESP_HR_Radgeschw_02", "ESP_19",
0), # ABS wheel speed, rear right
("ESP_Gierrate", "ESP_02", 0), # Absolute yaw rate
("ESP_VZ_Gierrate", "ESP_02", 0), # Yaw rate sign
("ZV_FT_offen", "Gateway_72", 0), # Door open, driver
("ZV_BT_offen", "Gateway_72", 0), # Door open, passenger
("ZV_HFS_offen", "Gateway_72", 0), # Door open, rear left
("ZV_HBFS_offen", "Gateway_72", 0), # Door open, rear right
("ZV_HD_offen", "Gateway_72", 0), # Trunk or hatch open
("BH_Blinker_li", "Gateway_72", 0), # Left turn signal on
("BH_Blinker_re", "Gateway_72", 0), # Right turn signal on
("AB_Gurtschloss_FA", "Airbag_02", 0), # Seatbelt status, driver
("AB_Gurtschloss_BF", "Airbag_02",
0), # Seatbelt status, passenger
("ESP_Fahrer_bremst", "ESP_05", 0), # Brake pedal pressed
("ESP_Status_Bremsdruck", "ESP_05", 0), # Brakes applied
("ESP_Bremsdruck", "ESP_05", 0), # Brake pressure applied
("MO_Fahrpedalrohwert_01", "Motor_20",
0), # Accelerator pedal value
("EPS_Lenkmoment", "LH_EPS_03", 0), # Absolute driver torque input
("EPS_VZ_Lenkmoment", "LH_EPS_03", 0), # Driver torque input sign
("EPS_HCA_Status", "LH_EPS_03",
0), # Steering rack ready to process HCA commands
("ESP_Tastung_passiv", "ESP_21", 0), # Stability control disabled
("KBI_MFA_v_Einheit_02", "Einheiten_01",
0), # MPH vs KMH speed display
("KBI_Handbremse", "Kombi_01", 0), # Manual handbrake applied
("TSK_Status", "TSK_06",
0), # ACC engagement status from drivetrain coordinator
("GRA_Hauptschalter", "GRA_ACC_01", 0), # ACC button, on/off
("GRA_Abbrechen", "GRA_ACC_01", 0), # ACC button, cancel
("GRA_Tip_Setzen", "GRA_ACC_01", 0), # ACC button, set
("GRA_Tip_Hoch", "GRA_ACC_01", 0), # ACC button, increase or accel
("GRA_Tip_Runter", "GRA_ACC_01",
0), # ACC button, decrease or decel
("GRA_Tip_Wiederaufnahme", "GRA_ACC_01", 0), # ACC button, resume
("GRA_Verstellung_Zeitluecke", "GRA_ACC_01",
0), # ACC button, time gap adj
("GRA_Typ_Hauptschalter", "GRA_ACC_01", 0), # ACC main button type
("GRA_Tip_Stufe_2", "GRA_ACC_01",
0), # unknown related to stalk type
("GRA_Typ468", "GRA_ACC_01",
0), # Set/Resume button behavior as overloaded coast/accel??
("GRA_ButtonTypeInfo", "GRA_ACC_01",
0), # unknown related to stalk type
("COUNTER", "GRA_ACC_01", 0), # GRA_ACC_01 CAN message counter
]
checks = [
# sig_address, frequency
("LWI_01", 100
), # From J500 Steering Assist with integrated sensors
("LH_EPS_03",
100), # From J500 Steering Assist with integrated sensors
("ESP_19", 100), # From J104 ABS/ESP controller
("ESP_05", 50), # From J104 ABS/ESP controller
("ESP_21", 50), # From J104 ABS/ESP controller
("Motor_20", 50), # From J623 Engine control module
("TSK_06", 50), # From J623 Engine control module
("GRA_ACC_01", 33), # From J??? steering wheel control buttons
("Gateway_72", 10), # From J533 CAN gateway (aggregated data)
("Airbag_02", 5), # From J234 Airbag control module
("Kombi_01", 2), # From J285 Instrument cluster
("Einheiten_01",
1), # From J??? not known if gateway, cluster, or BCM
]
if CP.transmissionType == TRANS.automatic:
signals += [("GE_Fahrstufe", "Getriebe_11", 0)
] # Auto trans gear selector position
checks += [("Getriebe_11", 20)
] # From J743 Auto transmission control module
elif CP.transmissionType == TRANS.direct:
signals += [("GearPosition", "EV_Gearshift", 0)
] # EV gear selector position
checks += [("EV_Gearshift", 10)
] # From J??? unknown EV control module
elif CP.transmissionType == TRANS.manual:
signals += [
("MO_Kuppl_schalter", "Motor_14", 0), # Clutch switch
("BCM1_Rueckfahrlicht_Schalter", "Gateway_72", 0)
] # Reverse light from BCM
checks += [("Motor_14", 10)] # From J623 Engine control module
if CP.networkLocation == NWL.fwdCamera:
# Extended CAN devices other than the camera are here on CANBUS.pt
# FIXME: gate SWA_01 checks on module being detected, and reduce duplicate network location code
signals += [
("AWV2_Priowarnung", "ACC_10", 0), # FCW related
("AWV2_Freigabe", "ACC_10", 0), # FCW related
("ANB_Teilbremsung_Freigabe", "ACC_10", 0), # AEB related
("ANB_Zielbremsung_Freigabe", "ACC_10", 0), # AEB related
("SWA_Infostufe_SWA_li", "SWA_01",
0), # Blindspot object info, left
("SWA_Warnung_SWA_li", "SWA_01",
0), # Blindspot object warning, left
("SWA_Infostufe_SWA_re", "SWA_01",
0), # Blindspot object info, right
("SWA_Warnung_SWA_re", "SWA_01",
0), # Blindspot object warning, right
("ACC_Wunschgeschw", "ACC_02", 0)
] # ACC set speed
checks += [
("ACC_10", 50), # From J428 ACC radar control module
# FIXME: SWA_01 should be checked when we have better detection of installed hardware
#("SWA_01", 20), # From J1086 Lane Change Assist module
("ACC_02", 17)
] # From J428 ACC radar control module
checks = []
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks,
CANBUS.pt)
def get_can_parser(CP):
signals = [
# sig_name, sig_address, default
("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
("GEAR", "GEAR_PACKET", 0),
("BRAKE_PRESSED", "BRAKE_MODULE", 0),
("GAS_PEDAL", "GAS_PEDAL", 0),
("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
("DOOR_OPEN_FL", "SEATS_DOORS", 1),
("DOOR_OPEN_FR", "SEATS_DOORS", 1),
("DOOR_OPEN_RL", "SEATS_DOORS", 1),
("DOOR_OPEN_RR", "SEATS_DOORS", 1),
("SEATBELT_DRIVER_UNLATCHED", "SEATS_DOORS", 1),
("TC_DISABLED", "ESP_CONTROL", 1),
("STEER_FRACTION", "STEER_ANGLE_SENSOR", 0),
("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
("CRUISE_ACTIVE", "PCM_CRUISE", 0),
("CRUISE_STATE", "PCM_CRUISE", 0),
("GAS_RELEASED", "PCM_CRUISE", 1),
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0),
("TURN_SIGNALS", "STEERING_LEVERS", 3), # 3 is no blinkers
("LKA_STATE", "EPS_STATUS", 0),
("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
]
checks = [
("GEAR_PACKET", 1),
("LIGHT_STALK", 1),
("STEERING_LEVERS", 0.15),
("SEATS_DOORS", 3),
("ESP_CONTROL", 3),
("EPS_STATUS", 25),
("BRAKE_MODULE", 40),
("GAS_PEDAL", 33),
("WHEEL_SPEEDS", 80),
("STEER_ANGLE_SENSOR", 80),
("PCM_CRUISE", 33),
("STEER_TORQUE_SENSOR", 50),
]
if CP.carFingerprint == CAR.LEXUS_IS:
signals.append(("MAIN_ON", "DSU_CRUISE", 0))
signals.append(("SET_SPEED", "DSU_CRUISE", 0))
checks.append(("DSU_CRUISE", 5))
else:
signals.append(("MAIN_ON", "PCM_CRUISE_2", 0))
signals.append(("SET_SPEED", "PCM_CRUISE_2", 0))
signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0))
checks.append(("PCM_CRUISE_2", 33))
# add gas interceptor reading if we are using it
if CP.enableGasInterceptor:
signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0))
checks.append(("GAS_SENSOR", 50))
if CP.enableBsm:
signals += [
("L_ADJACENT", "BSM", 0),
("L_APPROACHING", "BSM", 0),
("R_ADJACENT", "BSM", 0),
("R_APPROACHING", "BSM", 0),
]
checks += [("BSM", 1)]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
def get_pq_can_parser(CP):
signals = [
# sig_name, sig_address, default
("LH3_BLW", "Lenkhilfe_3", 0), # Absolute steering angle
("LH3_BLWSign", "Lenkhilfe_3", 0), # Steering angle sign
("LH3_LM", "Lenkhilfe_3", 0), # Absolute driver torque input
("LH3_LMSign", "Lenkhilfe_3", 0), # Driver torque input sign
("LH2_Sta_HCA", "Lenkhilfe_2", 0), # Steering rack HCA status
("Lenkradwinkel_Geschwindigkeit", "Lenkwinkel_1",
0), # Absolute steering rate
("Lenkradwinkel_Geschwindigkeit_S", "Lenkwinkel_1",
0), # Steering rate sign
("Radgeschw__VL_4_1", "Bremse_3",
0), # ABS wheel speed, front left
("Radgeschw__VR_4_1", "Bremse_3",
0), # ABS wheel speed, front right
("Radgeschw__HL_4_1", "Bremse_3", 0), # ABS wheel speed, rear left
("Radgeschw__HR_4_1", "Bremse_3",
0), # ABS wheel speed, rear right
("Giergeschwindigkeit", "Bremse_5", 0), # Absolute yaw rate
("Vorzeichen_der_Giergeschwindigk", "Bremse_5",
0), # Yaw rate sign
("GK1_Fa_Tuerkont", "Gate_Komf_1", 0), # Door open, driver
# TODO: locate passenger and rear door states
("GK1_Blinker_li", "Gate_Komf_1", 0), # Left turn signal on
("GK1_Blinker_re", "Gate_Komf_1", 0), # Right turn signal on
("Gurtschalter_Fahrer", "Airbag_1", 0), # Seatbelt status, driver
("Gurtschalter_Beifahrer", "Airbag_1",
0), # Seatbelt status, passenger
("Bremstestschalter", "Motor_2",
0), # Brake pedal pressed (brake light test switch)
("Bremslichtschalter", "Motor_2",
0), # Brakes applied (brake light switch)
("Bremsdruck", "Bremse_5", 0), # Brake pressure applied
("Vorzeichen_Bremsdruck", "Bremse_5",
0), # Brake pressure applied sign (???)
("Fahrpedal_Rohsignal", "Motor_3", 0), # Accelerator pedal value
("ESP_Passiv_getastet", "Bremse_1",
0), # Stability control disabled
("MFA_v_Einheit_02", "Einheiten_1", 0), # MPH vs KMH speed display
("Bremsinfo", "Kombi_1", 0), # Manual handbrake applied
("GRA_Status", "Motor_2", 0), # ACC engagement status
("Hauptschalter", "GRA_neu", 0), # ACC button, on/off
("Abbrechen", "GRA_neu", 0), # ACC button, cancel
("Setzen", "GRA_neu", 0), # ACC button, set
("Lang_Tip_up", "GRA_neu",
0), # ACC button, increase or accel, long press
("Lang_Tip_down", "GRA_neu",
0), # ACC button, decrease or decel, long press
("Kurz_Tip_up", "GRA_neu",
0), # ACC button, increase or accel, short press
("Kurz_Tip_down", "GRA_neu",
0), # ACC button, decrease or decel, short press
("Wiederaufnahme", "GRA_neu", 0), # ACC button, resume
("Zeitlueckenverstellung", "GRA_neu",
0), # ACC button, time gap adj
]
checks = [
# sig_address, frequency
("Bremse_3", 100), # From J104 ABS/ESP controller
("Lenkhilfe_3",
100), # From J500 Steering Assist with integrated sensors
("Lenkwinkel_1",
100), # From J500 Steering Assist with integrated sensors
("Motor_3", 100), # From J623 Engine control module
("Airbag_1", 50), # From J234 Airbag control module
("Bremse_5", 50), # From J104 ABS/ESP controller
("GRA_neu", 50), # From J??? steering wheel control buttons
("Kombi_1", 50), # From J285 Instrument cluster
("Motor_2", 50), # From J623 Engine control module
("Lenkhilfe_2",
20), # From J500 Steering Assist with integrated sensors
("Gate_Komf_1", 10), # From J533 CAN gateway
("Einheiten_1", 1), # From J??? cluster or gateway
]
if CP.transmissionType == TRANS.automatic:
signals += [("Waehlhebelposition__Getriebe_1_", "Getriebe_1", 0)
] # Auto trans gear selector position
checks += [("Getriebe_1", 100)
] # From J743 Auto transmission control module
elif CP.transmissionType == TRANS.manual:
signals += [
("Kupplungsschalter", "Motor_1", 0), # Clutch switch
("GK1_Rueckfahr", "Gate_Komf_1", 0)
] # Reverse light from BCM
checks += [("Motor_1", 100)] # From J623 Engine control module
if CP.networkLocation == NWL.fwdCamera:
# The ACC radar is here on CANBUS.pt
signals += [("ACA_V_Wunsch", "ACC_GRA_Anziege", 0)
] # ACC set speed
checks += [("ACC_GRA_Anziege", 25)
] # From J428 ACC radar control module
checks = []
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks,
CANBUS.pt)
def get_can_parser(CP):
# this function generates lists for signal, messages and initial values
signals = [
# sig_name, sig_address, default
("LEFT_BLINK", "BLINK_INFO", 0),
("RIGHT_BLINK", "BLINK_INFO", 0),
("STEER_ANGLE", "STEER", 0),
("STEER_ANGLE_RATE", "STEER_RATE", 0),
("STEER_TORQUE_SENSOR", "STEER_TORQUE", 0),
("STEER_TORQUE_MOTOR", "STEER_TORQUE", 0),
("FL", "WHEEL_SPEEDS", 0),
("FR", "WHEEL_SPEEDS", 0),
("RL", "WHEEL_SPEEDS", 0),
("RR", "WHEEL_SPEEDS", 0),
]
checks = [
# sig_address, frequency
("BLINK_INFO", 10),
("STEER", 67),
("STEER_RATE", 83),
("STEER_TORQUE", 83),
("WHEEL_SPEEDS", 100),
]
if CP.carFingerprint in GEN1:
signals += [
("LKAS_BLOCK", "STEER_RATE", 0),
("LKAS_TRACK_STATE", "STEER_RATE", 0),
("HANDS_OFF_5_SECONDS", "STEER_RATE", 0),
("CRZ_ACTIVE", "CRZ_CTRL", 0),
("STANDSTILL", "PEDALS", 0),
("BRAKE_ON", "PEDALS", 0),
("BRAKE_PRESSURE", "BRAKE", 0),
("GEAR", "GEAR", 0),
("DRIVER_SEATBELT", "SEATBELT", 0),
("FL", "DOORS", 0),
("FR", "DOORS", 0),
("BL", "DOORS", 0),
("BR", "DOORS", 0),
("PEDAL_GAS", "ENGINE_DATA", 0),
("SPEED", "ENGINE_DATA", 0),
("RES", "CRZ_BTNS", 0),
("SET_P", "CRZ_BTNS", 0),
("SET_M", "CRZ_BTNS", 0),
("CTR", "CRZ_BTNS", 0),
("LEFT_BS1", "BSM", 0),
("RIGHT_BS1", "BSM", 0),
]
checks += [
("ENGINE_DATA", 100),
("CRZ_CTRL", 50),
("CRZ_BTNS", 10),
("PEDALS", 50),
("BRAKE", 50),
("SEATBELT", 10),
("DOORS", 10),
("GEAR", 20),
("BSM", 10),
]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
def get_can_parser(CP):
# this function generates lists for signal, messages and initial values
signals = [
# sig_name, sig_address, default
("Steer_Torque_Sensor", "Steering_Torque", 0),
("Steer_Torque_Output", "Steering_Torque", 0),
("Steering_Angle", "Steering_Torque", 0),
("Steer_Error_1", "Steering_Torque", 0),
("Brake_Pedal", "Brake_Pedal", 0),
("LEFT_BLINKER", "Dashlights", 0),
("RIGHT_BLINKER", "Dashlights", 0),
("SEATBELT_FL", "Dashlights", 0),
("DOOR_OPEN_FR", "BodyInfo", 1),
("DOOR_OPEN_FL", "BodyInfo", 1),
("DOOR_OPEN_RR", "BodyInfo", 1),
("DOOR_OPEN_RL", "BodyInfo", 1),
]
checks = [
# sig_address, frequency
("Throttle", 100),
("Brake_Pedal", 50),
("Steering_Torque", 50),
]
# Wheel_Speeds is on can1 for OUTBACK
if CP.carFingerprint != CAR.OUTBACK:
signals += [
("FL", "Wheel_Speeds", 0),
("FR", "Wheel_Speeds", 0),
("RL", "Wheel_Speeds", 0),
("RR", "Wheel_Speeds", 0),
]
checks += [
("Wheel_Speeds", 50),
]
# Transmission is on can1 for CROSSTREK_2020H
if CP.carFingerprint != CAR.CROSSTREK_2020H:
signals += [
("Gear", "Transmission", 0),
]
checks += [
("Transmission", 100),
]
# CruiseControl is on can1 for OUTBACK and not used for CROSSTREK_2020H
if CP.carFingerprint not in [CAR.OUTBACK, CAR.CROSSTREK_2020H]:
signals += [
("Cruise_On", "CruiseControl", 0),
("Cruise_Activated", "CruiseControl", 0),
]
if CP.carFingerprint in PREGLOBAL_CARS:
signals += [
("Throttle_Pedal", "Throttle", 0),
("Counter", "Throttle", 0),
("Signal1", "Throttle", 0),
("Not_Full_Throttle", "Throttle", 0),
("Signal2", "Throttle", 0),
("Engine_RPM", "Throttle", 0),
("Off_Throttle", "Throttle", 0),
("Signal3", "Throttle", 0),
("Throttle_Cruise", "Throttle", 0),
("Throttle_Combo", "Throttle", 0),
("Throttle_Body", "Throttle", 0),
("Off_Throttle_2", "Throttle", 0),
("Signal4", "Throttle", 0),
("UNITS", "Dash_State2", 0),
("Steering_Angle", "Steering", 0),
]
checks += [
("BodyInfo", 1),
("CruiseControl", 50),
("Dash_State2", 1),
("Steering", 50),
]
if CP.carFingerprint in [
CAR.FORESTER_PREGLOBAL, CAR.LEVORG_PREGLOBAL,
CAR.WRX_PREGLOBAL
]:
checks += [
("Dashlights", 20),
]
elif CP.carFingerprint in [
CAR.LEGACY_PREGLOBAL, CAR.LEGACY_PREGLOBAL_2018,
CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018
]:
checks += [
("Dashlights", 10),
]
else:
signals += [
("Counter", "Throttle", 0),
("Signal1", "Throttle", 0),
("Engine_RPM", "Throttle", 0),
("Signal2", "Throttle", 0),
("Throttle_Pedal", "Throttle", 0),
("Throttle_Cruise", "Throttle", 0),
("Throttle_Combo", "Throttle", 0),
("Signal1", "Throttle", 0),
("Off_Accel", "Throttle", 0),
("Counter", "Brake_Pedal", 0),
("Signal1", "Brake_Pedal", 0),
("Speed", "Brake_Pedal", 0),
("Signal2", "Brake_Pedal", 0),
("Brake_Lights", "Brake_Pedal", 0),
("Signal3", "Brake_Pedal", 0),
("Signal4", "Brake_Pedal", 0),
("Steer_Warning", "Steering_Torque", 0),
("UNITS", "Dashlights", 0),
]
checks += [
("Dashlights", 10),
("BodyInfo", 10),
]
# Brake_Status is on can1 for OUTBACK
if CP.carFingerprint != CAR.OUTBACK:
signals += [
("Brake", "Brake_Status", 0),
]
checks += [
("Brake_Status", 50),
]
# CruiseControl is on can1 for OUTBACK and nod used for CROSSTREK_2020H
if CP.carFingerprint not in [CAR.OUTBACK, CAR.CROSSTREK_2020H]:
checks += [
("CruiseControl", 20),
]
if CP.enableBsm:
signals += [
("L_ADJACENT", "BSD_RCTA", 0),
("R_ADJACENT", "BSD_RCTA", 0),
("L_APPROACHING", "BSD_RCTA", 0),
("R_APPROACHING", "BSD_RCTA", 0),
]
checks += [
("BSD_RCTA", 17),
]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
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), # Driver Seatbelt
("CF_Gway_DrvDrSw", "CGW1", 0), # Driver Door is open
("CF_Gway_AstDrSw", "CGW1", 0), # Passenger door is open
("CF_Gway_RLDrSw", "CGW2", 0), # Rear reft door is open
("CF_Gway_RRDrSw", "CGW2", 0), # Rear right door is open
("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), # Parking Brake
("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),
("ACCEnable", "TCS13", 0),
("BrakeLight", "TCS13", 0),
("DriverBraking", "TCS13", 0),
("CF_VSM_Avail", "TCS13", 0),
("ESC_Off_Step", "TCS15", 0),
("CF_Lvr_GearInf", "LVR11",
0), # Transmission Gear (0 = N or P, 1-8 = Fwd, 14 = Rev)
("CF_Lca_Stat", "LCA11", 0),
("CF_Lca_IndLeft", "LCA11", 0),
("CF_Lca_IndRight", "LCA11", 0),
("MainMode_ACC", "SCC11", 1),
("SCCInfoDisplay", "SCC11", 0),
("AliveCounterACC", "SCC11", 0),
("VSetDis", "SCC11", 30),
("ObjValid", "SCC11", 0),
("DriverAlertDisplay", "SCC11", 0),
("TauGapSet", "SCC11", 4),
("ACC_ObjStatus", "SCC11", 0),
("ACC_ObjLatPos", "SCC11", 0),
("ACC_ObjDist", "SCC11", 150), #TK211X value is 204.6
("ACC_ObjRelSpd", "SCC11", 0),
("Navi_SCC_Curve_Status", "SCC11", 0),
("Navi_SCC_Curve_Act", "SCC11", 0),
("Navi_SCC_Camera_Act", "SCC11", 0),
("Navi_SCC_Camera_Status", "SCC11", 2),
("ACCMode", "SCC12", 0),
("CF_VSM_Prefill", "SCC12", 0),
("CF_VSM_DecCmdAct", "SCC12", 0),
("CF_VSM_HBACmd", "SCC12", 0),
("CF_VSM_Warn", "SCC12", 0),
("CF_VSM_Stat", "SCC12", 0),
("CF_VSM_BeltCmd", "SCC12", 0),
("ACCFailInfo", "SCC12", 0),
("StopReq", "SCC12", 0),
("CR_VSM_DecCmd", "SCC12", 0),
("aReqRaw", "SCC12", 0), #aReqMax
("TakeOverReq", "SCC12", 0),
("PreFill", "SCC12", 0),
("aReqValue", "SCC12", 0), #aReqMin
("CF_VSM_ConfMode", "SCC12", 1),
("AEB_Failinfo", "SCC12", 0),
("AEB_Status", "SCC12", 2),
("AEB_CmdAct", "SCC12", 0),
("AEB_StopReq", "SCC12", 0),
("CR_VSM_Alive", "SCC12", 0),
("CR_VSM_ChkSum", "SCC12", 0),
("SCCDrvModeRValue", "SCC13", 2),
("SCC_Equip", "SCC13", 1),
("AebDrvSetStatus", "SCC13", 0),
("JerkUpperLimit", "SCC14", 0),
("JerkLowerLimit", "SCC14", 0),
("SCCMode2", "SCC14", 0),
("ComfortBandUpper", "SCC14", 0),
("ComfortBandLower", "SCC14", 0),
]
checks = [
# address, frequency
("TCS13", 50),
("TCS15", 10),
("CLU11", 50),
("ESP12", 100),
("CGW1", 10),
("CGW4", 5),
("WHL_SPD11", 50),
]
if CP.sccBus == 0 and CP.enableCruise:
checks += [
("SCC11", 50),
("SCC12", 50),
]
if CP.mdpsBus == 0:
signals += [("CR_Mdps_StrColTq", "MDPS12", 0),
("CF_Mdps_Def", "MDPS12", 0),
("CF_Mdps_ToiActive", "MDPS12", 0),
("CF_Mdps_ToiUnavail", "MDPS12", 0),
("CF_Mdps_MsgCount2", "MDPS12", 0),
("CF_Mdps_Chksum2", "MDPS12", 0),
("CF_Mdps_ToiFlt", "MDPS12", 0),
("CF_Mdps_SErr", "MDPS12", 0),
("CR_Mdps_StrTq", "MDPS12", 0),
("CF_Mdps_FailStat", "MDPS12", 0),
("CR_Mdps_OutTq", "MDPS12", 0)]
checks += [("MDPS12", 50)]
if CP.sasBus == 0:
signals += [
("SAS_Angle", "SAS11", 0),
("SAS_Speed", "SAS11", 0),
]
checks += [("SAS11", 100)]
if CP.sccBus == -1:
signals += [
("CRUISE_LAMP_M", "EMS16", 0),
("CF_Lvr_CruiseSet", "LVR12", 0),
]
if CP.carFingerprint in FEATURES["use_cluster_gears"]:
signals += [
("CF_Clu_InhibitD", "CLU15", 0),
("CF_Clu_InhibitP", "CLU15", 0),
("CF_Clu_InhibitN", "CLU15", 0),
("CF_Clu_InhibitR", "CLU15", 0),
]
elif CP.carFingerprint in FEATURES["use_tcu_gears"]:
signals += [
("CUR_GR", "TCU12", 0),
]
elif CP.carFingerprint in FEATURES["use_elect_gears"]:
signals += [
("Elect_Gear_Shifter", "ELECT_GEAR", 0),
]
else:
signals += [
("CF_Lvr_Gear", "LVR12", 0),
]
if CP.carFingerprint not in FEATURES["use_elect_ems"]:
signals += [
("PV_AV_CAN", "EMS12", 0),
("CF_Ems_AclAct", "EMS16", 0),
]
checks += [
("EMS12", 100),
("EMS16", 100),
]
else:
signals += [
("Accel_Pedal_Pos", "E_EMS11", 0),
("Brake_Pedal_Pos", "E_EMS11", 0),
]
checks += [
("E_EMS11", 100),
]
if CP.carFingerprint in FEATURES["use_fca"]:
signals += [
("FCA_CmdAct", "FCA11", 0),
("CF_VSM_Warn", "FCA11", 0),
]
checks += [("FCA11", 50)]
if CP.carFingerprint in [CAR.SANTA_FE]:
checks.remove(("TCS13", 50))
if CP.spasEnabled:
if CP.mdpsBus == 1:
signals += [
("SWI_IGK", "EMS11", 0),
("F_N_ENG", "EMS11", 0),
("ACK_TCS", "EMS11", 0),
("PUC_STAT", "EMS11", 0),
("TQ_COR_STAT", "EMS11", 0),
("RLY_AC", "EMS11", 0),
("F_SUB_TQI", "EMS11", 0),
("TQI_ACOR", "EMS11", 0),
("N", "EMS11", 0),
("TQI", "EMS11", 0),
("TQFR", "EMS11", 0),
("VS", "EMS11", 0),
("RATIO_TQI_BAS_MAX_STND", "EMS11", 0),
]
checks += [("EMS11", 100)]
elif CP.mdpsBus == 0:
signals += [
("CR_Mdps_StrAng", "MDPS11", 0),
("CF_Mdps_Stat", "MDPS11", 0),
]
checks += [("MDPS11", 100)]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
def get_can_parser(CP):
checks = []
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_DrvDrSw", "CGW1", 0), # Driver Door
("CF_Gway_AstDrSw", "CGW1", 0), # Passenger door
("CF_Gway_RLDrSw", "CGW2", 0), # Rear reft door
("CF_Gway_RRDrSw", "CGW2", 0), # Rear right door
("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),
("CYL_PRES", "ESP12", 0),
("AVH_STAT", "ESP11", 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),
("ACCEnable", "TCS13", 0),
("BrakeLight", "TCS13", 0),
("DriverBraking", "TCS13", 0),
("DriverOverride", "TCS13", 0),
("ESC_Off_Step", "TCS15", 0),
("CF_Lvr_CruiseSet", "LVR12", 0),
("CRUISE_LAMP_M", "EMS16", 0),
("CR_VSM_Alive", "SCC12", 0),
("AliveCounterACC", "SCC11", 0),
("CR_FCA_Alive", "FCA11", 0),
("Supplemental_Counter", "FCA11", 0),
("PRESSURE_FL", "TPMS11", 0),
("PRESSURE_FR", "TPMS11", 0),
("PRESSURE_RL", "TPMS11", 0),
("PRESSURE_RR", "TPMS11", 0),
]
checks = [
# address, frequency
("TCS13", 50),
("TCS15", 10),
("CLU11", 50),
("ESP12", 100),
("CGW1", 10),
("CGW4", 5),
("WHL_SPD11", 50),
]
if CP.sccBus == 0:
signals += [
("MainMode_ACC", "SCC11", 0),
("VSetDis", "SCC11", 0),
("SCCInfoDisplay", "SCC11", 0),
("ACC_ObjStatus", "SCC11", 0),
("ACC_ObjDist", "SCC11", 0),
("ObjValid", "SCC11", 0),
("ACC_ObjRelSpd", "SCC11", 0),
("AliveCounterACC", "SCC11", 0),
("ACCMode", "SCC12", 1),
("AEB_CmdAct", "SCC12", 0),
("CF_VSM_Warn", "SCC12", 0),
("CR_VSM_Alive", "SCC12", 0),
]
checks += [
("SCC11", 50),
("SCC12", 50),
]
if CP.fcaBus == 0:
signals += [
("FCA_CmdAct", "FCA11", 0),
("CF_VSM_Warn", "FCA11", 0),
("CR_FCA_Alive", "FCA11", 0),
("Supplemental_Counter", "FCA11", 0),
]
checks += [("FCA11", 50)]
if not CP.mdpsHarness:
signals += [("CR_Mdps_StrColTq", "MDPS12", 0),
("CF_Mdps_Def", "MDPS12", 0),
("CF_Mdps_ToiActive", "MDPS12", 0),
("CF_Mdps_ToiUnavail", "MDPS12", 0),
("CF_Mdps_MsgCount2", "MDPS12", 0),
("CF_Mdps_Chksum2", "MDPS12", 0),
("CF_Mdps_ToiFlt", "MDPS12", 0),
("CF_Mdps_SErr", "MDPS12", 0),
("CR_Mdps_StrTq", "MDPS12", 0),
("CF_Mdps_FailStat", "MDPS12", 0),
("CR_Mdps_OutTq", "MDPS12", 0)]
checks += [("MDPS12", 50)]
if CP.sasBus == 0:
signals += [
("SAS_Angle", "SAS11", 0),
("SAS_Speed", "SAS11", 0),
]
checks += [("SAS11", 100)]
if CP.bsmAvailable:
signals += [
("CF_Lca_IndLeft", "LCA11", 0),
("CF_Lca_IndRight", "LCA11", 0),
]
checks += [("LCA11", 50)]
if CP.carFingerprint in ELEC_VEH:
signals += [
("Accel_Pedal_Pos", "E_EMS11", 0),
]
checks += [
("E_EMS11", 50),
]
elif CP.carFingerprint in HYBRID_VEH:
signals += [
("CR_Vcu_AccPedDep_Pc", "EV_PC4", 0),
]
checks += [
("EV_PC4", 50),
]
elif CP.emsAvailable:
signals += [
("PV_AV_CAN", "EMS12", 0),
("CF_Ems_AclAct", "EMS16", 0),
]
checks += [
("EMS12", 100),
("EMS16", 100),
]
if CP.carFingerprint in FEATURES["use_cluster_gears"]:
signals += [
("CF_Clu_InhibitD", "CLU15", 0),
("CF_Clu_InhibitP", "CLU15", 0),
("CF_Clu_InhibitN", "CLU15", 0),
("CF_Clu_InhibitR", "CLU15", 0),
]
checks += [("CLU15", 5)]
elif CP.carFingerprint in FEATURES["use_tcu_gears"]:
signals += [("CUR_GR", "TCU12", 0)]
checks += [("TCU12", 100)]
elif CP.evgearAvailable:
signals += [("Elect_Gear_Shifter", "ELECT_GEAR", 0)]
checks += [("ELECT_GEAR", 20)]
elif CP.lvrAvailable:
signals += [("CF_Lvr_Gear", "LVR12", 0)]
checks += [("LVR12", 100)]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
def get_can_parser(self, CP):
signals, checks = get_can_signals(CP, self.gearbox_msg,
self.main_on_sig_msg)
bus_pt = 1 if CP.carFingerprint in HONDA_BOSCH else 0
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus_pt)
def get_can_parser(CP):
# this function generates lists for signal, messages and initial values
signals = [
# sig_name, sig_address, default
("WHEEL_SPEED_FL", "WHEEL_SPEEDS_FRONT", 0),
("WHEEL_SPEED_FR", "WHEEL_SPEEDS_FRONT", 0),
("WHEEL_SPEED_RL", "WHEEL_SPEEDS_REAR", 0),
("WHEEL_SPEED_RR", "WHEEL_SPEEDS_REAR", 0),
("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
("DOOR_OPEN_FR", "DOORS_LIGHTS", 1),
("DOOR_OPEN_FL", "DOORS_LIGHTS", 1),
("DOOR_OPEN_RR", "DOORS_LIGHTS", 1),
("DOOR_OPEN_RL", "DOORS_LIGHTS", 1),
("RIGHT_BLINKER", "LIGHTS", 0),
("LEFT_BLINKER", "LIGHTS", 0),
("ESP_DISABLED", "ESP", 0),
("GEAR_SHIFTER", "GEARBOX", 0),
]
checks = [
# sig_address, frequency
("WHEEL_SPEEDS_REAR", 50),
("WHEEL_SPEEDS_FRONT", 50),
("STEER_ANGLE_SENSOR", 100),
("DOORS_LIGHTS", 10),
]
if CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
signals += [
("USER_BRAKE_PRESSED", "DOORS_LIGHTS", 1),
("BRAKE_LIGHT", "DOORS_LIGHTS", 1),
("GAS_PEDAL", "GAS_PEDAL", 0),
("SEATBELT_DRIVER_LATCHED", "HUD", 0),
("SPEED_MPH", "HUD", 0),
("PROPILOT_BUTTON", "CRUISE_THROTTLE", 0),
("CANCEL_BUTTON", "CRUISE_THROTTLE", 0),
("GAS_PEDAL_INVERTED", "CRUISE_THROTTLE", 0),
("SET_BUTTON", "CRUISE_THROTTLE", 0),
("RES_BUTTON", "CRUISE_THROTTLE", 0),
("FOLLOW_DISTANCE_BUTTON", "CRUISE_THROTTLE", 0),
("NO_BUTTON_PRESSED", "CRUISE_THROTTLE", 0),
("GAS_PEDAL", "CRUISE_THROTTLE", 0),
("USER_BRAKE_PRESSED", "CRUISE_THROTTLE", 0),
("NEW_SIGNAL_2", "CRUISE_THROTTLE", 0),
("GAS_PRESSED_INVERTED", "CRUISE_THROTTLE", 0),
("unsure1", "CRUISE_THROTTLE", 0),
("unsure2", "CRUISE_THROTTLE", 0),
("unsure3", "CRUISE_THROTTLE", 0),
]
checks += [
("GAS_PEDAL", 100),
("CRUISE_THROTTLE", 50),
("HUD", 25),
]
elif CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
signals += [
("BRAKE_PEDAL", "BRAKE_PEDAL", 0),
("GAS_PEDAL", "CRUISE_THROTTLE", 0),
("CRUISE_AVAILABLE", "CRUISE_THROTTLE", 0),
("SPEED_MPH", "HUD_SETTINGS", 0),
("SEATBELT_DRIVER_LATCHED", "SEATBELT", 0),
# Copy other values, we use this to cancel
("CANCEL_SEATBELT", "CANCEL_MSG", 0),
("NEW_SIGNAL_1", "CANCEL_MSG", 0),
("NEW_SIGNAL_2", "CANCEL_MSG", 0),
("NEW_SIGNAL_3", "CANCEL_MSG", 0),
]
checks += [
("BRAKE_PEDAL", 100),
("CRUISE_THROTTLE", 50),
]
if CP.carFingerprint == CAR.ALTIMA:
signals += [
("LKAS_ENABLED", "LKAS_SETTINGS", 0),
("CRUISE_ENABLED", "CRUISE_STATE", 0),
("SET_SPEED", "PROPILOT_HUD", 0),
]
checks += [
("CRUISE_STATE", 10),
("LKAS_SETTINGS", 10),
("PROPILOT_HUD", 50),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 1)
signals += [
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
]
checks += [
("STEER_TORQUE_SENSOR", 100),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
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), # Driver Seatbelt
("CF_Gway_DrvDrSw", "CGW1", 0), # Driver Door is open
("CF_Gway_AstDrSw", "CGW1", 0), # Passenger door is open
("CF_Gway_RLDrSw", "CGW2", 0), # Rear reft door is open
("CF_Gway_RRDrSw", "CGW2", 0), # Rear right door is open
("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), # Parking Brake
("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),
("ACCEnable", "TCS13", 0),
("BrakeLight", "TCS13", 0),
("DriverBraking", "TCS13", 0),
("ESC_Off_Step", "TCS15", 0),
("CF_Lvr_GearInf", "LVR11",
0), #Transmission Gear (0 = N or P, 1-8 = Fwd, 14 = Rev)
("CF_Lca_Stat", "LCA11", 0),
("CF_Lca_IndLeft", "LCA11", 0),
("CF_Lca_IndRight", "LCA11", 0),
]
checks = [
# address, frequency
("TCS13", 50),
("TCS15", 10),
("CLU11", 50),
("ESP12", 100),
("CGW1", 10),
("CGW4", 5),
("WHL_SPD11", 50),
]
if not CP.mdpsBus:
signals += [("CR_Mdps_StrColTq", "MDPS12", 0),
("CF_Mdps_Def", "MDPS12", 0),
("CF_Mdps_ToiActive", "MDPS12", 0),
("CF_Mdps_ToiUnavail", "MDPS12", 0),
("CF_Mdps_MsgCount2", "MDPS12", 0),
("CF_Mdps_Chksum2", "MDPS12", 0),
("CF_Mdps_ToiFlt", "MDPS12", 0),
("CF_Mdps_SErr", "MDPS12", 0),
("CR_Mdps_StrTq", "MDPS12", 0),
("CF_Mdps_FailStat", "MDPS12", 0),
("CR_Mdps_OutTq", "MDPS12", 0)]
checks += [("MDPS12", 50)]
if not CP.sasBus:
signals += [
("SAS_Angle", "SAS11", 0),
("SAS_Speed", "SAS11", 0),
]
checks += [("SAS11", 100)]
if CP.sccBus == -1:
signals += [
("CRUISE_LAMP_M", "EMS16", 0),
("CF_Lvr_CruiseSet", "LVR12", 0),
]
elif not CP.sccBus:
signals += [
("MainMode_ACC", "SCC11", 0),
("VSetDis", "SCC11", 0),
("SCCInfoDisplay", "SCC11", 0),
("ACC_ObjDist", "SCC11", 0),
("TauGapSet", "SCC11", 0),
("ACCMode", "SCC12", 0),
("CF_VSM_Prefill", "SCC12", 0),
("CF_VSM_DecCmdAct", "SCC12", 0),
("CF_VSM_HBACmd", "SCC12", 0),
("CF_VSM_Warn", "SCC12", 0),
("CF_VSM_Stat", "SCC12", 0),
("CF_VSM_BeltCmd", "SCC12", 0),
("ACCFailInfo", "SCC12", 0),
("ACCMode", "SCC12", 0),
("StopReq", "SCC12", 0),
("CR_VSM_DecCmd", "SCC12", 0),
("aReqMax", "SCC12", 0),
("TakeOverReq", "SCC12", 0),
("PreFill", "SCC12", 0),
("aReqMin", "SCC12", 0),
("CF_VSM_ConfMode", "SCC12", 0),
("AEB_Failinfo", "SCC12", 0),
("AEB_Status", "SCC12", 0),
("AEB_CmdAct", "SCC12", 0),
("AEB_StopReq", "SCC12", 0),
("CR_VSM_Alive", "SCC12", 0),
("CR_VSM_ChkSum", "SCC12", 0),
]
checks += [
("SCC11", 50),
("SCC12", 50),
]
if CP.carFingerprint in FEATURES["use_cluster_gears"]:
signals += [
("CF_Clu_InhibitD", "CLU15", 0),
("CF_Clu_InhibitP", "CLU15", 0),
("CF_Clu_InhibitN", "CLU15", 0),
("CF_Clu_InhibitR", "CLU15", 0),
]
elif CP.carFingerprint in FEATURES["use_tcu_gears"]:
signals += [
("CUR_GR", "TCU12", 0),
]
elif CP.carFingerprint in FEATURES["use_elect_gears"]:
signals += [
("Elect_Gear_Shifter", "ELECT_GEAR", 0),
]
else:
signals += [
("CF_Lvr_Gear", "LVR12", 0),
]
if CP.carFingerprint not in FEATURES["use_elect_ems"]:
signals += [
("PV_AV_CAN", "EMS12", 0),
("CF_Ems_AclAct", "EMS16", 0),
]
checks += [
("EMS12", 100),
("EMS16", 100),
]
else:
signals += [
("Accel_Pedal_Pos", "E_EMS11", 0),
("Brake_Pedal_Pos", "E_EMS11", 0),
]
checks += [
("E_EMS11", 100),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
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_DrvDrSw", "CGW1", 0), # Driver Door
("CF_Gway_AstDrSw", "CGW1", 0), # Passenger door
("CF_Gway_RLDrSw", "CGW2", 0), # Rear reft door
("CF_Gway_RRDrSw", "CGW2", 0), # Rear right door
("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),
("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),
("ACCEnable", "TCS13", 0),
("BrakeLight", "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)
("CF_Lca_IndLeft", "LCA11", 0),
("CF_Lca_IndRight", "LCA11", 0),
("CR_Mdps_StrColTq", "MDPS12", 0),
("CF_Mdps_Def", "MDPS12", 0), #
("CF_Mdps_ToiActive", "MDPS12", 0),
("CF_Mdps_ToiUnavail", "MDPS12", 0),
("CF_Mdps_MsgCount2", "MDPS12", 0), #
("CF_Mdps_Chksum2", "MDPS12", 0), #
("CF_Mdps_ToiFlt", "MDPS12", 0), #
("CF_Mdps_SErr", "MDPS12", 0), #
("CR_Mdps_StrTq", "MDPS12", 0), #
("CF_Mdps_FailStat", "MDPS12", 0),
("CR_Mdps_OutTq", "MDPS12", 0),
("SAS_Angle", "SAS11", 0),
("SAS_Speed", "SAS11", 0),
("MainMode_ACC", "SCC11", 0),
("VSetDis", "SCC11", 0),
("SCCInfoDisplay", "SCC11", 0),
("ACC_ObjDist", "SCC11", 0),
("ACC_ObjRelSpd", "SCC11", 0),
("ACCMode", "SCC12", 1),
]
checks = [
# address, frequency
("MDPS12", 50), # 593
("TCS13", 50), # 916
("TCS15", 10),
("CLU11", 50),
("ESP12", 100),
("CGW1", 10),
("CGW4", 5),
("WHL_SPD11", 50), # 902
("SAS11", 100),
("SCC11", 50),
("SCC12", 50), # 1057
("LCA11", 50),
]
signals, checks = CarState.get_parser_ev_hybrid(CP, signals, checks)
signals, checks = CarState.get_parser_gears(CP, signals, checks)
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
def get_can_parser(CP):
signals = [
# sig_name, sig_address, default
("ESP_vehicleSpeed", "ESP_B", 0),
("DI_pedalPos", "DI_torque1", 0),
("DI_brakePedal", "DI_torque2", 0),
("StW_AnglHP", "STW_ANGLHP_STAT", 0),
("StW_AnglHP_Spd", "STW_ANGLHP_STAT", 0),
("EPAS_handsOnLevel", "EPAS_sysStatus", 0),
("EPAS_torsionBarTorque", "EPAS_sysStatus", 0),
("EPAS_internalSAS", "EPAS_sysStatus", 0),
("EPAS_eacStatus", "EPAS_sysStatus", 1),
("EPAS_eacErrorCode", "EPAS_sysStatus", 0),
("DI_cruiseState", "DI_state", 0),
("DI_digitalSpeed", "DI_state", 0),
("DI_speedUnits", "DI_state", 0),
("DI_gear", "DI_torque2", 0),
("DOOR_STATE_FL", "GTW_carState", 1),
("DOOR_STATE_FR", "GTW_carState", 1),
("DOOR_STATE_RL", "GTW_carState", 1),
("DOOR_STATE_RR", "GTW_carState", 1),
("DOOR_STATE_FrontTrunk", "GTW_carState", 1),
("BOOT_STATE", "GTW_carState", 1),
("BC_indicatorLStatus", "GTW_carState", 1),
("BC_indicatorRStatus", "GTW_carState", 1),
("SDM_bcklDrivStatus", "SDM1", 0),
("driverBrakeStatus", "BrakeMessage", 0),
# We copy this whole message when spamming cancel
("SpdCtrlLvr_Stat", "STW_ACTN_RQ", 0),
("VSL_Enbl_Rq", "STW_ACTN_RQ", 0),
("SpdCtrlLvrStat_Inv", "STW_ACTN_RQ", 0),
("DTR_Dist_Rq", "STW_ACTN_RQ", 0),
("TurnIndLvr_Stat", "STW_ACTN_RQ", 0),
("HiBmLvr_Stat", "STW_ACTN_RQ", 0),
("WprWashSw_Psd", "STW_ACTN_RQ", 0),
("WprWash_R_Sw_Posn_V2", "STW_ACTN_RQ", 0),
("StW_Lvr_Stat", "STW_ACTN_RQ", 0),
("StW_Cond_Flt", "STW_ACTN_RQ", 0),
("StW_Cond_Psd", "STW_ACTN_RQ", 0),
("HrnSw_Psd", "STW_ACTN_RQ", 0),
("StW_Sw00_Psd", "STW_ACTN_RQ", 0),
("StW_Sw01_Psd", "STW_ACTN_RQ", 0),
("StW_Sw02_Psd", "STW_ACTN_RQ", 0),
("StW_Sw03_Psd", "STW_ACTN_RQ", 0),
("StW_Sw04_Psd", "STW_ACTN_RQ", 0),
("StW_Sw05_Psd", "STW_ACTN_RQ", 0),
("StW_Sw06_Psd", "STW_ACTN_RQ", 0),
("StW_Sw07_Psd", "STW_ACTN_RQ", 0),
("StW_Sw08_Psd", "STW_ACTN_RQ", 0),
("StW_Sw09_Psd", "STW_ACTN_RQ", 0),
("StW_Sw10_Psd", "STW_ACTN_RQ", 0),
("StW_Sw11_Psd", "STW_ACTN_RQ", 0),
("StW_Sw12_Psd", "STW_ACTN_RQ", 0),
("StW_Sw13_Psd", "STW_ACTN_RQ", 0),
("StW_Sw14_Psd", "STW_ACTN_RQ", 0),
("StW_Sw15_Psd", "STW_ACTN_RQ", 0),
("WprSw6Posn", "STW_ACTN_RQ", 0),
("MC_STW_ACTN_RQ", "STW_ACTN_RQ", 0),
("CRC_STW_ACTN_RQ", "STW_ACTN_RQ", 0),
]
checks = [
# sig_address, frequency
("ESP_B", 50),
("DI_torque1", 100),
("DI_torque2", 100),
("STW_ANGLHP_STAT", 100),
("EPAS_sysStatus", 25),
("DI_state", 10),
("STW_ACTN_RQ", 10),
("GTW_carState", 10),
("SDM1", 10),
("BrakeMessage", 50),
]
return CANParser(DBC[CP.carFingerprint]['chassis'], signals, checks,
CANBUS.chassis)
def get_cam_can_parser(CP):
signals = [
# sig_name, sig_address, default
("CF_Lkas_LdwsActivemode", "LKAS11", 0),
("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_MsgCount", "LKAS11", 0),
("CF_Lkas_FusionState", "LKAS11", 0),
("CF_Lkas_FcwOpt_USM", "LKAS11", 0),
("CF_Lkas_LdwsOpt_USM", "LKAS11", 0)
]
checks = [("LKAS11", 100)]
if CP.sccBus == 2:
signals += [
("MainMode_ACC", "SCC11", 0),
("SCCInfoDisplay", "SCC11", 0),
("AliveCounterACC", "SCC11", 0),
("VSetDis", "SCC11", 0),
("ObjValid", "SCC11", 0),
("DriverAlertDisplay", "SCC11", 0),
("TauGapSet", "SCC11", 4),
("ACC_ObjStatus", "SCC11", 0),
("ACC_ObjLatPos", "SCC11", 0),
("ACC_ObjDist", "SCC11", 150.),
("ACC_ObjRelSpd", "SCC11", 0),
("Navi_SCC_Curve_Status", "SCC11", 0),
("Navi_SCC_Curve_Act", "SCC11", 0),
("Navi_SCC_Camera_Act", "SCC11", 0),
("Navi_SCC_Camera_Status", "SCC11", 2),
("ACCMode", "SCC12", 0),
("CF_VSM_Prefill", "SCC12", 0),
("CF_VSM_DecCmdAct", "SCC12", 0),
("CF_VSM_HBACmd", "SCC12", 0),
("CF_VSM_Warn", "SCC12", 0),
("CF_VSM_Stat", "SCC12", 0),
("CF_VSM_BeltCmd", "SCC12", 0),
("ACCFailInfo", "SCC12", 0),
("StopReq", "SCC12", 0),
("CR_VSM_DecCmd", "SCC12", 0),
("aReqRaw", "SCC12", 0),
("TakeOverReq", "SCC12", 0),
("PreFill", "SCC12", 0),
("aReqValue", "SCC12", 0),
("CF_VSM_ConfMode", "SCC12", 1),
("AEB_Failinfo", "SCC12", 0),
("AEB_Status", "SCC12", 2),
("AEB_CmdAct", "SCC12", 0),
("AEB_StopReq", "SCC12", 0),
("CR_VSM_Alive", "SCC12", 0),
("CR_VSM_ChkSum", "SCC12", 0),
("SCCDrvModeRValue", "SCC13", 2),
("SCC_Equip", "SCC13", 1),
("AebDrvSetStatus", "SCC13", 0),
("JerkUpperLimit", "SCC14", 0),
("JerkLowerLimit", "SCC14", 0),
("SCCMode2", "SCC14", 0),
("ComfortBandUpper", "SCC14", 0),
("ComfortBandLower", "SCC14", 0),
("ACCMode", "SCC14", 0),
("ObjGap", "SCC14", 0),
("CF_VSM_Prefill", "FCA11", 0),
("CF_VSM_HBACmd", "FCA11", 0),
("CF_VSM_Warn", "FCA11", 0),
("CF_VSM_BeltCmd", "FCA11", 0),
("CR_VSM_DecCmd", "FCA11", 0),
("FCA_Status", "FCA11", 2),
("FCA_CmdAct", "FCA11", 0),
("FCA_StopReq", "FCA11", 0),
("FCA_DrvSetStatus", "FCA11", 1),
("CF_VSM_DecCmdAct", "FCA11", 0),
("FCA_Failinfo", "FCA11", 0),
("FCA_RelativeVelocity", "FCA11", 0),
("FCA_TimetoCollision", "FCA11", 2540.),
("CR_FCA_Alive", "FCA11", 0),
("CR_FCA_ChkSum", "FCA11", 0),
("Supplemental_Counter", "FCA11", 0),
("PAINT1_Status", "FCA11", 1),
]
if CP.sccBus == 2:
checks += [
("SCC11", 50),
("SCC12", 50),
]
if CP.fcaBus == 2:
checks += [("FCA11", 50)]
return CANParser(DBC[CP.carFingerprint]['pt'],
signals,
checks,
2,
enforce_checks=False)
def get_can_parser_init(CP):
signals, checks = get_can_signals(CP)
bus_pt = 1 if CP.isPandaBlack and CP.carFingerprint in HONDA_BOSCH else 0
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, bus_pt)
def get_can_parser(CP):
# this function generates lists for signal, messages and initial values
signals = [
# sig_name, sig_address, default
("EPS_Berechneter_LW", "LH_EPS_03", 0), # Absolute steering angle
("EPS_VZ_BLW", "LH_EPS_03", 0), # Steering angle sign
("LWI_Lenkradw_Geschw", "LWI_01", 0), # Absolute steering rate
("LWI_VZ_Lenkradw_Geschw", "LWI_01", 0), # Steering rate sign
("ESP_VL_Radgeschw_02", "ESP_19",
0), # ABS wheel speed, front left
("ESP_VR_Radgeschw_02", "ESP_19",
0), # ABS wheel speed, front right
("ESP_HL_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, rear left
("ESP_HR_Radgeschw_02", "ESP_19",
0), # ABS wheel speed, rear right
("ESP_Gierrate", "ESP_02", 0), # Absolute yaw rate
("ESP_VZ_Gierrate", "ESP_02", 0), # Yaw rate sign
("ZV_FT_offen", "Gateway_72", 0), # Door open, driver
("ZV_BT_offen", "Gateway_72", 0), # Door open, passenger
("ZV_HFS_offen", "Gateway_72", 0), # Door open, rear left
("ZV_HBFS_offen", "Gateway_72", 0), # Door open, rear right
("ZV_HD_offen", "Gateway_72", 0), # Trunk or hatch open
("BH_Blinker_li", "Gateway_72", 0), # Left turn signal on
("BH_Blinker_re", "Gateway_72", 0), # Right turn signal on
("AB_Gurtschloss_FA", "Airbag_02", 0), # Seatbelt status, driver
("AB_Gurtschloss_BF", "Airbag_02",
0), # Seatbelt status, passenger
("ESP_Fahrer_bremst", "ESP_05", 0), # Brake pedal pressed
("ESP_Bremsdruck", "ESP_05", 0), # Brake pressure applied
("MO_Fahrpedalrohwert_01", "Motor_20",
0), # Accelerator pedal value
("MO_Kuppl_schalter", "Motor_14", 0), # Clutch switch
("EPS_Lenkmoment", "LH_EPS_03", 0), # Absolute driver torque input
("EPS_VZ_Lenkmoment", "LH_EPS_03", 0), # Driver torque input sign
("EPS_HCA_Status", "LH_EPS_03",
0), # Steering rack HCA support configured
("ESP_Tastung_passiv", "ESP_21", 0), # Stability control disabled
("KBI_MFA_v_Einheit_02", "Einheiten_01",
0), # MPH vs KMH speed display
("KBI_Handbremse", "Kombi_01", 0), # Manual handbrake applied
("TSK_Status", "TSK_06",
0), # ACC engagement status from drivetrain coordinator
("GRA_Hauptschalter", "GRA_ACC_01", 0), # ACC button, on/off
("GRA_Abbrechen", "GRA_ACC_01", 0), # ACC button, cancel
("GRA_Tip_Setzen", "GRA_ACC_01", 0), # ACC button, set
("GRA_Tip_Hoch", "GRA_ACC_01", 0), # ACC button, increase or accel
("GRA_Tip_Runter", "GRA_ACC_01",
0), # ACC button, decrease or decel
("GRA_Tip_Wiederaufnahme", "GRA_ACC_01", 0), # ACC button, resume
("GRA_Verstellung_Zeitluecke", "GRA_ACC_01",
0), # ACC button, time gap adj
("GRA_Typ_Hauptschalter", "GRA_ACC_01", 0), # ACC main button type
("GRA_Tip_Stufe_2", "GRA_ACC_01",
0), # unknown related to stalk type
("GRA_ButtonTypeInfo", "GRA_ACC_01",
0), # unknown related to stalk type
("COUNTER", "GRA_ACC_01", 0), # GRA_ACC_01 CAN message counter
]
checks = [
# sig_address, frequency
("LWI_01", 100
), # From J500 Steering Assist with integrated sensors
("LH_EPS_03",
100), # From J500 Steering Assist with integrated sensors
("ESP_19", 100), # From J104 ABS/ESP controller
("ESP_05", 50), # From J104 ABS/ESP controller
("ESP_21", 50), # From J104 ABS/ESP controller
("Motor_20", 50), # From J623 Engine control module
("TSK_06", 50), # From J623 Engine control module
("ESP_02", 50), # From J104 ABS/ESP controller
("GRA_ACC_01", 33
), # From J533 CAN gateway (via LIN from steering wheel controls)
("Gateway_72", 10), # From J533 CAN gateway (aggregated data)
("Motor_14", 10), # From J623 Engine control module
("Airbag_02", 5), # From J234 Airbag control module
("Kombi_01", 2), # From J285 Instrument cluster
("Einheiten_01",
1), # From J??? not known if gateway, cluster, or BCM
]
if CP.transmissionType == TransmissionType.automatic:
signals += [("GE_Fahrstufe", "Getriebe_11", 0)
] # Auto trans gear selector position
checks += [("Getriebe_11", 20)
] # From J743 Auto transmission control module
elif CP.transmissionType == TransmissionType.direct:
signals += [("GearPosition", "EV_Gearshift", 0)
] # EV gear selector position
checks += [("EV_Gearshift", 10)
] # From J??? unknown EV control module
elif CP.transmissionType == TransmissionType.manual:
signals += [
("MO_Kuppl_schalter", "Motor_14", 0), # Clutch switch
("BCM1_Rueckfahrlicht_Schalter", "Gateway_72", 0)
] # Reverse light from BCM
checks += [("Motor_14", 10)] # From J623 Engine control module
# TODO: Detect ACC radar bus location
signals += MqbExtraSignals.fwd_radar_signals
checks += MqbExtraSignals.fwd_radar_checks
# TODO: Detect BSM radar bus location
if CP.enableBsm:
signals += MqbExtraSignals.bsm_radar_signals
checks += MqbExtraSignals.bsm_radar_checks
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks,
CANBUS.pt)
def get_can_parser(CP):
signals = [
# sig_name, sig_address
("Veh_V_ActlEng", "EngVehicleSpThrottle2"
), # ABS vehicle speed (kph)
("VehYaw_W_Actl", "Yaw_Data_FD1"), # ABS vehicle yaw rate (rad/s)
("VehStop_D_Stat", "DesiredTorqBrk"), # ABS vehicle stopped
("PrkBrkStatus", "DesiredTorqBrk"), # ABS park brake status
("ApedPos_Pc_ActlArb",
"EngVehicleSpThrottle"), # PCM throttle (pct)
("BrkTot_Tq_Actl", "BrakeSnData_4"), # ABS brake torque (Nm)
("BpedDrvAppl_D_Actl",
"EngBrakeData"), # PCM driver brake pedal pressed
("Veh_V_DsplyCcSet", "EngBrakeData"), # PCM ACC set speed (mph)
# The units might change with IPC settings?
("CcStat_D_Actl", "EngBrakeData"), # PCM ACC status
("StePinComp_An_Est",
"SteeringPinion_Data"), # PSCM estimated steering angle (deg)
# Calculates steering angle (and offset) from pinion
# angle and driving measurements.
# StePinRelInit_An_Sns is the pinion angle, initialised
# to zero at the beginning of the drive.
("SteeringColumnTorque", "EPAS_INFO"
), # PSCM steering column torque (Nm)
("EPAS_Failure", "EPAS_INFO"), # PSCM EPAS status
("LaHandsOff_B_Actl",
"Lane_Assist_Data3_FD1"), # PSCM LKAS hands off wheel
("TurnLghtSwtch_D_Stat",
"Steering_Data_FD1"), # SCCM Turn signal switch
("TjaButtnOnOffPress", "Steering_Data_FD1"
), # SCCM ACC button, lane-centering/traffic jam assist toggle
("DrStatDrv_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, driver
("DrStatPsngr_B_Actl",
"BodyInfo_3_FD1"), # BCM Door open, passenger
("DrStatRl_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, rear left
("DrStatRr_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, rear right
("FirstRowBuckleDriver",
"RCMStatusMessage2_FD1"), # RCM Seatbelt status, driver
]
checks = [
# sig_address, frequency
("EngVehicleSpThrottle2", 50),
("Yaw_Data_FD1", 100),
("DesiredTorqBrk", 50),
("EngVehicleSpThrottle", 100),
("BrakeSnData_4", 50),
("EngBrakeData", 10),
("SteeringPinion_Data", 100),
("EPAS_INFO", 50),
("Lane_Assist_Data3_FD1", 33),
("Steering_Data_FD1", 10),
("BodyInfo_3_FD1", 2),
("RCMStatusMessage2_FD1", 10),
]
if CP.transmissionType == TransmissionType.automatic:
signals += [
("TrnGear_D_RqDrv",
"Gear_Shift_by_Wire_FD1"), # GWM transmission gear position
]
checks += [
("Gear_Shift_by_Wire_FD1", 10),
]
elif CP.transmissionType == TransmissionType.manual:
signals += [
("CluPdlPos_Pc_Meas",
"Engine_Clutch_Data"), # PCM clutch (pct)
("RvrseLghtOn_B_Stat",
"BCM_Lamp_Stat_FD1"), # BCM reverse light
]
checks += [
("Engine_Clutch_Data", 33),
("BCM_Lamp_Stat_FD1", 1),
]
if CP.enableBsm:
signals += [
("SodDetctLeft_D_Stat",
"Side_Detect_L_Stat"), # Blindspot sensor, left
("SodDetctRight_D_Stat",
"Side_Detect_R_Stat"), # Blindspot sensor, right
]
checks += [
("Side_Detect_L_Stat", 5),
("Side_Detect_R_Stat", 5),
]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks,
CANBUS.main)