diff --git a/README.md b/README.md index 367ba9cd418a92..3e0837a45f4caf 100644 --- a/README.md +++ b/README.md @@ -35,7 +35,7 @@ Also, we have a several thousand people community on [slack](https://slack.comma - + @@ -51,53 +51,56 @@ Also, we have a several thousand people community on [slack](https://slack.comma Hardware ------ -Right now openpilot supports the [EON Dashcam DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). We'd like to support other platforms as well. +At the moment openpilot supports the [EON Dashcam DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). A [panda](https://shop.comma.ai/products/panda-obd-ii-dongle) and a [giraffe](https://comma.ai/shop/products/giraffe/) are recommended tools to interface the EON with the car. We'd like to support other platforms as well. Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup. Supported Cars ------ -| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below | Giraffe | -| ---------------------| ------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------| -| Acura | ILX 2016-17 | AcuraWatch Plus | Yes | Yes | 25mph1| 25mph | Nidec | -| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph1| 12mph | Nidec | -| Chevrolet3| Malibu 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7| -| Chevrolet3| Volt 2017-18 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7| -| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph | Bosch | -| Honda | Civic 2016-18 | Honda Sensing | Yes | Yes | 0mph | 12mph | Nidec | -| Honda | Civic 2017-18 *(Hatch)* | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch | -| Honda | CR-V 2015-16 | Touring | Yes | Yes | 25mph1| 12mph | Nidec | -| Honda | CR-V 2017-18 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch | -| Honda | Odyssey 2017-19 | Honda Sensing | Yes | Yes | 25mph1| 0mph | Inverted Nidec | -| Honda | Pilot 2016-18 | Honda Sensing | Yes | Yes | 25mph1| 12mph | Nidec | -| Honda | Pilot 2019 | All | Yes | Yes | 25mph1| 12mph | Inverted Nidec | -| Honda | Ridgeline 2017-18 | Honda Sensing | Yes | Yes | 25mph1| 12mph | Nidec | -| Hyundai | Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph | Custom6| -| Hyundai | Elantra 2017 | SCC + LKAS | Yes | Stock | 19mph | 34mph | Custom6| -| Hyundai | Genesis 2018 | All | Yes | Stock | 19mph | 34mph | Custom6| -| Kia | Sorento 2018 | All | Yes | Stock | 0mph | 0mph | Custom6| -| Kia | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom6| -| Lexus | RX Hybrid 2016-18 | All | Yes | Yes2| 0mph | 0mph | Toyota | -| Toyota | Camry 20184 | All | Yes | Stock | 0mph5 | 0mph | Toyota | -| Toyota | C-HR 2017-184| All | Yes | Stock | 0mph | 0mph | Toyota | -| Toyota | Corolla 2017-18 | All | Yes | Yes2| 20mph | 0mph | Toyota | -| Toyota | Highlander 2017-18 | All | Yes | Yes2| 0mph | 0mph | Toyota | -| Toyota | Highlander Hybrid 2018 | All | Yes | Yes2| 0mph | 0mph | Toyota | -| Toyota | Prius 2016 | TSS-P | Yes | Yes2| 0mph | 0mph | Toyota | -| Toyota | Prius 2017-18 | All | Yes | Yes2| 0mph | 0mph | Toyota | -| Toyota | Prius Prime 2017-18 | All | Yes | Yes2| 0mph | 0mph | Toyota | -| Toyota | Rav4 2016 | TSS-P | Yes | Yes2| 20mph | 0mph | Toyota | -| Toyota | Rav4 2017-18 | All | Yes | Yes2| 20mph | 0mph | Toyota | -| Toyota | Rav4 Hybrid 2017-18 | All | Yes | Yes2| 0mph | 0mph | Toyota | +| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below | Giraffe | +| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------| +| Acura | ILX 2016-17 | AcuraWatch Plus | Yes | Yes | 25mph1| 25mph | Nidec | +| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph1| 12mph | Nidec | +| Chevrolet3| Malibu 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7| +| Chevrolet3| Volt 2017-18 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7| +| Cadillac3 | ATS 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7| +| GMC3 | Acadia Denali 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7| +| Holden3 | Astra 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7| +| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph | Bosch | +| Honda | Civic Sedan/Coupe 2016-18| Honda Sensing | Yes | Yes | 0mph | 12mph | Nidec | +| Honda | Civic Hatchback 2017-18 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch | +| Honda | CR-V 2015-16 | Touring | Yes | Yes | 25mph1| 12mph | Nidec | +| Honda | CR-V 2017-18 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch | +| Honda | Odyssey 2017-19 | Honda Sensing | Yes | Yes | 25mph1| 0mph | Inverted Nidec | +| Honda | Pilot 2016-18 | Honda Sensing | Yes | Yes | 25mph1| 12mph | Nidec | +| Honda | Pilot 2019 | All | Yes | Yes | 25mph1| 12mph | Inverted Nidec | +| Honda | Ridgeline 2017-19 | Honda Sensing | Yes | Yes | 25mph1| 12mph | Nidec | +| Hyundai | Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph | Custom6| +| Hyundai | Elantra 2017 | SCC + LKAS | Yes | Stock | 19mph | 34mph | Custom6| +| Hyundai | Genesis 2018 | All | Yes | Stock | 19mph | 34mph | Custom6| +| Kia | Sorento 2018 | All | Yes | Stock | 0mph | 0mph | Custom6| +| Kia | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom6| +| Lexus | RX Hybrid 2016-18 | All | Yes | Yes2| 0mph | 0mph | Toyota | +| Toyota | Camry 20184 | All | Yes | Stock | 0mph5 | 0mph | Toyota | +| Toyota | C-HR 2017-184 | All | Yes | Stock | 0mph | 0mph | Toyota | +| Toyota | Corolla 2017-18 | All | Yes | Yes2| 20mph | 0mph | Toyota | +| Toyota | Highlander 2017-18 | All | Yes | Yes2| 0mph | 0mph | Toyota | +| Toyota | Highlander Hybrid 2018 | All | Yes | Yes2| 0mph | 0mph | Toyota | +| Toyota | Prius 2016 | TSS-P | Yes | Yes2| 0mph | 0mph | Toyota | +| Toyota | Prius 2017-18 | All | Yes | Yes2| 0mph | 0mph | Toyota | +| Toyota | Prius Prime 2017-18 | All | Yes | Yes2| 0mph | 0mph | Toyota | +| Toyota | Rav4 2016 | TSS-P | Yes | Yes2| 20mph | 0mph | Toyota | +| Toyota | Rav4 2017-18 | All | Yes | Yes2| 20mph | 0mph | Toyota | +| Toyota | Rav4 Hybrid 2017-18 | All | Yes | Yes2| 0mph | 0mph | Toyota | 1[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)*** 2When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota) 3[GM installation guide](https://zoneos.com/volt/). 4It needs an extra 120Ohm resistor ([pic1](https://i.imgur.com/CmdKtTP.jpg), [pic2](https://i.imgur.com/s2etUo6.jpg)) on bus 3 and giraffe switches set to 01X1 (11X1 for stock LKAS), where X depends on if you have the [comma power](https://comma.ai/shop/products/power/). 528mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. -6Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed ofor the 2019 Sante Fe; pinout may differ for other Hyundais.
-7Community built Giraffe, find more information here, [GM Giraffe](https://zoneos.com/shop/)
+6Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed ofor the 2019 Sante Fe; pinout may differ for other Hyundais. +7Community built Giraffe, find more information here, [GM Giraffe](https://zoneos.com/shop/). Community Maintained Cars ------ diff --git a/RELEASES.md b/RELEASES.md index 3720b53506940c..216feb83cfcf61 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,3 +1,13 @@ +Version 0.5.7 (2018-12-06) +======================== + * Speed limit from OpenStreetMap added to UI + * Highlight speed limit when speed exceeds road speed limit plus a delta + * Option to limit openpilot max speed to road speed limit plus a delta + * Cadillac ATS support thanks to vntarasov! + * GMC Acadia support thanks to CryptoKylan! + * Decrease GPU power consumption + * NEOSv8 autoupdate + Version 0.5.6 (2018-11-16) ======================== * Refresh settings layout and add feature descriptions @@ -7,6 +17,7 @@ Version 0.5.6 (2018-11-16) * More tuning to Honda positive accelerations * Reduce brake pump use on Hondas * Chevrolet Malibu support thanks to tylergets! + * Holden Astra support thanks to AlexHill! Version 0.5.5 (2018-10-20) ======================== diff --git a/apk/ai.comma.plus.offroad.apk b/apk/ai.comma.plus.offroad.apk index a9e5738a40cd3c..84ebf24ae42ecd 100644 Binary files a/apk/ai.comma.plus.offroad.apk and b/apk/ai.comma.plus.offroad.apk differ diff --git a/cereal/Makefile b/cereal/Makefile index b86fa68f585816..dc6b7f9d51fa03 100644 --- a/cereal/Makefile +++ b/cereal/Makefile @@ -6,13 +6,16 @@ GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++ JS := gen/js/car.capnp.js gen/js/log.capnp.js UNAME_M ?= $(shell uname -m) - # only generate C++ for docker tests ifneq ($(OPTEST),1) GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h ifeq ($(UNAME_M),x86_64) - GENS += gen/java/Car.java gen/java/Log.java + ifneq (, $(shell which capnpc-java)) + GENS += gen/java/Car.java gen/java/Log.java + else + $(warning capnpc-java not found, skipping java build) + endif endif endif diff --git a/cereal/car.capnp b/cereal/car.capnp index 2f25aa0d1ac02e..558673d7827e27 100644 --- a/cereal/car.capnp +++ b/cereal/car.capnp @@ -323,6 +323,7 @@ struct CarParams { centerToFront @9 :Float32; # [m] GC distance to front axle steerRatio @10 :Float32; # [] ratio between front wheels and steering wheel angles steerRatioRear @11 :Float32; # [] rear steering ratio wrt front steering (usually 0) + eonToFront @54 :Float32; # [m] distance from EON to front wheels # things we can derive rotationalInertia @12 :Float32; # [kg*m2] body rotational inertia @@ -337,6 +338,10 @@ struct CarParams { steerKpDEPRECATED @15 :Float32; steerKiDEPRECATED @16 :Float32; steerKf @25 :Float32; + steerReactance @51 :Float32; + steerInductance @52 :Float32; + steerResistance @53 :Float32; + # Kp and Ki for the longitudinal control longitudinalKpBP @36 :List(Float32); @@ -355,6 +360,7 @@ struct CarParams { radarOffCan @47 :Bool; # True when radar objects aren't visible on CAN steerActuatorDelay @48 :Float32; # Steering wheel actuator delay in seconds + openpilotLongitudinalControl @50 :Bool; # is openpilot doing the longitudinal control? enum SteerControlType { torque @0; diff --git a/cereal/log.capnp b/cereal/log.capnp index 389b550ad421ae..e643728e0031ec 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -276,7 +276,8 @@ struct ThermalData { startedTs @13 :UInt64; thermalStatus @14 :ThermalStatus; - chargerDisabled @17 :Bool; + chargingError @17 :Bool; + chargingDisabled @18 :Bool; enum ThermalStatus { green @0; # all processes run @@ -344,6 +345,7 @@ struct LiveCalibrationData { warpMatrix @0 :List(Float32); # camera_frame_from_model_frame warpMatrix2 @5 :List(Float32); + warpMatrixBig @6 :List(Float32); calStatus @1 :Int8; calCycle @2 :Int32; calPerc @3 :Int8; @@ -562,6 +564,10 @@ struct Plan { gpsPlannerActive @19 :Bool; + # maps + vCurvature @21 :Float32; + decelForTurn @22 :Bool; + struct GpsTrajectory { x @0 :List(Float32); y @1 :List(Float32); @@ -1567,8 +1573,17 @@ struct LiveParametersData { } struct LiveMapData { - valid @0 :Bool; + speedLimitValid @0 :Bool; speedLimit @1 :Float32; + curvatureValid @2 :Bool; + curvature @3 :Float32; + wayId @4 :UInt64; + roadX @5 :List(Float32); + roadY @6 :List(Float32); + lastGps @7: GpsLocationData; + roadCurvatureX @8 :List(Float32); + roadCurvature @9 :List(Float32); + distToTurn @10 :Float32; } diff --git a/common/params.py b/common/params.py index 3981a341f4e28c..cc137d5a7b15c4 100755 --- a/common/params.py +++ b/common/params.py @@ -63,6 +63,7 @@ class UnknownKeyName(Exception): "IsUploadVideoOverCellularEnabled": TxType.PERSISTENT, "IsDriverMonitoringEnabled": TxType.PERSISTENT, "IsGeofenceEnabled": TxType.PERSISTENT, + "SpeedLimitOffset": TxType.PERSISTENT, # written: visiond # read: visiond, controlsd "CalibrationParams": TxType.PERSISTENT, @@ -74,6 +75,8 @@ class UnknownKeyName(Exception): "DoUninstall": TxType.CLEAR_ON_MANAGER_START, "ShouldDoUpdate": TxType.CLEAR_ON_MANAGER_START, "IsUpdateAvailable": TxType.PERSISTENT, + "LongitudinalControl": TxType.PERSISTENT, + "LimitSetSpeed": TxType.PERSISTENT, "RecordFront": TxType.PERSISTENT, } diff --git a/common/transformations/model.py b/common/transformations/model.py index 107c3d542c2036..424bd6158e43c1 100644 --- a/common/transformations/model.py +++ b/common/transformations/model.py @@ -83,7 +83,7 @@ def get_model_height_transform(camera_frame_from_road_frame, height): # camera_frame_from_model_frame aka 'warp matrix' # was: calibration.h/CalibrationTransform -def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height): +def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height): vp = vp_from_ke(camera_frame_from_road_frame) model_camera_from_model_frame = np.array([ diff --git a/installer/updater/updater b/installer/updater/updater index a5defb4108b556..0b8602b3550175 100755 Binary files a/installer/updater/updater and b/installer/updater/updater differ diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh index 41f8a607cf9ca5..b882395c795643 100755 --- a/launch_chffrplus.sh +++ b/launch_chffrplus.sh @@ -6,11 +6,11 @@ fi function launch { # apply update - if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then - git reset --hard @{u} && - git clean -xdf && - exec "${BASH_SOURCE[0]}" - fi + #if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then + # git reset --hard @{u} && + # git clean -xdf && + # exec "${BASH_SOURCE[0]}" + #fi # no cpu rationing for now echo 0-3 > /dev/cpuset/background/cpus diff --git a/opendbc/generator/honda/honda_insight_ex_2019_can.dbc b/opendbc/generator/honda/honda_insight_ex_2019_can.dbc new file mode 100644 index 00000000000000..ff988cf9dae796 --- /dev/null +++ b/opendbc/generator/honda/honda_insight_ex_2019_can.dbc @@ -0,0 +1,44 @@ +CM_ "IMPORT _bosch_2018.dbc" + +BO_ 419 GEARBOX: 8 PCM + SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON + SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ BRAKE_ERROR_1 : 13|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 12|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 927 RADAR_HUD: 8 RADAR + SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY + SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY + SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY + SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX + SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX + SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + + VAL_ 419 GEAR 10 "R" 1 "D" 0 "P"; + VAL_ 419 GEAR_SHIFTER 32 "D" 16 "N" 8 "R" 4 "P" ; + +CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0"; diff --git a/opendbc/generator/toyota/_toyota_2017.dbc b/opendbc/generator/toyota/_toyota_2017.dbc index 294b948ddef737..7fb249cac04af3 100644 --- a/opendbc/generator/toyota/_toyota_2017.dbc +++ b/opendbc/generator/toyota/_toyota_2017.dbc @@ -248,9 +248,9 @@ VAL_ 1553 UNITS 1 "km" 2 "miles"; VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left"; VAL_ 1161 TSGN1 1 "speed sign" 0 "none"; VAL_ 1161 TSGN2 1 "speed sign" 0 "none"; -VAL_ 1161 SPLSGN2 15 "conditional" 0 "none"; +VAL_ 1161 SPLSGN2 15 "conditional blank" 5 "rain" 0 "none"; VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry"; -VAL_ 1162 SPLSGN3 15 "conditional" 0 "none"; +VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none"; CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180"; diff --git a/opendbc/gm_global_a_powertrain.dbc b/opendbc/gm_global_a_powertrain.dbc index 27f181dc0fa681..1342c49f75f81d 100644 --- a/opendbc/gm_global_a_powertrain.dbc +++ b/opendbc/gm_global_a_powertrain.dbc @@ -180,6 +180,7 @@ BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] "" NEO SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] "" NEO SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] "" NEO + SG_ FCWAlert : 41|2@0+ (1,0) [0|3] "" XXX BO_ 1001 ECMVehicleSpeed: 8 K20_ECM SG_ VehicleSpeed : 7|16@0+ (0.01,0) [0|0] "mph" NEO diff --git a/opendbc/honda_insight_ex_2019_can_generated.dbc b/opendbc/honda_insight_ex_2019_can_generated.dbc new file mode 100644 index 00000000000000..00050aa8d4332a --- /dev/null +++ b/opendbc/honda_insight_ex_2019_can_generated.dbc @@ -0,0 +1,311 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT" + + +CM_ "Imported file _bosch_2018.dbc starts here" +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB + +BO_ 228 STEERING_CONTROL: 5 EON + SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS + SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS + SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS + SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS + +BO_ 232 BRAKE_HOLD: 7 XXX + SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX + SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX + SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX + +BO_ 304 GAS_PEDAL_2: 8 PCM + SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON + SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 330 STEERING_SENSORS: 8 EPS + SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON + SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON + SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 344 ENGINE_DATA: 8 PCM + SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON + SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 380 POWERTRAIN_DATA: 8 PCM + SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON + SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON + SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON + SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON + SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON + SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON + SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON + SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON + SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 399 STEER_STATUS: 7 EPS + SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON + SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON + SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON + SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 420 VSA_STATUS: 8 VSA + SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON + SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON + SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 450 EPB_STATUS: 8 EPB + SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON + SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 464 WHEEL_SPEEDS: 8 VSA + SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON + SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 479 ACC_CONTROL: 8 EON + SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM + SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX + SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX + SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM + SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX + SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 495 ACC_CONTROL_ON: 8 XXX + SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX + SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + +BO_ 545 XXX_16: 6 SCM + SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX + SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY + +BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA + SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON + SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON + SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX + SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON + SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + + BO_ 662 SCM_BUTTONS: 4 SCM + SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON + SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON + +BO_ 773 SEATBELT_STATUS: 7 BDY + SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON + SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON + SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON + +BO_ 777 CAR_SPEED: 8 PCM + SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX + SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX + SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 780 ACC_HUD: 8 ADAS + SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY + SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY + SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY + SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY + SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY + SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY + SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY + SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY + SG_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY + SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY + SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX + SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY + SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY + SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY + SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX + SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 804 CRUISE: 8 PCM + SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + +BO_ 806 SCM_FEEDBACK: 8 SCM + SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX + SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON + SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON + SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON + SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 829 LKAS_HUD: 5 ADAS + SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY + SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY + SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY + SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY + SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY + SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY + SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY + SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY + SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY + SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY + SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY + SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY + SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY + SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY + SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY + SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY + SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY + +BO_ 862 CAMERA_MESSAGES: 8 CAM + SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY + SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX + SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX + SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 884 STALK_STATUS: 8 XXX + SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON + SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON + SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON + SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +BO_ 891 STALK_STATUS_2: 8 XXX + SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON + SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX + SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + +CM_ "honda_insight_ex_2019_can.dbc starts here" + + +BO_ 419 GEARBOX: 8 PCM + SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON + SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON + +BO_ 432 STANDSTILL: 7 VSA + SG_ BRAKE_ERROR_1 : 13|1@0+ (1,0) [0|1] "" EON + SG_ BRAKE_ERROR_2 : 12|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON + +BO_ 927 RADAR_HUD: 8 RADAR + SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY + SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY + SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY + SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX + SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY + SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX + SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX + SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX + SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX + SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX + +BO_ 1029 DOORS_STATUS: 8 BDY + SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON + SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON + SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON + SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON + SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON + + VAL_ 419 GEAR 10 "R" 1 "D" 0 "P"; + VAL_ 419 GEAR_SHIFTER 32 "D" 16 "N" 8 "R" 4 "P" ; + +CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0"; diff --git a/opendbc/hyundai_santa_fe_2019_ccan.dbc b/opendbc/hyundai_kia_generic.dbc similarity index 100% rename from opendbc/hyundai_santa_fe_2019_ccan.dbc rename to opendbc/hyundai_kia_generic.dbc diff --git a/opendbc/kia_sorento_2018.dbc b/opendbc/kia_sorento_2018.dbc deleted file mode 100644 index 919da4cc2dd90c..00000000000000 --- a/opendbc/kia_sorento_2018.dbc +++ /dev/null @@ -1,1391 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: IAP ODS _4WD BCM HUD DATC MDPS AAF_Tester AEMC SMK _4WD EPB CUBIS MTS TMU EVP CGW TPMS LPI DI_BOX SPAS ACU Dummy AFLS CLU EMS AVM LDWS_LKAS SCC IBOX LCA PGS AHLS SAS AAF ECS ESC PSB TCU ABS REA FATC FPCM SNV LVR XXX - - -BO_ 1532 ODS13: 5 ODS - SG_ CR_Ods_ID : 0|8@1+ (1,0) [0|255] "" ACU - SG_ CR_Ods_Chksum_H : 8|8@1+ (1,0) [0|255] "" Dummy - SG_ CR_Ods_Chksum_L : 16|8@1+ (1,0) [0|255] "" Dummy - SG_ CR_Ods_RomID_H : 24|8@1+ (1,0) [0|255] "" Dummy - SG_ CR_Ods_RomID_L : 32|8@1+ (1,0) [0|255] "" Dummy - -BO_ 1531 ODS12: 8 ODS - SG_ CR_Ods_SerNum0 : 0|8@1+ (1,0) [0|255] "" ACU - SG_ CR_Ods_SerNum1 : 8|8@1+ (1,0) [0|255] "" ACU - SG_ CR_Ods_SerNum2 : 16|8@1+ (1,0) [0|255] "" ACU - SG_ CR_Ods_SerNum3 : 24|8@1+ (1,0) [0|255] "" ACU - SG_ CR_Ods_SerNum4 : 32|8@1+ (1,0) [0|255] "" ACU - SG_ CR_Ods_SerNum5 : 40|8@1+ (1,0) [0|255] "" ACU - SG_ CR_Ods_SerNum6 : 48|8@1+ (1,0) [0|255] "" ACU - SG_ CR_Ods_SerNum7 : 56|8@1+ (1,0) [0|255] "" ACU - -BO_ 1530 ODS11: 8 ODS - SG_ CF_Ods_PrcCmd : 1|1@1+ (1,0) [0|1] "" Dummy - SG_ CF_Ods_BtsFail : 3|1@1+ (1,0) [0|1] "" Dummy - SG_ CF_Ods_AcuRcvSN : 4|1@1+ (1,0) [0|1] "" ACU - SG_ CF_Ods_EolCal : 5|1@1+ (1,0) [0|1] "" ACU - SG_ CF_Ods_PsFail : 6|1@1+ (1,0) [0|1] "" ACU - SG_ CF_Ods_EcuFail : 7|1@1+ (1,0) [0|1] "" ACU - SG_ CF_Ods_WgtStat : 8|1@1+ (1,0) [0|1] "" ACU - SG_ CF_Ods_OccStat : 16|1@1+ (1,0) [0|1] "" ACU - SG_ CR_Wcs_ErrStat : 32|8@1+ (1,0) [0|63] "" ACU - SG_ CR_Wcs_ClassStat : 40|8@1+ (1,0) [0|4] "" ACU,BCM - -BO_ 1017 ECS12: 4 ECS - SG_ Height_FL : 0|8@1+ (1,-128) [-128|127] "mm" AFLS - SG_ Height_FR : 8|8@1+ (1,-128) [-128|127] "mm" AFLS - SG_ Height_RL : 16|8@1+ (1,-128) [-128|127] "mm" AFLS - SG_ Height_RR : 24|8@1+ (1,-128) [-128|127] "mm" AFLS - -BO_ 1268 SPAS12: 8 SPAS - SG_ CF_Spas_HMI_Stat : 0|8@1+ (1,0) [0|255] "" CLU - SG_ CF_Spas_Disp : 8|2@1+ (1,0) [0|3] "" CLU,EMS - SG_ CF_Spas_FIL_Ind : 10|3@1+ (1,0) [0|7] "" AVM,CLU - SG_ CF_Spas_FIR_Ind : 13|3@1+ (1,0) [0|7] "" AVM,CLU - SG_ CF_Spas_FOL_Ind : 16|3@1+ (1,0) [0|7] "" AVM,CLU - SG_ CF_Spas_FOR_Ind : 19|3@1+ (1,0) [0|7] "" AVM,CLU - SG_ CF_Spas_VolDown : 22|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Spas_RIL_Ind : 24|3@1+ (1,0) [0|7] "" AVM,CLU - SG_ CF_Spas_RIR_Ind : 27|3@1+ (1,0) [0|7] "" AVM,CLU - SG_ CF_Spas_FLS_Alarm : 30|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Spas_ROL_Ind : 32|3@1+ (1,0) [0|7] "" AVM,CLU - SG_ CF_Spas_ROR_Ind : 35|3@1+ (1,0) [0|7] "" AVM,CLU - SG_ CF_Spas_FCS_Alarm : 38|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Spas_FI_Ind : 40|3@1+ (1,0) [0|7] "" AVM,CLU - SG_ CF_Spas_RI_Ind : 43|3@1+ (1,0) [0|7] "" AVM,CLU - SG_ CF_Spas_FRS_Alarm : 46|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Spas_FR_Alarm : 48|2@1+ (1,0) [0|3] "" BCM,CLU - SG_ CF_Spas_RR_Alarm : 50|2@1+ (1,0) [0|3] "" BCM,CLU - SG_ CF_Spas_BEEP_Alarm : 52|4@1+ (1,0) [0|15] "" BCM,CLU - SG_ CF_Spas_StatAlarm : 56|1@1+ (1,0) [0|1] "" CLU - SG_ CF_Spas_RLS_Alarm : 57|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Spas_RCS_Alarm : 59|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Spas_RRS_Alarm : 61|2@1+ (1,0) [0|3] "" CLU - -BO_ 1265 CLU11: 4 CLU - SG_ CF_Clu_CruiseSwState : 0|3@1+ (1,0) [0|7] "" EMS,LDWS_LKAS,SCC - SG_ CF_Clu_CruiseSwMain : 3|1@1+ (1,0) [0|1] "" EMS,LDWS_LKAS,SCC - SG_ CF_Clu_SldMainSW : 4|1@1+ (1,0) [0|1] "" EMS - SG_ CF_Clu_ParityBit1 : 5|1@1+ (1,0) [0|1] "pulse count" EMS - SG_ CF_Clu_VanzDecimal : 6|2@1+ (0.125,0) [0|0.375] "" EMS - SG_ CF_Clu_Vanz : 8|9@1+ (0.5,0) [0|255.5] "km/h or MPH" BCM,CUBIS,EMS,IBOX,LDWS_LKAS,MDPS,SCC - SG_ CF_Clu_SPEED_UNIT : 17|1@1+ (1,0) [0|1] "" BCM,CUBIS,EMS,IBOX,LDWS_LKAS,MDPS,SCC - SG_ CF_Clu_DetentOut : 18|1@1+ (1,0) [0|1] "" AVM,BCM,LCA,PGS,SPAS - SG_ CF_Clu_RheostatLevel : 19|5@1+ (1,0) [0|31] "" AVM,BCM,LCA,PGS,SPAS - SG_ CF_Clu_CluInfo : 24|1@1+ (1,0) [0|1] "" BCM - SG_ CF_Clu_AmpInfo : 25|1@1+ (1,0) [0|1] "" BCM - SG_ CF_Clu_AliveCnt1 : 28|4@1+ (1,0) [0|15] "" AHLS,EMS,EPB,LDWS_LKAS,MDPS,SCC - -BO_ 1492 TMU_GW_PE_01: 8 CLU - SG_ TMU_IVRActivity : 0|2@1+ (1,0) [0|3] "" DATC - SG_ TMU_PhoneActivity : 2|2@1+ (1,0) [0|3] "" DATC - -BO_ 1491 HU_DATC_PE_00: 8 CLU - SG_ HU_VRActivity : 0|2@1+ (1,0) [0|3] "" DATC - SG_ HU_PhoneActivity : 2|2@1+ (1,0) [0|3] "" DATC - SG_ BlowerNoiseControl : 4|2@1+ (1,0) [0|3] "" DATC - -BO_ 1490 HU_DATC_E_02: 8 CLU - SG_ HU_DATC_RearOnOffSet : 6|2@1+ (1,0) [0|3] "" DATC - SG_ HU_DATC_ADSOnOffSet : 8|2@1+ (1,0) [0|3] "" DATC - -BO_ 1479 EMS21: 8 EMS - SG_ SCR_LEVEL_WARN_LAMP : 0|1@1+ (1,0) [0|1] "" CLU - SG_ SCR_LEVEL_WARN : 1|3@1+ (1,0) [0|4] "" CLU - SG_ SCR_SYS_ERROR_WARN : 4|3@1+ (1,0) [0|7] "" CLU - SG_ SCR_SYSTEM_WARN_LAMP : 7|1@1+ (1,0) [0|1] "" CLU - SG_ SCR_INDUCEMENT_EXIT_COND : 8|2@1+ (1,0) [0|3] "" CLU - SG_ SCR_UREA_LEVEL : 16|8@1+ (0.5,0) [0|100] "%" CLU - SG_ SCR_NO_REMAINING_RESTARTS : 24|8@1+ (1,0) [0|255] "" CLU - SG_ SCR_REMAINING_DISTANCE : 32|16@1+ (1,0) [0|25000] "km" CLU - -BO_ 1472 GW_Warning_PE: 8 BCM - SG_ Audio_VolumeDown : 38|2@1+ (1,0) [0|3] "" CLU - SG_ Pas_Spkr_Flh_Alarm : 48|2@1+ (1,0) [0|3] "" CLU - SG_ Pas_Spkr_Fcnt_Alarm : 50|2@1+ (1,0) [0|3] "" CLU - SG_ Pas_Spkr_Frh_Alarm : 52|2@1+ (1,0) [0|3] "" CLU - SG_ Pas_Spkr_Rlh_Alarm : 56|2@1+ (1,0) [0|3] "" CLU,PGS - SG_ Pas_Spkr_Rcnt_Alarm : 58|2@1+ (1,0) [0|3] "" CLU - SG_ Pas_Spkr_Rrh_Alarm : 60|2@1+ (1,0) [0|3] "" CLU,PGS - -BO_ 1984 CAL_SAS11: 2 ESC - SG_ CCW : 0|4@1+ (1,0) [0|15] "" SAS - SG_ SAS_CID : 4|11@1+ (1,0) [0|2047] "" SAS - -BO_ 1456 CLU12: 4 CLU - SG_ CF_Clu_Odometer : 0|24@1+ (0.1,0) [0|1677721.4] "km" _4WD,AAF,BCM,CUBIS,EMS,EPB,IBOX,LDWS_LKAS,SCC,TPMS - -BO_ 688 SAS11: 5 MDPS - SG_ SAS_Angle : 0|16@1- (0.1,0) [-3276.8|3276.7] "Deg" _4WD,ACU,AFLS,AVM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU,_4WD,ACU,AFLS,AVM,BCM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU - SG_ SAS_Speed : 16|8@1- (4,0) [0|1016] "" AFLS,ECS,ESC,IBOX,LDWS_LKAS,SCC,SPAS,TCU,AFLS,ECS,ESC,IBOX,LDWS_LKAS,SCC,SPAS,TCU - SG_ SAS_Stat : 24|8@1+ (1,0) [0|255] "" ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU,ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU - SG_ MsgCount : 32|4@1+ (1,0) [0|15] "" ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS - SG_ CheckSum : 36|4@1+ (1,0) [0|15] "" ECS,EMS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,ECS,EMS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS - -BO_ 1441 ACU12: 8 ACU - SG_ CR_Acu_SN : 0|64@1+ (1,0) [0|0] "" ODS - -BO_ 1440 ACU11: 8 ACU - SG_ CF_Ods_SNRcv : 1|1@1+ (1,0) [0|1] "" ODS - SG_ CF_Ods_IDRcv : 2|1@1+ (1,0) [0|1] "" ODS - SG_ CF_Ods_RZReq : 4|1@1+ (1,0) [0|1] "" ODS - SG_ CF_Abg_DepInhEnt : 6|1@1+ (1,0) [0|1] "" ODS - SG_ CF_Abg_DepEnt : 7|1@1+ (1,0) [0|1] "" ODS - SG_ CF_PasBkl_FltStat : 28|1@1+ (1,0) [0|1] "" ODS,PSB - SG_ CF_DriBkl_FltStat : 29|1@1+ (1,0) [0|1] "" ODS,PSB - SG_ CF_PasBkl_Stat : 30|1@1+ (1,0) [0|1] "" IBOX,ODS,PSB,TMU - SG_ CF_DriBkl_Stat : 31|1@1+ (1,0) [0|1] "" ODS,PSB - SG_ CF_SWL_Ind : 32|2@1+ (1,0) [0|3] "" CUBIS,IBOX - SG_ CF_Acu_FltStat : 34|2@1+ (1,0) [0|3] "" CUBIS,IBOX - SG_ CF_Acu_ExtOfSab : 36|2@1+ (1,0) [0|3] "" BCM,CLU,CUBIS,IBOX - SG_ CF_Acu_Dtc : 40|16@1+ (1,0) [0|65535] "" CUBIS,IBOX - SG_ CF_Acu_NumOfFlt : 56|8@1+ (1,0) [0|255] "" CUBIS,IBOX - -BO_ 1437 AHLS11: 8 AHLS - SG_ CF_Ahls_WarnLamp : 0|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Ahls_WarnMsg : 2|2@1+ (1,0) [0|3] "" CLU - -BO_ 1434 PSB11: 2 PSB - SG_ PSB_LH_FAIL : 0|2@1+ (1,0) [0|3] "" CLU - SG_ PSB_LH_TGL : 2|1@1+ (1,0) [0|1] "" CLU - SG_ PSB_LH_ACT : 3|4@1+ (1,0) [0|4] "" Dummy - SG_ PSB_RH_FAIL : 8|2@1+ (1,0) [0|3] "" CLU - SG_ PSB_RH_TGL : 10|1@1+ (1,0) [0|1] "" CLU - SG_ PSB_RH_ACT : 11|4@1+ (1,0) [0|4] "" Dummy - -BO_ 916 TCS13: 8 ESC - SG_ aBasis : 0|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" EMS,SCC - SG_ BrakeLight : 11|1@1+ (1,0) [0|1] "" CLU,EMS,SCC - SG_ DCEnable : 12|1@1+ (1,0) [0|1] "" EMS,SCC - SG_ AliveCounterTCS : 13|3@1+ (1,0) [0|7] "" EMS,SCC - SG_ ACCReqLim : 22|2@1+ (1,0) [0|3] "" EMS,SCC - SG_ TQI_ACC : 24|8@1+ (0.390625,0) [0|99.609375] "%" EMS - SG_ ACCEL_REF_ACC : 32|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" EMS,SCC - SG_ ACCEnable : 43|2@1+ (1,0) [0|3] "" EMS,SCC - SG_ DriverOverride : 45|2@1+ (1,0) [0|3] "" EMS,SCC - SG_ StandStill : 47|1@1+ (1,0) [0|1] "" EMS,SCC - SG_ CheckSum_TCS3 : 48|4@1+ (1,0) [0|15] "" EMS,SCC - SG_ ACC_EQUIP : 52|1@1+ (1,0) [0|1] "" EMS,SCC - SG_ PBRAKE_ACT : 53|1@1+ (1,0) [0|1] "" EMS,SCC - SG_ ACC_REQ : 54|1@1+ (1,0) [0|1] "" EMS - SG_ DriverBraking : 55|1@1+ (1,0) [0|1] "" EMS,SCC - SG_ CF_VSM_Coded : 56|1@1+ (1,0) [0|1] "" SCC - SG_ CF_VSM_Avail : 57|2@1+ (1,0) [0|3] "" CLU,SCC - SG_ CF_VSM_Handshake : 59|1@1+ (1,0) [0|1] "" SCC - SG_ CF_DriBkeStat : 60|1@1+ (1,0) [0|1] "" SCC - SG_ CF_VSM_ConfSwi : 61|2@1+ (1,0) [0|3] "" SCC - SG_ AEB_EQUIP : 63|1@1+ (1,0) [0|1] "" SCC - -BO_ 1427 TPMS11: 6 BCM - SG_ TPMS_W_LAMP : 0|2@1+ (1,0) [0|3] "" CLU,CUBIS,HUD,IBOX,CLU,CUBIS,HUD,IBOX - SG_ TREAD_W_LAMP : 2|2@1+ (1,0) [0|3] "" CLU,CUBIS,HUD,IBOX,CLU,CUBIS,HUD,IBOX - SG_ POS_FL_W_LAMP : 4|1@1+ (1,0) [0|1] "" CLU,CUBIS,HUD,IBOX - SG_ POS_FR_W_LAMP : 5|1@1+ (1,0) [0|1] "" CLU,CUBIS,HUD,IBOX - SG_ POS_RL_W_LAMP : 6|1@1+ (1,0) [0|1] "" CLU,CUBIS,HUD,IBOX - SG_ POS_RR_W_LAMP : 7|1@1+ (1,0) [0|1] "" CLU,CUBIS,HUD,IBOX - SG_ STATUS_TPMS : 8|3@1+ (1,0) [0|0] "" CLU - SG_ UNIT : 11|2@1+ (1,0) [0|3] "" CLU - SG_ PRESSURE_FL : 16|8@1+ (1,0) [0|255] "" CLU - SG_ PRESSURE_FR : 24|8@1+ (1,0) [0|255] "" CLU - SG_ PRESSURE_RL : 32|8@1+ (1,0) [0|255] "" CLU - SG_ PRESSURE_RR : 40|8@1+ (1,0) [0|255] "" CLU - -BO_ 915 TCS12: 4 ESC - SG_ SA_COUNT : 0|16@1+ (2,-32768) [-32768|98302] "" _4WD,ACU,MDPS - SG_ SA_Z_COUNT : 16|15@1+ (2,-32768) [-32768|32766] "" _4WD,ACU,MDPS - SG_ SA_Z_FLAG : 31|1@1+ (1,0) [0|1] "" _4WD,ACU,MDPS - -BO_ 1170 EMS19: 8 EMS - SG_ CF_Ems_BrkReq : 0|1@1+ (1,0) [0|1] "" ESC,IBOX,TCU - SG_ CF_Ems_DnShftReq : 1|4@1+ (1,0) [0|14] "" IBOX,TCU - SG_ CF_Ems_RepModChk : 5|2@1+ (1,0) [0|3] "" IBOX - SG_ CF_Ems_AAFOpenReq : 7|1@1+ (1,0) [0|1] "" AAF,IBOX - SG_ CF_Ems_DecelReq : 8|12@1+ (0.001,-4.094) [-4.094|0] "m/s^2" ESC,IBOX,TCU - SG_ CR_Ems_BstPre : 20|12@1+ (1.322,0) [0|4094] "hPa" CLU,IBOX - SG_ CR_Ems_EngOilTemp : 32|8@1+ (0.75,-40) [0|254] "deg" CLU,IBOX - SG_ DPF_LAMP_STAT : 40|2@1+ (1,0) [0|3] "" CLU,IBOX - SG_ BAT_LAMP_STAT : 42|1@1+ (1,0) [0|1] "" CLU,IBOX - SG_ CF_Ems_ModeledAmbTemp : 48|8@1+ (0.5,-41) [-41|85.5] "deg" AAF,IBOX - SG_ CF_Ems_OPSFail : 56|1@1+ (1,0) [0|1] "" CLU,IBOX - SG_ CF_Ems_AliveCounterEMS9 : 58|2@1+ (1,0) [0|3] "" AAF,ABS,CUBIS,ECS,EPB,IBOX,MDPS,REA,SCC,SMK,TCU - SG_ CF_Ems_ChecksumEMS9 : 60|4@1+ (1,0) [0|15] "" AAF,ABS,CUBIS,ECS,EPB,IBOX,MDPS,REA,SCC,SMK,TCU - -BO_ 1425 AFLS11: 2 AFLS - SG_ AFLS_STAT : 1|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Afls_TrfChgStat : 3|1@1+ (1,0) [0|1] "" CLU - SG_ CF_Afls_LedHLStat : 4|2@1+ (1,0) [0|3] "" CLU - -BO_ 912 SPAS11: 7 SPAS - SG_ CF_Spas_Stat : 0|4@1+ (1,0) [0|15] "" ESC,MDPS - SG_ CF_Spas_TestMode : 4|2@1+ (1,0) [0|3] "" MDPS - SG_ CR_Spas_StrAngCmd : 8|16@1- (0.1,0) [-3276.8|3276.7] "" MDPS - SG_ CF_Spas_BeepAlarm : 24|4@1+ (1,0) [0|15] "" CLU - SG_ CF_Spas_Mode_Seq : 28|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Spas_AliveCnt : 32|8@1+ (1,0) [0|255] "" MDPS - SG_ CF_Spas_Chksum : 40|8@1+ (1,0) [0|255] "" MDPS - SG_ CF_Spas_PasVol : 48|3@1+ (1,0) [0|7] "" CGW,CLU - -BO_ 1168 EPB11: 7 EPB - SG_ EPB_I_LAMP : 0|4@1+ (1,0) [0|15] "" BCM,CLU,CUBIS,ESC,IBOX - SG_ EPB_F_LAMP : 4|2@1+ (1,0) [0|3] "" CLU,CUBIS,ESC,IBOX - SG_ EPB_ALARM : 6|2@1+ (1,0) [0|3] "" CLU,ESC - SG_ EPB_CLU : 8|8@1+ (1,0) [0|255] "" CLU,ESC - SG_ EPB_SWITCH : 16|2@1+ (1,0) [0|3] "" ESC,SCC - SG_ EPB_RBL : 18|1@1+ (1,0) [0|1] "" EMS,ESC - SG_ EPB_STATUS : 19|3@1+ (1,0) [0|7] "" CLU,EMS,ESC,SCC,TCU - SG_ EPB_FRC_ERR : 22|2@1+ (1,0) [0|3] "" EMS,ESC,SCC,TCU - SG_ EPB_DBF_STAT : 24|1@1+ (1,0) [0|1] "" ESC - SG_ ESP_ACK : 25|1@1+ (1,0) [0|1] "" ESC - SG_ EPB_DBF_REQ : 26|1@1+ (1,0) [0|1] "" ESC - SG_ EPB_FAIL : 29|3@1+ (1,0) [0|7] "" ESC,SCC - SG_ EPB_FORCE : 32|12@1+ (1,-1000) [-1000|3000] "" ESC - SG_ EPB_DBF_DECEL : 48|8@1+ (0.01,0) [0|2.54] "g" ESC - -BO_ 399 EMS_H12: 8 EMS - SG_ R_TqAcnApvC : 0|8@1+ (0.2,0) [0|51] "Nm" DATC,IBOX - SG_ R_PAcnC : 8|8@1+ (125,0) [0|31875] "hPa" DATC,IBOX - SG_ TQI_B : 16|8@1+ (0.390625,0) [0|99.609375] "%" ABS,ESC,IBOX - SG_ SLD_VS : 24|8@1+ (1,0) [0|255] "km/h" CLU,IBOX - SG_ CF_CdaStat : 32|3@1+ (1,0) [0|7] "" AEMC,IBOX,TCU - SG_ CF_Ems_IsgStat : 35|3@1+ (1,0) [0|7] "" ABS,BCM,CLU,DATC,EPB,ESC,IBOX,LDWS_LKAS,MDPS,SMK,TCU - SG_ CF_Ems_OilChg : 38|1@1+ (1,0) [0|1] "" CLU,IBOX - SG_ CF_Ems_EtcLimpMod : 39|1@1+ (1,0) [0|1] "" CLU,IBOX - SG_ R_NEngIdlTgC : 40|8@1+ (10,0) [0|2550] "rpm" DATC,IBOX,TCU - SG_ CF_Ems_UpTarGr : 48|1@1+ (1,0) [0|1] "" CLU,IBOX - SG_ CF_Ems_DownTarGr : 49|1@1+ (1,0) [0|1] "" CLU,IBOX - SG_ CF_Ems_DesCurGr : 50|4@1+ (1,0) [0|15] "" CLU,IBOX - SG_ CF_Ems_SldAct : 54|1@1+ (1,0) [0|1] "" CLU,IBOX - SG_ CF_Ems_SldPosAct : 55|1@1+ (1,0) [0|1] "" CLU,IBOX - SG_ CF_Ems_HPresStat : 56|1@1+ (1,0) [0|1] "" IBOX,TCU - SG_ CF_Ems_IsgBuz : 57|1@1+ (1,0) [0|1] "" CLU,IBOX - SG_ CF_Ems_IdlStpFCO : 58|1@1+ (1,0) [0|1] "" CLU,IBOX - SG_ CF_Ems_FCopen : 59|1@1+ (1,0) [0|1] "" CLU,IBOX - SG_ CF_Ems_ActEcoAct : 60|1@1+ (1,0) [0|1] "" CLU,IBOX,TCU - SG_ CF_Ems_EngRunNorm : 61|1@1+ (1,0) [0|1] "" ABS,ESC,IBOX,TCU - SG_ CF_Ems_IsgStat2 : 62|2@1+ (2,0) [0|3] "" CLU,IBOX,TCU - -BO_ 1419 LCA11: 8 LCA - SG_ CF_Lca_Stat : 0|4@1+ (1,0) [0|15] "" BCM,CLU - SG_ CF_Rcta_Stat : 4|4@1+ (1,0) [0|15] "" BCM,CLU - SG_ CF_Lca_IndLeft : 8|2@1+ (1,0) [0|3] "" BCM,CLU - SG_ CF_Rcw_Stat : 10|4@1+ (1,0) [0|15] "" BCM,CLU - SG_ CF_RCW_Warning : 14|2@1+ (1,0) [0|3] "" BCM,CLU - SG_ CF_Lca_IndRight : 16|2@1+ (1,0) [0|3] "" BCM,CLU - SG_ CF_Lca_SndWan_Stat : 18|2@1+ (1,0) [0|3] "" BCM,CLU - SG_ CF_FR_SndWan : 20|1@1+ (1,0) [0|1] "" BCM,CLU - SG_ CF_FL_SndWan : 21|1@1+ (1,0) [0|1] "" BCM,CLU - SG_ CF_RR_SndWan : 22|1@1+ (1,0) [0|1] "" BCM,CLU - SG_ CF_RL_SndWan : 23|1@1+ (1,0) [0|1] "" BCM,CLU - SG_ CF_Lca_IndBriLeft : 24|8@1+ (1,0) [0|255] "" BCM,CLU - SG_ CF_Lca_IndBriRight : 32|8@1+ (1,0) [0|255] "" BCM,CLU - SG_ CF_RCTA_IndBriLeft : 40|8@1+ (1,0) [0|255] "" BCM,CLU - SG_ CF_RCTA_IndBriRight : 48|8@1+ (1,0) [0|255] "" BCM,CLU - SG_ CF_RCTA_IndLeft : 56|2@1+ (1,0) [0|3] "" BCM,CLU - SG_ CF_RCTA_IndRight : 58|2@1+ (1,0) [0|3] "" BCM,CLU - SG_ CF_SndWarnForClu : 60|1@1+ (1,0) [0|1] "" CLU - -BO_ 906 ABS11: 8 ABS - SG_ ABS_DEF : 0|1@1+ (1,0) [0|1] "" _4WD,ACU,EMS,SPAS,TCU - SG_ EBD_DEF : 1|1@1+ (1,0) [0|1] "" _4WD,EMS,SPAS,TCU - SG_ ABS_ACT : 2|1@1+ (1,0) [0|1] "" _4WD,ACU,EPB,SPAS,TCU - SG_ ABS_W_LAMP : 3|1@1+ (1,0) [0|1] "" _4WD,CLU,CUBIS,MTS,TMU - SG_ EBD_W_LAMP : 4|1@1+ (1,0) [0|1] "" _4WD,CLU - SG_ ABS_DIAG : 5|1@1+ (1,0) [0|1] "" _4WD,CLU - SG_ ESS_STAT : 6|2@1+ (1,0) [0|3] "" _4WD,BCM,CLU,EMS - -BO_ 903 WHL_PUL11: 6 ABS - SG_ WHL_PUL_FL : 0|8@1+ (0.5,0) [0|127.5] "pulse count" CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS - SG_ WHL_PUL_FR : 8|8@1+ (0.5,0) [0|127.5] "pulse count" CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS - SG_ WHL_PUL_RL : 16|8@1+ (0.5,0) [0|127.5] "pulse count" CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS - SG_ WHL_PUL_RR : 24|8@1+ (0.5,0) [0|127.5] "pulse count" CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS - SG_ WHL_DIR_FL : 32|2@1+ (1,0) [0|3] "" EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS - SG_ WHL_DIR_FR : 34|2@1+ (1,0) [0|3] "" EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS - SG_ WHL_DIR_RL : 36|2@1+ (1,0) [0|3] "" EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS - SG_ WHL_DIR_RR : 38|2@1+ (1,0) [0|3] "" EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS - SG_ WHL_PUL_Chksum : 40|8@1+ (1,0) [0|255] "" EPB,SPAS,TPMS,EPB,LCA,LDWS_LKAS,SPAS,TPMS - -BO_ 1415 TMU11: 8 IBOX - SG_ CF_Tmu_VehSld : 0|1@1+ (1,0) [0|1] "" EMS - SG_ CF_Tmu_VehImmo : 1|1@1+ (1,0) [0|1] "" EMS - SG_ CF_Tmu_ReqRepCnd : 2|2@1+ (1,0) [0|3] "" EMS - SG_ CF_Tmu_AirconCtr : 4|1@1+ (1,0) [0|1] "" DATC - SG_ CF_Tmu_TempMd : 5|1@1+ (1,0) [0|1] "" DATC - SG_ CF_Tmu_TempSet : 6|16@1+ (1,0) [0|20] "" DATC - SG_ CF_Tmu_DefrostCtr : 22|1@1+ (1,0) [0|1] "" DATC,FATC - SG_ CF_Tmu_AliveCnt1 : 56|4@1+ (1,0) [0|15] "" EMS - -BO_ 902 WHL_SPD11: 8 ABS - SG_ WHL_SPD_FL : 0|14@1+ (0.03125,0) [0|511.96875] "km/h" _4WD,AFLS,AHLS,AVM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS - SG_ WHL_SPD_FR : 16|14@1+ (0.03125,0) [0|511.96875] "km/h" _4WD,ACU,AFLS,AHLS,AVM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS - SG_ WHL_SPD_RL : 32|14@1+ (0.03125,0) [0|511.96875] "km/h" _4WD,AFLS,AHLS,AVM,BCM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,BCM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS - SG_ WHL_SPD_RR : 48|14@1+ (0.03125,0) [0|511.96875] "km/h" _4WD,AFLS,AHLS,AVM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS - SG_ WHL_SPD_AliveCounter_LSB : 14|2@1+ (1,0) [0|15] "" _4WD,EMS,LPI,TCU,TMU - SG_ WHL_SPD_AliveCounter_MSB : 30|2@1+ (1,0) [0|15] "" _4WD,EMS,LPI,TCU,TMU - SG_ WHL_SPD_Checksum_LSB : 46|2@1+ (1,0) [0|15] "" _4WD,EMS,LPI,TCU,TMU - SG_ WHL_SPD_Checksum_MSB : 62|2@1+ (1,0) [0|15] "" _4WD,EMS,LPI,TCU,TMU - -BO_ 1414 EVP11: 3 EVP - SG_ CF_Evp_Stat : 0|1@1+ (1,0) [0|1] "" CLU - -BO_ 1412 AAF11: 8 AAF - SG_ CF_Aaf_ActFlapStatus : 0|2@1+ (1,0) [0|3] "" AAF_Tester - SG_ CF_Aaf_ModeStatus : 2|3@1+ (1,0) [0|7] "" AAF_Tester - SG_ CF_Aaf_WrnLamp : 5|1@1+ (1,0) [0|1] "" CLU - SG_ CF_Aaf_ErrStatus : 6|10@1+ (1,0) [0|1023] "" AAF_Tester,EMS - SG_ CF_Aaf_OpenRqSysAct : 16|8@1+ (1,0) [0|255] "" AAF_Tester - SG_ CF_Aaf_PStatus : 24|8@1+ (1,0) [0|100] "%" AAF_Tester - SG_ CF_Aaf_OpenRqSysSol : 32|8@1+ (1,0) [0|255] "" AAF_Tester - SG_ CF_Aaf_SolFlapStatus : 40|2@1+ (1,0) [0|3] "" AAF_Tester - SG_ CF_Aaf_MilOnReq : 42|1@1+ (1,0) [0|1] "" EMS - -BO_ 900 EMS17: 8 EMS - SG_ CF_Ems_PkpCurMSV : 0|8@1+ (1,0) [0|255] "" DI_BOX - SG_ CF_Ems_HolCurMSV : 8|8@1+ (1,0) [0|255] "" DI_BOX - SG_ CF_Ems_InjVBnkAct : 16|8@1+ (1,0) [0|255] "" DI_BOX - SG_ CF_Ems_InjVActSet : 24|8@1+ (1,0) [0|255] "" DI_BOX - SG_ CF_Ems_DiagFulHDEV : 32|1@1+ (1,0) [0|1] "" DI_BOX - SG_ CF_Ems_SwiOffIC1 : 33|1@1+ (1,0) [0|1] "" DI_BOX - SG_ CF_Ems_SwiOffIC2 : 34|1@1+ (1,0) [0|1] "" DI_BOX - SG_ CF_Ems_DiagReqHDEV : 38|1@1+ (1,0) [0|1] "" DI_BOX - SG_ CR_Ems_DutyCycMSV : 40|8@1+ (0.3921568627,0) [0|100] "%" DI_BOX - SG_ CR_Ems_BatVolRly : 48|8@1+ (0.1,0) [0|25.5] "V" DI_BOX - -BO_ 387 REA11: 8 REA - SG_ CF_EndBst_PwmDuH : 0|1@1+ (1,0) [0|1] "" EMS - SG_ CF_EndBst_PwmDuL : 1|1@1+ (1,0) [0|1] "" EMS - SG_ CF_EndBst_PwmFqOutRng : 2|1@1+ (1,0) [0|1] "" EMS - SG_ CF_EndBst_HbriOverCur : 3|1@1+ (1,0) [0|1] "" EMS - SG_ CF_EndBst_HbriOverTemp : 4|1@1+ (1,0) [0|1] "" EMS - SG_ CF_EndBst_PosSnsKOR : 6|1@1+ (1,0) [0|1] "" EMS - SG_ CF_EndBst_PosSnsOSOR : 7|1@1+ (1,0) [0|1] "" EMS - SG_ CF_EndBst_EepFlt : 8|1@1+ (1,0) [0|1] "" EMS - SG_ CF_EndBst_RomFlt : 9|1@1+ (1,0) [0|1] "" EMS - SG_ CF_EndBst_RamFlt : 10|1@1+ (1,0) [0|1] "" EMS - SG_ CF_EndBst_CanFlt : 11|1@1+ (1,0) [0|1] "" EMS - SG_ CF_EndBst_AgH : 12|1@1+ (1,0) [0|1] "" EMS - SG_ CF_EndBst_AgL : 13|1@1+ (1,0) [0|1] "" EMS - SG_ CF_EndBst_ORVol : 14|1@1+ (1,0) [0|1] "" EMS - SG_ CR_EndBst_ActPos : 16|16@1+ (0.117,0) [1.989|118.053] "" EMS - SG_ CR_EndBst_DemPos : 32|16@1+ (0.117,0) [0|119.691] "" EMS - SG_ CR_EndBst_HbriPwr : 48|16@1+ (0.045,0) [0|99.99] "%" EMS - -BO_ 1411 CUBIS11: 8 CUBIS - SG_ CF_Cubis_HUDisp : 0|4@1+ (1,0) [0|15] "" CLU - -BO_ 899 FATC11: 8 DATC - SG_ CR_Fatc_TqAcnOut : 0|8@1+ (0.2,0) [0|50.8] "Nm" EMS,IBOX - SG_ CF_Fatc_AcnRqSwi : 8|1@1+ (1,0) [0|1] "" AAF,EMS,IBOX - SG_ CF_Fatc_AcnCltEnRq : 9|1@1+ (1,0) [0|1] "" EMS,IBOX - SG_ CF_Fatc_EcvFlt : 10|1@1+ (1,0) [0|1] "" EMS,IBOX - SG_ CF_Fatc_BlwrOn : 11|1@1+ (1,0) [0|1] "" EMS,IBOX - SG_ CF_FATC_Iden : 12|2@1+ (1,0) [0|3] "" EMS,IBOX - SG_ CF_Fatc_BlwrMax : 14|1@1+ (1,0) [0|1] "" CLU,EMS,IBOX - SG_ CF_Fatc_EngStartReq : 15|1@1+ (1,0) [0|1] "" EMS,IBOX - SG_ CF_Fatc_IsgStopReq : 16|1@1+ (1,0) [0|1] "" EMS,IBOX - SG_ CF_Fatc_CtrInf : 17|3@1+ (1,0) [0|7] "" EMS,IBOX - SG_ CF_Fatc_MsgCnt : 20|4@1+ (1,0) [0|15] "" EMS,IBOX - SG_ CR_Fatc_OutTemp : 24|8@1+ (0.5,-40) [-40|60] "deg" BCM,CLU,EMS,IBOX,SPAS,TCU,TPMS - SG_ CR_Fatc_OutTempSns : 32|8@1+ (0.5,-40) [-40|60] "deg" AAF,AHLS,CLU,EMS,IBOX,SPAS,TCU - SG_ CF_Fatc_Compload : 40|3@1+ (1,0) [0|7] "" EMS,IBOX - SG_ CF_Fatc_ActiveEco : 43|1@1+ (1,0) [0|1] "" CLU,IBOX - SG_ CF_Fatc_AutoActivation : 44|1@1+ (1,0) [0|1] "" IBOX - SG_ CF_Fatc_DefSw : 45|1@1+ (1,0) [0|1] "" BCM,IBOX - SG_ CF_Fatc_PtcRlyStat : 46|1@1+ (1,0) [0|1] "" EMS,IBOX - SG_ CF_Fatc_ChkSum : 56|8@1+ (1,0) [0|255] "" EMS,IBOX,SPAS - -BO_ 129 EMS_DCT12: 8 EMS - SG_ CR_Ems_SoakTimeExt : 0|6@1+ (5,0) [0|315] "Min" TCU - SG_ BRAKE_ACT : 6|2@1+ (1,0) [0|3] "" TCU - SG_ CF_Ems_EngOperStat : 8|8@1+ (1,0) [0|255] "" TCU - SG_ CR_Ems_IndAirTemp : 16|8@1+ (0.75,-48) [-48|143.25] "deg" TCU - SG_ CF_Ems_Alive2 : 56|4@1+ (1,0) [0|15] "" TCU - SG_ CF_Ems_ChkSum2 : 60|4@1+ (1,0) [0|15] "" TCU - -BO_ 897 MDPS11: 8 MDPS - SG_ CF_Mdps_WLmp : 0|2@1+ (1,0) [0|3] "" CLU,CUBIS,EMS,IBOX,SPAS - SG_ CF_Mdps_Flex : 2|3@1+ (1,0) [0|3] "" CLU,LDWS_LKAS - SG_ CF_Mdps_FlexDisp : 5|1@1+ (1,0) [0|1] "" CLU - SG_ CF_Mdps_Stat : 7|4@1+ (1,0) [0|15] "" SPAS - SG_ CR_Mdps_DrvTq : 11|12@1+ (0.01,-20.48) [-20.48|20.46] "" SPAS - SG_ CF_Mdps_ALTRequest : 23|1@1+ (1,0) [0|1] "" EMS - SG_ CR_Mdps_StrAng : 24|16@1- (0.1,0) [-3276.8|3276.7] "Deg" SPAS - SG_ CF_Mdps_AliveCnt : 40|8@1+ (1,0) [0|255] "" LDWS_LKAS,SPAS - SG_ CF_Mdps_Chksum : 48|8@1+ (1,0) [0|255] "" LDWS_LKAS,SPAS - SG_ CF_Mdps_SPAS_FUNC : 57|1@1+ (1,0) [0|1] "flag" SPAS - SG_ CF_Mdps_LKAS_FUNC : 58|1@1+ (1,0) [0|1] "flag" LDWS_LKAS - SG_ CF_Mdps_CurrMode : 59|2@1+ (1,0) [0|3] "" LDWS_LKAS - SG_ CF_Mdps_Type : 61|2@1+ (1,0) [0|2] "" LDWS_LKAS,SPAS - -BO_ 896 DI_BOX13: 8 DI_BOX - SG_ CF_DiBox_HPreInjVConfStat : 0|8@1+ (1,0) [0|255] "" EMS - SG_ CF_DiBox_HPreInjVStat1 : 8|8@1+ (1,0) [0|255] "" EMS - SG_ CF_DiBox_HPreInjVStat2 : 16|8@1+ (1,0) [0|255] "" EMS - SG_ CF_DiBox_HPreInjVPkp : 24|8@1+ (1,0) [0|255] "" EMS - SG_ CF_DiBox_HPreInjVBpt : 32|8@1+ (1,0) [0|255] "" EMS - SG_ CF_DiBox_ErrRegFrtMSV : 40|8@1+ (1,0) [0|255] "" EMS - SG_ CF_DiBox_ErrRegSedMSV : 48|8@1+ (1,0) [0|255] "" EMS - SG_ CF_DiBox_SPIErrSedMSV : 56|1@1+ (1,0) [0|1] "" EMS - SG_ CF_DiBox_SPIErrFrtMSV : 57|1@1+ (1,0) [0|1] "" EMS - SG_ CF_DiBox_IDErrSedMSV : 58|1@1+ (1,0) [0|1] "" EMS - SG_ CF_DiBox_IDErrFrtMSV : 59|1@1+ (1,0) [0|1] "" EMS - SG_ CF_DiBox_IniStatMSV : 60|1@1+ (1,0) [0|1] "" EMS - -BO_ 128 EMS_DCT11: 8 EMS - SG_ PV_AV_CAN : 0|8@1+ (0.3906,0) [0|99.603] "%" TCU - SG_ TQ_STND : 8|6@1+ (10,0) [0|630] "Nm" TCU - SG_ F_N_ENG : 14|1@1+ (1,0) [0|1] "" TCU - SG_ F_SUB_TQI : 15|1@1+ (1,0) [0|1] "" TCU - SG_ N : 16|16@1+ (0.25,0) [0|16383.75] "rpm" TCU - SG_ TQI_ACOR : 32|8@1+ (0.390625,0) [0|99.6094] "%" IBOX,TCU - SG_ TQFR : 40|8@1+ (0.390625,0) [0|99.6094] "%" TCU - SG_ TQI : 48|8@1+ (0.390625,0) [0|99.609375] "%" TCU - SG_ CF_Ems_Alive : 56|4@1+ (1,0) [0|15] "" TCU - SG_ CF_Ems_ChkSum : 60|4@1+ (1,0) [0|15] "" TCU - -BO_ 1407 HU_MON_PE_01: 8 CLU - SG_ HU_Type : 0|8@1+ (1,0) [0|255] "" AVM,PGS - -BO_ 127 CGW5: 8 BCM - SG_ C_StopLampLhOpenSts : 0|1@1+ (1,0) [0|1] "" CLU - SG_ C_StopLampRhOpenSts : 1|1@1+ (1,0) [0|1] "" CLU - SG_ C_HMSLOpenSts : 2|1@1+ (1,0) [0|1] "" CLU - SG_ C_HLampLowLhOpenSts : 3|1@1+ (1,0) [0|1] "" CLU - SG_ C_HLampLowRhOpenSts : 4|1@1+ (1,0) [0|1] "" CLU - SG_ C_HLampHighLhOpenSts : 5|1@1+ (1,0) [0|1] "" CLU - SG_ C_HLampHighRhOpenSts : 6|1@1+ (1,0) [0|1] "" CLU - SG_ C_DRLLampLhOpenSts : 7|1@1+ (1,0) [0|1] "" CLU - SG_ C_DRLLampRhOpenSts : 8|1@1+ (1,0) [0|1] "" CLU - SG_ C_RearFOGLhOpenSts : 9|1@1+ (1,0) [0|1] "" CLU - SG_ C_RearFOGRhOpenSts : 10|1@1+ (1,0) [0|1] "" CLU - SG_ C_FrontFOGLhOpenSts : 11|1@1+ (1,0) [0|1] "" CLU - SG_ C_FrontFOGRhOpenSts : 12|1@1+ (1,0) [0|1] "" CLU - SG_ C_RearEXTTailLhOpenSts : 13|1@1+ (1,0) [0|1] "" CLU - SG_ C_RearEXTTailRhOpenSts : 14|1@1+ (1,0) [0|1] "" CLU - SG_ C_FrontEXTTailLhOpenSts : 15|1@1+ (1,0) [0|1] "" CLU - SG_ C_FrontEXTTailRhOpenSts : 16|1@1+ (1,0) [0|1] "" CLU - SG_ C_RearTSIGLhOpenSts : 17|1@1+ (1,0) [0|1] "" CLU - SG_ C_RearTSIGRhOpenSts : 18|1@1+ (1,0) [0|1] "" CLU - SG_ C_FrontTSIGLhOpenSts : 19|1@1+ (1,0) [0|1] "" CLU - SG_ C_FrontTSIGRhOpenSts : 20|1@1+ (1,0) [0|1] "" CLU - SG_ C_SBendingLhOpenSts : 21|1@1+ (1,0) [0|1] "" CLU - SG_ C_SBendingRhOpenSts : 22|1@1+ (1,0) [0|1] "" CLU - SG_ C_LicensePlateLhOpenSts : 23|1@1+ (1,0) [0|1] "" CLU - SG_ C_LicensePlateRhOpenSts : 24|1@1+ (1,0) [0|1] "" CLU - -BO_ 1151 ESP11: 6 ESC - SG_ AVH_STAT : 0|2@1+ (1,0) [0|3] "" EMS,EPB,TCU - SG_ LDM_STAT : 2|1@1+ (1,0) [0|1] "" EPB,TCU - SG_ REQ_EPB_ACT : 3|2@1+ (1,0) [0|3] "" EPB,TCU - SG_ REQ_EPB_STAT : 5|1@1+ (1,0) [0|1] "" EPB - SG_ ECD_ACT : 6|1@1+ (1,0) [0|1] "" EPB - SG_ _4WD_LIM_REQ : 7|1@1+ (1,0) [0|1] "" _4WD,EMS - SG_ ROL_CNT_ESP : 8|8@1+ (1,0) [0|255] "" EPB,TCU - SG_ _4WD_TQC_LIM : 16|16@1+ (1,0) [0|65535] "Nm" _4WD,EMS - SG_ _4WD_CLU_LIM : 32|8@1+ (0.390625,0) [0|99.609375] "%" _4WD,EMS - SG_ _4WD_OPEN : 40|2@1+ (1,0) [0|3] "" _4WD,EMS - SG_ _4WD_LIM_MODE : 42|1@1+ (1,0) [0|1] "" _4WD - -BO_ 1397 HU_AVM_E_00: 8 CLU - SG_ HU_AVM_Cal_Cmd : 0|4@1+ (1,0) [0|15] "" AVM,PGS - SG_ HU_AVM_Cal_Method : 4|2@1+ (1,0) [0|3] "" AVM,PGS - SG_ HU_AVM_Save_Controlpoint : 6|2@1+ (1,0) [0|3] "" AVM,PGS - SG_ HU_AVM_PT_X : 8|12@1+ (1,0) [0|15] "" AVM,PGS - SG_ HU_AVM_RearViewPointOpt : 20|4@1+ (1,0) [0|15] "" AVM,PGS - SG_ HU_AVM_PT_Y : 24|12@1+ (1,0) [0|4095] "" AVM,PGS - SG_ HU_AVM_FrontViewPointOpt : 36|4@1+ (1,0) [0|15] "" AVM,PGS - SG_ HU_AVM_SelectedMenu : 40|5@1+ (1,0) [0|31] "" AVM,PGS - SG_ HU_AVM_CameraOff : 45|2@1+ (1,0) [0|3] "" AVM,PGS - SG_ HU_AVM_Option : 48|4@1+ (1,0) [0|15] "" AVM,PGS - SG_ HU_AVM_CrossLineMove_Cmd : 52|4@1+ (1,0) [0|15] "" AVM,PGS - SG_ HU_AVM_RearView_Option : 56|4@1+ (1,0) [0|15] "" AVM,PGS - SG_ HU_AVM_FrontView_Option : 60|4@1+ (1,0) [0|15] "" AVM,PGS - -BO_ 1395 HU_AVM_E_01: 8 CLU - SG_ HU_PGSSelectedMenu : 0|4@1+ (1,0) [0|15] "" AVM,PGS - SG_ HU_PGSOption : 8|5@1+ (1,0) [0|31] "" AVM,PGS - SG_ HU_AVM_ParkingAssistMenu : 56|4@1+ (1,0) [0|15] "" AVM,PGS - SG_ HU_AVM_ParkingAssistSB : 60|4@1+ (1,0) [0|15] "" AVM,PGS - -BO_ 1393 OPI11: 5 OPI - SG_ CR_Opi_Spd_Rpm : 0|8@1+ (20,0) [0|3500] "rpm" TCU - SG_ CF_Opi_Over_Temp : 8|1@1+ (1,0) [0|1] "" TCU - SG_ CF_Opi_Over_Cur : 9|1@1+ (1,0) [0|1] "" EMS,TCU - SG_ CF_Opi_Over_Vol : 10|1@1+ (1,0) [0|1] "" TCU - SG_ CF_Opi_Hall_Fail : 11|1@1+ (1,0) [0|1] "" EMS,TCU - SG_ CF_Opi_Flt : 12|1@1+ (1,0) [0|1] "" EMS,TCU - SG_ CF_Opi_Motor_Dir : 15|1@1+ (1,0) [0|1] "" TCU - SG_ CF_Opi_Romver : 16|8@1+ (1,0) [0|255] "" TCU - SG_ CF_Opi_PWM_Rate : 24|12@1+ (1,0) [0|100] "%" TCU - -BO_ 625 LPI11: 8 LPI - SG_ FUP_LPG_MMV : 0|8@1+ (128,0) [0|32640] "hPa" EMS - SG_ LV_FUEL_TYPE_BOX : 8|1@1+ (1,0) [0|1] "" EMS - SG_ LV_BFS_IN_PROGRESS : 9|1@1+ (1,0) [0|1] "" EMS - SG_ LV_GAS_OK : 10|1@1+ (1,0) [0|1] "" EMS - SG_ LV_FUP_ENA_THD : 11|1@1+ (1,0) [0|1] "" BCM,CLU,EMS,SMK - SG_ LPI_OBD : 12|4@1+ (1,0) [0|15] "" EMS - SG_ ERR_GAS : 16|8@1+ (1,0) [0|255] "" EMS - SG_ FAC_TI_GAS_COR : 24|16@1+ (0.0000305,0) [0|1.9988175] "" EMS - SG_ FTL_AFU : 40|8@1+ (0.392,0) [0|99.96] "%" EMS - SG_ BFS_CYL : 48|8@1+ (1,0) [0|6] "Cyl Nr." EMS - SG_ LV_PRE_CDN_LEAK : 56|1@1+ (1,0) [0|1] "" EMS - SG_ LV_CONF_INJECTION_DELAY : 57|1@1+ (1,0) [0|1] "" EMS - SG_ LV_LPG_SW_DRIVER_REQ : 58|1@1+ (1,0) [0|1] "" EMS - -BO_ 356 VSM11: 4 ESC - SG_ CR_Esc_StrTqReq : 0|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm" MDPS - SG_ CF_Esc_Act : 12|1@1+ (1,0) [0|1] "" LDWS_LKAS,MDPS - SG_ CF_Esc_CtrMode : 13|3@1+ (1,0) [0|7] "" MDPS - SG_ CF_Esc_Def : 16|1@1+ (1,0) [0|1] "" MDPS - SG_ CF_Esc_AliveCnt : 17|4@1+ (1,0) [0|15] "" LDWS_LKAS,MDPS - SG_ CF_Esc_Chksum : 24|8@1+ (1,0) [0|255] "" LDWS_LKAS,MDPS - -BO_ 1379 PGS_HU_PE_01: 8 PGS - SG_ PGS_State : 0|4@1+ (1,0) [0|15] "" CLU - SG_ PGS_ParkGuideState : 8|5@1+ (1,0) [0|31] "" CLU - SG_ PGS_Option : 16|5@1+ (1,0) [0|31] "" CLU - SG_ PGS_Version : 32|16@1+ (1,0) [0|65535] "" CLU - -BO_ 354 TCU_DCT13: 3 TCU - SG_ Clutch_Driving_Tq : 0|10@1+ (1,-512) [0|0] "Nm" ESC - SG_ Cluster_Engine_RPM : 10|13@1+ (0.9766,0) [0|0] "" CLU - SG_ Cluster_Engine_RPM_Flag : 23|1@1+ (1,0) [0|0] "" CLU - -BO_ 1378 HUD11: 4 HUD - SG_ CF_Hud_HeightStaus : 0|5@1+ (1,0) [0|31] "" CLU - SG_ CF_Hud_PBackStatus : 6|2@1+ (1,0) [0|0] "" BCM,CLU - SG_ CF_Hud_Brightness : 8|5@1+ (1,0) [0|31] "" CLU - -BO_ 608 EMS16: 8 EMS - SG_ GLOW_STAT : 24|1@1+ (1,0) [0|1] "" BCM,CLU,IBOX,SMK - SG_ CRUISE_LAMP_M : 25|1@1+ (1,0) [0|1] "" CLU,IBOX,TCU - SG_ CRUISE_LAMP_S : 26|1@1+ (1,0) [0|1] "" CLU,IBOX,TCU - SG_ PRE_FUEL_CUT_IN : 27|1@1+ (1,0) [0|1] "" IBOX,TCU - SG_ SOAK_TIME_ERROR : 31|1@1+ (1,0) [0|1] "" DATC,EPB,IBOX,TCU - SG_ TQI_MAX : 40|8@1+ (0.390625,0) [0|99.609375] "%" ESC,IBOX,TCU - SG_ SPK_TIME_CUR : 48|8@1+ (0.375,-35.625) [-35.625|60] "" IBOX,TCU - SG_ Checksum : 56|4@1+ (1,0) [0|15] "" ECS,IBOX,LDWS_LKAS,MDPS,SCC - SG_ AliveCounter : 60|2@1+ (1,0) [0|3] "" IBOX,LDWS_LKAS,MDPS,SCC - SG_ CF_Ems_AclAct : 62|2@1+ (1,0) [0|3] "" IBOX,SCC - SG_ TQI : 8|8@1+ (1.7,0) [0|440] "%" ESC,IBOX,TCU - SG_ TQI_MIN : 0|8@1+ (1.7,0) [0|99.609375] "nm" ESC,IBOX,TCU - SG_ TQI_TARGET : 16|8@1+ (1.7,0) [0|440] "nm" EPB,ESC,IBOX,TCU - SG_ ENG_STAT : 28|3@1+ (1,0) [0|7] "" ABS,AHLS,AVM,BCM,CLU,EPB,ESC,EVP,FPCM,IBOX,LCA,LDWS_LKAS,MDPS,SCC,SMK,TCU - SG_ SOAK_TIME : 32|8@1+ (1,0) [0|255] "Min" _4WD,DATC,EPB,IBOX,TCU - -BO_ 1371 AVM_HU_PE_00: 8 AVM - SG_ AVM_View : 0|5@1+ (1,0) [0|31] "" CLU - SG_ AVM_ParkingAssist_BtnSts : 5|3@1+ (1,0) [0|7] "" CLU - SG_ AVM_Display_Message : 8|8@1+ (1,0) [0|255] "" CLU - SG_ AVM_Popup_Msg : 16|4@1+ (1,0) [0|15] "" CLU - SG_ AVM_Ready : 20|4@1+ (1,0) [0|15] "" CLU - SG_ AVM_ParkingAssist_Step : 24|4@1+ (1,0) [0|15] "" CLU - SG_ AVM_FrontBtn_Type : 28|4@1+ (1,0) [0|15] "" CLU - SG_ AVM_Option : 32|4@1+ (1,0) [0|15] "" CLU - SG_ AVM_HU_FrontViewPointOpt : 36|4@1+ (1,0) [0|15] "" CLU - SG_ AVM_HU_RearView_Option : 40|4@1+ (1,0) [0|15] "" CLU - SG_ AVM_HU_FrontView_Option : 44|4@1+ (1,0) [0|15] "" CLU - SG_ AVM_Version : 48|16@1+ (1,0) [0|65535] "" CLU - -BO_ 1370 HU_AVM_PE_00: 8 CLU - SG_ HU_AVM_Status : 0|2@1+ (1,0) [0|3] "" AVM,PGS - -BO_ 1369 CGW4: 8 BCM - SG_ CF_Gway_MemoryP1Cmd : 0|1@1+ (1,0) [0|1] "" CLU - SG_ CF_Gway_MemoryP2Cmd : 1|1@1+ (1,0) [0|1] "" CLU - SG_ CF_Gway_PBackP1Cmd : 2|1@1+ (1,0) [0|1] "" CLU - SG_ CF_Gway_PBackP2Cmd : 3|1@1+ (1,0) [0|1] "" CLU - SG_ CF_Gway_StrgWhlHeatedState : 4|1@1+ (1,0) [0|1] "" CLU - SG_ CF_Gway_PBackStopCmd : 5|1@1+ (1,0) [0|1] "" CLU,HUD - SG_ CF_Gway_StaticBendLhAct : 6|1@1+ (1,0) [0|1] "" CLU - SG_ CF_Gway_StaticBendRhAct : 7|1@1+ (1,0) [0|1] "" CLU - SG_ CF_Gway_DrvWdwStat : 8|1@1+ (1,0) [0|1] "" CLU - SG_ CF_Gway_RLWdwState : 9|1@1+ (1,0) [0|1] "" CLU - SG_ CF_Gway_RRWdwState : 10|1@1+ (1,0) [0|1] "" CLU - SG_ CF_Gway_AstWdwStat : 11|1@1+ (1,0) [0|1] "" CLU - SG_ CF_Gway_MemoryEnable : 12|1@1+ (1,0) [0|1] "" CLU - SG_ CF_Gway_PBACKStopCmd : 13|1@1+ (1,0) [0|1] "" CLU - SG_ CF_Gway_PBACKStop : 14|1@1+ (1,0) [0|1] "" CLU,HUD - SG_ CF_Gway_IMSBuzzer : 15|1@1+ (1,0) [0|1] "" CLU - SG_ CF_Gway_DrvSeatBeltInd : 36|2@1+ (1,0) [0|3] "" CLU,Dummy - SG_ CF_Gway_AstSeatBeltInd : 38|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Gway_RCSeatBeltInd : 40|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Gway_RLSeatBeltInd : 42|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Gway_RRSeatBeltInd : 44|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Gway_RrWiperHighSw : 46|1@1+ (1,0) [0|1] "" CLU - SG_ CF_Gway_RrWiperLowSw : 47|1@1+ (1,0) [0|1] "" CLU - -BO_ 1367 EngFrzFrm12: 8 EMS - SG_ PID_06h : 0|8@1+ (0.78125,-100) [-100|99.22] "%" AAF,IBOX,TCU - SG_ PID_07h : 8|8@1+ (0.78125,-100) [-100|99.22] "%" AAF,IBOX,TCU - SG_ PID_08h : 16|8@1+ (0.78125,-100) [-100|99.22] "%" AAF,IBOX,TCU - SG_ PID_09h : 24|8@1+ (0.78125,-100) [-100|99.22] "%" AAF,IBOX,TCU - SG_ PID_0Bh : 32|8@1+ (1,0) [0|255] "kPa" AAF,IBOX,TCU - SG_ PID_23h : 40|16@1+ (10,0) [0|655350] "kPa" AAF,IBOX,TCU - -BO_ 1366 EngFrzFrm11: 8 EMS - SG_ PID_04h : 0|8@1+ (0.3921568627,0) [0|100] "%" AAF,TCU - SG_ PID_05h : 8|8@1+ (1,-40) [-40|215] "deg" AAF,TCU - SG_ PID_0Ch : 16|16@1+ (0.25,0) [0|16383.75] "rpm" AAF,TCU - SG_ PID_0Dh : 32|8@1+ (1,0) [0|255] "km/h" AAF,TCU - SG_ PID_11h : 40|8@1+ (0.3921568627,0) [0|100] "%" AAF,TCU - SG_ PID_03h : 48|16@1+ (1,0) [0|65535] "" AAF,TCU - -BO_ 1365 FPCM11: 8 FPCM - SG_ CR_Fpcm_LPActPre : 0|8@1+ (3.137254902,0) [0|800] "kPa" EMS - SG_ CF_Fpcm_LPPumpOverCur : 8|1@1+ (1,0) [0|1] "" EMS - SG_ CF_Fpcm_PreSnrHi : 9|1@1+ (1,0) [0|1] "" EMS - SG_ CF_Fpcm_PreSnrDisc : 10|1@1+ (1,0) [0|1] "" EMS - SG_ CF_Fpcm_PreSnrShort : 11|1@1+ (1,0) [0|1] "" EMS - SG_ CF_Fpcm_LPPumpDiscShort : 12|1@1+ (1,0) [0|1] "" EMS - SG_ CF_Fpcm_LP_System_Error : 13|1@1+ (1,0) [0|1] "" EMS - SG_ CF_Fpcm_PreSnrSigErr : 14|1@1+ (1,0) [0|1] "" EMS - SG_ CF_Fpcm_LPCtrCirFlt : 15|1@1+ (1,0) [0|1] "" EMS - -BO_ 852 LVR11: 7 LVR - SG_ CF_Lvr_GearInf : 0|4@1+ (1,0) [0|15] "" CLU,TCU - SG_ CF_Lvr_PRelStat : 4|1@1+ (1,0) [0|1] "" BCM,CLU,SMK,TCU - SG_ CF_Lvr_BkeAct : 5|1@1+ (1,0) [0|1] "" TCU - SG_ CF_Lvr_NFnStat : 6|1@1+ (1,0) [0|1] "" CLU - SG_ CF_Lvr_PosInf : 8|4@1+ (1,0) [0|15] "" TCU - SG_ CF_Lvr_PosCpl : 12|4@1+ (1,0) [0|15] "" TCU - SG_ CF_Lvr_UlkButStat : 18|2@1+ (1,0) [0|3] "" TCU - SG_ CF_Lvr_PNStat : 20|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Lvr_ShtLkStat : 24|4@1+ (1,0) [0|15] "" TCU - SG_ CF_Lvr_ShfErrInf : 28|20@1+ (1,0) [0|8191] "" CLU,TCU - SG_ CF_Lvr_AC : 48|4@1+ (1,0) [0|15] "" TCU - SG_ CF_Lvr_CS : 52|4@1+ (1,0) [0|15] "" TCU - -BO_ 1363 CGW2: 8 BCM - SG_ CF_Gway_GwayDiagState : 0|1@1+ (1,0) [0|3] "" CLU,Dummy - SG_ CF_Gway_DDMDiagState : 1|1@1+ (1,0) [0|1] "" CLU,Dummy - SG_ CF_Gway_SCMDiagState : 2|1@1+ (1,0) [0|1] "" CLU,Dummy - SG_ CF_Gway_PSMDiagState : 3|1@1+ (1,0) [0|1] "" CLU,Dummy - SG_ CF_Gway_SJBDiagState : 4|1@1+ (1,0) [0|1] "" CLU,Dummy - SG_ CF_Gway_IPMDiagState : 5|1@1+ (1,0) [0|1] "" CLU,Dummy - SG_ CF_Gway_LDMFail : 6|2@1+ (1,0) [0|3] "" CLU,LDWS_LKAS,LDWS_LKAS - SG_ CF_Gway_CLUSwGuiCtrl : 10|3@1+ (1,0) [0|63] "" CLU,Dummy - SG_ CF_Gway_CLUSwGroup : 13|1@1+ (1,0) [0|1] "" CLU,Dummy - SG_ CF_Gway_CLUSwMode : 14|1@1+ (1,0) [0|1] "" CLU,Dummy - SG_ CF_Gway_CLUSwEnter : 15|1@1+ (1,0) [0|1] "" CLU,Dummy - SG_ CF_Gway_AutoLightValue : 16|1@1+ (1,0) [0|1] "" LCA,LCA - SG_ CF_Gway_BrakeFluidSw : 17|1@1+ (1,0) [0|1] "" CLU,Dummy - SG_ CF_Gway_DrvSeatBeltInd : 18|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Gway_AvTail : 20|1@1+ (1,0) [0|3] "" CLU,SNV,SNV - SG_ CF_Gway_RearFogAct : 21|1@1+ (1,0) [0|1] "" CLU,Dummy - SG_ CF_Gway_ExtTailAct : 22|1@1+ (1,0) [0|1] "" AVM,CLU,LCA,PGS,SPAS,AVM,LCA,PGS,SPAS - SG_ CF_Gway_RRDrSw : 23|1@1+ (1,0) [0|1] "" CLU,Dummy - SG_ CF_Gway_RLDrSw : 24|1@1+ (1,0) [0|1] "" CLU,Dummy - SG_ CF_Gway_IntTailAct : 25|1@1+ (1,0) [0|1] "" CLU,Dummy - SG_ CF_Gway_CountryCfg : 26|3@1+ (1,0) [0|7] "" AVM,CLU,PGS,Dummy - SG_ CF_Gway_WiperParkPosition : 32|1@1+ (1,0) [0|1] "" AFLS,EMS,LDWS_LKAS,AFLS,EMS,LDWS_LKAS - SG_ CF_Gway_HLLowLHFail : 33|1@1+ (1,0) [0|1] "" LDWS_LKAS,SNV,LDWS_LKAS,SNV - SG_ CF_Gway_HLLowRHFail : 34|1@1+ (1,0) [0|1] "" LDWS_LKAS,SNV,LDWS_LKAS,SNV - SG_ CF_Gway_ESCLFailWarn : 35|1@1+ (1,0) [0|1] "" CLU,Dummy - SG_ CF_Gway_ESCLNotLockedWarn : 36|1@1+ (1,0) [0|1] "" CLU,Dummy - SG_ CF_Gway_ESCLNotUnlockWarn : 37|1@1+ (1,0) [0|1] "" CLU,Dummy - SG_ CF_Gway_IDoutWarn : 38|1@1+ (1,0) [0|1] "" CLU,Dummy - SG_ CF_Gway_ImmoLp : 40|1@1+ (1,0) [0|3] "" CLU,Dummy - SG_ CF_Gway_BCMRKEID : 41|3@1+ (1,0) [0|7] "" CLU,Dummy - SG_ CF_Gway_VehicleNotPWarn : 44|1@1+ (1,0) [0|1] "" CLU,Dummy - SG_ CF_Gway_DeactivationWarn : 45|1@1+ (1,0) [0|1] "" CLU,Dummy - SG_ CF_Gway_KeyBATDischargeWarn : 46|1@1+ (1,0) [0|1] "" CLU,Dummy - SG_ CF_Gway_SSBWarn : 47|1@1+ (1,0) [0|1] "" CLU,Dummy - SG_ CF_Gway_SMKFobID : 48|3@1+ (1,0) [0|7] "" CLU,Dummy - SG_ CF_Gway_SMKRKECmd : 51|3@1+ (1,0) [0|7] "" CLU,Dummy - SG_ CF_Gway_AutoLightOption : 54|1@1+ (1,0) [0|1] "" CLU - SG_ CF_Gway_SJBDeliveryMode : 55|1@1+ (1,0) [0|1] "" CLU,Dummy - SG_ CF_Gway_KeyoutLp : 56|1@1+ (1,0) [0|1] "" CLU,Dummy - SG_ CF_Gway_SMKDispWarn : 57|4@1+ (1,0) [0|15] "" CLU,Dummy - SG_ CF_Gway_WngBuz : 61|3@1+ (1,0) [0|7] "" CLU,Dummy - -BO_ 339 TCS11: 8 ESC - SG_ TCS_REQ : 0|1@1+ (1,0) [0|1] "" _4WD,EMS,EPB,TCU - SG_ MSR_C_REQ : 1|1@1+ (1,0) [0|1] "" EMS,EPB,SCC,TCU - SG_ TCS_PAS : 2|1@1+ (1,0) [0|1] "" _4WD,CLU,EMS,SCC,SPAS,TCU - SG_ TCS_GSC : 3|1@1+ (1,0) [0|1] "" _4WD,EMS,TCU - SG_ CF_Esc_LimoInfo : 4|2@1+ (1,0) [0|3] "" _4WD,SCC - SG_ ABS_DIAG : 6|1@1+ (1,0) [0|1] "" _4WD,CLU,EMS,EPB - SG_ ABS_DEF : 7|1@1+ (1,0) [0|1] "" _4WD,ACU,ECS,EMS,EPB,SCC,SPAS,TCU - SG_ TCS_DEF : 8|1@1+ (1,0) [0|1] "" _4WD,EMS,EPB,SCC,SPAS,TCU - SG_ TCS_CTL : 9|1@1+ (1,0) [0|1] "" _4WD,EMS,EPB,SCC,SPAS,TCU - SG_ ABS_ACT : 10|1@1+ (1,0) [0|1] "" _4WD,ACU,ECS,EMS,EPB,LDWS_LKAS,SCC,SPAS,TCU - SG_ EBD_DEF : 11|1@1+ (1,0) [0|1] "" _4WD,EMS,EPB,SPAS,TCU - SG_ ESP_PAS : 12|1@1+ (1,0) [0|1] "" _4WD,ACU,CLU,EMS,EPB,LDWS_LKAS,SCC,TCU - SG_ ESP_DEF : 13|1@1+ (1,0) [0|1] "" _4WD,ACU,ECS,EMS,EPB,LDWS_LKAS,SCC,TCU - SG_ ESP_CTL : 14|1@1+ (1,0) [0|1] "" _4WD,ACU,ECS,EMS,EPB,LDWS_LKAS,SCC,SPAS,TCU - SG_ TCS_MFRN : 15|1@1+ (1,0) [0|1] "" EMS,EPB,TCU - SG_ DBC_CTL : 16|1@1+ (1,0) [0|1] "" _4WD,EMS,EPB - SG_ DBC_PAS : 17|1@1+ (1,0) [0|1] "" _4WD,EMS,EPB - SG_ DBC_DEF : 18|1@1+ (1,0) [0|1] "" _4WD,EMS,EPB - SG_ HAC_CTL : 19|1@1+ (1,0) [0|1] "" _4WD,CLU,EMS,EPB,TCU - SG_ HAC_PAS : 20|1@1+ (1,0) [0|1] "" _4WD,CLU,EMS,EPB,TCU - SG_ HAC_DEF : 21|1@1+ (1,0) [0|1] "" _4WD,CLU,EMS,EPB,TCU - SG_ ESS_STAT : 22|2@1+ (1,0) [0|3] "" _4WD,BCM,CLU,EMS,EPB - SG_ TQI_TCS : 24|8@1+ (0.390625,0) [0|99.609375] "%" EMS,EPB,TCU - SG_ TQI_MSR : 32|8@1+ (0.390625,0) [0|99.609375] "%" EMS,EPB,TCU - SG_ TQI_SLW_TCS : 40|8@1+ (0.390625,0) [0|99.609375] "%" EMS,EPB,TCU - SG_ CF_Esc_BrkCtl : 48|1@1+ (1,0) [0|1] "" EMS - SG_ BLA_CTL : 49|2@1+ (1,0) [0|3] "" BCM,CGW,CLU - SG_ AliveCounter_TCS1 : 52|4@1+ (1,0) [0|14] "" EMS,EPB,LDWS_LKAS - SG_ CheckSum_TCS1 : 56|8@1+ (1,0) [0|255] "" EMS,EPB,LDWS_LKAS - -BO_ 1362 SNV11: 4 SNV - SG_ CF_SNV_DisplayControl : 0|2@1+ (1,0) [0|3] "" CLU,HUD - SG_ CF_Snv_BeepWarning : 2|2@1+ (1,0) [0|3] "" CLU,HUD - SG_ CF_Snv_WarningMessage : 4|3@1+ (1,0) [0|7] "" CLU,HUD - SG_ CF_Snv_DetectionEnable : 7|1@1+ (1,0) [0|1] "" BCM,CLU,HUD - SG_ CF_Snv_PedestrianDetect : 8|2@1+ (1,0) [0|3] "" BCM,CLU,HUD - SG_ CF_Snv_IRLampControl : 10|2@1+ (1,0) [0|3] "" BCM,CLU,HUD - -BO_ 593 MDPS12: 8 MDPS - SG_ CR_Mdps_StrColTq : 0|11@1+ (0.0078125,-8) [-8|7.9921875] "Nm" LDWS_LKAS - SG_ CF_Mdps_Def : 11|1@1+ (1,0) [0|1] "" ESC - SG_ CF_Mdps_ToiUnavail : 12|1@1+ (1,0) [0|1] "" LDWS_LKAS - SG_ CF_Mdps_ToiActive : 13|1@1+ (1,0) [0|1] "" LDWS_LKAS - SG_ CF_Mdps_ToiFlt : 14|1@1+ (1,0) [0|1] "" LDWS_LKAS - SG_ CF_Mdps_FailStat : 15|1@1+ (1,0) [0|1] "" LDWS_LKAS - SG_ CF_Mdps_MsgCount2 : 16|8@1+ (1,0) [0|255] "" ESC,LDWS_LKAS - SG_ CF_Mdps_Chksum2 : 24|8@1+ (1,0) [0|255] "" ESC,LDWS_LKAS - SG_ CF_Mdps_SErr : 37|1@1+ (1,0) [0|1] "" ESC - SG_ CR_Mdps_StrTq : 40|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm" ESC - SG_ CR_Mdps_OutTq : 52|12@1+ (0.1,-204.8) [-204.8|204.7] "" ESC,LDWS_LKAS - -BO_ 1360 IAP11: 3 IAP - SG_ CF_Iap_EcoPmodSwi : 0|1@1+ (1,0) [0|1] "" CLU - SG_ CF_Iap_EcoPmodAct : 1|1@1+ (1,0) [0|1] "" CLU - SG_ CF_Iap_ReqWarn : 2|2@1+ (1,0) [0|3] "" CLU - -BO_ 1356 TCU_DCT14: 8 TCU - SG_ Vehicle_Stop_Time : 0|5@1+ (1,0) [0|0] "" CLU - SG_ HILL_HOLD_WARNING : 5|1@1+ (1,0) [0|0] "" CLU - -BO_ 1353 BAT11: 8 EMS - SG_ BAT_SNSR_I : 0|16@1+ (0.01,-327) [-327|328] "A" CGW,CUBIS,IBOX,TMU - SG_ BAT_SOC : 16|8@1+ (1,0) [0|100] "%" CGW,CUBIS,IBOX,TMU - SG_ BAT_SNSR_V : 24|14@1+ (0.001,6) [6|18] "V" CGW,CUBIS,IBOX,TMU - SG_ BAT_SNSR_Temp : 38|9@1- (0.5,-40) [-40|125] "deg" CGW,CUBIS,IBOX,TMU - SG_ BAT_SNSR_State : 47|1@1+ (1,0) [0|1] "" CGW,CUBIS,IBOX,TMU - SG_ BAT_SOH : 48|7@1+ (1,0) [0|100] "%" CGW,CUBIS,IBOX,TMU - SG_ BAT_SNSR_Invalid : 55|1@1+ (1,0) [0|1] "" CGW,CUBIS,IBOX,TMU - SG_ BAT_SOF : 56|7@1+ (0.1,0) [0|12] "V" CGW,CUBIS,IBOX,TMU - SG_ BAT_SNSR_Error : 63|1@1+ (1,0) [0|1] "" CGW,CUBIS,IBOX,TMU - -BO_ 1351 EMS15: 8 EMS - SG_ ECGPOvrd : 0|1@1+ (1,0) [0|1] "" ESC,IBOX,SCC - SG_ QECACC : 1|1@1+ (1,0) [0|1] "" ESC,IBOX - SG_ ECFail : 2|1@1+ (1,0) [0|1] "" ESC,IBOX - SG_ SwitchOffCondExt : 3|1@1+ (1,0) [0|1] "" ESC,IBOX - SG_ BLECFail : 4|1@1+ (1,0) [0|1] "" ESC,IBOX - SG_ CF_Ems_IsaAct : 5|1@1+ (1,0) [0|1] "" CLU - SG_ FA_PV_CAN : 8|8@1+ (0.3906,0) [0|99.2] "%" IBOX,LDWS_LKAS,TCU - SG_ IntAirTemp : 16|8@1+ (0.75,-48) [-48|143.25] "deg" _4WD,ECS,EPB,IBOX,TCU - SG_ STATE_DC_OBD : 24|7@1+ (1,0) [0|127] "" IBOX,TCU - SG_ INH_DC_OBD : 31|1@1+ (1,0) [0|1] "" IBOX,TCU - SG_ CTR_IG_CYC_OBD : 32|16@1+ (1,0) [0|65535] "" ACU,IBOX,TCU - SG_ CTR_CDN_OBD : 48|16@1+ (1,0) [0|65535] "" IBOX,TCU - -BO_ 1350 DI_BOX12: 8 DI_BOX - SG_ CF_DiBox_FrtInjVDiagReg0 : 0|8@1+ (1,0) [0|255] "" EMS - SG_ CF_DiBox_FrtInjVDiagReg1 : 8|8@1+ (1,0) [0|255] "" EMS - SG_ CF_DiBox_FrtInjVDiagReg2 : 16|8@1+ (1,0) [0|255] "" EMS - SG_ CF_DiBox_SedInjVDiagReg0 : 24|8@1+ (1,0) [0|255] "" EMS - SG_ CF_DiBox_SedInjVDiagReg1 : 32|8@1+ (1,0) [0|255] "" EMS - SG_ CF_DiBox_SedInjVDiagReg2 : 40|8@1+ (1,0) [0|255] "" EMS - SG_ CR_DiBox_BatVol : 48|8@1+ (0.1,0) [0|25.5] "V" EMS - SG_ CF_DiBox_SedInjVChg : 56|1@1+ (1,0) [0|1] "" EMS - SG_ CF_DiBox_FrtInjVChg : 57|1@1+ (1,0) [0|1] "" EMS - SG_ CF_DiBox_SedInjVErrSPI : 58|1@1+ (1,0) [0|1] "" EMS - SG_ CF_DiBox_FrtInjVErrSPI : 59|1@1+ (1,0) [0|1] "" EMS - -BO_ 1349 EMS14: 8 EMS - SG_ IMMO_LAMP_STAT : 0|1@1+ (1,0) [0|1] "" CLU,IBOX - SG_ L_MIL : 1|1@1+ (1,0) [0|1] "" CLU,CUBIS,IBOX - SG_ IM_STAT : 2|1@1+ (1,0) [0|1] "" CLU,IBOX - SG_ AMP_CAN : 3|5@1+ (10.731613,458.98) [458.98|791.660003] "mmHg" CLU,IBOX,TCU,TPMS - SG_ BAT_Alt_FR_Duty : 8|8@1+ (0.4,0) [0|100] "%" CGW,CUBIS,IBOX,TMU - SG_ VB : 24|8@1+ (0.1015625,0) [0|25.8984375] "V" CLU,CUBIS,DATC,EPB,FPCM,IBOX - SG_ EMS_VS : 32|12@1+ (0.0625,0) [0|255.875] "km/h" CLU - SG_ TEMP_FUEL : 56|8@1+ (0.75,-48) [-48|143.25] "deg" FPCM - -BO_ 68 DATC11: 8 DATC - SG_ CF_Datc_Type : 0|8@1+ (1,0) [0|255] "" CLU - SG_ CF_Datc_VerMaj : 8|8@1+ (1,0) [0|255] "" CLU - SG_ CF_Datc_VerMin : 16|8@1+ (1,0) [0|255] "" CLU - SG_ CR_Datc_OutTempC : 24|8@1+ (0.5,-41) [-41|86.5] "deg" CLU,FPCM - SG_ CR_Datc_OutTempF : 32|8@1+ (1,-42) [-42|213] "deg" CLU - SG_ CF_Datc_IncarTemp : 40|8@1+ (0.5,-40) [-40|60] "deg" BCM,CLU - -BO_ 67 DATC13: 8 DATC - SG_ CF_Datc_TempDispUnit : 0|2@1+ (1,0) [0|3] "" CLU,IBOX - SG_ CF_Datc_ModDisp : 2|4@1+ (1,0) [0|15] "" CLU - SG_ CF_Datc_IonClean : 6|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Datc_ChgReqDisp : 8|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Datc_IntakeDisp : 10|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Datc_AutoDisp : 12|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Datc_FrDefLed : 14|2@1+ (1,0) [0|3] "" CLU,IBOX - SG_ CF_Datc_AutoDefogBlink : 16|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Datc_ClmScanDisp : 18|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Datc_AqsDisp : 20|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Datc_AcDisp : 22|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Datc_OpSts : 25|3@1+ (1,0) [0|7] "" CLU - SG_ CF_Mtc_MaxAcDisp : 28|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Datc_DualDisp : 30|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Datc_PwrInf : 32|4@1+ (1,0) [0|15] "" CLU - SG_ CF_Datc_RearManual : 38|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Datc_RearAutoDisp : 40|2@1+ (1,0) [0|1] "" CLU - SG_ CF_Datc_RearOffDisp : 42|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Datc_RearClimateScnDisp : 44|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Datc_RearChgReqDisp : 46|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Datc_RearModDisp : 48|4@1+ (1,0) [0|15] "" CLU - SG_ CF_Datc_RearBlwDisp : 52|4@1+ (1,0) [0|15] "" CLU - SG_ CF_Datc_PSModDisp : 56|4@1+ (1,0) [0|15] "" CLU - SG_ CF_Datc_FrontBlwDisp : 60|4@1+ (1,0) [0|15] "" CLU,IBOX - -BO_ 66 DATC12: 8 DATC - SG_ CR_Datc_DrTempDispC : 0|8@1+ (0.5,14) [15|32] "deg" CLU,IBOX - SG_ CR_Datc_DrTempDispF : 8|8@1+ (1,56) [58|90] "��" CLU,IBOX - SG_ CR_Datc_PsTempDispC : 16|8@1+ (0.5,14) [15|32] "deg" CLU,IBOX - SG_ CR_Datc_PsTempDispF : 24|8@1+ (1,56) [58|90] "��" CLU,IBOX - SG_ CR_Datc_RearDrTempDispC : 40|8@1+ (0.5,14) [15|32] "deg" CLU - SG_ CR_Datc_RearDrTempDispF : 48|8@1+ (1,58) [58|90] "��" CLU - SG_ CF_Datc_CO2_Warning : 56|8@1+ (1,0) [0|3] "" CLU - -BO_ 1345 CGW1: 8 BCM - SG_ CF_Gway_IGNSw : 0|3@1+ (1,0) [0|7] "" AVM,CLU,ECS,EMS,EPB,ESC,IBOX,LVR,MDPS,SAS,SCC,ECS,EMS,EPB,ESC,IBOX,LVR,MDPS,SAS,SCC - SG_ CF_Gway_RKECmd : 3|3@1+ (1,0) [0|7] "" CLU,ECS,EMS,IBOX,ECS,EMS,IBOX - SG_ CF_Gway_DrvKeyLockSw : 6|1@1+ (1,0) [0|1] "" ECS,EMS,IBOX,ECS,EMS,IBOX - SG_ CF_Gway_DrvKeyUnlockSw : 7|1@1+ (1,0) [0|1] "" ECS,EMS,IBOX,ECS,EMS,IBOX - SG_ CF_Gway_DrvDrSw : 8|2@1+ (1,0) [0|3] "" CLU,ECS,EMS,EPB,ESC,IBOX,SCC,TCU,ECS,EMS,EPB,ESC,IBOX,SCC,TCU - SG_ CF_Gway_DrvSeatBeltSw : 10|2@1+ (1,0) [0|3] "" EMS,EPB,ESC,IBOX,PSB,TCU,EMS,EPB,ESC,IBOX,PSB,TCU - SG_ CF_Gway_TrunkTgSw : 12|2@1+ (1,0) [0|3] "" CLU,ECS,EMS,EPB,ESC,IBOX,ECS,EMS,EPB,ESC,IBOX - SG_ CF_Gway_AstSeatBeltSw : 14|2@1+ (1,0) [0|3] "" IBOX,PSB,IBOX,PSB - SG_ CF_Gway_SMKOption : 16|1@1+ (1,0) [0|1] "" CLU,EMS,IBOX,EMS,IBOX,SMK - SG_ CF_Gway_HoodSw : 17|2@1+ (1,0) [0|3] "" CLU,EMS,EPB,ESC,IBOX,EMS,EPB,ESC,IBOX - SG_ CF_Gway_TurnSigLh : 19|2@1+ (1,0) [0|3] "" CLU,EMS,IBOX,LCA,LDWS_LKAS,SCC,EMS,IBOX,LCA,LDWS_LKAS,SCC - SG_ CF_Gway_WiperIntT : 21|3@1+ (1,0) [0|7] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS - SG_ CF_Gway_WiperIntSw : 24|1@1+ (1,0) [0|1] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS - SG_ CF_Gway_WiperLowSw : 25|1@1+ (1,0) [0|1] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS - SG_ CF_Gway_WiperHighSw : 26|1@1+ (1,0) [0|1] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS - SG_ CF_Gway_WiperAutoSw : 27|1@1+ (1,0) [0|1] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS - SG_ CF_Gway_RainSnsState : 28|3@1+ (1,0) [0|7] "" AFLS,EMS,IBOX,LDWS_LKAS,AFLS,EMS,ESC,IBOX,LDWS_LKAS - SG_ CF_Gway_HeadLampLow : 31|1@1+ (1,0) [0|1] "" AFLS,CLU,EMS,IBOX,LDWS_LKAS,SNV,AFLS,EMS,IBOX,LDWS_LKAS,SNV - SG_ CF_Gway_HeadLampHigh : 32|1@1+ (1,0) [0|1] "" AFLS,CLU,EMS,IBOX,LDWS_LKAS,AFLS,EMS,IBOX,LDWS_LKAS - SG_ CF_Gway_HazardSw : 33|2@1+ (1,0) [0|3] "" ABS,EMS,ESC,IBOX,LCA,LDWS_LKAS,ABS,EMS,ESC,IBOX,LCA,LDWS_LKAS - SG_ CF_Gway_AstDrSw : 35|1@1+ (1,0) [0|1] "" CLU,IBOX,IBOX - SG_ CF_Gway_DefoggerRly : 36|1@1+ (1,0) [0|1] "" EMS,IBOX,EMS,IBOX - SG_ CF_Gway_ALightStat : 37|1@1+ (1,0) [0|1] "" AFLS,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS - SG_ CF_Gway_LightSwState : 38|2@1+ (1,0) [0|3] "" AFLS,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS - SG_ CF_Gway_Frt_Fog_Act : 40|1@1+ (1,0) [0|1] "" AFLS,CLU,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS - SG_ CF_Gway_TSigRHSw : 41|1@1+ (1,0) [0|1] "" IBOX,LDWS_LKAS,IBOX,LDWS_LKAS - SG_ CF_Gway_TSigLHSw : 42|1@1+ (1,0) [0|1] "" IBOX,LDWS_LKAS,IBOX,LDWS_LKAS - SG_ CF_Gway_DriveTypeOption : 43|1@1+ (1,0) [0|1] "" CLU,IBOX,LDWS_LKAS,IBOX,LDWS_LKAS - SG_ CF_Gway_StarterRlyState : 44|1@1+ (1,0) [0|1] "" EMS,IBOX,EMS,IBOX,SMK - SG_ CF_Gway_PassiveAccessLock : 45|2@1+ (1,0) [0|7] "" CLU,ECS,EMS,IBOX,ECS,EMS,IBOX,SMK - SG_ CF_Gway_WiperMistSw : 47|1@1+ (1,0) [0|1] "" CLU,EMS,IBOX,LDWS_LKAS - SG_ CF_Gway_PassiveAccessUnlock : 48|2@1+ (1,0) [0|7] "" CLU,ECS,EMS,IBOX,ECS,EMS,IBOX,SMK - SG_ CF_Gway_RrSunRoofOpenState : 50|1@1+ (1,0) [0|1] "" CLU,DATC,IBOX - SG_ CF_Gway_PassingSW : 51|1@1+ (1,0) [0|1] "" AFLS,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS - SG_ CF_Gway_HBAControlMode : 52|1@1+ (1,0) [0|1] "" IBOX,LDWS_LKAS,IBOX,LDWS_LKAS - SG_ CF_Gway_HLpHighSw : 53|1@1+ (1,0) [0|1] "" IBOX,LDWS_LKAS,IBOX,LDWS_LKAS - SG_ CF_Gway_InhibitRMT : 54|2@1+ (1,0) [0|3] "" EMS,EPB,ESC,IBOX,LCA,LDWS_LKAS,MDPS,PGS,SCC,SPAS,TPMS,EPB,ESC,IBOX,LCA,LDWS_LKAS,PGS,SCC,SPAS,TPMS - SG_ CF_Gway_RainSnsOption : 56|1@1+ (1,0) [0|1] "" CLU - SG_ C_SunRoofOpenState : 57|1@1+ (1,0) [0|1] "" CLU,DATC,IBOX,DATC,IBOX - SG_ CF_Gway_Ign1 : 58|1@1+ (1,0) [0|1] "" CLU - SG_ CF_Gway_Ign2 : 59|1@1+ (1,0) [0|1] "" CLU - SG_ CF_Gway_ParkBrakeSw : 60|2@1+ (1,0) [0|3] "" CLU,ESC,IBOX,SCC,ESC,IBOX,SCC - SG_ CF_Gway_TurnSigRh : 62|2@1+ (1,0) [0|3] "" CLU,EMS,IBOX,LCA,LDWS_LKAS,SCC,EMS,IBOX,LCA,LDWS_LKAS,SCC - -BO_ 64 DATC14: 8 DATC - SG_ CF_Datc_AqsLevelOut : 0|4@1+ (1,0) [0|3] "" CLU - SG_ CF_Datc_DiagMode : 6|2@1+ (1,0) [0|3] "" CLU - SG_ CR_Datc_SelfDiagCode : 8|8@1+ (1,-1) [0|254] "" CLU - SG_ DATC_SyncDisp : 16|4@1+ (1,0) [0|3] "" CLU - SG_ DATC_OffDisp : 20|2@1+ (1,0) [0|3] "" CLU - SG_ DATC_SmartVentDisp : 22|2@1+ (1,0) [0|3] "" CLU - SG_ DATC_SmartVentOnOffStatus : 24|2@1+ (1,0) [0|3] "" CLU - SG_ DATC_AutoDefogSysOff_Disp : 26|2@1+ (1,0) [0|3] "" CLU - SG_ DATC_ADSDisp : 28|2@1+ (1,0) [0|3] "" CLU - -BO_ 832 LKAS11: 8 LDWS_LKAS - SG_ Byte0 : 0|8@1+ (1,0) [0|3] "" XXX - SG_ Byte1 : 8|8@1+ (1,0) [0|3] "" XXX - SG_ Byte2 : 16|8@1+ (1,0) [0|3] "" XXX - SG_ Byte3 : 24|8@1+ (1,0) [0|3] "" XXX - SG_ Byte4 : 32|8@1+ (1,0) [0|3] "" XXX - SG_ Byte5 : 40|8@1+ (1,0) [0|3] "" XXX - SG_ Byte6 : 48|8@1+ (1,0) [0|3] "" XXX - SG_ Byte7 : 56|8@1+ (1,0) [0|3] "" XXX - - - -BO_ 1342 LKAS12: 6 LDWS_LKAS - SG_ Byte0 : 0|8@1+ (1,0) [0|3] "" XXX - SG_ Byte1 : 8|8@1+ (1,0) [0|3] "" XXX - SG_ Byte2 : 16|8@1+ (1,0) [0|3] "" XXX - SG_ Byte3 : 24|8@1+ (1,0) [0|3] "" XXX - SG_ Byte4 : 32|8@1+ (1,0) [0|3] "" XXX - SG_ Byte5 : 40|8@1+ (1,0) [0|3] "" XXX - -BO_ 1338 TMU_GW_E_01: 8 CLU - SG_ CF_Gway_TeleReqDrLock : 0|2@1+ (1,0) [0|3] "" BCM - SG_ CF_Gway_TeleReqDrUnlock : 2|2@1+ (1,0) [0|3] "" BCM - SG_ CF_Gway_TeleReqHazard : 4|2@1+ (1,0) [0|3] "" BCM - SG_ CF_Gway_TeleReqHorn : 6|2@1+ (1,0) [0|3] "" BCM - SG_ CF_Gway_TeleReqEngineOperate : 8|2@1+ (1,0) [0|3] "" BCM - -BO_ 1078 PAS11: 4 BCM - SG_ CF_Gway_PASDisplayFLH : 0|3@1+ (1,0) [0|7] "" AVM,CLU,AVM - SG_ CF_Gway_PASDisplayFRH : 3|3@1+ (1,0) [0|7] "" AVM,CLU,AVM - SG_ CF_Gway_PASRsound : 6|2@1+ (1,0) [0|3] "" CLU,Dummy - SG_ CF_Gway_PASDisplayFCTR : 8|3@1+ (1,0) [0|7] "" AVM,CLU,AVM - SG_ CF_Gway_PASDisplayRCTR : 11|3@1+ (1,0) [0|7] "" AVM,CLU,PGS,AVM - SG_ CF_Gway_PASFsound : 14|2@1+ (1,0) [0|3] "" CLU,Dummy - SG_ CF_Gway_PASDisplayRLH : 16|3@1+ (1,0) [0|7] "" AVM,CLU,PGS,AVM - SG_ CF_Gway_PASDisplayRRH : 19|3@1+ (1,0) [0|7] "" AVM,CLU,PGS,AVM - SG_ CF_Gway_PASCheckSound : 22|2@1+ (1,0) [0|3] "" CLU,Dummy - SG_ CF_Gway_PASSystemOn : 24|2@1+ (1,0) [0|3] "" CLU,Dummy - SG_ CF_Gway_PASOption : 26|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Gway_PASDistance : 28|1@1+ (1,0) [0|1] "" CLU - -BO_ 48 EMS18: 6 EMS - SG_ CF_Ems_DC1NumPerMSV : 0|8@1+ (1,0) [0|255] "" DI_BOX - SG_ CF_Ems_DC2NumPerMSV : 8|16@1+ (1,0) [0|65535] "" DI_BOX - SG_ CR_Ems_DutyCyc1MSV : 24|8@1+ (0.1953,0) [0|49.8] "%" DI_BOX - SG_ CR_Ems_DutyCyc2MSV : 32|8@1+ (0.13725,0) [0|35] "%" DI_BOX - SG_ CR_Ems_DutyCyc3MSV : 40|8@1+ (0.392,0) [0|100] "%" DI_BOX - -BO_ 1322 CLU15: 8 CLU - SG_ CF_Clu_VehicleSpeed : 0|8@1+ (1,0) [0|255] "" BCM - SG_ CF_Clu_InhibitP : 9|1@1+ (1,0) [0|1] "" BCM - SG_ CF_Clu_InhibitR : 10|1@1+ (1,0) [0|1] "" BCM - SG_ CF_Clu_InhibitN : 11|1@1+ (1,0) [0|1] "" BCM - SG_ CF_Clu_InhibitD : 12|1@1+ (1,0) [0|1] "" BCM - SG_ CF_Clu_HudInfoSet : 13|7@1+ (1,0) [0|127] "" HUD - SG_ CF_Clu_HudFontColorSet : 20|2@1+ (1,0) [0|3] "" HUD - SG_ CF_Clu_HudBrightUpSW : 22|2@1+ (1,0) [0|3] "" HUD - SG_ CF_Clu_HudBrightDnSW : 24|2@1+ (1,0) [0|3] "" HUD - SG_ CF_Clu_HudHeightUpSW : 26|2@1+ (1,0) [0|3] "" HUD - SG_ CF_Clu_HudHeightDnSW : 28|2@1+ (1,0) [0|3] "" HUD - SG_ CF_Clu_HudSet : 30|1@1+ (1,0) [0|1] "" HUD - SG_ CF_Clu_HudFontSizeSet : 31|2@1+ (1,0) [0|3] "" HUD - SG_ CF_Clu_LanguageInfo : 33|5@1+ (1,0) [0|31] "" BCM,PGS - SG_ CF_Clu_ClusterSound : 38|1@1- (1,0) [0|0] "" BCM,CGW,FATC - -BO_ 1066 _4WD13: 6 _4WD - SG_ _4WD_CURRENT : 0|8@1+ (0.390625,0) [-50|50] "A" TCU - SG_ _4WD_POSITION : 8|16@1+ (0.015625,0) [-180|180] "Deg" TCU - SG_ _4WD_CLU_THERM_STR : 24|8@1+ (1,0) [0|100] "%" TCU - SG_ _4WD_STATUS : 32|8@1+ (1,0) [0|15] "" ESC,TCU - -BO_ 1065 _4WD12: 8 _4WD - SG_ Ster_Pos : 0|16@1+ (1,-600) [-600|600] "Deg" ESC - SG_ FRSS : 16|8@1+ (1,0) [0|254] "km/h" ESC - SG_ FLSS : 24|8@1+ (1,0) [0|254] "km/h" ESC - SG_ RRSS : 32|8@1+ (1,0) [0|254] "km/h" ESC - SG_ RLSS : 40|8@1+ (1,0) [0|254] "km/h" ESC - SG_ CLU_PRES : 48|16@1+ (0.0625,-50) [-50|50] "Bar" ESC - -BO_ 809 EMS12: 8 EMS - SG_ TEMP_ENG : 8|8@1+ (0.75,-48) [-48|143.25] "deg" _4WD,BCM,CLU,DATC,EPB,ESC,IBOX,SMK,TCU - SG_ MAF_FAC_ALTI_MMV : 16|8@1+ (0.00781,0) [0|1.99155] "" IBOX,TCU - SG_ VB_OFF_ACT : 24|1@1+ (1,0) [0|1] "" IBOX,TCU - SG_ ACK_ES : 25|1@1+ (1,0) [0|1] "" _4WD,ACU,IBOX - SG_ CONF_MIL_FMY : 26|3@1+ (1,0) [0|7] "" ESC,IBOX,TCU - SG_ OD_OFF_REQ : 29|1@1+ (1,0) [0|1] "" IBOX,TCU - SG_ ACC_ACT : 30|1@1+ (1,0) [0|1] "" _4WD,ABS,CLU,ESC,IAP,IBOX,SCC,TCU - SG_ CLU_ACK : 31|1@1+ (1,0) [0|1] "" _4WD,EPB,ESC,IBOX - SG_ BRAKE_ACT : 32|2@1+ (1,0) [0|3] "" _4WD,ABS,ACU,AFLS,CLU,DATC,ECS,EPB,ESC,IBOX,LDWS_LKAS,TCU - SG_ ENG_CHR : 34|4@1+ (1,0) [0|15] "" _4WD,ABS,ACU,CLU,DATC,EPB,ESC,FATC,IBOX,SCC,SMK,TCU - SG_ GP_CTL : 38|2@1+ (1,0) [0|3] "" IBOX - SG_ TPS : 40|8@1+ (0.4694836,-15.0234742) [-15.0234742|104.6948357] "%" _4WD,ABS,ACU,CLU,DATC,ECS,EPB,ESC,IBOX,TCU - SG_ PV_AV_CAN : 48|8@1+ (0.3906,0) [0|99.603] "%" _4WD,AAF,ABS,ACU,AFLS,CLU,DATC,EPB,ESC,IAP,IBOX,LDWS_LKAS,SCC,TCU - SG_ ENG_VOL : 56|8@1+ (0.1,0) [0|25.5] "liter" _4WD,ABS,ACU,BCM,CLU,DATC,EPB,ESC,IBOX,LDWS_LKAS,SCC,SMK - -BO_ 1064 _4WD11: 8 _4WD - SG_ _4WD_TYPE : 0|2@1+ (1,0) [0|3] "" ACU,ESC,TPMS - SG_ _4WD_SUPPORT : 2|2@1+ (1,0) [0|3] "" ABS,ESC,TPMS - SG_ _4WD_ERR : 8|8@1+ (1,0) [0|255] "" CLU,ESC - SG_ CLU_DUTY : 16|8@1+ (1,0) [0|64] "%" ABS,ESC - SG_ R_TIRE : 24|8@1+ (1,200) [200|455] "mm" ABS,ESC,TPMS - SG_ _4WD_SW : 32|8@1+ (1,0) [0|9.9] "" ESC - SG_ _2H_ACT : 40|1@1+ (1,0) [0|1] "" ABS,ESC - SG_ _4H_ACT : 41|1@1+ (1,0) [0|1] "" ABS,CLU,ESC,TPMS - SG_ LOW_ACT : 42|1@1+ (1,0) [0|1] "" ABS,ESC,TCU,TPMS - SG_ AUTO_ACT : 43|1@1+ (1,0) [0|1] "" ABS,ESC,TPMS - SG_ LOCK_ACT : 44|1@1+ (1,0) [0|1] "" ABS,CLU,ESC,TPMS - SG_ _4WD_TQC_CUR : 48|16@1+ (1,0) [0|65535] "Nm" ABS,ESC - -BO_ 1319 HU_GW_E_01: 8 CLU - SG_ C_ADrLNValueSet : 0|3@1+ (1,0) [0|7] "" BCM - SG_ C_ADrUNValueSet : 4|3@1+ (1,0) [0|7] "" BCM - SG_ C_TwUnNValueSet : 8|2@1+ (1,0) [0|3] "" BCM - SG_ C_ABuzzerNValueSet : 10|2@1+ (1,0) [0|3] "" BCM - SG_ C_ArmWKeyNValueSet : 12|2@1+ (1,0) [0|3] "" BCM - SG_ C_PSMNValueSet : 14|2@1+ (1,0) [0|3] "" BCM - SG_ C_SCMNValueSet : 16|2@1+ (1,0) [0|3] "" BCM - SG_ C_HLEscortNValueSet : 18|2@1+ (1,0) [0|3] "" BCM - SG_ C_WELNValueSet : 20|2@1+ (1,0) [0|3] "" BCM - SG_ C_TriTurnLNValueSet : 22|2@1+ (1,0) [0|3] "" BCM - SG_ C_SNVWarnNValueSet : 24|2@1+ (1,0) [0|3] "" BCM - SG_ C_LkasWarnNValueSet : 26|2@1+ (1,0) [0|3] "" BCM - -BO_ 1318 HU_GW_E_00: 8 CLU - SG_ C_ADrLURValueReq : 0|2@1+ (1,0) [0|3] "" BCM - SG_ C_TwUnRValueReq : 2|2@1+ (1,0) [0|3] "" BCM - SG_ C_AlarmRValueReq : 4|2@1+ (1,0) [0|3] "" BCM - SG_ C_IMSRValueReq : 6|2@1+ (1,0) [0|3] "" BCM - SG_ C_HLEscortRValueReq : 8|2@1+ (1,0) [0|3] "" BCM - SG_ C_WELRValueReq : 10|2@1+ (1,0) [0|3] "" BCM - SG_ C_TriTurnLRValueReq : 12|2@1+ (1,0) [0|3] "" BCM - SG_ C_SNVWarnRValueReq : 14|2@1+ (1,0) [0|3] "" BCM - SG_ C_LkasWarnRValueReq : 16|2@1+ (1,0) [0|3] "" BCM - -BO_ 1317 GW_HU_E_01: 8 BCM - SG_ C_ADrLRValue : 0|3@1+ (1,0) [0|7] "" CLU - SG_ C_ADrURValue : 4|3@1+ (1,0) [0|7] "" CLU - SG_ C_TwUnRValue : 8|2@1+ (1,0) [0|3] "" CLU - SG_ C_ABuzzerRValue : 10|2@1+ (1,0) [0|3] "" CLU - SG_ C_ArmWKeyRValue : 12|2@1+ (1,0) [0|3] "" CLU - SG_ C_PSMRValue : 14|2@1+ (1,0) [0|3] "" CLU - SG_ C_SCMRValue : 16|2@1+ (1,0) [0|3] "" CLU - SG_ C_HLEscortRValue : 18|2@1+ (1,0) [0|3] "" CLU - SG_ C_WELRValue : 20|2@1+ (1,0) [0|3] "" CLU - SG_ C_TriTurnLRValue : 22|2@1+ (1,0) [0|3] "" CLU - -BO_ 1316 GW_HU_E_00: 8 BCM - SG_ C_ADrLUNValueConf : 0|2@1+ (1,0) [0|3] "" CLU - SG_ C_TwUnNValueConf : 2|2@1+ (1,0) [0|3] "" CLU - SG_ C_AlarmNValueConf : 4|2@1+ (1,0) [0|3] "" CLU - SG_ C_PSMNValueConf : 6|2@1+ (1,0) [0|3] "" CLU - SG_ C_SCMNValueConf : 8|2@1+ (1,0) [0|3] "" CLU - SG_ C_HLEscortNValueConf : 10|2@1+ (1,0) [0|3] "" CLU - SG_ C_WELNValueConf : 12|2@1+ (1,0) [0|3] "" CLU - SG_ C_TriTurnLNValueConf : 14|2@1+ (1,0) [0|3] "" CLU - -BO_ 1315 GW_SWRC_PE: 8 BCM - SG_ C_ModeSW : 2|2@1+ (1,0) [0|3] "" CLU - SG_ C_MuteSW : 4|2@1+ (1,0) [0|3] "" CLU - SG_ C_SeekDnSW : 6|2@1+ (1,0) [0|3] "" CLU - SG_ C_SeekUpSW : 8|2@1+ (1,0) [0|3] "" CLU - SG_ C_BTPhoneCallSW : 10|2@1+ (1,0) [0|3] "" CLU - SG_ C_BTPhoneHangUpSW : 12|2@1+ (1,0) [0|3] "" CLU - SG_ C_DISCDownSW : 14|2@1+ (1,0) [0|3] "" CLU - SG_ C_DISCUpSW : 16|2@1+ (1,0) [0|3] "" CLU - SG_ C_SdsSW : 18|2@1+ (1,0) [0|3] "" CLU - SG_ C_MTSSW : 20|2@1+ (1,0) [0|3] "" CLU - SG_ C_VolDnSW : 22|2@1+ (1,0) [0|3] "" CLU - SG_ C_VolUpSW : 24|2@1+ (1,0) [0|3] "" CLU - -BO_ 1314 GW_IPM_PE_1: 8 BCM - SG_ C_AV_Tail : 0|2@1+ (1,0) [0|3] "" CLU - SG_ C_ParkingBrakeSW : 2|2@1+ (1,0) [0|3] "" CLU - SG_ C_RKECMD : 4|4@1+ (1,0) [0|15] "" CLU - SG_ C_BAState : 8|2@1+ (1,0) [0|3] "" CLU - SG_ C_IGNSW : 12|3@1+ (1,0) [0|7] "" CLU - SG_ C_CountryCfg : 16|3@1+ (1,0) [0|7] "" CLU - SG_ C_TailLampActivity : 26|2@1+ (1,0) [0|3] "" CLU - SG_ RearSW_RSELockOnOff : 28|2@1+ (1,0) [0|3] "" CLU - SG_ C_SMKTeleCrankingState : 32|2@1+ (1,0) [0|3] "" CLU - SG_ C_SMKTeleCrankingFailRes : 34|2@1+ (1,0) [0|3] "" CLU - -BO_ 1057 SCC12: 8 SCC - SG_ CF_VSM_Prefill : 0|1@1+ (1,0) [0|1] "" ESC - SG_ CF_VSM_DecCmdAct : 1|1@1+ (1,0) [0|1] "" ESC - SG_ CF_VSM_HBACmd : 2|2@1+ (1,0) [0|3] "" ESC - SG_ CF_VSM_Warn : 4|2@1+ (1,0) [0|3] "" CLU,ESC,IAP - SG_ CF_VSM_Stat : 6|2@1+ (1,0) [0|3] "" CLU,ESC,PSB - SG_ CF_VSM_BeltCmd : 8|3@1+ (1,0) [0|7] "" ESC,PSB - SG_ ACCFailInfo : 11|2@1+ (1,0) [0|3] "" CLU,CUBIS,ESC,IBOX - SG_ ACCMode : 13|2@1+ (1,0) [0|3] "" CLU,ESC,IBOX,TCU - SG_ StopReq : 15|1@1+ (1,0) [0|1] "" EPB,ESC - SG_ CR_VSM_DecCmd : 16|8@1+ (0.01,0) [0|2.55] "g" ESC - SG_ aReqMax : 24|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" EMS,ESC,TCU - SG_ TakeOverReq : 35|1@1+ (1,0) [0|1] "" CLU,ESC,TCU - SG_ PreFill : 36|1@1+ (1,0) [0|1] "" ESC,TCU - SG_ aReqMin : 37|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" EMS,ESC,TCU - SG_ CF_VSM_ConfMode : 48|2@1+ (1,0) [0|3] "" CLU,ESC - SG_ AEB_Failinfo : 50|2@1+ (1,0) [0|3] "" CLU,ESC - SG_ AEB_Status : 52|2@1+ (1,0) [0|3] "" CLU,ESC - SG_ AEB_CmdAct : 54|1@1+ (1,0) [0|1] "" ESC - SG_ AEB_StopReq : 55|1@1+ (1,0) [0|1] "" CLU,ESC - SG_ CR_VSM_Alive : 56|4@1+ (1,0) [0|15] "" ESC,PSB - SG_ CR_VSM_ChkSum : 60|4@1+ (1,0) [0|15] "" ESC,PSB - -BO_ 1313 GW_DDM_PE: 8 BCM - SG_ C_DRVDoorStatus : 0|2@1+ (1,0) [0|3] "" CLU - SG_ C_ASTDoorStatus : 2|2@1+ (1,0) [0|3] "" CLU - SG_ C_RLDoorStatus : 4|2@1+ (1,0) [0|3] "" CLU - SG_ C_RRDoorStatus : 6|2@1+ (1,0) [0|3] "" CLU - SG_ C_TrunkStatus : 8|2@1+ (1,0) [0|3] "" CLU - SG_ C_OSMirrorStatus : 10|2@1+ (1,0) [0|3] "" CLU - -BO_ 1056 SCC11: 8 SCC - SG_ MainMode_ACC : 0|1@1+ (1,0) [0|1] "" CLU,EMS,ESC - SG_ SCCInfoDisplay : 1|3@1+ (1,0) [0|7] "" CLU,ESC - SG_ AliveCounterACC : 4|4@1+ (1,0) [0|15] "" CLU,EMS,ESC,TCU - SG_ VSetDis : 8|8@1+ (1,0) [0|255] "km/h or MPH" CLU,ESC,TCU - SG_ ObjValid : 16|1@1+ (1,0) [0|1] "" CLU,ESC,TCU - SG_ DriverAlertDisplay : 17|2@1+ (1,0) [0|3] "" CLU,ESC - SG_ TauGapSet : 19|3@1+ (1,0) [0|7] "" CLU,ESC,TCU - SG_ ACC_ObjStatus : 22|2@1+ (1,0) [0|3] "" ABS,ESC - SG_ ACC_ObjLatPos : 24|9@1+ (0.1,-20) [-20|31.1] "m" ABS,ESC - SG_ ACC_ObjDist : 33|11@1+ (0.1,0) [0|204.7] "m" ABS,ESC - SG_ ACC_ObjRelSpd : 44|12@1+ (0.1,-170) [-170|239.5] "m/s" ABS,ESC - SG_ Navi_SCC_Curve_Status : 56|2@1+ (1,0) [0|3] "" CLU - SG_ Navi_SCC_Curve_Act : 58|2@1+ (1,0) [0|3] "" CLU - SG_ Navi_SCC_Camera_Act : 60|2@1+ (1,0) [0|3] "" CLU - SG_ Navi_SCC_Camera_Status : 62|2@1+ (1,0) [0|3] "" CLU - -BO_ 1312 CGW3: 8 BCM - SG_ CR_Photosensor_LH : 0|8@1+ (78.125,0) [0|20000] "" DATC,DATC - SG_ CR_Photosensor_RH : 10|8@1+ (78.125,0) [0|20000] "" DATC,DATC - SG_ CF_Hoodsw_memory : 22|2@1+ (1,0) [0|3] "" EMS,EMS - SG_ C_MirOutTempSns : 24|8@1+ (0.5,-40.5) [-40|60] "deg" AAF,CLU,DATC,EMS,SPAS,AAF,DATC,EMS,SPAS - -BO_ 544 ESP12: 8 ESC - SG_ LAT_ACCEL : 0|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" _4WD,ECS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,TCU - SG_ LAT_ACCEL_STAT : 11|1@1+ (1,0) [0|1] "" _4WD,IBOX,LDWS_LKAS,MDPS,PSB,SCC,TCU - SG_ LAT_ACCEL_DIAG : 12|1@1+ (1,0) [0|1] "" _4WD,IBOX,LDWS_LKAS,MDPS,PSB,SCC,TCU - SG_ LONG_ACCEL : 13|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" _4WD,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PSB,SCC,SPAS,TCU - SG_ LONG_ACCEL_STAT : 24|1@1+ (1,0) [0|1] "" _4WD,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU - SG_ LONG_ACCEL_DIAG : 25|1@1+ (1,0) [0|1] "" _4WD,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU - SG_ CYL_PRES : 26|12@1+ (0.1,0) [0|409.5] "Bar" _4WD,ECS,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,TCU - SG_ CYL_PRES_STAT : 38|1@1+ (1,0) [0|1] "" _4WD,ECS,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,TCU - SG_ CYL_PRESS_DIAG : 39|1@1+ (1,0) [0|1] "" _4WD,ECS,EMS,EPB,IBOX,PSB,SCC,TCU - SG_ YAW_RATE : 40|13@1+ (0.01,-40.95) [-40.95|40.96] "" _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU - SG_ YAW_RATE_STAT : 53|1@1+ (1,0) [0|1] "" _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU - SG_ YAW_RATE_DIAG : 54|1@1+ (1,0) [0|1] "" _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU - SG_ ESP12_AliveCounter : 56|4@1+ (1,0) [0|15] "" _4WD,EMS,LPI,TCU,TMU - SG_ ESP12_Checksum : 60|4@1+ (1,0) [0|15] "" _4WD,EMS,LPI,TCU,TMU - -BO_ 1307 CLU16: 8 CLU - SG_ CF_Clu_TirePressUnitNValueSet : 0|3@1+ (1,0) [0|7] "" TPMS - SG_ CF_Clu_SlifNValueSet : 3|2@1+ (1,0) [0|3] "" LDWS_LKAS - SG_ CF_Clu_RearWiperNValueSet : 12|2@1+ (1,0) [0|3] "" BCM - -BO_ 790 EMS11: 8 EMS - SG_ SWI_IGK : 0|1@1+ (1,0) [0|1] "" _4WD,ABS,ACU,AHLS,CUBIS,DI_BOX,ECS,EPB,ESC,IBOX,LDWS_LKAS,MDPS,REA,SAS,SCC,TCU - SG_ F_N_ENG : 1|1@1+ (1,0) [0|1] "" _4WD,ACU,AFLS,CLU,CUBIS,DATC,ECS,EPB,ESC,IBOX,MDPS,SCC,TCU - SG_ ACK_TCS : 2|1@1+ (1,0) [0|1] "" ESC,IBOX - SG_ PUC_STAT : 3|1@1+ (1,0) [0|1] "" _4WD,CLU,DATC,IBOX,TCU - SG_ TQ_COR_STAT : 4|2@1+ (1,0) [0|3] "" _4WD,ESC,IBOX,TCU - SG_ RLY_AC : 6|1@1+ (1,0) [0|1] "" DATC,IBOX,TCU - SG_ F_SUB_TQI : 7|1@1+ (1,0) [0|1] "" _4WD,ECS,EPB,ESC,IBOX,TCU - SG_ TQI_ACOR : 8|8@1+ (0.390625,0) [0|99.6094] "%" _4WD,EPB,ESC,IBOX,TCU - SG_ N : 16|16@1+ (0.25,0) [0|16383.75] "rpm" _4WD,ACU,AFLS,CLU,CUBIS,DATC,ECS,EPB,ESC,FPCM,IBOX,MDPS,SCC,TCU - SG_ TQI : 32|8@1+ (0.390625,0) [0|99.6094] "%" _4WD,ECS,EPB,ESC,IBOX,TCU - SG_ TQFR : 40|8@1+ (0.390625,0) [0|99.6094] "%" _4WD,EPB,ESC,IBOX,TCU - SG_ VS : 48|8@1+ (1,0) [0|254] "km/h" _4WD,AAF,ACU,AHLS,BCM,CLU,DATC,ECS,EPB,IBOX,LCA,LDWS_LKAS,LVR,MDPS,ODS,SCC,SMK,SPAS,TCU,TPMS - SG_ RATIO_TQI_BAS_MAX_STND : 56|8@1+ (0.0078,0) [0|2] "" _4WD,IBOX,TCU - -BO_ 1301 CLU14: 8 CLU - SG_ CF_Clu_ADrUNValueSet : 0|3@1+ (1,0) [0|7] "" BCM - SG_ CF_Clu_ADrLNValueSet : 3|3@1+ (1,0) [0|7] "" BCM - SG_ CF_Clu_EscortHLNValueSet : 6|2@1+ (1,0) [0|3] "" BCM - SG_ CF_Clu_DoorLSNValueSet : 8|3@1+ (1,0) [0|7] "" BCM - SG_ CF_Clu_PSMNValueSet : 11|3@1+ (1,0) [0|7] "" BCM - SG_ CF_Clu_TTUnlockNValueSet : 14|2@1+ (1,0) [0|3] "" BCM - SG_ CF_Clu_PTGMNValueSet : 16|2@1+ (1,0) [0|3] "" BCM - SG_ CF_Clu_SCMNValueSet : 18|2@1+ (1,0) [0|3] "" BCM - SG_ CF_Clu_WlightNValueSet : 20|2@1+ (1,0) [0|3] "" BCM - SG_ CF_Clu_TempUnitNValueSet : 22|2@1+ (1,0) [0|3] "" BCM,DATC - SG_ CF_Clu_MoodLpNValueSet : 24|3@1+ (1,0) [0|7] "" BCM - SG_ CF_Clu_TrfChgSet : 27|2@1+ (1,0) [0|3] "" AFLS - SG_ CF_Clu_OTTurnNValueSet : 29|3@1+ (1,0) [0|7] "" BCM - SG_ CF_Clu_LcaNValueSet : 32|2@1+ (1,0) [0|3] "" LCA - SG_ CF_Clu_RctaNValueSet : 34|2@1+ (1,0) [0|3] "" LCA - SG_ CF_Clu_RcwNValueSet : 36|2@1+ (1,0) [0|3] "" LCA - SG_ CF_Clu_EscOffNValueSet : 38|3@1+ (1,0) [0|7] "" ESC - SG_ CF_Clu_SccNaviCrvNValueSet : 41|2@1+ (1,0) [0|3] "" SCC - SG_ CF_Clu_SccNaviCamNValueSet : 43|2@1+ (1,0) [0|3] "" SCC - SG_ CF_Clu_SccAebNValueSet : 45|2@1+ (1,0) [0|3] "" SCC - SG_ CF_Clu_LkasModeNValueSet : 47|2@1+ (1,0) [0|3] "" LDWS_LKAS - SG_ CF_Clu_FcwNValueSet : 51|2@1+ (1,0) [0|3] "" LDWS_LKAS - SG_ CF_Clu_PasSpkrLvNValueSet : 53|3@1+ (1,0) [0|7] "" BCM - SG_ CF_Clu_SccDrvModeNValueSet : 56|3@1+ (1,0) [0|7] "" SCC - SG_ CF_Clu_HAnBNValueSet : 59|2@1+ (1,0) [0|3] "" BCM - SG_ CF_Clu_HfreeTrunkTgNValueSet : 61|3@1+ (1,0) [0|7] "" BCM - -BO_ 275 TCU13: 8 TCU - SG_ N_TGT_LUP : 0|8@1+ (10,500) [500|3040] "rpm" EMS,IBOX - SG_ SLOPE_TCU : 8|6@1+ (0.5,-16) [-16|15.5] "%" CLU,CUBIS,EMS,IBOX - SG_ CF_Tcu_InhCda : 14|1@1+ (1,0) [0|1] "" EMS,IBOX - SG_ CF_Tcu_IsgInhib : 15|1@1+ (1,0) [0|1] "" EMS,IBOX - SG_ CF_Tcu_BkeOnReq : 16|2@1+ (1,0) [0|3] "" EMS,IBOX - SG_ CF_Tcu_NCStat : 18|2@1+ (1,0) [0|3] "" EMS,IBOX - SG_ CF_Tcu_TarGr : 20|4@1+ (1,0) [0|15] "" _4WD,CLU,DATC,EMS,EPB,ESC,IBOX,SCC - SG_ CF_Tcu_ShfPatt : 24|4@1+ (1,0) [0|15] "" CLU,CUBIS,EMS,IBOX - SG_ CF_Tcu_InhVis : 28|1@1+ (1,0) [0|1] "" EMS,IBOX - SG_ CF_Tcu_PRelReq : 29|1@1+ (1,0) [0|1] "" IBOX,LVR - SG_ CF_Tcu_ITPhase : 30|1@1+ (1,0) [0|1] "" EMS,IBOX - SG_ CF_Tcu_ActEcoRdy : 31|1@1+ (1,0) [0|1] "" EMS,IBOX - SG_ CF_Tcu_TqGrdLim : 32|8@1+ (10,0) [0|2540] "Nm/s" EMS,IBOX - SG_ CR_Tcu_IsgTgtRPM : 40|8@1+ (20,0) [0|3500] "rpm" EMS,IBOX - SG_ CF_Tcu_SptRdy : 48|1@1+ (1,0) [0|1] "" CLU,IBOX - SG_ CF_Tcu_SbwPInfo : 56|1@1+ (1,0) [0|1] "" EMS,IBOX - SG_ CF_Tcu_Alive3 : 58|2@1+ (1,0) [0|3] "" EMS,IBOX - SG_ CF_Tcu_ChkSum3 : 60|4@1+ (1,0) [0|15] "" EMS,IBOX - -BO_ 274 TCU12: 8 TCU - SG_ ETL_TCU : 0|8@1+ (2,0) [0|508] "Nm" EMS,IBOX - SG_ CUR_GR : 8|4@1+ (1,0) [0|15] "" _4WD,EMS,ESC,IBOX,SCC,TPMS - SG_ CF_Tcu_Alive : 12|2@1+ (1,0) [0|3] "" EMS,ESC,IBOX,SCC - SG_ CF_Tcu_ChkSum : 14|2@1+ (1,0) [0|3] "" EMS,ESC,IBOX,SCC - SG_ VS_TCU : 16|8@1+ (1,0) [0|254] "km/h" BCM,CLU,DATC,EMS,IBOX,LCA,LVR,PGS,SMK,SNV - SG_ FUEL_CUT_TCU : 28|1@1+ (1,0) [0|1] "" EMS,IBOX - SG_ INH_FUEL_CUT : 29|1@1+ (1,0) [0|1] "" EMS,IBOX - SG_ IDLE_UP_TCU : 30|1@1+ (1,0) [0|1] "" EMS,IBOX - SG_ N_INC_TCU : 31|1@1+ (1,0) [0|1] "" EMS,IBOX - SG_ SPK_RTD_TCU : 32|8@1+ (0.375,-23.625) [-15|15] "" EMS,IBOX - SG_ N_TC_RAW : 40|16@1+ (0.25,0) [0|16383.5] "rpm" EMS,IBOX - SG_ VS_TCU_DECIMAL : 56|8@1+ (0.0078125,0) [0|0.9921875] "km/h" CLU,EMS,IBOX,LCA - -BO_ 273 TCU11: 8 TCU - SG_ TQI_TCU_INC : 0|8@1+ (0.390625,0) [0|99.609375] "%" EMS,ESC,IBOX - SG_ G_SEL_DISP : 8|4@1+ (1,0) [0|15] "" _4WD,AFLS,AVM,BCM,CGW,CLU,CUBIS,ECS,EMS,EPB,ESC,IAP,IBOX,LCA,LDWS_LKAS,LVR,MDPS,PGS,SCC,SMK,SNV,SPAS,TPMS - SG_ F_TCU : 12|2@1+ (1,0) [0|3] "" EMS,ESC,IBOX - SG_ TCU_TYPE : 14|2@1+ (1,0) [0|3] "" _4WD,EMS,ESC,IBOX - SG_ TCU_OBD : 16|3@1+ (1,0) [0|7] "" EMS,ESC,IBOX - SG_ SWI_GS : 19|1@1+ (1,0) [0|1] "" _4WD,EMS,EPB,ESC,IBOX,SCC - SG_ GEAR_TYPE : 20|4@1+ (1,0) [0|15] "" _4WD,CLU,EMS,ESC,IBOX,SCC - SG_ TQI_TCU : 24|8@1+ (0.390625,0) [0|99.609375] "%" EMS,ESC,IBOX - SG_ TEMP_AT : 32|8@1+ (1,-40) [-40|214] "deg" AAF,CLU,CUBIS,EMS,ESC,IBOX - SG_ N_TC : 40|16@1+ (0.25,0) [0|16383.5] "rpm" _4WD,EMS,EPB,ESC,IBOX - SG_ SWI_CC : 56|2@1+ (1,0) [0|3] "" _4WD,CLU,EMS,ESC,IBOX - SG_ CF_Tcu_Alive1 : 58|2@1+ (1,0) [0|3] "" EMS,IBOX - SG_ CF_Tcu_ChkSum1 : 60|4@1+ (1,0) [0|15] "" EMS,IBOX - -BO_ 16 ACU13: 8 ACU - SG_ CF_Acu_CshAct : 0|1@1+ (1,0) [0|1] "" CUBIS,IBOX,ODS - -BO_ 1040 CGW_USM1: 8 BCM - SG_ CF_Gway_ATTurnRValue : 0|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Gway_PTGMRValue : 2|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Gway_EscortHLRValue : 4|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Gway_TTUnlockRValue : 6|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Gway_ADrLRValue : 8|3@1+ (1,0) [0|7] "" CLU - SG_ CF_Gway_ADrURValue : 11|3@1+ (1,0) [0|7] "" CLU - SG_ CF_Gway_SCMRValue : 14|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Gway_WlightRValue : 16|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Gway_PSMRValue : 18|3@1+ (1,0) [0|7] "" CLU - SG_ CF_Gway_OTTurnRValue : 21|3@1+ (1,0) [0|7] "" CLU - SG_ CF_Gway_DrLockSoundRValue : 24|3@1+ (1,0) [0|7] "" CLU - SG_ CF_Gway_HAnBRValue : 27|3@1+ (1,0) [0|7] "" CLU - SG_ CF_Gway_MoodLpRValue : 30|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Gway_HfreeTrunkRValue : 32|3@1+ (1,0) [0|7] "" CLU - SG_ CF_Gway_AutoLightRValue : 35|3@1+ (1,0) [0|7] "" CLU - SG_ CF_Gway_RearWiperRValue : 38|2@1+ (1,0) [0|3] "" CLU - SG_ CF_Gway_PasSpkrLvRValue : 40|3@1+ (1,0) [0|7] "" CLU - -BO_ 1292 CLU13: 8 CLU - SG_ CF_Clu_LowfuelWarn : 0|2@1+ (1,0) [0|3] "" BCM,FPCM,IBOX - SG_ CF_Clu_RefDetMod : 2|1@1+ (1,0) [0|1] "" IBOX - SG_ CF_Clu_AvgFCU : 3|2@1+ (1,0) [0|3] "" IBOX - SG_ CF_Clu_AvsmCur : 5|1@1+ (1,0) [0|1] "" ESC,SCC - SG_ CF_Clu_AvgFCI : 6|10@1+ (0.1,0) [0|102.2] "" IBOX - SG_ CF_Clu_DrivingModeSwi : 16|2@1+ (1,0) [0|3] "" DATC,ECS,EMS,ESC,IAP,MDPS,TCU - SG_ CF_Clu_FuelDispLvl : 18|5@1+ (1,0) [0|31] "" CGW,IBOX - SG_ CF_Clu_FlexSteerSW : 23|1@1+ (1,0) [0|1] "" MDPS - SG_ CF_Clu_DTE : 24|10@1+ (1,0) [0|1023] "" DATC - SG_ CF_Clu_TripUnit : 34|2@1+ (1,0) [0|3] "" DATC - SG_ CF_Clu_SWL_Stat : 36|3@1+ (1,0) [0|7] "" ACU,EMS - SG_ CF_Clu_ActiveEcoSW : 39|1@1+ (1,0) [0|1] "" DATC,EMS,TCU - SG_ CF_Clu_EcoDriveInf : 40|3@1+ (1,0) [0|7] "" CUBIS,EMS,IAP,IBOX - SG_ CF_Clu_IsaMainSW : 43|1@1+ (1,0) [0|1] "" EMS - SG_ CF_Clu_LdwsLkasSW : 56|1@1+ (1,0) [0|1] "" LDWS_LKAS - SG_ CF_Clu_AltLStatus : 59|1@1+ (1,0) [0|1] "" BCM,DATC,EMS - SG_ CF_Clu_AliveCnt2 : 60|4@1+ (1,0) [0|15] "" EMS,LDWS_LKAS - -BO_ 1290 SCC13: 8 SCC - SG_ SCCDrvModeRValue : 0|3@1+ (1,0) [0|7] "" CLU - SG_ SCC_Equip : 3|1@1+ (1,0) [0|1] "" ESC - SG_ AebDrvSetStatus : 4|3@1+ (1,0) [0|7] "" CLU,ESC - -BO_ 1287 TCS15: 4 ESC - SG_ ABS_W_LAMP : 0|1@1+ (1,0) [0|1] "" _4WD,CLU,CUBIS,IBOX - SG_ TCS_OFF_LAMP : 1|2@1+ (1,0) [0|1] "" _4WD,ACU,CLU - SG_ TCS_LAMP : 3|2@1+ (1,0) [0|3] "" _4WD,ACU,CLU,CUBIS,IBOX,SCC - SG_ DBC_W_LAMP : 5|1@1+ (1,0) [0|1] "" _4WD,CLU - SG_ DBC_F_LAMP : 6|2@1+ (1,0) [0|3] "" _4WD,CLU - SG_ ESC_Off_Step : 8|2@1+ (1,0) [0|3] "" CLU - SG_ AVH_CLU : 16|8@1+ (1,0) [0|255] "" CLU,EPB - SG_ AVH_I_LAMP : 24|2@1+ (1,0) [0|3] "" EPB - SG_ EBD_W_LAMP : 26|1@1+ (1,0) [0|1] "" _4WD,CLU - SG_ AVH_ALARM : 27|2@1+ (1,0) [0|3] "" CLU - SG_ AVH_LAMP : 29|3@1+ (1,0) [0|7] "" CLU,EPB,SPAS - -BO_ 1282 TCU14: 4 TCU - SG_ CF_TCU_WarnMsg : 0|3@1+ (1,0) [0|7] "" CLU - SG_ CF_TCU_WarnImg : 3|1@1+ (1,0) [0|1] "" CLU - SG_ CF_TCU_WarnSnd : 4|1@1+ (1,0) [0|1] "" CLU - SG_ CF_Tcu_GSel_BlinkReq : 5|1@1+ (1,0) [0|1] "" CLU,LVR - SG_ CF_Tcu_StRelStat : 12|1@1+ (1,0) [0|1] "" CLU,EMS,ESC - SG_ CF_Tcu_DriWarn1 : 13|3@1+ (1,0) [0|7] "" CLU,EMS,ESC - SG_ CF_Tcu_DriWarn2 : 16|2@1+ (1,0) [0|3] "" CLU,EMS,ESC - -BO_ 1281 ECS11: 3 ECS - SG_ ECS_W_LAMP : 0|1@1+ (1,0) [0|1] "" CLU,CUBIS,IBOX - SG_ SYS_NA : 1|1@1+ (1,0) [0|1] "" CLU - SG_ ECS_DEF : 2|1@1+ (1,0) [0|1] "" CLU - SG_ ECS_DIAG : 3|1@1+ (1,0) [0|1] "" CLU - SG_ L_CHG_NA : 4|1@1+ (1,0) [0|1] "" CLU - SG_ Leveling_Off : 5|1@1+ (1,0) [0|1] "" CLU - SG_ LC_overheat : 6|1@1+ (1,0) [0|1] "" CLU - SG_ Lifting : 8|1@1+ (1,0) [0|1] "" CLU - SG_ Lowering : 9|1@1+ (1,0) [0|1] "" CLU - SG_ Damping_Mode : 10|2@1+ (1,0) [0|3] "" CLU - SG_ REQ_Damping : 12|2@1+ (1,0) [0|3] "" CLU - SG_ REQ_Height : 14|2@1+ (1,0) [0|3] "" CLU - SG_ REQ_level : 16|4@1+ (1,0) [0|15] "" CLU - SG_ ACT_Height : 20|4@1+ (1,0) [0|15] "" CLU - -BO_ 1024 CLU_CFG11: 2 CLU - SG_ Vehicle_Type : 0|16@1+ (1,0) [0|65536] "" _4WD - -BO_ 1280 ACU14: 1 ACU - SG_ CF_SWL_Ind : 0|2@1+ (1,0) [0|3] "" CLU - SG_ CF_TTL_Ind : 2|2@1+ (1,0) [0|3] "" CLU - SG_ CF_SBR_Ind : 4|2@1+ (1,0) [0|3] "" BCM,CLU - -BO_ 512 EMS20: 6 EMS - SG_ FCO : 0|16@1+ (0.128,0) [0|8388.48] "ul" CLU,CUBIS,FPCM,IBOX - SG_ CF_Ems_PumpTPres : 16|8@1+ (3.137254902,0) [0|800] "kPa" FPCM,IBOX - SG_ Split_Stat : 32|1@1+ (1,0) [0|1] "" FPCM - -BO_ 872 AT01: 8 XXX - SG_ Gear : 32|4@1+ (1,0) [0|15] "" XXX diff --git a/panda/VERSION b/panda/VERSION index 301779b03ec401..02e8c95da5fd8a 100644 --- a/panda/VERSION +++ b/panda/VERSION @@ -1 +1 @@ -v1.1.7 \ No newline at end of file +v1.1.8 \ No newline at end of file diff --git a/panda/board/main.c b/panda/board/main.c index 8bb6a0cee09681..b1033bb732e2df 100644 --- a/panda/board/main.c +++ b/panda/board/main.c @@ -589,6 +589,8 @@ int main() { uint64_t marker = 0; #define CURRENT_THRESHOLD 0xF00 #define CLICKS 8 + // Enough clicks to ensure that enumeration happened. Should be longer than bootup time of the device connected to EON + #define CLICKS_BOOTUP 30 #endif for (cnt=0;;cnt++) { @@ -615,8 +617,8 @@ int main() { } break; case USB_POWER_CDP: - // been CLICKS clicks since we switched to CDP - if ((cnt-marker) >= CLICKS) { + // been CLICKS_BOOTUP clicks since we switched to CDP + if ((cnt-marker) >= CLICKS_BOOTUP ) { // measure current draw, if positive and no enumeration, switch to DCP if (!is_enumerated && current < CURRENT_THRESHOLD) { puts("USBP: no enumeration with current draw, switching to DCP mode\n"); diff --git a/phonelibs/openblas/libopenblas.so b/phonelibs/openblas/libopenblas.so new file mode 120000 index 00000000000000..7a792bc9071885 --- /dev/null +++ b/phonelibs/openblas/libopenblas.so @@ -0,0 +1 @@ +libopenblas_armv8p-r0.2.19.so \ No newline at end of file diff --git a/phonelibs/openblas/libopenblas_armv8p-r0.2.19.so b/phonelibs/openblas/libopenblas_armv8p-r0.2.19.so new file mode 100755 index 00000000000000..ace58c8a13122f Binary files /dev/null and b/phonelibs/openblas/libopenblas_armv8p-r0.2.19.so differ diff --git a/pyextra/overpy-0.4-py2.7.egg-info/PKG-INFO b/pyextra/overpy-0.4-py2.7.egg-info/PKG-INFO deleted file mode 100644 index 96d494a147e90f..00000000000000 --- a/pyextra/overpy-0.4-py2.7.egg-info/PKG-INFO +++ /dev/null @@ -1,123 +0,0 @@ -Metadata-Version: 1.1 -Name: overpy -Version: 0.4 -Summary: Python Wrapper to access the OpenStreepMap Overpass API -Home-page: https://github.com/DinoTools/python-overpy -Author: PhiBo (DinoTools) -Author-email: UNKNOWN -License: MIT -Description: Python Overpass Wrapper - ======================= - - A Python Wrapper to access the Overpass API. - - Have a look at the `documentation`_ to find additional information. - - .. image:: https://pypip.in/version/overpy/badge.svg - :target: https://pypi.python.org/pypi/overpy/ - :alt: Latest Version - - .. image:: https://pypip.in/license/overpy/badge.svg - :target: https://pypi.python.org/pypi/overpy/ - :alt: License - - .. image:: https://travis-ci.org/DinoTools/python-overpy.svg?branch=master - :target: https://travis-ci.org/DinoTools/python-overpy - - .. image:: https://coveralls.io/repos/DinoTools/python-overpy/badge.png?branch=master - :target: https://coveralls.io/r/DinoTools/python-overpy?branch=master - - Features - -------- - - * Query Overpass API - * Parse JSON and XML response data - * Additional helper functions - - Install - ------- - - **Requirements:** - - Supported Python versions: - - * Python 2.7 - * Python >= 3.2 - * PyPy and PyPy3 - - **Install:** - - .. code-block:: console - - $ pip install overpy - - Examples - -------- - - Additional examples can be found in the `documentation`_ and in the *examples* directory. - - .. code-block:: python - - import overpy - - api = overpy.Overpass() - - # fetch all ways and nodes - result = api.query(""" - way(50.746,7.154,50.748,7.157) ["highway"]; - (._;>;); - out body; - """) - - for way in result.ways: - print("Name: %s" % way.tags.get("name", "n/a")) - print(" Highway: %s" % way.tags.get("highway", "n/a")) - print(" Nodes:") - for node in way.nodes: - print(" Lat: %f, Lon: %f" % (node.lat, node.lon)) - - - Helper - ~~~~~~ - - Helper methods are available to provide easy access to often used requests. - - .. code-block:: python - - import overpy.helper - - # 3600062594 is the OSM id of Chemnitz and is the bounding box for the request - street = overpy.helper.get_street( - "Straße der Nationen", - "3600062594" - ) - - # this finds an intersection between Straße der Nationen and Carolastraße in Chemnitz - intersection = overpy.helper.get_intersection( - "Straße der Nationen", - "Carolastraße", - "3600062594" - ) - - - License - ------- - - Published under the MIT (see LICENSE for more information) - - .. _`documentation`: http://python-overpy.readthedocs.org/ - -Keywords: OverPy Overpass OSM OpenStreetMap -Platform: UNKNOWN -Classifier: Development Status :: 4 - Beta -Classifier: License :: OSI Approved :: MIT License -Classifier: Operating System :: OS Independent -Classifier: Programming Language :: Python -Classifier: Programming Language :: Python :: 2.7 -Classifier: Programming Language :: Python :: 3 -Classifier: Programming Language :: Python :: 3.2 -Classifier: Programming Language :: Python :: 3.3 -Classifier: Programming Language :: Python :: 3.4 -Classifier: Programming Language :: Python :: 3.5 -Classifier: Programming Language :: Python :: Implementation :: CPython -Classifier: Programming Language :: Python :: Implementation :: PyPy diff --git a/pyextra/overpy-0.4-py2.7.egg-info/SOURCES.txt b/pyextra/overpy-0.4-py2.7.egg-info/SOURCES.txt deleted file mode 100644 index 66bf17f7c4d393..00000000000000 --- a/pyextra/overpy-0.4-py2.7.egg-info/SOURCES.txt +++ /dev/null @@ -1,61 +0,0 @@ -CHANGELOG.rst -LICENSE -MANIFEST.in -README.rst -setup.cfg -setup.py -docs/make.bat -docs/source/api.rst -docs/source/changelog.rst -docs/source/conf.py -docs/source/contributing.rst -docs/source/example.rst -docs/source/index.rst -docs/source/introduction.rst -examples/get_areas.py -examples/get_nodes.py -examples/get_ways.py -overpy/__about__.py -overpy/__init__.py -overpy/exception.py -overpy/helper.py -overpy.egg-info/PKG-INFO -overpy.egg-info/SOURCES.txt -overpy.egg-info/dependency_links.txt -overpy.egg-info/not-zip-safe -overpy.egg-info/top_level.txt -tests/__init__.py -tests/base_class.py -tests/test_exception.py -tests/test_json.py -tests/test_request.py -tests/test_result.py -tests/test_result_way.py -tests/test_xml.py -tests/json/area-01.json -tests/json/node-01.json -tests/json/relation-01.json -tests/json/relation-02.json -tests/json/relation-03.json -tests/json/relation-04.json -tests/json/result-expand-01.json -tests/json/result-expand-02.json -tests/json/result-way-01.json -tests/json/result-way-02.json -tests/json/result-way-03.json -tests/json/way-01.json -tests/json/way-02.json -tests/json/way-03.json -tests/json/way-04.json -tests/response/bad-request-encoding.html -tests/response/bad-request.html -tests/xml/area-01.xml -tests/xml/node-01.xml -tests/xml/relation-01.xml -tests/xml/relation-02.xml -tests/xml/relation-03.xml -tests/xml/relation-04.xml -tests/xml/way-01.xml -tests/xml/way-02.xml -tests/xml/way-03.xml -tests/xml/way-04.xml \ No newline at end of file diff --git a/pyextra/overpy-0.4-py2.7.egg-info/dependency_links.txt b/pyextra/overpy-0.4-py2.7.egg-info/dependency_links.txt deleted file mode 100644 index 8b137891791fe9..00000000000000 --- a/pyextra/overpy-0.4-py2.7.egg-info/dependency_links.txt +++ /dev/null @@ -1 +0,0 @@ - diff --git a/pyextra/overpy-0.4-py2.7.egg-info/installed-files.txt b/pyextra/overpy-0.4-py2.7.egg-info/installed-files.txt deleted file mode 100644 index 0cd05ada1f7c8d..00000000000000 --- a/pyextra/overpy-0.4-py2.7.egg-info/installed-files.txt +++ /dev/null @@ -1,56 +0,0 @@ -../overpy/__about__.py -../overpy/__about__.pyc -../overpy/__init__.py -../overpy/__init__.pyc -../overpy/exception.py -../overpy/exception.pyc -../overpy/helper.py -../overpy/helper.pyc -../tests/__init__.py -../tests/__init__.pyc -../tests/base_class.py -../tests/base_class.pyc -../tests/json/area-01.json -../tests/json/node-01.json -../tests/json/relation-01.json -../tests/json/relation-02.json -../tests/json/relation-03.json -../tests/json/relation-04.json -../tests/json/result-expand-01.json -../tests/json/result-expand-02.json -../tests/json/result-way-01.json -../tests/json/result-way-02.json -../tests/json/result-way-03.json -../tests/json/way-01.json -../tests/json/way-02.json -../tests/json/way-03.json -../tests/json/way-04.json -../tests/response/bad-request-encoding.html -../tests/response/bad-request.html -../tests/test_exception.py -../tests/test_exception.pyc -../tests/test_json.py -../tests/test_json.pyc -../tests/test_request.py -../tests/test_request.pyc -../tests/test_result.py -../tests/test_result.pyc -../tests/test_result_way.py -../tests/test_result_way.pyc -../tests/test_xml.py -../tests/test_xml.pyc -../tests/xml/area-01.xml -../tests/xml/node-01.xml -../tests/xml/relation-01.xml -../tests/xml/relation-02.xml -../tests/xml/relation-03.xml -../tests/xml/relation-04.xml -../tests/xml/way-01.xml -../tests/xml/way-02.xml -../tests/xml/way-03.xml -../tests/xml/way-04.xml -PKG-INFO -SOURCES.txt -dependency_links.txt -not-zip-safe -top_level.txt diff --git a/pyextra/overpy-0.4-py2.7.egg-info/not-zip-safe b/pyextra/overpy-0.4-py2.7.egg-info/not-zip-safe deleted file mode 100644 index 8b137891791fe9..00000000000000 --- a/pyextra/overpy-0.4-py2.7.egg-info/not-zip-safe +++ /dev/null @@ -1 +0,0 @@ - diff --git a/pyextra/overpy-0.4-py2.7.egg-info/top_level.txt b/pyextra/overpy-0.4-py2.7.egg-info/top_level.txt deleted file mode 100644 index 4611d9bb608014..00000000000000 --- a/pyextra/overpy-0.4-py2.7.egg-info/top_level.txt +++ /dev/null @@ -1,2 +0,0 @@ -overpy -tests diff --git a/pyextra/overpy/__init__.py b/pyextra/overpy/__init__.py index 8e038bda96bd02..2836080ab7d017 100644 --- a/pyextra/overpy/__init__.py +++ b/pyextra/overpy/__init__.py @@ -5,6 +5,8 @@ import json import re import sys +import time +import requests from overpy import exception from overpy.__about__ import ( @@ -18,12 +20,15 @@ XML_PARSER_DOM = 1 XML_PARSER_SAX = 2 -if PY2: - from urllib2 import urlopen - from urllib2 import HTTPError -elif PY3: - from urllib.request import urlopen - from urllib.error import HTTPError +# Try to convert some common attributes +# http://wiki.openstreetmap.org/wiki/Elements#Common_attributes +GLOBAL_ATTRIBUTE_MODIFIERS = { + "changeset": int, + "timestamp": lambda ts: datetime.strptime(ts, "%Y-%m-%dT%H:%M:%SZ"), + "uid": int, + "version": int, + "visible": lambda v: v.lower() == "true" +} def is_valid_type(element, cls): @@ -41,11 +46,16 @@ def is_valid_type(element, cls): class Overpass(object): """ Class to access the Overpass API + + :cvar default_max_retry_count: Global max number of retries (Default: 0) + :cvar default_retry_timeout: Global time to wait between tries (Default: 1.0s) """ + default_max_retry_count = 0 default_read_chunk_size = 4096 + default_retry_timeout = 1.0 default_url = "http://overpass-api.de/api/interpreter" - def __init__(self, read_chunk_size=None, url=None, xml_parser=XML_PARSER_SAX): + def __init__(self, read_chunk_size=None, url=None, xml_parser=XML_PARSER_SAX, max_retry_count=None, retry_timeout=None, timeout=5.0, headers=None): """ :param read_chunk_size: Max size of each chunk read from the server response :type read_chunk_size: Integer @@ -53,6 +63,14 @@ def __init__(self, read_chunk_size=None, url=None, xml_parser=XML_PARSER_SAX): :type url: str :param xml_parser: The xml parser to use :type xml_parser: Integer + :param max_retry_count: Max number of retries (Default: default_max_retry_count) + :type max_retry_count: Integer + :param retry_timeout: Time to wait between tries (Default: default_retry_timeout) + :type retry_timeout: float + :param timeout: HTTP request timeout + :type timeout: float + :param headers: HTTP request headers + :type headers: dict """ self.url = self.default_url if url is not None: @@ -63,7 +81,34 @@ def __init__(self, read_chunk_size=None, url=None, xml_parser=XML_PARSER_SAX): if read_chunk_size is None: read_chunk_size = self.default_read_chunk_size self.read_chunk_size = read_chunk_size + + if max_retry_count is None: + max_retry_count = self.default_max_retry_count + self.max_retry_count = max_retry_count + + if retry_timeout is None: + retry_timeout = self.default_retry_timeout + self.retry_timeout = retry_timeout + self.xml_parser = xml_parser + self.timeout = timeout + self.headers = headers + + def _handle_remark_msg(self, msg): + """ + Try to parse the message provided with the remark tag or element. + + :param str msg: The message + :raises overpy.exception.OverpassRuntimeError: If message starts with 'runtime error:' + :raises overpy.exception.OverpassRuntimeRemark: If message starts with 'runtime remark:' + :raises overpy.exception.OverpassUnknownError: If we are unable to identify the error + """ + msg = msg.strip() + if msg.startswith("runtime error:"): + raise exception.OverpassRuntimeError(msg=msg) + elif msg.startswith("runtime remark:"): + raise exception.OverpassRuntimeRemark(msg=msg) + raise exception.OverpassUnknownError(msg=msg) def query(self, query): """ @@ -76,56 +121,79 @@ def query(self, query): if not isinstance(query, bytes): query = query.encode("utf-8") - try: - f = urlopen(self.url, query) - except HTTPError as e: - f = e - - response = f.read(self.read_chunk_size) - while True: - data = f.read(self.read_chunk_size) - if len(data) == 0: - break - response = response + data - f.close() - - if f.code == 200: - if PY2: - http_info = f.info() - content_type = http_info.getheader("content-type") - else: - content_type = f.getheader("Content-Type") - - if content_type == "application/json": - return self.parse_json(response) + retry_num = 0 + retry_exceptions = [] + do_retry = True if self.max_retry_count > 0 else False + while retry_num <= self.max_retry_count: + if retry_num > 0: + time.sleep(self.retry_timeout) + retry_num += 1 - if content_type == "application/osm3s+xml": - return self.parse_xml(response) + try: + if self.headers is not None: + r = requests.post(self.url, query, timeout=self.timeout, headers=self.headers) + else: + r = requests.post(self.url, query, timeout=self.timeout) + response = r.content + except (requests.exceptions.BaseHTTPError, requests.exceptions.RequestException) as e: + if not do_retry: + raise e + retry_exceptions.append(e) + continue - raise exception.OverpassUnknownContentType(content_type) + if r.status_code == 200: + content_type = r.headers["Content-Type"] - if f.code == 400: - msgs = [] - for msg in self._regex_extract_error_msg.finditer(response): - tmp = self._regex_remove_tag.sub(b"", msg.group("msg")) - try: - tmp = tmp.decode("utf-8") - except UnicodeDecodeError: - tmp = repr(tmp) - msgs.append(tmp) + if content_type == "application/json": + return self.parse_json(response) - raise exception.OverpassBadRequest( - query, - msgs=msgs - ) + if content_type == "application/osm3s+xml": + return self.parse_xml(response) - if f.code == 429: - raise exception.OverpassTooManyRequests + e = exception.OverpassUnknownContentType(content_type) + if not do_retry: + raise e + retry_exceptions.append(e) + continue + elif r.status_code == 400: + msgs = [] + for msg in self._regex_extract_error_msg.finditer(response): + tmp = self._regex_remove_tag.sub(b"", msg.group("msg")) + try: + tmp = tmp.decode("utf-8") + except UnicodeDecodeError: + tmp = repr(tmp) + msgs.append(tmp) + + e = exception.OverpassBadRequest( + query, + msgs=msgs + ) + if not do_retry: + raise e + retry_exceptions.append(e) + continue + elif r.status_code == 429: + e = exception.OverpassTooManyRequests + if not do_retry: + raise e + retry_exceptions.append(e) + continue + elif r.status_code == 504: + e = exception.OverpassGatewayTimeout + if not do_retry: + raise e + retry_exceptions.append(e) + continue - if f.code == 504: - raise exception.OverpassGatewayTimeout + # No valid response code + e = exception.OverpassUnknownHTTPStatusCode(r.status_code) + if not do_retry: + raise e + retry_exceptions.append(e) + continue - raise exception.OverpassUnknownHTTPStatusCode(f.code) + raise exception.MaxRetriesReached(retry_count=retry_num, exceptions=retry_exceptions) def parse_json(self, data, encoding="utf-8"): """ @@ -139,8 +207,11 @@ def parse_json(self, data, encoding="utf-8"): :rtype: overpy.Result """ if isinstance(data, bytes): - data = data.decode(encoding) + data = data.decode(encoding) + data = json.loads(data, parse_float=Decimal) + if "remark" in data: + self._handle_remark_msg(msg=data.get("remark")) return Result.from_json(data, api=self) def parse_xml(self, data, encoding="utf-8", parser=None): @@ -155,13 +226,16 @@ def parse_xml(self, data, encoding="utf-8", parser=None): """ if parser is None: parser = self.xml_parser - if isinstance(data, bytes): data = data.decode(encoding) if PY2 and not isinstance(data, str): # Python 2.x: Convert unicode strings data = data.encode(encoding) + m = re.compile("(?P[^<>]*)").search(data) + if m: + self._handle_remark_msg(m.group("msg")) + return Result.from_xml(data, api=self, parser=parser) @@ -279,23 +353,39 @@ def from_json(cls, data, api=None): return result @classmethod - def from_xml(cls, data, api=None, parser=XML_PARSER_SAX): + def from_xml(cls, data, api=None, parser=None): """ - Create a new instance and load data from xml object. + Create a new instance and load data from xml data or object. + + .. note:: + If parser is set to None, the functions tries to find the best parse. + By default the SAX parser is chosen if a string is provided as data. + The parser is set to DOM if an xml.etree.ElementTree.Element is provided as data value. :param data: Root element - :type data: xml.etree.ElementTree.Element - :param api: + :type data: str | xml.etree.ElementTree.Element + :param api: The instance to query additional information if required. :type api: Overpass - :param parser: Specify the parser to use(DOM or SAX) - :type parser: Integer + :param parser: Specify the parser to use(DOM or SAX)(Default: None = autodetect, defaults to SAX) + :type parser: Integer | None :return: New instance of Result object :rtype: Result """ + if parser is None: + if isinstance(data, str): + parser = XML_PARSER_SAX + else: + parser = XML_PARSER_DOM + result = cls(api=api) if parser == XML_PARSER_DOM: import xml.etree.ElementTree as ET - root = ET.fromstring(data) + if isinstance(data, str): + root = ET.fromstring(data) + elif isinstance(data, ET.Element): + root = data + else: + raise exception.OverPyException("Unable to detect data type.") for elem_cls in [Node, Way, Relation, Area]: for child in root: @@ -522,17 +612,10 @@ def __init__(self, attributes=None, result=None, tags=None): """ self._result = result - # Try to convert some common attributes - # http://wiki.openstreetmap.org/wiki/Elements#Common_attributes - self._attribute_modifiers = { - "changeset": int, - "timestamp": lambda ts: datetime.strptime(ts, "%Y-%m-%dT%H:%M:%SZ"), - "uid": int, - "version": int, - "visible": lambda v: v.lower() == "true" - } self.attributes = attributes - for n, m in self._attribute_modifiers.items(): + # ToDo: Add option to modify attribute modifiers + attribute_modifiers = dict(GLOBAL_ATTRIBUTE_MODIFIERS.items()) + for n, m in attribute_modifiers.items(): if n in self.attributes: self.attributes[n] = m(self.attributes[n]) self.id = None diff --git a/pyextra/overpy/exception.py b/pyextra/overpy/exception.py index 7179d246a59015..3d8416a1257ef1 100644 --- a/pyextra/overpy/exception.py +++ b/pyextra/overpy/exception.py @@ -37,6 +37,18 @@ def __str__(self): ) +class MaxRetriesReached(OverPyException): + """ + Raised if max retries reached and the Overpass server didn't respond with a result. + """ + def __init__(self, retry_count, exceptions): + self.exceptions = exceptions + self.retry_count = retry_count + + def __str__(self): + return "Unable get any result from the Overpass API server after %d retries." % self.retry_count + + class OverpassBadRequest(OverPyException): """ Raised if the Overpass API service returns a syntax error. @@ -62,6 +74,29 @@ def __str__(self): return "\n".join(tmp_msgs) +class OverpassError(OverPyException): + """ + Base exception to report errors if the response returns a remark tag or element. + + .. note:: + If you are not sure which of the subexceptions you should use, use this one and try to parse the message. + + For more information have a look at https://github.com/DinoTools/python-overpy/issues/62 + + :param str msg: The message from the remark tag or element + """ + def __init__(self, msg=None): + #: The message from the remark tag or element + self.msg = msg + + def __str__(self): + if self.msg is None: + return "No error message provided" + if not isinstance(self.msg, str): + return str(self.msg) + return self.msg + + class OverpassGatewayTimeout(OverPyException): """ Raised if load of the Overpass API service is too high and it can't handle the request. @@ -70,6 +105,22 @@ def __init__(self): OverPyException.__init__(self, "Server load too high") +class OverpassRuntimeError(OverpassError): + """ + Raised if the server returns a remark-tag(xml) or remark element(json) with a message starting with + 'runtime error:'. + """ + pass + + +class OverpassRuntimeRemark(OverpassError): + """ + Raised if the server returns a remark-tag(xml) or remark element(json) with a message starting with + 'runtime remark:'. + """ + pass + + class OverpassTooManyRequests(OverPyException): """ Raised if the Overpass API service returns a 429 status code. @@ -94,6 +145,13 @@ def __str__(self): return "Unknown content type: %s" % self.content_type +class OverpassUnknownError(OverpassError): + """ + Raised if the server returns a remark-tag(xml) or remark element(json) and we are unable to find any reason. + """ + pass + + class OverpassUnknownHTTPStatusCode(OverPyException): """ Raised if the returned HTTP status code isn't handled by OverPy. diff --git a/requirements_openpilot.txt b/requirements_openpilot.txt index deb37d08655808..b623e2a25e2e11 100644 --- a/requirements_openpilot.txt +++ b/requirements_openpilot.txt @@ -5,7 +5,7 @@ libusb1==1.5.0 pycapnp==0.6.3 pyzmq==15.4.0 raven==5.23.0 -requests==2.10.0 +requests==2.20.0 setproctitle==1.1.10 simplejson==3.8.2 pyyaml==3.12 @@ -16,4 +16,5 @@ filterpy==1.2.4 smbus2==0.2.0 pyflakes==1.6.0 -e git+https://github.com/commaai/le_python.git@5eef8f5be5929d33973e1b10e686fa0cdcd6792f#egg=Logentries +-e git+https://github.com/commaai/python-overpy.git@f86529af402d4642e1faeb146671c40284007323#egg=overpy Flask==1.0.2 diff --git a/selfdrive/boardd/boardd.py b/selfdrive/boardd/boardd.py index d897a815f2cb03..1e7b233ddda491 100755 --- a/selfdrive/boardd/boardd.py +++ b/selfdrive/boardd/boardd.py @@ -71,9 +71,10 @@ def __parse_can_buffer(dat): def can_send_many(arr): snds = [] for addr, _, dat, alt in arr: - snd = struct.pack("II", ((addr << 21) | 1), len(dat) | (alt << 4)) + dat - snd = snd.ljust(0x10, '\x00') - snds.append(snd) + if addr < 0x800: # only support 11 bit addr + snd = struct.pack("II", ((addr << 21) | 1), len(dat) | (alt << 4)) + dat + snd = snd.ljust(0x10, '\x00') + snds.append(snd) while 1: try: handle.bulkWrite(3, ''.join(snds)) diff --git a/selfdrive/can/parser.cc b/selfdrive/can/parser.cc index 4a82d9a022f36f..83e2e02bcf4ddf 100644 --- a/selfdrive/can/parser.cc +++ b/selfdrive/can/parser.cc @@ -166,6 +166,9 @@ class CANParser { subscriber = zmq_socket(context, ZMQ_SUB); zmq_setsockopt(subscriber, ZMQ_SUBSCRIBE, "", 0); + forwarder = zmq_socket(context, ZMQ_PUB); + zmq_bind(forwarder, "tcp://*:8592"); + std::string tcp_addr_str; if (sendcan) { @@ -244,8 +247,17 @@ class CANParser { // parse the messages for (int i = 0; i < msg_count; i++) { auto cmsg = cans[i]; + + if (cmsg.getDat().size() > 8) continue; //shouldnt ever happen + uint8_t dat[8] = {0}; + memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size()); + + if (can_forward_period_ns > 0) raw_can_values[cmsg.getSrc()][cmsg.getAddress()] = read_u64_be(dat); + + //if (((cmsg.getAddress() == 0xe4 or cmsg.getAddress() == 0x33d) and cmsg.getSrc() == bus) or \ + // (cmsg.getSrc() != bus and cmsg.getAddress() != 0x33d and cmsg.getAddress() != 0xe4 and \ + // (cmsg.getAddress() < 0x240 or cmsg.getAddress() > 0x24A))) { if (cmsg.getSrc() != bus) { - // DEBUG("skip %d: wrong bus\n", cmsg.getAddress()); continue; } auto state_it = message_states.find(cmsg.getAddress()); @@ -254,10 +266,6 @@ class CANParser { continue; } - if (cmsg.getDat().size() > 8) continue; //shouldnt ever happen - uint8_t dat[8] = {0}; - memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size()); - // Assumes all signals in the message are of the same type (little or big endian) // TODO: allow signals within the same message to have different endianess auto& sig = message_states[cmsg.getAddress()].parse_sigs[0]; @@ -265,7 +273,7 @@ class CANParser { p = read_u64_le(dat); } else { p = read_u64_be(dat); - } + } DEBUG(" proc %X: %llx\n", cmsg.getAddress(), p); @@ -273,8 +281,23 @@ class CANParser { } } + void ForwardCANData(uint64_t sec) { + if (sec > next_can_forward_ns) { + next_can_forward_ns += can_forward_period_ns; + // next_can_forward_ns starts at 0, so it needs to be reset. Also handle delays. + if (sec > next_can_forward_ns) next_can_forward_ns = sec + can_forward_period_ns; + std::string canOut = ""; + for (auto src : raw_can_values) { + for (auto pid : src.second) { + canOut = canOut + std::to_string(src.first) + " " + std::to_string(pid.first) + " " + std::to_string(pid.second) + "|"; + } + } + zmq_send(forwarder, canOut.data(), canOut.size(), 0); + } + } + void UpdateValid(uint64_t sec) { - can_valid = true; + can_valid = true; for (const auto& kv : message_states) { const auto& state = kv.second; if (state.check_threshold > 0 && (sec - state.seen) > state.check_threshold) { @@ -317,6 +340,8 @@ class CANParser { UpdateCans(sec, cans); } + if (can_forward_period_ns > 0) ForwardCANData(sec); + UpdateValid(sec); zmq_msg_close(&msg); @@ -351,6 +376,11 @@ class CANParser { void *context = NULL; void *subscriber = NULL; + void *forwarder = NULL; + uint64_t can_forward_period_ns = 100000000; + uint64_t next_can_forward_ns = 0; + std::unordered_map> raw_can_values; + const DBC *dbc = NULL; std::unordered_map message_states; }; diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 1f0e36e0dc23ef..e770fbb737c48c 100755 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -77,7 +77,11 @@ def get_params(candidate, fingerprint): ret.steerKf = 1. / MAX_ANGLE # MAX Steer angle to normalize FF ret.steerActuatorDelay = 0.1 # Default delay, not measured yet ret.steerRateCost = 1.0 - + ret.steerReactance = 0.7 + ret.steerInductance = 1.0 + ret.steerResistance = 1.0 + ret.eonToFront = 0.5 + f = 1.2 tireStiffnessFront_civic *= f tireStiffnessRear_civic *= f @@ -119,6 +123,7 @@ def get_params(candidate, fingerprint): ret.brakeMaxV = [1., 0.8] ret.enableCamera = not any(x for x in [970, 973, 984] if x in fingerprint) + ret.openpilotLongitudinalControl = False cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera) ret.steerLimitAlert = False diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 14b165dc6aea61..fd90ffd4dcf0ca 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -10,7 +10,7 @@ class CarControllerParams(): def __init__(self, car_fingerprint): - if car_fingerprint in (CAR.VOLT, CAR.MALIBU): + if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS): self.STEER_MAX = 300 self.STEER_STEP = 2 # how often we update the steer cmd self.STEER_DELTA_UP = 7 # ~0.75s time to peak torque (255/50hz/0.75s) @@ -104,7 +104,7 @@ def update(self, sendcan, enabled, CS, frame, actuators, \ self.apply_steer_last = apply_steer idx = (frame / P.STEER_STEP) % 4 - if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU): + if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS): can_sends.append(gmcan.create_steering_control(self.packer_pt, canbus.powertrain, apply_steer, idx, lkas_enabled)) if self.car_fingerprint == CAR.CADILLAC_CT6: @@ -113,7 +113,7 @@ def update(self, sendcan, enabled, CS, frame, actuators, \ ### GAS/BRAKE ### - if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU): + if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS): # no output if not enabled, but keep sending keepalive messages # treat pedals as one final_pedal = actuators.gas - actuators.brake diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 6d5b3a9d505f6c..24c73a3079b23a 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -31,15 +31,18 @@ def get_powertrain_can_parser(CP, canbus): ("LKATorqueDeliveredStatus", "PSCMStatus", 0), ] - if CP.carFingerprint in (CAR.VOLT, CAR.MALIBU): + if CP.carFingerprint == CAR.VOLT: signals += [ ("RegenPaddle", "EBCMRegenPaddle", 0), + ] + if CP.carFingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS): + signals += [ ("TractionControlOn", "ESPStatus", 0), ("EPBClosed", "EPBStatus", 0), ("CruiseMainOn", "ECMEngineStatus", 0), ("CruiseState", "AcceleratorPedal2", 0), ] - elif CP.carFingerprint == CAR.CADILLAC_CT6: + if CP.carFingerprint == CAR.CADILLAC_CT6: signals += [ ("ACCCmdActive", "ASCMActiveCruiseControlStatus", 0) ] @@ -48,6 +51,7 @@ def get_powertrain_can_parser(CP, canbus): class CarState(object): def __init__(self, CP, canbus): + self.CP = CP # initialize can parser self.car_fingerprint = CP.carFingerprint @@ -117,14 +121,17 @@ def update(self, pt_cp): self.left_blinker_on = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 1 self.right_blinker_on = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 2 - if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU): + if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS): self.park_brake = pt_cp.vl["EPBStatus"]['EPBClosed'] self.main_on = pt_cp.vl["ECMEngineStatus"]['CruiseMainOn'] self.acc_active = False self.esp_disabled = pt_cp.vl["ESPStatus"]['TractionControlOn'] != 1 - self.regen_pressed = bool(pt_cp.vl["EBCMRegenPaddle"]['RegenPaddle']) self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]['CruiseState'] - else: + if self.car_fingerprint == CAR.VOLT: + self.regen_pressed = bool(pt_cp.vl["EBCMRegenPaddle"]['RegenPaddle']) + else: + self.regen_pressed = False + if self.car_fingerprint == CAR.CADILLAC_CT6: self.park_brake = False self.main_on = False self.acc_active = pt_cp.vl["ASCMActiveCruiseControlStatus"]['ACCCmdActive'] diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index e1f9fc51736174..fbe1b3a09da923 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -12,15 +12,6 @@ except ImportError: CarController = None -# Car chimes, beeps, blinker sounds etc -class CM: - TOCK = 0x81 - TICK = 0x82 - LOW_BEEP = 0x84 - HIGH_BEEP = 0x85 - LOW_CHIME = 0x86 - HIGH_CHIME = 0x87 - class CanBus(object): def __init__(self): self.powertrain = 0 @@ -71,13 +62,19 @@ def get_params(candidate, fingerprint): # Have to go passive if ASCM is online (ACC-enabled cars), # or camera is on powertrain bus (LKA cars without ACC). ret.enableCamera = not any(x for x in STOCK_CONTROL_MSGS[candidate] if x in fingerprint) + ret.openpilotLongitudinalControl = ret.enableCamera std_cargo = 136 + ret.steerReactance = 1.0 + ret.steerInductance = 1.0 + ret.steerResistance = 1.0 + ret.eonToFront = 0.5 + if candidate == CAR.VOLT: # supports stop and go, but initial engage must be above 18mph (which include conservatism) ret.minEnableSpeed = 18 * CV.MPH_TO_MS - # kg of standard extra cargo to count for drive, gas, etc... + # kg of standard extra cargo to count for driver, gas, etc... ret.mass = 1607 + std_cargo ret.safetyModel = car.CarParams.SafetyModels.gm ret.wheelbase = 2.69 @@ -95,10 +92,39 @@ def get_params(candidate, fingerprint): ret.steerRatioRear = 0. ret.centerToFront = ret.wheelbase * 0.4 # wild guess + elif candidate == CAR.HOLDEN_ASTRA: + # kg of standard extra cargo to count for driver, gas, etc... + ret.mass = 1363 + std_cargo + ret.wheelbase = 2.662 + # Remaining parameters copied from Volt for now + ret.centerToFront = ret.wheelbase * 0.4 + ret.minEnableSpeed = 18 * CV.MPH_TO_MS + ret.safetyModel = car.CarParams.SafetyModels.gm + ret.steerRatio = 15.7 + ret.steerRatioRear = 0. + + elif candidate == CAR.ACADIA: + ret.minEnableSpeed = -1 # engage speed is decided by pcm + ret.mass = 4353. * CV.LB_TO_KG + std_cargo + ret.safetyModel = car.CarParams.SafetyModels.gm + ret.wheelbase = 2.86 + ret.steerRatio = 14.4 #end to end is 13.46 + ret.steerRatioRear = 0. + ret.centerToFront = ret.wheelbase * 0.4 + + elif candidate == CAR.CADILLAC_ATS: + ret.minEnableSpeed = 18 * CV.MPH_TO_MS + ret.mass = 1601 + std_cargo + ret.safetyModel = car.CarParams.SafetyModels.gm + ret.wheelbase = 2.78 + ret.steerRatio = 15.3 + ret.steerRatioRear = 0. + ret.centerToFront = ret.wheelbase * 0.49 + elif candidate == CAR.CADILLAC_CT6: # engage speed is decided by pcm ret.minEnableSpeed = -1 - # kg of standard extra cargo to count for drive, gas, etc... + # kg of standard extra cargo to count for driver, gas, etc... ret.mass = 4016. * CV.LB_TO_KG + std_cargo ret.safetyModel = car.CarParams.SafetyModels.cadillac ret.wheelbase = 3.11 @@ -264,8 +290,7 @@ def update(self, c): if ret.seatbeltUnlatched: events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE])) - if self.CS.car_fingerprint in (CAR.VOLT, CAR.MALIBU): - + if self.CS.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS): if self.CS.brake_error: events.append(create_event('brakeUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT])) if not self.CS.gear_shifter_valid: diff --git a/selfdrive/car/gm/radar_interface.py b/selfdrive/car/gm/radar_interface.py index 8e564b1b924152..6af0d3f8fae843 100755 --- a/selfdrive/car/gm/radar_interface.py +++ b/selfdrive/car/gm/radar_interface.py @@ -22,7 +22,7 @@ def create_radard_can_parser(canbus, car_fingerprint): dbc_f = DBC[car_fingerprint]['radar'] - if car_fingerprint in (CAR.VOLT, CAR.MALIBU): + if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS): # C1A-ARS3-A by Continental radar_targets = range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS) signals = zip(['FLRRNumValidTargets', diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index b4f8d90601418a..17260fe27b3897 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -4,9 +4,12 @@ AudibleAlert = car.CarControl.HUDControl.AudibleAlert class CAR: + HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017" VOLT = "CHEVROLET VOLT PREMIER 2017" + CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018" CADILLAC_CT6 = "CADILLAC CT6 SUPERCRUISE 2018" MALIBU = "CHEVROLET MALIBU PREMIER 2017" + ACADIA = "GMC ACADIA DENALI 2018" class CruiseButtons: UNPRESS = 1 @@ -36,7 +39,7 @@ class CM: def is_eps_status_ok(eps_status, car_fingerprint): valid_eps_status = [] - if car_fingerprint in (CAR.VOLT, CAR.MALIBU): + if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS): valid_eps_status += [0, 1] elif car_fingerprint == CAR.CADILLAC_CT6: valid_eps_status += [0, 1, 4, 5, 6] @@ -55,6 +58,10 @@ def parse_gear_shifter(can_gear): return car.CarState.GearShifter.unknown FINGERPRINTS = { + # Astra BK MY17, ASCM unplugged + CAR.HOLDEN_ASTRA: [{ + 190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7, + }], CAR.VOLT: [ # Volt Premier w/ ACC 2017 { @@ -64,6 +71,11 @@ def parse_gear_shifter(can_gear): { 170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8 }], + CAR.CADILLAC_ATS: [ + # Cadillac ATS Coupe Premium Performance 3.6L RWD w/ ACC 2018 + { + 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, 322: 7, 328: 1, 352: 5, 368: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 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, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 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, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8 + }], CAR.CADILLAC_CT6: [{ 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, 313: 8, 320: 3, 322: 7, 328: 1, 336: 1, 338: 6, 340: 6, 352: 5, 354: 5, 356: 8, 368: 3, 372: 5, 381: 8, 386: 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, 458: 5, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 800: 6, 801: 8, 804: 3, 810: 8, 832: 8, 833: 8, 834: 8, 835: 6, 836: 5, 837: 8, 838: 8, 839: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 884: 8, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 1, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1934: 7, 2016: 8, 2024: 8 }], @@ -72,18 +84,29 @@ def parse_gear_shifter(can_gear): { 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 + }], } STEER_THRESHOLD = 1.0 STOCK_CONTROL_MSGS = { + CAR.HOLDEN_ASTRA: [384, 715], CAR.VOLT: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd" CAR.MALIBU: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd" - CAR.CADILLAC_CT6: [], # Cadillac does not require ASCMs to be disconnected + CAR.ACADIA: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd" + CAR.CADILLAC_ATS: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd" + CAR.CADILLAC_CT6: [], # CT6 does not require ASCMs to be disconnected } 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.CADILLAC_CT6: dbc_dict('cadillac_ct6_powertrain', 'cadillac_ct6_object', chassis_dbc='cadillac_ct6_chassis'), } diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index f46343c18fc7d6..feec1de5171e8a 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -40,8 +40,6 @@ def get_can_signals(CP): ("LEFT_BLINKER", "SCM_FEEDBACK", 0), ("RIGHT_BLINKER", "SCM_FEEDBACK", 0), ("GEAR", "GEARBOX", 0), - ("BRAKE_ERROR_1", "STANDSTILL", 1), - ("BRAKE_ERROR_2", "STANDSTILL", 1), ("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS", 1), ("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS", 0), ("BRAKE_PRESSED", "POWERTRAIN_DATA", 0), @@ -63,7 +61,6 @@ def get_can_signals(CP): ("STEERING_SENSORS", 100), ("SCM_FEEDBACK", 10), ("GEARBOX", 100), - ("STANDSTILL", 50), ("SEATBELT_STATUS", 10), ("CRUISE", 10), ("POWERTRAIN_DATA", 100), @@ -84,9 +81,12 @@ def get_can_signals(CP): checks += [("GAS_PEDAL_2", 100)] else: # Nidec signals. - signals += [("CRUISE_SPEED_PCM", "CRUISE", 0), + signals += [("BRAKE_ERROR_1", "STANDSTILL", 1), + ("BRAKE_ERROR_2", "STANDSTILL", 1), + ("CRUISE_SPEED_PCM", "CRUISE", 0), ("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS", 0)] - checks += [("CRUISE_PARAMS", 50)] + checks += [("CRUISE_PARAMS", 50), + ("STANDSTILL", 50)] if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH): signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)] @@ -205,7 +205,10 @@ def update(self, cp, cp_cam): self.steer_error = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 2, 3, 4, 6] self.steer_not_allowed = cp.vl["STEER_STATUS"]['STEER_STATUS'] != 0 self.steer_warning = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 3] # 3 is low speed lockout, not worth a warning - self.brake_error = cp.vl["STANDSTILL"]['BRAKE_ERROR_1'] or cp.vl["STANDSTILL"]['BRAKE_ERROR_2'] + if self.CP.radarOffCan: + self.brake_error = 0 + else: + self.brake_error = cp.vl["STANDSTILL"]['BRAKE_ERROR_1'] or cp.vl["STANDSTILL"]['BRAKE_ERROR_2'] self.esp_disabled = cp.vl["VSA_STATUS"]['ESP_DISABLED'] # calc best v_ego estimate, by averaging two opposite corners @@ -237,6 +240,7 @@ def update(self, cp, cp_cam): self.gear = 0 if self.CP.carFingerprint == CAR.CIVIC else cp.vl["GEARBOX"]['GEAR'] self.angle_steers = cp.vl["STEERING_SENSORS"]['STEER_ANGLE'] + self.angle_steers_rate = cp.vl["STEERING_SENSORS"]['STEER_ANGLE_RATE'] self.cruise_setting = cp.vl["SCM_BUTTONS"]['CRUISE_SETTING'] diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 3ab57b899e9344..b2ce0eeba970ed 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -151,10 +151,13 @@ def get_params(candidate, fingerprint): ret.safetyModel = car.CarParams.SafetyModels.hondaBosch ret.enableCamera = True ret.radarOffCan = True + ret.openpilotLongitudinalControl = False else: ret.safetyModel = car.CarParams.SafetyModels.honda ret.enableCamera = not any(x for x in CAMERA_MSGS if x in fingerprint) ret.enableGasInterceptor = 0x201 in fingerprint + ret.openpilotLongitudinalControl = ret.enableCamera + cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera) cloudlog.warn("ECU Gas Interceptor: %r", ret.enableGasInterceptor) @@ -183,6 +186,10 @@ def get_params(candidate, fingerprint): ret.steerKiBP, ret.steerKpBP = [[0.], [0.]] ret.steerKf = 0.00006 # conservative feed-forward + ret.steerReactance = 1.0 + ret.steerInductance = 1.0 + ret.steerResistance = 1.0 + ret.eonToFront = 0.5 if candidate == CAR.CIVIC: stop_and_go = True @@ -223,6 +230,10 @@ def get_params(candidate, fingerprint): ret.centerToFront = ret.wheelbase * 0.39 ret.steerRatio = 15.96 # 11.82 is spec end-to-end tire_stiffness_factor = 0.8467 + ret.steerReactance = 1.75 + ret.steerInductance = 2.25 + ret.steerResistance = 0.5 + ret.eonToFront = 1.0 ret.steerKpV, ret.steerKiV = [[0.6], [0.18]] ret.longitudinalKpBP = [0., 5., 35.] ret.longitudinalKpV = [1.2, 0.8, 0.5] @@ -485,8 +496,8 @@ def update(self, c): ret.buttonEvents = buttonEvents # events - # TODO: I don't like the way capnp does enums - # These strings aren't checked at compile time + # TODO: event names aren't checked at compile time. + # Maybe there is a way to use capnp enums directly events = [] if not self.CS.can_valid: self.can_invalid_count += 1 @@ -494,12 +505,15 @@ def update(self, c): events.append(create_event('commIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE])) else: self.can_invalid_count = 0 + if not self.CS.cam_can_valid and self.CP.enableCamera: self.cam_can_invalid_count += 1 - if self.cam_can_invalid_count >= 5 and self.CS.CP.carFingerprint not in HONDA_BOSCH: + # wait 1.0s before throwing the alert to avoid it popping when you turn off the car + if self.cam_can_invalid_count >= 100 and self.CS.CP.carFingerprint not in HONDA_BOSCH: events.append(create_event('invalidGiraffeHonda', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT])) else: self.cam_can_invalid_count = 0 + if self.CS.steer_error: events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT])) elif self.CS.steer_warning: diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 17492eaf08ad96..3d77a76da0a1c1 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -118,6 +118,10 @@ class CAR: # 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 + }, + # 2019 Ridgeline + { + 57: 3, 145: 8, 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, 476: 4, 490: 8, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 795: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 871: 8, 882: 2, 884: 7, 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, 1092: 1, 1108: 8, 1125: 8, 1296: 8, 1365: 5, 424: 5, 1613: 5, 1616: 5, 1618: 5, 1623: 5, 1668: 5 }] } diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 451183802085e0..92e9b02e7f1888 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -184,7 +184,7 @@ def update(self, cp, cp_cam): self.standstill = not self.v_wheel > 0.1 self.angle_steers = cp.vl["SAS11"]['SAS_Angle'] - self.angle_steers_rate = cp.vl["SAS11"]['SAS_Speed'] + self.angle_steers_rate = 0.0 #cp.vl["SAS11"]['SAS_Speed'] self.yaw_rate = cp.vl["ESP12"]['YAW_RATE'] self.main_on = True self.left_blinker_on = cp.vl["CGW1"]['CF_Gway_TSigLHSw'] diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 96174ef09643e8..71c45aeddeb202 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -72,6 +72,11 @@ def get_params(candidate, fingerprint): ret.steerActuatorDelay = 0.1 # Default delay tire_stiffness_factor = 1. + ret.steerReactance = 1.0 + ret.steerInductance = 1.0 + ret.steerResistance = 1.0 + ret.eonToFront = 0.5 + if candidate == CAR.SANTA_FE: ret.steerKf = 0.00005 ret.steerRateCost = 0.5 @@ -163,6 +168,7 @@ def get_params(candidate, fingerprint): ret.longPidDeadzoneV = [0.] ret.enableCamera = not any(x for x in CAMERA_MSGS if x in fingerprint) + ret.openpilotLongitudinalControl = False ret.steerLimitAlert = False ret.stoppingControl = False diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index ad5191195b92b1..8de0252410b16b 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -11,11 +11,11 @@ def get_hud_alerts(visual_alert, audible_alert): return 0 class CAR: - SANTA_FE = "HYUNDAI SANTA FE LIMITED 2019" ELANTRA = "HYUNDAI ELANTRA LIMITED ULTIMATE 2017" GENESIS = "HYUNDAI GENESIS 2018" - KIA_SORENTO = "KIA SORENTO GT LINE 2018" # Top Trim Kia Sorento for Australian Market, AWD Diesel 8sp Auto + KIA_SORENTO = "KIA SORENTO GT LINE 2018" KIA_STINGER = "KIA STINGER GT2 2018" + SANTA_FE = "HYUNDAI SANTA FE LIMITED 2019" class Buttons: NONE = 0 @@ -24,9 +24,6 @@ class Buttons: CANCEL = 4 FINGERPRINTS = { - CAR.SANTA_FE: [{ - 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8 - }], CAR.ELANTRA: [{ 66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 }], @@ -39,9 +36,12 @@ class Buttons: 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 }], + CAR.SANTA_FE: [{ + 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8 + }], } -CAMERA_MSGS = [832, 1156, 1191, 1342] # msgs sent by the camera +CAMERA_MSGS = [832, 1156, 1191, 1342] CHECKSUM = { "crc8": [CAR.SANTA_FE], @@ -50,9 +50,9 @@ class Buttons: } 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), + CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None), + CAR.GENESIS: 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.SANTA_FE: dbc_dict('hyundai_kia_generic', None), } diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py index 5edbcbbd113f78..5887ed6f7efbae 100755 --- a/selfdrive/car/mock/interface.py +++ b/selfdrive/car/mock/interface.py @@ -47,7 +47,13 @@ def get_params(candidate, fingerprint): ret.carFingerprint = candidate ret.safetyModel = car.CarParams.SafetyModels.noOutput + ret.openpilotLongitudinalControl = False + ret.steerReactance = 1.0 + ret.steerInductance = 1.0 + ret.steerResistance = 1.0 + ret.eonToFront = 0.5 + # FIXME: hardcoding honda civic 2016 touring params so they can be used to # scale unknown params for other cars ret.mass = 1700. diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 71d33b0ab7c2a2..ed4bd4b6ae91ca 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -134,7 +134,12 @@ def update(self, cp, cp_cam): self.standstill = not self.v_wheel > 0.001 self.angle_steers = cp.vl["STEER_ANGLE_SENSOR"]['STEER_ANGLE'] + cp.vl["STEER_ANGLE_SENSOR"]['STEER_FRACTION'] - self.angle_steers_rate = cp.vl["STEER_ANGLE_SENSOR"]['STEER_RATE'] + + if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.COROLLA): + self.angle_steers_rate = cp.vl["STEER_ANGLE_SENSOR"]['STEER_RATE'] + else: + self.angle_steers_rate = 0.0 + can_gear = int(cp.vl["GEAR_PACKET"]['GEAR']) self.gear_shifter = parse_gear_shifter(can_gear, self.shifter_values) self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON'] diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 57e90339cc6ae7..069a06815d76e9 100755 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -73,6 +73,10 @@ def get_params(candidate, fingerprint): tireStiffnessFront_civic = 192150 tireStiffnessRear_civic = 202500 + ret.steerReactance = 1.0 + ret.steerInductance = 1.0 + ret.steerResistance = 1.0 + ret.eonToFront = 0.5 ret.steerKiBP, ret.steerKpBP = [[0.], [0.]] ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay @@ -186,6 +190,7 @@ def get_params(candidate, fingerprint): ret.enableCamera = not check_ecu_msgs(fingerprint, ECU.CAM) ret.enableDsu = not check_ecu_msgs(fingerprint, ECU.DSU) ret.enableApgs = False #not check_ecu_msgs(fingerprint, ECU.APGS) + ret.openpilotLongitudinalControl = ret.enableCamera and ret.enableDsu cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera) cloudlog.warn("ECU DSU Simulated: %r", ret.enableDsu) cloudlog.warn("ECU APGS Simulated: %r", ret.enableApgs) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index d4929e7bc2c98b..4ed0d8fea561bd 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -108,9 +108,13 @@ def check_ecu_msgs(fingerprint, ecu): }], CAR.LEXUS_RXH: [{ 36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 812: 3, 814: 8, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1071: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1777: 8, 1779: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1840: 8, 1848: 8, 1904: 8, 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 + }, + # RX450HL + { + 36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 658: 8, 713: 8, 742: 8, 743: 8, 800: 8, 810: 2, 812: 3, 814: 8, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1056: 8, 1057: 8, 1059: 1, 1063: 8, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8 }], CAR.CHR: [{ - 36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 740: 5, 800: 8, 810: 2, 812: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 1017: 8, 1020: 8, 1021: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8 + 36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 705: 8, 740: 5, 800: 8, 810: 2, 812: 8, 814: 8, 830: 7, 835: 8, 836: 8, 845: 5, 869: 7, 870: 7, 871: 2, 898: 8, 913: 8, 918: 8, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 1014: 8, 1017: 8, 1020: 8, 1021: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1082: 8, 1083: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8 }], CAR.CHRH: [{ 36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 800: 8, 810: 2, 812: 8, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1021: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8 diff --git a/selfdrive/common/version.h b/selfdrive/common/version.h index 617c8189cba23d..422faa02b65add 100644 --- a/selfdrive/common/version.h +++ b/selfdrive/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.5.6-release" +#define COMMA_VERSION "0.5.7-release" diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index f4fa0d8140f491..b253c75d3772f6 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -2,13 +2,11 @@ import gc import zmq import json - from cereal import car, log from common.numpy_fast import clip from common.realtime import sec_since_boot, set_realtime_priority, Ratekeeper from common.profiler import Profiler from common.params import Params - import selfdrive.messaging as messaging from selfdrive.config import Conversions as CV from selfdrive.services import service_list @@ -25,17 +23,12 @@ from selfdrive.controls.lib.alertmanager import AlertManager from selfdrive.controls.lib.vehicle_model import VehicleModel from selfdrive.controls.lib.driver_monitor import DriverStatus +from selfdrive.locationd.calibration_helpers import Calibration, Filter ThermalStatus = log.ThermalData.ThermalStatus State = log.Live100Data.ControlState -class Calibration: - UNCALIBRATED = 0 - CALIBRATED = 1 - INVALID = 2 - - def isActive(state): """Check if the actuators are enabled""" return state in [State.enabled, State.softDisabling] @@ -126,14 +119,14 @@ def data_sample(CI, CC, thermal, calibration, health, driver_monitor, gps_locati return CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter -def calc_plan(CS, CP, events, PL, LaC, LoC, v_cruise_kph, driver_status, geofence): +def calc_plan(CS, CP, VM, events, PL, LaC, LoC, v_cruise_kph, driver_status, geofence): """Calculate a longitudinal plan using MPC""" # Slow down when based on driver monitoring or geofence force_decel = driver_status.awareness < 0. or (geofence is not None and not geofence.in_geofence) # Update planner - plan_packet = PL.update(CS, LaC, LoC, v_cruise_kph, force_decel) + plan_packet = PL.update(CS, CP, VM, LaC, LoC, v_cruise_kph, force_decel) plan = plan_packet.plan plan_ts = plan_packet.logMonoTime events += list(plan.events) @@ -281,7 +274,7 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, v_cruise_kph, plan.vTarget, plan.vTargetFuture, plan.aTarget, CP, PL.lead_1) # Steering PID loop and lateral MPC - actuators.steer, actuators.steerAngle = LaC.update(active, CS.vEgo, CS.steeringAngle, + actuators.steer, actuators.steerAngle = LaC.update(active, CS.vEgo, CS.steeringAngle, CS.steeringRate, CS.steeringPressed, plan.dPoly, angle_offset, CP, VM, PL) # Send a "steering required alert" if saturation count has reached the limit @@ -293,7 +286,10 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, extra_text_1, extra_text_2 = "", "" if e == "calibrationIncomplete": extra_text_1 = str(cal_perc) + "%" - extra_text_2 = "35 kph" if is_metric else "15 mph" + if is_metric: + extra_text_2 = str(int(round(Filter.MIN_SPEED * CV.MS_TO_KPH))) + " kph" + else: + extra_text_2 = str(int(round(Filter.MIN_SPEED * CV.MS_TO_MPH))) + " mph" AM.add(str(e) + "Permanent", enabled, extra_text_1=extra_text_1, extra_text_2=extra_text_2) AM.process_alerts(sec_since_boot()) @@ -463,6 +459,7 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.): # Write CarParams for radard and boardd safety mode params.put("CarParams", CP.to_bytes()) + params.put("LongitudinalControl", "1" if CP.openpilotLongitudinalControl else "0") state = State.disabled soft_disable_timer = 0 @@ -498,7 +495,7 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.): prof.checkpoint("Sample") # Define longitudinal plan (MPC) - plan, plan_ts = calc_plan(CS, CP, events, PL, LaC, LoC, v_cruise_kph, driver_status, geofence) + plan, plan_ts = calc_plan(CS, CP, VM, events, PL, LaC, LoC, v_cruise_kph, driver_status, geofence) prof.checkpoint("Plan") if not passive: @@ -514,7 +511,7 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.): # Publish data CC = data_send(PL.perception_state, plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate, carcontrol, - live100, livempc, AM, driver_status, LaC, LoC, angle_offset, passive) + live100, livempc, AM, driver_status, LaC, LoC, angle_offset, passive) prof.checkpoint("Sent") rk.keep_time() # Run at 100Hz diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py index 81a371f783ca6c..4bd0232b30b16b 100644 --- a/selfdrive/controls/lib/latcontrol.py +++ b/selfdrive/controls/lib/latcontrol.py @@ -1,5 +1,8 @@ import math +import csv import numpy as np +import time +import json from selfdrive.controls.lib.pid import PIController from selfdrive.controls.lib.drive_helpers import MPC_COST_LAT from selfdrive.controls.lib.lateral_mpc import libmpc_py @@ -7,28 +10,131 @@ from common.realtime import sec_since_boot from selfdrive.swaglog import cloudlog from cereal import car +import os, os.path _DT = 0.01 # 100Hz _DT_MPC = 0.05 # 20Hz +_tuning_stage = 1 - -def calc_states_after_delay(states, v_ego, steer_angle, curvature_factor, steer_ratio, delay): - states[0].x = v_ego * delay +def calc_states_after_delay(states, v_ego, steer_angle, curvature_factor, steer_ratio, delay, long_camera_offset): + states[0].x = max(0.0, v_ego * delay + long_camera_offset) states[0].psi = v_ego * curvature_factor * math.radians(steer_angle) / steer_ratio * delay return states - def get_steer_max(CP, v_ego): return interp(v_ego, CP.steerMaxBP, CP.steerMaxV) +def apply_deadzone(angle, deadzone): + if angle > deadzone: + angle -= deadzone + elif angle < -deadzone: + angle += deadzone + else: + angle = 0. + return angle class LatControl(object): def __init__(self, CP): - self.pid = PIController((CP.steerKpBP, CP.steerKpV), - (CP.steerKiBP, CP.steerKiV), - k_f=CP.steerKf, pos_limit=1.0) + + if CP.steerResistance > 0 and CP.steerReactance >= 0 and CP.steerInductance > 0: + self.smooth_factor = CP.steerInductance * 2.0 * CP.steerActuatorDelay / _DT # Multiplier for inductive component (feed forward) + self.projection_factor = CP.steerReactance * CP.steerActuatorDelay / 2.0 # Mutiplier for reactive component (PI) + self.accel_limit = 2.0 / CP.steerResistance # Desired acceleration limit to prevent "whip steer" (resistive component) + self.ff_angle_factor = 1.0 # Kf multiplier for angle-based feed forward + self.ff_rate_factor = 10.0 # Kf multiplier for rate-based feed forward + # Eliminate break-points, since they aren't needed (and would cause problems for resonance) + KpV = np.interp(25.0, CP.steerKpBP, CP.steerKpV) + self.KiV = np.interp(25.0, CP.steerKiBP, CP.steerKiV) + self.pid = PIController(([0.], [KpV]), + ([0.], [self.KiV * _DT / self.projection_factor]), + k_f=CP.steerKf, pos_limit=1.0) + else: + self.pid = PIController((CP.steerKpBP, CP.steerKpV), + (CP.steerKiBP, CP.steerKiV), + k_f=CP.steerKf, pos_limit=1.0) + self.smooth_factor = 1.0 # Disabled + self.projection_factor = 0.0 # Disabled + self.accel_limit = 0.0 # Disabled + self.ff_angle_factor = 1.0 # Disabled + self.ff_rate_factor = 0.0 # Disabled + + self.prev_angle_rate = 0.0 + self.inductance = CP.steerInductance + self.reactance = CP.steerReactance + self.resistance = CP.steerResistance + self.resistanceIndex = 0 + self.inductanceIndex = 0 + self.reactanceIndex = 0 + self.feed_forward = 0.0 + self.steerActuatorDelay = CP.steerActuatorDelay self.last_cloudlog_t = 0.0 self.setup_mpc(CP.steerRateCost) + self.last_mpc_ts = 0.0 + self.angle_steers_des = 0.0 + self.angle_steers_des_mpc = 0.0 + self.angle_steers_des_time = 0.0 + self.avg_angle_steers = 0.0 + self.projected_angle_steers = 0.0 + self.left_change = 0.0 + self.right_change = 0.0 + self.path_change = 0.0 + self.prob_adjust = 0.0 + self.steer_counter = 1.0 + self.steer_counter_prev = 0.0 + self.angle_steers = 0.0 + self.angle_steers_rate = 0.0 + self.rough_steers_rate = 0.0 + self.rough_steers_rate_increment = 0.0 + self.prev_angle_steers = 0.0 + self.calculate_rate = True + self.lane_change_rate = 0.0 + self.prev_lane_offset = 0.0 + self.prev_lane_offset_time = 0.0 + self.lane_offset_adjustment = 0.0 + + # variables for dashboarding + DIR = '/sdcard/tuning' + self.filenumber = len([name for name in os.listdir(DIR) if os.path.isfile(os.path.join(DIR, name))]) + + print("start") + #with open(DIR + '/dashboard_file_%d.csv' % self.filenumber, mode='w') as self.dash_file: + self.dash_file = open(DIR + '/dashboard_file_%d.csv' % self.filenumber, mode='w') + print("opened") + self.dash_writer = csv.writer(self.dash_file, delimiter=',', quotechar='', quoting=csv.QUOTE_NONE) + print("initialized") + self.dash_writer.writerow(['angle_steers_des','angle_steers_des_mpc','angle_steers','angle_rate','v_ego','steer_override', + 'p','i','f','ff_type','ff_type_a','ff_type_r','sway','reactance', + 'inductance','resistance','eonToFront','time']) + print("first row") + + self.sine_wave = [ 0.0175, 0.0349, 0.0523, 0.0698, 0.0872, 0.1045, 0.1219, 0.1392, 0.1564, 0.1736, 0.1908, 0.2079, 0.225, 0.2419, 0.2588, 0.2756, + 0.2924, 0.309, 0.3256, 0.342, 0.3584, 0.3746, 0.3907, 0.4067, 0.4226, 0.4384, 0.454, 0.4695, 0.4848, 0.5, 0.515, 0.5299, 0.5446, + 0.5592, 0.5736, 0.5878, 0.6018, 0.6157, 0.6293, 0.6428, 0.6561, 0.6691, 0.682, 0.6947, 0.7071, 0.7193, 0.7314, 0.7431, 0.7547, 0.766, + 0.7771, 0.788, 0.7986, 0.809, 0.8192, 0.829, 0.8387, 0.848, 0.8572, 0.866, 0.8746, 0.8829, 0.891, 0.8988, 0.9063, 0.9135, 0.9205, + 0.9272, 0.9336, 0.9397, 0.9455, 0.9511, 0.9563, 0.9613, 0.9659, 0.9703, 0.9744, 0.9781, 0.9816, 0.9848, 0.9877, 0.9903, 0.9925, + 0.9945, 0.9962, 0.9976, 0.9986, 0.9994, 0.9998, 1, 0.9998, 0.9994, 0.9986, 0.9976, 0.9962, 0.9945, 0.9925, 0.9903, 0.9877, 0.9848, + 0.9816, 0.9781, 0.9744, 0.9703, 0.9659, 0.9613, 0.9563, 0.9511, 0.9455, 0.9397, 0.9336, 0.9272, 0.9205, 0.9135, 0.9063, 0.8988, + 0.891, 0.8829, 0.8746, 0.866, 0.8572, 0.848, 0.8387, 0.829, 0.8192, 0.809, 0.7986, 0.788, 0.7771, 0.766, 0.7547, 0.7431, 0.7314, + 0.7193, 0.7071, 0.6947, 0.682, 0.6691, 0.6561, 0.6428, 0.6293, 0.6157, 0.6018, 0.5878, 0.5736, 0.5592, 0.5446, 0.5299, 0.515, + 0.5, 0.4848, 0.4695, 0.454, 0.4384, 0.4226, 0.4067, 0.3907, 0.3746, 0.3584, 0.342, 0.3256, 0.309, 0.2924, 0.2756, 0.2588, 0.2419, + 0.225, 0.2079, 0.1908, 0.1736, 0.1564, 0.1392, 0.1219, 0.1045, 0.0872, 0.0698, 0.0523, 0.0349, 0.0175, 0.0, -0.0175, -0.0349, -0.0523, + -0.0698, -0.0872, -0.1045, -0.1219, -0.1392, -0.1564, -0.1736, -0.1908, -0.2079, -0.225, -0.2419, -0.2588, -0.2756, -0.2924, -0.309, + -0.3256, -0.342, -0.3584, -0.3746, -0.3907, -0.4067, -0.4226, -0.4384, -0.454, -0.4695, -0.4848, -0.5, -0.515, -0.5299, -0.5446, + -0.5592, -0.5736, -0.5878, -0.6018, -0.6157, -0.6293, -0.6428, -0.6561, -0.6691, -0.682, -0.6947, -0.7071, -0.7193, -0.7314, + -0.7431, -0.7547, -0.766, -0.7771, -0.788, -0.7986, -0.809, -0.8192, -0.829, -0.8387, -0.848, -0.8572, -0.866, -0.8746, -0.8829, + -0.891, -0.8988, -0.9063, -0.9135, -0.9205, -0.9272, -0.9336, -0.9397, -0.9455, -0.9511, -0.9563, -0.9613, -0.9659, -0.9703, + -0.9744, -0.9781, -0.9816, -0.9848, -0.9877, -0.9903, -0.9925, -0.9945, -0.9962, -0.9976, -0.9986, -0.9994, -0.9998, -1, -0.9998, + -0.9994, -0.9986, -0.9976, -0.9962, -0.9945, -0.9925, -0.9903, -0.9877, -0.9848, -0.9816, -0.9781, -0.9744, -0.9703, -0.9659, + -0.9613, -0.9563, -0.9511, -0.9455, -0.9397, -0.9336, -0.9272, -0.9205, -0.9135, -0.9063, -0.8988, -0.891, -0.8829, -0.8746, + -0.866, -0.8572, -0.848, -0.8387, -0.829, -0.8192, -0.809, -0.7986, -0.788, -0.7771, -0.766, -0.7547, -0.7431, -0.7314, + -0.7193, -0.7071, -0.6947, -0.682, -0.6691, -0.6561, -0.6428, -0.6293, -0.6157, -0.6018, -0.5878, -0.5736, -0.5592, -0.5446, + -0.5299, -0.515, -0.5, -0.4848, -0.4695, -0.454, -0.4384, -0.4226, -0.4067, -0.3907, -0.3746, -0.3584, -0.342, -0.3256, + -0.309, -0.2924, -0.2756, -0.2588, -0.2419, -0.225, -0.2079, -0.1908, -0.1736, -0.1564, -0.1392, -0.1219, -0.1045, -0.0872, + -0.0698, -0.0523, -0.0349, -0.0175, 0.0] + + self.frames = 0 + self.curvature_factor = 0.0 + self.mpc_frame = 0 def setup_mpc(self, steer_rate_cost): self.libmpc = libmpc_py.libmpc @@ -36,6 +142,8 @@ def setup_mpc(self, steer_rate_cost): self.mpc_solution = libmpc_py.ffi.new("log_t *") self.cur_state = libmpc_py.ffi.new("state_t *") + self.mpc_angles = [0.0, 0.0, 0.0] + self.mpc_times = [0.0, 0.0, 0.0] self.mpc_updated = False self.mpc_nans = False self.cur_state[0].x = 0.0 @@ -43,78 +151,222 @@ def setup_mpc(self, steer_rate_cost): self.cur_state[0].psi = 0.0 self.cur_state[0].delta = 0.0 - self.last_mpc_ts = 0.0 - self.angle_steers_des = 0.0 - self.angle_steers_des_mpc = 0.0 - self.angle_steers_des_prev = 0.0 - self.angle_steers_des_time = 0.0 - def reset(self): self.pid.reset() - def update(self, active, v_ego, angle_steers, steer_override, d_poly, angle_offset, CP, VM, PL): - cur_time = sec_since_boot() + def roll_tune(self, CP, PL): + self.mpc_frame += 1 + sway_index = self.mpc_frame % 2000 + if sway_index < 90: + PL.PP.sway = (self.sine_wave[sway_index * 2]) * 0.35 + elif 90 <= sway_index < 180: + PL.PP.sway = -(self.sine_wave[(sway_index - 180) * 4]) * 0.45 + + if _tuning_stage == 1: + if self.mpc_frame % 40 == 0: + self.resistanceIndex += 1 + self.resistance = CP.steerResistance * (1.0 + 0.5 * self.sine_wave[self.resistanceIndex % 360]) + self.accel_limit = 2.0 / self.resistance + if self.mpc_frame % 50 == 0: + self.reactanceIndex += 1 + self.reactance = CP.steerReactance * (1.0 + 0.5 * self.sine_wave[self.reactanceIndex % 360]) + self.projection_factor = self.reactance * CP.steerActuatorDelay / 2.0 + self.pid._k_i = ([0.], [self.KiV * _DT / self.projection_factor]) + if self.mpc_frame % 60 == 0: + self.inductanceIndex += 1 + self.inductance = CP.steerInductance * (1.0 + 0.5 * self.sine_wave[self.inductanceIndex % 360]) + self.smooth_factor = self.inductance * 2.0 * CP.steerActuatorDelay / _DT + elif _tuning_stage == 2: + if self.mpc_frame % 100 == 0: + self.reactanceIndex += 1 + self.reactance = CP.steerReactance * (1.0 + 0.3 * self.sine_wave[self.reactanceIndex % 360]) + self.projection_factor = self.reactance * CP.steerActuatorDelay / 2.0 + self.pid._k_i = ([0.], [self.KiV * _DT / self.projection_factor]) + if self.mpc_frame % 125 == 0: + self.inductanceIndex += 1 + self.inductance = CP.steerInductance * (1.0 + 0.3 * self.sine_wave[self.inductanceIndex % 360]) + self.smooth_factor = self.inductance * 2.0 * CP.steerActuatorDelay / _DT + elif _tuning_stage == 3: + if self.mpc_frame % 150 == 0: + self.reactanceIndex += 1 + self.reactance = CP.steerReactance * (1.0 + 0.3 * self.sine_wave[self.reactanceIndex % 360]) + self.projection_factor = self.reactance * CP.steerActuatorDelay / 2.0 + self.pid._k_i = ([0.], [self.KiV * _DT / self.projection_factor]) + elif _tuning_stage == 4: + if self.mpc_frame % 150 == 0: + self.inductanceIndex += 1 + self.inductance = CP.steerInductance * (1.0 + 0.3 * self.sine_wave[self.inductanceIndex % 360]) + self.smooth_factor = self.inductance * 2.0 * CP.steerActuatorDelay / _DT + elif _tuning_stage == 5: + if self.mpc_frame % 150 == 0: + self.resistanceIndex += 1 + self.resistance = CP.steerResistance * (1.0 + 0.3 * self.sine_wave[self.resistanceIndex % 360]) + self.accel_limit = 2.0 / self.resistance + + def update(self, active, v_ego, angle_steers, angle_rate, steer_override, d_poly, angle_offset, CP, VM, PL): self.mpc_updated = False + + if angle_rate == 0.0 and self.calculate_rate: + if angle_steers != self.prev_angle_steers: + self.steer_counter_prev = self.steer_counter + self.rough_steers_rate = (self.rough_steers_rate + 100.0 * (angle_steers - self.prev_angle_steers) / self.steer_counter_prev) / 2.0 + self.steer_counter = 0.0 + self.steer_counter += 1.0 + + if self.steer_counter > self.steer_counter_prev: + self.rough_steers_rate = (self.steer_counter * self.rough_steers_rate) / (self.steer_counter + 1.0) + + angle_rate = self.rough_steers_rate + accelerated_angle_rate = angle_rate + + else: + # Use steering rate from the last 2 samples to estimate acceleration for a more realistic future steering rate + accelerated_angle_rate = 2.0 * angle_rate - self.prev_angle_rate + self.calculate_rate = False + # TODO: this creates issues in replay when rewinding time: mpc won't run if self.last_mpc_ts < PL.last_md_ts: self.last_mpc_ts = PL.last_md_ts - self.angle_steers_des_prev = self.angle_steers_des_mpc + cur_time = sec_since_boot() + mpc_time = float(self.last_mpc_ts / 1000000000.0) + self.curvature_factor = VM.curvature_factor(v_ego) - curvature_factor = VM.curvature_factor(v_ego) + # Determine future angle steers using accelerated steer rate + self.projected_angle_steers = float(angle_steers) + CP.steerActuatorDelay * float(accelerated_angle_rate) - l_poly = libmpc_py.ffi.new("double[4]", list(PL.PP.l_poly)) - r_poly = libmpc_py.ffi.new("double[4]", list(PL.PP.r_poly)) - p_poly = libmpc_py.ffi.new("double[4]", list(PL.PP.p_poly)) + # Determine a proper delay time that includes the model's processing time, which is variable + plan_age = _DT_MPC + cur_time - mpc_time + total_delay = CP.steerActuatorDelay + plan_age - # account for actuation delay - self.cur_state = calc_states_after_delay(self.cur_state, v_ego, angle_steers, curvature_factor, CP.steerRatio, CP.steerActuatorDelay) + self.l_poly = libmpc_py.ffi.new("double[4]", list(PL.PP.l_poly)) + self.r_poly = libmpc_py.ffi.new("double[4]", list(PL.PP.r_poly)) + self.c_poly = libmpc_py.ffi.new("double[4]", list(PL.PP.c_poly)) + self.p_poly = libmpc_py.ffi.new("double[4]", list(PL.PP.p_poly)) - v_ego_mpc = max(v_ego, 5.0) # avoid mpc roughness due to low speed - self.libmpc.run_mpc(self.cur_state, self.mpc_solution, - l_poly, r_poly, p_poly, - PL.PP.l_prob, PL.PP.r_prob, PL.PP.p_prob, curvature_factor, v_ego_mpc, PL.PP.lane_width) + # account for actuation delay and the age of the plan + self.cur_state = calc_states_after_delay(self.cur_state, v_ego, self.projected_angle_steers, self.curvature_factor, CP.steerRatio, total_delay, CP.eonToFront) - # reset to current steer angle if not active or overriding - if active: - delta_desired = self.mpc_solution[0].delta[1] - else: - delta_desired = math.radians(angle_steers - angle_offset) / CP.steerRatio + v_ego_mpc = max(v_ego, 5.0) # avoid mpc roughness due to low speed - self.cur_state[0].delta = delta_desired + self.libmpc.run_mpc(self.cur_state, self.mpc_solution, + self.l_poly, self.r_poly, self.p_poly, + PL.PP.l_prob, PL.PP.r_prob, PL.PP.p_prob, self.curvature_factor, v_ego_mpc, PL.PP.lane_width) - self.angle_steers_des_mpc = float(math.degrees(delta_desired * CP.steerRatio) + angle_offset) - self.angle_steers_des_time = cur_time self.mpc_updated = True # Check for infeasable MPC solution self.mpc_nans = np.any(np.isnan(list(self.mpc_solution[0].delta))) - t = sec_since_boot() - if self.mpc_nans: + if not self.mpc_nans: + self.mpc_angles = [self.angle_steers_des, + float(math.degrees(self.mpc_solution[0].delta[1] * CP.steerRatio) + angle_offset), + float(math.degrees(self.mpc_solution[0].delta[2] * CP.steerRatio) + angle_offset)] + + self.mpc_times = [self.angle_steers_des_time, + mpc_time + _DT_MPC, + mpc_time + _DT_MPC + _DT_MPC] + + self.angle_steers_des_mpc = self.mpc_angles[1] + + else: self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, CP.steerRateCost) self.cur_state[0].delta = math.radians(angle_steers) / CP.steerRatio - if t > self.last_cloudlog_t + 5.0: - self.last_cloudlog_t = t + if cur_time > self.last_cloudlog_t + 5.0: + self.last_cloudlog_t = cur_time cloudlog.warning("Lateral mpc - nan: True") if v_ego < 0.3 or not active: output_steer = 0.0 + self.ateer_vibrate = 0.0 + self.feed_forward = 0.0 self.pid.reset() + self.angle_steers_des = angle_steers + self.avg_angle_steers = angle_steers + self.cur_state[0].delta = math.radians(angle_steers - angle_offset) / CP.steerRatio else: - # TODO: ideally we should interp, but for tuning reasons we keep the mpc solution - # constant for 0.05s. - #dt = min(cur_time - self.angle_steers_des_time, _DT_MPC + _DT) + _DT # no greater than dt mpc + dt, to prevent too high extraps - #self.angle_steers_des = self.angle_steers_des_prev + (dt / _DT_MPC) * (self.angle_steers_des_mpc - self.angle_steers_des_prev) - self.angle_steers_des = self.angle_steers_des_mpc + cur_time = sec_since_boot() + + if v_ego > 20 and _tuning_stage > 0: self.roll_tune(CP, PL) + + # Interpolate desired angle between MPC updates + self.angle_steers_des = np.interp(cur_time, self.mpc_times, self.mpc_angles) + self.angle_steers_des_time = cur_time + self.avg_angle_steers = (4.0 * self.avg_angle_steers + angle_steers) / 5.0 + self.cur_state[0].delta = math.radians(self.angle_steers_des - angle_offset) / CP.steerRatio + + # Determine the target steer rate for desired angle, but prevent the acceleration limit from being exceeded + # Restricting the steer rate creates the resistive component needed for resonance + restricted_steer_rate = np.clip(self.angle_steers_des - float(angle_steers) , float(accelerated_angle_rate) - self.accel_limit, float(accelerated_angle_rate) + self.accel_limit) + + # Determine projected desired angle that is within the acceleration limit (prevent the steering wheel from jerking) + projected_angle_steers_des = self.angle_steers_des + self.projection_factor * restricted_steer_rate + + # Determine future angle steers using steer rate + self.projected_angle_steers = float(angle_steers) + self.projection_factor * float(accelerated_angle_rate) + steers_max = get_steer_max(CP, v_ego) self.pid.pos_limit = steers_max self.pid.neg_limit = -steers_max - steer_feedforward = self.angle_steers_des # feedforward desired angle + if CP.steerControlType == car.CarParams.SteerControlType.torque: - steer_feedforward *= v_ego**2 # proportional to realigning tire momentum (~ lateral accel) + # Decide which feed forward mode should be used (angle or rate). Use more dominant mode, and only if conditions are met + # Spread feed forward out over a period of time to make it more inductive (for resonance) + if abs(self.ff_rate_factor * float(restricted_steer_rate)) > abs(self.ff_angle_factor * float(self.angle_steers_des) - float(angle_offset)) - 0.5 \ + and (abs(float(restricted_steer_rate)) > abs(accelerated_angle_rate) or (float(restricted_steer_rate) < 0) != (accelerated_angle_rate < 0)) \ + and (float(restricted_steer_rate) < 0) == (float(self.angle_steers_des) - float(angle_offset) - 0.5 < 0): + ff_type = "r" + self.feed_forward = (((self.smooth_factor - 1.) * self.feed_forward) + self.ff_rate_factor * v_ego**2 * float(restricted_steer_rate)) / self.smooth_factor + elif abs(self.angle_steers_des - float(angle_offset)) > 0.5: + ff_type = "a" + self.feed_forward = (((self.smooth_factor - 1.) * self.feed_forward) + self.ff_angle_factor * v_ego**2 * float(apply_deadzone(float(self.angle_steers_des) - float(angle_offset), 0.5))) / self.smooth_factor + else: + ff_type = "r" + self.feed_forward = (((self.smooth_factor - 1.) * self.feed_forward) + 0.0) / self.smooth_factor + else: + self.feed_forward = self.angle_steers_des # feedforward desired angle deadzone = 0.0 - output_steer = self.pid.update(self.angle_steers_des, angle_steers, check_saturation=(v_ego > 10), override=steer_override, - feedforward=steer_feedforward, speed=v_ego, deadzone=deadzone) + + # Use projected desired and actual angles instead of "current" values, in order to make PI more reactive (for resonance) + output_steer = self.pid.update(projected_angle_steers_des, self.projected_angle_steers, check_saturation=(v_ego > 10), override=steer_override, + feedforward=self.feed_forward, speed=v_ego, deadzone=deadzone, freeze_integrator=steer_override | (_tuning_stage in (1,2,4))) + + # Hide angle error if being overriden + if steer_override: + self.projected_angle_steers = self.mpc_angles[1] + self.avg_angle_steers = self.mpc_angles[1] + + # All but the last 3 lines after here are for real-time dashboarding + steering_control_active = 0.0 + driver_torque = 0.0 + steer_status = 0.0 + steer_stock_torque = 0.0 + steer_stock_torque_request = 0.0 + self.angle_rate_desired = 0.0 + self.observed_ratio = 0.0 + receiveTime = int(time.time() * 1000) + self.dash_writer.writerow([str(round(self.angle_steers_des, 2)), + str(round(self.mpc_angles[1], 2)), + str(round(angle_steers, 2)), + str(round(float(angle_rate), 1)), + str(round(v_ego, 1)), + 1 if steer_override else 0, + str(round(self.pid.p, 4)), + str(round(self.pid.i, 4)), + str(round(self.pid.f, 4)), + ff_type, 1 if ff_type == "a" else 0, 1 if ff_type == "r" else 0, + str(round(PL.PP.sway,2)), + str(round(self.reactance,2)), + str(round(self.inductance,2)), + str(round(self.resistance,2)), + str(round(CP.eonToFront,1)), + str(receiveTime)]) + self.sat_flag = self.pid.saturated - return output_steer, float(self.angle_steers_des) + self.prev_angle_rate = angle_rate + self.prev_angle_steers = angle_steers + + if CP.steerControlType == car.CarParams.SteerControlType.torque: + return output_steer, float(self.angle_steers_des_mpc) + else: + return float(self.angle_steers_des_mpc), float(self.angle_steers_des) diff --git a/selfdrive/controls/lib/longitudinal_mpc/libmpc_py.py b/selfdrive/controls/lib/longitudinal_mpc/libmpc_py.py index 658ee1b85bbcfb..36b6f8b7e0b8d3 100644 --- a/selfdrive/controls/lib/longitudinal_mpc/libmpc_py.py +++ b/selfdrive/controls/lib/longitudinal_mpc/libmpc_py.py @@ -1,11 +1,19 @@ import os +import platform import subprocess from cffi import FFI mpc_dir = os.path.join(os.path.dirname(os.path.abspath(__file__))) -subprocess.check_call(["make", "-j4"], cwd=mpc_dir) +if platform.machine() == "x86_64": + try: + FFI().dlopen(os.path.join(mpc_dir, "libmpc1.so")) + except OSError: + # libmpc1.so is likely built for aarch64. cleaning... + subprocess.check_call(["make", "clean"], cwd=mpc_dir) + +subprocess.check_call(["make", "-j4"], cwd=mpc_dir) def _get_libmpc(mpc_id): libmpc_fn = os.path.join(mpc_dir, "libmpc%d.so" % mpc_id) @@ -36,9 +44,7 @@ def _get_libmpc(mpc_id): return (ffi, ffi.dlopen(libmpc_fn)) - mpcs = [_get_libmpc(1), _get_libmpc(2)] - def get_libmpc(mpc_id): return mpcs[mpc_id - 1] diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py index 178b5e6dbb2de4..27c7a457ddc16a 100644 --- a/selfdrive/controls/lib/pathplanner.py +++ b/selfdrive/controls/lib/pathplanner.py @@ -1,3 +1,5 @@ +import numpy as np +import math from common.numpy_fast import interp from selfdrive.controls.lib.latcontrol_helpers import model_polyfit, calc_desired_path, compute_path_pinv @@ -8,6 +10,8 @@ def __init__(self): self.d_poly = [0., 0., 0., 0.] self.c_poly = [0., 0., 0., 0.] self.c_prob = 0. + self.sway = 0.0 + self.lane_adjust = 0.0 self.last_model = 0. self.lead_dist, self.lead_prob, self.lead_var = 0, 0, 1 self._path_pinv = compute_path_pinv() @@ -23,8 +27,9 @@ def update(self, v_ego, md): r_poly = model_polyfit(md.model.rightLane.points, self._path_pinv) # right line # only offset left and right lane lines; offsetting p_poly does not make sense - l_poly[3] += CAMERA_OFFSET - r_poly[3] += CAMERA_OFFSET + #lane_change_offset = self.lane_adjust * (l_poly[3] + r_poly[3]) / 2.0 + l_poly[3] += CAMERA_OFFSET - self.sway # - lane_change_offset + r_poly[3] += CAMERA_OFFSET - self.sway # - lane_change_offset p_prob = 1. # model does not tell this probability yet, so set to 1 for now l_prob = md.model.leftLane.prob # left line prob diff --git a/selfdrive/controls/lib/planner.py b/selfdrive/controls/lib/planner.py index 89ca649504b277..b610aeb6761f31 100755 --- a/selfdrive/controls/lib/planner.py +++ b/selfdrive/controls/lib/planner.py @@ -6,6 +6,7 @@ from copy import copy from cereal import log from collections import defaultdict +from common.params import Params from common.realtime import sec_since_boot from common.numpy_fast import interp import selfdrive.messaging as messaging @@ -19,6 +20,10 @@ from selfdrive.controls.lib.longcontrol import LongCtrlState, MIN_CAN_SPEED from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU +# Max lateral acceleration, used to caclulate how much to slow down in turns +A_Y_MAX = 2.0 # m/s^2 +NO_CURVATURE_SPEED = 200. * CV.MPH_TO_MS + _DT = 0.01 # 100Hz _DT_MPC = 0.2 # 5Hz MAX_SPEED_ERROR = 2.0 @@ -249,8 +254,10 @@ def __init__(self, CP, fcw_enabled): context = zmq.Context() self.CP = CP self.poller = zmq.Poller() + self.live20 = messaging.sub_sock(context, service_list['live20'].port, conflate=True, poller=self.poller) self.model = messaging.sub_sock(context, service_list['model'].port, conflate=True, poller=self.poller) + self.live_map_data = messaging.sub_sock(context, service_list['liveMapData'].port, conflate=True, poller=self.poller) if os.environ.get('GPS_PLANNER_ACTIVE', False): self.gps_planner_plan = messaging.sub_sock(context, service_list['gpsPlannerPlan'].port, conflate=True, poller=self.poller, addr=GPS_PLANNER_ADDR) @@ -293,8 +300,12 @@ def __init__(self, CP, fcw_enabled): self.last_gps_planner_plan = None self.gps_planner_active = False + self.last_live_map_data = None self.perception_state = log.Live20Data.new_message() + self.params = Params() + self.v_speedlimit = NO_CURVATURE_SPEED + def choose_solution(self, v_cruise_setpoint, enabled): if enabled: solutions = {'cruise': self.v_cruise} @@ -310,7 +321,7 @@ def choose_solution(self, v_cruise_setpoint, enabled): print "D_V", self.mpc1.v_mpc, self.mpc2.v_mpc, self.v_cruise print "D_A", self.mpc1.a_mpc, self.mpc2.a_mpc, self.a_cruise """ - + #print("planner choose solution executed!") self.longitudinalPlanSource = slowest # Choose lowest of MPC and cruise @@ -327,7 +338,7 @@ def choose_solution(self, v_cruise_setpoint, enabled): self.v_acc_future = min([self.mpc1.v_mpc_future, self.mpc2.v_mpc_future, v_cruise_setpoint]) # this runs whenever we get a packet that can change the plan - def update(self, CS, LaC, LoC, v_cruise_kph, force_slow_decel): + def update(self, CS, CP, VM, LaC, LoC, v_cruise_kph, force_slow_decel): cur_time = sec_since_boot() v_cruise_setpoint = v_cruise_kph * CV.KPH_TO_MS @@ -342,6 +353,8 @@ def update(self, CS, LaC, LoC, v_cruise_kph, force_slow_decel): l20 = messaging.recv_one(socket) elif socket is self.gps_planner_plan: gps_planner_plan = messaging.recv_one(socket) + elif socket is self.live_map_data: + self.last_live_map_data = messaging.recv_one(socket).liveMapData if gps_planner_plan is not None: self.last_gps_planner_plan = gps_planner_plan @@ -380,10 +393,25 @@ def update(self, CS, LaC, LoC, v_cruise_kph, force_slow_decel): enabled = (LoC.long_control_state == LongCtrlState.pid) or (LoC.long_control_state == LongCtrlState.stopping) following = self.lead_1.status and self.lead_1.dRel < 45.0 and self.lead_1.vLeadK > CS.vEgo and self.lead_1.aLeadK > 0.0 + #print("Long control updated", enabled, LoC.long_control_state) + + + if self.last_live_map_data: + self.v_speedlimit = NO_CURVATURE_SPEED + + # Speed limit + if self.last_live_map_data.speedLimitValid: + speed_limit = self.last_live_map_data.speedLimit + set_speed_limit_active = self.params.get("LimitSetSpeed") == "1" and self.params.get("SpeedLimitOffset") is not None + + if set_speed_limit_active: + offset = float(self.params.get("SpeedLimitOffset")) + self.v_speedlimit = speed_limit + offset + + v_cruise_setpoint = min([v_cruise_setpoint, self.v_speedlimit]) # Calculate speed for normal cruise control if enabled: - accel_limits = map(float, calc_cruise_accel_limits(CS.vEgo, following)) # TODO: make a separate lookup for jerk tuning jerk_limits = [min(-0.1, accel_limits[0]), max(0.1, accel_limits[1])] @@ -420,7 +448,7 @@ def update(self, CS, LaC, LoC, v_cruise_kph, force_slow_decel): self.mpc1.update(CS, self.lead_1, v_cruise_setpoint) self.mpc2.update(CS, self.lead_2, v_cruise_setpoint) - + #print("long mpcs updated") self.choose_solution(v_cruise_setpoint, enabled) # determine fcw @@ -449,9 +477,9 @@ def update(self, CS, LaC, LoC, v_cruise_kph, force_slow_decel): if self.model_dead: events.append(create_event('modelCommIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE])) if self.radar_dead or 'commIssue' in self.radar_errors: - events.append(create_event('radarCommIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE])) + events.append(create_event('radarCommIssue', [ET.NO_ENTRY, ET.SOFT_DISABLE])) if 'fault' in self.radar_errors: - events.append(create_event('radarFault', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE])) + events.append(create_event('radarFault', [ET.NO_ENTRY, ET.SOFT_DISABLE])) if LaC.mpc_solution[0].cost > 10000. or LaC.mpc_nans: # TODO: find a better way to detect when MPC did not converge events.append(create_event('plannerError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE])) diff --git a/selfdrive/locationd/calibration_helpers.py b/selfdrive/locationd/calibration_helpers.py new file mode 100644 index 00000000000000..f2909007594924 --- /dev/null +++ b/selfdrive/locationd/calibration_helpers.py @@ -0,0 +1,11 @@ +import math + +class Filter: + MIN_SPEED = 7 # m/s (~15.5mph) + MAX_YAW_RATE = math.radians(3) # per second + +class Calibration: + UNCALIBRATED = 0 + CALIBRATED = 1 + INVALID = 2 + diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 695e698cee970c..6c395efed20dc8 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -3,22 +3,20 @@ import zmq import cv2 import copy -import math import json import numpy as np import selfdrive.messaging as messaging +from selfdrive.locationd.calibration_helpers import Calibration, Filter from selfdrive.swaglog import cloudlog from selfdrive.services import service_list from common.params import Params from common.ffi_wrapper import ffi_wrap import common.transformations.orientation as orient -from common.transformations.model import model_height, get_camera_frame_from_model_frame +from common.transformations.model import model_height, get_camera_frame_from_model_frame, get_camera_frame_from_bigmodel_frame from common.transformations.camera import view_frame_from_device_frame, get_view_frame_from_road_frame, \ eon_intrinsics, get_calib_from_vp, normalize, denormalize, H, W -MIN_SPEED_FILTER = 7 # m/s (~15.5mph) -MAX_YAW_RATE_FILTER = math.radians(3) # per second FRAMES_NEEDED = 120 # allow to update VP every so many frames VP_CYCLES_NEEDED = 2 CALIBRATION_CYCLES_NEEDED = FRAMES_NEEDED * VP_CYCLES_NEEDED @@ -42,12 +40,6 @@ ffi, lib = ffi_wrap('get_vp', c_code, c_header) -class Calibration: - UNCALIBRATED = 0 - CALIBRATED = 1 - INVALID = 2 - - def increment_grid_c(grid, lines, n): lib.increment_grid(ffi.cast("double *", grid.ctypes.data), ffi.cast("double *", lines.ctypes.data), @@ -131,8 +123,8 @@ def rescale_grid(self): def update(self, uvs, yaw_rate, speed): if len(uvs) < 10 or \ - abs(yaw_rate) > MAX_YAW_RATE_FILTER or \ - speed < MIN_SPEED_FILTER: + abs(yaw_rate) > Filter.MAX_YAW_RATE or \ + speed < Filter.MIN_SPEED: return rot_speeds = np.array([0.,0.,-yaw_rate]) uvs[:,1,:] = denormalize(correct_pts(normalize(uvs[:,1,:]), rot_speeds, self.dt)) @@ -216,13 +208,15 @@ def send_data(self, livecalibration): calib = get_calib_from_vp(self.vp) extrinsic_matrix = get_view_frame_from_road_frame(0, calib[1], calib[2], model_height) ke = eon_intrinsics.dot(extrinsic_matrix) - warp_matrix = get_camera_frame_from_model_frame(ke, model_height) + warp_matrix = get_camera_frame_from_model_frame(ke) + warp_matrix_big = get_camera_frame_from_bigmodel_frame(ke) cal_send = messaging.new_message() cal_send.init('liveCalibration') cal_send.liveCalibration.calStatus = self.cal_status cal_send.liveCalibration.calPerc = min(self.frame_counter * 100 / CALIBRATION_CYCLES_NEEDED, 100) cal_send.liveCalibration.warpMatrix2 = map(float, warp_matrix.flatten()) + cal_send.liveCalibration.warpMatrixBig = map(float, warp_matrix_big.flatten()) cal_send.liveCalibration.extrinsicMatrix = map(float, extrinsic_matrix.flatten()) livecalibration.send(cal_send.to_bytes()) diff --git a/selfdrive/loggerd/loggerd b/selfdrive/loggerd/loggerd index 881b9e84fea041..ce1e7ecd2f6fa5 100755 Binary files a/selfdrive/loggerd/loggerd and b/selfdrive/loggerd/loggerd differ diff --git a/selfdrive/manager.py b/selfdrive/manager.py index 6b64a4af77f224..704728872d4df4 100755 --- a/selfdrive/manager.py +++ b/selfdrive/manager.py @@ -41,9 +41,9 @@ def unblock_stdout(): os._exit(os.wait()[1]) if __name__ == "__main__": - if os.path.isfile("/init.qcom.rc") \ - and (not os.path.isfile("/VERSION") or int(open("/VERSION").read()) < 6): - + neos_update_required = os.path.isfile("/init.qcom.rc") \ + and (not os.path.isfile("/VERSION") or int(open("/VERSION").read()) < 8) + if neos_update_required: # update continue.sh before updating NEOS if os.path.isfile(os.path.join(BASEDIR, "scripts", "continue.sh")): from shutil import copyfile @@ -54,6 +54,9 @@ def unblock_stdout(): subprocess.check_call(["git", "clean", "-xdf"], cwd=BASEDIR) os.system(os.path.join(BASEDIR, "installer", "updater", "updater")) raise Exception("NEOS outdated") + elif os.path.isdir("/data/neoupdate"): + from shutil import rmtree + rmtree("/data/neoupdate") unblock_stdout() @@ -88,6 +91,7 @@ def unblock_stdout(): "controlsd": "selfdrive.controls.controlsd", "radard": "selfdrive.controls.radard", "ubloxd": "selfdrive.locationd.ubloxd", + "mapd": "selfdrive.mapd.mapd", "loggerd": ("selfdrive/loggerd", ["./loggerd"]), "logmessaged": "selfdrive.logmessaged", "tombstoned": "selfdrive.tombstoned", @@ -135,7 +139,8 @@ def get_running(): 'visiond', 'proclogd', 'ubloxd', - 'orbd' + 'orbd', + 'mapd', ] def register_managed_process(name, desc, car_started=False): @@ -474,6 +479,12 @@ def main(): params.put("IsDriverMonitoringEnabled", "1") if params.get("IsGeofenceEnabled") is None: params.put("IsGeofenceEnabled", "-1") + if params.get("SpeedLimitOffset") is None: + params.put("SpeedLimitOffset", "0") + if params.get("LongitudinalControl") is None: + params.put("LongitudinalControl", "0") + if params.get("LimitSetSpeed") is None: + params.put("LimitSetSpeed", "0") # is this chffrplus? if os.getenv("PASSIVE") is not None: diff --git a/selfdrive/mapd/__init__.py b/selfdrive/mapd/__init__.py new file mode 100644 index 00000000000000..e69de29bb2d1d6 diff --git a/selfdrive/mapd/mapd.py b/selfdrive/mapd/mapd.py new file mode 100755 index 00000000000000..e1a9595e8c0c84 --- /dev/null +++ b/selfdrive/mapd/mapd.py @@ -0,0 +1,276 @@ +#!/usr/bin/env python + +# Add phonelibs openblas to LD_LIBRARY_PATH if import fails +try: + from scipy import spatial +except ImportError as e: + import os + import sys + from common.basedir import BASEDIR + + openblas_path = os.path.join(BASEDIR, "phonelibs/openblas/") + os.environ['LD_LIBRARY_PATH'] += ':' + openblas_path + + args = [sys.executable] + args.extend(sys.argv) + os.execv(sys.executable, args) + +import os +import sys +import time +import zmq +import threading +import numpy as np +import overpy +from collections import defaultdict + +from common.params import Params +from common.transformations.coordinates import geodetic2ecef +from selfdrive.services import service_list +import selfdrive.messaging as messaging +from mapd_helpers import LOOKAHEAD_TIME, MAPS_LOOKAHEAD_DISTANCE, Way, circle_through_points +import selfdrive.crash as crash +from selfdrive.version import version, dirty + + +OVERPASS_API_URL = "https://overpass.kumi.systems/api/interpreter" +OVERPASS_HEADERS = { + 'User-Agent': 'NEOS (comma.ai)' +} + +last_gps = None +query_lock = threading.Lock() +last_query_result = None +last_query_pos = None + + +def setup_thread_excepthook(): + """ + Workaround for `sys.excepthook` thread bug from: + http://bugs.python.org/issue1230540 + Call once from the main thread before creating any threads. + Source: https://stackoverflow.com/a/31622038 + """ + init_original = threading.Thread.__init__ + + def init(self, *args, **kwargs): + init_original(self, *args, **kwargs) + run_original = self.run + + def run_with_except_hook(*args2, **kwargs2): + try: + run_original(*args2, **kwargs2) + except Exception: + sys.excepthook(*sys.exc_info()) + + self.run = run_with_except_hook + + threading.Thread.__init__ = init + + +def build_way_query(lat, lon, radius=50): + """Builds a query to find all highways within a given radius around a point""" + pos = " (around:%f,%f,%f)" % (radius, lat, lon) + q = """( + way + """ + pos + """ + [highway][highway!~"^(footway|path|bridleway|steps|cycleway|construction|bus_guideway|escape)$"]; + >;);out; + """ + return q + + +def query_thread(): + global last_query_result, last_query_pos + api = overpy.Overpass(url=OVERPASS_API_URL, headers=OVERPASS_HEADERS, timeout=10.) + + while True: + time.sleep(1) + if last_gps is not None: + fix_ok = last_gps.flags & 1 + if not fix_ok: + continue + + if last_query_pos is not None: + cur_ecef = geodetic2ecef((last_gps.latitude, last_gps.longitude, last_gps.altitude)) + prev_ecef = geodetic2ecef((last_query_pos.latitude, last_query_pos.longitude, last_query_pos.altitude)) + dist = np.linalg.norm(cur_ecef - prev_ecef) + if dist < 1000: + continue + + q = build_way_query(last_gps.latitude, last_gps.longitude, radius=2000) + try: + new_result = api.query(q) + + # Build kd-tree + nodes = [] + real_nodes = [] + node_to_way = defaultdict(list) + + for n in new_result.nodes: + nodes.append((float(n.lat), float(n.lon), 0)) + real_nodes.append(n) + + for way in new_result.ways: + for n in way.nodes: + node_to_way[n.id].append(way) + + nodes = np.asarray(nodes) + nodes = geodetic2ecef(nodes) + tree = spatial.cKDTree(nodes) + + query_lock.acquire() + last_query_result = new_result, tree, real_nodes, node_to_way + last_query_pos = last_gps + query_lock.release() + + except Exception as e: + print e + query_lock.acquire() + last_query_result = None + query_lock.release() + + +def mapsd_thread(): + global last_gps + + context = zmq.Context() + gps_sock = messaging.sub_sock(context, service_list['gpsLocation'].port, conflate=True) + gps_external_sock = messaging.sub_sock(context, service_list['gpsLocationExternal'].port, conflate=True) + map_data_sock = messaging.pub_sock(context, service_list['liveMapData'].port) + + cur_way = None + curvature_valid = False + curvature = None + upcoming_curvature = 0. + dist_to_turn = 0. + road_points = None + + xx = np.arange(0, MAPS_LOOKAHEAD_DISTANCE, 10) + + while True: + gps = messaging.recv_one(gps_sock) + gps_ext = messaging.recv_one_or_none(gps_external_sock) + + if gps_ext is not None: + gps = gps_ext.gpsLocationExternal + else: + gps = gps.gpsLocation + + last_gps = gps + + fix_ok = gps.flags & 1 + if not fix_ok or last_query_result is None: + cur_way = None + curvature = None + curvature_valid = False + upcoming_curvature = 0. + dist_to_turn = 0. + road_points = None + else: + lat = gps.latitude + lon = gps.longitude + heading = gps.bearing + speed = gps.speed + + query_lock.acquire() + cur_way = Way.closest(last_query_result, lat, lon, heading, cur_way) + if cur_way is not None: + pnts, curvature_valid = cur_way.get_lookahead(last_query_result, lat, lon, heading, MAPS_LOOKAHEAD_DISTANCE) + + xs = pnts[:, 0] + ys = pnts[:, 1] + road_points = map(float, xs), map(float, ys) + + if speed < 10: + curvature_valid = False + + # The curvature is valid when at least MAPS_LOOKAHEAD_DISTANCE of road is found + if curvature_valid and pnts.shape[0] > 3: + # Compute the curvature for each point + with np.errstate(divide='ignore'): + circles = [circle_through_points(*p) for p in zip(pnts, pnts[1:], pnts[2:])] + circles = np.asarray(circles) + radii = np.nan_to_num(circles[:, 2]) + radii[radii < 10] = np.inf + curvature = 1. / radii + + # Index of closest point + closest = np.argmin(np.linalg.norm(pnts, axis=1)) + dist_to_closest = pnts[closest, 0] # We can use x distance here since it should be close + + # Compute distance along path + dists = list() + dists.append(0) + for p, p_prev in zip(pnts, pnts[1:, :]): + dists.append(dists[-1] + np.linalg.norm(p - p_prev)) + dists = np.asarray(dists) + dists = dists - dists[closest] + dist_to_closest + + # TODO: Determine left or right turn + curvature = np.nan_to_num(curvature) + curvature_interp = np.interp(xx, dists[1:-1], curvature) + curvature_lookahead = curvature_interp[:int(speed * LOOKAHEAD_TIME / 10)] + + # Outlier rejection + new_curvature = np.percentile(curvature_lookahead, 90) + + k = 0.9 + upcoming_curvature = k * upcoming_curvature + (1 - k) * new_curvature + in_turn_indices = curvature_interp > 0.8 * new_curvature + if np.any(in_turn_indices): + dist_to_turn = np.min(xx[in_turn_indices]) + else: + dist_to_turn = 999 + query_lock.release() + + dat = messaging.new_message() + dat.init('liveMapData') + + if last_gps is not None: + dat.liveMapData.lastGps = last_gps + + if cur_way is not None: + dat.liveMapData.wayId = cur_way.id + + # Seed limit + max_speed = cur_way.max_speed + if max_speed is not None: + dat.liveMapData.speedLimitValid = True + dat.liveMapData.speedLimit = max_speed + + # Curvature + dat.liveMapData.curvatureValid = curvature_valid + dat.liveMapData.curvature = float(upcoming_curvature) + dat.liveMapData.distToTurn = float(dist_to_turn) + if road_points is not None: + dat.liveMapData.roadX, dat.liveMapData.roadY = road_points + if curvature is not None: + dat.liveMapData.roadCurvatureX = map(float, xx) + dat.liveMapData.roadCurvature = map(float, curvature_interp) + + map_data_sock.send(dat.to_bytes()) + + +def main(gctx=None): + params = Params() + dongle_id = params.get("DongleId") + crash.bind_user(id=dongle_id) + crash.bind_extra(version=version, dirty=dirty, is_eon=True) + crash.install() + + setup_thread_excepthook() + main_thread = threading.Thread(target=mapsd_thread) + main_thread.daemon = True + main_thread.start() + + q_thread = threading.Thread(target=query_thread) + q_thread.daemon = True + q_thread.start() + + while True: + time.sleep(0.1) + + +if __name__ == "__main__": + main() diff --git a/selfdrive/mapd/mapd_helpers.py b/selfdrive/mapd/mapd_helpers.py new file mode 100644 index 00000000000000..6d84fbd7d504ca --- /dev/null +++ b/selfdrive/mapd/mapd_helpers.py @@ -0,0 +1,229 @@ +import math +import numpy as np +from datetime import datetime + +from selfdrive.config import Conversions as CV +from common.transformations.coordinates import LocalCoord, geodetic2ecef + +LOOKAHEAD_TIME = 10. +MAPS_LOOKAHEAD_DISTANCE = 50 * LOOKAHEAD_TIME + + +def circle_through_points(p1, p2, p3): + """Fits a circle through three points + Formulas from: http://www.ambrsoft.com/trigocalc/circle3d.htm""" + x1, y1, _ = p1 + x2, y2, _ = p2 + x3, y3, _ = p3 + + A = x1 * (y2 - y3) - y1 * (x2 - x3) + x2 * y3 - x3 * y2 + B = (x1**2 + y1**2) * (y3 - y2) + (x2**2 + y2**2) * (y1 - y3) + (x3**2 + y3**2) * (y2 - y1) + C = (x1**2 + y1**2) * (x2 - x3) + (x2**2 + y2**2) * (x3 - x1) + (x3**2 + y3**2) * (x1 - x2) + D = (x1**2 + y1**2) * (x3 * y2 - x2 * y3) + (x2**2 + y2**2) * (x1 * y3 - x3 * y1) + (x3**2 + y3**2) * (x2 * y1 - x1 * y2) + + return (-B / (2 * A), - C / (2 * A), np.sqrt((B**2 + C**2 - 4 * A * D) / (4 * A**2))) + + +def parse_speed_unit(max_speed): + """Converts a maxspeed string to m/s based on the unit present in the input. + OpenStreetMap defaults to kph if no unit is present. """ + + conversion = CV.KPH_TO_MS + if 'mph' in max_speed: + max_speed = max_speed.replace(' mph', '') + conversion = CV.MPH_TO_MS + + return float(max_speed) * conversion + + +class Way: + def __init__(self, way): + self.id = way.id + self.way = way + + points = list() + + for node in self.way.get_nodes(resolve_missing=False): + points.append((float(node.lat), float(node.lon), 0.)) + + self.points = np.asarray(points) + + @classmethod + def closest(cls, query_results, lat, lon, heading, prev_way=None): + results, tree, real_nodes, node_to_way = query_results + + cur_pos = geodetic2ecef((lat, lon, 0)) + nodes = tree.query_ball_point(cur_pos, 500) + + # If no nodes within 500m, choose closest one + if not nodes: + nodes = [tree.query(cur_pos)[1]] + + ways = [] + for n in nodes: + real_node = real_nodes[n] + ways += node_to_way[real_node.id] + ways = set(ways) + + closest_way = None + best_score = None + for way in ways: + way = Way(way) + points = way.points_in_car_frame(lat, lon, heading) + + on_way = way.on_way(lat, lon, heading, points) + if not on_way: + continue + + # Create mask of points in front and behind + x = points[:, 0] + y = points[:, 1] + angles = np.arctan2(y, x) + front = np.logical_and((-np.pi / 2) < angles, + angles < (np.pi / 2)) + behind = np.logical_not(front) + + dists = np.linalg.norm(points, axis=1) + + # Get closest point behind the car + dists_behind = np.copy(dists) + dists_behind[front] = np.NaN + closest_behind = points[np.nanargmin(dists_behind)] + + # Get closest point in front of the car + dists_front = np.copy(dists) + dists_front[behind] = np.NaN + closest_front = points[np.nanargmin(dists_front)] + + # fit line: y = a*x + b + x1, y1, _ = closest_behind + x2, y2, _ = closest_front + a = (y2 - y1) / max((x2 - x1), 1e-5) + b = y1 - a * x1 + + # With a factor of 60 a 20m offset causes the same error as a 20 degree heading error + # (A 20 degree heading offset results in an a of about 1/3) + score = abs(a) * 60. + abs(b) + + # Prefer same type of road + if prev_way is not None: + if way.way.tags.get('highway', '') == prev_way.way.tags.get('highway', ''): + score *= 0.5 + + if closest_way is None or score < best_score: + closest_way = way + best_score = score + + return closest_way + + def __str__(self): + return "%s %s" % (self.id, self.way.tags) + + @property + def max_speed(self): + """Extracts the (conditional) speed limit from a way""" + if not self.way: + return None + + tags = self.way.tags + max_speed = None + + if 'maxspeed' in tags: + max_speed = parse_speed_unit(tags['maxspeed']) + + if 'maxspeed:conditional' in tags: + max_speed_cond, cond = tags['maxspeed:conditional'].split(' @ ') + cond = cond[1:-1] + + start, end = cond.split('-') + now = datetime.now() # TODO: Get time and timezone from gps fix so this will work correctly on replays + start = datetime.strptime(start, "%H:%M").replace(year=now.year, month=now.month, day=now.day) + end = datetime.strptime(end, "%H:%M").replace(year=now.year, month=now.month, day=now.day) + + if start <= now <= end: + max_speed = parse_speed_unit(max_speed_cond) + + return max_speed + + def on_way(self, lat, lon, heading, points=None): + if points is None: + points = self.points_in_car_frame(lat, lon, heading) + x = points[:, 0] + return np.min(x) < 0. and np.max(x) > 0. + + def closest_point(self, lat, lon, heading, points=None): + if points is None: + points = self.points_in_car_frame(lat, lon, heading) + i = np.argmin(np.linalg.norm(points, axis=1)) + return points[i] + + def distance_to_closest_node(self, lat, lon, heading, points=None): + if points is None: + points = self.points_in_car_frame(lat, lon, heading) + return np.min(np.linalg.norm(points, axis=1)) + + def points_in_car_frame(self, lat, lon, heading): + lc = LocalCoord.from_geodetic([lat, lon, 0.]) + + # Build rotation matrix + heading = math.radians(-heading + 90) + c, s = np.cos(heading), np.sin(heading) + rot = np.array([[c, s, 0.], [-s, c, 0.], [0., 0., 1.]]) + + # Convert to local coordinates + points_carframe = lc.geodetic2ned(self.points).T + + # Rotate with heading of car + points_carframe = np.dot(rot, points_carframe[(1, 0, 2), :]).T + + return points_carframe + + def next_way(self, query_results, lat, lon, heading, backwards=False): + results, tree, real_nodes, node_to_way = query_results + + if backwards: + node = self.way.nodes[0] + else: + node = self.way.nodes[-1] + + ways = node_to_way[node.id] + + way = None + try: + # Simple heuristic to find next way + ways = [w for w in ways if w.id != self.id and w.tags['highway'] == self.way.tags['highway']] + if len(ways) == 1: + way = Way(ways[0]) + except KeyError: + pass + + return way + + def get_lookahead(self, query_results, lat, lon, heading, lookahead): + pnts = None + way = self + valid = False + + for i in range(5): + # Get new points and append to list + new_pnts = way.points_in_car_frame(lat, lon, heading) + + if pnts is None: + pnts = new_pnts + else: + pnts = np.vstack([pnts, new_pnts]) + + # Check current lookahead distance + max_dist = np.linalg.norm(pnts[-1, :]) + if max_dist > lookahead: + valid = True + + if max_dist > 2 * lookahead: + break + + # Find next way + way = way.next_way(query_results, lat, lon, heading) + if not way: + break + + return pnts, valid diff --git a/selfdrive/sensord/gpsd b/selfdrive/sensord/gpsd index 9c48a5f6ac02f3..d38869ce22075e 100755 Binary files a/selfdrive/sensord/gpsd and b/selfdrive/sensord/gpsd differ diff --git a/selfdrive/sensord/sensord b/selfdrive/sensord/sensord index 84137a9b8c2af2..84194bb06c9be6 100755 Binary files a/selfdrive/sensord/sensord and b/selfdrive/sensord/sensord differ diff --git a/selfdrive/thermald.py b/selfdrive/thermald.py index 4238273d97ec7d..78c4aa1490043f 100755 --- a/selfdrive/thermald.py +++ b/selfdrive/thermald.py @@ -84,6 +84,7 @@ def set_eon_fan(val): # max fan speed only allowed if battery is hot _BAT_TEMP_THERSHOLD = 45. + def handle_fan(max_cpu_temp, bat_temp, fan_speed): new_speed_h = next(speed for speed, temp_h in zip(_FAN_SPEEDS, _TEMP_THRS_H) if temp_h > max_cpu_temp) new_speed_l = next(speed for speed, temp_l in zip(_FAN_SPEEDS, _TEMP_THRS_L) if temp_l > max_cpu_temp) @@ -103,6 +104,23 @@ def handle_fan(max_cpu_temp, bat_temp, fan_speed): return fan_speed + +def check_car_battery_voltage(should_start, health, charging_disabled): + + # charging disallowed if: + # - there are health packets from panda, and; + # - 12V battery voltage is too low, and; + # - onroad isn't started + if charging_disabled and (health is None or health.health.voltage > 11500): + charging_disabled = False + os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled') + elif not charging_disabled and health is not None and health.health.voltage < 11000 and not should_start: + charging_disabled = True + os.system('echo "0" > /sys/class/power_supply/battery/charging_enabled') + + return charging_disabled + + class LocationStarter(object): def __init__(self): self.last_good_loc = 0 @@ -133,6 +151,7 @@ def update(self, started_ts, location): cloudlog.event("location_start", location=location.to_dict() if location else None) return location.speed*3.6 > 10 + def thermald_thread(): setup_eon_fan() @@ -156,6 +175,10 @@ def thermald_thread(): health_sock.RCVTIMEO = 1500 current_filter = FirstOrderFilter(0., CURRENT_TAU, 1.) + # Make sure charging is enabled + charging_disabled = False + os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled') + params = Params() while 1: @@ -178,11 +201,10 @@ def thermald_thread(): msg.thermal.batteryCurrent = int(f.read()) with open("/sys/class/power_supply/battery/voltage_now") as f: msg.thermal.batteryVoltage = int(f.read()) - with open("/sys/class/power_supply/usb/online") as f: + with open("/sys/class/power_supply/usb/present") as f: msg.thermal.usbOnline = bool(int(f.read())) current_filter.update(msg.thermal.batteryCurrent / 1e6) - msg.thermal.chargerDisabled = current_filter.x > 1.0 # if current is ? 1A out, then charger might be off # TODO: add car battery voltage check max_cpu_temp = max(msg.thermal.cpu0, msg.thermal.cpu1, @@ -268,6 +290,10 @@ def thermald_thread(): started_seen and (sec_since_boot() - off_ts) > 60: os.system('LD_LIBRARY_PATH="" svc power shutdown') + charging_disabled = check_car_battery_voltage(should_start, health, charging_disabled) + + msg.thermal.chargingDisabled = charging_disabled + msg.thermal.chargingError = current_filter.x > 1.0 # if current is > 1A out, then charger might be off msg.thermal.started = started_ts is not None msg.thermal.startedTs = int(1e9*(started_ts or 0)) diff --git a/selfdrive/ui/ui.c b/selfdrive/ui/ui.c index ce57dd46517e75..dddf15f7e7167e 100644 --- a/selfdrive/ui/ui.c +++ b/selfdrive/ui/ui.c @@ -87,6 +87,8 @@ const int alert_sizes[] = { [ALERTSIZE_FULL] = vwp_h, }; +const int SET_SPEED_NA = 255; + // TODO: this is also hardcoded in common/transformations/camera.py const mat3 intrinsic_matrix = (mat3){{ 910., 0., 582., @@ -224,9 +226,13 @@ typedef struct UIState { int awake_timeout; int volume_timeout; + int speed_lim_off_timeout; + int is_metric_timeout; int status; bool is_metric; + float speed_lim_off; + bool is_ego_over_limit; bool passive; char alert_type[64]; char alert_sound[64]; @@ -282,6 +288,26 @@ static void set_do_exit(int sig) { do_exit = 1; } +static void read_speed_lim_off(UIState *s) { + char *speed_lim_off = NULL; + read_db_value(NULL, "SpeedLimitOffset", &speed_lim_off, NULL); + s->speed_lim_off = 0.; + if (speed_lim_off) { + s->speed_lim_off = strtod(speed_lim_off, NULL); + free(speed_lim_off); + } + s->speed_lim_off_timeout = 2 * 60; // 2Hz +} + +static void read_is_metric(UIState *s) { + char *is_metric; + const int result = read_db_value(NULL, "IsMetric", &is_metric, NULL); + if (result == 0) { + s->is_metric = is_metric[0] == '1'; + free(is_metric); + } + s->is_metric_timeout = 2 * 60; // 2Hz +} static const char frame_vertex_shader[] = "attribute vec4 aPosition;\n" @@ -530,12 +556,9 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs, 0.0, 0.0, 0.0, 1.0, }}; - char *value; - const int result = read_db_value(NULL, "IsMetric", &value, NULL); - if (result == 0) { - s->is_metric = value[0] == '1'; - free(value); - } + read_speed_lim_off(s); + read_is_metric(s); + s->is_metric_timeout = 60; // offset so values isn't read together with limit offset } static void ui_draw_transformed_box(UIState *s, uint32_t color) { @@ -915,40 +938,80 @@ static void ui_draw_vision_maxspeed(UIState *s) { const UIScene *scene = &s->scene; int ui_viz_rx = scene->ui_viz_rx; int ui_viz_rw = scene->ui_viz_rw; - float maxspeed = s->scene.v_cruise; - const int viz_maxspeed_x = (ui_viz_rx + (bdr_s*2)); - const int viz_maxspeed_y = (box_y + (bdr_s*1.5)); - const int viz_maxspeed_w = 180; - const int viz_maxspeed_h = 202; char maxspeed_str[32]; - bool is_cruise_set = (maxspeed != 0 && maxspeed != 255); + float maxspeed = s->scene.v_cruise; + int maxspeed_calc = maxspeed * 0.6225 + 0.5; + float speedlimit = s->scene.speedlimit; + int speedlim_calc = speedlimit * 2.2369363 + 0.5; + int speed_lim_off = s->speed_lim_off * 2.2369363 + 0.5; + if (s->is_metric) { + maxspeed_calc = maxspeed + 0.5; + speedlim_calc = speedlimit * 3.6 + 0.5; + speed_lim_off = s->speed_lim_off * 3.6 + 0.5; + } + + bool is_cruise_set = (maxspeed != 0 && maxspeed != SET_SPEED_NA); + bool is_speedlim_valid = s->scene.speedlimit_valid; + bool is_set_over_limit = is_speedlim_valid && s->scene.engaged && + is_cruise_set && maxspeed_calc > (speedlim_calc + speed_lim_off); + int viz_maxspeed_w = 184; + int viz_maxspeed_h = 202; + int viz_maxspeed_x = (ui_viz_rx + (bdr_s*2)); + int viz_maxspeed_y = (box_y + (bdr_s*1.5)); + int viz_maxspeed_xo = 180; + viz_maxspeed_w += viz_maxspeed_xo; + viz_maxspeed_x += viz_maxspeed_w - (viz_maxspeed_xo * 2); + + // Draw Background + nvgBeginPath(s->vg); + nvgRoundedRect(s->vg, viz_maxspeed_x, viz_maxspeed_y, viz_maxspeed_w, viz_maxspeed_h, 30); + if (is_set_over_limit) { + nvgFillColor(s->vg, nvgRGBA(218, 111, 37, 180)); + } else { + nvgFillColor(s->vg, nvgRGBA(0, 0, 0, 100)); + } + nvgFill(s->vg); + + // Draw Border nvgBeginPath(s->vg); nvgRoundedRect(s->vg, viz_maxspeed_x, viz_maxspeed_y, viz_maxspeed_w, viz_maxspeed_h, 20); - nvgStrokeColor(s->vg, nvgRGBA(255,255,255,80)); - nvgStrokeWidth(s->vg, 6); + if (is_set_over_limit) { + nvgStrokeColor(s->vg, nvgRGBA(218, 111, 37, 255)); + } else if (is_speedlim_valid && !s->is_ego_over_limit) { + nvgStrokeColor(s->vg, nvgRGBA(255, 255, 255, 255)); + } else if (is_speedlim_valid && s->is_ego_over_limit) { + nvgStrokeColor(s->vg, nvgRGBA(255, 255, 255, 20)); + } else { + nvgStrokeColor(s->vg, nvgRGBA(255, 255, 255, 100)); + } + nvgStrokeWidth(s->vg, 10); nvgStroke(s->vg); + // Draw "MAX" Text nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE); nvgFontFace(s->vg, "sans-regular"); nvgFontSize(s->vg, 26*2.5); - nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 200)); - nvgText(s->vg, viz_maxspeed_x+viz_maxspeed_w/2, 148, "MAX", NULL); + if (is_cruise_set) { + nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 200)); + } else { + nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 100)); + } + nvgText(s->vg, viz_maxspeed_x+(viz_maxspeed_xo/2)+(viz_maxspeed_w/2), 148, "MAX", NULL); - nvgFontFace(s->vg, "sans-semibold"); - nvgFontSize(s->vg, 52*2.5); - nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255)); + // Draw Speed Text + nvgFontFace(s->vg, "sans-bold"); + nvgFontSize(s->vg, 48*2.5); if (is_cruise_set) { - if (s->is_metric) { - snprintf(maxspeed_str, sizeof(maxspeed_str), "%d", (int)(maxspeed + 0.5)); - } else { - snprintf(maxspeed_str, sizeof(maxspeed_str), "%d", (int)(maxspeed * 0.6225 + 0.5)); - } - nvgText(s->vg, viz_maxspeed_x+viz_maxspeed_w/2, 242, maxspeed_str, NULL); + snprintf(maxspeed_str, sizeof(maxspeed_str), "%d", maxspeed_calc); + nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255)); + nvgText(s->vg, viz_maxspeed_x+(viz_maxspeed_xo/2)+(viz_maxspeed_w/2), 242, maxspeed_str, NULL); } else { + nvgFontFace(s->vg, "sans-semibold"); nvgFontSize(s->vg, 42*2.5); - nvgText(s->vg, viz_maxspeed_x+viz_maxspeed_w/2, 242, "N/A", NULL); + nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 100)); + nvgText(s->vg, viz_maxspeed_x+(viz_maxspeed_xo/2)+(viz_maxspeed_w/2), 242, "N/A", NULL); } } @@ -957,69 +1020,84 @@ static void ui_draw_vision_speedlimit(UIState *s) { int ui_viz_rx = scene->ui_viz_rx; int ui_viz_rw = scene->ui_viz_rw; - if (!s->scene.speedlimit_valid){ - return; - } - + char speedlim_str[32]; float speedlimit = s->scene.speedlimit; + int speedlim_calc = speedlimit * 2.2369363 + 0.5; + if (s->is_metric) { + speedlim_calc = speedlimit * 3.6 + 0.5; + } - const int viz_maxspeed_w = 180; - const int viz_maxspeed_h = 202; - - const int viz_event_w = 220; - const int viz_event_x = ((ui_viz_rx + ui_viz_rw) - (viz_event_w + (bdr_s*2))); - - const int viz_maxspeed_x = viz_event_x + (viz_event_w-viz_maxspeed_w); - const int viz_maxspeed_y = (footer_y + ((footer_h - viz_maxspeed_h) / 2)) - 20; + bool is_speedlim_valid = s->scene.speedlimit_valid; + float hysteresis_offset = 0.5; + if (s->is_ego_over_limit) { + hysteresis_offset = 0.0; + } + s->is_ego_over_limit = is_speedlim_valid && s->scene.v_ego > (speedlimit + s->speed_lim_off + hysteresis_offset); + + int viz_speedlim_w = 180; + int viz_speedlim_h = 202; + int viz_speedlim_x = (ui_viz_rx + (bdr_s*2)); + int viz_speedlim_y = (box_y + (bdr_s*1.5)); + if (!is_speedlim_valid) { + viz_speedlim_w -= 5; + viz_speedlim_h -= 10; + viz_speedlim_x += 9; + viz_speedlim_y += 5; + } + int viz_speedlim_bdr = is_speedlim_valid ? 30 : 15; - char maxspeed_str[32]; + // Draw Background + nvgBeginPath(s->vg); + nvgRoundedRect(s->vg, viz_speedlim_x, viz_speedlim_y, viz_speedlim_w, viz_speedlim_h, viz_speedlim_bdr); + if (is_speedlim_valid && s->is_ego_over_limit) { + nvgFillColor(s->vg, nvgRGBA(218, 111, 37, 180)); + } else if (is_speedlim_valid) { + nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255)); + } else { + nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 100)); + } + nvgFill(s->vg); - if (s->is_metric) { + // Draw Border + if (is_speedlim_valid) { + nvgStrokeWidth(s->vg, 10); + nvgStroke(s->vg); nvgBeginPath(s->vg); - nvgCircle(s->vg, viz_maxspeed_x + viz_maxspeed_w / 2, viz_maxspeed_y + viz_maxspeed_h / 2, 127); - nvgFillColor(s->vg, nvgRGBA(195, 0, 0, 255)); - nvgFill(s->vg); + nvgRoundedRect(s->vg, viz_speedlim_x, viz_speedlim_y, viz_speedlim_w, viz_speedlim_h, 20); + if (s->is_ego_over_limit) { + nvgStrokeColor(s->vg, nvgRGBA(218, 111, 37, 255)); + } else if (is_speedlim_valid) { + nvgStrokeColor(s->vg, nvgRGBA(255, 255, 255, 255)); + } + } - nvgBeginPath(s->vg); - nvgCircle(s->vg, viz_maxspeed_x + viz_maxspeed_w / 2, viz_maxspeed_y + viz_maxspeed_h / 2, 100); + // Draw "Speed Limit" Text + nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE); + nvgFontFace(s->vg, "sans-semibold"); + nvgFontSize(s->vg, 50); + nvgFillColor(s->vg, nvgRGBA(0, 0, 0, 255)); + if (is_speedlim_valid && s->is_ego_over_limit) { nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255)); - nvgFill(s->vg); + } + nvgText(s->vg, viz_speedlim_x+viz_speedlim_w/2 + (is_speedlim_valid ? 6 : 0), viz_speedlim_y + (is_speedlim_valid ? 50 : 45), "SPEED", NULL); + nvgText(s->vg, viz_speedlim_x+viz_speedlim_w/2 + (is_speedlim_valid ? 6 : 0), viz_speedlim_y + (is_speedlim_valid ? 90 : 85), "LIMIT", NULL); - nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE); - nvgFontFace(s->vg, "sans-bold"); - nvgFontSize(s->vg, 130); + // Draw Speed Text + nvgFontFace(s->vg, "sans-bold"); + nvgFontSize(s->vg, 48*2.5); + if (s->is_ego_over_limit) { + nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255)); + } else { nvgFillColor(s->vg, nvgRGBA(0, 0, 0, 255)); - - snprintf(maxspeed_str, sizeof(maxspeed_str), "%d", (int)(speedlimit * 3.6 + 0.5)); - nvgText(s->vg, viz_maxspeed_x+viz_maxspeed_w/2, viz_maxspeed_y + 135, maxspeed_str, NULL); + } + if (is_speedlim_valid) { + snprintf(speedlim_str, sizeof(speedlim_str), "%d", speedlim_calc); + nvgText(s->vg, viz_speedlim_x+viz_speedlim_w/2, viz_speedlim_y + (is_speedlim_valid ? 170 : 165), speedlim_str, NULL); } else { - const int border = 10; - nvgBeginPath(s->vg); - nvgRoundedRect(s->vg, viz_maxspeed_x - border, viz_maxspeed_y - border, viz_maxspeed_w + 2 * border, viz_maxspeed_h + 2 * border, 30); - nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255)); - nvgFill(s->vg); - - nvgBeginPath(s->vg); - nvgRoundedRect(s->vg, viz_maxspeed_x, viz_maxspeed_y, viz_maxspeed_w, viz_maxspeed_h, 20); - nvgStrokeColor(s->vg, nvgRGBA(0, 0, 0, 255)); - nvgStrokeWidth(s->vg, 8); - nvgStroke(s->vg); - - - nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE); nvgFontFace(s->vg, "sans-semibold"); - nvgFontSize(s->vg, 50); - nvgFillColor(s->vg, nvgRGBA(0, 0, 0, 255)); - nvgText(s->vg, viz_maxspeed_x+viz_maxspeed_w/2, viz_maxspeed_y + 50, "SPEED", NULL); - nvgText(s->vg, viz_maxspeed_x+viz_maxspeed_w/2, viz_maxspeed_y + 90, "LIMIT", NULL); - - nvgFontFace(s->vg, "sans-bold"); - nvgFontSize(s->vg, 120); - nvgFillColor(s->vg, nvgRGBA(0, 0, 0, 255)); - - snprintf(maxspeed_str, sizeof(maxspeed_str), "%d", (int)(speedlimit * 2.2369363 + 0.5)); - nvgText(s->vg, viz_maxspeed_x+viz_maxspeed_w/2, viz_maxspeed_y + 170, maxspeed_str, NULL); - } + nvgFontSize(s->vg, 42*2.5); + nvgText(s->vg, viz_speedlim_x+viz_speedlim_w/2, viz_speedlim_y + (is_speedlim_valid ? 170 : 165), "N/A", NULL); + } } static void ui_draw_vision_speed(UIState *s) { @@ -1137,6 +1215,7 @@ static void ui_draw_vision_header(UIState *s) { nvgFill(s->vg); ui_draw_vision_maxspeed(s); + ui_draw_vision_speedlimit(s); ui_draw_vision_speed(s); ui_draw_vision_wheel(s); } @@ -1151,8 +1230,6 @@ static void ui_draw_vision_footer(UIState *s) { // Driver Monitoring ui_draw_vision_face(s); - - ui_draw_vision_speedlimit(s); } static void ui_draw_vision_alert(UIState *s, int va_size, int va_color, @@ -1710,7 +1787,7 @@ static void ui_update(UIState *s) { struct cereal_LiveMapData datad; cereal_read_LiveMapData(&datad, eventd.liveMapData); s->scene.speedlimit = datad.speedLimit; - s->scene.speedlimit_valid = datad.valid; + s->scene.speedlimit_valid = datad.speedLimitValid; } capn_free(&ctx); zmq_msg_close(&msg); @@ -1975,6 +2052,18 @@ int main() { set_volume(s, volume); } + if (s->speed_lim_off_timeout > 0) { + s->speed_lim_off_timeout--; + } else { + read_speed_lim_off(s); + } + + if (s->is_metric_timeout > 0) { + s->is_metric_timeout--; + } else { + read_is_metric(s); + } + pthread_mutex_unlock(&s->lock); // the bg thread needs to be scheduled, so the main thread needs time without the lock diff --git a/selfdrive/visiond/visiond-057 b/selfdrive/visiond/visiond-057 new file mode 100755 index 00000000000000..caf5de38ae68a7 Binary files /dev/null and b/selfdrive/visiond/visiond-057 differ