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Update fron arnepilot

master
ReFil 2021-04-26 22:56:26 +01:00
parent c12e7c3161
commit 48a8b04271
6 changed files with 31 additions and 29 deletions
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2
can/common.cc
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@ -198,7 +198,7 @@ unsigned int ocelot_checksum(uint64_t d, int l) {
// CRC the payload, skipping over the first byte where the CRC lives.
for (int i = 1; i < l; i++) {
crc ^= (d >> (i*8)) & 0xFF;
crc = crc8_lut_1d[crc];
crc = crc8_lut_1d[crc] ^ crc << 8 ;
}
crc = crc ^ 0xFF; //final xor

4
can/common.pxd
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@ -20,7 +20,9 @@ cdef extern from "common_dbc.h":
VOLKSWAGEN_CHECKSUM,
VOLKSWAGEN_COUNTER,
SUBARU_CHECKSUM,
CHRYSLER_CHECKSUM
CHRYSLER_CHECKSUM,
OCELOT_CHECKSUM,
OCELOT_COUNTER
cdef struct Signal:
const char* name

2
can/packer.cc
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@ -106,7 +106,7 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
unsigned int chksm = chrysler_checksum(address, ReverseBytes(ret), message_lookup[address].size);
ret = set_value(ret, sig, chksm);
} else if (sig.type == SignalType::OCELOT_CHECKSUM) {
unsigned int chksm = ocelot_checksum(ret, message_lookup[address].size);
unsigned int chksm = ocelot_checksum(ReverseBytes(ret), message_lookup[address].size);
ret = set_value(ret, sig, chksm);
}
else {

2
can/parser.cc
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@ -77,7 +77,7 @@ bool MessageState::parse(uint64_t sec, uint16_t ts_, uint8_t * dat) {
return false;
}
} else if (sig.type == SignalType::OCELOT_CHECKSUM) {
if (ocelot_checksum(dat_be, size) != tmp) {
if (ocelot_checksum(dat_le, size) != tmp) {
INFO("0x%X OCELOT CHECKSUM FAIL\n", address);
return false;
}

30
ocelot_can.dbc
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@ -56,8 +56,9 @@ BO_ 608 STEERING_STATUS: 5 EPAS
SG_ STEERING_OK : 16|1@1+ (1,0) [0|1] "" EON
BO_ 527 BRAKE_STATUS: 5 IBST
SG_ BRAKE_PEDAL_POSITION : 18|14@1+ (0.015625,-5) [-5|47] "mm" EON
SG_ IBOOSTER_BRAKE_APPLIED : 17|1@1+ (1,0) [0|1] "" EON
SG_ BRAKE_PEDAL_POSITION : 20|12@1+ (0.015625,-5) [-5|47] "mm" EON
SG_ BRAKE_APPLIED : 18|1@1+ (1,0) [0|1] "" EON
SG_ DRIVER_BRAKE_APPLIED : 17|1@1+ (1,0) [0|1] "" EON
SG_ BRAKE_OK : 16|1@1+ (1,0) [0|1] "" EON
SG_ STATUS : 12|4@1+ (1,0) [0|15] "" EON
SG_ EXT_STATUS1 : 32|4@1+ (1,0) [0|15] "" EON
@ -65,8 +66,8 @@ BO_ 527 BRAKE_STATUS: 5 IBST
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" EON
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" EON
BO_ 526 BRAKE_COMMAND: 5 EON
SG_ BRAKE_POSITION_COMMAND : 32|8@1+ (1,0) [0|255] "" IBST
BO_ 526 BRAKE_COMMAND: 6 EON
SG_ BRAKE_POSITION_COMMAND : 32|12@1+ (0.015625,-5) [-5|47] "mm" IBST
SG_ BRAKE_RELATIVE_COMMAND : 16|16@1+ (0.0078125,-252) [-252|252] "" IBST
SG_ BRAKE_MODE : 12|2@1+ (1,0) [0|3] "" IBST
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" IBST
@ -95,21 +96,34 @@ BO_ 37 TOYOTA_STEERING_ANGLE_SENSOR1: 8 TOYOTASAS
SG_ TOYOTA_STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" EON
SG_ TOYOTA_STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" EON
BO_ 512 GAS_COMMAND: 8 EON
SG_ GAS_COMMAND : 8|16@1+ (0.358,-121) [0|1] "" PED
SG_ GAS_COMMAND2 : 24|16@1+ (0.236,-242) [0|1] "" PED
SG_ ENABLE : 47|1@1+ (1,0) [0|1] "" PED
SG_ COUNTER : 40|4@1+ (1,0) [0|15] "" PED
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" PED
BO_ 513 GAS_SENSOR: 8 PED
SG_ PED_GAS : 8|16@1+ (0.358,-121) [0|1] "" EON
SG_ PED_GAS2 : 24|16@1+ (0.236,-242) [0|1] "" EON
SG_ STATE : 44|4@1+ (1,0) [0|15] "" EON
SG_ COUNTER : 40|4@1+ (1,0) [0|15] "" EON
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" EON
VAL_ 527 IBOOSTER_BRAKE_APPLIED 1 "Yes" 0 "No" ;
VAL_ 527 BRAKE_OK 1 "Yes" 0 "No" ;
VAL_ 527 STATUS 7 "FAULT_COUNTER" 6 "FAULT_INVALID" 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
VAL_ 527 EXT_STATUS1 5 "EXTFAULT1_COUNTER2" 4 "EXTFAULT1_COUNTER1" 3 "EXTFAULT1_SCE" 2 "EXTFAULT1_CHECKSUM2" 1 "EXTFAULT1_CHECKSUM1" 0 "NO_EXTFAULT" ;
VAL_ 527 EXT_STATUS2 5 "EXTFAULT2_COUNTER2" 4 "EXTFAULT2_COUNTER1" 3 "EXTFAULT2_SCE" 2 "EXTFAULT2_CHECKSUM2" 1 "EXTFAULT2_CHECKSUM1" 0 "NO_EXTFAULT" ;
VAL_ 527 STATUS 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
VAL_ 526 BRAKE_MODE 3 "Reserved" 2 "Position Control" 1 "Relative Control" 0 "Disengadged" ;
VAL_ 741 STEER_MODE 3 "Reserved" 2 "Position Control" 1 "Torque Control" 0 "Disengadged" ;
VAL_ 608 STATUS 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
VAL_ 608 STEERING_OK 1 "Yes" 0 "No" ;
VAL_ 870 ENABLED 1 "Yes" 0 "No" ;
VAL_ 512 ENABLE 1 "Yes" 0 "No" ;
VAL_ 869 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
VAL_ 869 SPEEDUP_BTN 1 "Yes" 0 "No" ;
VAL_ 869 SPEEDDN_BTN 1 "Yes" 0 "No" ;
VAL_ 869 CANCEL_BTN 1 "Yes" 0 "No" ;
VAL_ 869 SET_BTN 1 "Yes" 0 "No" ;
VAL_ 512 ENABLE 1 "Yes" 0 "No" ;
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;

20
ocelot_smart_roadster_pt.dbc
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@ -71,20 +71,6 @@ BO_ 194 SMARTSTEERINGANGLESENSOR: 8 SMART
BO_ 784 SMARTTHROTTLEPEDAL: 8 SMART
SG_ THROTTLE_POSITION : 32|16@1+ (0.00156143,0) [0|0] "%" EON
BO_ 512 GAS_COMMAND: 8 EON
SG_ GAS_COMMAND : 8|16@1+ (0.358,-121) [0|1] "" PED
SG_ GAS_COMMAND2 : 24|16@1+ (0.236,-242) [0|1] "" PED
SG_ ENABLE : 47|1@1+ (1,0) [0|1] "" PED
SG_ COUNTER : 40|4@1+ (1,0) [0|15] "" PED
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" PED
BO_ 513 GAS_SENSOR: 8 PED
SG_ PED_GAS : 8|16@1+ (0.358,-121) [0|1] "" EON
SG_ PED_GAS2 : 24|16@1+ (0.236,-242) [0|1] "" EON
SG_ STATE : 44|4@1+ (1,0) [0|15] "" EON
SG_ COUNTER : 40|4@1+ (1,0) [0|15] "" EON
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" EON
BO_ 544 BODYCONTROL: 8 SMART
SG_ RIGHT_DOOR : 0|1@1+ (1,0) [0|0] "" EON
SG_ LEFT_DOOR : 7|1@1+ (1,0) [0|0] "" EON
@ -97,8 +83,8 @@ BO_ 144 ABS: 8 SMART
SG_ BRAKEPEDAL : 2|1@1+ (1,0) [0|0] "" EON
SG_ VEHICLESPEED : 45|6@0- (1,0) [0|0] "mph" EON
BO_ 400 GEARBOX: 8 SMART
SG_ GEARPOSITION : 0|8@1+ (1,0) [0|0] "" EON
BO_ 400 GEAR_PACKET: 8 SMART
SG_ GEAR : 0|8@1+ (1,0) [0|0] "" EON
BO_ 520 SMART_ROADSTER_MESSAGE1: 8 SMART
@ -121,4 +107,4 @@ VAL_ 544 RIGHT_SIGNAL 0 "Off" 1 "On" ;
VAL_ 544 SIDELIGHTS 0 "Off" 1 "On" ;
VAL_ 144 ESP_STATUS 0 "On" 1 "Off" ;
VAL_ 144 BRAKEPEDAL 0 "Not_pressed" 1 "Pressed" ;
VAL_ 400 GEARPOSITION 8 "N" 4 "R" 76 "D" 16 "M" ;
VAL_ 400 GEAR 8 "N" 4 "R" 76 "D" 16 "S" ;