From 525ba532df7357066fd73c139dc4e2f297877322 Mon Sep 17 00:00:00 2001 From: Kevin Roscom Date: Mon, 21 Feb 2022 14:04:52 -0700 Subject: [PATCH] ocelot_controls --- ocelot_controls.dbc | 139 ++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 139 insertions(+) create mode 100644 ocelot_controls.dbc diff --git a/ocelot_controls.dbc b/ocelot_controls.dbc new file mode 100644 index 0000000..1d3c53e --- /dev/null +++ b/ocelot_controls.dbc @@ -0,0 +1,139 @@ +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_: EON PED IBST EPAS GAS_ACTUATOR BRAKE_ACTUATOR STEER_ACTUATOR + +VAL_TABLE_ BRAKEMODE 3 "Reserved" 2 "Position Control" 1 "Relative Control" 0 "Disengadged" ; +VAL_TABLE_ STATUS 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; +VAL_TABLE_ YESNO 1 "Yes" 0 "No" ; + +BO_ 256 ACTUATOR_GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 8|16@1+ (0.275676,-33.3567) [0|1] "" GAS_ACTUATOR + SG_ GAS_COMMAND2 : 24|16@1+ (0.13629,-32.71) [0|1] "" GAS_ACTUATOR + SG_ ENABLE : 47|1@1+ (1,0) [0|1] "" GAS_ACTUATOR + SG_ COUNTER : 40|4@1+ (1,0) [0|15] "" GAS_ACTUATOR + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" GAS_ACTUATOR + +BO_ 257 ACTUATOR_GAS_SENSOR: 6 GAS_ACTUATOR + SG_ PED_GAS : 8|16@1+ (0.275676,-33.3567) [0|1] "" EON + SG_ PED_GAS2 : 24|16@1+ (0.13629,-32.71) [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_ 270 ACTUATOR_BRAKE_COMMAND: 6 EON + SG_ BRAKE_POSITION_COMMAND : 32|12@1+ (0.015625,-5) [-5|47] "mm" BRAKE_ACTUATOR + SG_ BRAKE_RELATIVE_COMMAND : 16|16@1+ (0.0078125,-252) [-252|252] "" BRAKE_ACTUATOR + SG_ BRAKE_MODE : 12|2@1+ (1,0) [0|3] "" BRAKE_ACTUATOR + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" BRAKE_ACTUATOR + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" BRAKE_ACTUATOR + +BO_ 271 ACTUATOR_BRAKE_STATUS: 5 BRAKE_ACTUATOR + 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 + SG_ EXT_STATUS2 : 36|4@1+ (1,0) [0|15] "" EON + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" EON + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" EON + +BO_ 302 ACTUATOR_STEERING_COMMAND: 5 EON + SG_ REQUESTED_STEER_TORQUE : 29|11@1- (0.5,0) [-512|511.5] "Nm" STEER_ACTUATOR + SG_ REQUESTED_STEER_ANGLE : 14|15@1- (0.1,0) [-1638.4|1638.3] "deg" STEER_ACTUATOR + SG_ STEER_MODE : 12|2@1+ (1,0) [0|3] "" STEER_ACTUATOR + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" STEER_ACTUATOR + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" STEER_ACTUATOR + +BO_ 303 ACTUATOR_STEERING_STATUS: 5 STEER_ACTUATOR + SG_ STEERING_TORQUE_EPS : 29|11@1- (0.8,0) [-819.2|818.4] "Nm" EON + SG_ STEERING_TORQUE_DRIVER : 18|11@1- (0.8,0) [-819.2|818.4] "Nm" EON + SG_ STEERING_OK : 16|1@1+ (1,0) [0|1] "" EON + SG_ STATUS : 12|4@1+ (1,0) [0|15] "" EON + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" EON + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" EON + +BO_ 512 PEDAL_GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 8|16@1+ (0.275676,-33.3567) [0|1] "" PED + SG_ GAS_COMMAND2 : 24|16@1+ (0.13629,-32.71) [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 PEDAL_GAS_SENSOR: 6 PED + SG_ PED_GAS : 8|16@1+ (0.275676,-33.3567) [0|1] "" EON + SG_ PED_GAS2 : 24|16@1+ (0.13629,-32.71) [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_ 526 OCELOT_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 + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" IBST + +BO_ 527 OCELOT_BRAKE_STATUS: 5 IBST + 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 + SG_ EXT_STATUS2 : 36|4@1+ (1,0) [0|15] "" EON + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" EON + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" EON + +BO_ 558 OCELOT_STEERING_COMMAND: 5 EON + SG_ REQUESTED_STEER_TORQUE : 29|11@1- (0.5,0) [-512|511.5] "Nm" EPAS + SG_ REQUESTED_STEER_ANGLE : 14|15@1- (0.1,0) [-1638.4|1638.3] "deg" EPAS + SG_ STEER_MODE : 12|2@1+ (1,0) [0|3] "" EPAS + SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" EPAS + SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" EPAS + +BO_ 559 OCELOT_STEERING_STATUS: 5 EPAS + SG_ STEERING_TORQUE_EPS : 29|11@1- (0.8,0) [-819.2|818.4] "Nm" EON + SG_ STEERING_TORQUE_DRIVER : 18|11@1- (0.8,0) [-819.2|818.4] "Nm" EON + SG_ STEERING_OK : 16|1@1+ (1,0) [0|1] "" EON + SG_ STATUS : 12|4@1+ (1,0) [0|15] "" EON + SG_ COUNTER : 8|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 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" ;