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Fixes, new CRC

master
ReFil 2021-03-07 22:27:18 +00:00
parent c4fb64097e
commit 58bb055d5b
3 changed files with 27 additions and 26 deletions
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6
can/common.cc
View File

@ -91,7 +91,7 @@ void init_crc_lookup_tables() {
// At init time, set up static lookup tables for fast CRC computation.
gen_crc_lookup_table(0x2F, crc8_lut_8h2f); // CRC-8 8H2F/AUTOSAR for Volkswagen
gen_crc_lookup_table(0xD5, crc8_lut_d5); // CRC-8 for pedal
gen_crc_lookup_table(0x1D, crc8_lut_1d); // CRC-8 SAE-j18650 for Retropilot
}
unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
@ -198,8 +198,10 @@ 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_d5[crc];
crc = crc8_lut_1d[crc];
}
crc = crc ^ 0xFF; //final xor
return crc;
}

16
ocelot_can.dbc
View File

@ -33,7 +33,7 @@ NS_ :
BS_:
BU_: EPAS HIM PED EON IBST SAS EPAS TOYOTASAS
BU_: EPAS HIM EON IBST SAS EPAS TOYOTASAS
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" ;
@ -70,20 +70,6 @@ BO_ 526 BRAKE_COMMAND: 5 EON
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" IBST
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" IBST
BO_ 512 GAS_COMMAND: 8 EON
SG_ GAS_COMMAND : 8|16@1+ (0.159375,-75.555) [0|1] "" PED
SG_ GAS_COMMAND2 : 24|16@1+ (0.159375,-151.111) [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+ (0.159375,-75.555) [0|1] "" EON
SG_ PED_GAS2 : 24|16@1+ (0.159375,-151.111) [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_ 870 CURRENT_STATE: 4 EON
SG_ ENABLED : 8|1@1+ (1,0) [0|0] "" HIM
SG_ SET_SPEED : 16|8@1+ (1,0) [0|255] "mph" HIM

31
ocelot_smart_roadster_pt.dbc
View File

@ -1,7 +1,7 @@
VERSION ""
NS_ :
NS_ :
NS_DESC_
CM_
BA_DEF_
@ -33,7 +33,7 @@ NS_ :
BS_:
BU_: EON SMART
BU_: EON SMART PED
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_ STEERINGMODE 3 "Reserved" 2 "Position Control" 1 "Torque Control" 0 "Disengadged" ;
@ -57,10 +57,10 @@ BO_ 568 SMART_ROADSTER_MESSAGE3: 8 SMART
BO_ 528 SMART_ROADSTER_MESSAGE2: 8 SMART
BO_ 128 SMARTROADSTERWHEELSPEEDS: 8 SMART
SG_ WHEELSPEED_RR : 55|16@0+ (1,0) [0|65535] "" EON
SG_ WHEELSPEED_RL : 39|16@0+ (1,0) [0|65535] "" EON
SG_ WHEELSPEED_FR : 23|16@0+ (1,0) [0|65535] "mph" EON
SG_ WHEELSPEED_FL : 7|16@0+ (1,0) [0|65535] "mph" EON
SG_ WHEELSPEED_RL : 55|16@0+ (0.034,0) [0|65535] "mph" EON
SG_ WHEELSPEED_RR : 39|16@0+ (0.034,0) [0|65535] "mph" EON
SG_ WHEELSPEED_FL : 23|16@0+ (0.034,0) [0|65535] "mph" EON
SG_ WHEELSPEED_FR : 7|16@0+ (0.034,0) [0|65535] "mph" EON
BO_ 194 SMARTSTEERINGANGLESENSOR: 8 SMART
SG_ SMART_STEER_RATE_SIGN : 31|1@1+ (1,0) [0|0] "" EON
@ -71,6 +71,20 @@ 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
@ -86,9 +100,8 @@ BO_ 144 ABS: 8 SMART
BO_ 400 GEARBOX: 8 SMART
SG_ GEARPOSITION : 0|8@1+ (1,0) [0|0] "" EON
BO_ 520 WHEELSPEEDS: 8 SMART
SG_ WHEELSPEED_FR : 40|7@1- (1,0) [0|0] "mph" EON
SG_ WHEELSPEED_FL : 48|7@1- (1,0) [0|0] "mph" EON
BO_ 520 SMART_ROADSTER_MESSAGE1: 8 SMART
CM_ SG_ 741 CHECKSUM "CRC8_J1650 SAE Checksum";