Skip to content

Commit

Permalink
EV6 radar + longitudinal messages (commaai#714)
Browse files Browse the repository at this point in the history 
* EV6 radar messages

* fix radar messages

* adrv messages

* start adrv

* one more

* it's on both, but don't want to split the dbc yet

* and the signals

* accel signals

* little more

* few more

* getting somewhere
  • Loading branch information
@adeebshihadeh
adeebshihadeh authored Oct 12, 2022
1 parent a70a900 commit 04cc54d
Showing 1 changed file with 176 additions and 39 deletions.
215 changes: 176 additions & 39 deletions hyundai_canfd.dbc
View file
Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@ NS_ :

BS_:

BU_: XXX CAMERA
BU_: XXX CAMERA FRONT_RADAR ADRV


BO_ 53 ACCELERATOR: 32 XXX
Expand Down Expand Up @@ -64,6 +64,10 @@ BO_ 80 LKAS: 16 XXX
SG_ NEW_SIGNAL_3 : 111|8@0+ (1,0) [0|255] "" XXX
SG_ FCA_SYSWARN : 40|1@0+ (1,0) [0|1] "" XXX

BO_ 81 ADRV_0x51: 32 ADRV
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX

BO_ 96 ESP_STATUS: 32 XXX
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
Expand Down Expand Up @@ -102,10 +106,10 @@ BO_ 261 ACCELERATOR_ALT: 32 XXX
BO_ 293 STEERING_SENSORS: 16 XXX
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ STEERING_RATE : 40|8@1+ (4.0,0) [0|1016] "deg/s" XXX
SG_ STEERING_RATE : 40|8@1+ (4,0) [0|1016] "deg/s" XXX
SG_ STEERING_ANGLE : 24|16@1- (-0.1,0) [0|255] "deg" XXX

BO_ 298 LFA: 16 XXX
BO_ 298 LFA: 16 ADRV
SG_ STEER_REQ : 52|1@1+ (1,0) [0|1] "" XXX
SG_ TORQUE_REQUEST : 41|11@1+ (1,-1024) [0|4095] "" XXX
SG_ LKA_ICON : 38|2@1+ (1,0) [0|255] "" XXX
Expand Down Expand Up @@ -134,9 +138,14 @@ BO_ 373 SCC1: 24 XXX
SG_ ACCEL_REQ : 48|13@1- (1,0) [0|1023] "" XXX
SG_ CRUISE_ACTIVE : 68|1@0+ (1,0) [0|1] "" XXX

BO_ 352 CAM_0x160: 16 CAMERA
BO_ 352 ADRV_0x160: 16 ADRV
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ SET_ME_FF : 64|8@1+ (1,0) [0|255] "" XXX
SG_ SET_ME_FC : 72|8@1+ (1,0) [0|255] "" XXX
SG_ SET_ME_2 : 56|8@1+ (1,0) [0|1] "" XXX
SG_ AEB_SETTING : 24|2@1+ (1,0) [0|255] "" XXX
SG_ SET_ME_9 : 80|8@1+ (1,0) [0|255] "" XXX

BO_ 384 CAM_0x180: 32 CAMERA
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
Expand All @@ -162,43 +171,44 @@ BO_ 389 CAM_0x185: 8 CAMERA
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX

BO_ 416 CRUISE_INFO: 32 XXX
BO_ 416 CRUISE_INFO: 32 ADRV
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE3 : 24|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE4 : 32|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE5 : 40|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE6 : 48|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE7 : 56|8@1+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_1 : 64|2@1+ (1,0) [0|3] "" XXX
SG_ CRUISE_MAIN : 66|1@1+ (1,0) [0|1] "" XXX
SG_ CRUISE_STATUS : 67|3@1+ (1,0) [0|7] "" XXX
SG_ CRUISE_INACTIVE : 70|1@1+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_2 : 71|5@1+ (1,0) [0|15] "" XXX
SG_ CRUISE_STANDSTILL : 76|1@1+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_3 : 77|11@1+ (1,0) [0|2047] "" XXX
SG_ BYTE11 : 88|8@1+ (1,0) [0|127] "" XXX
SG_ SET_SPEED : 102|7@0+ (1,0) [0|127] "km/h or mph" XXX
SG_ NEW_SIGNAL_4 : 103|1@1+ (1,0) [0|1] "" XXX
SG_ BYTE13 : 104|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE14 : 112|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE15 : 120|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE16 : 128|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE17 : 136|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE18 : 144|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE19 : 152|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE20 : 160|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE21 : 168|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE22 : 176|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE23 : 184|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE24 : 192|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE25 : 200|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE26 : 208|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE27 : 216|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE28 : 224|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE29 : 232|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE30 : 240|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE31 : 248|8@1+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_8 : 170|4@1+ (1,0) [0|15] "" XXX
SG_ NEW_SIGNAL_10 : 156|5@0+ (1,0) [0|3] "" XXX
SG_ ACCEL_REQ2 : 140|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" XXX
SG_ ACCEL_REQ : 128|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" XXX
SG_ ZEROS : 215|48@0+ (1,0) [0|281474976710655] "" XXX
SG_ ZEROS_3 : 191|7@0+ (1,0) [0|127] "" XXX
SG_ ZEROS_4 : 183|4@0+ (1,0) [0|63] "" XXX
SG_ ZEROS_6 : 119|16@0+ (1,0) [0|65535] "" XXX
SG_ ZEROS_7 : 63|8@0+ (1,0) [0|255] "" XXX
SG_ SET_SPEED : 102|7@0+ (1,0) [0|127] "km/h or mph" XXX
SG_ ZEROS_8 : 95|5@0+ (1,0) [0|31] "" XXX
SG_ NEW_SIGNAL_3 : 109|2@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_12 : 35|9@1+ (1,0) [0|255] "" XXX
SG_ SET_ME_TMP_64 : 55|8@0+ (1,0) [0|63] "" XXX
SG_ SET_ME_2 : 105|3@1+ (1,0) [0|7] "" XXX
SG_ NEW_SIGNAL_6 : 104|1@0+ (1,0) [0|1] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ ZEROS_9 : 71|5@1+ (1,0) [0|15] "" XXX
SG_ ZEROS_10 : 111|2@0+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_9 : 166|7@0+ (0.1,0) [0|63] "" XXX
SG_ SET_ME_3 : 45|2@0+ (1,0) [0|3] "" XXX
SG_ ObjValid : 46|1@0+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_2 : 168|2@1+ (1,0) [0|3] "" XXX
SG_ OBJ_STATUS : 176|3@1+ (1,0) [0|7] "" XXX
SG_ ACC_ObjDist : 24|11@1+ (0.1,0) [0|204.7] "m" XXX
SG_ ZEROS_5 : 77|11@1+ (1,0) [0|2047] "" XXX
SG_ DISTANCE_SETTING : 88|3@1+ (1,0) [0|3] "" XXX
SG_ STOP_REQ : 184|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_15 : 192|11@1+ (0.1,0) [0|204.7] "m" XXX
SG_ ZEROS_2 : 207|5@0+ (1,0) [0|63] "" XXX
SG_ CRUISE_STANDSTILL : 76|1@1+ (1,0) [0|1] "" XXX

BO_ 426 CRUISE_BUTTONS_ALT: 16 XXX
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
Expand Down Expand Up @@ -251,16 +261,136 @@ BO_ 463 CRUISE_BUTTONS: 8 XXX
SG_ COUNTER : 12|4@1+ (1,0) [0|255] "" XXX
SG_ CRUISE_BUTTONS : 16|3@1+ (1,0) [0|3] "" XXX

BO_ 480 LFAHDA_CLUSTER: 16 XXX
BO_ 474 ADRV_0x1da: 32 ADRV
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ SET_ME_22 : 31|8@0+ (1,0) [0|255] "" XXX
SG_ SET_ME_41 : 47|8@0+ (1,0) [0|255] "" XXX

BO_ 480 LFAHDA_CLUSTER: 16 ADRV
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ HDA_ICON : 31|1@1+ (1,0) [0|1] "" XXX
SG_ LFA_ICON : 47|2@1+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_1 : 32|3@1+ (1,0) [0|7] "" XXX
SG_ NEW_SIGNAL_2 : 30|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_3 : 49|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_4 : 24|1@0+ (1,0) [0|1] "" XXX

BO_ 490 ADRV_0x1ea: 32 ADRV
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ SET_ME_1C : 31|8@0+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_1 : 32|2@1+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_2 : 47|2@0+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_4 : 64|6@1+ (1,0) [0|31] "" XXX
SG_ NEW_SIGNAL_5 : 72|2@1+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_6 : 75|5@1+ (1,0) [0|31] "" XXX
SG_ NEW_SIGNAL_7 : 80|5@1+ (1,0) [0|31] "" XXX
SG_ NEW_SIGNAL_8 : 88|7@1+ (1,0) [0|127] "" XXX
SG_ NEW_SIGNAL_9 : 96|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_10 : 143|5@0+ (1,0) [0|31] "" XXX
SG_ NEW_SIGNAL_11 : 144|3@1+ (1,0) [0|7] "" XXX
SG_ NEW_SIGNAL_12 : 152|6@1+ (1,0) [0|63] "" XXX
SG_ NEW_SIGNAL_13 : 160|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_14 : 163|5@1+ (1,0) [0|31] "" XXX
SG_ NEW_SIGNAL_15 : 175|4@0+ (1,0) [0|63] "" XXX
SG_ NEW_SIGNAL_16 : 168|3@1+ (1,0) [0|7] "" XXX
SG_ NEW_SIGNAL_17 : 176|2@1+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_18 : 184|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_19 : 208|3@1+ (1,0) [0|7] "" XXX
SG_ NEW_SIGNAL_20 : 212|1@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_FF : 120|8@1+ (1,0) [0|255] "" XXX
SG_ SET_ME_TMP_F : 232|5@1+ (1,0) [0|31] "" XXX
SG_ SET_ME_TMP_F_2 : 240|5@1+ (1,0) [0|31] "" XXX

BO_ 507 CAM_0x1fb: 32 CAMERA
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX

BO_ 512 ADRV_0x200: 8 ADRV
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ SET_ME_3A : 32|8@1+ (1,0) [0|255] "" XXX
SG_ SET_ME_E1 : 24|8@1+ (1,0) [0|255] "" XXX

BO_ 513 RADAR_0x201: 32 FRONT_RADAR
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX

BO_ 528 RADAR_0x210: 32 FRONT_RADAR
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX

BO_ 529 RADAR_0x211: 32 FRONT_RADAR
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX

BO_ 530 RADAR_0x212: 32 FRONT_RADAR
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX

BO_ 531 RADAR_0x213: 32 FRONT_RADAR
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX

BO_ 532 RADAR_0x214: 32 FRONT_RADAR
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX

BO_ 533 RADAR_0x215: 32 FRONT_RADAR
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX

BO_ 534 RADAR_0x216: 32 FRONT_RADAR
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX

BO_ 535 RADAR_0x217: 32 FRONT_RADAR
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX

BO_ 536 RADAR_0x218: 32 FRONT_RADAR
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX

BO_ 537 RADAR_0x219: 32 FRONT_RADAR
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX

BO_ 538 RADAR_0x21a: 32 FRONT_RADAR
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX

BO_ 539 RADAR_0x21b: 32 FRONT_RADAR
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX

BO_ 540 RADAR_0x21c: 32 FRONT_RADAR
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX

BO_ 541 RADAR_0x21d: 32 FRONT_RADAR
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX

BO_ 542 RADAR_0x21e: 32 FRONT_RADAR
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX

BO_ 543 RADAR_0x21f: 32 FRONT_RADAR
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX

BO_ 576 RADAR_0x240: 16 FRONT_RADAR
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX

BO_ 593 RADAR_0x251: 16 FRONT_RADAR
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX

BO_ 674 CAM_0x2a2: 32 CAMERA
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
Expand Down Expand Up @@ -310,6 +440,11 @@ BO_ 702 CAM_0x2be: 32 CAMERA
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX

BO_ 837 ADRV_0x345: 8 ADRV
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ SET_ME_15 : 24|8@1+ (1,0) [0|255] "" XXX

BO_ 961 BLINKER_STALKS: 8 XXX
SG_ COUNTER_ALT : 15|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM_MAYBE : 7|8@0+ (1,0) [0|255] "" XXX
Expand All @@ -335,18 +470,20 @@ BO_ 1240 CLUSTER_INFO: 8 XXX




CM_ SG_ 352 SET_ME_9 "has something to do with AEB settings";
CM_ SG_ 961 COUNTER_ALT "only increments on change";
CM_ SG_ 1041 COUNTER_ALT "only increments on change";
CM_ SG_ 1043 COUNTER_ALT "only increments on change";

VAL_ 53 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
VAL_ 69 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
VAL_ 304 GEAR 1 "P" 2 "R" 3 "N" 4 "D";
VAL_ 80 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green" ;
VAL_ 80 LKA_MODE 1 "warning only" 2 "assist" 6 "off" ;
VAL_ 234 LKA_FAULT 0 "ok" 1 "lka fault" ;
VAL_ 298 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green" ;
VAL_ 298 LKA_MODE 1 "warning only" 2 "assist" 6 "off" ;
VAL_ 304 GEAR 1 "P" 2 "R" 3 "N" 4 "D" ;
VAL_ 352 AEB_SETTING 1 "off" 2 "warning only" 3 "active assist" ;
VAL_ 416 CRUISE_STATUS 0 "cruise_inactive" 2 "cruise_active" 4 "driver_override" ;
VAL_ 426 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4 "pause_resume" ;
VAL_ 463 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4 "pause_resume" ;
VAL_ 463 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4 "pause_resume" ;

0 comments on commit 04cc54d

Please sign in to comment.