Merge branch 'master' of https://github.com/commaai/opendbc into faw-…

…hongqi-hs5
commaai · Oct 22, 2022 · 6994f10 · 6994f10
2 parents b28d0ad + 4e9acc8
commit 6994f10
Show file tree

Hide file tree

Showing 5 changed files with 284 additions and 28 deletions.
diff --git a/Dockerfile b/Dockerfile
@@ -52,5 +52,6 @@ COPY SConstruct .
 COPY ./site_scons /project/site_scons
 COPY . /project/opendbc
 
-RUN rm -rf /project/opendbc/.git
+RUN rm -rf /project/opendbc/.git && \
+    rm -rf /project/cereal/.git
 RUN scons -c && scons -j$(nproc)
diff --git a/can/common_dbc.h b/can/common_dbc.h
@@ -72,6 +72,17 @@ struct DBC {
   std::vector<Val> vals;
 };
 
+typedef struct ChecksumState {
+  int checksum_size;
+  int counter_size;
+  int checksum_start_bit;
+  int counter_start_bit;
+  bool little_endian;
+  SignalType checksum_type;
+  unsigned int (*calc_checksum)(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
+} ChecksumState;
+
 DBC* dbc_parse(const std::string& dbc_path);
+DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, ChecksumState *checksum = nullptr);
 const DBC* dbc_lookup(const std::string& dbc_name);
 std::vector<std::string> get_dbc_names();
diff --git a/can/dbc.cc b/can/dbc.cc
@@ -47,16 +47,6 @@ inline std::string& trim(std::string& s, const char* t = " \t\n\r\f\v") {
   return s.erase(0, s.find_first_not_of(t));
 }
 
-typedef struct ChecksumState {
-  int checksum_size;
-  int counter_size;
-  int checksum_start_bit;
-  int counter_start_bit;
-  bool little_endian;
-  SignalType checksum_type;
-  unsigned int (*calc_checksum)(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
-} ChecksumState;
-
 ChecksumState* get_checksum(const std::string& dbc_name) {
   ChecksumState* s = nullptr;
   if (startswith(dbc_name, {"honda_", "acura_"})) {
@@ -109,14 +99,7 @@ void set_signal_type(Signal& s, ChecksumState* chk, const std::string& dbc_name,
   }
 }
 
-DBC* dbc_parse(const std::string& dbc_path) {
-  std::ifstream infile(dbc_path);
-  if (!infile) return nullptr;
-
-  const std::string dbc_name = std::filesystem::path(dbc_path).filename();
-
-  std::unique_ptr<ChecksumState> checksum(get_checksum(dbc_name));
-
+DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, ChecksumState *checksum) {
   uint32_t address = 0;
   std::set<uint32_t> address_set;
   std::set<std::string> msg_name_set;
@@ -136,7 +119,7 @@ DBC* dbc_parse(const std::string& dbc_path) {
   int line_num = 0;
   std::smatch match;
   // TODO: see if we can speed up the regex statements in this loop, SG_ is specifically the slowest
-  while (std::getline(infile, line)) {
+  while (std::getline(stream, line)) {
     line = trim(line);
     line_num += 1;
     if (startswith(line, "BO_ ")) {
@@ -170,7 +153,7 @@ DBC* dbc_parse(const std::string& dbc_path) {
       sig.is_signed = match[offset + 5].str() == "-";
       sig.factor = std::stod(match[offset + 6].str());
       sig.offset = std::stod(match[offset + 7].str());
-      set_signal_type(sig, checksum.get(), dbc_name, line_num);
+      set_signal_type(sig, checksum, dbc_name, line_num);
       if (sig.is_little_endian) {
         sig.lsb = sig.start_bit;
         sig.msb = sig.start_bit + sig.size - 1;
@@ -215,6 +198,16 @@ DBC* dbc_parse(const std::string& dbc_path) {
   return dbc;
 }
 
+DBC* dbc_parse(const std::string& dbc_path) {
+  std::ifstream infile(dbc_path);
+  if (!infile) return nullptr;
+
+  const std::string dbc_name = std::filesystem::path(dbc_path).filename();
+
+  std::unique_ptr<ChecksumState> checksum(get_checksum(dbc_name));
+  return dbc_parse_from_stream(dbc_name, infile, checksum.get());
+}
+
 const std::string get_dbc_root_path() {
   char *basedir = std::getenv("BASEDIR");
   if (basedir != NULL) {

diff --git a/hyundai_canfd.dbc b/hyundai_canfd.dbc
@@ -42,6 +42,11 @@ BO_ 53 ACCELERATOR: 32 XXX
  SG_ GEAR : 192|3@1+ (1,0) [0|7] "" XXX
  SG_ ACCELERATOR_PEDAL : 40|8@1+ (1,0) [0|255] "" XXX
 
+BO_ 64 GEAR_ALT: 32 XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ GEAR : 32|3@1+ (1,0) [0|7] "" XXX
+
 BO_ 69 GEAR: 24 XXX
  SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
  SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
@@ -72,12 +77,13 @@ 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
  SG_ ESP_DISABLED : 42|3@1+ (1,0) [0|63] "" XXX
- SG_ BRAKE_POSITION : 128|10@1+ (1,0) [0|65535] "" XXX
+ SG_ BRAKE_PRESSURE : 128|10@1+ (1,0) [0|65535] "" XXX
  SG_ BRAKE_PRESSED : 148|1@1+ (1,0) [0|3] "" XXX
 
 BO_ 101 BRAKE: 32 XXX
  SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
  SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_POSITION : 40|16@1- (1,0) [0|65535] "" XXX
  SG_ BRAKE_PRESSED : 57|1@1+ (1,0) [0|3] "" XXX
 
 BO_ 160 WHEEL_SPEEDS: 24 XXX
@@ -98,6 +104,12 @@ BO_ 234 MDPS: 24 XXX
  SG_ STEERING_ANGLE : 96|16@1- (-0.1,0) [0|255] "deg" XXX
  SG_ STEERING_ANGLE_2 : 128|16@1- (-0.1,0) [0|65535] "deg" XXX
 
+BO_ 256 ACCELERATOR_BRAKE_ALT: 32 XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PRESSED : 32|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACCELERATOR_PEDAL_PRESSED : 176|1@1+ (1,0) [0|1] "" XXX
+
 BO_ 261 ACCELERATOR_ALT: 32 XXX
  SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
  SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
@@ -132,11 +144,24 @@ BO_ 304 GEAR_SHIFTER: 16 XXX
  SG_ GEAR : 64|3@1+ (1,0) [0|7] "" XXX
  SG_ KNOB_POSITION : 40|3@1+ (1,0) [0|3] "" XXX
 
-BO_ 373 SCC1: 24 XXX
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ ACCEL_REQ : 48|13@1- (1,0) [0|1023] "" XXX
- SG_ CRUISE_ACTIVE : 68|1@0+ (1,0) [0|1] "" XXX
+BO_ 373 TCS: 24 XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 80|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 74|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 76|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 24|7@1+ (1,0) [0|127] "" XXX
+ SG_ aBasis : 32|11@1+ (0.01,-10.23) [0|7] "m/s^2" XXX
+ SG_ NEW_SIGNAL_5 : 72|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_6 : 128|4@1+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_7 : 135|2@0+ (1,0) [0|3] "" XXX
+ SG_ PROBABLY_EQUIP : 136|2@1+ (1,0) [0|3] "" XXX
+ SG_ AEB_EQUIP_MAYBE : 96|1@0+ (1,0) [0|1] "" XXX
+ SG_ EQUIP_MAYBE : 64|1@0+ (1,0) [0|1] "" XXX
+ SG_ DriverBraking : 81|1@0+ (1,0) [0|1] "" XXX
+ SG_ DriverBrakingLowSens : 84|1@1+ (1,0) [0|1] "" XXX
+ SG_ ACC_REQ : 68|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_REF_ACC : 48|11@1- (1,0) [0|1023] "" XXX
 
 BO_ 352 ADRV_0x160: 16 ADRV
  SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
@@ -468,14 +493,46 @@ BO_ 1043 BLINKERS: 8 XXX
 BO_ 1240 CLUSTER_INFO: 8 XXX
  SG_ DISTANCE_UNIT : 0|1@1+ (1,0) [0|1] "" XXX
 
+BO_ 442 BLINDSPOTS_REAR_CORNERS: 24 XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_1 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 96|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 54|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_4 : 46|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_6 : 32|2@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_7 : 24|1@0+ (1,0) [0|1] "" XXX
 
+BO_ 874 BLINDSPOTS_FRONT_CORNER_2: 16 XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
 
+BO_ 485 BLINDSPOTS_FRONT_CORNER_1: 16 XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_1 : 108|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 96|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_3 : 88|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_4 : 80|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_5 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_6 : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 32|2@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_8 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_9 : 55|8@0+ (1,0) [0|255] "" XXX
 
+CM_ SG_ 96 BRAKE_PRESSURE "User applied brake pedal pressure. Ramps from computer applied pressure on falling edge of cruise. Cruise cancels if !=0";
+CM_ SG_ 101 BRAKE_POSITION "User applied brake pedal position, max is ~700. Signed on some vehicles";
 CM_ SG_ 352 SET_ME_9 "has something to do with AEB settings";
+CM_ SG_ 373 DriverBraking "Likely derived from BRAKE->BRAKE_POSITION";
+CM_ SG_ 373 DriverBrakingLowSens "Higher threshold version of DriverBraking";
+CM_ SG_ 373 PROBABLY_EQUIP "aeb equip?";
 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_ 64 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
 VAL_ 69 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
 VAL_ 80 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green" ;
 VAL_ 80 LKA_MODE 1 "warning only" 2 "assist" 6 "off" ;
@@ -486,4 +543,4 @@ 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" ;