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ocelot_controls.dbc
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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
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_ 512 PEDAL_GAS_COMMAND: 6 EON
SG_ GAS_COMMAND : 8|16@1+ (1,0) [0|1] "" PED
SG_ GAS_COMMAND2 : 24|16@1+ (1,0) [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+ (1,0) [0|1] "" EON
SG_ PED_GAS2 : 24|16@1+ (1,0) [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 STEERING_COMMAND: 5 EON
SG_ STEER_TORQUE : 32|8@1- (0.125,0) [-16|15.875] "Nm" EPAS
SG_ STEER_ANGLE : 16|16@1- (0.125,0) [-4096|4095.875] "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 STEERING_STATUS: 8 EPAS
SG_ STEERING_ANGLE : 40|16@1- (0.125,0) [-4096|4095.875] "deg" EON
SG_ STEERING_SPEED : 24|8@1- (0.015625,0) [-2|1.984375] "rev/s" EON
SG_ STEERING_TORQUE : 16|8@1- (0.125,0) [-16|15.875] "Nm" EON
SG_ CONTROL_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
SG_ TEMPERATURE : 32|8@1+ (1,-60) [-60|195] "C" EON
SG_ DEBUG_STATES : 56|8@1+ (1,0) [0|255] "" EON
CM_ SG_ 558 STEER_TORQUE "Steering torque request";
CM_ SG_ 558 STEER_ANGLE "Steering relative angle request for internal close loop controller";
CM_ SG_ 558 STEER_MODE "Control mode request.
Off - instant 0 torque,
TorqueControl - use steer_torque,
AngleControl - use steer_angle as relative target and steer_torque as feedforward
SoftOff - ramp torque to 0 in 1s,
Command Off after SoftOff to re-enable control.";
CM_ SG_ 558 COUNTER "Rolling counter";
CM_ SG_ 558 CHECKSUM "Calculated CRC8 per J1850 of the message bytes with first byte ignored";
CM_ SG_ 559 STEERING_ANGLE "Steering angle calculated from motor position sensor";
CM_ SG_ 559 STEERING_SPEED "Steering speed calculated from motor position sensor";
CM_ SG_ 559 STEERING_TORQUE "Motor torque calculated at the steering";
CM_ SG_ 559 CONTROL_STATUS "Bitwise states: bit0 - sensored torque control is enabled, bit1 - sensor feedback enabled, bit2 - openloop soft off active, bit3 - internal closeloop mode enabled";
CM_ SG_ 559 COUNTER "Rolling counter";
CM_ SG_ 559 CHECKSUM "8bit sum of all bytes and message id";
CM_ SG_ 559 TEMPERATURE "Motor PCB temperature";
CM_ SG_ 559 DEBUG_STATES "Bitwise status. Refer to source";
VAL_ 526 BRAKE_MODE 3 "Reserved" 2 "Position Control" 1 "Relative Control" 0 "Disengadged" ;
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_ 558 STEER_MODE 0 "Off" 1 "TorqueControl" 2 "AngleControl" 3 "SoftOff" ;