Dbc refactor

opendbc/honda_clarity_2016_nidec.dbc

@@ -0,0 +1,189 @@
+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_: ADAS RADAR NEO XXX Vector__XXX
+
+
+BO_ 768 VEHICLE_STATE: 8 ADAS
+ SG_ SET_ME_XF9 : 7|8@0+ (1,0) [0|255] "" Vector__XXX
+ SG_ VEHICLE_SPEED : 15|8@0+ (1,0) [0|255] "kph" Vector__XXX
+ SG_ SET_ME_X8A : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_XD0 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ SALTED_WITH_IDX : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 769 VEHICLE_STATE2: 8 ADAS
+ SG_ SET_ME_X5D : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X02 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X5F : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 1024 RADAR_DIAGNOSTIC: 8 RADAR
+ SG_ RADAR_STATE : 7|8@0+ (1,0) [0|255] "" NEO
+
+BO_ 1040 XXX_101: 8 RADAR
+
+BO_ 1041 XXX_102: 8 RADAR
+
+BO_ 1042 XXX_103: 8 RADAR
+
+BO_ 1043 XXX_104: 8 RADAR
+
+BO_ 1044 XXX_105: 8 RADAR
+
+BO_ 1045 XXX_106: 8 RADAR
+
+BO_ 1046 XXX_107: 8 RADAR
+
+BO_ 1047 XXX_108: 8 RADAR
+
+BO_ 1056 XXX_109: 8 RADAR
+
+BO_ 1057 XXX_110: 8 RADAR
+
+BO_ 1058 XXX_111: 8 RADAR
+
+BO_ 1059 XXX_112: 8 RADAR
+
+BO_ 1060 XXX_113: 8 RADAR
+
+BO_ 1072 TRACK_0: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO
+
+BO_ 1073 TRACK_1: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO
+
+BO_ 1074 TRACK_2: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO
+
+BO_ 1075 TRACK_3: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO
+
+BO_ 1076 TRACK_4: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO
+
+BO_ 1077 TRACK_5: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO
+
+BO_ 1078 TRACK_6: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO
+
+BO_ 1079 TRACK_7: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO
+
+BO_ 1080 TRACK_8: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO
+
+BO_ 1081 TRACK_9: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO
+
+BO_ 1088 TRACK_10: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO
+
+BO_ 1089 TRACK_11: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO
+
+BO_ 1090 TRACK_12: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO
+
+BO_ 1091 TRACK_13: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO
+
+BO_ 1092 TRACK_14: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO
+
+BO_ 1093 TRACK_15: 8 RADAR
+ SG_ LONG_DIST : 7|12@0+ (0.0625,0) [0|255.5] "m" NEO
+ SG_ NEW_TRACK : 11|1@0+ (1,0) [0|1] "" NEO
+ SG_ LAT_DIST : 9|10@0- (0.0625,0) [0|63.5] "m" NEO
+ SG_ REL_SPEED : 31|12@0- (0.03125,0) [0|127.5] "m/s" NEO
+
+BO_ 1279 XXX_114: 8 RADAR
+
+BO_ 1280 XXX_115: 8 RADAR
+
+BO_ 1296 XXX_116: 8 RADAR
+
+BO_ 1297 XXX_117: 8 RADAR
+
+BO_TX_BU_ 768 : NEO,ADAS;
+BO_TX_BU_ 769 : NEO,ADAS;
+
+
+CM_ SG_ 1024 RADAR_STATE "need to find out more diagnostic values";
+VAL_ 1024 RADAR_STATE 121 "ok" 110 "faulted" 105 "wrong_config" ;

selfdrive/car/honda/carcontroller.py

@@ -181,6 +181,6 @@ def update(self, enabled, CS, frame, actuators, \
       radar_send_step = 5
   #    if (frame % radar_send_step) == 0:
       idx = (frame/radar_send_step) % 4
-      can_sends.extend(hondacan.create_radar_commands(CS.vEgo, CS.CP.carFingerprint, self.new_radar_config, idx))
+      can_sends.extend(hondacan.create_radar_commands(self.packer, CS.vEgo, CS.CP.carFingerprint, self.new_radar_config, idx))
 
     return can_sends

selfdrive/car/honda/hondacan.py

@@ -121,23 +121,33 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx,
   return commands
 
 #Clarity: Since we don't have a factory ADAS Camera to drive the Radar, we have to create the messages ourselves. -wirelessnet2
-def create_radar_commands(v_ego, car_fingerprint, new_radar_config, idx):
+def create_radar_commands(packer, v_ego, car_fingerprint, new_radar_config, idx):
   """Creates an iterable of CAN messages for the radar system."""
-  bus = 1
+  radar_bus = 1
   commands = []
   v_ego_kph = np.clip(int(round(v_ego * CV.MS_TO_KPH)), 0, 255)
   speed = struct.pack('!B', v_ego_kph)
 
-  msg_0x300 = (b'\xf9' + speed + b'\x8a\xd0' +
-               (b'\x20' if idx == 0 or idx == 3 else b'\x00') +
-               b'\x00\x00')
-  msg_0x301 = b"\x00\x00\x5d\x02\x5f\x00\x00" #This is the VEHICLE_STATE_MSG for CAR.CLARITY -wirelessnet2
+  msg300 = {
+    'SET_ME_XF9': 0xF9,
+    'VEHICLE_SPEED': 0x00,
+    'SET_ME_X8A': 0x8A,
+    'SET_ME_XD0': 0xD0,
+    'SALTED_WITH_IDX': 0x20 if idx == 0 or idx == 3 else 0x00,
+  }
+
+  msg301 = {
+    'SET_ME_X5D': 0x5D, #This is 1/3 of the VEHICLE STATE MSG for the Clarity. -wirelessnet2
+    'SET_ME_X02': 0x02, #This is 1/3 of the VEHICLE STATE MSG for the Clarity. -wirelessnet2
+    'SET_ME_X5F': 0x5F, #This is 1/3 of the VEHICLE STATE MSG for the Clarity. -wirelessnet2
+  }
+
+  commands.append(packer.make_can_msg('VEHICLE_STATE', radar_bus, msg300, idx))
+  commands.append(packer.make_can_msg('VEHICLE_STATE2', radar_bus, msg301, idx))
+  #Energee has saved our ass again. All hail energeeeeeeeeeeee -wirelessnet2
 
-  commands.append(make_can_msg(0x300, msg_0x300, idx, bus))
-  commands.append(make_can_msg(0x301, msg_0x301, idx, bus))
   return commands
 
-
 def spam_buttons_command(packer, button_val, idx, car_fingerprint, has_relay):
   values = {
     'CRUISE_BUTTONS': button_val,

selfdrive/car/honda/values.py

@@ -680,7 +680,7 @@ class CAR:
   CAR.CIVIC: dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
   CAR.CIVIC_BOSCH: dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
   CAR.CIVIC_BOSCH_DIESEL: dbc_dict('honda_civic_sedan_16_diesel_2019_can_generated', None),
-  CAR.CLARITY: dbc_dict('honda_clarity_hybrid_2018_can_generated', 'acura_ilx_2016_nidec'),
+  CAR.CLARITY: dbc_dict('honda_clarity_hybrid_2018_can_generated', 'honda_clarity_2016_nidec'),
   CAR.CRV: dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
   CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None),
   CAR.CRV_EU: dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),