Ocelot steering dev

can/common.cc

@@ -69,6 +69,7 @@ unsigned int chrysler_checksum(unsigned int address, uint64_t d, int l) {
 
 // Static lookup table for fast computation of CRC8 poly 0x2F, aka 8H2F/AUTOSAR
 uint8_t crc8_lut_8h2f[256];
+uint8_t crc8_lut_1d[256];
 
 void gen_crc_lookup_table(uint8_t poly, uint8_t crc_lut[]) {
   uint8_t crc;
@@ -90,6 +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(0x1D, crc8_lut_1d);      // CRC-8 SAE-j18650  for Retropilot
 }
 
 unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
@@ -190,6 +192,18 @@ unsigned int pedal_checksum(uint64_t d, int l) {
   return crc;
 }
 
+unsigned int ocelot_checksum(uint64_t d, int l) {
+  uint8_t crc = 0xFF; // Standard init value for CRC8
+
+  // 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_1d[crc] ^ crc << 8 ;
+  }
+  crc = crc ^ 0xFF; //final xor
+
+  return crc;
+}
 
 uint64_t read_u64_be(const uint8_t* v) {
   return (((uint64_t)v[0] << 56)

can/common.h

@@ -18,6 +18,7 @@ unsigned int chrysler_checksum(unsigned int address, uint64_t d, int l);
 void init_crc_lookup_tables();
 unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l);
 unsigned int pedal_checksum(uint64_t d, int l);
+unsigned int ocelot_checksum(uint64_t d, int l);
 uint64_t read_u64_be(const uint8_t* v);
 uint64_t read_u64_le(const uint8_t* v);
 

can/common.pxd

@@ -20,7 +20,9 @@ cdef extern from "common_dbc.h":
     VOLKSWAGEN_CHECKSUM,
     VOLKSWAGEN_COUNTER,
     SUBARU_CHECKSUM,
-    CHRYSLER_CHECKSUM
+    CHRYSLER_CHECKSUM,
+    OCELOT_CHECKSUM,
+    OCELOT_COUNTER
 
   cdef struct Signal:
     const char* name

can/common_dbc.h

@@ -40,6 +40,8 @@ enum SignalType {
   VOLKSWAGEN_COUNTER,
   SUBARU_CHECKSUM,
   CHRYSLER_CHECKSUM,
+  OCELOT_CHECKSUM,
+  OCELOT_COUNTER,
 };
 
 struct Signal {

can/common_pyx_setup.py

@@ -0,0 +1,94 @@
+import os
+import subprocess
+import sysconfig
+import platform
+from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
+
+from Cython.Build import cythonize
+from Cython.Distutils import build_ext
+
+
+ANNOTATE = os.getenv('ANNOTATE') is not None
+BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../../"))
+
+
+def get_ext_filename_without_platform_suffix(filename):
+  name, ext = os.path.splitext(filename)
+  ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
+
+  if ext_suffix == ext:
+    return filename
+
+  ext_suffix = ext_suffix.replace(ext, '')
+  idx = name.find(ext_suffix)
+
+  if idx == -1:
+    return filename
+  else:
+    return name[:idx] + ext
+
+
+class BuildExtWithoutPlatformSuffix(build_ext):
+  def get_ext_filename(self, ext_name):
+    filename = super().get_ext_filename(ext_name)
+    return get_ext_filename_without_platform_suffix(filename)
+
+
+extra_compile_args = ["-std=c++1z", "-Wno-nullability-completeness"]
+ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
+if ARCH == "aarch64":
+  extra_compile_args += ["-Wno-deprecated-register"]
+
+if platform.system() == "Darwin":
+  libdbc = "libdbc.dylib"
+else:
+  libdbc = "libdbc.so"
+
+extra_link_args = [os.path.join(BASEDIR, 'opendbc', 'can', libdbc)]
+include_dirs = [
+  BASEDIR,
+  os.path.join(BASEDIR, 'phonelibs'),
+]
+
+# Build CAN Parser
+
+setup(name='CAN parser',
+      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
+      ext_modules=cythonize(
+        Extension(
+          "parser_pyx",
+          language="c++",
+          sources=['parser_pyx.pyx'],
+          extra_compile_args=extra_compile_args,
+          include_dirs=include_dirs,
+          extra_link_args=extra_link_args,
+        ),
+        nthreads=4,
+        annotate=ANNOTATE
+      ),
+)
+
+if platform.system() == "Darwin":
+  os.system("install_name_tool -change opendbc/can/libdbc.dylib " + BASEDIR + "/opendbc/can/libdbc.dylib parser_pyx.so")
+
+
+# Build CAN Packer
+
+setup(name='CAN packer',
+      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
+      ext_modules=cythonize(
+        Extension(
+          "packer_pyx",
+          language="c++",
+          sources=['packer_pyx.pyx'],
+          extra_compile_args=extra_compile_args,
+          include_dirs=include_dirs,
+          extra_link_args=extra_link_args,
+        ),
+        nthreads=4,
+        annotate=ANNOTATE
+      ),
+)
+
+if platform.system() == "Darwin":
+  os.system("install_name_tool -change opendbc/can/libdbc.dylib " + BASEDIR + "/opendbc/can/libdbc.dylib packer_pyx.so")

can/dbc_template.cc

@@ -37,6 +37,10 @@ const Signal sigs_{{address}}[] = {
       .type = SignalType::PEDAL_CHECKSUM,
       {% elif address in [512, 513] and sig.name == "COUNTER_PEDAL" %}
       .type = SignalType::PEDAL_COUNTER,
+      {% elif checksum_type == "ocelot" and sig.name == "CHECKSUM" %}
+      .type = SignalType::OCELOT_CHECKSUM,
+      {% elif checksum_type == "ocelot" and sig.name == "COUNTER" %}
+      .type = SignalType::OCELOT_COUNTER,
       {% else %}
       .type = SignalType::DEFAULT,
       {% endif %}

can/packer.cc

@@ -77,7 +77,7 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
     }
     auto sig = sig_it->second;
 
-    if ((sig.type != SignalType::HONDA_COUNTER) && (sig.type != SignalType::VOLKSWAGEN_COUNTER)) {
+    if ((sig.type != SignalType::HONDA_COUNTER) && (sig.type != SignalType::VOLKSWAGEN_COUNTER) && (sig.type != SignalType::OCELOT_COUNTER)) {
       WARN("COUNTER signal type not valid\n");
     }
 
@@ -105,7 +105,11 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
     } else if (sig.type == SignalType::CHRYSLER_CHECKSUM) {
       unsigned int chksm = chrysler_checksum(address, ReverseBytes(ret), message_lookup[address].size);
       ret = set_value(ret, sig, chksm);
-    } else {
+    } else if (sig.type == SignalType::OCELOT_CHECKSUM) {
+      unsigned int chksm = ocelot_checksum(ReverseBytes(ret), message_lookup[address].size);
+      ret = set_value(ret, sig, chksm);
+    }
+    else {
       //WARN("CHECKSUM signal type not valid\n");
     }
   }

can/parser.cc

@@ -76,6 +76,15 @@ bool MessageState::parse(uint64_t sec, uint16_t ts_, uint8_t * dat) {
       if (!update_counter_generic(tmp, sig.b2)) {
         return false;
       }
+    } else if (sig.type == SignalType::OCELOT_CHECKSUM) {
+      if (ocelot_checksum(dat_le, size) != tmp) {
+        INFO("0x%X OCELOT CHECKSUM FAIL\n", address);
+        return false;
+      }
+    } else if (sig.type == SignalType::OCELOT_COUNTER) {
+      if (!update_counter_generic(tmp, sig.b2)) {
+        return false;
+      }
     }
 
     vals[i] = tmp * sig.factor + sig.offset;

can/parser_pyx.pyx

@@ -150,7 +150,7 @@ cdef class CANDefine():
     self.dbc = dbc_lookup(dbc_name)
     if not self.dbc:
       raise RuntimeError("Can't lookup" + dbc_name)
-      
+
     num_vals = self.dbc[0].num_vals
 
     address_to_msg_name = {}

can/process_dbc.py

@@ -61,6 +61,13 @@ def process(in_fn, out_fn):
     checksum_start_bit = 7
     counter_start_bit = None
     little_endian = False
+  elif can_dbc.name.startswith(("ocelot_")):
+    checksum_type = "ocelot"
+    checksum_size = 8
+    counter_size = 4
+    checksum_start_bit = 0
+    counter_start_bit = 0
+    little_endian = True
   else:
     checksum_type = None
     checksum_size = None

ocelot_can.dbc

@@ -0,0 +1,129 @@
+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_: 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" ;
+VAL_TABLE_ STEERINGMODE 3 "Reserved" 2 "Position Control" 1 "Torque Control" 0 "Disengadged" ;
+VAL_TABLE_ YESNO 1 "Yes" 0 "No" ;
+
+BO_ 741 STEERING_COMMAND: 5 EON
+ SG_ REQUESTED_STEER_TORQUE : 29|11@1- (0.5,0) [-512|511.5] "Nm" EPAS
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" EPAS
+ SG_ REQUESTED_STEER_ANGLE : 14|15@1- (0.1,0) [-1638.4|1638.3] "deg" EPAS
+ SG_ STEER_MODE : 12|2@1+ (1,0) [0|3] "" EPAS
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" EPAS
+
+BO_ 608 STEERING_STATUS: 5 EPAS
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" EON
+ SG_ STATUS : 12|4@1+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" EON
+ SG_ STEERING_TORQUE_EPS : 29|11@1- (0.8,0) [-819.2|818.4] "Nm" EON
+ SG_ STEERING_TORQUE_DRIVER : 18|11@1- (0.8,0) [-819.2|818.4] "Nm" EON
+ SG_ STEERING_OK : 16|1@1+ (1,0) [0|1] "" EON
+
+BO_ 527 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_ 526 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_ 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
+ SG_ CURRENT_SPEED : 24|8@1+ (1,0) [0|255] "kph" IBST
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] ""  HIM
+
+BO_ 869 HIM_CTRLS: 3 HIM
+ SG_ SPEEDDN_BTN : 11|1@1+ (1,0) [0|0] ""  EON
+ SG_ SPEEDUP_BTN : 10|1@1+ (1,0) [0|0] ""  EON
+ SG_ CANCEL_BTN : 9|1@1+ (1,0) [0|0] ""  EON
+ SG_ SET_BTN : 8|1@1+ (1,0) [0|0] ""  EON
+ SG_ STATE : 12|4@1+ (1,0) [0|15] ""  EON
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] ""  EON
+
+BO_ 1059 TOYOTA_STEERING_ANGLE_SENSOR3: 1 TOYOTASAS
+
+BO_ 1222 TOYOTA_STEERING_ANGLE_SENSOR2: 8 TOYOTASAS
+
+BO_ 37 TOYOTA_STEERING_ANGLE_SENSOR1: 8 TOYOTASAS
+ SG_ TOYOTA_STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" EON
+ SG_ TOYOTA_STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" EON
+ SG_ TOYOTA_STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" EON
+
+BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 8|16@1+ (0.275676,-33.3567) [0|1] ""  PED
+ SG_ GAS_COMMAND2 : 24|16@1+ (0.13629,-32.71) [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: 6 PED
+ SG_ PED_GAS : 8|16@1+ (0.275676,-33.3567) [0|1] ""  EON
+ SG_ PED_GAS2 : 24|16@1+ (0.13629,-32.71) [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
+
+ VAL_ 527 IBOOSTER_BRAKE_APPLIED 1 "Yes" 0 "No" ;
+ 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_ 526 BRAKE_MODE 3 "Reserved" 2 "Position Control" 1 "Relative Control" 0 "Disengadged" ;
+
+ VAL_ 741 STEER_MODE 3 "Reserved" 2 "Position Control" 1 "Torque Control" 0 "Disengadged" ;
+ VAL_ 608 STATUS 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+ VAL_ 608 STEERING_OK 1 "Yes" 0 "No" ;
+ VAL_ 870 ENABLED 1 "Yes" 0 "No" ;
+ VAL_ 869 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+ VAL_ 869 SPEEDUP_BTN 1 "Yes" 0 "No" ;
+ VAL_ 869 SPEEDDN_BTN 1 "Yes" 0 "No" ;
+ VAL_ 869 CANCEL_BTN 1 "Yes" 0 "No" ;
+ VAL_ 869 SET_BTN 1 "Yes" 0 "No" ;
+
+ VAL_ 512 ENABLE 1 "Yes" 0 "No" ;
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;