From 8f245e6ef5e25814d8e6e1f096221f6dfeefe86b Mon Sep 17 00:00:00 2001 From: Eric Day Date: Tue, 18 Oct 2022 12:27:50 +0800 Subject: [PATCH] Toyota: radar dsu tss-p radar support, aka nodsu (#707) * Toyota: radar dsu tss-p radar support, aka nodsu * update LONG_DIST factor to 0.03 --- toyota_radar_dsu_tssp.dbc | 194 ++++++++++++++++++++++++++++++++++++++ 1 file changed, 194 insertions(+) create mode 100644 toyota_radar_dsu_tssp.dbc diff --git a/toyota_radar_dsu_tssp.dbc b/toyota_radar_dsu_tssp.dbc new file mode 100644 index 0000000..168e589 --- /dev/null +++ b/toyota_radar_dsu_tssp.dbc @@ -0,0 +1,194 @@ +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_: XXX RADAR + +BO_ 768 BUTTONS: 8 RADAR + SG_ LKAS_PRESS : 2|1@0+ (1,0) [0|1] "" XXX + SG_ DISTANCE_PRESS : 5|1@0+ (1,0) [0|1] "" XXX + +BO_ 769 OBJECT_0: 8 RADAR + SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 771 OBJECT_1: 8 RADAR + SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 773 OBJECT_2: 8 RADAR + SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 775 OBJECT_3: 8 RADAR + SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 777 OBJECT_4: 8 RADAR + SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 779 OBJECT_5: 8 RADAR + SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 781 OBJECT_6: 8 RADAR + SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 783 OBJECT_7: 8 RADAR + SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 785 OBJECT_8: 8 RADAR + SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 787 OBJECT_9: 8 RADAR + SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 789 OBJECT_10: 8 RADAR + SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 791 OBJECT_11: 8 RADAR + SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +CM_ "Front target" +BO_ 1664 CLUSTER_F: 8 RADAR + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|255] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.015,0) [-20|20] "m" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ ID : 0|6@1+ (1,0) [0|63] "" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +CM_ "Front target ahead" +BO_ 1665 CLUSTER_F_A: 8 RADAR + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|255] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.015,0) [-20|20] "m" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ ID : 0|6@1+ (1,0) [0|63] "" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +CM_ "Left target" +BO_ 1666 CLUSTER_L: 8 RADAR + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|255] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.015,0) [-20|20] "m" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ VALID : 6|1@0+ (1,0) [0|1] "" XXX + SG_ ID : 0|6@1+ (1,0) [0|63] "" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +CM_ "Right target" +BO_ 1667 CLUSTER_R: 8 RADAR + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|255] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.015,0) [-20|20] "m" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ VALID : 6|1@0+ (1,0) [0|1] "" XXX + SG_ ID : 0|6@1+ (1,0) [0|63] "" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +CM_ "Left target ahead" +BO_ 1668 CLUSTER_L_A: 8 RADAR + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|255] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.015,0) [-20|20] "m" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ VALID : 6|1@0+ (1,0) [0|1] "" XXX + SG_ ID : 0|6@1+ (1,0) [0|63] "" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX + +CM_ "Right target ahead" +BO_ 1669 CLUSTER_R_A: 8 RADAR + SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|255] "m" XXX + SG_ LAT_DIST : 20|11@1- (0.015,0) [-20|20] "m" XXX + SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX + SG_ VALID : 6|1@0+ (1,0) [0|1] "" XXX + SG_ ID : 0|6@1+ (1,0) [0|63] "" XXX + SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX + SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX