Hyundai corner radar DBC (#712)

* corner radar dbc based on palisade

* 0x100/0x200 scale/offset

* update DBC

* generate dbc properly
This commit is contained in:
Greg Hogan 2022-10-11 16:04:19 -07:00 committed by GitHub
parent c35e8139bf
commit a70a90016c
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 545 additions and 0 deletions

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hyundai_kia_mando_front_radar.dbc
hyundai_kia_mando_corner_radar.dbc

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#!/usr/bin/env python3
from collections import namedtuple
import os
if __name__ == "__main__":
dbc_name = os.path.basename(__file__).replace(".py", ".dbc")
hyundai_path = os.path.dirname(os.path.realpath(__file__))
with open(os.path.join(hyundai_path, dbc_name), "w") as f:
f.write("""
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
""")
for a in [0x100, 0x200]:
f.write(f"""
BO_ {a} RADAR_POINTS_METADATA_0x{a:x}: 64 RADAR
SG_ SIGNAL_1 : 0|32@1+ (1,0) [0|255] "" XXX
SG_ SIGNAL_2 : 32|32@1+ (1,0) [0|65535] "" XXX
SG_ SIGNAL_3 : 64|4@1+ (1,0) [0|15] "" XXX
SG_ SIGNAL_4 : 68|4@1+ (1,0) [0|15] "" XXX
SG_ RADAR_POINT_COUNT : 72|8@1+ (1,0) [0|255] "" XXX
SG_ SIGNAL_6 : 80|7@1+ (0.015625,0) [0|3] "" XXX
SG_ SIGNAL_7 : 87|1@1+ (1,0) [0|1] "" XXX
SG_ SIGNAL_8 : 88|3@1+ (1,0) [0|7] "" XXX
SG_ SIGNAL_9 : 91|5@1+ (0.0625,0) [0|31] "" XXX
SG_ SIGNAL_10 : 96|8@1+ (1,0) [0|255] "" XXX
SG_ SIGNAL_11 : 104|7@1+ (0.015625,0) [0|127] "" XXX
SG_ SIGNAL_12 : 111|2@1+ (1,0) [0|65535] "" XXX
SG_ SIGNAL_13 : 113|7@1+ (0.015625,0) [0|127] "" XXX
SG_ SIGNAL_14 : 120|7@1+ (0.015625,0) [0|127] "" XXX
SG_ SIGNAL_15 : 127|3@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_16 : 130|2@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_17 : 133|2@0+ (1,0) [0|3] "" XXX
SG_ SIGNAL_18 : 134|1@0+ (1,0) [0|3] "" XXX
SG_ SIGNAL_19 : 135|3@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_20 : 138|8@1+ (1,0) [0|63] "" XXX
SG_ SIGNAL_21 : 146|2@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_22 : 148|1@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_23 : 149|4@1+ (1,0) [0|7] "" XXX
SG_ SIGNAL_24 : 153|1@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_25 : 154|2@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_26 : 157|2@0+ (1,0) [0|3] "" XXX
SG_ SIGNAL_27 : 158|7@1+ (0.125,0) [0|3] "" XXX
SG_ SIGNAL_28 : 165|7@1+ (0.015625,0) [0|31] "" XXX
SG_ SIGNAL_29 : 172|7@1+ (0.125,0) [0|3] "" XXX
SG_ SIGNAL_30 : 179|7@1+ (0.015625,0) [0|1] "" XXX
SG_ SIGNAL_31 : 186|4@1+ (1,0) [0|7] "" XXX
SG_ SIGNAL_32 : 190|14@1+ (0.015625,0) [0|15] "" XXX
SG_ SIGNAL_33 : 204|11@1+ (0.03125,0) [0|8191] "" XXX
SG_ SIGNAL_34 : 215|2@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_35 : 217|7@1+ (1,0) [0|127] "" XXX
SG_ SIGNAL_36 : 224|6@1+ (1,0) [0|63] "" XXX
SG_ SIGNAL_37 : 230|6@1+ (0.2,0) [0|31] "" XXX
SG_ SIGNAL_38 : 236|6@1+ (0.2,0) [0|7] "" XXX
SG_ SIGNAL_39 : 242|8@1+ (1,-90) [0|255] "" XXX
SG_ SIGNAL_40 : 250|6@1+ (1,0) [0|63] "" XXX
SG_ SIGNAL_41 : 256|8@1+ (0.25,0) [0|255] "" XXX
SG_ SIGNAL_42 : 264|3@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_43 : 267|12@1+ (0.01,0) [0|31] "" XXX
SG_ SIGNAL_44 : 279|32@1+ (1,0) [0|63] "" XXX
SG_ SIGNAL_45 : 311|1@1+ (1,0) [0|1] "" XXX
SG_ SIGNAL_46 : 312|2@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_47 : 314|32@1+ (1,0) [0|255] "" XXX
SG_ SIGNAL_48 : 346|6@1+ (1,0) [0|63] "" XXX
SG_ SIGNAL_49 : 352|7@1+ (0.25,0) [0|127] "" XXX
SG_ SIGNAL_50 : 359|6@1+ (0.03125,0) [0|31] "" XXX
SG_ SIGNAL_51 : 365|10@1+ (0.125,0) [0|3] "" XXX
SG_ SIGNAL_52 : 375|10@1+ (0.125,0) [0|63] "" XXX
SG_ SIGNAL_53 : 385|7@1+ (1,0) [0|127] "" XXX
SG_ SIGNAL_54 : 392|7@1+ (1,0) [0|127] "" XXX
SG_ SIGNAL_55 : 399|8@1+ (0.00390625,0) [0|31] "" XXX
SG_ SIGNAL_56 : 407|10@1+ (0.125,0) [0|63] "" XXX
SG_ SIGNAL_57 : 417|1@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_58 : 418|1@1+ (1,0) [0|3] "" XXX
""")
# radar points are sent at 20 Hz in groups of 1 to 13 messages
# each message has 5 radar points for a total of 65 points max
# each radar point is 101 bits so the alignment is not consistent
RadarPointSignal = namedtuple("RadarPointSignal", ["name", "start", "length", "scale", "offset"])
radar_point_signals = (
RadarPointSignal("DISTANCE", 7, 14, 1/64, 0),
RadarPointSignal("", 21, 2, 1, 0),
RadarPointSignal("", 23, 8, 1/512, -127/512),
RadarPointSignal("REL_VELOCITY", 31, 13, 1/32, -66),
RadarPointSignal("", 44, 2, 1, 0),
RadarPointSignal("", 46, 2, 1, 0),
RadarPointSignal("AZIMUTH", 48, 12, 1/512, -2047/512),
RadarPointSignal("", 60, 2, 1, 0),
RadarPointSignal("", 62, 1, 1, 0),
RadarPointSignal("", 63, 7, 1, 0),
RadarPointSignal("", 70, 1, 1, 0),
RadarPointSignal("", 71, 6, 1, 0),
RadarPointSignal("", 77, 2, 1, 0),
RadarPointSignal("", 79, 8, 1/512, -127/512),
RadarPointSignal("", 87, 1, 1, 0),
RadarPointSignal("", 88, 2, 1, 0),
RadarPointSignal("", 90, 3, 1, 0),
# last 15 bits are controlled by LAYOUT_ID (seems to always zero, so below is layout 0)
RadarPointSignal("", 93, 6, 1, 0),
RadarPointSignal("", 99, 8, 1, 0),
RadarPointSignal("", 107, 1, 1, 0),
)
radar_point_bit_count = sum([s.length for s in radar_point_signals])
for a in [0x101, 0x201]:
f.write(f"""
BO_ {a} RADAR_POINTS_0x{a:x}: 64 RADAR
SG_ MESSAGE_ID : 0|5@1+ (1,0) [0|31] "" XXX
SG_ LAYOUT_ID : 5|2@1+ (1,0) [0|3] "" XXX
""")
bit_idx = radar_point_signals[0].start
for i in range(5):
signal_idx = 1
for sig in radar_point_signals:
if sig.name:
sig_name = f"POINT_{i+1}_{sig.name}"
else:
sig_name = f"POINT_{i+1}_SIGNAL_{signal_idx}"
signal_idx += 1
sig_start_idx = i * radar_point_bit_count + sig.start
assert bit_idx == sig_start_idx, f"signal overlap or gap!!! {bit_idx} != {sig_start_idx}"
min_val = round(sig.offset, 10)
max_val = round((2**sig.length - 1) * sig.scale + sig.offset, 10)
f.write(f" SG_ {sig_name} : {sig_start_idx}|{sig.length}@1+ ({sig.scale},{sig.offset}) [{min_val}|{max_val}] \"\" XXX\n")
bit_idx += sig.length
# checksum is across a group of 0x100/200 and 0x101/201 messages (no checksums inside the other messages)
# ccitt_crc16 = mkCrcFun(0x11021, initCrc=0xffff, xorOut=0x0000, rev=False)
for a in [0x104, 0x204]:
f.write(f"""
BO_ {a} RADAR_POINTS_CHECKSUM_0x{a:x}: 3 RADAR
SG_ CRC16 : 0|16@1+ (1,0) [0|65535] "" XXX
""")

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CM_ "AUTOGENERATED FILE, DO NOT EDIT";
CM_ "hyundai_kia_mando_corner_radar.dbc starts here";
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
BO_ 256 RADAR_POINTS_METADATA_0x100: 64 RADAR
SG_ SIGNAL_1 : 0|32@1+ (1,0) [0|255] "" XXX
SG_ SIGNAL_2 : 32|32@1+ (1,0) [0|65535] "" XXX
SG_ SIGNAL_3 : 64|4@1+ (1,0) [0|15] "" XXX
SG_ SIGNAL_4 : 68|4@1+ (1,0) [0|15] "" XXX
SG_ RADAR_POINT_COUNT : 72|8@1+ (1,0) [0|255] "" XXX
SG_ SIGNAL_6 : 80|7@1+ (0.015625,0) [0|3] "" XXX
SG_ SIGNAL_7 : 87|1@1+ (1,0) [0|1] "" XXX
SG_ SIGNAL_8 : 88|3@1+ (1,0) [0|7] "" XXX
SG_ SIGNAL_9 : 91|5@1+ (0.0625,0) [0|31] "" XXX
SG_ SIGNAL_10 : 96|8@1+ (1,0) [0|255] "" XXX
SG_ SIGNAL_11 : 104|7@1+ (0.015625,0) [0|127] "" XXX
SG_ SIGNAL_12 : 111|2@1+ (1,0) [0|65535] "" XXX
SG_ SIGNAL_13 : 113|7@1+ (0.015625,0) [0|127] "" XXX
SG_ SIGNAL_14 : 120|7@1+ (0.015625,0) [0|127] "" XXX
SG_ SIGNAL_15 : 127|3@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_16 : 130|2@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_17 : 133|2@0+ (1,0) [0|3] "" XXX
SG_ SIGNAL_18 : 134|1@0+ (1,0) [0|3] "" XXX
SG_ SIGNAL_19 : 135|3@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_20 : 138|8@1+ (1,0) [0|63] "" XXX
SG_ SIGNAL_21 : 146|2@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_22 : 148|1@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_23 : 149|4@1+ (1,0) [0|7] "" XXX
SG_ SIGNAL_24 : 153|1@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_25 : 154|2@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_26 : 157|2@0+ (1,0) [0|3] "" XXX
SG_ SIGNAL_27 : 158|7@1+ (0.125,0) [0|3] "" XXX
SG_ SIGNAL_28 : 165|7@1+ (0.015625,0) [0|31] "" XXX
SG_ SIGNAL_29 : 172|7@1+ (0.125,0) [0|3] "" XXX
SG_ SIGNAL_30 : 179|7@1+ (0.015625,0) [0|1] "" XXX
SG_ SIGNAL_31 : 186|4@1+ (1,0) [0|7] "" XXX
SG_ SIGNAL_32 : 190|14@1+ (0.015625,0) [0|15] "" XXX
SG_ SIGNAL_33 : 204|11@1+ (0.03125,0) [0|8191] "" XXX
SG_ SIGNAL_34 : 215|2@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_35 : 217|7@1+ (1,0) [0|127] "" XXX
SG_ SIGNAL_36 : 224|6@1+ (1,0) [0|63] "" XXX
SG_ SIGNAL_37 : 230|6@1+ (0.2,0) [0|31] "" XXX
SG_ SIGNAL_38 : 236|6@1+ (0.2,0) [0|7] "" XXX
SG_ SIGNAL_39 : 242|8@1+ (1,-90) [0|255] "" XXX
SG_ SIGNAL_40 : 250|6@1+ (1,0) [0|63] "" XXX
SG_ SIGNAL_41 : 256|8@1+ (0.25,0) [0|255] "" XXX
SG_ SIGNAL_42 : 264|3@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_43 : 267|12@1+ (0.01,0) [0|31] "" XXX
SG_ SIGNAL_44 : 279|32@1+ (1,0) [0|63] "" XXX
SG_ SIGNAL_45 : 311|1@1+ (1,0) [0|1] "" XXX
SG_ SIGNAL_46 : 312|2@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_47 : 314|32@1+ (1,0) [0|255] "" XXX
SG_ SIGNAL_48 : 346|6@1+ (1,0) [0|63] "" XXX
SG_ SIGNAL_49 : 352|7@1+ (0.25,0) [0|127] "" XXX
SG_ SIGNAL_50 : 359|6@1+ (0.03125,0) [0|31] "" XXX
SG_ SIGNAL_51 : 365|10@1+ (0.125,0) [0|3] "" XXX
SG_ SIGNAL_52 : 375|10@1+ (0.125,0) [0|63] "" XXX
SG_ SIGNAL_53 : 385|7@1+ (1,0) [0|127] "" XXX
SG_ SIGNAL_54 : 392|7@1+ (1,0) [0|127] "" XXX
SG_ SIGNAL_55 : 399|8@1+ (0.00390625,0) [0|31] "" XXX
SG_ SIGNAL_56 : 407|10@1+ (0.125,0) [0|63] "" XXX
SG_ SIGNAL_57 : 417|1@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_58 : 418|1@1+ (1,0) [0|3] "" XXX
BO_ 512 RADAR_POINTS_METADATA_0x200: 64 RADAR
SG_ SIGNAL_1 : 0|32@1+ (1,0) [0|255] "" XXX
SG_ SIGNAL_2 : 32|32@1+ (1,0) [0|65535] "" XXX
SG_ SIGNAL_3 : 64|4@1+ (1,0) [0|15] "" XXX
SG_ SIGNAL_4 : 68|4@1+ (1,0) [0|15] "" XXX
SG_ RADAR_POINT_COUNT : 72|8@1+ (1,0) [0|255] "" XXX
SG_ SIGNAL_6 : 80|7@1+ (0.015625,0) [0|3] "" XXX
SG_ SIGNAL_7 : 87|1@1+ (1,0) [0|1] "" XXX
SG_ SIGNAL_8 : 88|3@1+ (1,0) [0|7] "" XXX
SG_ SIGNAL_9 : 91|5@1+ (0.0625,0) [0|31] "" XXX
SG_ SIGNAL_10 : 96|8@1+ (1,0) [0|255] "" XXX
SG_ SIGNAL_11 : 104|7@1+ (0.015625,0) [0|127] "" XXX
SG_ SIGNAL_12 : 111|2@1+ (1,0) [0|65535] "" XXX
SG_ SIGNAL_13 : 113|7@1+ (0.015625,0) [0|127] "" XXX
SG_ SIGNAL_14 : 120|7@1+ (0.015625,0) [0|127] "" XXX
SG_ SIGNAL_15 : 127|3@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_16 : 130|2@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_17 : 133|2@0+ (1,0) [0|3] "" XXX
SG_ SIGNAL_18 : 134|1@0+ (1,0) [0|3] "" XXX
SG_ SIGNAL_19 : 135|3@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_20 : 138|8@1+ (1,0) [0|63] "" XXX
SG_ SIGNAL_21 : 146|2@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_22 : 148|1@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_23 : 149|4@1+ (1,0) [0|7] "" XXX
SG_ SIGNAL_24 : 153|1@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_25 : 154|2@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_26 : 157|2@0+ (1,0) [0|3] "" XXX
SG_ SIGNAL_27 : 158|7@1+ (0.125,0) [0|3] "" XXX
SG_ SIGNAL_28 : 165|7@1+ (0.015625,0) [0|31] "" XXX
SG_ SIGNAL_29 : 172|7@1+ (0.125,0) [0|3] "" XXX
SG_ SIGNAL_30 : 179|7@1+ (0.015625,0) [0|1] "" XXX
SG_ SIGNAL_31 : 186|4@1+ (1,0) [0|7] "" XXX
SG_ SIGNAL_32 : 190|14@1+ (0.015625,0) [0|15] "" XXX
SG_ SIGNAL_33 : 204|11@1+ (0.03125,0) [0|8191] "" XXX
SG_ SIGNAL_34 : 215|2@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_35 : 217|7@1+ (1,0) [0|127] "" XXX
SG_ SIGNAL_36 : 224|6@1+ (1,0) [0|63] "" XXX
SG_ SIGNAL_37 : 230|6@1+ (0.2,0) [0|31] "" XXX
SG_ SIGNAL_38 : 236|6@1+ (0.2,0) [0|7] "" XXX
SG_ SIGNAL_39 : 242|8@1+ (1,-90) [0|255] "" XXX
SG_ SIGNAL_40 : 250|6@1+ (1,0) [0|63] "" XXX
SG_ SIGNAL_41 : 256|8@1+ (0.25,0) [0|255] "" XXX
SG_ SIGNAL_42 : 264|3@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_43 : 267|12@1+ (0.01,0) [0|31] "" XXX
SG_ SIGNAL_44 : 279|32@1+ (1,0) [0|63] "" XXX
SG_ SIGNAL_45 : 311|1@1+ (1,0) [0|1] "" XXX
SG_ SIGNAL_46 : 312|2@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_47 : 314|32@1+ (1,0) [0|255] "" XXX
SG_ SIGNAL_48 : 346|6@1+ (1,0) [0|63] "" XXX
SG_ SIGNAL_49 : 352|7@1+ (0.25,0) [0|127] "" XXX
SG_ SIGNAL_50 : 359|6@1+ (0.03125,0) [0|31] "" XXX
SG_ SIGNAL_51 : 365|10@1+ (0.125,0) [0|3] "" XXX
SG_ SIGNAL_52 : 375|10@1+ (0.125,0) [0|63] "" XXX
SG_ SIGNAL_53 : 385|7@1+ (1,0) [0|127] "" XXX
SG_ SIGNAL_54 : 392|7@1+ (1,0) [0|127] "" XXX
SG_ SIGNAL_55 : 399|8@1+ (0.00390625,0) [0|31] "" XXX
SG_ SIGNAL_56 : 407|10@1+ (0.125,0) [0|63] "" XXX
SG_ SIGNAL_57 : 417|1@1+ (1,0) [0|3] "" XXX
SG_ SIGNAL_58 : 418|1@1+ (1,0) [0|3] "" XXX
BO_ 257 RADAR_POINTS_0x101: 64 RADAR
SG_ MESSAGE_ID : 0|5@1+ (1,0) [0|31] "" XXX
SG_ LAYOUT_ID : 5|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_1_DISTANCE : 7|14@1+ (0.015625,0) [0|255.984375] "" XXX
SG_ POINT_1_SIGNAL_2 : 21|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_1_SIGNAL_3 : 23|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
SG_ POINT_1_REL_VELOCITY : 31|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
SG_ POINT_1_SIGNAL_5 : 44|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_1_SIGNAL_6 : 46|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_1_AZIMUTH : 48|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
SG_ POINT_1_SIGNAL_8 : 60|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_1_SIGNAL_9 : 62|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_1_SIGNAL_10 : 63|7@1+ (1,0) [0|127] "" XXX
SG_ POINT_1_SIGNAL_11 : 70|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_1_SIGNAL_12 : 71|6@1+ (1,0) [0|63] "" XXX
SG_ POINT_1_SIGNAL_13 : 77|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_1_SIGNAL_14 : 79|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
SG_ POINT_1_SIGNAL_15 : 87|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_1_SIGNAL_16 : 88|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_1_SIGNAL_17 : 90|3@1+ (1,0) [0|7] "" XXX
SG_ POINT_1_SIGNAL_18 : 93|6@1+ (1,0) [0|63] "" XXX
SG_ POINT_1_SIGNAL_19 : 99|8@1+ (1,0) [0|255] "" XXX
SG_ POINT_1_SIGNAL_20 : 107|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_2_DISTANCE : 108|14@1+ (0.015625,0) [0|255.984375] "" XXX
SG_ POINT_2_SIGNAL_2 : 122|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_2_SIGNAL_3 : 124|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
SG_ POINT_2_REL_VELOCITY : 132|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
SG_ POINT_2_SIGNAL_5 : 145|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_2_SIGNAL_6 : 147|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_2_AZIMUTH : 149|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
SG_ POINT_2_SIGNAL_8 : 161|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_2_SIGNAL_9 : 163|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_2_SIGNAL_10 : 164|7@1+ (1,0) [0|127] "" XXX
SG_ POINT_2_SIGNAL_11 : 171|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_2_SIGNAL_12 : 172|6@1+ (1,0) [0|63] "" XXX
SG_ POINT_2_SIGNAL_13 : 178|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_2_SIGNAL_14 : 180|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
SG_ POINT_2_SIGNAL_15 : 188|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_2_SIGNAL_16 : 189|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_2_SIGNAL_17 : 191|3@1+ (1,0) [0|7] "" XXX
SG_ POINT_2_SIGNAL_18 : 194|6@1+ (1,0) [0|63] "" XXX
SG_ POINT_2_SIGNAL_19 : 200|8@1+ (1,0) [0|255] "" XXX
SG_ POINT_2_SIGNAL_20 : 208|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_3_DISTANCE : 209|14@1+ (0.015625,0) [0|255.984375] "" XXX
SG_ POINT_3_SIGNAL_2 : 223|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_3_SIGNAL_3 : 225|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
SG_ POINT_3_REL_VELOCITY : 233|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
SG_ POINT_3_SIGNAL_5 : 246|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_3_SIGNAL_6 : 248|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_3_AZIMUTH : 250|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
SG_ POINT_3_SIGNAL_8 : 262|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_3_SIGNAL_9 : 264|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_3_SIGNAL_10 : 265|7@1+ (1,0) [0|127] "" XXX
SG_ POINT_3_SIGNAL_11 : 272|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_3_SIGNAL_12 : 273|6@1+ (1,0) [0|63] "" XXX
SG_ POINT_3_SIGNAL_13 : 279|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_3_SIGNAL_14 : 281|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
SG_ POINT_3_SIGNAL_15 : 289|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_3_SIGNAL_16 : 290|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_3_SIGNAL_17 : 292|3@1+ (1,0) [0|7] "" XXX
SG_ POINT_3_SIGNAL_18 : 295|6@1+ (1,0) [0|63] "" XXX
SG_ POINT_3_SIGNAL_19 : 301|8@1+ (1,0) [0|255] "" XXX
SG_ POINT_3_SIGNAL_20 : 309|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_4_DISTANCE : 310|14@1+ (0.015625,0) [0|255.984375] "" XXX
SG_ POINT_4_SIGNAL_2 : 324|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_4_SIGNAL_3 : 326|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
SG_ POINT_4_REL_VELOCITY : 334|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
SG_ POINT_4_SIGNAL_5 : 347|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_4_SIGNAL_6 : 349|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_4_AZIMUTH : 351|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
SG_ POINT_4_SIGNAL_8 : 363|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_4_SIGNAL_9 : 365|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_4_SIGNAL_10 : 366|7@1+ (1,0) [0|127] "" XXX
SG_ POINT_4_SIGNAL_11 : 373|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_4_SIGNAL_12 : 374|6@1+ (1,0) [0|63] "" XXX
SG_ POINT_4_SIGNAL_13 : 380|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_4_SIGNAL_14 : 382|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
SG_ POINT_4_SIGNAL_15 : 390|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_4_SIGNAL_16 : 391|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_4_SIGNAL_17 : 393|3@1+ (1,0) [0|7] "" XXX
SG_ POINT_4_SIGNAL_18 : 396|6@1+ (1,0) [0|63] "" XXX
SG_ POINT_4_SIGNAL_19 : 402|8@1+ (1,0) [0|255] "" XXX
SG_ POINT_4_SIGNAL_20 : 410|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_5_DISTANCE : 411|14@1+ (0.015625,0) [0|255.984375] "" XXX
SG_ POINT_5_SIGNAL_2 : 425|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_5_SIGNAL_3 : 427|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
SG_ POINT_5_REL_VELOCITY : 435|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
SG_ POINT_5_SIGNAL_5 : 448|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_5_SIGNAL_6 : 450|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_5_AZIMUTH : 452|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
SG_ POINT_5_SIGNAL_8 : 464|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_5_SIGNAL_9 : 466|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_5_SIGNAL_10 : 467|7@1+ (1,0) [0|127] "" XXX
SG_ POINT_5_SIGNAL_11 : 474|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_5_SIGNAL_12 : 475|6@1+ (1,0) [0|63] "" XXX
SG_ POINT_5_SIGNAL_13 : 481|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_5_SIGNAL_14 : 483|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
SG_ POINT_5_SIGNAL_15 : 491|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_5_SIGNAL_16 : 492|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_5_SIGNAL_17 : 494|3@1+ (1,0) [0|7] "" XXX
SG_ POINT_5_SIGNAL_18 : 497|6@1+ (1,0) [0|63] "" XXX
SG_ POINT_5_SIGNAL_19 : 503|8@1+ (1,0) [0|255] "" XXX
SG_ POINT_5_SIGNAL_20 : 511|1@1+ (1,0) [0|1] "" XXX
BO_ 513 RADAR_POINTS_0x201: 64 RADAR
SG_ MESSAGE_ID : 0|5@1+ (1,0) [0|31] "" XXX
SG_ LAYOUT_ID : 5|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_1_DISTANCE : 7|14@1+ (0.015625,0) [0|255.984375] "" XXX
SG_ POINT_1_SIGNAL_2 : 21|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_1_SIGNAL_3 : 23|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
SG_ POINT_1_REL_VELOCITY : 31|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
SG_ POINT_1_SIGNAL_5 : 44|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_1_SIGNAL_6 : 46|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_1_AZIMUTH : 48|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
SG_ POINT_1_SIGNAL_8 : 60|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_1_SIGNAL_9 : 62|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_1_SIGNAL_10 : 63|7@1+ (1,0) [0|127] "" XXX
SG_ POINT_1_SIGNAL_11 : 70|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_1_SIGNAL_12 : 71|6@1+ (1,0) [0|63] "" XXX
SG_ POINT_1_SIGNAL_13 : 77|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_1_SIGNAL_14 : 79|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
SG_ POINT_1_SIGNAL_15 : 87|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_1_SIGNAL_16 : 88|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_1_SIGNAL_17 : 90|3@1+ (1,0) [0|7] "" XXX
SG_ POINT_1_SIGNAL_18 : 93|6@1+ (1,0) [0|63] "" XXX
SG_ POINT_1_SIGNAL_19 : 99|8@1+ (1,0) [0|255] "" XXX
SG_ POINT_1_SIGNAL_20 : 107|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_2_DISTANCE : 108|14@1+ (0.015625,0) [0|255.984375] "" XXX
SG_ POINT_2_SIGNAL_2 : 122|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_2_SIGNAL_3 : 124|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
SG_ POINT_2_REL_VELOCITY : 132|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
SG_ POINT_2_SIGNAL_5 : 145|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_2_SIGNAL_6 : 147|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_2_AZIMUTH : 149|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
SG_ POINT_2_SIGNAL_8 : 161|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_2_SIGNAL_9 : 163|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_2_SIGNAL_10 : 164|7@1+ (1,0) [0|127] "" XXX
SG_ POINT_2_SIGNAL_11 : 171|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_2_SIGNAL_12 : 172|6@1+ (1,0) [0|63] "" XXX
SG_ POINT_2_SIGNAL_13 : 178|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_2_SIGNAL_14 : 180|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
SG_ POINT_2_SIGNAL_15 : 188|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_2_SIGNAL_16 : 189|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_2_SIGNAL_17 : 191|3@1+ (1,0) [0|7] "" XXX
SG_ POINT_2_SIGNAL_18 : 194|6@1+ (1,0) [0|63] "" XXX
SG_ POINT_2_SIGNAL_19 : 200|8@1+ (1,0) [0|255] "" XXX
SG_ POINT_2_SIGNAL_20 : 208|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_3_DISTANCE : 209|14@1+ (0.015625,0) [0|255.984375] "" XXX
SG_ POINT_3_SIGNAL_2 : 223|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_3_SIGNAL_3 : 225|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
SG_ POINT_3_REL_VELOCITY : 233|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
SG_ POINT_3_SIGNAL_5 : 246|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_3_SIGNAL_6 : 248|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_3_AZIMUTH : 250|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
SG_ POINT_3_SIGNAL_8 : 262|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_3_SIGNAL_9 : 264|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_3_SIGNAL_10 : 265|7@1+ (1,0) [0|127] "" XXX
SG_ POINT_3_SIGNAL_11 : 272|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_3_SIGNAL_12 : 273|6@1+ (1,0) [0|63] "" XXX
SG_ POINT_3_SIGNAL_13 : 279|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_3_SIGNAL_14 : 281|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
SG_ POINT_3_SIGNAL_15 : 289|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_3_SIGNAL_16 : 290|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_3_SIGNAL_17 : 292|3@1+ (1,0) [0|7] "" XXX
SG_ POINT_3_SIGNAL_18 : 295|6@1+ (1,0) [0|63] "" XXX
SG_ POINT_3_SIGNAL_19 : 301|8@1+ (1,0) [0|255] "" XXX
SG_ POINT_3_SIGNAL_20 : 309|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_4_DISTANCE : 310|14@1+ (0.015625,0) [0|255.984375] "" XXX
SG_ POINT_4_SIGNAL_2 : 324|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_4_SIGNAL_3 : 326|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
SG_ POINT_4_REL_VELOCITY : 334|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
SG_ POINT_4_SIGNAL_5 : 347|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_4_SIGNAL_6 : 349|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_4_AZIMUTH : 351|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
SG_ POINT_4_SIGNAL_8 : 363|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_4_SIGNAL_9 : 365|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_4_SIGNAL_10 : 366|7@1+ (1,0) [0|127] "" XXX
SG_ POINT_4_SIGNAL_11 : 373|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_4_SIGNAL_12 : 374|6@1+ (1,0) [0|63] "" XXX
SG_ POINT_4_SIGNAL_13 : 380|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_4_SIGNAL_14 : 382|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
SG_ POINT_4_SIGNAL_15 : 390|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_4_SIGNAL_16 : 391|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_4_SIGNAL_17 : 393|3@1+ (1,0) [0|7] "" XXX
SG_ POINT_4_SIGNAL_18 : 396|6@1+ (1,0) [0|63] "" XXX
SG_ POINT_4_SIGNAL_19 : 402|8@1+ (1,0) [0|255] "" XXX
SG_ POINT_4_SIGNAL_20 : 410|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_5_DISTANCE : 411|14@1+ (0.015625,0) [0|255.984375] "" XXX
SG_ POINT_5_SIGNAL_2 : 425|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_5_SIGNAL_3 : 427|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
SG_ POINT_5_REL_VELOCITY : 435|13@1+ (0.03125,-66) [-66|189.96875] "" XXX
SG_ POINT_5_SIGNAL_5 : 448|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_5_SIGNAL_6 : 450|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_5_AZIMUTH : 452|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX
SG_ POINT_5_SIGNAL_8 : 464|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_5_SIGNAL_9 : 466|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_5_SIGNAL_10 : 467|7@1+ (1,0) [0|127] "" XXX
SG_ POINT_5_SIGNAL_11 : 474|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_5_SIGNAL_12 : 475|6@1+ (1,0) [0|63] "" XXX
SG_ POINT_5_SIGNAL_13 : 481|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_5_SIGNAL_14 : 483|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX
SG_ POINT_5_SIGNAL_15 : 491|1@1+ (1,0) [0|1] "" XXX
SG_ POINT_5_SIGNAL_16 : 492|2@1+ (1,0) [0|3] "" XXX
SG_ POINT_5_SIGNAL_17 : 494|3@1+ (1,0) [0|7] "" XXX
SG_ POINT_5_SIGNAL_18 : 497|6@1+ (1,0) [0|63] "" XXX
SG_ POINT_5_SIGNAL_19 : 503|8@1+ (1,0) [0|255] "" XXX
SG_ POINT_5_SIGNAL_20 : 511|1@1+ (1,0) [0|1] "" XXX
BO_ 260 RADAR_POINTS_CHECKSUM_0x104: 3 RADAR
SG_ CRC16 : 0|16@1+ (1,0) [0|65535] "" XXX
BO_ 516 RADAR_POINTS_CHECKSUM_0x204: 3 RADAR
SG_ CRC16 : 0|16@1+ (1,0) [0|65535] "" XXX