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