moving checksum+counter back to panda/dbc

dkiiv · Jul 22, 2024 · 764d7b6 · FLcruising · Jul 23, 2024 · FLcruising
1 parent 40a1d39
commit 764d7b6
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Showing 4 changed files with 19 additions and 13 deletions.
diff --git a/opendbc/can/common.cc b/opendbc/can/common.cc
@@ -193,11 +193,21 @@ unsigned int xor_checksum(uint32_t address, const Signal &sig, const std::vector
   uint8_t checksum = 0;
   int checksum_byte = sig.start_bit / 8;
 
-  // Simple XOR over the payload, except for the byte where the checksum lives.
-  for (int i = 0; i < d.size(); i++) {
-    if (i != checksum_byte) {
-      checksum ^= d[i];
-    }
+  switch(address){
+    case 0x3D4: // mPLA_1, TX from OP
+      for (int i = 0; i < 3; i++) {
+        if (i != checksum_byte) {
+          checksum ^= d[i];
+        }
+      }
+      break;
+    default:    // Simple XOR over the payload, except for the byte where the checksum lives.
+      for (int i = 0; i < d.size(); i++) {
+        if (i != checksum_byte) {
+          checksum ^= d[i];
+        }
+      }
+      break;
   }
 
   return checksum;

diff --git a/opendbc/vw_golf_mk4.dbc b/opendbc/vw_golf_mk4.dbc
@@ -1152,8 +1152,8 @@ BO_ 978 Lenkhilfe_2: 7 XXX
  SG_ LH2_PLA_Abbr : 52|4@1+ (1,0) [0|15] "" XXX
 
 BO_ 980 PLA_1: 8 XXX
- SG_ PL1_Checksumme : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ PL1_Zaehler : 8|4@1+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
  SG_ PL1_Status_EPS : 12|4@1+ (1,0) [0|15] "" XXX
  SG_ PL1_ArcAngleReq : 16|15@1+ (0.04375,0) [0|1433.55625] "Unit_DegreeOfArc" XXX
  SG_ PL1_AngleReqSign : 31|1@1+ (1,0) [0|1] "" XXX

diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
@@ -25,7 +25,6 @@ def __init__(self, dbc_name, CP, VM):
     self.PLA_status = 0
     self.PLA_entryCounter = 0
     self.CSsteeringAngleDegLast = 0
-    self.PLAidx = 0
 
   def update(self, CC, CS, ext_bus, now_nanos, frogpilot_variables):
     actuators = CC.actuators
@@ -51,8 +50,7 @@ def update(self, CC, CS, ext_bus, now_nanos, frogpilot_variables):
 
       self.apply_angle_last = apply_angle
       self.CSsteeringAngleDegLast = CS.out.steeringAngleDeg
-      self.PLAidx = (self.frame / self.CCP.STEER_STEP) % 16
-      can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.br, self.PLAidx, apply_angle, self.PLA_status))
+      can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.br, apply_angle, self.PLA_status))
 
     # **** Acceleration Controls ******************************************** #
 

diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py
@@ -1,6 +1,5 @@
-def create_steering_control(packer, bus, idx, apply_angle, PLA_status):
+def create_steering_control(packer, bus, apply_angle, PLA_status):
   values = {
-    "PL1_Zaehler": idx,
     "PL1_Status_EPS": PLA_status,
     "PL1_ArcAngleReq": abs(apply_angle),
     "PL1_AngleReqSign": 1 if apply_angle < 0 else 0,
@@ -9,7 +8,6 @@ def create_steering_control(packer, bus, idx, apply_angle, PLA_status):
   }
 
   dat = packer.make_can_msg("PLA_1", bus, values)[2]
-  values["PL1_Checksumme"] = dat[1] ^ dat[2] ^ dat[3]
   return packer.make_can_msg("PLA_1", bus, values)