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Add DBCs to racecar repo #95

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Apr 6, 2024
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Add DBCs to racecar repo #95

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119 changes: 119 additions & 0 deletions firmware/dbcs/PT_CAN.dbc
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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_: AMK1 AMK0 FC


BO_ 390 AMK1_SetPoints1: 8 FC
SG_ AMK_TorqueLimitNegativ : 48|16@1- (1,0) [0|0] "0.1%Mn" AMK1
SG_ AMK_TorqueLimitPositiv : 32|16@1- (1,0) [0|0] "0.1%Mn" AMK1
SG_ AMK_TargetVelocity : 16|16@1- (1,0) [0|0] "rpm" AMK1
SG_ AMK_bErrorReset : 11|1@1+ (1,0) [0|0] "" AMK1
SG_ AMK_bEnable : 10|1@1+ (1,0) [0|0] "" AMK1
SG_ AMK_bDcOn : 9|1@1+ (1,0) [0|0] "" AMK1
SG_ AMK_bInverterOn : 8|1@1+ (1,0) [0|0] "" AMK1

BO_ 647 AMK1_ActualValues2: 8 AMK1
SG_ AMK_TempMotor : 0|16@1- (0.1,0) [-3276.8|3276.7] "�C" FC
SG_ AMK_TempInverter : 16|16@1- (0.1,0) [-3276.8|3276.7] "�C" FC
SG_ AMK_TempIGBT : 48|16@1- (0.1,0) [-3276.8|3276.7] "�C" FC
SG_ AMK_ErrorInfo : 32|16@1+ (1,0) [0|65535] "" FC

BO_ 645 AMK1_ActualValues1: 8 AMK1
SG_ AMK_MagnetizingCurrent : 48|16@1- (1,0) [0|0] "" FC
SG_ AMK_TorqueCurrent : 32|16@1- (1,0) [0|0] "" FC
SG_ AMK_ActualVelocity : 16|16@1- (1,0) [0|0] "rpm" FC
SG_ AMK_bDerating : 15|1@1+ (1,0) [0|0] "" FC
SG_ AMK_bInverterOn : 14|1@1+ (1,0) [0|0] "" FC
SG_ AMK_bQuitInverterOn : 13|1@1+ (1,0) [0|0] "" FC
SG_ AMK_bDcOn : 12|1@1+ (1,0) [0|0] "" FC
SG_ AMK_bQuitDcOn : 11|1@1+ (1,0) [0|0] "" FC
SG_ AMK_bWarn : 10|1@1+ (1,0) [0|0] "" FC
SG_ AMK_bError : 9|1@1+ (1,0) [0|0] "" FC
SG_ AMK_bSystemReady : 8|1@1+ (1,0) [0|0] "" FC

BO_ 644 AMK0_ActualValues1: 8 AMK0
SG_ AMK_MagnetizingCurrent : 48|16@1- (1,0) [0|0] "" FC
SG_ AMK_TorqueCurrent : 32|16@1- (1,0) [0|0] "" FC
SG_ AMK_ActualVelocity : 16|16@1- (1,0) [0|0] "rpm" FC
SG_ AMK_bDerating : 15|1@1+ (1,0) [0|0] "" FC
SG_ AMK_bInverterOn : 14|1@1+ (1,0) [0|0] "" FC
SG_ AMK_bQuitInverterOn : 13|1@1+ (1,0) [0|0] "" FC
SG_ AMK_bDcOn : 12|1@1+ (1,0) [0|0] "" FC
SG_ AMK_bQuitDcOn : 11|1@1+ (1,0) [0|0] "" FC
SG_ AMK_bWarn : 10|1@1+ (1,0) [0|0] "" FC
SG_ AMK_bError : 9|1@1+ (1,0) [0|0] "" FC
SG_ AMK_bSystemReady : 8|1@1+ (1,0) [0|0] "" FC

BO_ 646 AMK0_ActualValues2: 8 AMK0
SG_ AMK_TempMotor : 0|16@1- (0.1,0) [-3276.8|3276.7] "�C" FC
SG_ AMK_TempInverter : 16|16@1- (0.1,0) [-3276.8|3276.7] "�C" FC
SG_ AMK_TempIGBT : 48|16@1- (0.1,0) [-3276.8|3276.7] "�C" FC
SG_ AMK_ErrorInfo : 32|16@1+ (1,0) [0|65535] "" FC

BO_ 389 AMK0_SetPoints1: 8 FC
SG_ AMK_TorqueLimitNegativ : 48|16@1- (1,0) [0|0] "0.1%Mn" AMK0
SG_ AMK_TorqueLimitPositiv : 32|16@1- (1,0) [0|0] "0.1%Mn" AMK0
SG_ AMK_TargetVelocity : 16|16@1- (1,0) [0|0] "rpm" AMK0
SG_ AMK_bErrorReset : 11|1@1+ (1,0) [0|0] "" AMK0
SG_ AMK_bEnable : 10|1@1+ (1,0) [0|0] "" AMK0
SG_ AMK_bDcOn : 9|1@1+ (1,0) [0|0] "" AMK0
SG_ AMK_bInverterOn : 8|1@1+ (1,0) [0|0] "" AMK0



BA_DEF_ BO_ "GenMsgCycleTime" INT 0 10000;
BA_DEF_ "BusType" STRING ;
BA_DEF_ BU_ "NodeLayerModules" STRING ;
BA_DEF_ BU_ "ECU" STRING ;
BA_DEF_ BU_ "CANoeJitterMax" INT 0 0;
BA_DEF_ BU_ "CANoeJitterMin" INT 0 0;
BA_DEF_ BU_ "CANoeDrift" INT 0 0;
BA_DEF_ BU_ "CANoeStartDelay" INT 0 0;
BA_DEF_DEF_ "GenMsgCycleTime" 0;
BA_DEF_DEF_ "BusType" "";
BA_DEF_DEF_ "NodeLayerModules" "";
BA_DEF_DEF_ "ECU" "";
BA_DEF_DEF_ "CANoeJitterMax" 0;
BA_DEF_DEF_ "CANoeJitterMin" 0;
BA_DEF_DEF_ "CANoeDrift" 0;
BA_DEF_DEF_ "CANoeStartDelay" 0;
BA_ "BusType" "CAN";
BA_ "GenMsgCycleTime" BO_ 390 5;
BA_ "GenMsgCycleTime" BO_ 647 5;
BA_ "GenMsgCycleTime" BO_ 645 5;
BA_ "GenMsgCycleTime" BO_ 644 5;
BA_ "GenMsgCycleTime" BO_ 646 5;
BA_ "GenMsgCycleTime" BO_ 389 5;
220 changes: 220 additions & 0 deletions firmware/dbcs/VEH_CAN.dbc
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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_: PC_SG BMS FC TMS CANmod


BO_ 3221225472 VECTOR__INDEPENDENT_SIG_MSG: 0 Vector__XXX
SG_ FC_userBtnL : 0|1@1+ (1,0) [0|1] "" Vector__XXX
SG_ FC_userBtnR : 0|1@1+ (1,0) [0|1] "" Vector__XXX

BO_ 255 VC_Status: 8 PC_SG
SG_ VC_govStatus : 0|3@1+ (1,0) [0|7] "" FC

BO_ 511 FC_msg: 8 FC
SG_ FC_hvilSts : 60|1@1+ (1,0) [0|1] "" PC_SG
SG_ FC_steeringAngle : 48|12@1+ (1,0) [0|4095] "" PC_SG
SG_ FC_bpps : 32|12@1+ (1,0) [0|4095] "" PC_SG
SG_ FC_apps2 : 16|12@1+ (1,0) [0|4095] "" PC_SG
SG_ FC_apps1 : 0|12@1+ (1,0) [0|4095] "" PC_SG
SG_ FC_readyToDriveBtn_n : 61|1@1+ (1,0) [0|1] "" PC_SG

BO_ 256 FC_cmd: 1 PC_SG
SG_ FC_readyToDriveSpeaker : 1|1@1+ (1,0) [0|1] "" FC
SG_ FC_brakeLight : 0|1@1+ (1,0) [0|1] "" FC

BO_ 1570 Contactor_States: 3 FC
SG_ Pack_Positive : 0|8@1+ (1,0) [0|0] "" BMS
SG_ Pack_Precharge : 8|8@1+ (1,0) [0|0] "" BMS
SG_ Pack_Negative : 16|8@1+ (1,0) [0|0] "" BMS

BO_ 1572 Pack_State: 7 BMS
SG_ Pack_Current : 0|16@1+ (0.1,0) [0|0] "Amps" FC
SG_ Pack_Inst_Voltage : 16|16@1+ (0.1,0) [0|0] "Volts" FC
SG_ Avg_Cell_Voltage : 32|16@1+ (0.0001,0) [0|0] "Volts" FC
SG_ Populated_Cells : 48|8@1+ (1,0) [0|0] "Num" FC

BO_ 1571 Pack_Current_Limits: 4 BMS
SG_ Pack_CCL : 0|16@1+ (1,0) [0|0] "Amps" FC
SG_ Pack_DCL : 16|16@1+ (1,0) [0|0] "Amps" FC

BO_ 1573 Pack_SOC: 3 BMS
SG_ Pack_SOC : 0|8@1+ (0.5,0) [0|0] "Percent" FC
SG_ Maximum_Pack_Voltage : 8|16@1+ (0.1,0) [0|0] "Volts" FC

BO_ 1574 Contactor_Feedback: 3 BMS
SG_ Pack_Precharge_Feedback : 16|1@1+ (1,0) [0|1] "" FC
SG_ Pack_Negative_Feedback : 8|1@1+ (1,0) [0|1] "" FC
SG_ Pack_Positive_Feedback : 0|1@1+ (1,0) [0|1] "" FC

BO_ 2553934720 BMSBroadcast: 8 TMS
SG_ ThermModuleNum : 0|8@1+ (1,0) [0|0] "" BMS
SG_ LowThermValue : 8|8@1- (1,0) [0|0] " C" BMS
SG_ HighThermValue : 16|8@1- (1,0) [0|0] " C" BMS
SG_ AvgThermValue : 24|8@1- (1,0) [0|0] " C" BMS
SG_ NumThermEn : 32|8@1+ (1,0) [0|0] "" BMS
SG_ HighThermID : 40|8@1+ (1,0) [0|0] "" BMS
SG_ LowThermID : 48|8@1+ (1,0) [0|0] "" BMS
SG_ Checksum : 56|8@1- (1,0) [0|0] "" BMS

BO_ 2566844926 ThermistorBroadcast: 8 TMS
SG_ RelThermID : 0|16@1+ (1,0) [0|0] "" BMS
SG_ ThermValue : 16|8@1- (1,0) [0|0] " C" BMS
SG_ NumEnTherm : 24|8@1- (1,0) [0|0] "" BMS
SG_ LowThermValue : 32|8@1- (1,0) [0|0] " C" BMS
SG_ HighThermValue : 40|8@1- (1,0) [0|0] " C" BMS
SG_ HighThermID : 48|8@1+ (1,0) [0|0] "" BMS
SG_ LowThermID : 56|8@1+ (1,0) [0|0] "" BMS

BO_ 769 GnssStatus: 1 CANmod
SG_ FixType : 0|3@1+ (1,0) [0|5] "" FC
SG_ Satellites : 3|5@1+ (1,0) [0|31] "" FC

BO_ 770 GnssTime: 6 CANmod
SG_ TimeValid : 0|1@1+ (1,0) [0|1] "" FC
SG_ TimeConfirmed : 1|1@1+ (1,0) [0|1] "" FC
SG_ Epoch : 8|40@1+ (0.001,1577840400) [0|0] "sec" FC

BO_ 771 GnssPosition: 8 CANmod
SG_ PositionValid : 0|1@1+ (1,0) [0|1] "" FC
SG_ Latitude : 1|28@1+ (1E-006,-90) [-90|178.435455] "deg" FC
SG_ Longitude : 29|29@1+ (1E-006,-180) [-180|356.870911] "deg" FC
SG_ PositionAccuracy : 58|6@1+ (1,0) [0|63] "m" FC

BO_ 772 GnssAltitude: 4 CANmod
SG_ AltitudeValid : 0|1@1+ (1,0) [0|1] "" FC
SG_ Altitude : 1|18@1+ (0.1,-6000) [-6000|20000] "m" FC
SG_ AltitudeAccuracy : 19|13@1+ (1,0) [0|8000] "m" FC

BO_ 773 GnssAttitude: 8 CANmod
SG_ AttitudeValid : 0|1@1+ (1,0) [0|1] "" FC
SG_ Roll : 1|12@1+ (0.1,-180) [-180|180] "deg" FC
SG_ RollAccuracy : 13|9@1+ (0.1,0) [0|50] "deg" FC
SG_ Pitch : 22|12@1+ (0.1,-90) [-90|90] "deg" FC
SG_ PitchAccuracy : 34|9@1+ (0.1,0) [0|50] "deg" FC
SG_ Heading : 43|12@1+ (0.1,0) [0|360] "deg" FC
SG_ HeadingAccuracy : 55|9@1+ (0.1,0) [0|50] "deg" FC

BO_ 774 GnssOdo: 8 CANmod
SG_ DistanceValid : 0|1@1+ (1,0) [0|1] "" FC
SG_ DistanceTrip : 1|22@1+ (1,0) [0|4194303] "m" FC
SG_ DistanceAccuracy : 23|19@1+ (1,0) [0|524287] "m" FC
SG_ DistanceTotal : 42|22@1+ (1,0) [0|4194303] "km" FC

BO_ 775 GnssSpeed: 5 CANmod
SG_ SpeedValid : 0|1@1+ (1,0) [0|1] "" FC
SG_ Speed : 1|20@1+ (0.001,0) [0|1048.575] "m/s" FC
SG_ SpeedAccuracy : 21|19@1+ (0.001,0) [0|524.287] "m/s" FC

BO_ 776 GnssGeofence: 2 CANmod
SG_ FenceValid : 0|1@1+ (1,0) [0|1] "" FC
SG_ FenceCombined : 1|2@1+ (1,0) [0|1] "" FC
SG_ Fence1 : 8|2@1+ (1,0) [0|1] "" FC
SG_ Fence2 : 10|2@1+ (1,0) [0|1] "" FC
SG_ Fence3 : 12|2@1+ (1,0) [0|1] "" FC
SG_ Fence4 : 14|2@1+ (1,0) [0|1] "" FC

BO_ 777 GnssImu: 8 CANmod
SG_ ImuValid : 0|1@1+ (1,0) [0|1] "" FC
SG_ AccelerationX : 1|10@1+ (0.125,-64) [-64|63.875] "m/s^2" FC
SG_ AccelerationY : 11|10@1+ (0.125,-64) [-64|63.875] "m/s^2" FC
SG_ AccelerationZ : 21|10@1+ (0.125,-64) [-64|63.875] "m/s^2" FC
SG_ AngularRateX : 31|11@1+ (0.25,-256) [-256|255.75] "deg/s" FC
SG_ AngularRateY : 42|11@1+ (0.25,-256) [-256|255.75] "deg/s" FC
SG_ AngularRateZ : 53|11@1+ (0.25,-256) [-256|255.75] "deg/s" FC



CM_ BO_ 3221225472 "This is a message for not used signals, created by Vector CANdb++ DBC OLE DB Provider.";
CM_ BO_ 1572 "This ID Transmits at 8 ms.";
CM_ BO_ 1571 "This ID Transmits at 8 ms.";
CM_ BO_ 1573 "This ID Transmits at 8 ms.";
CM_ BO_ 1574 "This ID Transmits at 8 ms.";
CM_ BO_ 2553934720 "Thermistor Module - BMS Broadcast";
CM_ SG_ 2553934720 ThermModuleNum "Thermistor Module Number";
CM_ BO_ 2566844926 "Thermistor General Broadcast";
CM_ SG_ 2566844926 RelThermID "Thermistor ID relative to all configured Thermistor Modules";
CM_ BO_ 769 "GNSS information";
CM_ SG_ 769 FixType "Fix type";
CM_ SG_ 769 Satellites "Number of satellites used";
CM_ BO_ 770 "GNSS time";
CM_ SG_ 770 TimeValid "Time validity";
CM_ SG_ 770 TimeConfirmed "Time confirmed";
CM_ SG_ 770 Epoch "Epoch time";
CM_ BO_ 771 "GNSS position";
CM_ SG_ 771 PositionValid "Position validity";
CM_ SG_ 771 Latitude "Latitude";
CM_ SG_ 771 Longitude "Longitude";
CM_ SG_ 771 PositionAccuracy "Accuracy of position";
CM_ BO_ 772 "GNSS altitude";
CM_ SG_ 772 AltitudeValid "Altitude validity";
CM_ SG_ 772 Altitude "Altitude";
CM_ SG_ 772 AltitudeAccuracy "Accuracy of altitude";
CM_ BO_ 773 "GNSS attitude";
CM_ SG_ 773 AttitudeValid "Attitude validity";
CM_ SG_ 773 Roll "Vehicle roll";
CM_ SG_ 773 RollAccuracy "Vehicle roll accuracy";
CM_ SG_ 773 Pitch "Vehicle pitch";
CM_ SG_ 773 PitchAccuracy "Vehicle pitch accuracy";
CM_ SG_ 773 Heading "Vehicle heading";
CM_ SG_ 773 HeadingAccuracy "Vehicle heading accuracy";
CM_ BO_ 774 "GNSS odometer";
CM_ SG_ 774 DistanceTrip "Distance traveled since last reset";
CM_ SG_ 774 DistanceAccuracy "Distance accuracy (1-sigma)";
CM_ SG_ 774 DistanceTotal "Distance traveled in total";
CM_ BO_ 775 "GNSS speed";
CM_ SG_ 775 SpeedValid "Speed valid";
CM_ SG_ 775 Speed "Speed m/s";
CM_ SG_ 775 SpeedAccuracy "Speed accuracy";
CM_ BO_ 776 "GNSS geofence(s)";
CM_ SG_ 776 FenceValid "Geofencing status";
CM_ SG_ 776 FenceCombined "Combined (logical OR) state of all geofences";
CM_ SG_ 776 Fence1 "Geofence 1 state";
CM_ SG_ 776 Fence2 "Geofence 2 state";
CM_ SG_ 776 Fence3 "Geofence 3 state";
CM_ SG_ 776 Fence4 "Geofence 4 state";
CM_ BO_ 777 "GNSS IMU";
CM_ SG_ 777 AccelerationX "X acceleration with a resolution of 0.125 m/s^2";
CM_ SG_ 777 AccelerationY "Y acceleration with a resolution of 0.125 m/s^2";
CM_ SG_ 777 AccelerationZ "Z acceleration with a resolution of 0.125 m/s^2";
CM_ SG_ 777 AngularRateX "X angular rate with a resolution of 0.25 deg/s";
CM_ SG_ 777 AngularRateY "Y angular rate with a resolution of 0.25 deg/s";
CM_ SG_ 777 AngularRateZ "Z angular rate with a resolution of 0.25 deg/s";
BA_DEF_ "BusType" STRING ;
BA_DEF_ "MultiplexExtEnabled" ENUM "No","Yes";
BA_DEF_DEF_ "BusType" "CAN";
BA_DEF_DEF_ "MultiplexExtEnabled" "No";
VAL_ 255 VC_govStatus 7 "motor_run_error" 6 "hv_run_error" 5 "driver_interface_error" 4 "motor_startup_error" 3 "hv_startup_error" 2 "gov_running" 1 "gov_startup" 0 "gov_init" ;

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