Tracking the steer angle with LKAS signal

This signal seems to exist on some cars. It was reported on a 2017 CX-9 in Australia. Signed-off-by: Jafar Al-Gharaibeh <[email protected]>
commaai · Mar 28, 2020 · ce78044 · ce78044
1 parent 7f19ab4
commit ce78044
Showing 1 changed file with 13 additions and 19 deletions.
diff --git a/mazda_cx5_gt_2017.dbc b/mazda_cx5_gt_2017.dbc
@@ -139,12 +139,12 @@ BO_ 579 CAM_LKAS: 8 XXX
  SG_ ERR_BIT_1 : 16|1@0+ (1,0) [0|1] "" XXX
  SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX
  SG_ LINE_NOT_VISIBLE : 19|1@0+ (1,0) [0|1] "" XXX
- SG_ BIT_2 : 33|1@0+ (1,0) [0|1] "" XXX
- SG_ ERR_BIT_2 : 30|1@0+ (1,0) [0|1] "" XXX
  SG_ BIT_1 : 29|1@0+ (1,0) [0|1] "" XXX
  SG_ LDW : 23|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_1 : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ LKAS_REQUEST : 3|12@0+ (1,-2048) [0|2048] "" XXX
- SG_ BIT_3 : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ ERR_BIT_2 : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKAS_ANGLE : 33|12@0+ (0.022,-45.06) [0|1] "" XXX
 
 BO_ 580 CAM_DISTANCE: 8 XXX
  SG_ S1 : 0|8@1+ (1,0) [0|127] "" XXX
@@ -166,15 +166,14 @@ BO_ 581 CAM_IDK3: 8 XXX
  SG_ S8 : 48|8@1+ (1,0) [0|255] "" XXX
  SG_ S9 : 56|8@1+ (1,0) [0|255] "" XXX
 
-BO_ 863 CAM_TRAFFIC_SIGNS: 8 XXX
+BO_ 863 CAM_STATUS: 8 XXX
+ SG_ NEW_SIGNAL_1 : 32|1@0+ (1,0) [0|32767] "" XXX
+ SG_ NEW_SIGNAL_5 : 4|2@0+ (1,0) [0|32767] "" XXX
+ SG_ NEW_SIGNAL_4 : 15|4@0+ (1,0) [0|15] "" XXX
  SG_ STOP_SIGN : 31|4@0+ (1,0) [0|1] "" XXX
  SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|127] "" XXX
+ SG_ NEW_SIGNAL_6 : 0|3@1+ (1,0) [0|7] "" XXX
  SG_ FORWARD_COLLISION : 40|8@1+ (1,0) [0|7] "" XXX
- SG_ NEW_SIGNAL_1 : 13|2@0+ (1,0) [0|3] "" XXX
- SG_ SPEED_SIGN : 4|7@0+ (1,0) [0|15] "" XXX
- SG_ NEW_SIGNAL_2 : 52|5@0+ (1,0) [0|31] "" XXX
- SG_ NEW_SIGNAL_4 : 33|1@0+ (1,0) [0|1] "" XXX
- SG_ SPEED_SIGN_CAM : 32|1@0+ (1,0) [0|32767] "" XXX
 
 BO_ 1157 CAM_SETTINGS: 8 XXX
  SG_ NEW_SIGNAL_2 : 14|1@0+ (1,0) [0|1] "" XXX
@@ -195,6 +194,7 @@ BO_ 1088 CAM_LANEINFO: 8 XXX
  SG_ BIT3 : 62|1@0+ (1,0) [0|3] "" XXX
  SG_ HANDS_ON_STEER_WARN_2 : 59|1@0+ (1,0) [0|1] "" XXX
  SG_ HANDS_ON_STEER_WARN : 56|1@0+ (1,0) [0|3] "" XXX
+ SG_ S1_NOT : 54|1@0+ (1,0) [0|31] "" XXX
  SG_ S1 : 52|1@0+ (1,0) [0|1] "" XXX
  SG_ HANDS_WARN_3_BITS : 51|3@0+ (1,0) [0|7] "" XXX
  SG_ ERR_BIT : 40|1@0+ (1,0) [0|1] "" XXX
@@ -206,7 +206,6 @@ BO_ 1088 CAM_LANEINFO: 8 XXX
  SG_ LINE_VISIBLE : 0|1@0+ (1,0) [0|3] "" XXX
  SG_ LDW_WARN_RL : 58|1@0+ (1,0) [0|1] "" XXX
  SG_ LDW_WARN_LL : 57|1@0+ (1,0) [0|1] "" XXX
- SG_ S1_HBEAM : 54|1@0+ (1,0) [0|31] "" XXX
 
 BO_ 1479 NEW_MSG_470: 8 XXX
 
@@ -545,7 +544,10 @@ BO_ 535 CURVE_CTRS: 8 XXX
  SG_ CTR_B_2 : 15|3@0+ (1,0) [0|7] "" XXX
  SG_ CTR_C_1 : 20|3@0+ (1,0) [0|7] "" XXX
  SG_ CTR_C_2 : 23|3@0+ (1,0) [0|255] "" XXX
+ SG_ CTR_D_2 : 31|3@0+ (1,0) [0|7] "" XXX
  SG_ CTR_D_1 : 28|3@0+ (1,0) [0|7] "" XXX
+ SG_ CURVE : 39|16@0+ (1,0) [0|7] "" XXX
+ SG_ CTR : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHK_MAYBE : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_1 : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ NEW_SIGNAL_2 : 1|1@0+ (1,0) [0|1] "" XXX
@@ -555,9 +557,6 @@ BO_ 535 CURVE_CTRS: 8 XXX
  SG_ SEATBELT_MAYBE : 8|1@0+ (1,0) [0|1] "" XXX
  SG_ NO_SEATBELT_MAYBE : 16|1@0+ (1,0) [0|1] "" XXX
  SG_ NEW_SIGNAL_4 : 9|1@0+ (1,0) [0|1] "" XXX
- SG_ CTR_D_2 : 31|3@0+ (1,0) [0|7] "" XXX
- SG_ CTR : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ Speed : 39|16@0+ (0.01,0) [0|7] "kph" XXX
 
 BO_ 540 CRZ_CTRL: 8 XXX
  SG_ NEW_SIGNAL_3 : 1|1@0+ (1,0) [0|1] "" XXX
@@ -572,9 +571,6 @@ BO_ 540 CRZ_CTRL: 8 XXX
  SG_ CRZ_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
  SG_ HANDS_OFF_STEERING : 48|1@0+ (1,0) [0|1] "" XXX
  SG_ HANDS_ON_STEER_WARN : 59|4@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_1 : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ NEW_SIGNAL_2 : 45|3@0+ (1,0) [0|255] "" XXX
- SG_ NEW_SIGNAL_8 : 0|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 539 CRZ_INFO: 8 XXX
  SG_ NEW_SIGNAL_1 : 17|1@0+ (1,0) [0|255] "" XXX
@@ -584,8 +580,8 @@ BO_ 539 CRZ_INFO: 8 XXX
  SG_ CTR1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ NEW_SIGNAL_3 : 37|1@0+ (1,0) [0|255] "" XXX
  SG_ ACC_ACTIVE : 33|1@0+ (1,0) [0|1] "" XXX
- SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX
  SG_ ACCEL_CMD : 31|10@0- (1,0) [0|1] "" XXX
+ SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 121 EPB: 8 XXX
  SG_ NEW_SIGNAL_1 : 4|4@0+ (1,0) [0|255] "" XXX
@@ -751,8 +747,6 @@ BO_ 1248 MOB4: 8 XXX
 
 CM_ SG_ 605 PED_BRAKE "3: no brake, 4: brake";
 CM_ SG_ 605 BRAKE_WARNING "Flashing brake warning and audible alert for potential forward collision";
-CM_ SG_ 863 SPEED_SIGN "speed limit in MPH";
-CM_ SG_ 863 SPEED_SIGN_CAM "1: The speed limit is recognized by the camera. 0: speed limit is map based or is not available";
 CM_ SG_ 1157 SBS_WARNING_DISTANCE "1 far, 2 mid, 3 near";
 CM_ SG_ 1157 SBS_SCBC "1 off, 2 on";
 CM_ SG_ 1157 LKAS_ASSIT_TIMING "1 at, 0 before";