Merge pull request #1 from lijunhao731/lp-dp-beta2

Lp dp beta2

.gitignore

@@ -33,7 +33,7 @@ a.out
 *.class
 *.pyxbldc
 *.vcd
-
+*.qm
 config.json
 clcache
 compile_commands.json

README.md

@@ -35,20 +35,21 @@ I encourage users to consider purchasing a [comma 3](https://shop.comma.ai) for
 
 ## Limitations
 
+* On-road tests are conducted exclusively in a 2021 Toyota C-HR; other models may not perform properly.
 * CAN-FD and BODY features are not supported due to outdated libraries in EON/C2 firmware.
 * The driving AI model remains in version 0.8.16, as porting TinyGrad/PyOpenCL requires significant effort.
 * The driver monitoring AI model remains in version 0.8.13.
 * Navigation On Openpilot (NOO) is not supported, as it requires a newer driving model that is not currently available in legacypilot.
 * Services are not optimized for resource usage, and using all services may result in overheating issues.
 * Language files can only be generated in a PC due to missing Qt5 tools.
 * webjoystick is disabled as it requires additional python modules. (aiohttp and others)
-* Starting from August 7th, 2023, comma has removed ESP/GPS support from Pandas. You can find more details about this change in this link. 
+* Starting from August 7th, 2023, comma has removed ESP/GPS support from Pandas. You can find more details about this change in this [link](https://github.com/commaai/panda/commit/c66b98b2a67441faa4cfcd36c3c9d9f90474cd08).
   * Going forward, I will focus solely on maintaining the safety aspects of the code, ensuring that vehicle support and safety declarations remain up to date.
+* For safety concern, End-to-End / vision only longitudinal control only available in 0.8.16 driving model.
 
 
 ## Configuration
 
-* Considering performance issues, I have turned off all logging-related services. If anyone needs to use them, they can use `dp_logging` parameter to enable them.
 * If you are not a Comma Two device, you can use the `dp_no_fan_ctrl` parameter to disable fan-related detection and control.
 
 =======================

RELEASES.md

@@ -1,6 +1,26 @@
-Version 0.9.5 (202X-XX-XX)
+Version 0.9.6 (2023-12-14)
 ========================
+* AGNOS 9
+* comma body streaming and controls over WebRTC
+* Toyota RAV4 2023 support
+* Toyota RAV4 Hybrid 2023 support
+
+Version 0.9.5 (2023-11-17)
+========================
+* New driving model
+  * Improved navigate on openpilot performance using navigation instructions as an additional model input
+  * Do lateral planning inside the model
+  * New vision transformer architecture
+* Cadillac Escalade ESV 2019 support thanks to twilsonco!
+* Hyundai Azera 2022 support thanks to sunnyhaibin!
+* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
+* Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
+* Hyundai Ioniq 6 2023 support thanks to sunnyhaibin and alamo3!
+* Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
+* Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin!
+* Kia Optima Hybrid 2019 support
 * Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
+* Lexus GS F 2016 support thanks to snyperifle!
 * Lexus IS 2023 support thanks to L3R5!
 
 Version 0.9.4 (2023-07-27)

common/kalman/simple_kalman.py

@@ -1,3 +1,12 @@
-# pylint: skip-file
 from openpilot.common.kalman.simple_kalman_impl import KF1D as KF1D
 assert KF1D
+import numpy as np
+
+def get_kalman_gain(dt, A, C, Q, R, iterations=100):
+  P = np.zeros_like(Q)
+  for _ in range(iterations):
+    P = A.dot(P).dot(A.T) + dt * Q
+    S = C.dot(P).dot(C.T) + R
+    K = P.dot(C.T).dot(np.linalg.inv(S))
+    P = (np.eye(len(P)) - K.dot(C)).dot(P)
+  return K

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "2023.09.19"
+#define COMMA_VERSION "2023.12.14"

launch_chffrplus.sh

@@ -195,6 +195,12 @@ function two_init {
     echo "Installing spidev.cpython-38.so..."
     cp -f "$LIB_PATH/spidev.cpython-38.so" "$PY_LIB_DEST/"
   fi
+  # StrEnum in values.py
+  MODULE="strenum"
+  if [ ! -d "$PY_LIB_DEST/$MODULE" ]; then
+    echo "Installing $MODULE..."
+    tar -zxvf "$LIB_PATH/$MODULE.tar.gz" -C "$PY_LIB_DEST/"
+  fi
   mount -o remount,r /system
 
   # osm server

launch_env.sh

@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="8.2"
+  export AGNOS_VERSION="7.1"
 fi
 
 if [ -z "$REQUIRED_NEOS_VERSION" ]; then

opendbc/Dockerfile

@@ -49,9 +49,9 @@ RUN git config --global --add safe.directory '*'
 WORKDIR /project
 RUN git clone https://github.com/commaai/cereal.git /project/cereal && \
     cd /project/cereal && \
-    git checkout aed9fd278a704816aba11f4473aafefc281ed2bc && \
+    git checkout 82bca3a9714b73c05414fdf848b6016a0ffac17d && \
     rm -rf .git && \
-    scons -j$(nproc)
+    scons -j$(nproc) --minimal
 
 COPY SConstruct .
 COPY ./site_scons /project/site_scons

opendbc/can/common.h

@@ -54,7 +54,7 @@ class MessageState {
   bool ignore_checksum = false;
   bool ignore_counter = false;
 
-  bool parse(uint64_t sec, const std::vector<uint8_t> &dat);
+  bool parse(uint64_t nanos, const std::vector<uint8_t> &dat);
   bool update_counter_generic(int64_t v, int cnt_size);
 };
 
@@ -69,9 +69,9 @@ class CANParser {
 public:
   bool can_valid = false;
   bool bus_timeout = false;
-  uint64_t first_sec = 0;
-  uint64_t last_sec = 0;
-  uint64_t last_nonempty_sec = 0;
+  uint64_t first_nanos = 0;
+  uint64_t last_nanos = 0;
+  uint64_t last_nonempty_nanos = 0;
   uint64_t bus_timeout_threshold = 0;
   uint64_t can_invalid_cnt = CAN_INVALID_CNT;
 
@@ -81,10 +81,10 @@ class CANParser {
   #ifndef DYNAMIC_CAPNP
   void update_string(const std::string &data, bool sendcan);
   void update_strings(const std::vector<std::string> &data, std::vector<SignalValue> &vals, bool sendcan);
-  void UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans);
+  void UpdateCans(uint64_t nanos, const capnp::List<cereal::CanData>::Reader& cans);
   #endif
-  void UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cans);
-  void UpdateValid(uint64_t sec);
+  void UpdateCans(uint64_t nanos, const capnp::DynamicStruct::Reader& cans);
+  void UpdateValid(uint64_t nanos);
   void query_latest(std::vector<SignalValue> &vals, uint64_t last_ts = 0);
 };
 

opendbc/can/common.pxd

@@ -62,12 +62,12 @@ cdef extern from "common_dbc.h":
 
 
 cdef extern from "common.h":
-  cdef const DBC* dbc_lookup(const string)
+  cdef const DBC* dbc_lookup(const string) except +
 
   cdef cppclass CANParser:
     bool can_valid
     bool bus_timeout
-    CANParser(int, string, vector[pair[uint32_t, int]])
+    CANParser(int, string, vector[pair[uint32_t, int]]) except +
     void update_strings(vector[string]&, vector[SignalValue]&, bool) except +
 
   cdef cppclass CANPacker:

opendbc/can/common_dbc.h

@@ -5,8 +5,6 @@
 #include <string>
 #include <vector>
 
-#define ARRAYSIZE(x) (sizeof(x)/sizeof(x[0]))
-
 struct SignalPackValue {
   std::string name;
   double value;

opendbc/chrysler_pacifica_2017_hybrid_generated.dbc

@@ -59,11 +59,9 @@ BO_ 500 DAS_3: 8 XXX
  SG_ DISABLE_FUEL_SHUTOFF : 23|1@1+ (1,0) [0|0] "" XXX
  SG_ GR_MAX_REQ : 32|4@1+ (1,0) [0|0] "" XXX
  SG_ ACC_DECEL_REQ : 36|3@1+ (1,0) [0|0] "" XXX
- SG_ STS : 46|2@1+ (1,0) [0|0] "" XXX
- SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_FAULTED : 46|2@1+ (1,0) [0|0] "" XXX
  SG_ COLLISION_BRK_PREP : 48|1@1+ (1,0) [0|0] "" XXX
  SG_ ACC_BRK_PREP : 49|1@1+ (1,0) [0|0] "" XXX
- SG_ BRAKE_BOOL_1 : 36|1@0+ (1,0) [0|3] "" XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
@@ -74,6 +72,7 @@ BO_ 501 DAS_4: 8 XXX
  SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
  SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
  SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX
+ SG_ FCW_BRAKE_ENABLED : 29|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 544 EPS_2: 8 XXX
  SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX
@@ -103,12 +102,23 @@ BO_ 571 CRUISE_BUTTONS: 3 XXX
  SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 625 DAS_5: 8 XXX
+ SG_ FCW_STATE : 2|1@1+ (1,0) [0|0] ""  XXX
+ SG_ FCW_DISTANCE : 3|2@1+ (1,0) [0|0] ""  XXX
+ SG_ ACCFCW_MESSAGE : 12|4@1+ (1,0) [0|0] ""  XXX
+ SG_ SET_SPEED_KPH : 24|8@1+ (1,0) [0|250] "km/h"  XXX
+ SG_ WHEEL_TORQUE_REQUEST : 38|15@0+ (1,-7767) [-7767|24999] "Nm"  XXX
+ SG_ WHEEL_TORQUE_REQUEST_ACTIVE : 39|1@1+ (1,0) [0|0] ""  XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 678 DAS_6: 8 XXX
  SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX
  SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX
  SG_ LKAS_ALERTS : 27|4@0+ (1,0) [0|1] "" XXX
  SG_ CAR_MODEL : 15|8@0+ (1,0) [0|255] "" XXX
  SG_ AUTO_HIGH_BEAM_ON : 47|1@1+ (1,0) [0|0] "" XXX
+ SG_ LKAS_DISABLED : 56|1@1+ (1,0) [0|0] "" XXX
 
 BO_ 720 BSM_1: 6 XXX
  SG_ RIGHT_STATUS : 5|1@0+ (1,0) [0|1] "" XXX
@@ -278,12 +288,6 @@ BO_ 324 SPEED_2: 8 XXX
 BO_ 832 UNKNOWN_340: 8 XXX
  SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
 
-BO_ 625 ACC_1: 8 XXX
- SG_ SPEED : 31|8@0+ (1,0) [0|255] "km/h" XXX
- SG_ ACCEL_PERHAPS : 39|16@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
-
 BO_ 268 ACC_10c: 8 XXX
  SG_ BRAKE_PERHAPS : 48|1@0+ (1,0) [0|3] "" XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX

opendbc/chrysler_ram_dt_generated.dbc

@@ -61,11 +61,9 @@ BO_ 153 DAS_3: 8 XXX
  SG_ DISABLE_FUEL_SHUTOFF : 23|1@1+ (1,0) [0|0] "" XXX
  SG_ GR_MAX_REQ : 32|4@1+ (1,0) [0|0] "" XXX
  SG_ ACC_DECEL_REQ : 36|3@1+ (1,0) [0|0] "" XXX
- SG_ STS : 46|2@1+ (1,0) [0|0] "" XXX
- SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_FAULTED : 46|2@1+ (1,0) [0|0] "" XXX
  SG_ COLLISION_BRK_PREP : 48|1@1+ (1,0) [0|0] "" XXX
  SG_ ACC_BRK_PREP : 49|1@1+ (1,0) [0|0] "" XXX
- SG_ BRAKE_BOOL_1 : 36|1@0+ (1,0) [0|3] "" XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
@@ -76,6 +74,7 @@ BO_ 232 DAS_4: 8 XXX
  SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
  SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
  SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX
+ SG_ FCW_BRAKE_ENABLED : 29|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 49 EPS_2: 8 XXX
  SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX
@@ -105,12 +104,23 @@ BO_ 177 CRUISE_BUTTONS: 3 XXX
  SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 163 DAS_5: 8 XXX
+ SG_ FCW_STATE : 2|1@1+ (1,0) [0|0] ""  XXX
+ SG_ FCW_DISTANCE : 3|2@1+ (1,0) [0|0] ""  XXX
+ SG_ ACCFCW_MESSAGE : 12|4@1+ (1,0) [0|0] ""  XXX
+ SG_ SET_SPEED_KPH : 24|8@1+ (1,0) [0|250] "km/h"  XXX
+ SG_ WHEEL_TORQUE_REQUEST : 38|15@0+ (1,-7767) [-7767|24999] "Nm"  XXX
+ SG_ WHEEL_TORQUE_REQUEST_ACTIVE : 39|1@1+ (1,0) [0|0] ""  XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 250 DAS_6: 8 XXX
  SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX
  SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX
  SG_ LKAS_ALERTS : 27|4@0+ (1,0) [0|1] "" XXX
  SG_ CAR_MODEL : 15|8@0+ (1,0) [0|255] "" XXX
  SG_ AUTO_HIGH_BEAM_ON : 47|1@1+ (1,0) [0|0] "" XXX
+ SG_ LKAS_DISABLED : 56|1@1+ (1,0) [0|0] "" XXX
 
 BO_ 720 BSM_1: 6 XXX
  SG_ RIGHT_STATUS : 5|1@0+ (1,0) [0|1] "" XXX

opendbc/chrysler_ram_hd_generated.dbc

@@ -61,11 +61,9 @@ BO_ 500 DAS_3: 8 XXX
  SG_ DISABLE_FUEL_SHUTOFF : 23|1@1+ (1,0) [0|0] "" XXX
  SG_ GR_MAX_REQ : 32|4@1+ (1,0) [0|0] "" XXX
  SG_ ACC_DECEL_REQ : 36|3@1+ (1,0) [0|0] "" XXX
- SG_ STS : 46|2@1+ (1,0) [0|0] "" XXX
- SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_FAULTED : 46|2@1+ (1,0) [0|0] "" XXX
  SG_ COLLISION_BRK_PREP : 48|1@1+ (1,0) [0|0] "" XXX
  SG_ ACC_BRK_PREP : 49|1@1+ (1,0) [0|0] "" XXX
- SG_ BRAKE_BOOL_1 : 36|1@0+ (1,0) [0|3] "" XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
@@ -76,6 +74,7 @@ BO_ 501 DAS_4: 8 XXX
  SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
  SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
  SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX
+ SG_ FCW_BRAKE_ENABLED : 29|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 544 EPS_2: 8 XXX
  SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX
@@ -105,12 +104,23 @@ BO_ 570 CRUISE_BUTTONS: 3 XXX
  SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 625 DAS_5: 8 XXX
+ SG_ FCW_STATE : 2|1@1+ (1,0) [0|0] ""  XXX
+ SG_ FCW_DISTANCE : 3|2@1+ (1,0) [0|0] ""  XXX
+ SG_ ACCFCW_MESSAGE : 12|4@1+ (1,0) [0|0] ""  XXX
+ SG_ SET_SPEED_KPH : 24|8@1+ (1,0) [0|250] "km/h"  XXX
+ SG_ WHEEL_TORQUE_REQUEST : 38|15@0+ (1,-7767) [-7767|24999] "Nm"  XXX
+ SG_ WHEEL_TORQUE_REQUEST_ACTIVE : 39|1@1+ (1,0) [0|0] ""  XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 629 DAS_6: 8 XXX
  SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX
  SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX
  SG_ LKAS_ALERTS : 27|4@0+ (1,0) [0|1] "" XXX
  SG_ CAR_MODEL : 15|8@0+ (1,0) [0|255] "" XXX
  SG_ AUTO_HIGH_BEAM_ON : 47|1@1+ (1,0) [0|0] "" XXX
+ SG_ LKAS_DISABLED : 56|1@1+ (1,0) [0|0] "" XXX
 
 BO_ 720 BSM_1: 6 XXX
  SG_ RIGHT_STATUS : 5|1@0+ (1,0) [0|1] "" XXX

opendbc/generator/chrysler/_stellantis_common.dbc

@@ -55,11 +55,9 @@ BO_ 500 DAS_3: 8 XXX
  SG_ DISABLE_FUEL_SHUTOFF : 23|1@1+ (1,0) [0|0] "" XXX
  SG_ GR_MAX_REQ : 32|4@1+ (1,0) [0|0] "" XXX
  SG_ ACC_DECEL_REQ : 36|3@1+ (1,0) [0|0] "" XXX
- SG_ STS : 46|2@1+ (1,0) [0|0] "" XXX
- SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_FAULTED : 46|2@1+ (1,0) [0|0] "" XXX
  SG_ COLLISION_BRK_PREP : 48|1@1+ (1,0) [0|0] "" XXX
  SG_ ACC_BRK_PREP : 49|1@1+ (1,0) [0|0] "" XXX
- SG_ BRAKE_BOOL_1 : 36|1@0+ (1,0) [0|3] "" XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
@@ -70,6 +68,7 @@ BO_ 501 DAS_4: 8 XXX
  SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
  SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
  SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX
+ SG_ FCW_BRAKE_ENABLED : 29|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 544 EPS_2: 8 XXX
  SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX
@@ -99,12 +98,23 @@ BO_ 571 CRUISE_BUTTONS: 3 XXX
  SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
  SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 625 DAS_5: 8 XXX
+ SG_ FCW_STATE : 2|1@1+ (1,0) [0|0] ""  XXX
+ SG_ FCW_DISTANCE : 3|2@1+ (1,0) [0|0] ""  XXX
+ SG_ ACCFCW_MESSAGE : 12|4@1+ (1,0) [0|0] ""  XXX
+ SG_ SET_SPEED_KPH : 24|8@1+ (1,0) [0|250] "km/h"  XXX
+ SG_ WHEEL_TORQUE_REQUEST : 38|15@0+ (1,-7767) [-7767|24999] "Nm"  XXX
+ SG_ WHEEL_TORQUE_REQUEST_ACTIVE : 39|1@1+ (1,0) [0|0] ""  XXX
+ SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
 BO_ 678 DAS_6: 8 XXX
  SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX
  SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX
  SG_ LKAS_ALERTS : 27|4@0+ (1,0) [0|1] "" XXX
  SG_ CAR_MODEL : 15|8@0+ (1,0) [0|255] "" XXX
  SG_ AUTO_HIGH_BEAM_ON : 47|1@1+ (1,0) [0|0] "" XXX
+ SG_ LKAS_DISABLED : 56|1@1+ (1,0) [0|0] "" XXX
 
 BO_ 720 BSM_1: 6 XXX
  SG_ RIGHT_STATUS : 5|1@0+ (1,0) [0|1] "" XXX

opendbc/generator/chrysler/_stellantis_common_ram.py

@@ -16,6 +16,7 @@
     544: 49,
     571: 177,
     559: 157,
+    625: 163,
     678: 250,
     720: 720,
     792: 792,

opendbc/generator/chrysler/chrysler_pacifica_2017_hybrid.dbc

@@ -139,12 +139,6 @@ BO_ 324 SPEED_2: 8 XXX
 BO_ 832 UNKNOWN_340: 8 XXX
  SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
 
-BO_ 625 ACC_1: 8 XXX
- SG_ SPEED : 31|8@0+ (1,0) [0|255] "km/h" XXX
- SG_ ACCEL_PERHAPS : 39|16@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
-
 BO_ 268 ACC_10c: 8 XXX
  SG_ BRAKE_PERHAPS : 48|1@0+ (1,0) [0|3] "" XXX
  SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX