body: add crc and counter (#24120)

* add crc and counter for body

* add msg

* move counter

* whitespace

* ..

* bump opendbc

* update_refs

opendbc

@@ -1 +1 @@
-Subproject commit 08b1564ba9dac2d9748ab8610f90cf98cb581baa
+Subproject commit cc45cc1bc045a98d12ffdfd9923b23ead9638b87

selfdrive/car/body/bodycan.py

@@ -1,8 +1,9 @@
-def create_control(packer, torque_l, torque_r):
+def create_control(packer, torque_l, torque_r, idx):
   can_bus = 0
 
   values = {
     "TORQUE_L": torque_l,
     "TORQUE_R": torque_r,
   }
-  return packer.make_can_msg("TORQUE_CMD", can_bus, values)
+
+  return packer.make_can_msg("TORQUE_CMD", can_bus, values, idx)

selfdrive/car/body/carcontroller.py

@@ -14,6 +14,7 @@ MAX_TURN_INTEGRATOR = 0.1 # meters
 
 class CarController():
   def __init__(self, dbc_name, CP, VM):
+    self.frame = 0
     self.packer = CANPacker(dbc_name)
 
     self.i_speed = 0
@@ -102,10 +103,11 @@ class CarController():
     # ///////////////////////////////////////
 
     can_sends = []
-    can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r))
+    can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r, self.frame // 2))
 
     new_actuators = CC.actuators.copy()
     new_actuators.accel = torque_l
     new_actuators.steer = torque_r
 
+    self.frame += 1
     return new_actuators, can_sends

selfdrive/car/body/carstate.py

@@ -38,10 +38,13 @@ class CarState(CarStateBase):
       ("SPEED_R", "MOTORS_DATA"),
       ("ELEC_ANGLE_L", "MOTORS_DATA"),
       ("ELEC_ANGLE_R", "MOTORS_DATA"),
-      ("MOTOR_ERR_L", "MOTORS_DATA"),
+      ("COUNTER", "MOTORS_DATA"),
-      ("MOTOR_ERR_R", "MOTORS_DATA"),
+      ("CHECKSUM", "MOTORS_DATA"),
       ("IGNITION", "VAR_VALUES"),
       ("ENABLE_MOTORS", "VAR_VALUES"),
+      ("FAULT", "VAR_VALUES"),
+      ("MOTOR_ERR_L", "VAR_VALUES"),
+      ("MOTOR_ERR_R", "VAR_VALUES"),
       ("MCU_TEMP", "BODY_DATA"),
       ("BATT_VOLTAGE", "BODY_DATA"),
     ]

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-f6c93d48d14fa7be45961f7325a7957f53126671
+594f0e291d2a9720c854f6d0f074b7734ed3c741