From 7df1c025ae2a1333b70ef967c4617f913f36dfd4 Mon Sep 17 00:00:00 2001
From: Igor Biletskyy <briskspirit@users.noreply.github.com>
Date: Mon, 4 Apr 2022 19:19:30 -0700
Subject: [PATCH] body: add crc and counter (#24120)

* add crc and counter for body

* add msg

* move counter

* whitespace

* ..

* bump opendbc

* update_refs
---
 opendbc                                  | 2 +-
 selfdrive/car/body/bodycan.py            | 5 +++--
 selfdrive/car/body/carcontroller.py      | 4 +++-
 selfdrive/car/body/carstate.py           | 7 +++++--
 selfdrive/test/process_replay/ref_commit | 2 +-
 5 files changed, 13 insertions(+), 7 deletions(-)

diff --git a/opendbc b/opendbc
index 08b1564ba9..cc45cc1bc0 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 08b1564ba9dac2d9748ab8610f90cf98cb581baa
+Subproject commit cc45cc1bc045a98d12ffdfd9923b23ead9638b87
diff --git a/selfdrive/car/body/bodycan.py b/selfdrive/car/body/bodycan.py
index 9abf5d8611..cc448d53d1 100644
--- a/selfdrive/car/body/bodycan.py
+++ b/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)
diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py
index 6f5df7155e..57910746ee 100644
--- a/selfdrive/car/body/carcontroller.py
+++ b/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
diff --git a/selfdrive/car/body/carstate.py b/selfdrive/car/body/carstate.py
index 2ef93aa98c..c103936738 100644
--- a/selfdrive/car/body/carstate.py
+++ b/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"),
-      ("MOTOR_ERR_R", "MOTORS_DATA"),
+      ("COUNTER", "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"),
     ]
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index b9e38e7ae8..e835264cad 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-f6c93d48d14fa7be45961f7325a7957f53126671
\ No newline at end of file
+594f0e291d2a9720c854f6d0f074b7734ed3c741
\ No newline at end of file