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193 lines
7.3 KiB
193 lines
7.3 KiB
import copy
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from collections import deque
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from cereal import car
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from common.conversions import Conversions as CV
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from selfdrive.car.tesla.values import DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS
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from selfdrive.car.interfaces import CarStateBase
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from opendbc.can.parser import CANParser
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from opendbc.can.can_define import CANDefine
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class CarState(CarStateBase):
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def __init__(self, CP):
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super().__init__(CP)
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self.button_states = {button.event_type: False for button in BUTTONS}
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self.can_define = CANDefine(DBC[CP.carFingerprint]['chassis'])
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# Needed by carcontroller
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self.msg_stw_actn_req = None
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self.hands_on_level = 0
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self.steer_warning = None
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self.acc_state = 0
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self.das_control_counters = deque(maxlen=32)
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def update(self, cp, cp_cam):
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ret = car.CarState.new_message()
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# Vehicle speed
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ret.vEgoRaw = cp.vl["ESP_B"]["ESP_vehicleSpeed"] * CV.KPH_TO_MS
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
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ret.standstill = (ret.vEgo < 0.1)
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# Gas pedal
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ret.gas = cp.vl["DI_torque1"]["DI_pedalPos"] / 100.0
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ret.gasPressed = (ret.gas > 0)
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# Brake pedal
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ret.brake = 0
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ret.brakePressed = bool(cp.vl["BrakeMessage"]["driverBrakeStatus"] != 1)
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# Steering wheel
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self.hands_on_level = cp.vl["EPAS_sysStatus"]["EPAS_handsOnLevel"]
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self.steer_warning = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacErrorCode"].get(int(cp.vl["EPAS_sysStatus"]["EPAS_eacErrorCode"]), None)
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steer_status = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacStatus"].get(int(cp.vl["EPAS_sysStatus"]["EPAS_eacStatus"]), None)
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ret.steeringAngleDeg = -cp.vl["EPAS_sysStatus"]["EPAS_internalSAS"]
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ret.steeringRateDeg = -cp.vl["STW_ANGLHP_STAT"]["StW_AnglHP_Spd"] # This is from a different angle sensor, and at different rate
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ret.steeringTorque = -cp.vl["EPAS_sysStatus"]["EPAS_torsionBarTorque"]
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ret.steeringPressed = (self.hands_on_level > 0)
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ret.steerFaultPermanent = steer_status == "EAC_FAULT"
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ret.steerFaultTemporary = (self.steer_warning not in ("EAC_ERROR_IDLE", "EAC_ERROR_HANDS_ON"))
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# Cruise state
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cruise_state = self.can_define.dv["DI_state"]["DI_cruiseState"].get(int(cp.vl["DI_state"]["DI_cruiseState"]), None)
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speed_units = self.can_define.dv["DI_state"]["DI_speedUnits"].get(int(cp.vl["DI_state"]["DI_speedUnits"]), None)
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acc_enabled = (cruise_state in ("ENABLED", "STANDSTILL", "OVERRIDE", "PRE_FAULT", "PRE_CANCEL"))
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ret.cruiseState.enabled = acc_enabled
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if speed_units == "KPH":
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ret.cruiseState.speed = cp.vl["DI_state"]["DI_digitalSpeed"] * CV.KPH_TO_MS
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elif speed_units == "MPH":
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ret.cruiseState.speed = cp.vl["DI_state"]["DI_digitalSpeed"] * CV.MPH_TO_MS
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ret.cruiseState.available = ((cruise_state == "STANDBY") or ret.cruiseState.enabled)
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ret.cruiseState.standstill = False # This needs to be false, since we can resume from stop without sending anything special
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# Gear
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ret.gearShifter = GEAR_MAP[self.can_define.dv["DI_torque2"]["DI_gear"].get(int(cp.vl["DI_torque2"]["DI_gear"]), "DI_GEAR_INVALID")]
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# Buttons
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buttonEvents = []
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for button in BUTTONS:
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state = (cp.vl[button.can_addr][button.can_msg] in button.values)
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if self.button_states[button.event_type] != state:
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event = car.CarState.ButtonEvent.new_message()
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event.type = button.event_type
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event.pressed = state
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buttonEvents.append(event)
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self.button_states[button.event_type] = state
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ret.buttonEvents = buttonEvents
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# Doors
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ret.doorOpen = any([(self.can_define.dv["GTW_carState"][door].get(int(cp.vl["GTW_carState"][door]), "OPEN") == "OPEN") for door in DOORS])
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# Blinkers
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ret.leftBlinker = (cp.vl["GTW_carState"]["BC_indicatorLStatus"] == 1)
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ret.rightBlinker = (cp.vl["GTW_carState"]["BC_indicatorRStatus"] == 1)
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# Seatbelt
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ret.seatbeltUnlatched = (cp.vl["SDM1"]["SDM_bcklDrivStatus"] != 1)
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# TODO: blindspot
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# AEB
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ret.stockAeb = (cp_cam.vl["DAS_control"]["DAS_aebEvent"] == 1)
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# Messages needed by carcontroller
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self.msg_stw_actn_req = copy.copy(cp.vl["STW_ACTN_RQ"])
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self.acc_state = cp_cam.vl["DAS_control"]["DAS_accState"]
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self.das_control_counters.extend(cp_cam.vl_all["DAS_control"]["DAS_controlCounter"])
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return ret
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@staticmethod
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def get_can_parser(CP):
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signals = [
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# sig_name, sig_address
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("ESP_vehicleSpeed", "ESP_B"),
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("DI_pedalPos", "DI_torque1"),
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("DI_brakePedal", "DI_torque2"),
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("StW_AnglHP", "STW_ANGLHP_STAT"),
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("StW_AnglHP_Spd", "STW_ANGLHP_STAT"),
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("EPAS_handsOnLevel", "EPAS_sysStatus"),
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("EPAS_torsionBarTorque", "EPAS_sysStatus"),
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("EPAS_internalSAS", "EPAS_sysStatus"),
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("EPAS_eacStatus", "EPAS_sysStatus"),
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("EPAS_eacErrorCode", "EPAS_sysStatus"),
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("DI_cruiseState", "DI_state"),
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("DI_digitalSpeed", "DI_state"),
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("DI_speedUnits", "DI_state"),
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("DI_gear", "DI_torque2"),
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("DOOR_STATE_FL", "GTW_carState"),
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("DOOR_STATE_FR", "GTW_carState"),
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("DOOR_STATE_RL", "GTW_carState"),
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("DOOR_STATE_RR", "GTW_carState"),
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("DOOR_STATE_FrontTrunk", "GTW_carState"),
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("BOOT_STATE", "GTW_carState"),
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("BC_indicatorLStatus", "GTW_carState"),
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("BC_indicatorRStatus", "GTW_carState"),
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("SDM_bcklDrivStatus", "SDM1"),
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("driverBrakeStatus", "BrakeMessage"),
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# We copy this whole message when spamming cancel
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("SpdCtrlLvr_Stat", "STW_ACTN_RQ"),
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("VSL_Enbl_Rq", "STW_ACTN_RQ"),
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("SpdCtrlLvrStat_Inv", "STW_ACTN_RQ"),
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("DTR_Dist_Rq", "STW_ACTN_RQ"),
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("TurnIndLvr_Stat", "STW_ACTN_RQ"),
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("HiBmLvr_Stat", "STW_ACTN_RQ"),
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("WprWashSw_Psd", "STW_ACTN_RQ"),
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("WprWash_R_Sw_Posn_V2", "STW_ACTN_RQ"),
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("StW_Lvr_Stat", "STW_ACTN_RQ"),
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("StW_Cond_Flt", "STW_ACTN_RQ"),
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("StW_Cond_Psd", "STW_ACTN_RQ"),
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("HrnSw_Psd", "STW_ACTN_RQ"),
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("StW_Sw00_Psd", "STW_ACTN_RQ"),
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("StW_Sw01_Psd", "STW_ACTN_RQ"),
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("StW_Sw02_Psd", "STW_ACTN_RQ"),
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("StW_Sw03_Psd", "STW_ACTN_RQ"),
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("StW_Sw04_Psd", "STW_ACTN_RQ"),
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("StW_Sw05_Psd", "STW_ACTN_RQ"),
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("StW_Sw06_Psd", "STW_ACTN_RQ"),
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("StW_Sw07_Psd", "STW_ACTN_RQ"),
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("StW_Sw08_Psd", "STW_ACTN_RQ"),
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("StW_Sw09_Psd", "STW_ACTN_RQ"),
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("StW_Sw10_Psd", "STW_ACTN_RQ"),
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("StW_Sw11_Psd", "STW_ACTN_RQ"),
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("StW_Sw12_Psd", "STW_ACTN_RQ"),
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("StW_Sw13_Psd", "STW_ACTN_RQ"),
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("StW_Sw14_Psd", "STW_ACTN_RQ"),
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("StW_Sw15_Psd", "STW_ACTN_RQ"),
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("WprSw6Posn", "STW_ACTN_RQ"),
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("MC_STW_ACTN_RQ", "STW_ACTN_RQ"),
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("CRC_STW_ACTN_RQ", "STW_ACTN_RQ"),
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]
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checks = [
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# sig_address, frequency
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("ESP_B", 50),
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("DI_torque1", 100),
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("DI_torque2", 100),
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("STW_ANGLHP_STAT", 100),
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("EPAS_sysStatus", 25),
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("DI_state", 10),
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("STW_ACTN_RQ", 10),
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("GTW_carState", 10),
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("SDM1", 10),
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("BrakeMessage", 50),
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]
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return CANParser(DBC[CP.carFingerprint]['chassis'], signals, checks, CANBUS.chassis)
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@staticmethod
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def get_cam_can_parser(CP):
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signals = [
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# sig_name, sig_address
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("DAS_accState", "DAS_control"),
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("DAS_aebEvent", "DAS_control"),
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("DAS_controlCounter", "DAS_control"),
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]
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checks = [
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# sig_address, frequency
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("DAS_control", 40),
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]
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return CANParser(DBC[CP.carFingerprint]['chassis'], signals, checks, CANBUS.autopilot_chassis)
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