From a0f71987dae296440c6cb0ac24a49496dfe9fdc2 Mon Sep 17 00:00:00 2001 From: Raymond Shen Date: Sat, 7 Nov 2026 10:57:19 -0700 Subject: [PATCH] Sync cascadia.dbc with firmware_v4 Add the per-board git commit hash messages (MST 0x204, HVC 0x32B, DIST 0x3A5, DRD 0x405, MDI 0x504, STR 0x583, TEL 0x75C) and update HvcFault (0x321) to the 3-byte layout HVC sends now: watchdog reset, LV/MPPT/motor/MST state timeouts, DC-DC thermistor fault, and the DIST/MST heartbeat timeouts moved to bits 22/23. HVC and MDI commit hash IDs follow the firmware_v4 branch that moves them off reserved IDs (0x32A -> 0x32B, 0x503 -> 0x504). Co-Authored-By: Claude Opus 5.5 --- dbc/cascadia.dbc | 52 ++++++++++++++++++++++++++++++++++++++++++++---- 1 file changed, 48 insertions(+), 4 deletions(-) diff --git a/dbc/cascadia.dbc b/dbc/cascadia.dbc index 2382568e..7e1e99ea 100644 --- a/dbc/cascadia.dbc +++ b/dbc/cascadia.dbc @@ -64,6 +64,10 @@ BO_ 514 TempSummary: 4 MST BO_ 515 BalanceData: 4 MST SG_ BalanceBitmap : 0|32@1+ (1,0) [0|4.29497e+09] "" Vector__XXX +BO_ 516 MSTCommitHash: 5 MST + SG_ MSTCommitHash : 7|32@0+ (1,0) [0|4.29497e+09] "" Vector__XXX + SG_ MSTCommitDirty : 32|1@1+ (1,0) [0|1] "" Vector__XXX + BO_ 528 ModuleVoltData0: 8 MST SG_ Mod0Voltage : 0|16@1+ (1,0) [0|65535] "mV" Vector__XXX SG_ Mod1Voltage : 16|16@1+ (1,0) [0|65535] "mV" Vector__XXX @@ -403,8 +407,8 @@ BO_ 768 RTCTimestamp: 8 MEMORATOR BO_ 800 HVCShuntCurrent: 4 HVC SG_ PackCurrent : 7|32@0- (1,0) [-2.14749e+09|2.14749e+09] "mA" Vector__XXX -BO_ 801 HvcFault: 2 HVC - SG_ TelHeartbeatTimeout : 0|1@1+ (1,0) [0|1] "" DIST +BO_ 801 HvcFault: 3 HVC + SG_ HVCWatchdogReset : 0|1@1+ (1,0) [0|1] "" DIST SG_ DcdcFault : 1|1@1+ (1,0) [0|1] "" DIST SG_ DistFaultFlag : 2|1@1+ (1,0) [0|1] "" DIST SG_ UndercurrentFault : 3|1@1+ (1,0) [0|1] "" DIST @@ -412,8 +416,17 @@ BO_ 801 HvcFault: 2 HVC SG_ MasterboardFault : 5|1@1+ (1,0) [0|1] "" DIST SG_ ImdFault : 6|1@1+ (1,0) [0|1] "" DIST SG_ EstopFault : 7|1@1+ (1,0) [0|1] "" DIST - SG_ DistHeartbeatTimeout : 14|1@1+ (1,0) [0|1] "" DIST - SG_ MstHeartbeatTimeout : 15|1@1+ (1,0) [0|1] "" DIST + SG_ TelHeartbeatTimeout : 8|1@1+ (1,0) [0|1] "" DIST + SG_ LvPowerupTimeout : 9|1@1+ (1,0) [0|1] "" DIST + SG_ MpptPrechargeTimeout : 10|1@1+ (1,0) [0|1] "" DIST + SG_ MotorPrechargeTimeout : 11|1@1+ (1,0) [0|1] "" DIST + SG_ MotorDischargeTimeout : 12|1@1+ (1,0) [0|1] "" DIST + SG_ MstCheckTimeout : 13|1@1+ (1,0) [0|1] "" DIST + SG_ MstReadyTimeout : 14|1@1+ (1,0) [0|1] "" DIST + SG_ MvpLvPowerupTimeout : 15|1@1+ (1,0) [0|1] "" DIST + SG_ DcdcThermistorFault : 21|1@1+ (1,0) [0|1] "" DIST + SG_ DistHeartbeatTimeout : 22|1@1+ (1,0) [0|1] "" DIST + SG_ MstHeartbeatTimeout : 23|1@1+ (1,0) [0|1] "" DIST BO_ 802 HVCHeartbeat: 4 HVC SG_ HVCTimeSinceBootUp : 23|16@0+ (1,0) [0|65535] "" Vector__XXX @@ -439,6 +452,10 @@ BO_ 808 HvcMcPrecharge: 4 HVC BO_ 809 HvcMpptPrecharge: 4 HVC SG_ MpptPrechargeVoltage : 7|32@0- (1,0) [-2.14749e+09|2.14749e+09] "mV" Vector__XXX +BO_ 811 HVCCommitHash: 5 HVC + SG_ HVCCommitHash : 7|32@0+ (1,0) [0|4.29497e+09] "" Vector__XXX + SG_ HVCCommitDirty : 32|1@1+ (1,0) [0|1] "" Vector__XXX + BO_ 928 DISTHeartBeat: 4 DIST SG_ DISTHeartbeatCounter : 7|32@0+ (1,0) [0|4.29497e+09] "" HVC @@ -463,6 +480,10 @@ BO_ 931 DistCurrents: 5 DIST BO_ 932 DISTBranchId: 1 DIST SG_ DISTBranchId : 0|8@1+ (1,0) [0|255] "" Vector__XXX +BO_ 933 DISTCommitHash: 5 DIST + SG_ DISTCommitHash : 7|32@0+ (1,0) [0|4.29497e+09] "" Vector__XXX + SG_ DISTCommitDirty : 32|1@1+ (1,0) [0|1] "" Vector__XXX + BO_ 1025 MotorCommand: 5 DRD SG_ ThrottleDAC : 0|16@1+ (1,0) [0|1023] "" MDI SG_ RegenDAC : 16|16@1+ (1,0) [0|1023] "" MDI @@ -497,6 +518,10 @@ BO_ 1027 DRDDiagnostics: 8 DRD BO_ 1028 DRDTimeSinceBootup: 4 DRD SG_ DRDTimeSinceBootUp : 0|32@1+ (1,0) [0|4.29497e+09] "" Vector__XXX +BO_ 1029 DRDCommitHash: 5 DRD + SG_ DRDCommitHash : 7|32@0+ (1,0) [0|4.29497e+09] "" Vector__XXX + SG_ DRDCommitDirty : 32|1@1+ (1,0) [0|1] "" Vector__XXX + BO_ 1280 MDITimeSinceBootup: 4 MDI SG_ MDITimeSinceBootUp : 0|32@1+ (1,0) [0|4.29497e+09] "s" Vector__XXX @@ -512,6 +537,10 @@ BO_ 1282 MDIMotorTemperature: 6 MDI SG_ MotorTemperature : 8|32@1- (1,0) [-100|300] "degC" Vector__XXX SG_ RTDFaultFlags : 40|8@1+ (1,0) [0|255] "" Vector__XXX +BO_ 1284 MDICommitHash: 5 MDI + SG_ MDICommitHash : 7|32@0+ (1,0) [0|4.29497e+09] "" Vector__XXX + SG_ MDICommitDirty : 32|1@1+ (1,0) [0|1] "" Vector__XXX + BO_ 1408 STRDRDControl: 8 STR SG_ STRRegenEnabled : 0|1@1+ (1,0) [0|1] "" Vector__XXX SG_ STRCruiseEnabled : 1|1@1+ (1,0) [0|1] "" Vector__XXX @@ -530,6 +559,10 @@ BO_ 1409 STRTimeSinceBootup: 4 STR BO_ 1410 STRDiagnostics: 1 STR SG_ STRWatchdogReset : 0|1@1+ (1,0) [0|1] "" Vector__XXX +BO_ 1411 STRCommitHash: 5 STR + SG_ STRCommitHash : 7|32@0+ (1,0) [0|4.29497e+09] "" Vector__XXX + SG_ STRCommitDirty : 32|1@1+ (1,0) [0|1] "" Vector__XXX + BO_ 1425 STRMCUHealth: 4 STR SG_ STRMCUVoltage : 0|16@1+ (1,0) [0|65535] "mV" Vector__XXX SG_ STRMCUTemperature : 16|16@1- (1,0) [-40|125] "degC" Vector__XXX @@ -828,6 +861,10 @@ BO_ 1883 TELGpsUtcTime: 6 TEL SG_ GpsMonth : 32|8@1+ (1,0) [0.99999|12] "" Vector__XXX SG_ GpsYear : 40|8@1+ (1,2000) [2000|2255] "" Vector__XXX +BO_ 1884 TELCommitHash: 5 TEL + SG_ TELCommitHash : 7|32@0+ (1,0) [0|4.29497e+09] "" Vector__XXX + SG_ TELCommitDirty : 32|1@1+ (1,0) [0|1] "" Vector__XXX + BO_ 1891 CANBusLoad: 1 TEL SG_ BusLoad : 0|8@1+ (1,0) [0|100] "%" Vector__XXX @@ -998,6 +1035,13 @@ CM_ SG_ 2292515365 ControllerVoltageSensorError "12V line voltage sensor error"; CM_ SG_ 2292515365 PowerSystemError "Power line error"; CM_ SG_ 2292515365 MotorLock "Motor locked and not rotating"; CM_ BO_ 2297992512 "Sent by DRD every ~100 ms"; +CM_ BO_ 516 "First 4 bytes of the git commit SHA the MST firmware was built from (0 = unknown). Dirty = built with uncommitted changes."; +CM_ BO_ 811 "First 4 bytes of the git commit SHA the HVC firmware was built from (0 = unknown). Dirty = built with uncommitted changes."; +CM_ BO_ 933 "First 4 bytes of the git commit SHA the DIST firmware was built from (0 = unknown). Dirty = built with uncommitted changes."; +CM_ BO_ 1029 "First 4 bytes of the git commit SHA the DRD firmware was built from (0 = unknown). Dirty = built with uncommitted changes."; +CM_ BO_ 1284 "First 4 bytes of the git commit SHA the MDI firmware was built from (0 = unknown). Dirty = built with uncommitted changes."; +CM_ BO_ 1411 "First 4 bytes of the git commit SHA the STR firmware was built from (0 = unknown). Dirty = built with uncommitted changes."; +CM_ BO_ 1884 "First 4 bytes of the git commit SHA the TEL firmware was built from (0 = unknown). Dirty = built with uncommitted changes."; CM_ SG_ 2297992512 RequestForFrames "Bitmask of frames requested: bit0 Frame0, bit1 Frame1, bit2 Frame2 (0b111 = all frames)"; CM_ SG_ 2566869221 CCsignalStatus "CC resistance in charger gun: 1.5k ohm = 8A max, 680 ohm = 16A, 220 ohm = 32A"; CM_ SG_ 2566869221 CPSignalStatus "CP duty cycle indicates supply capacity";