Tesla continental radar DBC (#955)

* replace bosch radar with generator * add continental and cleanup
commaai · Mar 6, 2024 · ff1f1ff · ff1f1ff
1 parent 17d328c
commit ff1f1ff
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diff --git a/generator/tesla/.gitignore b/generator/tesla/.gitignore
@@ -0,0 +1 @@
+*.dbc
diff --git a/generator/tesla/radar_common.py b/generator/tesla/radar_common.py
@@ -0,0 +1,38 @@
+#!/usr/bin/env python3
+
+def get_radar_point_definition(base_id, base_name):
+  return f"""
+BO_ {base_id} {base_name}_A: 8 Radar
+ SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters"  Autopilot
+ SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec"  Autopilot
+ SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters"  Autopilot
+ SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%"  Autopilot
+ SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec"  Autopilot
+ SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%"  Autopilot
+ SG_ Valid : 55|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%"  Autopilot
+ SG_ Meas : 61|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ Tracked : 62|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ Index : 63|1@1+ (1,0) [0|1] ""  Autopilot
+
+BO_ {base_id+1} {base_name}_B: 8 Radar
+ SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec"  Autopilot
+ SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m"  Autopilot
+ SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m"  Autopilot
+ SG_ MovingState : 22|2@1+ (1,0) [0|3] ""  Autopilot
+ SG_ dxSigma : 24|6@1+ (1,0) [0|63] ""  Autopilot
+ SG_ vxSigma : 30|6@1+ (1,0) [0|63] ""  Autopilot
+ SG_ axSigma : 36|6@1+ (1,0) [0|63] ""  Autopilot
+ SG_ dySigma : 42|6@1+ (1,0) [0|63] ""  Autopilot
+ SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%"  Autopilot
+ SG_ Class : 53|3@1+ (1,0) [0|7] ""  Autopilot
+ SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] ""  Autopilot
+ SG_ NotUsed : 62|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ Index2 : 63|1@1+ (1,0) [0|1] ""  Autopilot
+"""
+
+def get_val_definition(base_id):
+  return f"""
+VAL_ {base_id+1} MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ;
+VAL_ {base_id+1} Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 \
+"RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ;"""
diff --git a/generator/tesla/tesla_radar_bosch.py b/generator/tesla/tesla_radar_bosch.py
@@ -0,0 +1,282 @@
+#!/usr/bin/env python3
+
+import os
+from opendbc.generator.tesla.radar_common import get_radar_point_definition, get_val_definition
+
+if __name__ == "__main__":
+  dbc_name = os.path.basename(__file__).replace(".py", ".dbc")
+  tesla_path = os.path.dirname(os.path.realpath(__file__))
+  with open(os.path.join(tesla_path, dbc_name), "w", encoding='utf-8') as f:
+    f.write("""
+VERSION ""
+
+NS_ :
+	NS_DESC_
+	CM_
+	BA_DEF_
+	BA_
+	VAL_
+	CAT_DEF_
+	CAT_
+	FILTER
+	BA_DEF_DEF_
+	EV_DATA_
+	ENVVAR_DATA_
+	SGTYPE_
+	SGTYPE_VAL_
+	BA_DEF_SGTYPE_
+	BA_SGTYPE_
+	SIG_TYPE_REF_
+	VAL_TABLE_
+	SIG_GROUP_
+	SIG_VALTYPE_
+	SIGTYPE_VALTYPE_
+	BO_TX_BU_
+	BA_DEF_REL_
+	BA_REL_
+	BA_DEF_DEF_REL_
+	BU_SG_REL_
+	BU_EV_REL_
+	BU_BO_REL_
+	SG_MUL_VAL_
+
+BS_:
+
+BU_:  Autopilot Radar Diag
+
+
+BO_ 769 TeslaRadarSguInfo: 8 Radar
+ SG_ RADC_VerticalMisalignment : 0|8@1+ (1,0) [0|255] ""  Autopilot
+ SG_ RADC_SCUTemperature : 8|8@1+ (1,-128) [-128|127] ""  Autopilot
+ SG_ RADC_VMA_Plaus : 16|8@1+ (1,0) [0|255] ""  Autopilot
+ SG_ RADC_SGU_ITC : 24|8@1+ (1,0) [0|255] ""  Autopilot
+ SG_ RADC_HorizontMisalignment : 32|12@1+ (1,0) [0|4096] ""  Autopilot
+ SG_ RADC_SensorDirty : 44|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_HWFail : 45|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_SGUFail : 46|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_SGUInfoConsistBit : 47|1@1+ (1,0) [0|1] ""  Autopilot
+
+BO_ 770 TeslaRadarTguInfo: 8 Radar
+ SG_ RADC_ACCTargObj1_sguIndex : 0|6@1+ (1,0) [0|63] ""  Autopilot
+ SG_ RADC_ACCTargObj2_sguIndex : 6|6@1+ (1,0) [0|63] ""  Autopilot
+ SG_ RADC_ACCTargObj3_sguIndex : 12|6@1+ (1,0) [0|63] ""  Autopilot
+ SG_ RADC_ACCTargObj4_sguIndex : 18|6@1+ (1,0) [0|63] ""  Autopilot
+ SG_ RADC_ACCTargObj5_sguIndex : 24|6@1+ (1,0) [0|63] ""  Autopilot
+ SG_ unused30 : 30|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_TGUInfoConsistBit : 31|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_ACCTargObj1_dBPower : 32|16@1+ (1,0) [0|65535] ""  Autopilot
+ SG_ RADC_ACCTargObj5_dBPower : 48|16@1+ (1,0) [0|65535] ""  Autopilot
+
+BO_ 1281 TeslaRadarAlertMatrix: 8 Radar
+ SG_ RADC_a001_ecuInternalPerf : 0|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a002_flashPerformance : 1|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a003_vBatHigh : 2|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a004_adjustmentNotDone : 3|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a005_adjustmentReq : 4|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a006_adjustmentNotOk : 5|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a007_sensorBlinded : 6|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a008_plantModeActive : 7|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a009_configMismatch : 8|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a010_canBusOff : 9|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a011_bdyMIA : 10|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a012_espMIA : 11|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a013_gtwMIA : 12|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a014_sccmMIA : 13|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a015_adasMIA : 14|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a016_bdyInvalidCount : 15|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a017_adasInvalidCount : 16|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a018_espInvalidCount : 17|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a019_sccmInvalidCount : 18|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a020_bdyInvalidChkSm : 19|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a021_espInvalidChkSm : 20|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a022_sccmInvalidChkSm : 21|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a023_sccmInvalidChkSm : 22|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a024_absValidity : 23|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a025_ambTValidity : 24|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a026_brakeValidity : 25|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a027_CntryCdValidity : 26|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a028_espValidity : 27|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a029_longAccOffValidity : 28|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a030_longAccValidity : 29|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a031_odoValidity : 30|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a032_gearValidity : 31|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a033_steerAngValidity : 32|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a034_steerAngSpdValidity : 33|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a035_indctrValidity : 34|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a036_vehStandStillValidity : 35|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a037_vinValidity : 36|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a038_whlRotValidity : 37|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a039_whlSpdValidity : 38|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a040_whlStandStillValidity : 39|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a041_wiperValidity : 40|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a042_xwdValidity : 41|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a043_yawOffValidity : 42|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a044_yawValidity : 43|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a045_bsdSanity : 44|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a046_rctaSanity : 45|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a047_lcwSanity : 46|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a048_steerAngOffSanity : 47|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a049_tireSizeSanity : 48|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a050_velocitySanity : 49|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a051_yawSanity : 50|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a052_radomeHtrInop : 51|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a053_espmodValidity : 52|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a054_gtwmodValidity : 53|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a055_stwmodValidity : 54|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a056_bcmodValidity : 55|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a057_dimodValidity : 56|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a058_opmodValidity : 57|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a059_drmiInvalidChkSm : 58|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a060_drmiInvalidCount : 59|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a061_radPositionMismatch : 60|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ RADC_a062_strRackMismatch : 61|1@1+ (1,0) [0|1] ""  Autopilot
+ SG_ unused62 : 62|2@1+ (1,0) [0|3] ""  Autopilot
+""")
+
+    M_RANGE = range(0x310, 0x36D + 1, 3)
+    for i, base_id in enumerate(M_RANGE):
+      f.write(get_radar_point_definition(base_id, f"RadarPoint{i}"))
+
+    L_RANGE = range(0x371, 0x37D + 1, 3)
+    for i, base_id in enumerate(L_RANGE):
+      f.write(get_radar_point_definition(base_id, f"ProcessedRadarPoint{i+1}"))
+
+    f.write("""
+BO_ 697 VIN_VIP_405HS: 8 Autopilot
+ SG_ VIN_MuxID M : 0|8@1+ (1,0) [0|0] ""  Radar
+ SG_ VIN_Part1 m16 : 47|24@0+ (1,0) [0|16777215] "" Radar
+ SG_ VIN_Part2 m17 : 15|56@0+ (1,0) [0|7.2057594038E+16] "" Radar
+ SG_ VIN_Part3 m18 : 15|56@0+ (1,0) [0|7.2057594038E+16] "" Radar
+
+BO_ 681 Msg2A9_GTW_carConfig: 8 Autopilot
+ SG_ Msg2A9_Always0x02 : 48|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg2A9_Always0x10 : 56|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg2A9_Always0x16 : 8|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg2A9_Always0x41 : 24|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg2A9_Value1_0x02 : 0|3@1+ (1,0) [0|0] "" Radar
+ SG_ Msg2A9_FourWheelDrive : 3|2@1+ (1,0) [0|0] "" Radar
+ SG_ Msg2A9_Value2_0x02 : 5|3@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg2A9_Always0x43 : 16|8@1+ (1,0) [0|0] ""  Radar
+
+BO_ 409 Msg199_STW_ANGLHP_STAT: 8 Autopilot
+ SG_ Msg199Always0x04 : 32|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg199Always0x20 : 16|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg199Always0x2F : 0|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg199Always0x67 : 8|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg199Always0xFF : 40|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg199Checksum : 56|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg199Counter : 52|4@1+ (1,0) [0|0] ""  Radar
+
+BO_ 361 Msg169_ESP_wheelSpeeds: 8 Autopilot
+ SG_ ESP_wheelSpeedFrL_HS : 0|13@1+ (0.04,0) [0|327.64] "km/h" Radar
+ SG_ ESP_wheelSpeedFrR_HS : 13|13@1+ (0.04,0) [0|327.64] "km/h" Radar
+ SG_ ESP_wheelSpeedReL_HS : 26|13@1+ (0.04,0) [0|327.64] "km/h" Radar
+ SG_ ESP_wheelSpeedReR_HS : 39|13@1+ (0.04,0) [0|327.64] "km/h" Radar
+ SG_ Msg169Checksum : 56|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg169Counter : 52|4@1+ (1,0) [0|0] ""  Radar
+
+BO_ 345 Msg159_ESP_C: 8 Autopilot
+ SG_ Msg159Always0x3A : 16|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg159Always0xA5 : 0|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg159Always0xCF : 32|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg159Always0xF4 : 8|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg159Counter : 44|4@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg159Checksum : 24|8@1+ (1,0) [0|0] ""  Radar
+
+BO_ 329 Msg149_ESP_145h: 8 Autopilot
+ SG_ Msg149Always0x02 : 16|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg149Always0x04 : 40|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg149Always0x26 : 8|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg149Always0x6A : 24|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg149Always0xAA : 32|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg149Always0xF : 48|4@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg149Checksum : 56|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg149Counter : 52|4@1+ (1,0) [0|0] ""  Radar
+
+BO_ 297 Msg129_ESP_115h: 6 Autopilot
+ SG_ Msg129Always0x20 : 24|8@1+ (1,0) [0|0] "" Radar
+ SG_ Msg129Checksum : 40|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg129Counter : 36|4@1+ (1,0) [0|0] ""  Radar
+
+BO_ 281 Msg119_DI_torque2: 6 Autopilot
+ SG_ Msg119Always0x11 : 24|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg119Always0x1F : 8|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg119Always0x8 : 36|4@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg119Always0xF4 : 16|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg119Always0xFF : 0|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg119Checksum : 40|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg119Counter : 32|4@1+ (1,0) [0|0] ""  Radar
+
+BO_ 265 Msg109_DI_torque1: 8 Autopilot
+ SG_ Msg109Always0x80 : 24|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg109Checksum : 56|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg109Counter : 13|3@1+ (1,0) [0|0] ""  Radar
+
+BO_ 521 Msg209_GTW_odo: 8 Autopilot
+ SG_ Msg209Always0x61 : 8|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg209Always0x94 : 16|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg209Always0x52 : 24|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg209Always0x13 : 32|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg209Always0x03 : 40|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg209Always0x80 : 48|8@1+ (1,0) [0|0] ""  Radar
+
+BO_ 537 Msg219_STW_ACTN_RQ: 8 Autopilot
+ SG_ Msg219Counter : 52|4@1+ (1,0) [0|15] "" Radar
+ SG_ Msg219CRC : 56|8@1+ (1,0) [0|0] "" Radar
+
+BO_ 425 Msg1A9_DI_espControl: 5 Autopilot
+ SG_ Msg1A9Always0x0C : 16|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg1A9Counter : 28|4@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg1A9Checksum : 32|8@1+ (1,0) [0|0] ""  Radar
+
+BO_ 729 Msg2D9_BC_status : 8 Autopilot
+ SG_ Msg2D9Always0x80 : 0|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg2D9Always0x40 : 8|8@1+ (1,0) [0|0] ""  Radar
+ SG_ Msg2D9Always0x83 : 16|8@1+ (1,0) [0|0] ""  Radar
+
+BO_ 1601 UDS_radarRequest: 8 Diag
+ SG_ UDS_radarRequestData : 7|64@0+ (1,0) [0|0] "" Radar
+
+BO_ 1617 Radar_udsResponse: 8 Radar
+ SG_ Radar_udsResponseData : 7|64@0+ (1,0) [0|0] "" Diag
+
+CM_ BO_ 697 "Start with MuxID 0x12, then 0x11 and finally 0x10 (VIN is then transmitted in the reverse order)";
+CM_ BO_ 681 "Message sent every 1000 ms. All fixed bytes, no checksum, the byte for RWD or AWD needs to match VIN config";
+CM_ BO_ 409 "Message sent every 10ms. Checksum : use all first 7 bytes with the SAE J1850 CRC algo";
+CM_ BO_ 361 "Message sent every 10ms. Checksum : Sum of all first 7 bytes + 0x76";
+CM_ BO_ 345 "Message sent every 20ms. Checksum : Sum of all first bytes + 0xc; place checksum in 4th octet";
+CM_ BO_ 329 "Message sent every 20ms. Checksum : Sum of all first 7 bytes + 0x46";
+CM_ BO_ 297 "Message sent every 20ms. Checksum : Sum of all first 5 bytes + 0x16";
+CM_ BO_ 281 "Message sent every 10ms. Checksum : Sum of all first 5 bytes + 0x17";
+CM_ BO_ 265 "Message sent every 10ms. Checksum : Sum of all first 7 bytes + 0x7";
+CM_ BO_ 521 "Message sent every 100ms. All fixed bytes, no checksum.";
+CM_ BO_ 537 "Message sent every 100ms. Checksum : use all first 7 bytes with the SAE J1850 CRC algo";
+CM_ BO_ 425 "Message sent every 20ms. Checksum : Sum of all first 4 bytes + 0x38";
+CM_ BO_ 729 "Message sent every 1000ms. All fixed bytes, no checksum.";
+
+BA_DEF_ "BusType" STRING ;
+BA_DEF_ BO_ "GenMsgCycleTime" INT 0 0;
+BA_DEF_ SG_ "FieldType" STRING ;
+
+BA_DEF_DEF_ "BusType" "CAN";
+BA_DEF_DEF_ "FieldType" "";
+BA_DEF_DEF_ "GenMsgCycleTime" 0;
+
+BA_ "GenMsgCycleTime" BO_ 697 250;
+BA_ "GenMsgCycleTime" BO_ 681 1000;
+BA_ "GenMsgCycleTime" BO_ 409 10;
+BA_ "GenMsgCycleTime" BO_ 361 10;
+BA_ "GenMsgCycleTime" BO_ 345 20;
+BA_ "GenMsgCycleTime" BO_ 329 20;
+BA_ "GenMsgCycleTime" BO_ 297 20;
+BA_ "GenMsgCycleTime" BO_ 281 10;
+BA_ "GenMsgCycleTime" BO_ 265 10;
+BA_ "GenMsgCycleTime" BO_ 521 100;
+BA_ "GenMsgCycleTime" BO_ 537 100;
+BA_ "GenMsgCycleTime" BO_ 425 20;
+BA_ "GenMsgCycleTime" BO_ 729 1000;
+
+VAL_ 681 Msg2A9_FourWheelDrive 3 "SNA" 2 "UNUSED" 1 "4WD" 0 "2WD" ;""")
+
+    for base_id in list(M_RANGE) + list(L_RANGE):
+      f.write(get_val_definition(base_id))