Merge commit 'e19ba095c3ee288d629284e24ec7e0deaf645f3f' into subaru-c…

…ommunity

SConstruct

@@ -53,9 +53,8 @@ env = Environment(
   tools=["default", "cython"]
 )
 
-QCOM_REPLAY = False
 common = ''
-Export('env', 'zmq', 'arch', 'QCOM_REPLAY', 'common')
+Export('env', 'zmq', 'arch', 'common')
 
 cereal = [File('#cereal/libcereal.a')]
 messaging = [File('#cereal/libmessaging.a')]

acura_ilx_2016_can_generated.dbc

@@ -10,8 +10,8 @@ BO_ 512 GAS_COMMAND: 6 EON
  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
 
 BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON
  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON

acura_rdx_2018_can_generated.dbc

@@ -10,8 +10,8 @@ BO_ 512 GAS_COMMAND: 6 EON
  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
 
 BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON
  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON

can/common.h

@@ -60,7 +60,10 @@ class CANParser {
 
 public:
   bool can_valid = false;
+  bool bus_timeout = false;
   uint64_t last_sec = 0;
+  uint64_t last_nonempty_sec = 0;
+  uint64_t bus_timeout_threshold = 0;
 
   CANParser(int abus, const std::string& dbc_name,
             const std::vector<MessageParseOptions> &options,

can/common.pxd

@@ -74,6 +74,7 @@ cdef extern from "common.h":
 
   cdef cppclass CANParser:
     bool can_valid
+    bool bus_timeout
     CANParser(int, string, vector[MessageParseOptions], vector[SignalParseOptions])
     void update_string(string, bool)
     vector[SignalValue] query_latest()

can/parser.cc

@@ -1,6 +1,7 @@
 #include <algorithm>
 #include <cassert>
 #include <cstring>
+#include <limits>
 
 #include <unistd.h>
 #include <fcntl.h>
@@ -61,7 +62,7 @@ bool MessageState::parse(uint64_t sec, const std::vector<uint8_t> &dat) {
 
     bool counter_failed = false;
     if (!ignore_counter) {
-      if (sig.type == SignalType::HONDA_COUNTER || sig.type == SignalType::VOLKSWAGEN_COUNTER || sig.type == SignalType::PEDAL_COUNTER) { 
+      if (sig.type == SignalType::HONDA_COUNTER || sig.type == SignalType::VOLKSWAGEN_COUNTER || sig.type == SignalType::PEDAL_COUNTER) {
         counter_failed = !update_counter_generic(tmp, sig.size);
       }
     }
@@ -108,6 +109,8 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
   assert(dbc);
   init_crc_lookup_tables();
 
+  bus_timeout_threshold = std::numeric_limits<uint64_t>::max();
+
   for (const auto& op : options) {
     MessageState &state = message_states[op.address];
     state.address = op.address;
@@ -116,6 +119,9 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
     // msg is not valid if a message isn't received for 10 consecutive steps
     if (op.check_frequency > 0) {
       state.check_threshold = (1000000000ULL / op.check_frequency) * 10;
+
+      // bus timeout threshold should be 10x the fastest msg
+      bus_timeout_threshold = std::min(bus_timeout_threshold, state.check_threshold);
     }
 
     const Msg* msg = NULL;
@@ -213,13 +219,17 @@ void CANParser::update_string(const std::string &data, bool sendcan) {
 void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans) {
   //DEBUG("got %d messages\n", cans.size());
 
+  bool bus_empty = true;
+
   // parse the messages
   for (int i = 0; i < cans.size(); i++) {
     auto cmsg = cans[i];
     if (cmsg.getSrc() != bus) {
       // DEBUG("skip %d: wrong bus\n", cmsg.getAddress());
       continue;
     }
+    bus_empty = false;
+
     auto state_it = message_states.find(cmsg.getAddress());
     if (state_it == message_states.end()) {
       // DEBUG("skip %d: not specified\n", cmsg.getAddress());
@@ -243,6 +253,12 @@ void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Rea
     memcpy(data.data(), dat.begin(), dat.size());
     state_it->second.parse(sec, data);
   }
+
+  // update bus timeout
+  if (!bus_empty) {
+    last_nonempty_sec = sec;
+  }
+  bus_timeout = (sec - last_nonempty_sec) > bus_timeout_threshold;
 }
 #endif
 

can/parser_pyx.pyx

@@ -30,6 +30,7 @@ cdef class CANParser:
     dict vl
     dict vl_all
     bool can_valid
+    bool bus_timeout
     string dbc_name
     int can_invalid_cnt
 
@@ -111,6 +112,7 @@ cdef class CANParser:
     if self.can.can_valid:
       self.can_invalid_cnt = 0
     self.can_valid = self.can_invalid_cnt < CAN_INVALID_CNT
+    self.bus_timeout = self.can.bus_timeout
 
     new_vals = self.can.query_latest()
     for cv in new_vals:

can/tests/test_packer_parser.py

@@ -7,10 +7,13 @@
 from opendbc.can.packer import CANPacker
 
 # Python implementation so we don't have to depend on boardd
-def can_list_to_can_capnp(can_msgs, msgtype='can'):
+def can_list_to_can_capnp(can_msgs, msgtype='can', logMonoTime=None):
   dat = messaging.new_message()
   dat.init(msgtype, len(can_msgs))
 
+  if logMonoTime is not None:
+    dat.logMonoTime = logMonoTime
+
   for i, can_msg in enumerate(can_msgs):
     if msgtype == 'sendcan':
       cc = dat.sendcan[i]
@@ -149,6 +152,45 @@ def test_subaru(self):
 
         idx += 1
 
+  def test_bus_timeout(self):
+    """Test CAN bus timeout detection"""
+    dbc_file = "honda_civic_touring_2016_can_generated"
+
+    freq = 100
+    checks = [("VSA_STATUS", freq), ("STEER_MOTOR_TORQUE", freq/2)]
+
+    parser = CANParser(dbc_file, [], checks, 0)
+    packer = CANPacker(dbc_file)
+
+    i = 0
+    def send_msg(blank=False):
+      nonlocal i
+      i += 1
+      t = i*((1 / freq) * 1e9)
+
+      if blank:
+        msgs = []
+      else:
+        msgs = [packer.make_can_msg("VSA_STATUS", 0, {}), ]
+
+      can = can_list_to_can_capnp(msgs, logMonoTime=t)
+      parser.update_strings([can, ])
+
+    # all good, no timeout
+    for _ in range(1000):
+      send_msg()
+      self.assertFalse(parser.bus_timeout, str(_))
+
+    # timeout after 10 blank msgs
+    for n in range(200):
+      send_msg(blank=True)
+      self.assertEqual(n >= 10, parser.bus_timeout)
+
+    # no timeout immediately after seen again
+    send_msg()
+    self.assertFalse(parser.bus_timeout)
+
+
   def test_updated(self):
     """Test updated value dict"""
     dbc_file = "honda_civic_touring_2016_can_generated"

comma_body.dbc

@@ -18,8 +18,15 @@ BO_ 514 VAR_VALUES: 3 XXX
 BO_ 515 BODY_DATA: 4 XXX
   SG_ MCU_TEMP : 7|8@0+ (0.1,0) [0|125] "" XXX
   SG_ BATT_VOLTAGE : 15|16@0+ (0.01,0) [0|60] "" XXX
-  SG_ BATT_PERCENTAGE : 23|7@0+ (1,0) [0|100] "" XXX
-  SG_ CHARGER_CONNECTED : 16|1@0+ (1,0) [0|1] "" XXX
+  SG_ BATT_PERCENTAGE : 31|7@0+ (1,0) [0|100] "" XXX
+  SG_ CHARGER_CONNECTED : 24|1@0+ (1,0) [0|1] "" XXX
+  SG_ CELLS_COUNT : 35|4@0+ (1,0) [0|15] "" XXX
+
+BO_ 516 MOTORS_CURRENT: 8 XXX
+  SG_ LEFT_PHA_AB : 7|16@0- (1,0) [-32768|32767] "" XXX
+  SG_ LEFT_PHA_BC : 23|16@0- (1,0) [-32768|32767] "" XXX
+  SG_ RIGHT_PHA_AB : 39|16@0- (1,0) [-32768|32767] "" XXX
+  SG_ RIGHT_PHA_BC : 55|16@0- (1,0) [-32768|32767] "" XXX
 
 BO_ 592 TORQUE_CMD: 6 XXX
   SG_ TORQUE_L : 7|16@0- (1,0) [-1000|1000] "" XXX

generator/honda/_comma.dbc

@@ -6,8 +6,8 @@ BO_ 512 GAS_COMMAND: 6 EON
  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
 
 BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON
  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON

generator/toyota/_comma.dbc

@@ -18,8 +18,8 @@ BO_ 512 GAS_COMMAND: 6 EON
  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
 
 BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON
  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON

generator/toyota/_toyota_2017.dbc

@@ -145,19 +145,19 @@ BO_ 742 LEAD_INFO: 8 DSU
 
 BO_ 835 ACC_CONTROL: 8 DSU
  SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s^2" HCU
- SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
- SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
  SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
- SG_ ITS_CONNECT_LEAD : 39|8@0+ (1,0) [0|1] "" Vector__XXX
- SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
+ SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
  SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
  SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
  SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
  SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
- SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
- SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ ITS_CONNECT_LEAD : 39|8@0+ (1,0) [0|1] "" Vector__XXX
  SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
- SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 836 PRE_COLLISION_2: 8 DSU
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@@ -378,7 +378,7 @@ CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout.
 CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
 CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
 CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
-CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
+CM_ SG_ 835 DISTANCE "Cycle through ACC following distance from long, mid, short when set to 1";
 CM_ SG_ 835 ITS_CONNECT_LEAD "Displayed when lead car is capable of ITS Connect";
 CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
 CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";

honda_civic_touring_2016_can_generated.dbc

@@ -10,8 +10,8 @@ BO_ 512 GAS_COMMAND: 6 EON
  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
 
 BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON
  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON

honda_clarity_hybrid_2018_can_generated.dbc

@@ -10,8 +10,8 @@ BO_ 512 GAS_COMMAND: 6 EON
  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
 
 BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON
  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON

honda_crv_executive_2016_can_generated.dbc

@@ -10,8 +10,8 @@ BO_ 512 GAS_COMMAND: 6 EON
  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
 
 BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON
  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON

honda_crv_touring_2016_can_generated.dbc

@@ -10,8 +10,8 @@ BO_ 512 GAS_COMMAND: 6 EON
  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
 
 BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON
  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON

honda_fit_ex_2018_can_generated.dbc

@@ -10,8 +10,8 @@ BO_ 512 GAS_COMMAND: 6 EON
  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
 
 BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON
  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON

honda_fit_hybrid_2018_can_generated.dbc

@@ -10,8 +10,8 @@ BO_ 512 GAS_COMMAND: 6 EON
  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
 
 BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON
  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON

honda_odyssey_exl_2018_generated.dbc

@@ -10,8 +10,8 @@ BO_ 512 GAS_COMMAND: 6 EON
  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
 
 BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON
  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON

honda_odyssey_extreme_edition_2018_china_can_generated.dbc

@@ -10,8 +10,8 @@ BO_ 512 GAS_COMMAND: 6 EON
  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
 
 BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON
  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON