6.1 FoxPi_read#

本章節介紹如何透過 FoxtronPi 讀取各類車輛訊號。

建立 FoxtronPi DID 讀取器。

class FoxPiReadDID(client):

client: (udsoncan.client.Client) 已開啟的 UDS 客戶端，用於發送 ReadDataByIdentifier 等請求。
Raises: 任何由 client.read_data_by_identifier() 拋出的通訊錯誤(如逾時、負回應)。

6.1.1 FoxPi_Driving_Ctrl()#

讀取 DID 0x1001 (FoxPi_Driving_Ctrl)，並解析為實體值。

自動套用 factor/offset 計算與 FF 無效機制，若底層資料為 0xFF，回傳字串 “FF” 表示該欄位無效/預設值。

Return type: Dict[str, Union[int, float, str]]

Return value

{
"Acc": float | "FF", 
"Acc_A": int | "FF", 
"Spd": float | "FF", 
"Spd_A": int | "FF", 
"Angle_V": int | "FF", 
"Angle_Req": int | "FF", 
"Angle": float | "FF", 
"Torque_V": int | "FF", 
"Torque_Req": int | "FF",
"Torque": float | "FF", 
"APS_flg": int | "FF", 
"APS_Sta": int | "FF", 
"APS_Shift": int | "FF", 
"APS_Spd": float | "FF"
}

Example Code/Output

from doipclient import DoIPClient
from doipclient.connectors import DoIPClientUDSConnector
from udsoncan.client import Client
from common import get_uds_client
from client_config import DOIP_SERVER_IP, DoIP_LOGICAL_ADDRESS
from FoxPi_read import FoxPiReadDID

doip_client = DoIPClient(DOIP_SERVER_IP, DoIP_LOGICAL_ADDRESS, protocol_version=3)
uds_connection = DoIPClientUDSConnector(doip_client)
assert uds_connection.is_open
with Client(uds_connection, request_timeout=4, config=get_uds_client()) as client:

    Foxpi = FoxPiReadDID(client)
    resp = Foxpi.FoxPi_Driving_Ctrl()
    for i,j in resp.items():
        print(f"{i}: {j}")

Acc: -10.0
Acc_A: 1
Spd: 255.875
Spd_A: 1
Angle_V: 1
Angle_Req: 1
Angle: -900.0
Torque_V: 1
Torque_Req: 1
Torque: -10.0
APS_flg: 1
APS_Sta: 4
APS_Shift: 7
APS_Spd: 20.0

說明

此為 FoxtronPi 車輛動態控制訊號，支援以下控制項目:「加減速度」、「目標車速」、「方向盤角度」、「方向盤扭力」和「檔位切換」。屬可讀/可寫訊號。詳細操作資訊、訊號值定義請參見 6.2.1 車輛動態操作流程 (FoxPi_Driving_Ctrl)。

Acc: 加減速度命令訊號 (-15 ~ 1.5 m/s²)
Acc_A: 加減速度命令驗證 (0 ~ 1)
Spd: 目標速度命令訊號 (0 ~ 170 km/h)
Spd_A: 目標速度命令驗證 (0 ~ 1)
Angle_V: 方向盤角度控制要求訊號的驗證 (0 ~ 1)
Angle_Req: 要求 EPS 進入角度控制狀態的訊號 (0 ~ 1)
Angle: 要求 EPS 轉動方向盤的目標角度位置 (-360 ~ 360 deg)
Torque_V: 方向盤扭力控制要求訊號的驗證 (0 ~ 1)
Torque_Req: 要求 EPS 進入扭力控制狀態的訊號 (0 ~ 1)
Torque: 要求 EPS 轉動方向盤扭力 (-3 ~ 3 Nm)
APS_flg: APS 控制命令 VMC 執行應用需求 (0 ~ 1)
APS_Sta: APS 控制狀態 (0 ~ 7)
APS_Shift: APS 檔位控制命令 0 ~ 15
APS_Spd: APS 速度控制命令 (0 ~ 7 km/h)

6.1.2 FoxPi_Motion_Status()#

讀取 DID 0x1002 (車輛動態狀態)，並將回應位元組解析為實體值。

Return type: Dict[str, Union[int, float, str]]

Return value

{
"VehicleSpeed": float,  
"LongAcc": float,  
"LongAcc_V": int, 
"LatAcc": float, 
"LatAcc_V": int, 
"YawRate": float, 
"YawRate_V": int
}

Example Code/Output

from doipclient import DoIPClient
from doipclient.connectors import DoIPClientUDSConnector
from udsoncan.client import Client
from common import get_uds_client
from client_config import DOIP_SERVER_IP, DoIP_LOGICAL_ADDRESS
from FoxPi_read import FoxPiReadDID

doip_client = DoIPClient(DOIP_SERVER_IP, DoIP_LOGICAL_ADDRESS, protocol_version=3)
uds_connection = DoIPClientUDSConnector(doip_client)
assert uds_connection.is_open
with Client(uds_connection, request_timeout=4, config=get_uds_client()) as client:

    Foxpi = FoxPiReadDID(client)
    resp = Foxpi.FoxPi_Motion_Status()
    for i,j in resp.items():
        print(f"{i}: {j}")

VehicleSpeed: 0.0
LongAcc: 0.0
LongAcc_V: 0
LatAcc: 0.0
LatAcc_V: 0
YawRate: 0.0
YawRate_V: 0

說明

此為 FoxtronPi 車輛速度訊號，支援以下控制項目:「車速」、「縱向加速度」、「縱向加速度訊號驗證」、「橫向加速度」、「橫向加速度訊號驗證」、「偏航率」、「偏航率訊號驗證」。屬可讀訊號。

VehicleSpeed: 車速 (0 ~ 255.875 km/h)
LongAcc: 車輛縱向加速度 (-1.27 ~ 1.27 G’s)
LongAcc_V: 車輛縱向加速度訊號驗證 (0 ~ 1)
LatAcc: 車輛橫向加速度 (-1.27 ~ 1.27 G’s)
LatAcc_V: 車輛橫向加速度訊號驗證 (0 ~ 1)
YawRate: 車輛偏航率 (-100 ~ 100 Deg/s)
YawRate_V: 車輛偏航率訊號驗證 (0 ~ 1)

LongAcc_V、LatAcc_V、YawRate_V 為有效性旗標，用於判斷當前感測器是否異常；0＝invalid、1＝valid。當旗標為 0 時，對應的量測值(LongAcc/LatAcc/YawRate)不可信，請忽略。

6.1.3 FoxPi_Brake_Status()#

讀取 DID 0x1003 (煞車系統狀態)，並將回應位元組解析為實體值。

Return type: Dict[str, Union[int, float, str]]

Return value

{
"Break_Sw": int, 
"Break_Sw_V": int, 
"MCPressure": float, 
"MCPressure_V": int, 
"PBA_Act": int, 
"PBA_Flt": int, 
"ABS_Act": int, 
"ABS_Flt": int, 
"EBD_Act": int, 
"EBD_Flt": int, 
"ACC_Avail": int
}

Example Code/Output

from doipclient import DoIPClient
from doipclient.connectors import DoIPClientUDSConnector
from udsoncan.client import Client
from common import get_uds_client
from client_config import DOIP_SERVER_IP, DoIP_LOGICAL_ADDRESS
from FoxPi_read import FoxPiReadDID

doip_client = DoIPClient(DOIP_SERVER_IP, DoIP_LOGICAL_ADDRESS, protocol_version=3)
uds_connection = DoIPClientUDSConnector(doip_client)
assert uds_connection.is_open
with Client(uds_connection, request_timeout=4, config=get_uds_client()) as client:

    Foxpi = FoxPiReadDID(client)
    resp = Foxpi.FoxPi_Brake_Status()
    for i,j in resp.items():
        print(f"{i}: {j}")

Break_Sw: 0
Break_Sw_V: 0
MCPressure: 0.0
MCPressure_V: 0
PBA_Act: 0
PBA_Flt: 0
ABS_Act: 0
ABS_Flt: 0
EBD_Act: 0
EBD_Flt: 0
ACC_Avail: 0

說明

Brake_Sw: 煞車開關訊號 (0 ~ 1)
Brake_Sw_V: 煞車開關訊號驗證 (0 ~ 1)
MCPressure: 總泵壓力 (-9.7 ~ 195 Bar)
MCPressure_V: 總泵壓力訊號驗證 (0 ~ 1)
PBA_Act: PBA 作動狀態 (0 ~ 1)
PBA_Flt: PBA 故障 (0 ~ 1)
ABS_Act: ABS 作動狀態 (0 ~ 1)
ABS_Flt: ABS 故障 (0 ~ 1)
EBD_Act: EBD 作動狀態 (0 ~ 1)
EBD_Flt: EBD 故障 (0 ~ 1)
ACC_Avail: 確認煞車系統可控狀態及訊號穩定性、正確性 (0 ~ 1)

Brake_Sw: 為煞車開關狀態訊號，主要用於判斷煞車踏板是否被踩下。當煞車踏板踩下行程達約 15% 以上，此訊號將被觸發，表示駕駛者在執行煞車動作。 0＝inactive、1＝active

MCPressure (Master Cylinder Pressure): 為煞車主缸內的液壓壓力值。（此值可能會有些誤差會出現微小負值(-0.1)，如果出現負值大於1，代表有問題，需檢查車輛是否有問題） Brake_Sw_V(煞車開關可控狀態) 與 MCPressure_V (總泵壓力可控狀態) 為判斷當前 Brake_Sw / MCPressure 數值是否可信的旗標。0＝invalid、1＝valid

PBA (Panic Brake Assist) 會依據駕駛者踩踏剎車踏板的速度跟行程，來判斷是不是進入緊急情況。 PBA_Active: PBA當前的作動狀態 (0＝inactive、1＝active)。 PBA_Fail: PBA是否有故障 (0＝normal、1＝failed)。

ACC_Availabliity: 確認煞車系統可控狀態及訊號穩定性、正確性 (0＝unavailable、1＝available)。

6.1.4 FoxPi_WheelSpeed()#

讀取 DID 0x1004 (車輪速度)，並將回應位元組解析為實體值。

Return type: Dict[str, Union[int, float, str]]

Return value

{
"RR_WhlSpeed": float, 
"RR_WhlSpeed_V": int, 
"LR_WhlSpeed": float, 
"LR_WhlSpeed_V": int, 
"RF_WhlSpeed": float, 
"RF_WhlSpeed_V": int, 
"LF_WhlSpeed": float, 
"LF_WhlSpeed_V": int
}

Example Code/Output

from doipclient import DoIPClient
from doipclient.connectors import DoIPClientUDSConnector
from udsoncan.client import Client
from common import get_uds_client
from client_config import DOIP_SERVER_IP, DoIP_LOGICAL_ADDRESS
from FoxPi_read import FoxPiReadDID

doip_client = DoIPClient(DOIP_SERVER_IP, DoIP_LOGICAL_ADDRESS, protocol_version=3)
uds_connection = DoIPClientUDSConnector(doip_client)
assert uds_connection.is_open
with Client(uds_connection, request_timeout=4, config=get_uds_client()) as client:

    Foxpi = FoxPiReadDID(client)
    resp = Foxpi.FoxPi_WheelSpeed()
    for i,j in resp.items():
        print(f"{i}: {j}")

RR_WhlSpeed: 0.0000
RR_WhlSpeed_V: 0
LR_WhlSpeed: 0.0000
LR_WhlSpeed_V: 0
RF_WhlSpeed: 0.0000
RF_WhlSpeed_V: 0
LF_WhlSpeed: 0.0000
LF_WhlSpeed_V: 0

說明

RR_WhlSpeed: RR 輪速 (0 ~ 255.9375 km/h)
RR_WhlSpeed_V: RR 輪速訊號驗證 (0 ~ 1)
LR_WhlSpeed: LR 輪速 (0 ~ 255.9375 km/h)
LR_WhlSpeed_V: LR 輪速訊號驗證 (0 ~ 1)
RF_WhlSpeed: RF 輪速 (0 ~ 255.9375 km/h)
RF_WhlSpeed_V: RF 輪速訊號驗證 (0 ~ 1)
LF_WhlSpeed: LF 輪速 (0 ~ 255.9375 km/h)
LF_WhlSpeed_V: LF 輪速訊號驗證 (0 ~ 1)

RR_WhlSpeed_V、LR_WhlSpeed_V、RF_WhlSpeed_V、LF_WhlSpeed_V 為判斷當前對應訊號是否可信的旗標；0＝invalid、1＝valid。

6.1.5 FoxPi_EPS_Status()#

讀取 DID 0x1005 (轉向系統狀態)，並將回應位元組解析為實體值。

Return type: Dict[str, Union[int, float, str]]

Return value

{
"SAS_Angle": float, 
"SAS_V": int, 
"SAS_CAL": int, 
"EPS_AOI_Ctrl": int, 
"EPS_Flt": int, 
"EPS_TOI_Act": int,
"EPS_TOI_Avail": int, 
"EPS_TOI_Flt": int
}

Example Code/Output

from doipclient import DoIPClient
from doipclient.connectors import DoIPClientUDSConnector
from udsoncan.client import Client
from common import get_uds_client
from client_config import DOIP_SERVER_IP, DoIP_LOGICAL_ADDRESS
from FoxPi_read import FoxPiReadDID

doip_client = DoIPClient(DOIP_SERVER_IP, DoIP_LOGICAL_ADDRESS, protocol_version=3)
uds_connection = DoIPClientUDSConnector(doip_client)
assert uds_connection.is_open
with Client(uds_connection, request_timeout=4, config=get_uds_client()) as client:

    Foxpi = FoxPiReadDID(client)
    resp = Foxpi.FoxPi_EPS_Status()
    for i,j in resp.items():
        print(f"{i}: {j}")

SAS_Angle: 0.0
SAS_V: 0
SAS_CAL: 0
EPS_AOI_Ctrl: 0
EPS_Flt: 0
EPS_TOI_Act: 0
EPS_TOI_Avail: 0
EPS_TOI_Flt: 0

說明

SAS_Angle: 當前方向盤的角度值 (-360 ~ 360 deg)
SAS_V: 轉向感測器是否為可控狀態 (0 ~ 1)
SAS_Cal: 轉向系統的絕對轉向角度是否完成校正 (0 ~ 1)
EPS_AOI_Ctrl: 方向盤角度控制狀態 (0 ~ 3)
EPS_Flt: 轉向控制系統失效 (0 ~ 2)
EPS_TOI_Act: 轉向扭力控制系統是否反映 (0 ~ 1)
EPS_TOI_Avail: 轉向扭力控制系統是否可控(EPS 檢查) (0 ~ 1)
EPS_TOI_Flt: 轉向扭力控制系統故障(fail safe 檢查) (0 ~ 1)

EPS_AOI_Ctrl: 角度控制狀態 (0: Control Inhibit, 1: Available, 2: Controlled, 3: Permanent Fail)

EPS_Flt: 轉向系統是否出現失效 (0: No Fail, 2: Permanent Fail, 3: Permanent Fail)

EPS_TOI_Activation: EPS 系統是否有反應使用者下達的 TOI 轉向控制 (0: No Activation, 1: Activation)

EPS_TOI_Available: EPS 內部檢查確認後，TOI 是否為可控狀態 (0: Available, 1: Unavailable) 註: 若有問題則無法開啟 TOI 控制。

EPS_TOI_Fault: TOI 控制下 fail safe 檢查確認 (0: No Fault, 1: Fault)

6.1.6 FoxPi_Button_Status()#

讀取 DID 0x1006 (方向盤按鍵狀態)，並將回應位元組解析為實體值。

Return type: Dict[str, Union[int, float, str]]

Return value

{
"SWC_ACC_sta": int, 
"SWC_CANCEL_Sta": int, 
"SWC_SET_down_Sta": int,
"SWC_RES_up_Sta": int, 
"SWC_Distance_Sta": int, 
"SWC_mode_Sta": int, 
"SWC_Up_Sta": int, 
"SWC_Down_Sta": int, 
"SWC_Left_Sta": int, 
"SWC_Right_Sta": int, 
"SWC_RegenDown": int, 
"SWC_Undefined_Sta": int, 
"SWC_VR_Sta": int, 
"SWC_LKA_Sta": int, 
"SWC_RegenUp": int, 
"SWC_Trip_Sta": int
}

Example Code/Output

from doipclient import DoIPClient
from doipclient.connectors import DoIPClientUDSConnector
from udsoncan.client import Client
from common import get_uds_client
from client_config import DOIP_SERVER_IP, DoIP_LOGICAL_ADDRESS
from FoxPi_read import FoxPiReadDID

doip_client = DoIPClient(DOIP_SERVER_IP, DoIP_LOGICAL_ADDRESS, protocol_version=3)
uds_connection = DoIPClientUDSConnector(doip_client)
assert uds_connection.is_open
with Client(uds_connection, request_timeout=4, config=get_uds_client()) as client:

    Foxpi = FoxPiReadDID(client)
    resp = Foxpi.FoxPi_Button_Status()
    for i,j in resp.items():
        print(f"{i}: {j}")

SWC_CANCEL_Sta: 0
SWC_SET_down_Sta: 0
SWC_RES_up_Sta: 0
SWC_Distance_Sta: 0
SWC_mode_Sta: 0
SWC_Up_Sta: 0
SWC_Down_Sta: 0
SWC_Left_Sta: 0
SWC_Right_Sta: 0
SWC_RegenDown: 0
SWC_Undefined_Sta: 0
SWC_VR_Sta: 0
SWC_LKA_Sta: 0
SWC_RegenUp: 0
SWC_Trip_Sta: 0

說明

SWC_ACC_Sta: 方向盤 ACC 按鈕觸發狀態 (0 ~ 1)
SWC_CANCEL_Sta: 方向盤 CANCEL 按鈕觸發狀態 (0 ~ 1)
SWC_SET_down_Sta: 方向盤 SET/↓按鈕觸發狀態 (0 ~ 1)
SWC_RES_Up_Sta: 方向盤 RESUME/↑按鈕觸發狀態 (0 ~ 1)
SWC_Distance_Sta: 方向盤 DISTANCE 按鈕觸發狀態 (0 ~ 1)
SWC_mode_Sta: 方向盤 Mode 按鈕觸發狀態 (0 ~ 1)
SWC_Up_Sta: 方向盤 Up 按鈕觸發狀態 (0 ~ 1)
SWC_Down_Sta: 方向盤 Down 按鈕觸發狀態 (0 ~ 1)
SWC_Left_Sta: 方向盤 Left 按鈕觸發狀態 (0 ~ 1)
SWC_Right_Sta: 方向盤 Right 按鈕觸發狀態 (0 ~ 1)
SWC_RegenDown: 方向盤 Regen Down 按鈕觸發狀態 (0 ~ 1)
SWC_Undefined_Sta: 方向盤 Undefined 按鈕觸發狀態 (0 ~ 1)
SWC_VR_Sta: 方向盤 VR 按鈕觸發狀態 (0 ~ 1)
SWC_LKA_Sta: 方向盤 LKA 按鈕觸發狀態 (0 ~ 1)
SWC_RegenUp: 方向盤 Regen Up 按鈕觸發狀態 (0 ~ 1)
SWC_Trip_Sta: 方向盤 Trip 按鈕觸發狀態 (0 ~ 1)

(0: Release, 1: Press)

6.1.7 FoxPi_Switch_Status()#

讀取 DID 0x100A (車身開關狀態)，並將回應位元組解析為實體值。

Return type: Dict[str, Union[int, float, str]]

Return value

{
"Crash_Detect_Status": int, 
"Driver_Lock_Status": int, 
"All_Door_Switch_Status": int, 
"Driver_Door_Switch_Status": int, 
"Passenger_Door_Switch_Status": int, 
"Rear_Left_Door_Switch_Status": int, 
"Rear_Right_Door_Switch_Status": int, 
"Tailgate_Switch_Status": int, 
"Hood_Switch_Status": int
}

Example Code/Output

from doipclient import DoIPClient
from doipclient.connectors import DoIPClientUDSConnector
from udsoncan.client import Client
from common import get_uds_client
from client_config import DOIP_SERVER_IP, DoIP_LOGICAL_ADDRESS
from FoxPi_read import FoxPiReadDID

doip_client = DoIPClient(DOIP_SERVER_IP, DoIP_LOGICAL_ADDRESS, protocol_version=3)
uds_connection = DoIPClientUDSConnector(doip_client)
assert uds_connection.is_open
with Client(uds_connection, request_timeout=4, config=get_uds_client()) as client:

    Foxpi = FoxPiReadDID(client)
    resp = Foxpi.FoxPi_Switch_Status()
    for i,j in resp.items():
        print(f"{i}: {j}")

Crash_Detect_Status: 0
Driver_Lock_Status: 0
All_Door_Switch_Status: 0
Driver_Door_Switch_Status: 0
Passenger_Door_Switch_Status: 0
Rear_Left_Door_Switch_Status: 0
Rear_Right_Door_Switch_Status: 0
Tailgate_Switch_Status: 0
Hood_Switch_Status: 0

說明

Crash Detect Status: 車輛碰撞狀態 (0: Crash Not Detected, 1: Crash Detected)
Driver Lock Status: 駕駛座車門鎖狀態 (0: Unlock, 1: Lock)
All Door Switch Status: 四門開關狀態 (0: All Door Closed, 1: Any Door Open)
Driver Door Switch Status: 駕駛座車門開關狀態 (0: Closed, 1: Open)
Passenger Door Switch Status: 副駕駛座車門開關狀態 (0: Closed, 1: Open)
Rear Left Door Switch Status: 左後座位車門開關狀態 (0: Closed, 1: Open)
Rear Right Door Switch Status: 右後車門開關狀態 (0: Closed, 1: Open)
Tailgate Switch Status: 尾門開關狀態 (0: Closed, 1: Open)
Hood Switch Status: 前蓋開關狀態 (0: Closed, 1: Open)

6.1.8 FoxPi_Lamp_Status()#

讀取 DID 0x100B (車燈狀態)，並將回應位元組解析為實體值。

Return type: Dict[str, Union[int, float, str]]

Return value

{
"Column_Turn_Lamp_Switch_Status": int, 
"Column_Dim_Switch_Status": int, 
"Column_Pass_Switch_Status": int, 
"Position_Lamp_Status": int, 
"Low_Beam_Status": int, 
"High_Beam_Status": int,
"Right_Daytime_Running_Light_Status": int, 
"Left_Daytime_Running_Light_Status": int, 
"Left_Turn_Lamp_Status": int, 
"Right_Turn_Lamp_Status": int, 
"Brake_Lamp_Status": int, 
"Reverse_Lamp_Status": int, 
"Rear_Fog_Lamp_Status": int
}

Example Code/Output

from doipclient import DoIPClient
from doipclient.connectors import DoIPClientUDSConnector
from udsoncan.client import Client
from common import get_uds_client
from client_config import DOIP_SERVER_IP, DoIP_LOGICAL_ADDRESS
from FoxPi_read import FoxPiReadDID

doip_client = DoIPClient(DOIP_SERVER_IP, DoIP_LOGICAL_ADDRESS, protocol_version=3)
uds_connection = DoIPClientUDSConnector(doip_client)
assert uds_connection.is_open
with Client(uds_connection, request_timeout=4, config=get_uds_client()) as client:

    Foxpi = FoxPiReadDID(client)
    resp = Foxpi.FoxPi_Lamp_Status()
    for i,j in resp.items():
        print(f"{i}: {j}")

Column_Turn_Lamp_Switch_Status: 0
Column_Dim_Switch_Status: 0
Column_Pass_Switch_Status: 0
Position_Lamp_Status: 0
Low_Beam_Status: 0
High_Beam_Status: 0
Right_Daytime_Running_Light_Status: 0
Left_Daytime_Running_Light_Status: 0
Left_Turn_Lamp_Status: 1
Right_Turn_Lamp_Status: 0
Brake_Lamp_Status: 1
Reverse_Lamp_Status: 0
Rear_Fog_Lamp_Status: 0

說明

Column Turn Switch Status: 方向燈撥桿狀態 (0 ~ 3)
Column Pass Switch Status: 超車燈撥桿狀態 (0 ~ 1)
Column Dim Switch Status: 遠光燈撥桿狀態 (0 ~ 1)
Position Lamp Status: 位置燈狀態 (0 ~ 1)
Low Beam Status: 近光燈狀態 (0 ~ 1)
High Beam Status: 遠光燈狀態 (0 ~ 1)
Right Daytime Running Light Status: 右晝行燈狀態 (0 ~ 1)
Left Daytime Running Light Status: 左晝行燈狀態 (0 ~ 1)
Left Turn Lamp Status: 左方向燈狀態 (0 ~ 1)
Right Turn Lamp Status: 右方向燈狀態 (0 ~ 1)
Brake Lamp Status: 煞車燈狀態 (0 ~ 1)
Reverse Lamp Status: 倒車燈狀態 (0 ~ 1)
Rear Fog Lamp Status: 後霧燈狀態 (0 ~ 1)

(0: OFF, 1: Left, 2: Right, 3: Invalid)

(0: Release, 1: Press)

(0: OFF, 1: ON)

6.1.9 FoxPi_Lamp_Ctrl()#

讀取 DID 0x100C (車燈控制)，並將回應位元組解析為實體值。

Return type: Dict[str, Union[int, float, str]]

Return value

{
"Position_Lamp_Control_Enable": int, 
"Position_Lamp": int, 
"Low_Beam_Control_Enable": int, 
"Low_Beam": int, 
"High_Beam_Control_Enable": int, 
"High_Beam": int, 
"Right_Daytime_Running_Light_Control_Enable": int, 
"Right_Daytime_Running_Light": int, 
"Left_Daytime_Running_Light_Control_Enable": int, 
"Left_Daytime_Running_Light": int, 
"Left_TurnLamp_Control_Enable": int, 
"Left_TurnLamp": int, 
"Right_TurnLamp_Control_Enable": int, 
"Right_TurnLamp": int, 
"Brake_Lamp_Control_Enable": int, 
"Brake_Lamp": int, 
"Reverse_Lamp_Control_Enable": int, 
"Reverse_Lamp": int, 
"Rear_Fog_Lamp_Control_Enable": int, 
"Rear_Fog_Lamp": int, 
"Amblight_Control_Enable": int, 
"Control_Area": int,
"RGB_Color": int | "FF", 
"Bright": int | "FF", 
"Mode": int | "FF"
}

Example Code/Output

from doipclient import DoIPClient
from doipclient.connectors import DoIPClientUDSConnector
from udsoncan.client import Client
from common import get_uds_client
from client_config import DOIP_SERVER_IP, DoIP_LOGICAL_ADDRESS
from FoxPi_read import FoxPiReadDID

doip_client = DoIPClient(DOIP_SERVER_IP, DoIP_LOGICAL_ADDRESS, protocol_version=3)
uds_connection = DoIPClientUDSConnector(doip_client)
assert uds_connection.is_open
with Client(uds_connection, request_timeout=4, config=get_uds_client()) as client:

    Foxpi = FoxPiReadDID(client)
    resp = Foxpi.FoxPi_Lamp_Ctrl()
    for i,j in resp.items():
        print(f"{i}: {j}")

Low_Beam: 0
High_Beam_Control_Enable: 0
High_Beam: 0
Right_Daytime_Running_Light_Control_Enable: 0
Right_Daytime_Running_Light: 0
Left_Daytime_Running_Light_Control_Enable: 0
Left_Daytime_Running_Light: 0
Left_TurnLamp_Control_Enable: 1
Left_TurnLamp: 1
Right_TurnLamp_Control_Enable: 0
Right_TurnLamp: 0
Brake_Lamp_Control_Enable: 0
Brake_Lamp: 0
Reverse_Lamp_Control_Enable: 0
Reverse_Lamp: 0
Rear_Fog_Lamp_Control_Enable: 0
Rear_Fog_Lamp: 0
Amblight_Control_Enable: 0
Control_Area: 0
RGB_Color: 0
Bright: 0
Mode: 0

說明

此為 FoxtronPi 車輛燈光控制訊號，支援以下控制項目:「位置燈」、「近光燈」、「遠光燈」、「晝行燈」、「方向燈」、「煞車燈」、「倒車燈」、「霧燈」和「氣氛燈(選配)」。屬可讀/可寫訊號。詳細操作資訊、訊號值定義請參見 6.2.2 燈光控制操作流程 (FoxPi_Lamp_Ctrl)。

Position_Lamp_Enable: 位置燈控制命令啟用 (0 ~ 1)
Position_Lamp: 位置燈控制命令 (0 ~ 1)
Low_Beam_Enable: 近光燈控制命令啟用 (0 ~ 1)
Low_Beam: 近光燈控制命令 (0 ~ 1)
High_Beam_Enable: 遠光燈控制命令啟用 (0 ~ 1)
High_Beam: 遠光燈控制命令 (0 ~ 1)
Right_Daytime_Running_Light_Enable: 右晝行燈控制命令啟用 (0 ~ 1)
Right_Daytime_Running_Light: 右晝行燈控制命令 (0 ~ 1)
Left_Daytime_Running_Light_Enable: 左晝行燈控制命令啟用 (0 ~ 1)
Left_Daytime_Running_Light: 左晝行燈控制命令 (0 ~ 1)
Left_TurnLamp_Enable: 左方向燈控制命令啟用 (0 ~ 1)
Left_TurnLamp: 左方向燈控制命令 (0 ~ 1)
Right_TurnLamp_Enable: 右方向燈控制命令啟用 (0 ~ 1)
Right_TurnLamp: 右方向燈控制命令 (0 ~ 1)
Brake_Lamp_Enable: 煞車燈控制命令啟用 (0 ~ 1)
Brake_Lamp: 煞車燈控制命令 (0 ~ 1)
Reverse_Lamp_Enable: 倒車燈控制命令啟用 (0 ~ 1)
Reverse_Lamp: 倒車燈控制命令 (0 ~ 1)
Rear_Fog_Lamp_Enable: 後霧燈控制命令啟用 (0 ~ 1)
Rear_Fog_Lamp: 後霧燈控制命令 (0 ~ 1)
Amblight_Enable: 氣氛燈控制命令啟用 (0 ~ 1)
Control area: 氣氛燈區域控制命令 (0 ~ 7)
RGB 64 Color: 氣氛燈顏色控制命令 (0 ~ 63)
Bright: 氣氛燈亮度控制命令 (0 ~ 100 %)
Breathing_Alert_Mode: 氣氛燈模式控制命令 (0 ~ 7)

6.1.10 FoxPi_Battery_Status()#

讀取 DID 0x100D (電池狀態)，並將回應位元組解析為實體值。

Return type: Dict[str, Union[int, float, str]]

Return value

{
"LVBatt12V": float,  
"HVBattSOC": float,  
"HVBattTemp": int,  
"HVBattContactorSta": int, 
"HVBattErr": int
}

Example Code/Output

from doipclient import DoIPClient
from doipclient.connectors import DoIPClientUDSConnector
from udsoncan.client import Client
from common import get_uds_client
from client_config import DOIP_SERVER_IP, DoIP_LOGICAL_ADDRESS
from FoxPi_read import FoxPiReadDID

doip_client = DoIPClient(DOIP_SERVER_IP, DoIP_LOGICAL_ADDRESS, protocol_version=3)
uds_connection = DoIPClientUDSConnector(doip_client)
assert uds_connection.is_open
with Client(uds_connection, request_timeout=4, config=get_uds_client()) as client:

    Foxpi = FoxPiReadDID(client)
    resp = Foxpi.FoxPi_Battery_Status()
    for i,j in resp.items():
        print(f"{i}: {j}")

LVBatt12V: 0.0
HVBattSOC: 0.0
HVBattTemp: 0
HVBattContactorSta: 0
HVBattErr: 0

說明

LVBatt12V: 12V 電池電壓 (0 ~ 25.4 V)
HVBattSOC: 高壓電池電量 (0 ~ 100 %)
HVBattTemp: 高壓電池溫度，溫定高於60度系統會自動下電 (-40 ~ 213 Deg^C)
HVBattContactorSta: 高壓電池斷開狀態 (0 ~ 1)
HVBattErr: 高壓電池故障 (0 ~ 1)

LVBatt12V: 顯示12V電池電壓。9~16V為使用範圍，超出範圍需注意!

造成高壓電池斷開的原因有

高壓電壓異常: 電壓過高或過低。
高壓電流異常: 放電或充電電流過大。
高壓絕緣電阻異常: 存在漏電、絕緣材料老化、潮濕導致電阻值下降。
溫度異常: 電芯的溫度過高(60度)或過低(-20度)。
繼電器故障: 繼電器關閉後，仍有高壓電池的電壓超過60V。
通訊異常: BMS無法正常進行通訊

6.1.11 FoxPi_Pedal_position()#

讀取 DID 0x100F (踏板位置)，並將回應位元組解析為實體值。

Return type: Dict[str, Union[int, float, str]]

Return value

{
"AccelPedalPos": float, 
"BrakePedalPos": float
}

Example Code/Output

from doipclient import DoIPClient
from doipclient.connectors import DoIPClientUDSConnector
from udsoncan.client import Client
from common import get_uds_client
from client_config import DOIP_SERVER_IP, DoIP_LOGICAL_ADDRESS
from FoxPi_read import FoxPiReadDID

doip_client = DoIPClient(DOIP_SERVER_IP, DoIP_LOGICAL_ADDRESS, protocol_version=3)
uds_connection = DoIPClientUDSConnector(doip_client)
assert uds_connection.is_open
with Client(uds_connection, request_timeout=4, config=get_uds_client()) as client:

    Foxpi = FoxPiReadDID(client)
    resp = Foxpi.FoxPi_Pedal_position()
    for i,j in resp.items():
        print(f"{i}: {j}")

AccelPedalPos: 0.000
BrakePedalPos: 0.00

說明

AccelPedalPos: 電門踏板開度 (0 ~ 100 %)
BrakePedalPos: 煞車踏板開度 (0 ~ 100 %)

6.1.12 FoxPi_Motor_Status()#

讀取 DID 0x1010 (馬達狀態)，並將回應位元組解析為實體值。

Return type: Dict[str, Union[int, float, str]]

Return value

{
"TqSource": int, 
"TMTqReq": int,  
"RealTMTq": int,
"MotorAvailTq": int, 
"RegenAvailTq": int, 
"TMSpd": int
}

Example Code/Output

from doipclient import DoIPClient
from doipclient.connectors import DoIPClientUDSConnector
from udsoncan.client import Client
from common import get_uds_client
from client_config import DOIP_SERVER_IP, DoIP_LOGICAL_ADDRESS
from FoxPi_read import FoxPiReadDID

doip_client = DoIPClient(DOIP_SERVER_IP, DoIP_LOGICAL_ADDRESS, protocol_version=3)
uds_connection = DoIPClientUDSConnector(doip_client)
assert uds_connection.is_open
with Client(uds_connection, request_timeout=4, config=get_uds_client()) as client:

    Foxpi = FoxPiReadDID(client)
    resp = Foxpi.FoxPi_Motor_Status()
    for i,j in resp.items():
        print(f"{i}: {j}")

TqSource: 0
TMTqReq : 0
RealTMTq: 0
MotorAvailTq: 0
RegenAvailTq: 0
TMSpd: 0

說明

TqSource: 扭力來源顯示 (0 ~ 9)
TMTqReq: 駕駛踩下油門後，經過系統運算轉發的扭力值 (-530 ~ 530 Nm)
RealTMTq: 馬達端實際扭力值 (-1022 ~ 1022 Nm)
MotorAvailTq: 當下電機可輸出的最大正扭矩，其正值為可供車輛進行驅動 (0 ~ 1022 Nm)
RegenAvailTq: 當前電機可輸出的最大負扭矩，其負值為可供車輛進行發電 (-1022 ~ 0 Nm)
TMSpd: 當前馬達轉速值 (-17000 ~ 17000 rpm)

TqSource: 扭力來源
0: Invalid 當前扭力有異常，一般狀態下不會出現。
1: Internal 為駕駛踩踏油門控制的開度經過本公司設計的內部演算法運算後，轉換為扭力命令，發送至馬達端。
2: ABS 剎車系統命令，當煞車系統介入做動時，會對內部油門扭力命令產生干預，系統會判斷當前狀態，將其對應的扭力發送至馬達。
3: RollABS 剎車系統命令，當煞車系統介入做動時，會對內部油門扭力命令產生干預，系統會判斷當前狀態，將其對應的扭力發送至馬達。
4: TCS 剎車系統命令，當煞車系統介入做動時，會對內部油門扭力命令產生干預，系統會判斷當前狀態，將其對應的扭力發送至馬達。
5: CC 為方向盤上可以設定車速的相關功能，屬於油門以外的外部干預來源。
6: ADAS 為方向盤上可以設定車速的相關功能，屬於油門以外的外部干預來源。
7: MSA 為方向盤上可以設定車速的相關功能，屬於油門以外的外部干預來源。
8: APS 屬於油門以外的扭力來源，會拋出對應控制速度，由系統轉為扭力後，轉發至馬達。
9: Force Idle 為車上 ADAS 系統強行發送零扭命令去切斷車輛動力。

6.1.13 FoxPi_Shifter_allow()#

讀取 DID 0x1011 (換檔允許狀態)，並將回應位元組解析為實體值。

Return type: Dict[str, Union[int, float, str]]

Return value

{
"ExtTqAllow_flg": int, 
"ExtShftAllow_flg": int, 
"ExtDoorAllow_flg": int
}

Example Code/Output

from doipclient import DoIPClient
from doipclient.connectors import DoIPClientUDSConnector
from udsoncan.client import Client
from common import get_uds_client
from client_config import DOIP_SERVER_IP, DoIP_LOGICAL_ADDRESS
from FoxPi_read import FoxPiReadDID

doip_client = DoIPClient(DOIP_SERVER_IP, DoIP_LOGICAL_ADDRESS, protocol_version=3)
uds_connection = DoIPClientUDSConnector(doip_client)
assert uds_connection.is_open
with Client(uds_connection, request_timeout=4, config=get_uds_client()) as client:

    Foxpi = FoxPiReadDID(client)
    resp = Foxpi.FoxPi_Shifter_allow()
    for i,j in resp.items():
        print(f"{i}: {j}")

ExtTqAllow_flg: 0
ExtShftAllow_flg: 0
ExtDoorAllow_flg: 1

說明

ExtTqAllow_flg: 確認當前車輛電池、電機、DCDC是否為正常狀態，來判定外部扭力是否為可接收狀態 (0 ~ 1)
ExtShftAllow_flg: 確認當前車輛電池、電機、DCDC和EPB是否為正常狀態，來判定外部檔位是否為可接收狀態 (0 ~ 1)
ExtDoorAllow_flg: 確認當前車輛四個車門、尾門和引擎蓋是否為關閉狀態 (0 ~ 1)

(0: Not Allow, 1: Allow)

FoxPi_Shifter_allow 為進入 6.2.1.5 APS檔位控制流程前的允許條件判斷。系統會檢查三個訊號，僅當所有條件皆滿足(=1)時，車輛才會切入 APS 控制。任一條件不滿足時，將禁止進入 APS 控制。

6.1.14 FoxPi_Ctrl_Enable_Switch()#

讀取 DID 0x1012 (FoxtronPi控制啟用開關)，並將回應位元組解析為實體值。

Return type: Dict[str, Union[int, float, str]]
Return value
```
{
"Ctrl_Enable_Switch": int | "FF"
}
```

Example Code/Output

from doipclient import DoIPClient
from doipclient.connectors import DoIPClientUDSConnector
from udsoncan.client import Client
from common import get_uds_client
from client_config import DOIP_SERVER_IP, DoIP_LOGICAL_ADDRESS
from FoxPi_read import FoxPiReadDID

doip_client = DoIPClient(DOIP_SERVER_IP, DoIP_LOGICAL_ADDRESS, protocol_version=3)
uds_connection = DoIPClientUDSConnector(doip_client)
assert uds_connection.is_open
with Client(uds_connection, request_timeout=4, config=get_uds_client()) as client:

    Foxpi = FoxPiReadDID(client)
    resp = Foxpi.FoxPi_Ctrl_Enable_Switch()
    for i,j in resp.items():
        print(f"{i}: {j}")

Ctrl_Enable_Switch: 1

說明

此為 FoxtronPi 控制旗標，屬可讀/可寫訊號。詳細操作資訊、訊號值定義請參見 6.2.3 Ctrl_Enable_Switch。

Ctrl_Enable_Switch: FoxtronPi 控制命令啟用 (0 ~ 1)