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fixed message name overlap between cam and radar parser

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This commit is contained in:
ryley
2022-04-26 09:02:20 -05:00
parent 1c218ede25
commit ec530ebb70
6 changed files with 40 additions and 137 deletions
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opendbc/mazda_2017.dbc
+13 -27
View File
@@ -537,48 +537,34 @@ BO_ 539 CRZ_INFO: 8 XXX
SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 865 RADAR_361: 8 XXX
SG_ MSGS_1 : 7|32@0+ (1,0) [0|4294967295] "" XXX
SG_ MSGS_2 : 39|28@0+ (1,0) [0|268435455] "" XXX
SG_ CTR : 59|4@0+ (1,0) [0|15] "" XXX
SG_ DISTANCE_RELATED : 33|4@0+ (1,0) [0|15] "" XXX
SG_ DISTANCE_LEAD : 7|24@0+ (1,0) [0|16777215] "" XXX
SG_ RELATIVE_VEL_LEAD : 31|11@0- (1,0) [0|2047] "" XXX
SG_ STATIC_1 : 36|3@0+ (1,0) [0|7] "" XXX
SG_ STATIC_2 : 63|1@0+ (1,0) [0|1] "" XXX
SG_ SPEED_INVERSE : 40|9@0+ (1,0) [0|4095] "" XXX
SG_ IS_MOVING : 41|3@1+ (1,0) [0|7] "" XXX
BO_ 870 RADAR_366: 8 XXX
SG_ STATIC_1 : 7|32@0+ (1,0) [0|4294967295] "" XXX
SG_ STATIC_2 : 39|28@0+ (1,0) [0|268435455] "" XXX
SG_ MSGS_1 : 7|32@0+ (1,0) [0|4294967295] "" XXX
SG_ MSGS_2 : 39|28@0+ (1,0) [0|268435455] "" XXX
SG_ CTR : 59|4@0+ (1,0) [0|15] "" XXX
BO_ 867 RADAR_363: 8 XXX
SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX
SG_ STATIC_1 : 43|16@0+ (1,0) [0|255] "" XXX
SG_ OBJ_DIST : 7|12@0+ (1,0) [0|255] "" XXX
SG_ OBJ_ANG : 11|12@0- (1,0) [0|255] "" XXX
SG_ OBJ_RELV : 31|12@0- (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_1 : 35|8@0+ (1,0) [0|15] "" XXX
SG_ MSGS_1 : 7|32@0+ (1,0) [0|4294967295] "" XXX
SG_ MSGS_2 : 39|28@0+ (1,0) [0|268435455] "" XXX
SG_ CTR : 59|4@0+ (1,0) [0|15] "" XXX
BO_ 868 RADAR_364: 8 XXX
SG_ STATIC_1 : 7|32@0+ (1,0) [0|4294967295] "" XXX
SG_ STATIC_2 : 39|7@0+ (1,0) [0|127] "" XXX
SG_ MSGS_1 : 7|32@0+ (1,0) [0|4294967295] "" XXX
SG_ MSGS_2 : 39|28@0+ (1,0) [0|268435455] "" XXX
SG_ CTR : 59|4@0+ (1,0) [0|15] "" XXX
BO_ 869 RADAR_365: 8 XXX
SG_ STATIC_1 : 7|32@0+ (1,0) [0|4294967295] "" XXX
SG_ STATIC_2 : 39|28@0+ (1,0) [0|268435455] "" XXX
SG_ MSGS_1 : 7|32@0+ (1,0) [0|4294967295] "" XXX
SG_ MSGS_2 : 39|28@0+ (1,0) [0|268435455] "" XXX
SG_ CTR : 59|4@0+ (1,0) [0|15] "" XXX
BO_ 866 RADAR_362: 8 XXX
SG_ MSGS_1 : 7|32@0+ (1,0) [0|4294967295] "" XXX
SG_ MSGS_2 : 39|28@0+ (1,0) [0|268435455] "" XXX
SG_ CTR : 59|4@0+ (1,0) [0|15] "" XXX
SG_ STEER_ANGLE : 43|12@0+ (-1,2048) [0|7] "" XXX
SG_ STATIC_1 : 63|4@0+ (1,0) [0|15] "" XXX
SG_ FLIPPY_1 : 44|1@0+ (1,0) [0|15] "" XXX
SG_ NEW_SIGNAL_1 : 34|3@1+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_2 : 33|4@0+ (1,0) [0|3] "" XXX
SG_ OBJ_DIST : 7|12@0+ (1,0) [0|131071] "" XXX
SG_ OBJ_ANG : 11|12@0- (1,0) [0|127] "" XXX
SG_ OBJ_RVEL : 31|11@0- (1,0) [0|63] "" XXX
BO_ 121 EPB: 8 XXX
SG_ NEW_SIGNAL_1 : 4|4@0+ (1,0) [0|255] "" XXX
opendbc/mazda_radar.dbc
+6 -6
View File
@@ -62,7 +62,7 @@ BO_ 539 CRZ_INFO: 8 XXX
SG_ STATUS : 7|8@0+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 865 RADAR_361: 8 XXX
BO_ 865 RADAR_TRACK_361: 8 XXX
SG_ DIST_OBJ : 7|12@0+ (1,0) [0|31] "" XXX
SG_ ANG_OBJ : 11|12@0- (1,0) [0|255] "" XXX
SG_ RELV_OBJ : 31|11@0- (1,0) [0|255] "" XXX
@@ -71,7 +71,7 @@ BO_ 865 RADAR_361: 8 XXX
SG_ NEW_SIGNAL_2 : 63|4@0+ (1,0) [0|15] "" XXX
SG_ CTR : 56|4@1+ (1,0) [0|15] "" XXX
BO_ 866 RADAR_362: 8 XXX
BO_ 866 RADAR_TRACK_362: 8 XXX
SG_ DIST_OBJ : 7|12@0+ (1,0) [0|255] "" XXX
SG_ RELV_OBJ : 31|11@0- (1,0) [0|63] "" XXX
SG_ NEW_SIGNAL_1 : 36|9@0+ (1,0) [0|3] "" XXX
@@ -80,7 +80,7 @@ BO_ 866 RADAR_362: 8 XXX
SG_ CTR : 59|4@0+ (1,0) [0|15] "" XXX
SG_ ANG_OBJ : 11|12@0- (1,0) [0|7] "" XXX
BO_ 867 RADAR_363: 8 XXX
BO_ 867 RADAR_TRACK_363: 8 XXX
SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_1 : 36|13@0+ (1,0) [0|7] "" XXX
SG_ NEW_SIGNAL_2 : 55|12@0+ (1,0) [0|7] "" XXX
@@ -88,7 +88,7 @@ BO_ 867 RADAR_363: 8 XXX
SG_ ANG_OBJ : 11|12@0- (1,0) [0|127] "" XXX
SG_ RELV_OBJ : 31|11@0- (1,0) [0|63] "" XXX
BO_ 868 RADAR_364: 8 XXX
BO_ 868 RADAR_TRACK_364: 8 XXX
SG_ DIST_OBJ : 7|12@0+ (1,0) [0|131071] "" XXX
SG_ ANG_OBJ : 11|12@0- (1,0) [0|127] "" XXX
SG_ RELV_OBJ : 31|11@0- (1,0) [0|63] "" XXX
@@ -96,7 +96,7 @@ BO_ 868 RADAR_364: 8 XXX
SG_ NEW_SIGNAL_2 : 55|12@0+ (1,0) [0|7] "" XXX
SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX
BO_ 869 RADAR_365: 8 XXX
BO_ 869 RADAR_TRACK_365: 8 XXX
SG_ DIST_OBJ : 7|12@0+ (1,0) [0|131071] "" XXX
SG_ ANG_OBJ : 11|12@0- (1,0) [0|127] "" XXX
SG_ RELV_OBJ : 31|11@0- (1,0) [0|63] "" XXX
@@ -104,7 +104,7 @@ BO_ 869 RADAR_365: 8 XXX
SG_ NEW_SIGNAL_2 : 55|12@0+ (1,0) [0|7] "" XXX
SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX
BO_ 870 RADAR_366: 8 XXX
BO_ 870 RADAR_TRACK_366: 8 XXX
SG_ DIST_OBJ : 7|12@0+ (1,0) [0|131071] "" XXX
SG_ ANG_OBJ : 11|12@0- (1,0) [0|127] "" XXX
SG_ RELV_OBJ : 31|11@0- (1,0) [0|63] "" XXX
selfdrive/car/mazda/carstate.py
+9 -50
View File
@@ -253,55 +253,14 @@ class CarState(CarStateBase):
("CTR1", "CRZ_INFO", 0),
("CHECKSUM", "CRZ_INFO", 0),
]
signals += [
("DISTANCE_LEAD", "RADAR_361", 0),
("RELATIVE_VEL_LEAD", "RADAR_361", 0),
("STATIC_1", "RADAR_361", 0),
("DISTANCE_RELATED", "RADAR_361", 0),
("STATIC_2", "RADAR_361", 0),
("SPEED_INVERSE", "RADAR_361", 0),
("IS_MOVING", "RADAR_361", 0),
("CTR", "RADAR_361", 0),
]
signals += [
("STEER_ANGLE", "RADAR_362", 0),
("FLIPPY_1","RADAR_362", 0),
("STATIC_1", "RADAR_362", 0),
("NEW_SIGNAL_2","RADAR_362", 0),
("NEW_SIGNAL_1","RADAR_362", 0),
("OBJ_DIST","RADAR_362", 0),
("OBJ_ANG","RADAR_362", 0),
("OBJ_RVEL","RADAR_362", 0),
]
signals += [
("STATIC_1", "RADAR_363", 0),
("OBJ_DIST", "RADAR_363", 0),
("OBJ_ANG", "RADAR_363", 0),
("OBJ_RELV", "RADAR_363", 0),
("NEW_SIGNAL_1", "RADAR_363", 0),
]
signals += [
("STATIC_1", "RADAR_364", 0),
("STATIC_2", "RADAR_364", 0),
]
signals += [
("STATIC_1", "RADAR_365", 0),
("STATIC_2", "RADAR_365", 0),
]
signals += [
("STATIC_1", "RADAR_366", 0),
("STATIC_2", "RADAR_366", 0),
]
checks += [
("CRZ_CTRL", 50), # Not blocked in panda 0x21BC
("CRZ_INFO", 50), # Blocked in panda 0x21B
("RADAR_361", 10), # 0x361
("RADAR_362", 10), # 0x362
("RADAR_363", 10), # Likely containes radar tracks 0x363
("RADAR_364", 10), # Likely containes radar tracks 0x364
("RADAR_365", 10), # 0x365
("RADAR_366", 10), # 0x366
#("RADAR_499_STATIC", 10), # 0x499
]
for addr in range(361,367):
msg = f"RADAR_{addr}"
signals += [
("MSGS_1", msg),
("MSGS_2", msg),
("CTR", msg),
]
checks += [(msg, 10)]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
selfdrive/car/mazda/interface.py
+1 -1
View File
@@ -24,7 +24,7 @@ class CarInterface(CarInterfaceBase):
ret.carName = "mazda"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
ret.radarOffCan = True
ret.radarOffCan = False
ret.dashcamOnly = False # candidate not in [CAR.CX9_2021]
selfdrive/car/mazda/mazdacan.py
+10 -52
View File
@@ -186,58 +186,16 @@ def create_radar_command(packer, car_fingerprint, frame, c, CS):
ret.append(packer.make_can_msg("CRZ_INFO", 0, values_21B))
ret.append(packer.make_can_msg("CRZ_CTRL", 0, values_21C))
if (frame % 10 == 0):
values_361 = {
"CTR" : int(CS.cp_cam.vl["RADAR_361"]["CTR"]),
"SPEED_INVERSE" : int(CS.cp_cam.vl["RADAR_361"]["SPEED_INVERSE"]),
"IS_MOVING" : int(CS.cp_cam.vl["RADAR_361"]["IS_MOVING"]),
"DISTANCE_LEAD" : int(CS.cp_cam.vl["RADAR_361"]["DISTANCE_LEAD"]),
"DISTANCE_RELATED" : int(CS.cp_cam.vl["RADAR_361"]["DISTANCE_RELATED"]),
"RELATIVE_VEL_LEAD" : int(CS.cp_cam.vl["RADAR_361"]["RELATIVE_VEL_LEAD"]),
"STATIC_1" : int(CS.cp_cam.vl["RADAR_361"]["STATIC_1"]),
"STATIC_2" : int(CS.cp_cam.vl["RADAR_361"]["STATIC_2"])
}
values_362 = {
"CTR" : int(CS.cp_cam.vl["RADAR_361"]["CTR"]),
"STEER_ANGLE" : int(CS.cp_cam.vl["RADAR_362"]["STEER_ANGLE"]),
"STATIC_1" : int(CS.cp_cam.vl["RADAR_362"]["STATIC_1"]),
"FLIPPY_1" : int(CS.cp_cam.vl["RADAR_362"]["FLIPPY_1"]),
"NEW_SIGNAL_1" : int(CS.cp_cam.vl["RADAR_362"]["NEW_SIGNAL_1"]),
"NEW_SIGNAL_2" : int(CS.cp_cam.vl["RADAR_362"]["NEW_SIGNAL_2"]),
"OBJ_DIST" : int(CS.cp_cam.vl["RADAR_362"]["OBJ_DIST"]),
"OBJ_ANG" : int(CS.cp_cam.vl["RADAR_362"]["OBJ_ANG"]),
"OBJ_RVEL" : int(CS.cp_cam.vl["RADAR_362"]["OBJ_RVEL"]),
}
values_363 = {
"CTR" : int(CS.cp_cam.vl["RADAR_361"]["CTR"]),
"STATIC_1" : int(CS.cp_cam.vl["RADAR_363"]["STATIC_1"]),
"OBJ_DIST" : int(CS.cp_cam.vl["RADAR_363"]["OBJ_DIST"]),
"OBJ_ANG" : int(CS.cp_cam.vl["RADAR_363"]["OBJ_ANG"]),
"OBJ_RELV" : int(CS.cp_cam.vl["RADAR_363"]["OBJ_RELV"]),
"NEW_SIGNAL_1" : int(CS.cp_cam.vl["RADAR_363"]["NEW_SIGNAL_1"]),
}
values_364 = {
"CTR" : int(CS.cp_cam.vl["RADAR_361"]["CTR"]),
"STATIC_1" : int(CS.cp_cam.vl["RADAR_364"]["STATIC_1"]),
"STATIC_2" : int(CS.cp_cam.vl["RADAR_364"]["STATIC_2"])
}
values_365 = {
"CTR" : int(CS.cp_cam.vl["RADAR_361"]["CTR"]),
"STATIC_1" : int(CS.cp_cam.vl["RADAR_365"]["STATIC_1"]),
"STATIC_2" : int(CS.cp_cam.vl["RADAR_365"]["STATIC_2"])
}
values_366 = {
"CTR" : int(CS.cp_cam.vl["RADAR_361"]["CTR"]),
"STATIC_1" : int(CS.cp_cam.vl["RADAR_366"]["STATIC_1"]),
"STATIC_2" : int(CS.cp_cam.vl["RADAR_366"]["STATIC_2"])
}
ret.append(packer.make_can_msg("RADAR_361", 0, values_361))
ret.append(packer.make_can_msg("RADAR_362", 0, values_362))
ret.append(packer.make_can_msg("RADAR_363", 0, values_363))
ret.append(packer.make_can_msg("RADAR_364", 0, values_364))
ret.append(packer.make_can_msg("RADAR_365", 0, values_365))
ret.append(packer.make_can_msg("RADAR_366", 0, values_366))
for addr in range(361,367):
addr_name = f"RADAR_{addr}"
msg = CS.cp_cam.vl[addr_name]
values = {
"MSGS" : int(msg["MSGS"]),
"MSGS" : int(msg["MSGS"]),
"CTR" : int(msg["CTR"])
}
ret.append(packer.make_can_msg(addr_name, 0, values))
return ret
selfdrive/car/mazda/radar_interface.py
+1 -1
View File
@@ -53,7 +53,7 @@ class RadarInterface(RadarInterfaceBase):
ret.errors = errors
for addr in range(361,367):
msg = self.rcp.vl[f"RADAR_{addr}"]
msg = self.rcp.vl[f"RADAR_TRACK_{addr}"]
if addr not in self.pts:
self.pts[addr] = car.RadarData.RadarPoint.new_message()
self.pts[addr].trackId = self.track_id