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📋📷 2019 Chrysler Pacifica and 2019 Jeep Grand Cherokee support (#590)
* 2019 Chrysler Pacfica and 2019 Jeep Grand Cherokee support, along with likely support for arbitrary models. This is done by copying most values from the stock LKAS camera which is active with https://github.com/commaai/panda/pull/177 * No longer send LKAS_HEARTBIT because Panda now forwards it for us. * Pacifica Hybrid 2018 combine fingerprints, add 808: 8 * panda chrysler: forward bus 0 to bus 2 copy of Panda commit: https://github.com/commaai/panda/commit/104950264473274e0012a39b7ea2d1468ef46d8d
This commit is contained in:
Drew Hintz
@@ -5,7 +5,7 @@ const int CHRYSLER_MAX_RATE_UP = 3;
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const int CHRYSLER_MAX_RATE_DOWN = 3;
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const int CHRYSLER_MAX_TORQUE_ERROR = 80; // max torque cmd in excess of torque motor
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int chrysler_camera_detected = 0;
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int chrysler_camera_detected = 0; // is giraffe switch 2 high?
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int chrysler_rt_torque_last = 0;
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int chrysler_desired_torque_last = 0;
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int chrysler_cruise_engaged_last = 0;
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@@ -125,12 +125,29 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
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return true;
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}
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static void chrysler_init(int16_t param) {
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chrysler_camera_detected = 0;
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}
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static int chrysler_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
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int32_t addr = to_fwd->RIR >> 21;
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// forward CAN 0 -> 2 so stock LKAS camera sees messages
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if (bus_num == 0 && !chrysler_camera_detected) {
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return 2;
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}
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// forward LKAS_HEARTBIT message from stock camera
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if (bus_num == 2 && !chrysler_camera_detected && addr == 0x2d9) {
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return 0;
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}
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return -1; // do not forward
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}
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const safety_hooks chrysler_hooks = {
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.init = nooutput_init,
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.init = chrysler_init,
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.rx = chrysler_rx_hook,
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.tx = chrysler_tx_hook,
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.tx_lin = nooutput_tx_lin_hook,
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.ignition = default_ign_hook,
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.fwd = nooutput_fwd_hook,
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.fwd = chrysler_fwd_hook,
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};
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@@ -2,9 +2,9 @@ from cereal import car
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from selfdrive.boardd.boardd import can_list_to_can_capnp
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from selfdrive.car import apply_toyota_steer_torque_limits
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from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, \
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create_wheel_buttons, create_lkas_heartbit, \
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create_wheel_buttons, \
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create_chimes
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from selfdrive.car.chrysler.values import ECU
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from selfdrive.car.chrysler.values import ECU, CAR
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from selfdrive.can.packer import CANPacker
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AudibleAlert = car.CarControl.HUDControl.AudibleAlert
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@@ -29,6 +29,7 @@ class CarController(object):
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self.car_fingerprint = car_fingerprint
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self.alert_active = False
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self.send_chime = False
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self.gone_fast_yet = False
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self.fake_ecus = set()
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if enable_camera:
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@@ -39,8 +40,8 @@ class CarController(object):
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def update(self, sendcan, enabled, CS, frame, actuators,
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pcm_cancel_cmd, hud_alert, audible_alert):
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# this seems needed to avoid steering faults and to force the sync with the EPS counter
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frame = CS.lkas_counter
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if self.prev_frame == frame:
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return
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@@ -51,6 +52,11 @@ class CarController(object):
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CS.steer_torque_motor, SteerLimitParams)
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moving_fast = CS.v_ego > CS.CP.minSteerSpeed # for status message
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if CS.v_ego > (CS.CP.minSteerSpeed - 0.5): # for command high bit
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self.gone_fast_yet = True
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elif self.car_fingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.JEEP_CHEROKEE_2019):
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if CS.v_ego < (CS.CP.minSteerSpeed - 3.0):
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self.gone_fast_yet = False # < 14.5m/s stock turns off this bit, but fine down to 13.5
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lkas_active = moving_fast and enabled
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if not lkas_active:
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@@ -76,18 +82,17 @@ class CarController(object):
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new_msg = create_wheel_buttons(self.ccframe)
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can_sends.append(new_msg)
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# LKAS_HEARTBIT is forwarded by Panda so no need to send it here.
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# frame is 100Hz (0.01s period)
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if (self.ccframe % 10 == 0): # 0.1s period
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new_msg = create_lkas_heartbit(self.car_fingerprint)
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can_sends.append(new_msg)
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if (self.ccframe % 25 == 0): # 0.25s period
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new_msg = create_lkas_hud(self.packer, CS.gear_shifter, lkas_active, hud_alert, self.car_fingerprint,
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self.hud_count)
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can_sends.append(new_msg)
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self.hud_count += 1
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if (CS.lkas_car_model != -1):
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new_msg = create_lkas_hud(
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self.packer, CS.gear_shifter, lkas_active, hud_alert,
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self.hud_count, CS.lkas_car_model)
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can_sends.append(new_msg)
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self.hud_count += 1
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new_msg = create_lkas_command(self.packer, int(apply_steer), frame)
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new_msg = create_lkas_command(self.packer, int(apply_steer), self.gone_fast_yet, frame)
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can_sends.append(new_msg)
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self.ccframe += 1
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@@ -63,6 +63,18 @@ def get_can_parser(CP):
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
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def get_camera_parser(CP):
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signals = [
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# sig_name, sig_address, default
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# TODO read in all the other values
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("COUNTER", "LKAS_COMMAND", -1),
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("CAR_MODEL", "LKAS_HUD", -1),
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("LKAS_STATUS_OK", "LKAS_HEARTBIT", -1)
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]
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checks = []
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
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class CarState(object):
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def __init__(self, CP):
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@@ -85,7 +97,7 @@ class CarState(object):
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self.v_ego = 0.0
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def update(self, cp):
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def update(self, cp, cp_cam):
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# copy can_valid
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self.can_valid = cp.can_valid
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@@ -142,3 +154,7 @@ class CarState(object):
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self.pcm_acc_status = self.main_on
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self.generic_toggle = bool(cp.vl["STEERING_LEVERS"]['HIGH_BEAM_FLASH'])
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self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]['COUNTER']
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self.lkas_car_model = cp_cam.vl["LKAS_HUD"]['CAR_MODEL']
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self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]['LKAS_STATUS_OK']
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@@ -5,14 +5,6 @@ from selfdrive.car.chrysler.values import CAR
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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AudibleAlert = car.CarControl.HUDControl.AudibleAlert
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MODEL_TO_CONSTANT = {
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CAR.PACIFICA_2017_HYBRID: 0,
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CAR.PACIFICA_2018: 0x64,
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CAR.PACIFICA_2018_HYBRID: 0xa8,
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CAR.PACIFICA_2019_HYBRID: 0x68,
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CAR.JEEP_CHEROKEE: 0xa4,
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}
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def calc_checksum(data):
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"""This function does not want the checksum byte in the input data.
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@@ -53,28 +45,26 @@ def calc_checksum(data):
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def make_can_msg(addr, dat):
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return [addr, 0, dat, 0]
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def create_lkas_heartbit(car_fingerprint):
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# LKAS_HEARTBIT (729) Lane-keeping heartbeat.
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msg = '0000000820'.decode('hex') # 2017
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return make_can_msg(0x2d9, msg)
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def create_lkas_heartbit(packer, lkas_status_ok):
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# LKAS_HEARTBIT 0x2d9 (729) Lane-keeping heartbeat.
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values = {
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"LKAS_STATUS_OK": lkas_status_ok
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}
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return packer.make_can_msg("LKAS_HEARTBIT", 0, values)
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def create_lkas_hud(packer, gear, lkas_active, hud_alert, car_fingerprint, hud_count):
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def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_model):
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# LKAS_HUD 0x2a6 (678) Controls what lane-keeping icon is displayed.
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if hud_alert == VisualAlert.steerRequired:
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msg = '0000000300000000'.decode('hex')
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return make_can_msg(0x2a6, msg)
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color = 0 # default values are for park or neutral
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lines = 0
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color = 1 # default values are for park or neutral in 2017 are 0 0, but trying 1 1 for 2019
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lines = 1
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alerts = 0
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if hud_count < (3 *4): # first 3 seconds, 4Hz
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lines = 1
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if hud_count < (1 *4): # first 3 seconds, 4Hz
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alerts = 1
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elif hud_count < (6 * 4): # next 3 seconds, 4Hz
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lines = 1
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alerts = 0
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# CAR.PACIFICA_2018_HYBRID and CAR.PACIFICA_2019_HYBRID
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# had color = 1 and lines = 1 but trying 2017 hybrid style for now.
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if gear in ('drive', 'reverse', 'low'):
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@@ -87,7 +77,7 @@ def create_lkas_hud(packer, gear, lkas_active, hud_alert, car_fingerprint, hud_c
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values = {
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"LKAS_ICON_COLOR": color, # byte 0, last 2 bits
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"CAR_MODEL": MODEL_TO_CONSTANT[car_fingerprint], # byte 1
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"CAR_MODEL": lkas_car_model, # byte 1
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"LKAS_LANE_LINES": lines, # byte 2, last 4 bits
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"LKAS_ALERTS": alerts, # byte 3, last 4 bits
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}
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@@ -95,11 +85,11 @@ def create_lkas_hud(packer, gear, lkas_active, hud_alert, car_fingerprint, hud_c
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return packer.make_can_msg("LKAS_HUD", 0, values) # 0x2a6
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def create_lkas_command(packer, apply_steer, frame):
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# LKAS_COMMAND (658) Lane-keeping signal to turn the wheel.
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def create_lkas_command(packer, apply_steer, moving_fast, frame):
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# LKAS_COMMAND 0x292 (658) Lane-keeping signal to turn the wheel.
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values = {
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"LKAS_STEERING_TORQUE": apply_steer,
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"LKAS_HIGH_TORQUE": 1,
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"LKAS_HIGH_TORQUE": int(moving_fast),
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"COUNTER": frame % 0x10,
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}
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@@ -1,5 +1,6 @@
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import chryslercan
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from values import CAR
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from carcontroller import CarController
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from selfdrive.can.packer import CANPacker
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from cereal import car
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@@ -16,32 +17,52 @@ class TestChryslerCan(unittest.TestCase):
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self.assertEqual(0xcc, chryslercan.calc_checksum([0x14, 0, 0, 0, 0x20]))
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def test_heartbit(self):
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packer = CANPacker('chrysler_pacifica_2017_hybrid')
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self.assertEqual(
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[0x2d9, 0, '0000000820'.decode('hex'), 0],
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chryslercan.create_lkas_heartbit(CAR.PACIFICA_2017_HYBRID))
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chryslercan.create_lkas_heartbit(packer, 0x820))
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def test_hud(self):
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packer = CANPacker('chrysler_pacifica_2017_hybrid')
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self.assertEqual(
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[0x2a6, 0, '0000010100000000'.decode('hex'), 0],
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chryslercan.create_lkas_hud(packer,
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'park', False, False, CAR.PACIFICA_2017_HYBRID, 1))
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[0x2a6, 0, '0100010100000000'.decode('hex'), 0],
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chryslercan.create_lkas_hud(
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packer,
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'park', False, False, 1, 0))
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self.assertEqual(
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[0x2a6, 0, '0000010000000000'.decode('hex'), 0],
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chryslercan.create_lkas_hud(packer,
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'park', False, False, CAR.PACIFICA_2017_HYBRID, 5*4))
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[0x2a6, 0, '0100010000000000'.decode('hex'), 0],
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chryslercan.create_lkas_hud(
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packer,
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'park', False, False, 5*4, 0))
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self.assertEqual(
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[0x2a6, 0, '0000000000000000'.decode('hex'), 0],
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chryslercan.create_lkas_hud(packer,
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'park', False, False, CAR.PACIFICA_2017_HYBRID, 99999))
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[0x2a6, 0, '0100010000000000'.decode('hex'), 0],
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chryslercan.create_lkas_hud(
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packer,
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'park', False, False, 99999, 0))
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self.assertEqual(
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[0x2a6, 0, '0200060000000000'.decode('hex'), 0],
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chryslercan.create_lkas_hud(packer,
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'drive', True, False, CAR.PACIFICA_2017_HYBRID, 99999))
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chryslercan.create_lkas_hud(
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packer,
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'drive', True, False, 99999, 0))
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self.assertEqual(
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[0x2a6, 0, '0264060000000000'.decode('hex'), 0],
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chryslercan.create_lkas_hud(packer,
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'drive', True, False, CAR.PACIFICA_2018, 99999))
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chryslercan.create_lkas_hud(
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packer,
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'drive', True, False, 99999, 0x64))
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def test_command(self):
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packer = CANPacker('chrysler_pacifica_2017_hybrid')
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self.assertEqual(
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[0x292, 0, '140000001086'.decode('hex'), 0],
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chryslercan.create_lkas_command(
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packer,
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0, True, 1))
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self.assertEqual(
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[0x292, 0, '040000008083'.decode('hex'), 0],
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chryslercan.create_lkas_command(
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packer,
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0, False, 8))
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if __name__ == '__main__':
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unittest.main()
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@@ -4,7 +4,7 @@ from cereal import car
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from selfdrive.config import Conversions as CV
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from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
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from selfdrive.controls.lib.vehicle_model import VehicleModel
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from selfdrive.car.chrysler.carstate import CarState, get_can_parser
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from selfdrive.car.chrysler.carstate import CarState, get_can_parser, get_camera_parser
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from selfdrive.car.chrysler.values import ECU, check_ecu_msgs, CAR
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try:
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@@ -27,8 +27,8 @@ class CarInterface(object):
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# *** init the major players ***
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self.CS = CarState(CP)
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self.cp = get_can_parser(CP)
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self.cp_cam = get_camera_parser(CP)
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# sending if read only is False
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if sendcan is not None:
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@@ -79,7 +79,7 @@ class CarInterface(object):
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ret.steerActuatorDelay = 0.1
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ret.steerRateCost = 0.7
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if candidate == CAR.JEEP_CHEROKEE:
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if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
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ret.wheelbase = 2.91 # in meters
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ret.steerRatio = 12.7
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ret.steerActuatorDelay = 0.2 # in seconds
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@@ -91,6 +91,9 @@ class CarInterface(object):
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ret.minSteerSpeed = 3.8 # m/s
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ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
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if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.JEEP_CHEROKEE_2019):
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ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
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# TODO allow 2019 cars to steer down to 13 m/s if already engaged.
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centerToRear = ret.wheelbase - ret.centerToFront
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# TODO: get actual value, for now starting with reasonable value for
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@@ -137,10 +140,9 @@ class CarInterface(object):
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def update(self, c):
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# ******************* do can recv *******************
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canMonoTimes = []
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self.cp.update(int(sec_since_boot() * 1e9), False)
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self.CS.update(self.cp)
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self.cp_cam.update(int(sec_since_boot() * 1e9), False)
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self.CS.update(self.cp, self.cp_cam)
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# create message
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ret = car.CarState.new_message()
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@@ -208,6 +210,8 @@ class CarInterface(object):
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self.low_speed_alert = (ret.vEgo < self.CP.minSteerSpeed)
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ret.genericToggle = self.CS.generic_toggle
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#ret.lkasCounter = self.CS.lkas_counter
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#ret.lkasCarModel = self.CS.lkas_car_model
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# events
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events = []
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@@ -6,6 +6,7 @@ class CAR:
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PACIFICA_2019_HYBRID = "CHRYSLER PACIFICA HYBRID 2019"
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PACIFICA_2018 = "CHRYSLER PACIFICA 2018"
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JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018" # Also covers Tailhawk 2017.
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JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019"
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# Unique can messages:
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# Only the hybrids have 270: 8
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@@ -24,11 +25,9 @@ FINGERPRINTS = {
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],
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CAR.PACIFICA_2018: [
|
||||
{55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8},
|
||||
|
||||
],
|
||||
CAR.PACIFICA_2018_HYBRID: [
|
||||
{68: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8},
|
||||
{168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8},
|
||||
{68: 8, 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8},
|
||||
],
|
||||
CAR.PACIFICA_2019_HYBRID: [
|
||||
{168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770:8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1538: 8},
|
||||
@@ -42,6 +41,8 @@ FINGERPRINTS = {
|
||||
{55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
|
||||
# Jeep Grand Cherokee 2017 Trailhawk
|
||||
{257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 660: 8, 671: 8, 672: 8, 680: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 752: 2, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 783: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
|
||||
],
|
||||
CAR.JEEP_CHEROKEE_2019: [
|
||||
# Jeep Grand Cherokee 2019 from Switzerland
|
||||
# 530: 8 is so far only in this Jeep.
|
||||
{55: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 660: 8, 671: 8, 672: 8, 676: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 792: 8, 799: 8, 804: 8, 806: 2, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
|
||||
@@ -65,6 +66,9 @@ DBC = {
|
||||
CAR.JEEP_CHEROKEE: dbc_dict( # Same DBC file works.
|
||||
'chrysler_pacifica_2017_hybrid', # 'pt'
|
||||
'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar'
|
||||
CAR.JEEP_CHEROKEE_2019: dbc_dict( # Same DBC file works.
|
||||
'chrysler_pacifica_2017_hybrid', # 'pt'
|
||||
'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar'
|
||||
}
|
||||
|
||||
STEER_THRESHOLD = 120
|
||||
|
||||
Reference in New Issue
Block a user