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Ram 1500 (#24878)
* RamInit * bump submodules * lil cleanup * clean up carstate formatting and platform grouping make tuple * give it a gold torque star (looks around 2.4 from rough data) * Dasm Fault * bump panda * more cleanup * cleanup car state * more cleanup * some fixes * remove more stuff * fix angle signal scaling and fix lkas control bit * bump panda * update those * same limits as pacifica * cleanup hud alert building * better fault logic * fix rate * set ahb * bring that back * update refs Co-authored-by: Jonathan <jraycec@gmail.com> Co-authored-by: Shane Smiskol <shane@smiskol.com> Co-authored-by: Comma Device <device@comma.ai> old-commit-hash: 9b0acacf5e387593ce94dbad88000b5473511e22
This commit is contained in:
Adeeb Shihadeh
@@ -19,6 +19,7 @@ Version 0.8.15 (2022-07-XX)
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* Honda Civic 2022 support
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* Hyundai Tucson 2021 support thanks to bluesforte!
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* Lexus NX Hybrid 2020 support thanks to AlexandreSato!
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* Ram 1500 2019-21 support thanks to realfast!
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Version 0.8.14 (2022-06-01)
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========================
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+2
-1
@@ -144,7 +144,7 @@ How We Rate The Cars
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|Volkswagen|Passat 2015-19[<sup>6</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
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|Volkswagen|Polo 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
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# Bronze - 79 cars
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# Bronze - 80 cars
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|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
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|---|---|---|:---:|:---:|:---:|:---:|:---:|
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@@ -198,6 +198,7 @@ How We Rate The Cars
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|Lexus|RX Hybrid 2016-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
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|Mazda|CX-5 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
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|Mazda|CX-9 2021|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
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|Ram|1500 2019-21|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
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|Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
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|Subaru|Impreza 2017-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
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|Subaru|XV 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
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+1
-1
Submodule panda updated: 6c0d0b43c2...fae3ee2e81
@@ -474,6 +474,7 @@ opendbc/can/parser_pyx.pyx
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opendbc/comma_body.dbc
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opendbc/chrysler_ram_dt_generated.dbc
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opendbc/chrysler_pacifica_2017_hybrid_generated.dbc
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opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc
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@@ -1,8 +1,7 @@
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from cereal import car
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from opendbc.can.packer import CANPacker
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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, create_cruise_buttons
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from selfdrive.car.chrysler.values import CAR, CarControllerParams
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from selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams
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class CarController:
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@@ -10,61 +9,51 @@ class CarController:
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self.CP = CP
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self.apply_steer_last = 0
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self.frame = 0
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self.prev_lkas_frame = -1
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self.hud_count = 0
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self.car_fingerprint = CP.carFingerprint
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self.gone_fast_yet = False
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self.steer_rate_limited = False
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self.hud_count = 0
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self.last_lkas_falling_edge = 0
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self.lkas_active_prev = False
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self.packer = CANPacker(dbc_name)
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def update(self, CC, CS):
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# this seems needed to avoid steering faults and to force the sync with the EPS counter
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if self.prev_lkas_frame == CS.lkas_counter:
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return car.CarControl.Actuators.new_message(), []
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actuators = CC.actuators
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# steer torque
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new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
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apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last,
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CS.out.steeringTorqueEps, CarControllerParams)
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self.steer_rate_limited = new_steer != apply_steer
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moving_fast = CS.out.vEgo > self.CP.minSteerSpeed # for status message
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if CS.out.vEgo > (self.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.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
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if CS.out.vEgo < (self.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 CC.enabled
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if not lkas_active:
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apply_steer = 0
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self.apply_steer_last = apply_steer
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def update(self, CC, CS, low_speed_alert):
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can_sends = []
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# EPS faults if LKAS re-enables too quickly
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lkas_active = CC.latActive and not low_speed_alert and (self.frame - self.last_lkas_falling_edge > 200)
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# *** control msgs ***
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if CC.cruiseControl.cancel:
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can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, cancel=True))
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bus = 2 if self.CP.carFingerprint in RAM_CARS else 0
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can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, bus, cancel=True))
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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.frame % 25 == 0: # 0.25s period
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# HUD alerts
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if self.frame % 25 == 0:
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if CS.lkas_car_model != -1:
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can_sends.append(create_lkas_hud(self.packer, CS.out.gearShifter, lkas_active,
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CC.hudControl.visualAlert, self.hud_count, CS.lkas_car_model))
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can_sends.append(create_lkas_hud(self.packer, self.CP, lkas_active, CC.hudControl.visualAlert, self.hud_count, CS.lkas_car_model, CS.auto_high_beam))
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self.hud_count += 1
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can_sends.append(create_lkas_command(self.packer, int(apply_steer), self.gone_fast_yet, CS.lkas_counter))
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# steering
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if self.frame % 2 == 0:
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# steer torque
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new_steer = int(round(CC.actuators.steer * CarControllerParams.STEER_MAX))
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apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, CarControllerParams)
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if not lkas_active:
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apply_steer = 0
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self.steer_rate_limited = new_steer != apply_steer
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self.apply_steer_last = apply_steer
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idx = self.frame // 2
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can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_active, idx))
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self.frame += 1
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self.prev_lkas_frame = CS.lkas_counter
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if not lkas_active and self.lkas_active_prev:
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self.last_lkas_falling_edge = self.frame
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self.lkas_active_prev = lkas_active
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new_actuators = actuators.copy()
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new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
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new_actuators = CC.actuators.copy()
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new_actuators.steer = self.apply_steer_last / CarControllerParams.STEER_MAX
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return new_actuators, can_sends
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@@ -3,21 +3,29 @@ from common.conversions import Conversions as CV
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from opendbc.can.parser import CANParser
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from opendbc.can.can_define import CANDefine
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from selfdrive.car.interfaces import CarStateBase
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from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD
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from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
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class CarState(CarStateBase):
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def __init__(self, CP):
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super().__init__(CP)
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self.CP = CP
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can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
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self.shifter_values = can_define.dv["GEAR"]["PRNDL"]
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self.auto_high_beam = 0
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self.button_counter = 0
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self.lkas_car_model = -1
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if CP.carFingerprint in RAM_CARS:
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self.shifter_values = can_define.dv["Transmission_Status"]["Gear_State"]
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else:
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self.shifter_values = can_define.dv["GEAR"]["PRNDL"]
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def update(self, cp, cp_cam):
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ret = car.CarState.new_message()
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self.frame = int(cp.vl["EPS_2"]["COUNTER"])
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# lock info
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ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
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cp.vl["BCM_1"]["DOOR_OPEN_FR"],
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cp.vl["BCM_1"]["DOOR_OPEN_RL"],
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@@ -32,8 +40,15 @@ class CarState(CarStateBase):
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ret.gas = cp.vl["ECM_5"]["Accelerator_Position"]
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ret.gasPressed = ret.gas > 1e-5
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ret.espDisabled = (cp.vl["TRACTION_BUTTON"]["TRACTION_OFF"] == 1)
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# car speed
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if self.CP.carFingerprint in RAM_CARS:
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ret.vEgoRaw = cp.vl["ESP_8"]["Vehicle_Speed"] * CV.KPH_TO_MS
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ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["Transmission_Status"]["Gear_State"], None))
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else:
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ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2.
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ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
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ret.standstill = not ret.vEgoRaw > 0.001
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ret.wheelSpeeds = self.get_wheel_speeds(
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cp.vl["ESP_6"]["WHEEL_SPEED_FL"],
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cp.vl["ESP_6"]["WHEEL_SPEED_FR"],
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@@ -41,55 +56,73 @@ class CarState(CarStateBase):
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cp.vl["ESP_6"]["WHEEL_SPEED_RR"],
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unit=1,
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)
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ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2.
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
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ret.standstill = not ret.vEgoRaw > 0.001
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# button presses
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ret.leftBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1
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ret.rightBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2
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ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))
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ret.cruiseState.available = cp.vl["DAS_3"]["ACC_AVAILABLE"] == 1 # ACC is white
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ret.cruiseState.enabled = cp.vl["DAS_3"]["ACC_ACTIVE"] == 1 # ACC is green
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ret.cruiseState.speed = cp.vl["DAS_4"]["ACC_SET_SPEED_KPH"] * CV.KPH_TO_MS
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# CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too
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ret.cruiseState.nonAdaptive = cp.vl["DAS_4"]["ACC_STATE"] in (1, 2)
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ret.accFaulted = cp.vl["DAS_3"]["ACC_FAULTED"] != 0
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ret.genericToggle = cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"] == 1
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# steering wheel
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ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"]
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ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
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ret.steeringTorque = cp.vl["EPS_2"]["COLUMN_TORQUE"]
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ret.steeringTorqueEps = cp.vl["EPS_2"]["EPS_TORQUE_MOTOR"]
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ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
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steer_state = cp.vl["EPS_2"]["LKAS_STATE"]
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ret.steerFaultPermanent = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed)
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ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"])
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# cruise state
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cp_cruise = cp_cam if self.CP.carFingerprint in RAM_CARS else cp
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ret.cruiseState.available = cp_cruise.vl["DAS_3"]["ACC_AVAILABLE"] == 1
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ret.cruiseState.enabled = cp_cruise.vl["DAS_3"]["ACC_ACTIVE"] == 1
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ret.cruiseState.speed = cp_cruise.vl["DAS_4"]["ACC_SET_SPEED_KPH"] * CV.KPH_TO_MS
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ret.cruiseState.nonAdaptive = cp_cruise.vl["DAS_4"]["ACC_STATE"] in (1, 2) # 1 NormalCCOn and 2 NormalCCSet
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ret.cruiseState.standstill = cp_cruise.vl["DAS_3"]["ACC_STANDSTILL"] == 1
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ret.accFaulted = cp_cruise.vl["DAS_3"]["ACC_FAULTED"] != 0
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if self.CP.carFingerprint in RAM_CARS:
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self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON'] # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message
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ret.steerFaultTemporary = cp.vl["EPS_3"]["DASM_FAULT"] == 1
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else:
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steer_state = cp.vl["EPS_2"]["LKAS_STATE"]
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ret.steerFaultPermanent = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed)
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# blindspot sensors
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if self.CP.enableBsm:
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ret.leftBlindspot = cp.vl["BSM_1"]["LEFT_STATUS"] == 1
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ret.rightBlindspot = cp.vl["BSM_1"]["RIGHT_STATUS"] == 1
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self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]["COUNTER"]
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self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
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self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_STATUS_OK"]
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self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
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return ret
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@staticmethod
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def get_cruise_signals():
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signals = [
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("ACC_AVAILABLE", "DAS_3"),
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("ACC_ACTIVE", "DAS_3"),
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("ACC_FAULTED", "DAS_3"),
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("ACC_STANDSTILL", "DAS_3"),
|
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("COUNTER", "DAS_3"),
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("ACC_SET_SPEED_KPH", "DAS_4"),
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("ACC_STATE", "DAS_4"),
|
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]
|
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checks = [
|
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("DAS_3", 50),
|
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("DAS_4", 50),
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]
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||||
return signals, checks
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@staticmethod
|
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def get_can_parser(CP):
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||||
signals = [
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# sig_name, sig_address
|
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("PRNDL", "GEAR"),
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("DOOR_OPEN_FL", "BCM_1"),
|
||||
("DOOR_OPEN_FR", "BCM_1"),
|
||||
("DOOR_OPEN_RL", "BCM_1"),
|
||||
("DOOR_OPEN_RR", "BCM_1"),
|
||||
("Brake_Pedal_State", "ESP_1"),
|
||||
("Accelerator_Position", "ECM_5"),
|
||||
("SPEED_LEFT", "SPEED_1"),
|
||||
("SPEED_RIGHT", "SPEED_1"),
|
||||
("WHEEL_SPEED_FL", "ESP_6"),
|
||||
("WHEEL_SPEED_RR", "ESP_6"),
|
||||
("WHEEL_SPEED_RL", "ESP_6"),
|
||||
@@ -97,18 +130,12 @@ class CarState(CarStateBase):
|
||||
("STEER_ANGLE", "STEERING"),
|
||||
("STEERING_RATE", "STEERING"),
|
||||
("TURN_SIGNALS", "STEERING_LEVERS"),
|
||||
("ACC_AVAILABLE", "DAS_3"),
|
||||
("ACC_ACTIVE", "DAS_3"),
|
||||
("ACC_FAULTED", "DAS_3"),
|
||||
("HIGH_BEAM_PRESSED", "STEERING_LEVERS"),
|
||||
("ACC_SET_SPEED_KPH", "DAS_4"),
|
||||
("ACC_STATE", "DAS_4"),
|
||||
("SEATBELT_DRIVER_UNLATCHED", "ORC_1"),
|
||||
("COUNTER", "EPS_2",),
|
||||
("COLUMN_TORQUE", "EPS_2"),
|
||||
("EPS_TORQUE_MOTOR", "EPS_2"),
|
||||
("LKAS_STATE", "EPS_2"),
|
||||
("COUNTER", "EPS_2",),
|
||||
("TRACTION_OFF", "TRACTION_BUTTON"),
|
||||
("SEATBELT_DRIVER_UNLATCHED", "ORC_1"),
|
||||
("COUNTER", "CRUISE_BUTTONS"),
|
||||
]
|
||||
|
||||
@@ -116,18 +143,13 @@ class CarState(CarStateBase):
|
||||
# sig_address, frequency
|
||||
("ESP_1", 50),
|
||||
("EPS_2", 100),
|
||||
("SPEED_1", 100),
|
||||
("ESP_6", 50),
|
||||
("STEERING", 100),
|
||||
("DAS_3", 50),
|
||||
("GEAR", 50),
|
||||
("ECM_5", 50),
|
||||
("CRUISE_BUTTONS", 50),
|
||||
("DAS_4", 15),
|
||||
("STEERING_LEVERS", 10),
|
||||
("ORC_1", 2),
|
||||
("BCM_1", 1),
|
||||
("TRACTION_BUTTON", 1),
|
||||
]
|
||||
|
||||
if CP.enableBsm:
|
||||
@@ -137,20 +159,47 @@ class CarState(CarStateBase):
|
||||
]
|
||||
checks.append(("BSM_1", 2))
|
||||
|
||||
if CP.carFingerprint in RAM_CARS:
|
||||
signals += [
|
||||
("DASM_FAULT", "EPS_3"),
|
||||
("Vehicle_Speed", "ESP_8"),
|
||||
("Gear_State", "Transmission_Status"),
|
||||
]
|
||||
checks += [
|
||||
("ESP_8", 50),
|
||||
("EPS_3", 50),
|
||||
("Transmission_Status", 50),
|
||||
]
|
||||
else:
|
||||
signals += [
|
||||
("PRNDL", "GEAR"),
|
||||
("SPEED_LEFT", "SPEED_1"),
|
||||
("SPEED_RIGHT", "SPEED_1"),
|
||||
]
|
||||
checks += [
|
||||
("GEAR", 50),
|
||||
("SPEED_1", 100),
|
||||
]
|
||||
signals += CarState.get_cruise_signals()[0]
|
||||
checks += CarState.get_cruise_signals()[1]
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
|
||||
|
||||
@staticmethod
|
||||
def get_cam_can_parser(CP):
|
||||
signals = [
|
||||
# sig_name, sig_address
|
||||
("COUNTER", "LKAS_COMMAND"),
|
||||
# sig_name, sig_address, default
|
||||
("CAR_MODEL", "DAS_6"),
|
||||
("LKAS_STATUS_OK", "LKAS_HEARTBIT")
|
||||
]
|
||||
checks = [
|
||||
("LKAS_COMMAND", 100),
|
||||
("LKAS_HEARTBIT", 10),
|
||||
("DAS_6", 4),
|
||||
]
|
||||
|
||||
if CP.carFingerprint in RAM_CARS:
|
||||
signals += [
|
||||
("AUTO_HIGH_BEAM_ON", "DAS_6"),
|
||||
]
|
||||
signals += CarState.get_cruise_signals()[0]
|
||||
checks += CarState.get_cruise_signals()[1]
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
|
||||
|
||||
@@ -1,56 +1,69 @@
|
||||
from cereal import car
|
||||
from selfdrive.car import make_can_msg
|
||||
|
||||
from selfdrive.car.chrysler.values import RAM_CARS
|
||||
|
||||
GearShifter = car.CarState.GearShifter
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
|
||||
def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_model):
|
||||
# LKAS_HUD 0x2a6 (678) Controls what lane-keeping icon is displayed.
|
||||
def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam):
|
||||
# LKAS_HUD - Controls what lane-keeping icon is displayed
|
||||
|
||||
if hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw):
|
||||
msg = b'\x00\x00\x00\x03\x00\x00\x00\x00'
|
||||
return make_can_msg(0x2a6, msg, 0)
|
||||
# == Color ==
|
||||
# 0 hidden?
|
||||
# 1 white
|
||||
# 2 green
|
||||
# 3 ldw
|
||||
|
||||
color = 1 # default values are for park or neutral in 2017 are 0 0, but trying 1 1 for 2019
|
||||
lines = 1
|
||||
alerts = 0
|
||||
# == Lines ==
|
||||
# 03 white Lines
|
||||
# 04 grey lines
|
||||
# 09 left lane close
|
||||
# 0A right lane close
|
||||
# 0B left Lane very close
|
||||
# 0C right Lane very close
|
||||
# 0D left cross cross
|
||||
# 0E right lane cross
|
||||
|
||||
# == Alerts ==
|
||||
# 7 Normal
|
||||
# 6 lane departure place hands on wheel
|
||||
|
||||
color = 2 if lkas_active else 1
|
||||
lines = 3 if lkas_active else 0
|
||||
alerts = 7 if lkas_active else 0
|
||||
|
||||
if hud_count < (1 * 4): # first 3 seconds, 4Hz
|
||||
alerts = 1
|
||||
# CAR.PACIFICA_2018_HYBRID and CAR.PACIFICA_2019_HYBRID
|
||||
# had color = 1 and lines = 1 but trying 2017 hybrid style for now.
|
||||
if gear in (GearShifter.drive, GearShifter.reverse, GearShifter.low):
|
||||
if lkas_active:
|
||||
color = 2 # control active, display green.
|
||||
lines = 6
|
||||
else:
|
||||
color = 1 # control off, display white.
|
||||
lines = 1
|
||||
|
||||
if hud_alert in (VisualAlert.ldw, VisualAlert.steerRequired):
|
||||
color = 4
|
||||
lines = 0
|
||||
alerts = 6
|
||||
|
||||
values = {
|
||||
"LKAS_ICON_COLOR": color, # byte 0, last 2 bits
|
||||
"CAR_MODEL": lkas_car_model, # byte 1
|
||||
"LKAS_LANE_LINES": lines, # byte 2, last 4 bits
|
||||
"LKAS_ALERTS": alerts, # byte 3, last 4 bits
|
||||
}
|
||||
"LKAS_ICON_COLOR": color,
|
||||
"CAR_MODEL": car_model,
|
||||
"LKAS_LANE_LINES": lines,
|
||||
"LKAS_ALERTS": alerts,
|
||||
}
|
||||
|
||||
return packer.make_can_msg("DAS_6", 0, values) # 0x2a6
|
||||
if CP.carFingerprint in RAM_CARS:
|
||||
values['AUTO_HIGH_BEAM_ON'] = auto_high_beam
|
||||
|
||||
return packer.make_can_msg("DAS_6", 0, values)
|
||||
|
||||
|
||||
def create_lkas_command(packer, apply_steer, moving_fast, frame):
|
||||
# LKAS_COMMAND 0x292 (658) Lane-keeping signal to turn the wheel.
|
||||
def create_lkas_command(packer, CP, apply_steer, lat_active, frame):
|
||||
# LKAS_COMMAND Lane-keeping signal to turn the wheel
|
||||
enabled_val = 2 if CP.carFingerprint in RAM_CARS else 1
|
||||
values = {
|
||||
"STEERING_TORQUE": apply_steer,
|
||||
"LKAS_CONTROL_BIT": int(moving_fast),
|
||||
"COUNTER": frame % 0x10,
|
||||
"LKAS_CONTROL_BIT": enabled_val if lat_active else 0,
|
||||
}
|
||||
return packer.make_can_msg("LKAS_COMMAND", 0, values)
|
||||
return packer.make_can_msg("LKAS_COMMAND", 0, values, frame % 0x10)
|
||||
|
||||
|
||||
def create_cruise_buttons(packer, frame, cancel=False):
|
||||
def create_cruise_buttons(packer, frame, bus, cancel=False):
|
||||
values = {
|
||||
"ACC_Cancel": cancel,
|
||||
"COUNTER": frame % 0x10,
|
||||
}
|
||||
return packer.make_can_msg("CRUISE_BUTTONS", 0, values)
|
||||
return packer.make_can_msg("CRUISE_BUTTONS", bus, values, frame % 0x10)
|
||||
|
||||
@@ -1,7 +1,8 @@
|
||||
#!/usr/bin/env python3
|
||||
from cereal import car
|
||||
from selfdrive.car.chrysler.values import CAR
|
||||
from panda import Panda
|
||||
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
|
||||
from selfdrive.car.chrysler.values import CAR, RAM_CARS
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
|
||||
|
||||
@@ -10,7 +11,9 @@ class CarInterface(CarInterfaceBase):
|
||||
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
|
||||
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
|
||||
ret.carName = "chrysler"
|
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)]
|
||||
|
||||
param = Panda.FLAG_CHRYSLER_RAM_DT if candidate in RAM_CARS else None
|
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler, param)]
|
||||
|
||||
ret.steerActuatorDelay = 0.1
|
||||
ret.steerLimitTimer = 0.4
|
||||
@@ -39,6 +42,15 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
|
||||
ret.lateralTuning.pid.kf = 0.00006
|
||||
|
||||
# Ram
|
||||
elif candidate == CAR.RAM_1500:
|
||||
ret.wheelbase = 3.88
|
||||
ret.steerRatio = 16.3
|
||||
ret.mass = 2493. + STD_CARGO_KG
|
||||
ret.maxLateralAccel = 2.4
|
||||
ret.minSteerSpeed = 14.5
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
else:
|
||||
raise ValueError(f"Unsupported car: {candidate}")
|
||||
|
||||
@@ -64,9 +76,9 @@ class CarInterface(CarInterfaceBase):
|
||||
events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
|
||||
|
||||
# Low speed steer alert hysteresis logic
|
||||
if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 1.):
|
||||
if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 0.5):
|
||||
self.low_speed_alert = True
|
||||
elif ret.vEgo > (self.CP.minSteerSpeed + 2.):
|
||||
elif ret.vEgo > (self.CP.minSteerSpeed + 1.):
|
||||
self.low_speed_alert = False
|
||||
if self.low_speed_alert:
|
||||
events.add(car.CarEvent.EventName.belowSteerSpeed)
|
||||
@@ -76,4 +88,4 @@ class CarInterface(CarInterfaceBase):
|
||||
return ret
|
||||
|
||||
def apply(self, c):
|
||||
return self.CC.update(c, self.CS)
|
||||
return self.CC.update(c, self.CS, self.low_speed_alert)
|
||||
|
||||
@@ -10,6 +10,10 @@ LAST_MSG = max(RADAR_MSGS_C + RADAR_MSGS_D)
|
||||
NUMBER_MSGS = len(RADAR_MSGS_C) + len(RADAR_MSGS_D)
|
||||
|
||||
def _create_radar_can_parser(car_fingerprint):
|
||||
dbc = DBC[car_fingerprint]['radar']
|
||||
if dbc is None:
|
||||
return None
|
||||
|
||||
msg_n = len(RADAR_MSGS_C)
|
||||
# list of [(signal name, message name or number), (...)]
|
||||
# [('RADAR_STATE', 1024),
|
||||
@@ -46,6 +50,9 @@ class RadarInterface(RadarInterfaceBase):
|
||||
self.trigger_msg = LAST_MSG
|
||||
|
||||
def update(self, can_strings):
|
||||
if self.rcp is None:
|
||||
return super().update(None)
|
||||
|
||||
vls = self.rcp.update_strings(can_strings)
|
||||
self.updated_messages.update(vls)
|
||||
|
||||
@@ -81,4 +88,4 @@ class RadarInterface(RadarInterfaceBase):
|
||||
ret.points = [x for x in self.pts.values() if x.dRel != 0]
|
||||
|
||||
self.updated_messages.clear()
|
||||
return ret
|
||||
return ret
|
||||
@@ -2,19 +2,12 @@ from dataclasses import dataclass
|
||||
from enum import Enum
|
||||
from typing import Dict, List, Optional, Union
|
||||
|
||||
from cereal import car
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarInfo, Harness
|
||||
from cereal import car
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
|
||||
class CarControllerParams:
|
||||
STEER_MAX = 261 # 262 faults
|
||||
STEER_DELTA_UP = 3 # 3 is stock. 100 is fine. 200 is too much it seems
|
||||
STEER_DELTA_DOWN = 3 # no faults on the way down it seems
|
||||
STEER_ERROR_MAX = 80
|
||||
|
||||
|
||||
class CAR:
|
||||
# Chrysler
|
||||
PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
|
||||
@@ -24,16 +17,28 @@ class CAR:
|
||||
PACIFICA_2020 = "CHRYSLER PACIFICA 2020"
|
||||
|
||||
# Jeep
|
||||
JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018" # includes 2017 Trailhawk
|
||||
JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk
|
||||
JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018" # includes 2017 Trailhawk
|
||||
JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk
|
||||
|
||||
# Ram
|
||||
RAM_1500 = "RAM 1500 5TH GEN"
|
||||
|
||||
|
||||
class CarControllerParams:
|
||||
STEER_MAX = 261 # higher than this faults the EPS on Chrysler/Jeep. Ram DT allows more
|
||||
STEER_DELTA_UP = 3
|
||||
STEER_DELTA_DOWN = 3
|
||||
STEER_ERROR_MAX = 80
|
||||
|
||||
STEER_THRESHOLD = 120
|
||||
|
||||
RAM_CARS = {CAR.RAM_1500, }
|
||||
|
||||
@dataclass
|
||||
class ChryslerCarInfo(CarInfo):
|
||||
package: str = "Adaptive Cruise"
|
||||
harness: Enum = Harness.fca
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
|
||||
CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"),
|
||||
CAR.PACIFICA_2018_HYBRID: None, # same platforms
|
||||
@@ -42,6 +47,7 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
|
||||
CAR.PACIFICA_2020: ChryslerCarInfo("Chrysler Pacifica 2019-20"),
|
||||
CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
|
||||
CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-20", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
|
||||
CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-21"),
|
||||
}
|
||||
|
||||
# Unique CAN messages:
|
||||
@@ -97,6 +103,11 @@ FINGERPRINTS = {
|
||||
# Jeep Grand Cherokee 2019, including most 2020 models
|
||||
55: 8, 168: 8, 179: 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, 341: 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, 640: 1, 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, 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, 840: 8, 844: 5, 847: 1, 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, 960: 4, 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, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
|
||||
}],
|
||||
CAR.RAM_1500: [
|
||||
{35: 8, 37: 8, 39: 8, 41: 8, 43: 8, 47: 8, 49: 8, 53: 8, 55: 8, 113: 8, 119: 2, 121: 8, 123: 7, 125: 6, 127: 8, 129: 8, 131: 8, 133: 8, 135: 8, 137: 8, 139: 8, 141: 8, 145: 8, 147: 8, 149: 7, 153: 8, 155: 8, 157: 8, 163: 8, 164: 8, 166: 8, 167: 8, 169: 8, 171: 8, 173: 5, 177: 3, 179: 8, 181: 8, 213: 3, 221: 8, 232: 8, 250: 8, 278: 8, 289: 5, 293: 3, 295: 8, 296: 8, 297: 4, 298: 8, 299: 8, 305: 8, 307: 8, 311: 8, 315: 8, 317: 8, 319: 8, 323: 8, 333: 8, 334: 8, 341: 8, 343: 8, 345: 8, 347: 8, 409: 6, 421: 8, 448: 6, 456: 4, 464: 8, 489: 8, 491: 8, 502: 8, 503: 8, 505: 8, 507: 5, 516: 7, 517: 7, 524: 8, 526: 6, 557: 8, 560: 8, 584: 8, 601: 8, 605: 8, 607: 8, 609: 8, 611: 8, 613: 8, 623: 8, 631: 8, 633: 8, 634: 8, 635: 8, 637: 8, 641: 8, 643: 8, 645: 2, 649: 8, 650: 8, 651: 8, 656: 4, 657: 8, 659: 5, 663: 8, 664: 8, 673: 8, 676: 8, 679: 8, 685: 8, 687: 8, 689: 5, 706: 8, 709: 8, 710: 8, 711: 8, 720: 6, 752: 2, 754: 8, 773: 8, 788: 3, 792: 8, 808: 8, 818: 8, 819: 8, 822: 8, 823: 8, 825: 2, 838: 2, 840: 8, 848: 8, 856: 4, 860: 6, 862: 8, 875: 2, 897: 8, 906: 8, 910: 8, 926: 3, 929: 8, 930: 8, 931: 8, 932: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 961: 8, 962: 8, 969: 4, 971: 8, 972: 8, 973: 8, 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, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8},
|
||||
{35: 8, 37: 8, 39: 8, 43: 8, 47: 8, 49: 8, 53: 8, 55: 8, 113: 8, 119: 2, 121: 8, 123: 7, 125: 6, 127: 8, 129: 8, 131: 8, 133: 8, 135: 8, 137: 8, 139: 8, 141: 8, 145: 8, 147: 8, 149: 7, 153: 8, 155: 8, 157: 8, 163: 8, 164: 8, 166: 8, 167: 8, 169: 8, 171: 8, 173: 5, 177: 3, 179: 8, 181: 8, 213: 3, 221: 8, 232: 8, 250: 8, 276: 8, 277: 8, 278: 8, 289: 5, 293: 3, 295: 8, 296: 8, 297: 4, 299: 8, 301: 8, 302: 8, 305: 8, 307: 8, 311: 8, 317: 8, 319: 8, 323: 8, 327: 8, 333: 8, 334: 8, 341: 8, 343: 8, 345: 8, 347: 8, 421: 8, 448: 6, 456: 4, 457: 8, 464: 8, 489: 8, 491: 8, 502: 8, 503: 8, 507: 5, 516: 7, 517: 7, 524: 8, 526: 6, 557: 8, 560: 8, 584: 8, 601: 8, 605: 8, 607: 8, 609: 8, 613: 8, 623: 8, 631: 8, 633: 8, 634: 8, 635: 8, 637: 8, 641: 8, 643: 8, 645: 2, 649: 8, 650: 8, 651: 8, 656: 4, 657: 8, 663: 8, 673: 8, 676: 8, 679: 8, 685: 8, 687: 8, 689: 5, 706: 8, 709: 8, 710: 8, 711: 8, 720: 6, 738: 8, 752: 2, 754: 8, 773: 8, 792: 8, 808: 8, 812: 8, 813: 8, 814: 8, 818: 8, 819: 8, 821: 8, 822: 8, 823: 8, 825: 2, 838: 2, 840: 8, 847: 1, 848: 8, 856: 4, 860: 6, 862: 8, 874: 2, 876: 8, 897: 8, 906: 8, 910: 8, 926: 3, 929: 8, 930: 8, 931: 8, 932: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 961: 8, 962: 8, 969: 4, 971: 8, 972: 8, 973: 8, 975: 8, 976: 8, 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, 1030: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8},
|
||||
{35: 8, 37: 8, 39: 8, 43: 8, 47: 8, 49: 8, 53: 8, 55: 8, 113: 8, 119: 2, 121: 8, 123: 7, 125: 6, 127: 8, 129: 8, 131: 8, 133: 8, 135: 8, 137: 8, 139: 8, 141: 8, 145: 8, 147: 8, 149: 7, 153: 8, 155: 8, 157: 8, 163: 8, 164: 8, 166: 8, 167: 8, 169: 8, 171: 8, 173: 5, 177: 3, 179: 8, 181: 8, 213: 3, 221: 8, 232: 8, 250: 8, 289: 5, 293: 3, 295: 8, 296: 8, 297: 4, 299: 8, 301: 8, 302: 8, 305: 8, 307: 8, 311: 8, 317: 8, 319: 8, 323: 8, 334: 8, 337: 8, 343: 8, 347: 8, 409: 6, 421: 8, 448: 6, 456: 4, 464: 8, 489: 8, 491: 8, 502: 8, 503: 8, 507: 5, 516: 7, 517: 7, 524: 8, 526: 6, 557: 8, 560: 8, 584: 8, 601: 8, 605: 8, 607: 8, 609: 8, 613: 8, 623: 8, 631: 8, 633: 8, 634: 8, 635: 8, 637: 8, 641: 8, 643: 8, 645: 2, 649: 8, 650: 8, 651: 8, 656: 4, 657: 8, 659: 5, 663: 8, 664: 8, 673: 8, 676: 8, 679: 8, 685: 8, 687: 8, 689: 5, 706: 8, 709: 8, 710: 8, 711: 8, 720: 6, 752: 2, 754: 8, 773: 8, 788: 3, 792: 8, 808: 8, 812: 8, 813: 8, 814: 8, 818: 8, 819: 8, 821: 8, 822: 8, 825: 2, 838: 2, 840: 8, 847: 1, 848: 8, 856: 4, 860: 6, 862: 8, 876: 8, 897: 8, 906: 8, 910: 8, 926: 3, 929: 8, 930: 8, 931: 8, 932: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 961: 8, 962: 8, 969: 4, 971: 8, 972: 8, 973: 8, 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, 1030: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
|
||||
],
|
||||
}
|
||||
|
||||
|
||||
@@ -108,6 +119,5 @@ DBC = {
|
||||
CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
|
||||
CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
|
||||
CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
|
||||
CAR.RAM_1500: dbc_dict('chrysler_ram_dt_generated', None),
|
||||
}
|
||||
|
||||
STEER_THRESHOLD = 120
|
||||
|
||||
@@ -38,6 +38,7 @@ routes = [
|
||||
TestRoute("378472f830ee7395|2021-05-28--07-38-43", CHRYSLER.PACIFICA_2018_HYBRID),
|
||||
TestRoute("8190c7275a24557b|2020-01-29--08-33-58", CHRYSLER.PACIFICA_2019_HYBRID),
|
||||
TestRoute("3d84727705fecd04|2021-05-25--08-38-56", CHRYSLER.PACIFICA_2020),
|
||||
TestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500),
|
||||
|
||||
#TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
|
||||
|
||||
|
||||
@@ -19,8 +19,9 @@ FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]
|
||||
# No steering wheel
|
||||
COMMA BODY: [.nan, 1000, .nan]
|
||||
|
||||
# Totally new car
|
||||
# Totally new cars
|
||||
KIA EV6 2022: [3.0, 2.5, 0.0]
|
||||
RAM 1500 5TH GEN: [2.0, 2.0, 0.05]
|
||||
|
||||
# Dashcam or fallback configured as ideal car
|
||||
mock: [10.0, 10, 0.0]
|
||||
|
||||
@@ -1 +1 @@
|
||||
b904e52e9de4ff7b2bd7f6af8b19abaf4957e6cc
|
||||
ebe7f1285ec60f522179606d483a198535c0e83a
|
||||
Reference in New Issue
Block a user