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tesla

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firestar5683
2026-05-05 20:50:28 -05:00
parent 7918dab915
commit cd9115b0b2
2 changed files with 7 additions and 2 deletions
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opendbc_repo/opendbc/car/tesla/preap/carstate.py
+5 -2
View File
@@ -49,6 +49,10 @@ def update_preap(cs, can_parsers):
))
cs.engagement.handle_steering_disengage(ret.steeringDisengage)
gtw_epas = cp_chassis.vl["GTW_epasControl"]
# Pre-AP steering requires the EPAS firmware patch to advertise angle control and LDW enabled.
ret.invalidLkasSetting = (gtw_epas["GTW_epasControlType"] != 1) or (gtw_epas["GTW_epasLDWEnabled"] != 1)
cruise_state = cs.can_define.dv["DI_state"]["DI_cruiseState"].get(int(cp_chassis.vl["DI_state"]["DI_cruiseState"]), None)
cs.di_cruise_state = cruise_state or "OFF"
speed_units = cs.can_define.dv["DI_state"]["DI_speedUnits"].get(int(cp_chassis.vl["DI_state"]["DI_speedUnits"]), None)
@@ -116,7 +120,7 @@ def update_preap(cs, can_parsers):
def get_preap_can_parsers(CP):
chassis_messages = [
("ESP_B", 0), ("BrakeMessage", 0), ("DI_state", 0), ("DI_torque2", 0),
("GTW_carState", 0), ("STW_ANGLHP_STAT", 0), ("EPAS_sysStatus", 0), ("STW_ACTN_RQ", 0),
("GTW_carState", 0), ("GTW_epasControl", 0), ("STW_ANGLHP_STAT", 0), ("EPAS_sysStatus", 0), ("STW_ACTN_RQ", 0),
]
pt_messages = [("DI_torque1", 0)]
pedal_messages = [("GAS_SENSOR", 50)] if nap_conf.use_pedal else []
@@ -126,4 +130,3 @@ def get_preap_can_parsers(CP):
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, CANBUS.party),
Bus.chassis: CANParser(DBC[CP.carFingerprint][Bus.chassis], chassis_messages, CANBUS.party),
}
selfdrive/selfdrived/events.py
+2
View File
@@ -402,6 +402,8 @@ def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging
def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, starpilot_toggles: SimpleNamespace) -> Alert:
text = "Toggle stock LKAS on or off to engage"
if CP.brand == "tesla" and CP.carFingerprint == "TESLA_MODEL_S_PREAP":
return NormalPermanentAlert("EPAS Firmware Required", "Flash Pre-AP EPAS firmware to enable steering")
if CP.brand == "tesla":
text = "Switch to Traffic-Aware Cruise Control to engage"
elif CP.brand == "mazda":