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1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 whoisdomi
|
fbcc0bed66 |
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@@ -522,7 +522,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
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{"PIPPreviewMask", {PERSISTENT, JSON, "{\"width\":1928,\"height\":1208,\"center_left\":[315,548],\"center_right\":[1571,539],\"crop_size\":580}", "{\"width\":1928,\"height\":1208,\"center_left\":[315,548],\"center_right\":[1571,539],\"crop_size\":580}", 2}},
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{"PIPPreviewShowOnBlinker", {PERSISTENT, BOOL, "0", "0", 1}},
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{"PIPPreviewShowOnBSM", {PERSISTENT, BOOL, "0", "0", 1}},
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{"PIPPreviewInvert", {PERSISTENT, BOOL, "0", "0", 1}},
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{"GalaxyPaired", {PERSISTENT, BOOL, "0", "0", 0}},
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{"GalaxyUploadPending", {PERSISTENT, BOOL, "0", "0", 0}},
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{"PreferredSchedule", {PERSISTENT, INT, "2", "0", 0}},
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@@ -665,7 +664,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
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{"SwitchbackModeEnabled", {CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0", "0"}},
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{"SubaruSNG", {PERSISTENT, BOOL, "1", "0", 2, SETTINGS_SIMPLE}},
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{"SubaruSNGManualParkingBrake", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
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{"SubaruStopStartOff", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
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{"TacoTune", {PERSISTENT, BOOL, "0", "0", 2}},
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{"TeslaCoopSteering", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
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{"TestAlert", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
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+2
-2
@@ -76,7 +76,7 @@ A supported vehicle is one that just works when you install a comma device. All
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|Chevrolet|Volt 2019|Adaptive Cruise Control (ACC) & LKAS|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt 2019">Buy Here</a></sub></details>|||
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|Chevrolet|Volt ASCM Harness 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt ASCM Harness 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
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|Chevrolet|Volt Camera Harness 2017-18|Flashed camera-forward integration with ACC|openpilot available[<sup>1</sup>](#footnotes)|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt Camera Harness 2017-18">Buy Here</a></sub></details>|||
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|Chevrolet|Volt No-ACC 2016-18 (OBD-C / L&P Harness)|Redneck ACC|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt No-ACC 2016-18 (OBD-C / L&P Harness)">Buy Here</a></sub></details>|||
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|Chevrolet|Volt No-ACC 2017-18|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt No-ACC 2017-18">Buy Here</a></sub></details>|||
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|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2017-18">Buy Here</a></sub></details>|||
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|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2019-20">Buy Here</a></sub></details>|||
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|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2021-23">Buy Here</a></sub></details>|||
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@@ -545,4 +545,4 @@ openpilot does not yet support these Toyota models due to a new message authenti
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* Toyota Camry 2025+
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* Lexus NX 2022+
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* Toyota bZ4x 2023+
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* Subaru Solterra 2023+
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* Subaru Solterra 2023+
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@@ -85,7 +85,7 @@
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|Chevrolet|Volt 2019|Adaptive Cruise Control (ACC) & LKAS|[Upstream](#upstream)|
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|Chevrolet|Volt ASCM Harness 2017-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
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|Chevrolet|Volt Camera Harness 2017-18|Flashed camera-forward integration with ACC|[Upstream](#upstream)|
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|Chevrolet|Volt No-ACC 2016-18 (OBD-C / L&P Harness)|Redneck ACC|[Upstream](#upstream)|
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|Chevrolet|Volt No-ACC 2017-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
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|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
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|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
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|Chrysler|Pacifica 2021-23|All|[Upstream](#upstream)|
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@@ -578,4 +578,4 @@ Toyota, and the GM Global B platform.
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All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a
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CAN bus isn't the only way that the computers in your car can communicate. Most, if not all, vehicles from the following
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manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars
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may one day be supported, but we have no immediate plans to support FlexRay.
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may one day be supported, but we have no immediate plans to support FlexRay.
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@@ -30,20 +30,20 @@ FINGERPRINTS = {
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CAR.BUICK_LACROSSE: [{
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190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
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}],
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CAR.CHEVROLET_VOLT_CC: [
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# Captured no-ACC Volt fingerprints for OBD-C/L&P harness installations
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# Volt Premier w/o ACC 2016
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{
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170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 8, 308: 4, 309: 8, 311: 8, 313: 8, 320: 8, 328: 1, 352: 5, 368: 8, 381: 6, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 4, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 8, 563: 5, 564: 5, 565: 8, 566: 5, 567: 3, 568: 1, 577: 8, 578: 8, 594: 8, 647: 3, 707: 8, 711: 6, 717: 5, 761: 7, 800: 6, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 6, 844: 8, 866: 4, 869: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1618: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 1930: 7, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2025: 8, 2028: 8
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},
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{
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201: 8, 493: 8, 495: 4, 193: 8, 197: 8, 209: 7, 171: 8, 456: 8, 199: 4, 489: 8, 211: 2, 499: 3, 390: 7, 532: 6, 568: 1, 761: 7, 381: 6, 485: 8, 189: 7, 479: 3, 711: 6, 501: 8, 241: 6, 717: 5, 869: 4, 389: 2, 454: 8, 170: 8, 190: 6, 497: 8, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 500: 6, 508: 8, 528: 4, 647: 3, 1105: 6, 1005: 6, 481: 7, 844: 8, 866: 4, 564: 5, 969: 8, 388: 8, 352: 5, 562: 8, 961: 8, 386: 8, 707: 8, 977: 8, 979: 7, 298: 8, 840: 5, 842: 5, 988: 6, 1001: 8, 560: 8, 546: 7, 558: 8, 309: 8, 995: 7, 311: 8, 566: 5, 567:3, 989: 8, 384: 4, 800: 6, 1033: 7, 1034: 7, 313: 8, 554: 3, 810: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 1223: 3, 1233: 8, 1227: 4, 1417: 8, 1009: 8, 1221: 5, 1275: 3, 1225: 7, 289: 8, 550: 8, 1273: 3, 1928: 7, 1187: 4, 1265: 8, 1927: 7, 1267: 1, 1906: 7, 288: 5, 304: 1, 328: 1, 1912: 7, 320: 3, 1910: 7, 563: 5, 1249: 8, 1930: 7, 1257: 6, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 565: 5, 1280: 4, 1907: 7
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},
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# Volt Premier w/o ACC 2018 + Pedal
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{
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189: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 513: 6, 528: 4, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1922: 7, 1930: 7
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}
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],
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# CAR.CHEVROLET_VOLT_CC: [
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# FIXME: Need a message to distinguish flashed from non-flashed
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# Volt Premier w/o acc 2016
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# {
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# 170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 8, 308: 4, 309: 8, 311: 8, 313: 8, 320: 8, 328: 1, 352: 5, 368: 8, 381: 6, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 4, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 8, 563: 5, 564: 5, 565: 8, 566: 5, 567: 3, 568: 1, 577: 8, 578: 8, 594: 8, 647: 3, 707: 8, 711: 6, 717: 5, 761: 7, 800: 6, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 6, 844: 8, 866: 4, 869: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1618: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 1930: 7, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2025: 8, 2028: 8
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# },
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# {
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# 201: 8, 493: 8, 495: 4, 193: 8, 197: 8, 209: 7, 171: 8, 456: 8, 199: 4, 489: 8, 211: 2, 499: 3, 390: 7, 532: 6, 568: 1, 761: 7, 381: 6, 485: 8, 189: 7, 479: 3, 711: 6, 501: 8, 241: 6, 717: 5, 869: 4, 389: 2, 454: 8, 170: 8, 190: 6, 497: 8, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 500: 6, 508: 8, 528: 4, 647: 3, 1105: 6, 1005: 6, 481: 7, 844: 8, 866: 4, 564: 5, 969: 8, 388: 8, 352: 5, 562: 8, 961: 8, 386: 8, 707: 8, 977: 8, 979: 7, 298: 8, 840: 5, 842: 5, 988: 6, 1001: 8, 560: 8, 546: 7, 558: 8, 309: 8, 995: 7, 311: 8, 566: 5, 567:3, 989: 8, 384: 4, 800: 6, 1033: 7, 1034: 7, 313: 8, 554: 3, 810: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 1223: 3, 1233: 8, 1227: 4, 1417: 8, 1009: 8, 1221: 5, 1275: 3, 1225: 7, 289: 8, 550: 8, 1273: 3, 1928: 7, 1187: 4, 1265: 8, 1927: 7, 1267: 1, 1906: 7, 288: 5, 304: 1, 328: 1, 1912: 7, 320: 3, 1910: 7, 563: 5, 1249: 8, 1930: 7, 1257: 6, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 565: 5, 1280: 4, 1907: 7
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# },
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# # Volt Premier w/o ACC 2018 + Pedal
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# {
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# 189: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 513: 6, 528: 4, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1922: 7, 1930: 7
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# }
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# ],
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CAR.BUICK_REGAL: [{
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190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 8, 419: 8, 422: 4, 426: 8, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 463: 3, 479: 8, 481: 7, 485: 8, 487: 8, 489: 8, 495: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 884: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 8, 969: 8, 977: 8, 979: 8, 985: 8, 1001: 8, 1005: 6, 1009: 8, 1011: 8, 1013: 3, 1017: 8, 1020: 8, 1024: 8, 1025: 8, 1026: 8, 1027: 8, 1028: 8, 1029: 8, 1030: 8, 1031: 8, 1032: 2, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 8, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 8, 1263: 8, 1265: 8, 1267: 8, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1603: 7, 1611: 8, 1618: 8, 1906: 8, 1907: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1930: 7, 2016: 8, 2018: 8, 2019: 8, 2024: 8, 2026: 8
|
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}],
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@@ -207,6 +207,7 @@ FINGERPRINTS = {
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FINGERPRINTS.update({
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CAR.CHEVROLET_VOLT_ASCM: FINGERPRINTS[CAR.CHEVROLET_VOLT],
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CAR.CHEVROLET_VOLT_CAMERA: [{**fp, CAMERA_DIAGNOSTIC_ADDRESS: 8, CAMERA_DIAGNOSTIC_RX_ADDRESS: 8} for fp in FINGERPRINTS[CAR.CHEVROLET_VOLT]],
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CAR.CHEVROLET_VOLT_CC: FINGERPRINTS[CAR.CHEVROLET_VOLT],
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CAR.GMC_ACADIA_ASCM: FINGERPRINTS[CAR.GMC_ACADIA],
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CAR.CHEVROLET_MALIBU_ASCM: FINGERPRINTS[CAR.CHEVROLET_MALIBU],
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CAR.CADILLAC_ESCALADE_ASCM: FINGERPRINTS[CAR.CADILLAC_ESCALADE],
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@@ -1,4 +1,4 @@
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from opendbc.car import DT_CTRL, structs
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from opendbc.car import DT_CTRL
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from opendbc.car.can_definitions import CanData
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from opendbc.car.common.conversions import Conversions as CV
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from opendbc.car.gm.values import CAR, CanBus, CruiseButtons, GMFlags
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@@ -420,11 +420,9 @@ def create_gm_cc_spam_command(packer, controller, CS, actuators, starpilot_toggl
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idx = (CS.buttons_counter + 1) % 4 # Need to predict the next idx for '22-23 EUV
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msgs = [create_buttons(packer, CanBus.POWERTRAIN, idx, cruise_btn)]
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# A camera-forward Volt CC install needs the button spoof on both sides.
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# The OBD-C/L&P gateway variant has no camera bus and remains PT-only.
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if (CS.CP.carFingerprint == CAR.CHEVROLET_VOLT_CC and
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getattr(CS.CP, "networkLocation", None) == structs.CarParams.NetworkLocation.fwdCamera and
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not (CS.CP.flags & GMFlags.NO_CAMERA.value)):
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# Flashed camera-forward Volt CC installs also need the button spoof on the
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# camera side. Removed-camera installs set NO_CAMERA and keep this PT-only.
|
||||
if CS.CP.carFingerprint == CAR.CHEVROLET_VOLT_CC and not (CS.CP.flags & GMFlags.NO_CAMERA.value):
|
||||
msgs.append(create_buttons(packer, CanBus.CAMERA, idx, cruise_btn))
|
||||
return msgs
|
||||
else:
|
||||
|
||||
@@ -273,6 +273,7 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
kaofui_camera_cars = {
|
||||
CAR.CHEVROLET_VOLT_CAMERA,
|
||||
CAR.CHEVROLET_VOLT_CC,
|
||||
CAR.CHEVROLET_MALIBU_HYBRID_CC,
|
||||
}
|
||||
bolt_cc_camera_cars = {
|
||||
@@ -684,8 +685,6 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
if candidate in CC_ONLY_CAR:
|
||||
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_NO_ACC.value
|
||||
if candidate == CAR.CHEVROLET_VOLT_CC and ret.networkLocation == NetworkLocation.gateway:
|
||||
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_VOLT_CC_GATEWAY.value
|
||||
|
||||
if candidate in SDGM_CAR and ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
|
||||
ret.flags |= GMFlags.FORCE_BRAKE_C9.value
|
||||
@@ -699,7 +698,7 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
|
||||
ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
|
||||
if candidate in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_CC) and ret.networkLocation == NetworkLocation.gateway:
|
||||
if candidate == CAR.CHEVROLET_VOLT and ret.networkLocation == NetworkLocation.gateway:
|
||||
# Reuse the no-camera safety bit as an ASCM Volt selector for the alternate EBCM brake path.
|
||||
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_NO_CAMERA.value
|
||||
|
||||
|
||||
@@ -201,45 +201,6 @@ class TestGMInterface:
|
||||
assert car_params.flags & GMFlags.NO_CAMERA.value
|
||||
assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_NO_CAMERA.value
|
||||
|
||||
def test_volt_cc_obd_gateway_uses_cc_long_no_camera_path(self):
|
||||
CarInterface = interfaces[CAR.CHEVROLET_VOLT_CC]
|
||||
car_params = CarInterface.get_params(
|
||||
CAR.CHEVROLET_VOLT_CC,
|
||||
_empty_fingerprint(),
|
||||
[],
|
||||
alpha_long=False,
|
||||
is_release=False,
|
||||
docs=False,
|
||||
starpilot_toggles=_test_starpilot_toggles(),
|
||||
)
|
||||
|
||||
assert car_params.networkLocation == structs.CarParams.NetworkLocation.gateway
|
||||
assert car_params.flags & GMFlags.CC_LONG.value
|
||||
assert car_params.flags & GMFlags.NO_CAMERA.value
|
||||
assert not (car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.HW_CAM.value)
|
||||
assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_CC_LONG.value
|
||||
assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_NO_ACC.value
|
||||
assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_NO_CAMERA.value
|
||||
|
||||
parsers = CarInterface.CarState.get_can_parsers(car_params)
|
||||
assert "ECMCruiseControl" in parsers[Bus.pt].vl
|
||||
assert not parsers[Bus.cam].vl
|
||||
|
||||
def test_other_cc_only_gateway_does_not_use_volt_cc_safety_path(self):
|
||||
CarInterface = interfaces[CAR.CHEVROLET_SILVERADO_CC]
|
||||
car_params = CarInterface.get_params(
|
||||
CAR.CHEVROLET_SILVERADO_CC,
|
||||
_empty_fingerprint(),
|
||||
[],
|
||||
alpha_long=False,
|
||||
is_release=False,
|
||||
docs=False,
|
||||
starpilot_toggles=_test_starpilot_toggles(),
|
||||
)
|
||||
|
||||
assert car_params.networkLocation == structs.CarParams.NetworkLocation.gateway
|
||||
assert not (car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_VOLT_CC_GATEWAY.value)
|
||||
|
||||
def test_volt_ascm_sparse_fingerprint_without_camera_does_not_set_no_camera(self):
|
||||
CarInterface = interfaces[CAR.CHEVROLET_VOLT_ASCM]
|
||||
fingerprint = {
|
||||
@@ -572,7 +533,6 @@ class TestGMCarController:
|
||||
CP=SimpleNamespace(
|
||||
carFingerprint=CAR.CHEVROLET_VOLT_CC,
|
||||
flags=0,
|
||||
networkLocation=structs.CarParams.NetworkLocation.fwdCamera,
|
||||
minEnableSpeed=24 * CV.MPH_TO_MS,
|
||||
),
|
||||
buttons_counter=2,
|
||||
@@ -594,7 +554,6 @@ class TestGMCarController:
|
||||
CP=SimpleNamespace(
|
||||
carFingerprint=CAR.CHEVROLET_VOLT_CC,
|
||||
flags=GMFlags.NO_CAMERA.value,
|
||||
networkLocation=structs.CarParams.NetworkLocation.gateway,
|
||||
minEnableSpeed=24 * CV.MPH_TO_MS,
|
||||
),
|
||||
buttons_counter=2,
|
||||
|
||||
@@ -175,7 +175,6 @@ class GMSafetyFlags(IntFlag):
|
||||
FLAG_GM_REMOTE_START_BOOTS_COMMA = 8192
|
||||
FLAG_GM_PANDA_3D1_SCHED = 16384
|
||||
FLAG_GM_PANDA_PADDLE_SCHED = 32768
|
||||
FLAG_GM_VOLT_CC_GATEWAY = 16384
|
||||
|
||||
|
||||
class Footnote(Enum):
|
||||
@@ -248,7 +247,7 @@ class CAR(Platforms):
|
||||
dbc_dict=CHEVROLET_VOLT.dbc_dict,
|
||||
)
|
||||
CHEVROLET_VOLT_CC = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Volt No-ACC 2016-18 (OBD-C / L&P Harness)", "Redneck ACC", min_enable_speed=0)],
|
||||
[GMCarDocs("Chevrolet Volt No-ACC 2017-18", min_enable_speed=0)],
|
||||
CHEVROLET_VOLT.specs,
|
||||
dbc_dict=CHEVROLET_VOLT.dbc_dict,
|
||||
)
|
||||
|
||||
@@ -180,13 +180,6 @@ def should_use_ev6_gt_line_stop_direct_tracking(ev6_gt_line: bool, stopping: boo
|
||||
return bool(ev6_gt_line and stopping and v_ego > EV6_GT_LINE_STOP_BRAKE_CAP_MAX_SPEED and accel_cmd < actual_accel)
|
||||
|
||||
|
||||
def apply_carnival_steering_override(car_fingerprint, steering_pressed: bool,
|
||||
apply_steer_req: bool, apply_torque: int) -> tuple[bool, int]:
|
||||
if car_fingerprint == CAR.KIA_CARNIVAL_2025 and steering_pressed:
|
||||
return False, 0
|
||||
return apply_steer_req, apply_torque
|
||||
|
||||
|
||||
def update_ev9_longitudinal_tuning(state: EV9LongitudinalTuningState, enabled: bool,
|
||||
stopping: bool, v_ego: float) -> EV9LongitudinalTuningState:
|
||||
if not enabled:
|
||||
@@ -620,10 +613,6 @@ class CarController(CarControllerBase):
|
||||
if not CC.latActive:
|
||||
apply_torque = 0
|
||||
|
||||
apply_steer_req, apply_torque = apply_carnival_steering_override(
|
||||
self.CP.carFingerprint, CS.out.steeringPressed, apply_steer_req, apply_torque,
|
||||
)
|
||||
|
||||
# Hold torque with induced temporary fault when cutting the actuation bit
|
||||
# FIXME: we don't use this with CAN FD?
|
||||
torque_fault = CC.latActive and not apply_steer_req
|
||||
|
||||
@@ -20,7 +20,6 @@ from opendbc.car.hyundai.carcontroller import CarController, Ioniq6LongitudinalT
|
||||
should_track_stop_accel_directly_for_car, \
|
||||
preserve_stock_canfd_lfa_status, \
|
||||
preserve_stock_canfd_lkas_status, \
|
||||
apply_carnival_steering_override, \
|
||||
suppress_redundant_gv70_brake_cancel
|
||||
from opendbc.car.hyundai.carstate import CarState, decode_canfd_camera_lead, decode_ioniq_6_blindspot_radar_state, \
|
||||
get_canfd_cruise_available
|
||||
@@ -209,12 +208,6 @@ class TestHyundaiFingerprint:
|
||||
assert parser.vl["LKAS_ALT"]["TORQUE_REQUEST"] == 123
|
||||
assert parser.vl["LKAS_ALT"]["STEER_REQ"] == 1
|
||||
|
||||
def test_carnival_steering_override_is_scoped_to_2025_platform(self):
|
||||
assert apply_carnival_steering_override(CAR.KIA_CARNIVAL_2025, True, True, 123) == (False, 0)
|
||||
assert apply_carnival_steering_override(CAR.KIA_CARNIVAL_2025, False, True, 123) == (True, 123)
|
||||
assert apply_carnival_steering_override(CAR.KIA_CARNIVAL_HEV_4TH_GEN, True, True, 123) == (True, 123)
|
||||
assert apply_carnival_steering_override(CAR.HYUNDAI_IONIQ_6, True, True, 123) == (True, 123)
|
||||
|
||||
def test_canfd_torque_bsm_parser_registers_rear_blindspots(self):
|
||||
CP = CarParams.new_message()
|
||||
CP.carFingerprint = CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN
|
||||
|
||||
@@ -257,10 +257,6 @@ class CarInterfaceBase(ABC):
|
||||
if getattr(starpilot_toggles, "always_on_lateral_lkas", False):
|
||||
fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
|
||||
|
||||
if candidate == HYUNDAI.HYUNDAI_ELANTRA_HEV_2024 and \
|
||||
getattr(starpilot_toggles, "always_on_lateral_main", False):
|
||||
fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
|
||||
|
||||
# LKASButtonControl == 9 means BUTTON_FUNCTIONS["AOL_TOGGLE"] in starpilot_variables.
|
||||
if params.get_bool("AlwaysOnLateral") and params.get_int("LKASButtonControl") == 9:
|
||||
fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
|
||||
|
||||
@@ -30,10 +30,6 @@ _ANGLE_RECLAIM_FRAMES = 36
|
||||
_ANGLE_RECLAIM_EXPONENT = 2.5
|
||||
_ANGLE_MADS_MIN_SPEED = 0.44704
|
||||
_ANGLE_MADS_MAX_STEER_ANGLE = 120.0
|
||||
_STOP_START_STARTUP_DELAY_FRAMES = 100
|
||||
_STOP_START_STARTUP_DEADLINE_FRAMES = 300
|
||||
_STOP_START_PULSE_FRAMES = 30
|
||||
_STOP_START_PULSE_PERIOD_FRAMES = 5
|
||||
|
||||
|
||||
def get_safety_CP():
|
||||
@@ -77,66 +73,6 @@ class CarController(CarControllerBase):
|
||||
self.prev_close_distance = 0
|
||||
self.epb_resume_frames_remaining = -1
|
||||
self.last_standstill_frame = 0
|
||||
self.stop_start_attempted = False
|
||||
self.stop_start_request_started = False
|
||||
self.stop_start_request_frame = 0
|
||||
self.stop_start_initial_state = None
|
||||
self.stop_start_counter = 0
|
||||
self.stop_start_acknowledged = False
|
||||
|
||||
def _stop_start_off_request(self, CC, CS, starpilot_toggles):
|
||||
"""Send one bounded Outback Stop/Start OFF request after ignition.
|
||||
|
||||
This is intentionally opt-in and limited to a stationary vehicle in
|
||||
Park/Neutral. A single ignition session gets at most one attempt.
|
||||
"""
|
||||
if self.CP.carFingerprint != CAR.SUBARU_OUTBACK_2023 or \
|
||||
not getattr(starpilot_toggles, "subaru_stop_start_off", False) or self.stop_start_attempted:
|
||||
return None
|
||||
|
||||
if self.frame > _STOP_START_STARTUP_DEADLINE_FRAMES or getattr(CC, "enabled", False):
|
||||
self.stop_start_attempted = True
|
||||
return None
|
||||
|
||||
if self.frame < _STOP_START_STARTUP_DELAY_FRAMES or not getattr(getattr(CS, "out", None), "canValid", True):
|
||||
return None
|
||||
|
||||
out = CS.out
|
||||
if not getattr(out, "standstill", False) or out.gearShifter not in (
|
||||
structs.CarState.GearShifter.park,
|
||||
structs.CarState.GearShifter.neutral,
|
||||
):
|
||||
return None
|
||||
|
||||
dashlights_msg = getattr(CS, "dashlights_msg", None)
|
||||
if not dashlights_msg:
|
||||
return None
|
||||
|
||||
if not self.stop_start_request_started:
|
||||
self.stop_start_request_started = True
|
||||
self.stop_start_request_frame = self.frame
|
||||
self.stop_start_initial_state = getattr(CS, "stop_start_state", None)
|
||||
self.stop_start_counter = (int(dashlights_msg.get("COUNTER", 0)) + 1) % 0x10
|
||||
|
||||
current_state = getattr(CS, "stop_start_state", None)
|
||||
if self.stop_start_initial_state is not None and self.stop_start_initial_state != 3 and current_state == 3:
|
||||
self.stop_start_attempted = True
|
||||
self.stop_start_acknowledged = True
|
||||
return None
|
||||
|
||||
elapsed = self.frame - self.stop_start_request_frame
|
||||
if elapsed >= _STOP_START_PULSE_FRAMES:
|
||||
self.stop_start_attempted = True
|
||||
return None
|
||||
|
||||
if elapsed % _STOP_START_PULSE_PERIOD_FRAMES != 0:
|
||||
return None
|
||||
|
||||
msg = subarucan.create_stop_start_control(
|
||||
self.packer, dashlights_msg, counter=self.stop_start_counter, bus=self.main_bus,
|
||||
)
|
||||
self.stop_start_counter = (self.stop_start_counter + 1) % 0x10
|
||||
return msg
|
||||
|
||||
def _reset_legacy_2025_handoff(self):
|
||||
self.legacy_2025_handoff_active = False
|
||||
@@ -151,7 +87,7 @@ class CarController(CarControllerBase):
|
||||
self._reset_legacy_2025_handoff()
|
||||
return False
|
||||
|
||||
if getattr(CS.out, "steeringPressed", False):
|
||||
if CS.out.steeringPressed:
|
||||
self.legacy_2025_handoff_active = True
|
||||
self.legacy_2025_override_hold_frames = _LEGACY_2025_OVERRIDE_HOLD_FRAMES
|
||||
self.legacy_2025_reengage_settle_frames = 0
|
||||
@@ -160,7 +96,7 @@ class CarController(CarControllerBase):
|
||||
return True
|
||||
|
||||
if not self.legacy_2025_handoff_active and not self.legacy_2025_lkas_active and \
|
||||
abs(getattr(CS.out, "steeringRateDeg", 0.0)) > _LEGACY_2025_REENGAGE_MAX_STEER_RATE:
|
||||
abs(CS.out.steeringRateDeg) > _LEGACY_2025_REENGAGE_MAX_STEER_RATE:
|
||||
self.legacy_2025_handoff_active = True
|
||||
self.legacy_2025_reengage_reference_angle = CS.out.steeringAngleDeg
|
||||
|
||||
@@ -173,7 +109,7 @@ class CarController(CarControllerBase):
|
||||
self.legacy_2025_reengage_reference_angle = CS.out.steeringAngleDeg
|
||||
return True
|
||||
|
||||
wheel_stable = abs(getattr(CS.out, "steeringRateDeg", 0.0)) <= _LEGACY_2025_REENGAGE_MAX_STEER_RATE and \
|
||||
wheel_stable = abs(CS.out.steeringRateDeg) <= _LEGACY_2025_REENGAGE_MAX_STEER_RATE and \
|
||||
abs(CS.out.steeringAngleDeg - self.legacy_2025_reengage_reference_angle) <= _LEGACY_2025_REENGAGE_MAX_ANGLE_DELTA
|
||||
if wheel_stable:
|
||||
self.legacy_2025_reengage_settle_frames += 1
|
||||
@@ -214,7 +150,7 @@ class CarController(CarControllerBase):
|
||||
self._reset_angle_handoff()
|
||||
return False
|
||||
|
||||
if getattr(CS.out, "steeringPressed", False):
|
||||
if CS.out.steeringPressed:
|
||||
self.angle_handoff_active = True
|
||||
self.angle_override_hold_frames = _ANGLE_OVERRIDE_HOLD_FRAMES
|
||||
self.angle_reengage_settle_frames = 0
|
||||
@@ -223,7 +159,7 @@ class CarController(CarControllerBase):
|
||||
return True
|
||||
|
||||
if not self.angle_handoff_active and not self.angle_lkas_active and \
|
||||
abs(getattr(CS.out, "steeringRateDeg", 0.0)) > _ANGLE_REENGAGE_MAX_STEER_RATE:
|
||||
abs(CS.out.steeringRateDeg) > _ANGLE_REENGAGE_MAX_STEER_RATE:
|
||||
self.angle_handoff_active = True
|
||||
self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
|
||||
|
||||
@@ -236,7 +172,7 @@ class CarController(CarControllerBase):
|
||||
self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
|
||||
return True
|
||||
|
||||
wheel_stable = abs(getattr(CS.out, "steeringRateDeg", 0.0)) <= _ANGLE_REENGAGE_MAX_STEER_RATE and \
|
||||
wheel_stable = abs(CS.out.steeringRateDeg) <= _ANGLE_REENGAGE_MAX_STEER_RATE and \
|
||||
abs(CS.out.steeringAngleDeg - self.angle_reengage_reference_angle) <= _ANGLE_REENGAGE_MAX_ANGLE_DELTA
|
||||
if wheel_stable:
|
||||
self.angle_reengage_settle_frames += 1
|
||||
@@ -331,19 +267,9 @@ class CarController(CarControllerBase):
|
||||
elif abs_torque < self.p.STEER_OVERRIDE_TORQUE_LOW:
|
||||
self.driver_override = False
|
||||
|
||||
mads_only = CC.latActive and not getattr(CC, "enabled", False)
|
||||
mads_only_ok = CS.out.vEgoRaw > _ANGLE_MADS_MIN_SPEED and \
|
||||
abs(CS.out.steeringAngleDeg) < _ANGLE_MADS_MAX_STEER_ANGLE
|
||||
lkas_available = CC.latActive and (not mads_only or mads_only_ok) and \
|
||||
getattr(CS.out, "gearShifter", structs.CarState.GearShifter.drive) == structs.CarState.GearShifter.drive and \
|
||||
not getattr(CS.out, "standstill", False)
|
||||
manual_handoff = self._angle_manual_handoff(CS, lkas_available)
|
||||
lat_active = lkas_available and not self.driver_override and not manual_handoff
|
||||
if lat_active and not self.angle_lkas_active:
|
||||
self.apply_steer_last = CS.out.steeringAngleDeg
|
||||
steer_target = self._angle_reclaim_target(CC.actuators.steeringAngleDeg) if lat_active else CC.actuators.steeringAngleDeg
|
||||
lat_active = CC.latActive and not self.driver_override
|
||||
apply_steer = apply_steer_angle_limits_vm(
|
||||
steer_target,
|
||||
CC.actuators.steeringAngleDeg,
|
||||
self.apply_steer_last,
|
||||
CS.out.vEgoRaw,
|
||||
CS.out.steeringAngleDeg,
|
||||
@@ -356,7 +282,6 @@ class CarController(CarControllerBase):
|
||||
apply_steer = CS.out.steeringAngleDeg
|
||||
|
||||
self.apply_steer_last = apply_steer
|
||||
self.angle_lkas_active = lat_active
|
||||
return subarucan.create_steering_control_angle(self.packer, apply_steer, lat_active, self.angle_bus)
|
||||
|
||||
def lateral_torque(self, CC, CS):
|
||||
@@ -391,10 +316,6 @@ class CarController(CarControllerBase):
|
||||
|
||||
can_sends = []
|
||||
|
||||
stop_start_msg = self._stop_start_off_request(CC, CS, starpilot_toggles)
|
||||
if stop_start_msg is not None:
|
||||
can_sends.append(stop_start_msg)
|
||||
|
||||
# *** steering ***
|
||||
if (self.frame % self.p.STEER_STEP) == 0:
|
||||
if self.CP.flags & SubaruFlags.LKAS_ANGLE:
|
||||
|
||||
@@ -4,7 +4,7 @@ from opendbc.can import CANDefine, CANParser
|
||||
from opendbc.car import Bus, structs
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.interfaces import CarStateBase
|
||||
from opendbc.car.subaru.values import CAR, DBC, CanBus, SubaruFlags
|
||||
from opendbc.car.subaru.values import DBC, CanBus, SubaruFlags
|
||||
from opendbc.car import CanSignalRateCalculator
|
||||
|
||||
|
||||
@@ -15,8 +15,6 @@ class CarState(CarStateBase):
|
||||
self.shifter_values = can_define.dv["Transmission"]["Gear"]
|
||||
|
||||
self.angle_rate_calulator = CanSignalRateCalculator(50)
|
||||
self.dashlights_msg = {}
|
||||
self.stop_start_state = 0
|
||||
|
||||
def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
|
||||
cp = can_parsers[Bus.pt]
|
||||
@@ -26,10 +24,6 @@ class CarState(CarStateBase):
|
||||
cp_angle = cp_main if self.CP.flags & SubaruFlags.D_PLATFORM else cp
|
||||
ret = structs.CarState()
|
||||
|
||||
if self.CP.carFingerprint == CAR.SUBARU_OUTBACK_2023:
|
||||
self.dashlights_msg = copy.copy(cp.vl["Dashlights"])
|
||||
self.stop_start_state = cp.vl["Engine_Stop_Start"]["STOP_START_STATE"]
|
||||
|
||||
throttle_msg = cp.vl["Throttle"] if not (self.CP.flags & SubaruFlags.HYBRID) else cp_alt.vl["Throttle_Hybrid"]
|
||||
ret.gasPressed = throttle_msg["Throttle_Pedal"] > 1e-5
|
||||
if self.CP.flags & SubaruFlags.PREGLOBAL:
|
||||
|
||||
@@ -40,8 +40,6 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.D_PLATFORM.value
|
||||
if ret.flags & SubaruFlags.D_PLATFORM_CAMERA:
|
||||
ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.D_PLATFORM_CAMERA.value
|
||||
if candidate == CAR.SUBARU_OUTBACK_2023:
|
||||
ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.STOP_START_BUTTON.value
|
||||
if candidate in (CAR.SUBARU_LEGACY_2025, CAR.SUBARU_ASCENT_2023):
|
||||
ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.FIXED_ANGLE_LIMITS.value
|
||||
|
||||
|
||||
@@ -182,20 +182,6 @@ def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, l
|
||||
return packer.make_can_msg("ES_DashStatus", bus, values)
|
||||
|
||||
|
||||
def create_stop_start_control(packer, dashlights_msg, counter=None, bus=CanBus.alt):
|
||||
"""Create the Outback 2023-24 momentary Stop/Start button request.
|
||||
|
||||
Dashlights is a stock periodic message, so preserve the live frame and only
|
||||
change the event bit. CANPacker calculates the Subaru checksum for us.
|
||||
"""
|
||||
values = dict(dashlights_msg)
|
||||
if counter is None:
|
||||
counter = (int(values.get("COUNTER", 0)) + 1) % 0x10
|
||||
values["COUNTER"] = counter % 0x10
|
||||
values["STOP_START"] = 1
|
||||
return packer.make_can_msg("Dashlights", bus, values)
|
||||
|
||||
|
||||
def create_es_brake(packer, frame, es_brake_msg, long_enabled, long_active, brake_value, bus=CanBus.main):
|
||||
values = {s: es_brake_msg[s] for s in [
|
||||
"CHECKSUM",
|
||||
|
||||
@@ -193,7 +193,6 @@ def test_outback_2023_uses_d_platform_bus_layout():
|
||||
|
||||
assert CP.flags & SubaruFlags.D_PLATFORM
|
||||
assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.D_PLATFORM
|
||||
assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.STOP_START_BUTTON
|
||||
assert not (CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.LEGACY_2025_ANGLE_LIMITS)
|
||||
assert CanBus.main_for_cp(CP) == CanBus.alt
|
||||
assert CanBus.angle_for_cp(CP) == CanBus.main
|
||||
@@ -206,52 +205,6 @@ def test_outback_2023_uses_d_platform_bus_layout():
|
||||
assert CP.lateralSmoothSeconds == pytest.approx(0.4)
|
||||
|
||||
|
||||
def test_stop_start_request_is_bounded_and_uses_live_dashlights():
|
||||
CP = CarInterface.get_non_essential_params(CAR.SUBARU_OUTBACK_2023)
|
||||
controller = CarController({}, CP)
|
||||
controller.frame = 101
|
||||
|
||||
class TestActuators:
|
||||
steeringAngleDeg = 0.0
|
||||
|
||||
def as_builder(self):
|
||||
return SimpleNamespace(steeringAngleDeg=self.steeringAngleDeg)
|
||||
|
||||
CC = SimpleNamespace(
|
||||
enabled=False,
|
||||
latActive=False,
|
||||
longActive=False,
|
||||
actuators=TestActuators(),
|
||||
hudControl=SimpleNamespace(leadVisible=False),
|
||||
cruiseControl=SimpleNamespace(cancel=False),
|
||||
)
|
||||
CS = SimpleNamespace(
|
||||
canValid=True,
|
||||
dashlights_msg={"COUNTER": 6, "STOP_START": 0},
|
||||
stop_start_state=0,
|
||||
out=SimpleNamespace(
|
||||
standstill=True,
|
||||
gearShifter=structs.CarState.GearShifter.park,
|
||||
),
|
||||
)
|
||||
toggles = SimpleNamespace(subaru_stop_start_off=True, subaru_sng=False)
|
||||
|
||||
_, can_sends = controller.update(CC, CS, 0, toggles)
|
||||
stop_start_msgs = [msg for msg in can_sends if msg[0] == 0x390]
|
||||
assert len(stop_start_msgs) == 1
|
||||
assert stop_start_msgs[0][2] == CanBus.alt
|
||||
parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("Dashlights", 0)], CanBus.alt)
|
||||
parser.update([(1, [stop_start_msgs[0]])])
|
||||
assert parser.vl["Dashlights"]["STOP_START"] == 1
|
||||
assert parser.vl["Dashlights"]["COUNTER"] == 7
|
||||
|
||||
controller.frame = 103
|
||||
CS.stop_start_state = 3
|
||||
_, can_sends = controller.update(CC, CS, 0, toggles)
|
||||
assert not any(msg[0] == 0x390 for msg in can_sends)
|
||||
assert controller.stop_start_acknowledged
|
||||
|
||||
|
||||
def test_legacy_2025_uses_gen2_angle_bus_layout():
|
||||
CP = CarInterface.get_non_essential_params(CAR.SUBARU_LEGACY_2025)
|
||||
parsers = CarState.get_can_parsers(CP)
|
||||
@@ -495,44 +448,6 @@ def test_angle_controller_tracks_driver_override():
|
||||
assert not controller.driver_override
|
||||
|
||||
|
||||
def test_angle_controller_blocks_low_speed_mads_engagement():
|
||||
CP = CarInterface.get_non_essential_params(CAR.SUBARU_CROSSTREK_2025)
|
||||
controller = CarController({}, CP)
|
||||
CC = SimpleNamespace(
|
||||
enabled=False,
|
||||
latActive=True,
|
||||
actuators=SimpleNamespace(steeringAngleDeg=15.0),
|
||||
)
|
||||
CS = SimpleNamespace(out=SimpleNamespace(
|
||||
vEgoRaw=0.3,
|
||||
steeringAngleDeg=80.0,
|
||||
steeringTorque=0.0,
|
||||
gearShifter=structs.CarState.GearShifter.drive,
|
||||
standstill=False,
|
||||
))
|
||||
parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("ES_LKAS_ANGLE", 0)], CanBus.main)
|
||||
|
||||
msg = controller.lateral_angle(CC, CS)
|
||||
parser.update([(1, [msg])])
|
||||
|
||||
assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
|
||||
assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
|
||||
|
||||
CS.out.vEgoRaw = 1.0
|
||||
CS.out.steeringAngleDeg = 130.0
|
||||
msg = controller.lateral_angle(CC, CS)
|
||||
parser.update([(2, [msg])])
|
||||
|
||||
assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
|
||||
assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
|
||||
|
||||
CS.out.steeringAngleDeg = 0.0
|
||||
msg = controller.lateral_angle(CC, CS)
|
||||
parser.update([(3, [msg])])
|
||||
|
||||
assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
|
||||
|
||||
|
||||
def test_ascent_angle_controller_uses_fixed_angle_rate_limits():
|
||||
CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
|
||||
controller = CarController({}, CP)
|
||||
|
||||
@@ -88,7 +88,6 @@ class SubaruSafetyFlags(IntFlag):
|
||||
D_PLATFORM = 32
|
||||
D_PLATFORM_CAMERA = 64
|
||||
FIXED_ANGLE_LIMITS = 128
|
||||
STOP_START_BUTTON = 256
|
||||
LEGACY_2025_ANGLE_LIMITS = FIXED_ANGLE_LIMITS
|
||||
|
||||
|
||||
|
||||
@@ -300,30 +300,6 @@ class TestCarInterfaces:
|
||||
)
|
||||
assert fp_car_params.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
|
||||
|
||||
def test_hyundai_elantra_hev_auto_aol_sets_lkas_on_engage_flag(self):
|
||||
toggles = get_test_starpilot_toggles()
|
||||
toggles.always_on_lateral_main = True
|
||||
fingerprint = {bus: {} for bus in range(8)}
|
||||
|
||||
car_params = HyundaiCarInterface.get_params(
|
||||
HYUNDAI_CAR.HYUNDAI_ELANTRA_HEV_2024,
|
||||
fingerprint,
|
||||
[],
|
||||
alpha_long=True,
|
||||
is_release=False,
|
||||
docs=False,
|
||||
starpilot_toggles=toggles,
|
||||
)
|
||||
fp_car_params = HyundaiCarInterface.get_starpilot_params(
|
||||
HYUNDAI_CAR.HYUNDAI_ELANTRA_HEV_2024,
|
||||
fingerprint,
|
||||
[],
|
||||
car_params,
|
||||
toggles,
|
||||
)
|
||||
|
||||
assert fp_car_params.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
|
||||
|
||||
def test_toyota_disable_openpilot_long_sets_stock_long_safety_flag(self):
|
||||
CarInterface = interfaces[TOYOTA_CAR.TOYOTA_PRIUS_TSS2]
|
||||
fingerprint = {bus: {} for bus in range(8)}
|
||||
|
||||
@@ -42,7 +42,6 @@ TOYOTA_NO_LEAD_CRUISE_SIGN_FLIP_MIN_SET_SPEED_ERROR = 0.35 # m/s
|
||||
# EPS faults if you apply torque while the steering rate is above 100 deg/s for too long
|
||||
MAX_STEER_RATE = 100 # deg/s
|
||||
MAX_STEER_RATE_FRAMES = 18 # tx control frames needed before torque can be cut
|
||||
TOYOTA_HIGHLANDER_TSS2_MAX_STEER_RATE_FRAMES = 8
|
||||
|
||||
# EPS allows user torque above threshold for 50 frames before permanently faulting
|
||||
MAX_USER_TORQUE = 500
|
||||
@@ -73,11 +72,6 @@ def should_bypass_toyota_long_pid(CP, starpilot_toggles=None) -> bool:
|
||||
) or highlander_sdsu)
|
||||
|
||||
|
||||
def get_steer_rate_limit_frames(car_fingerprint) -> int:
|
||||
return (TOYOTA_HIGHLANDER_TSS2_MAX_STEER_RATE_FRAMES
|
||||
if car_fingerprint == CAR.TOYOTA_HIGHLANDER_TSS2 else MAX_STEER_RATE_FRAMES)
|
||||
|
||||
|
||||
def get_long_tune(CP, params):
|
||||
kiBP = [2., 5.]
|
||||
kiV = [0.5, 0.25]
|
||||
@@ -229,7 +223,6 @@ class CarController(CarControllerBase):
|
||||
self.standstill_req = False
|
||||
self.permit_braking = True
|
||||
self.steer_rate_counter = 0
|
||||
self.steer_rate_limit_frames = get_steer_rate_limit_frames(self.CP.carFingerprint)
|
||||
self.distance_button = 0
|
||||
|
||||
# *** start long control state ***
|
||||
@@ -352,10 +345,8 @@ class CarController(CarControllerBase):
|
||||
apply_torque = apply_meas_steer_torque_limits(new_torque, self.last_torque, CS.out.steeringTorqueEps, self.params)
|
||||
|
||||
# >100 degree/sec steering fault prevention
|
||||
self.steer_rate_counter, apply_steer_req = common_fault_avoidance(
|
||||
abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, lat_active,
|
||||
self.steer_rate_counter, self.steer_rate_limit_frames,
|
||||
)
|
||||
self.steer_rate_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, lat_active,
|
||||
self.steer_rate_counter, MAX_STEER_RATE_FRAMES)
|
||||
|
||||
if not lat_active:
|
||||
apply_torque = 0
|
||||
|
||||
@@ -10,7 +10,6 @@ from opendbc.car.fw_versions import build_fw_dict, match_fw_to_car
|
||||
from opendbc.car.toyota import toyotacan
|
||||
from opendbc.car.toyota.carcontroller import CarController, get_camry_hybrid_feedforward, get_long_tune, get_prius_feedforward, \
|
||||
get_prius_positive_feedforward_scale, \
|
||||
get_steer_rate_limit_frames, \
|
||||
limit_interceptor_pcm_accel, \
|
||||
limit_interceptor_stopping_accel, limit_no_lead_cruise_sign_flip, \
|
||||
limit_prius_stopping_accel, should_bypass_toyota_long_pid, update_permit_braking
|
||||
@@ -707,10 +706,6 @@ class TestToyotaFingerprint:
|
||||
|
||||
|
||||
class TestToyotaCarController:
|
||||
def test_highlander_tss2_uses_early_steer_rate_fault_guard(self):
|
||||
assert get_steer_rate_limit_frames(CAR.TOYOTA_HIGHLANDER_TSS2) == 8
|
||||
assert get_steer_rate_limit_frames(CAR.TOYOTA_RAV4_TSS2) == 18
|
||||
|
||||
@staticmethod
|
||||
def _make_controller(*, standstill_req=False, last_standstill=False):
|
||||
controller = CarController.__new__(CarController)
|
||||
|
||||
@@ -559,7 +559,6 @@ static safety_config gm_init(uint16_t param) {
|
||||
const uint16_t GM_PARAM_REMOTE_START_BOOTS_COMMA = 8192;
|
||||
const uint16_t GM_PARAM_PANDA_3D1_SCHED = 16384;
|
||||
const uint16_t GM_PARAM_PANDA_PADDLE_SCHED = 32768U;
|
||||
const uint16_t GM_PARAM_VOLT_CC_GATEWAY = 16384U;
|
||||
|
||||
static const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
|
||||
.max_gas = 8191,
|
||||
@@ -707,11 +706,6 @@ static safety_config gm_init(uint16_t param) {
|
||||
{0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false},
|
||||
{0x184, 2, 8, .check_relay = false}, {0x1E1, 2, 7, .check_relay = false}}; // camera bus
|
||||
|
||||
static const CanMsg GM_CC_LONG_ASCM_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x409, 0, 7, .check_relay = false},
|
||||
{0x40A, 0, 7, .check_relay = false}, {0x370, 0, 6, .check_relay = false},
|
||||
{0x1E1, 0, 7, .check_relay = false}, {0x3D1, 0, 8, .check_relay = false},
|
||||
{0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}};
|
||||
|
||||
gm_hw = GET_FLAG(param, GM_PARAM_HW_CAM) ? GM_CAM : GM_ASCM;
|
||||
gm_sdgm = GET_FLAG(param, GM_PARAM_HW_SDGM);
|
||||
gm_ascm_int = GET_FLAG(param, GM_PARAM_HW_ASCM_INT);
|
||||
@@ -720,7 +714,6 @@ static safety_config gm_init(uint16_t param) {
|
||||
gm_cc_long = GET_FLAG(param, GM_PARAM_CC_LONG);
|
||||
gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);
|
||||
gm_pedal_long = GET_FLAG(param, GM_PARAM_PEDAL_LONG);
|
||||
const bool gm_volt_cc_gateway = GET_FLAG(param, GM_PARAM_VOLT_CC_GATEWAY) && gm_no_camera && !gm_pedal_long && !gm_has_acc;
|
||||
enable_gas_interceptor = GET_FLAG(param, GM_PARAM_PEDAL_INTERCEPTOR);
|
||||
gm_force_ascm = GET_FLAG(param, GM_PARAM_HW_ASCM_LONG);
|
||||
gm_force_brake_c9 = GET_FLAG(param, GM_PARAM_FORCE_BRAKE_C9);
|
||||
@@ -788,8 +781,6 @@ static safety_config gm_init(uint16_t param) {
|
||||
} else {
|
||||
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_SDGM_TX_MSGS);
|
||||
}
|
||||
} else if (gm_cc_long && gm_volt_cc_gateway && (gm_hw == GM_ASCM) && !gm_sdgm) {
|
||||
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CC_LONG_ASCM_TX_MSGS);
|
||||
} else if ((gm_hw == GM_CAM) || gm_sdgm) {
|
||||
// FIXME: cppcheck thinks that gm_cam_long is always false. This is not true
|
||||
// if ALLOW_DEBUG is defined but cppcheck is run without ALLOW_DEBUG
|
||||
|
||||
@@ -41,7 +41,6 @@
|
||||
#define MSG_SUBARU_ES_HighBeamAssist 0x121U
|
||||
#define MSG_SUBARU_ES_STATIC_1 0x22aU
|
||||
#define MSG_SUBARU_ES_STATIC_2 0x325U
|
||||
#define MSG_SUBARU_Dashlights 0x390U
|
||||
|
||||
#define SUBARU_MAIN_BUS 0U
|
||||
#define SUBARU_ALT_BUS 1U
|
||||
@@ -62,9 +61,6 @@
|
||||
{MSG_SUBARU_ES_LKAS_State, bus, 8, .check_relay = true}, \
|
||||
{MSG_SUBARU_ES_Infotainment, bus, 8, .check_relay = true}, \
|
||||
|
||||
#define SUBARU_STOP_START_TX_MSGS(bus) \
|
||||
{MSG_SUBARU_Dashlights, bus, 8, .check_relay = false}, \
|
||||
|
||||
#define SUBARU_COMMON_LONG_TX_MSGS(alt_bus) \
|
||||
{MSG_SUBARU_ES_Distance, alt_bus, 8, .check_relay = true}, \
|
||||
{MSG_SUBARU_ES_Brake, alt_bus, 8, .check_relay = true}, \
|
||||
@@ -112,7 +108,6 @@ static bool subaru_stop_and_go = false;
|
||||
static bool subaru_lkas_angle = false;
|
||||
static bool subaru_d_platform = false;
|
||||
static bool subaru_fixed_angle_limits = false;
|
||||
static bool subaru_stop_start_button = false;
|
||||
|
||||
static uint32_t subaru_get_checksum(const CANPacket_t *msg) {
|
||||
return (uint8_t)msg->data[0];
|
||||
@@ -290,13 +285,6 @@ static bool subaru_tx_hook(const CANPacket_t *msg) {
|
||||
violation |= !(is_tester_present || is_button_rdbi);
|
||||
}
|
||||
|
||||
if (msg->addr == MSG_SUBARU_Dashlights) {
|
||||
violation |= !subaru_stop_start_button;
|
||||
violation |= msg->bus != SUBARU_ALT_BUS;
|
||||
violation |= !GET_BIT(msg, 54U);
|
||||
violation |= subaru_get_checksum(msg) != subaru_compute_checksum(msg);
|
||||
}
|
||||
|
||||
if (violation){
|
||||
tx = false;
|
||||
}
|
||||
@@ -346,12 +334,6 @@ static safety_config subaru_init(uint16_t param) {
|
||||
SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS)
|
||||
};
|
||||
|
||||
static const CanMsg SUBARU_D_PLATFORM_ANGLE_STOP_START_MAIN_TX_MSGS[] = {
|
||||
SUBARU_D_PLATFORM_ANGLE_TX_MSGS(SUBARU_MAIN_BUS)
|
||||
SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS)
|
||||
SUBARU_STOP_START_TX_MSGS(SUBARU_ALT_BUS)
|
||||
};
|
||||
|
||||
static const CanMsg SUBARU_D_PLATFORM_ANGLE_CAMERA_TX_MSGS[] = {
|
||||
SUBARU_D_PLATFORM_ANGLE_TX_MSGS(SUBARU_CAM_BUS)
|
||||
SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS)
|
||||
@@ -396,9 +378,6 @@ static safety_config subaru_init(uint16_t param) {
|
||||
const uint16_t SUBARU_PARAM_FIXED_ANGLE_LIMITS = 128;
|
||||
subaru_fixed_angle_limits = GET_FLAG(param, SUBARU_PARAM_FIXED_ANGLE_LIMITS);
|
||||
|
||||
const uint16_t SUBARU_PARAM_STOP_START_BUTTON = 256;
|
||||
subaru_stop_start_button = GET_FLAG(param, SUBARU_PARAM_STOP_START_BUTTON);
|
||||
|
||||
#ifdef ALLOW_DEBUG
|
||||
const uint16_t SUBARU_PARAM_LONGITUDINAL = 2;
|
||||
subaru_longitudinal = GET_FLAG(param, SUBARU_PARAM_LONGITUDINAL);
|
||||
@@ -406,9 +385,8 @@ static safety_config subaru_init(uint16_t param) {
|
||||
|
||||
safety_config ret;
|
||||
if (subaru_lkas_angle) {
|
||||
ret = subaru_d_platform ? (subaru_stop_start_button ? BUILD_SAFETY_CFG(subaru_d_platform_angle_rx_checks, SUBARU_D_PLATFORM_ANGLE_STOP_START_MAIN_TX_MSGS) : \
|
||||
(subaru_d_platform_camera ? BUILD_SAFETY_CFG(subaru_d_platform_angle_rx_checks, SUBARU_D_PLATFORM_ANGLE_CAMERA_TX_MSGS) : \
|
||||
BUILD_SAFETY_CFG(subaru_d_platform_angle_rx_checks, SUBARU_D_PLATFORM_ANGLE_MAIN_TX_MSGS))) : \
|
||||
ret = subaru_d_platform ? (subaru_d_platform_camera ? BUILD_SAFETY_CFG(subaru_d_platform_angle_rx_checks, SUBARU_D_PLATFORM_ANGLE_CAMERA_TX_MSGS) : \
|
||||
BUILD_SAFETY_CFG(subaru_d_platform_angle_rx_checks, SUBARU_D_PLATFORM_ANGLE_MAIN_TX_MSGS)) : \
|
||||
subaru_gen2 ? BUILD_SAFETY_CFG(subaru_gen2_lkas_angle_rx_checks, SUBARU_GEN2_LKAS_ANGLE_TX_MSGS) : \
|
||||
BUILD_SAFETY_CFG(subaru_lkas_angle_rx_checks, SUBARU_LKAS_ANGLE_TX_MSGS);
|
||||
} else if (subaru_gen2) {
|
||||
|
||||
@@ -1075,14 +1075,13 @@ class SafetyTest(SafetyTestBase):
|
||||
continue
|
||||
if attr.startswith('TestSubaruGen') and current_test.startswith('TestSubaruGen'):
|
||||
continue
|
||||
if attr.startswith('TestSubaruDPlatform') and current_test.startswith('TestSubaruDPlatform'):
|
||||
if 'TestSubaruDPlatformAngleSafety' in {attr, current_test} and \
|
||||
'Angle' in attr and 'Angle' in current_test:
|
||||
continue
|
||||
if attr.startswith('TestSubaruDPlatform'):
|
||||
if 'TestSubaruDPlatformAngleSafety' in {attr, current_test}:
|
||||
# D-platform uses the same main-bus HUD messages as the other
|
||||
# Subaru modes, so those modes cannot be distinguished by ID.
|
||||
tx = list(filter(lambda m: not (m[1] == 0 and m[0] in [0x124, 0x321, 0x322, 0x323]), tx))
|
||||
if current_test.startswith('TestSubaruDPlatform') and attr.startswith('TestSubaruGen'):
|
||||
tx = list(filter(lambda m: not (m[1] == 0 and m[0] in [0x124, 0x321, 0x322, 0x323]), tx))
|
||||
tx = list(filter(lambda m: not (m[1] == 0 and m[0] in [0x321, 0x322, 0x323]), tx))
|
||||
if attr.startswith('TestSubaruPreglobal') and current_test.startswith('TestSubaruPreglobal'):
|
||||
continue
|
||||
if {attr, current_test}.issubset({'TestVolkswagenPqSafety', 'TestVolkswagenPqStockSafety', 'TestVolkswagenPqLongSafety'}):
|
||||
|
||||
@@ -59,28 +59,6 @@ def test_gm_panda_scheduler_paths():
|
||||
safety.safety_rx_hook(prndl)
|
||||
|
||||
|
||||
def test_gm_cc_longitudinal_ascm_safety_whitelist():
|
||||
safety = libsafety_py.libsafety
|
||||
flags = (GMSafetyFlags.FLAG_GM_NO_CAMERA | GMSafetyFlags.FLAG_GM_NO_ACC |
|
||||
GMSafetyFlags.FLAG_GM_CC_LONG | GMSafetyFlags.FLAG_GM_VOLT_CC_GATEWAY)
|
||||
assert safety.set_safety_hooks(CarParams.SafetyModel.gm, flags) == 0
|
||||
safety.init_tests()
|
||||
safety.set_controls_allowed(True)
|
||||
safety.set_cruise_engaged_prev(True)
|
||||
|
||||
allowed = ((0x180, 0, 4), (0x409, 0, 7), (0x40A, 0, 7), (0x370, 0, 6),
|
||||
(0x1E1, 0, 7), (0x3D1, 0, 8), (0xBD, 0, 7), (0x1F5, 0, 8))
|
||||
for addr, bus, length in allowed:
|
||||
data = b'\x00' * length
|
||||
if addr == 0x1E1:
|
||||
data = data[:5] + b'\x10' + data[6:]
|
||||
assert safety.safety_tx_hook(common.make_msg(bus, addr, length, data))
|
||||
|
||||
blocked = ((0x184, 2, 8), (0x200, 0, 6), (0x2CB, 0, 8), (0x306, 1, 8))
|
||||
for addr, bus, length in blocked:
|
||||
assert not safety.safety_tx_hook(common.make_msg(bus, addr, length))
|
||||
|
||||
|
||||
def test_gm_bolt_acc_pedal_clears_stock_cruise():
|
||||
safety = libsafety_py.libsafety
|
||||
flags = GMSafetyFlags.HW_CAM | GMSafetyFlags.FLAG_GM_GAS_INTERCEPTOR | GMSafetyFlags.FLAG_GM_BOLT_2022_PEDAL
|
||||
|
||||
@@ -36,7 +36,6 @@ class SubaruMsg(enum.IntEnum):
|
||||
ES_HighBeamAssist = 0x121
|
||||
ES_STATIC_1 = 0x22a
|
||||
ES_STATIC_2 = 0x325
|
||||
Dashlights = 0x390
|
||||
|
||||
|
||||
SUBARU_MAIN_BUS = 0
|
||||
@@ -402,21 +401,6 @@ class TestSubaruDPlatformAngleSafety(TestSubaruStockLongitudinalSafetyBase, Test
|
||||
return self.packer.make_can_msg_safety("Steering_2", SUBARU_MAIN_BUS, {"Steering_Angle": angle})
|
||||
|
||||
|
||||
class TestSubaruDPlatformStopStartSafety(TestSubaruDPlatformAngleSafety):
|
||||
FLAGS = SubaruSafetyFlags.GEN2 | SubaruSafetyFlags.LKAS_ANGLE | SubaruSafetyFlags.D_PLATFORM | \
|
||||
SubaruSafetyFlags.STOP_START_BUTTON
|
||||
TX_MSGS = TestSubaruDPlatformAngleSafety.TX_MSGS + [[SubaruMsg.Dashlights, SUBARU_ALT_BUS]]
|
||||
|
||||
def _stop_start_msg(self, pressed):
|
||||
return self.packer.make_can_msg_safety(
|
||||
"Dashlights", SUBARU_ALT_BUS, {"COUNTER": 0, "STOP_START": pressed},
|
||||
)
|
||||
|
||||
def test_stop_start_tx_requires_pressed_bit(self):
|
||||
self.assertTrue(self._tx(self._stop_start_msg(True)))
|
||||
self.assertFalse(self._tx(self._stop_start_msg(False)))
|
||||
|
||||
|
||||
class TestSubaruDPlatformCameraAngleSafety(TestSubaruDPlatformAngleSafety):
|
||||
FLAGS = SubaruSafetyFlags.GEN2 | SubaruSafetyFlags.LKAS_ANGLE | SubaruSafetyFlags.D_PLATFORM | SubaruSafetyFlags.D_PLATFORM_CAMERA
|
||||
TX_MSGS = [[SubaruMsg.ES_LKAS_ANGLE, SUBARU_CAM_BUS],
|
||||
|
||||
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@@ -1,2 +1,2 @@
|
||||
extern const uint8_t gitversion[19];
|
||||
const uint8_t gitversion[19] = "DEV-af2e153e-DEBUG";
|
||||
const uint8_t gitversion[19] = "DEV-f8d47139-DEBUG";
|
||||
|
||||
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@@ -1 +1 @@
|
||||
DEV-af2e153e-DEBUG
|
||||
DEV-f8d47139-DEBUG
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user