mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-31 05:03:42 +08:00
Compare commits
3 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Vehicle Researcher
|
22a4193109 | ||
|
Adeeb Shihadeh
|
29d9e1ce69 | ||
|
Vehicle Researcher
|
0b384ea101 |
@@ -53,6 +53,7 @@ one
|
||||
openpilot
|
||||
notebooks
|
||||
xx
|
||||
hyperthneed
|
||||
panda_jungle
|
||||
apks
|
||||
openpilot-apks
|
||||
@@ -66,3 +67,4 @@ pandaextra
|
||||
flycheck_*
|
||||
|
||||
cppcheck_report.txt
|
||||
comma.sh
|
||||
|
||||
+5
-11
@@ -2,7 +2,7 @@
|
||||
|
||||
Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
|
||||
|
||||
Most open source development activity is coordinated through our [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/).
|
||||
Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/).
|
||||
|
||||
## Getting Started
|
||||
|
||||
@@ -12,23 +12,19 @@ Most open source development activity is coordinated through our [Discord](https
|
||||
|
||||
## Testing
|
||||
|
||||
### Local Testing
|
||||
|
||||
You can test your changes on your machine by running `run_docker_tests.sh`. This will run some automated tests in docker against your code.
|
||||
|
||||
### Automated Testing
|
||||
|
||||
All PRs and commits are automatically checked by Github Actions. Check out `.github/workflows/` for what Github Actions runs. Any new tests should be added to Github Actions.
|
||||
All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions.
|
||||
|
||||
### Code Style and Linting
|
||||
|
||||
Code is automatically checked for style by Github Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
|
||||
Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
|
||||
|
||||
## Car Ports (openpilot)
|
||||
|
||||
We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
|
||||
|
||||
If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty.
|
||||
If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84).
|
||||
|
||||
## Pull Requests
|
||||
|
||||
@@ -38,12 +34,10 @@ git clone https://github.com/commaai/openpilot.git --recursive
|
||||
```
|
||||
Or alternatively, when on the master branch:
|
||||
```
|
||||
git submodule init
|
||||
git submodule update
|
||||
git submodule update --init
|
||||
```
|
||||
The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://medium.com/@comma_ai/a-2020-theme-externalization-13b33326d8b3).
|
||||
Modules that are in seperate repositories include:
|
||||
* apks
|
||||
* cereal
|
||||
* laika
|
||||
* opendbc
|
||||
|
||||
Vendored
+2
-2
@@ -124,7 +124,7 @@ pipeline {
|
||||
stage('Replay Tests') {
|
||||
steps {
|
||||
phone_steps("eon2", [
|
||||
["camerad/modeld replay", "cd selfdrive/test/process_replay && ./camera_replay.py"],
|
||||
["camerad/modeld replay", "QCOM_REPLAY=1 scons -j4 && cd selfdrive/test/process_replay && ./camera_replay.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
@@ -132,7 +132,7 @@ pipeline {
|
||||
stage('HW + Unit Tests') {
|
||||
steps {
|
||||
phone_steps("eon", [
|
||||
["build cereal", "SCONS_CACHE=1 scons -j4 cereal/"],
|
||||
["build", "SCONS_CACHE=1 scons -j4"],
|
||||
["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
|
||||
["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
|
||||
["test loggerd", "CI=1 python selfdrive/loggerd/tests/test_loggerd.py"],
|
||||
|
||||
@@ -64,55 +64,59 @@ Supported Cars
|
||||
|
||||
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
|
||||
| Acura | ILX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
|
||||
| Acura | ILX 2016-19 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
|
||||
| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Acura | RDX 2020 | AcuraWatch | Stock | 0mph | 3mph |
|
||||
| Acura | RDX 2020 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord 2018-20 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord Hybrid 2018-20 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Civic Hatchback 2017-19 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | Civic Hatchback 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
|
||||
| Honda | Civic Sedan/Coupe 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
|
||||
| Honda | CR-V 2015-16 | Touring | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | CR-V 2017-20 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | Fit 2018-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | HR-V 2019 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | HR-V 2019-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Insight 2019-20 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Inspire 2018 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 0mph |
|
||||
| Honda | Passport 2019 | All | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Pilot 2016-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Ridgeline 2017-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Hyundai | Palisade 2020 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2020 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Palisade 2020 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2020-21 | All | Stock | 0mph | 0mph |
|
||||
| Lexus | CT Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | ES 2019 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | ES 2019-20 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | ES Hybrid 2019 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph |
|
||||
| Lexus | IS Hybrid 2017 | All | Stock | 0mph | 0mph |
|
||||
| Lexus | NX 2018 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | NX Hybrid 2018 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2016-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | RX 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2016-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Avalon 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Camry 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry Hybrid 2018-19 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Camry Hybrid 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | C-HR 2017-19 | All | Stock | 0mph | 0mph |
|
||||
| Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph |
|
||||
| Toyota | Corolla 2017-19 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Corolla 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hatchback 2019-20 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Prius 2016-20 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2017-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Rav4 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2016-18 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2019-20 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Sienna 2018-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
|
||||
<sup>1</sup>[Comma Pedal](https://github.com/commaai/openpilot/wiki/comma-pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
|
||||
@@ -136,11 +140,12 @@ Community Maintained Cars and Features
|
||||
| Genesis | G70 2018 | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G80 2018 | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G90 2018 | All | Stock | 0mph | 0mph |
|
||||
| GMC | Acadia Denali 2018<sup>2</sup>| Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| GMC | Acadia 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Holden | Astra 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Hyundai | Elantra 2017-19 | SCC + LKAS | Stock | 19mph | 34mph |
|
||||
| Hyundai | Genesis 2015-16 | SCC + LKAS | Stock | 19mph | 37mph |
|
||||
| Hyundai | Ioniq Electric 2019-20 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Hyundai | Ioniq Electric 2019 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Hyundai | Ioniq Electric 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Kona 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Kona EV 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Santa Fe 2019 | All | Stock | 0mph | 0mph |
|
||||
@@ -149,6 +154,7 @@ Community Maintained Cars and Features
|
||||
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Jeep | Grand Cherokee 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Kia | Forte 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Niro EV 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Optima 2017 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Kia | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Sorento 2018 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
@@ -158,12 +164,11 @@ Community Maintained Cars and Features
|
||||
| Nissan | X-Trail 2017 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Subaru | Ascent 2019 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Forester 2019 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Forester 2019-20 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Impreza 2017-19 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf 2015-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
|
||||
<sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built giraffe](https://github.com/commaai/openpilot/wiki/GM). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
|
||||
<sup>2</sup>Requires a custom connector for the developer [car harness](https://comma.ai/shop/products/car-harness) <br />
|
||||
<sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built ASCM harness](https://github.com/commaai/openpilot/wiki/GM#hardware). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
|
||||
|
||||
Although it's not upstream, there's a community of people getting openpilot to run on Tesla's [here](https://tinkla.us/)
|
||||
|
||||
@@ -239,7 +244,6 @@ Many factors can impact the performance of openpilot DM, causing it to be unable
|
||||
* Low light conditions, such as driving at night or in dark tunnels.
|
||||
* Bright light (due to oncoming headlights, direct sunlight, etc.).
|
||||
* The driver's face is partially or completely outside field of view of the driver facing camera.
|
||||
* Right hand driving vehicles.
|
||||
* The driver facing camera is obstructed, covered, or damaged.
|
||||
|
||||
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.
|
||||
@@ -269,7 +273,7 @@ Safety and Testing
|
||||
|
||||
Testing on PC
|
||||
------
|
||||
For simplified development and experimentation, openpilot can be run in the CARLA driving simulator, which allows you to develop openpilot without a car. The whole setup should only take a few minutes.
|
||||
For simplified development and experimentation, openpilot can be run in the CARLA driving simulator, which allows you to develop openpilot without a car. The whole setup should only take a few minutes.
|
||||
|
||||
Steps:
|
||||
1) Start the CARLA server on first terminal
|
||||
|
||||
+22
@@ -1,3 +1,25 @@
|
||||
Version 0.8.1 (2020-12-21)
|
||||
========================
|
||||
* Original EON is deprecated, upgrade to comma two
|
||||
* Better model performance in heavy rain
|
||||
* Better lane positioning in turns
|
||||
* Fixed bug where model would cut turns on empty roads at night
|
||||
* Fixed issue where some Toyotas would not completely stop thanks to briskspirit!
|
||||
* Toyota Camry 2021 with TSS2.5 support
|
||||
* Hyundai Ioniq Electric 2020 support thanks to baldwalker!
|
||||
|
||||
Version 0.8.0 (2020-11-30)
|
||||
========================
|
||||
* New driving model: fully 3D and improved cut-in detection
|
||||
* UI draws 2 road edges, 4 lanelines and paths in 3D
|
||||
* Major fixes to cut-in detection for openpilot longitudinal
|
||||
* Grey panda is no longer supported, upgrade to comma two or black panda
|
||||
* Lexus NX 2018 support thanks to matt12eagles!
|
||||
* Kia Niro EV 2020 support thanks to nickn17!
|
||||
* Toyota Prius 2021 support thanks to rav4kumar!
|
||||
* Improved lane positioning with uncertain lanelines, wide lanes and exits
|
||||
* Improved lateral control for Prius and Subaru
|
||||
|
||||
Version 0.7.10 (2020-10-29)
|
||||
========================
|
||||
* Grey panda is deprecated, upgrade to comma two or black panda
|
||||
|
||||
+35
-57
@@ -1,10 +1,10 @@
|
||||
import Cython
|
||||
import distutils
|
||||
import os
|
||||
import shutil
|
||||
import subprocess
|
||||
import sys
|
||||
import sysconfig
|
||||
import platform
|
||||
import numpy as np
|
||||
|
||||
TICI = os.path.isfile('/TICI')
|
||||
Decider('MD5-timestamp')
|
||||
@@ -17,10 +17,6 @@ AddOption('--asan',
|
||||
action='store_true',
|
||||
help='turn on ASAN')
|
||||
|
||||
# Rebuild cython extensions if python, distutils, or cython change
|
||||
cython_dependencies = [Value(v) for v in (sys.version, distutils.__version__, Cython.__version__)]
|
||||
Export('cython_dependencies')
|
||||
|
||||
real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
if platform.system() == "Darwin":
|
||||
arch = "Darwin"
|
||||
@@ -159,6 +155,7 @@ env = Environment(
|
||||
"#phonelibs/linux/include",
|
||||
"#phonelibs/snpe/include",
|
||||
"#phonelibs/nanovg",
|
||||
"#selfdrive/boardd",
|
||||
"#selfdrive/common",
|
||||
"#selfdrive/camerad",
|
||||
"#selfdrive/camerad/include",
|
||||
@@ -181,63 +178,27 @@ env = Environment(
|
||||
CXXFLAGS=["-std=c++1z"] + cxxflags,
|
||||
LIBPATH=libpath + [
|
||||
"#cereal",
|
||||
"#selfdrive/common",
|
||||
"#phonelibs",
|
||||
]
|
||||
"#opendbc/can",
|
||||
"#selfdrive/boardd",
|
||||
"#selfdrive/common",
|
||||
],
|
||||
CYTHONCFILESUFFIX=".cpp",
|
||||
COMPILATIONDB_USE_ABSPATH=True,
|
||||
tools=["default", "cython", "compilation_db"],
|
||||
)
|
||||
|
||||
qt_env = None
|
||||
if arch in ["x86_64", "Darwin", "larch64"]:
|
||||
qt_env = env.Clone()
|
||||
|
||||
if arch == "Darwin":
|
||||
qt_env['QTDIR'] = "/usr/local/opt/qt"
|
||||
QT_BASE = "/usr/local/opt/qt/"
|
||||
qt_dirs = [
|
||||
QT_BASE + "include/",
|
||||
QT_BASE + "include/QtWidgets",
|
||||
QT_BASE + "include/QtGui",
|
||||
QT_BASE + "include/QtCore",
|
||||
QT_BASE + "include/QtDBus",
|
||||
QT_BASE + "include/QtMultimedia",
|
||||
]
|
||||
qt_env["LINKFLAGS"] += ["-F" + QT_BASE + "lib"]
|
||||
else:
|
||||
qt_env['QTDIR'] = "/usr"
|
||||
qt_dirs = [
|
||||
f"/usr/include/{real_arch}-linux-gnu/qt5",
|
||||
f"/usr/include/{real_arch}-linux-gnu/qt5/QtWidgets",
|
||||
f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui",
|
||||
f"/usr/include/{real_arch}-linux-gnu/qt5/QtCore",
|
||||
f"/usr/include/{real_arch}-linux-gnu/qt5/QtDBus",
|
||||
f"/usr/include/{real_arch}-linux-gnu/qt5/QtMultimedia",
|
||||
f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.5.1/QtGui",
|
||||
]
|
||||
|
||||
qt_env.Tool('qt')
|
||||
qt_env['CPPPATH'] += qt_dirs
|
||||
qt_flags = [
|
||||
"-D_REENTRANT",
|
||||
"-DQT_NO_DEBUG",
|
||||
"-DQT_WIDGETS_LIB",
|
||||
"-DQT_GUI_LIB",
|
||||
"-DQT_CORE_LIB"
|
||||
]
|
||||
qt_env['CXXFLAGS'] += qt_flags
|
||||
if GetOption('test'):
|
||||
env.CompilationDatabase('compile_commands.json')
|
||||
|
||||
if os.environ.get('SCONS_CACHE'):
|
||||
cache_dir = '/tmp/scons_cache'
|
||||
if TICI:
|
||||
cache_dir = '/data/scons_cache'
|
||||
|
||||
if os.getenv('CI'):
|
||||
branch = os.getenv('GIT_BRANCH')
|
||||
if QCOM_REPLAY:
|
||||
cache_dir = '/tmp/scons_cache_qcom_replay'
|
||||
|
||||
if QCOM_REPLAY:
|
||||
cache_dir = '/tmp/scons_cache_qcom_replay'
|
||||
elif branch is not None and branch != 'master':
|
||||
cache_dir_branch = '/tmp/scons_cache_' + branch
|
||||
if not os.path.isdir(cache_dir_branch) and os.path.isdir(cache_dir):
|
||||
shutil.copytree(cache_dir, cache_dir_branch)
|
||||
cache_dir = cache_dir_branch
|
||||
CacheDir(cache_dir)
|
||||
|
||||
node_interval = 5
|
||||
@@ -261,9 +222,26 @@ def abspath(x):
|
||||
# rpath works elsewhere
|
||||
return x[0].path.rsplit("/", 1)[1][:-3]
|
||||
|
||||
# Cython build enviroment
|
||||
py_include = sysconfig.get_paths()['include']
|
||||
envCython = env.Clone()
|
||||
envCython["CPPPATH"] += [py_include, np.get_include()]
|
||||
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
|
||||
|
||||
envCython["LIBS"] = []
|
||||
if arch == "Darwin":
|
||||
envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
|
||||
elif arch == "aarch64":
|
||||
envCython["LINKFLAGS"] = ["-shared"]
|
||||
envCython["LIBS"] = [os.path.basename(py_include)]
|
||||
else:
|
||||
envCython["LINKFLAGS"] = ["-pthread", "-shared"]
|
||||
|
||||
Export('envCython')
|
||||
|
||||
# still needed for apks
|
||||
zmq = 'zmq'
|
||||
Export('env', 'qt_env', 'arch', 'zmq', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')
|
||||
Export('env', 'arch', 'real_arch', 'zmq', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')
|
||||
|
||||
# cereal and messaging are shared with the system
|
||||
SConscript(['cereal/SConscript'])
|
||||
@@ -316,6 +294,6 @@ SConscript(['selfdrive/ui/SConscript'])
|
||||
if arch != "Darwin":
|
||||
SConscript(['selfdrive/logcatd/SConscript'])
|
||||
|
||||
|
||||
if arch == "x86_64":
|
||||
SConscript(['tools/lib/index_log/SConscript'])
|
||||
|
||||
|
||||
Binary file not shown.
@@ -1,6 +1,7 @@
|
||||
gen
|
||||
node_modules
|
||||
package-lock.json
|
||||
*.tmp
|
||||
*.pyc
|
||||
__pycache__
|
||||
.*.swp
|
||||
|
||||
+5
-8
@@ -1,7 +1,8 @@
|
||||
Import('env', 'arch', 'zmq', 'cython_dependencies')
|
||||
Import('env', 'envCython', 'arch', 'zmq')
|
||||
|
||||
import shutil
|
||||
|
||||
cereal_dir = Dir('.')
|
||||
gen_dir = Dir('gen')
|
||||
messaging_dir = Dir('messaging')
|
||||
|
||||
@@ -9,12 +10,12 @@ messaging_dir = Dir('messaging')
|
||||
env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
|
||||
env.Command(['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
|
||||
['car.capnp', 'log.capnp'],
|
||||
'capnpc $SOURCES --src-prefix=cereal -o c++:' + gen_dir.path + '/cpp/')
|
||||
f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
|
||||
|
||||
if shutil.which('capnpc-java'):
|
||||
env.Command(['gen/java/Car.java', 'gen/java/Log.java'],
|
||||
['car.capnp', 'log.capnp'],
|
||||
'capnpc $SOURCES --src-prefix=cereal -o java:' + gen_dir.path + '/java/')
|
||||
f"capnpc $SOURCES --src-prefix={cereal_dir.path} -o java:{gen_dir.path}/java/")
|
||||
|
||||
# TODO: remove non shared cereal and messaging
|
||||
cereal_objects = env.SharedObject([
|
||||
@@ -54,11 +55,7 @@ Depends('messaging/bridge.cc', services_h)
|
||||
# different target?
|
||||
#env.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq'])
|
||||
|
||||
|
||||
env.Command(['messaging/messaging_pyx.so', 'messaging/messaging_pyx.cpp'],
|
||||
cython_dependencies + [messaging_lib, 'messaging/messaging_pyx_setup.py', 'messaging/messaging_pyx.pyx', 'messaging/messaging.pxd'],
|
||||
"cd " + messaging_dir.path + " && python3 messaging_pyx_setup.py build_ext --inplace")
|
||||
|
||||
envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq"])
|
||||
|
||||
if GetOption('test'):
|
||||
env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib])
|
||||
|
||||
+10
-4
@@ -73,7 +73,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
preLaneChangeLeft @57;
|
||||
preLaneChangeRight @58;
|
||||
laneChange @59;
|
||||
invalidGiraffeToyota @60;
|
||||
internetConnectivityNeeded @61;
|
||||
communityFeatureDisallowed @62;
|
||||
lowMemory @63;
|
||||
@@ -94,14 +93,15 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
startupMaster @78;
|
||||
fcw @79;
|
||||
steerSaturated @80;
|
||||
whitePandaUnsupported @81;
|
||||
startupGreyPanda @82;
|
||||
belowEngageSpeed @84;
|
||||
noGps @85;
|
||||
wrongCruiseMode @87;
|
||||
modeldLagging @89;
|
||||
deviceFalling @90;
|
||||
fanMalfunction @91;
|
||||
cameraMalfunction @92;
|
||||
|
||||
startupOneplus @82;
|
||||
|
||||
gasUnavailableDEPRECATED @3;
|
||||
dataNeededDEPRECATED @16;
|
||||
@@ -112,9 +112,12 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
driverMonitorOffDEPRECATED @42;
|
||||
calibrationProgressDEPRECATED @47;
|
||||
invalidGiraffeHondaDEPRECATED @49;
|
||||
canErrorPersistentDEPRECATED @83;
|
||||
invalidGiraffeToyotaDEPRECATED @60;
|
||||
whitePandaUnsupportedDEPRECATED @81;
|
||||
commIssueWarningDEPRECATED @83;
|
||||
focusRecoverActiveDEPRECATED @86;
|
||||
neosUpdateRequiredDEPRECATED @88;
|
||||
modelLagWarningDEPRECATED @93;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -396,6 +399,9 @@ struct CarParams {
|
||||
steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
|
||||
steerControlType @34 :SteerControlType;
|
||||
radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
|
||||
minSpeedCan @51 :Float32; # Minimum vehicle speed from CAN (below this value drops to 0)
|
||||
stoppingBrakeRate @52 :Float32; # brake_travel/s while trying to stop
|
||||
startingBrakeRate @53 :Float32; # brake_travel/s while releasing on restart
|
||||
|
||||
steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
|
||||
openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
|
||||
|
||||
+19
-1
@@ -49,6 +49,8 @@ struct InitData {
|
||||
neo @1;
|
||||
chffrAndroid @2;
|
||||
chffrIos @3;
|
||||
tici @4;
|
||||
pc @5;
|
||||
}
|
||||
|
||||
struct AndroidBuildInfo {
|
||||
@@ -628,6 +630,9 @@ struct ModelData {
|
||||
frameAge @12 :UInt32;
|
||||
frameDropPerc @13 :Float32;
|
||||
timestampEof @9 :UInt64;
|
||||
modelExecutionTime @14 :Float32;
|
||||
gpuExecutionTime @16 :Float32;
|
||||
rawPred @15 :Data;
|
||||
|
||||
path @1 :PathData;
|
||||
leftLane @2 :PathData;
|
||||
@@ -694,6 +699,9 @@ struct ModelDataV2 {
|
||||
frameAge @1 :UInt32;
|
||||
frameDropPerc @2 :Float32;
|
||||
timestampEof @3 :UInt64;
|
||||
modelExecutionTime @15 :Float32;
|
||||
gpuExecutionTime @17 :Float32;
|
||||
rawPred @16 :Data;
|
||||
|
||||
position @4 :XYZTData;
|
||||
orientation @5 :XYZTData;
|
||||
@@ -701,7 +709,9 @@ struct ModelDataV2 {
|
||||
orientationRate @7 :XYZTData;
|
||||
laneLines @8 :List(XYZTData);
|
||||
laneLineProbs @9 :List(Float32);
|
||||
laneLineStds @13 :List(Float32);
|
||||
roadEdges @10 :List(XYZTData);
|
||||
roadEdgeStds @14 :List(Float32);
|
||||
leads @11 :List(LeadDataV2);
|
||||
|
||||
meta @12 :MetaData;
|
||||
@@ -754,6 +764,8 @@ struct EncodeIndex {
|
||||
segmentId @4 :UInt32;
|
||||
# index into camera file in segment in encode order
|
||||
segmentIdEncode @5 :UInt32;
|
||||
timestampSof @6 :UInt64;
|
||||
timestampEof @7 :UInt64;
|
||||
|
||||
enum Type {
|
||||
bigBoxLossless @0; # rcamera.mkv
|
||||
@@ -1943,6 +1955,10 @@ struct OrbKeyFrame {
|
||||
|
||||
struct DriverState {
|
||||
frameId @0 :UInt32;
|
||||
modelExecutionTime @14 :Float32;
|
||||
dspExecutionTime @16 :Float32;
|
||||
rawPred @15 :Data;
|
||||
|
||||
descriptorDEPRECATED @1 :List(Float32);
|
||||
stdDEPRECATED @2 :Float32;
|
||||
faceOrientation @3 :List(Float32);
|
||||
@@ -2119,11 +2135,13 @@ struct Event {
|
||||
thumbnail @66: Thumbnail;
|
||||
carEvents @68: List(Car.CarEvent);
|
||||
carParams @69: Car.CarParams;
|
||||
frontFrame @70: FrameData;
|
||||
frontFrame @70: FrameData; # driver facing camera
|
||||
dMonitoringState @71: DMonitoringState;
|
||||
liveLocationKalman @72 :LiveLocationKalman;
|
||||
sentinel @73 :Sentinel;
|
||||
wideFrame @74: FrameData;
|
||||
modelV2 @75 :ModelDataV2;
|
||||
frontEncodeIdx @76 :EncodeIndex; # driver facing camera
|
||||
wideEncodeIdx @77 :EncodeIndex;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -7,11 +7,11 @@ from libcpp cimport bool
|
||||
from libc cimport errno
|
||||
|
||||
|
||||
from messaging cimport Context as cppContext
|
||||
from messaging cimport SubSocket as cppSubSocket
|
||||
from messaging cimport PubSocket as cppPubSocket
|
||||
from messaging cimport Poller as cppPoller
|
||||
from messaging cimport Message as cppMessage
|
||||
from .messaging cimport Context as cppContext
|
||||
from .messaging cimport SubSocket as cppSubSocket
|
||||
from .messaging cimport PubSocket as cppPubSocket
|
||||
from .messaging cimport Poller as cppPoller
|
||||
from .messaging cimport Message as cppMessage
|
||||
|
||||
|
||||
class MessagingError(Exception):
|
||||
@@ -59,12 +59,12 @@ cdef class Poller:
|
||||
cdef int t = timeout
|
||||
|
||||
with nogil:
|
||||
result = self.poller.poll(t)
|
||||
result = self.poller.poll(t)
|
||||
|
||||
for s in result:
|
||||
socket = SubSocket()
|
||||
socket.setPtr(s)
|
||||
sockets.append(socket)
|
||||
socket = SubSocket()
|
||||
socket.setPtr(s)
|
||||
sockets.append(socket)
|
||||
|
||||
return sockets
|
||||
|
||||
|
||||
@@ -1,58 +0,0 @@
|
||||
import os
|
||||
import subprocess
|
||||
import sysconfig
|
||||
from distutils.core import Extension, setup # pylint: disable=import-error,no-name-in-module
|
||||
|
||||
from Cython.Build import cythonize
|
||||
from Cython.Distutils import build_ext
|
||||
|
||||
TICI = os.path.isfile('/TICI')
|
||||
|
||||
def get_ext_filename_without_platform_suffix(filename):
|
||||
name, ext = os.path.splitext(filename)
|
||||
ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
|
||||
|
||||
if ext_suffix == ext:
|
||||
return filename
|
||||
|
||||
ext_suffix = ext_suffix.replace(ext, '')
|
||||
idx = name.find(ext_suffix)
|
||||
|
||||
if idx == -1:
|
||||
return filename
|
||||
else:
|
||||
return name[:idx] + ext
|
||||
|
||||
|
||||
class BuildExtWithoutPlatformSuffix(build_ext):
|
||||
def get_ext_filename(self, ext_name):
|
||||
filename = super().get_ext_filename(ext_name)
|
||||
return get_ext_filename_without_platform_suffix(filename)
|
||||
|
||||
|
||||
sourcefiles = ['messaging_pyx.pyx']
|
||||
extra_compile_args = ["-std=c++1z", "-Wno-nullability-completeness"]
|
||||
libraries = ['zmq']
|
||||
ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip() # pylint: disable=unexpected-keyword-arg
|
||||
|
||||
if ARCH == "aarch64" and not TICI:
|
||||
# android
|
||||
extra_compile_args += ["-Wno-deprecated-register"]
|
||||
libraries += ['gnustl_shared']
|
||||
|
||||
setup(name='messaging',
|
||||
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
|
||||
ext_modules=cythonize(
|
||||
Extension(
|
||||
"messaging_pyx",
|
||||
language="c++",
|
||||
sources=sourcefiles,
|
||||
extra_compile_args=extra_compile_args,
|
||||
libraries=libraries,
|
||||
extra_objects=[
|
||||
os.path.join(os.path.dirname(os.path.realpath(__file__)), '../', 'libmessaging.a'),
|
||||
]
|
||||
),
|
||||
nthreads=4,
|
||||
),
|
||||
)
|
||||
+3
-13
@@ -1,14 +1,4 @@
|
||||
Import('env', 'cython_dependencies')
|
||||
Import('envCython')
|
||||
|
||||
# Build cython clock module
|
||||
env.Command(['common_pyx.so', 'clock.cpp'],
|
||||
cython_dependencies + ['common_pyx_setup.py', 'clock.pyx'],
|
||||
"cd common && python3 common_pyx_setup.py build_ext --inplace")
|
||||
|
||||
# Build cython params module
|
||||
env.Command(['params_pyx.so', 'params_pyx.cpp'],
|
||||
cython_dependencies + [
|
||||
'params_pyx_setup.py', 'params_pyx.pyx', 'params_pxd.pxd',
|
||||
'#selfdrive/common/params.cc', '#selfdrive/common/params.h',
|
||||
'#selfdrive/common/util.c', '#selfdrive/common/util.h'],
|
||||
"cd common && python3 params_pyx_setup.py build_ext --inplace")
|
||||
envCython.Program('clock.so', 'clock.pyx')
|
||||
envCython.Program('params_pyx.so', 'params_pyx.pyx')
|
||||
|
||||
+1
-1
@@ -1,7 +1,7 @@
|
||||
import os
|
||||
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
|
||||
|
||||
from common.hardware import PC
|
||||
from selfdrive.hardware import PC
|
||||
if PC:
|
||||
PERSIST = os.path.join(BASEDIR, "persist")
|
||||
else:
|
||||
|
||||
@@ -1,3 +1,4 @@
|
||||
# distutils: language = c++
|
||||
# cython: language_level = 3
|
||||
from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t
|
||||
|
||||
|
||||
@@ -1,20 +0,0 @@
|
||||
from distutils.core import Extension, setup # pylint: disable=import-error,no-name-in-module
|
||||
from Cython.Build import cythonize
|
||||
|
||||
from common.cython_hacks import BuildExtWithoutPlatformSuffix
|
||||
|
||||
sourcefiles = ['clock.pyx']
|
||||
extra_compile_args = ["-std=c++1z"]
|
||||
|
||||
setup(name='common',
|
||||
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
|
||||
ext_modules=cythonize(
|
||||
Extension(
|
||||
"common_pyx",
|
||||
language="c++",
|
||||
sources=sourcefiles,
|
||||
extra_compile_args=extra_compile_args,
|
||||
),
|
||||
nthreads=4,
|
||||
),
|
||||
)
|
||||
@@ -1,11 +1,3 @@
|
||||
GPIO_HUB_RST_N = 30
|
||||
GPIO_UBLOX_RST_N = 32
|
||||
GPIO_UBLOX_SAFEBOOT_N = 33
|
||||
GPIO_UBLOX_PWR_EN = 34
|
||||
GPIO_STM_RST_N = 124
|
||||
GPIO_STM_BOOT0 = 134
|
||||
|
||||
|
||||
def gpio_init(pin, output):
|
||||
try:
|
||||
with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
|
||||
|
||||
@@ -1,59 +0,0 @@
|
||||
import serial
|
||||
|
||||
from common.hardware_base import HardwareBase
|
||||
from cereal import log
|
||||
import subprocess
|
||||
|
||||
|
||||
NetworkType = log.ThermalData.NetworkType
|
||||
NetworkStrength = log.ThermalData.NetworkStrength
|
||||
|
||||
|
||||
def run_at_command(cmd, timeout=0.1):
|
||||
with serial.Serial("/dev/ttyUSB2", timeout=timeout) as ser:
|
||||
ser.write(cmd + b"\r\n")
|
||||
ser.readline() # Modem echos request
|
||||
return ser.readline().decode().rstrip()
|
||||
|
||||
|
||||
class Tici(HardwareBase):
|
||||
def get_sound_card_online(self):
|
||||
return True
|
||||
|
||||
def get_imei(self, slot):
|
||||
if slot != 0:
|
||||
return ""
|
||||
|
||||
for _ in range(10):
|
||||
try:
|
||||
imei = run_at_command(b"AT+CGSN")
|
||||
if len(imei) == 15:
|
||||
return imei
|
||||
except serial.SerialException:
|
||||
pass
|
||||
|
||||
raise RuntimeError("Error getting IMEI")
|
||||
|
||||
def get_serial(self):
|
||||
return self.get_cmdline()['androidboot.serialno']
|
||||
|
||||
def get_subscriber_info(self):
|
||||
return ""
|
||||
|
||||
def reboot(self, reason=None):
|
||||
subprocess.check_output(["sudo", "reboot"])
|
||||
|
||||
def get_network_type(self):
|
||||
return NetworkType.wifi
|
||||
|
||||
def get_sim_info(self):
|
||||
return {
|
||||
'sim_id': '',
|
||||
'mcc_mnc': None,
|
||||
'network_type': ["Unknown"],
|
||||
'sim_state': ["ABSENT"],
|
||||
'data_connected': False
|
||||
}
|
||||
|
||||
def get_network_strength(self, network_type):
|
||||
return NetworkStrength.unknown
|
||||
@@ -1,6 +1,3 @@
|
||||
Import('env', 'cython_dependencies')
|
||||
|
||||
env.Command(['simple_kalman_impl.so'],
|
||||
cython_dependencies + ['simple_kalman_impl.pyx', 'simple_kalman_impl.pxd', 'simple_kalman_setup.py'],
|
||||
"cd common/kalman && python3 simple_kalman_setup.py build_ext --inplace")
|
||||
Import('envCython')
|
||||
|
||||
envCython.Program('simple_kalman_impl.so', 'simple_kalman_impl.pyx')
|
||||
|
||||
@@ -1,3 +1,4 @@
|
||||
# distutils: language = c++
|
||||
# cython: language_level=3
|
||||
|
||||
cdef class KF1D:
|
||||
|
||||
@@ -1,10 +0,0 @@
|
||||
from distutils.core import Extension, setup
|
||||
|
||||
from Cython.Build import cythonize
|
||||
|
||||
from common.cython_hacks import BuildExtWithoutPlatformSuffix
|
||||
|
||||
setup(name='Simple Kalman Implementation',
|
||||
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
|
||||
ext_modules=cythonize(Extension("simple_kalman_impl",
|
||||
["simple_kalman_impl.pyx"])))
|
||||
@@ -82,3 +82,6 @@ kf = KF1D(x0=[[x0_0], [x1_0]],
|
||||
kf_speed = timeit.timeit("kf.update(1234)", setup=setup, number=10000)
|
||||
kf_old_speed = timeit.timeit("kf_old.update(1234)", setup=setup, number=10000)
|
||||
self.assertTrue(kf_speed < kf_old_speed / 4)
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
# cython: language_level = 3
|
||||
from libcpp cimport bool
|
||||
from libcpp.string cimport string
|
||||
from params_pxd cimport Params as c_Params
|
||||
from common.params_pxd cimport Params as c_Params
|
||||
|
||||
import os
|
||||
import threading
|
||||
@@ -69,6 +69,7 @@ keys = {
|
||||
b"Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_NeosUpdate": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_UpdateFailed": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_HardwareUnsupported": [TxType.CLEAR_ON_MANAGER_START],
|
||||
}
|
||||
|
||||
def ensure_bytes(v):
|
||||
|
||||
@@ -1,33 +0,0 @@
|
||||
import os
|
||||
import subprocess
|
||||
from distutils.core import Extension, setup
|
||||
from Cython.Build import cythonize
|
||||
|
||||
from common.cython_hacks import BuildExtWithoutPlatformSuffix
|
||||
from common.basedir import BASEDIR
|
||||
from common.hardware import TICI
|
||||
|
||||
ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip() # pylint: disable=unexpected-keyword-arg
|
||||
|
||||
sourcefiles = ['params_pyx.pyx']
|
||||
extra_compile_args = ["-std=c++11"]
|
||||
|
||||
if ARCH == "aarch64":
|
||||
if TICI:
|
||||
extra_compile_args += ["-DQCOM2"]
|
||||
else:
|
||||
extra_compile_args += ["-DQCOM"]
|
||||
|
||||
|
||||
setup(name='common',
|
||||
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
|
||||
ext_modules=cythonize(
|
||||
Extension(
|
||||
"params_pyx",
|
||||
language="c++",
|
||||
sources=sourcefiles,
|
||||
include_dirs=[BASEDIR, os.path.join(BASEDIR, 'selfdrive')],
|
||||
extra_compile_args=extra_compile_args
|
||||
)
|
||||
)
|
||||
)
|
||||
+16
-6
@@ -4,21 +4,31 @@ import os
|
||||
import time
|
||||
import multiprocessing
|
||||
|
||||
from common.hardware import PC
|
||||
from common.common_pyx import sec_since_boot # pylint: disable=no-name-in-module, import-error
|
||||
from common.clock import sec_since_boot # pylint: disable=no-name-in-module, import-error
|
||||
from selfdrive.hardware import PC, TICI
|
||||
|
||||
|
||||
# time step for each process
|
||||
DT_CTRL = 0.01 # controlsd
|
||||
DT_MDL = 0.05 # model
|
||||
DT_DMON = 0.1 # driver monitoring
|
||||
DT_TRML = 0.5 # thermald and manager
|
||||
|
||||
# driver monitoring
|
||||
if TICI:
|
||||
DT_DMON = 0.05
|
||||
else:
|
||||
DT_DMON = 0.1
|
||||
|
||||
|
||||
class Priority:
|
||||
MIN_REALTIME = 52 # highest android process priority is 51
|
||||
CTRL_LOW = MIN_REALTIME
|
||||
CTRL_HIGH = MIN_REALTIME + 1
|
||||
# CORE 2
|
||||
# - modeld = 55
|
||||
# - camerad = 54
|
||||
CTRL_LOW = 51 # plannerd & radard
|
||||
|
||||
# CORE 3
|
||||
# - boardd = 55
|
||||
CTRL_HIGH = 53
|
||||
|
||||
|
||||
def set_realtime_priority(level):
|
||||
|
||||
+8
-11
@@ -4,17 +4,14 @@ from common.basedir import BASEDIR
|
||||
|
||||
|
||||
class Spinner():
|
||||
def __init__(self, noop=False):
|
||||
# spinner is currently only implemented for android
|
||||
self.spinner_proc = None
|
||||
if not noop:
|
||||
try:
|
||||
self.spinner_proc = subprocess.Popen(["./spinner"],
|
||||
stdin=subprocess.PIPE,
|
||||
cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
|
||||
close_fds=True)
|
||||
except OSError:
|
||||
self.spinner_proc = None
|
||||
def __init__(self):
|
||||
try:
|
||||
self.spinner_proc = subprocess.Popen(["./spinner"],
|
||||
stdin=subprocess.PIPE,
|
||||
cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
|
||||
close_fds=True)
|
||||
except OSError:
|
||||
self.spinner_proc = None
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
+8
-11
@@ -6,17 +6,14 @@ from common.basedir import BASEDIR
|
||||
|
||||
|
||||
class TextWindow:
|
||||
def __init__(self, s, noop=False):
|
||||
# text window is only implemented for android currently
|
||||
self.text_proc = None
|
||||
if not noop:
|
||||
try:
|
||||
self.text_proc = subprocess.Popen(["./text", s],
|
||||
stdin=subprocess.PIPE,
|
||||
cwd=os.path.join(BASEDIR, "selfdrive", "ui", "text"),
|
||||
close_fds=True)
|
||||
except OSError:
|
||||
self.text_proc = None
|
||||
def __init__(self, text):
|
||||
try:
|
||||
self.text_proc = subprocess.Popen(["./text", text],
|
||||
stdin=subprocess.PIPE,
|
||||
cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
|
||||
close_fds=True)
|
||||
except OSError:
|
||||
self.text_proc = None
|
||||
|
||||
def get_status(self):
|
||||
if self.text_proc is not None:
|
||||
|
||||
@@ -1,8 +1,3 @@
|
||||
Import('env', 'cython_dependencies')
|
||||
Import('envCython')
|
||||
|
||||
d = Dir('.')
|
||||
|
||||
env.Command(['transformations.so'],
|
||||
cython_dependencies + ['transformations.pxd', 'transformations.pyx',
|
||||
'coordinates.cc', 'orientation.cc', 'coordinates.hpp', 'orientation.hpp'],
|
||||
'cd ' + d.path + ' && python3 setup.py build_ext --inplace')
|
||||
envCython.Program('transformations.so', 'transformations.pyx')
|
||||
|
||||
@@ -1,29 +1,67 @@
|
||||
import numpy as np
|
||||
import common.transformations.orientation as orient
|
||||
|
||||
FULL_FRAME_SIZE = (1164, 874)
|
||||
W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
|
||||
eon_focal_length = FOCAL = 910.0
|
||||
import common.transformations.orientation as orient
|
||||
from selfdrive.hardware import TICI
|
||||
|
||||
## -- hardcoded hardware params --
|
||||
eon_f_focal_length = 910.0
|
||||
eon_d_focal_length = 860.0
|
||||
leon_d_focal_length = 650.0
|
||||
tici_f_focal_length = 2648.0
|
||||
tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame
|
||||
|
||||
eon_f_frame_size = (1164, 874)
|
||||
eon_d_frame_size = (1152, 864)
|
||||
leon_d_frame_size = (816, 612)
|
||||
tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208)
|
||||
|
||||
# aka 'K' aka camera_frame_from_view_frame
|
||||
eon_intrinsics = np.array([
|
||||
[FOCAL, 0., W/2.],
|
||||
[ 0., FOCAL, H/2.],
|
||||
[ 0., 0., 1.]])
|
||||
|
||||
eon_fcam_intrinsics = np.array([
|
||||
[eon_f_focal_length, 0.0, float(eon_f_frame_size[0])/2],
|
||||
[0.0, eon_f_focal_length, float(eon_f_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
eon_intrinsics = eon_fcam_intrinsics # xx
|
||||
|
||||
leon_dcam_intrinsics = np.array([
|
||||
[650, 0, 816//2],
|
||||
[ 0, 650, 612//2],
|
||||
[ 0, 0, 1]])
|
||||
[leon_d_focal_length, 0.0, float(leon_d_frame_size[0])/2],
|
||||
[0.0, leon_d_focal_length, float(leon_d_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
eon_dcam_intrinsics = np.array([
|
||||
[860, 0, 1152//2],
|
||||
[ 0, 860, 864//2],
|
||||
[ 0, 0, 1]])
|
||||
[eon_d_focal_length, 0.0, float(eon_d_frame_size[0])/2],
|
||||
[0.0, eon_d_focal_length, float(eon_d_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
tici_fcam_intrinsics = np.array([
|
||||
[tici_f_focal_length, 0.0, float(tici_f_frame_size[0])/2],
|
||||
[0.0, tici_f_focal_length, float(tici_f_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
tici_dcam_intrinsics = np.array([
|
||||
[tici_d_focal_length, 0.0, float(tici_d_frame_size[0])/2],
|
||||
[0.0, tici_d_focal_length, float(tici_d_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
tici_ecam_intrinsics = tici_dcam_intrinsics
|
||||
|
||||
# aka 'K_inv' aka view_frame_from_camera_frame
|
||||
eon_intrinsics_inv = np.linalg.inv(eon_intrinsics)
|
||||
eon_fcam_intrinsics_inv = np.linalg.inv(eon_fcam_intrinsics)
|
||||
eon_intrinsics_inv = eon_fcam_intrinsics_inv # xx
|
||||
|
||||
tici_fcam_intrinsics_inv = np.linalg.inv(tici_fcam_intrinsics)
|
||||
tici_ecam_intrinsics_inv = np.linalg.inv(tici_ecam_intrinsics)
|
||||
|
||||
|
||||
if not TICI:
|
||||
FULL_FRAME_SIZE = eon_f_frame_size
|
||||
FOCAL = eon_f_focal_length
|
||||
fcam_intrinsics = eon_fcam_intrinsics
|
||||
else:
|
||||
FULL_FRAME_SIZE = tici_f_frame_size
|
||||
FOCAL = tici_f_focal_length
|
||||
fcam_intrinsics = tici_fcam_intrinsics
|
||||
|
||||
W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
|
||||
|
||||
|
||||
# device/mesh : x->forward, y-> right, z->down
|
||||
@@ -69,9 +107,9 @@ def vp_from_ke(m):
|
||||
return (m[0, 0]/m[2, 0], m[1, 0]/m[2, 0])
|
||||
|
||||
|
||||
def vp_from_rpy(rpy):
|
||||
def vp_from_rpy(rpy, intrinsics=fcam_intrinsics):
|
||||
e = get_view_frame_from_road_frame(rpy[0], rpy[1], rpy[2], 1.22)
|
||||
ke = np.dot(eon_intrinsics, e)
|
||||
ke = np.dot(intrinsics, e)
|
||||
return vp_from_ke(ke)
|
||||
|
||||
|
||||
@@ -81,7 +119,7 @@ def roll_from_ke(m):
|
||||
-(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))
|
||||
|
||||
|
||||
def normalize(img_pts, intrinsics=eon_intrinsics):
|
||||
def normalize(img_pts, intrinsics=fcam_intrinsics):
|
||||
# normalizes image coordinates
|
||||
# accepts single pt or array of pts
|
||||
intrinsics_inv = np.linalg.inv(intrinsics)
|
||||
@@ -94,7 +132,7 @@ def normalize(img_pts, intrinsics=eon_intrinsics):
|
||||
return img_pts_normalized[:, :2].reshape(input_shape)
|
||||
|
||||
|
||||
def denormalize(img_pts, intrinsics=eon_intrinsics):
|
||||
def denormalize(img_pts, intrinsics=fcam_intrinsics, width=W, height=H):
|
||||
# denormalizes image coordinates
|
||||
# accepts single pt or array of pts
|
||||
img_pts = np.array(img_pts)
|
||||
@@ -102,9 +140,9 @@ def denormalize(img_pts, intrinsics=eon_intrinsics):
|
||||
img_pts = np.atleast_2d(img_pts)
|
||||
img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1))))
|
||||
img_pts_denormalized = img_pts.dot(intrinsics.T)
|
||||
img_pts_denormalized[img_pts_denormalized[:, 0] > W] = np.nan
|
||||
img_pts_denormalized[img_pts_denormalized[:, 0] > width] = np.nan
|
||||
img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan
|
||||
img_pts_denormalized[img_pts_denormalized[:, 1] > H] = np.nan
|
||||
img_pts_denormalized[img_pts_denormalized[:, 1] > height] = np.nan
|
||||
img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan
|
||||
return img_pts_denormalized[:, :2].reshape(input_shape)
|
||||
|
||||
@@ -137,18 +175,10 @@ def img_from_device(pt_device):
|
||||
return pt_img.reshape(input_shape)[:, :2]
|
||||
|
||||
|
||||
def get_camera_frame_from_calib_frame(camera_frame_from_road_frame):
|
||||
def get_camera_frame_from_calib_frame(camera_frame_from_road_frame, intrinsics=fcam_intrinsics):
|
||||
camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
|
||||
calib_frame_from_ground = np.dot(eon_intrinsics,
|
||||
calib_frame_from_ground = np.dot(intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, 1.22))[:, (0, 1, 3)]
|
||||
ground_from_calib_frame = np.linalg.inv(calib_frame_from_ground)
|
||||
camera_frame_from_calib_frame = np.dot(camera_frame_from_ground, ground_from_calib_frame)
|
||||
return camera_frame_from_calib_frame
|
||||
|
||||
|
||||
def pretransform_from_calib(calib):
|
||||
roll, pitch, yaw, height = calib
|
||||
view_frame_from_road_frame = get_view_frame_from_road_frame(roll, pitch, yaw, height)
|
||||
camera_frame_from_road_frame = np.dot(eon_intrinsics, view_frame_from_road_frame)
|
||||
camera_frame_from_calib_frame = get_camera_frame_from_calib_frame(camera_frame_from_road_frame)
|
||||
return np.linalg.inv(camera_frame_from_calib_frame)
|
||||
|
||||
@@ -1,34 +1,33 @@
|
||||
import numpy as np
|
||||
|
||||
from common.transformations.camera import (FULL_FRAME_SIZE, eon_focal_length,
|
||||
from common.transformations.camera import (FULL_FRAME_SIZE,
|
||||
FOCAL,
|
||||
get_view_frame_from_road_frame,
|
||||
get_view_frame_from_calib_frame,
|
||||
vp_from_ke)
|
||||
|
||||
# segnet
|
||||
|
||||
SEGNET_SIZE = (512, 384)
|
||||
|
||||
segnet_frame_from_camera_frame = np.array([
|
||||
[float(SEGNET_SIZE[0])/FULL_FRAME_SIZE[0], 0., ],
|
||||
[ 0., float(SEGNET_SIZE[1])/FULL_FRAME_SIZE[1]]])
|
||||
|
||||
def get_segnet_frame_from_camera_frame(segnet_size=SEGNET_SIZE, full_frame_size=FULL_FRAME_SIZE):
|
||||
return np.array([[float(segnet_size[0]) / full_frame_size[0], 0.0],
|
||||
[0.0, float(segnet_size[1]) / full_frame_size[1]]])
|
||||
segnet_frame_from_camera_frame = get_segnet_frame_from_camera_frame() # xx
|
||||
|
||||
# model
|
||||
|
||||
MODEL_INPUT_SIZE = (320, 160)
|
||||
MODEL_YUV_SIZE = (MODEL_INPUT_SIZE[0], MODEL_INPUT_SIZE[1] * 3 // 2)
|
||||
MODEL_CX = MODEL_INPUT_SIZE[0]/2.
|
||||
MODEL_CX = MODEL_INPUT_SIZE[0] / 2.
|
||||
MODEL_CY = 21.
|
||||
|
||||
model_zoom = 1.25
|
||||
model_fl = 728.0
|
||||
model_height = 1.22
|
||||
|
||||
# canonical model transform
|
||||
model_intrinsics = np.array(
|
||||
[[ eon_focal_length / model_zoom, 0. , MODEL_CX],
|
||||
[ 0. , eon_focal_length / model_zoom, MODEL_CY],
|
||||
[ 0. , 0. , 1.]])
|
||||
model_intrinsics = np.array([
|
||||
[model_fl, 0.0, MODEL_CX],
|
||||
[0.0, model_fl, MODEL_CY],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
|
||||
# MED model
|
||||
@@ -36,34 +35,45 @@ MEDMODEL_INPUT_SIZE = (512, 256)
|
||||
MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2)
|
||||
MEDMODEL_CY = 47.6
|
||||
|
||||
medmodel_zoom = 1.
|
||||
medmodel_intrinsics = np.array(
|
||||
[[ eon_focal_length / medmodel_zoom, 0. , 0.5 * MEDMODEL_INPUT_SIZE[0]],
|
||||
[ 0. , eon_focal_length / medmodel_zoom, MEDMODEL_CY],
|
||||
[ 0. , 0. , 1.]])
|
||||
medmodel_fl = 910.0
|
||||
medmodel_intrinsics = np.array([
|
||||
[medmodel_fl, 0.0, 0.5 * MEDMODEL_INPUT_SIZE[0]],
|
||||
[0.0, medmodel_fl, MEDMODEL_CY],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
|
||||
# CAL model
|
||||
CALMODEL_INPUT_SIZE = (512, 256)
|
||||
CALMODEL_YUV_SIZE = (CALMODEL_INPUT_SIZE[0], CALMODEL_INPUT_SIZE[1] * 3 // 2)
|
||||
CALMODEL_CY = 47.6
|
||||
|
||||
calmodel_zoom = 1.5
|
||||
calmodel_intrinsics = np.array(
|
||||
[[ eon_focal_length / calmodel_zoom, 0. , 0.5 * CALMODEL_INPUT_SIZE[0]],
|
||||
[ 0. , eon_focal_length / calmodel_zoom, CALMODEL_CY],
|
||||
[ 0. , 0. , 1.]])
|
||||
calmodel_fl = 606.7
|
||||
calmodel_intrinsics = np.array([
|
||||
[calmodel_fl, 0.0, 0.5 * CALMODEL_INPUT_SIZE[0]],
|
||||
[0.0, calmodel_fl, CALMODEL_CY],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
|
||||
# BIG model
|
||||
|
||||
BIGMODEL_INPUT_SIZE = (1024, 512)
|
||||
BIGMODEL_YUV_SIZE = (BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1] * 3 // 2)
|
||||
|
||||
bigmodel_zoom = 1.
|
||||
bigmodel_intrinsics = np.array(
|
||||
[[ eon_focal_length / bigmodel_zoom, 0. , 0.5 * BIGMODEL_INPUT_SIZE[0]],
|
||||
[ 0. , eon_focal_length / bigmodel_zoom, 256+MEDMODEL_CY],
|
||||
[ 0. , 0. , 1.]])
|
||||
bigmodel_fl = 910.0
|
||||
bigmodel_intrinsics = np.array([
|
||||
[bigmodel_fl, 0.0, 0.5 * BIGMODEL_INPUT_SIZE[0]],
|
||||
[0.0, bigmodel_fl, 256 + MEDMODEL_CY],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
|
||||
# SBIG model (big model with the size of small model)
|
||||
SBIGMODEL_INPUT_SIZE = (512, 256)
|
||||
SBIGMODEL_YUV_SIZE = (SBIGMODEL_INPUT_SIZE[0], SBIGMODEL_INPUT_SIZE[1] * 3 // 2)
|
||||
|
||||
sbigmodel_fl = 455.0
|
||||
sbigmodel_intrinsics = np.array([
|
||||
[sbigmodel_fl, 0.0, 0.5 * SBIGMODEL_INPUT_SIZE[0]],
|
||||
[0.0, sbigmodel_fl, 0.5 * (256 + MEDMODEL_CY)],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
model_frame_from_road_frame = np.dot(model_intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, model_height))
|
||||
@@ -80,20 +90,21 @@ medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics,
|
||||
model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
|
||||
medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))
|
||||
|
||||
|
||||
# 'camera from model camera'
|
||||
def get_model_height_transform(camera_frame_from_road_frame, height):
|
||||
camera_frame_from_road_ground = np.dot(camera_frame_from_road_frame, np.array([
|
||||
[1, 0, 0],
|
||||
[0, 1, 0],
|
||||
[0, 0, 0],
|
||||
[0, 0, 1],
|
||||
[1, 0, 0],
|
||||
[0, 1, 0],
|
||||
[0, 0, 0],
|
||||
[0, 0, 1],
|
||||
]))
|
||||
|
||||
camera_frame_from_road_high = np.dot(camera_frame_from_road_frame, np.array([
|
||||
[1, 0, 0],
|
||||
[0, 1, 0],
|
||||
[0, 0, height - model_height],
|
||||
[0, 0, 1],
|
||||
[1, 0, 0],
|
||||
[0, 1, 0],
|
||||
[0, 0, height - model_height],
|
||||
[0, 0, 1],
|
||||
]))
|
||||
|
||||
road_high_from_camera_frame = np.linalg.inv(camera_frame_from_road_high)
|
||||
@@ -104,13 +115,14 @@ def get_model_height_transform(camera_frame_from_road_frame, height):
|
||||
|
||||
# camera_frame_from_model_frame aka 'warp matrix'
|
||||
# was: calibration.h/CalibrationTransform
|
||||
def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height):
|
||||
def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height, camera_fl=FOCAL):
|
||||
vp = vp_from_ke(camera_frame_from_road_frame)
|
||||
|
||||
model_zoom = camera_fl / model_fl
|
||||
model_camera_from_model_frame = np.array([
|
||||
[model_zoom, 0., vp[0] - MODEL_CX * model_zoom],
|
||||
[ 0., model_zoom, vp[1] - MODEL_CY * model_zoom],
|
||||
[ 0., 0., 1.],
|
||||
[model_zoom, 0.0, vp[0] - MODEL_CX * model_zoom],
|
||||
[0.0, model_zoom, vp[1] - MODEL_CY * model_zoom],
|
||||
[0.0, 0.0, 1.0],
|
||||
])
|
||||
|
||||
# This function is super slow, so skip it if height is very close to canonical
|
||||
|
||||
@@ -1,20 +0,0 @@
|
||||
import numpy
|
||||
|
||||
from Cython.Build import cythonize
|
||||
from distutils.core import Extension, setup # pylint: disable=import-error,no-name-in-module
|
||||
from common.cython_hacks import BuildExtWithoutPlatformSuffix
|
||||
|
||||
setup(
|
||||
name='Cython transformations wrapper',
|
||||
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
|
||||
ext_modules=cythonize(
|
||||
Extension(
|
||||
"transformations",
|
||||
sources=["transformations.pyx"],
|
||||
language="c++",
|
||||
extra_compile_args=["-std=c++1z", "-Wno-cpp"],
|
||||
include_dirs=[numpy.get_include()],
|
||||
),
|
||||
nthreads=4,
|
||||
)
|
||||
)
|
||||
@@ -1,18 +1,20 @@
|
||||
from transformations cimport Matrix3, Vector3, Quaternion
|
||||
from transformations cimport ECEF, NED, Geodetic
|
||||
# distutils: language = c++
|
||||
# cython: language_level = 3
|
||||
from common.transformations.transformations cimport Matrix3, Vector3, Quaternion
|
||||
from common.transformations.transformations cimport ECEF, NED, Geodetic
|
||||
|
||||
from transformations cimport euler2quat as euler2quat_c
|
||||
from transformations cimport quat2euler as quat2euler_c
|
||||
from transformations cimport quat2rot as quat2rot_c
|
||||
from transformations cimport rot2quat as rot2quat_c
|
||||
from transformations cimport euler2rot as euler2rot_c
|
||||
from transformations cimport rot2euler as rot2euler_c
|
||||
from transformations cimport rot_matrix as rot_matrix_c
|
||||
from transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
|
||||
from transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
|
||||
from transformations cimport geodetic2ecef as geodetic2ecef_c
|
||||
from transformations cimport ecef2geodetic as ecef2geodetic_c
|
||||
from transformations cimport LocalCoord_c
|
||||
from common.transformations.transformations cimport euler2quat as euler2quat_c
|
||||
from common.transformations.transformations cimport quat2euler as quat2euler_c
|
||||
from common.transformations.transformations cimport quat2rot as quat2rot_c
|
||||
from common.transformations.transformations cimport rot2quat as rot2quat_c
|
||||
from common.transformations.transformations cimport euler2rot as euler2rot_c
|
||||
from common.transformations.transformations cimport rot2euler as rot2euler_c
|
||||
from common.transformations.transformations cimport rot_matrix as rot_matrix_c
|
||||
from common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
|
||||
from common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
|
||||
from common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
|
||||
from common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
|
||||
from common.transformations.transformations cimport LocalCoord_c
|
||||
|
||||
|
||||
import cython
|
||||
|
||||
+55
-4
@@ -8,8 +8,18 @@ source "$BASEDIR/launch_env.sh"
|
||||
|
||||
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
|
||||
|
||||
function tici_init {
|
||||
sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor'
|
||||
sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu4/governor'
|
||||
}
|
||||
|
||||
function two_init {
|
||||
# Restrict Android and other system processes to the first two cores
|
||||
# Wifi scan
|
||||
wpa_cli IFNAME=wlan0 SCAN
|
||||
|
||||
# *** shield cores 2-3 ***
|
||||
|
||||
# android gets two cores
|
||||
echo 0-1 > /dev/cpuset/background/cpus
|
||||
echo 0-1 > /dev/cpuset/system-background/cpus
|
||||
echo 0-1 > /dev/cpuset/foreground/cpus
|
||||
@@ -19,14 +29,56 @@ function two_init {
|
||||
# openpilot gets all the cores
|
||||
echo 0-3 > /dev/cpuset/app/cpus
|
||||
|
||||
# mask off 2-3 from RPS and XPS - Receive/Transmit Packet Steering
|
||||
echo 3 | tee /sys/class/net/*/queues/*/rps_cpus
|
||||
echo 3 | tee /sys/class/net/*/queues/*/xps_cpus
|
||||
|
||||
# *** set up governors ***
|
||||
|
||||
# +50mW offroad, +500mW onroad for 30% more RAM bandwidth
|
||||
echo "performance" > /sys/class/devfreq/soc:qcom,cpubw/governor
|
||||
echo 1056000 > /sys/class/devfreq/soc:qcom,m4m/max_freq
|
||||
echo "performance" > /sys/class/devfreq/soc:qcom,m4m/governor
|
||||
|
||||
# unclear if these help, but they don't seem to hurt
|
||||
echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor
|
||||
echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu2/governor
|
||||
|
||||
# GPU
|
||||
echo "performance" > /sys/class/devfreq/b00000.qcom,kgsl-3d0/governor
|
||||
|
||||
# /sys/class/devfreq/soc:qcom,mincpubw is the only one left at "powersave"
|
||||
# it seems to gain nothing but a wasted 500mW
|
||||
|
||||
# *** set up IRQ affinities ***
|
||||
|
||||
# Collect RIL and other possibly long-running I/O interrupts onto CPU 1
|
||||
echo 1 > /proc/irq/78/smp_affinity_list # qcom,smd-modem (LTE radio)
|
||||
echo 1 > /proc/irq/33/smp_affinity_list # ufshcd (flash storage)
|
||||
echo 1 > /proc/irq/35/smp_affinity_list # wifi (wlan_pci)
|
||||
echo 1 > /proc/irq/6/smp_affinity_list # MDSS
|
||||
|
||||
# USB traffic needs realtime handling on cpu 3
|
||||
[ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list # USB for LeEco
|
||||
[ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T
|
||||
|
||||
# GPU and camera get cpu 2
|
||||
CAM_IRQS="177 178 179 180 181 182 183 184 185 186 192"
|
||||
for irq in $CAM_IRQS; do
|
||||
echo 2 > /proc/irq/$irq/smp_affinity_list
|
||||
done
|
||||
echo 2 > /proc/irq/193/smp_affinity_list # GPU
|
||||
|
||||
# give GPU threads RT priority
|
||||
for pid in $(pgrep "kgsl"); do
|
||||
chrt -f -p 52 $pid
|
||||
done
|
||||
|
||||
# the flippening!
|
||||
LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1
|
||||
|
||||
# disable bluetooth
|
||||
service call bluetooth_manager 8
|
||||
|
||||
# Check for NEOS update
|
||||
if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
|
||||
@@ -59,9 +111,6 @@ function two_init {
|
||||
}
|
||||
|
||||
function launch {
|
||||
# Wifi scan
|
||||
wpa_cli IFNAME=wlan0 SCAN
|
||||
|
||||
# Remove orphaned git lock if it exists on boot
|
||||
[ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
|
||||
|
||||
@@ -107,6 +156,8 @@ function launch {
|
||||
# comma two init
|
||||
if [ -f /EON ]; then
|
||||
two_init
|
||||
elif [ -f /TICI ]; then
|
||||
tici_init
|
||||
fi
|
||||
|
||||
# handle pythonpath
|
||||
|
||||
Binary file not shown.
@@ -1,6 +1,7 @@
|
||||
.mypy_cache/
|
||||
*.pyc
|
||||
*.os
|
||||
*.o
|
||||
*.tmp
|
||||
*.dylib
|
||||
.*.swp
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here"
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "acura_ilx_2016_can.dbc starts here"
|
||||
CM_ "acura_ilx_2016_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here"
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "acura_rdx_2018_can.dbc starts here"
|
||||
CM_ "acura_rdx_2018_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _bosch_2020.dbc starts here"
|
||||
CM_ "Imported file _bosch_2020.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -375,7 +375,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
|
||||
CM_ SG_ 577 LINE_SOLID "1 = line is solid";
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
CM_ "acura_rdx_2020_can.dbc starts here"
|
||||
CM_ "acura_rdx_2020_can.dbc starts here";
|
||||
|
||||
|
||||
BO_ 304 GAS_PEDAL_2: 8 PCM
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
Import('env', 'cereal', 'cython_dependencies')
|
||||
Import('env', 'envCython', 'cereal')
|
||||
|
||||
import os
|
||||
from opendbc.can.process_dbc import process
|
||||
@@ -13,10 +13,10 @@ for x in sorted(os.listdir('../')):
|
||||
dbc = env.Command(out_fn, in_fn, compile_dbc)
|
||||
dbcs.append(dbc)
|
||||
|
||||
|
||||
libdbc = env.SharedLibrary('libdbc', ["dbc.cc", "parser.cc", "packer.cc", "common.cc"]+dbcs, LIBS=["capnp", "kj"])
|
||||
|
||||
# Build packer and parser
|
||||
env.Command(['packer_pyx.so', 'packer_pyx.cpp', 'parser_pyx.so', 'parser_pyx.cpp'],
|
||||
cython_dependencies + [libdbc, cereal, 'common_pyx_setup.py', 'common.pxd', 'packer_pyx.pyx', 'parser_pyx.pyx', 'packer.cc', 'parser.cc'],
|
||||
"cd opendbc/can && python3 common_pyx_setup.py build_ext --inplace")
|
||||
lenv = envCython.Clone()
|
||||
lenv["LINKFLAGS"] += [libdbc[0].get_labspath()]
|
||||
lenv.Program('parser_pyx.so', 'parser_pyx.pyx')
|
||||
lenv.Program('packer_pyx.so', 'packer_pyx.pyx')
|
||||
|
||||
@@ -97,18 +97,17 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
|
||||
// a magic variable padding byte tacked onto the end of the payload.
|
||||
// https://www.autosar.org/fileadmin/user_upload/standards/classic/4-3/AUTOSAR_SWS_CRCLibrary.pdf
|
||||
|
||||
uint8_t *dat = (uint8_t *)&d;
|
||||
uint8_t crc = 0xFF; // Standard init value for CRC8 8H2F/AUTOSAR
|
||||
|
||||
// CRC the payload first, skipping over the first byte where the CRC lives.
|
||||
for (int i = 1; i < l; i++) {
|
||||
crc ^= dat[i];
|
||||
crc ^= (d >> (i*8)) & 0xFF;
|
||||
crc = crc8_lut_8h2f[crc];
|
||||
}
|
||||
|
||||
// Look up and apply the magic final CRC padding byte, which permutes by CAN
|
||||
// address, and additionally (for SOME addresses) by the message counter.
|
||||
uint8_t counter = dat[1] & 0x0F;
|
||||
uint8_t counter = ((d >> 8) & 0xFF) & 0x0F;
|
||||
switch(address) {
|
||||
case 0x86: // LWI_01 Steering Angle
|
||||
crc ^= (uint8_t[]){0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86}[counter];
|
||||
@@ -176,11 +175,9 @@ unsigned int pedal_checksum(uint64_t d, int l) {
|
||||
d >>= ((8-l)*8); // remove padding
|
||||
d >>= 8; // remove checksum
|
||||
|
||||
uint8_t *dat = (uint8_t *)&d;
|
||||
|
||||
int i, j;
|
||||
for (i = 0; i < l - 1; i++) {
|
||||
crc ^= dat[i];
|
||||
crc ^= (d >> (i*8)) & 0xFF;
|
||||
for (j = 0; j < 8; j++) {
|
||||
if ((crc & 0x80) != 0) {
|
||||
crc = (uint8_t)((crc << 1) ^ poly);
|
||||
|
||||
@@ -1,94 +0,0 @@
|
||||
import os
|
||||
import subprocess
|
||||
import sysconfig
|
||||
import platform
|
||||
from distutils.core import Extension, setup # pylint: disable=import-error,no-name-in-module
|
||||
|
||||
from Cython.Build import cythonize
|
||||
from Cython.Distutils import build_ext
|
||||
|
||||
|
||||
ANNOTATE = os.getenv('ANNOTATE') is not None
|
||||
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../../"))
|
||||
|
||||
|
||||
def get_ext_filename_without_platform_suffix(filename):
|
||||
name, ext = os.path.splitext(filename)
|
||||
ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
|
||||
|
||||
if ext_suffix == ext:
|
||||
return filename
|
||||
|
||||
ext_suffix = ext_suffix.replace(ext, '')
|
||||
idx = name.find(ext_suffix)
|
||||
|
||||
if idx == -1:
|
||||
return filename
|
||||
else:
|
||||
return name[:idx] + ext
|
||||
|
||||
|
||||
class BuildExtWithoutPlatformSuffix(build_ext):
|
||||
def get_ext_filename(self, ext_name):
|
||||
filename = super().get_ext_filename(ext_name)
|
||||
return get_ext_filename_without_platform_suffix(filename)
|
||||
|
||||
|
||||
extra_compile_args = ["-std=c++1z", "-Wno-nullability-completeness"]
|
||||
ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip() # pylint: disable=unexpected-keyword-arg
|
||||
if ARCH == "aarch64":
|
||||
extra_compile_args += ["-Wno-deprecated-register"]
|
||||
|
||||
if platform.system() == "Darwin":
|
||||
libdbc = "libdbc.dylib"
|
||||
else:
|
||||
libdbc = "libdbc.so"
|
||||
|
||||
extra_link_args = [os.path.join(BASEDIR, 'opendbc', 'can', libdbc)]
|
||||
include_dirs = [
|
||||
BASEDIR,
|
||||
os.path.join(BASEDIR, 'phonelibs'),
|
||||
]
|
||||
|
||||
# Build CAN Parser
|
||||
|
||||
setup(name='CAN parser',
|
||||
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
|
||||
ext_modules=cythonize(
|
||||
Extension(
|
||||
"parser_pyx",
|
||||
language="c++",
|
||||
sources=['parser_pyx.pyx'],
|
||||
extra_compile_args=extra_compile_args,
|
||||
include_dirs=include_dirs,
|
||||
extra_link_args=extra_link_args,
|
||||
),
|
||||
nthreads=4,
|
||||
annotate=ANNOTATE
|
||||
),
|
||||
)
|
||||
|
||||
if platform.system() == "Darwin":
|
||||
os.system("install_name_tool -change opendbc/can/libdbc.dylib " + BASEDIR + "/opendbc/can/libdbc.dylib parser_pyx.so")
|
||||
|
||||
|
||||
# Build CAN Packer
|
||||
|
||||
setup(name='CAN packer',
|
||||
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
|
||||
ext_modules=cythonize(
|
||||
Extension(
|
||||
"packer_pyx",
|
||||
language="c++",
|
||||
sources=['packer_pyx.pyx'],
|
||||
extra_compile_args=extra_compile_args,
|
||||
include_dirs=include_dirs,
|
||||
extra_link_args=extra_link_args,
|
||||
),
|
||||
nthreads=4,
|
||||
annotate=ANNOTATE
|
||||
),
|
||||
)
|
||||
|
||||
if platform.system() == "Darwin":
|
||||
os.system("install_name_tool -change opendbc/can/libdbc.dylib " + BASEDIR + "/opendbc/can/libdbc.dylib packer_pyx.so")
|
||||
@@ -8,8 +8,8 @@ from libcpp.string cimport string
|
||||
from libcpp cimport bool
|
||||
from posix.dlfcn cimport dlopen, dlsym, RTLD_LAZY
|
||||
|
||||
from common cimport CANPacker as cpp_CANPacker
|
||||
from common cimport dbc_lookup, SignalPackValue, DBC
|
||||
from .common cimport CANPacker as cpp_CANPacker
|
||||
from .common cimport dbc_lookup, SignalPackValue, DBC
|
||||
|
||||
|
||||
cdef class CANPacker:
|
||||
@@ -22,8 +22,8 @@ cdef class CANPacker:
|
||||
def __init__(self, dbc_name):
|
||||
self.dbc = dbc_lookup(dbc_name)
|
||||
if not self.dbc:
|
||||
raise RuntimeError("Can't lookup" + dbc_name)
|
||||
|
||||
raise RuntimeError(f"Can't lookup {dbc_name}")
|
||||
|
||||
self.packer = new cpp_CANPacker(dbc_name)
|
||||
num_msgs = self.dbc[0].num_msgs
|
||||
for i in range(num_msgs):
|
||||
|
||||
@@ -8,8 +8,8 @@ from libc.stdint cimport uint32_t, uint64_t, uint16_t
|
||||
from libcpp.map cimport map
|
||||
from libcpp cimport bool
|
||||
|
||||
from common cimport CANParser as cpp_CANParser
|
||||
from common cimport SignalParseOptions, MessageParseOptions, dbc_lookup, SignalValue, DBC
|
||||
from .common cimport CANParser as cpp_CANParser
|
||||
from .common cimport SignalParseOptions, MessageParseOptions, dbc_lookup, SignalValue, DBC
|
||||
|
||||
import os
|
||||
import numbers
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _bosch_2018.dbc starts here"
|
||||
CM_ "Imported file _bosch_2018.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -379,7 +379,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
|
||||
CM_ SG_ 577 LINE_SOLID "1 = line is solid";
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
CM_ "honda_accord_lx15t_2018_can.dbc starts here"
|
||||
CM_ "honda_accord_lx15t_2018_can.dbc starts here";
|
||||
|
||||
|
||||
BO_ 304 GAS_PEDAL_2: 8 PCM
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _bosch_2018.dbc starts here"
|
||||
CM_ "Imported file _bosch_2018.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -379,7 +379,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
|
||||
CM_ SG_ 577 LINE_SOLID "1 = line is solid";
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
CM_ "honda_accord_s2t_2018_can.dbc starts here"
|
||||
CM_ "honda_accord_s2t_2018_can.dbc starts here";
|
||||
|
||||
|
||||
BO_ 304 GAS_PEDAL_2: 8 PCM
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _bosch_2018.dbc starts here"
|
||||
CM_ "Imported file _bosch_2018.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -379,7 +379,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
|
||||
CM_ SG_ 577 LINE_SOLID "1 = line is solid";
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
CM_ "honda_civic_hatchback_ex_2017_can.dbc starts here"
|
||||
CM_ "honda_civic_hatchback_ex_2017_can.dbc starts here";
|
||||
|
||||
|
||||
BO_ 304 GAS_PEDAL_2: 8 PCM
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _bosch_2018.dbc starts here"
|
||||
CM_ "Imported file _bosch_2018.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -379,7 +379,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
|
||||
CM_ SG_ 577 LINE_SOLID "1 = line is solid";
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
CM_ "honda_civic_sedan_16_diesel_2019_can.dbc starts here"
|
||||
CM_ "honda_civic_sedan_16_diesel_2019_can.dbc starts here";
|
||||
|
||||
|
||||
BO_ 316 GAS_PEDAL_2: 8 XXX
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here"
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "honda_civic_touring_2016_can.dbc starts here"
|
||||
CM_ "honda_civic_touring_2016_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
CM_ "honda_crv_ex_2017_body.dbc starts here"
|
||||
CM_ "honda_crv_ex_2017_body.dbc starts here";
|
||||
BO_ 318291879 BSM_STATUS_RIGHT: 8 XXX
|
||||
SG_ BSM_ALERT : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BSM_MODE : 6|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _bosch_2018.dbc starts here"
|
||||
CM_ "Imported file _bosch_2018.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -379,7 +379,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
|
||||
CM_ SG_ 577 LINE_SOLID "1 = line is solid";
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
CM_ "honda_crv_ex_2017_can.dbc starts here"
|
||||
CM_ "honda_crv_ex_2017_can.dbc starts here";
|
||||
|
||||
|
||||
BO_ 304 GAS_PEDAL_2: 8 PCM
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here"
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "honda_crv_executive_2016_can.dbc starts here"
|
||||
CM_ "honda_crv_executive_2016_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _bosch_2018.dbc starts here"
|
||||
CM_ "Imported file _bosch_2018.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -379,7 +379,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
|
||||
CM_ SG_ 577 LINE_SOLID "1 = line is solid";
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
CM_ "honda_crv_hybrid_2019_can.dbc starts here"
|
||||
CM_ "honda_crv_hybrid_2019_can.dbc starts here";
|
||||
|
||||
|
||||
BO_ 304 GAS_PEDAL_2: 8 PCM
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here"
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "honda_crv_touring_2016_can.dbc starts here"
|
||||
CM_ "honda_crv_touring_2016_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here"
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "honda_fit_ex_2018_can.dbc starts here"
|
||||
CM_ "honda_fit_ex_2018_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here"
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "honda_hrv_touring_2019_can.dbc starts here"
|
||||
CM_ "honda_hrv_touring_2019_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _bosch_2018.dbc starts here"
|
||||
CM_ "Imported file _bosch_2018.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -379,7 +379,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
|
||||
CM_ SG_ 577 LINE_SOLID "1 = line is solid";
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
CM_ "honda_insight_ex_2019_can.dbc starts here"
|
||||
CM_ "honda_insight_ex_2019_can.dbc starts here";
|
||||
|
||||
|
||||
BO_ 304 GAS_PEDAL_2: 8 PCM
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here"
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "honda_odyssey_exl_2018.dbc starts here"
|
||||
CM_ "honda_odyssey_exl_2018.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here"
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "honda_odyssey_extreme_edition_2018_china_can.dbc starts here"
|
||||
CM_ "honda_odyssey_extreme_edition_2018_china_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here"
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "honda_pilot_touring_2017_can.dbc starts here"
|
||||
CM_ "honda_pilot_touring_2017_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here"
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "honda_ridgeline_black_edition_2017_can.dbc starts here"
|
||||
CM_ "honda_ridgeline_black_edition_2017_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1233,8 +1233,8 @@ BO_ 544 ESP12: 8 ESC
|
||||
SG_ YAW_RATE : 40|13@1+ (0.01,-40.95) [-40.95|40.96] "" _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU
|
||||
SG_ YAW_RATE_STAT : 53|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU
|
||||
SG_ YAW_RATE_DIAG : 54|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU
|
||||
SG_ ESP12_AliveCounter : 56|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU
|
||||
SG_ ESP12_Checksum : 60|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU
|
||||
SG_ ESP12_Checksum : 56|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU
|
||||
SG_ ESP12_AliveCounter : 60|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU
|
||||
|
||||
BO_ 1307 CLU16: 8 CLU
|
||||
SG_ CF_Clu_TirePressUnitNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] "" TPMS
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
@@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
@@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -320,7 +325,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
@@ -328,7 +333,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
@@ -362,7 +367,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "lexus_ct200h_2018_pt.dbc starts here"
|
||||
CM_ "lexus_ct200h_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
@@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
@@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -320,7 +325,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
@@ -328,7 +333,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
@@ -362,7 +367,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "lexus_is_2018_pt.dbc starts here"
|
||||
CM_ "lexus_is_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -0,0 +1,409 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
NS_ :
|
||||
NS_DESC_
|
||||
CM_
|
||||
BA_DEF_
|
||||
BA_
|
||||
VAL_
|
||||
CAT_DEF_
|
||||
CAT_
|
||||
FILTER
|
||||
BA_DEF_DEF_
|
||||
EV_DATA_
|
||||
ENVVAR_DATA_
|
||||
SGTYPE_
|
||||
SGTYPE_VAL_
|
||||
BA_DEF_SGTYPE_
|
||||
BA_SGTYPE_
|
||||
SIG_TYPE_REF_
|
||||
VAL_TABLE_
|
||||
SIG_GROUP_
|
||||
SIG_VALTYPE_
|
||||
SIGTYPE_VALTYPE_
|
||||
BO_TX_BU_
|
||||
BA_DEF_REL_
|
||||
BA_REL_
|
||||
BA_DEF_DEF_REL_
|
||||
BU_SG_REL_
|
||||
BU_EV_REL_
|
||||
BU_BO_REL_
|
||||
SG_MUL_VAL_
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
|
||||
SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
|
||||
SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
|
||||
|
||||
BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
|
||||
SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
|
||||
SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
|
||||
SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
|
||||
|
||||
BO_ 166 BRAKE: 8 XXX
|
||||
SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 170 WHEEL_SPEEDS: 8 XXX
|
||||
SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
|
||||
SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
|
||||
SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
|
||||
SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
|
||||
|
||||
BO_ 180 SPEED: 8 XXX
|
||||
SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 353 DSU_SPEED: 7 XXX
|
||||
SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
|
||||
|
||||
BO_ 452 ENGINE_RPM: 8 CGW
|
||||
SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
|
||||
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
|
||||
SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 552 ACCELEROMETER: 8 XXX
|
||||
SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
|
||||
SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
|
||||
BO_ 560 BRAKE_MODULE2: 7 XXX
|
||||
SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
|
||||
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 742 LEAD_INFO: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
|
||||
SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
|
||||
SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
BO_ 921 PCM_CRUISE_SM: 8 XXX
|
||||
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1041 ACC_HUD: 8 DSU
|
||||
SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1043 TIME : 8 CGW
|
||||
SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
|
||||
SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
|
||||
SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
|
||||
SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
|
||||
SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
|
||||
SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
|
||||
SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
|
||||
SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
|
||||
SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1162 RSA2: 8 FCM
|
||||
SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1163 RSA3: 8 FCM
|
||||
SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
CM_ SG_ 1163 TSRMSW "always 1";
|
||||
CM_ SG_ 1163 OTSGNNTM "always 3";
|
||||
CM_ SG_ 1163 NTLVLSPD "always 3";
|
||||
CM_ SG_ 1163 OVSPNTM "always 3";
|
||||
CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
|
||||
CM_ SG_ 1163 TSRSPU "always 1";
|
||||
|
||||
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
VAL_ 1553 UNITS 1 "km" 2 "miles";
|
||||
VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
|
||||
VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
|
||||
VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
|
||||
VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
|
||||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "lexus_nx300_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
BO_ 550 BRAKE_MODULE: 8 XXX
|
||||
SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
|
||||
SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
|
||||
SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 705 GAS_PEDAL: 8 XXX
|
||||
SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
|
||||
SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
|
||||
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
|
||||
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
|
||||
|
||||
BO_ 610 EPS_STATUS: 5 EPS
|
||||
SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
|
||||
SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 956 GEAR_PACKET: 8 XXX
|
||||
SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
|
||||
CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
|
||||
CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
|
||||
CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
|
||||
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
|
||||
VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
|
||||
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
|
||||
VAL_ 956 SPORT_ON 0 "off" 1 "on";
|
||||
VAL_ 956 ECON_ON 0 "off" 1 "on";
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
@@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
@@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -320,7 +325,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
@@ -328,7 +333,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
@@ -362,7 +367,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "lexus_nx300h_2018_pt.dbc starts here"
|
||||
CM_ "lexus_nx300h_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
@@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
@@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -320,7 +325,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
@@ -328,7 +333,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
@@ -362,7 +367,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "lexus_rx_350_2016_pt.dbc starts here"
|
||||
CM_ "lexus_rx_350_2016_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
@@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
@@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -320,7 +325,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
@@ -328,7 +333,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
@@ -362,7 +367,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "lexus_rx_hybrid_2017_pt.dbc starts here"
|
||||
CM_ "lexus_rx_hybrid_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _subaru_preglobal_2015.dbc starts here"
|
||||
CM_ "Imported file _subaru_preglobal_2015.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -240,7 +240,7 @@ CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
|
||||
VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
|
||||
VAL_ 1745 Units 0 "Metric" 1 "Imperial";
|
||||
|
||||
CM_ "subaru_forester_2017.dbc starts here"
|
||||
CM_ "subaru_forester_2017.dbc starts here";
|
||||
|
||||
|
||||
BO_ 355 ES_DashStatus: 8 XXX
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _subaru_global.dbc starts here"
|
||||
CM_ "Imported file _subaru_global.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -244,7 +244,7 @@ CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
|
||||
CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
|
||||
CM_ SG_ 1677 Units "AU/EU: 1 = imperial, 3 = metric US: 3 = imperial, 4 = metric";
|
||||
|
||||
CM_ "subaru_global_2017.dbc starts here"
|
||||
CM_ "subaru_global_2017.dbc starts here";
|
||||
|
||||
|
||||
BO_ 72 Transmission: 8 XXX
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _subaru_preglobal_2015.dbc starts here"
|
||||
CM_ "Imported file _subaru_preglobal_2015.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -240,7 +240,7 @@ CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
|
||||
VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
|
||||
VAL_ 1745 Units 0 "Metric" 1 "Imperial";
|
||||
|
||||
CM_ "subaru_outback_2015.dbc starts here"
|
||||
CM_ "subaru_outback_2015.dbc starts here";
|
||||
|
||||
|
||||
BO_ 358 ES_DashStatus: 8 XXX
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _subaru_preglobal_2015.dbc starts here"
|
||||
CM_ "Imported file _subaru_preglobal_2015.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -240,7 +240,7 @@ CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
|
||||
VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
|
||||
VAL_ 1745 Units 0 "Metric" 1 "Imperial";
|
||||
|
||||
CM_ "subaru_outback_2019.dbc starts here"
|
||||
CM_ "subaru_outback_2019.dbc starts here";
|
||||
|
||||
|
||||
BO_ 358 ES_DashStatus: 8 XXX
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
@@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
@@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -320,7 +325,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
@@ -328,7 +333,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
@@ -362,7 +367,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "toyota_avalon_2017_pt.dbc starts here"
|
||||
CM_ "toyota_avalon_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
@@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
@@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -320,7 +325,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
@@ -328,7 +333,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
@@ -362,7 +367,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "toyota_camry_hybrid_2018_pt.dbc starts here"
|
||||
CM_ "toyota_camry_hybrid_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
@@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
@@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -320,7 +325,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
@@ -328,7 +333,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
@@ -362,7 +367,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "toyota_corolla_2017_pt.dbc starts here"
|
||||
CM_ "toyota_corolla_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
@@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
@@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -320,7 +325,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
@@ -328,7 +333,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
@@ -362,7 +367,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "toyota_highlander_2017_pt.dbc starts here"
|
||||
CM_ "toyota_highlander_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
@@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
@@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -320,7 +325,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
@@ -328,7 +333,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
@@ -362,7 +367,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "toyota_highlander_hybrid_2018_pt.dbc starts here"
|
||||
CM_ "toyota_highlander_hybrid_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_nodsu_bsm.dbc starts here"
|
||||
CM_ "Imported file _toyota_nodsu_bsm.dbc starts here";
|
||||
BO_ 1014 BSM: 8 XXX
|
||||
SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -18,7 +18,7 @@ CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along
|
||||
CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
@@ -26,10 +26,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
@@ -47,8 +47,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -337,7 +342,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
@@ -345,7 +350,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
@@ -379,7 +384,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "toyota_nodsu_hybrid_pt.dbc starts here"
|
||||
CM_ "toyota_nodsu_hybrid_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_nodsu_bsm.dbc starts here"
|
||||
CM_ "Imported file _toyota_nodsu_bsm.dbc starts here";
|
||||
BO_ 1014 BSM: 8 XXX
|
||||
SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
@@ -18,7 +18,7 @@ CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along
|
||||
CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
@@ -26,10 +26,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
@@ -47,8 +47,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -337,7 +342,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
@@ -345,7 +350,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
@@ -379,7 +384,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "toyota_nodsu_pt.dbc starts here"
|
||||
CM_ "toyota_nodsu_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
@@ -424,14 +429,6 @@ BO_ 956 GEAR_PACKET: 8 XXX
|
||||
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1653 Date_Time: 8 XXX
|
||||
SG_ Year : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ Month : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ Day : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ Hour : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ Minute : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ Second : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
|
||||
CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
|
||||
CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
@@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
@@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -320,7 +325,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
@@ -328,7 +333,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
@@ -362,7 +367,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "toyota_prius_2017_pt.dbc starts here"
|
||||
CM_ "toyota_prius_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
@@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
@@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -320,7 +325,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
@@ -328,7 +333,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
@@ -362,7 +367,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "toyota_rav4_2017_pt.dbc starts here"
|
||||
CM_ "toyota_rav4_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
@@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
@@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -320,7 +325,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
@@ -328,7 +333,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
@@ -362,7 +367,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "toyota_rav4_hybrid_2017_pt.dbc starts here"
|
||||
CM_ "toyota_rav4_hybrid_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
@@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
@@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -320,7 +325,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
@@ -328,7 +333,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
@@ -362,7 +367,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "toyota_sienna_xle_2018_pt.dbc starts here"
|
||||
CM_ "toyota_sienna_xle_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -56,7 +56,12 @@ void uno_set_gps_load_switch(bool enabled) {
|
||||
}
|
||||
|
||||
void uno_set_bootkick(bool enabled){
|
||||
set_gpio_output(GPIOB, 14, !enabled);
|
||||
if(enabled){
|
||||
set_gpio_output(GPIOB, 14, false);
|
||||
} else {
|
||||
// We want the pin to be floating, not forced high!
|
||||
set_gpio_mode(GPIOB, 14, MODE_INPUT);
|
||||
}
|
||||
}
|
||||
|
||||
void uno_bootkick(void) {
|
||||
@@ -72,11 +77,9 @@ void uno_set_usb_power_mode(uint8_t mode) {
|
||||
bool valid = false;
|
||||
switch (mode) {
|
||||
case USB_POWER_CLIENT:
|
||||
uno_set_phone_power(false);
|
||||
valid = true;
|
||||
break;
|
||||
case USB_POWER_CDP:
|
||||
uno_set_phone_power(true);
|
||||
uno_bootkick();
|
||||
valid = true;
|
||||
break;
|
||||
|
||||
@@ -11,19 +11,27 @@ const struct lookup_t NISSAN_LOOKUP_ANGLE_RATE_DOWN = {
|
||||
|
||||
const int NISSAN_DEG_TO_CAN = 100;
|
||||
|
||||
const CanMsg NISSAN_TX_MSGS[] = {{0x169, 0, 8}, {0x2b1, 0, 8}, {0x4cc, 0, 8}, {0x20b, 2, 6}, {0x280, 2, 8}};
|
||||
const CanMsg NISSAN_TX_MSGS[] = {{0x169, 0, 8}, {0x2b1, 0, 8}, {0x4cc, 0, 8}, {0x20b, 2, 6}, {0x20b, 1, 6}, {0x280, 2, 8}};
|
||||
|
||||
// Signals duplicated below due to the fact that these messages can come in on either CAN bus, depending on car model.
|
||||
AddrCheckStruct nissan_rx_checks[] = {
|
||||
{.msg = {{0x2, 0, 5, .expected_timestep = 10000U}}}, // STEER_ANGLE_SENSOR (100Hz)
|
||||
{.msg = {{0x285, 0, 8, .expected_timestep = 20000U}}}, // WHEEL_SPEEDS_REAR (50Hz)
|
||||
{.msg = {{0x30f, 2, 3, .expected_timestep = 100000U}}}, // CRUISE_STATE (10Hz)
|
||||
{.msg = {{0x2, 0, 5, .expected_timestep = 10000U},
|
||||
{0x2, 1, 5, .expected_timestep = 10000U}}}, // STEER_ANGLE_SENSOR (100Hz)
|
||||
{.msg = {{0x285, 0, 8, .expected_timestep = 20000U},
|
||||
{0x285, 1, 8, .expected_timestep = 20000U}}}, // WHEEL_SPEEDS_REAR (50Hz)
|
||||
{.msg = {{0x30f, 2, 3, .expected_timestep = 100000U},
|
||||
{0x30f, 1, 3, .expected_timestep = 100000U}}}, // CRUISE_STATE (10Hz)
|
||||
{.msg = {{0x15c, 0, 8, .expected_timestep = 20000U},
|
||||
{0x15c, 1, 8, .expected_timestep = 20000U},
|
||||
{0x239, 0, 8, .expected_timestep = 20000U}}}, // GAS_PEDAL (100Hz / 50Hz)
|
||||
{.msg = {{0x454, 0, 8, .expected_timestep = 100000U},
|
||||
{0x454, 1, 8, .expected_timestep = 100000U},
|
||||
{0x1cc, 0, 4, .expected_timestep = 10000U}}}, // DOORS_LIGHTS (10Hz) / BRAKE (100Hz)
|
||||
};
|
||||
const int NISSAN_RX_CHECK_LEN = sizeof(nissan_rx_checks) / sizeof(nissan_rx_checks[0]);
|
||||
|
||||
// EPS Location. false = V-CAN, true = C-CAN
|
||||
bool nissan_alt_eps = false;
|
||||
|
||||
static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
@@ -34,7 +42,7 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
int bus = GET_BUS(to_push);
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
if (bus == 0) {
|
||||
if (((bus == 0) && (!nissan_alt_eps)) || ((bus == 1) && (nissan_alt_eps))) {
|
||||
if (addr == 0x2) {
|
||||
// Current steering angle
|
||||
// Factor -0.1, little endian
|
||||
@@ -73,7 +81,7 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
}
|
||||
|
||||
// Handle cruise enabled
|
||||
if ((bus == 2) && (addr == 0x30f)) {
|
||||
if ((addr == 0x30f) && (((bus == 2) && (!nissan_alt_eps)) || ((bus == 1) && (nissan_alt_eps)))) {
|
||||
bool cruise_engaged = (GET_BYTE(to_push, 0) >> 3) & 1;
|
||||
|
||||
if (cruise_engaged && !cruise_engaged_prev) {
|
||||
@@ -182,8 +190,14 @@ static int nissan_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
return bus_fwd;
|
||||
}
|
||||
|
||||
static void nissan_init(int16_t param) {
|
||||
controls_allowed = 0;
|
||||
nissan_alt_eps = param ? 1 : 0;
|
||||
relay_malfunction_reset();
|
||||
}
|
||||
|
||||
const safety_hooks nissan_hooks = {
|
||||
.init = nooutput_init,
|
||||
.init = nissan_init,
|
||||
.rx = nissan_rx_hook,
|
||||
.tx = nissan_tx_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
|
||||
@@ -0,0 +1,255 @@
|
||||
/* Copyright (c) 2009-2017 Qualcomm Technologies, Inc. All Rights Reserved.
|
||||
* Qualcomm Technologies Proprietary and Confidential.
|
||||
*/
|
||||
|
||||
#ifndef __OPENCL_CL_EXT_QCOM_H
|
||||
#define __OPENCL_CL_EXT_QCOM_H
|
||||
|
||||
// Needed by cl_khr_egl_event extension
|
||||
#include <EGL/egl.h>
|
||||
#include <EGL/eglext.h>
|
||||
#include <CL/cl_ext.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
/************************************
|
||||
* cl_qcom_create_buffer_from_image *
|
||||
************************************/
|
||||
|
||||
#define CL_BUFFER_FROM_IMAGE_ROW_PITCH_QCOM 0x40C0
|
||||
#define CL_BUFFER_FROM_IMAGE_SLICE_PITCH_QCOM 0x40C1
|
||||
|
||||
extern CL_API_ENTRY cl_mem CL_API_CALL
|
||||
clCreateBufferFromImageQCOM(cl_mem image,
|
||||
cl_mem_flags flags,
|
||||
cl_int *errcode_ret);
|
||||
|
||||
|
||||
/************************************
|
||||
* cl_qcom_limited_printf extension *
|
||||
************************************/
|
||||
|
||||
/* Builtin printf function buffer size in bytes. */
|
||||
#define CL_DEVICE_PRINTF_BUFFER_SIZE_QCOM 0x1049
|
||||
|
||||
|
||||
/*************************************
|
||||
* cl_qcom_extended_images extension *
|
||||
*************************************/
|
||||
|
||||
#define CL_CONTEXT_ENABLE_EXTENDED_IMAGES_QCOM 0x40AA
|
||||
#define CL_DEVICE_EXTENDED_IMAGE2D_MAX_WIDTH_QCOM 0x40AB
|
||||
#define CL_DEVICE_EXTENDED_IMAGE2D_MAX_HEIGHT_QCOM 0x40AC
|
||||
#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_WIDTH_QCOM 0x40AD
|
||||
#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_HEIGHT_QCOM 0x40AE
|
||||
#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_DEPTH_QCOM 0x40AF
|
||||
|
||||
/*************************************
|
||||
* cl_qcom_perf_hint extension *
|
||||
*************************************/
|
||||
|
||||
typedef cl_uint cl_perf_hint;
|
||||
|
||||
#define CL_CONTEXT_PERF_HINT_QCOM 0x40C2
|
||||
|
||||
/*cl_perf_hint*/
|
||||
#define CL_PERF_HINT_HIGH_QCOM 0x40C3
|
||||
#define CL_PERF_HINT_NORMAL_QCOM 0x40C4
|
||||
#define CL_PERF_HINT_LOW_QCOM 0x40C5
|
||||
|
||||
extern CL_API_ENTRY cl_int CL_API_CALL
|
||||
clSetPerfHintQCOM(cl_context context,
|
||||
cl_perf_hint perf_hint);
|
||||
|
||||
// This extension is published at Khronos, so its definitions are made in cl_ext.h.
|
||||
// This duplication is for backward compatibility.
|
||||
|
||||
#ifndef CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM
|
||||
|
||||
/*********************************
|
||||
* cl_qcom_android_native_buffer_host_ptr extension
|
||||
*********************************/
|
||||
|
||||
#define CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM 0x40C6
|
||||
|
||||
|
||||
typedef struct _cl_mem_android_native_buffer_host_ptr
|
||||
{
|
||||
// Type of external memory allocation.
|
||||
// Must be CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM for Android native buffers.
|
||||
cl_mem_ext_host_ptr ext_host_ptr;
|
||||
|
||||
// Virtual pointer to the android native buffer
|
||||
void* anb_ptr;
|
||||
|
||||
} cl_mem_android_native_buffer_host_ptr;
|
||||
|
||||
#endif //#ifndef CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM
|
||||
|
||||
/***********************************
|
||||
* cl_img_egl_image extension *
|
||||
************************************/
|
||||
typedef void* CLeglImageIMG;
|
||||
typedef void* CLeglDisplayIMG;
|
||||
|
||||
extern CL_API_ENTRY cl_mem CL_API_CALL
|
||||
clCreateFromEGLImageIMG(cl_context context,
|
||||
cl_mem_flags flags,
|
||||
CLeglImageIMG image,
|
||||
CLeglDisplayIMG display,
|
||||
cl_int *errcode_ret);
|
||||
|
||||
|
||||
/*********************************
|
||||
* cl_qcom_other_image extension
|
||||
*********************************/
|
||||
|
||||
// Extended flag for creating/querying QCOM non-standard images
|
||||
#define CL_MEM_OTHER_IMAGE_QCOM (1<<25)
|
||||
|
||||
// cl_channel_type
|
||||
#define CL_QCOM_UNORM_MIPI10 0x4159
|
||||
#define CL_QCOM_UNORM_MIPI12 0x415A
|
||||
#define CL_QCOM_UNSIGNED_MIPI10 0x415B
|
||||
#define CL_QCOM_UNSIGNED_MIPI12 0x415C
|
||||
#define CL_QCOM_UNORM_INT10 0x415D
|
||||
#define CL_QCOM_UNORM_INT12 0x415E
|
||||
#define CL_QCOM_UNSIGNED_INT16 0x415F
|
||||
|
||||
// cl_channel_order
|
||||
// Dedicate 0x4130-0x415F range for QCOM extended image formats
|
||||
// 0x4130 - 0x4132 range is assigned to pixel-oriented compressed format
|
||||
#define CL_QCOM_BAYER 0x414E
|
||||
|
||||
#define CL_QCOM_NV12 0x4133
|
||||
#define CL_QCOM_NV12_Y 0x4134
|
||||
#define CL_QCOM_NV12_UV 0x4135
|
||||
|
||||
#define CL_QCOM_TILED_NV12 0x4136
|
||||
#define CL_QCOM_TILED_NV12_Y 0x4137
|
||||
#define CL_QCOM_TILED_NV12_UV 0x4138
|
||||
|
||||
#define CL_QCOM_P010 0x413C
|
||||
#define CL_QCOM_P010_Y 0x413D
|
||||
#define CL_QCOM_P010_UV 0x413E
|
||||
|
||||
#define CL_QCOM_TILED_P010 0x413F
|
||||
#define CL_QCOM_TILED_P010_Y 0x4140
|
||||
#define CL_QCOM_TILED_P010_UV 0x4141
|
||||
|
||||
|
||||
#define CL_QCOM_TP10 0x4145
|
||||
#define CL_QCOM_TP10_Y 0x4146
|
||||
#define CL_QCOM_TP10_UV 0x4147
|
||||
|
||||
#define CL_QCOM_TILED_TP10 0x4148
|
||||
#define CL_QCOM_TILED_TP10_Y 0x4149
|
||||
#define CL_QCOM_TILED_TP10_UV 0x414A
|
||||
|
||||
/*********************************
|
||||
* cl_qcom_compressed_image extension
|
||||
*********************************/
|
||||
|
||||
// Extended flag for creating/querying QCOM non-planar compressed images
|
||||
#define CL_MEM_COMPRESSED_IMAGE_QCOM (1<<27)
|
||||
|
||||
// Extended image format
|
||||
// cl_channel_order
|
||||
#define CL_QCOM_COMPRESSED_RGBA 0x4130
|
||||
#define CL_QCOM_COMPRESSED_RGBx 0x4131
|
||||
|
||||
#define CL_QCOM_COMPRESSED_NV12_Y 0x413A
|
||||
#define CL_QCOM_COMPRESSED_NV12_UV 0x413B
|
||||
|
||||
#define CL_QCOM_COMPRESSED_P010 0x4142
|
||||
#define CL_QCOM_COMPRESSED_P010_Y 0x4143
|
||||
#define CL_QCOM_COMPRESSED_P010_UV 0x4144
|
||||
|
||||
#define CL_QCOM_COMPRESSED_TP10 0x414B
|
||||
#define CL_QCOM_COMPRESSED_TP10_Y 0x414C
|
||||
#define CL_QCOM_COMPRESSED_TP10_UV 0x414D
|
||||
|
||||
#define CL_QCOM_COMPRESSED_NV12_4R 0x414F
|
||||
#define CL_QCOM_COMPRESSED_NV12_4R_Y 0x4150
|
||||
#define CL_QCOM_COMPRESSED_NV12_4R_UV 0x4151
|
||||
/*********************************
|
||||
* cl_qcom_compressed_yuv_image_read extension
|
||||
*********************************/
|
||||
|
||||
// Extended flag for creating/querying QCOM compressed images
|
||||
#define CL_MEM_COMPRESSED_YUV_IMAGE_QCOM (1<<28)
|
||||
|
||||
// Extended image format
|
||||
#define CL_QCOM_COMPRESSED_NV12 0x10C4
|
||||
|
||||
// Extended flag for setting ION buffer allocation type
|
||||
#define CL_MEM_ION_HOST_PTR_COMPRESSED_YUV_QCOM 0x40CD
|
||||
#define CL_MEM_ION_HOST_PTR_PROTECTED_COMPRESSED_YUV_QCOM 0x40CE
|
||||
|
||||
/*********************************
|
||||
* cl_qcom_accelerated_image_ops
|
||||
*********************************/
|
||||
#define CL_MEM_OBJECT_WEIGHT_IMAGE_QCOM 0x4110
|
||||
#define CL_DEVICE_HOF_MAX_NUM_PHASES_QCOM 0x4111
|
||||
#define CL_DEVICE_HOF_MAX_FILTER_SIZE_X_QCOM 0x4112
|
||||
#define CL_DEVICE_HOF_MAX_FILTER_SIZE_Y_QCOM 0x4113
|
||||
#define CL_DEVICE_BLOCK_MATCHING_MAX_REGION_SIZE_X_QCOM 0x4114
|
||||
#define CL_DEVICE_BLOCK_MATCHING_MAX_REGION_SIZE_Y_QCOM 0x4115
|
||||
|
||||
//Extended flag for specifying weight image type
|
||||
#define CL_WEIGHT_IMAGE_SEPARABLE_QCOM (1<<0)
|
||||
|
||||
// Box Filter
|
||||
typedef struct _cl_box_filter_size_qcom
|
||||
{
|
||||
// Width of box filter on X direction.
|
||||
float box_filter_width;
|
||||
|
||||
// Height of box filter on Y direction.
|
||||
float box_filter_height;
|
||||
} cl_box_filter_size_qcom;
|
||||
|
||||
// HOF Weight Image Desc
|
||||
typedef struct _cl_weight_desc_qcom
|
||||
{
|
||||
/** Coordinate of the "center" point of the weight image,
|
||||
based on the weight image's top-left corner as the origin. */
|
||||
size_t center_coord_x;
|
||||
size_t center_coord_y;
|
||||
cl_bitfield flags;
|
||||
} cl_weight_desc_qcom;
|
||||
|
||||
typedef struct _cl_weight_image_desc_qcom
|
||||
{
|
||||
cl_image_desc image_desc;
|
||||
cl_weight_desc_qcom weight_desc;
|
||||
} cl_weight_image_desc_qcom;
|
||||
|
||||
/*************************************
|
||||
* cl_qcom_protected_context extension *
|
||||
*************************************/
|
||||
|
||||
#define CL_CONTEXT_PROTECTED_QCOM 0x40C7
|
||||
#define CL_MEM_ION_HOST_PTR_PROTECTED_QCOM 0x40C8
|
||||
|
||||
/*************************************
|
||||
* cl_qcom_priority_hint extension *
|
||||
*************************************/
|
||||
#define CL_PRIORITY_HINT_NONE_QCOM 0
|
||||
typedef cl_uint cl_priority_hint;
|
||||
|
||||
#define CL_CONTEXT_PRIORITY_HINT_QCOM 0x40C9
|
||||
|
||||
/*cl_priority_hint*/
|
||||
#define CL_PRIORITY_HINT_HIGH_QCOM 0x40CA
|
||||
#define CL_PRIORITY_HINT_NORMAL_QCOM 0x40CB
|
||||
#define CL_PRIORITY_HINT_LOW_QCOM 0x40CC
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __OPENCL_CL_EXT_QCOM_H */
|
||||
@@ -153,6 +153,6 @@ def generate_orient_error_jac(K):
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
# TODO: get K from argparse
|
||||
K = int(sys.argv[1].split("_")[-1])
|
||||
generated_dir = sys.argv[2]
|
||||
FeatureHandler.generate_code(generated_dir)
|
||||
FeatureHandler.generate_code(generated_dir, K=K)
|
||||
|
||||
@@ -35,7 +35,9 @@ else
|
||||
git checkout --orphan release2-staging
|
||||
fi
|
||||
|
||||
VERSION=$(cat selfdrive/common/version.h | awk -F\" '{print $2}')
|
||||
VERSION=$(cat selfdrive/common/version.h | awk -F[\"-] '{print $2}')
|
||||
echo "#define COMMA_VERSION \"$VERSION-release\"" > selfdrive/common/version.h
|
||||
|
||||
git commit -m "openpilot v$VERSION"
|
||||
|
||||
# Build signed panda firmware
|
||||
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 1.7 KiB |
@@ -20,11 +20,11 @@ from websocket import ABNF, WebSocketTimeoutException, create_connection
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import cereal.messaging as messaging
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from cereal.services import service_list
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from common.hardware import HARDWARE
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from common.api import Api
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from common.basedir import PERSIST
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from common.params import Params
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from common.realtime import sec_since_boot
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from selfdrive.hardware import HARDWARE
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from selfdrive.loggerd.config import ROOT
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from selfdrive.swaglog import cloudlog
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@@ -221,6 +221,11 @@ def getSimInfo():
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return HARDWARE.get_sim_info()
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@dispatcher.add_method
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def getNetworkType():
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return HARDWARE.get_network_type()
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@dispatcher.add_method
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def takeSnapshot():
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from selfdrive.camerad.snapshot.snapshot import snapshot, jpeg_write
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@@ -1,8 +1,6 @@
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Import('env', 'common', 'cereal', 'messaging', 'cython_dependencies')
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Import('env', 'envCython', 'common', 'cereal', 'messaging')
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env.Program('boardd', ['boardd.cc', 'panda.cc', 'pigeon.cc'], LIBS=['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj'])
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env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
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env.Command(['boardd_api_impl.so', 'boardd_api_impl.cpp'],
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cython_dependencies + ['libcan_list_to_can_capnp.a', 'boardd_api_impl.pyx', 'boardd_setup.py'],
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"cd selfdrive/boardd && python3 boardd_setup.py build_ext --inplace")
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envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
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@@ -56,7 +56,9 @@ struct tm get_time(){
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}
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bool time_valid(struct tm sys_time){
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return 1900 + sys_time.tm_year >= 2019;
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int year = 1900 + sys_time.tm_year;
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int month = 1 + sys_time.tm_mon;
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return (year > 2020) || (year == 2020 && month >= 10);
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}
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void safety_setter_thread() {
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@@ -107,6 +109,8 @@ void safety_setter_thread() {
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cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
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cereal::CarParams::SafetyModel safety_model = car_params.getSafetyModel();
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panda->set_unsafe_mode(0); // see safety_declarations.h for allowed values
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auto safety_param = car_params.getSafetyParam();
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LOGW("setting safety model: %d with param %d", (int)safety_model, safety_param);
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@@ -470,6 +474,7 @@ void pigeon_thread() {
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// ubloxRaw = 8042
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PubMaster pm({"ubloxRaw"});
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bool ignition_last = false;
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#ifdef QCOM2
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Pigeon * pigeon = Pigeon::connect("/dev/ttyHS0");
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@@ -477,19 +482,27 @@ void pigeon_thread() {
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Pigeon * pigeon = Pigeon::connect(panda);
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#endif
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pigeon->init();
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while (!do_exit && panda->connected) {
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std::string recv = pigeon->receive();
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if (recv.length() > 0) {
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if (recv[0] == (char)0x00){
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LOGW("received invalid ublox message, resetting panda GPS");
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pigeon->init();
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if (ignition) {
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LOGW("received invalid ublox message while onroad, resetting panda GPS");
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pigeon->init();
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}
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} else {
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pigeon_publish_raw(pm, recv);
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}
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}
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// init pigeon on rising ignition edge
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// since it was turned off in low power mode
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if(ignition && !ignition_last) {
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pigeon->init();
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}
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ignition_last = ignition;
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// 10ms - 100 Hz
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usleep(10*1000);
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}
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@@ -1,22 +0,0 @@
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from distutils.core import Extension, setup
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from Cython.Build import cythonize
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from common.cython_hacks import BuildExtWithoutPlatformSuffix
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libraries = ['can_list_to_can_capnp', 'capnp', 'kj']
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setup(name='Boardd API Implementation',
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cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
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ext_modules=cythonize(
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Extension(
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"boardd_api_impl",
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libraries=libraries,
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library_dirs=[
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'./',
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],
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sources=['boardd_api_impl.pyx'],
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language="c++",
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extra_compile_args=["-std=c++1z", "-Wno-nullability-completeness"],
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)
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)
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)
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@@ -9,18 +9,30 @@
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#include "panda.h"
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#ifdef QCOM2
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bool is_legacy_panda_reset() {
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FILE *file = fopen("/persist/LEGACY_PANDA_RESET", "r");
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if(file) {
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fclose(file);
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}
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return (file != NULL);
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}
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#endif
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void panda_set_power(bool power){
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#ifdef QCOM2
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int err = 0;
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bool is_legacy = is_legacy_panda_reset();
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err += gpio_init(GPIO_STM_RST_N, true);
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err += gpio_init(GPIO_STM_BOOT0, true);
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err += gpio_set(GPIO_STM_RST_N, false);
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err += gpio_set(GPIO_STM_RST_N, is_legacy ? false : true);
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err += gpio_set(GPIO_STM_BOOT0, false);
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usleep(100*1000); // 100 ms
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err += gpio_set(GPIO_STM_RST_N, power);
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err += gpio_set(GPIO_STM_RST_N, is_legacy ? power : (!power));
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assert(err == 0);
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#endif
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}
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@@ -188,6 +200,10 @@ void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, int sa
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usb_write(0xdc, (uint16_t)safety_model, safety_param);
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}
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void Panda::set_unsafe_mode(uint16_t unsafe_mode) {
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usb_write(0xdf, unsafe_mode, 0);
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}
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cereal::HealthData::HwType Panda::get_hw_type() {
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unsigned char hw_query[1] = {0};
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@@ -279,7 +295,6 @@ const char* Panda::get_serial(){
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delete[] serial_buf;
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return NULL;
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}
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void Panda::set_power_saving(bool power_saving){
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@@ -63,6 +63,7 @@ class Panda {
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// Panda functionality
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cereal::HealthData::HwType get_hw_type();
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void set_safety_model(cereal::CarParams::SafetyModel safety_model, int safety_param=0);
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void set_unsafe_mode(uint16_t unsafe_mode);
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void set_rtc(struct tm sys_time);
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struct tm get_rtc();
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void set_fan_speed(uint16_t fan_speed);
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@@ -11,10 +11,6 @@ if arch == "aarch64":
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elif arch == "larch64":
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libs += ['atomic']
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cameras = ['cameras/camera_qcom2.cc']
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# no screen
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# env = env.Clone()
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# env.Append(CXXFLAGS = '-DNOSCREEN')
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# env.Append(CFLAGS = '-DNOSCREEN')
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else:
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if USE_WEBCAM:
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libs += ['opencv_core', 'opencv_highgui', 'opencv_imgproc', 'opencv_videoio']
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@@ -28,8 +24,9 @@ else:
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if arch == "Darwin":
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del libs[libs.index('OpenCL')]
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del libs[libs.index(gpucommon)][gpucommon.index('GL')]
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env = env.Clone()
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env['FRAMEWORKS'] = ['OpenCL']
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env['FRAMEWORKS'] = ['OpenCL', 'OpenGL']
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env.SharedLibrary('snapshot/visionipc',
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["#selfdrive/common/visionipc.c", "#selfdrive/common/ipc.c"])
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@@ -37,7 +34,7 @@ env.SharedLibrary('snapshot/visionipc',
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env.Program('camerad', [
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'main.cc',
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'cameras/camera_common.cc',
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'transforms/rgb_to_yuv.c',
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'transforms/rgb_to_yuv.cc',
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'imgproc/utils.cc',
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cameras,
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], LIBS=libs)
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@@ -24,6 +24,12 @@
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#include "common/util.h"
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#include "imgproc/utils.h"
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const int env_xmin = getenv("XMIN") ? atoi(getenv("XMIN")) : 0;
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const int env_xmax = getenv("XMAX") ? atoi(getenv("XMAX")) : -1;
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const int env_ymin = getenv("YMIN") ? atoi(getenv("YMIN")) : 0;
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const int env_ymax = getenv("YMAX") ? atoi(getenv("YMAX")) : -1;
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const int env_scale = getenv("SCALE") ? atoi(getenv("SCALE")) : 1;
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static cl_program build_debayer_program(cl_device_id device_id, cl_context context, const CameraInfo *ci, const CameraBuf *b) {
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char args[4096];
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snprintf(args, sizeof(args),
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@@ -35,9 +41,9 @@ static cl_program build_debayer_program(cl_device_id device_id, cl_context conte
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b->rgb_width, b->rgb_height, b->rgb_stride,
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ci->bayer_flip, ci->hdr);
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#ifdef QCOM2
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return CLU_LOAD_FROM_FILE(context, device_id, "cameras/real_debayer.cl", args);
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return cl_program_from_file(context, device_id, "cameras/real_debayer.cl", args);
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#else
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return CLU_LOAD_FROM_FILE(context, device_id, "cameras/debayer.cl", args);
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return cl_program_from_file(context, device_id, "cameras/debayer.cl", args);
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#endif
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}
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@@ -47,7 +53,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
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camera_state = s;
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frame_buf_count = frame_cnt;
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frame_size = ci->frame_height * ci->frame_stride;
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camera_bufs = std::make_unique<VisionBuf[]>(frame_buf_count);
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camera_bufs_metadata = std::make_unique<FrameMetadata[]>(frame_buf_count);
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for (int i = 0; i < frame_buf_count; i++) {
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@@ -97,23 +103,20 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
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yuv_bufs[i].v = yuv_bufs[i].u + (yuv_width / 2 * yuv_height / 2);
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}
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int err;
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if (ci->bayer) {
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cl_program prg_debayer = build_debayer_program(device_id, context, ci, this);
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krnl_debayer = clCreateKernel(prg_debayer, "debayer10", &err);
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assert(err == 0);
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assert(clReleaseProgram(prg_debayer) == 0);
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krnl_debayer = CL_CHECK_ERR(clCreateKernel(prg_debayer, "debayer10", &err));
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CL_CHECK(clReleaseProgram(prg_debayer));
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}
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rgb_to_yuv_init(&rgb_to_yuv_state, context, device_id, yuv_width, yuv_height, rgb_stride);
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#ifdef __APPLE__
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q = clCreateCommandQueue(context, device_id, 0, &err);
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q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
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#else
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const cl_queue_properties props[] = {0}; //CL_QUEUE_PRIORITY_KHR, CL_QUEUE_PRIORITY_HIGH_KHR, 0};
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q = clCreateCommandQueueWithProperties(context, device_id, props, &err);
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q = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
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#endif
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assert(err == 0);
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}
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CameraBuf::~CameraBuf() {
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@@ -126,8 +129,12 @@ CameraBuf::~CameraBuf() {
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for (int i = 0; i < YUV_COUNT; i++) {
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visionbuf_free(&yuv_ion[i]);
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}
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clReleaseKernel(krnl_debayer);
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clReleaseCommandQueue(q);
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rgb_to_yuv_destroy(&rgb_to_yuv_state);
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if (krnl_debayer) {
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CL_CHECK(clReleaseKernel(krnl_debayer));
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}
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CL_CHECK(clReleaseCommandQueue(q));
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}
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bool CameraBuf::acquire() {
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@@ -150,33 +157,34 @@ bool CameraBuf::acquire() {
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cl_event debayer_event;
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cl_mem camrabuf_cl = camera_bufs[buf_idx].buf_cl;
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if (camera_state->ci.bayer) {
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assert(clSetKernelArg(krnl_debayer, 0, sizeof(cl_mem), &camrabuf_cl) == 0);
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assert(clSetKernelArg(krnl_debayer, 1, sizeof(cl_mem), &cur_rgb_buf->buf_cl) == 0);
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CL_CHECK(clSetKernelArg(krnl_debayer, 0, sizeof(cl_mem), &camrabuf_cl));
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CL_CHECK(clSetKernelArg(krnl_debayer, 1, sizeof(cl_mem), &cur_rgb_buf->buf_cl));
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#ifdef QCOM2
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assert(clSetKernelArg(krnl_debayer, 2, camera_state->debayer_cl_localMemSize, 0) == 0);
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assert(clEnqueueNDRangeKernel(q, krnl_debayer, 2, NULL,
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camera_state->debayer_cl_globalWorkSize, camera_state->debayer_cl_localWorkSize,
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0, 0, &debayer_event) == 0);
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constexpr int localMemSize = (DEBAYER_LOCAL_WORKSIZE + 2 * (3 / 2)) * (DEBAYER_LOCAL_WORKSIZE + 2 * (3 / 2)) * sizeof(float);
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const size_t globalWorkSize[] = {size_t(camera_state->ci.frame_width), size_t(camera_state->ci.frame_height)};
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const size_t localWorkSize[] = {DEBAYER_LOCAL_WORKSIZE, DEBAYER_LOCAL_WORKSIZE};
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CL_CHECK(clSetKernelArg(krnl_debayer, 2, localMemSize, 0));
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CL_CHECK(clEnqueueNDRangeKernel(q, krnl_debayer, 2, NULL, globalWorkSize, localWorkSize,
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0, 0, &debayer_event));
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#else
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float digital_gain = camera_state->digital_gain;
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if ((int)digital_gain == 0) {
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digital_gain = 1.0;
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}
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assert(clSetKernelArg(krnl_debayer, 2, sizeof(float), &digital_gain) == 0);
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CL_CHECK(clSetKernelArg(krnl_debayer, 2, sizeof(float), &digital_gain));
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const size_t debayer_work_size = rgb_height; // doesn't divide evenly, is this okay?
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const size_t debayer_local_work_size = 128;
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assert(clEnqueueNDRangeKernel(q, krnl_debayer, 1, NULL,
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&debayer_work_size, &debayer_local_work_size, 0, 0, &debayer_event) == 0);
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CL_CHECK(clEnqueueNDRangeKernel(q, krnl_debayer, 1, NULL,
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&debayer_work_size, NULL, 0, 0, &debayer_event));
|
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#endif
|
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} else {
|
||||
assert(cur_rgb_buf->len >= frame_size);
|
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assert(rgb_stride == camera_state->ci.frame_stride);
|
||||
assert(clEnqueueCopyBuffer(q, camrabuf_cl, cur_rgb_buf->buf_cl, 0, 0,
|
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cur_rgb_buf->len, 0, 0, &debayer_event) == 0);
|
||||
CL_CHECK(clEnqueueCopyBuffer(q, camrabuf_cl, cur_rgb_buf->buf_cl, 0, 0,
|
||||
cur_rgb_buf->len, 0, 0, &debayer_event));
|
||||
}
|
||||
|
||||
clWaitForEvents(1, &debayer_event);
|
||||
clReleaseEvent(debayer_event);
|
||||
CL_CHECK(clReleaseEvent(debayer_event));
|
||||
|
||||
tbuffer_release(&camera_tb, buf_idx);
|
||||
visionbuf_sync(cur_rgb_buf, VISIONBUF_SYNC_FROM_DEVICE);
|
||||
@@ -190,11 +198,12 @@ bool CameraBuf::acquire() {
|
||||
pool_acquire(&yuv_pool, cur_yuv_idx);
|
||||
pool_push(&yuv_pool, cur_yuv_idx);
|
||||
|
||||
tbuffer_dispatch(&ui_tb, cur_rgb_idx);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void CameraBuf::release() {
|
||||
tbuffer_dispatch(&ui_tb, cur_rgb_idx);
|
||||
pool_release(&yuv_pool, cur_yuv_idx);
|
||||
}
|
||||
|
||||
@@ -208,7 +217,6 @@ void CameraBuf::stop() {
|
||||
|
||||
void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, uint32_t cnt) {
|
||||
framed.setFrameId(frame_data.frame_id);
|
||||
framed.setEncodeId(cnt);
|
||||
framed.setTimestampEof(frame_data.timestamp_eof);
|
||||
framed.setFrameLength(frame_data.frame_length);
|
||||
framed.setIntegLines(frame_data.integ_lines);
|
||||
@@ -220,6 +228,27 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr
|
||||
framed.setGainFrac(frame_data.gain_frac);
|
||||
}
|
||||
|
||||
void fill_frame_image(cereal::FrameData::Builder &framed, uint8_t *dat, int w, int h, int stride) {
|
||||
if (dat != nullptr) {
|
||||
int scale = env_scale;
|
||||
int x_min = env_xmin; int y_min = env_ymin; int x_max = w-1; int y_max = h-1;
|
||||
if (env_xmax != -1) x_max = env_xmax;
|
||||
if (env_ymax != -1) y_max = env_ymax;
|
||||
int new_width = (x_max - x_min + 1) / scale;
|
||||
int new_height = (y_max - y_min + 1) / scale;
|
||||
uint8_t *resized_dat = new uint8_t[new_width*new_height*3];
|
||||
|
||||
int goff = x_min*3 + y_min*stride;
|
||||
for (int r=0;r<new_height;r++) {
|
||||
for (int c=0;c<new_width;c++) {
|
||||
memcpy(&resized_dat[(r*new_width+c)*3], &dat[goff+r*stride*scale+c*3*scale], 3*sizeof(uint8_t));
|
||||
}
|
||||
}
|
||||
framed.setImage(kj::arrayPtr((const uint8_t*)resized_dat, new_width*new_height*3));
|
||||
delete[] resized_dat;
|
||||
}
|
||||
}
|
||||
|
||||
void create_thumbnail(MultiCameraState *s, CameraState *c, uint8_t *bgr_ptr) {
|
||||
const CameraBuf *b = &c->buf;
|
||||
|
||||
@@ -269,8 +298,9 @@ void create_thumbnail(MultiCameraState *s, CameraState *c, uint8_t *bgr_ptr) {
|
||||
row_pointer[0] = row;
|
||||
jpeg_write_scanlines(&cinfo, row_pointer, 1);
|
||||
}
|
||||
free(row);
|
||||
jpeg_finish_compress(&cinfo);
|
||||
jpeg_destroy_compress(&cinfo);
|
||||
free(row);
|
||||
|
||||
MessageBuilder msg;
|
||||
auto thumbnaild = msg.initEvent().initThumbnail();
|
||||
@@ -281,23 +311,17 @@ void create_thumbnail(MultiCameraState *s, CameraState *c, uint8_t *bgr_ptr) {
|
||||
if (s->pm != NULL) {
|
||||
s->pm->send("thumbnail", msg);
|
||||
}
|
||||
free(thumbnail_buffer);
|
||||
}
|
||||
|
||||
void set_exposure_target(CameraState *c, const uint8_t *pix_ptr, bool front, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip) {
|
||||
void set_exposure_target(CameraState *c, const uint8_t *pix_ptr, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip) {
|
||||
const CameraBuf *b = &c->buf;
|
||||
|
||||
uint32_t lum_binning[256] = {0};
|
||||
for (int y = y_start; y < y_end; y += y_skip) {
|
||||
for (int x = x_start; x < x_end; x += x_skip) {
|
||||
if (!front) {
|
||||
uint8_t lum = pix_ptr[(y * b->yuv_width) + x];
|
||||
lum_binning[lum]++;
|
||||
} else {
|
||||
// TODO: should get rid of RGB here
|
||||
const uint8_t *pix = &pix_ptr[y * b->rgb_stride + x * 3];
|
||||
unsigned int lum = (unsigned int)(pix[0] + pix[1] + pix[2]);
|
||||
lum_binning[std::min(lum / 3, 255u)]++;
|
||||
}
|
||||
uint8_t lum = pix_ptr[(y * b->yuv_width) + x];
|
||||
lum_binning[lum]++;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -329,10 +353,8 @@ void set_exposure_target(CameraState *c, const uint8_t *pix_ptr, bool front, int
|
||||
extern volatile sig_atomic_t do_exit;
|
||||
|
||||
void *processing_thread(MultiCameraState *cameras, const char *tname,
|
||||
CameraState *cs, int priority, process_thread_cb callback) {
|
||||
CameraState *cs, process_thread_cb callback) {
|
||||
set_thread_name(tname);
|
||||
int err = set_realtime_priority(priority);
|
||||
LOG("%s start! setpriority returns %d", tname, err);
|
||||
|
||||
for (int cnt = 0; !do_exit; cnt++) {
|
||||
if (!cs->buf.acquire()) continue;
|
||||
@@ -345,70 +367,61 @@ void *processing_thread(MultiCameraState *cameras, const char *tname,
|
||||
}
|
||||
|
||||
std::thread start_process_thread(MultiCameraState *cameras, const char *tname,
|
||||
CameraState *cs, int priority, process_thread_cb callback) {
|
||||
return std::thread(processing_thread, cameras, tname, cs, priority, callback);
|
||||
CameraState *cs, process_thread_cb callback) {
|
||||
return std::thread(processing_thread, cameras, tname, cs, callback);
|
||||
}
|
||||
|
||||
void common_camera_process_front(SubMaster *sm, PubMaster *pm, CameraState *c, int cnt) {
|
||||
const CameraBuf *b = &c->buf;
|
||||
|
||||
static int meteringbox_xmin = 0, meteringbox_xmax = 0;
|
||||
static int meteringbox_ymin = 0, meteringbox_ymax = 0;
|
||||
static int x_min = 0, x_max = 0, y_min = 0, y_max = 0;
|
||||
static const bool rhd_front = Params().read_db_bool("IsRHD");
|
||||
|
||||
sm->update(0);
|
||||
if (sm->updated("driverState")) {
|
||||
auto state = (*sm)["driverState"].getDriverState();
|
||||
float face_prob = state.getFaceProb();
|
||||
float face_position[2];
|
||||
face_position[0] = state.getFacePosition()[0];
|
||||
face_position[1] = state.getFacePosition()[1];
|
||||
|
||||
// set front camera metering target
|
||||
if (face_prob > 0.4) {
|
||||
int x_offset = rhd_front ? 0:b->rgb_width - 0.5 * b->rgb_height;
|
||||
meteringbox_xmin = x_offset + (face_position[0] + 0.5) * (0.5 * b->rgb_height) - 72;
|
||||
meteringbox_xmax = x_offset + (face_position[0] + 0.5) * (0.5 * b->rgb_height) + 72;
|
||||
meteringbox_ymin = (face_position[1] + 0.5) * (b->rgb_height) - 72;
|
||||
meteringbox_ymax = (face_position[1] + 0.5) * (b->rgb_height) + 72;
|
||||
} else { // use default setting if no face
|
||||
meteringbox_ymin = b->rgb_height * 1 / 3;
|
||||
meteringbox_ymax = b->rgb_height * 1;
|
||||
meteringbox_xmin = rhd_front ? 0:b->rgb_width * 3 / 5;
|
||||
meteringbox_xmax = rhd_front ? b->rgb_width * 2 / 5:b->rgb_width;
|
||||
}
|
||||
}
|
||||
|
||||
// auto exposure
|
||||
if (cnt % 3 == 0) {
|
||||
// use driver face crop for AE
|
||||
int x_start, x_end, y_start, y_end;
|
||||
int skip = 1;
|
||||
if (sm->update(0) > 0 && sm->updated("driverState")) {
|
||||
auto state = (*sm)["driverState"].getDriverState();
|
||||
// set front camera metering target
|
||||
if (state.getFaceProb() > 0.4) {
|
||||
auto face_position = state.getFacePosition();
|
||||
int x_offset = rhd_front ? 0 : b->rgb_width - (0.5 * b->rgb_height);
|
||||
x_offset += (face_position[0] * (rhd_front ? -1.0 : 1.0) + 0.5) * (0.5 * b->rgb_height);
|
||||
const int y_offset = (face_position[1] + 0.5) * b->rgb_height;
|
||||
|
||||
if (meteringbox_xmax > 0) {
|
||||
x_start = std::max(0, meteringbox_xmin);
|
||||
x_end = std::min(b->rgb_width - 1, meteringbox_xmax);
|
||||
y_start = std::max(0, meteringbox_ymin);
|
||||
y_end = std::min(b->rgb_height - 1, meteringbox_ymax);
|
||||
} else {
|
||||
y_start = b->rgb_height * 1 / 3;
|
||||
y_end = b->rgb_height * 1;
|
||||
x_start = rhd_front ? 0 : b->rgb_width * 3 / 5;
|
||||
x_end = rhd_front ? b->rgb_width * 2 / 5 : b->rgb_width;
|
||||
x_min = std::max(0, x_offset - 72);
|
||||
x_max = std::min(b->rgb_width - 1, x_offset + 72);
|
||||
y_min = std::max(0, y_offset - 72);
|
||||
y_max = std::min(b->rgb_height - 1, y_offset + 72);
|
||||
} else { // use default setting if no face
|
||||
x_min = x_max = y_min = y_max = 0;
|
||||
}
|
||||
}
|
||||
|
||||
int skip = 1;
|
||||
// use driver face crop for AE
|
||||
if (x_max == 0) {
|
||||
// default setting
|
||||
x_min = rhd_front ? 0 : b->rgb_width * 3 / 5;
|
||||
x_max = rhd_front ? b->rgb_width * 2 / 5 : b->rgb_width;
|
||||
y_min = b->rgb_height / 3;
|
||||
y_max = b->rgb_height;
|
||||
}
|
||||
#ifdef QCOM2
|
||||
x_start = 96;
|
||||
x_end = 1832;
|
||||
y_start = 242;
|
||||
y_end = 1148;
|
||||
x_min = 96;
|
||||
x_max = 1832;
|
||||
y_min = 242;
|
||||
y_max = 1148;
|
||||
skip = 4;
|
||||
#endif
|
||||
set_exposure_target(c, (const uint8_t *)b->cur_rgb_buf->addr, 1, x_start, x_end, 2, y_start, y_end, skip);
|
||||
set_exposure_target(c, (const uint8_t *)b->yuv_bufs[b->cur_yuv_idx].y, x_min, x_max, 2, y_min, y_max, skip);
|
||||
}
|
||||
|
||||
MessageBuilder msg;
|
||||
auto framed = msg.initEvent().initFrontFrame();
|
||||
framed.setFrameType(cereal::FrameData::FrameType::FRONT);
|
||||
fill_frame_data(framed, b->cur_frame_data, cnt);
|
||||
if (env_send_front) {
|
||||
fill_frame_image(framed, (uint8_t*)b->cur_rgb_buf->addr, b->rgb_width, b->rgb_height, b->rgb_stride);
|
||||
}
|
||||
pm->send("frontFrame", msg);
|
||||
}
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
#pragma once
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
#include <memory>
|
||||
@@ -34,6 +35,10 @@
|
||||
#define LOG_CAMERA_ID_QCAMERA 3
|
||||
#define LOG_CAMERA_ID_MAX 4
|
||||
|
||||
const bool env_send_front = getenv("SEND_FRONT") != NULL;
|
||||
const bool env_send_rear = getenv("SEND_REAR") != NULL;
|
||||
const bool env_send_wide = getenv("SEND_WIDE") != NULL;
|
||||
|
||||
typedef struct CameraInfo {
|
||||
const char* name;
|
||||
int frame_width, frame_height;
|
||||
@@ -58,6 +63,7 @@ typedef struct LogCameraInfo {
|
||||
|
||||
typedef struct FrameMetadata {
|
||||
uint32_t frame_id;
|
||||
uint64_t timestamp_sof; // only set on tici
|
||||
uint64_t timestamp_eof;
|
||||
unsigned int frame_length;
|
||||
unsigned int integ_lines;
|
||||
@@ -128,8 +134,9 @@ public:
|
||||
typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);
|
||||
|
||||
void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, uint32_t cnt);
|
||||
void fill_frame_image(cereal::FrameData::Builder &framed, uint8_t *dat, int w, int h, int stride);
|
||||
void create_thumbnail(MultiCameraState *s, CameraState *c, uint8_t *bgr_ptr);
|
||||
void set_exposure_target(CameraState *c, const uint8_t *pix_ptr, bool front, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
|
||||
void set_exposure_target(CameraState *c, const uint8_t *pix_ptr, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
|
||||
std::thread start_process_thread(MultiCameraState *cameras, const char *tname,
|
||||
CameraState *cs, int priority, process_thread_cb callback);
|
||||
CameraState *cs, process_thread_cb callback);
|
||||
void common_camera_process_front(SubMaster *sm, PubMaster *pm, CameraState *c, int cnt);
|
||||
|
||||
@@ -119,11 +119,14 @@ void cameras_close(MultiCameraState *s) {
|
||||
|
||||
// called by processing_thread
|
||||
void camera_process_rear(MultiCameraState *s, CameraState *c, int cnt) {
|
||||
// empty
|
||||
if (cnt % 100 == 3) {
|
||||
const CameraBuf *b = &c->buf;
|
||||
create_thumbnail(s, c, (uint8_t*)b->cur_rgb_buf->addr);
|
||||
}
|
||||
}
|
||||
|
||||
void cameras_run(MultiCameraState *s) {
|
||||
std::thread t = start_process_thread(s, "processing", &s->rear, 51, camera_process_rear);
|
||||
std::thread t = start_process_thread(s, "processing", &s->rear, camera_process_rear);
|
||||
set_thread_name("frame_streaming");
|
||||
run_frame_stream(s);
|
||||
cameras_close(s);
|
||||
|
||||
@@ -1,4 +1,3 @@
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <stdbool.h>
|
||||
#include <assert.h>
|
||||
@@ -249,7 +248,7 @@ cl_program build_conv_program(cl_device_id device_id, cl_context context, int im
|
||||
"-DFILTER_SIZE=%d -DHALF_FILTER_SIZE=%d -DTWICE_HALF_FILTER_SIZE=%d -DHALF_FILTER_SIZE_IMAGE_W=%d",
|
||||
image_w, image_h, 1,
|
||||
filter_size, filter_size/2, (filter_size/2)*2, (filter_size/2)*image_w);
|
||||
return CLU_LOAD_FROM_FILE(context, device_id, "imgproc/conv.cl", args);
|
||||
return cl_program_from_file(context, device_id, "imgproc/conv.cl", args);
|
||||
}
|
||||
|
||||
void cameras_init(MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
|
||||
@@ -333,39 +332,27 @@ void cameras_init(MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
|
||||
s->rear.device = s->device;
|
||||
s->front.device = s->device;
|
||||
|
||||
s->sm = new SubMaster({"driverState", "sensorEvents"});
|
||||
s->sm_front = new SubMaster({"driverState"});
|
||||
s->pm = new PubMaster({"frame", "frontFrame", "thumbnail"});
|
||||
|
||||
int err;
|
||||
const int rgb_width = s->rear.buf.rgb_width;
|
||||
const int rgb_height = s->rear.buf.rgb_height;
|
||||
for (int i = 0; i < FRAME_BUF_COUNT; i++) {
|
||||
// TODO: make lengths correct
|
||||
s->focus_bufs[i] = visionbuf_allocate(0xb80);
|
||||
s->stats_bufs[i] = visionbuf_allocate(0xb80);
|
||||
}
|
||||
s->prg_rgb_laplacian = build_conv_program(device_id, ctx, rgb_width/NUM_SEGMENTS_X, rgb_height/NUM_SEGMENTS_Y, 3);
|
||||
s->krnl_rgb_laplacian = clCreateKernel(s->prg_rgb_laplacian, "rgb2gray_conv2d", &err);
|
||||
assert(err == 0);
|
||||
const int width = s->rear.buf.rgb_width/NUM_SEGMENTS_X;
|
||||
const int height = s->rear.buf.rgb_height/NUM_SEGMENTS_Y;
|
||||
s->prg_rgb_laplacian = build_conv_program(device_id, ctx, width, height, 3);
|
||||
s->krnl_rgb_laplacian = CL_CHECK_ERR(clCreateKernel(s->prg_rgb_laplacian, "rgb2gray_conv2d", &err));
|
||||
// TODO: Removed CL_MEM_SVM_FINE_GRAIN_BUFFER, confirm it doesn't matter
|
||||
s->rgb_conv_roi_cl = clCreateBuffer(ctx, CL_MEM_READ_WRITE,
|
||||
rgb_width/NUM_SEGMENTS_X * rgb_height/NUM_SEGMENTS_Y * 3 * sizeof(uint8_t), NULL, NULL);
|
||||
s->rgb_conv_result_cl = clCreateBuffer(ctx, CL_MEM_READ_WRITE,
|
||||
rgb_width/NUM_SEGMENTS_X * rgb_height/NUM_SEGMENTS_Y * sizeof(int16_t), NULL, NULL);
|
||||
s->rgb_conv_filter_cl = clCreateBuffer(ctx, CL_MEM_READ_ONLY | CL_MEM_COPY_HOST_PTR,
|
||||
9 * sizeof(int16_t), (void*)&lapl_conv_krnl, NULL);
|
||||
s->conv_cl_localMemSize = ( CONV_LOCAL_WORKSIZE + 2 * (3 / 2) ) * ( CONV_LOCAL_WORKSIZE + 2 * (3 / 2) );
|
||||
s->conv_cl_localMemSize *= 3 * sizeof(uint8_t);
|
||||
s->conv_cl_globalWorkSize[0] = rgb_width/NUM_SEGMENTS_X;
|
||||
s->conv_cl_globalWorkSize[1] = rgb_height/NUM_SEGMENTS_Y;
|
||||
s->conv_cl_localWorkSize[0] = CONV_LOCAL_WORKSIZE;
|
||||
s->conv_cl_localWorkSize[1] = CONV_LOCAL_WORKSIZE;
|
||||
s->rgb_conv_roi_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE,
|
||||
width * height * 3 * sizeof(uint8_t), NULL, &err));
|
||||
s->rgb_conv_result_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE,
|
||||
width * height * sizeof(int16_t), NULL, &err));
|
||||
s->rgb_conv_filter_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_ONLY | CL_MEM_COPY_HOST_PTR,
|
||||
9 * sizeof(int16_t), (void*)&lapl_conv_krnl, &err));
|
||||
|
||||
for (int i=0; i<ARRAYSIZE(s->lapres); i++) {s->lapres[i] = 16160;}
|
||||
|
||||
const size_t size = (rgb_width/NUM_SEGMENTS_X)*(rgb_height/NUM_SEGMENTS_Y);
|
||||
s->rgb_roi_buf = std::make_unique<uint8_t[]>(size*3);
|
||||
s->conv_result = std::make_unique<int16_t[]>(size);
|
||||
std::fill_n(s->lapres, std::size(s->lapres), 16160);
|
||||
}
|
||||
|
||||
static void set_exposure(CameraState *s, float exposure_frac, float gain_frac) {
|
||||
@@ -1399,7 +1386,7 @@ static void camera_open(CameraState *s, bool rear) {
|
||||
err = ioctl(s->ois_fd, VIDIOC_MSM_OIS_CFG, &ois_cfg_data);
|
||||
LOG("ois init settings: %d", err);
|
||||
} else {
|
||||
// leeco actuator
|
||||
// leeco actuator (DW9800W H-Bridge Driver IC)
|
||||
// from sniff
|
||||
s->infinity_dac = 364;
|
||||
|
||||
@@ -1407,6 +1394,7 @@ static void camera_open(CameraState *s, bool rear) {
|
||||
{
|
||||
.reg_write_type = MSM_ACTUATOR_WRITE_DAC,
|
||||
.hw_mask = 0,
|
||||
// MSB here at address 3
|
||||
.reg_addr = 3,
|
||||
.hw_shift = 0,
|
||||
.data_type = 9,
|
||||
@@ -1417,11 +1405,14 @@ static void camera_open(CameraState *s, bool rear) {
|
||||
};
|
||||
|
||||
struct reg_settings_t actuator_init_settings[] = {
|
||||
{ .reg_addr=2, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=1, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 0 },
|
||||
{ .reg_addr=2, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=0, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 2 },
|
||||
{ .reg_addr=2, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=2, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 2 },
|
||||
{ .reg_addr=6, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=64, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 0 },
|
||||
{ .reg_addr=2, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=1, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 0 }, // PD = power down
|
||||
{ .reg_addr=2, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=0, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 2 }, // 0 = power up
|
||||
{ .reg_addr=2, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=2, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 2 }, // RING = SAC mode
|
||||
{ .reg_addr=6, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=64, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 0 }, // 0x40 = SAC3 mode
|
||||
{ .reg_addr=7, .addr_type=MSM_ACTUATOR_BYTE_ADDR, .reg_data=113, .data_type = MSM_ACTUATOR_BYTE_DATA, .i2c_operation = MSM_ACT_WRITE, .delay = 0 },
|
||||
// 0x71 = DIV1 | DIV0 | SACT0 -- Tvib x 1/4 (quarter)
|
||||
// SAC Tvib = 6.3 ms + 0.1 ms = 6.4 ms / 4 = 1.6 ms
|
||||
// LSC 1-step = 252 + 1*4 = 256 ms / 4 = 64 ms
|
||||
};
|
||||
|
||||
struct region_params_t region_params[] = {
|
||||
@@ -1788,26 +1779,39 @@ static void parse_autofocus(CameraState *s, uint8_t *d) {
|
||||
s->focus_err = max_focus*1.0;
|
||||
}
|
||||
|
||||
static void do_autofocus(CameraState *s) {
|
||||
static std::optional<float> get_accel_z(SubMaster *sm) {
|
||||
if (sm->update(0) > 0) {
|
||||
for (auto event : (*sm)["sensorEvents"].getSensorEvents()) {
|
||||
if (event.which() == cereal::SensorEventData::ACCELERATION) {
|
||||
if (auto v = event.getAcceleration().getV(); v.size() >= 3)
|
||||
return -v[2];
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
return std::nullopt;
|
||||
}
|
||||
|
||||
static void do_autofocus(CameraState *s, SubMaster *sm) {
|
||||
// params for focus PI controller
|
||||
const float focus_kp = 0.005;
|
||||
|
||||
float err = s->focus_err;
|
||||
float sag = (s->last_sag_acc_z/9.8) * 128;
|
||||
|
||||
const int dac_up = s->device == DEVICE_LP3? LP3_AF_DAC_UP:OP3T_AF_DAC_UP;
|
||||
const int dac_down = s->device == DEVICE_LP3? LP3_AF_DAC_DOWN:OP3T_AF_DAC_DOWN;
|
||||
|
||||
float lens_true_pos = s->lens_true_pos;
|
||||
if (!isnan(err)) {
|
||||
float lens_true_pos = s->lens_true_pos.load();
|
||||
if (!isnan(s->focus_err)) {
|
||||
// learn lens_true_pos
|
||||
lens_true_pos -= err*focus_kp;
|
||||
const float focus_kp = 0.005;
|
||||
lens_true_pos -= s->focus_err*focus_kp;
|
||||
}
|
||||
|
||||
if (auto accel_z = get_accel_z(sm)) {
|
||||
s->last_sag_acc_z = *accel_z;
|
||||
}
|
||||
const float sag = (s->last_sag_acc_z / 9.8) * 128;
|
||||
// stay off the walls
|
||||
lens_true_pos = std::clamp(lens_true_pos, float(dac_down), float(dac_up));
|
||||
int target = std::clamp(lens_true_pos - sag, float(dac_down), float(dac_up));
|
||||
s->lens_true_pos = lens_true_pos;
|
||||
s->lens_true_pos.store(lens_true_pos);
|
||||
|
||||
/*char debug[4096];
|
||||
char *pdebug = debug;
|
||||
@@ -2020,12 +2024,12 @@ static void* ops_thread(void* arg) {
|
||||
CameraExpInfo front_op;
|
||||
|
||||
set_thread_name("camera_settings");
|
||||
|
||||
SubMaster sm({"sensorEvents"});
|
||||
while(!do_exit) {
|
||||
rear_op = rear_exp.load();
|
||||
if (rear_op.op_id != rear_op_id_last) {
|
||||
do_autoexposure(&s->rear, rear_op.grey_frac);
|
||||
do_autofocus(&s->rear);
|
||||
do_autofocus(&s->rear, &sm);
|
||||
rear_op_id_last = rear_op.op_id;
|
||||
}
|
||||
|
||||
@@ -2041,120 +2045,97 @@ static void* ops_thread(void* arg) {
|
||||
return NULL;
|
||||
}
|
||||
|
||||
static void update_lapmap(MultiCameraState *s, const CameraBuf *b, const int cnt) {
|
||||
const size_t width = b->rgb_width / NUM_SEGMENTS_X;
|
||||
const size_t height = b->rgb_height / NUM_SEGMENTS_Y;
|
||||
static std::unique_ptr<uint8_t[]> rgb_roi_buf = std::make_unique<uint8_t[]>(width * height * 3);
|
||||
static std::unique_ptr<int16_t[]> conv_result = std::make_unique<int16_t[]>(width * height);
|
||||
|
||||
// sharpness scores
|
||||
const int roi_id = cnt % std::size(s->lapres); // rolling roi
|
||||
const int x_offset = ROI_X_MIN + roi_id % (ROI_X_MAX - ROI_X_MIN + 1);
|
||||
const int y_offset = ROI_Y_MIN + roi_id / (ROI_X_MAX - ROI_X_MIN + 1);
|
||||
|
||||
const uint8_t *rgb_addr_offset = (uint8_t *)b->cur_rgb_buf->addr + y_offset * height * FULL_STRIDE_X * 3 + x_offset * width * 3;
|
||||
for (int i = 0; i < height; ++i) {
|
||||
memcpy(rgb_roi_buf.get() + i * width * 3, rgb_addr_offset + i * FULL_STRIDE_X * 3, width * 3);
|
||||
}
|
||||
|
||||
constexpr int conv_cl_localMemSize = (CONV_LOCAL_WORKSIZE + 2 * (3 / 2)) * (CONV_LOCAL_WORKSIZE + 2 * (3 / 2)) * (3 * sizeof(uint8_t));
|
||||
CL_CHECK(clEnqueueWriteBuffer(b->q, s->rgb_conv_roi_cl, true, 0, width * height * 3 * sizeof(uint8_t), rgb_roi_buf.get(), 0, 0, 0));
|
||||
CL_CHECK(clSetKernelArg(s->krnl_rgb_laplacian, 0, sizeof(cl_mem), (void *)&s->rgb_conv_roi_cl));
|
||||
CL_CHECK(clSetKernelArg(s->krnl_rgb_laplacian, 1, sizeof(cl_mem), (void *)&s->rgb_conv_result_cl));
|
||||
CL_CHECK(clSetKernelArg(s->krnl_rgb_laplacian, 2, sizeof(cl_mem), (void *)&s->rgb_conv_filter_cl));
|
||||
CL_CHECK(clSetKernelArg(s->krnl_rgb_laplacian, 3, conv_cl_localMemSize, 0));
|
||||
cl_event conv_event;
|
||||
CL_CHECK(clEnqueueNDRangeKernel(b->q, s->krnl_rgb_laplacian, 2, NULL,
|
||||
(size_t[]){width, height}, (size_t[]){CONV_LOCAL_WORKSIZE, CONV_LOCAL_WORKSIZE}, 0, 0, &conv_event));
|
||||
clWaitForEvents(1, &conv_event);
|
||||
CL_CHECK(clReleaseEvent(conv_event));
|
||||
|
||||
CL_CHECK(clEnqueueReadBuffer(b->q, s->rgb_conv_result_cl, true, 0,
|
||||
width * height * sizeof(int16_t), conv_result.get(), 0, 0, 0));
|
||||
|
||||
s->lapres[roi_id] = get_lapmap_one(conv_result.get(), width, height);
|
||||
}
|
||||
|
||||
static void setup_self_recover(CameraState *c, const uint16_t *lapres, size_t lapres_size) {
|
||||
const int dac_down = c->device == DEVICE_LP3 ? LP3_AF_DAC_DOWN : OP3T_AF_DAC_DOWN;
|
||||
const int dac_up = c->device == DEVICE_LP3 ? LP3_AF_DAC_UP : OP3T_AF_DAC_UP;
|
||||
const int dac_m = c->device == DEVICE_LP3 ? LP3_AF_DAC_M : OP3T_AF_DAC_M;
|
||||
const int dac_3sig = c->device == DEVICE_LP3 ? LP3_AF_DAC_3SIG : OP3T_AF_DAC_3SIG;
|
||||
|
||||
const float lens_true_pos = c->lens_true_pos.load();
|
||||
int self_recover = c->self_recover.load();
|
||||
if (self_recover < 2 && (lens_true_pos < (dac_down + 1) || lens_true_pos > (dac_up - 1)) && is_blur(lapres, lapres_size)) {
|
||||
// truly stuck, needs help
|
||||
if (--self_recover < -FOCUS_RECOVER_PATIENCE) {
|
||||
LOGD("rear camera bad state detected. attempting recovery from %.1f, recover state is %d", lens_true_pos, self_recover);
|
||||
// parity determined by which end is stuck at
|
||||
self_recover = FOCUS_RECOVER_STEPS + (lens_true_pos < dac_m ? 1 : 0);
|
||||
}
|
||||
} else if (self_recover < 2 && (lens_true_pos < (dac_m - dac_3sig) || lens_true_pos > (dac_m + dac_3sig))) {
|
||||
// in suboptimal position with high prob, but may still recover by itself
|
||||
if (--self_recover < -(FOCUS_RECOVER_PATIENCE * 3)) {
|
||||
self_recover = FOCUS_RECOVER_STEPS / 2 + (lens_true_pos < dac_m ? 1 : 0);
|
||||
}
|
||||
} else if (self_recover < 0) {
|
||||
self_recover += 1; // reset if fine
|
||||
}
|
||||
c->self_recover.store(self_recover);
|
||||
}
|
||||
|
||||
void camera_process_front(MultiCameraState *s, CameraState *c, int cnt) {
|
||||
common_camera_process_front(s->sm, s->pm, c, cnt);
|
||||
common_camera_process_front(s->sm_front, s->pm, c, cnt);
|
||||
}
|
||||
|
||||
// called by processing_thread
|
||||
void camera_process_frame(MultiCameraState *s, CameraState *c, int cnt) {
|
||||
const CameraBuf *b = &c->buf;
|
||||
// cache rgb roi and write to cl
|
||||
update_lapmap(s, b, cnt);
|
||||
setup_self_recover(c, &s->lapres[0], std::size(s->lapres));
|
||||
|
||||
// gz compensation
|
||||
s->sm->update(0);
|
||||
if (s->sm->updated("sensorEvents")) {
|
||||
float vals[3] = {0.0};
|
||||
bool got_accel = false;
|
||||
auto sensor_events = (*(s->sm))["sensorEvents"].getSensorEvents();
|
||||
for (auto sensor_event : sensor_events) {
|
||||
if (sensor_event.which() == cereal::SensorEventData::ACCELERATION) {
|
||||
auto v = sensor_event.getAcceleration().getV();
|
||||
if (v.size() < 3) {
|
||||
continue;
|
||||
}
|
||||
for (int j = 0; j < 3; j++) {
|
||||
vals[j] = v[j];
|
||||
}
|
||||
got_accel = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
uint64_t ts = nanos_since_boot();
|
||||
if (got_accel && ts - s->rear.last_sag_ts > 10000000) { // 10 ms
|
||||
s->rear.last_sag_ts = ts;
|
||||
s->rear.last_sag_acc_z = -vals[2];
|
||||
}
|
||||
}
|
||||
|
||||
// sharpness scores
|
||||
int roi_id = cnt % ARRAYSIZE(s->lapres); // rolling roi
|
||||
int roi_x_offset = roi_id % (ROI_X_MAX-ROI_X_MIN+1);
|
||||
int roi_y_offset = roi_id / (ROI_X_MAX-ROI_X_MIN+1);
|
||||
|
||||
for (int r=0;r<(b->rgb_height/NUM_SEGMENTS_Y);r++) {
|
||||
memcpy(s->rgb_roi_buf.get() + r * (b->rgb_width/NUM_SEGMENTS_X) * 3,
|
||||
(uint8_t *) b->cur_rgb_buf->addr + \
|
||||
(ROI_Y_MIN + roi_y_offset) * b->rgb_height/NUM_SEGMENTS_Y * FULL_STRIDE_X * 3 + \
|
||||
(ROI_X_MIN + roi_x_offset) * b->rgb_width/NUM_SEGMENTS_X * 3 + r * FULL_STRIDE_X * 3,
|
||||
b->rgb_width/NUM_SEGMENTS_X * 3);
|
||||
}
|
||||
|
||||
assert(clEnqueueWriteBuffer(b->q, s->rgb_conv_roi_cl, true, 0,
|
||||
b->rgb_width / NUM_SEGMENTS_X * b->rgb_height / NUM_SEGMENTS_Y * 3 * sizeof(uint8_t), s->rgb_roi_buf.get(), 0, 0, 0) == 0);
|
||||
assert(clSetKernelArg(s->krnl_rgb_laplacian, 0, sizeof(cl_mem), (void *)&s->rgb_conv_roi_cl) == 0);
|
||||
assert(clSetKernelArg(s->krnl_rgb_laplacian, 1, sizeof(cl_mem), (void *)&s->rgb_conv_result_cl) == 0);
|
||||
assert(clSetKernelArg(s->krnl_rgb_laplacian, 2, sizeof(cl_mem), (void *)&s->rgb_conv_filter_cl) == 0);
|
||||
assert(clSetKernelArg(s->krnl_rgb_laplacian, 3, s->conv_cl_localMemSize, 0) == 0);
|
||||
cl_event conv_event;
|
||||
assert(clEnqueueNDRangeKernel(b->q, s->krnl_rgb_laplacian, 2, NULL,
|
||||
s->conv_cl_globalWorkSize, s->conv_cl_localWorkSize, 0, 0, &conv_event) == 0);
|
||||
clWaitForEvents(1, &conv_event);
|
||||
clReleaseEvent(conv_event);
|
||||
|
||||
assert(clEnqueueReadBuffer(b->q, s->rgb_conv_result_cl, true, 0,
|
||||
b->rgb_width / NUM_SEGMENTS_X * b->rgb_height / NUM_SEGMENTS_Y * sizeof(int16_t), s->conv_result.get(), 0, 0, 0) == 0);
|
||||
|
||||
get_lapmap_one(s->conv_result.get(), &s->lapres[roi_id], b->rgb_width / NUM_SEGMENTS_X, b->rgb_height / NUM_SEGMENTS_Y);
|
||||
|
||||
// setup self recover
|
||||
const float lens_true_pos = s->rear.lens_true_pos;
|
||||
std::atomic<int>& self_recover = s->rear.self_recover;
|
||||
if (is_blur(&s->lapres[0]) &&
|
||||
(lens_true_pos < (s->rear.device == DEVICE_LP3 ? LP3_AF_DAC_DOWN : OP3T_AF_DAC_DOWN) + 1 ||
|
||||
lens_true_pos > (s->rear.device == DEVICE_LP3 ? LP3_AF_DAC_UP : OP3T_AF_DAC_UP) - 1) &&
|
||||
self_recover < 2) {
|
||||
// truly stuck, needs help
|
||||
self_recover -= 1;
|
||||
if (self_recover < -FOCUS_RECOVER_PATIENCE) {
|
||||
LOGD("rear camera bad state detected. attempting recovery from %.1f, recover state is %d",
|
||||
lens_true_pos, self_recover.load());
|
||||
self_recover = FOCUS_RECOVER_STEPS + ((lens_true_pos < (s->rear.device == DEVICE_LP3 ? LP3_AF_DAC_M : OP3T_AF_DAC_M)) ? 1 : 0); // parity determined by which end is stuck at
|
||||
}
|
||||
} else if ((lens_true_pos < (s->rear.device == DEVICE_LP3 ? LP3_AF_DAC_M - LP3_AF_DAC_3SIG : OP3T_AF_DAC_M - OP3T_AF_DAC_3SIG) ||
|
||||
lens_true_pos > (s->rear.device == DEVICE_LP3 ? LP3_AF_DAC_M + LP3_AF_DAC_3SIG : OP3T_AF_DAC_M + OP3T_AF_DAC_3SIG)) &&
|
||||
self_recover < 2) {
|
||||
// in suboptimal position with high prob, but may still recover by itself
|
||||
self_recover -= 1;
|
||||
if (self_recover < -(FOCUS_RECOVER_PATIENCE * 3)) {
|
||||
self_recover = FOCUS_RECOVER_STEPS / 2 + ((lens_true_pos < (s->rear.device == DEVICE_LP3 ? LP3_AF_DAC_M : OP3T_AF_DAC_M)) ? 1 : 0);
|
||||
}
|
||||
} else if (self_recover < 0) {
|
||||
self_recover += 1; // reset if fine
|
||||
}
|
||||
|
||||
{
|
||||
MessageBuilder msg;
|
||||
auto framed = msg.initEvent().initFrame();
|
||||
fill_frame_data(framed, b->cur_frame_data, cnt);
|
||||
framed.setFocusVal(kj::ArrayPtr<const int16_t>(&s->rear.focus[0], NUM_FOCUS));
|
||||
framed.setFocusConf(kj::ArrayPtr<const uint8_t>(&s->rear.confidence[0], NUM_FOCUS));
|
||||
framed.setSharpnessScore(kj::ArrayPtr<const uint16_t>(&s->lapres[0], ARRAYSIZE(s->lapres)));
|
||||
framed.setRecoverState(self_recover);
|
||||
framed.setTransform(kj::ArrayPtr<const float>(&b->yuv_transform.v[0], 9));
|
||||
s->pm->send("frame", msg);
|
||||
MessageBuilder msg;
|
||||
auto framed = msg.initEvent().initFrame();
|
||||
fill_frame_data(framed, b->cur_frame_data, cnt);
|
||||
if (env_send_rear) {
|
||||
fill_frame_image(framed, (uint8_t *)b->cur_rgb_buf->addr, b->rgb_width, b->rgb_height, b->rgb_stride);
|
||||
}
|
||||
framed.setFocusVal(s->rear.focus);
|
||||
framed.setFocusConf(s->rear.confidence);
|
||||
framed.setRecoverState(s->rear.self_recover);
|
||||
framed.setSharpnessScore(s->lapres);
|
||||
framed.setTransform(b->yuv_transform.v);
|
||||
s->pm->send("frame", msg);
|
||||
|
||||
if (cnt % 100 == 3) {
|
||||
create_thumbnail(s, c, (uint8_t*)b->cur_rgb_buf->addr);
|
||||
create_thumbnail(s, c, (uint8_t *)b->cur_rgb_buf->addr);
|
||||
}
|
||||
|
||||
const int exposure_x = 290;
|
||||
const int exposure_y = 322;
|
||||
const int exposure_width = 560;
|
||||
const int exposure_height = 314;
|
||||
const int skip = 1;
|
||||
if (cnt % 3 == 0) {
|
||||
set_exposure_target(c, (const uint8_t *)b->yuv_bufs[b->cur_yuv_idx].y, 0, exposure_x, exposure_x + exposure_width, skip, exposure_y, exposure_y + exposure_height, skip);
|
||||
const int x = 290, y = 322, width = 560, height = 314;
|
||||
const int skip = 1;
|
||||
set_exposure_target(c, (const uint8_t *)b->yuv_bufs[b->cur_yuv_idx].y, x, x + width, skip, y, y + height, skip);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -2166,8 +2147,8 @@ void cameras_run(MultiCameraState *s) {
|
||||
ops_thread, s);
|
||||
assert(err == 0);
|
||||
std::vector<std::thread> threads;
|
||||
threads.push_back(start_process_thread(s, "processing", &s->rear, 51, camera_process_frame));
|
||||
threads.push_back(start_process_thread(s, "frontview", &s->front, 51, camera_process_front));
|
||||
threads.push_back(start_process_thread(s, "processing", &s->rear, camera_process_frame));
|
||||
threads.push_back(start_process_thread(s, "frontview", &s->front, camera_process_front));
|
||||
|
||||
CameraState* cameras[2] = {&s->rear, &s->front};
|
||||
|
||||
@@ -2281,12 +2262,12 @@ void cameras_close(MultiCameraState *s) {
|
||||
visionbuf_free(&s->focus_bufs[i]);
|
||||
visionbuf_free(&s->stats_bufs[i]);
|
||||
}
|
||||
clReleaseMemObject(s->rgb_conv_roi_cl);
|
||||
clReleaseMemObject(s->rgb_conv_result_cl);
|
||||
clReleaseMemObject(s->rgb_conv_filter_cl);
|
||||
CL_CHECK(clReleaseMemObject(s->rgb_conv_roi_cl));
|
||||
CL_CHECK(clReleaseMemObject(s->rgb_conv_result_cl));
|
||||
CL_CHECK(clReleaseMemObject(s->rgb_conv_filter_cl));
|
||||
|
||||
clReleaseProgram(s->prg_rgb_laplacian);
|
||||
clReleaseKernel(s->krnl_rgb_laplacian);
|
||||
delete s->sm;
|
||||
CL_CHECK(clReleaseKernel(s->krnl_rgb_laplacian));
|
||||
CL_CHECK(clReleaseProgram(s->prg_rgb_laplacian));
|
||||
delete s->sm_front;
|
||||
delete s->pm;
|
||||
}
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user