mirror of
https://github.com/dragonpilot/dragonpilot.git
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Merge branch 'devel-en' into devel-zhs
This commit is contained in:
dragonpilot
+17
-30
@@ -101,13 +101,8 @@ class dbc():
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||||
defvals = defvals.replace("?",r"\?") #escape sequence in C++
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||||
defvals = defvals.split('"')[:-1]
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defs = defvals[1::2]
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#cleanup, convert to UPPER_CASE_WITH_UNDERSCORES
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for i,d in enumerate(defs):
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d = defs[i].strip().upper()
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defs[i] = d.replace(" ","_")
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defvals[1::2] = defs
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# convert strings to UPPER_CASE_WITH_UNDERSCORES
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defvals[1::2] = [d.strip().upper().replace(" ","_") for d in defvals[1::2]]
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defvals = '"'+"".join(str(i) for i in defvals)+'"'
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self.def_vals[ids].append((sgname, defvals))
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@@ -152,22 +147,20 @@ class dbc():
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ival = dd.get(s.name)
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if ival is not None:
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b2 = s.size
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if s.is_little_endian:
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b1 = s.start_bit
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else:
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b1 = (s.start_bit // 8) * 8 + (-s.start_bit - 1) % 8
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bo = 64 - (b1 + s.size)
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ival = (ival / s.factor) - s.offset
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ival = int(round(ival))
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if s.is_signed and ival < 0:
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ival = (1 << b2) + ival
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ival = (1 << s.size) + ival
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shift = b1 if s.is_little_endian else bo
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mask = ((1 << b2) - 1) << shift
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dat = (ival & ((1 << b2) - 1)) << shift
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if s.is_little_endian:
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shift = s.start_bit
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else:
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b1 = (s.start_bit // 8) * 8 + (-s.start_bit - 1) % 8
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shift = 64 - (b1 + s.size)
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mask = ((1 << s.size) - 1) << shift
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dat = (ival & ((1 << s.size) - 1)) << shift
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if s.is_little_endian:
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mask = self.reverse_bytes(mask)
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@@ -227,30 +220,24 @@ class dbc():
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factor = s[5]
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offset = s[6]
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b2 = signal_size
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if little_endian:
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b1 = start_bit
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else:
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b1 = (start_bit // 8) * 8 + (-start_bit - 1) % 8
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bo = 64 - (b1 + signal_size)
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if little_endian:
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if le is None:
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le = struct.unpack("<Q", st)[0]
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shift_amount = b1
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tmp = le
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shift_amount = start_bit
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else:
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if be is None:
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be = struct.unpack(">Q", st)[0]
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shift_amount = bo
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tmp = be
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b1 = (start_bit // 8) * 8 + (-start_bit - 1) % 8
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shift_amount = 64 - (b1 + signal_size)
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if shift_amount < 0:
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continue
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tmp = (tmp >> shift_amount) & ((1 << b2) - 1)
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if signed and (tmp >> (b2 - 1)):
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tmp -= (1 << b2)
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tmp = (tmp >> shift_amount) & ((1 << signal_size) - 1)
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if signed and (tmp >> (signal_size - 1)):
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tmp -= (1 << signal_size)
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tmp = tmp * factor + offset
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@@ -80,6 +80,7 @@ keys = {
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"Passive": [TxType.PERSISTENT],
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"RecordFront": [TxType.PERSISTENT],
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"ReleaseNotes": [TxType.PERSISTENT],
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"SafetyModelLock": [TxType.PERSISTENT],
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"ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
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"SpeedLimitOffset": [TxType.PERSISTENT],
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"SubscriberInfo": [TxType.PERSISTENT],
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@@ -11,7 +11,7 @@ BO_ 705 GAS_PEDAL: 8 XXX
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||||
SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
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||||
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BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
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SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
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SG_ STEER_TORQUE_EPS : 47|16@0- (0.77,0) [-20000|20000] "" XXX
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||||
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
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||||
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
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||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
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||||
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||||
@@ -49,6 +49,7 @@ const uint32_t NO_IGNITION_CNT_MAX = 2 * 60 * 60 * 24 * 3; // turn off charge a
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||||
uint32_t no_ignition_cnt = 0;
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bool connected_once = false;
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uint8_t ignition_last = 0;
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||||
bool safety_model_locked = false;
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pthread_t safety_setter_thread_handle = -1;
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pthread_t pigeon_thread_handle = -1;
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@@ -74,12 +75,12 @@ void *safety_setter_thread(void *s) {
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}
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LOGW("got CarVin %s", value_vin);
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pthread_mutex_lock(&usb_lock);
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|
||||
// VIN query done, stop listening to OBDII
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libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::NO_OUTPUT), 0, NULL, 0, TIMEOUT);
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pthread_mutex_unlock(&usb_lock);
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if (!safety_model_locked) {
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pthread_mutex_lock(&usb_lock);
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||||
libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::NO_OUTPUT), 0, NULL, 0, TIMEOUT);
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pthread_mutex_unlock(&usb_lock);
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}
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char *value;
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size_t value_sz = 0;
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@@ -125,6 +126,11 @@ void *safety_setter_thread(void *s) {
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bool usb_connect() {
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int err;
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unsigned char hw_query[1] = {0};
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char *value_safety_model;
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size_t value_safety_model_sz = 0;
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int safety_model;
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const int result = read_db_value(NULL, "SafetyModelLock", &value_safety_model, &value_safety_model_sz);
|
||||
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||||
ignition_last = 0;
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||||
|
||||
dev_handle = libusb_open_device_with_vid_pid(ctx, 0xbbaa, 0xddcc);
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||||
@@ -140,6 +146,16 @@ bool usb_connect() {
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||||
libusb_control_transfer(dev_handle, 0xc0, 0xe5, 1, 0, NULL, 0, TIMEOUT);
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||||
}
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||||
|
||||
// check if safety mode is forced (needed to support gm)
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||||
if (value_safety_model_sz > 0) {
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sscanf(value_safety_model, "%d", &safety_model);
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||||
// sanity check that we are not setting all output
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assert(safety_model != (int)(cereal::CarParams::SafetyModel::ALL_OUTPUT));
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safety_model_locked = true;
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LOGW("Setting Locked Safety Model %s", value_safety_model);
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libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel(safety_model)), 0, NULL, 0, TIMEOUT);
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}
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// power off ESP
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libusb_control_transfer(dev_handle, 0xc0, 0xd9, 0, 0, NULL, 0, TIMEOUT);
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@@ -297,10 +313,11 @@ void can_health(void *s) {
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assert((result == 0) || (result == ERR_NO_VALUE));
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||||
// diagnostic only is the default, needed for VIN query
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pthread_mutex_lock(&usb_lock);
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libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::ELM327), 0, NULL, 0, TIMEOUT);
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pthread_mutex_unlock(&usb_lock);
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if (!safety_model_locked) {
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pthread_mutex_lock(&usb_lock);
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libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::ELM327), 0, NULL, 0, TIMEOUT);
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pthread_mutex_unlock(&usb_lock);
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||||
}
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||||
if (safety_setter_thread_handle == -1) {
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err = pthread_create(&safety_setter_thread_handle, NULL, safety_setter_thread, NULL);
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assert(err == 0);
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Executable
+27
@@ -0,0 +1,27 @@
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#!/usr/bin/env python3
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import sys
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from cereal import car
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from common.params import Params
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# This script locks the safety model to a given value.
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# When the safety model is locked, boardd will preset panda to the locked safety model
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# run example:
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# ./lock_safety_model.py gm
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if __name__ == "__main__":
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params = Params()
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if len(sys.argv) < 2:
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params.delete("SafetyModelLock")
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print("Clear locked safety model")
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else:
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safety_model = getattr(car.CarParams.SafetyModel, sys.argv[1])
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if type(safety_model) != int:
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raise Exception("Invalid safety model: " + sys.argv[1])
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||||
if safety_model == car.CarParams.SafetyModel.allOutput:
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||||
raise Exception("Locking the safety model to allOutput is not allowed")
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||||
params.put("SafetyModelLock", str(safety_model))
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print("Locked safety model: " + sys.argv[1])
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@@ -218,7 +218,7 @@ class CarInterface(CarInterfaceBase):
|
||||
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||||
elif candidate == CAR.LEXUS_IS:
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stop_and_go = False
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ret.safetyParam = 66
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ret.safetyParam = 77
|
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ret.wheelbase = 2.79908
|
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ret.steerRatio = 13.3
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tire_stiffness_factor = 0.444
|
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@@ -167,12 +167,17 @@ FINGERPRINTS = {
|
||||
36: 8, 37: 8, 170: 8, 180: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
},
|
||||
{
|
||||
36: 8, 37: 8, 170: 8, 180: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1212: 8, 1227: 8, 1232: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
# 2019 Highlander Hybrid Limited Platinum
|
||||
36: 8, 37: 8, 170: 8, 180: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1076: 8, 1077: 8, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
}],
|
||||
CAR.AVALON: [{
|
||||
36: 8, 37: 8, 170: 8, 180: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 550: 8, 552: 4, 562: 6, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 905: 8, 911: 1, 916: 2, 921: 8, 933: 6, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 1005: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1200: 8, 1201: 8, 1202: 8, 1203: 8, 1206: 8, 1227: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1558: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
}],
|
||||
CAR.RAV4_TSS2: [
|
||||
# Taiwan 2019 RAV4 from Max Duan / CloudJ
|
||||
{
|
||||
36: 8, 37: 8, 114: 5, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 810: 2, 812: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 896: 8, 898: 8, 913: 8, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1696: 8, 1745: 8, 1775: 8, 1779: 8
|
||||
},
|
||||
# LE
|
||||
{
|
||||
36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 355: 5, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8,1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553:8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
|
||||
@@ -91,7 +91,7 @@ managed_processes = {
|
||||
"visiond": ("selfdrive/visiond", ["./visiond"]),
|
||||
"sensord": ("selfdrive/sensord", ["./start_sensord.py"]),
|
||||
"gpsd": ("selfdrive/sensord", ["./start_gpsd.py"]),
|
||||
#"updated": "selfdrive.updated",
|
||||
"updated": "selfdrive.updated",
|
||||
"dashcamd": "selfdrive.dragonpilot.dashcamd.dashcamd",
|
||||
"shutdownd": "selfdrive.dragonpilot.shutdownd.shutdownd",
|
||||
"appd": "selfdrive.dragonpilot.appd.appd",
|
||||
@@ -121,7 +121,7 @@ persistent_processes = [
|
||||
'tombstoned',
|
||||
'uploader',
|
||||
'ui',
|
||||
#'updated',
|
||||
'updated',
|
||||
'shutdownd',
|
||||
'appd',
|
||||
]
|
||||
|
||||
@@ -136,7 +136,6 @@ def thermald_thread():
|
||||
|
||||
off_ts = None
|
||||
started_ts = None
|
||||
ignition_seen = False
|
||||
started_seen = False
|
||||
thermal_status = ThermalStatus.green
|
||||
thermal_status_prev = ThermalStatus.green
|
||||
@@ -167,7 +166,6 @@ def thermald_thread():
|
||||
# clear car params when panda gets disconnected
|
||||
if health is None and health_prev is not None:
|
||||
params.panda_disconnect()
|
||||
ignition_seen = False
|
||||
health_prev = health
|
||||
|
||||
if health is not None:
|
||||
@@ -261,11 +259,6 @@ def thermald_thread():
|
||||
|
||||
# start constellation of processes when the car starts
|
||||
ignition = health is not None and health.health.started
|
||||
ignition_seen = ignition_seen or ignition
|
||||
|
||||
# add voltage check for ignition
|
||||
if not ignition_seen and health is not None and health.health.voltage > 13500:
|
||||
ignition = True
|
||||
|
||||
do_uninstall = params.get("DoUninstall") == b"1"
|
||||
accepted_terms = params.get("HasAcceptedTerms") == terms_version
|
||||
|
||||
Reference in New Issue
Block a user