mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-08-23 09:13:47 +08:00
revert devel back to stock devel
This commit is contained in:
Rick Lan
@@ -39,10 +39,12 @@ def get_can_parser(CP):
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("CRUISE_STATE", "PCM_CRUISE", 0),
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("MAIN_ON", "PCM_CRUISE_2", 0),
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("SET_SPEED", "PCM_CRUISE_2", 0),
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("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
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("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
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("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
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("TURN_SIGNALS", "STEERING_LEVERS", 3), # 3 is no blinkers
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("LKA_STATE", "EPS_STATUS", 0),
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("IPAS_STATE", "EPS_STATUS", 1),
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("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
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("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
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]
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@@ -58,23 +60,6 @@ def get_can_parser(CP):
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("EPS_STATUS", 25),
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]
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if CP.carFingerprint == CAR.LEXUS_ISH:
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checks = [
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("BRAKE_MODULE", 50),
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("GAS_PEDAL", 50),
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("WHEEL_SPEEDS", 80),
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("STEER_ANGLE_SENSOR", 80),
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("PCM_CRUISE", 33),
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("PCM_CRUISE_2", 1),
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("STEER_TORQUE_SENSOR", 50),
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("EPS_STATUS", 25),
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]
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else:
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signals += [
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("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
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("IPAS_STATE", "EPS_STATUS", 1),
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]
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if CP.carFingerprint == CAR.PRIUS:
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signals += [("STATE", "AUTOPARK_STATUS", 0)]
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@@ -159,10 +144,7 @@ class CarState(object):
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# 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
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self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
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self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
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if self.CP.carFingerprint == CAR.LEXUS_ISH:
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self.ipas_active = False
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else:
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self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
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self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
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self.brake_error = 0
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self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
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self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
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@@ -174,12 +156,9 @@ class CarState(object):
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self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
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self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
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self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED']
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if self.CP.carFingerprint == CAR.LEXUS_ISH:
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self.low_speed_lockout = False
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else:
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self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
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self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
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self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
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if self.CP.carFingerprint == CAR.PRIUS:
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self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0
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else:
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self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
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self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
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@@ -141,15 +141,6 @@ class CarInterface(object):
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ret.steerKpV, ret.steerKiV = [[0.6], [0.05]]
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ret.steerKf = 0.00006
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elif candidate == CAR.LEXUS_ISH:
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ret.safetyParam = 66
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ret.wheelbase = 2.80 # in spec
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ret.steerRatio = 13.3 # in spec
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tire_stiffness_factor = 0.444 # from camry
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ret.mass = 3736.8 * CV.LB_TO_KG + std_cargo # in spec, mean of is300 (1680 kg) / is300h (1720 kg) / is350 (1685 kg)
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ret.steerKpV, ret.steerKiV = [[0.3], [0.1]]
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ret.steerKf = 0.00006 # from camry
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ret.steerRateCost = 1.
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ret.centerToFront = ret.wheelbase * 0.44
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@@ -160,7 +151,7 @@ class CarInterface(object):
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# to a negative value, so it won't matter.
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# hybrid models can't do stop and go even though the stock ACC can't
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if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.CHR,
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CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.LEXUS_ISH]:
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CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
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ret.minEnableSpeed = -1.
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elif candidate in [CAR.RAV4, CAR.COROLLA]: # TODO: hack ICE to do stop and go
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ret.minEnableSpeed = 19. * CV.MPH_TO_MS
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@@ -261,7 +252,7 @@ class CarInterface(object):
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ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
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ret.cruiseState.available = bool(self.CS.main_on)
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ret.cruiseState.speedOffset = 0.
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if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.LEXUS_ISH]:
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if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
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# ignore standstill in hybrid vehicles, since pcm allows to restart without
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# receiving any special command
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ret.cruiseState.standstill = False
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@@ -361,4 +352,4 @@ class CarInterface(object):
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c.hudControl.audibleAlert, self.forwarding_camera)
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self.frame += 1
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return False
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return False
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@@ -12,7 +12,7 @@ class CAR:
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CAMRYH = "TOYOTA CAMRY HYBRID 2018"
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HIGHLANDER = "TOYOTA HIGHLANDER 2017"
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HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018"
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LEXUS_ISH = "LEXUS IS HYBRID 2017"
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class ECU:
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CAM = 0 # camera
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@@ -23,25 +23,19 @@ class ECU:
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# addr: (ecu, cars, bus, 1/freq*100, vl)
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STATIC_MSGS = [
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(0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
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(0x130, ECU.CAM, (CAR.LEXUS_ISH), 1, 100, '\x00\x00\x03\xff\x00\x00\x3a'),
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(0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
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(0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
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(0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
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(0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
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(0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
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(0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
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(0x245, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
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(0x245, ECU.CAM, (CAR.LEXUS_ISH), 1, 5, '\x00\x10\x01\x00'),
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(0x248, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 5, '\x00\x00\x00\x00\x00\x00\x01'),
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(0x248, ECU.CAM, (CAR.LEXUS_ISH), 1, 5, '\x00\x01\x00\x00\x00\x00\x00'),
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(0x367, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 40, '\x06\x00'),
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(0x367, ECU.CAM, (CAR.LEXUS_ISH), 0, 40, '\x02\x00'),
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(0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
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(0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
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(0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x20\x20\xAD'),
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(0x466, ECU.CAM, (CAR.COROLLA), 1, 100, '\x24\x20\xB1'),
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(0x466, ECU.CAM, (CAR.LEXUS_ISH), 1, 100, '\x41\x20\xce'),
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(0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
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(0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
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(0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
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(0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
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(0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
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(0x48b, ECU.CAM, (CAR.LEXUS_ISH), 0, 100, '\x66\x07\x0a\x0f\x01\x00\x00\x00'),
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(0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.LEXUS_ISH), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
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(0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
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(0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 3, '\xf4\x01\x90\x83\x00\x37'),
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(0x128, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 3, '\x03\x00\x20\x00\x00\x52'),
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@@ -84,9 +78,6 @@ def check_ecu_msgs(fingerprint, ecu):
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FINGERPRINTS = {
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CAR.LEXUS_ISH: [{
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36: 8, 37: 8, 170: 8, 180: 8, 295: 8, 296: 8, 400: 6, 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, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 7, 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, 1009: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
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}],
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CAR.RAV4: [{
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36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 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, 951: 8, 955: 4, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 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, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 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, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
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}],
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@@ -168,7 +159,6 @@ DBC = {
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CAR.CAMRYH: dbc_dict('toyota_camry_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'),
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CAR.HIGHLANDER: dbc_dict('toyota_highlander_2017_pt_generated', 'toyota_prius_2017_adas'),
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CAR.HIGHLANDERH: dbc_dict('toyota_highlander_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'),
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CAR.LEXUS_ISH: dbc_dict('lexus_ish_2017_pt_generated', 'toyota_prius_2017_adas'),
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}
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NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH]
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NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH]
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