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Merge branch 'devel' of https://github.com/commaai/openpilot into devel-unsupported-cars

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dragonpilot
2019-09-23 12:30:45 +10:00
parent a6273f1a36 a5ebac6ede
commit 13280acb12
4 changed files with 133 additions and 1 deletions
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README.md
+2 -1
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@@ -79,6 +79,7 @@ Supported Cars
| Honda | CR-V 2015-16 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Honda | CR-V 2017-19 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
| Honda | Fit 2018-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
| Honda | Odyssey 2018-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph | Inverted Nidec |
| Honda | Passport 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
| Honda | Pilot 2016-18 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
@@ -111,7 +112,7 @@ Supported Cars
| Toyota | Highlander Hybrid 2017-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2017-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius Prime 2017-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius Prime 2017-20 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Rav4 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
| Toyota | Rav4 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
| Toyota | Rav4 2019 | All | Yes | Yes | 0mph | 0mph | Toyota |
selfdrive/car/toyota/values.py
+4
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@@ -104,6 +104,10 @@ FINGERPRINTS = {
#2019 LE
{
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
},
#2020 Prius Prime Limited
{
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 814: 8, 824: 2, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1175: 8, 1227: 8, 1228: 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, 1595: 8, 1649: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2024: 8, 2026: 8, 2027: 8, 2029: 8, 2030: 8, 2031: 8
}],
#Corolla w/ added Pedal Support (512L and 513L)
CAR.COROLLA: [{
selfdrive/common/spinner.c
+113
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@@ -0,0 +1,113 @@
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include <math.h>
#include <unistd.h>
#include <assert.h>
#include <GLES3/gl3.h>
#include <EGL/egl.h>
#include <EGL/eglext.h>
#include "nanovg.h"
#define NANOVG_GLES3_IMPLEMENTATION
#include "nanovg_gl.h"
#include "nanovg_gl_utils.h"
#include "framebuffer.h"
#include "spinner.h"
// external resources linked in
extern const unsigned char _binary_opensans_semibold_ttf_start[];
extern const unsigned char _binary_opensans_semibold_ttf_end[];
extern const unsigned char _binary_img_spinner_track_png_start[];
extern const unsigned char _binary_img_spinner_track_png_end[];
extern const unsigned char _binary_img_spinner_comma_png_start[];
extern const unsigned char _binary_img_spinner_comma_png_end[];
int spin(int argc, char** argv) {
int err;
const char* spintext = NULL;
if (argc == 1) {
spintext = argv[0];
} else if (argc >= 2) {
spintext = argv[1];
}
// spinner
int fb_w, fb_h;
EGLDisplay display;
EGLSurface surface;
FramebufferState *fb = framebuffer_init("spinner", 0x00001000, false,
&display, &surface, &fb_w, &fb_h);
assert(fb);
NVGcontext *vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES);
assert(vg);
int font = nvgCreateFontMem(vg, "Bold", (unsigned char*)_binary_opensans_semibold_ttf_start, _binary_opensans_semibold_ttf_end-_binary_opensans_semibold_ttf_start, 0);
assert(font >= 0);
int spinner_img = nvgCreateImageMem(vg, 0, (unsigned char*)_binary_img_spinner_track_png_start, _binary_img_spinner_track_png_end - _binary_img_spinner_track_png_start);
assert(spinner_img >= 0);
int spinner_img_s = 360;
int spinner_img_x = ((fb_w/2)-(spinner_img_s/2));
int spinner_img_y = 260;
int spinner_img_xc = (fb_w/2);
int spinner_img_yc = (fb_h/2)-100;
int spinner_comma_img = nvgCreateImageMem(vg, 0, (unsigned char*)_binary_img_spinner_comma_png_start, _binary_img_spinner_comma_png_end - _binary_img_spinner_comma_png_start);
assert(spinner_comma_img >= 0);
for (int cnt = 0; ; cnt++) {
glClearColor(0.1, 0.1, 0.1, 1.0);
glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
nvgBeginFrame(vg, fb_w, fb_h, 1.0f);
// background
nvgBeginPath(vg);
NVGpaint bg = nvgLinearGradient(vg, fb_w, 0, fb_w, fb_h,
nvgRGBA(0, 0, 0, 175), nvgRGBA(0, 0, 0, 255));
nvgFillPaint(vg, bg);
nvgRect(vg, 0, 0, fb_w, fb_h);
nvgFill(vg);
// spin track
nvgSave(vg);
nvgTranslate(vg, spinner_img_xc, spinner_img_yc);
nvgRotate(vg, (3.75*M_PI * cnt/120.0));
nvgTranslate(vg, -spinner_img_xc, -spinner_img_yc);
NVGpaint spinner_imgPaint = nvgImagePattern(vg, spinner_img_x, spinner_img_y,
spinner_img_s, spinner_img_s, 0, spinner_img, 0.6f);
nvgBeginPath(vg);
nvgFillPaint(vg, spinner_imgPaint);
nvgRect(vg, spinner_img_x, spinner_img_y, spinner_img_s, spinner_img_s);
nvgFill(vg);
nvgRestore(vg);
// comma
NVGpaint comma_imgPaint = nvgImagePattern(vg, spinner_img_x, spinner_img_y,
spinner_img_s, spinner_img_s, 0, spinner_comma_img, 1.0f);
nvgBeginPath(vg);
nvgFillPaint(vg, comma_imgPaint);
nvgRect(vg, spinner_img_x, spinner_img_y, spinner_img_s, spinner_img_s);
nvgFill(vg);
// message
if (spintext) {
nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_TOP);
nvgFontSize(vg, 96.0f);
nvgText(vg, fb_w/2, (fb_h*2/3)+24, spintext, NULL);
}
nvgEndFrame(vg);
eglSwapBuffers(display, surface);
assert(glGetError() == GL_NO_ERROR);
}
return 0;
}
selfdrive/common/spinner.h
+14
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@@ -0,0 +1,14 @@
#ifndef COMMON_SPINNER_H
#define COMMON_SPINNER_H
#ifdef __cplusplus
extern "C" {
#endif
int spin(int argc, char** argv);
#ifdef __cplusplus
}
#endif
#endif