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dragonpilot 2022-12-30T07:51:42 for EON/C2
version: dragonpilot v0.9.1 beta for EON/C2 date: 2022-12-30T07:51:42 dp-dev(priv2) master commit: 4e8e00606410c2bbe03b93fc89a91caec37d1f3a
This commit is contained in:
Dragonpilot Team
@@ -50,6 +50,7 @@ selfdrive/sensord/_sensord
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||||
system/camerad/camerad
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system/camerad/test/ae_gray_test
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selfdrive/modeld/_modeld
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selfdrive/modeld/_navmodeld
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selfdrive/modeld/_dmonitoringmodeld
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/src/
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+13
-1
@@ -1,6 +1,6 @@
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dragonpilot [Latest] - EON/C2 Release
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||||
========================
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||||
* Synced with openpilot master 2022.11.25 commits.
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* Synced with openpilot master 2022.12.14 commits.
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* TWEAK: Ability to disable build-in NAV completely. (reduced CPU/memory load)
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* NEW: Lateral Controller Selector
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* Ability to select between DEFAULT / PID / LQR / Torque Controller.
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@@ -87,6 +87,18 @@ dragonpilot 2022.07.29 - EON/C2 Release
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dragonpilot [latest]
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=======================
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* Synced with openpilot master 2022.12.13 commits.
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* COMMA: New model, Toyota users can now configure SWAY settings.
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* ADDED: Dashcam for comma 3. Store in /data/media/0/video/ (@neokii)
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* ADDED: Better TSS2 Long and DF tune. @cgw1968-5779
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* NEW: Toggle to adapt Dynamic End-to-End to Following Dist. Mode.
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* NEW: Toggle to adapt Dynamic End-to-End to Accel Mode.
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* Improvement: Dynamic end to end is much more reliable and smoother experience
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* Bug fixes and improvement.
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* Happy Holiday / New Years! Safe Travel, cya in 2023!
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dragonpilot [2022.11.25]
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=======================
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* Synced with openpilot master 2022.11.25 commits.
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* ADDED: Lateral Controller Selector.
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- Ability to select between DEFAULT / PID / LQR / Torque Controller.
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+6
-2
@@ -1,7 +1,11 @@
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Version 0.9.1 (2022-12-XX)
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========================
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* New driving model
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* Adjust alert volume using ambient noise level
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* Removed driver monitoring timer resetting on interaction if face detected and distracted
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* Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
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* Genesis GV60 2023 support thanks to sunnyhaibin!
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* Hyundai Tucson 2022-23 support
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* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
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Version 0.9.0 (2022-11-21)
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========================
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+10
-3
@@ -34,7 +34,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
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buttonCancel @11;
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buttonEnable @12;
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pedalPressed @13; # exits active state
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pedalPressedPreEnable @73; # added during pre-enable state for either pedal
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preEnableStandstill @73; # added during pre-enable state with brake
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gasPressedOverride @108; # added when user is pressing gas with no disengage on gas
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steerOverride @114;
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cruiseDisabled @14;
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@@ -46,7 +46,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
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controlsMismatch @22;
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pcmEnable @23;
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pcmDisable @24;
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noTarget @25;
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radarFault @26;
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brakeHold @28;
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parkBrake @29;
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@@ -142,6 +141,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
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modelLagWarningDEPRECATED @93;
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startupOneplusDEPRECATED @82;
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startupFuzzyFingerprintDEPRECATED @97;
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noTargetDEPRECATED @25;
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}
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}
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@@ -327,6 +327,9 @@ struct CarControl {
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# Actuator commands as computed by controlsd
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actuators @6 :Actuators;
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leftBlinker @15: Bool;
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rightBlinker @16: Bool;
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# Any car specific rate limits or quirks applied by
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# the CarController are reflected in actuatorsOutput
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# and matches what is sent to the car
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@@ -344,8 +347,12 @@ struct CarControl {
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brake @1: Float32;
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# range from -1.0 - 1.0
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steer @2: Float32;
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# value sent over can to the car
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steerOutputCan @8: Float32;
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steeringAngleDeg @3: Float32;
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curvature @7: Float32;
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speed @6: Float32; # m/s
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accel @4: Float32; # m/s^2
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longControlState @5: LongControlState;
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||||
@@ -356,7 +363,6 @@ struct CarControl {
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stopping @2;
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starting @3;
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||||
}
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||||
|
||||
}
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||||
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struct CruiseControl {
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@@ -596,6 +602,7 @@ struct CarParams {
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enum SteerControlType {
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torque @0;
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angle @1;
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curvature @2;
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}
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enum TransmissionType {
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||||
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Binary file not shown.
+57
-4
@@ -655,10 +655,13 @@ struct ControlsState @0x97ff69c53601abf1 {
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||||
lateralControlState :union {
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indiState @52 :LateralINDIState;
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pidState @53 :LateralPIDState;
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lqrState @55 :LateralLQRState;
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angleState @58 :LateralAngleState;
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debugState @59 :LateralDebugState;
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torqueState @60 :LateralTorqueState;
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curvatureState @65 :LateralCurvatureState;
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#dp
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lqrState @55 :LateralLQRState;
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}
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enum OpenpilotState @0xdbe58b96d2d1ac61 {
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@@ -743,6 +746,18 @@ struct ControlsState @0x97ff69c53601abf1 {
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steeringAngleDesiredDeg @4 :Float32;
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}
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struct LateralCurvatureState {
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active @0 :Bool;
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actualCurvature @1 :Float32;
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desiredCurvature @2 :Float32;
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error @3 :Float32;
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p @4 :Float32;
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i @5 :Float32;
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f @6 :Float32;
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output @7 :Float32;
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saturated @8 :Bool;
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}
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struct LateralDebugState {
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active @0 :Bool;
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steeringAngleDeg @1 :Float32;
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@@ -2016,6 +2031,30 @@ struct NavRoute {
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}
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}
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struct MapRenderState {
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locationMonoTime @0 :UInt64;
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renderTime @1 :Float32;
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frameId @2: UInt32;
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}
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struct NavModelData {
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frameId @0 :UInt32;
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modelExecutionTime @1 :Float32;
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dspExecutionTime @2 :Float32;
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features @3 :List(Float32);
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# predicted future position
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position @4 :XYData;
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desirePrediction @5 :List(Float32);
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# All SI units and in device frame
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struct XYData {
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x @0 :List(Float32);
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y @1 :List(Float32);
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xStd @2 :List(Float32);
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yStd @3 :List(Float32);
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}
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}
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struct EncodeData {
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idx @0 :EncodeIndex;
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data @1 :Data;
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@@ -2026,6 +2065,15 @@ struct EncodeData {
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struct UserFlag {
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}
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struct Microphone {
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soundPressure @0 :Float32;
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# uncalibrated, A-weighted
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soundPressureWeighted @3 :Float32;
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soundPressureWeightedDb @1 :Float32;
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filteredSoundPressureWeightedDb @2 :Float32;
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}
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struct Event {
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logMonoTime @0 :UInt64; # nanoseconds
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valid @67 :Bool = true;
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@@ -2075,6 +2123,7 @@ struct Event {
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liveLocationKalman @72 :LiveLocationKalman;
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modelV2 @75 :ModelDataV2;
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driverStateV2 @92 :DriverStateV2;
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navModel @104 :NavModelData;
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# camera stuff, each camera state has a matching encode idx
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roadCameraState @2 :FrameData;
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@@ -2085,6 +2134,9 @@ struct Event {
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wideRoadEncodeIdx @77 :EncodeIndex;
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qRoadEncodeIdx @90 :EncodeIndex;
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# microphone data
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microphone @103 :Microphone;
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# systems stuff
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androidLog @20 :AndroidLogEntry;
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managerState @78 :ManagerState;
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@@ -2099,11 +2151,12 @@ struct Event {
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navInstruction @82 :NavInstruction;
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navRoute @83 :NavRoute;
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navThumbnail @84: Thumbnail;
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mapRenderState @105: MapRenderState;
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# UI services
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userFlag @93 :UserFlag;
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uiDebug @102 :UIDebug;
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# dp reserve 103,104
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# dp reserve 105,106
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# *********** debug ***********
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testJoystick @52 :Joystick;
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roadEncodeData @86 :EncodeData;
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@@ -2111,8 +2164,8 @@ struct Event {
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wideRoadEncodeData @88 :EncodeData;
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qRoadEncodeData @89 :EncodeData;
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dragonConf @103 :Dp.DragonConf;
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liveMapData @104: LiveMapData;
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dragonConf @106 :Dp.DragonConf;
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liveMapData @107: LiveMapData;
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# *********** legacy + deprecated ***********
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model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
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Binary file not shown.
Binary file not shown.
+14
-11
@@ -57,17 +57,20 @@ static struct service services[] = {
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{ "navInstruction", 8053, true, 1, 10 },
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{ "navRoute", 8054, true, 0, -1 },
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{ "navThumbnail", 8055, true, 0, -1 },
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{ "qRoadEncodeIdx", 8056, false, 20, -1 },
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{ "userFlag", 8057, true, 0, 1 },
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{ "uiDebug", 8058, true, 0, 1 },
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{ "testJoystick", 8059, true, 0, -1 },
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{ "roadEncodeData", 8060, false, 20, -1 },
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{ "driverEncodeData", 8061, false, 20, -1 },
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{ "wideRoadEncodeData", 8062, false, 20, -1 },
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{ "qRoadEncodeData", 8063, false, 20, -1 },
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{ "dragonConf", 8064, false, 1, -1 },
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{ "liveMapData", 8065, true, 0, -1 },
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{ "sensorEvents", 8066, true, 100, 100 },
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{ "navModel", 8056, true, 2, 4 },
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{ "mapRenderState", 8057, true, 2, 1 },
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{ "qRoadEncodeIdx", 8058, false, 20, -1 },
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{ "userFlag", 8059, true, 0, 1 },
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{ "microphone", 8060, true, 10, 10 },
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{ "uiDebug", 8061, true, 0, 1 },
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{ "testJoystick", 8062, true, 0, -1 },
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{ "roadEncodeData", 8063, false, 20, -1 },
|
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{ "driverEncodeData", 8064, false, 20, -1 },
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{ "wideRoadEncodeData", 8065, false, 20, -1 },
|
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{ "qRoadEncodeData", 8066, false, 20, -1 },
|
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{ "dragonConf", 8067, false, 1, -1 },
|
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{ "liveMapData", 8068, true, 0, -1 },
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{ "sensorEvents", 8069, true, 100, 100 },
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};
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#endif
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@@ -75,8 +75,11 @@ services = {
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"navInstruction": (True, 1., 10),
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"navRoute": (True, 0.),
|
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"navThumbnail": (True, 0.),
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"navModel": (True, 2., 4.),
|
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"mapRenderState": (True, 2., 1.),
|
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"qRoadEncodeIdx": (False, 20.),
|
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"userFlag": (True, 0., 1),
|
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"microphone": (True, 10., 10),
|
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|
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# debug
|
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"uiDebug": (True, 0., 1),
|
||||
|
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Binary file not shown.
@@ -9,6 +9,8 @@ supported_languages = {
|
||||
"main_zh-CHS": "zh-CN",
|
||||
"main_ko": "ko-KR",
|
||||
"main_ja": "ja-JP",
|
||||
"main_de": "de-DE",
|
||||
"main_pt-BR": "pt_BR",
|
||||
}
|
||||
|
||||
def events():
|
||||
|
||||
Binary file not shown.
@@ -0,0 +1,34 @@
|
||||
#pragma once
|
||||
|
||||
#include <cassert>
|
||||
#include <string>
|
||||
|
||||
#include "common/params.h"
|
||||
#include "common/util.h"
|
||||
|
||||
class OpenpilotPrefix {
|
||||
public:
|
||||
OpenpilotPrefix(std::string prefix = {}) {
|
||||
if (prefix.empty()) {
|
||||
prefix = util::random_string(15);
|
||||
}
|
||||
msgq_path = "/dev/shm/" + prefix;
|
||||
bool ret = util::create_directories(msgq_path, 0777);
|
||||
assert(ret);
|
||||
setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);
|
||||
}
|
||||
|
||||
~OpenpilotPrefix() {
|
||||
auto param_path = Params().getParamPath();
|
||||
if (util::file_exists(param_path)) {
|
||||
std::string real_path = util::readlink(param_path);
|
||||
system(util::string_format("rm %s -rf", real_path.c_str()).c_str());
|
||||
unlink(param_path.c_str());
|
||||
}
|
||||
system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str());
|
||||
unsetenv("OPENPILOT_PREFIX");
|
||||
}
|
||||
|
||||
private:
|
||||
std::string msgq_path;
|
||||
};
|
||||
@@ -75,6 +75,7 @@ int getenv(const char* key, int default_val);
|
||||
float getenv(const char* key, float default_val);
|
||||
|
||||
std::string hexdump(const uint8_t* in, const size_t size);
|
||||
std::string random_string(std::string::size_type length);
|
||||
std::string dir_name(std::string const& path);
|
||||
|
||||
// **** file fhelpers *****
|
||||
|
||||
+1
-1
@@ -1 +1 @@
|
||||
#define COMMA_VERSION "2022.12.23"
|
||||
#define COMMA_VERSION "2022.12.30"
|
||||
|
||||
+73
-67
@@ -4,21 +4,22 @@
|
||||
|
||||
A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
|
||||
|
||||
# 215 Supported Cars
|
||||
# 220 Supported Cars
|
||||
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[](##)|[](##)|Honda Nidec|
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
|
||||
|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM|
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM|
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM|
|
||||
|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|FCA|
|
||||
@@ -31,7 +32,8 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai F|
|
||||
|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|
||||
|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai C|
|
||||
|Genesis|GV70 2022-23|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai L|
|
||||
|Genesis|GV60 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K|
|
||||
|Genesis|GV70 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai L|
|
||||
|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM|
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
|
||||
@@ -59,9 +61,9 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai E|
|
||||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K|
|
||||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|Hyundai J|
|
||||
|Hyundai|i30 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai E|
|
||||
|Hyundai|Ioniq 5 (with HDA II) 2022-23|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai Q|
|
||||
|Hyundai|Ioniq 5 (without HDA II) 2022-23|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K|
|
||||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai E|
|
||||
|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai Q|
|
||||
|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K|
|
||||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai C|
|
||||
|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|
||||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai C|
|
||||
@@ -73,7 +75,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai O|
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai I|
|
||||
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|
||||
|Hyundai|Santa Cruz 2021-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N|
|
||||
|Hyundai|Santa Cruz 2021-22[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N|
|
||||
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai D|
|
||||
|Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L|
|
||||
|Hyundai|Santa Fe Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L|
|
||||
@@ -82,14 +84,16 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Hyundai|Sonata 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai A|
|
||||
|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai A|
|
||||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|Hyundai L|
|
||||
|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N|
|
||||
|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N|
|
||||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L|
|
||||
|Hyundai|Tucson Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai N|
|
||||
|Hyundai|Tucson Hybrid 2022[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai N|
|
||||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|Hyundai E|
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|FCA|
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
|
||||
|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai E|
|
||||
|Kia|EV6 (with HDA II) 2022|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai P|
|
||||
|Kia|EV6 (without HDA II) 2022|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L|
|
||||
|Kia|EV6 (with HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai P|
|
||||
|Kia|EV6 (without HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L|
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai G|
|
||||
|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai A|
|
||||
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|
||||
@@ -104,8 +108,9 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai A|
|
||||
|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai C|
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai E|
|
||||
|Kia|Sportage 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N|
|
||||
|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai N|
|
||||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai A|
|
||||
|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N|
|
||||
|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai N|
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai C|
|
||||
|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai K|
|
||||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|
||||
@@ -127,17 +132,17 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[](##)|[](##)|Mazda|
|
||||
|Mazda|CX-9 2021-22|All|Stock|0 mph|28 mph|[](##)|[](##)|Mazda|
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|Mazda|
|
||||
|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan B|
|
||||
|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan A|
|
||||
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan A|
|
||||
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan A|
|
||||
|Ram|1500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[](##)|[](##)|Ram|
|
||||
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
|
||||
|Subaru|Crosstrek 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
|
||||
|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
|
||||
@@ -145,13 +150,13 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|Subaru B|
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
|
||||
|Škoda|Kamiq 2021[<sup>6</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[<sup>9</sup>](#footnotes)|
|
||||
|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[<sup>9</sup>](#footnotes)|
|
||||
|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[<sup>10</sup>](#footnotes)|
|
||||
|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[<sup>10</sup>](#footnotes)|
|
||||
|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
@@ -162,10 +167,10 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>5</sup>](#footnotes)|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Camry 2021-22|All|openpilot|0 mph[<sup>5</sup>](#footnotes)|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Camry 2021-22|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Camry Hybrid 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
@@ -192,48 +197,49 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Passat 2015-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[<sup>9</sup>](#footnotes)|
|
||||
|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[<sup>9</sup>](#footnotes)|
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[<sup>9</sup>](#footnotes)|
|
||||
|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[<sup>9</sup>](#footnotes)|
|
||||
|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Tiguan 2019-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[<sup>10</sup>](#footnotes)|
|
||||
|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[<sup>10</sup>](#footnotes)|
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[<sup>10</sup>](#footnotes)|
|
||||
|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533[<sup>10</sup>](#footnotes)|
|
||||
|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Tiguan 2019-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|
||||
<a id="footnotes"></a>
|
||||
<sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
|
||||
<sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
|
||||
<sup>3</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
|
||||
<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
|
||||
<sup>5</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>6</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>7</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>8</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>9</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
<sup>5</sup>Requires a <a href="https://comma.ai/shop/panda" target="_blank">red panda</a>, additional <a href="https://comma.ai/shop/harness-box" target="_blank">harness box</a>, additional <a href="https://comma.ai/shop/obd-c-cable" target="_blank">OBD-C cable</a>, USB-A to USB-A cable, and a USB-A to USB-C OTG dongle. <br />
|
||||
<sup>6</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>7</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>8</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>9</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>10</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
|
||||
## Community Maintained Cars
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
|
||||
+1
-1
@@ -8,4 +8,4 @@ Additionally, on specific supported cars (see ACC column in [supported cars](CAR
|
||||
* Stock ACC is replaced by openpilot ACC.
|
||||
* openpilot FCW operates in addition to stock FCW.
|
||||
|
||||
openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
|
||||
openpilot should preserve all other vehicle's stock features, including, but not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
|
||||
|
||||
+7
-2
@@ -296,10 +296,15 @@ function launch {
|
||||
|
||||
# start manager
|
||||
cd selfdrive/manager
|
||||
if [ ! -f "/data/params/d/OsmLocal" ]; then
|
||||
./build.py && ./manager.py
|
||||
if [ -f /data/params/d/OsmLocal ]; then
|
||||
OSM_LOCAL=`cat /data/params/d/OsmLocal`
|
||||
else
|
||||
OSM_LOCAL="0"
|
||||
fi
|
||||
if [ $OSM_LOCAL = "1" ]; then
|
||||
./build.py && ./local_osm_install.py && ./manager.py
|
||||
else
|
||||
./build.py && ./manager.py
|
||||
fi
|
||||
|
||||
# if broken, keep on screen error
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -140,6 +140,7 @@ BO_ 452 AcceleratorPedal2: 8 XXX
|
||||
BO_ 481 ASCMSteeringButton: 7 K124_ASCM
|
||||
SG_ DistanceButton : 22|1@0+ (1,0) [0|0] "" NEO
|
||||
SG_ LKAButton : 23|1@0+ (1,0) [0|0] "" NEO
|
||||
SG_ ACCAlwaysOne : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCButtons : 46|3@0+ (1,0) [0|0] "" NEO
|
||||
SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO
|
||||
@@ -285,6 +286,7 @@ CM_ BO_ 190 "Length varies from 6 to 8 bytes by car";
|
||||
CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62";
|
||||
CM_ SG_ 352 Ignition "Non-zero when ignition is on";
|
||||
CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62";
|
||||
CM_ SG_ 481 ACCAlwaysOne "Usually 1 if the car is equipped with ACC";
|
||||
CM_ SG_ 497 Ignition "Describes ignition + preconditioning mode, noisy";
|
||||
CM_ SG_ 501 PRNDL2 "When ManualMode is Active, Value is 13=L1 12=L2 11=L3 ... 4=L10";
|
||||
CM_ SG_ 532 UserBrakePressure "can be lower than other brake position signals when the brakes are pre-filled from ACC braking and the user presses on the brakes. user-only pressure?";
|
||||
|
||||
@@ -83,9 +83,10 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "km/h" XXX
|
||||
SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 552 ACCELEROMETER: 8 XXX
|
||||
@@ -164,8 +165,9 @@ BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 865 CLUTCH: 8 XXX
|
||||
SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX
|
||||
SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -180,6 +182,7 @@ 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_ TEMP_ACC_FAULTED : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 951 ESP_CONTROL: 8 ESP
|
||||
@@ -371,6 +374,7 @@ CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; n
|
||||
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_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
|
||||
CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
|
||||
CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, 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?";
|
||||
@@ -392,7 +396,9 @@ CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front
|
||||
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_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals.";
|
||||
CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT.";
|
||||
CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit";
|
||||
CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on.";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 956 GEAR "on 6MT, only R shows.";
|
||||
CM_ SG_ 1009 UI_SET_SPEED "units seem to be whatever the car is set to";
|
||||
|
||||
@@ -8,10 +8,11 @@ BO_ 401 STEERING_LTA: 8 XXX
|
||||
SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
|
||||
SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STEER_REQUEST_2 : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LKA_ACTIVE : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_REQUEST_2 : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 550 BRAKE_MODULE: 8 XXX
|
||||
@@ -38,9 +39,10 @@ CM_ SG_ 401 PERCENTAGE "driver override percentage (0-100), very close to steeri
|
||||
CM_ SG_ 401 SETME_X64 "ramps to 0 smoothly then back on falling edge of STEER_REQUEST if BIT isn't 1";
|
||||
CM_ SG_ 401 ANGLE "angle of car relative to lane center on LTA camera";
|
||||
CM_ SG_ 401 STEER_ANGLE_CMD "desired angle, OEM steers up to 95 degrees, no angle limit but torque will bottom out";
|
||||
CM_ SG_ 401 STEER_REQUEST "enable bit for steering, 1 to steer, 0 to not";
|
||||
CM_ SG_ 401 BIT "has correlation to STEER_REQUEST";
|
||||
CM_ SG_ 401 STEER_REQUEST "enable bit for steering, 1 to steer, 0 to not";
|
||||
CM_ SG_ 401 STEER_REQUEST_2 "enable bit for steering, 1 to steer, 0 to not";
|
||||
CM_ SG_ 401 LKA_ACTIVE "1 when using LTA for LKA";
|
||||
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_ 610 TYPE "seems 1 on Corolla, 0 on all others";
|
||||
@@ -52,5 +54,5 @@ 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";
|
||||
|
||||
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
|
||||
VAL_ 610 LKA_STATE 25 "temporary_fault" 17 "permanent_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
|
||||
VAL_ 610 LTA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
|
||||
VAL_ 610 LKA_STATE 25 "temporary_fault" 17 "permanent_fault" 11 "lka_missing_unavailable2" 9 "temporary_fault2" 5 "active" 3 "lka_missing_unavailable" 1 "standby";
|
||||
VAL_ 610 LTA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 3 "lta_missing_unavailable" 1 "standby";
|
||||
|
||||
@@ -160,6 +160,7 @@ BO_ 452 AcceleratorPedal2: 8 XXX
|
||||
BO_ 481 ASCMSteeringButton: 7 K124_ASCM
|
||||
SG_ DistanceButton : 22|1@0+ (1,0) [0|0] "" NEO
|
||||
SG_ LKAButton : 23|1@0+ (1,0) [0|0] "" NEO
|
||||
SG_ ACCAlwaysOne : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCButtons : 46|3@0+ (1,0) [0|0] "" NEO
|
||||
SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO
|
||||
@@ -305,6 +306,7 @@ CM_ BO_ 190 "Length varies from 6 to 8 bytes by car";
|
||||
CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62";
|
||||
CM_ SG_ 352 Ignition "Non-zero when ignition is on";
|
||||
CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62";
|
||||
CM_ SG_ 481 ACCAlwaysOne "Usually 1 if the car is equipped with ACC";
|
||||
CM_ SG_ 497 Ignition "Describes ignition + preconditioning mode, noisy";
|
||||
CM_ SG_ 501 PRNDL2 "When ManualMode is Active, Value is 13=L1 12=L2 11=L3 ... 4=L10";
|
||||
CM_ SG_ 532 UserBrakePressure "can be lower than other brake position signals when the brakes are pre-filled from ACC braking and the user presses on the brakes. user-only pressure?";
|
||||
|
||||
@@ -33,7 +33,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX CAMERA FRONT_RADAR ADRV
|
||||
BU_: XXX CAMERA FRONT_RADAR ADRV APRK
|
||||
|
||||
|
||||
BO_ 53 ACCELERATOR: 32 XXX
|
||||
@@ -144,6 +144,17 @@ BO_ 304 GEAR_SHIFTER: 16 XXX
|
||||
SG_ GEAR : 64|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ KNOB_POSITION : 40|3@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 357 SPAS1: 24 APRK
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|0] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 96|16@1- (0.1,0) [0|0] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 90|3@1+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 362 SPAS2: 32 APRK
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|0] "" XXX
|
||||
SG_ BLINKER_CONTROL : 133|3@1+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 373 TCS: 24 XXX
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
@@ -162,6 +173,7 @@ BO_ 373 TCS: 24 XXX
|
||||
SG_ DriverBrakingLowSens : 84|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_REQ : 68|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_REF_ACC : 48|11@1- (1,0) [0|1023] "" XXX
|
||||
SG_ ACCEnable : 67|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 352 ADRV_0x160: 16 ADRV
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
@@ -238,7 +250,8 @@ BO_ 426 CRUISE_BUTTONS_ALT: 16 XXX
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 24|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ SET_ME_1 : 28|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ SET_ME_1 : 28|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ DISTANCE_UNIT : 30|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 31|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ ADAPTIVE_CRUISE_MAIN_BTN : 34|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 35|1@1+ (1,0) [0|1] "" XXX
|
||||
@@ -539,6 +552,7 @@ BO_ 506 CLUSTER_SPEED_LIMIT: 32 XXX
|
||||
CM_ SG_ 96 BRAKE_PRESSURE "User applied brake pedal pressure. Ramps from computer applied pressure on falling edge of cruise. Cruise cancels if !=0";
|
||||
CM_ SG_ 101 BRAKE_POSITION "User applied brake pedal position, max is ~700. Signed on some vehicles";
|
||||
CM_ SG_ 373 PROBABLY_EQUIP "aeb equip?";
|
||||
CM_ SG_ 373 ACCEnable "Likely a copy of CAN's TCS13->ACCEnable";
|
||||
CM_ SG_ 373 DriverBraking "Likely derived from BRAKE->BRAKE_POSITION";
|
||||
CM_ SG_ 373 DriverBrakingLowSens "Higher threshold version of DriverBraking";
|
||||
CM_ SG_ 352 SET_ME_9 "has something to do with AEB settings";
|
||||
@@ -556,6 +570,8 @@ VAL_ 298 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green" ;
|
||||
VAL_ 298 LKA_MODE 1 "warning only" 2 "assist" 6 "off" ;
|
||||
VAL_ 304 GEAR 1 "P" 2 "R" 3 "N" 4 "D" ;
|
||||
VAL_ 352 AEB_SETTING 1 "off" 2 "warning only" 3 "active assist" ;
|
||||
VAL_ 362 BLINKER_CONTROL 1 "hazards" 2 "hazards button backlight" 3 "left blinkers" 4 "right blinkers";
|
||||
VAL_ 373 ACCEnable 0 "SCC ready" 1 "SCC temp fault" 2 "SCC permanent fault" 3 "SCC permanent fault, communication issue";
|
||||
VAL_ 416 ACCMode 0 "off" 1 "enabled" 2 "driver_override" 3 "off_maybe_fault" 4 "cancelled" ;
|
||||
VAL_ 426 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4 "pause_resume" ;
|
||||
VAL_ 463 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4 "pause_resume" ;
|
||||
|
||||
@@ -128,9 +128,10 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "km/h" XXX
|
||||
SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 552 ACCELEROMETER: 8 XXX
|
||||
@@ -209,8 +210,9 @@ BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 865 CLUTCH: 8 XXX
|
||||
SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX
|
||||
SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -225,6 +227,7 @@ 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_ TEMP_ACC_FAULTED : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 951 ESP_CONTROL: 8 ESP
|
||||
@@ -416,6 +419,7 @@ CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; n
|
||||
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_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
|
||||
CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
|
||||
CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, 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?";
|
||||
@@ -437,7 +441,9 @@ CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front
|
||||
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_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals.";
|
||||
CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT.";
|
||||
CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit";
|
||||
CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on.";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 956 GEAR "on 6MT, only R shows.";
|
||||
CM_ SG_ 1009 UI_SET_SPEED "units seem to be whatever the car is set to";
|
||||
|
||||
@@ -128,9 +128,10 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "km/h" XXX
|
||||
SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 552 ACCELEROMETER: 8 XXX
|
||||
@@ -209,8 +210,9 @@ BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 865 CLUTCH: 8 XXX
|
||||
SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX
|
||||
SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -225,6 +227,7 @@ 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_ TEMP_ACC_FAULTED : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 951 ESP_CONTROL: 8 ESP
|
||||
@@ -417,6 +420,7 @@ CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; n
|
||||
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_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
|
||||
CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
|
||||
CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, 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?";
|
||||
@@ -438,7 +442,9 @@ CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front
|
||||
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_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals.";
|
||||
CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT.";
|
||||
CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit";
|
||||
CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on.";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 956 GEAR "on 6MT, only R shows.";
|
||||
CM_ SG_ 1009 UI_SET_SPEED "units seem to be whatever the car is set to";
|
||||
@@ -541,10 +547,11 @@ BO_ 401 STEERING_LTA: 8 XXX
|
||||
SG_ SETME_X64 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
|
||||
SG_ STEER_REQUEST : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STEER_REQUEST_2 : 25|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LKA_ACTIVE : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BIT : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_REQUEST_2 : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 550 BRAKE_MODULE: 8 XXX
|
||||
@@ -571,9 +578,10 @@ CM_ SG_ 401 PERCENTAGE "driver override percentage (0-100), very close to steeri
|
||||
CM_ SG_ 401 SETME_X64 "ramps to 0 smoothly then back on falling edge of STEER_REQUEST if BIT isn't 1";
|
||||
CM_ SG_ 401 ANGLE "angle of car relative to lane center on LTA camera";
|
||||
CM_ SG_ 401 STEER_ANGLE_CMD "desired angle, OEM steers up to 95 degrees, no angle limit but torque will bottom out";
|
||||
CM_ SG_ 401 STEER_REQUEST "enable bit for steering, 1 to steer, 0 to not";
|
||||
CM_ SG_ 401 BIT "has correlation to STEER_REQUEST";
|
||||
CM_ SG_ 401 STEER_REQUEST "enable bit for steering, 1 to steer, 0 to not";
|
||||
CM_ SG_ 401 STEER_REQUEST_2 "enable bit for steering, 1 to steer, 0 to not";
|
||||
CM_ SG_ 401 LKA_ACTIVE "1 when using LTA for LKA";
|
||||
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_ 610 TYPE "seems 1 on Corolla, 0 on all others";
|
||||
@@ -585,5 +593,5 @@ 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";
|
||||
|
||||
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
|
||||
VAL_ 610 LKA_STATE 25 "temporary_fault" 17 "permanent_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
|
||||
VAL_ 610 LTA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
|
||||
VAL_ 610 LKA_STATE 25 "temporary_fault" 17 "permanent_fault" 11 "lka_missing_unavailable2" 9 "temporary_fault2" 5 "active" 3 "lka_missing_unavailable" 1 "standby";
|
||||
VAL_ 610 LTA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 3 "lta_missing_unavailable" 1 "standby";
|
||||
|
||||
@@ -128,9 +128,10 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "km/h" XXX
|
||||
SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 552 ACCELEROMETER: 8 XXX
|
||||
@@ -209,8 +210,9 @@ BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 865 CLUTCH: 8 XXX
|
||||
SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX
|
||||
SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -225,6 +227,7 @@ 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_ TEMP_ACC_FAULTED : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 951 ESP_CONTROL: 8 ESP
|
||||
@@ -416,6 +419,7 @@ CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; n
|
||||
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_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
|
||||
CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
|
||||
CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, 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?";
|
||||
@@ -437,7 +441,9 @@ CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front
|
||||
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_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals.";
|
||||
CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT.";
|
||||
CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit";
|
||||
CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on.";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 956 GEAR "on 6MT, only R shows.";
|
||||
CM_ SG_ 1009 UI_SET_SPEED "units seem to be whatever the car is set to";
|
||||
|
||||
@@ -18,3 +18,6 @@ examples/output.csv
|
||||
nosetests.xml
|
||||
.mypy_cache/
|
||||
.sconsign.dblite
|
||||
|
||||
# CTU info files generated by Cppcheck
|
||||
*.*.ctu-info
|
||||
|
||||
+1
-1
@@ -1,7 +1,7 @@
|
||||
from .python import (Panda, PandaDFU, # noqa: F401
|
||||
BASEDIR, pack_can_buffer, unpack_can_buffer,
|
||||
DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, MCU_TYPE_F4, DLC_TO_LEN, LEN_TO_DLC,
|
||||
ALTERNATIVE_EXPERIENCE)
|
||||
ALTERNATIVE_EXPERIENCE, USBPACKET_MAX_SIZE)
|
||||
|
||||
from .python.serial import PandaSerial # noqa: F401
|
||||
|
||||
|
||||
Binary file not shown.
Binary file not shown.
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+48
-51
@@ -29,17 +29,18 @@ BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
|
||||
|
||||
DEBUG = os.getenv("PANDADEBUG") is not None
|
||||
|
||||
CAN_TRANSACTION_MAGIC = struct.pack("<I", 0x43414E2F)
|
||||
USBPACKET_MAX_SIZE = 0x40
|
||||
CANPACKET_HEAD_SIZE = 0x5
|
||||
DLC_TO_LEN = [0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64]
|
||||
LEN_TO_DLC = {length: dlc for (dlc, length) in enumerate(DLC_TO_LEN)}
|
||||
|
||||
def pack_can_buffer(arr):
|
||||
snds = [b'']
|
||||
idx = 0
|
||||
snds = [CAN_TRANSACTION_MAGIC]
|
||||
for address, _, dat, bus in arr:
|
||||
assert len(dat) in LEN_TO_DLC
|
||||
if DEBUG:
|
||||
print(f" W 0x{address:x}: 0x{dat.hex()}")
|
||||
#logging.debug(" W 0x%x: 0x%s", address, dat.hex())
|
||||
|
||||
extended = 1 if address >= 0x800 else 0
|
||||
data_len_code = LEN_TO_DLC[len(dat)]
|
||||
header = bytearray(5)
|
||||
@@ -49,57 +50,50 @@ def pack_can_buffer(arr):
|
||||
header[2] = (word_4b >> 8) & 0xFF
|
||||
header[3] = (word_4b >> 16) & 0xFF
|
||||
header[4] = (word_4b >> 24) & 0xFF
|
||||
snds[idx] += header + dat
|
||||
if len(snds[idx]) > 256: # Limit chunks to 256 bytes
|
||||
snds.append(b'')
|
||||
idx += 1
|
||||
|
||||
# Apply counter to each 64 byte packet
|
||||
for idx in range(len(snds)):
|
||||
tx = b''
|
||||
counter = 0
|
||||
for i in range (0, len(snds[idx]), 63):
|
||||
tx += bytes([counter]) + snds[idx][i:i+63]
|
||||
counter += 1
|
||||
snds[idx] = tx
|
||||
snds[-1] += header + dat
|
||||
if len(snds[-1]) > 256: # Limit chunks to 256 bytes
|
||||
snds.append(CAN_TRANSACTION_MAGIC)
|
||||
|
||||
return snds
|
||||
|
||||
def unpack_can_buffer(dat):
|
||||
ret = []
|
||||
counter = 0
|
||||
tail = bytearray()
|
||||
for i in range(0, len(dat), 64):
|
||||
if counter != dat[i]:
|
||||
print("CAN: LOST RECV PACKET COUNTER")
|
||||
break
|
||||
counter+=1
|
||||
chunk = tail + dat[i+1:i+64]
|
||||
tail = bytearray()
|
||||
pos = 0
|
||||
while pos<len(chunk):
|
||||
data_len = DLC_TO_LEN[(chunk[pos]>>4)]
|
||||
pckt_len = CANPACKET_HEAD_SIZE + data_len
|
||||
if pckt_len <= len(chunk[pos:]):
|
||||
header = chunk[pos:pos+CANPACKET_HEAD_SIZE]
|
||||
if len(header) < 5:
|
||||
print("CAN: MALFORMED USB RECV PACKET")
|
||||
break
|
||||
bus = (header[0] >> 1) & 0x7
|
||||
address = (header[4] << 24 | header[3] << 16 | header[2] << 8 | header[1]) >> 3
|
||||
returned = (header[1] >> 1) & 0x1
|
||||
rejected = header[1] & 0x1
|
||||
data = chunk[pos + CANPACKET_HEAD_SIZE:pos + CANPACKET_HEAD_SIZE + data_len]
|
||||
if returned:
|
||||
bus += 128
|
||||
if rejected:
|
||||
bus += 192
|
||||
if DEBUG:
|
||||
print(f" R 0x{address:x}: 0x{data.hex()}")
|
||||
ret.append((address, 0, data, bus))
|
||||
pos += pckt_len
|
||||
else:
|
||||
tail = chunk[pos:]
|
||||
break
|
||||
if len(dat) < len(CAN_TRANSACTION_MAGIC):
|
||||
return ret
|
||||
|
||||
if dat[:len(CAN_TRANSACTION_MAGIC)] != CAN_TRANSACTION_MAGIC:
|
||||
logging.error("CAN: recv didn't start with magic")
|
||||
return ret
|
||||
|
||||
dat = dat[len(CAN_TRANSACTION_MAGIC):]
|
||||
|
||||
while len(dat) >= CANPACKET_HEAD_SIZE:
|
||||
data_len = DLC_TO_LEN[(dat[0]>>4)]
|
||||
|
||||
header = dat[:CANPACKET_HEAD_SIZE]
|
||||
dat = dat[CANPACKET_HEAD_SIZE:]
|
||||
|
||||
bus = (header[0] >> 1) & 0x7
|
||||
address = (header[4] << 24 | header[3] << 16 | header[2] << 8 | header[1]) >> 3
|
||||
|
||||
if (header[1] >> 1) & 0x1:
|
||||
# returned
|
||||
bus += 128
|
||||
if header[1] & 0x1:
|
||||
# rejected
|
||||
bus += 192
|
||||
|
||||
data = dat[:data_len]
|
||||
dat = dat[data_len:]
|
||||
|
||||
#logging.debug(" R 0x%x: 0x%s", address, data.hex())
|
||||
|
||||
ret.append((address, 0, data, bus))
|
||||
|
||||
if len(dat) > 0:
|
||||
logging.error("CAN: malformed packet. leftover data")
|
||||
|
||||
return ret
|
||||
|
||||
def ensure_health_packet_version(fn):
|
||||
@@ -167,6 +161,8 @@ class Panda:
|
||||
SAFETY_FAW = 26
|
||||
SAFETY_BODY = 27
|
||||
SAFETY_HYUNDAI_CANFD = 28
|
||||
SAFETY_VOLVO_C1 = 29
|
||||
SAFETY_VOLVO_EUCD = 30
|
||||
|
||||
SERIAL_DEBUG = 0
|
||||
SERIAL_ESP = 1
|
||||
@@ -191,7 +187,7 @@ class Panda:
|
||||
HW_TYPE_RED_PANDA_V2 = b'\x08'
|
||||
HW_TYPE_TRES = b'\x09'
|
||||
|
||||
CAN_PACKET_VERSION = 2
|
||||
CAN_PACKET_VERSION = 3
|
||||
HEALTH_PACKET_VERSION = 11
|
||||
CAN_HEALTH_PACKET_VERSION = 3
|
||||
HEALTH_STRUCT = struct.Struct("<IIIIIIIIIBBBBBBHBBBHfBBB")
|
||||
@@ -222,6 +218,7 @@ class Panda:
|
||||
FLAG_HYUNDAI_CAMERA_SCC = 8
|
||||
FLAG_HYUNDAI_CANFD_HDA2 = 16
|
||||
FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 32
|
||||
FLAG_HYUNDAI_ALT_LIMITS = 64
|
||||
|
||||
FLAG_TESLA_POWERTRAIN = 1
|
||||
FLAG_TESLA_LONG_CONTROL = 2
|
||||
|
||||
@@ -20,10 +20,10 @@ if os.path.exists('/data/params/d/dp_atl'):
|
||||
atl_enabled = True
|
||||
|
||||
sspoof_enabled = False
|
||||
if os.path.exists('/data/params/d/dp_sspoof'):
|
||||
with open('/data/params/d/dp_sspoof') as f:
|
||||
if (int(f.read().strip())) != 0:
|
||||
sspoof_enabled = True
|
||||
# if os.path.exists('/data/params/d/dp_sspoof'):
|
||||
# with open('/data/params/d/dp_sspoof') as f:
|
||||
# if (int(f.read().strip())) != 0:
|
||||
# sspoof_enabled = True
|
||||
|
||||
if atl_enabled and sspoof_enabled and os.path.exists(TESTING_SSPOOF_FW_FN):
|
||||
DEFAULT_FW_FN = TESTING_SSPOOF_FW_FN
|
||||
|
||||
Binary file not shown.
@@ -14,10 +14,10 @@ if [ -f /data/params/d/dp_atl ] && [ $ATL != "0" ]; then
|
||||
fi
|
||||
|
||||
SSPOOF_ENABLED=0
|
||||
SSPOOF=`cat /data/params/d/dp_sspoof`
|
||||
if [ -f /data/params/d/dp_sspoof ] && [ $SSPOOF != "0" ]; then
|
||||
SSPOOF_ENABLED=1
|
||||
fi
|
||||
#SSPOOF=`cat /data/params/d/dp_sspoof`
|
||||
#if [ -f /data/params/d/dp_sspoof ] && [ $SSPOOF != "0" ]; then
|
||||
# SSPOOF_ENABLED=1
|
||||
#fi
|
||||
|
||||
FW=$DEFAULT_FW_FN
|
||||
if [ "$ATL_ENABLED" = "1" ] && [ "$SSPOOF_ENABLED" = "1" ] && [ -f $TESTING_SSPOOF_FW_FN ]; then
|
||||
|
||||
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+134
-89
@@ -1,4 +1,6 @@
|
||||
#!/usr/bin/env python3
|
||||
from __future__ import annotations
|
||||
|
||||
import base64
|
||||
import bz2
|
||||
import hashlib
|
||||
@@ -14,14 +16,15 @@ import sys
|
||||
import tempfile
|
||||
import threading
|
||||
import time
|
||||
from collections import namedtuple
|
||||
from dataclasses import asdict, dataclass, replace
|
||||
from datetime import datetime
|
||||
from functools import partial
|
||||
from typing import Any, Dict
|
||||
from queue import Queue
|
||||
from typing import BinaryIO, Callable, Dict, List, Optional, Set, Union, cast
|
||||
|
||||
import requests
|
||||
from jsonrpc import JSONRPCResponseManager, dispatcher
|
||||
from websocket import (ABNF, WebSocketException, WebSocketTimeoutException,
|
||||
from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
|
||||
create_connection)
|
||||
|
||||
import cereal.messaging as messaging
|
||||
@@ -54,19 +57,54 @@ WS_FRAME_SIZE = 4096
|
||||
|
||||
NetworkType = log.DeviceState.NetworkType
|
||||
|
||||
UploadFileDict = Dict[str, Union[str, int, float, bool]]
|
||||
UploadItemDict = Dict[str, Union[str, bool, int, float, Dict[str, str]]]
|
||||
|
||||
UploadFilesToUrlResponse = Dict[str, Union[int, List[UploadItemDict], List[str]]]
|
||||
|
||||
|
||||
@dataclass
|
||||
class UploadFile:
|
||||
fn: str
|
||||
url: str
|
||||
headers: Dict[str, str]
|
||||
allow_cellular: bool
|
||||
|
||||
@classmethod
|
||||
def from_dict(cls, d: Dict) -> UploadFile:
|
||||
return cls(d.get("fn", ""), d.get("url", ""), d.get("headers", {}), d.get("allow_cellular", False))
|
||||
|
||||
|
||||
@dataclass
|
||||
class UploadItem:
|
||||
path: str
|
||||
url: str
|
||||
headers: Dict[str, str]
|
||||
created_at: int
|
||||
id: Optional[str]
|
||||
retry_count: int = 0
|
||||
current: bool = False
|
||||
progress: float = 0
|
||||
allow_cellular: bool = False
|
||||
|
||||
@classmethod
|
||||
def from_dict(cls, d: Dict) -> UploadItem:
|
||||
return cls(d["path"], d["url"], d["headers"], d["created_at"], d["id"], d["retry_count"], d["current"],
|
||||
d["progress"], d["allow_cellular"])
|
||||
|
||||
|
||||
dispatcher["echo"] = lambda s: s
|
||||
recv_queue: Any = queue.Queue()
|
||||
send_queue: Any = queue.Queue()
|
||||
upload_queue: Any = queue.Queue()
|
||||
low_priority_send_queue: Any = queue.Queue()
|
||||
log_recv_queue: Any = queue.Queue()
|
||||
cancelled_uploads: Any = set()
|
||||
UploadItem = namedtuple('UploadItem', ['path', 'url', 'headers', 'created_at', 'id', 'retry_count', 'current', 'progress', 'allow_cellular'], defaults=(0, False, 0, False))
|
||||
recv_queue: Queue[str] = queue.Queue()
|
||||
send_queue: Queue[str] = queue.Queue()
|
||||
upload_queue: Queue[UploadItem] = queue.Queue()
|
||||
low_priority_send_queue: Queue[str] = queue.Queue()
|
||||
log_recv_queue: Queue[str] = queue.Queue()
|
||||
cancelled_uploads: Set[str] = set()
|
||||
|
||||
cur_upload_items: Dict[int, Any] = {}
|
||||
cur_upload_items: Dict[int, Optional[UploadItem]] = {}
|
||||
|
||||
|
||||
def strip_bz2_extension(fn):
|
||||
def strip_bz2_extension(fn: str) -> str:
|
||||
if fn.endswith('.bz2'):
|
||||
return fn[:-4]
|
||||
return fn
|
||||
@@ -76,29 +114,30 @@ class AbortTransferException(Exception):
|
||||
pass
|
||||
|
||||
|
||||
class UploadQueueCache():
|
||||
class UploadQueueCache:
|
||||
params = Params()
|
||||
|
||||
@staticmethod
|
||||
def initialize(upload_queue):
|
||||
def initialize(upload_queue: Queue[UploadItem]) -> None:
|
||||
try:
|
||||
upload_queue_json = UploadQueueCache.params.get("AthenadUploadQueue")
|
||||
if upload_queue_json is not None:
|
||||
for item in json.loads(upload_queue_json):
|
||||
upload_queue.put(UploadItem(**item))
|
||||
upload_queue.put(UploadItem.from_dict(item))
|
||||
except Exception:
|
||||
cloudlog.exception("athena.UploadQueueCache.initialize.exception")
|
||||
|
||||
@staticmethod
|
||||
def cache(upload_queue):
|
||||
def cache(upload_queue: Queue[UploadItem]) -> None:
|
||||
try:
|
||||
items = [i._asdict() for i in upload_queue.queue if i.id not in cancelled_uploads]
|
||||
queue: List[Optional[UploadItem]] = list(upload_queue.queue)
|
||||
items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)]
|
||||
UploadQueueCache.params.put("AthenadUploadQueue", json.dumps(items))
|
||||
except Exception:
|
||||
cloudlog.exception("athena.UploadQueueCache.cache.exception")
|
||||
|
||||
|
||||
def handle_long_poll(ws):
|
||||
def handle_long_poll(ws: WebSocket) -> None:
|
||||
end_event = threading.Event()
|
||||
|
||||
threads = [
|
||||
@@ -126,7 +165,7 @@ def handle_long_poll(ws):
|
||||
thread.join()
|
||||
|
||||
|
||||
def jsonrpc_handler(end_event):
|
||||
def jsonrpc_handler(end_event: threading.Event) -> None:
|
||||
dispatcher["startLocalProxy"] = partial(startLocalProxy, end_event)
|
||||
while not end_event.is_set():
|
||||
try:
|
||||
@@ -147,11 +186,12 @@ def jsonrpc_handler(end_event):
|
||||
|
||||
|
||||
def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = True) -> None:
|
||||
if cur_upload_items[tid].retry_count < MAX_RETRY_COUNT:
|
||||
item = cur_upload_items[tid]
|
||||
item = cur_upload_items[tid]
|
||||
if item is not None and item.retry_count < MAX_RETRY_COUNT:
|
||||
new_retry_count = item.retry_count + 1 if increase_count else item.retry_count
|
||||
|
||||
item = item._replace(
|
||||
item = replace(
|
||||
item,
|
||||
retry_count=new_retry_count,
|
||||
progress=0,
|
||||
current=False
|
||||
@@ -175,44 +215,44 @@ def upload_handler(end_event: threading.Event) -> None:
|
||||
cur_upload_items[tid] = None
|
||||
|
||||
try:
|
||||
cur_upload_items[tid] = upload_queue.get(timeout=1)._replace(current=True)
|
||||
cur_upload_items[tid] = item = replace(upload_queue.get(timeout=1), current=True)
|
||||
|
||||
if cur_upload_items[tid].id in cancelled_uploads:
|
||||
cancelled_uploads.remove(cur_upload_items[tid].id)
|
||||
if item.id in cancelled_uploads:
|
||||
cancelled_uploads.remove(item.id)
|
||||
continue
|
||||
|
||||
# Remove item if too old
|
||||
age = datetime.now() - datetime.fromtimestamp(cur_upload_items[tid].created_at / 1000)
|
||||
age = datetime.now() - datetime.fromtimestamp(item.created_at / 1000)
|
||||
if age.total_seconds() > MAX_AGE:
|
||||
cloudlog.event("athena.upload_handler.expired", item=cur_upload_items[tid], error=True)
|
||||
cloudlog.event("athena.upload_handler.expired", item=item, error=True)
|
||||
continue
|
||||
|
||||
# Check if uploading over metered connection is allowed
|
||||
sm.update(0)
|
||||
metered = sm['deviceState'].networkMetered
|
||||
network_type = sm['deviceState'].networkType.raw
|
||||
if metered and (not cur_upload_items[tid].allow_cellular):
|
||||
if metered and (not item.allow_cellular):
|
||||
retry_upload(tid, end_event, False)
|
||||
continue
|
||||
|
||||
try:
|
||||
def cb(sz, cur):
|
||||
def cb(sz: int, cur: int) -> None:
|
||||
# Abort transfer if connection changed to metered after starting upload
|
||||
sm.update(0)
|
||||
metered = sm['deviceState'].networkMetered
|
||||
if metered and (not cur_upload_items[tid].allow_cellular):
|
||||
if metered and (not item.allow_cellular):
|
||||
raise AbortTransferException
|
||||
|
||||
cur_upload_items[tid] = cur_upload_items[tid]._replace(progress=cur / sz if sz else 1)
|
||||
cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1)
|
||||
|
||||
fn = cur_upload_items[tid].path
|
||||
fn = item.path
|
||||
try:
|
||||
sz = os.path.getsize(fn)
|
||||
except OSError:
|
||||
sz = -1
|
||||
|
||||
cloudlog.event("athena.upload_handler.upload_start", fn=fn, sz=sz, network_type=network_type, metered=metered, retry_count=cur_upload_items[tid].retry_count)
|
||||
response = _do_upload(cur_upload_items[tid], cb)
|
||||
cloudlog.event("athena.upload_handler.upload_start", fn=fn, sz=sz, network_type=network_type, metered=metered, retry_count=item.retry_count)
|
||||
response = _do_upload(item, cb)
|
||||
|
||||
if response.status_code not in (200, 201, 401, 403, 412):
|
||||
cloudlog.event("athena.upload_handler.retry", status_code=response.status_code, fn=fn, sz=sz, network_type=network_type, metered=metered)
|
||||
@@ -234,7 +274,7 @@ def upload_handler(end_event: threading.Event) -> None:
|
||||
cloudlog.exception("athena.upload_handler.exception")
|
||||
|
||||
|
||||
def _do_upload(upload_item, callback=None):
|
||||
def _do_upload(upload_item: UploadItem, callback: Optional[Callable] = None) -> requests.Response:
|
||||
path = upload_item.path
|
||||
compress = False
|
||||
|
||||
@@ -244,27 +284,25 @@ def _do_upload(upload_item, callback=None):
|
||||
compress = True
|
||||
|
||||
with open(path, "rb") as f:
|
||||
data: BinaryIO
|
||||
if compress:
|
||||
cloudlog.event("athena.upload_handler.compress", fn=path, fn_orig=upload_item.path)
|
||||
data = bz2.compress(f.read())
|
||||
size = len(data)
|
||||
data = io.BytesIO(data)
|
||||
compressed = bz2.compress(f.read())
|
||||
size = len(compressed)
|
||||
data = io.BytesIO(compressed)
|
||||
else:
|
||||
size = os.fstat(f.fileno()).st_size
|
||||
data = f
|
||||
|
||||
if callback:
|
||||
data = CallbackReader(data, callback, size)
|
||||
|
||||
return requests.put(upload_item.url,
|
||||
data=data,
|
||||
data=CallbackReader(data, callback, size) if callback else data,
|
||||
headers={**upload_item.headers, 'Content-Length': str(size)},
|
||||
timeout=30)
|
||||
|
||||
|
||||
# security: user should be able to request any message from their car
|
||||
@dispatcher.add_method
|
||||
def getMessage(service=None, timeout=1000):
|
||||
def getMessage(service: str, timeout: int = 1000) -> Dict:
|
||||
if service is None or service not in service_list:
|
||||
raise Exception("invalid service")
|
||||
|
||||
@@ -274,7 +312,8 @@ def getMessage(service=None, timeout=1000):
|
||||
if ret is None:
|
||||
raise TimeoutError
|
||||
|
||||
return ret.to_dict()
|
||||
# this is because capnp._DynamicStructReader doesn't have typing information
|
||||
return cast(Dict, ret.to_dict())
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
@@ -288,7 +327,7 @@ def getVersion() -> Dict[str, str]:
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
def setNavDestination(latitude=0, longitude=0, place_name=None, place_details=None):
|
||||
def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: Optional[str] = None, place_details: Optional[str] = None) -> Dict[str, int]:
|
||||
destination = {
|
||||
"latitude": latitude,
|
||||
"longitude": longitude,
|
||||
@@ -300,8 +339,8 @@ def setNavDestination(latitude=0, longitude=0, place_name=None, place_details=No
|
||||
return {"success": 1}
|
||||
|
||||
|
||||
def scan_dir(path, prefix):
|
||||
files = list()
|
||||
def scan_dir(path: str, prefix: str) -> List[str]:
|
||||
files = []
|
||||
# only walk directories that match the prefix
|
||||
# (glob and friends traverse entire dir tree)
|
||||
with os.scandir(path) as i:
|
||||
@@ -320,18 +359,18 @@ def scan_dir(path, prefix):
|
||||
return files
|
||||
|
||||
@dispatcher.add_method
|
||||
def listDataDirectory(prefix=''):
|
||||
def listDataDirectory(prefix='') -> List[str]:
|
||||
return scan_dir(ROOT, prefix)
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
def reboot():
|
||||
def reboot() -> Dict[str, int]:
|
||||
sock = messaging.sub_sock("deviceState", timeout=1000)
|
||||
ret = messaging.recv_one(sock)
|
||||
if ret is None or ret.deviceState.started:
|
||||
raise Exception("Reboot unavailable")
|
||||
|
||||
def do_reboot():
|
||||
def do_reboot() -> None:
|
||||
time.sleep(2)
|
||||
HARDWARE.reboot()
|
||||
|
||||
@@ -341,50 +380,53 @@ def reboot():
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
def uploadFileToUrl(fn, url, headers):
|
||||
return uploadFilesToUrls([{
|
||||
def uploadFileToUrl(fn: str, url: str, headers: Dict[str, str]) -> UploadFilesToUrlResponse:
|
||||
# this is because mypy doesn't understand that the decorator doesn't change the return type
|
||||
response: UploadFilesToUrlResponse = uploadFilesToUrls([{
|
||||
"fn": fn,
|
||||
"url": url,
|
||||
"headers": headers,
|
||||
}])
|
||||
return response
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
def uploadFilesToUrls(files_data):
|
||||
items = []
|
||||
failed = []
|
||||
for file in files_data:
|
||||
fn = file.get('fn', '')
|
||||
if len(fn) == 0 or fn[0] == '/' or '..' in fn or 'url' not in file:
|
||||
failed.append(fn)
|
||||
def uploadFilesToUrls(files_data: List[UploadFileDict]) -> UploadFilesToUrlResponse:
|
||||
files = map(UploadFile.from_dict, files_data)
|
||||
|
||||
items: List[UploadItemDict] = []
|
||||
failed: List[str] = []
|
||||
for file in files:
|
||||
if len(file.fn) == 0 or file.fn[0] == '/' or '..' in file.fn or len(file.url) == 0:
|
||||
failed.append(file.fn)
|
||||
continue
|
||||
|
||||
path = os.path.join(ROOT, fn)
|
||||
path = os.path.join(ROOT, file.fn)
|
||||
if not os.path.exists(path) and not os.path.exists(strip_bz2_extension(path)):
|
||||
failed.append(fn)
|
||||
failed.append(file.fn)
|
||||
continue
|
||||
|
||||
# Skip item if already in queue
|
||||
url = file['url'].split('?')[0]
|
||||
url = file.url.split('?')[0]
|
||||
if any(url == item['url'].split('?')[0] for item in listUploadQueue()):
|
||||
continue
|
||||
|
||||
item = UploadItem(
|
||||
path=path,
|
||||
url=file['url'],
|
||||
headers=file.get('headers', {}),
|
||||
url=file.url,
|
||||
headers=file.headers,
|
||||
created_at=int(time.time() * 1000),
|
||||
id=None,
|
||||
allow_cellular=file.get('allow_cellular', False),
|
||||
allow_cellular=file.allow_cellular,
|
||||
)
|
||||
upload_id = hashlib.sha1(str(item).encode()).hexdigest()
|
||||
item = item._replace(id=upload_id)
|
||||
item = replace(item, id=upload_id)
|
||||
upload_queue.put_nowait(item)
|
||||
items.append(item._asdict())
|
||||
items.append(asdict(item))
|
||||
|
||||
UploadQueueCache.cache(upload_queue)
|
||||
|
||||
resp = {"enqueued": len(items), "items": items}
|
||||
resp: UploadFilesToUrlResponse = {"enqueued": len(items), "items": items}
|
||||
if failed:
|
||||
resp["failed"] = failed
|
||||
|
||||
@@ -392,32 +434,32 @@ def uploadFilesToUrls(files_data):
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
def listUploadQueue():
|
||||
def listUploadQueue() -> List[UploadItemDict]:
|
||||
items = list(upload_queue.queue) + list(cur_upload_items.values())
|
||||
return [i._asdict() for i in items if (i is not None) and (i.id not in cancelled_uploads)]
|
||||
return [asdict(i) for i in items if (i is not None) and (i.id not in cancelled_uploads)]
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
def cancelUpload(upload_id):
|
||||
def cancelUpload(upload_id: Union[str, List[str]]) -> Dict[str, Union[int, str]]:
|
||||
if not isinstance(upload_id, list):
|
||||
upload_id = [upload_id]
|
||||
|
||||
uploading_ids = {item.id for item in list(upload_queue.queue)}
|
||||
cancelled_ids = uploading_ids.intersection(upload_id)
|
||||
if len(cancelled_ids) == 0:
|
||||
return 404
|
||||
return {"success": 0, "error": "not found"}
|
||||
|
||||
cancelled_uploads.update(cancelled_ids)
|
||||
return {"success": 1}
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
def primeActivated(activated):
|
||||
def primeActivated(activated: bool) -> Dict[str, int]:
|
||||
return {"success": 1}
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
def setBandwithLimit(upload_speed_kbps, download_speed_kbps):
|
||||
def setBandwithLimit(upload_speed_kbps: int, download_speed_kbps: int) -> Dict[str, Union[int, str]]:
|
||||
if not AGNOS:
|
||||
return {"success": 0, "error": "only supported on AGNOS"}
|
||||
|
||||
@@ -428,7 +470,7 @@ def setBandwithLimit(upload_speed_kbps, download_speed_kbps):
|
||||
return {"success": 0, "error": "failed to set limit", "stdout": e.stdout, "stderr": e.stderr}
|
||||
|
||||
|
||||
def startLocalProxy(global_end_event, remote_ws_uri, local_port):
|
||||
def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> Dict[str, int]:
|
||||
try:
|
||||
if local_port not in LOCAL_PORT_WHITELIST:
|
||||
raise Exception("Requested local port not whitelisted")
|
||||
@@ -462,7 +504,7 @@ def startLocalProxy(global_end_event, remote_ws_uri, local_port):
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
def getPublicKey():
|
||||
def getPublicKey() -> Optional[str]:
|
||||
if not os.path.isfile(PERSIST + '/comma/id_rsa.pub'):
|
||||
return None
|
||||
|
||||
@@ -471,7 +513,7 @@ def getPublicKey():
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
def getSshAuthorizedKeys():
|
||||
def getSshAuthorizedKeys() -> str:
|
||||
return Params().get("GithubSshKeys", encoding='utf8') or ''
|
||||
|
||||
|
||||
@@ -486,7 +528,7 @@ def getNetworkType():
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
def getNetworkMetered():
|
||||
def getNetworkMetered() -> bool:
|
||||
network_type = HARDWARE.get_network_type()
|
||||
return HARDWARE.get_network_metered(network_type)
|
||||
|
||||
@@ -497,7 +539,7 @@ def getNetworks():
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
def takeSnapshot():
|
||||
def takeSnapshot() -> Optional[Union[str, Dict[str, str]]]:
|
||||
from system.camerad.snapshot.snapshot import jpeg_write, snapshot
|
||||
ret = snapshot()
|
||||
if ret is not None:
|
||||
@@ -514,16 +556,19 @@ def takeSnapshot():
|
||||
raise Exception("not available while camerad is started")
|
||||
|
||||
|
||||
def get_logs_to_send_sorted():
|
||||
def get_logs_to_send_sorted() -> List[str]:
|
||||
# TODO: scan once then use inotify to detect file creation/deletion
|
||||
curr_time = int(time.time())
|
||||
logs = []
|
||||
for log_entry in os.listdir(SWAGLOG_DIR):
|
||||
log_path = os.path.join(SWAGLOG_DIR, log_entry)
|
||||
time_sent = 0
|
||||
try:
|
||||
time_sent = int.from_bytes(getxattr(log_path, LOG_ATTR_NAME), sys.byteorder)
|
||||
value = getxattr(log_path, LOG_ATTR_NAME)
|
||||
if value is not None:
|
||||
time_sent = int.from_bytes(value, sys.byteorder)
|
||||
except (ValueError, TypeError):
|
||||
time_sent = 0
|
||||
pass
|
||||
# assume send failed and we lost the response if sent more than one hour ago
|
||||
if not time_sent or curr_time - time_sent > 3600:
|
||||
logs.append(log_entry)
|
||||
@@ -531,7 +576,7 @@ def get_logs_to_send_sorted():
|
||||
return sorted(logs)[:-1]
|
||||
|
||||
|
||||
def log_handler(end_event):
|
||||
def log_handler(end_event: threading.Event) -> None:
|
||||
# dont upload any logs for now
|
||||
if True:
|
||||
return
|
||||
@@ -594,7 +639,7 @@ def log_handler(end_event):
|
||||
cloudlog.exception("athena.log_handler.exception")
|
||||
|
||||
|
||||
def stat_handler(end_event):
|
||||
def stat_handler(end_event: threading.Event) -> None:
|
||||
while not end_event.is_set():
|
||||
last_scan = 0
|
||||
curr_scan = sec_since_boot()
|
||||
@@ -620,7 +665,7 @@ def stat_handler(end_event):
|
||||
time.sleep(0.1)
|
||||
|
||||
|
||||
def ws_proxy_recv(ws, local_sock, ssock, end_event, global_end_event):
|
||||
def ws_proxy_recv(ws: WebSocket, local_sock: socket.socket, ssock: socket.socket, end_event: threading.Event, global_end_event: threading.Event) -> None:
|
||||
while not (end_event.is_set() or global_end_event.is_set()):
|
||||
try:
|
||||
data = ws.recv()
|
||||
@@ -639,7 +684,7 @@ def ws_proxy_recv(ws, local_sock, ssock, end_event, global_end_event):
|
||||
end_event.set()
|
||||
|
||||
|
||||
def ws_proxy_send(ws, local_sock, signal_sock, end_event):
|
||||
def ws_proxy_send(ws: WebSocket, local_sock: socket.socket, signal_sock: socket.socket, end_event: threading.Event) -> None:
|
||||
while not end_event.is_set():
|
||||
try:
|
||||
r, _, _ = select.select((local_sock, signal_sock), (), ())
|
||||
@@ -664,7 +709,7 @@ def ws_proxy_send(ws, local_sock, signal_sock, end_event):
|
||||
cloudlog.debug("athena.ws_proxy_send done closing sockets")
|
||||
|
||||
|
||||
def ws_recv(ws, end_event):
|
||||
def ws_recv(ws: WebSocket, end_event: threading.Event) -> None:
|
||||
last_ping = int(sec_since_boot() * 1e9)
|
||||
while not end_event.is_set():
|
||||
try:
|
||||
@@ -686,7 +731,7 @@ def ws_recv(ws, end_event):
|
||||
end_event.set()
|
||||
|
||||
|
||||
def ws_send(ws, end_event):
|
||||
def ws_send(ws: WebSocket, end_event: threading.Event) -> None:
|
||||
while not end_event.is_set():
|
||||
try:
|
||||
try:
|
||||
@@ -705,7 +750,7 @@ def ws_send(ws, end_event):
|
||||
end_event.set()
|
||||
|
||||
|
||||
def backoff(retries):
|
||||
def backoff(retries: int) -> int:
|
||||
return random.randrange(0, min(128, int(2 ** retries)))
|
||||
|
||||
|
||||
|
||||
Binary file not shown.
Binary file not shown.
+28
-35
@@ -1,30 +1,26 @@
|
||||
#pragma once
|
||||
|
||||
#include <atomic>
|
||||
#include <cstdint>
|
||||
#include <ctime>
|
||||
#include <functional>
|
||||
#include <list>
|
||||
#include <mutex>
|
||||
#include <memory>
|
||||
#include <optional>
|
||||
#include <vector>
|
||||
|
||||
#include <libusb-1.0/libusb.h>
|
||||
|
||||
#include "cereal/gen/cpp/car.capnp.h"
|
||||
#include "cereal/gen/cpp/log.capnp.h"
|
||||
#include "panda/board/health.h"
|
||||
#include "panda/board/can_definitions.h"
|
||||
#include "selfdrive/boardd/panda_comms.h"
|
||||
|
||||
#define TIMEOUT 0
|
||||
#define PANDA_CAN_CNT 3
|
||||
#define PANDA_BUS_CNT 4
|
||||
#define RECV_SIZE (0x4000U)
|
||||
#define USB_TX_SOFT_LIMIT (0x100U)
|
||||
#define USBPACKET_MAX_SIZE (0x40)
|
||||
#define CANPACKET_HEAD_SIZE 5U
|
||||
#define CANPACKET_MAX_SIZE 72U
|
||||
#define CANPACKET_REJECTED (0xC0U)
|
||||
#define CANPACKET_RETURNED (0x80U)
|
||||
|
||||
#define RECV_SIZE (0x4000U)
|
||||
|
||||
#define CAN_REJECTED_BUS_OFFSET 0xC0U
|
||||
#define CAN_RETURNED_BUS_OFFSET 0x80U
|
||||
|
||||
struct __attribute__((packed)) can_header {
|
||||
uint8_t reserved : 1;
|
||||
@@ -37,42 +33,31 @@ struct __attribute__((packed)) can_header {
|
||||
};
|
||||
|
||||
struct can_frame {
|
||||
long address;
|
||||
std::string dat;
|
||||
long busTime;
|
||||
long src;
|
||||
long address;
|
||||
std::string dat;
|
||||
long busTime;
|
||||
long src;
|
||||
};
|
||||
|
||||
|
||||
class Panda {
|
||||
private:
|
||||
libusb_context *ctx = NULL;
|
||||
libusb_device_handle *dev_handle = NULL;
|
||||
std::mutex usb_lock;
|
||||
std::vector<uint8_t> recv_buf;
|
||||
void handle_usb_issue(int err, const char func[]);
|
||||
void cleanup();
|
||||
private:
|
||||
std::unique_ptr<PandaCommsHandle> handle;
|
||||
|
||||
public:
|
||||
public:
|
||||
Panda(std::string serial="", uint32_t bus_offset=0);
|
||||
~Panda();
|
||||
|
||||
std::string usb_serial;
|
||||
std::atomic<bool> connected = true;
|
||||
std::atomic<bool> comms_healthy = true;
|
||||
std::string hw_serial;
|
||||
cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN;
|
||||
bool has_rtc = false;
|
||||
const uint32_t bus_offset;
|
||||
bool has_gps = true;
|
||||
|
||||
bool connected();
|
||||
bool comms_healthy();
|
||||
|
||||
// Static functions
|
||||
static std::vector<std::string> list();
|
||||
|
||||
// HW communication
|
||||
int usb_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout=TIMEOUT);
|
||||
int usb_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout=TIMEOUT);
|
||||
int usb_bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
|
||||
int usb_bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
|
||||
|
||||
// Panda functionality
|
||||
cereal::PandaState::PandaType get_hw_type();
|
||||
void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U);
|
||||
@@ -93,8 +78,16 @@ class Panda {
|
||||
void send_heartbeat(bool engaged);
|
||||
void set_can_speed_kbps(uint16_t bus, uint16_t speed);
|
||||
void set_data_speed_kbps(uint16_t bus, uint16_t speed);
|
||||
void set_canfd_non_iso(uint16_t bus, bool non_iso);
|
||||
void can_send(capnp::List<cereal::CanData>::Reader can_data_list);
|
||||
bool can_receive(std::vector<can_frame>& out_vec);
|
||||
// dp
|
||||
void set_pigeon_baud(int baud);
|
||||
bool has_gps = true;
|
||||
// dp - passthru for pigeon
|
||||
int control_write(uint8_t request, uint16_t param1, uint16_t param2);
|
||||
int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length);
|
||||
int bulk_write(unsigned char endpoint, unsigned char* data, int length);
|
||||
|
||||
protected:
|
||||
// for unit tests
|
||||
|
||||
@@ -13,8 +13,6 @@
|
||||
#define TIMEOUT 0
|
||||
#define SPI_BUF_SIZE 1024
|
||||
|
||||
const bool PANDA_NO_RETRY = getenv("PANDA_NO_RETRY");
|
||||
|
||||
|
||||
// comms base class
|
||||
class PandaCommsHandle {
|
||||
@@ -52,7 +50,6 @@ public:
|
||||
private:
|
||||
libusb_context *ctx = NULL;
|
||||
libusb_device_handle *dev_handle = NULL;
|
||||
std::vector<uint8_t> recv_buf;
|
||||
void handle_usb_issue(int err, const char func[]);
|
||||
};
|
||||
|
||||
|
||||
@@ -1,8 +1,9 @@
|
||||
# functions common among cars
|
||||
import capnp
|
||||
from collections import namedtuple
|
||||
|
||||
from cereal import car
|
||||
from common.numpy_fast import clip
|
||||
from common.numpy_fast import clip, interp
|
||||
from typing import Dict
|
||||
|
||||
# kg of standard extra cargo to count for drive, gas, etc...
|
||||
@@ -10,6 +11,7 @@ STD_CARGO_KG = 136.
|
||||
|
||||
ButtonType = car.CarState.ButtonEvent.Type
|
||||
EventName = car.CarEvent.EventName
|
||||
AngleRateLimit = namedtuple('AngleRateLimit', ['speed_bp', 'angle_v'])
|
||||
|
||||
|
||||
def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float:
|
||||
@@ -111,6 +113,15 @@ def apply_toyota_steer_torque_limits(apply_torque, apply_torque_last, motor_torq
|
||||
return int(round(float(apply_torque)))
|
||||
|
||||
|
||||
def apply_std_steer_angle_limits(apply_angle, apply_angle_last, v_ego, LIMITS):
|
||||
# pick angle rate limits based on wind up/down
|
||||
steer_up = apply_angle_last * apply_angle > 0. and abs(apply_angle) > abs(apply_angle_last)
|
||||
rate_limits = LIMITS.ANGLE_RATE_LIMIT_UP if steer_up else LIMITS.ANGLE_RATE_LIMIT_DOWN
|
||||
|
||||
angle_rate_lim = interp(v_ego, rate_limits.speed_bp, rate_limits.angle_v)
|
||||
return clip(apply_angle, apply_angle_last - angle_rate_lim, apply_angle_last + angle_rate_lim)
|
||||
|
||||
|
||||
def crc8_pedal(data):
|
||||
crc = 0xFF # standard init value
|
||||
poly = 0xD5 # standard crc8: x8+x7+x6+x4+x2+1
|
||||
|
||||
@@ -85,6 +85,7 @@ class CarController:
|
||||
new_actuators = CC.actuators.copy()
|
||||
new_actuators.accel = torque_l
|
||||
new_actuators.steer = torque_r
|
||||
new_actuators.steerOutputCan = torque_r
|
||||
|
||||
self.frame += 1
|
||||
return new_actuators, can_sends
|
||||
|
||||
@@ -2,16 +2,13 @@
|
||||
import math
|
||||
from cereal import car
|
||||
from common.realtime import DT_CTRL
|
||||
from selfdrive.car import scale_rot_inertia, scale_tire_stiffness, get_safety_config
|
||||
from selfdrive.car import get_safety_config
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
from selfdrive.car.body.values import SPEED_FROM_RPM
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
@staticmethod
|
||||
def get_params(candidate, fingerprint=None, car_fw=None, experimental_long=False):
|
||||
|
||||
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
|
||||
|
||||
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
|
||||
ret.notCar = True
|
||||
ret.carName = "body"
|
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]
|
||||
@@ -31,10 +28,6 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.openpilotLongitudinalControl = True
|
||||
ret.steerControlType = car.CarParams.SteerControlType.angle
|
||||
|
||||
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
|
||||
|
||||
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
|
||||
|
||||
return ret
|
||||
|
||||
def _update(self, c):
|
||||
|
||||
@@ -2,7 +2,7 @@ from opendbc.can.packer import CANPacker
|
||||
from common.realtime import DT_CTRL
|
||||
from selfdrive.car import apply_toyota_steer_torque_limits
|
||||
from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons
|
||||
from selfdrive.car.chrysler.values import CAR, RAM_CARS, CarControllerParams
|
||||
from selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
|
||||
|
||||
|
||||
class CarController:
|
||||
@@ -51,7 +51,7 @@ class CarController:
|
||||
lkas_control_bit = self.lkas_control_bit_prev
|
||||
if CS.out.vEgo > self.CP.minSteerSpeed:
|
||||
lkas_control_bit = True
|
||||
elif self.CP.carFingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
|
||||
elif self.CP.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
|
||||
if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
|
||||
lkas_control_bit = False
|
||||
elif self.CP.carFingerprint in RAM_CARS:
|
||||
@@ -78,5 +78,6 @@ class CarController:
|
||||
|
||||
new_actuators = CC.actuators.copy()
|
||||
new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
|
||||
new_actuators.steerOutputCan = self.apply_steer_last
|
||||
|
||||
return new_actuators, can_sends
|
||||
|
||||
@@ -1,21 +1,18 @@
|
||||
#!/usr/bin/env python3
|
||||
from cereal import car
|
||||
from panda import Panda
|
||||
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
|
||||
from selfdrive.car.chrysler.values import CAR, DBC, RAM_HD, RAM_DT
|
||||
from selfdrive.car import STD_CARGO_KG, get_safety_config
|
||||
from selfdrive.car.chrysler.values import CAR, DBC, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
@staticmethod
|
||||
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
|
||||
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
|
||||
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
|
||||
ret.carName = "chrysler"
|
||||
|
||||
ret.dashcamOnly = candidate in RAM_HD
|
||||
|
||||
ret.radarOffCan = DBC[candidate]['radar'] is None
|
||||
|
||||
ret.steerActuatorDelay = 0.1
|
||||
ret.steerLimitTimer = 0.4
|
||||
|
||||
@@ -27,9 +24,12 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT
|
||||
|
||||
ret.minSteerSpeed = 3.8 # m/s
|
||||
if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
|
||||
# TODO: allow 2019 cars to steer down to 13 m/s if already engaged.
|
||||
ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
|
||||
if candidate not in RAM_CARS:
|
||||
# Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
|
||||
new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019)
|
||||
new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw)
|
||||
if new_eps_platform or new_eps_firmware:
|
||||
ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value
|
||||
|
||||
# Chrysler
|
||||
if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020):
|
||||
@@ -58,10 +58,9 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.mass = 2493. + STD_CARGO_KG
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
ret.minSteerSpeed = 14.5
|
||||
if car_fw is not None:
|
||||
for fw in car_fw:
|
||||
if fw.ecu == 'eps' and fw.fwVersion[:8] in (b"68312176", b"68273275"):
|
||||
ret.minSteerSpeed = 0.
|
||||
for fw in car_fw:
|
||||
if fw.ecu == 'eps' and fw.fwVersion.startswith((b"68312176", b"68273275")):
|
||||
ret.minSteerSpeed = 0.
|
||||
|
||||
elif candidate == CAR.RAM_HD:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
@@ -75,16 +74,12 @@ class CarInterface(CarInterfaceBase):
|
||||
raise ValueError(f"Unsupported car: {candidate}")
|
||||
|
||||
CarInterfaceBase.configure_dp_tune(candidate, ret.lateralTuning)
|
||||
|
||||
if ret.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
|
||||
# TODO: allow these cars to steer down to 13 m/s if already engaged.
|
||||
ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
|
||||
|
||||
ret.centerToFront = ret.wheelbase * 0.44
|
||||
|
||||
# starting with reasonable value for civic and scaling by mass and wheelbase
|
||||
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
|
||||
|
||||
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
|
||||
# mass and CG position, so all cars will have approximately similar dyn behaviors
|
||||
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
|
||||
|
||||
ret.enableBsm = 720 in fingerprint[0]
|
||||
|
||||
return ret
|
||||
|
||||
@@ -1,3 +1,4 @@
|
||||
from enum import IntFlag
|
||||
from dataclasses import dataclass
|
||||
from enum import Enum
|
||||
from typing import Dict, List, Optional, Union
|
||||
@@ -11,6 +12,10 @@ from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
|
||||
class ChryslerFlags(IntFlag):
|
||||
HIGHER_MIN_STEERING_SPEED = 1
|
||||
|
||||
|
||||
class CAR:
|
||||
# Chrysler
|
||||
PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
|
||||
|
||||
@@ -68,7 +68,7 @@ class Harness(Enum):
|
||||
none = "None"
|
||||
|
||||
|
||||
CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only"], defaults=(None, False))
|
||||
CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "shop_footnote"], defaults=(False, False))
|
||||
|
||||
|
||||
class CommonFootnote(Enum):
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
#!/usr/bin/env python3
|
||||
from cereal import car
|
||||
from common.conversions import Conversions as CV
|
||||
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
|
||||
from selfdrive.car import STD_CARGO_KG, get_safety_config
|
||||
from selfdrive.car.ford.values import CAR, Ecu, TransmissionType, GearShifter
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
|
||||
@@ -10,12 +10,7 @@ CarParams = car.CarParams
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
@staticmethod
|
||||
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
|
||||
if car_fw is None:
|
||||
car_fw = []
|
||||
|
||||
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
|
||||
|
||||
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
|
||||
ret.carName = "ford"
|
||||
ret.dashcamOnly = True
|
||||
ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.ford)]
|
||||
@@ -24,7 +19,6 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.steerControlType = CarParams.SteerControlType.angle
|
||||
ret.steerActuatorDelay = 0.4
|
||||
ret.steerLimitTimer = 1.0
|
||||
tire_stiffness_factor = 1.0
|
||||
|
||||
if candidate == CAR.ESCAPE_MK4:
|
||||
ret.wheelbase = 2.71
|
||||
@@ -62,10 +56,7 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.minSteerSpeed = 0.
|
||||
|
||||
ret.autoResumeSng = ret.minEnableSpeed == -1.
|
||||
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
|
||||
ret.centerToFront = ret.wheelbase * 0.44
|
||||
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
|
||||
tire_stiffness_factor=tire_stiffness_factor)
|
||||
return ret
|
||||
|
||||
def _update(self, c):
|
||||
|
||||
@@ -158,6 +158,7 @@ class CarController:
|
||||
|
||||
new_actuators = actuators.copy()
|
||||
new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
|
||||
new_actuators.steerOutputCan = self.apply_steer_last
|
||||
new_actuators.gas = self.apply_gas
|
||||
new_actuators.brake = self.apply_brake
|
||||
|
||||
|
||||
@@ -6,7 +6,16 @@ def create_buttons(packer, bus, idx, button):
|
||||
values = {
|
||||
"ACCButtons": button,
|
||||
"RollingCounter": idx,
|
||||
"ACCAlwaysOne": 1,
|
||||
"DistanceButton": 0,
|
||||
}
|
||||
|
||||
checksum = 240 + int(values["ACCAlwaysOne"] * 0xf)
|
||||
checksum += values["RollingCounter"] * (0x4ef if values["ACCAlwaysOne"] != 0 else 0x3f0)
|
||||
checksum -= int(values["ACCButtons"] - 1) << 4 # not correct if value is 0
|
||||
checksum -= 2 * values["DistanceButton"]
|
||||
|
||||
values["SteeringButtonChecksum"] = checksum
|
||||
return packer.make_can_msg("ASCMSteeringButton", bus, values)
|
||||
|
||||
|
||||
|
||||
@@ -4,7 +4,7 @@ from math import fabs
|
||||
from panda import Panda
|
||||
|
||||
from common.conversions import Conversions as CV
|
||||
from selfdrive.car import STD_CARGO_KG, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
|
||||
from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config
|
||||
from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
|
||||
@@ -44,8 +44,7 @@ class CarInterface(CarInterfaceBase):
|
||||
return CarInterfaceBase.get_steer_feedforward_default
|
||||
|
||||
@staticmethod
|
||||
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
|
||||
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
|
||||
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
|
||||
ret.carName = "gm"
|
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
|
||||
ret.autoResumeSng = False
|
||||
@@ -100,7 +99,7 @@ class CarInterface(CarInterfaceBase):
|
||||
# These cars have been put into dashcam only due to both a lack of users and test coverage.
|
||||
# These cars likely still work fine. Once a user confirms each car works and a test route is
|
||||
# added to selfdrive/car/tests/routes.py, we can remove it from this list.
|
||||
ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX, CAR.BOLT_EV}
|
||||
ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX}
|
||||
|
||||
# Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
|
||||
# Some GMs need some tolerance above 10 kph to avoid a fault
|
||||
@@ -173,7 +172,7 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.lateralTuning.pid.kf = 0.000045
|
||||
tire_stiffness_factor = 1.0
|
||||
|
||||
elif candidate in (CAR.BOLT_EV, CAR.BOLT_EUV):
|
||||
elif candidate == CAR.BOLT_EUV:
|
||||
ret.mass = 1669. + STD_CARGO_KG
|
||||
ret.wheelbase = 2.63779
|
||||
ret.steerRatio = 16.8
|
||||
@@ -197,10 +196,6 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.centerToFront = ret.wheelbase * 0.4
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
# TODO: get actual value, for now starting with reasonable value for
|
||||
# civic and scaling by mass and wheelbase
|
||||
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
|
||||
|
||||
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
|
||||
# mass and CG position, so all cars will have approximately similar dyn behaviors
|
||||
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
|
||||
|
||||
@@ -68,7 +68,6 @@ class CAR:
|
||||
ACADIA = "GMC ACADIA DENALI 2018"
|
||||
BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
|
||||
ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
|
||||
BOLT_EV = "CHEVROLET BOLT EV 2022"
|
||||
BOLT_EUV = "CHEVROLET BOLT EUV 2022"
|
||||
SILVERADO = "CHEVROLET SILVERADO 1500 2020"
|
||||
EQUINOX = "CHEVROLET EQUINOX 2019"
|
||||
@@ -101,8 +100,10 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
|
||||
CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
|
||||
CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
|
||||
CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
|
||||
CAR.BOLT_EV: GMCarInfo("Chevrolet Bolt EV 2022-23"),
|
||||
CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", "https://youtu.be/xvwzGMUA210"),
|
||||
CAR.BOLT_EUV: [
|
||||
GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", "https://youtu.be/xvwzGMUA210"),
|
||||
GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
|
||||
],
|
||||
CAR.SILVERADO: [
|
||||
GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
|
||||
GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", "https://youtu.be/5HbNoBLzRwE"),
|
||||
@@ -193,9 +194,9 @@ FINGERPRINTS = {
|
||||
|
||||
DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
|
||||
|
||||
EV_CAR = {CAR.VOLT, CAR.BOLT_EV, CAR.BOLT_EUV}
|
||||
EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
|
||||
|
||||
# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
|
||||
CAMERA_ACC_CAR = {CAR.BOLT_EV, CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX}
|
||||
CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX}
|
||||
|
||||
STEER_THRESHOLD = 1.0
|
||||
|
||||
@@ -189,14 +189,14 @@ class CarController:
|
||||
clip(CS.out.vEgo + 0.0, 0.0, 100.0),
|
||||
clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
|
||||
pcm_speed = interp(gas - brake, pcm_speed_BP, pcm_speed_V)
|
||||
pcm_accel = int(1.0 * 0xc6)
|
||||
pcm_accel = int(1.0 * self.params.NIDEC_GAS_MAX)
|
||||
else:
|
||||
pcm_speed_V = [0.0,
|
||||
clip(CS.out.vEgo - 2.0, 0.0, 100.0),
|
||||
clip(CS.out.vEgo + 2.0, 0.0, 100.0),
|
||||
clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
|
||||
pcm_speed = interp(gas - brake, pcm_speed_BP, pcm_speed_V)
|
||||
pcm_accel = int(clip((accel / 1.44) / max_accel, 0.0, 1.0) * 0xc6)
|
||||
pcm_accel = int(clip((accel / 1.44) / max_accel, 0.0, 1.0) * self.params.NIDEC_GAS_MAX)
|
||||
|
||||
if not self.CP.openpilotLongitudinalControl:
|
||||
if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS: # radarless cars don't have supplemental message
|
||||
@@ -254,7 +254,7 @@ class CarController:
|
||||
self.speed = pcm_speed
|
||||
|
||||
if not self.CP.enableGasInterceptor:
|
||||
self.gas = pcm_accel / 0xc6
|
||||
self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
|
||||
|
||||
new_actuators = actuators.copy()
|
||||
new_actuators.speed = self.speed
|
||||
@@ -262,6 +262,7 @@ class CarController:
|
||||
new_actuators.gas = self.gas
|
||||
new_actuators.brake = self.brake
|
||||
new_actuators.steer = self.last_steer
|
||||
new_actuators.steerOutputCan = apply_steer
|
||||
|
||||
self.frame += 1
|
||||
return new_actuators, can_sends
|
||||
|
||||
@@ -13,7 +13,8 @@ def get_pt_bus(car_fingerprint):
|
||||
|
||||
|
||||
def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False):
|
||||
if radar_disabled:
|
||||
no_radar = car_fingerprint in HONDA_BOSCH_RADARLESS
|
||||
if radar_disabled or no_radar:
|
||||
# when radar is disabled, steering commands are sent directly to powertrain bus
|
||||
return get_pt_bus(car_fingerprint)
|
||||
# normally steering commands are sent to radar, which forwards them to powertrain bus
|
||||
@@ -104,7 +105,7 @@ def create_bosch_supplemental_1(packer, car_fingerprint):
|
||||
def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud):
|
||||
commands = []
|
||||
bus_pt = get_pt_bus(CP.carFingerprint)
|
||||
radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl
|
||||
radar_disabled = CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl
|
||||
bus_lkas = get_lkas_cmd_bus(CP.carFingerprint, radar_disabled)
|
||||
|
||||
if CP.openpilotLongitudinalControl:
|
||||
@@ -153,7 +154,7 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud,
|
||||
else:
|
||||
commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values))
|
||||
|
||||
if radar_disabled and CP.carFingerprint in HONDA_BOSCH:
|
||||
if radar_disabled:
|
||||
radar_hud_values = {
|
||||
'CMBS_OFF': 0x01,
|
||||
'SET_TO_1': 0x01,
|
||||
|
||||
@@ -4,7 +4,7 @@ from panda import Panda
|
||||
from common.conversions import Conversions as CV
|
||||
from common.numpy_fast import interp
|
||||
from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
|
||||
from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
|
||||
from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_event, scale_tire_stiffness, get_safety_config
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
from selfdrive.car.disable_ecu import disable_ecu
|
||||
from common.params import Params
|
||||
@@ -30,8 +30,7 @@ class CarInterface(CarInterfaceBase):
|
||||
return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
|
||||
|
||||
@staticmethod
|
||||
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], experimental_long=False): # pylint: disable=dangerous-default-value
|
||||
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
|
||||
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
|
||||
ret.carName = "honda"
|
||||
|
||||
if candidate in HONDA_BOSCH:
|
||||
@@ -299,10 +298,6 @@ class CarInterface(CarInterfaceBase):
|
||||
stop_and_go = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor
|
||||
ret.minEnableSpeed = -1. if stop_and_go else 25.5 * CV.MPH_TO_MS
|
||||
|
||||
# TODO: get actual value, for now starting with reasonable value for
|
||||
# civic and scaling by mass and wheelbase
|
||||
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
|
||||
|
||||
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
|
||||
# mass and CG position, so all cars will have approximately similar dyn behaviors
|
||||
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
|
||||
|
||||
@@ -27,6 +27,7 @@ class CarControllerParams:
|
||||
NIDEC_MAX_ACCEL_V = [0.5, 2.4, 1.4, 0.6]
|
||||
NIDEC_MAX_ACCEL_BP = [0.0, 4.0, 10., 20.]
|
||||
|
||||
NIDEC_GAS_MAX = 198 # 0xc6
|
||||
NIDEC_BRAKE_MAX = 1024 // 4
|
||||
|
||||
BOSCH_ACCEL_MIN = -3.5 # m/s^2
|
||||
@@ -243,7 +244,7 @@ FW_VERSIONS = {
|
||||
b'39990-TVA-A340\x00\x00',
|
||||
b'39990-TVA-X030\x00\x00',
|
||||
b'39990-TVA-X040\x00\x00',
|
||||
b'39990-TVA,A150\x00\x00',
|
||||
b'39990-TVA,A150\x00\x00', # modified firmware
|
||||
b'39990-TVE-H130\x00\x00',
|
||||
],
|
||||
(Ecu.unknown, 0x18da3af1, None): [
|
||||
|
||||
@@ -60,9 +60,6 @@ class CarController:
|
||||
|
||||
# steering torque
|
||||
steer = actuators.steer
|
||||
if self.CP.carFingerprint in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
|
||||
# these cars have significantly more torque than most HKG; limit to 70% of max
|
||||
steer = clip(steer, -0.7, 0.7)
|
||||
new_steer = int(round(steer * self.params.STEER_MAX))
|
||||
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
|
||||
|
||||
@@ -86,11 +83,16 @@ class CarController:
|
||||
|
||||
# tester present - w/ no response (keeps relevant ECU disabled)
|
||||
if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and self.CP.openpilotLongitudinalControl:
|
||||
# for longitudinal control, either radar or ADAS driving ECU
|
||||
addr, bus = 0x7d0, 0
|
||||
if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
|
||||
addr, bus = 0x730, 5
|
||||
can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus])
|
||||
|
||||
# for blinkers
|
||||
if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
|
||||
can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 5])
|
||||
|
||||
# >90 degree steering fault prevention
|
||||
# Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault
|
||||
if CC.latActive and abs(CS.out.steeringAngleDeg) >= MAX_ANGLE:
|
||||
@@ -121,6 +123,10 @@ class CarController:
|
||||
if self.frame % 5 == 0 and (not hda2 or hda2_long):
|
||||
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CP, CC.enabled))
|
||||
|
||||
# blinkers
|
||||
if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
|
||||
can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.frame, CC.leftBlinker, CC.rightBlinker))
|
||||
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
if hda2:
|
||||
can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.frame))
|
||||
@@ -189,6 +195,7 @@ class CarController:
|
||||
|
||||
new_actuators = actuators.copy()
|
||||
new_actuators.steer = apply_steer / self.params.STEER_MAX
|
||||
new_actuators.steerOutputCan = apply_steer
|
||||
new_actuators.accel = accel
|
||||
|
||||
self.frame += 1
|
||||
|
||||
@@ -6,7 +6,7 @@ from cereal import car
|
||||
from common.conversions import Conversions as CV
|
||||
from opendbc.can.parser import CANParser
|
||||
from opendbc.can.can_define import CANDefine
|
||||
from selfdrive.car.hyundai.values import HyundaiFlags, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
|
||||
from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
|
||||
from selfdrive.car.interfaces import CarStateBase
|
||||
|
||||
PREV_BUTTON_SAMPLES = 8
|
||||
@@ -32,7 +32,6 @@ class CarState(CarStateBase):
|
||||
self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
|
||||
|
||||
self.is_metric = False
|
||||
self.brake_error = False
|
||||
self.buttons_counter = 0
|
||||
|
||||
self.cruise_info = {}
|
||||
@@ -72,8 +71,10 @@ class CarState(CarStateBase):
|
||||
self.cluster_speed = cp.vl["CLU15"]["CF_Clu_VehicleSpeed"]
|
||||
self.cluster_speed_counter = 0
|
||||
|
||||
# mimic how dash converts to imperial
|
||||
if not self.is_metric:
|
||||
# Mimic how dash converts to imperial.
|
||||
# Sorento is the only platform where CF_Clu_VehicleSpeed is already imperial when not is_metric
|
||||
# TODO: CGW_USM1->CF_Gway_DrLockSoundRValue may describe this
|
||||
if not self.is_metric and self.CP.carFingerprint not in (CAR.KIA_SORENTO,):
|
||||
self.cluster_speed = math.floor(self.cluster_speed * CV.KPH_TO_MPH + CV.KPH_TO_MPH)
|
||||
|
||||
ret.vEgoCluster = self.cluster_speed * speed_conv
|
||||
@@ -105,8 +106,9 @@ class CarState(CarStateBase):
|
||||
# TODO: Find brake pressure
|
||||
ret.brake = 0
|
||||
ret.brakePressed = cp.vl["TCS13"]["DriverBraking"] != 0
|
||||
ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
|
||||
ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
|
||||
ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
|
||||
ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
|
||||
#dp
|
||||
ret.brakeLightsDEPRECATED = bool(cp.vl["TCS13"]["BrakeLight"] or ret.brakePressed or ret.brakeHoldActive or ret.parkingBrake)
|
||||
|
||||
@@ -150,7 +152,6 @@ class CarState(CarStateBase):
|
||||
self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
|
||||
self.clu11 = copy.copy(cp.vl["CLU11"])
|
||||
self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"] # 0 NOT ACTIVE, 1 ACTIVE
|
||||
self.brake_error = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
|
||||
self.prev_cruise_buttons = self.cruise_buttons[-1]
|
||||
self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
|
||||
self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
|
||||
@@ -192,7 +193,7 @@ class CarState(CarStateBase):
|
||||
ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1
|
||||
ret.steeringTorque = cp.vl["MDPS"]["STEERING_COL_TORQUE"]
|
||||
ret.steeringTorqueEps = cp.vl["MDPS"]["STEERING_OUT_TORQUE"]
|
||||
ret.steeringPressed = abs(ret.steeringTorque) > self.params.STEER_THRESHOLD
|
||||
ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
|
||||
ret.steerFaultTemporary = cp.vl["MDPS"]["LKA_FAULT"] != 0
|
||||
|
||||
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"]["LEFT_LAMP"],
|
||||
@@ -202,7 +203,7 @@ class CarState(CarStateBase):
|
||||
ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0
|
||||
|
||||
ret.cruiseState.available = True
|
||||
self.is_metric = cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] != 1
|
||||
self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1
|
||||
if not self.CP.openpilotLongitudinalControl:
|
||||
speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
|
||||
cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp
|
||||
@@ -216,6 +217,7 @@ class CarState(CarStateBase):
|
||||
self.cruise_buttons.extend(cp.vl_all[cruise_btn_msg]["CRUISE_BUTTONS"])
|
||||
self.main_buttons.extend(cp.vl_all[cruise_btn_msg]["ADAPTIVE_CRUISE_MAIN_BTN"])
|
||||
self.buttons_counter = cp.vl[cruise_btn_msg]["COUNTER"]
|
||||
ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
|
||||
|
||||
if self.CP.flags & HyundaiFlags.CANFD_HDA2:
|
||||
self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
|
||||
@@ -442,12 +444,12 @@ class CarState(CarStateBase):
|
||||
("LKA_FAULT", "MDPS"),
|
||||
|
||||
("DriverBraking", "TCS"),
|
||||
("ACCEnable", "TCS"),
|
||||
|
||||
("COUNTER", cruise_btn_msg),
|
||||
("CRUISE_BUTTONS", cruise_btn_msg),
|
||||
("ADAPTIVE_CRUISE_MAIN_BTN", cruise_btn_msg),
|
||||
|
||||
("DISTANCE_UNIT", "CLUSTER_INFO"),
|
||||
("DISTANCE_UNIT", "CRUISE_BUTTONS_ALT"),
|
||||
|
||||
("LEFT_LAMP", "BLINKERS"),
|
||||
("RIGHT_LAMP", "BLINKERS"),
|
||||
@@ -462,12 +464,14 @@ class CarState(CarStateBase):
|
||||
("STEERING_SENSORS", 100),
|
||||
("MDPS", 100),
|
||||
("TCS", 50),
|
||||
(cruise_btn_msg, 50),
|
||||
("CLUSTER_INFO", 4),
|
||||
("CRUISE_BUTTONS_ALT", 50),
|
||||
("BLINKERS", 4),
|
||||
("DOORS_SEATBELTS", 4),
|
||||
]
|
||||
|
||||
if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
|
||||
checks.append(("CRUISE_BUTTONS", 50))
|
||||
|
||||
if CP.enableBsm:
|
||||
signals += [
|
||||
("FL_INDICATOR", "BLINDSPOTS_REAR_CORNERS"),
|
||||
|
||||
@@ -1,7 +1,6 @@
|
||||
from common.numpy_fast import clip
|
||||
from selfdrive.car.hyundai.values import HyundaiFlags
|
||||
|
||||
|
||||
def get_e_can_bus(CP):
|
||||
# On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars
|
||||
# have a different harness than the HDA1 and non-HDA variants in order to split
|
||||
@@ -98,6 +97,25 @@ def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_ove
|
||||
return packer.make_can_msg("SCC_CONTROL", get_e_can_bus(CP), values)
|
||||
|
||||
|
||||
def create_spas_messages(packer, frame, left_blink, right_blink):
|
||||
ret = []
|
||||
|
||||
values = {
|
||||
}
|
||||
ret.append(packer.make_can_msg("SPAS1", 5, values))
|
||||
|
||||
blink = 0
|
||||
if left_blink:
|
||||
blink = 3
|
||||
elif right_blink:
|
||||
blink = 4
|
||||
values = {
|
||||
"BLINKER_CONTROL": blink,
|
||||
}
|
||||
ret.append(packer.make_can_msg("SPAS2", 5, values))
|
||||
|
||||
return ret
|
||||
|
||||
|
||||
def create_adrv_messages(packer, frame):
|
||||
# messages needed to car happy after disabling
|
||||
|
||||
@@ -2,9 +2,9 @@
|
||||
from cereal import car
|
||||
from panda import Panda
|
||||
from common.conversions import Conversions as CV
|
||||
from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
|
||||
from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons
|
||||
from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
|
||||
from selfdrive.car import STD_CARGO_KG, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
|
||||
from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
from selfdrive.car.disable_ecu import disable_ecu
|
||||
from common.params import Params
|
||||
@@ -19,13 +19,7 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
@staticmethod
|
||||
def get_pid_accel_limits(CP, current_speed, cruise_speed):
|
||||
return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
|
||||
|
||||
@staticmethod
|
||||
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], experimental_long=False): # pylint: disable=dangerous-default-value
|
||||
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
|
||||
|
||||
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
|
||||
ret.carName = "hyundai"
|
||||
ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
|
||||
|
||||
@@ -121,8 +115,8 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.wheelbase = 2.67
|
||||
ret.steerRatio = 14.00 * 1.15
|
||||
tire_stiffness_factor = 0.385
|
||||
elif candidate == CAR.TUCSON_HYBRID_4TH_GEN:
|
||||
ret.mass = 1680. + STD_CARGO_KG # average of all 3 trims
|
||||
elif candidate in (CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN):
|
||||
ret.mass = 1630. + STD_CARGO_KG # average
|
||||
ret.wheelbase = 2.756
|
||||
ret.steerRatio = 16.
|
||||
tire_stiffness_factor = 0.385
|
||||
@@ -192,8 +186,16 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.mass = 1767. + STD_CARGO_KG # SX Prestige trim support only
|
||||
ret.wheelbase = 2.756
|
||||
ret.steerRatio = 13.6
|
||||
elif candidate == CAR.KIA_SORENTO_PHEV_4TH_GEN:
|
||||
ret.mass = 4095.8 * CV.LB_TO_KG + STD_CARGO_KG # weight from EX and above trims, average of FWD and AWD versions (EX, X-Line EX AWD, SX, SX Pestige, X-Line SX Prestige AWD)
|
||||
ret.wheelbase = 2.81
|
||||
ret.steerRatio = 13.27 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sorento-phev/2022/specifications
|
||||
|
||||
# Genesis
|
||||
elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN:
|
||||
ret.mass = 2205 + STD_CARGO_KG
|
||||
ret.wheelbase = 2.9
|
||||
ret.steerRatio = 12.6 # https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1.
|
||||
elif candidate == CAR.GENESIS_G70:
|
||||
ret.steerActuatorDelay = 0.1
|
||||
ret.mass = 1640.0 + STD_CARGO_KG
|
||||
@@ -273,11 +275,11 @@ class CarInterface(CarInterfaceBase):
|
||||
elif candidate in EV_CAR:
|
||||
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS
|
||||
|
||||
ret.centerToFront = ret.wheelbase * 0.4
|
||||
if candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
|
||||
ret.flags |= HyundaiFlags.ALT_LIMITS.value
|
||||
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS
|
||||
|
||||
# TODO: get actual value, for now starting with reasonable value for
|
||||
# civic and scaling by mass and wheelbase
|
||||
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
|
||||
ret.centerToFront = ret.wheelbase * 0.4
|
||||
|
||||
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
|
||||
# mass and CG position, so all cars will have approximately similar dyn behaviors
|
||||
@@ -297,6 +299,10 @@ class CarInterface(CarInterfaceBase):
|
||||
addr, bus = 0x730, 5
|
||||
disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01')
|
||||
|
||||
# for blinkers
|
||||
if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
|
||||
disable_ecu(logcan, sendcan, bus=5, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
|
||||
|
||||
def _update(self, c):
|
||||
ret = self.CS.update(self.cp, self.cp_cam)
|
||||
ret.cruiseState.enabled, ret.cruiseState.available = self.dp_atl_mode(ret)
|
||||
@@ -316,9 +322,6 @@ class CarInterface(CarInterfaceBase):
|
||||
events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable)
|
||||
events = self.dp_atl_warning(ret, events)
|
||||
|
||||
if self.CS.brake_error:
|
||||
events.add(EventName.brakeUnavailable)
|
||||
|
||||
# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
|
||||
if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
|
||||
self.low_speed_alert = True
|
||||
|
||||
@@ -1,12 +1,12 @@
|
||||
from enum import IntFlag
|
||||
from dataclasses import dataclass
|
||||
from enum import Enum, IntFlag
|
||||
from typing import Dict, List, Optional, Union
|
||||
|
||||
from cereal import car
|
||||
from panda.python import uds
|
||||
from common.conversions import Conversions as CV
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarInfo, Harness
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -39,6 +39,12 @@ class CarControllerParams:
|
||||
CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO):
|
||||
self.STEER_MAX = 255
|
||||
|
||||
# these cars have significantly more torque than most HKG; limit to 70% of max
|
||||
elif CP.flags & HyundaiFlags.ALT_LIMITS:
|
||||
self.STEER_MAX = 270
|
||||
self.STEER_DELTA_UP = 2
|
||||
self.STEER_DELTA_DOWN = 3
|
||||
|
||||
# Default for most HKG
|
||||
else:
|
||||
self.STEER_MAX = 384
|
||||
@@ -50,6 +56,10 @@ class HyundaiFlags(IntFlag):
|
||||
CANFD_ALT_GEARS = 4
|
||||
CANFD_CAMERA_SCC = 8
|
||||
|
||||
ALT_LIMITS = 16
|
||||
|
||||
ENABLE_BLINKERS = 32
|
||||
|
||||
|
||||
class CAR:
|
||||
# Hyundai
|
||||
@@ -78,6 +88,7 @@ class CAR:
|
||||
VELOSTER = "HYUNDAI VELOSTER 2019"
|
||||
SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021"
|
||||
IONIQ_5 = "HYUNDAI IONIQ 5 2022"
|
||||
TUCSON_4TH_GEN = "HYUNDAI TUCSON 4TH GEN"
|
||||
TUCSON_HYBRID_4TH_GEN = "HYUNDAI TUCSON HYBRID 4TH GEN"
|
||||
SANTA_CRUZ_1ST_GEN = "HYUNDAI SANTA CRUZ 1ST GEN"
|
||||
|
||||
@@ -93,6 +104,7 @@ class CAR:
|
||||
KIA_SELTOS = "KIA SELTOS 2021"
|
||||
KIA_SPORTAGE_5TH_GEN = "KIA SPORTAGE 5TH GEN"
|
||||
KIA_SORENTO = "KIA SORENTO GT LINE 2018"
|
||||
KIA_SORENTO_PHEV_4TH_GEN = "KIA SORENTO PLUG-IN HYBRID 4TH GEN"
|
||||
KIA_SPORTAGE_HYBRID_5TH_GEN = "KIA SPORTAGE HYBRID 5TH GEN"
|
||||
KIA_STINGER = "KIA STINGER GT2 2018"
|
||||
KIA_STINGER_2022 = "KIA STINGER 2022"
|
||||
@@ -100,6 +112,7 @@ class CAR:
|
||||
KIA_EV6 = "KIA EV6 2022"
|
||||
|
||||
# Genesis
|
||||
GENESIS_GV60_EV_1ST_GEN = "GENESIS GV60 ELECTRIC 1ST GEN"
|
||||
GENESIS_G70 = "GENESIS G70 2018"
|
||||
GENESIS_G70_2020 = "GENESIS G70 2020"
|
||||
GENESIS_GV70_1ST_GEN = "GENESIS GV70 1ST GEN"
|
||||
@@ -107,16 +120,27 @@ class CAR:
|
||||
GENESIS_G90 = "GENESIS G90 2017"
|
||||
|
||||
|
||||
class Footnote(Enum):
|
||||
CANFD = CarFootnote(
|
||||
"Requires a <a href=\"https://comma.ai/shop/panda\" target=\"_blank\">red panda</a>, additional <a href=\"https://comma.ai/shop/harness-box\" target=\"_blank\">harness box</a>, " +
|
||||
"additional <a href=\"https://comma.ai/shop/obd-c-cable\" target=\"_blank\">OBD-C cable</a>, USB-A to USB-A cable, and a USB-A to USB-C OTG dongle.",
|
||||
Column.MODEL, shop_footnote=True)
|
||||
|
||||
|
||||
@dataclass
|
||||
class HyundaiCarInfo(CarInfo):
|
||||
package: str = "Smart Cruise Control (SCC)"
|
||||
|
||||
def init_make(self, CP: car.CarParams):
|
||||
if CP.carFingerprint in CANFD_CAR:
|
||||
self.footnotes.insert(0, Footnote.CANFD)
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
|
||||
CAR.ELANTRA: [
|
||||
HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b),
|
||||
HyundaiCarInfo("Hyundai Elantra GT 2017-19", harness=Harness.hyundai_e),
|
||||
HyundaiCarInfo("Hyundai i30 2019", harness=Harness.hyundai_e),
|
||||
HyundaiCarInfo("Hyundai i30 2017-19", harness=Harness.hyundai_e),
|
||||
],
|
||||
CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
|
||||
CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
|
||||
@@ -148,11 +172,15 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
|
||||
CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e),
|
||||
CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness=Harness.hyundai_a),
|
||||
CAR.IONIQ_5: [
|
||||
HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23" , "Highway Driving Assist", harness=Harness.hyundai_k),
|
||||
HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", harness=Harness.hyundai_k),
|
||||
HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", harness=Harness.hyundai_q),
|
||||
],
|
||||
CAR.TUCSON_4TH_GEN: [
|
||||
HyundaiCarInfo("Hyundai Tucson 2022", harness=Harness.hyundai_n),
|
||||
HyundaiCarInfo("Hyundai Tucson 2023", "All", harness=Harness.hyundai_n),
|
||||
],
|
||||
CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022", "All", harness=Harness.hyundai_n),
|
||||
CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2021-22", "Smart Cruise Control (SCC)", harness=Harness.hyundai_n),
|
||||
CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2021-22", harness=Harness.hyundai_n),
|
||||
|
||||
# Kia
|
||||
CAR.KIA_FORTE: HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g),
|
||||
@@ -175,11 +203,12 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
|
||||
HyundaiCarInfo("Kia Optima Hybrid 2019"),
|
||||
],
|
||||
CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a),
|
||||
CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", "Smart Cruise Control (SCC)", harness=Harness.hyundai_n),
|
||||
CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", harness=Harness.hyundai_n),
|
||||
CAR.KIA_SORENTO: [
|
||||
HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", "https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c),
|
||||
HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e),
|
||||
],
|
||||
CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a),
|
||||
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", harness=Harness.hyundai_n),
|
||||
CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
|
||||
CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", harness=Harness.hyundai_k),
|
||||
@@ -190,6 +219,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
|
||||
],
|
||||
|
||||
# Genesis
|
||||
CAR.GENESIS_GV60_EV_1ST_GEN: HyundaiCarInfo("Genesis GV60 2023", "All", harness=Harness.hyundai_k),
|
||||
CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f),
|
||||
CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", harness=Harness.hyundai_f),
|
||||
CAR.GENESIS_GV70_1ST_GEN: HyundaiCarInfo("Genesis GV70 2022-23", "All", harness=Harness.hyundai_l),
|
||||
@@ -685,12 +715,14 @@ FW_VERSIONS = {
|
||||
b'\xf1\x8758910-S1DA0\xf1\x00TM ESC \x1e 102 \x08\x08 58910-S1DA0',
|
||||
b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
|
||||
b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
|
||||
b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\xf1\x82TACVN5GMI3XXXH0A',
|
||||
b'\xf1\x82TMBZN5TMD3XXXG2E',
|
||||
b'\xf1\x82TACVN5GSI3XXXH0A',
|
||||
b'\xf1\x82TMCFD5MMCXXXXG0A',
|
||||
b'\xf1\x81HM6M1_0a0_G20',
|
||||
b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82TMDWN5TMD3TXXJ1A',
|
||||
b'\xf1\x81HM6M2_0a0_G00',
|
||||
b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10',
|
||||
@@ -715,6 +747,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00HT6TA290BLHT6TAF00A1STM0M25GS1\x00\x00\x00\x00\x00\x006\xd8\x97\x15',
|
||||
b'\xf1\x00T02601BL T02900A1 VTMPT25XXX900NS8\xb7\xaa\xfe\xfc',
|
||||
b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02900A1 \xf1\x00T02601BL T02900A1 VTMPT25XXX900NS8\xb7\xaa\xfe\xfc',
|
||||
b'\xf1\x00T02601BL T02800A1 VTMPT25XXX800NS4\xed\xaf\xed\xf5',
|
||||
],
|
||||
},
|
||||
CAR.SANTA_FE_HEV_2022: {
|
||||
@@ -819,6 +852,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00LX2_ SCC FHCUP 1.00 1.04 99110-S8100 ',
|
||||
b'\xf1\x00LX2_ SCC FHCUP 1.00 1.05 99110-S8100 ',
|
||||
b'\xf1\x00ON__ FCA FHCUP 1.00 1.02 99110-S9100 ',
|
||||
b'\xf1\x00ON__ FCA FHCUP 1.00 1.01 99110-S9110 ',
|
||||
],
|
||||
(Ecu.abs, 0x7d1, None): [
|
||||
b'\xf1\x00LX ESC \x01 103\x19\t\x10 58910-S8360',
|
||||
@@ -832,6 +866,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360',
|
||||
b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360',
|
||||
b'\xf1\x00ON ESC \x0b 101\x19\t\x05 58910-S9320',
|
||||
b'\xf1\x00ON ESC \x01 101\x19\t\x08 58910-S9360',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
@@ -854,11 +889,13 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00ON MFC AT USA LHD 1.00 1.01 99211-S9100 181105',
|
||||
b'\xf1\x00ON MFC AT USA LHD 1.00 1.03 99211-S9100 200720',
|
||||
b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.00 99211-S8110 210226',
|
||||
b'\xf1\x00ON MFC AT USA LHD 1.00 1.04 99211-S9100 211227',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xf1\x00bcsh8p54 U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28',
|
||||
b'\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
|
||||
b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
|
||||
b'\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00TON2G38NB5j\x94.\xde',
|
||||
b'\xf1\x87LBLUFN591307KF25vgvw\x97wwwy\x99\xa7\x99\x99\xaa\xa9\x9af\x88\x96h\x95o\xf7\xff\x99f/\xff\xe4c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB2\xd7\xc1/\xd1',
|
||||
b'\xf1\x87LBLUFN650868KF36\xa9\x98\x89\x88\xa8\x88\x88\x88h\x99\xa6\x89fw\x86gw\x88\x97x\xaa\x7f\xf6\xff\xbb\xbb\x8f\xff+\x82\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
|
||||
b'\xf1\x87LBLUFN655162KF36\x98\x88\x88\x88\x98\x88\x88\x88x\x99\xa7\x89x\x99\xa7\x89x\x99\x97\x89g\x7f\xf7\xffwU_\xff\xe9!\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
|
||||
@@ -1021,11 +1058,13 @@ FW_VERSIONS = {
|
||||
b'\xf1\x8799110L2000\xf1\000DL3_ SCC FHCUP 1.00 1.03 99110-L2000 ',
|
||||
b'\xf1\x8799110L2100\xf1\x00DL3_ SCC F-CUP 1.00 1.03 99110-L2100 ',
|
||||
b'\xf1\x8799110L2100\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2100 ',
|
||||
b'\xf1\x00DL3_ SCC F-CUP 1.00 1.03 99110-L2100 ',
|
||||
],
|
||||
(Ecu.eps, 0x7D4, None): [
|
||||
b'\xf1\x8756310-L3110\xf1\000DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101',
|
||||
b'\xf1\x8756310-L3220\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101',
|
||||
b'\xf1\x8757700-L3000\xf1\x00DL3 MDPS R 1.00 1.02 57700-L3000 4DLAP102',
|
||||
b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x7C4, None): [
|
||||
b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.03 99210-L3000 200915',
|
||||
@@ -1036,6 +1075,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x8758910-L3200\xf1\000DL ESC \006 101 \004\002 58910-L3200',
|
||||
b'\xf1\x8758910-L3800\xf1\x00DL ESC \t 101 \x07\x02 58910-L3800',
|
||||
b'\xf1\x8758910-L3600\xf1\x00DL ESC \x03 100 \x08\x02 58910-L3600',
|
||||
b'\xf1\x00DL ESC \t 100 \x06\x02 58910-L3800',
|
||||
],
|
||||
(Ecu.engine, 0x7E0, None): [
|
||||
b'\xf1\x87391212MKT0',
|
||||
@@ -1048,6 +1088,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x87SALFEA6046104GK2wvwgeTeFg\x88\x96xwwwwffvfe?\xfd\xff\x86fo\xff\x97A\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL2T16NB1ia\x0b\xb8',
|
||||
b'\xf1\x87SCMSAA8572454GK1\x87x\x87\x88Vf\x86hgwvwvwwgvwwgT?\xfb\xff\x97fo\xffH\xb8\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18',
|
||||
b'\xf1\x87954A02N300\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 WDL3T25XXX730NS2b\x1f\xb8%',
|
||||
b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18',
|
||||
],
|
||||
},
|
||||
CAR.KONA_EV: {
|
||||
@@ -1240,18 +1281,23 @@ FW_VERSIONS = {
|
||||
CAR.ELANTRA: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00PD LKAS AT USA LHD 1.01 1.01 95740-G3100 A54',
|
||||
b'\xf1\x00PD LKAS AT KOR LHD 1.00 1.02 95740-G3000 A51',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DPD0H16NS0e\x0e\xcd\x8e',
|
||||
b'\xf1\x006U2U0_C2\x00\x006U2T0051\x00\x00DPD0D16KS0u\xce\x1fk',
|
||||
],
|
||||
(Ecu.eps, 0x7d4, None): [
|
||||
b'\xf1\x00PD MDPS C 1.00 1.04 56310/G3300 4PDDC104',
|
||||
b'\xf1\x00PD MDPS C 1.00 1.00 56310G3300\x00 4PDDC100',
|
||||
],
|
||||
(Ecu.abs, 0x7d1, None): [
|
||||
b'\xf1\x00PD ESC \x0b 104\x18\t\x03 58920-G3350',
|
||||
b'\xf1\x00PD ESC \t 104\x18\t\x03 58920-G3350',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00PD__ SCC F-CUP 1.00 1.00 96400-G3300 ',
|
||||
b'\xf1\x00PD__ SCC FNCUP 1.01 1.00 96400-G3000 ',
|
||||
],
|
||||
},
|
||||
CAR.ELANTRA_2021: {
|
||||
@@ -1390,6 +1436,14 @@ FW_VERSIONS = {
|
||||
b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00'
|
||||
],
|
||||
},
|
||||
CAR.KIA_SORENTO_PHEV_4TH_GEN: {
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00MQhe SCC FHCUP 1.00 1.06 99110-P4000 ',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.11 99210-P2000 211217',
|
||||
]
|
||||
},
|
||||
CAR.KIA_EV6: {
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ',
|
||||
@@ -1413,10 +1467,19 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.05 99211-GI010 220614',
|
||||
],
|
||||
},
|
||||
CAR.TUCSON_4TH_GEN: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ',
|
||||
],
|
||||
},
|
||||
CAR.TUCSON_HYBRID_4TH_GEN: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q',
|
||||
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K',
|
||||
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ',
|
||||
@@ -1456,6 +1519,14 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00JK1_ SCC FHCUP 1.00 1.02 99110-AR000 ',
|
||||
],
|
||||
},
|
||||
CAR.GENESIS_GV60_EV_1ST_GEN: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.02 99211-CU100 211215',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00JW1_ RDR ----- 1.00 1.00 99110-CU000 ',
|
||||
],
|
||||
},
|
||||
}
|
||||
|
||||
CHECKSUM = {
|
||||
@@ -1473,16 +1544,16 @@ FEATURES = {
|
||||
"use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022, CAR.KIA_STINGER_2022},
|
||||
}
|
||||
|
||||
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN}
|
||||
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN}
|
||||
|
||||
# The radar does SCC on these cars when HDA I, rather than the camera
|
||||
CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, }
|
||||
CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN}
|
||||
|
||||
# The camera does SCC on these cars, rather than the radar
|
||||
CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
|
||||
|
||||
HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN} # these cars use a different gas signal
|
||||
EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5}
|
||||
HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN} # these cars use a different gas signal
|
||||
EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.GENESIS_GV60_EV_1ST_GEN}
|
||||
|
||||
# these cars require a special panda safety mode due to missing counters and checksums in the messages
|
||||
LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022}
|
||||
@@ -1532,10 +1603,13 @@ DBC = {
|
||||
CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_EV6: dbc_dict('hyundai_canfd', None),
|
||||
CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
|
||||
CAR.TUCSON_4TH_GEN: dbc_dict('hyundai_canfd', None),
|
||||
CAR.TUCSON_HYBRID_4TH_GEN: dbc_dict('hyundai_canfd', None),
|
||||
CAR.IONIQ_5: dbc_dict('hyundai_canfd', None),
|
||||
CAR.SANTA_CRUZ_1ST_GEN: dbc_dict('hyundai_canfd', None),
|
||||
CAR.KIA_SPORTAGE_5TH_GEN: dbc_dict('hyundai_canfd', None),
|
||||
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: dbc_dict('hyundai_canfd', None),
|
||||
CAR.GENESIS_GV70_1ST_GEN: dbc_dict('hyundai_canfd', None),
|
||||
CAR.KIA_SORENTO_PHEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
|
||||
CAR.GENESIS_GV60_EV_1ST_GEN: dbc_dict('hyundai_canfd', None),
|
||||
}
|
||||
|
||||
@@ -8,10 +8,10 @@ from cereal import car
|
||||
from common.basedir import BASEDIR
|
||||
from common.conversions import Conversions as CV
|
||||
from common.kalman.simple_kalman import KF1D
|
||||
from common.numpy_fast import interp
|
||||
from common.numpy_fast import clip, interp
|
||||
from common.realtime import DT_CTRL
|
||||
from selfdrive.car import apply_hysteresis, gen_empty_fingerprint
|
||||
from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_deadzone
|
||||
from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness
|
||||
from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_center_deadzone
|
||||
from selfdrive.controls.lib.events import Events
|
||||
from selfdrive.controls.lib.vehicle_model import VehicleModel
|
||||
from common.params import Params
|
||||
@@ -93,10 +93,34 @@ class CarInterfaceBase(ABC):
|
||||
def get_pid_accel_limits(CP, current_speed, cruise_speed):
|
||||
return ACCEL_MIN, ACCEL_MAX
|
||||
|
||||
@classmethod
|
||||
def get_params(cls, candidate: str, fingerprint: Optional[Dict[int, Dict[int, int]]] = None, car_fw: Optional[List[car.CarParams.CarFw]] = None, experimental_long: bool = False):
|
||||
if fingerprint is None:
|
||||
fingerprint = gen_empty_fingerprint()
|
||||
|
||||
if car_fw is None:
|
||||
car_fw = list()
|
||||
|
||||
ret = CarInterfaceBase.get_std_params(candidate)
|
||||
ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long)
|
||||
|
||||
# Set common params using fields set by the car interface
|
||||
# TODO: get actual value, for now starting with reasonable value for
|
||||
# civic and scaling by mass and wheelbase
|
||||
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
|
||||
|
||||
# TODO: some car interfaces set stiffness factor
|
||||
if ret.tireStiffnessFront == 0 or ret.tireStiffnessRear == 0:
|
||||
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
|
||||
# mass and CG position, so all cars will have approximately similar dyn behaviors
|
||||
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
|
||||
|
||||
return ret
|
||||
|
||||
@staticmethod
|
||||
@abstractmethod
|
||||
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
|
||||
pass
|
||||
def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool):
|
||||
raise NotImplementedError
|
||||
|
||||
@staticmethod
|
||||
def init(CP, logcan, sendcan):
|
||||
@@ -115,7 +139,7 @@ class CarInterfaceBase(ABC):
|
||||
def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, friction_compensation):
|
||||
# The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction)
|
||||
friction_interp = interp(
|
||||
apply_deadzone(lateral_accel_error, lateral_accel_deadzone),
|
||||
apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
|
||||
[-FRICTION_THRESHOLD, FRICTION_THRESHOLD],
|
||||
[-torque_params.friction, torque_params.friction]
|
||||
)
|
||||
@@ -127,7 +151,7 @@ class CarInterfaceBase(ABC):
|
||||
|
||||
# returns a set of default params to avoid repetition in car specific params
|
||||
@staticmethod
|
||||
def get_std_params(candidate, fingerprint):
|
||||
def get_std_params(candidate):
|
||||
ret = car.CarParams.new_message()
|
||||
ret.carFingerprint = candidate
|
||||
|
||||
@@ -349,6 +373,7 @@ class CarStateBase(ABC):
|
||||
self.cruise_buttons = 0
|
||||
self.left_blinker_cnt = 0
|
||||
self.right_blinker_cnt = 0
|
||||
self.steering_pressed_cnt = 0
|
||||
self.left_blinker_prev = False
|
||||
self.right_blinker_prev = False
|
||||
self.cluster_speed_hyst_gap = 0.0
|
||||
@@ -386,6 +411,12 @@ class CarStateBase(ABC):
|
||||
self.right_blinker_cnt = blinker_time if right_blinker_lamp else max(self.right_blinker_cnt - 1, 0)
|
||||
return self.left_blinker_cnt > 0, self.right_blinker_cnt > 0
|
||||
|
||||
def update_steering_pressed(self, steering_pressed, steering_pressed_min_count):
|
||||
"""Applies filtering on steering pressed for noisy driver torque signals."""
|
||||
self.steering_pressed_cnt += 1 if steering_pressed else -1
|
||||
self.steering_pressed_cnt = clip(self.steering_pressed_cnt, 0, steering_pressed_min_count * 2)
|
||||
return self.steering_pressed_cnt > steering_pressed_min_count
|
||||
|
||||
def update_blinker_from_stalk(self, blinker_time: int, left_blinker_stalk: bool, right_blinker_stalk: bool):
|
||||
"""Update blinkers from stalk position. When stalk is seen the blinker will be on for at least blinker_time,
|
||||
or until the stalk is turned off, whichever is longer. If the opposite stalk direction is seen the blinker
|
||||
|
||||
@@ -137,17 +137,17 @@ class IsoTpParallelQuery:
|
||||
else:
|
||||
response_timeouts[tx_addr] = 0
|
||||
request_done[tx_addr] = True
|
||||
cloudlog.warning(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
|
||||
cloudlog.error(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
|
||||
|
||||
cur_time = time.monotonic()
|
||||
if cur_time - max(response_timeouts.values()) > 0:
|
||||
for tx_addr in msgs:
|
||||
if request_counter[tx_addr] > 0 and not request_done[tx_addr]:
|
||||
cloudlog.warning(f"iso-tp query timeout after receiving response: {tx_addr}")
|
||||
cloudlog.error(f"iso-tp query timeout after receiving response: {tx_addr}")
|
||||
break
|
||||
|
||||
if cur_time - start_time > total_timeout:
|
||||
cloudlog.warning("iso-tp query timeout while receiving data")
|
||||
cloudlog.error("iso-tp query timeout while receiving data")
|
||||
break
|
||||
|
||||
return results
|
||||
|
||||
@@ -59,6 +59,7 @@ class CarController:
|
||||
|
||||
new_actuators = CC.actuators.copy()
|
||||
new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
|
||||
new_actuators.steerOutputCan = apply_steer
|
||||
|
||||
self.frame += 1
|
||||
return new_actuators, can_sends
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
from cereal import car
|
||||
from common.conversions import Conversions as CV
|
||||
from selfdrive.car.mazda.values import CAR, LKAS_LIMITS
|
||||
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
|
||||
from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
from common.params import Params
|
||||
|
||||
@@ -12,9 +12,7 @@ EventName = car.CarEvent.EventName
|
||||
class CarInterface(CarInterfaceBase):
|
||||
|
||||
@staticmethod
|
||||
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
|
||||
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
|
||||
|
||||
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
|
||||
ret.carName = "mazda"
|
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
|
||||
ret.radarOffCan = True
|
||||
@@ -51,10 +49,6 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
ret.centerToFront = ret.wheelbase * 0.41
|
||||
|
||||
# TODO: get actual value, for now starting with reasonable value for
|
||||
# civic and scaling by mass and wheelbase
|
||||
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
|
||||
|
||||
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
|
||||
# mass and CG position, so all cars will have approximately similar dyn behaviors
|
||||
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
|
||||
|
||||
@@ -42,7 +42,7 @@ CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
|
||||
CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-20"),
|
||||
CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"),
|
||||
CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017-20"),
|
||||
CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-22", video_link="https://youtu.be/dA3duO4a0O4"),
|
||||
CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4"),
|
||||
CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022-23"),
|
||||
}
|
||||
|
||||
@@ -283,6 +283,7 @@ FW_VERSIONS = {
|
||||
b'TC3M-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'PXGW-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PXM4-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PXM4-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PXM6-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
@@ -299,6 +300,7 @@ FW_VERSIONS = {
|
||||
b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'GSH7-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'PXM4-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
|
||||
@@ -1,39 +1,28 @@
|
||||
#!/usr/bin/env python3
|
||||
import math
|
||||
from cereal import car
|
||||
from common.conversions import Conversions as CV
|
||||
from system.swaglog import cloudlog
|
||||
import cereal.messaging as messaging
|
||||
from selfdrive.car import gen_empty_fingerprint, get_safety_config
|
||||
from selfdrive.car import get_safety_config
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
|
||||
|
||||
# mocked car interface to work with chffrplus
|
||||
TS = 0.01 # 100Hz
|
||||
YAW_FR = 0.2 # ~0.8s time constant on yaw rate filter
|
||||
# low pass gain
|
||||
LPG = 2 * math.pi * YAW_FR * TS / (1 + 2 * math.pi * YAW_FR * TS)
|
||||
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
def __init__(self, CP, CarController, CarState):
|
||||
super().__init__(CP, CarController, CarState)
|
||||
|
||||
cloudlog.debug("Using Mock Car Interface")
|
||||
|
||||
self.sm = messaging.SubMaster(['gyroscope', 'gpsLocation', 'gpsLocationExternal'])
|
||||
self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
|
||||
|
||||
self.speed = 0.
|
||||
self.prev_speed = 0.
|
||||
self.yaw_rate = 0.
|
||||
self.yaw_rate_meas = 0.
|
||||
|
||||
@staticmethod
|
||||
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
|
||||
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
|
||||
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
|
||||
ret.carName = "mock"
|
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)]
|
||||
ret.mass = 1700.
|
||||
ret.rotationalInertia = 2500.
|
||||
ret.wheelbase = 2.70
|
||||
ret.centerToFront = ret.wheelbase * 0.5
|
||||
ret.steerRatio = 13. # reasonable
|
||||
@@ -45,11 +34,6 @@ class CarInterface(CarInterfaceBase):
|
||||
# returns a car.CarState
|
||||
def _update(self, c):
|
||||
self.sm.update(0)
|
||||
|
||||
# get basic data from phone and gps since CAN isn't connected
|
||||
if self.sm.updated['gyroscope']:
|
||||
self.yaw_rate_meas = -self.sm['gyroscope'].gyroUncalibrated.v[0]
|
||||
|
||||
gps_sock = 'gpsLocationExternal' if self.sm.rcv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
|
||||
if self.sm.updated[gps_sock]:
|
||||
self.prev_speed = self.speed
|
||||
@@ -61,10 +45,9 @@ class CarInterface(CarInterfaceBase):
|
||||
# speeds
|
||||
ret.vEgo = self.speed
|
||||
ret.vEgoRaw = self.speed
|
||||
a = self.speed - self.prev_speed
|
||||
|
||||
ret.aEgo = a
|
||||
ret.brakePressed = a < -0.5
|
||||
ret.aEgo = self.speed - self.prev_speed
|
||||
ret.brakePressed = ret.aEgo < -0.5
|
||||
|
||||
ret.standstill = self.speed < 0.01
|
||||
ret.wheelSpeeds.fl = self.speed
|
||||
@@ -72,10 +55,6 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.wheelSpeeds.rl = self.speed
|
||||
ret.wheelSpeeds.rr = self.speed
|
||||
|
||||
self.yawRate = LPG * self.yaw_rate_meas + (1. - LPG) * self.yaw_rate
|
||||
curvature = self.yaw_rate / max(self.speed, 1.)
|
||||
ret.steeringAngleDeg = curvature * self.CP.steerRatio * self.CP.wheelbase * CV.RAD_TO_DEG
|
||||
|
||||
return ret
|
||||
|
||||
def apply(self, c):
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
from cereal import car
|
||||
from common.numpy_fast import clip, interp
|
||||
from opendbc.can.packer import CANPacker
|
||||
from selfdrive.car import apply_std_steer_angle_limits
|
||||
from selfdrive.car.nissan import nissancan
|
||||
from selfdrive.car.nissan.values import CAR, CarControllerParams
|
||||
|
||||
@@ -14,7 +14,7 @@ class CarController:
|
||||
self.frame = 0
|
||||
|
||||
self.lkas_max_torque = 0
|
||||
self.last_angle = 0
|
||||
self.apply_angle_last = 0
|
||||
|
||||
self.packer = CANPacker(dbc_name)
|
||||
|
||||
@@ -28,18 +28,11 @@ class CarController:
|
||||
### STEER ###
|
||||
lkas_hud_msg = CS.lkas_hud_msg
|
||||
lkas_hud_info_msg = CS.lkas_hud_info_msg
|
||||
apply_angle = actuators.steeringAngleDeg
|
||||
|
||||
steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
|
||||
|
||||
if CC.latActive:
|
||||
# windup slower
|
||||
if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle):
|
||||
angle_rate_lim = interp(CS.out.vEgo, CarControllerParams.ANGLE_DELTA_BP, CarControllerParams.ANGLE_DELTA_V)
|
||||
else:
|
||||
angle_rate_lim = interp(CS.out.vEgo, CarControllerParams.ANGLE_DELTA_BP, CarControllerParams.ANGLE_DELTA_VU)
|
||||
|
||||
apply_angle = clip(apply_angle, self.last_angle - angle_rate_lim, self.last_angle + angle_rate_lim)
|
||||
apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams)
|
||||
|
||||
# Max torque from driver before EPS will give up and not apply torque
|
||||
if not bool(CS.out.steeringPressed):
|
||||
@@ -57,7 +50,7 @@ class CarController:
|
||||
apply_angle = CS.out.steeringAngleDeg
|
||||
self.lkas_max_torque = 0
|
||||
|
||||
self.last_angle = apply_angle
|
||||
self.apply_angle_last = apply_angle
|
||||
|
||||
if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and pcm_cancel_cmd:
|
||||
can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg))
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
#!/usr/bin/env python3
|
||||
from cereal import car
|
||||
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
|
||||
from selfdrive.car import STD_CARGO_KG, get_safety_config
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
from selfdrive.car.nissan.values import CAR
|
||||
|
||||
@@ -8,9 +8,7 @@ from selfdrive.car.nissan.values import CAR
|
||||
class CarInterface(CarInterfaceBase):
|
||||
|
||||
@staticmethod
|
||||
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
|
||||
|
||||
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
|
||||
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
|
||||
ret.carName = "nissan"
|
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
|
||||
ret.autoResumeSng = False
|
||||
@@ -20,6 +18,9 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.steerActuatorDelay = 0.1
|
||||
ret.steerRatio = 17
|
||||
|
||||
ret.steerControlType = car.CarParams.SteerControlType.angle
|
||||
ret.radarOffCan = True
|
||||
|
||||
if candidate in (CAR.ROGUE, CAR.XTRAIL):
|
||||
ret.mass = 1610 + STD_CARGO_KG
|
||||
ret.wheelbase = 2.705
|
||||
@@ -37,17 +38,6 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
CarInterfaceBase.configure_dp_tune(candidate, ret.lateralTuning)
|
||||
|
||||
ret.steerControlType = car.CarParams.SteerControlType.angle
|
||||
ret.radarOffCan = True
|
||||
|
||||
# TODO: get actual value, for now starting with reasonable value for
|
||||
# civic and scaling by mass and wheelbase
|
||||
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
|
||||
|
||||
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
|
||||
# mass and CG position, so all cars will have approximately similar dyn behaviors
|
||||
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
|
||||
|
||||
return ret
|
||||
|
||||
# returns a car.CarState
|
||||
|
||||
@@ -4,7 +4,7 @@ from enum import Enum
|
||||
|
||||
from cereal import car
|
||||
from panda.python import uds
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car import AngleRateLimit, dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarInfo, Harness
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
|
||||
@@ -12,9 +12,8 @@ Ecu = car.CarParams.Ecu
|
||||
|
||||
|
||||
class CarControllerParams:
|
||||
ANGLE_DELTA_BP = [0., 5., 15.]
|
||||
ANGLE_DELTA_V = [5., .8, .15] # windup limit
|
||||
ANGLE_DELTA_VU = [5., 3.5, 0.4] # unwind limit
|
||||
ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., .8, .15])
|
||||
ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., 3.5, 0.4])
|
||||
LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower
|
||||
STEER_THRESHOLD = 1.0
|
||||
|
||||
|
||||
@@ -87,6 +87,7 @@ class CarController:
|
||||
|
||||
new_actuators = actuators.copy()
|
||||
new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
|
||||
new_actuators.steerOutputCan = self.apply_steer_last
|
||||
|
||||
self.frame += 1
|
||||
return new_actuators, can_sends
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
#!/usr/bin/env python3
|
||||
from cereal import car
|
||||
from panda import Panda
|
||||
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
|
||||
from selfdrive.car import STD_CARGO_KG, get_safety_config
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS
|
||||
from common.params import Params
|
||||
@@ -10,9 +10,7 @@ from common.params import Params
|
||||
class CarInterface(CarInterfaceBase):
|
||||
|
||||
@staticmethod
|
||||
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
|
||||
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
|
||||
|
||||
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
|
||||
ret.carName = "subaru"
|
||||
ret.radarOffCan = True
|
||||
ret.dashcamOnly = candidate in PREGLOBAL_CARS
|
||||
@@ -105,15 +103,6 @@ class CarInterface(CarInterfaceBase):
|
||||
raise ValueError(f"unknown car: {candidate}")
|
||||
|
||||
CarInterfaceBase.configure_dp_tune(candidate, ret.lateralTuning)
|
||||
|
||||
# TODO: get actual value, for now starting with reasonable value for
|
||||
# civic and scaling by mass and wheelbase
|
||||
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
|
||||
|
||||
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
|
||||
# mass and CG position, so all cars will have approximately similar dyn behaviors
|
||||
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
|
||||
|
||||
Params().put("dp_lateral_steer_rate_cost", "0.7")
|
||||
return ret
|
||||
|
||||
|
||||
@@ -63,7 +63,7 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
|
||||
],
|
||||
CAR.IMPREZA_2020: [
|
||||
SubaruCarInfo("Subaru Impreza 2020-22"),
|
||||
SubaruCarInfo("Subaru Crosstrek 2020-21"),
|
||||
SubaruCarInfo("Subaru Crosstrek 2020-23"),
|
||||
SubaruCarInfo("Subaru XV 2020-21"),
|
||||
],
|
||||
CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"),
|
||||
@@ -235,12 +235,14 @@ FW_VERSIONS = {
|
||||
b'\x9a\xc0\000\000',
|
||||
b'\n\xc0\004\000',
|
||||
b'\x9a\xc0\x04\x00',
|
||||
b'\n\xc0\x04\x01',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x787, None): [
|
||||
b'\000\000eb\037@ \"',
|
||||
b'\000\000e\x8f\037@ )',
|
||||
b'\x00\x00eq\x1f@ "',
|
||||
b'\x00\x00eq\x00\x00\x00\x00',
|
||||
b'\x00\x00e\x8f\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\xca!ap\a',
|
||||
@@ -250,6 +252,7 @@ FW_VERSIONS = {
|
||||
b'\xcc!fp\a',
|
||||
b'\xca!f@\x07',
|
||||
b'\xca!fp\x07',
|
||||
b'\xf3"f@\x07',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xe6\xf5\004\000\000',
|
||||
@@ -258,6 +261,7 @@ FW_VERSIONS = {
|
||||
b'\xe7\xf5D0\000',
|
||||
b'\xf1\x00\xd7\x10@',
|
||||
b'\xe6\xf5D0\x00',
|
||||
b'\xe9\xf6F0\x00',
|
||||
],
|
||||
},
|
||||
CAR.FORESTER: {
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
from common.numpy_fast import clip, interp
|
||||
from common.numpy_fast import clip
|
||||
from opendbc.can.packer import CANPacker
|
||||
from selfdrive.car import apply_std_steer_angle_limits
|
||||
from selfdrive.car.tesla.teslacan import TeslaCAN
|
||||
from selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParams
|
||||
|
||||
@@ -8,7 +9,7 @@ class CarController:
|
||||
def __init__(self, dbc_name, CP, VM):
|
||||
self.CP = CP
|
||||
self.frame = 0
|
||||
self.last_angle = 0
|
||||
self.apply_angle_last = 0
|
||||
self.packer = CANPacker(dbc_name)
|
||||
self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])
|
||||
self.tesla_can = TeslaCAN(self.packer, self.pt_packer)
|
||||
@@ -24,20 +25,15 @@ class CarController:
|
||||
lkas_enabled = CC.latActive and not hands_on_fault
|
||||
|
||||
if lkas_enabled:
|
||||
apply_angle = actuators.steeringAngleDeg
|
||||
|
||||
# Angular rate limit based on speed
|
||||
steer_up = self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle)
|
||||
rate_limit = CarControllerParams.RATE_LIMIT_UP if steer_up else CarControllerParams.RATE_LIMIT_DOWN
|
||||
max_angle_diff = interp(CS.out.vEgo, rate_limit.speed_points, rate_limit.max_angle_diff_points)
|
||||
apply_angle = clip(apply_angle, self.last_angle - max_angle_diff, self.last_angle + max_angle_diff)
|
||||
apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams)
|
||||
|
||||
# To not fault the EPS
|
||||
apply_angle = clip(apply_angle, CS.out.steeringAngleDeg - 20, CS.out.steeringAngleDeg + 20)
|
||||
else:
|
||||
apply_angle = CS.out.steeringAngleDeg
|
||||
|
||||
self.last_angle = apply_angle
|
||||
self.apply_angle_last = apply_angle
|
||||
can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, self.frame))
|
||||
|
||||
# Longitudinal control (in sync with stock message, about 40Hz)
|
||||
|
||||
@@ -2,14 +2,13 @@
|
||||
from cereal import car
|
||||
from panda import Panda
|
||||
from selfdrive.car.tesla.values import CANBUS, CAR
|
||||
from selfdrive.car import STD_CARGO_KG, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_safety_config
|
||||
from selfdrive.car import STD_CARGO_KG, get_safety_config
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
@staticmethod
|
||||
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
|
||||
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
|
||||
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
|
||||
ret.carName = "tesla"
|
||||
|
||||
# There is no safe way to do steer blending with user torque,
|
||||
@@ -51,9 +50,6 @@ class CarInterface(CarInterfaceBase):
|
||||
else:
|
||||
raise ValueError(f"Unsupported car: {candidate}")
|
||||
|
||||
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
|
||||
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
|
||||
|
||||
return ret
|
||||
|
||||
def _update(self, c):
|
||||
|
||||
@@ -2,14 +2,13 @@ from collections import namedtuple
|
||||
from typing import Dict, List, Union
|
||||
|
||||
from cereal import car
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car import AngleRateLimit, dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarInfo
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
|
||||
AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_points'])
|
||||
|
||||
|
||||
class CAR:
|
||||
@@ -104,8 +103,8 @@ BUTTONS = [
|
||||
]
|
||||
|
||||
class CarControllerParams:
|
||||
RATE_LIMIT_UP = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., .8, .15])
|
||||
RATE_LIMIT_DOWN = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., 3.5, 0.4])
|
||||
ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., .8, .15])
|
||||
ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., 3.5, 0.4])
|
||||
JERK_LIMIT_MAX = 8
|
||||
JERK_LIMIT_MIN = -8
|
||||
ACCEL_TO_SPEED_MULTIPLIER = 3
|
||||
|
||||
@@ -31,6 +31,8 @@ class TestCarInterfaces(unittest.TestCase):
|
||||
assert car_interface
|
||||
|
||||
self.assertGreater(car_params.mass, 1)
|
||||
self.assertGreater(car_params.wheelbase, 0)
|
||||
self.assertGreater(car_params.centerToFront, 0)
|
||||
self.assertGreater(car_params.maxLateralAccel, 0)
|
||||
|
||||
if car_params.steerControlType != car.CarParams.SteerControlType.angle:
|
||||
|
||||
@@ -34,6 +34,8 @@ HYUNDAI SANTA CRUZ 1ST GEN: [2.7, 2.7, 0.1]
|
||||
KIA SPORTAGE 5TH GEN: [2.7, 2.7, 0.1]
|
||||
KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.1]
|
||||
GENESIS GV70 1ST GEN: [2.42, 2.42, 0.1]
|
||||
KIA SORENTO PLUG-IN HYBRID 4TH GEN: [2.5, 2.5, 0.1]
|
||||
GENESIS GV60 ELECTRIC 1ST GEN: [2.5, 2.5, 0.1]
|
||||
|
||||
# Dashcam or fallback configured as ideal car
|
||||
mock: [10.0, 10, 0.0]
|
||||
|
||||
@@ -27,10 +27,11 @@ HONDA PILOT 2017: [1.7262026201812795, 0.9470005614967523, 0.21351430733218763]
|
||||
HONDA RIDGELINE 2017: [1.4146525028237624, 0.7356572861629564, 0.23307177552211328]
|
||||
HYUNDAI ELANTRA 2021: [3.169, 2.1259108157250735, 0.0819]
|
||||
HYUNDAI GENESIS 2015-2016: [1.8466226943929824, 1.5552063647830634, 0.0984484465421171]
|
||||
HYUNDAI IONIQ 5 2022: [3.172929, 2.713050, 0.096019]
|
||||
HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276]
|
||||
HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778]
|
||||
HYUNDAI IONIQ PLUG-IN HYBRID 2019: [2.970807902012267, 1.6312321830002083, 0.1088964990357482]
|
||||
HYUNDAI KONA ELECTRIC 2019: [4.398306735170212, 3.2961956260770484, 0.08651833437845884]
|
||||
HYUNDAI KONA ELECTRIC 2019: [3.078814714619148, 3.2961956260770484, 0.12359762054065548]
|
||||
HYUNDAI PALISADE 2020: [2.544642494803999, 1.8721703683337008, 0.1301424599248651]
|
||||
HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.1207019341823945]
|
||||
HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963]
|
||||
@@ -41,7 +42,7 @@ HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488
|
||||
HYUNDAI TUCSON HYBRID 4TH GEN: [2.035545, 2.035545, 0.110272]
|
||||
JEEP GRAND CHEROKEE 2019: [1.7321233388827006, 1.289689569171081, 0.15046331002097185]
|
||||
JEEP GRAND CHEROKEE V6 2018: [1.8776598027756923, 1.4057367824262523, 0.11725947414922003]
|
||||
KIA EV6 2022: [3.2, 3.0, 0.05]
|
||||
KIA EV6 2022: [3.2, 2.093457, 0.05]
|
||||
KIA K5 2021: [2.405339728085138, 1.460032270828705, 0.11650989850813716]
|
||||
KIA NIRO EV 2020: [2.9215954981365337, 2.1500583840260044, 0.09236802474810267]
|
||||
KIA SORENTO GT LINE 2018: [2.464854685101844, 1.5335274218367956, 0.12056170567599558]
|
||||
@@ -77,7 +78,7 @@ TOYOTA HIGHLANDER 2020: [2.022340166827233, 1.6183134804881791, 0.14592306380054
|
||||
TOYOTA HIGHLANDER HYBRID 2018: [1.752033, 1.6433903296845025, 0.144600]
|
||||
TOYOTA HIGHLANDER HYBRID 2020: [1.901174, 2.104015182965606, 0.14447040132184993]
|
||||
TOYOTA MIRAI 2021: [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
|
||||
TOYOTA PRIUS 2017: [1.746445, 1.5023147650693636, 0.151515]
|
||||
TOYOTA PRIUS 2017: [1.60, 1.5023147650693636, 0.151515]
|
||||
TOYOTA PRIUS TSS2 2021: [1.972600, 1.9104337425537743, 0.170968]
|
||||
TOYOTA RAV4 2017: [2.085695074355425, 2.2142832316984733, 0.13339165270103975]
|
||||
TOYOTA RAV4 2019: [2.331293, 2.0993589721530252, 0.129822]
|
||||
|
||||
@@ -29,13 +29,13 @@ HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019
|
||||
HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019
|
||||
HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019
|
||||
HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019
|
||||
HYUNDAI IONIQ 5 2022: KIA EV6 2022
|
||||
HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019
|
||||
HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019
|
||||
HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019
|
||||
HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019
|
||||
HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020
|
||||
HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019
|
||||
HYUNDAI TUCSON 4TH GEN: HYUNDAI TUCSON HYBRID 4TH GEN
|
||||
HYUNDAI SANTA FE 2022: HYUNDAI SANTA FE HYBRID 2022
|
||||
KIA STINGER 2022: KIA STINGER GT2 2018
|
||||
GENESIS G90 2017: GENESIS G70 2018
|
||||
|
||||
@@ -184,7 +184,7 @@ class CarController:
|
||||
if self.frame % 100 == 0 or send_ui:
|
||||
can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible,
|
||||
hud_control.rightLaneVisible, hud_control.leftLaneDepart,
|
||||
hud_control.rightLaneDepart, CC.enabled))
|
||||
hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud))
|
||||
|
||||
if (self.frame % 100 == 0 or send_ui) and self.CP.enableDsu:
|
||||
can_sends.append(create_fcw_command(self.packer, fcw_alert))
|
||||
@@ -196,6 +196,7 @@ class CarController:
|
||||
|
||||
new_actuators = actuators.copy()
|
||||
new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
|
||||
new_actuators.steerOutputCan = apply_steer
|
||||
new_actuators.accel = self.accel
|
||||
new_actuators.gas = self.gas
|
||||
|
||||
|
||||
@@ -1,3 +1,5 @@
|
||||
import copy
|
||||
|
||||
from cereal import car
|
||||
from common.conversions import Conversions as CV
|
||||
from common.numpy_fast import mean
|
||||
@@ -6,7 +8,7 @@ from common.realtime import DT_CTRL
|
||||
from opendbc.can.can_define import CANDefine
|
||||
from opendbc.can.parser import CANParser
|
||||
from selfdrive.car.interfaces import CarStateBase
|
||||
from selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
|
||||
from selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
|
||||
|
||||
from common.params import Params, put_nonblocking
|
||||
import time
|
||||
@@ -43,6 +45,7 @@ class CarState(CarStateBase):
|
||||
|
||||
self.low_speed_lockout = False
|
||||
self.acc_type = 1
|
||||
self.lkas_hud = {}
|
||||
|
||||
#dp
|
||||
self.dp_sig_check = False
|
||||
@@ -193,16 +196,20 @@ class CarState(CarStateBase):
|
||||
ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"] * self.eps_torque_scale
|
||||
# we could use the override bit from dbc, but it's triggered at too high torque values
|
||||
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
|
||||
# steer rate fault, goes to 21 or 25 for 1 frame, then 9 for ~2 seconds
|
||||
ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in (0, 9, 21, 25)
|
||||
# steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds
|
||||
# lka msg drop out: goes to 9 then 11 for a combined total of 2 seconds
|
||||
ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in (0, 9, 11, 21, 25)
|
||||
# 17 is a fault from a prolonged high torque delta between cmd and user
|
||||
ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] == 17
|
||||
# 3 is a fault from the lka command message not being received by the EPS
|
||||
ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] in (3, 17)
|
||||
|
||||
if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
|
||||
# TODO: find the bit likely in DSU_CRUISE that describes an ACC fault. one may also exist in CLUTCH
|
||||
ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
|
||||
ret.cruiseState.speed = cp.vl["DSU_CRUISE"]["SET_SPEED"] * CV.KPH_TO_MS
|
||||
cluster_set_speed = cp.vl["PCM_CRUISE_ALT"]["UI_SET_SPEED"]
|
||||
else:
|
||||
ret.accFaulted = cp.vl["PCM_CRUISE_2"]["ACC_FAULTED"] != 0
|
||||
ret.cruiseState.available = cp.vl["PCM_CRUISE_2"]["MAIN_ON"] != 0
|
||||
ret.cruiseState.speed = cp.vl["PCM_CRUISE_2"]["SET_SPEED"] * CV.KPH_TO_MS
|
||||
cluster_set_speed = cp.vl["PCM_CRUISE_SM"]["UI_SET_SPEED"]
|
||||
@@ -228,7 +235,9 @@ class CarState(CarStateBase):
|
||||
self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2
|
||||
|
||||
self.pcm_acc_status = cp.vl["PCM_CRUISE"]["CRUISE_STATE"]
|
||||
ret.cruiseState.standstill = self.pcm_acc_status == 7
|
||||
if self.CP.carFingerprint not in (NO_STOP_TIMER_CAR - TSS2_CAR):
|
||||
# ignore standstill state in certain vehicles, since pcm allows to restart with just an acceleration request
|
||||
ret.cruiseState.standstill = self.pcm_acc_status == 7
|
||||
ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"])
|
||||
ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] in (1, 2, 3, 4, 5, 6)
|
||||
|
||||
@@ -242,6 +251,9 @@ class CarState(CarStateBase):
|
||||
ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1)
|
||||
ret.rightBlindspot = (cp.vl["BSM"]["R_ADJACENT"] == 1) or (cp.vl["BSM"]["R_APPROACHING"] == 1)
|
||||
|
||||
if self.CP.carFingerprint != CAR.PRIUS_V:
|
||||
self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"])
|
||||
|
||||
ret.cruiseActualEnabled = ret.cruiseState.enabled
|
||||
self._update_traffic_signals(cp_cam)
|
||||
ret.cruiseState.speedLimit = self._calculate_speed_limit()
|
||||
@@ -411,6 +423,7 @@ class CarState(CarStateBase):
|
||||
else:
|
||||
signals.append(("MAIN_ON", "PCM_CRUISE_2"))
|
||||
signals.append(("SET_SPEED", "PCM_CRUISE_2"))
|
||||
signals.append(("ACC_FAULTED", "PCM_CRUISE_2"))
|
||||
signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2"))
|
||||
checks.append(("PCM_CRUISE_2", 33))
|
||||
|
||||
@@ -477,6 +490,18 @@ class CarState(CarStateBase):
|
||||
]
|
||||
|
||||
|
||||
if CP.carFingerprint != CAR.PRIUS_V:
|
||||
signals += [
|
||||
("LANE_SWAY_FLD", "LKAS_HUD"),
|
||||
("LANE_SWAY_BUZZER", "LKAS_HUD"),
|
||||
("LANE_SWAY_WARNING", "LKAS_HUD"),
|
||||
("LANE_SWAY_SENSITIVITY", "LKAS_HUD"),
|
||||
("LANE_SWAY_TOGGLE", "LKAS_HUD"),
|
||||
]
|
||||
checks += [
|
||||
("LKAS_HUD", 1),
|
||||
]
|
||||
|
||||
if CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
|
||||
signals += [
|
||||
("PRECOLLISION_ACTIVE", "PRE_COLLISION"),
|
||||
|
||||
@@ -3,7 +3,7 @@ from cereal import car
|
||||
from common.conversions import Conversions as CV
|
||||
from panda import Panda
|
||||
from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, CarControllerParams, NO_STOP_TIMER_CAR
|
||||
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
|
||||
from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
from common.params import Params
|
||||
|
||||
@@ -25,9 +25,7 @@ class CarInterface(CarInterfaceBase):
|
||||
return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
|
||||
|
||||
@staticmethod
|
||||
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], experimental_long=False): # pylint: disable=dangerous-default-value
|
||||
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
|
||||
|
||||
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
|
||||
ret.carName = "toyota"
|
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
|
||||
ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]
|
||||
@@ -52,12 +50,14 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
|
||||
# Only give steer angle deadzone to for bad angle sensor prius
|
||||
if params.get_bool("dp_toyota_prius_bad_angle_tune"):
|
||||
steering_angle_deadzone_deg = 1.0
|
||||
steering_angle_deadzone_deg = 0.2
|
||||
ret.steerActuatorDelay = 0.25
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
|
||||
else:
|
||||
for fw in car_fw:
|
||||
if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00':
|
||||
steering_angle_deadzone_deg = 1.0
|
||||
steering_angle_deadzone_deg = 0.2
|
||||
ret.steerActuatorDelay = 0.25
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
|
||||
|
||||
elif candidate == CAR.PRIUS_V:
|
||||
@@ -66,7 +66,6 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.steerRatio = 17.4
|
||||
tire_stiffness_factor = 0.5533
|
||||
ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
|
||||
|
||||
elif candidate in (CAR.RAV4, CAR.RAV4H):
|
||||
stop_and_go = True if (candidate in CAR.RAV4H) else False
|
||||
@@ -207,10 +206,6 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
ret.centerToFront = ret.wheelbase * 0.44
|
||||
|
||||
# TODO: get actual value, for now starting with reasonable value for
|
||||
# civic and scaling by mass and wheelbase
|
||||
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
|
||||
|
||||
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
|
||||
# mass and CG position, so all cars will have approximately similar dyn behaviors
|
||||
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
|
||||
@@ -261,15 +256,19 @@ class CarInterface(CarInterfaceBase):
|
||||
#okay ish
|
||||
#tune.kiBP = [0., 11., 17., 20., 24., 30., 33., 40.]
|
||||
#tune.kiV = [.001, .21, .22, .23, .22, .1, .001, .0001]
|
||||
tune.kiBP = [0., 6., 8., 11., 30., 33., 40.]
|
||||
tune.kiV = [.001, .07, .15, .2, .2, .01, .0001]
|
||||
tune.kiBP = [0., 5.6, 11.1, 19.4, 30., 33., 40.]
|
||||
tune.kiV = [.1, .127, .185, .185, .15, .09, .01]
|
||||
if candidate in TSS2_CAR:
|
||||
ret.vEgoStopping = 0.2 # car is near 0.1 to 0.2 when car starts requesting stopping accel
|
||||
ret.vEgoStarting = 0.2 # needs to be > or == vEgoStopping
|
||||
ret.stopAccel = -2.0 # Toyota requests -0.4 when stopped
|
||||
ret.stoppingDecelRate = 0.3 # reach stopping target smoothly - seems to take 0.5 seconds to go from 0 to -0.4
|
||||
ret.longitudinalActuatorDelayLowerBound = 0.3
|
||||
ret.longitudinalActuatorDelayUpperBound = 0.3
|
||||
#ret.vEgoStopping = 0.3 # car is near 0.1 to 0.2 when car starts requesting stopping accel
|
||||
ret.vEgoStarting = 0.6 # needs to be > or == vEgoStopping
|
||||
#ret.stopAccel = -0.1 # Toyota requests -0.4 when stopped
|
||||
ret.stoppingDecelRate = 0.009 # reach stopping target smoothly - seems to take 0.5 seconds to go from 0 to -0.4
|
||||
#ret.longitudinalActuatorDelayLowerBound = 0.3
|
||||
#ret.longitudinalActuatorDelayUpperBound = 0.3
|
||||
### stock ###
|
||||
#ret.vEgoStopping = 0.25
|
||||
#ret.vEgoStarting = 0.25
|
||||
#ret.stoppingDecelRate = 0.3 # reach stopping target smoothly
|
||||
else:
|
||||
tune.kpBP = [0., 5., 35.]
|
||||
tune.kiBP = [0., 35.]
|
||||
|
||||
@@ -66,13 +66,13 @@ def create_fcw_command(packer, fcw):
|
||||
return packer.make_can_msg("ACC_HUD", 0, values)
|
||||
|
||||
|
||||
def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled):
|
||||
def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled, stock_lkas_hud):
|
||||
values = {
|
||||
"TWO_BEEPS": chime,
|
||||
"LDA_ALERT": steer,
|
||||
"RIGHT_LINE": 3 if right_lane_depart else 1 if right_line else 2,
|
||||
"LEFT_LINE": 3 if left_lane_depart else 1 if left_line else 2,
|
||||
"BARRIERS" : 1 if enabled else 0,
|
||||
"BARRIERS": 1 if enabled else 0,
|
||||
|
||||
# static signals
|
||||
"SET_ME_X02": 2,
|
||||
@@ -96,4 +96,9 @@ def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_dep
|
||||
"ADJUSTING_CAMERA": 0,
|
||||
"LDW_EXIST": 1,
|
||||
}
|
||||
|
||||
# lane sway functionality
|
||||
# not all cars have LKAS_HUD — update with camera values if available
|
||||
values.update(stock_lkas_hud)
|
||||
|
||||
return packer.make_can_msg("LKAS_HUD", 0, values)
|
||||
|
||||
@@ -114,7 +114,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
|
||||
CAR.CAMRY: ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
|
||||
CAR.CAMRYH: ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
|
||||
CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-22", footnotes=[Footnote.CAMRY]),
|
||||
CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-22"),
|
||||
CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-23"),
|
||||
CAR.CHR: ToyotaCarInfo("Toyota C-HR 2017-21"),
|
||||
CAR.CHRH: ToyotaCarInfo("Toyota C-HR Hybrid 2017-19"),
|
||||
CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19"),
|
||||
@@ -553,10 +553,12 @@ FW_VERSIONS = {
|
||||
(Ecu.abs, 0x7b0, None): [
|
||||
b'F152633D00\x00\x00\x00\x00\x00\x00',
|
||||
b'F152633D60\x00\x00\x00\x00\x00\x00',
|
||||
b'F152633310\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.engine, 0x700, None): [
|
||||
b'\x018966306Q6000\x00\x00\x00\x00',
|
||||
b'\x018966306Q7000\x00\x00\x00\x00',
|
||||
b'\x018966306V1000\x00\x00\x00\x00',
|
||||
b'\x01896633T20000\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x750, 15): [
|
||||
@@ -567,6 +569,7 @@ FW_VERSIONS = {
|
||||
b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
|
||||
b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
|
||||
b'\x028646F3305300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
|
||||
b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.CHR: {
|
||||
@@ -740,6 +743,7 @@ FW_VERSIONS = {
|
||||
b'\x018966312Q8000\x00\x00\x00\x00',
|
||||
b'\x018966312R0000\x00\x00\x00\x00',
|
||||
b'\x018966312R0100\x00\x00\x00\x00',
|
||||
b'\x018966312R0200\x00\x00\x00\x00',
|
||||
b'\x018966312R1000\x00\x00\x00\x00',
|
||||
b'\x018966312R1100\x00\x00\x00\x00',
|
||||
b'\x018966312R3100\x00\x00\x00\x00',
|
||||
@@ -747,6 +751,7 @@ FW_VERSIONS = {
|
||||
b'\x018966312S7000\x00\x00\x00\x00',
|
||||
b'\x018966312W3000\x00\x00\x00\x00',
|
||||
b'\x018966312W9000\x00\x00\x00\x00',
|
||||
b'\x01896637644000\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\x0230A10000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
@@ -774,6 +779,7 @@ FW_VERSIONS = {
|
||||
b'\x018965B1255000\x00\x00\x00\x00',
|
||||
b'8965B12361\x00\x00\x00\x00\x00\x00',
|
||||
b'8965B16011\x00\x00\x00\x00\x00\x00',
|
||||
b'8965B76012\x00\x00\x00\x00\x00\x00',
|
||||
b'\x018965B12510\x00\x00\x00\x00\x00\x00',
|
||||
b'\x018965B1256000\x00\x00\x00\x00',
|
||||
],
|
||||
@@ -791,6 +797,7 @@ FW_VERSIONS = {
|
||||
b'\x01F152612B60\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F152612B61\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F152612B62\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F152612B70\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F152612B71\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F152612B81\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F152612B90\x00\x00\x00\x00\x00\x00',
|
||||
@@ -799,6 +806,7 @@ FW_VERSIONS = {
|
||||
b'\x01F152612862\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F152612B91\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F15260A070\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F152676250\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x750, 0xf): [
|
||||
b'\x018821F3301100\x00\x00\x00\x00',
|
||||
@@ -1328,6 +1336,7 @@ FW_VERSIONS = {
|
||||
b'\x01F15260R302\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F152642551\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F152642561\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F152642601\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F152642700\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F152642701\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F152642710\x00\x00\x00\x00\x00\x00',
|
||||
@@ -1654,6 +1663,7 @@ FW_VERSIONS = {
|
||||
b'\x018966378B2100\x00\x00\x00\x00',
|
||||
b'\x018966378B3000\x00\x00\x00\x00',
|
||||
b'\x018966378G3000\x00\x00\x00\x00',
|
||||
b'\x018966378B2000\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.abs, 0x7b0, None): [
|
||||
b'\x01F152678221\x00\x00\x00\x00\x00\x00',
|
||||
|
||||
@@ -2,6 +2,7 @@ from cereal import car
|
||||
from opendbc.can.packer import CANPacker
|
||||
from common.numpy_fast import clip
|
||||
from common.conversions import Conversions as CV
|
||||
from common.realtime import DT_CTRL
|
||||
from selfdrive.car import apply_std_steer_torque_limits
|
||||
from selfdrive.car.volkswagen import mqbcan, pqcan
|
||||
from selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams
|
||||
@@ -88,10 +89,13 @@ class CarController:
|
||||
CS.out.steeringPressed, hud_alert, hud_control))
|
||||
|
||||
if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl:
|
||||
lead_distance = 0
|
||||
if hud_control.leadVisible and self.frame * DT_CTRL > 1.0: # Don't display lead until we know the scaling factor
|
||||
lead_distance = 512 if CS.upscale_lead_car_signal else 8
|
||||
acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
|
||||
set_speed = hud_control.setSpeed * CV.MS_TO_KPH # FIXME: follow the recent displayed-speed updates, also use mph_kmh toggle to fix display rounding problem?
|
||||
can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, CANBUS.pt, acc_hud_status, set_speed,
|
||||
hud_control.leadVisible))
|
||||
lead_distance))
|
||||
|
||||
# **** Stock ACC Button Controls **************************************** #
|
||||
|
||||
@@ -103,6 +107,7 @@ class CarController:
|
||||
|
||||
new_actuators = actuators.copy()
|
||||
new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX
|
||||
new_actuators.steerOutputCan = self.apply_steer_last
|
||||
|
||||
self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"]
|
||||
self.frame += 1
|
||||
|
||||
@@ -13,6 +13,7 @@ class CarState(CarStateBase):
|
||||
self.CCP = CarControllerParams(CP)
|
||||
self.button_states = {button.event_type: False for button in self.CCP.BUTTONS}
|
||||
self.esp_hold_confirmation = False
|
||||
self.upscale_lead_car_signal = False
|
||||
|
||||
def create_button_events(self, pt_cp, buttons):
|
||||
button_events = []
|
||||
@@ -143,6 +144,9 @@ class CarState(CarStateBase):
|
||||
# Additional safety checks performed in CarInterface.
|
||||
ret.espDisabled = pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"] != 0
|
||||
|
||||
# Digital instrument clusters expect the ACC HUD lead car distance to be scaled differently
|
||||
self.upscale_lead_car_signal = bool(pt_cp.vl["Kombi_03"]["KBI_Variante"])
|
||||
|
||||
ret.cruiseActualEnabled = ret.cruiseState.enabled
|
||||
return ret
|
||||
|
||||
@@ -223,12 +227,13 @@ class CarState(CarStateBase):
|
||||
ret.stockAeb = False
|
||||
|
||||
# Update ACC radar status.
|
||||
self.acc_type = 0 # TODO: this is ACC "basic" with nonzero min speed, support FtS (1) later
|
||||
self.acc_type = ext_cp.vl["ACC_System"]["ACS_Typ_ACC"]
|
||||
ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"])
|
||||
ret.cruiseState.enabled = bool(pt_cp.vl["Motor_2"]["GRA_Status"])
|
||||
ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["GRA_Status"] in (1, 2)
|
||||
if self.CP.pcmCruise:
|
||||
ret.accFaulted = ext_cp.vl["ACC_GRA_Anziege"]["ACA_StaACC"] in (6, 7)
|
||||
# TODO: update opendbc with PQ TSK state for OP long accFaulted
|
||||
else:
|
||||
ret.accFaulted = pt_cp.vl["Motor_2"]["GRA_Status"] == 3
|
||||
|
||||
# Update ACC setpoint. When the setpoint reads as 255, the driver has not
|
||||
# yet established an ACC setpoint, so treat it as zero.
|
||||
@@ -283,6 +288,7 @@ class CarState(CarStateBase):
|
||||
("ESP_Tastung_passiv", "ESP_21"), # Stability control disabled
|
||||
("ESP_Haltebestaetigung", "ESP_21"), # ESP hold confirmation
|
||||
("KBI_Handbremse", "Kombi_01"), # Manual handbrake applied
|
||||
("KBI_Variante", "Kombi_03"), # Digital/full-screen instrument cluster installed
|
||||
("TSK_Status", "TSK_06"), # ACC engagement status from drivetrain coordinator
|
||||
("GRA_Hauptschalter", "GRA_ACC_01"), # ACC button, on/off
|
||||
("GRA_Abbrechen", "GRA_ACC_01"), # ACC button, cancel
|
||||
@@ -316,6 +322,7 @@ class CarState(CarStateBase):
|
||||
("Airbag_02", 5), # From J234 Airbag control module
|
||||
("Kombi_01", 2), # From J285 Instrument cluster
|
||||
("Blinkmodi_02", 1), # From J519 BCM (sent at 1Hz when no lights active, 50Hz when active)
|
||||
("Kombi_03", 0), # From J285 instrument cluster (not present on older cars, 1Hz when present)
|
||||
]
|
||||
|
||||
if CP.transmissionType == TransmissionType.automatic:
|
||||
@@ -490,15 +497,15 @@ class MqbExtraSignals:
|
||||
# Additional signal and message lists for optional or bus-portable controllers
|
||||
fwd_radar_signals = [
|
||||
("ACC_Wunschgeschw_02", "ACC_02"), # ACC set speed
|
||||
("ACC_Typ", "ACC_06"), # Basic vs F2S vs SNG
|
||||
("ACC_Typ", "ACC_06"), # Basic vs FtS vs SnG
|
||||
("AWV2_Freigabe", "ACC_10"), # FCW brake jerk release
|
||||
("ANB_Teilbremsung_Freigabe", "ACC_10"), # AEB partial braking release
|
||||
("ANB_Zielbremsung_Freigabe", "ACC_10"), # AEB target braking release
|
||||
]
|
||||
fwd_radar_checks = [
|
||||
("ACC_06", 50), # From J428 ACC radar control module
|
||||
("ACC_10", 50), # From J428 ACC radar control module
|
||||
("ACC_02", 17), # From J428 ACC radar control module
|
||||
("ACC_06", 50), # From J428 ACC radar control module
|
||||
("ACC_10", 50), # From J428 ACC radar control module
|
||||
("ACC_02", 17), # From J428 ACC radar control module
|
||||
]
|
||||
bsm_radar_signals = [
|
||||
("SWA_Infostufe_SWA_li", "SWA_01"), # Blind spot object info, left
|
||||
@@ -507,24 +514,26 @@ class MqbExtraSignals:
|
||||
("SWA_Warnung_SWA_re", "SWA_01"), # Blind spot object warning, right
|
||||
]
|
||||
bsm_radar_checks = [
|
||||
("SWA_01", 20), # From J1086 Lane Change Assist
|
||||
("SWA_01", 20), # From J1086 Lane Change Assist
|
||||
]
|
||||
|
||||
class PqExtraSignals:
|
||||
# Additional signal and message lists for optional or bus-portable controllers
|
||||
fwd_radar_signals = [
|
||||
("ACA_StaACC", "ACC_GRA_Anziege", 0), # ACC drivetrain coordinator status
|
||||
("ACA_V_Wunsch", "ACC_GRA_Anziege", 0), # ACC set speed
|
||||
("ACS_Typ_ACC", "ACC_System"), # Basic vs FtS (no SnG support on PQ)
|
||||
("ACA_StaACC", "ACC_GRA_Anziege"), # ACC drivetrain coordinator status
|
||||
("ACA_V_Wunsch", "ACC_GRA_Anziege"), # ACC set speed
|
||||
]
|
||||
fwd_radar_checks = [
|
||||
("ACC_GRA_Anziege", 25), # From J428 ACC radar control module
|
||||
("ACC_System", 50), # From J428 ACC radar control module
|
||||
("ACC_GRA_Anziege", 25), # From J428 ACC radar control module
|
||||
]
|
||||
bsm_radar_signals = [
|
||||
("SWA_Infostufe_SWA_li", "SWA_1", 0), # Blind spot object info, left
|
||||
("SWA_Warnung_SWA_li", "SWA_1", 0), # Blind spot object warning, left
|
||||
("SWA_Infostufe_SWA_re", "SWA_1", 0), # Blind spot object info, right
|
||||
("SWA_Warnung_SWA_re", "SWA_1", 0), # Blind spot object warning, right
|
||||
("SWA_Infostufe_SWA_li", "SWA_1"), # Blind spot object info, left
|
||||
("SWA_Warnung_SWA_li", "SWA_1"), # Blind spot object warning, left
|
||||
("SWA_Infostufe_SWA_re", "SWA_1"), # Blind spot object info, right
|
||||
("SWA_Warnung_SWA_re", "SWA_1"), # Blind spot object warning, right
|
||||
]
|
||||
bsm_radar_checks = [
|
||||
("SWA_1", 20), # From J1086 Lane Change Assist
|
||||
("SWA_1", 20), # From J1086 Lane Change Assist
|
||||
]
|
||||
|
||||
@@ -1,8 +1,7 @@
|
||||
from cereal import car
|
||||
from panda import Panda
|
||||
from common.conversions import Conversions as CV
|
||||
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, \
|
||||
gen_empty_fingerprint, get_safety_config
|
||||
from selfdrive.car import STD_CARGO_KG, get_safety_config
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
from selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter
|
||||
|
||||
@@ -22,8 +21,7 @@ class CarInterface(CarInterfaceBase):
|
||||
self.cp_ext = self.cp_cam
|
||||
|
||||
@staticmethod
|
||||
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
|
||||
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
|
||||
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
|
||||
ret.carName = "volkswagen"
|
||||
ret.radarOffCan = True
|
||||
|
||||
@@ -74,7 +72,6 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.steerActuatorDelay = 0.1
|
||||
ret.steerLimitTimer = 0.4
|
||||
ret.steerRatio = 15.6 # Let the params learner figure this out
|
||||
tire_stiffness_factor = 1.0 # Let the params learner figure this out
|
||||
ret.lateralTuning.pid.kpBP = [0.]
|
||||
ret.lateralTuning.pid.kiBP = [0.]
|
||||
ret.lateralTuning.pid.kf = 0.00006
|
||||
@@ -137,7 +134,6 @@ class CarInterface(CarInterfaceBase):
|
||||
elif candidate == CAR.SHARAN_MK2:
|
||||
ret.mass = 1639 + STD_CARGO_KG
|
||||
ret.wheelbase = 2.92
|
||||
ret.minEnableSpeed = 30 * CV.KPH_TO_MS
|
||||
ret.minSteerSpeed = 50 * CV.KPH_TO_MS
|
||||
ret.steerActuatorDelay = 0.2
|
||||
|
||||
@@ -216,10 +212,7 @@ class CarInterface(CarInterfaceBase):
|
||||
CarInterfaceBase.configure_dp_tune(candidate, ret.lateralTuning)
|
||||
|
||||
ret.autoResumeSng = ret.minEnableSpeed == -1
|
||||
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
|
||||
ret.centerToFront = ret.wheelbase * 0.45
|
||||
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
|
||||
tire_stiffness_factor=tire_stiffness_factor)
|
||||
return ret
|
||||
|
||||
# returns a car.CarState
|
||||
@@ -241,7 +234,7 @@ class CarInterface(CarInterfaceBase):
|
||||
events.add(EventName.belowSteerSpeed)
|
||||
|
||||
if self.CS.CP.openpilotLongitudinalControl:
|
||||
if ret.vEgo < self.CP.minEnableSpeed + 2.:
|
||||
if ret.vEgo < self.CP.minEnableSpeed + 0.5:
|
||||
events.add(EventName.belowEngageSpeed)
|
||||
if c.enabled and ret.vEgo < self.CP.minEnableSpeed:
|
||||
events.add(EventName.speedTooLow)
|
||||
|
||||
@@ -96,13 +96,13 @@ def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control,
|
||||
return commands
|
||||
|
||||
|
||||
def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_visible):
|
||||
def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance):
|
||||
values = {
|
||||
"ACC_Status_Anzeige": acc_hud_status,
|
||||
"ACC_Wunschgeschw_02": set_speed if set_speed < 250 else 327.36,
|
||||
"ACC_Gesetzte_Zeitluecke": 3,
|
||||
"ACC_Display_Prio": 3,
|
||||
# TODO: ACC_Abstandsindex for lead car distance, must determine analog vs digital cluster for scaling
|
||||
"ACC_Abstandsindex": lead_distance,
|
||||
}
|
||||
|
||||
return packer.make_can_msg("ACC_02", bus, values)
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user