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Merge branch 'devel' of https://github.com/commaai/openpilot into devel-lexus-ish-ave30r

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# Conflicts:
#	selfdrive/car/toyota/interface.py
This commit is contained in:
Rick Lan
2018-09-08 19:53:22 +10:00
parent 47fa5c78a1 7abb07b402
commit 23126143be
6 changed files with 44 additions and 27 deletions
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README.md
+3 -3
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@@ -46,8 +46,8 @@ Supported Cars
| Acura | ILX 2016 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph |
| Acura | ILX 2017 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph |
| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| GM<sup>3</sup> | Volt 2017 | Driver Confidence II | Yes | Yes | 0mph | 7mph |
| GM<sup>3</sup> | Volt 2018 | Driver Confidence II | Yes | Yes | 0mph | 7mph |
| GM<sup>3</sup> | Volt 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph |
| GM<sup>3</sup> | Volt 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph |
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph |
| Honda | Civic 2016 | Honda Sensing | Yes | Yes | 0mph | 12mph |
| Honda | Civic 2017 | Honda Sensing | Yes | Yes | 0mph | 12mph |
@@ -73,7 +73,7 @@ Supported Cars
| Toyota | C-HR 2018<sup>4</sup> | All | Yes | Stock | 0mph | 0mph |
| Toyota | Corolla 2017 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Corolla 2018 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Highlander 2017 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Highlander 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Highlander Hybrid 2018| All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Prius 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
RELEASES.md
+1 -1
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@@ -2,7 +2,7 @@ Version 0.5.3 (2018-09-03)
========================
* Hyundai Santa Fe support!
* Honda Pilot 2019 support thanks to energee!
* Toyota Hyghlander support thanks to daehahn!
* Toyota Highlander support thanks to daehahn!
* Improve steering tuning for Honda Odyssey
Version 0.5.2 (2018-08-16)
selfdrive/car/gm/carcontroller.py
+7 -2
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@@ -55,7 +55,7 @@ def actuator_hystereses(final_pedal, pedal_steady):
class CarController(object):
def __init__(self, canbus, car_fingerprint):
def __init__(self, canbus, car_fingerprint, allow_controls):
self.pedal_steady = 0.
self.start_time = sec_since_boot()
self.chime = 0
@@ -64,6 +64,7 @@ class CarController(object):
self.steer_idx = 0
self.apply_steer_last = 0
self.car_fingerprint = car_fingerprint
self.allow_controls = allow_controls
# Setup detection helper. Routes commands to
# an appropriate CAN bus number.
@@ -77,6 +78,10 @@ class CarController(object):
hud_v_cruise, hud_show_lanes, hud_show_car, chime, chime_cnt):
""" Controls thread """
# Sanity check.
if not self.allow_controls:
return
P = self.params
# Send CAN commands.
@@ -137,7 +142,7 @@ class CarController(object):
# Send dashboard UI commands (ACC status), 25hz
if (frame % 4) == 0:
can_sends.append(gmcan.create_acc_dashboard_command(canbus.powertrain, enabled, hud_v_cruise / CV.MS_TO_KPH, hud_show_car))
can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, canbus.powertrain, enabled, hud_v_cruise * CV.MS_TO_KPH, hud_show_car))
# Radar needs to know current speed and yaw rate (50hz),
# and that ADAS is alive (10hz)
selfdrive/car/gm/gmcan.py
+15 -8
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@@ -84,14 +84,21 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_f
return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
def create_acc_dashboard_command(bus, acc_engaged, target_speed_ms, lead_car_in_sight):
engaged = 0x90 if acc_engaged else 0
lead_car = 0x10 if lead_car_in_sight else 0
target_speed = int(target_speed_ms * 208) & 0xfff
speed_high = target_speed >> 8
speed_low = target_speed & 0xff
dat = [0x01, 0x00, engaged | speed_high, speed_low, 0x01, lead_car]
return [0x370, 0, "".join(map(chr, dat)), bus]
def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lead_car_in_sight):
# Not a bit shift, dash can round up based on low 4 bits.
target_speed = int(target_speed_kph * 16) & 0xfff
values = {
"ACCAlwaysOne" : 1,
"ACCResumeButton" : 0,
"ACCSpeedSetpoint" : target_speed,
"ACCGapLevel" : 3 * acc_engaged, # 3 "far", 0 "inactive"
"ACCCmdActive" : acc_engaged,
"ACCAlwaysOne2" : 1,
"ACCLeadCar" : lead_car_in_sight
}
return packer.make_can_msg("ASCMActiveCruiseControlStatus", bus, values)
def create_adas_time_status(bus, tt, idx):
dat = [(tt >> 20) & 0xff, (tt >> 12) & 0xff, (tt >> 4) & 0xff,
selfdrive/car/gm/interface.py
+15 -10
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@@ -21,12 +21,6 @@ class CM:
LOW_CHIME = 0x86
HIGH_CHIME = 0x87
# GM cars have 4 CAN buses, which creates many ways
# of how the car can be connected to.
# This ia a helper class for the interface to be setup-agnostic.
# Supports single Panda setup (connected to OBDII port),
# and a CAN forwarding setup (connected to camera module connector).
class CanBus(object):
def __init__(self):
self.powertrain = 0
@@ -34,6 +28,10 @@ class CanBus(object):
self.chassis = 2
self.sw_gmlan = 3
# 384 = "ASCMLKASteeringCmd"
# 715 = "ASCMGasRegenCmd"
CONTROL_MSGS = [384, 715]
class CarInterface(object):
def __init__(self, CP, sendcan=None):
self.CP = CP
@@ -54,7 +52,7 @@ class CarInterface(object):
# sending if read only is False
if sendcan is not None:
self.sendcan = sendcan
self.CC = CarController(canbus, CP.carFingerprint)
self.CC = CarController(canbus, CP.carFingerprint, CP.enableCamera)
@staticmethod
def compute_gb(accel, speed):
@@ -73,8 +71,11 @@ class CarInterface(object):
ret.enableCruise = False
# TODO: gate this on detection
ret.enableCamera = True
# Presence of a camera on the object bus is ok.
# Have to go passive if ASCM is online (ACC-enabled cars),
# or camera is on powertrain bus (LKA cars without ACC).
ret.enableCamera = not any(x for x in CONTROL_MSGS if x in fingerprint)
std_cargo = 136
if candidate == CAR.VOLT:
@@ -325,7 +326,11 @@ class CarInterface(object):
"chimeRepeated": (CM.LOW_CHIME, -1),
"chimeContinuous": (CM.LOW_CHIME, -1)}[str(c.hudControl.audibleAlert)]
self.CC.update(self.sendcan, c.enabled, self.CS, self.frame, \
# For Openpilot, "enabled" includes pre-enable.
# In GM, PCM faults out if ACC command overlaps user gas.
enabled = c.enabled and not self.CS.user_gas_pressed
self.CC.update(self.sendcan, enabled, self.CS, self.frame, \
c.actuators,
hud_v_cruise, c.hudControl.lanesVisible, \
c.hudControl.leadVisible, \
selfdrive/car/toyota/interface.py
+3 -3
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@@ -159,9 +159,9 @@ class CarInterface(object):
# to a negative value, so it won't matter.
# hybrid models can't do stop and go even though the stock ACC can't
if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.CHR,
CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH]:
CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
ret.minEnableSpeed = -1.
elif candidate in [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.LEXUS_AVE30]: # TODO: hack ICE to do stop and go
elif candidate in [CAR.RAV4, CAR.COROLLA, CAR.LEXUS_AVE30]: # TODO: hack ICE to do stop and go
ret.minEnableSpeed = 19. * CV.MPH_TO_MS
centerToRear = ret.wheelbase - ret.centerToFront
@@ -256,7 +256,7 @@ class CarInterface(object):
ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
ret.cruiseState.available = bool(self.CS.main_on)
ret.cruiseState.speedOffset = 0.
if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH]:
if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
# ignore standstill in hybrid vehicles, since pcm allows to restart without
# receiving any special command
ret.cruiseState.standstill = False