mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-07-23 13:52:05 +08:00
Merge branch 'devel-en' into devel-zht
# Conflicts: # apk/ai.comma.plus.offroad.apk
This commit is contained in:
dragonpilot
@@ -39,9 +39,9 @@ RUN cd /tmp && pipenv install --deploy --system
|
||||
|
||||
ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
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||||
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RUN git clone --branch v0.6 https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
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||||
RUN git clone --branch v0.6.2 https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
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RUN pip install -r /tmp/openpilot/tools/requirements.txt
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RUN pip install fastcluster==1.1.20 scipy==0.19.1
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RUN pip install fastcluster==1.1.20 scipy==0.19.1 dictdiffer==0.8.0 azure-batch==4.1.3 azure-common==1.1.16 azure-nspkg==3.0.0 azure-storage-blob==1.3.1 azure-storage-common==1.3.0 azure-storage-nspkg==3.0.0
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COPY ./.pylintrc /tmp/openpilot/.pylintrc
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COPY ./common /tmp/openpilot/common
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|
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@@ -72,6 +72,7 @@ Supported Cars
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||||
| GMC<sup>3</sup> | Acadia Denali 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
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| Holden<sup>3</sup> | Astra 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
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||||
| Honda | Accord 2018-19 | All | Yes | Stock | 0mph | 3mph | Bosch |
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||||
| Honda | Accord Hybrid 2018-19 | All | Yes | Stock | 0mph | 3mph | Bosch |
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||||
| Honda | Civic Sedan/Coupe 2016-18| Honda Sensing | Yes | Yes | 0mph | 12mph | Nidec |
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||||
| Honda | Civic Sedan/Coupe 2019 | Honda Sensing | Yes | Stock | 0mph | 2mph | Bosch |
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||||
| Honda | Civic Hatchback 2017-19 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
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||||
@@ -98,18 +99,21 @@ Supported Cars
|
||||
| Toyota | Avalon 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
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||||
| Toyota | Avalon 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
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||||
| Toyota | Camry 2018-19 | All | Yes | Stock | 0mph<sup>5</sup> | 0mph | Toyota |
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||||
| Toyota | Camry Hybrid 2018-19 | All | Yes | Stock | 0mph<sup>5</sup> | 0mph | Toyota |
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||||
| Toyota | C-HR 2017-19 | All | Yes | Stock | 0mph | 0mph | Toyota |
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||||
| Toyota | C-HR Hybrid 2017-19 | All | Yes | Stock | 0mph | 0mph | Toyota |
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||||
| Toyota | Corolla 2017-19 | All | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
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||||
| Toyota | Corolla 2020 | All | Yes | Yes | 0mph | 0mph | Toyota |
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||||
| Toyota | Corolla Hatchback 2019 | All | Yes | Yes | 0mph | 0mph | Toyota |
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||||
| Toyota | Highlander 2017-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
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||||
| Toyota | Highlander Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
|
||||
| Toyota | Highlander Hybrid 2017-19| All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
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||||
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
|
||||
| Toyota | Prius 2017-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
|
||||
| Toyota | Prius Prime 2017-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
|
||||
| Toyota | Rav4 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
|
||||
| Toyota | Rav4 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
|
||||
| Toyota | Rav4 2019 | All | Yes | Yes | 0mph | 0mph | Toyota |
|
||||
| Toyota | Rav4 Hybrid 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
|
||||
| Toyota | Rav4 Hybrid 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
|
||||
| Toyota | Sienna 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
|
||||
|
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|
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+11
@@ -1,3 +1,14 @@
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||||
Version 0.6.3 (2019-08-12)
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========================
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||||
* Alert sounds from EON: requires NEOS update
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* Improve driver monitoring: eye tracking and improved awareness logic
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||||
* Improve path prediction with new driving model
|
||||
* Improve lane positioning with wide lanes and exits
|
||||
* Improve lateral control on RAV4
|
||||
* Slow down for turns using model
|
||||
* Open sourced regression test to verify outputs against reference logs
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||||
* Open sourced regression test to sanity check all car models
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||||
|
||||
Version 0.6.2 (2019-07-29)
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||||
========================
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||||
* New driving model!
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||||
|
||||
Binary file not shown.
+4
-2
@@ -78,8 +78,9 @@ struct CarEvent @0x9b1657f34caf3ad3 {
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||||
commIssue @53;
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tooDistracted @54;
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||||
posenetInvalid @55;
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||||
manualSteeringRequired @56;
|
||||
manualSteeringRequiredBlinkersOn @57;
|
||||
soundsUnavailable @56;
|
||||
manualSteeringRequired @57;
|
||||
manualSteeringRequiredBlinkersOn @58;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -111,6 +112,7 @@ struct CarState {
|
||||
steeringAngle @7 :Float32; # deg
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||||
steeringRate @15 :Float32; # deg/s
|
||||
steeringTorque @8 :Float32; # TODO: standardize units
|
||||
steeringTorqueEps @27 :Float32; # TODO: standardize units
|
||||
steeringPressed @9 :Bool; # if the user is using the steering wheel
|
||||
|
||||
# cruise state
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||||
|
||||
+4
-1
@@ -439,7 +439,8 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
alertSize @39 :AlertSize;
|
||||
alertBlinkingRate @42 :Float32;
|
||||
alertType @44 :Text;
|
||||
alertSound @45 :Text;
|
||||
alertSoundDEPRECATED @45 :Text;
|
||||
alertSound @56 :Car.CarControl.HUDControl.AudibleAlert;
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||||
awarenessStatus @26 :Float32;
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||||
angleModelBias @27 :Float32;
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||||
gpsPlannerActive @40 :Bool;
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||||
@@ -1681,6 +1682,8 @@ struct DriverMonitoring {
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||||
faceProb @5 :Float32;
|
||||
leftEyeProb @6 :Float32;
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||||
rightEyeProb @7 :Float32;
|
||||
leftBlinkProb @8 :Float32;
|
||||
rightBlinkProb @9 :Float32;
|
||||
}
|
||||
|
||||
struct Boot {
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||||
|
||||
@@ -1,7 +1,26 @@
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import jwt
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import requests
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from datetime import datetime, timedelta
|
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|
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from selfdrive.version import version
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||||
|
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class Api(object):
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def __init__(self, dongle_id, private_key):
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self.dongle_id = dongle_id
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self.private_key = private_key
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||||
|
||||
def get(self, *args, **kwargs):
|
||||
return self.request('GET', *args, **kwargs)
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||||
|
||||
def post(self, *args, **kwargs):
|
||||
return self.request('POST', *args, **kwargs)
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||||
|
||||
def request(self, method, endpoint, timeout=None, access_token=None, **params):
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||||
return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
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||||
|
||||
def get_token(self):
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return jwt.encode({'identity': self.dongle_id, 'exp': datetime.utcnow() + timedelta(hours=1)}, self.private_key, algorithm='RS256')
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||||
|
||||
def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
|
||||
backend = "https://api.commadotai.com/"
|
||||
|
||||
|
||||
@@ -31,7 +31,9 @@ FRAMEBUFFER_LIBS = -lutils -lgui -lEGL
|
||||
.PHONY: all
|
||||
all: updater
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||||
|
||||
OBJS = courbd.ttf.o \
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||||
OBJS = opensans_regular.ttf.o \
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||||
opensans_semibold.ttf.o \
|
||||
opensans_bold.ttf.o \
|
||||
../../selfdrive/common/touch.o \
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||||
../../selfdrive/common/framebuffer.o \
|
||||
$(PHONELIBS)/json11/json11.o \
|
||||
@@ -50,7 +52,15 @@ updater: updater.o $(OBJS)
|
||||
-lcutils -lm -llog
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strip updater
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||||
|
||||
courbd.ttf.o: ../../selfdrive/assets/courbd.ttf
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||||
opensans_regular.ttf.o: ../../selfdrive/assets/fonts/opensans_regular.ttf
|
||||
@echo "[ bin2o ] $@"
|
||||
cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
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||||
|
||||
opensans_bold.ttf.o: ../../selfdrive/assets/fonts/opensans_bold.ttf
|
||||
@echo "[ bin2o ] $@"
|
||||
cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
|
||||
|
||||
opensans_semibold.ttf.o: ../../selfdrive/assets/fonts/opensans_semibold.ttf
|
||||
@echo "[ bin2o ] $@"
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||||
cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'
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||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
{
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||||
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-c992abb59cbaf6588f51055db52db619061107851773fc8480acb8bb5d77a28f.zip",
|
||||
"ota_hash": "c992abb59cbaf6588f51055db52db619061107851773fc8480acb8bb5d77a28f",
|
||||
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-af099a84cfd7b91266090779238ac358278948dcde2dcfa0fbca6e8397366f0a.img",
|
||||
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-4db25072191d24e204a816d73ac9e8c727822a26ed3baf01ecae18167fa2eb11.zip",
|
||||
"ota_hash": "4db25072191d24e204a816d73ac9e8c727822a26ed3baf01ecae18167fa2eb11",
|
||||
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-31ef14206d3102edf18fb7417ef32ba2d9f37dd2f4443e234c374a70d1bf4662.img",
|
||||
"recovery_len": 15136044,
|
||||
"recovery_hash": "af099a84cfd7b91266090779238ac358278948dcde2dcfa0fbca6e8397366f0a"
|
||||
"recovery_hash": "31ef14206d3102edf18fb7417ef32ba2d9f37dd2f4443e234c374a70d1bf4662"
|
||||
}
|
||||
|
||||
Binary file not shown.
@@ -43,8 +43,12 @@ const char *manifest_url = MANIFEST_URL_EON;
|
||||
|
||||
#define UPDATE_DIR "/data/neoupdate"
|
||||
|
||||
extern const uint8_t bin_courbd[] asm("_binary_courbd_ttf_start");
|
||||
extern const uint8_t bin_courbd_end[] asm("_binary_courbd_ttf_end");
|
||||
extern const uint8_t bin_opensans_regular[] asm("_binary_opensans_regular_ttf_start");
|
||||
extern const uint8_t bin_opensans_regular_end[] asm("_binary_opensans_regular_ttf_end");
|
||||
extern const uint8_t bin_opensans_semibold[] asm("_binary_opensans_semibold_ttf_start");
|
||||
extern const uint8_t bin_opensans_semibold_end[] asm("_binary_opensans_semibold_ttf_end");
|
||||
extern const uint8_t bin_opensans_bold[] asm("_binary_opensans_bold_ttf_start");
|
||||
extern const uint8_t bin_opensans_bold_end[] asm("_binary_opensans_bold_ttf_end");
|
||||
|
||||
namespace {
|
||||
|
||||
@@ -148,7 +152,9 @@ struct Updater {
|
||||
|
||||
FramebufferState *fb = NULL;
|
||||
NVGcontext *vg = NULL;
|
||||
int font;
|
||||
int font_regular;
|
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int font_semibold;
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int font_bold;
|
||||
|
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std::thread update_thread_handle;
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|
||||
@@ -182,14 +188,21 @@ struct Updater {
|
||||
|
||||
vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
|
||||
assert(vg);
|
||||
font = nvgCreateFontMem(vg, "courbd", (unsigned char*)bin_courbd, (bin_courbd_end - bin_courbd), 0);
|
||||
assert(font >= 0);
|
||||
|
||||
b_w = 600;
|
||||
font_regular = nvgCreateFontMem(vg, "opensans_regular", (unsigned char*)bin_opensans_regular, (bin_opensans_regular_end - bin_opensans_regular), 0);
|
||||
assert(font_regular >= 0);
|
||||
|
||||
font_semibold = nvgCreateFontMem(vg, "opensans_semibold", (unsigned char*)bin_opensans_semibold, (bin_opensans_semibold_end - bin_opensans_semibold), 0);
|
||||
assert(font_semibold >= 0);
|
||||
|
||||
font_bold = nvgCreateFontMem(vg, "opensans_bold", (unsigned char*)bin_opensans_bold, (bin_opensans_bold_end - bin_opensans_bold), 0);
|
||||
assert(font_bold >= 0);
|
||||
|
||||
b_w = 640;
|
||||
balt_x = 200;
|
||||
b_x = fb_w-b_w-200;
|
||||
b_y = 700;
|
||||
b_h = 250;
|
||||
b_y = 720;
|
||||
b_h = 220;
|
||||
|
||||
state = CONFIRMATION;
|
||||
|
||||
@@ -286,14 +299,14 @@ struct Updater {
|
||||
std::string stage_download(std::string url, std::string hash, std::string name) {
|
||||
std::string out_fn = UPDATE_DIR "/" + util::base_name(url);
|
||||
|
||||
set_progress("downloading " + name + "...");
|
||||
set_progress("Downloading " + name + "...");
|
||||
bool r = download_file(url, out_fn);
|
||||
if (!r) {
|
||||
set_error("failed to download " + name);
|
||||
return "";
|
||||
}
|
||||
|
||||
set_progress("verifying " + name + "...");
|
||||
set_progress("Verifying " + name + "...");
|
||||
std::string fn_hash = sha256_file(out_fn);
|
||||
printf("got %s hash: %s\n", name.c_str(), hash.c_str());
|
||||
if (fn_hash != hash) {
|
||||
@@ -323,7 +336,7 @@ struct Updater {
|
||||
|
||||
const int EON = (access("/EON", F_OK) != -1);
|
||||
|
||||
set_progress("finding latest version...");
|
||||
set_progress("Finding latest version...");
|
||||
std::string manifest_s;
|
||||
if (EON) {
|
||||
manifest_s = download_string(curl, manifest_url);
|
||||
@@ -364,10 +377,10 @@ struct Updater {
|
||||
|
||||
std::string recovery_fn;
|
||||
if (recovery_url.empty() || recovery_hash.empty() || recovery_len == 0) {
|
||||
set_progress("skipping recovery flash...");
|
||||
set_progress("Skipping recovery flash...");
|
||||
} else {
|
||||
// only download the recovery if it differs from what's flashed
|
||||
set_progress("checking recovery...");
|
||||
set_progress("Checking recovery...");
|
||||
std::string existing_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
|
||||
printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());
|
||||
|
||||
@@ -393,7 +406,7 @@ struct Updater {
|
||||
|
||||
if (!recovery_fn.empty()) {
|
||||
// flash recovery
|
||||
set_progress("flashing recovery...");
|
||||
set_progress("Flashing recovery...");
|
||||
|
||||
FILE *flash_file = fopen(recovery_fn.c_str(), "rb");
|
||||
if (!flash_file) {
|
||||
@@ -427,7 +440,7 @@ struct Updater {
|
||||
fclose(recovery_dev);
|
||||
fclose(flash_file);
|
||||
|
||||
set_progress("verifying flash...");
|
||||
set_progress("Verifying flash...");
|
||||
std::string new_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
|
||||
printf("new recovery hash: %s\n", new_recovery_hash.c_str());
|
||||
|
||||
@@ -447,7 +460,7 @@ struct Updater {
|
||||
fprintf(cmd_file, "--update_package=%s\n", ota_fn.c_str());
|
||||
fclose(cmd_file);
|
||||
|
||||
set_progress("rebooting");
|
||||
set_progress("Rebooting");
|
||||
|
||||
// remove the continue.sh so we come back into the setup.
|
||||
// maybe we should go directly into the installer, but what if we don't come back with internet? :/
|
||||
@@ -462,25 +475,32 @@ struct Updater {
|
||||
// set_error("failed to reboot into recovery");
|
||||
}
|
||||
|
||||
void draw_ack_screen(const char *message, const char *button, const char *altbutton) {
|
||||
nvgFontSize(vg, 96.0f);
|
||||
void draw_ack_screen(const char *title, const char *message, const char *button, const char *altbutton) {
|
||||
nvgFillColor(vg, nvgRGBA(255,255,255,255));
|
||||
nvgTextAlign(vg, NVG_ALIGN_LEFT | NVG_ALIGN_BASELINE);
|
||||
nvgTextBox(vg, 50, 100, fb_w-100, message, NULL);
|
||||
nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
|
||||
|
||||
nvgFontFace(vg, "opensans_bold");
|
||||
nvgFontSize(vg, 120.0f);
|
||||
nvgTextBox(vg, 110, 220, fb_w-240, title, NULL);
|
||||
|
||||
nvgFontFace(vg, "opensans_regular");
|
||||
nvgFontSize(vg, 86.0f);
|
||||
nvgTextBox(vg, 130, 380, fb_w-260, message, NULL);
|
||||
|
||||
// draw button
|
||||
if (button) {
|
||||
nvgBeginPath(vg);
|
||||
nvgFillColor(vg, nvgRGBA(0, 0, 0, 255));
|
||||
nvgFillColor(vg, nvgRGBA(8, 8, 8, 255));
|
||||
nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
|
||||
nvgFill(vg);
|
||||
|
||||
nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
|
||||
nvgFontFace(vg, "opensans_semibold");
|
||||
nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
|
||||
nvgText(vg, b_x+b_w/2, b_y+b_h/2, button, NULL);
|
||||
|
||||
nvgBeginPath(vg);
|
||||
nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 255));
|
||||
nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 50));
|
||||
nvgStrokeWidth(vg, 5);
|
||||
nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
|
||||
nvgStroke(vg);
|
||||
@@ -489,16 +509,17 @@ struct Updater {
|
||||
// draw button
|
||||
if (altbutton) {
|
||||
nvgBeginPath(vg);
|
||||
nvgFillColor(vg, nvgRGBA(0, 0, 0, 255));
|
||||
nvgFillColor(vg, nvgRGBA(8, 8, 8, 255));
|
||||
nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
|
||||
nvgFill(vg);
|
||||
|
||||
nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
|
||||
nvgFontFace(vg, "opensans_semibold");
|
||||
nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
|
||||
nvgText(vg, balt_x+b_w/2, b_y+b_h/2, altbutton, NULL);
|
||||
|
||||
nvgBeginPath(vg);
|
||||
nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 255));
|
||||
nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 50));
|
||||
nvgStrokeWidth(vg, 5);
|
||||
nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
|
||||
nvgStroke(vg);
|
||||
@@ -510,23 +531,27 @@ struct Updater {
|
||||
nvgFontSize(vg, 64.0f);
|
||||
nvgFillColor(vg, nvgRGBA(255,255,255,255));
|
||||
nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
|
||||
nvgTextBox(vg, 0, 700, fb_w, progress_text.c_str(), NULL);
|
||||
nvgFontFace(vg, "opensans_bold");
|
||||
nvgFontSize(vg, 86.0f);
|
||||
nvgTextBox(vg, 0, 380, fb_w, progress_text.c_str(), NULL);
|
||||
|
||||
// draw progress bar
|
||||
{
|
||||
int progress_width = 800;
|
||||
int progress_width = 1000;
|
||||
int progress_x = fb_w/2-progress_width/2;
|
||||
int progress_y = 768;
|
||||
int progress_height = 15;
|
||||
int progress_y = 520;
|
||||
int progress_height = 50;
|
||||
|
||||
int powerprompt_y = 512;
|
||||
nvgText(vg, fb_w/2, powerprompt_y, "Ensure EON is connected to power", NULL);
|
||||
int powerprompt_y = 312;
|
||||
nvgFontFace(vg, "opensans_regular");
|
||||
nvgFontSize(vg, 64.0f);
|
||||
nvgText(vg, fb_w/2, 740, "Ensure EON is connected to power.", NULL);
|
||||
|
||||
NVGpaint paint = nvgBoxGradient(
|
||||
vg, progress_x + 1, progress_y + 1,
|
||||
progress_width - 2, progress_height, 3, 4, nvgRGB(0, 32, 0), nvgRGB(0, 92, 0));
|
||||
progress_width - 2, progress_height, 3, 4, nvgRGB(27, 27, 27), nvgRGB(27, 27, 27));
|
||||
nvgBeginPath(vg);
|
||||
nvgRoundedRect(vg, progress_x, progress_y, progress_width, progress_height, 3);
|
||||
nvgRoundedRect(vg, progress_x, progress_y, progress_width, progress_height, 12);
|
||||
nvgFillPaint(vg, paint);
|
||||
nvgFill(vg);
|
||||
|
||||
@@ -536,12 +561,12 @@ struct Updater {
|
||||
paint = nvgBoxGradient(
|
||||
vg, progress_x, progress_y,
|
||||
bar_pos+1.5f, progress_height-1, 3, 4,
|
||||
nvgRGB(220, 100, 0), nvgRGB(128, 100, 0));
|
||||
nvgRGB(245, 245, 245), nvgRGB(105, 105, 105));
|
||||
|
||||
nvgBeginPath(vg);
|
||||
nvgRoundedRect(
|
||||
vg, progress_x+1, progress_y+1,
|
||||
bar_pos, progress_height-2, 3);
|
||||
bar_pos, progress_height-2, 12);
|
||||
nvgFillPaint(vg, paint);
|
||||
nvgFill(vg);
|
||||
}
|
||||
@@ -554,16 +579,16 @@ struct Updater {
|
||||
|
||||
switch (state) {
|
||||
case CONFIRMATION:
|
||||
draw_ack_screen("An upgrade to NEOS is required.\n\n"
|
||||
"Your device will now be reset and upgraded. You may want to connect to wifi as download is around 1 GB\nData on device shouldn't be lost.",
|
||||
"continue",
|
||||
"wifi");
|
||||
draw_ack_screen("An update to NEOS is required.",
|
||||
"Your device will now be reset and upgraded. You may want to connect to wifi as download is around 1 GB. Existing data on device should not be lost.",
|
||||
"Continue",
|
||||
"Connect to WiFi");
|
||||
break;
|
||||
case RUNNING:
|
||||
draw_progress_screen();
|
||||
break;
|
||||
case ERROR:
|
||||
draw_ack_screen(("ERROR: " + error_text + "\n\nYou will need to retry").c_str(), NULL, "exit");
|
||||
draw_ack_screen("There was an error.", ("ERROR: " + error_text + "\n\nYou will need to retry").c_str(), NULL, "exit");
|
||||
break;
|
||||
}
|
||||
|
||||
@@ -604,9 +629,17 @@ struct Updater {
|
||||
while (!do_exit) {
|
||||
ui_update();
|
||||
|
||||
glClearColor(0.19, 0.09, 0.2, 1.0);
|
||||
glClearColor(0.08, 0.08, 0.08, 1.0);
|
||||
glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
|
||||
|
||||
// background
|
||||
nvgBeginPath(vg);
|
||||
NVGpaint bg = nvgLinearGradient(vg, fb_w, 0, fb_w, fb_h,
|
||||
nvgRGBA(0, 0, 0, 0), nvgRGBA(0, 0, 0, 255));
|
||||
nvgFillPaint(vg, bg);
|
||||
nvgRect(vg, 0, 0, fb_w, fb_h);
|
||||
nvgFill(vg);
|
||||
|
||||
glEnable(GL_BLEND);
|
||||
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
|
||||
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -107,21 +107,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
|
||||
BO_ 506 BRAKE_COMMAND: 8 ADAS
|
||||
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
|
||||
SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
|
||||
|
||||
|
||||
@@ -107,21 +107,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
|
||||
BO_ 506 BRAKE_COMMAND: 8 ADAS
|
||||
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
|
||||
SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
|
||||
|
||||
|
||||
@@ -85,21 +85,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
|
||||
BO_ 506 BRAKE_COMMAND: 8 ADAS
|
||||
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
|
||||
SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
|
||||
|
||||
|
||||
@@ -33,7 +33,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -69,6 +69,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -94,7 +95,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -120,6 +130,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
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
|
||||
@@ -152,6 +174,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -222,6 +267,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -245,6 +293,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
@@ -0,0 +1,37 @@
|
||||
CM_ "IMPORT _toyota_2017.dbc"
|
||||
CM_ "IMPORT _comma.dbc"
|
||||
|
||||
BO_ 548 BRAKE_MODULE: 8 XXX
|
||||
SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
|
||||
SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
|
||||
SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 581 GAS_PEDAL: 5 XXX
|
||||
SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
|
||||
SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
|
||||
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
|
||||
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 610 EPS_STATUS: 5 EPS
|
||||
SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
|
||||
SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 956 GEAR_PACKET: 8 XXX
|
||||
SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
|
||||
CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
|
||||
CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
|
||||
CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
|
||||
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
|
||||
VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
|
||||
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
|
||||
VAL_ 956 SPORT_ON 0 "off" 1 "on";
|
||||
VAL_ 956 ECON_ON 0 "off" 1 "on";
|
||||
@@ -11,7 +11,7 @@ BO_ 705 GAS_PEDAL: 8 XXX
|
||||
SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
|
||||
SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
|
||||
SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
|
||||
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
|
||||
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -25,7 +25,7 @@ BO_ 610 EPS_STATUS: 5 EPS
|
||||
BO_ 956 GEAR_PACKET: 8 XXX
|
||||
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
|
||||
|
||||
BO_ 1009 PCM_CRUISE_3: 8 XXX
|
||||
BO_ 1009 PCM_CRUISE_ALT: 8 XXX
|
||||
SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
|
||||
|
||||
@@ -107,21 +107,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
|
||||
BO_ 506 BRAKE_COMMAND: 8 ADAS
|
||||
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
|
||||
SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
|
||||
|
||||
|
||||
@@ -107,21 +107,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
|
||||
BO_ 506 BRAKE_COMMAND: 8 ADAS
|
||||
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
|
||||
SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
|
||||
|
||||
|
||||
@@ -107,21 +107,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
|
||||
BO_ 506 BRAKE_COMMAND: 8 ADAS
|
||||
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
|
||||
SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
|
||||
|
||||
|
||||
@@ -107,21 +107,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
|
||||
BO_ 506 BRAKE_COMMAND: 8 ADAS
|
||||
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
|
||||
SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
|
||||
|
||||
|
||||
@@ -107,21 +107,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
|
||||
BO_ 506 BRAKE_COMMAND: 8 ADAS
|
||||
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
|
||||
SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
|
||||
|
||||
|
||||
@@ -107,21 +107,24 @@ BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
|
||||
BO_ 506 BRAKE_COMMAND: 8 ADAS
|
||||
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
|
||||
SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ AEB : 41|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
|
||||
|
||||
|
||||
@@ -0,0 +1,384 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
|
||||
NS_ :
|
||||
NS_DESC_
|
||||
CM_
|
||||
BA_DEF_
|
||||
BA_
|
||||
VAL_
|
||||
CAT_DEF_
|
||||
CAT_
|
||||
FILTER
|
||||
BA_DEF_DEF_
|
||||
EV_DATA_
|
||||
ENVVAR_DATA_
|
||||
SGTYPE_
|
||||
SGTYPE_VAL_
|
||||
BA_DEF_SGTYPE_
|
||||
BA_SGTYPE_
|
||||
SIG_TYPE_REF_
|
||||
VAL_TABLE_
|
||||
SIG_GROUP_
|
||||
SIG_VALTYPE_
|
||||
SIGTYPE_VALTYPE_
|
||||
BO_TX_BU_
|
||||
BA_DEF_REL_
|
||||
BA_REL_
|
||||
BA_DEF_DEF_REL_
|
||||
BU_SG_REL_
|
||||
BU_EV_REL_
|
||||
BU_BO_REL_
|
||||
SG_MUL_VAL_
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
|
||||
SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
|
||||
|
||||
BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
|
||||
SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
|
||||
SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
|
||||
SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
|
||||
|
||||
BO_ 166 BRAKE: 8 XXX
|
||||
SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 170 WHEEL_SPEEDS: 8 XXX
|
||||
SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
|
||||
SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
|
||||
SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
|
||||
SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
|
||||
|
||||
BO_ 180 SPEED: 8 XXX
|
||||
SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
|
||||
|
||||
BO_ 353 DSU_SPEED: 8 XXX
|
||||
SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
|
||||
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
|
||||
SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 552 ACCELEROMETER: 8 XXX
|
||||
SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
|
||||
SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
|
||||
BO_ 560 BRAKE_MODULE2: 7 XXX
|
||||
SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
|
||||
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 742 LEAD_INFO: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
|
||||
SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
|
||||
SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
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_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1041 ACC_HUD: 8 DSU
|
||||
SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
|
||||
SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1162 RSA2: 8 FCM
|
||||
SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1163 RSA3: 8 FCM
|
||||
SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
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_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt 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?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
CM_ SG_ 1163 TSRMSW "always 1";
|
||||
CM_ SG_ 1163 OTSGNNTM "always 3";
|
||||
CM_ SG_ 1163 NTLVLSPD "always 3";
|
||||
CM_ SG_ 1163 OVSPNTM "always 3";
|
||||
CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
|
||||
CM_ SG_ 1163 TSRSPU "always 1";
|
||||
|
||||
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
VAL_ 1553 UNITS 1 "km" 2 "miles";
|
||||
VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
|
||||
VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
|
||||
VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
|
||||
VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
|
||||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "lexus_ct200h_2018_pt.dbc starts here"
|
||||
|
||||
|
||||
|
||||
BO_ 548 BRAKE_MODULE: 8 XXX
|
||||
SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
|
||||
SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
|
||||
SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 581 GAS_PEDAL: 5 XXX
|
||||
SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
|
||||
SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
|
||||
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
|
||||
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 610 EPS_STATUS: 5 EPS
|
||||
SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
|
||||
SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 956 GEAR_PACKET: 8 XXX
|
||||
SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
|
||||
CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
|
||||
CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
|
||||
CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
|
||||
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
|
||||
VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
|
||||
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
|
||||
VAL_ 956 SPORT_ON 0 "off" 1 "on";
|
||||
VAL_ 956 ECON_ON 0 "off" 1 "on";
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
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
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
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
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
@@ -309,7 +358,7 @@ BO_ 705 GAS_PEDAL: 8 XXX
|
||||
SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
|
||||
SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
|
||||
SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
|
||||
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
|
||||
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -323,7 +372,7 @@ BO_ 610 EPS_STATUS: 5 EPS
|
||||
BO_ 956 GEAR_PACKET: 8 XXX
|
||||
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
|
||||
|
||||
BO_ 1009 PCM_CRUISE_3: 8 XXX
|
||||
BO_ 1009 PCM_CRUISE_ALT: 8 XXX
|
||||
SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
|
||||
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
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
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
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
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
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
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
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
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
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
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
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
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
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
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
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
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
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
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
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
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
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
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
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
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
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
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
@@ -67,7 +67,7 @@ NS_ :
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
@@ -103,6 +103,7 @@ BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
@@ -128,7 +129,16 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -154,6 +164,18 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
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
|
||||
@@ -186,6 +208,29 @@ BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
@@ -256,6 +301,9 @@ CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
@@ -279,6 +327,7 @@ VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
|
||||
+1
-1
@@ -1 +1 @@
|
||||
v1.4.2
|
||||
v1.4.3
|
||||
@@ -28,8 +28,7 @@ char pageheader[] = "HTTP/1.0 200 OK\nContent-Type: text/html\n\n"
|
||||
"</head>\n"
|
||||
"<body>\n"
|
||||
"<pre>This is your comma.ai panda\n\n"
|
||||
"It's open source. Find the code <a href=\"https://github.com/commaai/panda\">here</a>\n"
|
||||
"Designed to work with our dashcam, <a href=\"http://chffr.comma.ai\">chffr</a>\n";
|
||||
"It's open source. Find the code <a href=\"https://github.com/commaai/panda\">here</a>\n";
|
||||
|
||||
char pagefooter[] = "</pre>\n"
|
||||
"</body>\n"
|
||||
|
||||
+3
-1
@@ -3,7 +3,7 @@ set -e
|
||||
|
||||
docker build -t tmppilot -f Dockerfile.openpilot .
|
||||
|
||||
docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/ && ./test_fingerprints.py'
|
||||
docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && cd /tmp/openpilot/selfdrive/test/ && ./test_fingerprints.py'
|
||||
docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda" | grep -vi "^\./tools")'
|
||||
docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda" | grep -vi "^\./tools"); exit $(($? & 3))'
|
||||
docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover common'
|
||||
@@ -12,3 +12,5 @@ docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && pyt
|
||||
docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/controls'
|
||||
docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && python -m unittest discover selfdrive/loggerd'
|
||||
docker run --rm -v "$(pwd)"/selfdrive/test/tests/plant/out:/tmp/openpilot/selfdrive/test/tests/plant/out tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/tests/plant && OPTEST=1 ./test_longitudinal.py'
|
||||
docker run --rm tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && cd /tmp/openpilot/selfdrive/test/tests/process_replay/ && ./test_processes.py'
|
||||
docker run --rm tmppilot /bin/sh -c 'mkdir -p /data/params && cd /tmp/openpilot/ && make -C cereal && cd /tmp/openpilot/selfdrive/test/ && ./test_car_models_openpilot.py'
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -21,6 +21,7 @@ from selfdrive.loggerd.config import ROOT
|
||||
|
||||
import selfdrive.crash as crash
|
||||
import selfdrive.messaging as messaging
|
||||
from common.api import Api
|
||||
from common.params import Params
|
||||
from selfdrive.services import service_list
|
||||
from selfdrive.swaglog import cloudlog
|
||||
@@ -225,19 +226,21 @@ def backoff(retries):
|
||||
def main(gctx=None):
|
||||
params = Params()
|
||||
dongle_id = params.get("DongleId")
|
||||
access_token = params.get("AccessToken")
|
||||
ws_uri = ATHENA_HOST + "/ws/" + dongle_id
|
||||
ws_uri = ATHENA_HOST + "/ws/v2/" + dongle_id
|
||||
|
||||
crash.bind_user(id=dongle_id)
|
||||
crash.bind_extra(version=version, dirty=dirty, is_eon=True)
|
||||
crash.install()
|
||||
|
||||
private_key = open("/persist/comma/id_rsa").read()
|
||||
api = Api(dongle_id, private_key)
|
||||
|
||||
conn_retries = 0
|
||||
while 1:
|
||||
try:
|
||||
print("connecting to %s" % ws_uri)
|
||||
ws = create_connection(ws_uri,
|
||||
cookie="jwt=" + access_token,
|
||||
cookie="jwt=" + api.get_token(),
|
||||
enable_multithread=True)
|
||||
ws.settimeout(1)
|
||||
conn_retries = 0
|
||||
|
||||
@@ -23,11 +23,10 @@ class TestPackerMethods(unittest.TestCase):
|
||||
pump_on = (random.randint(0, 2) % 2 == 0)
|
||||
pcm_override = (random.randint(0, 2) % 2 == 0)
|
||||
pcm_cancel_cmd = (random.randint(0, 2) % 2 == 0)
|
||||
chime = random.randint(0, 65536)
|
||||
fcw = random.randint(0, 65536)
|
||||
idx = random.randint(0, 65536)
|
||||
m_old = hondacan.create_brake_command(self.honda_cp_old, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, chime, fcw, idx, car_fingerprint, is_panda_black)
|
||||
m = hondacan.create_brake_command(self.honda_cp, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, chime, fcw, idx, car_fingerprint, is_panda_black)
|
||||
m_old = hondacan.create_brake_command(self.honda_cp_old, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, is_panda_black)
|
||||
m = hondacan.create_brake_command(self.honda_cp, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, is_panda_black)
|
||||
self.assertEqual(m_old, m)
|
||||
|
||||
apply_steer = (random.randint(0, 2) % 2 == 0)
|
||||
@@ -39,8 +38,7 @@ class TestPackerMethods(unittest.TestCase):
|
||||
|
||||
pcm_speed = random.randint(0, 65536)
|
||||
hud = HUDData(random.randint(0, 65536), random.randint(0, 65536), 1, random.randint(0, 65536),
|
||||
0xc1, random.randint(0, 65536), random.randint(0, 65536), random.randint(0, 65536),
|
||||
random.randint(0, 65536), random.randint(0, 65536), random.randint(0, 65536))
|
||||
0xc1, random.randint(0, 65536), random.randint(0, 65536), random.randint(0, 65536), random.randint(0, 65536))
|
||||
idx = random.randint(0, 65536)
|
||||
is_metric = (random.randint(0, 2) % 2 == 0)
|
||||
m_old = hondacan.create_ui_commands(self.honda_cp_old, pcm_speed, hud, car_fingerprint, is_metric, idx, is_panda_black)
|
||||
|
||||
@@ -47,36 +47,32 @@ class TestPackerMethods(unittest.TestCase):
|
||||
self.assertEqual(m_old, m)
|
||||
|
||||
steer = (random.randint(0, 2) % 2 == 0)
|
||||
sound1 = random.randint(1, 65536)
|
||||
sound2 = random.randint(1, 65536)
|
||||
left_line = (random.randint(0, 2) % 2 == 0)
|
||||
right_line = (random.randint(0, 2) % 2 == 0)
|
||||
left_lane_depart = (random.randint(0, 2) % 2 == 0)
|
||||
right_lane_depart = (random.randint(0, 2) % 2 == 0)
|
||||
m_old = create_ui_command(self.cp_old, steer, sound1, sound2, left_line, right_line, left_lane_depart, right_lane_depart)
|
||||
m = create_ui_command(self.cp, steer, sound1, sound2, left_line, right_line, left_lane_depart, right_lane_depart)
|
||||
m_old = create_ui_command(self.cp_old, steer, left_line, right_line, left_lane_depart, right_lane_depart)
|
||||
m = create_ui_command(self.cp, steer, left_line, right_line, left_lane_depart, right_lane_depart)
|
||||
self.assertEqual(m_old, m)
|
||||
|
||||
def test_performance(self):
|
||||
n1 = sec_since_boot()
|
||||
recursions = 100000
|
||||
steer = (random.randint(0, 2) % 2 == 0)
|
||||
sound1 = random.randint(1, 65536)
|
||||
sound2 = random.randint(1, 65536)
|
||||
left_line = (random.randint(0, 2) % 2 == 0)
|
||||
right_line = (random.randint(0, 2) % 2 == 0)
|
||||
left_lane_depart = (random.randint(0, 2) % 2 == 0)
|
||||
right_lane_depart = (random.randint(0, 2) % 2 == 0)
|
||||
|
||||
for _ in xrange(recursions):
|
||||
create_ui_command(self.cp_old, steer, sound1, sound2, left_line, right_line, left_lane_depart, right_lane_depart)
|
||||
create_ui_command(self.cp_old, steer, left_line, right_line, left_lane_depart, right_lane_depart)
|
||||
n2 = sec_since_boot()
|
||||
elapsed_old = n2 - n1
|
||||
|
||||
# print('Old API, elapsed time: {} secs'.format(elapsed_old))
|
||||
n1 = sec_since_boot()
|
||||
for _ in xrange(recursions):
|
||||
create_ui_command(self.cp, steer, sound1, sound2, left_line, right_line, left_lane_depart, right_lane_depart)
|
||||
create_ui_command(self.cp, steer, left_line, right_line, left_lane_depart, right_lane_depart)
|
||||
n2 = sec_since_boot()
|
||||
elapsed_new = n2 - n1
|
||||
# print('New API, elapsed time: {} secs'.format(elapsed_new))
|
||||
|
||||
@@ -1,14 +1,9 @@
|
||||
from cereal import car
|
||||
from selfdrive.car import apply_toyota_steer_torque_limits
|
||||
from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, \
|
||||
create_wheel_buttons, \
|
||||
create_chimes
|
||||
create_wheel_buttons
|
||||
from selfdrive.car.chrysler.values import ECU, CAR
|
||||
from selfdrive.can.packer import CANPacker
|
||||
|
||||
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
|
||||
LOUD_ALERTS = [AudibleAlert.chimeWarning1, AudibleAlert.chimeWarning2, AudibleAlert.chimeWarningRepeat]
|
||||
|
||||
class SteerLimitParams:
|
||||
STEER_MAX = 261 # 262 faults
|
||||
STEER_DELTA_UP = 3 # 3 is stock. 100 is fine. 200 is too much it seems
|
||||
@@ -27,7 +22,6 @@ class CarController(object):
|
||||
self.hud_count = 0
|
||||
self.car_fingerprint = car_fingerprint
|
||||
self.alert_active = False
|
||||
self.send_chime = False
|
||||
self.gone_fast_yet = False
|
||||
|
||||
self.fake_ecus = set()
|
||||
@@ -37,7 +31,7 @@ class CarController(object):
|
||||
self.packer = CANPacker(dbc_name)
|
||||
|
||||
|
||||
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert, audible_alert):
|
||||
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert):
|
||||
# this seems needed to avoid steering faults and to force the sync with the EPS counter
|
||||
frame = CS.lkas_counter
|
||||
if self.prev_frame == frame:
|
||||
@@ -62,19 +56,10 @@ class CarController(object):
|
||||
|
||||
self.apply_steer_last = apply_steer
|
||||
|
||||
if audible_alert in LOUD_ALERTS:
|
||||
self.send_chime = True
|
||||
|
||||
can_sends = []
|
||||
|
||||
#*** control msgs ***
|
||||
|
||||
if self.send_chime:
|
||||
new_msg = create_chimes(AudibleAlert)
|
||||
can_sends.append(new_msg)
|
||||
if audible_alert not in LOUD_ALERTS:
|
||||
self.send_chime = False
|
||||
|
||||
if pcm_cancel_cmd:
|
||||
# TODO: would be better to start from frame_2b3
|
||||
new_msg = create_wheel_buttons(self.ccframe)
|
||||
|
||||
@@ -2,7 +2,6 @@ from cereal import car
|
||||
|
||||
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
|
||||
|
||||
def calc_checksum(data):
|
||||
"""This function does not want the checksum byte in the input data.
|
||||
@@ -94,15 +93,6 @@ def create_lkas_command(packer, apply_steer, moving_fast, frame):
|
||||
return packer.make_can_msg("LKAS_COMMAND", 0, values)
|
||||
|
||||
|
||||
def create_chimes(audible_alert):
|
||||
# '0050' nothing, chime '4f55'
|
||||
if audible_alert == AudibleAlert.none:
|
||||
msg = '0050'.decode('hex')
|
||||
else:
|
||||
msg = '4f55'.decode('hex')
|
||||
return make_can_msg(0x339, msg)
|
||||
|
||||
|
||||
def create_wheel_buttons(frame):
|
||||
# WHEEL_BUTTONS (571) Message sent to cancel ACC.
|
||||
start = [0x01] # acc cancel set
|
||||
|
||||
@@ -3,7 +3,6 @@ from selfdrive.can.packer import CANPacker
|
||||
|
||||
from cereal import car
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
|
||||
|
||||
import unittest
|
||||
|
||||
|
||||
@@ -238,7 +238,6 @@ class CarInterface(object):
|
||||
|
||||
self.frame = self.CS.frame
|
||||
can_sends = self.CC.update(c.enabled, self.CS, self.frame,
|
||||
c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert,
|
||||
c.hudControl.audibleAlert)
|
||||
c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert)
|
||||
|
||||
return can_sends
|
||||
|
||||
@@ -24,7 +24,7 @@ FINGERPRINTS = {
|
||||
{168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 3, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1892: 8, 2016: 8, 2024: 8},
|
||||
],
|
||||
CAR.PACIFICA_2018: [
|
||||
{55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8},
|
||||
{55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8},
|
||||
],
|
||||
CAR.PACIFICA_2018_HYBRID: [
|
||||
{68: 8, 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8},
|
||||
|
||||
@@ -72,7 +72,6 @@ class CarController(object):
|
||||
def __init__(self, canbus, car_fingerprint):
|
||||
self.pedal_steady = 0.
|
||||
self.start_time = 0.
|
||||
self.chime = 0
|
||||
self.steer_idx = 0
|
||||
self.apply_steer_last = 0
|
||||
self.car_fingerprint = car_fingerprint
|
||||
@@ -87,7 +86,7 @@ class CarController(object):
|
||||
self.packer_ch = CANPacker(DBC[car_fingerprint]['chassis'])
|
||||
|
||||
def update(self, enabled, CS, frame, actuators, \
|
||||
hud_v_cruise, hud_show_lanes, hud_show_car, chime, chime_cnt, hud_alert):
|
||||
hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
|
||||
|
||||
P = self.params
|
||||
|
||||
@@ -183,21 +182,4 @@ class CarController(object):
|
||||
can_sends.append(gmcan.create_lka_icon_command(canbus.sw_gmlan, lka_active, lka_critical, steer))
|
||||
self.lka_icon_status_last = lka_icon_status
|
||||
|
||||
# Send chimes
|
||||
if self.chime != chime:
|
||||
duration = 0x3c
|
||||
|
||||
# There is no 'repeat forever' chime command
|
||||
# TODO: Manage periodic re-issuing of chime command
|
||||
# and chime cancellation
|
||||
if chime_cnt == -1:
|
||||
chime_cnt = 10
|
||||
|
||||
if chime != 0:
|
||||
can_sends.append(gmcan.create_chime_command(canbus.sw_gmlan, chime, duration, chime_cnt))
|
||||
|
||||
# If canceling a repeated chime, cancel command must be
|
||||
# issued for the same chime type and duration
|
||||
self.chime = chime
|
||||
|
||||
return can_sends
|
||||
|
||||
@@ -130,10 +130,6 @@ def create_adas_accelerometer_speed_status(bus, speed_ms, idx):
|
||||
def create_adas_headlights_status(bus):
|
||||
return [0x310, 0, "\x42\x04", bus]
|
||||
|
||||
def create_chime_command(bus, chime_type, duration, repeat_cnt):
|
||||
dat = [chime_type, duration, repeat_cnt, 0xff, 0]
|
||||
return [0x10400060, 0, "".join(map(chr, dat)), bus]
|
||||
|
||||
def create_lka_icon_command(bus, active, critical, steer):
|
||||
if active and steer == 1:
|
||||
if critical:
|
||||
|
||||
@@ -4,7 +4,7 @@ from common.realtime import sec_since_boot
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
|
||||
from selfdrive.controls.lib.vehicle_model import VehicleModel
|
||||
from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS, AUDIO_HUD, \
|
||||
from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS, \
|
||||
SUPERCRUISE_CARS, AccState
|
||||
from selfdrive.car.gm.carstate import CarState, CruiseButtons, get_powertrain_can_parser
|
||||
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness
|
||||
@@ -325,8 +325,6 @@ class CarInterface(object):
|
||||
if hud_v_cruise > 70:
|
||||
hud_v_cruise = 0
|
||||
|
||||
chime, chime_count = AUDIO_HUD[c.hudControl.audibleAlert.raw]
|
||||
|
||||
# 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
|
||||
@@ -334,8 +332,7 @@ class CarInterface(object):
|
||||
can_sends = self.CC.update(enabled, self.CS, self.frame, \
|
||||
c.actuators,
|
||||
hud_v_cruise, c.hudControl.lanesVisible, \
|
||||
c.hudControl.leadVisible, \
|
||||
chime, chime_count, c.hudControl.visualAlert)
|
||||
c.hudControl.leadVisible, c.hudControl.visualAlert)
|
||||
|
||||
self.frame += 1
|
||||
return can_sends
|
||||
|
||||
@@ -1,8 +1,6 @@
|
||||
from cereal import car
|
||||
from selfdrive.car import dbc_dict
|
||||
|
||||
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
|
||||
|
||||
class CAR:
|
||||
HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
|
||||
VOLT = "CHEVROLET VOLT PREMIER 2017"
|
||||
@@ -21,31 +19,12 @@ class CruiseButtons:
|
||||
MAIN = 5
|
||||
CANCEL = 6
|
||||
|
||||
# Car chimes, beeps, blinker sounds etc
|
||||
class CM:
|
||||
TOCK = 0x81
|
||||
TICK = 0x82
|
||||
LOW_BEEP = 0x84
|
||||
HIGH_BEEP = 0x85
|
||||
LOW_CHIME = 0x86
|
||||
HIGH_CHIME = 0x87
|
||||
|
||||
class AccState:
|
||||
OFF = 0
|
||||
ACTIVE = 1
|
||||
FAULTED = 3
|
||||
STANDSTILL = 4
|
||||
|
||||
AUDIO_HUD = {
|
||||
AudibleAlert.none: (0, 0),
|
||||
AudibleAlert.chimeEngage: (CM.HIGH_CHIME, 1),
|
||||
AudibleAlert.chimeDisengage: (CM.HIGH_CHIME, 1),
|
||||
AudibleAlert.chimeError: (CM.LOW_CHIME, 2),
|
||||
AudibleAlert.chimePrompt: (CM.LOW_CHIME, 1),
|
||||
AudibleAlert.chimeWarning1: (CM.LOW_CHIME, 2),
|
||||
AudibleAlert.chimeWarning2: (CM.LOW_CHIME, -1),
|
||||
AudibleAlert.chimeWarningRepeat: (CM.LOW_CHIME, -1)}
|
||||
|
||||
def is_eps_status_ok(eps_status, car_fingerprint):
|
||||
valid_eps_status = []
|
||||
if car_fingerprint in SUPERCRUISE_CARS:
|
||||
|
||||
@@ -72,7 +72,7 @@ def process_hud_alert(hud_alert):
|
||||
|
||||
HUDData = namedtuple("HUDData",
|
||||
["pcm_accel", "v_cruise", "mini_car", "car", "X4",
|
||||
"lanes", "beep", "chime", "fcw", "acc_alert", "steer_required", "dashed_lanes"])
|
||||
"lanes", "fcw", "acc_alert", "steer_required", "dashed_lanes"])
|
||||
|
||||
|
||||
class CarController(object):
|
||||
@@ -93,8 +93,7 @@ class CarController(object):
|
||||
|
||||
def update(self, enabled, CS, frame, actuators, \
|
||||
pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel, \
|
||||
hud_v_cruise, hud_show_lanes, hud_show_car, \
|
||||
hud_alert, snd_beep, snd_chime):
|
||||
hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
|
||||
# dragonpilot, don't check for param too often as it's a kernel call
|
||||
if frame % 100 == 0:
|
||||
self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
|
||||
@@ -126,15 +125,10 @@ class CarController(object):
|
||||
else:
|
||||
hud_car = 0
|
||||
|
||||
# For lateral control-only, send chimes as a beep since we don't send 0x1fa
|
||||
if CS.CP.radarOffCan:
|
||||
snd_beep = snd_beep if snd_beep != 0 else snd_chime
|
||||
|
||||
#print("{0} {1} {2}".format(chime, alert_id, hud_alert))
|
||||
fcw_display, steer_required, acc_alert = process_hud_alert(hud_alert)
|
||||
|
||||
hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), 1, hud_car,
|
||||
0xc1, hud_lanes, int(snd_beep), snd_chime, fcw_display, acc_alert, steer_required, CS.lkMode)
|
||||
0xc1, hud_lanes, fcw_display, acc_alert, steer_required, CS.lkMode)
|
||||
|
||||
# **** process the car messages ****
|
||||
|
||||
@@ -204,7 +198,7 @@ class CarController(object):
|
||||
apply_brake = 0
|
||||
apply_gas = 0
|
||||
can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
|
||||
pcm_override, pcm_cancel_cmd, hud.chime, hud.fcw, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
|
||||
pcm_override, pcm_cancel_cmd, hud.fcw, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
|
||||
self.apply_brake_last = apply_brake
|
||||
|
||||
if CS.CP.enableGasInterceptor:
|
||||
|
||||
@@ -38,6 +38,7 @@ def get_can_signals(CP):
|
||||
("STEER_ANGLE", "STEERING_SENSORS", 0),
|
||||
("STEER_ANGLE_RATE", "STEERING_SENSORS", 0),
|
||||
("STEER_TORQUE_SENSOR", "STEER_STATUS", 0),
|
||||
("STEER_TORQUE_MOTOR", "STEER_STATUS", 0),
|
||||
("LEFT_BLINKER", "SCM_FEEDBACK", 0),
|
||||
("RIGHT_BLINKER", "SCM_FEEDBACK", 0),
|
||||
("GEAR", "GEARBOX", 0),
|
||||
@@ -93,6 +94,7 @@ def get_can_signals(CP):
|
||||
checks += [("BRAKE_MODULE", 50)]
|
||||
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
|
||||
("MAIN_ON", "SCM_FEEDBACK", 0),
|
||||
("CRUISE_CONTROL_LABEL", "ACC_HUD", 0),
|
||||
("EPB_STATE", "EPB_STATUS", 0),
|
||||
("CRUISE_SPEED", "ACC_HUD", 0)]
|
||||
checks += [("GAS_PEDAL_2", 100)]
|
||||
@@ -187,6 +189,7 @@ class CarState(object):
|
||||
self.left_blinker_on = 0
|
||||
self.right_blinker_on = 0
|
||||
|
||||
self.cruise_mode = 0
|
||||
self.stopped = 0
|
||||
|
||||
# vEgo kalman filter
|
||||
@@ -307,11 +310,13 @@ class CarState(object):
|
||||
self.car_gas = cp.vl["GAS_PEDAL_2"]['CAR_GAS']
|
||||
|
||||
self.steer_torque_driver = cp.vl["STEER_STATUS"]['STEER_TORQUE_SENSOR']
|
||||
self.steer_torque_motor = cp.vl["STEER_STATUS"]['STEER_TORQUE_MOTOR']
|
||||
self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD[self.CP.carFingerprint]
|
||||
|
||||
self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
|
||||
|
||||
if self.CP.radarOffCan:
|
||||
self.cruise_mode = cp.vl["ACC_HUD"]['CRUISE_CONTROL_LABEL']
|
||||
self.stopped = cp.vl["ACC_HUD"]['CRUISE_SPEED'] == 252.
|
||||
self.cruise_speed_offset = calc_cruise_offset(0, self.v_ego)
|
||||
if self.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.ACCORDH, CAR.CRV_HYBRID):
|
||||
|
||||
@@ -27,7 +27,7 @@ def get_lkas_cmd_bus(car_fingerprint, is_panda_black):
|
||||
return 2 if car_fingerprint in HONDA_BOSCH and not is_panda_black else 0
|
||||
|
||||
|
||||
def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, chime, fcw, idx, car_fingerprint, is_panda_black):
|
||||
def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, is_panda_black):
|
||||
# TODO: do we loose pressure if we keep pump off for long?
|
||||
brakelights = apply_brake > 0
|
||||
brake_rq = apply_brake > 0
|
||||
@@ -40,11 +40,14 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
|
||||
"CRUISE_FAULT_CMD": pcm_fault_cmd,
|
||||
"CRUISE_CANCEL_CMD": pcm_cancel_cmd,
|
||||
"COMPUTER_BRAKE_REQUEST": brake_rq,
|
||||
"SET_ME_0X80": 0x80,
|
||||
"SET_ME_1": 1,
|
||||
"BRAKE_LIGHTS": brakelights,
|
||||
"CHIME": chime,
|
||||
"CHIME": 0,
|
||||
# TODO: Why are there two bits for fcw? According to dbc file the first bit should also work
|
||||
"FCW": fcw << 1,
|
||||
"AEB_REQ_1": 0,
|
||||
"AEB_REQ_2": 0,
|
||||
"AEB": 0,
|
||||
}
|
||||
bus = get_pt_bus(car_fingerprint, is_panda_black)
|
||||
return packer.make_can_msg("BRAKE_COMMAND", bus, values, idx)
|
||||
@@ -83,8 +86,8 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx,
|
||||
'SET_ME_X48': 0x48,
|
||||
'STEERING_REQUIRED': hud.steer_required,
|
||||
'SOLID_LANES': hud.lanes,
|
||||
'BEEP': 0,
|
||||
'DASHED_LANES': hud.dashed_lanes,
|
||||
'BEEP': hud.beep,
|
||||
}
|
||||
commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values, idx))
|
||||
|
||||
|
||||
@@ -9,7 +9,7 @@ from selfdrive.config import Conversions as CV
|
||||
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET, get_events
|
||||
from selfdrive.controls.lib.vehicle_model import VehicleModel
|
||||
from selfdrive.car.honda.carstate import CarState, get_can_parser, get_cam_can_parser
|
||||
from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, AUDIO_HUD, VISUAL_HUD, CAMERA_MSGS
|
||||
from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, VISUAL_HUD, CAMERA_MSGS
|
||||
from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness
|
||||
from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING
|
||||
from common.params import Params
|
||||
@@ -178,7 +178,7 @@ class CarInterface(object):
|
||||
ret.steerRatio = 15.38 # 10.93 is end-to-end spec
|
||||
tire_stiffness_factor = 1.
|
||||
# Civic at comma has modified steering FW, so different tuning for the Neo in that car
|
||||
is_fw_modified = os.getenv("DONGLE_ID") in ['99c94dc769b5d96e']
|
||||
is_fw_modified = os.getenv("DONGLE_ID") in ['5b7c365c50084530']
|
||||
if is_fw_modified:
|
||||
ret.lateralTuning.pid.kf = 0.00004
|
||||
|
||||
@@ -419,12 +419,13 @@ class CarInterface(object):
|
||||
ret.gearShifter = self.CS.gear_shifter
|
||||
|
||||
ret.steeringTorque = self.CS.steer_torque_driver
|
||||
ret.steeringTorqueEps = self.CS.steer_torque_motor
|
||||
ret.steeringPressed = self.CS.steer_override
|
||||
|
||||
# cruise state
|
||||
ret.cruiseState.enabled = self.CS.pcm_acc_status != 0
|
||||
ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
|
||||
ret.cruiseState.available = bool(self.CS.main_on)
|
||||
ret.cruiseState.available = bool(self.CS.main_on) and not bool(self.CS.cruise_mode)
|
||||
ret.cruiseState.speedOffset = self.CS.cruise_speed_offset
|
||||
ret.cruiseState.standstill = False
|
||||
|
||||
@@ -505,7 +506,7 @@ class CarInterface(object):
|
||||
events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
|
||||
if self.CS.esp_disabled:
|
||||
events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
|
||||
if not self.CS.main_on:
|
||||
if not self.CS.main_on or self.CS.cruise_mode:
|
||||
events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
|
||||
if ret.gearShifter == 'reverse':
|
||||
events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
|
||||
@@ -587,7 +588,6 @@ class CarInterface(object):
|
||||
hud_v_cruise = 255
|
||||
|
||||
hud_alert = VISUAL_HUD[c.hudControl.visualAlert.raw]
|
||||
snd_beep, snd_chime = AUDIO_HUD[c.hudControl.audibleAlert.raw]
|
||||
|
||||
pcm_accel = int(clip(c.cruiseControl.accelOverride, 0, 1) * 0xc6)
|
||||
|
||||
@@ -600,9 +600,7 @@ class CarInterface(object):
|
||||
hud_v_cruise,
|
||||
c.hudControl.lanesVisible,
|
||||
hud_show_car=c.hudControl.leadVisible,
|
||||
hud_alert=hud_alert,
|
||||
snd_beep=snd_beep,
|
||||
snd_chime=snd_chime)
|
||||
hud_alert=hud_alert)
|
||||
|
||||
self.frame += 1
|
||||
return can_sends
|
||||
|
||||
@@ -1,7 +1,6 @@
|
||||
from cereal import car
|
||||
from selfdrive.car import dbc_dict
|
||||
|
||||
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
|
||||
# Car button codes
|
||||
@@ -11,31 +10,6 @@ class CruiseButtons:
|
||||
CANCEL = 2
|
||||
MAIN = 1
|
||||
|
||||
#car chimes: enumeration from dbc file. Chimes are for alerts and warnings
|
||||
class CM:
|
||||
MUTE = 0
|
||||
SINGLE = 3
|
||||
DOUBLE = 4
|
||||
REPEATED = 1
|
||||
CONTINUOUS = 2
|
||||
|
||||
#car beeps: enumeration from dbc file. Beeps are for engage and disengage
|
||||
class BP:
|
||||
MUTE = 0
|
||||
SINGLE = 3
|
||||
TRIPLE = 2
|
||||
REPEATED = 1
|
||||
|
||||
AUDIO_HUD = {
|
||||
AudibleAlert.none: (BP.MUTE, CM.MUTE),
|
||||
AudibleAlert.chimeEngage: (BP.SINGLE, CM.MUTE),
|
||||
AudibleAlert.chimeDisengage: (BP.SINGLE, CM.MUTE),
|
||||
AudibleAlert.chimeError: (BP.MUTE, CM.DOUBLE),
|
||||
AudibleAlert.chimePrompt: (BP.MUTE, CM.SINGLE),
|
||||
AudibleAlert.chimeWarning1: (BP.MUTE, CM.DOUBLE),
|
||||
AudibleAlert.chimeWarning2: (BP.MUTE, CM.REPEATED),
|
||||
AudibleAlert.chimeWarningRepeat: (BP.MUTE, CM.REPEATED)}
|
||||
|
||||
class AH:
|
||||
#[alert_idx, value]
|
||||
# See dbc files for info on values"
|
||||
|
||||
@@ -278,7 +278,7 @@ class CarInterface(object):
|
||||
|
||||
def apply(self, c):
|
||||
|
||||
hud_alert = get_hud_alerts(c.hudControl.visualAlert, c.hudControl.audibleAlert)
|
||||
hud_alert = get_hud_alerts(c.hudControl.visualAlert)
|
||||
|
||||
can_sends = self.CC.update(c.enabled, self.CS, c.actuators,
|
||||
c.cruiseControl.cancel, hud_alert)
|
||||
|
||||
@@ -2,11 +2,10 @@ from cereal import car
|
||||
from selfdrive.car import dbc_dict
|
||||
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
|
||||
|
||||
def get_hud_alerts(visual_alert, audible_alert):
|
||||
def get_hud_alerts(visual_alert):
|
||||
if visual_alert == VisualAlert.steerRequired:
|
||||
return 4 if audible_alert != AudibleAlert.none else 5
|
||||
return 5
|
||||
else:
|
||||
return 0
|
||||
|
||||
|
||||
@@ -13,7 +13,6 @@ params = Params()
|
||||
|
||||
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
|
||||
|
||||
# Accel limits
|
||||
ACCEL_HYST_GAP = 0.02 # don't change accel command for small oscilalitons within this value
|
||||
@@ -56,25 +55,17 @@ def accel_hysteresis(accel, accel_steady, enabled):
|
||||
return accel, accel_steady
|
||||
|
||||
|
||||
def process_hud_alert(hud_alert, audible_alert):
|
||||
def process_hud_alert(hud_alert):
|
||||
# initialize to no alert
|
||||
steer = 0
|
||||
fcw = 0
|
||||
sound1 = 0
|
||||
sound2 = 0
|
||||
|
||||
if hud_alert == VisualAlert.fcw:
|
||||
fcw = 1
|
||||
elif hud_alert == VisualAlert.steerRequired:
|
||||
steer = 1
|
||||
|
||||
if audible_alert == AudibleAlert.chimeWarningRepeat:
|
||||
sound1 = 1
|
||||
elif audible_alert != AudibleAlert.none:
|
||||
# TODO: find a way to send single chimes
|
||||
sound2 = 1
|
||||
|
||||
return steer, fcw, sound1, sound2
|
||||
return steer, fcw
|
||||
|
||||
|
||||
def ipas_state_transition(steer_angle_enabled, enabled, ipas_active, ipas_reset_counter):
|
||||
@@ -133,8 +124,8 @@ class CarController(object):
|
||||
self.dragon_lat_ctrl = True
|
||||
|
||||
def update(self, enabled, CS, frame, actuators,
|
||||
pcm_cancel_cmd, hud_alert, audible_alert, forwarding_camera,
|
||||
left_line, right_line, lead, left_lane_depart, right_lane_depart):
|
||||
pcm_cancel_cmd, hud_alert, forwarding_camera, left_line,
|
||||
right_line, lead, left_lane_depart, right_lane_depart):
|
||||
# dragonpilot, don't check for param too often as it's a kernel call
|
||||
if frame % 100 == 0:
|
||||
self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
|
||||
@@ -284,8 +275,8 @@ class CarController(object):
|
||||
# ui mesg is at 100Hz but we send asap if:
|
||||
# - there is something to display
|
||||
# - there is something to stop displaying
|
||||
alert_out = process_hud_alert(hud_alert, audible_alert)
|
||||
steer, fcw, sound1, sound2 = alert_out
|
||||
alert_out = process_hud_alert(hud_alert)
|
||||
steer, fcw = alert_out
|
||||
|
||||
if (any(alert_out) and not self.alert_active) or \
|
||||
(not any(alert_out) and self.alert_active):
|
||||
@@ -295,7 +286,7 @@ class CarController(object):
|
||||
send_ui = False
|
||||
|
||||
if (frame % 100 == 0 or send_ui) and ECU.CAM in self.fake_ecus:
|
||||
can_sends.append(create_ui_command(self.packer, steer, sound1, sound2, left_line, right_line, left_lane_depart, right_lane_depart))
|
||||
can_sends.append(create_ui_command(self.packer, steer, left_line, right_line, left_lane_depart, right_lane_depart))
|
||||
|
||||
if frame % 100 == 0 and ECU.DSU in self.fake_ecus and self.car_fingerprint not in TSS2_CAR:
|
||||
can_sends.append(create_fcw_command(self.packer, fcw))
|
||||
|
||||
@@ -63,7 +63,8 @@ class CarInterface(object):
|
||||
ret.enableCruise = not ret.enableGasInterceptor
|
||||
|
||||
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
|
||||
if candidate != CAR.PRIUS:
|
||||
|
||||
if candidate not in [CAR.PRIUS, CAR.RAV4, CAR.RAV4H]: # These cars use LQR/INDI
|
||||
ret.lateralTuning.init('pid')
|
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
||||
|
||||
@@ -81,6 +82,18 @@ class CarInterface(object):
|
||||
ret.lateralTuning.indi.timeConstant = 1.0
|
||||
ret.lateralTuning.indi.actuatorEffectiveness = 1.0
|
||||
|
||||
# TODO: Determine if this is better than INDI
|
||||
# ret.lateralTuning.init('lqr')
|
||||
# ret.lateralTuning.lqr.scale = 1500.0
|
||||
# ret.lateralTuning.lqr.ki = 0.01
|
||||
|
||||
# ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
|
||||
# ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
|
||||
# ret.lateralTuning.lqr.c = [1., 0.]
|
||||
# ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
|
||||
# ret.lateralTuning.lqr.l = [0.03233671, 0.03185757]
|
||||
# ret.lateralTuning.lqr.dcGain = 0.002237852961363602
|
||||
|
||||
ret.steerActuatorDelay = 0.5
|
||||
|
||||
elif candidate in [CAR.RAV4, CAR.RAV4H]:
|
||||
@@ -90,8 +103,17 @@ class CarInterface(object):
|
||||
ret.steerRatio = 16.88 # 14.5 is spec end-to-end
|
||||
tire_stiffness_factor = 0.5533
|
||||
ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.05]]
|
||||
ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
|
||||
ret.lateralTuning.init('lqr')
|
||||
|
||||
ret.lateralTuning.lqr.scale = 1500.0
|
||||
ret.lateralTuning.lqr.ki = 0.05
|
||||
|
||||
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
|
||||
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
|
||||
ret.lateralTuning.lqr.c = [1., 0.]
|
||||
ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
|
||||
ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
|
||||
ret.lateralTuning.lqr.dcGain = 0.002237852961363602
|
||||
|
||||
elif candidate == CAR.COROLLA:
|
||||
stop_and_go = False
|
||||
@@ -309,6 +331,7 @@ class CarInterface(object):
|
||||
ret.steeringRate = self.CS.angle_steers_rate
|
||||
|
||||
ret.steeringTorque = self.CS.steer_torque_driver
|
||||
ret.steeringTorqueEps = self.CS.steer_torque_motor
|
||||
ret.steeringPressed = self.CS.steer_override
|
||||
|
||||
# cruise state
|
||||
@@ -413,8 +436,8 @@ class CarInterface(object):
|
||||
|
||||
can_sends = self.CC.update(c.enabled, self.CS, self.frame,
|
||||
c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert,
|
||||
c.hudControl.audibleAlert, self.forwarding_camera,
|
||||
c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible, c.hudControl.leadVisible,
|
||||
self.forwarding_camera, c.hudControl.leftLaneVisible,
|
||||
c.hudControl.rightLaneVisible, c.hudControl.leadVisible,
|
||||
c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart)
|
||||
|
||||
self.frame += 1
|
||||
|
||||
@@ -105,7 +105,7 @@ def create_fcw_command(packer, fcw):
|
||||
return packer.make_can_msg("ACC_HUD", 0, values)
|
||||
|
||||
|
||||
def create_ui_command(packer, steer, sound1, sound2, left_line, right_line, left_lane_depart, right_lane_depart):
|
||||
def create_ui_command(packer, steer, left_line, right_line, left_lane_depart, right_lane_depart):
|
||||
values = {
|
||||
"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,
|
||||
@@ -116,8 +116,8 @@ def create_ui_command(packer, steer, sound1, sound2, left_line, right_line, left
|
||||
"SET_ME_X02": 0x02,
|
||||
"SET_ME_X01": 1,
|
||||
"SET_ME_X01_2": 1,
|
||||
"REPEATED_BEEPS": sound1,
|
||||
"TWO_BEEPS": sound2,
|
||||
"REPEATED_BEEPS": 0,
|
||||
"TWO_BEEPS": 0,
|
||||
"LDA_ALERT": steer,
|
||||
}
|
||||
return packer.make_can_msg("LKAS_HUD", 0, values)
|
||||
|
||||
@@ -1 +1 @@
|
||||
#define COMMA_VERSION "0.6.2-release"
|
||||
#define COMMA_VERSION "0.6.3-release"
|
||||
|
||||
@@ -12,7 +12,7 @@ from selfdrive.config import Conversions as CV
|
||||
from selfdrive.services import service_list
|
||||
from selfdrive.boardd.boardd import can_list_to_can_capnp
|
||||
from selfdrive.car.car_helpers import get_car, get_startup_alert
|
||||
from selfdrive.controls.lib.model_parser import CAMERA_OFFSET
|
||||
from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET
|
||||
from selfdrive.controls.lib.drive_helpers import get_events, \
|
||||
create_event, \
|
||||
EventTypes as ET, \
|
||||
@@ -21,6 +21,7 @@ from selfdrive.controls.lib.drive_helpers import get_events, \
|
||||
from selfdrive.controls.lib.longcontrol import LongControl, STARTING_TARGET_SPEED
|
||||
from selfdrive.controls.lib.latcontrol_pid import LatControlPID
|
||||
from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
|
||||
from selfdrive.controls.lib.latcontrol_lqr import LatControlLQR
|
||||
from selfdrive.controls.lib.alertmanager import AlertManager
|
||||
from selfdrive.controls.lib.vehicle_model import VehicleModel
|
||||
from selfdrive.controls.lib.driver_monitor import DriverStatus, MAX_TERMINAL_ALERTS
|
||||
@@ -90,11 +91,16 @@ def data_sample(CI, CC, sm, can_sock, cal_status, cal_perc, overtemp, free_space
|
||||
cal_status = sm['liveCalibration'].calStatus
|
||||
cal_perc = sm['liveCalibration'].calPerc
|
||||
|
||||
cal_rpy = [0,0,0]
|
||||
if cal_status != Calibration.CALIBRATED:
|
||||
if cal_status == Calibration.UNCALIBRATED:
|
||||
events.append(create_event('calibrationIncomplete', [ET.NO_ENTRY, ET.SOFT_DISABLE, ET.PERMANENT]))
|
||||
else:
|
||||
events.append(create_event('calibrationInvalid', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
|
||||
else:
|
||||
rpy = sm['liveCalibration'].rpyCalib
|
||||
if len(rpy) == 3:
|
||||
cal_rpy = rpy
|
||||
|
||||
# When the panda and controlsd do not agree on controls_allowed
|
||||
# we want to disengage openpilot. However the status from the panda goes through
|
||||
@@ -112,7 +118,7 @@ def data_sample(CI, CC, sm, can_sock, cal_status, cal_perc, overtemp, free_space
|
||||
|
||||
# Driver monitoring
|
||||
if sm.updated['driverMonitoring']:
|
||||
driver_status.get_pose(sm['driverMonitoring'], params)
|
||||
driver_status.get_pose(sm['driverMonitoring'], params, cal_rpy)
|
||||
|
||||
if driver_status.terminal_alert_cnt >= MAX_TERMINAL_ALERTS:
|
||||
events.append(create_event("tooDistracted", [ET.NO_ENTRY]))
|
||||
@@ -255,8 +261,7 @@ def state_control(frame, rcv_frame, plan, path_plan, CS, CP, state, events, v_cr
|
||||
actuators.gas, actuators.brake = LoC.update(active, CS.vEgo, CS.brakePressed, CS.standstill, CS.cruiseState.standstill,
|
||||
v_cruise_kph, v_acc_sol, plan.vTargetFuture, a_acc_sol, CP)
|
||||
# Steering PID loop and lateral MPC
|
||||
actuators.steer, actuators.steerAngle, lac_log = LaC.update(active, CS.vEgo, CS.steeringAngle, CS.steeringRate,
|
||||
CS.steeringPressed, CP, VM, path_plan)
|
||||
actuators.steer, actuators.steerAngle, lac_log = LaC.update(active, CS.vEgo, CS.steeringAngle, CS.steeringRate, CS.steeringTorqueEps, CS.steeringPressed, CP, VM, path_plan)
|
||||
|
||||
# Send a "steering required alert" if saturation count has reached the limit
|
||||
if LaC.sat_flag and CP.steerLimitAlert:
|
||||
@@ -310,12 +315,11 @@ def data_send(sm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, ca
|
||||
ldw_allowed = CS.vEgo > 12.5 and not blinker
|
||||
|
||||
if len(list(sm['pathPlan'].rPoly)) == 4:
|
||||
CC.hudControl.rightLaneDepart = bool(ldw_allowed and sm['pathPlan'].rPoly[3] > -(1 + CAMERA_OFFSET) and right_lane_visible)
|
||||
CC.hudControl.rightLaneDepart = bool(ldw_allowed and sm['pathPlan'].rPoly[3] > -(1.08 + CAMERA_OFFSET) and right_lane_visible)
|
||||
if len(list(sm['pathPlan'].lPoly)) == 4:
|
||||
CC.hudControl.leftLaneDepart = bool(ldw_allowed and sm['pathPlan'].lPoly[3] < (1 - CAMERA_OFFSET) and left_lane_visible)
|
||||
CC.hudControl.leftLaneDepart = bool(ldw_allowed and sm['pathPlan'].lPoly[3] < (1.08 - CAMERA_OFFSET) and left_lane_visible)
|
||||
|
||||
CC.hudControl.visualAlert = AM.visual_alert
|
||||
CC.hudControl.audibleAlert = AM.audible_alert
|
||||
|
||||
if not read_only:
|
||||
# send car controls over can
|
||||
@@ -335,7 +339,7 @@ def data_send(sm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, ca
|
||||
"alertStatus": AM.alert_status,
|
||||
"alertBlinkingRate": AM.alert_rate,
|
||||
"alertType": AM.alert_type,
|
||||
"alertSound": "", # no EON sounds yet
|
||||
"alertSound": AM.audible_alert,
|
||||
"awarenessStatus": max(driver_status.awareness, 0.0) if isEnabled(state) else 0.0,
|
||||
"driverMonitoringOn": bool(driver_status.monitor_on and driver_status.face_detected),
|
||||
"canMonoTimes": list(CS.canMonoTimes),
|
||||
@@ -372,7 +376,9 @@ def data_send(sm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, ca
|
||||
|
||||
if CP.lateralTuning.which() == 'pid':
|
||||
dat.controlsState.lateralControlState.pidState = lac_log
|
||||
else:
|
||||
elif CP.lateralTuning.which() == 'lqr':
|
||||
dat.controlsState.lateralControlState.lqrState = lac_log
|
||||
elif CP.lateralTuning.which() == 'indi':
|
||||
dat.controlsState.lateralControlState.indiState = lac_log
|
||||
controlsstate.send(dat.to_bytes())
|
||||
|
||||
@@ -466,8 +472,10 @@ def controlsd_thread(gctx=None):
|
||||
|
||||
if CP.lateralTuning.which() == 'pid':
|
||||
LaC = LatControlPID(CP)
|
||||
else:
|
||||
elif CP.lateralTuning.which() == 'indi':
|
||||
LaC = LatControlINDI(CP)
|
||||
elif CP.lateralTuning.which() == 'lqr':
|
||||
LaC = LatControlLQR(CP)
|
||||
|
||||
driver_status = DriverStatus()
|
||||
|
||||
@@ -486,6 +494,9 @@ def controlsd_thread(gctx=None):
|
||||
sm['pathPlan'].sensorValid = True
|
||||
sm['pathPlan'].posenetValid = True
|
||||
|
||||
# detect sound card presence
|
||||
sounds_available = not os.path.isfile('/EON') or (os.path.isdir('/proc/asound/card0') and open('/proc/asound/card0/state').read().strip() == 'ONLINE')
|
||||
|
||||
# controlsd is driven by can recv, expected at 100Hz
|
||||
rk = Ratekeeper(100, print_delay_threshold=None)
|
||||
|
||||
@@ -528,6 +539,8 @@ def controlsd_thread(gctx=None):
|
||||
events.append(create_event('radarCanError', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
|
||||
if not CS.canValid:
|
||||
events.append(create_event('canError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
|
||||
if not sounds_available:
|
||||
events.append(create_event('soundsUnavailable', [ET.NO_ENTRY, ET.PERMANENT]))
|
||||
|
||||
if not dragon_toyota_stock_dsu:
|
||||
# Only allow engagement with brake pressed when stopped behind another stopped car
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
from cereal import log
|
||||
from cereal import car, log
|
||||
from common.realtime import DT_CTRL
|
||||
from selfdrive.swaglog import cloudlog
|
||||
from selfdrive.controls.lib.alerts import ALERTS
|
||||
@@ -7,7 +7,8 @@ import copy
|
||||
|
||||
AlertSize = log.ControlsState.AlertSize
|
||||
AlertStatus = log.ControlsState.AlertStatus
|
||||
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
|
||||
|
||||
class AlertManager(object):
|
||||
|
||||
@@ -49,8 +50,8 @@ class AlertManager(object):
|
||||
self.alert_text_2 = ""
|
||||
self.alert_status = AlertStatus.normal
|
||||
self.alert_size = AlertSize.none
|
||||
self.visual_alert = "none"
|
||||
self.audible_alert = "none"
|
||||
self.visual_alert = VisualAlert.none
|
||||
self.audible_alert = AudibleAlert.none
|
||||
self.alert_rate = 0.
|
||||
|
||||
if current_alert:
|
||||
|
||||
@@ -300,6 +300,13 @@ ALERTS = [
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"soundsUnavailableNoEntry",
|
||||
"openpilot Unavailable",
|
||||
"Speaker not found",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"tooDistractedNoEntry",
|
||||
"無法使用 dragonpilot",
|
||||
@@ -313,84 +320,84 @@ ALERTS = [
|
||||
"即刻接管控制",
|
||||
"系統過熱",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, 2., 2.),
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
|
||||
|
||||
Alert(
|
||||
"wrongGear",
|
||||
"即刻接管控制",
|
||||
"檔位不在 D 檔",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, 2., 2.),
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
|
||||
|
||||
Alert(
|
||||
"calibrationInvalid",
|
||||
"即刻接管控制",
|
||||
"校準無效：請將 EON 放於新的位置並重新校準",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, 2., 2.),
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
|
||||
|
||||
Alert(
|
||||
"calibrationIncomplete",
|
||||
"即刻接管控制",
|
||||
"正在校準相機中",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, 2., 2.),
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
|
||||
|
||||
Alert(
|
||||
"doorOpen",
|
||||
"即刻接管控制",
|
||||
"車門開啟",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, 2., 2.),
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
|
||||
|
||||
Alert(
|
||||
"seatbeltNotLatched",
|
||||
"即刻接管控制",
|
||||
"安全帶未繫",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, 2., 2.),
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
|
||||
|
||||
Alert(
|
||||
"espDisabled",
|
||||
"即刻接管控制",
|
||||
"ESP 關閉",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, 2., 2.),
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
|
||||
|
||||
Alert(
|
||||
"lowBattery",
|
||||
"即刻接管控制",
|
||||
"電池電量過低",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, 2., 2.),
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
|
||||
|
||||
Alert(
|
||||
"commIssue",
|
||||
"即刻接管控制",
|
||||
"雷達訊號錯誤：請重新發動車子",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, 2., 2.),
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
|
||||
|
||||
Alert(
|
||||
"radarCanError",
|
||||
"即刻接管控制",
|
||||
"雷達訊號錯誤：請重新發動車子",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, 2., 2.),
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
|
||||
|
||||
Alert(
|
||||
"radarFault",
|
||||
"即刻接管控制",
|
||||
"AI 模型錯誤：請檢查網路連線",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, 2., 2.),
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
|
||||
|
||||
Alert(
|
||||
"posenetInvalid",
|
||||
"即刻接管控制",
|
||||
"視覺出現錯誤：請檢查相機",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, 2., 2.),
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
|
||||
|
||||
# Cancellation alerts causing immediate disabling
|
||||
Alert(
|
||||
@@ -676,6 +683,13 @@ ALERTS = [
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
|
||||
|
||||
Alert(
|
||||
"soundsUnavailablePermanent",
|
||||
"Speaker not found",
|
||||
"Reboot your EON",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
|
||||
|
||||
Alert(
|
||||
"vehicleModelInvalid",
|
||||
"車子參數識別失敗",
|
||||
|
||||
@@ -5,31 +5,40 @@ from common.filter_simple import FirstOrderFilter
|
||||
from common.params import Params
|
||||
params = Params()
|
||||
|
||||
_AWARENESS_TIME = 180 # 3 minutes limit without user touching steering wheels make the car enter a terminal status
|
||||
_AWARENESS_PRE_TIME = 20. # a first alert is issued 20s before expiration
|
||||
_AWARENESS_PROMPT_TIME = 5. # a second alert is issued 5s before start decelerating the car
|
||||
_DISTRACTED_TIME = 7.
|
||||
_DISTRACTED_PRE_TIME = 4.
|
||||
_DISTRACTED_PROMPT_TIME = 2.
|
||||
# model output refers to center of cropped image, so need to apply the x displacement offset
|
||||
_AWARENESS_TIME = 90. # 1.5 minutes limit without user touching steering wheels make the car enter a terminal status
|
||||
_AWARENESS_PRE_TIME_TILL_TERMINAL = 20. # a first alert is issued 20s before expiration
|
||||
_AWARENESS_PROMPT_TIME_TILL_TERMINAL = 5. # a second alert is issued 5s before start decelerating the car
|
||||
_DISTRACTED_TIME = 10.
|
||||
_DISTRACTED_PRE_TIME_TILL_TERMINAL = 7.
|
||||
_DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 5.
|
||||
|
||||
_FACE_THRESHOLD = 0.4
|
||||
_PITCH_WEIGHT = 1.5 # pitch matters a lot more
|
||||
_EYE_THRESHOLD = 0.4
|
||||
_BLINK_THRESHOLD = 0.2 # 0.225
|
||||
_PITCH_WEIGHT = 1.35 # 1.5 # pitch matters a lot more
|
||||
_METRIC_THRESHOLD = 0.4
|
||||
_PITCH_POS_ALLOWANCE = 0.08 # rad, to not be too sensitive on positive pitch
|
||||
_PITCH_NATURAL_OFFSET = 0.1 # people don't seem to look straight when they drive relaxed, rather a bit up
|
||||
_YAW_NATURAL_OFFSET = 0.08 # people don't seem to look straight when they drive relaxed, rather a bit to the right (center of car)
|
||||
_STD_THRESHOLD = 0.1 # above this standard deviation consider the measurement invalid
|
||||
_PITCH_POS_ALLOWANCE = 0.04 # 0.08 # rad, to not be too sensitive on positive pitch
|
||||
_PITCH_NATURAL_OFFSET = 0.12 # 0.1 # people don't seem to look straight when they drive relaxed, rather a bit up
|
||||
_YAW_NATURAL_OFFSET = 0.08 # people don't seem to look straight when they drive relaxed, rather a bit to the right (center of car)
|
||||
_DISTRACTED_FILTER_TS = 0.25 # 0.6Hz
|
||||
_VARIANCE_FILTER_TS = 20. # 0.008Hz
|
||||
|
||||
MAX_TERMINAL_ALERTS = 3 # not allowed to engage after 3 terminal alerts
|
||||
|
||||
# model output refers to center of cropped image, so need to apply the x displacement offset
|
||||
RESIZED_FOCAL = 320.0
|
||||
H, W, FULL_W = 320, 160, 426
|
||||
|
||||
def head_orientation_from_descriptor(angles_desc, pos_desc):
|
||||
class DistractedType(object):
|
||||
NOT_DISTRACTED = 0
|
||||
BAD_POSE = 1
|
||||
BAD_BLINK = 2
|
||||
|
||||
def head_orientation_from_descriptor(angles_desc, pos_desc, rpy_calib):
|
||||
# the output of these angles are in device frame
|
||||
# so from driver's perspective, pitch is up and yaw is right
|
||||
# TODO this should be calibrated
|
||||
|
||||
# TODO: calibrate based on position
|
||||
pitch_prnet = angles_desc[0]
|
||||
yaw_prnet = angles_desc[1]
|
||||
roll_prnet = angles_desc[2]
|
||||
@@ -41,6 +50,11 @@ def head_orientation_from_descriptor(angles_desc, pos_desc):
|
||||
roll = roll_prnet
|
||||
pitch = pitch_prnet + pitch_focal_angle
|
||||
yaw = -yaw_prnet + yaw_focal_angle
|
||||
|
||||
# no calib for roll
|
||||
pitch -= rpy_calib[1]
|
||||
yaw -= rpy_calib[2]
|
||||
|
||||
return np.array([roll, pitch, yaw])
|
||||
|
||||
|
||||
@@ -52,15 +66,21 @@ class _DriverPose():
|
||||
self.yaw_offset = 0.
|
||||
self.pitch_offset = 0.
|
||||
|
||||
class _DriverBlink():
|
||||
def __init__(self):
|
||||
self.left_blink = 0.
|
||||
self.right_blink = 0.
|
||||
|
||||
|
||||
|
||||
def _monitor_hysteresis(variance_level, monitor_valid_prev):
|
||||
var_thr = 0.63 if monitor_valid_prev else 0.37
|
||||
return variance_level < var_thr
|
||||
|
||||
|
||||
class DriverStatus():
|
||||
def __init__(self, monitor_on=False):
|
||||
self.pose = _DriverPose()
|
||||
self.blink = _DriverBlink()
|
||||
self.monitor_on = monitor_on
|
||||
self.monitor_param_on = monitor_on
|
||||
self.monitor_valid = True # variance needs to be low
|
||||
@@ -72,7 +92,8 @@ class DriverStatus():
|
||||
self.ts_last_check = 0.
|
||||
self.face_detected = False
|
||||
self.terminal_alert_cnt = 0
|
||||
self._set_timers()
|
||||
self.step_change = 0.
|
||||
self._set_timers(self.monitor_on)
|
||||
|
||||
# dragonpilot
|
||||
self.dp_last_check = 0.
|
||||
@@ -83,45 +104,51 @@ class DriverStatus():
|
||||
self.variance_filter.x = 0.
|
||||
self.monitor_valid = True
|
||||
|
||||
def _set_timers(self):
|
||||
if self.monitor_on:
|
||||
self.threshold_pre = _DISTRACTED_PRE_TIME / _DISTRACTED_TIME
|
||||
self.threshold_prompt = _DISTRACTED_PROMPT_TIME / _DISTRACTED_TIME
|
||||
def _set_timers(self, active_monitoring):
|
||||
if active_monitoring:
|
||||
# when falling back from passive mode to active mode, reset awareness to avoid false alert
|
||||
if self.step_change == DT_CTRL / _AWARENESS_TIME:
|
||||
self.awareness = 1.
|
||||
self.threshold_pre = _DISTRACTED_PRE_TIME_TILL_TERMINAL / _DISTRACTED_TIME
|
||||
self.threshold_prompt = _DISTRACTED_PROMPT_TIME_TILL_TERMINAL / _DISTRACTED_TIME
|
||||
self.step_change = DT_CTRL / _DISTRACTED_TIME
|
||||
else:
|
||||
self.threshold_pre = _AWARENESS_PRE_TIME / _AWARENESS_TIME
|
||||
self.threshold_prompt = _AWARENESS_PROMPT_TIME / _AWARENESS_TIME
|
||||
self.threshold_pre = _AWARENESS_PRE_TIME_TILL_TERMINAL / _AWARENESS_TIME
|
||||
self.threshold_prompt = _AWARENESS_PROMPT_TIME_TILL_TERMINAL / _AWARENESS_TIME
|
||||
self.step_change = DT_CTRL / _AWARENESS_TIME
|
||||
|
||||
def _is_driver_distracted(self, pose):
|
||||
# to be tuned and to learn the driver's normal pose
|
||||
def _is_driver_distracted(self, pose, blink):
|
||||
# TODO: natural pose calib of each driver
|
||||
pitch_error = pose.pitch - _PITCH_NATURAL_OFFSET
|
||||
yaw_error = pose.yaw - _YAW_NATURAL_OFFSET
|
||||
# add positive pitch allowance
|
||||
if pitch_error > 0.:
|
||||
pitch_error = max(pitch_error - _PITCH_POS_ALLOWANCE, 0.)
|
||||
pitch_error *= _PITCH_WEIGHT
|
||||
metric = np.sqrt(yaw_error**2 + pitch_error**2)
|
||||
# TODO: do something with the eye states and combine them with head pose
|
||||
return 1 if metric > _METRIC_THRESHOLD else 0
|
||||
pose_metric = np.sqrt(yaw_error**2 + pitch_error**2)
|
||||
|
||||
if pose_metric > _METRIC_THRESHOLD:
|
||||
return DistractedType.BAD_POSE
|
||||
elif blink.left_blink>_BLINK_THRESHOLD and blink.right_blink>_BLINK_THRESHOLD:
|
||||
return DistractedType.BAD_BLINK
|
||||
else:
|
||||
return DistractedType.NOT_DISTRACTED
|
||||
|
||||
|
||||
def get_pose(self, driver_monitoring, params):
|
||||
def get_pose(self, driver_monitoring, params, cal_rpy):
|
||||
if len(driver_monitoring.faceOrientation) == 0 or len(driver_monitoring.facePosition) == 0:
|
||||
return
|
||||
|
||||
self.pose.roll, self.pose.pitch, self.pose.yaw = head_orientation_from_descriptor(driver_monitoring.faceOrientation, driver_monitoring.facePosition)
|
||||
self.pose.roll, self.pose.pitch, self.pose.yaw = head_orientation_from_descriptor(driver_monitoring.faceOrientation, driver_monitoring.facePosition, cal_rpy)
|
||||
self.blink.left_blink = driver_monitoring.leftBlinkProb * (driver_monitoring.leftEyeProb>_EYE_THRESHOLD)
|
||||
self.blink.right_blink = driver_monitoring.rightBlinkProb * (driver_monitoring.rightEyeProb>_EYE_THRESHOLD)
|
||||
self.face_detected = driver_monitoring.faceProb > _FACE_THRESHOLD
|
||||
|
||||
self.driver_distracted = self._is_driver_distracted(self.pose)
|
||||
self.driver_distracted = self._is_driver_distracted(self.pose, self.blink)>0
|
||||
# first order filters
|
||||
self.driver_distraction_filter.update(self.driver_distracted)
|
||||
self.variance_high = False #driver_monitoring.std > _STD_THRESHOLD
|
||||
|
||||
self.variance_filter.update(self.variance_high)
|
||||
|
||||
monitor_param_on_prev = self.monitor_param_on
|
||||
monitor_valid_prev = self.monitor_valid
|
||||
|
||||
# don't check for param too often as it's a kernel call
|
||||
ts = sec_since_boot()
|
||||
@@ -129,14 +156,17 @@ class DriverStatus():
|
||||
self.monitor_param_on = params.get("IsDriverMonitoringEnabled") == "1"
|
||||
self.ts_last_check = ts
|
||||
|
||||
self.monitor_valid = _monitor_hysteresis(self.variance_filter.x, monitor_valid_prev)
|
||||
self.monitor_on = self.monitor_valid and self.monitor_param_on
|
||||
if monitor_param_on_prev != self.monitor_param_on:
|
||||
self._reset_filters()
|
||||
self._set_timers()
|
||||
self._set_timers(self.monitor_on and self.face_detected)
|
||||
|
||||
|
||||
def update(self, events, driver_engaged, ctrl_active, standstill):
|
||||
if driver_engaged:
|
||||
self.awareness = 1.
|
||||
return events
|
||||
|
||||
# don't check for param too often as it's a kernel call
|
||||
ts = sec_since_boot()
|
||||
if ts - self.dp_last_check > 1.:
|
||||
@@ -146,12 +176,12 @@ class DriverStatus():
|
||||
driver_engaged |= (self.driver_distraction_filter.x < 0.37 and self.monitor_on)
|
||||
awareness_prev = self.awareness
|
||||
|
||||
if (driver_engaged and self.awareness > 0.) or not ctrl_active:
|
||||
if (driver_engaged and self.awareness > 0) or not ctrl_active:
|
||||
# always reset if driver is in control (unless we are in red alert state) or op isn't active
|
||||
self.awareness = 1.
|
||||
self.awareness = min(self.awareness + (2.75*(1.-self.awareness)+1.25)*self.step_change, 1.)
|
||||
|
||||
# only update if face is detected, driver is distracted and distraction filter is high
|
||||
if (not self.monitor_on or (self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected)) and \
|
||||
# should always be counting if distracted unless at standstill and reaching orange
|
||||
if ((not self.monitor_on or (self.monitor_on and not self.face_detected)) or (self.driver_distraction_filter.x > 0.63 and self.driver_distracted and self.face_detected)) and \
|
||||
not (standstill and self.awareness - self.step_change <= self.threshold_prompt):
|
||||
self.awareness = max(self.awareness - self.step_change, -0.1)
|
||||
|
||||
|
||||
@@ -0,0 +1,74 @@
|
||||
from common.numpy_fast import interp
|
||||
import numpy as np
|
||||
from selfdrive.controls.lib.latcontrol_helpers import model_polyfit, compute_path_pinv
|
||||
|
||||
CAMERA_OFFSET = 0.06 # m from center car to camera
|
||||
|
||||
|
||||
def calc_d_poly(l_poly, r_poly, p_poly, l_prob, r_prob, lane_width):
|
||||
# This will improve behaviour when lanes suddenly widen
|
||||
lane_width = min(4.0, lane_width)
|
||||
l_prob = l_prob * interp(abs(l_poly[3]), [2, 2.5], [1.0, 0.0])
|
||||
r_prob = r_prob * interp(abs(r_poly[3]), [2, 2.5], [1.0, 0.0])
|
||||
|
||||
path_from_left_lane = l_poly.copy()
|
||||
path_from_left_lane[3] -= lane_width / 2.0
|
||||
path_from_right_lane = r_poly.copy()
|
||||
path_from_right_lane[3] += lane_width / 2.0
|
||||
|
||||
lr_prob = l_prob + r_prob - l_prob * r_prob
|
||||
|
||||
d_poly_lane = (l_prob * path_from_left_lane + r_prob * path_from_right_lane) / (l_prob + r_prob + 0.0001)
|
||||
return lr_prob * d_poly_lane + (1.0 - lr_prob) * p_poly
|
||||
|
||||
|
||||
class LanePlanner(object):
|
||||
def __init__(self):
|
||||
self.l_poly = [0., 0., 0., 0.]
|
||||
self.r_poly = [0., 0., 0., 0.]
|
||||
self.p_poly = [0., 0., 0., 0.]
|
||||
self.d_poly = [0., 0., 0., 0.]
|
||||
|
||||
self.lane_width_estimate = 3.7
|
||||
self.lane_width_certainty = 1.0
|
||||
self.lane_width = 3.7
|
||||
|
||||
self.l_prob = 0.
|
||||
self.r_prob = 0.
|
||||
self.lr_prob = 0.
|
||||
|
||||
self._path_pinv = compute_path_pinv()
|
||||
self.x_points = np.arange(50)
|
||||
|
||||
def parse_model(self, md):
|
||||
if len(md.leftLane.poly):
|
||||
self.l_poly = np.array(md.leftLane.poly)
|
||||
self.r_poly = np.array(md.rightLane.poly)
|
||||
self.p_poly = np.array(md.path.poly)
|
||||
else:
|
||||
self.l_poly = model_polyfit(md.leftLane.points, self._path_pinv) # left line
|
||||
self.r_poly = model_polyfit(md.rightLane.points, self._path_pinv) # right line
|
||||
self.p_poly = model_polyfit(md.path.points, self._path_pinv) # predicted path
|
||||
self.l_prob = md.leftLane.prob # left line prob
|
||||
self.r_prob = md.rightLane.prob # right line prob
|
||||
|
||||
def update_lane(self, v_ego):
|
||||
# only offset left and right lane lines; offsetting p_poly does not make sense
|
||||
self.l_poly[3] += CAMERA_OFFSET
|
||||
self.r_poly[3] += CAMERA_OFFSET
|
||||
|
||||
self.lr_prob = self.l_prob + self.r_prob - self.l_prob * self.r_prob
|
||||
|
||||
# Find current lanewidth
|
||||
self.lane_width_certainty += 0.05 * (self.l_prob * self.r_prob - self.lane_width_certainty)
|
||||
current_lane_width = abs(self.l_poly[3] - self.r_poly[3])
|
||||
self.lane_width_estimate += 0.005 * (current_lane_width - self.lane_width_estimate)
|
||||
speed_lane_width = interp(v_ego, [0., 31.], [2.8, 3.5])
|
||||
self.lane_width = self.lane_width_certainty * self.lane_width_estimate + \
|
||||
(1 - self.lane_width_certainty) * speed_lane_width
|
||||
|
||||
self.d_poly = calc_d_poly(self.l_poly, self.r_poly, self.p_poly, self.l_prob, self.r_prob, self.lane_width)
|
||||
|
||||
def update(self, v_ego, md):
|
||||
self.parse_model(md)
|
||||
self.update_lane(v_ego)
|
||||
@@ -60,30 +60,3 @@ def compute_path_pinv(l=50):
|
||||
|
||||
def model_polyfit(points, path_pinv):
|
||||
return np.dot(path_pinv, [float(x) for x in points])
|
||||
|
||||
|
||||
def calc_desired_path(l_poly,
|
||||
r_poly,
|
||||
p_poly,
|
||||
l_prob,
|
||||
r_prob,
|
||||
p_prob,
|
||||
speed,
|
||||
lane_width=None):
|
||||
# this function computes the poly for the center of the lane, averaging left and right polys
|
||||
if lane_width is None:
|
||||
lane_width = interp(speed, _LANE_WIDTH_BP, _LANE_WIDTH_V)
|
||||
|
||||
# lanes in US are ~3.6m wide
|
||||
half_lane_poly = np.array([0., 0., 0., lane_width / 2.])
|
||||
if l_prob + r_prob > 0.01:
|
||||
c_poly = ((l_poly - half_lane_poly) * l_prob +
|
||||
(r_poly + half_lane_poly) * r_prob) / (l_prob + r_prob)
|
||||
c_prob = l_prob + r_prob - l_prob * r_prob
|
||||
else:
|
||||
c_poly = np.zeros(4)
|
||||
c_prob = 0.
|
||||
|
||||
p_weight = 1. # predicted path weight relatively to the center of the lane
|
||||
d_poly = list((c_poly * c_prob + p_poly * p_prob * p_weight) / (c_prob + p_prob * p_weight))
|
||||
return d_poly, c_poly, c_prob
|
||||
|
||||
@@ -47,7 +47,7 @@ class LatControlINDI(object):
|
||||
self.output_steer = 0.
|
||||
self.counter = 0
|
||||
|
||||
def update(self, active, v_ego, angle_steers, angle_steers_rate, steer_override, CP, VM, path_plan):
|
||||
def update(self, active, v_ego, angle_steers, angle_steers_rate, eps_torque, steer_override, CP, VM, path_plan):
|
||||
# Update Kalman filter
|
||||
y = np.matrix([[math.radians(angle_steers)], [math.radians(angle_steers_rate)]])
|
||||
self.x = np.dot(self.A_K, self.x) + np.dot(self.K, y)
|
||||
|
||||
@@ -0,0 +1,72 @@
|
||||
import numpy as np
|
||||
from selfdrive.controls.lib.drive_helpers import get_steer_max
|
||||
from common.numpy_fast import clip
|
||||
from cereal import log
|
||||
|
||||
|
||||
class LatControlLQR(object):
|
||||
def __init__(self, CP, rate=100):
|
||||
self.sat_flag = False
|
||||
self.scale = CP.lateralTuning.lqr.scale
|
||||
self.ki = CP.lateralTuning.lqr.ki
|
||||
|
||||
|
||||
self.A = np.array(CP.lateralTuning.lqr.a).reshape((2,2))
|
||||
self.B = np.array(CP.lateralTuning.lqr.b).reshape((2,1))
|
||||
self.C = np.array(CP.lateralTuning.lqr.c).reshape((1,2))
|
||||
self.K = np.array(CP.lateralTuning.lqr.k).reshape((1,2))
|
||||
self.L = np.array(CP.lateralTuning.lqr.l).reshape((2,1))
|
||||
self.dc_gain = CP.lateralTuning.lqr.dcGain
|
||||
|
||||
self.x_hat = np.array([[0], [0]])
|
||||
self.i_unwind_rate = 0.3 / rate
|
||||
self.i_rate = 1.0 / rate
|
||||
|
||||
self.reset()
|
||||
|
||||
def reset(self):
|
||||
self.i_lqr = 0.0
|
||||
self.output_steer = 0.0
|
||||
|
||||
def update(self, active, v_ego, angle_steers, angle_steers_rate, eps_torque, steer_override, CP, VM, path_plan):
|
||||
lqr_log = log.ControlsState.LateralLQRState.new_message()
|
||||
|
||||
torque_scale = (0.45 + v_ego / 60.0)**2 # Scale actuator model with speed
|
||||
|
||||
# Subtract offset. Zero angle should correspond to zero torque
|
||||
self.angle_steers_des = path_plan.angleSteers - path_plan.angleOffset
|
||||
angle_steers -= path_plan.angleOffset
|
||||
|
||||
# Update Kalman filter
|
||||
angle_steers_k = float(self.C.dot(self.x_hat))
|
||||
e = angle_steers - angle_steers_k
|
||||
self.x_hat = self.A.dot(self.x_hat) + self.B.dot(eps_torque / torque_scale) + self.L.dot(e)
|
||||
|
||||
if v_ego < 0.3 or not active:
|
||||
lqr_log.active = False
|
||||
self.reset()
|
||||
else:
|
||||
lqr_log.active = True
|
||||
|
||||
# LQR
|
||||
u_lqr = float(self.angle_steers_des / self.dc_gain - self.K.dot(self.x_hat))
|
||||
|
||||
# Integrator
|
||||
if steer_override:
|
||||
self.i_lqr -= self.i_unwind_rate * float(np.sign(self.i_lqr))
|
||||
else:
|
||||
self.i_lqr += self.ki * self.i_rate * (self.angle_steers_des - angle_steers_k)
|
||||
|
||||
lqr_output = torque_scale * u_lqr / self.scale
|
||||
self.i_lqr = clip(self.i_lqr, -1.0 - lqr_output, 1.0 - lqr_output) # (LQR + I) has to be between -1 and 1
|
||||
|
||||
self.output_steer = lqr_output + self.i_lqr
|
||||
|
||||
# Clip output
|
||||
steers_max = get_steer_max(CP, v_ego)
|
||||
self.output_steer = clip(self.output_steer, -steers_max, steers_max)
|
||||
|
||||
lqr_log.steerAngle = angle_steers_k + path_plan.angleOffset
|
||||
lqr_log.i = self.i_lqr
|
||||
lqr_log.output = self.output_steer
|
||||
return self.output_steer, float(self.angle_steers_des), lqr_log
|
||||
@@ -14,7 +14,7 @@ class LatControlPID(object):
|
||||
def reset(self):
|
||||
self.pid.reset()
|
||||
|
||||
def update(self, active, v_ego, angle_steers, angle_steers_rate, steer_override, CP, VM, path_plan):
|
||||
def update(self, active, v_ego, angle_steers, angle_steers_rate, eps_torque, steer_override, CP, VM, path_plan):
|
||||
pid_log = log.ControlsState.LateralPIDState.new_message()
|
||||
pid_log.steerAngle = float(angle_steers)
|
||||
pid_log.steerRate = float(angle_steers_rate)
|
||||
|
||||
@@ -23,8 +23,8 @@ int main( )
|
||||
OnlineData v_ref; // m/s
|
||||
OnlineData l_poly_r0, l_poly_r1, l_poly_r2, l_poly_r3;
|
||||
OnlineData r_poly_r0, r_poly_r1, r_poly_r2, r_poly_r3;
|
||||
OnlineData p_poly_r0, p_poly_r1, p_poly_r2, p_poly_r3;
|
||||
OnlineData l_prob, r_prob, p_prob;
|
||||
OnlineData d_poly_r0, d_poly_r1, d_poly_r2, d_poly_r3;
|
||||
OnlineData l_prob, r_prob;
|
||||
OnlineData lane_width;
|
||||
|
||||
Control t;
|
||||
@@ -39,26 +39,13 @@ int main( )
|
||||
|
||||
auto poly_l = l_poly_r0*(xx*xx*xx) + l_poly_r1*(xx*xx) + l_poly_r2*xx + l_poly_r3;
|
||||
auto poly_r = r_poly_r0*(xx*xx*xx) + r_poly_r1*(xx*xx) + r_poly_r2*xx + r_poly_r3;
|
||||
auto poly_p = p_poly_r0*(xx*xx*xx) + p_poly_r1*(xx*xx) + p_poly_r2*xx + p_poly_r3;
|
||||
auto poly_d = d_poly_r0*(xx*xx*xx) + d_poly_r1*(xx*xx) + d_poly_r2*xx + d_poly_r3;
|
||||
|
||||
auto angle_l = atan(3*l_poly_r0*xx*xx + 2*l_poly_r1*xx + l_poly_r2);
|
||||
auto angle_r = atan(3*r_poly_r0*xx*xx + 2*r_poly_r1*xx + r_poly_r2);
|
||||
auto angle_p = atan(3*p_poly_r0*xx*xx + 2*p_poly_r1*xx + p_poly_r2);
|
||||
|
||||
// given the lane width estimate, this is where we estimate the path given lane lines
|
||||
auto path_from_left_lane = poly_l - lane_width/2.0;
|
||||
auto path_from_right_lane = poly_r + lane_width/2.0;
|
||||
|
||||
// if the lanes are visible, drive in the center, otherwise follow the path
|
||||
auto path = lr_prob * (l_prob * path_from_left_lane + r_prob * path_from_right_lane) / (l_prob + r_prob + 0.0001)
|
||||
+ (1-lr_prob) * poly_p;
|
||||
|
||||
auto angle = lr_prob * (l_prob * angle_l + r_prob * angle_r) / (l_prob + r_prob + 0.0001)
|
||||
+ (1-lr_prob) * angle_p;
|
||||
auto angle_d = atan(3*d_poly_r0*xx*xx + 2*d_poly_r1*xx + d_poly_r2);
|
||||
|
||||
// When the lane is not visible, use an estimate of its position
|
||||
auto weighted_left_lane = l_prob * poly_l + (1 - l_prob) * (path + lane_width/2.0);
|
||||
auto weighted_right_lane = r_prob * poly_r + (1 - r_prob) * (path - lane_width/2.0);
|
||||
auto weighted_left_lane = l_prob * poly_l + (1 - l_prob) * (poly_d + lane_width/2.0);
|
||||
auto weighted_right_lane = r_prob * poly_r + (1 - r_prob) * (poly_d - lane_width/2.0);
|
||||
|
||||
auto c_left_lane = exp(-(weighted_left_lane - yy));
|
||||
auto c_right_lane = exp(weighted_right_lane - yy);
|
||||
@@ -67,12 +54,12 @@ int main( )
|
||||
Function h;
|
||||
|
||||
// Distance errors
|
||||
h << path - yy;
|
||||
h << poly_d - yy;
|
||||
h << lr_prob * c_left_lane;
|
||||
h << lr_prob * c_right_lane;
|
||||
|
||||
// Heading error
|
||||
h << (v_ref + 1.0 ) * (angle - psi);
|
||||
h << (v_ref + 1.0 ) * (angle_d - psi);
|
||||
|
||||
// Angular rate error
|
||||
h << (v_ref + 1.0 ) * t;
|
||||
@@ -88,12 +75,12 @@ int main( )
|
||||
Function hN;
|
||||
|
||||
// Distance errors
|
||||
hN << path - yy;
|
||||
hN << poly_d - yy;
|
||||
hN << l_prob * c_left_lane;
|
||||
hN << r_prob * c_right_lane;
|
||||
|
||||
// Heading errors
|
||||
hN << (2.0 * v_ref + 1.0 ) * (angle - psi);
|
||||
hN << (2.0 * v_ref + 1.0 ) * (angle_d - psi);
|
||||
|
||||
BMatrix QN(4,4); QN.setAll(true);
|
||||
// QN(0,0) = 1.0;
|
||||
@@ -125,7 +112,7 @@ int main( )
|
||||
ocp.subjectTo( deg2rad(-90) <= psi <= deg2rad(90));
|
||||
// more than absolute max steer angle
|
||||
ocp.subjectTo( deg2rad(-50) <= delta <= deg2rad(50));
|
||||
ocp.setNOD(18);
|
||||
ocp.setNOD(17);
|
||||
|
||||
OCPexport mpc(ocp);
|
||||
mpc.set( HESSIAN_APPROXIMATION, GAUSS_NEWTON );
|
||||
|
||||
@@ -65,8 +65,8 @@ void init(double pathCost, double laneCost, double headingCost, double steerRate
|
||||
}
|
||||
|
||||
int run_mpc(state_t * x0, log_t * solution,
|
||||
double l_poly[4], double r_poly[4], double p_poly[4],
|
||||
double l_prob, double r_prob, double p_prob, double curvature_factor, double v_ref, double lane_width){
|
||||
double l_poly[4], double r_poly[4], double d_poly[4],
|
||||
double l_prob, double r_prob, double curvature_factor, double v_ref, double lane_width){
|
||||
|
||||
int i;
|
||||
|
||||
@@ -84,16 +84,15 @@ int run_mpc(state_t * x0, log_t * solution,
|
||||
acadoVariables.od[i+8] = r_poly[2];
|
||||
acadoVariables.od[i+9] = r_poly[3];
|
||||
|
||||
acadoVariables.od[i+10] = p_poly[0];
|
||||
acadoVariables.od[i+11] = p_poly[1];
|
||||
acadoVariables.od[i+12] = p_poly[2];
|
||||
acadoVariables.od[i+13] = p_poly[3];
|
||||
acadoVariables.od[i+10] = d_poly[0];
|
||||
acadoVariables.od[i+11] = d_poly[1];
|
||||
acadoVariables.od[i+12] = d_poly[2];
|
||||
acadoVariables.od[i+13] = d_poly[3];
|
||||
|
||||
|
||||
acadoVariables.od[i+14] = l_prob;
|
||||
acadoVariables.od[i+15] = r_prob;
|
||||
acadoVariables.od[i+16] = p_prob;
|
||||
acadoVariables.od[i+17] = lane_width;
|
||||
acadoVariables.od[i+16] = lane_width;
|
||||
|
||||
}
|
||||
|
||||
|
||||
@@ -64,7 +64,7 @@ extern "C"
|
||||
/** Number of control/estimation intervals. */
|
||||
#define ACADO_N 20
|
||||
/** Number of online data values. */
|
||||
#define ACADO_NOD 18
|
||||
#define ACADO_NOD 17
|
||||
/** Number of path constraints. */
|
||||
#define ACADO_NPAC 0
|
||||
/** Number of control variables. */
|
||||
@@ -114,11 +114,11 @@ real_t x[ 84 ];
|
||||
*/
|
||||
real_t u[ 20 ];
|
||||
|
||||
/** Matrix of size: 21 x 18 (row major format)
|
||||
/** Matrix of size: 21 x 17 (row major format)
|
||||
*
|
||||
* Matrix containing 21 online data vectors.
|
||||
*/
|
||||
real_t od[ 378 ];
|
||||
real_t od[ 357 ];
|
||||
|
||||
/** Column vector of size: 100
|
||||
*
|
||||
@@ -160,14 +160,14 @@ real_t rhs_aux[ 14 ];
|
||||
|
||||
real_t rk_ttt;
|
||||
|
||||
/** Row vector of size: 43 */
|
||||
real_t rk_xxx[ 43 ];
|
||||
/** Row vector of size: 42 */
|
||||
real_t rk_xxx[ 42 ];
|
||||
|
||||
/** Matrix of size: 4 x 24 (row major format) */
|
||||
real_t rk_kkk[ 96 ];
|
||||
|
||||
/** Row vector of size: 43 */
|
||||
real_t state[ 43 ];
|
||||
/** Row vector of size: 42 */
|
||||
real_t state[ 42 ];
|
||||
|
||||
/** Column vector of size: 80 */
|
||||
real_t d[ 80 ];
|
||||
@@ -184,11 +184,11 @@ real_t evGx[ 320 ];
|
||||
/** Column vector of size: 80 */
|
||||
real_t evGu[ 80 ];
|
||||
|
||||
/** Column vector of size: 21 */
|
||||
real_t objAuxVar[ 21 ];
|
||||
/** Column vector of size: 11 */
|
||||
real_t objAuxVar[ 11 ];
|
||||
|
||||
/** Row vector of size: 23 */
|
||||
real_t objValueIn[ 23 ];
|
||||
/** Row vector of size: 22 */
|
||||
real_t objValueIn[ 22 ];
|
||||
|
||||
/** Row vector of size: 30 */
|
||||
real_t objValueOut[ 30 ];
|
||||
|
||||
@@ -118,7 +118,6 @@ acadoWorkspace.rk_xxx[38] = rk_eta[38];
|
||||
acadoWorkspace.rk_xxx[39] = rk_eta[39];
|
||||
acadoWorkspace.rk_xxx[40] = rk_eta[40];
|
||||
acadoWorkspace.rk_xxx[41] = rk_eta[41];
|
||||
acadoWorkspace.rk_xxx[42] = rk_eta[42];
|
||||
|
||||
for (run1 = 0; run1 < 1; ++run1)
|
||||
{
|
||||
|
||||
@@ -43,24 +43,23 @@ acadoWorkspace.state[2] = acadoVariables.x[lRun1 * 4 + 2];
|
||||
acadoWorkspace.state[3] = acadoVariables.x[lRun1 * 4 + 3];
|
||||
|
||||
acadoWorkspace.state[24] = acadoVariables.u[lRun1];
|
||||
acadoWorkspace.state[25] = acadoVariables.od[lRun1 * 18];
|
||||
acadoWorkspace.state[26] = acadoVariables.od[lRun1 * 18 + 1];
|
||||
acadoWorkspace.state[27] = acadoVariables.od[lRun1 * 18 + 2];
|
||||
acadoWorkspace.state[28] = acadoVariables.od[lRun1 * 18 + 3];
|
||||
acadoWorkspace.state[29] = acadoVariables.od[lRun1 * 18 + 4];
|
||||
acadoWorkspace.state[30] = acadoVariables.od[lRun1 * 18 + 5];
|
||||
acadoWorkspace.state[31] = acadoVariables.od[lRun1 * 18 + 6];
|
||||
acadoWorkspace.state[32] = acadoVariables.od[lRun1 * 18 + 7];
|
||||
acadoWorkspace.state[33] = acadoVariables.od[lRun1 * 18 + 8];
|
||||
acadoWorkspace.state[34] = acadoVariables.od[lRun1 * 18 + 9];
|
||||
acadoWorkspace.state[35] = acadoVariables.od[lRun1 * 18 + 10];
|
||||
acadoWorkspace.state[36] = acadoVariables.od[lRun1 * 18 + 11];
|
||||
acadoWorkspace.state[37] = acadoVariables.od[lRun1 * 18 + 12];
|
||||
acadoWorkspace.state[38] = acadoVariables.od[lRun1 * 18 + 13];
|
||||
acadoWorkspace.state[39] = acadoVariables.od[lRun1 * 18 + 14];
|
||||
acadoWorkspace.state[40] = acadoVariables.od[lRun1 * 18 + 15];
|
||||
acadoWorkspace.state[41] = acadoVariables.od[lRun1 * 18 + 16];
|
||||
acadoWorkspace.state[42] = acadoVariables.od[lRun1 * 18 + 17];
|
||||
acadoWorkspace.state[25] = acadoVariables.od[lRun1 * 17];
|
||||
acadoWorkspace.state[26] = acadoVariables.od[lRun1 * 17 + 1];
|
||||
acadoWorkspace.state[27] = acadoVariables.od[lRun1 * 17 + 2];
|
||||
acadoWorkspace.state[28] = acadoVariables.od[lRun1 * 17 + 3];
|
||||
acadoWorkspace.state[29] = acadoVariables.od[lRun1 * 17 + 4];
|
||||
acadoWorkspace.state[30] = acadoVariables.od[lRun1 * 17 + 5];
|
||||
acadoWorkspace.state[31] = acadoVariables.od[lRun1 * 17 + 6];
|
||||
acadoWorkspace.state[32] = acadoVariables.od[lRun1 * 17 + 7];
|
||||
acadoWorkspace.state[33] = acadoVariables.od[lRun1 * 17 + 8];
|
||||
acadoWorkspace.state[34] = acadoVariables.od[lRun1 * 17 + 9];
|
||||
acadoWorkspace.state[35] = acadoVariables.od[lRun1 * 17 + 10];
|
||||
acadoWorkspace.state[36] = acadoVariables.od[lRun1 * 17 + 11];
|
||||
acadoWorkspace.state[37] = acadoVariables.od[lRun1 * 17 + 12];
|
||||
acadoWorkspace.state[38] = acadoVariables.od[lRun1 * 17 + 13];
|
||||
acadoWorkspace.state[39] = acadoVariables.od[lRun1 * 17 + 14];
|
||||
acadoWorkspace.state[40] = acadoVariables.od[lRun1 * 17 + 15];
|
||||
acadoWorkspace.state[41] = acadoVariables.od[lRun1 * 17 + 16];
|
||||
|
||||
ret = acado_integrate(acadoWorkspace.state, 1, lRun1);
|
||||
|
||||
@@ -99,51 +98,41 @@ void acado_evaluateLSQ(const real_t* in, real_t* out)
|
||||
const real_t* xd = in;
|
||||
const real_t* u = in + 4;
|
||||
const real_t* od = in + 5;
|
||||
/* Vector of auxiliary variables; number of elements: 21. */
|
||||
/* Vector of auxiliary variables; number of elements: 11. */
|
||||
real_t* a = acadoWorkspace.objAuxVar;
|
||||
|
||||
/* Compute intermediate quantities: */
|
||||
a[0] = (exp(((real_t)(0.0000000000000000e+00)-(((od[14]*((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5]))+(((real_t)(1.0000000000000000e+00)-od[14])*((((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5])-(od[17]/(real_t)(2.0000000000000000e+00))))+(od[15]*(((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9])+(od[17]/(real_t)(2.0000000000000000e+00))))))/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)))+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])))+(od[17]/(real_t)(2.0000000000000000e+00)))))-xd[1]))));
|
||||
a[1] = (exp((((od[15]*((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9]))+(((real_t)(1.0000000000000000e+00)-od[15])*((((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5])-(od[17]/(real_t)(2.0000000000000000e+00))))+(od[15]*(((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9])+(od[17]/(real_t)(2.0000000000000000e+00))))))/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)))+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])))-(od[17]/(real_t)(2.0000000000000000e+00)))))-xd[1])));
|
||||
a[2] = (atan(((((((real_t)(3.0000000000000000e+00)*od[2])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[3])*xd[0]))+od[4])));
|
||||
a[3] = (atan(((((((real_t)(3.0000000000000000e+00)*od[6])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[7])*xd[0]))+od[8])));
|
||||
a[4] = (atan(((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[11])*xd[0]))+od[12])));
|
||||
a[5] = ((real_t)(1.0000000000000000e+00)/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)));
|
||||
a[6] = ((real_t)(1.0000000000000000e+00)/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)));
|
||||
a[7] = (exp(((real_t)(0.0000000000000000e+00)-(((od[14]*((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5]))+(((real_t)(1.0000000000000000e+00)-od[14])*((((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5])-(od[17]/(real_t)(2.0000000000000000e+00))))+(od[15]*(((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9])+(od[17]/(real_t)(2.0000000000000000e+00))))))/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)))+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])))+(od[17]/(real_t)(2.0000000000000000e+00)))))-xd[1]))));
|
||||
a[8] = (((real_t)(0.0000000000000000e+00)-((od[14]*(((od[2]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[3]*(xd[0]+xd[0])))+od[4]))+(((real_t)(1.0000000000000000e+00)-od[14])*(((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((od[2]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[3]*(xd[0]+xd[0])))+od[4]))+(od[15]*(((od[6]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[7]*(xd[0]+xd[0])))+od[8]))))*a[6])+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*(((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12]))))))*a[7]);
|
||||
a[9] = (((real_t)(0.0000000000000000e+00)-((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00)))*a[7]);
|
||||
a[10] = ((real_t)(1.0000000000000000e+00)/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)));
|
||||
a[11] = (exp((((od[15]*((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9]))+(((real_t)(1.0000000000000000e+00)-od[15])*((((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5])-(od[17]/(real_t)(2.0000000000000000e+00))))+(od[15]*(((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9])+(od[17]/(real_t)(2.0000000000000000e+00))))))/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)))+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])))-(od[17]/(real_t)(2.0000000000000000e+00)))))-xd[1])));
|
||||
a[12] = (((od[15]*(((od[6]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[7]*(xd[0]+xd[0])))+od[8]))+(((real_t)(1.0000000000000000e+00)-od[15])*(((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((od[2]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[3]*(xd[0]+xd[0])))+od[4]))+(od[15]*(((od[6]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[7]*(xd[0]+xd[0])))+od[8]))))*a[10])+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*(((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12])))))*a[11]);
|
||||
a[13] = (((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[11]);
|
||||
a[14] = ((real_t)(1.0000000000000000e+00)/((real_t)(1.0000000000000000e+00)+(pow(((((((real_t)(3.0000000000000000e+00)*od[2])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[3])*xd[0]))+od[4]),2))));
|
||||
a[15] = ((((((real_t)(3.0000000000000000e+00)*od[2])*xd[0])+(((real_t)(3.0000000000000000e+00)*od[2])*xd[0]))+((real_t)(2.0000000000000000e+00)*od[3]))*a[14]);
|
||||
a[16] = ((real_t)(1.0000000000000000e+00)/((real_t)(1.0000000000000000e+00)+(pow(((((((real_t)(3.0000000000000000e+00)*od[6])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[7])*xd[0]))+od[8]),2))));
|
||||
a[17] = ((((((real_t)(3.0000000000000000e+00)*od[6])*xd[0])+(((real_t)(3.0000000000000000e+00)*od[6])*xd[0]))+((real_t)(2.0000000000000000e+00)*od[7]))*a[16]);
|
||||
a[18] = ((real_t)(1.0000000000000000e+00)/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)));
|
||||
a[19] = ((real_t)(1.0000000000000000e+00)/((real_t)(1.0000000000000000e+00)+(pow(((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[11])*xd[0]))+od[12]),2))));
|
||||
a[20] = ((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])+(((real_t)(3.0000000000000000e+00)*od[10])*xd[0]))+((real_t)(2.0000000000000000e+00)*od[11]))*a[19]);
|
||||
a[0] = (exp(((real_t)(0.0000000000000000e+00)-(((od[14]*((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5]))+(((real_t)(1.0000000000000000e+00)-od[14])*(((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])+(od[16]/(real_t)(2.0000000000000000e+00)))))-xd[1]))));
|
||||
a[1] = (exp((((od[15]*((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9]))+(((real_t)(1.0000000000000000e+00)-od[15])*(((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])-(od[16]/(real_t)(2.0000000000000000e+00)))))-xd[1])));
|
||||
a[2] = (atan(((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[11])*xd[0]))+od[12])));
|
||||
a[3] = (exp(((real_t)(0.0000000000000000e+00)-(((od[14]*((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5]))+(((real_t)(1.0000000000000000e+00)-od[14])*(((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])+(od[16]/(real_t)(2.0000000000000000e+00)))))-xd[1]))));
|
||||
a[4] = (((real_t)(0.0000000000000000e+00)-((od[14]*(((od[2]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[3]*(xd[0]+xd[0])))+od[4]))+(((real_t)(1.0000000000000000e+00)-od[14])*(((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12]))))*a[3]);
|
||||
a[5] = (((real_t)(0.0000000000000000e+00)-((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00)))*a[3]);
|
||||
a[6] = (exp((((od[15]*((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9]))+(((real_t)(1.0000000000000000e+00)-od[15])*(((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])-(od[16]/(real_t)(2.0000000000000000e+00)))))-xd[1])));
|
||||
a[7] = (((od[15]*(((od[6]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[7]*(xd[0]+xd[0])))+od[8]))+(((real_t)(1.0000000000000000e+00)-od[15])*(((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12])))*a[6]);
|
||||
a[8] = (((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[6]);
|
||||
a[9] = ((real_t)(1.0000000000000000e+00)/((real_t)(1.0000000000000000e+00)+(pow(((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[11])*xd[0]))+od[12]),2))));
|
||||
a[10] = ((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])+(((real_t)(3.0000000000000000e+00)*od[10])*xd[0]))+((real_t)(2.0000000000000000e+00)*od[11]))*a[9]);
|
||||
|
||||
/* Compute outputs: */
|
||||
out[0] = ((((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5])-(od[17]/(real_t)(2.0000000000000000e+00))))+(od[15]*(((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9])+(od[17]/(real_t)(2.0000000000000000e+00))))))/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)))+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])))-xd[1]);
|
||||
out[0] = (((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])-xd[1]);
|
||||
out[1] = (((od[14]+od[15])-(od[14]*od[15]))*a[0]);
|
||||
out[2] = (((od[14]+od[15])-(od[14]*od[15]))*a[1]);
|
||||
out[3] = ((od[1]+(real_t)(1.0000000000000000e+00))*((((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*a[2])+(od[15]*a[3])))/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)))+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*a[4]))-xd[2]));
|
||||
out[3] = ((od[1]+(real_t)(1.0000000000000000e+00))*(a[2]-xd[2]));
|
||||
out[4] = ((od[1]+(real_t)(1.0000000000000000e+00))*u[0]);
|
||||
out[5] = (((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((od[2]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[3]*(xd[0]+xd[0])))+od[4]))+(od[15]*(((od[6]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[7]*(xd[0]+xd[0])))+od[8]))))*a[5])+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*(((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12])));
|
||||
out[5] = (((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12]);
|
||||
out[6] = ((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00));
|
||||
out[7] = (real_t)(0.0000000000000000e+00);
|
||||
out[8] = (real_t)(0.0000000000000000e+00);
|
||||
out[9] = (((od[14]+od[15])-(od[14]*od[15]))*a[8]);
|
||||
out[10] = (((od[14]+od[15])-(od[14]*od[15]))*a[9]);
|
||||
out[9] = (((od[14]+od[15])-(od[14]*od[15]))*a[4]);
|
||||
out[10] = (((od[14]+od[15])-(od[14]*od[15]))*a[5]);
|
||||
out[11] = (real_t)(0.0000000000000000e+00);
|
||||
out[12] = (real_t)(0.0000000000000000e+00);
|
||||
out[13] = (((od[14]+od[15])-(od[14]*od[15]))*a[12]);
|
||||
out[14] = (((od[14]+od[15])-(od[14]*od[15]))*a[13]);
|
||||
out[13] = (((od[14]+od[15])-(od[14]*od[15]))*a[7]);
|
||||
out[14] = (((od[14]+od[15])-(od[14]*od[15]))*a[8]);
|
||||
out[15] = (real_t)(0.0000000000000000e+00);
|
||||
out[16] = (real_t)(0.0000000000000000e+00);
|
||||
out[17] = ((od[1]+(real_t)(1.0000000000000000e+00))*(((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*a[15])+(od[15]*a[17])))*a[18])+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*a[20])));
|
||||
out[17] = ((od[1]+(real_t)(1.0000000000000000e+00))*a[10]);
|
||||
out[18] = (real_t)(0.0000000000000000e+00);
|
||||
out[19] = ((od[1]+(real_t)(1.0000000000000000e+00))*((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00)));
|
||||
out[20] = (real_t)(0.0000000000000000e+00);
|
||||
@@ -162,50 +151,40 @@ void acado_evaluateLSQEndTerm(const real_t* in, real_t* out)
|
||||
{
|
||||
const real_t* xd = in;
|
||||
const real_t* od = in + 4;
|
||||
/* Vector of auxiliary variables; number of elements: 21. */
|
||||
/* Vector of auxiliary variables; number of elements: 11. */
|
||||
real_t* a = acadoWorkspace.objAuxVar;
|
||||
|
||||
/* Compute intermediate quantities: */
|
||||
a[0] = (exp(((real_t)(0.0000000000000000e+00)-(((od[14]*((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5]))+(((real_t)(1.0000000000000000e+00)-od[14])*((((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5])-(od[17]/(real_t)(2.0000000000000000e+00))))+(od[15]*(((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9])+(od[17]/(real_t)(2.0000000000000000e+00))))))/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)))+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])))+(od[17]/(real_t)(2.0000000000000000e+00)))))-xd[1]))));
|
||||
a[1] = (exp((((od[15]*((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9]))+(((real_t)(1.0000000000000000e+00)-od[15])*((((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5])-(od[17]/(real_t)(2.0000000000000000e+00))))+(od[15]*(((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9])+(od[17]/(real_t)(2.0000000000000000e+00))))))/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)))+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])))-(od[17]/(real_t)(2.0000000000000000e+00)))))-xd[1])));
|
||||
a[2] = (atan(((((((real_t)(3.0000000000000000e+00)*od[2])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[3])*xd[0]))+od[4])));
|
||||
a[3] = (atan(((((((real_t)(3.0000000000000000e+00)*od[6])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[7])*xd[0]))+od[8])));
|
||||
a[4] = (atan(((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[11])*xd[0]))+od[12])));
|
||||
a[5] = ((real_t)(1.0000000000000000e+00)/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)));
|
||||
a[6] = ((real_t)(1.0000000000000000e+00)/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)));
|
||||
a[7] = (exp(((real_t)(0.0000000000000000e+00)-(((od[14]*((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5]))+(((real_t)(1.0000000000000000e+00)-od[14])*((((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5])-(od[17]/(real_t)(2.0000000000000000e+00))))+(od[15]*(((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9])+(od[17]/(real_t)(2.0000000000000000e+00))))))/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)))+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])))+(od[17]/(real_t)(2.0000000000000000e+00)))))-xd[1]))));
|
||||
a[8] = (((real_t)(0.0000000000000000e+00)-((od[14]*(((od[2]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[3]*(xd[0]+xd[0])))+od[4]))+(((real_t)(1.0000000000000000e+00)-od[14])*(((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((od[2]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[3]*(xd[0]+xd[0])))+od[4]))+(od[15]*(((od[6]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[7]*(xd[0]+xd[0])))+od[8]))))*a[6])+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*(((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12]))))))*a[7]);
|
||||
a[9] = (((real_t)(0.0000000000000000e+00)-((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00)))*a[7]);
|
||||
a[10] = ((real_t)(1.0000000000000000e+00)/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)));
|
||||
a[11] = (exp((((od[15]*((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9]))+(((real_t)(1.0000000000000000e+00)-od[15])*((((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5])-(od[17]/(real_t)(2.0000000000000000e+00))))+(od[15]*(((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9])+(od[17]/(real_t)(2.0000000000000000e+00))))))/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)))+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])))-(od[17]/(real_t)(2.0000000000000000e+00)))))-xd[1])));
|
||||
a[12] = (((od[15]*(((od[6]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[7]*(xd[0]+xd[0])))+od[8]))+(((real_t)(1.0000000000000000e+00)-od[15])*(((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((od[2]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[3]*(xd[0]+xd[0])))+od[4]))+(od[15]*(((od[6]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[7]*(xd[0]+xd[0])))+od[8]))))*a[10])+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*(((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12])))))*a[11]);
|
||||
a[13] = (((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[11]);
|
||||
a[14] = ((real_t)(1.0000000000000000e+00)/((real_t)(1.0000000000000000e+00)+(pow(((((((real_t)(3.0000000000000000e+00)*od[2])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[3])*xd[0]))+od[4]),2))));
|
||||
a[15] = ((((((real_t)(3.0000000000000000e+00)*od[2])*xd[0])+(((real_t)(3.0000000000000000e+00)*od[2])*xd[0]))+((real_t)(2.0000000000000000e+00)*od[3]))*a[14]);
|
||||
a[16] = ((real_t)(1.0000000000000000e+00)/((real_t)(1.0000000000000000e+00)+(pow(((((((real_t)(3.0000000000000000e+00)*od[6])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[7])*xd[0]))+od[8]),2))));
|
||||
a[17] = ((((((real_t)(3.0000000000000000e+00)*od[6])*xd[0])+(((real_t)(3.0000000000000000e+00)*od[6])*xd[0]))+((real_t)(2.0000000000000000e+00)*od[7]))*a[16]);
|
||||
a[18] = ((real_t)(1.0000000000000000e+00)/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)));
|
||||
a[19] = ((real_t)(1.0000000000000000e+00)/((real_t)(1.0000000000000000e+00)+(pow(((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[11])*xd[0]))+od[12]),2))));
|
||||
a[20] = ((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])+(((real_t)(3.0000000000000000e+00)*od[10])*xd[0]))+((real_t)(2.0000000000000000e+00)*od[11]))*a[19]);
|
||||
a[0] = (exp(((real_t)(0.0000000000000000e+00)-(((od[14]*((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5]))+(((real_t)(1.0000000000000000e+00)-od[14])*(((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])+(od[16]/(real_t)(2.0000000000000000e+00)))))-xd[1]))));
|
||||
a[1] = (exp((((od[15]*((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9]))+(((real_t)(1.0000000000000000e+00)-od[15])*(((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])-(od[16]/(real_t)(2.0000000000000000e+00)))))-xd[1])));
|
||||
a[2] = (atan(((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[11])*xd[0]))+od[12])));
|
||||
a[3] = (exp(((real_t)(0.0000000000000000e+00)-(((od[14]*((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5]))+(((real_t)(1.0000000000000000e+00)-od[14])*(((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])+(od[16]/(real_t)(2.0000000000000000e+00)))))-xd[1]))));
|
||||
a[4] = (((real_t)(0.0000000000000000e+00)-((od[14]*(((od[2]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[3]*(xd[0]+xd[0])))+od[4]))+(((real_t)(1.0000000000000000e+00)-od[14])*(((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12]))))*a[3]);
|
||||
a[5] = (((real_t)(0.0000000000000000e+00)-((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00)))*a[3]);
|
||||
a[6] = (exp((((od[15]*((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9]))+(((real_t)(1.0000000000000000e+00)-od[15])*(((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])-(od[16]/(real_t)(2.0000000000000000e+00)))))-xd[1])));
|
||||
a[7] = (((od[15]*(((od[6]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[7]*(xd[0]+xd[0])))+od[8]))+(((real_t)(1.0000000000000000e+00)-od[15])*(((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12])))*a[6]);
|
||||
a[8] = (((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[6]);
|
||||
a[9] = ((real_t)(1.0000000000000000e+00)/((real_t)(1.0000000000000000e+00)+(pow(((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])*xd[0])+(((real_t)(2.0000000000000000e+00)*od[11])*xd[0]))+od[12]),2))));
|
||||
a[10] = ((((((real_t)(3.0000000000000000e+00)*od[10])*xd[0])+(((real_t)(3.0000000000000000e+00)*od[10])*xd[0]))+((real_t)(2.0000000000000000e+00)*od[11]))*a[9]);
|
||||
|
||||
/* Compute outputs: */
|
||||
out[0] = ((((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((((od[2]*((xd[0]*xd[0])*xd[0]))+(od[3]*(xd[0]*xd[0])))+(od[4]*xd[0]))+od[5])-(od[17]/(real_t)(2.0000000000000000e+00))))+(od[15]*(((((od[6]*((xd[0]*xd[0])*xd[0]))+(od[7]*(xd[0]*xd[0])))+(od[8]*xd[0]))+od[9])+(od[17]/(real_t)(2.0000000000000000e+00))))))/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)))+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])))-xd[1]);
|
||||
out[0] = (((((od[10]*((xd[0]*xd[0])*xd[0]))+(od[11]*(xd[0]*xd[0])))+(od[12]*xd[0]))+od[13])-xd[1]);
|
||||
out[1] = (od[14]*a[0]);
|
||||
out[2] = (od[15]*a[1]);
|
||||
out[3] = ((((real_t)(2.0000000000000000e+00)*od[1])+(real_t)(1.0000000000000000e+00))*((((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*a[2])+(od[15]*a[3])))/((od[14]+od[15])+(real_t)(1.0000000000000000e-04)))+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*a[4]))-xd[2]));
|
||||
out[4] = (((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*(((od[2]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[3]*(xd[0]+xd[0])))+od[4]))+(od[15]*(((od[6]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[7]*(xd[0]+xd[0])))+od[8]))))*a[5])+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*(((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12])));
|
||||
out[3] = ((((real_t)(2.0000000000000000e+00)*od[1])+(real_t)(1.0000000000000000e+00))*(a[2]-xd[2]));
|
||||
out[4] = (((od[10]*(((xd[0]+xd[0])*xd[0])+(xd[0]*xd[0])))+(od[11]*(xd[0]+xd[0])))+od[12]);
|
||||
out[5] = ((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00));
|
||||
out[6] = (real_t)(0.0000000000000000e+00);
|
||||
out[7] = (real_t)(0.0000000000000000e+00);
|
||||
out[8] = (od[14]*a[8]);
|
||||
out[9] = (od[14]*a[9]);
|
||||
out[8] = (od[14]*a[4]);
|
||||
out[9] = (od[14]*a[5]);
|
||||
out[10] = (real_t)(0.0000000000000000e+00);
|
||||
out[11] = (real_t)(0.0000000000000000e+00);
|
||||
out[12] = (od[15]*a[12]);
|
||||
out[13] = (od[15]*a[13]);
|
||||
out[12] = (od[15]*a[7]);
|
||||
out[13] = (od[15]*a[8]);
|
||||
out[14] = (real_t)(0.0000000000000000e+00);
|
||||
out[15] = (real_t)(0.0000000000000000e+00);
|
||||
out[16] = ((((real_t)(2.0000000000000000e+00)*od[1])+(real_t)(1.0000000000000000e+00))*(((((od[14]+od[15])-(od[14]*od[15]))*((od[14]*a[15])+(od[15]*a[17])))*a[18])+(((real_t)(1.0000000000000000e+00)-((od[14]+od[15])-(od[14]*od[15])))*a[20])));
|
||||
out[16] = ((((real_t)(2.0000000000000000e+00)*od[1])+(real_t)(1.0000000000000000e+00))*a[10]);
|
||||
out[17] = (real_t)(0.0000000000000000e+00);
|
||||
out[18] = ((((real_t)(2.0000000000000000e+00)*od[1])+(real_t)(1.0000000000000000e+00))*((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00)));
|
||||
out[19] = (real_t)(0.0000000000000000e+00);
|
||||
@@ -307,24 +286,23 @@ acadoWorkspace.objValueIn[1] = acadoVariables.x[runObj * 4 + 1];
|
||||
acadoWorkspace.objValueIn[2] = acadoVariables.x[runObj * 4 + 2];
|
||||
acadoWorkspace.objValueIn[3] = acadoVariables.x[runObj * 4 + 3];
|
||||
acadoWorkspace.objValueIn[4] = acadoVariables.u[runObj];
|
||||
acadoWorkspace.objValueIn[5] = acadoVariables.od[runObj * 18];
|
||||
acadoWorkspace.objValueIn[6] = acadoVariables.od[runObj * 18 + 1];
|
||||
acadoWorkspace.objValueIn[7] = acadoVariables.od[runObj * 18 + 2];
|
||||
acadoWorkspace.objValueIn[8] = acadoVariables.od[runObj * 18 + 3];
|
||||
acadoWorkspace.objValueIn[9] = acadoVariables.od[runObj * 18 + 4];
|
||||
acadoWorkspace.objValueIn[10] = acadoVariables.od[runObj * 18 + 5];
|
||||
acadoWorkspace.objValueIn[11] = acadoVariables.od[runObj * 18 + 6];
|
||||
acadoWorkspace.objValueIn[12] = acadoVariables.od[runObj * 18 + 7];
|
||||
acadoWorkspace.objValueIn[13] = acadoVariables.od[runObj * 18 + 8];
|
||||
acadoWorkspace.objValueIn[14] = acadoVariables.od[runObj * 18 + 9];
|
||||
acadoWorkspace.objValueIn[15] = acadoVariables.od[runObj * 18 + 10];
|
||||
acadoWorkspace.objValueIn[16] = acadoVariables.od[runObj * 18 + 11];
|
||||
acadoWorkspace.objValueIn[17] = acadoVariables.od[runObj * 18 + 12];
|
||||
acadoWorkspace.objValueIn[18] = acadoVariables.od[runObj * 18 + 13];
|
||||
acadoWorkspace.objValueIn[19] = acadoVariables.od[runObj * 18 + 14];
|
||||
acadoWorkspace.objValueIn[20] = acadoVariables.od[runObj * 18 + 15];
|
||||
acadoWorkspace.objValueIn[21] = acadoVariables.od[runObj * 18 + 16];
|
||||
acadoWorkspace.objValueIn[22] = acadoVariables.od[runObj * 18 + 17];
|
||||
acadoWorkspace.objValueIn[5] = acadoVariables.od[runObj * 17];
|
||||
acadoWorkspace.objValueIn[6] = acadoVariables.od[runObj * 17 + 1];
|
||||
acadoWorkspace.objValueIn[7] = acadoVariables.od[runObj * 17 + 2];
|
||||
acadoWorkspace.objValueIn[8] = acadoVariables.od[runObj * 17 + 3];
|
||||
acadoWorkspace.objValueIn[9] = acadoVariables.od[runObj * 17 + 4];
|
||||
acadoWorkspace.objValueIn[10] = acadoVariables.od[runObj * 17 + 5];
|
||||
acadoWorkspace.objValueIn[11] = acadoVariables.od[runObj * 17 + 6];
|
||||
acadoWorkspace.objValueIn[12] = acadoVariables.od[runObj * 17 + 7];
|
||||
acadoWorkspace.objValueIn[13] = acadoVariables.od[runObj * 17 + 8];
|
||||
acadoWorkspace.objValueIn[14] = acadoVariables.od[runObj * 17 + 9];
|
||||
acadoWorkspace.objValueIn[15] = acadoVariables.od[runObj * 17 + 10];
|
||||
acadoWorkspace.objValueIn[16] = acadoVariables.od[runObj * 17 + 11];
|
||||
acadoWorkspace.objValueIn[17] = acadoVariables.od[runObj * 17 + 12];
|
||||
acadoWorkspace.objValueIn[18] = acadoVariables.od[runObj * 17 + 13];
|
||||
acadoWorkspace.objValueIn[19] = acadoVariables.od[runObj * 17 + 14];
|
||||
acadoWorkspace.objValueIn[20] = acadoVariables.od[runObj * 17 + 15];
|
||||
acadoWorkspace.objValueIn[21] = acadoVariables.od[runObj * 17 + 16];
|
||||
|
||||
acado_evaluateLSQ( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
|
||||
acadoWorkspace.Dy[runObj * 5] = acadoWorkspace.objValueOut[0];
|
||||
@@ -342,24 +320,23 @@ acadoWorkspace.objValueIn[0] = acadoVariables.x[80];
|
||||
acadoWorkspace.objValueIn[1] = acadoVariables.x[81];
|
||||
acadoWorkspace.objValueIn[2] = acadoVariables.x[82];
|
||||
acadoWorkspace.objValueIn[3] = acadoVariables.x[83];
|
||||
acadoWorkspace.objValueIn[4] = acadoVariables.od[360];
|
||||
acadoWorkspace.objValueIn[5] = acadoVariables.od[361];
|
||||
acadoWorkspace.objValueIn[6] = acadoVariables.od[362];
|
||||
acadoWorkspace.objValueIn[7] = acadoVariables.od[363];
|
||||
acadoWorkspace.objValueIn[8] = acadoVariables.od[364];
|
||||
acadoWorkspace.objValueIn[9] = acadoVariables.od[365];
|
||||
acadoWorkspace.objValueIn[10] = acadoVariables.od[366];
|
||||
acadoWorkspace.objValueIn[11] = acadoVariables.od[367];
|
||||
acadoWorkspace.objValueIn[12] = acadoVariables.od[368];
|
||||
acadoWorkspace.objValueIn[13] = acadoVariables.od[369];
|
||||
acadoWorkspace.objValueIn[14] = acadoVariables.od[370];
|
||||
acadoWorkspace.objValueIn[15] = acadoVariables.od[371];
|
||||
acadoWorkspace.objValueIn[16] = acadoVariables.od[372];
|
||||
acadoWorkspace.objValueIn[17] = acadoVariables.od[373];
|
||||
acadoWorkspace.objValueIn[18] = acadoVariables.od[374];
|
||||
acadoWorkspace.objValueIn[19] = acadoVariables.od[375];
|
||||
acadoWorkspace.objValueIn[20] = acadoVariables.od[376];
|
||||
acadoWorkspace.objValueIn[21] = acadoVariables.od[377];
|
||||
acadoWorkspace.objValueIn[4] = acadoVariables.od[340];
|
||||
acadoWorkspace.objValueIn[5] = acadoVariables.od[341];
|
||||
acadoWorkspace.objValueIn[6] = acadoVariables.od[342];
|
||||
acadoWorkspace.objValueIn[7] = acadoVariables.od[343];
|
||||
acadoWorkspace.objValueIn[8] = acadoVariables.od[344];
|
||||
acadoWorkspace.objValueIn[9] = acadoVariables.od[345];
|
||||
acadoWorkspace.objValueIn[10] = acadoVariables.od[346];
|
||||
acadoWorkspace.objValueIn[11] = acadoVariables.od[347];
|
||||
acadoWorkspace.objValueIn[12] = acadoVariables.od[348];
|
||||
acadoWorkspace.objValueIn[13] = acadoVariables.od[349];
|
||||
acadoWorkspace.objValueIn[14] = acadoVariables.od[350];
|
||||
acadoWorkspace.objValueIn[15] = acadoVariables.od[351];
|
||||
acadoWorkspace.objValueIn[16] = acadoVariables.od[352];
|
||||
acadoWorkspace.objValueIn[17] = acadoVariables.od[353];
|
||||
acadoWorkspace.objValueIn[18] = acadoVariables.od[354];
|
||||
acadoWorkspace.objValueIn[19] = acadoVariables.od[355];
|
||||
acadoWorkspace.objValueIn[20] = acadoVariables.od[356];
|
||||
acado_evaluateLSQEndTerm( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
|
||||
|
||||
acadoWorkspace.DyN[0] = acadoWorkspace.objValueOut[0];
|
||||
@@ -4966,24 +4943,23 @@ acadoWorkspace.state[1] = acadoVariables.x[index * 4 + 1];
|
||||
acadoWorkspace.state[2] = acadoVariables.x[index * 4 + 2];
|
||||
acadoWorkspace.state[3] = acadoVariables.x[index * 4 + 3];
|
||||
acadoWorkspace.state[24] = acadoVariables.u[index];
|
||||
acadoWorkspace.state[25] = acadoVariables.od[index * 18];
|
||||
acadoWorkspace.state[26] = acadoVariables.od[index * 18 + 1];
|
||||
acadoWorkspace.state[27] = acadoVariables.od[index * 18 + 2];
|
||||
acadoWorkspace.state[28] = acadoVariables.od[index * 18 + 3];
|
||||
acadoWorkspace.state[29] = acadoVariables.od[index * 18 + 4];
|
||||
acadoWorkspace.state[30] = acadoVariables.od[index * 18 + 5];
|
||||
acadoWorkspace.state[31] = acadoVariables.od[index * 18 + 6];
|
||||
acadoWorkspace.state[32] = acadoVariables.od[index * 18 + 7];
|
||||
acadoWorkspace.state[33] = acadoVariables.od[index * 18 + 8];
|
||||
acadoWorkspace.state[34] = acadoVariables.od[index * 18 + 9];
|
||||
acadoWorkspace.state[35] = acadoVariables.od[index * 18 + 10];
|
||||
acadoWorkspace.state[36] = acadoVariables.od[index * 18 + 11];
|
||||
acadoWorkspace.state[37] = acadoVariables.od[index * 18 + 12];
|
||||
acadoWorkspace.state[38] = acadoVariables.od[index * 18 + 13];
|
||||
acadoWorkspace.state[39] = acadoVariables.od[index * 18 + 14];
|
||||
acadoWorkspace.state[40] = acadoVariables.od[index * 18 + 15];
|
||||
acadoWorkspace.state[41] = acadoVariables.od[index * 18 + 16];
|
||||
acadoWorkspace.state[42] = acadoVariables.od[index * 18 + 17];
|
||||
acadoWorkspace.state[25] = acadoVariables.od[index * 17];
|
||||
acadoWorkspace.state[26] = acadoVariables.od[index * 17 + 1];
|
||||
acadoWorkspace.state[27] = acadoVariables.od[index * 17 + 2];
|
||||
acadoWorkspace.state[28] = acadoVariables.od[index * 17 + 3];
|
||||
acadoWorkspace.state[29] = acadoVariables.od[index * 17 + 4];
|
||||
acadoWorkspace.state[30] = acadoVariables.od[index * 17 + 5];
|
||||
acadoWorkspace.state[31] = acadoVariables.od[index * 17 + 6];
|
||||
acadoWorkspace.state[32] = acadoVariables.od[index * 17 + 7];
|
||||
acadoWorkspace.state[33] = acadoVariables.od[index * 17 + 8];
|
||||
acadoWorkspace.state[34] = acadoVariables.od[index * 17 + 9];
|
||||
acadoWorkspace.state[35] = acadoVariables.od[index * 17 + 10];
|
||||
acadoWorkspace.state[36] = acadoVariables.od[index * 17 + 11];
|
||||
acadoWorkspace.state[37] = acadoVariables.od[index * 17 + 12];
|
||||
acadoWorkspace.state[38] = acadoVariables.od[index * 17 + 13];
|
||||
acadoWorkspace.state[39] = acadoVariables.od[index * 17 + 14];
|
||||
acadoWorkspace.state[40] = acadoVariables.od[index * 17 + 15];
|
||||
acadoWorkspace.state[41] = acadoVariables.od[index * 17 + 16];
|
||||
|
||||
acado_integrate(acadoWorkspace.state, index == 0, index);
|
||||
|
||||
@@ -5026,24 +5002,23 @@ else
|
||||
{
|
||||
acadoWorkspace.state[24] = acadoVariables.u[19];
|
||||
}
|
||||
acadoWorkspace.state[25] = acadoVariables.od[360];
|
||||
acadoWorkspace.state[26] = acadoVariables.od[361];
|
||||
acadoWorkspace.state[27] = acadoVariables.od[362];
|
||||
acadoWorkspace.state[28] = acadoVariables.od[363];
|
||||
acadoWorkspace.state[29] = acadoVariables.od[364];
|
||||
acadoWorkspace.state[30] = acadoVariables.od[365];
|
||||
acadoWorkspace.state[31] = acadoVariables.od[366];
|
||||
acadoWorkspace.state[32] = acadoVariables.od[367];
|
||||
acadoWorkspace.state[33] = acadoVariables.od[368];
|
||||
acadoWorkspace.state[34] = acadoVariables.od[369];
|
||||
acadoWorkspace.state[35] = acadoVariables.od[370];
|
||||
acadoWorkspace.state[36] = acadoVariables.od[371];
|
||||
acadoWorkspace.state[37] = acadoVariables.od[372];
|
||||
acadoWorkspace.state[38] = acadoVariables.od[373];
|
||||
acadoWorkspace.state[39] = acadoVariables.od[374];
|
||||
acadoWorkspace.state[40] = acadoVariables.od[375];
|
||||
acadoWorkspace.state[41] = acadoVariables.od[376];
|
||||
acadoWorkspace.state[42] = acadoVariables.od[377];
|
||||
acadoWorkspace.state[25] = acadoVariables.od[340];
|
||||
acadoWorkspace.state[26] = acadoVariables.od[341];
|
||||
acadoWorkspace.state[27] = acadoVariables.od[342];
|
||||
acadoWorkspace.state[28] = acadoVariables.od[343];
|
||||
acadoWorkspace.state[29] = acadoVariables.od[344];
|
||||
acadoWorkspace.state[30] = acadoVariables.od[345];
|
||||
acadoWorkspace.state[31] = acadoVariables.od[346];
|
||||
acadoWorkspace.state[32] = acadoVariables.od[347];
|
||||
acadoWorkspace.state[33] = acadoVariables.od[348];
|
||||
acadoWorkspace.state[34] = acadoVariables.od[349];
|
||||
acadoWorkspace.state[35] = acadoVariables.od[350];
|
||||
acadoWorkspace.state[36] = acadoVariables.od[351];
|
||||
acadoWorkspace.state[37] = acadoVariables.od[352];
|
||||
acadoWorkspace.state[38] = acadoVariables.od[353];
|
||||
acadoWorkspace.state[39] = acadoVariables.od[354];
|
||||
acadoWorkspace.state[40] = acadoVariables.od[355];
|
||||
acadoWorkspace.state[41] = acadoVariables.od[356];
|
||||
|
||||
acado_integrate(acadoWorkspace.state, 1, 19);
|
||||
|
||||
@@ -5114,24 +5089,23 @@ acadoWorkspace.objValueIn[1] = acadoVariables.x[lRun1 * 4 + 1];
|
||||
acadoWorkspace.objValueIn[2] = acadoVariables.x[lRun1 * 4 + 2];
|
||||
acadoWorkspace.objValueIn[3] = acadoVariables.x[lRun1 * 4 + 3];
|
||||
acadoWorkspace.objValueIn[4] = acadoVariables.u[lRun1];
|
||||
acadoWorkspace.objValueIn[5] = acadoVariables.od[lRun1 * 18];
|
||||
acadoWorkspace.objValueIn[6] = acadoVariables.od[lRun1 * 18 + 1];
|
||||
acadoWorkspace.objValueIn[7] = acadoVariables.od[lRun1 * 18 + 2];
|
||||
acadoWorkspace.objValueIn[8] = acadoVariables.od[lRun1 * 18 + 3];
|
||||
acadoWorkspace.objValueIn[9] = acadoVariables.od[lRun1 * 18 + 4];
|
||||
acadoWorkspace.objValueIn[10] = acadoVariables.od[lRun1 * 18 + 5];
|
||||
acadoWorkspace.objValueIn[11] = acadoVariables.od[lRun1 * 18 + 6];
|
||||
acadoWorkspace.objValueIn[12] = acadoVariables.od[lRun1 * 18 + 7];
|
||||
acadoWorkspace.objValueIn[13] = acadoVariables.od[lRun1 * 18 + 8];
|
||||
acadoWorkspace.objValueIn[14] = acadoVariables.od[lRun1 * 18 + 9];
|
||||
acadoWorkspace.objValueIn[15] = acadoVariables.od[lRun1 * 18 + 10];
|
||||
acadoWorkspace.objValueIn[16] = acadoVariables.od[lRun1 * 18 + 11];
|
||||
acadoWorkspace.objValueIn[17] = acadoVariables.od[lRun1 * 18 + 12];
|
||||
acadoWorkspace.objValueIn[18] = acadoVariables.od[lRun1 * 18 + 13];
|
||||
acadoWorkspace.objValueIn[19] = acadoVariables.od[lRun1 * 18 + 14];
|
||||
acadoWorkspace.objValueIn[20] = acadoVariables.od[lRun1 * 18 + 15];
|
||||
acadoWorkspace.objValueIn[21] = acadoVariables.od[lRun1 * 18 + 16];
|
||||
acadoWorkspace.objValueIn[22] = acadoVariables.od[lRun1 * 18 + 17];
|
||||
acadoWorkspace.objValueIn[5] = acadoVariables.od[lRun1 * 17];
|
||||
acadoWorkspace.objValueIn[6] = acadoVariables.od[lRun1 * 17 + 1];
|
||||
acadoWorkspace.objValueIn[7] = acadoVariables.od[lRun1 * 17 + 2];
|
||||
acadoWorkspace.objValueIn[8] = acadoVariables.od[lRun1 * 17 + 3];
|
||||
acadoWorkspace.objValueIn[9] = acadoVariables.od[lRun1 * 17 + 4];
|
||||
acadoWorkspace.objValueIn[10] = acadoVariables.od[lRun1 * 17 + 5];
|
||||
acadoWorkspace.objValueIn[11] = acadoVariables.od[lRun1 * 17 + 6];
|
||||
acadoWorkspace.objValueIn[12] = acadoVariables.od[lRun1 * 17 + 7];
|
||||
acadoWorkspace.objValueIn[13] = acadoVariables.od[lRun1 * 17 + 8];
|
||||
acadoWorkspace.objValueIn[14] = acadoVariables.od[lRun1 * 17 + 9];
|
||||
acadoWorkspace.objValueIn[15] = acadoVariables.od[lRun1 * 17 + 10];
|
||||
acadoWorkspace.objValueIn[16] = acadoVariables.od[lRun1 * 17 + 11];
|
||||
acadoWorkspace.objValueIn[17] = acadoVariables.od[lRun1 * 17 + 12];
|
||||
acadoWorkspace.objValueIn[18] = acadoVariables.od[lRun1 * 17 + 13];
|
||||
acadoWorkspace.objValueIn[19] = acadoVariables.od[lRun1 * 17 + 14];
|
||||
acadoWorkspace.objValueIn[20] = acadoVariables.od[lRun1 * 17 + 15];
|
||||
acadoWorkspace.objValueIn[21] = acadoVariables.od[lRun1 * 17 + 16];
|
||||
|
||||
acado_evaluateLSQ( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
|
||||
acadoWorkspace.Dy[lRun1 * 5] = acadoWorkspace.objValueOut[0] - acadoVariables.y[lRun1 * 5];
|
||||
@@ -5144,24 +5118,23 @@ acadoWorkspace.objValueIn[0] = acadoVariables.x[80];
|
||||
acadoWorkspace.objValueIn[1] = acadoVariables.x[81];
|
||||
acadoWorkspace.objValueIn[2] = acadoVariables.x[82];
|
||||
acadoWorkspace.objValueIn[3] = acadoVariables.x[83];
|
||||
acadoWorkspace.objValueIn[4] = acadoVariables.od[360];
|
||||
acadoWorkspace.objValueIn[5] = acadoVariables.od[361];
|
||||
acadoWorkspace.objValueIn[6] = acadoVariables.od[362];
|
||||
acadoWorkspace.objValueIn[7] = acadoVariables.od[363];
|
||||
acadoWorkspace.objValueIn[8] = acadoVariables.od[364];
|
||||
acadoWorkspace.objValueIn[9] = acadoVariables.od[365];
|
||||
acadoWorkspace.objValueIn[10] = acadoVariables.od[366];
|
||||
acadoWorkspace.objValueIn[11] = acadoVariables.od[367];
|
||||
acadoWorkspace.objValueIn[12] = acadoVariables.od[368];
|
||||
acadoWorkspace.objValueIn[13] = acadoVariables.od[369];
|
||||
acadoWorkspace.objValueIn[14] = acadoVariables.od[370];
|
||||
acadoWorkspace.objValueIn[15] = acadoVariables.od[371];
|
||||
acadoWorkspace.objValueIn[16] = acadoVariables.od[372];
|
||||
acadoWorkspace.objValueIn[17] = acadoVariables.od[373];
|
||||
acadoWorkspace.objValueIn[18] = acadoVariables.od[374];
|
||||
acadoWorkspace.objValueIn[19] = acadoVariables.od[375];
|
||||
acadoWorkspace.objValueIn[20] = acadoVariables.od[376];
|
||||
acadoWorkspace.objValueIn[21] = acadoVariables.od[377];
|
||||
acadoWorkspace.objValueIn[4] = acadoVariables.od[340];
|
||||
acadoWorkspace.objValueIn[5] = acadoVariables.od[341];
|
||||
acadoWorkspace.objValueIn[6] = acadoVariables.od[342];
|
||||
acadoWorkspace.objValueIn[7] = acadoVariables.od[343];
|
||||
acadoWorkspace.objValueIn[8] = acadoVariables.od[344];
|
||||
acadoWorkspace.objValueIn[9] = acadoVariables.od[345];
|
||||
acadoWorkspace.objValueIn[10] = acadoVariables.od[346];
|
||||
acadoWorkspace.objValueIn[11] = acadoVariables.od[347];
|
||||
acadoWorkspace.objValueIn[12] = acadoVariables.od[348];
|
||||
acadoWorkspace.objValueIn[13] = acadoVariables.od[349];
|
||||
acadoWorkspace.objValueIn[14] = acadoVariables.od[350];
|
||||
acadoWorkspace.objValueIn[15] = acadoVariables.od[351];
|
||||
acadoWorkspace.objValueIn[16] = acadoVariables.od[352];
|
||||
acadoWorkspace.objValueIn[17] = acadoVariables.od[353];
|
||||
acadoWorkspace.objValueIn[18] = acadoVariables.od[354];
|
||||
acadoWorkspace.objValueIn[19] = acadoVariables.od[355];
|
||||
acadoWorkspace.objValueIn[20] = acadoVariables.od[356];
|
||||
acado_evaluateLSQEndTerm( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
|
||||
acadoWorkspace.DyN[0] = acadoWorkspace.objValueOut[0] - acadoVariables.yN[0];
|
||||
acadoWorkspace.DyN[1] = acadoWorkspace.objValueOut[1] - acadoVariables.yN[1];
|
||||
|
||||
@@ -24,8 +24,8 @@ typedef struct {
|
||||
|
||||
void init(double pathCost, double laneCost, double headingCost, double steerRateCost);
|
||||
int run_mpc(state_t * x0, log_t * solution,
|
||||
double l_poly[4], double r_poly[4], double p_poly[4],
|
||||
double l_prob, double r_prob, double p_prob, double curvature_factor, double v_ref, double lane_width);
|
||||
double l_poly[4], double r_poly[4], double d_poly[4],
|
||||
double l_prob, double r_prob, double curvature_factor, double v_ref, double lane_width);
|
||||
""")
|
||||
|
||||
libmpc = ffi.dlopen(libmpc_fn)
|
||||
|
||||
@@ -1,66 +0,0 @@
|
||||
from common.numpy_fast import interp
|
||||
import numpy as np
|
||||
from selfdrive.controls.lib.latcontrol_helpers import model_polyfit, calc_desired_path, compute_path_pinv
|
||||
|
||||
CAMERA_OFFSET = 0.06 # m from center car to camera
|
||||
|
||||
|
||||
class ModelParser(object):
|
||||
def __init__(self):
|
||||
self.d_poly = [0., 0., 0., 0.]
|
||||
self.c_poly = [0., 0., 0., 0.]
|
||||
self.c_prob = 0.
|
||||
self.last_model = 0.
|
||||
self.lead_dist, self.lead_prob, self.lead_var = 0, 0, 1
|
||||
self._path_pinv = compute_path_pinv()
|
||||
|
||||
self.lane_width_estimate = 3.5
|
||||
self.lane_width_certainty = 1.0
|
||||
self.lane_width = 3.5
|
||||
self.l_prob = 0.
|
||||
self.r_prob = 0.
|
||||
self.x_points = np.arange(50)
|
||||
|
||||
def update(self, v_ego, md):
|
||||
if len(md.leftLane.poly):
|
||||
l_poly = np.array(md.leftLane.poly)
|
||||
r_poly = np.array(md.rightLane.poly)
|
||||
p_poly = np.array(md.path.poly)
|
||||
else:
|
||||
l_poly = model_polyfit(md.leftLane.points, self._path_pinv) # left line
|
||||
r_poly = model_polyfit(md.rightLane.points, self._path_pinv) # right line
|
||||
p_poly = model_polyfit(md.path.points, self._path_pinv) # predicted path
|
||||
|
||||
# only offset left and right lane lines; offsetting p_poly does not make sense
|
||||
l_poly[3] += CAMERA_OFFSET
|
||||
r_poly[3] += CAMERA_OFFSET
|
||||
|
||||
p_prob = 1. # model does not tell this probability yet, so set to 1 for now
|
||||
l_prob = md.leftLane.prob # left line prob
|
||||
r_prob = md.rightLane.prob # right line prob
|
||||
|
||||
# Find current lanewidth
|
||||
lr_prob = l_prob * r_prob
|
||||
self.lane_width_certainty += 0.05 * (lr_prob - self.lane_width_certainty)
|
||||
current_lane_width = abs(l_poly[3] - r_poly[3])
|
||||
self.lane_width_estimate += 0.005 * (current_lane_width - self.lane_width_estimate)
|
||||
speed_lane_width = interp(v_ego, [0., 31.], [2.8, 3.5])
|
||||
self.lane_width = self.lane_width_certainty * self.lane_width_estimate + \
|
||||
(1 - self.lane_width_certainty) * speed_lane_width
|
||||
|
||||
self.lead_dist = md.lead.dist
|
||||
self.lead_prob = md.lead.prob
|
||||
self.lead_var = md.lead.std**2
|
||||
|
||||
# compute target path
|
||||
self.d_poly, self.c_poly, self.c_prob = calc_desired_path(
|
||||
l_poly, r_poly, p_poly, l_prob, r_prob, p_prob, v_ego, self.lane_width)
|
||||
|
||||
self.r_poly = r_poly
|
||||
self.r_prob = r_prob
|
||||
|
||||
self.l_poly = l_poly
|
||||
self.l_prob = l_prob
|
||||
|
||||
self.p_poly = p_poly
|
||||
self.p_prob = p_prob
|
||||
|
||||
@@ -2,12 +2,13 @@ import os
|
||||
import math
|
||||
import numpy as np
|
||||
|
||||
# from common.numpy_fast import clip
|
||||
from common.realtime import sec_since_boot
|
||||
from selfdrive.services import service_list
|
||||
from selfdrive.swaglog import cloudlog
|
||||
from selfdrive.controls.lib.lateral_mpc import libmpc_py
|
||||
from selfdrive.controls.lib.drive_helpers import MPC_COST_LAT
|
||||
from selfdrive.controls.lib.model_parser import ModelParser
|
||||
from selfdrive.controls.lib.lane_planner import LanePlanner
|
||||
import selfdrive.messaging as messaging
|
||||
|
||||
LOG_MPC = os.environ.get('LOG_MPC', False)
|
||||
@@ -21,10 +22,7 @@ def calc_states_after_delay(states, v_ego, steer_angle, curvature_factor, steer_
|
||||
|
||||
class PathPlanner(object):
|
||||
def __init__(self, CP):
|
||||
self.MP = ModelParser()
|
||||
|
||||
self.l_poly = [0., 0., 0., 0.]
|
||||
self.r_poly = [0., 0., 0., 0.]
|
||||
self.LP = LanePlanner()
|
||||
|
||||
self.last_cloudlog_t = 0
|
||||
|
||||
@@ -33,6 +31,7 @@ class PathPlanner(object):
|
||||
|
||||
self.setup_mpc(CP.steerRateCost)
|
||||
self.solution_invalid_cnt = 0
|
||||
self.path_offset_i = 0.0
|
||||
|
||||
def setup_mpc(self, steer_rate_cost):
|
||||
self.libmpc = libmpc_py.libmpc
|
||||
@@ -50,10 +49,6 @@ class PathPlanner(object):
|
||||
self.angle_steers_des_prev = 0.0
|
||||
self.angle_steers_des_time = 0.0
|
||||
|
||||
self.l_poly = libmpc_py.ffi.new("double[4]")
|
||||
self.r_poly = libmpc_py.ffi.new("double[4]")
|
||||
self.p_poly = libmpc_py.ffi.new("double[4]")
|
||||
|
||||
def update(self, sm, CP, VM):
|
||||
v_ego = sm['carState'].vEgo
|
||||
angle_steers = sm['carState'].steeringAngle
|
||||
@@ -62,23 +57,28 @@ class PathPlanner(object):
|
||||
angle_offset_average = sm['liveParameters'].angleOffsetAverage
|
||||
angle_offset_bias = sm['controlsState'].angleModelBias + angle_offset_average
|
||||
|
||||
self.MP.update(v_ego, sm['model'])
|
||||
self.LP.update(v_ego, sm['model'])
|
||||
|
||||
# Run MPC
|
||||
self.angle_steers_des_prev = self.angle_steers_des_mpc
|
||||
VM.update_params(sm['liveParameters'].stiffnessFactor, sm['liveParameters'].steerRatio)
|
||||
curvature_factor = VM.curvature_factor(v_ego)
|
||||
self.l_poly = list(self.MP.l_poly)
|
||||
self.r_poly = list(self.MP.r_poly)
|
||||
self.p_poly = list(self.MP.p_poly)
|
||||
|
||||
# TODO: Check for active, override, and saturation
|
||||
# if active:
|
||||
# self.path_offset_i += self.LP.d_poly[3] / (60.0 * 20.0)
|
||||
# self.path_offset_i = clip(self.path_offset_i, -0.5, 0.5)
|
||||
# self.LP.d_poly[3] += self.path_offset_i
|
||||
# else:
|
||||
# self.path_offset_i = 0.0
|
||||
|
||||
# account for actuation delay
|
||||
self.cur_state = calc_states_after_delay(self.cur_state, v_ego, angle_steers - angle_offset_average, curvature_factor, VM.sR, CP.steerActuatorDelay)
|
||||
|
||||
v_ego_mpc = max(v_ego, 5.0) # avoid mpc roughness due to low speed
|
||||
self.libmpc.run_mpc(self.cur_state, self.mpc_solution,
|
||||
self.l_poly, self.r_poly, self.p_poly,
|
||||
self.MP.l_prob, self.MP.r_prob, self.MP.p_prob, curvature_factor, v_ego_mpc, self.MP.lane_width)
|
||||
list(self.LP.l_poly), list(self.LP.r_poly), list(self.LP.d_poly),
|
||||
self.LP.l_prob, self.LP.r_prob, curvature_factor, v_ego_mpc, self.LP.lane_width)
|
||||
|
||||
# reset to current steer angle if not active or overriding
|
||||
if active:
|
||||
@@ -112,17 +112,16 @@ class PathPlanner(object):
|
||||
plan_send = messaging.new_message()
|
||||
plan_send.init('pathPlan')
|
||||
plan_send.valid = sm.all_alive_and_valid(service_list=['carState', 'controlsState', 'liveParameters', 'model'])
|
||||
plan_send.pathPlan.laneWidth = float(self.MP.lane_width)
|
||||
plan_send.pathPlan.dPoly = [float(x) for x in self.MP.d_poly]
|
||||
plan_send.pathPlan.cPoly = [float(x) for x in self.MP.c_poly]
|
||||
plan_send.pathPlan.cProb = float(self.MP.c_prob)
|
||||
plan_send.pathPlan.lPoly = [float(x) for x in self.l_poly]
|
||||
plan_send.pathPlan.lProb = float(self.MP.l_prob)
|
||||
plan_send.pathPlan.rPoly = [float(x) for x in self.r_poly]
|
||||
plan_send.pathPlan.rProb = float(self.MP.r_prob)
|
||||
plan_send.pathPlan.laneWidth = float(self.LP.lane_width)
|
||||
plan_send.pathPlan.dPoly = [float(x) for x in self.LP.d_poly]
|
||||
plan_send.pathPlan.lPoly = [float(x) for x in self.LP.l_poly]
|
||||
plan_send.pathPlan.lProb = float(self.LP.l_prob)
|
||||
plan_send.pathPlan.rPoly = [float(x) for x in self.LP.r_poly]
|
||||
plan_send.pathPlan.rProb = float(self.LP.r_prob)
|
||||
|
||||
plan_send.pathPlan.angleSteers = float(self.angle_steers_des_mpc)
|
||||
plan_send.pathPlan.rateSteers = float(rate_desired)
|
||||
plan_send.pathPlan.angleOffset = float(angle_offset_average)
|
||||
plan_send.pathPlan.angleOffset = float(self.path_offset_i)
|
||||
plan_send.pathPlan.mpcSolutionValid = bool(plan_solution_valid)
|
||||
plan_send.pathPlan.paramsValid = bool(sm['liveParameters'].valid)
|
||||
plan_send.pathPlan.sensorValid = bool(sm['liveParameters'].sensorValid)
|
||||
|
||||
@@ -3,7 +3,6 @@ import math
|
||||
import numpy as np
|
||||
from common.params import Params
|
||||
from common.numpy_fast import interp
|
||||
from common.kalman.simple_kalman import KF1D
|
||||
|
||||
import selfdrive.messaging as messaging
|
||||
from cereal import car
|
||||
@@ -95,9 +94,7 @@ class Planner(object):
|
||||
self.longitudinalPlanSource = 'cruise'
|
||||
self.fcw_checker = FCWChecker()
|
||||
self.fcw_enabled = fcw_enabled
|
||||
|
||||
self.model_v_kf = KF1D([[0.0],[0.0]], _MODEL_V_A, _MODEL_V_C, _MODEL_V_K)
|
||||
self.model_v_kf_ready = False
|
||||
self.path_x = np.arange(192)
|
||||
|
||||
self.params = Params()
|
||||
|
||||
@@ -112,7 +109,6 @@ class Planner(object):
|
||||
slowest = min(solutions, key=solutions.get)
|
||||
|
||||
self.longitudinalPlanSource = slowest
|
||||
|
||||
# Choose lowest of MPC and cruise
|
||||
if slowest == 'mpc1':
|
||||
self.v_acc = self.mpc1.v_mpc
|
||||
@@ -145,15 +141,21 @@ class Planner(object):
|
||||
enabled = (long_control_state == LongCtrlState.pid) or (long_control_state == LongCtrlState.stopping)
|
||||
following = lead_1.status and lead_1.dRel < 45.0 and lead_1.vLeadK > v_ego and lead_1.aLeadK > 0.0
|
||||
|
||||
if not self.model_v_kf_ready:
|
||||
self.model_v_kf.x = [[v_ego],[0.0]]
|
||||
self.model_v_kf_ready = True
|
||||
if len(sm['model'].path.poly):
|
||||
path = list(sm['model'].path.poly)
|
||||
|
||||
if len(sm['model'].speed):
|
||||
self.model_v_kf.update(sm['model'].speed[SPEED_PERCENTILE_IDX])
|
||||
# Curvature of polynomial https://en.wikipedia.org/wiki/Curvature#Curvature_of_the_graph_of_a_function
|
||||
# y = a x^3 + b x^2 + c x + d, y' = 3 a x^2 + 2 b x + c, y'' = 6 a x + 2 b
|
||||
# k = y'' / (1 + y'^2)^1.5
|
||||
y_p = 3 * path[0] * self.path_x**2 + 2 * path[1] * self.path_x + path[2]
|
||||
y_pp = 6 * path[0] * self.path_x + 2 * path[1]
|
||||
curv = y_pp / (1. + y_p**2)**1.5
|
||||
|
||||
if self.params.get("LimitSetSpeedNeural") == "1":
|
||||
model_speed = self.model_v_kf.x[0][0]
|
||||
a_y_max = 2.975 - v_ego * 0.0375 # ~1.85 @ 75mph, ~2.6 @ 25mph
|
||||
v_curvature = np.sqrt(a_y_max / np.clip(np.abs(curv), 1e-4, None))
|
||||
model_speed = np.min(v_curvature)
|
||||
# print(model_speed * CV.MS_TO_MPH, model_speed)
|
||||
model_speed = max(20.0 * CV.MPH_TO_MS, model_speed) # Don't slow down below 20mph
|
||||
else:
|
||||
model_speed = MAX_SPEED
|
||||
|
||||
@@ -174,11 +176,9 @@ class Planner(object):
|
||||
jerk_limits[1], jerk_limits[0],
|
||||
LON_MPC_STEP)
|
||||
|
||||
# accel and jerk up limits are higher here to make model not limiting accel
|
||||
# mainly done to prevent flickering of slowdown icon
|
||||
self.v_model, self.a_model = speed_smoother(self.v_acc_start, self.a_acc_start,
|
||||
model_speed,
|
||||
2*accel_limits[1], 3*accel_limits[0],
|
||||
2*accel_limits[1], accel_limits[0],
|
||||
2*jerk_limits[1], jerk_limits[0],
|
||||
LON_MPC_STEP)
|
||||
|
||||
@@ -234,13 +234,13 @@ class Planner(object):
|
||||
plan_send.plan.radarStateMonoTime = sm.logMonoTime['radarState']
|
||||
|
||||
# longitudal plan
|
||||
plan_send.plan.vCruise = self.v_cruise
|
||||
plan_send.plan.aCruise = self.a_cruise
|
||||
plan_send.plan.vStart = self.v_acc_start
|
||||
plan_send.plan.aStart = self.a_acc_start
|
||||
plan_send.plan.vTarget = self.v_acc
|
||||
plan_send.plan.aTarget = self.a_acc
|
||||
plan_send.plan.vTargetFuture = self.v_acc_future
|
||||
plan_send.plan.vCruise = float(self.v_cruise)
|
||||
plan_send.plan.aCruise = float(self.a_cruise)
|
||||
plan_send.plan.vStart = float(self.v_acc_start)
|
||||
plan_send.plan.aStart = float(self.a_acc_start)
|
||||
plan_send.plan.vTarget = float(self.v_acc)
|
||||
plan_send.plan.aTarget = float(self.a_acc)
|
||||
plan_send.plan.vTargetFuture = float(self.v_acc_future)
|
||||
plan_send.plan.hasLead = self.mpc1.prev_lead_status
|
||||
plan_send.plan.longitudinalPlanSource = self.longitudinalPlanSource
|
||||
|
||||
|
||||
@@ -25,14 +25,9 @@ _VLEAD_K = [[0.1988689], [0.28555364]]
|
||||
class Track(object):
|
||||
def __init__(self):
|
||||
self.ekf = None
|
||||
self.initted = False
|
||||
self.cnt = 0
|
||||
|
||||
def update(self, d_rel, y_rel, v_rel, v_ego_t_aligned, measured):
|
||||
if self.initted:
|
||||
# pylint: disable=access-member-before-definition
|
||||
self.vLeadPrev = self.vLead
|
||||
self.vRelPrev = self.vRel
|
||||
|
||||
# relative values, copy
|
||||
self.dRel = d_rel # LONG_DIST
|
||||
self.yRel = y_rel # -LAT_DIST
|
||||
@@ -42,17 +37,12 @@ class Track(object):
|
||||
# computed velocity and accelerations
|
||||
self.vLead = self.vRel + v_ego_t_aligned
|
||||
|
||||
if not self.initted:
|
||||
self.initted = True
|
||||
self.aLeadTau = _LEAD_ACCEL_TAU
|
||||
self.cnt = 1
|
||||
self.vision_cnt = 0
|
||||
self.vision = False
|
||||
if self.cnt == 0:
|
||||
self.kf = KF1D([[self.vLead], [0.0]], _VLEAD_A, _VLEAD_C, _VLEAD_K)
|
||||
else:
|
||||
self.kf.update(self.vLead)
|
||||
|
||||
self.cnt += 1
|
||||
self.cnt += 1
|
||||
|
||||
self.vLeadK = float(self.kf.x[SPEED][0])
|
||||
self.aLeadK = float(self.kf.x[ACCEL][0])
|
||||
@@ -67,6 +57,10 @@ class Track(object):
|
||||
# Weigh y higher since radar is inaccurate in this dimension
|
||||
return [self.dRel, self.yRel*2, self.vRel]
|
||||
|
||||
def reset_a_lead(self, aLeadK, aLeadTau):
|
||||
self.kf = KF1D([[self.vLead], [aLeadK]], _VLEAD_A, _VLEAD_C, _VLEAD_K)
|
||||
self.aLeadK = aLeadK
|
||||
self.aLeadTau = aLeadTau
|
||||
|
||||
def mean(l):
|
||||
return sum(l) / len(l)
|
||||
@@ -115,11 +109,17 @@ class Cluster(object):
|
||||
|
||||
@property
|
||||
def aLeadK(self):
|
||||
return mean([t.aLeadK for t in self.tracks])
|
||||
if all(t.cnt <= 1 for t in self.tracks):
|
||||
return 0.
|
||||
else:
|
||||
return mean([t.aLeadK for t in self.tracks if t.cnt > 1])
|
||||
|
||||
@property
|
||||
def aLeadTau(self):
|
||||
return mean([t.aLeadTau for t in self.tracks])
|
||||
if all(t.cnt <= 1 for t in self.tracks):
|
||||
return _LEAD_ACCEL_TAU
|
||||
else:
|
||||
return mean([t.aLeadTau for t in self.tracks if t.cnt > 1])
|
||||
|
||||
@property
|
||||
def measured(self):
|
||||
|
||||
@@ -143,15 +143,24 @@ class RadarD(object):
|
||||
clusters[cluster_i] = Cluster()
|
||||
clusters[cluster_i].add(self.tracks[idens[idx]])
|
||||
elif len(track_pts) == 1:
|
||||
# FIXME: cluster_point_centroid hangs forever if len(track_pts) == 1
|
||||
cluster_idxs = [0]
|
||||
clusters = [Cluster()]
|
||||
clusters[0].add(self.tracks[idens[0]])
|
||||
else:
|
||||
clusters = []
|
||||
|
||||
# if a new point, reset accel to the rest of the cluster
|
||||
for idx in xrange(len(track_pts)):
|
||||
if self.tracks[idens[idx]].cnt <= 1:
|
||||
aLeadK = clusters[cluster_idxs[idx]].aLeadK
|
||||
aLeadTau = clusters[cluster_idxs[idx]].aLeadTau
|
||||
self.tracks[idens[idx]].reset_a_lead(aLeadK, aLeadTau)
|
||||
|
||||
# *** publish radarState ***
|
||||
dat = messaging.new_message()
|
||||
dat.init('radarState')
|
||||
dat.valid = sm.all_alive_and_valid(service_list=['controlsState'])
|
||||
dat.valid = sm.all_alive_and_valid(service_list=['controlsState', 'model'])
|
||||
dat.radarState.mdMonoTime = self.last_md_ts
|
||||
dat.radarState.canMonoTimes = list(rr.canMonoTimes)
|
||||
dat.radarState.radarErrors = list(rr.errors)
|
||||
|
||||
@@ -1,9 +1,9 @@
|
||||
import unittest
|
||||
import copy
|
||||
import numpy as np
|
||||
from selfdrive.car.honda.interface import CarInterface
|
||||
from selfdrive.controls.lib.lateral_mpc import libmpc_py
|
||||
from selfdrive.controls.lib.vehicle_model import VehicleModel
|
||||
from selfdrive.controls.lib.lane_planner import calc_d_poly
|
||||
|
||||
|
||||
def run_mpc(v_ref=30., x_init=0., y_init=0., psi_init=0., delta_init=0.,
|
||||
@@ -16,13 +16,17 @@ def run_mpc(v_ref=30., x_init=0., y_init=0., psi_init=0., delta_init=0.,
|
||||
|
||||
mpc_solution = libmpc_py.ffi.new("log_t *")
|
||||
|
||||
p_l = copy.copy(poly_l)
|
||||
p_l = poly_l.copy()
|
||||
p_l[3] += poly_shift
|
||||
p_r = copy.copy(poly_r)
|
||||
|
||||
p_r = poly_r.copy()
|
||||
p_r[3] += poly_shift
|
||||
p_p = copy.copy(poly_p)
|
||||
|
||||
p_p = poly_p.copy()
|
||||
p_p[3] += poly_shift
|
||||
|
||||
d_poly = calc_d_poly(p_l, p_r, p_p, l_prob, r_prob, lane_width)
|
||||
|
||||
CP = CarInterface.get_params("HONDA CIVIC 2016 TOURING", {})
|
||||
VM = VehicleModel(CP)
|
||||
|
||||
@@ -31,7 +35,7 @@ def run_mpc(v_ref=30., x_init=0., y_init=0., psi_init=0., delta_init=0.,
|
||||
|
||||
l_poly = libmpc_py.ffi.new("double[4]", map(float, p_l))
|
||||
r_poly = libmpc_py.ffi.new("double[4]", map(float, p_r))
|
||||
p_poly = libmpc_py.ffi.new("double[4]", map(float, p_p))
|
||||
d_poly = libmpc_py.ffi.new("double[4]", map(float, d_poly))
|
||||
|
||||
cur_state = libmpc_py.ffi.new("state_t *")
|
||||
cur_state[0].x = x_init
|
||||
@@ -41,7 +45,7 @@ def run_mpc(v_ref=30., x_init=0., y_init=0., psi_init=0., delta_init=0.,
|
||||
|
||||
# converge in no more than 20 iterations
|
||||
for _ in range(20):
|
||||
libmpc.run_mpc(cur_state, mpc_solution, l_poly, r_poly, p_poly, l_prob, r_prob, p_prob,
|
||||
libmpc.run_mpc(cur_state, mpc_solution, l_poly, r_poly, d_poly, l_prob, r_prob,
|
||||
curvature_factor, v_ref, lane_width)
|
||||
|
||||
return mpc_solution
|
||||
@@ -119,3 +123,7 @@ class TestLateralMpc(unittest.TestCase):
|
||||
sol = run_mpc(y_init=y_init)
|
||||
for y in list(sol[0].y):
|
||||
self.assertGreaterEqual(y_init, abs(y))
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user