diff --git a/README.md b/README.md index 772e41a9b..e76b2fcc0 100644 --- a/README.md +++ b/README.md @@ -92,9 +92,11 @@ Supported Cars | Kia | Sorento 2018 | All | Yes | Stock | 0mph | 0mph | Custom6| | Kia | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom6| | Lexus | RX Hybrid 2016-19 | All | Yes | Yes2| 0mph | 0mph | Toyota | +| Subaru | Crosstrek 2018 | EyeSight | Yes | Stock | 0mph | 0mph | Custom4| +| Subaru | Impreza 2019 | EyeSight | Yes | Stock | 0mph | 0mph | Custom4| | Toyota | Avalon 2016 | TSS-P | Yes | Yes2| 20mph1| 0mph | Toyota | -| Toyota | Camry 20184 | All | Yes | Stock | 0mph5 | 0mph | Toyota | -| Toyota | C-HR 2017-184 | All | Yes | Stock | 0mph | 0mph | Toyota | +| Toyota | Camry 2018 | All | Yes | Stock | 0mph5 | 0mph | Toyota | +| Toyota | C-HR 2017-18 | All | Yes | Stock | 0mph | 0mph | Toyota | | Toyota | Corolla 2017-18 | All | Yes | Yes2| 20mph1| 0mph | Toyota | | Toyota | Corolla Hatchback 2019 | All | Yes | Yes | 0mph | 0mph | Toyota | | Toyota | Highlander 2017-18 | All | Yes | Yes2| 0mph | 0mph | Toyota | @@ -107,13 +109,13 @@ Supported Cars | Toyota | Rav4 2019 | All | Yes | Yes | 0mph | 0mph | Toyota | | Toyota | Rav4 Hybrid 2017-18 | All | Yes | Yes2| 0mph | 0mph | Toyota | -1[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)*** -2When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota) -3[GM installation guide](https://zoneos.com/volt/). -4It needs an extra 120Ohm resistor ([pic1](https://i.imgur.com/CmdKtTP.jpg), [pic2](https://i.imgur.com/s2etUo6.jpg)) on bus 3 and giraffe switches set to 01X1 (11X1 for stock LKAS), where X depends on if you have the [comma power](https://comma.ai/shop/products/power/). -528mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. -6Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed for the 2019 Sante Fe; pinout may differ for other Hyundais. -7Community built Giraffe, find more information [here](https://zoneos.com/shop/). +1[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai).***
+2When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota).
+3[GM installation guide](https://zoneos.com/volt/).
+4Subaru Giraffe is DIY.
+528mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
+6Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed for the 2019 Sante Fe; pinout may differ for other Hyundais.
+7Community built Giraffe, find more information [here](https://zoneos.com/shop/).
Community Maintained Cars ------ diff --git a/panda/VERSION b/panda/VERSION index 23c38c241..bb8edae97 100644 --- a/panda/VERSION +++ b/panda/VERSION @@ -1 +1 @@ -v1.3.1 \ No newline at end of file +v1.3.2 \ No newline at end of file diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h index 2c9e062f7..d0fd90785 100644 --- a/panda/board/safety/safety_toyota.h +++ b/panda/board/safety/safety_toyota.h @@ -53,16 +53,12 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) { if ((to_push->RIR>>21) == 0x1D2) { // 5th bit is CRUISE_ACTIVE int cruise_engaged = to_push->RDLR & 0x20; - // 4th bit is GAS_RELEASED - int gas = !(to_push->RDLR & 0x10); - if (!cruise_engaged || - (gas && !toyota_gas_prev && !gas_interceptor_detected && long_controls_allowed)) { + if (!cruise_engaged) { controls_allowed = 0; } else if (cruise_engaged && !toyota_cruise_engaged_last) { controls_allowed = 1; } toyota_cruise_engaged_last = cruise_engaged; - toyota_gas_prev = gas; } // exit controls on rising edge of gas press if interceptor (0x201) @@ -77,6 +73,15 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) { gas_interceptor_prev = gas_interceptor; } + // exit controls on rising edge of gas press + if ((to_push->RIR>>21) == 0x2C1) { + int gas = (to_push->RDHR >> 16) & 0xFF; + if ((gas > 0) && (toyota_gas_prev == 0) && !gas_interceptor_detected && long_controls_allowed) { + controls_allowed = 0; + } + toyota_gas_prev = gas; + } + int bus = (to_push->RDTR >> 4) & 0xF; // msgs are only on bus 2 if panda is connected to frc if (bus == 2) { diff --git a/selfdrive/boardd/Makefile b/selfdrive/boardd/Makefile index 7bd22add3..18d057109 100644 --- a/selfdrive/boardd/Makefile +++ b/selfdrive/boardd/Makefile @@ -80,7 +80,7 @@ boardd_api_impl.so: libcan_list_to_can_capnp.a boardd_api_impl.pyx boardd_setup. rm -f boardd_api_impl.cpp libcan_list_to_can_capnp.a: can_list_to_can_capnp.o $(CEREAL_OBJS) - ar rcs '$@' $^ + ar rcsD '$@' $^ %.o: %.c @echo "[ CC ] $@" diff --git a/selfdrive/boardd/can_list_to_can_capnp.cc b/selfdrive/boardd/can_list_to_can_capnp.cc index 626c1e2a9..385047410 100644 --- a/selfdrive/boardd/can_list_to_can_capnp.cc +++ b/selfdrive/boardd/can_list_to_can_capnp.cc @@ -21,12 +21,12 @@ void can_list_to_can_capnp_cpp(const std::vector &can_list, std::stri event.setLogMonoTime(nanos_since_boot()); auto canData = sendCan ? event.initSendcan(can_list.size()) : event.initCan(can_list.size()); - int i = 0; - for (auto it = can_list.begin(); it != can_list.end(); it++, i++) { - canData[i].setAddress(it->address); - canData[i].setBusTime(it->busTime); - canData[i].setDat(kj::arrayPtr((uint8_t*)it->dat.data(), it->dat.size())); - canData[i].setSrc(it->src); + int j = 0; + for (auto it = can_list.begin(); it != can_list.end(); it++, j++) { + canData[j].setAddress(it->address); + canData[j].setBusTime(it->busTime); + canData[j].setDat(kj::arrayPtr((uint8_t*)it->dat.data(), it->dat.size())); + canData[j].setSrc(it->src); } auto words = capnp::messageToFlatArray(msg); auto bytes = words.asBytes(); diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index b9b302d50..c261d86c2 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -309,9 +309,9 @@ class CarInterface(object): elif candidate in (CAR.PILOT, CAR.PILOT_2019): stop_and_go = False - ret.mass = 4303 * CV.LB_TO_KG + std_cargo - ret.wheelbase = 2.81 - ret.centerToFront = ret.wheelbase * 0.41 + ret.mass = 4204 * CV.LB_TO_KG + std_cargo # average weight + ret.wheelbase = 2.82 + ret.centerToFront = ret.wheelbase * 0.428 # average weight distribution ret.steerRatio = 16.0 # as spec tire_stiffness_factor = 0.444 # not optimized yet ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] diff --git a/selfdrive/loggerd/uploader.py b/selfdrive/loggerd/uploader.py index 451b0b412..d65a2d561 100644 --- a/selfdrive/loggerd/uploader.py +++ b/selfdrive/loggerd/uploader.py @@ -86,7 +86,9 @@ def is_on_hotspot(): is_android = result.startswith('192.168.43.') is_ios = result.startswith('172.20.10.') - return (is_android or is_ios) + is_entune = result.startswith('10.0.2.') + + return (is_android or is_ios or is_entune) except: return False