mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-07-23 22:02:04 +08:00
dragonpilot 2022-10-07T10:01:36 for EON/C2
version: dragonpilot v0.8.17 beta for EON/C2 date: 2022-10-07T10:01:36 dp-dev(priv2) master commit: 3aecc0939a714f5f572b3cbe85669ed389161870
This commit is contained in:
Dragonpilot Team
committed by
Comma Device
Comma Device
parent
fe6459224b
commit
4c3c884245
+51
-3
@@ -1,13 +1,27 @@
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dragonpilot [latest] - EON/C2 Release
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========================
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* Synced with openpilot master 2022.09.01 commits.
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* Synced with openpilot master 2022.10.04 commits.
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* Live Torque Tune (Only available to certain vehicle models with op long.)
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* NEW: TOYOTA - Added a TSS2 RAV4 Special PID Tune toggle.
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* NEW: TOYOTA - Added a PRIUS 2017 Special Torque Tune toggle.
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* NEW: TOYOTA - PRIUS_TSS2 (2020-2022) now uses torque as default and auto learns.
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* NEW: Added a toggle to force enable torque controller. (may not work on some vehicles)
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* NEW: Added a toggle to force enable live torque tune. (may not work on some vehicles)
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* NEW: Added Dyanmic End to End long.
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* NEW: VAG - Added auto resume fix toggle.
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* NEW: refactored dynamic follow. support all car with op long.
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* FIXED: Minor bug fixes and improvement.
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dragonpilot 2022.09.22 - EON/C2 Release
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========================
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* Synced with openpilot master 2022.09.17 commits.
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* e2e longitudinal toggle. (Extremely alpha feature)
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* Deprecated SNPE lib and switched to tinygrad.
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* NEW: Added back nav support on EON/C2.
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* WARNING: DUE TO THE INTRODUCTION OF END TO END LONGITUDINAL FEATURE, FOLLOWING FEATURES HAS BEEN CHANGED:
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* WIP: Dynamic Follow has been temporary removed for refactoring.
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* WIP: Vision Turn Control has been temporary removed for refactoring.
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* REMOVED: Camera offset has been removed permanently.
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* REMOVED: Camera offset has been removed permanently due to new e2e implementation.
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* EON/C2 WILL NO LONGER RECEIVE ANY DRIVING/DRIVER MONITORING MODEL UPDATES.
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dragonpilot 2022.08.29 - EON/C2 Release
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@@ -39,7 +53,37 @@ dragonpilot 2022.07.29 - EON/C2 Release
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* FIXED: Fixed Panda Flash/Recovery buttons.
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* FIXED: Included dp_patcher.py execution.
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dragonpilot 2022.07.20 - EON/C2 Release
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dragonpilot [latest]
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=======================
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* Synced with openpilot master 2022.10.04 commits.
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* ADDED: Dynamic End to End long. For more detail read the setting description.
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* ADDED: Mpad now support's Stop Sign, Yield, Speed Bump, Sharp Curve. (For best experience map you area. https://www.openstreetmap.org/)
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* ADDED: Chevron can display either distance or speed.
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* ADDED: Toggles to force enabling torque control / torque tune for some vehicles
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* Improvement: Dynamic Follow, Toyota Longitudinal and Decel tune.
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* bug fix and improvement
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dragonpilot [2022.09.27]
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=======================
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* Synced with openpilot master 2022.09.27 commits.
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* ADDED: Always On Lateral toggle under dp-controls!
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* ADDED: Live torque fix pr#25868
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* ADDED: RAV4 and HIGHLANDER with sdsu can use follow distance button on the wheel.
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* bug fix and improvement
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dragonpilot [2022.09.19]
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========================
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* Synced with openpilot master 2022.09.19 commits.
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* READD: refactored dyanmaic follow. support all car with op long.
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* ADDED: PRIUS_TSS2 (2020-2022) now uses torque as default and auto learns.
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* ADDED: Added a TSS2 RAV4 Special PID Tune toggle.
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* ADDED: Added a PRIUS 2017 Special Torque Tune toggle.
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* ADDED: Toggle to turn on and off Torque controller.
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* ADDED: Toggle to turn on and off auto tune torque controller.
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* ADDED: Vision Turn Controller.
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* bug fix and improvement
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dragonpilot [2022.09.09]
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========================
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* Synced with openpilot master 2022.09.09 commits.
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* ADDED: us-west coast can now use mapd without data. See toggle description for more detail.
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@@ -47,6 +91,7 @@ dragonpilot 2022.07.20 - EON/C2 Release
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* bug fix and improvement
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dragonpilot [2022.09.04]
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========================
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* Synced with openpilot master 2022.09.01 commits.
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* Refactor: Dynamic Follow has been removerd temporary. Needs a refactor. (wip)
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* ADDED: Auto Toyota door lock/unlock **only works on some car**
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@@ -72,6 +117,9 @@ TWEAK: Enlarged lead car distance text.
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TWEAK: TOYOTA - Updated lowest speed override feature.
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FIXED: Fixed Panda Flash/Recovery buttons.
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FIXED: Included dp_patcher.py execution.
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dragonpilot 2022.07.20 - EON/C2 Release
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========================
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* FIXED: Included correct camera/path offset values for EON/C2.
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* FIXED: Param bug in HKG. (Thanks to @sunnyhaibin).
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* FIXED: Included fan controller for UNO (C2).
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+10
@@ -2,6 +2,16 @@ Version 0.8.17 (2022-XX-XX)
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========================
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* New driving model
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* Internal feature space accuracy increased tenfold during training, this makes the model dramatically more accurate.
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* Self-tuning torque lateral controller parameters
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* Parameters learned live for each car
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* Enabled only on Toyota Corolla for now
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* UI updates
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* Multi-language in navigation
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* Matched speeds shown on car's dash
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* Improved update experience
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* Border turns grey while overriding steering
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* Added button to bookmark events while driving; view them later in comma connect
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* AGNOS 6
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Version 0.8.16 (2022-08-26)
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========================
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+13
-5
@@ -17,7 +17,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
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immediateDisable @6 :Bool;
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preEnable @7 :Bool;
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permanent @8 :Bool; # alerts presented regardless of openpilot state
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override @9 :Bool;
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overrideLateral @10 :Bool;
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overrideLongitudinal @9 :Bool;
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enum EventName @0xbaa8c5d505f727de {
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canError @0;
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@@ -35,6 +36,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
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pedalPressed @13; # exits active state
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pedalPressedPreEnable @73; # added during pre-enable state for either pedal
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gasPressedOverride @108; # added when user is pressing gas with no disengage on gas
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steerOverride @114;
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cruiseDisabled @14;
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speedTooLow @17;
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outOfSpace @18;
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@@ -114,8 +116,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
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resumeBlocked @113;
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#dp
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speedLimitActive @114;
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speedLimitValueChange @115;
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speedLimitActive @115;
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speedLimitValueChange @116;
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radarCanErrorDEPRECATED @15;
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communityFeatureDisallowedDEPRECATED @62;
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@@ -515,6 +517,8 @@ struct CarParams {
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friction @3 :Float32;
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kf @4 :Float32;
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steeringAngleDeadzoneDeg @5 :Float32;
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latAccelFactor @6 :Float32;
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latAccelOffset @7 :Float32;
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}
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struct LongitudinalPIDTuning {
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@@ -625,6 +629,9 @@ struct CarParams {
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gateway @10; # can gateway
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hud @11; # heads up display
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combinationMeter @12; # instrument cluster
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electricBrakeBooster @15;
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shiftByWire @16;
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adas @19;
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# Toyota only
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dsu @6;
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@@ -633,12 +640,13 @@ struct CarParams {
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# Honda only
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vsa @13; # Vehicle Stability Assist
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programmedFuelInjection @14;
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electricBrakeBooster @15;
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shiftByWire @16;
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# Chrysler only
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hcp @18; # Hybrid Control Processor
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# Hyundai only
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vcu @20; # Vehicle (Motor) Control Unit
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debug @17;
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}
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+18
-12
@@ -20,16 +20,22 @@ struct DragonConf {
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dpUiSpeed @12 :Bool;
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dpUiEvent @13 :Bool;
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dpUiFace @14 :Bool;
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dpToyotaSng @15 :Bool;
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dpAccelProfileCtrl @16 :Bool;
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dpAccelProfile @17 :UInt8;
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dpToyotaCruiseOverride @18 :Bool;
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dpToyotaCruiseOverrideSpeed @19 :UInt8;
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dpToyotaAutoLock @20 :Bool;
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dpToyotaAutoUnlock @21 :Bool;
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dpMapd @22 :Bool;
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dpLocalDb @23 :Bool;
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dpDashcamd @24 :Bool;
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dpMazdaSteerAlert @25 :Bool;
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dpSpeedCheck @26 :Bool;
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dpUiChevronDist @15 :Bool;
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dpUiChevronSpeed @16 :Bool;
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dpToyotaSng @17 :Bool;
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dpAccelProfileCtrl @18 :Bool;
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dpAccelProfile @19 :UInt8;
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dpToyotaCruiseOverride @20 :Bool;
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dpToyotaCruiseOverrideSpeed @21 :UInt8;
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dpToyotaAutoLock @22 :Bool;
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dpToyotaAutoUnlock @23 :Bool;
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dpMapd @24 :Bool;
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dpLocalDb @25 :Bool;
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dpDashcamd @26 :Bool;
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dpMazdaSteerAlert @27 :Bool;
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dpSpeedCheck @28 :Bool;
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dpFollowingProfileCtrl @29 :Bool;
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dpFollowingProfile @30 :UInt8;
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dpE2EConditional @31 :Bool;
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dpE2EConditionalAtSpeed @32 :UInt8;
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}
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Binary file not shown.
+95
-19
@@ -138,6 +138,7 @@ struct FrameData {
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gain @15 :Float32; # This includes highConversionGain if enabled
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measuredGreyFraction @21 :Float32;
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targetGreyFraction @22 :Float32;
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exposureValPercent @27 :Float32;
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# Focus
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lensPos @11 :Int32;
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@@ -151,10 +152,7 @@ struct FrameData {
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transform @10 :List(Float32);
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androidCaptureResult @9 :AndroidCaptureResult;
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image @6 :Data;
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globalGainDEPRECATED @5 :Int32;
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temperaturesC @24 :List(Float32);
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@@ -165,6 +163,15 @@ struct FrameData {
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front @3;
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}
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sensor @26 :ImageSensor;
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enum ImageSensor {
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unknown @0;
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ar0321 @1;
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ox03c10 @2;
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}
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globalGainDEPRECATED @5 :Int32;
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androidCaptureResultDEPRECATED @9 :AndroidCaptureResult;
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struct AndroidCaptureResult {
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sensitivity @0 :Int32;
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frameDuration @1 :Int64;
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@@ -221,9 +228,9 @@ struct SensorEventData {
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fiber @2;
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velodyne @3; # Velodyne IMU
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bno055 @4; # Bosch accelerometer
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lsm6ds3 @5; # accelerometer (c2)
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bmp280 @6; # barometer (c2)
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mmc3416x @7; # magnetometer (c2)
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lsm6ds3 @5; # includes LSM6DS3 and LSM6DS3TR, TR = tape reel
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bmp280 @6; # barometer
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mmc3416x @7; # magnetometer
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bmx055 @8;
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rpr0521 @9;
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lsm6ds3trc @10;
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@@ -393,27 +400,35 @@ struct DeviceState @0xa4d8b5af2aa492eb {
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struct PandaState @0xa7649e2575e4591e {
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ignitionLine @2 :Bool;
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controlsAllowed @3 :Bool;
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gasInterceptorDetected @4 :Bool;
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canSendErrs @7 :UInt32;
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canFwdErrs @8 :UInt32;
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canRxErrs @19 :UInt32;
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rxBufferOverflow @7 :UInt32;
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txBufferOverflow @8 :UInt32;
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gmlanSendErrs @9 :UInt32;
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pandaType @10 :PandaType;
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ignitionCan @13 :Bool;
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safetyModel @14 :Car.CarParams.SafetyModel;
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safetyParam @27 :UInt16;
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alternativeExperience @23 :Int16;
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faultStatus @15 :FaultStatus;
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powerSaveEnabled @16 :Bool;
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uptime @17 :UInt32;
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faults @18 :List(FaultType);
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harnessStatus @21 :HarnessStatus;
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heartbeatLost @22 :Bool;
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blockedCnt @24 :UInt32;
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interruptLoad @25 :Float32;
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fanPower @28 :UInt8;
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# can health
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canState0 @29 :PandaCanState;
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canState1 @30 :PandaCanState;
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canState2 @31 :PandaCanState;
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# safety stuff
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controlsAllowed @3 :Bool;
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safetyRxInvalid @19 :UInt32;
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safetyTxBlocked @24 :UInt32;
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safetyModel @14 :Car.CarParams.SafetyModel;
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safetyParam @27 :UInt16;
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alternativeExperience @23 :Int16;
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safetyRxChecksInvalid @32 :Bool;
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enum FaultStatus {
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none @0;
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faultTemp @1;
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@@ -456,6 +471,7 @@ struct PandaState @0xa7649e2575e4591e {
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uno @5;
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dos @6;
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redPanda @7;
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redPandaV2 @8;
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}
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enum HarnessStatus {
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@@ -469,9 +485,43 @@ struct PandaState @0xa7649e2575e4591e {
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currentDEPRECATED @1 :UInt32;
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hasGpsDEPRECATED @6 :Bool;
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fanSpeedRpmDEPRECATED @11 :UInt16;
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usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerMode;
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usbPowerMode @12 :PeripheralState.UsbPowerMode;
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safetyParamDEPRECATED @20 :Int16;
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safetyParam2DEPRECATED @26 :UInt32;
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struct PandaCanState {
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busOff @0 :Bool;
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busOffCnt @1 :UInt32;
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errorWarning @2 :Bool;
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errorPassive @3 :Bool;
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lastError @4 :LecErrorCode;
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lastStoredError @5 :LecErrorCode;
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lastDataError @6 :LecErrorCode;
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lastDataStoredError @7 :LecErrorCode;
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receiveErrorCnt @8 :UInt8;
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transmitErrorCnt @9 :UInt8;
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totalErrorCnt @10 :UInt32;
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totalTxLostCnt @11 :UInt32;
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totalRxLostCnt @12 :UInt32;
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totalTxCnt @13 :UInt32;
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totalRxCnt @14 :UInt32;
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totalFwdCnt @15 :UInt32;
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canSpeed @16 :UInt16;
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canDataSpeed @17 :UInt16;
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canfdEnabled @18 :Bool;
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brsEnabled @19 :Bool;
|
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|
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enum LecErrorCode {
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noError @0;
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stuffError @1;
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formError @2;
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ackError @3;
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bit1Error @4;
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bit0Error @5;
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crcError @6;
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noChange @7;
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}
|
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}
|
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}
|
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struct PeripheralState {
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@@ -609,7 +659,7 @@ struct ControlsState @0x97ff69c53601abf1 {
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preEnabled @1;
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enabled @2;
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softDisabling @3;
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overriding @4;
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overriding @4; # superset of overriding with steering or accelerator
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}
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enum AlertStatus {
|
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@@ -889,6 +939,8 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
|
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turnSpeedControlState @45 :SpeedLimitControlState;
|
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turnSign @46 :Int16;
|
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|
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dpE2EIsBlended @49 :Bool;
|
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|
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enum LongitudinalPlanSource {
|
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cruise @0;
|
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lead0 @1;
|
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@@ -1792,6 +1844,22 @@ struct LiveParametersData {
|
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roll @14 :Float32;
|
||||
}
|
||||
|
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struct LiveTorqueParametersData {
|
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liveValid @0 :Bool;
|
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latAccelFactorRaw @1 :Float32;
|
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latAccelOffsetRaw @2 :Float32;
|
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frictionCoefficientRaw @3 :Float32;
|
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latAccelFactorFiltered @4 :Float32;
|
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latAccelOffsetFiltered @5 :Float32;
|
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frictionCoefficientFiltered @6 :Float32;
|
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totalBucketPoints @7 :Float32;
|
||||
decay @8 :Float32;
|
||||
maxResets @9 :Float32;
|
||||
points @10 :List(List(Float32));
|
||||
version @11 :Int32;
|
||||
useParams @12 :Bool;
|
||||
}
|
||||
|
||||
struct LiveMapDataDEPRECATED {
|
||||
speedLimitValid @0 :Bool;
|
||||
speedLimit @1 :Float32;
|
||||
@@ -1950,7 +2018,13 @@ struct Event {
|
||||
gpsNMEA @3 :GPSNMEAData;
|
||||
can @5 :List(CanData);
|
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controlsState @7 :ControlsState;
|
||||
sensorEvents @11 :List(SensorEventData);
|
||||
gyroscope @99 :SensorEventData;
|
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gyroscope2 @100 :SensorEventData;
|
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accelerometer @98 :SensorEventData;
|
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accelerometer2 @101 :SensorEventData;
|
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magnetometer @95 :SensorEventData;
|
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lightSensor @96 :SensorEventData;
|
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temperatureSensor @97 :SensorEventData;
|
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pandaStates @81 :List(PandaState);
|
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peripheralState @80 :PeripheralState;
|
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radarState @13 :RadarState;
|
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@@ -1968,6 +2042,7 @@ struct Event {
|
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gpsLocation @21 :GpsLocationData;
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gnssMeasurements @91 :GnssMeasurements;
|
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liveParameters @61 :LiveParametersData;
|
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liveTorqueParameters @94 :LiveTorqueParametersData;
|
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cameraOdometry @63 :CameraOdometry;
|
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thumbnail @66: Thumbnail;
|
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carEvents @68: List(Car.CarEvent);
|
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@@ -2011,8 +2086,8 @@ struct Event {
|
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wideRoadEncodeData @88 :EncodeData;
|
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qRoadEncodeData @89 :EncodeData;
|
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|
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dragonConf @94 :Dp.DragonConf;
|
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liveMapData @95: LiveMapData;
|
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dragonConf @102 :Dp.DragonConf;
|
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liveMapData @103: LiveMapData;
|
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|
||||
# *********** legacy + deprecated ***********
|
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model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
|
||||
@@ -2051,5 +2126,6 @@ struct Event {
|
||||
uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState;
|
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pandaStateDEPRECATED @12 :PandaState;
|
||||
driverState @59 :DriverState;
|
||||
sensorEvents @11 :List(SensorEventData);
|
||||
}
|
||||
}
|
||||
|
||||
Binary file not shown.
Binary file not shown.
+63
-55
@@ -4,61 +4,69 @@
|
||||
struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };
|
||||
static struct service services[] = {
|
||||
{ "sensorEvents", 8001, true, 100, 100 },
|
||||
{ "gpsNMEA", 8002, true, 9, -1 },
|
||||
{ "deviceState", 8003, true, 2, 1 },
|
||||
{ "can", 8004, true, 100, -1 },
|
||||
{ "controlsState", 8005, true, 100, 10 },
|
||||
{ "pandaStates", 8006, true, 2, 1 },
|
||||
{ "peripheralState", 8007, true, 2, 1 },
|
||||
{ "radarState", 8008, true, 20, 5 },
|
||||
{ "roadEncodeIdx", 8009, false, 20, 1 },
|
||||
{ "liveTracks", 8010, true, 20, -1 },
|
||||
{ "sendcan", 8011, true, 100, 139 },
|
||||
{ "logMessage", 8012, true, 0, -1 },
|
||||
{ "errorLogMessage", 8013, true, 0, 1 },
|
||||
{ "liveCalibration", 8014, true, 4, 4 },
|
||||
{ "androidLog", 8015, true, 0, -1 },
|
||||
{ "carState", 8016, true, 100, 10 },
|
||||
{ "carControl", 8017, true, 100, 10 },
|
||||
{ "longitudinalPlan", 8018, true, 20, 5 },
|
||||
{ "procLog", 8019, true, 0, -1 },
|
||||
{ "gpsLocationExternal", 8020, true, 10, 10 },
|
||||
{ "gpsLocation", 8021, true, 1, 1 },
|
||||
{ "ubloxGnss", 8023, true, 10, -1 },
|
||||
{ "qcomGnss", 8024, true, 2, -1 },
|
||||
{ "gnssMeasurements", 8025, true, 10, 10 },
|
||||
{ "clocks", 8026, true, 1, 1 },
|
||||
{ "ubloxRaw", 8027, true, 20, -1 },
|
||||
{ "liveLocationKalman", 8028, true, 20, 5 },
|
||||
{ "liveParameters", 8029, true, 20, 5 },
|
||||
{ "cameraOdometry", 8030, true, 20, 5 },
|
||||
{ "lateralPlan", 8031, true, 20, 5 },
|
||||
{ "thumbnail", 8032, true, 0, 1 },
|
||||
{ "carEvents", 8033, true, 1, 1 },
|
||||
{ "carParams", 8034, true, 0, 1 },
|
||||
{ "roadCameraState", 8035, true, 20, 20 },
|
||||
{ "driverCameraState", 8036, true, 10, 10 },
|
||||
{ "driverEncodeIdx", 8037, false, 10, 1 },
|
||||
{ "driverStateV2", 8038, true, 20, 10 },
|
||||
{ "driverState", 8039, true, 10, 5 },
|
||||
{ "driverMonitoringState", 8040, true, 10, 5 },
|
||||
{ "wideRoadEncodeIdx", 8041, false, 20, 1 },
|
||||
{ "wideRoadCameraState", 8042, true, 20, 20 },
|
||||
{ "modelV2", 8043, true, 20, 40 },
|
||||
{ "managerState", 8044, true, 2, 1 },
|
||||
{ "uploaderState", 8045, true, 0, 1 },
|
||||
{ "navInstruction", 8046, true, 1, 10 },
|
||||
{ "navRoute", 8047, true, 0, -1 },
|
||||
{ "navThumbnail", 8048, true, 0, -1 },
|
||||
{ "qRoadEncodeIdx", 8049, false, 20, -1 },
|
||||
{ "userFlag", 8050, true, 0, 1 },
|
||||
{ "testJoystick", 8051, true, 0, -1 },
|
||||
{ "roadEncodeData", 8052, false, 20, -1 },
|
||||
{ "driverEncodeData", 8053, false, 20, -1 },
|
||||
{ "wideRoadEncodeData", 8054, false, 20, -1 },
|
||||
{ "qRoadEncodeData", 8055, false, 20, -1 },
|
||||
{ "dragonConf", 8056, false, 1, -1 },
|
||||
{ "liveMapData", 8057, true, 0, -1 },
|
||||
{ "gyroscope", 8002, true, 104, 104 },
|
||||
{ "gyroscope2", 8003, true, 100, 100 },
|
||||
{ "accelerometer", 8004, true, 104, 104 },
|
||||
{ "accelerometer2", 8005, true, 100, 100 },
|
||||
{ "magnetometer", 8006, true, 100, 100 },
|
||||
{ "lightSensor", 8007, true, 100, 100 },
|
||||
{ "temperatureSensor", 8008, true, 100, 100 },
|
||||
{ "gpsNMEA", 8009, true, 9, -1 },
|
||||
{ "deviceState", 8010, true, 2, 1 },
|
||||
{ "can", 8011, true, 100, -1 },
|
||||
{ "controlsState", 8012, true, 100, 10 },
|
||||
{ "pandaStates", 8013, true, 2, 1 },
|
||||
{ "peripheralState", 8014, true, 2, 1 },
|
||||
{ "radarState", 8015, true, 20, 5 },
|
||||
{ "roadEncodeIdx", 8016, false, 20, 1 },
|
||||
{ "liveTracks", 8017, true, 20, -1 },
|
||||
{ "sendcan", 8018, true, 100, 139 },
|
||||
{ "logMessage", 8019, true, 0, -1 },
|
||||
{ "errorLogMessage", 8020, true, 0, 1 },
|
||||
{ "liveCalibration", 8021, true, 4, 4 },
|
||||
{ "liveTorqueParameters", 8023, true, 4, 1 },
|
||||
{ "androidLog", 8024, true, 0, -1 },
|
||||
{ "carState", 8025, true, 100, 10 },
|
||||
{ "carControl", 8026, true, 100, 10 },
|
||||
{ "longitudinalPlan", 8027, true, 20, 5 },
|
||||
{ "procLog", 8028, true, 0, -1 },
|
||||
{ "gpsLocationExternal", 8029, true, 10, 10 },
|
||||
{ "gpsLocation", 8030, true, 1, 1 },
|
||||
{ "ubloxGnss", 8031, true, 10, -1 },
|
||||
{ "qcomGnss", 8032, true, 2, -1 },
|
||||
{ "gnssMeasurements", 8033, true, 10, 10 },
|
||||
{ "clocks", 8034, true, 1, 1 },
|
||||
{ "ubloxRaw", 8035, true, 20, -1 },
|
||||
{ "liveLocationKalman", 8036, true, 20, 5 },
|
||||
{ "liveParameters", 8037, true, 20, 5 },
|
||||
{ "cameraOdometry", 8038, true, 20, 5 },
|
||||
{ "lateralPlan", 8039, true, 20, 5 },
|
||||
{ "thumbnail", 8040, true, 0, 1 },
|
||||
{ "carEvents", 8041, true, 1, 1 },
|
||||
{ "carParams", 8042, true, 0, 1 },
|
||||
{ "roadCameraState", 8043, true, 20, 20 },
|
||||
{ "driverCameraState", 8044, true, 10, 10 },
|
||||
{ "driverEncodeIdx", 8045, false, 10, 1 },
|
||||
{ "driverStateV2", 8046, true, 20, 10 },
|
||||
{ "driverState", 8047, true, 10, 5 },
|
||||
{ "driverMonitoringState", 8048, true, 10, 5 },
|
||||
{ "wideRoadEncodeIdx", 8049, false, 20, 1 },
|
||||
{ "wideRoadCameraState", 8050, true, 20, 20 },
|
||||
{ "modelV2", 8051, true, 20, 40 },
|
||||
{ "managerState", 8052, true, 2, 1 },
|
||||
{ "uploaderState", 8053, true, 0, 1 },
|
||||
{ "navInstruction", 8054, true, 1, 10 },
|
||||
{ "navRoute", 8055, true, 0, -1 },
|
||||
{ "navThumbnail", 8056, true, 0, -1 },
|
||||
{ "qRoadEncodeIdx", 8057, false, 20, -1 },
|
||||
{ "userFlag", 8058, true, 0, 1 },
|
||||
{ "testJoystick", 8059, true, 0, -1 },
|
||||
{ "roadEncodeData", 8060, false, 20, -1 },
|
||||
{ "driverEncodeData", 8061, false, 20, -1 },
|
||||
{ "wideRoadEncodeData", 8062, false, 20, -1 },
|
||||
{ "qRoadEncodeData", 8063, false, 20, -1 },
|
||||
{ "dragonConf", 8064, false, 1, -1 },
|
||||
{ "liveMapData", 8065, true, 0, -1 },
|
||||
};
|
||||
#endif
|
||||
|
||||
|
||||
@@ -22,6 +22,13 @@ services = {
|
||||
# service: (should_log, frequency, qlog decimation (optional))
|
||||
# note: the "EncodeIdx" packets will still be in the log
|
||||
"sensorEvents": (True, 100., 100),
|
||||
"gyroscope": (True, 104., 104),
|
||||
"gyroscope2": (True, 100., 100),
|
||||
"accelerometer": (True, 104., 104),
|
||||
"accelerometer2": (True, 100., 100),
|
||||
"magnetometer": (True, 100., 100),
|
||||
"lightSensor": (True, 100., 100),
|
||||
"temperatureSensor": (True, 100., 100),
|
||||
"gpsNMEA": (True, 9.),
|
||||
"deviceState": (True, 2., 1),
|
||||
"can": (True, 100.),
|
||||
@@ -35,6 +42,7 @@ services = {
|
||||
"logMessage": (True, 0.),
|
||||
"errorLogMessage": (True, 0., 1),
|
||||
"liveCalibration": (True, 4., 4),
|
||||
"liveTorqueParameters": (True, 4., 1),
|
||||
"androidLog": (True, 0.),
|
||||
"carState": (True, 100., 10),
|
||||
"carControl": (True, 100., 10),
|
||||
|
||||
Binary file not shown.
+11
-2
@@ -63,6 +63,8 @@ confs = [
|
||||
{'name': 'dp_ui_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_face', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_chevron_dist', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_chevron_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
|
||||
#toyota
|
||||
{'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
@@ -73,6 +75,7 @@ confs = [
|
||||
{'name': 'dp_toyota_cruise_override_speed', 'default': 30, 'type': 'UInt8', 'min': 5, 'max': 60, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_auto_lock', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_auto_unlock', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_fp_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
|
||||
{'name': 'dp_mapd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_local_db', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
@@ -104,8 +107,10 @@ confs = [
|
||||
# {'name': 'dp_lane_less_mode', 'default': 2, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_lane_less_mode_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
# # long ctrl
|
||||
# {'name': 'dp_allow_gas', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
# #{'name': 'dp_following_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# #{'name': 'dp_following_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 3, 'depends': [{'name': 'dp_following_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_following_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_following_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_following_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lateral_torque', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_lateral_torque_live_tune', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_accel_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
# # safety
|
||||
@@ -124,6 +129,10 @@ confs = [
|
||||
# {'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
# # toyota
|
||||
{'name': 'dp_toyota_rav4_tss2_tune', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_toyota_prius_bad_angle_tune', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_e2e_conditional', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_e2e_conditional_at_speed', 'default': 60, 'type': 'UInt8', 'min': 30, 'max': 80, 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_toyota_no_min_acc_limit', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_toyota_ldw', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
|
||||
@@ -8,6 +8,11 @@
|
||||
#define GPIO_UBLOX_PWR_EN 34
|
||||
#define GPIO_STM_RST_N 124
|
||||
#define GPIO_STM_BOOT0 134
|
||||
#define GPIO_BMX_ACCEL_INT 21
|
||||
#define GPIO_BMX_GYRO_INT 23
|
||||
#define GPIO_BMX_MAGN_INT 87
|
||||
#define GPIO_LSM_INT 84
|
||||
#define GPIOCHIP_INT 0
|
||||
#else
|
||||
#define GPIO_HUB_RST_N 0
|
||||
#define GPIO_UBLOX_RST_N 0
|
||||
@@ -15,7 +20,14 @@
|
||||
#define GPIO_UBLOX_PWR_EN 0
|
||||
#define GPIO_STM_RST_N 0
|
||||
#define GPIO_STM_BOOT0 0
|
||||
#define GPIO_BMX_ACCEL_INT 0
|
||||
#define GPIO_BMX_GYRO_INT 0
|
||||
#define GPIO_BMX_MAGN_INT 0
|
||||
#define GPIO_LSM_INT 0
|
||||
#define GPIOCHIP_INT 0
|
||||
#endif
|
||||
|
||||
int gpio_init(int pin_nr, bool output);
|
||||
int gpio_set(int pin_nr, bool high);
|
||||
|
||||
int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr);
|
||||
|
||||
+1
-1
@@ -4,7 +4,7 @@
|
||||
#include "common/mat.h"
|
||||
#include "system/hardware/hw.h"
|
||||
|
||||
const int TRAJECTORY_SIZE = 33;
|
||||
const int TRAJECTORY_SIZE = 33;
|
||||
const int LAT_MPC_N = 16;
|
||||
const int LON_MPC_N = 32;
|
||||
const float MIN_DRAW_DISTANCE = 10.0;
|
||||
|
||||
@@ -2,6 +2,7 @@
|
||||
|
||||
#include <map>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
enum ParamKeyType {
|
||||
PERSISTENT = 0x02,
|
||||
@@ -15,6 +16,7 @@ enum ParamKeyType {
|
||||
class Params {
|
||||
public:
|
||||
Params(const std::string &path = {});
|
||||
std::vector<std::string> allKeys() const;
|
||||
bool checkKey(const std::string &key);
|
||||
ParamKeyType getKeyType(const std::string &key);
|
||||
inline std::string getParamPath(const std::string &key = {}) {
|
||||
|
||||
+587
-232
File diff suppressed because it is too large
Load Diff
@@ -2,6 +2,7 @@
|
||||
# cython: language_level = 3
|
||||
from libcpp cimport bool
|
||||
from libcpp.string cimport string
|
||||
from libcpp.vector cimport vector
|
||||
import threading
|
||||
|
||||
cdef extern from "common/params.h":
|
||||
@@ -22,6 +23,7 @@ cdef extern from "common/params.h":
|
||||
bool checkKey(string) nogil
|
||||
string getParamPath(string) nogil
|
||||
void clearAll(ParamKeyType)
|
||||
vector[string] allKeys()
|
||||
|
||||
|
||||
def ensure_bytes(v):
|
||||
@@ -99,6 +101,9 @@ cdef class Params:
|
||||
cdef string key_bytes = ensure_bytes(key)
|
||||
return self.p.getParamPath(key_bytes).decode("utf-8")
|
||||
|
||||
def all_keys(self):
|
||||
return self.p.allKeys()
|
||||
|
||||
def put_nonblocking(key, val, d=""):
|
||||
threading.Thread(target=lambda: Params(d).put(key, val)).start()
|
||||
|
||||
|
||||
Binary file not shown.
+1
-1
@@ -31,7 +31,7 @@ class Priority:
|
||||
|
||||
def set_realtime_priority(level: int) -> None:
|
||||
if not PC:
|
||||
os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level)) # type: ignore[attr-defined] # pylint: disable=no-member
|
||||
os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level)) # pylint: disable=no-member
|
||||
|
||||
|
||||
def set_core_affinity(cores: List[int]) -> None:
|
||||
|
||||
+1
-1
@@ -1 +1 @@
|
||||
#define COMMA_VERSION "2022.09.15"
|
||||
#define COMMA_VERSION "2022.10.07"
|
||||
|
||||
+82
-83
@@ -4,34 +4,34 @@
|
||||
|
||||
A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
|
||||
|
||||
# 205 Supported Cars
|
||||
# 204 Supported Cars
|
||||
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[](##)|[](##)|Honda Nidec|
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
|
||||
|Acura|RDX 2019-22|All|openpilot|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
|
||||
|Audi|A3 2014-19|ACC + Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Audi|Q2 2018|ACC + Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Audi|Q3 2020-21|ACC + Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Audi|RS3 2018|ACC + Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Audi|S3 2015-17|ACC + Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Audi|Q3 2020-21|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|0 mph|6 mph|[](##)|[](##)|GM|
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|0 mph|6 mph|[](##)|[](##)|GM|
|
||||
|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[](##)|[](##)|FCA|
|
||||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
|
||||
|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|FCA|
|
||||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
|
||||
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
|
||||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[](##)|[](##)|FCA|
|
||||
|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
|
||||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|FCA|
|
||||
|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
|
||||
|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None|
|
||||
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai F|
|
||||
|Genesis|G70 2020|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai F|
|
||||
|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|
||||
|Genesis|G90 2017-18|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai C|
|
||||
|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
|
||||
|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|0 mph|6 mph|[](##)|[](##)|GM|
|
||||
|Honda|Accord 2018-22|All|openpilot|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
|
||||
@@ -53,53 +53,52 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
|
||||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
|
||||
|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
|
||||
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC) & LKAS|Stock|19 mph|32 mph|[](##)|[](##)|Hyundai B|
|
||||
|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai K|
|
||||
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|Hyundai B|
|
||||
|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai K|
|
||||
|Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai K|
|
||||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC) & LKAS|Stock|19 mph|37 mph|[](##)|[](##)|Hyundai J|
|
||||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|Hyundai J|
|
||||
|Hyundai|Ioniq 5 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai Q|
|
||||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai C|
|
||||
|Hyundai|Ioniq Electric 2020|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|
||||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai C|
|
||||
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC) & LFA|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|32 mph|[](##)|[](##)|Hyundai C|
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2020-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|
||||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai C|
|
||||
|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|
||||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai C|
|
||||
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot|0 mph|32 mph|[](##)|[](##)|Hyundai C|
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2020-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|
||||
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai B|
|
||||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai G|
|
||||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai G|
|
||||
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai O|
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai I|
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai I|
|
||||
|Hyundai|Palisade 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|
||||
|Hyundai|Santa Fe 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai D|
|
||||
|Hyundai|Santa Fe 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai L|
|
||||
|Hyundai|Santa Fe Hybrid 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai L|
|
||||
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai L|
|
||||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai E|
|
||||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai E|
|
||||
|Hyundai|Sonata 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai A|
|
||||
|Hyundai|Sonata Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai A|
|
||||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot|19 mph|0 mph|[](##)|[](##)|Hyundai L|
|
||||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai L|
|
||||
|Hyundai|Tucson Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N|
|
||||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|Hyundai E|
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[](##)|[](##)|FCA|
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
|
||||
|Kia|Ceed 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai E|
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|FCA|
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
|
||||
|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai E|
|
||||
|Kia|EV6 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai P|
|
||||
|Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai B|
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai G|
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai G|
|
||||
|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai A|
|
||||
|Kia|Niro Electric 2019|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|
||||
|Kia|Niro Electric 2020|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai F|
|
||||
|Kia|Niro Electric 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai C|
|
||||
|Kia|Niro Electric 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|
||||
|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai F|
|
||||
|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|
||||
|Kia|Niro Plug-in Hybrid 2018-19|Smart Cruise Control (SCC) & LKAS|openpilot|10 mph|32 mph|[](##)|[](##)|Hyundai C|
|
||||
|Kia|Optima 2017|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai B|
|
||||
|Kia|Optima 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai G|
|
||||
|Kia|Niro EV 2019|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|
||||
|Kia|Niro EV 2020|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai F|
|
||||
|Kia|Niro EV 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai C|
|
||||
|Kia|Niro EV 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|
||||
|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai F|
|
||||
|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|
||||
|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot|10 mph|32 mph|[](##)|[](##)|Hyundai C|
|
||||
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai B|
|
||||
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai G|
|
||||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai A|
|
||||
|Kia|Sorento 2018|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai C|
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai E|
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai C|
|
||||
|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai C|
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai E|
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai C|
|
||||
|Kia|Telluride 2020|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|
||||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
@@ -122,9 +121,9 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan A|
|
||||
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan A|
|
||||
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan A|
|
||||
|Ram|1500 2019-22|Adaptive Cruise Control|Stock|0 mph|32 mph|[](##)|[](##)|Ram|
|
||||
|SEAT|Ateca 2018|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|SEAT|Leon 2014-20|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Ram|1500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[](##)|[](##)|Ram|
|
||||
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
|
||||
|Subaru|Crosstrek 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
|
||||
@@ -135,13 +134,13 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[](##)|[](##)|Subaru B|
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|Subaru A|
|
||||
|Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Škoda|Karoq 2019-21[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Škoda|Kodiaq 2018-19|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Škoda|Octavia 2015, 2018-19|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Škoda|Octavia RS 2016|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Škoda|Scala 2020|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Škoda|Superb 2015-18|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Škoda|Karoq 2019-21[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Škoda|Superb 2015-18|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Avalon 2016|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
@@ -182,37 +181,37 @@ A supported vehicle is one that just works when you install a comma three. All s
|
||||
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Toyota|Sienna 2018-20|All|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
|
||||
|Volkswagen|Arteon 2018-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Arteon eHybrid 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Arteon R 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Atlas 2018-23[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Atlas Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|31 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|31 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|CC 2018-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|e-Golf 2014-20|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Volkswagen|Golf 2015-20[<sup>8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Volkswagen|Golf Alltrack 2015-19|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Volkswagen|Golf GTD 2015-20|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Volkswagen|Golf GTE 2015-20|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Volkswagen|Golf GTI 2015-21|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Volkswagen|Golf R 2015-19[<sup>8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Volkswagen|Golf SportsVan 2015-20|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Volkswagen|Jetta 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Jetta GLI 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Passat 2015-22[<sup>6,7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Passat Alltrack 2015-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Passat GTE 2015-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Polo 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Polo GTI 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|T-Roc 2021[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Teramont 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Teramont Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Teramont X 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Tiguan 2019-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Touran 2017|Driver Assistance|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Volkswagen|Arteon 2018-22[<sup>7,8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Arteon eHybrid 2020-22[<sup>7,8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Arteon R 2020-22[<sup>7,8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Atlas 2018-23[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Atlas Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|31 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|31 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|CC 2018-22[<sup>7,8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Volkswagen|Golf 2015-20[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Volkswagen|Golf R 2015-19[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|Volkswagen|Jetta 2018-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Jetta GLI 2021-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Passat 2015-22[<sup>6,7,8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Passat Alltrack 2015-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Passat GTE 2015-22[<sup>7,8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Polo 2020-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Polo GTI 2020-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|T-Roc 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Teramont 2018-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Teramont Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Teramont X 2021-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Tiguan 2019-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|
||||
|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|
||||
|
||||
<a id="footnotes"></a>
|
||||
<sup>1</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
|
||||
|
||||
+1
-1
@@ -11,7 +11,7 @@ if [ -z "$NEOS_VERSION" ]; then
|
||||
fi
|
||||
|
||||
if [ -z "$AGNOS_VERSION" ]; then
|
||||
export AGNOS_VERSION="5.2"
|
||||
export AGNOS_VERSION="6"
|
||||
fi
|
||||
|
||||
if [ -z "$PASSIVE" ]; then
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -22,6 +22,7 @@ BO_ 432 STANDSTILL: 7 VSA
|
||||
BO_ 456 ACC_CONTROL: 8 XXX
|
||||
SG_ ACCEL_COMMAND : 7|12@0- (0.01,0) [0|0] "m/s^2" XXX
|
||||
SG_ CONTROL_OFF : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL : 9|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CONTROL_ON : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BOH : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_STATUS : 33|1@1+ (1,0) [0|7] "" XXX
|
||||
@@ -70,8 +71,7 @@ BO_ 254913108 LKAS_HUD_2: 8 ADAS
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
CM_ BO 456 "not sure which bit enables cruise";
|
||||
CM_ SG_ 456 ACCEL_COMMAND "seems to be m/s^2? need to verify";
|
||||
CM_ SG_ 456 BOH "could be cruise standstill?";
|
||||
CM_ SG_ 456 STANDSTILL "set to 1 when camera requests -4.0 m/s^2";
|
||||
|
||||
VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P";
|
||||
VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P";
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
hyundai_kia_mando_front_radar.dbc
|
||||
@@ -0,0 +1,61 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
|
||||
if __name__ == "__main__":
|
||||
dbc_name = os.path.basename(__file__).replace(".py", ".dbc")
|
||||
hyundai_path = os.path.dirname(os.path.realpath(__file__))
|
||||
with open(os.path.join(hyundai_path, dbc_name), "w") as f:
|
||||
f.write("""
|
||||
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
|
||||
""")
|
||||
|
||||
# note: 0x501/0x502 seem to be special in 0x5XX range
|
||||
for a in range(0x500, 0x500 + 32):
|
||||
f.write(f"""
|
||||
BO_ {a} RADAR_TRACK_{a:x}: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
""")
|
||||
@@ -448,6 +448,7 @@ BO_ 432 STANDSTILL: 7 VSA
|
||||
BO_ 456 ACC_CONTROL: 8 XXX
|
||||
SG_ ACCEL_COMMAND : 7|12@0- (0.01,0) [0|0] "m/s^2" XXX
|
||||
SG_ CONTROL_OFF : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL : 9|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CONTROL_ON : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BOH : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AEB_STATUS : 33|1@1+ (1,0) [0|7] "" XXX
|
||||
@@ -496,8 +497,7 @@ BO_ 254913108 LKAS_HUD_2: 8 ADAS
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
CM_ BO 456 "not sure which bit enables cruise";
|
||||
CM_ SG_ 456 ACCEL_COMMAND "seems to be m/s^2? need to verify";
|
||||
CM_ SG_ 456 BOH "could be cruise standstill?";
|
||||
CM_ SG_ 456 STANDSTILL "set to 1 when camera requests -4.0 m/s^2";
|
||||
|
||||
VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P";
|
||||
VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P";
|
||||
|
||||
@@ -101,7 +101,7 @@ BO_ 261 ACCELERATOR_ALT: 32 XXX
|
||||
BO_ 293 STEERING_SENSORS: 16 XXX
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ STEERING_RATE : 40|8@1- (-0.1,0) [0|255] "deg/s" XXX
|
||||
SG_ STEERING_RATE : 40|8@1+ (4.0,0) [0|1016] "deg/s" XXX
|
||||
SG_ STEERING_ANGLE : 24|16@1- (-0.1,0) [0|255] "deg" XXX
|
||||
|
||||
BO_ 298 LFA: 16 XXX
|
||||
|
||||
@@ -1440,11 +1440,10 @@ BO_ 909 FCA11: 8 FCA
|
||||
SG_ FCA_DrvSetStatus : 22|3@1+ (1,0) [0|7] "" CLU,ESC
|
||||
SG_ CF_VSM_DecCmdAct : 31|1@1+ (1,0) [0|1] "" ESC
|
||||
SG_ FCA_Failinfo : 32|3@1+ (1,0) [0|7] "" ACU,CLU,ESC
|
||||
SG_ CR_FCA_Alive : 35|4@1+ (1,0) [0|15] "" ESC
|
||||
SG_ FCA_RelativeVelocity : 39|9@1+ (0.1,-25.5) [-25.5|25.5] "m/s" iBAU
|
||||
SG_ FCA_TimetoCollision : 48|8@1+ (10,0) [0|2540] "ms" iBAU
|
||||
SG_ CR_FCA_Alive : 56|4@1+ (1,0) [0|15] "" ESC
|
||||
SG_ CR_FCA_ChkSum : 60|4@1+ (1,0) [0|15] "" ESC
|
||||
SG_ Supplemental_Counter : 35|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ CR_FCA_ChkSum : 56|8@1+ (1,0) [0|255] "" ESC
|
||||
SG_ PAINT1_Status : 16|2@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1156 HDA11_MFC: 8 XXX
|
||||
@@ -1649,6 +1648,7 @@ VAL_ 871 CF_Lvr_Gear 12 "T" 5 "D" 8 "S" 6 "N" 7 "R" 0 "P";
|
||||
VAL_ 882 Elect_Gear_Shifter 5 "D" 8 "S" 6 "N" 7 "R" 0 "P";
|
||||
VAL_ 905 ACCMode 0 "off" 1 "enabled" 2 "driver_override" 3 "off_maybe_fault" 4 "cancelled";
|
||||
VAL_ 909 CF_VSM_Warn 2 "FCW" 3 "AEB";
|
||||
VAL_ 916 ACCEnable 0 "SCC ready" 1 "SCC temp fault" 2 "SCC permanent fault" 3 "SCC permanent fault, communication issue";
|
||||
VAL_ 1057 ACCMode 0 "off" 1 "enabled" 2 "driver_override" 3 "off_maybe_fault";
|
||||
VAL_ 1157 HDA_Icon_State 0 "no_hda" 1 "white_hda" 2 "green_hda";
|
||||
VAL_ 1157 LFA_SysWarning 0 "no_message" 1 "switching_to_hda" 2 "switching_to_scc" 3 "lfa_error" 4 "check_hda" 5 "keep_hands_on_wheel_orange" 6 "keep_hands_on_wheel_red";
|
||||
|
||||
@@ -1,57 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
|
||||
if __name__ == "__main__":
|
||||
print("""
|
||||
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
|
||||
""")
|
||||
|
||||
# note: 0x501/0x502 seem to be special in 0x5XX range
|
||||
for a in range(0x500, 0x500 + 32):
|
||||
print(f"""
|
||||
BO_ {a} RADAR_TRACK_{a:x}: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
|
||||
SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
|
||||
SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
""")
|
||||
+36
-65
@@ -1,3 +1,6 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
CM_ "hyundai_kia_mando_front_radar.dbc starts here";
|
||||
|
||||
VERSION ""
|
||||
|
||||
@@ -35,8 +38,7 @@ NS_ :
|
||||
BS_:
|
||||
|
||||
BU_: XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1280 RADAR_TRACK_500: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -48,8 +50,7 @@ BO_ 1280 RADAR_TRACK_500: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1281 RADAR_TRACK_501: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -61,8 +62,7 @@ BO_ 1281 RADAR_TRACK_501: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1282 RADAR_TRACK_502: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -74,8 +74,7 @@ BO_ 1282 RADAR_TRACK_502: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1283 RADAR_TRACK_503: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -87,8 +86,7 @@ BO_ 1283 RADAR_TRACK_503: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1284 RADAR_TRACK_504: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -100,8 +98,7 @@ BO_ 1284 RADAR_TRACK_504: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1285 RADAR_TRACK_505: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -113,8 +110,7 @@ BO_ 1285 RADAR_TRACK_505: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1286 RADAR_TRACK_506: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -126,8 +122,7 @@ BO_ 1286 RADAR_TRACK_506: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1287 RADAR_TRACK_507: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -139,8 +134,7 @@ BO_ 1287 RADAR_TRACK_507: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1288 RADAR_TRACK_508: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -152,8 +146,7 @@ BO_ 1288 RADAR_TRACK_508: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1289 RADAR_TRACK_509: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -165,8 +158,7 @@ BO_ 1289 RADAR_TRACK_509: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1290 RADAR_TRACK_50a: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -178,8 +170,7 @@ BO_ 1290 RADAR_TRACK_50a: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1291 RADAR_TRACK_50b: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -191,8 +182,7 @@ BO_ 1291 RADAR_TRACK_50b: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1292 RADAR_TRACK_50c: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -204,8 +194,7 @@ BO_ 1292 RADAR_TRACK_50c: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1293 RADAR_TRACK_50d: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -217,8 +206,7 @@ BO_ 1293 RADAR_TRACK_50d: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1294 RADAR_TRACK_50e: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -230,8 +218,7 @@ BO_ 1294 RADAR_TRACK_50e: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1295 RADAR_TRACK_50f: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -243,8 +230,7 @@ BO_ 1295 RADAR_TRACK_50f: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1296 RADAR_TRACK_510: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -256,8 +242,7 @@ BO_ 1296 RADAR_TRACK_510: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1297 RADAR_TRACK_511: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -269,8 +254,7 @@ BO_ 1297 RADAR_TRACK_511: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1298 RADAR_TRACK_512: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -282,8 +266,7 @@ BO_ 1298 RADAR_TRACK_512: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1299 RADAR_TRACK_513: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -295,8 +278,7 @@ BO_ 1299 RADAR_TRACK_513: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1300 RADAR_TRACK_514: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -308,8 +290,7 @@ BO_ 1300 RADAR_TRACK_514: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1301 RADAR_TRACK_515: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -321,8 +302,7 @@ BO_ 1301 RADAR_TRACK_515: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1302 RADAR_TRACK_516: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -334,8 +314,7 @@ BO_ 1302 RADAR_TRACK_516: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1303 RADAR_TRACK_517: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -347,8 +326,7 @@ BO_ 1303 RADAR_TRACK_517: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1304 RADAR_TRACK_518: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -360,8 +338,7 @@ BO_ 1304 RADAR_TRACK_518: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1305 RADAR_TRACK_519: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -373,8 +350,7 @@ BO_ 1305 RADAR_TRACK_519: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1306 RADAR_TRACK_51a: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -386,8 +362,7 @@ BO_ 1306 RADAR_TRACK_51a: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1307 RADAR_TRACK_51b: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -399,8 +374,7 @@ BO_ 1307 RADAR_TRACK_51b: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1308 RADAR_TRACK_51c: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -412,8 +386,7 @@ BO_ 1308 RADAR_TRACK_51c: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1309 RADAR_TRACK_51d: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -425,8 +398,7 @@ BO_ 1309 RADAR_TRACK_51d: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1310 RADAR_TRACK_51e: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -438,8 +410,7 @@ BO_ 1310 RADAR_TRACK_51e: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
|
||||
BO_ 1311 RADAR_TRACK_51f: 8 RADAR
|
||||
SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
|
||||
SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
|
||||
@@ -451,4 +422,4 @@ BO_ 1311 RADAR_TRACK_51f: 8 RADAR
|
||||
SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
|
||||
SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
+75
-24
@@ -117,6 +117,16 @@ def ensure_can_packet_version(fn):
|
||||
return fn(self, *args, **kwargs)
|
||||
return wrapper
|
||||
|
||||
def ensure_can_health_packet_version(fn):
|
||||
@wraps(fn)
|
||||
def wrapper(self, *args, **kwargs):
|
||||
if self.can_health_version < self.CAN_HEALTH_PACKET_VERSION:
|
||||
raise RuntimeError("Panda firmware has outdated CAN health packet definition. Reflash panda firmware.")
|
||||
elif self.can_health_version > self.CAN_HEALTH_PACKET_VERSION:
|
||||
raise RuntimeError("Panda python library has outdated CAN health packet definition. Update panda python library.")
|
||||
return fn(self, *args, **kwargs)
|
||||
return wrapper
|
||||
|
||||
class ALTERNATIVE_EXPERIENCE:
|
||||
DEFAULT = 0
|
||||
DISABLE_DISENGAGE_ON_GAS = 1
|
||||
@@ -172,17 +182,20 @@ class Panda:
|
||||
HW_TYPE_UNO = b'\x05'
|
||||
HW_TYPE_DOS = b'\x06'
|
||||
HW_TYPE_RED_PANDA = b'\x07'
|
||||
HW_TYPE_RED_PANDA_V2 = b'\x08'
|
||||
|
||||
CAN_PACKET_VERSION = 2
|
||||
HEALTH_PACKET_VERSION = 8
|
||||
HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBBBHBBBHIfB")
|
||||
HEALTH_PACKET_VERSION = 11
|
||||
CAN_HEALTH_PACKET_VERSION = 2
|
||||
HEALTH_STRUCT = struct.Struct("<IIIIIIIIIBBBBBBHBBBHfBBB")
|
||||
CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIHHBB")
|
||||
|
||||
F2_DEVICES = (HW_TYPE_PEDAL, )
|
||||
F4_DEVICES = (HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS)
|
||||
H7_DEVICES = (HW_TYPE_RED_PANDA, )
|
||||
H7_DEVICES = (HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2)
|
||||
|
||||
INTERNAL_DEVICES = (HW_TYPE_UNO, HW_TYPE_DOS)
|
||||
HAS_OBD = (HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_RED_PANDA)
|
||||
HAS_OBD = (HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2)
|
||||
|
||||
CLOCK_SOURCE_MODE_DISABLED = 0
|
||||
CLOCK_SOURCE_MODE_FREE_RUNNING = 1
|
||||
@@ -272,7 +285,7 @@ class Panda:
|
||||
|
||||
assert self._handle is not None
|
||||
self._mcu_type = self.get_mcu_type()
|
||||
self.health_version, self.can_version = self.get_packets_versions()
|
||||
self.health_version, self.can_version, self.can_health_version = self.get_packets_versions()
|
||||
print("connected")
|
||||
|
||||
# disable openpilot's heartbeat checks
|
||||
@@ -438,26 +451,64 @@ class Panda:
|
||||
"uptime": a[0],
|
||||
"voltage": a[1],
|
||||
"current": a[2],
|
||||
"can_rx_errs": a[3],
|
||||
"can_send_errs": a[4],
|
||||
"can_fwd_errs": a[5],
|
||||
"gmlan_send_errs": a[6],
|
||||
"faults": a[7],
|
||||
"ignition_line": a[8],
|
||||
"ignition_can": a[9],
|
||||
"controls_allowed": a[10],
|
||||
"gas_interceptor_detected": a[11],
|
||||
"car_harness_status": a[12],
|
||||
"usb_power_mode": a[13],
|
||||
"safety_tx_blocked": a[3],
|
||||
"safety_rx_invalid": a[4],
|
||||
"tx_buffer_overflow": a[5],
|
||||
"rx_buffer_overflow": a[6],
|
||||
"gmlan_send_errs": a[7],
|
||||
"faults": a[8],
|
||||
"ignition_line": a[9],
|
||||
"ignition_can": a[10],
|
||||
"controls_allowed": a[11],
|
||||
"gas_interceptor_detected": a[12],
|
||||
"car_harness_status": a[13],
|
||||
"safety_mode": a[14],
|
||||
"safety_param": a[15],
|
||||
"fault_status": a[16],
|
||||
"power_save_enabled": a[17],
|
||||
"heartbeat_lost": a[18],
|
||||
"alternative_experience": a[19],
|
||||
"blocked_msg_cnt": a[20],
|
||||
"interrupt_load": a[21],
|
||||
"fan_power": a[22],
|
||||
"interrupt_load": a[20],
|
||||
"fan_power": a[21],
|
||||
"safety_rx_checks_invalid": a[22],
|
||||
"usb_power_mode": a[23],
|
||||
}
|
||||
|
||||
@ensure_can_health_packet_version
|
||||
def can_health(self, can_number):
|
||||
LEC_ERROR_CODE = {
|
||||
0: "No error",
|
||||
1: "Stuff error",
|
||||
2: "Form error",
|
||||
3: "AckError",
|
||||
4: "Bit1Error",
|
||||
5: "Bit0Error",
|
||||
6: "CRCError",
|
||||
7: "NoChange",
|
||||
}
|
||||
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xc2, int(can_number), 0, self.CAN_HEALTH_STRUCT.size)
|
||||
a = self.CAN_HEALTH_STRUCT.unpack(dat)
|
||||
return {
|
||||
"bus_off": a[0],
|
||||
"bus_off_cnt": a[1],
|
||||
"error_warning": a[2],
|
||||
"error_passive": a[3],
|
||||
"last_error": LEC_ERROR_CODE[a[4]],
|
||||
"last_stored_error": LEC_ERROR_CODE[a[5]],
|
||||
"last_data_error": LEC_ERROR_CODE[a[6]],
|
||||
"last_data_stored_error": LEC_ERROR_CODE[a[7]],
|
||||
"receive_error_cnt": a[8],
|
||||
"transmit_error_cnt": a[9],
|
||||
"total_error_cnt": a[10],
|
||||
"total_tx_lost_cnt": a[11],
|
||||
"total_rx_lost_cnt": a[12],
|
||||
"total_tx_cnt": a[13],
|
||||
"total_rx_cnt": a[14],
|
||||
"total_fwd_cnt": a[15],
|
||||
"can_speed": a[16],
|
||||
"can_data_speed": a[17],
|
||||
"canfd_enabled": a[18],
|
||||
"brs_enabled": a[19],
|
||||
}
|
||||
|
||||
# ******************* control *******************
|
||||
@@ -494,12 +545,12 @@ class Panda:
|
||||
|
||||
# Returns tuple with health packet version and CAN packet/USB packet version
|
||||
def get_packets_versions(self):
|
||||
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xdd, 0, 0, 2)
|
||||
if dat:
|
||||
a = struct.unpack("BB", dat)
|
||||
return (a[0], a[1])
|
||||
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xdd, 0, 0, 3)
|
||||
if dat and len(dat) == 3:
|
||||
a = struct.unpack("BBB", dat)
|
||||
return (a[0], a[1], a[2])
|
||||
else:
|
||||
return (0, 0)
|
||||
return (0, 0, 0)
|
||||
|
||||
def get_mcu_type(self):
|
||||
hw_type = self.get_type()
|
||||
|
||||
+16
-13
@@ -382,7 +382,7 @@ class IsoTpMessage():
|
||||
self.debug = debug
|
||||
self.max_len = max_len
|
||||
|
||||
def send(self, dat: bytes) -> None:
|
||||
def send(self, dat: bytes, setup_only: bool = False) -> None:
|
||||
# throw away any stale data
|
||||
self._can_client.recv(drain=True)
|
||||
|
||||
@@ -396,39 +396,42 @@ class IsoTpMessage():
|
||||
self.rx_idx = 0
|
||||
self.rx_done = False
|
||||
|
||||
if self.debug:
|
||||
if self.debug and not setup_only:
|
||||
print(f"ISO-TP: REQUEST - {hex(self._can_client.tx_addr)} 0x{bytes.hex(self.tx_dat)}")
|
||||
self._tx_first_frame()
|
||||
self._tx_first_frame(setup_only=setup_only)
|
||||
|
||||
def _tx_first_frame(self) -> None:
|
||||
def _tx_first_frame(self, setup_only: bool = False) -> None:
|
||||
if self.tx_len < self.max_len:
|
||||
# single frame (send all bytes)
|
||||
if self.debug:
|
||||
if self.debug and not setup_only:
|
||||
print(f"ISO-TP: TX - single frame - {hex(self._can_client.tx_addr)}")
|
||||
msg = (bytes([self.tx_len]) + self.tx_dat).ljust(self.max_len, b"\x00")
|
||||
self.tx_done = True
|
||||
else:
|
||||
# first frame (send first 6 bytes)
|
||||
if self.debug:
|
||||
if self.debug and not setup_only:
|
||||
print(f"ISO-TP: TX - first frame - {hex(self._can_client.tx_addr)}")
|
||||
msg = (struct.pack("!H", 0x1000 | self.tx_len) + self.tx_dat[:self.max_len - 2]).ljust(self.max_len - 2, b"\x00")
|
||||
self._can_client.send([msg])
|
||||
if not setup_only:
|
||||
self._can_client.send([msg])
|
||||
|
||||
def recv(self, timeout=None) -> Optional[bytes]:
|
||||
def recv(self, timeout=None) -> Tuple[Optional[bytes], bool]:
|
||||
if timeout is None:
|
||||
timeout = self.timeout
|
||||
|
||||
start_time = time.monotonic()
|
||||
updated = False
|
||||
try:
|
||||
while True:
|
||||
for msg in self._can_client.recv():
|
||||
self._isotp_rx_next(msg)
|
||||
start_time = time.monotonic()
|
||||
updated = True
|
||||
if self.tx_done and self.rx_done:
|
||||
return self.rx_dat
|
||||
return self.rx_dat, updated
|
||||
# no timeout indicates non-blocking
|
||||
if timeout == 0:
|
||||
return None
|
||||
return None, updated
|
||||
if time.monotonic() - start_time > timeout:
|
||||
raise MessageTimeoutError("timeout waiting for response")
|
||||
finally:
|
||||
@@ -456,8 +459,8 @@ class IsoTpMessage():
|
||||
print(f"ISO-TP: RX - first frame - {hex(self._can_client.rx_addr)} idx={self.rx_idx} done={self.rx_done}")
|
||||
if self.debug:
|
||||
print(f"ISO-TP: TX - flow control continue - {hex(self._can_client.tx_addr)}")
|
||||
# send flow control message (send all bytes)
|
||||
msg = b"\x30\x00\x00".ljust(self.max_len, b"\x00")
|
||||
# send flow control message (send all bytes) with a separation time of 10 ms
|
||||
msg = b"\x30\x00\x0a".ljust(self.max_len, b"\x00")
|
||||
self._can_client.send([msg])
|
||||
return
|
||||
|
||||
@@ -553,7 +556,7 @@ class UdsClient():
|
||||
response_pending = False
|
||||
while True:
|
||||
timeout = self.response_pending_timeout if response_pending else self.timeout
|
||||
resp = isotp_msg.recv(timeout)
|
||||
resp, _ = isotp_msg.recv(timeout)
|
||||
|
||||
if resp is None:
|
||||
continue
|
||||
|
||||
Binary file not shown.
Binary file not shown.
|
After Width: | Height: | Size: 1.6 KiB |
Binary file not shown.
Binary file not shown.
@@ -16,6 +16,7 @@
|
||||
#include "panda/board/health.h"
|
||||
|
||||
#define TIMEOUT 0
|
||||
#define PANDA_CAN_CNT 3
|
||||
#define PANDA_BUS_CNT 4
|
||||
#define RECV_SIZE (0x4000U)
|
||||
#define USB_TX_SOFT_LIMIT (0x100U)
|
||||
@@ -82,6 +83,7 @@ class Panda {
|
||||
uint16_t get_fan_speed();
|
||||
void set_ir_pwr(uint16_t ir_pwr);
|
||||
std::optional<health_t> get_state();
|
||||
std::optional<can_health_t> get_can_state(uint16_t can_number);
|
||||
void set_loopback(bool loopback);
|
||||
std::optional<std::vector<uint8_t>> get_firmware_version();
|
||||
std::optional<std::string> get_serial();
|
||||
|
||||
@@ -12,6 +12,14 @@ ButtonType = car.CarState.ButtonEvent.Type
|
||||
EventName = car.CarEvent.EventName
|
||||
|
||||
|
||||
def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float:
|
||||
if val > val_steady + hyst_gap:
|
||||
val_steady = val - hyst_gap
|
||||
elif val < val_steady - hyst_gap:
|
||||
val_steady = val + hyst_gap
|
||||
return val_steady
|
||||
|
||||
|
||||
def create_button_event(cur_but: int, prev_but: int, buttons_dict: Dict[int, capnp.lib.capnp._EnumModule],
|
||||
unpressed: int = 0) -> capnp.lib.capnp._DynamicStructBuilder:
|
||||
if cur_but != unpressed:
|
||||
|
||||
@@ -3,10 +3,13 @@ from typing import Dict
|
||||
from cereal import car
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarInfo
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
SPEED_FROM_RPM = 0.008587
|
||||
|
||||
|
||||
class CarControllerParams:
|
||||
ANGLE_DELTA_BP = [0., 5., 15.]
|
||||
ANGLE_DELTA_V = [5., .8, .15] # windup limit
|
||||
@@ -14,13 +17,25 @@ class CarControllerParams:
|
||||
LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower
|
||||
STEER_THRESHOLD = 1.0
|
||||
|
||||
|
||||
class CAR:
|
||||
BODY = "COMMA BODY"
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, CarInfo] = {
|
||||
CAR.BODY: CarInfo("comma body", package="All"),
|
||||
}
|
||||
|
||||
FW_QUERY_CONFIG = FwQueryConfig(
|
||||
requests=[
|
||||
Request(
|
||||
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
|
||||
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
|
||||
bus=0,
|
||||
),
|
||||
],
|
||||
)
|
||||
|
||||
FW_VERSIONS = {
|
||||
CAR.BODY: {
|
||||
(Ecu.engine, 0x720, None): [
|
||||
|
||||
@@ -106,7 +106,7 @@ def fingerprint(logcan, sendcan):
|
||||
car_fw = list(cached_params.carFw)
|
||||
else:
|
||||
cloudlog.warning("Getting VIN & FW versions")
|
||||
_, vin_rx_addr, vin = get_vin(logcan, sendcan, bus)
|
||||
vin_rx_addr, vin = get_vin(logcan, sendcan, bus)
|
||||
ecu_rx_addrs = get_present_ecus(logcan, sendcan)
|
||||
car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs)
|
||||
|
||||
|
||||
@@ -74,6 +74,8 @@ class CarInterface(CarInterfaceBase):
|
||||
else:
|
||||
raise ValueError(f"Unsupported car: {candidate}")
|
||||
|
||||
CarInterfaceBase.configure_dp_tune(candidate, ret.lateralTuning)
|
||||
|
||||
ret.centerToFront = ret.wheelbase * 0.44
|
||||
|
||||
# starting with reasonable value for civic and scaling by mass and wheelbase
|
||||
|
||||
@@ -3,8 +3,11 @@ from enum import Enum
|
||||
from typing import Dict, List, Optional, Union
|
||||
|
||||
from cereal import car
|
||||
from panda.python import uds
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarInfo, Harness
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
|
||||
@@ -49,7 +52,7 @@ RAM_CARS = RAM_DT | RAM_HD
|
||||
|
||||
@dataclass
|
||||
class ChryslerCarInfo(CarInfo):
|
||||
package: str = "Adaptive Cruise Control"
|
||||
package: str = "Adaptive Cruise Control (ACC)"
|
||||
harness: Enum = Harness.fca
|
||||
|
||||
CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
|
||||
@@ -129,6 +132,42 @@ FINGERPRINTS = {
|
||||
}],
|
||||
}
|
||||
|
||||
CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(0xf132)
|
||||
CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
|
||||
p16(0xf132)
|
||||
|
||||
CHRYSLER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER)
|
||||
CHRYSLER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER)
|
||||
|
||||
CHRYSLER_RX_OFFSET = -0x280
|
||||
|
||||
FW_QUERY_CONFIG = FwQueryConfig(
|
||||
requests=[
|
||||
Request(
|
||||
[CHRYSLER_VERSION_REQUEST],
|
||||
[CHRYSLER_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.srs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.combinationMeter],
|
||||
rx_offset=CHRYSLER_RX_OFFSET,
|
||||
bus=0,
|
||||
),
|
||||
Request(
|
||||
[CHRYSLER_VERSION_REQUEST],
|
||||
[CHRYSLER_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.abs, Ecu.hcp, Ecu.engine, Ecu.transmission],
|
||||
bus=0,
|
||||
),
|
||||
Request(
|
||||
[CHRYSLER_SOFTWARE_VERSION_REQUEST],
|
||||
[CHRYSLER_SOFTWARE_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.engine, Ecu.transmission],
|
||||
bus=0,
|
||||
),
|
||||
],
|
||||
)
|
||||
|
||||
FW_VERSIONS = {
|
||||
CAR.PACIFICA_2019_HYBRID: {
|
||||
(Ecu.hcp, 0x7e2, None): [],
|
||||
@@ -187,12 +226,6 @@ FW_VERSIONS = {
|
||||
b'68540431AB',
|
||||
b'68484467AC',
|
||||
],
|
||||
(Ecu.gateway, 0x18DACBF1, None): [
|
||||
b'68402660AB',
|
||||
b'68445283AB',
|
||||
b'68533631AB',
|
||||
b'68500483AB',
|
||||
],
|
||||
},
|
||||
|
||||
CAR.RAM_HD: {
|
||||
@@ -224,10 +257,6 @@ FW_VERSIONS = {
|
||||
b'M2370131MB',
|
||||
b'M2421132MB',
|
||||
],
|
||||
(Ecu.gateway, 0x18DACBF1, None): [
|
||||
b'68488419AB',
|
||||
b'68535476AB',
|
||||
],
|
||||
},
|
||||
}
|
||||
|
||||
|
||||
@@ -1,7 +1,6 @@
|
||||
#!/usr/bin/env python3
|
||||
import capnp
|
||||
import time
|
||||
import traceback
|
||||
from typing import Optional, Set, Tuple
|
||||
|
||||
import cereal.messaging as messaging
|
||||
@@ -62,7 +61,7 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
|
||||
print(f"Duplicate ECU address: {hex(msg.address)}")
|
||||
ecu_responses.add((msg.address, subaddr, msg.src))
|
||||
except Exception:
|
||||
cloudlog.warning(f"ECU addr scan exception: {traceback.format_exc()}")
|
||||
cloudlog.exception("ECU addr scan exception")
|
||||
return ecu_responses
|
||||
|
||||
|
||||
@@ -71,6 +70,8 @@ if __name__ == "__main__":
|
||||
|
||||
parser = argparse.ArgumentParser(description='Get addresses of all ECUs')
|
||||
parser.add_argument('--debug', action='store_true')
|
||||
parser.add_argument('--bus', type=int, default=1)
|
||||
parser.add_argument('--timeout', type=float, default=1.0)
|
||||
args = parser.parse_args()
|
||||
|
||||
logcan = messaging.sub_sock('can')
|
||||
@@ -79,7 +80,7 @@ if __name__ == "__main__":
|
||||
time.sleep(1.0)
|
||||
|
||||
print("Getting ECU addresses ...")
|
||||
ecu_addrs = get_all_ecu_addrs(logcan, sendcan, 1, debug=args.debug)
|
||||
ecu_addrs = get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug)
|
||||
|
||||
print()
|
||||
print("Found ECUs on addresses:")
|
||||
|
||||
@@ -45,6 +45,8 @@ class CarInterface(CarInterfaceBase):
|
||||
else:
|
||||
raise ValueError(f"Unsupported car: ${candidate}")
|
||||
|
||||
CarInterfaceBase.configure_dp_tune(candidate, ret.lateralTuning)
|
||||
|
||||
# Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
|
||||
found_ecus = [fw.ecu for fw in car_fw]
|
||||
if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[0]:
|
||||
|
||||
@@ -6,6 +6,7 @@ from typing import Dict, List, Union
|
||||
from cereal import car
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarInfo, Harness
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
TransmissionType = car.CarParams.TransmissionType
|
||||
@@ -61,6 +62,21 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
|
||||
CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2019", "Driver Assistance Pack"),
|
||||
}
|
||||
|
||||
FW_QUERY_CONFIG = FwQueryConfig(
|
||||
requests=[
|
||||
Request(
|
||||
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
|
||||
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.engine],
|
||||
),
|
||||
Request(
|
||||
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
|
||||
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
|
||||
bus=0,
|
||||
whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire],
|
||||
),
|
||||
],
|
||||
)
|
||||
|
||||
FW_VERSIONS = {
|
||||
CAR.ESCAPE_MK4: {
|
||||
|
||||
Executable
+66
@@ -0,0 +1,66 @@
|
||||
#!/usr/bin/env python3
|
||||
import capnp
|
||||
from dataclasses import dataclass, field
|
||||
import struct
|
||||
from typing import Dict, List
|
||||
|
||||
import panda.python.uds as uds
|
||||
|
||||
|
||||
def p16(val):
|
||||
return struct.pack("!H", val)
|
||||
|
||||
|
||||
class StdQueries:
|
||||
# FW queries
|
||||
TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT, 0x0])
|
||||
TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40, 0x0])
|
||||
|
||||
SHORT_TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT])
|
||||
SHORT_TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40])
|
||||
|
||||
DEFAULT_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
|
||||
uds.SESSION_TYPE.DEFAULT])
|
||||
DEFAULT_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
|
||||
uds.SESSION_TYPE.DEFAULT, 0x0, 0x32, 0x1, 0xf4])
|
||||
|
||||
EXTENDED_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
|
||||
uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC])
|
||||
EXTENDED_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
|
||||
uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC, 0x0, 0x32, 0x1, 0xf4])
|
||||
|
||||
MANUFACTURER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
|
||||
MANUFACTURER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
|
||||
|
||||
UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
|
||||
UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
|
||||
|
||||
OBD_VERSION_REQUEST = b'\x09\x04'
|
||||
OBD_VERSION_RESPONSE = b'\x49\x04'
|
||||
|
||||
# VIN queries
|
||||
OBD_VIN_REQUEST = b'\x09\x02'
|
||||
OBD_VIN_RESPONSE = b'\x49\x02\x01'
|
||||
|
||||
UDS_VIN_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN)
|
||||
UDS_VIN_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN)
|
||||
|
||||
|
||||
@dataclass
|
||||
class Request:
|
||||
request: List[bytes]
|
||||
response: List[bytes]
|
||||
whitelist_ecus: List[int] = field(default_factory=list)
|
||||
rx_offset: int = 0x8
|
||||
bus: int = 1
|
||||
|
||||
|
||||
@dataclass
|
||||
class FwQueryConfig:
|
||||
requests: List[Request]
|
||||
# Overrides and removes from essential ecus for specific models and ecus (exact matching)
|
||||
non_essential_ecus: Dict[capnp.lib.capnp._EnumModule, List[str]] = field(default_factory=dict)
|
||||
+34
-264
@@ -1,9 +1,6 @@
|
||||
#!/usr/bin/env python3
|
||||
import struct
|
||||
import traceback
|
||||
from collections import defaultdict
|
||||
from dataclasses import dataclass, field
|
||||
from typing import Any, List, Optional, Set, Tuple
|
||||
from typing import Any, Optional, Set, Tuple
|
||||
from tqdm import tqdm
|
||||
|
||||
import panda.python.uds as uds
|
||||
@@ -12,237 +9,16 @@ from selfdrive.car.ecu_addrs import get_ecu_addrs
|
||||
from selfdrive.car.interfaces import get_interface_attr
|
||||
from selfdrive.car.fingerprints import FW_VERSIONS
|
||||
from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
|
||||
from selfdrive.car.toyota.values import CAR as TOYOTA
|
||||
from system.swaglog import cloudlog
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
|
||||
|
||||
FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True)
|
||||
VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
|
||||
|
||||
def p16(val):
|
||||
return struct.pack("!H", val)
|
||||
|
||||
|
||||
TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT, 0x0])
|
||||
TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40, 0x0])
|
||||
|
||||
SHORT_TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT])
|
||||
SHORT_TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40])
|
||||
|
||||
DEFAULT_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
|
||||
uds.SESSION_TYPE.DEFAULT])
|
||||
DEFAULT_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
|
||||
uds.SESSION_TYPE.DEFAULT, 0x0, 0x32, 0x1, 0xf4])
|
||||
|
||||
EXTENDED_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
|
||||
uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC])
|
||||
EXTENDED_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
|
||||
uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC, 0x0, 0x32, 0x1, 0xf4])
|
||||
|
||||
UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
|
||||
UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
|
||||
|
||||
|
||||
HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(0xf100) # Long description
|
||||
HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \
|
||||
p16(0xf100)
|
||||
HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
|
||||
|
||||
|
||||
TOYOTA_VERSION_REQUEST = b'\x1a\x88\x01'
|
||||
TOYOTA_VERSION_RESPONSE = b'\x5a\x88\x01'
|
||||
|
||||
VOLKSWAGEN_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
|
||||
VOLKSWAGEN_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
|
||||
|
||||
OBD_VERSION_REQUEST = b'\x09\x04'
|
||||
OBD_VERSION_RESPONSE = b'\x49\x04'
|
||||
|
||||
DEFAULT_RX_OFFSET = 0x8
|
||||
VOLKSWAGEN_RX_OFFSET = 0x6a
|
||||
|
||||
MAZDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
|
||||
MAZDA_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
|
||||
|
||||
NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0xc0])
|
||||
NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0xc0])
|
||||
|
||||
NISSAN_VERSION_REQUEST_KWP = b'\x21\x83'
|
||||
NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83'
|
||||
|
||||
NISSAN_VERSION_REQUEST_STANDARD = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
|
||||
NISSAN_VERSION_RESPONSE_STANDARD = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
|
||||
|
||||
NISSAN_RX_OFFSET = 0x20
|
||||
|
||||
SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
|
||||
SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
|
||||
|
||||
CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(0xf132)
|
||||
CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
|
||||
p16(0xf132)
|
||||
|
||||
CHRYSLER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER)
|
||||
CHRYSLER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER)
|
||||
|
||||
CHRYSLER_RX_OFFSET = -0x280
|
||||
|
||||
FORD_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
|
||||
FORD_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
|
||||
|
||||
|
||||
@dataclass
|
||||
class Request:
|
||||
brand: str
|
||||
request: List[bytes]
|
||||
response: List[bytes]
|
||||
whitelist_ecus: List[int] = field(default_factory=list)
|
||||
rx_offset: int = DEFAULT_RX_OFFSET
|
||||
bus: int = 1
|
||||
|
||||
|
||||
REQUESTS: List[Request] = [
|
||||
# Subaru
|
||||
Request(
|
||||
"subaru",
|
||||
[TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
|
||||
[TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
|
||||
),
|
||||
# Hyundai
|
||||
Request(
|
||||
"hyundai",
|
||||
[HYUNDAI_VERSION_REQUEST_LONG],
|
||||
[HYUNDAI_VERSION_RESPONSE],
|
||||
),
|
||||
Request(
|
||||
"hyundai",
|
||||
[HYUNDAI_VERSION_REQUEST_MULTI],
|
||||
[HYUNDAI_VERSION_RESPONSE],
|
||||
),
|
||||
# Honda
|
||||
Request(
|
||||
"honda",
|
||||
[UDS_VERSION_REQUEST],
|
||||
[UDS_VERSION_RESPONSE],
|
||||
),
|
||||
# Toyota
|
||||
Request(
|
||||
"toyota",
|
||||
[SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST],
|
||||
[SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE],
|
||||
bus=0,
|
||||
),
|
||||
Request(
|
||||
"toyota",
|
||||
[SHORT_TESTER_PRESENT_REQUEST, OBD_VERSION_REQUEST],
|
||||
[SHORT_TESTER_PRESENT_RESPONSE, OBD_VERSION_RESPONSE],
|
||||
bus=0,
|
||||
),
|
||||
Request(
|
||||
"toyota",
|
||||
[TESTER_PRESENT_REQUEST, DEFAULT_DIAGNOSTIC_REQUEST, EXTENDED_DIAGNOSTIC_REQUEST, UDS_VERSION_REQUEST],
|
||||
[TESTER_PRESENT_RESPONSE, DEFAULT_DIAGNOSTIC_RESPONSE, EXTENDED_DIAGNOSTIC_RESPONSE, UDS_VERSION_RESPONSE],
|
||||
bus=0,
|
||||
),
|
||||
# Volkswagen
|
||||
Request(
|
||||
"volkswagen",
|
||||
[VOLKSWAGEN_VERSION_REQUEST_MULTI],
|
||||
[VOLKSWAGEN_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar],
|
||||
rx_offset=VOLKSWAGEN_RX_OFFSET,
|
||||
),
|
||||
Request(
|
||||
"volkswagen",
|
||||
[VOLKSWAGEN_VERSION_REQUEST_MULTI],
|
||||
[VOLKSWAGEN_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.engine, Ecu.transmission],
|
||||
),
|
||||
# Mazda
|
||||
Request(
|
||||
"mazda",
|
||||
[MAZDA_VERSION_REQUEST],
|
||||
[MAZDA_VERSION_RESPONSE],
|
||||
),
|
||||
# Nissan
|
||||
Request(
|
||||
"nissan",
|
||||
[NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
|
||||
[NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
|
||||
),
|
||||
Request(
|
||||
"nissan",
|
||||
[NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
|
||||
[NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
|
||||
rx_offset=NISSAN_RX_OFFSET,
|
||||
),
|
||||
Request(
|
||||
"nissan",
|
||||
[NISSAN_VERSION_REQUEST_STANDARD],
|
||||
[NISSAN_VERSION_RESPONSE_STANDARD],
|
||||
rx_offset=NISSAN_RX_OFFSET,
|
||||
),
|
||||
# Body
|
||||
Request(
|
||||
"body",
|
||||
[TESTER_PRESENT_REQUEST, UDS_VERSION_REQUEST],
|
||||
[TESTER_PRESENT_RESPONSE, UDS_VERSION_RESPONSE],
|
||||
bus=0,
|
||||
),
|
||||
# Chrysler / FCA / Stellantis
|
||||
Request(
|
||||
"chrysler",
|
||||
[CHRYSLER_VERSION_REQUEST],
|
||||
[CHRYSLER_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.srs, Ecu.gateway, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.combinationMeter],
|
||||
rx_offset=CHRYSLER_RX_OFFSET,
|
||||
),
|
||||
Request(
|
||||
"chrysler",
|
||||
[CHRYSLER_VERSION_REQUEST],
|
||||
[CHRYSLER_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.abs, Ecu.hcp, Ecu.engine, Ecu.transmission],
|
||||
),
|
||||
Request(
|
||||
"chrysler",
|
||||
[CHRYSLER_SOFTWARE_VERSION_REQUEST],
|
||||
[CHRYSLER_SOFTWARE_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.engine, Ecu.transmission],
|
||||
),
|
||||
# Ford
|
||||
Request(
|
||||
"ford",
|
||||
[TESTER_PRESENT_REQUEST, FORD_VERSION_REQUEST],
|
||||
[TESTER_PRESENT_RESPONSE, FORD_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.engine],
|
||||
),
|
||||
Request(
|
||||
"ford",
|
||||
[TESTER_PRESENT_REQUEST, FORD_VERSION_REQUEST],
|
||||
[TESTER_PRESENT_RESPONSE, FORD_VERSION_RESPONSE],
|
||||
bus=0,
|
||||
whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire],
|
||||
),
|
||||
]
|
||||
MODEL_TO_BRAND = {c: b for b, e in VERSIONS.items() for c in e}
|
||||
REQUESTS = [(brand, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests]
|
||||
|
||||
|
||||
def chunks(l, n=128):
|
||||
@@ -261,9 +37,8 @@ def build_fw_dict(fw_versions, filter_brand=None):
|
||||
|
||||
|
||||
def get_brand_addrs():
|
||||
versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
|
||||
brand_addrs = defaultdict(set)
|
||||
for brand, cars in versions.items():
|
||||
for brand, cars in VERSIONS.items():
|
||||
for fw in cars.values():
|
||||
brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()}
|
||||
return brand_addrs
|
||||
@@ -325,19 +100,19 @@ def match_fw_to_car_exact(fw_versions_dict):
|
||||
|
||||
for candidate, fws in candidates.items():
|
||||
for ecu, expected_versions in fws.items():
|
||||
config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]]
|
||||
ecu_type = ecu[0]
|
||||
addr = ecu[1:]
|
||||
|
||||
found_versions = fw_versions_dict.get(addr, set())
|
||||
if ecu_type == Ecu.abs and candidate in (TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS) and not len(found_versions):
|
||||
continue
|
||||
if not len(found_versions):
|
||||
# Some models can sometimes miss an ecu, or show on two different addresses
|
||||
if candidate in config.non_essential_ecus.get(ecu_type, []):
|
||||
continue
|
||||
|
||||
# On some Toyota models, the engine can show on two different addresses
|
||||
if ecu_type == Ecu.engine and candidate in (TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS) and not len(found_versions):
|
||||
continue
|
||||
|
||||
# Ignore non essential ecus
|
||||
if ecu_type not in ESSENTIAL_ECUS and not len(found_versions):
|
||||
continue
|
||||
# Ignore non essential ecus
|
||||
if ecu_type not in ESSENTIAL_ECUS:
|
||||
continue
|
||||
|
||||
# Virtual debug ecu doesn't need to match the database
|
||||
if ecu_type == Ecu.debug:
|
||||
@@ -358,11 +133,10 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True):
|
||||
if allow_fuzzy:
|
||||
exact_matches.append((False, match_fw_to_car_fuzzy))
|
||||
|
||||
brands = get_interface_attr('FW_VERSIONS', ignore_none=True).keys()
|
||||
for exact_match, match_func in exact_matches:
|
||||
# For each brand, attempt to fingerprint using all FW returned from its queries
|
||||
matches = set()
|
||||
for brand in brands:
|
||||
for brand in VERSIONS.keys():
|
||||
fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
|
||||
matches |= match_func(fw_versions_dict)
|
||||
|
||||
@@ -376,13 +150,9 @@ def get_present_ecus(logcan, sendcan):
|
||||
queries = list()
|
||||
parallel_queries = list()
|
||||
responses = set()
|
||||
versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
|
||||
|
||||
for r in REQUESTS:
|
||||
if r.brand not in versions:
|
||||
continue
|
||||
|
||||
for brand_versions in versions[r.brand].values():
|
||||
for brand, r in REQUESTS:
|
||||
for brand_versions in VERSIONS[brand].values():
|
||||
for ecu_type, addr, sub_addr in brand_versions:
|
||||
# Only query ecus in whitelist if whitelist is not empty
|
||||
if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus:
|
||||
@@ -411,9 +181,9 @@ def get_brand_ecu_matches(ecu_rx_addrs):
|
||||
"""Returns dictionary of brands and matches with ECUs in their FW versions"""
|
||||
|
||||
brand_addrs = get_brand_addrs()
|
||||
brand_matches = {r.brand: set() for r in REQUESTS}
|
||||
brand_matches = {brand: set() for brand, _ in REQUESTS}
|
||||
|
||||
brand_rx_offsets = set((r.brand, r.rx_offset) for r in REQUESTS)
|
||||
brand_rx_offsets = set((brand, r.rx_offset) for brand, r in REQUESTS)
|
||||
for addr, sub_addr, _ in ecu_rx_addrs:
|
||||
# Since we can't know what request an ecu responded to, add matches for all possible rx offsets
|
||||
for brand, rx_offset in brand_rx_offsets:
|
||||
@@ -442,7 +212,7 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=Fa
|
||||
|
||||
|
||||
def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, debug=False, progress=False):
|
||||
versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
|
||||
versions = VERSIONS.copy()
|
||||
if query_brand is not None:
|
||||
versions = {query_brand: versions[query_brand]}
|
||||
|
||||
@@ -473,33 +243,33 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
|
||||
|
||||
# Get versions and build capnp list to put into CarParams
|
||||
car_fw = []
|
||||
requests = [r for r in REQUESTS if query_brand is None or r.brand == query_brand]
|
||||
requests = [(brand, r) for brand, r in REQUESTS if query_brand is None or brand == query_brand]
|
||||
for addr in tqdm(addrs, disable=not progress):
|
||||
for addr_chunk in chunks(addr):
|
||||
for r in requests:
|
||||
for brand, r in requests:
|
||||
try:
|
||||
addrs = [(a, s) for (b, a, s) in addr_chunk if b in (r.brand, 'any') and
|
||||
addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and
|
||||
(len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)]
|
||||
|
||||
if addrs:
|
||||
query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug)
|
||||
for (addr, rx_addr), version in query.get_data(timeout).items():
|
||||
for (tx_addr, sub_addr), version in query.get_data(timeout).items():
|
||||
f = car.CarParams.CarFw.new_message()
|
||||
|
||||
f.ecu = ecu_types.get((r.brand, addr[0], addr[1]), Ecu.unknown)
|
||||
f.ecu = ecu_types.get((brand, tx_addr, sub_addr), Ecu.unknown)
|
||||
f.fwVersion = version
|
||||
f.address = addr[0]
|
||||
f.responseAddress = rx_addr
|
||||
f.address = tx_addr
|
||||
f.responseAddress = uds.get_rx_addr_for_tx_addr(tx_addr, r.rx_offset)
|
||||
f.request = r.request
|
||||
f.brand = r.brand
|
||||
f.brand = brand
|
||||
f.bus = r.bus
|
||||
|
||||
if addr[1] is not None:
|
||||
f.subAddress = addr[1]
|
||||
if sub_addr is not None:
|
||||
f.subAddress = sub_addr
|
||||
|
||||
car_fw.append(f)
|
||||
except Exception:
|
||||
cloudlog.warning(f"FW query exception: {traceback.format_exc()}")
|
||||
cloudlog.exception("FW query exception")
|
||||
|
||||
return car_fw
|
||||
|
||||
@@ -533,8 +303,8 @@ if __name__ == "__main__":
|
||||
|
||||
t = time.time()
|
||||
print("Getting vin...")
|
||||
addr, vin_rx_addr, vin = get_vin(logcan, sendcan, 1, retry=10, debug=args.debug)
|
||||
print(f'TX: {hex(addr)}, RX: {hex(vin_rx_addr)}, VIN: {vin}')
|
||||
vin_rx_addr, vin = get_vin(logcan, sendcan, 1, retry=10, debug=args.debug)
|
||||
print(f'RX: {hex(vin_rx_addr)}, VIN: {vin}')
|
||||
print(f"Getting VIN took {time.time() - t:.3f} s")
|
||||
print()
|
||||
|
||||
|
||||
@@ -68,13 +68,16 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.radarOffCan = False
|
||||
ret.pcmCruise = False # stock non-adaptive cruise control is kept off
|
||||
|
||||
CarInterfaceBase.configure_dp_tune(candidate, ret.lateralTuning)
|
||||
|
||||
# These cars have been put into dashcam only due to both a lack of users and test coverage.
|
||||
# These cars likely still work fine. Once a user confirms each car works and a test route is
|
||||
# added to selfdrive/car/tests/routes.py, we can remove it from this list.
|
||||
ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL}
|
||||
ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX, CAR.BOLT_EV}
|
||||
|
||||
# Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
|
||||
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
|
||||
# Some GMs need some tolerance above 10 kph to avoid a fault
|
||||
ret.minSteerSpeed = 10.1 * CV.KPH_TO_MS
|
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
|
||||
ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
|
||||
@@ -138,25 +141,25 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.mass = 1601. + STD_CARGO_KG
|
||||
ret.wheelbase = 2.78
|
||||
ret.steerRatio = 15.3
|
||||
ret.centerToFront = ret.wheelbase * 0.49
|
||||
ret.centerToFront = ret.wheelbase * 0.5
|
||||
|
||||
elif candidate == CAR.ESCALADE_ESV:
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
ret.mass = 2739. + STD_CARGO_KG
|
||||
ret.wheelbase = 3.302
|
||||
ret.steerRatio = 17.3
|
||||
ret.centerToFront = ret.wheelbase * 0.49
|
||||
ret.centerToFront = ret.wheelbase * 0.5
|
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
|
||||
ret.lateralTuning.pid.kf = 0.000045
|
||||
tire_stiffness_factor = 1.0
|
||||
|
||||
elif candidate == CAR.BOLT_EUV:
|
||||
elif candidate in (CAR.BOLT_EV, CAR.BOLT_EUV):
|
||||
ret.minEnableSpeed = -1
|
||||
ret.mass = 1669. + STD_CARGO_KG
|
||||
ret.wheelbase = 2.675
|
||||
ret.wheelbase = 2.63779
|
||||
ret.steerRatio = 16.8
|
||||
ret.centerToFront = ret.wheelbase * 0.4
|
||||
ret.centerToFront = 2.15 # measured
|
||||
tire_stiffness_factor = 1.0
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
@@ -170,6 +173,14 @@ class CarInterface(CarInterfaceBase):
|
||||
tire_stiffness_factor = 1.0
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.EQUINOX:
|
||||
ret.minEnableSpeed = -1
|
||||
ret.mass = 3500. * CV.LB_TO_KG + STD_CARGO_KG
|
||||
ret.wheelbase = 2.72
|
||||
ret.steerRatio = 14.4
|
||||
ret.centerToFront = ret.wheelbase * 0.4
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
# TODO: get actual value, for now starting with reasonable value for
|
||||
# civic and scaling by mass and wheelbase
|
||||
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
|
||||
|
||||
+20
-12
@@ -23,11 +23,12 @@ class CarControllerParams:
|
||||
ADAS_KEEPALIVE_STEP = 100
|
||||
CAMERA_KEEPALIVE_STEP = 100
|
||||
|
||||
# Volt gasbrake lookups
|
||||
# TODO: These values should be confirmed on non-Volt vehicles
|
||||
# Volt gas/brake lookups
|
||||
# TODO: These values should be confirmed on non-Volt vehicles.
|
||||
# MAX_GAS should achieve 2 m/s^2 and MAX_BRAKE with regen should achieve -4.0 m/s^2
|
||||
MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill.
|
||||
ZERO_GAS = 2048 # Coasting
|
||||
MAX_BRAKE = 350 # ~ -3.5 m/s^2 with regen
|
||||
MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
|
||||
MAX_ACC_REGEN = 1404 # Max ACC regen is slightly less than max paddle regen
|
||||
|
||||
# Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
|
||||
@@ -38,15 +39,14 @@ class CarControllerParams:
|
||||
ACCEL_MAX = 2. # m/s^2
|
||||
ACCEL_MIN = -4. # m/s^2
|
||||
|
||||
EV_GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX]
|
||||
EV_BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.]
|
||||
|
||||
# ICE has much less engine braking force compared to regen in EVs,
|
||||
# lower threshold removes some braking deadzone
|
||||
GAS_LOOKUP_BP = [-0.1, 0., ACCEL_MAX]
|
||||
BRAKE_LOOKUP_BP = [ACCEL_MIN, -0.1]
|
||||
|
||||
EV_GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX]
|
||||
GAS_LOOKUP_V = [MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
|
||||
|
||||
BRAKE_LOOKUP_BP = [ACCEL_MIN, -0.1]
|
||||
EV_BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.]
|
||||
BRAKE_LOOKUP_V = [MAX_BRAKE, 0.]
|
||||
|
||||
|
||||
@@ -58,8 +58,10 @@ class CAR:
|
||||
ACADIA = "GMC ACADIA DENALI 2018"
|
||||
BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
|
||||
ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
|
||||
BOLT_EV = "CHEVROLET BOLT EV 2022"
|
||||
BOLT_EUV = "CHEVROLET BOLT EUV 2022"
|
||||
SILVERADO = "CHEVROLET SILVERADO 1500 2020"
|
||||
EQUINOX = "CHEVROLET EQUINOX 2019"
|
||||
|
||||
|
||||
class Footnote(Enum):
|
||||
@@ -71,7 +73,7 @@ class Footnote(Enum):
|
||||
|
||||
@dataclass
|
||||
class GMCarInfo(CarInfo):
|
||||
package: str = "Adaptive Cruise Control"
|
||||
package: str = "Adaptive Cruise Control (ACC)"
|
||||
harness: Enum = Harness.obd_ii
|
||||
footnotes: List[Enum] = field(default_factory=lambda: [Footnote.OBD_II])
|
||||
|
||||
@@ -84,11 +86,13 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
|
||||
CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
|
||||
CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
|
||||
CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
|
||||
CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210", footnotes=[], harness=Harness.gm),
|
||||
CAR.BOLT_EV: GMCarInfo("Chevrolet Bolt EV 2022-23", footnotes=[], harness=Harness.gm),
|
||||
CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", "https://youtu.be/xvwzGMUA210", footnotes=[], harness=Harness.gm),
|
||||
CAR.SILVERADO: [
|
||||
GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II", footnotes=[], harness=Harness.gm),
|
||||
GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", footnotes=[], harness=Harness.gm),
|
||||
],
|
||||
CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22", footnotes=[], harness=Harness.gm),
|
||||
}
|
||||
|
||||
|
||||
@@ -166,13 +170,17 @@ FINGERPRINTS = {
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
|
||||
}],
|
||||
CAR.EQUINOX: [
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
|
||||
}],
|
||||
}
|
||||
|
||||
DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
|
||||
|
||||
EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
|
||||
EV_CAR = {CAR.VOLT, CAR.BOLT_EV, CAR.BOLT_EUV}
|
||||
|
||||
# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
|
||||
CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO}
|
||||
CAMERA_ACC_CAR = {CAR.BOLT_EV, CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX}
|
||||
|
||||
STEER_THRESHOLD = 1.0
|
||||
|
||||
@@ -24,6 +24,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
|
||||
("MOTOR_TORQUE", "STEER_MOTOR_TORQUE"),
|
||||
("STEER_TORQUE_SENSOR", "STEER_STATUS"),
|
||||
("IMPERIAL_UNIT", "CAR_SPEED"),
|
||||
("ROUGH_CAR_SPEED_2", "CAR_SPEED"),
|
||||
("LEFT_BLINKER", "SCM_FEEDBACK"),
|
||||
("RIGHT_BLINKER", "SCM_FEEDBACK"),
|
||||
("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS"),
|
||||
@@ -150,6 +151,10 @@ class CarState(CarStateBase):
|
||||
self.cruise_setting = 0
|
||||
self.v_cruise_pcm_prev = 0
|
||||
|
||||
# When available we use cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] to populate vEgoCluster
|
||||
# However, on cars without a digital speedometer this is not always present (HRV, FIT, CRV 2016, ILX and RDX)
|
||||
self.dash_speed_seen = False
|
||||
|
||||
def update(self, cp, cp_cam, cp_body):
|
||||
ret = car.CarState.new_message()
|
||||
|
||||
@@ -203,6 +208,11 @@ class CarState(CarStateBase):
|
||||
ret.vEgoRaw = (1. - v_weight) * cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] * CV.KPH_TO_MS * self.CP.wheelSpeedFactor + v_weight * v_wheel
|
||||
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
|
||||
|
||||
self.dash_speed_seen = self.dash_speed_seen or cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] > 1e-3
|
||||
if self.dash_speed_seen:
|
||||
conversion = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
|
||||
ret.vEgoCluster = cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] * conversion
|
||||
|
||||
ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE"]
|
||||
ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE_RATE"]
|
||||
|
||||
@@ -237,9 +247,9 @@ class CarState(CarStateBase):
|
||||
ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252.
|
||||
|
||||
# on certain cars, CRUISE_SPEED changes to imperial with car's unit setting
|
||||
conversion_factor = CV.MPH_TO_MS if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS and not self.is_metric else CV.KPH_TO_MS
|
||||
conversion = CV.MPH_TO_MS if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS and not self.is_metric else CV.KPH_TO_MS
|
||||
# On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this.
|
||||
ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * conversion_factor
|
||||
ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * conversion
|
||||
self.v_cruise_pcm_prev = ret.cruiseState.speed
|
||||
else:
|
||||
ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS
|
||||
|
||||
@@ -329,8 +329,8 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0x0, 0xB5, 0x161, 0x2D6, 0x4C0, 0x70D, 0xC42, 0x1058, 0x2C00], [0x0, 0x160, 0x1F0, 0x2E0, 0x378, 0x4A0, 0x5F0, 0x804, 0xF00]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]] #still needs to finish tuning for the new car
|
||||
ret.lateralTuning.pid.kf = 0.00004
|
||||
|
||||
CarInterfaceBase.configure_lqr_tune(ret.lateralTuning)
|
||||
else:
|
||||
CarInterfaceBase.configure_dp_tune(candidate, ret.lateralTuning)
|
||||
return ret
|
||||
|
||||
@staticmethod
|
||||
|
||||
@@ -6,6 +6,7 @@ from cereal import car
|
||||
from common.conversions import Conversions as CV
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
@@ -109,13 +110,13 @@ class HondaCarInfo(CarInfo):
|
||||
|
||||
CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
|
||||
CAR.ACCORD: [
|
||||
HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
|
||||
HondaCarInfo("Honda Accord 2018-22", "All", "https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
|
||||
HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
|
||||
],
|
||||
CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
|
||||
CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", harness=Harness.nidec, video_link="https://youtu.be/-IkImTe1NYE"),
|
||||
CAR.CIVIC_BOSCH: [
|
||||
HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a),
|
||||
HondaCarInfo("Honda Civic 2019-21", "All", "https://www.youtube.com/watch?v=4Iz1Mz5LGF8", [Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a),
|
||||
HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch_a),
|
||||
],
|
||||
CAR.CIVIC_BOSCH_DIESEL: None, # same platform
|
||||
@@ -142,6 +143,14 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
|
||||
CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
|
||||
}
|
||||
|
||||
FW_QUERY_CONFIG = FwQueryConfig(
|
||||
requests=[
|
||||
Request(
|
||||
[StdQueries.UDS_VERSION_REQUEST],
|
||||
[StdQueries.UDS_VERSION_RESPONSE],
|
||||
),
|
||||
],
|
||||
)
|
||||
|
||||
FW_VERSIONS = {
|
||||
CAR.ODYSSEY_CHN: {(Ecu.vsa, 0xfff, None): [b'\x00']},
|
||||
|
||||
@@ -97,7 +97,8 @@ class CarController:
|
||||
# cruise standstill resume
|
||||
elif CC.cruiseControl.resume:
|
||||
if not (self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
|
||||
can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
|
||||
for _ in range(20):
|
||||
can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
|
||||
self.last_button_frame = self.frame
|
||||
else:
|
||||
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
from collections import deque
|
||||
import copy
|
||||
import math
|
||||
|
||||
from cereal import car
|
||||
from common.conversions import Conversions as CV
|
||||
@@ -9,6 +10,7 @@ from selfdrive.car.hyundai.values import HyundaiFlags, DBC, FEATURES, CAMERA_SCC
|
||||
from selfdrive.car.interfaces import CarStateBase
|
||||
|
||||
PREV_BUTTON_SAMPLES = 8
|
||||
CLUSTER_SAMPLE_RATE = 20 # frames
|
||||
|
||||
|
||||
class CarState(CarStateBase):
|
||||
@@ -29,9 +31,12 @@ class CarState(CarStateBase):
|
||||
self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
|
||||
|
||||
self.brake_error = False
|
||||
self.park_brake = False
|
||||
self.buttons_counter = 0
|
||||
|
||||
# On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz
|
||||
self.cluster_speed = 0
|
||||
self.cluster_speed_counter = CLUSTER_SAMPLE_RATE
|
||||
|
||||
self.params = CarControllerParams(CP)
|
||||
|
||||
def update(self, cp, cp_cam):
|
||||
@@ -39,8 +44,9 @@ class CarState(CarStateBase):
|
||||
return self.update_canfd(cp, cp_cam)
|
||||
|
||||
ret = car.CarState.new_message()
|
||||
|
||||
cp_cruise = cp_cam if self.CP.carFingerprint in CAMERA_SCC_CAR else cp
|
||||
is_metric = cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] == 0
|
||||
speed_conv = CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS
|
||||
|
||||
ret.doorOpen = any([cp.vl["CGW1"]["CF_Gway_DrvDrSw"], cp.vl["CGW1"]["CF_Gway_AstDrSw"],
|
||||
cp.vl["CGW2"]["CF_Gway_RLDrSw"], cp.vl["CGW2"]["CF_Gway_RRDrSw"]])
|
||||
@@ -55,9 +61,19 @@ class CarState(CarStateBase):
|
||||
)
|
||||
ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
|
||||
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
|
||||
|
||||
ret.standstill = ret.vEgoRaw < 0.1
|
||||
|
||||
self.cluster_speed_counter += 1
|
||||
if self.cluster_speed_counter > CLUSTER_SAMPLE_RATE:
|
||||
self.cluster_speed = cp.vl["CLU15"]["CF_Clu_VehicleSpeed"]
|
||||
self.cluster_speed_counter = 0
|
||||
|
||||
# mimic how dash converts to imperial
|
||||
if not is_metric:
|
||||
self.cluster_speed = math.floor(self.cluster_speed * CV.KPH_TO_MPH + CV.KPH_TO_MPH)
|
||||
|
||||
ret.vEgoCluster = self.cluster_speed * speed_conv
|
||||
|
||||
ret.steeringAngleDeg = cp.vl["SAS11"]["SAS_Angle"]
|
||||
ret.steeringRateDeg = cp.vl["SAS11"]["SAS_Speed"]
|
||||
ret.yawRate = cp.vl["ESP12"]["YAW_RATE"]
|
||||
@@ -78,7 +94,6 @@ class CarState(CarStateBase):
|
||||
ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1
|
||||
ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0
|
||||
ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4.
|
||||
speed_conv = CV.MPH_TO_MS if cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] else CV.KPH_TO_MS
|
||||
ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv
|
||||
|
||||
# TODO: Find brake pressure
|
||||
@@ -228,6 +243,8 @@ class CarState(CarStateBase):
|
||||
("CF_Clu_AmpInfo", "CLU11"),
|
||||
("CF_Clu_AliveCnt1", "CLU11"),
|
||||
|
||||
("CF_Clu_VehicleSpeed", "CLU15"),
|
||||
|
||||
("ACCEnable", "TCS13"),
|
||||
("ACC_REQ", "TCS13"),
|
||||
("DriverBraking", "TCS13"),
|
||||
@@ -252,6 +269,7 @@ class CarState(CarStateBase):
|
||||
("TCS13", 50),
|
||||
("TCS15", 10),
|
||||
("CLU11", 50),
|
||||
("CLU15", 5),
|
||||
("ESP12", 100),
|
||||
("CGW1", 10),
|
||||
("CGW2", 5),
|
||||
@@ -310,7 +328,6 @@ class CarState(CarStateBase):
|
||||
|
||||
if CP.carFingerprint in FEATURES["use_cluster_gears"]:
|
||||
signals.append(("CF_Clu_Gear", "CLU15"))
|
||||
checks.append(("CLU15", 5))
|
||||
elif CP.carFingerprint in FEATURES["use_tcu_gears"]:
|
||||
signals.append(("CUR_GR", "TCU12"))
|
||||
checks.append(("TCU12", 100))
|
||||
|
||||
@@ -38,7 +38,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
|
||||
values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0
|
||||
|
||||
# Likely cars lacking the ability to show individual lane lines in the dash
|
||||
elif car_fingerprint in (CAR.KIA_OPTIMA,):
|
||||
elif car_fingerprint in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_2019):
|
||||
# SysWarning 4 = keep hands on wheel + beep
|
||||
values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0
|
||||
|
||||
@@ -132,18 +132,16 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s
|
||||
}
|
||||
commands.append(packer.make_can_msg("SCC14", 0, scc14_values))
|
||||
|
||||
# note that some vehicles most likely have an alternate checksum/counter definition
|
||||
# https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602
|
||||
fca11_values = {
|
||||
# seems to count 2,1,0,3,2,1,0,3,2,1,0,3,2,1,0,repeat...
|
||||
# (where first value is aligned to Supplemental_Counter == 0)
|
||||
# test: [(idx % 0xF, -((idx % 0xF) + 2) % 4) for idx in range(0x14)]
|
||||
"CR_FCA_Alive": ((-((idx % 0xF) + 2) % 4) << 2) + 1,
|
||||
"Supplemental_Counter": idx % 0xF,
|
||||
"CR_FCA_Alive": idx % 0xF,
|
||||
"PAINT1_Status": 1,
|
||||
"FCA_DrvSetStatus": 1,
|
||||
"FCA_Status": 1, # AEB disabled
|
||||
}
|
||||
fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2]
|
||||
fca11_values["CR_FCA_ChkSum"] = 0x10 - sum(sum(divmod(i, 16)) for i in fca11_dat) % 0x10
|
||||
fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7])
|
||||
commands.append(packer.make_can_msg("FCA11", 0, fca11_values))
|
||||
|
||||
return commands
|
||||
|
||||
@@ -203,11 +203,13 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.lateralTuning.indi.timeConstantV = [1.4]
|
||||
ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
|
||||
ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
|
||||
elif candidate in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H):
|
||||
elif candidate in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_2019, CAR.KIA_OPTIMA_H):
|
||||
ret.mass = 3558. * CV.LB_TO_KG
|
||||
ret.wheelbase = 2.80
|
||||
ret.steerRatio = 13.75
|
||||
tire_stiffness_factor = 0.5
|
||||
if candidate == CAR.KIA_OPTIMA:
|
||||
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
elif candidate == CAR.KIA_STINGER:
|
||||
ret.lateralTuning.pid.kf = 0.00005
|
||||
@@ -290,6 +292,8 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
|
||||
|
||||
CarInterfaceBase.configure_dp_tune(candidate, ret.lateralTuning)
|
||||
|
||||
# panda safety config
|
||||
if candidate in CANFD_CAR:
|
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
|
||||
@@ -339,7 +343,6 @@ class CarInterface(CarInterfaceBase):
|
||||
if int(Params().get("dp_atl").decode('utf-8')) == 1:
|
||||
ret.openpilotLongitudinalControl = False
|
||||
|
||||
CarInterfaceBase.configure_lqr_tune(ret.lateralTuning)
|
||||
return ret
|
||||
|
||||
@staticmethod
|
||||
|
||||
@@ -3,9 +3,12 @@ from dataclasses import dataclass
|
||||
from typing import Dict, List, Optional, Union
|
||||
|
||||
from cereal import car
|
||||
from panda.python import uds
|
||||
from common.conversions import Conversions as CV
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarInfo, Harness
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
|
||||
@@ -26,6 +29,8 @@ class CarControllerParams:
|
||||
self.STEER_DRIVER_ALLOWANCE = 250
|
||||
self.STEER_DRIVER_MULTIPLIER = 2
|
||||
self.STEER_THRESHOLD = 250
|
||||
self.STEER_DELTA_UP = 2
|
||||
self.STEER_DELTA_DOWN = 3
|
||||
|
||||
# To determine the limit for your car, find the maximum value that the stock LKAS will request.
|
||||
# If the max stock LKAS request is <384, add your car to this list.
|
||||
@@ -80,7 +85,8 @@ class CAR:
|
||||
KIA_NIRO_EV = "KIA NIRO EV 2020"
|
||||
KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019"
|
||||
KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021"
|
||||
KIA_OPTIMA = "KIA OPTIMA SX 2019 & 2016"
|
||||
KIA_OPTIMA = "KIA OPTIMA 2016"
|
||||
KIA_OPTIMA_2019 = "KIA OPTIMA 2019"
|
||||
KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
|
||||
KIA_SELTOS = "KIA SELTOS 2021"
|
||||
KIA_SORENTO = "KIA SORENTO GT LINE 2018"
|
||||
@@ -97,71 +103,67 @@ class CAR:
|
||||
|
||||
@dataclass
|
||||
class HyundaiCarInfo(CarInfo):
|
||||
# TODO: we can probably remove LKAS. LKAS is standard on many
|
||||
# HKG and for others, it's likely packaged together with SCC
|
||||
package: str = "Smart Cruise Control (SCC) & LKAS"
|
||||
package: str = "Smart Cruise Control (SCC)"
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
|
||||
CAR.ELANTRA: HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b),
|
||||
CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
|
||||
CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-22", "Smart Cruise Control (SCC)", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
|
||||
CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
|
||||
CAR.ELANTRA_GT_I30: None, # dashcamOnly and same platform as CAR.ELANTRA
|
||||
CAR.HYUNDAI_GENESIS: HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j),
|
||||
CAR.HYUNDAI_GENESIS: HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j), # TODO: check 2015 packages
|
||||
CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness=Harness.hyundai_c),
|
||||
CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", "Smart Cruise Control (SCC) & LFA", harness=Harness.hyundai_h),
|
||||
CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", harness=Harness.hyundai_h), # TODO: confirm 2020-21 harness
|
||||
CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness=Harness.hyundai_c),
|
||||
CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", harness=Harness.hyundai_h),
|
||||
CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", harness=Harness.hyundai_h),
|
||||
CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", harness=Harness.hyundai_c),
|
||||
CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21", "Smart Cruise Control (SCC)", harness=Harness.hyundai_h),
|
||||
CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", "Smart Cruise Control (SCC)", harness=Harness.hyundai_b),
|
||||
CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21", "All", harness=Harness.hyundai_h),
|
||||
CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", harness=Harness.hyundai_b),
|
||||
CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", harness=Harness.hyundai_g),
|
||||
CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", "Smart Cruise Control (SCC)", harness=Harness.hyundai_o),
|
||||
CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i),
|
||||
CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", harness=Harness.hyundai_o),
|
||||
CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i), # TODO: check packages
|
||||
CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness=Harness.hyundai_d),
|
||||
CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", harness=Harness.hyundai_l),
|
||||
CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", "https://youtu.be/VnHzSTygTS4", harness=Harness.hyundai_l),
|
||||
CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness=Harness.hyundai_l),
|
||||
CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", harness=Harness.hyundai_l),
|
||||
CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-22", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a),
|
||||
CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-22", "All", "https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a),
|
||||
CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness=Harness.hyundai_e),
|
||||
CAR.TUCSON: [
|
||||
HyundaiCarInfo("Hyundai Tucson 2021", "Smart Cruise Control (SCC)", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l),
|
||||
HyundaiCarInfo("Hyundai Tucson Diesel 2019", "Smart Cruise Control (SCC)", harness=Harness.hyundai_l),
|
||||
HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l),
|
||||
HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l),
|
||||
],
|
||||
CAR.PALISADE: [
|
||||
HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h),
|
||||
HyundaiCarInfo("Hyundai Palisade 2020-22", "All", "https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h),
|
||||
HyundaiCarInfo("Kia Telluride 2020", "All", harness=Harness.hyundai_h),
|
||||
],
|
||||
CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", "Smart Cruise Control (SCC)", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e),
|
||||
CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e),
|
||||
CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness=Harness.hyundai_a),
|
||||
CAR.IONIQ_5: HyundaiCarInfo("Hyundai Ioniq 5 2022", "Highway Driving Assist II", harness=Harness.hyundai_q),
|
||||
CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022", "All", harness=Harness.hyundai_n),
|
||||
|
||||
# Kia
|
||||
CAR.KIA_FORTE: [
|
||||
HyundaiCarInfo("Kia Forte 2018", harness=Harness.hyundai_b),
|
||||
HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g),
|
||||
],
|
||||
CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a),
|
||||
CAR.KIA_FORTE: HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g),
|
||||
CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", harness=Harness.hyundai_a),
|
||||
CAR.KIA_NIRO_EV: [
|
||||
HyundaiCarInfo("Kia Niro Electric 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
|
||||
HyundaiCarInfo("Kia Niro Electric 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f),
|
||||
HyundaiCarInfo("Kia Niro Electric 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c),
|
||||
HyundaiCarInfo("Kia Niro Electric 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
|
||||
HyundaiCarInfo("Kia Niro EV 2019", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
|
||||
HyundaiCarInfo("Kia Niro EV 2020", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f),
|
||||
HyundaiCarInfo("Kia Niro EV 2021", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c),
|
||||
HyundaiCarInfo("Kia Niro EV 2022", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
|
||||
],
|
||||
CAR.KIA_NIRO_PHEV: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c),
|
||||
CAR.KIA_NIRO_PHEV: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c),
|
||||
CAR.KIA_NIRO_HEV_2021: [
|
||||
HyundaiCarInfo("Kia Niro Hybrid 2021", harness=Harness.hyundai_f), # TODO: could be hyundai_d, verify
|
||||
HyundaiCarInfo("Kia Niro Hybrid 2022", harness=Harness.hyundai_h),
|
||||
],
|
||||
CAR.KIA_OPTIMA: [
|
||||
HyundaiCarInfo("Kia Optima 2017", min_steer_speed=32. * CV.MPH_TO_MS, harness=Harness.hyundai_b),
|
||||
HyundaiCarInfo("Kia Optima 2019", harness=Harness.hyundai_g),
|
||||
CAR.KIA_OPTIMA: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", harness=Harness.hyundai_b), # TODO: may support 2016, 2018
|
||||
CAR.KIA_OPTIMA_2019: HyundaiCarInfo("Kia Optima 2019-20", harness=Harness.hyundai_g),
|
||||
CAR.KIA_OPTIMA_H: [
|
||||
HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"), # TODO: may support adjacent years
|
||||
HyundaiCarInfo("Kia Optima Hybrid 2019"),
|
||||
],
|
||||
CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima Hybrid 2017, 2019"), # TODO: info may be incorrect
|
||||
CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a),
|
||||
CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a),
|
||||
CAR.KIA_SORENTO: [
|
||||
HyundaiCarInfo("Kia Sorento 2018", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c),
|
||||
HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", "https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c),
|
||||
HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e),
|
||||
],
|
||||
CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
|
||||
@@ -225,9 +227,6 @@ FINGERPRINTS = {
|
||||
CAR.SONATA_LF: [
|
||||
{66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1397: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2014: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8},
|
||||
],
|
||||
CAR.KIA_OPTIMA: [{
|
||||
64: 8, 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 558: 8, 593: 8, 608: 8, 640: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1186: 2, 1191: 2, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1268: 8, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1492: 8, 1530: 8, 1532: 5, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 1996: 8, 2000: 8, 2001: 8, 2004: 8, 2008: 8, 2009: 8, 2012: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8, 1371: 8, 1397: 8, 1961: 8
|
||||
}],
|
||||
CAR.KIA_SORENTO: [{
|
||||
67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1
|
||||
}],
|
||||
@@ -272,6 +271,26 @@ FINGERPRINTS = {
|
||||
}],
|
||||
}
|
||||
|
||||
HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(0xf100) # Long description
|
||||
HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \
|
||||
p16(0xf100)
|
||||
HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
|
||||
|
||||
FW_QUERY_CONFIG = FwQueryConfig(
|
||||
requests=[
|
||||
Request(
|
||||
[HYUNDAI_VERSION_REQUEST_LONG],
|
||||
[HYUNDAI_VERSION_RESPONSE],
|
||||
),
|
||||
Request(
|
||||
[HYUNDAI_VERSION_REQUEST_MULTI],
|
||||
[HYUNDAI_VERSION_RESPONSE],
|
||||
),
|
||||
],
|
||||
)
|
||||
|
||||
FW_VERSIONS = {
|
||||
CAR.IONIQ: {
|
||||
@@ -1118,26 +1137,41 @@ FW_VERSIONS = {
|
||||
],
|
||||
},
|
||||
CAR.KIA_OPTIMA: {
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4100 ',
|
||||
],
|
||||
(Ecu.abs, 0x7d1, None): [
|
||||
b'\xf1\x00JF ESC \x0f 16 \x16\x06\x17 58920-D5080',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00JFWGN LDWS AT USA LHD 1.00 1.02 95895-D4100 G21',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6J0051\x00\x00\xf1\x006T6J0_C2\x00\x006T6J0051\x00\x00TJF0T20NSB\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.KIA_OPTIMA_2019: {
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4110 ',
|
||||
],
|
||||
(Ecu.abs, 0x7d1, None): [
|
||||
b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\xf1\x89F1JF600AISEIU702\xf1\x82F1JF600AISEIU702',
|
||||
],
|
||||
(Ecu.eps, 0x7d4, None): [
|
||||
b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8409',
|
||||
b"\xf1\x00JF ESC \t 11 \x18\x03' 58920-D5260",
|
||||
],
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5001 h32',
|
||||
b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.02 95895-D5000 h31',
|
||||
b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5100 h32',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW',
|
||||
b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.',
|
||||
b'\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01',
|
||||
b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00',
|
||||
b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW',
|
||||
b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.',
|
||||
b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01',
|
||||
b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00',
|
||||
b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B8051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B8051\x00\x00TJFSG24NH27\xa7\xc2\xb4',
|
||||
],
|
||||
},
|
||||
CAR.ELANTRA_2021: {
|
||||
@@ -1175,7 +1209,7 @@ FW_VERSIONS = {
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\xf1\x82CNCWD0AMFCXCSFFA',
|
||||
b'\xf1\x82CNCWD0AMFCXCSFFB',
|
||||
b'\xf1\x81HM6M2_0a0_FF0',
|
||||
b'\xf1\x82CNCVD0AMFCXCSFFB',
|
||||
b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_G80',
|
||||
],
|
||||
@@ -1273,6 +1307,7 @@ FW_VERSIONS = {
|
||||
},
|
||||
CAR.KIA_EV6: {
|
||||
(Ecu.abs, 0x7d1, None): [
|
||||
b'\xf1\x00CV IEB \x03 101!\x10\x18 58520-CV100',
|
||||
b'\xf1\x8758520CV100\xf1\x00CV IEB \x02 101!\x10\x18 58520-CV100',
|
||||
],
|
||||
(Ecu.eps, 0x7d4, None): [
|
||||
@@ -1284,6 +1319,7 @@ FW_VERSIONS = {
|
||||
],
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.05 99210-CV000 211027',
|
||||
b'\xf1\x00CV1 MFC AT EUR LHD 1.00 1.05 99210-CV000 211027',
|
||||
],
|
||||
},
|
||||
CAR.IONIQ_5: {
|
||||
@@ -1331,7 +1367,7 @@ CHECKSUM = {
|
||||
FEATURES = {
|
||||
# which message has the gear
|
||||
"use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA},
|
||||
"use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
|
||||
"use_tcu_gears": {CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_2019, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
|
||||
"use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022},
|
||||
|
||||
# these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
|
||||
@@ -1347,7 +1383,7 @@ HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_N
|
||||
EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022}
|
||||
|
||||
# these cars require a special panda safety mode due to missing counters and checksums in the messages
|
||||
LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022}
|
||||
LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_2019, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022}
|
||||
|
||||
# If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
|
||||
# If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py
|
||||
@@ -1357,22 +1393,23 @@ DBC = {
|
||||
CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.GENESIS_G70_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
|
||||
CAR.GENESIS_G70_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
|
||||
CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.GENESIS_G90: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.HYUNDAI_GENESIS: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.IONIQ_PHEV_2019: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.IONIQ_PHEV: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.IONIQ_EV_2020: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
|
||||
CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
|
||||
CAR.IONIQ: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.IONIQ_HEV_2022: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_FORTE: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_K5_2021: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
|
||||
CAR.KIA_NIRO_PHEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
|
||||
CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
|
||||
CAR.KIA_NIRO_PHEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
|
||||
CAR.KIA_NIRO_HEV_2021: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_OPTIMA: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_OPTIMA_2019: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_SELTOS: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
|
||||
@@ -1381,18 +1418,18 @@ DBC = {
|
||||
CAR.KONA_EV: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KONA_EV_2022: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KONA_HEV: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
|
||||
CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
|
||||
CAR.SANTA_FE_2022: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.SANTA_FE_HEV_2022: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.SANTA_FE_PHEV_2022: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.SONATA: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
|
||||
CAR.SONATA: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
|
||||
CAR.SONATA_LF: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
|
||||
CAR.TUCSON: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
|
||||
CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
|
||||
CAR.VELOSTER: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_EV6: dbc_dict('hyundai_canfd', None),
|
||||
CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
|
||||
CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
|
||||
CAR.TUCSON_HYBRID_4TH_GEN: dbc_dict('hyundai_canfd', None),
|
||||
CAR.IONIQ_5: dbc_dict('hyundai_canfd', None),
|
||||
}
|
||||
|
||||
+52
-16
@@ -2,25 +2,28 @@ import yaml
|
||||
import os
|
||||
import time
|
||||
from abc import abstractmethod, ABC
|
||||
from typing import Any, Dict, Optional, Tuple, List
|
||||
from typing import Any, Dict, Optional, Tuple, List, Callable
|
||||
|
||||
from cereal import car
|
||||
from common.basedir import BASEDIR
|
||||
from common.conversions import Conversions as CV
|
||||
from common.kalman.simple_kalman import KF1D
|
||||
from common.numpy_fast import interp
|
||||
from common.realtime import DT_CTRL
|
||||
from selfdrive.car import create_button_enable_events, gen_empty_fingerprint
|
||||
from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
|
||||
from selfdrive.car import apply_hysteresis, create_button_enable_events, gen_empty_fingerprint
|
||||
from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_deadzone
|
||||
from selfdrive.controls.lib.events import Events
|
||||
from selfdrive.controls.lib.vehicle_model import VehicleModel
|
||||
from common.params import Params
|
||||
|
||||
GearShifter = car.CarState.GearShifter
|
||||
EventName = car.CarEvent.EventName
|
||||
TorqueFromLateralAccelCallbackType = Callable[[float, car.CarParams.LateralTorqueTuning, float, float, bool], float]
|
||||
|
||||
MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
|
||||
ACCEL_MAX = 2.0
|
||||
ACCEL_MIN = -3.5
|
||||
FRICTION_THRESHOLD = 0.2
|
||||
|
||||
TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.yaml')
|
||||
TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.yaml')
|
||||
@@ -106,6 +109,20 @@ class CarInterfaceBase(ABC):
|
||||
def get_steer_feedforward_function(self):
|
||||
return self.get_steer_feedforward_default
|
||||
|
||||
@staticmethod
|
||||
def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, friction_compensation):
|
||||
# The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction)
|
||||
friction_interp = interp(
|
||||
apply_deadzone(lateral_accel_error, lateral_accel_deadzone),
|
||||
[-FRICTION_THRESHOLD, FRICTION_THRESHOLD],
|
||||
[-torque_params.friction, torque_params.friction]
|
||||
)
|
||||
friction = friction_interp if friction_compensation else 0.0
|
||||
return (lateral_accel_value / torque_params.latAccelFactor) + friction
|
||||
|
||||
def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
|
||||
return self.torque_from_lateral_accel_linear
|
||||
|
||||
# returns a set of default params to avoid repetition in car specific params
|
||||
@staticmethod
|
||||
def get_std_params(candidate, fingerprint):
|
||||
@@ -145,17 +162,16 @@ class CarInterfaceBase(ABC):
|
||||
|
||||
@staticmethod
|
||||
def configure_lqr_tune(tune):
|
||||
if Params().get_bool("dp_lateral_lqr"):
|
||||
tune.init('lqr')
|
||||
tune.lqr.scale = 1500.0
|
||||
tune.lqr.ki = 0.05
|
||||
tune.init('lqr')
|
||||
tune.lqr.scale = 1500.0
|
||||
tune.lqr.ki = 0.05
|
||||
|
||||
tune.lqr.a = [0., 1., -0.22619643, 1.21822268]
|
||||
tune.lqr.b = [-1.92006585e-04, 3.95603032e-05]
|
||||
tune.lqr.c = [1., 0.]
|
||||
tune.lqr.k = [-110.73572306, 451.22718255]
|
||||
tune.lqr.l = [0.3233671, 0.3185757]
|
||||
tune.lqr.dcGain = 0.002237852961363602
|
||||
tune.lqr.a = [0., 1., -0.22619643, 1.21822268]
|
||||
tune.lqr.b = [-1.92006585e-04, 3.95603032e-05]
|
||||
tune.lqr.c = [1., 0.]
|
||||
tune.lqr.k = [-110.73572306, 451.22718255]
|
||||
tune.lqr.l = [0.3233671, 0.3185757]
|
||||
tune.lqr.dcGain = 0.002237852961363602
|
||||
|
||||
@staticmethod
|
||||
def configure_torque_tune(candidate, tune, steering_angle_deadzone_deg=0.0, use_steering_angle=True):
|
||||
@@ -163,12 +179,22 @@ class CarInterfaceBase(ABC):
|
||||
|
||||
tune.init('torque')
|
||||
tune.torque.useSteeringAngle = use_steering_angle
|
||||
tune.torque.kp = 1.0 / params['LAT_ACCEL_FACTOR']
|
||||
tune.torque.kf = 1.0 / params['LAT_ACCEL_FACTOR']
|
||||
tune.torque.ki = 0.1 / params['LAT_ACCEL_FACTOR']
|
||||
tune.torque.kp = 1.0
|
||||
tune.torque.kf = 1.0
|
||||
tune.torque.ki = 0.1
|
||||
tune.torque.friction = params['FRICTION']
|
||||
tune.torque.latAccelFactor = params['LAT_ACCEL_FACTOR']
|
||||
tune.torque.latAccelOffset = 0.0
|
||||
tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg
|
||||
|
||||
@staticmethod
|
||||
def configure_dp_tune(candidate, tune, steering_angle_deadzone_deg=0.0, use_steering_angle=True):
|
||||
params = Params()
|
||||
if params.get_bool('dp_lateral_lqr'):
|
||||
CarInterfaceBase.configure_lqr_tune(tune)
|
||||
elif params.get_bool('dp_lateral_torque'):
|
||||
CarInterfaceBase.configure_torque_tune(candidate, tune, steering_angle_deadzone_deg, use_steering_angle)
|
||||
|
||||
@abstractmethod
|
||||
def _update(self, c: car.CarControl) -> car.CarState:
|
||||
pass
|
||||
@@ -191,6 +217,12 @@ class CarInterfaceBase(ABC):
|
||||
else:
|
||||
self.v_ego_cluster_seen = True
|
||||
|
||||
# Many cars apply hysteresis to the ego dash speed
|
||||
if self.CS is not None:
|
||||
ret.vEgoCluster = apply_hysteresis(ret.vEgoCluster, self.CS.out.vEgoCluster, self.CS.cluster_speed_hyst_gap)
|
||||
if abs(ret.vEgo) < self.CS.cluster_min_speed:
|
||||
ret.vEgoCluster = 0.0
|
||||
|
||||
if ret.cruiseState.speedCluster == 0:
|
||||
ret.cruiseState.speedCluster = ret.cruiseState.speed
|
||||
|
||||
@@ -235,6 +267,8 @@ class CarInterfaceBase(ABC):
|
||||
events.add(EventName.parkBrake)
|
||||
if self.dragonconf.dpAtl != 1 and cs_out.accFaulted:
|
||||
events.add(EventName.accFaulted)
|
||||
if cs_out.steeringPressed:
|
||||
events.add(EventName.steerOverride)
|
||||
|
||||
# Handle button presses
|
||||
events.events.extend(create_button_enable_events(cs_out.buttonEvents, pcm_cruise=self.CP.pcmCruise))
|
||||
@@ -312,6 +346,8 @@ class CarStateBase(ABC):
|
||||
self.right_blinker_cnt = 0
|
||||
self.left_blinker_prev = False
|
||||
self.right_blinker_prev = False
|
||||
self.cluster_speed_hyst_gap = 0.0
|
||||
self.cluster_min_speed = 0.0 # min speed before dropping to 0
|
||||
|
||||
# Q = np.matrix([[0.0, 0.0], [0.0, 100.0]])
|
||||
# R = 0.3
|
||||
|
||||
@@ -1,7 +1,6 @@
|
||||
import time
|
||||
from collections import defaultdict
|
||||
from functools import partial
|
||||
from typing import Optional
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from system.swaglog import cloudlog
|
||||
@@ -10,24 +9,21 @@ from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_a
|
||||
|
||||
|
||||
class IsoTpParallelQuery:
|
||||
def __init__(self, sendcan, logcan, bus, addrs, request, response, response_offset=0x8, functional_addr=False, debug=False, response_pending_timeout=10):
|
||||
def __init__(self, sendcan, logcan, bus, addrs, request, response, response_offset=0x8, functional_addrs=None, debug=False, response_pending_timeout=10):
|
||||
self.sendcan = sendcan
|
||||
self.logcan = logcan
|
||||
self.bus = bus
|
||||
self.request = request
|
||||
self.response = response
|
||||
self.functional_addrs = functional_addrs or []
|
||||
self.debug = debug
|
||||
self.functional_addr = functional_addr
|
||||
self.response_pending_timeout = response_pending_timeout
|
||||
|
||||
self.real_addrs = []
|
||||
for a in addrs:
|
||||
if isinstance(a, tuple):
|
||||
self.real_addrs.append(a)
|
||||
else:
|
||||
self.real_addrs.append((a, None))
|
||||
real_addrs = [a if isinstance(a, tuple) else (a, None) for a in addrs]
|
||||
for tx_addr, _ in real_addrs:
|
||||
assert tx_addr not in FUNCTIONAL_ADDRS, f"Functional address should be defined in functional_addrs: {hex(tx_addr)}"
|
||||
|
||||
self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in self.real_addrs}
|
||||
self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in real_addrs}
|
||||
self.msg_buffer = defaultdict(list)
|
||||
|
||||
def rx(self):
|
||||
@@ -36,13 +32,8 @@ class IsoTpParallelQuery:
|
||||
|
||||
for packet in can_packets:
|
||||
for msg in packet.can:
|
||||
if msg.src == self.bus:
|
||||
if self.functional_addr:
|
||||
if (0x7E8 <= msg.address <= 0x7EF) or (0x18DAF100 <= msg.address <= 0x18DAF1FF):
|
||||
fn_addr = next(a for a in FUNCTIONAL_ADDRS if msg.address - a <= 32)
|
||||
self.msg_buffer[fn_addr].append((msg.address, msg.busTime, msg.dat, msg.src))
|
||||
elif msg.address in self.msg_addrs.values():
|
||||
self.msg_buffer[msg.address].append((msg.address, msg.busTime, msg.dat, msg.src))
|
||||
if msg.src == self.bus and msg.address in self.msg_addrs.values():
|
||||
self.msg_buffer[msg.address].append((msg.address, msg.busTime, msg.dat, msg.src))
|
||||
|
||||
def _can_tx(self, tx_addr, dat, bus):
|
||||
"""Helper function to send single message"""
|
||||
@@ -72,6 +63,13 @@ class IsoTpParallelQuery:
|
||||
messaging.drain_sock(self.logcan)
|
||||
self.msg_buffer = defaultdict(list)
|
||||
|
||||
def _create_isotp_msg(self, tx_addr, sub_addr, rx_addr):
|
||||
can_client = CanClient(self._can_tx, partial(self._can_rx, rx_addr, sub_addr=sub_addr), tx_addr, rx_addr,
|
||||
self.bus, sub_addr=sub_addr, debug=self.debug)
|
||||
|
||||
max_len = 8 if sub_addr is None else 7
|
||||
return IsoTpMessage(can_client, timeout=0, max_len=max_len, debug=self.debug)
|
||||
|
||||
def get_data(self, timeout, total_timeout=60.):
|
||||
self._drain_rx()
|
||||
|
||||
@@ -80,22 +78,19 @@ class IsoTpParallelQuery:
|
||||
request_counter = {}
|
||||
request_done = {}
|
||||
for tx_addr, rx_addr in self.msg_addrs.items():
|
||||
# rx_addr not set when using functional tx addr
|
||||
id_addr = rx_addr or tx_addr[0]
|
||||
sub_addr = tx_addr[1]
|
||||
|
||||
can_client = CanClient(self._can_tx, partial(self._can_rx, id_addr, sub_addr=sub_addr), tx_addr[0], rx_addr,
|
||||
self.bus, sub_addr=sub_addr, debug=self.debug)
|
||||
|
||||
max_len = 8 if sub_addr is None else 7
|
||||
|
||||
msg = IsoTpMessage(can_client, timeout=0, max_len=max_len, debug=self.debug)
|
||||
msg.send(self.request[0])
|
||||
|
||||
msgs[tx_addr] = msg
|
||||
msgs[tx_addr] = self._create_isotp_msg(*tx_addr, rx_addr)
|
||||
request_counter[tx_addr] = 0
|
||||
request_done[tx_addr] = False
|
||||
|
||||
# Send first request to functional addrs, subsequent responses are handled on physical addrs
|
||||
if len(self.functional_addrs):
|
||||
for addr in self.functional_addrs:
|
||||
self._create_isotp_msg(addr, None, -1).send(self.request[0])
|
||||
|
||||
# If querying functional addrs, set up physical IsoTpMessages to send consecutive frames
|
||||
for msg in msgs.values():
|
||||
msg.send(self.request[0], setup_only=len(self.functional_addrs) > 0)
|
||||
|
||||
results = {}
|
||||
start_time = time.monotonic()
|
||||
response_timeouts = {tx_addr: start_time + timeout for tx_addr in self.msg_addrs}
|
||||
@@ -107,12 +102,15 @@ class IsoTpParallelQuery:
|
||||
|
||||
for tx_addr, msg in msgs.items():
|
||||
try:
|
||||
dat: Optional[bytes] = msg.recv()
|
||||
dat, updated = msg.recv()
|
||||
except Exception:
|
||||
cloudlog.exception("Error processing UDS response")
|
||||
cloudlog.exception(f"Error processing UDS response: {tx_addr}")
|
||||
request_done[tx_addr] = True
|
||||
continue
|
||||
|
||||
if updated:
|
||||
response_timeouts[tx_addr] = time.monotonic() + timeout
|
||||
|
||||
if not dat:
|
||||
continue
|
||||
|
||||
@@ -121,12 +119,11 @@ class IsoTpParallelQuery:
|
||||
response_valid = dat[:len(expected_response)] == expected_response
|
||||
|
||||
if response_valid:
|
||||
response_timeouts[tx_addr] = time.monotonic() + timeout
|
||||
if counter + 1 < len(self.request):
|
||||
msg.send(self.request[counter + 1])
|
||||
request_counter[tx_addr] += 1
|
||||
else:
|
||||
results[(tx_addr, msg._can_client.rx_addr)] = dat[len(expected_response):]
|
||||
results[tx_addr] = dat[len(expected_response):]
|
||||
request_done[tx_addr] = True
|
||||
else:
|
||||
error_code = dat[2] if len(dat) > 2 else -1
|
||||
|
||||
@@ -10,10 +10,6 @@ EventName = car.CarEvent.EventName
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
|
||||
@staticmethod
|
||||
def compute_gb(accel, speed):
|
||||
return float(accel) / 4.0
|
||||
|
||||
@staticmethod
|
||||
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
|
||||
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
|
||||
@@ -50,6 +46,8 @@ class CarInterface(CarInterfaceBase):
|
||||
if candidate not in (CAR.CX5_2022, ):
|
||||
ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
|
||||
|
||||
CarInterfaceBase.configure_dp_tune(candidate, ret.lateralTuning)
|
||||
|
||||
ret.centerToFront = ret.wheelbase * 0.41
|
||||
|
||||
# TODO: get actual value, for now starting with reasonable value for
|
||||
@@ -61,7 +59,6 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
|
||||
tire_stiffness_factor=tire_stiffness_factor)
|
||||
|
||||
CarInterfaceBase.configure_lqr_tune(ret.lateralTuning)
|
||||
return ret
|
||||
|
||||
# returns a car.CarState
|
||||
|
||||
@@ -2,9 +2,11 @@ from dataclasses import dataclass
|
||||
from enum import Enum
|
||||
from typing import Dict, List, Union
|
||||
|
||||
from cereal import car
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarInfo, Harness
|
||||
from cereal import car
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
|
||||
@@ -50,6 +52,7 @@ class LKAS_LIMITS:
|
||||
DISABLE_SPEED = 45 # kph
|
||||
ENABLE_SPEED = 52 # kph
|
||||
|
||||
|
||||
class Buttons:
|
||||
NONE = 0
|
||||
SET_PLUS = 1
|
||||
@@ -58,8 +61,17 @@ class Buttons:
|
||||
CANCEL = 4
|
||||
|
||||
|
||||
FW_QUERY_CONFIG = FwQueryConfig(
|
||||
requests=[
|
||||
Request(
|
||||
[StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
|
||||
[StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
|
||||
),
|
||||
],
|
||||
)
|
||||
|
||||
FW_VERSIONS = {
|
||||
CAR.CX5_2022 : {
|
||||
CAR.CX5_2022: {
|
||||
(Ecu.eps, 0x730, None): [
|
||||
b'KSD5-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
|
||||
@@ -20,7 +20,7 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
cloudlog.debug("Using Mock Car Interface")
|
||||
|
||||
self.sensor = messaging.sub_sock('sensorEvents')
|
||||
self.gyro = messaging.sub_sock('gyroscope')
|
||||
self.gps = messaging.sub_sock('gpsLocationExternal')
|
||||
|
||||
self.speed = 0.
|
||||
@@ -28,10 +28,6 @@ class CarInterface(CarInterfaceBase):
|
||||
self.yaw_rate = 0.
|
||||
self.yaw_rate_meas = 0.
|
||||
|
||||
@staticmethod
|
||||
def compute_gb(accel, speed):
|
||||
return accel
|
||||
|
||||
@staticmethod
|
||||
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
|
||||
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
|
||||
@@ -50,11 +46,9 @@ class CarInterface(CarInterfaceBase):
|
||||
# returns a car.CarState
|
||||
def _update(self, c):
|
||||
# get basic data from phone and gps since CAN isn't connected
|
||||
sensors = messaging.recv_sock(self.sensor)
|
||||
if sensors is not None:
|
||||
for sensor in sensors.sensorEvents:
|
||||
if sensor.type == 4: # gyro
|
||||
self.yaw_rate_meas = -sensor.gyro.v[0]
|
||||
gyro_sensor = messaging.recv_sock(self.gyro)
|
||||
if gyro_sensor is not None:
|
||||
self.yaw_rate_meas = -gyro_sensor.gyroscope.gyroUncalibrated.v[0]
|
||||
|
||||
gps = messaging.recv_sock(self.gps)
|
||||
if gps is not None:
|
||||
|
||||
@@ -35,6 +35,8 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.wheelbase = 2.824
|
||||
ret.centerToFront = ret.wheelbase * 0.44
|
||||
|
||||
CarInterfaceBase.configure_dp_tune(candidate, ret.lateralTuning)
|
||||
|
||||
ret.steerControlType = car.CarParams.SteerControlType.angle
|
||||
ret.radarOffCan = True
|
||||
|
||||
|
||||
@@ -2,9 +2,12 @@ from dataclasses import dataclass
|
||||
from typing import Dict, List, Optional, Union
|
||||
from enum import Enum
|
||||
|
||||
from cereal import car
|
||||
from panda.python import uds
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarInfo, Harness
|
||||
from cereal import car
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
|
||||
@@ -75,6 +78,33 @@ FINGERPRINTS = {
|
||||
]
|
||||
}
|
||||
|
||||
NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0xc0])
|
||||
NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0xc0])
|
||||
|
||||
NISSAN_VERSION_REQUEST_KWP = b'\x21\x83'
|
||||
NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83'
|
||||
|
||||
NISSAN_RX_OFFSET = 0x20
|
||||
|
||||
FW_QUERY_CONFIG = FwQueryConfig(
|
||||
requests=[
|
||||
Request(
|
||||
[NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
|
||||
[NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
|
||||
),
|
||||
Request(
|
||||
[NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
|
||||
[NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
|
||||
rx_offset=NISSAN_RX_OFFSET,
|
||||
),
|
||||
Request(
|
||||
[StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
|
||||
[StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
|
||||
rx_offset=NISSAN_RX_OFFSET,
|
||||
),
|
||||
],
|
||||
)
|
||||
|
||||
FW_VERSIONS = {
|
||||
CAR.ALTIMA: {
|
||||
(Ecu.fwdCamera, 0x707, None): [
|
||||
|
||||
@@ -32,9 +32,8 @@ class CarState(CarStateBase):
|
||||
cp_wheels.vl["Wheel_Speeds"]["RR"],
|
||||
)
|
||||
ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
|
||||
# Kalman filter, even though Subaru raw wheel speed is heaviliy filtered by default
|
||||
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
|
||||
ret.standstill = ret.vEgoRaw < 0.01
|
||||
ret.standstill = ret.vEgoRaw == 0
|
||||
|
||||
# continuous blinker signals for assisted lane change
|
||||
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["Dashlights"]["LEFT_BLINKER"],
|
||||
@@ -50,7 +49,7 @@ class CarState(CarStateBase):
|
||||
ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"]
|
||||
ret.steeringTorque = cp.vl["Steering_Torque"]["Steer_Torque_Sensor"]
|
||||
ret.steeringTorqueEps = cp.vl["Steering_Torque"]["Steer_Torque_Output"]
|
||||
|
||||
|
||||
steer_threshold = 75 if self.CP.carFingerprint in PREGLOBAL_CARS else 80
|
||||
ret.steeringPressed = abs(ret.steeringTorque) > steer_threshold
|
||||
|
||||
@@ -314,4 +313,4 @@ class CarState(CarStateBase):
|
||||
checks += CarState.get_global_es_distance_signals()[1]
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1)
|
||||
|
||||
return None
|
||||
return None
|
||||
|
||||
@@ -103,6 +103,8 @@ class CarInterface(CarInterfaceBase):
|
||||
else:
|
||||
raise ValueError(f"unknown car: {candidate}")
|
||||
|
||||
CarInterfaceBase.configure_dp_tune(candidate, ret.lateralTuning)
|
||||
|
||||
# TODO: get actual value, for now starting with reasonable value for
|
||||
# civic and scaling by mass and wheelbase
|
||||
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
|
||||
@@ -111,7 +113,6 @@ class CarInterface(CarInterfaceBase):
|
||||
# mass and CG position, so all cars will have approximately similar dyn behaviors
|
||||
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
|
||||
|
||||
CarInterfaceBase.configure_lqr_tune(ret.lateralTuning)
|
||||
return ret
|
||||
|
||||
# returns a car.CarState
|
||||
|
||||
@@ -2,9 +2,11 @@ from dataclasses import dataclass
|
||||
from enum import Enum
|
||||
from typing import Dict, List, Union
|
||||
|
||||
from cereal import car
|
||||
from panda.python import uds
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarInfo, Harness
|
||||
from cereal import car
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
@@ -71,6 +73,19 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
|
||||
CAR.OUTBACK_PREGLOBAL_2018: SubaruCarInfo("Subaru Outback 2018-19"),
|
||||
}
|
||||
|
||||
SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
|
||||
SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
|
||||
|
||||
FW_QUERY_CONFIG = FwQueryConfig(
|
||||
requests=[
|
||||
Request(
|
||||
[StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
|
||||
[StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
|
||||
),
|
||||
],
|
||||
)
|
||||
|
||||
FW_VERSIONS = {
|
||||
CAR.ASCENT: {
|
||||
@@ -89,6 +104,7 @@ FW_VERSIONS = {
|
||||
b'\000\000e~\037@ \'',
|
||||
b'\x00\x00e@\x1f@ $',
|
||||
b'\x00\x00d\xb9\x00\x00\x00\x00',
|
||||
b'\x00\x00e@\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\xbb,\xa0t\a',
|
||||
@@ -96,33 +112,38 @@ FW_VERSIONS = {
|
||||
b'\xf1\x82\xbb,\xa0t\a',
|
||||
b'\xf1\x82\xd9,\xa0@\a',
|
||||
b'\xf1\x82\xd1,\xa0q\x07',
|
||||
b'\xd1,\xa0q\x07',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\x00\xfe\xf7\x00\x00',
|
||||
b'\001\xfe\xf9\000\000',
|
||||
b'\x01\xfe\xf7\x00\x00',
|
||||
b'\x01\xfe\xfa\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.LEGACY: {
|
||||
(Ecu.abs, 0x7b0, None): [
|
||||
b'\xa1\\ x04\x01',
|
||||
b'\xa1 \x03\x03'
|
||||
b'\xa1 \x03\x03',
|
||||
b'\xa1 \x02\x01',
|
||||
],
|
||||
(Ecu.eps, 0x746, None): [
|
||||
b'\x9b\xc0\x11\x00',
|
||||
b'\x9b\xc0\x11\x02'
|
||||
b'\x9b\xc0\x11\x02',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x787, None): [
|
||||
b'\x00\x00e\x80\x00\x1f@ \x19\x00',
|
||||
b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00'
|
||||
b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\xde\"a0\x07',
|
||||
b'\xe2"aq\x07'
|
||||
b'\xe2"aq\x07',
|
||||
b'\xde,\xa0@\x07',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xa5\xf6\x05@\x00',
|
||||
b'\xa7\xf6\x04@\x00'
|
||||
b'\xa7\xf6\x04@\x00',
|
||||
b'\xa5\xfe\xc7@\x00',
|
||||
],
|
||||
},
|
||||
CAR.IMPREZA: {
|
||||
|
||||
@@ -1,9 +1,12 @@
|
||||
from collections import namedtuple
|
||||
from typing import Dict, List, Union
|
||||
|
||||
from cereal import car
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarInfo
|
||||
from cereal import car
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
|
||||
AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_points'])
|
||||
@@ -20,11 +23,6 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
|
||||
}
|
||||
|
||||
FINGERPRINTS = {
|
||||
CAR.AP2_MODELS: [
|
||||
{
|
||||
1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 277: 6, 280: 6, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 518: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 538: 8, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 576: 3, 577: 8, 582: 5, 583: 8, 584: 4, 585: 8, 590: 8, 601: 8, 606: 8, 608: 1, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 692: 8, 693: 8, 695: 8, 696: 8, 697: 8, 699: 8, 700: 8, 701: 8, 702: 8, 703: 8, 704: 8, 708: 8, 709: 8, 710: 8, 711: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 811: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 845: 8, 846: 5, 848: 8, 852: 8, 853: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 876: 8, 877: 8, 879: 8, 880: 8, 882: 8, 884: 8, 888: 8, 893: 8, 894: 8, 901: 6, 904: 3, 905: 8, 906: 8, 908: 2, 909: 8, 910: 8, 912: 8, 920: 8, 921: 8, 925: 4, 926: 6, 936: 8, 941: 8, 949: 8, 952: 8, 953: 6, 968: 8, 969: 6, 970: 8, 971: 8, 977: 8, 984: 8, 987: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1007: 8, 1008: 8, 1010: 6, 1014: 1, 1015: 8, 1016: 8, 1017: 8, 1018: 8, 1020: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1049: 8, 1061: 8, 1064: 8, 1065: 8, 1070: 8, 1080: 8, 1081: 8, 1097: 8, 1113: 8, 1129: 8, 1145: 8, 1160: 4, 1177: 8, 1281: 8, 1328: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1353: 8, 1368: 8, 1412: 8, 1436: 8, 1476: 8, 1481: 8, 1497: 8, 1513: 8, 1519: 8, 1601: 8, 1605: 8, 1617: 8, 1621: 8, 1625: 8, 1665: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1824: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2015: 8, 2043: 5, 2045: 4
|
||||
},
|
||||
],
|
||||
CAR.AP1_MODELS: [
|
||||
{
|
||||
1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 267: 5, 277: 6, 280: 6, 283: 5, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 577: 8, 582: 5, 584: 4, 585: 8, 590: 8, 606: 8, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 660: 5, 693: 8, 696: 8, 697: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 809: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 841: 8, 845: 8, 846: 5, 852: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 873: 8, 877: 8, 878: 8, 879: 8, 880: 8, 884: 8, 888: 8, 889: 8, 893: 8, 896: 8, 901: 6, 904: 3, 905: 8, 908: 2, 909: 8, 920: 8, 921: 8, 925: 4, 936: 8, 937: 8, 941: 8, 949: 8, 952: 8, 953: 6, 957: 8, 968: 8, 973: 8, 984: 8, 987: 8, 989: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1016: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1064: 8, 1070: 8, 1080: 8, 1160: 4, 1281: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1368: 8, 1412: 8, 1436: 8, 1465: 8, 1476: 8, 1497: 8, 1524: 8, 1527: 8, 1601: 8, 1605: 8, 1611: 8, 1614: 8, 1617: 8, 1621: 8, 1627: 8, 1630: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2043: 5, 2045: 4
|
||||
@@ -37,6 +35,42 @@ DBC = {
|
||||
CAR.AP1_MODELS: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'),
|
||||
}
|
||||
|
||||
FW_QUERY_CONFIG = FwQueryConfig(
|
||||
requests=[
|
||||
Request(
|
||||
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
|
||||
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.eps],
|
||||
rx_offset=0x08,
|
||||
bus=0,
|
||||
),
|
||||
Request(
|
||||
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
|
||||
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.adas, Ecu.electricBrakeBooster, Ecu.fwdRadar],
|
||||
rx_offset=0x10,
|
||||
bus=0,
|
||||
),
|
||||
]
|
||||
)
|
||||
|
||||
FW_VERSIONS = {
|
||||
CAR.AP2_MODELS: {
|
||||
(Ecu.adas, 0x649, None): [
|
||||
b'\x01\x00\x8b\x07\x01\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x11',
|
||||
],
|
||||
(Ecu.electricBrakeBooster, 0x64d, None): [
|
||||
b'1037123-00-A',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x671, None): [
|
||||
b'\x01\x00W\x00\x00\x00\x07\x00\x00\x00\x00\x08\x01\x00\x00\x00\x07\xff\xfe',
|
||||
],
|
||||
(Ecu.eps, 0x730, None): [
|
||||
b'\x10#\x01',
|
||||
],
|
||||
},
|
||||
}
|
||||
|
||||
class CANBUS:
|
||||
# Lateral harness
|
||||
chassis = 0
|
||||
|
||||
@@ -21,12 +21,14 @@ FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]
|
||||
COMMA BODY: [.nan, 1000, .nan]
|
||||
|
||||
# Totally new cars
|
||||
KIA EV6 2022: [3.5, 2.5, 0.0]
|
||||
KIA EV6 2022: [3.5, 3.0, 0.0]
|
||||
RAM 1500 5TH GEN: [2.0, 2.0, 0.0]
|
||||
RAM HD 5TH GEN: [1.4, 1.4, 0.0]
|
||||
SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
|
||||
CHEVROLET BOLT EV 2022: [2.0, 2.0, 0.05]
|
||||
CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
|
||||
CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112]
|
||||
CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05]
|
||||
VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1]
|
||||
HYUNDAI TUCSON HYBRID 4TH GEN: [2.5, 2.5, 0.0]
|
||||
|
||||
|
||||
@@ -17,7 +17,8 @@ LEXUS RC 2020: LEXUS NX 2020
|
||||
TOYOTA AVALON HYBRID 2019: TOYOTA AVALON 2019
|
||||
TOYOTA AVALON HYBRID 2022: TOYOTA AVALON 2022
|
||||
|
||||
KIA OPTIMA SX 2019 & 2016: HYUNDAI SONATA 2020
|
||||
KIA OPTIMA 2016: HYUNDAI SONATA 2020
|
||||
KIA OPTIMA 2019: HYUNDAI SONATA 2020
|
||||
KIA OPTIMA HYBRID 2017 & SPORTS 2019: HYUNDAI SONATA 2020
|
||||
KIA FORTE E 2018 & GT 2021: HYUNDAI SONATA 2020
|
||||
KIA CEED INTRO ED 2019: HYUNDAI SONATA 2020
|
||||
|
||||
@@ -103,7 +103,7 @@ class CarController:
|
||||
pcm_cancel_cmd = 1
|
||||
|
||||
# on entering standstill, send standstill request
|
||||
if CS.out.standstill and not self.last_standstill and self.CP.carFingerprint not in NO_STOP_TIMER_CAR:
|
||||
if CS.out.standstill and not self.last_standstill and (self.CP.carFingerprint not in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor):
|
||||
self.standstill_req = True
|
||||
if CS.pcm_acc_status != 8:
|
||||
# pcm entered standstill or it's disabled
|
||||
@@ -153,10 +153,10 @@ class CarController:
|
||||
if pcm_cancel_cmd and self.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
|
||||
can_sends.append(create_acc_cancel_command(self.packer))
|
||||
elif self.CP.openpilotLongitudinalControl:
|
||||
can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, CS.distance_btn))
|
||||
can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, CS.distance))
|
||||
self.accel = pcm_accel_cmd
|
||||
else:
|
||||
can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, CS.distance_btn))
|
||||
can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, CS.distance))
|
||||
|
||||
if self.frame % 2 == 0 and self.CP.enableGasInterceptor and self.CP.openpilotLongitudinalControl:
|
||||
# send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.
|
||||
|
||||
@@ -49,8 +49,10 @@ class CarState(CarStateBase):
|
||||
self.dp_accel_profile_prev = None
|
||||
self.dp_accel_profile_init = False
|
||||
self.dp_toyota_ap_btn_link = Params().get_bool('dp_toyota_ap_btn_link')
|
||||
# KRKeegan - Add support for toyota distance button
|
||||
self.distance_btn = 0
|
||||
self.read_distance_lines = 0
|
||||
self.read_distance_lines_init = False
|
||||
self.distance = 0
|
||||
self.dp_toyota_fp_btn_link = Params().get_bool('dp_toyota_fp_btn_link')
|
||||
|
||||
def update(self, cp, cp_cam):
|
||||
ret = car.CarState.new_message()
|
||||
@@ -106,7 +108,7 @@ class CarState(CarStateBase):
|
||||
|
||||
#dp: Thank you Arne (acceleration)
|
||||
if self.dp_toyota_ap_btn_link:
|
||||
sport_on_sig = 'SPORT_ON_2' if CAR.RAV4_TSS2 else 'SPORT_ON'
|
||||
sport_on_sig = 'SPORT_ON_2' if self.CP.carFingerprint == CAR.RAV4_TSS2 else 'SPORT_ON'
|
||||
# check signal once
|
||||
if not self.dp_sig_check:
|
||||
self.dp_sig_check = True
|
||||
@@ -140,6 +142,21 @@ class CarState(CarStateBase):
|
||||
self.dp_accel_profile_init = True
|
||||
self.dp_accel_profile_prev = self.dp_accel_profile
|
||||
|
||||
# distance button
|
||||
|
||||
#dp: Thank you Arne (distance button)
|
||||
if self.dp_toyota_fp_btn_link:
|
||||
if not self.read_distance_lines_init or self.read_distance_lines != cp.vl["PCM_CRUISE_SM"]['DISTANCE_LINES']:
|
||||
self.read_distance_lines_init = True
|
||||
self.read_distance_lines = cp.vl["PCM_CRUISE_SM"]['DISTANCE_LINES']
|
||||
put_nonblocking('dp_following_profile', str(int(max(self.read_distance_lines - 1, 0)))) # Skipping one profile toyota mid is weird.
|
||||
put_nonblocking('dp_last_modified',str(floor(time.time())))
|
||||
|
||||
if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
|
||||
self.distance = cp_cam.vl["ACC_CONTROL"]['DISTANCE']
|
||||
elif self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDER]:
|
||||
self.distance = cp.vl["SDSU"]['FD_BUTTON']
|
||||
|
||||
#dp
|
||||
ret.engineRPM = cp.vl["ENGINE_RPM"]['RPM']
|
||||
|
||||
@@ -176,11 +193,6 @@ class CarState(CarStateBase):
|
||||
self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
|
||||
ret.stockFcw = bool(cp_acc.vl["ACC_HUD"]["FCW"])
|
||||
|
||||
# KRKeegan - Add support for toyota distance button
|
||||
if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
|
||||
self.distance_btn = 1 if cp_cam.vl["ACC_CONTROL"]["DISTANCE"] == 1 else 0
|
||||
ret.distanceLines = cp.vl["PCM_CRUISE_SM"]["DISTANCE_LINES"]
|
||||
|
||||
# some TSS2 cars have low speed lockout permanently set, so ignore on those cars
|
||||
# these cars are identified by an ACC_TYPE value of 2.
|
||||
# TODO: it is possible to avoid the lockout and gain stop and go if you
|
||||
@@ -331,6 +343,7 @@ class CarState(CarStateBase):
|
||||
("ECON_ON", "GEAR_PACKET"),
|
||||
("RPM", "ENGINE_RPM"),
|
||||
("BRAKE_LIGHTS_ACC", "ESP_CONTROL"),
|
||||
("DISTANCE_LINES", "PCM_CRUISE_SM"),
|
||||
]
|
||||
|
||||
checks = [
|
||||
@@ -357,7 +370,9 @@ class CarState(CarStateBase):
|
||||
else:
|
||||
signals.append(("GAS_PEDAL", "GAS_PEDAL"))
|
||||
checks.append(("GAS_PEDAL", 33))
|
||||
|
||||
#arne
|
||||
if CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDER]:
|
||||
signals.append(("FD_BUTTON", "SDSU", 0))
|
||||
#dp acceleration
|
||||
if CP.carFingerprint == CAR.RAV4_TSS2:
|
||||
signals.append(("SPORT_ON_2", "GEAR_PACKET"))
|
||||
@@ -403,11 +418,6 @@ class CarState(CarStateBase):
|
||||
("ACC_HUD", 1),
|
||||
]
|
||||
|
||||
# KRKeegan - Add support for toyota distance button
|
||||
if CP.carFingerprint in TSS2_CAR:
|
||||
signals.append(("DISTANCE_LINES", "PCM_CRUISE_SM"))
|
||||
checks.append(("PCM_CRUISE_SM", 0))
|
||||
|
||||
if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu:
|
||||
signals += [
|
||||
("FORCE", "PRE_COLLISION"),
|
||||
@@ -421,7 +431,7 @@ class CarState(CarStateBase):
|
||||
|
||||
@staticmethod
|
||||
def get_cam_can_parser(CP):
|
||||
# Include traffic singal signals.
|
||||
# Include traffic signal, single
|
||||
signals = [
|
||||
("TSGN1", "RSA1", 0),
|
||||
("SPDVAL1", "RSA1", 0),
|
||||
@@ -447,14 +457,15 @@ class CarState(CarStateBase):
|
||||
("FORCE", "PRE_COLLISION"),
|
||||
("ACC_TYPE", "ACC_CONTROL"),
|
||||
("FCW", "ACC_HUD"),
|
||||
#dp
|
||||
("DISTANCE_LINES", "PCM_CRUISE_SM"),
|
||||
("DISTANCE", "ACC_CONTROL"),
|
||||
]
|
||||
checks += [
|
||||
("PRE_COLLISION", 33),
|
||||
("ACC_CONTROL", 33),
|
||||
("ACC_HUD", 1),
|
||||
("PCM_CRUISE_SM", 0),
|
||||
]
|
||||
|
||||
# KRKeegan - Add support for toyota distance button
|
||||
signals.append(("DISTANCE", "ACC_CONTROL", 0))
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
|
||||
|
||||
@@ -51,10 +51,14 @@ class CarInterface(CarInterfaceBase):
|
||||
tire_stiffness_factor = 0.6371 # hand-tune
|
||||
ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
|
||||
# Only give steer angle deadzone to for bad angle sensor prius
|
||||
for fw in car_fw:
|
||||
if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00':
|
||||
steering_angle_deadzone_deg = 1.0
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
|
||||
if Params().get_bool("dp_toyota_prius_bad_angle_tune"):
|
||||
steering_angle_deadzone_deg = 1.0
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
|
||||
else:
|
||||
for fw in car_fw:
|
||||
if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00':
|
||||
steering_angle_deadzone_deg = 1.0
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
|
||||
|
||||
elif candidate == CAR.PRIUS_V:
|
||||
stop_and_go = True
|
||||
@@ -131,10 +135,13 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
# 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
|
||||
# See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
|
||||
for fw in car_fw:
|
||||
if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
|
||||
set_lat_tune(ret.lateralTuning, LatTunes.PID_I)
|
||||
break
|
||||
if Params().get_bool("dp_toyota_rav4_tss2_tune"):
|
||||
set_lat_tune(ret.lateralTuning, LatTunes.PID_I)
|
||||
else:
|
||||
for fw in car_fw:
|
||||
if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
|
||||
set_lat_tune(ret.lateralTuning, LatTunes.PID_I)
|
||||
break
|
||||
|
||||
elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2):
|
||||
stop_and_go = True
|
||||
@@ -189,8 +196,8 @@ class CarInterface(CarInterfaceBase):
|
||||
tire_stiffness_factor = 0.6371 # hand-tune
|
||||
ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
|
||||
# set_lat_tune(ret.lateralTuning, LatTunes.PID_N)
|
||||
set_lat_tune(ret.lateralTuning, LatTunes.INDI_PRIUS_TSS2)
|
||||
ret.steerActuatorDelay = 0.3
|
||||
#set_lat_tune(ret.lateralTuning, LatTunes.INDI_PRIUS_TSS2)
|
||||
#ret.steerActuatorDelay = 0.3
|
||||
|
||||
elif candidate == CAR.MIRAI:
|
||||
stop_and_go = True
|
||||
@@ -208,6 +215,8 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG
|
||||
set_lat_tune(ret.lateralTuning, LatTunes.PID_J)
|
||||
|
||||
CarInterfaceBase.configure_dp_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
|
||||
|
||||
ret.centerToFront = ret.wheelbase * 0.44
|
||||
|
||||
# TODO: get actual value, for now starting with reasonable value for
|
||||
@@ -250,20 +259,18 @@ class CarInterface(CarInterfaceBase):
|
||||
# to a negative value, so it won't matter.
|
||||
ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED
|
||||
|
||||
if ret.enableGasInterceptor:
|
||||
set_long_tune(ret.longitudinalTuning, LongTunes.PEDAL)
|
||||
elif candidate in TSS2_CAR:
|
||||
if candidate in TSS2_CAR or ret.enableGasInterceptor:
|
||||
set_long_tune(ret.longitudinalTuning, LongTunes.TSS2)
|
||||
ret.vEgoStopping = 0.2 # car is near 0.1 to 0.2 when car starts requesting stopping accel
|
||||
ret.vEgoStarting = 0.2 # needs to be > or == vEgoStopping
|
||||
ret.stopAccel = -2.0 # Toyota requests -0.4 when stopped
|
||||
ret.stoppingDecelRate = 0.3 # reach stopping target smoothly - seems to take 0.5 seconds to go from 0 to -0.4
|
||||
ret.longitudinalActuatorDelayLowerBound = 0.3
|
||||
ret.longitudinalActuatorDelayUpperBound = 0.3
|
||||
if candidate in TSS2_CAR:
|
||||
ret.vEgoStopping = 0.2 # car is near 0.1 to 0.2 when car starts requesting stopping accel
|
||||
ret.vEgoStarting = 0.2 # needs to be > or == vEgoStopping
|
||||
ret.stopAccel = -2.0 # Toyota requests -0.4 when stopped
|
||||
ret.stoppingDecelRate = 0.3 # reach stopping target smoothly - seems to take 0.5 seconds to go from 0 to -0.4
|
||||
ret.longitudinalActuatorDelayLowerBound = 0.3
|
||||
ret.longitudinalActuatorDelayUpperBound = 0.3
|
||||
else:
|
||||
set_long_tune(ret.longitudinalTuning, LongTunes.TSS)
|
||||
|
||||
CarInterfaceBase.configure_lqr_tune(ret.lateralTuning)
|
||||
return ret
|
||||
|
||||
# returns a car.CarState
|
||||
|
||||
@@ -2,9 +2,8 @@
|
||||
from enum import Enum
|
||||
|
||||
class LongTunes(Enum):
|
||||
PEDAL = 0
|
||||
TSS2 = 1
|
||||
TSS = 2
|
||||
TSS2 = 0
|
||||
TSS = 1
|
||||
|
||||
class LatTunes(Enum):
|
||||
INDI_PRIUS = 0
|
||||
@@ -30,13 +29,16 @@ class LatTunes(Enum):
|
||||
###### LONG ######
|
||||
def set_long_tune(tune, name):
|
||||
# Improved longitudinal tune
|
||||
if name == LongTunes.TSS2 or name == LongTunes.PEDAL:
|
||||
if name == LongTunes.TSS2:
|
||||
tune.deadzoneBP = [0., 8.05]
|
||||
tune.deadzoneV = [.0, .14]
|
||||
tune.kpBP = [0., 5., 20., 30.]
|
||||
tune.kpV = [1.3, 1.0, 0.7, 0.1]
|
||||
tune.kiBP = [0., 0.07, 8, 13., 18., 20., 24., 25., 27., 33.]
|
||||
tune.kiV = [.01, .1, .15, .21, .175, .18, .2, .01, .001, .0001]
|
||||
#really smooth (make it toggleable)
|
||||
#tune.kiBP = [0., 0.07, 5, 8, 11., 18., 20., 24., 33.]
|
||||
#tune.kiV = [.001, .01, .1, .18, .21, .22, .23, .22, .001]
|
||||
tune.kiBP = [0., 11., 17., 20., 24., 30., 33., 40.]
|
||||
tune.kiV = [.001, .21, .22, .23, .22, .1, .001, .0001]
|
||||
# Default longitudinal tune
|
||||
elif name == LongTunes.TSS:
|
||||
tune.deadzoneBP = [0., 9.]
|
||||
|
||||
@@ -7,6 +7,7 @@ from cereal import car
|
||||
from common.conversions import Conversions as CV
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
MIN_ACC_SPEED = 19. * CV.MPH_TO_MS
|
||||
@@ -136,7 +137,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
|
||||
CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19", footnotes=[Footnote.DSU]),
|
||||
CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-22"),
|
||||
CAR.PRIUS: [
|
||||
ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
|
||||
ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", "https://www.youtube.com/watch?v=8zopPJI8XQ0", [Footnote.DSU]),
|
||||
ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
|
||||
ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
|
||||
],
|
||||
@@ -150,7 +151,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
|
||||
ToyotaCarInfo("Toyota RAV4 2017-18", footnotes=[Footnote.DSU])
|
||||
],
|
||||
CAR.RAV4H: [
|
||||
ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", video_link="https://youtu.be/LhT5VzJVfNI?t=26", footnotes=[Footnote.DSU]),
|
||||
ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", "https://youtu.be/LhT5VzJVfNI?t=26", [Footnote.DSU]),
|
||||
ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26", footnotes=[Footnote.DSU])
|
||||
],
|
||||
CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
|
||||
@@ -199,6 +200,35 @@ STATIC_DSU_MSGS = [
|
||||
(0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
|
||||
]
|
||||
|
||||
TOYOTA_VERSION_REQUEST = b'\x1a\x88\x01'
|
||||
TOYOTA_VERSION_RESPONSE = b'\x5a\x88\x01'
|
||||
|
||||
FW_QUERY_CONFIG = FwQueryConfig(
|
||||
requests=[
|
||||
Request(
|
||||
[StdQueries.SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST],
|
||||
[StdQueries.SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE],
|
||||
bus=0,
|
||||
),
|
||||
Request(
|
||||
[StdQueries.SHORT_TESTER_PRESENT_REQUEST, StdQueries.OBD_VERSION_REQUEST],
|
||||
[StdQueries.SHORT_TESTER_PRESENT_RESPONSE, StdQueries.OBD_VERSION_RESPONSE],
|
||||
bus=0,
|
||||
),
|
||||
Request(
|
||||
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.DEFAULT_DIAGNOSTIC_REQUEST, StdQueries.EXTENDED_DIAGNOSTIC_REQUEST, StdQueries.UDS_VERSION_REQUEST],
|
||||
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.DEFAULT_DIAGNOSTIC_RESPONSE, StdQueries.EXTENDED_DIAGNOSTIC_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
|
||||
bus=0,
|
||||
),
|
||||
],
|
||||
non_essential_ecus={
|
||||
# FIXME: On some models, abs can sometimes be missing
|
||||
Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS],
|
||||
# On some models, the engine can show on two different addresses
|
||||
Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.LEXUS_IS],
|
||||
}
|
||||
)
|
||||
|
||||
FW_VERSIONS = {
|
||||
CAR.CHR_TSS2: {(Ecu.eps, 0xfff, None): [b'\x00']},
|
||||
CAR.AVALON: {
|
||||
@@ -513,13 +543,16 @@ FW_VERSIONS = {
|
||||
CAR.CAMRYH_TSS2: {
|
||||
(Ecu.eps, 0x7a1, None): [
|
||||
b'8965B33630\x00\x00\x00\x00\x00\x00',
|
||||
b'8965B33650\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.abs, 0x7b0, None): [
|
||||
b'F152633D00\x00\x00\x00\x00\x00\x00',
|
||||
b'F152633D60\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.engine, 0x700, None): [
|
||||
b'\x018966306Q6000\x00\x00\x00\x00',
|
||||
b'\x018966306Q7000\x00\x00\x00\x00',
|
||||
b'\x01896633T20000\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x750, 15): [
|
||||
b'\x018821F6201200\x00\x00\x00\x00',
|
||||
@@ -786,6 +819,7 @@ FW_VERSIONS = {
|
||||
b'\x01896637626000\x00\x00\x00\x00',
|
||||
b'\x01896637648000\x00\x00\x00\x00',
|
||||
b'\x01896637643000\x00\x00\x00\x00',
|
||||
b'\x02896630A07000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
|
||||
b'\x02896630A21000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
|
||||
b'\x02896630ZJ5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
|
||||
b'\x02896630ZN8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
|
||||
|
||||
+30
-22
@@ -1,19 +1,12 @@
|
||||
#!/usr/bin/env python3
|
||||
import re
|
||||
import struct
|
||||
import traceback
|
||||
|
||||
import cereal.messaging as messaging
|
||||
import panda.python.uds as uds
|
||||
from panda.python.uds import get_rx_addr_for_tx_addr, FUNCTIONAL_ADDRS
|
||||
from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
|
||||
from selfdrive.car.fw_query_definitions import StdQueries
|
||||
from system.swaglog import cloudlog
|
||||
|
||||
OBD_VIN_REQUEST = b'\x09\x02'
|
||||
OBD_VIN_RESPONSE = b'\x49\x02\x01'
|
||||
|
||||
UDS_VIN_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + struct.pack("!H", uds.DATA_IDENTIFIER_TYPE.VIN)
|
||||
UDS_VIN_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + struct.pack("!H", uds.DATA_IDENTIFIER_TYPE.VIN)
|
||||
|
||||
VIN_UNKNOWN = "0" * 17
|
||||
VIN_RE = "[A-HJ-NPR-Z0-9]{17}"
|
||||
|
||||
@@ -23,29 +16,44 @@ def is_valid_vin(vin: str):
|
||||
|
||||
|
||||
def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False):
|
||||
addrs = [0x7e0, 0x7e2, 0x18da10f1, 0x18da0ef1] # engine, VMCU, 29-bit engine, PGM-FI
|
||||
addrs = list(range(0x7e0, 0x7e8)) + list(range(0x18DA00F1, 0x18DB00F1, 0x100)) # addrs to process/wait for
|
||||
valid_vin_addrs = [0x7e0, 0x7e2, 0x18da10f1, 0x18da0ef1] # engine, VMCU, 29-bit engine, PGM-FI
|
||||
for i in range(retry):
|
||||
for request, response in ((UDS_VIN_REQUEST, UDS_VIN_RESPONSE), (OBD_VIN_REQUEST, OBD_VIN_RESPONSE)):
|
||||
for request, response in ((StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE), (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE)):
|
||||
try:
|
||||
query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, [request, ], [response, ], debug=debug)
|
||||
for (addr, rx_addr), vin in query.get_data(timeout).items():
|
||||
query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, [request, ], [response, ], functional_addrs=FUNCTIONAL_ADDRS, debug=debug)
|
||||
results = query.get_data(timeout)
|
||||
|
||||
# Honda Bosch response starts with a length, trim to correct length
|
||||
if vin.startswith(b'\x11'):
|
||||
vin = vin[1:18]
|
||||
for addr in valid_vin_addrs:
|
||||
vin = results.get((addr, None))
|
||||
if vin is not None:
|
||||
# Honda Bosch response starts with a length, trim to correct length
|
||||
if vin.startswith(b'\x11'):
|
||||
vin = vin[1:18]
|
||||
|
||||
return addr[0], rx_addr, vin.decode()
|
||||
print(f"vin query retry ({i+1}) ...")
|
||||
return get_rx_addr_for_tx_addr(addr), vin.decode()
|
||||
|
||||
cloudlog.error(f"vin query retry ({i+1}) ...")
|
||||
except Exception:
|
||||
cloudlog.warning(f"VIN query exception: {traceback.format_exc()}")
|
||||
cloudlog.exception("VIN query exception")
|
||||
|
||||
return 0, 0, VIN_UNKNOWN
|
||||
return 0, VIN_UNKNOWN
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
import argparse
|
||||
import time
|
||||
|
||||
parser = argparse.ArgumentParser(description='Get VIN of the car')
|
||||
parser.add_argument('--debug', action='store_true')
|
||||
parser.add_argument('--bus', type=int, default=1)
|
||||
parser.add_argument('--timeout', type=float, default=0.1)
|
||||
parser.add_argument('--retry', type=int, default=5)
|
||||
args = parser.parse_args()
|
||||
|
||||
sendcan = messaging.pub_sock('sendcan')
|
||||
logcan = messaging.sub_sock('can')
|
||||
time.sleep(1)
|
||||
addr, vin_rx_addr, vin = get_vin(logcan, sendcan, 1, debug=False)
|
||||
print(f'TX: {hex(addr)}, RX: {hex(vin_rx_addr)}, VIN: {vin}')
|
||||
|
||||
vin_rx_addr, vin = get_vin(logcan, sendcan, args.bus, args.timeout, args.retry, debug=args.debug)
|
||||
print(f'RX: {hex(vin_rx_addr)}, VIN: {vin}')
|
||||
|
||||
@@ -7,6 +7,7 @@ from selfdrive.car.volkswagen import mqbcan, pqcan
|
||||
from selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams
|
||||
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
LongCtrlState = car.CarControl.Actuators.LongControlState
|
||||
|
||||
|
||||
class CarController:
|
||||
@@ -17,6 +18,7 @@ class CarController:
|
||||
self.packer_pt = CANPacker(dbc_name)
|
||||
|
||||
self.apply_steer_last = 0
|
||||
self.gra_acc_counter_last = None
|
||||
self.frame = 0
|
||||
self.hcaSameTorqueCount = 0
|
||||
self.hcaEnabledFrameCount = 0
|
||||
@@ -24,7 +26,6 @@ class CarController:
|
||||
def update(self, CC, CS, ext_bus):
|
||||
actuators = CC.actuators
|
||||
hud_control = CC.hudControl
|
||||
|
||||
can_sends = []
|
||||
|
||||
# **** Steering Controls ************************************************ #
|
||||
@@ -70,9 +71,12 @@ class CarController:
|
||||
# **** Acceleration Controls ******************************************** #
|
||||
|
||||
if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl:
|
||||
tsk_status = self.CCS.tsk_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
|
||||
acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
|
||||
accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0
|
||||
can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, tsk_status, accel))
|
||||
stopping = actuators.longControlState == LongCtrlState.stopping
|
||||
starting = actuators.longControlState == LongCtrlState.starting
|
||||
can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, CC.longActive, accel,
|
||||
acc_control, stopping, starting, CS.out.cruiseState.standstill))
|
||||
|
||||
# **** HUD Controls ***************************************************** #
|
||||
|
||||
@@ -91,15 +95,15 @@ class CarController:
|
||||
|
||||
# **** Stock ACC Button Controls **************************************** #
|
||||
|
||||
if self.CP.pcmCruise and self.frame % self.CCP.GRA_ACC_STEP == 0:
|
||||
idx = (CS.gra_stock_values["COUNTER"] + 1) % 16
|
||||
if CC.cruiseControl.cancel:
|
||||
can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, cancel=True))
|
||||
elif CC.cruiseControl.resume:
|
||||
can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, resume=True))
|
||||
gra_send_ready = self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last
|
||||
if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume):
|
||||
counter = (CS.gra_stock_values["COUNTER"] + 1) % 16
|
||||
can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, counter,
|
||||
cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume))
|
||||
|
||||
new_actuators = actuators.copy()
|
||||
new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX
|
||||
|
||||
self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"]
|
||||
self.frame += 1
|
||||
return new_actuators, can_sends
|
||||
|
||||
@@ -171,7 +171,7 @@ class CarState(CarStateBase):
|
||||
ret.gas = pt_cp.vl["Motor_3"]["Fahrpedal_Rohsignal"] / 100.0
|
||||
ret.gasPressed = ret.gas > 0
|
||||
ret.brake = pt_cp.vl["Bremse_5"]["Bremsdruck"] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects
|
||||
ret.brakePressed = bool(pt_cp.vl["Motor_2"]["Bremstestschalter"])
|
||||
ret.brakePressed = bool(pt_cp.vl["Motor_2"]["Bremslichtschalter"])
|
||||
ret.parkingBrake = bool(pt_cp.vl["Kombi_1"]["Bremsinfo"])
|
||||
|
||||
# Update gear and/or clutch position data.
|
||||
@@ -216,6 +216,7 @@ class CarState(CarStateBase):
|
||||
ret.stockAeb = False
|
||||
|
||||
# Update ACC radar status.
|
||||
self.acc_type = 0 # TODO: this is ACC "basic" with nonzero min speed, support FtS (1) later
|
||||
ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"])
|
||||
ret.cruiseState.enabled = bool(pt_cp.vl["Motor_2"]["GRA_Status"])
|
||||
if self.CP.pcmCruise:
|
||||
|
||||
@@ -38,6 +38,7 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
if any(msg in fingerprint[1] for msg in (0x1A0, 0xC2)): # Bremse_1, Lenkwinkel_1
|
||||
ret.networkLocation = NetworkLocation.gateway
|
||||
ret.experimentalLongitudinalAvailable = True
|
||||
else:
|
||||
ret.networkLocation = NetworkLocation.fwdCamera
|
||||
|
||||
@@ -49,13 +50,6 @@ class CarInterface(CarInterfaceBase):
|
||||
# Panda ALLOW_DEBUG firmware required.
|
||||
ret.dashcamOnly = True
|
||||
|
||||
if experimental_long and ret.networkLocation == NetworkLocation.gateway:
|
||||
# Proof-of-concept, prep for E2E only. No radar points available. Follow-to-stop not yet supported, but should
|
||||
# be simple to add when a suitable test car becomes available. Panda ALLOW_DEBUG firmware required.
|
||||
ret.experimentalLongitudinalAvailable = True
|
||||
ret.openpilotLongitudinalControl = True
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL
|
||||
|
||||
else:
|
||||
# Set global MQB parameters
|
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)]
|
||||
@@ -87,6 +81,13 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
# Global longitudinal tuning defaults, can be overridden per-vehicle
|
||||
|
||||
if experimental_long and candidate in PQ_CARS:
|
||||
# Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required.
|
||||
ret.openpilotLongitudinalControl = True
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL
|
||||
if ret.transmissionType == TransmissionType.manual:
|
||||
ret.minEnableSpeed = 4.5
|
||||
|
||||
ret.pcmCruise = not ret.openpilotLongitudinalControl
|
||||
ret.longitudinalActuatorDelayUpperBound = 0.5 # s
|
||||
ret.longitudinalTuning.kpV = [0.1]
|
||||
@@ -198,12 +199,13 @@ class CarInterface(CarInterfaceBase):
|
||||
else:
|
||||
raise ValueError(f"unsupported car {candidate}")
|
||||
|
||||
CarInterfaceBase.configure_dp_tune(candidate, ret.lateralTuning)
|
||||
|
||||
ret.autoResumeSng = ret.minEnableSpeed == -1
|
||||
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
|
||||
ret.centerToFront = ret.wheelbase * 0.45
|
||||
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
|
||||
tire_stiffness_factor=tire_stiffness_factor)
|
||||
CarInterfaceBase.configure_lqr_tune(ret.lateralTuning)
|
||||
return ret
|
||||
|
||||
# returns a car.CarState
|
||||
|
||||
@@ -26,11 +26,11 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pres
|
||||
return packer.make_can_msg("LDW_02", bus, values)
|
||||
|
||||
|
||||
def create_acc_buttons_control(packer, bus, gra_stock_values, idx, cancel=False, resume=False):
|
||||
def create_acc_buttons_control(packer, bus, gra_stock_values, counter, cancel=False, resume=False):
|
||||
values = gra_stock_values.copy()
|
||||
|
||||
values.update({
|
||||
"COUNTER": idx,
|
||||
"COUNTER": counter,
|
||||
"GRA_Abbrechen": cancel,
|
||||
"GRA_Tip_Wiederaufnahme": resume,
|
||||
})
|
||||
|
||||
@@ -23,11 +23,11 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pres
|
||||
return packer.make_can_msg("LDW_Status", bus, values)
|
||||
|
||||
|
||||
def create_acc_buttons_control(packer, bus, gra_stock_values, idx, cancel=False, resume=False):
|
||||
def create_acc_buttons_control(packer, bus, gra_stock_values, counter, cancel=False, resume=False):
|
||||
values = gra_stock_values.copy()
|
||||
|
||||
values.update({
|
||||
"COUNTER": idx,
|
||||
"COUNTER": counter,
|
||||
"GRA_Abbrechen": cancel,
|
||||
"GRA_Recall": resume,
|
||||
})
|
||||
@@ -35,15 +35,15 @@ def create_acc_buttons_control(packer, bus, gra_stock_values, idx, cancel=False,
|
||||
return packer.make_can_msg("GRA_Neu", bus, values)
|
||||
|
||||
|
||||
def tsk_status_value(main_switch_on, acc_faulted, long_active):
|
||||
def acc_control_value(main_switch_on, acc_faulted, long_active):
|
||||
if long_active:
|
||||
tsk_status = 1
|
||||
acc_control = 1
|
||||
elif main_switch_on:
|
||||
tsk_status = 2
|
||||
acc_control = 2
|
||||
else:
|
||||
tsk_status = 0
|
||||
acc_control = 0
|
||||
|
||||
return tsk_status
|
||||
return acc_control
|
||||
|
||||
|
||||
def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
|
||||
@@ -59,26 +59,32 @@ def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
|
||||
return hud_status
|
||||
|
||||
|
||||
def create_acc_accel_control(packer, bus, adr_status, accel):
|
||||
def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, standstill):
|
||||
commands = []
|
||||
|
||||
values = {
|
||||
"ACS_Sta_ADR": adr_status,
|
||||
"ACS_StSt_Info": adr_status != 1,
|
||||
"ACS_Typ_ACC": 0, # TODO: this is ACC "basic", find a way to detect FtS support (1)
|
||||
"ACS_Sollbeschl": accel if adr_status == 1 else 3.01,
|
||||
"ACS_zul_Regelabw": 0.2 if adr_status == 1 else 1.27,
|
||||
"ACS_max_AendGrad": 3.0 if adr_status == 1 else 5.08,
|
||||
"ACS_Sta_ADR": acc_control,
|
||||
"ACS_StSt_Info": acc_control != 1,
|
||||
"ACS_Typ_ACC": acc_type,
|
||||
"ACS_Sollbeschl": accel if acc_control == 1 else 3.01,
|
||||
"ACS_zul_Regelabw": 0.2 if acc_control == 1 else 1.27,
|
||||
"ACS_max_AendGrad": 3.0 if acc_control == 1 else 5.08,
|
||||
}
|
||||
|
||||
return packer.make_can_msg("ACC_System", bus, values)
|
||||
commands.append(packer.make_can_msg("ACC_System", bus, values))
|
||||
|
||||
return commands
|
||||
|
||||
|
||||
def create_acc_hud_control(packer, bus, acc_status, set_speed, lead_visible):
|
||||
def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_visible):
|
||||
values = {
|
||||
"ACA_StaACC": acc_status,
|
||||
"ACA_StaACC": acc_hud_status,
|
||||
"ACA_Zeitluecke": 2,
|
||||
"ACA_V_Wunsch": set_speed,
|
||||
"ACA_gemZeitl": 8 if lead_visible else 0,
|
||||
# TODO: ACA_ID_StaACC, ACA_AnzDisplay, ACA_kmh_mph, ACA_PrioDisp, ACA_Aend_Zeitluecke
|
||||
# display/display-prio handling probably needed to stop confusing the instrument cluster
|
||||
# kmh_mph handling probably needed to resolve rounding errors in displayed setpoint
|
||||
}
|
||||
# TODO: ACA_ID_StaACC, ACA_AnzDisplay, ACA_kmh_mph, ACA_PrioDisp, ACA_Aend_Zeitluecke
|
||||
|
||||
return packer.make_can_msg("ACC_GRA_Anziege", bus, values)
|
||||
|
||||
@@ -4,9 +4,11 @@ from enum import Enum
|
||||
from typing import Dict, List, Union
|
||||
|
||||
from cereal import car
|
||||
from panda.python import uds
|
||||
from opendbc.can.can_define import CANDefine
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
|
||||
from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
NetworkLocation = car.CarParams.NetworkLocation
|
||||
@@ -17,9 +19,7 @@ Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
|
||||
|
||||
class CarControllerParams:
|
||||
HCA_STEP = 2 # HCA_01/HCA_1 message frequency 50Hz
|
||||
GRA_ACC_STEP = 3 # GRA_ACC_01/GRA_Neu message frequency 33Hz
|
||||
ACC_CONTROL_STEP = 2 # ACC_06/ACC_07/ACC_System frequency 50Hz
|
||||
ACC_HUD_STEP = 4 # ACC_GRA_Anziege frequency 25Hz
|
||||
|
||||
ACCEL_MAX = 2.0 # 2.0 m/s max acceleration
|
||||
ACCEL_MIN = -3.5 # 3.5 m/s max deceleration
|
||||
@@ -36,6 +36,7 @@ class CarControllerParams:
|
||||
|
||||
if CP.carFingerprint in PQ_CARS:
|
||||
self.LDW_STEP = 5 # LDW_1 message frequency 20Hz
|
||||
self.ACC_HUD_STEP = 4 # ACC_GRA_Anziege frequency 25Hz
|
||||
self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm
|
||||
self.STEER_DELTA_UP = 6 # Max HCA reached in 1.00s (STEER_MAX / (50Hz * 1.00))
|
||||
self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
|
||||
@@ -64,6 +65,7 @@ class CarControllerParams:
|
||||
|
||||
else:
|
||||
self.LDW_STEP = 10 # LDW_02 message frequency 10Hz
|
||||
self.ACC_HUD_STEP = 6 # ACC_02 message frequency 16Hz
|
||||
self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm
|
||||
self.STEER_DELTA_UP = 4 # Max HCA reached in 1.50s (STEER_MAX / (50Hz * 1.50))
|
||||
self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
|
||||
@@ -162,7 +164,7 @@ class Footnote(Enum):
|
||||
|
||||
@dataclass
|
||||
class VWCarInfo(CarInfo):
|
||||
package: str = "Driver Assistance"
|
||||
package: str = "Adaptive Cruise Control (ACC) & Lane Assist"
|
||||
harness: Enum = Harness.vw
|
||||
|
||||
|
||||
@@ -214,13 +216,13 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
|
||||
],
|
||||
CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
|
||||
CAR.AUDI_A3_MK3: [
|
||||
VWCarInfo("Audi A3 2014-19", "ACC + Lane Assist"),
|
||||
VWCarInfo("Audi A3 Sportback e-tron 2017-18", "ACC + Lane Assist"),
|
||||
VWCarInfo("Audi RS3 2018", "ACC + Lane Assist"),
|
||||
VWCarInfo("Audi S3 2015-17", "ACC + Lane Assist"),
|
||||
VWCarInfo("Audi A3 2014-19"),
|
||||
VWCarInfo("Audi A3 Sportback e-tron 2017-18"),
|
||||
VWCarInfo("Audi RS3 2018"),
|
||||
VWCarInfo("Audi S3 2015-17"),
|
||||
],
|
||||
CAR.AUDI_Q2_MK1: VWCarInfo("Audi Q2 2018", "ACC + Lane Assist"),
|
||||
CAR.AUDI_Q3_MK2: VWCarInfo("Audi Q3 2020-21", "ACC + Lane Assist"),
|
||||
CAR.AUDI_Q2_MK1: VWCarInfo("Audi Q2 2018"),
|
||||
CAR.AUDI_Q3_MK2: VWCarInfo("Audi Q3 2020-21"),
|
||||
CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"),
|
||||
CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"),
|
||||
CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.KAMIQ]),
|
||||
@@ -243,6 +245,30 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
|
||||
# ECU SW part numbers are invalid for vehicle ID and compatibility checks. Try to have
|
||||
# them repaired by the tuner before including them in openpilot.
|
||||
|
||||
VOLKSWAGEN_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
|
||||
VOLKSWAGEN_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
|
||||
|
||||
VOLKSWAGEN_RX_OFFSET = 0x6a
|
||||
|
||||
FW_QUERY_CONFIG = FwQueryConfig(
|
||||
requests=[
|
||||
Request(
|
||||
[VOLKSWAGEN_VERSION_REQUEST_MULTI],
|
||||
[VOLKSWAGEN_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar],
|
||||
rx_offset=VOLKSWAGEN_RX_OFFSET,
|
||||
),
|
||||
Request(
|
||||
[VOLKSWAGEN_VERSION_REQUEST_MULTI],
|
||||
[VOLKSWAGEN_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.engine, Ecu.transmission],
|
||||
),
|
||||
],
|
||||
)
|
||||
|
||||
FW_VERSIONS = {
|
||||
CAR.ARTEON_MK1: {
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
@@ -274,6 +300,7 @@ FW_VERSIONS = {
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\xf1\x8703H906026AA\xf1\x899970',
|
||||
b'\xf1\x8703H906026AJ\xf1\x890638',
|
||||
b'\xf1\x8703H906026AJ\xf1\x891017',
|
||||
b'\xf1\x8703H906026AT\xf1\x891922',
|
||||
b'\xf1\x8703H906026BC\xf1\x892664',
|
||||
b'\xf1\x8703H906026F \xf1\x896696',
|
||||
@@ -748,6 +775,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x875G0906259L \xf1\x890002',
|
||||
b'\xf1\x875G0906259Q \xf1\x890002',
|
||||
b'\xf1\x878V0906259F \xf1\x890002',
|
||||
b'\xf1\x878V0906259J \xf1\x890002',
|
||||
b'\xf1\x878V0906259K \xf1\x890001',
|
||||
b'\xf1\x878V0906264B \xf1\x890003',
|
||||
b'\xf1\x878V0907115B \xf1\x890007',
|
||||
@@ -766,6 +794,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x870DD300046F \xf1\x891602',
|
||||
b'\xf1\x870DD300046G \xf1\x891601',
|
||||
b'\xf1\x870DL300012E \xf1\x892012',
|
||||
b'\xf1\x870GC300011 \xf1\x890403',
|
||||
b'\xf1\x870GC300013M \xf1\x892402',
|
||||
b'\xf1\x870GC300042J \xf1\x891402',
|
||||
],
|
||||
@@ -773,6 +802,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x875Q0959655AB\xf1\x890388\xf1\x82\0211111001111111206110412111321139114',
|
||||
b'\xf1\x875Q0959655AM\xf1\x890315\xf1\x82\x1311111111111111311411011231129321212100',
|
||||
b'\xf1\x875Q0959655AM\xf1\x890318\xf1\x82\x1311111111111112311411011531159321212100',
|
||||
b'\xf1\x875Q0959655AR\xf1\x890315\xf1\x82\x1311110011131115311211012331239321212100',
|
||||
b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1311110011131100311111011731179321342100',
|
||||
b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\x13111112111111--241115141112221291163221',
|
||||
b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\023111112111111--171115141112221291163221',
|
||||
@@ -783,6 +813,7 @@ FW_VERSIONS = {
|
||||
],
|
||||
(Ecu.eps, 0x712, None): [
|
||||
b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\00566G0HA14A1',
|
||||
b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G01A16A1',
|
||||
b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0HA16A1',
|
||||
b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571G0JA14A1',
|
||||
b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521G0G809A1',
|
||||
|
||||
@@ -110,7 +110,7 @@ class Controls:
|
||||
ignore += ['driverCameraState', 'driverMonitoringState']
|
||||
self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
|
||||
'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
|
||||
'managerState', 'liveParameters', 'radarState', 'dragonConf'] + self.camera_packets + joystick_packet,
|
||||
'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'dragonConf'] + self.camera_packets + joystick_packet,
|
||||
ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan', 'dragonConf'])
|
||||
|
||||
# dp
|
||||
@@ -156,6 +156,11 @@ class Controls:
|
||||
put_nonblocking("CarParamsCache", cp_bytes)
|
||||
put_nonblocking("CarParamsPersistent", cp_bytes)
|
||||
|
||||
# cleanup old params
|
||||
if not self.CP.experimentalLongitudinalAvailable:
|
||||
params.remove("EndToEndLong")
|
||||
params.remove("ExperimentalLongitudinalEnabled")
|
||||
|
||||
self.CC = car.CarControl.new_message()
|
||||
self.CS_prev = car.CarState.new_message()
|
||||
self.AM = AlertManager()
|
||||
@@ -165,7 +170,9 @@ class Controls:
|
||||
self.VM = VehicleModel(self.CP)
|
||||
|
||||
self.LaC: LatControl
|
||||
if params.get_bool("dp_lateral_lqr"):
|
||||
if params.get_bool("dp_lateral_torque") and self.CP.lateralTuning.which() == 'torque':
|
||||
self.LaC = LatControlTorque(self.CP, self.CI)
|
||||
elif params.get_bool("dp_lateral_lqr") and self.CP.lateralTuning.which() == 'lqr':
|
||||
self.LaC = LatControlLQR(self.CP, self.CI)
|
||||
elif self.CP.steerControlType == car.CarParams.SteerControlType.angle:
|
||||
self.LaC = LatControlAngle(self.CP, self.CI)
|
||||
@@ -230,7 +237,7 @@ class Controls:
|
||||
controls_state = log.ControlsState.from_bytes(controls_state)
|
||||
self.v_cruise_kph = controls_state.vCruise
|
||||
|
||||
if self.sm['pandaStates'][0].controlsAllowed:
|
||||
if any(ps.controlsAllowed for ps in self.sm['pandaStates']):
|
||||
self.state = State.enabled
|
||||
|
||||
def update_events(self, CS):
|
||||
@@ -248,6 +255,10 @@ class Controls:
|
||||
self.events.add(EventName.controlsInitializing)
|
||||
return
|
||||
|
||||
# no more events while in dashcam mode
|
||||
if self.read_only:
|
||||
return
|
||||
|
||||
# Block resume if cruise never previously enabled
|
||||
resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents)
|
||||
if not self.CP.pcmCruise and self.v_cruise_kph == V_CRUISE_INITIAL and resume_pressed:
|
||||
@@ -325,7 +336,7 @@ class Controls:
|
||||
else:
|
||||
safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES
|
||||
|
||||
if safety_mismatch or self.mismatch_counter >= 200:
|
||||
if safety_mismatch or pandaState.safetyRxChecksInvalid or self.mismatch_counter >= 200:
|
||||
self.events.add(EventName.controlsMismatch)
|
||||
|
||||
if log.PandaState.FaultType.relayMalfunction in pandaState.faults:
|
||||
@@ -526,9 +537,9 @@ class Controls:
|
||||
self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
|
||||
self.current_alert_types.append(ET.SOFT_DISABLE)
|
||||
|
||||
elif self.events.any(ET.OVERRIDE):
|
||||
elif self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL):
|
||||
self.state = State.overriding
|
||||
self.current_alert_types.append(ET.OVERRIDE)
|
||||
self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL]
|
||||
|
||||
# SOFT DISABLING
|
||||
elif self.state == State.softDisabling:
|
||||
@@ -558,10 +569,10 @@ class Controls:
|
||||
self.state = State.softDisabling
|
||||
self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
|
||||
self.current_alert_types.append(ET.SOFT_DISABLE)
|
||||
elif not self.events.any(ET.OVERRIDE):
|
||||
elif not (self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL)):
|
||||
self.state = State.enabled
|
||||
else:
|
||||
self.current_alert_types.append(ET.OVERRIDE)
|
||||
self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL]
|
||||
|
||||
# DISABLED
|
||||
elif self.state == State.disabled:
|
||||
@@ -572,7 +583,7 @@ class Controls:
|
||||
else:
|
||||
if self.events.any(ET.PRE_ENABLE):
|
||||
self.state = State.preEnabled
|
||||
elif self.events.any(ET.OVERRIDE):
|
||||
elif self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL):
|
||||
self.state = State.overriding
|
||||
else:
|
||||
self.state = State.enabled
|
||||
@@ -596,6 +607,12 @@ class Controls:
|
||||
sr = max(params.steerRatio, 0.1)
|
||||
self.VM.update_params(x, sr)
|
||||
|
||||
# Update Torque Params
|
||||
if self.CP.lateralTuning.which() == 'torque':
|
||||
torque_params = self.sm['liveTorqueParameters']
|
||||
if self.sm.all_checks(['liveTorqueParameters']) and torque_params.useParams:
|
||||
self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered, torque_params.frictionCoefficientFiltered)
|
||||
|
||||
lat_plan = self.sm['lateralPlan']
|
||||
long_plan = self.sm['longitudinalPlan']
|
||||
|
||||
@@ -603,8 +620,8 @@ class Controls:
|
||||
CC.enabled = self.enabled
|
||||
# Check which actuators can be enabled
|
||||
CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
|
||||
CS.vEgo > self.CP.minSteerSpeed and not CS.standstill
|
||||
CC.longActive = self.active and not self.events.any(ET.OVERRIDE) and self.CP.openpilotLongitudinalControl
|
||||
CS.vEgo > self.CP.minSteerSpeed and not CS.standstill
|
||||
CC.longActive = self.active and not self.events.any(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
|
||||
|
||||
if self.sm['dragonConf'].dpAtl == 2 and not CS.cruiseActualEnabled:
|
||||
CC.longActive = False
|
||||
@@ -733,7 +750,7 @@ class Controls:
|
||||
|
||||
recent_blinker = (self.sm.frame - self.last_blinker_frame) * DT_CTRL < 5.0 # 5s blinker cooldown
|
||||
ldw_allowed = self.is_ldw_enabled and CS.vEgo > LDW_MIN_SPEED and not recent_blinker \
|
||||
and not CC.latActive and self.sm['liveCalibration'].calStatus == Calibration.CALIBRATED
|
||||
and not CC.latActive and self.sm['liveCalibration'].calStatus == Calibration.CALIBRATED
|
||||
|
||||
model_v2 = self.sm['modelV2']
|
||||
desire_prediction = model_v2.meta.desirePrediction
|
||||
|
||||
@@ -133,10 +133,10 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
|
||||
desired_curvature_rate = curvature_rates[0]
|
||||
max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
|
||||
safe_desired_curvature_rate = clip(desired_curvature_rate,
|
||||
-max_curvature_rate,
|
||||
max_curvature_rate)
|
||||
-max_curvature_rate,
|
||||
max_curvature_rate)
|
||||
safe_desired_curvature = clip(desired_curvature,
|
||||
current_curvature_desired - max_curvature_rate * DT_MDL,
|
||||
current_curvature_desired + max_curvature_rate * DT_MDL)
|
||||
current_curvature_desired - max_curvature_rate * DT_MDL,
|
||||
current_curvature_desired + max_curvature_rate * DT_MDL)
|
||||
|
||||
return safe_desired_curvature, safe_desired_curvature_rate
|
||||
|
||||
@@ -36,7 +36,8 @@ class Priority(IntEnum):
|
||||
class ET:
|
||||
ENABLE = 'enable'
|
||||
PRE_ENABLE = 'preEnable'
|
||||
OVERRIDE = 'override'
|
||||
OVERRIDE_LATERAL = 'overrideLateral'
|
||||
OVERRIDE_LONGITUDINAL = 'overrideLongitudinal'
|
||||
NO_ENTRY = 'noEntry'
|
||||
WARNING = 'warning'
|
||||
USER_DISABLE = 'userDisable'
|
||||
@@ -649,7 +650,15 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
|
||||
},
|
||||
|
||||
EventName.gasPressedOverride: {
|
||||
ET.OVERRIDE: Alert(
|
||||
ET.OVERRIDE_LONGITUDINAL: Alert(
|
||||
"",
|
||||
"",
|
||||
AlertStatus.normal, AlertSize.none,
|
||||
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1),
|
||||
},
|
||||
|
||||
EventName.steerOverride: {
|
||||
ET.OVERRIDE_LATERAL: Alert(
|
||||
"",
|
||||
"",
|
||||
AlertStatus.normal, AlertSize.none,
|
||||
@@ -968,7 +977,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
|
||||
|
||||
# dp - use for atl alert
|
||||
EventName.communityFeatureDisallowedDEPRECATED: {
|
||||
ET.OVERRIDE: Alert(
|
||||
ET.OVERRIDE_LATERAL: Alert(
|
||||
"",
|
||||
"",
|
||||
AlertStatus.normal, AlertSize.none,
|
||||
|
||||
@@ -4,7 +4,6 @@ from cereal import log
|
||||
from common.numpy_fast import interp
|
||||
from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
|
||||
from selfdrive.controls.lib.pid import PIDController
|
||||
from selfdrive.controls.lib.drive_helpers import apply_deadzone
|
||||
from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
|
||||
|
||||
# At higher speeds (25+mph) we can assume:
|
||||
@@ -19,19 +18,20 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
|
||||
# move it at all, this is compensated for too.
|
||||
|
||||
|
||||
FRICTION_THRESHOLD = 0.2
|
||||
|
||||
|
||||
class LatControlTorque(LatControl):
|
||||
def __init__(self, CP, CI):
|
||||
super().__init__(CP, CI)
|
||||
self.pid = PIDController(CP.lateralTuning.torque.kp, CP.lateralTuning.torque.ki,
|
||||
k_f=CP.lateralTuning.torque.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
|
||||
self.get_steer_feedforward = CI.get_steer_feedforward_function()
|
||||
self.use_steering_angle = CP.lateralTuning.torque.useSteeringAngle
|
||||
self.friction = CP.lateralTuning.torque.friction
|
||||
self.kf = CP.lateralTuning.torque.kf
|
||||
self.steering_angle_deadzone_deg = CP.lateralTuning.torque.steeringAngleDeadzoneDeg
|
||||
self.torque_params = CP.lateralTuning.torque
|
||||
self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
|
||||
k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
|
||||
self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
|
||||
self.use_steering_angle = self.torque_params.useSteeringAngle
|
||||
self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
|
||||
|
||||
def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
|
||||
self.torque_params.latAccelFactor = latAccelFactor
|
||||
self.torque_params.latAccelOffset = latAccelOffset
|
||||
self.torque_params.friction = friction
|
||||
|
||||
def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
|
||||
pid_log = log.ControlsState.LateralTorqueState.new_message()
|
||||
@@ -51,23 +51,20 @@ class LatControlTorque(LatControl):
|
||||
desired_lateral_accel = desired_curvature * CS.vEgo ** 2
|
||||
|
||||
# desired rate is the desired rate of change in the setpoint, not the absolute desired curvature
|
||||
#desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2
|
||||
# desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2
|
||||
actual_lateral_accel = actual_curvature * CS.vEgo ** 2
|
||||
lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
|
||||
|
||||
|
||||
low_speed_factor = interp(CS.vEgo, [0, 10, 20], [500, 500, 200])
|
||||
setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
|
||||
measurement = actual_lateral_accel + low_speed_factor * actual_curvature
|
||||
error = setpoint - measurement
|
||||
pid_log.error = error
|
||||
gravity_adjusted_lateral_accel = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY
|
||||
pid_log.error = self.torque_from_lateral_accel(error, self.torque_params, error, lateral_accel_deadzone, friction_compensation=False)
|
||||
ff = self.torque_from_lateral_accel(gravity_adjusted_lateral_accel, self.torque_params, error, lateral_accel_deadzone, friction_compensation=True)
|
||||
|
||||
ff = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY
|
||||
# convert friction into lateral accel units for feedforward
|
||||
friction_compensation = interp(apply_deadzone(error, lateral_accel_deadzone), [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-self.friction, self.friction])
|
||||
ff += friction_compensation / self.kf
|
||||
freeze_integrator = steer_limited or CS.steeringPressed or CS.vEgo < 5
|
||||
output_torque = self.pid.update(error,
|
||||
output_torque = self.pid.update(pid_log.error,
|
||||
feedforward=ff,
|
||||
speed=CS.vEgo,
|
||||
freeze_integrator=freeze_integrator)
|
||||
@@ -78,9 +75,9 @@ class LatControlTorque(LatControl):
|
||||
pid_log.d = self.pid.d
|
||||
pid_log.f = self.pid.f
|
||||
pid_log.output = -output_torque
|
||||
pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited)
|
||||
pid_log.actualLateralAccel = actual_lateral_accel
|
||||
pid_log.desiredLateralAccel = desired_lateral_accel
|
||||
pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited)
|
||||
|
||||
# TODO left is positive in this convention
|
||||
return -output_torque, 0.0, pid_log
|
||||
|
||||
@@ -27,8 +27,7 @@ class LateralPlanner:
|
||||
self.plan_curv_rate = np.zeros((TRAJECTORY_SIZE,))
|
||||
self.t_idxs = np.arange(TRAJECTORY_SIZE)
|
||||
self.y_pts = np.zeros(TRAJECTORY_SIZE)
|
||||
#dp: mf vision controller
|
||||
#self.d_path_w_lines_xyz = np.zeros((TRAJECTORY_SIZE, 3))
|
||||
self.d_path_w_lines_xyz = np.zeros((TRAJECTORY_SIZE, 3))
|
||||
|
||||
self.lat_mpc = LateralMpc()
|
||||
self.reset_mpc(np.zeros(4))
|
||||
@@ -119,8 +118,7 @@ class LateralPlanner:
|
||||
lateralPlan.laneChangeState = self.DH.lane_change_state
|
||||
lateralPlan.laneChangeDirection = self.DH.lane_change_direction
|
||||
|
||||
#dp: mf vts
|
||||
#plan_send.lateralPlan.dPathWLinesX = [float(x) for x in self.d_path_w_lines_xyz[:, 0]]
|
||||
#plan_send.lateralPlan.dPathWLinesY = [float(y) for y in self.d_path_w_lines_xyz[:, 1]]
|
||||
plan_send.lateralPlan.dPathWLinesX = [float(x) for x in self.d_path_w_lines_xyz[:, 0]]
|
||||
plan_send.lateralPlan.dPathWLinesY = [float(y) for y in self.d_path_w_lines_xyz[:, 1]]
|
||||
|
||||
pm.send('lateralPlan', plan_send)
|
||||
|
||||
@@ -7,9 +7,6 @@ from selfdrive.modeld.constants import T_IDXS
|
||||
|
||||
LongCtrlState = car.CarControl.Actuators.LongControlState
|
||||
|
||||
# As per ISO 15622:2018 for all speeds
|
||||
ACCEL_MIN_ISO = -3.5 # m/s^2
|
||||
ACCEL_MAX_ISO = 2.0 # m/s^2
|
||||
|
||||
def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
|
||||
v_target_1sec, brake_pressed, cruise_standstill):
|
||||
@@ -50,10 +47,6 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
|
||||
elif started_condition:
|
||||
long_control_state = LongCtrlState.pid
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
return long_control_state
|
||||
|
||||
|
||||
@@ -92,6 +85,7 @@ class LongControl:
|
||||
v_target_1sec = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan + 1.0, T_IDXS[:CONTROL_N], speeds)
|
||||
else:
|
||||
v_target = 0.0
|
||||
v_target_now = 0.0
|
||||
v_target_1sec = 0.0
|
||||
a_target = 0.0
|
||||
|
||||
@@ -132,7 +126,6 @@ class LongControl:
|
||||
feedforward=a_target,
|
||||
freeze_integrator=freeze_integrator)
|
||||
|
||||
|
||||
self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
|
||||
|
||||
return self.last_output_accel
|
||||
|
||||
@@ -340,31 +340,14 @@ class LongitudinalMpc:
|
||||
self.cruise_min_a = min_a
|
||||
self.cruise_max_a = max_a
|
||||
|
||||
def update_TF(self, carstate):
|
||||
if carstate.distanceLines == 1: # Traffic
|
||||
# At slow speeds more time, decrease time up to 60mph
|
||||
# in mph ~= 5 10 15 20 25 30 35 40 45 50 55 60 65 70 75 80 85 90
|
||||
x_vel = [0.0, 1, 2.78, 5.56, 8.33, 11.11, 13.89, 16.67, 19.44, 22.22, 25.0, 27.78, 30.56, 33.33, 36.11, 38.89, 41.67]
|
||||
y_dist = [1.1, 1.15, 1.25, 1.3, 1.3368, 1.3368, 1.3, 1.24, 1.16, 1.2, 1.21, 1.22, 1.23, 1.24, 1.25, 1.26, 1.27]
|
||||
self.desired_TF = np.interp(carstate.vEgo, x_vel, y_dist)
|
||||
elif carstate.distanceLines == 2: # Relaxed
|
||||
x_vel = [0.0, 1, 2.78, 5.56, 8.33, 11.11, 13.89, 16.67, 19.44, 22.22, 27.78, 30.56, 33.33, 36.11, 38.89, 41.67]
|
||||
y_dist = [1.3, 1.38, 1.45, 1.5045, 1.535, 1.59, 1.642, 1.683, 1.726, 1.76, 1.83, 1.9, 1.99, 2.1, 2.23, 2.4]
|
||||
self.desired_TF = np.interp(carstate.vEgo, x_vel, y_dist)
|
||||
else:
|
||||
#x_vel = [0.0, 1, 2.78, 5.56, 8.33, 11.11, 13.89, 16.67, 19.44, 22.22, 27.78, 30.56, 33.33, 36.11, 38.89, 41.67]
|
||||
#y_dist = [1.3, 1.38, 1.45, 1.5045, 1.535, 1.59, 1.642, 1.683, 1.726, 1.76, 1.83, 1.9, 1.99, 2.1, 2.23, 2.4]
|
||||
#self.desired_TF = np.interp(carstate.vEgo, x_vel, y_dist)
|
||||
self.desired_TF = T_FOLLOW
|
||||
|
||||
def update(self, carstate, radarstate, v_cruise, x, v, a, j, prev_accel_constraint):
|
||||
def update(self, carstate, radarstate, v_cruise, x, v, a, j, prev_accel_constraint, desired_tf=T_FOLLOW):
|
||||
v_ego = self.x0[1]
|
||||
self.status = radarstate.leadOne.status or radarstate.leadTwo.status
|
||||
|
||||
lead_xv_0 = self.process_lead(radarstate.leadOne)
|
||||
lead_xv_1 = self.process_lead(radarstate.leadTwo)
|
||||
|
||||
self.update_TF(carstate)
|
||||
self.desired_TF = desired_tf
|
||||
self.set_weights(prev_accel_constraint=prev_accel_constraint, v_lead0=lead_xv_0[0,1], v_lead1=lead_xv_1[0,1])
|
||||
|
||||
# To estimate a safe distance from a moving lead, we calculate how much stopping
|
||||
@@ -375,7 +358,7 @@ class LongitudinalMpc:
|
||||
|
||||
# Update in ACC mode or ACC/e2e blend
|
||||
if self.mode == 'acc':
|
||||
self.params[:,0] = MIN_ACCEL if self.status else self.cruise_min_a
|
||||
self.params[:,0] = MIN_ACCEL
|
||||
self.params[:,1] = self.cruise_max_a
|
||||
self.params[:,5] = LEAD_DANGER_FACTOR
|
||||
|
||||
@@ -396,11 +379,12 @@ class LongitudinalMpc:
|
||||
elif self.mode == 'blended':
|
||||
self.params[:,0] = MIN_ACCEL
|
||||
self.params[:,1] = MAX_ACCEL
|
||||
|
||||
self.params[:,5] = 1.0
|
||||
|
||||
x_obstacles = np.column_stack([lead_0_obstacle,
|
||||
lead_1_obstacle])
|
||||
cruise_target = T_IDXS * v_cruise + x[0]
|
||||
cruise_target = T_IDXS * np.clip(v_cruise, v_ego - 2.0, 1e3) + x[0]
|
||||
xforward = ((v[1:] + v[:-1]) / 2) * (T_IDXS[1:] - T_IDXS[:-1])
|
||||
x = np.cumsum(np.insert(xforward, 0, x[0]))
|
||||
|
||||
@@ -441,7 +425,6 @@ class LongitudinalMpc:
|
||||
self.source = 'lead1'
|
||||
|
||||
|
||||
|
||||
def update_with_xva(self, x, v, a):
|
||||
self.params[:,0] = -10.
|
||||
self.params[:,1] = 10.
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
#!/usr/bin/env python3
|
||||
import math
|
||||
import numpy as np
|
||||
from common.numpy_fast import interp
|
||||
from common.numpy_fast import clip, interp
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from common.conversions import Conversions as CV
|
||||
@@ -10,11 +10,11 @@ from common.params import Params
|
||||
from common.realtime import DT_MDL
|
||||
from selfdrive.modeld.constants import T_IDXS
|
||||
from selfdrive.controls.lib.longcontrol import LongCtrlState
|
||||
from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
|
||||
from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, T_FOLLOW
|
||||
from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
|
||||
from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N
|
||||
from system.swaglog import cloudlog
|
||||
#from selfdrive.controls.lib.vision_turn_controller import VisionTurnController
|
||||
from selfdrive.controls.lib.vision_turn_controller import VisionTurnController
|
||||
from selfdrive.controls.lib.speed_limit_controller import SpeedLimitController, SpeedLimitResolver
|
||||
from selfdrive.controls.lib.turn_speed_controller import TurnSpeedController
|
||||
from selfdrive.controls.lib.events import Events
|
||||
@@ -22,8 +22,8 @@ from selfdrive.controls.lib.events import Events
|
||||
LON_MPC_STEP = 0.2 # first step is 0.2s
|
||||
AWARENESS_DECEL = -0.2 # car smoothly decel at .2m/s^2 when user is distracted
|
||||
A_CRUISE_MIN = -1.2
|
||||
A_CRUISE_MAX_VALS = [1.2, 1.2, 0.8, 0.6]
|
||||
A_CRUISE_MAX_BP = [0., 15., 25., 40.]
|
||||
A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
|
||||
A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
|
||||
|
||||
# Lookup table for turns
|
||||
_A_TOTAL_MAX_V = [1.7, 3.2]
|
||||
@@ -41,16 +41,21 @@ DP_ACCEL_NORMAL = 1
|
||||
DP_ACCEL_SPORT = 2
|
||||
|
||||
# accel profile by @arne182 modified by cgw
|
||||
_DP_CRUISE_MIN_V = [-0.05, -0.1, -0.3, -0.4, -0.4, -0.23, -0.1]
|
||||
_DP_CRUISE_MIN_V = [-0.1, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0]
|
||||
_DP_CRUISE_MIN_V_ECO = [-0.1, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0]
|
||||
_DP_CRUISE_MIN_V_SPORT = [-0.1, -0.2, -0.4, -0.5, -0.5, -0.25, -0.1]
|
||||
_DP_CRUISE_MIN_BP = [0.0, 3.0, 5.0, 20.0, 33.3, 40.0, 55.0]
|
||||
_DP_CRUISE_MIN_V_SPORT = [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0]
|
||||
_DP_CRUISE_MIN_BP = [0., 0.07, 6., 8., 11., 15., 20., 25., 30., 55.]
|
||||
|
||||
_DP_CRUISE_MAX_V = [3.5, 1.7, 1.31, 0.95, 0.77, 0.67, 0.55, 0.47, 0.31, 0.13]
|
||||
_DP_CRUISE_MAX_V_ECO = [2.7, 1.4, 1.2, 0.7, 0.48, 0.35, 0.25, 0.15, 0.12, 0.06]
|
||||
_DP_CRUISE_MAX_V_SPORT = [3.5, 3.5, 2.5, 1.5, 2.0, 2.0, 2.0, 1.5, 1.0, 0.5]
|
||||
_DP_CRUISE_MAX_BP = [0., 3, 6., 8., 11., 15., 20., 25., 30., 55.]
|
||||
|
||||
# count n times before we decide a lead is there or not
|
||||
_DP_E2E_LEAD_COUNT = 50
|
||||
# lead distance
|
||||
_DP_E2E_LEAD_DIST = 60
|
||||
|
||||
def dp_calc_cruise_accel_limits(v_ego, dp_profile):
|
||||
if dp_profile == DP_ACCEL_ECO:
|
||||
a_cruise_min = interp(v_ego, _DP_CRUISE_MIN_BP, _DP_CRUISE_MIN_V_ECO)
|
||||
@@ -84,6 +89,12 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
|
||||
|
||||
class LongitudinalPlanner:
|
||||
def __init__(self, CP, init_v=0.0, init_a=0.0):
|
||||
# dp - conditional e2e
|
||||
self.dp_e2e_has_lead = False
|
||||
self.dp_e2e_lead_last = False
|
||||
self.dp_e2e_lead_count = 0
|
||||
self.dp_e2e_mode_last = 'acc'
|
||||
|
||||
self.CP = CP
|
||||
self.params = Params()
|
||||
self.param_read_counter = 0
|
||||
@@ -105,8 +116,10 @@ class LongitudinalPlanner:
|
||||
# dp
|
||||
self.dp_accel_profile_ctrl = False
|
||||
self.dp_accel_profile = DP_ACCEL_ECO
|
||||
self.dp_following_profile_ctrl = False
|
||||
self.dp_following_profile = 0
|
||||
self.cruise_source = 'cruise'
|
||||
#self.vision_turn_controller = VisionTurnController(CP)
|
||||
self.vision_turn_controller = VisionTurnController(CP)
|
||||
self.speed_limit_controller = SpeedLimitController()
|
||||
self.events = Events()
|
||||
self.turn_speed_controller = TurnSpeedController()
|
||||
@@ -115,6 +128,45 @@ class LongitudinalPlanner:
|
||||
e2e = self.params.get_bool('EndToEndLong') and self.CP.openpilotLongitudinalControl
|
||||
self.mpc.mode = 'blended' if e2e else 'acc'
|
||||
|
||||
# dp - conditional e2e
|
||||
def conditional_e2e(self, standstill, within_speed_condition, e2e_lead, lead_rel_speed):
|
||||
reset_state = False
|
||||
|
||||
# lead counter
|
||||
# to avoid lead comes and go too quickly causing mode switching too fast
|
||||
# we count _DP_E2E_LEAD_COUNT before we update lead existence.
|
||||
if e2e_lead != self.dp_e2e_lead_last:
|
||||
self.dp_e2e_lead_count = 0
|
||||
else:
|
||||
self.dp_e2e_lead_count += 1
|
||||
|
||||
# when lead status count > _DP_E2E_LEAD_COUNT, we update actual lead status
|
||||
if self.dp_e2e_lead_count >= _DP_E2E_LEAD_COUNT:
|
||||
self.dp_e2e_has_lead = e2e_lead
|
||||
|
||||
dp_e2e_mode = 'acc'
|
||||
# standstill uses e2e, to prevent lead suddenly move away.
|
||||
if standstill:
|
||||
dp_e2e_mode = 'blended'
|
||||
else:
|
||||
# lead is driving below 30 km/h
|
||||
if self.dp_e2e_has_lead:
|
||||
if lead_rel_speed <= 8.3:
|
||||
dp_e2e_mode = 'blended'
|
||||
else:
|
||||
# within speed condition and does not have a lead, use e2e
|
||||
if within_speed_condition:
|
||||
dp_e2e_mode = 'blended'
|
||||
|
||||
self.mpc.mode = dp_e2e_mode
|
||||
if dp_e2e_mode != self.dp_e2e_mode_last:
|
||||
reset_state = True
|
||||
|
||||
self.dp_e2e_lead_last = e2e_lead
|
||||
self.dp_e2e_mode_last = dp_e2e_mode
|
||||
|
||||
return reset_state
|
||||
|
||||
def parse_model(self, model_msg):
|
||||
if (len(model_msg.position.x) == 33 and
|
||||
len(model_msg.velocity.x) == 33 and
|
||||
@@ -133,14 +185,45 @@ class LongitudinalPlanner:
|
||||
j = np.zeros(len(T_IDXS_MPC))
|
||||
return x, v, a, j
|
||||
|
||||
def update(self, sm):
|
||||
if self.param_read_counter % 50 == 0:
|
||||
self.read_param()
|
||||
self.param_read_counter += 1
|
||||
def get_df(self, v_ego):
|
||||
desired_tf = T_FOLLOW
|
||||
if self.dp_following_profile_ctrl and self.mpc.mode == 'acc':
|
||||
if self.dp_following_profile == 0:
|
||||
# At slow speeds more time, decrease time up to 60mph
|
||||
# in kph ~= 0 20 40 50 70 80 90 150
|
||||
x_vel = [0, 5.56, 11.11, 13.89, 19.4, 22.2, 25.0, 41.67]
|
||||
y_dist = [1.06, 1.2, 1.34, 1.34, 1.2, 1.25, 1.25, 1.33]
|
||||
desired_tf = np.interp(v_ego, x_vel, y_dist)
|
||||
elif self.dp_following_profile == 1:
|
||||
# in kph ~= 0 20 40 50 70 90 150
|
||||
x_vel = [0, 5.56, 1.11, 13.89, 19.4, 25.0, 41.67]
|
||||
y_dist = [1.3, 1.4, 1.45, 1.5, 1.5, 1.6, 1.8]
|
||||
desired_tf = np.interp(v_ego, x_vel, y_dist)
|
||||
elif self.dp_following_profile == 2:
|
||||
# in kph ~= 0 20 40 50 90 150
|
||||
x_vel = [0, 5.56, 11.11, 13.89, 25.0, 41.67]
|
||||
y_dist = [1.4, 1.55, 1.75, 1.95, 2.2, 2.4]
|
||||
desired_tf = np.interp(v_ego, x_vel, y_dist)
|
||||
return desired_tf
|
||||
|
||||
def update(self, sm):
|
||||
# dp
|
||||
self.dp_accel_profile_ctrl = sm['dragonConf'].dpAccelProfileCtrl
|
||||
self.dp_accel_profile = sm['dragonConf'].dpAccelProfile
|
||||
self.dp_following_profile_ctrl = sm['dragonConf'].dpFollowingProfileCtrl
|
||||
self.dp_following_profile = sm['dragonConf'].dpFollowingProfile
|
||||
dp_reset_state = False
|
||||
|
||||
if sm['dragonConf'].dpE2EConditional:
|
||||
e2e_lead = sm['radarState'].leadOne.status and sm['radarState'].leadOne.dRel <= _DP_E2E_LEAD_DIST
|
||||
within_speed_condition = sm['controlsState'].vCruise <= sm['dragonConf'].dpE2EConditionalAtSpeed
|
||||
lead_rel_speed = sm['radarState'].leadOne.vRel + sm['carState'].vEgo
|
||||
if self.conditional_e2e(sm['carState'].standstill, within_speed_condition, e2e_lead, lead_rel_speed):
|
||||
dp_reset_state = True
|
||||
else:
|
||||
if self.param_read_counter % 50 == 0:
|
||||
self.read_param()
|
||||
self.param_read_counter += 1
|
||||
|
||||
v_ego = sm['carState'].vEgo
|
||||
v_cruise_kph = sm['controlsState'].vCruise
|
||||
@@ -156,9 +239,16 @@ class LongitudinalPlanner:
|
||||
# No change cost when user is controlling the speed, or when standstill
|
||||
prev_accel_constraint = not (reset_state or sm['carState'].standstill)
|
||||
|
||||
if reset_state:
|
||||
if not self.dp_accel_profile_ctrl:
|
||||
accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
|
||||
else:
|
||||
accel_limits = dp_calc_cruise_accel_limits(v_ego, self.dp_accel_profile)
|
||||
accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
|
||||
|
||||
if reset_state or dp_reset_state:
|
||||
self.v_desired_filter.x = v_ego
|
||||
self.a_desired = 0.0
|
||||
# Clip aEgo to cruise limits to prevent large accelerations when becoming active
|
||||
self.a_desired = clip(sm['carState'].aEgo, accel_limits[0], accel_limits[1])
|
||||
|
||||
# Prevent divergence, smooth in current v_ego
|
||||
self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
|
||||
@@ -167,11 +257,6 @@ class LongitudinalPlanner:
|
||||
self.cruise_source, a_min_sol, v_cruise_sol = self.cruise_solutions(not reset_state, self.v_desired_filter.x,
|
||||
self.a_desired, v_cruise, sm)
|
||||
|
||||
if not self.dp_accel_profile_ctrl:
|
||||
accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
|
||||
else:
|
||||
accel_limits = dp_calc_cruise_accel_limits(v_ego, self.dp_accel_profile)
|
||||
accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
|
||||
if force_slow_decel:
|
||||
# if required so, force a smooth deceleration
|
||||
accel_limits_turns[1] = min(accel_limits_turns[1], AWARENESS_DECEL)
|
||||
@@ -184,7 +269,7 @@ class LongitudinalPlanner:
|
||||
self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
|
||||
self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
|
||||
x, v, a, j = self.parse_model(sm['modelV2'])
|
||||
self.mpc.update(sm['carState'], sm['radarState'], v_cruise_sol, x, v, a, j, prev_accel_constraint)
|
||||
self.mpc.update(sm['carState'], sm['radarState'], v_cruise_sol, x, v, a, j, prev_accel_constraint, self.get_df(v_ego))
|
||||
|
||||
self.v_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.v_solution)
|
||||
self.a_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.a_solution)
|
||||
@@ -220,9 +305,8 @@ class LongitudinalPlanner:
|
||||
|
||||
longitudinalPlan.solverExecutionTime = self.mpc.solve_time
|
||||
|
||||
#dp: mf modules
|
||||
#longitudinalPlan.visionTurnControllerState = self.vision_turn_controller.state
|
||||
#longitudinalPlan.visionTurnSpeed = float(self.vision_turn_controller.v_turn)
|
||||
longitudinalPlan.visionTurnControllerState = self.vision_turn_controller.state
|
||||
longitudinalPlan.visionTurnSpeed = float(self.vision_turn_controller.v_turn)
|
||||
|
||||
longitudinalPlan.speedLimitControlState = self.speed_limit_controller.state
|
||||
longitudinalPlan.speedLimit = float(self.speed_limit_controller.speed_limit)
|
||||
@@ -236,11 +320,13 @@ class LongitudinalPlanner:
|
||||
longitudinalPlan.distToTurn = float(self.turn_speed_controller.distance)
|
||||
longitudinalPlan.turnSign = int(self.turn_speed_controller.turn_sign)
|
||||
|
||||
longitudinalPlan.dpE2EIsBlended = self.mpc.mode == 'blended'
|
||||
|
||||
pm.send('longitudinalPlan', plan_send)
|
||||
|
||||
def cruise_solutions(self, enabled, v_ego, a_ego, v_cruise, sm):
|
||||
# Update controllers
|
||||
#self.vision_turn_controller.update(enabled, v_ego, a_ego, v_cruise, sm)
|
||||
self.vision_turn_controller.update(enabled, v_ego, a_ego, v_cruise, sm)
|
||||
self.events = Events()
|
||||
self.speed_limit_controller.update(enabled, v_ego, a_ego, sm, v_cruise, self.events)
|
||||
self.turn_speed_controller.update(enabled, v_ego, a_ego, sm)
|
||||
@@ -249,9 +335,9 @@ class LongitudinalPlanner:
|
||||
a_solutions = {'cruise': float("inf")}
|
||||
v_solutions = {'cruise': v_cruise}
|
||||
|
||||
#if self.vision_turn_controller.is_active:
|
||||
# a_solutions['turn'] = self.vision_turn_controller.a_target
|
||||
# v_solutions['turn'] = self.vision_turn_controller.v_turn
|
||||
if self.vision_turn_controller.is_active:
|
||||
a_solutions['turn'] = self.vision_turn_controller.a_target
|
||||
v_solutions['turn'] = self.vision_turn_controller.v_turn
|
||||
|
||||
if self.speed_limit_controller.is_active:
|
||||
a_solutions['limit'] = self.speed_limit_controller.a_target
|
||||
|
||||
@@ -2,8 +2,7 @@ from common.numpy_fast import mean
|
||||
from common.kalman.simple_kalman import KF1D
|
||||
|
||||
|
||||
# the longer lead decels, the more likely it will keep decelerating
|
||||
# TODO is this a good default?
|
||||
# Default lead acceleration decay set to 50% at 1s
|
||||
_LEAD_ACCEL_TAU = 1.5
|
||||
|
||||
# radar tracks
|
||||
|
||||
@@ -5,7 +5,7 @@ from common.numpy_fast import interp
|
||||
from common.params import Params
|
||||
from common.realtime import sec_since_boot
|
||||
from common.conversions import Conversions as CV
|
||||
from selfdrive.controls.lib.lane_planner import TRAJECTORY_SIZE
|
||||
from selfdrive.controls.lib.lateral_planner import TRAJECTORY_SIZE
|
||||
from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
|
||||
|
||||
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
import argparse
|
||||
import numpy as np
|
||||
from collections import defaultdict, deque
|
||||
from typing import DefaultDict, Deque
|
||||
from typing import DefaultDict, Deque, MutableSequence
|
||||
|
||||
from common.realtime import sec_since_boot
|
||||
import cereal.messaging as messaging
|
||||
@@ -19,7 +19,7 @@ if __name__ == "__main__":
|
||||
socket_names = args.socket
|
||||
sockets = {}
|
||||
|
||||
rcv_times: DefaultDict[str, Deque[float]] = defaultdict(lambda: deque(maxlen=100))
|
||||
rcv_times: DefaultDict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100))
|
||||
valids: DefaultDict[str, Deque[bool]] = defaultdict(lambda: deque(maxlen=100))
|
||||
|
||||
t = sec_since_boot()
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user