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

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This commit is contained in:
Rick Lan
2018-10-26 10:57:45 +10:00
parent ad7f1bb446 318e22e39f
commit 61576239cf
3 changed files with 53 additions and 17 deletions
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opendbc/gm_global_a_object.dbc
+31 -2
View File
@@ -67,8 +67,37 @@ BO_ 776 ASCMAccSpeedStatus: 7 NEO
SG_ VehicleSpeed : 15|12@0+ (1,0) [0|0] "" B233B_LRR
SG_ AlwaysOne : 3|1@0+ (1,0) [0|0] "" B233B_LRR
BO_ 1120 LRRNumObjects: 8 B233B_LRR
SG_ LRRNumObjects : 20|5@0+ (1,0) [0|0] "" NEO
BO_ 1120 F_LRR_Obj_Header: 8 LRR_FO
SG_ FLRRRollingCount : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO
SG_ FLRRModeCmdFdbk : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO
SG_ FLRRNumValidTargets : 20|5@0+ (1,0) [0|31] "" EOCM_F_FO
SG_ FLRRTimeStampV : 31|1@0+ (1,0) [0|1] "" EOCM_F_FO
SG_ FLRRTimeStamp : 2|11@0+ (1,0) [0|2047] "ms" EOCM_F_FO
SG_ FLRRRoadTypeInfo : 5|3@0+ (1,0) [0|7] "" EOCM_F_FO
SG_ FLRRBurstChecksum : 55|16@0+ (1,0) [0|65535] "" EOCM_F_FO
SG_ FLRRDiagSpare : 30|1@0+ (1,0) [0|1] "" EOCM_F_FO
SG_ FLRRVltgOutRngLo : 44|1@0+ (1,0) [0|1] "" EOCM_F_FO
SG_ FLRRVltgOutRngHi : 43|1@0+ (1,0) [0|1] "" EOCM_F_FO
SG_ FLRRSvcAlgnInPrcs : 38|1@0+ (1,0) [0|1] "" EOCM_F_FO
SG_ FLRRSnsrBlckd : 45|1@0+ (1,0) [0|1] "" EOCM_F_FO
SG_ FLRRSnstvFltPrsntInt : 24|1@0+ (1,0) [0|1] "" EOCM_F_FO
SG_ FLRRPlntAlgnInProc : 37|1@0+ (1,0) [0|1] "" EOCM_F_FO
SG_ FLRRMsalgnYawRt : 47|1@0+ (1,0) [0|1] "" EOCM_F_FO
SG_ FLRRMsalgnYawLt : 46|1@0+ (1,0) [0|1] "" EOCM_F_FO
SG_ FLRRLonVelPlsblityFlt : 35|1@0+ (1,0) [0|1] "" EOCM_F_FO
SG_ FLRRYawRtPlsblityFlt : 34|1@0+ (1,0) [0|1] "" EOCM_F_FO
SG_ FLRRMsalgnPtchUp : 32|1@0+ (1,0) [0|1] "" EOCM_F_FO
SG_ FLRRMsalgnPtchDn : 33|1@0+ (1,0) [0|1] "" EOCM_F_FO
SG_ FLRRInitDiagCmplt : 40|1@0+ (1,0) [0|1] "" EOCM_F_FO
SG_ FLRRHWFltPrsntInt : 25|1@0+ (1,0) [0|1] "" EOCM_F_FO
SG_ FLRRExtIntrfrnc : 36|1@0+ (1,0) [0|1] "" EOCM_F_FO
SG_ FLRRCANSgnlSpvFld : 29|1@0+ (1,0) [0|1] "" EOCM_F_FO
SG_ FLRRCANRxErr : 28|1@0+ (1,0) [0|1] "" EOCM_F_FO
SG_ FLRRTunlDtctd : 27|1@0+ (1,0) [0|1] "" EOCM_F_FO
SG_ FLRRAmbTmpOutRngLw : 42|1@0+ (1,0) [0|1] "" EOCM_F_FO
SG_ FLRRAmbTmpOutRngHi : 41|1@0+ (1,0) [0|1] "" EOCM_F_FO
SG_ FLRRAntTngFltPrsnt : 26|1@0+ (1,0) [0|1] "" EOCM_F_FO
SG_ FLRRAlgnFltPrsnt : 39|1@0+ (1,0) [0|1] "" EOCM_F_FO
BO_ 1134 LRRObject14: 8 B233B_LRR
SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m" NEO
selfdrive/car/gm/radar_interface.py
+21 -14
View File
@@ -11,13 +11,13 @@ from common.realtime import sec_since_boot
from selfdrive.services import service_list
import selfdrive.messaging as messaging
NUM_TARGETS_MSG = 1120
SLOT_1_MSG = NUM_TARGETS_MSG + 1
RADAR_HEADER_MSG = 1120
SLOT_1_MSG = RADAR_HEADER_MSG + 1
NUM_SLOTS = 20
# Actually it's 0x47f, but can parser only reports
# messages that are present in DBC
LAST_RADAR_MSG = NUM_TARGETS_MSG + NUM_SLOTS
LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS
def create_radard_can_parser(canbus, car_fingerprint):
@@ -25,12 +25,16 @@ def create_radard_can_parser(canbus, car_fingerprint):
if car_fingerprint == CAR.VOLT:
# C1A-ARS3-A by Continental
radar_targets = range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS)
signals = zip(['LRRNumObjects'] +
signals = zip(['FLRRNumValidTargets',
'FLRRSnsrBlckd', 'FLRRYawRtPlsblityFlt',
'FLRRHWFltPrsntInt', 'FLRRAntTngFltPrsnt',
'FLRRAlgnFltPrsnt', 'FLRRSnstvFltPrsntInt'] +
['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS +
['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS +
['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS,
[NUM_TARGETS_MSG] + radar_targets * 6,
[0] + [0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
[RADAR_HEADER_MSG] * 7 + radar_targets * 6,
[0] * 7 +
[0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
[0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
[0.0] * NUM_SLOTS + [0] * NUM_SLOTS)
@@ -44,8 +48,6 @@ class RadarInterface(object):
def __init__(self, CP):
# radar
self.pts = {}
self.track_id = 0
self.num_targets = 0
self.delay = 0.0 # Delay of radar
@@ -70,22 +72,27 @@ class RadarInterface(object):
if LAST_RADAR_MSG in updated_messages:
break
header = self.rcp.vl[RADAR_HEADER_MSG]
fault = header['FLRRSnsrBlckd'] or header['FLRRSnstvFltPrsntInt'] or \
header['FLRRYawRtPlsblityFlt'] or header['FLRRHWFltPrsntInt'] or \
header['FLRRAntTngFltPrsnt'] or header['FLRRAlgnFltPrsnt']
errors = []
if not self.rcp.can_valid:
errors.append("notValid")
errors.append("commIssue")
if fault:
errors.append("fault")
ret.errors = errors
currentTargets = set()
if self.rcp.vl[NUM_TARGETS_MSG]['LRRNumObjects'] != self.num_targets:
self.num_targets = self.rcp.vl[NUM_TARGETS_MSG]['LRRNumObjects']
num_targets = header['FLRRNumValidTargets']
# Not all radar messages describe targets,
# no need to monitor all of the sself.rcp.msgs_upd
# no need to monitor all of the self.rcp.msgs_upd
for ii in updated_messages:
if ii == NUM_TARGETS_MSG:
if ii == RADAR_HEADER_MSG:
continue
if self.num_targets == 0:
if num_targets == 0:
break
cpt = self.rcp.vl[ii]
selfdrive/car/hyundai/values.py
+1 -1
View File
@@ -27,7 +27,7 @@ FINGERPRINTS = {
66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
}],
CAR.GENESIS: [{
67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
}],
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