mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-07-21 04:42:33 +08:00
dragonpilot 2022-08-19T01:11:48 for EON/C2
version: dragonpilot v0.8.16 beta for EON/C2 date: 2022-08-19T01:11:48 dp-dev(priv2) master commit: 4aee191bc9d1c5099913455ff9e5fa1c3a7a7903
This commit is contained in:
Dragonpilot Team
committed by
Comma Device
Comma Device
parent
b437663252
commit
66006fe0e9
@@ -54,7 +54,6 @@ selfdrive/modeld/_dmonitoringmodeld
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/src/
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one
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/body/
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openpilot
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notebooks
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xx
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@@ -1,5 +1,11 @@
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dragonpilot [latest] - EON/C2 Release
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========================
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* NEW: Synced to openpilot master 2022.08.15 commits.
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* New driving model.
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* NEW: Added back honda eps mod toggle.
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dragonpilot 2022.08.17 - EON/C2 Release
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========================
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* NEW: Synced to openpilot master 2022.08.07 commits.
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* NEW: Added back auto shutdown toggle.
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* NEW: Added back On-Road Dashcam toggle. (You should not replace this with your dashcam!!!)
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@@ -1,5 +1,7 @@
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Version 0.8.16 (2022-XX-XX)
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========================
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* Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
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* Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
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* Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
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* Subaru Outback 2020-22 support
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@@ -0,0 +1,21 @@
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gen
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node_modules
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package-lock.json
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*.tmp
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*.pyc
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__pycache__
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.*.swp
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.*.swo
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*.os
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*.o
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*.a
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test_runner
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libmessaging.*
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libmessaging_shared.*
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services.h
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.sconsign.dblite
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libcereal_shared.*
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.mypy_cache/
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catch2/
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+1
-1
@@ -587,7 +587,7 @@ struct CarParams {
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stellantis @25;
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faw @26;
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body @27;
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hyundaiHDA2 @28;
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hyundaiCanfd @28;
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}
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enum SteerControlType {
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+1
-1
@@ -129,7 +129,7 @@ confs = [
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# # hyundai
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# {'name': 'dp_hkg_smart_mdps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
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# # honda
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# {'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
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{'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
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# {'name': 'dp_honda_kmh_display', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
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# # volkswagen
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# # {'name': 'dp_vw_panda', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
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+1
-1
@@ -1 +1 @@
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#define COMMA_VERSION "2022.08.17"
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#define COMMA_VERSION "2022.08.19"
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+10
-8
@@ -19,7 +19,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
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- [](##) - Limited ability to make tighter turns.
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# 199 Supported Cars
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# 201 Supported Cars
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|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|
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|---|---|---|:---:|:---:|:---:|:---:|
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@@ -33,6 +33,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
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|Audi|RS3 2018|ACC + Lane Assist|[](##)|[](##)|[](##)|[](##)|
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|Audi|S3 2015-17|ACC + Lane Assist|[](##)|[](##)|[](##)|[](##)|
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|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|[](##)|[](##)|[](##)|[](##)|
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|Chevrolet|Bolt EUV 2022-23|Premier/Premier Redline Trim|[](##)|[](##)|[](##)|[](##)|
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|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|[](##)|[](##)|[](##)|[](##)|
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|Chrysler|Pacifica 2017-18|Adaptive Cruise Control|[](##)|[](##)|[](##)|[](##)|
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|Chrysler|Pacifica 2019-20|Adaptive Cruise Control|[](##)|[](##)|[](##)|[](##)|
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@@ -61,7 +62,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
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|Honda|HR-V 2019-22|Honda Sensing|[](##)|[](##)|[](##)|[](##)|
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|Honda|Insight 2019-22|All|[](##)|[](##)|[](##)|[](##)|
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|Honda|Inspire 2018|All|[](##)|[](##)|[](##)|[](##)|
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|Honda|Odyssey 2018-22|Honda Sensing|[](##)|[](##)|[](##)|[](##)|
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|Honda|Odyssey 2018-20|Honda Sensing|[](##)|[](##)|[](##)|[](##)|
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|Honda|Passport 2019-21|All|[](##)|[](##)|[](##)|[](##)|
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|Honda|Pilot 2016-22|Honda Sensing|[](##)|[](##)|[](##)|[](##)|
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|Honda|Ridgeline 2017-22|Honda Sensing|[](##)|[](##)|[](##)|[](##)|
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@@ -69,6 +70,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
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|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|[](##)|[](##)|[](##)|[](##)|
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|Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|[](##)|[](##)|[](##)|[](##)|
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|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC) & LKAS|[](##)|[](##)|[](##)|[](##)|
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|Hyundai|Ioniq 5 2022|Highway Driving Assist II|[](##)|[](##)|[](##)|[](##)|
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|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC) & LKAS|[](##)|[](##)|[](##)|[](##)|
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|Hyundai|Ioniq Electric 2020|Smart Cruise Control (SCC) & LKAS|[](##)|[](##)|[](##)|[](##)|
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|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC) & LKAS|[](##)|[](##)|[](##)|[](##)|
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@@ -93,7 +95,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
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|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|[](##)|[](##)|[](##)|[](##)|
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|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|[](##)|[](##)|[](##)|[](##)|
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|Kia|Ceed 2019|Smart Cruise Control (SCC) & LKAS|[](##)|[](##)|[](##)|[](##)|
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|Kia|EV6 2022|All|[](##)|[](##)|[](##)|[](##)|
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|Kia|EV6 2022|Highway Driving Assist II|[](##)|[](##)|[](##)|[](##)|
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|Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|[](##)|[](##)|[](##)|[](##)|
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|Kia|Forte 2019-21|All|[](##)|[](##)|[](##)|[](##)|
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|Kia|K5 2021-22|Smart Cruise Control (SCC)|[](##)|[](##)|[](##)|[](##)|
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@@ -121,7 +123,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
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|Lexus|NX Hybrid 2018-19|All|[](##)[<sup>3</sup>](#footnotes)|[](##)|[](##)|[](##)|
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|Lexus|NX Hybrid 2020-21|All|[](##)|[](##)|[](##)|[](##)|
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|Lexus|RC 2017-20|All|[](##)|[](##)|[](##)|[](##)|
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|Lexus|RX 2016-18|All|[](##)[<sup>3</sup>](#footnotes)|[](##)|[](##)|[](##)|
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|Lexus|RX 2016-19|All|[](##)[<sup>3</sup>](#footnotes)|[](##)|[](##)|[](##)|
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|Lexus|RX 2020-22|All|[](##)|[](##)|[](##)|[](##)|
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|Lexus|RX Hybrid 2016-19|All|[](##)[<sup>3</sup>](#footnotes)|[](##)|[](##)|[](##)|
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|Lexus|RX Hybrid 2020-21|All|[](##)|[](##)|[](##)|[](##)|
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@@ -145,7 +147,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
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|Subaru|XV 2018-19|EyeSight Driver Assistance|[](##)|[](##)|[](##)|[](##)|
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|Subaru|XV 2020-21|EyeSight Driver Assistance|[](##)|[](##)|[](##)|[](##)|
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|Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
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|Škoda|Karoq 2019-21|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
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|Škoda|Karoq 2019-21[<sup>7</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
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|Škoda|Kodiaq 2018-19|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
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|Škoda|Octavia 2015, 2018-19|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
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|Škoda|Octavia RS 2016|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
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@@ -190,7 +192,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
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|Toyota|RAV4 Hybrid 2017-18|All|[](##)[<sup>3</sup>](#footnotes)|[](##)|[](##)|[](##)|
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|Toyota|RAV4 Hybrid 2019-21|All|[](##)|[](##)|[](##)|[](##)|
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|Toyota|RAV4 Hybrid 2022|All|[](##)|[](##)|[](##)|[](##)|
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|Toyota|Sienna 2018-20|All|[](##)[<sup>3</sup>](#footnotes)|[](##)|[](##)|[](##)|
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|Toyota|Sienna 2018-20|All|[](##)[<sup>3</sup>](#footnotes)|[](##)|[](##)|[](##)|
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|Volkswagen|Arteon 2018-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
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|Volkswagen|Arteon eHybrid 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
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|Volkswagen|Arteon R 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
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@@ -229,8 +231,8 @@ A supported vehicle is one that just works when you install a comma device. Ever
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<sup>3</sup>When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
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<sup>4</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
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<sup>5</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
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<sup>6</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
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<sup>7</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard. <br />
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<sup>6</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
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<sup>7</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). In the interim, if your car has a J533 connector CAN gateway inside the dashboard, choose "VW J533 Development" from the vehicle drop-down for a suitable harness. (Some newer models are also observed to not have a J533 connector.) <br />
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<sup>8</sup>Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.) <br />
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## Community Maintained Cars
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@@ -182,7 +182,7 @@ BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
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SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX
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SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX
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SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX
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SG_ ACCSpeedSetpoint : 19|12@0+ (1,0) [0|0] "km/h" NEO
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SG_ ACCSpeedSetpoint : 19|12@0+ (0.0625,0) [0|255.9375] "km/h" NEO
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SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] "" NEO
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SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] "" NEO
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SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] "" NEO
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Binary file not shown.
@@ -138,6 +138,8 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
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SG_ LKAButton : 23|1@0+ (1,0) [0|0] "" NEO
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SG_ ACCButtons : 46|3@0+ (1,0) [0|0] "" NEO
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SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
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SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO
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SG_ SteeringButtonChecksum : 43|12@0+ (1,0) [0|255] "" NEO
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BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
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SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-2047|2047] "deg" NEO
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@@ -211,7 +213,7 @@ BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
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SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX
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SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX
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SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX
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SG_ ACCSpeedSetpoint : 19|12@0+ (1,0) [0|0] "km/h" NEO
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SG_ ACCSpeedSetpoint : 19|12@0+ (0.0625,0) [0|255.9375] "km/h" NEO
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SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] "" NEO
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SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] "" NEO
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SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] "" NEO
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@@ -158,6 +158,8 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
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SG_ LKAButton : 23|1@0+ (1,0) [0|0] "" NEO
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SG_ ACCButtons : 46|3@0+ (1,0) [0|0] "" NEO
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SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
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SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO
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SG_ SteeringButtonChecksum : 43|12@0+ (1,0) [0|255] "" NEO
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BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
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SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-2047|2047] "deg" NEO
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@@ -231,7 +233,7 @@ BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
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SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX
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SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX
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SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX
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SG_ ACCSpeedSetpoint : 19|12@0+ (1,0) [0|0] "km/h" NEO
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SG_ ACCSpeedSetpoint : 19|12@0+ (0.0625,0) [0|255.9375] "km/h" NEO
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SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] "" NEO
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SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] "" NEO
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SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] "" NEO
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+25
-11
@@ -150,7 +150,7 @@ class Panda:
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SAFETY_STELLANTIS = 25
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SAFETY_FAW = 26
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SAFETY_BODY = 27
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SAFETY_HYUNDAI_HDA2 = 28
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SAFETY_HYUNDAI_CANFD = 28
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SERIAL_DEBUG = 0
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SERIAL_ESP = 1
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@@ -200,10 +200,15 @@ class Panda:
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FLAG_TESLA_POWERTRAIN = 1
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FLAG_TESLA_LONG_CONTROL = 2
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FLAG_VOLKSWAGEN_LONG_CONTROL = 1
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FLAG_CHRYSLER_RAM_DT = 1
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FLAG_CHRYSLER_RAM_HD = 2
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FLAG_SUBARU_GEN2 = 1
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FLAG_GM_HW_CAM = 1
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def __init__(self, serial: Optional[str] = None, claim: bool = True):
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self._serial = serial
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self._handle = None
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@@ -335,9 +340,10 @@ class Panda:
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except Exception:
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pass
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def flash(self, fn=DEFAULT_FW_FN, code=None, reconnect=True):
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if self._mcu_type == MCU_TYPE_H7 and fn == DEFAULT_FW_FN:
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fn = DEFAULT_H7_FW_FN
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def flash(self, fn=None, code=None, reconnect=True):
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if not fn:
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fn = DEFAULT_H7_FW_FN if self._mcu_type == MCU_TYPE_H7 else DEFAULT_FW_FN
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assert os.path.isfile(fn)
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print("flash: main version is " + self.get_version())
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if not self.bootstub:
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self.reset(enter_bootstub=True)
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@@ -358,18 +364,16 @@ class Panda:
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self.reconnect()
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def recover(self, timeout: Optional[int] = None, reset: bool = True) -> bool:
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dfu_serial = PandaDFU.st_serial_to_dfu_serial(self._serial, self._mcu_type)
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if reset:
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self.reset(enter_bootstub=True)
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self.reset(enter_bootloader=True)
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t_start = time.time()
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while len(PandaDFU.list()) == 0:
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print("waiting for DFU...")
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time.sleep(0.1)
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if timeout is not None and (time.time() - t_start) > timeout:
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return False
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if not self.wait_for_dfu(dfu_serial, timeout=timeout):
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return False
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dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial, self._mcu_type))
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dfu = PandaDFU(dfu_serial)
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dfu.recover()
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# reflash after recover
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@@ -377,6 +381,16 @@ class Panda:
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self.flash()
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return True
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@staticmethod
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def wait_for_dfu(dfu_serial: str, timeout: Optional[int] = None) -> bool:
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t_start = time.monotonic()
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while dfu_serial not in PandaDFU.list():
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print("waiting for DFU...")
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time.sleep(0.1)
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if timeout is not None and (time.monotonic() - t_start) > timeout:
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return False
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return True
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@staticmethod
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def list():
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context = usb1.USBContext()
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@@ -2,7 +2,7 @@
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from cereal import car
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from panda import Panda
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
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from selfdrive.car.chrysler.values import CAR, DBC, RAM_CARS
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||||
from selfdrive.car.chrysler.values import CAR, DBC, RAM_HD, RAM_DT
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
|
||||
|
||||
@@ -12,14 +12,20 @@ class CarInterface(CarInterfaceBase):
|
||||
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
|
||||
ret.carName = "chrysler"
|
||||
|
||||
ret.radarOffCan = DBC[candidate]['radar'] is None
|
||||
ret.dashcamOnly = candidate in RAM_HD
|
||||
|
||||
param = Panda.FLAG_CHRYSLER_RAM_DT if candidate in RAM_CARS else None
|
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler, param)]
|
||||
ret.radarOffCan = DBC[candidate]['radar'] is None
|
||||
|
||||
ret.steerActuatorDelay = 0.1
|
||||
ret.steerLimitTimer = 0.4
|
||||
|
||||
# safety config
|
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)]
|
||||
if candidate in RAM_HD:
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_HD
|
||||
elif candidate in RAM_DT:
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT
|
||||
|
||||
ret.minSteerSpeed = 3.8 # m/s
|
||||
if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
|
||||
# TODO: allow 2019 cars to steer down to 13 m/s if already engaged.
|
||||
@@ -47,18 +53,24 @@ class CarInterface(CarInterfaceBase):
|
||||
# Ram
|
||||
elif candidate == CAR.RAM_1500:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
|
||||
ret.wheelbase = 3.88
|
||||
ret.steerRatio = 16.3
|
||||
ret.mass = 2493. + STD_CARGO_KG
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
ret.minSteerSpeed = 14.5
|
||||
if car_fw is not None:
|
||||
for fw in car_fw:
|
||||
if fw.ecu == 'eps' and fw.fwVersion in (b"68312176AE", b"68312176AG", b"68273275AG"):
|
||||
ret.minSteerSpeed = 0.
|
||||
|
||||
elif candidate == CAR.RAM_HD:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
ret.wheelbase = 3.785
|
||||
ret.steerRatio = 15.61
|
||||
ret.mass = 3405. + STD_CARGO_KG
|
||||
ret.minSteerSpeed = 16
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
|
||||
|
||||
else:
|
||||
raise ValueError(f"Unsupported car: {candidate}")
|
||||
|
||||
|
||||
@@ -22,23 +22,30 @@ class CAR:
|
||||
|
||||
# Ram
|
||||
RAM_1500 = "RAM 1500 5TH GEN"
|
||||
RAM_HD = "RAM HD 5TH GEN"
|
||||
|
||||
|
||||
class CarControllerParams:
|
||||
def __init__(self, CP):
|
||||
self.STEER_MAX = 261 # higher than this faults the EPS on Chrysler/Jeep. Ram DT allows more
|
||||
self.STEER_ERROR_MAX = 80
|
||||
|
||||
if CP.carFingerprint in RAM_CARS:
|
||||
if CP.carFingerprint in RAM_HD:
|
||||
self.STEER_DELTA_UP = 14
|
||||
self.STEER_DELTA_DOWN = 14
|
||||
self.STEER_MAX = 361 # higher than this faults the EPS
|
||||
elif CP.carFingerprint in RAM_DT:
|
||||
self.STEER_DELTA_UP = 6
|
||||
self.STEER_DELTA_DOWN = 6
|
||||
self.STEER_MAX = 261 # EPS allows more, up to 350?
|
||||
else:
|
||||
self.STEER_DELTA_UP = 3
|
||||
self.STEER_DELTA_DOWN = 3
|
||||
self.STEER_MAX = 261 # higher than this faults the EPS
|
||||
|
||||
STEER_THRESHOLD = 120
|
||||
|
||||
RAM_CARS = {CAR.RAM_1500, }
|
||||
RAM_DT = {CAR.RAM_1500, }
|
||||
RAM_HD = {CAR.RAM_HD, }
|
||||
RAM_CARS = RAM_DT | RAM_HD
|
||||
|
||||
@dataclass
|
||||
class ChryslerCarInfo(CarInfo):
|
||||
@@ -57,6 +64,10 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
|
||||
CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
|
||||
CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
|
||||
CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22", harness=Harness.ram),
|
||||
CAR.RAM_HD: [
|
||||
ChryslerCarInfo("Ram 2500 2020-22", harness=Harness.ram),
|
||||
ChryslerCarInfo("Ram 3500 2020-22", harness=Harness.ram),
|
||||
],
|
||||
}
|
||||
|
||||
# Unique CAN messages:
|
||||
@@ -177,6 +188,41 @@ FW_VERSIONS = {
|
||||
b'68500483AB',
|
||||
],
|
||||
},
|
||||
|
||||
CAR.RAM_HD: {
|
||||
(Ecu.combinationMeter, 0x742, None): [
|
||||
b'68361606AH',
|
||||
b'68492693AD',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
b'68399794AC',
|
||||
b'68428503AA',
|
||||
b'68428505AA',
|
||||
],
|
||||
(Ecu.esp, 0x747, None): [
|
||||
b'68334977AH',
|
||||
b'68504022AB',
|
||||
b'68530686AB',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x753, None): [
|
||||
b'04672895AB',
|
||||
b'56029827AG',
|
||||
b'68484694AE',
|
||||
],
|
||||
(Ecu.eps, 0x761, None): [
|
||||
b'68421036AC',
|
||||
b'68507906AB',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'52421132AF',
|
||||
b'M2370131MB',
|
||||
b'M2421132MB',
|
||||
],
|
||||
(Ecu.gateway, 0x18DACBF1, None): [
|
||||
b'68488419AB',
|
||||
b'68535476AB',
|
||||
],
|
||||
},
|
||||
}
|
||||
|
||||
DBC = {
|
||||
@@ -188,4 +234,5 @@ DBC = {
|
||||
CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
|
||||
CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
|
||||
CAR.RAM_1500: dbc_dict('chrysler_ram_dt_generated', None),
|
||||
CAR.RAM_HD: dbc_dict('chrysler_ram_hd_generated', None),
|
||||
}
|
||||
|
||||
@@ -10,6 +10,10 @@ from common.conversions import Conversions as CV
|
||||
GOOD_TORQUE_THRESHOLD = 1.0 # m/s^2
|
||||
MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)"
|
||||
|
||||
# Makes that lack auto-resume with stock long, and auto resume in any configuration
|
||||
NO_AUTO_RESUME_STOCK_LONG = {"toyota", "gm"}
|
||||
NO_AUTO_RESUME = NO_AUTO_RESUME_STOCK_LONG | {"nissan", "subaru"}
|
||||
|
||||
|
||||
class Tier(Enum):
|
||||
GOLD = 0
|
||||
@@ -147,11 +151,11 @@ class CarInfo:
|
||||
else:
|
||||
alc = ""
|
||||
|
||||
# Exception for Nissan, Subaru, and stock long Toyota which do not auto-resume yet
|
||||
# Exception for cars which do not auto-resume yet
|
||||
acc = ""
|
||||
if self.min_enable_speed > 0:
|
||||
acc = f" <strong>while driving above {self.min_enable_speed * CV.MS_TO_MPH:.0f} mph</strong>"
|
||||
elif CP.carName not in ("nissan", "subaru", "toyota") or (CP.carName == "toyota" and CP.openpilotLongitudinalControl):
|
||||
elif CP.carName not in NO_AUTO_RESUME or (CP.carName in NO_AUTO_RESUME_STOCK_LONG and CP.openpilotLongitudinalControl):
|
||||
acc = " <strong>that automatically resumes from a stop</strong>"
|
||||
|
||||
if self.row[Column.STEERING_TORQUE] != Star.FULL:
|
||||
@@ -186,7 +190,8 @@ class Harness(Enum):
|
||||
bosch_a = "Honda Bosch A"
|
||||
bosch_b = "Honda Bosch B"
|
||||
toyota = "Toyota"
|
||||
subaru = "Subaru"
|
||||
subaru_a = "Subaru A"
|
||||
subaru_b = "Subaru B"
|
||||
fca = "FCA"
|
||||
ram = "Ram"
|
||||
vw = "VW"
|
||||
@@ -209,6 +214,7 @@ class Harness(Enum):
|
||||
hyundai_p = "Hyundai P"
|
||||
custom = "Developer"
|
||||
obd_ii = "OBD-II"
|
||||
gm = "GM"
|
||||
nissan_a = "Nissan A"
|
||||
nissan_b = "Nissan B"
|
||||
mazda = "Mazda"
|
||||
|
||||
@@ -337,17 +337,21 @@ def match_fw_to_car_exact(fw_versions_dict):
|
||||
return set(candidates.keys()) - set(invalid)
|
||||
|
||||
|
||||
def match_fw_to_car(fw_versions, allow_fuzzy=True):
|
||||
def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True):
|
||||
# Try exact matching first
|
||||
exact_matches = [(True, match_fw_to_car_exact)]
|
||||
exact_matches = []
|
||||
if allow_exact:
|
||||
exact_matches = [(True, match_fw_to_car_exact)]
|
||||
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:
|
||||
# TODO: For each brand, attempt to fingerprint using only FW returned from its queries
|
||||
# For each brand, attempt to fingerprint using all FW returned from its queries
|
||||
matches = set()
|
||||
fw_versions_dict = build_fw_dict(fw_versions, filter_brand=None)
|
||||
matches |= match_func(fw_versions_dict)
|
||||
for brand in brands:
|
||||
fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
|
||||
matches |= match_func(fw_versions_dict)
|
||||
|
||||
if len(matches):
|
||||
return exact_match, matches
|
||||
@@ -416,9 +420,8 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=Fa
|
||||
for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True):
|
||||
car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, debug=debug, progress=progress)
|
||||
all_car_fw.extend(car_fw)
|
||||
|
||||
# TODO: Until erroneous FW versions are removed, try to fingerprint on all possible combinations so far
|
||||
_, matches = match_fw_to_car(all_car_fw, allow_fuzzy=False)
|
||||
# Try to match using FW returned from this brand only
|
||||
matches = match_fw_to_car_exact(build_fw_dict(car_fw))
|
||||
if len(matches) == 1:
|
||||
break
|
||||
|
||||
|
||||
@@ -5,7 +5,7 @@ from common.realtime import DT_CTRL
|
||||
from opendbc.can.packer import CANPacker
|
||||
from selfdrive.car import apply_std_steer_torque_limits
|
||||
from selfdrive.car.gm import gmcan
|
||||
from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, EV_CAR
|
||||
from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, EV_CAR
|
||||
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
NetworkLocation = car.CarParams.NetworkLocation
|
||||
@@ -19,6 +19,7 @@ class CarController:
|
||||
self.apply_gas = 0
|
||||
self.apply_brake = 0
|
||||
self.frame = 0
|
||||
self.last_button_frame = 0
|
||||
|
||||
self.lka_steering_cmd_counter_last = -1
|
||||
self.lka_icon_status_last = (False, False)
|
||||
@@ -46,8 +47,7 @@ class CarController:
|
||||
if CS.lka_steering_cmd_counter != self.lka_steering_cmd_counter_last:
|
||||
self.lka_steering_cmd_counter_last = CS.lka_steering_cmd_counter
|
||||
elif (self.frame % self.params.STEER_STEP) == 0:
|
||||
lkas_enabled = CC.latActive and CS.out.vEgo > self.params.MIN_STEER_SPEED
|
||||
if lkas_enabled:
|
||||
if CC.latActive:
|
||||
new_steer = int(round(actuators.steer * self.params.STEER_MAX))
|
||||
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
|
||||
else:
|
||||
@@ -58,7 +58,7 @@ class CarController:
|
||||
# moment of disengaging, increment the counter based on the last message known to pass Panda safety checks.
|
||||
idx = (CS.lka_steering_cmd_counter + 1) % 4
|
||||
|
||||
can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
|
||||
can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive))
|
||||
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
# Gas/regen, brakes, and UI commands - all at 25Hz
|
||||
@@ -107,6 +107,13 @@ class CarController:
|
||||
if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
|
||||
can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
|
||||
|
||||
else:
|
||||
# Stock longitudinal, integrated at camera
|
||||
if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
|
||||
if CC.cruiseControl.cancel:
|
||||
self.last_button_frame = self.frame
|
||||
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CruiseButtons.CANCEL))
|
||||
|
||||
# Show green icon when LKA torque is applied, and
|
||||
# alarming orange icon when approaching torque limit.
|
||||
# If not sent again, LKA icon disappears in about 5 seconds.
|
||||
@@ -114,6 +121,8 @@ class CarController:
|
||||
lka_active = CS.lkas_status == 1
|
||||
lka_critical = lka_active and abs(actuators.steer) > 0.9
|
||||
lka_icon_status = (lka_active, lka_critical)
|
||||
|
||||
# SW_GMLAN not yet on cam harness, no HUD alerts
|
||||
if self.CP.networkLocation != NetworkLocation.fwdCamera and (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last):
|
||||
steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
|
||||
can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))
|
||||
|
||||
@@ -1,4 +1,5 @@
|
||||
from cereal import car
|
||||
from common.conversions import Conversions as CV
|
||||
from common.numpy_fast import mean
|
||||
from opendbc.can.can_define import CANDefine
|
||||
from opendbc.can.parser import CANParser
|
||||
@@ -6,6 +7,7 @@ from selfdrive.car.interfaces import CarStateBase
|
||||
from selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
|
||||
|
||||
TransmissionType = car.CarParams.TransmissionType
|
||||
NetworkLocation = car.CarParams.NetworkLocation
|
||||
|
||||
|
||||
class CarState(CarStateBase):
|
||||
@@ -15,7 +17,7 @@ class CarState(CarStateBase):
|
||||
self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"]
|
||||
self.lka_steering_cmd_counter = 0
|
||||
|
||||
def update(self, pt_cp, loopback_cp):
|
||||
def update(self, pt_cp, cam_cp, loopback_cp):
|
||||
ret = car.CarState.new_message()
|
||||
|
||||
self.prev_cruise_buttons = self.cruise_buttons
|
||||
@@ -77,9 +79,21 @@ class CarState(CarStateBase):
|
||||
|
||||
ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
|
||||
ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
|
||||
|
||||
return ret
|
||||
|
||||
@staticmethod
|
||||
def get_cam_can_parser(CP):
|
||||
signals = []
|
||||
checks = []
|
||||
if CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
signals.append(("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"))
|
||||
checks.append(("ASCMActiveCruiseControlStatus", 25))
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.CAMERA)
|
||||
|
||||
@staticmethod
|
||||
def get_can_parser(CP):
|
||||
signals = [
|
||||
|
||||
@@ -1,5 +1,9 @@
|
||||
from selfdrive.car import make_can_msg
|
||||
|
||||
def create_buttons(packer, bus, button):
|
||||
values = {"ACCButtons": button}
|
||||
return packer.make_can_msg("ASCMSteeringButton", bus, values)
|
||||
|
||||
def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
|
||||
|
||||
values = {
|
||||
@@ -59,8 +63,7 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_f
|
||||
return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
|
||||
|
||||
def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lead_car_in_sight, fcw):
|
||||
# Not a bit shift, dash can round up based on low 4 bits.
|
||||
target_speed = int(target_speed_kph * 16) & 0xfff
|
||||
target_speed = min(target_speed_kph, 255)
|
||||
|
||||
values = {
|
||||
"ACCAlwaysOne" : 1,
|
||||
|
||||
@@ -1,10 +1,11 @@
|
||||
#!/usr/bin/env python3
|
||||
from cereal import car
|
||||
from math import fabs
|
||||
from panda import Panda
|
||||
|
||||
from common.conversions import Conversions as CV
|
||||
from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
|
||||
from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams
|
||||
from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
|
||||
ButtonType = car.CarState.ButtonEvent.Type
|
||||
@@ -48,29 +49,36 @@ class CarInterface(CarInterfaceBase):
|
||||
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
|
||||
ret.carName = "gm"
|
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
|
||||
ret.pcmCruise = False # For ASCM, stock non-adaptive cruise control is kept off
|
||||
ret.radarOffCan = False # For ASCM, radar exists
|
||||
ret.transmissionType = TransmissionType.automatic
|
||||
# NetworkLocation.gateway: OBD-II harness (typically ASCM), NetworkLocation.fwdCamera: non-ASCM
|
||||
ret.networkLocation = NetworkLocation.gateway
|
||||
|
||||
if candidate in EV_CAR:
|
||||
ret.transmissionType = TransmissionType.direct
|
||||
else:
|
||||
ret.transmissionType = TransmissionType.automatic
|
||||
|
||||
if candidate in CAMERA_ACC_CAR:
|
||||
ret.openpilotLongitudinalControl = False
|
||||
ret.networkLocation = NetworkLocation.fwdCamera
|
||||
ret.radarOffCan = True # no radar
|
||||
ret.pcmCruise = True
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
|
||||
else: # ASCM, OBD-II harness
|
||||
ret.openpilotLongitudinalControl = True
|
||||
ret.networkLocation = NetworkLocation.gateway
|
||||
ret.radarOffCan = False
|
||||
ret.pcmCruise = False # stock non-adaptive cruise control is kept off
|
||||
|
||||
# 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}
|
||||
|
||||
# Presence of a camera on the object bus is ok.
|
||||
# Have to go to read_only if ASCM is online (ACC-enabled cars),
|
||||
# or camera is on powertrain bus (LKA cars without ACC).
|
||||
ret.openpilotLongitudinalControl = True
|
||||
tire_stiffness_factor = 0.444 # not optimized yet
|
||||
|
||||
# Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
|
||||
ret.minSteerSpeed = 7 * CV.MPH_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
|
||||
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
|
||||
tire_stiffness_factor = 0.444 # not optimized yet
|
||||
|
||||
ret.longitudinalTuning.kpBP = [5., 35.]
|
||||
ret.longitudinalTuning.kpV = [2.4, 1.5]
|
||||
@@ -84,7 +92,6 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
|
||||
|
||||
if candidate == CAR.VOLT:
|
||||
ret.transmissionType = TransmissionType.direct
|
||||
ret.mass = 1607. + STD_CARGO_KG
|
||||
ret.wheelbase = 2.69
|
||||
ret.steerRatio = 17.7 # Stock 15.7, LiveParameters
|
||||
@@ -143,6 +150,16 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.lateralTuning.pid.kf = 0.000045
|
||||
tire_stiffness_factor = 1.0
|
||||
|
||||
elif candidate == CAR.BOLT_EUV:
|
||||
ret.minEnableSpeed = -1
|
||||
ret.mass = 1669. + STD_CARGO_KG
|
||||
ret.wheelbase = 2.675
|
||||
ret.steerRatio = 16.8
|
||||
ret.centerToFront = ret.wheelbase * 0.4
|
||||
tire_stiffness_factor = 1.0
|
||||
ret.steerActuatorDelay = 0.2
|
||||
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)
|
||||
@@ -156,7 +173,7 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
# returns a car.CarState
|
||||
def _update(self, c):
|
||||
ret = self.CS.update(self.cp, self.cp_loopback)
|
||||
ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
|
||||
ret.cruiseState.enabled, ret.cruiseState.available = self.dp_atl_mode(ret)
|
||||
|
||||
if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT:
|
||||
|
||||
@@ -14,7 +14,6 @@ class CarControllerParams:
|
||||
STEER_STEP = 2 # Control frames per command (50hz)
|
||||
STEER_DELTA_UP = 7 # Delta rates require review due to observed EPS weakness
|
||||
STEER_DELTA_DOWN = 17
|
||||
MIN_STEER_SPEED = 3. # m/s
|
||||
STEER_DRIVER_ALLOWANCE = 50
|
||||
STEER_DRIVER_MULTIPLIER = 4
|
||||
STEER_DRIVER_FACTOR = 100
|
||||
@@ -59,10 +58,7 @@ class CAR:
|
||||
ACADIA = "GMC ACADIA DENALI 2018"
|
||||
BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
|
||||
ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
|
||||
|
||||
|
||||
EV_CAR = {CAR.VOLT}
|
||||
STEER_THRESHOLD = 1.0
|
||||
BOLT_EUV = "CHEVROLET BOLT EUV 2022"
|
||||
|
||||
|
||||
class Footnote(Enum):
|
||||
@@ -87,6 +83,7 @@ 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/Premier Redline Trim", video_link="https://youtu.be/xvwzGMUA210", footnotes=[], harness=Harness.gm),
|
||||
}
|
||||
|
||||
|
||||
@@ -107,6 +104,7 @@ class AccState:
|
||||
class CanBus:
|
||||
POWERTRAIN = 0
|
||||
OBSTACLE = 1
|
||||
CAMERA = 2
|
||||
CHASSIS = 2
|
||||
SW_GMLAN = 3
|
||||
LOOPBACK = 128
|
||||
@@ -155,6 +153,17 @@ FINGERPRINTS = {
|
||||
{
|
||||
309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8
|
||||
}],
|
||||
CAR.BOLT_EUV: [
|
||||
{
|
||||
189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 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, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 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, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 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}
|
||||
|
||||
# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
|
||||
CAMERA_ACC_CAR = {CAR.BOLT_EUV}
|
||||
|
||||
STEER_THRESHOLD = 1.0
|
||||
|
||||
@@ -329,6 +329,23 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.steerActuatorDelay = 0.1
|
||||
ret.steerLimitTimer = 0.8
|
||||
|
||||
if Params().get_bool('dp_honda_eps_mod'):
|
||||
if candidate == CAR.CIVIC:
|
||||
# tuned by a-tao
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096, 8000], [0, 4096, 4096]]
|
||||
elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL):
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2564, 8000], [0, 2564, 3840]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]] #2.5 default mod #Tuned by TMG
|
||||
elif candidate in (CAR.ACCORD, CAR.ACCORDH):
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
|
||||
elif candidate == CAR.CRV_5G:
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]] #tuned by Titanminer (8000)
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
|
||||
elif candidate == CAR.CRV_HYBRID:
|
||||
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)
|
||||
return ret
|
||||
|
||||
|
||||
@@ -131,7 +131,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
|
||||
CAR.FIT: HondaCarInfo("Honda Fit 2018-20", harness=Harness.nidec),
|
||||
CAR.FREED: HondaCarInfo("Honda Freed 2020", harness=Harness.nidec),
|
||||
CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", harness=Harness.nidec),
|
||||
CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-22", min_steer_speed=0., harness=Harness.nidec),
|
||||
CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", min_steer_speed=0., harness=Harness.nidec),
|
||||
CAR.ODYSSEY_CHN: None, # Chinese version of Odyssey
|
||||
CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", harness=Harness.nidec),
|
||||
CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
|
||||
|
||||
@@ -4,8 +4,8 @@ from common.numpy_fast import clip, interp
|
||||
from common.realtime import DT_CTRL
|
||||
from opendbc.can.packer import CANPacker
|
||||
from selfdrive.car import apply_std_steer_torque_limits
|
||||
from selfdrive.car.hyundai import hda2can, hyundaican
|
||||
from selfdrive.car.hyundai.values import Buttons, CarControllerParams, HDA2_CAR, CAR
|
||||
from selfdrive.car.hyundai import hyundaicanfd, hyundaican
|
||||
from selfdrive.car.hyundai.values import Buttons, CarControllerParams, CANFD_CAR, CAR
|
||||
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
LongCtrlState = car.CarControl.Actuators.LongControlState
|
||||
@@ -69,23 +69,23 @@ class CarController:
|
||||
|
||||
can_sends = []
|
||||
|
||||
if self.CP.carFingerprint in HDA2_CAR:
|
||||
if self.CP.carFingerprint in CANFD_CAR:
|
||||
# steering control
|
||||
can_sends.append(hda2can.create_lkas(self.packer, CC.enabled, CC.latActive, apply_steer))
|
||||
can_sends.append(hyundaicanfd.create_lkas(self.packer, CC.enabled, CC.latActive, apply_steer))
|
||||
|
||||
if self.frame % 5 == 0:
|
||||
can_sends.append(hda2can.create_cam_0x2a4(self.packer, CS.cam_0x2a4))
|
||||
can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, CS.cam_0x2a4))
|
||||
|
||||
# cruise cancel
|
||||
if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
|
||||
if CC.cruiseControl.cancel:
|
||||
for _ in range(20):
|
||||
can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL))
|
||||
can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL))
|
||||
self.last_button_frame = self.frame
|
||||
|
||||
# cruise standstill resume
|
||||
elif CC.cruiseControl.resume:
|
||||
can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
|
||||
can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
|
||||
self.last_button_frame = self.frame
|
||||
else:
|
||||
|
||||
|
||||
@@ -5,7 +5,7 @@ from cereal import car
|
||||
from common.conversions import Conversions as CV
|
||||
from opendbc.can.parser import CANParser
|
||||
from opendbc.can.can_define import CANDefine
|
||||
from selfdrive.car.hyundai.values import DBC, FEATURES, CAMERA_SCC_CAR, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
|
||||
from selfdrive.car.hyundai.values import DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
|
||||
from selfdrive.car.interfaces import CarStateBase
|
||||
|
||||
PREV_BUTTON_SAMPLES = 8
|
||||
@@ -19,7 +19,7 @@ class CarState(CarStateBase):
|
||||
self.cruise_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
|
||||
self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
|
||||
|
||||
if CP.carFingerprint in HDA2_CAR:
|
||||
if CP.carFingerprint in CANFD_CAR:
|
||||
self.shifter_values = can_define.dv["ACCELERATOR"]["GEAR"]
|
||||
elif self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
|
||||
self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
|
||||
@@ -35,8 +35,8 @@ class CarState(CarStateBase):
|
||||
self.params = CarControllerParams(CP)
|
||||
|
||||
def update(self, cp, cp_cam):
|
||||
if self.CP.carFingerprint in HDA2_CAR:
|
||||
return self.update_hda2(cp, cp_cam)
|
||||
if self.CP.carFingerprint in CANFD_CAR:
|
||||
return self.update_canfd(cp, cp_cam)
|
||||
|
||||
ret = car.CarState.new_message()
|
||||
|
||||
@@ -133,7 +133,7 @@ class CarState(CarStateBase):
|
||||
|
||||
return ret
|
||||
|
||||
def update_hda2(self, cp, cp_cam):
|
||||
def update_canfd(self, cp, cp_cam):
|
||||
ret = car.CarState.new_message()
|
||||
|
||||
ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255.
|
||||
@@ -184,8 +184,8 @@ class CarState(CarStateBase):
|
||||
|
||||
@staticmethod
|
||||
def get_can_parser(CP):
|
||||
if CP.carFingerprint in HDA2_CAR:
|
||||
return CarState.get_can_parser_hda2(CP)
|
||||
if CP.carFingerprint in CANFD_CAR:
|
||||
return CarState.get_can_parser_canfd(CP)
|
||||
|
||||
signals = [
|
||||
# signal_name, signal_address
|
||||
@@ -319,7 +319,7 @@ class CarState(CarStateBase):
|
||||
|
||||
@staticmethod
|
||||
def get_cam_can_parser(CP):
|
||||
if CP.carFingerprint in HDA2_CAR:
|
||||
if CP.carFingerprint in CANFD_CAR:
|
||||
signals = [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)]
|
||||
checks = [("CAM_0x2a4", 20)]
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6)
|
||||
@@ -374,7 +374,7 @@ class CarState(CarStateBase):
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
|
||||
|
||||
@staticmethod
|
||||
def get_can_parser_hda2(CP):
|
||||
def get_can_parser_canfd(CP):
|
||||
signals = [
|
||||
("WHEEL_SPEED_1", "WHEEL_SPEEDS"),
|
||||
("WHEEL_SPEED_2", "WHEEL_SPEEDS"),
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
from cereal import car
|
||||
from panda import Panda
|
||||
from common.conversions import Conversions as CV
|
||||
from selfdrive.car.hyundai.values import CAR, DBC, CAMERA_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
|
||||
from selfdrive.car.hyundai.values import CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
|
||||
from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
|
||||
from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
@@ -26,7 +26,6 @@ class CarInterface(CarInterfaceBase):
|
||||
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
|
||||
|
||||
ret.carName = "hyundai"
|
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
|
||||
ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
|
||||
|
||||
# WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB)
|
||||
@@ -239,8 +238,12 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.mass = 2055 + STD_CARGO_KG
|
||||
ret.wheelbase = 2.9
|
||||
ret.steerRatio = 16.
|
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
|
||||
get_safety_config(car.CarParams.SafetyModel.hyundaiHDA2)]
|
||||
tire_stiffness_factor = 0.65
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
elif candidate == CAR.IONIQ_5:
|
||||
ret.mass = 2012 + STD_CARGO_KG
|
||||
ret.wheelbase = 3.0
|
||||
ret.steerRatio = 16.
|
||||
tire_stiffness_factor = 0.65
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
@@ -280,15 +283,28 @@ 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]]
|
||||
|
||||
# these cars require a special panda safety mode due to missing counters and checksums in the messages
|
||||
if candidate in LEGACY_SAFETY_MODE_CAR:
|
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
|
||||
# panda safety config
|
||||
if candidate in CANFD_CAR:
|
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
|
||||
get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd)]
|
||||
else:
|
||||
if candidate in LEGACY_SAFETY_MODE_CAR:
|
||||
# these cars require a special panda safety mode due to missing counters and checksums in the messages
|
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
|
||||
else:
|
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
|
||||
|
||||
# set appropriate safety param for gas signal
|
||||
if candidate in HYBRID_CAR:
|
||||
ret.safetyConfigs[0].safetyParam = 2
|
||||
elif candidate in EV_CAR:
|
||||
ret.safetyConfigs[0].safetyParam = 1
|
||||
# set appropriate safety param for gas signal
|
||||
if candidate in HYBRID_CAR:
|
||||
ret.safetyConfigs[0].safetyParam = 2
|
||||
elif candidate in EV_CAR:
|
||||
ret.safetyConfigs[0].safetyParam = 1
|
||||
|
||||
if ret.openpilotLongitudinalControl:
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LONG
|
||||
|
||||
if candidate in CAMERA_SCC_CAR:
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
|
||||
|
||||
ret.centerToFront = ret.wheelbase * 0.4
|
||||
|
||||
@@ -306,12 +322,6 @@ class CarInterface(CarInterfaceBase):
|
||||
if int(Params().get("dp_atl").decode('utf-8')) == 1:
|
||||
ret.openpilotLongitudinalControl = False
|
||||
|
||||
if ret.openpilotLongitudinalControl:
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LONG
|
||||
|
||||
if candidate in CAMERA_SCC_CAR:
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
|
||||
|
||||
CarInterfaceBase.configure_lqr_tune(ret.lateralTuning)
|
||||
return ret
|
||||
|
||||
|
||||
@@ -20,7 +20,7 @@ class CarControllerParams:
|
||||
self.STEER_DRIVER_FACTOR = 1
|
||||
self.STEER_THRESHOLD = 150
|
||||
|
||||
if CP.carFingerprint in HDA2_CAR:
|
||||
if CP.carFingerprint in CANFD_CAR:
|
||||
self.STEER_MAX = 270
|
||||
self.STEER_DRIVER_ALLOWANCE = 250
|
||||
self.STEER_DRIVER_MULTIPLIER = 2
|
||||
@@ -65,6 +65,7 @@ class CAR:
|
||||
PALISADE = "HYUNDAI PALISADE 2020"
|
||||
VELOSTER = "HYUNDAI VELOSTER 2019"
|
||||
SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021"
|
||||
IONIQ_5 = "HYUNDAI IONIQ 5 2022"
|
||||
|
||||
# Kia
|
||||
KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
|
||||
@@ -126,6 +127,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
|
||||
],
|
||||
CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", "Smart Cruise Control (SCC)", 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.none),
|
||||
|
||||
# Kia
|
||||
CAR.KIA_FORTE: [
|
||||
@@ -156,7 +158,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
|
||||
],
|
||||
CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
|
||||
CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e),
|
||||
CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.hyundai_p),
|
||||
CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "Highway Driving Assist II", harness=Harness.hyundai_p),
|
||||
|
||||
# Genesis
|
||||
CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f),
|
||||
@@ -1263,6 +1265,23 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.05 99210-CV000 211027',
|
||||
],
|
||||
},
|
||||
CAR.IONIQ_5: {
|
||||
(Ecu.esp, 0x7d1, None): [
|
||||
b'\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010',
|
||||
b'\xf1\x8758520GI010\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010',
|
||||
],
|
||||
(Ecu.eps, 0x7d4, None): [
|
||||
b'\xf1\x00NE MDPS R 1.00 1.06 57700GI000 4NEDR106',
|
||||
b'\xf1\x8757700GI000 \xf1\x00NE MDPS R 1.00 1.06 57700GI000 4NEDR106',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00NE1_ RDR ----- 1.00 1.00 99110-GI000 ',
|
||||
b'\xf1\x8799110GI000\xf1\x00NE1_ RDR ----- 1.00 1.00 99110-GI000 ',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.02 99211-GI010 211206',
|
||||
],
|
||||
},
|
||||
}
|
||||
|
||||
CHECKSUM = {
|
||||
@@ -1280,7 +1299,7 @@ FEATURES = {
|
||||
"use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022},
|
||||
}
|
||||
|
||||
HDA2_CAR = {CAR.KIA_EV6, }
|
||||
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5}
|
||||
|
||||
# The camera does SCC on these cars, rather than the radar
|
||||
CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
|
||||
@@ -1335,4 +1354,5 @@ DBC = {
|
||||
CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_EV6: dbc_dict('kia_ev6', None),
|
||||
CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
|
||||
CAR.IONIQ_5: dbc_dict('kia_ev6', None),
|
||||
}
|
||||
|
||||
@@ -135,6 +135,7 @@ class IsoTpParallelQuery:
|
||||
if self.debug:
|
||||
cloudlog.warning(f"iso-tp query response pending: {tx_addr}")
|
||||
else:
|
||||
response_timeouts[tx_addr] = 0
|
||||
request_done[tx_addr] = True
|
||||
cloudlog.warning(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
|
||||
|
||||
|
||||
@@ -67,6 +67,7 @@ FW_VERSIONS = {
|
||||
b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x764, None): [
|
||||
b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
@@ -80,6 +81,7 @@ FW_VERSIONS = {
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.CX5: {
|
||||
|
||||
@@ -46,12 +46,12 @@ class CAR:
|
||||
@dataclass
|
||||
class SubaruCarInfo(CarInfo):
|
||||
package: str = "EyeSight Driver Assistance"
|
||||
harness: Enum = Harness.subaru
|
||||
harness: Enum = Harness.subaru_a
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
|
||||
CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"),
|
||||
CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", harness=Harness.none),
|
||||
CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", harness=Harness.subaru_b),
|
||||
CAR.IMPREZA: [
|
||||
SubaruCarInfo("Subaru Impreza 2017-19"),
|
||||
SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
|
||||
@@ -99,7 +99,6 @@ FW_VERSIONS = {
|
||||
b'\x00\xfe\xf7\x00\x00',
|
||||
b'\001\xfe\xf9\000\000',
|
||||
b'\x01\xfe\xf7\x00\x00',
|
||||
b'\xf1\x00\xa4\x10@',
|
||||
],
|
||||
},
|
||||
CAR.IMPREZA: {
|
||||
@@ -116,6 +115,7 @@ FW_VERSIONS = {
|
||||
b'z\x94\x08\x90\x00',
|
||||
b'z\x84\x19\x90\x00',
|
||||
b'\xf1\x00\xb2\x06\x04',
|
||||
b'z\x94\x0c\x90\x00',
|
||||
],
|
||||
(Ecu.eps, 0x746, None): [
|
||||
b'\x7a\xc0\x0c\x00',
|
||||
@@ -139,6 +139,7 @@ FW_VERSIONS = {
|
||||
b'\x00\x00c\xf4\x00\x00\x00\x00',
|
||||
b'\x00\x00d\xdc\x00\x00\x00\x00',
|
||||
b'\x00\x00dd\x00\x00\x00\x00',
|
||||
b'\x00\x00c\xf4\x1f@ \x07',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\xaa\x61\x66\x73\x07',
|
||||
@@ -148,7 +149,6 @@ FW_VERSIONS = {
|
||||
b'\xaa!`u\a',
|
||||
b'\xaa!dq\a',
|
||||
b'\xaa!dt\a',
|
||||
b'\xf1\x00\xa2\x10\t',
|
||||
b'\xc5!ar\a',
|
||||
b'\xbe!as\a',
|
||||
b'\xc5!ds\a',
|
||||
@@ -158,6 +158,7 @@ FW_VERSIONS = {
|
||||
b'\xaa\x00Bu\x07',
|
||||
b'\xc5!dr\x07',
|
||||
b'\xaa!aw\x07',
|
||||
b'\xaa!av\x07',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xe3\xe5\x46\x31\x00',
|
||||
@@ -173,7 +174,6 @@ FW_VERSIONS = {
|
||||
b'\xe4\xf5\002\000\000',
|
||||
b'\xe3\xd0\x081\x00',
|
||||
b'\xe3\xf5\x06\x00\x00',
|
||||
b'\xf1\x00\xa4\x10@',
|
||||
],
|
||||
},
|
||||
CAR.IMPREZA_2020: {
|
||||
@@ -202,7 +202,6 @@ FW_VERSIONS = {
|
||||
b'\xca!`0\a',
|
||||
b'\xcc\"f0\a',
|
||||
b'\xcc!fp\a',
|
||||
b'\xf1\x00\xa2\x10\t',
|
||||
b'\xca!f@\x07',
|
||||
b'\xca!fp\x07',
|
||||
],
|
||||
@@ -247,7 +246,6 @@ FW_VERSIONS = {
|
||||
b'\x1a\xf6F`\x00',
|
||||
b'\032\xf6b`\000',
|
||||
b'\x1a\xf6B`\x00',
|
||||
b'\xf1\x00\xa4\x10@',
|
||||
b'\x1a\xf6b0\x00',
|
||||
],
|
||||
},
|
||||
@@ -475,4 +473,4 @@ DBC = {
|
||||
}
|
||||
|
||||
GLOBAL_GEN2 = (CAR.OUTBACK, )
|
||||
PREGLOBAL_CARS = (CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018)
|
||||
PREGLOBAL_CARS = (CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018)
|
||||
|
||||
@@ -22,7 +22,9 @@ COMMA BODY: [.nan, 1000, .nan]
|
||||
# Totally new cars
|
||||
KIA EV6 2022: [3.5, 2.5, 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 EUV 2022: [2.0, 2.0, 0.05]
|
||||
|
||||
# Dashcam or fallback configured as ideal car
|
||||
mock: [10.0, 10, 0.0]
|
||||
|
||||
@@ -29,6 +29,7 @@ HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019
|
||||
HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019
|
||||
HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019
|
||||
HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019
|
||||
HYUNDAI IONIQ 5 2022: KIA EV6 2022
|
||||
HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019
|
||||
HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019
|
||||
HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019
|
||||
|
||||
@@ -32,10 +32,12 @@ class CarController:
|
||||
|
||||
# dp
|
||||
self.dp_toyota_sng = False
|
||||
self.dp_atl = 0
|
||||
|
||||
def update(self, CC, CS, dragonconf):
|
||||
if dragonconf is not None:
|
||||
self.dp_toyota_sng = dragonconf.dpToyotaSng
|
||||
self.dp_atl = dragonconf.dpAtl
|
||||
actuators = CC.actuators
|
||||
hud_control = CC.hudControl
|
||||
pcm_cancel_cmd = CC.cruiseControl.cancel
|
||||
@@ -79,6 +81,11 @@ class CarController:
|
||||
apply_steer_req = 0
|
||||
self.steer_rate_counter = 0
|
||||
|
||||
# dp - try to avoid steering fault
|
||||
if self.dp_atl > 0 and abs(CS.out.steeringAngleDeg) > 500:
|
||||
apply_steer = 0
|
||||
apply_steer_req = 0
|
||||
|
||||
# TODO: probably can delete this. CS.pcm_acc_status uses a different signal
|
||||
# than CS.cruiseState.enabled. confirm they're not meaningfully different
|
||||
if not CC.enabled and CS.pcm_acc_status:
|
||||
|
||||
@@ -158,7 +158,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
|
||||
CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),
|
||||
CAR.RAV4H_TSS2_2022: ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
|
||||
CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"),
|
||||
CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", footnotes=[Footnote.DSU]),
|
||||
CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", footnotes=[Footnote.DSU], min_enable_speed=MIN_ACC_SPEED),
|
||||
|
||||
# Lexus
|
||||
CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+", footnotes=[Footnote.DSU]),
|
||||
@@ -171,7 +171,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
|
||||
CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"),
|
||||
CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
|
||||
CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2017-20"),
|
||||
CAR.LEXUS_RX: ToyotaCarInfo("Lexus RX 2016-18", footnotes=[Footnote.DSU]),
|
||||
CAR.LEXUS_RX: ToyotaCarInfo("Lexus RX 2016-19", footnotes=[Footnote.DSU]),
|
||||
CAR.LEXUS_RXH: ToyotaCarInfo("Lexus RX Hybrid 2016-19", footnotes=[Footnote.DSU]),
|
||||
CAR.LEXUS_RX_TSS2: ToyotaCarInfo("Lexus RX 2020-22"),
|
||||
CAR.LEXUS_RXH_TSS2: ToyotaCarInfo("Lexus RX Hybrid 2020-21"),
|
||||
@@ -1825,15 +1825,18 @@ FW_VERSIONS = {
|
||||
b'\x02348Y3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'\x0234D14000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'\x0234D16000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.esp, 0x7b0, None): [
|
||||
b'F152648831\x00\x00\x00\x00\x00\x00',
|
||||
b'F152648891\x00\x00\x00\x00\x00\x00',
|
||||
b'F152648D00\x00\x00\x00\x00\x00\x00',
|
||||
b'F152648D60\x00\x00\x00\x00\x00\x00',
|
||||
b'F152648811\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.eps, 0x7a1, None): [
|
||||
b'8965B48271\x00\x00\x00\x00\x00\x00',
|
||||
b'8965B48261\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x750, 0xf): [
|
||||
b'\x018821F3301400\x00\x00\x00\x00',
|
||||
|
||||
@@ -1,8 +1,8 @@
|
||||
from cereal import car
|
||||
from opendbc.can.packer import CANPacker
|
||||
from selfdrive.car import apply_std_steer_torque_limits
|
||||
from selfdrive.car.volkswagen import volkswagencan
|
||||
from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, MQB_LDW_MESSAGES, CarControllerParams as P
|
||||
from selfdrive.car.volkswagen import mqbcan
|
||||
from selfdrive.car.volkswagen.values import CANBUS, CarControllerParams
|
||||
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
|
||||
@@ -10,11 +10,12 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
class CarController:
|
||||
def __init__(self, dbc_name, CP, VM):
|
||||
self.CP = CP
|
||||
self.CCP = CarControllerParams(CP)
|
||||
self.CCS = mqbcan
|
||||
self.packer_pt = CANPacker(dbc_name)
|
||||
|
||||
self.apply_steer_last = 0
|
||||
self.frame = 0
|
||||
|
||||
self.packer_pt = CANPacker(DBC_FILES.mqb)
|
||||
|
||||
self.hcaSameTorqueCount = 0
|
||||
self.hcaEnabledFrameCount = 0
|
||||
|
||||
@@ -26,7 +27,7 @@ class CarController:
|
||||
|
||||
# **** Steering Controls ************************************************ #
|
||||
|
||||
if self.frame % P.HCA_STEP == 0:
|
||||
if self.frame % self.CCP.HCA_STEP == 0:
|
||||
# Logic to avoid HCA state 4 "refused":
|
||||
# * Don't steer unless HCA is in state 3 "ready" or 5 "active"
|
||||
# * Don't steer at standstill
|
||||
@@ -38,21 +39,21 @@ class CarController:
|
||||
# when exceeding ~1/3 the 360 second timer.
|
||||
|
||||
if CC.latActive:
|
||||
new_steer = int(round(actuators.steer * P.STEER_MAX))
|
||||
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P)
|
||||
new_steer = int(round(actuators.steer * self.CCP.STEER_MAX))
|
||||
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.CCP)
|
||||
if apply_steer == 0:
|
||||
hcaEnabled = False
|
||||
self.hcaEnabledFrameCount = 0
|
||||
else:
|
||||
self.hcaEnabledFrameCount += 1
|
||||
if self.hcaEnabledFrameCount >= 118 * (100 / P.HCA_STEP): # 118s
|
||||
if self.hcaEnabledFrameCount >= 118 * (100 / self.CCP.HCA_STEP): # 118s
|
||||
hcaEnabled = False
|
||||
self.hcaEnabledFrameCount = 0
|
||||
else:
|
||||
hcaEnabled = True
|
||||
if self.apply_steer_last == apply_steer:
|
||||
self.hcaSameTorqueCount += 1
|
||||
if self.hcaSameTorqueCount > 1.9 * (100 / P.HCA_STEP): # 1.9s
|
||||
if self.hcaSameTorqueCount > 1.9 * (100 / self.CCP.HCA_STEP): # 1.9s
|
||||
apply_steer -= (1, -1)[apply_steer < 0]
|
||||
self.hcaSameTorqueCount = 0
|
||||
else:
|
||||
@@ -62,32 +63,28 @@ class CarController:
|
||||
apply_steer = 0
|
||||
|
||||
self.apply_steer_last = apply_steer
|
||||
can_sends.append(volkswagencan.create_mqb_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hcaEnabled))
|
||||
can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hcaEnabled))
|
||||
|
||||
# **** HUD Controls ***************************************************** #
|
||||
|
||||
if self.frame % P.LDW_STEP == 0:
|
||||
if self.frame % self.CCP.LDW_STEP == 0:
|
||||
hud_alert = 0
|
||||
if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw):
|
||||
hud_alert = MQB_LDW_MESSAGES["laneAssistTakeOverSilent"]
|
||||
else:
|
||||
hud_alert = MQB_LDW_MESSAGES["none"]
|
||||
hud_alert = self.CCP.LDW_MESSAGES["laneAssistTakeOver"]
|
||||
can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, CANBUS.pt, CS.ldw_stock_values, CC.enabled,
|
||||
CS.out.steeringPressed, hud_alert, hud_control))
|
||||
|
||||
can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, CANBUS.pt, CC.enabled,
|
||||
CS.out.steeringPressed, hud_alert, hud_control.leftLaneVisible,
|
||||
hud_control.rightLaneVisible, CS.ldw_stock_values,
|
||||
hud_control.leftLaneDepart, hud_control.rightLaneDepart))
|
||||
# **** Stock ACC Button Controls **************************************** #
|
||||
|
||||
# **** ACC Button Controls ********************************************** #
|
||||
|
||||
if self.CP.pcmCruise and self.frame % P.GRA_ACC_STEP == 0:
|
||||
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(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, cancel=True))
|
||||
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(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, resume=True))
|
||||
can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, resume=True))
|
||||
|
||||
new_actuators = actuators.copy()
|
||||
new_actuators.steer = self.apply_steer_last / P.STEER_MAX
|
||||
new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX
|
||||
|
||||
self.frame += 1
|
||||
return new_actuators, can_sends
|
||||
|
||||
@@ -3,20 +3,29 @@ from cereal import car
|
||||
from common.conversions import Conversions as CV
|
||||
from selfdrive.car.interfaces import CarStateBase
|
||||
from opendbc.can.parser import CANParser
|
||||
from opendbc.can.can_define import CANDefine
|
||||
from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
|
||||
CarControllerParams, MQB_BUTTONS
|
||||
from selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
|
||||
CarControllerParams
|
||||
|
||||
|
||||
class CarState(CarStateBase):
|
||||
def __init__(self, CP):
|
||||
super().__init__(CP)
|
||||
self.button_states = {button.event_type: False for button in MQB_BUTTONS}
|
||||
can_define = CANDefine(DBC_FILES.mqb)
|
||||
if CP.transmissionType == TransmissionType.automatic:
|
||||
self.shifter_values = can_define.dv["Getriebe_11"]["GE_Fahrstufe"]
|
||||
elif CP.transmissionType == TransmissionType.direct:
|
||||
self.shifter_values = can_define.dv["EV_Gearshift"]["GearPosition"]
|
||||
self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"]
|
||||
self.CCP = CarControllerParams(CP)
|
||||
self.button_states = {button.event_type: False for button in self.CCP.BUTTONS}
|
||||
|
||||
def create_button_events(self, pt_cp, buttons):
|
||||
button_events = []
|
||||
|
||||
for button in buttons:
|
||||
state = pt_cp.vl[button.can_addr][button.can_msg] in button.values
|
||||
if self.button_states[button.event_type] != state:
|
||||
event = car.CarState.ButtonEvent.new_message()
|
||||
event.type = button.event_type
|
||||
event.pressed = state
|
||||
button_events.append(event)
|
||||
self.button_states[button.event_type] = state
|
||||
|
||||
return button_events
|
||||
|
||||
def update(self, pt_cp, cam_cp, ext_cp, trans_type):
|
||||
ret = car.CarState.new_message()
|
||||
@@ -37,11 +46,11 @@ class CarState(CarStateBase):
|
||||
ret.steeringAngleDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradwinkel"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradwinkel"])]
|
||||
ret.steeringRateDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradw_Geschw"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradw_Geschw"])]
|
||||
ret.steeringTorque = pt_cp.vl["LH_EPS_03"]["EPS_Lenkmoment"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_Lenkmoment"])]
|
||||
ret.steeringPressed = abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE
|
||||
ret.steeringPressed = abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE
|
||||
ret.yawRate = pt_cp.vl["ESP_02"]["ESP_Gierrate"] * (1, -1)[int(pt_cp.vl["ESP_02"]["ESP_VZ_Gierrate"])] * CV.DEG_TO_RAD
|
||||
|
||||
# Verify EPS readiness to accept steering commands
|
||||
hca_status = self.hca_status_values.get(pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"])
|
||||
hca_status = self.CCP.hca_status_values.get(pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"])
|
||||
ret.steerFaultPermanent = hca_status in ("DISABLED", "FAULT")
|
||||
ret.steerFaultTemporary = hca_status in ("INITIALIZING", "REJECTED")
|
||||
|
||||
@@ -54,9 +63,9 @@ class CarState(CarStateBase):
|
||||
|
||||
# Update gear and/or clutch position data.
|
||||
if trans_type == TransmissionType.automatic:
|
||||
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["Getriebe_11"]["GE_Fahrstufe"], None))
|
||||
ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_11"]["GE_Fahrstufe"], None))
|
||||
elif trans_type == TransmissionType.direct:
|
||||
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["EV_Gearshift"]["GearPosition"], None))
|
||||
ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["EV_Gearshift"]["GearPosition"], None))
|
||||
elif trans_type == TransmissionType.manual:
|
||||
ret.clutchPressed = not pt_cp.vl["Motor_14"]["MO_Kuppl_schalter"]
|
||||
if bool(pt_cp.vl["Gateway_72"]["BCM1_Rueckfahrlicht_Schalter"]):
|
||||
@@ -118,17 +127,8 @@ class CarState(CarStateBase):
|
||||
# Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough
|
||||
ret.leftBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Left"])
|
||||
ret.rightBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Right"])
|
||||
ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
|
||||
self.gra_stock_values = pt_cp.vl["GRA_ACC_01"]
|
||||
buttonEvents = []
|
||||
for button in MQB_BUTTONS:
|
||||
state = pt_cp.vl[button.can_addr][button.can_msg] in button.values
|
||||
if self.button_states[button.event_type] != state:
|
||||
event = car.CarState.ButtonEvent.new_message()
|
||||
event.type = button.event_type
|
||||
event.pressed = state
|
||||
buttonEvents.append(event)
|
||||
self.button_states[button.event_type] = state
|
||||
ret.buttonEvents = buttonEvents
|
||||
|
||||
# Additional safety checks performed in CarInterface.
|
||||
ret.espDisabled = pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"] != 0
|
||||
@@ -219,7 +219,7 @@ class CarState(CarStateBase):
|
||||
signals += MqbExtraSignals.bsm_radar_signals
|
||||
checks += MqbExtraSignals.bsm_radar_checks
|
||||
|
||||
return CANParser(DBC_FILES.mqb, signals, checks, CANBUS.pt)
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.pt)
|
||||
|
||||
@staticmethod
|
||||
def get_cam_can_parser(CP):
|
||||
@@ -247,7 +247,7 @@ class CarState(CarStateBase):
|
||||
signals += MqbExtraSignals.bsm_radar_signals
|
||||
checks += MqbExtraSignals.bsm_radar_checks
|
||||
|
||||
return CANParser(DBC_FILES.mqb, signals, checks, CANBUS.cam)
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.cam)
|
||||
|
||||
class MqbExtraSignals:
|
||||
# Additional signal and message lists for optional or bus-portable controllers
|
||||
|
||||
@@ -1,7 +1,9 @@
|
||||
from cereal import car
|
||||
from selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, GearShifter
|
||||
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
|
||||
from selfdrive.car import STD_CARGO_KG, create_button_enable_events, scale_rot_inertia, scale_tire_stiffness, \
|
||||
gen_empty_fingerprint, get_safety_config
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
from selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, GearShifter
|
||||
|
||||
|
||||
EventName = car.CarEvent.EventName
|
||||
|
||||
@@ -52,6 +54,13 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.lateralTuning.pid.kpV = [0.6]
|
||||
ret.lateralTuning.pid.kiV = [0.2]
|
||||
|
||||
# Global longitudinal tuning defaults, can be overridden per-vehicle
|
||||
|
||||
ret.pcmCruise = not ret.openpilotLongitudinalControl
|
||||
ret.longitudinalActuatorDelayUpperBound = 0.5 # s
|
||||
ret.longitudinalTuning.kpV = [0.1]
|
||||
ret.longitudinalTuning.kiV = [0.0]
|
||||
|
||||
# Per-chassis tuning values, override tuning defaults here if desired
|
||||
|
||||
if candidate == CAR.ARTEON_MK1:
|
||||
@@ -162,7 +171,8 @@ class CarInterface(CarInterfaceBase):
|
||||
ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
|
||||
ret.cruiseState.enabled, ret.cruiseState.available = self.dp_atl_mode(ret)
|
||||
|
||||
events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic])
|
||||
events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
|
||||
pcm_enable=not self.CS.CP.openpilotLongitudinalControl)
|
||||
events = self.dp_atl_warning(ret, events)
|
||||
|
||||
# Low speed steer alert hysteresis logic
|
||||
@@ -173,6 +183,13 @@ class CarInterface(CarInterfaceBase):
|
||||
if self.low_speed_alert:
|
||||
events.add(EventName.belowSteerSpeed)
|
||||
|
||||
if self.CS.CP.openpilotLongitudinalControl:
|
||||
if ret.vEgo < self.CP.minEnableSpeed + 2.:
|
||||
events.add(EventName.belowEngageSpeed)
|
||||
if c.enabled and ret.vEgo < self.CP.minEnableSpeed:
|
||||
events.add(EventName.speedTooLow)
|
||||
|
||||
events.events.extend(create_button_enable_events(ret.buttonEvents, pcm_cruise=self.CP.pcmCruise))
|
||||
ret.events = events.to_msg()
|
||||
|
||||
return ret
|
||||
|
||||
@@ -0,0 +1,38 @@
|
||||
def create_steering_control(packer, bus, apply_steer, lkas_enabled):
|
||||
values = {
|
||||
"SET_ME_0X3": 0x3,
|
||||
"Assist_Torque": abs(apply_steer),
|
||||
"Assist_Requested": lkas_enabled,
|
||||
"Assist_VZ": 1 if apply_steer < 0 else 0,
|
||||
"HCA_Available": 1,
|
||||
"HCA_Standby": not lkas_enabled,
|
||||
"HCA_Active": lkas_enabled,
|
||||
"SET_ME_0XFE": 0xFE,
|
||||
"SET_ME_0X07": 0x07,
|
||||
}
|
||||
return packer.make_can_msg("HCA_01", bus, values)
|
||||
|
||||
|
||||
def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control):
|
||||
values = ldw_stock_values.copy()
|
||||
|
||||
values.update({
|
||||
"LDW_Status_LED_gelb": 1 if enabled and steering_pressed else 0,
|
||||
"LDW_Status_LED_gruen": 1 if enabled and not steering_pressed else 0,
|
||||
"LDW_Lernmodus_links": 3 if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible,
|
||||
"LDW_Lernmodus_rechts": 3 if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible,
|
||||
"LDW_Texte": hud_alert,
|
||||
})
|
||||
return packer.make_can_msg("LDW_02", bus, values)
|
||||
|
||||
|
||||
def create_acc_buttons_control(packer, bus, gra_stock_values, idx, cancel=False, resume=False):
|
||||
values = gra_stock_values.copy()
|
||||
|
||||
values.update({
|
||||
"COUNTER": idx,
|
||||
"GRA_Abbrechen": cancel,
|
||||
"GRA_Tip_Wiederaufnahme": resume,
|
||||
})
|
||||
|
||||
return packer.make_can_msg("GRA_ACC_01", bus, values)
|
||||
@@ -4,6 +4,7 @@ from enum import Enum
|
||||
from typing import Dict, List, Union
|
||||
|
||||
from cereal import car
|
||||
from opendbc.can.can_define import CANDefine
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
|
||||
|
||||
@@ -15,19 +16,51 @@ Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
|
||||
|
||||
|
||||
class CarControllerParams:
|
||||
HCA_STEP = 2 # HCA_01 message frequency 50Hz
|
||||
LDW_STEP = 10 # LDW_02 message frequency 10Hz
|
||||
GRA_ACC_STEP = 3 # GRA_ACC_01 message frequency 33Hz
|
||||
HCA_STEP = 2 # HCA_01/HCA_1 message frequency 50Hz
|
||||
GRA_ACC_STEP = 3 # GRA_ACC_01/GRA_Neu message frequency 33Hz
|
||||
|
||||
# Observed documented MQB limits: 3.00 Nm max, rate of change 5.00 Nm/sec.
|
||||
# Limiting rate-of-change based on real-world testing and Comma's safety
|
||||
# requirements for minimum time to lane departure.
|
||||
STEER_MAX = 300 # Max heading control assist torque 3.00 Nm
|
||||
STEER_DELTA_UP = 4 # Max HCA reached in 1.50s (STEER_MAX / (50Hz * 1.50))
|
||||
STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
|
||||
STEER_DRIVER_ALLOWANCE = 80
|
||||
STEER_DRIVER_MULTIPLIER = 3 # weight driver torque heavily
|
||||
STEER_DRIVER_FACTOR = 1 # from dbc
|
||||
def __init__(self, CP):
|
||||
# Documented lateral limits: 3.00 Nm max, rate of change 5.00 Nm/sec.
|
||||
# MQB vs PQ maximums are shared, but rate-of-change limited differently
|
||||
# based on safety requirements driven by lateral accel testing.
|
||||
self.STEER_MAX = 300 # Max heading control assist torque 3.00 Nm
|
||||
self.STEER_DRIVER_MULTIPLIER = 3 # weight driver torque heavily
|
||||
self.STEER_DRIVER_FACTOR = 1 # from dbc
|
||||
|
||||
can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
|
||||
|
||||
if True: # pylint: disable=using-constant-test
|
||||
self.LDW_STEP = 10 # LDW_02 message frequency 10Hz
|
||||
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))
|
||||
|
||||
if CP.transmissionType == TransmissionType.automatic:
|
||||
self.shifter_values = can_define.dv["Getriebe_11"]["GE_Fahrstufe"]
|
||||
elif CP.transmissionType == TransmissionType.direct:
|
||||
self.shifter_values = can_define.dv["EV_Gearshift"]["GearPosition"]
|
||||
self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"]
|
||||
|
||||
self.BUTTONS = [
|
||||
Button(car.CarState.ButtonEvent.Type.setCruise, "GRA_ACC_01", "GRA_Tip_Setzen", [1]),
|
||||
Button(car.CarState.ButtonEvent.Type.resumeCruise, "GRA_ACC_01", "GRA_Tip_Wiederaufnahme", [1]),
|
||||
Button(car.CarState.ButtonEvent.Type.accelCruise, "GRA_ACC_01", "GRA_Tip_Hoch", [1]),
|
||||
Button(car.CarState.ButtonEvent.Type.decelCruise, "GRA_ACC_01", "GRA_Tip_Runter", [1]),
|
||||
Button(car.CarState.ButtonEvent.Type.cancel, "GRA_ACC_01", "GRA_Abbrechen", [1]),
|
||||
Button(car.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_ACC_01", "GRA_Verstellung_Zeitluecke", [1]),
|
||||
]
|
||||
|
||||
self.LDW_MESSAGES = {
|
||||
"none": 0, # Nothing to display
|
||||
"laneAssistUnavailChime": 1, # "Lane Assist currently not available." with chime
|
||||
"laneAssistUnavailNoSensorChime": 3, # "Lane Assist not available. No sensor view." with chime
|
||||
"laneAssistTakeOverUrgent": 4, # "Lane Assist: Please Take Over Steering" with urgent beep
|
||||
"emergencyAssistUrgent": 6, # "Emergency Assist: Please Take Over Steering" with urgent beep
|
||||
"laneAssistTakeOverChime": 7, # "Lane Assist: Please Take Over Steering" with chime
|
||||
"laneAssistTakeOver": 8, # "Lane Assist: Please Take Over Steering" silent
|
||||
"emergencyAssistChangingLanes": 9, # "Emergency Assist: Changing lanes..." with urgent beep
|
||||
"laneAssistDeactivated": 10, # "Lane Assist deactivated." silent with persistent icon afterward
|
||||
}
|
||||
|
||||
|
||||
class CANBUS:
|
||||
@@ -35,36 +68,6 @@ class CANBUS:
|
||||
cam = 2
|
||||
|
||||
|
||||
class DBC_FILES:
|
||||
mqb = "vw_mqb_2010" # Used for all cars with MQB-style CAN messaging
|
||||
|
||||
|
||||
DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict(DBC_FILES.mqb, None))
|
||||
|
||||
|
||||
MQB_BUTTONS = [
|
||||
Button(car.CarState.ButtonEvent.Type.setCruise, "GRA_ACC_01", "GRA_Tip_Setzen", [1]),
|
||||
Button(car.CarState.ButtonEvent.Type.resumeCruise, "GRA_ACC_01", "GRA_Tip_Wiederaufnahme", [1]),
|
||||
Button(car.CarState.ButtonEvent.Type.accelCruise, "GRA_ACC_01", "GRA_Tip_Hoch", [1]),
|
||||
Button(car.CarState.ButtonEvent.Type.decelCruise, "GRA_ACC_01", "GRA_Tip_Runter", [1]),
|
||||
Button(car.CarState.ButtonEvent.Type.cancel, "GRA_ACC_01", "GRA_Abbrechen", [1]),
|
||||
Button(car.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_ACC_01", "GRA_Verstellung_Zeitluecke", [1]),
|
||||
]
|
||||
|
||||
|
||||
MQB_LDW_MESSAGES = {
|
||||
"none": 0, # Nothing to display
|
||||
"laneAssistUnavailChime": 1, # "Lane Assist currently not available." with chime
|
||||
"laneAssistUnavailNoSensorChime": 3, # "Lane Assist not available. No sensor view." with chime
|
||||
"laneAssistTakeOverUrgent": 4, # "Lane Assist: Please Take Over Steering" with urgent beep
|
||||
"emergencyAssistUrgent": 6, # "Emergency Assist: Please Take Over Steering" with urgent beep
|
||||
"laneAssistTakeOverChime": 7, # "Lane Assist: Please Take Over Steering" with chime
|
||||
"laneAssistTakeOverSilent": 8, # "Lane Assist: Please Take Over Steering" silent
|
||||
"emergencyAssistChangingLanes": 9, # "Emergency Assist: Changing lanes..." with urgent beep
|
||||
"laneAssistDeactivated": 10, # "Lane Assist deactivated." silent with persistent icon afterward
|
||||
}
|
||||
|
||||
|
||||
# Check the 7th and 8th characters of the VIN before adding a new CAR. If the
|
||||
# chassis code is already listed below, don't add a new CAR, just add to the
|
||||
# FW_VERSIONS for that existing CAR.
|
||||
@@ -96,18 +99,22 @@ class CAR:
|
||||
SKODA_OCTAVIA_MK3 = "SKODA OCTAVIA 3RD GEN" # Chassis NE, Mk3 Skoda Octavia and variants
|
||||
|
||||
|
||||
DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("vw_mqb_2010", None))
|
||||
|
||||
|
||||
class Footnote(Enum):
|
||||
KAMIQ = CarFootnote(
|
||||
"Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.",
|
||||
Column.MODEL)
|
||||
PASSAT = CarFootnote(
|
||||
"Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform.",
|
||||
"Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.",
|
||||
Column.MODEL)
|
||||
VW_HARNESS = CarFootnote(
|
||||
"Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma " +
|
||||
"store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black " +
|
||||
"(older design) or light brown (newer design). For the newer design, in the interim, choose \"VW J533 Development\" " +
|
||||
"from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.",
|
||||
"(older design) or light brown (newer design). In the interim, if your car has a J533 connector CAN gateway " +
|
||||
"inside the dashboard, choose \"VW J533 Development\" from the vehicle drop-down for a suitable harness. " +
|
||||
"(Some newer models are also observed to not have a J533 connector.)",
|
||||
Column.MODEL)
|
||||
VW_VARIANT = CarFootnote(
|
||||
"Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.)",
|
||||
@@ -177,7 +184,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
|
||||
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]),
|
||||
CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21"),
|
||||
CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21", footnotes=[Footnote.VW_HARNESS]),
|
||||
CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2018-19"),
|
||||
CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020"),
|
||||
CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-18"),
|
||||
|
||||
@@ -1,42 +0,0 @@
|
||||
# CAN controls for MQB platform Volkswagen, Audi, Skoda, and SEAT.
|
||||
# PQ35/PQ46/NMS, and any future MLB, to come later.
|
||||
|
||||
def create_mqb_steering_control(packer, bus, apply_steer, lkas_enabled):
|
||||
values = {
|
||||
"SET_ME_0X3": 0x3,
|
||||
"Assist_Torque": abs(apply_steer),
|
||||
"Assist_Requested": lkas_enabled,
|
||||
"Assist_VZ": 1 if apply_steer < 0 else 0,
|
||||
"HCA_Available": 1,
|
||||
"HCA_Standby": not lkas_enabled,
|
||||
"HCA_Active": lkas_enabled,
|
||||
"SET_ME_0XFE": 0xFE,
|
||||
"SET_ME_0X07": 0x07,
|
||||
}
|
||||
return packer.make_can_msg("HCA_01", bus, values)
|
||||
|
||||
def create_mqb_hud_control(packer, bus, enabled, steering_pressed, hud_alert, left_lane_visible, right_lane_visible,
|
||||
ldw_stock_values, left_lane_depart, right_lane_depart):
|
||||
# Lane color reference:
|
||||
# 0 (LKAS disabled) - off
|
||||
# 1 (LKAS enabled, no lane detected) - dark gray
|
||||
# 2 (LKAS enabled, lane detected) - light gray on VW, green or white on Audi depending on year or virtual cockpit. On a color MFD on a 2015 A3 TDI it is white, virtual cockpit on a 2018 A3 e-Tron its green.
|
||||
# 3 (LKAS enabled, lane departure detected) - white on VW, red on Audi
|
||||
values = ldw_stock_values.copy()
|
||||
values.update({
|
||||
"LDW_Status_LED_gelb": 1 if enabled and steering_pressed else 0,
|
||||
"LDW_Status_LED_gruen": 1 if enabled and not steering_pressed else 0,
|
||||
"LDW_Lernmodus_links": 3 if left_lane_depart else 1 + left_lane_visible,
|
||||
"LDW_Lernmodus_rechts": 3 if right_lane_depart else 1 + right_lane_visible,
|
||||
"LDW_Texte": hud_alert,
|
||||
})
|
||||
return packer.make_can_msg("LDW_02", bus, values)
|
||||
|
||||
def create_mqb_acc_buttons_control(packer, bus, gra_stock_values, idx, cancel=False, resume=False):
|
||||
values = gra_stock_values.copy()
|
||||
|
||||
values["COUNTER"] = idx
|
||||
values["GRA_Abbrechen"] = cancel
|
||||
values["GRA_Tip_Wiederaufnahme"] = resume
|
||||
|
||||
return packer.make_can_msg("GRA_ACC_01", bus, values)
|
||||
@@ -645,8 +645,13 @@ class Controls:
|
||||
if len(dpath_points):
|
||||
# Check if we deviated from the path
|
||||
# TODO use desired vs actual curvature
|
||||
left_deviation = actuators.steer > 0 and dpath_points[0] < -0.20
|
||||
right_deviation = actuators.steer < 0 and dpath_points[0] > 0.20
|
||||
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
|
||||
steering_value = actuators.steeringAngleDeg
|
||||
else:
|
||||
steering_value = actuators.steer
|
||||
|
||||
left_deviation = steering_value > 0 and dpath_points[0] < -0.20
|
||||
right_deviation = steering_value < 0 and dpath_points[0] > 0.20
|
||||
|
||||
if left_deviation or right_deviation:
|
||||
self.events.add(EventName.steerSaturated)
|
||||
|
||||
@@ -48,7 +48,7 @@ class DesireHelper:
|
||||
self.dp_lc_auto_min_mph = LANE_CHANGE_SPEED_MIN + 10
|
||||
self.dp_lc_auto_delay = 3 # secs
|
||||
|
||||
def update(self, carstate, active, lane_change_prob, dragonconf):
|
||||
def update(self, carstate, lateral_active, lane_change_prob, dragonconf):
|
||||
# dp - sync with dragonConf
|
||||
self.dp_lateral_mode = dragonconf.dpLateralMode
|
||||
self.dp_lc_min_mph = dragonconf.dpLcMinMph * CV.MPH_TO_MS
|
||||
@@ -61,7 +61,7 @@ class DesireHelper:
|
||||
below_lane_change_speed = v_ego < self.dp_lc_min_mph
|
||||
below_alc_speed = v_ego < self.dp_lc_auto_min_mph
|
||||
|
||||
if not active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
|
||||
if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
|
||||
self.lane_change_state = LaneChangeState.off
|
||||
self.lane_change_direction = LaneChangeDirection.none
|
||||
else:
|
||||
|
||||
@@ -89,7 +89,7 @@ def gen_lat_ocp():
|
||||
# TODO hacky weights to keep behavior the same
|
||||
ocp.model.cost_y_expr = vertcat(y_ego,
|
||||
((v_ego +5.0) * psi_ego),
|
||||
((v_ego +5.0) * 4 * curv_rate))
|
||||
((v_ego + 5.0) * 4.0 * curv_rate))
|
||||
ocp.model.cost_y_expr_e = vertcat(y_ego,
|
||||
((v_ego +5.0) * psi_ego))
|
||||
|
||||
@@ -147,7 +147,7 @@ class LateralMpc():
|
||||
#TODO hacky weights to keep behavior the same
|
||||
self.solver.cost_set(N, 'W', (3/20.)*W[:2,:2])
|
||||
|
||||
def run(self, x0, p, y_pts, heading_pts):
|
||||
def run(self, x0, p, y_pts, heading_pts, curv_rate_pts):
|
||||
x0_cp = np.copy(x0)
|
||||
p_cp = np.copy(p)
|
||||
self.solver.constraints_set(0, "lbx", x0_cp)
|
||||
@@ -156,6 +156,7 @@ class LateralMpc():
|
||||
v_ego = p_cp[0]
|
||||
# rotation_radius = p_cp[1]
|
||||
self.yref[:,1] = heading_pts*(v_ego+5.0)
|
||||
self.yref[:,2] = curv_rate_pts * (v_ego+5.0) * 4.0
|
||||
for i in range(N):
|
||||
self.solver.cost_set(i, "yref", self.yref[i])
|
||||
self.solver.set(i, "p", p_cp)
|
||||
|
||||
@@ -3,7 +3,7 @@ from common.realtime import sec_since_boot, DT_MDL
|
||||
from common.numpy_fast import interp
|
||||
from system.swaglog import cloudlog
|
||||
from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
|
||||
from selfdrive.controls.lib.drive_helpers import CONTROL_N, MPC_COST_LAT, LAT_MPC_N, CAR_ROTATION_RADIUS
|
||||
from selfdrive.controls.lib.drive_helpers import CONTROL_N, MPC_COST_LAT, LAT_MPC_N
|
||||
from selfdrive.controls.lib.lane_planner import LanePlanner, TRAJECTORY_SIZE
|
||||
from selfdrive.controls.lib.desire_helper import DesireHelper
|
||||
import cereal.messaging as messaging
|
||||
@@ -11,17 +11,21 @@ from cereal import log
|
||||
|
||||
|
||||
class LateralPlanner:
|
||||
def __init__(self, use_lanelines=True, wide_camera=False):
|
||||
def __init__(self, CP, use_lanelines=True, wide_camera=False):
|
||||
self.use_lanelines = use_lanelines
|
||||
self.LP = LanePlanner(wide_camera)
|
||||
self.DH = DesireHelper()
|
||||
|
||||
# Vehicle model parameters used to calculate lateral movement of car
|
||||
self.factor1 = CP.wheelbase - CP.centerToFront
|
||||
self.factor2 = (CP.centerToFront * CP.mass) / (CP.wheelbase * CP.tireStiffnessRear)
|
||||
self.last_cloudlog_t = 0
|
||||
self.solution_invalid_cnt = 0
|
||||
|
||||
self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3))
|
||||
self.path_xyz_stds = np.ones((TRAJECTORY_SIZE, 3))
|
||||
self.plan_yaw = np.zeros((TRAJECTORY_SIZE,))
|
||||
self.plan_curv_rate = np.zeros((TRAJECTORY_SIZE,))
|
||||
self.t_idxs = np.arange(TRAJECTORY_SIZE)
|
||||
self.y_pts = np.zeros(TRAJECTORY_SIZE)
|
||||
self.d_path_w_lines_xyz = np.zeros((TRAJECTORY_SIZE, 3))
|
||||
@@ -45,13 +49,13 @@ class LateralPlanner:
|
||||
if len(md.position.x) == TRAJECTORY_SIZE and len(md.orientation.x) == TRAJECTORY_SIZE:
|
||||
self.path_xyz = np.column_stack([md.position.x, md.position.y, md.position.z])
|
||||
self.t_idxs = np.array(md.position.t)
|
||||
self.plan_yaw = list(md.orientation.z)
|
||||
self.plan_yaw = np.array(md.orientation.z)
|
||||
if len(md.position.xStd) == TRAJECTORY_SIZE:
|
||||
self.path_xyz_stds = np.column_stack([md.position.xStd, md.position.yStd, md.position.zStd])
|
||||
|
||||
# Lane change logic
|
||||
lane_change_prob = self.LP.l_lane_change_prob + self.LP.r_lane_change_prob
|
||||
self.DH.update(sm['carState'], sm['controlsState'].active, lane_change_prob, sm['dragonConf'])
|
||||
self.DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, sm['dragonConf'])
|
||||
|
||||
# Turn off lanes during lane change
|
||||
if self.DH.desire == log.LateralPlan.Desire.laneChangeRight or self.DH.desire == log.LateralPlan.Desire.laneChangeLeft:
|
||||
@@ -78,16 +82,19 @@ class LateralPlanner:
|
||||
|
||||
y_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:, 1])
|
||||
heading_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw)
|
||||
curv_rate_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_curv_rate)
|
||||
self.y_pts = y_pts
|
||||
|
||||
assert len(y_pts) == LAT_MPC_N + 1
|
||||
assert len(heading_pts) == LAT_MPC_N + 1
|
||||
# self.x0[4] = v_ego
|
||||
p = np.array([v_ego, CAR_ROTATION_RADIUS])
|
||||
assert len(curv_rate_pts) == LAT_MPC_N + 1
|
||||
lateral_factor = max(0, self.factor1 - (self.factor2 * v_ego**2))
|
||||
p = np.array([v_ego, lateral_factor])
|
||||
self.lat_mpc.run(self.x0,
|
||||
p,
|
||||
y_pts,
|
||||
heading_pts)
|
||||
heading_pts,
|
||||
curv_rate_pts)
|
||||
# init state for next
|
||||
# mpc.u_sol is the desired curvature rate given x0 curv state.
|
||||
# with x0[3] = measured_curvature, this would be the actual desired rate.
|
||||
|
||||
@@ -23,10 +23,10 @@ def plannerd_thread(sm=None, pm=None):
|
||||
cloudlog.event("e2e mode", on=use_lanelines)
|
||||
|
||||
longitudinal_planner = Planner(CP)
|
||||
lateral_planner = LateralPlanner(use_lanelines=use_lanelines, wide_camera=wide_camera)
|
||||
lateral_planner = LateralPlanner(CP, use_lanelines=use_lanelines, wide_camera=wide_camera)
|
||||
|
||||
if sm is None:
|
||||
sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'modelV2', 'dragonConf', 'lateralPlan', 'navInstruction', 'liveMapData'],
|
||||
sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'dragonConf', 'lateralPlan', 'navInstruction', 'liveMapData'],
|
||||
poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
|
||||
|
||||
if pm is None:
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -86,9 +86,17 @@ class Route():
|
||||
b = np.arctan2(v[:, 0], v[:, 1])
|
||||
|
||||
# - Find index of las_wr section and calculate deltas of bearings to the other sections.
|
||||
last_wr_idx = way_relations.index(last_wr)
|
||||
b_ref = b[last_wr_idx]
|
||||
delta = b - b_ref
|
||||
# dp - force re init if last_wr_idx return ValueError?
|
||||
try:
|
||||
last_wr_idx = way_relations.index(last_wr)
|
||||
b_ref = b[last_wr_idx]
|
||||
delta = b - b_ref
|
||||
except ValueError:
|
||||
self.way_collection_id = way_collection_id
|
||||
self._ordered_way_relations = []
|
||||
self._nodes_data = None
|
||||
self._reset()
|
||||
return
|
||||
|
||||
# - Update the direction of the possible route continuation ways as starting from last_node_id.
|
||||
# Make sure to exclude any ways already included in the ordered list as to not modify direction when there
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -1,5 +1,6 @@
|
||||
{
|
||||
"English": "main_en",
|
||||
"Português": "main_pt",
|
||||
"中文（繁體）": "main_zh-CHT",
|
||||
"中文（简体）": "main_zh-CHS",
|
||||
"한국어": "main_ko",
|
||||
|
||||
Binary file not shown.
@@ -164,6 +164,22 @@ Reboot required.</source>
|
||||
<location filename="../qt/offroad/settings_dp.cc" line="415"/>
|
||||
<source>Enable this to link Accel Mode (AM) control to the physical button (TSS2).
|
||||
ONLY WORK ON SOME OF TSS1 VEHICLES.
|
||||
Reboot required.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<location filename="../qt/offroad/settings_dp.cc" line="428"/>
|
||||
<source>Honda</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<location filename="../qt/offroad/settings_dp.cc" line="430"/>
|
||||
<source>Enable EPS Mod Mode</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<location filename="../qt/offroad/settings_dp.cc" line="430"/>
|
||||
<source>Enable this will increase steering, USE IT ONLY if you have a modded EPS firmware.
|
||||
Reboot required.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
@@ -1631,23 +1647,23 @@ location set</source>
|
||||
<message>
|
||||
<location filename="../qt/offroad/settings.cc" line="305"/>
|
||||
<source>Switch Branch</source>
|
||||
<translation type="unfinished"></translation>
|
||||
<translation>ブランチの切り替え</translation>
|
||||
</message>
|
||||
<message>
|
||||
<location filename="../qt/offroad/settings.cc" line="305"/>
|
||||
<source>ENTER</source>
|
||||
<translation type="unfinished"></translation>
|
||||
<translation>切替</translation>
|
||||
</message>
|
||||
<message>
|
||||
<location filename="../qt/offroad/settings.cc" line="305"/>
|
||||
<location filename="../qt/offroad/settings.cc" line="307"/>
|
||||
<source>The new branch will be pulled the next time the updater runs.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
<translation>updater を実行する時にブランチを切り替えます。</translation>
|
||||
</message>
|
||||
<message>
|
||||
<location filename="../qt/offroad/settings.cc" line="307"/>
|
||||
<source>Enter branch name</source>
|
||||
<translation type="unfinished"></translation>
|
||||
<translation>ブランチ名を入力</translation>
|
||||
</message>
|
||||
<message>
|
||||
<location filename="../qt/offroad/settings.cc" line="318"/>
|
||||
@@ -1820,7 +1836,7 @@ location set</source>
|
||||
</message>
|
||||
<message>
|
||||
<location filename="../qt/offroad/settings.cc" line="116"/>
|
||||
<source>Show ETA in 24h format</source>
|
||||
<source>Show ETA in 24h Format</source>
|
||||
<translation>24時間表示</translation>
|
||||
</message>
|
||||
<message>
|
||||
|
||||
Binary file not shown.
@@ -164,6 +164,22 @@ Reboot required.</source>
|
||||
<location filename="../qt/offroad/settings_dp.cc" line="415"/>
|
||||
<source>Enable this to link Accel Mode (AM) control to the physical button (TSS2).
|
||||
ONLY WORK ON SOME OF TSS1 VEHICLES.
|
||||
Reboot required.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<location filename="../qt/offroad/settings_dp.cc" line="428"/>
|
||||
<source>Honda</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<location filename="../qt/offroad/settings_dp.cc" line="430"/>
|
||||
<source>Enable EPS Mod Mode</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<location filename="../qt/offroad/settings_dp.cc" line="430"/>
|
||||
<source>Enable this will increase steering, USE IT ONLY if you have a modded EPS firmware.
|
||||
Reboot required.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
@@ -1820,7 +1836,7 @@ location set</source>
|
||||
</message>
|
||||
<message>
|
||||
<location filename="../qt/offroad/settings.cc" line="116"/>
|
||||
<source>Show ETA in 24h format</source>
|
||||
<source>Show ETA in 24h Format</source>
|
||||
<translation>24시간 형식으로 도착예정시간 표시</translation>
|
||||
</message>
|
||||
<message>
|
||||
|
||||
Binary file not shown.
File diff suppressed because it is too large
Load Diff
Binary file not shown.
@@ -164,6 +164,22 @@ Reboot required.</source>
|
||||
<location filename="../qt/offroad/settings_dp.cc" line="415"/>
|
||||
<source>Enable this to link Accel Mode (AM) control to the physical button (TSS2).
|
||||
ONLY WORK ON SOME OF TSS1 VEHICLES.
|
||||
Reboot required.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<location filename="../qt/offroad/settings_dp.cc" line="428"/>
|
||||
<source>Honda</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<location filename="../qt/offroad/settings_dp.cc" line="430"/>
|
||||
<source>Enable EPS Mod Mode</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
<message>
|
||||
<location filename="../qt/offroad/settings_dp.cc" line="430"/>
|
||||
<source>Enable this will increase steering, USE IT ONLY if you have a modded EPS firmware.
|
||||
Reboot required.</source>
|
||||
<translation type="unfinished"></translation>
|
||||
</message>
|
||||
@@ -1818,7 +1834,7 @@ location set</source>
|
||||
</message>
|
||||
<message>
|
||||
<location filename="../qt/offroad/settings.cc" line="116"/>
|
||||
<source>Show ETA in 24h format</source>
|
||||
<source>Show ETA in 24h Format</source>
|
||||
<translation>以24小时格式显示预计到达时间</translation>
|
||||
</message>
|
||||
<message>
|
||||
|
||||
Binary file not shown.
@@ -171,6 +171,22 @@ Reboot required.</source>
|
||||
在某些TSS1車型上也可以使用。
|
||||
需重新啟動。</translation>
|
||||
</message>
|
||||
<message>
|
||||
<location filename="../qt/offroad/settings_dp.cc" line="428"/>
|
||||
<source>Honda</source>
|
||||
<translation></translation>
|
||||
</message>
|
||||
<message>
|
||||
<location filename="../qt/offroad/settings_dp.cc" line="430"/>
|
||||
<source>Enable EPS Mod Mode</source>
|
||||
<translation></translation>
|
||||
</message>
|
||||
<message>
|
||||
<location filename="../qt/offroad/settings_dp.cc" line="430"/>
|
||||
<source>Enable this will increase steering, USE IT ONLY if you have a modded EPS firmware.
|
||||
Reboot required.</source>
|
||||
<translation></translation>
|
||||
</message>
|
||||
<message>
|
||||
<location filename="../qt/offroad/settings_dp.cc" line="448"/>
|
||||
<source>Mazda</source>
|
||||
@@ -1852,7 +1868,7 @@ location set</source>
|
||||
</message>
|
||||
<message>
|
||||
<location filename="../qt/offroad/settings.cc" line="116"/>
|
||||
<source>Show ETA in 24h format</source>
|
||||
<source>Show ETA in 24h Format</source>
|
||||
<translation>預計到達時間單位改用 24 小時制</translation>
|
||||
</message>
|
||||
<message>
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Reference in New Issue
Block a user