mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-08-06 16:55:43 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'devel-unsupported-cars' into devel-en

Browse Source
This commit is contained in:
dragonpilot
2019-09-12 15:27:07 +10:00
parent 6b79d5bc07 db820d39d1
commit 762115f7f8
4 changed files with 38 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
opendbc/lexus_is_2018_pt_generated.dbc
+3
View File
@@ -353,6 +353,9 @@ BO_ 550 BRAKE_MODULE: 8 XXX
SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
BO_ 581 GAS_PEDAL_ALT: 5 XXX
SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
BO_ 705 GAS_PEDAL: 8 XXX
SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
selfdrive/car/toyota/carcontroller.py
+1 -1
View File
@@ -260,7 +260,7 @@ class CarController(object):
lead = lead or CS.v_ego < 12. # at low speed we always assume the lead is present do ACC can be engaged
# Lexus IS uses a different cancellation message
if pcm_cancel_cmd and CS.CP.carFingerprint == CAR.LEXUS_IS:
if pcm_cancel_cmd and CS.CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_ISH]:
can_sends.append(create_acc_cancel_command(self.packer))
elif ECU.DSU in self.fake_ecus:
can_sends.append(create_accel_command(self.packer, apply_accel, pcm_cancel_cmd, self.standstill_req, lead))
selfdrive/car/toyota/carstate.py
+30 -4
View File
@@ -29,7 +29,6 @@ def get_can_parser(CP):
("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
("GEAR", "GEAR_PACKET", 0),
("BRAKE_PRESSED", "BRAKE_MODULE", 0),
("GAS_PEDAL", "GAS_PEDAL", 0),
("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
@@ -54,8 +53,6 @@ def get_can_parser(CP):
]
checks = [
("BRAKE_MODULE", 40),
("GAS_PEDAL", 33),
("WHEEL_SPEEDS", 80),
("STEER_ANGLE_SENSOR", 80),
("PCM_CRUISE", 33),
@@ -63,6 +60,24 @@ def get_can_parser(CP):
("EPS_STATUS", 25),
]
if CP.carFingerprint == CAR.LEXUS_ISH:
signals.append(("GAS_PEDAL", "GAS_PEDAL_ALT", 0))
signals.append(("MAIN_ON", "PCM_CRUISE_ALT", 0))
signals.append(("SET_SPEED", "PCM_CRUISE_ALT", 0))
checks += [
("BRAKE_MODULE", 50),
("GAS_PEDAL_ALT", 50),
("PCM_CRUISE_ALT", 1),
]
else:
signals += [
("GAS_PEDAL", "GAS_PEDAL", 0),
]
checks += [
("BRAKE_MODULE", 40),
("GAS_PEDAL", 33),
]
if CP.carFingerprint == CAR.LEXUS_IS:
signals.append(("MAIN_ON", "DSU_CRUISE", 0))
signals.append(("SET_SPEED", "DSU_CRUISE", 0))
@@ -143,6 +158,8 @@ class CarState(object):
self.brake_pressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED']
if self.CP.enableGasInterceptor:
self.pedal_gas = (cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS'] + cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS2']) / 2.
elif self.CP.carFingerprint == CAR.LEXUS_ISH:
self.pedal_gas = cp.vl["GAS_PEDAL_ALT"]['GAS_PEDAL']
else:
self.pedal_gas = cp.vl["GAS_PEDAL"]['GAS_PEDAL']
self.car_gas = self.pedal_gas
@@ -182,6 +199,8 @@ class CarState(object):
self.gear_shifter = parse_gear_shifter(can_gear, self.shifter_values)
if self.CP.carFingerprint == CAR.LEXUS_IS:
self.main_on = cp.vl["DSU_CRUISE"]['MAIN_ON']
elif self.CP.carFingerprint == CAR.LEXUS_ISH:
self.main_on = cp.vl["PCM_CRUISE_ALT"]['MAIN_ON']
else:
self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
@@ -201,10 +220,17 @@ class CarState(object):
if self.CP.carFingerprint == CAR.LEXUS_IS:
self.v_cruise_pcm = cp.vl["DSU_CRUISE"]['SET_SPEED']
self.low_speed_lockout = False
elif self.CP.carFingerprint == CAR.LEXUS_ISH:
self.v_cruise_pcm = cp.vl["PCM_CRUISE_ALT"]['SET_SPEED']
self.low_speed_lockout = False
else:
self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
if self.CP.carFingerprint == CAR.LEXUS_ISH:
# Lexus ISH does not have curise status value (always 0), so we use curise_active value instead
self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE']
else:
self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
if self.CP.carFingerprint == CAR.PRIUS:
selfdrive/car/toyota/values.py
+4 -1
View File
@@ -18,6 +18,7 @@ class CAR:
LEXUS_ESH_TSS2 = "LEXUS ES 300H 2019"
SIENNA = "TOYOTA SIENNA XLE 2018"
LEXUS_IS = "LEXUS IS300 2018"
LEXUS_ISH = "LEXUS IS300h 2017"
class ECU:
@@ -198,7 +199,8 @@ FINGERPRINTS = {
# IS300 2018
{
36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 400: 6, 426: 6, 452: 8, 464: 8, 466: 8, 467: 5, 544: 4, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 800: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1009: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1590: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1648: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
},
}],
CAR.LEXUS_ISH: [
# IS300H 2017
{
36: 8, 37: 8, 170: 8, 180: 8, 295: 8, 296: 8, 400: 6, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 7, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1009: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
@@ -225,6 +227,7 @@ DBC = {
CAR.LEXUS_ESH_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
CAR.SIENNA: dbc_dict('toyota_sienna_xle_2018_pt_generated', 'toyota_adas'),
CAR.LEXUS_IS: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
CAR.LEXUS_ISH: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
}
NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2]