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Merge branch 'devel-en' into devel-zhs

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dragonpilot
2019-10-29 10:04:16 +10:00
parent 3ba8e21aa8 70e315f14a
commit ab305f4d4f
7 changed files with 42 additions and 39 deletions
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apk/ai.comma.plus.offroad.apk
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common/params.py
+1
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@@ -140,6 +140,7 @@ keys = {
"DragonCarVIN": [TxType.PERSISTENT],
"DragonEnableSlowOnCurve": [TxType.PERSISTENT],
"DragonEnableLeadCarMovingAlert": [TxType.PERSISTENT],
"DragonToyotaSnGMod": [TxType.PERSISTENT],
}
panda/board/safety/safety_honda.h
+5 -5
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@@ -19,7 +19,7 @@ bool honda_fwd_brake = false;
static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int addr = GET_ADDR(to_push);
//int len = GET_LEN(to_push);
int len = GET_LEN(to_push);
int bus = GET_BUS(to_push);
// sample speed
@@ -63,23 +63,23 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// exit controls on rising edge of gas press if interceptor (0x201 w/ len = 6)
// length check because bosch hardware also uses this id (0x201 w/ len = 8)
if (false) {
if ((addr == 0x201) && (len == 6)) {
gas_interceptor_detected = 1;
int gas_interceptor = GET_INTERCEPTOR(to_push);
if ((gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
(gas_interceptor_prev <= HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
long_controls_allowed) {
controls_allowed = 0;
controls_allowed = 1;
}
gas_interceptor_prev = gas_interceptor;
}
// exit controls on rising edge of gas press if no interceptor
if (false) {
if (!gas_interceptor_detected) {
if (addr == 0x17C) {
int gas = GET_BYTE(to_push, 0);
if (gas && !(honda_gas_prev) && long_controls_allowed) {
controls_allowed = 0;
controls_allowed = 1;
}
honda_gas_prev = gas;
}
panda/board/safety/safety_toyota.h
+6 -7
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@@ -54,12 +54,11 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
// enter controls on rising edge of ACC, exit controls on ACC off
controls_allowed = 1;
if (false) {
if (addr == 0x1D2) {
// 5th bit is CRUISE_ACTIVE
int cruise_engaged = GET_BYTE(to_push, 0) & 0x20;
if (!cruise_engaged) {
controls_allowed = 0;
controls_allowed = 1;
}
if (cruise_engaged && !toyota_cruise_engaged_last) {
controls_allowed = 1;
@@ -68,22 +67,22 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
// exit controls on rising edge of interceptor gas press
if (false) {
if (addr == 0x201) {
gas_interceptor_detected = 1;
int gas_interceptor = GET_INTERCEPTOR(to_push);
if ((gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
(gas_interceptor_prev <= TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
long_controls_allowed) {
controls_allowed = 0;
controls_allowed = 1;
}
gas_interceptor_prev = gas_interceptor;
}
// exit controls on rising edge of gas press
if (false) {
if (addr == 0x2C1) {
int gas = GET_BYTE(to_push, 6) & 0xFF;
if ((gas > 0) && (toyota_gas_prev == 0) && !gas_interceptor_detected && long_controls_allowed) {
controls_allowed = 0;
controls_allowed = 1;
}
toyota_gas_prev = gas;
}
selfdrive/car/honda/carcontroller.py
+11 -11
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@@ -88,7 +88,7 @@ class CarController():
# dragonpilot
self.turning_signal_timer = 0
self.dragon_enable_steering_on_signal = False
self.dragon_allow_gas = False
# self.dragon_allow_gas = False
self.dragon_lat_ctrl = True
def update(self, enabled, CS, frame, actuators, \
@@ -97,7 +97,7 @@ class CarController():
# dragonpilot, don't check for param too often as it's a kernel call
if frame % 500 == 0:
self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
# self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
# *** apply brake hysteresis ***
@@ -190,15 +190,15 @@ class CarController():
# DragonAllowGas
# if we detect gas pedal pressed, we do not want OP to apply gas or brake
# gasPressed code from interface.py
if not CS.CP.enableGasInterceptor:
gas_pressed = CS.pedal_gas > 0
else:
gas_pressed = CS.user_gas_pressed
dragon_apply_brake = apply_brake
if self.dragon_allow_gas and gas_pressed:
dragon_apply_brake = 0
apply_gas = 0
can_sends.append(hondacan.create_brake_command(self.packer, dragon_apply_brake, pump_on,
# if not CS.CP.enableGasInterceptor:
# gas_pressed = CS.pedal_gas > 0
# else:
# gas_pressed = CS.user_gas_pressed
# dragon_apply_brake = apply_brake
# if self.dragon_allow_gas and gas_pressed:
# dragon_apply_brake = 0
# apply_gas = 0
can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
pcm_override, pcm_cancel_cmd, hud.fcw, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
self.apply_brake_last = apply_brake
selfdrive/car/toyota/carcontroller.py
+18 -16
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@@ -120,9 +120,10 @@ class CarController():
# dragonpilot
self.turning_signal_timer = 0
self.dragon_enable_steering_on_signal = False
self.dragon_allow_gas = False
# self.dragon_allow_gas = False
self.dragon_lat_ctrl = True
self.dragon_lane_departure_warning = True
self.dragon_toyota_sng_mod = False
def update(self, enabled, CS, frame, actuators,
pcm_cancel_cmd, hud_alert, forwarding_camera, left_line,
@@ -130,9 +131,10 @@ class CarController():
# dragonpilot, don't check for param too often as it's a kernel call
if frame % 500 == 0:
self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
# self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
self.dragon_lane_departure_warning = False if params.get("DragonToyotaLaneDepartureWarning", encoding='utf8') == "0" else True
self.dragon_toyota_sng_mod = True if params.get("DragonToyotaSnGMod", encoding='utf8') == "1" else False
# *** compute control surfaces ***
@@ -191,7 +193,7 @@ class CarController():
pcm_cancel_cmd = 1
# on entering standstill, send standstill request
if CS.standstill and not self.last_standstill:
if not self.dragon_toyota_sng_mod and CS.standstill and not self.last_standstill:
self.standstill_req = True
if CS.pcm_acc_status != 8:
# pcm entered standstill or it's disabled
@@ -244,19 +246,19 @@ class CarController():
elif ECU.APGS in self.fake_ecus:
can_sends.append(create_ipas_steer_command(self.packer, 0, 0, True))
# DragonAllowGas
# if we detect gas pedal pressed, we do not want OP to apply gas or brake
# gasPressed code from interface.py
if CS.CP.enableGasInterceptor:
# use interceptor values to disengage on pedal press
gas_pressed = CS.pedal_gas > 15
else:
gas_pressed = CS.pedal_gas > 0
if self.dragon_allow_gas and gas_pressed:
apply_accel = 0
apply_gas = 0
# # DragonAllowGas
# # if we detect gas pedal pressed, we do not want OP to apply gas or brake
# # gasPressed code from interface.py
# if CS.CP.enableGasInterceptor:
# # use interceptor values to disengage on pedal press
# gas_pressed = CS.pedal_gas > 15
# else:
# gas_pressed = CS.pedal_gas > 0
#
# if self.dragon_allow_gas and gas_pressed:
# apply_accel = 0
# apply_gas = 0
#
# accel cmd comes from DSU, but we can spam can to cancel the system even if we are using lat only control
if (frame % 3 == 0 and ECU.DSU in self.fake_ecus) or (pcm_cancel_cmd and ECU.CAM in self.fake_ecus):
lead = lead or CS.v_ego < 12. # at low speed we always assume the lead is present do ACC can be engaged
selfdrive/dragonpilot/dragonconf/__init__.py
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@@ -50,6 +50,7 @@ default_conf = {
'DragonCarVIN': '',
'DragonEnableSlowOnCurve': '1',
'DragonEnableLeadCarMovingAlert': '0',
'DragonToyotaSnGMod': '0',
}
deprecated_conf = {