From 5c8aa7295dae48e92f898428c392ec491f197a31 Mon Sep 17 00:00:00 2001 From: Nigel Armstrong Date: Thu, 21 Feb 2019 13:44:39 -0800 Subject: [PATCH 1/4] Update Panda --- panda/python/__init__.py | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/panda/python/__init__.py b/panda/python/__init__.py index c49ee8362..51db7a7aa 100644 --- a/panda/python/__init__.py +++ b/panda/python/__init__.py @@ -8,6 +8,7 @@ import usb1 import os import time import traceback +import subprocess from dfu import PandaDFU from esptool import ESPROM, CesantaFlasher from flash_release import flash_release @@ -25,7 +26,13 @@ DEBUG = os.getenv("PANDADEBUG") is not None def build_st(target, mkfile="Makefile"): from panda import BASEDIR - assert(os.system('cd %s && make -f %s clean && make -f %s %s >/dev/null' % (os.path.join(BASEDIR, "board"), mkfile, mkfile, target)) == 0) + cmd = 'cd %s && make -f %s clean && make -f %s %s >/dev/null' % (os.path.join(BASEDIR, "board"), mkfile, mkfile, target) + try: + output = subprocess.check_output(cmd, stderr=subprocess.STDOUT, shell=True) + except subprocess.CalledProcessError as exception: + output = exception.output + returncode = exception.returncode + raise def parse_can_buffer(dat): ret = [] @@ -541,4 +548,3 @@ class Panda(object): msg = self.kline_ll_recv(2, bus=bus) msg += self.kline_ll_recv(ord(msg[1])-2, bus=bus) return msg - From 15fa6664c0cd6dee2cf9c3ef7e47c65b39a2ead8 Mon Sep 17 00:00:00 2001 From: Nigel Armstrong Date: Thu, 21 Feb 2019 23:23:40 -0800 Subject: [PATCH 2/4] Chrysler updates (#537) * Chrysler updates * Update openDBC --- README.md | 4 +- RELEASES.md | 1 + opendbc/chrysler_pacifica_2017_hybrid.dbc | 1 + selfdrive/car/chrysler/carcontroller.py | 7 ++- selfdrive/car/chrysler/carstate.py | 2 + selfdrive/car/chrysler/chryslercan.py | 64 ++++++++++++---------- selfdrive/car/chrysler/chryslercan_test.py | 48 ++++++++++++++++ selfdrive/car/chrysler/interface.py | 2 +- selfdrive/car/chrysler/run_tests.sh | 1 + selfdrive/car/chrysler/values.py | 56 +++++++++++-------- 10 files changed, 130 insertions(+), 56 deletions(-) create mode 100644 selfdrive/car/chrysler/chryslercan_test.py create mode 100755 selfdrive/car/chrysler/run_tests.sh diff --git a/README.md b/README.md index 6faf4b5af..4ca7f33e7 100644 --- a/README.md +++ b/README.md @@ -66,7 +66,8 @@ Supported Cars | Chevrolet3| Malibu 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7| | Chevrolet3| Volt 2017-18 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7| | Cadillac3 | ATS 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7| -| Chrysler | Pacifica Hybrid 2017 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA | +| Chrysler | Pacifica 2018 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA | +| Chrysler | Pacifica Hybrid 2017-19 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA | | GMC3 | Acadia Denali 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7| | Holden3 | Astra 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7| | Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph | Bosch | @@ -82,6 +83,7 @@ Supported Cars | Hyundai | Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph | Custom6| | Hyundai | Elantra 2017 | SCC + LKAS | Yes | Stock | 19mph | 34mph | Custom6| | Hyundai | Genesis 2018 | All | Yes | Stock | 19mph | 34mph | Custom6| +| Jeep | Grand Cherokee 2017-19 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA | | Kia | Optima 2019 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom6| | Kia | Sorento 2018 | All | Yes | Stock | 0mph | 0mph | Custom6| | Kia | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom6| diff --git a/RELEASES.md b/RELEASES.md index a41dffa06..ae4c8f14a 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -8,6 +8,7 @@ Version 0.5.9 (2019-02-10) * Kia Optima support thanks to emmertex! * Buick Regal 2018 support thanks to HOYS! * Comma pedal support for Toyota thanks to wocsor! Note: tuning needed and not maintained by comma + * Chrysler Pacifica and Jeep Grand Cherokee suppor thanks to adhintz! Version 0.5.8 (2019-01-17) ======================== diff --git a/opendbc/chrysler_pacifica_2017_hybrid.dbc b/opendbc/chrysler_pacifica_2017_hybrid.dbc index a1aa04145..dd5a7fe99 100644 --- a/opendbc/chrysler_pacifica_2017_hybrid.dbc +++ b/opendbc/chrysler_pacifica_2017_hybrid.dbc @@ -122,6 +122,7 @@ BO_ 678 LKAS_HUD: 8 XXX SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX SG_ LKAS_ALERTS : 27|4@0+ (1,0) [0|1] "" XXX + SG_ CAR_MODEL : 15|8@0+ (1,0) [0|255] "" XXX BO_ 705 AUTO_PARK_BUTTON: 8 XXX SG_ AUTO_PARK_TOGGLE_2 : 8|1@0+ (1,0) [0|1] "" XXX diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index d6561768c..83c2ecc32 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -25,6 +25,7 @@ class CarController(object): self.apply_steer_last = 0 self.ccframe = 0 self.prev_frame = -1 + self.hud_count = 0 self.car_fingerprint = car_fingerprint self.alert_active = False self.send_chime = False @@ -39,7 +40,7 @@ class CarController(object): def update(self, sendcan, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert, audible_alert): - # this seems needed to avoid steerign faults and to force the sync with the EPS counter + # this seems needed to avoid steering faults and to force the sync with the EPS counter if self.prev_frame == frame: return @@ -81,8 +82,10 @@ class CarController(object): can_sends.append(new_msg) if (self.ccframe % 25 == 0): # 0.25s period - new_msg = create_lkas_hud(CS.gear_shifter, lkas_active, hud_alert, self.car_fingerprint) + new_msg = create_lkas_hud(self.packer, CS.gear_shifter, lkas_active, hud_alert, self.car_fingerprint, + self.hud_count) can_sends.append(new_msg) + self.hud_count += 1 new_msg = create_lkas_command(self.packer, int(apply_steer), frame) can_sends.append(new_msg) diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index 2a0569eda..72f602d9a 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -13,6 +13,8 @@ def parse_gear_shifter(can_gear): return "neutral" elif can_gear == 0x4: return "drive" + elif can_gear == 0x5: + return "low" return "unknown" diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py index 2057e4dcf..e17ee3623 100644 --- a/selfdrive/car/chrysler/chryslercan.py +++ b/selfdrive/car/chrysler/chryslercan.py @@ -5,6 +5,13 @@ from selfdrive.car.chrysler.values import CAR VisualAlert = car.CarControl.HUDControl.VisualAlert AudibleAlert = car.CarControl.HUDControl.AudibleAlert +MODEL_TO_CONSTANT = { + CAR.PACIFICA_2017_HYBRID: 0, + CAR.PACIFICA_2018: 0x64, + CAR.PACIFICA_2018_HYBRID: 0xa8, + CAR.PACIFICA_2019_HYBRID: 0x68, + CAR.JEEP_CHEROKEE: 0xa4, + } def calc_checksum(data): """This function does not want the checksum byte in the input data. @@ -51,40 +58,41 @@ def create_lkas_heartbit(car_fingerprint): msg = '0000000820'.decode('hex') # 2017 return make_can_msg(0x2d9, msg) -def create_lkas_hud(gear, lkas_active, hud_alert, car_fingerprint): - # LKAS_HUD (678) Controls what lane-keeping icon is displayed. +def create_lkas_hud(packer, gear, lkas_active, hud_alert, car_fingerprint, hud_count): + # LKAS_HUD 0x2a6 (678) Controls what lane-keeping icon is displayed. if hud_alert == VisualAlert.steerRequired: msg = '0000000300000000'.decode('hex') return make_can_msg(0x2a6, msg) - # TODO: use can packer - msg = '0000000000000000'.decode('hex') # park or neutral - if car_fingerprint == CAR.PACIFICA_2018: - msg = '0064000000000000'.decode('hex') # Have not verified 2018 park with a real car. - elif car_fingerprint == CAR.JEEP_CHEROKEE: - msg = '00a4000000000000'.decode('hex') # Have not verified 2018 park with a real car. - elif car_fingerprint == CAR.PACIFICA_2018_HYBRID: - msg = '01a8010000000000'.decode('hex') - if (gear == 'drive' or gear == 'reverse'): - if lkas_active: - msg = '0200060000000000'.decode('hex') # control active, display green. - if car_fingerprint == CAR.PACIFICA_2018: - msg = '0264060000000000'.decode('hex') - elif car_fingerprint == CAR.JEEP_CHEROKEE: - msg = '02a4060000000000'.decode('hex') - elif car_fingerprint == CAR.PACIFICA_2018_HYBRID: - msg = '02a8060000000000'.decode('hex') - else: - msg = '0100010000000000'.decode('hex') # control off, display white. - if car_fingerprint == CAR.PACIFICA_2018: - msg = '0164010000000000'.decode('hex') - elif car_fingerprint == CAR.JEEP_CHEROKEE: - msg = '01a4010000000000'.decode('hex') - elif car_fingerprint == CAR.PACIFICA_2018_HYBRID: - msg = '01a8010000000000'.decode('hex') + color = 0 # default values are for park or neutral + lines = 0 + alerts = 0 - return make_can_msg(0x2a6, msg) + if hud_count < (3 *4): # first 3 seconds, 4Hz + lines = 1 + alerts = 1 + elif hud_count < (6 * 4): # next 3 seconds, 4Hz + lines = 1 + alerts = 0 + # CAR.PACIFICA_2018_HYBRID and CAR.PACIFICA_2019_HYBRID + # had color = 1 and lines = 1 but trying 2017 hybrid style for now. + if gear in ('drive', 'reverse', 'low'): + if lkas_active: + color = 2 # control active, display green. + lines = 6 + else: + color = 1 # control off, display white. + lines = 1 + + values = { + "LKAS_ICON_COLOR": color, # byte 0, last 2 bits + "CAR_MODEL": MODEL_TO_CONSTANT[car_fingerprint], # byte 1 + "LKAS_LANE_LINES": lines, # byte 2, last 4 bits + "LKAS_ALERTS": alerts, # byte 3, last 4 bits + } + + return packer.make_can_msg("LKAS_HUD", 0, values) # 0x2a6 def create_lkas_command(packer, apply_steer, frame): diff --git a/selfdrive/car/chrysler/chryslercan_test.py b/selfdrive/car/chrysler/chryslercan_test.py new file mode 100644 index 000000000..85a849661 --- /dev/null +++ b/selfdrive/car/chrysler/chryslercan_test.py @@ -0,0 +1,48 @@ +import chryslercan +from values import CAR +from carcontroller import CarController +from selfdrive.can.packer import CANPacker + +from cereal import car +VisualAlert = car.CarControl.HUDControl.VisualAlert +AudibleAlert = car.CarControl.HUDControl.AudibleAlert + +import unittest + + +class TestChryslerCan(unittest.TestCase): + + def test_checksum(self): + self.assertEqual(0x75, chryslercan.calc_checksum([0x01, 0x20])) + self.assertEqual(0xcc, chryslercan.calc_checksum([0x14, 0, 0, 0, 0x20])) + + def test_heartbit(self): + self.assertEqual( + [0x2d9, 0, '0000000820'.decode('hex'), 0], + chryslercan.create_lkas_heartbit(CAR.PACIFICA_2017_HYBRID)) + + def test_hud(self): + packer = CANPacker('chrysler_pacifica_2017_hybrid') + self.assertEqual( + [0x2a6, 0, '0000010100000000'.decode('hex'), 0], + chryslercan.create_lkas_hud(packer, + 'park', False, False, CAR.PACIFICA_2017_HYBRID, 1)) + self.assertEqual( + [0x2a6, 0, '0000010000000000'.decode('hex'), 0], + chryslercan.create_lkas_hud(packer, + 'park', False, False, CAR.PACIFICA_2017_HYBRID, 5*4)) + self.assertEqual( + [0x2a6, 0, '0000000000000000'.decode('hex'), 0], + chryslercan.create_lkas_hud(packer, + 'park', False, False, CAR.PACIFICA_2017_HYBRID, 99999)) + self.assertEqual( + [0x2a6, 0, '0200060000000000'.decode('hex'), 0], + chryslercan.create_lkas_hud(packer, + 'drive', True, False, CAR.PACIFICA_2017_HYBRID, 99999)) + self.assertEqual( + [0x2a6, 0, '0264060000000000'.decode('hex'), 0], + chryslercan.create_lkas_hud(packer, + 'drive', True, False, CAR.PACIFICA_2018, 99999)) + +if __name__ == '__main__': + unittest.main() diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 67a224c0d..ac797616b 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -217,7 +217,7 @@ class CarInterface(object): events.append(create_event('commIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE])) else: self.can_invalid_count = 0 - if not ret.gearShifter == 'drive': + if not (ret.gearShifter in ('drive', 'low')): events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE])) if ret.doorOpen: events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE])) diff --git a/selfdrive/car/chrysler/run_tests.sh b/selfdrive/car/chrysler/run_tests.sh new file mode 100755 index 000000000..1dcc8b2ac --- /dev/null +++ b/selfdrive/car/chrysler/run_tests.sh @@ -0,0 +1 @@ +PYTHONPATH=`realpath ../../../` python chryslercan_test.py diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 8f89924df..7278a0f74 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -2,46 +2,51 @@ from selfdrive.car import dbc_dict class CAR: PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017" - PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018" # Also covers Pacifica 2019 Hybrid. + PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018" + PACIFICA_2019_HYBRID = "CHRYSLER PACIFICA HYBRID 2019" PACIFICA_2018 = "CHRYSLER PACIFICA 2018" JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018" # Also covers Tailhawk 2017. # Unique can messages: # Only the hybrids have 270: 8 # Only the gas have 55: 8, 416: 7 -# For 564, Pacifica 2017 has length 4, whereas Pacifica 2018-19 have length 8. +# For 564, All 2017 have length 4, whereas 2018-19 have length 8. # For 924, Pacifica 2017 has length 3, whereas all 2018-19 have length 8. -# For 560, Pacifica 2019 Hybrid has length 8, whereas all 2017-18 have length 4. +# For 560, All 2019 have length 8, whereas all 2017-18 have length 4. # Jeep Grand Cherokee unique messages: # 2017 Trailhawk: 618: 8 # For 924, Trailhawk 2017 has length 3, whereas 2018 V6 has length 8. -# TODO: verify everything is ok for cars that have commented fingerprint, then upstream them - FINGERPRINTS = { CAR.PACIFICA_2017_HYBRID: [ {168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 3, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1892: 8, 2016: 8, 2024: 8}, ], - CAR.PACIFICA_2018: [{}], - #CAR.PACIFICA_2018: [ - # {170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8}, - # {55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8} - #], - CAR.PACIFICA_2018_HYBRID: [{}], - #CAR.PACIFICA_2018_HYBRID: [ - # {68: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8}, - # {168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 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773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1538: 8}, + # Based on 0607d2516fc2148f|2019-02-13--23-03-16 + { + 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8 + } + ], + CAR.JEEP_CHEROKEE: [ + # JEEP GRAND CHEROKEE V6 2018 + {55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8}, + # Jeep Grand Cherokee 2017 Trailhawk + {257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 660: 8, 671: 8, 672: 8, 680: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 752: 2, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 783: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8}, + # Jeep Grand Cherokee 2019 from Switzerland + # 530: 8 is so far only in this Jeep. + {55: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 660: 8, 671: 8, 672: 8, 676: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 792: 8, 799: 8, 804: 8, 806: 2, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8}, + ], } @@ -55,6 +60,9 @@ DBC = { CAR.PACIFICA_2018_HYBRID: dbc_dict( # Same DBC file works. 'chrysler_pacifica_2017_hybrid', # 'pt' 'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar' + CAR.PACIFICA_2019_HYBRID: dbc_dict( # Same DBC file works. + 'chrysler_pacifica_2017_hybrid', # 'pt' + 'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar' CAR.JEEP_CHEROKEE: dbc_dict( # Same DBC file works. 'chrysler_pacifica_2017_hybrid', # 'pt' 'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar' From 8b7dfb647f167d71a92ef57b07491814f7f18e9d Mon Sep 17 00:00:00 2001 From: Drew Hintz Date: Fri, 22 Feb 2019 12:48:33 -0800 Subject: [PATCH 3/4] remove Pacifica 2019 from supported car list (#538) Although there's a fingerprint and LKAS constant for the 2019 Pacifica, it doesn't work well enough that I'd consider it supported. P.S. I have an idea for how to support all Chrysler with one code base, even those I've never looked at. Forward can0 to the stock LKAS (can2) so that the stock LKAS is active. Then read the stock LKAS messages on can2 to both get the vehicle's LKAS constant, any status messages, and perhaps a more reliable counter. I'll try to code it up this weekend. --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 4ca7f33e7..c0b91a748 100644 --- a/README.md +++ b/README.md @@ -67,7 +67,7 @@ Supported Cars | Chevrolet3| Volt 2017-18 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7| | Cadillac3 | ATS 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7| | Chrysler | Pacifica 2018 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA | -| Chrysler | Pacifica Hybrid 2017-19 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA | +| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA | | GMC3 | Acadia Denali 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7| | Holden3 | Astra 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7| | Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph | Bosch | From f0203614ee4d13b571d5ad937d93114ebc172c41 Mon Sep 17 00:00:00 2001 From: Nigel Armstrong Date: Mon, 25 Feb 2019 10:43:56 -0800 Subject: [PATCH 4/4] .gitignore visiond (#539) --- .gitignore | 1 + 1 file changed, 1 insertion(+) diff --git a/.gitignore b/.gitignore index 70ad45c32..ca50a2365 100644 --- a/.gitignore +++ b/.gitignore @@ -25,6 +25,7 @@ clcache board/obj/ selfdrive/boardd/boardd +selfdrive/visiond/visiond selfdrive/logcatd/logcatd selfdrive/proclogd/proclogd selfdrive/ui/ui