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lp-dp 2023-11-23T06:28:40 for EON/C2

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version: lp-dp v0.9.5 for EON/C2
date: 2023-11-23T06:28:40
commit: b6d75bf11c56c575a151c3cf0fa79f55e0eb4368
This commit is contained in:
Vehicle Researcher
2023-11-23 06:27:00 +00:00
parent f7c8e38426
commit e7df1b8218
145 changed files with 1638 additions and 1109 deletions
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.gitignore
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@@ -33,7 +33,7 @@ a.out
*.class
*.pyxbldc
*.vcd
*.qm
config.json
clcache
compile_commands.json
README.md
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@@ -42,8 +42,9 @@ I encourage users to consider purchasing a [comma 3](https://shop.comma.ai) for
* Services are not optimized for resource usage, and using all services may result in overheating issues.
* Language files can only be generated in a PC due to missing Qt5 tools.
* webjoystick is disabled as it requires additional python modules. (aiohttp and others)
* Starting from August 7th, 2023, comma has removed ESP/GPS support from Pandas. You can find more details about this change in this link.
* Starting from August 7th, 2023, comma has removed ESP/GPS support from Pandas. You can find more details about this change in this [link](https://github.com/commaai/panda/commit/c66b98b2a67441faa4cfcd36c3c9d9f90474cd08).
* Going forward, I will focus solely on maintaining the safety aspects of the code, ensuring that vehicle support and safety declarations remain up to date.
* For safety concern, End-to-End / vision only longitudinal control only available in 0.8.16 driving model.
## Configuration
cereal/visionipc/visionipc_pyx.so
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common/kalman/simple_kalman.py
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@@ -1,3 +1,12 @@
# pylint: skip-file
from openpilot.common.kalman.simple_kalman_impl import KF1D as KF1D
assert KF1D
import numpy as np
def get_kalman_gain(dt, A, C, Q, R, iterations=100):
P = np.zeros_like(Q)
for _ in range(iterations):
P = A.dot(P).dot(A.T) + dt * Q
S = C.dot(P).dot(C.T) + R
K = P.dot(C.T).dot(np.linalg.inv(S))
P = (np.eye(len(P)) - K.dot(C)).dot(P)
return K
common/params_pyx.so
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common/version.h
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@@ -1 +1 @@
#define COMMA_VERSION "2023.09.19"
#define COMMA_VERSION "2023.11.23"
launch_chffrplus.sh
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@@ -195,6 +195,12 @@ function two_init {
echo "Installing spidev.cpython-38.so..."
cp -f "$LIB_PATH/spidev.cpython-38.so" "$PY_LIB_DEST/"
fi
# StrEnum in values.py
MODULE="strenum"
if [ ! -d "$PY_LIB_DEST/$MODULE" ]; then
echo "Installing $MODULE..."
tar -zxvf "$LIB_PATH/$MODULE.tar.gz" -C "$PY_LIB_DEST/"
fi
mount -o remount,r /system
# osm server
launch_env.sh
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@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
export VECLIB_MAXIMUM_THREADS=1
if [ -z "$AGNOS_VERSION" ]; then
export AGNOS_VERSION="8.2"
export AGNOS_VERSION="7.1"
fi
if [ -z "$REQUIRED_NEOS_VERSION" ]; then
opendbc/Dockerfile
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@@ -49,9 +49,9 @@ RUN git config --global --add safe.directory '*'
WORKDIR /project
RUN git clone https://github.com/commaai/cereal.git /project/cereal && \
cd /project/cereal && \
git checkout aed9fd278a704816aba11f4473aafefc281ed2bc && \
git checkout 82bca3a9714b73c05414fdf848b6016a0ffac17d && \
rm -rf .git && \
scons -j$(nproc)
scons -j$(nproc) --minimal
COPY SConstruct .
COPY ./site_scons /project/site_scons
opendbc/can/common.pxd
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@@ -67,7 +67,7 @@ cdef extern from "common.h":
cdef cppclass CANParser:
bool can_valid
bool bus_timeout
CANParser(int, string, vector[pair[uint32_t, int]])
CANParser(int, string, vector[pair[uint32_t, int]]) except +
void update_strings(vector[string]&, vector[SignalValue]&, bool) except +
cdef cppclass CANPacker:
opendbc/can/common_dbc.h
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@@ -5,8 +5,6 @@
#include <string>
#include <vector>
#define ARRAYSIZE(x) (sizeof(x)/sizeof(x[0]))
struct SignalPackValue {
std::string name;
double value;
opendbc/can/libdbc.so
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opendbc/can/packer_pyx.so
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opendbc/can/parser_pyx.so
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opendbc/generator/gm/gm_global_a_powertrain.dbc
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@@ -156,12 +156,13 @@ BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM
SG_ YawRate : 35|12@0- (0.625,0) [0|1] "" NEO
SG_ YawRate2 : 51|12@0- (0.0625,0) [-2047|2047] "grad/s" NEO
BO_ 352 VehicleIgnition: 5 XXX
SG_ Ignition : 7|32@0+ (1,0) [0|4294967295] "" XXX
BO_ 352 BCMImmobilizer: 5 K9_BCM
SG_ ImmobilizerInfo : 7|32@0+ (1,0) [0|4294967295] "" XXX
BO_ 497 VehicleIgnitionAlt: 8 XXX
SG_ Ignition : 5|1@0+ (1,0) [0|1] "" XXX
SG_ ParkBrake : 36|1@0+ (1,0) [0|3] "" XXX
BO_ 497 BCMGeneralPlatformStatus: 8 K9_BCM
SG_ SystemPowerMode : 1|2@0+ (1,0) [0|3] "" XXX
SG_ SystemBackUpPowerMode : 5|2@0+ (1,0) [0|3] "" XXX
SG_ ParkBrakeSwActive : 36|1@0+ (1,0) [0|3] "" XXX
BO_ 501 ECMPRDNL2: 8 K20_ECM
SG_ TransmissionState : 48|4@1+ (1,0) [0|7] "" NEO
@@ -174,7 +175,7 @@ BO_ 532 BRAKE_RELATED: 6 XXX
BO_ 560 EPBStatus: 8 EPB
SG_ EPBClosed : 12|1@0+ (1,0) [0|1] "" NEO
BO_ 562 EBCMFrictionBrakeStatus: 8 XXX
BO_ 562 EBCMFrictionBrakeStatus: 8 K17_EBCM
SG_ FrictionBrakeUnavailable : 46|1@0+ (1,0) [0|1] "" XXX
BO_ 608 SPEED_RELATED: 8 XXX
@@ -296,11 +297,12 @@ CM_ BU_ K124_ASCM "Active Safety Control Module";
CM_ SG_ 381 MSG17D_AccPower "Need to investigate";
CM_ BO_ 190 "Length varies from 6 to 8 bytes by car";
CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62";
CM_ SG_ 352 Ignition "Non-zero when ignition is on";
CM_ SG_ 352 ImmobilizerInfo "Non-zero when ignition or accessory mode";
CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62";
CM_ SG_ 481 ACCAlwaysOne "Usually 1 if the car is equipped with ACC";
CM_ SG_ 562 FrictionBrakeUnavailable "1 when ACC brake control is unavailable. Stays high if brake command messages are blocked for a period of time";
CM_ SG_ 497 Ignition "Describes ignition + preconditioning mode, noisy";
CM_ SG_ 497 SystemPowerMode "Describes ignition";
CM_ SG_ 497 SystemBackUpPowerMode "Describes ignition + preconditioning mode, noisy";
CM_ SG_ 501 PRNDL2 "When ManualMode is Active, Value is 13=L1 12=L2 11=L3 ... 4=L10";
CM_ SG_ 532 UserBrakePressure "can be lower than other brake position signals when the brakes are pre-filled from ACC braking and the user presses on the brakes. user-only pressure?";
CM_ SG_ 608 ClusterSpeed "Cluster speed signal seems to match dash on newer cars, but is a lower rate and can be noisier.";
@@ -315,6 +317,8 @@ BA_DEF_DEF_ "BusType" "";
BA_ "BusType" "CAN";
BA_ "ProtocolType" "GMLAN";
BA_ "UseGMParameterIDs" 0;
VAL_ 497 SystemPowerMode 3 "Crank Request" 2 "Run" 1 "Accessory" 0 "Off";
VAL_ 497 SystemBackUpPowerMode 3 "Crank Request" 2 "Run" 1 "Accessory" 0 "Off";
VAL_ 481 DistanceButton 1 "Active" 0 "Inactive" ;
VAL_ 481 LKAButton 1 "Active" 0 "Inactive" ;
VAL_ 481 ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
opendbc/generator/subaru/_subaru_global.dbc
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@@ -242,6 +242,14 @@ BO_ 802 ES_LKAS_State: 8 XXX
SG_ LKAS_Alert : 32|5@1+ (1,0) [0|31] "" XXX
SG_ Signal3 : 37|27@1+ (1,0) [0|1] "" XXX
BO_ 803 ES_Infotainment: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ LKAS_Blue_Lines : 15|4@0+ (1,0) [0|15] "" XXX
SG_ Signal1 : 19|4@0+ (1,0) [0|15] "" XXX
SG_ LKAS_State_Infotainment : 22|3@0+ (1,0) [0|7] "" XXX
SG_ Signal2 : 24|1@0+ (1,0) [0|1] "" XXX
BO_ 722 AC_State: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
opendbc/generator/subaru/_subaru_preglobal_2015.dbc
+6 -5
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@@ -123,10 +123,11 @@ BO_ 338 Stalk: 8 XXX
BO_ 352 ES_Brake: 8 XXX
SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Brake_Lights : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Brake_Active : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
SG_ SET_1 : 45|1@0+ (1,0) [0|1] "" XXX
SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
@@ -135,7 +136,7 @@ BO_ 353 ES_Distance: 8 XXX
SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
SG_ Car_Follow : 16|1@1+ (1,0) [0|1] "" XXX
SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Brake_Active : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
@@ -150,10 +151,10 @@ BO_ 353 ES_Distance: 8 XXX
SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 354 ES_RPM: 8 XXX
BO_ 354 ES_Status: 8 XXX
SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX
SG_ RPM : 16|16@1+ (1,0) [0|65535] "" XXX
SG_ Cruise_RPM : 16|16@1+ (1,0) [0|65535] "" XXX
SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX
opendbc/generator/subaru/subaru_global_2017.dbc
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@@ -53,14 +53,6 @@ BO_ 576 CruiseControl: 8 XXX
SG_ Cruise_Activated : 41|1@1+ (1,0) [0|1] "" XXX
SG_ Signal2 : 42|22@1+ (1,0) [0|4194303] "" XXX
BO_ 803 ES_Infotainment: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ LKAS_Blue_Lines : 15|4@0+ (1,0) [0|15] "" XXX
SG_ Signal1 : 19|4@0+ (1,0) [0|15] "" XXX
SG_ LKAS_State_Infotainment : 22|3@0+ (1,0) [0|7] "" XXX
SG_ Signal2 : 24|1@0+ (1,0) [0|1] "" XXX
CM_ SG_ 545 Cruise_Throttle "RPM-like output signal";
CM_ SG_ 545 Cruise_EPB "1 = Electric Parking Brake set";
CM_ SG_ 545 Distance_Swap "Switch from Close to Far distance";
opendbc/gm_global_a_powertrain_generated.dbc
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@@ -176,12 +176,13 @@ BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM
SG_ YawRate : 35|12@0- (0.625,0) [0|1] "" NEO
SG_ YawRate2 : 51|12@0- (0.0625,0) [-2047|2047] "grad/s" NEO
BO_ 352 VehicleIgnition: 5 XXX
SG_ Ignition : 7|32@0+ (1,0) [0|4294967295] "" XXX
BO_ 352 BCMImmobilizer: 5 K9_BCM
SG_ ImmobilizerInfo : 7|32@0+ (1,0) [0|4294967295] "" XXX
BO_ 497 VehicleIgnitionAlt: 8 XXX
SG_ Ignition : 5|1@0+ (1,0) [0|1] "" XXX
SG_ ParkBrake : 36|1@0+ (1,0) [0|3] "" XXX
BO_ 497 BCMGeneralPlatformStatus: 8 K9_BCM
SG_ SystemPowerMode : 1|2@0+ (1,0) [0|3] "" XXX
SG_ SystemBackUpPowerMode : 5|2@0+ (1,0) [0|3] "" XXX
SG_ ParkBrakeSwActive : 36|1@0+ (1,0) [0|3] "" XXX
BO_ 501 ECMPRDNL2: 8 K20_ECM
SG_ TransmissionState : 48|4@1+ (1,0) [0|7] "" NEO
@@ -194,7 +195,7 @@ BO_ 532 BRAKE_RELATED: 6 XXX
BO_ 560 EPBStatus: 8 EPB
SG_ EPBClosed : 12|1@0+ (1,0) [0|1] "" NEO
BO_ 562 EBCMFrictionBrakeStatus: 8 XXX
BO_ 562 EBCMFrictionBrakeStatus: 8 K17_EBCM
SG_ FrictionBrakeUnavailable : 46|1@0+ (1,0) [0|1] "" XXX
BO_ 608 SPEED_RELATED: 8 XXX
@@ -316,11 +317,12 @@ CM_ BU_ K124_ASCM "Active Safety Control Module";
CM_ SG_ 381 MSG17D_AccPower "Need to investigate";
CM_ BO_ 190 "Length varies from 6 to 8 bytes by car";
CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62";
CM_ SG_ 352 Ignition "Non-zero when ignition is on";
CM_ SG_ 352 ImmobilizerInfo "Non-zero when ignition or accessory mode";
CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62";
CM_ SG_ 481 ACCAlwaysOne "Usually 1 if the car is equipped with ACC";
CM_ SG_ 562 FrictionBrakeUnavailable "1 when ACC brake control is unavailable. Stays high if brake command messages are blocked for a period of time";
CM_ SG_ 497 Ignition "Describes ignition + preconditioning mode, noisy";
CM_ SG_ 497 SystemPowerMode "Describes ignition";
CM_ SG_ 497 SystemBackUpPowerMode "Describes ignition + preconditioning mode, noisy";
CM_ SG_ 501 PRNDL2 "When ManualMode is Active, Value is 13=L1 12=L2 11=L3 ... 4=L10";
CM_ SG_ 532 UserBrakePressure "can be lower than other brake position signals when the brakes are pre-filled from ACC braking and the user presses on the brakes. user-only pressure?";
CM_ SG_ 608 ClusterSpeed "Cluster speed signal seems to match dash on newer cars, but is a lower rate and can be noisier.";
@@ -335,6 +337,8 @@ BA_DEF_DEF_ "BusType" "";
BA_ "BusType" "CAN";
BA_ "ProtocolType" "GMLAN";
BA_ "UseGMParameterIDs" 0;
VAL_ 497 SystemPowerMode 3 "Crank Request" 2 "Run" 1 "Accessory" 0 "Off";
VAL_ 497 SystemBackUpPowerMode 3 "Crank Request" 2 "Run" 1 "Accessory" 0 "Off";
VAL_ 481 DistanceButton 1 "Active" 0 "Inactive" ;
VAL_ 481 LKAButton 1 "Active" 0 "Inactive" ;
VAL_ 481 ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
opendbc/hyundai_canfd.dbc
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@@ -65,7 +65,7 @@ BO_ 80 LKAS: 16 XXX
SG_ LKA_ASSIST : 62|1@1+ (1,0) [0|1] "" XXX
SG_ LKA_MODE : 24|3@1+ (1,0) [0|7] "" XXX
SG_ NEW_SIGNAL_2 : 70|2@0+ (1,0) [0|3] "" XXX
SG_ SET_ME_1 : 80|1@0+ (1,0) [0|1] "" XXX
SG_ HAS_LANE_SAFETY : 80|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_3 : 111|8@0+ (1,0) [0|255] "" XXX
SG_ FCA_SYSWARN : 40|1@0+ (1,0) [0|1] "" XXX
@@ -137,7 +137,7 @@ BO_ 272 LKAS_ALT: 32 XXX
SG_ LKA_ASSIST : 62|1@1+ (1,0) [0|1] "" XXX
SG_ LKA_MODE : 24|3@1+ (1,0) [0|7] "" XXX
SG_ NEW_SIGNAL_2 : 70|2@0+ (1,0) [0|3] "" XXX
SG_ SET_ME_1 : 80|1@0+ (1,0) [0|1] "" XXX
SG_ HAS_LANE_SAFETY : 80|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_3 : 111|8@0+ (1,0) [0|255] "" XXX
SG_ FCA_SYSWARN : 40|1@0+ (1,0) [0|1] "" XXX
@@ -160,7 +160,7 @@ BO_ 298 LFA: 16 ADRV
SG_ LKA_ASSIST : 62|1@1+ (1,0) [0|1] "" XXX
SG_ LKA_MODE : 24|3@1+ (1,0) [0|7] "" XXX
SG_ NEW_SIGNAL_2 : 70|2@0+ (1,0) [0|3] "" XXX
SG_ SET_ME_1 : 80|1@0+ (1,0) [0|1] "" XXX
SG_ HAS_LANE_SAFETY : 80|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_3 : 111|8@0+ (1,0) [0|255] "" XXX
BO_ 304 GEAR_SHIFTER: 16 XXX
@@ -470,7 +470,10 @@ BO_ 676 CAM_0x2a4: 24 XXX
SG_ BYTE4 : 32|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE5 : 40|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE6 : 48|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE7 : 56|8@1+ (1,0) [0|255] "" XXX
SG_ LEFT_LANE_LINE : 56|2@1+ (1,0) [0|3] "" XXX
SG_ SET_ME_0 : 58|2@1+ (1,0) [0|3] "" XXX
SG_ RIGHT_LANE_LINE : 60|2@1+ (1,0) [0|3] "" XXX
SG_ SET_ME_0_2 : 62|2@1+ (1,0) [0|3] "" XXX
SG_ BYTE8 : 64|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE9 : 72|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE10 : 80|8@1+ (1,0) [0|255] "" XXX
@@ -504,11 +507,55 @@ BO_ 702 CAM_0x2be: 32 CAMERA
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
BO_ 736 MANUAL_SPEED_LIMIT_ASSIST: 32 XXX
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ MSLA_STATUS : 26|2@1+ (1,0) [0|3] "" XXX
SG_ MSLA_ENABLED : 38|1@1+ (1,0) [0|1] "" XXX
SG_ MAX_SPEED : 55|8@0+ (1,0) [0|255] "" XXX
SG_ MAX_SPEED_COPY : 144|8@1+ (1,0) [0|255] "" XXX
BO_ 837 ADRV_0x345: 8 ADRV
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ SET_ME_15 : 24|8@1+ (1,0) [0|255] "" XXX
BO_ 866 CAM_0x362: 32 CAMERA
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE3 : 24|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE4 : 32|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE5 : 40|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE6 : 48|8@1+ (1,0) [0|255] "" XXX
SG_ LEFT_LANE_LINE : 56|2@1+ (1,0) [0|3] "" XXX
SG_ SET_ME_0 : 58|2@1+ (1,0) [0|3] "" XXX
SG_ RIGHT_LANE_LINE : 60|2@1+ (1,0) [0|3] "" XXX
SG_ SET_ME_0_2 : 62|2@1+ (1,0) [0|3] "" XXX
SG_ BYTE8 : 64|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE9 : 72|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE10 : 80|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE11 : 88|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE12 : 96|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE13 : 104|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE14 : 112|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE15 : 120|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE16 : 128|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE17 : 136|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE18 : 144|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE19 : 152|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE20 : 160|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE21 : 168|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE22 : 176|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE23 : 184|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE24 : 192|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE25 : 200|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE26 : 208|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE27 : 216|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE28 : 224|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE29 : 232|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE30 : 240|8@1+ (1,0) [0|255] "" XXX
SG_ BYTE31 : 248|8@1+ (1,0) [0|255] "" XXX
BO_ 961 BLINKER_STALKS: 8 XXX
SG_ COUNTER_ALT : 15|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM_MAYBE : 7|8@0+ (1,0) [0|255] "" XXX
@@ -534,6 +581,9 @@ BO_ 1043 BLINKERS: 8 XXX
SG_ COUNTER_ALT : 15|4@0+ (1,0) [0|15] "" XXX
SG_ LEFT_LAMP : 20|1@0+ (1,0) [0|1] "" XXX
SG_ RIGHT_LAMP : 22|1@0+ (1,0) [0|1] "" XXX
SG_ LEFT_LAMP_ALT : 59|1@0+ (1,0) [0|1] "" XXX
SG_ RIGHT_LAMP_ALT : 61|1@0+ (1,0) [0|1] "" XXX
SG_ USE_ALT_LAMP : 62|1@0+ (1,0) [0|1] "" XXX
BO_ 1240 CLUSTER_INFO: 8 XXX
SG_ DISTANCE_UNIT : 0|1@1+ (1,0) [0|1] "" XXX
@@ -609,8 +659,11 @@ BO_ 1264 LOCAL_TIME: 8 XXX
SG_ SECONDS : 31|8@0+ (1,0) [0|59] "" XXX
CM_ 272 "Alternative LKAS message, used on cars such as 2023 Ioniq 6, 2nd gen Kona. Matches LKAS except size is 32 bytes";
CM_ 676 "Contains signals with detailed lane line information. Used by ADAS ECU on HDA 2 vehicles to operate LFA.";
CM_ 866 "Contains signals with detailed lane line information. Used by ADAS ECU on HDA 2 vehicles to operate LFA. Used on cars that use message 272.";
CM_ 1043 "Lamp signals do not seem universal on cars that use LKAS_ALT, but stalk signals do.";
CM_ SG_ 80 HAS_LANE_SAFETY "If 0, hides LKAS 'Lane Safety' menu from vehicle settings";
CM_ SG_ 96 BRAKE_PRESSURE "User applied brake pedal pressure. Ramps from computer applied pressure on falling edge of cruise. Cruise cancels if !=0";
CM_ SG_ 101 BRAKE_POSITION "User applied brake pedal position, max is ~700. Signed on some vehicles";
CM_ SG_ 373 PROBABLY_EQUIP "aeb equip?";
@@ -619,9 +672,15 @@ CM_ SG_ 373 DriverBraking "Likely derived from BRAKE->BRAKE_POSITION";
CM_ SG_ 373 DriverBrakingLowSens "Higher threshold version of DriverBraking";
CM_ SG_ 352 SET_ME_9 "has something to do with AEB settings";
CM_ SG_ 416 VSetDis "set speed in display units";
CM_ SG_ 676 LEFT_LANE_LINE "Left lane line confidence";
CM_ SG_ 676 RIGHT_LANE_LINE "Right lane line confidence";
CM_ SG_ 736 MAX_SPEED "Display units. Restricts car from driving above this speed unless accelerator pedal is depressed beyond pressure point";
CM_ SG_ 866 LEFT_LANE_LINE "Left lane line confidence";
CM_ SG_ 866 RIGHT_LANE_LINE "Right lane line confidence";
CM_ SG_ 961 COUNTER_ALT "only increments on change";
CM_ SG_ 1041 COUNTER_ALT "only increments on change";
CM_ SG_ 1043 COUNTER_ALT "only increments on change";
CM_ SG_ 1043 USE_ALT_LAMP "likely 1 on cars that use alt lamp signals";
VAL_ 53 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
VAL_ 64 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
VAL_ 69 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
@@ -645,6 +704,11 @@ VAL_ 426 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4
VAL_ 463 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4 "pause_resume" ;
VAL_ 463 RIGHT_PADDLE 0 "Not Pulled" 1 "Pulled";
VAL_ 463 LEFT_PADDLE 0 "Not Pulled" 1 "Pulled";
VAL_ 676 LEFT_LANE_LINE 0 "Not Detected" 1 "Low Confidence" 2 "Medium Confidence" 3 "High Confidence";
VAL_ 676 RIGHT_LANE_LINE 0 "Not Detected" 1 "Low Confidence" 2 "Medium Confidence" 3 "High Confidence";
VAL_ 736 MSLA_STATUS 0 "disabled" 1 "active" 2 "paused";
VAL_ 866 LEFT_LANE_LINE 0 "Not Detected" 1 "Low Confidence" 2 "Medium Confidence" 3 "High Confidence";
VAL_ 866 RIGHT_LANE_LINE 0 "Not Detected" 1 "Low Confidence" 2 "Medium Confidence" 3 "High Confidence";
VAL_ 1041 DRIVER_DOOR 0 "Closed" 1 "Opened";
VAL_ 1041 PASSENGER_DOOR 0 "Closed" 1 "Opened";
VAL_ 1041 DRIVER_REAR_DOOR 0 "Closed" 1 "Opened";
opendbc/hyundai_kia_generic.dbc
+2
View File
@@ -1645,6 +1645,7 @@ BO_ 1348 Navi_HU: 8 XXX
CM_ "BO_ E_EMS11: All (plug-in) hybrids use this gas signal: CR_Vcu_AccPedDep_Pos, and all EVs use the Accel_Pedal_Pos signal. See hyundai/values.py for a specific car list";
CM_ SG_ 871 CF_Lvr_IsgState "Idle Stop and Go";
CM_ SG_ 1056 SCCInfoDisplay "Goes to 1 for a second while transitioning from Cruise Control to No Message";
CM_ SG_ 1348 SpeedLim_Nav_Clu "Speed limit displayed on Nav, Cluster and HUD";
VAL_ 274 CUR_GR 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 7 "D" 8 "D" 14 "R" 0 "P";
@@ -1654,6 +1655,7 @@ VAL_ 882 Elect_Gear_Shifter 5 "D" 8 "S" 6 "N" 7 "R" 0 "P";
VAL_ 905 ACCMode 0 "off" 1 "enabled" 2 "driver_override" 3 "off_maybe_fault" 4 "cancelled";
VAL_ 909 CF_VSM_Warn 2 "FCW" 3 "AEB";
VAL_ 916 ACCEnable 0 "SCC ready" 1 "SCC temp fault" 2 "SCC permanent fault" 3 "SCC permanent fault, communication issue";
VAL_ 1056 SCCInfoDisplay 0 "No Message" 2 "Cruise Control" 3 "Lost Lead" 4 "Standstill";
VAL_ 1057 ACCMode 0 "off" 1 "enabled" 2 "driver_override" 3 "off_maybe_fault";
VAL_ 1157 HDA_Icon_State 0 "no_hda" 1 "white_hda" 2 "green_hda";
VAL_ 1157 LFA_SysWarning 0 "no_message" 1 "switching_to_hda" 2 "switching_to_scc" 3 "lfa_error" 4 "check_hda" 5 "keep_hands_on_wheel_orange" 6 "keep_hands_on_wheel_red";
opendbc/mazda_2017.dbc
+14
View File
@@ -224,6 +224,8 @@ BO_ 1088 CAM_LANEINFO: 8 XXX
SG_ LINE_VISIBLE : 0|1@0+ (1,0) [0|3] "" XXX
SG_ LDW_WARN_RL : 58|1@0+ (1,0) [0|1] "" XXX
SG_ LDW_WARN_LL : 57|1@0+ (1,0) [0|1] "" XXX
SG_ TJA : 38|3@0+ (1,0) [0|7] "" XXX
SG_ TJA_TRANSITION : 27|2@0+ (1,0) [0|63] "" XXX
BO_ 1479 NEW_MSG_470: 8 XXX
@@ -569,6 +571,8 @@ BO_ 535 CURVE_CTRS: 8 XXX
BO_ 540 CRZ_CTRL: 8 XXX
SG_ NEW_SIGNAL_6 : 10|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_9 : 31|1@0+ (1,0) [0|255] "" XXX
SG_ ACC_GAS_MAYBE2 : 29|1@0+ (1,0) [0|1] "" XXX
SG_ HANDS_OFF_STEERING : 48|1@0+ (1,0) [0|1] "" XXX
SG_ HANDS_ON_STEER_WARN : 59|4@0+ (1,0) [0|255] "" XXX
SG_ CRZ_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
@@ -576,7 +580,9 @@ BO_ 540 CRZ_CTRL: 8 XXX
SG_ DISTANCE_SETTING : 20|3@0+ (1,0) [0|7] "" XXX
SG_ MSG_1_INV : 1|1@0+ (1,0) [0|1] "" XXX
SG_ MSG_1_COPY : 9|1@0+ (1,0) [0|1] "" XXX
SG_ ACC_GAS_MAYBE : 23|1@0+ (1,0) [0|31] "" XXX
SG_ ACC_ACTIVE_2 : 52|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_10 : 30|1@0+ (1,0) [0|1] "" XXX
SG_ MSG_1 : 0|1@0+ (1,0) [0|3] "" XXX
SG_ 5_SEC_DISABLE_TIMER : 45|3@0+ (1,0) [0|7] "" XXX
SG_ NEW_SIGNAL_3 : 13|1@0+ (1,0) [0|3] "" XXX
@@ -716,6 +722,12 @@ BO_ 1143 BSM: 8 XXX
SG_ NEW_SIGNAL_1 : 32|1@0+ (1,0) [0|1] "" XXX
SG_ REAR_CT_ALERT : 23|5@0+ (1,0) [0|63] "" XXX
BO_ 480 ACCEL_TEST: 8 XXX
SG_ ACCEL_COMMAND : 7|32@0- (1,0) [-2147483647|2147483647] "" XXX
SG_ ENABLED : 32|1@0+ (1,0) [0|1] "" XXX
SG_ STARTING : 40|1@0+ (1,0) [0|1] "" XXX
SG_ STOPPING : 48|1@0+ (1,0) [0|1] "" XXX
BO_ 1361 KEY_POSITION: 8 XXX
BO_ 1283 KEY_POSITION2: 8 XXX
@@ -775,6 +787,8 @@ CM_ SG_ 1157 LKAS_SENSETIVITY "0 low, 1 high";
CM_ SG_ 1157 LANEE_DEPARTURE_ALERT "1 off, 2 on";
CM_ SG_ 1157 WARNING "1 Rare, 0 often";
CM_ SG_ 1088 LANE_LINES "0 LKAS disabled, 1 no lines, 2 two lines, 3 left line, 4 right line";
CM_ SG_ 1088 TJA "2: crz not active, 3: TJA not allowed, 4: TJA allowed";
CM_ SG_ 1088 TJA_TRANSITION "3: if TJA signal is 3, otherwise set to 0";
CM_ SG_ 1045 ABS_MALFUNCTION "off: 0, solid: 1, slow blink: 2, fast blink: 3";
CM_ SG_ 120 VEHICLE_ACC_X "Vehicle acceleration of X-axis wrt. NED frame.";
CM_ SG_ 120 VEHICLE_ACC_Y "Vehicle acceleration of Y-axis wrt. NED frame.";
opendbc/subaru_forester_2017_generated.dbc
+6 -5
View File
@@ -127,10 +127,11 @@ BO_ 338 Stalk: 8 XXX
BO_ 352 ES_Brake: 8 XXX
SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Brake_Lights : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Brake_Active : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
SG_ SET_1 : 45|1@0+ (1,0) [0|1] "" XXX
SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
@@ -139,7 +140,7 @@ BO_ 353 ES_Distance: 8 XXX
SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
SG_ Car_Follow : 16|1@1+ (1,0) [0|1] "" XXX
SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Brake_Active : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
@@ -154,10 +155,10 @@ BO_ 353 ES_Distance: 8 XXX
SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 354 ES_RPM: 8 XXX
BO_ 354 ES_Status: 8 XXX
SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX
SG_ RPM : 16|16@1+ (1,0) [0|65535] "" XXX
SG_ Cruise_RPM : 16|16@1+ (1,0) [0|65535] "" XXX
SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX
opendbc/subaru_global_2017_generated.dbc
+8 -8
View File
@@ -246,6 +246,14 @@ BO_ 802 ES_LKAS_State: 8 XXX
SG_ LKAS_Alert : 32|5@1+ (1,0) [0|31] "" XXX
SG_ Signal3 : 37|27@1+ (1,0) [0|1] "" XXX
BO_ 803 ES_Infotainment: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ LKAS_Blue_Lines : 15|4@0+ (1,0) [0|15] "" XXX
SG_ Signal1 : 19|4@0+ (1,0) [0|15] "" XXX
SG_ LKAS_State_Infotainment : 22|3@0+ (1,0) [0|7] "" XXX
SG_ Signal2 : 24|1@0+ (1,0) [0|1] "" XXX
BO_ 722 AC_State: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
@@ -351,14 +359,6 @@ BO_ 576 CruiseControl: 8 XXX
SG_ Cruise_Activated : 41|1@1+ (1,0) [0|1] "" XXX
SG_ Signal2 : 42|22@1+ (1,0) [0|4194303] "" XXX
BO_ 803 ES_Infotainment: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ LKAS_Blue_Lines : 15|4@0+ (1,0) [0|15] "" XXX
SG_ Signal1 : 19|4@0+ (1,0) [0|15] "" XXX
SG_ LKAS_State_Infotainment : 22|3@0+ (1,0) [0|7] "" XXX
SG_ Signal2 : 24|1@0+ (1,0) [0|1] "" XXX
CM_ SG_ 545 Cruise_Throttle "RPM-like output signal";
CM_ SG_ 545 Cruise_EPB "1 = Electric Parking Brake set";
CM_ SG_ 545 Distance_Swap "Switch from Close to Far distance";
opendbc/subaru_global_2020_hybrid_generated.dbc
+8
View File
@@ -246,6 +246,14 @@ BO_ 802 ES_LKAS_State: 8 XXX
SG_ LKAS_Alert : 32|5@1+ (1,0) [0|31] "" XXX
SG_ Signal3 : 37|27@1+ (1,0) [0|1] "" XXX
BO_ 803 ES_Infotainment: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ LKAS_Blue_Lines : 15|4@0+ (1,0) [0|15] "" XXX
SG_ Signal1 : 19|4@0+ (1,0) [0|15] "" XXX
SG_ LKAS_State_Infotainment : 22|3@0+ (1,0) [0|7] "" XXX
SG_ Signal2 : 24|1@0+ (1,0) [0|1] "" XXX
BO_ 722 AC_State: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
opendbc/subaru_outback_2015_generated.dbc
+6 -5
View File
@@ -127,10 +127,11 @@ BO_ 338 Stalk: 8 XXX
BO_ 352 ES_Brake: 8 XXX
SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Brake_Lights : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Brake_Active : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
SG_ SET_1 : 45|1@0+ (1,0) [0|1] "" XXX
SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
@@ -139,7 +140,7 @@ BO_ 353 ES_Distance: 8 XXX
SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
SG_ Car_Follow : 16|1@1+ (1,0) [0|1] "" XXX
SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Brake_Active : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
@@ -154,10 +155,10 @@ BO_ 353 ES_Distance: 8 XXX
SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 354 ES_RPM: 8 XXX
BO_ 354 ES_Status: 8 XXX
SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX
SG_ RPM : 16|16@1+ (1,0) [0|65535] "" XXX
SG_ Cruise_RPM : 16|16@1+ (1,0) [0|65535] "" XXX
SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX
opendbc/subaru_outback_2019_generated.dbc
+6 -5
View File
@@ -127,10 +127,11 @@ BO_ 338 Stalk: 8 XXX
BO_ 352 ES_Brake: 8 XXX
SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Brake_Lights : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Brake_Active : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
SG_ SET_1 : 45|1@0+ (1,0) [0|1] "" XXX
SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
@@ -139,7 +140,7 @@ BO_ 353 ES_Distance: 8 XXX
SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
SG_ Car_Follow : 16|1@1+ (1,0) [0|1] "" XXX
SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Brake_Active : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
@@ -154,10 +155,10 @@ BO_ 353 ES_Distance: 8 XXX
SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 354 ES_RPM: 8 XXX
BO_ 354 ES_Status: 8 XXX
SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX
SG_ RPM : 16|16@1+ (1,0) [0|65535] "" XXX
SG_ Cruise_RPM : 16|16@1+ (1,0) [0|65535] "" XXX
SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX
panda/board/obj/bootstub.panda.bin
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panda/board/obj/panda.bin.signed
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panda/python/__init__.py
+8 -3
View File
@@ -185,6 +185,7 @@ class Panda:
GMLAN_CAN2 = 1
GMLAN_CAN3 = 2
USB_PIDS = (0xddee, 0xddcc)
REQUEST_IN = usb1.ENDPOINT_IN | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
REQUEST_OUT = usb1.ENDPOINT_OUT | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
@@ -208,9 +209,9 @@ class Panda:
HEALTH_STRUCT = struct.Struct("<IIIIIIIIIBBBBBBHBBBHfBBHBHHBB")
CAN_HEALTH_STRUCT = struct.Struct("<BIBBBBBBBBIIIIIIIHHBBBIIII")
F2_DEVICES = (HW_TYPE_PEDAL, )
F4_DEVICES = (HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS)
H7_DEVICES = (HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2, HW_TYPE_TRES)
F2_DEVICES = [HW_TYPE_PEDAL, ]
F4_DEVICES = [HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS]
H7_DEVICES = [HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2, HW_TYPE_TRES]
INTERNAL_DEVICES = (HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_TRES)
HAS_OBD = (HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2, HW_TYPE_TRES)
@@ -242,6 +243,7 @@ class Panda:
FLAG_HYUNDAI_CANFD_HDA2 = 16
FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 32
FLAG_HYUNDAI_ALT_LIMITS = 64
FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING = 128
FLAG_TESLA_POWERTRAIN = 1
FLAG_TESLA_LONG_CONTROL = 2
@@ -252,6 +254,9 @@ class Panda:
FLAG_CHRYSLER_RAM_HD = 2
FLAG_SUBARU_GEN2 = 1
FLAG_SUBARU_LONG = 2
FLAG_NISSAN_ALT_EPS_BUS = 1
FLAG_GM_HW_CAM = 1
FLAG_GM_HW_CAM_LONG = 2
rednose/helpers/ekf_sym_pyx.so
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selfdrive/camerad/camerad
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selfdrive/car/__init__.py
+16 -13
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@@ -1,6 +1,6 @@
# functions common among cars
from collections import namedtuple
from typing import Dict, Optional
from typing import Dict, List, Optional
import capnp
@@ -24,20 +24,23 @@ def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float:
return val_steady
def create_button_event(cur_but: int, prev_but: int, buttons_dict: Dict[int, capnp.lib.capnp._EnumModule],
unpressed: int = 0) -> capnp.lib.capnp._DynamicStructBuilder:
if cur_but != unpressed:
be = car.CarState.ButtonEvent(pressed=True)
but = cur_but
else:
be = car.CarState.ButtonEvent(pressed=False)
but = prev_but
be.type = buttons_dict.get(but, ButtonType.unknown)
return be
def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: Dict[int, capnp.lib.capnp._EnumModule],
unpressed_btn: int = 0) -> List[capnp.lib.capnp._DynamicStructBuilder]:
events: List[capnp.lib.capnp._DynamicStructBuilder] = []
if cur_btn == prev_btn:
return events
# Add events for button presses, multiple when a button switches without going to unpressed
for pressed, btn in ((False, prev_btn), (True, cur_btn)):
if btn != unpressed_btn:
events.append(car.CarState.ButtonEvent(pressed=pressed,
type=buttons_dict.get(btn, ButtonType.unknown)))
return events
def gen_empty_fingerprint():
return {i: {} for i in range(0, 8)}
return {i: {} for i in range(8)}
# these params were derived for the Civic and used to calculate params for other cars
@@ -232,4 +235,4 @@ class CanSignalRateCalculator:
self.previous_counter = current_counter
self.previous_value = current_value
return self.rate
return self.rate
selfdrive/car/body/interface.py
-1
View File
@@ -1,4 +1,3 @@
#!/usr/bin/env python3
import math
from cereal import car
from openpilot.common.realtime import DT_CTRL
selfdrive/car/body/radar_interface.py
-1
View File
@@ -1,4 +1,3 @@
#!/usr/bin/env python3
from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
class RadarInterface(RadarInterfaceBase):
selfdrive/car/body/values.py
+2 -1
View File
@@ -1,3 +1,4 @@
from strenum import StrEnum
from typing import Dict
from cereal import car
@@ -21,7 +22,7 @@ class CarControllerParams:
pass
class CAR:
class CAR(StrEnum):
BODY = "COMMA BODY"
selfdrive/car/car_helpers.py
+8 -5
View File
@@ -1,4 +1,5 @@
import os
import time
from typing import Callable, Dict, List, Optional, Tuple
from cereal import car
@@ -65,9 +66,8 @@ def load_interfaces(brand_names):
def _get_interface_names() -> Dict[str, List[str]]:
# returns a dict of brand name and its respective models
brand_names = {}
for brand_name, model_names in get_interface_attr("CAR").items():
model_names = [getattr(model_names, c) for c in model_names.__dict__.keys() if not c.startswith("__")]
brand_names[brand_name] = model_names
for brand_name, brand_models in get_interface_attr("CAR").items():
brand_names[brand_name] = [model.value for model in brand_models]
return brand_names
@@ -130,14 +130,15 @@ def fingerprint(logcan, sendcan, num_pandas):
fixed_fingerprint = dp_car_assigned.strip()
skip_fw_query = True
start_time = time.monotonic()
if not skip_fw_query:
# Vin query only reliably works through OBDII
bus = 1
cached_params = params.get("CarParamsCache")
if cached_params is not None:
cached_params = car.CarParams.from_bytes(cached_params)
# with car.CarParams.from_bytes(cached_params) as cached_params:
cached_params = car.CarParams.from_bytes(cached_params)
if cached_params.carName == "mock":
cached_params = None
@@ -171,6 +172,8 @@ def fingerprint(logcan, sendcan, num_pandas):
set_obd_multiplexing(params, False)
params.put_bool("FirmwareQueryDone", True)
fw_query_time = time.monotonic() - start_time
# CAN fingerprint
# drain CAN socket so we get the latest messages
messaging.drain_sock_raw(logcan)
@@ -191,7 +194,7 @@ def fingerprint(logcan, sendcan, num_pandas):
cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, cached=cached,
fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, fingerprints=finger,
error=True)
fw_query_time=fw_query_time, error=True)
return car_fingerprint, finger, vin, car_fw, source, exact_match
selfdrive/car/chrysler/carcontroller.py
+6 -5
View File
@@ -1,7 +1,7 @@
from opendbc.can.packer import CANPacker
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.car import apply_meas_steer_torque_limits
from openpilot.selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons
from openpilot.selfdrive.car.chrysler import chryslercan
from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
@@ -31,17 +31,18 @@ class CarController:
# ACC cancellation
if CC.cruiseControl.cancel:
self.last_button_frame = self.frame
can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True))
can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True))
# ACC resume from standstill
elif CC.cruiseControl.resume:
self.last_button_frame = self.frame
can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True))
can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True))
# HUD alerts
if self.frame % 25 == 0:
if CS.lkas_car_model != -1:
can_sends.append(create_lkas_hud(self.packer, self.CP, lkas_active, CC.hudControl.visualAlert, self.hud_count, CS.lkas_car_model, CS.auto_high_beam))
can_sends.append(chryslercan.create_lkas_hud(self.packer, self.CP, lkas_active, CC.hudControl.visualAlert,
self.hud_count, CS.lkas_car_model, CS.auto_high_beam))
self.hud_count += 1
# steering
@@ -72,7 +73,7 @@ class CarController:
apply_steer = 0
self.apply_steer_last = apply_steer
can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit))
can_sends.append(chryslercan.create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit))
self.frame += 1
selfdrive/car/chrysler/values.py
+2 -1
View File
@@ -1,5 +1,6 @@
# ruff: noqa: E501
from enum import IntFlag
from strenum import StrEnum
from dataclasses import dataclass, field
from typing import Dict, List, Optional, Union
@@ -16,7 +17,7 @@ class ChryslerFlags(IntFlag):
HIGHER_MIN_STEERING_SPEED = 1
class CAR:
class CAR(StrEnum):
# Chrysler
PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018"
selfdrive/car/disable_ecu.py
+1
View File
@@ -1,3 +1,4 @@
#!/usr/bin/env python3
from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
from openpilot.system.swaglog import cloudlog
selfdrive/car/docs_definitions.py
+8 -6
View File
@@ -85,6 +85,7 @@ class CarHarness(EnumBase):
bosch_a = BaseCarHarness("Honda Bosch A connector")
bosch_b = BaseCarHarness("Honda Bosch B connector")
toyota_a = BaseCarHarness("Toyota A connector")
toyota_b = BaseCarHarness("Toyota B connector")
subaru_a = BaseCarHarness("Subaru A connector")
subaru_b = BaseCarHarness("Subaru B connector")
subaru_c = BaseCarHarness("Subaru C connector")
@@ -110,6 +111,7 @@ class CarHarness(EnumBase):
hyundai_o = BaseCarHarness("Hyundai O connector")
hyundai_p = BaseCarHarness("Hyundai P connector")
hyundai_q = BaseCarHarness("Hyundai Q connector")
hyundai_r = BaseCarHarness("Hyundai R connector")
custom = BaseCarHarness("Developer connector")
obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable, Cable.long_obdc_cable], has_connector=False)
gm = BaseCarHarness("GM connector")
@@ -121,9 +123,9 @@ class CarHarness(EnumBase):
class Device(EnumBase):
three = BasePart("comma three", parts=[Mount.mount, Cable.right_angle_obd_c_cable_1_5ft])
# variant of comma three with angled mounts
three_angled_mount = BasePart("comma three", parts=[Mount.angled_mount_8_degrees, Cable.right_angle_obd_c_cable_1_5ft])
threex = BasePart("comma 3X", parts=[Mount.mount, Cable.right_angle_obd_c_cable_1_5ft])
# variant of comma 3X with angled mounts
threex_angled_mount = BasePart("comma 3X", parts=[Mount.angled_mount_8_degrees, Cable.right_angle_obd_c_cable_1_5ft])
red_panda = BasePart("red panda")
@@ -147,7 +149,7 @@ class PartType(Enum):
tool = Tool
DEFAULT_CAR_PARTS: List[EnumBase] = [Device.three]
DEFAULT_CAR_PARTS: List[EnumBase] = [Device.threex]
@dataclass
@@ -174,8 +176,8 @@ CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "shop_fo
class CommonFootnote(Enum):
EXP_LONG_AVAIL = CarFootnote(
"Experimental openpilot longitudinal control is available behind a toggle; " +
"the toggle is only available in non-release branches such as `devel` or `master-ci`. ",
"openpilot Longitudinal Control (Alpha) is available behind a toggle; " +
"the toggle is only available in non-release branches such as `devel` or `master-ci`.",
Column.LONGITUDINAL, docs_only=True)
EXP_LONG_DSU = CarFootnote(
"By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. " +
selfdrive/car/ford/carcontroller.py
+13 -14
View File
@@ -2,8 +2,7 @@ from cereal import car
from openpilot.common.numpy_fast import clip
from opendbc.can.packer import CANPacker
from openpilot.selfdrive.car import apply_std_steer_angle_limits
from openpilot.selfdrive.car.ford.fordcan import CanBus, create_acc_msg, create_acc_ui_msg, create_button_msg, \
create_lat_ctl_msg, create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg
from openpilot.selfdrive.car.ford import fordcan
from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams
LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -27,7 +26,7 @@ class CarController:
self.CP = CP
self.VM = VM
self.packer = CANPacker(dbc_name)
self.CAN = CanBus(CP)
self.CAN = fordcan.CanBus(CP)
self.frame = 0
self.apply_curvature_last = 0
@@ -47,15 +46,15 @@ class CarController:
### acc buttons ###
if CC.cruiseControl.cancel:
can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True))
can_sends.append(create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True))
can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True))
can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True))
elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0:
can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True))
can_sends.append(create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True))
can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True))
can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True))
# if stock lane centering isn't off, send a button press to toggle it off
# the stock system checks for steering pressed, and eventually disengages cruise control
elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0:
can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True))
can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True))
### lateral control ###
# send steer msg at 20Hz
@@ -73,13 +72,13 @@ class CarController:
# TODO: extended mode
mode = 1 if CC.latActive else 0
counter = (self.frame // CarControllerParams.STEER_STEP) % 0xF
can_sends.append(create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
else:
can_sends.append(create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.))
can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.))
# send lka msg at 33Hz
if (self.frame % CarControllerParams.LKA_STEP) == 0:
can_sends.append(create_lka_msg(self.packer, self.CAN))
can_sends.append(fordcan.create_lka_msg(self.packer, self.CAN))
### longitudinal control ###
# send acc msg at 50Hz
@@ -91,16 +90,16 @@ class CarController:
gas = CarControllerParams.INACTIVE_GAS
stopping = CC.actuators.longControlState == LongCtrlState.stopping
can_sends.append(create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping))
can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping))
### ui ###
send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
# send lkas ui msg at 1Hz or if ui state changes
if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
can_sends.append(create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
can_sends.append(fordcan.create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
# send acc ui msg at 5Hz or if ui state changes
if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
can_sends.append(create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive,
can_sends.append(fordcan.create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive,
fcw_alert, CS.out.cruiseState.standstill, hud_control,
CS.acc_tja_status_stock_values))
selfdrive/car/ford/interface.py
-1
View File
@@ -1,4 +1,3 @@
#!/usr/bin/env python3
from cereal import car
from panda import Panda
from openpilot.common.conversions import Conversions as CV
selfdrive/car/ford/radar_interface.py
-1
View File
@@ -1,4 +1,3 @@
#!/usr/bin/env python3
from math import cos, sin
from cereal import car
from opendbc.can.parser import CANParser
selfdrive/car/ford/values.py
+5 -2
View File
@@ -1,6 +1,7 @@
from collections import defaultdict
from dataclasses import dataclass, field
from enum import Enum
from strenum import StrEnum
from typing import Dict, List, Union
from cereal import car
@@ -40,7 +41,7 @@ class CarControllerParams:
pass
class CAR:
class CAR(StrEnum):
BRONCO_SPORT_MK1 = "FORD BRONCO SPORT 1ST GEN"
ESCAPE_MK4 = "FORD ESCAPE 4TH GEN"
EXPLORER_MK6 = "FORD EXPLORER 6TH GEN"
@@ -78,7 +79,7 @@ class FordCarInfo(CarInfo):
def init_make(self, CP: car.CarParams):
if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1):
self.car_parts = CarParts([Device.three_angled_mount, CarHarness.ford_q3])
self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.ford_q3])
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
@@ -265,7 +266,9 @@ FW_VERSIONS = {
b'NZ6A-14C204-AAA\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PZ6A-14C204-BE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PZ6A-14C204-JE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
}
selfdrive/car/gm/carstate.py
+2 -2
View File
@@ -98,7 +98,7 @@ class CarState(CarStateBase):
ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
ret.parkingBrake = pt_cp.vl["VehicleIgnitionAlt"]["ParkBrake"] == 1
ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
@@ -135,7 +135,7 @@ class CarState(CarStateBase):
("PSCMStatus", 10),
("ESPStatus", 10),
("BCMDoorBeltStatus", 10),
("VehicleIgnitionAlt", 10),
("BCMGeneralPlatformStatus", 10),
("EBCMWheelSpdFront", 20),
("EBCMWheelSpdRear", 20),
("EBCMFrictionBrakeStatus", 20),
selfdrive/car/gm/interface.py
+5 -8
View File
@@ -4,7 +4,7 @@ from math import fabs, exp
from panda import Panda
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car import create_button_event, get_safety_config
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD
@@ -257,13 +257,10 @@ class CarInterface(CarInterfaceBase):
def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT:
buttonEvents = [create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS)]
# Handle ACCButtons changing buttons mid-press
if self.CS.cruise_buttons != CruiseButtons.UNPRESS and self.CS.prev_cruise_buttons != CruiseButtons.UNPRESS:
buttonEvents.append(create_button_event(CruiseButtons.UNPRESS, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS))
ret.buttonEvents = buttonEvents
# Don't add event if transitioning from INIT, unless it's to an actual button
if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT:
ret.buttonEvents = create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
unpressed_btn=CruiseButtons.UNPRESS)
# The ECM allows enabling on falling edge of set, but only rising edge of resume
events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low,
selfdrive/car/gm/values.py
+2 -1
View File
@@ -2,6 +2,7 @@
from collections import defaultdict
from dataclasses import dataclass
from enum import Enum
from strenum import StrEnum
from typing import Dict, List, Union
from cereal import car
@@ -61,7 +62,7 @@ class CarControllerParams:
self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
class CAR:
class CAR(StrEnum):
HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
VOLT = "CHEVROLET VOLT PREMIER 2017"
CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"
selfdrive/car/honda/interface.py
+5 -11
View File
@@ -5,13 +5,12 @@ from openpilot.common.conversions import Conversions as CV
from openpilot.common.numpy_fast import interp
from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \
HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
from openpilot.selfdrive.car import create_button_event, get_safety_config
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.disable_ecu import disable_ecu
from openpilot.common.params import Params
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
TransmissionType = car.CarParams.TransmissionType
@@ -310,15 +309,10 @@ class CarInterface(CarInterfaceBase):
def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
buttonEvents = []
if self.CS.cruise_buttons != self.CS.prev_cruise_buttons:
buttonEvents.append(create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT))
if self.CS.cruise_setting != self.CS.prev_cruise_setting:
buttonEvents.append(create_button_event(self.CS.cruise_setting, self.CS.prev_cruise_setting, {1: ButtonType.altButton1}))
ret.buttonEvents = buttonEvents
ret.buttonEvents = [
*create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT),
*create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, {1: ButtonType.altButton1}),
]
# events
events = self.create_common_events(ret, pcm_enable=False)
selfdrive/car/honda/values.py
+3 -1
View File
@@ -1,5 +1,6 @@
from dataclasses import dataclass
from enum import Enum, IntFlag
from strenum import StrEnum
from typing import Dict, List, Optional, Union
from cereal import car
@@ -72,7 +73,7 @@ VISUAL_HUD = {
}
class CAR:
class CAR(StrEnum):
ACCORD = "HONDA ACCORD 2018"
ACCORDH = "HONDA ACCORD HYBRID 2018"
CIVIC = "HONDA CIVIC 2016"
@@ -1361,6 +1362,7 @@ FW_VERSIONS = {
b'78109-T6Z-A910\x00\x00',
b'78109-T6Z-AA10\x00\x00',
b'78109-T6Z-C620\x00\x00',
b'78109-T6Z-C910\x00\x00',
b'78109-TJZ-A510\x00\x00',
],
(Ecu.srs, 0x18da53f1, None): [
selfdrive/car/hyundai/carcontroller.py
+41 -31
View File
@@ -110,9 +110,10 @@ class CarController:
# steering control
can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_steer))
# disable LFA on HDA2
# prevent LFA from activating on HDA2 by sending "no lane lines detected" to ADAS ECU
if self.frame % 5 == 0 and hda2:
can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, self.CAN, CS.cam_0x2a4))
can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.hda2_lfa_block_msg,
self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING))
# LFA and HDA icons
if self.frame % 5 == 0 and (not hda2 or hda2_long):
@@ -131,26 +132,7 @@ class CarController:
self.accel_last = accel
else:
# button presses
if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
# cruise cancel
if CC.cruiseControl.cancel:
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
self.last_button_frame = self.frame
else:
for _ in range(20):
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))
self.last_button_frame = self.frame
# cruise standstill resume
elif CC.cruiseControl.resume:
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
# TODO: resume for alt button cars
pass
else:
for _ in range(20):
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL))
self.last_button_frame = self.frame
can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False))
else:
can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, apply_steer_req,
torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
@@ -158,15 +140,7 @@ class CarController:
left_lane_warning, right_lane_warning))
if not self.CP.openpilotLongitudinalControl:
if CC.cruiseControl.cancel:
can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP.carFingerprint))
elif CC.cruiseControl.resume:
# send resume at a max freq of 10Hz
if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
# send 25 messages at a time to increases the likelihood of resume being accepted
can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP.carFingerprint)] * 25)
if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15:
self.last_button_frame = self.frame
can_sends.extend(self.create_button_messages(CC, CS, use_clu11=True))
if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
# TODO: unclear if this is needed
@@ -195,3 +169,39 @@ class CarController:
self.frame += 1
return new_actuators, can_sends
def create_button_messages(self, CC: car.CarControl, CS: car.CarState, use_clu11: bool):
can_sends = []
if use_clu11:
if CC.cruiseControl.cancel:
can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP.carFingerprint))
elif CC.cruiseControl.resume:
# send resume at a max freq of 10Hz
if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
# send 25 messages at a time to increases the likelihood of resume being accepted
can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP.carFingerprint)] * 25)
if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15:
self.last_button_frame = self.frame
else:
if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
# cruise cancel
if CC.cruiseControl.cancel:
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
self.last_button_frame = self.frame
else:
for _ in range(20):
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))
self.last_button_frame = self.frame
# cruise standstill resume
elif CC.cruiseControl.resume:
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
# TODO: resume for alt button cars
pass
else:
for _ in range(20):
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL))
self.last_button_frame = self.frame
return can_sends
selfdrive/car/hyundai/carstate.py
+35 -11
View File
@@ -105,10 +105,12 @@ class CarState(CarStateBase):
ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0
ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
ret.cruiseState.standstill = False
ret.cruiseState.nonAdaptive = False
else:
ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1
ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0
ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4.
ret.cruiseState.nonAdaptive = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 2. # Shows 'Cruise Control' on dash
ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv
# TODO: Find brake pressure
@@ -130,12 +132,12 @@ class CarState(CarStateBase):
# Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection,
# as this seems to be standard over all cars, but is not the preferred method.
if self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR):
gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
gear = cp.vl["CLU15"]["CF_Clu_Gear"]
elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
gear = cp.vl["TCU12"]["CUR_GR"]
elif self.CP.carFingerprint in CAN_GEARS["use_elect_gears"]:
gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
else:
gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
@@ -202,8 +204,12 @@ class CarState(CarStateBase):
ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
ret.steerFaultTemporary = cp.vl["MDPS"]["LKA_FAULT"] != 0
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"]["LEFT_LAMP"],
cp.vl["BLINKERS"]["RIGHT_LAMP"])
# TODO: alt signal usage may be described by cp.vl['BLINKERS']['USE_ALT_LAMP']
left_blinker_sig, right_blinker_sig = "LEFT_LAMP", "RIGHT_LAMP"
if self.CP.carFingerprint == CAR.KONA_EV_2ND_GEN:
left_blinker_sig, right_blinker_sig = "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT"
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
cp.vl["BLINKERS"][right_blinker_sig])
if self.CP.enableBsm:
ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0
ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0
@@ -222,6 +228,13 @@ class CarState(CarStateBase):
ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"])
# Manual Speed Limit Assist is a feature that replaces non-adaptive cruise control on EV CAN FD platforms.
# It limits the vehicle speed, overridable by pressing the accelerator past a certain point.
# The car will brake, but does not respect positive acceleration commands in this mode
# TODO: find this message on ICE & HYBRID cars + cruise control signals (if exists)
if self.CP.carFingerprint in EV_CAR:
ret.cruiseState.nonAdaptive = cp.vl["MANUAL_SPEED_LIMIT_ASSIST"]["MSLA_ENABLED"] == 1
self.prev_cruise_buttons = self.cruise_buttons[-1]
self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
@@ -229,7 +242,8 @@ class CarState(CarStateBase):
ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
if self.CP.flags & HyundaiFlags.CANFD_HDA2:
self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
self.hda2_lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING
else cp_cam.vl["CAM_0x2a4"])
return ret
@@ -271,12 +285,12 @@ class CarState(CarStateBase):
("EMS16", 100),
]
if CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
if CP.carFingerprint in (HYBRID_CAR | EV_CAR):
messages.append(("ELECT_GEAR", 20))
elif CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
pass
elif CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
messages.append(("TCU12", 100))
elif CP.carFingerprint in CAN_GEARS["use_elect_gears"]:
messages.append(("ELECT_GEAR", 20))
else:
messages.append(("LVR12", 100))
@@ -305,7 +319,6 @@ class CarState(CarStateBase):
def get_can_parser_canfd(self, CP):
messages = [
(self.gear_msg_canfd, 100),
(self.cruise_btns_msg_canfd, 50),
(self.accelerator_msg_canfd, 100),
("WHEEL_SPEEDS", 100),
("STEERING_SENSORS", 100),
@@ -316,6 +329,16 @@ class CarState(CarStateBase):
("DOORS_SEATBELTS", 4),
]
if CP.carFingerprint in EV_CAR:
messages += [
("MANUAL_SPEED_LIMIT_ASSIST", 10),
]
if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
messages += [
("CRUISE_BUTTONS", 50)
]
if CP.enableBsm:
messages += [
("BLINDSPOTS_REAR_CORNERS", 20),
@@ -332,7 +355,8 @@ class CarState(CarStateBase):
def get_cam_can_parser_canfd(CP):
messages = []
if CP.flags & HyundaiFlags.CANFD_HDA2:
messages += [("CAM_0x2a4", 20)]
block_lfa_msg = "CAM_0x362" if CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING else "CAM_0x2a4"
messages += [(block_lfa_msg, 20)]
elif CP.flags & HyundaiFlags.CANFD_CAMERA_SCC:
messages += [
("SCC_CONTROL", 50),
selfdrive/car/hyundai/hyundaican.py
+2 -1
View File
@@ -37,7 +37,8 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022,
CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED):
CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.CUSTIN_1ST_GEN):
values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
values["CF_Lkas_LdwsOpt_USM"] = 2
selfdrive/car/hyundai/hyundaicanfd.py
+14 -7
View File
@@ -46,25 +46,32 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
"LKA_ASSIST": 0,
"STEER_REQ": 1 if lat_active else 0,
"STEER_MODE": 0,
"SET_ME_1": 0,
"HAS_LANE_SAFETY": 0, # hide LKAS settings
"NEW_SIGNAL_1": 0,
"NEW_SIGNAL_2": 0,
}
if CP.flags & HyundaiFlags.CANFD_HDA2:
hda2_lkas_msg = "LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING else "LKAS"
if CP.openpilotLongitudinalControl:
ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
ret.append(packer.make_can_msg("LKAS", CAN.ACAN, values))
ret.append(packer.make_can_msg(hda2_lkas_msg, CAN.ACAN, values))
else:
ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
return ret
def create_cam_0x2a4(packer, CAN, cam_0x2a4):
values = {f"BYTE{i}": cam_0x2a4[f"BYTE{i}"] for i in range(3, 24)}
values['COUNTER'] = cam_0x2a4['COUNTER']
values["BYTE7"] = 0
return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, values)
def create_suppress_lfa(packer, CAN, hda2_lfa_block_msg, hda2_alt_steering):
suppress_msg = "CAM_0x362" if hda2_alt_steering else "CAM_0x2a4"
msg_bytes = 32 if hda2_alt_steering else 24
values = {f"BYTE{i}": hda2_lfa_block_msg[f"BYTE{i}"] for i in range(3, msg_bytes) if i != 7}
values["COUNTER"] = hda2_lfa_block_msg["COUNTER"]
values["SET_ME_0"] = 0
values["SET_ME_0_2"] = 0
values["LEFT_LANE_LINE"] = 0
values["RIGHT_LANE_LINE"] = 0
return packer.make_can_msg(suppress_msg, CAN.ACAN, values)
def create_buttons(packer, CP, CAN, cnt, btn):
values = {
selfdrive/car/hyundai/interface.py
+32 -21
View File
@@ -1,4 +1,3 @@
#!/usr/bin/env python3
from cereal import car
from panda import Panda
from openpilot.common.conversions import Conversions as CV
@@ -7,7 +6,7 @@ from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD
EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, \
Buttons
from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
from openpilot.selfdrive.car import create_button_event, get_safety_config
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.disable_ecu import disable_ecu
@@ -31,7 +30,8 @@ class CarInterface(CarInterfaceBase):
# 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.KIA_OPTIMA_H, CAR.IONIQ_6}
# FIXME: the Optima Hybrid 2017 uses a different SCC12 checksum
ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, }
ret.dashcamOnly = False if ret.dashcamOnly and params.get_bool("dp_car_dashcam_mode_removal") else ret.dashcamOnly
hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
@@ -41,6 +41,8 @@ class CarInterface(CarInterfaceBase):
# detect HDA2 with ADAS Driving ECU
if hda2:
ret.flags |= HyundaiFlags.CANFD_HDA2.value
if 0x110 in fingerprint[CAN.CAM]:
ret.flags |= HyundaiFlags.CANFD_HDA2_ALT_STEERING.value
else:
# non-HDA2
if 0x1cf not in fingerprint[CAN.ECAN]:
@@ -66,7 +68,11 @@ class CarInterface(CarInterfaceBase):
ret.steerLimitTimer = 0.4
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
if candidate in (CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN):
ret.mass = 1600. if candidate == CAR.AZERA_6TH_GEN else 1675. # ICE is ~average of 2.5L and 3.5L
ret.wheelbase = 2.885
ret.steerRatio = 14.5
elif candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
ret.mass = 3982. * CV.LB_TO_KG
ret.wheelbase = 2.766
# Values from optimizer
@@ -107,10 +113,10 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 3.01
ret.steerRatio = 16.5
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743.}.get(candidate, 1275.)
ret.wheelbase = 2.6
ret.steerRatio = 13.42 # Spec
elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022, CAR.KONA_EV_2ND_GEN):
ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743., CAR.KONA_EV_2ND_GEN: 1740.}.get(candidate, 1275.)
ret.wheelbase = {CAR.KONA_EV_2ND_GEN: 2.66, }.get(candidate, 2.6)
ret.steerRatio = {CAR.KONA_EV_2ND_GEN: 13.6, }.get(candidate, 13.42) # Spec
ret.tireStiffnessFactor = 0.385
elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019, CAR.IONIQ_HEV_2022, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV):
ret.mass = 1490. # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
@@ -119,6 +125,11 @@ class CarInterface(CarInterfaceBase):
ret.tireStiffnessFactor = 0.385
if candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019):
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate in (CAR.IONIQ_5, CAR.IONIQ_6):
ret.mass = 1948
ret.wheelbase = 2.97
ret.steerRatio = 14.26
ret.tireStiffnessFactor = 0.65
elif candidate == CAR.VELOSTER:
ret.mass = 2917. * CV.LB_TO_KG
ret.wheelbase = 2.80
@@ -139,6 +150,10 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 3.000
# steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
ret.steerRatio = 14.2
elif candidate == CAR.CUSTIN_1ST_GEN:
ret.mass = 1690. # from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0
ret.wheelbase = 3.055
ret.steerRatio = 17.0 # from learner
# Kia
elif candidate == CAR.KIA_SORENTO:
@@ -160,7 +175,7 @@ class CarInterface(CarInterfaceBase):
ret.mass = 1700. # weight from SX and above trims, average of FWD and AWD versions
ret.wheelbase = 2.756
ret.steerRatio = 13.6 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H):
elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL):
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75
@@ -191,11 +206,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.9
ret.steerRatio = 16.
ret.tireStiffnessFactor = 0.65
elif candidate in (CAR.IONIQ_5, CAR.IONIQ_6):
ret.mass = 1948
ret.wheelbase = 2.97
ret.steerRatio = 14.26
ret.tireStiffnessFactor = 0.65
elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN:
ret.mass = 1767. # SX Prestige trim support only
ret.wheelbase = 2.756
@@ -213,6 +223,10 @@ class CarInterface(CarInterfaceBase):
ret.mass = 2087.
ret.wheelbase = 3.09
ret.steerRatio = 14.23
elif candidate == CAR.KIA_K8_HEV_1ST_GEN:
ret.mass = 1630. # https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid
ret.wheelbase = 2.895
ret.steerRatio = 13.27 # guesstimate from K5 platform
# Genesis
elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN:
@@ -280,6 +294,8 @@ class CarInterface(CarInterfaceBase):
if ret.flags & HyundaiFlags.CANFD_HDA2:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
if ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING
if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
@@ -328,13 +344,8 @@ class CarInterface(CarInterfaceBase):
def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam)
if self.CS.CP.openpilotLongitudinalControl and self.CS.cruise_buttons[-1] != self.CS.prev_cruise_buttons:
buttonEvents = [create_button_event(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)]
# Handle CF_Clu_CruiseSwState changing buttons mid-press
if self.CS.cruise_buttons[-1] != 0 and self.CS.prev_cruise_buttons != 0:
buttonEvents.append(create_button_event(0, self.CS.prev_cruise_buttons, BUTTONS_DICT))
ret.buttonEvents = buttonEvents
if self.CS.CP.openpilotLongitudinalControl:
ret.buttonEvents = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
# On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
# To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
selfdrive/car/hyundai/radar_interface.py
+1 -1
View File
@@ -1,4 +1,3 @@
#!/usr/bin/env python3
import math
from cereal import car
@@ -9,6 +8,7 @@ from openpilot.selfdrive.car.hyundai.values import DBC
RADAR_START_ADDR = 0x500
RADAR_MSG_COUNT = 32
# POC for parsing corner radars: https://github.com/commaai/openpilot/pull/24221/
def get_radar_can_parser(CP):
if DBC[CP.carFingerprint]['radar'] is None:
selfdrive/car/hyundai/values.py
+188 -41
View File
@@ -2,6 +2,7 @@
import re
from dataclasses import dataclass
from enum import Enum, IntFlag
from strenum import StrEnum
from typing import Dict, List, Optional, Set, Tuple, Union
from cereal import car
@@ -39,7 +40,7 @@ class CarControllerParams:
# If the max stock LKAS request is <384, add your car to this list.
elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.IONIQ,
CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO):
CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_SORENTO):
self.STEER_MAX = 255
# these cars have significantly more torque than most HKG; limit to 70% of max
@@ -64,10 +65,13 @@ class HyundaiFlags(IntFlag):
CANFD_ALT_GEARS_2 = 64
SEND_LFA = 128
USE_FCA = 256
CANFD_HDA2_ALT_STEERING = 512
class CAR:
class CAR(StrEnum):
# Hyundai
AZERA_6TH_GEN = "HYUNDAI AZERA 6TH GEN"
AZERA_HEV_6TH_GEN = "HYUNDAI AZERA HYBRID 6TH GEN"
ELANTRA = "HYUNDAI ELANTRA 2017"
ELANTRA_2021 = "HYUNDAI ELANTRA 2021"
ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021"
@@ -81,6 +85,7 @@ class CAR:
KONA = "HYUNDAI KONA 2020"
KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
KONA_EV_2022 = "HYUNDAI KONA ELECTRIC 2022"
KONA_EV_2ND_GEN = "HYUNDAI KONA ELECTRIC 2ND GEN"
KONA_HEV = "HYUNDAI KONA HYBRID 2020"
SANTA_FE = "HYUNDAI SANTA FE 2019"
SANTA_FE_2022 = "HYUNDAI SANTA FE 2022"
@@ -97,11 +102,13 @@ class CAR:
TUCSON_4TH_GEN = "HYUNDAI TUCSON 4TH GEN"
TUCSON_HYBRID_4TH_GEN = "HYUNDAI TUCSON HYBRID 4TH GEN"
SANTA_CRUZ_1ST_GEN = "HYUNDAI SANTA CRUZ 1ST GEN"
CUSTIN_1ST_GEN = "HYUNDAI CUSTIN 1ST GEN"
# Kia
KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
KIA_K5_2021 = "KIA K5 2021"
KIA_K5_HEV_2020 = "KIA K5 HYBRID 2020"
KIA_K8_HEV_1ST_GEN = "KIA K8 HYBRID 1ST GEN"
KIA_NIRO_EV = "KIA NIRO EV 2020"
KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN"
KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019"
@@ -110,6 +117,7 @@ class CAR:
KIA_OPTIMA_G4 = "KIA OPTIMA 4TH GEN"
KIA_OPTIMA_G4_FL = "KIA OPTIMA 4TH GEN FACELIFT"
KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
KIA_OPTIMA_H_G4_FL = "KIA OPTIMA HYBRID 4TH GEN FACELIFT"
KIA_SELTOS = "KIA SELTOS 2021"
KIA_SPORTAGE_5TH_GEN = "KIA SPORTAGE 5TH GEN"
KIA_SORENTO = "KIA SORENTO GT LINE 2018"
@@ -135,9 +143,9 @@ class CAR:
class Footnote(Enum):
CANFD = CarFootnote(
"Requires a comma 3X or <a href=\"https://comma.ai/shop/can-fd-panda-kit\" target=\"_blank\">CAN FD panda kit</a> " +
"for this <a href=\"https://en.wikipedia.org/wiki/CAN_FD\" target=\"_blank\">CAN FD car</a>.",
Column.MODEL, shop_footnote=True)
"Requires a <a href=\"https://comma.ai/shop/can-fd-panda-kit\" target=\"_blank\">CAN FD panda kit</a> if not using " +
"comma 3X for this <a href=\"https://en.wikipedia.org/wiki/CAN_FD\" target=\"_blank\">CAN FD car</a>.",
Column.MODEL, shop_footnote=False)
@dataclass
@@ -150,6 +158,8 @@ class HyundaiCarInfo(CarInfo):
CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
CAR.AZERA_6TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
CAR.AZERA_HEV_6TH_GEN: HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
CAR.ELANTRA: [
HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
@@ -171,16 +181,19 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])),
CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", car_parts=CarParts.common([CarHarness.hyundai_o])),
CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])),
CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo",
car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages
car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages
# TODO: this is the 2024 US MY, not yet released
CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
car_parts=CarParts.common([CarHarness.hyundai_r])),
CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
car_parts=CarParts.common([CarHarness.hyundai_l])),
car_parts=CarParts.common([CarHarness.hyundai_l])),
CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
car_parts=CarParts.common([CarHarness.hyundai_a])),
car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
CAR.TUCSON: [
HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
@@ -198,8 +211,6 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
],
CAR.IONIQ_6: [
# TODO: unknown
HyundaiCarInfo("Hyundai Ioniq 6 (without HDA II) 2023", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
HyundaiCarInfo("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])),
],
CAR.TUCSON_4TH_GEN: [
@@ -208,14 +219,16 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
],
CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])),
CAR.CUSTIN_1ST_GEN: HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
# Kia
CAR.KIA_FORTE: [
HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])),
],
CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_K8_HEV_1ST_GEN: HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
CAR.KIA_NIRO_EV: [
HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
@@ -232,17 +245,16 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
],
CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control",
car_parts=CarParts.common([CarHarness.hyundai_b])), # TODO: may support 2016, 2018
car_parts=CarParts.common([CarHarness.hyundai_b])), # TODO: may support 2016, 2018
CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])),
CAR.KIA_OPTIMA_H: [
HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"), # TODO: may support adjacent years
HyundaiCarInfo("Kia Optima Hybrid 2019"),
],
# TODO: may support adjacent years. may have a non-zero minimum steering speed
CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c])),
CAR.KIA_OPTIMA_H_G4_FL: HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])),
CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
CAR.KIA_SORENTO: [
HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
car_parts=CarParts.common([CarHarness.hyundai_c])),
HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
car_parts=CarParts.common([CarHarness.hyundai_e])),
HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
],
CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])),
@@ -259,7 +271,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
],
CAR.KIA_CARNIVAL_4TH_GEN: [
HyundaiCarInfo("Kia Carnival 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
HyundaiCarInfo("Kia Carnival 2023-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
],
@@ -389,8 +401,8 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
# to distinguish between hybrid and ICE. All EVs so far are either exclusively
# electric or specify electric in the platform code.
# TODO: whitelist platforms that we've seen hybrid and ICE versions of that have these specifiers
fuzzy_platform_blacklist = set(CANFD_CAR - EV_CAR)
candidates = set()
fuzzy_platform_blacklist = {str(c) for c in set(CANFD_CAR - EV_CAR)}
candidates: Set[str] = set()
for candidate, fws in FW_VERSIONS.items():
# Keep track of ECUs which pass all checks (platform codes, within date range)
@@ -458,6 +470,7 @@ PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z]
# TODO: use abs, it has the platform code and part number on many platforms
PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps]
# So far we've only seen dates in fwdCamera
# TODO: there are date codes in the ABS firmware versions in hex
DATE_FW_ECUS = [Ecu.fwdCamera]
FW_QUERY_CONFIG = FwQueryConfig(
@@ -521,6 +534,40 @@ FW_QUERY_CONFIG = FwQueryConfig(
)
FW_VERSIONS = {
CAR.AZERA_6TH_GEN: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00IG__ SCC F-CU- 1.00 1.00 99110-G8100 ',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00IG MDPS C 1.00 1.02 56310G8510\x00 4IGSC103',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00IG MFC AT MES LHD 1.00 1.04 99211-G8100 200511',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x00bcsh8p54 U912\x00\x00\x00\x00\x00\x00SIG0M35MH0\xa4 |.',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x81641KA051\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.AZERA_HEV_6TH_GEN: {
(Ecu.fwdCamera, 0x7C4, None): [
b'\xf1\x00IGH MFC AT KOR LHD 1.00 1.02 99211-G8100 191029',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00IG MDPS C 1.00 1.00 56310M9600\x00 4IHSC100',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00IGhe SCC FHCUP 1.00 1.00 99110-M9100 ',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x006T7N0_C2\x00\x006T7VA051\x00\x00TIGSH24KA1\xc7\x85\xe2`',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x816H590051\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.HYUNDAI_GENESIS: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00DH LKAS 1.1 -150210',
@@ -575,11 +622,13 @@ FW_VERSIONS = {
b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2510 4APHC101',
b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2560 4APHC101',
b'\xf1\x00AE MDPS C 1.00 1.01 56310G2510\x00 4APHC101',
b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2310 4APHC101',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00AEP MFC AT USA LHD 1.00 1.01 95740-G2600 190819',
b'\xf1\x00AEP MFC AT EUR RHD 1.00 1.01 95740-G2600 190819',
b'\xf1\x00AEP MFC AT USA LHD 1.00 1.00 95740-G2700 201027',
b'\xf1\x00AEP MFC AT EUR LHD 1.00 1.01 95740-G2600 190819',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -592,6 +641,7 @@ FW_VERSIONS = {
b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\x00\x00\x00\x00',
b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL0\x00\x00\x00\x00',
b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\xad\xeb\xabt',
b'\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00',
],
},
CAR.IONIQ_EV_2020: {
@@ -915,6 +965,7 @@ FW_VERSIONS = {
b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0',
b'\xf1\x00TM ESC \x02 103"\x07\x08 58910-S2GA0',
b'\xf1\x00TM ESC 103!\x030 58910-S1MA0',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_L50',
@@ -928,12 +979,15 @@ FW_VERSIONS = {
b'\xf1\x81HM6M2_0a0_G00',
b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10',
b'\xf1\x8739101-2STN8\xf1\x81HM6M1_0a0_M00',
b'\xf1\x87 \xf1\x81 ',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00TM MDPS C 1.00 1.02 56370-S2AA0 0B19',
b'\xf1\x00TM MDPS C 1.00 1.01 56310-S1AB0 4TSDC101',
b'\xf1\x00TM MDPS C 1.00 1.01 56310-S1EB0 4TSDC101',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00TM MFC AT MES LHD 1.00 1.05 99211-S1500 220126',
b'\xf1\x00TMA MFC AT MEX LHD 1.00 1.01 99211-S2500 210205',
b'\xf1\x00TMA MFC AT USA LHD 1.00 1.00 99211-S2500 200720',
b'\xf1\x00TM MFC AT EUR LHD 1.00 1.03 99211-S1500 210224',
@@ -987,20 +1041,45 @@ FW_VERSIONS = {
CAR.SANTA_FE_PHEV_2022: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x8799110CL500\xf1\x00TMhe SCC FHCUP 1.00 1.00 99110-CL500 ',
b'\xf1\x00TMhe SCC FHCUP 1.00 1.01 99110-CL500 ',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLEC0 4TSHC102',
b'\xf1\x00TM MDPS C 1.00 1.02 56310CLEC0\x00 4TSHC102',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00TMP MFC AT USA LHD 1.00 1.03 99211-S1500 210224',
b'\xf1\x00TMP MFC AT USA LHD 1.00 1.06 99211-S1500 220727',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA0o\x88^\xbe',
b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea',
b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x87391312MTF0',
b'\xf1\x87391312MTF1',
],
},
CAR.CUSTIN_1ST_GEN: {
(Ecu.abs, 0x7d1, None): [
b'\xf1\x00KU ESC \x01 101!\x02\x03 58910-O3200',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00KU__ SCC F-CUP 1.00 1.01 99110-O3000 ',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00KU MDPS C 1.00 1.01 56310/O3100 4KUCC101',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00KU2 MFC AT CHN LHD 1.00 1.02 99211-O3000 220923',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x87391212MEC0',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x00bcsh8p54 U928\x00\x00\x00\x00\x00\x00SKU0T15KB2\x92U\xf9M',
],
},
CAR.KIA_STINGER: {
@@ -1328,16 +1407,22 @@ FW_VERSIONS = {
b'\xf1\x8799110L2100\xf1\x00DL3_ SCC F-CUP 1.00 1.03 99110-L2100 ',
b'\xf1\x8799110L2100\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2100 ',
b'\xf1\x00DL3_ SCC F-CUP 1.00 1.03 99110-L2100 ',
b'\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2100 ',
b'\xf1\x00DL3_ SCC FHCUP 1.00 1.04 99110-L2100 ',
],
(Ecu.eps, 0x7D4, None): [
b'\xf1\x8756310-L3110\xf1\000DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101',
b'\xf1\x8756310-L3220\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101',
b'\xf1\x8757700-L3000\xf1\x00DL3 MDPS R 1.00 1.02 57700-L3000 4DLAP102',
b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101',
b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L2220 4DLDC102',
b'\xf1\x00DL3 MDPS C 1.00 1.02 56310L3220\x00 4DLAC102',
],
(Ecu.fwdCamera, 0x7C4, None): [
b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.03 99210-L3000 200915',
b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.04 99210-L3000 210208',
b'\xf1\x00DL3 MFC AT KOR LHD 1.00 1.04 99210-L2000 210527',
b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.05 99210-L3000 211222',
],
(Ecu.abs, 0x7D1, None): [
b'\xf1\000DL ESC \006 101 \004\002 58910-L3200',
@@ -1345,11 +1430,15 @@ FW_VERSIONS = {
b'\xf1\x8758910-L3800\xf1\x00DL ESC \t 101 \x07\x02 58910-L3800',
b'\xf1\x8758910-L3600\xf1\x00DL ESC \x03 100 \x08\x02 58910-L3600',
b'\xf1\x00DL ESC \t 100 \x06\x02 58910-L3800',
b'\xf1\x00DL ESC \x01 104 \x07\x12 58910-L2200',
b'\xf1\x00DL ESC \x06 103"\x08\x06 58910-L3200',
],
(Ecu.engine, 0x7E0, None): [
b'\xf1\x87391212MKT0',
b'\xf1\x87391212MKV0',
b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DLDWN5TMDCXXXJ1B',
b'\xf1\x81HM6M2_0a0_DQ0',
b'\xf1\x87391212MKT3',
],
(Ecu.transmission, 0x7E1, None): [
b'\xf1\000bcsh8p54 U913\000\000\000\000\000\000TDL2T16NB1ia\v\xb8',
@@ -1358,6 +1447,8 @@ FW_VERSIONS = {
b'\xf1\x87SCMSAA8572454GK1\x87x\x87\x88Vf\x86hgwvwvwwgvwwgT?\xfb\xff\x97fo\xffH\xb8\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18',
b'\xf1\x87954A02N300\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 WDL3T25XXX730NS2b\x1f\xb8%',
b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18',
b'\xf1\x00HT6TA261BLHT6TAB00A1SDL0C20KS0\x00\x00\x00\x00\x00\x00\\\x9f\xa5\x15',
b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL2T16NB2.\x13\xf6\xed',
],
},
CAR.KIA_K5_HEV_2020: {
@@ -1366,15 +1457,18 @@ FW_VERSIONS = {
],
(Ecu.eps, 0x7D4, None): [
b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7000 4DLHC102',
b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7220 4DLHC102',
],
(Ecu.fwdCamera, 0x7C4, None): [
b'\xf1\x00DL3HMFC AT KOR LHD 1.00 1.02 99210-L2000 200309',
b'\xf1\x00DL3HMFC AT KOR LHD 1.00 1.04 99210-L2000 210527',
],
(Ecu.engine, 0x7E0, None): [
b'\xf1\x87391162JLA0',
],
(Ecu.transmission, 0x7E1, None): [
b'\xf1\x00PSBG2323 E08\x00\x00\x00\x00\x00\x00\x00TDL2H20KA2\xe3\xc6cz',
b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TDL2H20KA5T\xf2\xc9\xc2',
],
},
CAR.KONA_EV: {
@@ -1410,26 +1504,37 @@ FW_VERSIONS = {
b'\xf1\x8758520-K4010\xf1\x00OS IEB \x04 101 \x11\x13 58520-K4010',
b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010',
b'\xf1\x00OS IEB \r 102"\x05\x16 58520-K4010',
# TODO: these return from the MULTI request, above return from LONG
b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xd3\x00\x00\x00\x00\xff\xb7\xff\xee\xff\xe0\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xffP\xf5\xff\xfd\x00\x00\x00\x00\xfc\x00\x01',
b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xdb\x00\x00\x00\x00\xff\xb1\xff\xd9\xff\xd2\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xff\xd6\xf5\x00\x06\x00\x00\x00\x14\xfd\x00\x04',
b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xd3\x00\x00\x00\x00\xff\xb7\xff\xf4\xff\xd9\x00\xc0',
b'\xf1\x00OS IEB \x02 102"\x05\x16 58520-K4010',
b'\xf1\x00OS IEB \x03 102"\x05\x16 58520-K4010',
],
(Ecu.fwdCamera, 0x7C4, None): [
b'\xf1\x00OSP LKA AT CND LHD 1.00 1.02 99211-J9110 802',
b'\xf1\x00OSP LKA AT EUR RHD 1.00 1.02 99211-J9110 802',
b'\xf1\x00OSP LKA AT AUS RHD 1.00 1.04 99211-J9200 904',
b'\xf1\x00OSP LKA AT EUR LHD 1.00 1.04 99211-J9200 904',
b'\xf1\x00OSP LKA AT EUR RHD 1.00 1.04 99211-J9200 904',
b'\xf1\x00OSP LKA AT USA LHD 1.00 1.04 99211-J9200 904',
],
(Ecu.eps, 0x7D4, None): [
b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102',
b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102',
b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4271 4OEPC102',
b'\xf1\x00OSP MDPS C 1.00 1.02 56310-K4271 4OEPC102',
b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4971\x00 4OEPC102',
b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4261\x00 4OEPC102',
],
(Ecu.fwdRadar, 0x7D0, None): [
b'\xf1\x00YB__ FCA ----- 1.00 1.01 99110-K4500 \x00\x00\x00',
],
},
CAR.KONA_EV_2ND_GEN: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00SXev RDR ----- 1.00 1.00 99110-BF000 ',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00SX2EMFC AT KOR LHD 1.00 1.00 99211-BF000 230410',
],
},
CAR.KIA_NIRO_EV: {
(Ecu.fwdRadar, 0x7D0, None): [
b'\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 ',
@@ -1578,6 +1683,25 @@ FW_VERSIONS = {
b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B8051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B8051\x00\x00TJFSG24NH27\xa7\xc2\xb4',
],
},
CAR.KIA_OPTIMA_H: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00JFhe SCC FNCUP 1.00 1.00 96400-A8000 ',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00JFP LKAS AT EUR LHD 1.00 1.03 95895-A8100 160711',
],
},
CAR.KIA_OPTIMA_H_G4_FL: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00JFhe SCC FHCUP 1.00 1.01 99110-A8500 ',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00JFH MFC AT KOR LHD 1.00 1.01 95895-A8200 180323',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.ELANTRA: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00PD LKAS AT USA LHD 1.01 1.01 95740-G3100 A54',
@@ -1790,6 +1914,7 @@ FW_VERSIONS = {
b'\xf1\x00CE__ RDR ----- 1.00 1.01 99110-KL000 ',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00CE MFC AT EUR LHD 1.00 1.03 99211-KL000 221011',
b'\xf1\x00CE MFC AT USA LHD 1.00 1.04 99211-KL000 221213',
],
},
@@ -1809,10 +1934,12 @@ FW_VERSIONS = {
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K',
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A',
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9250 14W',
b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ',
b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ',
b'\xf1\x00NX4__ 1.00 1.01 99110-N9000 ',
],
},
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: {
@@ -1838,6 +1965,7 @@ FW_VERSIONS = {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1030 662',
b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1040 663',
b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1040 663',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00NQ5__ 1.00 1.02 99110-P1000 ',
@@ -1871,10 +1999,12 @@ FW_VERSIONS = {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.05 99210-R5000 210623',
b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.03 99210-R5000 200903',
b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.00 99210-R5100 221019',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.06 99110-P2000 ',
b'\xf1\x00MQ4_ SCC F-CUP 1.00 1.06 99110-P2000 ',
b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.08 99110-P2000 ',
],
},
CAR.KIA_NIRO_HEV_2ND_GEN: {
@@ -1898,46 +2028,54 @@ FW_VERSIONS = {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.06 99210-R0000 220221',
b'\xf1\x00KA4CMFC AT CHN LHD 1.00 1.01 99211-I4000 210525',
b'\xf1\x00KA4 MFC AT USA LHD 1.00 1.00 99210-R0100 230105',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00KA4_ SCC FHCUP 1.00 1.03 99110-R0000 ',
b'\xf1\x00KA4c SCC FHCUP 1.00 1.01 99110-I4000 ',
b'\xf1\x00KA4_ SCC FHCUP 1.00 1.00 99110-R0100 ',
],
},
CAR.KIA_SORENTO_HEV_4TH_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00MQ4HMFC AT KOR LHD 1.00 1.12 99210-P2000 230331',
b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.11 99210-P2000 211217',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00MQhe SCC FHCUP 1.00 1.07 99110-P4000 ',
],
},
CAR.KIA_K8_HEV_1ST_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00GL3HMFC AT KOR LHD 1.00 1.03 99211-L8000 210907',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00GL3_ RDR ----- 1.00 1.02 99110-L8000 ',
],
},
}
CHECKSUM = {
"crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021,
CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.KIA_K5_HEV_2020],
CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022,
CAR.KIA_K5_HEV_2020, CAR.CUSTIN_1ST_GEN],
"6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
}
CAN_GEARS = {
# which message has the gear
# which message has the gear. hybrid and EV use ELECT_GEAR
"use_cluster_gears": {CAR.ELANTRA, CAR.KONA},
"use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
"use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD,
CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID,
CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019,
CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020},
}
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN,
CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN,
CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN}
CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN}
# The radar does SCC on these cars when HDA I, rather than the camera
CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80,
CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN}
CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.IONIQ_6}
# The camera does SCC on these cars, rather than the radar
CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
@@ -1946,21 +2084,26 @@ CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ,
CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN,
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN,
CAR.KIA_SORENTO_HEV_4TH_GEN}
CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_K8_HEV_1ST_GEN,
CAR.AZERA_HEV_6TH_GEN}
EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022,
CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN}
CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN}
# these cars require a special panda safety mode due to missing counters and checksums in the messages
LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_OPTIMA_G4,
CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022}
LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KIA_OPTIMA_G4,
CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022,
CAR.KIA_OPTIMA_H}
# these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc.
UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4_FL}
UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4_FL,
CAR.KIA_OPTIMA_H_G4_FL}
# If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
# If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py
DBC = {
CAR.AZERA_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
CAR.AZERA_HEV_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None),
@@ -1984,6 +2127,7 @@ DBC = {
CAR.KIA_OPTIMA_G4: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_OPTIMA_G4_FL: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_OPTIMA_H_G4_FL: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_SELTOS: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None),
@@ -2020,4 +2164,7 @@ DBC = {
CAR.GENESIS_GV80: dbc_dict('hyundai_canfd', None),
CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_SORENTO_HEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_K8_HEV_1ST_GEN: dbc_dict('hyundai_canfd', None),
CAR.CUSTIN_1ST_GEN: dbc_dict('hyundai_kia_generic', None),
}
selfdrive/car/interfaces.py
+9 -7
View File
@@ -1,13 +1,14 @@
import yaml
import os
import time
import numpy as np
from abc import abstractmethod, ABC
from typing import Any, Dict, Optional, Tuple, List, Callable
from cereal import car
from openpilot.common.basedir import BASEDIR
from openpilot.common.conversions import Conversions as CV
from openpilot.common.kalman.simple_kalman import KF1D
from openpilot.common.kalman.simple_kalman import KF1D, get_kalman_gain
from openpilot.common.numpy_fast import clip
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
@@ -335,12 +336,13 @@ class CarStateBase(ABC):
self.cluster_speed_hyst_gap = 0.0
self.cluster_min_speed = 0.0 # min speed before dropping to 0
# Q = np.matrix([[0.0, 0.0], [0.0, 100.0]])
# R = 0.3
self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
A=[[1.0, DT_CTRL], [0.0, 1.0]],
C=[1.0, 0.0],
K=[[0.17406039], [1.65925647]])
Q = [[0.0, 0.0], [0.0, 100.0]]
R = 0.3
A = [[1.0, DT_CTRL], [0.0, 1.0]]
C = [[1.0, 0.0]]
x0=[[0.0], [0.0]]
K = get_kalman_gain(DT_CTRL, np.array(A), np.array(C), np.array(Q), R)
self.v_ego_kf = KF1D(x0=x0, A=A, C=C[0], K=K)
def update_speed_kf(self, v_ego_raw):
if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0: # Prevent large accelerations when car starts at non zero speed
selfdrive/car/mazda/values.py
+5 -2
View File
@@ -1,4 +1,5 @@
from dataclasses import dataclass, field
from strenum import StrEnum
from typing import Dict, List, Union
from cereal import car
@@ -25,7 +26,7 @@ class CarControllerParams:
pass
class CAR:
class CAR(StrEnum):
CX5 = "MAZDA CX-5"
CX9 = "MAZDA CX-9"
MAZDA3 = "MAZDA 3"
@@ -46,7 +47,7 @@ CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"),
CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017-20"),
CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4"),
CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022-23"),
CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022-24"),
}
@@ -97,6 +98,7 @@ FW_VERSIONS = {
b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x760, None): [
b'KGWD-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'KSD5-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x706, None): [
@@ -110,6 +112,7 @@ FW_VERSIONS = {
b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PXDL-21PS1-B\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',
b'PXFG-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.CX5: {
selfdrive/car/mock/interface.py
+5 -31
View File
@@ -1,61 +1,35 @@
#!/usr/bin/env python3
from cereal import car
from openpilot.system.swaglog import cloudlog
import cereal.messaging as messaging
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
# mocked car interface to work with chffrplus
# mocked car interface for dashcam mode
class CarInterface(CarInterfaceBase):
def __init__(self, CP, CarController, CarState):
super().__init__(CP, CarController, CarState)
cloudlog.debug("Using Mock Car Interface")
self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
self.speed = 0.
self.prev_speed = 0.
self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
ret.carName = "mock"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)]
ret.mass = 1700.
ret.wheelbase = 2.70
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 13. # reasonable
ret.steerRatio = 13.
return ret
# returns a car.CarState
def _update(self, c):
self.sm.update(0)
gps_sock = 'gpsLocationExternal' if self.sm.rcv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
if self.sm.updated[gps_sock]:
self.prev_speed = self.speed
self.speed = self.sm[gps_sock].speed
# create message
ret = car.CarState.new_message()
# speeds
ret.vEgo = self.speed
ret.vEgoRaw = self.speed
ret.aEgo = self.speed - self.prev_speed
ret.brakePressed = ret.aEgo < -0.5
ret.standstill = self.speed < 0.01
ret.wheelSpeeds.fl = self.speed
ret.wheelSpeeds.fr = self.speed
ret.wheelSpeeds.rl = self.speed
ret.wheelSpeeds.rr = self.speed
ret.vEgo = self.sm[gps_sock].speed
ret.vEgoRaw = self.sm[gps_sock].speed
return ret
def apply(self, c, now_nanos):
# in mock no carcontrols
actuators = car.CarControl.Actuators.new_message()
return actuators, []
selfdrive/car/mock/radar_interface.py
-1
View File
@@ -1,4 +1,3 @@
#!/usr/bin/env python3
from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
class RadarInterface(RadarInterfaceBase):
selfdrive/car/mock/values.py
+2 -1
View File
@@ -1,9 +1,10 @@
from strenum import StrEnum
from typing import Dict, List, Optional, Union
from openpilot.selfdrive.car.docs_definitions import CarInfo
class CAR:
class CAR(StrEnum):
MOCK = 'mock'
selfdrive/car/nissan/interface.py
+2 -2
View File
@@ -1,5 +1,5 @@
#!/usr/bin/env python3
from cereal import car
from panda import Panda
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.nissan.values import CAR
@@ -31,7 +31,7 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.44
elif candidate == CAR.ALTIMA:
# Altima has EPS on C-CAN unlike the others that have it on V-CAN
ret.safetyConfigs[0].safetyParam = 1 # EPS is on alternate bus
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_NISSAN_ALT_EPS_BUS
ret.mass = 1492
ret.wheelbase = 2.824
ret.centerToFront = ret.wheelbase * 0.44
selfdrive/car/nissan/radar_interface.py
-1
View File
@@ -1,4 +1,3 @@
#!/usr/bin/env python3
from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
class RadarInterface(RadarInterfaceBase):
selfdrive/car/nissan/values.py
+2 -1
View File
@@ -1,5 +1,6 @@
# ruff: noqa: E501
from dataclasses import dataclass, field
from strenum import StrEnum
from typing import Dict, List, Optional, Union
from cereal import car
@@ -21,7 +22,7 @@ class CarControllerParams:
pass
class CAR:
class CAR(StrEnum):
XTRAIL = "NISSAN X-TRAIL 2017"
LEAF = "NISSAN LEAF 2018"
# Leaf with ADAS ECU found behind instrument cluster instead of glovebox
selfdrive/car/subaru/carcontroller.py
+26 -12
View File
@@ -1,9 +1,13 @@
from openpilot.common.numpy_fast import clip, interp
from opendbc.can.packer import CANPacker
from openpilot.selfdrive.car import apply_driver_steer_torque_limits
from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
from openpilot.selfdrive.car.subaru import subarucan
from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CanBus, CarControllerParams, SubaruFlags
from openpilot.selfdrive.car.subaru.values import HYBRID_CARS
from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, STEER_RATE_LIMITED, CanBus, CarControllerParams, SubaruFlags
# FIXME: These limits aren't exact. The real limit is more than likely over a larger time period and
# involves the total steering angle change rather than rate, but these limits work well for now
MAX_STEER_RATE = 25 # deg/s
MAX_STEER_RATE_FRAMES = 7 # tx control frames needed before torque can be cut
class CarController:
@@ -13,6 +17,7 @@ class CarController:
self.frame = 0
self.cruise_button_prev = 0
self.steer_rate_counter = 0
self.p = CarControllerParams(CP)
self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
@@ -37,9 +42,17 @@ class CarController:
apply_steer = 0
if self.CP.carFingerprint in PREGLOBAL_CARS:
can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, CC.latActive))
can_sends.append(subarucan.create_preglobal_steering_control(self.packer, self.frame // self.p.STEER_STEP, apply_steer, CC.latActive))
else:
can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, CC.latActive))
apply_steer_req = CC.latActive
if self.CP.carFingerprint in STEER_RATE_LIMITED:
# Steering rate fault prevention
self.steer_rate_counter, apply_steer_req = \
common_fault_avoidance(abs(CS.out.steeringRateDeg) > MAX_STEER_RATE, apply_steer_req,
self.steer_rate_counter, MAX_STEER_RATE_FRAMES)
can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, apply_steer_req))
self.apply_steer_last = apply_steer
@@ -81,29 +94,30 @@ class CarController:
else:
if self.frame % 10 == 0:
can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg, CC.enabled, self.CP.openpilotLongitudinalControl,
can_sends.append(subarucan.create_es_dashstatus(self.packer, self.frame // 10, CS.es_dashstatus_msg, CC.enabled, self.CP.openpilotLongitudinalControl,
CC.longActive, hud_control.leadVisible))
can_sends.append(subarucan.create_es_lkas_state(self.packer, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
can_sends.append(subarucan.create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
hud_control.leftLaneVisible, hud_control.rightLaneVisible,
hud_control.leftLaneDepart, hud_control.rightLaneDepart))
if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
can_sends.append(subarucan.create_es_infotainment(self.packer, CS.es_infotainment_msg, hud_control.visualAlert))
can_sends.append(subarucan.create_es_infotainment(self.packer, self.frame // 10, CS.es_infotainment_msg, hud_control.visualAlert))
if self.CP.openpilotLongitudinalControl:
if self.frame % 5 == 0:
can_sends.append(subarucan.create_es_status(self.packer, CS.es_status_msg, self.CP.openpilotLongitudinalControl, CC.longActive, cruise_rpm))
can_sends.append(subarucan.create_es_status(self.packer, self.frame // 5, CS.es_status_msg,
self.CP.openpilotLongitudinalControl, CC.longActive, cruise_rpm))
can_sends.append(subarucan.create_es_brake(self.packer, CS.es_brake_msg, CC.enabled, cruise_brake))
can_sends.append(subarucan.create_es_brake(self.packer, self.frame // 5, CS.es_brake_msg, CC.enabled, cruise_brake))
can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, 0, pcm_cancel_cmd,
can_sends.append(subarucan.create_es_distance(self.packer, self.frame // 5, CS.es_distance_msg, 0, pcm_cancel_cmd,
self.CP.openpilotLongitudinalControl, cruise_brake > 0, cruise_throttle))
else:
if pcm_cancel_cmd:
if self.CP.carFingerprint not in HYBRID_CARS:
bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main
can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd))
can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg["COUNTER"] + 1, CS.es_distance_msg, bus, pcm_cancel_cmd))
new_actuators = actuators.copy()
new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
selfdrive/car/subaru/carstate.py
+17 -28
View File
@@ -4,9 +4,8 @@ from opendbc.can.can_define import CANDefine
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS, CanBus, SubaruFlags
from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, CanBus, SubaruFlags
from openpilot.selfdrive.car import CanSignalRateCalculator
from openpilot.selfdrive.car.subaru.values import HYBRID_CARS
class CarState(CarStateBase):
@@ -25,7 +24,7 @@ class CarState(CarStateBase):
ret.gasPressed = ret.gas > 1e-5
if self.car_fingerprint in PREGLOBAL_CARS:
ret.brakePressed = cp.vl["Brake_Pedal"]["Brake_Pedal"] > 2
ret.brakePressed = cp.vl["Brake_Pedal"]["Brake_Pedal"] > 0
else:
cp_brakes = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp
ret.brakePressed = cp_brakes.vl["Brake_Status"]["Brake"] == 1
@@ -101,17 +100,18 @@ class CarState(CarStateBase):
self.es_brake_msg = copy.copy(cp_es_brake.vl["ES_Brake"])
cp_es_status = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam
if self.car_fingerprint not in HYBRID_CARS: # Hybrid cars don't have es_distance, need a replacement
# TODO: Hybrid cars don't have ES_Distance, need a replacement
if self.car_fingerprint not in HYBRID_CARS:
# 8 is known AEB, there are a few other values related to AEB we ignore
ret.stockAeb = (cp_es_distance.vl["ES_Brake"]["AEB_Status"] == 8) and \
(cp_es_distance.vl["ES_Brake"]["Brake_Pressure"] != 0)
self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"])
(cp_es_distance.vl["ES_Brake"]["Brake_Pressure"] != 0)
self.es_status_msg = copy.copy(cp_es_status.vl["ES_Status"])
self.cruise_control_msg = copy.copy(cp_cruise.vl["CruiseControl"])
if self.car_fingerprint not in HYBRID_CARS:
self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"])
self.es_dashstatus_msg = copy.copy(cp_cam.vl["ES_DashStatus"])
if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
self.es_infotainment_msg = copy.copy(cp_cam.vl["ES_Infotainment"])
@@ -144,6 +144,16 @@ class CarState(CarStateBase):
return messages
@staticmethod
def get_common_preglobal_body_messages():
messages = [
("CruiseControl", 50),
("Wheel_Speeds", 50),
("Dash_State2", 1),
]
return messages
@staticmethod
def get_can_parser(CP):
messages = [
@@ -166,29 +176,8 @@ class CarState(CarStateBase):
if CP.carFingerprint not in PREGLOBAL_CARS:
if CP.carFingerprint not in GLOBAL_GEN2:
messages += CarState.get_common_global_body_messages(CP)
messages += [
("Dashlights", 10),
("BodyInfo", 10),
]
else:
messages += [
("Wheel_Speeds", 50),
("Dash_State2", 1),
]
if CP.carFingerprint == CAR.FORESTER_PREGLOBAL:
messages += [
("Dashlights", 20),
("BodyInfo", 1),
("CruiseControl", 50),
]
if CP.carFingerprint in (CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
messages += [
("Dashlights", 10),
("CruiseControl", 50),
]
messages += CarState.get_common_preglobal_body_messages()
return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.main)
selfdrive/car/subaru/interface.py
+5 -6
View File
@@ -1,4 +1,3 @@
#!/usr/bin/env python3
from cereal import car
from panda import Panda
from openpilot.selfdrive.car import get_safety_config
@@ -14,9 +13,9 @@ class CarInterface(CarInterfaceBase):
ret.carName = "subaru"
ret.radarUnavailable = True
# for HYBRID CARS to be upstreamed, we need:
# - replacement for ES_Distance so we can cancel the cruise control
# - to find the Cruise_Activated bit from the car
# - proper panda safety setup (use the correct cruise_activated bit, throttle from Throttle_Hybrid, etc)
# - replacement for ES_Distance so we can cancel the cruise control
# - to find the Cruise_Activated bit from the car
# - proper panda safety setup (use the correct cruise_activated bit, throttle from Throttle_Hybrid, etc)
ret.dashcamOnly = candidate in (PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS)
ret.autoResumeSng = False
@@ -44,7 +43,7 @@ class CarInterface(CarInterfaceBase):
else:
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate == CAR.ASCENT:
if candidate in (CAR.ASCENT, CAR.ASCENT_2023):
ret.mass = 2031.
ret.wheelbase = 2.89
ret.centerToFront = ret.wheelbase * 0.5
@@ -83,7 +82,7 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 17
ret.steerActuatorDelay = 0.1
elif candidate in (CAR.FORESTER, CAR.FORESTER_2022):
elif candidate in (CAR.FORESTER, CAR.FORESTER_2022, CAR.FORESTER_HYBRID):
ret.mass = 1568.
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
selfdrive/car/subaru/radar_interface.py
-1
View File
@@ -1,4 +1,3 @@
#!/usr/bin/env python3
from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
class RadarInterface(RadarInterfaceBase):
selfdrive/car/subaru/subarucan.py
+25 -18
View File
@@ -16,16 +16,15 @@ def create_steering_control(packer, apply_steer, steer_req):
def create_steering_status(packer):
return packer.make_can_msg("ES_LKAS_State", 0, {})
def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd, long_enabled = False, brake_cmd = False, cruise_throttle = 0):
def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long_enabled = False, brake_cmd = False, cruise_throttle = 0):
values = {s: es_distance_msg[s] for s in [
"CHECKSUM",
"COUNTER",
"Signal1",
"Cruise_Fault",
"Cruise_Throttle",
"Signal2",
"Car_Follow",
"Signal3",
"Low_Speed_Follow",
"Cruise_Soft_Disable",
"Signal7",
"Cruise_Brake_Active",
@@ -39,7 +38,8 @@ def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd, long_enable
"Cruise_Resume",
"Signal6",
]}
values["COUNTER"] = (values["COUNTER"] + 1) % 0x10
values["COUNTER"] = frame % 0x10
if long_enabled:
values["Cruise_Throttle"] = cruise_throttle
@@ -57,10 +57,9 @@ def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd, long_enable
return packer.make_can_msg("ES_Distance", bus, values)
def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
def create_es_lkas_state(packer, frame, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
values = {s: es_lkas_state_msg[s] for s in [
"CHECKSUM",
"COUNTER",
"LKAS_Alert_Msg",
"Signal1",
"LKAS_ACTIVE",
@@ -77,6 +76,8 @@ def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_
"Signal3",
]}
values["COUNTER"] = frame % 0x10
# Filter the stock LKAS "Keep hands on wheel" alert
if values["LKAS_Alert_Msg"] == 1:
values["LKAS_Alert_Msg"] = 0
@@ -119,10 +120,9 @@ def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_
return packer.make_can_msg("ES_LKAS_State", CanBus.main, values)
def create_es_dashstatus(packer, dashstatus_msg, enabled, long_enabled, long_active, lead_visible):
def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, long_active, lead_visible):
values = {s: dashstatus_msg[s] for s in [
"CHECKSUM",
"COUNTER",
"PCB_Off",
"LDW_Off",
"Signal1",
@@ -150,6 +150,8 @@ def create_es_dashstatus(packer, dashstatus_msg, enabled, long_enabled, long_act
"Cruise_State",
]}
values["COUNTER"] = frame % 0x10
if enabled and long_active:
values["Cruise_State"] = 0
values["Cruise_Activated"] = 1
@@ -165,10 +167,9 @@ def create_es_dashstatus(packer, dashstatus_msg, enabled, long_enabled, long_act
return packer.make_can_msg("ES_DashStatus", CanBus.main, values)
def create_es_brake(packer, es_brake_msg, enabled, brake_value):
def create_es_brake(packer, frame, es_brake_msg, enabled, brake_value):
values = {s: es_brake_msg[s] for s in [
"CHECKSUM",
"COUNTER",
"Signal1",
"Brake_Pressure",
"AEB_Status",
@@ -179,6 +180,8 @@ def create_es_brake(packer, es_brake_msg, enabled, brake_value):
"Signal3",
]}
values["COUNTER"] = frame % 0x10
if enabled:
values["Cruise_Activated"] = 1
@@ -190,10 +193,9 @@ def create_es_brake(packer, es_brake_msg, enabled, brake_value):
return packer.make_can_msg("ES_Brake", CanBus.main, values)
def create_es_status(packer, es_status_msg, long_enabled, long_active, cruise_rpm):
def create_es_status(packer, frame, es_status_msg, long_enabled, long_active, cruise_rpm):
values = {s: es_status_msg[s] for s in [
"CHECKSUM",
"COUNTER",
"Signal1",
"Cruise_Fault",
"Cruise_RPM",
@@ -204,6 +206,8 @@ def create_es_status(packer, es_status_msg, long_enabled, long_active, cruise_rp
"Signal3",
]}
values["COUNTER"] = frame % 0x10
if long_enabled:
values["Cruise_RPM"] = cruise_rpm
@@ -213,16 +217,18 @@ def create_es_status(packer, es_status_msg, long_enabled, long_active, cruise_rp
return packer.make_can_msg("ES_Status", CanBus.main, values)
def create_es_infotainment(packer, es_infotainment_msg, visual_alert):
def create_es_infotainment(packer, frame, es_infotainment_msg, visual_alert):
# Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
values = {s: es_infotainment_msg[s] for s in [
"CHECKSUM",
"COUNTER",
"LKAS_State_Infotainment",
"LKAS_Blue_Lines",
"Signal1",
"Signal2",
]}
values["COUNTER"] = frame % 0x10
if values["LKAS_State_Infotainment"] in (3, 4):
values["LKAS_State_Infotainment"] = 0
@@ -239,13 +245,14 @@ def create_es_infotainment(packer, es_infotainment_msg, visual_alert):
# *** Subaru Pre-global ***
def subaru_preglobal_checksum(packer, values, addr):
def subaru_preglobal_checksum(packer, values, addr, checksum_byte=7):
dat = packer.make_can_msg(addr, 0, values)[2]
return (sum(dat[:7])) % 256
return (sum(dat[:checksum_byte]) + sum(dat[checksum_byte+1:])) % 256
def create_preglobal_steering_control(packer, apply_steer, steer_req):
def create_preglobal_steering_control(packer, frame, apply_steer, steer_req):
values = {
"COUNTER": frame % 0x08,
"LKAS_Command": apply_steer,
"LKAS_Active": steer_req,
}
@@ -260,7 +267,7 @@ def create_preglobal_es_distance(packer, cruise_button, es_distance_msg):
"Signal1",
"Car_Follow",
"Signal2",
"Brake_On",
"Cruise_Brake_Active",
"Distance_Swap",
"Standstill",
"Signal3",
selfdrive/car/subaru/values.py
+62 -5
View File
@@ -1,5 +1,6 @@
from dataclasses import dataclass, field
from enum import Enum, IntFlag
from strenum import StrEnum
from typing import Dict, List, Union
from cereal import car
@@ -63,14 +64,16 @@ class CanBus:
camera = 2
class CAR:
class CAR(StrEnum):
# Global platform
ASCENT = "SUBARU ASCENT LIMITED 2019"
ASCENT_2023 = "SUBARU ASCENT 2023"
IMPREZA = "SUBARU IMPREZA LIMITED 2019"
IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020"
FORESTER = "SUBARU FORESTER 2019"
OUTBACK = "SUBARU OUTBACK 6TH GEN"
CROSSTREK_HYBRID = "SUBARU CROSSTREK HYBRID 2020"
FORESTER_HYBRID = "SUBARU FORESTER HYBRID 2020"
LEGACY = "SUBARU LEGACY 7TH GEN"
FORESTER_2022 = "SUBARU FORESTER 2022"
OUTBACK_2023 = "SUBARU OUTBACK 7TH GEN"
@@ -112,7 +115,8 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
SubaruCarInfo("Subaru XV 2020-21"),
],
# TODO: is there an XV and Impreza too?
CAR.CROSSTREK_HYBRID: SubaruCarInfo("Subaru Crosstrek Hybrid 2020"),
CAR.CROSSTREK_HYBRID: SubaruCarInfo("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b])),
CAR.FORESTER_HYBRID: SubaruCarInfo("Subaru Forester Hybrid 2020"),
CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"),
CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"),
CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"),
@@ -120,6 +124,7 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
CAR.OUTBACK_PREGLOBAL_2018: SubaruCarInfo("Subaru Outback 2018-19"),
CAR.FORESTER_2022: SubaruCarInfo("Subaru Forester 2022", "All", car_parts=CarParts.common([CarHarness.subaru_c])),
CAR.OUTBACK_2023: SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
CAR.ASCENT_2023: SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
}
SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
@@ -134,6 +139,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
[StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
),
# Some Eyesight modules fail on TESTER_PRESENT_REQUEST
# TODO: check if this resolves the fingerprinting issue for the 2023 Ascent and other new Subaru cars
Request(
[SUBARU_VERSION_REQUEST],
[SUBARU_VERSION_RESPONSE],
@@ -175,6 +181,23 @@ FW_VERSIONS = {
b'\x01\xfe\xfa\x00\x00',
],
},
CAR.ASCENT_2023: {
(Ecu.abs, 0x7b0, None): [
b'\xa5 #\x03\x00',
],
(Ecu.eps, 0x746, None): [
b'%\xc0\xd0\x11',
],
(Ecu.fwdCamera, 0x787, None): [
b'\x05!\x08\x1dK\x05!\x08\x01/',
],
(Ecu.engine, 0x7a2, None): [
b'\xe5,\xa0P\x07',
],
(Ecu.transmission, 0x7a3, None): [
b'\x04\xfe\xf3\x00\x00',
],
},
CAR.LEGACY: {
(Ecu.abs, 0x7b0, None): [
b'\xa1\\ x04\x01',
@@ -288,6 +311,7 @@ FW_VERSIONS = {
b'\xa2 !`\000',
b'\xf1\x00\xb2\x06\x04',
b'\xa2 `\x00',
b'\xa2 !3\x00',
],
(Ecu.eps, 0x746, None): [
b'\x9a\xc0\000\000',
@@ -301,6 +325,8 @@ FW_VERSIONS = {
b'\x00\x00eq\x1f@ "',
b'\x00\x00eq\x00\x00\x00\x00',
b'\x00\x00e\x8f\x00\x00\x00\x00',
b'\x00\x00e\x92\x00\x00\x00\x00',
b'\x00\x00e\xa4\x00\x00\x00\x00',
],
(Ecu.engine, 0x7e0, None): [
b'\xca!ap\a',
@@ -308,6 +334,7 @@ FW_VERSIONS = {
b'\xca!`0\a',
b'\xcc\"f0\a',
b'\xcc!fp\a',
b'\xcc!`p\x07',
b'\xca!f@\x07',
b'\xca!fp\x07',
b'\xf3"f@\x07',
@@ -315,10 +342,12 @@ FW_VERSIONS = {
b'\xf3"fp\x07',
b'\xe6"f0\x07',
b'\xe6"fp\x07',
b'\xe6!`@\x07',
],
(Ecu.transmission, 0x7e1, None): [
b'\xe6\xf5\004\000\000',
b'\xe6\xf5$\000\000',
b'\xe7\xf5\x04\x00\x00',
b'\xe7\xf6B0\000',
b'\xe7\xf5D0\000',
b'\xf1\x00\xd7\x10@',
@@ -326,6 +355,7 @@ FW_VERSIONS = {
b'\xe9\xf6F0\x00',
b'\xe9\xf5B0\x00',
b'\xe9\xf6B0\x00',
b'\xe9\xf5"\x00\x00',
],
},
CAR.CROSSTREK_HYBRID: {
@@ -389,6 +419,23 @@ FW_VERSIONS = {
b'\x1a\xe6F1\x00',
],
},
CAR.FORESTER_HYBRID: {
(Ecu.abs, 0x7b0, None): [
b'\xa3 \x19T\x00',
],
(Ecu.eps, 0x746, None): [
b'\x8d\xc2\x00\x00',
],
(Ecu.fwdCamera, 0x787, None): [
b'\x00\x00eY\x1f@ !',
],
(Ecu.engine, 0x7e0, None): [
b'\xd2\xa1`r\x07',
],
(Ecu.transmission, 0x7e1, None): [
b'\x1b\xa7@a\x00',
],
},
CAR.FORESTER_PREGLOBAL: {
(Ecu.abs, 0x7b0, None): [
b'\x7d\x97\x14\x40',
@@ -625,30 +672,36 @@ FW_VERSIONS = {
},
CAR.OUTBACK_2023: {
(Ecu.abs, 0x7b0, None): [
b'\xa1 #\x14\x00',
b'\xa1 #\x17\x00',
],
(Ecu.eps, 0x746, None): [
b'+\xc0\x10\x11\x00',
b'+\xc0\x12\x11\x00',
],
(Ecu.fwdCamera, 0x787, None): [
b'\t!\x08\x046\x05!\x08\x01/',
],
(Ecu.engine, 0x7a2, None): [
b'\xed,\xa0q\x07',
b'\xed,\xa2q\x07',
],
(Ecu.transmission, 0x7a3, None): [
b'\xa8\x8e\xf41\x00',
b'\xa8\xfe\xf41\x00',
]
}
}
DBC = {
CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None),
CAR.ASCENT_2023: dbc_dict('subaru_global_2017_generated', None),
CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None),
CAR.IMPREZA_2020: dbc_dict('subaru_global_2017_generated', None),
CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None),
CAR.FORESTER_2022: dbc_dict('subaru_global_2017_generated', None),
CAR.OUTBACK: dbc_dict('subaru_global_2017_generated', None),
CAR.FORESTER_HYBRID: dbc_dict('subaru_global_2020_hybrid_generated', None),
CAR.CROSSTREK_HYBRID: dbc_dict('subaru_global_2020_hybrid_generated', None),
CAR.OUTBACK_2023: dbc_dict('subaru_global_2017_generated', None),
CAR.LEGACY: dbc_dict('subaru_global_2017_generated', None),
@@ -658,7 +711,11 @@ DBC = {
CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None),
}
LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023}
GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023}
LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023}
GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023}
PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018}
HYBRID_CARS = {CAR.CROSSTREK_HYBRID, }
HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID}
# Cars that temporarily fault when steering angle rate is greater than some threshold.
# Appears to be all cars that started production after 2020
STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020}
selfdrive/car/tesla/interface.py
-1
View File
@@ -7,7 +7,6 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.common.params import Params
class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
selfdrive/car/tesla/values.py
+2 -1
View File
@@ -1,5 +1,6 @@
# ruff: noqa: E501
from collections import namedtuple
from strenum import StrEnum
from typing import Dict, List, Union
from cereal import car
@@ -12,7 +13,7 @@ Ecu = car.CarParams.Ecu
Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
class CAR:
class CAR(StrEnum):
AP1_MODELS = 'TESLA AP1 MODEL S'
AP2_MODELS = 'TESLA AP2 MODEL S'
selfdrive/car/tests/test_car_interfaces.py
+25 -13
View File
@@ -1,19 +1,25 @@
#!/usr/bin/env python3
import os
import math
import unittest
import hypothesis.strategies as st
from hypothesis import given, settings
from hypothesis import Phase, given, settings
import importlib
from parameterized import parameterized
from cereal import car
from cereal import car, messaging
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.car import gen_empty_fingerprint
from openpilot.selfdrive.car.car_helpers import interfaces
from openpilot.selfdrive.car.fingerprints import all_known_cars
from openpilot.selfdrive.car.fw_versions import FW_VERSIONS
from openpilot.selfdrive.car.interfaces import get_interface_attr
from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator
ALL_ECUS = list({ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()})
MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '5'))
def get_fuzzy_car_interface_args(draw: DrawType) -> dict:
# Fuzzy CAN fingerprints and FW versions to test more states of the CarInterface
@@ -21,12 +27,8 @@ def get_fuzzy_car_interface_args(draw: DrawType) -> dict:
st.integers(min_value=0, max_value=64)) for key in
gen_empty_fingerprint()})
# just the most important fields
car_fw_strategy = st.lists(st.fixed_dictionaries({
'ecu': st.sampled_from(list(car.CarParams.Ecu.schema.enumerants.keys())),
# TODO: only use reasonable addrs for the paired ecu and brand/platform
'address': st.integers(min_value=0, max_value=0x800),
}))
# only pick from possible ecus to reduce search space
car_fw_strategy = st.lists(st.sampled_from(ALL_ECUS))
params_strategy = st.fixed_dictionaries({
'fingerprints': fingerprint_strategy,
@@ -35,14 +37,21 @@ def get_fuzzy_car_interface_args(draw: DrawType) -> dict:
})
params: dict = draw(params_strategy)
params['car_fw'] = [car.CarParams.CarFw(**fw) for fw in params['car_fw']]
params['car_fw'] = [car.CarParams.CarFw(ecu=fw[0], address=fw[1], subAddress=fw[2] or 0) for fw in params['car_fw']]
return params
class TestCarInterfaces(unittest.TestCase):
@classmethod
def setUpClass(cls):
os.environ['NO_RADAR_SLEEP'] = '1'
# FIXME: Due to the lists used in carParams, Phase.target is very slow and will cause
# many generated examples to overrun when max_examples > ~20, don't use it
@parameterized.expand([(car,) for car in sorted(all_known_cars())])
@settings(max_examples=5)
@settings(max_examples=MAX_EXAMPLES, deadline=None,
phases=(Phase.reuse, Phase.generate, Phase.shrink))
@given(data=st.data())
def test_car_interfaces(self, car_name, data):
CarInterface, CarController, CarState = interfaces[car_name]
@@ -78,9 +87,6 @@ class TestCarInterfaces(unittest.TestCase):
self.assertTrue(not math.isnan(tune.torque.kf) and tune.torque.kf > 0)
self.assertTrue(not math.isnan(tune.torque.friction) and tune.torque.friction > 0)
elif tune.which() == 'indi':
self.assertTrue(len(tune.indi.outerLoopGainV))
cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
# Run car interface
now_nanos = 0
@@ -110,6 +116,12 @@ class TestCarInterfaces(unittest.TestCase):
hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
radar_interface._update([radar_interface.trigger_msg])
# Test radar fault
if not car_params.radarUnavailable and radar_interface.rcp is not None:
cans = [messaging.new_message('can', 1).to_bytes() for _ in range(5)]
rr = radar_interface.update(cans)
self.assertTrue(rr is None or len(rr.errors) > 0)
def test_interface_attrs(self):
"""Asserts basic behavior of interface attribute getter"""
num_brands = len(get_interface_attr('CAR'))
selfdrive/car/torque_data/override.yaml
+7
View File
@@ -10,6 +10,7 @@ NISSAN ROGUE 2019: [.nan, 1.5, .nan]
# New subarus angle based controllers
SUBARU FORESTER 2022: [.nan, 3.0, .nan]
SUBARU OUTBACK 7TH GEN: [.nan, 3.0, .nan]
SUBARU ASCENT 2023: [.nan, 3.0, .nan]
# Toyota LTA also has torque
TOYOTA RAV4 2023: [.nan, 3.0, .nan]
@@ -56,6 +57,12 @@ KIA CARNIVAL 4TH GEN: [1.75, 1.75, 0.15]
GMC ACADIA DENALI 2018: [1.6, 1.6, 0.2]
LEXUS IS 2023: [2.0, 2.0, 0.1]
KIA SORENTO HYBRID 4TH GEN: [2.5, 2.5, 0.1]
HYUNDAI KONA ELECTRIC 2ND GEN: [2.5, 2.5, 0.1]
HYUNDAI IONIQ 6 2023: [2.5, 2.5, 0.1]
HYUNDAI AZERA 6TH GEN: [1.8, 1.8, 0.1]
HYUNDAI AZERA HYBRID 6TH GEN: [1.8, 1.8, 0.1]
KIA K8 HYBRID 1ST GEN: [2.5, 2.5, 0.1]
HYUNDAI CUSTIN 1ST GEN: [2.5, 2.5, 0.1]
# Dashcam or fallback configured as ideal car
mock: [10.0, 10, 0.0]
selfdrive/car/torque_data/params.yaml
+7 -14
View File
@@ -45,15 +45,12 @@ KIA K5 2021: [2.405339728085138, 1.460032270828705, 0.11650989850813716]
KIA NIRO EV 2020: [2.9215954981365337, 2.1500583840260044, 0.09236802474810267]
KIA SORENTO GT LINE 2018: [2.464854685101844, 1.5335274218367956, 0.12056170567599558]
KIA STINGER GT2 2018: [2.7499043387418967, 1.849652021986449, 0.12048334239559202]
LEXUS ES 2019: [1.935835, 2.134803912579666, 0.093439]
LEXUS ES HYBRID 2019: [2.135678, 1.863360677810788, 0.109627]
LEXUS NX 2018: [2.302625600642627, 2.1382378491466625, 0.14986840878892838]
LEXUS ES 2019: [2.0357564999999997, 1.999082295195227, 0.101533]
LEXUS NX 2018: [2.3525924753753613, 1.9731412277641067, 0.15168101064205927]
LEXUS NX 2020: [2.4331999786982936, 2.1045680431705414, 0.14099899317761067]
LEXUS NX HYBRID 2018: [2.4025593501080955, 1.8080446063815507, 0.15349361249519017]
LEXUS RX 2016: [1.5876816543130423, 1.0427699298523752, 0.21334066732397142]
LEXUS RX 2020: [1.5228812994274734, 1.431102486563665, 0.164117]
LEXUS RX 2020: [1.5375561442049257, 1.343166476215164, 0.1931062001527557]
LEXUS RX HYBRID 2017: [1.6984261557042386, 1.3211501880159107, 0.1820354534928893]
LEXUS RX HYBRID 2020: [1.5522309889823778, 1.255230465866663, 0.2220954003055114]
MAZDA CX-9 2021: [1.7601682915983443, 1.0889677335154337, 0.17713792194297195]
SKODA SUPERB 3RD GEN: [1.166437404652981, 1.1686163012668165, 0.12194533036948708]
SUBARU FORESTER 2019: [3.6617001649776793, 2.342197172531713, 0.11075960785398745]
@@ -69,8 +66,7 @@ TOYOTA CAMRY 2021: [2.446083, 2.3476510120007434, 0.121615]
TOYOTA CAMRY HYBRID 2018: [1.996333, 1.7996193116697359, 0.112565]
TOYOTA CAMRY HYBRID 2021: [2.263582, 2.3901492458927986, 0.115257]
TOYOTA COROLLA 2017: [3.117154369115421, 1.8438132575043773, 0.12289685869250652]
TOYOTA COROLLA HYBRID TSS2 2019: [1.9079729107361805, 1.8118712531729109, 0.22251440891543514]
TOYOTA COROLLA TSS2 2019: [2.0742917676766712, 1.9258612322678952, 0.16888685704519352]
TOYOTA COROLLA TSS2 2019: [1.991132339206426, 1.868866242720403, 0.19570063298031432]
TOYOTA HIGHLANDER 2017: [1.8696367437248915, 1.626293990451463, 0.17485372210240796]
TOYOTA HIGHLANDER 2020: [2.022340166827233, 1.6183134804881791, 0.14592306380054457]
TOYOTA HIGHLANDER HYBRID 2018: [1.752033, 1.6433903296845025, 0.144600]
@@ -79,13 +75,10 @@ TOYOTA MIRAI 2021: [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
TOYOTA PRIUS 2017: [1.60, 1.5023147650693636, 0.151515]
TOYOTA PRIUS TSS2 2021: [1.972600, 1.9104337425537743, 0.170968]
TOYOTA RAV4 2017: [2.085695074355425, 2.2142832316984733, 0.13339165270103975]
TOYOTA RAV4 2019: [2.331293, 2.0993589721530252, 0.129822]
TOYOTA RAV4 2019 8965: [2.5084506298290377, 2.4216520504763475, 0.11992835265067918]
TOYOTA RAV4 2019 x02: [2.7209621987605024, 2.2148637653781593, 0.10862567142268198]
TOYOTA RAV4 2019: [2.279239424615458, 2.087101966779332, 0.13682208413446817]
TOYOTA RAV4 2019 8965: [2.3080951748210854, 2.1189367835820603, 0.12942102328134028]
TOYOTA RAV4 2019 x02: [2.762293266024922, 2.243615865975329, 0.11113568178327986]
TOYOTA RAV4 HYBRID 2017: [1.9796257271652042, 1.7503987331707576, 0.14628860048885406]
TOYOTA RAV4 HYBRID 2019: [2.2271858492309153, 2.074844961405639, 0.14382216826893632]
TOYOTA RAV4 HYBRID 2019 8965: [2.1077397198131336, 1.8162215166877735, 0.13891369391200137]
TOYOTA RAV4 HYBRID 2019 x02: [2.803624333289342, 2.272367966572498, 0.11364569214387774]
TOYOTA RAV4 HYBRID 2022: [2.241883248393209, 1.9304407208090029, 0.112174]
TOYOTA RAV4 HYBRID 2022 x02: [3.044930631831037, 2.3979189796380918, 0.14023209146703736]
TOYOTA SIENNA 2018: [1.689726, 1.3208264576110418, 0.140456]
selfdrive/car/torque_data/substitute.yaml
+2 -6
View File
@@ -8,13 +8,11 @@ TOYOTA ALPHARD HYBRID 2021 : TOYOTA SIENNA 2018
TOYOTA ALPHARD 2020: TOYOTA SIENNA 2018
TOYOTA PRIUS v 2017 : TOYOTA PRIUS 2017
TOYOTA RAV4 2022: TOYOTA RAV4 HYBRID 2022
TOYOTA C-HR HYBRID 2018: TOYOTA C-HR 2018
TOYOTA C-HR HYBRID 2022: TOYOTA C-HR 2021
LEXUS IS 2018: LEXUS NX 2018
LEXUS CT HYBRID 2018 : LEXUS NX 2018
LEXUS ES 2018: TOYOTA CAMRY HYBRID 2018
LEXUS ES HYBRID 2018: TOYOTA CAMRY HYBRID 2018
LEXUS NX HYBRID 2020: LEXUS NX 2020
LEXUS RC 2020: LEXUS NX 2020
TOYOTA AVALON HYBRID 2019: TOYOTA AVALON 2019
TOYOTA AVALON HYBRID 2022: TOYOTA AVALON 2022
@@ -22,6 +20,7 @@ TOYOTA AVALON HYBRID 2022: TOYOTA AVALON 2022
KIA OPTIMA 4TH GEN: HYUNDAI SONATA 2020
KIA OPTIMA 4TH GEN FACELIFT: HYUNDAI SONATA 2020
KIA OPTIMA HYBRID 2017 & SPORTS 2019: HYUNDAI SONATA 2020
KIA OPTIMA HYBRID 4TH GEN FACELIFT: HYUNDAI SONATA 2020
KIA FORTE E 2018 & GT 2021: HYUNDAI SONATA 2020
KIA CEED INTRO ED 2019: HYUNDAI SONATA 2020
KIA SELTOS 2021: HYUNDAI SONATA 2020
@@ -34,7 +33,6 @@ HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019
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
HYUNDAI IONIQ 6 2023: HYUNDAI IONIQ 5 2022
HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019
HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020
HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019
@@ -77,6 +75,7 @@ SEAT LEON 3RD GEN: VOLKSWAGEN GOLF 7TH GEN
SEAT ATECA 1ST GEN: VOLKSWAGEN GOLF 7TH GEN
SUBARU CROSSTREK HYBRID 2020: SUBARU IMPREZA SPORT 2020
SUBARU FORESTER HYBRID 2020: SUBARU IMPREZA SPORT 2020
SUBARU LEGACY 7TH GEN: SUBARU OUTBACK 6TH GEN
# Old subarus don't have much data guessing it's like low torque impreza
@@ -85,6 +84,3 @@ SUBARU OUTBACK 2015 - 2017: SUBARU IMPREZA LIMITED 2019
SUBARU FORESTER 2017 - 2018: SUBARU IMPREZA LIMITED 2019
SUBARU LEGACY 2015 - 2018: SUBARU IMPREZA LIMITED 2019
SUBARU ASCENT LIMITED 2019: SUBARU FORESTER 2019
# custom
HONDA CR-V HYBRID 2019 w/ BSM: HONDA CR-V HYBRID 2019
selfdrive/car/toyota/carcontroller.py
+83 -17
View File
@@ -2,9 +2,7 @@ from cereal import car
from openpilot.common.numpy_fast import clip, interp
from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, \
create_gas_interceptor_command, make_can_msg
from openpilot.selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \
create_accel_command, create_acc_cancel_command, \
create_fcw_command, create_lta_steer_command
from openpilot.selfdrive.car.toyota import toyotacan
from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, ToyotaFlags, \
UNSUPPORTED_DSU_CAR
@@ -34,6 +32,22 @@ UNLOCK_CMD = b'\x40\x05\x30\x11\x00\x40\x00\x00'
LOCK_CMD = b'\x40\x05\x30\x11\x00\x80\x00\x00'
LOCK_AT_SPEED = 10 * CV.KPH_TO_MS
# Blindspot codes
LEFT_BLINDSPOT = b'\x41'
RIGHT_BLINDSPOT = b'\x42'
def set_blindspot_debug_mode(lr,enable):
if enable:
m = lr + b'\x02\x10\x60\x00\x00\x00\x00'
else:
m = lr + b'\x02\x10\x01\x00\x00\x00\x00'
return make_can_msg(0x750, m, 0)
def poll_blindspot_status(lr):
m = lr + b'\x02\x21\x69\x00\x00\x00\x00'
return make_can_msg(0x750, m, 0)
class CarController:
def __init__(self, dbc_name, CP, VM):
self.CP = CP
@@ -57,6 +71,18 @@ class CarController:
self.dp_toyota_auto_unlock = p.get_bool("dp_toyota_auto_unlock")
self.dp_toyota_sng = p.get_bool("dp_toyota_sng")
# dp - bsm
self.dp_toyota_enhanced_bsm = p.get_bool("dp_toyota_enhanced_bsm")
self._blindspot_debug_enabled_left = False
self._blindspot_debug_enabled_right = False
self._blindspot_frame = 0
if self.CP.carFingerprint in TSS2_CAR: # tss2 can do higher hz then tss1 and can be on at all speed/standstill
self._blindspot_rate = 2
self._blindspot_always_on = True
else:
self._blindspot_rate = 20
self._blindspot_always_on = False
def update(self, CC, CS, now_nanos):
actuators = CC.actuators
@@ -73,15 +99,54 @@ class CarController:
if not CS.out.doorOpen:
gear = CS.out.gearShifter
if gear == GearShifter.park and self.dp_toyota_auto_lock_gear_prev != gear:
if self.dp_toyota_auto_lock:
if self.dp_toyota_auto_unlock:
can_sends.append(make_can_msg(0x750, UNLOCK_CMD, 0))
self.dp_toyota_auto_lock_once = False
elif gear == GearShifter.drive and not self.dp_toyota_auto_lock_once and CS.out.vEgo >= LOCK_AT_SPEED:
if self.dp_toyota_auto_unlock:
if self.dp_toyota_auto_lock:
can_sends.append(make_can_msg(0x750, LOCK_CMD, 0))
self.dp_toyota_auto_lock_once = True
self.dp_toyota_auto_lock_gear_prev = gear
# Enable blindspot debug mode once (@arne182)
# let's keep all the commented out code for easy debug purpose for future.
if self.dp_toyota_enhanced_bsm:
#if self.frame > 200:
#left bsm
if not self._blindspot_debug_enabled_left:
if (self._blindspot_always_on or (CS.out.leftBlinker and CS.out.vEgo > 6)): # eagle eye camera will stop working if right bsm is switched on under 6m/s
can_sends.append(set_blindspot_debug_mode(LEFT_BLINDSPOT, True))
self._blindspot_debug_enabled_left = True
# print("bsm debug left, on")
else:
if not self._blindspot_always_on and not CS.out.leftBlinker and self.frame - self._blindspot_frame > 50:
can_sends.append(set_blindspot_debug_mode(LEFT_BLINDSPOT, False))
self._blindspot_debug_enabled_left = False
# print("bsm debug left, off")
if self.frame % self._blindspot_rate == 0:
can_sends.append(poll_blindspot_status(LEFT_BLINDSPOT))
if CS.out.leftBlinker:
self._blindspot_frame = self.frame
# print(self._blindspot_frame)
# print("bsm poll left")
#right bsm
if not self._blindspot_debug_enabled_right:
if (self._blindspot_always_on or (CS.out.rightBlinker and CS.out.vEgo > 6)): # eagle eye camera will stop working if right bsm is switched on under 6m/s
can_sends.append(set_blindspot_debug_mode(RIGHT_BLINDSPOT, True))
self._blindspot_debug_enabled_right = True
# print("bsm debug right, on")
else:
if not self._blindspot_always_on and not CS.out.rightBlinker and self.frame - self._blindspot_frame > 50:
can_sends.append(set_blindspot_debug_mode(RIGHT_BLINDSPOT, False))
self._blindspot_debug_enabled_right = False
# print("bsm debug right, off")
if self.frame % self._blindspot_rate == self._blindspot_rate/2:
can_sends.append(poll_blindspot_status(RIGHT_BLINDSPOT))
if CS.out.rightBlinker:
self._blindspot_frame = self.frame
# print(self._blindspot_frame)
# print("bsm poll right")
# *** steer torque ***
new_steer = int(round(actuators.steer * self.params.STEER_MAX))
apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.params)
@@ -115,13 +180,13 @@ class CarController:
# toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2;
# sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
# on consecutive messages
can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req))
can_sends.append(toyotacan.create_steer_command(self.packer, apply_steer, apply_steer_req))
if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR:
lta_active = lat_active and self.CP.steerControlType == SteerControlType.angle
full_torque_condition = (abs(CS.out.steeringTorqueEps) < self.params.STEER_MAX and
abs(CS.out.steeringTorque) < MAX_DRIVER_TORQUE_ALLOWANCE)
setme_x64 = 100 if lta_active and full_torque_condition else 0
can_sends.append(create_lta_steer_command(self.packer, self.last_angle if lta_active else 0, lta_active, self.frame // 2, setme_x64))
can_sends.append(toyotacan.create_lta_steer_command(self.packer, self.last_angle, lta_active, self.frame // 2, setme_x64))
# *** gas and brake ***
if self.CP.enableGasInterceptor and CC.longActive:
@@ -157,18 +222,22 @@ class CarController:
self.last_standstill = CS.out.standstill
# handle UI messages
fcw_alert = hud_control.visualAlert == VisualAlert.fcw
steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
# we can spam can to cancel the system even if we are using lat only control
if (self.frame % 3 == 0 and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
lead = hud_control.leadVisible or CS.out.vEgo < 12. # at low speed we always assume the lead is present so ACC can be engaged
# Lexus IS uses a different cancellation message
if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
can_sends.append(create_acc_cancel_command(self.packer))
can_sends.append(toyotacan.create_acc_cancel_command(self.packer))
elif self.CP.openpilotLongitudinalControl:
can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type))
can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert))
self.accel = pcm_accel_cmd
else:
can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type))
can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False))
if self.frame % 2 == 0 and self.CP.enableGasInterceptor and self.CP.openpilotLongitudinalControl:
# send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.
@@ -181,9 +250,6 @@ class CarController:
# ui mesg is at 1Hz but we send asap if:
# - there is something to display
# - there is something to stop displaying
fcw_alert = hud_control.visualAlert == VisualAlert.fcw
steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
send_ui = False
if ((fcw_alert or steer_alert) and not self.alert_active) or \
(not (fcw_alert or steer_alert) and self.alert_active):
@@ -194,12 +260,12 @@ class CarController:
send_ui = True
if self.frame % 20 == 0 or send_ui:
can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible,
hud_control.rightLaneVisible, hud_control.leftLaneDepart,
hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud))
can_sends.append(toyotacan.create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible,
hud_control.rightLaneVisible, hud_control.leftLaneDepart,
hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud))
if (self.frame % 100 == 0 or send_ui) and (self.CP.enableDsu or self.CP.flags & ToyotaFlags.DISABLE_RADAR.value):
can_sends.append(create_fcw_command(self.packer, fcw_alert))
can_sends.append(toyotacan.create_fcw_command(self.packer, fcw_alert))
# *** static msgs ***
for addr, cars, bus, fr_step, vl in STATIC_DSU_MSGS:
selfdrive/car/toyota/carstate.py
+108 -9
View File
@@ -11,6 +11,8 @@ from openpilot.selfdrive.car.interfaces import CarStateBase
from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
from openpilot.common.params import Params
SteerControlType = car.CarParams.SteerControlType
# These steering fault definitions seem to be common across LKA (torque) and LTA (angle):
@@ -24,6 +26,8 @@ TEMP_STEER_FAULTS = (0, 9, 11, 21, 25)
# - prolonged high driver torque: 17 (permanent)
PERM_STEER_FAULTS = (3, 17)
ZSS_THRESHOLD = 4.0
ZSS_THRESHOLD_COUNT = 10
class CarState(CarStateBase):
def __init__(self, CP):
@@ -44,6 +48,28 @@ class CarState(CarStateBase):
self.acc_type = 1
self.lkas_hud = {}
# zss
params = Params()
self._dp_alka = params.get_bool('dp_alka')
self._dp_toyota_zss = params.get_bool('dp_toyota_zss')
self._dp_zss_compute = False
self._dp_zss_cruise_active_last = False
self._dp_zss_angle_offset = 0.
self._dp_zss_threshold_count = 0
# bsm
self.dp_toyota_enhanced_bsm = params.get_bool('dp_toyota_enhanced_bsm')
self._left_blindspot = False
self._left_blindspot_d1 = 0
self._left_blindspot_d2 = 0
self._left_blindspot_counter = 0
self._right_blindspot = False
self._right_blindspot_d1 = 0
self._right_blindspot_d2 = 0
self._right_blindspot_counter = 0
def update(self, cp, cp_cam):
ret = car.CarState.new_message()
@@ -58,9 +84,7 @@ class CarState(CarStateBase):
ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2
ret.gasPressed = ret.gas > 805
else:
# TODO: find a new, common signal
msg = "GAS_PEDAL_HYBRID" if (self.CP.flags & ToyotaFlags.HYBRID) else "GAS_PEDAL"
ret.gas = cp.vl[msg]["GAS_PEDAL"]
# TODO: find a common gas pedal percentage signal
ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0
ret.wheelSpeeds = self.get_wheel_speeds(
@@ -91,6 +115,35 @@ class CarState(CarStateBase):
ret.steeringAngleOffsetDeg = self.angle_offset.x
ret.steeringAngleDeg = torque_sensor_angle_deg - self.angle_offset.x
# dp - toyota zss
# if diff between steeringAngleDeg and ZSS is too large, disable ZSS
if self._dp_zss_threshold_count > ZSS_THRESHOLD_COUNT:
self._dp_toyota_zss = False
if self._dp_toyota_zss:
zorro_steer = cp.vl["SECONDARY_STEER_ANGLE"]["ZORRO_STEER"]
# rick - when alka is on, we check main_on state
acc_active = (self._dp_alka and cp.vl["PCM_CRUISE_2"]["MAIN_ON"] != 0) or bool(cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"])
# only compute zss offset when acc is active
if acc_active and not self._dp_zss_cruise_active_last:
self._dp_zss_threshold_count = 0
self._dp_zss_compute = True # cruise was just activated, so allow offset to be recomputed
self._dp_zss_cruise_active_last = acc_active
# compute zss offset
if self._dp_zss_compute:
if abs(ret.steeringAngleDeg) > 1e-3 and abs(zorro_steer) > 1e-3:
self._dp_zss_compute = False
self._dp_zss_angle_offset = zorro_steer - ret.steeringAngleDeg
# error check
new_steering_angle_deg = zorro_steer - self._dp_zss_angle_offset
if abs(ret.steeringAngleDeg - new_steering_angle_deg) > ZSS_THRESHOLD:
self._dp_zss_threshold_count += 1
else:
ret.steeringAngleDeg = new_steering_angle_deg
ret.steeringRateDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_RATE"]
can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"])
@@ -163,6 +216,50 @@ class CarState(CarStateBase):
if self.CP.carFingerprint != CAR.PRIUS_V:
self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"])
# Enable blindspot debug mode once (@arne182)
# let's keep all the commented out code for easy debug purpose for future.
if self.dp_toyota_enhanced_bsm and self.frame > 199: #self.CP.carFingerprint == CAR.PRIUS_TSS2: #not (self.CP.carFingerprint in TSS2_CAR or self.CP.carFingerprint == CAR.CAMRY or self.CP.carFingerprint == CAR.CAMRYH):
distance_1 = cp.vl["DEBUG"].get('BLINDSPOTD1')
distance_2 = cp.vl["DEBUG"].get('BLINDSPOTD2')
side = cp.vl["DEBUG"].get('BLINDSPOTSIDE')
if distance_1 is not None and distance_2 is not None and side is not None:
if side == 65: # Left blind spot
if distance_1 != self._left_blindspot_d1:
self._left_blindspot_d1 = distance_1
self._left_blindspot_counter = 100
if distance_2 != self._left_blindspot_d2:
self._left_blindspot_d2 = distance_2
self._left_blindspot_counter = 100
if self._left_blindspot_d1 > 10 or self._left_blindspot_d2 > 10:
self._left_blindspot = True
elif side == 66: # Right blind spot
if distance_1 != self._right_blindspot_d1:
self._right_blindspot_d1 = distance_1
self._right_blindspot_counter = 100
if distance_2 != self._right_blindspot_d2:
self._right_blindspot_d2 = distance_2
self._right_blindspot_counter = 100
if self._right_blindspot_d1 > 10 or self._right_blindspot_d2 > 10:
self._right_blindspot = True
if self._left_blindspot_counter > 0:
self._left_blindspot_counter -= 1
else:
self._left_blindspot = False
self._left_blindspot_d1 = 0
self._left_blindspot_d2 = 0
if self._right_blindspot_counter > 0:
self._right_blindspot_counter -= 1
else:
self._right_blindspot = False
self._right_blindspot_d1 = 0
self._right_blindspot_d2 = 0
ret.leftBlindspot = self._left_blindspot
ret.rightBlindspot = self._right_blindspot
return ret
@staticmethod
@@ -183,11 +280,6 @@ class CarState(CarStateBase):
("STEER_TORQUE_SENSOR", 50),
]
if CP.flags & ToyotaFlags.HYBRID:
messages.append(("GAS_PEDAL_HYBRID", 33))
else:
messages.append(("GAS_PEDAL", 33))
if CP.carFingerprint in UNSUPPORTED_DSU_CAR:
messages.append(("DSU_CRUISE", 5))
messages.append(("PCM_CRUISE_ALT", 1))
@@ -210,11 +302,18 @@ class CarState(CarStateBase):
("PCS_HUD", 1),
]
if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu:
if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu and not CP.flags & ToyotaFlags.DISABLE_RADAR.value:
messages += [
("PRE_COLLISION", 33),
]
params = Params()
if params.get_bool('dp_toyota_zss'):
messages.append(("SECONDARY_STEER_ANGLE", 0))
if params.get_bool('dp_toyota_enhanced_bsm'):
messages.append(("DEBUG", 65))
return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
@staticmethod
selfdrive/car/toyota/interface.py
+17 -17
View File
@@ -1,10 +1,9 @@
#!/usr/bin/env python3
from cereal import car
from openpilot.common.conversions import Conversions as CV
from panda import Panda
from panda.python import uds
from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
MIN_ACC_SPEED, EPS_SCALE, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.disable_ecu import disable_ecu
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
@@ -82,7 +81,7 @@ class CarInterface(CarInterfaceBase):
ret.tireStiffnessFactor = 0.444 # not optimized yet
ret.mass = 2860. * CV.LB_TO_KG # mean between normal and hybrid
elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2):
elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2):
stop_and_go = True
ret.wheelbase = 2.79
ret.steerRatio = 16. # 14.8 is spec end-to-end
@@ -90,7 +89,7 @@ class CarInterface(CarInterfaceBase):
ret.tireStiffnessFactor = 0.5533
ret.mass = 4481. * CV.LB_TO_KG # mean between min and max
elif candidate in (CAR.CHR, CAR.CHRH, CAR.CHR_TSS2, CAR.CHRH_TSS2):
elif candidate in (CAR.CHR, CAR.CHR_TSS2, CAR.CHRH_TSS2):
stop_and_go = True
ret.wheelbase = 2.63906
ret.steerRatio = 13.6
@@ -120,7 +119,7 @@ class CarInterface(CarInterfaceBase):
ret.tireStiffnessFactor = 0.7983
ret.mass = 3505. * CV.LB_TO_KG # mean between normal and hybrid
elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2022,
CAR.RAV4_TSS2_2023, CAR.RAV4H_TSS2_2023):
ret.wheelbase = 2.68986
ret.steerRatio = 14.3
@@ -142,13 +141,13 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kf = 0.00004
break
elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2):
elif candidate == CAR.COROLLA_TSS2:
ret.wheelbase = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback
ret.steerRatio = 13.9
ret.tireStiffnessFactor = 0.444 # not optimized yet
ret.mass = 3060. * CV.LB_TO_KG
elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2):
elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_ES_TSS2):
if candidate not in (CAR.LEXUS_ES,): # TODO: LEXUS_ES may have sng
stop_and_go = True
ret.wheelbase = 2.8702
@@ -176,7 +175,7 @@ class CarInterface(CarInterfaceBase):
ret.tireStiffnessFactor = 0.517
ret.mass = 3108 * CV.LB_TO_KG # mean between min and max
elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NXH, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2):
elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2):
stop_and_go = True
ret.wheelbase = 2.66
ret.steerRatio = 14.7
@@ -203,10 +202,14 @@ class CarInterface(CarInterfaceBase):
ret.mass = 4305. * CV.LB_TO_KG
ret.centerToFront = ret.wheelbase * 0.44
# TODO: Some TSS-P platforms have BSM, but are flipped based on region or driving direction.
# Detect flipped signals and enable for C-HR and others
ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR
# Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it
if 0x2FF in fingerprint[0]:
# 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs
if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR):
ret.flags |= ToyotaFlags.SMART_DSU.value
# No radar dbc for cars without DSU which are not TSS 2.0
@@ -220,13 +223,14 @@ class CarInterface(CarInterfaceBase):
ret.enableGasInterceptor = 0x201 in fingerprint[0]
# if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar.
# since we don't yet parse radar on TSS2 radar-based ACC cars, gate longitudinal behind experimental toggle
# since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)
if candidate in RADAR_ACC_CAR:
if candidate in (RADAR_ACC_CAR | NO_DSU_CAR):
ret.experimentalLongitudinalAvailable = use_sdsu
if not use_sdsu:
if experimental_long and False: # TODO: disabling radar isn't supported yet
# Disabling radar is only supported on TSS2 radar-ACC cars
if experimental_long and candidate in RADAR_ACC_CAR and False: # TODO: disabling radar isn't supported yet
ret.flags |= ToyotaFlags.DISABLE_RADAR.value
else:
use_sdsu = use_sdsu and experimental_long
@@ -238,17 +242,13 @@ class CarInterface(CarInterfaceBase):
# openpilot longitudinal behind experimental long toggle:
# - TSS2 radar ACC cars w/ smartDSU installed
# - TSS2 radar ACC cars w/o smartDSU installed (disables radar)
# - TSS-P DSU-less cars w/ CAN filter installed (no radar parser yet)
ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
if not ret.openpilotLongitudinalControl:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL
# we can't use the fingerprint to detect this reliably, since
# the EV gas pedal signal can take a couple seconds to appear
if candidate in EV_HYBRID_CAR:
ret.flags |= ToyotaFlags.HYBRID.value
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter.
ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED
selfdrive/car/toyota/toyotacan.py
+2 -1
View File
@@ -27,7 +27,7 @@ def create_lta_steer_command(packer, steer_angle, steer_req, frame, setme_x64):
return packer.make_can_msg("STEERING_LTA", 0, values)
def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type):
def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert):
# TODO: find the exact canceling bit that does not create a chime
values = {
"ACCEL_CMD": accel,
@@ -38,6 +38,7 @@ def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_ty
"RELEASE_STANDSTILL": not standstill_req,
"CANCEL_REQ": pcm_cancel,
"ALLOW_LONG_PRESS": 1,
"ACC_CUT_IN": fcw_alert, # only shown when ACC enabled
}
return packer.make_can_msg("ACC_CONTROL", 0, values)
selfdrive/car/toyota/values.py
+310 -359
View File
File diff suppressed because it is too large Load Diff
selfdrive/car/volkswagen/radar_interface.py
-1
View File
@@ -1,4 +1,3 @@
#!/usr/bin/env python3
from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
class RadarInterface(RadarInterfaceBase):
selfdrive/car/volkswagen/values.py
+47 -6
View File
@@ -1,6 +1,7 @@
from collections import defaultdict, namedtuple
from dataclasses import dataclass, field
from enum import Enum
from strenum import StrEnum
from typing import Dict, List, Union
from cereal import car
@@ -114,7 +115,7 @@ class CANBUS:
# FW_VERSIONS for that existing CAR.
# Exception: SEAT Leon and SEAT Ateca share a chassis code
class CAR:
class CAR(StrEnum):
ARTEON_MK1 = "VOLKSWAGEN ARTEON 1ST GEN" # Chassis AN, Mk1 VW Arteon and variants
ATLAS_MK1 = "VOLKSWAGEN ATLAS 1ST GEN" # Chassis CA, Mk1 VW Atlas and Atlas Cross Sport
CRAFTER_MK2 = "VOLKSWAGEN CRAFTER 2ND GEN" # Chassis SY/SZ, Mk2 VW Crafter, VW Grand California, MAN TGE
@@ -161,7 +162,7 @@ class Footnote(Enum):
Column.MODEL)
SKODA_HEATED_WINDSHIELD = CarFootnote(
"Some Škoda vehicles are equipped with heated windshields, which are known " +
"to block GPS signal needed for some comma three functionality.",
"to block GPS signal needed for some comma 3X functionality.",
Column.MODEL)
VW_EXP_LONG = CarFootnote(
"Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness " +
@@ -184,7 +185,7 @@ class VWCarInfo(CarInfo):
self.footnotes.append(Footnote.SKODA_HEATED_WINDSHIELD)
if CP.carFingerprint in (CAR.CRAFTER_MK2, CAR.TRANSPORTER_T61):
self.car_parts = CarParts([Device.three_angled_mount, CarHarness.j533])
self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.j533])
CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
@@ -245,7 +246,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2016-23"),
CAR.TRANSPORTER_T61: [
VWCarInfo("Volkswagen Caravelle 2020"),
VWCarInfo("Volkswagen California 2021"),
VWCarInfo("Volkswagen California 2021-23"),
],
CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2021", footnotes=[Footnote.VW_MQB_A0]),
CAR.AUDI_A3_MK3: [
@@ -265,7 +266,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0]),
CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-22"),
CAR.SKODA_OCTAVIA_MK3: [
VWCarInfo("Škoda Octavia 2015, 2018-19"),
VWCarInfo("Škoda Octavia 2015-19"),
VWCarInfo("Škoda Octavia RS 2016"),
],
}
@@ -396,6 +397,7 @@ FW_VERSIONS = {
},
CAR.CRAFTER_MK2: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x8704L906056BP\xf1\x894729',
b'\xf1\x8704L906056EK\xf1\x896391',
b'\xf1\x8705L906023BC\xf1\x892688',
],
@@ -403,15 +405,18 @@ FW_VERSIONS = {
#(Ecu.transmission, 0x7e1, None): [
#],
(Ecu.srs, 0x715, None): [
b'\xf1\x873Q0959655AL\xf1\x890505\xf1\x82\x0e1411001413001203151311031100',
b'\xf1\x873Q0959655BG\xf1\x890703\xf1\x82\x0e16120016130012051G1313052900',
b'\xf1\x875QF959655AS\xf1\x890755\xf1\x82\x1315140015150011111100050200--1311120749',
],
(Ecu.eps, 0x712, None): [
b'\xf1\x872N0909143D\x00\xf1\x897010\xf1\x82\x05183AZ306A2',
b'\xf1\x872N0909143E \xf1\x897021\xf1\x82\x05163AZ306A2',
b'\xf1\x872N0909144K \xf1\x897045\xf1\x82\x05233AZ810A2',
],
(Ecu.fwdRadar, 0x757, None): [
b'\xf1\x872Q0907572AA\xf1\x890396',
b'\xf1\x872Q0907572J \xf1\x890156',
b'\xf1\x872Q0907572M \xf1\x890233',
],
},
@@ -461,6 +466,7 @@ FW_VERSIONS = {
b'\xf1\x878V0906259K \xf1\x890003',
b'\xf1\x878V0906259P \xf1\x890001',
b'\xf1\x878V0906259Q \xf1\x890002',
b'\xf1\x878V0906259R \xf1\x890002',
b'\xf1\x878V0906264F \xf1\x890003',
b'\xf1\x878V0906264L \xf1\x890002',
b'\xf1\x878V0906264M \xf1\x890001',
@@ -502,6 +508,7 @@ FW_VERSIONS = {
b'\xf1\x870GC300012A \xf1\x891401',
b'\xf1\x870GC300012A \xf1\x891403',
b'\xf1\x870GC300014B \xf1\x892401',
b'\xf1\x870GC300014B \xf1\x892403',
b'\xf1\x870GC300014B \xf1\x892405',
b'\xf1\x870GC300020G \xf1\x892401',
b'\xf1\x870GC300020G \xf1\x892403',
@@ -521,6 +528,7 @@ FW_VERSIONS = {
b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100',
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2251229333463100',
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2252229333463100',
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2251229333463100',
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2252229333463100',
b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\x111413001112120004110415121610169112',
b'\xf1\x875Q0959655D \xf1\x890388\xf1\x82\x111413001113120006110417121A101A9113',
@@ -547,6 +555,7 @@ FW_VERSIONS = {
b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571A0J714A1',
b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571A0JA15A1',
b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A01A18A1',
b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A02A16A1',
b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A0JA16A1',
b'\xf1\x873QM909144 \xf1\x895072\xf1\x82\x0571A01714A1',
b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820519A9040203',
@@ -766,15 +775,18 @@ FW_VERSIONS = {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x8704E906027NJ\xf1\x891445',
b'\xf1\x8704E906027NP\xf1\x891286',
b'\xf1\x8705E906013BD\xf1\x892496',
b'\xf1\x8705E906013E \xf1\x891624',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x8709G927158EM\xf1\x893812',
b'\xf1\x8709S927158BL\xf1\x893791',
b'\xf1\x8709S927158DN\xf1\x893946',
b'\xf1\x8709S927158FF\xf1\x893876',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1311111111333500314646021450149333613100',
b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1312111111333500314646021550159333613100',
b'\xf1\x875Q0959655CE\xf1\x890421\xf1\x82\x1311110011333300314240021350139333613100',
],
(Ecu.eps, 0x712, None): [
@@ -814,11 +826,13 @@ FW_VERSIONS = {
b'\xf1\x875NA906259H \xf1\x890002',
b'\xf1\x875NA907115E \xf1\x890003',
b'\xf1\x875NA907115E \xf1\x890005',
b'\xf1\x875NA907115J \xf1\x890002',
b'\xf1\x8783A907115B \xf1\x890005',
b'\xf1\x8783A907115F \xf1\x890002',
b'\xf1\x8783A907115G \xf1\x890001',
b'\xf1\x8783A907115K \xf1\x890001',
b'\xf1\x8704E906024AP\xf1\x891461',
b'\xf1\x8783A907115 \xf1\x890007',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x8709G927158DT\xf1\x893698',
@@ -836,12 +850,14 @@ FW_VERSIONS = {
b'\xf1\x870DL300013G \xf1\x892120',
b'\xf1\x870DL300014C \xf1\x893703',
b'\xf1\x870DD300046K \xf1\x892302',
b'\xf1\x870GC300013P \xf1\x892401',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\02331310031333334313132573732379333313100',
b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100',
b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1331310031333334313132013730379333423100',
b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02316143231313500314641011750179333423100',
b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1312110031333300314240013750379333423100',
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02312110031333300314240583752379333423100',
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02331310031333336313140013950399333423100',
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140013750379333423100',
@@ -849,6 +865,7 @@ FW_VERSIONS = {
b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1316143231313500314647021750179333613100',
b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x1331310031333300314240024050409333613100',
b'\xf1\x875Q0959655CD\xf1\x890421\xf1\x82\x13123112313333003145406F6154619333613100',
b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1316143231313500314617011730179333423100',
],
(Ecu.eps, 0x712, None): [
b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603',
@@ -863,6 +880,7 @@ FW_VERSIONS = {
b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A60804A1',
b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002SA6092SOM',
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00',
b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60804A1',
],
(Ecu.fwdRadar, 0x757, None): [
b'\xf1\x872Q0907572AA\xf1\x890396',
@@ -902,12 +920,14 @@ FW_VERSIONS = {
b'\xf1\x8704L906057AP\xf1\x891186',
b'\xf1\x8704L906057N \xf1\x890413',
b'\xf1\x8705L906023E \xf1\x891352',
b'\xf1\x8705L906023MR\xf1\x892582',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x870BT300012G \xf1\x893102',
b'\xf1\x870BT300012E \xf1\x893105',
b'\xf1\x870BT300046R \xf1\x893102',
b'\xf1\x870DV300012B \xf1\x893701',
b'\xf1\x870DV300012B \xf1\x893702',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704161611152S1411',
@@ -1049,10 +1069,12 @@ FW_VERSIONS = {
b'\xf1\x8705L906022M \xf1\x890901',
b'\xf1\x8783A906259 \xf1\x890001',
b'\xf1\x8783A906259 \xf1\x890005',
b'\xf1\x8783A906259C \xf1\x890002',
b'\xf1\x8783A906259F \xf1\x890001',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x8709G927158CN\xf1\x893608',
b'\xf1\x8709G927158FL\xf1\x893758',
b'\xf1\x8709G927158GP\xf1\x893937',
b'\xf1\x870GC300045D \xf1\x892802',
b'\xf1\x870GC300046F \xf1\x892701',
@@ -1067,6 +1089,7 @@ FW_VERSIONS = {
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000300',
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000800',
b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571G60533A1',
b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571G60733A1',
b'\xf1\x875TA907145D \xf1\x891051\xf1\x82\x001PG60A1P7N',
],
(Ecu.fwdRadar, 0x757, None): [
@@ -1254,6 +1277,7 @@ FW_VERSIONS = {
b'\xf1\x8704E906027HD\xf1\x893742',
b'\xf1\x8704E906027MH\xf1\x894786',
b'\xf1\x8704L906021DT\xf1\x898127',
b'\xf1\x8704L906026BP\xf1\x897608',
b'\xf1\x8704L906026BS\xf1\x891541',
b'\xf1\x875G0906259C \xf1\x890002',
],
@@ -1263,11 +1287,13 @@ FW_VERSIONS = {
b'\xf1\x870CW300043B \xf1\x891601',
b'\xf1\x870CW300043P \xf1\x891605',
b'\xf1\x870D9300041C \xf1\x894936',
b'\xf1\x870D9300041H \xf1\x895220',
b'\xf1\x870D9300041J \xf1\x894902',
b'\xf1\x870D9300041P \xf1\x894507',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x873Q0959655AC\xf1\x890200\xf1\x82\r11120011100010022212110200',
b'\xf1\x873Q0959655AP\xf1\x890305\xf1\x82\r11110011110011213331312131',
b'\xf1\x873Q0959655AQ\xf1\x890200\xf1\x82\r11120011100010312212113100',
b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11120011100010022212110200',
b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\0163221003221002105755331052100',
@@ -1279,13 +1305,15 @@ FW_VERSIONS = {
b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\00566A01513A1',
b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\00521T00403A1',
b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521T00403A1',
b'\xf1\x875QD909144E \xf1\x891081\xf1\x82\x0521T00503A1',
b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1',
b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521T00601A1',
b'\xf1\x875QD909144E \xf1\x891081\xf1\x82\x0521T00503A1',
],
(Ecu.fwdRadar, 0x757, None): [
b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101',
b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\00101',
b'\xf1\x875Q0907572J \xf1\x890654',
b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101',
b'\xf1\x875Q0907572P \xf1\x890682',
b'\xf1\x875Q0907572R \xf1\x890771',
],
@@ -1315,8 +1343,12 @@ FW_VERSIONS = {
},
CAR.SKODA_SUPERB_MK3: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x8704E906027BS\xf1\x892887',
b'\xf1\x8704E906027BT\xf1\x899042',
b'\xf1\x8704L906026ET\xf1\x891343',
b'\xf1\x8704L906026ET\xf1\x891990',
b'\xf1\x8704L906026FP\xf1\x891196',
b'\xf1\x8704L906026KA\xf1\x896014',
b'\xf1\x8704L906026KB\xf1\x894071',
b'\xf1\x8704L906026KD\xf1\x894798',
b'\xf1\x8704L906026MT\xf1\x893076',
@@ -1327,12 +1359,16 @@ FW_VERSIONS = {
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x870CW300042H \xf1\x891601',
b'\xf1\x870CW300043B \xf1\x891603',
b'\xf1\x870CW300049Q \xf1\x890906',
b'\xf1\x870D9300011T \xf1\x894801',
b'\xf1\x870D9300012 \xf1\x894940',
b'\xf1\x870D9300013A \xf1\x894905',
b'\xf1\x870D9300014K \xf1\x895006',
b'\xf1\x870D9300041H \xf1\x894905',
b'\xf1\x870D9300042M \xf1\x895013',
b'\xf1\x870D9300043F \xf1\x895202',
b'\xf1\x870GC300013K \xf1\x892403',
b'\xf1\x870GC300014M \xf1\x892801',
b'\xf1\x870GC300019G \xf1\x892803',
b'\xf1\x870GC300043 \xf1\x892301',
@@ -1342,18 +1378,23 @@ FW_VERSIONS = {
b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\022111200111121001121118112231292221111',
b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\022111200111121001121110012211292221111',
b'\xf1\x875Q0959655AS\xf1\x890317\xf1\x82\x1331310031313100313131823133319331313100',
b'\xf1\x875Q0959655AT\xf1\x890317\xf1\x82\x1331310031313100313131013131319331313100',
b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100',
b'\xf1\x875Q0959655BK\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100',
b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100',
b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151823143319331423100',
b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100',
b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152855372539331463100',
],
(Ecu.eps, 0x712, None): [
b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203',
b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ050303',
b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ070303',
b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ070505',
b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ060505',
b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\00563UZ060700',
b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060600',
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070500',
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070600',
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070700',
],
selfdrive/controls/controlsd.py
+31 -8
View File
@@ -59,6 +59,9 @@ ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())
ACTIVE_STATES = (State.enabled, State.softDisabling, State.overriding)
ENABLED_STATES = (State.preEnabled, *ACTIVE_STATES)
DP_VAG_TIMEBOMB_BYPASS_WARNING = 34000
DP_VAG_TIMEBOMB_BYPASS_START = 345000
DP_VAG_TIMEBOMB_BYPASS_END = 348000
class Controls:
def __init__(self, sm=None, pm=None, can_sock=None, CI=None):
@@ -80,23 +83,22 @@ class Controls:
else:
self.camera_packets = ["roadCameraState", "driverCameraState"]
self.can_sock = can_sock
if can_sock is None:
can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 20
self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 20
self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
self.log_sock = messaging.sub_sock('androidLog')
self.params = Params()
self.dp_no_gps_ctrl = self.params.get_bool("dp_no_gps_ctrl")
self.dp_no_fan_ctrl = self.params.get_bool("dp_no_fan_ctrl")
self.params = Params()
self.dp_0813 = self.params.get_bool("dp_0813")
self._dp_alka = self.params.get_bool("dp_alka")
self._dp_alka_active = True
self._dp_alka_trigger_count = 0
self._dp_alka_btn_block_frame = 0
self.dp_0813 = self.params.get_bool("dp_0813")
self.dp_device_disable_temp_check = self.params.get_bool("dp_device_disable_temp_check")
self._dp_vag_timebomb_bypass_counter = 0
self._dp_vag_timebomb_bypass = self.params.get_bool("dp_vag_timebomb_bypass")
self.sm = sm
if self.sm is None:
ignore = ['testJoystick']
@@ -644,6 +646,26 @@ class Controls:
else:
CC.latActive = True
# rick - vag timebomb bypass
if self._dp_vag_timebomb_bypass:
if not CC.latActive:
self._dp_vag_timebomb_bypass_counter = 0
else:
self._dp_vag_timebomb_bypass_counter += 1
# start warning
if DP_VAG_TIMEBOMB_BYPASS_WARNING <= self._dp_vag_timebomb_bypass_counter < DP_VAG_TIMEBOMB_BYPASS_START:
self.events.add(EventName.steerTimeLimit)
# disable steering
if self._dp_vag_timebomb_bypass_counter >= DP_VAG_TIMEBOMB_BYPASS_START:
self.events.add(EventName.ldw)
CC.latActive = False
# reset counter
if self._dp_vag_timebomb_bypass_counter >= DP_VAG_TIMEBOMB_BYPASS_END:
self._dp_vag_timebomb_bypass_counter = 0
actuators = CC.actuators
actuators.longControlState = self.LoC.long_control_state
@@ -685,8 +707,8 @@ class Controls:
if CC.latActive:
steer = clip(self.sm['testJoystick'].axes[1], -1, 1)
# max angle is 45 for angle-based cars
actuators.steer, actuators.steeringAngleDeg = steer, steer * 45.
# max angle is 45 for angle-based cars, max curvature is 0.02
actuators.steer, actuators.steeringAngleDeg, actuators.curvature = steer, steer * 45., steer * -0.02
lac_log.active = self.active
lac_log.steeringAngleDeg = CS.steeringAngleDeg
@@ -911,6 +933,7 @@ class Controls:
self.is_metric = self.params.get_bool("IsMetric")
self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
# rick - we should disable experimental mode on radarless car w/ 0.8.13 model
if self.CP.radarUnavailable and self.dp_0813:
self.experimental_mode = False
selfdrive/controls/lib/drive_helpers.py
-1
View File
@@ -44,7 +44,6 @@ class MPC_COST_LAT:
HEADING = 1.0
STEER_RATE = 1.0
class VCruiseHelper:
def __init__(self, CP):
self.CP = CP
selfdrive/controls/lib/events.py
+5
View File
@@ -666,6 +666,11 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
},
EventName.steerTimeLimit: {
ET.PERMANENT: Alert(
_("Vehicle Steering Time Limit"),
"",
AlertStatus.userPrompt, AlertSize.small,
Priority.LOW, VisualAlert.ldw, AudibleAlert.prompt, 3.),
ET.SOFT_DISABLE: soft_disable_alert(_("Vehicle Steering Time Limit")),
ET.NO_ENTRY: NoEntryAlert(_("Vehicle Steering Time Limit")),
},
selfdrive/controls/lib/lateral_mpc_lib/acados_ocp_lat.json
+75 -161
View File
@@ -91,124 +91,11 @@
"usphi_e": []
},
"cost": {
"Vu": [
[
0.0
],
[
0.0
],
[
0.0
],
[
0.0
],
[
0.0
]
],
"Vu_0": [
[
0.0
],
[
0.0
],
[
0.0
],
[
0.0
],
[
0.0
]
],
"Vx": [
[
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0
]
],
"Vx_0": [
[
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
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@@ -336,7 +223,10 @@
"zu": [],
"zu_e": []
},
"cython_include_dirs": "/data/data/com.termux/files/usr/lib/python3.8/site-packages/numpy/core/include",
"cython_include_dirs": [
"/data/data/com.termux/files/usr/lib/python3.8/site-packages/numpy/core/include",
"/data/data/com.termux/files/usr/include/python3.8"
],
"dims": {
"N": 16,
"nbu": 0,
@@ -371,73 +261,74 @@
"ny_e": 3,
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},
"json_file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/acados_ocp_lat.json",
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"problem_class": "OCP",
"simulink_opts": {
"inputs": {
"cost_W": 0,
"cost_W_0": 0,
"cost_W_e": 0,
"lbu": 1,
"lbx": 1,
"lbx_0": 1,
"lbx_e": 1,
"lg": 1,
"lh": 1,
"parameter_traj": 1,
"reset_solver": 0,
"u_init": 0,
"ubu": 1,
"ubx": 1,
"ubx_0": 1,
"ubx_e": 1,
"ug": 1,
"uh": 1,
"x_init": 0,
"y_ref": 1,
"y_ref_0": 1,
"y_ref_e": 1
},
"outputs": {
"CPU_time": 1,
"CPU_time_lin": 0,
"CPU_time_qp": 0,
"CPU_time_sim": 0,
"KKT_residual": 1,
"solver_status": 1,
"sqp_iter": 1,
"u0": 1,
"utraj": 0,
"x1": 1,
"xtraj": 0
},
"samplingtime": "t0"
},
"shared_lib_ext": ".so",
"solver_options": {
"Tsim": 0.009765625,
"alpha_min": 0.05,
"alpha_reduction": 0.7,
"collocation_type": "GAUSS_LEGENDRE",
"custom_templates": [],
"custom_update_copy": true,
"custom_update_filename": "",
"custom_update_header_filename": "",
"eps_sufficient_descent": 0.0001,
"exact_hess_constr": 1,
"exact_hess_cost": 1,
"exact_hess_dyn": 1,
"ext_cost_num_hess": 0,
"ext_fun_compile_flags": "-O2",
"full_step_dual": 0,
"globalization": "FIXED_STEP",
"globalization_use_SOC": 0,
@@ -449,6 +340,7 @@
"line_search_use_sufficient_descent": 0,
"model_external_shared_lib_dir": null,
"model_external_shared_lib_name": null,
"nlp_solver_ext_qp_res": 0,
"nlp_solver_max_iter": 100,
"nlp_solver_step_length": 1.0,
"nlp_solver_tol_comp": 1e-06,
@@ -459,13 +351,34 @@
"print_level": 0,
"qp_solver": "PARTIAL_CONDENSING_HPIPM",
"qp_solver_cond_N": 1,
"qp_solver_cond_ric_alg": 1,
"qp_solver_iter_max": 1,
"qp_solver_ric_alg": 1,
"qp_solver_tol_comp": null,
"qp_solver_tol_eq": null,
"qp_solver_tol_ineq": null,
"qp_solver_tol_stat": null,
"qp_solver_warm_start": 0,
"regularize_method": null,
"shooting_nodes": [
0.0,
0.009765625,
0.0390625,
0.087890625,
0.15625,
0.244140625,
0.3515625,
0.478515625,
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0.9765625,
1.181640625,
1.40625,
1.650390625,
1.9140625,
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2.5
],
"sim_method_jac_reuse": [
0,
0,
@@ -485,6 +398,7 @@
0
],
"sim_method_newton_iter": 3,
"sim_method_newton_tol": 0.0,
"sim_method_num_stages": [
4,
4,
selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.h
+2 -4
View File
@@ -1,8 +1,5 @@
/*
* Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
* Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
* Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
* Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
* Copyright (c) The acados authors.
*
* This file is part of acados.
*
@@ -61,6 +58,7 @@ typedef struct sim_solver_capsule
/* external functions */
// ERK
external_function_param_casadi * sim_forw_vde_casadi;
external_function_param_casadi * sim_vde_adj_casadi;
external_function_param_casadi * sim_expl_ode_fun_casadi;
external_function_param_casadi * sim_expl_ode_hess;
selfdrive/controls/lib/legacy_lateral_planner.py
+1 -1
View File
@@ -78,8 +78,8 @@ class LateralPlanner:
self.LP.lll_prob *= self.DH.lane_change_ll_prob
self.LP.rll_prob *= self.DH.lane_change_ll_prob
# dp - check laneline prob when priority is on
use_laneline = False
# dp - check laneline prob when priority is on
if self._dp_lat_lane_priority_mode:
self._update_laneless_laneline_mode()
use_laneline = self._dp_lat_lane_priority_mode_active
selfdrive/controls/lib/legacy_longitudinal_mpc_lib/long_mpc.py
+17 -3
View File
@@ -98,6 +98,16 @@ def get_safe_obstacle_distance(v_ego, t_follow):
def desired_follow_distance(v_ego, v_lead, t_follow=get_T_FOLLOW()):
return get_safe_obstacle_distance(v_ego, t_follow) - get_stopped_equivalence_factor(v_lead)
def get_stopped_equivalence_factor_krkeegen(v_lead, v_ego):
# KRKeegan this offset rapidly decreases the following distance when the lead pulls
# away, resulting in an early demand for acceleration.
v_diff_offset = 0
if np.all(v_lead - v_ego > 0):
v_diff_offset = ((v_lead - v_ego) * 1.)
v_diff_offset = np.clip(v_diff_offset, 0, STOP_DISTANCE / 2)
v_diff_offset = np.maximum(v_diff_offset * ((10 - v_ego)/10), 0)
distance = (v_lead**2) / (2 * COMFORT_BRAKE) + v_diff_offset
return distance
def gen_long_model():
model = AcadosModel()
@@ -345,7 +355,7 @@ class LongitudinalMpc:
self.cruise_min_a = min_a
self.cruise_max_a = max_a
def update(self, carstate, radarstate, v_cruise, personality=log.LongitudinalPersonality.standard, use_df_tune=False):
def update(self, carstate, radarstate, v_cruise, personality=log.LongitudinalPersonality.standard, use_df_tune=False, use_krkeegen_tune=False):
# t_follow = get_T_FOLLOW(personality)
v_ego = self.x0[1]
t_follow = get_T_FOLLOW(personality) if not use_df_tune else get_dynamic_follow(v_ego, personality)
@@ -361,8 +371,12 @@ class LongitudinalMpc:
# To estimate a safe distance from a moving lead, we calculate how much stopping
# distance that lead needs as a minimum. We can add that to the current distance
# and then treat that as a stopped car/obstacle at this new distance.
lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
if use_krkeegen_tune:
lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1], v_ego)
lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1], v_ego)
else:
lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
# Fake an obstacle for cruise, this ensures smooth acceleration to set speed
# when the leads are no factor.
selfdrive/controls/lib/legacy_longitudinal_planner.py
+10 -11
View File
@@ -11,10 +11,11 @@ from openpilot.common.realtime import DT_MDL
from openpilot.selfdrive.legacy_modeld.constants import T_IDXS
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
from openpilot.selfdrive.controls.lib.legacy_longitudinal_mpc_lib.long_mpc import LongitudinalMpc, STOP_DISTANCE
from openpilot.selfdrive.controls.lib.legacy_longitudinal_mpc_lib.long_mpc import LongitudinalMpc
from openpilot.selfdrive.controls.lib.legacy_longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N
from openpilot.system.swaglog import cloudlog
from openpilot.selfdrive.controls.lib.legacy_longitudinal_mpc_lib.long_mpc import STOP_DISTANCE
from openpilot.selfdrive.controls.lib.vision_turn_controller import VisionTurnController
from openpilot.selfdrive.controls.lib.accel_controller import AccelController
@@ -70,22 +71,20 @@ class LongitudinalPlanner:
self.read_param()
self.personality = log.LongitudinalPersonality.standard
self.dp_long_use_df_tune = False
self.dp_long_use_krkeegen_tune = False
def read_param(self):
try:
self.personality = int(self.params.get('LongitudinalPersonality'))
self.dp_long_use_df_tune = self.params.get_bool('dp_long_use_df_tune')
except (ValueError, TypeError):
self.personality = log.LongitudinalPersonality.standard
self.dp_long_use_df_tune = False
self.personality = int(self.params.get('LongitudinalPersonality'))
self.dp_long_use_df_tune = self.params.get_bool('dp_long_use_df_tune')
self.dp_long_use_krkeegen_tune = self.params.get_bool('dp_long_use_krkeegen_tune')
def update(self, sm):
if self.param_read_counter % 50 == 0:
self.read_param()
if self.param_read_counter % 300 == 0:
self.accel_controller.set_profile(self.params.get("dp_long_accel_profile", encoding='utf-8'))
self.vision_turn_controller.set_enabled(self.params.get_bool("dp_mapd_vision_turn_control"))
if self.param_read_counter % 300 == 0:
self.accel_controller.set_profile(self.params.get("dp_long_accel_profile", encoding='utf-8'))
self.vision_turn_controller.set_enabled(self.params.get_bool("dp_mapd_vision_turn_control"))
self.param_read_counter += 1
v_ego = sm['carState'].vEgo
@@ -133,7 +132,7 @@ class LongitudinalPlanner:
self.mpc.set_weights(prev_accel_constraint, personality=self.personality)
self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
self.mpc.update(sm['carState'], sm['radarState'], v_cruise_sol, personality=self.personality, use_df_tune=self.dp_long_use_df_tune)
self.mpc.update(sm['carState'], sm['radarState'], v_cruise_sol, personality=self.personality, use_df_tune=self.dp_long_use_df_tune, use_krkeegen_tune=self.dp_long_use_krkeegen_tune)
self.v_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.v_solution)
self.a_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.a_solution)
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+17 -3
View File
@@ -102,6 +102,16 @@ def desired_follow_distance(v_ego, v_lead, t_follow=None):
t_follow = get_T_FOLLOW()
return get_safe_obstacle_distance(v_ego, t_follow) - get_stopped_equivalence_factor(v_lead)
def get_stopped_equivalence_factor_krkeegen(v_lead, v_ego):
# KRKeegan this offset rapidly decreases the following distance when the lead pulls
# away, resulting in an early demand for acceleration.
v_diff_offset = 0
if np.all(v_lead - v_ego > 0):
v_diff_offset = ((v_lead - v_ego) * 1.)
v_diff_offset = np.clip(v_diff_offset, 0, STOP_DISTANCE / 2)
v_diff_offset = np.maximum(v_diff_offset * ((10 - v_ego)/10), 0)
distance = (v_lead**2) / (2 * COMFORT_BRAKE) + v_diff_offset
return distance
def gen_long_model():
model = AcadosModel()
@@ -345,7 +355,7 @@ class LongitudinalMpc:
self.max_a = max_a
# def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard):
def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard, use_df_tune=False):
def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard, use_df_tune=False, use_krkeegen_tune=False):
# t_follow = get_T_FOLLOW(personality)
v_ego = self.x0[1]
t_follow = get_T_FOLLOW(personality) if not use_df_tune else get_dynamic_follow(v_ego, personality)
@@ -357,8 +367,12 @@ class LongitudinalMpc:
# To estimate a safe distance from a moving lead, we calculate how much stopping
# distance that lead needs as a minimum. We can add that to the current distance
# and then treat that as a stopped car/obstacle at this new distance.
lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
if use_krkeegen_tune:
lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor_krkeegen(lead_xv_0[:,1], v_ego)
lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor_krkeegen(lead_xv_1[:,1], v_ego)
else:
lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
self.params[:,0] = ACCEL_MIN
self.params[:,1] = self.max_a
selfdrive/controls/lib/longitudinal_planner.py
+8 -2
View File
@@ -75,10 +75,16 @@ class LongitudinalPlanner:
self.read_param()
self.personality = log.LongitudinalPersonality.standard
self.dp_long_use_df_tune = False
self.dp_long_use_krkeegen_tune = False
def read_param(self):
self.personality = int(self.params.get('LongitudinalPersonality'))
try:
self.personality = int(self.params.get('LongitudinalPersonality'))
except (ValueError, TypeError):
self.personality = log.LongitudinalPersonality.standard
self.dp_long_use_df_tune = self.params.get_bool('dp_long_use_df_tune')
self.dp_long_use_krkeegen_tune = self.params.get_bool('dp_long_use_krkeegen_tune')
@staticmethod
def parse_model(model_msg, model_error, v_ego, taco=False):
@@ -164,7 +170,7 @@ class LongitudinalPlanner:
self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error, v_ego, taco=True)
self.mpc.update(sm['radarState'], v_cruise_sol, x, v, a, j, personality=self.personality, use_df_tune=self.dp_long_use_df_tune)
self.mpc.update(sm['radarState'], v_cruise_sol, x, v, a, j, personality=self.personality, use_df_tune=self.dp_long_use_df_tune, use_krkeegen_tune=self.dp_long_use_krkeegen_tune)
self.v_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.v_solution)
self.a_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.a_solution)
selfdrive/controls/plannerd.py
+3 -3
View File
@@ -6,8 +6,6 @@ from openpilot.common.params import Params
from openpilot.common.realtime import Priority, config_realtime_process
from openpilot.system.swaglog import cloudlog
from openpilot.selfdrive.hybrid_modeld.constants import T_IDXS
# from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
# from openpilot.selfdrive.controls.lib.lateral_planner import LateralPlanner
import cereal.messaging as messaging
from openpilot.system.hardware import TICI
@@ -49,6 +47,7 @@ def plannerd_thread(sm=None, pm=None):
longitudinal_planner = LongitudinalPlanner(CP)
lateral_planner = LateralPlanner(CP, debug=debug_mode)
is_old_model = Params().get_bool("dp_0813")
if sm is None:
sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
@@ -65,7 +64,8 @@ def plannerd_thread(sm=None, pm=None):
lateral_planner.publish(sm, pm)
longitudinal_planner.update(sm)
longitudinal_planner.publish(sm, pm)
# publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner)
# if not is_old_model:
# publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner)
def main(sm=None, pm=None):
plannerd_thread(sm, pm)
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selfdrive/hybrid_modeld/models/supercombo.thneed
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