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Merge branch 'devel-en' into devel-zhs

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# Conflicts:
#	apk/ai.comma.plus.offroad.apk
This commit is contained in:
dragonpilot
2019-08-28 11:23:51 +10:00
parent 880ba97b8d 6d76ef3ef0
commit f569f9a2f3
8 changed files with 41 additions and 2 deletions
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2
README.md
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@@ -79,6 +79,7 @@ Supported Cars
| Honda | CR-V 2015-16 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Honda | CR-V 2017-19 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
| Honda | Fit 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
| Honda | Odyssey 2018-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph | Inverted Nidec |
| Honda | Passport 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
| Honda | Pilot 2016-18 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
@@ -142,7 +143,6 @@ Community Maintained Cars are not confirmed by comma.ai to meet our [safety mode
In Progress Cars
------
- All TSS-P Toyota with Steering Assist and LSS-P Lexus with Steering Assist or Lane Keep Assist.
- Only remaining Toyota cars with no port yet are the Avalon and the Sienna.
- All Hyundai with SmartSense.
- All Kia with SCC and LKAS.
- All Chrysler, Jeep, Fiat with Adaptive Cruise Control and LaneSense.

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apk/ai.comma.plus.offroad.apk
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1
common/params.py
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@@ -117,6 +117,7 @@ keys = {
"DragonRunMixplorer": [TxType.PERSISTENT],
"DragonSteeringMonitorTimer": [TxType.PERSISTENT],
"DragonCameraOffset": [TxType.PERSISTENT],
"DragonUIVolumeBoost": [TxType.PERSISTENT],
}

4
selfdrive/car/honda/carstate.py
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@@ -133,6 +133,10 @@ def get_can_signals(CP):
("MAIN_ON", "SCM_BUTTONS", 0)]
elif CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX, CAR.PILOT_2019, CAR.RIDGELINE):
signals += [("MAIN_ON", "SCM_BUTTONS", 0)]
elif CP.carFingerprint == CAR.FIT:
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
("MAIN_ON", "SCM_BUTTONS", 0),
("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0)]
elif CP.carFingerprint == CAR.ODYSSEY:
signals += [("MAIN_ON", "SCM_FEEDBACK", 0),
("EPB_STATE", "EPB_STATUS", 0)]

13
selfdrive/car/honda/interface.py
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@@ -257,6 +257,19 @@ class CarInterface(object):
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.FIT:
stop_and_go = False
ret.mass = 2644. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.53
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 13.06
tire_stiffness_factor = 0.75 # not optimized yet
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.06]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.ACURA_RDX:
stop_and_go = False
ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG

7
selfdrive/car/honda/values.py
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@@ -40,6 +40,7 @@ class CAR:
CRV = "HONDA CR-V 2016 TOURING"
CRV_5G = "HONDA CR-V 2017 EX"
CRV_HYBRID = "HONDA CR-V 2019 HYBRID"
FIT = "HONDA FIT 2018 EX"
ODYSSEY = "HONDA ODYSSEY 2018 EX-L"
ODYSSEY_CHN = "HONDA ODYSSEY 2019 EXCLUSIVE CHN"
ACURA_RDX = "ACURA RDX 2018 ACURAWATCH PLUS"
@@ -83,6 +84,9 @@ FINGERPRINTS = {
CAR.CRV_HYBRID: [{
57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 408: 6, 415: 6, 419: 8, 420: 8, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 464: 8, 477: 8, 479: 8, 490: 8, 495: 8, 525: 8, 531: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 814: 4, 829: 5, 833: 6, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 930: 8, 931: 8, 1302: 8, 1361: 5, 1365: 5, 1600: 5, 1601: 8, 1626: 5, 1627: 5
}],
CAR.FIT: [{
57: 3, 145: 8, 228: 5, 304: 8, 342: 6, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 422: 8, 427: 3, 428: 8, 432: 7, 464: 8, 487: 4, 490: 8, 506: 8, 597: 8, 660: 8, 661: 4, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 829: 5, 862: 8, 884: 7, 892: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8
}],
# 2018 Odyssey w/ Added Comma Pedal Support (512L & 513L)
CAR.ODYSSEY: [{
57: 3, 148: 8, 228: 5, 229: 4, 316: 8, 342: 6, 344: 8, 380: 8, 399: 7, 411: 5, 419: 8, 420: 8, 427: 3, 432: 7, 450: 8, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 862: 8, 871: 8, 881: 8, 882: 4, 884: 8, 891: 8, 892: 8, 905: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1029: 8, 1036: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1302: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1615: 8, 1616: 5, 1619: 5, 1623: 5, 1668: 5
@@ -137,6 +141,7 @@ DBC = {
CAR.CRV: dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None),
CAR.CRV_HYBRID: dbc_dict('honda_crv_hybrid_2019_can_generated', None),
CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can', 'acura_ilx_2016_nidec'),
CAR.PILOT: dbc_dict('honda_pilot_touring_2017_can_generated', 'acura_ilx_2016_nidec'),
@@ -155,6 +160,7 @@ STEER_THRESHOLD = {
CAR.CRV: 1200,
CAR.CRV_5G: 1200,
CAR.CRV_HYBRID: 1200,
CAR.FIT: 1200,
CAR.ODYSSEY: 1200,
CAR.ODYSSEY_CHN: 1200,
CAR.PILOT: 1200,
@@ -173,6 +179,7 @@ SPEED_FACTOR = {
CAR.CRV: 1.025,
CAR.CRV_5G: 1.025,
CAR.CRV_HYBRID: 1.025,
CAR.FIT: 1.,
CAR.ODYSSEY: 1.,
CAR.ODYSSEY_CHN: 1.,
CAR.PILOT: 1.,

1
selfdrive/dragonpilot/dragonconf/__init__.py
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@@ -37,6 +37,7 @@ default_conf = {
'DragonRunMixplorer': '0',
'DragonSteeringMonitorTimer': '3',
'DragonCameraOffset': '6',
'DragonUIVolumeBoost': '0',
}
deprecated_conf = {

15
selfdrive/ui/ui.c
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@@ -300,6 +300,7 @@ typedef struct UIState {
int dragon_ui_dev_timeout;
int dragon_ui_dev_mini_timeout;
int dragon_enable_dashcam_timeout;
int dragon_ui_volume_boost_timeout;
bool dragon_ui_event;
bool dragon_ui_maxspeed;
@@ -307,6 +308,7 @@ typedef struct UIState {
bool dragon_ui_dev;
bool dragon_ui_dev_mini;
bool dragon_enable_dashcam;
float dragon_ui_volume_boost;
} UIState;
@@ -346,6 +348,10 @@ static void set_awake(UIState *s, bool awake) {
static void set_volume(UIState *s, int volume) {
char volume_change_cmd[64];
if (s->dragon_ui_volume_boost > 0 || s->dragon_ui_volume_boost < 0) {
volume = volume * (1 + s->dragon_ui_volume_boost /100);
volume = volume > MAX_VOLUME? MAX_VOLUME : volume;
}
sprintf(volume_change_cmd, "service call audio 3 i32 3 i32 %d i32 1", volume);
// 5 second timeout at 60fps
@@ -680,6 +686,7 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
read_param_bool(&s->dragon_ui_dev, "DragonUIDev");
read_param_bool(&s->dragon_ui_dev_mini, "DragonUIDevMini");
read_param_bool(&s->dragon_enable_dashcam, "DragonEnableDashcam");
read_param_float(&s->dragon_ui_volume_boost, "DragonUIVolumeBoost");
// Set offsets so params don't get read at the same time
@@ -687,13 +694,14 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
s->is_metric_timeout = UI_FREQ / 2;
s->limit_set_speed_timeout = UI_FREQ;
// dragonpilot, 1 sec
// dragonpilot, 1hz
s->dragon_ui_event_timeout = 100;
s->dragon_ui_maxspeed_timeout = 100;
s->dragon_ui_face_timeout = 100;
s->dragon_ui_dev_timeout = 100;
s->dragon_ui_dev_mini_timeout = 100;
s->dragon_enable_dashcam_timeout = 100;
s->dragon_ui_volume_boost_timeout = 100;
}
static void ui_draw_transformed_box(UIState *s, uint32_t color) {
@@ -2643,6 +2651,10 @@ int main(int argc, char* argv[]) {
s->volume_timeout--;
} else {
int volume = min(MAX_VOLUME, MIN_VOLUME + s->scene.v_ego / 5); // up one notch every 5 m/s
if (s->dragon_ui_volume_boost > 0 || s->dragon_ui_volume_boost < 0) {
volume = volume * (1 + s->dragon_ui_volume_boost /100);
volume = volume > MAX_VOLUME? MAX_VOLUME : volume;
}
set_volume(s, volume);
}
@@ -2671,6 +2683,7 @@ int main(int argc, char* argv[]) {
read_param_bool_timeout(&s->dragon_ui_dev, "DragonUIDev", &s->dragon_ui_dev_timeout);
read_param_bool_timeout(&s->dragon_ui_dev_mini, "DragonUIDevMini", &s->dragon_ui_dev_mini_timeout);
read_param_bool_timeout(&s->dragon_enable_dashcam, "DragonEnableDashcam", &s->dragon_enable_dashcam_timeout);
read_param_float_timeout(&s->dragon_ui_volume_boost, "DragonUIVolumeBoost", &s->dragon_ui_volume_boost_timeout);
pthread_mutex_unlock(&s->lock);