mirror of
https://github.com/dragonpilot/dragonpilot.git
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Merge branch 'devel' of https://github.com/commaai/openpilot into devel_lexus-ish-ave30r_v2
This commit is contained in:
Rick Lan
@@ -67,6 +67,10 @@ Supported Cars
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| Honda | Ridgeline 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
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| Honda | Ridgeline 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
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| Hyundai<sup>6</sup>| Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph |
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| Hyundai<sup>6</sup>| Elantra 2017 | SCC + LKAS | Yes | Stock | 19mph | 34mph |
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| Hyundai<sup>6</sup>| Genesis 2018 | All | Yes | Stock | 19mph | 34mph |
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| Kia<sup>6</sup> | Sorento 2018 | All | Yes | Stock | 0mph | 0mph |
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| Kia<sup>6</sup> | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph |
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| Lexus | RX Hybrid 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
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| Lexus | RX Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
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| Toyota | Camry 2018<sup>4</sup>| All | Yes | Stock | 0mph<sup>5</sup> | 0mph |
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@@ -113,7 +117,7 @@ In Progress Cars
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- 'All-Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the GS, GSH, F, RX, RXH, LX, NX, NXH, LC, LCH, LS, LSH have this option.
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- Even though the LX have TSS-P, it does not have Steering Assist and is not supported.
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- All Hyundai with SmartSense.
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- All Kia with ACC and LKAS.
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- All Kia with SCC and LKAS.
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How can I add support for my car?
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------
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@@ -68,6 +68,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
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preDriverUnresponsive @43;
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promptDriverUnresponsive @44;
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driverUnresponsive @45;
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belowSteerSpeed @46;
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}
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}
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@@ -284,6 +285,7 @@ struct CarParams {
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enableApgs @28 :Bool; # advanced parking guidance system
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minEnableSpeed @17 :Float32;
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minSteerSpeed @49 :Float32;
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safetyModel @18 :Int16;
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safetyParam @41 :Int16;
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+1
-1
@@ -1 +1 @@
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v1.1.3
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v1.1.4
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@@ -22,7 +22,7 @@ const int GM_MAX_BRAKE = 350;
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int gm_brake_prev = 0;
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int gm_gas_prev = 0;
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int gm_speed = 0;
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// silence everything if stock ECUs are still online
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// silence everything if stock car control ECUs are still online
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int gm_ascm_detected = 0;
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int gm_ignition_started = 0;
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int gm_rt_torque_last = 0;
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@@ -63,8 +63,11 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
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gm_speed = to_push->RDLR & 0xFFFF;
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}
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// check if stock ASCM ECU is still online
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if (bus_number == 0 && addr == 715) {
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// Check if ASCM or LKA camera are online
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// on powertrain bus.
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// 384 = ASCMLKASteeringCmd
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// 715 = ASCMGasRegenCmd
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if (bus_number == 0 && (addr == 384 || addr == 715)) {
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gm_ascm_detected = 1;
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controls_allowed = 0;
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}
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@@ -7,6 +7,7 @@ const int HYUNDAI_DRIVER_TORQUE_ALLOWANCE = 50;
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const int HYUNDAI_DRIVER_TORQUE_FACTOR = 2;
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int hyundai_camera_detected = 0;
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int hyundai_camera_bus = 0;
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int hyundai_giraffe_switch_2 = 0; // is giraffe switch 2 high?
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int hyundai_rt_torque_last = 0;
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int hyundai_desired_torque_last = 0;
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@@ -39,6 +40,11 @@ static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
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controls_allowed = 0;
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}
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// Find out which bus the camera is on
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if (addr == 832) {
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hyundai_camera_bus = bus;
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}
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// enter controls on rising edge of ACC, exit controls on ACC off
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if ((to_push->RIR>>21) == 1057) {
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// 2 bits: 13-14
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@@ -51,8 +57,8 @@ static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
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hyundai_cruise_engaged_last = cruise_engaged;
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}
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// 832 is lkas cmd. If it is on bus 2, then giraffe switch 2 is high
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if ((to_push->RIR>>21) == 832 && (bus == 2)) {
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// 832 is lkas cmd. If it is on camera bus, then giraffe switch 2 is high
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if ((to_push->RIR>>21) == 832 && (bus == hyundai_camera_bus) && (hyundai_camera_bus != 0)) {
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hyundai_giraffe_switch_2 = 1;
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}
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}
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@@ -123,21 +129,22 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
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// FORCE CANCEL: safety check only relevant when spamming the cancel button.
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// ensuring that only the cancel button press is sent (VAL 4) when controls are off.
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// This avoids unintended engagements while still allowing resume spam
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if (((to_send->RIR>>21) == 1265) && !controls_allowed && ((to_send->RDTR >> 4) & 0xFF) == 0) {
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if ((to_send->RDLR & 0x7) != 4) return 0;
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}
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// TODO: fix bug preventing the button msg to be fwd'd on bus 2
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//if (((to_send->RIR>>21) == 1265) && !controls_allowed && ((to_send->RDTR >> 4) & 0xFF) == 0) {
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// if ((to_send->RDLR & 0x7) != 4) return 0;
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//}
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// 1 allows the message through
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return true;
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}
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static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
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// forward cam to ccan and viceversa, except lkas cmd
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if ((bus_num == 0 || bus_num == 2) && hyundai_giraffe_switch_2) {
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int addr = to_fwd->RIR>>21;
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bool is_lkas_msg = addr == 832 && bus_num == 2;
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return is_lkas_msg? -1 : (uint8_t)(~bus_num & 0x2);
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if ((bus_num == 0 || bus_num == hyundai_camera_bus) && hyundai_giraffe_switch_2) {
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if ((to_fwd->RIR>>21) == 832 && bus_num == hyundai_camera_bus) return -1;
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if (bus_num == 0) return hyundai_camera_bus;
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if (bus_num == hyundai_camera_bus) return 0;
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}
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return -1;
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}
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@@ -168,18 +168,18 @@ class TestHyundaiSafety(unittest.TestCase):
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self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
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def test_spam_cancel_safety_check(self):
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RESUME_BTN = 1
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SET_BTN = 2
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CANCEL_BTN = 4
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BUTTON_MSG = 1265
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self.safety.set_controls_allowed(0)
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self.assertTrue(self.safety.hyundai_tx_hook(self._button_msg(CANCEL_BTN)))
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self.assertFalse(self.safety.hyundai_tx_hook(self._button_msg(RESUME_BTN)))
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self.assertFalse(self.safety.hyundai_tx_hook(self._button_msg(SET_BTN)))
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# do not block resume if we are engaged already
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self.safety.set_controls_allowed(1)
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self.assertTrue(self.safety.hyundai_tx_hook(self._button_msg(RESUME_BTN)))
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#def test_spam_cancel_safety_check(self):
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# RESUME_BTN = 1
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# SET_BTN = 2
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# CANCEL_BTN = 4
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# BUTTON_MSG = 1265
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# self.safety.set_controls_allowed(0)
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# self.assertTrue(self.safety.hyundai_tx_hook(self._button_msg(CANCEL_BTN)))
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# self.assertFalse(self.safety.hyundai_tx_hook(self._button_msg(RESUME_BTN)))
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# self.assertFalse(self.safety.hyundai_tx_hook(self._button_msg(SET_BTN)))
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# # do not block resume if we are engaged already
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# self.safety.set_controls_allowed(1)
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# self.assertTrue(self.safety.hyundai_tx_hook(self._button_msg(RESUME_BTN)))
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if __name__ == "__main__":
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@@ -73,7 +73,7 @@ def get_can_signals(CP):
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if CP.radarOffCan:
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# Civic is only bosch to use the same brake message as other hondas.
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if CP.carFingerprint != CAR.CIVIC_HATCH:
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if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_HATCH):
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signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
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checks += [("BRAKE_MODULE", 50)]
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signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
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@@ -88,7 +88,7 @@ def get_can_signals(CP):
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("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS", 0)]
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checks += [("CRUISE_PARAMS", 50)]
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if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15):
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if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
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signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
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else:
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signals += [("DOOR_OPEN_FL", "DOORS_STATUS", 1),
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@@ -179,7 +179,7 @@ class CarState(object):
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# ******************* parse out can *******************
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if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15): # TODO: find wheels moving bit in dbc
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if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH): # TODO: find wheels moving bit in dbc
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self.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
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self.door_all_closed = not cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN']
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else:
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@@ -234,7 +234,7 @@ class CarState(object):
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self.left_blinker_on = cp.vl["SCM_FEEDBACK"]['LEFT_BLINKER']
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self.right_blinker_on = cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER']
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if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.CIVIC_HATCH):
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if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_HATCH):
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self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0
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self.brake_hold = cp.vl["VSA_STATUS"]['BRAKE_HOLD_ACTIVE']
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self.main_on = cp.vl["SCM_FEEDBACK"]['MAIN_ON']
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@@ -261,7 +261,7 @@ class CarState(object):
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if self.CP.radarOffCan:
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self.stopped = cp.vl["ACC_HUD"]['CRUISE_SPEED'] == 252.
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self.cruise_speed_offset = calc_cruise_offset(0, self.v_ego)
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if self.CP.carFingerprint == CAR.CIVIC_HATCH:
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if self.CP.carFingerprint in (CAR.CIVIC_HATCH, CAR.ACCORDH):
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self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
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self.brake_pressed = cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or \
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(self.brake_switch and self.brake_switch_prev and \
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@@ -204,9 +204,10 @@ class CarInterface(object):
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ret.longitudinalKiBP = [0., 35.]
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ret.longitudinalKiV = [0.18, 0.12]
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elif candidate in (CAR.ACCORD, CAR.ACCORD_15):
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elif candidate in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
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stop_and_go = True
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ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
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if not candidate == CAR.ACCORDH: # Hybrid uses same brake msg as hatch
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ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
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ret.mass = 3279. * CV.LB_TO_KG + std_cargo
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ret.wheelbase = 2.83
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ret.centerToFront = ret.wheelbase * 0.39
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@@ -7,7 +7,6 @@ class CruiseButtons:
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CANCEL = 2
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MAIN = 1
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#car chimes: enumeration from dbc file. Chimes are for alerts and warnings
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class CM:
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MUTE = 0
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@@ -16,7 +15,6 @@ class CM:
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REPEATED = 1
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CONTINUOUS = 2
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#car beepss: enumeration from dbc file. Beeps are for activ and deactiv
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class BP:
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MUTE = 0
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@@ -35,10 +33,10 @@ class AH:
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SEATBELT = [5, 5]
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SPEED_TOO_HIGH = [6, 8]
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class CAR:
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ACCORD = "HONDA ACCORD 2018 SPORT 2T"
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ACCORD_15 = "HONDA ACCORD 2018 LX 1.5T"
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ACCORDH = "HONDA ACCORD 2018 HYBRID TOURING"
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CIVIC = "HONDA CIVIC 2016 TOURING"
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CIVIC_HATCH = "HONDA CIVIC HATCHBACK 2017 EX"
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ACURA_ILX = "ACURA ILX 2016 ACURAWATCH PLUS"
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@@ -50,14 +48,16 @@ class CAR:
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PILOT_2019 = "HONDA PILOT 2019 ELITE"
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RIDGELINE = "HONDA RIDGELINE 2017 BLACK EDITION"
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FINGERPRINTS = {
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CAR.ACCORD: [{
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148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 525: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
|
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148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
|
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}],
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CAR.ACCORD_15: [{
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148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
|
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}],
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CAR.ACCORDH: [{
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148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 525: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
|
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}],
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CAR.ACURA_ILX: [{
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57: 3, 145: 8, 228: 5, 304: 8, 316: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 7, 419: 8, 420: 8, 422: 8, 428: 8, 432: 7, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 882: 2, 884: 7, 887: 8, 888: 8, 892: 8, 923: 2, 929: 4, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1030: 5, 1034: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1365: 5,
|
||||
}],
|
||||
@@ -98,10 +98,10 @@ FINGERPRINTS = {
|
||||
}]
|
||||
}
|
||||
|
||||
|
||||
DBC = {
|
||||
CAR.ACCORD: dbc_dict('honda_accord_s2t_2018_can_generated', None),
|
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CAR.ACCORD_15: dbc_dict('honda_accord_lx15t_2018_can_generated', None),
|
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CAR.ACCORDH: dbc_dict('honda_accord_s2t_2018_can_generated', None),
|
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CAR.ACURA_ILX: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
|
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CAR.ACURA_RDX: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
|
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CAR.CIVIC: dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
|
||||
@@ -114,10 +114,10 @@ DBC = {
|
||||
CAR.RIDGELINE: dbc_dict('honda_ridgeline_black_edition_2017_can_generated', 'acura_ilx_2016_nidec'),
|
||||
}
|
||||
|
||||
|
||||
STEER_THRESHOLD = {
|
||||
CAR.ACCORD: 1200,
|
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CAR.ACCORD_15: 1200,
|
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CAR.ACCORDH: 1200,
|
||||
CAR.ACURA_ILX: 1200,
|
||||
CAR.ACURA_RDX: 400,
|
||||
CAR.CIVIC: 1200,
|
||||
@@ -133,6 +133,7 @@ STEER_THRESHOLD = {
|
||||
SPEED_FACTOR = {
|
||||
CAR.ACCORD: 1.,
|
||||
CAR.ACCORD_15: 1.,
|
||||
CAR.ACCORDH: 1.,
|
||||
CAR.ACURA_ILX: 1.,
|
||||
CAR.ACURA_RDX: 1.,
|
||||
CAR.CIVIC: 1.,
|
||||
@@ -159,4 +160,4 @@ VEHICLE_STATE_MSG = {
|
||||
}
|
||||
|
||||
# TODO: get these from dbc file
|
||||
HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.CIVIC_HATCH, CAR.CRV_5G]
|
||||
HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_HATCH, CAR.CRV_5G]
|
||||
|
||||
@@ -61,7 +61,7 @@ class CarController(object):
|
||||
if (self.cnt % 7) == 0:
|
||||
can_sends.append(create_1156())
|
||||
|
||||
can_sends.append(create_lkas11(self.packer, apply_steer, steer_req, self.lkas11_cnt,
|
||||
can_sends.append(create_lkas11(self.packer, self.car_fingerprint, apply_steer, steer_req, self.lkas11_cnt,
|
||||
enabled, CS.lkas11, hud_alert, keep_stock=(not self.camera_disconnected)))
|
||||
|
||||
if pcm_cancel_cmd:
|
||||
|
||||
@@ -17,11 +17,13 @@ def get_can_parser(CP):
|
||||
("YAW_RATE", "ESP12", 0),
|
||||
|
||||
("CF_Gway_DrvSeatBeltInd", "CGW4", 1),
|
||||
|
||||
("CF_Gway_DrvSeatBeltSw", "CGW1", 0),
|
||||
("CF_Gway_TSigLHSw", "CGW1", 0),
|
||||
("CF_Gway_TurnSigLh", "CGW1", 0),
|
||||
("CF_Gway_TSigRHSw", "CGW1", 0),
|
||||
("CF_Gway_TurnSigRh", "CGW1", 0),
|
||||
("CF_Gway_ParkBrakeSw", "CGW1", 0),
|
||||
|
||||
("BRAKE_ACT", "EMS12", 0),
|
||||
("PV_AV_CAN", "EMS12", 0),
|
||||
@@ -149,7 +151,7 @@ class CarState(object):
|
||||
self.brake_pressed = cp.vl["TCS13"]['DriverBraking']
|
||||
self.esp_disabled = cp.vl["TCS15"]['ESC_Off_Step']
|
||||
|
||||
self.park_brake = False
|
||||
self.park_brake = cp.vl["CGW1"]['CF_Gway_ParkBrakeSw']
|
||||
self.main_on = True
|
||||
self.acc_active = cp.vl["SCC12"]['ACCMode'] != 0
|
||||
self.pcm_acc_status = int(self.acc_active)
|
||||
|
||||
@@ -1,14 +1,15 @@
|
||||
import crcmod
|
||||
from selfdrive.car.hyundai.values import CHECKSUM
|
||||
|
||||
hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
|
||||
|
||||
def make_can_msg(addr, dat, alt):
|
||||
return [addr, 0, dat, alt]
|
||||
|
||||
def create_lkas11(packer, apply_steer, steer_req, cnt, enabled, lkas11, hud_alert, keep_stock=False):
|
||||
def create_lkas11(packer, car_fingerprint, apply_steer, steer_req, cnt, enabled, lkas11, hud_alert, keep_stock=False):
|
||||
values = {
|
||||
"CF_Lkas_Icon": 3 if enabled else 0,
|
||||
"CF_Lkas_LdwsSysState": lkas11["CF_Lkas_LdwsSysState"] if keep_stock else 1,
|
||||
"CF_Lkas_LdwsSysState": 3 if steer_req else 1,
|
||||
"CF_Lkas_SysWarning": hud_alert,
|
||||
"CF_Lkas_LdwsLHWarning": lkas11["CF_Lkas_LdwsLHWarning"] if keep_stock else 0,
|
||||
"CF_Lkas_LdwsRHWarning": lkas11["CF_Lkas_LdwsRHWarning"] if keep_stock else 0,
|
||||
@@ -16,7 +17,7 @@ def create_lkas11(packer, apply_steer, steer_req, cnt, enabled, lkas11, hud_aler
|
||||
"CF_Lkas_FcwBasReq": lkas11["CF_Lkas_FcwBasReq"] if keep_stock else 0,
|
||||
"CR_Lkas_StrToqReq": apply_steer,
|
||||
"CF_Lkas_ActToi": steer_req,
|
||||
"CF_Lkas_ToiFlt": lkas11["CF_Lkas_ToiFlt"] if keep_stock else 0,
|
||||
"CF_Lkas_ToiFlt": 0,
|
||||
"CF_Lkas_HbaSysState": lkas11["CF_Lkas_HbaSysState"] if keep_stock else 1,
|
||||
"CF_Lkas_FcwOpt": lkas11["CF_Lkas_FcwOpt"] if keep_stock else 0,
|
||||
"CF_Lkas_HbaOpt": lkas11["CF_Lkas_HbaOpt"] if keep_stock else 3,
|
||||
@@ -30,8 +31,19 @@ def create_lkas11(packer, apply_steer, steer_req, cnt, enabled, lkas11, hud_aler
|
||||
}
|
||||
|
||||
dat = packer.make_can_msg("LKAS11", 0, values)[2]
|
||||
dat = dat[:6] + dat[7]
|
||||
checksum = hyundai_checksum(dat)
|
||||
|
||||
if car_fingerprint in CHECKSUM["crc8"]:
|
||||
# CRC Checksum as seen on 2019 Hyundai Santa Fe
|
||||
dat = dat[:6] + dat[7]
|
||||
checksum = hyundai_checksum(dat)
|
||||
elif car_fingerprint in CHECKSUM["6B"]:
|
||||
# Checksum of first 6 Bytes, as seen on 2018 Kia Sorento
|
||||
dat = [ord(i) for i in dat]
|
||||
checksum = sum(dat[:6]) % 256
|
||||
elif car_fingerprint in CHECKSUM["7B"]:
|
||||
# Checksum of first 6 Bytes and last Byte as seen on 2018 Kia Stinger
|
||||
dat = [ord(i) for i in dat]
|
||||
checksum = (sum(dat[:6]) + dat[7]) % 256
|
||||
|
||||
values["CF_Lkas_Chksum"] = checksum
|
||||
|
||||
|
||||
@@ -5,7 +5,7 @@ from selfdrive.config import Conversions as CV
|
||||
from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
|
||||
from selfdrive.controls.lib.vehicle_model import VehicleModel
|
||||
from selfdrive.car.hyundai.carstate import CarState, get_can_parser, get_camera_parser
|
||||
from selfdrive.car.hyundai.values import CAMERA_MSGS, get_hud_alerts
|
||||
from selfdrive.car.hyundai.values import CAMERA_MSGS, CAR, get_hud_alerts
|
||||
|
||||
try:
|
||||
from selfdrive.car.hyundai.carcontroller import CarController
|
||||
@@ -25,6 +25,7 @@ class CarInterface(object):
|
||||
self.brake_pressed_prev = False
|
||||
self.can_invalid_count = 0
|
||||
self.cruise_enabled_prev = False
|
||||
self.low_speed_alert = False
|
||||
|
||||
# *** init the major players ***
|
||||
self.CS = CarState(CP)
|
||||
@@ -55,9 +56,7 @@ class CarInterface(object):
|
||||
ret.carName = "hyundai"
|
||||
ret.carFingerprint = candidate
|
||||
ret.radarOffCan = True
|
||||
|
||||
ret.safetyModel = car.CarParams.SafetyModels.hyundai
|
||||
|
||||
ret.enableCruise = True # stock acc
|
||||
|
||||
# FIXME: hardcoding honda civic 2016 touring params so they can be used to
|
||||
@@ -70,16 +69,55 @@ class CarInterface(object):
|
||||
tireStiffnessFront_civic = 192150
|
||||
tireStiffnessRear_civic = 202500
|
||||
|
||||
ret.steerActuatorDelay = 0.1 # Default delay, Prius has larger delay
|
||||
ret.steerActuatorDelay = 0.1 # Default delay
|
||||
|
||||
#borrowing a lot from corolla, given similar car size
|
||||
ret.steerKf = 0.00005 # full torque for 20 deg at 80mph means 0.00007818594
|
||||
ret.steerRateCost = 0.5
|
||||
ret.mass = 3982 * CV.LB_TO_KG + std_cargo
|
||||
ret.wheelbase = 2.766
|
||||
ret.steerRatio = 13.8 * 1.15 # 15% higher at the center seems reasonable
|
||||
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
|
||||
ret.steerKpV, ret.steerKiV = [[0.37], [0.1]]
|
||||
if candidate == CAR.SANTA_FE:
|
||||
ret.steerKf = 0.00005
|
||||
ret.steerRateCost = 0.5
|
||||
ret.mass = 3982 * CV.LB_TO_KG + std_cargo
|
||||
ret.wheelbase = 2.766
|
||||
ret.steerRatio = 13.8 * 1.15 # 15% higher at the center seems reasonable
|
||||
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
|
||||
ret.steerKpV, ret.steerKiV = [[0.37], [0.1]]
|
||||
ret.minSteerSpeed = 0.
|
||||
elif candidate == CAR.KIA_SORENTO:
|
||||
ret.steerKf = 0.00005
|
||||
ret.steerRateCost = 0.5
|
||||
ret.mass = 1985 + std_cargo
|
||||
ret.wheelbase = 2.78
|
||||
ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable
|
||||
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
|
||||
ret.steerKpV, ret.steerKiV = [[0.25], [0.05]]
|
||||
ret.minSteerSpeed = 0.
|
||||
elif candidate == CAR.ELANTRA:
|
||||
ret.steerKf = 0.00004
|
||||
ret.steerRateCost = 0.5
|
||||
ret.mass = 1275 + std_cargo
|
||||
ret.wheelbase = 2.7
|
||||
ret.steerRatio = 16.9
|
||||
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
|
||||
ret.steerKpV, ret.steerKiV = [[0.20], [0.01]]
|
||||
ret.minSteerSpeed = 35 * CV.MPH_TO_MS
|
||||
elif candidate == CAR.GENESIS:
|
||||
ret.steerKf = 0.00005
|
||||
ret.steerRateCost = 0.5
|
||||
ret.mass = 2060 + std_cargo
|
||||
ret.wheelbase = 3.01
|
||||
ret.steerRatio = 16.5
|
||||
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
|
||||
ret.steerKpV, ret.steerKiV = [[0.16], [0.01]]
|
||||
ret.minSteerSpeed = 35 * CV.MPH_TO_MS
|
||||
elif candidate == CAR.KIA_STINGER:
|
||||
ret.steerKf = 0.00005
|
||||
ret.steerRateCost = 0.5
|
||||
ret.mass = 1825 + std_cargo
|
||||
ret.wheelbase = 2.78
|
||||
ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable
|
||||
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
|
||||
ret.steerKpV, ret.steerKiV = [[0.25], [0.05]]
|
||||
ret.minSteerSpeed = 0.
|
||||
|
||||
ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
|
||||
ret.longitudinalKpBP = [0.]
|
||||
ret.longitudinalKpV = [0.]
|
||||
ret.longitudinalKiBP = [0.]
|
||||
@@ -88,10 +126,6 @@ class CarInterface(object):
|
||||
|
||||
ret.centerToFront = ret.wheelbase * 0.4
|
||||
|
||||
# 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.
|
||||
|
||||
centerToRear = ret.wheelbase - ret.centerToFront
|
||||
|
||||
# TODO: get actual value, for now starting with reasonable value for
|
||||
@@ -201,7 +235,12 @@ class CarInterface(object):
|
||||
ret.doorOpen = not self.CS.door_all_closed
|
||||
ret.seatbeltUnlatched = not self.CS.seatbelt
|
||||
|
||||
#ret.genericToggle = self.CS.generic_toggle
|
||||
|
||||
# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
|
||||
if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
|
||||
self.low_speed_alert = True
|
||||
if ret.vEgo > (self.CP.minSteerSpeed + 4.):
|
||||
self.low_speed_alert = False
|
||||
|
||||
# events
|
||||
events = []
|
||||
@@ -240,6 +279,9 @@ class CarInterface(object):
|
||||
if ret.gasPressed:
|
||||
events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
|
||||
|
||||
if self.low_speed_alert:
|
||||
events.append(create_event('belowSteerSpeed', [ET.WARNING]))
|
||||
|
||||
ret.events = events
|
||||
ret.canMonoTimes = canMonoTimes
|
||||
|
||||
|
||||
@@ -8,6 +8,10 @@ def get_hud_alerts(visual_alert, audble_alert):
|
||||
|
||||
class CAR:
|
||||
SANTA_FE = "HYUNDAI SANTA FE LIMITED 2019"
|
||||
ELANTRA = "HYUNDAI ELANTRA LIMITED ULTIMATE 2017"
|
||||
GENESIS = "HYUNDAI GENESIS 2018"
|
||||
KIA_SORENTO = "KIA SORENTO GT LINE 2018" # Top Trim Kia Sorento for Australian Market, AWD Diesel 8sp Auto
|
||||
KIA_STINGER = "KIA STINGER GT2 2018"
|
||||
|
||||
class Buttons:
|
||||
NONE = 0
|
||||
@@ -19,11 +23,32 @@ FINGERPRINTS = {
|
||||
CAR.SANTA_FE: [{
|
||||
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8
|
||||
}],
|
||||
CAR.ELANTRA: [{
|
||||
66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
|
||||
}],
|
||||
CAR.GENESIS: [{
|
||||
67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
|
||||
}],
|
||||
CAR.KIA_SORENTO: [{
|
||||
67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1
|
||||
}],
|
||||
CAR.KIA_STINGER: [{
|
||||
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8
|
||||
}],
|
||||
}
|
||||
|
||||
CAMERA_MSGS = [832, 1156, 1191, 1342] # msgs sent by the camera
|
||||
|
||||
DBC = {
|
||||
CAR.SANTA_FE: dbc_dict('hyundai_santa_fe_2019_ccan', None),
|
||||
CHECKSUM = {
|
||||
"crc8": [CAR.SANTA_FE],
|
||||
"6B": [CAR.KIA_SORENTO, CAR.GENESIS],
|
||||
"7B": [CAR.KIA_STINGER, CAR.ELANTRA],
|
||||
}
|
||||
|
||||
DBC = {
|
||||
CAR.SANTA_FE: dbc_dict('hyundai_santa_fe_2019_ccan', None),
|
||||
CAR.ELANTRA: dbc_dict('hyundai_santa_fe_2019_ccan', None),
|
||||
CAR.GENESIS: dbc_dict('hyundai_santa_fe_2019_ccan', None),
|
||||
CAR.KIA_SORENTO: dbc_dict('hyundai_santa_fe_2019_ccan', None),
|
||||
CAR.KIA_STINGER: dbc_dict('hyundai_santa_fe_2019_ccan', None),
|
||||
}
|
||||
|
||||
@@ -118,7 +118,7 @@ FINGERPRINTS = {
|
||||
36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 740: 5, 800: 8, 810: 2, 812: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 1017: 8, 1020: 8, 1021: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8
|
||||
}],
|
||||
CAR.CHRH: [{
|
||||
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 740: 5, 800: 8, 810: 2, 812: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1021: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8,1059: 1, 1071: 8, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556:8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 800: 8, 810: 2, 812: 8, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1021: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
}],
|
||||
CAR.CAMRY: [
|
||||
#XLE and LE
|
||||
|
||||
@@ -224,7 +224,7 @@ def state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM
|
||||
|
||||
|
||||
def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk,
|
||||
driver_status, PL, LaC, LoC, VM, angle_offset, passive):
|
||||
driver_status, PL, LaC, LoC, VM, angle_offset, passive, is_metric):
|
||||
# Given the state, this function returns the actuators
|
||||
|
||||
# reset actuators to zero
|
||||
@@ -258,7 +258,13 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
|
||||
|
||||
# parse warnings from car specific interface
|
||||
for e in get_events(events, [ET.WARNING]):
|
||||
AM.add(e, enabled)
|
||||
extra_text = ''
|
||||
if e == "belowSteerSpeed":
|
||||
if is_metric:
|
||||
extra_text = str(int(round(CP.minSteerSpeed * CV.MS_TO_KPH))) + " kph"
|
||||
else:
|
||||
extra_text = str(int(round(CP.minSteerSpeed * CV.MS_TO_MPH))) + " mph"
|
||||
AM.add(e, enabled, extra_text=extra_text)
|
||||
|
||||
# *** angle offset learning ***
|
||||
|
||||
@@ -410,6 +416,7 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
|
||||
carcontrol = messaging.pub_sock(context, service_list['carControl'].port)
|
||||
livempc = messaging.pub_sock(context, service_list['liveMpc'].port)
|
||||
|
||||
is_metric = params.get("IsMetric") == "1"
|
||||
passive = params.get("Passive") != "0"
|
||||
if not passive:
|
||||
while 1:
|
||||
@@ -506,7 +513,7 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
|
||||
|
||||
# compute actuators
|
||||
actuators, v_cruise_kph, driver_status, angle_offset = state_control(plan, CS, CP, state, events, v_cruise_kph,
|
||||
v_cruise_kph_last, AM, rk, driver_status, PL, LaC, LoC, VM, angle_offset, passive)
|
||||
v_cruise_kph_last, AM, rk, driver_status, PL, LaC, LoC, VM, angle_offset, passive, is_metric)
|
||||
prof.checkpoint("State Control")
|
||||
|
||||
# publish data
|
||||
|
||||
@@ -181,6 +181,12 @@ class AlertManager(object):
|
||||
AlertStatus.userPrompt, AlertSize.mid,
|
||||
Priority.LOW, None, None, 0., 0., .2),
|
||||
|
||||
"belowSteerSpeed": Alert(
|
||||
"TAKE CONTROL",
|
||||
"Steer Unavailable Below ",
|
||||
AlertStatus.userPrompt, AlertSize.mid,
|
||||
Priority.MID, "steerRequired", None, 0., 0., .1),
|
||||
|
||||
"debugAlert": Alert(
|
||||
"DEBUG ALERT",
|
||||
"",
|
||||
|
||||
Reference in New Issue
Block a user