mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-07-09 15:02:05 +08:00
Compare commits
11 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Rick Lan
|
1f025c3a47 | ||
|
Rick Lan
|
75249e6e13 | ||
|
Rick Lan
|
504900bbc3 | ||
|
Rick Lan
|
f8288face6 | ||
|
Shane Smiskol
|
44d0b31da4 | ||
|
Rick Lan
|
f7192ca11a | ||
|
Rick Lan
|
20b3ec49ac | ||
|
Rick Lan
|
a15c24df76 | ||
|
Rick Lan
|
6ad49bcda8 | ||
|
Rick Lan
|
d9d3c13577 | ||
|
Vehicle Researcher
|
c5d5c5d1f3 |
@@ -12,7 +12,7 @@ simulation:
|
||||
|
||||
ui:
|
||||
- changed-files:
|
||||
- any-glob-to-all-files: '{selfdrive/assets/**,selfdrive/ui/**,system/ui/**}'
|
||||
- any-glob-to-all-files: '{selfdrive/ui/**,system/ui/**}'
|
||||
|
||||
tools:
|
||||
- changed-files:
|
||||
|
||||
@@ -38,7 +38,6 @@ a.out
|
||||
*.vcd
|
||||
*.mo
|
||||
*_pyx.cpp
|
||||
*.stats
|
||||
config.json
|
||||
clcache
|
||||
compile_commands.json
|
||||
|
||||
@@ -1,48 +1,3 @@
|
||||
dragonpilot 0.10.2 r1 (2025-11-30)
|
||||
=======================
|
||||
* ✅ openpilot 0.10.2 (devel-staging) (2025-11-20)
|
||||
* ✨ 🚧 UI: C4 UI Mode (2025-11-26)
|
||||
* ✨ UI: Torque Bar from C4 UI (2025-11-26)
|
||||
* ✅ UI: Extend screen timeout (2025-11-04)
|
||||
* ✅ UI: Display Lead & Radar Stats (2025-10-30)
|
||||
* ✅ UI: Border Indicators (2025-05-27)
|
||||
* ✅ UI: Rainbow Path (2025-04-02)
|
||||
* ✅ UI: Speed Based HUD (2025-04-01)
|
||||
* ✅ UI: Display Mode (2025-03-14)
|
||||
* ✅ LAT: Auto Lane Change (2025-04-14)
|
||||
* ✅ LAT: Road Edge Detection (2025-04-01)
|
||||
* ✅ LAT: LCA Speed Changer (2025-03-21)
|
||||
* ✅ LAT: ALKA (2025-03-14)
|
||||
* ✅ 🚧 LON: Dynamic Turn Speed Control (DTSC) (2025-11-04)
|
||||
* ✅ 🚧 LON: Adaptive Experimental Mode (AEM) (2025-05-14)
|
||||
* ✅ LON: Adaptive Coasting Mode (ACM) (2025-04-06)
|
||||
* ✅ LON: Ext Radar Support (2025-03-31)
|
||||
* ✅ MISC: Branch Selector (2025-11-14)
|
||||
* ✅ MISC: Tether on boot (2025-11-04)
|
||||
* ✅ MISC: Disable Comma Connect (2025-09-22)
|
||||
* ✅ MISC: C3/C3X/O3 series Support (2025-09-15)
|
||||
* ✅ MISC: Delay Starting Loggerd (2025-06-30)
|
||||
* ✅ MISC: Auto Shutdown (2025-04-28)
|
||||
* ✅ MISC: Increase Max Speed Allowed (2025-04-18)
|
||||
* ✅ MISC: Audible Alert Mode (2025-04-17)
|
||||
* ✅ MISC: Error Logs Btn (2025-04-08)
|
||||
* ✅ MISC: Reset Conf Btn (2025-04-08)
|
||||
* ✅ MISC: Model Selector (2025-03-14)
|
||||
* ✅ Toyota: DSU Bypass Support by @cydia2020 (2025-09-09)
|
||||
* ✅ Toyota: Stock Lon Mode (2025-04-01)
|
||||
* ✅ Toyota: Door Auto Lock/Unlock (2025-03-14)
|
||||
* ✅ Toyota: Radar Filter (2025-03-14)
|
||||
* ✅ Toyota: TSS1 SnG Mod (2025-03-14)
|
||||
* ✅ Toyota: SDSU Support (2025-03-14)
|
||||
* ✅ Toyota: ZSS Support (2025-03-14)
|
||||
* ✅ Honda: EPS Mod Support (2025-09-09)
|
||||
* ✅ VAG: Avoid EPS Lockout Toggle (2025-04-17)
|
||||
* ✅ VAG: Remove Dashcam for VAG PQ (2025-04-06)
|
||||
* ✅ VAG: PQ Steering Patch (2025-04-02)
|
||||
* ✅ VAG: MQB A0 SnG Mod (2025-03-20)
|
||||
* ✅ HKG: SMDPS Support (2025-04-17)
|
||||
* ✅ 🚧 Subaru: Increase torque limits for early Impreza/Crosstek by @ClockeNessMnstr (2025-09-25)
|
||||
|
||||
dragonpilot 0.10.1 r3 (2025-11-25)
|
||||
=======================
|
||||
* ✅ openpilot 0.10.1 (devel-staging) (2025-10-24)
|
||||
|
||||
+2
-2
@@ -22,7 +22,7 @@
|
||||
|
||||
Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
|
||||
|
||||
[](https://github.com/commaai/openpilot/actions/workflows/tests.yaml)
|
||||
[](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml)
|
||||
[](LICENSE)
|
||||
[](https://x.com/comma_ai)
|
||||
[](https://discord.comma.ai)
|
||||
@@ -74,7 +74,7 @@ Safety and Testing
|
||||
----
|
||||
|
||||
* openpilot observes [ISO26262](https://en.wikipedia.org/wiki/ISO_26262) guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
|
||||
* openpilot has software-in-the-loop [tests](.github/workflows/tests.yaml) that run on every commit.
|
||||
* openpilot has software-in-the-loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
|
||||
* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
|
||||
* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
|
||||
* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
|
||||
|
||||
@@ -1,7 +1,3 @@
|
||||
Version 0.10.2 (2025-11-19)
|
||||
========================
|
||||
* comma four support
|
||||
|
||||
Version 0.10.1 (2025-09-08)
|
||||
========================
|
||||
* New driving model #36276
|
||||
|
||||
+1
-1
@@ -22,7 +22,7 @@ AddOption('--ccflags', action='store', type='string', default='', help='pass arb
|
||||
AddOption('--minimal',
|
||||
action='store_false',
|
||||
dest='extras',
|
||||
default=os.path.exists(File('#.gitattributes').abspath), # minimal by default on release branch (where there's no LFS)
|
||||
default=os.path.exists(File('#.lfsconfig').abspath), # minimal by default on release branch (where there's no LFS)
|
||||
help='the minimum build to run openpilot. no tests, tools, etc.')
|
||||
|
||||
# Detect platform
|
||||
|
||||
+1
-5
@@ -918,8 +918,6 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
saturated @7 :Bool;
|
||||
actualLateralAccel @9 :Float32;
|
||||
desiredLateralAccel @10 :Float32;
|
||||
desiredLateralJerk @11 :Float32;
|
||||
version @12 :Int32;
|
||||
}
|
||||
|
||||
struct LateralLQRState {
|
||||
@@ -2166,8 +2164,7 @@ struct DriverStateV2 {
|
||||
leftBlinkProb @7 :Float32;
|
||||
rightBlinkProb @8 :Float32;
|
||||
sunglassesProb @9 :Float32;
|
||||
phoneProb @13 :Float32;
|
||||
notReadyProbDEPRECATED @12 :List(Float32);
|
||||
notReadyProb @12 :List(Float32);
|
||||
occludedProbDEPRECATED @10 :Float32;
|
||||
readyProbDEPRECATED @11 :List(Float32);
|
||||
}
|
||||
@@ -2225,7 +2222,6 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
|
||||
hiStdCount @14 :UInt32;
|
||||
isActiveMode @16 :Bool;
|
||||
isRHD @4 :Bool;
|
||||
uncertainCount @19 :UInt32;
|
||||
|
||||
isPreviewDEPRECATED @15 :Bool;
|
||||
rhdCheckedDEPRECATED @5 :Bool;
|
||||
|
||||
+3
-13
@@ -7,14 +7,11 @@ from openpilot.system.version import get_version
|
||||
|
||||
API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
|
||||
|
||||
# name : jwt signature algorithm
|
||||
KEYS = {"id_rsa" : "RS256",
|
||||
"id_ecdsa" : "ES256"}
|
||||
|
||||
class Api:
|
||||
def __init__(self, dongle_id):
|
||||
self.dongle_id = dongle_id
|
||||
self.jwt_algorithm, self.private_key, _ = get_key_pair()
|
||||
with open(Paths.persist_root()+'/comma/id_rsa') as f:
|
||||
self.private_key = f.read()
|
||||
|
||||
def get(self, *args, **kwargs):
|
||||
return self.request('GET', *args, **kwargs)
|
||||
@@ -35,7 +32,7 @@ class Api:
|
||||
}
|
||||
if payload_extra is not None:
|
||||
payload.update(payload_extra)
|
||||
token = jwt.encode(payload, self.private_key, algorithm=self.jwt_algorithm)
|
||||
token = jwt.encode(payload, self.private_key, algorithm='RS256')
|
||||
if isinstance(token, bytes):
|
||||
token = token.decode('utf8')
|
||||
return token
|
||||
@@ -49,10 +46,3 @@ def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
|
||||
headers['User-Agent'] = "openpilot-" + get_version()
|
||||
|
||||
return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
|
||||
|
||||
def get_key_pair():
|
||||
for key in KEYS:
|
||||
if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
|
||||
with open(Paths.persist_root() + f'/comma/{key}') as private, open(Paths.persist_root() + f'/comma/{key}.pub') as public:
|
||||
return KEYS[key], private.read(), public.read()
|
||||
return None, None, None
|
||||
|
||||
@@ -0,0 +1,9 @@
|
||||
# remove all keys that end in DEPRECATED
|
||||
def strip_deprecated_keys(d):
|
||||
for k in list(d.keys()):
|
||||
if isinstance(k, str):
|
||||
if k.endswith('DEPRECATED'):
|
||||
d.pop(k)
|
||||
elif isinstance(d[k], dict):
|
||||
strip_deprecated_keys(d[k])
|
||||
return d
|
||||
@@ -2,14 +2,9 @@ import io
|
||||
import os
|
||||
import tempfile
|
||||
import contextlib
|
||||
import subprocess
|
||||
import time
|
||||
import functools
|
||||
from subprocess import Popen, PIPE, TimeoutExpired
|
||||
import zstandard as zstd
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
|
||||
LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change
|
||||
LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change
|
||||
|
||||
|
||||
class CallbackReader:
|
||||
@@ -32,7 +27,7 @@ class CallbackReader:
|
||||
|
||||
|
||||
@contextlib.contextmanager
|
||||
def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None,
|
||||
def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str = None, newline: str = None,
|
||||
overwrite: bool = False):
|
||||
"""Write to a file atomically using a temporary file in the same directory as the destination file."""
|
||||
dir_name = os.path.dirname(path)
|
||||
@@ -61,58 +56,3 @@ def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.Buffered
|
||||
compressed_size = compressed_stream.tell()
|
||||
compressed_stream.seek(0)
|
||||
return compressed_stream, compressed_size
|
||||
|
||||
|
||||
# remove all keys that end in DEPRECATED
|
||||
def strip_deprecated_keys(d):
|
||||
for k in list(d.keys()):
|
||||
if isinstance(k, str):
|
||||
if k.endswith('DEPRECATED'):
|
||||
d.pop(k)
|
||||
elif isinstance(d[k], dict):
|
||||
strip_deprecated_keys(d[k])
|
||||
return d
|
||||
|
||||
|
||||
def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
|
||||
return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip()
|
||||
|
||||
|
||||
def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str:
|
||||
try:
|
||||
return run_cmd(cmd, cwd=cwd, env=env)
|
||||
except subprocess.CalledProcessError:
|
||||
return default
|
||||
|
||||
|
||||
@contextlib.contextmanager
|
||||
def managed_proc(cmd: list[str], env: dict[str, str]):
|
||||
proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
|
||||
try:
|
||||
yield proc
|
||||
finally:
|
||||
if proc.poll() is None:
|
||||
proc.terminate()
|
||||
try:
|
||||
proc.wait(timeout=5)
|
||||
except TimeoutExpired:
|
||||
proc.kill()
|
||||
|
||||
|
||||
def retry(attempts=3, delay=1.0, ignore_failure=False):
|
||||
def decorator(func):
|
||||
@functools.wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
for _ in range(attempts):
|
||||
try:
|
||||
return func(*args, **kwargs)
|
||||
except Exception:
|
||||
cloudlog.exception(f"{func.__name__} failed, trying again")
|
||||
time.sleep(delay)
|
||||
|
||||
if ignore_failure:
|
||||
cloudlog.error(f"{func.__name__} failed after retry")
|
||||
else:
|
||||
raise Exception(f"{func.__name__} failed after retry")
|
||||
return wrapper
|
||||
return decorator
|
||||
@@ -15,20 +15,3 @@ class FirstOrderFilter:
|
||||
self.initialized = True
|
||||
self.x = x
|
||||
return self.x
|
||||
|
||||
|
||||
class BounceFilter(FirstOrderFilter):
|
||||
def __init__(self, x0, rc, dt, initialized=True, bounce=2):
|
||||
self.velocity = FirstOrderFilter(0.0, 0.15, dt)
|
||||
self.bounce = bounce
|
||||
super().__init__(x0, rc, dt, initialized)
|
||||
|
||||
def update(self, x):
|
||||
super().update(x)
|
||||
scale = self.dt / (1.0 / 60.0) # tuned at 60 fps
|
||||
self.velocity.x += (x - self.x) * self.bounce * scale * self.dt
|
||||
self.velocity.update(0.0)
|
||||
if abs(self.velocity.x) < 1e-5:
|
||||
self.velocity.x = 0.0
|
||||
self.x += self.velocity.x
|
||||
return self.x
|
||||
|
||||
+1
-1
@@ -1,6 +1,6 @@
|
||||
from functools import cache
|
||||
import subprocess
|
||||
from openpilot.common.utils import run_cmd, run_cmd_default
|
||||
from openpilot.common.run import run_cmd, run_cmd_default
|
||||
|
||||
|
||||
@cache
|
||||
|
||||
@@ -97,7 +97,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"Offroad_TemperatureTooHigh", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_UnregisteredHardware", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}},
|
||||
{"Offroad_DriverMonitoringUncertain", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
|
||||
{"OnroadCycleRequested", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"OpenpilotEnabledToggle", {PERSISTENT, BOOL, "1"}},
|
||||
{"PandaHeartbeatLost", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
@@ -109,10 +108,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"RecordFront", {PERSISTENT, BOOL}},
|
||||
{"RecordFrontLock", {PERSISTENT, BOOL}}, // for the internal fleet
|
||||
{"SecOCKey", {PERSISTENT | DONT_LOG, STRING}},
|
||||
{"ShowDebugInfo", {PERSISTENT, BOOL}},
|
||||
{"RouteCount", {PERSISTENT, INT, "0"}},
|
||||
{"SnoozeUpdate", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
|
||||
{"SshEnabled", {PERSISTENT, BOOL}},
|
||||
{"TermsVersion", {PERSISTENT, STRING}},
|
||||
{"TrainingVersion", {PERSISTENT, STRING}},
|
||||
{"UbloxAvailable", {PERSISTENT, BOOL}},
|
||||
{"UpdateAvailable", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
|
||||
{"UpdateFailedCount", {CLEAR_ON_MANAGER_START, INT}},
|
||||
@@ -160,5 +160,4 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"dp_vag_a0_sng", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_vag_pq_steering_patch", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_vag_avoid_eps_lockout", {PERSISTENT, BOOL, "0"}},
|
||||
{"dp_ui_four", {PERSISTENT, BOOL, "0"}},
|
||||
};
|
||||
|
||||
+3
-2
@@ -2,10 +2,11 @@ import numpy as np
|
||||
from numbers import Number
|
||||
|
||||
class PIDController:
|
||||
def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
|
||||
def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
|
||||
self._k_p = k_p
|
||||
self._k_i = k_i
|
||||
self._k_d = k_d
|
||||
self.k_f = k_f # feedforward gain
|
||||
if isinstance(self._k_p, Number):
|
||||
self._k_p = [[0], [self._k_p]]
|
||||
if isinstance(self._k_i, Number):
|
||||
@@ -47,7 +48,7 @@ class PIDController:
|
||||
self.speed = speed
|
||||
self.p = self.k_p * float(error)
|
||||
self.d = self.k_d * error_rate
|
||||
self.f = feedforward
|
||||
self.f = self.k_f * feedforward
|
||||
|
||||
if not freeze_integrator:
|
||||
i = self.i + self.k_i * self.i_dt * error
|
||||
|
||||
@@ -0,0 +1,30 @@
|
||||
import time
|
||||
import functools
|
||||
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
|
||||
|
||||
def retry(attempts=3, delay=1.0, ignore_failure=False):
|
||||
def decorator(func):
|
||||
@functools.wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
for _ in range(attempts):
|
||||
try:
|
||||
return func(*args, **kwargs)
|
||||
except Exception:
|
||||
cloudlog.exception(f"{func.__name__} failed, trying again")
|
||||
time.sleep(delay)
|
||||
|
||||
if ignore_failure:
|
||||
cloudlog.error(f"{func.__name__} failed after retry")
|
||||
else:
|
||||
raise Exception(f"{func.__name__} failed after retry")
|
||||
return wrapper
|
||||
return decorator
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
@retry(attempts=10)
|
||||
def abc():
|
||||
raise ValueError("abc failed :(")
|
||||
abc()
|
||||
@@ -0,0 +1,28 @@
|
||||
import subprocess
|
||||
from contextlib import contextmanager
|
||||
from subprocess import Popen, PIPE, TimeoutExpired
|
||||
|
||||
|
||||
def run_cmd(cmd: list[str], cwd=None, env=None) -> str:
|
||||
return subprocess.check_output(cmd, encoding='utf8', cwd=cwd, env=env).strip()
|
||||
|
||||
|
||||
def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> str:
|
||||
try:
|
||||
return run_cmd(cmd, cwd=cwd, env=env)
|
||||
except subprocess.CalledProcessError:
|
||||
return default
|
||||
|
||||
|
||||
@contextmanager
|
||||
def managed_proc(cmd: list[str], env: dict[str, str]):
|
||||
proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
|
||||
try:
|
||||
yield proc
|
||||
finally:
|
||||
if proc.poll() is None:
|
||||
proc.terminate()
|
||||
try:
|
||||
proc.wait(timeout=5)
|
||||
except TimeoutExpired:
|
||||
proc.kill()
|
||||
@@ -1,7 +1,7 @@
|
||||
import os
|
||||
from uuid import uuid4
|
||||
|
||||
from openpilot.common.utils import atomic_write_in_dir
|
||||
from openpilot.common.file_helpers import atomic_write_in_dir
|
||||
|
||||
|
||||
class TestFileHelpers:
|
||||
|
||||
+1
-1
@@ -1 +1 @@
|
||||
#define COMMA_VERSION "0.10.2"
|
||||
#define COMMA_VERSION "0.10.1"
|
||||
|
||||
@@ -1,65 +0,0 @@
|
||||
# CarState signals
|
||||
|
||||
## Required for basic lateral control
|
||||
|
||||
* `brakePressed`
|
||||
* `cruiseState`
|
||||
* `doorOpen`
|
||||
* `espDisabled`
|
||||
* `gasPressed`
|
||||
* `gearShifter`
|
||||
* `leftBlinker` / `rightBlinker`
|
||||
* `seatbeltUnlatched`
|
||||
* `standstill`
|
||||
* `steeringAngleDeg`
|
||||
* `steeringPressed`
|
||||
* `steeringTorque`
|
||||
* `steerFaultPermanent`
|
||||
* `steerFaultTemporary`
|
||||
* `vCruise`
|
||||
* `wheelSpeeds.[fl|fr|rl|rr]`: Speed of each of the car's four wheels, in m/s. The car's CAN bus often broadcasts the
|
||||
speed in kph, so the helper function `parse_wheel_speeds` performs this conversion by default.
|
||||
|
||||
## Recommended / Required for openpilot longitudinal control
|
||||
|
||||
* `accFaulted`
|
||||
* `espActive`
|
||||
* `parkingBrake`
|
||||
|
||||
## Application Dependent
|
||||
|
||||
* `blockPcmEnable`
|
||||
* `buttonEnable`
|
||||
* `brakeHoldActive`
|
||||
* `carFaultedNonCritical`
|
||||
* `invalidLkasSetting`
|
||||
* `lowSpeedAlert`
|
||||
* `regenBraking`
|
||||
* `steeringAngleOffsetDeg`
|
||||
* `steeringDisengage`
|
||||
* `steeringTorqueEps`
|
||||
* `stockLkas`
|
||||
* `vCruiseCluster`
|
||||
* `vEgoCluster`
|
||||
* `vehicleSensorsInvalid`
|
||||
|
||||
## Automatically populated
|
||||
|
||||
* `buttonEvents`
|
||||
|
||||
These values are populated automatically by `parse_wheel_speeds`:
|
||||
|
||||
* `aEgo`: Acceleration of the ego vehicle, Kalman filtered derivative of `vEgo`.
|
||||
* `vEgo`: Speed of the ego vehicle, Kalman filtered from `vEgoRaw`.
|
||||
* `vEgoRaw`: Speed of the ego vehicle, based on the average of all four wheel speeds, unfiltered.
|
||||
|
||||
## Optional
|
||||
|
||||
* `brake`
|
||||
* `charging`
|
||||
* `fuelGauge`
|
||||
* `leftBlindspot` / `rightBlindspot`
|
||||
* `steeringRateDeg`
|
||||
* `stockAeb`
|
||||
* `stockFcw`
|
||||
* `yawRate`
|
||||
@@ -1,85 +0,0 @@
|
||||
# Stimulus-Response Tests
|
||||
|
||||
These are example test drives that can help identify the CAN bus messaging necessary for ADAS control. Each scripted
|
||||
test should be done in a separate route (ignition cycle). These tests are a guide, not necessarily exhaustive.
|
||||
|
||||
While testing, constant power to the comma device is highly recommended, using [comma power](https://comma.ai/shop/comma-power) if
|
||||
necessary to make sure all test activity is fully captured and for ease of uploading. If constant power isn't
|
||||
available, keep the ignition on for at least one minute after your test to make sure power loss doesn't result
|
||||
in loss of the last minute of testing data.
|
||||
|
||||
## Stationary ignition-only tests, part 1
|
||||
|
||||
1. Ignition on, but don't start engine, remain in Park
|
||||
2. Open and close each door in a defined order: driver, passenger, rear left, rear right
|
||||
3. Re-enter the vehicle, close the driver's door, and fasten the driver's seatbelt
|
||||
4. Slowly press and release the accelerator pedal 3 times
|
||||
5. Slowly press and release the brake pedal 3 times
|
||||
6. Hold the brake and move the gearshift to reverse, then neutral, then drive, then sport/eco/etc if applicable
|
||||
7. Return to Park, ignition off
|
||||
|
||||
Brake-pressed information may show up in several messages and signals, both as on/off states and as a percentage or
|
||||
pressure. It may reflect a switch on the driver's brake pedal, or a pressure-threshold state, or signals to turn on
|
||||
the rear brake lights. Start by identifying all the potential signals, and confirm while driving with ACC later.
|
||||
|
||||
Locate signals for all four door states if possible, but some cars only expose the driver's door state on the ADAS bus.
|
||||
Driver/passenger door signals may or may not change positions for LHD vs RHD cars. For cars where only the driver's
|
||||
door signal is available, the same signal may follow the driver.
|
||||
|
||||
## Stationary ignition-only tests, part 2
|
||||
|
||||
1. Ignition on, but don't start engine, remain in Park
|
||||
2. Press each ACC button in a defined order: main switch on/off, set, resume, cancel, accel, decel, gap adjust
|
||||
3. Set the left turn signal for about five seconds
|
||||
4. Operate the left turn signal one time in its touch-to-pass mode
|
||||
5. Set the right turn signal for about five seconds
|
||||
6. Operate the right turn signal one time in its touch-to-pass mode
|
||||
7. Set the hazard / emergency indicator switch for about five seconds
|
||||
8. Ignition off
|
||||
|
||||
Your vehicle may have a momentary-press main ACC switch or a physical toggle that remains set. Actual ACC engagement
|
||||
isn't necessary for purposes of detecting the ACC button presses.
|
||||
|
||||
## Steering angle and steering torque tests
|
||||
|
||||
Power steering should be available. On ICE cars, engine RPM may be present.
|
||||
|
||||
1. Ignition on, start engine if applicable, remain in Park
|
||||
2. Rotate the steering wheel as follows, with a few seconds pause between each step
|
||||
* Start as close to exact center as possible
|
||||
* Turn to 45 degrees right and hold
|
||||
* Turn to 90 degrees right and hold
|
||||
* Turn to 180 degrees right and hold
|
||||
* Turn to full lock right and hold, with firm pressure against lock
|
||||
* Release the wheel and allow it to bounce back slightly from lock
|
||||
* Turn to 180 degrees left and hold
|
||||
* Return to center and release
|
||||
3. Ignition off
|
||||
|
||||
Performing the full test to the right, followed by an abbreviated test to the left, helps give additional confirmation
|
||||
of signal scale, and sign/direction for both the steering wheel angle and driver input torque signals.
|
||||
|
||||
## Low speed / parking lot driving tests
|
||||
|
||||
Before this test, drive to a place like an empty parking lot where you are free to drive in a series of curves.
|
||||
|
||||
1. Ignition on, start engine if applicable, prepare to drive
|
||||
2. Slowly (10-20mph at most) drive a figure-8 if possible, or at least one sharp left and one sharp right.
|
||||
3. Come to a complete stop
|
||||
4. When and where safe, drive in reverse for a short distance (10-15 feet)
|
||||
5. Park the car in a safe place, ignition off
|
||||
|
||||
## High speed / highway driving tests
|
||||
|
||||
Select a place and time where you can safely set cruise control at normal travel speeds with little interference from
|
||||
traffic ahead, and safely test the response of your factory lane guidance system.
|
||||
|
||||
1. Ignition on, start engine if applicable, prepare to drive
|
||||
2. When safely able, engage adaptive cruise control below 50 mph
|
||||
3. When safely able, use the ACC buttons to accelerate to 50mph, then 55mph, then 60mph
|
||||
4. Disengage adaptive cruise
|
||||
5. When safely able, allow your factory lane guidance to prevent lane departures, 2-3 times on both the left and right
|
||||
|
||||
The series of setpoints can be adjusted to local traffic regulations, and of course metric units. The specific cruise
|
||||
setpoints are useful for locating the ACC HUD signals later, and confirming their precise scaling. When the car reaches
|
||||
and holds the setpoint, that can also provide additional confirmation of wheel speed scaling.
|
||||
@@ -2,13 +2,12 @@ import os
|
||||
from openpilot.system.ui.widgets import Widget, DialogResult
|
||||
from openpilot.common.params import Params, UnknownKeyName
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state
|
||||
from openpilot.system.ui.widgets.scroller_tici import Scroller
|
||||
from openpilot.system.ui.widgets.scroller import Scroller
|
||||
from openpilot.system.ui.lib.multilang import tr
|
||||
from openpilot.system.ui.widgets.list_view import multiple_button_item, toggle_item, simple_item, button_item, spin_button_item, double_spin_button_item, text_spin_button_item
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog, alert_dialog
|
||||
|
||||
LITE = os.getenv("LITE") is not None
|
||||
|
||||
class DragonpilotLayout(Widget):
|
||||
def __init__(self):
|
||||
@@ -203,7 +202,7 @@ class DragonpilotLayout(Widget):
|
||||
def _device_toggles(self):
|
||||
self._toggles["title_dev"] = simple_item(title=lambda: tr("### Device ###"))
|
||||
|
||||
if LITE:
|
||||
if "LITE" in os.environ:
|
||||
self._toggles["dp_dev_is_rhd"] = toggle_item(
|
||||
title=lambda: tr("Enable Right-Hand Drive Mode"),
|
||||
description=lambda: tr("Allow openpilot to obey right-hand traffic conventions on right driver seat."),
|
||||
|
||||
@@ -1,133 +0,0 @@
|
||||
import numpy as np
|
||||
import pyray as rl
|
||||
from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
|
||||
from openpilot.selfdrive.ui.mici.onroad import blend_colors
|
||||
from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
|
||||
from openpilot.system.ui.lib.application import gui_app
|
||||
from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
|
||||
from openpilot.system.ui.widgets import Widget
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.selfdrive.ui.mici.onroad.torque_bar import arc_bar_pts
|
||||
|
||||
# TODO: arc_bar_pts doesn't consider rounded end caps part of the angle span
|
||||
TORQUE_ANGLE_SPAN = 12.7
|
||||
|
||||
DEBUG = False
|
||||
|
||||
SCALE = 2.5
|
||||
|
||||
|
||||
class TorqueBar(Widget):
|
||||
def __init__(self, demo: bool = False):
|
||||
super().__init__()
|
||||
self._demo = demo
|
||||
self._torque_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
|
||||
self._torque_line_alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
|
||||
|
||||
def update_filter(self, value: float):
|
||||
"""Update the torque filter value (for demo mode)."""
|
||||
self._torque_filter.update(value)
|
||||
|
||||
def _update_state(self):
|
||||
if self._demo:
|
||||
return
|
||||
|
||||
# torque line
|
||||
if ui_state.sm['controlsState'].lateralControlState.which() == 'angleState':
|
||||
controls_state = ui_state.sm['controlsState']
|
||||
car_state = ui_state.sm['carState']
|
||||
live_parameters = ui_state.sm['liveParameters']
|
||||
lateral_acceleration = controls_state.curvature * car_state.vEgo ** 2 - live_parameters.roll * ACCELERATION_DUE_TO_GRAVITY
|
||||
# TODO: pull from carparams
|
||||
max_lateral_acceleration = 3
|
||||
|
||||
# from selfdrived
|
||||
actual_lateral_accel = controls_state.curvature * car_state.vEgo ** 2
|
||||
desired_lateral_accel = controls_state.desiredCurvature * car_state.vEgo ** 2
|
||||
accel_diff = (desired_lateral_accel - actual_lateral_accel)
|
||||
|
||||
self._torque_filter.update(min(max(lateral_acceleration / max_lateral_acceleration + accel_diff, -1), 1))
|
||||
else:
|
||||
self._torque_filter.update(-ui_state.sm['carOutput'].actuatorsOutput.torque)
|
||||
|
||||
def _render(self, rect: rl.Rectangle) -> None:
|
||||
# adjust y pos with torque
|
||||
torque_line_offset = np.interp(abs(self._torque_filter.x), [0.5, 1], [22 * SCALE, 26 * SCALE])
|
||||
torque_line_height = np.interp(abs(self._torque_filter.x), [0.5, 1], [14 * SCALE, 56 * SCALE])
|
||||
|
||||
# animate alpha and angle span
|
||||
if not self._demo:
|
||||
self._torque_line_alpha_filter.update(ui_state.status != UIStatus.DISENGAGED)
|
||||
else:
|
||||
self._torque_line_alpha_filter.update(1.0)
|
||||
|
||||
torque_line_bg_alpha = np.interp(abs(self._torque_filter.x), [0.5, 1.0], [0.25, 0.5])
|
||||
torque_line_bg_color = rl.Color(255, 255, 255, int(255 * torque_line_bg_alpha * self._torque_line_alpha_filter.x))
|
||||
if ui_state.status != UIStatus.ENGAGED and not self._demo:
|
||||
torque_line_bg_color = rl.Color(255, 255, 255, int(255 * 0.15 * self._torque_line_alpha_filter.x))
|
||||
|
||||
# draw curved line polygon torque bar
|
||||
torque_line_radius = 1200 * SCALE
|
||||
top_angle = -90
|
||||
torque_bg_angle_span = self._torque_line_alpha_filter.x * TORQUE_ANGLE_SPAN
|
||||
torque_start_angle = top_angle - torque_bg_angle_span / 2
|
||||
torque_end_angle = top_angle + torque_bg_angle_span / 2
|
||||
# centerline radius & center
|
||||
mid_r = torque_line_radius + torque_line_height / 2
|
||||
|
||||
cx = rect.x + rect.width / 2 + (8 * SCALE)
|
||||
cy = rect.y + rect.height + torque_line_radius - torque_line_offset
|
||||
|
||||
# SCALED: pass cap_radius explicitly so the corners round properly
|
||||
scaled_cap_radius = 7 * SCALE
|
||||
|
||||
# draw bg torque indicator line
|
||||
bg_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, torque_start_angle, torque_end_angle,
|
||||
cap_radius=scaled_cap_radius)
|
||||
draw_polygon(rect, bg_pts, color=torque_line_bg_color)
|
||||
|
||||
# draw torque indicator line
|
||||
a0s = top_angle
|
||||
a1s = a0s + torque_bg_angle_span / 2 * self._torque_filter.x
|
||||
sl_pts = arc_bar_pts(cx, cy, mid_r, torque_line_height, a0s, a1s,
|
||||
cap_radius=scaled_cap_radius)
|
||||
|
||||
# draw beautiful gradient from center to 65% of the bg torque bar width
|
||||
start_grad_pt = cx / rect.width
|
||||
if self._torque_filter.x < 0:
|
||||
end_grad_pt = (cx * (1 - 0.65) + (min(bg_pts[:, 0]) * 0.65)) / rect.width
|
||||
else:
|
||||
end_grad_pt = (cx * (1 - 0.65) + (max(bg_pts[:, 0]) * 0.65)) / rect.width
|
||||
|
||||
# fade to orange as we approach max torque
|
||||
start_color = blend_colors(
|
||||
rl.Color(255, 255, 255, int(255 * 0.9 * self._torque_line_alpha_filter.x)),
|
||||
rl.Color(255, 200, 0, int(255 * self._torque_line_alpha_filter.x)), # yellow
|
||||
max(0, abs(self._torque_filter.x) - 0.75) * 4,
|
||||
)
|
||||
end_color = blend_colors(
|
||||
rl.Color(255, 255, 255, int(255 * 0.9 * self._torque_line_alpha_filter.x)),
|
||||
rl.Color(255, 115, 0, int(255 * self._torque_line_alpha_filter.x)), # orange
|
||||
max(0, abs(self._torque_filter.x) - 0.75) * 4,
|
||||
)
|
||||
|
||||
if ui_state.status != UIStatus.ENGAGED and not self._demo:
|
||||
start_color = end_color = rl.Color(255, 255, 255, int(255 * 0.35 * self._torque_line_alpha_filter.x))
|
||||
|
||||
gradient = Gradient(
|
||||
start=(start_grad_pt, 0),
|
||||
end=(end_grad_pt, 0),
|
||||
colors=[
|
||||
start_color,
|
||||
end_color,
|
||||
],
|
||||
stops=[0.0, 1.0],
|
||||
)
|
||||
|
||||
draw_polygon(rect, sl_pts, gradient=gradient)
|
||||
|
||||
# draw center torque bar dot
|
||||
if abs(self._torque_filter.x) < 0.5:
|
||||
dot_y = rect.y + rect.height - torque_line_offset - torque_line_height / 2
|
||||
rl.draw_circle(int(cx), int(dot_y), int(10 * SCALE) // 2,
|
||||
rl.Color(182, 182, 182, int(255 * 0.9 * self._torque_line_alpha_filter.x)))
|
||||
+1
-1
@@ -1 +1 @@
|
||||
a29fdbd02407d41ecbcc69d151bb4837bfba3cbc
|
||||
405631baf9685e171a0dd19547cb763f1b163d18
|
||||
+1
-1
@@ -1 +1 @@
|
||||
1763595829 2025-11-19 15:43:49 -0800
|
||||
1761284549 2025-10-23 22:42:29 -0700
|
||||
+5
-7
@@ -45,14 +45,12 @@ set_tici_hw() {
|
||||
}
|
||||
|
||||
set_lite_hw() {
|
||||
if grep -q "tici" /sys/firmware/devicetree/base/model 2>/dev/null; then
|
||||
output=$(i2cget -y 0 0x10 0x00 2>/dev/null)
|
||||
output=$(i2cget -y 0 0x10 0x00 2>/dev/null)
|
||||
|
||||
if [ -z "$output" ]; then
|
||||
echo "Lite HW"
|
||||
export LITE=1
|
||||
export DISABLE_DRIVER=1
|
||||
fi
|
||||
if [ -z "$output" ]; then
|
||||
echo "Lite HW"
|
||||
export LITE=1
|
||||
export DISABLE_DRIVER=1
|
||||
fi
|
||||
}
|
||||
|
||||
|
||||
+1
-10
@@ -6,17 +6,8 @@ export NUMEXPR_NUM_THREADS=1
|
||||
export OPENBLAS_NUM_THREADS=1
|
||||
export VECLIB_MAXIMUM_THREADS=1
|
||||
|
||||
# models get lower priority than ui
|
||||
# - ui is ~5ms
|
||||
# - modeld is 20ms
|
||||
# - DM is 10ms
|
||||
# in order to run ui at 60fps (16.67ms), we need to allow
|
||||
# it to preempt the model workloads. we have enough
|
||||
# headroom for this until ui is moved to the CPU.
|
||||
export QCOM_PRIORITY=12
|
||||
|
||||
if [ -z "$AGNOS_VERSION" ]; then
|
||||
export AGNOS_VERSION="15.1"
|
||||
export AGNOS_VERSION="14.3"
|
||||
fi
|
||||
|
||||
export STAGING_ROOT="/data/safe_staging"
|
||||
|
||||
@@ -96,13 +96,7 @@ VisionBuf * VisionIpcClient::recv(VisionIpcBufExtra * extra, const int timeout_m
|
||||
assert(r->getSize() == sizeof(VisionIpcPacket));
|
||||
VisionIpcPacket *packet = (VisionIpcPacket*)r->getData();
|
||||
|
||||
// Check if packet index is out of bounds, indicating server has changed
|
||||
if (packet->idx >= num_buffers) {
|
||||
connected = false;
|
||||
delete r;
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
assert(packet->idx < num_buffers);
|
||||
VisionBuf * buf = &buffers[packet->idx];
|
||||
|
||||
if (buf->server_id != packet->server_id){
|
||||
|
||||
@@ -242,7 +242,7 @@
|
||||
|Mazda|CX-5 2022-25|All|[Upstream](#upstream)|
|
||||
|Mazda|CX-9 2016-20|All|[Dashcam mode](#dashcam)|
|
||||
|Mazda|CX-9 2021-23|All|[Upstream](#upstream)|
|
||||
|Nissan|Altima 2019-20, 2024|ProPILOT Assist|[Upstream](#upstream)|
|
||||
|Nissan|Altima 2019-20|ProPILOT Assist|[Upstream](#upstream)|
|
||||
|Nissan|Leaf 2018-23|ProPILOT Assist|[Upstream](#upstream)|
|
||||
|Nissan|Rogue 2018-20|ProPILOT Assist|[Upstream](#upstream)|
|
||||
|Nissan|X-Trail 2017|ProPILOT Assist|[Upstream](#upstream)|
|
||||
|
||||
@@ -549,15 +549,15 @@ struct CarParams {
|
||||
}
|
||||
|
||||
struct LateralTorqueTuning {
|
||||
kp @1 :Float32;
|
||||
ki @2 :Float32;
|
||||
kd @8 : Float32;
|
||||
friction @3 :Float32;
|
||||
kf @4 :Float32;
|
||||
steeringAngleDeadzoneDeg @5 :Float32;
|
||||
latAccelFactor @6 :Float32;
|
||||
latAccelOffset @7 :Float32;
|
||||
useSteeringAngleDEPRECATED @0 :Bool;
|
||||
kpDEPRECATED @1 :Float32;
|
||||
kiDEPRECATED @2 :Float32;
|
||||
kfDEPRECATED @4 :Float32;
|
||||
kdDEPRECATED @8 : Float32;
|
||||
}
|
||||
|
||||
struct LongitudinalPIDTuning {
|
||||
@@ -565,7 +565,7 @@ struct CarParams {
|
||||
kpV @1 :List(Float32);
|
||||
kiBP @2 :List(Float32);
|
||||
kiV @3 :List(Float32);
|
||||
kfDEPRECATED @6 :Float32;
|
||||
kf @6 :Float32;
|
||||
deadzoneBPDEPRECATED @4 :List(Float32);
|
||||
deadzoneVDEPRECATED @5 :List(Float32);
|
||||
}
|
||||
|
||||
@@ -351,7 +351,6 @@ FW_VERSIONS = {
|
||||
b'68402707AB',
|
||||
b'68402708AB',
|
||||
b'68402714AB',
|
||||
b'68402736AB',
|
||||
b'68402971AD',
|
||||
b'68454144AD',
|
||||
b'68454145AB',
|
||||
@@ -380,7 +379,6 @@ FW_VERSIONS = {
|
||||
b'68417279AA',
|
||||
b'68417280AA',
|
||||
b'68417281AA',
|
||||
b'68417283AA',
|
||||
b'68453431AA',
|
||||
b'68453433AA',
|
||||
b'68453435AA',
|
||||
@@ -393,7 +391,6 @@ FW_VERSIONS = {
|
||||
b'05035674AB ',
|
||||
b'68412635AE ',
|
||||
b'68412635AG ',
|
||||
b'68412635AH ',
|
||||
b'68412660AD ',
|
||||
b'68412660AF ',
|
||||
b'68422860AB',
|
||||
@@ -407,7 +404,6 @@ FW_VERSIONS = {
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'05035707AA',
|
||||
b'68419672AC',
|
||||
b'68419675AC',
|
||||
b'68419678AB',
|
||||
b'68423905AB',
|
||||
b'68449258AC',
|
||||
|
||||
@@ -26,7 +26,7 @@ FW_VERSIONS = {
|
||||
],
|
||||
(Ecu.fwdCamera, 0x18dab5f1, None): [
|
||||
b'38897-TTA-J010\x00\x00',
|
||||
],
|
||||
]
|
||||
},
|
||||
CAR.HONDA_ACCORD: {
|
||||
(Ecu.shiftByWire, 0x18da0bf1, None): [
|
||||
@@ -331,7 +331,6 @@ FW_VERSIONS = {
|
||||
(Ecu.vsa, 0x18da28f1, None): [
|
||||
b'57114-T1W-A230\x00\x00',
|
||||
b'57114-T1W-A240\x00\x00',
|
||||
b'57114-TFF-A930\x00\x00',
|
||||
b'57114-TFF-A940\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
@@ -1056,7 +1055,7 @@ FW_VERSIONS = {
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36802-TGV-A060\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x18dab5f1, None): [
|
||||
(Ecu.fwdCamera, 0x18dab5f1, None): [
|
||||
b'36161-TGV-A030\x00\x00',
|
||||
],
|
||||
},
|
||||
|
||||
@@ -121,7 +121,7 @@ def create_steering_control(packer, CAN, apply_torque, lkas_active, tja_control)
|
||||
}
|
||||
|
||||
if tja_control:
|
||||
values["STEER_DOWN_TO_ZERO"] = lkas_active
|
||||
values["STEER_DOWN_TO_ZERO"] = 1
|
||||
|
||||
return packer.make_can_msg("STEERING_CONTROL", CAN.lkas, values)
|
||||
|
||||
|
||||
@@ -48,7 +48,7 @@ class CarInterface(CarInterfaceBase):
|
||||
# If Bosch radarless, this blocks ACC messages from the camera
|
||||
# TODO: get radar disable working on Bosch CANFD
|
||||
ret.alphaLongitudinalAvailable = candidate not in HONDA_BOSCH_CANFD
|
||||
ret.openpilotLongitudinalControl = alpha_long and (candidate not in HONDA_BOSCH_CANFD)
|
||||
ret.openpilotLongitudinalControl = alpha_long
|
||||
ret.pcmCruise = not ret.openpilotLongitudinalControl
|
||||
else:
|
||||
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hondaNidec)]
|
||||
|
||||
@@ -210,6 +210,7 @@ class CarInterfaceBase(ABC):
|
||||
ret.stoppingDecelRate = 0.8 # brake_travel/s while trying to stop
|
||||
ret.vEgoStopping = 0.5
|
||||
ret.vEgoStarting = 0.5
|
||||
ret.longitudinalTuning.kf = 1.
|
||||
ret.longitudinalTuning.kpBP = [0.]
|
||||
ret.longitudinalTuning.kpV = [0.]
|
||||
ret.longitudinalTuning.kiBP = [0.]
|
||||
@@ -224,6 +225,10 @@ class CarInterfaceBase(ABC):
|
||||
params = get_torque_params()[candidate]
|
||||
|
||||
tune.init('torque')
|
||||
tune.torque.kf = 1.0
|
||||
tune.torque.kp = 1.0
|
||||
tune.torque.ki = 0.3
|
||||
tune.torque.kd = 0.0
|
||||
tune.torque.friction = params['FRICTION']
|
||||
tune.torque.latAccelFactor = params['LAT_ACCEL_FACTOR']
|
||||
tune.torque.latAccelOffset = 0.0
|
||||
|
||||
@@ -11,15 +11,12 @@ FW_VERSIONS = {
|
||||
],
|
||||
(Ecu.eps, 0x742, None): [
|
||||
b'6CA2B\xa9A\x02\x02G8A89P90D6A\x00\x00\x01\x80',
|
||||
b'6CA2C\xa9A\x02\x02G8A89P90D6A\x00\x00\x01\x80',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'237106GU3B',
|
||||
b'237109HE2B',
|
||||
],
|
||||
(Ecu.gateway, 0x18dad0f1, None): [
|
||||
b'284U29HE0A',
|
||||
b'284U29HF0A',
|
||||
],
|
||||
},
|
||||
CAR.NISSAN_LEAF: {
|
||||
@@ -59,7 +56,6 @@ FW_VERSIONS = {
|
||||
b'5SK0ADB\x04\x18\x00\x00\x00\x00\x00_(5\x07\x9aQ\x00\x00\x00\x80',
|
||||
],
|
||||
(Ecu.abs, 0x740, None): [
|
||||
b'476605SD2D',
|
||||
b'476605SD2E',
|
||||
b'476605SH1D',
|
||||
b'476605SH7D',
|
||||
@@ -70,17 +66,13 @@ FW_VERSIONS = {
|
||||
b'5SH2A\x99A\x05\x02N123F\x15\x81\x00\x00\x00\x00\x00\x00\x00\x80',
|
||||
b'5SH2A\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80',
|
||||
b'5SH2C\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80',
|
||||
b'5SH3A\x99A\x05\x02N123F\x15\x81\x00\x00\x00\x00\x00\x00\x00\x80',
|
||||
b'5SH3C\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80',
|
||||
b'5SK3A\x99A\x05\x02N123F\x15u\x00\x00\x00\x00\x00\x00\x00\x80',
|
||||
],
|
||||
(Ecu.gateway, 0x18dad0f1, None): [
|
||||
b'284U25SF0C',
|
||||
b'284U25SH3A',
|
||||
b'284U25SH3B',
|
||||
b'284U25SK2D',
|
||||
b'284U25SR0B',
|
||||
b'284U25SR0C',
|
||||
],
|
||||
},
|
||||
CAR.NISSAN_XTRAIL: {
|
||||
|
||||
@@ -72,7 +72,7 @@ class CAR(Platforms):
|
||||
NissanCarSpecs(mass=1610, wheelbase=2.705)
|
||||
)
|
||||
NISSAN_ALTIMA = NissanPlatformConfig(
|
||||
[NissanCarDocs("Nissan Altima 2019-20, 2024", car_parts=CarParts.common([CarHarness.nissan_b]))],
|
||||
[NissanCarDocs("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b]))],
|
||||
NissanCarSpecs(mass=1492, wheelbase=2.824)
|
||||
)
|
||||
|
||||
|
||||
@@ -87,7 +87,7 @@ class TestCarInterfaces:
|
||||
assert len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP)
|
||||
|
||||
elif tune.which() == 'torque':
|
||||
assert not math.isnan(tune.torque.latAccelFactor) and tune.torque.latAccelFactor > 0
|
||||
assert not math.isnan(tune.torque.kf) and tune.torque.kf > 0
|
||||
assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0
|
||||
|
||||
# Run car interface
|
||||
|
||||
@@ -159,14 +159,14 @@ class CarState(CarStateBase):
|
||||
ret.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status)
|
||||
|
||||
# Update gas, brakes, and gearshift.
|
||||
ret.gasPressed = pt_cp.vl["Motor_3"]["MO3_Pedalwert"] > 0
|
||||
ret.gasPressed = pt_cp.vl["Motor_3"]["Fahrpedal_Rohsignal"] > 0
|
||||
ret.brake = pt_cp.vl["Bremse_5"]["BR5_Bremsdruck"] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects
|
||||
ret.brakePressed = bool(pt_cp.vl["Motor_2"]["MO2_BLS"])
|
||||
ret.parkingBrake = bool(pt_cp.vl["Kombi_1"]["Bremsinfo"])
|
||||
|
||||
# Update gear and/or clutch position data.
|
||||
if self.CP.transmissionType == TransmissionType.automatic:
|
||||
ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_1"]["GE1_Wahl_Pos"], None))
|
||||
ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_1"]["Waehlhebelposition__Getriebe_1_"], None))
|
||||
elif self.CP.transmissionType == TransmissionType.manual:
|
||||
reverse_light = bool(pt_cp.vl["Gate_Komf_1"]["GK1_Rueckfahr"])
|
||||
if reverse_light:
|
||||
@@ -206,7 +206,7 @@ class CarState(CarStateBase):
|
||||
|
||||
# Update ACC radar status.
|
||||
self.acc_type = ext_cp.vl["ACC_System"]["ACS_Typ_ACC"]
|
||||
ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["MO5_GRA_Hauptsch"])
|
||||
ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"])
|
||||
ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["MO2_Sta_GRA"] in (1, 2)
|
||||
if self.CP.pcmCruise:
|
||||
ret.accFaulted = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_StaACC"] in (6, 7)
|
||||
|
||||
@@ -81,7 +81,7 @@ class CarControllerParams:
|
||||
self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
|
||||
|
||||
if CP.transmissionType == TransmissionType.automatic:
|
||||
self.shifter_values = can_define.dv["Getriebe_1"]["GE1_Wahl_Pos"]
|
||||
self.shifter_values = can_define.dv["Getriebe_1"]["Waehlhebelposition__Getriebe_1_"]
|
||||
self.hca_status_values = can_define.dv["Lenkhilfe_2"]["LH2_Sta_HCA"]
|
||||
|
||||
self.BUTTONS = [
|
||||
@@ -90,7 +90,7 @@ class CarControllerParams:
|
||||
Button(structs.CarState.ButtonEvent.Type.accelCruise, "GRA_Neu", "GRA_Up_kurz", [1]),
|
||||
Button(structs.CarState.ButtonEvent.Type.decelCruise, "GRA_Neu", "GRA_Down_kurz", [1]),
|
||||
Button(structs.CarState.ButtonEvent.Type.cancel, "GRA_Neu", "GRA_Abbrechen", [1]),
|
||||
Button(structs.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_Neu", "GRA_Zeitluecke", [3]),
|
||||
Button(structs.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_Neu", "GRA_Zeitluecke", [1]),
|
||||
]
|
||||
|
||||
self.LDW_MESSAGES = {
|
||||
|
||||
@@ -22,7 +22,6 @@ NS_ :
|
||||
SIG_GROUP_
|
||||
SIG_VALTYPE_
|
||||
SIGTYPE_VALTYPE_
|
||||
SG_MUL_VAL_
|
||||
|
||||
BS_:
|
||||
|
||||
@@ -331,64 +330,50 @@ BO_ 1160 Motor_6: 8 XXX
|
||||
SG_ Sollmoment_f_r_Getriebe : 8|8@1+ (0.39,0) [0|99] "MDI" XXX
|
||||
SG_ Checksumme_Motor_6 : 0|8@1+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1152 Motor_5: 8 Motor
|
||||
SG_ MO5_Mp_Code M : 6|2@1+ (1,0) [0|3] "" Gateway
|
||||
SG_ MO5_max_Moment m0 : 0|6@1+ (10,0) [0|630] "Nm" Gateway
|
||||
SG_ MO5_Drehzahl m1 : 0|6@1+ (100,0) [0|6300] "U/min" Gateway
|
||||
SG_ MO5_Motortyp m2 : 0|6@1+ (1,0) [0|63] "" Gateway
|
||||
SG_ MO5_Abgastyp m3 : 0|1@1+ (1,0) [0|1] "" Gateway
|
||||
SG_ MO5_Abgastyp2 m3 : 1|1@1+ (1,0) [0|1] "" Gateway
|
||||
SG_ MO5_Abgastyp3 m3 : 2|1@1+ (1,0) [0|1] "" Gateway
|
||||
SG_ OBD_Kaltstart_Denominator m3 : 3|1@1+ (1,0) [0|1] "" Gateway
|
||||
SG_ OBD_Minimum_Trip m3 : 4|1@1+ (1,0) [0|1] "" Gateway
|
||||
SG_ MO5_DPF_reg m3 : 5|1@1+ (1,0) [0|1] "" Gateway
|
||||
SG_ MO5_Vorgluehen : 9|1@1+ (1,0) [0|1] "" KOMBI
|
||||
SG_ MO5_E_Gas : 10|1@1+ (1,0) [0|1] "" KOMBI
|
||||
SG_ MO5_OBD_2 : 11|1@1+ (1,0) [0|1] "" KOMBI
|
||||
SG_ MO5_Heissl : 12|1@1+ (1,0) [0|1] "" KOMBI
|
||||
SG_ MO5_KlimaKompr : 13|1@1+ (1,0) [0|1] "" Gateway
|
||||
SG_ MO5_Feld_kuehl : 14|1@1+ (1,0) [0|1] "" Gateway
|
||||
SG_ MO5_KliKo_Red : 15|1@1+ (1,0) [0|1] "" Gateway
|
||||
SG_ MO5_Verbrauch : 16|15@1+ (1,0) [0|32767] "µl" KOMBI
|
||||
SG_ MO5_UeberlVerb : 31|1@1+ (1,0) [0|1] "" KOMBI
|
||||
SG_ MO5_Luefter : 32|8@1+ (0.4,0) [0|101.6] "%" Gateway
|
||||
SG_ MO5_HLeuchte : 40|1@1+ (1,0) [0|1] "" KOMBI
|
||||
SG_ MO5_PartikelLamp : 41|1@1+ (1,0) [0|1] "" KOMBI
|
||||
SG_ MO5_Sta_BKU : 42|1@1+ (1,0) [0|1] "" Gateway
|
||||
SG_ MO5_TypStartSteu : 43|1@1+ (1,0) [0|1] "" Gateway
|
||||
SG_ MO5_TDE_Lampe : 44|1@1+ (1,0) [0|1] "" KOMBI
|
||||
SG_ MO5_TDE_Text : 45|1@1+ (1,0) [0|1] "" KOMBI
|
||||
SG_ MO5_DZM_Daempf : 46|1@1+ (1,0) [0|1] "" KOMBI
|
||||
SG_ MO5_Interlock : 47|1@1+ (1,0) [0|1] "" Gateway
|
||||
SG_ MO5_Start : 48|1@1+ (1,0) [0|1] "" Gateway
|
||||
SG_ MO5_Anlasser : 49|1@1+ (1,0) [0|1] "" Gateway
|
||||
SG_ MO5_GRA_Hauptsch : 50|1@1+ (1,0) [0|1] "" Gateway
|
||||
SG_ MO5_Momente : 51|1@1+ (1,0) [0|1] "" Gateway
|
||||
SG_ MO5_Motortext1 : 52|1@1+ (1,0) [0|1] "" KOMBI
|
||||
SG_ MO5_Motortext2 : 53|1@1+ (1,0) [0|1] "" KOMBI
|
||||
SG_ MO5_Motortext3 : 54|1@1+ (1,0) [0|1] "" KOMBI
|
||||
SG_ MO5_Motortext4 : 55|1@1+ (1,0) [0|1] "" KOMBI
|
||||
SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" Gateway
|
||||
BO_ 1152 Motor_5: 8 XXX
|
||||
SG_ CHECKSUM : 56|8@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Motortext_Bits__4_1_ : 52|4@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Doppelte_Momente : 51|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ GRA_Hauptschalter : 50|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Anlasser_Ausspuren : 49|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Anlasser_Freigabe : 48|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Klimadrucksignal__Motor_5_ : 40|8@1+ (0.2,0) [0|50.8] "bar" XXX
|
||||
SG_ K_hlerluefteransteuerung : 32|8@1+ (0.4,0) [0|101.6] "%" XXX
|
||||
SG_ Verbrauch_Ueberlauf : 31|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Kraftstoffverbrauchssignal : 16|15@1+ (1,0) [0|32767] "ul" XXX
|
||||
SG_ Klimakompressor_Leistungsreduzi : 15|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Kennfeldkuehlung : 14|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Klimakompressor_aus__Motor_5_ : 13|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ CAT_Warnung : 12|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ OBD_2_Lampe : 11|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ E_Gas_Lampe : 10|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Vorgluehlampe__Motor_5_ : 9|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Ladekontroll_Lampe : 8|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Multiplex_Code M : 6|2@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Multiplex_Info_norm__Verbrauch m3 : 0|6@1+ (20,0) [0|1260] "l/Zyl" XXX
|
||||
SG_ Multiplex_Info_Motortyp m2 : 0|6@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Multiplex_Info_Drehzahl_MD_Max m1 : 0|6@1+ (100,0) [0|6300] "U/min" XXX
|
||||
SG_ Multiplex_Info_Max_Drehmoment m0 : 0|6@1+ (10,0) [0|630] "Nm" XXX
|
||||
|
||||
BO_ 896 Motor_3: 8 Motor
|
||||
SG_ MO3_Vorgluehen : 0|1@1+ (1,0) [0|1] "" Gateway
|
||||
SG_ MO3_Prio_Dz : 1|1@1+ (1,0) [0|1] "" Transmission
|
||||
SG_ MO_Schalter_StartStopp : 2|1@1+ (1,0) [0|1] "" Gateway
|
||||
SG_ MO3_Winterprg : 3|1@1+ (1,0) [0|1] "" Transmission
|
||||
SG_ MO3_Sta_Pedal : 4|1@1+ (1,0) [0|1] "" Gateway
|
||||
SG_ MO3_Sta_FPG M : 5|1@1+ (1,0) [0|1] "" ESP
|
||||
SG_ MO3_Sign_FPG m1 : 6|1@1+ (1,0) [0|1] "" ESP
|
||||
SG_ MO3_Sta_Temp : 7|1@1+ (1,0) [0|1] "" Gateway
|
||||
SG_ MO3_Offsentemp : 8|8@1+ (0.75,-48) [-48|142.5] "°C" Gateway
|
||||
SG_ MO3_Pedalwert : 16|8@1+ (0.4,0) [0|101.6] "%" Gateway
|
||||
SG_ MO3_Rad_Wu_Mo : 24|12@1+ (0.39,0) [0|1596.66] "%" Transmission
|
||||
SG_ MO3_Vorz_RadWu : 36|1@1+ (1,0) [0|1] "" Transmission
|
||||
SG_ MO3_Freigabe_Segeln : 37|1@1+ (1,0) [0|1] "" Transmission
|
||||
SG_ MO_StartStopp_StoppVorbereitung : 38|1@1+ (1,0) [0|1] "" Gateway
|
||||
SG_ MO3_Dz_Beeinfl : 40|8@1+ (0.39,0) [0|99.45] "%" Transmission
|
||||
SG_ MO3_WunschDz : 48|8@1+ (25,0) [0|6350] "U/min" Transmission
|
||||
SG_ MO3_DKW m0 : 56|8@1+ (0.4,0) [0|101.6] "%" Gateway
|
||||
SG_ MO3_FPGradient m1 : 56|8@1+ (25,0) [0|6350] "%/s" ESP
|
||||
BO_ 896 Motor_3: 8 XXX
|
||||
SG_ Drosselklappenpoti : 56|8@1+ (0.4,0) [0|101.6] "%" XXX
|
||||
SG_ Motor_Wunschdrehzahl : 48|8@1+ (25,0) [0|6350] "U/min" XXX
|
||||
SG_ Motordrehzahlbeeinflussung : 40|8@1+ (0.392,0) [0|100] "%" XXX
|
||||
SG_ Kein_Start_Stop : 39|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Kein_E_Gas : 38|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Reserviert_Motor_3_1 : 37|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Vorzeichen_Rad_Wunschmoment : 36|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Rad_Wunschmoment : 24|12@1+ (0.39,0) [0|1597] "MDI" XXX
|
||||
SG_ Fahrpedal_Rohsignal : 16|8@1+ (0.4,0) [0|101.6] "%" XXX
|
||||
SG_ Ansauglufttemperatur : 8|8@1+ (0.75,-48) [-48|142.5] "" XXX
|
||||
SG_ Fehlerstatus_Ansauglufttemperat : 7|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Motorsteuerger_t_gesperrt : 6|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Drosselklappenwinkel_ungenau : 5|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Fahrpedalwert_ungenau__Motor_3_ : 4|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Frei_Motor_3_1 : 3|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Motor_Wunschdrehzahl_Priorit_t : 2|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Uebertemperaturschutz__Motor_3_ : 1|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Vorgluehmeldung : 0|1@1+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 648 Motor_2: 8 Motor
|
||||
SG_ MO2_Mp_Code m : 6|2@1+ (1,0) [0|3] "" Gateway
|
||||
@@ -720,27 +705,28 @@ BO_ 1344 Getriebe_2: 8 XXX
|
||||
SG_ Schubabschaltunterstuetzung : 1|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ LFR_Adaption_Freigabeflag : 0|1@1+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1088 Getriebe_1: 8 Transmission
|
||||
SG_ GE1_Schaltung : 0|1@1+ (1,0) [0|1] "" Gateway
|
||||
SG_ GE1_Sta_Schutz : 1|1@1+ (1,0) [0|1] "" Motor
|
||||
SG_ GE1_Klimakompr : 2|1@1+ (1,0) [0|1] "" Motor
|
||||
SG_ GE1_WK : 3|2@1+ (1,0) [0|3] "" Gateway
|
||||
SG_ GE1_StSt_Info : 5|2@1+ (1,0) [0|3] "" Gateway
|
||||
SG_ GE1_EGS_Anf : 7|1@1+ (1,0) [0|1] "" Motor
|
||||
SG_ GE1_Zielgang : 8|4@1+ (1,0) [0|15] "" Gateway
|
||||
SG_ GE1_Wahl_Pos : 12|4@1+ (1,0) [0|15] "" Gateway
|
||||
SG_ GE1_Mrad_Mkurb : 16|8@1+ (0.1,0) [0|25.4] "" Gateway
|
||||
SG_ GE1_Soll_Mo : 24|8@1+ (0.39,0) [0|99.06] "%" Motor
|
||||
SG_ GE1_Fahrwistd : 32|8@1+ (0.249,-31.623) [-31.623|31.623] "" Gateway
|
||||
SG_ GE1_Notlauf : 40|4@1+ (1,0) [0|15] "" Gateway
|
||||
SG_ GE1_Kuehlung : 44|2@1+ (1,0) [0|3] "" Gateway
|
||||
SG_ GE1_Sta_OBD : 47|1@1+ (1,0) [0|1] "" Motor
|
||||
SG_ GE1_LaunchControl : 48|1@1+ (1,0) [0|1] "" ESP
|
||||
SG_ GE1_Infobit : 49|1@1+ (1,0) [0|1] "" Gateway
|
||||
SG_ GE1_SleepInd : 50|1@1+ (1,0) [0|1] "" Gateway
|
||||
SG_ COUNTER : 51|4@1+ (1,0) [0|15] "" Gateway
|
||||
SG_ GE1_Fehlereintr : 55|1@1+ (1,0) [0|1] "" Gateway
|
||||
SG_ GE1_WaVerl_Mo : 56|8@1+ (0.39,0) [0|99.06] "%" Motor
|
||||
BO_ 1088 Getriebe_1: 8 XXX
|
||||
SG_ Wandlerverlustmoment : 56|8@1+ (0.39,0) [0|99.06] "MDI" XXX
|
||||
SG_ Fehlerspeichereintrag__Getriebe : 55|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ COUNTER : 51|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Gang_eingelegt : 50|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Schaltabsicht : 49|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Motor_aus : 48|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ OBD_Status__Getriebe_1___4_1_ : 46|2@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Kuehlleistung : 44|2@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Getriebe_Notlauf : 40|4@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Fahrwiderstandsindex : 32|8@1+ (0.249,-31.6) [-31.6|31.6] "" XXX
|
||||
SG_ inneres_Soll_Motormoment : 24|8@1+ (0.39,0) [0|99.06] "MDI" XXX
|
||||
SG_ Uebertragungsfunktion : 16|8@1+ (0.1,0) [0|25.4] "" XXX
|
||||
SG_ Waehlhebelposition__Getriebe_1_ : 12|4@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Zielgang_oder_eingelegter_Gang : 8|4@1+ (1,0) [0|0] "" XXX
|
||||
SG_ EGS_Anforderung : 7|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Kodierung_im_MSG : 6|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Leerlaufsolldrehzahlanhebung : 5|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Wandlerkupplung : 3|2@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Klimakompressor_aus__Getriebe_1 : 2|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Status_Getriebe_und_Wandlerschu : 1|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Schaltung_aktiv__Getriebe_1_ : 0|1@1+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 912 Gate_Komf_1: 8 XXX
|
||||
SG_ GK1_Sta_RDK_Warn : 0|1@1+ (1,0) [0|1] "" XXX
|
||||
@@ -1420,8 +1406,6 @@ BO_ 1175 Parkhilfe_01: 8 XXX
|
||||
SG_ PH_KD_Fehler : 63|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1463 Bremse_11: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ B11_HydHalten : 13|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ B11_Br_StSt_Info : 14|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ B11_OBD_Nib_VL : 16|4@1+ (1,0) [0|15] "" XXX
|
||||
@@ -1616,24 +1600,14 @@ CM_ SG_ 648 MO2_LL_Solldz "Idle target speed";
|
||||
CM_ SG_ 648 MO2_Begr_Mo "Limiting torque - max possible at speed";
|
||||
CM_ SG_ 648 MO2_Mo_ZWR "Minimum engine torque with ignition angle retardation";
|
||||
|
||||
CM_ SG_ 896 MO3_Vorgluehen "Pre-glow active (diesel engines)";
|
||||
CM_ SG_ 896 MO3_Prio_Dz "Engine speed priority: 0=request, 1=mandatory";
|
||||
CM_ SG_ 896 MO_Schalter_StartStopp "Start/stop deactivated by driver (LED on when 0)";
|
||||
CM_ SG_ 896 MO3_Winterprg "Winter driving program active";
|
||||
CM_ SG_ 896 MO3_Sta_Pedal "Accelerator pedal status: 0=OK, 1=substitute value";
|
||||
CM_ SG_ 896 MO3_Sta_FPG "Accelerator pedal gradient control bit (multiplexer for byte 8)";
|
||||
CM_ SG_ 896 MO3_Sign_FPG "Accelerator pedal gradient sign (only when MO3_Sta_FPG=1)";
|
||||
CM_ SG_ 896 MO3_Sta_Temp "Intake air temperature status: 0=OK, 1=substitute value";
|
||||
CM_ SG_ 896 MO3_Offsentemp "Intake air temperature";
|
||||
CM_ SG_ 896 MO3_Pedalwert "Accelerator pedal raw signal (0-101.6%)";
|
||||
CM_ SG_ 896 MO3_Rad_Wu_Mo "Wheel torque request (12-bit value, 0-1596.66% MDI)";
|
||||
CM_ SG_ 896 MO3_Vorz_RadWu "Wheel torque sign: 0=positive, 1=negative";
|
||||
CM_ SG_ 896 MO3_Freigabe_Segeln "Sailing operation enable for transmission";
|
||||
CM_ SG_ 896 MO_StartStopp_StoppVorbereitung "Engine stop in preparation";
|
||||
CM_ SG_ 896 MO3_Dz_Beeinfl "Engine speed influence factor (0-100% interpolation)";
|
||||
CM_ SG_ 896 MO3_WunschDz "Desired engine speed (when MO3_Prio_Dz=1)";
|
||||
CM_ SG_ 896 MO3_DKW "Throttle valve position when MO3_Sta_FPG=0 (0-101.6%)";
|
||||
CM_ SG_ 896 MO3_FPGradient "Accelerator pedal gradient when MO3_Sta_FPG=1 (0-6350%/s)";
|
||||
CM_ SG_ 896 Drosselklappenpoti "Throttle Position";
|
||||
CM_ SG_ 896 Motor_Wunschdrehzahl "Desired engine speed";
|
||||
CM_ SG_ 896 Motordrehzahlbeeinflussung "Shift Target Influence";
|
||||
CM_ SG_ 896 Fahrpedal_Rohsignal "Accelerator Pedal Position";
|
||||
CM_ SG_ 896 Ansauglufttemperatur "Intake Air Temperature";
|
||||
CM_ SG_ 896 Kein_E_Gas "ETB flag";
|
||||
CM_ SG_ 896 Kein_Start_Stop "Start/stop flag";
|
||||
CM_ SG_ 896 Rad_Wunschmoment "Desired wheel torque";
|
||||
|
||||
CM_ SG_ 912 GK1_Fa_Tuerkont "Status of the driver's door rotary latch";
|
||||
CM_ SG_ 912 BSK_HL_geoeffnet "Status of the rear left door rotary latch";
|
||||
@@ -1641,28 +1615,18 @@ CM_ SG_ 912 BSK_HR_geoeffnet "Status of the rear right door rotary latch";
|
||||
CM_ SG_ 912 BSK_BT_geoeffnet "Status of the passenger door rotary latch";
|
||||
CM_ SG_ 912 BSK_HD_Hauptraste "Status of trunk lid main detent";
|
||||
|
||||
CM_ BO_ 1088 "Getriebe 1 - Contains gear status, torque requests, and control signals";
|
||||
|
||||
CM_ SG_ 1088 GE1_Schaltung "Gear shift active: 0=no shift, 1=shift in progress";
|
||||
CM_ SG_ 1088 GE1_Sta_Schutz "Transmission/converter protection request (power reduction or ignition angle)";
|
||||
CM_ SG_ 1088 GE1_Klimakompr "AC compressor off request";
|
||||
CM_ SG_ 1088 GE1_WK "Torque converter clutch status";
|
||||
CM_ SG_ 1088 GE1_StSt_Info "Start/stop coordinator info";
|
||||
CM_ SG_ 1088 GE1_EGS_Anf "EGS request - byte 4 becomes valid when set";
|
||||
CM_ SG_ 1088 GE1_Zielgang "Target gear when shifting or current gear";
|
||||
CM_ SG_ 1088 GE1_Wahl_Pos "Selector lever position / driving program";
|
||||
CM_ SG_ 1088 GE1_Mrad_Mkurb "Wheel torque to crankshaft torque ratio (Mrad/Mcrank)";
|
||||
CM_ SG_ 1088 GE1_Soll_Mo "Internal target engine torque request (0-99.06%)";
|
||||
CM_ SG_ 1088 GE1_Fahrwistd "Driving resistance index (normalized % slope)";
|
||||
CM_ SG_ 1088 GE1_Notlauf "Emergency mode status";
|
||||
CM_ SG_ 1088 GE1_Kuehlung "Cooling request level";
|
||||
CM_ SG_ 1088 GE1_Sta_OBD "OBD status - MIL lamp control";
|
||||
CM_ SG_ 1088 GE1_LaunchControl "Launch control active";
|
||||
CM_ SG_ 1088 GE1_Infobit "Transmission type: 0=stepped automatic, 1=CVT";
|
||||
CM_ SG_ 1088 GE1_SleepInd "Sleep readiness after terminal 15 off";
|
||||
CM_ SG_ 1088 GE1_Zaehler "Message counter (synchronized with Getriebe_2)";
|
||||
CM_ SG_ 1088 GE1_Fehlereintr "Fault memory entry present";
|
||||
CM_ SG_ 1088 GE1_WaVerl_Mo "Transmission torque loss / clutch torque (0-99.06%)";
|
||||
CM_ SG_ 1088 Zaehler_Getriebe_1 "Counter Getriebe_1";
|
||||
CM_ SG_ 1088 Waehlhebelposition__Getriebe_1_ "Gear Selector Position";
|
||||
CM_ SG_ 1088 inneres_Soll_Motormoment "Desired Inner Torque";
|
||||
CM_ SG_ 1088 Gang_eingelegt "Gear Engaged";
|
||||
CM_ SG_ 1088 Schaltabsicht "Shift Intent";
|
||||
CM_ SG_ 1088 Kuehlleistung "Cooling Power";
|
||||
CM_ SG_ 1088 Wandlerverlustmoment "Converter Torque Loss";
|
||||
CM_ SG_ 1088 Getriebe_Notlauf "Transmission_Notlauf";
|
||||
CM_ SG_ 1088 Zielgang_oder_eingelegter_Gang "target_gear_or_gear_in_engagement";
|
||||
CM_ SG_ 1088 Uebertragungsfunktion "transfer function";
|
||||
CM_ SG_ 1088 EGS_Anforderung "EGS Requirement";
|
||||
CM_ SG_ 1088 Schaltung_aktiv__Getriebe_1_ "Shift Activity";
|
||||
|
||||
CM_ SG_ 1056 Fehlerstatus_Aussentemp__4_1 "ambient temp error";
|
||||
CM_ SG_ 1056 Fehlerstatus_Oeltemperatur_4_1 "oil temp error";
|
||||
@@ -1673,45 +1637,19 @@ CM_ SG_ 1056 Kuehlmitteltemp__4_1__Kombi_2_ "kombi coolant temperature";
|
||||
|
||||
CM_ SG_ 1096 Zaehler_Waehlhebel_1 "Counter Waehlhebel_1";
|
||||
|
||||
CM_ BO_ 1152 "Motor message 5 - Contains engine type, consumption, lamps, and diagnostic info";
|
||||
|
||||
CM_ SG_ 1152 MO5_Mp_Code "Multiplex selector - switches every 4 transmissions";
|
||||
CM_ SG_ 1152 MO5_max_Moment "Maximum torque when Mp_Code=0 (0-630 Nm)";
|
||||
CM_ SG_ 1152 MO5_Drehzahl "Engine speed at max torque when Mp_Code=1 (0-6300 RPM)";
|
||||
CM_ SG_ 1152 MO5_Motortyp "Engine type info when Mp_Code=2 (cylinder count, turbo, fuel type)";
|
||||
CM_ SG_ 1152 MO5_Abgastyp "Exhaust type EOBD when Mp_Code=3";
|
||||
CM_ SG_ 1152 MO5_Abgastyp2 "Exhaust type OBD when Mp_Code=3";
|
||||
CM_ SG_ 1152 MO5_Abgastyp3 "DPF installed when Mp_Code=3";
|
||||
CM_ SG_ 1152 OBD_Kaltstart_Denominator "Cold start denominator increment when Mp_Code=3";
|
||||
CM_ SG_ 1152 OBD_Minimum_Trip "Minimum normalized trip when Mp_Code=3";
|
||||
CM_ SG_ 1152 MO5_DPF_reg "DPF regenerating when Mp_Code=3";
|
||||
CM_ SG_ 1152 MO5_Vorgluehen "Diesel pre-glow lamp";
|
||||
CM_ SG_ 1152 MO5_E_Gas "E-Gas system lamp (petrol only)";
|
||||
CM_ SG_ 1152 MO5_OBD_2 "OBD/MIL lamp control";
|
||||
CM_ SG_ 1152 MO5_Heissl "Coolant overheat warning lamp";
|
||||
CM_ SG_ 1152 MO5_KlimaKompr "AC compressor off request";
|
||||
CM_ SG_ 1152 MO5_Feld_kuehl "Map cooling installed and OK";
|
||||
CM_ SG_ 1152 MO5_KliKo_Red "AC compressor power reduction";
|
||||
CM_ SG_ 1152 MO5_Verbrauch "Fuel consumption counter (15-bit, µl)";
|
||||
CM_ SG_ 1152 MO5_UeberlVerb "Consumption counter overflow";
|
||||
CM_ SG_ 1152 MO5_Luefter "Cooling fan PWM control (0-101.6%)";
|
||||
CM_ SG_ 1152 MO5_HLeuchte "Overheat pre-warning";
|
||||
CM_ SG_ 1152 MO5_PartikelLamp "Particle filter lamp";
|
||||
CM_ SG_ 1152 MO5_Sta_BKU "Brake vacuum pump status (Porsche only)";
|
||||
CM_ SG_ 1152 MO5_TypStartSteu "Starter control type: 0=BSG/BCM, 1=MSG";
|
||||
CM_ SG_ 1152 MO5_TDE_Lampe "Fuel cap warning lamp (petrol only)";
|
||||
CM_ SG_ 1152 MO5_TDE_Text "Fuel cap text display (petrol only)";
|
||||
CM_ SG_ 1152 MO5_DZM_Daempf "RPM gauge damping control";
|
||||
CM_ SG_ 1152 MO5_Interlock "Interlock switch for manual transmission start";
|
||||
CM_ SG_ 1152 MO5_Start "Automatic start permission";
|
||||
CM_ SG_ 1152 MO5_Anlasser "Starter control permission";
|
||||
CM_ SG_ 1152 MO5_GRA_Hauptsch "GRA main switch / readiness";
|
||||
CM_ SG_ 1152 MO5_Momente "MDI torque values doubled";
|
||||
CM_ SG_ 1152 MO5_Motortext1 "Text: Engine workshop";
|
||||
CM_ SG_ 1152 MO5_Motortext2 "Text: Exhaust workshop (deprecated)";
|
||||
CM_ SG_ 1152 MO5_Motortext3 "Text: Fuel system fault";
|
||||
CM_ SG_ 1152 MO5_Motortext4 "Text: Particle filter needs regeneration";
|
||||
CM_ SG_ 1152 CHECKSUM "Checksum with final value 0x0";
|
||||
CM_ SG_ 1152 CHECKSUM "Checksum Motor_5";
|
||||
CM_ SG_ 1152 Anlasser_Ausspuren "Starter Disable";
|
||||
CM_ SG_ 1152 Anlasser_Freigabe "Starter Release";
|
||||
CM_ SG_ 1152 Klimadrucksignal__Motor_5_ "Air conditioning pressure signal";
|
||||
CM_ SG_ 1152 Kraftstoffverbrauchssignal "Fuel consumption signal";
|
||||
CM_ SG_ 1152 K_hlerluefteransteuerung "Cooling fan control signal";
|
||||
CM_ SG_ 1152 Klimakompressor_Leistungsreduzi "Air conditioning compressor power reduction flag";
|
||||
CM_ SG_ 1152 Klimakompressor_aus__Motor_5_ "Air conditioning compressor";
|
||||
CM_ SG_ 1152 Anlasser_Freigabe "Starter release";
|
||||
CM_ SG_ 1152 OBD_2_Lampe "OBD light";
|
||||
CM_ SG_ 1152 E_Gas_Lampe "ETB light";
|
||||
CM_ SG_ 1152 Ladekontroll_Lampe "Charge light";
|
||||
CM_ SG_ 1152 Vorgluehlampe__Motor_5_ "Glow light";
|
||||
|
||||
CM_ SG_ 1160 Zaehler_Motor_6 "Counter Motor_6";
|
||||
CM_ SG_ 1160 Hoeheninfo__Motor_6_ "Altitude Correction";
|
||||
@@ -1750,10 +1688,6 @@ CM_ SG_ 1550 MFA_v_Signal_02 "0=km/h, 1=mph";
|
||||
SG_MUL_VAL_ 416 BR1_ASRMo_fa BR1_MSR_Anf 0-0;
|
||||
SG_MUL_VAL_ 416 BR1_MSR_Mo_inv BR1_MSR_Anf 1-1;
|
||||
|
||||
SG_MUL_VAL_ 896 MO3_DKW MO3_Sta_FPG 0-0;
|
||||
SG_MUL_VAL_ 896 MO3_FPGradient MO3_Sta_FPG 1-1;
|
||||
SG_MUL_VAL_ 896 MO3_Sign_FPG MO3_Sta_FPG 1-1;
|
||||
|
||||
VAL_ 194 LW1_LRW_Sign 0 "positives_Vorzeichen" 1 "negatives_Vorzeichen";
|
||||
VAL_ 194 LW1_Gesch_Sign 0 "positives_Vorzeichen" 1 "negatives_Vorzeichen";
|
||||
VAL_ 194 LW1_ID 0 "noch_not_kalibriert" 128 "kalibriert_nur_bei_PQ35_46_VW32x_VW411";
|
||||
@@ -1787,16 +1721,6 @@ SG_MUL_VAL_ 648 MO2_max_Mo MO2_Mp_Code 3-3;
|
||||
SG_MUL_VAL_ 648 MO2_CAN_Vers MO2_Mp_Code 0-0;
|
||||
SG_MUL_VAL_ 648 MO2_Motor_Code MO2_Mp_Code 1-1;
|
||||
|
||||
SG_MUL_VAL_ 1152 MO5_max_Moment MO5_Mp_Code 0-0;
|
||||
SG_MUL_VAL_ 1152 MO5_Drehzahl MO5_Mp_Code 1-1;
|
||||
SG_MUL_VAL_ 1152 MO5_Motortyp MO5_Mp_Code 2-2;
|
||||
SG_MUL_VAL_ 1152 MO5_Abgastyp MO5_Mp_Code 3-3;
|
||||
SG_MUL_VAL_ 1152 MO5_Abgastyp2 MO5_Mp_Code 3-3;
|
||||
SG_MUL_VAL_ 1152 MO5_Abgastyp3 MO5_Mp_Code 3-3;
|
||||
SG_MUL_VAL_ 1152 OBD_Kaltstart_Denominator MO5_Mp_Code 3-3;
|
||||
SG_MUL_VAL_ 1152 OBD_Minimum_Trip MO5_Mp_Code 3-3;
|
||||
SG_MUL_VAL_ 1152 MO5_DPF_reg MO5_Mp_Code 3-3;
|
||||
|
||||
VAL_ 648 MO2_Mp_Code 0 "CAN_Stand" 1 "Motor_Kod" 2 "Getriebe_Kod" 3 "MDI_Max";
|
||||
|
||||
VAL_ 648 MO2_Getr_Code 0 "_5HP19" 1 "_5HP24" 2 "AG4" 3 "VL300" 4 "VQ250" 5 "VQ35" 6 "AG4_yestco" 7 "AG5_yestco" 8 "autom_Kupplung" 9 "autom_Kupplung_mit_ASG" 10 "AG6_yestco_ZF_6HP_AISIN" 11 "DQ500_DQ250_DQ200" 12 "SQ100_SQ200" 14 "AL1000_AL551_AL951_ZF8HPx" 15 "Handschalter_konv" 16 "DL800" 17 "E_Fahrzeug__Single_Gear";
|
||||
@@ -1855,68 +1779,8 @@ VAL_ 872 ACS_Fehler 1 "Fehlerspeichereintrag" 0 "kein_Fehlerspeichereintrag" ;
|
||||
VAL_ 872 ACS_zul_Regelabw 254 "ADR_nicht_aktiv" 255 "Fehler" ;
|
||||
VAL_ 872 ACS_max_AendGrad 254 "Neutralwert" 0 "Neutralwert" 255 "Fehler" ;
|
||||
|
||||
VAL_ 896 MO3_Vorgluehen 0 "no_Vorgluehen" 1 "Vorgluehen_active";
|
||||
VAL_ 896 MO3_Prio_Dz 0 "Wunsch" 1 "Zwang";
|
||||
VAL_ 896 MO_Schalter_StartStopp 0 "StartStopp_ueber_Hauptschalter_deactivated_LED_an" 1 "StartStopp_ueber_Hauptschalter_activated_LED_aus";
|
||||
VAL_ 896 MO3_Winterprg 0 "not_active" 1 "active";
|
||||
VAL_ 896 MO3_Sta_Pedal 0 "Fahrpedal_iO" 1 "Ersatzwert";
|
||||
VAL_ 896 MO3_Sta_FPG 0 "Gradient_not_bed" 1 "Gradient_bed";
|
||||
VAL_ 896 MO3_Sign_FPG 0 "positives_Vorzeichen" 1 "negatives_Vorzeichen";
|
||||
VAL_ 896 MO3_Sta_Temp 0 "Geber_iO" 1 "Ersatzwert";
|
||||
VAL_ 896 MO3_Vorz_RadWu 0 "positives_Vorzeichen" 1 "negatives_Vorzeichen";
|
||||
VAL_ 896 MO3_Freigabe_Segeln 0 "Segelbetrieb_not_freigegeben" 1 "Segelbetrieb_freigegeben";
|
||||
VAL_ 896 MO_StartStopp_StoppVorbereitung 0 "Motorstopp_not_in_Vorbereitung" 1 "Motorstopp_in_Vorbereitung";
|
||||
CM_ BO_ 896 "Motor message 3 - Contains accelerator pedal, temperatures, and control signals";
|
||||
|
||||
VAL_ 978 LH2_Sta_HCA 0 "disabled" 1 "initializing" 2 "fault" 3 "ready" 4 "rejected" 5 "active" 7 "active";
|
||||
|
||||
VAL_ 1088 GE1_Schaltung 0 "no_circuit" 1 "circuit_is_running";
|
||||
VAL_ 1088 GE1_Sta_Schutz 0 "no_protection" 1 "protection_requested";
|
||||
VAL_ 1088 GE1_Klimakompr 0 "no_Anforderung" 1 "Kompressor_aus";
|
||||
VAL_ 1088 GE1_WK 0 "WK_open" 1 "WK_regulated" 2 "WK_closed" 3 "Failure";
|
||||
VAL_ 1088 GE1_StSt_Info 0 "Engine_running_not_necessary_stop_release" 1 "Motor_start_not_mandatory_necessary_stop_prohibition" 2 "Motor_start_absolute_necessary_start_request" 3 "System_error";
|
||||
VAL_ 1088 GE1_EGS_Anf 0 "no_requirement" 1 "EGS_requirement";
|
||||
VAL_ 1088 GE1_Zielgang 0 "P (Park) | Disengaged" 1 "Gear 1 | Engaged" 2 "Gear 2 | Engaged" 3 "Gear 3 | Engaged" 4 "Gear 4 | Engaged" 5 "Gear 5 | Engaged" 6 "1m Gear" 7 "Gang_R" 8 "Gear 6 | Engaged" 9 "Gear 7 | Engaged" 10 "Gear 8 | Engaged" 14 "Speed Not Defined" 15 "Failure";
|
||||
VAL_ 1088 GE1_Wahl_Pos 0 "Intermediate Position" 1 "Pos_1" 2 "Pos_2" 3 "Pos_3" 4 "Pos_4" 5 "D (Drive)" 6 "Pos_N" 7 "R (Reverse)" 8 "P (Park)" 9 "Tiptronic Override" 10 "Pos_Z1" 11 "Pos_Z2" 12 "S (Sport)" 13 "Pos_L" 14 "Gas Pedal Force Downshift" 15 "Failure";
|
||||
VAL_ 1088 GE1_Notlauf 0 "No Emergency" 1 "No Switching" 2 "Switch to Neutral" 3 "50% Shifting Capacity" 4 "Driving Without UK" 5 "No Emeregency" 6 "No Emergency" 7 "No Emergency, Target Shifting Reached" 15 "Failure";
|
||||
VAL_ 1088 GE1_Kuehlung 0 "No Additional Cooling Requested" 1 "20% Additional Fan Cooling Requested" 2 "40% Additional Fan Cooling Requested" 3 "Maximum Additional Fan Cooling Requested";
|
||||
VAL_ 1088 GE1_Sta_OBD 0 "MIL Off" 1 "MIL On";
|
||||
VAL_ 1088 GE1_LaunchControl 0 "Launch Control Not Active" 1 "Launch Control Program Active";
|
||||
VAL_ 1088 GE1_Infobit 0 "Standard Automatic" 1 "CVT";
|
||||
VAL_ 1088 GE1_SleepInd 0 "CAN is Required" 1 "Sleep Ready";
|
||||
VAL_ 1088 GE1_Fehlereintr 0 "No Failure Memory Entry" 1 "Failure Memory Entry";
|
||||
|
||||
VAL_ 1152 MO5_Mp_Code 0 "Max_Moment" 1 "Drehzahl" 2 "Motor_Typ" 3 "Abgastyp_od_norm_Verbrauch";
|
||||
VAL_ 1152 MO5_Abgastyp 0 "no_EOBD" 1 "EOBD";
|
||||
VAL_ 1152 MO5_Abgastyp2 0 "no_OBD" 1 "OBD";
|
||||
VAL_ 1152 MO5_Abgastyp3 0 "no_DPF_verbaut" 1 "DPF_verbaut";
|
||||
VAL_ 1152 OBD_Kaltstart_Denominator 0 "Denominator_not_hochzaehlen" 1 "Bedingungen_zum_Inkr_des_Kaltstart_Denom_erf";
|
||||
VAL_ 1152 OBD_Minimum_Trip 0 "no_Min_Normed_Trip" 1 "Min_Normed_Trip";
|
||||
VAL_ 1152 MO5_DPF_reg 0 "DPF_regeneriert_nicht" 1 "DPF_regeneriert";
|
||||
VAL_ 1152 MO5_Vorgluehen 0 "Lamp_off" 1 "Lamp_on";
|
||||
VAL_ 1152 MO5_E_Gas 0 "Lamp_off" 1 "Lamp_on";
|
||||
VAL_ 1152 MO5_OBD_2 0 "Lamp_off" 1 "Lamp_on";
|
||||
VAL_ 1152 MO5_Heissl 0 "Lamp_off" 1 "Lamp_on";
|
||||
VAL_ 1152 MO5_KlimaKompr 0 "no_Anforderung" 1 "Klimakompr_aus";
|
||||
VAL_ 1152 MO5_Feld_kuehl 0 "no" 1 "yes";
|
||||
VAL_ 1152 MO5_KliKo_Red 0 "no" 1 "yes";
|
||||
VAL_ 1152 MO5_UeberlVerb 0 "no_Ueberlauf" 1 "mindestens_einmal_uebergelaufen";
|
||||
VAL_ 1152 MO5_HLeuchte 0 "no_Warnung" 1 "Vorwarnung";
|
||||
VAL_ 1152 MO5_PartikelLamp 0 "Lamp_off" 1 "Lamp_on";
|
||||
VAL_ 1152 MO5_Sta_BKU 0 "iO_oder_not_verbaut" 1 "n_iO";
|
||||
VAL_ 1152 MO5_TypStartSteu 0 "Startersteuerung_BSG_BCM_KessyD1_ZAS" 1 "Startersteuerung_durch_MSG";
|
||||
VAL_ 1152 MO5_TDE_Lampe 0 "Lamp_off" 1 "Lamp_on";
|
||||
VAL_ 1152 MO5_TDE_Text 0 "no_Text" 1 "Textanzeige_nach_ISO";
|
||||
VAL_ 1152 MO5_DZM_Daempf 0 "normale_Daempfung" 1 "dynamische_Daempfung";
|
||||
VAL_ 1152 MO5_Interlock 0 "Interlock_not_betaetigt" 1 "Interlock_betaetigt";
|
||||
VAL_ 1152 MO5_Start 0 "Start_not_zulaessig" 1 "Startfreigabe";
|
||||
VAL_ 1152 MO5_Anlasser 0 "Anlasser_darf_angesteuert_werden" 1 "Anlasser_ausspuren_Ansteuerung_not_moeglich";
|
||||
VAL_ 1152 MO5_GRA_Hauptsch 0 "Off" 1 "On";
|
||||
VAL_ 1152 MO5_Momente 0 "Einfach" 1 "Doppelt";
|
||||
VAL_ 1152 MO5_Motortext1 0 "no_Text" 1 "Text_1";
|
||||
VAL_ 1152 MO5_Motortext2 0 "no_Text" 1 "Text_2";
|
||||
VAL_ 1152 MO5_Motortext3 0 "no_Text" 1 "Text_3";
|
||||
VAL_ 1152 MO5_Motortext4 0 "no_Text" 1 "Text_4";
|
||||
VAL_ 1088 Waehlhebelposition__Getriebe_1_ 8 "P" 7 "R" 6 "N" 5 "D" 9 "U" 12 "S" 14 "T" 10 "T" 11 "T";
|
||||
|
||||
VAL_ 1386 ACA_StaACC 6 "ACC_rev_aus" 0 "Hauptschalter_aus" 4 "ACC_im_Hintergrund" 3 "ACC_aktiv" 1 "Reserve" 2 "ACC_passiv" 7 "ACC_irrev_aus" 5 "frei" ;
|
||||
VAL_ 1386 ACA_ID_StaACC 0 "keine_Anzeige" ;
|
||||
|
||||
@@ -73,7 +73,6 @@ static void chrysler_rx_hook(const CANPacket_t *msg) {
|
||||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
const unsigned int das_3_bus = (chrysler_platform == CHRYSLER_PACIFICA) ? 0U : 2U;
|
||||
if ((msg->bus == das_3_bus) && (msg->addr == chrysler_addrs->DAS_3)) {
|
||||
acc_main_on = GET_BIT(msg, 20U);
|
||||
bool cruise_engaged = GET_BIT(msg, 21U);
|
||||
pcm_cruise_check(cruise_engaged);
|
||||
}
|
||||
|
||||
@@ -157,7 +157,6 @@ static void ford_rx_hook(const CANPacket_t *msg) {
|
||||
// Signal: CcStat_D_Actl
|
||||
unsigned int cruise_state = msg->data[1] & 0x07U;
|
||||
bool cruise_engaged = (cruise_state == 4U) || (cruise_state == 5U);
|
||||
acc_main_on = (cruise_state == 3U) || cruise_engaged;
|
||||
pcm_cruise_check(cruise_engaged);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -89,10 +89,6 @@ static void gm_rx_hook(const CANPacket_t *msg) {
|
||||
if (msg->addr == 0xBDU) {
|
||||
regen_braking = (msg->data[0] >> 4) != 0U;
|
||||
}
|
||||
|
||||
if (msg->addr == 0xC9U) {
|
||||
acc_main_on = GET_BIT(msg, 29U);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -32,7 +32,6 @@ static void mazda_rx_hook(const CANPacket_t *msg) {
|
||||
|
||||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
if (msg->addr == MAZDA_CRZ_CTRL) {
|
||||
acc_main_on = GET_BIT(msg, 17U);
|
||||
bool cruise_engaged = msg->data[0] & 0x8U;
|
||||
pcm_cruise_check(cruise_engaged);
|
||||
}
|
||||
|
||||
@@ -43,14 +43,6 @@ static void nissan_rx_hook(const CANPacket_t *msg) {
|
||||
brake_pressed = ((msg->data[4] >> 5) & 1U) != 0U;
|
||||
}
|
||||
}
|
||||
|
||||
if ((msg->bus == 0U) && (msg->addr == 0x239U)) {
|
||||
acc_main_on = GET_BIT(msg, 17U);
|
||||
}
|
||||
|
||||
if ((msg->bus == (nissan_alt_eps ? 2U : 1U)) && (msg->addr == 0x1B6U)) {
|
||||
acc_main_on = GET_BIT(msg, 36U);
|
||||
}
|
||||
}
|
||||
|
||||
// Handle cruise enabled
|
||||
|
||||
@@ -109,7 +109,6 @@ static void subaru_rx_hook(const CANPacket_t *msg) {
|
||||
|
||||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
if ((msg->addr == MSG_SUBARU_CruiseControl) && (msg->bus == alt_main_bus)) {
|
||||
acc_main_on = GET_BIT(msg, 40U);
|
||||
bool cruise_engaged = (msg->data[5] >> 1) & 1U;
|
||||
pcm_cruise_check(cruise_engaged);
|
||||
}
|
||||
|
||||
@@ -31,7 +31,6 @@ static void subaru_preglobal_rx_hook(const CANPacket_t *msg) {
|
||||
|
||||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
if (msg->addr == MSG_SUBARU_PG_CruiseControl) {
|
||||
acc_main_on = GET_BIT(msg, 48U);
|
||||
bool cruise_engaged = (msg->data[6] >> 1) & 1U;
|
||||
pcm_cruise_check(cruise_engaged);
|
||||
}
|
||||
|
||||
@@ -201,14 +201,6 @@ static void toyota_rx_hook(const CANPacket_t *msg) {
|
||||
|
||||
UPDATE_VEHICLE_SPEED(speed / 4.0 * 0.01 * KPH_TO_MS);
|
||||
}
|
||||
|
||||
if (msg->addr == 0x1D3U) {
|
||||
acc_main_on = GET_BIT(msg, 15U);
|
||||
}
|
||||
|
||||
if (msg->addr == 0x365U) {
|
||||
acc_main_on = GET_BIT(msg, 0U);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -78,7 +78,7 @@ static safety_config volkswagen_pq_init(uint16_t param) {
|
||||
static void volkswagen_pq_rx_hook(const CANPacket_t *msg) {
|
||||
if (msg->bus == 0U) {
|
||||
// Update in-motion state from speed value.
|
||||
// Signal: Bremse_1.BR1_Rad_kmh
|
||||
// Signal: Bremse_1.Geschwindigkeit_neu__Bremse_1_
|
||||
if (msg->addr == MSG_BREMSE_1) {
|
||||
int speed = ((msg->data[2] & 0xFEU) >> 1) | (msg->data[3] << 7);
|
||||
vehicle_moving = speed > 0;
|
||||
@@ -99,7 +99,7 @@ static void volkswagen_pq_rx_hook(const CANPacket_t *msg) {
|
||||
if (volkswagen_longitudinal) {
|
||||
if (msg->addr == MSG_MOTOR_5) {
|
||||
// ACC main switch on is a prerequisite to enter controls, exit controls immediately on main switch off
|
||||
// Signal: Motor_5.MO5_GRA_Hauptsch
|
||||
// Signal: Motor_5.GRA_Hauptschalter
|
||||
acc_main_on = GET_BIT(msg, 50U);
|
||||
if (!acc_main_on) {
|
||||
controls_allowed = false;
|
||||
@@ -126,19 +126,19 @@ static void volkswagen_pq_rx_hook(const CANPacket_t *msg) {
|
||||
} else {
|
||||
if (msg->addr == MSG_MOTOR_2) {
|
||||
// Enter controls on rising edge of stock ACC, exit controls if stock ACC disengages
|
||||
// Signal: Motor_2.MO2_Sta_GRA
|
||||
// Signal: Motor_2.GRA_Status
|
||||
int acc_status = (msg->data[2] & 0xC0U) >> 6;
|
||||
bool cruise_engaged = (acc_status == 1) || (acc_status == 2);
|
||||
pcm_cruise_check(cruise_engaged);
|
||||
}
|
||||
}
|
||||
|
||||
// Signal: Motor_3.MO3_Pedalwert
|
||||
// Signal: Motor_3.Fahrpedal_Rohsignal
|
||||
if (msg->addr == MSG_MOTOR_3) {
|
||||
gas_pressed = (msg->data[2]);
|
||||
}
|
||||
|
||||
// Signal: Motor_2.MO2_BLS
|
||||
// Signal: Motor_2.Bremslichtschalter
|
||||
if (msg->addr == MSG_MOTOR_2) {
|
||||
brake_pressed = (msg->data[2] & 0x1U);
|
||||
}
|
||||
|
||||
@@ -75,12 +75,12 @@ class TestVolkswagenPqSafetyBase(common.CarSafetyTest, common.DriverTorqueSteeri
|
||||
|
||||
# ACC main switch status
|
||||
def _motor_5_msg(self, main_switch=False):
|
||||
values = {"MO5_GRA_Hauptsch": main_switch}
|
||||
values = {"GRA_Hauptschalter": main_switch}
|
||||
return self.packer.make_can_msg_safety("Motor_5", 0, values)
|
||||
|
||||
# Driver throttle input (Motor_3)
|
||||
def _user_gas_msg(self, gas):
|
||||
values = {"MO3_Pedalwert": gas}
|
||||
values = {"Fahrpedal_Rohsignal": gas}
|
||||
return self.packer.make_can_msg_safety("Motor_3", 0, values)
|
||||
|
||||
# Cruise control buttons (GRA_Neu)
|
||||
|
||||
+2
-2
@@ -177,7 +177,7 @@ quiet-level = 3
|
||||
# if you've got a short variable name that's getting flagged, add it here
|
||||
ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite"
|
||||
builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
|
||||
skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
|
||||
skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*"
|
||||
|
||||
[tool.mypy]
|
||||
python_version = "3.11"
|
||||
@@ -235,7 +235,7 @@ lint.ignore = [
|
||||
"B027",
|
||||
"B024",
|
||||
"NPY002", # new numpy random syntax is worse
|
||||
"UP045", "UP007", # these don't play nice with raylib atm
|
||||
"UP038", # (x, y) -> x|y for isinstance
|
||||
]
|
||||
line-length = 160
|
||||
target-version ="py311"
|
||||
|
||||
+1
-1
@@ -12,7 +12,7 @@ from openpilot.common.basedir import BASEDIR
|
||||
|
||||
|
||||
DIRS = ['cereal', 'openpilot']
|
||||
EXTS = ['.png', '.py', '.ttf', '.capnp', '.json', '.fnt', '.mo']
|
||||
EXTS = ['.png', '.py', '.ttf', '.capnp']
|
||||
INTERPRETER = '/usr/bin/env python3'
|
||||
|
||||
|
||||
|
||||
@@ -1,4 +1,2 @@
|
||||
*.cc
|
||||
fonts/*.fnt
|
||||
fonts/*.png
|
||||
translations_assets.qrc
|
||||
|
||||
@@ -1,132 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
from pathlib import Path
|
||||
import json
|
||||
|
||||
import pyray as rl
|
||||
|
||||
FONT_DIR = Path(__file__).resolve().parent
|
||||
SELFDRIVE_DIR = FONT_DIR.parents[1]
|
||||
TRANSLATIONS_DIR = SELFDRIVE_DIR / "ui" / "translations"
|
||||
LANGUAGES_FILE = TRANSLATIONS_DIR / "languages.json"
|
||||
|
||||
GLYPH_PADDING = 6
|
||||
EXTRA_CHARS = "–‑✓×°§•X⚙✕◀▶✔⌫⇧␣○●↳çêüñ–‑✓×°§•€£¥"
|
||||
UNIFONT_LANGUAGES = {"ar", "th", "zh-CHT", "zh-CHS", "ko", "ja"}
|
||||
|
||||
|
||||
def _languages():
|
||||
if not LANGUAGES_FILE.exists():
|
||||
return {}
|
||||
with LANGUAGES_FILE.open(encoding="utf-8") as f:
|
||||
return json.load(f)
|
||||
|
||||
|
||||
def _char_sets():
|
||||
base = set(map(chr, range(32, 127))) | set(EXTRA_CHARS)
|
||||
unifont = set(base)
|
||||
|
||||
for language, code in _languages().items():
|
||||
unifont.update(language)
|
||||
po_path = TRANSLATIONS_DIR / f"app_{code}.po"
|
||||
try:
|
||||
chars = set(po_path.read_text(encoding="utf-8"))
|
||||
except FileNotFoundError:
|
||||
continue
|
||||
(unifont if code in UNIFONT_LANGUAGES else base).update(chars)
|
||||
|
||||
return tuple(sorted(ord(c) for c in base)), tuple(sorted(ord(c) for c in unifont))
|
||||
|
||||
|
||||
def _glyph_metrics(glyphs, rects, codepoints):
|
||||
entries = []
|
||||
min_offset_y, max_extent = None, 0
|
||||
for idx, codepoint in enumerate(codepoints):
|
||||
glyph = glyphs[idx]
|
||||
rect = rects[idx]
|
||||
width = int(round(rect.width))
|
||||
height = int(round(rect.height))
|
||||
offset_y = int(round(glyph.offsetY))
|
||||
min_offset_y = offset_y if min_offset_y is None else min(min_offset_y, offset_y)
|
||||
max_extent = max(max_extent, offset_y + height)
|
||||
entries.append({
|
||||
"id": codepoint,
|
||||
"x": int(round(rect.x)),
|
||||
"y": int(round(rect.y)),
|
||||
"width": width,
|
||||
"height": height,
|
||||
"xoffset": int(round(glyph.offsetX)),
|
||||
"yoffset": offset_y,
|
||||
"xadvance": int(round(glyph.advanceX)),
|
||||
})
|
||||
|
||||
if min_offset_y is None:
|
||||
raise RuntimeError("No glyphs were generated")
|
||||
|
||||
line_height = int(round(max_extent - min_offset_y))
|
||||
base = int(round(max_extent))
|
||||
return entries, line_height, base
|
||||
|
||||
|
||||
def _write_bmfont(path: Path, font_size: int, face: str, atlas_name: str, line_height: int, base: int, atlas_size, entries):
|
||||
# TODO: why doesn't raylib calculate these metrics correctly?
|
||||
if line_height != font_size:
|
||||
print("using font size for line height", atlas_name)
|
||||
line_height = font_size
|
||||
lines = [
|
||||
f"info face=\"{face}\" size=-{font_size} bold=0 italic=0 charset=\"\" unicode=1 stretchH=100 smooth=0 aa=1 padding=0,0,0,0 spacing=0,0 outline=0",
|
||||
f"common lineHeight={line_height} base={base} scaleW={atlas_size[0]} scaleH={atlas_size[1]} pages=1 packed=0 alphaChnl=0 redChnl=4 greenChnl=4 blueChnl=4",
|
||||
f"page id=0 file=\"{atlas_name}\"",
|
||||
f"chars count={len(entries)}",
|
||||
]
|
||||
for entry in entries:
|
||||
lines.append(
|
||||
("char id={id:<4} x={x:<5} y={y:<5} width={width:<5} height={height:<5} " +
|
||||
"xoffset={xoffset:<5} yoffset={yoffset:<5} xadvance={xadvance:<5} page=0 chnl=15").format(**entry)
|
||||
)
|
||||
path.write_text("\n".join(lines) + "\n")
|
||||
|
||||
|
||||
def _process_font(font_path: Path, codepoints: tuple[int, ...]):
|
||||
print(f"Processing {font_path.name}...")
|
||||
|
||||
font_size = {
|
||||
"unifont.otf": 16, # unifont is only 16x8 or 16x16 pixels per glyph
|
||||
}.get(font_path.name, 200)
|
||||
|
||||
data = font_path.read_bytes()
|
||||
file_buf = rl.ffi.new("unsigned char[]", data)
|
||||
cp_buffer = rl.ffi.new("int[]", codepoints)
|
||||
cp_ptr = rl.ffi.cast("int *", cp_buffer)
|
||||
glyphs = rl.load_font_data(rl.ffi.cast("unsigned char *", file_buf), len(data), font_size, cp_ptr, len(codepoints), rl.FontType.FONT_DEFAULT)
|
||||
if glyphs == rl.ffi.NULL:
|
||||
raise RuntimeError("raylib failed to load font data")
|
||||
|
||||
rects_ptr = rl.ffi.new("Rectangle **")
|
||||
image = rl.gen_image_font_atlas(glyphs, rects_ptr, len(codepoints), font_size, GLYPH_PADDING, 0)
|
||||
if image.width == 0 or image.height == 0:
|
||||
raise RuntimeError("raylib returned an empty atlas")
|
||||
|
||||
rects = rects_ptr[0]
|
||||
atlas_name = f"{font_path.stem}.png"
|
||||
atlas_path = FONT_DIR / atlas_name
|
||||
entries, line_height, base = _glyph_metrics(glyphs, rects, codepoints)
|
||||
|
||||
if not rl.export_image(image, atlas_path.as_posix()):
|
||||
raise RuntimeError("Failed to export atlas image")
|
||||
|
||||
_write_bmfont(FONT_DIR / f"{font_path.stem}.fnt", font_size, font_path.stem, atlas_name, line_height, base, (image.width, image.height), entries)
|
||||
|
||||
|
||||
def main():
|
||||
base_cp, unifont_cp = _char_sets()
|
||||
fonts = sorted(FONT_DIR.glob("*.ttf")) + sorted(FONT_DIR.glob("*.otf"))
|
||||
for font in fonts:
|
||||
if "emoji" in font.name.lower():
|
||||
continue
|
||||
glyphs = unifont_cp if font.stem.lower().startswith("unifont") else base_cp
|
||||
_process_font(font, glyphs)
|
||||
return 0
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
raise SystemExit(main())
|
||||
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Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user