mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-06-19 21:12:04 +08:00
Compare commits
3 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 eFini
|
1415631df6 | ||
|
eFini
|
b9d350b023 | ||
|
Dragonpilot Team
|
46a47f2580 |
@@ -54,7 +54,6 @@ selfdrive/modeld/_dmonitoringmodeld
|
||||
/src/
|
||||
|
||||
one
|
||||
/body/
|
||||
openpilot
|
||||
notebooks
|
||||
xx
|
||||
|
||||
+47
-2
@@ -1,3 +1,33 @@
|
||||
dragonpilot 2022.09.07 - EON/C2 Release
|
||||
========================
|
||||
* NEW: Synced to openpilot master 2022.08.29 commits.
|
||||
* Nuclear Grade driving model.
|
||||
* TWEAK: Used fused location service on mapd.
|
||||
* TWEAK: Used fused location service on gpxd.
|
||||
* NEW: Added back auto boot on C2.
|
||||
* NEW: TOYOTA - Door auto lock/unlock. (Thanks to @AlexandreSato and @cydia2020)
|
||||
* NEW: Added Camera based Driver Monitor back. (This may overheat your device).
|
||||
* NEW: Added a toggle to turn on/off Camera based Driver Monitor.
|
||||
|
||||
dragonpilot 2022.08.29 - EON/C2 Release
|
||||
========================
|
||||
* NEW: Synced to openpilot master 2022.08.23 commits.
|
||||
* New driving model.
|
||||
* NEW: Added back honda eps mod toggle.
|
||||
* NEW: Added back camera offset toggle.
|
||||
* TWEAK: Resume logic to adapt ATL mode.
|
||||
|
||||
dragonpilot 2022.08.17 - EON/C2 Release
|
||||
========================
|
||||
* NEW: Synced to openpilot master 2022.08.07 commits.
|
||||
* NEW: Added back auto shutdown toggle.
|
||||
* NEW: Added back On-Road Dashcam toggle. (You should not replace this with your dashcam!!!)
|
||||
* NEW: Added back LQR tune toggle.
|
||||
* NEW: MAZDA - Ability to enable/disable below steer speed alert. (Thanks to @TheCrowd)
|
||||
* NEW: Included all vehicles.
|
||||
* TWEAK: Panda Recovery should kill boardd process first.
|
||||
* FIXED: Fixed stop working issue when mapd crashed.
|
||||
|
||||
dragonpilot 2022.07.29 - EON/C2 Release
|
||||
========================
|
||||
* NEW: Synced to openpilot 2022.07.27 commits.
|
||||
@@ -32,9 +62,24 @@ dragonpilot 2022.07.12 - EON/C2 Release
|
||||
* Works on EON/C2 + white/grey/black panda (tested only on Toyotas).
|
||||
* Buggy!
|
||||
|
||||
dragonpilot 2022.06.25
|
||||
dragonpilot [2022.08.07]
|
||||
========================
|
||||
* Synced with openpilot master 2022.07.26 commits.
|
||||
* Synced to openpilot master 2022.08.07 commits.
|
||||
* NEW: Added back auto shutdown toggle.
|
||||
* NEW: Added back LQR tune toggle.
|
||||
* NEW: MAZDA - Ability to enable/disable below steer speed alert. (Thanks to @TheCrowd)
|
||||
* TWEAKED: Panda Recovery should kill boardd process first.
|
||||
* FIXED: Fixed stop working issue when mapd crashed.
|
||||
|
||||
dragonpilot 2022.07.27
|
||||
========================
|
||||
* NEW: Synced to openpilot 2022.07.27 commits.
|
||||
* NEW: Included Mazda vehicles.
|
||||
* TWEAK: Only show road name bar when it's not empty.
|
||||
* TWEAK: Enlarged lead car distance text.
|
||||
* TWEAK: TOYOTA - Updated lowest speed override feature.
|
||||
* FIXED: Fixed Panda Flash/Recovery buttons.
|
||||
* FIXED: Included dp_patcher.py execution.
|
||||
|
||||
dragonpilot 2022.07.01
|
||||
========================
|
||||
|
||||
@@ -17,7 +17,7 @@ Table of Contents
|
||||
What is openpilot?
|
||||
------
|
||||
|
||||
[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
|
||||
[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
|
||||
|
||||
<table>
|
||||
<tr>
|
||||
@@ -40,9 +40,9 @@ Running on a dedicated device in a car
|
||||
|
||||
To use openpilot in a car, you need four things
|
||||
* A supported device to run this software: a [comma three](https://comma.ai/shop/products/three).
|
||||
* This software. The setup procedure of the comma three allows the user to enter a url for custom software.
|
||||
The url, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another github username can install a fork.
|
||||
* One of [the 150+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot.
|
||||
* This software. The setup procedure of the comma three allows the user to enter a URL for custom software.
|
||||
The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork.
|
||||
* One of [the 200+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
|
||||
* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.
|
||||
|
||||
We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
|
||||
@@ -52,11 +52,11 @@ Running on PC
|
||||
|
||||
All of openpilot's services can run as normal on a PC, even without special hardware or a car. To develop or experiment with openpilot you can run openpilot on recorded or simulated data.
|
||||
|
||||
With openpilot's tools you can plot logs, replay drives and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.
|
||||
With openpilot's tools, you can plot logs, replay drives, and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.
|
||||
|
||||
You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes, but does require a decent GPU.
|
||||
You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes but does require a decent GPU.
|
||||
|
||||
A PC running openpilot can also control your vehicle if it is connected to a [a webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and [a harness](https://comma.ai/shop/products/car-harness).
|
||||
A PC running openpilot can also control your vehicle if it is connected to a [webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and a [harness](https://comma.ai/shop/products/car-harness).
|
||||
|
||||
Community and Contributing
|
||||
------
|
||||
@@ -78,8 +78,8 @@ By default, openpilot uploads the driving data to our servers. You can also acce
|
||||
|
||||
openpilot is open source software: the user is free to disable data collection if they wish to do so.
|
||||
|
||||
openpilot logs the road facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
|
||||
The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
|
||||
openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
|
||||
The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
|
||||
|
||||
By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
|
||||
|
||||
@@ -87,11 +87,11 @@ Safety and Testing
|
||||
----
|
||||
|
||||
* openpilot observes ISO26262 guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
|
||||
* openpilot has software in the loop [tests](.github/workflows/selfdrive_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.
|
||||
* panda has additional hardware in the loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
|
||||
* 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.
|
||||
* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
|
||||
* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
|
||||
|
||||
Directory Structure
|
||||
|
||||
+21
-1
@@ -1,5 +1,25 @@
|
||||
Version 0.8.16 (2022-XX-XX)
|
||||
Version 0.8.17 (2022-XX-XX)
|
||||
========================
|
||||
* New driving model
|
||||
* Internal feature space accuracy increased tenfold during training, this makes the model dramatically more accurate.
|
||||
|
||||
Version 0.8.16 (2022-08-26)
|
||||
========================
|
||||
* New driving model
|
||||
* Reduced turn cutting
|
||||
* Auto-detect right hand drive setting with driver monitoring model
|
||||
* Improved fan controller for comma three
|
||||
* New translations
|
||||
* Japanese thanks to cydia2020!
|
||||
* Brazilian Portuguese thanks to AlexandreSato!
|
||||
* Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
|
||||
* Chevrolet Silverado 1500 2020-21 support thanks to JasonJShuler!
|
||||
* GMC Sierra 1500 2020-21 support thanks to JasonJShuler!
|
||||
* Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
|
||||
* Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
|
||||
* Hyundai Tucson Hybrid 2022 support thanks to sunnyhaibin!
|
||||
* Subaru Legacy 2020-22 support thanks to martinl!
|
||||
* Subaru Outback 2020-22 support
|
||||
|
||||
Version 0.8.15 (2022-07-20)
|
||||
========================
|
||||
|
||||
@@ -0,0 +1,21 @@
|
||||
gen
|
||||
node_modules
|
||||
package-lock.json
|
||||
*.tmp
|
||||
*.pyc
|
||||
__pycache__
|
||||
.*.swp
|
||||
.*.swo
|
||||
*.os
|
||||
*.o
|
||||
*.a
|
||||
|
||||
test_runner
|
||||
|
||||
libmessaging.*
|
||||
libmessaging_shared.*
|
||||
services.h
|
||||
.sconsign.dblite
|
||||
libcereal_shared.*
|
||||
.mypy_cache/
|
||||
catch2/
|
||||
+7
-6
@@ -111,10 +111,11 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
lkasDisabled @107;
|
||||
canBusMissing @111;
|
||||
controlsdLagging @112;
|
||||
resumeBlocked @113;
|
||||
|
||||
#dp
|
||||
speedLimitActive @113;
|
||||
speedLimitValueChange @114;
|
||||
speedLimitActive @114;
|
||||
speedLimitValueChange @115;
|
||||
|
||||
radarCanErrorDEPRECATED @15;
|
||||
communityFeatureDisallowedDEPRECATED @62;
|
||||
@@ -469,7 +470,7 @@ struct CarParams {
|
||||
vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
|
||||
directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake
|
||||
stoppingControl @31 :Bool; # Does the car allows full control even at lows speeds when stopping
|
||||
stopAccel @60 :Float32; # Required acceleraton to keep vehicle stationary
|
||||
stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
|
||||
steerControlType @34 :SteerControlType;
|
||||
radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
|
||||
stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
|
||||
@@ -584,10 +585,10 @@ struct CarParams {
|
||||
subaruLegacy @22; # pre-Global platform
|
||||
hyundaiLegacy @23;
|
||||
hyundaiCommunity @24;
|
||||
stellantis @25;
|
||||
faw @26;
|
||||
stellantisDEPRECATED @25; # Consolidated with Chrysler; may be recycled for the next new model
|
||||
hongqi @26;
|
||||
body @27;
|
||||
hyundaiHDA2 @28;
|
||||
hyundaiCanfd @28;
|
||||
}
|
||||
|
||||
enum SteerControlType {
|
||||
|
||||
+15
-6
@@ -17,10 +17,19 @@ struct DragonConf {
|
||||
dpUiVolume @9 :Int8;
|
||||
dpUiBrightness @10 :UInt8;
|
||||
dpUiDisplayMode @11 :UInt8;
|
||||
dpToyotaSng @12 :Bool;
|
||||
dpAccelProfileCtrl @13 :Bool;
|
||||
dpAccelProfile @14 :UInt8;
|
||||
dpToyotaCruiseOverride @15 :Bool;
|
||||
dpUseLanelines @16 :Bool;
|
||||
dpMapd @17 :Bool;
|
||||
dpUiSpeed @12 :Bool;
|
||||
dpUiEvent @13 :Bool;
|
||||
dpUiFace @14 :Bool;
|
||||
dpToyotaSng @15 :Bool;
|
||||
dpAccelProfileCtrl @16 :Bool;
|
||||
dpAccelProfile @17 :UInt8;
|
||||
dpToyotaCruiseOverride @18 :Bool;
|
||||
dpToyotaCruiseOverrideSpeed @19 :UInt8;
|
||||
dpToyotaAutoLock @20 :Bool;
|
||||
dpToyotaAutoUnlock @21 :Bool;
|
||||
dpUseLanelines @22 :Bool;
|
||||
dpMapd @23 :Bool;
|
||||
dpDashcamd @24 :Bool;
|
||||
dpMazdaSteerAlert @25 :Bool;
|
||||
dpCameraOffset @26 :Int8;
|
||||
}
|
||||
|
||||
Binary file not shown.
+22
-9
@@ -38,6 +38,8 @@ struct InitData {
|
||||
passive @12 :Bool;
|
||||
params @17 :Map(Text, Data);
|
||||
|
||||
commands @19 :Map(Text, Data);
|
||||
|
||||
enum DeviceType {
|
||||
unknown @0;
|
||||
neo @1;
|
||||
@@ -252,9 +254,7 @@ struct GpsLocationData {
|
||||
# Represents expected accuracy in meters. (presumably 1 sigma?)
|
||||
accuracy @6 :Float32;
|
||||
|
||||
# Timestamp for the location fix.
|
||||
# Milliseconds since January 1, 1970.
|
||||
timestamp @7 :Int64;
|
||||
unixTimestampMillis @7 :Int64;
|
||||
|
||||
source @8 :SensorSource;
|
||||
|
||||
@@ -295,6 +295,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
networkType @22 :NetworkType;
|
||||
networkInfo @31 :NetworkInfo;
|
||||
networkStrength @24 :NetworkStrength;
|
||||
networkStats @43 :NetworkStats;
|
||||
networkMetered @41 :Bool;
|
||||
lastAthenaPingTime @32 :UInt64;
|
||||
|
||||
@@ -370,6 +371,11 @@ struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
state @5 :Text;
|
||||
}
|
||||
|
||||
struct NetworkStats {
|
||||
wwanTx @0 :Int64;
|
||||
wwanRx @1 :Int64;
|
||||
}
|
||||
|
||||
# deprecated
|
||||
cpu0DEPRECATED @0 :UInt16;
|
||||
cpu1DEPRECATED @1 :UInt16;
|
||||
@@ -406,6 +412,7 @@ struct PandaState @0xa7649e2575e4591e {
|
||||
heartbeatLost @22 :Bool;
|
||||
blockedCnt @24 :UInt32;
|
||||
interruptLoad @25 :Float32;
|
||||
fanPower @28 :UInt8;
|
||||
|
||||
enum FaultStatus {
|
||||
none @0;
|
||||
@@ -1231,7 +1238,7 @@ struct UbloxGnss {
|
||||
carrierPhaseValid @1 :Bool;
|
||||
# half cycle valid
|
||||
halfCycleValid @2 :Bool;
|
||||
# half sycle subtracted from phase
|
||||
# half cycle subtracted from phase
|
||||
halfCycleSubtracted @3 :Bool;
|
||||
}
|
||||
}
|
||||
@@ -1703,7 +1710,7 @@ struct DriverStateV2 {
|
||||
}
|
||||
}
|
||||
|
||||
struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
|
||||
struct DriverState @0xb83c6cc593ed0a00 {
|
||||
frameId @0 :UInt32;
|
||||
modelExecutionTime @14 :Float32;
|
||||
dspExecutionTime @16 :Float32;
|
||||
@@ -1924,6 +1931,9 @@ struct EncodeData {
|
||||
unixTimestampNanos @3 :UInt64;
|
||||
}
|
||||
|
||||
struct UserFlag {
|
||||
}
|
||||
|
||||
struct Event {
|
||||
logMonoTime @0 :UInt64; # nanoseconds
|
||||
valid @67 :Bool = true;
|
||||
@@ -1955,6 +1965,7 @@ struct Event {
|
||||
ubloxRaw @39 :Data;
|
||||
qcomGnss @31 :QcomGnss;
|
||||
gpsLocationExternal @48 :GpsLocationData;
|
||||
gpsLocation @21 :GpsLocationData;
|
||||
gnssMeasurements @91 :GnssMeasurements;
|
||||
liveParameters @61 :LiveParametersData;
|
||||
cameraOdometry @63 :CameraOdometry;
|
||||
@@ -1990,6 +2001,9 @@ struct Event {
|
||||
navRoute @83 :NavRoute;
|
||||
navThumbnail @84: Thumbnail;
|
||||
|
||||
# user flags
|
||||
userFlag @93 :UserFlag;
|
||||
|
||||
# *********** debug ***********
|
||||
testJoystick @52 :Joystick;
|
||||
roadEncodeData @86 :EncodeData;
|
||||
@@ -1997,8 +2011,8 @@ struct Event {
|
||||
wideRoadEncodeData @88 :EncodeData;
|
||||
qRoadEncodeData @89 :EncodeData;
|
||||
|
||||
dragonConf @93 :Dp.DragonConf;
|
||||
liveMapData @94: LiveMapData;
|
||||
dragonConf @94 :Dp.DragonConf;
|
||||
liveMapData @95: LiveMapData;
|
||||
|
||||
# *********** legacy + deprecated ***********
|
||||
model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
|
||||
@@ -2034,9 +2048,8 @@ struct Event {
|
||||
orbFeaturesSummaryDEPRECATED @58 :Legacy.OrbFeaturesSummary;
|
||||
featuresDEPRECATED @10 :Legacy.CalibrationFeatures;
|
||||
kalmanOdometryDEPRECATED @65 :Legacy.KalmanOdometry;
|
||||
gpsLocationDEPRECATED @21 :GpsLocationData;
|
||||
uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState;
|
||||
pandaStateDEPRECATED @12 :PandaState;
|
||||
driverStateDEPRECATED @59 :DriverStateDEPRECATED;
|
||||
driverState @59 :DriverState;
|
||||
}
|
||||
}
|
||||
|
||||
Binary file not shown.
Binary file not shown.
+36
-33
@@ -23,39 +23,42 @@ static struct service services[] = {
|
||||
{ "longitudinalPlan", 8018, true, 20, 5 },
|
||||
{ "procLog", 8019, true, 0, -1 },
|
||||
{ "gpsLocationExternal", 8020, true, 10, 10 },
|
||||
{ "ubloxGnss", 8021, true, 10, -1 },
|
||||
{ "qcomGnss", 8023, true, 2, -1 },
|
||||
{ "gnssMeasurements", 8024, true, 10, -1 },
|
||||
{ "clocks", 8025, true, 1, 1 },
|
||||
{ "ubloxRaw", 8026, true, 20, -1 },
|
||||
{ "liveLocationKalman", 8027, true, 20, 5 },
|
||||
{ "liveParameters", 8028, true, 20, 5 },
|
||||
{ "cameraOdometry", 8029, true, 20, 5 },
|
||||
{ "lateralPlan", 8030, true, 20, 5 },
|
||||
{ "thumbnail", 8031, true, 0, 1 },
|
||||
{ "carEvents", 8032, true, 1, 1 },
|
||||
{ "carParams", 8033, true, 0, 1 },
|
||||
{ "roadCameraState", 8034, true, 20, 20 },
|
||||
{ "driverCameraState", 8035, true, 20, 20 },
|
||||
{ "driverEncodeIdx", 8036, false, 20, 1 },
|
||||
{ "driverStateV2", 8037, true, 20, 10 },
|
||||
{ "driverMonitoringState", 8038, true, 20, 10 },
|
||||
{ "wideRoadEncodeIdx", 8039, false, 20, 1 },
|
||||
{ "wideRoadCameraState", 8040, true, 20, 20 },
|
||||
{ "modelV2", 8041, true, 20, 40 },
|
||||
{ "managerState", 8042, true, 2, 1 },
|
||||
{ "uploaderState", 8043, true, 0, 1 },
|
||||
{ "navInstruction", 8044, true, 1, 10 },
|
||||
{ "navRoute", 8045, true, 0, -1 },
|
||||
{ "navThumbnail", 8046, true, 0, -1 },
|
||||
{ "qRoadEncodeIdx", 8047, false, 20, -1 },
|
||||
{ "testJoystick", 8048, true, 0, -1 },
|
||||
{ "roadEncodeData", 8049, false, 20, -1 },
|
||||
{ "driverEncodeData", 8050, false, 20, -1 },
|
||||
{ "wideRoadEncodeData", 8051, false, 20, -1 },
|
||||
{ "qRoadEncodeData", 8052, false, 20, -1 },
|
||||
{ "dragonConf", 8053, false, 1, -1 },
|
||||
{ "liveMapData", 8054, true, 0, -1 },
|
||||
{ "gpsLocation", 8021, true, 1, 1 },
|
||||
{ "ubloxGnss", 8023, true, 10, -1 },
|
||||
{ "qcomGnss", 8024, true, 2, -1 },
|
||||
{ "gnssMeasurements", 8025, true, 10, 10 },
|
||||
{ "clocks", 8026, true, 1, 1 },
|
||||
{ "ubloxRaw", 8027, true, 20, -1 },
|
||||
{ "liveLocationKalman", 8028, true, 20, 5 },
|
||||
{ "liveParameters", 8029, true, 20, 5 },
|
||||
{ "cameraOdometry", 8030, true, 20, 5 },
|
||||
{ "lateralPlan", 8031, true, 20, 5 },
|
||||
{ "thumbnail", 8032, true, 0, 1 },
|
||||
{ "carEvents", 8033, true, 1, 1 },
|
||||
{ "carParams", 8034, true, 0, 1 },
|
||||
{ "roadCameraState", 8035, true, 20, 20 },
|
||||
{ "driverCameraState", 8036, true, 10, 10 },
|
||||
{ "driverEncodeIdx", 8037, false, 10, 1 },
|
||||
{ "driverStateV2", 8038, true, 20, 10 },
|
||||
{ "driverState", 8039, true, 10, 5 },
|
||||
{ "driverMonitoringState", 8040, true, 10, 5 },
|
||||
{ "wideRoadEncodeIdx", 8041, false, 20, 1 },
|
||||
{ "wideRoadCameraState", 8042, true, 20, 20 },
|
||||
{ "modelV2", 8043, true, 20, 40 },
|
||||
{ "managerState", 8044, true, 2, 1 },
|
||||
{ "uploaderState", 8045, true, 0, 1 },
|
||||
{ "navInstruction", 8046, true, 1, 10 },
|
||||
{ "navRoute", 8047, true, 0, -1 },
|
||||
{ "navThumbnail", 8048, true, 0, -1 },
|
||||
{ "qRoadEncodeIdx", 8049, false, 20, -1 },
|
||||
{ "userFlag", 8050, true, 0, 1 },
|
||||
{ "testJoystick", 8051, true, 0, -1 },
|
||||
{ "roadEncodeData", 8052, false, 20, -1 },
|
||||
{ "driverEncodeData", 8053, false, 20, -1 },
|
||||
{ "wideRoadEncodeData", 8054, false, 20, -1 },
|
||||
{ "qRoadEncodeData", 8055, false, 20, -1 },
|
||||
{ "dragonConf", 8056, false, 1, -1 },
|
||||
{ "liveMapData", 8057, true, 0, -1 },
|
||||
};
|
||||
#endif
|
||||
|
||||
|
||||
+7
-4
@@ -41,9 +41,10 @@ services = {
|
||||
"longitudinalPlan": (True, 20., 5),
|
||||
"procLog": (True, 0.5),
|
||||
"gpsLocationExternal": (True, 10., 10),
|
||||
"gpsLocation": (True, 1., 1),
|
||||
"ubloxGnss": (True, 10.),
|
||||
"qcomGnss": (True, 2.),
|
||||
"gnssMeasurements": (True, 10.),
|
||||
"gnssMeasurements": (True, 10., 10),
|
||||
"clocks": (True, 1., 1),
|
||||
"ubloxRaw": (True, 20.),
|
||||
"liveLocationKalman": (True, 20., 5),
|
||||
@@ -54,10 +55,11 @@ services = {
|
||||
"carEvents": (True, 1., 1),
|
||||
"carParams": (True, 0.02, 1),
|
||||
"roadCameraState": (True, 20., 20),
|
||||
"driverCameraState": (True, 20., 20),
|
||||
"driverEncodeIdx": (False, 20., 1),
|
||||
"driverCameraState": (True, 10., 10),
|
||||
"driverEncodeIdx": (False, 10., 1),
|
||||
"driverStateV2": (True, 20., 10),
|
||||
"driverMonitoringState": (True, 20., 10),
|
||||
"driverState": (True, 10, 5),
|
||||
"driverMonitoringState": (True, 10., 5),
|
||||
"wideRoadEncodeIdx": (False, 20., 1),
|
||||
"wideRoadCameraState": (True, 20., 20),
|
||||
"modelV2": (True, 20., 40),
|
||||
@@ -67,6 +69,7 @@ services = {
|
||||
"navRoute": (True, 0.),
|
||||
"navThumbnail": (True, 0.),
|
||||
"qRoadEncodeIdx": (False, 20.),
|
||||
"userFlag": (True, 0., 1),
|
||||
|
||||
# debug
|
||||
"testJoystick": (True, 0.),
|
||||
|
||||
Binary file not shown.
+20
-9
@@ -5,7 +5,7 @@ import sys
|
||||
import json
|
||||
import time
|
||||
from math import floor
|
||||
# from system.hardware import EON, TICI
|
||||
from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET
|
||||
|
||||
'''
|
||||
* type: Bool, Int8, UInt8, UInt16, Float32
|
||||
@@ -55,12 +55,15 @@ confs = [
|
||||
|
||||
#ui
|
||||
{'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']},
|
||||
{'name': 'dp_quiet_drive', 'default': False, 'type': 'Boolean', 'conf_type': ['param']},
|
||||
{'name': 'dp_quiet_drive', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_ui_top', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_side', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_display_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 1, 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_face', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
|
||||
#toyota
|
||||
{'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
@@ -68,22 +71,29 @@ confs = [
|
||||
{'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_ap_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_toyota_cruise_override', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_cruise_override_speed', 'default': 30, 'type': 'UInt8', 'min': 5, 'max': 60, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_auto_lock', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_auto_unlock', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
|
||||
{'name': 'dp_use_lanelines', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_mapd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
|
||||
# # dashcam related
|
||||
# {'name': 'dp_dashcamd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lateral_lqr', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
|
||||
# dashcam related
|
||||
{'name': 'dp_dashcamd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# # auto shutdown
|
||||
# {'name': 'dp_auto_shutdown', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_auto_shutdown_in', 'default': 90, 'type': 'UInt16', 'min': 0, 'max': 600, 'depends': [{'name': 'dp_auto_shutdown', 'vals': [True]}], 'conf_type': ['param']},
|
||||
{'name': 'dp_auto_shutdown', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_auto_shutdown_in', 'default': 90, 'type': 'UInt16', 'min': 0, 'max': 600, 'depends': [{'name': 'dp_auto_shutdown', 'vals': [True]}], 'conf_type': ['param']},
|
||||
|
||||
{'name': 'dp_mazda_steer_alert', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# # service
|
||||
# {'name': 'dp_updated', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_logger', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_athenad', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct'], 'update_once': True},
|
||||
# {'name': 'dp_uploader', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct'], 'update_once': True},
|
||||
# # {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_hotspot_on_boot', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_hotspot_on_boot', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# # lat ctrl
|
||||
# {'name': 'dp_lane_less_mode_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_lane_less_mode', 'default': 2, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_lane_less_mode_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
@@ -124,7 +134,7 @@ confs = [
|
||||
# # hyundai
|
||||
# {'name': 'dp_hkg_smart_mdps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# # honda
|
||||
# {'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_honda_kmh_display', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# # volkswagen
|
||||
# # {'name': 'dp_vw_panda', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
@@ -132,7 +142,7 @@ confs = [
|
||||
# {'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']},
|
||||
# {'name': 'dp_fan_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param']},
|
||||
# {'name': 'dp_last_modified', 'default': str(floor(time.time())), 'type': 'Text', 'conf_type': ['param']},
|
||||
# {'name': 'dp_camera_offset', 'default': 6 if EON else -4 if TICI else 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_camera_offset', 'default': CAMERA_OFFSET, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_path_offset', 'default': 0 if EON else -4 if TICI else 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
#
|
||||
# {'name': 'dp_reg', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
@@ -155,6 +165,7 @@ confs = [
|
||||
#
|
||||
# {'name': 'dp_no_offroad_fix', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_ftpd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_dm', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
]
|
||||
|
||||
def get_definition(name):
|
||||
|
||||
@@ -4,9 +4,13 @@ from common.params import Params
|
||||
locale_dir = "/data/openpilot/selfdrive/assets/locales"
|
||||
# supported_language = ["en-US", "zh-TW", "zh-CN", "ja-JP", "ko-KR"]
|
||||
supported_languages = {
|
||||
"main_en": "en-US",
|
||||
"main_zh-CHT": "zh-TW",
|
||||
"main_zh-CHS": "zh-CN",
|
||||
"main_ko": "ko-KR",
|
||||
"main_ja": "ja-JP",
|
||||
"main_de": "de-DE",
|
||||
"main_pt-BR": "pt_BR",
|
||||
}
|
||||
|
||||
def events():
|
||||
|
||||
+2
-1
@@ -1,8 +1,9 @@
|
||||
from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
|
||||
from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking # pylint: disable=no-name-in-module, import-error
|
||||
assert Params
|
||||
assert ParamKeyType
|
||||
assert UnknownKeyName
|
||||
assert put_nonblocking
|
||||
assert put_bool_nonblocking
|
||||
|
||||
if __name__ == "__main__":
|
||||
import sys
|
||||
|
||||
+646
-317
File diff suppressed because it is too large
Load Diff
@@ -90,7 +90,7 @@ cdef class Params:
|
||||
with nogil:
|
||||
self.p.putBool(k, val)
|
||||
|
||||
def delete(self, key):
|
||||
def remove(self, key):
|
||||
cdef string k = self.check_key(key)
|
||||
with nogil:
|
||||
self.p.remove(k)
|
||||
@@ -100,11 +100,7 @@ cdef class Params:
|
||||
return self.p.getParamPath(key_bytes).decode("utf-8")
|
||||
|
||||
def put_nonblocking(key, val, d=""):
|
||||
def f(key, val):
|
||||
params = Params(d)
|
||||
cdef string k = ensure_bytes(key)
|
||||
params.put(k, val)
|
||||
threading.Thread(target=lambda: Params(d).put(key, val)).start()
|
||||
|
||||
t = threading.Thread(target=f, args=(key, val))
|
||||
t.start()
|
||||
return t
|
||||
def put_bool_nonblocking(key, bool val, d=""):
|
||||
threading.Thread(target=lambda: Params(d).put_bool(key, val)).start()
|
||||
|
||||
Binary file not shown.
+1
-1
@@ -15,7 +15,7 @@ from system.hardware import PC, TICI
|
||||
DT_CTRL = 0.01 # controlsd
|
||||
DT_MDL = 0.05 # model
|
||||
DT_TRML = 0.5 # thermald and manager
|
||||
DT_DMON = 0.05 # driver monitoring
|
||||
DT_DMON = 0.1 # driver monitoring
|
||||
|
||||
|
||||
class Priority:
|
||||
|
||||
@@ -90,6 +90,7 @@ def get_view_frame_from_road_frame(roll, pitch, yaw, height):
|
||||
return np.hstack((view_from_road, [[0], [height], [0]]))
|
||||
|
||||
|
||||
|
||||
# aka 'extrinsic_matrix'
|
||||
def get_view_frame_from_calib_frame(roll, pitch, yaw, height):
|
||||
device_from_calib= orient.rot_from_euler([roll, pitch, yaw])
|
||||
@@ -107,12 +108,6 @@ def vp_from_ke(m):
|
||||
return (m[0, 0]/m[2, 0], m[1, 0]/m[2, 0])
|
||||
|
||||
|
||||
def vp_from_rpy(rpy, intrinsics=fcam_intrinsics):
|
||||
e = get_view_frame_from_road_frame(rpy[0], rpy[1], rpy[2], 1.22)
|
||||
ke = np.dot(intrinsics, e)
|
||||
return vp_from_ke(ke)
|
||||
|
||||
|
||||
def roll_from_ke(m):
|
||||
# note: different from calibration.h/RollAnglefromKE: i think that one's just wrong
|
||||
return np.arctan2(-(m[1, 0] - m[1, 1] * m[2, 0] / m[2, 1]),
|
||||
@@ -176,11 +171,3 @@ def img_from_device(pt_device):
|
||||
pt_img = pt_view/pt_view[:, 2:3]
|
||||
return pt_img.reshape(input_shape)[:, :2]
|
||||
|
||||
|
||||
def get_camera_frame_from_calib_frame(camera_frame_from_road_frame, intrinsics=fcam_intrinsics):
|
||||
camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
|
||||
calib_frame_from_ground = np.dot(intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, 1.22))[:, (0, 1, 3)]
|
||||
ground_from_calib_frame = np.linalg.inv(calib_frame_from_ground)
|
||||
camera_frame_from_calib_frame = np.dot(camera_frame_from_ground, ground_from_calib_frame)
|
||||
return camera_frame_from_calib_frame
|
||||
|
||||
+54
-103
@@ -1,10 +1,7 @@
|
||||
import numpy as np
|
||||
|
||||
from common.transformations.camera import (FULL_FRAME_SIZE,
|
||||
FOCAL,
|
||||
get_view_frame_from_road_frame,
|
||||
get_view_frame_from_calib_frame,
|
||||
vp_from_ke)
|
||||
get_view_frame_from_calib_frame)
|
||||
|
||||
# segnet
|
||||
SEGNET_SIZE = (512, 384)
|
||||
@@ -14,21 +11,6 @@ def get_segnet_frame_from_camera_frame(segnet_size=SEGNET_SIZE, full_frame_size=
|
||||
[0.0, float(segnet_size[1]) / full_frame_size[1]]])
|
||||
segnet_frame_from_camera_frame = get_segnet_frame_from_camera_frame() # xx
|
||||
|
||||
# model
|
||||
MODEL_INPUT_SIZE = (320, 160)
|
||||
MODEL_YUV_SIZE = (MODEL_INPUT_SIZE[0], MODEL_INPUT_SIZE[1] * 3 // 2)
|
||||
MODEL_CX = MODEL_INPUT_SIZE[0] / 2.
|
||||
MODEL_CY = 21.
|
||||
|
||||
model_fl = 728.0
|
||||
model_height = 1.22
|
||||
|
||||
# canonical model transform
|
||||
model_intrinsics = np.array([
|
||||
[model_fl, 0.0, MODEL_CX],
|
||||
[0.0, model_fl, MODEL_CY],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
|
||||
# MED model
|
||||
MEDMODEL_INPUT_SIZE = (512, 256)
|
||||
@@ -63,104 +45,73 @@ sbigmodel_intrinsics = np.array([
|
||||
[0.0, sbigmodel_fl, 0.5 * (256 + MEDMODEL_CY)],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
model_frame_from_road_frame = np.dot(model_intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, model_height))
|
||||
|
||||
bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, model_height))
|
||||
|
||||
bigmodel_frame_from_calib_frame = np.dot(bigmodel_intrinsics,
|
||||
get_view_frame_from_calib_frame(0, 0, 0, 0))
|
||||
|
||||
sbigmodel_frame_from_road_frame = np.dot(sbigmodel_intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, model_height))
|
||||
|
||||
sbigmodel_frame_from_calib_frame = np.dot(sbigmodel_intrinsics,
|
||||
get_view_frame_from_calib_frame(0, 0, 0, 0))
|
||||
|
||||
medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, model_height))
|
||||
|
||||
medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics,
|
||||
get_view_frame_from_calib_frame(0, 0, 0, 0))
|
||||
|
||||
model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
|
||||
medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))
|
||||
|
||||
|
||||
# 'camera from model camera'
|
||||
def get_model_height_transform(camera_frame_from_road_frame, height):
|
||||
camera_frame_from_road_ground = np.dot(camera_frame_from_road_frame, np.array([
|
||||
[1, 0, 0],
|
||||
[0, 1, 0],
|
||||
[0, 0, 0],
|
||||
[0, 0, 1],
|
||||
]))
|
||||
### This function mimics the update_calibration logic in modeld.cc
|
||||
### Manually verified to give similar results to xx.uncommon.utils.transform_img
|
||||
def get_warp_matrix(rpy_calib, wide_cam=False, big_model=False, tici=True):
|
||||
from common.transformations.orientation import rot_from_euler
|
||||
from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
|
||||
|
||||
camera_frame_from_road_high = np.dot(camera_frame_from_road_frame, np.array([
|
||||
[1, 0, 0],
|
||||
[0, 1, 0],
|
||||
[0, 0, height - model_height],
|
||||
[0, 0, 1],
|
||||
]))
|
||||
|
||||
road_high_from_camera_frame = np.linalg.inv(camera_frame_from_road_high)
|
||||
high_camera_from_low_camera = np.dot(camera_frame_from_road_ground, road_high_from_camera_frame)
|
||||
|
||||
return high_camera_from_low_camera
|
||||
|
||||
|
||||
# camera_frame_from_model_frame aka 'warp matrix'
|
||||
# was: calibration.h/CalibrationTransform
|
||||
def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height, camera_fl=FOCAL):
|
||||
vp = vp_from_ke(camera_frame_from_road_frame)
|
||||
|
||||
model_zoom = camera_fl / model_fl
|
||||
model_camera_from_model_frame = np.array([
|
||||
[model_zoom, 0.0, vp[0] - MODEL_CX * model_zoom],
|
||||
[0.0, model_zoom, vp[1] - MODEL_CY * model_zoom],
|
||||
[0.0, 0.0, 1.0],
|
||||
])
|
||||
|
||||
# This function is super slow, so skip it if height is very close to canonical
|
||||
# TODO: speed it up!
|
||||
if abs(height - model_height) > 0.001:
|
||||
camera_from_model_camera = get_model_height_transform(camera_frame_from_road_frame, height)
|
||||
if tici and wide_cam:
|
||||
intrinsics = tici_ecam_intrinsics
|
||||
elif tici:
|
||||
intrinsics = tici_fcam_intrinsics
|
||||
else:
|
||||
camera_from_model_camera = np.eye(3)
|
||||
intrinsics = eon_fcam_intrinsics
|
||||
|
||||
return np.dot(camera_from_model_camera, model_camera_from_model_frame)
|
||||
|
||||
|
||||
def get_camera_frame_from_medmodel_frame(camera_frame_from_road_frame):
|
||||
camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
|
||||
medmodel_frame_from_ground = medmodel_frame_from_road_frame[:, (0, 1, 3)]
|
||||
|
||||
ground_from_medmodel_frame = np.linalg.inv(medmodel_frame_from_ground)
|
||||
camera_frame_from_medmodel_frame = np.dot(camera_frame_from_ground, ground_from_medmodel_frame)
|
||||
|
||||
return camera_frame_from_medmodel_frame
|
||||
|
||||
|
||||
def get_camera_frame_from_bigmodel_frame(camera_frame_from_road_frame):
|
||||
camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
|
||||
bigmodel_frame_from_ground = bigmodel_frame_from_road_frame[:, (0, 1, 3)]
|
||||
|
||||
ground_from_bigmodel_frame = np.linalg.inv(bigmodel_frame_from_ground)
|
||||
camera_frame_from_bigmodel_frame = np.dot(camera_frame_from_ground, ground_from_bigmodel_frame)
|
||||
|
||||
return camera_frame_from_bigmodel_frame
|
||||
|
||||
|
||||
def get_model_frame(snu_full, camera_frame_from_model_frame, size):
|
||||
idxs = camera_frame_from_model_frame.dot(np.column_stack([np.tile(np.arange(size[0]), size[1]),
|
||||
np.tile(np.arange(size[1]), (size[0], 1)).T.flatten(),
|
||||
np.ones(size[0] * size[1])]).T).T.astype(int)
|
||||
calib_flat = snu_full[idxs[:, 1], idxs[:, 0]]
|
||||
if len(snu_full.shape) == 3:
|
||||
calib = calib_flat.reshape((size[1], size[0], 3))
|
||||
elif len(snu_full.shape) == 2:
|
||||
calib = calib_flat.reshape((size[1], size[0]))
|
||||
if big_model:
|
||||
sbigmodel_from_calib = sbigmodel_frame_from_calib_frame[:, (0,1,2)]
|
||||
calib_from_model = np.linalg.inv(sbigmodel_from_calib)
|
||||
else:
|
||||
raise ValueError("shape of input img is weird")
|
||||
return calib
|
||||
medmodel_from_calib = medmodel_frame_from_calib_frame[:, (0,1,2)]
|
||||
calib_from_model = np.linalg.inv(medmodel_from_calib)
|
||||
device_from_calib = rot_from_euler(rpy_calib)
|
||||
camera_from_calib = intrinsics.dot(view_frame_from_device_frame.dot(device_from_calib))
|
||||
warp_matrix = camera_from_calib.dot(calib_from_model)
|
||||
return warp_matrix
|
||||
|
||||
|
||||
### This is old, just for debugging
|
||||
def get_warp_matrix_old(rpy_calib, wide_cam=False, big_model=False, tici=True):
|
||||
from common.transformations.orientation import rot_from_euler
|
||||
from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
|
||||
|
||||
|
||||
def get_view_frame_from_road_frame(roll, pitch, yaw, height):
|
||||
device_from_road = rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1]))
|
||||
view_from_road = view_frame_from_device_frame.dot(device_from_road)
|
||||
return np.hstack((view_from_road, [[0], [height], [0]]))
|
||||
|
||||
if tici and wide_cam:
|
||||
intrinsics = tici_ecam_intrinsics
|
||||
elif tici:
|
||||
intrinsics = tici_fcam_intrinsics
|
||||
else:
|
||||
intrinsics = eon_fcam_intrinsics
|
||||
|
||||
model_height = 1.22
|
||||
if big_model:
|
||||
model_from_road = np.dot(sbigmodel_intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, model_height))
|
||||
else:
|
||||
model_from_road = np.dot(medmodel_intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, model_height))
|
||||
ground_from_model = np.linalg.inv(model_from_road[:, (0, 1, 3)])
|
||||
|
||||
E = get_view_frame_from_road_frame(*rpy_calib, 1.22)
|
||||
camera_frame_from_road_frame = intrinsics.dot(E)
|
||||
camera_frame_from_ground = camera_frame_from_road_frame[:,(0,1,3)]
|
||||
warp_matrix = camera_frame_from_ground .dot(ground_from_model)
|
||||
return warp_matrix
|
||||
|
||||
+1
-1
@@ -1 +1 @@
|
||||
#define COMMA_VERSION "2022.07.29"
|
||||
#define COMMA_VERSION "2022.09.07"
|
||||
|
||||
+223
-229
@@ -2,234 +2,227 @@
|
||||
|
||||
# Supported Cars
|
||||
|
||||
A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system.
|
||||
A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
|
||||
|
||||
## How We Rate The Cars
|
||||
# 205 Supported Cars
|
||||
|
||||
### Stop and Go
|
||||
- [](##) - openpilot operates down to 0 mph.
|
||||
- [](##) - openpilot operates only above a minimum speed. See your car's manual for the minimum speed.
|
||||
|
||||
### Steer to 0
|
||||
- [](##) - openpilot can control the steering wheel down to 0 mph.
|
||||
- [](##) - No steering control below certain speeds. See your car's manual for the minimum speed.
|
||||
|
||||
### Steering Torque
|
||||
- [](##) - Car has enough steering torque to comfortably take most highway turns.
|
||||
- [](##) - Limited ability to make tighter turns.
|
||||
|
||||
|
||||
# 196 Supported Cars
|
||||
|
||||
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|
|
||||
|Acura|ILX 2016-19|AcuraWatch Plus|[](##)|[](##)|[](##)|[](##)|
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus|[](##)|[](##)|[](##)|[](##)|
|
||||
|Acura|RDX 2019-22|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Audi|A3 2014-19|ACC + Lane Assist|[](##)|[](##)|[](##)|[](##)|
|
||||
|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|[](##)|[](##)|[](##)|[](##)|
|
||||
|Audi|Q2 2018|ACC + Lane Assist|[](##)|[](##)|[](##)|[](##)|
|
||||
|Audi|Q3 2020-21|ACC + Lane Assist|[](##)|[](##)|[](##)|[](##)|
|
||||
|Audi|RS3 2018|ACC + Lane Assist|[](##)|[](##)|[](##)|[](##)|
|
||||
|Audi|S3 2015-17|ACC + Lane Assist|[](##)|[](##)|[](##)|[](##)|
|
||||
|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|[](##)|[](##)|[](##)|[](##)|
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise|[](##)|[](##)|[](##)|[](##)|
|
||||
|Chrysler|Pacifica 2019-20|Adaptive Cruise|[](##)|[](##)|[](##)|[](##)|
|
||||
|Chrysler|Pacifica 2021|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|[](##)|[](##)|[](##)|[](##)|
|
||||
|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise|[](##)|[](##)|[](##)|[](##)|
|
||||
|comma|body|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Genesis|G70 2018-19|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Genesis|G70 2020|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Genesis|G80 2017-19|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Genesis|G90 2017-18|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|[](##)|[](##)|[](##)|[](##)|
|
||||
|Honda|Accord 2018-22|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Honda|Accord Hybrid 2018-22|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Honda|Civic 2016-18|Honda Sensing|[](##)|[](##)|[](##)|[](##)|
|
||||
|Honda|Civic 2019-21|All|[](##)|[](##)|[](##)[<sup>2</sup>](#footnotes)|[](##)|
|
||||
|Honda|Civic 2022|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Honda|Civic Hatchback 2017-21|Honda Sensing|[](##)|[](##)|[](##)|[](##)|
|
||||
|Honda|Civic Hatchback 2022|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Honda|CR-V 2015-16|Touring|[](##)|[](##)|[](##)|[](##)|
|
||||
|Honda|CR-V 2017-22|Honda Sensing|[](##)|[](##)|[](##)|[](##)|
|
||||
|Honda|CR-V Hybrid 2017-19|Honda Sensing|[](##)|[](##)|[](##)|[](##)|
|
||||
|Honda|e 2020|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Honda|Fit 2018-20|Honda Sensing|[](##)|[](##)|[](##)|[](##)|
|
||||
|Honda|Freed 2020|Honda Sensing|[](##)|[](##)|[](##)|[](##)|
|
||||
|Honda|HR-V 2019-22|Honda Sensing|[](##)|[](##)|[](##)|[](##)|
|
||||
|Honda|Insight 2019-22|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Honda|Inspire 2018|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Honda|Odyssey 2018-22|Honda Sensing|[](##)|[](##)|[](##)|[](##)|
|
||||
|Honda|Passport 2019-21|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Honda|Pilot 2016-22|Honda Sensing|[](##)|[](##)|[](##)|[](##)|
|
||||
|Honda|Ridgeline 2017-22|Honda Sensing|[](##)|[](##)|[](##)|[](##)|
|
||||
|Hyundai|Elantra 2017-19|SCC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Hyundai|Elantra 2021-22|SCC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Hyundai|Elantra Hybrid 2021-22|SCC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Hyundai|Genesis 2015-16|SCC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Hyundai|Ioniq Electric 2019|SCC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Hyundai|Ioniq Electric 2020|SCC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Hyundai|Ioniq Hybrid 2020-22|SCC + LFA|[](##)|[](##)|[](##)|[](##)|
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2020-21|SCC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Hyundai|Kona 2020|SCC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Hyundai|Kona Electric 2018-21|SCC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Hyundai|Kona Hybrid 2020|SCC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Hyundai|Palisade 2020-22|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Hyundai|Santa Fe 2019-20|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Hyundai|Santa Fe 2021-22|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Hyundai|Santa Fe Hybrid 2022|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Hyundai|Sonata 2018-19|SCC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Hyundai|Sonata 2020-22|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Hyundai|Sonata Hybrid 2020-22|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Hyundai|Tucson 2021|SCC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Hyundai|Tucson Diesel 2019|SCC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Hyundai|Veloster 2019-20|SCC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|[](##)|[](##)|[](##)|[](##)|
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise|[](##)|[](##)|[](##)|[](##)|
|
||||
|Kia|Ceed 2019|SCC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Kia|EV6 2022[<sup>3</sup>](#footnotes)|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Kia|Forte 2018|SCC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Kia|Forte 2019-21|SCC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Kia|K5 2021-22|SCC|[](##)|[](##)|[](##)|[](##)|
|
||||
|Kia|Niro Electric 2019-20|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Kia|Niro Electric 2021|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Kia|Niro Electric 2022|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Kia|Niro Hybrid 2021|SCC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Kia|Niro Hybrid 2022|SCC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Kia|Niro Plug-in Hybrid 2018-19|SCC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Kia|Optima 2017|SCC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Kia|Optima 2019|SCC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Kia|Seltos 2021|SCC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Kia|Sorento 2018|SCC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Kia|Sorento 2019|SCC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Kia|Stinger 2018-20|SCC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Kia|Telluride 2020|SCC + LKAS|[](##)|[](##)|[](##)|[](##)|
|
||||
|Lexus|CT Hybrid 2017-18|LSS|[](##)[<sup>4</sup>](#footnotes)|[](##)|[](##)|[](##)|
|
||||
|Lexus|ES 2019-22|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Lexus|ES Hybrid 2017-18|LSS|[](##)[<sup>4</sup>](#footnotes)|[](##)|[](##)|[](##)|
|
||||
|Lexus|ES Hybrid 2019-22|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Lexus|IS 2017-19|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Lexus|NX 2018-19|All|[](##)[<sup>4</sup>](#footnotes)|[](##)|[](##)|[](##)|
|
||||
|Lexus|NX 2020-21|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Lexus|NX Hybrid 2018-19|All|[](##)[<sup>4</sup>](#footnotes)|[](##)|[](##)|[](##)|
|
||||
|Lexus|NX Hybrid 2020-21|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Lexus|RC 2017-20|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Lexus|RX 2016-18|All|[](##)[<sup>4</sup>](#footnotes)|[](##)|[](##)|[](##)|
|
||||
|Lexus|RX 2020-22|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Lexus|RX Hybrid 2016-19|All|[](##)[<sup>4</sup>](#footnotes)|[](##)|[](##)|[](##)|
|
||||
|Lexus|RX Hybrid 2020-21|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Lexus|UX Hybrid 2019-22|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Mazda|CX-5 2022|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Mazda|CX-9 2021-22|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Nissan|Altima 2019-20|ProPILOT|[](##)|[](##)|[](##)|[](##)|
|
||||
|Nissan|Leaf 2018-22|ProPILOT|[](##)|[](##)|[](##)|[](##)|
|
||||
|Nissan|Rogue 2018-20|ProPILOT|[](##)|[](##)|[](##)|[](##)|
|
||||
|Nissan|X-Trail 2017|ProPILOT|[](##)|[](##)|[](##)|[](##)|
|
||||
|Ram|1500 2019-22|Adaptive Cruise|[](##)|[](##)|[](##)|[](##)|
|
||||
|SEAT|Ateca 2018|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|SEAT|Leon 2014-20|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Subaru|Ascent 2019-21|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Subaru|Crosstrek 2018-19|EyeSight|[](##)|[](##)|[](##)|[](##)|
|
||||
|Subaru|Crosstrek 2020-21|EyeSight|[](##)|[](##)|[](##)|[](##)|
|
||||
|Subaru|Forester 2019-21|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Subaru|Impreza 2017-19|EyeSight|[](##)|[](##)|[](##)|[](##)|
|
||||
|Subaru|Impreza 2020-22|EyeSight|[](##)|[](##)|[](##)|[](##)|
|
||||
|Subaru|XV 2018-19|EyeSight|[](##)|[](##)|[](##)|[](##)|
|
||||
|Subaru|XV 2020-21|EyeSight|[](##)|[](##)|[](##)|[](##)|
|
||||
|Škoda|Kamiq 2021[<sup>6</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Škoda|Karoq 2019-21|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Škoda|Kodiaq 2018-19|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Škoda|Octavia 2015, 2018-19|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Škoda|Octavia RS 2016|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Škoda|Scala 2020|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Škoda|Superb 2015-18|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Toyota|Alphard 2019-20|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Toyota|Alphard Hybrid 2021|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Toyota|Avalon 2016|TSS-P|[](##)[<sup>4</sup>](#footnotes)|[](##)|[](##)|[](##)|
|
||||
|Toyota|Avalon 2017-18|All|[](##)[<sup>4</sup>](#footnotes)|[](##)|[](##)|[](##)|
|
||||
|Toyota|Avalon 2019-21|All|[](##)[<sup>4</sup>](#footnotes)|[](##)|[](##)|[](##)|
|
||||
|Toyota|Avalon 2022|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Toyota|Avalon Hybrid 2019-21|All|[](##)[<sup>4</sup>](#footnotes)|[](##)|[](##)|[](##)|
|
||||
|Toyota|Avalon Hybrid 2022|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Toyota|C-HR 2017-21|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Toyota|C-HR Hybrid 2017-19|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Toyota|Camry 2018-20|All|[](##)|[](##)[<sup>5</sup>](#footnotes)|[](##)|[](##)|
|
||||
|Toyota|Camry 2021-22|All|[](##)|[](##)[<sup>5</sup>](#footnotes)|[](##)|[](##)|
|
||||
|Toyota|Camry Hybrid 2018-20|All|[](##)|[](##)[<sup>5</sup>](#footnotes)|[](##)|[](##)|
|
||||
|Toyota|Camry Hybrid 2021-22|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Toyota|Corolla 2017-19|All|[](##)[<sup>4</sup>](#footnotes)|[](##)|[](##)|[](##)|
|
||||
|Toyota|Corolla 2020-22|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Toyota|Corolla Cross (Non-US only) 2020-21|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Toyota|Corolla Hatchback 2019-22|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Toyota|Corolla Hybrid 2020-22|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Toyota|Highlander 2017-19|All|[](##)[<sup>4</sup>](#footnotes)|[](##)|[](##)|[](##)|
|
||||
|Toyota|Highlander 2020-22|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Toyota|Highlander Hybrid 2017-19|All|[](##)[<sup>4</sup>](#footnotes)|[](##)|[](##)|[](##)|
|
||||
|Toyota|Highlander Hybrid 2020-22|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Toyota|Mirai 2021|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Toyota|Prius 2016|TSS-P|[](##)[<sup>4</sup>](#footnotes)|[](##)|[](##)|[](##)|
|
||||
|Toyota|Prius 2017-20|All|[](##)[<sup>4</sup>](#footnotes)|[](##)|[](##)|[](##)|
|
||||
|Toyota|Prius 2021-22|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Toyota|Prius Prime 2017-20|All|[](##)[<sup>4</sup>](#footnotes)|[](##)|[](##)|[](##)|
|
||||
|Toyota|Prius Prime 2021-22|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Toyota|Prius v 2017|TSS-P|[](##)[<sup>4</sup>](#footnotes)|[](##)|[](##)|[](##)|
|
||||
|Toyota|RAV4 2016|TSS-P|[](##)[<sup>4</sup>](#footnotes)|[](##)|[](##)|[](##)|
|
||||
|Toyota|RAV4 2017-18|All|[](##)[<sup>4</sup>](#footnotes)|[](##)|[](##)|[](##)|
|
||||
|Toyota|RAV4 2019-21|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Toyota|RAV4 2022|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Toyota|RAV4 Hybrid 2016|TSS-P|[](##)[<sup>4</sup>](#footnotes)|[](##)|[](##)|[](##)|
|
||||
|Toyota|RAV4 Hybrid 2017-18|All|[](##)[<sup>4</sup>](#footnotes)|[](##)|[](##)|[](##)|
|
||||
|Toyota|RAV4 Hybrid 2019-21|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Toyota|RAV4 Hybrid 2022|All|[](##)|[](##)|[](##)|[](##)|
|
||||
|Toyota|Sienna 2018-20|All|[](##)[<sup>4</sup>](#footnotes)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|Arteon 2018-22[<sup>8,9</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|Arteon eHybrid 2020-22[<sup>8,9</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|Arteon R 2020-22[<sup>8,9</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|Atlas 2018-22[<sup>8</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|Atlas Cross Sport 2021-22[<sup>8</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|California 2021[<sup>8</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|Caravelle 2020[<sup>8</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|CC 2018-22[<sup>8,9</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|e-Golf 2014-20|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|Golf 2015-20[<sup>9</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|Golf Alltrack 2015-19|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|Golf GTD 2015-20|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|Golf GTE 2015-20|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|Golf GTI 2015-21|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|Golf R 2015-19[<sup>9</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|Golf SportsVan 2015-20|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|Jetta 2018-22[<sup>8</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|Jetta GLI 2021-22[<sup>8</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|Passat 2015-22[<sup>7,8,9</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|Passat Alltrack 2015-22[<sup>8</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|Passat GTE 2015-22[<sup>8,9</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|Polo 2020-22[<sup>8</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|Polo GTI 2020-22[<sup>8</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|T-Cross 2021[<sup>8</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|T-Roc 2021[<sup>8</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|Taos 2022[<sup>8</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|Teramont 2018-22[<sup>8</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|Teramont Cross Sport 2021-22[<sup>8</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|Teramont X 2021-22[<sup>8</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|Tiguan 2019-22[<sup>8</sup>](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Volkswagen|Touran 2017|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Harness|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|
|
||||
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[](##)|Honda Nidec|
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[](##)|Honda Nidec|
|
||||
|Acura|RDX 2019-22|All|Stock|0 mph|3 mph|[](##)|Honda Bosch A|
|
||||
|Audi|A3 2014-19|ACC + Lane Assist|Stock|0 mph|0 mph|[](##)|VW|
|
||||
|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|Stock|0 mph|0 mph|[](##)|VW|
|
||||
|Audi|Q2 2018|ACC + Lane Assist|Stock|0 mph|0 mph|[](##)|VW|
|
||||
|Audi|Q3 2020-21|ACC + Lane Assist|Stock|0 mph|0 mph|[](##)|VW|
|
||||
|Audi|RS3 2018|ACC + Lane Assist|Stock|0 mph|0 mph|[](##)|VW|
|
||||
|Audi|S3 2015-17|ACC + Lane Assist|Stock|0 mph|0 mph|[](##)|VW|
|
||||
|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[](##)|OBD-II|
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|0 mph|7 mph|[](##)|GM|
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|0 mph|7 mph|[](##)|GM|
|
||||
|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|7 mph|[](##)|OBD-II|
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[](##)|FCA|
|
||||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control|Stock|0 mph|39 mph|[](##)|FCA|
|
||||
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[](##)|FCA|
|
||||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[](##)|FCA|
|
||||
|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control|Stock|0 mph|39 mph|[](##)|FCA|
|
||||
|comma|body|All|Stock|0 mph|0 mph|[](##)|None|
|
||||
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[](##)|Hyundai F|
|
||||
|Genesis|G70 2020|All|openpilot|0 mph|0 mph|[](##)|Hyundai F|
|
||||
|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[](##)|Hyundai H|
|
||||
|Genesis|G90 2017-18|All|Stock|0 mph|0 mph|[](##)|Hyundai C|
|
||||
|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|7 mph|[](##)|OBD-II|
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|0 mph|7 mph|[](##)|GM|
|
||||
|Honda|Accord 2018-22|All|Stock|0 mph|3 mph|[](##)|Honda Bosch A|
|
||||
|Honda|Accord Hybrid 2018-22|All|Stock|0 mph|3 mph|[](##)|Honda Bosch A|
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|Honda Nidec|
|
||||
|Honda|Civic 2019-21|All|Stock|0 mph|2 mph[<sup>2</sup>](#footnotes)|[](##)|Honda Bosch A|
|
||||
|Honda|Civic 2022|All|Stock|0 mph|0 mph|[](##)|Honda Bosch B|
|
||||
|Honda|Civic Hatchback 2017-21|Honda Sensing|Stock|0 mph|12 mph|[](##)|Honda Bosch A|
|
||||
|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[](##)|Honda Bosch B|
|
||||
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[](##)|Honda Nidec|
|
||||
|Honda|CR-V 2017-22|Honda Sensing|Stock|0 mph|12 mph|[](##)|Honda Bosch A|
|
||||
|Honda|CR-V Hybrid 2017-19|Honda Sensing|Stock|0 mph|12 mph|[](##)|Honda Bosch A|
|
||||
|Honda|e 2020|All|Stock|0 mph|3 mph|[](##)|Honda Bosch A|
|
||||
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[](##)|Honda Nidec|
|
||||
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[](##)|Honda Nidec|
|
||||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|Honda Nidec|
|
||||
|Honda|Insight 2019-22|All|Stock|0 mph|3 mph|[](##)|Honda Bosch A|
|
||||
|Honda|Inspire 2018|All|Stock|0 mph|3 mph|[](##)|Honda Bosch A|
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[](##)|Honda Nidec|
|
||||
|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[](##)|Honda Nidec|
|
||||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|Honda Nidec|
|
||||
|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|Honda Nidec|
|
||||
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC) & LKAS|Stock|19 mph|32 mph|[](##)|Hyundai B|
|
||||
|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|Hyundai K|
|
||||
|Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|Hyundai K|
|
||||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC) & LKAS|Stock|19 mph|37 mph|[](##)|Hyundai J|
|
||||
|Hyundai|Ioniq 5 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[](##)|Hyundai Q|
|
||||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[](##)|Hyundai C|
|
||||
|Hyundai|Ioniq Electric 2020|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|Hyundai H|
|
||||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[](##)|Hyundai C|
|
||||
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC) & LFA|Stock|0 mph|0 mph|[](##)|Hyundai H|
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[](##)|Hyundai C|
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2020-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|Hyundai H|
|
||||
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|Hyundai B|
|
||||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|Hyundai G|
|
||||
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|Hyundai O|
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|Hyundai I|
|
||||
|Hyundai|Palisade 2020-22|All|openpilot|0 mph|0 mph|[](##)|Hyundai H|
|
||||
|Hyundai|Santa Fe 2019-20|All|openpilot|0 mph|0 mph|[](##)|Hyundai D|
|
||||
|Hyundai|Santa Fe 2021-22|All|Stock|0 mph|0 mph|[](##)|Hyundai L|
|
||||
|Hyundai|Santa Fe Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|Hyundai L|
|
||||
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|Hyundai L|
|
||||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|Hyundai E|
|
||||
|Hyundai|Sonata 2020-22|All|openpilot|0 mph|0 mph|[](##)|Hyundai A|
|
||||
|Hyundai|Sonata Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|Hyundai A|
|
||||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|Stock|19 mph|0 mph|[](##)|Hyundai L|
|
||||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|Hyundai L|
|
||||
|Hyundai|Tucson Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|Hyundai N|
|
||||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|Hyundai E|
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[](##)|FCA|
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|Stock|0 mph|39 mph|[](##)|FCA|
|
||||
|Kia|Ceed 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|Hyundai E|
|
||||
|Kia|EV6 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[](##)|Hyundai P|
|
||||
|Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|Hyundai B|
|
||||
|Kia|Forte 2019-21|All|Stock|0 mph|0 mph|[](##)|Hyundai G|
|
||||
|Kia|K5 2021-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|Hyundai A|
|
||||
|Kia|Niro Electric 2019|All|openpilot|0 mph|0 mph|[](##)|Hyundai H|
|
||||
|Kia|Niro Electric 2020|All|openpilot|0 mph|0 mph|[](##)|Hyundai F|
|
||||
|Kia|Niro Electric 2021|All|openpilot|0 mph|0 mph|[](##)|Hyundai C|
|
||||
|Kia|Niro Electric 2022|All|openpilot|0 mph|0 mph|[](##)|Hyundai H|
|
||||
|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|Hyundai F|
|
||||
|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|Hyundai H|
|
||||
|Kia|Niro Plug-in Hybrid 2018-19|Smart Cruise Control (SCC) & LKAS|openpilot|10 mph|32 mph|[](##)|Hyundai C|
|
||||
|Kia|Optima 2017|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[](##)|Hyundai B|
|
||||
|Kia|Optima 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|Hyundai G|
|
||||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|Hyundai A|
|
||||
|Kia|Sorento 2018|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|Hyundai C|
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|Hyundai E|
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[](##)|Hyundai C|
|
||||
|Kia|Telluride 2020|All|openpilot|0 mph|0 mph|[](##)|Hyundai H|
|
||||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[](##)|Toyota|
|
||||
|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[](##)|Toyota|
|
||||
|Lexus|ES Hybrid 2017-18|Lexus Safety System+|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[](##)|Toyota|
|
||||
|Lexus|ES Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|Toyota|
|
||||
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[](##)|Toyota|
|
||||
|Lexus|NX 2018-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[](##)|Toyota|
|
||||
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[](##)|Toyota|
|
||||
|Lexus|NX Hybrid 2018-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[](##)|Toyota|
|
||||
|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|Toyota|
|
||||
|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[](##)|Toyota|
|
||||
|Lexus|RX 2016-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[](##)|Toyota|
|
||||
|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[](##)|Toyota|
|
||||
|Lexus|RX Hybrid 2016-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[](##)|Toyota|
|
||||
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|Toyota|
|
||||
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|Toyota|
|
||||
|Mazda|CX-5 2022|All|Stock|0 mph|0 mph|[](##)|Mazda|
|
||||
|Mazda|CX-9 2021-22|All|Stock|0 mph|28 mph|[](##)|Mazda|
|
||||
|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|Nissan B|
|
||||
|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|Nissan A|
|
||||
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|Nissan A|
|
||||
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|Nissan A|
|
||||
|Ram|1500 2019-22|Adaptive Cruise Control|Stock|0 mph|32 mph|[](##)|Ram|
|
||||
|SEAT|Ateca 2018|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
|
||||
|SEAT|Leon 2014-20|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
|
||||
|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[](##)|Subaru A|
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|Subaru A|
|
||||
|Subaru|Crosstrek 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|Subaru A|
|
||||
|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[](##)|Subaru A|
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|Subaru A|
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|Subaru A|
|
||||
|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[](##)|Subaru B|
|
||||
|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[](##)|Subaru B|
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|Subaru A|
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[](##)|Subaru A|
|
||||
|Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
|
||||
|Škoda|Karoq 2019-21[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
|
||||
|Škoda|Kodiaq 2018-19|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
|
||||
|Škoda|Octavia 2015, 2018-19|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
|
||||
|Škoda|Octavia RS 2016|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
|
||||
|Škoda|Scala 2020|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
|
||||
|Škoda|Superb 2015-18|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
|
||||
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|Avalon 2016|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|Avalon 2017-18|All|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|Avalon 2019-21|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|Avalon Hybrid 2019-21|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>4</sup>](#footnotes)|0 mph|[](##)|Toyota|
|
||||
|Toyota|Camry 2021-22|All|openpilot|0 mph[<sup>4</sup>](#footnotes)|0 mph|[](##)|Toyota|
|
||||
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|Camry Hybrid 2021-22|All|openpilot|0 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|Corolla 2017-19|All|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|Corolla Cross (Non-US only) 2020-21|All|openpilot|17 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|Highlander 2017-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|Highlander 2020-22|All|openpilot|0 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|Highlander Hybrid 2017-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|Highlander Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|Prius 2016|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|Prius 2017-20|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|Prius Prime 2017-20|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|Prius v 2017|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|RAV4 2016|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|RAV4 2017-18|All|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|RAV4 Hybrid 2017-18|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|Toyota|
|
||||
|Toyota|Sienna 2018-20|All|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[](##)|Toyota|
|
||||
|Volkswagen|Arteon 2018-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
|
||||
|Volkswagen|Arteon eHybrid 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
|
||||
|Volkswagen|Arteon R 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
|
||||
|Volkswagen|Atlas 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
|
||||
|Volkswagen|Atlas Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
|
||||
|Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|31 mph|[](##)|J533|
|
||||
|Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|31 mph|[](##)|J533|
|
||||
|Volkswagen|CC 2018-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
|
||||
|Volkswagen|e-Golf 2014-20|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
|
||||
|Volkswagen|Golf 2015-20[<sup>8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
|
||||
|Volkswagen|Golf Alltrack 2015-19|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
|
||||
|Volkswagen|Golf GTD 2015-20|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
|
||||
|Volkswagen|Golf GTE 2015-20|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
|
||||
|Volkswagen|Golf GTI 2015-21|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
|
||||
|Volkswagen|Golf R 2015-19[<sup>8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
|
||||
|Volkswagen|Golf SportsVan 2015-20|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
|
||||
|Volkswagen|Jetta 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
|
||||
|Volkswagen|Jetta GLI 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
|
||||
|Volkswagen|Passat 2015-22[<sup>6,7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
|
||||
|Volkswagen|Passat Alltrack 2015-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
|
||||
|Volkswagen|Passat GTE 2015-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
|
||||
|Volkswagen|Polo 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
|
||||
|Volkswagen|Polo GTI 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
|
||||
|Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
|
||||
|Volkswagen|T-Roc 2021[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
|
||||
|Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
|
||||
|Volkswagen|Teramont 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
|
||||
|Volkswagen|Teramont Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
|
||||
|Volkswagen|Teramont X 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
|
||||
|Volkswagen|Tiguan 2019-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[](##)|J533|
|
||||
|Volkswagen|Touran 2017|Driver Assistance|Stock|0 mph|0 mph|[](##)|VW|
|
||||
|
||||
<a id="footnotes"></a>
|
||||
<sup>1</sup>Requires an <a href="https://comma.ai/shop/products/comma-car-harness">OBD-II car harness</a> and <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
|
||||
<sup>1</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
|
||||
<sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
|
||||
<sup>3</sup>Requires a <a href='https://comma.ai/shop/products/panda'>red panda</a> and additional <a href='https://comma.ai/shop/products/harness-box'>harness box.</a> <br />
|
||||
<sup>4</sup>When disconnecting the Driver Support Unit (DSU), openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i> NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
|
||||
<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>6</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>7</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
|
||||
<sup>8</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard. <br />
|
||||
<sup>9</sup>Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.) <br />
|
||||
<sup>3</sup>When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
|
||||
<sup>4</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>5</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>6</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
|
||||
<sup>7</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). In the interim, if your car has a J533 connector CAN gateway inside the dashboard, choose "VW J533 Development" from the vehicle drop-down for a suitable harness. (Some newer models are also observed to not have a J533 connector.) <br />
|
||||
<sup>8</sup>Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.) <br />
|
||||
|
||||
## Community Maintained Cars
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
@@ -237,13 +230,13 @@ Although they're not upstream, the community has openpilot running on other make
|
||||
# Don't see your car here?
|
||||
|
||||
**openpilot can support many more cars than it currently does.** There are a few reasons your car may not be supported.
|
||||
If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. We don't have a roadmap for car support, and in fact, most car support comes from users like you!
|
||||
If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. **We don't have a roadmap for car support**, and in fact, most car support comes from users like you!
|
||||
|
||||
### Which cars are able to be supported?
|
||||
|
||||
openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering) and [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control), then it almost certainly has these interfaces. These interfaces generally started shipping on cars around 2016.
|
||||
openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control) and any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering), then it almost certainly has these interfaces. These features generally started shipping on cars around 2016. Note that manufacturers will often make their own [marketing terms](https://en.wikipedia.org/wiki/Adaptive_cruise_control#Vehicle_models_supporting_adaptive_cruise_control) for these features, such as Hyundai's "Smart Cruise Control" branding of Adaptive Cruise Control.
|
||||
|
||||
If your car has the following packages or features, then it's a good candidate for support. If it does not, then it's unlikely able to be supported.
|
||||
If your car has the following packages or features, then it's a good candidate for support.
|
||||
|
||||
| Make | Required Package/Features |
|
||||
| ---- | ------------------------- |
|
||||
@@ -261,8 +254,9 @@ All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wi
|
||||
|
||||
### Toyota Security
|
||||
|
||||
Specific new Toyota models are shipping with a new message authentication method that openpilot does not yet support.
|
||||
So far, this list includes:
|
||||
openpilot does not yet support these Toyota models due to a new message authentication method.
|
||||
[Vote](https://comma.ai/shop/products/vote) if you'd like to see openpilot support on these models.
|
||||
|
||||
* Toyota RAV4 Prime 2021+
|
||||
* Toyota Sienna 2021+
|
||||
* Toyota Venza 2021+
|
||||
@@ -271,4 +265,4 @@ So far, this list includes:
|
||||
* Toyota Corolla Cross 2022+ (only US model)
|
||||
* Lexus NX 2022+
|
||||
* Toyota bZ4x 2023+
|
||||
* Subaru Solterra 2023+
|
||||
* Subaru Solterra 2023+
|
||||
|
||||
@@ -53,6 +53,7 @@ def tow_to_datetime(tow, week):
|
||||
|
||||
|
||||
def get_leap_seconds(time):
|
||||
# TODO use library for this
|
||||
if time <= GPSTime.from_datetime(datetime.datetime(2006, 1, 1)):
|
||||
raise ValueError("Don't know how many leap seconds to use before 2006")
|
||||
elif time <= GPSTime.from_datetime(datetime.datetime(2009, 1, 1)):
|
||||
@@ -61,6 +62,7 @@ def get_leap_seconds(time):
|
||||
return 15
|
||||
elif time <= GPSTime.from_datetime(datetime.datetime(2015, 7, 1)):
|
||||
return 16
|
||||
# TODO is this correct?
|
||||
elif time <= GPSTime.from_datetime(datetime.datetime(2017, 7, 1)):
|
||||
return 17
|
||||
else:
|
||||
@@ -151,6 +153,9 @@ class GPSTime:
|
||||
def as_datetime(self):
|
||||
return tow_to_datetime(self.tow, self.week)
|
||||
|
||||
def as_unix_timestamp(self):
|
||||
return (gpst_to_utc(self).as_datetime() - datetime.datetime(1970, 1, 1)).total_seconds()
|
||||
|
||||
@property
|
||||
def day(self):
|
||||
return int(self.tow/(24*3600))
|
||||
|
||||
@@ -269,6 +269,8 @@ function launch {
|
||||
if [ -f "/data/media/0/dp_patcher.py" ]; then
|
||||
python /data/media/0/dp_patcher.py
|
||||
fi
|
||||
# dp - install default ssh key
|
||||
python /data/openpilot/scripts/sshkey_installer.py
|
||||
|
||||
# hardware specific init
|
||||
two_init
|
||||
|
||||
@@ -29,6 +29,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
|
||||
python-openssl \
|
||||
xz-utils \
|
||||
zlib1g-dev \
|
||||
cmake \
|
||||
&& rm -rf /var/lib/apt/lists/*
|
||||
|
||||
RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
|
||||
|
||||
@@ -182,7 +182,7 @@ BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
|
||||
SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ ACCSpeedSetpoint : 19|12@0+ (1,0) [0|0] "km/h" NEO
|
||||
SG_ ACCSpeedSetpoint : 19|12@0+ (0.0625,0) [0|255.9375] "km/h" NEO
|
||||
SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] "" NEO
|
||||
SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] "" NEO
|
||||
SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] "" NEO
|
||||
|
||||
@@ -18,6 +18,7 @@
|
||||
//#define DEBUG printf
|
||||
|
||||
#define MAX_BAD_COUNTER 5
|
||||
#define CAN_INVALID_CNT 5
|
||||
|
||||
void init_crc_lookup_tables();
|
||||
|
||||
@@ -68,6 +69,7 @@ public:
|
||||
uint64_t last_sec = 0;
|
||||
uint64_t last_nonempty_sec = 0;
|
||||
uint64_t bus_timeout_threshold = 0;
|
||||
uint64_t can_invalid_cnt = CAN_INVALID_CNT;
|
||||
|
||||
CANParser(int abus, const std::string& dbc_name,
|
||||
const std::vector<MessageParseOptions> &options,
|
||||
|
||||
Binary file not shown.
Binary file not shown.
+964
-972
File diff suppressed because it is too large
Load Diff
Binary file not shown.
@@ -9,6 +9,17 @@ BO_ 258 STEERING: 8 XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 264 ECM_1: 8 XXX
|
||||
SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ ENGINE_TORQUE : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
|
||||
SG_ EXPECTED_ENGINE_TORQUE : 36|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 280 ECM_TRQ: 8 XXX
|
||||
SG_ ENGINE_TORQ_MAX : 4|13@0+ (.25,-500) [-500|1547.5] "NM" XXX
|
||||
SG_ ENGINE_TORQ_MIN : 20|13@0+ (.25,-500) [-500|1547.5] "NM" XXX
|
||||
|
||||
BO_ 284 ESP_8: 8 XXX
|
||||
SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX
|
||||
@@ -29,6 +40,11 @@ BO_ 344 ESP_6: 8 XXX
|
||||
SG_ WHEEL_SPEED_RL : 37|14@0+ (0.5,0) [0|8191] "rpm" XXX
|
||||
SG_ WHEEL_SPEED_RR : 53|14@0+ (0.5,0) [0|8191] "rpm" XXX
|
||||
|
||||
BO_ 368 Transmission_Status: 8 XXX
|
||||
SG_ Gear_State : 2|3@1+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 464 ORC_1: 8 XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
@@ -36,10 +52,17 @@ BO_ 500 DAS_3: 8 XXX
|
||||
SG_ ENGINE_TORQUE_REQUEST : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
|
||||
SG_ ENGINE_TORQUE_REQUEST_MAX : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_STANDSTILL : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_GO : 6|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_DECEL : 19|12@0+ (0.004885,-16) [-16|4] "m/s2" XXX
|
||||
SG_ ACC_AVAILABLE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_ACTIVE : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DISABLE_FUEL_SHUTOFF : 23|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ GR_MAX_REQ : 32|4@1+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_DECEL_REQ : 36|3@1+ (1,0) [0|0] "" XXX
|
||||
SG_ STS : 46|2@1+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_MAYBE : 18|11@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COLLISION_BRK_PREP : 48|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_BRK_PREP : 49|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ BRAKE_BOOL_1 : 36|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -104,7 +127,11 @@ BO_ 820 BCM_1: 8 XXX
|
||||
SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
VAL_ 368 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ;
|
||||
|
||||
CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision";
|
||||
CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque";
|
||||
CM_ SG_ 264 EXPECTED_ENGINE_TORQUE "Expected Engine Torque based on target engine speed";
|
||||
CM_ SG_ 678 LKAS_ICON_COLOR "3 is yellow, 2 is green, 1 is white, 0 is null";
|
||||
CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null";
|
||||
CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null";
|
||||
@@ -128,11 +155,6 @@ BO_ 736 TRIP: 8 XXX
|
||||
SG_ COUNTER : 7|16@0+ (1,0) [0|65535] "Meters" XXX
|
||||
SG_ COUNTER_2 : 23|16@0+ (1,0) [0|65535] "Meters" XXX
|
||||
|
||||
BO_ 264 ACCEL_PEDAL_MSG: 8 XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_PEDAL : 35|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 658 LKAS_COMMAND: 6 XXX
|
||||
SG_ COUNTER : 39|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _stellantis_common_ram.dbc starts here";
|
||||
CM_ "Imported file _stellantis_common_ram_dt_generated.dbc starts here";
|
||||
CM_ "Generated from _stellantis_common.dbc"
|
||||
|
||||
BO_ 35 STEERING: 8 XXX
|
||||
@@ -11,6 +11,17 @@ BO_ 35 STEERING: 8 XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 37 ECM_1: 8 XXX
|
||||
SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ ENGINE_TORQUE : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
|
||||
SG_ EXPECTED_ENGINE_TORQUE : 36|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 181 ECM_TRQ: 8 XXX
|
||||
SG_ ENGINE_TORQ_MAX : 4|13@0+ (.25,-500) [-500|1547.5] "NM" XXX
|
||||
SG_ ENGINE_TORQ_MIN : 20|13@0+ (.25,-500) [-500|1547.5] "NM" XXX
|
||||
|
||||
BO_ 121 ESP_8: 8 XXX
|
||||
SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX
|
||||
@@ -31,6 +42,11 @@ BO_ 139 ESP_6: 8 XXX
|
||||
SG_ WHEEL_SPEED_RL : 37|14@0+ (0.5,0) [0|8191] "rpm" XXX
|
||||
SG_ WHEEL_SPEED_RR : 53|14@0+ (0.5,0) [0|8191] "rpm" XXX
|
||||
|
||||
BO_ 147 Transmission_Status: 8 XXX
|
||||
SG_ Gear_State : 2|3@1+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 464 ORC_1: 8 XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
@@ -38,10 +54,17 @@ BO_ 153 DAS_3: 8 XXX
|
||||
SG_ ENGINE_TORQUE_REQUEST : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
|
||||
SG_ ENGINE_TORQUE_REQUEST_MAX : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_STANDSTILL : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_GO : 6|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_DECEL : 19|12@0+ (0.004885,-16) [-16|4] "m/s2" XXX
|
||||
SG_ ACC_AVAILABLE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_ACTIVE : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DISABLE_FUEL_SHUTOFF : 23|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ GR_MAX_REQ : 32|4@1+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_DECEL_REQ : 36|3@1+ (1,0) [0|0] "" XXX
|
||||
SG_ STS : 46|2@1+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_MAYBE : 18|11@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COLLISION_BRK_PREP : 48|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_BRK_PREP : 49|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ BRAKE_BOOL_1 : 36|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -106,19 +129,17 @@ BO_ 657 BCM_1: 8 XXX
|
||||
SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
VAL_ 147 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ;
|
||||
|
||||
CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision";
|
||||
CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque";
|
||||
CM_ SG_ 264 EXPECTED_ENGINE_TORQUE "Expected Engine Torque based on target engine speed";
|
||||
CM_ SG_ 678 LKAS_ICON_COLOR "3 is yellow, 2 is green, 1 is white, 0 is null";
|
||||
CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null";
|
||||
CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null";
|
||||
|
||||
CM_ "chrysler_ram_dt.dbc starts here";
|
||||
|
||||
BO_ 37 PCM_1: 8 XXX
|
||||
SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ENGINE_TRQ_REQ : 23|12@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 53 PCM_2: 8 XXX
|
||||
SG_ ENG_TORQUE_REQ : 3|12@0+ (1,0) [0|7] "" XXX
|
||||
SG_ ENG_TORQUE_OUT : 19|12@0+ (1,0) [0|1] "" XXX
|
||||
@@ -140,11 +161,6 @@ BO_ 137 ESP_4: 8 XXX
|
||||
SG_ Yaw_Rate : 7|16@0+ (0.01,-327.68) [-327.68|327.66] "deg/s" XXX
|
||||
SG_ Acceleration : 32|8@1+ (0.08,-10.24) [-10.24|10.08] "m/s2" XXX
|
||||
|
||||
BO_ 147 Transmission_Status: 8 XXX
|
||||
SG_ Gear_State : 2|3@1+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 164 EPS_3: 8 XXX
|
||||
SG_ DASM_FAULT : 34|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Activation_Status : 48|3@1+ (1,0) [0|1] "" XXX
|
||||
@@ -175,4 +191,3 @@ CM_ SG_ 250 Auto_High_Beam "1 = HIGH BEAMS OK 0 = HIGH BEAMS OFF ";
|
||||
CM_ SG_ 250 LKAS_LANE_LINES "9 = LEFT CAUTION, 11 = VERY LEFT CAUTION 10 = RIGHT CAUTION, 14 = VERY RIGHT, 4 = NO LINES DETECTED, 3 = LINES DETECTED, SYSTEM ACTIVE";
|
||||
CM_ SG_ 464 Driver_Seatbelt_Status "1 unbuckled 0 buckled";
|
||||
CM_ SG_ 792 High_Beam_Lever_Status "1 is high beam, 0 reg";
|
||||
VAL_ 147 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ;
|
||||
|
||||
@@ -0,0 +1,157 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _stellantis_common_ram_hd_generated.dbc starts here";
|
||||
CM_ "Generated from _stellantis_common.dbc"
|
||||
|
||||
BO_ 258 STEERING: 8 XXX
|
||||
SG_ STEERING_ANGLE : 5|14@0+ (0.5,-2048) [-2048|2047] "deg" XXX
|
||||
SG_ STEERING_RATE : 21|14@0+ (0.5,-2048) [-2048|2047] "deg/s" XXX
|
||||
SG_ STEERING_ANGLE_HP : 48|4@1+ (0.1,-0.4) [-0.4|0.4] "deg" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 264 ECM_1: 8 XXX
|
||||
SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ ENGINE_TORQUE : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
|
||||
SG_ EXPECTED_ENGINE_TORQUE : 36|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 280 ECM_TRQ: 8 XXX
|
||||
SG_ ENGINE_TORQ_MAX : 4|13@0+ (.25,-500) [-500|1547.5] "NM" XXX
|
||||
SG_ ENGINE_TORQ_MIN : 20|13@0+ (.25,-500) [-500|1547.5] "NM" XXX
|
||||
|
||||
BO_ 284 ESP_8: 8 XXX
|
||||
SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Vehicle_Speed : 39|16@0+ (0.0078125,0) [0|511.984375] "km/h" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 320 ESP_1: 8 XXX
|
||||
SG_ Brake_Pedal_State : 2|2@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Vehicle_Speed : 33|10@0+ (0.5,0) [0|511] "km/h" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 344 ESP_6: 8 XXX
|
||||
SG_ WHEEL_SPEED_FL : 5|14@0+ (0.5,0) [0|8191] "rpm" XXX
|
||||
SG_ WHEEL_SPEED_FR : 21|14@0+ (0.5,0) [0|8191] "rpm" XXX
|
||||
SG_ WHEEL_SPEED_RL : 37|14@0+ (0.5,0) [0|8191] "rpm" XXX
|
||||
SG_ WHEEL_SPEED_RR : 53|14@0+ (0.5,0) [0|8191] "rpm" XXX
|
||||
|
||||
BO_ 368 Transmission_Status: 8 XXX
|
||||
SG_ Gear_State : 2|3@1+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 464 ORC_1: 8 XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 500 DAS_3: 8 XXX
|
||||
SG_ ENGINE_TORQUE_REQUEST : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
|
||||
SG_ ENGINE_TORQUE_REQUEST_MAX : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_STANDSTILL : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_GO : 6|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_DECEL : 19|12@0+ (0.004885,-16) [-16|4] "m/s2" XXX
|
||||
SG_ ACC_AVAILABLE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_ACTIVE : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DISABLE_FUEL_SHUTOFF : 23|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ GR_MAX_REQ : 32|4@1+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_DECEL_REQ : 36|3@1+ (1,0) [0|0] "" XXX
|
||||
SG_ STS : 46|2@1+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COLLISION_BRK_PREP : 48|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_BRK_PREP : 49|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ BRAKE_BOOL_1 : 36|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 501 DAS_4: 8 XXX
|
||||
SG_ ACC_SET_SPEED_KPH : 15|8@0+ (1,0) [0|3] "km/h" XXX
|
||||
SG_ ACC_SET_SPEED_MPH : 23|8@0+ (1,0) [0|3] "mph" XXX
|
||||
SG_ ACC_DISTANCE_CONFIG_1 : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
|
||||
SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX
|
||||
|
||||
BO_ 544 EPS_2: 8 XXX
|
||||
SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COLUMN_TORQUE : 2|11@0+ (1,-1024) [-1024|1023] "" XXX
|
||||
SG_ TORQUE_OVERLAY_STATUS : 6|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ EPS_TORQUE_MOTOR_RAW : 19|12@0+ (1,-2048) [-2048|2047] "" XXX
|
||||
SG_ EPS_TORQUE_MOTOR : 34|11@0+ (1,-1024) [-1024|1023] "" XXX
|
||||
SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 559 ECM_5: 8 XXX
|
||||
SG_ Accelerator_Position : 0|8@1+ (0.4,0) [0|100] "%" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 570 CRUISE_BUTTONS: 3 XXX
|
||||
SG_ ACC_Cancel : 0|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_Distance_Dec : 1|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_Accel : 2|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_Decel : 3|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_Resume : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_OnOff : 6|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_OnOff : 7|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_Distance_Inc : 8|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 629 DAS_6: 8 XXX
|
||||
SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_ALERTS : 27|4@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CAR_MODEL : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ AUTO_HIGH_BEAM_ON : 47|1@1+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 720 BSM_1: 6 XXX
|
||||
SG_ RIGHT_STATUS : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEFT_STATUS : 2|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 792 STEERING_LEVERS: 8 XXX
|
||||
SG_ TURN_SIGNALS : 0|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ HIGH_BEAM_PRESSED : 2|1@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 820 BCM_1: 8 XXX
|
||||
SG_ DOOR_OPEN_FL : 17|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FR : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RR : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_TRUNK : 22|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
VAL_ 368 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ;
|
||||
|
||||
CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision";
|
||||
CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque";
|
||||
CM_ SG_ 264 EXPECTED_ENGINE_TORQUE "Expected Engine Torque based on target engine speed";
|
||||
CM_ SG_ 678 LKAS_ICON_COLOR "3 is yellow, 2 is green, 1 is white, 0 is null";
|
||||
CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null";
|
||||
CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null";
|
||||
|
||||
CM_ "chrysler_ram_hd.dbc starts here";
|
||||
|
||||
BO_ 545 EPS_3: 8 XXX
|
||||
SG_ DASM_FAULT : 34|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Activation_Status : 48|3@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Driver_Override : 35|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Hands_on_Wheel : 51|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 630 LKAS_COMMAND: 8 XXX
|
||||
SG_ STEERING_TORQUE : 10|11@0+ (1,-1024) [0|1] "" XXX
|
||||
SG_ LKAS_CONTROL_BIT : 24|3@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DASM_FAULT : 51|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
+58
-3
@@ -1,10 +1,10 @@
|
||||
VERSION ""
|
||||
VERSION "0.0.02"
|
||||
|
||||
BO_ 513 MOTORS_DATA: 8 XXX
|
||||
SG_ SPEED_L : 7|16@0- (1,0) [-1000|1000] "" XXX
|
||||
SG_ SPEED_R : 23|16@0- (1,0) [-1000|1000] "" XXX
|
||||
SG_ ELEC_ANGLE_L : 39|8@0+ (1,0) [0|360] "" XXX
|
||||
SG_ ELEC_ANGLE_R : 47|8@0+ (1,0) [0|360] "" XXX
|
||||
SG_ ELEC_ANGLE_L : 39|8@0+ (1,0) [0|0] "deprecated" XXX
|
||||
SG_ ELEC_ANGLE_R : 47|8@0+ (1,0) [0|0] "deprecated" XXX
|
||||
SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
@@ -27,8 +27,63 @@ BO_ 516 MOTORS_CURRENT: 8 XXX
|
||||
SG_ RIGHT_PHA_AB : 39|16@0- (1,0) [-32768|32767] "" XXX
|
||||
SG_ RIGHT_PHA_BC : 55|16@0- (1,0) [-32768|32767] "" XXX
|
||||
|
||||
BO_ 517 MOTORS_ANGLE: 8 XXX
|
||||
SG_ LEFT_ANGLE_SENSOR : 7|16@0+ (1,0) [0|16384] "" XXX
|
||||
SG_ RIGHT_ANGLE_SENSOR : 23|16@0+ (1,0) [0|16384] "" XXX
|
||||
SG_ LEFT_HALL_SENSOR : 39|16@0+ (1,0) [0|360] "" XXX
|
||||
SG_ RIGHT_HALL_SENSOR : 55|16@0+ (1,0) [0|360] "" XXX
|
||||
|
||||
BO_ 592 TORQUE_CMD: 6 XXX
|
||||
SG_ TORQUE_L : 7|16@0- (1,0) [-1000|1000] "" XXX
|
||||
SG_ TORQUE_R : 23|16@0- (1,0) [-1000|1000] "" XXX
|
||||
SG_ COUNTER : 35|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 593 MAX_MOTOR_RPM_CMD: 5 XXX
|
||||
SG_ MAX_RPM_L : 7|16@0+ (1,0) [0|1000] "" XXX
|
||||
SG_ MAX_RPM_R : 23|16@0+ (1,0) [0|1000] "" XXX
|
||||
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 769 KNEE_MOTORS_DATA: 8 XXX
|
||||
SG_ SPEED_L : 7|16@0- (1,0) [-1000|1000] "" XXX
|
||||
SG_ SPEED_R : 23|16@0- (1,0) [-1000|1000] "" XXX
|
||||
SG_ ELEC_ANGLE_L : 39|8@0+ (1,0) [0|0] "deprecated" XXX
|
||||
SG_ ELEC_ANGLE_R : 47|8@0+ (1,0) [0|0] "deprecated" XXX
|
||||
SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 770 KNEE_VAR_VALUES: 3 XXX
|
||||
SG_ IGNITION : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ENABLE_MOTORS : 1|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ FAULT : 7|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ MOTOR_ERR_L : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ MOTOR_ERR_R : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 771 KNEE_DATA: 4 XXX
|
||||
SG_ MCU_TEMP : 7|8@0+ (0.1,0) [0|125] "" XXX
|
||||
SG_ BATT_VOLTAGE : 15|16@0+ (0.01,0) [0|60] "" XXX
|
||||
SG_ BATT_PERCENTAGE : 31|7@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHARGER_CONNECTED : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 772 KNEE_MOTORS_CURRENT: 8 XXX
|
||||
SG_ LEFT_PHA_AB : 7|16@0- (1,0) [-32768|32767] "" XXX
|
||||
SG_ LEFT_PHA_BC : 23|16@0- (1,0) [-32768|32767] "" XXX
|
||||
SG_ RIGHT_PHA_AB : 39|16@0- (1,0) [-32768|32767] "" XXX
|
||||
SG_ RIGHT_PHA_BC : 55|16@0- (1,0) [-32768|32767] "" XXX
|
||||
|
||||
BO_ 773 KNEE_MOTORS_ANGLE: 8 XXX
|
||||
SG_ LEFT_ANGLE_SENSOR : 7|16@0+ (1,0) [0|16384] "" XXX
|
||||
SG_ RIGHT_ANGLE_SENSOR : 23|16@0+ (1,0) [0|16384] "" XXX
|
||||
SG_ LEFT_HALL_SENSOR : 39|16@0+ (1,0) [0|360] "" XXX
|
||||
SG_ RIGHT_HALL_SENSOR : 55|16@0+ (1,0) [0|360] "" XXX
|
||||
|
||||
BO_ 848 KNEE_TORQUE_CMD: 6 XXX
|
||||
SG_ TORQUE_L : 7|16@0- (1,0) [-1000|1000] "" XXX
|
||||
SG_ TORQUE_R : 23|16@0- (1,0) [-1000|1000] "" XXX
|
||||
SG_ COUNTER : 35|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 849 KNEE_MAX_MOTOR_RPM_CMD: 5 XXX
|
||||
SG_ MAX_RPM_L : 7|16@0+ (1,0) [0|1000] "" XXX
|
||||
SG_ MAX_RPM_R : 23|16@0+ (1,0) [0|1000] "" XXX
|
||||
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
@@ -1 +1 @@
|
||||
_stellantis_common_ram.dbc
|
||||
_*generated.dbc
|
||||
|
||||
@@ -5,6 +5,17 @@ BO_ 258 STEERING: 8 XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 264 ECM_1: 8 XXX
|
||||
SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ ENGINE_TORQUE : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
|
||||
SG_ EXPECTED_ENGINE_TORQUE : 36|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 280 ECM_TRQ: 8 XXX
|
||||
SG_ ENGINE_TORQ_MAX : 4|13@0+ (.25,-500) [-500|1547.5] "NM" XXX
|
||||
SG_ ENGINE_TORQ_MIN : 20|13@0+ (.25,-500) [-500|1547.5] "NM" XXX
|
||||
|
||||
BO_ 284 ESP_8: 8 XXX
|
||||
SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX
|
||||
@@ -25,6 +36,11 @@ BO_ 344 ESP_6: 8 XXX
|
||||
SG_ WHEEL_SPEED_RL : 37|14@0+ (0.5,0) [0|8191] "rpm" XXX
|
||||
SG_ WHEEL_SPEED_RR : 53|14@0+ (0.5,0) [0|8191] "rpm" XXX
|
||||
|
||||
BO_ 368 Transmission_Status: 8 XXX
|
||||
SG_ Gear_State : 2|3@1+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 464 ORC_1: 8 XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
@@ -32,10 +48,17 @@ BO_ 500 DAS_3: 8 XXX
|
||||
SG_ ENGINE_TORQUE_REQUEST : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX
|
||||
SG_ ENGINE_TORQUE_REQUEST_MAX : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_STANDSTILL : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_GO : 6|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_DECEL : 19|12@0+ (0.004885,-16) [-16|4] "m/s2" XXX
|
||||
SG_ ACC_AVAILABLE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_ACTIVE : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DISABLE_FUEL_SHUTOFF : 23|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ GR_MAX_REQ : 32|4@1+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_DECEL_REQ : 36|3@1+ (1,0) [0|0] "" XXX
|
||||
SG_ STS : 46|2@1+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_MAYBE : 18|11@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COLLISION_BRK_PREP : 48|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ ACC_BRK_PREP : 49|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ BRAKE_BOOL_1 : 36|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -100,7 +123,11 @@ BO_ 820 BCM_1: 8 XXX
|
||||
SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
VAL_ 368 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ;
|
||||
|
||||
CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision";
|
||||
CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque";
|
||||
CM_ SG_ 264 EXPECTED_ENGINE_TORQUE "Expected Engine Torque based on target engine speed";
|
||||
CM_ SG_ 678 LKAS_ICON_COLOR "3 is yellow, 2 is green, 1 is white, 0 is null";
|
||||
CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null";
|
||||
CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null";
|
||||
|
||||
@@ -1,42 +1,50 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
from pathlib import Path
|
||||
|
||||
CHRYSLER_TO_RAM_ADDR = {
|
||||
258: 35,
|
||||
284: 121,
|
||||
320: 131,
|
||||
344: 139,
|
||||
464: 464,
|
||||
500: 153,
|
||||
501: 232,
|
||||
544: 49,
|
||||
571: 177,
|
||||
559: 157,
|
||||
678: 250,
|
||||
720: 720,
|
||||
792: 792,
|
||||
820: 657,
|
||||
chrysler_to_ram = {
|
||||
"_stellantis_common_ram_dt_generated.dbc": {
|
||||
258: 35,
|
||||
264: 37,
|
||||
280: 181,
|
||||
284: 121,
|
||||
320: 131,
|
||||
344: 139,
|
||||
368: 147,
|
||||
464: 464,
|
||||
500: 153,
|
||||
501: 232,
|
||||
544: 49,
|
||||
571: 177,
|
||||
559: 157,
|
||||
678: 250,
|
||||
720: 720,
|
||||
792: 792,
|
||||
820: 657,
|
||||
},
|
||||
"_stellantis_common_ram_hd_generated.dbc": {
|
||||
571: 570,
|
||||
678: 629,
|
||||
},
|
||||
}
|
||||
|
||||
if __name__ == "__main__":
|
||||
src = '_stellantis_common.dbc'
|
||||
out = Path(__file__).stem + '.dbc'
|
||||
chrysler_path = os.path.dirname(os.path.realpath(__file__))
|
||||
|
||||
with open(os.path.join(chrysler_path, src)) as in_f, open(os.path.join(chrysler_path, out), 'w') as out_f:
|
||||
out_f.write(f'CM_ "Generated from {src}"\n\n')
|
||||
for out, addr_lookup in chrysler_to_ram.items():
|
||||
with open(os.path.join(chrysler_path, src)) as in_f, open(os.path.join(chrysler_path, out), 'w') as out_f:
|
||||
out_f.write(f'CM_ "Generated from {src}"\n\n')
|
||||
|
||||
wrote_addrs = set()
|
||||
for line in in_f.readlines():
|
||||
if line.startswith('BO_'):
|
||||
sl = line.split(' ')
|
||||
addr = int(sl[1])
|
||||
wrote_addrs.add(addr)
|
||||
wrote_addrs = set()
|
||||
for line in in_f.readlines():
|
||||
if line.startswith(('BO_', 'VAL_')):
|
||||
sl = line.split(' ')
|
||||
addr = int(sl[1])
|
||||
wrote_addrs.add(addr)
|
||||
|
||||
sl[1] = str(CHRYSLER_TO_RAM_ADDR.get(addr, addr))
|
||||
line = ' '.join(sl)
|
||||
out_f.write(line)
|
||||
sl[1] = str(addr_lookup.get(addr, addr))
|
||||
line = ' '.join(sl)
|
||||
out_f.write(line)
|
||||
|
||||
missing_addrs = set(CHRYSLER_TO_RAM_ADDR.keys()) - wrote_addrs
|
||||
assert len(missing_addrs) == 0, f"Missing addrs from {src}: {missing_addrs}"
|
||||
missing_addrs = set(addr_lookup.keys()) - wrote_addrs
|
||||
assert len(missing_addrs) == 0, f"Missing addrs from {src}: {missing_addrs}"
|
||||
|
||||
@@ -17,11 +17,6 @@ BO_ 736 TRIP: 8 XXX
|
||||
SG_ COUNTER : 7|16@0+ (1,0) [0|65535] "Meters" XXX
|
||||
SG_ COUNTER_2 : 23|16@0+ (1,0) [0|65535] "Meters" XXX
|
||||
|
||||
BO_ 264 ACCEL_PEDAL_MSG: 8 XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_PEDAL : 35|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 658 LKAS_COMMAND: 6 XXX
|
||||
SG_ COUNTER : 39|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
@@ -1,10 +1,4 @@
|
||||
CM_ "IMPORT _stellantis_common_ram.dbc";
|
||||
|
||||
BO_ 37 PCM_1: 8 XXX
|
||||
SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ENGINE_TRQ_REQ : 23|12@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
CM_ "IMPORT _stellantis_common_ram_dt_generated.dbc";
|
||||
|
||||
BO_ 53 PCM_2: 8 XXX
|
||||
SG_ ENG_TORQUE_REQ : 3|12@0+ (1,0) [0|7] "" XXX
|
||||
@@ -27,11 +21,6 @@ BO_ 137 ESP_4: 8 XXX
|
||||
SG_ Yaw_Rate : 7|16@0+ (0.01,-327.68) [-327.68|327.66] "deg/s" XXX
|
||||
SG_ Acceleration : 32|8@1+ (0.08,-10.24) [-10.24|10.08] "m/s2" XXX
|
||||
|
||||
BO_ 147 Transmission_Status: 8 XXX
|
||||
SG_ Gear_State : 2|3@1+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 164 EPS_3: 8 XXX
|
||||
SG_ DASM_FAULT : 34|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Activation_Status : 48|3@1+ (1,0) [0|1] "" XXX
|
||||
@@ -62,4 +51,3 @@ CM_ SG_ 250 Auto_High_Beam "1 = HIGH BEAMS OK 0 = HIGH BEAMS OFF ";
|
||||
CM_ SG_ 250 LKAS_LANE_LINES "9 = LEFT CAUTION, 11 = VERY LEFT CAUTION 10 = RIGHT CAUTION, 14 = VERY RIGHT, 4 = NO LINES DETECTED, 3 = LINES DETECTED, SYSTEM ACTIVE";
|
||||
CM_ SG_ 464 Driver_Seatbelt_Status "1 unbuckled 0 buckled";
|
||||
CM_ SG_ 792 High_Beam_Lever_Status "1 is high beam, 0 reg";
|
||||
VAL_ 147 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ;
|
||||
|
||||
@@ -0,0 +1,17 @@
|
||||
CM_ "IMPORT _stellantis_common_ram_hd_generated.dbc";
|
||||
|
||||
BO_ 545 EPS_3: 8 XXX
|
||||
SG_ DASM_FAULT : 34|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Activation_Status : 48|3@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Driver_Override : 35|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Hands_on_Wheel : 51|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 630 LKAS_COMMAND: 8 XXX
|
||||
SG_ STEERING_TORQUE : 10|11@0+ (1,-1024) [0|1] "" XXX
|
||||
SG_ LKAS_CONTROL_BIT : 24|3@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DASM_FAULT : 51|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
@@ -73,6 +73,7 @@ BO_ 201 ECMEngineStatus: 8 K20_ECM
|
||||
SG_ CruiseMainOn : 29|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ Brake_Pressed : 40|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ Standstill : 2|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ CruiseActive : 31|2@0+ (1,0) [0|3] "" NEO
|
||||
|
||||
BO_ 209 EBCMBrakePedalSensors: 7 K17_EBCM
|
||||
SG_ Counter1 : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -138,6 +139,8 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
|
||||
SG_ LKAButton : 23|1@0+ (1,0) [0|0] "" NEO
|
||||
SG_ ACCButtons : 46|3@0+ (1,0) [0|0] "" NEO
|
||||
SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO
|
||||
SG_ SteeringButtonChecksum : 43|12@0+ (1,0) [0|255] "" NEO
|
||||
|
||||
BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
|
||||
SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-2047|2047] "deg" NEO
|
||||
@@ -189,9 +192,10 @@ BO_ 789 EBCMFrictionBrakeCmd: 5 K124_ASCM
|
||||
|
||||
BO_ 800 AEBCmd: 6 K124_ASCM
|
||||
SG_ RollingCounter : 5|2@0+ (1,0) [0|3] "" NEO
|
||||
SG_ Checksum : 27|20@0+ (1,0) [0|2047] "" NEO
|
||||
SG_ BrakeCmdActive : 3|1@1+ (1,0) [0|1] "" NEO
|
||||
SG_ BrakingForce : 2|7@0+ (1,0) [0|7] "" NEO
|
||||
SG_ AEBChecksum : 27|20@0+ (1,0) [0|0] "" NEO
|
||||
SG_ AEBCmdActive : 3|1@1+ (1,0) [0|1] "" NEO
|
||||
SG_ AEBCmd : 2|11@0+ (1,0) [0|0] "" NEO
|
||||
SG_ AEBCmd2 : 23|8@0+ (1,0) [0|0] "" NEO
|
||||
|
||||
BO_ 810 TCICOnStarGPSPosition: 8 K73_TCIC
|
||||
SG_ GPSLongitude : 39|32@0+ (1,-2147483648) [0|0] "milliarcsecond" NEO
|
||||
@@ -211,14 +215,19 @@ BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
|
||||
SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ ACCSpeedSetpoint : 19|12@0+ (1,0) [0|0] "km/h" NEO
|
||||
SG_ ACCSpeedSetpoint : 19|12@0+ (0.0625,0) [0|255.9375] "km/h" NEO
|
||||
SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] "" NEO
|
||||
SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] "" NEO
|
||||
SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] "" NEO
|
||||
SG_ FCWAlert : 41|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 977 ECMCruiseControl: 8 K20_ECM
|
||||
SG_ CruiseActive : 39|1@0+ (1,0) [0|3] "" NEO
|
||||
SG_ CruiseSetSpeed : 19|12@0+ (0.0625,0) [0|0] "km/h" NEO
|
||||
|
||||
BO_ 1001 ECMVehicleSpeed: 8 K20_ECM
|
||||
SG_ VehicleSpeed : 7|16@0+ (0.01,0) [0|0] "mph" NEO
|
||||
SG_ VehicleSpeedLeft : 39|16@0+ (0.01,0) [0|0] "mph" NEO
|
||||
|
||||
BO_ 1033 ASCMKeepAlive: 7 NEO
|
||||
SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] "" NEO
|
||||
@@ -263,6 +272,7 @@ CM_ SG_ 352 Ignition "Non-zero when ignition is on";
|
||||
CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62";
|
||||
CM_ SG_ 497 Ignition "Describes ignition + preconditioning mode, noisy";
|
||||
CM_ SG_ 501 PRNDL2 "When ManualMode is Active, Value is 13=L1 12=L2 11=L3 ... 4=L10";
|
||||
CM_ SG_ 1001 VehicleSpeed "Spinouts show here on 2wd. Speed derived from right front wheel (drive tire)";
|
||||
BA_DEF_ "UseGMParameterIDs" INT 0 0;
|
||||
BA_DEF_ "ProtocolType" STRING ;
|
||||
BA_DEF_ "BusType" STRING ;
|
||||
|
||||
@@ -96,7 +96,7 @@ BO_ 281 Steering_Torque: 8 XXX
|
||||
SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Steer_Warning : 29|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Steering_Angle : 32|16@1- (-0.0217,0) [-600|600] "" X
|
||||
SG_ Steer_Torque_Output : 48|11@1- (-1,0) [-1000|1000] "" XXX
|
||||
SG_ Steer_Torque_Output : 48|11@1- (-10,0) [-1000|1000] "" XXX
|
||||
|
||||
BO_ 312 Brake_Pressure_L_R: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
@@ -116,9 +116,9 @@ BO_ 313 Brake_Pedal: 8 XXX
|
||||
SG_ Signal4 : 48|16@1+ (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 372 Engine_Stop_Start: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ STOP_START_STATE : 39|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ STOP_START_STATE : 39|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 290 ES_LKAS: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
@@ -205,7 +205,7 @@ BO_ 801 ES_DashStatus: 8 XXX
|
||||
SG_ Brake_Lights : 51|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Car_Follow : 52|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal7 : 53|3@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Far_Distance : 56|4@1+ (5,0) [0|75] "m" XXX
|
||||
SG_ Cruise_State : 60|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 802 ES_LKAS_State: 8 XXX
|
||||
|
||||
@@ -139,7 +139,7 @@ BO_ 353 ES_Distance: 8 XXX
|
||||
SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Close_Distance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
|
||||
SG_ Close_Distance : 24|8@1+ (0.019607,0) [0|5] "m" XXX
|
||||
SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
@@ -8,7 +8,7 @@ BO_ 355 ES_DashStatus: 8 XXX
|
||||
SG_ COUNTER : 40|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Brake : 43|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Car_Follow : 54|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Far_Distance : 56|4@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Far_Distance : 56|4@1+ (5,0) [0|75] "m" XXX
|
||||
|
||||
BO_ 881 Steering_Torque: 8 XXX
|
||||
SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
|
||||
|
||||
@@ -19,12 +19,14 @@ BO_ 545 ES_Distance: 8 XXX
|
||||
SG_ Cruise_Throttle : 16|12@1+ (1,0) [0|4095] "" XXX
|
||||
SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Car_Follow : 32|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal3 : 33|3@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal3 : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Soft_Disable : 34|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal7 : 35|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Brake_Active : 36|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Distance_Swap : 37|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_EPB : 38|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal4 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Close_Distance : 40|8@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Close_Distance : 40|8@1+ (0.019607,0) [0|5] "m" XXX
|
||||
SG_ Signal5 : 48|8@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Cancel : 56|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Set : 57|1@1+ (1,0) [0|1] "" XXX
|
||||
@@ -54,6 +56,7 @@ BO_ 576 CruiseControl: 8 XXX
|
||||
CM_ SG_ 545 Cruise_Throttle "RPM-like output signal";
|
||||
CM_ SG_ 545 Cruise_EPB "1 = Electric Parking Brake set";
|
||||
CM_ SG_ 545 Distance_Swap "Switch from Close to Far distance";
|
||||
CM_ SG_ 545 Cruise_Soft_Disable "Eyesight Temporary disable, sets CruiseControl Activated = 0";
|
||||
CM_ SG_ 546 Cruise_RPM "ES RPM output for ECM and TCM";
|
||||
CM_ SG_ 546 Signal3 "0 when cruise_activated = 1";
|
||||
VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6";
|
||||
|
||||
@@ -16,7 +16,7 @@ BO_ 358 ES_DashStatus: 8 XXX
|
||||
SG_ COUNTER : 37|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Far_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
|
||||
SG_ Far_Distance : 48|4@1+ (5,0) [0|75] "m" XXX
|
||||
|
||||
BO_ 881 Steering_Torque: 8 XXX
|
||||
SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
|
||||
|
||||
@@ -16,7 +16,7 @@ BO_ 358 ES_DashStatus: 8 XXX
|
||||
SG_ COUNTER : 37|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Far_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
|
||||
SG_ Far_Distance : 48|4@1+ (5,0) [0|75] "m" XXX
|
||||
|
||||
BO_ 881 Steering_Torque: 8 XXX
|
||||
SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
|
||||
|
||||
@@ -11,7 +11,11 @@ def test_generator():
|
||||
|
||||
ignore = [f for f in os.listdir(opendbc_root) if not f.endswith('_generated.dbc')]
|
||||
comp = filecmp.dircmp(opendbc_root, d, ignore=ignore)
|
||||
assert len(comp.diff_files) == 0, f"Different files: {comp.diff_files}"
|
||||
|
||||
err = "Generated DBC mismatch\n\n"
|
||||
err += f"Different files: {comp.diff_files}\n\n"
|
||||
err += "Run opendbc/generator/generator.py to regenerate DBC files."
|
||||
assert len(comp.diff_files) == 0, err
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@@ -117,7 +117,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ _COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
@@ -163,6 +163,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 865 CLUTCH: 8 XXX
|
||||
SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -385,8 +389,11 @@ CM_ SG_ 835 ITS_CONNECT_LEAD "Displayed when lead car is capable of ITS Connect"
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals.";
|
||||
CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 956 GEAR "on 6MT, only R shows.";
|
||||
CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
|
||||
CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
|
||||
CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
|
||||
@@ -440,6 +447,7 @@ VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 865 CLUTCH_RELEASED 0 "clutch pressed any amount" 1 "clutch released"
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 956 SPORT_ON 0 "off" 1 "on";
|
||||
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
|
||||
|
||||
@@ -93,6 +93,7 @@ BO_ 201 ECMEngineStatus: 8 K20_ECM
|
||||
SG_ CruiseMainOn : 29|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ Brake_Pressed : 40|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ Standstill : 2|1@0+ (1,0) [0|1] "" NEO
|
||||
SG_ CruiseActive : 31|2@0+ (1,0) [0|3] "" NEO
|
||||
|
||||
BO_ 209 EBCMBrakePedalSensors: 7 K17_EBCM
|
||||
SG_ Counter1 : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -158,6 +159,8 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
|
||||
SG_ LKAButton : 23|1@0+ (1,0) [0|0] "" NEO
|
||||
SG_ ACCButtons : 46|3@0+ (1,0) [0|0] "" NEO
|
||||
SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO
|
||||
SG_ SteeringButtonChecksum : 43|12@0+ (1,0) [0|255] "" NEO
|
||||
|
||||
BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
|
||||
SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-2047|2047] "deg" NEO
|
||||
@@ -209,9 +212,10 @@ BO_ 789 EBCMFrictionBrakeCmd: 5 K124_ASCM
|
||||
|
||||
BO_ 800 AEBCmd: 6 K124_ASCM
|
||||
SG_ RollingCounter : 5|2@0+ (1,0) [0|3] "" NEO
|
||||
SG_ Checksum : 27|20@0+ (1,0) [0|2047] "" NEO
|
||||
SG_ BrakeCmdActive : 3|1@1+ (1,0) [0|1] "" NEO
|
||||
SG_ BrakingForce : 2|7@0+ (1,0) [0|7] "" NEO
|
||||
SG_ AEBChecksum : 27|20@0+ (1,0) [0|0] "" NEO
|
||||
SG_ AEBCmdActive : 3|1@1+ (1,0) [0|1] "" NEO
|
||||
SG_ AEBCmd : 2|11@0+ (1,0) [0|0] "" NEO
|
||||
SG_ AEBCmd2 : 23|8@0+ (1,0) [0|0] "" NEO
|
||||
|
||||
BO_ 810 TCICOnStarGPSPosition: 8 K73_TCIC
|
||||
SG_ GPSLongitude : 39|32@0+ (1,-2147483648) [0|0] "milliarcsecond" NEO
|
||||
@@ -231,14 +235,19 @@ BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
|
||||
SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ ACCSpeedSetpoint : 19|12@0+ (1,0) [0|0] "km/h" NEO
|
||||
SG_ ACCSpeedSetpoint : 19|12@0+ (0.0625,0) [0|255.9375] "km/h" NEO
|
||||
SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] "" NEO
|
||||
SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] "" NEO
|
||||
SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] "" NEO
|
||||
SG_ FCWAlert : 41|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 977 ECMCruiseControl: 8 K20_ECM
|
||||
SG_ CruiseActive : 39|1@0+ (1,0) [0|3] "" NEO
|
||||
SG_ CruiseSetSpeed : 19|12@0+ (0.0625,0) [0|0] "km/h" NEO
|
||||
|
||||
BO_ 1001 ECMVehicleSpeed: 8 K20_ECM
|
||||
SG_ VehicleSpeed : 7|16@0+ (0.01,0) [0|0] "mph" NEO
|
||||
SG_ VehicleSpeedLeft : 39|16@0+ (0.01,0) [0|0] "mph" NEO
|
||||
|
||||
BO_ 1033 ASCMKeepAlive: 7 NEO
|
||||
SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] "" NEO
|
||||
@@ -283,6 +292,7 @@ CM_ SG_ 352 Ignition "Non-zero when ignition is on";
|
||||
CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62";
|
||||
CM_ SG_ 497 Ignition "Describes ignition + preconditioning mode, noisy";
|
||||
CM_ SG_ 501 PRNDL2 "When ManualMode is Active, Value is 13=L1 12=L2 11=L3 ... 4=L10";
|
||||
CM_ SG_ 1001 VehicleSpeed "Spinouts show here on 2wd. Speed derived from right front wheel (drive tire)";
|
||||
BA_DEF_ "UseGMParameterIDs" INT 0 0;
|
||||
BA_DEF_ "ProtocolType" STRING ;
|
||||
BA_DEF_ "BusType" STRING ;
|
||||
|
||||
@@ -42,6 +42,11 @@ BO_ 53 ACCELERATOR: 32 XXX
|
||||
SG_ GEAR : 192|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ ACCELERATOR_PEDAL : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 69 GEAR: 24 XXX
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ GEAR : 44|3@1+ (1,0) [0|7] "" XXX
|
||||
|
||||
BO_ 80 LKAS: 16 XXX
|
||||
SG_ STEER_REQ : 52|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ TORQUE_REQUEST : 41|11@1+ (1,-1024) [0|4095] "" XXX
|
||||
@@ -85,6 +90,11 @@ BO_ 234 MDPS: 24 XXX
|
||||
SG_ STEERING_ANGLE : 96|16@1- (-0.1,0) [0|255] "deg" XXX
|
||||
SG_ STEERING_ANGLE_2 : 128|16@1- (-0.1,0) [0|65535] "deg" XXX
|
||||
|
||||
BO_ 261 ACCELERATOR_ALT: 32 XXX
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCELERATOR_PEDAL : 103|10@1+ (0.25,0) [0|1022] "" XXX
|
||||
|
||||
BO_ 293 STEERING_SENSORS: 16 XXX
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
@@ -107,6 +117,13 @@ BO_ 298 LFA: 16 XXX
|
||||
SG_ SET_ME_1 : 80|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 111|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 304 GEAR_SHIFTER: 16 XXX
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ PARK_BUTTON : 32|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ GEAR : 64|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ KNOB_POSITION : 40|3@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 373 SCC1: 24 XXX
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
@@ -144,9 +161,66 @@ BO_ 389 CAM_0x185: 8 CAMERA
|
||||
BO_ 416 CRUISE_INFO: 32 XXX
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE3 : 24|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE4 : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE5 : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE6 : 48|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE7 : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 64|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ CRUISE_MAIN : 66|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_STATUS : 67|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ CRUISE_INACTIVE : 70|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 71|5@1+ (1,0) [0|15] "" XXX
|
||||
SG_ CRUISE_STANDSTILL : 76|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 77|11@1+ (1,0) [0|2047] "" XXX
|
||||
SG_ BYTE11 : 88|8@1+ (1,0) [0|127] "" XXX
|
||||
SG_ SET_SPEED : 102|7@0+ (1,0) [0|127] "km/h or mph" XXX
|
||||
SG_ CRUISE_ACTIVE : 184|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 103|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BYTE13 : 104|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE14 : 112|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE15 : 120|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE16 : 128|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE17 : 136|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE18 : 144|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE19 : 152|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE20 : 160|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE21 : 168|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE22 : 176|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE23 : 184|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE24 : 192|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE25 : 200|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE26 : 208|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE27 : 216|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE28 : 224|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE29 : 232|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE30 : 240|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE31 : 248|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 426 CRUISE_BUTTONS_ALT: 16 XXX
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 24|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ SET_ME_1 : 28|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 31|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ ADAPTIVE_CRUISE_MAIN_BTN : 34|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 35|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LFA_BTN : 39|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_BUTTONS : 36|3@1+ (1,0) [0|4] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 40|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ NORMAL_CRUISE_MAIN_BTN : 41|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 42|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_2 : 44|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ NEW_SIGNAL_6 : 47|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BYTE6 : 48|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE7 : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE8 : 64|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE9 : 72|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE10 : 80|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE11 : 88|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE12 : 96|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE13 : 104|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE14 : 112|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BYTE15 : 120|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 438 CAM_0x1b6: 32 CAMERA
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
@@ -173,10 +247,11 @@ BO_ 463 CRUISE_BUTTONS: 8 XXX
|
||||
SG_ COUNTER : 12|4@1+ (1,0) [0|255] "" XXX
|
||||
SG_ CRUISE_BUTTONS : 16|3@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 480 NEW_MSG_1: 16 XXX
|
||||
BO_ 480 LFAHDA_CLUSTER: 16 XXX
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LFA_GREY : 47|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HDA_ICON : 31|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LFA_ICON : 47|2@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 507 CAM_0x1fb: 32 CAMERA
|
||||
SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
|
||||
@@ -259,7 +334,14 @@ BO_ 1240 CLUSTER_INFO: 8 XXX
|
||||
CM_ SG_ 961 COUNTER_ALT "only increments on change";
|
||||
CM_ SG_ 1041 COUNTER_ALT "only increments on change";
|
||||
CM_ SG_ 1043 COUNTER_ALT "only increments on change";
|
||||
|
||||
VAL_ 53 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
|
||||
VAL_ 69 GEAR 0 "P" 5 "D" 6 "N" 7 "R" ;
|
||||
VAL_ 304 GEAR 1 "P" 2 "R" 3 "N" 4 "D";
|
||||
VAL_ 80 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green" ;
|
||||
VAL_ 80 LKA_MODE 1 "warning only" 2 "assist" 6 "off" ;
|
||||
VAL_ 298 LKA_ICON 0 "hidden" 1 "grey" 2 "green" 3 "flashing green" ;
|
||||
VAL_ 298 LKA_MODE 1 "warning only" 2 "assist" 6 "off" ;
|
||||
VAL_ 416 CRUISE_STATUS 0 "cruise_inactive" 2 "cruise_active" 4 "driver_override" ;
|
||||
VAL_ 426 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4 "pause_resume" ;
|
||||
VAL_ 463 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4 "pause_resume" ;
|
||||
@@ -47,7 +47,12 @@ BO_ 573 ENGINE_1: 8 XXX
|
||||
BO_ 640 SPEED: 8 XXX
|
||||
SG_ SPEED : 32|16@1+ (0.01,0) [0|45000] "" XXX
|
||||
|
||||
BO_ 861 BCM: 8 XXX
|
||||
|
||||
BO_ 1361 ENGINE_3: 8 XXX
|
||||
SG_ CLT : 0|8@1+ (1,-45) [-45|150] "" XXX
|
||||
|
||||
BO_ 1408 ENGINE_4: 8 XXX
|
||||
SG_ OIL_TEMP : 32|8@1+ (1,-40) [-40|150] "" XXX
|
||||
|
||||
BO_ 1477 MILEAGE: 8 XXX
|
||||
@@ -143,7 +143,7 @@ BO_ 353 ES_Distance: 8 XXX
|
||||
SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Close_Distance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
|
||||
SG_ Close_Distance : 24|8@1+ (0.019607,0) [0|5] "m" XXX
|
||||
SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX
|
||||
@@ -257,7 +257,7 @@ BO_ 355 ES_DashStatus: 8 XXX
|
||||
SG_ COUNTER : 40|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Brake : 43|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Car_Follow : 54|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Far_Distance : 56|4@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Far_Distance : 56|4@1+ (5,0) [0|75] "m" XXX
|
||||
|
||||
BO_ 881 Steering_Torque: 8 XXX
|
||||
SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
|
||||
|
||||
@@ -100,7 +100,7 @@ BO_ 281 Steering_Torque: 8 XXX
|
||||
SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Steer_Warning : 29|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Steering_Angle : 32|16@1- (-0.0217,0) [-600|600] "" X
|
||||
SG_ Steer_Torque_Output : 48|11@1- (-1,0) [-1000|1000] "" XXX
|
||||
SG_ Steer_Torque_Output : 48|11@1- (-10,0) [-1000|1000] "" XXX
|
||||
|
||||
BO_ 312 Brake_Pressure_L_R: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
@@ -120,9 +120,9 @@ BO_ 313 Brake_Pedal: 8 XXX
|
||||
SG_ Signal4 : 48|16@1+ (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 372 Engine_Stop_Start: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ STOP_START_STATE : 39|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ STOP_START_STATE : 39|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 290 ES_LKAS: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
@@ -209,7 +209,7 @@ BO_ 801 ES_DashStatus: 8 XXX
|
||||
SG_ Brake_Lights : 51|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Car_Follow : 52|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal7 : 53|3@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Far_Distance : 56|4@1+ (5,0) [0|75] "m" XXX
|
||||
SG_ Cruise_State : 60|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 802 ES_LKAS_State: 8 XXX
|
||||
@@ -282,12 +282,14 @@ BO_ 545 ES_Distance: 8 XXX
|
||||
SG_ Cruise_Throttle : 16|12@1+ (1,0) [0|4095] "" XXX
|
||||
SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Car_Follow : 32|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal3 : 33|3@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal3 : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Soft_Disable : 34|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal7 : 35|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Brake_Active : 36|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Distance_Swap : 37|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_EPB : 38|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal4 : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Close_Distance : 40|8@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Close_Distance : 40|8@1+ (0.019607,0) [0|5] "m" XXX
|
||||
SG_ Signal5 : 48|8@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Cancel : 56|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Set : 57|1@1+ (1,0) [0|1] "" XXX
|
||||
@@ -317,6 +319,7 @@ BO_ 576 CruiseControl: 8 XXX
|
||||
CM_ SG_ 545 Cruise_Throttle "RPM-like output signal";
|
||||
CM_ SG_ 545 Cruise_EPB "1 = Electric Parking Brake set";
|
||||
CM_ SG_ 545 Distance_Swap "Switch from Close to Far distance";
|
||||
CM_ SG_ 545 Cruise_Soft_Disable "Eyesight Temporary disable, sets CruiseControl Activated = 0";
|
||||
CM_ SG_ 546 Cruise_RPM "ES RPM output for ECM and TCM";
|
||||
CM_ SG_ 546 Signal3 "0 when cruise_activated = 1";
|
||||
VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6";
|
||||
|
||||
@@ -100,7 +100,7 @@ BO_ 281 Steering_Torque: 8 XXX
|
||||
SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Steer_Warning : 29|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Steering_Angle : 32|16@1- (-0.0217,0) [-600|600] "" X
|
||||
SG_ Steer_Torque_Output : 48|11@1- (-1,0) [-1000|1000] "" XXX
|
||||
SG_ Steer_Torque_Output : 48|11@1- (-10,0) [-1000|1000] "" XXX
|
||||
|
||||
BO_ 312 Brake_Pressure_L_R: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
@@ -120,9 +120,9 @@ BO_ 313 Brake_Pedal: 8 XXX
|
||||
SG_ Signal4 : 48|16@1+ (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 372 Engine_Stop_Start: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ STOP_START_STATE : 39|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ STOP_START_STATE : 39|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 290 ES_LKAS: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
@@ -209,7 +209,7 @@ BO_ 801 ES_DashStatus: 8 XXX
|
||||
SG_ Brake_Lights : 51|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Car_Follow : 52|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal7 : 53|3@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Far_Distance : 56|4@1+ (5,0) [0|75] "m" XXX
|
||||
SG_ Cruise_State : 60|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 802 ES_LKAS_State: 8 XXX
|
||||
|
||||
@@ -143,7 +143,7 @@ BO_ 353 ES_Distance: 8 XXX
|
||||
SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Close_Distance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
|
||||
SG_ Close_Distance : 24|8@1+ (0.019607,0) [0|5] "m" XXX
|
||||
SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX
|
||||
@@ -265,7 +265,7 @@ BO_ 358 ES_DashStatus: 8 XXX
|
||||
SG_ COUNTER : 37|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Far_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
|
||||
SG_ Far_Distance : 48|4@1+ (5,0) [0|75] "m" XXX
|
||||
|
||||
BO_ 881 Steering_Torque: 8 XXX
|
||||
SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
|
||||
|
||||
@@ -143,7 +143,7 @@ BO_ 353 ES_Distance: 8 XXX
|
||||
SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Close_Distance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
|
||||
SG_ Close_Distance : 24|8@1+ (0.019607,0) [0|5] "m" XXX
|
||||
SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
|
||||
SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX
|
||||
@@ -265,7 +265,7 @@ BO_ 358 ES_DashStatus: 8 XXX
|
||||
SG_ COUNTER : 37|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Far_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
|
||||
SG_ Far_Distance : 48|4@1+ (5,0) [0|75] "m" XXX
|
||||
|
||||
BO_ 881 Steering_Torque: 8 XXX
|
||||
SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
|
||||
|
||||
@@ -162,7 +162,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ _COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
@@ -208,6 +208,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 865 CLUTCH: 8 XXX
|
||||
SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -430,8 +434,11 @@ CM_ SG_ 835 ITS_CONNECT_LEAD "Displayed when lead car is capable of ITS Connect"
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals.";
|
||||
CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 956 GEAR "on 6MT, only R shows.";
|
||||
CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
|
||||
CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
|
||||
CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
|
||||
@@ -485,6 +492,7 @@ VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 865 CLUTCH_RELEASED 0 "clutch pressed any amount" 1 "clutch released"
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 956 SPORT_ON 0 "off" 1 "on";
|
||||
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
|
||||
|
||||
@@ -162,7 +162,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ _COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
@@ -208,6 +208,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 865 CLUTCH: 8 XXX
|
||||
SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -431,8 +435,11 @@ CM_ SG_ 835 ITS_CONNECT_LEAD "Displayed when lead car is capable of ITS Connect"
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals.";
|
||||
CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 956 GEAR "on 6MT, only R shows.";
|
||||
CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
|
||||
CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
|
||||
CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
|
||||
@@ -486,6 +493,7 @@ VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 865 CLUTCH_RELEASED 0 "clutch pressed any amount" 1 "clutch released"
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 956 SPORT_ON 0 "off" 1 "on";
|
||||
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
|
||||
|
||||
@@ -162,7 +162,7 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ _COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
@@ -208,6 +208,10 @@ BO_ 835 ACC_CONTROL: 8 DSU
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 865 CLUTCH: 8 XXX
|
||||
SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
@@ -430,8 +434,11 @@ CM_ SG_ 835 ITS_CONNECT_LEAD "Displayed when lead car is capable of ITS Connect"
|
||||
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals.";
|
||||
CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 956 GEAR "on 6MT, only R shows.";
|
||||
CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
|
||||
CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
|
||||
CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
|
||||
@@ -485,6 +492,7 @@ VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
|
||||
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
|
||||
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
|
||||
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
|
||||
VAL_ 865 CLUTCH_RELEASED 0 "clutch pressed any amount" 1 "clutch released"
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 956 SPORT_ON 0 "off" 1 "on";
|
||||
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
|
||||
|
||||
+32
-2
@@ -296,7 +296,9 @@ BO_ 1408 Motor_Flexia: 8 XXX
|
||||
SG_ Verschleissindex : 16|8@1+ (1,0) [0|254] "" XXX
|
||||
SG_ Russindex : 8|8@1+ (1,0) [0|254] "" XXX
|
||||
SG_ Verbrennungsart : 7|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Frei_Motor_Flexia_1 : 4|3@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Frei_Motor_Flexia_1 : 6|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Warm_Up_Cycle : 5|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Driving_Cycle : 4|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Zaehler_Motor_Flexia : 1|3@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Multiplex_Schalter_Motor_Flexia M : 0|1@1+ (1,0) [0|0] "" XXX
|
||||
|
||||
@@ -1121,7 +1123,7 @@ BO_ 208 Lenkhilfe_3: 6 XXX
|
||||
SG_ LH3_BLWValid : 45|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LH3_Lenkungstyp : 46|2@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 978 Lenkhilfe_2: 8 XXX
|
||||
BO_ 978 Lenkhilfe_2: 7 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ LH2_Geradeaus : 12|1@1+ (1,0) [0|1] "" XXX
|
||||
@@ -1457,19 +1459,28 @@ CM_ SG_ 640 Fahrerwunschmoment "Driver Requested Torque";
|
||||
CM_ SG_ 640 mechanisches_Motor_Verlustmomen "Mechanical Torque Loss";
|
||||
CM_ SG_ 640 Fahrpedalwert_oder_Drosselklapp "Accelerator Pedal or Throttle Position";
|
||||
CM_ SG_ 640 Motordrehzahl "Engine Speed";
|
||||
CM_ SG_ 640 Momentenangaben_ungenau "Approximate Torque Values";
|
||||
|
||||
CM_ SG_ 644 MOB_CHECKSUM "Checksum MOB";
|
||||
CM_ SG_ 644 MOB_COUNTER "Counter MOB";
|
||||
|
||||
CM_ SG_ 648 Minimales_Motormoment_bei_Zuend "Minimum Torque Adjustment";
|
||||
CM_ SG_ 648 Begrenzungsmoment "Maximum Inner Torque";
|
||||
CM_ SG_ 648 Bremstestschalter "Brake Test Switch";
|
||||
CM_ SG_ 648 Soll_Geschwindigkeit_bei_GRA_Be "Desired Vehicle Speed";
|
||||
CM_ SG_ 648 Bremslichtschalter "Brake Light Switch";
|
||||
CM_ SG_ 648 Leerlaufsolldrehzahl__Motor_2_ "Target Idle Speed";
|
||||
CM_ SG_ 648 Fahrzeuggeschwindigkeit "Vehicle Speed";
|
||||
CM_ SG_ 648 Kuehlmitteltemperatur__Motor_2_ "Coolant Temperature";
|
||||
|
||||
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";
|
||||
@@ -1480,6 +1491,15 @@ CM_ SG_ 912 BSK_HD_Hauptraste "Status of trunk lid main detent";
|
||||
CM_ SG_ 1088 Zaehler_Getriebe_1 "Counter Getriebe_1";
|
||||
CM_ SG_ 1088 Waehlhebelposition__Getriebe_1_ "Gear Selector Position";
|
||||
|
||||
CM_ SG_ 1056 Fehlerstatus_Aussentemp__4_1 "ambient temp error";
|
||||
CM_ SG_ 1056 Fehlerstatus_Oeltemperatur_4_1 "oil temp error";
|
||||
CM_ SG_ 1056 Fehlerst__Kuehlmitteltemp__4_1 "water temp error";
|
||||
CM_ SG_ 1056 Aussentemperatur_gefiltert "outside temp, filtered";
|
||||
CM_ SG_ 1056 Oeltemperatur_4_1 "kombi oil temperature";
|
||||
CM_ SG_ 1056 Kuehlmitteltemp__4_1__Kombi_2_ "kombi coolant temperature";
|
||||
|
||||
CM_ SG_ 1096 Zaehler_Waehlhebel_1 "Counter Waehlhebel_1";
|
||||
|
||||
CM_ SG_ 1152 Checksumme_Motor_5 "Checksum Motor_5";
|
||||
|
||||
CM_ SG_ 1160 Zaehler_Motor_6 "Counter Motor_6";
|
||||
@@ -1492,6 +1512,16 @@ CM_ SG_ 1344 Zahler_Getriebe_2 "Counter Getriebe_2";
|
||||
|
||||
CM_ SG_ 1386 ACA_V_Wunsch "255=unset";
|
||||
|
||||
CM_ SG_ 1408 Zaehler_Motor_Flexia "Counter Motor_Flexia";
|
||||
CM_ SG_ 1408 Verbrennungsart "Type of combustion";
|
||||
CM_ SG_ 1408 Max_Drehmoment "Maximum torque";
|
||||
CM_ SG_ 1408 Drehzahl_MaxNorm "RPM of maximum torque";
|
||||
CM_ SG_ 1408 Hubraum "Displacement";
|
||||
CM_ SG_ 1408 Anzahl_Zylinder "Number of cylinders";
|
||||
CM_ SG_ 1408 Anzahl_Ventile "Number of valves";
|
||||
CM_ SG_ 1408 Ansaugsystem "Induction System";
|
||||
CM_ SG_ 1408 Motorleistung "Maximum engine power";
|
||||
|
||||
CM_ SG_ 1416 Ladedruck "Boost Pressure";
|
||||
|
||||
CM_ SG_ 1470 LDW_Direction "0=right,1=left";
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -4,12 +4,14 @@ from tqdm import tqdm
|
||||
from panda import Panda
|
||||
from panda.python.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE, DATA_IDENTIFIER_TYPE
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
parser = argparse.ArgumentParser()
|
||||
parser.add_argument('--rxoffset', default="")
|
||||
parser.add_argument('--nonstandard', action='store_true')
|
||||
parser.add_argument('--debug', action='store_true')
|
||||
parser.add_argument('--addr')
|
||||
parser.add_argument('--bus')
|
||||
args = parser.parse_args()
|
||||
|
||||
if args.addr:
|
||||
@@ -39,9 +41,11 @@ if __name__ == "__main__":
|
||||
if addr == 0x7df or addr == 0x18db33f1:
|
||||
continue
|
||||
t.set_description(hex(addr))
|
||||
panda.send_heartbeat()
|
||||
|
||||
bus = 1 if panda.has_obd() else 0
|
||||
if args.bus:
|
||||
bus = int(args.bus)
|
||||
else:
|
||||
bus = 1 if panda.has_obd() else 0
|
||||
rx_addr = addr + int(args.rxoffset, base=16) if args.rxoffset else None
|
||||
uds_client = UdsClient(panda, addr, rx_addr, bus, timeout=0.2, debug=args.debug)
|
||||
# Check for anything alive at this address, and switch to the highest
|
||||
|
||||
+97
-38
@@ -1,20 +1,22 @@
|
||||
# python library to interface with panda
|
||||
import datetime
|
||||
import os
|
||||
import sys
|
||||
import time
|
||||
import usb1
|
||||
import struct
|
||||
import hashlib
|
||||
import usb1
|
||||
import os
|
||||
import time
|
||||
import datetime
|
||||
import traceback
|
||||
import sys
|
||||
import warnings
|
||||
from functools import wraps
|
||||
from typing import Optional
|
||||
from itertools import accumulate
|
||||
from .dfu import PandaDFU, MCU_TYPE_F2, MCU_TYPE_F4, MCU_TYPE_H7 # pylint: disable=import-error
|
||||
from .flash_release import flash_release # noqa pylint: disable=import-error
|
||||
from .update import ensure_st_up_to_date # noqa pylint: disable=import-error
|
||||
from .serial import PandaSerial # noqa pylint: disable=import-error
|
||||
from .isotp import isotp_send, isotp_recv # pylint: disable=import-error
|
||||
from .config import DEFAULT_FW_FN, DEFAULT_H7_FW_FN # noqa pylint: disable=import-error
|
||||
from .config import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, SECTOR_SIZES_FX, SECTOR_SIZES_H7 # noqa pylint: disable=import-error
|
||||
|
||||
__version__ = '0.0.10'
|
||||
|
||||
@@ -149,7 +151,7 @@ class Panda:
|
||||
SAFETY_STELLANTIS = 25
|
||||
SAFETY_FAW = 26
|
||||
SAFETY_BODY = 27
|
||||
SAFETY_HYUNDAI_HDA2 = 28
|
||||
SAFETY_HYUNDAI_CANFD = 28
|
||||
|
||||
SERIAL_DEBUG = 0
|
||||
SERIAL_ESP = 1
|
||||
@@ -172,8 +174,8 @@ class Panda:
|
||||
HW_TYPE_RED_PANDA = b'\x07'
|
||||
|
||||
CAN_PACKET_VERSION = 2
|
||||
HEALTH_PACKET_VERSION = 7
|
||||
HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBBBHBBBHIf")
|
||||
HEALTH_PACKET_VERSION = 8
|
||||
HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBBBHBBBHIfB")
|
||||
|
||||
F2_DEVICES = (HW_TYPE_PEDAL, )
|
||||
F4_DEVICES = (HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS)
|
||||
@@ -194,17 +196,33 @@ class Panda:
|
||||
FLAG_HYUNDAI_EV_GAS = 1
|
||||
FLAG_HYUNDAI_HYBRID_GAS = 2
|
||||
FLAG_HYUNDAI_LONG = 4
|
||||
FLAG_HYUNDAI_CAMERA_SCC = 8
|
||||
|
||||
FLAG_HYUNDAI_CANFD_HDA2 = 1
|
||||
FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 2
|
||||
|
||||
FLAG_TESLA_POWERTRAIN = 1
|
||||
FLAG_TESLA_LONG_CONTROL = 2
|
||||
|
||||
FLAG_CHRYSLER_RAM_DT = 1
|
||||
FLAG_VOLKSWAGEN_LONG_CONTROL = 1
|
||||
|
||||
def __init__(self, serial: Optional[str] = None, claim: bool = True):
|
||||
FLAG_CHRYSLER_RAM_DT = 1
|
||||
FLAG_CHRYSLER_RAM_HD = 2
|
||||
|
||||
FLAG_SUBARU_GEN2 = 1
|
||||
|
||||
FLAG_GM_HW_CAM = 1
|
||||
|
||||
def __init__(self, serial: Optional[str] = None, claim: bool = True, disable_checks: bool = True):
|
||||
self._serial = serial
|
||||
self._disable_checks = disable_checks
|
||||
|
||||
self._handle = None
|
||||
self._bcd_device = None
|
||||
|
||||
# connect and set mcu type
|
||||
self.connect(claim)
|
||||
self._mcu_type = self.get_mcu_type()
|
||||
|
||||
|
||||
def close(self):
|
||||
self._handle.close()
|
||||
@@ -235,6 +253,12 @@ class Panda:
|
||||
if claim:
|
||||
self._handle.claimInterface(0)
|
||||
# self._handle.setInterfaceAltSetting(0, 0) # Issue in USB stack
|
||||
|
||||
# bcdDevice wasn't always set to the hw type, ignore if it's the old constant
|
||||
bcd = device.getbcdDevice()
|
||||
if bcd is not None and bcd != 0x2300:
|
||||
self._bcd_device = bytearray([bcd >> 8, ])
|
||||
|
||||
break
|
||||
except Exception as e:
|
||||
print("exception", e)
|
||||
@@ -242,11 +266,18 @@ class Panda:
|
||||
if not wait or self._handle is not None:
|
||||
break
|
||||
context = usb1.USBContext() # New context needed so new devices show up
|
||||
assert(self._handle is not None)
|
||||
|
||||
assert self._handle is not None
|
||||
self._mcu_type = self.get_mcu_type()
|
||||
self.health_version, self.can_version = self.get_packets_versions()
|
||||
print("connected")
|
||||
|
||||
def reset(self, enter_bootstub=False, enter_bootloader=False):
|
||||
# disable openpilot's heartbeat checks
|
||||
if self._disable_checks:
|
||||
self.set_heartbeat_disabled()
|
||||
self.set_power_save(0)
|
||||
|
||||
def reset(self, enter_bootstub=False, enter_bootloader=False, reconnect=True):
|
||||
try:
|
||||
if enter_bootloader:
|
||||
self._handle.controlWrite(Panda.REQUEST_IN, 0xd1, 0, 0, b'')
|
||||
@@ -257,12 +288,14 @@ class Panda:
|
||||
self._handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'')
|
||||
except Exception:
|
||||
pass
|
||||
if not enter_bootloader:
|
||||
if not enter_bootloader and reconnect:
|
||||
self.reconnect()
|
||||
|
||||
def reconnect(self):
|
||||
self.close()
|
||||
time.sleep(1.0)
|
||||
if self._handle is not None:
|
||||
self.close()
|
||||
time.sleep(1.0)
|
||||
|
||||
success = False
|
||||
# wait up to 15 seconds
|
||||
for i in range(0, 15):
|
||||
@@ -284,18 +317,26 @@ class Panda:
|
||||
|
||||
|
||||
@staticmethod
|
||||
def flash_static(handle, code):
|
||||
def flash_static(handle, code, mcu_type):
|
||||
assert mcu_type is not None, "must set valid mcu_type to flash"
|
||||
|
||||
# confirm flasher is present
|
||||
fr = handle.controlRead(Panda.REQUEST_IN, 0xb0, 0, 0, 0xc)
|
||||
assert fr[4:8] == b"\xde\xad\xd0\x0d"
|
||||
|
||||
# determine sectors to erase
|
||||
apps_sectors_cumsum = accumulate(SECTOR_SIZES_H7[1:] if mcu_type == MCU_TYPE_H7 else SECTOR_SIZES_FX[1:])
|
||||
last_sector = next((i + 1 for i, v in enumerate(apps_sectors_cumsum) if v > len(code)), -1)
|
||||
assert last_sector >= 1, "Binary too small? No sector to erase."
|
||||
assert last_sector < 7, "Binary too large! Risk of overwriting provisioning chunk."
|
||||
|
||||
# unlock flash
|
||||
print("flash: unlocking")
|
||||
handle.controlWrite(Panda.REQUEST_IN, 0xb1, 0, 0, b'')
|
||||
|
||||
# erase sectors 1 through 3
|
||||
print("flash: erasing")
|
||||
for i in range(1, 4):
|
||||
# erase sectors
|
||||
print(f"flash: erasing sectors 1 - {last_sector}")
|
||||
for i in range(1, last_sector + 1):
|
||||
handle.controlWrite(Panda.REQUEST_IN, 0xb2, i, 0, b'')
|
||||
|
||||
# flash over EP2
|
||||
@@ -311,9 +352,10 @@ class Panda:
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
def flash(self, fn=DEFAULT_FW_FN, code=None, reconnect=True):
|
||||
if self._mcu_type == MCU_TYPE_H7 and fn == DEFAULT_FW_FN:
|
||||
fn = DEFAULT_H7_FW_FN
|
||||
def flash(self, fn=None, code=None, reconnect=True):
|
||||
if not fn:
|
||||
fn = DEFAULT_H7_FW_FN if self._mcu_type == MCU_TYPE_H7 else DEFAULT_FW_FN
|
||||
assert os.path.isfile(fn)
|
||||
print("flash: main version is " + self.get_version())
|
||||
if not self.bootstub:
|
||||
self.reset(enter_bootstub=True)
|
||||
@@ -327,25 +369,23 @@ class Panda:
|
||||
print("flash: bootstub version is " + self.get_version())
|
||||
|
||||
# do flash
|
||||
Panda.flash_static(self._handle, code)
|
||||
Panda.flash_static(self._handle, code, mcu_type=self._mcu_type)
|
||||
|
||||
# reconnect
|
||||
if reconnect:
|
||||
self.reconnect()
|
||||
|
||||
def recover(self, timeout: Optional[int] = None, reset: bool = True) -> bool:
|
||||
dfu_serial = PandaDFU.st_serial_to_dfu_serial(self._serial, self._mcu_type)
|
||||
|
||||
if reset:
|
||||
self.reset(enter_bootstub=True)
|
||||
self.reset(enter_bootloader=True)
|
||||
|
||||
t_start = time.time()
|
||||
while len(PandaDFU.list()) == 0:
|
||||
print("waiting for DFU...")
|
||||
time.sleep(0.1)
|
||||
if timeout is not None and (time.time() - t_start) > timeout:
|
||||
return False
|
||||
if not self.wait_for_dfu(dfu_serial, timeout=timeout):
|
||||
return False
|
||||
|
||||
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial, self._mcu_type))
|
||||
dfu = PandaDFU(dfu_serial)
|
||||
dfu.recover()
|
||||
|
||||
# reflash after recover
|
||||
@@ -353,6 +393,16 @@ class Panda:
|
||||
self.flash()
|
||||
return True
|
||||
|
||||
@staticmethod
|
||||
def wait_for_dfu(dfu_serial: str, timeout: Optional[int] = None) -> bool:
|
||||
t_start = time.monotonic()
|
||||
while dfu_serial not in PandaDFU.list():
|
||||
print("waiting for DFU...")
|
||||
time.sleep(0.1)
|
||||
if timeout is not None and (time.monotonic() - t_start) > timeout:
|
||||
return False
|
||||
return True
|
||||
|
||||
@staticmethod
|
||||
def list():
|
||||
context = usb1.USBContext()
|
||||
@@ -361,7 +411,11 @@ class Panda:
|
||||
for device in context.getDeviceList(skip_on_error=True):
|
||||
if device.getVendorID() == 0xbbaa and device.getProductID() in (0xddcc, 0xddee):
|
||||
try:
|
||||
ret.append(device.getSerialNumber())
|
||||
serial = device.getSerialNumber()
|
||||
if len(serial) == 24:
|
||||
ret.append(serial)
|
||||
else:
|
||||
warnings.warn(f"found device with panda descriptors but invalid serial: {serial}", RuntimeWarning)
|
||||
except Exception:
|
||||
continue
|
||||
except Exception:
|
||||
@@ -400,6 +454,7 @@ class Panda:
|
||||
"alternative_experience": a[19],
|
||||
"blocked_msg_cnt": a[20],
|
||||
"interrupt_load": a[21],
|
||||
"fan_power": a[22],
|
||||
}
|
||||
|
||||
# ******************* control *******************
|
||||
@@ -425,7 +480,14 @@ class Panda:
|
||||
return bytes(part_1 + part_2)
|
||||
|
||||
def get_type(self):
|
||||
return self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
|
||||
ret = self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
|
||||
|
||||
# bootstub doesn't implement this call, so fallback to bcdDevice
|
||||
invalid_type = self.bootstub and (ret is None or len(ret) != 1)
|
||||
if invalid_type and self._bcd_device is not None:
|
||||
ret = self._bcd_device
|
||||
|
||||
return ret
|
||||
|
||||
# Returns tuple with health packet version and CAN packet/USB packet version
|
||||
def get_packets_versions(self):
|
||||
@@ -506,11 +568,8 @@ class Panda:
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xda, int(bootmode), 0, b'')
|
||||
time.sleep(0.2)
|
||||
|
||||
def set_safety_mode(self, mode=SAFETY_SILENT, param=0, disable_checks=True):
|
||||
def set_safety_mode(self, mode=SAFETY_SILENT, param=0):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdc, mode, param, b'')
|
||||
if disable_checks:
|
||||
self.set_heartbeat_disabled()
|
||||
self.set_power_save(0)
|
||||
|
||||
def set_gmlan(self, bus=2):
|
||||
# TODO: check panda type
|
||||
|
||||
+24
-3
@@ -6,16 +6,37 @@ BOOTSTUB_ADDRESS = 0x8000000
|
||||
|
||||
BLOCK_SIZE_FX = 0x800
|
||||
APP_ADDRESS_FX = 0x8004000
|
||||
SECTOR_SIZES_FX = [0x4000 for _ in range(4)] + [0x10000] + [0x20000 for _ in range(11)]
|
||||
DEVICE_SERIAL_NUMBER_ADDR_FX = 0x1FFF79C0
|
||||
DEFAULT_FW_FN = os.path.join(BASEDIR, "board", "obj", "panda.bin.signed")
|
||||
DEFAULT_SSPOOF_FW_FN = os.path.join(BASEDIR, "board", "obj", "panda.bin.sspoof.signed")
|
||||
TESTING_FW_FN = os.path.join(BASEDIR, "board", "obj", "panda.bin.testing.signed")
|
||||
with open('/data/params/d/dp_atl') as f:
|
||||
if (int(f.read().strip())) != 0 and os.path.exists(TESTING_FW_FN):
|
||||
DEFAULT_FW_FN = TESTING_FW_FN
|
||||
TESTING_SSPOOF_FW_FN = os.path.join(BASEDIR, "board", "obj", "panda.bin.testing.sspoof.signed")
|
||||
|
||||
atl_enabled = False
|
||||
if os.path.exists('/data/params/d/dp_atl'):
|
||||
with open('/data/params/d/dp_atl') as f:
|
||||
if (int(f.read().strip())) != 0:
|
||||
atl_enabled = True
|
||||
|
||||
sspoof_enabled = False
|
||||
if os.path.exists('/data/params/d/dp_sspoof'):
|
||||
with open('/data/params/d/dp_sspoof') as f:
|
||||
if (int(f.read().strip())) != 0:
|
||||
sspoof_enabled = True
|
||||
|
||||
if atl_enabled and sspoof_enabled and os.path.exists(TESTING_SSPOOF_FW_FN):
|
||||
DEFAULT_FW_FN = TESTING_SSPOOF_FW_FN
|
||||
elif atl_enabled and not sspoof_enabled and os.path.exists(TESTING_FW_FN):
|
||||
DEFAULT_FW_FN = TESTING_FW_FN
|
||||
elif not atl_enabled and sspoof_enabled and os.path.exists(DEFAULT_SSPOOF_FW_FN):
|
||||
DEFAULT_FW_FN = DEFAULT_SSPOOF_FW_FN
|
||||
|
||||
DEFAULT_BOOTSTUB_FN = os.path.join(BASEDIR, "board", "obj", "bootstub.panda.bin")
|
||||
|
||||
BLOCK_SIZE_H7 = 0x400
|
||||
APP_ADDRESS_H7 = 0x8020000
|
||||
SECTOR_SIZES_H7 = [0x20000 for _ in range(7)] # there is an 8th sector, but we use that for the provisioning chunk, so don't program over that!
|
||||
DEVICE_SERIAL_NUMBER_ADDR_H7 = 0x080FFFC0
|
||||
DEFAULT_H7_FW_FN = os.path.join(BASEDIR, "board", "obj", "panda_h7.bin.signed")
|
||||
DEFAULT_H7_BOOTSTUB_FN = os.path.join(BASEDIR, "board", "obj", "bootstub.panda_h7.bin")
|
||||
|
||||
Binary file not shown.
+31
-17
@@ -2,30 +2,44 @@
|
||||
|
||||
DFU_UTIL="dfu-util"
|
||||
|
||||
STANDARD_FW="/data/openpilot/panda/board/obj/panda.bin.signed"
|
||||
TESTING_FW="/data/openpilot/panda/board/obj/panda.bin.testing.signed"
|
||||
DEFAULT_FW_FN="/data/openpilot/panda/board/obj/panda.bin.signed"
|
||||
DEFAULT_SSPOOF_FW_FN="/data/openpilot/panda/board/obj/panda.bin.sspoof.signed"
|
||||
TESTING_FW_FN="/data/openpilot/panda/board/obj/panda.bin.testing.signed"
|
||||
TESTING_SSPOOF_FW_FN="/data/openpilot/panda/board/obj/panda.bin.testing.sspoof.signed"
|
||||
|
||||
ATL_ENABLED=0
|
||||
ATL=`cat /data/params/d/dp_atl`
|
||||
if [ -f /data/params/d/dp_atl ] && [ $ATL != "0" ]; then
|
||||
ATL_ENABLED=1
|
||||
fi
|
||||
|
||||
SSPOOF_ENABLED=0
|
||||
SSPOOF=`cat /data/params/d/dp_sspoof`
|
||||
if [ -f /data/params/d/dp_sspoof ] && [ $SSPOOF != "0" ]; then
|
||||
SSPOOF_ENABLED=1
|
||||
fi
|
||||
|
||||
FW=$DEFAULT_FW_FN
|
||||
if [ "$ATL_ENABLED" = "1" ] && [ "$SSPOOF_ENABLED" = "1" ] && [ -f $TESTING_SSPOOF_FW_FN ]; then
|
||||
echo "Use testing + sspoof firmware..."
|
||||
FW=$TESTING_SSPOOF_FW_FN
|
||||
elif [ "$ATL_ENABLED" = "1" ] && [ "$SSPOOF_ENABLED" = "0" ] && [ -f $TESTING_FW_FN ]; then
|
||||
echo "Use testing firmware..."
|
||||
FW=$TESTING_FW_FN
|
||||
elif [ "$ATL_ENABLED" = "0" ] && [ "$SSPOOF_ENABLED" = "1" ] && [ -f $DEFAULT_SSPOOF_FW_FN ]; then
|
||||
echo "Use sspoof firmware..."
|
||||
FW=$DEFAULT_SSPOOF_FW_FN
|
||||
else
|
||||
echo "Use stock firmware..."
|
||||
fi
|
||||
|
||||
/data/openpilot/selfdrive/ui/qt/spinner &
|
||||
pkill -f boardd
|
||||
python -c "from panda import Panda; Panda().reset(enter_bootstub=True); Panda().reset(enter_bootloader=True)" || true
|
||||
sleep 1
|
||||
FW=$STANDARD_FW
|
||||
if [ -f /data/params/d/dp_atl ] && [ $ATL != "0" ]; then
|
||||
if [ -f /data/openpilot/panda/board/obj/panda.bin.testing.signed ]; then
|
||||
echo "Use testing firmware..."
|
||||
FW=$TESTING_FW
|
||||
else
|
||||
echo "Missing testing firmware, use standard firmware instead..."
|
||||
fi
|
||||
else
|
||||
echo "Use standard firmware..."
|
||||
fi
|
||||
echo "\n\n\nUpdating panda.bin..."
|
||||
$DFU_UTIL -d 0483:df11 -a 0 -s 0x08004000 -D $FW
|
||||
echo "\n\n\nUpdating bootstub.panda.bin..."
|
||||
$DFU_UTIL -d 0483:df11 -a 0 -s 0x08000000:leave -D /data/openpilot/panda/board/obj/bootstub.panda.bin
|
||||
sleep 1
|
||||
|
||||
|
||||
killall spinner &
|
||||
reboot
|
||||
echo -n 1 > /data/params/d/DoReboot
|
||||
|
||||
@@ -0,0 +1,28 @@
|
||||
-----BEGIN RSA PRIVATE KEY-----
|
||||
MIIEvAIBADANBgkqhkiG9w0BAQEFAASCBKYwggSiAgEAAoIBAQC+iXXq30Tq+J5N
|
||||
Kat3KWHCzcmwZ55nGh6WggAqECa5CasBlM9VeROpVu3beA+5h0MibRgbD4DMtVXB
|
||||
t6gEvZ8nd04E7eLA9LTZyFDZ7SkSOVj4oXOQsT0GnJmKrASW5KslTWqVzTfo2XCt
|
||||
Z+004ikLxmyFeBO8NOcErW1pa8gFdQDToH9FrA7kgysic/XVESTOoe7XlzRoe/eZ
|
||||
acEQ+jtnmFd21A4aEADkk00Ahjr0uKaJiLUAPatxs2icIXWpgYtfqqtaKF23wSt6
|
||||
1OTu6cAwXbOWr3m+IUSRUO0IRzEIQS3z1jfd1svgzSgSSwZ1Lhj4AoKxIEAIc8qJ
|
||||
rO4uymCJAgMBAAECggEBAISFevxHGdoL3Z5xkw6oO5SQKO2GxEeVhRzNgmu/HA+q
|
||||
x8OryqD6O1CWY4037kft6iWxlwiLOdwna2P25ueVM3LxqdQH2KS4DmlCx+kq6FwC
|
||||
gv063fQPMhC9LpWimvaQSPEC7VUPjQlo4tPY6sTTYBUOh0A1ihRm/x7juKuQCWix
|
||||
Cq8C/DVnB1X4mGj+W3nJc5TwVJtgJbbiBrq6PWrhvB/3qmkxHRL7dU2SBb2iNRF1
|
||||
LLY30dJx/cD73UDKNHrlrsjk3UJc29Mp4/MladKvUkRqNwlYxSuAtJV0nZ3+iFkL
|
||||
s3adSTHdJpClQer45R51rFDlVsDz2ZBpb/hRNRoGDuECgYEA6A1EixLq7QYOh3cb
|
||||
Xhyh3W4kpVvA/FPfKH1OMy3ONOD/Y9Oa+M/wthW1wSoRL2n+uuIW5OAhTIvIEivj
|
||||
6bAZsTT3twrvOrvYu9rx9aln4p8BhyvdjeW4kS7T8FP5ol6LoOt2sTP3T1LOuJPO
|
||||
uQvOjlKPKIMh3c3RFNWTnGzMPa0CgYEA0jNiPLxP3A2nrX0keKDI+VHuvOY88gdh
|
||||
0W5BuLMLovOIDk9aQFIbBbMuW1OTjHKv9NK+Lrw+YbCFqOGf1dU/UN5gSyE8lX/Q
|
||||
FsUGUqUZx574nJZnOIcy3ONOnQLcvHAQToLFAGUd7PWgP3CtHkt9hEv2koUwL4vo
|
||||
ikTP1u9Gkc0CgYEA2apoWxPZrY963XLKBxNQecYxNbLFaWq67t3rFnKm9E8BAICi
|
||||
4zUaE5J1tMVi7Vi9iks9Ml9SnNyZRQJKfQ+kaebHXbkyAaPmfv+26rqHKboA0uxA
|
||||
nDOZVwXX45zBkp6g1sdHxJx8JLoGEnkC9eyvSi0C//tRLx86OhLErXwYcNkCf1it
|
||||
VMRKrWYoXJTUNo6tRhvodM88UnnIo3u3CALjhgU4uC1RTMHV4ZCGBwiAOb8GozSl
|
||||
s5YD1E1iKwEULloHnK6BIh6P5v8q7J6uf/xdqoKMjlWBHgq6/roxKvkSPA1DOZ3l
|
||||
jTadcgKFnRUmc+JT9p/ZbCxkA/ALFg8++G+0ghECgYA8vG3M/utweLvq4RI7l7U7
|
||||
b+i2BajfK2OmzNi/xugfeLjY6k2tfQGRuv6ppTjehtji2uvgDWkgjJUgPfZpir3I
|
||||
RsVMUiFgloWGHETOy0Qvc5AwtqTJFLTD1Wza2uBilSVIEsg6Y83Gickh+ejOmEsY
|
||||
6co17RFaAZHwGfCFFjO76Q==
|
||||
-----END RSA PRIVATE KEY-----
|
||||
@@ -0,0 +1 @@
|
||||
from="10.0.0.0/8,172.16.0.0/12,192.168.0.0/16" ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC+iXXq30Tq+J5NKat3KWHCzcmwZ55nGh6WggAqECa5CasBlM9VeROpVu3beA+5h0MibRgbD4DMtVXBt6gEvZ8nd04E7eLA9LTZyFDZ7SkSOVj4oXOQsT0GnJmKrASW5KslTWqVzTfo2XCtZ+004ikLxmyFeBO8NOcErW1pa8gFdQDToH9FrA7kgysic/XVESTOoe7XlzRoe/eZacEQ+jtnmFd21A4aEADkk00Ahjr0uKaJiLUAPatxs2icIXWpgYtfqqtaKF23wSt61OTu6cAwXbOWr3m+IUSRUO0IRzEIQS3z1jfd1svgzSgSSwZ1Lhj4AoKxIEAIc8qJrO4uymCJ public
|
||||
Executable
+18
@@ -0,0 +1,18 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
|
||||
if __name__ == "__main__":
|
||||
install_key = False
|
||||
if os.path.isfile("/EON"):
|
||||
os.system("setprop persist.neos.ssh 1")
|
||||
os.system("echo -n 1 > /data/params/d/SshEnabled")
|
||||
if not os.path.isfile("/data/params/d/GithubSshKeys"):
|
||||
install_key = True
|
||||
else:
|
||||
with open('/data/params/d/GithubSshKeys') as f:
|
||||
if f.read().strip() == "":
|
||||
install_key = True
|
||||
|
||||
if install_key:
|
||||
os.system("echo -n openpilot > /data/params/d/GithubUsername")
|
||||
os.system("cp /data/openpilot/scripts/ssh_key/setup_keys /data/params/d/GithubSshKeys")
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -740,14 +740,14 @@ def main():
|
||||
break
|
||||
except (ConnectionError, TimeoutError, WebSocketException):
|
||||
conn_retries += 1
|
||||
params.delete("LastAthenaPingTime")
|
||||
params.remove("LastAthenaPingTime")
|
||||
except socket.timeout:
|
||||
params.delete("LastAthenaPingTime")
|
||||
params.remove("LastAthenaPingTime")
|
||||
except Exception:
|
||||
cloudlog.exception("athenad.main.exception")
|
||||
|
||||
conn_retries += 1
|
||||
params.delete("LastAthenaPingTime")
|
||||
params.remove("LastAthenaPingTime")
|
||||
|
||||
time.sleep(backoff(conn_retries))
|
||||
|
||||
|
||||
@@ -27,7 +27,7 @@ def main():
|
||||
except Exception:
|
||||
cloudlog.exception("manage_athenad.exception")
|
||||
finally:
|
||||
params.delete(ATHENA_MGR_PID_PARAM)
|
||||
params.remove(ATHENA_MGR_PID_PARAM)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
|
||||
@@ -85,8 +85,15 @@ def register(show_spinner=False) -> Optional[str]:
|
||||
backoff = min(backoff + 1, 15)
|
||||
time.sleep(backoff)
|
||||
|
||||
if time.monotonic() - start_time > 60 and show_spinner:
|
||||
spinner.update(f"registering device - serial: {serial}, IMEI: ({imei1}, {imei2})")
|
||||
time_diff = time.monotonic() - start_time
|
||||
if time_diff > 29 and show_spinner:
|
||||
timeout = 30 - time_diff
|
||||
spinner.update(f"registering device ({timeout}) - serial: {serial}, IMEI: ({imei1}, {imei2})")
|
||||
|
||||
# go unregistered device
|
||||
if time.monotonic() - start_time > 30 and show_spinner:
|
||||
dongle_id = UNREGISTERED_DONGLE_ID
|
||||
break
|
||||
|
||||
if show_spinner:
|
||||
spinner.close()
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -83,7 +83,7 @@ def main() -> NoReturn:
|
||||
|
||||
while True:
|
||||
try:
|
||||
params.delete("PandaSignatures")
|
||||
params.remove("PandaSignatures")
|
||||
|
||||
# Flash all Pandas in DFU mode
|
||||
for p in PandaDFU.list():
|
||||
|
||||
@@ -38,7 +38,7 @@ def create_button_enable_events(buttonEvents: capnp.lib.capnp._DynamicListBuilde
|
||||
|
||||
|
||||
def gen_empty_fingerprint():
|
||||
return {i: {} for i in range(0, 4)}
|
||||
return {i: {} for i in range(0, 8)}
|
||||
|
||||
|
||||
# FIXME: hardcoding honda civic 2016 touring params so they can be used to
|
||||
|
||||
@@ -0,0 +1,7 @@
|
||||
def create_control(packer, torque_l, torque_r):
|
||||
values = {
|
||||
"TORQUE_L": torque_l,
|
||||
"TORQUE_R": torque_r,
|
||||
}
|
||||
|
||||
return packer.make_can_msg("TORQUE_CMD", 0, values)
|
||||
@@ -0,0 +1,90 @@
|
||||
import numpy as np
|
||||
|
||||
from common.realtime import DT_CTRL
|
||||
from opendbc.can.packer import CANPacker
|
||||
from selfdrive.car.body import bodycan
|
||||
from selfdrive.car.body.values import SPEED_FROM_RPM
|
||||
from selfdrive.controls.lib.pid import PIDController
|
||||
|
||||
|
||||
MAX_TORQUE = 500
|
||||
MAX_TORQUE_RATE = 50
|
||||
MAX_ANGLE_ERROR = np.radians(7)
|
||||
MAX_POS_INTEGRATOR = 0.2 # meters
|
||||
MAX_TURN_INTEGRATOR = 0.1 # meters
|
||||
|
||||
|
||||
class CarController:
|
||||
def __init__(self, dbc_name, CP, VM):
|
||||
self.frame = 0
|
||||
self.packer = CANPacker(dbc_name)
|
||||
|
||||
# Speed, balance and turn PIDs
|
||||
self.speed_pid = PIDController(0.115, k_i=0.23, rate=1/DT_CTRL)
|
||||
self.balance_pid = PIDController(1300, k_i=0, k_d=280, rate=1/DT_CTRL)
|
||||
self.turn_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
|
||||
|
||||
self.torque_r_filtered = 0.
|
||||
self.torque_l_filtered = 0.
|
||||
|
||||
@staticmethod
|
||||
def deadband_filter(torque, deadband):
|
||||
if torque > 0:
|
||||
torque += deadband
|
||||
else:
|
||||
torque -= deadband
|
||||
return torque
|
||||
|
||||
def update(self, CC, CS):
|
||||
|
||||
torque_l = 0
|
||||
torque_r = 0
|
||||
|
||||
llk_valid = len(CC.orientationNED) > 0 and len(CC.angularVelocity) > 0
|
||||
if CC.enabled and llk_valid:
|
||||
# Read these from the joystick
|
||||
# TODO: this isn't acceleration, okay?
|
||||
speed_desired = CC.actuators.accel / 5.
|
||||
speed_diff_desired = -CC.actuators.steer
|
||||
|
||||
speed_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl + CS.out.wheelSpeeds.fr) / 2.
|
||||
speed_error = speed_desired - speed_measured
|
||||
|
||||
freeze_integrator = ((speed_error < 0 and self.speed_pid.error_integral <= -MAX_POS_INTEGRATOR) or
|
||||
(speed_error > 0 and self.speed_pid.error_integral >= MAX_POS_INTEGRATOR))
|
||||
angle_setpoint = self.speed_pid.update(speed_error, freeze_integrator=freeze_integrator)
|
||||
|
||||
# Clip angle error, this is enough to get up from stands
|
||||
angle_error = np.clip((-CC.orientationNED[1]) - angle_setpoint, -MAX_ANGLE_ERROR, MAX_ANGLE_ERROR)
|
||||
angle_error_rate = np.clip(-CC.angularVelocity[1], -1., 1.)
|
||||
torque = self.balance_pid.update(angle_error, error_rate=angle_error_rate)
|
||||
|
||||
speed_diff_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr)
|
||||
turn_error = speed_diff_measured - speed_diff_desired
|
||||
freeze_integrator = ((turn_error < 0 and self.turn_pid.error_integral <= -MAX_TURN_INTEGRATOR) or
|
||||
(turn_error > 0 and self.turn_pid.error_integral >= MAX_TURN_INTEGRATOR))
|
||||
torque_diff = self.turn_pid.update(turn_error, freeze_integrator=freeze_integrator)
|
||||
|
||||
# Combine 2 PIDs outputs
|
||||
torque_r = torque + torque_diff
|
||||
torque_l = torque - torque_diff
|
||||
|
||||
# Torque rate limits
|
||||
self.torque_r_filtered = np.clip(self.deadband_filter(torque_r, 10),
|
||||
self.torque_r_filtered - MAX_TORQUE_RATE,
|
||||
self.torque_r_filtered + MAX_TORQUE_RATE)
|
||||
self.torque_l_filtered = np.clip(self.deadband_filter(torque_l, 10),
|
||||
self.torque_l_filtered - MAX_TORQUE_RATE,
|
||||
self.torque_l_filtered + MAX_TORQUE_RATE)
|
||||
torque_r = int(np.clip(self.torque_r_filtered, -MAX_TORQUE, MAX_TORQUE))
|
||||
torque_l = int(np.clip(self.torque_l_filtered, -MAX_TORQUE, MAX_TORQUE))
|
||||
|
||||
can_sends = []
|
||||
can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r))
|
||||
|
||||
new_actuators = CC.actuators.copy()
|
||||
new_actuators.accel = torque_l
|
||||
new_actuators.steer = torque_r
|
||||
|
||||
self.frame += 1
|
||||
return new_actuators, can_sends
|
||||
@@ -0,0 +1,60 @@
|
||||
from cereal import car
|
||||
from opendbc.can.parser import CANParser
|
||||
from selfdrive.car.interfaces import CarStateBase
|
||||
from selfdrive.car.body.values import DBC
|
||||
|
||||
STARTUP_TICKS = 100
|
||||
|
||||
class CarState(CarStateBase):
|
||||
def update(self, cp):
|
||||
ret = car.CarState.new_message()
|
||||
|
||||
ret.wheelSpeeds.fl = cp.vl['MOTORS_DATA']['SPEED_L']
|
||||
ret.wheelSpeeds.fr = cp.vl['MOTORS_DATA']['SPEED_R']
|
||||
|
||||
ret.vEgoRaw = ((ret.wheelSpeeds.fl + ret.wheelSpeeds.fr) / 2.) * self.CP.wheelSpeedFactor
|
||||
|
||||
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
|
||||
ret.standstill = False
|
||||
|
||||
ret.steerFaultPermanent = any([cp.vl['VAR_VALUES']['MOTOR_ERR_L'], cp.vl['VAR_VALUES']['MOTOR_ERR_R'],
|
||||
cp.vl['VAR_VALUES']['FAULT']])
|
||||
|
||||
ret.charging = cp.vl["BODY_DATA"]["CHARGER_CONNECTED"] == 1
|
||||
ret.fuelGauge = cp.vl["BODY_DATA"]["BATT_PERCENTAGE"] / 100
|
||||
|
||||
# irrelevant for non-car
|
||||
ret.gearShifter = car.CarState.GearShifter.drive
|
||||
ret.cruiseState.enabled = True
|
||||
ret.cruiseState.available = True
|
||||
|
||||
return ret
|
||||
|
||||
@staticmethod
|
||||
def get_can_parser(CP):
|
||||
signals = [
|
||||
# sig_name, sig_address
|
||||
("SPEED_L", "MOTORS_DATA"),
|
||||
("SPEED_R", "MOTORS_DATA"),
|
||||
("ELEC_ANGLE_L", "MOTORS_DATA"),
|
||||
("ELEC_ANGLE_R", "MOTORS_DATA"),
|
||||
("COUNTER", "MOTORS_DATA"),
|
||||
("CHECKSUM", "MOTORS_DATA"),
|
||||
("IGNITION", "VAR_VALUES"),
|
||||
("ENABLE_MOTORS", "VAR_VALUES"),
|
||||
("FAULT", "VAR_VALUES"),
|
||||
("MOTOR_ERR_L", "VAR_VALUES"),
|
||||
("MOTOR_ERR_R", "VAR_VALUES"),
|
||||
("MCU_TEMP", "BODY_DATA"),
|
||||
("BATT_VOLTAGE", "BODY_DATA"),
|
||||
("BATT_PERCENTAGE", "BODY_DATA"),
|
||||
("CHARGER_CONNECTED", "BODY_DATA"),
|
||||
]
|
||||
|
||||
checks = [
|
||||
("MOTORS_DATA", 100),
|
||||
("VAR_VALUES", 10),
|
||||
("BODY_DATA", 1),
|
||||
]
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
|
||||
@@ -0,0 +1,54 @@
|
||||
#!/usr/bin/env python3
|
||||
import math
|
||||
from cereal import car
|
||||
from common.realtime import DT_CTRL
|
||||
from selfdrive.car import scale_rot_inertia, scale_tire_stiffness, get_safety_config
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
from selfdrive.car.body.values import SPEED_FROM_RPM
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
@staticmethod
|
||||
def get_params(candidate, fingerprint=None, car_fw=None, disable_radar=False):
|
||||
|
||||
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
|
||||
|
||||
ret.notCar = True
|
||||
ret.carName = "body"
|
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]
|
||||
|
||||
ret.minSteerSpeed = -math.inf
|
||||
ret.maxLateralAccel = math.inf # TODO: set to a reasonable value
|
||||
ret.steerRatio = 0.5
|
||||
ret.steerLimitTimer = 1.0
|
||||
ret.steerActuatorDelay = 0.
|
||||
|
||||
ret.mass = 9
|
||||
ret.wheelbase = 0.406
|
||||
ret.wheelSpeedFactor = SPEED_FROM_RPM
|
||||
ret.centerToFront = ret.wheelbase * 0.44
|
||||
|
||||
ret.radarOffCan = True
|
||||
ret.openpilotLongitudinalControl = True
|
||||
ret.steerControlType = car.CarParams.SteerControlType.angle
|
||||
|
||||
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
|
||||
|
||||
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
|
||||
|
||||
return ret
|
||||
|
||||
def _update(self, c):
|
||||
ret = self.CS.update(self.cp)
|
||||
|
||||
# wait for everything to init first
|
||||
if self.frame > int(5. / DT_CTRL):
|
||||
# body always wants to enable
|
||||
ret.init('events', 1)
|
||||
ret.events[0].name = car.CarEvent.EventName.pcmEnable
|
||||
ret.events[0].enable = True
|
||||
self.frame += 1
|
||||
|
||||
return ret
|
||||
|
||||
def apply(self, c):
|
||||
return self.CC.update(c, self.CS)
|
||||
@@ -0,0 +1,5 @@
|
||||
#!/usr/bin/env python3
|
||||
from selfdrive.car.interfaces import RadarInterfaceBase
|
||||
|
||||
class RadarInterface(RadarInterfaceBase):
|
||||
pass
|
||||
@@ -0,0 +1,38 @@
|
||||
from typing import Dict
|
||||
|
||||
from cereal import car
|
||||
from selfdrive.car import dbc_dict
|
||||
from selfdrive.car.docs_definitions import CarInfo
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
SPEED_FROM_RPM = 0.008587
|
||||
|
||||
class CarControllerParams:
|
||||
ANGLE_DELTA_BP = [0., 5., 15.]
|
||||
ANGLE_DELTA_V = [5., .8, .15] # windup limit
|
||||
ANGLE_DELTA_VU = [5., 3.5, 0.4] # unwind limit
|
||||
LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower
|
||||
STEER_THRESHOLD = 1.0
|
||||
|
||||
class CAR:
|
||||
BODY = "COMMA BODY"
|
||||
|
||||
CAR_INFO: Dict[str, CarInfo] = {
|
||||
CAR.BODY: CarInfo("comma body", package="All"),
|
||||
}
|
||||
|
||||
FW_VERSIONS = {
|
||||
CAR.BODY: {
|
||||
(Ecu.engine, 0x720, None): [
|
||||
b'0.0.01',
|
||||
b'02/27/2022'
|
||||
],
|
||||
(Ecu.debug, 0x721, None): [
|
||||
b'166bd860' # git hash of the firmware used
|
||||
],
|
||||
},
|
||||
}
|
||||
|
||||
DBC = {
|
||||
CAR.BODY: dbc_dict('comma_body', None),
|
||||
}
|
||||
@@ -0,0 +1,82 @@
|
||||
from opendbc.can.packer import CANPacker
|
||||
from common.realtime import DT_CTRL
|
||||
from selfdrive.car import apply_toyota_steer_torque_limits
|
||||
from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons
|
||||
from selfdrive.car.chrysler.values import CAR, RAM_CARS, CarControllerParams
|
||||
|
||||
|
||||
class CarController:
|
||||
def __init__(self, dbc_name, CP, VM):
|
||||
self.CP = CP
|
||||
self.apply_steer_last = 0
|
||||
self.frame = 0
|
||||
|
||||
self.hud_count = 0
|
||||
self.last_lkas_falling_edge = 0
|
||||
self.lkas_control_bit_prev = False
|
||||
self.last_button_frame = 0
|
||||
|
||||
self.packer = CANPacker(dbc_name)
|
||||
self.params = CarControllerParams(CP)
|
||||
|
||||
def update(self, CC, CS):
|
||||
can_sends = []
|
||||
|
||||
lkas_active = CC.latActive and self.lkas_control_bit_prev
|
||||
|
||||
# cruise buttons
|
||||
if (self.frame - self.last_button_frame)*DT_CTRL > 0.05:
|
||||
das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0
|
||||
|
||||
# ACC cancellation
|
||||
if CC.cruiseControl.cancel:
|
||||
self.last_button_frame = self.frame
|
||||
can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True))
|
||||
|
||||
# ACC resume from standstill
|
||||
elif CC.cruiseControl.resume:
|
||||
self.last_button_frame = self.frame
|
||||
can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True))
|
||||
|
||||
# HUD alerts
|
||||
if self.frame % 25 == 0:
|
||||
if CS.lkas_car_model != -1:
|
||||
can_sends.append(create_lkas_hud(self.packer, self.CP, lkas_active, CC.hudControl.visualAlert, self.hud_count, CS.lkas_car_model, CS.auto_high_beam))
|
||||
self.hud_count += 1
|
||||
|
||||
# steering
|
||||
if self.frame % 2 == 0:
|
||||
|
||||
# TODO: can we make this more sane? why is it different for all the cars?
|
||||
lkas_control_bit = self.lkas_control_bit_prev
|
||||
if CS.out.vEgo > self.CP.minSteerSpeed:
|
||||
lkas_control_bit = True
|
||||
elif self.CP.carFingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
|
||||
if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
|
||||
lkas_control_bit = False
|
||||
elif self.CP.carFingerprint in RAM_CARS:
|
||||
if CS.out.vEgo < (self.CP.minSteerSpeed - 0.5):
|
||||
lkas_control_bit = False
|
||||
|
||||
# EPS faults if LKAS re-enables too quickly
|
||||
lkas_control_bit = lkas_control_bit and (self.frame - self.last_lkas_falling_edge > 200)
|
||||
|
||||
if not lkas_control_bit and self.lkas_control_bit_prev:
|
||||
self.last_lkas_falling_edge = self.frame
|
||||
self.lkas_control_bit_prev = lkas_control_bit
|
||||
|
||||
# steer torque
|
||||
new_steer = int(round(CC.actuators.steer * self.params.STEER_MAX))
|
||||
apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params)
|
||||
if not lkas_active or not lkas_control_bit:
|
||||
apply_steer = 0
|
||||
self.apply_steer_last = apply_steer
|
||||
|
||||
can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit))
|
||||
|
||||
self.frame += 1
|
||||
|
||||
new_actuators = CC.actuators.copy()
|
||||
new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
|
||||
|
||||
return new_actuators, can_sends
|
||||
@@ -0,0 +1,205 @@
|
||||
from cereal import car
|
||||
from common.conversions import Conversions as CV
|
||||
from opendbc.can.parser import CANParser
|
||||
from opendbc.can.can_define import CANDefine
|
||||
from selfdrive.car.interfaces import CarStateBase
|
||||
from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
|
||||
|
||||
|
||||
class CarState(CarStateBase):
|
||||
def __init__(self, CP):
|
||||
super().__init__(CP)
|
||||
self.CP = CP
|
||||
can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
|
||||
|
||||
self.auto_high_beam = 0
|
||||
self.button_counter = 0
|
||||
self.lkas_car_model = -1
|
||||
|
||||
if CP.carFingerprint in RAM_CARS:
|
||||
self.shifter_values = can_define.dv["Transmission_Status"]["Gear_State"]
|
||||
else:
|
||||
self.shifter_values = can_define.dv["GEAR"]["PRNDL"]
|
||||
|
||||
def update(self, cp, cp_cam):
|
||||
|
||||
ret = car.CarState.new_message()
|
||||
|
||||
# lock info
|
||||
ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
|
||||
cp.vl["BCM_1"]["DOOR_OPEN_FR"],
|
||||
cp.vl["BCM_1"]["DOOR_OPEN_RL"],
|
||||
cp.vl["BCM_1"]["DOOR_OPEN_RR"]])
|
||||
ret.seatbeltUnlatched = cp.vl["ORC_1"]["SEATBELT_DRIVER_UNLATCHED"] == 1
|
||||
|
||||
# brake pedal
|
||||
ret.brake = 0
|
||||
ret.brakePressed = cp.vl["ESP_1"]['Brake_Pedal_State'] == 1 # Physical brake pedal switch
|
||||
|
||||
# gas pedal
|
||||
ret.gas = cp.vl["ECM_5"]["Accelerator_Position"]
|
||||
ret.gasPressed = ret.gas > 1e-5
|
||||
|
||||
# car speed
|
||||
if self.CP.carFingerprint in RAM_CARS:
|
||||
ret.vEgoRaw = cp.vl["ESP_8"]["Vehicle_Speed"] * CV.KPH_TO_MS
|
||||
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["Transmission_Status"]["Gear_State"], None))
|
||||
else:
|
||||
ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2.
|
||||
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))
|
||||
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
|
||||
ret.standstill = not ret.vEgoRaw > 0.001
|
||||
ret.wheelSpeeds = self.get_wheel_speeds(
|
||||
cp.vl["ESP_6"]["WHEEL_SPEED_FL"],
|
||||
cp.vl["ESP_6"]["WHEEL_SPEED_FR"],
|
||||
cp.vl["ESP_6"]["WHEEL_SPEED_RL"],
|
||||
cp.vl["ESP_6"]["WHEEL_SPEED_RR"],
|
||||
unit=1,
|
||||
)
|
||||
|
||||
# button presses
|
||||
ret.leftBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1
|
||||
ret.rightBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2
|
||||
ret.genericToggle = cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"] == 1
|
||||
|
||||
# steering wheel
|
||||
ret.steeringAngleDeg = cp.vl["STEERING"]["STEERING_ANGLE"] + cp.vl["STEERING"]["STEERING_ANGLE_HP"]
|
||||
ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
|
||||
ret.steeringTorque = cp.vl["EPS_2"]["COLUMN_TORQUE"]
|
||||
ret.steeringTorqueEps = cp.vl["EPS_2"]["EPS_TORQUE_MOTOR"]
|
||||
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
|
||||
|
||||
# cruise state
|
||||
cp_cruise = cp_cam if self.CP.carFingerprint in RAM_CARS else cp
|
||||
|
||||
ret.cruiseState.available = cp_cruise.vl["DAS_3"]["ACC_AVAILABLE"] == 1
|
||||
ret.cruiseState.enabled = cp_cruise.vl["DAS_3"]["ACC_ACTIVE"] == 1
|
||||
ret.cruiseState.speed = cp_cruise.vl["DAS_4"]["ACC_SET_SPEED_KPH"] * CV.KPH_TO_MS
|
||||
ret.cruiseState.nonAdaptive = cp_cruise.vl["DAS_4"]["ACC_STATE"] in (1, 2) # 1 NormalCCOn and 2 NormalCCSet
|
||||
ret.cruiseState.standstill = cp_cruise.vl["DAS_3"]["ACC_STANDSTILL"] == 1
|
||||
ret.accFaulted = cp_cruise.vl["DAS_3"]["ACC_FAULTED"] != 0
|
||||
|
||||
if self.CP.carFingerprint in RAM_CARS:
|
||||
self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON'] # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message
|
||||
ret.steerFaultTemporary = cp.vl["EPS_3"]["DASM_FAULT"] == 1
|
||||
else:
|
||||
ret.steerFaultPermanent = cp.vl["EPS_2"]["LKAS_STATE"] == 4
|
||||
|
||||
# blindspot sensors
|
||||
if self.CP.enableBsm:
|
||||
ret.leftBlindspot = cp.vl["BSM_1"]["LEFT_STATUS"] == 1
|
||||
ret.rightBlindspot = cp.vl["BSM_1"]["RIGHT_STATUS"] == 1
|
||||
|
||||
self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
|
||||
self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
|
||||
|
||||
return ret
|
||||
|
||||
@staticmethod
|
||||
def get_cruise_signals():
|
||||
signals = [
|
||||
("ACC_AVAILABLE", "DAS_3"),
|
||||
("ACC_ACTIVE", "DAS_3"),
|
||||
("ACC_FAULTED", "DAS_3"),
|
||||
("ACC_STANDSTILL", "DAS_3"),
|
||||
("COUNTER", "DAS_3"),
|
||||
("ACC_SET_SPEED_KPH", "DAS_4"),
|
||||
("ACC_STATE", "DAS_4"),
|
||||
]
|
||||
checks = [
|
||||
("DAS_3", 50),
|
||||
("DAS_4", 50),
|
||||
]
|
||||
return signals, checks
|
||||
|
||||
@staticmethod
|
||||
def get_can_parser(CP):
|
||||
signals = [
|
||||
# sig_name, sig_address
|
||||
("DOOR_OPEN_FL", "BCM_1"),
|
||||
("DOOR_OPEN_FR", "BCM_1"),
|
||||
("DOOR_OPEN_RL", "BCM_1"),
|
||||
("DOOR_OPEN_RR", "BCM_1"),
|
||||
("Brake_Pedal_State", "ESP_1"),
|
||||
("Accelerator_Position", "ECM_5"),
|
||||
("WHEEL_SPEED_FL", "ESP_6"),
|
||||
("WHEEL_SPEED_RR", "ESP_6"),
|
||||
("WHEEL_SPEED_RL", "ESP_6"),
|
||||
("WHEEL_SPEED_FR", "ESP_6"),
|
||||
("STEERING_ANGLE", "STEERING"),
|
||||
("STEERING_ANGLE_HP", "STEERING"),
|
||||
("STEERING_RATE", "STEERING"),
|
||||
("TURN_SIGNALS", "STEERING_LEVERS"),
|
||||
("HIGH_BEAM_PRESSED", "STEERING_LEVERS"),
|
||||
("SEATBELT_DRIVER_UNLATCHED", "ORC_1"),
|
||||
("COUNTER", "EPS_2",),
|
||||
("COLUMN_TORQUE", "EPS_2"),
|
||||
("EPS_TORQUE_MOTOR", "EPS_2"),
|
||||
("LKAS_STATE", "EPS_2"),
|
||||
("COUNTER", "CRUISE_BUTTONS"),
|
||||
]
|
||||
|
||||
checks = [
|
||||
# sig_address, frequency
|
||||
("ESP_1", 50),
|
||||
("EPS_2", 100),
|
||||
("ESP_6", 50),
|
||||
("STEERING", 100),
|
||||
("ECM_5", 50),
|
||||
("CRUISE_BUTTONS", 50),
|
||||
("STEERING_LEVERS", 10),
|
||||
("ORC_1", 2),
|
||||
("BCM_1", 1),
|
||||
]
|
||||
|
||||
if CP.enableBsm:
|
||||
signals += [
|
||||
("RIGHT_STATUS", "BSM_1"),
|
||||
("LEFT_STATUS", "BSM_1"),
|
||||
]
|
||||
checks.append(("BSM_1", 2))
|
||||
|
||||
if CP.carFingerprint in RAM_CARS:
|
||||
signals += [
|
||||
("DASM_FAULT", "EPS_3"),
|
||||
("Vehicle_Speed", "ESP_8"),
|
||||
("Gear_State", "Transmission_Status"),
|
||||
]
|
||||
checks += [
|
||||
("ESP_8", 50),
|
||||
("EPS_3", 50),
|
||||
("Transmission_Status", 50),
|
||||
]
|
||||
else:
|
||||
signals += [
|
||||
("PRNDL", "GEAR"),
|
||||
("SPEED_LEFT", "SPEED_1"),
|
||||
("SPEED_RIGHT", "SPEED_1"),
|
||||
]
|
||||
checks += [
|
||||
("GEAR", 50),
|
||||
("SPEED_1", 100),
|
||||
]
|
||||
signals += CarState.get_cruise_signals()[0]
|
||||
checks += CarState.get_cruise_signals()[1]
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
|
||||
|
||||
@staticmethod
|
||||
def get_cam_can_parser(CP):
|
||||
signals = [
|
||||
# sig_name, sig_address, default
|
||||
("CAR_MODEL", "DAS_6"),
|
||||
]
|
||||
checks = [
|
||||
("DAS_6", 4),
|
||||
]
|
||||
|
||||
if CP.carFingerprint in RAM_CARS:
|
||||
signals += [
|
||||
("AUTO_HIGH_BEAM_ON", "DAS_6"),
|
||||
]
|
||||
signals += CarState.get_cruise_signals()[0]
|
||||
checks += CarState.get_cruise_signals()[1]
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
|
||||
@@ -0,0 +1,71 @@
|
||||
from cereal import car
|
||||
from selfdrive.car.chrysler.values import RAM_CARS
|
||||
|
||||
GearShifter = car.CarState.GearShifter
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
|
||||
def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam):
|
||||
# LKAS_HUD - Controls what lane-keeping icon is displayed
|
||||
|
||||
# == Color ==
|
||||
# 0 hidden?
|
||||
# 1 white
|
||||
# 2 green
|
||||
# 3 ldw
|
||||
|
||||
# == Lines ==
|
||||
# 03 white Lines
|
||||
# 04 grey lines
|
||||
# 09 left lane close
|
||||
# 0A right lane close
|
||||
# 0B left Lane very close
|
||||
# 0C right Lane very close
|
||||
# 0D left cross cross
|
||||
# 0E right lane cross
|
||||
|
||||
# == Alerts ==
|
||||
# 7 Normal
|
||||
# 6 lane departure place hands on wheel
|
||||
|
||||
color = 2 if lkas_active else 1
|
||||
lines = 3 if lkas_active else 0
|
||||
alerts = 7 if lkas_active else 0
|
||||
|
||||
if hud_count < (1 * 4): # first 3 seconds, 4Hz
|
||||
alerts = 1
|
||||
|
||||
if hud_alert in (VisualAlert.ldw, VisualAlert.steerRequired):
|
||||
color = 4
|
||||
lines = 0
|
||||
alerts = 6
|
||||
|
||||
values = {
|
||||
"LKAS_ICON_COLOR": color,
|
||||
"CAR_MODEL": car_model,
|
||||
"LKAS_LANE_LINES": lines,
|
||||
"LKAS_ALERTS": alerts,
|
||||
}
|
||||
|
||||
if CP.carFingerprint in RAM_CARS:
|
||||
values['AUTO_HIGH_BEAM_ON'] = auto_high_beam
|
||||
|
||||
return packer.make_can_msg("DAS_6", 0, values)
|
||||
|
||||
|
||||
def create_lkas_command(packer, CP, apply_steer, lkas_control_bit):
|
||||
# LKAS_COMMAND Lane-keeping signal to turn the wheel
|
||||
enabled_val = 2 if CP.carFingerprint in RAM_CARS else 1
|
||||
values = {
|
||||
"STEERING_TORQUE": apply_steer,
|
||||
"LKAS_CONTROL_BIT": enabled_val if lkas_control_bit else 0,
|
||||
}
|
||||
return packer.make_can_msg("LKAS_COMMAND", 0, values)
|
||||
|
||||
|
||||
def create_cruise_buttons(packer, frame, bus, cancel=False, resume=False):
|
||||
values = {
|
||||
"ACC_Cancel": cancel,
|
||||
"ACC_Resume": resume,
|
||||
"COUNTER": frame % 0x10,
|
||||
}
|
||||
return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user