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3
.gitignore
vendored
3
.gitignore
vendored
@@ -20,8 +20,6 @@ a.out
|
||||
*.class
|
||||
*.pyxbldc
|
||||
*.vcd
|
||||
lane.cpp
|
||||
loc*.cpp
|
||||
config.json
|
||||
clcache
|
||||
|
||||
@@ -30,6 +28,7 @@ selfdrive/boardd/boardd
|
||||
selfdrive/logcatd/logcatd
|
||||
selfdrive/proclogd/proclogd
|
||||
selfdrive/ui/ui
|
||||
selfdrive/test/tests/plant/out
|
||||
/src/
|
||||
|
||||
one
|
||||
|
||||
@@ -8,11 +8,11 @@ Most open source development activity is coordinated through our [slack](https:/
|
||||
|
||||
* Join our slack [slack.comma.ai](https://slack.comma.ai)
|
||||
* Make sure you have a [GitHub account](https://github.com/signup/free)
|
||||
* Fork the repository on GitHub
|
||||
* Fork [our repositories](https://github.com/commaai) on GitHub
|
||||
|
||||
## Car Ports (openpilot)
|
||||
|
||||
We've released a guide for porting to Toyota cars [here](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6)
|
||||
We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
|
||||
|
||||
If you port openpilot to a substantially new car, you might be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
|
||||
If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
|
||||
|
||||
|
||||
100
README.md
100
README.md
@@ -1,4 +1,4 @@
|
||||
[](#)
|
||||
[](#)
|
||||
|
||||
Welcome to openpilot
|
||||
======
|
||||
@@ -10,7 +10,7 @@ The openpilot codebase has been written to be concise and enable rapid prototypi
|
||||
Community
|
||||
------
|
||||
|
||||
openpilot is supported by [comma.ai](https://comma.ai/).
|
||||
openpilot is developed by [comma.ai](https://comma.ai/) and users like you.
|
||||
|
||||
We have a [Twitter you should follow](https://twitter.com/comma_ai).
|
||||
|
||||
@@ -41,57 +41,63 @@ Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` dur
|
||||
Supported Cars
|
||||
------
|
||||
|
||||
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below |
|
||||
| ------- | ---------------------- | -------------------- | ------- | ------------ | -------------- | -------------- |
|
||||
| Acura | ILX 2016 | AcuraWatch Plus | Yes | Yes | 25mph* | 12mph |
|
||||
| Acura | ILX 2017 | AcuraWatch Plus | Yes | Yes | 25mph* | 12mph |
|
||||
| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph* | 12mph |
|
||||
| GM | Volt 2017 | Driver Confidence II | Yes | Yes | 0mph | 0mph |
|
||||
| GM | Volt 2018 | Driver Confidence II | Yes | Yes | 0mph | 0mph |
|
||||
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph |
|
||||
| Honda | Civic 2016 *(Sedan)* | Honda Sensing | Yes | Yes | 0mph | 12mph |
|
||||
| Honda | Civic 2017 *(Sedan)* | Honda Sensing | Yes | Yes | 0mph | 12mph |
|
||||
| Honda | Civic 2017 *(Hatch)* | Honda Sensing | Yes | Stock | 0mph | 12mph |
|
||||
| Honda | Civic 2018 *(Sedan)* | Honda Sensing | Yes | Yes | 0mph | 12mph |
|
||||
| Honda | CR-V 2015 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
|
||||
| Honda | CR-V 2016 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
|
||||
| Honda | CR-V 2017 | Honda Sensing | Yes | Stock | 0mph | 12mph |
|
||||
| Honda | CR-V 2018 | Honda Sensing | Yes | Stock | 0mph | 12mph |
|
||||
| Honda | Odyssey 2017 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
|
||||
| Honda | Odyssey 2018 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
|
||||
| Honda | Pilot 2017 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
|
||||
| Honda | Pilot 2018 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
|
||||
| Honda | Ridgeline 2017 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
|
||||
| Honda | Ridgeline 2018 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
|
||||
| Lexus | RX Hybrid 2017 | All | Yes | Yes | 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2018 | All | Yes | Yes | 0mph | 0mph |
|
||||
| Toyota | Corolla 2017 | All | Yes | Yes | 20mph | 0mph |
|
||||
| Toyota | Corolla 2018 | All | Yes | Yes | 20mph | 0mph |
|
||||
| Toyota | Prius 2016 | TSS-P | Yes | Yes | 0mph | 0mph |
|
||||
| Toyota | Prius 2017 | All | Yes | Yes | 0mph | 0mph |
|
||||
| Toyota | Prius 2018 | All | Yes | Yes | 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2017 | All | Yes | Yes | 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2018 | All | Yes | Yes | 0mph | 0mph |
|
||||
| Toyota | Rav4 2016 | TSS-P | Yes | Yes | 20mph | 0mph |
|
||||
| Toyota | Rav4 2017 | All | Yes | Yes | 20mph | 0mph |
|
||||
| Toyota | Rav4 2018 | All | Yes | Yes | 20mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2017 | All | Yes | Yes | 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2018 | All | Yes | Yes | 0mph | 0mph |
|
||||
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below |
|
||||
| ------- | ---------------------- | -------------------- | ------- | ------------ | -------------- | -------------- |
|
||||
| Acura | ILX 2016 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph |
|
||||
| Acura | ILX 2017 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph |
|
||||
| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| GM<sup>3</sup>| Volt 2017 | Driver Confidence II | Yes | Yes | 0mph | 7mph |
|
||||
| GM<sup>3</sup>| Volt 2018 | Driver Confidence II | Yes | Yes | 0mph | 7mph |
|
||||
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph |
|
||||
| Honda | Civic 2016 | Honda Sensing | Yes | Yes | 0mph | 12mph |
|
||||
| Honda | Civic 2017 | Honda Sensing | Yes | Yes | 0mph | 12mph |
|
||||
| Honda | Civic 2017 *(Hatch)* | Honda Sensing | Yes | Stock | 0mph | 12mph |
|
||||
| Honda | Civic 2018 | Honda Sensing | Yes | Yes | 0mph | 12mph |
|
||||
| Honda | Civic 2018 *(Hatch)* | Honda Sensing | Yes | Stock | 0mph | 12mph |
|
||||
| Honda | CR-V 2015 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| Honda | CR-V 2016 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| Honda | CR-V 2017 | Honda Sensing | Yes | Stock | 0mph | 12mph |
|
||||
| Honda | CR-V 2018 | Honda Sensing | Yes | Stock | 0mph | 12mph |
|
||||
| Honda | Odyssey 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph |
|
||||
| Honda | Odyssey 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph |
|
||||
| Honda | Pilot 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| Honda | Pilot 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| Honda | Ridgeline 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| Honda | Ridgeline 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
| Lexus | RX Hybrid 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Camry 2018<sup>4</sup> | All | Yes | Stock | 0mph<sup>5</sup> | 0mph |
|
||||
| Toyota | C-HR 2018<sup>4</sup> | All | Yes | Stock | 0mph | 0mph |
|
||||
| Toyota | Corolla 2017 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
|
||||
| Toyota | Corolla 2018 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
|
||||
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph | 0mph |
|
||||
| Toyota | Rav4 2017 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
|
||||
| Toyota | Rav4 2018 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
|
||||
|
||||
*[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***
|
||||
<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***
|
||||
<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota)
|
||||
<sup>3</sup>[GM installation guide](https://www.zoneos.com/volt.htm)
|
||||
<sup>4</sup>It needs an extra 120Ohm resistor ([pic1](https://i.imgur.com/CmdKtTP.jpg), [pic2](https://i.imgur.com/s2etUo6.jpg)) on bus 3 and giraffe switches set to 01X1 (11X1 for stock LKAS), where X depends on if you have the [comma power](https://comma.ai/shop/products/power/).
|
||||
<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
|
||||
|
||||
Community Maintained Cars
|
||||
------
|
||||
|
||||
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below |
|
||||
| ------- | -----------------------| -------------------- | ------- | ------------ | ----------- | ------------ |
|
||||
| Tesla | Model S 2012 | All | Yes | Not yet | Not applicable | 0mph |
|
||||
| Tesla | Model S 2013 | All | Yes | Not yet | Not applicable | 0mph |
|
||||
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below |
|
||||
| ------- | ---------------------- | -------------------- | ------- | ------------ | -------------- | -------------- |
|
||||
| Honda | Fit 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
|
||||
|
||||
[[Tesla Pull Request]](https://github.com/commaai/openpilot/pull/246)
|
||||
[[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266).
|
||||
|
||||
*Community Maintained Cars are not confirmed by comma.ai to meet our safety model. Be extra cautious using them.
|
||||
Community Maintained Cars are not confirmed by comma.ai to meet our [safety model](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Be extra cautious using them.
|
||||
|
||||
In Progress Cars
|
||||
------
|
||||
@@ -107,7 +113,7 @@ How can I add support for my car?
|
||||
|
||||
If your car has adaptive cruise control and lane keep assist, you are in luck. Using a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle/) and [cabana](https://community.comma.ai/cabana/), you can understand how to make your car drive by wire.
|
||||
|
||||
We've written a [porting guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for Toyota that might help you after you have the basics figured out.
|
||||
We've written guides for [Brand](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84) and [Model](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) ports. These guides might help you after you have the basics figured out.
|
||||
|
||||
- BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and are unlikely to be supported any time soon.
|
||||
- We put time into a Ford port, but the steering has a 10 second cutout limitation that makes it unusable.
|
||||
@@ -174,7 +180,7 @@ Contributing
|
||||
------
|
||||
|
||||
We welcome both pull requests and issues on
|
||||
[github](http://github.com/commaai/openpilot). Bug fixes and new car support encouraged.
|
||||
[github](http://github.com/commaai/openpilot). Bug fixes and new car ports encouraged.
|
||||
|
||||
Want to get paid to work on openpilot? [comma.ai is hiring](https://comma.ai/jobs/)
|
||||
|
||||
|
||||
15
RELEASES.md
15
RELEASES.md
@@ -1,3 +1,18 @@
|
||||
Version 0.5.2 (2018-08-16)
|
||||
========================
|
||||
* New calibration: more accurate, a lot faster, open source!
|
||||
* Enable orbd
|
||||
* Add little endian support to CAN packer
|
||||
* Fix fingerprint for Honda Accord 1.5T
|
||||
* Improve driver monitoring model
|
||||
|
||||
Version 0.5.1 (2018-08-01)
|
||||
========================
|
||||
* Fix radar error on Civic sedan 2018
|
||||
* Improve thermal management logic
|
||||
* Alpha Toyota C-HR and Camry support!
|
||||
* Auto-switch Driver Monitoring to 3 min counter when inaccurate
|
||||
|
||||
Version 0.5 (2018-07-11)
|
||||
========================
|
||||
* Driver Monitoring (beta) option in settings!
|
||||
|
||||
80
SAFETY.md
80
SAFETY.md
@@ -6,7 +6,10 @@ Like other ACC and LKA systems, openpilot requires the driver to be alert and to
|
||||
pay attention at all times. We repeat, **driver alertness is necessary, but not
|
||||
sufficient, for openpilot to be used safely**.
|
||||
|
||||
Even with an attentive driver, we must make further efforts for the system to be
|
||||
In order to enforce driver alertness, openpilot includes a driver monitoring feature
|
||||
that alerts the driver when distracted.
|
||||
|
||||
However, even with an attentive driver, we must make further efforts for the system to be
|
||||
safe. We have designed openpilot with two other safety considerations.
|
||||
|
||||
1. The driver must always be capable to immediately retake manual control of the vehicle,
|
||||
@@ -20,7 +23,7 @@ Following are details of the car specific safety implementations:
|
||||
Honda/Acura
|
||||
------
|
||||
|
||||
- While the system is engaged, gas, brake and steer limits are subject to the same limits used by
|
||||
- While the system is engaged, gas, brake and steer commands are subject to the same limits used by
|
||||
the stock system.
|
||||
|
||||
- Without an interceptor, the gas is controlled by the Powertrain Control Module (PCM).
|
||||
@@ -28,16 +31,16 @@ Honda/Acura
|
||||
interceptor, the gas is clipped to 60%.
|
||||
|
||||
- The brake is controlled by the 0x1FA CAN message. This message allows full
|
||||
braking, although the board and the software clip it to 1/4th of the max.
|
||||
This is around .3g of braking.
|
||||
braking, although the panda firmware and openpilot clip it to 1/4th of the max.
|
||||
This is approximately 0.3g of braking.
|
||||
|
||||
- Steering is controlled by the 0xE4 CAN message. The Electronic Power Steering (EPS)
|
||||
controller in the car limits the torque to a very small amount, so regardless of the
|
||||
message, the controller cannot jerk the wheel.
|
||||
|
||||
- Brake and gas pedal pressed signals are contained in the 0x17C CAN message. A rising edge of
|
||||
either signal triggers a disengagement, which is enforced by the board and in software. The
|
||||
green led on the board signifies if the board is allowing control messages.
|
||||
either signals triggers a disengagement, which is enforced by the panda firmware and by openpilot. The
|
||||
white led on the panda signifies if the panda is allowing control messages.
|
||||
|
||||
- Honda CAN uses both a counter and a checksum to ensure integrity and prevent
|
||||
replay of the same message.
|
||||
@@ -45,29 +48,62 @@ Honda/Acura
|
||||
Toyota/Lexus
|
||||
------
|
||||
|
||||
- While the system is engaged, gas, brake and steer limits are subject to the same limits used by
|
||||
- While the system is engaged, gas, brake and steer commands are subject to the same limits used by
|
||||
the stock system.
|
||||
|
||||
- With the stock Driving Support Unit (DSU) enabled, the acceleration is controlled
|
||||
by the stock system and is subject to the stock adaptive cruise control limits. Without the
|
||||
stock DSU connected, the acceleration command is controlled by the 0x343 CAN message and its
|
||||
value is limited by the board and the software to between .3g of deceleration and .15g of
|
||||
acceleration. The acceleration command is ignored by the Engine Control Module (ECM) while the
|
||||
cruise control system is disengaged.
|
||||
- With the stock Driving Support Unit (DSU) connected (or in DSU-less models like Camry and C-HR),
|
||||
the acceleration is controlled by the stock system and is subject to the stock adaptive cruise
|
||||
control limits. Without the stock DSU connected, the acceleration command is controlled by the
|
||||
0x343 CAN message and its value is limited between .3g of deceleration and .15g of acceleration
|
||||
by the panda firmware and by openpilot. The acceleration command is ignored by the Engine Control
|
||||
Module (ECM) while the cruise control system is disengaged.
|
||||
|
||||
- Steering torque is controlled through the 0x2E4 CAN message and it's limited by the board and in
|
||||
software to a value of -1500 and 1500. In addition, the vehicle EPS unit will not respond to
|
||||
commands outside these limits. A steering torque rate limit is enforced by the board and in
|
||||
software so that the commanded steering torque must rise from 0 to max value no faster than
|
||||
1.5s. Commanded steering torque is limited by the board and in software to be no more than 350
|
||||
- Steering torque is controlled through the 0x2E4 CAN message and it's limited by the panda firmware and by
|
||||
openpilot to a value between -1500 and 1500. In addition, the vehicle EPS unit will not respond to
|
||||
commands outside these limits. A steering torque rate limit is enforced by the panda firmware and by
|
||||
openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
|
||||
1.5s. Commanded steering torque is limited by the panda firmware and by openpilot to be no more than 350
|
||||
units above the actual EPS generated motor torque to ensure limited differences between
|
||||
commanded and actual torques.
|
||||
|
||||
- Brake and gas pedal pressed signals are contained in the 0x224 and 0x1D2 CAN messages,
|
||||
respectively. A rising edge of either signal triggers a disengagement, which is enforced by the
|
||||
board and in software. Additionally, the cruise control system disengages on the rising edge of
|
||||
respectively. A rising edge of either signals triggers a disengagement, which is enforced by the
|
||||
panda firmware and by openpilot. Additionally, the cruise control system disengages on the rising edge of
|
||||
the brake pedal pressed signal.
|
||||
|
||||
- The cruise control system state is contained in the 0x1D2 message. No control messages are
|
||||
allowed if the cruise control system is not active. This is enforced by the software and the
|
||||
board. The green led on the board signifies if the board is allowing control messages.
|
||||
allowed if the cruise control system is not active. This is enforced by openpilot and the
|
||||
panda firmware. The white led on the panda signifies if the panda is allowing control messages.
|
||||
|
||||
GM/Chevrolet
|
||||
------
|
||||
|
||||
- While the system is engaged, gas, brake and steer commands are subject to the same limits used by
|
||||
the stock system.
|
||||
|
||||
- The gas and regen are controlled by the 0x2CB message and it's limited by the panda firmware and by
|
||||
openpilot to a value between 1404 and 3072. the minimum value correspond to a mild decel due to regen,
|
||||
while 3072 correspond to approximately 0.18g of acceleration from stop.
|
||||
|
||||
- The friction brakes are controlled by the 0x315 message and its value is limited by the panda firmware
|
||||
and openpilot to 350. This is approximately 0.3g of braking.
|
||||
|
||||
- Steering torque is controlled through the 0x180 CAN message and it's limited by the panda firmware and by
|
||||
openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will not fault when
|
||||
commands outside these limits. A steering torque rate limit is enforced by the panda firmware and by
|
||||
openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
|
||||
0.75s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
|
||||
torque exceeds 12 units in the opposite dicrection to ensure limited applied torque against the
|
||||
driver's will.
|
||||
|
||||
- Brake pedal and gas pedal potentiometer signals are contained in the 0xF1 and 0x1A1 CAN messages,
|
||||
respectively. A rising edge of either signals triggers a disengagement, which is enforced by the
|
||||
panda firmware and by openpilot. Additionally, the cruise control system disengages on the rising edge of
|
||||
the brake pedal pressed signal. The regen paddle pressed signal is in the 0xBD message. When the
|
||||
regen paddle is pressed, a disengagement is enforced by both the firmware and by openpilot.
|
||||
|
||||
- GM CAN uses both a counter and a checksum to ensure integrity and prevent
|
||||
replay of the same message.
|
||||
|
||||
**Extra note"**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
|
||||
not fully meeting the above requirements.
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -63,6 +63,11 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
promptDriverDistracted @38;
|
||||
driverDistracted @39;
|
||||
geofence @40;
|
||||
driverMonitorOn @41;
|
||||
driverMonitorOff @42;
|
||||
preDriverUnresponsive @43;
|
||||
promptDriverUnresponsive @44;
|
||||
driverUnresponsive @45;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -302,6 +307,9 @@ struct CarParams {
|
||||
hondaBosch @5;
|
||||
ford @6;
|
||||
cadillac @7;
|
||||
hyundai @8;
|
||||
chrysler @9;
|
||||
tesla @10;
|
||||
}
|
||||
|
||||
# things about the car in the manual
|
||||
|
||||
@@ -21,6 +21,8 @@ struct Map(Key, Value) {
|
||||
|
||||
struct InitData {
|
||||
kernelArgs @0 :List(Text);
|
||||
kernelVersion @15 :Text;
|
||||
|
||||
gctx @1 :Text;
|
||||
dongleId @2 :Text;
|
||||
|
||||
@@ -32,6 +34,7 @@ struct InitData {
|
||||
|
||||
androidBuildInfo @5 :AndroidBuildInfo;
|
||||
androidSensors @6 :List(AndroidSensor);
|
||||
androidProperties @16 :Map(Text, Text);
|
||||
chffrAndroidExtra @7 :ChffrAndroidExtra;
|
||||
iosBuildInfo @14 :IosBuildInfo;
|
||||
|
||||
@@ -328,13 +331,16 @@ struct Live20Data {
|
||||
}
|
||||
|
||||
struct LiveCalibrationData {
|
||||
# deprecated
|
||||
warpMatrix @0 :List(Float32);
|
||||
# camera_frame_from_model_frame
|
||||
warpMatrix2 @5 :List(Float32);
|
||||
calStatus @1 :Int8;
|
||||
calCycle @2 :Int32;
|
||||
calPerc @3 :Int8;
|
||||
|
||||
# Maps car space to normalized image space.
|
||||
# view_frame_from_road_frame
|
||||
# ui's is inversed needs new
|
||||
extrinsicMatrix @4 :List(Float32);
|
||||
}
|
||||
|
||||
@@ -399,6 +405,7 @@ struct Live100Data {
|
||||
angleOffset @27 :Float32;
|
||||
gpsPlannerActive @40 :Bool;
|
||||
engageable @41 :Bool; # can OP be engaged?
|
||||
driverMonitoringOn @43 :Bool;
|
||||
|
||||
enum ControlState {
|
||||
disabled @0;
|
||||
@@ -1533,6 +1540,13 @@ struct OrbKeyFrame {
|
||||
struct DriverMonitoring {
|
||||
frameId @0 :UInt32;
|
||||
descriptor @1 :List(Float32);
|
||||
std @2 :Float32;
|
||||
}
|
||||
|
||||
struct Boot {
|
||||
wallTimeNanos @0 :UInt64;
|
||||
lastKmsg @1 :Data;
|
||||
lastPmsg @2 :Data;
|
||||
}
|
||||
|
||||
struct Event {
|
||||
@@ -1599,5 +1613,6 @@ struct Event {
|
||||
uiLayoutState @57 :UiLayoutState;
|
||||
orbFeaturesSummary @58 :OrbFeaturesSummary;
|
||||
driverMonitoring @59 :DriverMonitoring;
|
||||
boot @60 :Boot;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -4,7 +4,7 @@ import struct
|
||||
import bitstring
|
||||
import sys
|
||||
import numbers
|
||||
from collections import namedtuple
|
||||
from collections import namedtuple, defaultdict
|
||||
|
||||
def int_or_float(s):
|
||||
# return number, trying to maintain int format
|
||||
@@ -28,6 +28,7 @@ class dbc(object):
|
||||
bo_regexp = re.compile(r"^BO\_ (\w+) (\w+) *: (\w+) (\w+)")
|
||||
sg_regexp = re.compile(r"^SG\_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
|
||||
sgm_regexp = re.compile(r"^SG\_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
|
||||
val_regexp = re.compile(r"VAL\_ (\w+) (\w+) (\s*[-+]?[0-9]+\s+\".+?\"[^;]*)")
|
||||
|
||||
# A dictionary which maps message ids to tuples ((name, size), signals).
|
||||
# name is the ASCII name of the message.
|
||||
@@ -36,6 +37,9 @@ class dbc(object):
|
||||
# signals is a list of DBCSignal in order of increasing start_bit.
|
||||
self.msgs = {}
|
||||
|
||||
# A dictionary which maps message ids to a list of tuples (signal name, definition value pairs)
|
||||
self.def_vals = defaultdict(list)
|
||||
|
||||
# lookup to bit reverse each byte
|
||||
self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in xrange(64)]
|
||||
|
||||
@@ -81,6 +85,30 @@ class dbc(object):
|
||||
DBCSignal(sgname, start_bit, signal_size, is_little_endian,
|
||||
is_signed, factor, offset, tmin, tmax, units))
|
||||
|
||||
if l.startswith("VAL_ "):
|
||||
# new signal value/definition
|
||||
dat = val_regexp.match(l)
|
||||
|
||||
if dat is None:
|
||||
print "bad VAL", l
|
||||
ids = int(dat.group(1), 0) # could be hex
|
||||
sgname = dat.group(2)
|
||||
defvals = dat.group(3)
|
||||
|
||||
defvals = defvals.replace("?","\?") #escape sequence in C++
|
||||
defvals = defvals.split('"')[:-1]
|
||||
|
||||
defs = defvals[1::2]
|
||||
#cleanup, convert to UPPER_CASE_WITH_UNDERSCORES
|
||||
for i,d in enumerate(defs):
|
||||
d = defs[i].strip().upper()
|
||||
defs[i] = d.replace(" ","_")
|
||||
|
||||
defvals[1::2] = defs
|
||||
defvals = '"'+"".join(str(i) for i in defvals)+'"'
|
||||
|
||||
self.def_vals[ids].append((sgname, defvals))
|
||||
|
||||
for msg in self.msgs.viewvalues():
|
||||
msg[1].sort(key=lambda x: x.start_bit)
|
||||
|
||||
|
||||
42
common/ffi_wrapper.py
Normal file
42
common/ffi_wrapper.py
Normal file
@@ -0,0 +1,42 @@
|
||||
import os
|
||||
import sys
|
||||
import fcntl
|
||||
import hashlib
|
||||
from cffi import FFI
|
||||
|
||||
TMPDIR = "/tmp/ccache"
|
||||
|
||||
def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR):
|
||||
cache = name + "_" + hashlib.sha1(c_code).hexdigest()
|
||||
try:
|
||||
os.mkdir(tmpdir)
|
||||
except OSError:
|
||||
pass
|
||||
|
||||
fd = os.open(tmpdir, 0)
|
||||
fcntl.flock(fd, fcntl.LOCK_EX)
|
||||
try:
|
||||
sys.path.append(tmpdir)
|
||||
try:
|
||||
mod = __import__(cache)
|
||||
except Exception:
|
||||
print "cache miss", cache
|
||||
compile_code(cache, c_code, c_header, tmpdir)
|
||||
mod = __import__(cache)
|
||||
finally:
|
||||
os.close(fd)
|
||||
|
||||
return mod.ffi, mod.lib
|
||||
|
||||
def compile_code(name, c_code, c_header, directory):
|
||||
ffibuilder = FFI()
|
||||
ffibuilder.set_source(name, c_code, source_extension='.cpp')
|
||||
ffibuilder.cdef(c_header)
|
||||
os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
|
||||
os.environ['CFLAGS'] = ""
|
||||
ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
|
||||
|
||||
def wrap_compiled(name, directory):
|
||||
sys.path.append(directory)
|
||||
mod = __import__(name)
|
||||
return mod.ffi, mod.lib
|
||||
@@ -66,9 +66,6 @@ keys = {
|
||||
# written: visiond
|
||||
# read: visiond, controlsd
|
||||
"CalibrationParams": TxType.PERSISTENT,
|
||||
# written: visiond
|
||||
# read: visiond, ui
|
||||
"CloudCalibration": TxType.PERSISTENT,
|
||||
# written: controlsd
|
||||
# read: radard
|
||||
"CarParams": TxType.CLEAR_ON_CAR_START,
|
||||
|
||||
115
common/transformations/camera.py
Normal file
115
common/transformations/camera.py
Normal file
@@ -0,0 +1,115 @@
|
||||
import numpy as np
|
||||
import common.transformations.orientation as orient
|
||||
|
||||
FULL_FRAME_SIZE = (1164, 874)
|
||||
W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
|
||||
eon_focal_length = FOCAL = 910.0
|
||||
|
||||
# aka 'K' aka camera_frame_from_view_frame
|
||||
eon_intrinsics = np.array([
|
||||
[FOCAL, 0., W/2.],
|
||||
[ 0., FOCAL, H/2.],
|
||||
[ 0., 0., 1.]])
|
||||
|
||||
# aka 'K_inv' aka view_frame_from_camera_frame
|
||||
eon_intrinsics_inv = np.linalg.inv(eon_intrinsics)
|
||||
|
||||
|
||||
# device/mesh : x->forward, y-> right, z->down
|
||||
# view : x->right, y->down, z->forward
|
||||
device_frame_from_view_frame = np.array([
|
||||
[ 0., 0., 1.],
|
||||
[ 1., 0., 0.],
|
||||
[ 0., 1., 0.]
|
||||
])
|
||||
view_frame_from_device_frame = device_frame_from_view_frame.T
|
||||
|
||||
|
||||
def get_calib_from_vp(vp):
|
||||
vp_norm = normalize(vp)
|
||||
yaw_calib = np.arctan(vp_norm[0])
|
||||
pitch_calib = np.arctan(vp_norm[1]*np.cos(yaw_calib))
|
||||
# TODO should be, this but written
|
||||
# to be compatible with meshcalib and
|
||||
# get_view_frame_from_road_fram
|
||||
#pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
|
||||
roll_calib = 0
|
||||
return roll_calib, pitch_calib, yaw_calib
|
||||
|
||||
# aka 'extrinsic_matrix'
|
||||
# road : x->forward, y -> left, z->up
|
||||
def get_view_frame_from_road_frame(roll, pitch, yaw, height):
|
||||
# TODO
|
||||
# calibration pitch is currently defined
|
||||
# opposite to pitch in device frame
|
||||
pitch = -pitch
|
||||
device_from_road = orient.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]]))
|
||||
|
||||
|
||||
def vp_from_ke(m):
|
||||
"""
|
||||
Computes the vanishing point from the product of the intrinsic and extrinsic
|
||||
matrices C = KE.
|
||||
|
||||
The vanishing point is defined as lim x->infinity C (x, 0, 0, 1).T
|
||||
"""
|
||||
return (m[0, 0]/m[2,0], m[1,0]/m[2,0])
|
||||
|
||||
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]),
|
||||
-(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))
|
||||
|
||||
def normalize(img_pts):
|
||||
# normalizes image coordinates
|
||||
# accepts single pt or array of pts
|
||||
img_pts = np.array(img_pts)
|
||||
input_shape = img_pts.shape
|
||||
img_pts = np.atleast_2d(img_pts)
|
||||
img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
|
||||
img_pts_normalized = eon_intrinsics_inv.dot(img_pts.T).T
|
||||
img_pts_normalized[(img_pts < 0).any(axis=1)] = np.nan
|
||||
return img_pts_normalized[:,:2].reshape(input_shape)
|
||||
|
||||
def denormalize(img_pts):
|
||||
# denormalizes image coordinates
|
||||
# accepts single pt or array of pts
|
||||
img_pts = np.array(img_pts)
|
||||
input_shape = img_pts.shape
|
||||
img_pts = np.atleast_2d(img_pts)
|
||||
img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
|
||||
img_pts_denormalized = eon_intrinsics.dot(img_pts.T).T
|
||||
img_pts_denormalized[img_pts_denormalized[:,0] > W] = np.nan
|
||||
img_pts_denormalized[img_pts_denormalized[:,0] < 0] = np.nan
|
||||
img_pts_denormalized[img_pts_denormalized[:,1] > H] = np.nan
|
||||
img_pts_denormalized[img_pts_denormalized[:,1] < 0] = np.nan
|
||||
return img_pts_denormalized[:,:2].reshape(input_shape)
|
||||
|
||||
def device_from_ecef(pos_ecef, orientation_ecef, pt_ecef):
|
||||
# device from ecef frame
|
||||
# device frame is x -> forward, y-> right, z -> down
|
||||
# accepts single pt or array of pts
|
||||
input_shape = pt_ecef.shape
|
||||
pt_ecef = np.atleast_2d(pt_ecef)
|
||||
ecef_from_device_rot = orient.rotations_from_quats(orientation_ecef)
|
||||
device_from_ecef_rot = ecef_from_device_rot.T
|
||||
pt_ecef_rel = pt_ecef - pos_ecef
|
||||
pt_device = np.einsum('jk,ik->ij', device_from_ecef_rot, pt_ecef_rel)
|
||||
return pt_device.reshape(input_shape)
|
||||
|
||||
def img_from_device(pt_device):
|
||||
# img coordinates from pts in device frame
|
||||
# first transforms to view frame, then to img coords
|
||||
# accepts single pt or array of pts
|
||||
input_shape = pt_device.shape
|
||||
pt_device = np.atleast_2d(pt_device)
|
||||
pt_view = np.einsum('jk,ik->ij', view_frame_from_device_frame, pt_device)
|
||||
|
||||
# This function should never return negative depths
|
||||
pt_view[pt_view[:,2] < 0] = np.nan
|
||||
|
||||
pt_img = pt_view/pt_view[:,2:3]
|
||||
return pt_img.reshape(input_shape)[:,:2]
|
||||
|
||||
@@ -12,12 +12,14 @@ esq = 6.69437999014 * 0.001
|
||||
e1sq = 6.73949674228 * 0.001
|
||||
|
||||
|
||||
def geodetic2ecef(geodetic):
|
||||
def geodetic2ecef(geodetic, radians=False):
|
||||
geodetic = np.array(geodetic)
|
||||
input_shape = geodetic.shape
|
||||
geodetic = np.atleast_2d(geodetic)
|
||||
lat = (np.pi/180)*geodetic[:,0]
|
||||
lon = (np.pi/180)*geodetic[:,1]
|
||||
|
||||
ratio = 1.0 if radians else (np.pi / 180.0)
|
||||
lat = ratio*geodetic[:,0]
|
||||
lon = ratio*geodetic[:,1]
|
||||
alt = geodetic[:,2]
|
||||
|
||||
xi = np.sqrt(1 - esq * np.sin(lat)**2)
|
||||
@@ -28,41 +30,41 @@ def geodetic2ecef(geodetic):
|
||||
return ecef.reshape(input_shape)
|
||||
|
||||
|
||||
def ecef2geodetic(ecef):
|
||||
def ecef2geodetic(ecef, radians=False):
|
||||
"""
|
||||
Convert ECEF coordinates to geodetic using ferrari's method
|
||||
"""
|
||||
def ferrari(x, y, z):
|
||||
# ferrari's method
|
||||
r = np.sqrt(x * x + y * y)
|
||||
Esq = a * a - b * b
|
||||
F = 54 * b * b * z * z
|
||||
G = r * r + (1 - esq) * z * z - esq * Esq
|
||||
C = (esq * esq * F * r * r) / (pow(G, 3))
|
||||
S = np.cbrt(1 + C + np.sqrt(C * C + 2 * C))
|
||||
P = F / (3 * pow((S + 1 / S + 1), 2) * G * G)
|
||||
Q = np.sqrt(1 + 2 * esq * esq * P)
|
||||
r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a * a*(1 + 1.0 / Q) - \
|
||||
P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r)
|
||||
U = np.sqrt(pow((r - esq * r_0), 2) + z * z)
|
||||
V = np.sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z)
|
||||
Z_0 = b * b * z / (a * V)
|
||||
h = U * (1 - b * b / (a * V))
|
||||
lat = (180/np.pi)*np.arctan((z + e1sq * Z_0) / r)
|
||||
lon = (180/np.pi)*np.arctan2(y, x)
|
||||
return lat, lon, h
|
||||
|
||||
geodetic = []
|
||||
ecef = np.array(ecef)
|
||||
# Save shape and export column
|
||||
ecef = np.atleast_1d(ecef)
|
||||
input_shape = ecef.shape
|
||||
ecef = np.atleast_2d(ecef)
|
||||
for p in ecef:
|
||||
geodetic.append(ferrari(*p))
|
||||
geodetic = np.array(geodetic)
|
||||
x, y, z = ecef[:, 0], ecef[:, 1], ecef[:, 2]
|
||||
|
||||
ratio = 1.0 if radians else (180.0 / np.pi)
|
||||
|
||||
# Conver from ECEF to geodetic using Ferrari's methods
|
||||
# https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution
|
||||
r = np.sqrt(x * x + y * y)
|
||||
Esq = a * a - b * b
|
||||
F = 54 * b * b * z * z
|
||||
G = r * r + (1 - esq) * z * z - esq * Esq
|
||||
C = (esq * esq * F * r * r) / (pow(G, 3))
|
||||
S = np.cbrt(1 + C + np.sqrt(C * C + 2 * C))
|
||||
P = F / (3 * pow((S + 1 / S + 1), 2) * G * G)
|
||||
Q = np.sqrt(1 + 2 * esq * esq * P)
|
||||
r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a * a*(1 + 1.0 / Q) - \
|
||||
P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r)
|
||||
U = np.sqrt(pow((r - esq * r_0), 2) + z * z)
|
||||
V = np.sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z)
|
||||
Z_0 = b * b * z / (a * V)
|
||||
h = U * (1 - b * b / (a * V))
|
||||
lat = ratio*np.arctan((z + e1sq * Z_0) / r)
|
||||
lon = ratio*np.arctan2(y, x)
|
||||
|
||||
# stack the new columns and return to the original shape
|
||||
geodetic = np.column_stack((lat, lon, h))
|
||||
return geodetic.reshape(input_shape)
|
||||
|
||||
|
||||
|
||||
class LocalCoord(object):
|
||||
"""
|
||||
Allows conversions to local frames. In this case NED.
|
||||
|
||||
112
common/transformations/model.py
Normal file
112
common/transformations/model.py
Normal file
@@ -0,0 +1,112 @@
|
||||
import numpy as np
|
||||
|
||||
from common.transformations.camera import eon_focal_length, \
|
||||
vp_from_ke, \
|
||||
get_view_frame_from_road_frame, \
|
||||
FULL_FRAME_SIZE
|
||||
|
||||
# segnet
|
||||
|
||||
SEGNET_SIZE = (512, 384)
|
||||
|
||||
segnet_frame_from_camera_frame = np.array([
|
||||
[float(SEGNET_SIZE[0])/FULL_FRAME_SIZE[0], 0., ],
|
||||
[ 0., float(SEGNET_SIZE[1])/FULL_FRAME_SIZE[1]]])
|
||||
|
||||
|
||||
# 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_zoom = 1.25
|
||||
model_height = 1.22
|
||||
|
||||
# canonical model transform
|
||||
model_intrinsics = np.array(
|
||||
[[ eon_focal_length / model_zoom, 0. , MODEL_CX],
|
||||
[ 0. , eon_focal_length / model_zoom, MODEL_CY],
|
||||
[ 0. , 0. , 1.]])
|
||||
|
||||
|
||||
# BIG model
|
||||
|
||||
BIGMODEL_INPUT_SIZE = (864, 288)
|
||||
BIGMODEL_YUV_SIZE = (BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1] * 3 // 2)
|
||||
|
||||
bigmodel_zoom = 1.
|
||||
bigmodel_intrinsics = np.array(
|
||||
[[ eon_focal_length / bigmodel_zoom, 0. , 0.5 * BIGMODEL_INPUT_SIZE[0]],
|
||||
[ 0. , eon_focal_length / bigmodel_zoom, 0.2 * BIGMODEL_INPUT_SIZE[1]],
|
||||
[ 0. , 0. , 1.]])
|
||||
|
||||
|
||||
bigmodel_border = np.array([
|
||||
[0,0,1],
|
||||
[BIGMODEL_INPUT_SIZE[0], 0, 1],
|
||||
[BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1], 1],
|
||||
[0, BIGMODEL_INPUT_SIZE[1], 1],
|
||||
])
|
||||
|
||||
|
||||
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))
|
||||
|
||||
# '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],
|
||||
]))
|
||||
|
||||
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],
|
||||
]))
|
||||
|
||||
ground_from_camera_frame = np.linalg.inv(camera_frame_from_road_ground)
|
||||
|
||||
low_camera_from_high_camera = np.dot(camera_frame_from_road_high, ground_from_camera_frame)
|
||||
high_camera_from_low_camera = np.linalg.inv(low_camera_from_high_camera)
|
||||
|
||||
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):
|
||||
vp = vp_from_ke(camera_frame_from_road_frame)
|
||||
|
||||
model_camera_from_model_frame = np.array([
|
||||
[model_zoom, 0., vp[0] - MODEL_CX * model_zoom],
|
||||
[ 0., model_zoom, vp[1] - MODEL_CY * model_zoom],
|
||||
[ 0., 0., 1.],
|
||||
])
|
||||
|
||||
# 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)
|
||||
else:
|
||||
camera_from_model_camera = np.eye(3)
|
||||
|
||||
return np.dot(camera_from_model_camera, model_camera_from_model_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
|
||||
293
common/transformations/orientation.py
Normal file
293
common/transformations/orientation.py
Normal file
@@ -0,0 +1,293 @@
|
||||
import numpy as np
|
||||
from numpy import dot, inner, array, linalg
|
||||
from common.transformations.coordinates import LocalCoord
|
||||
|
||||
|
||||
'''
|
||||
Vectorized functions that transform between
|
||||
rotation matrices, euler angles and quaternions.
|
||||
All support lists, array or array of arrays as inputs.
|
||||
Supports both x2y and y_from_x format (y_from_x preferred!).
|
||||
'''
|
||||
|
||||
def euler2quat(eulers):
|
||||
eulers = array(eulers)
|
||||
if len(eulers.shape) > 1:
|
||||
output_shape = (-1,4)
|
||||
else:
|
||||
output_shape = (4,)
|
||||
eulers = np.atleast_2d(eulers)
|
||||
gamma, theta, psi = eulers[:,0], eulers[:,1], eulers[:,2]
|
||||
|
||||
q0 = np.cos(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) + \
|
||||
np.sin(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2)
|
||||
q1 = np.sin(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) - \
|
||||
np.cos(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2)
|
||||
q2 = np.cos(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2) + \
|
||||
np.sin(gamma / 2) * np.cos(theta / 2) * np.sin(psi / 2)
|
||||
q3 = np.cos(gamma / 2) * np.cos(theta / 2) * np.sin(psi / 2) - \
|
||||
np.sin(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2)
|
||||
|
||||
quats = array([q0, q1, q2, q3]).T
|
||||
for i in xrange(len(quats)):
|
||||
if quats[i,0] < 0:
|
||||
quats[i] = -quats[i]
|
||||
return quats.reshape(output_shape)
|
||||
|
||||
|
||||
def quat2euler(quats):
|
||||
quats = array(quats)
|
||||
if len(quats.shape) > 1:
|
||||
output_shape = (-1,3)
|
||||
else:
|
||||
output_shape = (3,)
|
||||
quats = np.atleast_2d(quats)
|
||||
q0, q1, q2, q3 = quats[:,0], quats[:,1], quats[:,2], quats[:,3]
|
||||
|
||||
gamma = np.arctan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1**2 + q2**2))
|
||||
theta = np.arcsin(2 * (q0 * q2 - q3 * q1))
|
||||
psi = np.arctan2(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2**2 + q3**2))
|
||||
|
||||
eulers = array([gamma, theta, psi]).T
|
||||
return eulers.reshape(output_shape)
|
||||
|
||||
|
||||
def quat2rot(quats):
|
||||
quats = array(quats)
|
||||
input_shape = quats.shape
|
||||
quats = np.atleast_2d(quats)
|
||||
Rs = np.zeros((quats.shape[0], 3, 3))
|
||||
q0 = quats[:, 0]
|
||||
q1 = quats[:, 1]
|
||||
q2 = quats[:, 2]
|
||||
q3 = quats[:, 3]
|
||||
Rs[:, 0, 0] = q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3
|
||||
Rs[:, 0, 1] = 2 * (q1 * q2 - q0 * q3)
|
||||
Rs[:, 0, 2] = 2 * (q0 * q2 + q1 * q3)
|
||||
Rs[:, 1, 0] = 2 * (q1 * q2 + q0 * q3)
|
||||
Rs[:, 1, 1] = q0 * q0 - q1 * q1 + q2 * q2 - q3 * q3
|
||||
Rs[:, 1, 2] = 2 * (q2 * q3 - q0 * q1)
|
||||
Rs[:, 2, 0] = 2 * (q1 * q3 - q0 * q2)
|
||||
Rs[:, 2, 1] = 2 * (q0 * q1 + q2 * q3)
|
||||
Rs[:, 2, 2] = q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3
|
||||
|
||||
if len(input_shape) < 2:
|
||||
return Rs[0]
|
||||
else:
|
||||
return Rs
|
||||
|
||||
|
||||
def rot2quat(rots):
|
||||
input_shape = rots.shape
|
||||
if len(input_shape) < 3:
|
||||
rots = array([rots])
|
||||
K3 = np.empty((len(rots), 4, 4))
|
||||
K3[:, 0, 0] = (rots[:, 0, 0] - rots[:, 1, 1] - rots[:, 2, 2]) / 3.0
|
||||
K3[:, 0, 1] = (rots[:, 1, 0] + rots[:, 0, 1]) / 3.0
|
||||
K3[:, 0, 2] = (rots[:, 2, 0] + rots[:, 0, 2]) / 3.0
|
||||
K3[:, 0, 3] = (rots[:, 1, 2] - rots[:, 2, 1]) / 3.0
|
||||
K3[:, 1, 0] = K3[:, 0, 1]
|
||||
K3[:, 1, 1] = (rots[:, 1, 1] - rots[:, 0, 0] - rots[:, 2, 2]) / 3.0
|
||||
K3[:, 1, 2] = (rots[:, 2, 1] + rots[:, 1, 2]) / 3.0
|
||||
K3[:, 1, 3] = (rots[:, 2, 0] - rots[:, 0, 2]) / 3.0
|
||||
K3[:, 2, 0] = K3[:, 0, 2]
|
||||
K3[:, 2, 1] = K3[:, 1, 2]
|
||||
K3[:, 2, 2] = (rots[:, 2, 2] - rots[:, 0, 0] - rots[:, 1, 1]) / 3.0
|
||||
K3[:, 2, 3] = (rots[:, 0, 1] - rots[:, 1, 0]) / 3.0
|
||||
K3[:, 3, 0] = K3[:, 0, 3]
|
||||
K3[:, 3, 1] = K3[:, 1, 3]
|
||||
K3[:, 3, 2] = K3[:, 2, 3]
|
||||
K3[:, 3, 3] = (rots[:, 0, 0] + rots[:, 1, 1] + rots[:, 2, 2]) / 3.0
|
||||
q = np.empty((len(rots), 4))
|
||||
for i in xrange(len(rots)):
|
||||
_, eigvecs = linalg.eigh(K3[i].T)
|
||||
eigvecs = eigvecs[:,3:]
|
||||
q[i, 0] = eigvecs[-1]
|
||||
q[i, 1:] = -eigvecs[:-1].flatten()
|
||||
if q[i, 0] < 0:
|
||||
q[i] = -q[i]
|
||||
|
||||
if len(input_shape) < 3:
|
||||
return q[0]
|
||||
else:
|
||||
return q
|
||||
|
||||
|
||||
def euler2rot(eulers):
|
||||
return rotations_from_quats(euler2quat(eulers))
|
||||
|
||||
|
||||
def rot2euler(rots):
|
||||
return quat2euler(quats_from_rotations(rots))
|
||||
|
||||
|
||||
quats_from_rotations = rot2quat
|
||||
quat_from_rot = rot2quat
|
||||
rotations_from_quats = quat2rot
|
||||
rot_from_quat= quat2rot
|
||||
rot_from_quat= quat2rot
|
||||
euler_from_rot = rot2euler
|
||||
euler_from_quat = quat2euler
|
||||
rot_from_euler = euler2rot
|
||||
quat_from_euler = euler2quat
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
'''
|
||||
Random helpers below
|
||||
'''
|
||||
|
||||
|
||||
def quat_product(q, r):
|
||||
t = np.zeros(4)
|
||||
t[0] = r[0] * q[0] - r[1] * q[1] - r[2] * q[2] - r[3] * q[3]
|
||||
t[1] = r[0] * q[1] + r[1] * q[0] - r[2] * q[3] + r[3] * q[2]
|
||||
t[2] = r[0] * q[2] + r[1] * q[3] + r[2] * q[0] - r[3] * q[1]
|
||||
t[3] = r[0] * q[3] - r[1] * q[2] + r[2] * q[1] + r[3] * q[0]
|
||||
return t
|
||||
|
||||
|
||||
def rot_matrix(roll, pitch, yaw):
|
||||
cr, sr = np.cos(roll), np.sin(roll)
|
||||
cp, sp = np.cos(pitch), np.sin(pitch)
|
||||
cy, sy = np.cos(yaw), np.sin(yaw)
|
||||
rr = array([[1,0,0],[0, cr,-sr],[0, sr, cr]])
|
||||
rp = array([[cp,0,sp],[0, 1,0],[-sp, 0, cp]])
|
||||
ry = array([[cy,-sy,0],[sy, cy,0],[0, 0, 1]])
|
||||
return ry.dot(rp.dot(rr))
|
||||
|
||||
|
||||
def rot(axis, angle):
|
||||
# Rotates around an arbitrary axis
|
||||
ret_1 = (1 - np.cos(angle)) * array([[axis[0]**2, axis[0] * axis[1], axis[0] * axis[2]], [
|
||||
axis[1] * axis[0], axis[1]**2, axis[1] * axis[2]
|
||||
], [axis[2] * axis[0], axis[2] * axis[1], axis[2]**2]])
|
||||
ret_2 = np.cos(angle) * np.eye(3)
|
||||
ret_3 = np.sin(angle) * array([[0, -axis[2], axis[1]], [axis[2], 0, -axis[0]],
|
||||
[-axis[1], axis[0], 0]])
|
||||
return ret_1 + ret_2 + ret_3
|
||||
|
||||
|
||||
def ecef_euler_from_ned(ned_ecef_init, ned_pose):
|
||||
'''
|
||||
Got it from here:
|
||||
Using Rotations to Build Aerospace Coordinate Systems
|
||||
-Don Koks
|
||||
'''
|
||||
converter = LocalCoord.from_ecef(ned_ecef_init)
|
||||
x0 = converter.ned2ecef([1, 0, 0]) - converter.ned2ecef([0, 0, 0])
|
||||
y0 = converter.ned2ecef([0, 1, 0]) - converter.ned2ecef([0, 0, 0])
|
||||
z0 = converter.ned2ecef([0, 0, 1]) - converter.ned2ecef([0, 0, 0])
|
||||
|
||||
x1 = rot(z0, ned_pose[2]).dot(x0)
|
||||
y1 = rot(z0, ned_pose[2]).dot(y0)
|
||||
z1 = rot(z0, ned_pose[2]).dot(z0)
|
||||
|
||||
x2 = rot(y1, ned_pose[1]).dot(x1)
|
||||
y2 = rot(y1, ned_pose[1]).dot(y1)
|
||||
z2 = rot(y1, ned_pose[1]).dot(z1)
|
||||
|
||||
x3 = rot(x2, ned_pose[0]).dot(x2)
|
||||
y3 = rot(x2, ned_pose[0]).dot(y2)
|
||||
#z3 = rot(x2, ned_pose[0]).dot(z2)
|
||||
|
||||
x0 = array([1, 0, 0])
|
||||
y0 = array([0, 1, 0])
|
||||
z0 = array([0, 0, 1])
|
||||
|
||||
psi = np.arctan2(inner(x3, y0), inner(x3, x0))
|
||||
theta = np.arctan2(-inner(x3, z0), np.sqrt(inner(x3, x0)**2 + inner(x3, y0)**2))
|
||||
y2 = rot(z0, psi).dot(y0)
|
||||
z2 = rot(y2, theta).dot(z0)
|
||||
phi = np.arctan2(inner(y3, z2), inner(y3, y2))
|
||||
|
||||
ret = array([phi, theta, psi])
|
||||
return ret
|
||||
|
||||
|
||||
def ned_euler_from_ecef(ned_ecef_init, ecef_poses):
|
||||
'''
|
||||
Got the math from here:
|
||||
Using Rotations to Build Aerospace Coordinate Systems
|
||||
-Don Koks
|
||||
|
||||
Also accepts array of ecef_poses and array of ned_ecef_inits.
|
||||
Where each row is a pose and an ecef_init.
|
||||
'''
|
||||
ned_ecef_init = array(ned_ecef_init)
|
||||
ecef_poses = array(ecef_poses)
|
||||
output_shape = ecef_poses.shape
|
||||
ned_ecef_init = np.atleast_2d(ned_ecef_init)
|
||||
ecef_poses = np.atleast_2d(ecef_poses)
|
||||
|
||||
ned_poses = np.zeros(ecef_poses.shape)
|
||||
for i, ecef_pose in enumerate(ecef_poses):
|
||||
converter = LocalCoord.from_ecef(ned_ecef_init[i])
|
||||
x0 = array([1, 0, 0])
|
||||
y0 = array([0, 1, 0])
|
||||
z0 = array([0, 0, 1])
|
||||
|
||||
x1 = rot(z0, ecef_pose[2]).dot(x0)
|
||||
y1 = rot(z0, ecef_pose[2]).dot(y0)
|
||||
z1 = rot(z0, ecef_pose[2]).dot(z0)
|
||||
|
||||
x2 = rot(y1, ecef_pose[1]).dot(x1)
|
||||
y2 = rot(y1, ecef_pose[1]).dot(y1)
|
||||
z2 = rot(y1, ecef_pose[1]).dot(z1)
|
||||
|
||||
x3 = rot(x2, ecef_pose[0]).dot(x2)
|
||||
y3 = rot(x2, ecef_pose[0]).dot(y2)
|
||||
#z3 = rot(x2, ecef_pose[0]).dot(z2)
|
||||
|
||||
x0 = converter.ned2ecef([1, 0, 0]) - converter.ned2ecef([0, 0, 0])
|
||||
y0 = converter.ned2ecef([0, 1, 0]) - converter.ned2ecef([0, 0, 0])
|
||||
z0 = converter.ned2ecef([0, 0, 1]) - converter.ned2ecef([0, 0, 0])
|
||||
|
||||
psi = np.arctan2(inner(x3, y0), inner(x3, x0))
|
||||
theta = np.arctan2(-inner(x3, z0), np.sqrt(inner(x3, x0)**2 + inner(x3, y0)**2))
|
||||
y2 = rot(z0, psi).dot(y0)
|
||||
z2 = rot(y2, theta).dot(z0)
|
||||
phi = np.arctan2(inner(y3, z2), inner(y3, y2))
|
||||
ned_poses[i] = array([phi, theta, psi])
|
||||
|
||||
return ned_poses.reshape(output_shape)
|
||||
|
||||
|
||||
def ecef2car(car_ecef, psi, theta, points_ecef, ned_converter):
|
||||
"""
|
||||
TODO: add roll rotation
|
||||
Converts an array of points in ecef coordinates into
|
||||
x-forward, y-left, z-up coordinates
|
||||
Parameters
|
||||
----------
|
||||
psi: yaw, radian
|
||||
theta: pitch, radian
|
||||
Returns
|
||||
-------
|
||||
[x, y, z] coordinates in car frame
|
||||
"""
|
||||
|
||||
# input is an array of points in ecef cocrdinates
|
||||
# output is an array of points in car's coordinate (x-front, y-left, z-up)
|
||||
|
||||
# convert points to NED
|
||||
points_ned = []
|
||||
for p in points_ecef:
|
||||
points_ned.append(ned_converter.ecef2ned_matrix.dot(array(p) - car_ecef))
|
||||
|
||||
points_ned = np.vstack(points_ned).T
|
||||
|
||||
# n, e, d -> x, y, z
|
||||
# Calculate relative postions and rotate wrt to heading and pitch of car
|
||||
invert_R = array([[1., 0., 0.], [0., -1., 0.], [0., 0., -1.]])
|
||||
|
||||
c, s = np.cos(psi), np.sin(psi)
|
||||
yaw_R = array([[c, s, 0.], [-s, c, 0.], [0., 0., 1.]])
|
||||
|
||||
c, s = np.cos(theta), np.sin(theta)
|
||||
pitch_R = array([[c, 0., -s], [0., 1., 0.], [s, 0., c]])
|
||||
|
||||
return dot(pitch_R, dot(yaw_R, dot(invert_R, points_ned)))
|
||||
@@ -59,9 +59,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
|
||||
SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
|
||||
|
||||
BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
@@ -182,4 +182,4 @@ BO_TX_BU_ 769 : NEO,ADAS;
|
||||
|
||||
|
||||
CM_ SG_ 1024 RADAR_STATE "need to find out more diagnostic values";
|
||||
VAL_ 1024 RADAR_STATE 121 "ok" 110 "faulted";
|
||||
VAL_ 1024 RADAR_STATE 121 "ok" 110 "faulted" 105 "wrong_config";
|
||||
|
||||
@@ -59,9 +59,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
|
||||
SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
|
||||
|
||||
BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
@@ -37,12 +37,15 @@ BU_: XXX
|
||||
|
||||
|
||||
BO_ 258 STEERING: 8 XXX
|
||||
SG_ INCREMENTING_STEERING : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM_STEERING : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ UNKNOWN_STEERING : 48|3@1+ (1,0) [0|15] "" XXX
|
||||
SG_ STEERING_RATE : 20|13@0+ (0.3187251,-1305.498) [0|8191] "deg/s" XXX
|
||||
SG_ STEER_ANGLE : 4|13@0+ (0.3187251,-1307.888) [-360|360] "deg" XXX
|
||||
SG_ STEERING_RATE : 20|13@0+ (1,-4096) [0|8191] "" XXX
|
||||
|
||||
BO_ 514 SPEED: 4 XXX
|
||||
SG_ SPEED_LEFT : 7|16@0+ (0.07,0) [0|65535] "m/s" XXX
|
||||
SG_ SPEED_RIGHT : 23|16@0+ (0.07,0) [0|1023] "m/s" XXX
|
||||
BO_ 514 SPEED_1: 4 XXX
|
||||
SG_ SPEED_LEFT : 7|12@0+ (0.071028,0) [0|65535] "m/s" XXX
|
||||
SG_ SPEED_RIGHT : 23|12@0+ (0.071028,0) [0|1023] "m/s" XXX
|
||||
|
||||
BO_ 653 BRAKE_MODULE: 2 XXX
|
||||
SG_ BRAKE_PRESSURE : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -59,49 +62,365 @@ BO_ 820 DOORS: 8 XXX
|
||||
SG_ HIGH_BEAM_DISPLAY : 58|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 746 GEAR: 5 XXX
|
||||
SG_ PRNDL : 0|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ PRNDL : 2|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ GEAR_CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ GEAR_INCREMENTING : 31|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 284 NEW_MSG_1: 8 XXX
|
||||
SG_ BRAKE_RELATED : 3|12@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BRAKE_RELATED_2 : 17|10@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SPEED : 37|14@0+ (1,0) [0|255] "" XXX
|
||||
BO_ 284 BRAKE_1: 8 XXX
|
||||
SG_ SPEED_RELATED_1 : 37|14@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BRAKE_RELATED_1_2 : 18|11@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BRAKE_RELATED_1_1 : 3|12@0+ (1,0) [0|255] "" XXX
|
||||
SG_ INCREMENTING_BRAKE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM_BRAKE : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 320 NEW_MSG_2: 8 XXX
|
||||
SG_ SPEED_RELATED : 47|8@0+ (1,0) [0|63] "" XXX
|
||||
SG_ BRAKE_PRESSED : 2|3@0+ (1,0) [0|7] "" XXX
|
||||
BO_ 320 BRAKE_2: 8 XXX
|
||||
SG_ SPEED_RELATED_2 : 47|8@0+ (1,0) [0|63] "" XXX
|
||||
SG_ INCREMENTING_140 : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM_140 : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BRAKE_PRESSED_2 : 2|3@0+ (1,0) [0|7] "" XXX
|
||||
SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 736 TRIP: 8 XXX
|
||||
SG_ DISTANCE_COUNTER : 7|16@0+ (0,0) [0|65535] "Meters" XXX
|
||||
SG_ DISTANCE_COUNTER : 7|16@0+ (1,0) [0|65535] "Meters" XXX
|
||||
SG_ DISTANCE_COUNTER_2 : 23|16@0+ (1,0) [0|65535] "Meters" XXX
|
||||
|
||||
BO_ 344 WHEEL_SPEEDS: 8 XXX
|
||||
SG_ WHEEL_SPEED_FL : 1|10@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ WHEEL_SPEED_FR : 17|10@0+ (1,0) [0|255] "" XXX
|
||||
SG_ WHEEL_SPEED_RL : 33|10@0+ (1,0) [0|3] "" XXX
|
||||
SG_ WHEEL_SPEED_RR : 49|10@0+ (1,0) [0|255] "" XXX
|
||||
SG_ WHEEL_SPEED_FL : 3|12@0+ (0.0189408,0) [0|65535] "m/s" XXX
|
||||
SG_ WHEEL_SPEED_RR : 51|12@0+ (0.0189408,0) [0|255] "m/s" XXX
|
||||
SG_ WHEEL_SPEED_RL : 35|12@0+ (0.0189408,0) [0|3] "m/s" XXX
|
||||
SG_ WHEEL_SPEED_FR : 19|12@0+ (0.0189408,0) [0|255] "m/s" XXX
|
||||
|
||||
BO_ 792 STEERING_LEVERS: 8 XXX
|
||||
SG_ HIGH_BEAM_PUSHED_IN : 2|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ TURN_SIGNALS : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ HIGH_BEAM_PUSHED_IN : 2|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ HIGH_BEAM_FLASH : 3|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ HIGH_BEAM_FLASH : 3|1@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 264 ACCEL_PEDAL_MSG: 8 XXX
|
||||
SG_ ACCEL_PEDAL : 32|4@1+ (1,-7) [0|15] "" XXX
|
||||
SG_ INCREMENTING_ACCEL_PEDAL : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM_ACCEL_PEDAL : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_PEDAL : 35|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 464 SEATBELT_STATUS: 8 XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 544 LKAS_INDICATOR_1: 8 XXX
|
||||
SG_ LKAS_IS_GREEN : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AUTO_PARK_HAS_CONTROL_1 : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ INCREMENTING_220 : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM_220 : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ UNKNOWN_220_2 : 34|11@0+ (1,0) [0|255] "" XXX
|
||||
SG_ UNKNOWN_220_1 : 19|12@0+ (1,0) [0|4095] "" XXX
|
||||
SG_ UNKNOWN_220_0 : 2|11@0+ (1,0) [0|63] "" XXX
|
||||
|
||||
BO_ 658 LKAS_INDICATOR_2: 6 XXX
|
||||
SG_ LKAS_INCREMENTING : 39|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ LKAS_CHECKSUM_2 : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LKAS_STEERING_TORQUE_MAYBE : 3|12@0- (1,0) [0|63] "" XXX
|
||||
|
||||
BO_ 678 LKAS_INDICATOR_3: 8 XXX
|
||||
SG_ WARNING_PLACE_HANDS : 22|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LKAS_WHITE_OR_YELLOW : 0|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LKAS_IS_YELLOW_2 : 19|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 705 AUTO_PARK_BUTTON: 8 XXX
|
||||
SG_ AUTO_PARK_TOGGLE_2 : 8|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ AUTO_PARK_TOGGLE_1 : 11|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ INCREASING_UNKNOWN : 32|7@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 719 AUTO_PARK_SIGNALS_1: 8 XXX
|
||||
SG_ AUTO_PARK_UNKNOWN_1 : 7|16@0+ (1,0) [0|31] "" XXX
|
||||
|
||||
BO_ 671 AUTO_PARK_SIGNALS_2: 8 XXX
|
||||
SG_ AUTO_PARK_PARALLEL : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AUTO_PARK_PERPENDICULAR_1 : 22|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ INCREMENTING : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ AUTO_PARK_CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ AUTO_PARK_MAYBE_TURNING : 3|12@0+ (1,0) [0|1023] "" XXX
|
||||
SG_ AUTO_PARK_TURNING_STATUS : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 784 AUTO_PARK_LESS_INTERESTING: 8 XXX
|
||||
SG_ INCREASING_UNKNOWN : 48|8@1+ (1,0) [0|7] "" XXX
|
||||
SG_ AUTO_PARK_PERPENDICULAR_2 : 61|1@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 826 AUTO_PARK_SIGNALS_3: 8 XXX
|
||||
SG_ AUTO_PARK_HAS_CONTROL_3 : 1|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HUMAN_HAS_CONTROL : 2|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AUTO_PARK_GEAR_1 : 27|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ AUTO_PARK_GEAR_2 : 32|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ AUTO_PARK_GEAR_3 : 48|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 332 STEERING_2: 8 XXX
|
||||
SG_ INCREMENTING_14C : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ENERGY_RELATED : 39|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ STEER_ANGLE_2 : 7|13@0+ (0.3187251,-1307.888) [-360|360] "deg" XXX
|
||||
|
||||
BO_ 720 BLIND_SPOT_WARNINGS: 6 XXX
|
||||
SG_ BLIND_SPOT_RIGHT : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BLIND_SPOT_LEFT : 2|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 331 BRAKE_3: 8 XXX
|
||||
SG_ BRAKE_RELATED_3 : 7|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ INCREMENTING_14B : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM_14B : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 608 PARKSENSE_SIGNAL: 8 XXX
|
||||
SG_ PARKSENSE_DISABLED : 34|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ INCREMENTING_260 : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM_260 : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ IN_REVERSE : 10|1@1+ (1,0) [0|255] "" XXX
|
||||
SG_ AUTO_PARK_HAS_CONTROL_1 : 16|1@1+ (1,0) [0|255] "" XXX
|
||||
SG_ HUMAN_HAS_CONTROL : 17|1@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 729 LKAS_STATUS_1: 5 XXX
|
||||
SG_ LKAS_STATUS_OK : 31|16@0+ (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 274 NEW_MSG_112: 2 XXX
|
||||
|
||||
BO_ 290 NEW_MSG_122: 6 XXX
|
||||
|
||||
BO_ 376 NEW_MSG_178: 3 XXX
|
||||
|
||||
BO_ 288 ACCEL_RELATED_120: 7 XXX
|
||||
SG_ UNKNOWN_INCREMENTING_120 : 47|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ UNKNOWN_CHECKSUM_120 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ GAS_ENGINE_RPM_MAYBE : 31|16@0+ (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 257 ACCEL_RELATED_101: 5 XXX
|
||||
SG_ ENERGY_OR_RPM : 24|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 388 NEW_MSG_184: 4 XXX
|
||||
|
||||
BO_ 448 NEW_MSG_1c0: 6 XXX
|
||||
|
||||
BO_ 456 NEW_MSG_1c8: 4 XXX
|
||||
|
||||
BO_ 560 NEW_MSG_230: 4 XXX
|
||||
|
||||
BO_ 564 NEW_MSG_234: 4 XXX
|
||||
|
||||
BO_ 571 WHEEL_BUTTONS: 3 XXX
|
||||
SG_ CHECKSUM_23B : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACC_FOLLOW_DEC : 1|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ ACC_SPEED_INC : 2|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACC_SPEED_DEC : 3|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ ACC_FOLLOW_INC : 8|1@1+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 669 NEW_MSG_29d: 3 XXX
|
||||
SG_ INCREMENTING_29D : 15|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM_29D : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 825 NEW_MSG_339: 2 XXX
|
||||
|
||||
BO_ 856 NEW_MSG_358: 4 XXX
|
||||
|
||||
BO_ 860 NEW_MSG_35c: 6 XXX
|
||||
|
||||
BO_ 924 NEW_MSG_39c: 3 XXX
|
||||
|
||||
BO_ 969 NEW_MSG_3c9: 4 XXX
|
||||
|
||||
BO_ 974 NEW_MSG_3ce: 5 XXX
|
||||
|
||||
BO_ 993 NEW_MSG_3e1: 7 XXX
|
||||
|
||||
BO_ 838 NEW_MSG_346: 2 XXX
|
||||
|
||||
BO_ 926 NEW_MSG_39e: 3 XXX
|
||||
|
||||
BO_ 168 ACCEL_RELATED_a8: 8 XXX
|
||||
SG_ ACCEL_RELATED : 23|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ INCREMENTING_A8 : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM_A8 : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 270 ACCEL_RELATED_10e: 8 XXX
|
||||
SG_ ACCEL_OR_RPM : 7|16@0+ (1,0) [0|255] "" XXX
|
||||
SG_ INCREMENTING_ACCEL : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM_ACCEL : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ELECTRIC_MOTOR : 23|16@0+ (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 291 ENERGY_RELATED_123: 8 XXX
|
||||
SG_ ENERGY_GAIN_LOSS : 18|11@0- (1,0) [0|255] "" XXX
|
||||
SG_ INCREMENTING_123 : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM_123 : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ENERGY_SMOOTHER_CURVE : 35|12@0+ (1,0) [0|2047] "" XXX
|
||||
|
||||
BO_ 294 ENERGY_RELATED_126: 8 XXX
|
||||
SG_ CHECKSUM_126 : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ UNKNOWN_126_1 : 3|12@0+ (1,0) [0|4095] "" XXX
|
||||
SG_ INCREMENTING_126 : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ UNKNOWN_126_2 : 35|12@0+ (1,0) [0|4095] "" XXX
|
||||
SG_ ENERGY_GAIN_LOSS_NOISY : 19|12@0+ (1,0) [0|2047] "" XXX
|
||||
|
||||
BO_ 300 NEW_MSG_12C: 8 XXX
|
||||
|
||||
BO_ 308 ACCEL_GAS_134: 8 XXX
|
||||
SG_ INCREMENTING_134 : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ACCEL_134 : 40|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 532 ENERGY_RELATED_214: 8 XXX
|
||||
SG_ NOISY_SLOWLY_DECREASING : 16|9@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ENERGY_RELATED : 0|9@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 559 ACCEL_GAS_22F: 8 XXX
|
||||
SG_ ACCEL_22F : 0|4@1+ (1,0) [0|255] "" XXX
|
||||
SG_ INCREMENTING_22F : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM_22F : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 655 CHARGING_MAYBE_28F: 8 XXX
|
||||
SG_ CHARGING : 0|2@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 660 BRAKE_RELATED_294: 8 XXX
|
||||
SG_ INCREMENTING_294 : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM_294 : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BRAKE_PERHAPS_294 : 24|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 764 ACCEL_RELATED_2FC: 8 XXX
|
||||
SG_ ACCEL_2FC : 8|6@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 816 TRACTION_BUTTON: 8 XXX
|
||||
SG_ TRACTION_OFF : 19|1@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 878 ACCEL_RELATED_36E: 8 XXX
|
||||
SG_ ACCEL_OR_RPM_2 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACCEL_OR_RPM_1 : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 324 SPEED_2: 8 XXX
|
||||
SG_ SPEED_2 : 31|16@0+ (0.01,0) [0|255] "m/s" XXX
|
||||
|
||||
BO_ 501 DASHBOARD: 8 XXX
|
||||
SG_ ACC_SPEED_CONFIG_KPH : 15|8@0+ (1,0) [0|3] "km/h" XXX
|
||||
SG_ ACC_SPEED_CONFIG_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
|
||||
|
||||
BO_ 639 NEW_MSG_27f: 8 XXX
|
||||
SG_ INCREASING : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 701 NEW_MSG_2bd: 8 XXX
|
||||
SG_ unknown_1 : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 832 UNKNOWN_340: 8 XXX
|
||||
SG_ SPEED_DIGITAL : 56|8@1+ (1,0) [0|255] "mph" XXX
|
||||
|
||||
BO_ 848 UNKNOWN_350: 8 XXX
|
||||
SG_ INCREASING_LSB : 0|6@1+ (1,0) [0|255] "" XXX
|
||||
SG_ INCREASING_MSB : 12|5@0+ (1,0) [0|31] "" XXX
|
||||
|
||||
BO_ 908 NEW_MSG_38c: 8 XXX
|
||||
SG_ INCREASING_MSB : 44|5@0+ (1,0) [0|31] "" XXX
|
||||
SG_ INCREASING_LSB : 56|6@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 938 NEW_MSG_3aa: 8 XXX
|
||||
SG_ INCREASING_UNKNOWN_1 : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ INCREASING_UNKNOWN_2 : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 940 NEW_MSG_3ac: 8 XXX
|
||||
SG_ INCREASING_1 : 32|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ INCREASING_2 : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 941 NEW_MSG_3ad: 8 XXX
|
||||
SG_ INCREASING_1 : 32|5@1+ (1,0) [0|31] "" XXX
|
||||
SG_ INCREASING_2 : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 500 ACC_2: 8 XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ACC_STATUS_1 : 7|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BRAKE_MAYBE : 18|11@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ACC_STATUS_2 : 21|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BRAKE_BOOL_1 : 36|1@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 625 ACC_1: 8 XXX
|
||||
SG_ SPEED : 24|8@1+ (1,0) [0|255] "km/h" XXX
|
||||
SG_ ACCEL_PERHAPS : 39|16@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 268 ACC_10c: 8 XXX
|
||||
SG_ BRAKE_PERHAPS : 48|1@1+ (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_ 384 NEW_MSG_180: 8 XXX
|
||||
SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 32|8@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 853 NEW_MSG_355: 8 XXX
|
||||
|
||||
BO_ 939 NEW_MSG_3ab: 8 XXX
|
||||
|
||||
BO_ 512 NEW_MSG_200: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ INCREASING : 27|12@0+ (1,0) [0|127] "" XXX
|
||||
SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
|
||||
|
||||
|
||||
CM_ SG_ 258 UNKNOWN_STEERING "never goes above 4. see if human-applied torque";
|
||||
CM_ SG_ 258 STEER_ANGLE "positive is left (counter-clockwise)";
|
||||
CM_ SG_ 514 SPEED_LEFT "TODO find upper limit";
|
||||
CM_ SG_ 653 BRAKE_PRESSURE "max seems to be 148";
|
||||
CM_ SG_ 820 TURN_LIGHT_LEFT "oscillates with the light blinking";
|
||||
CM_ SG_ 820 TURN_LIGHT_RIGHT "hazard blinks both right and left lights";
|
||||
CM_ SG_ 746 PRNDL "4=D, 3=N, 2=R, 1=P";
|
||||
CM_ SG_ 284 BRAKE_RELATED "Correlates with braking";
|
||||
CM_ SG_ 284 SPEED "Another Speed Signal, Maybe RPMs?";
|
||||
CM_ SG_ 320 BRAKE_PRESSED "Value is 5 when brake is pressed";
|
||||
CM_ SG_ 746 GEAR_CHECKSUM "different than the LKAS checksum. unknown non-simple algorithm. just build a lookup table for it.";
|
||||
CM_ SG_ 284 SPEED_RELATED_1 "Another Speed Signal, Maybe RPMs?";
|
||||
CM_ SG_ 284 BRAKE_RELATED_1_1 "Correlates with braking";
|
||||
CM_ SG_ 320 BRAKE_PRESSED_2 "Value is 5 when brake is pressed by human, 1 when ACC brake";
|
||||
CM_ SG_ 320 BRAKE_PRESSED_ACC "set when ACC brakes";
|
||||
CM_ SG_ 792 TURN_SIGNALS "1=Left, 2=Right";
|
||||
CM_ SG_ 792 HIGH_BEAM_FLASH "use this for genericToggle";
|
||||
CM_ SG_ 264 ACCEL_PEDAL "not in ACC so seems to be actual pedal. Use for gasPressed";
|
||||
CM_ SG_ 544 AUTO_PARK_HAS_CONTROL_1 "set when autopark has control";
|
||||
CM_ SG_ 658 LKAS_INCREMENTING "each message increments, 0..f";
|
||||
CM_ SG_ 658 LKAS_CHECKSUM_2 "checksum calculated with https://gist.github.com/adhintz/94bf8d19b9075539f50172ab0fb24ba1";
|
||||
CM_ SG_ 658 LKAS_STEERING_TORQUE_MAYBE "1024 is straight. most sent by stock system is 1024+-230. + is left. typically changes by 2 or 3 each 0.01s";
|
||||
CM_ SG_ 678 WARNING_PLACE_HANDS "set when warning displays place hands on steering wheel";
|
||||
CM_ SG_ 678 LKAS_WHITE_OR_YELLOW "set when indicator is yellow or white. could indicate lkas not on track.";
|
||||
CM_ SG_ 678 LKAS_IS_YELLOW_2 "set when indicator is yellow. could indicate lkas is steering.";
|
||||
CM_ SG_ 705 AUTO_PARK_TOGGLE_1 "set briefly when turning on or off self-parking";
|
||||
CM_ SG_ 705 INCREASING_UNKNOWN "sometimes decreasing";
|
||||
CM_ SG_ 671 AUTO_PARK_PARALLEL "parallel parking mode";
|
||||
CM_ SG_ 671 AUTO_PARK_PERPENDICULAR_1 "perpendicular parking mode";
|
||||
CM_ SG_ 671 AUTO_PARK_MAYBE_TURNING "something with autopark turning the steering wheel maybe.";
|
||||
CM_ SG_ 671 AUTO_PARK_TURNING_STATUS "0 when not steering. when steering starts, 4 for two packets, and then 5 for the rest";
|
||||
CM_ SG_ 784 INCREASING_UNKNOWN "perhaps distance traveled";
|
||||
CM_ SG_ 826 AUTO_PARK_GEAR_1 "Reverse=0, Forward=f";
|
||||
CM_ SG_ 826 AUTO_PARK_GEAR_2 "Reverse=0, Forward=f";
|
||||
CM_ SG_ 826 AUTO_PARK_GEAR_3 "Reverse=0, Forward=f";
|
||||
CM_ SG_ 332 STEER_ANGLE_2 "slightly lags the other steer_angle signal. also more noisy.";
|
||||
CM_ SG_ 720 BLIND_SPOT_RIGHT "yellow triangle alert on side view mirror when a car is in your blind spot";
|
||||
CM_ SG_ 608 PARKSENSE_DISABLED "set if parksense is disabled";
|
||||
CM_ SG_ 729 LKAS_STATUS_OK "Set to 0x0820 when LKAS system is plugged in.";
|
||||
CM_ SG_ 288 UNKNOWN_CHECKSUM_120 "not the LKAS checksum";
|
||||
CM_ SG_ 288 GAS_ENGINE_RPM_MAYBE "lags acceleration, perhaps gas engine";
|
||||
CM_ SG_ 257 ENERGY_OR_RPM "perhaps energy consumption or RPMs";
|
||||
CM_ SG_ 270 ELECTRIC_MOTOR "0x7fff indicates electric motor not in use";
|
||||
CM_ SG_ 291 ENERGY_GAIN_LOSS "unsure what this actually is";
|
||||
CM_ SG_ 291 ENERGY_SMOOTHER_CURVE "unusre what it is, but smoother";
|
||||
CM_ SG_ 532 NOISY_SLOWLY_DECREASING "perhaps battery but do not know";
|
||||
CM_ SG_ 816 TRACTION_OFF "set when traction off button is enabled";
|
||||
CM_ SG_ 324 SPEED_2 "signal is approx half other speeds";
|
||||
CM_ SG_ 501 ACC_SPEED_CONFIG_KPH "speed configured for ACC";
|
||||
CM_ SG_ 501 ACC_SPEED_CONFIG_MPH "speed configured for ACC";
|
||||
CM_ SG_ 639 INCREASING "perhaps number of seconds divided by two for this drive";
|
||||
CM_ SG_ 848 INCREASING_LSB "lower part of time counter";
|
||||
CM_ SG_ 848 INCREASING_MSB "upper part of time counter";
|
||||
CM_ SG_ 908 INCREASING_MSB "time based";
|
||||
CM_ SG_ 500 ACC_STATUS_1 "2 briefly (9 packets) when ACC goes to green, 1 help when ACC coming to a stop and at a stop";
|
||||
CM_ SG_ 500 BRAKE_MAYBE "2046 in non-ACC and non-decel. Signal on deceleration. 818 for already stopped break.";
|
||||
CM_ SG_ 500 ACC_STATUS_2 "set to 1 in non-ACC, 3 when ACC enabled (white icon), and 7 when ACC in use (green icon)";
|
||||
CM_ SG_ 500 BRAKE_BOOL_1 "set to 1 when ACC decel. 0 on non-ACC and accel.";
|
||||
CM_ SG_ 625 SPEED "zero on non-acc drives";
|
||||
CM_ SG_ 625 ACCEL_PERHAPS "set to 7767 on non-ACC drives. ACC drive 40k is constant speed, 42k is accelerating";
|
||||
CM_ SG_ 268 BRAKE_PERHAPS "triggers only on ACC braking";
|
||||
CM_ SG_ 384 NEW_SIGNAL_1 "set in ACC gas driving. not set in electric human. not sure about gas human driving.";
|
||||
VAL_ 746 PRNDL 4 "Drive" 3 "Neutral" 2 "Reverse" 1 "Park" ;
|
||||
VAL_ 792 TURN_SIGNALS 2 "Right" 1 "Left" ;
|
||||
|
||||
230
opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc
Normal file
230
opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc
Normal file
@@ -0,0 +1,230 @@
|
||||
VERSION ""
|
||||
|
||||
|
||||
NS_ :
|
||||
NS_DESC_
|
||||
CM_
|
||||
BA_DEF_
|
||||
BA_
|
||||
VAL_
|
||||
CAT_DEF_
|
||||
CAT_
|
||||
FILTER
|
||||
BA_DEF_DEF_
|
||||
EV_DATA_
|
||||
ENVVAR_DATA_
|
||||
SGTYPE_
|
||||
SGTYPE_VAL_
|
||||
BA_DEF_SGTYPE_
|
||||
BA_SGTYPE_
|
||||
SIG_TYPE_REF_
|
||||
VAL_TABLE_
|
||||
SIG_GROUP_
|
||||
SIG_VALTYPE_
|
||||
SIGTYPE_VALTYPE_
|
||||
BO_TX_BU_
|
||||
BA_DEF_REL_
|
||||
BA_REL_
|
||||
BA_DEF_DEF_REL_
|
||||
BU_SG_REL_
|
||||
BU_EV_REL_
|
||||
BU_BO_REL_
|
||||
SG_MUL_VAL_
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX
|
||||
|
||||
|
||||
BO_ 544 a_1: 8 XXX
|
||||
SG_ track_id : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ REL_ACCEL : 3|12@0+ (1,0) [0|31] "" XXX
|
||||
SG_ status1 : 23|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ REL_SPEED : 19|12@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX
|
||||
SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX
|
||||
SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 576 b_1: 8 XXX
|
||||
SG_ sig0 : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX
|
||||
SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 608 a_2: 8 XXX
|
||||
SG_ track_id : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ REL_ACCEL : 3|12@0+ (1,0) [0|31] "" XXX
|
||||
SG_ status1 : 23|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ REL_SPEED : 19|12@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX
|
||||
SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX
|
||||
SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 640 b_2: 8 XXX
|
||||
SG_ sig0 : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX
|
||||
SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 644 a_3: 8 XXX
|
||||
SG_ track_id : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ REL_ACCEL : 3|12@0+ (1,0) [0|31] "" XXX
|
||||
SG_ status1 : 23|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ REL_SPEED : 19|12@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX
|
||||
SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX
|
||||
SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 648 b_3: 8 XXX
|
||||
SG_ sig0 : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX
|
||||
SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 652 a_4: 8 XXX
|
||||
SG_ track_id : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ REL_ACCEL : 3|12@0+ (1,0) [0|31] "" XXX
|
||||
SG_ status1 : 23|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ REL_SPEED : 19|12@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX
|
||||
SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX
|
||||
SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 656 b_4: 8 XXX
|
||||
SG_ sig0 : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX
|
||||
SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 512 unknown_200: 8 XXX
|
||||
SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ increasing : 31|16@0+ (1,0) [0|255] "" XXX
|
||||
SG_ zeros_0 : 3|12@0+ (1,0) [0|63] "" XXX
|
||||
SG_ zeros_1 : 47|12@0+ (1,0) [0|63] "" XXX
|
||||
SG_ status0 : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ unknown_0 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 514 unknown_202: 8 XXX
|
||||
SG_ COUNTER : 43|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ sig3 : 31|8@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ increasing : 39|12@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 706 c_1: 8 XXX
|
||||
SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
|
||||
|
||||
BO_ 708 c_2: 8 XXX
|
||||
SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
|
||||
SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 710 c_3: 8 XXX
|
||||
SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
|
||||
SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 712 c_4: 8 XXX
|
||||
SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
|
||||
SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 714 c_5: 8 XXX
|
||||
SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
|
||||
SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 716 c_6: 8 XXX
|
||||
SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
|
||||
SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 718 c_7: 8 XXX
|
||||
SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
|
||||
SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 720 c_8: 8 XXX
|
||||
SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
|
||||
SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 722 c_9: 8 XXX
|
||||
SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
|
||||
SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 724 c_10: 8 XXX
|
||||
SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
|
||||
SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 674 d_1: 8 XXX
|
||||
SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
|
||||
|
||||
BO_ 676 d_2: 8 XXX
|
||||
SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
|
||||
|
||||
BO_ 678 d_3: 8 XXX
|
||||
SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
|
||||
|
||||
BO_ 680 d_4: 8 XXX
|
||||
SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
|
||||
|
||||
BO_ 682 d_5: 8 XXX
|
||||
SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
|
||||
|
||||
BO_ 684 d_6: 8 XXX
|
||||
SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
|
||||
|
||||
BO_ 686 d_7: 8 XXX
|
||||
SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
|
||||
|
||||
BO_ 688 d_8: 8 XXX
|
||||
SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
|
||||
|
||||
BO_ 690 d_9: 8 XXX
|
||||
SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
|
||||
|
||||
BO_ 692 d_10: 8 XXX
|
||||
SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
|
||||
|
||||
BO_ 672 NEW_MSG_5: 8 XXX
|
||||
SG_ NEW_SIGNAL_1 : 9|10@0+ (1,0) [0|1023] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 45|10@0+ (1,0) [0|1023] "" XXX
|
||||
|
||||
|
||||
|
||||
|
||||
CM_ SG_ 544 track_id "for message a_1 track_id is always 1, similar for other messages and track_id";
|
||||
CM_ SG_ 544 REL_ACCEL "perhaps REL_ACCEL because it responds faster and before REL_SPEED";
|
||||
CM_ SG_ 544 sig2 "perhaps distance to object. LONG_DIST or REL_ACCEL or REL_SPEED";
|
||||
CM_ SG_ 576 zeros "not always zero, sometimes has value when another car changes lanes";
|
||||
CM_ SG_ 706 LAT_DIST "positive is to the right, negative is to the left";
|
||||
@@ -64,10 +64,10 @@ BO_ 330 STEERING_SENSORS: 8 EPS
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 344 ENGINE_DATA: 8 PCM
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" EON
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
|
||||
SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
|
||||
SG_ DISTANCE_COUNTER : 55|8@0+ (10,0) [0|2550] "Meters" XXX
|
||||
SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
|
||||
@@ -37,9 +37,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
|
||||
SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
|
||||
|
||||
BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
52
opendbc/generator/honda/honda_accord_lx15t_2018_can.dbc
Normal file
52
opendbc/generator/honda/honda_accord_lx15t_2018_can.dbc
Normal file
@@ -0,0 +1,52 @@
|
||||
CM_ "IMPORT _bosch_2018.dbc"
|
||||
|
||||
BO_ 401 GEARBOX: 8 PCM
|
||||
SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
|
||||
SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 432 STANDSTILL: 7 VSA
|
||||
SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 446 BRAKE_MODULE: 3 VSA
|
||||
SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 927 RADAR_HUD: 8 RADAR
|
||||
SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
|
||||
SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
|
||||
SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 1302 ODOMETER: 8 XXX
|
||||
SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
|
||||
VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
|
||||
VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
|
||||
VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
|
||||
VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
|
||||
VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
|
||||
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
97
opendbc/generator/honda/honda_fit_ex_2018_can.dbc
Normal file
97
opendbc/generator/honda/honda_fit_ex_2018_can.dbc
Normal file
@@ -0,0 +1,97 @@
|
||||
CM_ "IMPORT _honda_2017.dbc"
|
||||
CM_ "IMPORT _comma.dbc"
|
||||
|
||||
BO_ 145 KINEMATICS: 8 XXX
|
||||
SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
|
||||
|
||||
BO_ 228 STEERING_CONTROL: 5 ADAS
|
||||
SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
|
||||
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
|
||||
|
||||
BO_ 304 GAS_PEDAL_2: 8 PCM
|
||||
SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
|
||||
SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
|
||||
SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 342 STEERING_SENSORS: 6 EPS
|
||||
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 399 STEER_STATUS: 7 EPS
|
||||
SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
|
||||
SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
|
||||
SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 401 GEARBOX: 8 PCM
|
||||
SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
|
||||
SG_ GEAR : 43|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 420 VSA_STATUS: 8 VSA
|
||||
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
|
||||
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 422 SCM_BUTTONS: 8 SCM
|
||||
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
||||
SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 487 BRAKE_PRESSURE: 4 VSA
|
||||
SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
|
||||
SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
|
||||
SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 660 SCM_FEEDBACK: 8 SCM
|
||||
SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
|
||||
SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
|
||||
SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 884 STALK_STATUS: 8 XXX
|
||||
SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
|
||||
CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
|
||||
|
||||
VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
|
||||
VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
|
||||
VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
|
||||
VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
|
||||
VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
36
opendbc/generator/toyota/toyota_chr_hybrid_2018_pt.dbc
Normal file
36
opendbc/generator/toyota/toyota_chr_hybrid_2018_pt.dbc
Normal file
@@ -0,0 +1,36 @@
|
||||
CM_ "IMPORT _toyota_2017.dbc"
|
||||
CM_ "IMPORT _comma.dbc"
|
||||
|
||||
BO_ 295 GEAR_PACKET: 8 XXX
|
||||
SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 550 BRAKE_MODULE: 8 XXX
|
||||
SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
|
||||
SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
|
||||
SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 581 GAS_PEDAL: 8 XXX
|
||||
SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
|
||||
SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
|
||||
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
|
||||
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 610 EPS_STATUS: 8 EPS
|
||||
SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
|
||||
SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
|
||||
CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
|
||||
CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
|
||||
CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
|
||||
VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B";
|
||||
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
|
||||
VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
|
||||
319
opendbc/honda_accord_lx15t_2018_can_generated.dbc
Normal file
319
opendbc/honda_accord_lx15t_2018_can_generated.dbc
Normal file
@@ -0,0 +1,319 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
|
||||
|
||||
CM_ "Imported file _bosch_2018.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
|
||||
NS_ :
|
||||
NS_DESC_
|
||||
CM_
|
||||
BA_DEF_
|
||||
BA_
|
||||
VAL_
|
||||
CAT_DEF_
|
||||
CAT_
|
||||
FILTER
|
||||
BA_DEF_DEF_
|
||||
EV_DATA_
|
||||
ENVVAR_DATA_
|
||||
SGTYPE_
|
||||
SGTYPE_VAL_
|
||||
BA_DEF_SGTYPE_
|
||||
BA_SGTYPE_
|
||||
SIG_TYPE_REF_
|
||||
VAL_TABLE_
|
||||
SIG_GROUP_
|
||||
SIG_VALTYPE_
|
||||
SIGTYPE_VALTYPE_
|
||||
BO_TX_BU_
|
||||
BA_DEF_REL_
|
||||
BA_REL_
|
||||
BA_DEF_DEF_REL_
|
||||
BU_SG_REL_
|
||||
BU_EV_REL_
|
||||
BU_BO_REL_
|
||||
SG_MUL_VAL_
|
||||
|
||||
BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
|
||||
|
||||
BO_ 228 STEERING_CONTROL: 5 EON
|
||||
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
|
||||
SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
|
||||
|
||||
BO_ 232 BRAKE_HOLD: 7 XXX
|
||||
SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
|
||||
SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
|
||||
SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 304 GAS_PEDAL_2: 8 PCM
|
||||
SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
|
||||
SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
|
||||
SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 330 STEERING_SENSORS: 8 EPS
|
||||
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
|
||||
SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 344 ENGINE_DATA: 8 PCM
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
|
||||
SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
|
||||
SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 399 STEER_STATUS: 7 EPS
|
||||
SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
|
||||
SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
|
||||
SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 420 VSA_STATUS: 8 VSA
|
||||
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
|
||||
SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 450 EPB_STATUS: 8 EPB
|
||||
SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 464 WHEEL_SPEEDS: 8 VSA
|
||||
SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 479 ACC_CONTROL: 8 EON
|
||||
SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
|
||||
SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
|
||||
SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
|
||||
SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
|
||||
SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
|
||||
SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 495 ACC_CONTROL_ON: 8 XXX
|
||||
SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
|
||||
SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 545 XXX_16: 6 SCM
|
||||
SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
|
||||
|
||||
BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
|
||||
SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 662 SCM_BUTTONS: 4 SCM
|
||||
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
||||
SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 773 SEATBELT_STATUS: 7 BDY
|
||||
SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 777 CAR_SPEED: 8 PCM
|
||||
SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
|
||||
SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
|
||||
SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 804 CRUISE: 8 PCM
|
||||
SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 806 SCM_FEEDBACK: 8 SCM
|
||||
SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 829 LKAS_HUD: 5 ADAS
|
||||
SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
|
||||
SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
|
||||
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
|
||||
|
||||
BO_ 862 CAMERA_MESSAGES: 8 CAM
|
||||
SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
|
||||
SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 884 STALK_STATUS: 8 XXX
|
||||
SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 891 STALK_STATUS_2: 8 XXX
|
||||
SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ "honda_accord_lx15t_2018_can.dbc starts here"
|
||||
|
||||
|
||||
BO_ 401 GEARBOX: 8 PCM
|
||||
SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
|
||||
SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 432 STANDSTILL: 7 VSA
|
||||
SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 446 BRAKE_MODULE: 3 VSA
|
||||
SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 927 RADAR_HUD: 8 RADAR
|
||||
SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
|
||||
SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
|
||||
SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 1302 ODOMETER: 8 XXX
|
||||
SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
|
||||
VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
|
||||
VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
|
||||
VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
|
||||
VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
|
||||
VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
|
||||
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
@@ -68,10 +68,10 @@ BO_ 330 STEERING_SENSORS: 8 EPS
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 344 ENGINE_DATA: 8 PCM
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" EON
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
|
||||
SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
|
||||
SG_ DISTANCE_COUNTER : 55|8@0+ (10,0) [0|2550] "Meters" XXX
|
||||
SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
|
||||
@@ -68,10 +68,10 @@ BO_ 330 STEERING_SENSORS: 8 EPS
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 344 ENGINE_DATA: 8 PCM
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" EON
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
|
||||
SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
|
||||
SG_ DISTANCE_COUNTER : 55|8@0+ (10,0) [0|2550] "Meters" XXX
|
||||
SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
|
||||
@@ -59,9 +59,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
|
||||
SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
|
||||
|
||||
BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
@@ -68,10 +68,10 @@ BO_ 330 STEERING_SENSORS: 8 EPS
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 344 ENGINE_DATA: 8 PCM
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" EON
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
|
||||
SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
|
||||
SG_ DISTANCE_COUNTER : 55|8@0+ (10,0) [0|2550] "Meters" XXX
|
||||
SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
|
||||
@@ -59,9 +59,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
|
||||
SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
|
||||
|
||||
BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
326
opendbc/honda_fit_ex_2018_can_generated.dbc
Normal file
326
opendbc/honda_fit_ex_2018_can_generated.dbc
Normal file
@@ -0,0 +1,326 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
|
||||
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
|
||||
NS_ :
|
||||
NS_DESC_
|
||||
CM_
|
||||
BA_DEF_
|
||||
BA_
|
||||
VAL_
|
||||
CAT_DEF_
|
||||
CAT_
|
||||
FILTER
|
||||
BA_DEF_DEF_
|
||||
EV_DATA_
|
||||
ENVVAR_DATA_
|
||||
SGTYPE_
|
||||
SGTYPE_VAL_
|
||||
BA_DEF_SGTYPE_
|
||||
BA_SGTYPE_
|
||||
SIG_TYPE_REF_
|
||||
VAL_TABLE_
|
||||
SIG_GROUP_
|
||||
SIG_VALTYPE_
|
||||
SIGTYPE_VALTYPE_
|
||||
BO_TX_BU_
|
||||
BA_DEF_REL_
|
||||
BA_REL_
|
||||
BA_DEF_DEF_REL_
|
||||
BU_SG_REL_
|
||||
BU_EV_REL_
|
||||
BU_BO_REL_
|
||||
SG_MUL_VAL_
|
||||
|
||||
BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON
|
||||
|
||||
BO_ 344 ENGINE_DATA: 8 PCM
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
|
||||
SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
|
||||
SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm" EON
|
||||
SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
|
||||
SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
|
||||
SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" EON
|
||||
SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 432 STANDSTILL: 7 VSA
|
||||
SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 464 WHEEL_SPEEDS: 8 VSA
|
||||
SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 490 VEHICLE_DYNAMICS: 8 VSA
|
||||
SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 506 BRAKE_COMMAND: 8 ADAS
|
||||
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
|
||||
SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
|
||||
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
|
||||
|
||||
BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
|
||||
SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 773 SEATBELT_STATUS: 7 BDY
|
||||
SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 777 LOCK_STATUS: 8 XXX
|
||||
SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 780 ACC_HUD: 8 ADAS
|
||||
SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
|
||||
SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
|
||||
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
|
||||
SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
|
||||
SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
|
||||
|
||||
BO_ 804 CRUISE: 8 PCM
|
||||
SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
|
||||
SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
|
||||
SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
|
||||
SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
|
||||
SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 829 LKAS_HUD: 5 ADAS
|
||||
SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
|
||||
SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
|
||||
SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
|
||||
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
|
||||
|
||||
BO_ 892 CRUISE_PARAMS: 8 PCM
|
||||
SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 1029 DOORS_STATUS: 8 BDY
|
||||
SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
|
||||
CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
|
||||
CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
|
||||
CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
|
||||
CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
|
||||
CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
|
||||
|
||||
|
||||
VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
|
||||
VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
|
||||
VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "honda_fit_ex_2018_can.dbc starts here"
|
||||
|
||||
|
||||
|
||||
BO_ 145 KINEMATICS: 8 XXX
|
||||
SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
|
||||
|
||||
BO_ 228 STEERING_CONTROL: 5 ADAS
|
||||
SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
|
||||
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
|
||||
|
||||
BO_ 304 GAS_PEDAL_2: 8 PCM
|
||||
SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
|
||||
SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
|
||||
SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 342 STEERING_SENSORS: 6 EPS
|
||||
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 399 STEER_STATUS: 7 EPS
|
||||
SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
|
||||
SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
|
||||
SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 401 GEARBOX: 8 PCM
|
||||
SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
|
||||
SG_ GEAR : 43|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 420 VSA_STATUS: 8 VSA
|
||||
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
|
||||
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 422 SCM_BUTTONS: 8 SCM
|
||||
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
|
||||
SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 487 BRAKE_PRESSURE: 4 VSA
|
||||
SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
|
||||
SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
|
||||
SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
BO_ 660 SCM_FEEDBACK: 8 SCM
|
||||
SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
|
||||
SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
|
||||
SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 884 STALK_STATUS: 8 XXX
|
||||
SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
|
||||
CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
|
||||
CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
|
||||
|
||||
VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
|
||||
VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
|
||||
VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
|
||||
VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
|
||||
VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
@@ -59,9 +59,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
|
||||
SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
|
||||
|
||||
BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
@@ -59,9 +59,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
|
||||
SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
|
||||
|
||||
BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
@@ -59,9 +59,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
|
||||
SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
|
||||
|
||||
BO_ 380 POWERTRAIN_DATA: 8 PCM
|
||||
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
1391
opendbc/kia_sorento_2018.dbc
Normal file
1391
opendbc/kia_sorento_2018.dbc
Normal file
File diff suppressed because it is too large
Load Diff
247
opendbc/toyota_chr_hybrid_2018_pt_generated.dbc
Normal file
247
opendbc/toyota_chr_hybrid_2018_pt_generated.dbc
Normal file
@@ -0,0 +1,247 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
|
||||
NS_ :
|
||||
NS_DESC_
|
||||
CM_
|
||||
BA_DEF_
|
||||
BA_
|
||||
VAL_
|
||||
CAT_DEF_
|
||||
CAT_
|
||||
FILTER
|
||||
BA_DEF_DEF_
|
||||
EV_DATA_
|
||||
ENVVAR_DATA_
|
||||
SGTYPE_
|
||||
SGTYPE_VAL_
|
||||
BA_DEF_SGTYPE_
|
||||
BA_SGTYPE_
|
||||
SIG_TYPE_REF_
|
||||
VAL_TABLE_
|
||||
SIG_GROUP_
|
||||
SIG_VALTYPE_
|
||||
SIGTYPE_VALTYPE_
|
||||
BO_TX_BU_
|
||||
BA_DEF_REL_
|
||||
BA_REL_
|
||||
BA_DEF_DEF_REL_
|
||||
BU_SG_REL_
|
||||
BU_EV_REL_
|
||||
BU_BO_REL_
|
||||
SG_MUL_VAL_
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
|
||||
SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
|
||||
SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
|
||||
|
||||
BO_ 166 BRAKE: 8 XXX
|
||||
SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 170 WHEEL_SPEEDS: 8 XXX
|
||||
SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
|
||||
SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
|
||||
SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
|
||||
SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
|
||||
|
||||
BO_ 180 SPEED: 8 XXX
|
||||
SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
|
||||
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 552 ACCELEROMETER: 8 XXX
|
||||
SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
|
||||
SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
|
||||
BO_ 560 BRAKE_MODULE2: 7 XXX
|
||||
SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 8 XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
|
||||
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 742 LEAD_INFO: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
|
||||
SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
|
||||
SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ SET_ME_X63 : 23|8@0+ (1,0) [0|255] "" HCU
|
||||
SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
|
||||
SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
|
||||
SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
|
||||
SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
|
||||
SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 921 PCM_CRUISE_SM: 8 XXX
|
||||
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1041 ACC_HUD: 8 DSU
|
||||
SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1553 UI_SEETING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 1553 UNITS 1 "km" 2 "miles";
|
||||
VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
|
||||
VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "toyota_chr_hybrid_2018_pt.dbc starts here"
|
||||
|
||||
|
||||
|
||||
BO_ 295 GEAR_PACKET: 8 XXX
|
||||
SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 550 BRAKE_MODULE: 8 XXX
|
||||
SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
|
||||
SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
|
||||
SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 581 GAS_PEDAL: 8 XXX
|
||||
SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
|
||||
SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
|
||||
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
|
||||
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 610 EPS_STATUS: 8 EPS
|
||||
SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
|
||||
SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
|
||||
CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
|
||||
CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
|
||||
CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
|
||||
VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B";
|
||||
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
|
||||
VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
|
||||
@@ -25,9 +25,13 @@ jobs:
|
||||
command: |
|
||||
docker run panda_build /bin/bash -c "cd /panda; python setup.py install"
|
||||
- run:
|
||||
name: Build STM image
|
||||
name: Build Panda STM image
|
||||
command: |
|
||||
docker run panda_build /bin/bash -c "cd /panda/board; make bin"
|
||||
- run:
|
||||
name: Build NEO STM image
|
||||
command: |
|
||||
docker run panda_build /bin/bash -c "cd /panda/board; make clean; make -f Makefile.legacy obj/comma.bin"
|
||||
- run:
|
||||
name: Build ESP image
|
||||
command: |
|
||||
|
||||
@@ -1 +1 @@
|
||||
v1.1.2
|
||||
v1.1.3
|
||||
@@ -461,8 +461,6 @@ void CAN3_SCE_IRQHandler() { can_sce(CAN3); }
|
||||
|
||||
#endif
|
||||
|
||||
#include "canbitbang.h"
|
||||
|
||||
void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
|
||||
if (safety_tx_hook(to_push) && !can_autobaud_enabled[bus_number]) {
|
||||
if (bus_number < BUS_MAX) {
|
||||
|
||||
@@ -1,203 +0,0 @@
|
||||
#define MAX_BITS_CAN_PACKET (200)
|
||||
|
||||
// returns out_len
|
||||
int do_bitstuff(char *out, char *in, int in_len) {
|
||||
int last_bit = -1;
|
||||
int bit_cnt = 0;
|
||||
int j = 0;
|
||||
for (int i = 0; i < in_len; i++) {
|
||||
char bit = in[i];
|
||||
out[j++] = bit;
|
||||
|
||||
// do the stuffing
|
||||
if (bit == last_bit) {
|
||||
bit_cnt++;
|
||||
if (bit_cnt == 5) {
|
||||
// 5 in a row the same, do stuff
|
||||
last_bit = !bit;
|
||||
out[j++] = last_bit;
|
||||
bit_cnt = 1;
|
||||
}
|
||||
} else {
|
||||
// this is a new bit
|
||||
last_bit = bit;
|
||||
bit_cnt = 1;
|
||||
}
|
||||
}
|
||||
return j;
|
||||
}
|
||||
|
||||
int append_crc(char *in, int in_len) {
|
||||
int crc = 0;
|
||||
for (int i = 0; i < in_len; i++) {
|
||||
crc <<= 1;
|
||||
if (in[i] ^ ((crc>>15)&1)) {
|
||||
crc = crc ^ 0x4599;
|
||||
}
|
||||
crc &= 0x7fff;
|
||||
}
|
||||
for (int i = 14; i >= 0; i--) {
|
||||
in[in_len++] = (crc>>i)&1;
|
||||
}
|
||||
return in_len;
|
||||
}
|
||||
|
||||
int append_bits(char *in, int in_len, char *app, int app_len) {
|
||||
for (int i = 0; i < app_len; i++) {
|
||||
in[in_len++] = app[i];
|
||||
}
|
||||
return in_len;
|
||||
}
|
||||
|
||||
int append_int(char *in, int in_len, int val, int val_len) {
|
||||
for (int i = val_len-1; i >= 0; i--) {
|
||||
in[in_len++] = (val&(1<<i)) != 0;
|
||||
}
|
||||
return in_len;
|
||||
}
|
||||
|
||||
int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
|
||||
char pkt[MAX_BITS_CAN_PACKET];
|
||||
char footer[] = {
|
||||
1, // CRC delimiter
|
||||
1, // ACK
|
||||
1, // ACK delimiter
|
||||
1,1,1,1,1,1,1, // EOF
|
||||
1,1,1, // IFS
|
||||
};
|
||||
|
||||
int len = 0;
|
||||
|
||||
// test packet
|
||||
int dlc_len = to_bang->RDTR & 0xF;
|
||||
len = append_int(pkt, len, 0, 1); // Start-of-frame
|
||||
|
||||
if (to_bang->RIR & 4) {
|
||||
// extended identifier
|
||||
len = append_int(pkt, len, to_bang->RIR >> 21, 11); // Identifier
|
||||
len = append_int(pkt, len, 3, 2); // SRR+IDE
|
||||
len = append_int(pkt, len, (to_bang->RIR >> 3) & ((1<<18)-1), 18); // Identifier
|
||||
len = append_int(pkt, len, 0, 3); // RTR+r1+r0
|
||||
} else {
|
||||
// standard identifier
|
||||
len = append_int(pkt, len, to_bang->RIR >> 21, 11); // Identifier
|
||||
len = append_int(pkt, len, 0, 3); // RTR+IDE+reserved
|
||||
}
|
||||
|
||||
len = append_int(pkt, len, dlc_len, 4); // Data length code
|
||||
|
||||
// append data
|
||||
for (int i = 0; i < dlc_len; i++) {
|
||||
unsigned char dat = ((unsigned char *)(&(to_bang->RDLR)))[i];
|
||||
len = append_int(pkt, len, dat, 8);
|
||||
}
|
||||
|
||||
// append crc
|
||||
len = append_crc(pkt, len);
|
||||
|
||||
// do bitstuffing
|
||||
len = do_bitstuff(out, pkt, len);
|
||||
|
||||
// append footer
|
||||
len = append_bits(out, len, footer, sizeof(footer));
|
||||
return len;
|
||||
}
|
||||
|
||||
// hardware stuff below this line
|
||||
|
||||
#ifdef PANDA
|
||||
|
||||
void set_bitbanged_gmlan(int val) {
|
||||
if (val) {
|
||||
GPIOB->ODR |= (1 << 13);
|
||||
} else {
|
||||
GPIOB->ODR &= ~(1 << 13);
|
||||
}
|
||||
}
|
||||
|
||||
char pkt_stuffed[MAX_BITS_CAN_PACKET];
|
||||
int gmlan_sending = -1;
|
||||
int gmlan_sendmax = -1;
|
||||
|
||||
int gmlan_silent_count = 0;
|
||||
int gmlan_fail_count = 0;
|
||||
#define REQUIRED_SILENT_TIME 10
|
||||
#define MAX_FAIL_COUNT 10
|
||||
|
||||
void TIM4_IRQHandler(void) {
|
||||
if (TIM4->SR & TIM_SR_UIF && gmlan_sendmax != -1) {
|
||||
int read = get_gpio_input(GPIOB, 12);
|
||||
if (gmlan_silent_count < REQUIRED_SILENT_TIME) {
|
||||
if (read == 0) {
|
||||
gmlan_silent_count = 0;
|
||||
} else {
|
||||
gmlan_silent_count++;
|
||||
}
|
||||
} else if (gmlan_silent_count == REQUIRED_SILENT_TIME) {
|
||||
int retry = 0;
|
||||
// in send loop
|
||||
if (gmlan_sending > 0 && // not first bit
|
||||
(read == 0 && pkt_stuffed[gmlan_sending-1] == 1) && // bus wrongly dominant
|
||||
gmlan_sending != (gmlan_sendmax-11)) { //not ack bit
|
||||
puts("GMLAN ERR: bus driven at ");
|
||||
puth(gmlan_sending);
|
||||
puts("\n");
|
||||
retry = 1;
|
||||
} else if (read == 1 && gmlan_sending == (gmlan_sendmax-11)) { // recessive during ACK
|
||||
puts("GMLAN ERR: didn't recv ACK\n");
|
||||
retry = 1;
|
||||
}
|
||||
if (retry) {
|
||||
// reset sender (retry after 7 silent)
|
||||
set_bitbanged_gmlan(1); // recessive
|
||||
gmlan_silent_count = 0;
|
||||
gmlan_sending = 0;
|
||||
gmlan_fail_count++;
|
||||
if (gmlan_fail_count == MAX_FAIL_COUNT) {
|
||||
puts("GMLAN ERR: giving up send\n");
|
||||
}
|
||||
} else {
|
||||
set_bitbanged_gmlan(pkt_stuffed[gmlan_sending]);
|
||||
gmlan_sending++;
|
||||
}
|
||||
}
|
||||
if (gmlan_sending == gmlan_sendmax || gmlan_fail_count == MAX_FAIL_COUNT) {
|
||||
set_bitbanged_gmlan(1); // recessive
|
||||
set_gpio_mode(GPIOB, 13, MODE_INPUT);
|
||||
TIM4->DIER = 0; // no update interrupt
|
||||
TIM4->CR1 = 0; // disable timer
|
||||
gmlan_sendmax = -1; // exit
|
||||
}
|
||||
}
|
||||
TIM4->SR = 0;
|
||||
}
|
||||
|
||||
void bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
|
||||
// TODO: make failure less silent
|
||||
if (gmlan_sendmax != -1) return;
|
||||
|
||||
int len = get_bit_message(pkt_stuffed, to_bang);
|
||||
gmlan_fail_count = 0;
|
||||
gmlan_silent_count = 0;
|
||||
gmlan_sending = 0;
|
||||
gmlan_sendmax = len;
|
||||
|
||||
// setup for bitbang loop
|
||||
set_bitbanged_gmlan(1); // recessive
|
||||
set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
|
||||
|
||||
// setup
|
||||
TIM4->PSC = 48-1; // tick on 1 us
|
||||
TIM4->CR1 = TIM_CR1_CEN; // enable
|
||||
TIM4->ARR = 30-1; // 33.3 kbps
|
||||
|
||||
// in case it's disabled
|
||||
NVIC_EnableIRQ(TIM4_IRQn);
|
||||
|
||||
// run the interrupt
|
||||
TIM4->DIER = TIM_DIER_UIE; // update interrupt
|
||||
TIM4->SR = 0;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
276
panda/board/drivers/gmlan_alt.h
Normal file
276
panda/board/drivers/gmlan_alt.h
Normal file
@@ -0,0 +1,276 @@
|
||||
#define GMLAN_TICKS_PER_SECOND 33300 //1sec @ 33.3kbps
|
||||
#define GMLAN_TICKS_PER_TIMEOUT_TICKLE 500 //15ms @ 33.3kbps
|
||||
#define GMLAN_HIGH 0 //0 is high on bus (dominant)
|
||||
#define GMLAN_LOW 1 //1 is low on bus
|
||||
|
||||
#define DISABLED -1
|
||||
#define BITBANG 0
|
||||
#define GPIO_SWITCH 1
|
||||
|
||||
#define MAX_BITS_CAN_PACKET (200)
|
||||
|
||||
int gmlan_alt_mode = DISABLED;
|
||||
|
||||
// returns out_len
|
||||
int do_bitstuff(char *out, char *in, int in_len) {
|
||||
int last_bit = -1;
|
||||
int bit_cnt = 0;
|
||||
int j = 0;
|
||||
for (int i = 0; i < in_len; i++) {
|
||||
char bit = in[i];
|
||||
out[j++] = bit;
|
||||
|
||||
// do the stuffing
|
||||
if (bit == last_bit) {
|
||||
bit_cnt++;
|
||||
if (bit_cnt == 5) {
|
||||
// 5 in a row the same, do stuff
|
||||
last_bit = !bit;
|
||||
out[j++] = last_bit;
|
||||
bit_cnt = 1;
|
||||
}
|
||||
} else {
|
||||
// this is a new bit
|
||||
last_bit = bit;
|
||||
bit_cnt = 1;
|
||||
}
|
||||
}
|
||||
return j;
|
||||
}
|
||||
|
||||
int append_crc(char *in, int in_len) {
|
||||
int crc = 0;
|
||||
for (int i = 0; i < in_len; i++) {
|
||||
crc <<= 1;
|
||||
if (in[i] ^ ((crc>>15)&1)) {
|
||||
crc = crc ^ 0x4599;
|
||||
}
|
||||
crc &= 0x7fff;
|
||||
}
|
||||
for (int i = 14; i >= 0; i--) {
|
||||
in[in_len++] = (crc>>i)&1;
|
||||
}
|
||||
return in_len;
|
||||
}
|
||||
|
||||
int append_bits(char *in, int in_len, char *app, int app_len) {
|
||||
for (int i = 0; i < app_len; i++) {
|
||||
in[in_len++] = app[i];
|
||||
}
|
||||
return in_len;
|
||||
}
|
||||
|
||||
int append_int(char *in, int in_len, int val, int val_len) {
|
||||
for (int i = val_len-1; i >= 0; i--) {
|
||||
in[in_len++] = (val&(1<<i)) != 0;
|
||||
}
|
||||
return in_len;
|
||||
}
|
||||
|
||||
int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
|
||||
char pkt[MAX_BITS_CAN_PACKET];
|
||||
char footer[] = {
|
||||
1, // CRC delimiter
|
||||
1, // ACK
|
||||
1, // ACK delimiter
|
||||
1,1,1,1,1,1,1, // EOF
|
||||
1,1,1, // IFS
|
||||
};
|
||||
|
||||
int len = 0;
|
||||
|
||||
// test packet
|
||||
int dlc_len = to_bang->RDTR & 0xF;
|
||||
len = append_int(pkt, len, 0, 1); // Start-of-frame
|
||||
|
||||
if (to_bang->RIR & 4) {
|
||||
// extended identifier
|
||||
len = append_int(pkt, len, to_bang->RIR >> 21, 11); // Identifier
|
||||
len = append_int(pkt, len, 3, 2); // SRR+IDE
|
||||
len = append_int(pkt, len, (to_bang->RIR >> 3) & ((1<<18)-1), 18); // Identifier
|
||||
len = append_int(pkt, len, 0, 3); // RTR+r1+r0
|
||||
} else {
|
||||
// standard identifier
|
||||
len = append_int(pkt, len, to_bang->RIR >> 21, 11); // Identifier
|
||||
len = append_int(pkt, len, 0, 3); // RTR+IDE+reserved
|
||||
}
|
||||
|
||||
len = append_int(pkt, len, dlc_len, 4); // Data length code
|
||||
|
||||
// append data
|
||||
for (int i = 0; i < dlc_len; i++) {
|
||||
unsigned char dat = ((unsigned char *)(&(to_bang->RDLR)))[i];
|
||||
len = append_int(pkt, len, dat, 8);
|
||||
}
|
||||
|
||||
// append crc
|
||||
len = append_crc(pkt, len);
|
||||
|
||||
// do bitstuffing
|
||||
len = do_bitstuff(out, pkt, len);
|
||||
|
||||
// append footer
|
||||
len = append_bits(out, len, footer, sizeof(footer));
|
||||
return len;
|
||||
}
|
||||
|
||||
#ifdef PANDA
|
||||
|
||||
void setup_timer4() {
|
||||
// setup
|
||||
TIM4->PSC = 48-1; // tick on 1 us
|
||||
TIM4->CR1 = TIM_CR1_CEN; // enable
|
||||
TIM4->ARR = 30-1; // 33.3 kbps
|
||||
|
||||
// in case it's disabled
|
||||
NVIC_EnableIRQ(TIM4_IRQn);
|
||||
|
||||
// run the interrupt
|
||||
TIM4->DIER = TIM_DIER_UIE; // update interrupt
|
||||
TIM4->SR = 0;
|
||||
}
|
||||
|
||||
int gmlan_timeout_counter = GMLAN_TICKS_PER_TIMEOUT_TICKLE; //GMLAN transceiver times out every 17ms held high; tickle every 15ms
|
||||
int can_timeout_counter = GMLAN_TICKS_PER_SECOND; //1 second
|
||||
|
||||
int inverted_bit_to_send = GMLAN_HIGH;
|
||||
int gmlan_switch_below_timeout = -1;
|
||||
int gmlan_switch_timeout_enable = 0;
|
||||
|
||||
void gmlan_switch_init(int timeout_enable) {
|
||||
gmlan_switch_timeout_enable = timeout_enable;
|
||||
gmlan_alt_mode = GPIO_SWITCH;
|
||||
gmlan_switch_below_timeout = 1;
|
||||
set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
|
||||
|
||||
setup_timer4();
|
||||
|
||||
inverted_bit_to_send = GMLAN_LOW; //We got initialized, set the output low
|
||||
}
|
||||
|
||||
void set_gmlan_digital_output(int to_set) {
|
||||
inverted_bit_to_send = to_set;
|
||||
/*
|
||||
puts("Writing ");
|
||||
puth(inverted_bit_to_send);
|
||||
puts("\n");
|
||||
*/
|
||||
}
|
||||
|
||||
void reset_gmlan_switch_timeout(void) {
|
||||
can_timeout_counter = GMLAN_TICKS_PER_SECOND;
|
||||
gmlan_switch_below_timeout = 1;
|
||||
gmlan_alt_mode = GPIO_SWITCH;
|
||||
}
|
||||
|
||||
void set_bitbanged_gmlan(int val) {
|
||||
if (val) {
|
||||
GPIOB->ODR |= (1 << 13);
|
||||
} else {
|
||||
GPIOB->ODR &= ~(1 << 13);
|
||||
}
|
||||
}
|
||||
|
||||
char pkt_stuffed[MAX_BITS_CAN_PACKET];
|
||||
int gmlan_sending = -1;
|
||||
int gmlan_sendmax = -1;
|
||||
|
||||
int gmlan_silent_count = 0;
|
||||
int gmlan_fail_count = 0;
|
||||
#define REQUIRED_SILENT_TIME 10
|
||||
#define MAX_FAIL_COUNT 10
|
||||
|
||||
void TIM4_IRQHandler(void) {
|
||||
if (gmlan_alt_mode == BITBANG) {
|
||||
if (TIM4->SR & TIM_SR_UIF && gmlan_sendmax != -1) {
|
||||
int read = get_gpio_input(GPIOB, 12);
|
||||
if (gmlan_silent_count < REQUIRED_SILENT_TIME) {
|
||||
if (read == 0) {
|
||||
gmlan_silent_count = 0;
|
||||
} else {
|
||||
gmlan_silent_count++;
|
||||
}
|
||||
} else if (gmlan_silent_count == REQUIRED_SILENT_TIME) {
|
||||
int retry = 0;
|
||||
// in send loop
|
||||
if (gmlan_sending > 0 && // not first bit
|
||||
(read == 0 && pkt_stuffed[gmlan_sending-1] == 1) && // bus wrongly dominant
|
||||
gmlan_sending != (gmlan_sendmax-11)) { //not ack bit
|
||||
puts("GMLAN ERR: bus driven at ");
|
||||
puth(gmlan_sending);
|
||||
puts("\n");
|
||||
retry = 1;
|
||||
} else if (read == 1 && gmlan_sending == (gmlan_sendmax-11)) { // recessive during ACK
|
||||
puts("GMLAN ERR: didn't recv ACK\n");
|
||||
retry = 1;
|
||||
}
|
||||
if (retry) {
|
||||
// reset sender (retry after 7 silent)
|
||||
set_bitbanged_gmlan(1); // recessive
|
||||
gmlan_silent_count = 0;
|
||||
gmlan_sending = 0;
|
||||
gmlan_fail_count++;
|
||||
if (gmlan_fail_count == MAX_FAIL_COUNT) {
|
||||
puts("GMLAN ERR: giving up send\n");
|
||||
}
|
||||
} else {
|
||||
set_bitbanged_gmlan(pkt_stuffed[gmlan_sending]);
|
||||
gmlan_sending++;
|
||||
}
|
||||
}
|
||||
if (gmlan_sending == gmlan_sendmax || gmlan_fail_count == MAX_FAIL_COUNT) {
|
||||
set_bitbanged_gmlan(1); // recessive
|
||||
set_gpio_mode(GPIOB, 13, MODE_INPUT);
|
||||
TIM4->DIER = 0; // no update interrupt
|
||||
TIM4->CR1 = 0; // disable timer
|
||||
gmlan_sendmax = -1; // exit
|
||||
}
|
||||
}
|
||||
TIM4->SR = 0;
|
||||
} //bit bang mode
|
||||
|
||||
else if (gmlan_alt_mode == GPIO_SWITCH) {
|
||||
if (TIM4->SR & TIM_SR_UIF && gmlan_switch_below_timeout != -1) {
|
||||
if (can_timeout_counter == 0 && gmlan_switch_timeout_enable) {
|
||||
//it has been more than 1 second since timeout was reset; disable timer and restore the GMLAN output
|
||||
set_gpio_output(GPIOB, 13, GMLAN_LOW);
|
||||
gmlan_switch_below_timeout = -1;
|
||||
gmlan_timeout_counter = GMLAN_TICKS_PER_TIMEOUT_TICKLE;
|
||||
gmlan_alt_mode = DISABLED;
|
||||
}
|
||||
else {
|
||||
can_timeout_counter--;
|
||||
if (gmlan_timeout_counter == 0) {
|
||||
//Send a 1 (bus low) every 15ms to reset the GMLAN transceivers timeout
|
||||
gmlan_timeout_counter = GMLAN_TICKS_PER_TIMEOUT_TICKLE;
|
||||
set_gpio_output(GPIOB, 13, GMLAN_LOW);
|
||||
}
|
||||
else {
|
||||
set_gpio_output(GPIOB, 13, inverted_bit_to_send);
|
||||
gmlan_timeout_counter--;
|
||||
}
|
||||
}
|
||||
}
|
||||
TIM4->SR = 0;
|
||||
} //gmlan switch mode
|
||||
}
|
||||
|
||||
void bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
|
||||
gmlan_alt_mode = BITBANG;
|
||||
// TODO: make failure less silent
|
||||
if (gmlan_sendmax != -1) return;
|
||||
|
||||
int len = get_bit_message(pkt_stuffed, to_bang);
|
||||
gmlan_fail_count = 0;
|
||||
gmlan_silent_count = 0;
|
||||
gmlan_sending = 0;
|
||||
gmlan_sendmax = len;
|
||||
|
||||
// setup for bitbang loop
|
||||
set_bitbanged_gmlan(1); // recessive
|
||||
set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
|
||||
|
||||
setup_timer4();
|
||||
}
|
||||
|
||||
#endif
|
||||
@@ -15,6 +15,7 @@
|
||||
#include "drivers/uart.h"
|
||||
#include "drivers/adc.h"
|
||||
#include "drivers/usb.h"
|
||||
#include "drivers/gmlan_alt.h"
|
||||
#include "drivers/can.h"
|
||||
#include "drivers/spi.h"
|
||||
#include "drivers/timer.h"
|
||||
|
||||
@@ -5,6 +5,14 @@ struct sample_t {
|
||||
int max;
|
||||
} sample_t_default = {{0}, 0, 0};
|
||||
|
||||
// no float support in STM32F2 micros (cortex-m3)
|
||||
#ifdef PANDA
|
||||
struct lookup_t {
|
||||
float x[3];
|
||||
float y[3];
|
||||
};
|
||||
#endif
|
||||
|
||||
void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
|
||||
int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
|
||||
int safety_tx_lin_hook(int lin_num, uint8_t *data, int len);
|
||||
@@ -16,9 +24,12 @@ int max_limit_check(int val, const int MAX, const int MIN);
|
||||
int dist_to_meas_check(int val, int val_last, struct sample_t *val_meas,
|
||||
const int MAX_RATE_UP, const int MAX_RATE_DOWN, const int MAX_ERROR);
|
||||
int driver_limit_check(int val, int val_last, struct sample_t *val_driver,
|
||||
const int MAX, const int MAX_RATE_UP, const int MAX_RATE_DOWN,
|
||||
const int MAX, const int MAX_RATE_UP, const int MAX_RATE_DOWN,
|
||||
const int MAX_ALLOWANCE, const int DRIVER_FACTOR);
|
||||
int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA);
|
||||
#ifdef PANDA
|
||||
float interpolate(struct lookup_t xy, float x);
|
||||
#endif
|
||||
|
||||
typedef void (*safety_hook_init)(int16_t param);
|
||||
typedef void (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
|
||||
@@ -49,6 +60,7 @@ int controls_allowed = 0;
|
||||
#include "safety/safety_gm.h"
|
||||
#include "safety/safety_ford.h"
|
||||
#include "safety/safety_cadillac.h"
|
||||
#include "safety/safety_hyundai.h"
|
||||
#include "safety/safety_elm327.h"
|
||||
|
||||
const safety_hooks *current_hooks = &nooutput_hooks;
|
||||
@@ -87,6 +99,7 @@ typedef struct {
|
||||
#define SAFETY_HONDA_BOSCH 4
|
||||
#define SAFETY_FORD 5
|
||||
#define SAFETY_CADILLAC 6
|
||||
#define SAFETY_HYUNDAI 7
|
||||
#define SAFETY_TOYOTA_IPAS 0x1335
|
||||
#define SAFETY_TOYOTA_NOLIMITS 0x1336
|
||||
#define SAFETY_ALLOUTPUT 0x1337
|
||||
@@ -100,6 +113,7 @@ const safety_hook_config safety_hook_registry[] = {
|
||||
{SAFETY_GM, &gm_hooks},
|
||||
{SAFETY_FORD, &ford_hooks},
|
||||
{SAFETY_CADILLAC, &cadillac_hooks},
|
||||
{SAFETY_HYUNDAI, &hyundai_hooks},
|
||||
{SAFETY_TOYOTA_NOLIMITS, &toyota_nolimits_hooks},
|
||||
#ifdef PANDA
|
||||
{SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
|
||||
@@ -201,3 +215,31 @@ int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA) {
|
||||
// check for violation
|
||||
return (val < lowest_val) || (val > highest_val);
|
||||
}
|
||||
|
||||
|
||||
#ifdef PANDA
|
||||
// interp function that holds extreme values
|
||||
float interpolate(struct lookup_t xy, float x) {
|
||||
int size = sizeof(xy.x) / sizeof(xy.x[0]);
|
||||
// x is lower than the first point in the x array. Return the first point
|
||||
if (x <= xy.x[0]) {
|
||||
return xy.y[0];
|
||||
|
||||
} else {
|
||||
// find the index such that (xy.x[i] <= x < xy.x[i+1]) and linearly interp
|
||||
for (int i=0; i < size-1; i++) {
|
||||
if (x < xy.x[i+1]) {
|
||||
float x0 = xy.x[i];
|
||||
float y0 = xy.y[i];
|
||||
float dx = xy.x[i+1] - x0;
|
||||
float dy = xy.y[i+1] - y0;
|
||||
// dx should not be zero as xy.x is supposed ot be monotonic
|
||||
if (dx <= 0.) dx = 0.0001;
|
||||
return dy * (x - x0) / dx + y0;
|
||||
}
|
||||
}
|
||||
// if no such point is found, then x > xy.x[size-1]. Return last point
|
||||
return xy.y[size - 1];
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
36
panda/board/safety/safety_hyundai.h
Normal file
36
panda/board/safety/safety_hyundai.h
Normal file
@@ -0,0 +1,36 @@
|
||||
int hyundai_giraffe_switch_1 = 0; // is giraffe switch 1 high?
|
||||
|
||||
|
||||
static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
int bus = (to_push->RDTR >> 4) & 0xF;
|
||||
// 832 is lkas cmd. If it is on bus 0, then giraffe switch 1 is high and we want stock
|
||||
if ((to_push->RIR>>21) == 832 && (bus == 0)) {
|
||||
hyundai_giraffe_switch_1 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
static void hyundai_init(int16_t param) {
|
||||
controls_allowed = 0;
|
||||
hyundai_giraffe_switch_1 = 0;
|
||||
}
|
||||
|
||||
static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
|
||||
// forward camera to car and viceversa, excpet for lkas11 and mdps12
|
||||
if ((bus_num == 0 || bus_num == 2) && !hyundai_giraffe_switch_1) {
|
||||
int addr = to_fwd->RIR>>21;
|
||||
bool is_lkas_msg = (addr == 832 && bus_num == 2) || (addr == 593 && bus_num == 0);
|
||||
return is_lkas_msg? -1 : (uint8_t)(~bus_num & 0x2);
|
||||
}
|
||||
return -1;
|
||||
}
|
||||
|
||||
const safety_hooks hyundai_hooks = {
|
||||
.init = hyundai_init,
|
||||
.rx = hyundai_rx_hook,
|
||||
.tx = nooutput_tx_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
.ignition = default_ign_hook,
|
||||
.fwd = hyundai_fwd_hook,
|
||||
};
|
||||
@@ -1,32 +1,34 @@
|
||||
struct sample_t torque_meas; // last 3 motor torques produced by the eps
|
||||
int toyota_no_dsu_car = 0; // ch-r and camry don't have the DSU
|
||||
int toyota_giraffe_switch_1 = 0; // is giraffe switch 1 high?
|
||||
|
||||
// global torque limit
|
||||
const int MAX_TORQUE = 1500; // max torque cmd allowed ever
|
||||
const int TOYOTA_MAX_TORQUE = 1500; // max torque cmd allowed ever
|
||||
|
||||
// rate based torque limit + stay within actually applied
|
||||
// packet is sent at 100hz, so this limit is 1000/sec
|
||||
const int MAX_RATE_UP = 10; // ramp up slow
|
||||
const int MAX_RATE_DOWN = 25; // ramp down fast
|
||||
const int MAX_TORQUE_ERROR = 350; // max torque cmd in excess of torque motor
|
||||
const int TOYOTA_MAX_RATE_UP = 10; // ramp up slow
|
||||
const int TOYOTA_MAX_RATE_DOWN = 25; // ramp down fast
|
||||
const int TOYOTA_MAX_TORQUE_ERROR = 350; // max torque cmd in excess of torque motor
|
||||
|
||||
// real time torque limit to prevent controls spamming
|
||||
// the real time limit is 1500/sec
|
||||
const int MAX_RT_DELTA = 375; // max delta torque allowed for real time checks
|
||||
const int RT_INTERVAL = 250000; // 250ms between real time checks
|
||||
const int TOYOTA_MAX_RT_DELTA = 375; // max delta torque allowed for real time checks
|
||||
const int TOYOTA_RT_INTERVAL = 250000; // 250ms between real time checks
|
||||
|
||||
// longitudinal limits
|
||||
const int MAX_ACCEL = 1500; // 1.5 m/s2
|
||||
const int MIN_ACCEL = -3000; // 3.0 m/s2
|
||||
const int TOYOTA_MAX_ACCEL = 1500; // 1.5 m/s2
|
||||
const int TOYOTA_MIN_ACCEL = -3000; // 3.0 m/s2
|
||||
|
||||
// global actuation limit state
|
||||
int actuation_limits = 1; // by default steer limits are imposed
|
||||
int dbc_eps_torque_factor = 100; // conversion factor for STEER_TORQUE_EPS in %: see dbc file
|
||||
int toyota_actuation_limits = 1; // by default steer limits are imposed
|
||||
int toyota_dbc_eps_torque_factor = 100; // conversion factor for STEER_TORQUE_EPS in %: see dbc file
|
||||
|
||||
// state of torque limits
|
||||
int desired_torque_last = 0; // last desired steer torque
|
||||
int rt_torque_last = 0; // last desired torque for real time check
|
||||
uint32_t ts_last = 0;
|
||||
int cruise_engaged_last = 0; // cruise state
|
||||
int toyota_desired_torque_last = 0; // last desired steer torque
|
||||
int toyota_rt_torque_last = 0; // last desired torque for real time check
|
||||
uint32_t toyota_ts_last = 0;
|
||||
int toyota_cruise_engaged_last = 0; // cruise state
|
||||
struct sample_t toyota_torque_meas; // last 3 motor torques produced by the eps
|
||||
|
||||
|
||||
static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
@@ -36,26 +38,38 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
torque_meas_new = to_signed(torque_meas_new, 16);
|
||||
|
||||
// scale by dbc_factor
|
||||
torque_meas_new = (torque_meas_new * dbc_eps_torque_factor) / 100;
|
||||
torque_meas_new = (torque_meas_new * toyota_dbc_eps_torque_factor) / 100;
|
||||
|
||||
// increase torque_meas by 1 to be conservative on rounding
|
||||
torque_meas_new += (torque_meas_new > 0 ? 1 : -1);
|
||||
|
||||
// update array of sample
|
||||
update_sample(&torque_meas, torque_meas_new);
|
||||
update_sample(&toyota_torque_meas, torque_meas_new);
|
||||
}
|
||||
|
||||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
if ((to_push->RIR>>21) == 0x1D2) {
|
||||
// 4 bits: 55-52
|
||||
int cruise_engaged = to_push->RDHR & 0xF00000;
|
||||
if (cruise_engaged && !cruise_engaged_last) {
|
||||
if (cruise_engaged && !toyota_cruise_engaged_last) {
|
||||
controls_allowed = 1;
|
||||
} else if (!cruise_engaged) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
cruise_engaged_last = cruise_engaged;
|
||||
toyota_cruise_engaged_last = cruise_engaged;
|
||||
}
|
||||
|
||||
int bus = (to_push->RDTR >> 4) & 0xF;
|
||||
// 0x680 is a radar msg only found in dsu-less cars
|
||||
if ((to_push->RIR>>21) == 0x680 && (bus == 1)) {
|
||||
toyota_no_dsu_car = 1;
|
||||
}
|
||||
|
||||
// 0x2E4 is lkas cmd. If it is on bus 0, then giraffe switch 1 is high
|
||||
if ((to_push->RIR>>21) == 0x2E4 && (bus == 0)) {
|
||||
toyota_giraffe_switch_1 = 1;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
@@ -70,8 +84,8 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
if ((to_send->RIR>>21) == 0x343) {
|
||||
int desired_accel = ((to_send->RDLR & 0xFF) << 8) | ((to_send->RDLR >> 8) & 0xFF);
|
||||
desired_accel = to_signed(desired_accel, 16);
|
||||
if (controls_allowed && actuation_limits) {
|
||||
int violation = max_limit_check(desired_accel, MAX_ACCEL, MIN_ACCEL);
|
||||
if (controls_allowed && toyota_actuation_limits) {
|
||||
int violation = max_limit_check(desired_accel, TOYOTA_MAX_ACCEL, TOYOTA_MIN_ACCEL);
|
||||
if (violation) return 0;
|
||||
} else if (!controls_allowed && (desired_accel != 0)) {
|
||||
return 0;
|
||||
@@ -87,25 +101,26 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
uint32_t ts = TIM2->CNT;
|
||||
|
||||
// only check if controls are allowed and actuation_limits are imposed
|
||||
if (controls_allowed && actuation_limits) {
|
||||
if (controls_allowed && toyota_actuation_limits) {
|
||||
|
||||
// *** global torque limit check ***
|
||||
violation |= max_limit_check(desired_torque, MAX_TORQUE, -MAX_TORQUE);
|
||||
violation |= max_limit_check(desired_torque, TOYOTA_MAX_TORQUE, -TOYOTA_MAX_TORQUE);
|
||||
|
||||
// *** torque rate limit check ***
|
||||
violation |= dist_to_meas_check(desired_torque, desired_torque_last, &torque_meas, MAX_RATE_UP, MAX_RATE_DOWN, MAX_TORQUE_ERROR);
|
||||
violation |= dist_to_meas_check(desired_torque, toyota_desired_torque_last,
|
||||
&toyota_torque_meas, TOYOTA_MAX_RATE_UP, TOYOTA_MAX_RATE_DOWN, TOYOTA_MAX_TORQUE_ERROR);
|
||||
|
||||
// used next time
|
||||
desired_torque_last = desired_torque;
|
||||
toyota_desired_torque_last = desired_torque;
|
||||
|
||||
// *** torque real time rate limit check ***
|
||||
violation |= rt_rate_limit_check(desired_torque, rt_torque_last, MAX_RT_DELTA);
|
||||
violation |= rt_rate_limit_check(desired_torque, toyota_rt_torque_last, TOYOTA_MAX_RT_DELTA);
|
||||
|
||||
// every RT_INTERVAL set the new limits
|
||||
uint32_t ts_elapsed = get_ts_elapsed(ts, ts_last);
|
||||
if (ts_elapsed > RT_INTERVAL) {
|
||||
rt_torque_last = desired_torque;
|
||||
ts_last = ts;
|
||||
uint32_t ts_elapsed = get_ts_elapsed(ts, toyota_ts_last);
|
||||
if (ts_elapsed > TOYOTA_RT_INTERVAL) {
|
||||
toyota_rt_torque_last = desired_torque;
|
||||
toyota_ts_last = ts;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -116,9 +131,9 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
|
||||
// reset to 0 if either controls is not allowed or there's a violation
|
||||
if (violation || !controls_allowed) {
|
||||
desired_torque_last = 0;
|
||||
rt_torque_last = 0;
|
||||
ts_last = ts;
|
||||
toyota_desired_torque_last = 0;
|
||||
toyota_rt_torque_last = 0;
|
||||
toyota_ts_last = ts;
|
||||
}
|
||||
|
||||
if (violation) {
|
||||
@@ -138,11 +153,19 @@ static int toyota_tx_lin_hook(int lin_num, uint8_t *data, int len) {
|
||||
|
||||
static void toyota_init(int16_t param) {
|
||||
controls_allowed = 0;
|
||||
actuation_limits = 1;
|
||||
dbc_eps_torque_factor = param;
|
||||
toyota_actuation_limits = 1;
|
||||
toyota_giraffe_switch_1 = 0;
|
||||
toyota_dbc_eps_torque_factor = param;
|
||||
}
|
||||
|
||||
static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
|
||||
// forward cam to radar and viceversa if car is dsu-less, except lkas cmd and hud
|
||||
if ((bus_num == 0 || bus_num == 2) && toyota_no_dsu_car && !toyota_giraffe_switch_1) {
|
||||
int addr = to_fwd->RIR>>21;
|
||||
bool is_lkas_msg = (addr == 0x2E4 || addr == 0x412) && bus_num == 2;
|
||||
return is_lkas_msg? -1 : (uint8_t)(~bus_num & 0x2);
|
||||
}
|
||||
return -1;
|
||||
}
|
||||
|
||||
@@ -157,8 +180,9 @@ const safety_hooks toyota_hooks = {
|
||||
|
||||
static void toyota_nolimits_init(int16_t param) {
|
||||
controls_allowed = 0;
|
||||
actuation_limits = 0;
|
||||
dbc_eps_torque_factor = param;
|
||||
toyota_actuation_limits = 0;
|
||||
toyota_giraffe_switch_1 = 0;
|
||||
toyota_dbc_eps_torque_factor = param;
|
||||
}
|
||||
|
||||
const safety_hooks toyota_nolimits_hooks = {
|
||||
|
||||
@@ -2,12 +2,7 @@
|
||||
// TODO: refactor to repeat less code
|
||||
|
||||
// IPAS override
|
||||
const int32_t IPAS_OVERRIDE_THRESHOLD = 200; // disallow controls when user torque exceeds this value
|
||||
|
||||
struct lookup_t {
|
||||
float x[3];
|
||||
float y[3];
|
||||
};
|
||||
const int32_t TOYOTA_IPAS_OVERRIDE_THRESHOLD = 200; // disallow controls when user torque exceeds this value
|
||||
|
||||
// 2m/s are added to be less restrictive
|
||||
const struct lookup_t LOOKUP_ANGLE_RATE_UP = {
|
||||
@@ -35,31 +30,6 @@ uint32_t ts_angle_last = 0;
|
||||
|
||||
int controls_allowed_last = 0;
|
||||
|
||||
// interp function that holds extreme values
|
||||
float interpolate(struct lookup_t xy, float x) {
|
||||
int size = sizeof(xy.x) / sizeof(xy.x[0]);
|
||||
// x is lower than the first point in the x array. Return the first point
|
||||
if (x <= xy.x[0]) {
|
||||
return xy.y[0];
|
||||
|
||||
} else {
|
||||
// find the index such that (xy.x[i] <= x < xy.x[i+1]) and linearly interp
|
||||
for (int i=0; i < size-1; i++) {
|
||||
if (x < xy.x[i+1]) {
|
||||
float x0 = xy.x[i];
|
||||
float y0 = xy.y[i];
|
||||
float dx = xy.x[i+1] - x0;
|
||||
float dy = xy.y[i+1] - y0;
|
||||
// dx should not be zero as xy.x is supposed ot be monotonic
|
||||
if (dx <= 0.) dx = 0.0001;
|
||||
return dy * (x - x0) / dx + y0;
|
||||
}
|
||||
}
|
||||
// if no such point is found, then x > xy.x[size-1]. Return last point
|
||||
return xy.y[size - 1];
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
static void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
// check standard toyota stuff as well
|
||||
@@ -92,7 +62,7 @@ static void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
// every RT_INTERVAL or when controls are turned on, set the new limits
|
||||
uint32_t ts_elapsed = get_ts_elapsed(ts, ts_angle_last);
|
||||
if ((ts_elapsed > RT_INTERVAL) || (controls_allowed && !controls_allowed_last)) {
|
||||
if ((ts_elapsed > TOYOTA_RT_INTERVAL) || (controls_allowed && !controls_allowed_last)) {
|
||||
rt_angle_last = angle_meas_new;
|
||||
ts_angle_last = ts;
|
||||
}
|
||||
@@ -118,8 +88,8 @@ static void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
}
|
||||
|
||||
// exit controls on high steering override
|
||||
if (angle_control && ((torque_driver.min > IPAS_OVERRIDE_THRESHOLD) ||
|
||||
(torque_driver.max < -IPAS_OVERRIDE_THRESHOLD) ||
|
||||
if (angle_control && ((torque_driver.min > TOYOTA_IPAS_OVERRIDE_THRESHOLD) ||
|
||||
(torque_driver.max < -TOYOTA_IPAS_OVERRIDE_THRESHOLD) ||
|
||||
(ipas_state==5))) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
@@ -146,15 +116,15 @@ static int toyota_ipas_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
int delta_angle_down = (int) (interpolate(LOOKUP_ANGLE_RATE_DOWN, speed) * CAN_TO_DEG + 1.);
|
||||
int highest_desired_angle = desired_angle_last + (desired_angle_last > 0? delta_angle_up:delta_angle_down);
|
||||
int lowest_desired_angle = desired_angle_last - (desired_angle_last > 0? delta_angle_down:delta_angle_up);
|
||||
if ((desired_angle > highest_desired_angle) ||
|
||||
if ((desired_angle > highest_desired_angle) ||
|
||||
(desired_angle < lowest_desired_angle)){
|
||||
violation = 1;
|
||||
controls_allowed = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// desired steer angle should be the same as steer angle measured when controls are off
|
||||
if ((!controls_allowed) &&
|
||||
if ((!controls_allowed) &&
|
||||
((desired_angle < (angle_meas.min - 1)) ||
|
||||
(desired_angle > (angle_meas.max + 1)) ||
|
||||
(ipas_state_cmd != 1))) {
|
||||
|
||||
@@ -2,13 +2,13 @@
|
||||
Dependencies
|
||||
-----
|
||||
|
||||
**Mac**
|
||||
**Debian / Ubuntu**
|
||||
|
||||
```
|
||||
./get_sdk.sh
|
||||
```
|
||||
|
||||
**Debian / Ubuntu**
|
||||
**Mac**
|
||||
|
||||
```
|
||||
./get_sdk_mac.sh
|
||||
|
||||
20
panda/examples/get_panda_password.py
Normal file
20
panda/examples/get_panda_password.py
Normal file
@@ -0,0 +1,20 @@
|
||||
#!/usr/bin/env python
|
||||
from panda import Panda
|
||||
|
||||
def get_panda_password():
|
||||
|
||||
try:
|
||||
print("Trying to connect to Panda over USB...")
|
||||
p = Panda()
|
||||
|
||||
except AssertionError:
|
||||
print("USB connection failed")
|
||||
sys.exit(0)
|
||||
|
||||
wifi = p.get_serial()
|
||||
#print('[%s]' % ', '.join(map(str, wifi)))
|
||||
print("SSID: " + wifi[0])
|
||||
print("Password: " + wifi[1])
|
||||
|
||||
if __name__ == "__main__":
|
||||
get_panda_password()
|
||||
@@ -29,11 +29,11 @@ def tesla_tester():
|
||||
|
||||
# BDY 0x248 is the MCU_commands message, which includes folding mirrors, opening the trunk, frunk, setting the cars lock state and more. For our test, we will edit the 3rd byte, which is MCU_lockRequest. 0x01 will lock, 0x02 will unlock:
|
||||
print("Unlocking Tesla...")
|
||||
p.can_send(0x248, "\x00\x00\x02\x00\x00\x00\x00\x00", bus_num)
|
||||
p.can_send(0x248, "\x00\x00\x02\x00\x00\x00\x00\x00", body_bus_num)
|
||||
|
||||
#Or, we can set the first byte, MCU_frontHoodCommand + MCU_liftgateSwitch, to 0x01 to pop the frunk, or 0x04 to open/close the trunk (0x05 should open both)
|
||||
print("Opening Frunk...")
|
||||
p.can_send(0x248, "\x01\x00\x00\x00\x00\x00\x00\x00", bus_num)
|
||||
p.can_send(0x248, "\x01\x00\x00\x00\x00\x00\x00\x00", body_bus_num)
|
||||
|
||||
#Back to safety...
|
||||
print("Disabling output on Panda...")
|
||||
@@ -41,7 +41,6 @@ def tesla_tester():
|
||||
|
||||
print("Reading VIN from 0x568. This is painfully slow and can take up to 3 minutes (1 minute per message; 3 messages needed for full VIN)...")
|
||||
|
||||
cnt = 0
|
||||
vin = {}
|
||||
while True:
|
||||
#Read the VIN
|
||||
@@ -53,11 +52,10 @@ def tesla_tester():
|
||||
vin_string = binascii.hexlify(dat)[2:] #rest of the string is the actual VIN data
|
||||
vin[vin_index] = vin_string.decode("hex")
|
||||
print("Got VIN index " + str(vin_index) + " data " + vin[vin_index])
|
||||
cnt += 1
|
||||
#if we have all 3 parts of the VIN, print it and break out of our while loop
|
||||
if cnt == 3:
|
||||
if 0 in vin and 1 in vin and 2 in vin:
|
||||
print("VIN: " + vin[0] + vin[1] + vin[2][:3])
|
||||
break
|
||||
|
||||
if __name__ == "__main__":
|
||||
tesla_tester()
|
||||
tesla_tester()
|
||||
|
||||
@@ -38,13 +38,13 @@ void reset_angle_control(void);
|
||||
int get_controls_allowed(void);
|
||||
void init_tests_toyota(void);
|
||||
void set_timer(int t);
|
||||
void set_torque_meas(int min, int max);
|
||||
void set_toyota_torque_meas(int min, int max);
|
||||
void set_cadillac_torque_driver(int min, int max);
|
||||
void set_gm_torque_driver(int min, int max);
|
||||
void set_rt_torque_last(int t);
|
||||
void set_desired_torque_last(int t);
|
||||
int get_torque_meas_min(void);
|
||||
int get_torque_meas_max(void);
|
||||
void set_toyota_rt_torque_last(int t);
|
||||
void set_toyota_desired_torque_last(int t);
|
||||
int get_toyota_torque_meas_min(void);
|
||||
int get_toyota_torque_meas_max(void);
|
||||
|
||||
void init_tests_honda(void);
|
||||
int get_ego_speed(void);
|
||||
|
||||
@@ -22,7 +22,7 @@ typedef struct
|
||||
uint32_t CNT;
|
||||
} TIM_TypeDef;
|
||||
|
||||
struct sample_t torque_meas;
|
||||
struct sample_t toyota_torque_meas;
|
||||
struct sample_t cadillac_torque_driver;
|
||||
struct sample_t gm_torque_driver;
|
||||
|
||||
@@ -60,9 +60,9 @@ void set_timer(int t){
|
||||
timer.CNT = t;
|
||||
}
|
||||
|
||||
void set_torque_meas(int min, int max){
|
||||
torque_meas.min = min;
|
||||
torque_meas.max = max;
|
||||
void set_toyota_torque_meas(int min, int max){
|
||||
toyota_torque_meas.min = min;
|
||||
toyota_torque_meas.max = max;
|
||||
}
|
||||
|
||||
void set_cadillac_torque_driver(int min, int max){
|
||||
@@ -75,16 +75,16 @@ void set_gm_torque_driver(int min, int max){
|
||||
gm_torque_driver.max = max;
|
||||
}
|
||||
|
||||
int get_torque_meas_min(void){
|
||||
return torque_meas.min;
|
||||
int get_toyota_torque_meas_min(void){
|
||||
return toyota_torque_meas.min;
|
||||
}
|
||||
|
||||
int get_torque_meas_max(void){
|
||||
return torque_meas.max;
|
||||
int get_toyota_torque_meas_max(void){
|
||||
return toyota_torque_meas.max;
|
||||
}
|
||||
|
||||
void set_rt_torque_last(int t){
|
||||
rt_torque_last = t;
|
||||
void set_toyota_rt_torque_last(int t){
|
||||
toyota_rt_torque_last = t;
|
||||
}
|
||||
|
||||
void set_cadillac_rt_torque_last(int t){
|
||||
@@ -95,8 +95,8 @@ void set_gm_rt_torque_last(int t){
|
||||
gm_rt_torque_last = t;
|
||||
}
|
||||
|
||||
void set_desired_torque_last(int t){
|
||||
desired_torque_last = t;
|
||||
void set_toyota_desired_torque_last(int t){
|
||||
toyota_desired_torque_last = t;
|
||||
}
|
||||
|
||||
void set_cadillac_desired_torque_last(int t){
|
||||
@@ -129,11 +129,11 @@ void set_bosch_hardware(bool c){
|
||||
}
|
||||
|
||||
void init_tests_toyota(void){
|
||||
torque_meas.min = 0;
|
||||
torque_meas.max = 0;
|
||||
desired_torque_last = 0;
|
||||
rt_torque_last = 0;
|
||||
ts_last = 0;
|
||||
toyota_torque_meas.min = 0;
|
||||
toyota_torque_meas.max = 0;
|
||||
toyota_desired_torque_last = 0;
|
||||
toyota_rt_torque_last = 0;
|
||||
toyota_ts_last = 0;
|
||||
set_timer(0);
|
||||
}
|
||||
|
||||
|
||||
@@ -41,9 +41,9 @@ class TestToyotaSafety(unittest.TestCase):
|
||||
cls.safety.init_tests_toyota()
|
||||
|
||||
def _set_prev_torque(self, t):
|
||||
self.safety.set_desired_torque_last(t)
|
||||
self.safety.set_rt_torque_last(t)
|
||||
self.safety.set_torque_meas(t, t)
|
||||
self.safety.set_toyota_desired_torque_last(t)
|
||||
self.safety.set_toyota_rt_torque_last(t)
|
||||
self.safety.set_toyota_torque_meas(t, t)
|
||||
|
||||
def _torque_meas_msg(self, torque):
|
||||
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
||||
@@ -158,9 +158,9 @@ class TestToyotaSafety(unittest.TestCase):
|
||||
for controls_allowed in [True, False]:
|
||||
for torque in np.arange(-MAX_TORQUE - 1000, MAX_TORQUE + 1000, MAX_RATE_UP):
|
||||
self.safety.set_controls_allowed(controls_allowed)
|
||||
self.safety.set_rt_torque_last(torque)
|
||||
self.safety.set_torque_meas(torque, torque)
|
||||
self.safety.set_desired_torque_last(torque - MAX_RATE_UP)
|
||||
self.safety.set_toyota_rt_torque_last(torque)
|
||||
self.safety.set_toyota_torque_meas(torque, torque)
|
||||
self.safety.set_toyota_desired_torque_last(torque - MAX_RATE_UP)
|
||||
|
||||
if controls_allowed:
|
||||
send = (-MAX_TORQUE <= torque <= MAX_TORQUE)
|
||||
@@ -181,14 +181,14 @@ class TestToyotaSafety(unittest.TestCase):
|
||||
def test_non_realtime_limit_down(self):
|
||||
self.safety.set_controls_allowed(True)
|
||||
|
||||
self.safety.set_rt_torque_last(1000)
|
||||
self.safety.set_torque_meas(500, 500)
|
||||
self.safety.set_desired_torque_last(1000)
|
||||
self.safety.set_toyota_rt_torque_last(1000)
|
||||
self.safety.set_toyota_torque_meas(500, 500)
|
||||
self.safety.set_toyota_desired_torque_last(1000)
|
||||
self.assertTrue(self.safety.toyota_tx_hook(self._torque_msg(1000 - MAX_RATE_DOWN)))
|
||||
|
||||
self.safety.set_rt_torque_last(1000)
|
||||
self.safety.set_torque_meas(500, 500)
|
||||
self.safety.set_desired_torque_last(1000)
|
||||
self.safety.set_toyota_rt_torque_last(1000)
|
||||
self.safety.set_toyota_torque_meas(500, 500)
|
||||
self.safety.set_toyota_desired_torque_last(1000)
|
||||
self.assertFalse(self.safety.toyota_tx_hook(self._torque_msg(1000 - MAX_RATE_DOWN + 1)))
|
||||
|
||||
def test_exceed_torque_sensor(self):
|
||||
@@ -210,14 +210,14 @@ class TestToyotaSafety(unittest.TestCase):
|
||||
self._set_prev_torque(0)
|
||||
for t in np.arange(0, 380, 10):
|
||||
t *= sign
|
||||
self.safety.set_torque_meas(t, t)
|
||||
self.safety.set_toyota_torque_meas(t, t)
|
||||
self.assertTrue(self.safety.toyota_tx_hook(self._torque_msg(t)))
|
||||
self.assertFalse(self.safety.toyota_tx_hook(self._torque_msg(sign * 380)))
|
||||
|
||||
self._set_prev_torque(0)
|
||||
for t in np.arange(0, 370, 10):
|
||||
t *= sign
|
||||
self.safety.set_torque_meas(t, t)
|
||||
self.safety.set_toyota_torque_meas(t, t)
|
||||
self.assertTrue(self.safety.toyota_tx_hook(self._torque_msg(t)))
|
||||
|
||||
# Increase timer to update rt_torque_last
|
||||
@@ -233,16 +233,16 @@ class TestToyotaSafety(unittest.TestCase):
|
||||
self.safety.toyota_rx_hook(self._torque_meas_msg(0))
|
||||
self.safety.toyota_rx_hook(self._torque_meas_msg(0))
|
||||
|
||||
self.assertEqual(-51, self.safety.get_torque_meas_min())
|
||||
self.assertEqual(51, self.safety.get_torque_meas_max())
|
||||
self.assertEqual(-51, self.safety.get_toyota_torque_meas_min())
|
||||
self.assertEqual(51, self.safety.get_toyota_torque_meas_max())
|
||||
|
||||
self.safety.toyota_rx_hook(self._torque_meas_msg(0))
|
||||
self.assertEqual(-1, self.safety.get_torque_meas_max())
|
||||
self.assertEqual(-51, self.safety.get_torque_meas_min())
|
||||
self.assertEqual(-1, self.safety.get_toyota_torque_meas_max())
|
||||
self.assertEqual(-51, self.safety.get_toyota_torque_meas_min())
|
||||
|
||||
self.safety.toyota_rx_hook(self._torque_meas_msg(0))
|
||||
self.assertEqual(-1, self.safety.get_torque_meas_max())
|
||||
self.assertEqual(-1, self.safety.get_torque_meas_min())
|
||||
self.assertEqual(-1, self.safety.get_toyota_torque_meas_max())
|
||||
self.assertEqual(-1, self.safety.get_toyota_torque_meas_min())
|
||||
|
||||
def test_ipas_override(self):
|
||||
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
Cython==0.24.1
|
||||
Cython==0.27.3
|
||||
bitstring==3.1.5
|
||||
fastcluster==1.1.21
|
||||
fastcluster==1.1.20
|
||||
libusb1==1.5.0
|
||||
pycapnp==0.6.3
|
||||
pyzmq==15.4.0
|
||||
@@ -9,11 +9,11 @@ requests==2.10.0
|
||||
setproctitle==1.1.10
|
||||
simplejson==3.8.2
|
||||
pyyaml==3.12
|
||||
cffi==1.7.0
|
||||
enum34==1.1.1
|
||||
cffi==1.11.5
|
||||
enum34==1.1.6
|
||||
sympy==1.1.1
|
||||
filterpy==1.0.0
|
||||
filterpy==1.2.4
|
||||
smbus2==0.2.0
|
||||
pyflakes==1.5.0
|
||||
pyflakes==1.6.0
|
||||
-e git+https://github.com/commaai/le_python.git@5eef8f5be5929d33973e1b10e686fa0cdcd6792f#egg=Logentries
|
||||
Flask==1.0.1
|
||||
Flask==1.0.2
|
||||
|
||||
BIN
selfdrive/assets/img_driver_face.png
Normal file
BIN
selfdrive/assets/img_driver_face.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 24 KiB |
@@ -60,10 +60,19 @@ struct Msg {
|
||||
const Signal *sigs;
|
||||
};
|
||||
|
||||
struct Val {
|
||||
const char* name;
|
||||
uint32_t address;
|
||||
const char* def_val;
|
||||
const Signal *sigs;
|
||||
};
|
||||
|
||||
struct DBC {
|
||||
const char* name;
|
||||
size_t num_msgs;
|
||||
const Msg *msgs;
|
||||
const Val *vals;
|
||||
size_t num_vals;
|
||||
};
|
||||
|
||||
const DBC* dbc_lookup(const std::string& dbc_name);
|
||||
|
||||
@@ -48,12 +48,28 @@ const Msg msgs[] = {
|
||||
{% endfor %}
|
||||
};
|
||||
|
||||
const Val vals[] = {
|
||||
{% for address, sig in def_vals %}
|
||||
{% for sg_name, def_val in sig %}
|
||||
{% set address_hex = "0x%X" % address %}
|
||||
{
|
||||
.name = "{{sg_name}}",
|
||||
.address = {{address_hex}},
|
||||
.def_val = {{def_val}},
|
||||
.sigs = sigs_{{address}},
|
||||
},
|
||||
{% endfor %}
|
||||
{% endfor %}
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
const DBC {{dbc.name}} = {
|
||||
.name = "{{dbc.name}}",
|
||||
.num_msgs = ARRAYSIZE(msgs),
|
||||
.msgs = msgs,
|
||||
.vals = vals,
|
||||
.num_vals = ARRAYSIZE(vals),
|
||||
};
|
||||
|
||||
dbc_init({{dbc.name}})
|
||||
|
||||
@@ -57,10 +57,19 @@ typedef struct {
|
||||
const Signal *sigs;
|
||||
} Msg;
|
||||
|
||||
typedef struct {
|
||||
const char* name;
|
||||
uint32_t address;
|
||||
const char* def_val;
|
||||
const Signal *sigs;
|
||||
} Val;
|
||||
|
||||
typedef struct {
|
||||
const char* name;
|
||||
size_t num_msgs;
|
||||
const Msg *msgs;
|
||||
const Val *vals;
|
||||
size_t num_vals;
|
||||
} DBC;
|
||||
|
||||
|
||||
|
||||
@@ -13,9 +13,25 @@
|
||||
|
||||
namespace {
|
||||
|
||||
// this is the same as read_u64_le, but uses uint64_t as in/out
|
||||
uint64_t ReverseBytes(uint64_t x) {
|
||||
return ((x & 0xff00000000000000ull) >> 56) |
|
||||
((x & 0x00ff000000000000ull) >> 40) |
|
||||
((x & 0x0000ff0000000000ull) >> 24) |
|
||||
((x & 0x000000ff00000000ull) >> 8) |
|
||||
((x & 0x00000000ff000000ull) << 8) |
|
||||
((x & 0x0000000000ff0000ull) << 24) |
|
||||
((x & 0x000000000000ff00ull) << 40) |
|
||||
((x & 0x00000000000000ffull) << 56);
|
||||
}
|
||||
|
||||
uint64_t set_value(uint64_t ret, Signal sig, int64_t ival){
|
||||
uint64_t mask = ((1ULL << sig.b2)-1) << sig.bo;
|
||||
uint64_t dat = (ival & ((1ULL << sig.b2)-1)) << sig.bo;
|
||||
int shift = sig.is_little_endian? sig.b1 : sig.bo;
|
||||
uint64_t mask = ((1ULL << sig.b2)-1) << shift;
|
||||
uint64_t dat = (ival & ((1ULL << sig.b2)-1)) << shift;
|
||||
if (sig.is_little_endian) {
|
||||
dat = ReverseBytes(dat);
|
||||
}
|
||||
ret &= ~mask;
|
||||
ret |= dat;
|
||||
return ret;
|
||||
|
||||
@@ -46,9 +46,17 @@ class CANPacker(object):
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
cp = CANPacker("honda_civic_touring_2016_can_generated")
|
||||
s = cp.pack_bytes(0x30c, [
|
||||
("PCM_SPEED", 123),
|
||||
("PCM_GAS", 10),
|
||||
])
|
||||
## little endian test
|
||||
cp = CANPacker("hyundai_2015_ccan")
|
||||
s = cp.pack_bytes(0x340, {
|
||||
"CR_Lkas_StrToqReq": -0.06,
|
||||
"CF_Lkas_FcwBasReq": 1,
|
||||
"CF_Lkas_Chksum": 3,
|
||||
})
|
||||
# big endian test
|
||||
#cp = CANPacker("honda_civic_touring_2016_can_generated")
|
||||
#s = cp.pack_bytes(0xe4, {
|
||||
# "STEER_TORQUE": -2,
|
||||
#})
|
||||
print [hex(ord(v)) for v in s[1]]
|
||||
print(s[1].encode("hex"))
|
||||
|
||||
@@ -93,6 +93,44 @@ class CANParser(object):
|
||||
libdbc.can_update(self.can, sec, wait)
|
||||
return self.update_vl(sec)
|
||||
|
||||
class CANDefine(object):
|
||||
def __init__(self, dbc_name):
|
||||
self.dv = defaultdict(dict)
|
||||
self.dbc_name = dbc_name
|
||||
self.dbc = libdbc.dbc_lookup(dbc_name)
|
||||
|
||||
num_vals = self.dbc[0].num_vals
|
||||
|
||||
self.address_to_msg_name = {}
|
||||
num_msgs = self.dbc[0].num_msgs
|
||||
for i in range(num_msgs):
|
||||
msg = self.dbc[0].msgs[i]
|
||||
name = ffi.string(msg.name)
|
||||
address = msg.address
|
||||
self.address_to_msg_name[address] = name
|
||||
|
||||
for i in range(num_vals):
|
||||
val = self.dbc[0].vals[i]
|
||||
|
||||
sgname = ffi.string(val.name)
|
||||
address = val.address
|
||||
def_val = ffi.string(val.def_val)
|
||||
|
||||
#separate definition/value pairs
|
||||
def_val = def_val.split()
|
||||
values = [int(v) for v in def_val[::2]]
|
||||
defs = def_val[1::2]
|
||||
|
||||
if address not in self.dv:
|
||||
self.dv[address] = {}
|
||||
msgname = self.address_to_msg_name[address]
|
||||
self.dv[msgname] = {}
|
||||
|
||||
# two ways to lookup: address or msg name
|
||||
self.dv[address][sgname] = {v: d for v, d in zip(values, defs)} #build dict
|
||||
self.dv[msgname][sgname] = self.dv[address][sgname]
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
from common.realtime import sec_since_boot
|
||||
|
||||
|
||||
@@ -24,6 +24,9 @@ with open(template_fn, "r") as template_f:
|
||||
msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM"))) # process counter and checksums first
|
||||
for address, ((msg_name, msg_size), msg_sigs) in sorted(can_dbc.msgs.iteritems()) if msg_sigs]
|
||||
|
||||
def_vals = {a: set(b) for a,b in can_dbc.def_vals.items()} #remove duplicates
|
||||
def_vals = [(address, sig) for address, sig in sorted(def_vals.iteritems())]
|
||||
|
||||
if can_dbc.name.startswith("honda") or can_dbc.name.startswith("acura"):
|
||||
checksum_type = "honda"
|
||||
checksum_size = 4
|
||||
@@ -55,7 +58,7 @@ for name, count in c.items():
|
||||
if count > 1:
|
||||
sys.exit("Duplicate message name in DBC file %s" % name)
|
||||
|
||||
parser_code = template.render(dbc=can_dbc, checksum_type=checksum_type, msgs=msgs, len=len)
|
||||
parser_code = template.render(dbc=can_dbc, checksum_type=checksum_type, msgs=msgs, def_vals=def_vals, len=len)
|
||||
|
||||
with open(out_fn, "w") as out_f:
|
||||
out_f.write(parser_code)
|
||||
|
||||
@@ -6,21 +6,6 @@ import numpy as np
|
||||
|
||||
WHEEL_RADIUS = 0.33
|
||||
|
||||
def parse_gear_shifter(can_gear, car_fingerprint):
|
||||
# TODO: Use values from DBC to parse this field
|
||||
if can_gear == 0x0:
|
||||
return "park"
|
||||
elif can_gear == 0x1:
|
||||
return "reverse"
|
||||
elif can_gear == 0x2:
|
||||
return "neutral"
|
||||
elif can_gear == 0x3:
|
||||
return "drive"
|
||||
elif can_gear == 0x4:
|
||||
return "brake"
|
||||
return "unknown"
|
||||
|
||||
|
||||
def get_can_parser(CP):
|
||||
|
||||
signals = [
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
#!/usr/bin/env python
|
||||
from common.realtime import sec_since_boot
|
||||
from cereal import car
|
||||
from cereal import car, log
|
||||
from selfdrive.swaglog import cloudlog
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
|
||||
@@ -209,7 +209,7 @@ class CarInterface(object):
|
||||
|
||||
# pass in a car.CarControl
|
||||
# to be called @ 100hz
|
||||
def apply(self, c):
|
||||
def apply(self, c, perception_state=log.Live20Data.new_message()):
|
||||
|
||||
self.CC.update(self.sendcan, c.enabled, self.CS, self.frame, c.actuators,
|
||||
c.hudControl.visualAlert, c.cruiseControl.cancel)
|
||||
|
||||
@@ -4,7 +4,8 @@ from common.kalman.simple_kalman import KF1D
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.can.parser import CANParser
|
||||
from selfdrive.car.gm.values import DBC, CAR, parse_gear_shifter, \
|
||||
CruiseButtons, is_eps_status_ok
|
||||
CruiseButtons, is_eps_status_ok, \
|
||||
STEER_THRESHOLD
|
||||
|
||||
def get_powertrain_can_parser(CP, canbus):
|
||||
# this function generates lists for signal, messages and initial values
|
||||
@@ -91,7 +92,7 @@ class CarState(object):
|
||||
self.user_gas_pressed = self.pedal_gas > 0
|
||||
|
||||
self.steer_torque_driver = pt_cp.vl["PSCMStatus"]['LKADriverAppldTrq']
|
||||
self.steer_override = abs(self.steer_torque_driver) > 1.0
|
||||
self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD
|
||||
|
||||
# 0 - inactive, 1 - active, 2 - temporary limited, 3 - failed
|
||||
self.lkas_status = pt_cp.vl["PSCMStatus"]['LKATorqueDeliveredStatus']
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
#!/usr/bin/env python
|
||||
from cereal import car
|
||||
from cereal import car, log
|
||||
from common.realtime import sec_since_boot
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
|
||||
@@ -308,7 +308,7 @@ class CarInterface(object):
|
||||
|
||||
# pass in a car.CarControl
|
||||
# to be called @ 100hz
|
||||
def apply(self, c):
|
||||
def apply(self, c, perception_state=log.Live20Data.new_message()):
|
||||
hud_v_cruise = c.hudControl.setSpeed
|
||||
if hud_v_cruise > 70:
|
||||
hud_v_cruise = 0
|
||||
|
||||
@@ -47,6 +47,7 @@ FINGERPRINTS = {
|
||||
}],
|
||||
}
|
||||
|
||||
STEER_THRESHOLD = 1.0
|
||||
|
||||
DBC = {
|
||||
CAR.VOLT: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
|
||||
|
||||
@@ -1,3 +1,4 @@
|
||||
from cereal import car
|
||||
from collections import namedtuple
|
||||
from selfdrive.boardd.boardd import can_list_to_can_capnp
|
||||
from selfdrive.controls.lib.drive_helpers import rate_limit
|
||||
@@ -61,11 +62,12 @@ class CarController(object):
|
||||
self.brake_last = 0.
|
||||
self.enable_camera = enable_camera
|
||||
self.packer = CANPacker(dbc_name)
|
||||
self.new_radar_config = False
|
||||
|
||||
def update(self, sendcan, enabled, CS, frame, actuators, \
|
||||
pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel, \
|
||||
hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert, \
|
||||
snd_beep, snd_chime):
|
||||
radar_error, hud_v_cruise, hud_show_lanes, hud_show_car, \
|
||||
hud_alert, snd_beep, snd_chime):
|
||||
|
||||
""" Controls thread """
|
||||
|
||||
@@ -167,6 +169,8 @@ class CarController(object):
|
||||
|
||||
if (frame % radar_send_step) == 0:
|
||||
idx = (frame/radar_send_step) % 4
|
||||
can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.CP.carFingerprint, idx))
|
||||
if not self.new_radar_config: # only change state once
|
||||
self.new_radar_config = car.RadarState.Error.wrongConfig in radar_error
|
||||
can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.CP.carFingerprint, self.new_radar_config, idx))
|
||||
|
||||
sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())
|
||||
|
||||
@@ -1,48 +1,17 @@
|
||||
from common.numpy_fast import interp
|
||||
from common.kalman.simple_kalman import KF1D
|
||||
from selfdrive.can.parser import CANParser
|
||||
from selfdrive.can.parser import CANParser, CANDefine
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.car.honda.values import CAR, DBC
|
||||
from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR
|
||||
|
||||
def parse_gear_shifter(can_gear_shifter, car_fingerprint):
|
||||
def parse_gear_shifter(gear, vals):
|
||||
|
||||
# TODO: Use VAL from DBC to parse this field
|
||||
if car_fingerprint in (CAR.ACURA_ILX, CAR.ODYSSEY):
|
||||
if can_gear_shifter == 0x1:
|
||||
return "park"
|
||||
elif can_gear_shifter == 0x2:
|
||||
return "reverse"
|
||||
elif can_gear_shifter == 0x3:
|
||||
return "neutral"
|
||||
elif can_gear_shifter == 0x4:
|
||||
return "drive"
|
||||
elif can_gear_shifter == 0xa:
|
||||
return "sport"
|
||||
elif car_fingerprint in (CAR.CIVIC, CAR.CRV, CAR.ACURA_RDX, CAR.CRV_5G, CAR.CIVIC_HATCH):
|
||||
if can_gear_shifter == 0x1:
|
||||
return "park"
|
||||
elif can_gear_shifter == 0x2:
|
||||
return "reverse"
|
||||
elif can_gear_shifter == 0x4:
|
||||
return "neutral"
|
||||
elif can_gear_shifter == 0x8:
|
||||
return "drive"
|
||||
elif can_gear_shifter == 0x10:
|
||||
return "sport"
|
||||
elif can_gear_shifter == 0x20:
|
||||
return "low"
|
||||
|
||||
elif car_fingerprint in (CAR.ACCORD, CAR.PILOT, CAR.RIDGELINE):
|
||||
if can_gear_shifter == 0x8:
|
||||
return "reverse"
|
||||
elif can_gear_shifter == 0x4:
|
||||
return "park"
|
||||
elif can_gear_shifter == 0x20:
|
||||
return "drive"
|
||||
elif can_gear_shifter == 0x2:
|
||||
return "sport"
|
||||
|
||||
return "unknown"
|
||||
val_to_capnp = {'P': 'park', 'R': 'reverse', 'N': 'neutral',
|
||||
'D': 'drive', 'S': 'sport', 'L': 'low'}
|
||||
try:
|
||||
return val_to_capnp[vals[gear]]
|
||||
except KeyError:
|
||||
return "unknown"
|
||||
|
||||
|
||||
def calc_cruise_offset(offset, speed):
|
||||
@@ -119,7 +88,7 @@ def get_can_signals(CP):
|
||||
("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS", 0)]
|
||||
checks += [("CRUISE_PARAMS", 50)]
|
||||
|
||||
if CP.carFingerprint == CAR.ACCORD:
|
||||
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15):
|
||||
signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
|
||||
else:
|
||||
signals += [("DOOR_OPEN_FL", "DOORS_STATUS", 1),
|
||||
@@ -168,6 +137,8 @@ def get_can_parser(CP):
|
||||
class CarState(object):
|
||||
def __init__(self, CP):
|
||||
self.CP = CP
|
||||
self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
|
||||
self.shifter_values = self.can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
|
||||
|
||||
self.user_gas, self.user_gas_pressed = 0., 0
|
||||
self.brake_switch_prev = 0
|
||||
@@ -212,7 +183,7 @@ class CarState(object):
|
||||
|
||||
# ******************* parse out can *******************
|
||||
|
||||
if self.CP.carFingerprint == CAR.ACCORD: # TODO: find wheels moving bit in dbc
|
||||
if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15): # TODO: find wheels moving bit in dbc
|
||||
self.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
|
||||
self.door_all_closed = not cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN']
|
||||
else:
|
||||
@@ -230,15 +201,17 @@ class CarState(object):
|
||||
self.esp_disabled = cp.vl["VSA_STATUS"]['ESP_DISABLED']
|
||||
|
||||
# calc best v_ego estimate, by averaging two opposite corners
|
||||
self.v_wheel_fl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FL'] * CV.KPH_TO_MS
|
||||
self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS
|
||||
self.v_wheel_rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS
|
||||
self.v_wheel_rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS
|
||||
speed_factor = SPEED_FACTOR[self.CP.carFingerprint]
|
||||
self.v_wheel_fl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FL'] * CV.KPH_TO_MS * speed_factor
|
||||
self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS * speed_factor
|
||||
self.v_wheel_rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS * speed_factor
|
||||
self.v_wheel_rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS * speed_factor
|
||||
self.v_wheel = (self.v_wheel_fl+self.v_wheel_fr+self.v_wheel_rl+self.v_wheel_rr)/4.
|
||||
|
||||
# blend in transmission speed at low speed, since it has more low speed accuracy
|
||||
self.v_weight = interp(self.v_wheel, v_weight_bp, v_weight_v)
|
||||
speed = (1. - self.v_weight) * cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] * CV.KPH_TO_MS + self.v_weight * self.v_wheel
|
||||
speed = (1. - self.v_weight) * cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] * CV.KPH_TO_MS * speed_factor + \
|
||||
self.v_weight * self.v_wheel
|
||||
|
||||
if abs(speed - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed
|
||||
self.v_ego_x = [[speed], [0.0]]
|
||||
@@ -254,7 +227,6 @@ class CarState(object):
|
||||
self.user_gas = cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS']
|
||||
self.user_gas_pressed = self.user_gas > 0 # this works because interceptor read < 0 when pedal position is 0. Once calibrated, this will change
|
||||
|
||||
can_gear_shifter = cp.vl["GEARBOX"]['GEAR_SHIFTER']
|
||||
self.gear = 0 if self.CP.carFingerprint == CAR.CIVIC else cp.vl["GEARBOX"]['GEAR']
|
||||
self.angle_steers = cp.vl["STEERING_SENSORS"]['STEER_ANGLE']
|
||||
self.angle_steers_rate = cp.vl["STEERING_SENSORS"]['STEER_ANGLE_RATE']
|
||||
@@ -266,7 +238,7 @@ class CarState(object):
|
||||
self.left_blinker_on = cp.vl["SCM_FEEDBACK"]['LEFT_BLINKER']
|
||||
self.right_blinker_on = cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER']
|
||||
|
||||
if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.CIVIC_HATCH):
|
||||
if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.CIVIC_HATCH):
|
||||
self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0
|
||||
self.brake_hold = cp.vl["VSA_STATUS"]['BRAKE_HOLD_ACTIVE']
|
||||
self.main_on = cp.vl["SCM_FEEDBACK"]['MAIN_ON']
|
||||
@@ -275,7 +247,8 @@ class CarState(object):
|
||||
self.brake_hold = 0 # TODO
|
||||
self.main_on = cp.vl["SCM_BUTTONS"]['MAIN_ON']
|
||||
|
||||
self.gear_shifter = parse_gear_shifter(can_gear_shifter, self.CP.carFingerprint)
|
||||
can_gear_shifter = int(cp.vl["GEARBOX"]['GEAR_SHIFTER'])
|
||||
self.gear_shifter = parse_gear_shifter(can_gear_shifter, self.shifter_values)
|
||||
|
||||
self.pedal_gas = cp.vl["POWERTRAIN_DATA"]['PEDAL_GAS']
|
||||
# crv doesn't include cruise control
|
||||
@@ -284,10 +257,8 @@ class CarState(object):
|
||||
else:
|
||||
self.car_gas = cp.vl["GAS_PEDAL_2"]['CAR_GAS']
|
||||
|
||||
#rdx has different steer override threshold
|
||||
steer_thrsld = 400 if self.CP.carFingerprint == CAR.ACURA_RDX else 1200
|
||||
self.steer_override = abs(cp.vl["STEER_STATUS"]['STEER_TORQUE_SENSOR']) > steer_thrsld
|
||||
self.steer_torque_driver = cp.vl["STEER_STATUS"]['STEER_TORQUE_SENSOR']
|
||||
self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD[self.CP.carFingerprint]
|
||||
|
||||
self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
|
||||
|
||||
|
||||
@@ -2,7 +2,7 @@ import struct
|
||||
|
||||
import common.numpy_fast as np
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.car.honda.values import CAR
|
||||
from selfdrive.car.honda.values import CAR, HONDA_BOSCH
|
||||
|
||||
# *** Honda specific ***
|
||||
def can_cksum(mm):
|
||||
@@ -70,7 +70,7 @@ def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, i
|
||||
"STEER_TORQUE_REQUEST": lkas_active,
|
||||
}
|
||||
# Set bus 2 for accord and new crv.
|
||||
bus = 2 if car_fingerprint in (CAR.CRV_5G, CAR.ACCORD, CAR.CIVIC_HATCH) else 0
|
||||
bus = 2 if car_fingerprint in HONDA_BOSCH else 0
|
||||
return packer.make_can_msg("STEERING_CONTROL", bus, values, idx)
|
||||
|
||||
|
||||
@@ -80,7 +80,7 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, idx):
|
||||
bus = 0
|
||||
|
||||
# Bosch sends commands to bus 2.
|
||||
if car_fingerprint in (CAR.CRV_5G, CAR.ACCORD, CAR.CIVIC_HATCH):
|
||||
if car_fingerprint in HONDA_BOSCH:
|
||||
bus = 2
|
||||
else:
|
||||
acc_hud_values = {
|
||||
@@ -117,7 +117,7 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, idx):
|
||||
return commands
|
||||
|
||||
|
||||
def create_radar_commands(v_ego, car_fingerprint, idx):
|
||||
def create_radar_commands(v_ego, car_fingerprint, new_radar_config, idx):
|
||||
"""Creates an iterable of CAN messages for the radar system."""
|
||||
commands = []
|
||||
v_ego_kph = np.clip(int(round(v_ego * CV.MS_TO_KPH)), 0, 255)
|
||||
@@ -129,7 +129,8 @@ def create_radar_commands(v_ego, car_fingerprint, idx):
|
||||
|
||||
if car_fingerprint == CAR.CIVIC:
|
||||
msg_0x301 = "\x02\x38\x44\x32\x4f\x00\x00"
|
||||
commands.append(make_can_msg(0x300, msg_0x300, idx + 8, 1)) # add 8 on idx.
|
||||
idx_offset = 0xc if new_radar_config else 0x8 # radar in civic 2018 requires 0xc
|
||||
commands.append(make_can_msg(0x300, msg_0x300, idx + idx_offset, 1))
|
||||
else:
|
||||
if car_fingerprint == CAR.CRV:
|
||||
msg_0x301 = "\x00\x00\x50\x02\x51\x00\x00"
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
#!/usr/bin/env python
|
||||
import os
|
||||
import numpy as np
|
||||
from cereal import car
|
||||
from cereal import car, log
|
||||
from common.numpy_fast import clip, interp
|
||||
from common.realtime import sec_since_boot
|
||||
from selfdrive.swaglog import cloudlog
|
||||
@@ -204,7 +204,7 @@ class CarInterface(object):
|
||||
ret.longitudinalKiBP = [0., 35.]
|
||||
ret.longitudinalKiV = [0.18, 0.12]
|
||||
|
||||
elif candidate == CAR.ACCORD:
|
||||
elif candidate in (CAR.ACCORD, CAR.ACCORD_15):
|
||||
stop_and_go = True
|
||||
ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
|
||||
ret.mass = 3279. * CV.LB_TO_KG + std_cargo
|
||||
@@ -500,7 +500,7 @@ class CarInterface(object):
|
||||
events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
|
||||
if ret.gearShifter == 'reverse':
|
||||
events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
|
||||
if self.CS.brake_hold:
|
||||
if self.CS.brake_hold and self.CS.CP.carFingerprint not in HONDA_BOSCH:
|
||||
events.append(create_event('brakeHold', [ET.NO_ENTRY, ET.USER_DISABLE]))
|
||||
if self.CS.park_brake:
|
||||
events.append(create_event('parkBrake', [ET.NO_ENTRY, ET.USER_DISABLE]))
|
||||
@@ -567,7 +567,7 @@ class CarInterface(object):
|
||||
|
||||
# pass in a car.CarControl
|
||||
# to be called @ 100hz
|
||||
def apply(self, c):
|
||||
def apply(self, c, perception_state=log.Live20Data.new_message()):
|
||||
if c.hudControl.speedVisible:
|
||||
hud_v_cruise = c.hudControl.setSpeed * CV.MS_TO_KPH
|
||||
else:
|
||||
@@ -600,6 +600,7 @@ class CarInterface(object):
|
||||
c.cruiseControl.override, \
|
||||
c.cruiseControl.cancel, \
|
||||
pcm_accel, \
|
||||
perception_state.radarErrors, \
|
||||
hud_v_cruise, c.hudControl.lanesVisible, \
|
||||
hud_show_car = c.hudControl.leadVisible, \
|
||||
hud_alert = hud_alert, \
|
||||
|
||||
@@ -28,6 +28,7 @@ class RadarInterface(object):
|
||||
self.pts = {}
|
||||
self.track_id = 0
|
||||
self.radar_fault = False
|
||||
self.radar_wrong_config = False
|
||||
self.radar_off_can = CP.radarOffCan
|
||||
|
||||
self.delay = 0.1 # Delay of radar
|
||||
@@ -61,6 +62,7 @@ class RadarInterface(object):
|
||||
if ii == 0x400:
|
||||
# check for radar faults
|
||||
self.radar_fault = cpt['RADAR_STATE'] != 0x79
|
||||
self.radar_wrong_config = cpt['RADAR_STATE'] == 0x69
|
||||
elif cpt['LONG_DIST'] < 255:
|
||||
if ii not in self.pts or cpt['NEW_TRACK']:
|
||||
self.pts[ii] = car.RadarState.RadarPoint.new_message()
|
||||
@@ -81,6 +83,8 @@ class RadarInterface(object):
|
||||
errors.append("commIssue")
|
||||
if self.radar_fault:
|
||||
errors.append("fault")
|
||||
if self.radar_wrong_config:
|
||||
errors.append("wrongConfig")
|
||||
ret.errors = errors
|
||||
ret.canMonoTimes = canMonoTimes
|
||||
|
||||
|
||||
@@ -38,6 +38,7 @@ class AH:
|
||||
|
||||
class CAR:
|
||||
ACCORD = "HONDA ACCORD 2018 SPORT 2T"
|
||||
ACCORD_15 = "HONDA ACCORD 2018 LX 1.5T"
|
||||
CIVIC = "HONDA CIVIC 2016 TOURING"
|
||||
CIVIC_HATCH = "HONDA CIVIC HATCHBACK 2017 EX"
|
||||
ACURA_ILX = "ACURA ILX 2016 ACURAWATCH PLUS"
|
||||
@@ -53,49 +54,50 @@ FINGERPRINTS = {
|
||||
CAR.ACCORD: [{
|
||||
148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 525: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
|
||||
}],
|
||||
CAR.ACCORD_15: [{
|
||||
148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
|
||||
}],
|
||||
CAR.ACURA_ILX: [{
|
||||
1024: 5, 513: 6, 1027: 5, 1029: 8, 929: 4, 1057: 5, 777: 8, 1034: 5, 1036: 8, 398: 3, 399: 7, 145: 8, 660: 8, 985: 3, 923: 2, 542: 7, 773: 7, 800: 8, 432: 7, 419: 8, 420: 8, 1030: 5, 422: 8, 808: 8, 428: 8, 304: 8, 819: 7, 821: 5, 57: 3, 316: 8, 545: 4, 464: 8, 1108: 8, 597: 8, 342: 6, 983: 8, 344: 8, 804: 8, 1039: 8, 476: 4, 892: 8, 490: 8, 1064: 7, 882: 2, 884: 7, 887: 8, 888: 8, 380: 8, 1365: 5,
|
||||
# sent messages
|
||||
0xe4: 5, 0x1fa: 8, 0x200: 6, 0x30c: 8, 0x33d: 5,
|
||||
}],
|
||||
57: 3, 145: 8, 228: 5, 304: 8, 316: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 7, 419: 8, 420: 8, 422: 8, 428: 8, 432: 7, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 882: 2, 884: 7, 887: 8, 888: 8, 892: 8, 923: 2, 929: 4, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1030: 5, 1034: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1365: 5,
|
||||
}],
|
||||
# Acura RDX w/ Added Comma Pedal Support (512L & 513L)
|
||||
CAR.ACURA_RDX: [{
|
||||
57: 3, 145: 8, 229: 4, 308: 5, 316: 8, 342: 6, 344: 8, 380: 8, 392: 6, 398: 3, 399: 6, 404: 4, 420: 8, 422: 8, 426: 8, 432: 7, 464: 8, 474: 5, 476: 4, 487: 4, 490: 8, 506: 8, 542: 7, 545: 4, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 882: 2, 884: 7, 887: 8, 888: 8, 892: 8, 923: 2, 929: 4, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1033: 5, 1034: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1365: 5, 1424: 5, 1729: 1
|
||||
}],
|
||||
57: 3, 145: 8, 229: 4, 308: 5, 316: 8, 342: 6, 344: 8, 380: 8, 392: 6, 398: 3, 399: 6, 404: 4, 420: 8, 422: 8, 426: 8, 432: 7, 464: 8, 474: 5, 476: 4, 487: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 882: 2, 884: 7, 887: 8, 888: 8, 892: 8, 923: 2, 929: 4, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1033: 5, 1034: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1365: 5, 1424: 5, 1729: 1
|
||||
}],
|
||||
CAR.CIVIC: [{
|
||||
1024: 5, 513: 6, 1027: 5, 1029: 8, 777: 8, 1036: 8, 1039: 8, 1424: 5, 401: 8, 148: 8, 662: 4, 985: 3, 795: 8, 773: 7, 800: 8, 545: 6, 420: 8, 806: 8, 808: 8, 1322: 5, 427: 3, 428: 8, 304: 8, 432: 7, 57: 3, 450: 8, 929: 8, 330: 8, 1302: 8, 464: 8, 1361: 5, 1108: 8, 597: 8, 470: 2, 344: 8, 804: 8, 399: 7, 476: 7, 1633: 8, 487: 4, 892: 8, 490: 8, 493: 5, 884: 8, 891: 8, 380: 8, 1365: 5,
|
||||
# sent messages
|
||||
0xe4: 5, 0x1fa: 8, 0x200: 6, 0x30c: 8, 0x33d: 5, 0x35e: 8, 0x39f: 8,
|
||||
}],
|
||||
57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 428: 8, 432: 7, 450: 8, 464: 8, 470: 2, 476: 7, 487: 4, 490: 8, 493: 5, 506: 8, 512: 6, 513: 6, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 892: 8, 927: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1633: 8,
|
||||
}],
|
||||
CAR.CIVIC_HATCH: [{
|
||||
57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 892: 8, 927: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1633: 8
|
||||
}],
|
||||
57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 892: 8, 927: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1633: 8
|
||||
}],
|
||||
CAR.CRV: [{
|
||||
57: 3, 145: 8, 316: 8, 340: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 6, 401: 8, 420: 8, 422: 8, 426: 8, 432: 7, 464: 8, 474: 5, 476: 4, 487: 4, 490: 8, 493: 3, 507: 1, 542: 7, 545: 4, 597: 8, 660: 8, 661: 4, 773: 7, 777: 8, 800: 8, 804: 8, 808: 8, 882: 2, 884: 7, 888: 8, 891: 8, 892: 8, 923: 2, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1033: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1125: 8, 1296: 8, 1365: 5, 1424: 5, 1600: 5, 1601: 8,
|
||||
# sent messages
|
||||
0x194: 4, 0x1fa: 8, 0x30c: 8, 0x33d: 5,
|
||||
}],
|
||||
57: 3, 145: 8, 316: 8, 340: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 6, 401: 8, 404: 4, 420: 8, 422: 8, 426: 8, 432: 7, 464: 8, 474: 5, 476: 4, 487: 4, 490: 8, 493: 3, 506: 8, 507: 1, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 661: 4, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 829: 5, 882: 2, 884: 7, 888: 8, 891: 8, 892: 8, 923: 2, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1033: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1125: 8, 1296: 8, 1365: 5, 1424: 5, 1600: 5, 1601: 8,
|
||||
}],
|
||||
CAR.CRV_5G: [{
|
||||
57: 3, 148: 8, 199: 4, 228: 5, 231: 5, 232: 7, 304: 8, 330: 8, 340: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 423: 2, 427: 3, 428: 8, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 467: 2, 469: 3, 470: 2, 474: 8, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 507: 1, 545: 6, 597: 8, 661: 4, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 814: 4, 815: 8, 817: 4, 825: 4, 829: 5, 862: 8, 881: 8, 882: 4, 884: 8, 888: 8, 891: 8, 927: 8, 918: 7, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1108: 8, 1092: 1, 1115: 4, 1125: 8, 1127: 2, 1296: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1618: 5, 1633: 8, 1670: 5
|
||||
}],
|
||||
}],
|
||||
# 2018 Odyssey w/ Added Comma Pedal Support (512L & 513L)
|
||||
CAR.ODYSSEY: [{
|
||||
57: 3, 148: 8, 228: 5, 229: 4, 316: 8, 342: 6, 344: 8, 380: 8, 399: 7, 411: 5, 419: 8, 420: 8, 427: 3, 432: 7, 450: 8, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 542: 7, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 862: 8, 871: 8, 881: 8, 882: 4, 884: 8, 891: 8, 892: 8, 905: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1029: 8, 1036: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1302: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1615: 8, 1616: 5, 1619: 5, 1623: 5, 1668: 5
|
||||
},
|
||||
# Odyssey Elite
|
||||
57: 3, 148: 8, 228: 5, 229: 4, 316: 8, 342: 6, 344: 8, 380: 8, 399: 7, 411: 5, 419: 8, 420: 8, 427: 3, 432: 7, 450: 8, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 862: 8, 871: 8, 881: 8, 882: 4, 884: 8, 891: 8, 892: 8, 905: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1029: 8, 1036: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1302: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1615: 8, 1616: 5, 1619: 5, 1623: 5, 1668: 5
|
||||
},
|
||||
# 2018 Odyssey Elite w/ Added Comma Pedal Support (512L & 513L)
|
||||
{
|
||||
57: 3, 148: 8, 228: 5, 229: 4, 304: 8, 342: 6, 344: 8, 380: 8, 399: 7, 411: 5, 419: 8, 420: 8, 427: 3, 432: 7, 440: 8, 450: 8, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 507: 1, 542: 7, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 862: 8, 871: 8, 881: 8, 882: 4, 884: 8, 891: 8, 892: 8, 905: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1029: 8, 1036: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1302: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1616: 5, 1619: 5, 1623: 5, 1668: 5
|
||||
}],
|
||||
# Includes 2017 Touring and 2016 EX-L messaging.
|
||||
}],
|
||||
# 2017 Pilot Touring AND 2016 Pilot EX-L w/ Added Comma Pedal Support (512L & 513L)
|
||||
CAR.PILOT: [{
|
||||
57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 334: 8, 339: 7, 342: 6, 344: 8, 379: 8, 380: 8, 392: 6, 399: 7, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 507: 1, 538: 3, 542: 7, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 837: 5, 856: 7, 871: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1108: 8, 1125: 8, 1296: 8, 1424: 5, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1616: 5, 1618: 5, 1668: 5
|
||||
}],
|
||||
57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 334: 8, 339: 7, 342: 6, 344: 8, 379: 8, 380: 8, 392: 6, 399: 7, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 507: 1, 512: 6, 513: 6, 538: 3, 542: 7, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 837: 5, 856: 7, 871: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1108: 8, 1125: 8, 1296: 8, 1424: 5, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1616: 5, 1618: 5, 1668: 5
|
||||
}],
|
||||
# Ridgeline w/ Added Comma Pedal Support (512L & 513L)
|
||||
CAR.RIDGELINE: [{
|
||||
57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 339: 7, 342: 6, 344: 8, 380: 8, 392: 6, 399: 7, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 464: 8, 471: 3, 476: 4, 490: 8, 506: 8, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 871: 8, 882: 2, 884: 7, 892: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1108: 8, 1125: 8, 1296: 8, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1613: 5, 1616: 5, 1618: 5, 1668: 5, 2015: 3
|
||||
57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 339: 7, 342: 6, 344: 8, 380: 8, 392: 6, 399: 7, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 464: 8, 471: 3, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 871: 8, 882: 2, 884: 7, 892: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1108: 8, 1125: 8, 1296: 8, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1613: 5, 1616: 5, 1618: 5, 1668: 5, 2015: 3
|
||||
}]
|
||||
}
|
||||
|
||||
|
||||
DBC = {
|
||||
CAR.ACCORD: dbc_dict('honda_accord_s2t_2018_can_generated', None),
|
||||
CAR.ACCORD_15: dbc_dict('honda_accord_lx15t_2018_can_generated', None),
|
||||
CAR.ACURA_ILX: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
|
||||
CAR.ACURA_RDX: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
|
||||
CAR.CIVIC: dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
|
||||
@@ -107,5 +109,34 @@ DBC = {
|
||||
CAR.RIDGELINE: dbc_dict('honda_ridgeline_black_edition_2017_can_generated', 'acura_ilx_2016_nidec'),
|
||||
}
|
||||
|
||||
|
||||
STEER_THRESHOLD = {
|
||||
CAR.ACCORD: 1200,
|
||||
CAR.ACCORD_15: 1200,
|
||||
CAR.ACURA_ILX: 1200,
|
||||
CAR.ACURA_RDX: 400,
|
||||
CAR.CIVIC: 1200,
|
||||
CAR.CIVIC_HATCH: 1200,
|
||||
CAR.CRV: 1200,
|
||||
CAR.CRV_5G: 1200,
|
||||
CAR.ODYSSEY: 1200,
|
||||
CAR.PILOT: 1200,
|
||||
CAR.RIDGELINE: 1200,
|
||||
}
|
||||
|
||||
SPEED_FACTOR = {
|
||||
CAR.ACCORD: 1.,
|
||||
CAR.ACCORD_15: 1.,
|
||||
CAR.ACURA_ILX: 1.,
|
||||
CAR.ACURA_RDX: 1.,
|
||||
CAR.CIVIC: 1.,
|
||||
CAR.CIVIC_HATCH: 1.,
|
||||
CAR.CRV: 1.025,
|
||||
CAR.CRV_5G: 1.025,
|
||||
CAR.ODYSSEY: 1.,
|
||||
CAR.PILOT: 1.,
|
||||
CAR.RIDGELINE: 1.,
|
||||
}
|
||||
|
||||
# TODO: get these from dbc file
|
||||
HONDA_BOSCH = [CAR.ACCORD, CAR.CIVIC_HATCH, CAR.CRV_5G]
|
||||
HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.CIVIC_HATCH, CAR.CRV_5G]
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
#!/usr/bin/env python
|
||||
import zmq
|
||||
from cereal import car
|
||||
from cereal import car, log
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.services import service_list
|
||||
from selfdrive.swaglog import cloudlog
|
||||
@@ -117,6 +117,6 @@ class CarInterface(object):
|
||||
|
||||
return ret.as_reader()
|
||||
|
||||
def apply(self, c):
|
||||
def apply(self, c, perception_state=log.Live20Data.new_message()):
|
||||
# in mock no carcontrols
|
||||
return False
|
||||
|
||||
@@ -4,7 +4,7 @@ from selfdrive.car.toyota.toyotacan import make_can_msg, create_video_target,\
|
||||
create_steer_command, create_ui_command, \
|
||||
create_ipas_steer_command, create_accel_command, \
|
||||
create_fcw_command
|
||||
from selfdrive.car.toyota.values import ECU, STATIC_MSGS
|
||||
from selfdrive.car.toyota.values import ECU, STATIC_MSGS, NO_DSU_CAR
|
||||
from selfdrive.can.packer import CANPacker
|
||||
|
||||
# Accel limits
|
||||
@@ -209,7 +209,7 @@ class CarController(object):
|
||||
else:
|
||||
can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False))
|
||||
|
||||
if frame % 10 == 0 and ECU.CAM in self.fake_ecus:
|
||||
if frame % 10 == 0 and ECU.CAM in self.fake_ecus and self.car_fingerprint not in NO_DSU_CAR:
|
||||
for addr in TARGET_IDS:
|
||||
can_sends.append(create_video_target(frame/10, addr))
|
||||
|
||||
|
||||
@@ -1,37 +1,17 @@
|
||||
from selfdrive.car.toyota.values import CAR, DBC
|
||||
from selfdrive.can.parser import CANParser
|
||||
from selfdrive.config import Conversions as CV
|
||||
from common.kalman.simple_kalman import KF1D
|
||||
import numpy as np
|
||||
from common.kalman.simple_kalman import KF1D
|
||||
from selfdrive.can.parser import CANParser, CANDefine
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD
|
||||
|
||||
def parse_gear_shifter(gear, vals):
|
||||
|
||||
def parse_gear_shifter(can_gear, car_fingerprint):
|
||||
# TODO: Use values from DBC to parse this field
|
||||
if car_fingerprint == CAR.PRIUS:
|
||||
if can_gear == 0x0:
|
||||
return "park"
|
||||
elif can_gear == 0x1:
|
||||
return "reverse"
|
||||
elif can_gear == 0x2:
|
||||
return "neutral"
|
||||
elif can_gear == 0x3:
|
||||
return "drive"
|
||||
elif can_gear == 0x4:
|
||||
return "brake"
|
||||
elif car_fingerprint in [CAR.RAV4, CAR.RAV4H,
|
||||
CAR.LEXUS_RXH, CAR.COROLLA]:
|
||||
if can_gear == 0x20:
|
||||
return "park"
|
||||
elif can_gear == 0x10:
|
||||
return "reverse"
|
||||
elif can_gear == 0x8:
|
||||
return "neutral"
|
||||
elif can_gear == 0x0:
|
||||
return "drive"
|
||||
elif can_gear == 0x1:
|
||||
return "sport"
|
||||
|
||||
return "unknown"
|
||||
val_to_capnp = {'P': 'park', 'R': 'reverse', 'N': 'neutral',
|
||||
'D': 'drive', 'B': 'brake'}
|
||||
try:
|
||||
return val_to_capnp[vals[gear]]
|
||||
except KeyError:
|
||||
return "unknown"
|
||||
|
||||
|
||||
def get_can_parser(CP):
|
||||
@@ -89,6 +69,8 @@ class CarState(object):
|
||||
def __init__(self, CP):
|
||||
|
||||
self.CP = CP
|
||||
self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
|
||||
self.shifter_values = self.can_define.dv["GEAR_PACKET"]['GEAR']
|
||||
self.left_blinker_on = 0
|
||||
self.right_blinker_on = 0
|
||||
|
||||
@@ -117,7 +99,6 @@ class CarState(object):
|
||||
cp.vl["SEATS_DOORS"]['DOOR_OPEN_RL'], cp.vl["SEATS_DOORS"]['DOOR_OPEN_RR']])
|
||||
self.seatbelt = not cp.vl["SEATS_DOORS"]['SEATBELT_DRIVER_UNLATCHED']
|
||||
|
||||
can_gear = cp.vl["GEAR_PACKET"]['GEAR']
|
||||
self.brake_pressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED']
|
||||
self.pedal_gas = cp.vl["GAS_PEDAL"]['GAS_PEDAL']
|
||||
self.car_gas = self.pedal_gas
|
||||
@@ -142,13 +123,12 @@ class CarState(object):
|
||||
|
||||
self.angle_steers = cp.vl["STEER_ANGLE_SENSOR"]['STEER_ANGLE'] + cp.vl["STEER_ANGLE_SENSOR"]['STEER_FRACTION']
|
||||
self.angle_steers_rate = cp.vl["STEER_ANGLE_SENSOR"]['STEER_RATE']
|
||||
self.gear_shifter = parse_gear_shifter(can_gear, self.car_fingerprint)
|
||||
can_gear = int(cp.vl["GEAR_PACKET"]['GEAR'])
|
||||
self.gear_shifter = parse_gear_shifter(can_gear, self.shifter_values)
|
||||
self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
|
||||
self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
|
||||
self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
|
||||
|
||||
# we could use the override bit from dbc, but it's triggered at too high torque values
|
||||
self.steer_override = abs(cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']) > 100
|
||||
# 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
|
||||
self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
|
||||
self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
|
||||
@@ -156,6 +136,8 @@ class CarState(object):
|
||||
self.brake_error = 0
|
||||
self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
|
||||
self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
|
||||
# we could use the override bit from dbc, but it's triggered at too high torque values
|
||||
self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD
|
||||
|
||||
self.user_brake = 0
|
||||
self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
#!/usr/bin/env python
|
||||
from common.realtime import sec_since_boot
|
||||
from cereal import car
|
||||
from cereal import car, log
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
|
||||
from selfdrive.controls.lib.vehicle_model import VehicleModel
|
||||
@@ -75,8 +75,8 @@ class CarInterface(object):
|
||||
if candidate == CAR.PRIUS:
|
||||
ret.safetyParam = 66 # see conversion factor for STEER_TORQUE_EPS in dbc file
|
||||
ret.wheelbase = 2.70
|
||||
ret.steerRatio = 15.59 # unknown end-to-end spec
|
||||
tire_stiffness_factor = 0.7933
|
||||
ret.steerRatio = 15.00 # unknown end-to-end spec
|
||||
tire_stiffness_factor = 0.6371 # hand-tune
|
||||
ret.mass = 3045 * CV.LB_TO_KG + std_cargo
|
||||
ret.steerKpV, ret.steerKiV = [[0.4], [0.01]]
|
||||
ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
|
||||
@@ -110,6 +110,24 @@ class CarInterface(object):
|
||||
ret.steerKpV, ret.steerKiV = [[0.6], [0.1]]
|
||||
ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
|
||||
|
||||
elif candidate in [CAR.CHR, CAR.CHRH]:
|
||||
ret.safetyParam = 100
|
||||
ret.wheelbase = 2.63906
|
||||
ret.steerRatio = 13.6
|
||||
tire_stiffness_factor = 0.7933
|
||||
ret.mass = 3300. * CV.LB_TO_KG + std_cargo
|
||||
ret.steerKpV, ret.steerKiV = [[0.723], [0.0428]]
|
||||
ret.steerKf = 0.00006
|
||||
|
||||
elif candidate in [CAR.CAMRY, CAR.CAMRYH]:
|
||||
ret.safetyParam = 100
|
||||
ret.wheelbase = 2.82448
|
||||
ret.steerRatio = 13.7
|
||||
tire_stiffness_factor = 0.7933
|
||||
ret.mass = 3400 * CV.LB_TO_KG + std_cargo #mean between normal and hybrid
|
||||
ret.steerKpV, ret.steerKiV = [[0.6], [0.1]]
|
||||
ret.steerKf = 0.00006
|
||||
|
||||
ret.steerRateCost = 1.
|
||||
ret.centerToFront = ret.wheelbase * 0.44
|
||||
|
||||
@@ -118,7 +136,7 @@ class CarInterface(object):
|
||||
|
||||
# min speed to enable ACC. if car can do stop and go, then set enabling speed
|
||||
# to a negative value, so it won't matter.
|
||||
if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH]: # rav4 hybrid can do stop and go
|
||||
if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH]: # rav4 hybrid can do stop and go
|
||||
ret.minEnableSpeed = -1.
|
||||
elif candidate in [CAR.RAV4, CAR.COROLLA]: # TODO: hack ICE to do stop and go
|
||||
ret.minEnableSpeed = 19. * CV.MPH_TO_MS
|
||||
@@ -150,9 +168,9 @@ class CarInterface(object):
|
||||
ret.brakeMaxBP = [5., 20.]
|
||||
ret.brakeMaxV = [1., 0.8]
|
||||
|
||||
ret.enableCamera = not check_ecu_msgs(fingerprint, candidate, ECU.CAM)
|
||||
ret.enableDsu = not check_ecu_msgs(fingerprint, candidate, ECU.DSU)
|
||||
ret.enableApgs = False #not check_ecu_msgs(fingerprint, candidate, ECU.APGS)
|
||||
ret.enableCamera = not check_ecu_msgs(fingerprint, ECU.CAM)
|
||||
ret.enableDsu = not check_ecu_msgs(fingerprint, ECU.DSU)
|
||||
ret.enableApgs = False #not check_ecu_msgs(fingerprint, ECU.APGS)
|
||||
cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
|
||||
cloudlog.warn("ECU DSU Simulated: %r", ret.enableDsu)
|
||||
cloudlog.warn("ECU APGS Simulated: %r", ret.enableApgs)
|
||||
@@ -304,7 +322,7 @@ class CarInterface(object):
|
||||
|
||||
# pass in a car.CarControl
|
||||
# to be called @ 100hz
|
||||
def apply(self, c):
|
||||
def apply(self, c, perception_state=log.Live20Data.new_message()):
|
||||
|
||||
self.CC.update(self.sendcan, c.enabled, self.CS, self.frame,
|
||||
c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert,
|
||||
|
||||
@@ -1,11 +1,13 @@
|
||||
#!/usr/bin/env python
|
||||
import os
|
||||
import zmq
|
||||
import time
|
||||
from selfdrive.can.parser import CANParser
|
||||
from cereal import car
|
||||
from common.realtime import sec_since_boot
|
||||
import zmq
|
||||
from selfdrive.services import service_list
|
||||
import selfdrive.messaging as messaging
|
||||
from selfdrive.car.toyota.values import NO_DSU_CAR
|
||||
|
||||
|
||||
RADAR_MSGS = list(range(0x210, 0x220))
|
||||
@@ -30,15 +32,21 @@ class RadarInterface(object):
|
||||
|
||||
self.delay = 0.0 # Delay of radar
|
||||
|
||||
# Nidec
|
||||
self.rcp = _create_radard_can_parser()
|
||||
self.no_dsu_car = CP.carFingerprint in NO_DSU_CAR
|
||||
|
||||
context = zmq.Context()
|
||||
self.logcan = messaging.sub_sock(context, service_list['can'].port)
|
||||
|
||||
def update(self):
|
||||
canMonoTimes = []
|
||||
|
||||
ret = car.RadarState.new_message()
|
||||
if self.no_dsu_car:
|
||||
# TODO: make a adas dbc file for dsu-less models
|
||||
time.sleep(0.05)
|
||||
return ret
|
||||
|
||||
canMonoTimes = []
|
||||
updated_messages = set()
|
||||
while 1:
|
||||
tm = int(sec_since_boot() * 1e9)
|
||||
@@ -47,7 +55,6 @@ class RadarInterface(object):
|
||||
if 0x21f in updated_messages:
|
||||
break
|
||||
|
||||
ret = car.RadarState.new_message()
|
||||
errors = []
|
||||
if not self.rcp.can_valid:
|
||||
errors.append("commIssue")
|
||||
|
||||
@@ -2,10 +2,14 @@ from selfdrive.car import dbc_dict
|
||||
|
||||
class CAR:
|
||||
PRIUS = "TOYOTA PRIUS 2017"
|
||||
RAV4H = "TOYOTA RAV4 2017 HYBRID"
|
||||
RAV4H = "TOYOTA RAV4 HYBRID 2017"
|
||||
RAV4 = "TOYOTA RAV4 2017"
|
||||
COROLLA = "TOYOTA COROLLA 2017"
|
||||
LEXUS_RXH = "LEXUS RX HYBRID 2017"
|
||||
CHR = "TOYOTA C-HR 2018"
|
||||
CHRH = "TOYOTA C-HR HYBRID 2018"
|
||||
CAMRY = "TOYOTA CAMRY 2018"
|
||||
CAMRYH = "TOYOTA CAMRY HYBRID 2018"
|
||||
|
||||
|
||||
class ECU:
|
||||
@@ -59,14 +63,16 @@ STATIC_MSGS = [(0x141, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4,
|
||||
(0x470, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 1, 100, '\x00\x00\x02\x7a'),
|
||||
]
|
||||
|
||||
ECU_FINGERPRINT = {
|
||||
ECU.CAM: 0x2e4, # steer torque cmd
|
||||
ECU.DSU: 0x343, # accel cmd
|
||||
ECU.APGS: 0x835, # angle cmd
|
||||
}
|
||||
|
||||
def check_ecu_msgs(fingerprint, candidate, ecu):
|
||||
|
||||
def check_ecu_msgs(fingerprint, ecu):
|
||||
# return True if fingerprint contains messages normally sent by a given ecu
|
||||
ecu_msgs = [x[0] for x in STATIC_MSGS if (x[1] == ecu and
|
||||
candidate in x[2] and
|
||||
x[3] == 0)]
|
||||
|
||||
return any(msg for msg in fingerprint if msg in ecu_msgs)
|
||||
return ECU_FINGERPRINT[ecu] in fingerprint
|
||||
|
||||
|
||||
FINGERPRINTS = {
|
||||
@@ -97,8 +103,25 @@ FINGERPRINTS = {
|
||||
CAR.LEXUS_RXH: [{
|
||||
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 812: 3, 814: 8, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1071: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1777: 8, 1779: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1840: 8, 1848: 8, 1904: 8, 1912: 8, 1940: 8, 1941: 8, 1948: 8, 1949: 8, 1952: 8, 1956: 8, 1960: 8, 1964: 8, 1986: 8, 1990: 8, 1994: 8, 1998: 8, 2004: 8, 2012: 8
|
||||
}],
|
||||
CAR.CHR: [{
|
||||
36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 740: 5, 800: 8, 810: 2, 812: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 1017: 8, 1020: 8, 1021: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8
|
||||
}],
|
||||
CAR.CHRH: [{
|
||||
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 740: 5, 800: 8, 810: 2, 812: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1021: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8,1059: 1, 1071: 8, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556:8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
}],
|
||||
CAR.CAMRY: [
|
||||
#XLE and LE
|
||||
{
|
||||
36: 8, 37: 8, 119: 6, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 891: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
}],
|
||||
CAR.CAMRYH: [
|
||||
#LE
|
||||
{
|
||||
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572:8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
}],
|
||||
}
|
||||
|
||||
STEER_THRESHOLD = 100
|
||||
|
||||
DBC = {
|
||||
CAR.RAV4H: dbc_dict('toyota_rav4_hybrid_2017_pt_generated', 'toyota_prius_2017_adas'),
|
||||
@@ -106,4 +129,10 @@ DBC = {
|
||||
CAR.PRIUS: dbc_dict('toyota_prius_2017_pt_generated', 'toyota_prius_2017_adas'),
|
||||
CAR.COROLLA: dbc_dict('toyota_corolla_2017_pt_generated', 'toyota_prius_2017_adas'),
|
||||
CAR.LEXUS_RXH: dbc_dict('lexus_rx_hybrid_2017_pt_generated', 'toyota_prius_2017_adas'),
|
||||
CAR.CHR: dbc_dict('toyota_chr_2018_pt_generated', 'toyota_prius_2017_adas'),
|
||||
CAR.CHRH: dbc_dict('toyota_chr_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'),
|
||||
CAR.CAMRY: dbc_dict('toyota_chr_2018_pt_generated', 'toyota_prius_2017_adas'),
|
||||
CAR.CAMRYH: dbc_dict('toyota_camry_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'),
|
||||
}
|
||||
|
||||
NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH]
|
||||
|
||||
56
selfdrive/common/efd.c
Normal file
56
selfdrive/common/efd.c
Normal file
@@ -0,0 +1,56 @@
|
||||
#include <stdlib.h>
|
||||
#include <assert.h>
|
||||
|
||||
#ifdef __linux__
|
||||
#include <sys/eventfd.h>
|
||||
#else
|
||||
#include <sys/time.h>
|
||||
#include <sys/event.h>
|
||||
#define EVENT_IDENT 42
|
||||
#endif
|
||||
|
||||
#include "efd.h"
|
||||
|
||||
|
||||
int efd_init() {
|
||||
#ifdef __linux__
|
||||
return eventfd(0, EFD_CLOEXEC);
|
||||
#else
|
||||
int fd = kqueue();
|
||||
assert(fd >= 0);
|
||||
|
||||
struct kevent kev;
|
||||
EV_SET(&kev, EVENT_IDENT, EVFILT_USER, EV_ADD | EV_CLEAR, 0, 0, NULL);
|
||||
|
||||
struct timespec timeout = {0, 0};
|
||||
int err = kevent(fd, &kev, 1, NULL, 0, &timeout);
|
||||
assert(err != -1);
|
||||
|
||||
return fd;
|
||||
#endif
|
||||
}
|
||||
|
||||
void efd_write(int fd) {
|
||||
#ifdef __linux__
|
||||
eventfd_write(fd, 1);
|
||||
#else
|
||||
struct kevent kev;
|
||||
EV_SET(&kev, EVENT_IDENT, EVFILT_USER, 0, NOTE_TRIGGER, 0, NULL);
|
||||
|
||||
struct timespec timeout = {0, 0};
|
||||
int err = kevent(fd, &kev, 1, NULL, 0, &timeout);
|
||||
assert(err != -1);
|
||||
#endif
|
||||
}
|
||||
|
||||
void efd_clear(int fd) {
|
||||
#ifdef __linux__
|
||||
eventfd_t efd_cnt;
|
||||
eventfd_read(fd, &efd_cnt);
|
||||
#else
|
||||
struct kevent kev;
|
||||
struct timespec timeout = {0, 0};
|
||||
int nfds = kevent(fd, NULL, 0, &kev, 1, &timeout);
|
||||
assert(nfds != -1);
|
||||
#endif
|
||||
}
|
||||
17
selfdrive/common/efd.h
Normal file
17
selfdrive/common/efd.h
Normal file
@@ -0,0 +1,17 @@
|
||||
#ifndef EFD_H
|
||||
#define EFD_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
// event fd: a semaphore that can be poll()'d
|
||||
int efd_init();
|
||||
void efd_write(int fd);
|
||||
void efd_clear(int fd);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
@@ -1 +1 @@
|
||||
#define COMMA_VERSION "0.5-release"
|
||||
#define COMMA_VERSION "0.5.2-release"
|
||||
|
||||
@@ -292,7 +292,7 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
|
||||
return actuators, v_cruise_kph, driver_status, angle_offset
|
||||
|
||||
|
||||
def data_send(plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate,
|
||||
def data_send(perception_state, plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate,
|
||||
carcontrol, live100, livempc, AM, driver_status,
|
||||
LaC, LoC, angle_offset, passive):
|
||||
|
||||
@@ -323,7 +323,7 @@ def data_send(plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_
|
||||
CC.hudControl.audibleAlert = AM.audible_alert
|
||||
|
||||
# send car controls over can
|
||||
CI.apply(CC)
|
||||
CI.apply(CC, perception_state)
|
||||
|
||||
# ***** publish state to logger *****
|
||||
# publish controls state at 100Hz
|
||||
@@ -337,6 +337,7 @@ def data_send(plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_
|
||||
"alertStatus": AM.alert_status,
|
||||
"alertBlinkingRate": AM.alert_rate,
|
||||
"awarenessStatus": max(driver_status.awareness, 0.0) if isEnabled(state) else 0.0,
|
||||
"driverMonitoringOn": bool(driver_status.monitor_on),
|
||||
"canMonoTimes": list(CS.canMonoTimes),
|
||||
"planMonoTime": plan_ts,
|
||||
"enabled": isEnabled(state),
|
||||
@@ -446,7 +447,6 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
|
||||
CP.safetyModel = car.CarParams.SafetyModels.noOutput
|
||||
|
||||
fcw_enabled = params.get("IsFcwEnabled") == "1"
|
||||
driver_monitor_on = params.get("IsDriverMonitoringEnabled") == "1"
|
||||
geofence = None
|
||||
try:
|
||||
from selfdrive.controls.lib.geofence import Geofence
|
||||
@@ -460,7 +460,7 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
|
||||
VM = VehicleModel(CP)
|
||||
LaC = LatControl(VM)
|
||||
AM = AlertManager()
|
||||
driver_status = DriverStatus(driver_monitor_on)
|
||||
driver_status = DriverStatus()
|
||||
|
||||
if not passive:
|
||||
AM.add("startup", False)
|
||||
@@ -511,12 +511,12 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
|
||||
prof.checkpoint("State transition")
|
||||
|
||||
# compute actuators
|
||||
actuators, v_cruise_kph, driver_status, angle_offset = state_control(plan, CS, CP, state, events, v_cruise_kph,
|
||||
actuators, v_cruise_kph, driver_status, angle_offset = state_control(plan, CS, CP, state, events, v_cruise_kph,
|
||||
v_cruise_kph_last, AM, rk, driver_status, PL, LaC, LoC, VM, angle_offset, passive)
|
||||
prof.checkpoint("State Control")
|
||||
|
||||
# publish data
|
||||
CC = data_send(plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate, carcontrol,
|
||||
CC = data_send(PL.perception_state, plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate, carcontrol,
|
||||
live100, livempc, AM, driver_status, LaC, LoC, angle_offset, passive)
|
||||
prof.checkpoint("Sent")
|
||||
|
||||
|
||||
@@ -74,7 +74,7 @@ class AlertManager(object):
|
||||
Priority.MID, None, "beepSingle", .2, 0., 0.),
|
||||
|
||||
"fcw": Alert(
|
||||
"Brake!",
|
||||
"BRAKE!",
|
||||
"Risk of Collision",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.HIGHEST, "fcw", "chimeRepeated", 1., 2., 2.),
|
||||
@@ -98,23 +98,53 @@ class AlertManager(object):
|
||||
Priority.LOW, None, None, .2, .2, .2),
|
||||
|
||||
"preDriverDistracted": Alert(
|
||||
"TAKE CONTROL: User Appears Distracted",
|
||||
"KEEP EYES ON ROAD: User Appears Distracted",
|
||||
"",
|
||||
AlertStatus.normal, AlertSize.small,
|
||||
Priority.LOW, "steerRequired", None, 0., .1, .1, alert_rate=0.75),
|
||||
|
||||
"promptDriverDistracted": Alert(
|
||||
"TAKE CONTROL",
|
||||
"KEEP EYES ON ROAD",
|
||||
"User Appears Distracted",
|
||||
AlertStatus.userPrompt, AlertSize.mid,
|
||||
Priority.MID, "steerRequired", "chimeRepeated", .1, .1, .1),
|
||||
|
||||
"driverDistracted": Alert(
|
||||
"DISENGAGEMENT REQUIRED",
|
||||
"DISENGAGE IMMEDIATELY",
|
||||
"User Was Distracted",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.HIGH, "steerRequired", "chimeRepeated", .1, .1, .1),
|
||||
|
||||
"preDriverUnresponsive": Alert(
|
||||
"TOUCH STEERING WHEEL: No Driver Monitoring",
|
||||
"",
|
||||
AlertStatus.normal, AlertSize.small,
|
||||
Priority.LOW, "steerRequired", None, 0., .1, .1, alert_rate=0.75),
|
||||
|
||||
"promptDriverUnresponsive": Alert(
|
||||
"TOUCH STEERING WHEEL",
|
||||
"User Is Unresponsive",
|
||||
AlertStatus.userPrompt, AlertSize.mid,
|
||||
Priority.MID, "steerRequired", "chimeRepeated", .1, .1, .1),
|
||||
|
||||
"driverUnresponsive": Alert(
|
||||
"DISENGAGE IMMEDIATELY",
|
||||
"User Was Unresponsive",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.HIGH, "steerRequired", "chimeRepeated", .1, .1, .1),
|
||||
|
||||
"driverMonitorOff": Alert(
|
||||
"DRIVER MONITOR IS UNAVAILABLE",
|
||||
"Accuracy Is Low",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, None, None, .4, 0., 4.),
|
||||
|
||||
"driverMonitorOn": Alert(
|
||||
"DRIVER MONITOR IS AVAILABLE",
|
||||
"Accuracy Is High",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, None, None, .4, 0., 4.),
|
||||
|
||||
"geofence": Alert(
|
||||
"DISENGAGEMENT REQUIRED",
|
||||
"Not in Geofenced Area",
|
||||
@@ -151,11 +181,11 @@ class AlertManager(object):
|
||||
AlertStatus.userPrompt, AlertSize.mid,
|
||||
Priority.LOW, None, None, 0., 0., .2),
|
||||
|
||||
"debugAlert": Alert(
|
||||
"DEBUG ALERT",
|
||||
"",
|
||||
AlertStatus.userPrompt, AlertSize.mid,
|
||||
Priority.LOW, None, None, .1, .1, .1),
|
||||
"debugAlert": Alert(
|
||||
"DEBUG ALERT",
|
||||
"",
|
||||
AlertStatus.userPrompt, AlertSize.mid,
|
||||
Priority.LOW, None, None, .1, .1, .1),
|
||||
|
||||
# Non-entry only alerts
|
||||
"wrongCarModeNoEntry": Alert(
|
||||
|
||||
@@ -92,11 +92,11 @@ def update_v_cruise(v_cruise_kph, buttonEvents, enabled):
|
||||
|
||||
def initialize_v_cruise(v_ego, buttonEvents, v_cruise_last):
|
||||
for b in buttonEvents:
|
||||
# 300kph or above probably means we never had a set speed
|
||||
if b.type == "accelCruise" and v_cruise_last < 300:
|
||||
# 250kph or above probably means we never had a set speed
|
||||
if b.type == "accelCruise" and v_cruise_last < 250:
|
||||
return v_cruise_last
|
||||
|
||||
return int(round(max(v_ego * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN)))
|
||||
return int(round(clip(v_ego * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN, V_CRUISE_MAX)))
|
||||
|
||||
|
||||
def kill_defaultd():
|
||||
|
||||
@@ -6,7 +6,7 @@ _DT = 0.01 # update runs at 100Hz
|
||||
_AWARENESS_TIME = 180 # 3 minutes limit without user touching steering wheels make the car enter a terminal status
|
||||
_AWARENESS_PRE_TIME = 20. # a first alert is issued 20s before expiration
|
||||
_AWARENESS_PROMPT_TIME = 5. # a second alert is issued 5s before start decelerating the car
|
||||
_DISTRACTED_TIME = 6.
|
||||
_DISTRACTED_TIME = 8.
|
||||
_DISTRACTED_PRE_TIME = 4.
|
||||
_DISTRACTED_PROMPT_TIME = 2.
|
||||
# measured 1 rad in x FOV. 1152x864 is original image, 160x320 is a right crop for model
|
||||
@@ -18,10 +18,13 @@ _CAMERA_X_CONV = 0.375 # 160*864/320/1152
|
||||
_PITCH_WEIGHT = 1.5 # pitch matters a lot more
|
||||
_METRIC_THRESHOLD = 0.4
|
||||
_PITCH_POS_ALLOWANCE = 0.08 # rad, to not be too sensitive on positive pitch
|
||||
_DTM = 0.2 # driver monitor runs at 5Hz
|
||||
_DISTRACTED_FILTER_F = 0.3 # 0.3Hz
|
||||
_DISTRACTED_FILTER_K = 2 * np.pi * _DISTRACTED_FILTER_F * _DTM / (1 + 2 * np.pi * _DISTRACTED_FILTER_F * _DTM)
|
||||
_DTM = 0.1 # driver monitor runs at 10Hz
|
||||
_PITCH_NATURAL_OFFSET = 0.1 # people don't seem to look straight when they drive relaxed, rather a bit up
|
||||
_STD_THRESHOLD = 0.1 # above this standard deviation consider the measurement invalid
|
||||
_DISTRACTED_FILTER_F = 0.6 # 0.6Hz, 0.25s ts
|
||||
_DISTRACTED_FILTER_K = 2 * np.pi * _DISTRACTED_FILTER_F * _DTM / (1 + 2 * np.pi * _DISTRACTED_FILTER_F * _DTM)
|
||||
_VARIANCE_FILTER_F = 0.008 # 0.008Hz, 20s ts
|
||||
_VARIANCE_FILTER_K = 2 * np.pi * _VARIANCE_FILTER_F * _DTM / (1 + 2 * np.pi * _VARIANCE_FILTER_F * _DTM)
|
||||
|
||||
|
||||
class _DriverPose():
|
||||
@@ -32,16 +35,29 @@ class _DriverPose():
|
||||
self.yaw_offset = 0.
|
||||
self.pitch_offset = 0.
|
||||
|
||||
def _monitor_hysteresys(variance_level, monitor_valid_prev):
|
||||
var_thr = 0.63 if monitor_valid_prev else 0.37
|
||||
return variance_level < var_thr
|
||||
|
||||
class DriverStatus():
|
||||
def __init__(self, monitor_on):
|
||||
def __init__(self, monitor_on=False):
|
||||
self.pose = _DriverPose()
|
||||
self.monitor_on = monitor_on
|
||||
self.monitor_param_on = monitor_on
|
||||
self.monitor_valid = True # variance needs to be low
|
||||
self.awareness = 1.
|
||||
self.driver_distracted = False
|
||||
self.driver_distraction_level = 0.
|
||||
self.variance_high = False
|
||||
self.variance_level = 0.
|
||||
self.ts_last_check = 0.
|
||||
self._set_timers()
|
||||
|
||||
def _reset_filters(self):
|
||||
self.driver_distraction_level = 0.
|
||||
self.variance_level = 0.
|
||||
self.monitor_valid = True
|
||||
|
||||
def _set_timers(self):
|
||||
if self.monitor_on:
|
||||
self.threshold_pre = _DISTRACTED_PRE_TIME / _DISTRACTED_TIME
|
||||
@@ -64,14 +80,8 @@ class DriverStatus():
|
||||
#print "%02.4f" % np.degrees(pose.pitch), "%02.4f" % np.degrees(pitch_error), "%03.4f" % np.degrees(pose.pitch_offset), metric
|
||||
return 1 if metric > _METRIC_THRESHOLD else 0
|
||||
|
||||
def get_pose(self, driver_monitoring, params):
|
||||
ts = sec_since_boot()
|
||||
|
||||
# don's check for param too often as it's a kernel call
|
||||
if ts - self.ts_last_check > 1.:
|
||||
self.monitor_on = params.get("IsDriverMonitoringEnabled") == "1"
|
||||
self._set_timers()
|
||||
self.ts_last_check = ts
|
||||
def get_pose(self, driver_monitoring, params):
|
||||
|
||||
self.pose.pitch = driver_monitoring.descriptor[0]
|
||||
self.pose.yaw = driver_monitoring.descriptor[1]
|
||||
@@ -79,9 +89,28 @@ class DriverStatus():
|
||||
self.pose.yaw_offset = (driver_monitoring.descriptor[3] * _CAMERA_X_CONV + _CAMERA_OFFSET_X) * _CAMERA_FOV_X
|
||||
self.pose.pitch_offset = -driver_monitoring.descriptor[4] * _CAMERA_FOV_Y # positive y is down
|
||||
self.driver_distracted = self._is_driver_distracted(self.pose)
|
||||
# first order filter
|
||||
# first order filters
|
||||
self.driver_distraction_level = (1. - _DISTRACTED_FILTER_K) * self.driver_distraction_level + \
|
||||
_DISTRACTED_FILTER_K * self.driver_distracted
|
||||
self.variance_high = driver_monitoring.std > _STD_THRESHOLD
|
||||
self.variance_level = (1. - _VARIANCE_FILTER_K) * self.variance_level + \
|
||||
_VARIANCE_FILTER_K * self.variance_high
|
||||
|
||||
monitor_param_on_prev = self.monitor_param_on
|
||||
monitor_valid_prev = self.monitor_valid
|
||||
|
||||
# don't check for param too often as it's a kernel call
|
||||
ts = sec_since_boot()
|
||||
if ts - self.ts_last_check > 1.:
|
||||
self.monitor_param_on = params.get("IsDriverMonitoringEnabled") == "1"
|
||||
self.ts_last_check = ts
|
||||
|
||||
self.monitor_valid = _monitor_hysteresys(self.variance_level, monitor_valid_prev)
|
||||
self.monitor_on = self.monitor_valid and self.monitor_param_on
|
||||
if monitor_param_on_prev != self.monitor_param_on:
|
||||
self._reset_filters()
|
||||
self._set_timers()
|
||||
|
||||
|
||||
def update(self, events, driver_engaged, ctrl_active, standstill):
|
||||
|
||||
@@ -95,15 +124,18 @@ class DriverStatus():
|
||||
not (standstill and self.awareness - self.step_change <= self.threshold_prompt):
|
||||
self.awareness = max(self.awareness - self.step_change, -0.1)
|
||||
|
||||
alert = None
|
||||
if self.awareness <= 0.:
|
||||
# terminal red alert: disengagement required
|
||||
events.append(create_event('driverDistracted', [ET.WARNING]))
|
||||
alert = 'driverDistracted' if self.monitor_on else 'driverUnresponsive'
|
||||
elif self.awareness <= self.threshold_prompt:
|
||||
# prompt orange alert
|
||||
events.append(create_event('promptDriverDistracted', [ET.WARNING]))
|
||||
alert = 'promptDriverDistracted' if self.monitor_on else 'promptDriverUnresponsive'
|
||||
elif self.awareness <= self.threshold_pre:
|
||||
# pre green alert
|
||||
events.append(create_event('preDriverDistracted', [ET.WARNING]))
|
||||
alert = 'preDriverDistracted' if self.monitor_on else 'preDriverUnresponsive'
|
||||
if alert is not None:
|
||||
events.append(create_event(alert, [ET.WARNING]))
|
||||
|
||||
return events
|
||||
|
||||
@@ -117,5 +149,4 @@ if __name__ == "__main__":
|
||||
print(ds.awareness, ds.driver_distracted, ds.driver_distraction_level)
|
||||
ds.update([], True, True, False)
|
||||
print(ds.awareness, ds.driver_distracted, ds.driver_distraction_level)
|
||||
|
||||
|
||||
|
||||
@@ -1,11 +1,11 @@
|
||||
#!/usr/bin/env python
|
||||
import os
|
||||
import zmq
|
||||
|
||||
import numpy as np
|
||||
import math
|
||||
import numpy as np
|
||||
from copy import copy
|
||||
from cereal import log
|
||||
from collections import defaultdict
|
||||
|
||||
from common.realtime import sec_since_boot
|
||||
from common.numpy_fast import interp
|
||||
import selfdrive.messaging as messaging
|
||||
@@ -303,6 +303,7 @@ class Planner(object):
|
||||
|
||||
self.last_gps_planner_plan = None
|
||||
self.gps_planner_active = False
|
||||
self.perception_state = log.Live20Data.new_message()
|
||||
|
||||
def choose_solution(self, v_cruise_setpoint, enabled):
|
||||
if enabled:
|
||||
@@ -374,6 +375,7 @@ class Planner(object):
|
||||
self.PP.c_prob = 1.0
|
||||
|
||||
if l20 is not None:
|
||||
self.perception_state = copy(l20.live20)
|
||||
self.last_l20_ts = l20.logMonoTime
|
||||
self.last_l20 = cur_time
|
||||
self.radar_dead = False
|
||||
|
||||
@@ -101,5 +101,5 @@ if __name__ == '__main__':
|
||||
VM = VehicleModel(CP)
|
||||
#print VM.steady_state_sol(.1, 0.15)
|
||||
#print calc_slip_factor(VM)
|
||||
#print VM.yaw_rate(3.*np.pi/180, 32.) * 180./np.pi
|
||||
print VM.yaw_rate(1.*np.pi/180, 32.) * 180./np.pi
|
||||
#print VM.curvature_factor(32)
|
||||
|
||||
@@ -26,6 +26,7 @@ DIMSV = 2
|
||||
XV, SPEEDV = 0, 1
|
||||
VISION_POINT = -1
|
||||
|
||||
|
||||
class EKFV1D(EKF):
|
||||
def __init__(self):
|
||||
super(EKFV1D, self).__init__(False)
|
||||
@@ -137,7 +138,8 @@ def radard_thread(gctx=None):
|
||||
|
||||
# run kalman filter only if prob is high enough
|
||||
if PP.lead_prob > 0.7:
|
||||
ekfv.update(speedSensorV.read(PP.lead_dist, covar=PP.lead_var))
|
||||
reading = speedSensorV.read(PP.lead_dist, covar=np.matrix(PP.lead_var))
|
||||
ekfv.update_scalar(reading)
|
||||
ekfv.predict(tsv)
|
||||
ar_pts[VISION_POINT] = (float(ekfv.state[XV]), np.polyval(PP.d_poly, float(ekfv.state[XV])),
|
||||
float(ekfv.state[SPEEDV]), False)
|
||||
@@ -145,6 +147,7 @@ def radard_thread(gctx=None):
|
||||
ekfv.state[XV] = PP.lead_dist
|
||||
ekfv.covar = (np.diag([PP.lead_var, ekfv.var_init]))
|
||||
ekfv.state[SPEEDV] = 0.
|
||||
|
||||
if VISION_POINT in ar_pts:
|
||||
del ar_pts[VISION_POINT]
|
||||
|
||||
|
||||
246
selfdrive/locationd/calibrationd.py
Executable file
246
selfdrive/locationd/calibrationd.py
Executable file
@@ -0,0 +1,246 @@
|
||||
#!/usr/bin/env python
|
||||
import os
|
||||
import zmq
|
||||
import cv2
|
||||
import copy
|
||||
import math
|
||||
import json
|
||||
import numpy as np
|
||||
import selfdrive.messaging as messaging
|
||||
from selfdrive.swaglog import cloudlog
|
||||
from selfdrive.services import service_list
|
||||
from common.params import Params
|
||||
from common.ffi_wrapper import ffi_wrap
|
||||
import common.transformations.orientation as orient
|
||||
from common.transformations.model import model_height, get_camera_frame_from_model_frame
|
||||
from common.transformations.camera import view_frame_from_device_frame, get_view_frame_from_road_frame, \
|
||||
eon_intrinsics, get_calib_from_vp, normalize, denormalize, H, W
|
||||
|
||||
|
||||
MIN_SPEED_FILTER = 7 # m/s (~15.5mph)
|
||||
MAX_YAW_RATE_FILTER = math.radians(3) # per second
|
||||
FRAMES_NEEDED = 120 # allow to update VP every so many frames
|
||||
VP_CYCLES_NEEDED = 2
|
||||
CALIBRATION_CYCLES_NEEDED = FRAMES_NEEDED * VP_CYCLES_NEEDED
|
||||
DT = 0.1 # nominal time step of 10Hz (orbd_live runs slower on pc)
|
||||
VP_RATE_LIM = 2. * DT # 2 px/s
|
||||
VP_INIT = np.array([W/2., H/2.])
|
||||
EXTERNAL_PATH = os.path.dirname(os.path.abspath(__file__))
|
||||
VP_VALIDITY_CORNERS = np.array([[-200., -200.], [200., 200.]]) + VP_INIT
|
||||
GRID_WEIGHT_INIT = 2e6
|
||||
MAX_LINES = 500 # max lines to avoid over computation
|
||||
|
||||
DEBUG = os.getenv("DEBUG") is not None
|
||||
|
||||
# Wrap c code for slow grid incrementation
|
||||
c_header = "\nvoid increment_grid(double *grid, double *lines, long long n);"
|
||||
c_code = "#define H %d\n" % H
|
||||
c_code += "#define W %d\n" % W
|
||||
c_code += "\n" + open(os.path.join(EXTERNAL_PATH, "get_vp.c")).read()
|
||||
ffi, lib = ffi_wrap('get_vp', c_code, c_header)
|
||||
|
||||
|
||||
class Calibration:
|
||||
UNCALIBRATED = 0
|
||||
CALIBRATED = 1
|
||||
INVALID = 2
|
||||
|
||||
|
||||
def increment_grid_c(grid, lines, n):
|
||||
lib.increment_grid(ffi.cast("double *", grid.ctypes.data),
|
||||
ffi.cast("double *", lines.ctypes.data),
|
||||
ffi.cast("long long", n))
|
||||
|
||||
def get_lines(p):
|
||||
A = (p[:,0,1] - p[:,1,1])
|
||||
B = (p[:,1,0] - p[:,0,0])
|
||||
C = (p[:,0,0]*p[:,1,1] - p[:,1,0]*p[:,0,1])
|
||||
return np.column_stack((A, B, -C))
|
||||
|
||||
def correct_pts(pts, rot_speeds, dt):
|
||||
pts = np.hstack((pts, np.ones((pts.shape[0],1))))
|
||||
cam_rot = dt * view_frame_from_device_frame.dot(rot_speeds)
|
||||
rot = orient.rot_matrix(*cam_rot.T).T
|
||||
pts_corrected = rot.dot(pts.T).T
|
||||
pts_corrected[:,0] /= pts_corrected[:,2]
|
||||
pts_corrected[:,1] /= pts_corrected[:,2]
|
||||
return pts_corrected[:,:2]
|
||||
|
||||
def gaussian_kernel(sizex, sizey, stdx, stdy, dx, dy):
|
||||
y, x = np.mgrid[-sizey:sizey+1, -sizex:sizex+1]
|
||||
g = np.exp(-((x - dx)**2 / (2. * stdx**2) + (y - dy)**2 / (2. * stdy**2)))
|
||||
return g / g.sum()
|
||||
|
||||
def blur_image(img, kernel):
|
||||
return cv2.filter2D(img.astype(np.uint16), -1, kernel)
|
||||
|
||||
def is_calibration_valid(vp):
|
||||
return vp[0] > VP_VALIDITY_CORNERS[0,0] and vp[0] < VP_VALIDITY_CORNERS[1,0] and \
|
||||
vp[1] > VP_VALIDITY_CORNERS[0,1] and vp[1] < VP_VALIDITY_CORNERS[1,1]
|
||||
|
||||
class Calibrator(object):
|
||||
def __init__(self, param_put=False):
|
||||
self.param_put = param_put
|
||||
self.speed = 0
|
||||
self.vp_cycles = 0
|
||||
self.angle_offset = 0.
|
||||
self.yaw_rate = 0.
|
||||
self.l100_last_updated = 0
|
||||
self.prev_orbs = None
|
||||
self.kernel = gaussian_kernel(11, 11, 2.35, 2.35, 0, 0)
|
||||
|
||||
self.vp = copy.copy(VP_INIT)
|
||||
self.cal_status = Calibration.UNCALIBRATED
|
||||
self.frame_counter = 0
|
||||
self.params = Params()
|
||||
calibration_params = self.params.get("CalibrationParams")
|
||||
if calibration_params:
|
||||
try:
|
||||
calibration_params = json.loads(calibration_params)
|
||||
self.vp = np.array(calibration_params["vanishing_point"])
|
||||
self.cal_status = Calibration.CALIBRATED if is_calibration_valid(self.vp) else Calibration.INVALID
|
||||
self.vp_cycles = VP_CYCLES_NEEDED
|
||||
self.frame_counter = CALIBRATION_CYCLES_NEEDED
|
||||
except Exception:
|
||||
cloudlog.exception("CalibrationParams file found but error encountered")
|
||||
|
||||
self.vp_unfilt = self.vp
|
||||
self.orb_last_updated = 0.
|
||||
self.reset_grid()
|
||||
|
||||
def reset_grid(self):
|
||||
if self.cal_status == Calibration.UNCALIBRATED:
|
||||
# empty grid
|
||||
self.grid = np.zeros((H+1, W+1), dtype=np.float)
|
||||
else:
|
||||
# gaussian grid, centered at vp
|
||||
self.grid = gaussian_kernel(W/2., H/2., 16, 16, self.vp[0] - W/2., self.vp[1] - H/2.) * GRID_WEIGHT_INIT
|
||||
|
||||
def rescale_grid(self):
|
||||
self.grid *= 0.9
|
||||
|
||||
def update(self, uvs, yaw_rate, speed):
|
||||
if len(uvs) < 10 or \
|
||||
abs(yaw_rate) > MAX_YAW_RATE_FILTER or \
|
||||
speed < MIN_SPEED_FILTER:
|
||||
return
|
||||
rot_speeds = np.array([0.,0.,-yaw_rate])
|
||||
uvs[:,1,:] = denormalize(correct_pts(normalize(uvs[:,1,:]), rot_speeds, self.dt))
|
||||
good_tracks = np.linalg.norm(uvs[:,1,:] - uvs[:,0,:], axis=1) > 10
|
||||
uvs = uvs[good_tracks]
|
||||
if uvs.shape[0] > MAX_LINES:
|
||||
uvs = uvs[np.random.choice(uvs.shape[0], MAX_LINES, replace=False), :]
|
||||
lines = get_lines(uvs)
|
||||
|
||||
increment_grid_c(self.grid, lines, len(lines))
|
||||
self.frame_counter += 1
|
||||
if (self.frame_counter % FRAMES_NEEDED) == 0:
|
||||
grid = blur_image(self.grid, self.kernel)
|
||||
argmax_vp = np.unravel_index(np.argmax(grid), grid.shape)[::-1]
|
||||
self.rescale_grid()
|
||||
self.vp_unfilt = np.array(argmax_vp)
|
||||
self.vp_cycles += 1
|
||||
if (self.vp_cycles - VP_CYCLES_NEEDED) % 10 == 0: # update file every 10
|
||||
# skip rate_lim before writing the file to avoid writing a lagged vp
|
||||
if self.cal_status != Calibration.CALIBRATED:
|
||||
self.vp = self.vp_unfilt
|
||||
if self.param_put:
|
||||
cal_params = {"vanishing_point": list(self.vp), "angle_offset2": self.angle_offset}
|
||||
self.params.put("CalibrationParams", json.dumps(cal_params))
|
||||
return self.vp_unfilt
|
||||
|
||||
def parse_orb_features(self, log):
|
||||
matches = np.array(log.orbFeatures.matches)
|
||||
n = len(log.orbFeatures.matches)
|
||||
t = float(log.orbFeatures.timestampLastEof)*1e-9
|
||||
if t == 0 or n == 0:
|
||||
return t, np.zeros((0,2,2))
|
||||
orbs = denormalize(np.column_stack((log.orbFeatures.xs,
|
||||
log.orbFeatures.ys)))
|
||||
if self.prev_orbs is not None:
|
||||
valid_matches = (matches > -1) & (matches < len(self.prev_orbs))
|
||||
tracks = np.hstack((orbs[valid_matches], self.prev_orbs[matches[valid_matches]])).reshape((-1,2,2))
|
||||
else:
|
||||
tracks = np.zeros((0,2,2))
|
||||
self.prev_orbs = orbs
|
||||
return t, tracks
|
||||
|
||||
def update_vp(self):
|
||||
# rate limit to not move VP too fast
|
||||
self.vp = np.clip(self.vp_unfilt, self.vp - VP_RATE_LIM, self.vp + VP_RATE_LIM)
|
||||
if self.vp_cycles < VP_CYCLES_NEEDED:
|
||||
self.cal_status = Calibration.UNCALIBRATED
|
||||
else:
|
||||
self.cal_status = Calibration.CALIBRATED if is_calibration_valid(self.vp) else Calibration.INVALID
|
||||
|
||||
def handle_orb_features(self, log):
|
||||
self.update_vp()
|
||||
self.time_orb, frame_raw = self.parse_orb_features(log)
|
||||
self.dt = min(self.time_orb - self.orb_last_updated, 1.)
|
||||
self.orb_last_updated = self.time_orb
|
||||
if self.time_orb - self.l100_last_updated < 1:
|
||||
return self.update(frame_raw, self.yaw_rate, self.speed)
|
||||
|
||||
def handle_live100(self, log):
|
||||
self.l100_last_updated = self.time_orb
|
||||
self.speed = log.live100.vEgo
|
||||
self.angle_offset = log.live100.angleOffset
|
||||
self.yaw_rate = log.live100.curvature * self.speed
|
||||
|
||||
def handle_debug(self):
|
||||
grid_blurred = blur_image(self.grid, self.kernel)
|
||||
grid_grey = np.clip(grid_blurred/(0.1 + np.max(grid_blurred))*255, 0, 255)
|
||||
grid_color = np.repeat(grid_grey[:,:,np.newaxis], 3, axis=2)
|
||||
grid_color[:,:,0] = 0
|
||||
cv2.circle(grid_color, tuple(self.vp.astype(np.int64)), 2, (255, 255, 0), -1)
|
||||
cv2.imshow("debug", grid_color.astype(np.uint8))
|
||||
|
||||
cv2.waitKey(1)
|
||||
|
||||
def send_data(self, livecalibration):
|
||||
calib = get_calib_from_vp(self.vp)
|
||||
extrinsic_matrix = get_view_frame_from_road_frame(0, calib[1], calib[2], model_height)
|
||||
ke = eon_intrinsics.dot(extrinsic_matrix)
|
||||
warp_matrix = get_camera_frame_from_model_frame(ke, model_height)
|
||||
|
||||
cal_send = messaging.new_message()
|
||||
cal_send.init('liveCalibration')
|
||||
cal_send.liveCalibration.calStatus = self.cal_status
|
||||
cal_send.liveCalibration.calPerc = min(self.frame_counter * 100 / CALIBRATION_CYCLES_NEEDED, 100)
|
||||
cal_send.liveCalibration.warpMatrix2 = map(float, warp_matrix.flatten())
|
||||
cal_send.liveCalibration.extrinsicMatrix = map(float, extrinsic_matrix.flatten())
|
||||
|
||||
livecalibration.send(cal_send.to_bytes())
|
||||
|
||||
|
||||
def calibrationd_thread(gctx=None, addr="127.0.0.1"):
|
||||
context = zmq.Context()
|
||||
|
||||
live100 = messaging.sub_sock(context, service_list['live100'].port, addr=addr, conflate=True)
|
||||
orbfeatures = messaging.sub_sock(context, service_list['orbFeatures'].port, addr=addr, conflate=True)
|
||||
livecalibration = messaging.pub_sock(context, service_list['liveCalibration'].port)
|
||||
|
||||
calibrator = Calibrator(param_put = True)
|
||||
|
||||
# buffer with all the messages that still need to be input into the kalman
|
||||
while 1:
|
||||
of = messaging.recv_one(orbfeatures)
|
||||
l100 = messaging.recv_one_or_none(live100)
|
||||
|
||||
new_vp = calibrator.handle_orb_features(of)
|
||||
if DEBUG and new_vp is not None:
|
||||
print 'got new vp', new_vp
|
||||
if l100 is not None:
|
||||
calibrator.handle_live100(l100)
|
||||
if DEBUG:
|
||||
calibrator.handle_debug()
|
||||
|
||||
calibrator.send_data(livecalibration)
|
||||
|
||||
|
||||
def main(gctx=None, addr="127.0.0.1"):
|
||||
calibrationd_thread(gctx, addr)
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
41
selfdrive/locationd/get_vp.c
Normal file
41
selfdrive/locationd/get_vp.c
Normal file
@@ -0,0 +1,41 @@
|
||||
int get_intersections(double *lines, double *intersections, long long n) {
|
||||
double D, Dx, Dy;
|
||||
double x, y;
|
||||
double *L1, *L2;
|
||||
int k = 0;
|
||||
for (int i=0; i < n; i++) {
|
||||
for (int j=0; j < n; j++) {
|
||||
L1 = lines + i*3;
|
||||
L2 = lines + j*3;
|
||||
D = L1[0] * L2[1] - L1[1] * L2[0];
|
||||
Dx = L1[2] * L2[1] - L1[1] * L2[2];
|
||||
Dy = L1[0] * L2[2] - L1[2] * L2[0];
|
||||
// only intersect lines from different quadrants
|
||||
if ((D != 0) && (L1[0]*L2[0]*L1[1]*L2[1] < 0)){
|
||||
x = Dx / D;
|
||||
y = Dy / D;
|
||||
if ((0 < x) &&
|
||||
(x < W) &&
|
||||
(0 < y) &&
|
||||
(y < H)){
|
||||
intersections[k*2 + 0] = x;
|
||||
intersections[k*2 + 1] = y;
|
||||
k++;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
return k;
|
||||
}
|
||||
|
||||
void increment_grid(double *grid, double *lines, long long n) {
|
||||
double *intersections = (double*) malloc(n*n*2*sizeof(double));
|
||||
int y, x, k;
|
||||
k = get_intersections(lines, intersections, n);
|
||||
for (int i=0; i < k; i++) {
|
||||
x = (int) (intersections[i*2 + 0] + 0.5);
|
||||
y = (int) (intersections[i*2 + 1] + 0.5);
|
||||
grid[y*(W+1) + x] += 1.;
|
||||
}
|
||||
free(intersections);
|
||||
}
|
||||
Binary file not shown.
@@ -93,9 +93,11 @@ managed_processes = {
|
||||
"boardd": ("selfdrive/boardd", ["./boardd"]), # not used directly
|
||||
"pandad": "selfdrive.pandad",
|
||||
"ui": ("selfdrive/ui", ["./ui"]),
|
||||
"calibrationd": "selfdrive.locationd.calibrationd",
|
||||
"visiond": ("selfdrive/visiond", ["./visiond"]),
|
||||
"sensord": ("selfdrive/sensord", ["./sensord"]),
|
||||
"gpsd": ("selfdrive/sensord", ["./gpsd"]),
|
||||
"orbd": ("selfdrive/orbd", ["./orbd_wrapper.sh"]),
|
||||
"updated": "selfdrive.updated",
|
||||
}
|
||||
android_packages = ("ai.comma.plus.offroad", "ai.comma.plus.frame")
|
||||
@@ -118,7 +120,6 @@ persistent_processes = [
|
||||
'uploader',
|
||||
'ui',
|
||||
'gpsd',
|
||||
'ubloxd',
|
||||
'updated',
|
||||
]
|
||||
|
||||
@@ -127,9 +128,11 @@ car_started_processes = [
|
||||
'loggerd',
|
||||
'sensord',
|
||||
'radard',
|
||||
'calibrationd',
|
||||
'visiond',
|
||||
'proclogd',
|
||||
'orbd',
|
||||
'ubloxd',
|
||||
'orbd'
|
||||
]
|
||||
|
||||
def register_managed_process(name, desc, car_started=False):
|
||||
@@ -298,6 +301,9 @@ def manager_thread():
|
||||
cloudlog.info("manager start")
|
||||
cloudlog.info({"environ": os.environ})
|
||||
|
||||
# save boot log
|
||||
subprocess.call(["./loggerd", "--bootlog"], cwd=os.path.join(BASEDIR, "selfdrive/loggerd"))
|
||||
|
||||
for p in persistent_processes:
|
||||
start_managed_process(p)
|
||||
|
||||
@@ -464,7 +470,7 @@ def main():
|
||||
if params.get("IsUploadVideoOverCellularEnabled") is None:
|
||||
params.put("IsUploadVideoOverCellularEnabled", "1")
|
||||
if params.get("IsDriverMonitoringEnabled") is None:
|
||||
params.put("IsDriverMonitoringEnabled", "0")
|
||||
params.put("IsDriverMonitoringEnabled", "1")
|
||||
if params.get("IsGeofenceEnabled") is None:
|
||||
params.put("IsGeofenceEnabled", "-1")
|
||||
|
||||
|
||||
8
selfdrive/orbd/.gitignore
vendored
Normal file
8
selfdrive/orbd/.gitignore
vendored
Normal file
@@ -0,0 +1,8 @@
|
||||
orbd
|
||||
orbd_cpu
|
||||
test/turbocv_profile
|
||||
test/turbocv_test
|
||||
dspout/*
|
||||
dumb_test
|
||||
bilinear_lut.h
|
||||
orb_lut.h
|
||||
105
selfdrive/orbd/Makefile
Normal file
105
selfdrive/orbd/Makefile
Normal file
@@ -0,0 +1,105 @@
|
||||
# CPU
|
||||
|
||||
CC = clang
|
||||
CXX = clang++
|
||||
|
||||
WARN_FLAGS = -Werror=implicit-function-declaration \
|
||||
-Werror=incompatible-pointer-types \
|
||||
-Werror=int-conversion \
|
||||
-Werror=return-type \
|
||||
-Werror=format-extra-args
|
||||
|
||||
JSON_FLAGS = -I$(PHONELIBS)/json/src
|
||||
|
||||
CFLAGS = -std=gnu11 -g -O2 -fPIC $(WARN_FLAGS) -Iinclude $(JSON_FLAGS) -I.
|
||||
CXXFLAGS = -std=c++11 -g -O2 -fPIC $(WARN_FLAGS) -Iinclude $(JSON_FLAGS) -I.
|
||||
LDFLAGS =
|
||||
|
||||
# profile
|
||||
# CXXFLAGS += -DTURBOCV_PROFILE=1
|
||||
|
||||
PHONELIBS = ../../phonelibs
|
||||
BASEDIR = ../..
|
||||
EXTERNAL = ../../external
|
||||
PYTHONLIBS =
|
||||
|
||||
UNAME_M := $(shell uname -m)
|
||||
|
||||
ifeq ($(UNAME_M),x86_64)
|
||||
# computer
|
||||
|
||||
ZMQ_FLAGS = -I$(PHONELIBS)/zmq/aarch64/include
|
||||
ZMQ_LIBS = -L$(BASEDIR)/external/zmq/lib/ \
|
||||
-l:libczmq.a -l:libzmq.a -lpthread
|
||||
|
||||
OPENCV_LIBS = -lopencv_core -lopencv_highgui -lopencv_features2d -lopencv_imgproc
|
||||
|
||||
CXXFLAGS += -fopenmp
|
||||
LDFLAGS += -lomp
|
||||
|
||||
else
|
||||
# phone
|
||||
ZMQ_FLAGS = -I$(PHONELIBS)/zmq/aarch64/include
|
||||
ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib \
|
||||
-l:libczmq.a -l:libzmq.a \
|
||||
-lgnustl_shared
|
||||
|
||||
OPENCV_FLAGS = -I$(PHONELIBS)/opencv/include
|
||||
OPENCV_LIBS = -Wl,--enable-new-dtags -Wl,-rpath,/usr/local/lib/python2.7/site-packages -L/usr/local/lib/python2.7/site-packages -l:cv2.so
|
||||
|
||||
endif
|
||||
|
||||
.PHONY: all
|
||||
all: orbd
|
||||
|
||||
include ../common/cereal.mk
|
||||
|
||||
DEP_OBJS = ../common/visionipc.o ../common/swaglog.o $(PHONELIBS)/json/src/json.o
|
||||
|
||||
orbd: orbd_dsp.o $(DEP_OBJS) calculator_stub.o freethedsp.o
|
||||
@echo "[ LINK ] $@"
|
||||
$(CXX) -fPIC -o '$@' $^ \
|
||||
$(LDFLAGS) \
|
||||
$(ZMQ_LIBS) \
|
||||
$(CEREAL_LIBS) \
|
||||
-L/usr/lib \
|
||||
-L/system/vendor/lib64 \
|
||||
-ladsprpc \
|
||||
-lm -lz -llog
|
||||
|
||||
%.o: %.c
|
||||
@echo "[ CC ] $@"
|
||||
$(CC) $(CFLAGS) \
|
||||
$(ZMQ_FLAGS) \
|
||||
-I../ \
|
||||
-I../../ \
|
||||
-c -o '$@' '$<'
|
||||
|
||||
orbd_dsp.o: orbd.cc
|
||||
@echo "[ CXX ] $@"
|
||||
$(CXX) $(CXXFLAGS) \
|
||||
$(CEREAL_CXXFLAGS) \
|
||||
$(ZMQ_FLAGS) \
|
||||
$(OPENCV_FLAGS) \
|
||||
-DDSP \
|
||||
-I../ \
|
||||
-I../../ \
|
||||
-I../../../ \
|
||||
-I./include \
|
||||
-c -o '$@' '$<'
|
||||
|
||||
freethedsp.o: dsp/freethedsp.c
|
||||
@echo "[ CC ] $@"
|
||||
$(CC) $(CFLAGS) \
|
||||
-c -o '$@' '$<'
|
||||
|
||||
calculator_stub.o: dsp/gen/calculator_stub.c
|
||||
@echo "[ CC ] $@"
|
||||
$(CC) $(CFLAGS) -I./include -c -o '$@' '$<'
|
||||
|
||||
-include internal.mk
|
||||
|
||||
.PHONY: clean
|
||||
clean:
|
||||
rm -f *.o turbocv.so orbd test/turbocv_profile test/turbocv_test test/*.o *_lut.h
|
||||
|
||||
119
selfdrive/orbd/dsp/freethedsp.c
Normal file
119
selfdrive/orbd/dsp/freethedsp.c
Normal file
@@ -0,0 +1,119 @@
|
||||
// freethedsp by geohot
|
||||
// (because the DSP should be free)
|
||||
// released under MIT License
|
||||
|
||||
// usage instructions:
|
||||
// 1. Compile an example from the Qualcomm Hexagon SDK
|
||||
// 2. Try to run it on your phone
|
||||
// 3. Be very sad when "adsprpc ... dlopen error: ... signature verify start failed for ..." appears in logcat
|
||||
// ...here is where people would give up before freethedsp
|
||||
// 4. Compile freethedsp with 'clang -shared freethedsp.c -o freethedsp.so' (or statically link it to your program)
|
||||
// 5. Run your program with 'LD_PRELOAD=./freethedsp.so ./<your_prog>'
|
||||
// 6. OMG THE DSP WORKS
|
||||
// 7. Be happy.
|
||||
|
||||
// *** patch may have to change for your phone ***
|
||||
|
||||
// this is patching /dsp/fastrpc_shell_0
|
||||
// correct if sha hash of fastrpc_shell_0 is "fbadc96848aefad99a95aa4edb560929dcdf78f8"
|
||||
// patch to return 0xFFFFFFFF from is_test_enabled instead of 0
|
||||
// your fastrpc_shell_0 may vary
|
||||
#define PATCH_ADDR 0x5200c
|
||||
#define PATCH_OLD "\x40\x3f\x20\x50"
|
||||
#define PATCH_NEW "\x40\x3f\x00\x5a"
|
||||
#define PATCH_LEN (sizeof(PATCH_OLD)-1)
|
||||
#define _BITS_IOCTL_H_
|
||||
|
||||
// under 100 lines of code begins now
|
||||
#include <stdio.h>
|
||||
#include <dlfcn.h>
|
||||
#include <assert.h>
|
||||
#include <stdlib.h>
|
||||
#include <unistd.h>
|
||||
|
||||
// ioctl stuff
|
||||
#define IOC_OUT 0x40000000 /* copy out parameters */
|
||||
#define IOC_IN 0x80000000 /* copy in parameters */
|
||||
#define IOC_INOUT (IOC_IN|IOC_OUT)
|
||||
#define IOCPARM_MASK 0x1fff /* parameter length, at most 13 bits */
|
||||
|
||||
#define _IOC(inout,group,num,len) \
|
||||
(inout | ((len & IOCPARM_MASK) << 16) | ((group) << 8) | (num))
|
||||
#define _IOWR(g,n,t) _IOC(IOC_INOUT, (g), (n), sizeof(t))
|
||||
|
||||
// ion ioctls
|
||||
#include <linux/ion.h>
|
||||
#define ION_IOC_MSM_MAGIC 'M'
|
||||
#define ION_IOC_CLEAN_INV_CACHES _IOWR(ION_IOC_MSM_MAGIC, 2, \
|
||||
struct ion_flush_data)
|
||||
|
||||
struct ion_flush_data {
|
||||
ion_user_handle_t handle;
|
||||
int fd;
|
||||
void *vaddr;
|
||||
unsigned int offset;
|
||||
unsigned int length;
|
||||
};
|
||||
|
||||
// fastrpc ioctls
|
||||
#define FASTRPC_IOCTL_INIT _IOWR('R', 6, struct fastrpc_ioctl_init)
|
||||
|
||||
struct fastrpc_ioctl_init {
|
||||
uint32_t flags; /* one of FASTRPC_INIT_* macros */
|
||||
uintptr_t __user file; /* pointer to elf file */
|
||||
int32_t filelen; /* elf file length */
|
||||
int32_t filefd; /* ION fd for the file */
|
||||
uintptr_t __user mem; /* mem for the PD */
|
||||
int32_t memlen; /* mem length */
|
||||
int32_t memfd; /* ION fd for the mem */
|
||||
};
|
||||
|
||||
int ioctl(int fd, unsigned long request, void *arg) {
|
||||
static void *handle = NULL;
|
||||
static int (*orig_ioctl)(int, int, void*);
|
||||
|
||||
if (handle == NULL) {
|
||||
handle = dlopen("/system/lib64/libc.so", RTLD_LAZY);
|
||||
assert(handle != NULL);
|
||||
orig_ioctl = dlsym(handle, "ioctl");
|
||||
}
|
||||
|
||||
int ret = orig_ioctl(fd, request, arg);
|
||||
|
||||
// carefully modify this one
|
||||
if (request == FASTRPC_IOCTL_INIT) {
|
||||
struct fastrpc_ioctl_init *init = (struct fastrpc_ioctl_init *)arg;
|
||||
|
||||
// confirm patch is correct and do the patch
|
||||
assert(memcmp((void*)(init->mem+PATCH_ADDR), PATCH_OLD, PATCH_LEN) == 0);
|
||||
memcpy((void*)(init->mem+PATCH_ADDR), PATCH_NEW, PATCH_LEN);
|
||||
|
||||
// flush cache
|
||||
int ionfd = open("/dev/ion", O_RDONLY);
|
||||
assert(ionfd > 0);
|
||||
|
||||
struct ion_fd_data fd_data;
|
||||
fd_data.fd = init->memfd;
|
||||
int ret = ioctl(ionfd, ION_IOC_IMPORT, &fd_data);
|
||||
assert(ret == 0);
|
||||
|
||||
struct ion_flush_data flush_data;
|
||||
flush_data.handle = fd_data.handle;
|
||||
flush_data.vaddr = (void*)init->mem;
|
||||
flush_data.offset = 0;
|
||||
flush_data.length = init->memlen;
|
||||
ret = ioctl(ionfd, ION_IOC_CLEAN_INV_CACHES, &flush_data);
|
||||
assert(ret == 0);
|
||||
|
||||
struct ion_handle_data handle_data;
|
||||
handle_data.handle = fd_data.handle;
|
||||
ret = ioctl(ionfd, ION_IOC_FREE, &handle_data);
|
||||
assert(ret == 0);
|
||||
|
||||
// cleanup
|
||||
close(ionfd);
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
39
selfdrive/orbd/dsp/gen/calculator.h
Normal file
39
selfdrive/orbd/dsp/gen/calculator.h
Normal file
@@ -0,0 +1,39 @@
|
||||
#ifndef _CALCULATOR_H
|
||||
#define _CALCULATOR_H
|
||||
|
||||
#include <stdint.h>
|
||||
typedef uint8_t uint8;
|
||||
typedef uint32_t uint32;
|
||||
|
||||
#ifndef __QAIC_HEADER
|
||||
#define __QAIC_HEADER(ff) ff
|
||||
#endif //__QAIC_HEADER
|
||||
|
||||
#ifndef __QAIC_HEADER_EXPORT
|
||||
#define __QAIC_HEADER_EXPORT
|
||||
#endif // __QAIC_HEADER_EXPORT
|
||||
|
||||
#ifndef __QAIC_HEADER_ATTRIBUTE
|
||||
#define __QAIC_HEADER_ATTRIBUTE
|
||||
#endif // __QAIC_HEADER_ATTRIBUTE
|
||||
|
||||
#ifndef __QAIC_IMPL
|
||||
#define __QAIC_IMPL(ff) ff
|
||||
#endif //__QAIC_IMPL
|
||||
|
||||
#ifndef __QAIC_IMPL_EXPORT
|
||||
#define __QAIC_IMPL_EXPORT
|
||||
#endif // __QAIC_IMPL_EXPORT
|
||||
|
||||
#ifndef __QAIC_IMPL_ATTRIBUTE
|
||||
#define __QAIC_IMPL_ATTRIBUTE
|
||||
#endif // __QAIC_IMPL_ATTRIBUTE
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
__QAIC_HEADER_EXPORT int __QAIC_HEADER(calculator_init)(uint32* leet) __QAIC_HEADER_ATTRIBUTE;
|
||||
__QAIC_HEADER_EXPORT int __QAIC_HEADER(calculator_extract_and_match)(const uint8* img, int imgLen, uint8* features, int featuresLen) __QAIC_HEADER_ATTRIBUTE;
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
#endif //_CALCULATOR_H
|
||||
613
selfdrive/orbd/dsp/gen/calculator_stub.c
Normal file
613
selfdrive/orbd/dsp/gen/calculator_stub.c
Normal file
@@ -0,0 +1,613 @@
|
||||
#ifndef _CALCULATOR_STUB_H
|
||||
#define _CALCULATOR_STUB_H
|
||||
#include "calculator.h"
|
||||
|
||||
// remote.h
|
||||
#include <stdint.h>
|
||||
#include <sys/types.h>
|
||||
|
||||
typedef uint32_t remote_handle;
|
||||
typedef uint64_t remote_handle64;
|
||||
|
||||
typedef struct {
|
||||
void *pv;
|
||||
size_t nLen;
|
||||
} remote_buf;
|
||||
|
||||
typedef struct {
|
||||
int32_t fd;
|
||||
uint32_t offset;
|
||||
} remote_dma_handle;
|
||||
|
||||
typedef union {
|
||||
remote_buf buf;
|
||||
remote_handle h;
|
||||
remote_handle64 h64;
|
||||
remote_dma_handle dma;
|
||||
} remote_arg;
|
||||
|
||||
int remote_handle_open(const char* name, remote_handle *ph);
|
||||
int remote_handle_invoke(remote_handle h, uint32_t dwScalars, remote_arg *pra);
|
||||
int remote_handle_close(remote_handle h);
|
||||
|
||||
#define REMOTE_SCALARS_MAKEX(nAttr,nMethod,nIn,nOut,noIn,noOut) \
|
||||
((((uint32_t) (nAttr) & 0x7) << 29) | \
|
||||
(((uint32_t) (nMethod) & 0x1f) << 24) | \
|
||||
(((uint32_t) (nIn) & 0xff) << 16) | \
|
||||
(((uint32_t) (nOut) & 0xff) << 8) | \
|
||||
(((uint32_t) (noIn) & 0x0f) << 4) | \
|
||||
((uint32_t) (noOut) & 0x0f))
|
||||
|
||||
#ifndef _QAIC_ENV_H
|
||||
#define _QAIC_ENV_H
|
||||
|
||||
#ifdef __GNUC__
|
||||
#ifdef __clang__
|
||||
#pragma GCC diagnostic ignored "-Wunknown-pragmas"
|
||||
#else
|
||||
#pragma GCC diagnostic ignored "-Wpragmas"
|
||||
#endif
|
||||
#pragma GCC diagnostic ignored "-Wuninitialized"
|
||||
#pragma GCC diagnostic ignored "-Wunused-parameter"
|
||||
#pragma GCC diagnostic ignored "-Wunused-function"
|
||||
#endif
|
||||
|
||||
#ifndef _ATTRIBUTE_UNUSED
|
||||
|
||||
#ifdef _WIN32
|
||||
#define _ATTRIBUTE_UNUSED
|
||||
#else
|
||||
#define _ATTRIBUTE_UNUSED __attribute__ ((unused))
|
||||
#endif
|
||||
|
||||
#endif // _ATTRIBUTE_UNUSED
|
||||
|
||||
#ifndef __QAIC_REMOTE
|
||||
#define __QAIC_REMOTE(ff) ff
|
||||
#endif //__QAIC_REMOTE
|
||||
|
||||
#ifndef __QAIC_HEADER
|
||||
#define __QAIC_HEADER(ff) ff
|
||||
#endif //__QAIC_HEADER
|
||||
|
||||
#ifndef __QAIC_HEADER_EXPORT
|
||||
#define __QAIC_HEADER_EXPORT
|
||||
#endif // __QAIC_HEADER_EXPORT
|
||||
|
||||
#ifndef __QAIC_HEADER_ATTRIBUTE
|
||||
#define __QAIC_HEADER_ATTRIBUTE
|
||||
#endif // __QAIC_HEADER_ATTRIBUTE
|
||||
|
||||
#ifndef __QAIC_IMPL
|
||||
#define __QAIC_IMPL(ff) ff
|
||||
#endif //__QAIC_IMPL
|
||||
|
||||
#ifndef __QAIC_IMPL_EXPORT
|
||||
#define __QAIC_IMPL_EXPORT
|
||||
#endif // __QAIC_IMPL_EXPORT
|
||||
|
||||
#ifndef __QAIC_IMPL_ATTRIBUTE
|
||||
#define __QAIC_IMPL_ATTRIBUTE
|
||||
#endif // __QAIC_IMPL_ATTRIBUTE
|
||||
|
||||
#ifndef __QAIC_STUB
|
||||
#define __QAIC_STUB(ff) ff
|
||||
#endif //__QAIC_STUB
|
||||
|
||||
#ifndef __QAIC_STUB_EXPORT
|
||||
#define __QAIC_STUB_EXPORT
|
||||
#endif // __QAIC_STUB_EXPORT
|
||||
|
||||
#ifndef __QAIC_STUB_ATTRIBUTE
|
||||
#define __QAIC_STUB_ATTRIBUTE
|
||||
#endif // __QAIC_STUB_ATTRIBUTE
|
||||
|
||||
#ifndef __QAIC_SKEL
|
||||
#define __QAIC_SKEL(ff) ff
|
||||
#endif //__QAIC_SKEL__
|
||||
|
||||
#ifndef __QAIC_SKEL_EXPORT
|
||||
#define __QAIC_SKEL_EXPORT
|
||||
#endif // __QAIC_SKEL_EXPORT
|
||||
|
||||
#ifndef __QAIC_SKEL_ATTRIBUTE
|
||||
#define __QAIC_SKEL_ATTRIBUTE
|
||||
#endif // __QAIC_SKEL_ATTRIBUTE
|
||||
|
||||
#ifdef __QAIC_DEBUG__
|
||||
#ifndef __QAIC_DBG_PRINTF__
|
||||
#include <stdio.h>
|
||||
#define __QAIC_DBG_PRINTF__( ee ) do { printf ee ; } while(0)
|
||||
#endif
|
||||
#else
|
||||
#define __QAIC_DBG_PRINTF__( ee ) (void)0
|
||||
#endif
|
||||
|
||||
|
||||
#define _OFFSET(src, sof) ((void*)(((char*)(src)) + (sof)))
|
||||
|
||||
#define _COPY(dst, dof, src, sof, sz) \
|
||||
do {\
|
||||
struct __copy { \
|
||||
char ar[sz]; \
|
||||
};\
|
||||
*(struct __copy*)_OFFSET(dst, dof) = *(struct __copy*)_OFFSET(src, sof);\
|
||||
} while (0)
|
||||
|
||||
#define _COPYIF(dst, dof, src, sof, sz) \
|
||||
do {\
|
||||
if(_OFFSET(dst, dof) != _OFFSET(src, sof)) {\
|
||||
_COPY(dst, dof, src, sof, sz); \
|
||||
} \
|
||||
} while (0)
|
||||
|
||||
_ATTRIBUTE_UNUSED
|
||||
static __inline void _qaic_memmove(void* dst, void* src, int size) {
|
||||
int i;
|
||||
for(i = 0; i < size; ++i) {
|
||||
((char*)dst)[i] = ((char*)src)[i];
|
||||
}
|
||||
}
|
||||
|
||||
#define _MEMMOVEIF(dst, src, sz) \
|
||||
do {\
|
||||
if(dst != src) {\
|
||||
_qaic_memmove(dst, src, sz);\
|
||||
} \
|
||||
} while (0)
|
||||
|
||||
|
||||
#define _ASSIGN(dst, src, sof) \
|
||||
do {\
|
||||
dst = OFFSET(src, sof); \
|
||||
} while (0)
|
||||
|
||||
#define _STD_STRLEN_IF(str) (str == 0 ? 0 : strlen(str))
|
||||
|
||||
#define AEE_SUCCESS 0
|
||||
#define AEE_EOFFSET 0x80000400
|
||||
#define AEE_EBADPARM (AEE_EOFFSET + 0x00E)
|
||||
|
||||
#define _TRY(ee, func) \
|
||||
do { \
|
||||
if (AEE_SUCCESS != ((ee) = func)) {\
|
||||
__QAIC_DBG_PRINTF__((__FILE__ ":%d:error:%d:%s\n", __LINE__, (int)(ee),#func));\
|
||||
goto ee##bail;\
|
||||
} \
|
||||
} while (0)
|
||||
|
||||
#define _CATCH(exception) exception##bail: if (exception != AEE_SUCCESS)
|
||||
|
||||
#define _ASSERT(nErr, ff) _TRY(nErr, 0 == (ff) ? AEE_EBADPARM : AEE_SUCCESS)
|
||||
|
||||
#ifdef __QAIC_DEBUG__
|
||||
#define _ALLOCATE(nErr, pal, size, alignment, pv) _TRY(nErr, _allocator_alloc(pal, __FILE_LINE__, size, alignment, (void**)&pv))
|
||||
#else
|
||||
#define _ALLOCATE(nErr, pal, size, alignment, pv) _TRY(nErr, _allocator_alloc(pal, 0, size, alignment, (void**)&pv))
|
||||
#endif
|
||||
|
||||
|
||||
#endif // _QAIC_ENV_H
|
||||
|
||||
#ifndef _ALLOCATOR_H
|
||||
#define _ALLOCATOR_H
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <stdint.h>
|
||||
|
||||
typedef struct _heap _heap;
|
||||
struct _heap {
|
||||
_heap* pPrev;
|
||||
const char* loc;
|
||||
uint64_t buf;
|
||||
};
|
||||
|
||||
typedef struct _allocator {
|
||||
_heap* pheap;
|
||||
uint8_t* stack;
|
||||
uint8_t* stackEnd;
|
||||
int nSize;
|
||||
} _allocator;
|
||||
|
||||
_ATTRIBUTE_UNUSED
|
||||
static __inline int _heap_alloc(_heap** ppa, const char* loc, int size, void** ppbuf) {
|
||||
_heap* pn = 0;
|
||||
pn = malloc(size + sizeof(_heap) - sizeof(uint64_t));
|
||||
if(pn != 0) {
|
||||
pn->pPrev = *ppa;
|
||||
pn->loc = loc;
|
||||
*ppa = pn;
|
||||
*ppbuf = (void*)&(pn->buf);
|
||||
return 0;
|
||||
} else {
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
#define _ALIGN_SIZE(x, y) (((x) + (y-1)) & ~(y-1))
|
||||
|
||||
_ATTRIBUTE_UNUSED
|
||||
static __inline int _allocator_alloc(_allocator* me,
|
||||
const char* loc,
|
||||
int size,
|
||||
unsigned int al,
|
||||
void** ppbuf) {
|
||||
if(size < 0) {
|
||||
return -1;
|
||||
} else if (size == 0) {
|
||||
*ppbuf = 0;
|
||||
return 0;
|
||||
}
|
||||
if((_ALIGN_SIZE((uintptr_t)me->stackEnd, al) + size) < (uintptr_t)me->stack + me->nSize) {
|
||||
*ppbuf = (uint8_t*)_ALIGN_SIZE((uintptr_t)me->stackEnd, al);
|
||||
me->stackEnd = (uint8_t*)_ALIGN_SIZE((uintptr_t)me->stackEnd, al) + size;
|
||||
return 0;
|
||||
} else {
|
||||
return _heap_alloc(&me->pheap, loc, size, ppbuf);
|
||||
}
|
||||
}
|
||||
|
||||
_ATTRIBUTE_UNUSED
|
||||
static __inline void _allocator_deinit(_allocator* me) {
|
||||
_heap* pa = me->pheap;
|
||||
while(pa != 0) {
|
||||
_heap* pn = pa;
|
||||
const char* loc = pn->loc;
|
||||
(void)loc;
|
||||
pa = pn->pPrev;
|
||||
free(pn);
|
||||
}
|
||||
}
|
||||
|
||||
_ATTRIBUTE_UNUSED
|
||||
static __inline void _allocator_init(_allocator* me, uint8_t* stack, int stackSize) {
|
||||
me->stack = stack;
|
||||
me->stackEnd = stack + stackSize;
|
||||
me->nSize = stackSize;
|
||||
me->pheap = 0;
|
||||
}
|
||||
|
||||
|
||||
#endif // _ALLOCATOR_H
|
||||
|
||||
#ifndef SLIM_H
|
||||
#define SLIM_H
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
//a C data structure for the idl types that can be used to implement
|
||||
//static and dynamic language bindings fairly efficiently.
|
||||
//
|
||||
//the goal is to have a minimal ROM and RAM footprint and without
|
||||
//doing too many allocations. A good way to package these things seemed
|
||||
//like the module boundary, so all the idls within one module can share
|
||||
//all the type references.
|
||||
|
||||
|
||||
#define PARAMETER_IN 0x0
|
||||
#define PARAMETER_OUT 0x1
|
||||
#define PARAMETER_INOUT 0x2
|
||||
#define PARAMETER_ROUT 0x3
|
||||
#define PARAMETER_INROUT 0x4
|
||||
|
||||
//the types that we get from idl
|
||||
#define TYPE_OBJECT 0x0
|
||||
#define TYPE_INTERFACE 0x1
|
||||
#define TYPE_PRIMITIVE 0x2
|
||||
#define TYPE_ENUM 0x3
|
||||
#define TYPE_STRING 0x4
|
||||
#define TYPE_WSTRING 0x5
|
||||
#define TYPE_STRUCTURE 0x6
|
||||
#define TYPE_UNION 0x7
|
||||
#define TYPE_ARRAY 0x8
|
||||
#define TYPE_SEQUENCE 0x9
|
||||
|
||||
//these require the pack/unpack to recurse
|
||||
//so it's a hint to those languages that can optimize in cases where
|
||||
//recursion isn't necessary.
|
||||
#define TYPE_COMPLEX_STRUCTURE (0x10 | TYPE_STRUCTURE)
|
||||
#define TYPE_COMPLEX_UNION (0x10 | TYPE_UNION)
|
||||
#define TYPE_COMPLEX_ARRAY (0x10 | TYPE_ARRAY)
|
||||
#define TYPE_COMPLEX_SEQUENCE (0x10 | TYPE_SEQUENCE)
|
||||
|
||||
|
||||
typedef struct Type Type;
|
||||
|
||||
#define INHERIT_TYPE\
|
||||
int32_t nativeSize; /*in the simple case its the same as wire size and alignment*/\
|
||||
union {\
|
||||
struct {\
|
||||
const uintptr_t p1;\
|
||||
const uintptr_t p2;\
|
||||
} _cast;\
|
||||
struct {\
|
||||
uint32_t iid;\
|
||||
uint32_t bNotNil;\
|
||||
} object;\
|
||||
struct {\
|
||||
const Type *arrayType;\
|
||||
int32_t nItems;\
|
||||
} array;\
|
||||
struct {\
|
||||
const Type *seqType;\
|
||||
int32_t nMaxLen;\
|
||||
} seqSimple; \
|
||||
struct {\
|
||||
uint32_t bFloating;\
|
||||
uint32_t bSigned;\
|
||||
} prim; \
|
||||
const SequenceType* seqComplex;\
|
||||
const UnionType *unionType;\
|
||||
const StructType *structType;\
|
||||
int32_t stringMaxLen;\
|
||||
uint8_t bInterfaceNotNil;\
|
||||
} param;\
|
||||
uint8_t type;\
|
||||
uint8_t nativeAlignment\
|
||||
|
||||
typedef struct UnionType UnionType;
|
||||
typedef struct StructType StructType;
|
||||
typedef struct SequenceType SequenceType;
|
||||
struct Type {
|
||||
INHERIT_TYPE;
|
||||
};
|
||||
|
||||
struct SequenceType {
|
||||
const Type * seqType;
|
||||
uint32_t nMaxLen;
|
||||
uint32_t inSize;
|
||||
uint32_t routSizePrimIn;
|
||||
uint32_t routSizePrimROut;
|
||||
};
|
||||
|
||||
//byte offset from the start of the case values for
|
||||
//this unions case value array. it MUST be aligned
|
||||
//at the alignment requrements for the descriptor
|
||||
//
|
||||
//if negative it means that the unions cases are
|
||||
//simple enumerators, so the value read from the descriptor
|
||||
//can be used directly to find the correct case
|
||||
typedef union CaseValuePtr CaseValuePtr;
|
||||
union CaseValuePtr {
|
||||
const uint8_t* value8s;
|
||||
const uint16_t* value16s;
|
||||
const uint32_t* value32s;
|
||||
const uint64_t* value64s;
|
||||
};
|
||||
|
||||
//these are only used in complex cases
|
||||
//so I pulled them out of the type definition as references to make
|
||||
//the type smaller
|
||||
struct UnionType {
|
||||
const Type *descriptor;
|
||||
uint32_t nCases;
|
||||
const CaseValuePtr caseValues;
|
||||
const Type * const *cases;
|
||||
int32_t inSize;
|
||||
int32_t routSizePrimIn;
|
||||
int32_t routSizePrimROut;
|
||||
uint8_t inAlignment;
|
||||
uint8_t routAlignmentPrimIn;
|
||||
uint8_t routAlignmentPrimROut;
|
||||
uint8_t inCaseAlignment;
|
||||
uint8_t routCaseAlignmentPrimIn;
|
||||
uint8_t routCaseAlignmentPrimROut;
|
||||
uint8_t nativeCaseAlignment;
|
||||
uint8_t bDefaultCase;
|
||||
};
|
||||
|
||||
struct StructType {
|
||||
uint32_t nMembers;
|
||||
const Type * const *members;
|
||||
int32_t inSize;
|
||||
int32_t routSizePrimIn;
|
||||
int32_t routSizePrimROut;
|
||||
uint8_t inAlignment;
|
||||
uint8_t routAlignmentPrimIn;
|
||||
uint8_t routAlignmentPrimROut;
|
||||
};
|
||||
|
||||
typedef struct Parameter Parameter;
|
||||
struct Parameter {
|
||||
INHERIT_TYPE;
|
||||
uint8_t mode;
|
||||
uint8_t bNotNil;
|
||||
};
|
||||
|
||||
#define SLIM_IFPTR32(is32,is64) (sizeof(uintptr_t) == 4 ? (is32) : (is64))
|
||||
#define SLIM_SCALARS_IS_DYNAMIC(u) (((u) & 0x00ffffff) == 0x00ffffff)
|
||||
|
||||
typedef struct Method Method;
|
||||
struct Method {
|
||||
uint32_t uScalars; //no method index
|
||||
int32_t primInSize;
|
||||
int32_t primROutSize;
|
||||
int maxArgs;
|
||||
int numParams;
|
||||
const Parameter * const *params;
|
||||
uint8_t primInAlignment;
|
||||
uint8_t primROutAlignment;
|
||||
};
|
||||
|
||||
typedef struct Interface Interface;
|
||||
|
||||
struct Interface {
|
||||
int nMethods;
|
||||
const Method * const *methodArray;
|
||||
int nIIds;
|
||||
const uint32_t *iids;
|
||||
const uint16_t* methodStringArray;
|
||||
const uint16_t* methodStrings;
|
||||
const char* strings;
|
||||
};
|
||||
|
||||
|
||||
#endif //SLIM_H
|
||||
|
||||
|
||||
#ifndef _CALCULATOR_SLIM_H
|
||||
#define _CALCULATOR_SLIM_H
|
||||
|
||||
// remote.h
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#ifndef __QAIC_SLIM
|
||||
#define __QAIC_SLIM(ff) ff
|
||||
#endif
|
||||
#ifndef __QAIC_SLIM_EXPORT
|
||||
#define __QAIC_SLIM_EXPORT
|
||||
#endif
|
||||
|
||||
static const Type types[1];
|
||||
static const Type types[1] = {{0x1,{{(const uintptr_t)0,(const uintptr_t)0}}, 2,0x1}};
|
||||
static const Parameter parameters[3] = {{0x4,{{(const uintptr_t)0,(const uintptr_t)0}}, 2,0x4,3,0},{SLIM_IFPTR32(0x8,0x10),{{(const uintptr_t)&(types[0]),(const uintptr_t)0x0}}, 9,SLIM_IFPTR32(0x4,0x8),0,0},{SLIM_IFPTR32(0x8,0x10),{{(const uintptr_t)&(types[0]),(const uintptr_t)0x0}}, 9,SLIM_IFPTR32(0x4,0x8),3,0}};
|
||||
static const Parameter* const parameterArrays[3] = {(&(parameters[1])),(&(parameters[2])),(&(parameters[0]))};
|
||||
static const Method methods[2] = {{REMOTE_SCALARS_MAKEX(0,0,0x0,0x1,0x0,0x0),0x0,0x4,1,1,(&(parameterArrays[2])),0x1,0x4},{REMOTE_SCALARS_MAKEX(0,0,0x2,0x1,0x0,0x0),0x8,0x0,5,2,(&(parameterArrays[0])),0x4,0x1}};
|
||||
static const Method* const methodArrays[2] = {&(methods[0]),&(methods[1])};
|
||||
static const char strings[41] = "extract_and_match\0features\0leet\0init\0img\0";
|
||||
static const uint16_t methodStrings[5] = {0,37,18,32,27};
|
||||
static const uint16_t methodStringsArrays[2] = {3,0};
|
||||
__QAIC_SLIM_EXPORT const Interface __QAIC_SLIM(calculator_slim) = {2,&(methodArrays[0]),0,0,&(methodStringsArrays [0]),methodStrings,strings};
|
||||
#endif //_CALCULATOR_SLIM_H
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
#ifndef _const_calculator_handle
|
||||
#define _const_calculator_handle ((remote_handle)-1)
|
||||
#endif //_const_calculator_handle
|
||||
|
||||
static void _calculator_pls_dtor(void* data) {
|
||||
remote_handle* ph = (remote_handle*)data;
|
||||
if(_const_calculator_handle != *ph) {
|
||||
(void)__QAIC_REMOTE(remote_handle_close)(*ph);
|
||||
*ph = _const_calculator_handle;
|
||||
}
|
||||
}
|
||||
|
||||
static int _calculator_pls_ctor(void* ctx, void* data) {
|
||||
remote_handle* ph = (remote_handle*)data;
|
||||
*ph = _const_calculator_handle;
|
||||
if(*ph == (remote_handle)-1) {
|
||||
return __QAIC_REMOTE(remote_handle_open)((const char*)ctx, ph);
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
#if (defined __qdsp6__) || (defined __hexagon__)
|
||||
#pragma weak adsp_pls_add_lookup
|
||||
extern int adsp_pls_add_lookup(uint32_t type, uint32_t key, int size, int (*ctor)(void* ctx, void* data), void* ctx, void (*dtor)(void* ctx), void** ppo);
|
||||
#pragma weak HAP_pls_add_lookup
|
||||
extern int HAP_pls_add_lookup(uint32_t type, uint32_t key, int size, int (*ctor)(void* ctx, void* data), void* ctx, void (*dtor)(void* ctx), void** ppo);
|
||||
|
||||
__QAIC_STUB_EXPORT remote_handle _calculator_handle(void) {
|
||||
remote_handle* ph;
|
||||
if(adsp_pls_add_lookup) {
|
||||
if(0 == adsp_pls_add_lookup((uint32_t)_calculator_handle, 0, sizeof(*ph), _calculator_pls_ctor, "calculator", _calculator_pls_dtor, (void**)&ph)) {
|
||||
return *ph;
|
||||
}
|
||||
return (remote_handle)-1;
|
||||
} else if(HAP_pls_add_lookup) {
|
||||
if(0 == HAP_pls_add_lookup((uint32_t)_calculator_handle, 0, sizeof(*ph), _calculator_pls_ctor, "calculator", _calculator_pls_dtor, (void**)&ph)) {
|
||||
return *ph;
|
||||
}
|
||||
return (remote_handle)-1;
|
||||
}
|
||||
return(remote_handle)-1;
|
||||
}
|
||||
|
||||
#else //__qdsp6__ || __hexagon__
|
||||
|
||||
uint32_t _calculator_atomic_CompareAndExchange(uint32_t * volatile puDest, uint32_t uExchange, uint32_t uCompare);
|
||||
|
||||
#ifdef _WIN32
|
||||
#include "Windows.h"
|
||||
uint32_t _calculator_atomic_CompareAndExchange(uint32_t * volatile puDest, uint32_t uExchange, uint32_t uCompare) {
|
||||
return (uint32_t)InterlockedCompareExchange((volatile LONG*)puDest, (LONG)uExchange, (LONG)uCompare);
|
||||
}
|
||||
#elif __GNUC__
|
||||
uint32_t _calculator_atomic_CompareAndExchange(uint32_t * volatile puDest, uint32_t uExchange, uint32_t uCompare) {
|
||||
return __sync_val_compare_and_swap(puDest, uCompare, uExchange);
|
||||
}
|
||||
#endif //_WIN32
|
||||
|
||||
|
||||
__QAIC_STUB_EXPORT remote_handle _calculator_handle(void) {
|
||||
static remote_handle handle = _const_calculator_handle;
|
||||
if((remote_handle)-1 != handle) {
|
||||
return handle;
|
||||
} else {
|
||||
remote_handle tmp;
|
||||
int nErr = _calculator_pls_ctor("calculator", (void*)&tmp);
|
||||
if(nErr) {
|
||||
return (remote_handle)-1;
|
||||
}
|
||||
if(((remote_handle)-1 != handle) || ((remote_handle)-1 != (remote_handle)_calculator_atomic_CompareAndExchange((uint32_t*)&handle, (uint32_t)tmp, (uint32_t)-1))) {
|
||||
_calculator_pls_dtor(&tmp);
|
||||
}
|
||||
return handle;
|
||||
}
|
||||
}
|
||||
|
||||
#endif //__qdsp6__
|
||||
|
||||
__QAIC_STUB_EXPORT int __QAIC_STUB(calculator_skel_invoke)(uint32_t _sc, remote_arg* _pra) __QAIC_STUB_ATTRIBUTE {
|
||||
return __QAIC_REMOTE(remote_handle_invoke)(_calculator_handle(), _sc, _pra);
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
extern int remote_register_dma_handle(int, uint32_t);
|
||||
static __inline int _stub_method(remote_handle _handle, uint32_t _mid, uint32_t _rout0[1]) {
|
||||
int _numIn[1];
|
||||
remote_arg _pra[1];
|
||||
uint32_t _primROut[1];
|
||||
int _nErr = 0;
|
||||
_numIn[0] = 0;
|
||||
_pra[(_numIn[0] + 0)].buf.pv = (void*)_primROut;
|
||||
_pra[(_numIn[0] + 0)].buf.nLen = sizeof(_primROut);
|
||||
_TRY(_nErr, __QAIC_REMOTE(remote_handle_invoke)(_handle, REMOTE_SCALARS_MAKEX(0, _mid, 0, 1, 0, 0), _pra));
|
||||
_COPY(_rout0, 0, _primROut, 0, 4);
|
||||
_CATCH(_nErr) {}
|
||||
return _nErr;
|
||||
}
|
||||
__QAIC_STUB_EXPORT int __QAIC_STUB(calculator_init)(uint32* leet) __QAIC_STUB_ATTRIBUTE {
|
||||
uint32_t _mid = 0;
|
||||
return _stub_method(_calculator_handle(), _mid, (uint32_t*)leet);
|
||||
}
|
||||
static __inline int _stub_method_1(remote_handle _handle, uint32_t _mid, char* _in0[1], uint32_t _in0Len[1], char* _rout1[1], uint32_t _rout1Len[1]) {
|
||||
int _numIn[1];
|
||||
remote_arg _pra[3];
|
||||
uint32_t _primIn[2];
|
||||
remote_arg* _praIn;
|
||||
remote_arg* _praROut;
|
||||
int _nErr = 0;
|
||||
_numIn[0] = 1;
|
||||
_pra[0].buf.pv = (void*)_primIn;
|
||||
_pra[0].buf.nLen = sizeof(_primIn);
|
||||
_COPY(_primIn, 0, _in0Len, 0, 4);
|
||||
_praIn = (_pra + 1);
|
||||
_praIn[0].buf.pv = _in0[0];
|
||||
_praIn[0].buf.nLen = (1 * _in0Len[0]);
|
||||
_COPY(_primIn, 4, _rout1Len, 0, 4);
|
||||
_praROut = (_praIn + _numIn[0] + 0);
|
||||
_praROut[0].buf.pv = _rout1[0];
|
||||
_praROut[0].buf.nLen = (1 * _rout1Len[0]);
|
||||
_TRY(_nErr, __QAIC_REMOTE(remote_handle_invoke)(_handle, REMOTE_SCALARS_MAKEX(0, _mid, 2, 1, 0, 0), _pra));
|
||||
_CATCH(_nErr) {}
|
||||
return _nErr;
|
||||
}
|
||||
__QAIC_STUB_EXPORT int __QAIC_STUB(calculator_extract_and_match)(const uint8* img, int imgLen, uint8* features, int featuresLen) __QAIC_STUB_ATTRIBUTE {
|
||||
uint32_t _mid = 1;
|
||||
return _stub_method_1(_calculator_handle(), _mid, (char**)&img, (uint32_t*)&imgLen, (char**)&features, (uint32_t*)&featuresLen);
|
||||
}
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
#endif //_CALCULATOR_STUB_H
|
||||
BIN
selfdrive/orbd/dsp/gen/libcalculator_skel.so
Executable file
BIN
selfdrive/orbd/dsp/gen/libcalculator_skel.so
Executable file
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