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ed72759a48 |
@@ -2,7 +2,7 @@ FROM ubuntu:16.04
|
||||
ENV PYTHONUNBUFFERED 1
|
||||
|
||||
RUN apt-get update && apt-get install -y build-essential clang vim screen wget bzip2 git libglib2.0-0 python-pip capnproto libcapnp-dev libzmq5-dev libffi-dev libusb-1.0-0
|
||||
RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib
|
||||
RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib==2.1.2
|
||||
|
||||
COPY requirements_openpilot.txt /tmp/
|
||||
RUN pip install -r /tmp/requirements_openpilot.txt
|
||||
@@ -17,3 +17,5 @@ COPY ./phonelibs /tmp/openpilot/phonelibs
|
||||
COPY ./pyextra /tmp/openpilot/pyextra
|
||||
|
||||
RUN mkdir -p /tmp/openpilot/selfdrive/test/out
|
||||
RUN make -C /tmp/openpilot/selfdrive/controls/lib/longitudinal_mpc clean
|
||||
RUN make -C /tmp/openpilot/selfdrive/controls/lib/lateral_mpc clean
|
||||
|
||||
100
README.md
100
README.md
@@ -1,9 +1,9 @@
|
||||
[](#)
|
||||
[](#)
|
||||
|
||||
Welcome to openpilot
|
||||
======
|
||||
|
||||
[openpilot](http://github.com/commaai/openpilot) is an open source driving agent. Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for Hondas, Acuras, Toyotas, and a Chevy. It's about on par with Tesla Autopilot and GM Super Cruise, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
|
||||
[openpilot](http://github.com/commaai/openpilot) is an open source driving agent. Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for selected Honda, Toyota, Acura, Lexus, Chevrolet, Hyundai, Kia. It's about on par with Tesla Autopilot and GM Super Cruise, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
|
||||
|
||||
The openpilot codebase has been written to be concise and enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
|
||||
|
||||
@@ -14,7 +14,7 @@ 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).
|
||||
|
||||
Also, we have a 3500+ person [community on slack](https://slack.comma.ai).
|
||||
Also, we have a several thousand people community on [slack](https://slack.comma.ai).
|
||||
|
||||
<table>
|
||||
<tr>
|
||||
@@ -41,52 +41,61 @@ 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<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 |
|
||||
|
||||
| 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 |
|
||||
| Chevrolet<sup>3</sup>| Volt 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph |
|
||||
| Chevrolet<sup>3</sup>| Volt 2018 | Adaptive Cruise | 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 | Odyssey 2019 | 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 | Pilot 2019 | All | 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 |
|
||||
| Hyundai<sup>6</sup> | Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph |
|
||||
| Hyundai<sup>6</sup> | Elantra 2017 | SCC + LKAS | Yes | Stock | 19mph | 34mph |
|
||||
| Hyundai<sup>6</sup> | Genesis 2018 | All | Yes | Stock | 19mph | 34mph |
|
||||
| Kia<sup>6</sup> | Sorento 2018 | All | Yes | Stock | 0mph | 0mph |
|
||||
| Kia<sup>6</sup> | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph |
|
||||
| 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 | Highlander 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2018| All | Yes | Yes<sup>2</sup>| 0mph | 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 |
|
||||
|
||||
<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.
|
||||
<sup>6</sup>Giraffe is under development: architecture similar to Toyota giraffe, with an extra 120Ohm resistor on bus 3.
|
||||
|
||||
Community Maintained Cars
|
||||
------
|
||||
@@ -94,8 +103,11 @@ Community Maintained Cars
|
||||
| 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 | Model S 2012 | All | Yes | Not yet | Not applicable | 0mph |
|
||||
| Tesla | Model S 2013 | All | Yes | Not yet | Not applicable | 0mph |
|
||||
|
||||
[[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266).
|
||||
[[Tesla Model S Pull Request]](https://github.com/commaai/openpilot/pull/246)
|
||||
|
||||
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.
|
||||
|
||||
@@ -107,6 +119,8 @@ In Progress Cars
|
||||
- All LSS-P Lexus with Steering Assist or Lane Keep Assist.
|
||||
- 'All-Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the GS, GSH, F, RX, RXH, LX, NX, NXH, LC, LCH, LS, LSH have this option.
|
||||
- Even though the LX have TSS-P, it does not have Steering Assist and is not supported.
|
||||
- All Hyundai with SmartSense.
|
||||
- All Kia with SCC and LKAS.
|
||||
|
||||
How can I add support for my car?
|
||||
------
|
||||
|
||||
24
RELEASES.md
24
RELEASES.md
@@ -1,3 +1,27 @@
|
||||
Version 0.5.5 (2018-10-20)
|
||||
========================
|
||||
* Increase allowed Honda positive accelerations
|
||||
* Fix sporadic unexpected braking when passing semi-trucks in Toyota
|
||||
* Fix gear reading bug in Hyundai Elantra thanks to emmertex!
|
||||
|
||||
Version 0.5.4 (2018-09-25)
|
||||
========================
|
||||
* New Driving Model
|
||||
* New Driver Monitoring Model
|
||||
* Improve longitudinal mpc in mid-low speed braking
|
||||
* Honda Accord hybrid support thanks to energee!
|
||||
* Ship mpc binaries and sensibly reduce build time
|
||||
* Calibration more stable
|
||||
* More Hyundai and Kia cars supported thanks to emmertex!
|
||||
* Various GM Volt improvements thanks to vntarasov!
|
||||
|
||||
Version 0.5.3 (2018-09-03)
|
||||
========================
|
||||
* Hyundai Santa Fe support!
|
||||
* Honda Pilot 2019 support thanks to energee!
|
||||
* Toyota Highlander support thanks to daehahn!
|
||||
* Improve steering tuning for Honda Odyssey
|
||||
|
||||
Version 0.5.2 (2018-08-16)
|
||||
========================
|
||||
* New calibration: more accurate, a lot faster, open source!
|
||||
|
||||
Binary file not shown.
@@ -42,7 +42,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
speedTooLow @17;
|
||||
outOfSpace @18;
|
||||
overheat @19;
|
||||
calibrationInProgress @20;
|
||||
calibrationIncomplete @20;
|
||||
calibrationInvalid @21;
|
||||
controlsMismatch @22;
|
||||
pcmEnable @23;
|
||||
@@ -68,6 +68,9 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
preDriverUnresponsive @43;
|
||||
promptDriverUnresponsive @44;
|
||||
driverUnresponsive @45;
|
||||
belowSteerSpeed @46;
|
||||
calibrationProgress @47;
|
||||
lowBattery @48;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -284,6 +287,7 @@ struct CarParams {
|
||||
enableApgs @28 :Bool; # advanced parking guidance system
|
||||
|
||||
minEnableSpeed @17 :Float32;
|
||||
minSteerSpeed @49 :Float32;
|
||||
safetyModel @18 :Int16;
|
||||
safetyParam @41 :Int16;
|
||||
|
||||
|
||||
@@ -42,6 +42,7 @@ struct InitData {
|
||||
|
||||
dirty @9 :Bool;
|
||||
passive @12 :Bool;
|
||||
params @17 :Map(Text, Text);
|
||||
|
||||
enum DeviceType {
|
||||
unknown @0;
|
||||
@@ -186,6 +187,10 @@ struct SensorEventData {
|
||||
iOS @1;
|
||||
fiber @2;
|
||||
velodyne @3; # Velodyne IMU
|
||||
# c3 sensors below
|
||||
bno055 @4;
|
||||
lsm6ds3 @5;
|
||||
bmp280 @6;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -262,6 +267,8 @@ struct ThermalData {
|
||||
freeSpace @7 :Float32;
|
||||
batteryPercent @8 :Int16;
|
||||
batteryStatus @9 :Text;
|
||||
batteryCurrent @15 :Int32;
|
||||
batteryVoltage @16 :Int32;
|
||||
usbOnline @12 :Bool;
|
||||
|
||||
fanSpeed @10 :UInt16;
|
||||
@@ -269,6 +276,7 @@ struct ThermalData {
|
||||
startedTs @13 :UInt64;
|
||||
|
||||
thermalStatus @14 :ThermalStatus;
|
||||
chargerDisabled @17 :Bool;
|
||||
|
||||
enum ThermalStatus {
|
||||
green @0; # all processes run
|
||||
@@ -327,6 +335,7 @@ struct Live20Data {
|
||||
aLeadK @9 :Float32;
|
||||
fcw @10 :Bool;
|
||||
status @11 :Bool;
|
||||
aLeadTau @12 :Float32;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -401,6 +410,7 @@ struct Live100Data {
|
||||
alertStatus @38 :AlertStatus;
|
||||
alertSize @39 :AlertSize;
|
||||
alertBlinkingRate @42 :Float32;
|
||||
alertType @44 :Text;
|
||||
awarenessStatus @26 :Float32;
|
||||
angleOffset @27 :Float32;
|
||||
gpsPlannerActive @40 :Bool;
|
||||
@@ -1549,6 +1559,13 @@ struct Boot {
|
||||
lastPmsg @2 :Data;
|
||||
}
|
||||
|
||||
struct LiveParametersData {
|
||||
valid @0 :Bool;
|
||||
gyroBias @1 :Float32;
|
||||
angleOffset @2 :Float32;
|
||||
}
|
||||
|
||||
|
||||
struct Event {
|
||||
# in nanoseconds?
|
||||
logMonoTime @0 :UInt64;
|
||||
@@ -1614,5 +1631,6 @@ struct Event {
|
||||
orbFeaturesSummary @58 :OrbFeaturesSummary;
|
||||
driverMonitoring @59 :DriverMonitoring;
|
||||
boot @60 :Boot;
|
||||
liveParameters @61 :LiveParametersData;
|
||||
}
|
||||
}
|
||||
|
||||
126
common/dbc.py
126
common/dbc.py
@@ -1,7 +1,6 @@
|
||||
import re
|
||||
import os
|
||||
import struct
|
||||
import bitstring
|
||||
import sys
|
||||
import numbers
|
||||
from collections import namedtuple, defaultdict
|
||||
@@ -17,6 +16,7 @@ DBCSignal = namedtuple(
|
||||
"DBCSignal", ["name", "start_bit", "size", "is_little_endian", "is_signed",
|
||||
"factor", "offset", "tmin", "tmax", "units"])
|
||||
|
||||
|
||||
class dbc(object):
|
||||
def __init__(self, fn):
|
||||
self.name, _ = os.path.splitext(os.path.basename(fn))
|
||||
@@ -122,6 +122,16 @@ class dbc(object):
|
||||
msg_id = self.msg_name_to_address[msg_id]
|
||||
return msg_id
|
||||
|
||||
def reverse_bytes(self, x):
|
||||
return ((x & 0xff00000000000000) >> 56) | \
|
||||
((x & 0x00ff000000000000) >> 40) | \
|
||||
((x & 0x0000ff0000000000) >> 24) | \
|
||||
((x & 0x000000ff00000000) >> 8) | \
|
||||
((x & 0x00000000ff000000) << 8) | \
|
||||
((x & 0x0000000000ff0000) << 24) | \
|
||||
((x & 0x000000000000ff00) << 40) | \
|
||||
((x & 0x00000000000000ff) << 56)
|
||||
|
||||
def encode(self, msg_id, dd):
|
||||
"""Encode a CAN message using the dbc.
|
||||
|
||||
@@ -131,35 +141,40 @@ class dbc(object):
|
||||
"""
|
||||
msg_id = self.lookup_msg_id(msg_id)
|
||||
|
||||
# TODO: Stop using bitstring, which is super slow.
|
||||
msg_def = self.msgs[msg_id]
|
||||
size = msg_def[0][1]
|
||||
|
||||
bsf = bitstring.Bits(hex="00"*size)
|
||||
result = 0
|
||||
for s in msg_def[1]:
|
||||
ival = dd.get(s.name)
|
||||
if ival is not None:
|
||||
|
||||
b2 = s.size
|
||||
if s.is_little_endian:
|
||||
b1 = s.start_bit
|
||||
else:
|
||||
b1 = (s.start_bit // 8) * 8 + (-s.start_bit - 1) % 8
|
||||
bo = 64 - (b1 + s.size)
|
||||
|
||||
ival = (ival / s.factor) - s.offset
|
||||
ival = int(round(ival))
|
||||
|
||||
# should pack this
|
||||
if s.is_signed and ival < 0:
|
||||
ival = (1 << b2) + ival
|
||||
|
||||
shift = b1 if s.is_little_endian else bo
|
||||
mask = ((1 << b2) - 1) << shift
|
||||
dat = (ival & ((1 << b2) - 1)) << shift
|
||||
|
||||
if s.is_little_endian:
|
||||
ss = s.start_bit
|
||||
else:
|
||||
ss = self.bits_index[s.start_bit]
|
||||
mask = self.reverse_bytes(mask)
|
||||
dat = self.reverse_bytes(dat)
|
||||
|
||||
result &= ~mask
|
||||
result |= dat
|
||||
|
||||
if s.is_signed:
|
||||
tbs = bitstring.Bits(int=ival, length=s.size)
|
||||
else:
|
||||
tbs = bitstring.Bits(uint=ival, length=s.size)
|
||||
|
||||
lpad = bitstring.Bits(bin="0b"+"0"*ss)
|
||||
rpad = bitstring.Bits(bin="0b"+"0"*(8*size-(ss+s.size)))
|
||||
tbs = lpad+tbs+rpad
|
||||
|
||||
bsf |= tbs
|
||||
return bsf.tobytes()
|
||||
result = struct.pack('>Q', result)
|
||||
return result[:size]
|
||||
|
||||
def decode(self, x, arr=None, debug=False):
|
||||
"""Decode a CAN message using the dbc.
|
||||
@@ -195,54 +210,77 @@ class dbc(object):
|
||||
if debug:
|
||||
print name
|
||||
|
||||
blen = 8*len(x[2])
|
||||
|
||||
st = x[2].rjust(8, '\x00')
|
||||
st = x[2].ljust(8, '\x00')
|
||||
le, be = None, None
|
||||
|
||||
for s in msg[1]:
|
||||
if arr is not None and s[0] not in arr:
|
||||
continue
|
||||
|
||||
# big or little endian?
|
||||
# see http://vi-firmware.openxcplatform.com/en/master/config/bit-numbering.html
|
||||
if s[3] is False:
|
||||
ss = self.bits_index[s[1]]
|
||||
if be is None:
|
||||
be = struct.unpack(">Q", st)[0]
|
||||
x2_int = be
|
||||
data_bit_pos = (blen - (ss + s[2]))
|
||||
start_bit = s[1]
|
||||
signal_size = s[2]
|
||||
little_endian = s[3]
|
||||
signed = s[4]
|
||||
factor = s[5]
|
||||
offset = s[6]
|
||||
|
||||
b2 = signal_size
|
||||
if little_endian:
|
||||
b1 = start_bit
|
||||
else:
|
||||
b1 = (start_bit // 8) * 8 + (-start_bit - 1) % 8
|
||||
bo = 64 - (b1 + signal_size)
|
||||
|
||||
if little_endian:
|
||||
if le is None:
|
||||
le = struct.unpack("<Q", st)[0]
|
||||
x2_int = le
|
||||
ss = s[1]
|
||||
data_bit_pos = ss
|
||||
shift_amount = b1
|
||||
tmp = le
|
||||
else:
|
||||
if be is None:
|
||||
be = struct.unpack(">Q", st)[0]
|
||||
shift_amount = bo
|
||||
tmp = be
|
||||
|
||||
if data_bit_pos < 0:
|
||||
if shift_amount < 0:
|
||||
continue
|
||||
ival = (x2_int >> data_bit_pos) & ((1 << (s[2])) - 1)
|
||||
|
||||
if s[4] and (ival & (1<<(s[2]-1))): # signed
|
||||
ival -= (1<<s[2])
|
||||
tmp = (tmp >> shift_amount) & ((1 << b2) - 1)
|
||||
if signed and (tmp >> (b2 - 1)):
|
||||
tmp -= (1 << b2)
|
||||
|
||||
# control the offset
|
||||
ival = (ival * s[5]) + s[6]
|
||||
#if debug:
|
||||
# print "%40s %2d %2d %7.2f %s" % (s[0], s[1], s[2], ival, s[-1])
|
||||
tmp = tmp * factor + offset
|
||||
|
||||
# if debug:
|
||||
# print "%40s %2d %2d %7.2f %s" % (s[0], s[1], s[2], tmp, s[-1])
|
||||
|
||||
if arr is None:
|
||||
out[s[0]] = ival
|
||||
out[s[0]] = tmp
|
||||
else:
|
||||
out[arr.index(s[0])] = ival
|
||||
out[arr.index(s[0])] = tmp
|
||||
return name, out
|
||||
|
||||
def get_signals(self, msg):
|
||||
msg = self.lookup_msg_id(msg)
|
||||
return [sgs.name for sgs in self.msgs[msg][1]]
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
from opendbc import DBC_PATH
|
||||
import numpy as np
|
||||
|
||||
dbc_test = dbc(os.path.join(DBC_PATH, sys.argv[1]))
|
||||
print dbc_test.get_signals(0xe4)
|
||||
dbc_test = dbc(os.path.join(DBC_PATH, 'toyota_prius_2017_pt_generated.dbc'))
|
||||
msg = ('STEER_ANGLE_SENSOR', {'STEER_ANGLE': -6.0, 'STEER_RATE': 4, 'STEER_FRACTION': -0.2})
|
||||
encoded = dbc_test.encode(*msg)
|
||||
decoded = dbc_test.decode((0x25, 0, encoded))
|
||||
assert decoded == msg
|
||||
|
||||
dbc_test = dbc(os.path.join(DBC_PATH, 'hyundai_santa_fe_2019_ccan.dbc'))
|
||||
decoded = dbc_test.decode((0x2b0, 0, "\xfa\xfe\x00\x07\x12"))
|
||||
assert np.isclose(decoded[1]['SAS_Angle'], -26.2)
|
||||
|
||||
msg = ('SAS11', {'SAS_Stat': 7.0, 'MsgCount': 0.0, 'SAS_Angle': -26.200000000000003, 'SAS_Speed': 0.0, 'CheckSum': 0.0})
|
||||
encoded = dbc_test.encode(*msg)
|
||||
decoded = dbc_test.decode((0x2b0, 0, encoded))
|
||||
|
||||
assert decoded == msg
|
||||
|
||||
@@ -6,7 +6,7 @@ from cffi import FFI
|
||||
|
||||
TMPDIR = "/tmp/ccache"
|
||||
|
||||
def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR):
|
||||
def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR, cflags="", libraries=[]):
|
||||
cache = name + "_" + hashlib.sha1(c_code).hexdigest()
|
||||
try:
|
||||
os.mkdir(tmpdir)
|
||||
@@ -21,19 +21,19 @@ def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR):
|
||||
mod = __import__(cache)
|
||||
except Exception:
|
||||
print "cache miss", cache
|
||||
compile_code(cache, c_code, c_header, tmpdir)
|
||||
compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
|
||||
mod = __import__(cache)
|
||||
finally:
|
||||
os.close(fd)
|
||||
|
||||
return mod.ffi, mod.lib
|
||||
|
||||
def compile_code(name, c_code, c_header, directory):
|
||||
def compile_code(name, c_code, c_header, directory, cflags="", libraries=[]):
|
||||
ffibuilder = FFI()
|
||||
ffibuilder.set_source(name, c_code, source_extension='.cpp')
|
||||
ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
|
||||
ffibuilder.cdef(c_header)
|
||||
os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
|
||||
os.environ['CFLAGS'] = ""
|
||||
os.environ['CFLAGS'] = cflags
|
||||
ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
|
||||
|
||||
def wrap_compiled(name, directory):
|
||||
|
||||
10
common/filter_simple.py
Normal file
10
common/filter_simple.py
Normal file
@@ -0,0 +1,10 @@
|
||||
class FirstOrderFilter():
|
||||
# first order filter
|
||||
def __init__(self, x0, ts, dt):
|
||||
self.k = (dt / ts) / (1. + dt / ts)
|
||||
self.x = x0
|
||||
|
||||
def update(self, x):
|
||||
self.x = (1. - self.k) * self.x + self.k * x
|
||||
|
||||
|
||||
@@ -263,23 +263,50 @@ class DBWriter(DBAccessor):
|
||||
self._lock = None
|
||||
|
||||
|
||||
def read_db(params_path, key):
|
||||
path = "%s/d/%s" % (params_path, key)
|
||||
try:
|
||||
with open(path, "rb") as f:
|
||||
return f.read()
|
||||
except IOError:
|
||||
return None
|
||||
|
||||
class JSDB(object):
|
||||
def __init__(self, fn):
|
||||
self._fn = fn
|
||||
def write_db(params_path, key, value):
|
||||
prev_umask = os.umask(0)
|
||||
lock = FileLock(params_path+"/.lock", True)
|
||||
lock.acquire()
|
||||
|
||||
def begin(self, write=False):
|
||||
if write:
|
||||
return DBWriter(self._fn)
|
||||
else:
|
||||
return DBReader(self._fn)
|
||||
try:
|
||||
tmp_path = tempfile.mktemp(prefix=".tmp", dir=params_path)
|
||||
with open(tmp_path, "wb") as f:
|
||||
f.write(value)
|
||||
f.flush()
|
||||
os.fsync(f.fileno())
|
||||
|
||||
path = "%s/d/%s" % (params_path, key)
|
||||
os.rename(tmp_path, path)
|
||||
fsync_dir(os.path.dirname(path))
|
||||
finally:
|
||||
os.umask(prev_umask)
|
||||
lock.release()
|
||||
|
||||
class Params(object):
|
||||
def __init__(self, db='/data/params'):
|
||||
self.env = JSDB(db)
|
||||
self.db = db
|
||||
|
||||
# create the database if it doesn't exist...
|
||||
if not os.path.exists(self.db+"/d"):
|
||||
with self.transaction(write=True):
|
||||
pass
|
||||
|
||||
def transaction(self, write=False):
|
||||
if write:
|
||||
return DBWriter(self.db)
|
||||
else:
|
||||
return DBReader(self.db)
|
||||
|
||||
def _clear_keys_with_type(self, tx_type):
|
||||
with self.env.begin(write=True) as txn:
|
||||
with self.transaction(write=True) as txn:
|
||||
for key in keys:
|
||||
if keys[key] == tx_type:
|
||||
txn.delete(key)
|
||||
@@ -291,7 +318,7 @@ class Params(object):
|
||||
self._clear_keys_with_type(TxType.CLEAR_ON_CAR_START)
|
||||
|
||||
def delete(self, key):
|
||||
with self.env.begin(write=True) as txn:
|
||||
with self.transaction(write=True) as txn:
|
||||
txn.delete(key)
|
||||
|
||||
def get(self, key, block=False):
|
||||
@@ -299,8 +326,7 @@ class Params(object):
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
while 1:
|
||||
with self.env.begin() as txn:
|
||||
ret = txn.get(key)
|
||||
ret = read_db(self.db, key)
|
||||
if not block or ret is not None:
|
||||
break
|
||||
# is polling really the best we can do?
|
||||
@@ -311,8 +337,7 @@ class Params(object):
|
||||
if key not in keys:
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
with self.env.begin(write=True) as txn:
|
||||
txn.put(key, dat)
|
||||
write_db(self.db, key, dat)
|
||||
|
||||
if __name__ == "__main__":
|
||||
params = Params()
|
||||
|
||||
@@ -57,6 +57,8 @@ model_frame_from_road_frame = np.dot(model_intrinsics,
|
||||
bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, model_height))
|
||||
|
||||
model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
|
||||
|
||||
# 'camera from model camera'
|
||||
def get_model_height_transform(camera_frame_from_road_frame, height):
|
||||
camera_frame_from_road_ground = np.dot(camera_frame_from_road_frame, np.array([
|
||||
@@ -73,10 +75,8 @@ def get_model_height_transform(camera_frame_from_road_frame, 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)
|
||||
road_high_from_camera_frame = np.linalg.inv(camera_frame_from_road_high)
|
||||
high_camera_from_low_camera = np.dot(camera_frame_from_road_ground, road_high_from_camera_frame)
|
||||
|
||||
return high_camera_from_low_camera
|
||||
|
||||
|
||||
@@ -189,7 +189,7 @@ BO_ 1033 ASCMKeepAlive: 7 NEO
|
||||
SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] "" NEO
|
||||
|
||||
BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM
|
||||
SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "°C" NEO
|
||||
SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "°C" NEO
|
||||
|
||||
BO_ 1249 VIN_Part2: 8 K20_ECM
|
||||
SG_ VINPart2 : 7|64@0+ (1,0) [0|0] "" NEO
|
||||
|
||||
@@ -126,7 +126,7 @@ BO_ 1302 ODOMETER: 8 XXX
|
||||
|
||||
CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
|
||||
CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
|
||||
CM_ SG_ 450 EPB_STATE "3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged"";
|
||||
CM_ SG_ 450 EPB_STATE "3 \"engaged\" 2 \"disengaging\" 1 \"engaging\" 0 \"disengaged\"";
|
||||
CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";
|
||||
|
||||
VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
@@ -9,3 +9,17 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
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";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
|
||||
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ CHECKSUM : 47|8@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" ;
|
||||
|
||||
@@ -0,0 +1,33 @@
|
||||
CM_ "IMPORT _toyota_2017.dbc"
|
||||
CM_ "IMPORT _comma.dbc"
|
||||
|
||||
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: 5 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: 5 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 : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 956 GEAR_PACKET: 8 XXX
|
||||
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
|
||||
|
||||
CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
|
||||
CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
|
||||
CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
|
||||
CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
|
||||
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
|
||||
VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
|
||||
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
|
||||
@@ -180,7 +180,7 @@ BO_ 1033 ASCMKeepAlive: 7 NEO
|
||||
BO_ 1034 ASCM_40A: 7 K124_ASCM
|
||||
|
||||
BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM
|
||||
SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "°C" NEO
|
||||
SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "°C" NEO
|
||||
|
||||
BO_ 1249 VIN_Part2: 8 K20_ECM
|
||||
SG_ VINPart2 : 7|64@0+ (1,0) [0|0] "" NEO
|
||||
|
||||
@@ -355,7 +355,7 @@ BO_ 1302 ODOMETER: 8 XXX
|
||||
|
||||
CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
|
||||
CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
|
||||
CM_ SG_ 450 EPB_STATE "3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged"";
|
||||
CM_ SG_ 450 EPB_STATE "3 \"engaged\" 2 \"disengaging\" 1 \"engaging\" 0 \"disengaged\"";
|
||||
CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights";
|
||||
|
||||
VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
295
opendbc/honda_odyssey_extreme_edition_2018_china_can.dbc
Normal file
295
opendbc/honda_odyssey_extreme_edition_2018_china_can.dbc
Normal file
@@ -0,0 +1,295 @@
|
||||
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_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON INTERCEPTOR
|
||||
|
||||
|
||||
BO_ 344 ENGINE_DATA: 8 PCM
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" 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_ ZEROS : 23|16@0+ (1,0) [0|15000] "" 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_ 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
|
||||
|
||||
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_ BOH2 : 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_ 316 GAS_PEDAL: 8 PCM
|
||||
SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
BO_ 342 STEERING_SENSORS: 6 EPS
|
||||
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|15] "" EON
|
||||
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
|
||||
BO_ 399 STEER_STATUS: 7 EPS
|
||||
SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-2985|2985] "tbd" EON
|
||||
SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ STEER_STATUS : 43|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
|
||||
|
||||
BO_ 401 GEARBOX: 8 PCM
|
||||
SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
|
||||
SG_ GEAR : 35|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|15] "" EON
|
||||
|
||||
BO_ 404 STEERING_CONTROL: 4 EON
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
|
||||
SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
|
||||
SG_ STEER_TORQUE : 7|16@0- (-1,0) [-32767|32767] "" EPS
|
||||
|
||||
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_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" XXX
|
||||
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 XXX
|
||||
SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ EPB_STATE : 29|2@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_ 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_ 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
|
||||
|
||||
|
||||
|
||||
|
||||
CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
|
||||
CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
|
||||
CM_ SG_ 773 PASS_AIRBAG_ON "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...";
|
||||
CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
|
||||
VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
|
||||
VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
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" ;
|
||||
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";
|
||||
@@ -149,7 +149,7 @@ BO_ 1456 CLU12: 4 CLU
|
||||
SG_ CF_Clu_Odometer : 0|24@1+ (0.1,0.0) [0.0|1677721.4] "km" _4WD,AAF,BCM,CUBIS,EMS,EPB,IBOX,LDWS_LKAS,SCC,TPMS
|
||||
|
||||
BO_ 688 SAS11: 5 MDPS
|
||||
SG_ SAS_Angle : 0|16@1+ (0.1,0.0) [-3276.8|3276.7] "Deg" _4WD,ACU,AFLS,AVM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU,_4WD,ACU,AFLS,AVM,BCM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU
|
||||
SG_ SAS_Angle : 0|16@1- (0.1,0.0) [-3276.8|3276.7] "Deg" _4WD,ACU,AFLS,AVM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU,_4WD,ACU,AFLS,AVM,BCM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU
|
||||
SG_ SAS_Speed : 16|8@1+ (4.0,0.0) [0.0|1016.0] "" AFLS,ECS,ESC,IBOX,LDWS_LKAS,SCC,SPAS,TCU,AFLS,ECS,ESC,IBOX,LDWS_LKAS,SCC,SPAS,TCU
|
||||
SG_ SAS_Stat : 24|8@1+ (1.0,0.0) [0.0|255.0] "" ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU,ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU
|
||||
SG_ MsgCount : 32|4@1+ (1.0,0.0) [0.0|15.0] "" ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS
|
||||
|
||||
1420
opendbc/hyundai_santa_fe_2019_ccan.dbc
Normal file
1420
opendbc/hyundai_santa_fe_2019_ccan.dbc
Normal file
File diff suppressed because it is too large
Load Diff
@@ -14,6 +14,20 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
|
||||
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";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
|
||||
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ CHECKSUM : 47|8@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 _toyota_2017.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
@@ -36,27 +36,141 @@ BS_:
|
||||
BU_: XXX
|
||||
|
||||
|
||||
BO_ 3 NEW_MSG_1: 8 XXX
|
||||
SG_ STEERING_ANGLE : 7|32@0- (1,0) [0|4294967295] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
BO_ 3 STEER_SENSOR: 8 XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_RATE : 19|12@0- (0.5,0) [0|255] "" XXX
|
||||
SG_ STEER_DIRECTION : 4|1@0+ (1,2) [0|1] "" XXX
|
||||
SG_ STEER_ANGLE : 3|12@0- (-0.5,0) [-500|500] "degrees" XXX
|
||||
|
||||
BO_ 5 NEW_MSG_2: 8 XXX
|
||||
SG_ BRAKE_POSITION : 23|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ BRAKE_PRESSED : 0|8@1+ (1,0) [0|17] "" XXX
|
||||
BO_ 5 BRAKE_MODULE: 8 XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BRAKE_HOLD : 2|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_POSITION : 17|10@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ DRIVER_BRAKE : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COMPUTER_BRAKE : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_PRESSED : 0|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 69 NEW_MSG_3: 8 XXX
|
||||
SG_ TURN_SIGNAL_LEVER : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ CRUISE_CONTROL_LEVER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_2 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEERING_WHEEL_BUTTONS : 32|8@1+ (1,0) [0|255] "4 directional, 2 volume control, & 2 phone buttons" XXX
|
||||
SG_ MORE_STEERING_WHEELS_BUTTONS : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
BO_ 69 DRIVER_CONTROLS: 8 XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ STEERING_WHEEL_BUTTONS : 32|16@1+ (1,0) [0|255] "4 directional, 2 volume control & 2 phone buttons" XXX
|
||||
SG_ LEFT_BLINKER : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RIGHT_BLINKER : 17|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGHBEAM_TOGGLE : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HIGHBEAM_MOMENTARY : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_CANCEL : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_RESUME : 1|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_ACCEL_HIGH : 2|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_DECEL_HIGH : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_ACCEL_LOW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_DECEL_LOW : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_XFF : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 1 NEW_MSG_4: 8 XXX
|
||||
SG_ DOOR_LOCK_STATUS : 31|16@0+ (1,0) [0|65535] "" XXX
|
||||
BO_ 513 WHEEL_ENCODERS: 8 XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ WHEEL_ENCODER_2 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ WHEEL_ENCODER_3 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ WHEEL_ENCODER_4 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ WHEEL_ENCODER_1 : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 261 GAS_PEDAL: 8 XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ ENGINE_RPM : 4|5@0+ (1,0) [0|255] "" XXX
|
||||
SG_ GAS_PEDAL : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COMBINED_GAS : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 DOOR_SENSORS: 8 XXX
|
||||
SG_ BRAKE_PRESSED : 27|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FR : 3|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 5|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ DOOR_OPEN_RR : 7|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 1|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_CLOSED_FL : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_CLOSED_FR : 2|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_CLOSED_RL : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_CLOSED_RR : 6|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 885 SEATBELT_SENSORS: 8 XXX
|
||||
SG_ SEATBELT_DRIVER_LATCHED : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SEATBELT_PASSENGER_LATCHED : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 257 CRUISE_CONTROL: 8 XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 6|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CRUISE_DISABLED : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X002 : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_1 : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACCELERATING : 22|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LONGITUDINAL_ACCEL_REQUEST : 15|8@0- (1,0) [0|127] "" XXX
|
||||
|
||||
BO_ 260 CRUISE_CONTROL2: 8 XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_XFF : 31|8@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ SET_ME_X02 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_XFF2 : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 7|4@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 14 STEER_TORQUE: 8 XXX
|
||||
SG_ STEER_TORQUE : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 888 CRUISE_CONTROL3: 8 XXX
|
||||
SG_ NEW_SIGNAL_2 : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_DISABLED : 36|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ENABLED : 34|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X003 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X004 : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X002 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CRUISE_SET_SPEED : 15|8@0+ (1,0) [0|63] "mph" XXX
|
||||
SG_ CRUISE_SPEED_CHANGE : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 307 POWER_SEATS: 8 XXX
|
||||
SG_ DRIVER_FORWARD : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DRIVER_BACK : 1|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 109 GEAR_LEVER: 8 XXX
|
||||
SG_ PARK_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEUTRAL_UP : 9|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ NEUTRAL_DOWN : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DRIVE : 11|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REVERSE : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 23|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 115 GEAR_PACKET: 8 XXX
|
||||
SG_ GEAR : 0|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 581 IGNITION: 8 XXX
|
||||
|
||||
BO_ 515 WHEEL_SPEEDS: 8 XXX
|
||||
SG_ WHEEL_MOVING_FR : 22|1@1+ (1,0) [0|15] "" XXX
|
||||
SG_ WHEEL_MOVING_RL : 38|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ WHEEL_MOVING_FL : 6|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ WHEEL_MOVING_RR : 54|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ WHEEL_SPEED_FL : 2|11@0+ (0.0375,0) [0|255] "mph" XXX
|
||||
SG_ WHEEL_SPEED_FR : 18|11@0+ (0.0375,0) [0|255] "mph" XXX
|
||||
SG_ WHEEL_SPEED_RL : 34|11@0+ (0.0375,0) [0|255] "mph" XXX
|
||||
SG_ WHEEL_SPEED_RR : 50|11@0+ (0.0375,0) [0|255] "mph" XXX
|
||||
|
||||
|
||||
|
||||
|
||||
CM_ SG_ 5 BRAKE_PRESSED "appears to be boolean (brake pressed)";
|
||||
CM_ SG_ 69 MORE_STEERING_WHEELS_BUTTONS "back, ok, voice assistance, and mute buttons";
|
||||
CM_ SG_ 3 STEER_DIRECTION "0 = left, 1 = right";
|
||||
CM_ SG_ 5 BRAKE_POSITION "computer and driver";
|
||||
CM_ SG_ 5 BRAKE_PRESSED "computer and driver";
|
||||
CM_ SG_ 261 GAS_PEDAL "user gas input";
|
||||
CM_ SG_ 261 COMBINED_GAS "computer and driver gas";
|
||||
CM_ SG_ 257 CRUISE_ACCELERATING "";
|
||||
@@ -328,7 +328,8 @@ VAL_ 69 StW_Sw00_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
|
||||
VAL_ 14 StW_AnglHP 16383 "SNA" ;
|
||||
VAL_ 14 StW_AnglHP_Spd 16383 "SNA" ;
|
||||
VAL_ 14 StW_AnglHP_Sens_Stat 3 "SNA" 2 "ERR" 1 "INI" 0 "OK" ;
|
||||
VAL_ 14 StW_AnglHP_Sens_Id 3 "SNA" 2 "KOSTAL" 1 "DELPHI" 0 "TEST" ;
|
||||
VAL_ 14 StW_AnglHP_Sens_Id 3 "SNA" 2 "KOSTAL" 1 "DELPHI" 0 "TEST" ;
|
||||
VAL_ 69 SpdCtrlLvr_Stat 32 "DN_1ST" 16 "UP_1ST" 8 "DN_2ND" 4 "UP_2ND" 2 "RWD" 1 "FWD" 0 "IDLE" ;
|
||||
VAL_ 69 DTR_Dist_Rq 255 "SNA" 200 "ACC_DIST_7" 166 "ACC_DIST_6" 133 "ACC_DIST_5" 100 "ACC_DIST_4" 66 "ACC_DIST_3" 33 "ACC_DIST_2" 0 "ACC_DIST_1" ;
|
||||
VAL_ 69 TurnIndLvr_Stat 3 "SNA" 2 "RIGHT" 1 "LEFT" 0 "IDLE" ;
|
||||
VAL_ 69 HiBmLvr_Stat 3 "SNA" 2 "HIBM_FLSH_ON_PSD" 1 "HIBM_ON_PSD" 0 "IDLE" ;
|
||||
|
||||
@@ -14,6 +14,20 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
|
||||
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";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
|
||||
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ CHECKSUM : 47|8@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 _toyota_2017.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
@@ -14,6 +14,20 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
|
||||
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";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
|
||||
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ CHECKSUM : 47|8@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 _toyota_2017.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
@@ -14,6 +14,20 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
|
||||
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";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
|
||||
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ CHECKSUM : 47|8@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 _toyota_2017.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
@@ -14,6 +14,20 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
|
||||
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";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
|
||||
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ CHECKSUM : 47|8@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 _toyota_2017.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
@@ -14,6 +14,20 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
|
||||
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";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
|
||||
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ CHECKSUM : 47|8@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 _toyota_2017.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
@@ -14,6 +14,20 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
|
||||
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";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
|
||||
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ CHECKSUM : 47|8@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 _toyota_2017.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
258
opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
Normal file
258
opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
Normal file
@@ -0,0 +1,258 @@
|
||||
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";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
|
||||
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ CHECKSUM : 47|8@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 _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_highlander_hybrid_2018_pt.dbc starts here"
|
||||
|
||||
|
||||
|
||||
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: 5 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: 5 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 : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 956 GEAR_PACKET: 8 XXX
|
||||
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
|
||||
|
||||
CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
|
||||
CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
|
||||
CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
|
||||
CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
|
||||
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
|
||||
VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
|
||||
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
|
||||
@@ -182,80 +182,95 @@ BO_ 543 TRACK_A_15: 8 XXX
|
||||
BO_ 544 TRACK_B_0: 8 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 545 TRACK_B_1: 8 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 546 TRACK_B_2: 8 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 547 TRACK_B_3: 8 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 548 TRACK_B_4: 8 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 549 TRACK_B_5: 8 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 550 TRACK_B_6: 8 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 551 TRACK_B_7: 8 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 552 TRACK_B_8: 6 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 553 TRACK_B_9: 6 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 554 TRACK_B_10: 6 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 555 TRACK_B_11: 6 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 556 TRACK_B_12: 6 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 557 TRACK_B_13: 6 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 558 TRACK_B_14: 6 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 559 TRACK_B_15: 6 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
|
||||
SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
|
||||
@@ -14,6 +14,20 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
|
||||
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";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
|
||||
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ CHECKSUM : 47|8@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 _toyota_2017.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
@@ -14,6 +14,20 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
|
||||
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";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
|
||||
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ CHECKSUM : 47|8@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 _toyota_2017.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
@@ -14,6 +14,20 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
|
||||
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";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
|
||||
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ CHECKSUM : 47|8@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 _toyota_2017.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
@@ -28,6 +28,10 @@ jobs:
|
||||
name: Build Panda STM image
|
||||
command: |
|
||||
docker run panda_build /bin/bash -c "cd /panda/board; make bin"
|
||||
- run:
|
||||
name: Build Pedal STM image
|
||||
command: |
|
||||
docker run panda_build /bin/bash -c "cd /panda/board/pedal; make obj/comma.bin"
|
||||
- run:
|
||||
name: Build NEO STM image
|
||||
command: |
|
||||
|
||||
@@ -1 +1 @@
|
||||
v1.1.3
|
||||
v1.1.6
|
||||
@@ -158,7 +158,7 @@ void can_set_speed(uint8_t can_number) {
|
||||
// initialization mode
|
||||
CAN->MCR = CAN_MCR_TTCM | CAN_MCR_INRQ;
|
||||
while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
|
||||
|
||||
|
||||
// set time quanta from defines
|
||||
CAN->BTR = (CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
|
||||
(CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
|
||||
@@ -468,8 +468,10 @@ void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
|
||||
// bus number isn't passed through
|
||||
to_push->RDTR &= 0xF;
|
||||
if (bus_number == 3 && can_num_lookup[3] == 0xFF) {
|
||||
#ifdef PANDA
|
||||
// TODO: why uint8 bro? only int8?
|
||||
bitbang_gmlan(to_push);
|
||||
#endif
|
||||
} else {
|
||||
can_push(can_queues[bus_number], to_push);
|
||||
process_can(CAN_NUM_FROM_BUS_NUM(bus_number));
|
||||
|
||||
0
panda/board/pedal/obj/.gitkeep
Normal file
0
panda/board/pedal/obj/.gitkeep
Normal file
@@ -56,6 +56,7 @@ int controls_allowed = 0;
|
||||
#include "safety/safety_toyota.h"
|
||||
#ifdef PANDA
|
||||
#include "safety/safety_toyota_ipas.h"
|
||||
#include "safety/safety_tesla.h"
|
||||
#endif
|
||||
#include "safety/safety_gm.h"
|
||||
#include "safety/safety_ford.h"
|
||||
@@ -100,6 +101,7 @@ typedef struct {
|
||||
#define SAFETY_FORD 5
|
||||
#define SAFETY_CADILLAC 6
|
||||
#define SAFETY_HYUNDAI 7
|
||||
#define SAFETY_TESLA 8
|
||||
#define SAFETY_TOYOTA_IPAS 0x1335
|
||||
#define SAFETY_TOYOTA_NOLIMITS 0x1336
|
||||
#define SAFETY_ALLOUTPUT 0x1337
|
||||
@@ -117,6 +119,7 @@ const safety_hook_config safety_hook_registry[] = {
|
||||
{SAFETY_TOYOTA_NOLIMITS, &toyota_nolimits_hooks},
|
||||
#ifdef PANDA
|
||||
{SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
|
||||
{SAFETY_TESLA, &tesla_hooks},
|
||||
#endif
|
||||
{SAFETY_ALLOUTPUT, &alloutput_hooks},
|
||||
{SAFETY_ELM327, &elm327_hooks},
|
||||
|
||||
@@ -125,7 +125,7 @@ const safety_hooks cadillac_hooks = {
|
||||
.init = cadillac_init,
|
||||
.rx = cadillac_rx_hook,
|
||||
.tx = cadillac_tx_hook,
|
||||
.tx_lin = alloutput_tx_lin_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
.ignition = cadillac_ign_hook,
|
||||
.fwd = alloutput_fwd_hook,
|
||||
};
|
||||
|
||||
@@ -57,4 +57,3 @@ const safety_hooks alloutput_hooks = {
|
||||
.ignition = default_ign_hook,
|
||||
.fwd = alloutput_fwd_hook,
|
||||
};
|
||||
|
||||
|
||||
@@ -83,24 +83,11 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
return true;
|
||||
}
|
||||
|
||||
static int ford_tx_lin_hook(int lin_num, uint8_t *data, int len) {
|
||||
// TODO: add safety if using LIN
|
||||
return true;
|
||||
}
|
||||
|
||||
static void ford_init(int16_t param) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
|
||||
static int ford_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
const safety_hooks ford_hooks = {
|
||||
.init = ford_init,
|
||||
.init = nooutput_init,
|
||||
.rx = ford_rx_hook,
|
||||
.tx = ford_tx_hook,
|
||||
.tx_lin = ford_tx_lin_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
.ignition = default_ign_hook,
|
||||
.fwd = ford_fwd_hook,
|
||||
.fwd = nooutput_fwd_hook,
|
||||
};
|
||||
|
||||
@@ -8,7 +8,7 @@
|
||||
// brake rising edge
|
||||
// brake > 0mph
|
||||
|
||||
const int GM_MAX_STEER = 255;
|
||||
const int GM_MAX_STEER = 300;
|
||||
const int GM_MAX_RT_DELTA = 128; // max delta torque allowed for real time checks
|
||||
const int32_t GM_RT_INTERVAL = 250000; // 250ms between real time checks
|
||||
const int GM_MAX_RATE_UP = 7;
|
||||
@@ -22,7 +22,7 @@ const int GM_MAX_BRAKE = 350;
|
||||
int gm_brake_prev = 0;
|
||||
int gm_gas_prev = 0;
|
||||
int gm_speed = 0;
|
||||
// silence everything if stock ECUs are still online
|
||||
// silence everything if stock car control ECUs are still online
|
||||
int gm_ascm_detected = 0;
|
||||
int gm_ignition_started = 0;
|
||||
int gm_rt_torque_last = 0;
|
||||
@@ -63,8 +63,11 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
gm_speed = to_push->RDLR & 0xFFFF;
|
||||
}
|
||||
|
||||
// check if stock ASCM ECU is still online
|
||||
if (bus_number == 0 && addr == 715) {
|
||||
// Check if ASCM or LKA camera are online
|
||||
// on powertrain bus.
|
||||
// 384 = ASCMLKASteeringCmd
|
||||
// 715 = ASCMGasRegenCmd
|
||||
if (bus_number == 0 && (addr == 384 || addr == 715)) {
|
||||
gm_ascm_detected = 1;
|
||||
controls_allowed = 0;
|
||||
}
|
||||
@@ -222,11 +225,6 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
return true;
|
||||
}
|
||||
|
||||
static int gm_tx_lin_hook(int lin_num, uint8_t *data, int len) {
|
||||
// LIN is not used in Volt
|
||||
return false;
|
||||
}
|
||||
|
||||
static void gm_init(int16_t param) {
|
||||
controls_allowed = 0;
|
||||
gm_ignition_started = 0;
|
||||
@@ -236,16 +234,12 @@ static int gm_ign_hook() {
|
||||
return gm_ignition_started;
|
||||
}
|
||||
|
||||
static int gm_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
const safety_hooks gm_hooks = {
|
||||
.init = gm_init,
|
||||
.rx = gm_rx_hook,
|
||||
.tx = gm_tx_hook,
|
||||
.tx_lin = gm_tx_lin_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
.ignition = gm_ign_hook,
|
||||
.fwd = gm_fwd_hook,
|
||||
.fwd = nooutput_fwd_hook,
|
||||
};
|
||||
|
||||
|
||||
@@ -119,7 +119,7 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
if ((to_send->RDLR & 0xFFFF0000) != to_send->RDLR) return 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// FORCE CANCEL: safety check only relevant when spamming the cancel button in Bosch HW
|
||||
// ensuring that only the cancel button press is sent (VAL 2) when controls are off.
|
||||
// This avoids unintended engagements while still allowing resume spam
|
||||
@@ -132,28 +132,19 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
return true;
|
||||
}
|
||||
|
||||
static int honda_tx_lin_hook(int lin_num, uint8_t *data, int len) {
|
||||
// TODO: add safety if using LIN
|
||||
return true;
|
||||
}
|
||||
|
||||
static void honda_init(int16_t param) {
|
||||
controls_allowed = 0;
|
||||
bosch_hardware = false;
|
||||
honda_alt_brake_msg = false;
|
||||
}
|
||||
|
||||
static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
const safety_hooks honda_hooks = {
|
||||
.init = honda_init,
|
||||
.rx = honda_rx_hook,
|
||||
.tx = honda_tx_hook,
|
||||
.tx_lin = honda_tx_lin_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
.ignition = default_ign_hook,
|
||||
.fwd = honda_fwd_hook,
|
||||
.fwd = nooutput_fwd_hook,
|
||||
};
|
||||
|
||||
static void honda_bosch_init(int16_t param) {
|
||||
@@ -175,7 +166,7 @@ const safety_hooks honda_bosch_hooks = {
|
||||
.init = honda_bosch_init,
|
||||
.rx = honda_rx_hook,
|
||||
.tx = honda_tx_hook,
|
||||
.tx_lin = honda_tx_lin_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
.ignition = default_ign_hook,
|
||||
.fwd = honda_bosch_fwd_hook,
|
||||
};
|
||||
|
||||
@@ -1,35 +1,163 @@
|
||||
int hyundai_giraffe_switch_1 = 0; // is giraffe switch 1 high?
|
||||
const int HYUNDAI_MAX_STEER = 250;
|
||||
const int HYUNDAI_MAX_RT_DELTA = 112; // max delta torque allowed for real time checks
|
||||
const int32_t HYUNDAI_RT_INTERVAL = 250000; // 250ms between real time checks
|
||||
const int HYUNDAI_MAX_RATE_UP = 3;
|
||||
const int HYUNDAI_MAX_RATE_DOWN = 7;
|
||||
const int HYUNDAI_DRIVER_TORQUE_ALLOWANCE = 50;
|
||||
const int HYUNDAI_DRIVER_TORQUE_FACTOR = 2;
|
||||
|
||||
int hyundai_camera_detected = 0;
|
||||
int hyundai_camera_bus = 0;
|
||||
int hyundai_giraffe_switch_2 = 0; // is giraffe switch 2 high?
|
||||
int hyundai_rt_torque_last = 0;
|
||||
int hyundai_desired_torque_last = 0;
|
||||
int hyundai_cruise_engaged_last = 0;
|
||||
uint32_t hyundai_ts_last = 0;
|
||||
struct sample_t hyundai_torque_driver; // last few driver torques measured
|
||||
|
||||
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;
|
||||
int bus = (to_push->RDTR >> 4) & 0xFF;
|
||||
uint32_t addr;
|
||||
if (to_push->RIR & 4) {
|
||||
// Extended
|
||||
// Not looked at, but have to be separated
|
||||
// to avoid address collision
|
||||
addr = to_push->RIR >> 3;
|
||||
} else {
|
||||
// Normal
|
||||
addr = to_push->RIR >> 21;
|
||||
}
|
||||
|
||||
if (addr == 897) {
|
||||
int torque_driver_new = ((to_push->RDLR >> 11) & 0xfff) - 2048;
|
||||
// update array of samples
|
||||
update_sample(&hyundai_torque_driver, torque_driver_new);
|
||||
}
|
||||
|
||||
// check if stock camera ECU is still online
|
||||
if (bus == 0 && addr == 832) {
|
||||
hyundai_camera_detected = 1;
|
||||
controls_allowed = 0;
|
||||
}
|
||||
|
||||
// Find out which bus the camera is on
|
||||
if (addr == 832) {
|
||||
hyundai_camera_bus = bus;
|
||||
}
|
||||
|
||||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
if ((to_push->RIR>>21) == 1057) {
|
||||
// 2 bits: 13-14
|
||||
int cruise_engaged = (to_push->RDLR >> 13) & 0x3;
|
||||
if (cruise_engaged && !hyundai_cruise_engaged_last) {
|
||||
controls_allowed = 1;
|
||||
} else if (!cruise_engaged) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
hyundai_cruise_engaged_last = cruise_engaged;
|
||||
}
|
||||
|
||||
// 832 is lkas cmd. If it is on camera bus, then giraffe switch 2 is high
|
||||
if ((to_push->RIR>>21) == 832 && (bus == hyundai_camera_bus) && (hyundai_camera_bus != 0)) {
|
||||
hyundai_giraffe_switch_2 = 1;
|
||||
}
|
||||
}
|
||||
|
||||
static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
|
||||
// There can be only one! (camera)
|
||||
if (hyundai_camera_detected) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
uint32_t addr;
|
||||
if (to_send->RIR & 4) {
|
||||
// Extended
|
||||
addr = to_send->RIR >> 3;
|
||||
} else {
|
||||
// Normal
|
||||
addr = to_send->RIR >> 21;
|
||||
}
|
||||
|
||||
// LKA STEER: safety check
|
||||
if (addr == 832) {
|
||||
int desired_torque = ((to_send->RDLR >> 16) & 0x7ff) - 1024;
|
||||
uint32_t ts = TIM2->CNT;
|
||||
int violation = 0;
|
||||
|
||||
if (controls_allowed) {
|
||||
|
||||
// *** global torque limit check ***
|
||||
violation |= max_limit_check(desired_torque, HYUNDAI_MAX_STEER, -HYUNDAI_MAX_STEER);
|
||||
|
||||
// *** torque rate limit check ***
|
||||
violation |= driver_limit_check(desired_torque, hyundai_desired_torque_last, &hyundai_torque_driver,
|
||||
HYUNDAI_MAX_STEER, HYUNDAI_MAX_RATE_UP, HYUNDAI_MAX_RATE_DOWN,
|
||||
HYUNDAI_DRIVER_TORQUE_ALLOWANCE, HYUNDAI_DRIVER_TORQUE_FACTOR);
|
||||
|
||||
// used next time
|
||||
hyundai_desired_torque_last = desired_torque;
|
||||
|
||||
// *** torque real time rate limit check ***
|
||||
violation |= rt_rate_limit_check(desired_torque, hyundai_rt_torque_last, HYUNDAI_MAX_RT_DELTA);
|
||||
|
||||
// every RT_INTERVAL set the new limits
|
||||
uint32_t ts_elapsed = get_ts_elapsed(ts, hyundai_ts_last);
|
||||
if (ts_elapsed > HYUNDAI_RT_INTERVAL) {
|
||||
hyundai_rt_torque_last = desired_torque;
|
||||
hyundai_ts_last = ts;
|
||||
}
|
||||
}
|
||||
|
||||
// no torque if controls is not allowed
|
||||
if (!controls_allowed && (desired_torque != 0)) {
|
||||
violation = 1;
|
||||
}
|
||||
|
||||
// reset to 0 if either controls is not allowed or there's a violation
|
||||
if (violation || !controls_allowed) {
|
||||
hyundai_desired_torque_last = 0;
|
||||
hyundai_rt_torque_last = 0;
|
||||
hyundai_ts_last = ts;
|
||||
}
|
||||
|
||||
if (violation) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
// FORCE CANCEL: safety check only relevant when spamming the cancel button.
|
||||
// ensuring that only the cancel button press is sent (VAL 4) when controls are off.
|
||||
// This avoids unintended engagements while still allowing resume spam
|
||||
// TODO: fix bug preventing the button msg to be fwd'd on bus 2
|
||||
//if (((to_send->RIR>>21) == 1265) && !controls_allowed && ((to_send->RDTR >> 4) & 0xFF) == 0) {
|
||||
// if ((to_send->RDLR & 0x7) != 4) return 0;
|
||||
//}
|
||||
|
||||
// 1 allows the message through
|
||||
return true;
|
||||
}
|
||||
|
||||
static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
// forward cam to ccan and viceversa, except lkas cmd
|
||||
if ((bus_num == 0 || bus_num == hyundai_camera_bus) && hyundai_giraffe_switch_2) {
|
||||
|
||||
if ((to_fwd->RIR>>21) == 832 && bus_num == hyundai_camera_bus) return -1;
|
||||
if (bus_num == 0) return hyundai_camera_bus;
|
||||
if (bus_num == hyundai_camera_bus) return 0;
|
||||
}
|
||||
return -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;
|
||||
hyundai_giraffe_switch_2 = 0;
|
||||
}
|
||||
|
||||
const safety_hooks hyundai_hooks = {
|
||||
.init = hyundai_init,
|
||||
.rx = hyundai_rx_hook,
|
||||
.tx = nooutput_tx_hook,
|
||||
.tx = hyundai_tx_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
.ignition = default_ign_hook,
|
||||
.fwd = hyundai_fwd_hook,
|
||||
|
||||
287
panda/board/safety/safety_tesla.h
Normal file
287
panda/board/safety/safety_tesla.h
Normal file
@@ -0,0 +1,287 @@
|
||||
// board enforces
|
||||
// in-state
|
||||
// accel set/resume
|
||||
// out-state
|
||||
// cancel button
|
||||
// regen paddle
|
||||
// accel rising edge
|
||||
// brake rising edge
|
||||
// brake > 0mph
|
||||
//
|
||||
int fmax_limit_check(float val, const float MAX, const float MIN) {
|
||||
return (val > MAX) || (val < MIN);
|
||||
}
|
||||
|
||||
// 2m/s are added to be less restrictive
|
||||
const struct lookup_t TESLA_LOOKUP_ANGLE_RATE_UP = {
|
||||
{2., 7., 17.},
|
||||
{5., .8, .25}};
|
||||
|
||||
const struct lookup_t TESLA_LOOKUP_ANGLE_RATE_DOWN = {
|
||||
{2., 7., 17.},
|
||||
{5., 3.5, .8}};
|
||||
|
||||
const struct lookup_t TESLA_LOOKUP_MAX_ANGLE = {
|
||||
{2., 29., 38.},
|
||||
{410., 92., 36.}};
|
||||
|
||||
const int TESLA_RT_INTERVAL = 250000; // 250ms between real time checks
|
||||
|
||||
// state of angle limits
|
||||
float tesla_desired_angle_last = 0; // last desired steer angle
|
||||
float tesla_rt_angle_last = 0.; // last real time angle
|
||||
float tesla_ts_angle_last = 0;
|
||||
|
||||
int tesla_controls_allowed_last = 0;
|
||||
|
||||
int tesla_brake_prev = 0;
|
||||
int tesla_gas_prev = 0;
|
||||
int tesla_speed = 0;
|
||||
int eac_status = 0;
|
||||
|
||||
int tesla_ignition_started = 0;
|
||||
|
||||
|
||||
void set_gmlan_digital_output(int to_set);
|
||||
void reset_gmlan_switch_timeout(void);
|
||||
void gmlan_switch_init(int timeout_enable);
|
||||
|
||||
|
||||
static void tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push)
|
||||
{
|
||||
set_gmlan_digital_output(0); // #define GMLAN_HIGH 0
|
||||
reset_gmlan_switch_timeout(); //we're still in tesla safety mode, reset the timeout counter and make sure our output is enabled
|
||||
|
||||
//int bus_number = (to_push->RDTR >> 4) & 0xFF;
|
||||
uint32_t addr;
|
||||
if (to_push->RIR & 4)
|
||||
{
|
||||
// Extended
|
||||
// Not looked at, but have to be separated
|
||||
// to avoid address collision
|
||||
addr = to_push->RIR >> 3;
|
||||
}
|
||||
else
|
||||
{
|
||||
// Normal
|
||||
addr = to_push->RIR >> 21;
|
||||
}
|
||||
|
||||
if (addr == 0x45)
|
||||
{
|
||||
// 6 bits starting at position 0
|
||||
int lever_position = (to_push->RDLR & 0x3F);
|
||||
if (lever_position == 2)
|
||||
{ // pull forward
|
||||
// activate openpilot
|
||||
controls_allowed = 1;
|
||||
//}
|
||||
}
|
||||
else if (lever_position == 1)
|
||||
{ // push towards the back
|
||||
// deactivate openpilot
|
||||
controls_allowed = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// Detect drive rail on (ignition) (start recording)
|
||||
if (addr == 0x348)
|
||||
{
|
||||
// GTW_status
|
||||
int drive_rail_on = (to_push->RDLR & 0x0001);
|
||||
tesla_ignition_started = drive_rail_on == 1;
|
||||
}
|
||||
|
||||
// exit controls on brake press
|
||||
// DI_torque2::DI_brakePedal 0x118
|
||||
if (addr == 0x118)
|
||||
{
|
||||
// 1 bit at position 16
|
||||
if (((to_push->RDLR & 0x8000)) >> 15 == 1)
|
||||
{
|
||||
//disable break cancel by commenting line below
|
||||
controls_allowed = 0;
|
||||
}
|
||||
//get vehicle speed in m/s. Tesla gives MPH
|
||||
tesla_speed = ((((((to_push->RDLR >> 24) & 0x0F) << 8) + ((to_push->RDLR >> 16) & 0xFF)) * 0.05 - 25) * 1.609 / 3.6);
|
||||
if (tesla_speed < 0)
|
||||
{
|
||||
tesla_speed = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// exit controls on EPAS error
|
||||
// EPAS_sysStatus::EPAS_eacStatus 0x370
|
||||
if (addr == 0x370)
|
||||
{
|
||||
// if EPAS_eacStatus is not 1 or 2, disable control
|
||||
eac_status = ((to_push->RDHR >> 21)) & 0x7;
|
||||
// For human steering override we must not disable controls when eac_status == 0
|
||||
// Additional safety: we could only allow eac_status == 0 when we have human steering allowed
|
||||
if ((controls_allowed == 1) && (eac_status != 0) && (eac_status != 1) && (eac_status != 2))
|
||||
{
|
||||
controls_allowed = 0;
|
||||
//puts("EPAS error! \n");
|
||||
}
|
||||
}
|
||||
//get latest steering wheel angle
|
||||
if (addr == 0x00E)
|
||||
{
|
||||
float angle_meas_now = (int)((((to_push->RDLR & 0x3F) << 8) + ((to_push->RDLR >> 8) & 0xFF)) * 0.1 - 819.2);
|
||||
uint32_t ts = TIM2->CNT;
|
||||
uint32_t ts_elapsed = get_ts_elapsed(ts, tesla_ts_angle_last);
|
||||
|
||||
// *** angle real time check
|
||||
// add 1 to not false trigger the violation and multiply by 25 since the check is done every 250 ms and steer angle is updated at 100Hz
|
||||
float rt_delta_angle_up = interpolate(TESLA_LOOKUP_ANGLE_RATE_UP, tesla_speed) * 25. + 1.;
|
||||
float rt_delta_angle_down = interpolate(TESLA_LOOKUP_ANGLE_RATE_DOWN, tesla_speed) * 25. + 1.;
|
||||
float highest_rt_angle = tesla_rt_angle_last + (tesla_rt_angle_last > 0 ? rt_delta_angle_up : rt_delta_angle_down);
|
||||
float lowest_rt_angle = tesla_rt_angle_last - (tesla_rt_angle_last > 0 ? rt_delta_angle_down : rt_delta_angle_up);
|
||||
|
||||
if ((ts_elapsed > TESLA_RT_INTERVAL) || (controls_allowed && !tesla_controls_allowed_last))
|
||||
{
|
||||
tesla_rt_angle_last = angle_meas_now;
|
||||
tesla_ts_angle_last = ts;
|
||||
}
|
||||
|
||||
// check for violation;
|
||||
if (fmax_limit_check(angle_meas_now, highest_rt_angle, lowest_rt_angle))
|
||||
{
|
||||
// We should not be able to STEER under these conditions
|
||||
// Other sending is fine (to allow human override)
|
||||
controls_allowed = 0;
|
||||
//puts("WARN: RT Angle - No steer allowed! \n");
|
||||
}
|
||||
else
|
||||
{
|
||||
controls_allowed = 1;
|
||||
}
|
||||
|
||||
tesla_controls_allowed_last = controls_allowed;
|
||||
}
|
||||
}
|
||||
|
||||
// all commands: gas/regen, friction brake and steering
|
||||
// if controls_allowed and no pedals pressed
|
||||
// allow all commands up to limit
|
||||
// else
|
||||
// block all commands that produce actuation
|
||||
|
||||
static int tesla_tx_hook(CAN_FIFOMailBox_TypeDef *to_send)
|
||||
{
|
||||
|
||||
uint32_t addr;
|
||||
float angle_raw;
|
||||
float desired_angle;
|
||||
|
||||
addr = to_send->RIR >> 21;
|
||||
|
||||
// do not transmit CAN message if steering angle too high
|
||||
// DAS_steeringControl::DAS_steeringAngleRequest
|
||||
if (addr == 0x488)
|
||||
{
|
||||
angle_raw = ((to_send->RDLR & 0x7F) << 8) + ((to_send->RDLR & 0xFF00) >> 8);
|
||||
desired_angle = angle_raw * 0.1 - 1638.35;
|
||||
int16_t violation = 0;
|
||||
int st_enabled = (to_send->RDLR & 0x400000) >> 22;
|
||||
|
||||
if (st_enabled == 0) {
|
||||
//steering is not enabled, do not check angles and do send
|
||||
tesla_desired_angle_last = desired_angle;
|
||||
return true;
|
||||
}
|
||||
|
||||
if (controls_allowed)
|
||||
{
|
||||
// add 1 to not false trigger the violation
|
||||
float delta_angle_up = interpolate(TESLA_LOOKUP_ANGLE_RATE_UP, tesla_speed) + 1.;
|
||||
float delta_angle_down = interpolate(TESLA_LOOKUP_ANGLE_RATE_DOWN, tesla_speed) + 1.;
|
||||
float highest_desired_angle = tesla_desired_angle_last + (tesla_desired_angle_last > 0 ? delta_angle_up : delta_angle_down);
|
||||
float lowest_desired_angle = tesla_desired_angle_last - (tesla_desired_angle_last > 0 ? delta_angle_down : delta_angle_up);
|
||||
float TESLA_MAX_ANGLE = interpolate(TESLA_LOOKUP_MAX_ANGLE, tesla_speed) + 1.;
|
||||
|
||||
//check for max angles
|
||||
violation |= fmax_limit_check(desired_angle, TESLA_MAX_ANGLE, -TESLA_MAX_ANGLE);
|
||||
|
||||
//check for angle delta changes
|
||||
violation |= fmax_limit_check(desired_angle, highest_desired_angle, lowest_desired_angle);
|
||||
|
||||
if (violation)
|
||||
{
|
||||
controls_allowed = 0;
|
||||
return false;
|
||||
}
|
||||
tesla_desired_angle_last = desired_angle;
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
static int tesla_tx_lin_hook(int lin_num, uint8_t *data, int len)
|
||||
{
|
||||
// LIN is not used on the Tesla
|
||||
return false;
|
||||
}
|
||||
|
||||
static void tesla_init(int16_t param)
|
||||
{
|
||||
controls_allowed = 0;
|
||||
tesla_ignition_started = 0;
|
||||
gmlan_switch_init(1); //init the gmlan switch with 1s timeout enabled
|
||||
}
|
||||
|
||||
static int tesla_ign_hook()
|
||||
{
|
||||
return tesla_ignition_started;
|
||||
}
|
||||
|
||||
static int tesla_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd)
|
||||
{
|
||||
|
||||
int32_t addr = to_fwd->RIR >> 21;
|
||||
|
||||
if (bus_num == 0)
|
||||
{
|
||||
|
||||
// change inhibit of GTW_epasControl
|
||||
if (addr == 0x101)
|
||||
{
|
||||
to_fwd->RDLR = to_fwd->RDLR | 0x4000; // 0x4000: WITH_ANGLE, 0xC000: WITH_BOTH (angle and torque)
|
||||
int checksum = (((to_fwd->RDLR & 0xFF00) >> 8) + (to_fwd->RDLR & 0xFF) + 2) & 0xFF;
|
||||
to_fwd->RDLR = to_fwd->RDLR & 0xFFFF;
|
||||
to_fwd->RDLR = to_fwd->RDLR + (checksum << 16);
|
||||
return 2;
|
||||
}
|
||||
|
||||
// remove EPB_epasControl
|
||||
if (addr == 0x214)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
return 2; // Custom EPAS bus
|
||||
}
|
||||
if (bus_num == 2)
|
||||
{
|
||||
|
||||
// remove GTW_epasControl in forwards
|
||||
if (addr == 0x101)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
return 0; // Chassis CAN
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
const safety_hooks tesla_hooks = {
|
||||
.init = tesla_init,
|
||||
.rx = tesla_rx_hook,
|
||||
.tx = tesla_tx_hook,
|
||||
.tx_lin = tesla_tx_lin_hook,
|
||||
.ignition = tesla_ign_hook,
|
||||
.fwd = tesla_fwd_hook,
|
||||
};
|
||||
@@ -107,7 +107,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
violation |= max_limit_check(desired_torque, TOYOTA_MAX_TORQUE, -TOYOTA_MAX_TORQUE);
|
||||
|
||||
// *** torque rate limit check ***
|
||||
violation |= dist_to_meas_check(desired_torque, toyota_desired_torque_last,
|
||||
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
|
||||
@@ -123,7 +123,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
toyota_ts_last = ts;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// no torque if controls is not allowed
|
||||
if (!controls_allowed && (desired_torque != 0)) {
|
||||
violation = 1;
|
||||
@@ -146,11 +146,6 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
|
||||
return true;
|
||||
}
|
||||
|
||||
static int toyota_tx_lin_hook(int lin_num, uint8_t *data, int len) {
|
||||
// TODO: add safety if using LIN
|
||||
return true;
|
||||
}
|
||||
|
||||
static void toyota_init(int16_t param) {
|
||||
controls_allowed = 0;
|
||||
toyota_actuation_limits = 1;
|
||||
@@ -173,7 +168,7 @@ const safety_hooks toyota_hooks = {
|
||||
.init = toyota_init,
|
||||
.rx = toyota_rx_hook,
|
||||
.tx = toyota_tx_hook,
|
||||
.tx_lin = toyota_tx_lin_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
.ignition = default_ign_hook,
|
||||
.fwd = toyota_fwd_hook,
|
||||
};
|
||||
@@ -189,7 +184,7 @@ const safety_hooks toyota_nolimits_hooks = {
|
||||
.init = toyota_nolimits_init,
|
||||
.rx = toyota_rx_hook,
|
||||
.tx = toyota_tx_hook,
|
||||
.tx_lin = toyota_tx_lin_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
.ignition = default_ign_hook,
|
||||
.fwd = toyota_fwd_hook,
|
||||
};
|
||||
|
||||
@@ -149,7 +149,7 @@ const safety_hooks toyota_ipas_hooks = {
|
||||
.init = toyota_init,
|
||||
.rx = toyota_ipas_rx_hook,
|
||||
.tx = toyota_ipas_tx_hook,
|
||||
.tx_lin = toyota_tx_lin_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
.ignition = default_ign_hook,
|
||||
.fwd = toyota_fwd_hook,
|
||||
};
|
||||
|
||||
@@ -41,6 +41,7 @@ void set_timer(int t);
|
||||
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_hyundai_torque_driver(int min, int max);
|
||||
void set_toyota_rt_torque_last(int t);
|
||||
void set_toyota_desired_torque_last(int t);
|
||||
int get_toyota_torque_meas_min(void);
|
||||
@@ -70,6 +71,13 @@ int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
|
||||
void set_gm_desired_torque_last(int t);
|
||||
void set_gm_rt_torque_last(int t);
|
||||
|
||||
void init_tests_hyundai(void);
|
||||
void nooutput_init(int16_t param);
|
||||
void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
|
||||
int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
|
||||
void set_hyundai_desired_torque_last(int t);
|
||||
void set_hyundai_rt_torque_last(int t);
|
||||
|
||||
void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
|
||||
int toyota_ipas_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
|
||||
|
||||
|
||||
@@ -25,6 +25,7 @@ typedef struct
|
||||
struct sample_t toyota_torque_meas;
|
||||
struct sample_t cadillac_torque_driver;
|
||||
struct sample_t gm_torque_driver;
|
||||
struct sample_t hyundai_torque_driver;
|
||||
|
||||
TIM_TypeDef timer;
|
||||
TIM_TypeDef *TIM2 = &timer;
|
||||
@@ -75,6 +76,11 @@ void set_gm_torque_driver(int min, int max){
|
||||
gm_torque_driver.max = max;
|
||||
}
|
||||
|
||||
void set_hyundai_torque_driver(int min, int max){
|
||||
hyundai_torque_driver.min = min;
|
||||
hyundai_torque_driver.max = max;
|
||||
}
|
||||
|
||||
int get_toyota_torque_meas_min(void){
|
||||
return toyota_torque_meas.min;
|
||||
}
|
||||
@@ -95,6 +101,10 @@ void set_gm_rt_torque_last(int t){
|
||||
gm_rt_torque_last = t;
|
||||
}
|
||||
|
||||
void set_hyundai_rt_torque_last(int t){
|
||||
hyundai_rt_torque_last = t;
|
||||
}
|
||||
|
||||
void set_toyota_desired_torque_last(int t){
|
||||
toyota_desired_torque_last = t;
|
||||
}
|
||||
@@ -107,6 +117,9 @@ void set_gm_desired_torque_last(int t){
|
||||
gm_desired_torque_last = t;
|
||||
}
|
||||
|
||||
void set_hyundai_desired_torque_last(int t){
|
||||
hyundai_desired_torque_last = t;
|
||||
}
|
||||
|
||||
int get_ego_speed(void){
|
||||
return ego_speed;
|
||||
@@ -155,9 +168,28 @@ void init_tests_gm(void){
|
||||
set_timer(0);
|
||||
}
|
||||
|
||||
void init_tests_hyundai(void){
|
||||
hyundai_torque_driver.min = 0;
|
||||
hyundai_torque_driver.max = 0;
|
||||
hyundai_desired_torque_last = 0;
|
||||
hyundai_rt_torque_last = 0;
|
||||
hyundai_ts_last = 0;
|
||||
set_timer(0);
|
||||
}
|
||||
|
||||
void init_tests_honda(void){
|
||||
ego_speed = 0;
|
||||
gas_interceptor_detected = 0;
|
||||
brake_prev = 0;
|
||||
gas_prev = 0;
|
||||
}
|
||||
|
||||
|
||||
void set_gmlan_digital_output(int to_set){
|
||||
}
|
||||
|
||||
void reset_gmlan_switch_timeout(void){
|
||||
}
|
||||
|
||||
void gmlan_switch_init(int timeout_enable){
|
||||
}
|
||||
|
||||
@@ -5,7 +5,7 @@ import libpandasafety_py
|
||||
|
||||
MAX_RATE_UP = 7
|
||||
MAX_RATE_DOWN = 17
|
||||
MAX_STEER = 255
|
||||
MAX_STEER = 300
|
||||
MAX_BRAKE = 350
|
||||
MAX_GAS = 3072
|
||||
MAX_REGEN = 1404
|
||||
@@ -84,10 +84,6 @@ class TestGmSafety(unittest.TestCase):
|
||||
to_send[0].RDHR = (((t >> 8) & 0x7) << 16) | ((t & 0xFF) << 24)
|
||||
return to_send
|
||||
|
||||
def _torque_driver_msg_array(self, torque):
|
||||
for i in range(3):
|
||||
self.safety.gm_ipas_rx_hook(self._torque_driver_msg(torque))
|
||||
|
||||
def _torque_msg(self, torque):
|
||||
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
||||
to_send[0].RIR = 384 << 21
|
||||
@@ -117,7 +113,7 @@ class TestGmSafety(unittest.TestCase):
|
||||
self.safety.gm_rx_hook(self._button_msg(CANCEL_BTN))
|
||||
self.assertFalse(self.safety.get_controls_allowed())
|
||||
|
||||
def test_disengage_on_brake(self):
|
||||
def test_disengage_on_brake(self):
|
||||
self.safety.set_controls_allowed(1)
|
||||
self.safety.gm_rx_hook(self._brake_msg(True))
|
||||
self.assertFalse(self.safety.get_controls_allowed())
|
||||
|
||||
@@ -108,7 +108,7 @@ class TestHondaSafety(unittest.TestCase):
|
||||
self.safety.set_controls_allowed(1)
|
||||
self.safety.honda_rx_hook(self._alt_brake_msg(1))
|
||||
self.assertFalse(self.safety.get_controls_allowed())
|
||||
|
||||
|
||||
self.safety.set_honda_alt_brake_msg(0)
|
||||
self.safety.set_controls_allowed(1)
|
||||
self.safety.honda_rx_hook(self._alt_brake_msg(1))
|
||||
|
||||
186
panda/tests/safety/test_hyundai.py
Normal file
186
panda/tests/safety/test_hyundai.py
Normal file
@@ -0,0 +1,186 @@
|
||||
#!/usr/bin/env python2
|
||||
import unittest
|
||||
import numpy as np
|
||||
import libpandasafety_py
|
||||
|
||||
MAX_RATE_UP = 3
|
||||
MAX_RATE_DOWN = 7
|
||||
MAX_STEER = 250
|
||||
|
||||
MAX_RT_DELTA = 112
|
||||
RT_INTERVAL = 250000
|
||||
|
||||
DRIVER_TORQUE_ALLOWANCE = 50;
|
||||
DRIVER_TORQUE_FACTOR = 2;
|
||||
|
||||
def twos_comp(val, bits):
|
||||
if val >= 0:
|
||||
return val
|
||||
else:
|
||||
return (2**bits) + val
|
||||
|
||||
def sign(a):
|
||||
if a > 0:
|
||||
return 1
|
||||
else:
|
||||
return -1
|
||||
|
||||
class TestHyundaiSafety(unittest.TestCase):
|
||||
@classmethod
|
||||
def setUp(cls):
|
||||
cls.safety = libpandasafety_py.libpandasafety
|
||||
cls.safety.nooutput_init(0)
|
||||
cls.safety.init_tests_hyundai()
|
||||
|
||||
def _button_msg(self, buttons):
|
||||
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
||||
to_send[0].RIR = 1265 << 21
|
||||
to_send[0].RDLR = buttons
|
||||
return to_send
|
||||
|
||||
def _set_prev_torque(self, t):
|
||||
self.safety.set_hyundai_desired_torque_last(t)
|
||||
self.safety.set_hyundai_rt_torque_last(t)
|
||||
|
||||
def _torque_driver_msg(self, torque):
|
||||
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
||||
to_send[0].RIR = 897 << 21
|
||||
to_send[0].RDLR = (torque + 2048) << 11
|
||||
return to_send
|
||||
|
||||
def _torque_msg(self, torque):
|
||||
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
||||
to_send[0].RIR = 832 << 21
|
||||
to_send[0].RDLR = (torque + 1024) << 16
|
||||
return to_send
|
||||
|
||||
def test_default_controls_not_allowed(self):
|
||||
self.assertFalse(self.safety.get_controls_allowed())
|
||||
|
||||
def test_steer_safety_check(self):
|
||||
for enabled in [0, 1]:
|
||||
for t in range(-0x200, 0x200):
|
||||
self.safety.set_controls_allowed(enabled)
|
||||
self._set_prev_torque(t)
|
||||
if abs(t) > MAX_STEER or (not enabled and abs(t) > 0):
|
||||
self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(t)))
|
||||
else:
|
||||
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(t)))
|
||||
|
||||
def test_manually_enable_controls_allowed(self):
|
||||
self.safety.set_controls_allowed(1)
|
||||
self.assertTrue(self.safety.get_controls_allowed())
|
||||
self.safety.set_controls_allowed(0)
|
||||
self.assertFalse(self.safety.get_controls_allowed())
|
||||
|
||||
def test_enable_control_allowed_from_cruise(self):
|
||||
to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
||||
to_push[0].RIR = 1057 << 21
|
||||
to_push[0].RDLR = 1 << 13
|
||||
|
||||
self.safety.hyundai_rx_hook(to_push)
|
||||
self.assertTrue(self.safety.get_controls_allowed())
|
||||
|
||||
def test_disable_control_allowed_from_cruise(self):
|
||||
to_push = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
|
||||
to_push[0].RIR = 1057 << 21
|
||||
to_push[0].RDLR = 0
|
||||
|
||||
self.safety.set_controls_allowed(1)
|
||||
self.safety.hyundai_rx_hook(to_push)
|
||||
self.assertFalse(self.safety.get_controls_allowed())
|
||||
|
||||
def test_non_realtime_limit_up(self):
|
||||
self.safety.set_hyundai_torque_driver(0, 0)
|
||||
self.safety.set_controls_allowed(True)
|
||||
|
||||
self._set_prev_torque(0)
|
||||
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(MAX_RATE_UP)))
|
||||
self._set_prev_torque(0)
|
||||
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(-MAX_RATE_UP)))
|
||||
|
||||
self._set_prev_torque(0)
|
||||
self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(MAX_RATE_UP + 1)))
|
||||
self.safety.set_controls_allowed(True)
|
||||
self._set_prev_torque(0)
|
||||
self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(-MAX_RATE_UP - 1)))
|
||||
|
||||
def test_non_realtime_limit_down(self):
|
||||
self.safety.set_hyundai_torque_driver(0, 0)
|
||||
self.safety.set_controls_allowed(True)
|
||||
|
||||
def test_against_torque_driver(self):
|
||||
self.safety.set_controls_allowed(True)
|
||||
|
||||
for sign in [-1, 1]:
|
||||
for t in np.arange(0, DRIVER_TORQUE_ALLOWANCE + 1, 1):
|
||||
t *= -sign
|
||||
self.safety.set_hyundai_torque_driver(t, t)
|
||||
self._set_prev_torque(MAX_STEER * sign)
|
||||
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(MAX_STEER * sign)))
|
||||
|
||||
self.safety.set_hyundai_torque_driver(DRIVER_TORQUE_ALLOWANCE + 1, DRIVER_TORQUE_ALLOWANCE + 1)
|
||||
self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(-MAX_STEER)))
|
||||
|
||||
# spot check some individual cases
|
||||
for sign in [-1, 1]:
|
||||
driver_torque = (DRIVER_TORQUE_ALLOWANCE + 10) * sign
|
||||
torque_desired = (MAX_STEER - 10 * DRIVER_TORQUE_FACTOR) * sign
|
||||
delta = 1 * sign
|
||||
self._set_prev_torque(torque_desired)
|
||||
self.safety.set_hyundai_torque_driver(-driver_torque, -driver_torque)
|
||||
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(torque_desired)))
|
||||
self._set_prev_torque(torque_desired + delta)
|
||||
self.safety.set_hyundai_torque_driver(-driver_torque, -driver_torque)
|
||||
self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(torque_desired + delta)))
|
||||
|
||||
self._set_prev_torque(MAX_STEER * sign)
|
||||
self.safety.set_hyundai_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
|
||||
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN) * sign)))
|
||||
self._set_prev_torque(MAX_STEER * sign)
|
||||
self.safety.set_hyundai_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
|
||||
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(0)))
|
||||
self._set_prev_torque(MAX_STEER * sign)
|
||||
self.safety.set_hyundai_torque_driver(-MAX_STEER * sign, -MAX_STEER * sign)
|
||||
self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg((MAX_STEER - MAX_RATE_DOWN + 1) * sign)))
|
||||
|
||||
|
||||
def test_realtime_limits(self):
|
||||
self.safety.set_controls_allowed(True)
|
||||
|
||||
for sign in [-1, 1]:
|
||||
self.safety.init_tests_hyundai()
|
||||
self._set_prev_torque(0)
|
||||
self.safety.set_hyundai_torque_driver(0, 0)
|
||||
for t in np.arange(0, MAX_RT_DELTA, 1):
|
||||
t *= sign
|
||||
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(t)))
|
||||
self.assertFalse(self.safety.hyundai_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
|
||||
|
||||
self._set_prev_torque(0)
|
||||
for t in np.arange(0, MAX_RT_DELTA, 1):
|
||||
t *= sign
|
||||
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(t)))
|
||||
|
||||
# Increase timer to update rt_torque_last
|
||||
self.safety.set_timer(RT_INTERVAL + 1)
|
||||
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA - 1))))
|
||||
self.assertTrue(self.safety.hyundai_tx_hook(self._torque_msg(sign * (MAX_RT_DELTA + 1))))
|
||||
|
||||
|
||||
#def test_spam_cancel_safety_check(self):
|
||||
# RESUME_BTN = 1
|
||||
# SET_BTN = 2
|
||||
# CANCEL_BTN = 4
|
||||
# BUTTON_MSG = 1265
|
||||
# self.safety.set_controls_allowed(0)
|
||||
# self.assertTrue(self.safety.hyundai_tx_hook(self._button_msg(CANCEL_BTN)))
|
||||
# self.assertFalse(self.safety.hyundai_tx_hook(self._button_msg(RESUME_BTN)))
|
||||
# self.assertFalse(self.safety.hyundai_tx_hook(self._button_msg(SET_BTN)))
|
||||
# # do not block resume if we are engaged already
|
||||
# self.safety.set_controls_allowed(1)
|
||||
# self.assertTrue(self.safety.hyundai_tx_hook(self._button_msg(RESUME_BTN)))
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
0
selfdrive/assets/sounds/Icon
Normal file
0
selfdrive/assets/sounds/Icon
Normal file
BIN
selfdrive/assets/sounds/hq_disengaged.mp3
Normal file
BIN
selfdrive/assets/sounds/hq_disengaged.mp3
Normal file
Binary file not shown.
BIN
selfdrive/assets/sounds/hq_engaged.mp3
Normal file
BIN
selfdrive/assets/sounds/hq_engaged.mp3
Normal file
Binary file not shown.
BIN
selfdrive/assets/sounds/hq_warning_0.mp3
Normal file
BIN
selfdrive/assets/sounds/hq_warning_0.mp3
Normal file
Binary file not shown.
BIN
selfdrive/assets/sounds/hq_warning_1.mp3
Normal file
BIN
selfdrive/assets/sounds/hq_warning_1.mp3
Normal file
Binary file not shown.
BIN
selfdrive/assets/sounds/hq_warning_2.mp3
Normal file
BIN
selfdrive/assets/sounds/hq_warning_2.mp3
Normal file
Binary file not shown.
@@ -13,8 +13,8 @@ WARN_FLAGS = -Werror=implicit-function-declaration \
|
||||
-Werror=return-type \
|
||||
-Werror=format-extra-args
|
||||
|
||||
CFLAGS = -std=gnu11 -g -fPIC -I../../ -O2 $(WARN_FLAGS)
|
||||
CXXFLAGS = -std=c++11 -g -fPIC -I../../ -O2 $(WARN_FLAGS)
|
||||
CFLAGS = -std=gnu11 -g -fPIC -I../ -I../../ -O2 $(WARN_FLAGS)
|
||||
CXXFLAGS = -std=c++11 -g -fPIC -I../ -I../../ -O2 $(WARN_FLAGS)
|
||||
|
||||
ZMQ_FLAGS = -I$(PHONELIBS)/zmq/aarch64/include
|
||||
ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib \
|
||||
|
||||
@@ -39,6 +39,7 @@
|
||||
#define SAFETY_HONDA_BOSCH 4
|
||||
#define SAFETY_FORD 5
|
||||
#define SAFETY_CADILLAC 6
|
||||
#define SAFETY_HYUNDAI 7
|
||||
#define SAFETY_TOYOTA_NOLIMITS 0x1336
|
||||
#define SAFETY_ALLOUTPUT 0x1337
|
||||
|
||||
@@ -113,6 +114,9 @@ void *safety_setter_thread(void *s) {
|
||||
case (int)cereal::CarParams::SafetyModels::CADILLAC:
|
||||
safety_setting = SAFETY_CADILLAC;
|
||||
break;
|
||||
case (int)cereal::CarParams::SafetyModels::HYUNDAI:
|
||||
safety_setting = SAFETY_HYUNDAI;
|
||||
break;
|
||||
default:
|
||||
LOGE("unknown safety model: %d", safety_model);
|
||||
}
|
||||
@@ -584,7 +588,7 @@ void *pigeon_thread(void *crap) {
|
||||
//printf("got %d\n", len);
|
||||
alen += len;
|
||||
}
|
||||
if (alen > 0) {
|
||||
if (alen > 0) {
|
||||
if (dat[0] == (char)0x00){
|
||||
LOGW("received invalid ublox message, resetting pigeon");
|
||||
pigeon_init();
|
||||
|
||||
@@ -1,5 +1,4 @@
|
||||
#include <cassert>
|
||||
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include <utility>
|
||||
@@ -31,6 +30,7 @@ namespace {
|
||||
uint64_t dat = (ival & ((1ULL << sig.b2)-1)) << shift;
|
||||
if (sig.is_little_endian) {
|
||||
dat = ReverseBytes(dat);
|
||||
mask = ReverseBytes(mask);
|
||||
}
|
||||
ret &= ~mask;
|
||||
ret |= dat;
|
||||
|
||||
@@ -47,11 +47,16 @@ class CANPacker(object):
|
||||
|
||||
if __name__ == "__main__":
|
||||
## little endian test
|
||||
cp = CANPacker("hyundai_2015_ccan")
|
||||
cp = CANPacker("hyundai_santa_fe_2019_ccan")
|
||||
s = cp.pack_bytes(0x340, {
|
||||
"CR_Lkas_StrToqReq": -0.06,
|
||||
"CF_Lkas_FcwBasReq": 1,
|
||||
"CF_Lkas_Chksum": 3,
|
||||
#"CF_Lkas_FcwBasReq": 1,
|
||||
"CF_Lkas_MsgCount": 7,
|
||||
"CF_Lkas_HbaSysState": 0,
|
||||
#"CF_Lkas_Chksum": 3,
|
||||
})
|
||||
s = cp.pack_bytes(0x340, {
|
||||
"CF_Lkas_MsgCount": 1,
|
||||
})
|
||||
# big endian test
|
||||
#cp = CANPacker("honda_civic_touring_2016_can_generated")
|
||||
|
||||
@@ -259,6 +259,7 @@ class CANParser {
|
||||
memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size());
|
||||
|
||||
// Assumes all signals in the message are of the same type (little or big endian)
|
||||
// TODO: allow signals within the same message to have different endianess
|
||||
auto& sig = message_states[cmsg.getAddress()].parse_sigs[0];
|
||||
if (sig.is_little_endian) {
|
||||
p = read_u64_le(dat);
|
||||
|
||||
@@ -1,4 +1,26 @@
|
||||
# functions common among cars
|
||||
from common.numpy_fast import clip
|
||||
|
||||
|
||||
def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None):
|
||||
return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc}
|
||||
|
||||
|
||||
def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS):
|
||||
|
||||
# limits due to driver torque
|
||||
driver_max_torque = LIMITS.STEER_MAX + (LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
|
||||
driver_min_torque = -LIMITS.STEER_MAX + (-LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
|
||||
max_steer_allowed = max(min(LIMITS.STEER_MAX, driver_max_torque), 0)
|
||||
min_steer_allowed = min(max(-LIMITS.STEER_MAX, driver_min_torque), 0)
|
||||
apply_torque = clip(apply_torque, min_steer_allowed, max_steer_allowed)
|
||||
|
||||
# slow rate if steer torque increases in magnitude
|
||||
if apply_torque_last > 0:
|
||||
apply_torque = clip(apply_torque, max(apply_torque_last - LIMITS.STEER_DELTA_DOWN, -LIMITS.STEER_DELTA_UP),
|
||||
apply_torque_last + LIMITS.STEER_DELTA_UP)
|
||||
else:
|
||||
apply_torque = clip(apply_torque, apply_torque_last - LIMITS.STEER_DELTA_UP,
|
||||
min(apply_torque_last + LIMITS.STEER_DELTA_DOWN, LIMITS.STEER_DELTA_UP))
|
||||
|
||||
return int(round(apply_torque))
|
||||
|
||||
@@ -97,6 +97,7 @@ def get_car(logcan, sendcan=None, passive=True):
|
||||
return None, None
|
||||
|
||||
interface_cls = interfaces[candidate]
|
||||
|
||||
if interface_cls is None:
|
||||
cloudlog.warning("car matched %s, but interface wasn't available or failed to import" % candidate)
|
||||
return None, None
|
||||
|
||||
@@ -1,7 +1,8 @@
|
||||
from common.numpy_fast import clip, interp
|
||||
from common.numpy_fast import interp
|
||||
from common.realtime import sec_since_boot
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.boardd.boardd import can_list_to_can_capnp
|
||||
from selfdrive.car import apply_std_steer_torque_limits
|
||||
from selfdrive.car.gm import gmcan
|
||||
from selfdrive.car.gm.values import CAR, DBC
|
||||
from selfdrive.can.packer import CANPacker
|
||||
@@ -10,7 +11,7 @@ from selfdrive.can.packer import CANPacker
|
||||
class CarControllerParams():
|
||||
def __init__(self, car_fingerprint):
|
||||
if car_fingerprint == CAR.VOLT:
|
||||
self.STEER_MAX = 255
|
||||
self.STEER_MAX = 300
|
||||
self.STEER_STEP = 2 # how often we update the steer cmd
|
||||
self.STEER_DELTA_UP = 7 # ~0.75s time to peak torque (255/50hz/0.75s)
|
||||
self.STEER_DELTA_DOWN = 17 # ~0.3s from peak torque to zero
|
||||
@@ -25,7 +26,11 @@ class CarControllerParams():
|
||||
self.STEER_DRIVER_FACTOR = 100 # from dbc
|
||||
self.NEAR_STOP_BRAKE_PHASE = 0.5 # m/s, more aggressive braking near full stop
|
||||
|
||||
self.ADAS_KEEPALIVE_STEP = 10
|
||||
# Takes case of "Service Adaptive Cruise" and "Service Front Camera"
|
||||
# dashboard messages.
|
||||
self.ADAS_KEEPALIVE_STEP = 100
|
||||
self.CAMERA_KEEPALIVE_STEP = 100
|
||||
|
||||
# pedal lookups, only for Volt
|
||||
MAX_GAS = 3072 # Only a safety limit
|
||||
ZERO_GAS = 2048
|
||||
@@ -54,15 +59,15 @@ def actuator_hystereses(final_pedal, pedal_steady):
|
||||
|
||||
|
||||
class CarController(object):
|
||||
def __init__(self, canbus, car_fingerprint):
|
||||
def __init__(self, canbus, car_fingerprint, allow_controls):
|
||||
self.pedal_steady = 0.
|
||||
self.start_time = sec_since_boot()
|
||||
self.chime = 0
|
||||
self.lkas_active = False
|
||||
self.inhibit_steer_for = 0
|
||||
self.steer_idx = 0
|
||||
self.apply_steer_last = 0
|
||||
self.car_fingerprint = car_fingerprint
|
||||
self.allow_controls = allow_controls
|
||||
self.lka_icon_status_last = (False, False)
|
||||
|
||||
# Setup detection helper. Routes commands to
|
||||
# an appropriate CAN bus number.
|
||||
@@ -76,6 +81,10 @@ class CarController(object):
|
||||
hud_v_cruise, hud_show_lanes, hud_show_car, chime, chime_cnt):
|
||||
""" Controls thread """
|
||||
|
||||
# Sanity check.
|
||||
if not self.allow_controls:
|
||||
return
|
||||
|
||||
P = self.params
|
||||
|
||||
# Send CAN commands.
|
||||
@@ -85,30 +94,13 @@ class CarController(object):
|
||||
### STEER ###
|
||||
|
||||
if (frame % P.STEER_STEP) == 0:
|
||||
final_steer = actuators.steer if enabled else 0.
|
||||
apply_steer = final_steer * P.STEER_MAX
|
||||
|
||||
# limits due to driver torque
|
||||
driver_max_torque = P.STEER_MAX + (P.STEER_DRIVER_ALLOWANCE + CS.steer_torque_driver * P.STEER_DRIVER_FACTOR) * P.STEER_DRIVER_MULTIPLIER
|
||||
driver_min_torque = -P.STEER_MAX + (-P.STEER_DRIVER_ALLOWANCE + CS.steer_torque_driver * P.STEER_DRIVER_FACTOR) * P.STEER_DRIVER_MULTIPLIER
|
||||
max_steer_allowed = max(min(P.STEER_MAX, driver_max_torque), 0)
|
||||
min_steer_allowed = min(max(-P.STEER_MAX, driver_min_torque), 0)
|
||||
apply_steer = clip(apply_steer, min_steer_allowed, max_steer_allowed)
|
||||
|
||||
# slow rate if steer torque increases in magnitude
|
||||
if self.apply_steer_last > 0:
|
||||
apply_steer = clip(apply_steer, max(self.apply_steer_last - P.STEER_DELTA_DOWN, -P.STEER_DELTA_UP),
|
||||
self.apply_steer_last + P.STEER_DELTA_UP)
|
||||
else:
|
||||
apply_steer = clip(apply_steer, self.apply_steer_last - P.STEER_DELTA_UP,
|
||||
min(self.apply_steer_last + P.STEER_DELTA_DOWN, P.STEER_DELTA_UP))
|
||||
|
||||
lkas_enabled = enabled and not CS.steer_not_allowed and CS.v_ego > 3.
|
||||
|
||||
if not lkas_enabled:
|
||||
if lkas_enabled:
|
||||
apply_steer = actuators.steer * P.STEER_MAX
|
||||
apply_steer = apply_std_steer_torque_limits(apply_steer, self.apply_steer_last, CS.steer_torque_driver, P)
|
||||
else:
|
||||
apply_steer = 0
|
||||
|
||||
apply_steer = int(round(apply_steer))
|
||||
self.apply_steer_last = apply_steer
|
||||
idx = (frame / P.STEER_STEP) % 4
|
||||
|
||||
@@ -116,14 +108,14 @@ class CarController(object):
|
||||
can_sends.append(gmcan.create_steering_control(self.packer_pt,
|
||||
canbus.powertrain, apply_steer, idx, lkas_enabled))
|
||||
if self.car_fingerprint == CAR.CADILLAC_CT6:
|
||||
can_sends += gmcan.create_steering_control_ct6(self.packer_pt,
|
||||
can_sends += gmcan.create_steering_control_ct6(self.packer_pt,
|
||||
canbus, apply_steer, CS.v_ego, idx, lkas_enabled)
|
||||
|
||||
### GAS/BRAKE ###
|
||||
|
||||
if self.car_fingerprint == CAR.VOLT:
|
||||
# no output if not enabled, but keep sending keepalive messages
|
||||
# threat pedals as one
|
||||
# treat pedals as one
|
||||
final_pedal = actuators.gas - actuators.brake
|
||||
|
||||
# *** apply pedal hysteresis ***
|
||||
@@ -131,7 +123,8 @@ class CarController(object):
|
||||
final_pedal, self.pedal_steady)
|
||||
|
||||
if not enabled:
|
||||
apply_gas = P.MAX_ACC_REGEN # TODO: do we really need to send max regen when not enabled?
|
||||
# Stock ECU sends max regen when not enabled.
|
||||
apply_gas = P.MAX_ACC_REGEN
|
||||
apply_brake = 0
|
||||
else:
|
||||
apply_gas = int(round(interp(final_pedal, P.GAS_LOOKUP_BP, P.GAS_LOOKUP_V)))
|
||||
@@ -150,7 +143,7 @@ class CarController(object):
|
||||
|
||||
# Send dashboard UI commands (ACC status), 25hz
|
||||
if (frame % 4) == 0:
|
||||
can_sends.append(gmcan.create_acc_dashboard_command(canbus.powertrain, enabled, hud_v_cruise / CV.MS_TO_KPH, hud_show_car))
|
||||
can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, canbus.powertrain, enabled, hud_v_cruise * CV.MS_TO_KPH, hud_show_car))
|
||||
|
||||
# Radar needs to know current speed and yaw rate (50hz),
|
||||
# and that ADAS is alive (10hz)
|
||||
@@ -168,10 +161,21 @@ class CarController(object):
|
||||
can_sends.append(gmcan.create_adas_steering_status(canbus.obstacle, idx))
|
||||
can_sends.append(gmcan.create_adas_accelerometer_speed_status(canbus.obstacle, CS.v_ego, idx))
|
||||
|
||||
# Send ADAS keepalive, 10hz
|
||||
if frame % P.ADAS_KEEPALIVE_STEP == 0:
|
||||
can_sends += gmcan.create_adas_keepalive(canbus.powertrain)
|
||||
|
||||
# Show green icon when LKA torque is applied, and
|
||||
# alarming orange icon when approaching torque limit.
|
||||
# If not sent again, LKA icon disappears in about 5 seconds.
|
||||
# Conveniently, sending camera message periodically also works as a keepalive.
|
||||
lka_active = CS.lkas_status == 1
|
||||
lka_critical = lka_active and abs(actuators.steer) > 0.9
|
||||
lka_icon_status = (lka_active, lka_critical)
|
||||
if frame % P.CAMERA_KEEPALIVE_STEP == 0 \
|
||||
or lka_icon_status != self.lka_icon_status_last:
|
||||
can_sends.append(gmcan.create_lka_icon_command(canbus.sw_gmlan, lka_active, lka_critical))
|
||||
self.lka_icon_status_last = lka_icon_status
|
||||
|
||||
# Send chimes
|
||||
if self.chime != chime:
|
||||
duration = 0x3c
|
||||
|
||||
@@ -84,14 +84,21 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_f
|
||||
|
||||
return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
|
||||
|
||||
def create_acc_dashboard_command(bus, acc_engaged, target_speed_ms, lead_car_in_sight):
|
||||
engaged = 0x90 if acc_engaged else 0
|
||||
lead_car = 0x10 if lead_car_in_sight else 0
|
||||
target_speed = int(target_speed_ms * 208) & 0xfff
|
||||
speed_high = target_speed >> 8
|
||||
speed_low = target_speed & 0xff
|
||||
dat = [0x01, 0x00, engaged | speed_high, speed_low, 0x01, lead_car]
|
||||
return [0x370, 0, "".join(map(chr, dat)), bus]
|
||||
def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lead_car_in_sight):
|
||||
# Not a bit shift, dash can round up based on low 4 bits.
|
||||
target_speed = int(target_speed_kph * 16) & 0xfff
|
||||
|
||||
values = {
|
||||
"ACCAlwaysOne" : 1,
|
||||
"ACCResumeButton" : 0,
|
||||
"ACCSpeedSetpoint" : target_speed,
|
||||
"ACCGapLevel" : 3 * acc_engaged, # 3 "far", 0 "inactive"
|
||||
"ACCCmdActive" : acc_engaged,
|
||||
"ACCAlwaysOne2" : 1,
|
||||
"ACCLeadCar" : lead_car_in_sight
|
||||
}
|
||||
|
||||
return packer.make_can_msg("ASCMActiveCruiseControlStatus", bus, values)
|
||||
|
||||
def create_adas_time_status(bus, tt, idx):
|
||||
dat = [(tt >> 20) & 0xff, (tt >> 12) & 0xff, (tt >> 4) & 0xff,
|
||||
@@ -127,6 +134,16 @@ def create_chime_command(bus, chime_type, duration, repeat_cnt):
|
||||
dat = [chime_type, duration, repeat_cnt, 0xff, 0]
|
||||
return [0x10400060, 0, "".join(map(chr, dat)), bus]
|
||||
|
||||
def create_lka_icon_command(bus, active, critical):
|
||||
if active:
|
||||
if critical:
|
||||
dat = "\x40\xc0\x14"
|
||||
else:
|
||||
dat = "\x40\x40\x18"
|
||||
else:
|
||||
dat = "\x00\x00\x00"
|
||||
return [0x104c006c, 0, dat, bus]
|
||||
|
||||
# TODO: WIP
|
||||
'''
|
||||
def create_friction_brake_command_ct6(packer, bus, apply_brake, idx, near_stop, at_full_stop):
|
||||
|
||||
@@ -4,7 +4,7 @@ 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
|
||||
from selfdrive.controls.lib.vehicle_model import VehicleModel
|
||||
from selfdrive.car.gm.values import DBC, CAR
|
||||
from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS
|
||||
from selfdrive.car.gm.carstate import CarState, CruiseButtons, get_powertrain_can_parser
|
||||
|
||||
try:
|
||||
@@ -21,12 +21,6 @@ class CM:
|
||||
LOW_CHIME = 0x86
|
||||
HIGH_CHIME = 0x87
|
||||
|
||||
# GM cars have 4 CAN buses, which creates many ways
|
||||
# of how the car can be connected to.
|
||||
# This ia a helper class for the interface to be setup-agnostic.
|
||||
# Supports single Panda setup (connected to OBDII port),
|
||||
# and a CAN forwarding setup (connected to camera module connector).
|
||||
|
||||
class CanBus(object):
|
||||
def __init__(self):
|
||||
self.powertrain = 0
|
||||
@@ -54,7 +48,7 @@ class CarInterface(object):
|
||||
# sending if read only is False
|
||||
if sendcan is not None:
|
||||
self.sendcan = sendcan
|
||||
self.CC = CarController(canbus, CP.carFingerprint)
|
||||
self.CC = CarController(canbus, CP.carFingerprint, CP.enableCamera)
|
||||
|
||||
@staticmethod
|
||||
def compute_gb(accel, speed):
|
||||
@@ -73,8 +67,11 @@ class CarInterface(object):
|
||||
|
||||
ret.enableCruise = False
|
||||
|
||||
# TODO: gate this on detection
|
||||
ret.enableCamera = True
|
||||
# Presence of a camera on the object bus is ok.
|
||||
# Have to go passive if ASCM is online (ACC-enabled cars),
|
||||
# or camera is on powertrain bus (LKA cars without ACC).
|
||||
ret.enableCamera = not any(x for x in STOCK_CONTROL_MSGS[candidate] if x in fingerprint)
|
||||
|
||||
std_cargo = 136
|
||||
|
||||
if candidate == CAR.VOLT:
|
||||
@@ -194,7 +191,8 @@ class CarInterface(object):
|
||||
|
||||
# cruise state
|
||||
ret.cruiseState.available = bool(self.CS.main_on)
|
||||
ret.cruiseState.enabled = self.CS.pcm_acc_status != 0
|
||||
cruiseEnabled = self.CS.pcm_acc_status != 0
|
||||
ret.cruiseState.enabled = cruiseEnabled
|
||||
ret.cruiseState.standstill = self.CS.pcm_acc_status == 4
|
||||
|
||||
ret.leftBlinker = self.CS.left_blinker_on
|
||||
@@ -228,7 +226,8 @@ class CarInterface(object):
|
||||
be.pressed = False
|
||||
but = self.CS.prev_cruise_buttons
|
||||
if but == CruiseButtons.RES_ACCEL:
|
||||
be.type = 'accelCruise'
|
||||
if not (cruiseEnabled and self.CS.standstill):
|
||||
be.type = 'accelCruise' # Suppress resume button if we're resuming from stop so we don't adjust speed.
|
||||
elif but == CruiseButtons.DECEL_SET:
|
||||
be.type = 'decelCruise'
|
||||
elif but == CruiseButtons.CANCEL:
|
||||
@@ -295,7 +294,7 @@ class CarInterface(object):
|
||||
events.append(create_event('pcmEnable', [ET.ENABLE]))
|
||||
if not self.CS.acc_active:
|
||||
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
|
||||
|
||||
|
||||
ret.events = events
|
||||
|
||||
# update previous brake/gas pressed
|
||||
@@ -323,7 +322,11 @@ class CarInterface(object):
|
||||
"chimeRepeated": (CM.LOW_CHIME, -1),
|
||||
"chimeContinuous": (CM.LOW_CHIME, -1)}[str(c.hudControl.audibleAlert)]
|
||||
|
||||
self.CC.update(self.sendcan, c.enabled, self.CS, self.frame, \
|
||||
# For Openpilot, "enabled" includes pre-enable.
|
||||
# In GM, PCM faults out if ACC command overlaps user gas.
|
||||
enabled = c.enabled and not self.CS.user_gas_pressed
|
||||
|
||||
self.CC.update(self.sendcan, enabled, self.CS, self.frame, \
|
||||
c.actuators,
|
||||
hud_v_cruise, c.hudControl.lanesVisible, \
|
||||
c.hudControl.leadVisible, \
|
||||
|
||||
@@ -49,6 +49,11 @@ FINGERPRINTS = {
|
||||
|
||||
STEER_THRESHOLD = 1.0
|
||||
|
||||
STOCK_CONTROL_MSGS = {
|
||||
CAR.VOLT: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
|
||||
CAR.CADILLAC_CT6: [], # Cadillac does not require ASCMs to be disconnected
|
||||
}
|
||||
|
||||
DBC = {
|
||||
CAR.VOLT: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
|
||||
CAR.CADILLAC_CT6: dbc_dict('cadillac_ct6_powertrain', 'cadillac_ct6_object', chassis_dbc='cadillac_ct6_chassis'),
|
||||
|
||||
@@ -73,7 +73,7 @@ def get_can_signals(CP):
|
||||
|
||||
if CP.radarOffCan:
|
||||
# Civic is only bosch to use the same brake message as other hondas.
|
||||
if CP.carFingerprint != CAR.CIVIC_HATCH:
|
||||
if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_HATCH):
|
||||
signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
|
||||
checks += [("BRAKE_MODULE", 50)]
|
||||
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
|
||||
@@ -88,7 +88,7 @@ def get_can_signals(CP):
|
||||
("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS", 0)]
|
||||
checks += [("CRUISE_PARAMS", 50)]
|
||||
|
||||
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15):
|
||||
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
|
||||
signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
|
||||
else:
|
||||
signals += [("DOOR_OPEN_FL", "DOORS_STATUS", 1),
|
||||
@@ -106,9 +106,7 @@ def get_can_signals(CP):
|
||||
elif CP.carFingerprint == CAR.ACURA_ILX:
|
||||
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
|
||||
("MAIN_ON", "SCM_BUTTONS", 0)]
|
||||
elif CP.carFingerprint == CAR.CRV:
|
||||
signals += [("MAIN_ON", "SCM_BUTTONS", 0)]
|
||||
elif CP.carFingerprint == CAR.ACURA_RDX:
|
||||
elif CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX, CAR.PILOT_2019, CAR.RIDGELINE):
|
||||
signals += [("MAIN_ON", "SCM_BUTTONS", 0)]
|
||||
elif CP.carFingerprint == CAR.ODYSSEY:
|
||||
signals += [("MAIN_ON", "SCM_FEEDBACK", 0),
|
||||
@@ -118,8 +116,6 @@ def get_can_signals(CP):
|
||||
elif CP.carFingerprint == CAR.PILOT:
|
||||
signals += [("MAIN_ON", "SCM_BUTTONS", 0),
|
||||
("CAR_GAS", "GAS_PEDAL_2", 0)]
|
||||
elif CP.carFingerprint == CAR.RIDGELINE:
|
||||
signals += [("MAIN_ON", "SCM_BUTTONS", 0)]
|
||||
|
||||
# add gas interceptor reading if we are using it
|
||||
if CP.enableGasInterceptor:
|
||||
@@ -183,7 +179,7 @@ class CarState(object):
|
||||
|
||||
# ******************* parse out can *******************
|
||||
|
||||
if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15): # TODO: find wheels moving bit in dbc
|
||||
if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH): # 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:
|
||||
@@ -238,7 +234,7 @@ 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.ACCORD_15, CAR.CIVIC_HATCH):
|
||||
if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, 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']
|
||||
@@ -252,7 +248,7 @@ class CarState(object):
|
||||
|
||||
self.pedal_gas = cp.vl["POWERTRAIN_DATA"]['PEDAL_GAS']
|
||||
# crv doesn't include cruise control
|
||||
if self.CP.carFingerprint in (CAR.CRV, CAR.ODYSSEY, CAR.ACURA_RDX, CAR.RIDGELINE):
|
||||
if self.CP.carFingerprint in (CAR.CRV, CAR.ODYSSEY, CAR.ACURA_RDX, CAR.RIDGELINE, CAR.PILOT_2019):
|
||||
self.car_gas = self.pedal_gas
|
||||
else:
|
||||
self.car_gas = cp.vl["GAS_PEDAL_2"]['CAR_GAS']
|
||||
@@ -265,7 +261,7 @@ class CarState(object):
|
||||
if self.CP.radarOffCan:
|
||||
self.stopped = cp.vl["ACC_HUD"]['CRUISE_SPEED'] == 252.
|
||||
self.cruise_speed_offset = calc_cruise_offset(0, self.v_ego)
|
||||
if self.CP.carFingerprint == CAR.CIVIC_HATCH:
|
||||
if self.CP.carFingerprint in (CAR.CIVIC_HATCH, CAR.ACCORDH):
|
||||
self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
|
||||
self.brake_pressed = cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or \
|
||||
(self.brake_switch and self.brake_switch_prev and \
|
||||
|
||||
@@ -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, HONDA_BOSCH
|
||||
from selfdrive.car.honda.values import CAR, HONDA_BOSCH, VEHICLE_STATE_MSG
|
||||
|
||||
# *** Honda specific ***
|
||||
def can_cksum(mm):
|
||||
@@ -126,26 +126,14 @@ def create_radar_commands(v_ego, car_fingerprint, new_radar_config, idx):
|
||||
msg_0x300 = ("\xf9" + speed + "\x8a\xd0" +
|
||||
("\x20" if idx == 0 or idx == 3 else "\x00") +
|
||||
"\x00\x00")
|
||||
msg_0x301 = VEHICLE_STATE_MSG[car_fingerprint]
|
||||
|
||||
idx_0x300 = idx
|
||||
if car_fingerprint == CAR.CIVIC:
|
||||
msg_0x301 = "\x02\x38\x44\x32\x4f\x00\x00"
|
||||
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"
|
||||
elif car_fingerprint == CAR.ACURA_RDX:
|
||||
msg_0x301 = "\x0f\x57\x4f\x02\x5a\x00\x00"
|
||||
elif car_fingerprint == CAR.ODYSSEY:
|
||||
msg_0x301 = "\x00\x00\x56\x02\x55\x00\x00"
|
||||
elif car_fingerprint == CAR.ACURA_ILX:
|
||||
msg_0x301 = "\x0f\x18\x51\x02\x5a\x00\x00"
|
||||
elif car_fingerprint == CAR.PILOT:
|
||||
msg_0x301 = "\x00\x00\x56\x02\x58\x00\x00"
|
||||
elif car_fingerprint == CAR.RIDGELINE:
|
||||
msg_0x301 = "\x00\x00\x56\x02\x57\x00\x00"
|
||||
commands.append(make_can_msg(0x300, msg_0x300, idx, 1))
|
||||
idx_0x300 += idx_offset
|
||||
|
||||
commands.append(make_can_msg(0x300, msg_0x300, idx_0x300, 1))
|
||||
commands.append(make_can_msg(0x301, msg_0x301, idx, 1))
|
||||
return commands
|
||||
|
||||
|
||||
@@ -10,7 +10,6 @@ from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET,
|
||||
from selfdrive.controls.lib.vehicle_model import VehicleModel
|
||||
from selfdrive.car.honda.carstate import CarState, get_can_parser
|
||||
from selfdrive.car.honda.values import CruiseButtons, CM, BP, AH, CAR, HONDA_BOSCH
|
||||
from selfdrive.controls.lib.planner import A_ACC_MAX
|
||||
|
||||
try:
|
||||
from selfdrive.car.honda.carcontroller import CarController
|
||||
@@ -128,7 +127,7 @@ class CarInterface(object):
|
||||
# accelOverride is more or less the max throttle allowed to pcm: usually set to a constant
|
||||
# unless aTargetMax is very high and then we scale with it; this help in quicker restart
|
||||
|
||||
return float(max(0.714, a_target / A_ACC_MAX)) * min(speedLimiter, accelLimiter)
|
||||
return float(min(speedLimiter, accelLimiter))
|
||||
|
||||
@staticmethod
|
||||
def get_params(candidate, fingerprint):
|
||||
@@ -204,9 +203,10 @@ class CarInterface(object):
|
||||
ret.longitudinalKiBP = [0., 35.]
|
||||
ret.longitudinalKiV = [0.18, 0.12]
|
||||
|
||||
elif candidate in (CAR.ACCORD, CAR.ACCORD_15):
|
||||
elif candidate in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
|
||||
stop_and_go = True
|
||||
ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
|
||||
if not candidate == CAR.ACCORDH: # Hybrid uses same brake msg as hatch
|
||||
ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
|
||||
ret.mass = 3279. * CV.LB_TO_KG + std_cargo
|
||||
ret.wheelbase = 2.83
|
||||
ret.centerToFront = ret.wheelbase * 0.39
|
||||
@@ -277,18 +277,18 @@ class CarInterface(object):
|
||||
|
||||
elif candidate == CAR.ODYSSEY:
|
||||
stop_and_go = False
|
||||
ret.mass = 4354 * CV.LB_TO_KG + std_cargo
|
||||
ret.mass = 4471 * CV.LB_TO_KG + std_cargo
|
||||
ret.wheelbase = 3.00
|
||||
ret.centerToFront = ret.wheelbase * 0.41
|
||||
ret.steerRatio = 14.35 # as spec
|
||||
tire_stiffness_factor = 0.444 # not optimized yet
|
||||
ret.steerKpV, ret.steerKiV = [[0.6], [0.18]]
|
||||
tire_stiffness_factor = 0.82
|
||||
ret.steerKpV, ret.steerKiV = [[0.45], [0.135]]
|
||||
ret.longitudinalKpBP = [0., 5., 35.]
|
||||
ret.longitudinalKpV = [1.2, 0.8, 0.5]
|
||||
ret.longitudinalKiBP = [0., 35.]
|
||||
ret.longitudinalKiV = [0.18, 0.12]
|
||||
|
||||
elif candidate == CAR.PILOT:
|
||||
elif candidate in (CAR.PILOT, CAR.PILOT_2019):
|
||||
stop_and_go = False
|
||||
ret.mass = 4303 * CV.LB_TO_KG + std_cargo
|
||||
ret.wheelbase = 2.81
|
||||
|
||||
@@ -7,7 +7,6 @@ class CruiseButtons:
|
||||
CANCEL = 2
|
||||
MAIN = 1
|
||||
|
||||
|
||||
#car chimes: enumeration from dbc file. Chimes are for alerts and warnings
|
||||
class CM:
|
||||
MUTE = 0
|
||||
@@ -16,7 +15,6 @@ class CM:
|
||||
REPEATED = 1
|
||||
CONTINUOUS = 2
|
||||
|
||||
|
||||
#car beepss: enumeration from dbc file. Beeps are for activ and deactiv
|
||||
class BP:
|
||||
MUTE = 0
|
||||
@@ -35,10 +33,10 @@ class AH:
|
||||
SEATBELT = [5, 5]
|
||||
SPEED_TOO_HIGH = [6, 8]
|
||||
|
||||
|
||||
class CAR:
|
||||
ACCORD = "HONDA ACCORD 2018 SPORT 2T"
|
||||
ACCORD_15 = "HONDA ACCORD 2018 LX 1.5T"
|
||||
ACCORDH = "HONDA ACCORD 2018 HYBRID TOURING"
|
||||
CIVIC = "HONDA CIVIC 2016 TOURING"
|
||||
CIVIC_HATCH = "HONDA CIVIC HATCHBACK 2017 EX"
|
||||
ACURA_ILX = "ACURA ILX 2016 ACURAWATCH PLUS"
|
||||
@@ -47,16 +45,19 @@ class CAR:
|
||||
ODYSSEY = "HONDA ODYSSEY 2018 EX-L"
|
||||
ACURA_RDX = "ACURA RDX 2018 ACURAWATCH PLUS"
|
||||
PILOT = "HONDA PILOT 2017 TOURING"
|
||||
PILOT_2019 = "HONDA PILOT 2019 ELITE"
|
||||
RIDGELINE = "HONDA RIDGELINE 2017 BLACK EDITION"
|
||||
|
||||
|
||||
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
|
||||
148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
|
||||
}],
|
||||
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.ACCORDH: [{
|
||||
148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 525: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
|
||||
}],
|
||||
CAR.ACURA_ILX: [{
|
||||
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,
|
||||
}],
|
||||
@@ -88,16 +89,19 @@ FINGERPRINTS = {
|
||||
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, 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
|
||||
}],
|
||||
CAR.PILOT_2019: [{
|
||||
57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 334: 8, 342: 6, 344: 8, 379: 8, 380: 8, 392: 6, 399: 7, 411: 5, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 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, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 871: 8, 881: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1039: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1424: 5, 1445: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1615: 8, 1616: 5, 1617: 8, 1618: 5, 1623: 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, 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.ACCORDH: dbc_dict('honda_accord_s2t_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'),
|
||||
@@ -106,13 +110,14 @@ DBC = {
|
||||
CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None),
|
||||
CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
|
||||
CAR.PILOT: dbc_dict('honda_pilot_touring_2017_can_generated', 'acura_ilx_2016_nidec'),
|
||||
CAR.PILOT_2019: dbc_dict('honda_pilot_touring_2017_can_generated', 'acura_ilx_2016_nidec'),
|
||||
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.ACCORDH: 1200,
|
||||
CAR.ACURA_ILX: 1200,
|
||||
CAR.ACURA_RDX: 400,
|
||||
CAR.CIVIC: 1200,
|
||||
@@ -121,12 +126,14 @@ STEER_THRESHOLD = {
|
||||
CAR.CRV_5G: 1200,
|
||||
CAR.ODYSSEY: 1200,
|
||||
CAR.PILOT: 1200,
|
||||
CAR.PILOT_2019: 1200,
|
||||
CAR.RIDGELINE: 1200,
|
||||
}
|
||||
|
||||
SPEED_FACTOR = {
|
||||
CAR.ACCORD: 1.,
|
||||
CAR.ACCORD_15: 1.,
|
||||
CAR.ACCORDH: 1.,
|
||||
CAR.ACURA_ILX: 1.,
|
||||
CAR.ACURA_RDX: 1.,
|
||||
CAR.CIVIC: 1.,
|
||||
@@ -135,8 +142,22 @@ SPEED_FACTOR = {
|
||||
CAR.CRV_5G: 1.025,
|
||||
CAR.ODYSSEY: 1.,
|
||||
CAR.PILOT: 1.,
|
||||
CAR.PILOT_2019: 1.,
|
||||
CAR.RIDGELINE: 1.,
|
||||
}
|
||||
|
||||
# This message sends car info to the radar that is specific to the model. You
|
||||
# can determine this message by monitoring the OEM system.
|
||||
VEHICLE_STATE_MSG = {
|
||||
CAR.ACURA_ILX: "\x0f\x18\x51\x02\x5a\x00\x00",
|
||||
CAR.ACURA_RDX: "\x0f\x57\x4f\x02\x5a\x00\x00",
|
||||
CAR.CIVIC: "\x02\x38\x44\x32\x4f\x00\x00",
|
||||
CAR.CRV: "\x00\x00\x50\x02\x51\x00\x00",
|
||||
CAR.ODYSSEY: "\x00\x00\x56\x02\x55\x00\x00",
|
||||
CAR.PILOT: "\x00\x00\x56\x02\x58\x00\x00",
|
||||
CAR.PILOT_2019: "\x00\x00\x58\x02\x5c\x00\x00",
|
||||
CAR.RIDGELINE: "\x00\x00\x56\x02\x57\x00\x00",
|
||||
}
|
||||
|
||||
# TODO: get these from dbc file
|
||||
HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.CIVIC_HATCH, CAR.CRV_5G]
|
||||
HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_HATCH, CAR.CRV_5G]
|
||||
|
||||
0
selfdrive/car/hyundai/__init__.py
Normal file
0
selfdrive/car/hyundai/__init__.py
Normal file
76
selfdrive/car/hyundai/carcontroller.py
Normal file
76
selfdrive/car/hyundai/carcontroller.py
Normal file
@@ -0,0 +1,76 @@
|
||||
from selfdrive.car import apply_std_steer_torque_limits
|
||||
from selfdrive.boardd.boardd import can_list_to_can_capnp
|
||||
from selfdrive.car.hyundai.hyundaican import create_lkas11, create_lkas12, \
|
||||
create_1191, create_1156, \
|
||||
create_clu11
|
||||
from selfdrive.car.hyundai.values import Buttons
|
||||
from selfdrive.can.packer import CANPacker
|
||||
|
||||
|
||||
# Steer torque limits
|
||||
|
||||
class SteerLimitParams:
|
||||
STEER_MAX = 250 # 409 is the max
|
||||
STEER_DELTA_UP = 3
|
||||
STEER_DELTA_DOWN = 7
|
||||
STEER_DRIVER_ALLOWANCE = 50
|
||||
STEER_DRIVER_MULTIPLIER = 2
|
||||
STEER_DRIVER_FACTOR = 1
|
||||
|
||||
class CarController(object):
|
||||
def __init__(self, dbc_name, car_fingerprint, enable_camera):
|
||||
self.apply_steer_last = 0
|
||||
self.car_fingerprint = car_fingerprint
|
||||
self.lkas11_cnt = 0
|
||||
self.cnt = 0
|
||||
self.last_resume_cnt = 0
|
||||
self.enable_camera = enable_camera
|
||||
# True when giraffe switch 2 is low and we need to replace all the camera messages
|
||||
# otherwise we forward the camera msgs and we just replace the lkas cmd signals
|
||||
self.camera_disconnected = False
|
||||
|
||||
self.packer = CANPacker(dbc_name)
|
||||
|
||||
def update(self, sendcan, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):
|
||||
|
||||
if not self.enable_camera:
|
||||
return
|
||||
|
||||
### Steering Torque
|
||||
apply_steer = actuators.steer * SteerLimitParams.STEER_MAX
|
||||
|
||||
apply_steer = apply_std_steer_torque_limits(apply_steer, self.apply_steer_last, CS.steer_torque_driver, SteerLimitParams)
|
||||
|
||||
if not enabled:
|
||||
apply_steer = 0
|
||||
|
||||
steer_req = 1 if enabled else 0
|
||||
|
||||
self.apply_steer_last = apply_steer
|
||||
|
||||
can_sends = []
|
||||
|
||||
self.lkas11_cnt = self.cnt % 0x10
|
||||
self.clu11_cnt = self.cnt % 0x10
|
||||
|
||||
if self.camera_disconnected:
|
||||
if (self.cnt % 10) == 0:
|
||||
can_sends.append(create_lkas12())
|
||||
if (self.cnt % 50) == 0:
|
||||
can_sends.append(create_1191())
|
||||
if (self.cnt % 7) == 0:
|
||||
can_sends.append(create_1156())
|
||||
|
||||
can_sends.append(create_lkas11(self.packer, self.car_fingerprint, apply_steer, steer_req, self.lkas11_cnt,
|
||||
enabled, CS.lkas11, hud_alert, keep_stock=(not self.camera_disconnected)))
|
||||
|
||||
if pcm_cancel_cmd:
|
||||
can_sends.append(create_clu11(self.packer, CS.clu11, Buttons.CANCEL))
|
||||
elif CS.stopped and (self.cnt - self.last_resume_cnt) > 5:
|
||||
self.last_resume_cnt = self.cnt
|
||||
can_sends.append(create_clu11(self.packer, CS.clu11, Buttons.RES_ACCEL))
|
||||
|
||||
### Send messages to canbus
|
||||
sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())
|
||||
|
||||
self.cnt += 1
|
||||
239
selfdrive/car/hyundai/carstate.py
Normal file
239
selfdrive/car/hyundai/carstate.py
Normal file
@@ -0,0 +1,239 @@
|
||||
from selfdrive.car.hyundai.values import 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
|
||||
|
||||
|
||||
def get_can_parser(CP):
|
||||
|
||||
signals = [
|
||||
# sig_name, sig_address, default
|
||||
("WHL_SPD_FL", "WHL_SPD11", 0),
|
||||
("WHL_SPD_FR", "WHL_SPD11", 0),
|
||||
("WHL_SPD_RL", "WHL_SPD11", 0),
|
||||
("WHL_SPD_RR", "WHL_SPD11", 0),
|
||||
|
||||
("YAW_RATE", "ESP12", 0),
|
||||
|
||||
("CF_Gway_DrvSeatBeltInd", "CGW4", 1),
|
||||
|
||||
("CF_Gway_DrvSeatBeltSw", "CGW1", 0),
|
||||
("CF_Gway_TSigLHSw", "CGW1", 0),
|
||||
("CF_Gway_TurnSigLh", "CGW1", 0),
|
||||
("CF_Gway_TSigRHSw", "CGW1", 0),
|
||||
("CF_Gway_TurnSigRh", "CGW1", 0),
|
||||
("CF_Gway_ParkBrakeSw", "CGW1", 0),
|
||||
|
||||
("BRAKE_ACT", "EMS12", 0),
|
||||
("PV_AV_CAN", "EMS12", 0),
|
||||
("TPS", "EMS12", 0),
|
||||
|
||||
("CYL_PRES", "ESP12", 0),
|
||||
|
||||
("CF_Clu_CruiseSwState", "CLU11", 0),
|
||||
("CF_Clu_CruiseSwMain" , "CLU11", 0),
|
||||
("CF_Clu_SldMainSW", "CLU11", 0),
|
||||
("CF_Clu_ParityBit1", "CLU11", 0),
|
||||
("CF_Clu_VanzDecimal" , "CLU11", 0),
|
||||
("CF_Clu_Vanz", "CLU11", 0),
|
||||
("CF_Clu_SPEED_UNIT", "CLU11", 0),
|
||||
("CF_Clu_DetentOut", "CLU11", 0),
|
||||
("CF_Clu_RheostatLevel", "CLU11", 0),
|
||||
("CF_Clu_CluInfo", "CLU11", 0),
|
||||
("CF_Clu_AmpInfo", "CLU11", 0),
|
||||
("CF_Clu_AliveCnt1", "CLU11", 0),
|
||||
|
||||
("CF_Clu_InhibitD", "CLU15", 0),
|
||||
("CF_Clu_InhibitP", "CLU15", 0),
|
||||
("CF_Clu_InhibitN", "CLU15", 0),
|
||||
("CF_Clu_InhibitR", "CLU15", 0),
|
||||
|
||||
("CF_Lvr_Gear","LVR12",0),
|
||||
|
||||
("ACCEnable", "TCS13", 0),
|
||||
("ACC_REQ", "TCS13", 0),
|
||||
("DriverBraking", "TCS13", 0),
|
||||
("DriverOverride", "TCS13", 0),
|
||||
|
||||
("ESC_Off_Step", "TCS15", 0),
|
||||
|
||||
("CF_Lvr_GearInf", "LVR11", 0), #Transmission Gear (0 = N or P, 1-8 = Fwd, 14 = Rev)
|
||||
|
||||
("CR_Mdps_DrvTq", "MDPS11", 0),
|
||||
|
||||
("CR_Mdps_StrColTq", "MDPS12", 0),
|
||||
("CF_Mdps_ToiActive", "MDPS12", 0),
|
||||
("CF_Mdps_ToiUnavail", "MDPS12", 0),
|
||||
("CF_Mdps_FailStat", "MDPS12", 0),
|
||||
("CR_Mdps_OutTq", "MDPS12", 0),
|
||||
|
||||
("VSetDis", "SCC11", 0),
|
||||
("SCCInfoDisplay", "SCC11", 0),
|
||||
("ACCMode", "SCC12", 1),
|
||||
|
||||
("SAS_Angle", "SAS11", 0),
|
||||
("SAS_Speed", "SAS11", 0),
|
||||
]
|
||||
|
||||
checks = [
|
||||
# address, frequency
|
||||
("MDPS12", 50),
|
||||
("MDPS11", 100),
|
||||
("TCS15", 10),
|
||||
("TCS13", 50),
|
||||
("CLU11", 50),
|
||||
("ESP12", 100),
|
||||
("EMS12", 100),
|
||||
("CGW1", 10),
|
||||
("CGW4", 5),
|
||||
("WHL_SPD11", 50),
|
||||
("SCC11", 50),
|
||||
("SCC12", 50),
|
||||
("SAS11", 100)
|
||||
]
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
|
||||
|
||||
def get_camera_parser(CP):
|
||||
|
||||
signals = [
|
||||
# sig_name, sig_address, default
|
||||
("CF_Lkas_LdwsSysState", "LKAS11", 0),
|
||||
("CF_Lkas_SysWarning", "LKAS11", 0),
|
||||
("CF_Lkas_LdwsLHWarning", "LKAS11", 0),
|
||||
("CF_Lkas_LdwsRHWarning", "LKAS11", 0),
|
||||
("CF_Lkas_HbaLamp", "LKAS11", 0),
|
||||
("CF_Lkas_FcwBasReq", "LKAS11", 0),
|
||||
("CF_Lkas_ToiFlt", "LKAS11", 0),
|
||||
("CF_Lkas_HbaSysState", "LKAS11", 0),
|
||||
("CF_Lkas_FcwOpt", "LKAS11", 0),
|
||||
("CF_Lkas_HbaOpt", "LKAS11", 0),
|
||||
("CF_Lkas_FcwSysState", "LKAS11", 0),
|
||||
("CF_Lkas_FcwCollisionWarning", "LKAS11", 0),
|
||||
("CF_Lkas_FusionState", "LKAS11", 0),
|
||||
("CF_Lkas_FcwOpt_USM", "LKAS11", 0),
|
||||
("CF_Lkas_LdwsOpt_USM", "LKAS11", 0)
|
||||
]
|
||||
|
||||
checks = []
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
|
||||
|
||||
class CarState(object):
|
||||
def __init__(self, CP):
|
||||
|
||||
self.CP = CP
|
||||
|
||||
# initialize can parser
|
||||
self.car_fingerprint = CP.carFingerprint
|
||||
|
||||
# vEgo kalman filter
|
||||
dt = 0.01
|
||||
# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
|
||||
# R = 1e3
|
||||
self.v_ego_kf = KF1D(x0=np.matrix([[0.0], [0.0]]),
|
||||
A=np.matrix([[1.0, dt], [0.0, 1.0]]),
|
||||
C=np.matrix([1.0, 0.0]),
|
||||
K=np.matrix([[0.12287673], [0.29666309]]))
|
||||
self.v_ego = 0.0
|
||||
self.left_blinker_on = 0
|
||||
self.left_blinker_flash = 0
|
||||
self.right_blinker_on = 0
|
||||
self.right_blinker_flash = 0
|
||||
|
||||
def update(self, cp, cp_cam):
|
||||
# copy can_valid
|
||||
self.can_valid = cp.can_valid
|
||||
|
||||
# update prevs, update must run once per Loop
|
||||
self.prev_left_blinker_on = self.left_blinker_on
|
||||
self.prev_right_blinker_on = self.right_blinker_on
|
||||
|
||||
self.door_all_closed = True
|
||||
self.seatbelt = cp.vl["CGW1"]['CF_Gway_DrvSeatBeltSw']
|
||||
|
||||
self.brake_pressed = cp.vl["TCS13"]['DriverBraking']
|
||||
self.esp_disabled = cp.vl["TCS15"]['ESC_Off_Step']
|
||||
|
||||
self.park_brake = cp.vl["CGW1"]['CF_Gway_ParkBrakeSw']
|
||||
self.main_on = True
|
||||
self.acc_active = cp.vl["SCC12"]['ACCMode'] != 0
|
||||
self.pcm_acc_status = int(self.acc_active)
|
||||
|
||||
# calc best v_ego estimate, by averaging two opposite corners
|
||||
self.v_wheel_fl = cp.vl["WHL_SPD11"]['WHL_SPD_FL'] * CV.KPH_TO_MS
|
||||
self.v_wheel_fr = cp.vl["WHL_SPD11"]['WHL_SPD_FR'] * CV.KPH_TO_MS
|
||||
self.v_wheel_rl = cp.vl["WHL_SPD11"]['WHL_SPD_RL'] * CV.KPH_TO_MS
|
||||
self.v_wheel_rr = cp.vl["WHL_SPD11"]['WHL_SPD_RR'] * CV.KPH_TO_MS
|
||||
self.v_wheel = (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr) / 4.
|
||||
|
||||
self.low_speed_lockout = self.v_wheel < 1.0
|
||||
|
||||
# Kalman filter, even though Hyundai raw wheel speed is heaviliy filtered by default
|
||||
if abs(self.v_wheel - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed
|
||||
self.v_ego_x = np.matrix([[self.v_wheel], [0.0]])
|
||||
|
||||
self.v_ego_raw = self.v_wheel
|
||||
v_ego_x = self.v_ego_kf.update(self.v_wheel)
|
||||
self.v_ego = float(v_ego_x[0])
|
||||
self.a_ego = float(v_ego_x[1])
|
||||
is_set_speed_in_mph = int(cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"])
|
||||
speed_conv = CV.MPH_TO_MS if is_set_speed_in_mph else CV.KPH_TO_MS
|
||||
self.cruise_set_speed = cp.vl["SCC11"]['VSetDis'] * speed_conv
|
||||
self.standstill = not self.v_wheel > 0.1
|
||||
|
||||
self.angle_steers = cp.vl["SAS11"]['SAS_Angle']
|
||||
self.angle_steers_rate = cp.vl["SAS11"]['SAS_Speed']
|
||||
self.yaw_rate = cp.vl["ESP12"]['YAW_RATE']
|
||||
self.main_on = True
|
||||
self.left_blinker_on = cp.vl["CGW1"]['CF_Gway_TSigLHSw']
|
||||
self.left_blinker_flash = cp.vl["CGW1"]['CF_Gway_TurnSigLh']
|
||||
self.right_blinker_on = cp.vl["CGW1"]['CF_Gway_TSigRHSw']
|
||||
self.right_blinker_flash = cp.vl["CGW1"]['CF_Gway_TurnSigRh']
|
||||
self.steer_override = abs(cp.vl["MDPS11"]['CR_Mdps_DrvTq']) > 100.
|
||||
self.steer_state = cp.vl["MDPS12"]['CF_Mdps_ToiActive'] #0 NOT ACTIVE, 1 ACTIVE
|
||||
self.steer_error = cp.vl["MDPS12"]['CF_Mdps_ToiUnavail']
|
||||
self.brake_error = 0
|
||||
self.steer_torque_driver = cp.vl["MDPS11"]['CR_Mdps_DrvTq']
|
||||
self.steer_torque_motor = cp.vl["MDPS12"]['CR_Mdps_OutTq']
|
||||
self.stopped = cp.vl["SCC11"]['SCCInfoDisplay'] == 4.
|
||||
|
||||
self.user_brake = 0
|
||||
|
||||
self.brake_pressed = cp.vl["TCS13"]['DriverBraking']
|
||||
self.brake_lights = bool(self.brake_pressed)
|
||||
if (cp.vl["TCS13"]["DriverOverride"] == 0 and cp.vl["TCS13"]['ACC_REQ'] == 1):
|
||||
self.pedal_gas = 0
|
||||
else:
|
||||
self.pedal_gas = cp.vl["EMS12"]['TPS']
|
||||
self.car_gas = cp.vl["EMS12"]['TPS']
|
||||
|
||||
# Gear Selecton - This is not compatible with all Kia/Hyundai's, But is the best way for those it is compatible with
|
||||
gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
|
||||
if gear == 5:
|
||||
self.gear_shifter = "drive"
|
||||
elif gear == 6:
|
||||
self.gear_shifter = "neutral"
|
||||
elif gear == 0:
|
||||
self.gear_shifter = "park"
|
||||
elif gear == 7:
|
||||
self.gear_shifter = "reverse"
|
||||
else:
|
||||
self.gear_shifter = "unknown"
|
||||
|
||||
# Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection, as this seems to be standard over all cars, but is not the preferred method.
|
||||
if cp.vl["CLU15"]["CF_Clu_InhibitD"] == 1:
|
||||
self.gear_shifter_cluster = "drive"
|
||||
elif cp.vl["CLU15"]["CF_Clu_InhibitN"] == 1:
|
||||
self.gear_shifter_cluster = "neutral"
|
||||
elif cp.vl["CLU15"]["CF_Clu_InhibitP"] == 1:
|
||||
self.gear_shifter_cluster = "park"
|
||||
elif cp.vl["CLU15"]["CF_Clu_InhibitR"] == 1:
|
||||
self.gear_shifter_cluster = "reverse"
|
||||
else:
|
||||
self.gear_shifter_cluster = "unknown"
|
||||
|
||||
# save the entire LKAS11 and CLU11
|
||||
self.lkas11 = cp_cam.vl["LKAS11"]
|
||||
self.clu11 = cp.vl["CLU11"]
|
||||
79
selfdrive/car/hyundai/hyundaican.py
Normal file
79
selfdrive/car/hyundai/hyundaican.py
Normal file
@@ -0,0 +1,79 @@
|
||||
import crcmod
|
||||
from selfdrive.car.hyundai.values import CHECKSUM
|
||||
|
||||
hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
|
||||
|
||||
def make_can_msg(addr, dat, alt):
|
||||
return [addr, 0, dat, alt]
|
||||
|
||||
def create_lkas11(packer, car_fingerprint, apply_steer, steer_req, cnt, enabled, lkas11, hud_alert, keep_stock=False):
|
||||
values = {
|
||||
"CF_Lkas_Icon": 3 if enabled else 0,
|
||||
"CF_Lkas_LdwsSysState": 3 if steer_req else 1,
|
||||
"CF_Lkas_SysWarning": hud_alert,
|
||||
"CF_Lkas_LdwsLHWarning": lkas11["CF_Lkas_LdwsLHWarning"] if keep_stock else 0,
|
||||
"CF_Lkas_LdwsRHWarning": lkas11["CF_Lkas_LdwsRHWarning"] if keep_stock else 0,
|
||||
"CF_Lkas_HbaLamp": lkas11["CF_Lkas_HbaLamp"] if keep_stock else 0,
|
||||
"CF_Lkas_FcwBasReq": lkas11["CF_Lkas_FcwBasReq"] if keep_stock else 0,
|
||||
"CR_Lkas_StrToqReq": apply_steer,
|
||||
"CF_Lkas_ActToi": steer_req,
|
||||
"CF_Lkas_ToiFlt": 0,
|
||||
"CF_Lkas_HbaSysState": lkas11["CF_Lkas_HbaSysState"] if keep_stock else 1,
|
||||
"CF_Lkas_FcwOpt": lkas11["CF_Lkas_FcwOpt"] if keep_stock else 0,
|
||||
"CF_Lkas_HbaOpt": lkas11["CF_Lkas_HbaOpt"] if keep_stock else 3,
|
||||
"CF_Lkas_MsgCount": cnt,
|
||||
"CF_Lkas_FcwSysState": lkas11["CF_Lkas_FcwSysState"] if keep_stock else 0,
|
||||
"CF_Lkas_FcwCollisionWarning": lkas11["CF_Lkas_FcwCollisionWarning"] if keep_stock else 0,
|
||||
"CF_Lkas_FusionState": lkas11["CF_Lkas_FusionState"] if keep_stock else 0,
|
||||
"CF_Lkas_Chksum": 0,
|
||||
"CF_Lkas_FcwOpt_USM": 2 if enabled else 1,
|
||||
"CF_Lkas_LdwsOpt_USM": lkas11["CF_Lkas_LdwsOpt_USM"] if keep_stock else 3,
|
||||
}
|
||||
|
||||
dat = packer.make_can_msg("LKAS11", 0, values)[2]
|
||||
|
||||
if car_fingerprint in CHECKSUM["crc8"]:
|
||||
# CRC Checksum as seen on 2019 Hyundai Santa Fe
|
||||
dat = dat[:6] + dat[7]
|
||||
checksum = hyundai_checksum(dat)
|
||||
elif car_fingerprint in CHECKSUM["6B"]:
|
||||
# Checksum of first 6 Bytes, as seen on 2018 Kia Sorento
|
||||
dat = [ord(i) for i in dat]
|
||||
checksum = sum(dat[:6]) % 256
|
||||
elif car_fingerprint in CHECKSUM["7B"]:
|
||||
# Checksum of first 6 Bytes and last Byte as seen on 2018 Kia Stinger
|
||||
dat = [ord(i) for i in dat]
|
||||
checksum = (sum(dat[:6]) + dat[7]) % 256
|
||||
|
||||
values["CF_Lkas_Chksum"] = checksum
|
||||
|
||||
return packer.make_can_msg("LKAS11", 0, values)
|
||||
|
||||
def create_lkas12():
|
||||
return make_can_msg(1342, "\x00\x00\x00\x00\x60\x05", 0)
|
||||
|
||||
|
||||
def create_1191():
|
||||
return make_can_msg(1191, "\x01\x00", 0)
|
||||
|
||||
|
||||
def create_1156():
|
||||
return make_can_msg(1156, "\x08\x20\xfe\x3f\x00\xe0\xfd\x3f", 0)
|
||||
|
||||
def create_clu11(packer, clu11, button):
|
||||
values = {
|
||||
"CF_Clu_CruiseSwState": button,
|
||||
"CF_Clu_CruiseSwMain": clu11["CF_Clu_CruiseSwMain"],
|
||||
"CF_Clu_SldMainSW": clu11["CF_Clu_SldMainSW"],
|
||||
"CF_Clu_ParityBit1": clu11["CF_Clu_ParityBit1"],
|
||||
"CF_Clu_VanzDecimal": clu11["CF_Clu_VanzDecimal"],
|
||||
"CF_Clu_Vanz": clu11["CF_Clu_Vanz"],
|
||||
"CF_Clu_SPEED_UNIT": clu11["CF_Clu_SPEED_UNIT"],
|
||||
"CF_Clu_DetentOut": clu11["CF_Clu_DetentOut"],
|
||||
"CF_Clu_RheostatLevel": clu11["CF_Clu_RheostatLevel"],
|
||||
"CF_Clu_CluInfo": clu11["CF_Clu_CluInfo"],
|
||||
"CF_Clu_AmpInfo": clu11["CF_Clu_AmpInfo"],
|
||||
"CF_Clu_AliveCnt1": 0,
|
||||
}
|
||||
|
||||
return packer.make_can_msg("CLU11", 0, values)
|
||||
309
selfdrive/car/hyundai/interface.py
Normal file
309
selfdrive/car/hyundai/interface.py
Normal file
@@ -0,0 +1,309 @@
|
||||
#!/usr/bin/env python
|
||||
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 EventTypes as ET, create_event
|
||||
from selfdrive.controls.lib.vehicle_model import VehicleModel
|
||||
from selfdrive.car.hyundai.carstate import CarState, get_can_parser, get_camera_parser
|
||||
from selfdrive.car.hyundai.values import CAMERA_MSGS, CAR, get_hud_alerts
|
||||
|
||||
try:
|
||||
from selfdrive.car.hyundai.carcontroller import CarController
|
||||
except ImportError:
|
||||
CarController = None
|
||||
|
||||
|
||||
class CarInterface(object):
|
||||
def __init__(self, CP, sendcan=None):
|
||||
self.CP = CP
|
||||
self.VM = VehicleModel(CP)
|
||||
self.idx = 0
|
||||
self.lanes = 0
|
||||
self.lkas_request = 0
|
||||
|
||||
self.gas_pressed_prev = False
|
||||
self.brake_pressed_prev = False
|
||||
self.can_invalid_count = 0
|
||||
self.cruise_enabled_prev = False
|
||||
self.low_speed_alert = False
|
||||
|
||||
# *** init the major players ***
|
||||
self.CS = CarState(CP)
|
||||
self.cp = get_can_parser(CP)
|
||||
self.cp_cam = get_camera_parser(CP)
|
||||
|
||||
# sending if read only is False
|
||||
if sendcan is not None:
|
||||
self.sendcan = sendcan
|
||||
self.CC = CarController(self.cp.dbc_name, CP.carFingerprint, CP.enableCamera)
|
||||
|
||||
@staticmethod
|
||||
def compute_gb(accel, speed):
|
||||
return float(accel) / 3.0
|
||||
|
||||
@staticmethod
|
||||
def calc_accel_override(a_ego, a_target, v_ego, v_target):
|
||||
return 1.0
|
||||
|
||||
@staticmethod
|
||||
def get_params(candidate, fingerprint):
|
||||
|
||||
# kg of standard extra cargo to count for drive, gas, etc...
|
||||
std_cargo = 136
|
||||
|
||||
ret = car.CarParams.new_message()
|
||||
|
||||
ret.carName = "hyundai"
|
||||
ret.carFingerprint = candidate
|
||||
ret.radarOffCan = True
|
||||
ret.safetyModel = car.CarParams.SafetyModels.hyundai
|
||||
ret.enableCruise = True # stock acc
|
||||
|
||||
# FIXME: hardcoding honda civic 2016 touring params so they can be used to
|
||||
# scale unknown params for other cars
|
||||
mass_civic = 2923 * CV.LB_TO_KG + std_cargo
|
||||
wheelbase_civic = 2.70
|
||||
centerToFront_civic = wheelbase_civic * 0.4
|
||||
centerToRear_civic = wheelbase_civic - centerToFront_civic
|
||||
rotationalInertia_civic = 2500
|
||||
tireStiffnessFront_civic = 192150
|
||||
tireStiffnessRear_civic = 202500
|
||||
|
||||
ret.steerActuatorDelay = 0.1 # Default delay
|
||||
tire_stiffness_factor = 1.
|
||||
|
||||
if candidate == CAR.SANTA_FE:
|
||||
ret.steerKf = 0.00005
|
||||
ret.steerRateCost = 0.5
|
||||
ret.mass = 3982 * CV.LB_TO_KG + std_cargo
|
||||
ret.wheelbase = 2.766
|
||||
|
||||
# Values from optimizer
|
||||
ret.steerRatio = 16.55 # 13.8 is spec end-to-end
|
||||
tire_stiffness_factor = 0.82
|
||||
|
||||
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
|
||||
ret.steerKpV, ret.steerKiV = [[0.37], [0.1]]
|
||||
ret.minSteerSpeed = 0.
|
||||
elif candidate == CAR.KIA_SORENTO:
|
||||
ret.steerKf = 0.00005
|
||||
ret.steerRateCost = 0.5
|
||||
ret.mass = 1985 + std_cargo
|
||||
ret.wheelbase = 2.78
|
||||
ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable
|
||||
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
|
||||
ret.steerKpV, ret.steerKiV = [[0.25], [0.05]]
|
||||
ret.minSteerSpeed = 0.
|
||||
elif candidate == CAR.ELANTRA:
|
||||
ret.steerKf = 0.00006
|
||||
ret.steerRateCost = 0.5
|
||||
ret.mass = 1275 + std_cargo
|
||||
ret.wheelbase = 2.7
|
||||
ret.steerRatio = 13.73 #Spec
|
||||
tire_stiffness_factor = 0.385
|
||||
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
|
||||
ret.steerKpV, ret.steerKiV = [[0.25], [0.05]]
|
||||
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
|
||||
elif candidate == CAR.GENESIS:
|
||||
ret.steerKf = 0.00005
|
||||
ret.steerRateCost = 0.5
|
||||
ret.mass = 2060 + std_cargo
|
||||
ret.wheelbase = 3.01
|
||||
ret.steerRatio = 16.5
|
||||
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
|
||||
ret.steerKpV, ret.steerKiV = [[0.16], [0.01]]
|
||||
ret.minSteerSpeed = 35 * CV.MPH_TO_MS
|
||||
elif candidate == CAR.KIA_STINGER:
|
||||
ret.steerKf = 0.00005
|
||||
ret.steerRateCost = 0.5
|
||||
ret.mass = 1825 + std_cargo
|
||||
ret.wheelbase = 2.78
|
||||
ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable
|
||||
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
|
||||
ret.steerKpV, ret.steerKiV = [[0.25], [0.05]]
|
||||
ret.minSteerSpeed = 0.
|
||||
|
||||
ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
|
||||
ret.longitudinalKpBP = [0.]
|
||||
ret.longitudinalKpV = [0.]
|
||||
ret.longitudinalKiBP = [0.]
|
||||
ret.longitudinalKiV = [0.]
|
||||
|
||||
ret.centerToFront = ret.wheelbase * 0.4
|
||||
|
||||
centerToRear = ret.wheelbase - ret.centerToFront
|
||||
|
||||
# TODO: get actual value, for now starting with reasonable value for
|
||||
# civic and scaling by mass and wheelbase
|
||||
ret.rotationalInertia = rotationalInertia_civic * \
|
||||
ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
|
||||
|
||||
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
|
||||
# mass and CG position, so all cars will have approximately similar dyn behaviors
|
||||
ret.tireStiffnessFront = (tireStiffnessFront_civic * tire_stiffness_factor) * \
|
||||
ret.mass / mass_civic * \
|
||||
(centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
|
||||
ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \
|
||||
ret.mass / mass_civic * \
|
||||
(ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
|
||||
|
||||
|
||||
# no rear steering, at least on the listed cars above
|
||||
ret.steerRatioRear = 0.
|
||||
ret.steerControlType = car.CarParams.SteerControlType.torque
|
||||
|
||||
# steer, gas, brake limitations VS speed
|
||||
ret.steerMaxBP = [0.]
|
||||
ret.steerMaxV = [1.0]
|
||||
ret.gasMaxBP = [0.]
|
||||
ret.gasMaxV = [1.]
|
||||
ret.brakeMaxBP = [0.]
|
||||
ret.brakeMaxV = [1.]
|
||||
ret.longPidDeadzoneBP = [0.]
|
||||
ret.longPidDeadzoneV = [0.]
|
||||
|
||||
ret.enableCamera = not any(x for x in CAMERA_MSGS if x in fingerprint)
|
||||
|
||||
ret.steerLimitAlert = False
|
||||
ret.stoppingControl = False
|
||||
ret.startAccel = 0.0
|
||||
|
||||
return ret
|
||||
|
||||
# returns a car.CarState
|
||||
def update(self, c):
|
||||
# ******************* do can recv *******************
|
||||
canMonoTimes = []
|
||||
self.cp.update(int(sec_since_boot() * 1e9), False)
|
||||
self.cp_cam.update(int(sec_since_boot() * 1e9), False)
|
||||
self.CS.update(self.cp, self.cp_cam)
|
||||
# create message
|
||||
ret = car.CarState.new_message()
|
||||
# speeds
|
||||
ret.vEgo = self.CS.v_ego
|
||||
ret.vEgoRaw = self.CS.v_ego_raw
|
||||
ret.aEgo = self.CS.a_ego
|
||||
ret.yawRate = self.CS.yaw_rate
|
||||
ret.standstill = self.CS.standstill
|
||||
ret.wheelSpeeds.fl = self.CS.v_wheel_fl
|
||||
ret.wheelSpeeds.fr = self.CS.v_wheel_fr
|
||||
ret.wheelSpeeds.rl = self.CS.v_wheel_rl
|
||||
ret.wheelSpeeds.rr = self.CS.v_wheel_rr
|
||||
|
||||
# gear shifter
|
||||
if self.CP.carFingerprint == CAR.ELANTRA:
|
||||
ret.gearShifter = self.CS.gear_shifter_cluster
|
||||
else:
|
||||
ret.gearShifter = self.CS.gear_shifter
|
||||
|
||||
# gas pedal
|
||||
ret.gas = self.CS.car_gas
|
||||
ret.gasPressed = self.CS.pedal_gas > 1e-3 # tolerance to avoid false press reading
|
||||
|
||||
# brake pedal
|
||||
ret.brake = self.CS.user_brake
|
||||
ret.brakePressed = self.CS.brake_pressed != 0
|
||||
ret.brakeLights = self.CS.brake_lights
|
||||
|
||||
# steering wheel
|
||||
ret.steeringAngle = self.CS.angle_steers
|
||||
ret.steeringRate = self.CS.angle_steers_rate # it's unsigned
|
||||
|
||||
ret.steeringTorque = self.CS.steer_torque_driver
|
||||
ret.steeringPressed = self.CS.steer_override
|
||||
|
||||
# cruise state
|
||||
ret.cruiseState.enabled = self.CS.pcm_acc_status != 0
|
||||
if self.CS.pcm_acc_status != 0:
|
||||
ret.cruiseState.speed = self.CS.cruise_set_speed
|
||||
else:
|
||||
ret.cruiseState.speed = 0
|
||||
ret.cruiseState.available = bool(self.CS.main_on)
|
||||
ret.cruiseState.standstill = False
|
||||
|
||||
# TODO: button presses
|
||||
buttonEvents = []
|
||||
|
||||
if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
|
||||
be = car.CarState.ButtonEvent.new_message()
|
||||
be.type = 'leftBlinker'
|
||||
be.pressed = self.CS.left_blinker_on != 0
|
||||
buttonEvents.append(be)
|
||||
|
||||
if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
|
||||
be = car.CarState.ButtonEvent.new_message()
|
||||
be.type = 'rightBlinker'
|
||||
be.pressed = self.CS.right_blinker_on != 0
|
||||
buttonEvents.append(be)
|
||||
|
||||
ret.buttonEvents = buttonEvents
|
||||
ret.leftBlinker = bool(self.CS.left_blinker_on)
|
||||
ret.rightBlinker = bool(self.CS.right_blinker_on)
|
||||
|
||||
ret.doorOpen = not self.CS.door_all_closed
|
||||
ret.seatbeltUnlatched = not self.CS.seatbelt
|
||||
|
||||
|
||||
# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
|
||||
if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
|
||||
self.low_speed_alert = True
|
||||
if ret.vEgo > (self.CP.minSteerSpeed + 4.):
|
||||
self.low_speed_alert = False
|
||||
|
||||
# events
|
||||
events = []
|
||||
if not self.CS.can_valid:
|
||||
self.can_invalid_count += 1
|
||||
if self.can_invalid_count >= 5:
|
||||
events.append(create_event('commIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
|
||||
else:
|
||||
self.can_invalid_count = 0
|
||||
if not ret.gearShifter == 'drive':
|
||||
events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
|
||||
if ret.doorOpen:
|
||||
events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
|
||||
if ret.seatbeltUnlatched:
|
||||
events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
|
||||
if self.CS.esp_disabled:
|
||||
events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
|
||||
if not self.CS.main_on:
|
||||
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.steer_error:
|
||||
events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
|
||||
|
||||
# enable request in prius is simple, as we activate when Toyota is active (rising edge)
|
||||
if ret.cruiseState.enabled and not self.cruise_enabled_prev:
|
||||
events.append(create_event('pcmEnable', [ET.ENABLE]))
|
||||
elif not ret.cruiseState.enabled:
|
||||
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
|
||||
|
||||
# disable on pedals rising edge or when brake is pressed and speed isn't zero
|
||||
if (ret.gasPressed and not self.gas_pressed_prev) or \
|
||||
(ret.brakePressed and (not self.brake_pressed_prev or ret.vEgoRaw > 0.1)):
|
||||
events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
|
||||
|
||||
if ret.gasPressed:
|
||||
events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
|
||||
|
||||
if self.low_speed_alert:
|
||||
events.append(create_event('belowSteerSpeed', [ET.WARNING]))
|
||||
|
||||
ret.events = events
|
||||
ret.canMonoTimes = canMonoTimes
|
||||
|
||||
self.gas_pressed_prev = ret.gasPressed
|
||||
self.brake_pressed_prev = ret.brakePressed
|
||||
self.cruise_enabled_prev = ret.cruiseState.enabled
|
||||
|
||||
return ret.as_reader()
|
||||
|
||||
def apply(self, c, perception_state=log.Live20Data.new_message()):
|
||||
|
||||
hud_alert = get_hud_alerts(c.hudControl.visualAlert, c.hudControl.audibleAlert)
|
||||
|
||||
self.CC.update(self.sendcan, c.enabled, self.CS, c.actuators,
|
||||
c.cruiseControl.cancel, hud_alert)
|
||||
|
||||
return False
|
||||
24
selfdrive/car/hyundai/radar_interface.py
Normal file
24
selfdrive/car/hyundai/radar_interface.py
Normal file
@@ -0,0 +1,24 @@
|
||||
#!/usr/bin/env python
|
||||
from cereal import car
|
||||
import time
|
||||
|
||||
|
||||
class RadarInterface(object):
|
||||
def __init__(self, CP):
|
||||
# radar
|
||||
self.pts = {}
|
||||
self.delay = 0.1
|
||||
|
||||
def update(self):
|
||||
|
||||
ret = car.RadarState.new_message()
|
||||
time.sleep(0.05) # radard runs on RI updates
|
||||
|
||||
return ret
|
||||
|
||||
if __name__ == "__main__":
|
||||
RI = RadarInterface(None)
|
||||
while 1:
|
||||
ret = RI.update()
|
||||
print(chr(27) + "[2J")
|
||||
print ret
|
||||
54
selfdrive/car/hyundai/values.py
Normal file
54
selfdrive/car/hyundai/values.py
Normal file
@@ -0,0 +1,54 @@
|
||||
from selfdrive.car import dbc_dict
|
||||
|
||||
def get_hud_alerts(visual_alert, audble_alert):
|
||||
if visual_alert == "steerRequired":
|
||||
return 4 if audble_alert != "none" else 5
|
||||
else:
|
||||
return 0
|
||||
|
||||
class CAR:
|
||||
SANTA_FE = "HYUNDAI SANTA FE LIMITED 2019"
|
||||
ELANTRA = "HYUNDAI ELANTRA LIMITED ULTIMATE 2017"
|
||||
GENESIS = "HYUNDAI GENESIS 2018"
|
||||
KIA_SORENTO = "KIA SORENTO GT LINE 2018" # Top Trim Kia Sorento for Australian Market, AWD Diesel 8sp Auto
|
||||
KIA_STINGER = "KIA STINGER GT2 2018"
|
||||
|
||||
class Buttons:
|
||||
NONE = 0
|
||||
RES_ACCEL = 1
|
||||
SET_DECEL = 2
|
||||
CANCEL = 4
|
||||
|
||||
FINGERPRINTS = {
|
||||
CAR.SANTA_FE: [{
|
||||
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8
|
||||
}],
|
||||
CAR.ELANTRA: [{
|
||||
66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
|
||||
}],
|
||||
CAR.GENESIS: [{
|
||||
67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
|
||||
}],
|
||||
CAR.KIA_SORENTO: [{
|
||||
67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1
|
||||
}],
|
||||
CAR.KIA_STINGER: [{
|
||||
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8
|
||||
}],
|
||||
}
|
||||
|
||||
CAMERA_MSGS = [832, 1156, 1191, 1342] # msgs sent by the camera
|
||||
|
||||
CHECKSUM = {
|
||||
"crc8": [CAR.SANTA_FE],
|
||||
"6B": [CAR.KIA_SORENTO, CAR.GENESIS],
|
||||
"7B": [CAR.KIA_STINGER, CAR.ELANTRA],
|
||||
}
|
||||
|
||||
DBC = {
|
||||
CAR.SANTA_FE: dbc_dict('hyundai_santa_fe_2019_ccan', None),
|
||||
CAR.ELANTRA: dbc_dict('hyundai_santa_fe_2019_ccan', None),
|
||||
CAR.GENESIS: dbc_dict('hyundai_santa_fe_2019_ccan', None),
|
||||
CAR.KIA_SORENTO: dbc_dict('hyundai_santa_fe_2019_ccan', None),
|
||||
CAR.KIA_STINGER: dbc_dict('hyundai_santa_fe_2019_ccan', None),
|
||||
}
|
||||
@@ -145,6 +145,9 @@ class CarController(object):
|
||||
# only cut torque when steer state is a known fault
|
||||
if not enabled or CS.steer_state in [9, 25]:
|
||||
apply_steer = 0
|
||||
apply_steer_req = 0
|
||||
else:
|
||||
apply_steer_req = 1
|
||||
|
||||
self.steer_angle_enabled, self.ipas_reset_counter = \
|
||||
ipas_state_transition(self.steer_angle_enabled, enabled, CS.ipas_active, self.ipas_reset_counter)
|
||||
@@ -192,12 +195,12 @@ class CarController(object):
|
||||
# on consecutive messages
|
||||
if ECU.CAM in self.fake_ecus:
|
||||
if self.angle_control:
|
||||
can_sends.append(create_steer_command(self.packer, 0., frame))
|
||||
can_sends.append(create_steer_command(self.packer, 0., 0, frame))
|
||||
else:
|
||||
can_sends.append(create_steer_command(self.packer, apply_steer, frame))
|
||||
can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req, frame))
|
||||
|
||||
if self.angle_control:
|
||||
can_sends.append(create_ipas_steer_command(self.packer, apply_angle, self.steer_angle_enabled,
|
||||
can_sends.append(create_ipas_steer_command(self.packer, apply_angle, self.steer_angle_enabled,
|
||||
ECU.APGS in self.fake_ecus))
|
||||
elif ECU.APGS in self.fake_ecus:
|
||||
can_sends.append(create_ipas_steer_command(self.packer, 0, 0, True))
|
||||
|
||||
@@ -120,7 +120,7 @@ class CarInterface(object):
|
||||
ret.steerKf = 0.00006
|
||||
|
||||
elif candidate in [CAR.CAMRY, CAR.CAMRYH]:
|
||||
ret.safetyParam = 100
|
||||
ret.safetyParam = 100
|
||||
ret.wheelbase = 2.82448
|
||||
ret.steerRatio = 13.7
|
||||
tire_stiffness_factor = 0.7933
|
||||
@@ -128,6 +128,15 @@ class CarInterface(object):
|
||||
ret.steerKpV, ret.steerKiV = [[0.6], [0.1]]
|
||||
ret.steerKf = 0.00006
|
||||
|
||||
elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]:
|
||||
ret.safetyParam = 100
|
||||
ret.wheelbase = 2.78
|
||||
ret.steerRatio = 16.0
|
||||
tire_stiffness_factor = 0.444 # not optimized yet
|
||||
ret.mass = 4607 * CV.LB_TO_KG + std_cargo #mean between normal and hybrid limited
|
||||
ret.steerKpV, ret.steerKiV = [[0.6], [0.05]]
|
||||
ret.steerKf = 0.00006
|
||||
|
||||
ret.steerRateCost = 1.
|
||||
ret.centerToFront = ret.wheelbase * 0.44
|
||||
|
||||
@@ -136,7 +145,9 @@ 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, CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH]: # rav4 hybrid can do stop and go
|
||||
# hybrid models can't do stop and go even though the stock ACC can't
|
||||
if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.CHR,
|
||||
CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
|
||||
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
|
||||
@@ -233,16 +244,14 @@ class CarInterface(object):
|
||||
ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
|
||||
ret.cruiseState.available = bool(self.CS.main_on)
|
||||
ret.cruiseState.speedOffset = 0.
|
||||
if self.CP.carFingerprint == CAR.RAV4H:
|
||||
# ignore standstill in hybrid rav4, since pcm allows to restart without
|
||||
if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
|
||||
# ignore standstill in hybrid vehicles, since pcm allows to restart without
|
||||
# receiving any special command
|
||||
ret.cruiseState.standstill = False
|
||||
else:
|
||||
ret.cruiseState.standstill = self.CS.pcm_acc_status == 7
|
||||
|
||||
# TODO: button presses
|
||||
buttonEvents = []
|
||||
|
||||
if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
|
||||
be = car.CarState.ButtonEvent.new_message()
|
||||
be.type = 'leftBlinker'
|
||||
|
||||
@@ -10,24 +10,30 @@ import selfdrive.messaging as messaging
|
||||
from selfdrive.car.toyota.values import NO_DSU_CAR
|
||||
|
||||
|
||||
RADAR_MSGS = list(range(0x210, 0x220))
|
||||
RADAR_A_MSGS = list(range(0x210, 0x220))
|
||||
RADAR_B_MSGS = list(range(0x220, 0x230))
|
||||
|
||||
def _create_radard_can_parser():
|
||||
dbc_f = 'toyota_prius_2017_adas.dbc'
|
||||
msg_n = len(RADAR_MSGS)
|
||||
signals = zip(['LONG_DIST'] * msg_n + ['NEW_TRACK'] * msg_n + ['LAT_DIST'] * msg_n +
|
||||
['REL_SPEED'] * msg_n + ['VALID'] * msg_n,
|
||||
RADAR_MSGS * 5,
|
||||
[255] * msg_n + [1] * msg_n + [0] * msg_n + [0] * msg_n + [0] * msg_n)
|
||||
checks = zip(RADAR_MSGS, [20]*msg_n)
|
||||
|
||||
msg_a_n = len(RADAR_A_MSGS)
|
||||
msg_b_n = len(RADAR_B_MSGS)
|
||||
|
||||
signals = zip(['LONG_DIST'] * msg_a_n + ['NEW_TRACK'] * msg_a_n + ['LAT_DIST'] * msg_a_n +
|
||||
['REL_SPEED'] * msg_a_n + ['VALID'] * msg_a_n + ['SCORE'] * msg_b_n,
|
||||
RADAR_A_MSGS * 5 + RADAR_B_MSGS,
|
||||
[255] * msg_a_n + [1] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_b_n)
|
||||
|
||||
checks = zip(RADAR_A_MSGS + RADAR_B_MSGS, [20]*(msg_a_n + msg_b_n))
|
||||
|
||||
return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
|
||||
|
||||
|
||||
class RadarInterface(object):
|
||||
def __init__(self, CP):
|
||||
# radar
|
||||
self.pts = {}
|
||||
self.validCnt = {key: 0 for key in RADAR_MSGS}
|
||||
self.seen_valid = {key: False for key in RADAR_A_MSGS}
|
||||
self.track_id = 0
|
||||
|
||||
self.delay = 0.0 # Delay of radar
|
||||
@@ -52,7 +58,7 @@ class RadarInterface(object):
|
||||
tm = int(sec_since_boot() * 1e9)
|
||||
updated_messages.update(self.rcp.update(tm, True))
|
||||
# TODO: do not hardcode last msg
|
||||
if 0x21f in updated_messages:
|
||||
if 0x22f in updated_messages:
|
||||
break
|
||||
|
||||
errors = []
|
||||
@@ -62,32 +68,33 @@ class RadarInterface(object):
|
||||
ret.canMonoTimes = canMonoTimes
|
||||
|
||||
for ii in updated_messages:
|
||||
cpt = self.rcp.vl[ii]
|
||||
if ii in RADAR_A_MSGS:
|
||||
cpt = self.rcp.vl[ii]
|
||||
|
||||
if cpt['LONG_DIST'] >=255 or cpt['NEW_TRACK']:
|
||||
self.validCnt[ii] = 0 # reset counter
|
||||
if cpt['LONG_DIST'] >= 255 or cpt['NEW_TRACK']:
|
||||
self.seen_valid[ii] = False # reset validity
|
||||
|
||||
if cpt['VALID'] and cpt['LONG_DIST'] < 255:
|
||||
self.validCnt[ii] += 1
|
||||
else:
|
||||
self.validCnt[ii] = max(self.validCnt[ii] -1, 0)
|
||||
#print ii, self.validCnt[ii], cpt['VALID'], cpt['LONG_DIST'], cpt['LAT_DIST']
|
||||
if cpt['LONG_DIST'] < 255 and cpt['VALID']:
|
||||
self.seen_valid[ii] = True
|
||||
|
||||
# radar point only valid if there have been enough valid measurements
|
||||
if self.validCnt[ii] > 0:
|
||||
if ii not in self.pts or cpt['NEW_TRACK']:
|
||||
self.pts[ii] = car.RadarState.RadarPoint.new_message()
|
||||
self.pts[ii].trackId = self.track_id
|
||||
self.track_id += 1
|
||||
self.pts[ii].dRel = cpt['LONG_DIST'] # from front of car
|
||||
self.pts[ii].yRel = -cpt['LAT_DIST'] # in car frame's y axis, left is positive
|
||||
self.pts[ii].vRel = cpt['REL_SPEED']
|
||||
self.pts[ii].aRel = float('nan')
|
||||
self.pts[ii].yvRel = float('nan')
|
||||
self.pts[ii].measured = bool(cpt['VALID'])
|
||||
else:
|
||||
if ii in self.pts:
|
||||
del self.pts[ii]
|
||||
score = self.rcp.vl[ii+16]['SCORE']
|
||||
# print ii, score, cpt['VALID'], cpt['LONG_DIST'], cpt['LAT_DIST']
|
||||
|
||||
# radar point only valid if it's a valid measurement and score is above 50
|
||||
if (cpt['VALID'] or score > 50) and cpt['LONG_DIST'] < 255 and self.seen_valid[ii]:
|
||||
if ii not in self.pts or cpt['NEW_TRACK']:
|
||||
self.pts[ii] = car.RadarState.RadarPoint.new_message()
|
||||
self.pts[ii].trackId = self.track_id
|
||||
self.track_id += 1
|
||||
self.pts[ii].dRel = cpt['LONG_DIST'] # from front of car
|
||||
self.pts[ii].yRel = -cpt['LAT_DIST'] # in car frame's y axis, left is positive
|
||||
self.pts[ii].vRel = cpt['REL_SPEED']
|
||||
self.pts[ii].aRel = float('nan')
|
||||
self.pts[ii].yvRel = float('nan')
|
||||
self.pts[ii].measured = bool(cpt['VALID'])
|
||||
else:
|
||||
if ii in self.pts:
|
||||
del self.pts[ii]
|
||||
|
||||
ret.points = self.pts.values()
|
||||
return ret
|
||||
|
||||
@@ -52,11 +52,11 @@ def create_ipas_steer_command(packer, steer, enabled, apgs_enabled):
|
||||
return packer.make_can_msg("STEERING_IPAS_COMMA", 0, values)
|
||||
|
||||
|
||||
def create_steer_command(packer, steer, raw_cnt):
|
||||
def create_steer_command(packer, steer, steer_req, raw_cnt):
|
||||
"""Creates a CAN message for the Toyota Steer Command."""
|
||||
|
||||
values = {
|
||||
"STEER_REQUEST": abs(steer) > 0.001,
|
||||
"STEER_REQUEST": steer_req,
|
||||
"STEER_TORQUE_CMD": steer,
|
||||
"COUNTER": raw_cnt,
|
||||
"SET_ME_1": 1,
|
||||
|
||||
@@ -10,6 +10,8 @@ class CAR:
|
||||
CHRH = "TOYOTA C-HR HYBRID 2018"
|
||||
CAMRY = "TOYOTA CAMRY 2018"
|
||||
CAMRYH = "TOYOTA CAMRY HYBRID 2018"
|
||||
HIGHLANDER = "TOYOTA HIGHLANDER 2017"
|
||||
HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018"
|
||||
|
||||
|
||||
class ECU:
|
||||
@@ -19,49 +21,49 @@ class ECU:
|
||||
|
||||
|
||||
# addr: (ecu, cars, bus, 1/freq*100, vl)
|
||||
STATIC_MSGS = [(0x141, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 2, '\x00\x00\x00\x46'),
|
||||
(0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 3, '\xf4\x01\x90\x83\x00\x37'),
|
||||
STATIC_MSGS = [
|
||||
(0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
|
||||
(0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
|
||||
(0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
|
||||
(0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
|
||||
(0x245, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
|
||||
(0x248, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 5, '\x00\x00\x00\x00\x00\x00\x01'),
|
||||
(0x367, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 40, '\x06\x00'),
|
||||
(0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
|
||||
(0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x20\x20\xAD'),
|
||||
(0x466, ECU.CAM, (CAR.COROLLA), 1, 100, '\x24\x20\xB1'),
|
||||
(0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
|
||||
(0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
|
||||
|
||||
(0x292, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 3, '\x00\x00\x00\x00\x00\x00\x00\x9e'),
|
||||
(0x283, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 3, '\x00\x00\x00\x00\x00\x00\x8c'),
|
||||
(0x2E6, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, '\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
|
||||
(0x2E7, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, '\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
|
||||
(0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 3, '\xf4\x01\x90\x83\x00\x37'),
|
||||
(0x128, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 3, '\x03\x00\x20\x00\x00\x52'),
|
||||
(0x141, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 2, '\x00\x00\x00\x46'),
|
||||
(0x160, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 7, '\x00\x00\x08\x12\x01\x31\x9c\x51'),
|
||||
(0x161, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 7, '\x00\x1e\x00\x00\x00\x80\x07'),
|
||||
(0X161, ECU.DSU, (CAR.HIGHLANDERH, CAR.HIGHLANDER), 1, 7, '\x00\x1e\x00\xd4\x00\x00\x5b'),
|
||||
(0x283, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 3, '\x00\x00\x00\x00\x00\x00\x8c'),
|
||||
(0x2E6, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, '\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
|
||||
(0x2E7, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, '\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
|
||||
(0x33E, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, '\x0f\xff\x26\x40\x00\x1f\x00'),
|
||||
(0x344, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 5, '\x00\x00\x01\x00\x00\x00\x00\x50'),
|
||||
(0x365, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.HIGHLANDERH), 0, 20, '\x00\x00\x00\x80\x03\x00\x08'),
|
||||
(0x365, ECU.DSU, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER), 0, 20, '\x00\x00\x00\x80\xfc\x00\x08'),
|
||||
(0x366, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.HIGHLANDERH), 0, 20, '\x00\x00\x4d\x82\x40\x02\x00'),
|
||||
(0x366, ECU.DSU, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER), 0, 20, '\x00\x72\x07\xff\x09\xfe\x00'),
|
||||
(0x470, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 1, 100, '\x00\x00\x02\x7a'),
|
||||
(0x470, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x00\x00\x01\x79'),
|
||||
(0x4CB, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER), 0, 100, '\x0c\x00\x00\x00\x00\x00\x00\x00'),
|
||||
|
||||
(0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
|
||||
(0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
|
||||
(0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
|
||||
(0x245, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
|
||||
(0x248, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x00\x00\x00\x00\x00\x01'),
|
||||
(0x344, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 5, '\x00\x00\x01\x00\x00\x00\x00\x50'),
|
||||
|
||||
(0x160, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 7, '\x00\x00\x08\x12\x01\x31\x9c\x51'),
|
||||
(0x161, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 7, '\x00\x1e\x00\x00\x00\x80\x07'),
|
||||
|
||||
(0x32E, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 20, '\x00\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x33E, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, '\x0f\xff\x26\x40\x00\x1f\x00'),
|
||||
(0x365, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, '\x00\x00\x00\x80\x03\x00\x08'),
|
||||
(0x365, ECU.DSU, (CAR.RAV4, CAR.COROLLA), 0, 20, '\x00\x00\x00\x80\xfc\x00\x08'),
|
||||
(0x366, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, '\x00\x00\x4d\x82\x40\x02\x00'),
|
||||
(0x366, ECU.DSU, (CAR.RAV4, CAR.COROLLA), 0, 20, '\x00\x72\x07\xff\x09\xfe\x00'),
|
||||
|
||||
(0x367, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 40, '\x06\x00'),
|
||||
|
||||
(0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
|
||||
(0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
|
||||
(0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
|
||||
(0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
|
||||
(0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4), 1, 100, '\x20\x20\xAD'),
|
||||
(0x466, ECU.CAM, (CAR.COROLLA), 1, 100, '\x24\x20\xB1'),
|
||||
(0x396, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\xBD\x00\x00\x00\x60\x0F\x02\x00'),
|
||||
(0x43A, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x84\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x43B, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x497, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x4CC, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x0D\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x4CB, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x0c\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x470, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 1, 100, '\x00\x00\x02\x7a'),
|
||||
]
|
||||
(0x292, ECU.APGS, (CAR.PRIUS), 0, 3, '\x00\x00\x00\x00\x00\x00\x00\x9e'),
|
||||
(0x32E, ECU.APGS, (CAR.PRIUS), 0, 20, '\x00\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x396, ECU.APGS, (CAR.PRIUS), 0, 100, '\xBD\x00\x00\x00\x60\x0F\x02\x00'),
|
||||
(0x43A, ECU.APGS, (CAR.PRIUS), 0, 100, '\x84\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x43B, ECU.APGS, (CAR.PRIUS), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x497, ECU.APGS, (CAR.PRIUS), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x4CC, ECU.APGS, (CAR.PRIUS), 0, 100, '\x0D\x00\x00\x00\x00\x00\x00\x00'),
|
||||
]
|
||||
|
||||
ECU_FINGERPRINT = {
|
||||
ECU.CAM: 0x2e4, # steer torque cmd
|
||||
@@ -81,7 +83,7 @@ FINGERPRINTS = {
|
||||
}],
|
||||
CAR.RAV4H: [{
|
||||
36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 296: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 550: 8, 552: 4, 560: 7, 562: 4, 581: 5, 608: 8, 610: 5, 643: 7, 705: 8, 713: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1212: 8, 1227: 8, 1228: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
}],
|
||||
}],
|
||||
CAR.PRIUS: [{
|
||||
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
},
|
||||
@@ -107,18 +109,32 @@ FINGERPRINTS = {
|
||||
36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 740: 5, 800: 8, 810: 2, 812: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 1017: 8, 1020: 8, 1021: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8
|
||||
}],
|
||||
CAR.CHRH: [{
|
||||
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 740: 5, 800: 8, 810: 2, 812: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1021: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8,1059: 1, 1071: 8, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556:8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 800: 8, 810: 2, 812: 8, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1021: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
}],
|
||||
CAR.CAMRY: [
|
||||
#XLE and LE
|
||||
{
|
||||
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
|
||||
},
|
||||
#XSE and SE
|
||||
{
|
||||
36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 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, 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, 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, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 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
|
||||
}],
|
||||
CAR.HIGHLANDER: [{
|
||||
36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1207: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
},
|
||||
# 2017 Highlander Limited
|
||||
{
|
||||
36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1207: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
}],
|
||||
CAR.HIGHLANDERH: [{
|
||||
36: 8, 37: 8, 170: 8, 180: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
}],
|
||||
}
|
||||
|
||||
STEER_THRESHOLD = 100
|
||||
@@ -133,6 +149,8 @@ DBC = {
|
||||
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'),
|
||||
CAR.HIGHLANDER: dbc_dict('toyota_highlander_2017_pt_generated', 'toyota_prius_2017_adas'),
|
||||
CAR.HIGHLANDERH: dbc_dict('toyota_highlander_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'),
|
||||
}
|
||||
|
||||
NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH]
|
||||
|
||||
119
selfdrive/common/ipc.c
Normal file
119
selfdrive/common/ipc.c
Normal file
@@ -0,0 +1,119 @@
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <stdbool.h>
|
||||
#include <string.h>
|
||||
#include <unistd.h>
|
||||
#include <assert.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include <sys/mman.h>
|
||||
#include <sys/socket.h>
|
||||
#include <sys/un.h>
|
||||
|
||||
#include "ipc.h"
|
||||
|
||||
int ipc_connect(const char* socket_path) {
|
||||
int err;
|
||||
|
||||
int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
|
||||
assert(sock >= 0);
|
||||
struct sockaddr_un addr = {
|
||||
.sun_family = AF_UNIX,
|
||||
};
|
||||
snprintf(addr.sun_path, sizeof(addr.sun_path), "%s", socket_path);
|
||||
err = connect(sock, (struct sockaddr*)&addr, sizeof(addr));
|
||||
if (err != 0) {
|
||||
close(sock);
|
||||
return -1;
|
||||
}
|
||||
|
||||
return sock;
|
||||
}
|
||||
|
||||
int ipc_bind(const char* socket_path) {
|
||||
int err;
|
||||
|
||||
unlink(socket_path);
|
||||
|
||||
int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
|
||||
struct sockaddr_un addr = {
|
||||
.sun_family = AF_UNIX,
|
||||
};
|
||||
snprintf(addr.sun_path, sizeof(addr.sun_path), "%s", socket_path);
|
||||
err = bind(sock, (struct sockaddr *)&addr, sizeof(addr));
|
||||
assert(err == 0);
|
||||
|
||||
err = listen(sock, 3);
|
||||
assert(err == 0);
|
||||
|
||||
return sock;
|
||||
}
|
||||
|
||||
|
||||
int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
|
||||
int *out_num_fds) {
|
||||
int err;
|
||||
|
||||
char control_buf[CMSG_SPACE(sizeof(int) * num_fds)];
|
||||
memset(control_buf, 0, CMSG_SPACE(sizeof(int) * num_fds));
|
||||
|
||||
struct iovec iov = {
|
||||
.iov_base = buf,
|
||||
.iov_len = buf_size,
|
||||
};
|
||||
struct msghdr msg = {
|
||||
.msg_iov = &iov,
|
||||
.msg_iovlen = 1,
|
||||
};
|
||||
|
||||
if (num_fds > 0) {
|
||||
assert(fds);
|
||||
|
||||
msg.msg_control = control_buf;
|
||||
msg.msg_controllen = CMSG_SPACE(sizeof(int) * num_fds);
|
||||
}
|
||||
|
||||
if (send) {
|
||||
if (num_fds) {
|
||||
struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg);
|
||||
assert(cmsg);
|
||||
cmsg->cmsg_level = SOL_SOCKET;
|
||||
cmsg->cmsg_type = SCM_RIGHTS;
|
||||
cmsg->cmsg_len = CMSG_LEN(sizeof(int) * num_fds);
|
||||
memcpy(CMSG_DATA(cmsg), fds, sizeof(int) * num_fds);
|
||||
// printf("send clen %d -> %d\n", num_fds, cmsg->cmsg_len);
|
||||
}
|
||||
return sendmsg(fd, &msg, 0);
|
||||
} else {
|
||||
int r = recvmsg(fd, &msg, 0);
|
||||
if (r < 0) return r;
|
||||
|
||||
int recv_fds = 0;
|
||||
if (msg.msg_controllen > 0) {
|
||||
struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg);
|
||||
assert(cmsg);
|
||||
assert(cmsg->cmsg_level == SOL_SOCKET && cmsg->cmsg_type == SCM_RIGHTS);
|
||||
recv_fds = (cmsg->cmsg_len - CMSG_LEN(0));
|
||||
assert(recv_fds > 0 && (recv_fds % sizeof(int)) == 0);
|
||||
recv_fds /= sizeof(int);
|
||||
// printf("recv clen %d -> %d\n", cmsg->cmsg_len, recv_fds);
|
||||
// assert(cmsg->cmsg_len == CMSG_LEN(sizeof(int) * num_fds));
|
||||
|
||||
assert(fds && recv_fds <= num_fds);
|
||||
memcpy(fds, CMSG_DATA(cmsg), sizeof(int) * recv_fds);
|
||||
}
|
||||
|
||||
if (msg.msg_flags) {
|
||||
for (int i=0; i<recv_fds; i++) {
|
||||
close(fds[i]);
|
||||
}
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (fds) {
|
||||
assert(out_num_fds);
|
||||
*out_num_fds = recv_fds;
|
||||
}
|
||||
return r;
|
||||
}
|
||||
}
|
||||
19
selfdrive/common/ipc.h
Normal file
19
selfdrive/common/ipc.h
Normal file
@@ -0,0 +1,19 @@
|
||||
#ifndef IPC_H
|
||||
#define IPC_H
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
int ipc_connect(const char* socket_path);
|
||||
int ipc_bind(const char* socket_path);
|
||||
int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
|
||||
int *out_num_fds);
|
||||
|
||||
#ifdef __cplusplus
|
||||
} // extern "C"
|
||||
#endif
|
||||
|
||||
#endif
|
||||
@@ -1,15 +1,20 @@
|
||||
#include "selfdrive/common/params.h"
|
||||
|
||||
#include "selfdrive/common/util.h"
|
||||
#include "common/params.h"
|
||||
|
||||
#ifndef _GNU_SOURCE
|
||||
#define _GNU_SOURCE
|
||||
#endif // _GNU_SOURCE
|
||||
|
||||
#include <sys/file.h>
|
||||
#include <unistd.h>
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <unistd.h>
|
||||
#include <dirent.h>
|
||||
#include <sys/file.h>
|
||||
|
||||
#include <map>
|
||||
#include <string>
|
||||
|
||||
#include "common/util.h"
|
||||
#include "common/utilpp.h"
|
||||
|
||||
namespace {
|
||||
|
||||
@@ -152,3 +157,40 @@ void read_db_value_blocking(const char* params_path, const char* key,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int read_db_all(const char* params_path, std::map<std::string, std::string> *params) {
|
||||
int err = 0;
|
||||
|
||||
if (params_path == NULL) {
|
||||
params_path = default_params_path;
|
||||
}
|
||||
|
||||
std::string lock_path = util::string_format("%s/.lock", params_path);
|
||||
|
||||
int lock_fd = open(lock_path.c_str(), 0);
|
||||
if (lock_fd < 0) return -1;
|
||||
|
||||
err = flock(lock_fd, LOCK_EX);
|
||||
if (err < 0) return err;
|
||||
|
||||
std::string key_path = util::string_format("%s/d", params_path);
|
||||
DIR *d = opendir(key_path.c_str());
|
||||
if (!d) {
|
||||
close(lock_fd);
|
||||
return -1;
|
||||
}
|
||||
|
||||
struct dirent *de = NULL;
|
||||
while ((de = readdir(d))) {
|
||||
if (!isalnum(de->d_name[0])) continue;
|
||||
std::string key = std::string(de->d_name);
|
||||
std::string value = util::read_file(util::string_format("%s/%s", key_path.c_str(), key.c_str()));
|
||||
|
||||
(*params)[key] = value;
|
||||
}
|
||||
|
||||
closedir(d);
|
||||
|
||||
close(lock_fd);
|
||||
return 0;
|
||||
}
|
||||
|
||||
@@ -32,4 +32,10 @@ void read_db_value_blocking(const char* params_path, const char* key,
|
||||
} // extern "C"
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
#include <map>
|
||||
#include <string>
|
||||
int read_db_all(const char* params_path, std::map<std::string, std::string> *params);
|
||||
#endif
|
||||
|
||||
#endif // _SELFDRIVE_COMMON_PARAMS_H_
|
||||
|
||||
@@ -9,10 +9,6 @@
|
||||
#include <sstream>
|
||||
#include <fstream>
|
||||
|
||||
#ifdef __x86_64
|
||||
#include <linux/limits.h>
|
||||
#endif
|
||||
|
||||
namespace util {
|
||||
|
||||
inline bool starts_with(std::string s, std::string prefix) {
|
||||
@@ -56,13 +52,13 @@ inline std::string dir_name(std::string const & path) {
|
||||
}
|
||||
|
||||
inline std::string readlink(std::string path) {
|
||||
char buff[PATH_MAX];
|
||||
ssize_t len = ::readlink(path.c_str(), buff, sizeof(buff)-1);
|
||||
if (len != -1) {
|
||||
buff[len] = '\0';
|
||||
return std::string(buff);
|
||||
}
|
||||
return "";
|
||||
char buff[4096];
|
||||
ssize_t len = ::readlink(path.c_str(), buff, sizeof(buff)-1);
|
||||
if (len != -1) {
|
||||
buff[len] = '\0';
|
||||
return std::string(buff);
|
||||
}
|
||||
return "";
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@@ -1 +1 @@
|
||||
#define COMMA_VERSION "0.5.2-release"
|
||||
#define COMMA_VERSION "0.5.5-release"
|
||||
|
||||
@@ -36,14 +36,17 @@ extern "C" void compute_aligned_width_and_height(int width,
|
||||
int *aligned_h);
|
||||
#endif
|
||||
|
||||
VisionImg visionimg_alloc_rgb24(int width, int height, VisionBuf *out_buf) {
|
||||
|
||||
int aligned_w = 0, aligned_h = 0;
|
||||
void visionimg_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h) {
|
||||
#ifdef QCOM
|
||||
compute_aligned_width_and_height(ALIGN(width, 32), ALIGN(height, 32), 3, 0, 0, 512, &aligned_w, &aligned_h);
|
||||
compute_aligned_width_and_height(ALIGN(width, 32), ALIGN(height, 32), 3, 0, 0, 512, aligned_w, aligned_h);
|
||||
#else
|
||||
aligned_w = width; aligned_h = height;
|
||||
*aligned_w = width; *aligned_h = height;
|
||||
#endif
|
||||
}
|
||||
|
||||
VisionImg visionimg_alloc_rgb24(int width, int height, VisionBuf *out_buf) {
|
||||
int aligned_w = 0, aligned_h = 0;
|
||||
visionimg_compute_aligned_width_and_height(width, height, &aligned_w, &aligned_h);
|
||||
|
||||
int stride = aligned_w * 3;
|
||||
size_t size = aligned_w * aligned_h * 3;
|
||||
|
||||
@@ -23,6 +23,7 @@ typedef struct VisionImg {
|
||||
size_t size;
|
||||
} VisionImg;
|
||||
|
||||
void visionimg_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);
|
||||
VisionImg visionimg_alloc_rgb24(int width, int height, VisionBuf *out_buf);
|
||||
|
||||
#ifdef QCOM
|
||||
|
||||
@@ -10,6 +10,8 @@
|
||||
#include <sys/socket.h>
|
||||
#include <sys/un.h>
|
||||
|
||||
#include "ipc.h"
|
||||
|
||||
#include "visionipc.h"
|
||||
|
||||
typedef struct VisionPacketWire {
|
||||
@@ -18,95 +20,14 @@ typedef struct VisionPacketWire {
|
||||
} VisionPacketWire;
|
||||
|
||||
int vipc_connect() {
|
||||
int err;
|
||||
|
||||
int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
|
||||
assert(sock >= 0);
|
||||
struct sockaddr_un addr = {
|
||||
.sun_family = AF_UNIX,
|
||||
.sun_path = VIPC_SOCKET_PATH,
|
||||
};
|
||||
err = connect(sock, (struct sockaddr*)&addr, sizeof(addr));
|
||||
if (err != 0) {
|
||||
close(sock);
|
||||
return -1;
|
||||
}
|
||||
|
||||
return sock;
|
||||
return ipc_connect(VIPC_SOCKET_PATH);
|
||||
}
|
||||
|
||||
static int sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
|
||||
int *out_num_fds) {
|
||||
int err;
|
||||
|
||||
char control_buf[CMSG_SPACE(sizeof(int) * num_fds)];
|
||||
memset(control_buf, 0, CMSG_SPACE(sizeof(int) * num_fds));
|
||||
|
||||
struct iovec iov = {
|
||||
.iov_base = buf,
|
||||
.iov_len = buf_size,
|
||||
};
|
||||
struct msghdr msg = {
|
||||
.msg_iov = &iov,
|
||||
.msg_iovlen = 1,
|
||||
};
|
||||
|
||||
if (num_fds > 0) {
|
||||
assert(fds);
|
||||
|
||||
msg.msg_control = control_buf;
|
||||
msg.msg_controllen = CMSG_SPACE(sizeof(int) * num_fds);
|
||||
}
|
||||
|
||||
if (send) {
|
||||
if (num_fds) {
|
||||
struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg);
|
||||
assert(cmsg);
|
||||
cmsg->cmsg_level = SOL_SOCKET;
|
||||
cmsg->cmsg_type = SCM_RIGHTS;
|
||||
cmsg->cmsg_len = CMSG_LEN(sizeof(int) * num_fds);
|
||||
memcpy(CMSG_DATA(cmsg), fds, sizeof(int) * num_fds);
|
||||
// printf("send clen %d -> %d\n", num_fds, cmsg->cmsg_len);
|
||||
}
|
||||
return sendmsg(fd, &msg, 0);
|
||||
} else {
|
||||
int r = recvmsg(fd, &msg, 0);
|
||||
if (r < 0) return r;
|
||||
|
||||
int recv_fds = 0;
|
||||
if (msg.msg_controllen > 0) {
|
||||
struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg);
|
||||
assert(cmsg);
|
||||
assert(cmsg->cmsg_level == SOL_SOCKET && cmsg->cmsg_type == SCM_RIGHTS);
|
||||
recv_fds = (cmsg->cmsg_len - CMSG_LEN(0));
|
||||
assert(recv_fds > 0 && (recv_fds % sizeof(int)) == 0);
|
||||
recv_fds /= sizeof(int);
|
||||
// printf("recv clen %d -> %d\n", cmsg->cmsg_len, recv_fds);
|
||||
// assert(cmsg->cmsg_len == CMSG_LEN(sizeof(int) * num_fds));
|
||||
|
||||
assert(fds && recv_fds <= num_fds);
|
||||
memcpy(fds, CMSG_DATA(cmsg), sizeof(int) * recv_fds);
|
||||
}
|
||||
|
||||
if (msg.msg_flags) {
|
||||
for (int i=0; i<recv_fds; i++) {
|
||||
close(fds[i]);
|
||||
}
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (fds) {
|
||||
assert(out_num_fds);
|
||||
*out_num_fds = recv_fds;
|
||||
}
|
||||
return r;
|
||||
}
|
||||
}
|
||||
|
||||
int vipc_recv(int fd, VisionPacket *out_p) {
|
||||
VisionPacketWire p = {0};
|
||||
VisionPacket p2 = {0};
|
||||
int ret = sendrecv_with_fds(false, fd, &p, sizeof(p), (int*)p2.fds, VIPC_MAX_FDS, &p2.num_fds);
|
||||
int ret = ipc_sendrecv_with_fds(false, fd, &p, sizeof(p), (int*)p2.fds, VIPC_MAX_FDS, &p2.num_fds);
|
||||
if (ret < 0) {
|
||||
printf("vipc_recv err: %s\n", strerror(errno));
|
||||
} else {
|
||||
@@ -124,7 +45,7 @@ int vipc_send(int fd, const VisionPacket *p2) {
|
||||
.type = p2->type,
|
||||
.d = p2->d,
|
||||
};
|
||||
return sendrecv_with_fds(true, fd, (void*)&p, sizeof(p), (int*)p2->fds, p2->num_fds, NULL);
|
||||
return ipc_sendrecv_with_fds(true, fd, (void*)&p, sizeof(p), (int*)p2->fds, p2->num_fds, NULL);
|
||||
}
|
||||
|
||||
void vipc_bufs_load(VIPCBuf *bufs, const VisionStreamBufs *stream_bufs,
|
||||
|
||||
@@ -46,8 +46,8 @@ def isEnabled(state):
|
||||
|
||||
|
||||
def data_sample(CI, CC, thermal, calibration, health, driver_monitor, gps_location,
|
||||
poller, cal_status, overtemp, free_space, driver_status, geofence,
|
||||
state, mismatch_counter, params):
|
||||
poller, cal_status, cal_perc, overtemp, free_space, low_battery,
|
||||
driver_status, geofence, state, mismatch_counter, params):
|
||||
|
||||
# *** read can and compute car states ***
|
||||
CS = CI.update(CC)
|
||||
@@ -80,6 +80,12 @@ def data_sample(CI, CC, thermal, calibration, health, driver_monitor, gps_locati
|
||||
# under 15% of space free no enable allowed
|
||||
free_space = td.thermal.freeSpace < 0.15
|
||||
|
||||
# at zero percent battery, OP should not be allowed
|
||||
low_battery = td.thermal.batteryPercent < 1
|
||||
|
||||
if low_battery:
|
||||
events.append(create_event('lowBattery', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
|
||||
|
||||
if overtemp:
|
||||
events.append(create_event('overheat', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
|
||||
|
||||
@@ -89,10 +95,11 @@ def data_sample(CI, CC, thermal, calibration, health, driver_monitor, gps_locati
|
||||
# *** read calibration status ***
|
||||
if cal is not None:
|
||||
cal_status = cal.liveCalibration.calStatus
|
||||
cal_perc = cal.liveCalibration.calPerc
|
||||
|
||||
if cal_status != Calibration.CALIBRATED:
|
||||
if cal_status == Calibration.UNCALIBRATED:
|
||||
events.append(create_event('calibrationInProgress', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
|
||||
events.append(create_event('calibrationIncomplete', [ET.NO_ENTRY, ET.SOFT_DISABLE, ET.PERMANENT]))
|
||||
else:
|
||||
events.append(create_event('calibrationInvalid', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
|
||||
|
||||
@@ -117,7 +124,7 @@ def data_sample(CI, CC, thermal, calibration, health, driver_monitor, gps_locati
|
||||
if geofence is not None and not geofence.in_geofence:
|
||||
events.append(create_event('geofence', [ET.NO_ENTRY, ET.WARNING]))
|
||||
|
||||
return CS, events, cal_status, overtemp, free_space, mismatch_counter
|
||||
return CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter
|
||||
|
||||
|
||||
def calc_plan(CS, CP, events, PL, LaC, LoC, v_cruise_kph, driver_status, geofence):
|
||||
@@ -224,7 +231,7 @@ def state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM
|
||||
|
||||
|
||||
def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk,
|
||||
driver_status, PL, LaC, LoC, VM, angle_offset, passive):
|
||||
driver_status, PL, LaC, LoC, VM, angle_offset, passive, is_metric, cal_perc):
|
||||
# Given the state, this function returns the actuators
|
||||
|
||||
# reset actuators to zero
|
||||
@@ -258,7 +265,13 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
|
||||
|
||||
# parse warnings from car specific interface
|
||||
for e in get_events(events, [ET.WARNING]):
|
||||
AM.add(e, enabled)
|
||||
extra_text = ""
|
||||
if e == "belowSteerSpeed":
|
||||
if is_metric:
|
||||
extra_text = str(int(round(CP.minSteerSpeed * CV.MS_TO_KPH))) + " kph"
|
||||
else:
|
||||
extra_text = str(int(round(CP.minSteerSpeed * CV.MS_TO_MPH))) + " mph"
|
||||
AM.add(e, enabled, extra_text_2=extra_text)
|
||||
|
||||
# *** angle offset learning ***
|
||||
|
||||
@@ -283,10 +296,13 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
|
||||
|
||||
# parse permanent warnings to display constantly
|
||||
for e in get_events(events, [ET.PERMANENT]):
|
||||
AM.add(str(e) + "Permanent", enabled)
|
||||
extra_text_1, extra_text_2 = "", ""
|
||||
if e == "calibrationIncomplete":
|
||||
extra_text_1 = str(cal_perc) + "%"
|
||||
extra_text_2 = "35 kph" if is_metric else "15 mph"
|
||||
AM.add(str(e) + "Permanent", enabled, extra_text_1=extra_text_1, extra_text_2=extra_text_2)
|
||||
|
||||
# *** process alerts ***
|
||||
|
||||
AM.process_alerts(sec_since_boot())
|
||||
|
||||
return actuators, v_cruise_kph, driver_status, angle_offset
|
||||
@@ -336,6 +352,7 @@ def data_send(perception_state, plan, plan_ts, CS, CI, CP, VM, state, events, ac
|
||||
"alertSize": AM.alert_size,
|
||||
"alertStatus": AM.alert_status,
|
||||
"alertBlinkingRate": AM.alert_rate,
|
||||
"alertType": AM.alert_type,
|
||||
"awarenessStatus": max(driver_status.awareness, 0.0) if isEnabled(state) else 0.0,
|
||||
"driverMonitoringOn": bool(driver_status.monitor_on),
|
||||
"canMonoTimes": list(CS.canMonoTimes),
|
||||
@@ -410,6 +427,7 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
|
||||
carcontrol = messaging.pub_sock(context, service_list['carControl'].port)
|
||||
livempc = messaging.pub_sock(context, service_list['liveMpc'].port)
|
||||
|
||||
is_metric = params.get("IsMetric") == "1"
|
||||
passive = params.get("Passive") != "0"
|
||||
if not passive:
|
||||
while 1:
|
||||
@@ -448,12 +466,6 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
|
||||
|
||||
fcw_enabled = params.get("IsFcwEnabled") == "1"
|
||||
geofence = None
|
||||
try:
|
||||
from selfdrive.controls.lib.geofence import Geofence
|
||||
geofence = Geofence(params.get("IsGeofenceEnabled") == "1")
|
||||
except ImportError:
|
||||
# geofence not available
|
||||
params.put("IsGeofenceEnabled", "-1")
|
||||
|
||||
PL = Planner(CP, fcw_enabled)
|
||||
LoC = LongControl(CP, CI.compute_gb)
|
||||
@@ -474,8 +486,10 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
|
||||
v_cruise_kph_last = 0
|
||||
overtemp = False
|
||||
free_space = False
|
||||
cal_status = Calibration.UNCALIBRATED
|
||||
cal_status = Calibration.INVALID
|
||||
cal_perc = 0
|
||||
mismatch_counter = 0
|
||||
low_battery = False
|
||||
|
||||
rk = Ratekeeper(rate, print_delay_threshold=2./1000)
|
||||
|
||||
@@ -496,8 +510,8 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
|
||||
prof.checkpoint("Ratekeeper", ignore=True)
|
||||
|
||||
# sample data and compute car events
|
||||
CS, events, cal_status, overtemp, free_space, mismatch_counter = data_sample(CI, CC, thermal, cal, health,
|
||||
driver_monitor, gps_location, poller, cal_status, overtemp, free_space, driver_status, geofence, state, mismatch_counter, params)
|
||||
CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter = data_sample(CI, CC, thermal, cal, health,
|
||||
driver_monitor, gps_location, poller, cal_status, cal_perc, overtemp, free_space, low_battery, driver_status, geofence, state, mismatch_counter, params)
|
||||
prof.checkpoint("Sample")
|
||||
|
||||
# define plan
|
||||
@@ -512,7 +526,7 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
|
||||
|
||||
# compute actuators
|
||||
actuators, v_cruise_kph, driver_status, angle_offset = state_control(plan, CS, CP, state, events, v_cruise_kph,
|
||||
v_cruise_kph_last, AM, rk, driver_status, PL, LaC, LoC, VM, angle_offset, passive)
|
||||
v_cruise_kph_last, AM, rk, driver_status, PL, LaC, LoC, VM, angle_offset, passive, is_metric, cal_perc)
|
||||
prof.checkpoint("State Control")
|
||||
|
||||
# publish data
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,12 +1,14 @@
|
||||
import numpy as np
|
||||
from common.realtime import sec_since_boot
|
||||
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
|
||||
from common.filter_simple import FirstOrderFilter
|
||||
|
||||
_DT = 0.01 # update runs at 100Hz
|
||||
_DTM = 0.1 # DM runs at 10Hz
|
||||
_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 = 8.
|
||||
_DISTRACTED_TIME = 7.
|
||||
_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
|
||||
@@ -18,13 +20,10 @@ _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 = 0.1 # 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)
|
||||
_DISTRACTED_FILTER_TS = 0.25 # 0.6Hz
|
||||
_VARIANCE_FILTER_TS = 20. # 0.008Hz
|
||||
|
||||
|
||||
class _DriverPose():
|
||||
@@ -47,15 +46,15 @@ class DriverStatus():
|
||||
self.monitor_valid = True # variance needs to be low
|
||||
self.awareness = 1.
|
||||
self.driver_distracted = False
|
||||
self.driver_distraction_level = 0.
|
||||
self.driver_distraction_filter = FirstOrderFilter(0., _DISTRACTED_FILTER_TS, _DTM)
|
||||
self.variance_high = False
|
||||
self.variance_level = 0.
|
||||
self.variance_filter = FirstOrderFilter(0., _VARIANCE_FILTER_TS, _DTM)
|
||||
self.ts_last_check = 0.
|
||||
self._set_timers()
|
||||
|
||||
def _reset_filters(self):
|
||||
self.driver_distraction_level = 0.
|
||||
self.variance_level = 0.
|
||||
self.driver_distraction_filter.x = 0.
|
||||
self.variance_filter.x = 0.
|
||||
self.monitor_valid = True
|
||||
|
||||
def _set_timers(self):
|
||||
@@ -90,11 +89,9 @@ class DriverStatus():
|
||||
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 filters
|
||||
self.driver_distraction_level = (1. - _DISTRACTED_FILTER_K) * self.driver_distraction_level + \
|
||||
_DISTRACTED_FILTER_K * self.driver_distracted
|
||||
self.driver_distraction_filter.update(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
|
||||
self.variance_filter.update(self.variance_high)
|
||||
|
||||
monitor_param_on_prev = self.monitor_param_on
|
||||
monitor_valid_prev = self.monitor_valid
|
||||
@@ -105,7 +102,7 @@ class DriverStatus():
|
||||
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_valid = _monitor_hysteresys(self.variance_filter.x, 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()
|
||||
@@ -114,13 +111,13 @@ class DriverStatus():
|
||||
|
||||
def update(self, events, driver_engaged, ctrl_active, standstill):
|
||||
|
||||
driver_engaged |= (self.driver_distraction_level < 0.37 and self.monitor_on)
|
||||
driver_engaged |= (self.driver_distraction_filter.x < 0.37 and self.monitor_on)
|
||||
|
||||
if (driver_engaged and self.awareness > 0.) or not ctrl_active:
|
||||
# always reset if driver is in control (unless we are in red alert state) or op isn't active
|
||||
self.awareness = 1.
|
||||
|
||||
if (not self.monitor_on or (self.driver_distraction_level > 0.63 and self.driver_distracted)) and \
|
||||
if (not self.monitor_on or (self.driver_distraction_filter.x > 0.63 and self.driver_distracted)) and \
|
||||
not (standstill and self.awareness - self.step_change <= self.threshold_prompt):
|
||||
self.awareness = max(self.awareness - self.step_change, -0.1)
|
||||
|
||||
@@ -142,11 +139,11 @@ class DriverStatus():
|
||||
|
||||
if __name__ == "__main__":
|
||||
ds = DriverStatus(True)
|
||||
ds.driver_distraction_level = 1.
|
||||
ds.driver_distraction_filter.x = 0.
|
||||
ds.driver_distracted = 1
|
||||
for i in range(1000):
|
||||
ds.update([], False, True, True)
|
||||
print(ds.awareness, ds.driver_distracted, ds.driver_distraction_level)
|
||||
for i in range(10):
|
||||
ds.update([], False, True, False)
|
||||
print(ds.awareness, ds.driver_distracted, ds.driver_distraction_filter.x)
|
||||
ds.update([], True, True, False)
|
||||
print(ds.awareness, ds.driver_distracted, ds.driver_distraction_level)
|
||||
print(ds.awareness, ds.driver_distracted, ds.driver_distraction_filter.x)
|
||||
|
||||
|
||||
@@ -4,6 +4,7 @@ CXX = clang++
|
||||
|
||||
PHONELIBS = ../../../../phonelibs
|
||||
|
||||
UNAME_S := $(shell uname -s)
|
||||
UNAME_M := $(shell uname -m)
|
||||
|
||||
CFLAGS = -O3 -fPIC -I.
|
||||
@@ -13,70 +14,63 @@ QPOASES_FLAGS = -I$(PHONELIBS)/qpoases -I$(PHONELIBS)/qpoases/INCLUDE -I$(PHONEL
|
||||
|
||||
ACADO_FLAGS = -I$(PHONELIBS)/acado/include -I$(PHONELIBS)/acado/include/acado
|
||||
|
||||
ifeq ($(UNAME_M),aarch64)
|
||||
ACADO_LIBS := -L $(PHONELIBS)/acado/aarch64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
|
||||
ifeq ($(UNAME_S),Darwin)
|
||||
ACADO_LIBS := -lacado_toolkit_s
|
||||
else ifeq ($(UNAME_M),aarch64)
|
||||
ACADO_LIBS := -L $(PHONELIBS)/acado/aarch64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
|
||||
else
|
||||
ACADO_LIBS := -L $(PHONELIBS)/acado/x64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
|
||||
ACADO_LIBS := -L $(PHONELIBS)/acado/x64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
|
||||
endif
|
||||
|
||||
OBJS = \
|
||||
qp/Bounds.o \
|
||||
qp/Constraints.o \
|
||||
qp/CyclingManager.o \
|
||||
qp/Indexlist.o \
|
||||
qp/MessageHandling.o \
|
||||
qp/QProblem.o \
|
||||
qp/QProblemB.o \
|
||||
qp/SubjectTo.o \
|
||||
qp/Utils.o \
|
||||
qp/EXTRAS/SolutionAnalysis.o \
|
||||
mpc_export/acado_qpoases_interface.o \
|
||||
mpc_export/acado_integrator.o \
|
||||
mpc_export/acado_solver.o \
|
||||
mpc_export/acado_auxiliary_functions.o \
|
||||
mpc.o
|
||||
lib_qp/Bounds.o \
|
||||
lib_qp/Constraints.o \
|
||||
lib_qp/CyclingManager.o \
|
||||
lib_qp/Indexlist.o \
|
||||
lib_qp/MessageHandling.o \
|
||||
lib_qp/QProblem.o \
|
||||
lib_qp/QProblemB.o \
|
||||
lib_qp/SubjectTo.o \
|
||||
lib_qp/Utils.o \
|
||||
lib_qp/EXTRAS/SolutionAnalysis.o \
|
||||
lib_mpc_export/acado_qpoases_interface.o \
|
||||
lib_mpc_export/acado_integrator.o \
|
||||
lib_mpc_export/acado_solver.o \
|
||||
lib_mpc_export/acado_auxiliary_functions.o \
|
||||
lateral_mpc.o
|
||||
|
||||
DEPS := $(OBJS:.o=.d)
|
||||
|
||||
.PHONY: all
|
||||
all: libcommampc.so
|
||||
all: libmpc.so
|
||||
|
||||
libcommampc.so: $(OBJS)
|
||||
libmpc.so: $(OBJS)
|
||||
$(CXX) -shared -o '$@' $^ -lm
|
||||
|
||||
|
||||
qp/%.o: $(PHONELIBS)/qpoases/SRC/%.cpp
|
||||
lib_qp/%.o: $(PHONELIBS)/qpoases/SRC/%.cpp
|
||||
@echo "[ CXX ] $@"
|
||||
mkdir -p qp
|
||||
mkdir -p lib_qp/EXTRAS
|
||||
$(CXX) $(CXXFLAGS) -MMD \
|
||||
-I mpc_export/ \
|
||||
$(QPOASES_FLAGS) \
|
||||
-c -o '$@' '$<'
|
||||
|
||||
qp/EXTRAS/%.o: $(PHONELIBS)/qpoases/SRC/EXTRAS/%.cpp
|
||||
@echo "[ CXX ] $@"
|
||||
mkdir -p qp/EXTRAS
|
||||
$(CXX) $(CXXFLAGS) -MMD \
|
||||
-I mpc_export/ \
|
||||
-I lib_mpc_export/ \
|
||||
$(QPOASES_FLAGS) \
|
||||
-c -o '$@' '$<'
|
||||
|
||||
%.o: %.cpp
|
||||
@echo "[ CXX ] $@"
|
||||
$(CXX) $(CXXFLAGS) -MMD \
|
||||
-I mpc_export/ \
|
||||
-I lib_mpc_export/ \
|
||||
$(QPOASES_FLAGS) \
|
||||
-c -o '$@' '$<'
|
||||
|
||||
%.o: %.c
|
||||
@echo "[ CC ] $@"
|
||||
$(CC) $(CFLAGS) -MMD \
|
||||
-I mpc_export/ \
|
||||
-I lib_mpc_export/ \
|
||||
$(QPOASES_FLAGS) \
|
||||
-c -o '$@' '$<'
|
||||
|
||||
generator: generator.cpp
|
||||
$(CXX) -Wall -std=c++11 \
|
||||
$(CXX) -v -Wall -std=c++11 \
|
||||
generator.cpp \
|
||||
-o generator \
|
||||
$(ACADO_FLAGS) \
|
||||
@@ -88,6 +82,6 @@ generate: generator
|
||||
|
||||
.PHONY: clean
|
||||
clean:
|
||||
rm -f libcommampc.so generator $(OBJS) $(DEPS)
|
||||
rm -f *.so generator $(OBJS) $(DEPS)
|
||||
|
||||
-include $(DEPS)
|
||||
|
||||
@@ -141,7 +141,7 @@ int main( )
|
||||
mpc.set( GENERATE_MATLAB_INTERFACE, NO );
|
||||
mpc.set( GENERATE_SIMULINK_INTERFACE, NO );
|
||||
|
||||
if (mpc.exportCode( "mpc_export" ) != SUCCESSFUL_RETURN)
|
||||
if (mpc.exportCode( "lib_mpc_export" ) != SUCCESSFUL_RETURN)
|
||||
exit( EXIT_FAILURE );
|
||||
|
||||
mpc.printDimensionsQP( );
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user