openpilot v0.5.1 release (#315)

Merge commit '2cfdc676101c387524246f789c8429647069b827' into release2

.gitignore

@@ -20,6 +20,8 @@ a.out
 *.class
 *.pyxbldc
 *.vcd
+lane.cpp
+loc*.cpp
 config.json
 clcache
 

CONTRIBUTING.md

@@ -8,11 +8,11 @@ Most open source development activity is coordinated through our [slack](https:/
 
  * Join our slack [slack.comma.ai](https://slack.comma.ai)
  * Make sure you have a [GitHub account](https://github.com/signup/free)
- * Fork [our repositories](https://github.com/commaai) on GitHub
+ * Fork the repository on GitHub
 
 ## Car Ports (openpilot)
 
-We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
+We've released a guide for porting to Toyota cars [here](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6)
 
-If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
+If you port openpilot to a substantially new car, you might be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
 

README.md

@@ -53,13 +53,12 @@ Supported Cars
 | 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 2015                 | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda         | CR-V 2016                 | Honda Sensing        | 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 2017              | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
+| Honda         | Odyssey 2018              | Honda Sensing        | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          |
 | 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          |
@@ -97,7 +96,7 @@ Community Maintained Cars
 
 [[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266).
 
-Community Maintained Cars are not confirmed by comma.ai to meet our [safety model](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Be extra cautious using them.
+Community Maintained Cars are not confirmed by comma.ai to meet our safety model. Be extra cautious using them.
 
 In Progress Cars
 ------

RELEASES.md

@@ -1,11 +1,3 @@
-Version 0.5.2 (2018-08-16)
-========================
- * New calibration: more accurate, a lot faster, open source!
- * Enable orbd
- * Add little endian support to CAN packer
- * Fix fingerprint for Honda Accord 1.5T
- * Improve driver monitoring model
-
 Version 0.5.1 (2018-08-01)
 ========================
  * Fix radar error on Civic sedan 2018

cereal/car.capnp

@@ -309,7 +309,6 @@ struct CarParams {
     cadillac @7;
     hyundai @8;
     chrysler @9;
-    tesla @10;
   }
 
   # things about the car in the manual

cereal/log.capnp

@@ -331,16 +331,13 @@ struct Live20Data {
 }
 
 struct LiveCalibrationData {
-  # deprecated
   warpMatrix @0 :List(Float32);
-  # camera_frame_from_model_frame
   warpMatrix2 @5 :List(Float32);
   calStatus @1 :Int8;
   calCycle @2 :Int32;
   calPerc @3 :Int8;
 
-  # view_frame_from_road_frame
-  # ui's is inversed needs new
+  # Maps car space to normalized image space.
   extrinsicMatrix @4 :List(Float32);
 }
 

common/dbc.py

@@ -4,7 +4,7 @@ import struct
 import bitstring
 import sys
 import numbers
-from collections import namedtuple, defaultdict
+from collections import namedtuple
 
 def int_or_float(s):
   # return number, trying to maintain int format
@@ -28,7 +28,6 @@ class dbc(object):
     bo_regexp = re.compile(r"^BO\_ (\w+) (\w+) *: (\w+) (\w+)")
     sg_regexp = re.compile(r"^SG\_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
     sgm_regexp = re.compile(r"^SG\_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
-    val_regexp = re.compile(r"VAL\_ (\w+) (\w+) (\s*[-+]?[0-9]+\s+\".+?\"[^;]*)")
 
     # A dictionary which maps message ids to tuples ((name, size), signals).
     #   name is the ASCII name of the message.
@@ -37,9 +36,6 @@ class dbc(object):
     # signals is a list of DBCSignal in order of increasing start_bit.
     self.msgs = {}
 
-    # A dictionary which maps message ids to a list of tuples (signal name, definition value pairs)
-    self.def_vals = defaultdict(list)
-
     # lookup to bit reverse each byte
     self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in xrange(64)]
 
@@ -85,30 +81,6 @@ class dbc(object):
           DBCSignal(sgname, start_bit, signal_size, is_little_endian,
                     is_signed, factor, offset, tmin, tmax, units))
 
-      if l.startswith("VAL_ "):
-        # new signal value/definition
-        dat = val_regexp.match(l)
-
-        if dat is None:
-          print "bad VAL", l
-        ids = int(dat.group(1), 0) # could be hex
-        sgname = dat.group(2)
-        defvals = dat.group(3)
-
-        defvals = defvals.replace("?","\?") #escape sequence in C++
-        defvals = defvals.split('"')[:-1]
-
-        defs = defvals[1::2]
-        #cleanup, convert to UPPER_CASE_WITH_UNDERSCORES
-        for i,d in enumerate(defs):
-          d = defs[i].strip().upper()
-          defs[i] = d.replace(" ","_")
-
-        defvals[1::2] = defs
-        defvals = '"'+"".join(str(i) for i in defvals)+'"'
-
-        self.def_vals[ids].append((sgname, defvals))
-
     for msg in self.msgs.viewvalues():
       msg[1].sort(key=lambda x: x.start_bit)
 

common/ffi_wrapper.py

@@ -1,42 +0,0 @@
-import os
-import sys
-import fcntl
-import hashlib
-from cffi import FFI
-
-TMPDIR = "/tmp/ccache"
-
-def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR):
-  cache = name + "_" + hashlib.sha1(c_code).hexdigest()
-  try:
-    os.mkdir(tmpdir)
-  except OSError:
-    pass
-
-  fd = os.open(tmpdir, 0)
-  fcntl.flock(fd, fcntl.LOCK_EX)
-  try:
-    sys.path.append(tmpdir)
-    try:
-      mod = __import__(cache)
-    except Exception:
-      print "cache miss", cache
-      compile_code(cache, c_code, c_header, tmpdir)
-      mod = __import__(cache)
-  finally:
-    os.close(fd)
-
-  return mod.ffi, mod.lib
-
-def compile_code(name, c_code, c_header, directory):
-  ffibuilder = FFI()
-  ffibuilder.set_source(name, c_code, source_extension='.cpp')
-  ffibuilder.cdef(c_header)
-  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
-  os.environ['CFLAGS'] = ""
-  ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
-
-def wrap_compiled(name, directory):
-  sys.path.append(directory)
-  mod = __import__(name)
-  return mod.ffi, mod.lib

common/params.py

@@ -66,6 +66,9 @@ keys = {
 # written: visiond
 # read:    visiond, controlsd
   "CalibrationParams": TxType.PERSISTENT,
+# written: visiond
+# read:    visiond, ui
+  "CloudCalibration": TxType.PERSISTENT,
 # written: controlsd
 # read:    radard
   "CarParams": TxType.CLEAR_ON_CAR_START,

common/transformations/camera.py

@@ -1,115 +0,0 @@
-import numpy as np
-import common.transformations.orientation as orient
-
-FULL_FRAME_SIZE = (1164, 874)
-W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
-eon_focal_length = FOCAL = 910.0
-
-# aka 'K' aka camera_frame_from_view_frame
-eon_intrinsics = np.array([
-  [FOCAL,   0.,   W/2.],
-  [  0.,  FOCAL,  H/2.],
-  [  0.,    0.,     1.]])
-
-# aka 'K_inv' aka view_frame_from_camera_frame
-eon_intrinsics_inv = np.linalg.inv(eon_intrinsics)
-
-
-# device/mesh : x->forward, y-> right, z->down
-# view : x->right, y->down, z->forward
-device_frame_from_view_frame = np.array([
-  [ 0.,  0.,  1.],
-  [ 1.,  0.,  0.],
-  [ 0.,  1.,  0.]
-])
-view_frame_from_device_frame = device_frame_from_view_frame.T
-
-
-def get_calib_from_vp(vp):
-  vp_norm = normalize(vp)
-  yaw_calib = np.arctan(vp_norm[0])
-  pitch_calib = np.arctan(vp_norm[1]*np.cos(yaw_calib))
-  # TODO should be, this but written
-  # to be compatible with meshcalib and
-  # get_view_frame_from_road_fram
-  #pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
-  roll_calib = 0
-  return roll_calib, pitch_calib, yaw_calib
-
-# aka 'extrinsic_matrix'
-# road : x->forward, y -> left, z->up
-def get_view_frame_from_road_frame(roll, pitch, yaw, height):
-  # TODO
-  # calibration pitch is currently defined
-  # opposite to pitch in device frame
-  pitch = -pitch
-  device_from_road = orient.rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1]))
-  view_from_road = view_frame_from_device_frame.dot(device_from_road)
-  return np.hstack((view_from_road, [[0], [height], [0]]))
-
-
-def vp_from_ke(m):
-  """
-  Computes the vanishing point from the product of the intrinsic and extrinsic
-  matrices C = KE.
-
-  The vanishing point is defined as lim x->infinity C (x, 0, 0, 1).T
-  """
-  return (m[0, 0]/m[2,0], m[1,0]/m[2,0])
-
-def roll_from_ke(m):
-  # note: different from calibration.h/RollAnglefromKE: i think that one's just wrong
-  return np.arctan2(-(m[1, 0] - m[1, 1] * m[2, 0] / m[2, 1]),
-                    -(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))
-
-def normalize(img_pts):
-  # normalizes image coordinates
-  # accepts single pt or array of pts
-  img_pts = np.array(img_pts)
-  input_shape = img_pts.shape
-  img_pts = np.atleast_2d(img_pts)
-  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
-  img_pts_normalized = eon_intrinsics_inv.dot(img_pts.T).T
-  img_pts_normalized[(img_pts < 0).any(axis=1)] = np.nan
-  return img_pts_normalized[:,:2].reshape(input_shape)
-
-def denormalize(img_pts):
-  # denormalizes image coordinates
-  # accepts single pt or array of pts
-  img_pts = np.array(img_pts)
-  input_shape = img_pts.shape
-  img_pts = np.atleast_2d(img_pts)
-  img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
-  img_pts_denormalized = eon_intrinsics.dot(img_pts.T).T
-  img_pts_denormalized[img_pts_denormalized[:,0] > W] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:,0] < 0] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:,1] > H] = np.nan
-  img_pts_denormalized[img_pts_denormalized[:,1] < 0] = np.nan
-  return img_pts_denormalized[:,:2].reshape(input_shape)
-
-def device_from_ecef(pos_ecef, orientation_ecef, pt_ecef):
-  # device from ecef frame
-  # device frame is x -> forward, y-> right, z -> down
-  # accepts single pt or array of pts
-  input_shape = pt_ecef.shape
-  pt_ecef = np.atleast_2d(pt_ecef)
-  ecef_from_device_rot = orient.rotations_from_quats(orientation_ecef)
-  device_from_ecef_rot = ecef_from_device_rot.T
-  pt_ecef_rel = pt_ecef - pos_ecef
-  pt_device = np.einsum('jk,ik->ij', device_from_ecef_rot, pt_ecef_rel)
-  return pt_device.reshape(input_shape)
-
-def img_from_device(pt_device):
-  # img coordinates from pts in device frame
-  # first transforms to view frame, then to img coords
-  # accepts single pt or array of pts
-  input_shape = pt_device.shape
-  pt_device = np.atleast_2d(pt_device)
-  pt_view = np.einsum('jk,ik->ij', view_frame_from_device_frame, pt_device)
-
-  # This function should never return negative depths
-  pt_view[pt_view[:,2] < 0] = np.nan
-
-  pt_img = pt_view/pt_view[:,2:3]
-  return pt_img.reshape(input_shape)[:,:2]
-

common/transformations/model.py

@@ -1,112 +0,0 @@
-import numpy as np
-
-from common.transformations.camera import eon_focal_length, \
-	vp_from_ke, \
-	get_view_frame_from_road_frame, \
-	FULL_FRAME_SIZE
-
-# segnet
-
-SEGNET_SIZE = (512, 384)
-
-segnet_frame_from_camera_frame = np.array([
-  [float(SEGNET_SIZE[0])/FULL_FRAME_SIZE[0],    0.,          ],
-  [     0.,          float(SEGNET_SIZE[1])/FULL_FRAME_SIZE[1]]])
-
-
-# model
-
-MODEL_INPUT_SIZE = (320, 160)
-MODEL_YUV_SIZE = (MODEL_INPUT_SIZE[0], MODEL_INPUT_SIZE[1] * 3 // 2)
-MODEL_CX = MODEL_INPUT_SIZE[0]/2.
-MODEL_CY = 21.
-
-model_zoom = 1.25
-model_height = 1.22
-
-# canonical model transform
-model_intrinsics = np.array(
-  [[ eon_focal_length / model_zoom,    0. ,  MODEL_CX],
-   [   0. ,  eon_focal_length / model_zoom,  MODEL_CY],
-   [   0. ,                            0. ,   1.]])
-
-
-# BIG model
-
-BIGMODEL_INPUT_SIZE = (864, 288)
-BIGMODEL_YUV_SIZE = (BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1] * 3 // 2)
-
-bigmodel_zoom = 1.
-bigmodel_intrinsics = np.array(
-  [[ eon_focal_length / bigmodel_zoom,    0. , 0.5 * BIGMODEL_INPUT_SIZE[0]],
-   [   0. ,  eon_focal_length / bigmodel_zoom,  0.2 * BIGMODEL_INPUT_SIZE[1]],
-   [   0. ,                            0. ,   1.]])
-
-
-bigmodel_border = np.array([
-    [0,0,1],
-    [BIGMODEL_INPUT_SIZE[0], 0, 1],
-    [BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1], 1],
-    [0, BIGMODEL_INPUT_SIZE[1], 1],
-])
-
-
-model_frame_from_road_frame = np.dot(model_intrinsics,
-  get_view_frame_from_road_frame(0, 0, 0, model_height))
-
-bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
-  get_view_frame_from_road_frame(0, 0, 0, model_height))
-
-# 'camera from model camera'
-def get_model_height_transform(camera_frame_from_road_frame, height):
-  camera_frame_from_road_ground = np.dot(camera_frame_from_road_frame, np.array([
-      [1, 0, 0],
-      [0, 1, 0],
-      [0, 0, 0],
-      [0, 0, 1],
-  ]))
-
-  camera_frame_from_road_high = np.dot(camera_frame_from_road_frame, np.array([
-      [1, 0, 0],
-      [0, 1, 0],
-      [0, 0, height - model_height],
-      [0, 0, 1],
-  ]))
-
-  ground_from_camera_frame = np.linalg.inv(camera_frame_from_road_ground)
-
-  low_camera_from_high_camera = np.dot(camera_frame_from_road_high, ground_from_camera_frame)
-  high_camera_from_low_camera = np.linalg.inv(low_camera_from_high_camera)
-
-  return high_camera_from_low_camera
-
-
-# camera_frame_from_model_frame aka 'warp matrix'
-# was: calibration.h/CalibrationTransform
-def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height):
-  vp = vp_from_ke(camera_frame_from_road_frame)
-
-  model_camera_from_model_frame = np.array([
-    [model_zoom,         0., vp[0] - MODEL_CX * model_zoom],
-    [        0., model_zoom, vp[1] - MODEL_CY * model_zoom],
-    [        0.,         0.,                            1.],
-  ])
-
-  # This function is super slow, so skip it if height is very close to canonical
-  # TODO: speed it up!
-  if abs(height - model_height) > 0.001: #
-    camera_from_model_camera = get_model_height_transform(camera_frame_from_road_frame, height)
-  else:
-    camera_from_model_camera = np.eye(3)
-
-  return np.dot(camera_from_model_camera, model_camera_from_model_frame)
-
-
-def get_camera_frame_from_bigmodel_frame(camera_frame_from_road_frame):
-  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
-  bigmodel_frame_from_ground = bigmodel_frame_from_road_frame[:, (0, 1, 3)]
-
-  ground_from_bigmodel_frame = np.linalg.inv(bigmodel_frame_from_ground)
-  camera_frame_from_bigmodel_frame = np.dot(camera_frame_from_ground, ground_from_bigmodel_frame)
-
-  return camera_frame_from_bigmodel_frame

common/transformations/orientation.py

@@ -1,293 +0,0 @@
-import numpy as np
-from numpy import dot, inner, array, linalg
-from common.transformations.coordinates import LocalCoord
-
-
-'''
-Vectorized functions that transform between
-rotation matrices, euler angles and quaternions.
-All support lists, array or array of arrays as inputs.
-Supports both x2y and y_from_x format (y_from_x preferred!).
-'''
-
-def euler2quat(eulers):
-  eulers = array(eulers)
-  if len(eulers.shape) > 1:
-    output_shape = (-1,4)
-  else:
-    output_shape = (4,)
-  eulers = np.atleast_2d(eulers)
-  gamma, theta, psi = eulers[:,0],  eulers[:,1],  eulers[:,2]
-
-  q0 = np.cos(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) + \
-       np.sin(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2)
-  q1 = np.sin(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) - \
-       np.cos(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2)
-  q2 = np.cos(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2) + \
-       np.sin(gamma / 2) * np.cos(theta / 2) * np.sin(psi / 2)
-  q3 = np.cos(gamma / 2) * np.cos(theta / 2) * np.sin(psi / 2) - \
-       np.sin(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2)
-
-  quats = array([q0, q1, q2, q3]).T
-  for i in xrange(len(quats)):
-    if quats[i,0] < 0:
-      quats[i] = -quats[i]
-  return quats.reshape(output_shape)
-
-
-def quat2euler(quats):
-  quats = array(quats)
-  if len(quats.shape) > 1:
-    output_shape = (-1,3)
-  else:
-    output_shape = (3,)
-  quats = np.atleast_2d(quats)
-  q0, q1, q2, q3 = quats[:,0], quats[:,1], quats[:,2], quats[:,3]
-
-  gamma = np.arctan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1**2 + q2**2))
-  theta = np.arcsin(2 * (q0 * q2 - q3 * q1))
-  psi = np.arctan2(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2**2 + q3**2))
-
-  eulers = array([gamma, theta, psi]).T
-  return eulers.reshape(output_shape)
-
-
-def quat2rot(quats):
-  quats = array(quats)
-  input_shape = quats.shape
-  quats = np.atleast_2d(quats)
-  Rs = np.zeros((quats.shape[0], 3, 3))
-  q0 = quats[:, 0]
-  q1 = quats[:, 1]
-  q2 = quats[:, 2]
-  q3 = quats[:, 3]
-  Rs[:, 0, 0] = q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3
-  Rs[:, 0, 1] = 2 * (q1 * q2 - q0 * q3)
-  Rs[:, 0, 2] = 2 * (q0 * q2 + q1 * q3)
-  Rs[:, 1, 0] = 2 * (q1 * q2 + q0 * q3)
-  Rs[:, 1, 1] = q0 * q0 - q1 * q1 + q2 * q2 - q3 * q3
-  Rs[:, 1, 2] = 2 * (q2 * q3 - q0 * q1)
-  Rs[:, 2, 0] = 2 * (q1 * q3 - q0 * q2)
-  Rs[:, 2, 1] = 2 * (q0 * q1 + q2 * q3)
-  Rs[:, 2, 2] = q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3
-
-  if len(input_shape) < 2:
-    return Rs[0]
-  else:
-    return Rs
-
-
-def rot2quat(rots):
-  input_shape = rots.shape
-  if len(input_shape) < 3:
-    rots = array([rots])
-  K3 = np.empty((len(rots), 4, 4))
-  K3[:, 0, 0] = (rots[:, 0, 0] - rots[:, 1, 1] - rots[:, 2, 2]) / 3.0
-  K3[:, 0, 1] = (rots[:, 1, 0] + rots[:, 0, 1]) / 3.0
-  K3[:, 0, 2] = (rots[:, 2, 0] + rots[:, 0, 2]) / 3.0
-  K3[:, 0, 3] = (rots[:, 1, 2] - rots[:, 2, 1]) / 3.0
-  K3[:, 1, 0] = K3[:, 0, 1]
-  K3[:, 1, 1] = (rots[:, 1, 1] - rots[:, 0, 0] - rots[:, 2, 2]) / 3.0
-  K3[:, 1, 2] = (rots[:, 2, 1] + rots[:, 1, 2]) / 3.0
-  K3[:, 1, 3] = (rots[:, 2, 0] - rots[:, 0, 2]) / 3.0
-  K3[:, 2, 0] = K3[:, 0, 2]
-  K3[:, 2, 1] = K3[:, 1, 2]
-  K3[:, 2, 2] = (rots[:, 2, 2] - rots[:, 0, 0] - rots[:, 1, 1]) / 3.0
-  K3[:, 2, 3] = (rots[:, 0, 1] - rots[:, 1, 0]) / 3.0
-  K3[:, 3, 0] = K3[:, 0, 3]
-  K3[:, 3, 1] = K3[:, 1, 3]
-  K3[:, 3, 2] = K3[:, 2, 3]
-  K3[:, 3, 3] = (rots[:, 0, 0] + rots[:, 1, 1] + rots[:, 2, 2]) / 3.0
-  q = np.empty((len(rots), 4))
-  for i in xrange(len(rots)):
-    _, eigvecs = linalg.eigh(K3[i].T)
-    eigvecs = eigvecs[:,3:]
-    q[i, 0] = eigvecs[-1]
-    q[i, 1:] = -eigvecs[:-1].flatten()
-    if q[i, 0] < 0:
-      q[i] = -q[i]
-
-  if len(input_shape) < 3:
-    return q[0]
-  else:
-    return q
-
-
-def euler2rot(eulers):
-  return rotations_from_quats(euler2quat(eulers))
-
-
-def rot2euler(rots):
-  return quat2euler(quats_from_rotations(rots))
-
-
-quats_from_rotations = rot2quat
-quat_from_rot = rot2quat
-rotations_from_quats = quat2rot
-rot_from_quat= quat2rot
-rot_from_quat= quat2rot
-euler_from_rot = rot2euler
-euler_from_quat = quat2euler
-rot_from_euler = euler2rot
-quat_from_euler = euler2quat
-
-
-
-
-
-
-'''
-Random helpers below
-'''
-
-
-def quat_product(q, r):
-  t = np.zeros(4)
-  t[0] = r[0] * q[0] - r[1] * q[1] - r[2] * q[2] - r[3] * q[3]
-  t[1] = r[0] * q[1] + r[1] * q[0] - r[2] * q[3] + r[3] * q[2]
-  t[2] = r[0] * q[2] + r[1] * q[3] + r[2] * q[0] - r[3] * q[1]
-  t[3] = r[0] * q[3] - r[1] * q[2] + r[2] * q[1] + r[3] * q[0]
-  return t
-
-
-def rot_matrix(roll, pitch, yaw):
-  cr, sr = np.cos(roll), np.sin(roll)
-  cp, sp = np.cos(pitch), np.sin(pitch)
-  cy, sy = np.cos(yaw), np.sin(yaw)
-  rr = array([[1,0,0],[0, cr,-sr],[0, sr, cr]])
-  rp = array([[cp,0,sp],[0, 1,0],[-sp, 0, cp]])
-  ry = array([[cy,-sy,0],[sy, cy,0],[0, 0, 1]])
-  return ry.dot(rp.dot(rr))
-
-
-def rot(axis, angle):
-  # Rotates around an arbitrary axis
-  ret_1 = (1 - np.cos(angle)) * array([[axis[0]**2, axis[0] * axis[1], axis[0] * axis[2]], [
-    axis[1] * axis[0], axis[1]**2, axis[1] * axis[2]
-  ], [axis[2] * axis[0], axis[2] * axis[1], axis[2]**2]])
-  ret_2 = np.cos(angle) * np.eye(3)
-  ret_3 = np.sin(angle) * array([[0, -axis[2], axis[1]], [axis[2], 0, -axis[0]],
-                              [-axis[1], axis[0], 0]])
-  return ret_1 + ret_2 + ret_3
-
-
-def ecef_euler_from_ned(ned_ecef_init, ned_pose):
-  '''
-  Got it from here:
-  Using Rotations to Build Aerospace Coordinate Systems
-  -Don Koks
-  '''
-  converter = LocalCoord.from_ecef(ned_ecef_init)
-  x0 = converter.ned2ecef([1, 0, 0]) - converter.ned2ecef([0, 0, 0])
-  y0 = converter.ned2ecef([0, 1, 0]) - converter.ned2ecef([0, 0, 0])
-  z0 = converter.ned2ecef([0, 0, 1]) - converter.ned2ecef([0, 0, 0])
-
-  x1 = rot(z0, ned_pose[2]).dot(x0)
-  y1 = rot(z0, ned_pose[2]).dot(y0)
-  z1 = rot(z0, ned_pose[2]).dot(z0)
-
-  x2 = rot(y1, ned_pose[1]).dot(x1)
-  y2 = rot(y1, ned_pose[1]).dot(y1)
-  z2 = rot(y1, ned_pose[1]).dot(z1)
-
-  x3 = rot(x2, ned_pose[0]).dot(x2)
-  y3 = rot(x2, ned_pose[0]).dot(y2)
-  #z3 = rot(x2, ned_pose[0]).dot(z2)
-
-  x0 = array([1, 0, 0])
-  y0 = array([0, 1, 0])
-  z0 = array([0, 0, 1])
-
-  psi = np.arctan2(inner(x3, y0), inner(x3, x0))
-  theta = np.arctan2(-inner(x3, z0), np.sqrt(inner(x3, x0)**2 + inner(x3, y0)**2))
-  y2 = rot(z0, psi).dot(y0)
-  z2 = rot(y2, theta).dot(z0)
-  phi = np.arctan2(inner(y3, z2), inner(y3, y2))
-
-  ret = array([phi, theta, psi])
-  return ret
-
-
-def ned_euler_from_ecef(ned_ecef_init, ecef_poses):
-  '''
-  Got the math from here:
-  Using Rotations to Build Aerospace Coordinate Systems
-  -Don Koks
-
-  Also accepts array of ecef_poses and array of ned_ecef_inits.
-  Where each row is a pose and an ecef_init.
-  '''
-  ned_ecef_init = array(ned_ecef_init)
-  ecef_poses = array(ecef_poses)
-  output_shape = ecef_poses.shape
-  ned_ecef_init = np.atleast_2d(ned_ecef_init)
-  ecef_poses = np.atleast_2d(ecef_poses)
-
-  ned_poses = np.zeros(ecef_poses.shape)
-  for i, ecef_pose in enumerate(ecef_poses):
-    converter = LocalCoord.from_ecef(ned_ecef_init[i])
-    x0 = array([1, 0, 0])
-    y0 = array([0, 1, 0])
-    z0 = array([0, 0, 1])
-
-    x1 = rot(z0, ecef_pose[2]).dot(x0)
-    y1 = rot(z0, ecef_pose[2]).dot(y0)
-    z1 = rot(z0, ecef_pose[2]).dot(z0)
-
-    x2 = rot(y1, ecef_pose[1]).dot(x1)
-    y2 = rot(y1, ecef_pose[1]).dot(y1)
-    z2 = rot(y1, ecef_pose[1]).dot(z1)
-
-    x3 = rot(x2, ecef_pose[0]).dot(x2)
-    y3 = rot(x2, ecef_pose[0]).dot(y2)
-    #z3 = rot(x2, ecef_pose[0]).dot(z2)
-
-    x0 = converter.ned2ecef([1, 0, 0]) - converter.ned2ecef([0, 0, 0])
-    y0 = converter.ned2ecef([0, 1, 0]) - converter.ned2ecef([0, 0, 0])
-    z0 = converter.ned2ecef([0, 0, 1]) - converter.ned2ecef([0, 0, 0])
-
-    psi = np.arctan2(inner(x3, y0), inner(x3, x0))
-    theta = np.arctan2(-inner(x3, z0), np.sqrt(inner(x3, x0)**2 + inner(x3, y0)**2))
-    y2 = rot(z0, psi).dot(y0)
-    z2 = rot(y2, theta).dot(z0)
-    phi = np.arctan2(inner(y3, z2), inner(y3, y2))
-    ned_poses[i] = array([phi, theta, psi])
-
-  return ned_poses.reshape(output_shape)
-
-
-def ecef2car(car_ecef, psi, theta, points_ecef, ned_converter):
-  """
-  TODO: add roll rotation
-  Converts an array of points in ecef coordinates into
-  x-forward, y-left, z-up coordinates
-  Parameters
-  ----------
-  psi: yaw, radian
-  theta: pitch, radian
-  Returns
-  -------
-  [x, y, z] coordinates in car frame
-  """
-
-  # input is an array of points in ecef cocrdinates
-  # output is an array of points in car's coordinate (x-front, y-left, z-up)
-
-  # convert points to NED
-  points_ned = []
-  for p in points_ecef:
-    points_ned.append(ned_converter.ecef2ned_matrix.dot(array(p) - car_ecef))
-
-  points_ned = np.vstack(points_ned).T
-
-  # n, e, d -> x, y, z
-  # Calculate relative postions and rotate wrt to heading and pitch of car
-  invert_R = array([[1., 0., 0.], [0., -1., 0.], [0., 0., -1.]])
-
-  c, s = np.cos(psi), np.sin(psi)
-  yaw_R = array([[c, s, 0.], [-s, c, 0.], [0., 0., 1.]])
-
-  c, s = np.cos(theta), np.sin(theta)
-  pitch_R = array([[c, 0., -s], [0., 1., 0.], [s, 0., c]])
-
-  return dot(pitch_R, dot(yaw_R, dot(invert_R, points_ned)))

opendbc/acura_ilx_2016_can_generated.dbc

@@ -59,9 +59,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
  SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
  SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
  SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
 
 BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON

opendbc/acura_rdx_2018_can_generated.dbc

@@ -59,9 +59,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
  SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
  SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
  SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
 
 BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON

opendbc/generator/honda/_bosch_2018.dbc

@@ -64,10 +64,10 @@ BO_ 330 STEERING_SENSORS: 8 EPS
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
 BO_ 344 ENGINE_DATA: 8 PCM
- SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" EON
  SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ DISTANCE_COUNTER : 55|8@0+ (10,0) [0|2550] "Meters" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 

opendbc/generator/honda/_honda_2017.dbc

@@ -37,9 +37,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
  SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
  SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
  SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
 
 BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON

opendbc/generator/honda/honda_accord_lx15t_2018_can.dbc

@@ -1,52 +0,0 @@
-CM_ "IMPORT _bosch_2018.dbc"
-
-BO_ 401 GEARBOX: 8 PCM
- SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
- SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
- SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX
- SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 432 STANDSTILL: 7 VSA
- SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
-BO_ 446 BRAKE_MODULE: 3 VSA
- SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 927 RADAR_HUD: 8 RADAR
- SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
- SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1302 ODOMETER: 8 XXX
- SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
-VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
-VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
-VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-
-CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

opendbc/honda_accord_lx15t_2018_can_generated.dbc

@@ -1,319 +0,0 @@
-CM_ "AUTOGENERATED FILE, DO NOT EDIT"
-
-
-CM_ "Imported file _bosch_2018.dbc starts here"
-VERSION ""
-
-
-NS_ :
-	NS_DESC_
-	CM_
-	BA_DEF_
-	BA_
-	VAL_
-	CAT_DEF_
-	CAT_
-	FILTER
-	BA_DEF_DEF_
-	EV_DATA_
-	ENVVAR_DATA_
-	SGTYPE_
-	SGTYPE_VAL_
-	BA_DEF_SGTYPE_
-	BA_SGTYPE_
-	SIG_TYPE_REF_
-	VAL_TABLE_
-	SIG_GROUP_
-	SIG_VALTYPE_
-	SIGTYPE_VALTYPE_
-	BO_TX_BU_
-	BA_DEF_REL_
-	BA_REL_
-	BA_DEF_DEF_REL_
-	BU_SG_REL_
-	BU_EV_REL_
-	BU_BO_REL_
-	SG_MUL_VAL_
-
-BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
-
-BO_ 228 STEERING_CONTROL: 5 EON
- SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
- SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
- SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
- SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
-
-BO_ 232 BRAKE_HOLD: 7 XXX
- SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
- SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
- SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 304 GAS_PEDAL_2: 8 PCM
- SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
- SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 330 STEERING_SENSORS: 8 EPS
- SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
- SG_ STEER_ANGLE_OFFSET : 39|8@0- (-0.1,0) [-128|127] "deg" EON
- SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 344 ENGINE_DATA: 8 PCM
- SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 380 POWERTRAIN_DATA: 8 PCM
- SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
- SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
- SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
- SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
- SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
- SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 399 STEER_STATUS: 7 EPS
- SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
- SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
- SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
- SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
-BO_ 420 VSA_STATUS: 8 VSA
- SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
- SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
- SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 450 EPB_STATUS: 8 EPB
- SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
- SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 464 WHEEL_SPEEDS: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-BO_ 479 ACC_CONTROL: 8 EON
- SG_ SET_TO_1 : 20|5@0+ (1,0) [0|1] "" PCM
- SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
- SG_ RELATED_TO_GAS : 7|7@0+ (1,0) [0|69] "" XXX
- SG_ GAS_COMMAND : 0|9@0+ (1,0) [0|1] "" PCM
- SG_ GAS_BRAKE : 31|14@0- (1,0) [0|1] "" XXX
- SG_ ZEROS_BOH : 33|18@0+ (1,0) [100|100] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 495 ACC_CONTROL_ON: 8 XXX
- SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
- SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
-
-BO_ 545 XXX_16: 6 SCM
- SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
- SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
-
-BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
- SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
- SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
- SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
- SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
-
- BO_ 662 SCM_BUTTONS: 4 SCM
-  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
-  SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
-  SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
-  SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
-
-BO_ 773 SEATBELT_STATUS: 7 BDY
- SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
- SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
- SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
- SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
-
-BO_ 777 CAR_SPEED: 8 PCM
- SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
- SG_ CAR_SPEED : 7|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (1,0) [0|65535] "" XXX
- SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "" XXX
- SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 780 ACC_HUD: 8 ADAS
- SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
- SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
- SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
- SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
- SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
- SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
- SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
- SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
- SG_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
- SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
- SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
- SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
- SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ SET_TO_X3 : 55|2@0+ (1,0) [0|3] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 804 CRUISE: 8 PCM
- SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 806 SCM_FEEDBACK: 8 SCM
- SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
- SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
- SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
- SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
- SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 829 LKAS_HUD: 5 ADAS
- SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
- SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
- SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
- SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
- SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
- SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
- SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
- SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
- SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
- SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
- SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
- SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
- SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
- SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
- SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
-
-BO_ 862 CAMERA_MESSAGES: 8 CAM
- SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
- SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
- SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 884 STALK_STATUS: 8 XXX
- SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
- SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
- SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
- SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
- SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-BO_ 891 STALK_STATUS_2: 8 XXX
- SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
- SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
- SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
- SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
-
-CM_ "honda_accord_lx15t_2018_can.dbc starts here"
-
-
-BO_ 401 GEARBOX: 8 PCM
- SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
- SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
- SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX
- SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
-
-BO_ 432 STANDSTILL: 7 VSA
- SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
- SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
- SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
-
-BO_ 446 BRAKE_MODULE: 3 VSA
- SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 927 RADAR_HUD: 8 RADAR
- SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
- SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
- SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
- SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
- SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
- SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
- SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
- SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
- SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
- SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
- SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
-
-BO_ 1302 ODOMETER: 8 XXX
- SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
- SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
- SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
-
-VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
-VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
-VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
-VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
-VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
-VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
-VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
-VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
-
-CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

opendbc/honda_accord_s2t_2018_can_generated.dbc

@@ -68,10 +68,10 @@ BO_ 330 STEERING_SENSORS: 8 EPS
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
 BO_ 344 ENGINE_DATA: 8 PCM
- SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" EON
  SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ DISTANCE_COUNTER : 55|8@0+ (10,0) [0|2550] "Meters" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 

opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc

@@ -68,10 +68,10 @@ BO_ 330 STEERING_SENSORS: 8 EPS
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
 BO_ 344 ENGINE_DATA: 8 PCM
- SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" EON
  SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ DISTANCE_COUNTER : 55|8@0+ (10,0) [0|2550] "Meters" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 

opendbc/honda_civic_touring_2016_can_generated.dbc

@@ -59,9 +59,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
  SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
  SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
  SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
 
 BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON

opendbc/honda_crv_ex_2017_can_generated.dbc

@@ -68,10 +68,10 @@ BO_ 330 STEERING_SENSORS: 8 EPS
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 
 BO_ 344 ENGINE_DATA: 8 PCM
- SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ XMISSION_SPEED : 7|16@0+ (0.002759506,0) [0|70] "m/s" EON
  SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
- SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.002759506,0) [0|70] "m/s" EON
+ SG_ DISTANCE_COUNTER : 55|8@0+ (10,0) [0|2550] "Meters" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
 

opendbc/honda_crv_touring_2016_can_generated.dbc

@@ -59,9 +59,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
  SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
  SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
  SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
 
 BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON

opendbc/honda_fit_ex_2018_can_generated.dbc

@@ -59,9 +59,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
  SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
  SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
  SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
 
 BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON

opendbc/honda_odyssey_exl_2018_generated.dbc

@@ -59,9 +59,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
  SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
  SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
  SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
 
 BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON

opendbc/honda_pilot_touring_2017_can_generated.dbc

@@ -59,9 +59,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
  SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
  SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
  SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
 
 BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON

opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc

@@ -59,9 +59,9 @@ BO_ 344 ENGINE_DATA: 8 PCM
  SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
  SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
  SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
- SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
  SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
 
 BO_ 380 POWERTRAIN_DATA: 8 PCM
  SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON

panda/.circleci/config.yml

@@ -25,13 +25,9 @@ jobs:
           command: |
             docker run panda_build /bin/bash -c "cd /panda; python setup.py install"
       - run:
-          name: Build Panda STM image
+          name: Build STM image
           command: |
             docker run panda_build /bin/bash -c "cd /panda/board; make bin"
-      - run:
-          name: Build NEO STM image
-          command: |
-            docker run panda_build /bin/bash -c "cd /panda/board; make clean; make -f Makefile.legacy obj/comma.bin"
       - run:
           name: Build ESP image
           command: |

panda/board/drivers/can.h

@@ -461,6 +461,8 @@ void CAN3_SCE_IRQHandler() { can_sce(CAN3); }
 
 #endif
 
+#include "canbitbang.h"
+
 void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number) {
   if (safety_tx_hook(to_push) && !can_autobaud_enabled[bus_number]) {
     if (bus_number < BUS_MAX) {

panda/board/drivers/canbitbang.h

@@ -0,0 +1,203 @@
+#define MAX_BITS_CAN_PACKET (200)
+
+// returns out_len
+int do_bitstuff(char *out, char *in, int in_len) {
+  int last_bit = -1;
+  int bit_cnt = 0;
+  int j = 0;
+  for (int i = 0; i < in_len; i++) {
+    char bit = in[i];
+    out[j++] = bit;
+
+    // do the stuffing
+    if (bit == last_bit) {
+      bit_cnt++;
+      if (bit_cnt == 5) {
+        // 5 in a row the same, do stuff
+        last_bit = !bit;
+        out[j++] = last_bit;
+        bit_cnt = 1;
+      }
+    } else {
+      // this is a new bit
+      last_bit = bit;
+      bit_cnt = 1;
+    }
+  }
+  return j;
+}
+
+int append_crc(char *in, int in_len) {
+  int crc = 0;
+  for (int i = 0; i < in_len; i++) {
+    crc <<= 1;
+    if (in[i] ^ ((crc>>15)&1)) {
+      crc = crc ^ 0x4599;
+    }
+    crc &= 0x7fff;
+  }
+  for (int i = 14; i >= 0; i--) {
+    in[in_len++] = (crc>>i)&1;
+  }
+  return in_len;
+}
+
+int append_bits(char *in, int in_len, char *app, int app_len) {
+  for (int i = 0; i < app_len; i++) {
+    in[in_len++] = app[i];
+  }
+  return in_len;
+}
+
+int append_int(char *in, int in_len, int val, int val_len) {
+  for (int i = val_len-1; i >= 0; i--) {
+    in[in_len++] = (val&(1<<i)) != 0;
+  }
+  return in_len;
+}
+
+int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
+  char pkt[MAX_BITS_CAN_PACKET];
+  char footer[] = {
+    1,  // CRC delimiter
+    1,  // ACK
+    1,  // ACK delimiter
+    1,1,1,1,1,1,1, // EOF
+    1,1,1, // IFS
+  };
+
+  int len = 0;
+
+  // test packet
+  int dlc_len = to_bang->RDTR & 0xF;
+  len = append_int(pkt, len, 0, 1);    // Start-of-frame
+  
+  if (to_bang->RIR & 4) {
+    // extended identifier
+    len = append_int(pkt, len, to_bang->RIR >> 21, 11);  // Identifier
+    len = append_int(pkt, len, 3, 2);    // SRR+IDE
+    len = append_int(pkt, len, (to_bang->RIR >> 3) & ((1<<18)-1), 18);  // Identifier
+    len = append_int(pkt, len, 0, 3);    // RTR+r1+r0
+  } else {
+    // standard identifier
+    len = append_int(pkt, len, to_bang->RIR >> 21, 11);  // Identifier
+    len = append_int(pkt, len, 0, 3);    // RTR+IDE+reserved
+  }
+
+  len = append_int(pkt, len, dlc_len, 4);    // Data length code
+
+  // append data
+  for (int i = 0; i < dlc_len; i++) {
+    unsigned char dat = ((unsigned char *)(&(to_bang->RDLR)))[i];
+    len = append_int(pkt, len, dat, 8);
+  }
+
+  // append crc
+  len = append_crc(pkt, len);
+
+  // do bitstuffing
+  len = do_bitstuff(out, pkt, len);
+
+  // append footer
+  len = append_bits(out, len, footer, sizeof(footer));
+  return len;
+}
+
+// hardware stuff below this line
+
+#ifdef PANDA
+
+void set_bitbanged_gmlan(int val) {
+  if (val) {
+    GPIOB->ODR |= (1 << 13);
+  } else {
+    GPIOB->ODR &= ~(1 << 13);
+  }
+}
+
+char pkt_stuffed[MAX_BITS_CAN_PACKET];
+int gmlan_sending = -1;
+int gmlan_sendmax = -1;
+
+int gmlan_silent_count = 0;
+int gmlan_fail_count = 0;
+#define REQUIRED_SILENT_TIME 10
+#define MAX_FAIL_COUNT 10
+
+void TIM4_IRQHandler(void) {
+  if (TIM4->SR & TIM_SR_UIF && gmlan_sendmax != -1) {
+    int read = get_gpio_input(GPIOB, 12);
+    if (gmlan_silent_count < REQUIRED_SILENT_TIME) {
+      if (read == 0) {
+        gmlan_silent_count = 0;
+      } else {
+        gmlan_silent_count++;
+      }
+    } else if (gmlan_silent_count == REQUIRED_SILENT_TIME) {
+      int retry = 0;
+      // in send loop
+      if (gmlan_sending > 0 &&  // not first bit
+         (read == 0 && pkt_stuffed[gmlan_sending-1] == 1) &&  // bus wrongly dominant
+         gmlan_sending != (gmlan_sendmax-11)) {    //not ack bit
+        puts("GMLAN ERR: bus driven at ");
+        puth(gmlan_sending);
+        puts("\n");
+        retry = 1;
+      } else if (read == 1 && gmlan_sending == (gmlan_sendmax-11)) {    // recessive during ACK
+        puts("GMLAN ERR: didn't recv ACK\n");
+        retry = 1;
+      }
+      if (retry) {
+        // reset sender (retry after 7 silent)
+        set_bitbanged_gmlan(1); // recessive
+        gmlan_silent_count = 0;
+        gmlan_sending = 0;
+        gmlan_fail_count++;
+        if (gmlan_fail_count == MAX_FAIL_COUNT) {
+          puts("GMLAN ERR: giving up send\n");
+        }
+      } else {
+        set_bitbanged_gmlan(pkt_stuffed[gmlan_sending]);
+        gmlan_sending++;
+      }
+    }
+    if (gmlan_sending == gmlan_sendmax || gmlan_fail_count == MAX_FAIL_COUNT) {
+      set_bitbanged_gmlan(1); // recessive
+      set_gpio_mode(GPIOB, 13, MODE_INPUT);
+      TIM4->DIER = 0;  // no update interrupt
+      TIM4->CR1 = 0;   // disable timer
+      gmlan_sendmax = -1;   // exit
+    }
+  }
+  TIM4->SR = 0;
+}
+
+void bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
+  // TODO: make failure less silent
+  if (gmlan_sendmax != -1) return;
+
+  int len = get_bit_message(pkt_stuffed, to_bang);
+  gmlan_fail_count = 0;
+  gmlan_silent_count = 0;
+  gmlan_sending = 0;
+  gmlan_sendmax = len;
+
+  // setup for bitbang loop
+  set_bitbanged_gmlan(1); // recessive
+  set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
+
+  // setup
+  TIM4->PSC = 48-1;          // tick on 1 us
+  TIM4->CR1 = TIM_CR1_CEN;   // enable
+  TIM4->ARR = 30-1;          // 33.3 kbps
+
+  // in case it's disabled
+  NVIC_EnableIRQ(TIM4_IRQn);
+
+  // run the interrupt
+  TIM4->DIER = TIM_DIER_UIE; // update interrupt
+  TIM4->SR = 0;
+}
+
+#endif
+

panda/board/drivers/gmlan_alt.h

@@ -1,276 +0,0 @@
-#define GMLAN_TICKS_PER_SECOND 33300 //1sec @ 33.3kbps
-#define GMLAN_TICKS_PER_TIMEOUT_TICKLE 500 //15ms @ 33.3kbps
-#define GMLAN_HIGH 0 //0 is high on bus (dominant)
-#define GMLAN_LOW 1 //1 is low on bus
-
-#define DISABLED -1
-#define BITBANG 0
-#define GPIO_SWITCH 1
-
-#define MAX_BITS_CAN_PACKET (200)
-
-int gmlan_alt_mode = DISABLED; 
-
-// returns out_len
-int do_bitstuff(char *out, char *in, int in_len) {
-  int last_bit = -1;
-  int bit_cnt = 0;
-  int j = 0;
-  for (int i = 0; i < in_len; i++) {
-    char bit = in[i];
-    out[j++] = bit;
-
-    // do the stuffing
-    if (bit == last_bit) {
-      bit_cnt++;
-      if (bit_cnt == 5) {
-        // 5 in a row the same, do stuff
-        last_bit = !bit;
-        out[j++] = last_bit;
-        bit_cnt = 1;
-      }
-    } else {
-      // this is a new bit
-      last_bit = bit;
-      bit_cnt = 1;
-    }
-  }
-  return j;
-}
-
-int append_crc(char *in, int in_len) {
-  int crc = 0;
-  for (int i = 0; i < in_len; i++) {
-    crc <<= 1;
-    if (in[i] ^ ((crc>>15)&1)) {
-      crc = crc ^ 0x4599;
-    }
-    crc &= 0x7fff;
-  }
-  for (int i = 14; i >= 0; i--) {
-    in[in_len++] = (crc>>i)&1;
-  }
-  return in_len;
-}
-
-int append_bits(char *in, int in_len, char *app, int app_len) {
-  for (int i = 0; i < app_len; i++) {
-    in[in_len++] = app[i];
-  }
-  return in_len;
-}
-
-int append_int(char *in, int in_len, int val, int val_len) {
-  for (int i = val_len-1; i >= 0; i--) {
-    in[in_len++] = (val&(1<<i)) != 0;
-  }
-  return in_len;
-}
-
-int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
-  char pkt[MAX_BITS_CAN_PACKET];
-  char footer[] = {
-    1,  // CRC delimiter
-    1,  // ACK
-    1,  // ACK delimiter
-    1,1,1,1,1,1,1, // EOF
-    1,1,1, // IFS
-  };
-
-  int len = 0;
-
-  // test packet
-  int dlc_len = to_bang->RDTR & 0xF;
-  len = append_int(pkt, len, 0, 1);    // Start-of-frame
-  
-  if (to_bang->RIR & 4) {
-    // extended identifier
-    len = append_int(pkt, len, to_bang->RIR >> 21, 11);  // Identifier
-    len = append_int(pkt, len, 3, 2);    // SRR+IDE
-    len = append_int(pkt, len, (to_bang->RIR >> 3) & ((1<<18)-1), 18);  // Identifier
-    len = append_int(pkt, len, 0, 3);    // RTR+r1+r0
-  } else {
-    // standard identifier
-    len = append_int(pkt, len, to_bang->RIR >> 21, 11);  // Identifier
-    len = append_int(pkt, len, 0, 3);    // RTR+IDE+reserved
-  }
-
-  len = append_int(pkt, len, dlc_len, 4);    // Data length code
-
-  // append data
-  for (int i = 0; i < dlc_len; i++) {
-    unsigned char dat = ((unsigned char *)(&(to_bang->RDLR)))[i];
-    len = append_int(pkt, len, dat, 8);
-  }
-
-  // append crc
-  len = append_crc(pkt, len);
-
-  // do bitstuffing
-  len = do_bitstuff(out, pkt, len);
-
-  // append footer
-  len = append_bits(out, len, footer, sizeof(footer));
-  return len;
-}
-
-#ifdef PANDA
-
-void setup_timer4() {
-  // setup
-  TIM4->PSC = 48-1;          // tick on 1 us
-  TIM4->CR1 = TIM_CR1_CEN;   // enable
-  TIM4->ARR = 30-1;          // 33.3 kbps
-
-  // in case it's disabled
-  NVIC_EnableIRQ(TIM4_IRQn);
-
-  // run the interrupt
-  TIM4->DIER = TIM_DIER_UIE; // update interrupt
-  TIM4->SR = 0;
-}
-
-int gmlan_timeout_counter = GMLAN_TICKS_PER_TIMEOUT_TICKLE; //GMLAN transceiver times out every 17ms held high; tickle every 15ms
-int can_timeout_counter = GMLAN_TICKS_PER_SECOND; //1 second
-
-int inverted_bit_to_send = GMLAN_HIGH; 
-int gmlan_switch_below_timeout = -1;
-int gmlan_switch_timeout_enable = 0;
-
-void gmlan_switch_init(int timeout_enable) {
-  gmlan_switch_timeout_enable = timeout_enable;
-  gmlan_alt_mode = GPIO_SWITCH;
-  gmlan_switch_below_timeout = 1;
-  set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
-  
-  setup_timer4();
-  
-  inverted_bit_to_send = GMLAN_LOW; //We got initialized, set the output low
-}
-
-void set_gmlan_digital_output(int to_set) {
-  inverted_bit_to_send = to_set;
-  /*
-  puts("Writing ");
-  puth(inverted_bit_to_send);
-  puts("\n");
-  */
-}
-
-void reset_gmlan_switch_timeout(void) {
-  can_timeout_counter = GMLAN_TICKS_PER_SECOND;
-  gmlan_switch_below_timeout = 1;
-  gmlan_alt_mode = GPIO_SWITCH;
-}
-
-void set_bitbanged_gmlan(int val) {
-  if (val) {
-    GPIOB->ODR |= (1 << 13);
-  } else {
-    GPIOB->ODR &= ~(1 << 13);
-  }
-}
-
-char pkt_stuffed[MAX_BITS_CAN_PACKET];
-int gmlan_sending = -1;
-int gmlan_sendmax = -1;
-
-int gmlan_silent_count = 0;
-int gmlan_fail_count = 0;
-#define REQUIRED_SILENT_TIME 10
-#define MAX_FAIL_COUNT 10
-
-void TIM4_IRQHandler(void) {
-  if (gmlan_alt_mode == BITBANG) {
-    if (TIM4->SR & TIM_SR_UIF && gmlan_sendmax != -1) {
-      int read = get_gpio_input(GPIOB, 12);
-      if (gmlan_silent_count < REQUIRED_SILENT_TIME) {
-        if (read == 0) {
-          gmlan_silent_count = 0;
-        } else {
-          gmlan_silent_count++;
-        }
-      } else if (gmlan_silent_count == REQUIRED_SILENT_TIME) {
-        int retry = 0;
-        // in send loop
-        if (gmlan_sending > 0 &&  // not first bit
-           (read == 0 && pkt_stuffed[gmlan_sending-1] == 1) &&  // bus wrongly dominant
-           gmlan_sending != (gmlan_sendmax-11)) {    //not ack bit
-          puts("GMLAN ERR: bus driven at ");
-          puth(gmlan_sending);
-          puts("\n");
-          retry = 1;
-        } else if (read == 1 && gmlan_sending == (gmlan_sendmax-11)) {    // recessive during ACK
-          puts("GMLAN ERR: didn't recv ACK\n");
-          retry = 1;
-        }
-        if (retry) {
-          // reset sender (retry after 7 silent)
-          set_bitbanged_gmlan(1); // recessive
-          gmlan_silent_count = 0;
-          gmlan_sending = 0;
-          gmlan_fail_count++;
-          if (gmlan_fail_count == MAX_FAIL_COUNT) {
-            puts("GMLAN ERR: giving up send\n");
-          }
-        } else {
-          set_bitbanged_gmlan(pkt_stuffed[gmlan_sending]);
-          gmlan_sending++;
-        }
-      }
-      if (gmlan_sending == gmlan_sendmax || gmlan_fail_count == MAX_FAIL_COUNT) {
-        set_bitbanged_gmlan(1); // recessive
-        set_gpio_mode(GPIOB, 13, MODE_INPUT);
-        TIM4->DIER = 0;  // no update interrupt
-        TIM4->CR1 = 0;   // disable timer
-        gmlan_sendmax = -1;   // exit
-      }
-    }
-    TIM4->SR = 0;
-  } //bit bang mode
-
-  else if (gmlan_alt_mode == GPIO_SWITCH) {
-    if (TIM4->SR & TIM_SR_UIF && gmlan_switch_below_timeout != -1) {
-      if (can_timeout_counter == 0 && gmlan_switch_timeout_enable) {
-        //it has been more than 1 second since timeout was reset; disable timer and restore the GMLAN output
-        set_gpio_output(GPIOB, 13, GMLAN_LOW);
-        gmlan_switch_below_timeout = -1;
-        gmlan_timeout_counter = GMLAN_TICKS_PER_TIMEOUT_TICKLE;
-        gmlan_alt_mode = DISABLED;
-      }
-      else {
-        can_timeout_counter--;
-        if (gmlan_timeout_counter == 0) {
-          //Send a 1 (bus low) every 15ms to reset the GMLAN transceivers timeout
-          gmlan_timeout_counter = GMLAN_TICKS_PER_TIMEOUT_TICKLE;
-          set_gpio_output(GPIOB, 13, GMLAN_LOW);
-        }
-        else {
-          set_gpio_output(GPIOB, 13, inverted_bit_to_send);
-          gmlan_timeout_counter--;
-        }
-      }
-    }
-    TIM4->SR = 0;
-  } //gmlan switch mode
-}
-
-void bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
-  gmlan_alt_mode = BITBANG;
-  // TODO: make failure less silent
-  if (gmlan_sendmax != -1) return;
-
-  int len = get_bit_message(pkt_stuffed, to_bang);
-  gmlan_fail_count = 0;
-  gmlan_silent_count = 0;
-  gmlan_sending = 0;
-  gmlan_sendmax = len;
-
-  // setup for bitbang loop
-  set_bitbanged_gmlan(1); // recessive
-  set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
-
-  setup_timer4();
-}
-
-#endif

panda/board/main.c

@@ -15,7 +15,6 @@
 #include "drivers/uart.h"
 #include "drivers/adc.h"
 #include "drivers/usb.h"
-#include "drivers/gmlan_alt.h"
 #include "drivers/can.h"
 #include "drivers/spi.h"
 #include "drivers/timer.h"

panda/board/safety.h

@@ -5,14 +5,6 @@ struct sample_t {
   int max;
 } sample_t_default = {{0}, 0, 0};
 
-// no float support in STM32F2 micros (cortex-m3)
-#ifdef PANDA
-struct lookup_t {
-  float x[3];
-  float y[3];
-};
-#endif
-
 void safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
 int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
 int safety_tx_lin_hook(int lin_num, uint8_t *data, int len);
@@ -24,12 +16,9 @@ int max_limit_check(int val, const int MAX, const int MIN);
 int dist_to_meas_check(int val, int val_last, struct sample_t *val_meas,
   const int MAX_RATE_UP, const int MAX_RATE_DOWN, const int MAX_ERROR);
 int driver_limit_check(int val, int val_last, struct sample_t *val_driver,
-  const int MAX, const int MAX_RATE_UP, const int MAX_RATE_DOWN,
+  const int MAX, const int MAX_RATE_UP, const int MAX_RATE_DOWN, 
   const int MAX_ALLOWANCE, const int DRIVER_FACTOR);
 int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA);
-#ifdef PANDA
-float interpolate(struct lookup_t xy, float x);
-#endif
 
 typedef void (*safety_hook_init)(int16_t param);
 typedef void (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
@@ -60,7 +49,6 @@ int controls_allowed = 0;
 #include "safety/safety_gm.h"
 #include "safety/safety_ford.h"
 #include "safety/safety_cadillac.h"
-#include "safety/safety_hyundai.h"
 #include "safety/safety_elm327.h"
 
 const safety_hooks *current_hooks = &nooutput_hooks;
@@ -99,7 +87,6 @@ typedef struct {
 #define SAFETY_HONDA_BOSCH 4
 #define SAFETY_FORD 5
 #define SAFETY_CADILLAC 6
-#define SAFETY_HYUNDAI 7
 #define SAFETY_TOYOTA_IPAS 0x1335
 #define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337
@@ -113,7 +100,6 @@ const safety_hook_config safety_hook_registry[] = {
   {SAFETY_GM, &gm_hooks},
   {SAFETY_FORD, &ford_hooks},
   {SAFETY_CADILLAC, &cadillac_hooks},
-  {SAFETY_HYUNDAI, &hyundai_hooks},
   {SAFETY_TOYOTA_NOLIMITS, &toyota_nolimits_hooks},
 #ifdef PANDA
   {SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
@@ -215,31 +201,3 @@ int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA) {
   // check for violation
   return (val < lowest_val) || (val > highest_val);
 }
-
-
-#ifdef PANDA
-// interp function that holds extreme values
-float interpolate(struct lookup_t xy, float x) {
-  int size = sizeof(xy.x) / sizeof(xy.x[0]);
-  // x is lower than the first point in the x array. Return the first point
-  if (x <= xy.x[0]) {
-    return xy.y[0];
-
-  } else {
-    // find the index such that (xy.x[i] <= x < xy.x[i+1]) and linearly interp
-    for (int i=0; i < size-1; i++) {
-      if (x < xy.x[i+1]) {
-        float x0 = xy.x[i];
-        float y0 = xy.y[i];
-        float dx = xy.x[i+1] - x0;
-        float dy = xy.y[i+1] - y0;
-        // dx should not be zero as xy.x is supposed ot be monotonic
-        if (dx <= 0.) dx = 0.0001;
-        return dy * (x - x0) / dx + y0;
-      }
-    }
-    // if no such point is found, then x > xy.x[size-1]. Return last point
-    return xy.y[size - 1];
-  }
-}
-#endif

panda/board/safety/safety_hyundai.h

@@ -1,36 +0,0 @@
-int hyundai_giraffe_switch_1 = 0;          // is giraffe switch 1 high?
-
-
-static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
-
-  int bus = (to_push->RDTR >> 4) & 0xF;
-  // 832 is lkas cmd. If it is on bus 0, then giraffe switch 1 is high and we want stock
-  if ((to_push->RIR>>21) == 832 && (bus == 0)) {
-    hyundai_giraffe_switch_1 = 1;
-  }
-}
-
-static void hyundai_init(int16_t param) {
-  controls_allowed = 0;
-  hyundai_giraffe_switch_1 = 0;
-}
-
-static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
-
-  // forward camera to car and viceversa, excpet for lkas11 and mdps12
-  if ((bus_num == 0 || bus_num == 2) && !hyundai_giraffe_switch_1) {
-    int addr = to_fwd->RIR>>21;
-    bool is_lkas_msg = (addr == 832 && bus_num == 2) || (addr == 593 && bus_num == 0);
-    return is_lkas_msg? -1 : (uint8_t)(~bus_num & 0x2);
-  }
-  return -1;
-}
-
-const safety_hooks hyundai_hooks = {
-  .init = hyundai_init,
-  .rx = hyundai_rx_hook,
-  .tx = nooutput_tx_hook,
-  .tx_lin = nooutput_tx_lin_hook,
-  .ignition = default_ign_hook,
-  .fwd = hyundai_fwd_hook,
-};

panda/board/safety/safety_toyota_ipas.h

@@ -4,6 +4,11 @@
 // IPAS override
 const int32_t TOYOTA_IPAS_OVERRIDE_THRESHOLD = 200;  // disallow controls when user torque exceeds this value
 
+struct lookup_t {
+  float x[3];
+  float y[3];
+};
+
 // 2m/s are added to be less restrictive
 const struct lookup_t LOOKUP_ANGLE_RATE_UP = {
   {2., 7., 17.},
@@ -30,6 +35,31 @@ uint32_t ts_angle_last = 0;
 
 int controls_allowed_last = 0;
 
+// interp function that holds extreme values
+float interpolate(struct lookup_t xy, float x) {
+  int size = sizeof(xy.x) / sizeof(xy.x[0]);
+  // x is lower than the first point in the x array. Return the first point
+  if (x <= xy.x[0]) {
+    return xy.y[0];
+
+  } else {
+    // find the index such that (xy.x[i] <= x < xy.x[i+1]) and linearly interp
+    for (int i=0; i < size-1; i++) {
+      if (x < xy.x[i+1]) {
+        float x0 = xy.x[i];
+        float y0 = xy.y[i];
+        float dx = xy.x[i+1] - x0;
+        float dy = xy.y[i+1] - y0;
+        // dx should not be zero as xy.x is supposed ot be monotonic
+        if (dx <= 0.) dx = 0.0001;
+        return dy * (x - x0) / dx + y0;
+      }
+    }
+    // if no such point is found, then x > xy.x[size-1]. Return last point
+    return xy.y[size - 1];
+  }
+}
+
 
 static void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // check standard toyota stuff as well
@@ -116,15 +146,15 @@ static int toyota_ipas_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
         int delta_angle_down = (int) (interpolate(LOOKUP_ANGLE_RATE_DOWN, speed) * CAN_TO_DEG + 1.);
         int highest_desired_angle = desired_angle_last + (desired_angle_last > 0? delta_angle_up:delta_angle_down);
         int lowest_desired_angle = desired_angle_last - (desired_angle_last > 0? delta_angle_down:delta_angle_up);
-        if ((desired_angle > highest_desired_angle) ||
+        if ((desired_angle > highest_desired_angle) || 
             (desired_angle < lowest_desired_angle)){
           violation = 1;
           controls_allowed = 0;
         }
       }
-
+      
       // desired steer angle should be the same as steer angle measured when controls are off
-      if ((!controls_allowed) &&
+      if ((!controls_allowed) && 
            ((desired_angle < (angle_meas.min - 1)) ||
             (desired_angle > (angle_meas.max + 1)) ||
             (ipas_state_cmd != 1))) {

panda/boardesp/README.md

@@ -2,13 +2,13 @@
 Dependencies
 -----
 
-**Debian / Ubuntu**
+**Mac**
 
 ```
 ./get_sdk.sh
 ```
 
-**Mac**
+**Debian / Ubuntu**
 
 ```
 ./get_sdk_mac.sh

panda/examples/get_panda_password.py

@@ -1,20 +0,0 @@
-#!/usr/bin/env python
-from panda import Panda
-
-def get_panda_password():
-  
-  try:
-    print("Trying to connect to Panda over USB...")
-    p = Panda()
-    
-  except AssertionError:
-    print("USB connection failed")
-    sys.exit(0)
-
-  wifi = p.get_serial()
-  #print('[%s]' % ', '.join(map(str, wifi)))
-  print("SSID: " + wifi[0])
-  print("Password: " + wifi[1])
-  
-if __name__ == "__main__":
-  get_panda_password()

requirements_openpilot.txt

@@ -1,6 +1,6 @@
-Cython==0.27.3
+Cython==0.24.1
 bitstring==3.1.5
-fastcluster==1.1.20
+fastcluster==1.1.21
 libusb1==1.5.0
 pycapnp==0.6.3
 pyzmq==15.4.0
@@ -9,11 +9,11 @@ requests==2.10.0
 setproctitle==1.1.10
 simplejson==3.8.2
 pyyaml==3.12
-cffi==1.11.5
-enum34==1.1.6
+cffi==1.7.0
+enum34==1.1.1
 sympy==1.1.1
-filterpy==1.2.4
+filterpy==1.0.0
 smbus2==0.2.0
-pyflakes==1.6.0
+pyflakes==1.5.0
 -e git+https://github.com/commaai/le_python.git@5eef8f5be5929d33973e1b10e686fa0cdcd6792f#egg=Logentries
-Flask==1.0.2
+Flask==1.0.1

selfdrive/can/common.h

@@ -60,19 +60,10 @@ struct Msg {
   const Signal *sigs;
 };
 
-struct Val {
-  const char* name;
-  uint32_t address;
-  const char* def_val;
-  const Signal *sigs;
-};
-
 struct DBC {
   const char* name;
   size_t num_msgs;
   const Msg *msgs;
-  const Val *vals;
-  size_t num_vals;
 };
 
 const DBC* dbc_lookup(const std::string& dbc_name);

selfdrive/can/dbc_template.cc

@@ -48,28 +48,12 @@ const Msg msgs[] = {
 {% endfor %}
 };
 
-const Val vals[] = {
-{% for address, sig in def_vals %}
-  {% for sg_name, def_val in sig %}
-    {% set address_hex = "0x%X" % address %}
-    {
-      .name = "{{sg_name}}",
-      .address = {{address_hex}},
-      .def_val = {{def_val}},
-      .sigs = sigs_{{address}},
-    },
-  {% endfor %}
-{% endfor %}
-};
-
 }
 
 const DBC {{dbc.name}} = {
   .name = "{{dbc.name}}",
   .num_msgs = ARRAYSIZE(msgs),
   .msgs = msgs,
-  .vals = vals,
-  .num_vals = ARRAYSIZE(vals),
 };
 
 dbc_init({{dbc.name}})

selfdrive/can/libdbc_py.py

@@ -57,19 +57,10 @@ typedef struct {
   const Signal *sigs;
 } Msg;
 
-typedef struct {
-  const char* name;
-  uint32_t address;
-  const char* def_val;
-  const Signal *sigs;
-} Val;
-
 typedef struct {
   const char* name;
   size_t num_msgs;
   const Msg *msgs;
-  const Val *vals;
-  size_t num_vals;
 } DBC;
 
 

selfdrive/can/packer.cc

@@ -13,25 +13,9 @@
 
 namespace {
 
-  // this is the same as read_u64_le, but uses uint64_t as in/out
-  uint64_t ReverseBytes(uint64_t x) {
-    return ((x & 0xff00000000000000ull) >> 56) |
-           ((x & 0x00ff000000000000ull) >> 40) |
-           ((x & 0x0000ff0000000000ull) >> 24) |
-           ((x & 0x000000ff00000000ull) >> 8) |
-           ((x & 0x00000000ff000000ull) << 8) |
-           ((x & 0x0000000000ff0000ull) << 24) |
-           ((x & 0x000000000000ff00ull) << 40) |
-           ((x & 0x00000000000000ffull) << 56);
-  }
-
   uint64_t set_value(uint64_t ret, Signal sig, int64_t ival){
-    int shift = sig.is_little_endian? sig.b1 : sig.bo;
-    uint64_t mask = ((1ULL << sig.b2)-1) << shift;
-    uint64_t dat = (ival & ((1ULL << sig.b2)-1)) << shift;
-    if (sig.is_little_endian) {
-      dat = ReverseBytes(dat);
-    }
+    uint64_t mask = ((1ULL << sig.b2)-1) << sig.bo;
+    uint64_t dat = (ival & ((1ULL << sig.b2)-1)) << sig.bo;
     ret &= ~mask;
     ret |= dat;
     return ret;

selfdrive/can/packer.py

@@ -46,17 +46,9 @@ class CANPacker(object):
 
 
 if __name__ == "__main__":
-  ## little endian test
-  cp = CANPacker("hyundai_2015_ccan")
-  s = cp.pack_bytes(0x340, {
-    "CR_Lkas_StrToqReq": -0.06,
-    "CF_Lkas_FcwBasReq": 1,
-    "CF_Lkas_Chksum": 3,
-  })
-  # big endian test
-  #cp = CANPacker("honda_civic_touring_2016_can_generated")
-  #s = cp.pack_bytes(0xe4, {
-  #  "STEER_TORQUE": -2,
-  #})
-  print [hex(ord(v)) for v in s[1]]
+  cp = CANPacker("honda_civic_touring_2016_can_generated")
+  s = cp.pack_bytes(0x30c, [
+    ("PCM_SPEED", 123),
+    ("PCM_GAS", 10),
+  ])
   print(s[1].encode("hex"))

selfdrive/can/parser.py

@@ -93,44 +93,6 @@ class CANParser(object):
     libdbc.can_update(self.can, sec, wait)
     return self.update_vl(sec)
 
-class CANDefine(object):
-  def __init__(self, dbc_name):
-    self.dv = defaultdict(dict)
-    self.dbc_name = dbc_name
-    self.dbc = libdbc.dbc_lookup(dbc_name)
-
-    num_vals = self.dbc[0].num_vals
-
-    self.address_to_msg_name = {}
-    num_msgs = self.dbc[0].num_msgs
-    for i in range(num_msgs):
-      msg = self.dbc[0].msgs[i]
-      name = ffi.string(msg.name)
-      address = msg.address
-      self.address_to_msg_name[address] = name
-
-    for i in range(num_vals):
-      val = self.dbc[0].vals[i]
-
-      sgname = ffi.string(val.name)
-      address = val.address
-      def_val = ffi.string(val.def_val)
-
-      #separate definition/value pairs
-      def_val = def_val.split()
-      values = [int(v) for v in def_val[::2]]
-      defs = def_val[1::2]
-
-      if address not in self.dv:
-        self.dv[address] = {}
-        msgname = self.address_to_msg_name[address]
-        self.dv[msgname] = {}
-
-      # two ways to lookup: address or msg name
-      self.dv[address][sgname] = {v: d for v, d in zip(values, defs)} #build dict
-      self.dv[msgname][sgname] = self.dv[address][sgname]
-
-
 if __name__ == "__main__":
   from common.realtime import sec_since_boot
 

selfdrive/can/process_dbc.py

@@ -24,9 +24,6 @@ with open(template_fn, "r") as template_f:
 msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM"))) # process counter and checksums first
         for address, ((msg_name, msg_size), msg_sigs) in sorted(can_dbc.msgs.iteritems()) if msg_sigs]
 
-def_vals = {a: set(b) for a,b in can_dbc.def_vals.items()} #remove duplicates
-def_vals = [(address, sig) for address, sig in sorted(def_vals.iteritems())]
-
 if can_dbc.name.startswith("honda") or can_dbc.name.startswith("acura"):
   checksum_type = "honda"
   checksum_size = 4
@@ -58,7 +55,7 @@ for name, count in c.items():
   if count > 1:
     sys.exit("Duplicate message name in DBC file %s" % name)
 
-parser_code = template.render(dbc=can_dbc, checksum_type=checksum_type, msgs=msgs, def_vals=def_vals, len=len)
+parser_code = template.render(dbc=can_dbc, checksum_type=checksum_type, msgs=msgs, len=len)
 
 with open(out_fn, "w") as out_f:
   out_f.write(parser_code)

selfdrive/car/ford/carstate.py

@@ -6,6 +6,21 @@ import numpy as np
 
 WHEEL_RADIUS = 0.33
 
+def parse_gear_shifter(can_gear, car_fingerprint):
+  # TODO: Use values from DBC to parse this field
+  if can_gear == 0x0:
+    return "park"
+  elif can_gear == 0x1:
+    return "reverse"
+  elif can_gear == 0x2:
+    return "neutral"
+  elif can_gear == 0x3:
+    return "drive"
+  elif can_gear == 0x4:
+    return "brake"
+  return "unknown"
+
+
 def get_can_parser(CP):
 
   signals = [

selfdrive/car/honda/carstate.py

@@ -1,17 +1,48 @@
 from common.numpy_fast import interp
 from common.kalman.simple_kalman import KF1D
-from selfdrive.can.parser import CANParser, CANDefine
+from selfdrive.can.parser import CANParser
 from selfdrive.config import Conversions as CV
-from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR
+from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD
 
-def parse_gear_shifter(gear, vals):
+def parse_gear_shifter(can_gear_shifter, car_fingerprint):
 
-  val_to_capnp = {'P': 'park', 'R': 'reverse', 'N': 'neutral',
-                  'D': 'drive', 'S': 'sport', 'L': 'low'}
-  try:
-    return val_to_capnp[vals[gear]]
-  except KeyError:
-    return "unknown"
+  # TODO: Use VAL from DBC to parse this field
+  if car_fingerprint in (CAR.ACURA_ILX, CAR.ODYSSEY):
+    if can_gear_shifter == 0x1:
+      return "park"
+    elif can_gear_shifter == 0x2:
+      return "reverse"
+    elif can_gear_shifter == 0x3:
+      return "neutral"
+    elif can_gear_shifter == 0x4:
+      return "drive"
+    elif can_gear_shifter == 0xa:
+      return "sport"
+  elif car_fingerprint in (CAR.CIVIC, CAR.CRV, CAR.ACURA_RDX, CAR.CRV_5G, CAR.CIVIC_HATCH):
+    if can_gear_shifter == 0x1:
+      return "park"
+    elif can_gear_shifter == 0x2:
+      return "reverse"
+    elif can_gear_shifter == 0x4:
+      return "neutral"
+    elif can_gear_shifter == 0x8:
+      return "drive"
+    elif can_gear_shifter == 0x10:
+      return "sport"
+    elif can_gear_shifter == 0x20:
+      return "low"
+
+  elif car_fingerprint in (CAR.ACCORD, CAR.PILOT, CAR.RIDGELINE):
+     if can_gear_shifter == 0x8:
+       return "reverse"
+     elif can_gear_shifter == 0x4:
+       return "park"
+     elif can_gear_shifter == 0x20:
+       return "drive"
+     elif can_gear_shifter == 0x2:
+        return "sport"
+
+  return "unknown"
 
 
 def calc_cruise_offset(offset, speed):
@@ -88,7 +119,7 @@ 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 == CAR.ACCORD:
     signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
   else:
     signals += [("DOOR_OPEN_FL", "DOORS_STATUS", 1),
@@ -137,8 +168,6 @@ def get_can_parser(CP):
 class CarState(object):
   def __init__(self, CP):
     self.CP = CP
-    self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
-    self.shifter_values = self.can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
 
     self.user_gas, self.user_gas_pressed = 0., 0
     self.brake_switch_prev = 0
@@ -183,7 +212,7 @@ 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 == CAR.ACCORD: # 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:
@@ -201,17 +230,15 @@ class CarState(object):
     self.esp_disabled = cp.vl["VSA_STATUS"]['ESP_DISABLED']
 
     # calc best v_ego estimate, by averaging two opposite corners
-    speed_factor = SPEED_FACTOR[self.CP.carFingerprint]
-    self.v_wheel_fl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FL'] * CV.KPH_TO_MS * speed_factor
-    self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS * speed_factor
-    self.v_wheel_rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS * speed_factor
-    self.v_wheel_rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS * speed_factor
+    self.v_wheel_fl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FL'] * CV.KPH_TO_MS
+    self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS
+    self.v_wheel_rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS
+    self.v_wheel_rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS
     self.v_wheel = (self.v_wheel_fl+self.v_wheel_fr+self.v_wheel_rl+self.v_wheel_rr)/4.
 
     # blend in transmission speed at low speed, since it has more low speed accuracy
     self.v_weight = interp(self.v_wheel, v_weight_bp, v_weight_v)
-    speed = (1. - self.v_weight) * cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] * CV.KPH_TO_MS * speed_factor + \
-      self.v_weight * self.v_wheel
+    speed = (1. - self.v_weight) * cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] * CV.KPH_TO_MS + self.v_weight * self.v_wheel
 
     if abs(speed - self.v_ego) > 2.0:  # Prevent large accelerations when car starts at non zero speed
       self.v_ego_x = [[speed], [0.0]]
@@ -227,6 +254,7 @@ class CarState(object):
       self.user_gas = cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS']
       self.user_gas_pressed = self.user_gas > 0 # this works because interceptor read < 0 when pedal position is 0. Once calibrated, this will change
 
+    can_gear_shifter = cp.vl["GEARBOX"]['GEAR_SHIFTER']
     self.gear = 0 if self.CP.carFingerprint == CAR.CIVIC else cp.vl["GEARBOX"]['GEAR']
     self.angle_steers = cp.vl["STEERING_SENSORS"]['STEER_ANGLE']
     self.angle_steers_rate = cp.vl["STEERING_SENSORS"]['STEER_ANGLE_RATE']
@@ -238,7 +266,7 @@ 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.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']
@@ -247,8 +275,7 @@ class CarState(object):
       self.brake_hold = 0  # TODO
       self.main_on = cp.vl["SCM_BUTTONS"]['MAIN_ON']
 
-    can_gear_shifter = int(cp.vl["GEARBOX"]['GEAR_SHIFTER'])
-    self.gear_shifter = parse_gear_shifter(can_gear_shifter, self.shifter_values)
+    self.gear_shifter = parse_gear_shifter(can_gear_shifter, self.CP.carFingerprint)
 
     self.pedal_gas = cp.vl["POWERTRAIN_DATA"]['PEDAL_GAS']
     # crv doesn't include cruise control

selfdrive/car/honda/hondacan.py

@@ -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 specific ***
 def can_cksum(mm):
@@ -70,7 +70,7 @@ def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, i
     "STEER_TORQUE_REQUEST": lkas_active,
   }
   # Set bus 2 for accord and new crv.
-  bus = 2 if car_fingerprint in HONDA_BOSCH else 0
+  bus = 2 if car_fingerprint in (CAR.CRV_5G, CAR.ACCORD, CAR.CIVIC_HATCH) else 0
   return packer.make_can_msg("STEERING_CONTROL", bus, values, idx)
 
 
@@ -80,7 +80,7 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, idx):
   bus = 0
 
   # Bosch sends commands to bus 2.
-  if car_fingerprint in HONDA_BOSCH:
+  if car_fingerprint in (CAR.CRV_5G, CAR.ACCORD, CAR.CIVIC_HATCH):
     bus = 2
   else:
     acc_hud_values = {

selfdrive/car/honda/interface.py

@@ -204,7 +204,7 @@ class CarInterface(object):
       ret.longitudinalKiBP = [0., 35.]
       ret.longitudinalKiV = [0.18, 0.12]
 
-    elif candidate in (CAR.ACCORD, CAR.ACCORD_15):
+    elif candidate == CAR.ACCORD:
       stop_and_go = True
       ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
       ret.mass = 3279. * CV.LB_TO_KG + std_cargo
@@ -500,7 +500,7 @@ class CarInterface(object):
       events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
     if ret.gearShifter == 'reverse':
       events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
-    if self.CS.brake_hold and self.CS.CP.carFingerprint not in HONDA_BOSCH:
+    if self.CS.brake_hold:
       events.append(create_event('brakeHold', [ET.NO_ENTRY, ET.USER_DISABLE]))
     if self.CS.park_brake:
       events.append(create_event('parkBrake', [ET.NO_ENTRY, ET.USER_DISABLE]))

selfdrive/car/honda/values.py

@@ -38,7 +38,6 @@ class AH:
 
 class CAR:
   ACCORD = "HONDA ACCORD 2018 SPORT 2T"
-  ACCORD_15 = "HONDA ACCORD 2018 LX 1.5T"
   CIVIC = "HONDA CIVIC 2016 TOURING"
   CIVIC_HATCH = "HONDA CIVIC HATCHBACK 2017 EX"
   ACURA_ILX = "ACURA ILX 2016 ACURAWATCH PLUS"
@@ -54,16 +53,13 @@ FINGERPRINTS = {
   CAR.ACCORD: [{
     148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 525: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
   }],
-  CAR.ACCORD_15: [{
-    148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
-  }],
   CAR.ACURA_ILX: [{
     57: 3, 145: 8, 228: 5, 304: 8, 316: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 7, 419: 8, 420: 8, 422: 8, 428: 8, 432: 7, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 882: 2, 884: 7, 887: 8, 888: 8, 892: 8, 923: 2, 929: 4, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1030: 5, 1034: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1365: 5,
   }],
   # Acura RDX w/ Added Comma Pedal Support (512L & 513L)
   CAR.ACURA_RDX: [{
     57: 3, 145: 8, 229: 4, 308: 5, 316: 8, 342: 6, 344: 8, 380: 8, 392: 6, 398: 3, 399: 6, 404: 4, 420: 8, 422: 8, 426: 8, 432: 7, 464: 8, 474: 5, 476: 4, 487: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 882: 2, 884: 7, 887: 8, 888: 8, 892: 8, 923: 2, 929: 4, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1033: 5, 1034: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1365: 5, 1424: 5, 1729: 1
-  }],
+  }], 
   CAR.CIVIC: [{
     57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 428: 8, 432: 7, 450: 8, 464: 8, 470: 2, 476: 7, 487: 4, 490: 8, 493: 5, 506: 8, 512: 6, 513: 6, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 892: 8, 927: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1633: 8,
   }],
@@ -97,7 +93,6 @@ FINGERPRINTS = {
 
 DBC = {
   CAR.ACCORD: dbc_dict('honda_accord_s2t_2018_can_generated', None),
-  CAR.ACCORD_15: dbc_dict('honda_accord_lx15t_2018_can_generated', None),
   CAR.ACURA_ILX: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
   CAR.ACURA_RDX: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
   CAR.CIVIC: dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
@@ -112,7 +107,6 @@ DBC = {
 
 STEER_THRESHOLD = {
   CAR.ACCORD: 1200,
-  CAR.ACCORD_15: 1200,
   CAR.ACURA_ILX: 1200,
   CAR.ACURA_RDX: 400,
   CAR.CIVIC: 1200,
@@ -124,19 +118,5 @@ STEER_THRESHOLD = {
   CAR.RIDGELINE: 1200,
 }
 
-SPEED_FACTOR = {
-  CAR.ACCORD: 1.,
-  CAR.ACCORD_15: 1.,
-  CAR.ACURA_ILX: 1.,
-  CAR.ACURA_RDX: 1.,
-  CAR.CIVIC: 1.,
-  CAR.CIVIC_HATCH: 1.,
-  CAR.CRV: 1.025,
-  CAR.CRV_5G: 1.025,
-  CAR.ODYSSEY: 1.,
-  CAR.PILOT: 1.,
-  CAR.RIDGELINE: 1.,
-}
-
 # TODO: get these from dbc file
-HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.CIVIC_HATCH, CAR.CRV_5G]
+HONDA_BOSCH = [CAR.ACCORD, CAR.CIVIC_HATCH, CAR.CRV_5G]

selfdrive/car/toyota/carstate.py

@@ -1,17 +1,37 @@
-import numpy as np
-from common.kalman.simple_kalman import KF1D
-from selfdrive.can.parser import CANParser, CANDefine
-from selfdrive.config import Conversions as CV
 from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD
+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 parse_gear_shifter(gear, vals):
 
-  val_to_capnp = {'P': 'park', 'R': 'reverse', 'N': 'neutral',
-                  'D': 'drive', 'B': 'brake'}
-  try:
-    return val_to_capnp[vals[gear]]
-  except KeyError:
-    return "unknown"
+def parse_gear_shifter(can_gear, car_fingerprint):
+  # TODO: Use values from DBC to parse this field
+  if car_fingerprint in [CAR.PRIUS, CAR.CHRH, CAR.CAMRYH]:
+    if can_gear == 0x0:
+      return "park"
+    elif can_gear == 0x1:
+      return "reverse"
+    elif can_gear == 0x2:
+      return "neutral"
+    elif can_gear == 0x3:
+      return "drive"
+    elif can_gear == 0x4:
+      return "brake"
+  elif car_fingerprint in [CAR.RAV4, CAR.RAV4H, 
+                           CAR.LEXUS_RXH, CAR.COROLLA, CAR.CHR, CAR.CAMRY]:
+    if can_gear == 0x20:
+      return "park"
+    elif can_gear == 0x10:
+      return "reverse"
+    elif can_gear == 0x8:
+      return "neutral"
+    elif can_gear == 0x0:
+      return "drive"
+    elif can_gear == 0x1:
+      return "sport"
+
+  return "unknown"
 
 
 def get_can_parser(CP):
@@ -69,8 +89,6 @@ class CarState(object):
   def __init__(self, CP):
 
     self.CP = CP
-    self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
-    self.shifter_values = self.can_define.dv["GEAR_PACKET"]['GEAR']
     self.left_blinker_on = 0
     self.right_blinker_on = 0
 
@@ -99,6 +117,7 @@ class CarState(object):
                                     cp.vl["SEATS_DOORS"]['DOOR_OPEN_RL'], cp.vl["SEATS_DOORS"]['DOOR_OPEN_RR']])
     self.seatbelt = not cp.vl["SEATS_DOORS"]['SEATBELT_DRIVER_UNLATCHED']
 
+    can_gear = cp.vl["GEAR_PACKET"]['GEAR']
     self.brake_pressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED']
     self.pedal_gas = cp.vl["GAS_PEDAL"]['GAS_PEDAL']
     self.car_gas = self.pedal_gas
@@ -123,8 +142,7 @@ class CarState(object):
 
     self.angle_steers = cp.vl["STEER_ANGLE_SENSOR"]['STEER_ANGLE'] + cp.vl["STEER_ANGLE_SENSOR"]['STEER_FRACTION']
     self.angle_steers_rate = cp.vl["STEER_ANGLE_SENSOR"]['STEER_RATE']
-    can_gear = int(cp.vl["GEAR_PACKET"]['GEAR'])
-    self.gear_shifter = parse_gear_shifter(can_gear, self.shifter_values)
+    self.gear_shifter = parse_gear_shifter(can_gear, self.car_fingerprint)
     self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
     self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
     self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2

selfdrive/common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.5.2-release"
+#define COMMA_VERSION "0.5.1-release"

selfdrive/controls/controlsd.py

@@ -511,7 +511,7 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
       prof.checkpoint("State transition")
 
     # compute actuators
-    actuators, v_cruise_kph, driver_status, angle_offset = state_control(plan, CS, CP, state, events, v_cruise_kph,
+    actuators, v_cruise_kph, driver_status, angle_offset = state_control(plan, CS, CP, state, events, v_cruise_kph, 
       v_cruise_kph_last, AM, rk, driver_status, PL, LaC, LoC, VM, angle_offset, passive)
     prof.checkpoint("State Control")
 

selfdrive/controls/lib/alertmanager.py

@@ -181,11 +181,11 @@ class AlertManager(object):
         AlertStatus.userPrompt, AlertSize.mid,
         Priority.LOW, None, None, 0., 0., .2),
 
-    "debugAlert": Alert(
-        "DEBUG ALERT",
-        "",
-        AlertStatus.userPrompt, AlertSize.mid,
-        Priority.LOW, None, None, .1, .1, .1),
+    "debugAlert": Alert( 
+        "DEBUG ALERT", 
+        "", 
+        AlertStatus.userPrompt, AlertSize.mid, 
+        Priority.LOW, None, None, .1, .1, .1), 
 
     # Non-entry only alerts
     "wrongCarModeNoEntry": Alert(

selfdrive/controls/lib/driver_monitor.py

@@ -6,7 +6,7 @@ _DT = 0.01                  # update runs at 100Hz
 _AWARENESS_TIME = 180       # 3 minutes limit without user touching steering wheels make the car enter a terminal status
 _AWARENESS_PRE_TIME = 20.   # a first alert is issued 20s before expiration
 _AWARENESS_PROMPT_TIME = 5. # a second alert is issued 5s before start decelerating the car
-_DISTRACTED_TIME = 8.
+_DISTRACTED_TIME = 6.
 _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
@@ -27,6 +27,13 @@ _VARIANCE_FILTER_F = 0.008    # 0.008Hz, 20s ts
 _VARIANCE_FILTER_K = 2 * np.pi * _VARIANCE_FILTER_F * _DTM / (1 + 2 * np.pi * _VARIANCE_FILTER_F * _DTM)
 
 
+class MonitorChangeEvent:
+  NO_CHANGE = 0
+  PARAM_ON = 1
+  PARAM_OFF = 2
+  VARIANCE_HIGH = 3
+  VARIANCE_LOW = 4
+
 class _DriverPose():
   def __init__(self):
     self.yaw = 0.
@@ -45,6 +52,7 @@ class DriverStatus():
     self.monitor_on = monitor_on
     self.monitor_param_on = monitor_on
     self.monitor_valid = True   # variance needs to be low
+    self.monitor_change_event = MonitorChangeEvent.NO_CHANGE
     self.awareness = 1.
     self.driver_distracted = False
     self.driver_distraction_level = 0.
@@ -81,6 +89,21 @@ class DriverStatus():
     return 1 if metric > _METRIC_THRESHOLD else 0
 
 
+  def _monitor_change_check(self, monitor_param_on_prev, monitor_valid_prev, monitor_on_prev):
+    if not monitor_param_on_prev and self.monitor_param_on:
+      self._reset_filters()
+      return MonitorChangeEvent.PARAM_ON
+    elif monitor_param_on_prev and not self.monitor_param_on:
+      self._reset_filters()
+      return MonitorChangeEvent.PARAM_OFF
+    elif monitor_on_prev and not self.monitor_valid:
+      return MonitorChangeEvent.VARIANCE_HIGH
+    elif self.monitor_param_on and not monitor_valid_prev and self.monitor_valid:
+      return MonitorChangeEvent.VARIANCE_LOW
+    else:
+      return MonitorChangeEvent.NO_CHANGE
+
+
   def get_pose(self, driver_monitoring, params):
 
     self.pose.pitch = driver_monitoring.descriptor[0]
@@ -98,17 +121,17 @@ class DriverStatus():
 
     monitor_param_on_prev = self.monitor_param_on
     monitor_valid_prev = self.monitor_valid
+    monitor_on_prev = self.monitor_on
 
     # don't check for param too often as it's a kernel call
     ts = sec_since_boot()
     if ts - self.ts_last_check > 1.:
       self.monitor_param_on = params.get("IsDriverMonitoringEnabled") == "1"
       self.ts_last_check = ts
-
+    
     self.monitor_valid = _monitor_hysteresys(self.variance_level, monitor_valid_prev)
     self.monitor_on = self.monitor_valid and self.monitor_param_on
-    if monitor_param_on_prev != self.monitor_param_on:
-      self._reset_filters()
+    self.monitor_change_event = self._monitor_change_check(monitor_param_on_prev, monitor_valid_prev, monitor_on_prev)
     self._set_timers()
 
 
@@ -119,6 +142,9 @@ class DriverStatus():
     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 ctrl_active:
+        # hold monitor_level constant when control isn't active
+        self.variance_level = 0. if self.monitor_valid else 1.
 
     if (not self.monitor_on or (self.driver_distraction_level > 0.63 and self.driver_distracted)) and \
        not (standstill and self.awareness - self.step_change <= self.threshold_prompt):
@@ -137,6 +163,8 @@ class DriverStatus():
     if alert is not None:
       events.append(create_event(alert, [ET.WARNING]))
 
+    self.monitor_change_event = MonitorChangeEvent.NO_CHANGE
+
     return events
 
 
@@ -149,4 +177,5 @@ if __name__ == "__main__":
     print(ds.awareness, ds.driver_distracted, ds.driver_distraction_level)
   ds.update([], True, True, False)
   print(ds.awareness, ds.driver_distracted, ds.driver_distraction_level)
+  
 

selfdrive/controls/lib/vehicle_model.py

@@ -101,5 +101,5 @@ if __name__ == '__main__':
   VM = VehicleModel(CP)
   #print VM.steady_state_sol(.1, 0.15)
   #print calc_slip_factor(VM)
-  print VM.yaw_rate(1.*np.pi/180, 32.) * 180./np.pi
+  #print VM.yaw_rate(3.*np.pi/180, 32.) * 180./np.pi
   #print VM.curvature_factor(32)

selfdrive/locationd/calibrationd.py

@@ -1,246 +0,0 @@
-#!/usr/bin/env python
-import os
-import zmq
-import cv2
-import copy
-import math
-import json
-import numpy as np
-import selfdrive.messaging as messaging
-from selfdrive.swaglog import cloudlog
-from selfdrive.services import service_list
-from common.params import Params
-from common.ffi_wrapper import ffi_wrap
-import common.transformations.orientation as orient
-from common.transformations.model import model_height, get_camera_frame_from_model_frame
-from common.transformations.camera import view_frame_from_device_frame, get_view_frame_from_road_frame, \
-                                          eon_intrinsics, get_calib_from_vp, normalize, denormalize, H, W
-
-
-MIN_SPEED_FILTER = 7 # m/s  (~15.5mph)
-MAX_YAW_RATE_FILTER = math.radians(3) # per second
-FRAMES_NEEDED = 120  # allow to update VP every so many frames
-VP_CYCLES_NEEDED = 2
-CALIBRATION_CYCLES_NEEDED = FRAMES_NEEDED * VP_CYCLES_NEEDED
-DT = 0.1      # nominal time step of 10Hz (orbd_live runs slower on pc)
-VP_RATE_LIM = 2. * DT    # 2 px/s
-VP_INIT = np.array([W/2., H/2.])
-EXTERNAL_PATH = os.path.dirname(os.path.abspath(__file__))
-VP_VALIDITY_CORNERS = np.array([[-200., -200.], [200., 200.]])  + VP_INIT
-GRID_WEIGHT_INIT = 2e6
-MAX_LINES = 500    # max lines to avoid over computation
-
-DEBUG = os.getenv("DEBUG") is not None
-
-# Wrap c code for slow grid incrementation
-c_header = "\nvoid increment_grid(double *grid, double *lines, long long n);"
-c_code = "#define H %d\n" % H
-c_code += "#define W %d\n" % W
-c_code += "\n" + open(os.path.join(EXTERNAL_PATH, "get_vp.c")).read()
-ffi, lib = ffi_wrap('get_vp', c_code, c_header)
-
-
-class Calibration:
-  UNCALIBRATED = 0
-  CALIBRATED = 1
-  INVALID = 2
-
-
-def increment_grid_c(grid, lines, n):
-  lib.increment_grid(ffi.cast("double *", grid.ctypes.data),
-                ffi.cast("double *", lines.ctypes.data),
-                ffi.cast("long long", n))
-
-def get_lines(p):
-  A = (p[:,0,1] - p[:,1,1])
-  B = (p[:,1,0] - p[:,0,0])
-  C = (p[:,0,0]*p[:,1,1] - p[:,1,0]*p[:,0,1])
-  return np.column_stack((A, B, -C))
-
-def correct_pts(pts, rot_speeds, dt):
-  pts = np.hstack((pts, np.ones((pts.shape[0],1))))
-  cam_rot = dt * view_frame_from_device_frame.dot(rot_speeds)
-  rot = orient.rot_matrix(*cam_rot.T).T
-  pts_corrected = rot.dot(pts.T).T
-  pts_corrected[:,0] /= pts_corrected[:,2]
-  pts_corrected[:,1] /= pts_corrected[:,2]
-  return pts_corrected[:,:2]
-
-def gaussian_kernel(sizex, sizey, stdx, stdy, dx, dy):
-  y, x = np.mgrid[-sizey:sizey+1, -sizex:sizex+1]
-  g = np.exp(-((x - dx)**2 / (2. * stdx**2) + (y - dy)**2 / (2. * stdy**2)))
-  return g / g.sum()
-
-def blur_image(img, kernel):
-  return cv2.filter2D(img.astype(np.uint16), -1, kernel)
-
-def is_calibration_valid(vp):
-  return vp[0] > VP_VALIDITY_CORNERS[0,0] and vp[0] < VP_VALIDITY_CORNERS[1,0] and \
-         vp[1] > VP_VALIDITY_CORNERS[0,1] and vp[1] < VP_VALIDITY_CORNERS[1,1]
-
-class Calibrator(object):
-  def __init__(self, param_put=False):
-    self.param_put = param_put
-    self.speed = 0
-    self.vp_cycles = 0
-    self.angle_offset = 0.
-    self.yaw_rate = 0.
-    self.l100_last_updated = 0
-    self.prev_orbs = None
-    self.kernel = gaussian_kernel(11, 11, 2.35, 2.35, 0, 0)
-
-    self.vp = copy.copy(VP_INIT)
-    self.cal_status = Calibration.UNCALIBRATED
-    self.frame_counter = 0
-    self.params = Params()
-    calibration_params = self.params.get("CalibrationParams")
-    if calibration_params:
-      try:
-        calibration_params = json.loads(calibration_params)
-        self.vp = np.array(calibration_params["vanishing_point"])
-        self.cal_status = Calibration.CALIBRATED if is_calibration_valid(self.vp) else Calibration.INVALID
-        self.vp_cycles = VP_CYCLES_NEEDED
-        self.frame_counter = CALIBRATION_CYCLES_NEEDED
-      except Exception:
-        cloudlog.exception("CalibrationParams file found but error encountered")
-
-    self.vp_unfilt = self.vp
-    self.orb_last_updated = 0.
-    self.reset_grid()
-
-  def reset_grid(self):
-    if self.cal_status == Calibration.UNCALIBRATED:
-      # empty grid
-      self.grid = np.zeros((H+1, W+1), dtype=np.float)
-    else:
-      # gaussian grid, centered at vp
-      self.grid = gaussian_kernel(W/2., H/2., 16, 16, self.vp[0] - W/2., self.vp[1] - H/2.) * GRID_WEIGHT_INIT
-
-  def rescale_grid(self):
-    self.grid *= 0.9
-
-  def update(self, uvs, yaw_rate, speed):
-    if len(uvs) < 10 or \
-       abs(yaw_rate) > MAX_YAW_RATE_FILTER or \
-       speed < MIN_SPEED_FILTER:
-      return
-    rot_speeds = np.array([0.,0.,-yaw_rate])
-    uvs[:,1,:] = denormalize(correct_pts(normalize(uvs[:,1,:]), rot_speeds, self.dt))
-    good_tracks = np.linalg.norm(uvs[:,1,:] - uvs[:,0,:], axis=1) > 10
-    uvs = uvs[good_tracks]
-    if uvs.shape[0] > MAX_LINES:
-      uvs = uvs[np.random.choice(uvs.shape[0], MAX_LINES, replace=False), :]
-    lines = get_lines(uvs)
-
-    increment_grid_c(self.grid, lines, len(lines))
-    self.frame_counter += 1
-    if (self.frame_counter % FRAMES_NEEDED) == 0:
-      grid = blur_image(self.grid, self.kernel)
-      argmax_vp = np.unravel_index(np.argmax(grid), grid.shape)[::-1]
-      self.rescale_grid()
-      self.vp_unfilt = np.array(argmax_vp)
-      self.vp_cycles += 1
-      if (self.vp_cycles - VP_CYCLES_NEEDED) % 10 == 0:    # update file every 10
-        # skip rate_lim before writing the file to avoid writing a lagged vp
-        if self.cal_status != Calibration.CALIBRATED:
-          self.vp = self.vp_unfilt
-        if self.param_put:
-          cal_params = {"vanishing_point": list(self.vp), "angle_offset2": self.angle_offset}
-          self.params.put("CalibrationParams", json.dumps(cal_params))
-      return self.vp_unfilt
-
-  def parse_orb_features(self, log):
-    matches = np.array(log.orbFeatures.matches)
-    n = len(log.orbFeatures.matches)
-    t = float(log.orbFeatures.timestampLastEof)*1e-9
-    if t == 0 or n == 0:
-      return t, np.zeros((0,2,2))
-    orbs = denormalize(np.column_stack((log.orbFeatures.xs,
-                                        log.orbFeatures.ys)))
-    if self.prev_orbs is not None:
-      valid_matches = (matches > -1) & (matches < len(self.prev_orbs))
-      tracks = np.hstack((orbs[valid_matches], self.prev_orbs[matches[valid_matches]])).reshape((-1,2,2))
-    else:
-      tracks = np.zeros((0,2,2))
-    self.prev_orbs = orbs
-    return t, tracks
-
-  def update_vp(self):
-    # rate limit to not move VP too fast
-    self.vp = np.clip(self.vp_unfilt, self.vp - VP_RATE_LIM, self.vp + VP_RATE_LIM)
-    if self.vp_cycles < VP_CYCLES_NEEDED:
-      self.cal_status = Calibration.UNCALIBRATED
-    else:
-      self.cal_status = Calibration.CALIBRATED if is_calibration_valid(self.vp) else Calibration.INVALID
-
-  def handle_orb_features(self, log):
-    self.update_vp()
-    self.time_orb, frame_raw = self.parse_orb_features(log)
-    self.dt = min(self.time_orb - self.orb_last_updated, 1.)
-    self.orb_last_updated = self.time_orb
-    if self.time_orb - self.l100_last_updated < 1:
-      return self.update(frame_raw, self.yaw_rate, self.speed)
-
-  def handle_live100(self, log):
-    self.l100_last_updated = self.time_orb
-    self.speed = log.live100.vEgo
-    self.angle_offset = log.live100.angleOffset
-    self.yaw_rate = log.live100.curvature * self.speed
-
-  def handle_debug(self):
-    grid_blurred = blur_image(self.grid, self.kernel)
-    grid_grey = np.clip(grid_blurred/(0.1 + np.max(grid_blurred))*255, 0, 255)
-    grid_color = np.repeat(grid_grey[:,:,np.newaxis], 3, axis=2)
-    grid_color[:,:,0] = 0
-    cv2.circle(grid_color, tuple(self.vp.astype(np.int64)), 2, (255, 255, 0), -1)
-    cv2.imshow("debug", grid_color.astype(np.uint8))
-
-    cv2.waitKey(1)
-
-  def send_data(self, livecalibration):
-    calib = get_calib_from_vp(self.vp)
-    extrinsic_matrix = get_view_frame_from_road_frame(0, calib[1], calib[2], model_height)
-    ke = eon_intrinsics.dot(extrinsic_matrix)
-    warp_matrix = get_camera_frame_from_model_frame(ke, model_height)
-
-    cal_send = messaging.new_message()
-    cal_send.init('liveCalibration')
-    cal_send.liveCalibration.calStatus = self.cal_status
-    cal_send.liveCalibration.calPerc = min(self.frame_counter * 100 / CALIBRATION_CYCLES_NEEDED, 100)
-    cal_send.liveCalibration.warpMatrix2 = map(float, warp_matrix.flatten())
-    cal_send.liveCalibration.extrinsicMatrix = map(float, extrinsic_matrix.flatten())
-
-    livecalibration.send(cal_send.to_bytes())
-
-
-def calibrationd_thread(gctx=None, addr="127.0.0.1"):
-  context = zmq.Context()
-
-  live100 = messaging.sub_sock(context, service_list['live100'].port, addr=addr, conflate=True)
-  orbfeatures = messaging.sub_sock(context, service_list['orbFeatures'].port, addr=addr, conflate=True)
-  livecalibration = messaging.pub_sock(context, service_list['liveCalibration'].port)
-
-  calibrator = Calibrator(param_put = True)
-
-  # buffer with all the messages that still need to be input into the kalman
-  while 1:
-    of = messaging.recv_one(orbfeatures)
-    l100 = messaging.recv_one_or_none(live100)
-
-    new_vp = calibrator.handle_orb_features(of)
-    if DEBUG and new_vp is not None:
-      print 'got new vp', new_vp
-    if l100 is not None:
-      calibrator.handle_live100(l100)
-    if DEBUG:
-      calibrator.handle_debug()
-
-    calibrator.send_data(livecalibration)
-
-
-def main(gctx=None, addr="127.0.0.1"):
-  calibrationd_thread(gctx, addr)
-
-if __name__ == "__main__":
-  main()
-

selfdrive/locationd/get_vp.c

@@ -1,41 +0,0 @@
-int get_intersections(double *lines, double *intersections, long long n) {
-  double D, Dx, Dy;
-  double x, y;
-  double *L1, *L2;
-  int k = 0;
-  for (int i=0; i < n; i++) {
-    for (int j=0; j < n; j++) {
-      L1 = lines + i*3;
-      L2 = lines + j*3;
-      D = L1[0] * L2[1] - L1[1] * L2[0];
-      Dx = L1[2] * L2[1] - L1[1] * L2[2];
-      Dy = L1[0] * L2[2] - L1[2] * L2[0];
-      // only intersect lines from different quadrants
-      if ((D != 0) && (L1[0]*L2[0]*L1[1]*L2[1] < 0)){
-        x = Dx / D;
-        y = Dy / D;
-        if ((0 < x) &&
-            (x < W) &&
-            (0 < y) &&
-            (y < H)){
-          intersections[k*2 + 0] = x;
-          intersections[k*2 + 1] = y;
-          k++;
-        }
-      }
-    }
-  }
-  return k;
-}
-
-void increment_grid(double *grid, double *lines, long long n) {
-  double *intersections = (double*) malloc(n*n*2*sizeof(double));
-  int y, x, k;
-  k = get_intersections(lines, intersections, n);
-  for (int i=0; i < k; i++) {
-    x = (int) (intersections[i*2 + 0] + 0.5);
-    y = (int) (intersections[i*2 + 1] + 0.5);
-    grid[y*(W+1) + x] += 1.;
-  }
-  free(intersections);
-}

selfdrive/manager.py

@@ -93,11 +93,9 @@ managed_processes = {
   "boardd": ("selfdrive/boardd", ["./boardd"]),   # not used directly
   "pandad": "selfdrive.pandad",
   "ui": ("selfdrive/ui", ["./ui"]),
-  "calibrationd": "selfdrive.locationd.calibrationd",
   "visiond": ("selfdrive/visiond", ["./visiond"]),
   "sensord": ("selfdrive/sensord", ["./sensord"]),
   "gpsd": ("selfdrive/sensord", ["./gpsd"]),
-  "orbd": ("selfdrive/orbd", ["./orbd_wrapper.sh"]),
   "updated": "selfdrive.updated",
 }
 android_packages = ("ai.comma.plus.offroad", "ai.comma.plus.frame")
@@ -128,11 +126,9 @@ car_started_processes = [
   'loggerd',
   'sensord',
   'radard',
-  'calibrationd',
   'visiond',
   'proclogd',
   'ubloxd',
-  'orbd'
 ]
 
 def register_managed_process(name, desc, car_started=False):
@@ -470,7 +466,7 @@ def main():
   if params.get("IsUploadVideoOverCellularEnabled") is None:
     params.put("IsUploadVideoOverCellularEnabled", "1")
   if params.get("IsDriverMonitoringEnabled") is None:
-    params.put("IsDriverMonitoringEnabled", "1")
+    params.put("IsDriverMonitoringEnabled", "0")
   if params.get("IsGeofenceEnabled") is None:
     params.put("IsGeofenceEnabled", "-1")
 

selfdrive/orbd/.gitignore

@@ -1,8 +0,0 @@
-orbd
-orbd_cpu
-test/turbocv_profile
-test/turbocv_test
-dspout/*
-dumb_test
-bilinear_lut.h
-orb_lut.h

selfdrive/orbd/Makefile

@@ -1,105 +0,0 @@
-# CPU 
-
-CC = clang
-CXX = clang++
-
-WARN_FLAGS = -Werror=implicit-function-declaration \
-             -Werror=incompatible-pointer-types \
-             -Werror=int-conversion \
-             -Werror=return-type \
-             -Werror=format-extra-args
-
-JSON_FLAGS = -I$(PHONELIBS)/json/src
-
-CFLAGS = -std=gnu11 -g -O2 -fPIC $(WARN_FLAGS) -Iinclude $(JSON_FLAGS) -I.
-CXXFLAGS = -std=c++11 -g -O2 -fPIC $(WARN_FLAGS) -Iinclude $(JSON_FLAGS) -I.
-LDFLAGS =
-
-# profile
-# CXXFLAGS += -DTURBOCV_PROFILE=1
-
-PHONELIBS = ../../phonelibs
-BASEDIR = ../..
-EXTERNAL = ../../external
-PYTHONLIBS = 
-
-UNAME_M := $(shell uname -m)
-
-ifeq ($(UNAME_M),x86_64)
-# computer
-
-ZMQ_FLAGS = -I$(PHONELIBS)/zmq/aarch64/include
-ZMQ_LIBS = -L$(BASEDIR)/external/zmq/lib/ \
-           -l:libczmq.a -l:libzmq.a -lpthread
-
-OPENCV_LIBS = -lopencv_core -lopencv_highgui -lopencv_features2d -lopencv_imgproc
-
-CXXFLAGS += -fopenmp
-LDFLAGS += -lomp
-
-else
-# phone
-ZMQ_FLAGS = -I$(PHONELIBS)/zmq/aarch64/include
-ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib \
-	-l:libczmq.a -l:libzmq.a \
-	-lgnustl_shared
-
-OPENCV_FLAGS = -I$(PHONELIBS)/opencv/include
-OPENCV_LIBS = -Wl,--enable-new-dtags -Wl,-rpath,/usr/local/lib/python2.7/site-packages -L/usr/local/lib/python2.7/site-packages -l:cv2.so
-
-endif
-
-.PHONY: all
-all: orbd
-
-include ../common/cereal.mk
-
-DEP_OBJS = ../common/visionipc.o ../common/swaglog.o $(PHONELIBS)/json/src/json.o
-
-orbd: orbd_dsp.o $(DEP_OBJS) calculator_stub.o freethedsp.o
-	@echo "[ LINK ] $@"
-	$(CXX) -fPIC -o '$@' $^ \
-    $(LDFLAGS) \
-		$(ZMQ_LIBS) \
-		$(CEREAL_LIBS) \
-		-L/usr/lib \
-		-L/system/vendor/lib64 \
-		-ladsprpc \
-		-lm -lz -llog
-
-%.o: %.c
-	@echo "[ CC ] $@"
-	$(CC) $(CFLAGS) \
-		$(ZMQ_FLAGS) \
-		-I../ \
-		-I../../ \
-		-c -o '$@' '$<'
-
-orbd_dsp.o: orbd.cc
-	@echo "[ CXX ] $@"
-	$(CXX) $(CXXFLAGS) \
-		$(CEREAL_CXXFLAGS) \
-		$(ZMQ_FLAGS) \
-		$(OPENCV_FLAGS) \
-		-DDSP \
-		-I../ \
-		-I../../ \
-		-I../../../ \
-		-I./include \
-		-c -o '$@' '$<'
-
-freethedsp.o: dsp/freethedsp.c
-	@echo "[ CC ] $@"
-	$(CC) $(CFLAGS) \
-		-c -o '$@' '$<'
-
-calculator_stub.o: dsp/gen/calculator_stub.c
-	@echo "[ CC ] $@"
-	$(CC) $(CFLAGS) -I./include -c -o '$@' '$<'
-
--include internal.mk
-
-.PHONY: clean
-clean:
-	rm -f *.o turbocv.so orbd test/turbocv_profile test/turbocv_test test/*.o *_lut.h
-

selfdrive/orbd/dsp/freethedsp.c

@@ -1,119 +0,0 @@
-// freethedsp by geohot
-//   (because the DSP should be free)
-// released under MIT License
-
-// usage instructions:
-//   1. Compile an example from the Qualcomm Hexagon SDK 
-//   2. Try to run it on your phone
-//   3. Be very sad when "adsprpc ... dlopen error: ... signature verify start failed for ..." appears in logcat
-// ...here is where people would give up before freethedsp
-//   4. Compile freethedsp with 'clang -shared freethedsp.c -o freethedsp.so' (or statically link it to your program)
-//   5. Run your program with 'LD_PRELOAD=./freethedsp.so ./<your_prog>'
-//   6. OMG THE DSP WORKS
-//   7. Be happy.
-
-// *** patch may have to change for your phone ***
-
-// this is patching /dsp/fastrpc_shell_0
-// correct if sha hash of fastrpc_shell_0 is "fbadc96848aefad99a95aa4edb560929dcdf78f8"
-// patch to return 0xFFFFFFFF from is_test_enabled instead of 0
-// your fastrpc_shell_0 may vary
-#define PATCH_ADDR 0x5200c
-#define PATCH_OLD "\x40\x3f\x20\x50"
-#define PATCH_NEW "\x40\x3f\x00\x5a"
-#define PATCH_LEN (sizeof(PATCH_OLD)-1)
-#define _BITS_IOCTL_H_
-
-// under 100 lines of code begins now
-#include <stdio.h>
-#include <dlfcn.h>
-#include <assert.h>
-#include <stdlib.h>
-#include <unistd.h>
-
-// ioctl stuff
-#define IOC_OUT   0x40000000  /* copy out parameters */
-#define IOC_IN    0x80000000  /* copy in parameters */
-#define IOC_INOUT (IOC_IN|IOC_OUT)
-#define IOCPARM_MASK  0x1fff    /* parameter length, at most 13 bits */
-
-#define _IOC(inout,group,num,len) \
-  (inout | ((len & IOCPARM_MASK) << 16) | ((group) << 8) | (num))
-#define _IOWR(g,n,t)  _IOC(IOC_INOUT, (g), (n), sizeof(t))
-
-// ion ioctls
-#include <linux/ion.h>
-#define ION_IOC_MSM_MAGIC 'M'
-#define ION_IOC_CLEAN_INV_CACHES  _IOWR(ION_IOC_MSM_MAGIC, 2, \
-            struct ion_flush_data)
-
-struct ion_flush_data {
-  ion_user_handle_t handle;
-  int fd;
-  void *vaddr;
-  unsigned int offset;
-  unsigned int length;
-};
-
-// fastrpc ioctls
-#define FASTRPC_IOCTL_INIT       _IOWR('R', 6, struct fastrpc_ioctl_init)
-
-struct fastrpc_ioctl_init {
-  uint32_t flags;   /* one of FASTRPC_INIT_* macros */
-  uintptr_t __user file;  /* pointer to elf file */
-  int32_t filelen;  /* elf file length */
-  int32_t filefd;   /* ION fd for the file */
-  uintptr_t __user mem; /* mem for the PD */
-  int32_t memlen;   /* mem length */
-  int32_t memfd;    /* ION fd for the mem */
-};
-
-int ioctl(int fd, unsigned long request, void *arg) {
-  static void *handle = NULL;
-  static int (*orig_ioctl)(int, int, void*);
-
-  if (handle == NULL) {
-    handle = dlopen("/system/lib64/libc.so", RTLD_LAZY);
-    assert(handle != NULL);
-    orig_ioctl = dlsym(handle, "ioctl");
-  }
-
-  int ret = orig_ioctl(fd, request, arg);
-
-  // carefully modify this one
-  if (request == FASTRPC_IOCTL_INIT) {
-    struct fastrpc_ioctl_init *init = (struct fastrpc_ioctl_init *)arg;
-
-    // confirm patch is correct and do the patch
-    assert(memcmp((void*)(init->mem+PATCH_ADDR), PATCH_OLD, PATCH_LEN) == 0);
-    memcpy((void*)(init->mem+PATCH_ADDR), PATCH_NEW, PATCH_LEN);
-
-    // flush cache
-    int ionfd = open("/dev/ion", O_RDONLY);
-    assert(ionfd > 0);
-
-    struct ion_fd_data fd_data;
-    fd_data.fd = init->memfd;
-    int ret = ioctl(ionfd, ION_IOC_IMPORT, &fd_data);
-    assert(ret == 0);
-
-    struct ion_flush_data flush_data;
-    flush_data.handle  = fd_data.handle;
-    flush_data.vaddr   = (void*)init->mem;
-    flush_data.offset  = 0;
-    flush_data.length  = init->memlen;
-    ret = ioctl(ionfd, ION_IOC_CLEAN_INV_CACHES, &flush_data);
-    assert(ret == 0);
-
-    struct ion_handle_data handle_data;
-    handle_data.handle = fd_data.handle;
-    ret = ioctl(ionfd, ION_IOC_FREE, &handle_data);
-    assert(ret == 0);
-
-    // cleanup
-    close(ionfd);
-  }
-
-  return ret;
-}
-

selfdrive/orbd/dsp/gen/calculator.h

@@ -1,39 +0,0 @@
-#ifndef _CALCULATOR_H
-#define _CALCULATOR_H
-
-#include <stdint.h>
-typedef  uint8_t           uint8;
-typedef  uint32_t           uint32;
-
-#ifndef __QAIC_HEADER
-#define __QAIC_HEADER(ff) ff
-#endif //__QAIC_HEADER
-
-#ifndef __QAIC_HEADER_EXPORT
-#define __QAIC_HEADER_EXPORT
-#endif // __QAIC_HEADER_EXPORT
-
-#ifndef __QAIC_HEADER_ATTRIBUTE
-#define __QAIC_HEADER_ATTRIBUTE
-#endif // __QAIC_HEADER_ATTRIBUTE
-
-#ifndef __QAIC_IMPL
-#define __QAIC_IMPL(ff) ff
-#endif //__QAIC_IMPL
-
-#ifndef __QAIC_IMPL_EXPORT
-#define __QAIC_IMPL_EXPORT
-#endif // __QAIC_IMPL_EXPORT
-
-#ifndef __QAIC_IMPL_ATTRIBUTE
-#define __QAIC_IMPL_ATTRIBUTE
-#endif // __QAIC_IMPL_ATTRIBUTE
-#ifdef __cplusplus
-extern "C" {
-#endif
-__QAIC_HEADER_EXPORT int __QAIC_HEADER(calculator_init)(uint32* leet) __QAIC_HEADER_ATTRIBUTE;
-__QAIC_HEADER_EXPORT int __QAIC_HEADER(calculator_extract_and_match)(const uint8* img, int imgLen, uint8* features, int featuresLen) __QAIC_HEADER_ATTRIBUTE;
-#ifdef __cplusplus
-}
-#endif
-#endif //_CALCULATOR_H

selfdrive/orbd/dsp/gen/calculator_stub.c

@@ -1,613 +0,0 @@
-#ifndef _CALCULATOR_STUB_H
-#define _CALCULATOR_STUB_H
-#include "calculator.h"
-
-// remote.h
-#include <stdint.h>
-#include <sys/types.h>
-
-typedef uint32_t remote_handle;
-typedef uint64_t remote_handle64;
-
-typedef struct {
-   void *pv;
-   size_t nLen;
-} remote_buf;
-
-typedef struct {
-   int32_t fd;
-   uint32_t offset;
-} remote_dma_handle;
-
-typedef union {
-   remote_buf     buf;
-   remote_handle    h;
-   remote_handle64 h64;
-   remote_dma_handle dma;
-} remote_arg;
-
-int remote_handle_open(const char* name, remote_handle *ph);
-int remote_handle_invoke(remote_handle h, uint32_t dwScalars, remote_arg *pra);
-int remote_handle_close(remote_handle h);
-
-#define REMOTE_SCALARS_MAKEX(nAttr,nMethod,nIn,nOut,noIn,noOut) \
-          ((((uint32_t)   (nAttr) &  0x7) << 29) | \
-           (((uint32_t) (nMethod) & 0x1f) << 24) | \
-           (((uint32_t)     (nIn) & 0xff) << 16) | \
-           (((uint32_t)    (nOut) & 0xff) <<  8) | \
-           (((uint32_t)    (noIn) & 0x0f) <<  4) | \
-            ((uint32_t)   (noOut) & 0x0f))
-
-#ifndef _QAIC_ENV_H
-#define _QAIC_ENV_H
-
-#ifdef __GNUC__
-#ifdef __clang__
-#pragma GCC diagnostic ignored "-Wunknown-pragmas"
-#else
-#pragma GCC diagnostic ignored "-Wpragmas"
-#endif
-#pragma GCC diagnostic ignored "-Wuninitialized"
-#pragma GCC diagnostic ignored "-Wunused-parameter"
-#pragma GCC diagnostic ignored "-Wunused-function"
-#endif
-
-#ifndef _ATTRIBUTE_UNUSED
-
-#ifdef _WIN32
-#define _ATTRIBUTE_UNUSED
-#else
-#define _ATTRIBUTE_UNUSED __attribute__ ((unused))
-#endif
-
-#endif // _ATTRIBUTE_UNUSED
-
-#ifndef __QAIC_REMOTE
-#define __QAIC_REMOTE(ff) ff
-#endif //__QAIC_REMOTE
-
-#ifndef __QAIC_HEADER
-#define __QAIC_HEADER(ff) ff
-#endif //__QAIC_HEADER
-
-#ifndef __QAIC_HEADER_EXPORT
-#define __QAIC_HEADER_EXPORT
-#endif // __QAIC_HEADER_EXPORT
-
-#ifndef __QAIC_HEADER_ATTRIBUTE
-#define __QAIC_HEADER_ATTRIBUTE
-#endif // __QAIC_HEADER_ATTRIBUTE
-
-#ifndef __QAIC_IMPL
-#define __QAIC_IMPL(ff) ff
-#endif //__QAIC_IMPL
-
-#ifndef __QAIC_IMPL_EXPORT
-#define __QAIC_IMPL_EXPORT
-#endif // __QAIC_IMPL_EXPORT
-
-#ifndef __QAIC_IMPL_ATTRIBUTE
-#define __QAIC_IMPL_ATTRIBUTE
-#endif // __QAIC_IMPL_ATTRIBUTE
-
-#ifndef __QAIC_STUB
-#define __QAIC_STUB(ff) ff
-#endif //__QAIC_STUB
-
-#ifndef __QAIC_STUB_EXPORT
-#define __QAIC_STUB_EXPORT
-#endif // __QAIC_STUB_EXPORT
-
-#ifndef __QAIC_STUB_ATTRIBUTE
-#define __QAIC_STUB_ATTRIBUTE
-#endif // __QAIC_STUB_ATTRIBUTE
-
-#ifndef __QAIC_SKEL
-#define __QAIC_SKEL(ff) ff
-#endif //__QAIC_SKEL__
-
-#ifndef __QAIC_SKEL_EXPORT
-#define __QAIC_SKEL_EXPORT
-#endif // __QAIC_SKEL_EXPORT
-
-#ifndef __QAIC_SKEL_ATTRIBUTE
-#define __QAIC_SKEL_ATTRIBUTE
-#endif // __QAIC_SKEL_ATTRIBUTE
-
-#ifdef __QAIC_DEBUG__
-   #ifndef __QAIC_DBG_PRINTF__
-   #include <stdio.h>
-   #define __QAIC_DBG_PRINTF__( ee ) do { printf ee ; } while(0)
-   #endif
-#else
-   #define __QAIC_DBG_PRINTF__( ee ) (void)0
-#endif
-
-
-#define _OFFSET(src, sof)  ((void*)(((char*)(src)) + (sof)))
-
-#define _COPY(dst, dof, src, sof, sz)  \
-   do {\
-         struct __copy { \
-            char ar[sz]; \
-         };\
-         *(struct __copy*)_OFFSET(dst, dof) = *(struct __copy*)_OFFSET(src, sof);\
-   } while (0)
-
-#define _COPYIF(dst, dof, src, sof, sz)  \
-   do {\
-      if(_OFFSET(dst, dof) != _OFFSET(src, sof)) {\
-         _COPY(dst, dof, src, sof, sz); \
-      } \
-   } while (0)
-
-_ATTRIBUTE_UNUSED
-static __inline void _qaic_memmove(void* dst, void* src, int size) {
-   int i;
-   for(i = 0; i < size; ++i) {
-      ((char*)dst)[i] = ((char*)src)[i];
-   }
-}
-
-#define _MEMMOVEIF(dst, src, sz)  \
-   do {\
-      if(dst != src) {\
-         _qaic_memmove(dst, src, sz);\
-      } \
-   } while (0)
-
-
-#define _ASSIGN(dst, src, sof)  \
-   do {\
-      dst = OFFSET(src, sof); \
-   } while (0)
-
-#define _STD_STRLEN_IF(str) (str == 0 ? 0 : strlen(str))
-
-#define AEE_SUCCESS              0
-#define AEE_EOFFSET          0x80000400
-#define AEE_EBADPARM             (AEE_EOFFSET + 0x00E)
-
-#define _TRY(ee, func) \
-   do { \
-      if (AEE_SUCCESS != ((ee) = func)) {\
-         __QAIC_DBG_PRINTF__((__FILE__ ":%d:error:%d:%s\n", __LINE__, (int)(ee),#func));\
-         goto ee##bail;\
-      } \
-   } while (0)
-
-#define _CATCH(exception) exception##bail: if (exception != AEE_SUCCESS)
-
-#define _ASSERT(nErr, ff) _TRY(nErr, 0 == (ff) ? AEE_EBADPARM : AEE_SUCCESS)
-
-#ifdef __QAIC_DEBUG__
-#define _ALLOCATE(nErr, pal, size, alignment, pv) _TRY(nErr, _allocator_alloc(pal, __FILE_LINE__, size, alignment, (void**)&pv))
-#else
-#define _ALLOCATE(nErr, pal, size, alignment, pv) _TRY(nErr, _allocator_alloc(pal, 0, size, alignment, (void**)&pv))
-#endif
-
-
-#endif // _QAIC_ENV_H
-
-#ifndef _ALLOCATOR_H
-#define _ALLOCATOR_H
-
-#include <stdlib.h>
-#include <stdint.h>
-
-typedef struct _heap _heap;
-struct _heap {
-   _heap* pPrev;
-   const char* loc;
-   uint64_t buf;
-};
-
-typedef struct _allocator {
-   _heap* pheap;
-   uint8_t* stack;
-   uint8_t* stackEnd;
-   int nSize;
-} _allocator;
-
-_ATTRIBUTE_UNUSED
-static __inline int _heap_alloc(_heap** ppa, const char* loc, int size, void** ppbuf) {
-   _heap* pn = 0;
-   pn = malloc(size + sizeof(_heap) - sizeof(uint64_t));
-   if(pn != 0) {
-      pn->pPrev = *ppa;
-      pn->loc = loc;
-      *ppa = pn;
-      *ppbuf = (void*)&(pn->buf);
-      return 0;
-   } else {
-      return -1;
-   }
-}
-#define _ALIGN_SIZE(x, y) (((x) + (y-1)) & ~(y-1))
-
-_ATTRIBUTE_UNUSED
-static __inline int _allocator_alloc(_allocator* me,
-                                    const char* loc,
-                                    int size,
-                                    unsigned int al,
-                                    void** ppbuf) {
-   if(size < 0) {
-      return -1;
-   } else if (size == 0) {
-      *ppbuf = 0;
-      return 0;
-   }
-   if((_ALIGN_SIZE((uintptr_t)me->stackEnd, al) + size) < (uintptr_t)me->stack + me->nSize) {
-      *ppbuf = (uint8_t*)_ALIGN_SIZE((uintptr_t)me->stackEnd, al);
-      me->stackEnd = (uint8_t*)_ALIGN_SIZE((uintptr_t)me->stackEnd, al) + size;
-      return 0;
-   } else {
-      return _heap_alloc(&me->pheap, loc, size, ppbuf);
-   }
-}
-
-_ATTRIBUTE_UNUSED
-static __inline void _allocator_deinit(_allocator* me) {
-   _heap* pa = me->pheap;
-   while(pa != 0) {
-      _heap* pn = pa;
-      const char* loc = pn->loc;
-      (void)loc;
-      pa = pn->pPrev;
-      free(pn);
-   }
-}
-
-_ATTRIBUTE_UNUSED
-static __inline void _allocator_init(_allocator* me, uint8_t* stack, int stackSize) {
-   me->stack =  stack;
-   me->stackEnd =  stack + stackSize;
-   me->nSize = stackSize;
-   me->pheap = 0;
-}
-
-
-#endif // _ALLOCATOR_H
-
-#ifndef SLIM_H
-#define SLIM_H
-
-#include <stdint.h>
-
-//a C data structure for the idl types that can be used to implement
-//static and dynamic language bindings fairly efficiently.
-//
-//the goal is to have a minimal ROM and RAM footprint and without
-//doing too many allocations.  A good way to package these things seemed
-//like the module boundary, so all the idls within  one module can share
-//all the type references.
-
-
-#define PARAMETER_IN       0x0
-#define PARAMETER_OUT      0x1
-#define PARAMETER_INOUT    0x2
-#define PARAMETER_ROUT     0x3
-#define PARAMETER_INROUT   0x4
-
-//the types that we get from idl
-#define TYPE_OBJECT             0x0
-#define TYPE_INTERFACE          0x1
-#define TYPE_PRIMITIVE          0x2
-#define TYPE_ENUM               0x3
-#define TYPE_STRING             0x4
-#define TYPE_WSTRING            0x5
-#define TYPE_STRUCTURE          0x6
-#define TYPE_UNION              0x7
-#define TYPE_ARRAY              0x8
-#define TYPE_SEQUENCE           0x9
-
-//these require the pack/unpack to recurse
-//so it's a hint to those languages that can optimize in cases where
-//recursion isn't necessary.
-#define TYPE_COMPLEX_STRUCTURE  (0x10 | TYPE_STRUCTURE)
-#define TYPE_COMPLEX_UNION      (0x10 | TYPE_UNION)
-#define TYPE_COMPLEX_ARRAY      (0x10 | TYPE_ARRAY)
-#define TYPE_COMPLEX_SEQUENCE   (0x10 | TYPE_SEQUENCE)
-
-
-typedef struct Type Type;
-
-#define INHERIT_TYPE\
-   int32_t nativeSize;                /*in the simple case its the same as wire size and alignment*/\
-   union {\
-      struct {\
-         const uintptr_t         p1;\
-         const uintptr_t         p2;\
-      } _cast;\
-      struct {\
-         uint32_t  iid;\
-         uint32_t  bNotNil;\
-      } object;\
-      struct {\
-         const Type  *arrayType;\
-         int32_t      nItems;\
-      } array;\
-      struct {\
-         const Type *seqType;\
-         int32_t      nMaxLen;\
-      } seqSimple; \
-      struct {\
-         uint32_t bFloating;\
-         uint32_t bSigned;\
-      } prim; \
-      const SequenceType* seqComplex;\
-      const UnionType  *unionType;\
-      const StructType *structType;\
-      int32_t         stringMaxLen;\
-      uint8_t        bInterfaceNotNil;\
-   } param;\
-   uint8_t    type;\
-   uint8_t    nativeAlignment\
-
-typedef struct UnionType UnionType;
-typedef struct StructType StructType;
-typedef struct SequenceType SequenceType;
-struct Type {
-   INHERIT_TYPE;
-};
-
-struct SequenceType {
-   const Type *         seqType;
-   uint32_t               nMaxLen;
-   uint32_t               inSize;
-   uint32_t               routSizePrimIn;
-   uint32_t               routSizePrimROut;
-};
-
-//byte offset from the start of the case values for
-//this unions case value array.  it MUST be aligned
-//at the alignment requrements for the descriptor
-//
-//if negative it means that the unions cases are
-//simple enumerators, so the value read from the descriptor
-//can be used directly to find the correct case
-typedef union CaseValuePtr CaseValuePtr;
-union CaseValuePtr {
-   const uint8_t*   value8s;
-   const uint16_t*  value16s;
-   const uint32_t*  value32s;
-   const uint64_t*  value64s;
-};
-
-//these are only used in complex cases
-//so I pulled them out of the type definition as references to make
-//the type smaller
-struct UnionType {
-   const Type           *descriptor;
-   uint32_t               nCases;
-   const CaseValuePtr   caseValues;
-   const Type * const   *cases;
-   int32_t               inSize;
-   int32_t               routSizePrimIn;
-   int32_t               routSizePrimROut;
-   uint8_t                inAlignment;
-   uint8_t                routAlignmentPrimIn;
-   uint8_t                routAlignmentPrimROut;
-   uint8_t                inCaseAlignment;
-   uint8_t                routCaseAlignmentPrimIn;
-   uint8_t                routCaseAlignmentPrimROut;
-   uint8_t                nativeCaseAlignment;
-   uint8_t              bDefaultCase;
-};
-
-struct StructType {
-   uint32_t               nMembers;
-   const Type * const   *members;
-   int32_t               inSize;
-   int32_t               routSizePrimIn;
-   int32_t               routSizePrimROut;
-   uint8_t                inAlignment;
-   uint8_t                routAlignmentPrimIn;
-   uint8_t                routAlignmentPrimROut;
-};
-
-typedef struct Parameter Parameter;
-struct Parameter {
-   INHERIT_TYPE;
-   uint8_t    mode;
-   uint8_t  bNotNil;
-};
-
-#define SLIM_IFPTR32(is32,is64) (sizeof(uintptr_t) == 4 ? (is32) : (is64))
-#define SLIM_SCALARS_IS_DYNAMIC(u) (((u) & 0x00ffffff) == 0x00ffffff)
-
-typedef struct Method Method;
-struct Method {
-   uint32_t                    uScalars;            //no method index
-   int32_t                     primInSize;
-   int32_t                     primROutSize;
-   int                         maxArgs;
-   int                         numParams;
-   const Parameter * const     *params;
-   uint8_t                       primInAlignment;
-   uint8_t                       primROutAlignment;
-};
-
-typedef struct Interface Interface;
-
-struct Interface {
-   int                            nMethods;
-   const Method  * const          *methodArray;
-   int                            nIIds;
-   const uint32_t                   *iids;
-   const uint16_t*                  methodStringArray;
-   const uint16_t*                  methodStrings;
-   const char*                    strings;
-};
-
-
-#endif //SLIM_H
-
-
-#ifndef _CALCULATOR_SLIM_H
-#define _CALCULATOR_SLIM_H
-
-// remote.h
-
-#include <stdint.h>
-
-#ifndef __QAIC_SLIM
-#define __QAIC_SLIM(ff) ff
-#endif
-#ifndef __QAIC_SLIM_EXPORT
-#define __QAIC_SLIM_EXPORT
-#endif
-
-static const Type types[1];
-static const Type types[1] = {{0x1,{{(const uintptr_t)0,(const uintptr_t)0}}, 2,0x1}};
-static const Parameter parameters[3] = {{0x4,{{(const uintptr_t)0,(const uintptr_t)0}}, 2,0x4,3,0},{SLIM_IFPTR32(0x8,0x10),{{(const uintptr_t)&(types[0]),(const uintptr_t)0x0}}, 9,SLIM_IFPTR32(0x4,0x8),0,0},{SLIM_IFPTR32(0x8,0x10),{{(const uintptr_t)&(types[0]),(const uintptr_t)0x0}}, 9,SLIM_IFPTR32(0x4,0x8),3,0}};
-static const Parameter* const parameterArrays[3] = {(&(parameters[1])),(&(parameters[2])),(&(parameters[0]))};
-static const Method methods[2] = {{REMOTE_SCALARS_MAKEX(0,0,0x0,0x1,0x0,0x0),0x0,0x4,1,1,(&(parameterArrays[2])),0x1,0x4},{REMOTE_SCALARS_MAKEX(0,0,0x2,0x1,0x0,0x0),0x8,0x0,5,2,(&(parameterArrays[0])),0x4,0x1}};
-static const Method* const methodArrays[2] = {&(methods[0]),&(methods[1])};
-static const char strings[41] = "extract_and_match\0features\0leet\0init\0img\0";
-static const uint16_t methodStrings[5] = {0,37,18,32,27};
-static const uint16_t methodStringsArrays[2] = {3,0};
-__QAIC_SLIM_EXPORT const Interface __QAIC_SLIM(calculator_slim) = {2,&(methodArrays[0]),0,0,&(methodStringsArrays [0]),methodStrings,strings};
-#endif //_CALCULATOR_SLIM_H
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifndef _const_calculator_handle
-#define _const_calculator_handle ((remote_handle)-1)
-#endif //_const_calculator_handle
-
-static void _calculator_pls_dtor(void* data) {
-   remote_handle* ph = (remote_handle*)data;
-   if(_const_calculator_handle != *ph) {
-      (void)__QAIC_REMOTE(remote_handle_close)(*ph);
-      *ph = _const_calculator_handle;
-   }
-}
-
-static int _calculator_pls_ctor(void* ctx, void* data) {
-   remote_handle* ph = (remote_handle*)data;
-   *ph = _const_calculator_handle;
-   if(*ph == (remote_handle)-1) {
-      return __QAIC_REMOTE(remote_handle_open)((const char*)ctx, ph);
-   }
-   return 0;
-}
-
-#if (defined __qdsp6__) || (defined __hexagon__)
-#pragma weak  adsp_pls_add_lookup
-extern int adsp_pls_add_lookup(uint32_t type, uint32_t key, int size, int (*ctor)(void* ctx, void* data), void* ctx, void (*dtor)(void* ctx), void** ppo);
-#pragma weak  HAP_pls_add_lookup
-extern int HAP_pls_add_lookup(uint32_t type, uint32_t key, int size, int (*ctor)(void* ctx, void* data), void* ctx, void (*dtor)(void* ctx), void** ppo);
-
-__QAIC_STUB_EXPORT remote_handle _calculator_handle(void) {
-   remote_handle* ph;
-   if(adsp_pls_add_lookup) {
-      if(0 == adsp_pls_add_lookup((uint32_t)_calculator_handle, 0, sizeof(*ph),  _calculator_pls_ctor, "calculator",  _calculator_pls_dtor, (void**)&ph))  {
-         return *ph;
-      }
-      return (remote_handle)-1;
-   } else if(HAP_pls_add_lookup) {
-      if(0 == HAP_pls_add_lookup((uint32_t)_calculator_handle, 0, sizeof(*ph),  _calculator_pls_ctor, "calculator",  _calculator_pls_dtor, (void**)&ph))  {
-         return *ph;
-      }
-      return (remote_handle)-1;
-   }
-   return(remote_handle)-1;
-}
-
-#else //__qdsp6__ || __hexagon__
-
-uint32_t _calculator_atomic_CompareAndExchange(uint32_t * volatile puDest, uint32_t uExchange, uint32_t uCompare);
-
-#ifdef _WIN32
-#include "Windows.h"
-uint32_t _calculator_atomic_CompareAndExchange(uint32_t * volatile puDest, uint32_t uExchange, uint32_t uCompare) {
-   return (uint32_t)InterlockedCompareExchange((volatile LONG*)puDest, (LONG)uExchange, (LONG)uCompare);
-}
-#elif __GNUC__
-uint32_t _calculator_atomic_CompareAndExchange(uint32_t * volatile puDest, uint32_t uExchange, uint32_t uCompare) {
-   return __sync_val_compare_and_swap(puDest, uCompare, uExchange);
-}
-#endif //_WIN32
-
-
-__QAIC_STUB_EXPORT remote_handle _calculator_handle(void) {
-   static remote_handle handle = _const_calculator_handle;
-   if((remote_handle)-1 != handle) {
-      return handle;
-   } else {
-      remote_handle tmp;
-      int nErr = _calculator_pls_ctor("calculator", (void*)&tmp);
-      if(nErr) {
-         return (remote_handle)-1;
-      }
-      if(((remote_handle)-1 != handle) || ((remote_handle)-1 != (remote_handle)_calculator_atomic_CompareAndExchange((uint32_t*)&handle, (uint32_t)tmp, (uint32_t)-1))) {
-         _calculator_pls_dtor(&tmp);
-      }
-      return handle;
-   }
-}
-
-#endif //__qdsp6__
-
-__QAIC_STUB_EXPORT int __QAIC_STUB(calculator_skel_invoke)(uint32_t _sc, remote_arg* _pra) __QAIC_STUB_ATTRIBUTE {
-   return __QAIC_REMOTE(remote_handle_invoke)(_calculator_handle(), _sc, _pra);
-}
-
-#ifdef __cplusplus
-}
-#endif
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-extern int remote_register_dma_handle(int, uint32_t);
-static __inline int _stub_method(remote_handle _handle, uint32_t _mid, uint32_t _rout0[1]) {
-   int _numIn[1];
-   remote_arg _pra[1];
-   uint32_t _primROut[1];
-   int _nErr = 0;
-   _numIn[0] = 0;
-   _pra[(_numIn[0] + 0)].buf.pv = (void*)_primROut;
-   _pra[(_numIn[0] + 0)].buf.nLen = sizeof(_primROut);
-   _TRY(_nErr, __QAIC_REMOTE(remote_handle_invoke)(_handle, REMOTE_SCALARS_MAKEX(0, _mid, 0, 1, 0, 0), _pra));
-   _COPY(_rout0, 0, _primROut, 0, 4);
-   _CATCH(_nErr) {}
-   return _nErr;
-}
-__QAIC_STUB_EXPORT int __QAIC_STUB(calculator_init)(uint32* leet) __QAIC_STUB_ATTRIBUTE {
-   uint32_t _mid = 0;
-   return _stub_method(_calculator_handle(), _mid, (uint32_t*)leet);
-}
-static __inline int _stub_method_1(remote_handle _handle, uint32_t _mid, char* _in0[1], uint32_t _in0Len[1], char* _rout1[1], uint32_t _rout1Len[1]) {
-   int _numIn[1];
-   remote_arg _pra[3];
-   uint32_t _primIn[2];
-   remote_arg* _praIn;
-   remote_arg* _praROut;
-   int _nErr = 0;
-   _numIn[0] = 1;
-   _pra[0].buf.pv = (void*)_primIn;
-   _pra[0].buf.nLen = sizeof(_primIn);
-   _COPY(_primIn, 0, _in0Len, 0, 4);
-   _praIn = (_pra + 1);
-   _praIn[0].buf.pv = _in0[0];
-   _praIn[0].buf.nLen = (1 * _in0Len[0]);
-   _COPY(_primIn, 4, _rout1Len, 0, 4);
-   _praROut = (_praIn + _numIn[0] + 0);
-   _praROut[0].buf.pv = _rout1[0];
-   _praROut[0].buf.nLen = (1 * _rout1Len[0]);
-   _TRY(_nErr, __QAIC_REMOTE(remote_handle_invoke)(_handle, REMOTE_SCALARS_MAKEX(0, _mid, 2, 1, 0, 0), _pra));
-   _CATCH(_nErr) {}
-   return _nErr;
-}
-__QAIC_STUB_EXPORT int __QAIC_STUB(calculator_extract_and_match)(const uint8* img, int imgLen, uint8* features, int featuresLen) __QAIC_STUB_ATTRIBUTE {
-   uint32_t _mid = 1;
-   return _stub_method_1(_calculator_handle(), _mid, (char**)&img, (uint32_t*)&imgLen, (char**)&features, (uint32_t*)&featuresLen);
-}
-#ifdef __cplusplus
-}
-#endif
-#endif //_CALCULATOR_STUB_H

selfdrive/orbd/extractor.h

@@ -1,38 +0,0 @@
-#ifndef EXTRACTOR_H
-#define EXTRACTOR_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdint.h>
-
-#define ORBD_KEYPOINTS 3000
-#define ORBD_DESCRIPTOR_LENGTH 32
-#define ORBD_HEIGHT 874
-#define ORBD_WIDTH 1164
-#define ORBD_FOCAL 910
-
-// matches OrbFeatures from log.capnp
-struct orb_features {
-  // align this
-  uint16_t n_corners;
-  uint16_t xy[ORBD_KEYPOINTS][2];
-  uint8_t octave[ORBD_KEYPOINTS];
-  uint8_t des[ORBD_KEYPOINTS][ORBD_DESCRIPTOR_LENGTH];
-  int16_t matches[ORBD_KEYPOINTS];
-};
-
-// forward declare this
-struct pyramid;
-
-// manage the pyramids in extractor.c
-void init_gpyrs();
-int extract_and_match_gpyrs(const uint8_t *img, struct orb_features *);
-int extract_and_match(const uint8_t *img, struct pyramid *pyrs, struct pyramid *prev_pyrs, struct orb_features *);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // EXTRACTOR_H

selfdrive/orbd/orbd.cc

@@ -1,191 +0,0 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <signal.h>
-#include <unistd.h>
-#include <stdint.h>
-#include <assert.h>
-#include <sys/resource.h>
-
-#include "common/visionipc.h"
-#include "common/swaglog.h"
-
-#include "extractor.h"
-
-#ifdef DSP
-#include "dsp/gen/calculator.h"
-#else
-#include "turbocv.h"
-#endif
-
-#include <zmq.h>
-#include <capnp/serialize.h>
-#include "cereal/gen/cpp/log.capnp.h"
-
-#ifndef PATH_MAX
-#include <linux/limits.h>
-#endif
-
-volatile int do_exit = 0;
-
-static void set_do_exit(int sig) {
-  do_exit = 1;
-}
-
-int main(int argc, char *argv[]) {
-  int err;
-  setpriority(PRIO_PROCESS, 0, -13);
-  printf("starting orbd\n");
-
-#ifdef DSP
-  uint32_t test_leet = 0;
-  char my_path[PATH_MAX+1];
-  memset(my_path, 0, sizeof(my_path));
-
-  ssize_t len = readlink("/proc/self/exe", my_path, sizeof(my_path));
-  assert(len > 5);
-  my_path[len-5] = '\0';
-  LOGW("running from %s with PATH_MAX %d", my_path, PATH_MAX);
-
-  char adsp_path[PATH_MAX+1];
-  snprintf(adsp_path, PATH_MAX, "ADSP_LIBRARY_PATH=%s/dsp/gen", my_path);
-  assert(putenv(adsp_path) == 0);
-
-  assert(calculator_init(&test_leet) == 0);
-  assert(test_leet == 0x1337);
-  LOGW("orbd init complete");
-#else
-  init_gpyrs();
-#endif
-
-  signal(SIGINT, (sighandler_t) set_do_exit);
-  signal(SIGTERM, (sighandler_t) set_do_exit);
-
-  void *ctx = zmq_ctx_new();
-
-  void *orb_features_sock = zmq_socket(ctx, ZMQ_PUB);
-  assert(orb_features_sock);
-  zmq_bind(orb_features_sock, "tcp://*:8058");
-
-  void *orb_features_summary_sock = zmq_socket(ctx, ZMQ_PUB);
-  assert(orb_features_summary_sock);
-  zmq_bind(orb_features_summary_sock, "tcp://*:8062");
-
-  struct orb_features *features = (struct orb_features *)malloc(sizeof(struct orb_features));
-  int last_frame_id = 0;
-  uint64_t frame_count = 0;
-
-  // every other frame
-  const int RATE = 2;
-
-  VisionStream stream;
-  while (!do_exit) {
-    VisionStreamBufs buf_info;
-    err = visionstream_init(&stream, VISION_STREAM_YUV, true, &buf_info);
-    if (err) {
-      printf("visionstream connect fail\n");
-      usleep(100000);
-      continue;
-    }
-    uint64_t timestamp_last_eof = 0;
-    while (!do_exit) {
-      VIPCBuf *buf;
-      VIPCBufExtra extra;
-      buf = visionstream_get(&stream, &extra);
-      if (buf == NULL) {
-        printf("visionstream get failed\n");
-        break;
-      }
-
-      // every other frame
-      frame_count++;
-      if ((frame_count%RATE) != 0) {
-        continue;
-      }
-
-      uint64_t start = nanos_since_boot();
-#ifdef DSP
-      int ret = calculator_extract_and_match((uint8_t *)buf->addr, ORBD_HEIGHT*ORBD_WIDTH, (uint8_t *)features, sizeof(struct orb_features));
-#else
-      int ret = extract_and_match_gpyrs((uint8_t *) buf->addr, features);
-#endif
-      uint64_t end = nanos_since_boot();
-      LOGD("total(%d): %6.2f ms to get %4d features on %d", ret, (end-start)/1000000.0, features->n_corners, extra.frame_id);
-      assert(ret == 0);
-
-      if (last_frame_id+RATE != extra.frame_id) {
-        LOGW("dropped frame!");
-      }
-
-      last_frame_id = extra.frame_id;
-
-      if (timestamp_last_eof == 0) {
-        timestamp_last_eof = extra.timestamp_eof;
-        continue;
-      }
-
-      int match_count = 0;
-
-      // *** send OrbFeatures ***
-      {
-        // create capnp message
-        capnp::MallocMessageBuilder msg;
-        cereal::Event::Builder event = msg.initRoot<cereal::Event>();
-        event.setLogMonoTime(nanos_since_boot());
-
-        auto orb_features = event.initOrbFeatures();
-
-        // set timestamps
-        orb_features.setTimestampEof(extra.timestamp_eof);
-        orb_features.setTimestampLastEof(timestamp_last_eof);
-
-        // init descriptors for send
-        kj::ArrayPtr<capnp::byte> descriptorsPtr = kj::arrayPtr((uint8_t *)features->des, ORBD_DESCRIPTOR_LENGTH * features->n_corners);
-        orb_features.setDescriptors(descriptorsPtr);
-
-        auto xs = orb_features.initXs(features->n_corners);
-        auto ys = orb_features.initYs(features->n_corners);
-        auto octaves = orb_features.initOctaves(features->n_corners);
-        auto matches = orb_features.initMatches(features->n_corners);
-
-        // copy out normalized keypoints
-        for (int i = 0; i < features->n_corners; i++) {
-          xs.set(i, (features->xy[i][0] * 1.0f - ORBD_WIDTH / 2) / ORBD_FOCAL);
-          ys.set(i, (features->xy[i][1] * 1.0f - ORBD_HEIGHT / 2) / ORBD_FOCAL);
-          octaves.set(i, features->octave[i]);
-          matches.set(i, features->matches[i]);
-          match_count += features->matches[i] != -1;
-        }
-
-        auto words = capnp::messageToFlatArray(msg);
-        auto bytes = words.asBytes();
-        zmq_send(orb_features_sock, bytes.begin(), bytes.size(), 0);
-      }
-
-      // *** send OrbFeaturesSummary ***
-
-      {
-        // create capnp message
-        capnp::MallocMessageBuilder msg;
-        cereal::Event::Builder event = msg.initRoot<cereal::Event>();
-        event.setLogMonoTime(nanos_since_boot());
-
-        auto orb_features_summary = event.initOrbFeaturesSummary();
-
-        orb_features_summary.setTimestampEof(extra.timestamp_eof);
-        orb_features_summary.setTimestampLastEof(timestamp_last_eof);
-        orb_features_summary.setFeatureCount(features->n_corners);
-        orb_features_summary.setMatchCount(match_count);
-        orb_features_summary.setComputeNs(end-start);
-
-        auto words = capnp::messageToFlatArray(msg);
-        auto bytes = words.asBytes();
-        zmq_send(orb_features_summary_sock, bytes.begin(), bytes.size(), 0);
-      }
-
-      timestamp_last_eof = extra.timestamp_eof;
-    }
-  }
-  visionstream_destroy(&stream);
-  return 0;
-}
-

selfdrive/orbd/orbd_wrapper.sh

@@ -1,13 +0,0 @@
-#!/bin/sh
-finish() {
-  echo "exiting orbd"
-  pkill -SIGINT -P $$
-}
-
-trap finish EXIT
-
-while true; do
-  ./orbd &
-  wait $!
-done
-

selfdrive/ui/ui.c

@@ -91,16 +91,8 @@ const int alert_sizes[] = {
   [ALERTSIZE_FULL] = vwp_h,
 };
 
-// TODO: this is also hardcoded in common/transformations/camera.py
-const mat3 intrinsic_matrix = (mat3){{
-  910., 0., 582.,
-  0., 910., 437.,
-  0.,   0.,   1.
-}};
-
 typedef struct UIScene {
   int frontview;
-  int fullview;
 
   int transformed_width, transformed_height;
 
@@ -219,6 +211,9 @@ typedef struct UIState {
   unsigned int rgb_front_width, rgb_front_height, rgb_front_stride;
   size_t rgb_front_buf_len;
 
+  bool intrinsic_matrix_loaded;
+  mat3 intrinsic_matrix;
+
   UIScene scene;
 
   bool awake;
@@ -323,14 +318,6 @@ static const mat4 frame_transform = {{
                                            0.0, 0.0, 0.0, 1.0,
 }};
 
-// frame from 4/3 to 16/9 display
-static const mat4 full_to_wide_frame_transform = {{
-  .75,  0.0, 0.0, 0.0,
-  0.0,  1.0, 0.0, 0.0,
-  0.0,  0.0, 1.0, 0.0,
-  0.0,  0.0, 0.0, 1.0,
-}};
-
 static void ui_init(UIState *s) {
   memset(s, 0, sizeof(UIState));
 
@@ -432,6 +419,37 @@ static void ui_init(UIState *s) {
   }
 }
 
+// If the intrinsics are in the params entry, this copies them to
+// intrinsic_matrix and returns true.  Otherwise returns false.
+static bool try_load_intrinsics(mat3 *intrinsic_matrix) {
+  char *value;
+  const int result = read_db_value(NULL, "CloudCalibration", &value, NULL);
+
+  if (result == 0) {
+    JsonNode* calibration_json = json_decode(value);
+    free(value);
+
+    JsonNode *intrinsic_json =
+        json_find_member(calibration_json, "intrinsic_matrix");
+
+    if (intrinsic_json == NULL || intrinsic_json->tag != JSON_ARRAY) {
+      json_delete(calibration_json);
+      return false;
+    }
+
+    int i = 0;
+    JsonNode* json_num;
+    json_foreach(json_num, intrinsic_json) {
+      intrinsic_matrix->v[i++] = json_num->number_;
+    }
+    json_delete(calibration_json);
+
+    return true;
+  } else {
+    return false;
+  }
+}
+
 static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
                            int num_back_fds, const int *back_fds,
                            const VisionStreamBufs front_bufs, int num_front_fds,
@@ -449,7 +467,6 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
 
   s->scene = (UIScene){
       .frontview = getenv("FRONTVIEW") != NULL,
-      .fullview = getenv("FULLVIEW") != NULL,
       .cal_status = CALIBRATION_CALIBRATED,
       .transformed_width = ui_info.transformed_width,
       .transformed_height = ui_info.transformed_height,
@@ -534,7 +551,7 @@ vec3 car_space_to_full_frame(const UIState *s, vec4 car_space_projective) {
 
   // The last entry is zero because of how we store E (to use matvecmul).
   const vec3 Ep = {{Ep4.v[0], Ep4.v[1], Ep4.v[2]}};
-  const vec3 KEp = matvecmul3(intrinsic_matrix, Ep);
+  const vec3 KEp = matvecmul3(s->intrinsic_matrix, Ep);
 
   // Project.
   const vec3 p_image = {{KEp.v[0] / KEp.v[2], KEp.v[1] / KEp.v[2], 1.}};
@@ -756,27 +773,23 @@ static void draw_steering(UIState *s, float curvature) {
 static void draw_frame(UIState *s) {
   const UIScene *scene = &s->scene;
 
+  mat4 out_mat;
   float x1, x2, y1, y2;
   if (s->scene.frontview) {
+    out_mat = device_transform; // full 16/9
     // flip horizontally so it looks like a mirror
-    x1 = 0.0;
-    x2 = 1.0;
-    y1 = 1.0;
-    y2 = 0.0;
+    x1 = (float)scene->front_box_x / s->rgb_front_width;
+    x2 = (float)(scene->front_box_x + scene->front_box_width) / s->rgb_front_width;
+    y2 = (float)scene->front_box_y / s->rgb_front_height;
+    y1 = (float)(scene->front_box_y + scene->front_box_height) / s->rgb_front_height;
   } else {
+    out_mat = matmul(device_transform, frame_transform);
     x1 = 1.0;
     x2 = 0.0;
     y1 = 1.0;
     y2 = 0.0;
   }
 
-  mat4 out_mat;
-  if (s->scene.frontview || s->scene.fullview) {
-    out_mat = matmul(device_transform, full_to_wide_frame_transform);
-  } else {
-    out_mat = matmul(device_transform, frame_transform);
-  }
-
   const uint8_t frame_indicies[] = {0, 1, 2, 0, 2, 3};
   const float frame_coords[4][4] = {
     {-1.0, -1.0, x2, y1}, //bl
@@ -917,7 +930,7 @@ static void ui_draw_vision_speed(UIState *s) {
   if (s->is_metric) {
     snprintf(speed_str, sizeof(speed_str), "%d", (int)(speed * 3.6 + 0.5));
   } else {
-    snprintf(speed_str, sizeof(speed_str), "%d", (int)(speed * 2.2369363 + 0.5));
+    snprintf(speed_str, sizeof(speed_str), "%d", (int)(speed * 2.2374144 + 0.5));
   }
   nvgFontFace(s->vg, "sans-bold");
   nvgFontSize(s->vg, 96*2.5);
@@ -1090,7 +1103,7 @@ static void ui_draw_calibration_status(UIState *s) {
   char calib_str1[64];
   char calib_str2[64];
   snprintf(calib_str1, sizeof(calib_str1), "Calibration in Progress: %d%%", scene->cal_perc);
-  snprintf(calib_str2, sizeof(calib_str2), (s->is_metric?"Drive above 35 km/h":"Drive above 15 mph"));
+  snprintf(calib_str2, sizeof(calib_str2), (s->is_metric?"Drive above 72 km/h":"Drive above 45 mph"));
 
   ui_draw_vision_alert(s, ALERTSIZE_MID, s->status, calib_str1, calib_str2);
 }
@@ -1124,7 +1137,7 @@ static void ui_draw_vision(UIState *s) {
   nvgScissor(s->vg, ui_viz_rx, box_y, ui_viz_rw, box_h);
   nvgTranslate(s->vg, ui_viz_rx+ui_viz_ro, box_y + (box_h-inner_height)/2.0);
   nvgScale(s->vg, (float)viz_w / s->fb_w, (float)inner_height / s->fb_h);
-  if (!scene->frontview && !scene->fullview) {
+  if (!scene->frontview) {
     ui_draw_world(s);
   }
 
@@ -1223,6 +1236,10 @@ static void update_status(UIState *s, int status) {
 static void ui_update(UIState *s) {
   int err;
 
+  if (!s->intrinsic_matrix_loaded) {
+    s->intrinsic_matrix_loaded = try_load_intrinsics(&s->intrinsic_matrix);
+  }
+
   if (s->vision_connect_firstrun) {
     // cant run this in connector thread because opengl.
     // do this here for now in lieu of a run_on_main_thread event
@@ -1496,7 +1513,7 @@ static void ui_update(UIState *s) {
         s->scene.lead_y_rel = leaddatad.yRel;
         s->scene.lead_v_rel = leaddatad.vRel;
       } else if (eventd.which == cereal_Event_liveCalibration) {
-        s->scene.world_objects_visible = true;
+        s->scene.world_objects_visible = s->intrinsic_matrix_loaded;
         struct cereal_LiveCalibrationData datad;
         cereal_read_LiveCalibrationData(&datad, eventd.liveCalibration);
 
@@ -1719,21 +1736,6 @@ static void* bg_thread(void* args) {
   return NULL;
 }
 
-int is_leon() {
-  #define MAXCHAR 1000
-  FILE *fp;
-  char str[MAXCHAR];
-  char* filename = "/proc/cmdline";
-
-  fp = fopen(filename, "r");
-  if (fp == NULL){
-    printf("Could not open file %s",filename);
-    return 0;
-  }
-  fgets(str, MAXCHAR, fp);
-  fclose(fp);
-  return strstr(str, "letv") != NULL;
-}
 
 int main() {
   int err;
@@ -1765,14 +1767,14 @@ int main() {
   touch_init(&touch);
 
   // light sensor scaling params
-  const int EON = (access("/EON", F_OK) != -1);
-  const int LEON = is_leon();
+  #define LIGHT_SENSOR_M 1.3
+  #define LIGHT_SENSOR_B 5.0
 
-  const float BRIGHTNESS_B = LEON? 10.0 : 5.0;
-  const float BRIGHTNESS_M = LEON? 2.6 : 1.3;
   #define NEO_BRIGHTNESS 100
 
-  float smooth_brightness = BRIGHTNESS_B;
+  float smooth_light_sensor = LIGHT_SENSOR_B;
+
+  const int EON = (access("/EON", F_OK) != -1);
 
   while (!do_exit) {
     bool should_swap = false;
@@ -1781,10 +1783,10 @@ int main() {
     if (EON) {
       // light sensor is only exposed on EONs
 
-      float clipped_brightness = (s->light_sensor*BRIGHTNESS_M) + BRIGHTNESS_B;
-      if (clipped_brightness > 255) clipped_brightness = 255;
-      smooth_brightness = clipped_brightness * 0.01 + smooth_brightness * 0.99;
-      set_brightness(s, (int)smooth_brightness);
+      float clipped_light_sensor = (s->light_sensor*LIGHT_SENSOR_M) + LIGHT_SENSOR_B;
+      if (clipped_light_sensor > 255) clipped_light_sensor = 255;
+      smooth_light_sensor = clipped_light_sensor * 0.01 + smooth_light_sensor * 0.99;
+      set_brightness(s, (int)smooth_light_sensor);
     } else {
       // compromise for bright and dark envs
       set_brightness(s, NEO_BRIGHTNESS);