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Ya'll remember club penguin?

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This commit is contained in:
firestar5683
2026-03-28 17:46:02 -05:00
parent 82619bd7db
commit 0f70d061e8
200 changed files with 792 additions and 445 deletions
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README.md
+2 -1
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@@ -37,7 +37,8 @@ installation guides, and software configuration.
* Galaxy: StarPilot's portal to configure your comma device using your phone from anywhere.
Download models, change settings, update software, visualize live model outputs for tuning.
* Always On Lateral (full time steering assist)*
* Learning Speed Limit Controller*
* Speed Limit Controller*
* Learning Curve Speed Controller*
* Conditional Experimental Mode (CEM)*
* Driving Profiles*
* Custom themes*
cereal/custom.capnp
+2
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@@ -145,6 +145,8 @@ struct StarPilotOnroadEvent @0xa5cd762cd951a455 {
vCruise69 @26;
yourFrogTriedToKillMe @27;
youveGotMail @28;
switchbackModeActive @29;
switchbackModeInactive @30;
}
}
cereal/libcereal.a
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common/libcommon.a
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common/params_keys.h
+4
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@@ -166,6 +166,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"BuildMetadata", {PERSISTENT, STRING, "", "", 0}},
{"BlindSpotMetrics", {PERSISTENT, BOOL, "1", "0", 3}},
{"BlindSpotPath", {PERSISTENT, BOOL, "1", "0", 1}},
{"BelowSteerSpeedVolume", {PERSISTENT, INT, "101", "101", 2}},
{"BorderMetrics", {PERSISTENT, BOOL, "0", "0", 3}},
{"CalibratedLateralAcceleration", {PERSISTENT, FLOAT, "2.0", "2.0", 2}},
{"CalibrationProgress", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
@@ -326,6 +327,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"MapGears", {PERSISTENT, BOOL, "0", "0", 2}},
{"MapsSelected", {PERSISTENT, STRING, "", "", 0}},
{"MapSpeedLimit", {CLEAR_ON_MANAGER_START, FLOAT, "0.0", "0.0"}},
{"NextMapSpeedLimit", {CLEAR_ON_MANAGER_START, JSON, "{}", "{}"}},
{"MaxDesiredAcceleration", {PERSISTENT, FLOAT, "4.0", "2.0", 2}},
{"MinimumBackupSize", {PERSISTENT, INT, "0", "0"}},
{"MinimumLaneChangeSpeed", {PERSISTENT, FLOAT, "20.0", "20.0", 2}},
@@ -479,6 +481,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"StopDistance", {PERSISTENT, FLOAT, "6.0", "6.0", 2}},
{"StoppingDecelRate", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
{"StoppingDecelRateStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
{"SwitchbackModeCooldown", {PERSISTENT, INT, "5", "0", 2}},
{"SwitchbackModeEnabled", {CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0", "0"}},
{"SubaruSNG", {PERSISTENT, BOOL, "1", "0", 2}},
{"TacoTune", {PERSISTENT, BOOL, "0", "0", 2}},
{"TacoTuneHacks", {PERSISTENT, BOOL, "0", "0", 2}},
common/params_pyx.so
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opendbc_repo/opendbc/car/body/carstate.py
-1
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@@ -29,7 +29,6 @@ class CarState(CarStateBase):
ret.cruiseState.enabled = True
ret.cruiseState.available = True
# StarPilot variables
fp_ret = custom.StarPilotCarState.new_message()
return ret, fp_ret
opendbc_repo/opendbc/car/car_helpers.py
+1 -3
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@@ -18,7 +18,6 @@ from openpilot.common.params import Params
FRAME_FINGERPRINT = 100 # 1s
# StarPilot variables
StarPilotCarParams = custom.StarPilotCarParams
@@ -46,7 +45,7 @@ def _get_interface_names() -> dict[str, list[str]]:
interface_names = _get_interface_names()
interfaces = load_interfaces(interface_names)
# Legacy StarPilot Bolt rename migration. Keep here to prevent force-fingerprint
# Legacy Bolt rename migration. Keep here to prevent force-fingerprint
# params from selecting a removed platform name and crashing detection.
LEGACY_FORCED_CANDIDATE_MAP = {
"CHEVROLET_BOLT_CC_2019_2021": "CHEVROLET_BOLT_CC_2018_2021",
@@ -300,7 +299,6 @@ def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multip
CP.fingerprintSource = source
CP.fuzzyFingerprint = not exact_match
# StarPilot variables
FPCP: StarPilotCarParams = CarInterface.get_starpilot_params(candidate, fingerprints, car_fw, CP, starpilot_toggles)
if CP.brand == "toyota" and FPCP.flags & ToyotaStarPilotFlags.SMART_DSU.value:
opendbc_repo/opendbc/car/chrysler/carstate.py
-2
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@@ -28,7 +28,6 @@ class CarState(CarStateBase):
# RealFast variables
self.button_message = "CRUISE_BUTTONS_ALT" if FPCP.flags & ChryslerStarPilotFlags.RAM_HD_ALT_BUTTONS else "CRUISE_BUTTONS"
# StarPilot variables
self.lkas_button = 0
def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
@@ -104,7 +103,6 @@ class CarState(CarStateBase):
buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
# StarPilot variables
fp_ret = custom.StarPilotCarState.new_message()
self.prev_lkas_button = self.lkas_button
opendbc_repo/opendbc/car/chrysler/values.py
-1
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@@ -19,7 +19,6 @@ class ChryslerFlags(IntFlag):
HIGHER_MIN_STEERING_SPEED = 1
# StarPilot variables
class ChryslerStarPilotFlags(IntFlag):
RAM_HD_ALT_BUTTONS = 1
opendbc_repo/opendbc/car/ford/carstate.py
-1
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@@ -114,7 +114,6 @@ class CarState(CarStateBase):
*create_button_events(self.lc_button, prev_lc_button, {1: ButtonType.lkas}),
]
# StarPilot variables
fp_ret = custom.StarPilotCarState.new_message()
return ret, fp_ret
opendbc_repo/opendbc/car/gm/carcontroller.py
+1 -4
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@@ -72,7 +72,6 @@ class CarController(CarControllerBase):
self.malibu_button_phase = 0
self.malibu_last_button_ts_nanos = 0
# OPGM variables
def calc_pedal_command(self, accel: float, long_active: bool, v_ego: float):
if not long_active:
self.planner_regen_hold = False
@@ -372,7 +371,7 @@ class CarController(CarControllerBase):
else:
long_pitch_enabled = bool(getattr(starpilot_toggles, "long_pitch", True))
pedal_long_path = bool(self.CP.enableGasInterceptorDEPRECATED and (self.CP.flags & GMFlags.PEDAL_LONG.value))
long_pitch_for_powertrain = long_pitch_enabled and not pedal_long_path
long_pitch_for_powertrain = long_pitch_enabled or pedal_long_path
if self.is_volt:
if long_pitch_for_powertrain and len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
@@ -479,7 +478,6 @@ class CarController(CarControllerBase):
resume = actuators.longControlState != LongCtrlState.starting or CC.cruiseControl.resume
at_full_stop = at_full_stop and not resume
# StarPilot variables
if CC.cruiseControl.resume and CS.pcm_acc_status == AccState.STANDSTILL and starpilot_toggles.volt_sng:
acc_engaged = False
else:
@@ -592,7 +590,6 @@ class CarController(CarControllerBase):
self.prev_op_enabled = CC.enabled
self.frame += 1
# OPGM variables
new_actuators.speed = self.apply_speed
return new_actuators, can_sends
opendbc_repo/opendbc/car/gm/carstate.py
-2
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@@ -30,7 +30,6 @@ STANDSTILL_THRESHOLD = 10 * 0.0311
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
CruiseButtons.MAIN: ButtonType.mainCruise, CruiseButtons.CANCEL: ButtonType.cancel}
# OPGM variables
GearShifter = structs.CarState.GearShifter
BOLT_GEN1_CANCEL_PERSONALITY_CARS = {
CAR.CHEVROLET_BOLT_CC_2017,
@@ -58,7 +57,6 @@ class CarState(CarStateBase):
self.prev_distance_button = 0
self.distance_button = 0
# OPGM variables
self.single_pedal_mode = False
self.pedal_steady = 0
opendbc_repo/opendbc/car/gm/fingerprints.py
+7 -8
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@@ -99,27 +99,27 @@ FINGERPRINTS = {
{
170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 512: 6, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 2, 569: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1268: 2, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2024: 8
},
# Bolt EV no ACC 2018-2021 (StarPilot parity variant 1)
# Bolt EV no ACC 2018-2021 (variant 1)
{
170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 257: 8, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 578: 8, 579: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1346: 8, 1347: 8, 1513: 8, 1516: 8, 1601: 8, 1616: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7, 2016: 8, 2017: 8, 2018: 8, 2020: 8, 2023: 8, 2024: 8, 2028: 8, 2031: 8
},
# Bolt EV no ACC 2018-2021 (StarPilot parity variant 2)
# Bolt EV no ACC 2018-2021 (variant 2)
{
170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 368: 3, 381: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 512: 6, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 2, 569: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7
},
# Bolt EV no ACC 2018-2021 (StarPilot parity variant 3)
# Bolt EV no ACC 2018-2021 (variant 3)
{
170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 368: 3, 381: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 2, 569: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7
},
# Bolt EV no ACC 2018-2021 (StarPilot parity variant 4)
# Bolt EV no ACC 2018-2021 (variant 4)
{
170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 2, 569: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1268: 2, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2024: 8
},
# Bolt EV no ACC 2023 (StarPilot parity variant 5)
# Bolt EV no ACC 2023 (variant 5)
{
170: 8, 188: 8, 189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 308: 4, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 398: 8, 407: 7, 417: 8, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 8, 567: 5, 568: 2, 569: 3, 573: 1, 577: 8, 579: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 711: 6, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1010: 8, 1013: 6, 1015: 1, 1017: 8, 1019: 2, 1020: 8, 1037: 5, 1105: 5, 1187: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1347: 8, 1513: 8, 1516: 8, 1601: 8, 1609: 8, 1613: 8, 1616: 8, 1618: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1913: 7, 1920: 8, 1922: 7, 1924: 8, 1927: 7, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2017: 8, 2018: 8, 2020: 8, 2023: 8, 2025: 8, 2028: 8, 2031: 8
},
# Bolt EV no ACC 2023 (StarPilot parity variant 6)
# Bolt EV no ACC 2023 (variant 6)
{
170: 8, 188: 8, 189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 308: 4, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 398: 8, 407: 7, 417: 8, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 8, 567: 5, 568: 2, 569: 3, 573: 1, 577: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 711: 6, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1010: 8, 1013: 6, 1015: 1, 1017: 8, 1019: 2, 1020: 8, 1037: 5, 1105: 5, 1187: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1601: 8, 1616: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2020: 8, 2023: 8, 2024: 8, 2028: 8, 2031: 8
}],
@@ -191,14 +191,13 @@ FINGERPRINTS = {
{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 647: 3, 707: 8, 717: 5, 723: 2, 753: 5, 761: 7, 800: 6, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1919: 7, 1920: 7
}],
# StarPilot variables
CAR.CHEVROLET_TRAX: [
{
190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
}],
}
# StarPilot parity: keep explicit GM platform fingerprints.
# Keep explicit GM platform fingerprints.
FINGERPRINTS.update({
CAR.CHEVROLET_VOLT_ASCM: FINGERPRINTS[CAR.CHEVROLET_VOLT],
opendbc_repo/opendbc/car/gm/gmcan.py
+1 -1
View File
@@ -136,7 +136,7 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop,
return packer.make_can_msg("ASCMGasRegenCmd", bus, values)
# Keep GM Global A camera-long GasRegen bytes aligned with StarPilot's legacy layout.
# Use the legacy GM Global A camera-long GasRegen byte layout.
# The regenerated DBC shape does not expose the same wire-format helper fields.
throttle = int(throttle)
dat = bytearray(8)
opendbc_repo/opendbc/car/gm/interface.py
+10 -4
View File
@@ -59,7 +59,6 @@ NON_LINEAR_TORQUE_PARAMS = {
},
}
# OPGM variables
PEDAL_MSG = 0x201
CAM_MSG = 0x320
ACCELERATOR_POS_MSG = 0xBE
@@ -348,6 +347,15 @@ class CarInterface(CarInterfaceBase):
ret.steerLimitTimer = 0.4
ret.longitudinalActuatorDelay = 0.5 # large delay to initially start braking
if candidate in (
CAR.CHEVROLET_VOLT,
CAR.CHEVROLET_VOLT_2019,
CAR.CHEVROLET_VOLT_ASCM,
CAR.CHEVROLET_VOLT_CAMERA,
CAR.CHEVROLET_VOLT_CC,
):
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
if candidate in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_VOLT_CAMERA):
ret.minEnableSpeed = -1
@@ -486,7 +494,6 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.5
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
# OPGM variables
elif candidate in (CAR.CHEVROLET_MALIBU, CAR.CHEVROLET_MALIBU_CC, CAR.CHEVROLET_MALIBU_HYBRID_CC):
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
@@ -524,7 +531,7 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalTuning.kfDEPRECATED = 0.25
if is_bolt_2022_2023_pedal:
# Gen2 Bolt pedal-long should follow the no-ACC panda path like StarPilot.
# Gen2 Bolt pedal-long should follow the no-ACC panda path.
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_NO_ACC.value
if candidate in (CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL, CAR.CHEVROLET_MALIBU_HYBRID_CC):
@@ -627,7 +634,6 @@ class CarInterface(CarInterfaceBase):
if remap_cancel_to_distance or malibu_cancel_passthrough:
ret.alternativeExperience |= ALTERNATIVE_EXPERIENCE.GM_REMAP_CANCEL_TO_DISTANCE
# StarPilot variables
if candidate == CAR.CHEVROLET_TRAX:
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
opendbc_repo/opendbc/car/gm/tests/test_gm.py
+24 -1
View File
@@ -1,9 +1,23 @@
import pytest
from parameterized import parameterized
from opendbc.car.car_helpers import interfaces
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.gm.fingerprints import FINGERPRINTS
from opendbc.car.gm.values import CAMERA_ACC_CAR, CC_ONLY_CAR, GM_RX_OFFSET
from opendbc.car.gm.values import CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, GM_RX_OFFSET
CAMERA_DIAGNOSTIC_ADDRESS = 0x24b
VOLT_CARS = (
CAR.CHEVROLET_VOLT,
CAR.CHEVROLET_VOLT_2019,
CAR.CHEVROLET_VOLT_ASCM,
CAR.CHEVROLET_VOLT_CAMERA,
CAR.CHEVROLET_VOLT_CC,
)
def _empty_fingerprint():
return {bus: {} for bus in range(8)}
class TestGMFingerprint:
@@ -18,3 +32,12 @@ class TestGMFingerprint:
for finger in fingerprints:
for required_addr in (CAMERA_DIAGNOSTIC_ADDRESS, CAMERA_DIAGNOSTIC_ADDRESS + GM_RX_OFFSET):
assert finger.get(required_addr) == 8, required_addr
class TestGMInterface:
@parameterized.expand(VOLT_CARS)
def test_volt_min_steer_speed_is_7_mph(self, car_model):
CarInterface = interfaces[car_model]
car_params = CarInterface.get_params(car_model, _empty_fingerprint(), [], alpha_long=False, is_release=False, docs=False)
assert car_params.minSteerSpeed == pytest.approx(7 * CV.MPH_TO_MS)
opendbc_repo/opendbc/car/gm/values.py
+1 -4
View File
@@ -159,14 +159,13 @@ class GMSafetyFlags(IntFlag):
HW_CAM_LONG = 2
EV = 4
# OPGM variables
FLAG_GM_CC_LONG = 8
FLAG_GM_GAS_INTERCEPTOR = 16
FLAG_GM_NO_ACC = 32
FLAG_GM_PEDAL_LONG = 64
HW_ASCM_LONG = 128
# StarPilot parity variables
# Additional GM hardware and flag values
HW_ASCM_INT = 256
FLAG_GM_FORCE_BRAKE_C9 = 512
HW_SDGM = 1024
@@ -437,7 +436,6 @@ class CanBus:
DROPPED = 192
# OPGM variables
class GMFlags(IntFlag):
PEDAL_LONG = 1
CC_LONG = 2
@@ -567,5 +565,4 @@ STEER_THRESHOLD = 1.0
DBC = CAR.create_dbc_map()
# StarPilot variables
CAMERA_ACC_CAR.update({CAR.CHEVROLET_TRAX})
opendbc_repo/opendbc/car/honda/carstate.py
-1
View File
@@ -220,7 +220,6 @@ class CarState(CarStateBase):
*create_button_events(self.cruise_setting, prev_cruise_setting, SETTINGS_BUTTONS_DICT),
]
# StarPilot variables
fp_ret = custom.StarPilotCarState.new_message()
return ret, fp_ret
opendbc_repo/opendbc/car/hyundai/carstate.py
-2
View File
@@ -203,7 +203,6 @@ class CarState(CarStateBase):
self.low_speed_alert = False
ret.lowSpeedAlert = self.low_speed_alert
# StarPilot variables
fp_ret = custom.StarPilotCarState.new_message()
return ret, fp_ret
@@ -301,7 +300,6 @@ class CarState(CarStateBase):
ret.blockPcmEnable = not self.recent_button_interaction()
# StarPilot variables
fp_ret = custom.StarPilotCarState.new_message()
return ret, fp_ret
opendbc_repo/opendbc/car/hyundai/values.py
-1
View File
@@ -68,7 +68,6 @@ class HyundaiSafetyFlags(IntFlag):
ALT_LIMITS_2 = 512
# StarPilot variables
class HyundaiStarPilotSafetyFlags(IntFlag):
HAS_LDA_BUTTON = 1024
opendbc_repo/opendbc/car/interfaces.py
-6
View File
@@ -30,7 +30,6 @@ from openpilot.common.params import Params
GearShifter = structs.CarState.GearShifter
ButtonType = structs.CarState.ButtonEvent.Type
# StarPilot variables
Ecu = structs.CarParams.Ecu
V_CRUISE_MAX = 145
@@ -133,7 +132,6 @@ class CarInterfaceBase(ABC):
dbc_names = {bus: cp.dbc_name for bus, cp in self.can_parsers.items()}
self.CC: CarControllerBase = self.CarController(dbc_names, CP)
# StarPilot variables
self.FPCP = FPCP
self.params_memory = Params(memory=True)
@@ -181,14 +179,12 @@ class CarInterfaceBase(ABC):
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, ret.tireStiffnessFactor)
# StarPilot variables
toggles_to_check = ("force_torque_controller", "nnff", "nnff_lite")
if ret.steerControlType != structs.CarParams.SteerControlType.angle and any(getattr(starpilot_toggles, toggle, False) for toggle in toggles_to_check):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
return ret
# StarPilot variables
@classmethod
def get_starpilot_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[structs.CarParams.CarFw], CP: structs.CarParams, starpilot_toggles: SimpleNamespace):
fp_ret = custom.StarPilotCarParams.new_message()
@@ -343,7 +339,6 @@ class CarInterfaceBase(ABC):
# save for next iteration
self.CS.out = ret
# StarPilot variables
prev_distance_button = self.distance_button
self.distance_button = self.params_memory.get_bool("OnroadDistanceButtonPressed")
if self.distance_button != prev_distance_button:
@@ -383,7 +378,6 @@ class CarStateBase(ABC):
K = get_kalman_gain(DT_CTRL, np.array(A), np.array(C), np.array(Q), R)
self.v_ego_kf = KF1D(x0=x0, A=A, C=C[0], K=K)
# StarPilot variables
self.FPCP = FPCP
self.CC: structs.CarControl = structs.CarControl.new_message()
opendbc_repo/opendbc/car/mazda/carstate.py
-1
View File
@@ -116,7 +116,6 @@ class CarState(CarStateBase):
# TODO: add button types for inc and dec
ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
# StarPilot variables
fp_ret = custom.StarPilotCarState.new_message()
return ret, fp_ret
opendbc_repo/opendbc/car/mazda/interface.py
-1
View File
@@ -29,7 +29,6 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.41
# StarPilot variables
ret.enableBsm = True
return ret
opendbc_repo/opendbc/car/nissan/carstate.py
-2
View File
@@ -25,7 +25,6 @@ class CarState(CarStateBase):
self.distance_button = 0
# StarPilot variables
self.lkas_button = 0
def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
@@ -132,7 +131,6 @@ class CarState(CarStateBase):
buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
# StarPilot variables
fp_ret = custom.StarPilotCarState.new_message()
self.prev_lkas_button = self.lkas_button
opendbc_repo/opendbc/car/psa/carstate.py
-1
View File
@@ -64,7 +64,6 @@ class CarState(CarStateBase):
ret.doorOpen = any((cp_cam.vl['Dat_BSI']['DRIVER_DOOR'], cp_cam.vl['Dat_BSI']['PASSENGER_DOOR']))
ret.seatbeltUnlatched = cp_cam.vl['RESTRAINTS']['DRIVER_SEATBELT'] != 2
# StarPilot variables
fp_ret = custom.StarPilotCarState.new_message()
return ret, fp_ret
opendbc_repo/opendbc/car/rivian/carstate.py
-1
View File
@@ -93,7 +93,6 @@ class CarState(CarStateBase):
self.sccm_wheel_touch = copy.copy(cp.vl["SCCM_WheelTouch"])
self.vdm_adas_status = copy.copy(cp.vl["VDM_AdasSts"])
# StarPilot variables
fp_ret = custom.StarPilotCarState.new_message()
return ret, fp_ret
opendbc_repo/opendbc/car/subaru/carcontroller.py
-6
View File
@@ -11,7 +11,6 @@ from opendbc.car.subaru.values import DBC, GLOBAL_ES_ADDR, CanBus, CarController
MAX_STEER_RATE = 25 # deg/s
MAX_STEER_RATE_FRAMES = 7 # tx control frames needed before torque can be cut
# StarPilot variables
_SNG_ACC_MIN_DIST = 3
_SNG_ACC_MAX_DIST = 4.5
@@ -27,7 +26,6 @@ class CarController(CarControllerBase):
self.p = CarControllerParams(CP)
self.packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
# StarPilot variables
self.manual_hold = False
self.prev_standstill = False
self.sng_acc_resume = False
@@ -71,7 +69,6 @@ class CarController(CarControllerBase):
self.apply_torque_last = apply_torque
# StarPilot variables
# *** stop and go ***
if starpilot_toggles.subaru_sng:
throttle_cmd, speed_cmd = self.stop_and_go(CC, CS)
@@ -112,7 +109,6 @@ class CarController(CarControllerBase):
can_sends.append(subarucan.create_preglobal_es_distance(self.packer, cruise_button, CS.es_distance_msg))
# StarPilot variables
if starpilot_toggles.subaru_sng:
can_sends.append(subarucan.create_preglobal_throttle(self.packer, CS.throttle_msg["COUNTER"] + 1, CS.throttle_msg, throttle_cmd))
else:
@@ -127,7 +123,6 @@ class CarController(CarControllerBase):
if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
can_sends.append(subarucan.create_es_infotainment(self.packer, self.frame // 10, CS.es_infotainment_msg, hud_control.visualAlert))
# StarPilot variables
if starpilot_toggles.subaru_sng:
can_sends.append(subarucan.create_throttle(self.packer, CS.throttle_msg["COUNTER"] + 1, CS.throttle_msg, throttle_cmd))
if self.frame % 2 == 0:
@@ -171,7 +166,6 @@ class CarController(CarControllerBase):
self.frame += 1
return new_actuators, can_sends
# StarPilot variables
def stop_and_go(self, CC, CS, speed_cmd=False, throttle_cmd=False):
if self.CP.flags & SubaruFlags.PREGLOBAL:
trigger_resume = CC.enabled
opendbc_repo/opendbc/car/subaru/carstate.py
-1
View File
@@ -124,7 +124,6 @@ class CarState(CarStateBase):
if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
self.es_infotainment_msg = copy.copy(cp_cam.vl["ES_Infotainment"])
# StarPilot variables
fp_ret = custom.StarPilotCarState.new_message()
if starpilot_toggles.subaru_sng:
opendbc_repo/opendbc/car/subaru/subarucan.py
-1
View File
@@ -336,7 +336,6 @@ def subaru_checksum(address: int, sig, d: bytearray) -> int:
return s & 0xFF
# StarPilot variables
def create_brake_pedal(packer, frame, brake_pedal_msg, speed_cmd, brake_cmd):
values = {s: brake_pedal_msg[s] for s in sorted([
"Brake_Lights",
opendbc_repo/opendbc/car/subaru/values.py
-1
View File
@@ -26,7 +26,6 @@ class CarControllerParams:
elif CP.carFingerprint == CAR.SUBARU_IMPREZA_2020:
self.STEER_DELTA_UP = 35
self.STEER_MAX = 1439
# StarPilot variables
elif CP.carFingerprint == CAR.SUBARU_IMPREZA:
self.STEER_MAX = 3071
else:
opendbc_repo/opendbc/car/tesla/carstate.py
-1
View File
@@ -118,7 +118,6 @@ class CarState(CarStateBase):
# Messages needed by carcontroller
self.das_control = copy.copy(cp_ap_party.vl["DAS_control"])
# StarPilot variables
fp_ret = custom.StarPilotCarState.new_message()
return ret, fp_ret
opendbc_repo/opendbc/car/tests/routes.py
-1
View File
@@ -41,7 +41,6 @@ non_tested_cars = [
]
# OPGM variables
non_tested_cars.extend(CC_ONLY_CAR)
opendbc_repo/opendbc/car/torque_data/override.toml
-1
View File
@@ -104,5 +104,4 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"HONDA_CIVIC_2022" = [2.5, 1.2, 0.15]
"HONDA_HRV_3G" = [2.5, 1.2, 0.2]
# OPGM variables
"CHEVROLET_MALIBU_CC" = [1.85, 1.85, 0.075]
opendbc_repo/opendbc/car/torque_data/params.toml
-2
View File
@@ -80,5 +80,3 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"VOLKSWAGEN_JETTA_MK7" = [1.2271623034089392, 1.216955117387, 0.19437384688370712]
"VOLKSWAGEN_PASSAT_MK8" = [1.3432120736752917, 1.7087275587362314, 0.19444383787326647]
"VOLKSWAGEN_TIGUAN_MK2" = [0.9711965500094828, 1.0001565939459098, 0.1465626137072916]
# StarPilot variables
opendbc_repo/opendbc/car/torque_data/substitute.toml
-2
View File
@@ -94,7 +94,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"SUBARU_LEGACY_PREGLOBAL" = "SUBARU_IMPREZA"
"SUBARU_ASCENT" = "SUBARU_FORESTER"
# OPGM variables
"CADILLAC_CT6_CC" = "CHEVROLET_VOLT"
"CADILLAC_XT5_CC" = "GMC_ACADIA"
"CHEVROLET_EQUINOX_CC" = "CHEVROLET_EQUINOX"
@@ -103,5 +102,4 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"GMC_YUKON_CC" = "CHEVROLET_SILVERADO"
"CHEVROLET_TRAILBLAZER_CC" = "CHEVROLET_TRAILBLAZER"
# StarPilot variables
"CHEVROLET_TRAX" = "CHEVROLET_VOLT"
opendbc_repo/opendbc/car/toyota/carcontroller.py
-3
View File
@@ -35,7 +35,6 @@ MAX_STEER_RATE_FRAMES = 18 # tx control frames needed before torque can be cut
# EPS allows user torque above threshold for 50 frames before permanently faulting
MAX_USER_TORQUE = 500
# StarPilot variables
PARK = structs.CarState.GearShifter.park
# Lock / unlock door commands - Credit goes to AlexandreSato!
@@ -86,7 +85,6 @@ class CarController(CarControllerBase):
self.secoc_acc_message_counter = 0
self.secoc_prev_reset_counter = 0
# StarPilot variables
self.doors_locked = False
def update(self, CC, CS, now_nanos, starpilot_toggles):
@@ -334,7 +332,6 @@ class CarController(CarControllerBase):
self.frame += 1
# StarPilot variables
if not self.doors_locked and CS.out.gearShifter != PARK:
if starpilot_toggles.lock_doors:
can_sends.append(CanData(0x750, LOCK_CMD, 0))
opendbc_repo/opendbc/car/toyota/carstate.py
-2
View File
@@ -67,7 +67,6 @@ class CarState(CarStateBase):
self.gvc = 0.0
self.secoc_synchronization = None
# StarPilot variables
self.latActive_previous = False
self.needs_angle_offset_zss = False
@@ -222,7 +221,6 @@ class CarState(CarStateBase):
buttonEvents += create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
# StarPilot variables
fp_ret = custom.StarPilotCarState.new_message()
if self.has_SDSU and not self.has_can_filter:
opendbc_repo/opendbc/car/toyota/values.py
-1
View File
@@ -80,7 +80,6 @@ class ToyotaFlags(IntFlag):
SNG_WITHOUT_DSU_DEPRECATED = 512
# StarPilot variables
class ToyotaStarPilotFlags(IntFlag):
RADAR_CAN_FILTER = 1
SMART_DSU = 2
opendbc_repo/opendbc/car/volkswagen/carstate.py
-2
View File
@@ -139,7 +139,6 @@ class CarState(CarStateBase):
self.frame += 1
# StarPilot variables
fp_ret = custom.StarPilotCarState.new_message()
return ret, fp_ret
@@ -234,7 +233,6 @@ class CarState(CarStateBase):
self.frame += 1
# StarPilot variables
fp_ret = custom.StarPilotCarState.new_message()
return ret, fp_ret
opendbc_repo/opendbc/safety/__init__.py
-1
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@@ -9,6 +9,5 @@ class ALTERNATIVE_EXPERIENCE:
RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX = 8
ALLOW_AEB = 16
# StarPilot variables
ALWAYS_ON_LATERAL = 32
GM_REMAP_CANCEL_TO_DISTANCE = 64
opendbc_repo/opendbc/safety/declarations.h
-4
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@@ -247,7 +247,6 @@ void speed_mismatch_check(const float speed_2);
void safety_tick(const safety_config *safety_config);
// OPGM variables
bool longitudinal_interceptor_checks(const CANPacket_t *to_send);
// This can be set by the safety hooks
@@ -268,7 +267,6 @@ extern bool acc_main_on; // referred to as "ACC off" in ISO 15622:2018
extern int cruise_button_prev;
extern bool safety_rx_checks_invalid;
// StarPilot variables
extern bool aol_allowed;
extern bool lkas_button_prev;
extern bool lkas_on;
@@ -294,7 +292,6 @@ extern uint32_t ts_angle_check_last;
extern int desired_angle_last;
extern struct sample_t angle_meas; // last 6 steer angles/curvatures
// OPGM variables
extern bool enable_gas_interceptor;
extern int gas_interceptor_prev;
extern bool gm_remote_start_boots_comma;
@@ -317,7 +314,6 @@ extern bool gm_remote_start_boots_comma;
// This flag allows AEB to be commanded from openpilot.
#define ALT_EXP_ALLOW_AEB 16
// StarPilot variables
#define ALT_EXP_ALWAYS_ON_LATERAL 32
#define ALT_EXP_GM_REMAP_CANCEL_TO_DISTANCE 64
opendbc_repo/opendbc/safety/longitudinal.h
-1
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@@ -34,7 +34,6 @@ bool longitudinal_brake_checks(int desired_brake, const LongitudinalLimits limit
return violation;
}
// OPGM variables
bool longitudinal_interceptor_checks(const CANPacket_t *msg) {
return (!get_longitudinal_allowed() || brake_pressed_prev) && (msg->data[0] || msg->data[1]);
}
opendbc_repo/opendbc/safety/modes/chrysler.h
-1
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@@ -79,7 +79,6 @@ static void chrysler_rx_hook(const CANPacket_t *msg) {
bool cruise_engaged = GET_BIT(msg, 21U);
pcm_cruise_check(cruise_engaged);
// StarPilot variables
acc_main_on = GET_BIT(msg, 20U);
}
opendbc_repo/opendbc/safety/modes/ford.h
-1
View File
@@ -159,7 +159,6 @@ static void ford_rx_hook(const CANPacket_t *msg) {
bool cruise_engaged = (cruise_state == 4U) || (cruise_state == 5U);
pcm_cruise_check(cruise_engaged);
// StarPilot variables
acc_main_on = (cruise_state == 3U) || cruise_engaged;
}
}
opendbc_repo/opendbc/safety/modes/gm.h
+2 -14
View File
@@ -61,12 +61,11 @@ static bool gm_panda_3d1_sched = false;
static bool gm_panda_paddle_sched = false;
static bool gm_bolt_2022_pedal = false;
// OPGM variables
static bool gm_cc_long = false;
static bool gm_has_acc = true;
static bool gm_pedal_long = false;
// StarPilot parity scheduler state
// 3D1 spoof scheduler state
static bool gm_3d1_spoof_valid = false;
static bool gm_3d1_internal_tx = false;
static uint8_t gm_3d1_spoof_data[8] = {0U};
@@ -199,7 +198,6 @@ static void gm_try_send_3d1_spoof(uint32_t now_us) {
static void gm_rx_hook(const CANPacket_t *msg) {
const int GM_STANDSTILL_THRSLD = 10; // 0.311kph
// OPGM variables
// Keep panda threshold aligned with carstate to avoid pedal pre-enable mismatches.
const int GM_GAS_INTERCEPTOR_THRESHOLD = 595;
@@ -275,7 +273,6 @@ static void gm_rx_hook(const CANPacket_t *msg) {
cruise_engaged_prev = false;
}
// OPGM variables
// Cruise check for CC only cars
if ((msg->addr == 0x3D1U) && !gm_has_acc) {
uint32_t now_us = microsecond_timer_get();
@@ -338,7 +335,7 @@ static void gm_rx_hook(const CANPacket_t *msg) {
}
}
// Keep camera-bus ACC status behavior aligned with StarPilot camera/SDGM paths.
// Keep camera-bus ACC status behavior consistent across camera and SDGM paths.
if ((msg->addr == 0x370U) && (msg->bus == 2U)) {
bool cruise_engaged = (msg->data[2] >> 7) != 0U; // ACCCmdActive
if (gm_bolt_2022_pedal) {
@@ -350,7 +347,6 @@ static void gm_rx_hook(const CANPacket_t *msg) {
}
}
// StarPilot variables
if (msg->addr == 0xC9U) {
acc_main_on = GET_BIT(msg, 29U);
}
@@ -440,7 +436,6 @@ static bool gm_tx_hook(const CANPacket_t *msg) {
}
}
// OPGM variables
// GAS: safety check (interceptor)
if (msg->addr == 0x200U) {
if (longitudinal_interceptor_checks(msg)) {
@@ -556,7 +551,6 @@ static safety_config gm_init(uint16_t param) {
static const CanMsg GM_ASCM_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x409, 0, 7, .check_relay = false}, {0x40A, 0, 7, .check_relay = false}, {0x2CB, 0, 8, .check_relay = true}, {0x370, 0, 6, .check_relay = false}, // pt bus
{0xA1, 1, 7, .check_relay = false}, {0x306, 1, 8, .check_relay = false}, {0x308, 1, 7, .check_relay = false}, {0x310, 1, 2, .check_relay = false}, // obs bus
{0x315, 2, 5, .check_relay = false}, // ch bus
// OPGM Variables
{0x200, 0, 6, .check_relay = false},
{0x1E1, 0, 7, .check_relay = false},
{0xBD, 0, 7, .check_relay = false},
@@ -573,7 +567,6 @@ static safety_config gm_init(uint16_t param) {
// block PSCMStatus (0x184); forwarded through openpilot to hide an alert from the camera
static const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x315, 0, 5, .check_relay = true}, {0x2CB, 0, 8, .check_relay = true}, {0x370, 0, 6, .check_relay = true}, {0x3D1, 0, 8, .check_relay = false}, // pt bus
{0x184, 2, 8, .check_relay = true}, // camera bus
// OPGM Variables
{0x200, 0, 6, .check_relay = false}, {0x1E1, 0, 7, .check_relay = false},
{0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}}; // pt bus
@@ -581,7 +574,6 @@ static safety_config gm_init(uint16_t param) {
static RxCheck gm_rx_checks[] = {
GM_COMMON_RX_CHECKS
// OPGM Variables
GM_ACC_RX_CHECKS
};
@@ -589,7 +581,6 @@ static safety_config gm_init(uint16_t param) {
GM_COMMON_RX_CHECKS
{.msg = {{0xBD, 0, 7, 40U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
// OPGM Variables
GM_ACC_RX_CHECKS
};
@@ -600,12 +591,10 @@ static safety_config gm_init(uint16_t param) {
static const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x370, 0, 6, .check_relay = false}, {0x3D1, 0, 8, .check_relay = false}, // pt bus
{0x1E1, 2, 7, .check_relay = false}, {0x184, 2, 8, .check_relay = true}, // camera bus
// OPGM Variables
{0x200, 0, 6, .check_relay = false},
{0x1E1, 0, 7, .check_relay = false},
{0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}}; // pt bus
// OPGM Variables
static RxCheck gm_no_acc_ev_rx_checks[] = {
GM_COMMON_RX_CHECKS
{.msg = {{0xBD, 0, 7, 40U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
@@ -646,7 +635,6 @@ static safety_config gm_init(uint16_t param) {
gm_sdgm = GET_FLAG(param, GM_PARAM_HW_SDGM);
gm_ascm_int = GET_FLAG(param, GM_PARAM_HW_ASCM_INT);
// OPGM Variables
gm_cc_long = GET_FLAG(param, GM_PARAM_CC_LONG);
gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);
gm_pedal_long = GET_FLAG(param, GM_PARAM_PEDAL_LONG);
opendbc_repo/opendbc/safety/modes/hyundai.h
-5
View File
@@ -52,7 +52,6 @@ const LongitudinalLimits HYUNDAI_LONG_LIMITS = {
#define HYUNDAI_FCEV_GAS_ADDR_CHECK \
{.msg = {{0x91, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
// StarPilot variables
#define HYUNDAI_LDA_BUTTON_ADDR_CHECK \
{.msg = {{0x391, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
@@ -178,7 +177,6 @@ static void hyundai_rx_hook(const CANPacket_t *msg) {
brake_pressed = ((msg->data[5] >> 5U) & 0x3U) == 0x2U;
}
// StarPilot variables
if (msg->addr == 0x391U) {
hyundai_lkas_button_check(GET_BIT(msg, 4U));
}
@@ -288,7 +286,6 @@ static safety_config hyundai_init(uint16_t param) {
HYUNDAI_FCEV_GAS_ADDR_CHECK
};
// StarPilot variables
static RxCheck hyundai_long_rx_checks_lda[] = {
HYUNDAI_COMMON_RX_CHECKS(false)
HYUNDAI_LDA_BUTTON_ADDR_CHECK
@@ -325,7 +322,6 @@ static safety_config hyundai_init(uint16_t param) {
HYUNDAI_SCC12_ADDR_CHECK(2)
};
// StarPilot variables
static RxCheck hyundai_cam_scc_rx_checks_lda[] = {
HYUNDAI_COMMON_RX_CHECKS(false)
HYUNDAI_SCC12_ADDR_CHECK(2)
@@ -349,7 +345,6 @@ static safety_config hyundai_init(uint16_t param) {
HYUNDAI_FCEV_GAS_ADDR_CHECK
};
// StarPilot variables
static RxCheck hyundai_rx_checks_lda[] = {
HYUNDAI_COMMON_RX_CHECKS(false)
HYUNDAI_SCC12_ADDR_CHECK(0)
opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
-2
View File
@@ -89,13 +89,11 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *msg) {
cruise_button = msg->data[2] & 0x7U;
main_button = GET_BIT(msg, 19U);
// StarPilot variables
hyundai_lkas_button_check(GET_BIT(msg, 23U));
} else {
cruise_button = (msg->data[4] >> 4) & 0x7U;
main_button = GET_BIT(msg, 34U);
// StarPilot variables
hyundai_lkas_button_check(GET_BIT(msg, 39U));
}
hyundai_common_cruise_buttons_check(cruise_button, main_button);
opendbc_repo/opendbc/safety/modes/hyundai_common.h
-5
View File
@@ -42,7 +42,6 @@ bool hyundai_fcev_gas_signal = false;
extern bool hyundai_alt_limits_2;
bool hyundai_alt_limits_2 = false;
// StarPilot variables
extern bool hyundai_has_lda_button;
bool hyundai_has_lda_button = false;
@@ -57,7 +56,6 @@ void hyundai_common_init(uint16_t param) {
const uint16_t HYUNDAI_PARAM_FCEV_GAS = 256;
const uint16_t HYUNDAI_PARAM_ALT_LIMITS_2 = 512;
// StarPilot variables
const int HYUNDAI_PARAM_HAS_LDA_BUTTON = 1024;
hyundai_ev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_EV_GAS);
@@ -68,7 +66,6 @@ void hyundai_common_init(uint16_t param) {
hyundai_fcev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_FCEV_GAS);
hyundai_alt_limits_2 = GET_FLAG(param, HYUNDAI_PARAM_ALT_LIMITS_2);
// StarPilot variables
hyundai_has_lda_button = GET_FLAG(param, HYUNDAI_PARAM_HAS_LDA_BUTTON);
hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;
@@ -121,7 +118,6 @@ void hyundai_common_cruise_buttons_check(const int cruise_button, const bool mai
cruise_button_prev = cruise_button;
}
// StarPilot variables
if (main_button && !main_button_prev) {
acc_main_on = !acc_main_on;
}
@@ -155,7 +151,6 @@ uint32_t hyundai_common_canfd_compute_checksum(const CANPacket_t *msg) {
}
#endif
// StarPilot variables
void hyundai_lkas_button_check(const bool lkas_button) {
if (lkas_button && !lkas_button_prev) {
lkas_on = !lkas_on;
opendbc_repo/opendbc/safety/modes/mazda.h
-1
View File
@@ -35,7 +35,6 @@ static void mazda_rx_hook(const CANPacket_t *msg) {
bool cruise_engaged = msg->data[0] & 0x8U;
pcm_cruise_check(cruise_engaged);
// StarPilot variables
acc_main_on = GET_BIT(msg, 17U);
}
opendbc_repo/opendbc/safety/modes/nissan.h
-1
View File
@@ -51,7 +51,6 @@ static void nissan_rx_hook(const CANPacket_t *msg) {
pcm_cruise_check(cruise_engaged);
}
// StarPilot variables
if ((msg->addr == 0x1B6U) && (msg->bus == (nissan_alt_eps ? 2U : 1U))) {
acc_main_on = GET_BIT(msg, 36U);
}
opendbc_repo/opendbc/safety/modes/psa.h
-6
View File
@@ -10,7 +10,6 @@
#define PSA_DAT_BSI 1042U // RX from BSI, brake
#define PSA_LANE_KEEP_ASSIST 1010U // TX from OP, EPS
// StarPilot variables
#define PSA_HS2_DYN1_MDD_ETAT_2B6 694U // RX from BSI, ACC status
// CAN bus
@@ -24,7 +23,6 @@ static uint8_t psa_get_counter(const CANPacket_t *msg) {
cnt = (msg->data[3] >> 4) & 0xFU;
} else if (msg->addr == PSA_HS2_DYN_ABR_38D) {
cnt = (msg->data[5] >> 4) & 0xFU;
// StarPilot variables
} else if (msg->addr == PSA_HS2_DYN1_MDD_ETAT_2B6) {
cnt = (msg->data[7] >> 4) & 0xFU;
} else {
@@ -38,7 +36,6 @@ static uint32_t psa_get_checksum(const CANPacket_t *msg) {
chksum = msg->data[5] & 0xFU;
} else if (msg->addr == PSA_HS2_DYN_ABR_38D) {
chksum = msg->data[5] & 0xFU;
// StarPilot variables
} else if (msg->addr == PSA_HS2_DYN1_MDD_ETAT_2B6) {
chksum = msg->data[7] & 0xFU;
} else {
@@ -68,7 +65,6 @@ static uint32_t psa_compute_checksum(const CANPacket_t *msg) {
chk = _psa_compute_checksum(msg, 0x4, 5);
} else if (msg->addr == PSA_HS2_DYN_ABR_38D) {
chk = _psa_compute_checksum(msg, 0x7, 5);
// StarPilot variables
} else if (msg->addr == PSA_HS2_DYN1_MDD_ETAT_2B6) {
chk = _psa_compute_checksum(msg, 0x3, 7);
} else {
@@ -96,7 +92,6 @@ static void psa_rx_hook(const CANPacket_t *msg) {
if (msg->addr == PSA_HS2_DAT_MDD_CMD_452) {
pcm_cruise_check((msg->data[2U] >> 7U) & 1U); // RVV_ACC_ACTIVATION_REQ
}
// StarPilot variables
if (msg->addr == PSA_HS2_DYN1_MDD_ETAT_2B6) {
acc_main_on = (msg->data[3] & 0x0FU) > 2;
}
@@ -153,7 +148,6 @@ static safety_config psa_init(uint16_t param) {
{.msg = {{PSA_DYN_CMM, PSA_MAIN_BUS, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // gas pedal
{.msg = {{PSA_DAT_BSI, PSA_CAM_BUS, 8, 20U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // brake
// StarPilot variables
{.msg = {{PSA_HS2_DYN1_MDD_ETAT_2B6, PSA_ADAS_BUS, 8, 20U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // ACC status
};
opendbc_repo/opendbc/safety/modes/rivian.h
-1
View File
@@ -98,7 +98,6 @@ static void rivian_rx_hook(const CANPacket_t *msg) {
const int feature_status = msg->data[2] >> 5U;
pcm_cruise_check(feature_status == 1);
// StarPilot variables
acc_main_on = (feature_status == 0) || (feature_status == 1);
}
}
opendbc_repo/opendbc/safety/modes/subaru.h
-1
View File
@@ -110,7 +110,6 @@ static void subaru_rx_hook(const CANPacket_t *msg) {
bool cruise_engaged = (msg->data[5] >> 1) & 1U;
pcm_cruise_check(cruise_engaged);
// StarPilot variables
acc_main_on = GET_BIT(msg, 40U);
}
opendbc_repo/opendbc/safety/modes/subaru_preglobal.h
-1
View File
@@ -34,7 +34,6 @@ static void subaru_preglobal_rx_hook(const CANPacket_t *msg) {
bool cruise_engaged = (msg->data[6] >> 1) & 1U;
pcm_cruise_check(cruise_engaged);
// StarPilot variables
acc_main_on = GET_BIT(msg, 48U);
}
opendbc_repo/opendbc/safety/modes/tesla.h
-1
View File
@@ -160,7 +160,6 @@ static void tesla_rx_hook(const CANPacket_t *msg) {
pcm_cruise_check(cruise_engaged);
// StarPilot variables
acc_main_on = ((cruise_state == 1) || cruise_engaged) && !tesla_autopark;
}
opendbc_repo/opendbc/safety/modes/toyota.h
-1
View File
@@ -162,7 +162,6 @@ static void toyota_rx_hook(const CANPacket_t *msg) {
UPDATE_VEHICLE_SPEED(speed / 4.0 * 0.01 * KPH_TO_MS);
}
// StarPilot variables
if (msg->addr == 0x1D3U) {
acc_main_on = GET_BIT(msg, 15U);
}
opendbc_repo/opendbc/safety/safety.h
-5
View File
@@ -60,7 +60,6 @@ bool acc_main_on = false; // referred to as "ACC off" in ISO 15622:2018
int cruise_button_prev = 0;
bool safety_rx_checks_invalid = false;
// StarPilot variables
bool aol_allowed = false;
bool lkas_button_prev = false;
bool lkas_on = false;
@@ -97,7 +96,6 @@ uint16_t current_safety_param = 0;
static const safety_hooks *current_hooks = &nooutput_hooks;
safety_config current_safety_config;
// OPGM variables
bool enable_gas_interceptor = false;
int gas_interceptor_prev = 0;
bool gm_remote_start_boots_comma = false;
@@ -375,7 +373,6 @@ static void generic_rx_checks(void) {
}
steering_disengage_prev = steering_disengage;
// StarPilot variables
aol_allowed = (acc_main_on || lkas_on) && (alternative_experience & ALT_EXP_ALWAYS_ON_LATERAL);
}
@@ -497,11 +494,9 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
}
}
// OPGM variables
enable_gas_interceptor = false;
gas_interceptor_prev = 0;
// StarPilot variables
aol_allowed = false;
lkas_button_prev = false;
lkas_on = false;
opendbc_repo/opendbc/safety/tests/common.py
-3
View File
@@ -310,7 +310,6 @@ class TorqueSteeringSafetyTestBase(SafetyTestBase, abc.ABC):
for _ in range(10):
self.assertFalse(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, 1)))
# StarPilot variables
def _toggle_aol(self, toggle_on):
"""Toggles "Always On Lateral" On/Off"""
pass
@@ -851,7 +850,6 @@ class AngleSteeringSafetyTest(VehicleSpeedSafetyTest):
for _ in range(5):
self.assertTrue(self._tx(self._angle_cmd_msg(0, True, increment_timer=False)))
# StarPilot variables
def _toggle_aol(self, toggle_on):
"""Toggles "Always On Lateral" on/off"""
pass
@@ -1216,7 +1214,6 @@ class CarSafetyTest(SafetyTest):
self.assertFalse(self.safety.safety_config_valid())
# OPGM variables
class GasInterceptorSafetyTest(PandaSafetyTestBase):
INTERCEPTOR_THRESHOLD = 0
opendbc_repo/opendbc/safety/tests/hyundai_common.py
-1
View File
@@ -71,7 +71,6 @@ class HyundaiButtonBase:
self.assertEqual(controls_allowed, self.safety.get_controls_allowed())
self._rx(self._button_msg(Buttons.NONE))
# StarPilot variables
def _toggle_aol(self, toggle_on):
"""
Simulates toggling the main cruise button. The safety model requires a
opendbc_repo/opendbc/safety/tests/test_chrysler.py
-1
View File
@@ -71,7 +71,6 @@ class TestChryslerSafety(common.CarSafetyTest, common.MotorTorqueSteeringSafetyT
self.assertFalse(self._tx(self._button_msg(cancel=True, resume=True)))
self.assertFalse(self._tx(self._button_msg(cancel=False, resume=False)))
# StarPilot variables
def _toggle_aol(self, toggle_on):
# DAS_3, bit 20 is ACC_AVAILABLE
values = {"ACC_AVAILABLE": 1 if toggle_on else 0}
opendbc_repo/opendbc/safety/tests/test_ford.py
-1
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@@ -378,7 +378,6 @@ class TestFordSafetyBase(common.CarSafetyTest):
for bus in (0, 2):
self.assertEqual(enabled, self._tx(self._acc_button_msg(Buttons.CANCEL, bus)))
# StarPilot variables
def _toggle_aol(self, toggle_on):
# EngBrakeData, CcStat_D_Actl is the cruise state
# 3 is standby (main on), 5 is active (engaged)
opendbc_repo/opendbc/safety/tests/test_gm.py
-2
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@@ -132,7 +132,6 @@ class TestGmSafetyBase(common.CarSafetyTest, common.DriverTorqueSteeringSafetyTe
values = {"ACCButtons": buttons}
return self.packer.make_can_msg_safety("ASCMSteeringButton", self.BUTTONS_BUS, values)
# StarPilot variables
def _toggle_aol(self, toggle_on):
# ECMEngineStatus, bit 29 is CruiseMainOn
values = {"CruiseMainOn": 1 if toggle_on else 0}
@@ -289,7 +288,6 @@ class TestGmCameraLongitudinalEVSafety(GmCameraAccEVRegenMixin, TestGmCameraLong
pass
# OPGM variables
def interceptor_msg(gas, addr):
to_send = common.make_msg(0, addr, 6)
to_send[0].data[0] = (gas & 0xFF00) >> 8
opendbc_repo/opendbc/safety/tests/test_honda.py
-1
View File
@@ -237,7 +237,6 @@ class HondaBase(common.CarSafetyTest):
self.assertTrue(self._tx(self._send_steer_msg(0x0000)))
self.assertFalse(self._tx(self._send_steer_msg(0x1000)))
# StarPilot variables
def _toggle_aol(self, toggle_on):
# SCM_FEEDBACK, bit 28 is MAIN_ON
values = {"MAIN_ON": 1 if toggle_on else 0, "COUNTER": self.cnt_acc_state % 4}
opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py
-2
View File
@@ -81,7 +81,6 @@ class TestHyundaiCanfdBase(HyundaiButtonBase, common.CarSafetyTest, common.Drive
}
return self.packer.make_can_msg_safety("CRUISE_BUTTONS", bus, values)
# StarPilot variables
def _toggle_aol(self, toggle_on):
if not hasattr(self, "_aol_state"):
self._aol_state = False
@@ -172,7 +171,6 @@ class TestHyundaiCanfdLFASteeringAltButtonsBase(TestHyundaiCanfdLFASteeringBase)
self.assertFalse(self._tx(self._acc_cancel_msg(True, accel=1)))
self.assertFalse(self._tx(self._acc_cancel_msg(False)))
# StarPilot variables
def _toggle_aol(self, toggle_on):
if not hasattr(self, "_aol_state"):
self._aol_state = False
opendbc_repo/opendbc/safety/tests/test_mazda.py
-1
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@@ -80,7 +80,6 @@ class TestMazdaSafety(common.CarSafetyTest, common.DriverTorqueSteeringSafetyTes
self.assertTrue(self._tx(self._button_msg(cancel=True)))
self.assertTrue(self._tx(self._button_msg(resume=True)))
# StarPilot variables
def _toggle_aol(self, toggle_on):
# CRZ_CTRL, CRZ_AVAILABLE is the main on button
values = {"CRZ_AVAILABLE": 1 if toggle_on else 0}
opendbc_repo/opendbc/safety/tests/test_nissan.py
-2
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@@ -79,7 +79,6 @@ class TestNissanSafety(common.CarSafetyTest, common.AngleSteeringSafetyTest):
tx = self._tx(self._acc_button_cmd(**args))
self.assertEqual(tx, should_tx)
# StarPilot variables
def _toggle_aol(self, toggle_on):
# PRO_PILOT, CRUISE_ON is the main on button for X-Trail/Rogue/Altima
values = {"CRUISE_ON": 1 if toggle_on else 0}
@@ -119,7 +118,6 @@ class TestNissanLeafSafety(TestNissanSafety):
def test_acc_buttons(self):
pass
# StarPilot variables
def _toggle_aol(self, toggle_on):
# CRUISE_THROTTLE, CRUISE_AVAILABLE is the main on button for Leaf
values = {"CRUISE_AVAILABLE": 1 if toggle_on else 0}
opendbc_repo/opendbc/safety/tests/test_subaru.py
-1
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@@ -111,7 +111,6 @@ class TestSubaruSafetyBase(common.CarSafetyTest):
values = {"Cruise_Activated": enable}
return self.packer.make_can_msg_safety("CruiseControl", self.ALT_MAIN_BUS, values)
# StarPilot variables
def _toggle_aol(self, toggle_on):
# CruiseControl, Cruise_On is the main on button
values = {"Cruise_On": 1 if toggle_on else 0}
opendbc_repo/opendbc/safety/tests/test_subaru_preglobal.py
-1
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@@ -59,7 +59,6 @@ class TestSubaruPreglobalSafety(common.CarSafetyTest, common.DriverTorqueSteerin
values = {"Cruise_Activated": enable}
return self.packer.make_can_msg_safety("CruiseControl", 0, values)
# StarPilot variables
def _toggle_aol(self, toggle_on):
# CruiseControl, Cruise_On is the main on button
values = {"Cruise_On": 1 if toggle_on else 0}
opendbc_repo/opendbc/safety/tests/test_tesla.py
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@@ -353,7 +353,6 @@ class TestTeslaSafetyBase(common.CarSafetyTest, common.AngleSteeringSafetyTest,
# Recover
self.assertTrue(self._tx(self._angle_cmd_msg(0, True)))
# StarPilot variables
def _toggle_aol(self, toggle_on):
# DI_state, DI_cruiseState is the cruise state, 1 is standby
values = {"DI_cruiseState": 1 if toggle_on else 0}
opendbc_repo/opendbc/safety/tests/test_toyota.py
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@@ -122,7 +122,6 @@ class TestToyotaSafetyBase(common.CarSafetyTest, common.LongitudinalAccelSafetyT
self.assertFalse(self._rx(msg))
self.assertFalse(self.safety.get_controls_allowed())
# StarPilot variables
def _toggle_aol(self, toggle_on):
# pcm_cruise_2, bit 15 is toggle_on
values = {"MAIN_ON": 1 if toggle_on else 0}
opendbc_repo/opendbc/safety/tests/test_volkswagen_mqb.py
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@@ -126,7 +126,6 @@ class TestVolkswagenMqbSafetyBase(common.CarSafetyTest, common.DriverTorqueSteer
self.assertEqual(0, self.safety.get_torque_driver_max())
self.assertEqual(0, self.safety.get_torque_driver_min())
# StarPilot variables
def _toggle_aol(self, toggle_on):
# TSK_06, TSK_Status is the cruise state, 2 is standby
return self._tsk_status_msg(False, main_switch=toggle_on)
opendbc_repo/opendbc/safety/tests/test_volkswagen_pq.py
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@@ -108,7 +108,6 @@ class TestVolkswagenPqSafetyBase(common.CarSafetyTest, common.DriverTorqueSteeri
self.assertEqual(0, self.safety.get_torque_driver_max())
self.assertEqual(0, self.safety.get_torque_driver_min())
# StarPilot variables
def _toggle_aol(self, toggle_on):
# Motor_5, GRA_Hauptschalter is the main cruise switch
return self._motor_5_msg(main_switch=toggle_on)
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panda/board/obj/gitversion.h
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extern const uint8_t gitversion[19];
const uint8_t gitversion[19] = "DEV-a97a59be-DEBUG";
const uint8_t gitversion[19] = "DEV-82619bd7-DEBUG";
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