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Merge branch 'upstream/master' into sync-20260602

Browse Source 
# Conflicts:
#	docs/CARS.md
#	opendbc/car/honda/values.py
#	opendbc/safety/modes/nissan.h
#	opendbc/safety/tests/libsafety/libsafety_py.py
#	opendbc/safety/tests/libsafety/safety.c
#	opendbc/safety/tests/test_gm.py
#	opendbc/safety/tests/test_tesla.py
This commit is contained in:
Jason Wen
2026-06-02 13:31:55 -04:00
parent 4dad7b09dd 560b75d6bb
commit 2ee2164180
51 changed files with 711 additions and 350 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
README.md
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@@ -59,7 +59,7 @@ cd opendbc
# here are the individual commands it runs # here are the individual commands it runs
pip3 install -e .[testing,docs] # install dependencies pip3 install -e .[testing,docs] # install dependencies
scons -j8 # build with 8 cores scons -j8 # build with 8 cores
pytest . # run the tests unittest-parallel # run the tests
lefthook run lint # run the linter lefthook run lint # run the linter
``` ```

12
docs/CARS.md
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@@ -1,6 +1,6 @@
<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. ---> <!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
# Support Information for 417 Known Cars # Support Information for 419 Known Cars
|Make|Model|Package|Support Level| |Make|Model|Package|Support Level|
|---|---|---|:---:| |---|---|---|:---:|
@@ -16,7 +16,7 @@
|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|[Upstream](#upstream)| |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|[Upstream](#upstream)|
|Acura|RDX 2019-21|All|[Upstream](#upstream)| |Acura|RDX 2019-21|All|[Upstream](#upstream)|
|Acura|RDX 2022-24|All|[Dashcam mode](#dashcam)| |Acura|RDX 2022-24|All|[Dashcam mode](#dashcam)|
|Acura|RDX 2025|All|[Community](#community)| |Acura|RDX 2025-26|All|[Community](#community)|
|Acura|RLX 2017|Advance Package or Technology Package|[Community](#community)| |Acura|RLX 2017|Advance Package or Technology Package|[Community](#community)|
|Acura|TLX 2015-17|Advance Package|[Community](#community)| |Acura|TLX 2015-17|Advance Package|[Community](#community)|
|Acura|TLX 2018-20|All|[Community](#community)| |Acura|TLX 2018-20|All|[Community](#community)|
@@ -69,8 +69,8 @@
|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|[Upstream](#upstream)| |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|[Upstream](#upstream)| |Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|[Upstream](#upstream)|
|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|[Upstream](#upstream)| |Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|[Upstream](#upstream)|
|Ford|Focus 2018|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)| |Ford|Focus 2018-22|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|Ford|Focus Hybrid 2018|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)| |Ford|Focus Hybrid 2018-22|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)| |Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)| |Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|Ford|Kuga Hybrid 2024|All|[Upstream](#upstream)| |Ford|Kuga Hybrid 2024|All|[Upstream](#upstream)|
@@ -138,6 +138,7 @@
|Honda|Passport 2026|All|[Upstream](#upstream)| |Honda|Passport 2026|All|[Upstream](#upstream)|
|Honda|Pilot 2016-22|Honda Sensing|[Upstream](#upstream)| |Honda|Pilot 2016-22|Honda Sensing|[Upstream](#upstream)|
|Honda|Pilot 2023-25|All|[Upstream](#upstream)| |Honda|Pilot 2023-25|All|[Upstream](#upstream)|
|Honda|Pilot 2026|All|[Community](#community)|
|Honda|Prologue 2024-25|All|[Not compatible](#can-bus-security)| |Honda|Prologue 2024-25|All|[Not compatible](#can-bus-security)|
|Honda|Ridgeline 2017-25|Honda Sensing|[Upstream](#upstream)| |Honda|Ridgeline 2017-25|Honda Sensing|[Upstream](#upstream)|
|Hyundai|Azera 2022|All|[Upstream](#upstream)| |Hyundai|Azera 2022|All|[Upstream](#upstream)|
@@ -157,6 +158,7 @@
|Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|[Upstream](#upstream)| |Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|[Upstream](#upstream)|
|Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|[Upstream](#upstream)| |Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|[Upstream](#upstream)|
|Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|[Upstream](#upstream)| |Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|[Upstream](#upstream)|
|Hyundai|Ioniq 6 (without HDA II) 2023-24|Highway Driving Assist|[Upstream](#upstream)|
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)| |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|Hyundai|Ioniq Electric 2020|All|[Upstream](#upstream)| |Hyundai|Ioniq Electric 2020|All|[Upstream](#upstream)|
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|[Upstream](#upstream)| |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|[Upstream](#upstream)|
@@ -273,7 +275,7 @@
|Mazda|CX-5 2022-25|All|[Upstream](#upstream)| |Mazda|CX-5 2022-25|All|[Upstream](#upstream)|
|Mazda|CX-9 2016-20|All|[Dashcam mode](#dashcam)| |Mazda|CX-9 2016-20|All|[Dashcam mode](#dashcam)|
|Mazda|CX-9 2021-23|All|[Upstream](#upstream)| |Mazda|CX-9 2021-23|All|[Upstream](#upstream)|
|Nissan|Altima 2019-20, 2024|ProPILOT Assist|[Upstream](#upstream)| |Nissan|Altima 2019-24|ProPILOT Assist|[Upstream](#upstream)|
|Nissan|Leaf 2018-23|ProPILOT Assist|[Upstream](#upstream)| |Nissan|Leaf 2018-23|ProPILOT Assist|[Upstream](#upstream)|
|Nissan|Rogue 2018-20|ProPILOT Assist|[Upstream](#upstream)| |Nissan|Rogue 2018-20|ProPILOT Assist|[Upstream](#upstream)|
|Nissan|X-Trail 2017|ProPILOT Assist|[Upstream](#upstream)| |Nissan|X-Trail 2017|ProPILOT Assist|[Upstream](#upstream)|

5
opendbc/car/car.capnp
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@@ -176,8 +176,6 @@ struct CarState {
gasPressed @4 :Bool; # this is user pedal only gasPressed @4 :Bool; # this is user pedal only
# brake pedal, 0.0-1.0
brake @5 :Float32; # this is user pedal only
brakePressed @6 :Bool; # this is user pedal only brakePressed @6 :Bool; # this is user pedal only
regenBraking @45 :Bool; # this is user pedal only regenBraking @45 :Bool; # this is user pedal only
parkingBrake @39 :Bool; parkingBrake @39 :Bool;
@@ -285,7 +283,8 @@ struct CarState {
# deprecated # deprecated
errorsDEPRECATED @0 :List(OnroadEventDEPRECATED.EventName); errorsDEPRECATED @0 :List(OnroadEventDEPRECATED.EventName);
gasDEPRECATED @3 :Float32; # this is user pedal only gasDEPRECATED @3 :Float32;
brakeDEPRECATED @5 :Float32;
brakeLightsDEPRECATED @19 :Bool; brakeLightsDEPRECATED @19 :Bool;
steeringRateLimitedDEPRECATED @29 :Bool; steeringRateLimitedDEPRECATED @29 :Bool;
canMonoTimesDEPRECATED @12: List(UInt64); canMonoTimesDEPRECATED @12: List(UInt64);

2
opendbc/car/chrysler/carstate.py
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@@ -50,7 +50,6 @@ class CarState(CarStateBase, MadsCarState, CarStateExt):
ret.seatbeltUnlatched = cp.vl["ORC_1"]["SEATBELT_DRIVER_UNLATCHED"] == 1 ret.seatbeltUnlatched = cp.vl["ORC_1"]["SEATBELT_DRIVER_UNLATCHED"] == 1
# brake pedal # brake pedal
ret.brake = 0
ret.brakePressed = cp.vl["ESP_1"]['Brake_Pedal_State'] == 1 # Physical brake pedal switch ret.brakePressed = cp.vl["ESP_1"]['Brake_Pedal_State'] == 1 # Physical brake pedal switch
# gas pedal # gas pedal
@@ -126,7 +125,6 @@ class CarState(CarStateBase, MadsCarState, CarStateExt):
ret.seatbeltUnlatched = bool(cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_UNLATCHED"]) ret.seatbeltUnlatched = bool(cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_UNLATCHED"])
ret.brakePressed = bool(cp.vl["BRAKE_3"]["DRIVER_BRAKE_SWITCH"]) ret.brakePressed = bool(cp.vl["BRAKE_3"]["DRIVER_BRAKE_SWITCH"])
ret.brake = cp.vl["BRAKE_1"]["DRIVER_BRAKE_PRESSURE"]
ret.gasPressed = cp.vl["ACCEL_GAS"]["GAS_HUMAN"] > 0 ret.gasPressed = cp.vl["ACCEL_GAS"]["GAS_HUMAN"] > 0
ret.espDisabled = bool(cp.vl["TRACTION_BUTTON"]["TRACTION_OFF"]) ret.espDisabled = bool(cp.vl["TRACTION_BUTTON"]["TRACTION_OFF"])

3
opendbc/car/extra_cars.py
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@@ -42,7 +42,7 @@ class CAR(Platforms):
CommunityCarDocs("Acura MDX 2015-16", "Advance Package"), CommunityCarDocs("Acura MDX 2015-16", "Advance Package"),
CommunityCarDocs("Acura MDX 2017-20"), CommunityCarDocs("Acura MDX 2017-20"),
CommunityCarDocs("Acura MDX Hybrid 2017-20"), CommunityCarDocs("Acura MDX Hybrid 2017-20"),
CommunityCarDocs("Acura RDX 2025"), CommunityCarDocs("Acura RDX 2025-26"),
CommunityCarDocs("Acura RLX 2017", "Advance Package or Technology Package"), CommunityCarDocs("Acura RLX 2017", "Advance Package or Technology Package"),
CommunityCarDocs("Acura TLX 2015-17", "Advance Package"), CommunityCarDocs("Acura TLX 2015-17", "Advance Package"),
CommunityCarDocs("Acura TLX 2018-20"), CommunityCarDocs("Acura TLX 2018-20"),
@@ -51,6 +51,7 @@ class CAR(Platforms):
CommunityCarDocs("Honda Accord 2016-17", "Honda Sensing"), CommunityCarDocs("Honda Accord 2016-17", "Honda Sensing"),
CommunityCarDocs("Honda Accord Hybrid 2017"), CommunityCarDocs("Honda Accord Hybrid 2017"),
CommunityCarDocs("Honda Clarity 2018-21"), CommunityCarDocs("Honda Clarity 2018-21"),
CommunityCarDocs("Honda Pilot 2026"),
GMSecurityCarDocs("Honda Prologue 2024-25"), GMSecurityCarDocs("Honda Prologue 2024-25"),
], ],
) )

5
opendbc/car/ford/carcontroller.py
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@@ -2,7 +2,7 @@ import math
import numpy as np import numpy as np
from opendbc.can import CANPacker from opendbc.can import CANPacker
from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, DT_CTRL, apply_hysteresis, structs from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, DT_CTRL, apply_hysteresis, structs
from opendbc.car.lateral import ISO_LATERAL_ACCEL, apply_std_steer_angle_limits from opendbc.car.lateral import AVERAGE_ROAD_ROLL, ISO_LATERAL_ACCEL, apply_std_steer_angle_limits
from opendbc.car.ford import fordcan from opendbc.car.ford import fordcan
from opendbc.car.ford.values import CarControllerParams, FordFlags, CAR from opendbc.car.ford.values import CarControllerParams, FordFlags, CAR
from opendbc.car.interfaces import CarControllerBase, V_CRUISE_MAX from opendbc.car.interfaces import CarControllerBase, V_CRUISE_MAX
@@ -11,8 +11,7 @@ LongCtrlState = structs.CarControl.Actuators.LongControlState
VisualAlert = structs.CarControl.HUDControl.VisualAlert VisualAlert = structs.CarControl.HUDControl.VisualAlert
# CAN FD limits: # CAN FD limits:
# Limit to average banked road since safety doesn't have the roll # Limit to average banked road since safety doesn't have the roll, higher actual roll lowers lateral acceleration
AVERAGE_ROAD_ROLL = 0.06 # ~3.4 degrees, 6% superelevation. higher actual roll raises lateral acceleration
MAX_LATERAL_ACCEL = ISO_LATERAL_ACCEL - (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL) # ~2.4 m/s^2 MAX_LATERAL_ACCEL = ISO_LATERAL_ACCEL - (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL) # ~2.4 m/s^2

1
opendbc/car/ford/carstate.py
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@@ -44,7 +44,6 @@ class CarState(CarStateBase, MadsCarState):
ret.gasPressed = cp.vl["EngVehicleSpThrottle"]["ApedPos_Pc_ActlArb"] / 100. > 1e-6 ret.gasPressed = cp.vl["EngVehicleSpThrottle"]["ApedPos_Pc_ActlArb"] / 100. > 1e-6
# brake pedal # brake pedal
ret.brake = cp.vl["BrakeSnData_4"]["BrkTot_Tq_Actl"] / 32756. # torque in Nm
ret.brakePressed = cp.vl["EngBrakeData"]["BpedDrvAppl_D_Actl"] == 2 ret.brakePressed = cp.vl["EngBrakeData"]["BpedDrvAppl_D_Actl"] == 2
ret.parkingBrake = cp.vl["DesiredTorqBrk"]["PrkBrkStatus"] in (1, 2) ret.parkingBrake = cp.vl["DesiredTorqBrk"]["PrkBrkStatus"] in (1, 2)

4
opendbc/car/ford/fingerprints.py
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@@ -174,15 +174,19 @@ FW_VERSIONS = {
CAR.FORD_FOCUS_MK4: { CAR.FORD_FOCUS_MK4: {
(Ecu.eps, 0x730, None): [ (Ecu.eps, 0x730, None): [
b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'NX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
(Ecu.abs, 0x760, None): [ (Ecu.abs, 0x760, None): [
b'JX61-2D053-CJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'JX61-2D053-CJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX61-2D053-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
(Ecu.fwdRadar, 0x764, None): [ (Ecu.fwdRadar, 0x764, None): [
b'JX7T-14D049-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'JX7T-14D049-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'JX7T-14D049-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
(Ecu.fwdCamera, 0x706, None): [ (Ecu.fwdCamera, 0x706, None): [
b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'N1BT-14F397-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
}, },
CAR.FORD_MAVERICK_MK1: { CAR.FORD_MAVERICK_MK1: {

2
opendbc/car/ford/values.py
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@@ -160,7 +160,7 @@ class CAR(Platforms):
CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9), CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9),
) )
FORD_FOCUS_MK4 = FordPlatformConfig( FORD_FOCUS_MK4 = FordPlatformConfig(
[FordCarDocs("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS], hybrid=True)], # mHEV only [FordCarDocs("Ford Focus 2018-22", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS], hybrid=True)], # mHEV only
CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0), CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0),
) )
FORD_MAVERICK_MK1 = FordPlatformConfig( FORD_MAVERICK_MK1 = FordPlatformConfig(

3
opendbc/car/gm/carstate.py
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@@ -87,7 +87,6 @@ class CarState(CarStateBase, CarStateExt):
else: else:
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None)) ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
if self.CP.networkLocation == NetworkLocation.fwdCamera: if self.CP.networkLocation == NetworkLocation.fwdCamera:
ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0 ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
else: else:
@@ -95,7 +94,7 @@ class CarState(CarStateBase, CarStateExt):
# that the brake is being intermittently pressed without user interaction. # that the brake is being intermittently pressed without user interaction.
# To avoid a cruise fault we need to use a conservative brake position threshold # To avoid a cruise fault we need to use a conservative brake position threshold
# https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf # https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf
ret.brakePressed = ret.brake >= 8 ret.brakePressed = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"] >= 8
# Regen braking is braking # Regen braking is braking
if self.CP.transmissionType == TransmissionType.direct: if self.CP.transmissionType == TransmissionType.direct:

6
opendbc/car/honda/carstate.py
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@@ -198,15 +198,9 @@ class CarState(CarStateBase, CarStateExt):
self.brake_switch_prev = brake_switch self.brake_switch_prev = brake_switch
ret.brakePressed = (cp.vl["POWERTRAIN_DATA"]["BRAKE_PRESSED"] != 0) or self.brake_switch_active ret.brakePressed = (cp.vl["POWERTRAIN_DATA"]["BRAKE_PRESSED"] != 0) or self.brake_switch_active
ret.brake = cp.vl["VSA_STATUS"]["USER_BRAKE"]
ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0 ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
ret.cruiseState.available = bool(cp.vl[self.car_state_scm_msg]["MAIN_ON"]) ret.cruiseState.available = bool(cp.vl[self.car_state_scm_msg]["MAIN_ON"])
# Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
if self.CP.carFingerprint in (CAR.HONDA_PILOT, CAR.HONDA_RIDGELINE):
if ret.brake > 0.1:
ret.brakePressed = True
if self.CP.carFingerprint in HONDA_BOSCH: if self.CP.carFingerprint in HONDA_BOSCH:
# TODO: find the radarless AEB_STATUS bit and make sure ACCEL_COMMAND is correct to enable AEB alerts # TODO: find the radarless AEB_STATUS bit and make sure ACCEL_COMMAND is correct to enable AEB alerts
if self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS: if self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:

6
opendbc/car/honda/values.py
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@@ -111,6 +111,9 @@ class HondaCarDocs(CarDocs):
self.car_parts = CarParts.common([harness]) self.car_parts = CarParts.common([harness])
if CP.alphaLongitudinalAvailable:
self.footnotes.append(Footnote.HONDA_ALPHALONG)
if CP.carFingerprint in (CAR.HONDA_CLARITY,): if CP.carFingerprint in (CAR.HONDA_CLARITY,):
self.car_parts = CarParts.common([CarHarness.honda_clarity]) self.car_parts = CarParts.common([CarHarness.honda_clarity])
self.car_parts.custom_parts_url = "https://shop.retropilot.org/product/honda-clarity-proxy-board-kit" self.car_parts.custom_parts_url = "https://shop.retropilot.org/product/honda-clarity-proxy-board-kit"
@@ -122,6 +125,9 @@ class Footnote(Enum):
CIVIC_DIESEL = CarFootnote( CIVIC_DIESEL = CarFootnote(
"2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.", "2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.",
Column.FSR_STEERING) Column.FSR_STEERING)
HONDA_ALPHALONG = CarFootnote(
"Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW.",
Column.LONGITUDINAL)
@dataclass @dataclass

2
opendbc/car/hyundai/carstate.py
View File

@@ -139,8 +139,6 @@ class CarState(CarStateBase, EsccCarStateBase, MadsCarState, CarStateExt):
ret.cruiseState.nonAdaptive = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 2. # Shows 'Cruise Control' on dash ret.cruiseState.nonAdaptive = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 2. # Shows 'Cruise Control' on dash
ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv
# TODO: Find brake pressure
ret.brake = 0
ret.brakePressed = cp.vl["TCS13"]["DriverOverride"] == 2 # 2 includes regen braking by user on HEV/EV ret.brakePressed = cp.vl["TCS13"]["DriverOverride"] == 2 # 2 includes regen braking by user on HEV/EV
ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1 ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1

2
opendbc/car/hyundai/fingerprints.py
View File

@@ -769,6 +769,7 @@ FW_VERSIONS = {
b'\xf1\x00SG2EMFC AT USA LHD 1.00 1.00 99211-AT100 230216', b'\xf1\x00SG2EMFC AT USA LHD 1.00 1.00 99211-AT100 230216',
b'\xf1\x00SG2EMFC AT USA LHD 1.00 1.00 99211-AT200 240401', b'\xf1\x00SG2EMFC AT USA LHD 1.00 1.00 99211-AT200 240401',
b'\xf1\x00SG2EMFC AT USA LHD 1.01 1.09 99211-AT000 220801', b'\xf1\x00SG2EMFC AT USA LHD 1.01 1.09 99211-AT000 220801',
b'\xf1\x00SG2EMFC AT EUR LHD 1.01 1.10 99211-AT000 230417',
], ],
}, },
CAR.KIA_NIRO_PHEV: { CAR.KIA_NIRO_PHEV: {
@@ -1079,6 +1080,7 @@ FW_VERSIONS = {
b'\xf1\x00CE MFC AT EUR LHD 1.00 1.04 99211-KL000 221213', b'\xf1\x00CE MFC AT EUR LHD 1.00 1.04 99211-KL000 221213',
b'\xf1\x00CE MFC AT USA LHD 1.00 1.04 99211-KL000 221213', b'\xf1\x00CE MFC AT USA LHD 1.00 1.04 99211-KL000 221213',
b'\xf1\x00CE MFC AT USA LHD 1.00 1.06 99211-KL000 230915', b'\xf1\x00CE MFC AT USA LHD 1.00 1.06 99211-KL000 230915',
b'\xf1\x00CE MFC AT CAN LHD 1.00 1.06 99211-KL000 230915',
], ],
}, },
CAR.HYUNDAI_TUCSON_4TH_GEN: { CAR.HYUNDAI_TUCSON_4TH_GEN: {

11
opendbc/car/hyundai/values.py
View File

@@ -164,11 +164,11 @@ class HyundaiNonSccCarDocs(CarDocs):
@dataclass @dataclass
class HyundaiPlatformConfig(PlatformConfig): class HyundaiPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: "hyundai_kia_generic"}) dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: "hyundai_can_generated"})
def init(self): def init(self):
if self.flags & HyundaiFlags.MANDO_RADAR: if self.flags & HyundaiFlags.MANDO_RADAR:
self.dbc_dict = {Bus.pt: "hyundai_kia_generic", Bus.radar: 'hyundai_kia_mando_front_radar_generated'} self.dbc_dict = {Bus.pt: "hyundai_can_generated", Bus.radar: 'hyundai_kia_mando_front_radar_generated'}
if self.flags & HyundaiFlags.MIN_STEER_32_MPH: if self.flags & HyundaiFlags.MIN_STEER_32_MPH:
self.specs = self.specs.override(minSteerSpeed=32 * CV.MPH_TO_MS) self.specs = self.specs.override(minSteerSpeed=32 * CV.MPH_TO_MS)
@@ -176,7 +176,7 @@ class HyundaiPlatformConfig(PlatformConfig):
@dataclass @dataclass
class HyundaiNonSccPlatformConfig(PlatformConfig): class HyundaiNonSccPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: "hyundai_kia_generic"}) dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: "hyundai_can_generated"})
def init(self): def init(self):
self.sp_flags |= HyundaiFlagsSP.NON_SCC self.sp_flags |= HyundaiFlagsSP.NON_SCC
@@ -384,7 +384,10 @@ class CAR(Platforms):
flags=HyundaiFlags.EV, flags=HyundaiFlags.EV,
) )
HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig( HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))], [
HyundaiCarDocs("Hyundai Ioniq 6 (without HDA II) 2023-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])),
],
HYUNDAI_IONIQ_5.specs, HYUNDAI_IONIQ_5.specs,
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE, flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
) )

25
opendbc/car/lateral.py
View File

@@ -1,26 +1,39 @@
import math import math
import numpy as np import numpy as np
from dataclasses import dataclass from dataclasses import dataclass
from opendbc.car import structs, rate_limit, DT_CTRL from opendbc.car import structs, rate_limit, DT_CTRL, ACCELERATION_DUE_TO_GRAVITY
from opendbc.car.vehicle_model import VehicleModel from opendbc.car.vehicle_model import VehicleModel
FRICTION_THRESHOLD = 0.2 FRICTION_THRESHOLD = 0.2
# ISO 11270 # - ISO 11270
ISO_LATERAL_ACCEL = 3.0 # m/s^2 ISO_LATERAL_ACCEL = 3.0 # m/s^2
ISO_LATERAL_JERK = 5.0 # m/s^3 ISO_LATERAL_JERK = 5.0 # m/s^3
# - Common angle safety limits
AVERAGE_ROAD_ROLL = 0.06 # ~3.4 degrees, 6% superelevation. higher actual roll lowers lateral acceleration
# TODO: deprecate in favor of vehicle-model-based limiting
# (need to solve cars having different steering ratios, etc.)
@dataclass @dataclass
class AngleSteeringLimits: class AngleSteeringLimits:
# v1 limits (using apply_std_steer_angle_limits) # uses apply_std_steer_angle_limits
STEER_ANGLE_MAX: float STEER_ANGLE_MAX: float
ANGLE_RATE_LIMIT_UP: tuple[list[float], list[float]] ANGLE_RATE_LIMIT_UP: tuple[list[float], list[float]]
ANGLE_RATE_LIMIT_DOWN: tuple[list[float], list[float]] ANGLE_RATE_LIMIT_DOWN: tuple[list[float], list[float]]
# v2 vehicle model limits (using apply_steer_angle_limits_vm)
MAX_LATERAL_ACCEL: float = 0 @dataclass
MAX_LATERAL_JERK: float = 0 class AngleSteeringLimitsVM:
# uses apply_steer_angle_limits_vm
# Max accepted by the EPS
STEER_ANGLE_MAX: float
# Add extra tolerance for average banked road since safety doesn't have the roll
MAX_LATERAL_ACCEL: float = ISO_LATERAL_ACCEL + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL) # ~3.6 m/s^2
# Lower than ISO 11270 lateral jerk limit (5.0 m/s^3) with bank tolerance, matches safety MAX_LATERAL_JERK
MAX_LATERAL_JERK: float = 3.0 + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL) # ~3.6 m/s^3
# Used for comfort or to prevent faults at low speed
MAX_ANGLE_RATE: float = math.inf MAX_ANGLE_RATE: float = math.inf

2
opendbc/car/mazda/carstate.py
View File

@@ -56,9 +56,7 @@ class CarState(CarStateBase):
ret.steeringTorqueEps = cp.vl["STEER_TORQUE"]["STEER_TORQUE_MOTOR"] ret.steeringTorqueEps = cp.vl["STEER_TORQUE"]["STEER_TORQUE_MOTOR"]
ret.steeringRateDeg = cp.vl["STEER_RATE"]["STEER_ANGLE_RATE"] ret.steeringRateDeg = cp.vl["STEER_RATE"]["STEER_ANGLE_RATE"]
# TODO: this should be from 0 - 1.
ret.brakePressed = cp.vl["PEDALS"]["BRAKE_ON"] == 1 ret.brakePressed = cp.vl["PEDALS"]["BRAKE_ON"] == 1
ret.brake = cp.vl["BRAKE"]["BRAKE_PRESSURE"]
ret.seatbeltUnlatched = cp.vl["SEATBELT"]["DRIVER_SEATBELT"] == 0 ret.seatbeltUnlatched = cp.vl["SEATBELT"]["DRIVER_SEATBELT"] == 0
ret.doorOpen = any([cp.vl["DOORS"]["FL"], cp.vl["DOORS"]["FR"], ret.doorOpen = any([cp.vl["DOORS"]["FL"], cp.vl["DOORS"]["FR"],

2
opendbc/car/mazda/fingerprints.py
View File

@@ -12,6 +12,7 @@ FW_VERSIONS = {
], ],
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'PEW5-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PEW5-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PF10-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PGK4-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PGK4-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PW67-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PW67-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PW67-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PW67-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -46,6 +47,7 @@ FW_VERSIONS = {
(Ecu.transmission, 0x7e1, None): [ (Ecu.transmission, 0x7e1, None): [
b'PG69-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PG69-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PG69-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PG69-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PGG4-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PW66-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PW66-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PW66-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PW66-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PXDL-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PXDL-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',

24
opendbc/car/nissan/carcontroller.py
View File

@@ -1,9 +1,11 @@
import numpy as np
from opendbc.can import CANPacker from opendbc.can import CANPacker
from opendbc.car import Bus, structs from opendbc.car import Bus, DT_CTRL, structs
from opendbc.car.lateral import apply_std_steer_angle_limits from opendbc.car.lateral import apply_std_steer_angle_limits
from opendbc.car.interfaces import CarControllerBase from opendbc.car.interfaces import CarControllerBase
from opendbc.car.nissan import nissancan from opendbc.car.nissan import nissancan
from opendbc.car.nissan.values import CAR, CarControllerParams from opendbc.car.nissan.values import CAR, CarControllerParams
from opendbc.car.common.filter_simple import FirstOrderFilter
VisualAlert = structs.CarControl.HUDControl.VisualAlert VisualAlert = structs.CarControl.HUDControl.VisualAlert
@@ -13,6 +15,8 @@ class CarController(CarControllerBase):
super().__init__(dbc_names, CP, CP_SP) super().__init__(dbc_names, CP, CP_SP)
self.car_fingerprint = CP.carFingerprint self.car_fingerprint = CP.carFingerprint
self.angle_filter = FirstOrderFilter(0.0, 0.1, DT_CTRL)
self.apply_angle_last = 0 self.apply_angle_last = 0
self.packer = CANPacker(dbc_names[Bus.pt]) self.packer = CANPacker(dbc_names[Bus.pt])
@@ -27,8 +31,15 @@ class CarController(CarControllerBase):
### STEER ### ### STEER ###
steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0 steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
# At low speeds and at high steering angles, EPS is sensitive to jitter in angle request. Smooth to fix uncomfortable response.
if CC.latActive:
self.angle_filter.update_alpha(float(np.interp(CS.out.vEgo, [5, 10, 20], [0.2, 0.1, 0.0])))
self.angle_filter.update(actuators.steeringAngleDeg)
else:
self.angle_filter.x = actuators.steeringAngleDeg
# windup slower # windup slower
self.apply_angle_last = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw, self.apply_angle_last = apply_std_steer_angle_limits(self.angle_filter.x, self.apply_angle_last, CS.out.vEgoRaw,
CS.out.steeringAngleDeg, CC.latActive, CarControllerParams.ANGLE_LIMITS) CS.out.steeringAngleDeg, CC.latActive, CarControllerParams.ANGLE_LIMITS)
lkas_max_torque = 0 lkas_max_torque = 0
@@ -37,12 +48,11 @@ class CarController(CarControllerBase):
if not bool(CS.out.steeringPressed): if not bool(CS.out.steeringPressed):
lkas_max_torque = CarControllerParams.LKAS_MAX_TORQUE lkas_max_torque = CarControllerParams.LKAS_MAX_TORQUE
else: else:
# Scale max torque based on how much torque the driver is applying to the wheel # Scale max torque based on how much torque the driver is applying to the wheel.
# Start scaling torque at STEER_THRESHOLD down to 0.2. If we don't scale this low, EPS will temp fault from high driver and LKAS torque
lkas_max_torque = max( lkas_max_torque = max(
# Scale max torque down to half LKAX_MAX_TORQUE as a minimum CarControllerParams.LKAS_MIN_TORQUE,
CarControllerParams.LKAS_MAX_TORQUE * 0.5, CarControllerParams.LKAS_MAX_TORQUE - 0.6 * max(0, abs(CS.out.steeringTorque) - CarControllerParams.STEER_THRESHOLD),
# Start scaling torque at STEER_THRESHOLD
CarControllerParams.LKAS_MAX_TORQUE - 0.6 * max(0, abs(CS.out.steeringTorque) - CarControllerParams.STEER_THRESHOLD)
) )
if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA) and pcm_cancel_cmd: if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA) and pcm_cancel_cmd:

8
opendbc/car/nissan/carstate.py
View File

@@ -89,17 +89,21 @@ class CarState(CarStateBase, CarStateExt):
ret.cruiseState.speed = speed * conversion ret.cruiseState.speed = speed * conversion
ret.cruiseState.speedCluster = (speed - 1) * conversion # Speed on HUD is always 1 lower than actually sent on can bus ret.cruiseState.speedCluster = (speed - 1) * conversion # Speed on HUD is always 1 lower than actually sent on can bus
# Altima EPS faults when user overrides above a certain torque.
# It also faults on sharp curves, although the threshold is unknown at this time
if self.CP.carFingerprint == CAR.NISSAN_ALTIMA: if self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
ret.steeringTorque = cp_cam.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"] ret.steeringTorque = cp_cam.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
ret.steerFaultTemporary = cp_cam.vl["STEER_TORQUE_SENSOR"]["LKAS_STATUS"] == 9
ret.steeringAngleDeg = cp_cam.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]
else: else:
ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"] ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
ret.steerFaultTemporary = cp.vl["STEER_TORQUE_SENSOR"]["LKAS_STATUS"] == 9
ret.steeringAngleDeg = cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]
self.steeringTorqueSamples.append(ret.steeringTorque) self.steeringTorqueSamples.append(ret.steeringTorque)
# Filtering driver torque to prevent steeringPressed false positives # Filtering driver torque to prevent steeringPressed false positives
ret.steeringPressed = bool(abs(sum(self.steeringTorqueSamples) / TORQUE_SAMPLES) > CarControllerParams.STEER_THRESHOLD) ret.steeringPressed = bool(abs(sum(self.steeringTorqueSamples) / TORQUE_SAMPLES) > CarControllerParams.STEER_THRESHOLD)
ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"]
ret.leftBlinker = bool(cp.vl["LIGHTS"]["LEFT_BLINKER"]) ret.leftBlinker = bool(cp.vl["LIGHTS"]["LEFT_BLINKER"])
ret.rightBlinker = bool(cp.vl["LIGHTS"]["RIGHT_BLINKER"]) ret.rightBlinker = bool(cp.vl["LIGHTS"]["RIGHT_BLINKER"])

1
opendbc/car/nissan/fingerprints.py
View File

@@ -16,6 +16,7 @@ FW_VERSIONS = {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'237106GU3B', b'237106GU3B',
b'237109HE2B', b'237109HE2B',
b'237106GV3A',
], ],
(Ecu.gateway, 0x18dad0f1, None): [ (Ecu.gateway, 0x18dad0f1, None): [
b'284U29HE0A', b'284U29HE0A',

2
opendbc/car/nissan/interface.py
View File

@@ -9,7 +9,7 @@ class CarInterface(CarInterfaceBase):
CarState = CarState CarState = CarState
CarController = CarController CarController = CarController
DRIVABLE_GEARS = (structs.CarState.GearShifter.brake,) DRIVABLE_GEARS = (structs.CarState.GearShifter.brake, structs.CarState.GearShifter.low)
@staticmethod @staticmethod
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams: def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:

26
opendbc/car/nissan/values.py
View File

@@ -19,6 +19,7 @@ class CarControllerParams:
([0., 5., 15.], [5., 3.5, 0.4]), ([0., 5., 15.], [5., 3.5, 0.4]),
) )
LKAS_MIN_TORQUE = 0.2 # Adequate torque when overriding without faulting
LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower
STEER_THRESHOLD = 1.0 STEER_THRESHOLD = 1.0
@@ -72,7 +73,7 @@ class CAR(Platforms):
NissanCarSpecs(mass=1610, wheelbase=2.705) NissanCarSpecs(mass=1610, wheelbase=2.705)
) )
NISSAN_ALTIMA = NissanPlatformConfig( NISSAN_ALTIMA = NissanPlatformConfig(
[NissanCarDocs("Nissan Altima 2019-20, 2024", car_parts=CarParts.common([CarHarness.nissan_b]))], [NissanCarDocs("Nissan Altima 2019-24", car_parts=CarParts.common([CarHarness.nissan_b]))],
NissanCarSpecs(mass=1492, wheelbase=2.824) NissanCarSpecs(mass=1492, wheelbase=2.824)
) )
@@ -92,34 +93,47 @@ NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83'
NISSAN_RX_OFFSET = 0x20 NISSAN_RX_OFFSET = 0x20
# TODO: once we gather enough Altima data on PT bus (1), we can remove OBD queries to speed up fingerprinting
FW_QUERY_CONFIG = FwQueryConfig( FW_QUERY_CONFIG = FwQueryConfig(
requests=[request for bus, logging in ((0, False), (1, True)) for request in [ requests=[request for bus, obd_multiplexing in ((0, False), (1, False), (1, True)) for request in [
Request( Request(
[NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP], [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
[NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP], [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
bus=bus, bus=bus,
logging=logging, logging=obd_multiplexing,
obd_multiplexing=obd_multiplexing,
), ),
Request( Request(
[NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP], [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
[NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP], [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
rx_offset=NISSAN_RX_OFFSET, rx_offset=NISSAN_RX_OFFSET,
bus=bus, bus=bus,
logging=logging, logging=obd_multiplexing,
obd_multiplexing=obd_multiplexing,
), ),
# Rogue's engine solely responds to this # Rogue's engine solely responds to this
Request( Request(
[NISSAN_DIAGNOSTIC_REQUEST_KWP_2, NISSAN_VERSION_REQUEST_KWP], [NISSAN_DIAGNOSTIC_REQUEST_KWP_2, NISSAN_VERSION_REQUEST_KWP],
[NISSAN_DIAGNOSTIC_RESPONSE_KWP_2, NISSAN_VERSION_RESPONSE_KWP], [NISSAN_DIAGNOSTIC_RESPONSE_KWP_2, NISSAN_VERSION_RESPONSE_KWP],
bus=bus, bus=bus,
logging=logging, logging=obd_multiplexing,
obd_multiplexing=obd_multiplexing,
), ),
Request( Request(
[StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
[StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
rx_offset=NISSAN_RX_OFFSET, rx_offset=NISSAN_RX_OFFSET,
bus=bus, bus=bus,
logging=logging, logging=obd_multiplexing,
obd_multiplexing=obd_multiplexing,
),
# Some newer Altima engines respond at normal rx offset
Request(
[StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
[StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
bus=bus,
logging=obd_multiplexing,
obd_multiplexing=obd_multiplexing,
), ),
]], ]],
) )

1
opendbc/car/rivian/carstate.py
View File

@@ -37,7 +37,6 @@ class CarState(CarStateBase, CarStateExt):
ret.gasPressed = cp.vl["VDM_PropStatus"]["VDM_AcceleratorPedalPosition"] > 0 ret.gasPressed = cp.vl["VDM_PropStatus"]["VDM_AcceleratorPedalPosition"] > 0
# Brake pedal # Brake pedal
ret.brake = cp.vl["ESPiB3"]["ESPiB3_pMC1"] / 250.0 # pressure in Bar
ret.brakePressed = cp.vl["iBESP2"]["iBESP2_BrakePedalApplied"] == 1 ret.brakePressed = cp.vl["iBESP2"]["iBESP2_BrakePedalApplied"] == 1
# Steering wheel # Steering wheel

1
opendbc/car/tesla/carstate.py
View File

@@ -51,7 +51,6 @@ class CarState(CarStateBase, CarStateExt):
ret.gasPressed = cp_party.vl["DI_systemStatus"]["DI_accelPedalPos"] > 0 ret.gasPressed = cp_party.vl["DI_systemStatus"]["DI_accelPedalPos"] > 0
# Brake pedal # Brake pedal
ret.brake = 0
ret.brakePressed = cp_party.vl["ESP_status"]["ESP_driverBrakeApply"] == 2 ret.brakePressed = cp_party.vl["ESP_status"]["ESP_driverBrakeApply"] == 2
# Steering wheel # Steering wheel

19
opendbc/car/tesla/values.py
View File

@@ -1,7 +1,7 @@
from dataclasses import dataclass, field from dataclasses import dataclass, field
from enum import Enum, IntFlag from enum import Enum, IntFlag
from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, CarSpecs, DbcDict, PlatformConfig, Platforms from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms
from opendbc.car.lateral import AngleSteeringLimits, ISO_LATERAL_ACCEL from opendbc.car.lateral import AngleSteeringLimitsVM
from opendbc.car.structs import CarParams, CarState from opendbc.car.structs import CarParams, CarState
from opendbc.car.docs_definitions import CarDocs, CarFootnote, CarHarness, CarParts, Column, SupportType from opendbc.car.docs_definitions import CarDocs, CarFootnote, CarHarness, CarParts, Column, SupportType
from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
@@ -111,23 +111,10 @@ GEAR_MAP = {
} }
# Add extra tolerance for average banked road since safety doesn't have the roll
AVERAGE_ROAD_ROLL = 0.06 # ~3.4 degrees, 6% superelevation. higher actual roll lowers lateral acceleration
class CarControllerParams: class CarControllerParams:
ANGLE_LIMITS: AngleSteeringLimits = AngleSteeringLimits( ANGLE_LIMITS: AngleSteeringLimitsVM = AngleSteeringLimitsVM(
# EPAS faults above this angle # EPAS faults above this angle
360, # deg 360, # deg
# Tesla uses a vehicle model instead, check carcontroller.py for details
([], []),
([], []),
# Vehicle model angle limits
# Add extra tolerance for average banked road since safety doesn't have the roll
MAX_LATERAL_ACCEL=ISO_LATERAL_ACCEL + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL), # ~3.6 m/s^2
MAX_LATERAL_JERK=3.0 + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL), # ~3.6 m/s^3
# limit angle rate to both prevent a fault and for low speed comfort (~12 mph rate down to 0 mph) # limit angle rate to both prevent a fault and for low speed comfort (~12 mph rate down to 0 mph)
MAX_ANGLE_RATE=5, # deg/20ms frame, EPS faults at 12 at a standstill MAX_ANGLE_RATE=5, # deg/20ms frame, EPS faults at 12 at a standstill
) )

7
opendbc/car/tests/car_diff.py
View File

@@ -294,8 +294,11 @@ def main(platform: str | None = None, segments_per_platform: int = 10, update_re
icon = "⚠️" if with_diffs else "✅" icon = "⚠️" if with_diffs else "✅"
print(f"\n{icon} {len(with_diffs)} changed, {n_passed} passed, {len(errors)} errors") print(f"\n{icon} {len(with_diffs)} changed, {n_passed} passed, {len(errors)} errors")
for plat, seg, err in errors: if errors:
print(f"\nERROR {plat} - {seg}: {err}") print("<details><summary><b>Show errors</b></summary>\n\n```")
for err in dict.fromkeys(err for _, _, err in errors):
print(f"\n{err}")
print("```\n</details>")
if with_diffs: if with_diffs:
print("<details><summary><b>Show changes</b></summary>\n\n```") print("<details><summary><b>Show changes</b></summary>\n\n```")

6
opendbc/car/tests/test_fw_fingerprint.py
View File

@@ -232,7 +232,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
return self.total_time / self.N return self.total_time / self.N
def _assert_timing(self, avg_time, ref_time): def _assert_timing(self, avg_time, ref_time):
assert avg_time < ref_time + self.TOL assert avg_time < ref_time + self.TOL, avg_time
assert avg_time > ref_time - self.TOL, "Performance seems to have improved, update test refs." assert avg_time > ref_time - self.TOL, "Performance seems to have improved, update test refs."
def test_startup_timing(self): def test_startup_timing(self):
@@ -262,7 +262,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
print(f'get_vin {name} case, query time={self.total_time / self.N} seconds') print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
def test_fw_query_timing(self): def test_fw_query_timing(self):
total_ref_time = 7.4 total_ref_time = 8.2
brand_ref_times = { brand_ref_times = {
'gm': 1.0, 'gm': 1.0,
'body': 0.1, 'body': 0.1,
@@ -271,7 +271,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
'honda': 0.45, 'honda': 0.45,
'hyundai': 0.65, 'hyundai': 0.65,
'mazda': 0.1, 'mazda': 0.1,
'nissan': 0.8, 'nissan': 1.6,
'subaru': 0.65, 'subaru': 0.65,
'tesla': 0.1, 'tesla': 0.1,
'toyota': 0.7, 'toyota': 0.7,

6
opendbc/car/toyota/carstate.py
View File

@@ -95,6 +95,9 @@ class CarState(CarStateBase, CarStateExt):
ret.standstill = abs(ret.vEgoRaw) < 1e-3 ret.standstill = abs(ret.vEgoRaw) < 1e-3
ret.vehicleSensorsInvalid = any(cp.vl["WHEEL_SPEEDS"][f"WHEEL_SPEED_{whl}_FAULT"]
for whl in ("FL", "FR", "RL", "RR"))
ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"] ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"]
ret.steeringRateDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_RATE"] ret.steeringRateDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_RATE"]
torque_sensor_angle_deg = cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"] torque_sensor_angle_deg = cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]
@@ -131,7 +134,8 @@ class CarState(CarStateBase, CarStateExt):
# Lane Tracing Assist control is unavailable (EPS_STATUS->LTA_STATE=0) until # Lane Tracing Assist control is unavailable (EPS_STATUS->LTA_STATE=0) until
# the more accurate angle sensor signal is initialized # the more accurate angle sensor signal is initialized
ret.vehicleSensorsInvalid = not self.accurate_steer_angle_seen if not self.accurate_steer_angle_seen:
ret.vehicleSensorsInvalid = True
if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR: if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
# TODO: find the bit likely in DSU_CRUISE that describes an ACC fault. one may also exist in CLUTCH # TODO: find the bit likely in DSU_CRUISE that describes an ACC fault. one may also exist in CLUTCH

2
opendbc/car/vin.py
View File

@@ -65,7 +65,7 @@ def get_vin(can_recv, can_send, buses, timeout=0.1, retry=2):
if vin.startswith(b'\x11'): if vin.startswith(b'\x11'):
vin = vin[1:18] vin = vin[1:18]
carlog.error(f"got vin with {request=}") carlog.error(f"got vin with {request=}, {bus=}")
return uds.get_rx_addr_for_tx_addr(addr, rx_offset=rx_offset), bus, vin.decode() return uds.get_rx_addr_for_tx_addr(addr, rx_offset=rx_offset), bus, vin.decode()
except Exception: except Exception:
carlog.exception("VIN query exception") carlog.exception("VIN query exception")

3
opendbc/car/volkswagen/carstate.py
View File

@@ -81,7 +81,6 @@ class CarState(CarStateBase):
if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT: if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
ret.carFaultedNonCritical = bool(cam_cp.vl["HCA_01"]["EA_Ruckfreigabe"]) or cam_cp.vl["HCA_01"]["EA_ACC_Sollstatus"] > 0 # EA ret.carFaultedNonCritical = bool(cam_cp.vl["HCA_01"]["EA_Ruckfreigabe"]) or cam_cp.vl["HCA_01"]["EA_ACC_Sollstatus"] > 0 # EA
ret.brake = pt_cp.vl["ESP_05"]["ESP_Bremsdruck"] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects
brake_pedal_pressed = bool(pt_cp.vl["Motor_14"]["MO_Fahrer_bremst"]) brake_pedal_pressed = bool(pt_cp.vl["Motor_14"]["MO_Fahrer_bremst"])
brake_pressure_detected = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"]) brake_pressure_detected = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"])
ret.brakePressed = brake_pedal_pressed or brake_pressure_detected ret.brakePressed = brake_pedal_pressed or brake_pressure_detected
@@ -160,7 +159,6 @@ class CarState(CarStateBase):
# Update gas, brakes, and gearshift. # Update gas, brakes, and gearshift.
ret.gasPressed = pt_cp.vl["Motor_3"]["MO3_Pedalwert"] > 0 ret.gasPressed = pt_cp.vl["Motor_3"]["MO3_Pedalwert"] > 0
ret.brake = pt_cp.vl["Bremse_5"]["BR5_Bremsdruck"] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects
ret.brakePressed = bool(pt_cp.vl["Motor_2"]["MO2_BLS"]) ret.brakePressed = bool(pt_cp.vl["Motor_2"]["MO2_BLS"])
ret.parkingBrake = bool(pt_cp.vl["Kombi_1"]["Bremsinfo"]) ret.parkingBrake = bool(pt_cp.vl["Kombi_1"]["Bremsinfo"])
@@ -256,7 +254,6 @@ class CarState(CarStateBase):
self.parse_mlb_mqb_steering_state(ret, pt_cp) self.parse_mlb_mqb_steering_state(ret, pt_cp)
ret.brake = pt_cp.vl["ESP_05"]["ESP_Bremsdruck"] / 250.0
brake_pedal_pressed = bool(pt_cp.vl["Motor_03"]["MO_Fahrer_bremst"]) brake_pedal_pressed = bool(pt_cp.vl["Motor_03"]["MO_Fahrer_bremst"])
brake_pressure_detected = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"]) brake_pressure_detected = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"])
ret.brakePressed = brake_pedal_pressed or brake_pressure_detected ret.brakePressed = brake_pedal_pressed or brake_pressure_detected

0
opendbc/dbc/hyundai_kia_generic.dbc → opendbc/dbc/generator/hyundai/hyundai_can.dbc
View File

6
opendbc/dbc/generator/nissan/_nissan_common.dbc
View File

@@ -15,6 +15,7 @@ BO_ 361 LKAS: 8 XXX
BO_ 389 STEER_TORQUE_SENSOR: 8 XXX BO_ 389 STEER_TORQUE_SENSOR: 8 XXX
SG_ LKAS_ACTIVE : 37|1@0+ (1,0) [0|3] "" XXX SG_ LKAS_ACTIVE : 37|1@0+ (1,0) [0|3] "" XXX
SG_ LKAS_STATUS : 55|4@0+ (1,0) [0|15] "" XXX
SG_ STEER_TORQUE_LKAS : 47|8@0+ (1,0) [0|255] "" XXX SG_ STEER_TORQUE_LKAS : 47|8@0+ (1,0) [0|255] "" XXX
SG_ STEER_ANGLE : 23|18@0+ (-0.01,1310) [0|262143] "" XXX SG_ STEER_ANGLE : 23|18@0+ (-0.01,1310) [0|262143] "" XXX
SG_ STEER_TORQUE_DRIVER : 7|12@0+ (-0.01,20.47) [0|4095] "Nm" XXX SG_ STEER_TORQUE_DRIVER : 7|12@0+ (-0.01,20.47) [0|4095] "Nm" XXX
@@ -25,6 +26,9 @@ BO_ 645 WHEEL_SPEEDS_REAR: 8 XXX
SG_ WHEEL_SPEED_RR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX SG_ WHEEL_SPEED_RR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
SG_ WHEEL_SPEED_RL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX SG_ WHEEL_SPEED_RL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX
BO_ 658 ACCEL: 8 XXX
SG_ ROUGH_ACCEL : 7|16@0+ (0.0005,-16.5) [-16.5|16.27] "m/s^2" XXX
BO_ 689 PROPILOT_HUD: 8 XXX BO_ 689 PROPILOT_HUD: 8 XXX
SG_ LARGE_WARNING_FLASHING : 9|1@0+ (1,0) [0|1] "" XXX SG_ LARGE_WARNING_FLASHING : 9|1@0+ (1,0) [0|1] "" XXX
SG_ SIDE_RADAR_ERROR_FLASHING1 : 10|1@0+ (1,0) [0|1] "" XXX SG_ SIDE_RADAR_ERROR_FLASHING1 : 10|1@0+ (1,0) [0|1] "" XXX
@@ -109,6 +113,8 @@ BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX
BO_ 1227 LKAS_SETTINGS: 8 XXX BO_ 1227 LKAS_SETTINGS: 8 XXX
SG_ LKAS_ENABLED : 51|1@0+ (1,0) [0|1] "" XXX SG_ LKAS_ENABLED : 51|1@0+ (1,0) [0|1] "" XXX
CM_ SG_ 389 LKAS_STATUS "EPS LKAS state. Encoded as two redundant 2-bit halves (each always 0b01 or 0b10).";
VAL_ 389 LKAS_STATUS 5 "INACTIVE" 6 "ACTIVE" 9 "FAULT" ;
VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ; VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ;
VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ; VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ;
VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISTANCE_3" ; VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISTANCE_3" ;

27
opendbc/dbc/generator/toyota/_toyota_2017.dbc
View File

@@ -65,10 +65,14 @@ BO_ 166 BRAKE: 8 XXX
SG_ BRAKE_FORCE : 23|8@0+ (40,0) [0|10200] "N" XXX SG_ BRAKE_FORCE : 23|8@0+ (40,0) [0|10200] "N" XXX
BO_ 170 WHEEL_SPEEDS: 8 XXX BO_ 170 WHEEL_SPEEDS: 8 XXX
SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "km/h" XXX SG_ WHEEL_SPEED_FR_FAULT : 7|1@0+ (1,0) [0|0] "" AFS,FCM,MAV
SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "km/h" XXX SG_ WHEEL_SPEED_FR : 6|15@0+ (0.01,-67.67) [0|0] "km/h" AFS,BSR,DS1,FCM,KSS,MAV,SCS
SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "km/h" XXX SG_ WHEEL_SPEED_FL_FAULT : 23|1@0+ (1,0) [0|0] "" AFS,FCM,MAV
SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "km/h" XXX SG_ WHEEL_SPEED_FL : 22|15@0+ (0.01,-67.67) [0|0] "km/h" AFS,BSR,DS1,FCM,KSS,MAV,SCS
SG_ WHEEL_SPEED_RR_FAULT : 39|1@0+ (1,0) [0|0] "" AFS,FCM,MAV
SG_ WHEEL_SPEED_RR : 38|15@0+ (0.01,-67.67) [0|0] "km/h" AFS,BSR,DS1,FCM,KSS,MAV,SCS
SG_ WHEEL_SPEED_RL_FAULT : 55|1@0+ (1,0) [0|0] "" AFS,FCM,MAV
SG_ WHEEL_SPEED_RL : 54|15@0+ (0.01,-67.67) [0|0] "km/h" AFS,BSR,DS1,FCM,KSS,MAV,SCS
BO_ 180 SPEED: 8 XXX BO_ 180 SPEED: 8 XXX
SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
@@ -84,6 +88,21 @@ BO_ 295 GEAR_PACKET_HYBRID: 8 XXX
BO_ 353 DSU_SPEED: 7 XXX BO_ 353 DSU_SPEED: 7 XXX
SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "km/h" XXX SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "km/h" XXX
BO_ 426 VSC1F02: 6 CGW
SG_ VXFRF : 7|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,MAV
SG_ VXFRIGS : 6|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV
SG_ VXFRHDS : 5|1@0+ (1,0) [0|0] "" FCM,KSS,MAV,SCS
SG_ VXFLF : 2|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,MAV
SG_ VXFLIGS : 1|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV
SG_ VXFLHDS : 0|1@0+ (1,0) [0|0] "" FCM,KSS,MAV,SCS
SG_ VXRRF : 13|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,MAV
SG_ VXRRIGS : 12|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV
SG_ VXRRHDS : 11|1@0+ (1,0) [0|0] "" FCM,KSS,MAV,SCS
SG_ VXRLF : 8|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,MAV
SG_ VXRLIGS : 23|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV
SG_ VXRLHDS : 22|1@0+ (1,0) [0|0] "" FCM,KSS,MAV,SCS
SG_ VSCF02SM : 47|8@0+ (1,0) [0|0] "" AFS,DS1,FCM,MAV
BO_ 452 ENGINE_RPM: 8 CGW BO_ 452 ENGINE_RPM: 8 CGW
SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
SG_ ENGINE_RUNNING : 27|1@0+ (1,0) [0|1] "" XXX SG_ ENGINE_RUNNING : 27|1@0+ (1,0) [0|1] "" XXX

77
opendbc/safety/ignition.h Normal file
View File

@@ -0,0 +1,77 @@
#pragma once
#include <stdbool.h>
#include <stdint.h>
#include "opendbc/safety/can.h"
bool ignition_can = false;
uint32_t ignition_can_cnt = 0U;
void ignition_can_hook(const CANPacket_t *msg) {
if (msg->bus == 0U) {
int len = GET_LEN(msg);
// GM exception
if ((msg->addr == 0x1F1U) && (len == 8)) {
// SystemPowerMode (2=Run, 3=Crank Request)
ignition_can = (msg->data[0] & 0x2U) != 0U;
ignition_can_cnt = 0U;
}
// Rivian R1S/T GEN1 exception
if ((msg->addr == 0x152U) && (len == 8)) {
// 0x152 overlaps with Subaru pre-global which has this bit as the high beam
int counter = msg->data[1] & 0xFU; // max is only 14
static int prev_counter_rivian = -1;
if ((counter == ((prev_counter_rivian + 1) % 15)) && (prev_counter_rivian != -1)) {
// VDM_OutputSignals->VDM_EpasPowerMode
ignition_can = ((msg->data[7] >> 4U) & 0x3U) == 1U; // VDM_EpasPowerMode_Drive_On=1
ignition_can_cnt = 0U;
}
prev_counter_rivian = counter;
}
// Tesla Model 3/Y exception
if ((msg->addr == 0x221U) && (len == 8)) {
// 0x221 overlaps with Rivian which has random data on byte 0
int counter = msg->data[6] >> 4;
static int prev_counter_tesla = -1;
if ((counter == ((prev_counter_tesla + 1) % 16)) && (prev_counter_tesla != -1)) {
// VCFRONT_LVPowerState->VCFRONT_vehiclePowerState
int power_state = (msg->data[0] >> 5U) & 0x3U;
ignition_can = power_state == 0x3; // VEHICLE_POWER_STATE_DRIVE=3
ignition_can_cnt = 0U;
}
prev_counter_tesla = counter;
}
// Mazda exception
if ((msg->addr == 0x9EU) && (len == 8)) {
ignition_can = (msg->data[0] >> 5) == 0x6U;
ignition_can_cnt = 0U;
}
// Volkswagen MEB exception
if ((msg->addr == 0x3C0U) && (len == 4)) {
int counter = msg->data[1] & 0xFU;
static int prev_counter_vw_meb = -1;
if ((counter == ((prev_counter_vw_meb + 1) % 16)) && (prev_counter_vw_meb != -1)) {
// Klemmen_Status_01->ZAS_Kl_15
ignition_can = ((msg->data[2] >> 1) & 1U) != 0U;
ignition_can_cnt = 0U;
}
prev_counter_vw_meb = counter;
}
}
// TODO: this is too loose, Teslas have 0x222
// body v2 exception
// if (((msg->bus == 0U) || (msg->bus == 2U)) && (msg->addr == 0x222U)) {
// ignition_can = true;
// ignition_can_cnt = 0U;
// }
}

65
opendbc/safety/modes/nissan.h
View File

@@ -2,39 +2,53 @@
#include "opendbc/safety/declarations.h" #include "opendbc/safety/declarations.h"
#define NISSAN_COMMON_RX_CHECKS \ #define NISSAN_COMMON_RX_CHECKS \
{.msg = {{0x2, 0, 5, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \ {.msg = {{0x185, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, /* STEER_TORQUE_SENSOR */ \
{0x2, 1, 5, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }}}, /* STEER_ANGLE_SENSOR */ \ {.msg = {{0x285, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \
{.msg = {{0x285, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \ {0x285, 1, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }}}, /* WHEEL_SPEEDS_REAR */ \
{0x285, 1, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }}}, /* WHEEL_SPEEDS_REAR */ \ {.msg = {{0x30f, 2, 3, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \
{.msg = {{0x30f, 2, 3, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \ {0x30f, 1, 3, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }}}, /* CRUISE_STATE */ \
{0x30f, 1, 3, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }}}, /* CRUISE_STATE */ \ {.msg = {{0x15c, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \
{.msg = {{0x15c, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \ {0x15c, 1, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \
{0x15c, 1, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \ {0x239, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}}}, /* GAS_PEDAL */ \
{0x239, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}}}, /* GAS_PEDAL */ \ {.msg = {{0x454, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \
{.msg = {{0x454, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \ {0x454, 1, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \
{0x454, 1, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, \ {0x1cc, 0, 4, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}}}, /* DOORS_LIGHTS / BRAKE */ \
{0x1cc, 0, 4, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}}}, /* DOORS_LIGHTS / BRAKE */ \
#define NISSAN_PRO_PILOT_RX_CHECKS(alt_eps_bus) \ #define NISSAN_PRO_PILOT_RX_CHECKS(alt_eps_bus) \
{.msg = {{0x1B6, alt_eps_bus, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \ {.msg = {{0x1B6, alt_eps_bus, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
static bool nissan_alt_eps = false; static bool nissan_alt_eps = false;
static const AngleSteeringLimits NISSAN_STEERING_LIMITS = {
.max_angle = 60000, // 600 deg, reasonable limit
.angle_deg_to_can = 100,
.angle_rate_up_lookup = {
{0., 5., 15.},
{5., .8, .15}
},
.angle_rate_down_lookup = {
{0., 5., 15.},
{5., 3.5, .4}
},
};
static void nissan_rx_hook(const CANPacket_t *msg) { static void nissan_rx_hook(const CANPacket_t *msg) {
if (msg->bus == (nissan_alt_eps ? 1U : 0U)) { // Altima: on camera bus, others: on pt bus
if (msg->addr == 0x2U) { if (msg->bus == 0U) {
if (msg->addr == 0x185U) {
// Current steering angle // Current steering angle
// Factor -0.1, little endian int angle_meas_new = (msg->data[2] << 10) | (msg->data[3] << 2) | (msg->data[4] >> 6);
int angle_meas_new = (GET_BYTES(msg, 0, 4) & 0xFFFFU); // Factor is -0.01, offset is 1310. Flip to correct sign, but keep units in CAN scale
// Multiply by -10 to match scale of LKAS angle angle_meas_new = -angle_meas_new + (1310.0f * NISSAN_STEERING_LIMITS.angle_deg_to_can);
angle_meas_new = to_signed(angle_meas_new, 16) * -10;
// update array of samples // update array of samples
update_sample(&angle_meas, angle_meas_new); update_sample(&angle_meas, angle_meas_new);
} }
}
if (msg->bus == (nissan_alt_eps ? 1U : 0U)) {
if (msg->addr == 0x285U) { if (msg->addr == 0x285U) {
// Get current speed and standstill // Get current speed and standstill
uint16_t right_rear = (msg->data[0] << 8) | (msg->data[1]); uint16_t right_rear = (msg->data[0] << 8) | (msg->data[1]);
@@ -79,19 +93,6 @@ static void nissan_rx_hook(const CANPacket_t *msg) {
static bool nissan_tx_hook(const CANPacket_t *msg) { static bool nissan_tx_hook(const CANPacket_t *msg) {
const AngleSteeringLimits NISSAN_STEERING_LIMITS = {
.max_angle = 60000, // 600 deg, reasonable limit
.angle_deg_to_can = 100,
.angle_rate_up_lookup = {
{0., 5., 15.},
{5., .8, .15}
},
.angle_rate_down_lookup = {
{0., 5., 15.},
{5., 3.5, .4}
},
};
bool tx = true; bool tx = true;
bool violation = false; bool violation = false;

22
opendbc/safety/modes/toyota.h
View File

@@ -37,8 +37,8 @@
{0x183, 0, 8, .check_relay = true}, /* ACC_CONTROL_2 */ \ {0x183, 0, 8, .check_relay = true}, /* ACC_CONTROL_2 */ \
#define TOYOTA_COMMON_RX_CHECKS(lta) \ #define TOYOTA_COMMON_RX_CHECKS(lta) \
{.msg = {{ 0xaa, 0, 8, 83U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \ {.msg = {{ 0xaa, 0, 8, 83U, .ignore_checksum = true, .ignore_counter = true}, { 0 }, { 0 }}}, \
{.msg = {{0x260, 0, 8, 50U, .ignore_counter = true, .ignore_quality_flag=!(lta)}, { 0 }, { 0 }}}, \ {.msg = {{0x260, 0, 8, 50U, .ignore_counter = true, .ignore_quality_flag=!(lta)}, { 0 }, { 0 }}}, \
#define TOYOTA_RX_CHECKS(lta) \ #define TOYOTA_RX_CHECKS(lta) \
TOYOTA_COMMON_RX_CHECKS(lta) \ TOYOTA_COMMON_RX_CHECKS(lta) \
@@ -86,7 +86,21 @@ static uint32_t toyota_get_checksum(const CANPacket_t *msg) {
} }
static bool toyota_get_quality_flag_valid(const CANPacket_t *msg) { static bool toyota_get_quality_flag_valid(const CANPacket_t *msg) {
return !GET_BIT(msg, 3U); // STEER_ANGLE_INITIALIZING bool valid = false;
if (msg->addr == 0x260U) {
valid = !GET_BIT(msg, 3U); // STEER_TORQUE_SENSOR.STEER_ANGLE_INITIALIZING
} else if (msg->addr == 0xaaU) { // WHEEL_SPEEDS
// each wheel speed is 1-bit fault + 15-bit speed
valid = true;
for (uint8_t i = 0U; i < 4U; i += 1U) {
if (GET_BIT(msg, (i * 16U) + 7U)) { // WHEEL_SPEED_xx_FAULT
valid = false;
break;
}
}
} else {
}
return valid;
} }
static int TOYOTA_GET_INTERCEPTOR(const CANPacket_t *msg) { static int TOYOTA_GET_INTERCEPTOR(const CANPacket_t *msg) {
@@ -166,7 +180,7 @@ static void toyota_rx_hook(const CANPacket_t *msg) {
int speed = 0; int speed = 0;
// sum 4 wheel speeds. conversion: raw * 0.01 - 67.67 // sum 4 wheel speeds. conversion: raw * 0.01 - 67.67
for (uint8_t i = 0U; i < 8U; i += 2U) { for (uint8_t i = 0U; i < 8U; i += 2U) {
int wheel_speed = (msg->data[i] << 8U) | msg->data[(i + 1U)]; int wheel_speed = ((msg->data[i] & 0x7FU) << 8U) | msg->data[(i + 1U)];
speed += wheel_speed - 6767; speed += wheel_speed - 6767;
} }
// check that all wheel speeds are at zero value // check that all wheel speeds are at zero value

8
opendbc/safety/safety.h
View File

@@ -322,7 +322,8 @@ void safety_tick(const safety_config *cfg) {
// lag threshold is max of: 1s and MAX_MISSED_MSGS * expected timestep. // lag threshold is max of: 1s and MAX_MISSED_MSGS * expected timestep.
// Quite conservative to not risk false triggers. // Quite conservative to not risk false triggers.
// 2s of lag is worse case, since the function is called at 1Hz // 2s of lag is worse case, since the function is called at 1Hz
uint32_t timestep = 1e6 / cfg->rx_checks[i].msg[cfg->rx_checks[i].status.index].frequency; uint32_t frequency = cfg->rx_checks[i].msg[cfg->rx_checks[i].status.index].frequency;
uint32_t timestep = 1e6 / frequency;
bool lagging = elapsed_time > SAFETY_MAX(timestep * MAX_MISSED_MSGS, 1e6); bool lagging = elapsed_time > SAFETY_MAX(timestep * MAX_MISSED_MSGS, 1e6);
cfg->rx_checks[i].status.lagging = lagging; cfg->rx_checks[i].status.lagging = lagging;
if (lagging) { if (lagging) {
@@ -330,8 +331,11 @@ void safety_tick(const safety_config *cfg) {
mads_exit_controls(MADS_DISENGAGE_REASON_LAG); mads_exit_controls(MADS_DISENGAGE_REASON_LAG);
} }
if (lagging || !is_msg_valid(cfg->rx_checks, i)) { // enforce minimum frequency for safety-relevant messages
bool frequency_invalid = frequency < 10U;
if (lagging || frequency_invalid || !is_msg_valid(cfg->rx_checks, i)) {
rx_checks_invalid = true; rx_checks_invalid = true;
controls_allowed = false;
} }
} }
} }

4
opendbc/safety/tests/libsafety/libsafety_py.py
View File

@@ -111,6 +111,10 @@ int get_honda_hw(void);
void mutation_set_active_mutant(int id); void mutation_set_active_mutant(int id);
int mutation_get_active_mutant(void); int mutation_get_active_mutant(void);
void ignition_can_hook(const CANPacket_t *msg);
bool get_ignition_can(void);
void set_ignition_can(bool c);
bool get_controls_allowed_lateral(void); bool get_controls_allowed_lateral(void);
bool get_controls_requested_lateral(void); bool get_controls_requested_lateral(void);
void set_current_safety_param_sp(uint16_t param); void set_current_safety_param_sp(uint16_t param);

12
opendbc/safety/tests/libsafety/safety.c
View File

@@ -11,6 +11,7 @@ uint32_t microsecond_timer_get(void) {
#include "opendbc/safety/can.h" #include "opendbc/safety/can.h"
#include "opendbc/safety/safety.h" #include "opendbc/safety/safety.h"
#include "opendbc/safety/ignition.h"
void safety_tick_current_safety_config() { void safety_tick_current_safety_config() {
safety_tick(&current_safety_config); safety_tick(&current_safety_config);
@@ -53,10 +54,18 @@ void set_relay_malfunction(bool c){
relay_malfunction = c; relay_malfunction = c;
} }
void set_ignition_can(bool c){
ignition_can = c;
}
bool get_controls_allowed(void){ bool get_controls_allowed(void){
return controls_allowed; return controls_allowed;
} }
bool get_ignition_can(void){
return ignition_can;
}
int get_alternative_experience(void){ int get_alternative_experience(void){
return alternative_experience; return alternative_experience;
} }
@@ -303,6 +312,9 @@ void init_tests(void){
// assumes autopark on safety mode init to avoid a fault. get rid of that for testing // assumes autopark on safety mode init to avoid a fault. get rid of that for testing
tesla_autopark = false; tesla_autopark = false;
ignition_can = false;
ignition_can_cnt = 0U;
// reset MADS state to prevent leaking between tests // reset MADS state to prevent leaking between tests
mads_set_system_state(false, false, false); mads_set_system_state(false, false, false);
mads_button_press = MADS_BUTTON_UNAVAILABLE; mads_button_press = MADS_BUTTON_UNAVAILABLE;

23
opendbc/safety/tests/test_gm.py
View File

@@ -249,5 +249,28 @@ class TestGmCameraEVNonACCSafety(TestGmCameraNonACCSafety, TestGmEVSafetyBase):
pass pass
class TestGmIgnition(unittest.TestCase):
TX_MSGS: list = []
def setUp(self):
self.safety = libsafety_py.libsafety
self.safety.init_tests()
self.packer = CANPackerSafety("gm_global_a_powertrain_generated")
def _msg(self, mode):
return self.packer.make_can_msg_safety("BCMGeneralPlatformStatus", 0, {"SystemPowerMode": mode})
# SystemPowerMode 2=Run, 3=Crank Request
def test_ignition_on(self):
self.safety.ignition_can_hook(self._msg(2))
self.assertTrue(self.safety.get_ignition_can())
def test_ignition_off(self):
self.safety.ignition_can_hook(self._msg(2))
self.assertTrue(self.safety.get_ignition_can())
self.safety.ignition_can_hook(self._msg(0))
self.assertFalse(self.safety.get_ignition_can())
if __name__ == "__main__": if __name__ == "__main__":
unittest.main() unittest.main()

28
opendbc/safety/tests/test_hyundai.py
View File

@@ -102,7 +102,7 @@ class TestHyundaiSafety(HyundaiButtonBase, common.CarSafetyTest, common.DriverTo
raise unittest.SkipTest raise unittest.SkipTest
def setUp(self): def setUp(self):
self.packer = CANPackerSafety("hyundai_kia_generic") self.packer = CANPackerSafety("hyundai_can_generated")
self.safety = libsafety_py.libsafety self.safety = libsafety_py.libsafety
self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP) self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP)
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, 0) self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, 0)
@@ -239,7 +239,7 @@ class TestHyundaiSafetyAltLimits(TestHyundaiSafety):
raise unittest.SkipTest raise unittest.SkipTest
def setUp(self): def setUp(self):
self.packer = CANPackerSafety("hyundai_kia_generic") self.packer = CANPackerSafety("hyundai_can_generated")
self.safety = libsafety_py.libsafety self.safety = libsafety_py.libsafety
self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP) self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP)
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.ALT_LIMITS) self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.ALT_LIMITS)
@@ -259,7 +259,7 @@ class TestHyundaiSafetyAltLimits2(TestHyundaiSafety):
raise unittest.SkipTest raise unittest.SkipTest
def setUp(self): def setUp(self):
self.packer = CANPackerSafety("hyundai_kia_generic") self.packer = CANPackerSafety("hyundai_can_generated")
self.safety = libsafety_py.libsafety self.safety = libsafety_py.libsafety
self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP) self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP)
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.ALT_LIMITS_2) self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.ALT_LIMITS_2)
@@ -278,7 +278,7 @@ class TestHyundaiSafetyCameraSCC(TestHyundaiSafety):
raise unittest.SkipTest raise unittest.SkipTest
def setUp(self): def setUp(self):
self.packer = CANPackerSafety("hyundai_kia_generic") self.packer = CANPackerSafety("hyundai_can_generated")
self.safety = libsafety_py.libsafety self.safety = libsafety_py.libsafety
self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP) self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP)
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.CAMERA_SCC) self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.CAMERA_SCC)
@@ -305,7 +305,7 @@ class TestHyundaiSafetyFCEV(TestHyundaiSafety):
raise unittest.SkipTest raise unittest.SkipTest
def setUp(self): def setUp(self):
self.packer = CANPackerSafety("hyundai_kia_generic") self.packer = CANPackerSafety("hyundai_can_generated")
self.safety = libsafety_py.libsafety self.safety = libsafety_py.libsafety
self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP) self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP)
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.FCEV_GAS) self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.FCEV_GAS)
@@ -318,7 +318,7 @@ class TestHyundaiSafetyFCEV(TestHyundaiSafety):
class TestHyundaiLegacySafety(TestHyundaiSafety): class TestHyundaiLegacySafety(TestHyundaiSafety):
def setUp(self): def setUp(self):
self.packer = CANPackerSafety("hyundai_kia_generic") self.packer = CANPackerSafety("hyundai_can_generated")
self.safety = libsafety_py.libsafety self.safety = libsafety_py.libsafety
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiLegacy, 0) self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiLegacy, 0)
self.safety.init_tests() self.safety.init_tests()
@@ -326,7 +326,7 @@ class TestHyundaiLegacySafety(TestHyundaiSafety):
class TestHyundaiLegacySafetyEV(TestHyundaiSafety): class TestHyundaiLegacySafetyEV(TestHyundaiSafety):
def setUp(self): def setUp(self):
self.packer = CANPackerSafety("hyundai_kia_generic") self.packer = CANPackerSafety("hyundai_can_generated")
self.safety = libsafety_py.libsafety self.safety = libsafety_py.libsafety
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiLegacy, HyundaiSafetyFlags.EV_GAS) self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiLegacy, HyundaiSafetyFlags.EV_GAS)
self.safety.init_tests() self.safety.init_tests()
@@ -338,7 +338,7 @@ class TestHyundaiLegacySafetyEV(TestHyundaiSafety):
class TestHyundaiLegacySafetyHEV(TestHyundaiSafety): class TestHyundaiLegacySafetyHEV(TestHyundaiSafety):
def setUp(self): def setUp(self):
self.packer = CANPackerSafety("hyundai_kia_generic") self.packer = CANPackerSafety("hyundai_can_generated")
self.safety = libsafety_py.libsafety self.safety = libsafety_py.libsafety
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiLegacy, HyundaiSafetyFlags.HYBRID_GAS) self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiLegacy, HyundaiSafetyFlags.HYBRID_GAS)
self.safety.init_tests() self.safety.init_tests()
@@ -366,7 +366,7 @@ class TestHyundaiLongitudinalSafety(HyundaiLongitudinalBase, TestHyundaiSafety):
raise unittest.SkipTest raise unittest.SkipTest
def setUp(self): def setUp(self):
self.packer = CANPackerSafety("hyundai_kia_generic") self.packer = CANPackerSafety("hyundai_can_generated")
self.safety = libsafety_py.libsafety self.safety = libsafety_py.libsafety
self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP) self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP)
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.LONG) self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.LONG)
@@ -414,7 +414,7 @@ class TestHyundaiLongitudinalSafetyCameraSCC(HyundaiLongitudinalBase, TestHyunda
RELAY_MALFUNCTION_ADDRS = {0: (0x340, 0x485, 0x421, 0x420, 0x50A, 0x389)} # LKAS11, LFAHDA_MFC, SCC12, SCC11, SCC13, SCC14 RELAY_MALFUNCTION_ADDRS = {0: (0x340, 0x485, 0x421, 0x420, 0x50A, 0x389)} # LKAS11, LFAHDA_MFC, SCC12, SCC11, SCC13, SCC14
def setUp(self): def setUp(self):
self.packer = CANPackerSafety("hyundai_kia_generic") self.packer = CANPackerSafety("hyundai_can_generated")
self.safety = libsafety_py.libsafety self.safety = libsafety_py.libsafety
self.safety.set_current_safety_param_sp(HyundaiSafetyFlagsSP.HAS_LDA_BUTTON) self.safety.set_current_safety_param_sp(HyundaiSafetyFlagsSP.HAS_LDA_BUTTON)
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.LONG | HyundaiSafetyFlags.CAMERA_SCC) self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.LONG | HyundaiSafetyFlags.CAMERA_SCC)
@@ -454,7 +454,7 @@ class TestHyundaiSafetyFCEVLong(TestHyundaiLongitudinalSafety, TestHyundaiSafety
raise unittest.SkipTest raise unittest.SkipTest
def setUp(self): def setUp(self):
self.packer = CANPackerSafety("hyundai_kia_generic") self.packer = CANPackerSafety("hyundai_can_generated")
self.safety = libsafety_py.libsafety self.safety = libsafety_py.libsafety
self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP) self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP)
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.FCEV_GAS | HyundaiSafetyFlags.LONG) self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.FCEV_GAS | HyundaiSafetyFlags.LONG)
@@ -475,7 +475,7 @@ class TestHyundaiLongitudinalESCCSafety(HyundaiLongitudinalBase, TestHyundaiSafe
raise unittest.SkipTest raise unittest.SkipTest
def setUp(self): def setUp(self):
self.packer = CANPackerSafety("hyundai_kia_generic") self.packer = CANPackerSafety("hyundai_can_generated")
self.safety = libsafety_py.libsafety self.safety = libsafety_py.libsafety
self.safety.set_current_safety_param_sp(HyundaiSafetyFlagsSP.ESCC | self.SAFETY_PARAM_SP) self.safety.set_current_safety_param_sp(HyundaiSafetyFlagsSP.ESCC | self.SAFETY_PARAM_SP)
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.LONG) self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.LONG)
@@ -509,7 +509,7 @@ class TestHyundaiNonSCCSafety(TestHyundaiSafety):
raise unittest.SkipTest raise unittest.SkipTest
def setUp(self): def setUp(self):
self.packer = CANPackerSafety("hyundai_kia_generic") self.packer = CANPackerSafety("hyundai_can_generated")
self.safety = libsafety_py.libsafety self.safety = libsafety_py.libsafety
self.safety.set_current_safety_param_sp(HyundaiSafetyFlagsSP.NON_SCC | self.SAFETY_PARAM_SP) self.safety.set_current_safety_param_sp(HyundaiSafetyFlagsSP.NON_SCC | self.SAFETY_PARAM_SP)
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, 0) self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, 0)
@@ -565,7 +565,7 @@ class TestHyundaiNonSCCSafety_HEV_EV(TestHyundaiSafety):
raise unittest.SkipTest raise unittest.SkipTest
def setUp(self): def setUp(self):
self.packer = CANPackerSafety("hyundai_kia_generic") self.packer = CANPackerSafety("hyundai_can_generated")
self.safety = libsafety_py.libsafety self.safety = libsafety_py.libsafety
self.safety.set_current_safety_param_sp(HyundaiSafetyFlagsSP.NON_SCC | self.SAFETY_PARAM_SP) self.safety.set_current_safety_param_sp(HyundaiSafetyFlagsSP.NON_SCC | self.SAFETY_PARAM_SP)
self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, self.SAFETY_PARAM) self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, self.SAFETY_PARAM)

24
opendbc/safety/tests/test_mazda.py
View File

@@ -4,7 +4,7 @@ import unittest
from opendbc.car.structs import CarParams from opendbc.car.structs import CarParams
from opendbc.safety.tests.libsafety import libsafety_py from opendbc.safety.tests.libsafety import libsafety_py
import opendbc.safety.tests.common as common import opendbc.safety.tests.common as common
from opendbc.safety.tests.common import CANPackerSafety from opendbc.safety.tests.common import CANPackerSafety, make_msg
class TestMazdaSafety(common.CarSafetyTest, common.DriverTorqueSteeringSafetyTest): class TestMazdaSafety(common.CarSafetyTest, common.DriverTorqueSteeringSafetyTest):
@@ -81,5 +81,27 @@ class TestMazdaSafety(common.CarSafetyTest, common.DriverTorqueSteeringSafetyTes
self.assertTrue(self._tx(self._button_msg(resume=True))) self.assertTrue(self._tx(self._button_msg(resume=True)))
class TestMazdaIgnition(unittest.TestCase):
TX_MSGS: list = []
def setUp(self):
self.safety = libsafety_py.libsafety
self.safety.init_tests()
def _msg(self, byte0):
return make_msg(0, 0x9E, dat=bytes([byte0]) + b"\x00" * 7)
# 0x9E byte 0 high 3 bits == 6 (0xC0)
def test_ignition_on(self):
self.safety.ignition_can_hook(self._msg(0xC0))
self.assertTrue(self.safety.get_ignition_can())
def test_ignition_off(self):
self.safety.ignition_can_hook(self._msg(0xC0))
self.assertTrue(self.safety.get_ignition_can())
self.safety.ignition_can_hook(self._msg(0x20))
self.assertFalse(self.safety.get_ignition_can())
if __name__ == "__main__": if __name__ == "__main__":
unittest.main() unittest.main()

2
opendbc/safety/tests/test_nissan.py
View File

@@ -40,7 +40,7 @@ class TestNissanSafety(common.CarSafetyTest, common.AngleSteeringSafetyTest):
def _angle_meas_msg(self, angle: float): def _angle_meas_msg(self, angle: float):
values = {"STEER_ANGLE": angle} values = {"STEER_ANGLE": angle}
return self.packer.make_can_msg_safety("STEER_ANGLE_SENSOR", self.EPS_BUS, values) return self.packer.make_can_msg_safety("STEER_TORQUE_SENSOR", 0, values)
def _pcm_status_msg(self, enable): def _pcm_status_msg(self, enable):
values = {"CRUISE_ENABLED": enable} values = {"CRUISE_ENABLED": enable}

31
opendbc/safety/tests/test_rivian.py
View File

@@ -142,5 +142,36 @@ class TestRivianLongitudinalSafety(TestRivianSafetyBase):
self.safety.init_tests() self.safety.init_tests()
class TestRivianIgnition(unittest.TestCase):
TX_MSGS: list = []
def setUp(self):
self.safety = libsafety_py.libsafety
self.safety.init_tests()
self.packer = CANPackerSafety("rivian_primary_actuator")
def _msg(self, counter, mode):
return self.packer.make_can_msg_safety("VDM_OutputSignals", 0,
{"VDM_OutputSigs_Counter": counter,
"VDM_EpasPowerMode": mode})
# VDM_EpasPowerMode_Drive_On=1
def test_ignition_on(self):
for i in range(15):
self.safety.init_tests()
self.safety.ignition_can_hook(self._msg(i, 1))
self.assertFalse(self.safety.get_ignition_can())
self.safety.ignition_can_hook(self._msg((i + 1) % 15, 1))
self.assertTrue(self.safety.get_ignition_can())
def test_ignition_off(self):
self.safety.ignition_can_hook(self._msg(0, 1))
self.safety.ignition_can_hook(self._msg(1, 1))
self.assertTrue(self.safety.get_ignition_can())
self.safety.ignition_can_hook(self._msg(2, 0))
self.safety.ignition_can_hook(self._msg(3, 0))
self.assertFalse(self.safety.get_ignition_can())
if __name__ == "__main__": if __name__ == "__main__":
unittest.main() unittest.main()

31
opendbc/safety/tests/test_tesla.py
View File

@@ -459,6 +459,37 @@ class TestTeslaFSD14LongitudinalSafety(TestTeslaLongitudinalSafety):
SAFETY_PARAM = TeslaSafetyFlags.LONG_CONTROL | TeslaSafetyFlags.FSD_14 SAFETY_PARAM = TeslaSafetyFlags.LONG_CONTROL | TeslaSafetyFlags.FSD_14
class TestTeslaIgnition(unittest.TestCase):
TX_MSGS: list = []
def setUp(self):
self.safety = libsafety_py.libsafety
self.safety.init_tests()
self.packer = CANPackerSafety("tesla_model3_party")
def _msg(self, counter, state):
return self.packer.make_can_msg_safety("VCFRONT_LVPowerState", 0,
{"VCFRONT_LVPowerStateCounter": counter,
"VCFRONT_vehiclePowerState": state})
# VEHICLE_POWER_STATE_DRIVE=3 (counter-gated)
def test_ignition_on(self):
for i in range(16):
self.safety.init_tests()
self.safety.ignition_can_hook(self._msg(i, 3))
self.assertFalse(self.safety.get_ignition_can())
self.safety.ignition_can_hook(self._msg((i + 1) % 16, 3))
self.assertTrue(self.safety.get_ignition_can())
def test_ignition_off(self):
self.safety.ignition_can_hook(self._msg(0, 3))
self.safety.ignition_can_hook(self._msg(1, 3))
self.assertTrue(self.safety.get_ignition_can())
self.safety.ignition_can_hook(self._msg(2, 2))
self.safety.ignition_can_hook(self._msg(3, 2))
self.assertFalse(self.safety.get_ignition_can())
class TestTeslaVehicleBusSafety(TestTeslaSafetyBase): class TestTeslaVehicleBusSafety(TestTeslaSafetyBase):
LONGITUDINAL = False LONGITUDINAL = False

16
opendbc/safety/tests/test_toyota.py
View File

@@ -70,8 +70,10 @@ class TestToyotaSafetyBase(common.CarSafetyTest, common.LongitudinalAccelSafetyT
def _accel_msg(self, accel, cancel_req=0): def _accel_msg(self, accel, cancel_req=0):
return self._accel_msg_343(accel, cancel_req) return self._accel_msg_343(accel, cancel_req)
def _speed_msg(self, speed): def _speed_msg(self, speed, quality_flag=True):
values = {("WHEEL_SPEED_%s" % n): speed * 3.6 for n in ["FR", "FL", "RR", "RL"]} values = {("WHEEL_SPEED_%s" % n): speed * 3.6 for n in ["FR", "FL", "RR", "RL"]}
if not quality_flag:
values |= {"WHEEL_SPEED_%s_FAULT" % n: 1.0 for n in ["FR", "FL", "RR", "RL"]}
return self.packer.make_can_msg_safety("WHEEL_SPEEDS", 0, values) return self.packer.make_can_msg_safety("WHEEL_SPEEDS", 0, values)
def _user_brake_msg(self, brake): def _user_brake_msg(self, brake):
@@ -138,6 +140,18 @@ class TestToyotaSafetyBase(common.CarSafetyTest, common.LongitudinalAccelSafetyT
self.assertFalse(self._rx(msg)) self.assertFalse(self._rx(msg))
self.assertFalse(self.safety.get_controls_allowed()) self.assertFalse(self.safety.get_controls_allowed())
# quality flag tests
msg = self._speed_msg(0)
self.assertTrue(self._rx(msg))
msg = self._speed_msg(0, quality_flag=False)
self.assertFalse(self._rx(msg))
def test_vehicle_speed_measurements(self):
# OVERRIDDEN: 72.22_ is the max speed in m/s
self._common_measurement_test(self._speed_msg, 0, 259 / 3.6, 1,
self.safety.get_vehicle_speed_min, self.safety.get_vehicle_speed_max)
class TestToyotaSafetyGasInterceptorBase(GasInterceptorSafetyTest, TestToyotaSafetyBase): class TestToyotaSafetyGasInterceptorBase(GasInterceptorSafetyTest, TestToyotaSafetyBase):

40
opendbc/safety/tests/test_volkswagen_meb.py Normal file
View File

@@ -0,0 +1,40 @@
#!/usr/bin/env python3
import unittest
from opendbc.safety.tests.libsafety import libsafety_py
from opendbc.safety.tests.common import CANPackerSafety
class TestVolkswagenMebIgnition(unittest.TestCase):
TX_MSGS: list = []
def setUp(self):
self.safety = libsafety_py.libsafety
self.safety.init_tests()
self.packer = CANPackerSafety("vw_meb")
def _msg(self, counter, ign):
return self.packer.make_can_msg_safety("Klemmen_Status_01", 0,
{"Klemmen_Status_01_BZ": counter,
"ZAS_Kl_15": ign})
# ZAS_Kl_15=1
def test_ignition_on(self):
for i in range(16):
self.safety.init_tests()
self.safety.ignition_can_hook(self._msg(i, 1))
self.assertFalse(self.safety.get_ignition_can())
self.safety.ignition_can_hook(self._msg((i + 1) % 16, 1))
self.assertTrue(self.safety.get_ignition_can())
def test_ignition_off(self):
self.safety.ignition_can_hook(self._msg(0, 1))
self.safety.ignition_can_hook(self._msg(1, 1))
self.assertTrue(self.safety.get_ignition_can())
self.safety.ignition_can_hook(self._msg(2, 0))
self.safety.ignition_can_hook(self._msg(3, 0))
self.assertFalse(self.safety.get_ignition_can())
if __name__ == "__main__":
unittest.main()

32
opendbc/sunnypilot/car/car_list.json
View File

@@ -656,23 +656,31 @@
], ],
"package": "Co-Pilot360 Assist 2.0" "package": "Co-Pilot360 Assist 2.0"
}, },
"Ford Focus 2018": { "Ford Focus 2018-22": {
"platform": "FORD_FOCUS_MK4", "platform": "FORD_FOCUS_MK4",
"make": "Ford", "make": "Ford",
"brand": "ford", "brand": "ford",
"model": "Focus", "model": "Focus",
"year": [ "year": [
"2018" "2018",
"2019",
"2020",
"2021",
"2022"
], ],
"package": "Adaptive Cruise Control with Lane Centering" "package": "Adaptive Cruise Control with Lane Centering"
}, },
"Ford Focus Hybrid 2018": { "Ford Focus Hybrid 2018-22": {
"platform": "FORD_FOCUS_MK4", "platform": "FORD_FOCUS_MK4",
"make": "Ford", "make": "Ford",
"brand": "ford", "brand": "ford",
"model": "Focus Hybrid", "model": "Focus Hybrid",
"year": [ "year": [
"2018" "2018",
"2019",
"2020",
"2021",
"2022"
], ],
"package": "Adaptive Cruise Control with Lane Centering" "package": "Adaptive Cruise Control with Lane Centering"
}, },
@@ -1606,6 +1614,17 @@
], ],
"package": "Highway Driving Assist II" "package": "Highway Driving Assist II"
}, },
"Hyundai Ioniq 6 (without HDA II) 2023-24": {
"platform": "HYUNDAI_IONIQ_6",
"make": "Hyundai",
"brand": "hyundai",
"model": "Ioniq 6 (without HDA II)",
"year": [
"2023",
"2024"
],
"package": "Highway Driving Assist"
},
"Hyundai Ioniq Electric 2019": { "Hyundai Ioniq Electric 2019": {
"platform": "HYUNDAI_IONIQ_EV_LTD", "platform": "HYUNDAI_IONIQ_EV_LTD",
"make": "Hyundai", "make": "Hyundai",
@@ -2789,7 +2808,7 @@
], ],
"package": "All" "package": "All"
}, },
"Nissan Altima 2019-20, 2024": { "Nissan Altima 2019-24": {
"platform": "NISSAN_ALTIMA", "platform": "NISSAN_ALTIMA",
"make": "Nissan", "make": "Nissan",
"brand": "nissan", "brand": "nissan",
@@ -2797,6 +2816,9 @@
"year": [ "year": [
"2019", "2019",
"2020", "2020",
"2021",
"2022",
"2023",
"2024" "2024"
], ],
"package": "ProPILOT Assist" "package": "ProPILOT Assist"

2
pyproject.toml
View File

@@ -12,7 +12,7 @@ urls = { "homepage" = "https://github.com/commaai/opendbc" }
dependencies = [ dependencies = [
"numpy", "numpy",
"tqdm", "tqdm",
"pycapnp==2.1.0", "pycapnp",
"pycryptodome", "pycryptodome",
] ]

410
uv.lock generated
View File

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[[package]] [[package]]
@@ -143,47 +143,47 @@ requires-dist = [{ name = "requests" }]
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{ name = "jinja2", marker = "extra == 'docs'" }, { name = "jinja2", marker = "extra == 'docs'" },
{ name = "lefthook", marker = "extra == 'testing'" }, { name = "lefthook", marker = "extra == 'testing'" },
{ name = "numpy" }, { name = "numpy" },
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{ name = "pycryptodome" }, { name = "pycryptodome" },
{ name = "ruff", marker = "extra == 'testing'" }, { name = "ruff", marker = "extra == 'testing'" },
{ name = "tqdm" }, { name = "tqdm" },
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