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Use spFlags for sunnypilot specific features (#171)

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This commit is contained in:
Jason Wen
2023-06-22 16:38:03 -04:00
committed by GitHub
parent 64558ef76a
commit fead5d9d82
8 changed files with 36 additions and 30 deletions
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selfdrive/car/chrysler/interface.py
+2 -2
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@@ -2,7 +2,7 @@
from cereal import car
from panda import Panda
from selfdrive.car import STD_CARGO_KG, get_safety_config, create_mads_event
from selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags, BUTTON_STATES
from selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags, ChryslerFlagsSP, BUTTON_STATES
from selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
@@ -82,7 +82,7 @@ class CarInterface(CarInterfaceBase):
ret.mass = 3405. + STD_CARGO_KG
ret.minSteerSpeed = 16
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
ret.flags |= ChryslerFlags.SP_RAM_HD_PARAMSD_IGNORE.value
ret.spFlags |= ChryslerFlagsSP.SP_RAM_HD_PARAMSD_IGNORE.value
else:
raise ValueError(f"Unsupported car: {candidate}")
selfdrive/car/chrysler/values.py
+4 -1
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@@ -14,7 +14,10 @@ Ecu = car.CarParams.Ecu
class ChryslerFlags(IntFlag):
HIGHER_MIN_STEERING_SPEED = 1
SP_RAM_HD_PARAMSD_IGNORE = 2
class ChryslerFlagsSP(IntFlag):
SP_RAM_HD_PARAMSD_IGNORE = 1
class CAR:
# Chrysler
selfdrive/car/hyundai/carcontroller.py
+2 -2
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@@ -8,7 +8,7 @@ from opendbc.can.packer import CANPacker
from selfdrive.car import apply_driver_steer_torque_limits
from selfdrive.car.hyundai import hyundaicanfd, hyundaican
from selfdrive.car.hyundai.hyundaicanfd import CanBus
from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR, CAMERA_SCC_CAR
from selfdrive.car.hyundai.values import HyundaiFlags, HyundaiFlagsSP, Buttons, CarControllerParams, CANFD_CAR, CAR, CAMERA_SCC_CAR
from selfdrive.controls.lib.drive_helpers import HYUNDAI_V_CRUISE_MIN
VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -161,7 +161,7 @@ class CarController:
self.lat_active_last = CC.latActive
escc = self.CP.flags & HyundaiFlags.SP_ENHANCED_SCC.value
escc = self.CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC.value
can_sends = []
selfdrive/car/hyundai/carstate.py
+10 -10
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@@ -7,7 +7,7 @@ from common.conversions import Conversions as CV
from opendbc.can.parser import CANParser
from opendbc.can.can_define import CANDefine
from selfdrive.car.hyundai.hyundaicanfd import CanBus
from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, NON_SCC_CAR, NON_SCC_NO_FCA_CAR, NON_SCC_RADAR_FCA_CAR, Buttons, CarControllerParams
from selfdrive.car.hyundai.values import HyundaiFlags, HyundaiFlagsSP, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, NON_SCC_CAR, NON_SCC_NO_FCA_CAR, NON_SCC_RADAR_FCA_CAR, Buttons, CarControllerParams
from selfdrive.car.interfaces import CarStateBase
PREV_BUTTON_SAMPLES = 8
@@ -156,7 +156,7 @@ class CarState(CarStateBase):
aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src][aeb_sig] != 0
ret.stockFcw = aeb_warning and not aeb_braking
ret.stockAeb = aeb_warning and aeb_braking
elif self.CP.flags & HyundaiFlags.SP_ENHANCED_SCC:
elif self.CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC:
aeb_src = "ESCC"
aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct"
aeb_warning_sig = "CF_VSM_Warn_FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "CF_VSM_Warn_SCC12"
@@ -194,12 +194,12 @@ class CarState(CarStateBase):
ret.cruiseState.available = ret.cruiseState.available and self.mainEnabled
self.prev_mads_enabled = self.mads_enabled
self.prev_lfa_enabled = self.lfa_enabled
if self.CP.flags & HyundaiFlags.SP_CAN_LFA_BTN:
if self.CP.spFlags & HyundaiFlagsSP.SP_CAN_LFA_BTN:
self.lfa_enabled = cp.vl["BCM_PO_11"]["LFA_Pressed"]
self.mads_enabled = False if not self.control_initialized else ret.cruiseState.available
if self.CP.flags & HyundaiFlags.SP_NAV_MSG:
if self.CP.spFlags & HyundaiFlagsSP.SP_NAV_MSG:
self._update_traffic_signals(self.CP, cp, cp_cam)
ret.cruiseState.speedLimit = self._calculate_speed_limit() * speed_conv
@@ -280,7 +280,7 @@ class CarState(CarStateBase):
if self.CP.flags & HyundaiFlags.CANFD_HDA2:
self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
if self.CP.flags & HyundaiFlags.SP_NAV_MSG:
if self.CP.spFlags & HyundaiFlagsSP.SP_NAV_MSG:
self._update_traffic_signals(self.CP, cp, cp_cam)
ret.cruiseState.speedLimit = self._calculate_speed_limit() * speed_factor
@@ -439,11 +439,11 @@ class CarState(CarStateBase):
signals.append(("CF_Lvr_Gear", "LVR12"))
checks.append(("LVR12", 100))
if CP.flags & HyundaiFlags.SP_CAN_LFA_BTN:
if CP.spFlags & HyundaiFlagsSP.SP_CAN_LFA_BTN:
signals.append(("LFA_Pressed", "BCM_PO_11"))
checks.append(("BCM_PO_11", 50))
if CP.flags & HyundaiFlags.SP_ENHANCED_SCC.value:
if CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC.value:
if CP.flags & HyundaiFlags.USE_FCA.value:
signals += [
("FCA_CmdAct", "ESCC"),
@@ -460,7 +460,7 @@ class CarState(CarStateBase):
]
checks.append(("ESCC", 50))
if CP.flags & HyundaiFlags.SP_NAV_MSG:
if CP.spFlags & HyundaiFlagsSP.SP_NAV_MSG:
signals.append(("SpeedLim_Nav_Clu", "Navi_HU"))
checks.append(("Navi_HU", 5))
@@ -646,7 +646,7 @@ class CarState(CarStateBase):
("ACCELERATOR_BRAKE_ALT", 100),
]
if CP.flags & HyundaiFlags.CANFD_HDA2 and CP.flags & HyundaiFlags.SP_NAV_MSG:
if CP.flags & HyundaiFlags.CANFD_HDA2 and CP.spFlags & HyundaiFlagsSP.SP_NAV_MSG:
signals.append(("SPEED_LIMIT_1", "CLUSTER_SPEED_LIMIT"))
checks.append(("CLUSTER_SPEED_LIMIT", 10))
@@ -678,7 +678,7 @@ class CarState(CarStateBase):
("SCC_CONTROL", 50),
]
if not (CP.flags & HyundaiFlags.CANFD_HDA2) and CP.flags & HyundaiFlags.SP_NAV_MSG:
if not (CP.flags & HyundaiFlags.CANFD_HDA2) and CP.spFlags & HyundaiFlagsSP.SP_NAV_MSG:
signals.append(("SPEED_LIMIT_1", "CLUSTER_SPEED_LIMIT"))
checks.append(("CLUSTER_SPEED_LIMIT", 10))
selfdrive/car/hyundai/interface.py
+7 -7
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@@ -4,7 +4,7 @@ from panda import Panda
from common.conversions import Conversions as CV
from common.params import Params
from selfdrive.car.hyundai.hyundaicanfd import CanBus
from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, NON_SCC_CAR, Buttons
from selfdrive.car.hyundai.values import HyundaiFlags, HyundaiFlagsSP, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, NON_SCC_CAR, Buttons
from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config, create_mads_event
from selfdrive.car.interfaces import CarInterfaceBase
@@ -60,7 +60,7 @@ class CarInterface(CarInterfaceBase):
ret.flags |= HyundaiFlags.USE_FCA.value
if 0x2AB in fingerprint[0]:
ret.flags |= HyundaiFlags.SP_ENHANCED_SCC.value
ret.spFlags |= HyundaiFlagsSP.SP_ENHANCED_SCC.value
ret.steerActuatorDelay = 0.1 # Default delay
ret.steerLimitTimer = 0.4
@@ -265,12 +265,12 @@ class CarInterface(CarInterfaceBase):
ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
if 0x1fa in fingerprint[CAN.ECAN]:
ret.flags |= HyundaiFlags.SP_NAV_MSG.value
ret.spFlags |= HyundaiFlagsSP.SP_NAV_MSG.value
else:
ret.enableBsm = 0x58b in fingerprint[0]
if 0x544 in fingerprint[0]:
ret.flags |= HyundaiFlags.SP_NAV_MSG.value
ret.spFlags |= HyundaiFlagsSP.SP_NAV_MSG.value
# *** panda safety config ***
if candidate in CANFD_CAR:
@@ -296,10 +296,10 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
if 0x391 in fingerprint[0]:
ret.flags |= HyundaiFlags.SP_CAN_LFA_BTN.value
ret.spFlags |= HyundaiFlagsSP.SP_CAN_LFA_BTN.value
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LFA_BTN
if ret.flags & HyundaiFlags.SP_ENHANCED_SCC:
if ret.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_ESCC
if candidate in NON_SCC_CAR:
@@ -334,7 +334,7 @@ class CarInterface(CarInterfaceBase):
@staticmethod
def init(CP, logcan, sendcan):
if CP.openpilotLongitudinalControl and not ((CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) or (CP.flags & HyundaiFlags.SP_ENHANCED_SCC)) and \
if CP.openpilotLongitudinalControl and not ((CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) or (CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC)) and \
CP.carFingerprint not in CAMERA_SCC_CAR:
addr, bus = 0x7d0, 0
if CP.flags & HyundaiFlags.CANFD_HDA2.value:
selfdrive/car/hyundai/radar_interface.py
+3 -3
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@@ -4,14 +4,14 @@ import math
from cereal import car
from opendbc.can.parser import CANParser
from selfdrive.car.interfaces import RadarInterfaceBase
from selfdrive.car.hyundai.values import DBC, HyundaiFlags
from selfdrive.car.hyundai.values import DBC, HyundaiFlagsSP
RADAR_START_ADDR = 0x500
RADAR_MSG_COUNT = 32
def get_radar_can_parser(CP):
if (CP.flags & HyundaiFlags.SP_ENHANCED_SCC) and DBC[CP.carFingerprint]['radar'] is None:
if (CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC) and DBC[CP.carFingerprint]['radar'] is None:
msg = "ESCC"
signals = [
("ObjValid", msg),
@@ -47,7 +47,7 @@ def get_radar_can_parser(CP):
class RadarInterface(RadarInterfaceBase):
def __init__(self, CP):
super().__init__(CP)
self.enhanced_scc = (CP.flags & HyundaiFlags.SP_ENHANCED_SCC) and DBC[CP.carFingerprint]['radar'] is None
self.enhanced_scc = (CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC) and DBC[CP.carFingerprint]['radar'] is None
self.updated_messages = set()
self.trigger_msg = 0x2AB if self.enhanced_scc else RADAR_START_ADDR + RADAR_MSG_COUNT - 1
self.track_id = 0
selfdrive/car/hyundai/values.py
+6 -3
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@@ -63,9 +63,12 @@ class HyundaiFlags(IntFlag):
CANFD_ALT_GEARS_2 = 64
SEND_LFA = 128
USE_FCA = 256
SP_ENHANCED_SCC = 512
SP_CAN_LFA_BTN = 1024
SP_NAV_MSG = 2048
class HyundaiFlagsSP(IntFlag):
SP_ENHANCED_SCC = 1
SP_CAN_LFA_BTN = 2
SP_NAV_MSG = 4
class CAR:
selfdrive/locationd/paramsd.py
+2 -2
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@@ -8,7 +8,7 @@ from cereal import car
from common.params import Params, put_nonblocking
from common.realtime import config_realtime_process, DT_MDL
from common.numpy_fast import clip
from selfdrive.car.chrysler.values import ChryslerFlags
from selfdrive.car.chrysler.values import ChryslerFlagsSP
from selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States
from selfdrive.locationd.models.constants import GENERATED_DIR
from system.swaglog import cloudlog
@@ -215,7 +215,7 @@ def main(sm=None, pm=None):
0.2 <= liveParameters.stiffnessFactor <= 5.0,
min_sr <= liveParameters.steerRatio <= max_sr,
))
if CP.carName == "chrysler" and CP.flags & ChryslerFlags.SP_RAM_HD_PARAMSD_IGNORE:
if CP.carName == "chrysler" and CP.spFlags & ChryslerFlagsSP.SP_RAM_HD_PARAMSD_IGNORE:
liveParameters.valid = True
liveParameters.steerRatioStd = float(P[States.STEER_RATIO])
liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS])