mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-06-25 14:12:06 +08:00
illumiN8iIn here lies the car abstraction layer, and is part of what you will implement to add a new car == Car State == Implement the following minimal set of sensors: Speed -- best estimate of the speed of the car SteeringAngle -- current angle of the steering wheel ControlSurface -- gas position, brake position, steering torque Implement the following optional sensors: RadarPoints -- Currently not optional, but could be with VOACC. Data from the radar of the car. WheelSpeeds -- The speed of the 4 wheels of the car. To be used for odometry Implement the following controls: ControlSurface -- gas position (optional if PCM), brake position, steering torque If you don't have a pedal interceptor and you use the PCM cruise control: CruiseState -- If system is enabled, and current set speed CruiseControl -- Commands to modify system speed and acceleration == Car UI == I suspect many cars with ACC and LKAS have similar UIs HUDControl == Car Buttons == Uses an evented protocol * Blinkers * Cruise buttons * Other buttons == Car Errors == See capnp for list of errors