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openpilot v0.7.8 release

v0.7.8
Vehicle Researcher 2020-08-13 00:37:05 +00:00
parent f370bf5ba6
commit 0aa4867be4
147 changed files with 3679 additions and 2713 deletions
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151
Jenkinsfile vendored
View File

@ -1,33 +1,60 @@
pipeline {
agent {
docker {
image 'python:3.7.3'
args '--user=root'
def phone(String ip, String step_label, String cmd) {
def ci_env = "CI=1 TEST_DIR=${env.TEST_DIR} GIT_BRANCH=${env.GIT_BRANCH} GIT_COMMIT=${env.GIT_COMMIT}"
withCredentials([file(credentialsId: 'id_rsa_public', variable: 'key_file')]) {
sh label: step_label,
script: """
ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 root@${ip} '${ci_env} /usr/bin/bash -le' <<'EOF'
echo \$\$ > /dev/cpuset/app/tasks || true
echo \$PPID > /dev/cpuset/app/tasks || true
mkdir -p /dev/shm
chmod 777 /dev/shm
cd ${env.TEST_DIR} || true
${cmd}
exit 0
EOF"""
}
}
def phone_steps(String device_type, steps) {
lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
timeout(time: 60, unit: 'MINUTES') {
phone(device_ip, "kill old processes", "pkill -f comma || true")
phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
steps.each { item ->
phone(device_ip, item[0], item[1])
}
}
}
}
pipeline {
agent none
environment {
COMMA_JWT = credentials('athena-test-jwt')
TEST_DIR = "/data/openpilot"
}
stages {
stage('Release Build') {
agent {
docker {
image 'python:3.7.3'
args '--user=root'
}
}
when {
branch 'devel-staging'
}
steps {
lock(resource: "", label: 'eon-build', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
timeout(time: 60, unit: 'MINUTES') {
dir(path: 'selfdrive/test') {
sh 'pip install paramiko'
sh 'python phone_ci.py "cd release && PUSH=1 ./build_release2.sh"'
}
}
}
phone_steps("eon-build", [
["build release2-staging and dashcam-staging", "cd release && PUSH=1 ./build_release2.sh"],
])
}
}
stage('On-device Tests') {
stage('openpilot tests') {
when {
not {
anyOf {
@ -36,48 +63,80 @@ pipeline {
}
}
parallel {
stage('Build') {
environment {
CI_PUSH = "${env.BRANCH_NAME == 'master' ? 'master-ci' : ''}"
stages {
/*
stage('PC tests') {
agent {
dockerfile {
filename 'Dockerfile.openpilot'
args '--privileged --shm-size=1G --user=root'
}
}
steps {
lock(resource: "", label: 'eon', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
timeout(time: 60, unit: 'MINUTES') {
dir(path: 'selfdrive/test') {
sh 'pip install paramiko'
sh 'python phone_ci.py "cd release && ./build_devel.sh"'
}
stages {
stage('Build') {
steps {
sh 'scons -j$(nproc)'
}
}
}
}
stage('Replay Tests') {
steps {
lock(resource: "", label: 'eon2', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
timeout(time: 60, unit: 'MINUTES') {
dir(path: 'selfdrive/test') {
sh 'pip install paramiko'
sh 'python phone_ci.py "cd selfdrive/test/process_replay && ./camera_replay.py"'
}
}
post {
always {
// fix permissions since docker runs as another user
sh "chmod -R 777 ."
}
}
}
*/
stage('HW Tests') {
steps {
lock(resource: "", label: 'eon', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
timeout(time: 60, unit: 'MINUTES') {
dir(path: 'selfdrive/test') {
sh 'pip install paramiko'
sh 'python phone_ci.py "SCONS_CACHE=1 scons -j3 cereal/ && \
nosetests -s selfdrive/test/test_sounds.py && \
nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"'
stage('On-device Tests') {
agent {
docker {
image 'python:3.7.3'
args '--user=root'
}
}
stages {
stage('parallel tests') {
parallel {
stage('Devel Build') {
environment {
CI_PUSH = "${env.BRANCH_NAME == 'master' ? 'master-ci' : ' '}"
}
steps {
phone_steps("eon", [
["build devel", "cd release && CI_PUSH=${env.CI_PUSH} ./build_devel.sh"],
["test openpilot", "nosetests -s selfdrive/test/test_openpilot.py"],
["test cpu usage", "cd selfdrive/test/ && ./test_cpu_usage.py"],
["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
["test spinner build", "cd selfdrive/ui/spinner && make clean && make"],
["test text window build", "cd selfdrive/ui/text && make clean && make"],
])
}
}
stage('Replay Tests') {
steps {
phone_steps("eon2", [
["camerad/modeld replay", "cd selfdrive/test/process_replay && ./camera_replay.py"],
])
}
}
stage('HW + Unit Tests') {
steps {
phone_steps("eon", [
["build cereal", "SCONS_CACHE=1 scons -j4 cereal/"],
["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
//["test updater", "python installer/updater/test_updater.py"],
])
}
}
}
}
}

14
README.md
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@ -66,7 +66,7 @@ Supported Cars
| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
| Acura | ILX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 12mph |
| Honda | Accord 2018-19 | All | Stock | 0mph | 3mph |
| Honda | Accord 2018-20 | All | Stock | 0mph | 3mph |
| Honda | Accord Hybrid 2018-20 | All | Stock | 0mph | 3mph |
| Honda | Civic Hatchback 2017-19 | Honda Sensing | Stock | 0mph | 12mph |
| Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
@ -76,7 +76,7 @@ Supported Cars
| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph |
| Honda | Fit 2018-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
| Honda | HR-V 2019 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
| Honda | Insight 2019 | Honda Sensing | Stock | 0mph | 3mph |
| Honda | Insight 2019-20 | Honda Sensing | Stock | 0mph | 3mph |
| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 0mph |
| Honda | Passport 2019 | All | openpilot | 25mph<sup>1</sup> | 12mph |
| Honda | Pilot 2016-18 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
@ -136,6 +136,7 @@ Community Maintained Cars and Features
| Chrysler | Pacifica 2020 | Adaptive Cruise | Stock | 0mph | 39mph |
| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
| Chrysler | Pacifica Hybrid 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
| Genesis | G70 2018 | All | Stock | 0mph | 0mph |
| Genesis | G80 2018 | All | Stock | 0mph | 0mph |
| Genesis | G90 2018 | All | Stock | 0mph | 0mph |
| GMC | Acadia Denali 2018<sup>2</sup>| Adaptive Cruise | openpilot | 0mph | 7mph |
@ -144,11 +145,12 @@ Community Maintained Cars and Features
| Hyundai | Genesis 2015-16 | SCC + LKAS | Stock | 19mph | 37mph |
| Hyundai | Ioniq Electric Premium SE 2020| SCC + LKAS | Stock | 0mph | 32mph |
| Hyundai | Ioniq Electric Limited 2019 | SCC + LKAS | Stock | 0mph | 32mph |
| Hyundai | Kona 2017-19 | SCC + LKAS | Stock | 22mph | 0mph |
| Hyundai | Kona 2020 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Kona EV 2019 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Palisade 2020 | All | Stock | 0mph | 0mph |
| Hyundai | Santa Fe 2019 | All | Stock | 0mph | 0mph |
| Hyundai | Sonata 2019 | All | Stock | 0mph | 0mph |
| Hyundai | Veloster 2019 | SCC + LKAS | Stock | 5mph | 0mph |
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
| Jeep | Grand Cherokee 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
| Kia | Forte 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
@ -156,9 +158,9 @@ Community Maintained Cars and Features
| Kia | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Sorento 2018 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph |
| Nissan | Leaf 2018-19<sup>2</sup> | Propilot | Stock | 0mph | 0mph |
| Nissan | Rogue 2019<sup>2</sup> | Propilot | Stock | 0mph | 0mph |
| Nissan | X-Trail 2017<sup>2</sup> | Propilot | Stock | 0mph | 0mph |
| Nissan | Leaf 2018-19 | Propilot | Stock | 0mph | 0mph |
| Nissan | Rogue 2019 | Propilot | Stock | 0mph | 0mph |
| Nissan | X-Trail 2017 | Propilot | Stock | 0mph | 0mph |
| Subaru | Ascent 2019 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Forester 2019 | EyeSight | Stock | 0mph | 0mph |

7
RELEASES.md
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@ -1,3 +1,10 @@
Version 0.7.8 (2020-08-19)
========================
* New driver monitoring model: improved face detection and better compatibility with sunglasses
* Download NEOS operating system updates in the background
* Improved updater reliability and responsiveness
* Hyundai Kona 2020, Veloster 2019, and Genesis G70 2018 support thanks to xps-genesis!
Version 0.7.7 (2020-07-20)
========================
* White panda is no longer supported, upgrade to comma two or black panda

6
SConstruct
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@ -1,3 +1,5 @@
import Cython
import distutils
import os
import shutil
import subprocess
@ -12,6 +14,10 @@ AddOption('--asan',
action='store_true',
help='turn on ASAN')
# Rebuild cython extensions if python, distutils, or cython change
cython_dependencies = [Value(v) for v in (sys.version, distutils.__version__, Cython.__version__)]
Export('cython_dependencies')
arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
if platform.system() == "Darwin":
arch = "Darwin"

BIN
apk/ai.comma.plus.offroad.apk
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39
cereal/SConscript
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@ -1,35 +1,34 @@
Import('env', 'arch', 'zmq')
Import('env', 'arch', 'zmq', 'cython_dependencies')
import shutil
gen_dir = Dir('gen')
messaging_dir = Dir('messaging')
# TODO: remove src-prefix and cereal from command string. can we set working directory?
env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
env.Command(
['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
['car.capnp', 'log.capnp'],
'capnpc $SOURCES --src-prefix=cereal -o c++:' + gen_dir.path + '/cpp/')
import shutil
env.Command(['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
['car.capnp', 'log.capnp'],
'capnpc $SOURCES --src-prefix=cereal -o c++:' + gen_dir.path + '/cpp/')
if shutil.which('capnpc-java'):
env.Command(
['gen/java/Car.java', 'gen/java/Log.java'],
['car.capnp', 'log.capnp'],
'capnpc $SOURCES --src-prefix=cereal -o java:' + gen_dir.path + '/java/')
env.Command(['gen/java/Car.java', 'gen/java/Log.java'],
['car.capnp', 'log.capnp'],
'capnpc $SOURCES --src-prefix=cereal -o java:' + gen_dir.path + '/java/')
# TODO: remove non shared cereal and messaging
cereal_objects = env.SharedObject([
'gen/cpp/car.capnp.c++',
'gen/cpp/log.capnp.c++',
])
'gen/cpp/car.capnp.c++',
'gen/cpp/log.capnp.c++',
])
env.Library('cereal', cereal_objects)
env.SharedLibrary('cereal_shared', cereal_objects)
cereal_dir = Dir('.')
services_h = env.Command(
['services.h'],
['service_list.yaml', 'services.py'],
'python3 ' + cereal_dir.path + '/services.py > $TARGET')
services_h = env.Command(['services.h'],
['service_list.yaml', 'services.py'],
'python3 ' + cereal_dir.path + '/services.py > $TARGET')
messaging_objects = env.SharedObject([
'messaging/messaging.cc',
@ -56,9 +55,9 @@ Depends('messaging/bridge.cc', services_h)
#env.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq'])
env.Command(['messaging/messaging_pyx.so'],
[messaging_lib, 'messaging/messaging_pyx_setup.py', 'messaging/messaging_pyx.pyx', 'messaging/messaging.pxd'],
"cd " + messaging_dir.path + " && python3 messaging_pyx_setup.py build_ext --inplace")
env.Command(['messaging/messaging_pyx.so', 'messaging/messaging_pyx.cpp'],
cython_dependencies + [messaging_lib, 'messaging/messaging_pyx_setup.py', 'messaging/messaging_pyx.pyx', 'messaging/messaging.pxd'],
"cd " + messaging_dir.path + " && python3 messaging_pyx_setup.py build_ext --inplace")
if GetOption('test'):

2
cereal/car.capnp
View File

@ -112,6 +112,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
wrongCruiseMode @87;
neosUpdateRequired @88;
modeldLagging @89;
deviceFalling @90;
}
}
@ -474,6 +475,7 @@ struct CarParams {
volkswagenPq @21;
subaruLegacy @22; # pre-Global platform
hyundaiLegacy @23;
hyundaiCommunity @24;
}
enum SteerControlType {

5
cereal/log.capnp
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@ -441,18 +441,22 @@ struct RadarState @0x9a185389d6fdd05f {
struct LiveCalibrationData {
# deprecated
warpMatrix @0 :List(Float32);
# camera_frame_from_model_frame
warpMatrix2 @5 :List(Float32);
warpMatrixBig @6 :List(Float32);
calStatus @1 :Int8;
calCycle @2 :Int32;
calPerc @3 :Int8;
validBlocks @9 :Int32;
# view_frame_from_road_frame
# ui's is inversed needs new
extrinsicMatrix @4 :List(Float32);
# the direction of travel vector in device frame
rpyCalib @7 :List(Float32);
rpyCalibSpread @8 :List(Float32);
}
struct LiveTracks {
@ -864,6 +868,7 @@ struct LiveLocationKalman {
posenetOK @18 :Bool = true;
gpsOK @19 :Bool = true;
sensorsOK @21 :Bool = true;
deviceStable @22 :Bool = true;
enum Status {
uninitialized @0;

7
cereal/messaging/__init__.py
View File

@ -122,13 +122,6 @@ def recv_one_retry(sock):
if dat is not None:
return log.Event.from_bytes(dat)
# TODO: This does not belong in messaging
def get_one_can(logcan):
while True:
can = recv_one_retry(logcan)
if len(can.can) > 0:
return can
class SubMaster():
def __init__(self, services, ignore_alive=None, addr="127.0.0.1"):
self.poller = Poller()

16
cereal/messaging/messaging.hpp
View File

@ -59,34 +59,36 @@ public:
};
class SubMaster {
public:
public:
SubMaster(const std::initializer_list<const char *> &service_list,
const char *address = nullptr, const std::initializer_list<const char *> &ignore_alive = {});
int update(int timeout = 1000);
inline bool allAlive(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, false, true); }
inline bool allValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, false); }
inline bool allAliveAndValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, true); }
bool updated(const char *name) const;
void drain();
cereal::Event::Reader &operator[](const char *name);
~SubMaster();
private:
uint64_t frame = 0;
bool updated(const char *name) const;
uint64_t rcv_frame(const char *name) const;
cereal::Event::Reader &operator[](const char *name);
private:
bool all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive);
Poller *poller_ = nullptr;
uint64_t frame_ = 0;
struct SubMessage;
std::map<SubSocket *, SubMessage *> messages_;
std::map<std::string, SubMessage *> services_;
};
class PubMaster {
public:
public:
PubMaster(const std::initializer_list<const char *> &service_list);
inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); }
int send(const char *name, capnp::MessageBuilder &msg);
~PubMaster();
private:
private:
std::map<std::string, PubSocket *> sockets_;
};

6
cereal/messaging/messaging_pyx_setup.py
View File

@ -39,7 +39,7 @@ if ARCH == "aarch64" and os.path.isdir("/system"):
extra_compile_args += ["-Wno-deprecated-register"]
libraries += ['gnustl_shared']
setup(name='CAN parser',
setup(name='messaging',
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
ext_modules=cythonize(
Extension(
@ -51,7 +51,7 @@ setup(name='CAN parser',
extra_objects=[
os.path.join(os.path.dirname(os.path.realpath(__file__)), '../', 'libmessaging.a'),
]
)
),
nthreads=4,
),
nthreads=4,
)

33
cereal/messaging/socketmaster.cc
View File

@ -2,20 +2,24 @@
#include <time.h>
#include "messaging.hpp"
#include "services.h"
#ifdef __APPLE__
#define CLOCK_BOOTTIME CLOCK_MONOTONIC
#endif
static inline uint64_t nanos_since_boot() {
struct timespec t;
clock_gettime(CLOCK_BOOTTIME, &t);
return t.tv_sec * 1000000000ULL + t.tv_nsec;
}
static const service *get_service(const char *name) {
for (const auto &it : services) {
if (strcmp(it.name, name) == 0) return &it;
}
return nullptr;
}
static inline bool inList(const std::initializer_list<const char *> &list, const char *value) {
for (auto &v : list) {
if (strcmp(value, v) == 0) return true;
@ -24,7 +28,7 @@ static inline bool inList(const std::initializer_list<const char *> &list, const
}
class MessageContext {
public:
public:
MessageContext() { ctx_ = Context::create(); }
~MessageContext() { delete ctx_; }
Context *ctx_;
@ -53,18 +57,18 @@ SubMaster::SubMaster(const std::initializer_list<const char *> &service_list, co
assert(socket != 0);
poller_->registerSocket(socket);
SubMessage *m = new SubMessage{
.socket = socket,
.freq = serv->frequency,
.ignore_alive = inList(ignore_alive, name),
.allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
.buf = kj::heapArray<capnp::word>(1024)};
.socket = socket,
.freq = serv->frequency,
.ignore_alive = inList(ignore_alive, name),
.allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
.buf = kj::heapArray<capnp::word>(1024)};
messages_[socket] = m;
services_[name] = m;
}
}
int SubMaster::update(int timeout) {
if (++frame_ == UINT64_MAX) frame_ = 1;
if (++frame == UINT64_MAX) frame = 1;
for (auto &kv : messages_) kv.second->updated = false;
int updated = 0;
@ -89,7 +93,7 @@ int SubMaster::update(int timeout) {
m->event = m->msg_reader->getRoot<cereal::Event>();
m->updated = true;
m->rcv_time = current_time;
m->rcv_frame = frame_;
m->rcv_frame = frame;
m->valid = m->event.getValid();
++updated;
@ -126,8 +130,17 @@ void SubMaster::drain() {
}
}
bool SubMaster::updated(const char *name) const { return services_.at(name)->updated; }
cereal::Event::Reader &SubMaster::operator[](const char *name) { return services_.at(name)->event; };
bool SubMaster::updated(const char *name) const {
return services_.at(name)->updated;
}
uint64_t SubMaster::rcv_frame(const char *name) const {
return services_.at(name)->rcv_frame;
}
cereal::Event::Reader &SubMaster::operator[](const char *name) {
return services_.at(name)->event;
};
SubMaster::~SubMaster() {
delete poller_;

3
cereal/service_list.yaml
View File

@ -63,7 +63,7 @@ orbOdometry: [8057, true, 0.]
orbFeatures: [8058, false, 0.]
orbKeyFrame: [8059, true, 0.]
uiLayoutState: [8060, true, 0.]
frontEncodeIdx: [8061, true, 5.]
frontEncodeIdx: [8061, true, 5.] # should be 20fps on tici
orbFeaturesSummary: [8062, true, 0.]
driverState: [8063, true, 5., 1]
liveParameters: [8064, true, 20., 2]
@ -77,6 +77,7 @@ carParams: [8071, true, 0.02, 1]
frontFrame: [8072, true, 10.]
dMonitoringState: [8073, true, 5., 1]
offroadLayout: [8074, false, 0.]
wideEncodeIdx: [8075, true, 20.]
testModel: [8040, false, 0.]
testLiveLocation: [8045, false, 0.]

10
common/SConscript
View File

@ -1,6 +1,6 @@
Import('env')
Import('env', 'cython_dependencies')
# parser
env.Command(['common_pyx.so'],
['common_pyx_setup.py', 'clock.pyx'],
"cd common && python3 common_pyx_setup.py build_ext --inplace")
# Build cython clock module
env.Command(['common_pyx.so', 'clock.cpp'],
cython_dependencies + ['common_pyx_setup.py', 'clock.pyx'],
"cd common && python3 common_pyx_setup.py build_ext --inplace")

6
common/kalman/SConscript
View File

@ -1,6 +1,6 @@
Import('env')
Import('env', 'cython_dependencies')
env.Command(['simple_kalman_impl.so'],
['simple_kalman_impl.pyx', 'simple_kalman_impl.pxd', 'simple_kalman_setup.py'],
"cd common/kalman && python3 simple_kalman_setup.py build_ext --inplace")
cython_dependencies + ['simple_kalman_impl.pyx', 'simple_kalman_impl.pxd', 'simple_kalman_setup.py'],
"cd common/kalman && python3 simple_kalman_setup.py build_ext --inplace")

2
common/kalman/simple_kalman_old.py
View File

@ -8,7 +8,7 @@ class KF1D:
def __init__(self, x0, A, C, K):
self.x = x0
self.A = A
self.C = C
self.C = np.atleast_2d(C)
self.K = K
self.A_K = self.A - np.dot(self.K, self.C)

20
common/kalman/tests/test_simple_kalman.py
View File

@ -21,10 +21,10 @@ class TestSimpleKalman(unittest.TestCase):
K0_0 = 0.12287673
K1_0 = 0.29666309
self.kf_old = KF1D_old(x0=np.matrix([[x0_0], [x1_0]]),
A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]),
C=np.matrix([C0_0, C0_1]),
K=np.matrix([[K0_0], [K1_0]]))
self.kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
C=np.array([C0_0, C0_1]),
K=np.array([[K0_0], [K1_0]]))
self.kf = KF1D(x0=[[x0_0], [x1_0]],
A=[[A0_0, A0_1], [A1_0, A1_1]],
@ -47,8 +47,8 @@ class TestSimpleKalman(unittest.TestCase):
x = self.kf.update(v_wheel)
# Compare the output x, verify that the error is less than 1e-4
self.assertAlmostEqual(x_old[0], x[0])
self.assertAlmostEqual(x_old[1], x[1])
np.testing.assert_almost_equal(x_old[0], x[0])
np.testing.assert_almost_equal(x_old[1], x[1])
def test_new_is_faster(self):
setup = """
@ -69,10 +69,10 @@ C0_1 = 0.0
K0_0 = 0.12287673
K1_0 = 0.29666309
kf_old = KF1D_old(x0=np.matrix([[x0_0], [x1_0]]),
A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]),
C=np.matrix([C0_0, C0_1]),
K=np.matrix([[K0_0], [K1_0]]))
kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
C=np.array([C0_0, C0_1]),
K=np.array([[K0_0], [K1_0]]))
kf = KF1D(x0=[[x0_0], [x1_0]],
A=[[A0_0, A0_1], [A1_0, A1_1]],

9
common/params.py
View File

@ -80,6 +80,7 @@ keys = {
"IsUploadRawEnabled": [TxType.PERSISTENT],
"LastAthenaPingTime": [TxType.PERSISTENT],
"LastUpdateTime": [TxType.PERSISTENT],
"LastUpdateException": [TxType.PERSISTENT],
"LimitSetSpeed": [TxType.PERSISTENT],
"LimitSetSpeedNeural": [TxType.PERSISTENT],
"LiveParameters": [TxType.PERSISTENT],
@ -108,6 +109,7 @@ keys = {
"Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
"Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
"Offroad_NeosUpdate": [TxType.CLEAR_ON_MANAGER_START],
"Offroad_UpdateFailed": [TxType.CLEAR_ON_MANAGER_START],
}
@ -319,14 +321,15 @@ def write_db(params_path, key, value):
lock.acquire()
try:
tmp_path = tempfile.mktemp(prefix=".tmp", dir=params_path)
with open(tmp_path, "wb") as f:
tmp_path = tempfile.NamedTemporaryFile(mode="wb", prefix=".tmp", dir=params_path, delete=False)
with tmp_path as f:
f.write(value)
f.flush()
os.fsync(f.fileno())
os.chmod(tmp_path.name, 0o666)
path = "%s/d/%s" % (params_path, key)
os.rename(tmp_path, path)
os.rename(tmp_path.name, path)
fsync_dir(os.path.dirname(path))
finally:
os.umask(prev_umask)

36
common/spinner.py
View File

@ -4,14 +4,17 @@ from common.basedir import BASEDIR
class Spinner():
def __init__(self):
try:
self.spinner_proc = subprocess.Popen(["./spinner"],
stdin=subprocess.PIPE,
cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
close_fds=True)
except OSError:
self.spinner_proc = None
def __init__(self, noop=False):
# spinner is currently only implemented for android
self.spinner_proc = None
if not noop:
try:
self.spinner_proc = subprocess.Popen(["./spinner"],
stdin=subprocess.PIPE,
cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
close_fds=True)
except OSError:
self.spinner_proc = None
def __enter__(self):
return self
@ -40,23 +43,6 @@ class Spinner():
self.close()
class FakeSpinner(Spinner):
def __init__(self): # pylint: disable=super-init-not-called
pass
def __enter__(self):
return self
def update(self, _):
pass
def close(self):
pass
def __exit__(self, exc_type, exc_value, traceback):
pass
if __name__ == "__main__":
import time
with Spinner() as s:

52
common/text_window.py
View File

@ -6,20 +6,22 @@ from common.basedir import BASEDIR
class TextWindow():
def __init__(self, s):
try:
self.text_proc = subprocess.Popen(["./text", s],
stdin=subprocess.PIPE,
cwd=os.path.join(BASEDIR, "selfdrive", "ui", "text"),
close_fds=True)
except OSError:
self.text_proc = None
def __init__(self, s, noop=False):
# text window is only implemented for android currently
self.text_proc = None
if not noop:
try:
self.text_proc = subprocess.Popen(["./text", s],
stdin=subprocess.PIPE,
cwd=os.path.join(BASEDIR, "selfdrive", "ui", "text"),
close_fds=True)
except OSError:
self.text_proc = None
def get_status(self):
if self.text_proc is not None:
self.text_proc.poll()
return self.text_proc.returncode
return None
def __enter__(self):
@ -31,10 +33,11 @@ class TextWindow():
self.text_proc = None
def wait_for_exit(self):
while True:
if self.get_status() == 1:
return
time.sleep(0.1)
if self.text_proc is not None:
while True:
if self.get_status() == 1:
return
time.sleep(0.1)
def __del__(self):
self.close()
@ -43,29 +46,6 @@ class TextWindow():
self.close()
class FakeTextWindow(TextWindow):
def __init__(self, s): # pylint: disable=super-init-not-called
pass
def get_status(self):
return 1
def wait_for_exit(self):
return
def __enter__(self):
return self
def update(self, _):
pass
def close(self):
pass
def __exit__(self, exc_type, exc_value, traceback):
pass
if __name__ == "__main__":
text = """Traceback (most recent call last):
File "./controlsd.py", line 608, in <module>

11
common/transformations/SConscript
View File

@ -1,9 +1,8 @@
Import('env')
Import('env', 'cython_dependencies')
d = Dir('.')
env.Command(
['transformations.so'],
['transformations.pxd', 'transformations.pyx',
'coordinates.cc', 'orientation.cc', 'coordinates.hpp', 'orientation.hpp'],
'cd ' + d.path + ' && python3 setup.py build_ext --inplace')
env.Command(['transformations.so'],
cython_dependencies + ['transformations.pxd', 'transformations.pyx',
'coordinates.cc', 'orientation.cc', 'coordinates.hpp', 'orientation.hpp'],
'cd ' + d.path + ' && python3 setup.py build_ext --inplace')

7
common/transformations/camera.py
View File

@ -52,6 +52,13 @@ def get_view_frame_from_road_frame(roll, pitch, yaw, height):
return np.hstack((view_from_road, [[0], [height], [0]]))
# aka 'extrinsic_matrix'
def get_view_frame_from_calib_frame(roll, pitch, yaw, height):
device_from_calib= orient.rot_from_euler([roll, pitch, yaw])
view_from_calib = view_frame_from_device_frame.dot(device_from_calib)
return np.hstack((view_from_calib, [[0], [height], [0]]))
def vp_from_ke(m):
"""
Computes the vanishing point from the product of the intrinsic and extrinsic

6
common/transformations/coordinates.cc
View File

@ -10,9 +10,9 @@
#define RAD2DEG(x) ((x) * 180.0 / M_PI)
double a = 6378137;
double b = 6356752.3142;
double esq = 6.69437999014 * 0.001;
double a = 6378137; // lgtm [cpp/short-global-name]
double b = 6356752.3142; // lgtm [cpp/short-global-name]
double esq = 6.69437999014 * 0.001; // lgtm [cpp/short-global-name]
double e1sq = 6.73949674228 * 0.001;

4
common/transformations/model.py
View File

@ -2,6 +2,7 @@ import numpy as np
from common.transformations.camera import (FULL_FRAME_SIZE, eon_focal_length,
get_view_frame_from_road_frame,
get_view_frame_from_calib_frame,
vp_from_ke)
# segnet
@ -73,6 +74,9 @@ bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
get_view_frame_from_road_frame(0, 0, 0, model_height))
medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics,
get_view_frame_from_calib_frame(0, 0, 0, 0))
model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))

1
common/transformations/orientation.py
View File

@ -46,7 +46,6 @@ quats_from_rotations = rot2quat
quat_from_rot = rot2quat
rotations_from_quats = quat2rot
rot_from_quat = quat2rot
rot_from_quat = quat2rot
euler_from_rot = rot2euler
euler_from_quat = quat2euler
rot_from_euler = euler2rot

BIN
installer/updater/updater
View File

Binary file not shown.

277
installer/updater/updater.cc
View File

@ -10,6 +10,7 @@
#include <string>
#include <sstream>
#include <fstream>
#include <iostream>
#include <mutex>
#include <thread>
@ -33,10 +34,10 @@
#define USER_AGENT "NEOSUpdater-0.2"
#define MANIFEST_URL_EON_STAGING "https://github.com/commaai/eon-neos/raw/master/update.staging.json"
#define MANIFEST_URL_EON_LOCAL "http://192.168.5.1:8000/neosupdate/update.local.json"
#define MANIFEST_URL_EON "https://github.com/commaai/eon-neos/raw/master/update.json"
const char *manifest_url = MANIFEST_URL_EON;
#define MANIFEST_URL_NEOS_STAGING "https://github.com/commaai/eon-neos/raw/master/update.staging.json"
#define MANIFEST_URL_NEOS_LOCAL "http://192.168.5.1:8000/neosupdate/update.local.json"
#define MANIFEST_URL_NEOS "https://github.com/commaai/eon-neos/raw/master/update.json"
const char *manifest_url = MANIFEST_URL_NEOS;
#define RECOVERY_DEV "/dev/block/bootdevice/by-name/recovery"
#define RECOVERY_COMMAND "/cache/recovery/command"
@ -96,7 +97,7 @@ std::string download_string(CURL *curl, std::string url) {
curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 1);
curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 0);
curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
curl_easy_setopt(curl, CURLOPT_RESUME_FROM, 0);
@ -149,6 +150,32 @@ static void start_settings_activity(const char* name) {
system(launch_cmd);
}
bool is_settings_active() {
FILE *fp;
char sys_output[4096];
fp = popen("/bin/dumpsys window windows", "r");
if (fp == NULL) {
return false;
}
bool active = false;
while (fgets(sys_output, sizeof(sys_output), fp) != NULL) {
if (strstr(sys_output, "mCurrentFocus=null") != NULL) {
break;
}
if (strstr(sys_output, "mCurrentFocus=Window") != NULL) {
active = true;
break;
}
}
pclose(fp);
return active;
}
struct Updater {
bool do_exit = false;
@ -166,7 +193,6 @@ struct Updater {
std::mutex lock;
// i hate state machines give me coroutines already
enum UpdateState {
CONFIRMATION,
LOW_BATTERY,
@ -190,9 +216,15 @@ struct Updater {
int b_x, b_w, b_y, b_h;
int balt_x;
// download stage writes these for the installation stage
int recovery_len;
std::string recovery_hash;
std::string recovery_fn;
std::string ota_fn;
CURL *curl = NULL;
Updater() {
void ui_init() {
touch_init(&touch);
fb = framebuffer_init("updater", 0x00001000, false,
@ -218,7 +250,6 @@ struct Updater {
b_h = 220;
state = CONFIRMATION;
}
int download_file_xferinfo(curl_off_t dltotal, curl_off_t dlno,
@ -251,7 +282,7 @@ struct Updater {
curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 1);
curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 0);
curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
curl_easy_setopt(curl, CURLOPT_RESUME_FROM, resume_from);
@ -319,32 +350,113 @@ struct Updater {
state = RUNNING;
}
std::string stage_download(std::string url, std::string hash, std::string name) {
std::string download(std::string url, std::string hash, std::string name) {
std::string out_fn = UPDATE_DIR "/" + util::base_name(url);
set_progress("Downloading " + name + "...");
bool r = download_file(url, out_fn);
if (!r) {
set_error("failed to download " + name);
return "";
// start or resume downloading if hash doesn't match
std::string fn_hash = sha256_file(out_fn);
if (hash.compare(fn_hash) != 0) {
set_progress("Downloading " + name + "...");
bool r = download_file(url, out_fn);
if (!r) {
set_error("failed to download " + name);
unlink(out_fn.c_str());
return "";
}
fn_hash = sha256_file(out_fn);
}
set_progress("Verifying " + name + "...");
std::string fn_hash = sha256_file(out_fn);
printf("got %s hash: %s\n", name.c_str(), hash.c_str());
if (fn_hash != hash) {
set_error(name + " was corrupt");
unlink(out_fn.c_str());
return "";
}
return out_fn;
}
void run_stages() {
bool download_stage() {
curl = curl_easy_init();
assert(curl);
// ** quick checks before download **
if (!check_space()) {
set_error("2GB of free space required to update");
return false;
}
mkdir(UPDATE_DIR, 0777);
set_progress("Finding latest version...");
std::string manifest_s = download_string(curl, manifest_url);
printf("manifest: %s\n", manifest_s.c_str());
std::string err;
auto manifest = json11::Json::parse(manifest_s, err);
if (manifest.is_null() || !err.empty()) {
set_error("failed to load update manifest");
return false;
}
std::string ota_url = manifest["ota_url"].string_value();
std::string ota_hash = manifest["ota_hash"].string_value();
std::string recovery_url = manifest["recovery_url"].string_value();
recovery_hash = manifest["recovery_hash"].string_value();
recovery_len = manifest["recovery_len"].int_value();
// std::string installer_url = manifest["installer_url"].string_value();
// std::string installer_hash = manifest["installer_hash"].string_value();
if (ota_url.empty() || ota_hash.empty()) {
set_error("invalid update manifest");
return false;
}
// std::string installer_fn = download(installer_url, installer_hash, "installer");
// if (installer_fn.empty()) {
// //error'd
// return;
// }
// ** handle recovery download **
if (recovery_url.empty() || recovery_hash.empty() || recovery_len == 0) {
set_progress("Skipping recovery flash...");
} else {
// only download the recovery if it differs from what's flashed
set_progress("Checking recovery...");
std::string existing_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());
if (existing_recovery_hash != recovery_hash) {
recovery_fn = download(recovery_url, recovery_hash, "recovery");
if (recovery_fn.empty()) {
// error'd
return false;
}
}
}
// ** handle ota download **
ota_fn = download(ota_url, ota_hash, "update");
if (ota_fn.empty()) {
//error'd
return false;
}
// download sucessful
return true;
}
// thread that handles downloading and installing the update
void run_stages() {
printf("run_stages start\n");
// ** download update **
if (!check_battery()) {
set_battery_low();
int battery_cap = battery_capacity();
@ -356,77 +468,12 @@ struct Updater {
set_running();
}
if (!check_space()) {
set_error("2GB of free space required to update");
bool sucess = download_stage();
if (!sucess) {
return;
}
mkdir(UPDATE_DIR, 0777);
const int EON = (access("/EON", F_OK) != -1);
set_progress("Finding latest version...");
std::string manifest_s;
if (EON) {
manifest_s = download_string(curl, manifest_url);
} else {
// don't update NEO
exit(0);
}
printf("manifest: %s\n", manifest_s.c_str());
std::string err;
auto manifest = json11::Json::parse(manifest_s, err);
if (manifest.is_null() || !err.empty()) {
set_error("failed to load update manifest");
return;
}
std::string ota_url = manifest["ota_url"].string_value();
std::string ota_hash = manifest["ota_hash"].string_value();
std::string recovery_url = manifest["recovery_url"].string_value();
std::string recovery_hash = manifest["recovery_hash"].string_value();
int recovery_len = manifest["recovery_len"].int_value();
// std::string installer_url = manifest["installer_url"].string_value();
// std::string installer_hash = manifest["installer_hash"].string_value();
if (ota_url.empty() || ota_hash.empty()) {
set_error("invalid update manifest");
return;
}
// std::string installer_fn = stage_download(installer_url, installer_hash, "installer");
// if (installer_fn.empty()) {
// //error'd
// return;
// }
std::string recovery_fn;
if (recovery_url.empty() || recovery_hash.empty() || recovery_len == 0) {
set_progress("Skipping recovery flash...");
} else {
// only download the recovery if it differs from what's flashed
set_progress("Checking recovery...");
std::string existing_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());
if (existing_recovery_hash != recovery_hash) {
recovery_fn = stage_download(recovery_url, recovery_hash, "recovery");
if (recovery_fn.empty()) {
// error'd
return;
}
}
}
std::string ota_fn = stage_download(ota_url, ota_hash, "update");
if (ota_fn.empty()) {
//error'd
return;
}
// ** install update **
if (!check_battery()) {
set_battery_low();
@ -601,7 +648,7 @@ struct Updater {
int powerprompt_y = 312;
nvgFontFace(vg, "opensans_regular");
nvgFontSize(vg, 64.0f);
nvgText(vg, fb_w/2, 740, "Ensure EON is connected to power.", NULL);
nvgText(vg, fb_w/2, 740, "Ensure your device remains connected to a power source.", NULL);
NVGpaint paint = nvgBoxGradient(
vg, progress_x + 1, progress_y + 1,
@ -657,9 +704,7 @@ struct Updater {
void ui_update() {
std::lock_guard<std::mutex> guard(lock);
switch (state) {
case ERROR:
case CONFIRMATION: {
if (state == ERROR || state == CONFIRMATION) {
int touch_x = -1, touch_y = -1;
int res = touch_poll(&touch, &touch_x, &touch_y, 0);
if (res == 1 && !is_settings_active()) {
@ -678,13 +723,11 @@ struct Updater {
}
}
}
default:
break;
}
}
void go() {
ui_init();
while (!do_exit) {
ui_update();
@ -718,51 +761,37 @@ struct Updater {
update_thread_handle.join();
}
// reboot
system("service call power 16 i32 0 i32 0 i32 1");
}
bool is_settings_active() {
FILE *fp;
char sys_output[4096];
fp = popen("/bin/dumpsys window windows", "r");
if (fp == NULL) {
return false;
}
bool active = false;
while (fgets(sys_output, sizeof(sys_output), fp) != NULL) {
if (strstr(sys_output, "mCurrentFocus=null") != NULL) {
break;
}
if (strstr(sys_output, "mCurrentFocus=Window") != NULL) {
active = true;
break;
}
}
pclose(fp);
return active;
}
};
}
int main(int argc, char *argv[]) {
bool background_cache = false;
if (argc > 1) {
if (strcmp(argv[1], "local") == 0) {
manifest_url = MANIFEST_URL_EON_LOCAL;
manifest_url = MANIFEST_URL_NEOS_LOCAL;
} else if (strcmp(argv[1], "staging") == 0) {
manifest_url = MANIFEST_URL_EON_STAGING;
manifest_url = MANIFEST_URL_NEOS_STAGING;
} else if (strcmp(argv[1], "bgcache") == 0) {
manifest_url = argv[2];
background_cache = true;
} else {
manifest_url = argv[1];
}
}
printf("updating from %s\n", manifest_url);
Updater updater;
updater.go();
return 0;
int err = 0;
if (background_cache) {
err = !updater.download_stage();
} else {
updater.go();
}
return err;
}

4
launch.sh 100755
View File

@ -0,0 +1,4 @@
#!/usr/bin/bash
export PASSIVE="0"
exec ./launch_chffrplus.sh

35
launch_chffrplus.sh
View File

@ -1,25 +1,20 @@
#!/usr/bin/bash
export OMP_NUM_THREADS=1
export MKL_NUM_THREADS=1
export NUMEXPR_NUM_THREADS=1
export OPENBLAS_NUM_THREADS=1
export VECLIB_MAXIMUM_THREADS=1
if [ -z "$BASEDIR" ]; then
BASEDIR="/data/openpilot"
fi
if [ -z "$PASSIVE" ]; then
export PASSIVE="1"
fi
source "$BASEDIR/launch_env.sh"
STAGING_ROOT="/data/safe_staging"
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
function launch {
# Wifi scan
wpa_cli IFNAME=wlan0 SCAN
# Remove orphaned git lock if it exists on boot
[ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
# Check to see if there's a valid overlay-based update available. Conditions
# are as follows:
#
@ -49,6 +44,7 @@ function launch {
git submodule foreach --recursive git reset --hard
echo "Restarting launch script ${LAUNCHER_LOCATION}"
unset REQUIRED_NEOS_VERSION
exec "${LAUNCHER_LOCATION}"
else
echo "openpilot backup found, not updating"
@ -75,26 +71,21 @@ function launch {
[ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list # USB for LeEco
[ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
# Remove old NEOS update file
# TODO: move this code to the updater
if [ -d /data/neoupdate ]; then
rm -rf /data/neoupdate
fi
# Check for NEOS update
if [ $(< /VERSION) != "14" ]; then
if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
if [ -f "$DIR/scripts/continue.sh" ]; then
cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
fi
if [ ! -f "$BASEDIR/prebuilt" ]; then
echo "Clearing build products and resetting scons state prior to NEOS update"
cd $BASEDIR && scons --clean
rm -rf /tmp/scons_cache
rm -r $BASEDIR/.sconsign.dblite
# Clean old build products, but preserve the scons cache
cd $DIR
scons --clean
git clean -xdf
git submodule foreach --recursive git clean -xdf
fi
"$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
else
if [[ $(uname -v) == "#1 SMP PREEMPT Wed Jun 10 12:40:53 PDT 2020" ]]; then

17
launch_env.sh 100755
View File

@ -0,0 +1,17 @@
#!/usr/bin/bash
export OMP_NUM_THREADS=1
export MKL_NUM_THREADS=1
export NUMEXPR_NUM_THREADS=1
export OPENBLAS_NUM_THREADS=1
export VECLIB_MAXIMUM_THREADS=1
if [ -z "$REQUIRED_NEOS_VERSION" ]; then
export REQUIRED_NEOS_VERSION="14"
fi
if [ -z "$PASSIVE" ]; then
export PASSIVE="1"
fi
export STAGING_ROOT="/data/safe_staging"

BIN
models/dmonitoring_model_q.dlc
View File

Binary file not shown.

1
opendbc/.gitignore vendored
View File

@ -14,4 +14,3 @@ can/packer_pyx.cpp
can/parser_pyx.cpp
can/packer_pyx.html
can/parser_pyx.html
can/packer_impl.cpp

9
opendbc/can/SConscript
View File

@ -1,4 +1,4 @@
Import('env', 'cereal')
Import('env', 'cereal', 'cython_dependencies')
import os
from opendbc.can.process_dbc import process
@ -17,7 +17,6 @@ for x in sorted(os.listdir('../')):
libdbc = env.SharedLibrary('libdbc', ["dbc.cc", "parser.cc", "packer.cc", "common.cc"]+dbcs, LIBS=["capnp", "kj"])
# Build packer and parser
env.Command(['packer_pyx.so', 'parser_pyx.so'],
[libdbc, cereal, 'common_pyx_setup.py', 'packer_pyx.pyx', 'parser_pyx.pyx', 'common.pxd'],
"cd opendbc/can && python3 common_pyx_setup.py build_ext --inplace")
env.Command(['packer_pyx.so', 'packer_pyx.cpp', 'parser_pyx.so', 'parser_pyx.cpp'],
cython_dependencies + [libdbc, cereal, 'common_pyx_setup.py', 'common.pxd', 'packer_pyx.pyx', 'parser_pyx.pyx', 'packer.cc', 'parser.cc'],
"cd opendbc/can && python3 common_pyx_setup.py build_ext --inplace")

4
opendbc/can/common_pyx_setup.py
View File

@ -63,9 +63,9 @@ setup(name='CAN parser',
include_dirs=include_dirs,
extra_link_args=extra_link_args,
),
nthreads=4,
annotate=ANNOTATE
),
nthreads=4,
)
if platform.system() == "Darwin":
@ -85,9 +85,9 @@ setup(name='CAN packer',
include_dirs=include_dirs,
extra_link_args=extra_link_args,
),
nthreads=4,
annotate=ANNOTATE
),
nthreads=4,
)
if platform.system() == "Darwin":

9
opendbc/can/parser_pyx.pyx
View File

@ -3,20 +3,17 @@
from libcpp.string cimport string
from libcpp.vector cimport vector
from libcpp cimport bool
from libcpp.unordered_set cimport unordered_set
from libc.stdint cimport uint32_t, uint64_t, uint16_t
from libcpp.map cimport map
from collections import defaultdict
from libcpp cimport bool
from common cimport CANParser as cpp_CANParser
from common cimport SignalParseOptions, MessageParseOptions, dbc_lookup, SignalValue, DBC
from libcpp cimport bool
import os
import numbers
from collections import defaultdict
cdef int CAN_INVALID_CNT = 5
@ -30,7 +27,7 @@ cdef class CANParser:
vector[SignalValue] can_values
bool test_mode_enabled
cdef public:
cdef readonly:
string dbc_name
dict vl
dict ts

13
opendbc/honda_crv_ex_2017_body_generated.dbc 100644
View File

@ -0,0 +1,13 @@
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
CM_ "honda_crv_ex_2017_body.dbc starts here"
BO_ 318291879 BSM_STATUS_RIGHT: 8 XXX
SG_ BSM_ALERT : 4|1@0+ (1,0) [0|1] "" XXX
SG_ BSM_MODE : 6|2@0+ (1,0) [0|3] "" XXX
BO_ 318291615 BSM_STATUS_LEFT: 8 XXX
SG_ BSM_ALERT : 4|1@0+ (1,0) [0|1] "" XXX
SG_ BSM_MODE : 6|2@0+ (1,0) [0|3] "" XXX
VAL_ 318291879 BSM_MODE 2 "blind_spot" 1 "cross_traffic" 0 "off";
VAL_ 318291615 BSM_MODE 2 "blind_spot" 1 "cross_traffic" 0 "off";

201
opendbc/hyundai_kia_generic.dbc
View File

@ -191,8 +191,12 @@ BO_ 916 TCS13: 8 ESC
SG_ BrakeLight : 11|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,SCC
SG_ DCEnable : 12|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC
SG_ AliveCounterTCS : 13|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,SCC
SG_ ACCReqLim : 22|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,SCC
SG_ TQI_ACC : 24|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS
SG_ Pre_TCS_CTL : 16|1@1+ (1.0,0.0) [0.0|1.0] "" Vector__XXX
SG_ EBA_ACK : 17|1@1+ (1.0,0.0) [0.0|1.0] "" Vector__XXX
SG_ FCA_ACK : 18|1@1+ (1.0,0.0) [0.0|1.0] "" Vector__XXX
SG_ DF_BF_STAT : 19|2@1+ (1.0,0.0) [0.0|3.0] "" BCW
SG_ SCCReqLim : 21|2@1+ (1.0,0.0) [0.0|3.0] "" SCC
SG_ TQI_SCC : 23|9@1+ (0.390625,0.0) [0.0|199.609375] "%" Vector__XXX
SG_ ACCEL_REF_ACC : 32|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" EMS,SCC
SG_ ACCEnable : 43|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,SCC
SG_ DriverOverride : 45|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,SCC
@ -448,6 +452,7 @@ BO_ 897 MDPS11: 8 MDPS
SG_ CF_Mdps_LKAS_FUNC : 58|1@1+ (1.0,0.0) [0.0|1.0] "flag" LDWS_LKAS
SG_ CF_Mdps_CurrMode : 59|2@1+ (1.0,0.0) [0.0|3.0] "" LDWS_LKAS
SG_ CF_Mdps_Type : 61|2@1+ (1.0,0.0) [0.0|2.0] "" LDWS_LKAS,SPAS
SG_ CF_MDPS_VSM_FUNC : 56|1@0+ (1.0,0.0) [0.0|1.0] "" XXX
BO_ 896 DI_BOX13: 8 DI_BOX
SG_ CF_DiBox_HPreInjVConfStat : 0|8@1+ (1.0,0.0) [0.0|255.0] "" EMS
@ -961,7 +966,7 @@ BO_ 64 DATC14: 8 DATC
SG_ DATC_ADSDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
BO_ 832 LKAS11: 8 LDWS_LKAS
SG_ CF_Lkas_Bca_R : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,IBOX,PSB
SG_ CF_Lkas_LdwsActivemode : 0|2@1+ (1,0) [0|3] "" CLU,IBOX,PSB
SG_ CF_Lkas_LdwsSysState : 2|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,IBOX,PSB
SG_ CF_Lkas_SysWarning : 6|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU
SG_ CF_Lkas_LdwsLHWarning : 10|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,PSB
@ -978,11 +983,11 @@ BO_ 832 LKAS11: 8 LDWS_LKAS
SG_ CF_Lkas_FcwSysState : 40|3@1+ (1.0,0.0) [0.0|7.0] "" CLU
SG_ CF_Lkas_FcwCollisionWarning : 43|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
SG_ CF_Lkas_FusionState : 45|2@1+ (1.0,0.0) [0.0|3.0] "" SCC
SG_ CF_Lkas_Unknown1 : 47|1@1+ (1.0,0.0) [0.0|1.0] "" XXX
SG_ CF_Lkas_Chksum : 48|8@1+ (1.0,0.0) [0.0|255.0] "" MDPS
SG_ CF_Lkas_FcwOpt_USM : 56|3@1+ (1.0,0.0) [0.0|7.0] "" CLU
SG_ CF_Lkas_LdwsOpt_USM : 59|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,MDPS
SG_ CF_Lkas_Unknown1 : 47|1@1+ (1,0) [0|3] "" XXX
SG_ CF_Lkas_Unknown2 : 63|2@0+ (1,0) [0|3] "" XXX
SG_ CF_Lkas_Unknown2 : 62|2@1+ (1.0,0.0) [0.0|1.0] "" XXX
BO_ 1342 LKAS12: 6 LDWS_LKAS
SG_ CF_Lkas_TsrSlifOpt : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
@ -1037,6 +1042,7 @@ BO_ 1322 CLU15: 8 CLU
SG_ CF_Clu_HudFontSizeSet : 31|2@1+ (1.0,0.0) [0.0|3.0] "" HUD
SG_ CF_Clu_LanguageInfo : 33|5@1+ (1.0,0.0) [0.0|31.0] "" BCM,PGS
SG_ CF_Clu_ClusterSound : 38|1@1- (1.0,0.0) [0.0|0.0] "" BCM,CGW,FATC
SG_ CF_Clu_VehicleSpeed2 : 48|8@1+ (1,0) [0|255] "" XXX
BO_ 1066 _4WD13: 6 _4WD
SG_ _4WD_CURRENT : 0|8@1+ (0.390625,0.0) [-50.0|50.0] "A" TCU
@ -1250,14 +1256,6 @@ BO_ 790 EMS11: 8 EMS
SG_ VS : 48|8@1+ (1.0,0.0) [0.0|254.0] "km/h" _4WD,AAF,ACU,AHLS,BCM,CLU,DATC,ECS,EPB,IBOX,LCA,LDWS_LKAS,LVR,MDPS,ODS,SCC,SMK,SPAS,TCU,TPMS
SG_ RATIO_TQI_BAS_MAX_STND : 56|8@1+ (0.0078,0.0) [0.0|2.0] "" _4WD,IBOX,TCU
BO_ 881 E_EMS11: 8 XXX
SG_ Cruise_Limit_Status : 13|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Limit_Target : 23|8@1+ (1,0) [0|15] "" XXX
SG_ Gear_Change : 12|1@0+ (1,0) [0|31] "" XXX
SG_ IG_Reactive_Stat : 8|3@1+ (1,0) [0|3] "" XXX
SG_ Brake_Pedal_Pos : 0|8@1+ (1,0) [0|127] "" XXX
SG_ Accel_Pedal_Pos : 31|8@1+ (1,0) [0|7] "" XXX
BO_ 1301 CLU14: 8 CLU
SG_ CF_Clu_ADrUNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] "" BCM
SG_ CF_Clu_ADrLNValueSet : 3|3@1+ (1.0,0.0) [0.0|7.0] "" BCM
@ -1380,6 +1378,7 @@ BO_ 1290 SCC13: 8 SCC
SG_ SCCDrvModeRValue : 0|3@1+ (1,0) [0|7] "" CLU
SG_ SCC_Equip : 3|1@1+ (1,0) [0|1] "" ESC
SG_ AebDrvSetStatus : 4|3@1+ (1,0) [0|7] "" CLU,ESC
SG_ Lead_Veh_Dep_Alert_USM : 13|2@0+ (1,0) [0|3] "" XXX
BO_ 1287 TCS15: 4 ESC
SG_ ABS_W_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,CUBIS,IBOX
@ -1451,6 +1450,18 @@ BO_ 909 FCA11: 8 FCA
SG_ Supplemental_Counter : 35|4@1+ (1,0) [0|15] "" XXX
SG_ PAINT1_Status : 16|2@1+ (1,0) [0|1] "" XXX
BO_ 1156 HDA11_MFC: 8 XXX
SG_ Counter : 5|4@0+ (1,0) [0|15] "" XXX
SG_ NEW_SIGNAL_1 : 1|2@0+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_2 : 7|2@0+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_3 : 15|8@0+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_4 : 16|2@1+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_5 : 18|14@1+ (1,0) [0|63] "" XXX
SG_ NEW_SIGNAL_6 : 33|2@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_7 : 34|14@1+ (1,0) [0|16383] "" XXX
SG_ NEW_SIGNAL_8 : 49|2@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_9 : 50|14@1- (1,-4095) [0|16383] "" XXX
BO_ 1155 FCA12: 8 FCA
SG_ FCA_USM : 0|3@1+ (1,0) [0|7] "" CGW,CLU,ESC
SG_ FCA_DrvSetState : 3|3@1+ (1,0) [0|7] "" CGW
@ -1459,22 +1470,166 @@ BO_ 1186 FRT_RADAR11: 2 FCA
SG_ CF_FCA_Equip_Front_Radar : 0|3@1+ (1,0) [0|7] "" LDWS_LKAS,LDW_LKA,ESC
BO_ 905 SCC14: 8 SCC
SG_ ComfortBandLower : 6|6@1+ (1,0) [0|0] "" Vector__XXX
SG_ ComfortBandUpper : 0|6@1+ (1,0) [0|0] "" Vector__XXX
SG_ JerkLowerLimit : 19|7@1+ (1,0) [0|0] "" Vector__XXX
SG_ JerkUpperLimit : 12|7@1+ (0.1,0) [0|0] "" Vector__XXX
SG_ ComfortBandUpper : 0|6@1+ (0.0986,-4.14) [0|1.26] "m/s^2" ESC
SG_ ComfortBandLower : 6|6@1+ (0.0986,-4.14) [0|1.26] "m/s^2" ESC
SG_ JerkUpperLimit : 12|7@1+ (1,0) [0|12.7] "m/s^3" ESC
SG_ JerkLowerLimit : 19|7@1+ (0.1,0) [0|12.7] "m/s^3" ESC
SG_ ACCMode : 32|3@1+ (1,0) [0|7] "" CLU,HUD,LDWS_LKAS,ESC
SG_ ObjGap : 56|8@1+ (1,0) [0|255] "" CLU,HUD,ESC
BO_ 882 ELECT_GEAR: 8 XXX
SG_ Elect_Gear_Shifter : 16|3@1+ (1,0) [0|7] "" CLU
BO_ 1157 LFAHDA_MFC: 4 XXX
SG_ LFA_USM : 28|2@1+ (1,0) [0|3] "" XXX
SG_ LFA_SysWarning : 16|2@1+ (1,0) [0|3] "" XXX
SG_ ACTIVE2 : 4|2@0+ (1,0) [0|3] "" XXX
SG_ HDA_USM : 0|2@1+ (1,0) [0|3] "" XXX
SG_ ACTIVE2 : 4|2@0+ (1,0) [0|3] "" XXX
SG_ LFA_SysWarning : 16|2@1+ (1,0) [0|3] "" XXX
SG_ ACTIVE : 25|1@1+ (1,0) [0|3] "" XXX
SG_ LFA_USM : 28|2@1+ (1,0) [0|3] "" XXX
BO_ 913 BCM_PO_11: 8 Vector__XXX
SG_ BCM_Door_Dri_Status : 5|1@0+ (1,0) [0|1] "" PT_ESC_ABS
SG_ BCM_Shift_R_MT_SW_Status : 39|2@0+ (1,0) [0|3] "" PT_ESC_ABS
BO_ 1426 LABEL11: 8 XXX
SG_ CC_React : 34|1@1+ (1,0) [0|1] "" XXX
BO_ 910 WHL_SPD12_FS: 5 iBAU
SG_ CRC : 0|8@1+ (1,0) [0|0] "" Vector__XXX
SG_ WHL_SPD12_AliveCounter : 8|4@1+ (1,0) [0|15] "" Vector__XXX
SG_ WHL_SPD_FL : 12|14@1+ (0.03125,0) [0|511.96875] "km/h" Vector__XXX
SG_ WHL_SPD_FR : 26|14@1+ (0.03125,0) [0|511.96875] "km/h" Vector__XXX
BO_ 911 WHL_SPD13_FS: 5 iBAU
SG_ CRC : 0|8@1+ (1,0) [0|0] "" Vector__XXX
SG_ WHL_SPD13_AliveCounter : 8|4@1+ (1,0) [0|15] "" Vector__XXX
SG_ WHL_SPD_RL : 12|14@1+ (0.03125,0) [0|511.96875] "km/h" Vector__XXX
SG_ WHL_SPD_RR : 26|14@1+ (0.03125,0) [0|511.96875] "km/h" Vector__XXX
BO_ 865 ADAS_PRK_11: 8 ADAS_PRK
SG_ CF_PCA_BrkReq : 24|1@1+ (1,0) [0|0] "" Vector__XXX
SG_ CF_PCA_DclTrgtVal : 28|4@1+ (0.04,0) [0|0] "g" Vector__XXX
SG_ PCA_ALIVE_CNT : 40|4@1+ (1,0) [0|0] "" Vector__XXX
SG_ PCA_CHECK_SUM : 48|8@1+ (1,0) [0|0] "" Vector__XXX
BO_ 882 ELECT_GEAR: 8 XXX
SG_ Elect_Gear_Shifter : 16|4@1+ (1,0) [0|7] "" CLU
BO_ 881 E_EMS11: 8 XXX
SG_ Brake_Pedal_Pos : 0|8@1+ (1,0) [0|127] "" XXX
SG_ IG_Reactive_Stat : 8|3@1+ (1,0) [0|3] "" XXX
SG_ Gear_Change : 12|1@0+ (1,0) [0|31] "" XXX
SG_ Cruise_Limit_Status : 13|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Limit_Target : 23|8@1+ (1,0) [0|15] "" XXX
SG_ Accel_Pedal_Pos : 31|8@1+ (1,0) [0|7] "" XXX
BO_ 1355 EV_PC6: 8 CGW
SG_ CF_Vcu_SbwWarnMsg : 16|3@1+ (1,0) [0|7] "" Vector__XXX
BO_ 1430 EV_PC2: 8 CGW
SG_ CR_Ldc_ActVol_LS_V : 32|8@1+ (0.1,0) [0|0] "V" Vector__XXX
BO_ 1535 EV_PC10: 8 CGW
SG_ CF_Vcu_EpbRequest : 37|1@1+ (1,0) [0|0] "" Vector__XXX
BO_ 908 RSPA11: 8 RSPA
SG_ CF_RSPA_State : 0|4@1+ (1,0) [0|15] "" XXX
SG_ CF_RSPA_Act : 4|2@1+ (1,0) [0|3] "" XXX
SG_ CF_RSPA_DecCmd : 6|2@1+ (1,0) [0|3] "" XXX
SG_ CF_RSPA_Trgt_Spd : 8|10@1+ (0.01,0) [0|10.23] "km/h" XXX
SG_ CF_RSPA_StopReq : 18|1@1+ (1,0) [0|2] "" XXX
SG_ CR_RSPA_EPB_Req : 22|2@1+ (1,0) [0|3] "" XXX
SG_ CF_RSPA_ACC_ACT : 50|1@1+ (1,0) [0|2] "" XXX
SG_ CF_RSPA_AliveCounter : 52|4@1+ (1,0) [0|15] "" XXX
SG_ CF_RSPA_CRC : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 914 S_MDPS11: 8 XXX
SG_ CF_Mdps_Stat : 0|4@1+ (1,0) [0|15] "" XXX
SG_ CR_Mdps_DrvTq : 8|12@1+ (1,0) [0|15] "" XXX
SG_ CR_Mdps_StrAng : 24|16@1- (1,0) [0|65535] "" XXX
SG_ CF_Mdps_AliveCnt : 47|8@0+ (1,0) [0|255] "" XXX
SG_ CF_Mdps_Chksum : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 357 S_MDPS12: 8 XXX
SG_ NEW_SIGNAL_1 : 0|12@1+ (1,0) [0|4095] "" XXX
SG_ NEW_SIGNAL_2 : 12|12@1+ (1,0) [0|4095] "" XXX
SG_ Counter : 48|4@1+ (1,0) [0|15] "" XXX
SG_ Checksum : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 352 AHB1: 8 iBAU
SG_ CF_Ahb_SLmp : 0|2@1+ (1,0) [0|3] "" CLU
SG_ CF_Ahb_Def : 2|2@1+ (1,0) [0|3] "" CGW
SG_ CF_Ahb_Act : 4|2@1+ (1,0) [0|3] "" Vector__XXX
SG_ CF_Ahb_Diag : 6|1@1+ (1,0) [0|1] "" Vector__XXX
SG_ CF_Ahb_WLmp : 7|1@1+ (1,0) [0|1] "" CLU
SG_ CR_Ahb_StDep_mm : 8|16@1- (0.1,0) [-3276.8|3276.7] "mm" Vector__XXX
SG_ CF_Ahb_SnsFail : 24|1@1+ (1,0) [0|1] "" Vector__XXX
SG_ CF_Ahb_PedalCalStat : 25|1@1+ (1,0) [0|1] "" Vector__XXX
SG_ CF_Ahb_Bzzr : 26|1@1+ (1,0) [0|1] "" Vector__XXX
SG_ CF_Ahb_ChkSum : 56|8@1+ (1,0) [0|255] "" Vector__XXX
BO_ 1191 4a7MFC: 8 XXX
SG_ PAINT1 : 0|1@0+ (1,0) [0|1] "" XXX
BO_ 1162 BCA11: 8 BCW
SG_ CF_BCA_State : 16|3@1+ (1,0) [0|7] "" CLU,iBAU
SG_ CF_BCA_Warning : 19|2@1+ (1,0) [0|3] "" CLU,iBAU
SG_ AliveCounter : 21|4@1+ (1,0) [0|15] "" CLU,iBAU
SG_ RCCA_Brake_Command : 29|1@1+ (1,0) [0|1] "" iBAU
SG_ Check_Sum : 56|8@1+ (1,0) [0|16] "" iBAU
BO_ 1136 P_STS: 6 CGW
SG_ HCU1_STS : 6|2@1+ (1,0) [0|3] "" BCW,EPB,FCA,MDPS,SCC,iBAU
SG_ HCU5_STS : 8|2@1+ (1,0) [0|3] "" EPB,FCA,MDPS,iBAU
BO_ 304 YRS11: 8 ACU
SG_ CR_Yrs_Yr : 0|16@1+ (0.005,-163.84) [-163.84|163.83] "deg/s" CGW,iBAU
SG_ CR_Yrs_LatAc : 16|16@1+ (0.000127465,-4.17677312) [-4.17677312|4.17651819] "g" iBAU
SG_ CF_Yrs_YrStat : 32|4@1+ (1,0) [0|15] "" iBAU
SG_ CF_Yrs_LatAcStat : 36|4@1+ (1,0) [0|15] "" iBAU
SG_ CF_Yrs_MCUStat : 40|4@1+ (1,0) [0|15] "" iBAU
SG_ CR_Yrs_MsgCnt1 : 48|4@1+ (1,0) [0|15] "" iBAU
SG_ CR_Yrs_Crc1 : 56|8@1+ (1,0) [0|255] "" iBAU
BO_ 320 YRS12: 8 ACU
SG_ CF_Yrs_LongAcStat : 16|4@1+ (1,0) [0|15] "" iBAU
SG_ CF_IMU_ResetStat : 20|4@1+ (1,0) [0|15] "" iBAU
SG_ YRS_Temp : 24|8@1+ (1,-68) [-68|187] "" iBAU
SG_ YRS_TempStat : 32|4@1+ (1,0) [0|15] "" iBAU
SG_ CF_Yrs_Type : 36|4@1+ (1,0) [0|15] "" iBAU
SG_ CR_Yrs_MsgCnt2 : 48|4@1+ (1,0) [0|15] "" iBAU
SG_ CR_Yrs_Crc2 : 56|8@1+ (1,0) [0|255] "" iBAU
SG_ CR_Yrs_LongAc : 0|16@1+ (0.000127465,-4.17677312) [-4.17677312|4.17651819] "g" CGW,iBAU
BO_ 1173 YRS13: 8 ACU
SG_ YRS_SeralNo : 16|48@1+ (1,0) [0|281474976710655] "" iBAU
BO_ 870 366_EMS: 8 EMS
SG_ N : 7|16@0+ (1,0.25) [0|16383.75] "rpm" XXX
SG_ EMS_Related : 23|16@0+ (1,0) [0|65535] "" XXX
SG_ TQFR : 39|8@0+ (0.390625,0) [0|99.6094] "%" XXX
SG_ VS : 40|8@1+ (1,0) [0|255] "km/h" MDPS
SG_ SWI_IGK : 48|1@0+ (1,0) [0|1] "" XXX
BO_ 854 356: 8 XXX
SG_ PAINT1 : 32|1@0+ (1,0) [0|1] "" XXX
SG_ PAINT2 : 34|2@0+ (1,0) [0|1] "" XXX
SG_ PAINT3 : 36|2@0+ (1,0) [0|3] "" XXX
SG_ PAINT4 : 38|1@0+ (1,0) [0|1] "" XXX
BO_ 1042 ICM_412h: 8 ICM
SG_ T_Outside_input : 0|9@0+ (0.01,0) [0|5] "V" Vector__XXX
SG_ WarningSoundOutput_1Group : 5|1@0+ (1,0) [0|1] "" Vector__XXX
SG_ WarningSoundOutput_2Group : 6|1@0+ (1,0) [0|1] "" Vector__XXX
SG_ WarningSoundOutput_3Group : 7|1@0+ (1,0) [0|1] "" Vector__XXX
SG_ TRIP_A_DT_Display_clock : 22|7@0+ (1,0) [0|99] "clock" Vector__XXX
SG_ TRIP_A_DT_Display_minute : 29|6@0+ (1,0) [0|59] "minute" Vector__XXX
SG_ TRIP_B_DT_Display_clock : 38|7@0+ (1,0) [0|99] "clock" Vector__XXX
SG_ TRIP_B_DT_Display_minute : 45|6@0+ (1,0) [0|59] "minute" Vector__XXX
SG_ PopupMessageOutput_1Level : 48|1@0+ (1,0) [0|1] "" Vector__XXX
SG_ PopupMessageOutput_2Level : 49|1@0+ (1,0) [0|1] "" Vector__XXX
SG_ PopupMessageOutput_3Level : 50|1@0+ (1,0) [0|1] "" Vector__XXX
SG_ PopupMessageOutput_4Level : 51|1@0+ (1,0) [0|1] "" Vector__XXX
SG_ PopupMessageOutput_5Level : 52|1@0+ (1,0) [0|1] "" Vector__XXX
SG_ PopupMessageOutput_6Level : 53|1@0+ (1,0) [0|1] "" Vector__XXX
SG_ PopupMessageOutput_7Level : 54|1@0+ (1,0) [0|1] "" Vector__XXX
SG_ PopupMessageOutput_8Level : 55|1@0+ (1,0) [0|1] "" Vector__XXX
VAL_ 909 CF_VSM_Warn 2 "FCW" 3 "AEB";

258
opendbc/subaru_forester_2017_generated.dbc 100644
View File

@ -0,0 +1,258 @@
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
CM_ "Imported file _subaru_preglobal_2015.dbc starts here"
VERSION ""
NS_ :
NS_DESC_
CM_
BA_DEF_
BA_
VAL_
CAT_DEF_
CAT_
FILTER
BA_DEF_DEF_
EV_DATA_
ENVVAR_DATA_
SGTYPE_
SGTYPE_VAL_
BA_DEF_SGTYPE_
BA_SGTYPE_
SIG_TYPE_REF_
VAL_TABLE_
SIG_GROUP_
SIG_VALTYPE_
SIGTYPE_VALTYPE_
BO_TX_BU_
BA_DEF_REL_
BA_REL_
BA_DEF_DEF_REL_
BU_SG_REL_
BU_EV_REL_
BU_BO_REL_
SG_MUL_VAL_
BS_:
BU_: XXX X
BO_ 2 Steering: 8 XXX
SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX
SG_ Counter : 27|3@0+ (1,0) [0|7] "" XXX
SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX
BO_ 208 G_Sensor: 8 XXX
SG_ Steering_Angle : 0|16@1- (-0.1,0) [-500|500] "" XXX
SG_ Lateral : 16|16@1- (-0.0035,1) [-255|255] "" XXX
SG_ Longitudinal : 48|16@1- (-0.00035,0) [-255|255] "" XXX
BO_ 209 Brake_Pedal: 8 XXX
SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX
SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX
BO_ 210 Brake_2: 8 XXX
SG_ Brake_Light : 35|1@1+ (1,0) [0|1] "" XXX
SG_ Brake_Related : 36|1@1+ (1,0) [0|1] "" XXX
SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX
SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 211 Brake_Type: 8 XXX
SG_ Brake_Light : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Speed_Counter : 32|8@1+ (1,0) [0|255] "" XXX
SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|1] "" XXX
SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|1] "" XXX
SG_ Counter : 48|8@1+ (1,0) [0|255] "" XXX
BO_ 212 Wheel_Speeds: 8 XXX
SG_ FL : 0|16@1+ (0.0592,0) [0|255] "KPH" XXX
SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX
SG_ RL : 32|16@1+ (0.0592,0) [0|255] "KPH" XXX
SG_ RR : 48|16@1+ (0.0592,0) [0|255] "KPH" XXX
BO_ 320 Throttle: 8 XXX
SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX
SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX
BO_ 321 Engine: 8 XXX
SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
SG_ Engine_Stop : 15|1@1+ (1,0) [0|1] "" XXX
SG_ Wheel_Torque : 16|12@1+ (1,0) [0|4095] "" XXX
SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX
BO_ 324 CruiseControl: 8 XXX
SG_ OnOffButton : 2|1@1+ (1,0) [0|1] "" XXX
SG_ SET_BUTTON : 3|1@1+ (1,0) [0|1] "" XXX
SG_ RES_BUTTON : 4|1@1+ (1,0) [0|1] "" XXX
SG_ Button : 13|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_On : 48|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 49|1@1+ (1,0) [0|1] "" XXX
SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|1] "" XXX
BO_ 328 Transmission: 8 XXX
SG_ Manual_Gear : 4|4@1+ (1,0) [0|15] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX
SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX
SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX
SG_ Paddle_Shift : 60|2@1+ (1,0) [0|3] "" XXX
BO_ 329 CVT_Ratio: 8 XXX
BO_ 336 Brake_Pressure: 8 XXX
SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX
BO_ 338 Stalk: 8 XXX
SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
SG_ Brake_Light : 52|1@1+ (1,0) [0|1] "" XXX
SG_ Runlights : 58|1@1+ (1,0) [0|1] "" XXX
SG_ Headlights : 59|1@1+ (1,0) [0|1] "" XXX
SG_ Highbeam : 60|1@1+ (1,0) [0|1] "" XXX
SG_ Wiper : 62|1@1+ (1,0) [0|1] "" XXX
BO_ 352 ES_Brake: 8 XXX
SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
SG_ ES_Error : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 353 ES_CruiseThrottle: 8 XXX
SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|4095] "" XXX
SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
SG_ DistanceSwap : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
SG_ ES_Error : 42|1@1+ (1,0) [0|1] "" XXX
SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
SG_ Button : 48|3@1+ (1,0) [0|7] "" XXX
SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 354 ES_RPM: 8 XXX
SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX
SG_ RPM : 16|16@1+ (1,0) [0|65535] "" XXX
SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
BO_ 356 ES_LKAS: 8 XXX
SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX
SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 359 ES_LDW: 8 XXX
SG_ All_depart_2015 : 0|1@1+ (1,0) [0|1] "" XXX
SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|1] "" XXX
SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|1] "" XXX
SG_ Sig1All_Depart : 28|1@1+ (1,0) [0|1] "" XXX
SG_ Sig2All_Depart : 31|1@1+ (1,0) [0|1] "" XXX
SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|1] "" XXX
SG_ LKAS_Active : 37|1@1+ (1,0) [0|1] "" XXX
SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|1] "" XXX
SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|1] "" XXX
SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|1] "" XXX
SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|1] "" XXX
SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|1] "" XXX
BO_ 604 BSD_RCTA: 8 XXX
SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
SG_ State : 5|1@1+ (1,0) [0|1] "" XXX
SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX
SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX
SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX
SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX
SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX
SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX
BO_ 642 Dashlights: 8 XXX
SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|1] "" XXX
SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|1] "" XXX
SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|1] "" XXX
BO_ 880 Steering_Torque_2: 8 XXX
SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
SG_ Counter : 40|4@1+ (1,0) [0|15] "" XXX
BO_ 884 BodyInfo: 8 XXX
SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX
BO_ 864 Engine_Temp: 8 XXX
SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX
SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX
SG_ Cruise_Activated : 45|1@1+ (1,0) [0|1] "" XXX
SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 866 Fuel: 8 XXX
BO_ 1745 Dash_State: 8 XXX
SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
CM_ SG_ 320 Throttle_Body "Throttle related";
CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert ";
CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart";
CM_ SG_ 359 Sig1All_Depart "Left and right depart";
CM_ SG_ 359 Sig2All_Depart "Left and right depart";
CM_ SG_ 359 All_depart_2015 "always 1 on 2017";
CM_ SG_ 604 R_APPROACHING "Faster car approaching in far right lane";
CM_ SG_ 604 L_APPROACHING "Faster car approaching in far left lane";
CM_ SG_ 604 R_RCTA "Rear cross traffic alert, only when in R gear";
CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear";
CM_ SG_ 642 Counter "Affected by signals";
CM_ SG_ 642 SEATBELT_FL "Driver seatbelt";
CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
VAL_ 1745 Units 0 "Metric" 1 "Imperial";
CM_ "subaru_forester_2017.dbc starts here"
BO_ 355 ES_DashStatus: 8 XXX
SG_ Not_Ready_Startup : 4|2@1+ (1,0) [0|3] "" XXX
SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 40|3@1+ (1,0) [0|7] "" XXX
SG_ Cruise_Activated : 54|1@1+ (1,0) [0|1] "" XXX
BO_ 881 Steering_Torque: 8 XXX
SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX

209
opendbc/subaru_global_2017.dbc
View File

@ -1,209 +0,0 @@
VERSION ""
NS_ :
NS_DESC_
CM_
BA_DEF_
BA_
VAL_
CAT_DEF_
CAT_
FILTER
BA_DEF_DEF_
EV_DATA_
ENVVAR_DATA_
SGTYPE_
SGTYPE_VAL_
BA_DEF_SGTYPE_
BA_SGTYPE_
SIG_TYPE_REF_
VAL_TABLE_
SIG_GROUP_
SIG_VALTYPE_
SIGTYPE_VALTYPE_
BO_TX_BU_
BA_DEF_REL_
BA_REL_
BA_DEF_DEF_REL_
BU_SG_REL_
BU_EV_REL_
BU_BO_REL_
SG_MUL_VAL_
BS_:
BU_: XXX X
BO_ 2 Steering: 8 XXX
SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX
SG_ Counter : 25|3@1+ (1,0) [0|7] "" XXX
SG_ CHECKSUM : 32|8@1+ (1,0) [0|255] "" XXX
BO_ 64 Throttle: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|255] "" XXX
SG_ Engine_RPM : 16|12@1+ (1,0) [0|255] "" XXX
SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
SG_ Throttle_Combo : 48|8@1+ (1,0) [0|255] "" XXX
SG_ Off_Accel : 60|4@1+ (1,0) [0|7] "" XXX
BO_ 72 Transmission: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Gear : 24|8@1+ (1,0) [0|255] "" XXX
BO_ 326 Cruise_Buttons: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Signal1 : 12|30@1+ (1,0) [0|1073741823] "" XXX
SG_ Main : 42|1@1+ (1,0) [0|1] "" XXX
SG_ set : 43|1@1+ (1,0) [0|1] "" XXX
SG_ Resume : 44|1@1+ (1,0) [0|1] "" XXX
SG_ Signal2 : 45|19@1+ (1,0) [0|524287] "" XXX
BO_ 315 G_Sensor: 8 XXX
SG_ Lateral : 48|8@1- (-0.1,0) [0|255] "m/s2" XXX
SG_ Longitudinal : 56|8@1- (-0.1,0) [0|255] "m/s2" XXX
BO_ 314 Wheel_Speeds: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ FR : 12|13@1+ (0.057,0) [0|255] "kph" XXX
SG_ RR : 25|13@1+ (0.057,0) [0|255] "kph" XXX
SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" XXX
SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX
BO_ 281 Steering_Torque: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|3] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Steer_Error_1 : 12|1@0+ (1,0) [0|1] "" XXX
SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [0|3] "" XXX
SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|1] "" XXX
SG_ Steer_Warning : 29|1@1+ (1,0) [0|1] "" XXX
SG_ Steering_Angle : 32|16@1- (-0.0217,0) [0|255] "" X
SG_ Steer_Torque_Output : 48|11@1- (-1,0) [0|31] "" XXX
BO_ 312 Brake_Pressure_L_R: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|31] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|3] "" XXX
SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX
SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 313 Brake_Pedal: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Brake_Pedal_On : 34|1@1+ (1,0) [0|7] "" XXX
SG_ Brake_Pedal : 36|12@1+ (1,0) [0|65535] "" XXX
BO_ 290 ES_LKAS: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ SET_1 : 12|1@0+ (1,0) [0|3] "" XXX
SG_ LKAS_Output : 16|13@1- (-1,0) [0|3] "" XXX
SG_ LKAS_Request : 29|1@0+ (1,0) [0|3] "" XXX
BO_ 544 ES_Brake: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Brake_Pressure : 16|16@1+ (1,0) [0|255] "" XXX
SG_ __Status : 36|4@1+ (1,0) [0|63] "" XXX
BO_ 545 ES_Distance: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Signal1 : 12|20@1+ (1,0) [0|15] "" XXX
SG_ Signal2 : 32|24@1+ (1,0) [0|15] "" XXX
SG_ Main : 56|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 57|7@1+ (1,0) [0|1] "" XXX
BO_ 546 ES_Status: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ RPM : 16|12@1+ (1,0) [0|255] "" XXX
SG_ Cruise_Activated : 29|1@0+ (1,0) [0|3] "" XXX
SG_ Cruise_Brake : 30|1@1+ (1,0) [0|3] "" XXX
BO_ 576 CruiseControl: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Cruise_On : 40|1@1+ (1,0) [0|3] "" XXX
SG_ Cruise_Activated : 41|1@1+ (1,0) [0|3] "" XXX
BO_ 552 BSD_RCTA: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ R_ADJACENT : 48|1@1+ (1,0) [0|1] "" XXX
SG_ L_ADJACENT : 49|1@1+ (1,0) [0|1] "" XXX
SG_ R_APPROACHING : 58|1@1+ (1,0) [0|1] "" XXX
SG_ L_APPROACHING : 59|1@1+ (1,0) [0|1] "" XXX
BO_ 912 Dashlights: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX
SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|3] "" XXX
SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX
BO_ 940 BodyInfo: 8 XXX
SG_ DOOR_OPEN_FL : 32|1@1+ (1,0) [0|255] "" XXX
SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|3] "" XXX
SG_ DOOR_OPEN_RL : 34|1@1+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RR : 35|1@1+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_TRUNK : 36|1@0+ (1,0) [0|1] "" XXX
SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
SG_ Lowbeam : 57|1@1+ (1,0) [0|3] "" XXX
SG_ Highbeam : 58|1@1+ (1,0) [0|1] "" XXX
SG_ FOG_LIGHTS2 : 60|1@1+ (1,0) [0|1] "" XXX
SG_ WIPERS : 62|1@0+ (1,0) [0|1] "" XXX
BO_ 801 ES_DashStatus: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|7] "" XXX
SG_ Cruise_Distance : 28|3@1+ (1,0) [0|3] "" XXX
SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|3] "" XXX
SG_ Cruise_Activated : 36|1@1+ (1,0) [0|3] "" XXX
SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
SG_ Cruise_Fault : 48|1@1+ (1,0) [0|1] "" XXX
SG_ Brake_Pedal : 51|1@1+ (1,0) [0|3] "" XXX
SG_ Car_Follow : 52|1@1+ (1,0) [0|3] "" XXX
SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
SG_ Cruise_State : 60|4@1+ (1,0) [0|15] "" XXX
BO_ 802 ES_LKAS_State: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Keep_Hands_On_Wheel : 12|1@1+ (1,0) [0|1] "" XXX
SG_ Empty_Box : 13|1@1+ (1,0) [0|1] "" XXX
SG_ Signal1 : 14|3@1+ (1,0) [0|7] "" XXX
SG_ LKAS_ACTIVE : 17|1@1+ (1,0) [0|3] "" XXX
SG_ Signal2 : 18|5@1+ (1,0) [0|7] "" XXX
SG_ Backward_Speed_Limit_Menu : 23|1@1+ (1,0) [0|1] "" XXX
SG_ LKAS_ENABLE_3 : 24|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 25|1@1+ (1,0) [0|1] "" XXX
SG_ LKAS_ENABLE_2 : 26|1@1+ (1,0) [0|1] "" XXX
SG_ Signal4 : 27|1@1+ (1,0) [0|1] "" XXX
SG_ LKAS_Left_Line_Visible : 28|1@1+ (1,0) [0|1] "" XXX
SG_ Signal6 : 29|1@1+ (1,0) [0|1] "" XXX
SG_ LKAS_Right_Line_Visible : 30|1@1+ (1,0) [0|1] "" XXX
SG_ Signal7 : 31|1@1+ (1,0) [0|1] "" XXX
SG_ FCW_Cont_Beep : 32|1@1+ (1,0) [0|1] "" XXX
SG_ FCW_Repeated_Beep : 33|1@1+ (1,0) [0|1] "" XXX
SG_ Throttle_Management_Activated : 34|1@1+ (1,0) [0|1] "" XXX
SG_ Traffic_light_Ahead : 35|1@1+ (1,0) [0|1] "" XXX
SG_ Right_Depart : 36|1@1+ (1,0) [0|3] "" XXX
SG_ Signal5 : 37|27@1+ (1,0) [0|1] "" XXX
BO_ 1677 Dash_State: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX
CM_ SG_ 801 Cruise_State "0 = Normal, 3 = Hold";
CM_ SG_ 802 Traffic_light_Ahead "Crosstrek 2018 = car in front has moved";
CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
CM_ SG_ 1677 Units "1 = imperial, 6 = metric";
VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6";

306
opendbc/subaru_global_2017_generated.dbc 100644
View File

@ -0,0 +1,306 @@
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
CM_ "Imported file _subaru_global.dbc starts here"
VERSION ""
NS_ :
NS_DESC_
CM_
BA_DEF_
BA_
VAL_
CAT_DEF_
CAT_
FILTER
BA_DEF_DEF_
EV_DATA_
ENVVAR_DATA_
SGTYPE_
SGTYPE_VAL_
BA_DEF_SGTYPE_
BA_SGTYPE_
SIG_TYPE_REF_
VAL_TABLE_
SIG_GROUP_
SIG_VALTYPE_
SIGTYPE_VALTYPE_
BO_TX_BU_
BA_DEF_REL_
BA_REL_
BA_DEF_DEF_REL_
BU_SG_REL_
BU_EV_REL_
BU_BO_REL_
SG_MUL_VAL_
BS_:
BU_: XXX X
BO_ 2 Steering: 8 XXX
SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX
SG_ Counter : 25|3@1+ (1,0) [0|7] "" XXX
SG_ CHECKSUM : 32|8@1+ (1,0) [0|255] "" XXX
BO_ 64 Throttle: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Engine_RPM : 16|12@1+ (1,0) [0|4095] "" XXX
SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
SG_ Throttle_Combo : 48|8@1+ (1,0) [0|255] "" XXX
SG_ Signal1 : 56|4@1+ (1,0) [0|15] "" XXX
SG_ Off_Accel : 60|4@1+ (1,0) [0|15] "" XXX
BO_ 316 Brake_Status: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Signal1 : 12|46@1+ (1,0) [0|1] "" XXX
SG_ ES_Brake : 58|1@1+ (1,0) [0|1] "" XXX
SG_ Signal2 : 59|3@1+ (1,0) [0|1] "" XXX
SG_ Brake : 62|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 63|1@1+ (1,0) [0|1] "" XXX
BO_ 326 Cruise_Buttons: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Signal1 : 12|30@1+ (1,0) [0|1073741823] "" XXX
SG_ Main : 42|1@1+ (1,0) [0|1] "" XXX
SG_ Set : 43|1@1+ (1,0) [0|1] "" XXX
SG_ Resume : 44|1@1+ (1,0) [0|1] "" XXX
SG_ Signal2 : 45|19@1+ (1,0) [0|524287] "" XXX
BO_ 315 G_Sensor: 8 XXX
SG_ Lateral : 48|8@1- (-0.1,0) [0|255] "m/s2" XXX
SG_ Longitudinal : 56|8@1- (-0.1,0) [0|255] "m/s2" XXX
BO_ 314 Wheel_Speeds: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ FR : 12|13@1+ (0.057,0) [0|255] "kph" XXX
SG_ RR : 25|13@1+ (0.057,0) [0|255] "kph" XXX
SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" XXX
SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX
BO_ 280 STOP_START: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ State : 63|1@1+ (1,0) [0|1] "" XXX
BO_ 281 Steering_Torque: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Steer_Error_1 : 12|1@0+ (1,0) [0|1] "" XXX
SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [-1000|1000] "" XXX
SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|1] "" XXX
SG_ Steer_Warning : 29|1@1+ (1,0) [0|1] "" XXX
SG_ Steering_Angle : 32|16@1- (-0.0217,0) [-600|600] "" X
SG_ Steer_Torque_Output : 48|11@1- (-1,0) [-1000|1000] "" XXX
BO_ 312 Brake_Pressure_L_R: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX
SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 313 Brake_Pedal: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
SG_ Speed : 16|12@1+ (0.05625,0) [0|255] "kph" XXX
SG_ Signal2 : 28|6@1+ (1,0) [0|63] "" XXX
SG_ Brake_Lights : 34|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 35|1@1+ (1,0) [0|1] "" XXX
SG_ Brake_Pedal : 36|12@1+ (1,0) [0|4095] "" XXX
SG_ Signal4 : 48|16@1+ (1,0) [0|65535] "" XXX
BO_ 290 ES_LKAS: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ SET_1 : 12|1@0+ (1,0) [0|1] "" XXX
SG_ LKAS_Output : 16|13@1- (-1,0) [-8191|8191] "" XXX
SG_ LKAS_Request : 29|1@0+ (1,0) [0|1] "" XXX
BO_ 544 ES_Brake: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
SG_ Brake_Pressure : 16|16@1+ (1,0) [0|65535] "" XXX
SG_ Signal2 : 32|4@1+ (1,0) [0|15] "" XXX
SG_ Cruise_Brake_Lights : 36|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Brake_Fault : 37|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Brake_Active : 38|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 39|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 40|24@1+ (1,0) [0|16777215] "" XXX
BO_ 577 Cruise_Status: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Cruise_On : 54|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 55|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Active : 57|4@1+ (1,0) [0|15] "" XXX
BO_ 552 BSD_RCTA: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ R_ADJACENT : 48|1@1+ (1,0) [0|1] "" XXX
SG_ L_ADJACENT : 49|1@1+ (1,0) [0|1] "" XXX
SG_ R_APPROACHING : 58|1@1+ (1,0) [0|1] "" XXX
SG_ L_APPROACHING : 59|1@1+ (1,0) [0|1] "" XXX
BO_ 912 Dashlights: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ ICY_ROAD : 32|2@1+ (1,0) [0|3] "" XXX
SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX
SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|1] "" XXX
SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX
BO_ 940 BodyInfo: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ DOOR_OPEN_FL : 32|1@1+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RL : 34|1@1+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RR : 35|1@1+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_TRUNK : 36|1@0+ (1,0) [0|1] "" XXX
SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX
SG_ Lowbeam : 57|1@1+ (1,0) [0|1] "" XXX
SG_ Highbeam : 58|1@1+ (1,0) [0|1] "" XXX
SG_ FOG_LIGHTS2 : 60|1@1+ (1,0) [0|1] "" XXX
SG_ WIPERS : 62|1@0+ (1,0) [0|1] "" XXX
SG_ BRAKE : 54|1@1+ (1,0) [0|1] "" XXX
BO_ 801 ES_DashStatus: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ PCB_Off : 12|1@1+ (1,0) [0|1] "" XXX
SG_ LDW_Off : 13|1@1+ (1,0) [0|1] "" XXX
SG_ Signal1 : 14|10@1+ (1,0) [0|1023] "" XXX
SG_ Cruise_Soft_Disable : 24|1@1+ (1,0) [0|1] "" XXX
SG_ Signal2 : 25|3@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Distance : 28|3@1+ (1,0) [0|7] "" XXX
SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX
SG_ Conventional_Cruise : 32|1@1+ (1,0) [0|1] "" XXX
SG_ Signal4 : 33|2@1+ (1,0) [0|3] "" XXX
SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 36|1@1+ (1,0) [0|1] "" XXX
SG_ Signal5 : 37|3@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX
SG_ Cruise_Fault : 48|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_On : 49|1@1+ (1,0) [0|1] "" XXX
SG_ Signal6 : 50|1@1+ (1,0) [0|1] "" XXX
SG_ Brake_Lights : 51|1@1+ (1,0) [0|1] "" XXX
SG_ Car_Follow : 52|1@1+ (1,0) [0|1] "" XXX
SG_ Signal7 : 53|3@1+ (1,0) [0|1] "" XXX
SG_ Far_Distance : 56|4@1+ (1,0) [0|15] "" XXX
SG_ Cruise_State : 60|4@1+ (1,0) [0|15] "" XXX
BO_ 802 ES_LKAS_State: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Keep_Hands_On_Wheel : 12|1@1+ (1,0) [0|1] "" XXX
SG_ Empty_Box : 13|1@1+ (1,0) [0|1] "" XXX
SG_ Signal1 : 14|3@1+ (1,0) [0|7] "" XXX
SG_ LKAS_ACTIVE : 17|1@1+ (1,0) [0|1] "" XXX
SG_ Signal2 : 18|5@1+ (1,0) [0|31] "" XXX
SG_ Backward_Speed_Limit_Menu : 23|1@1+ (1,0) [0|1] "" XXX
SG_ LKAS_ENABLE_3 : 24|1@1+ (1,0) [0|1] "" XXX
SG_ LKAS_Left_Line_Light_Blink : 25|1@1+ (1,0) [0|1] "" XXX
SG_ LKAS_ENABLE_2 : 26|1@1+ (1,0) [0|1] "" XXX
SG_ LKAS_Right_Line_Light_Blink : 27|1@1+ (1,0) [0|1] "" XXX
SG_ LKAS_Left_Line_Visible : 28|1@1+ (1,0) [0|1] "" XXX
SG_ LKAS_Left_Line_Green : 29|1@1+ (1,0) [0|1] "" XXX
SG_ LKAS_Right_Line_Visible : 30|1@1+ (1,0) [0|1] "" XXX
SG_ LKAS_Right_Line_Green : 31|1@1+ (1,0) [0|1] "" XXX
SG_ LKAS_Alert : 32|4@1+ (1,0) [0|15] "" XXX
SG_ Signal3 : 36|28@1+ (1,0) [0|1] "" XXX
BO_ 722 AC_State: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ AC_Mode : 37|3@1+ (1,0) [0|1] "" XXX
SG_ AC_ON : 24|2@1+ (1,0) [0|1] "" XXX
BO_ 1677 Dash_State: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX
CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal";
CM_ SG_ 313 Brake_Lights "Driver or Cruise Brake on";
CM_ SG_ 544 Cruise_Brake_Lights "1 = switch on brake lights";
CM_ SG_ 801 PCB_Off "Pre-Collision Braking off";
CM_ SG_ 801 Brake_Lights "Driver or Cruise brake on";
CM_ SG_ 801 Cruise_State "0 = Normal, 1 = Hold+User Brake, 2 = Ready, 3 = Hold";
CM_ SG_ 801 Far_Distance "1=0-5m, 2=5-10m, 3=10-15m, 4=15-20m, 5=20-25m, 6=25-30m, 7=30-35m, 8=35-40m, 9=40-45m, 10=45-50m, 11=50-55m, 12=55-60m, 13=60-65m, 14=65-70m, 15=75m+";
CM_ SG_ 801 Cruise_Soft_Disable "Eyesight soft disable (eg direct sunlight)";
CM_ SG_ 802 LKAS_Alert "1 = FCW_Cont_Beep, 2 = FCW_Repeated_Beep, 3 = Throttle_Management_Activated_Warning, 4 = Throttle_Management_Activated_Alert, 8 = Traffic_Light_Ahead, 9 = Apply_Brake_to_Hold Position, 11 = LDW_Right, 12 = LDW_Left, 13 = Stay_Alert, 14 = Lead_Vehicle_Start_Alert";
CM_ SG_ 912 ICY_ROAD "1 = DASHLIGHT ON, 2 = WARNING, 3 = OFF";
CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam";
CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash";
CM_ SG_ 1677 Units "AU/EU: 1 = imperial, 3 = metric US: 3 = imperial, 4 = metric";
CM_ "subaru_global_2017.dbc starts here"
BO_ 72 Transmission: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Gear : 24|8@1+ (1,0) [0|255] "" XXX
SG_ RPM : 40|16@1+ (1,0) [0|65535] "" XXX
BO_ 73 CVT: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ CVT_Gear : 24|8@1+ (1,0) [0|255] "" XXX
BO_ 545 ES_Distance: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Signal1 : 12|3@1+ (1,0) [0|7] "" XXX
SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Throttle : 16|12@1+ (1,0) [0|4095] "" XXX
SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX
SG_ Car_Follow : 32|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 33|3@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Brake_Active : 36|1@1+ (1,0) [0|1] "" XXX
SG_ Distance_Swap : 37|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_EPB : 38|1@1+ (1,0) [0|1] "" XXX
SG_ Signal4 : 39|1@0+ (1,0) [0|1] "" XXX
SG_ Close_Distance : 40|8@1+ (1,0) [0|1] "" XXX
SG_ Signal5 : 48|8@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Cancel : 56|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Set : 57|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Resume : 58|1@1+ (1,0) [0|1] "" XXX
SG_ Signal6 : 59|5@1+ (1,0) [0|1] "" XXX
BO_ 546 ES_Status: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Signal1 : 12|3@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_RPM : 16|12@1+ (1,0) [0|4095] "" XXX
SG_ Signal2 : 28|1@0+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 29|1@0+ (1,0) [0|1] "" XXX
SG_ Brake_Lights : 30|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Hold : 31|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 32|32@1+ (1,0) [0|1] "" XXX
BO_ 576 CruiseControl: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Signal1 : 12|28@1+ (1,0) [0|268435455] "" XXX
SG_ Cruise_On : 40|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 41|1@1+ (1,0) [0|1] "" XXX
SG_ Signal2 : 42|22@1+ (1,0) [0|4194303] "" XXX
CM_ SG_ 545 Cruise_Throttle "RPM-like output signal";
CM_ SG_ 545 Cruise_EPB "1 = Electric Parking Brake set";
CM_ SG_ 545 Distance_Swap "Switch from Close to Far distance";
CM_ SG_ 546 Cruise_RPM "ES RPM output for ECM and TCM";
CM_ SG_ 546 Signal3 "0 when cruise_activated = 1";
VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6";

273
opendbc/subaru_outback_2015_generated.dbc 100644
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@ -0,0 +1,273 @@
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
CM_ "Imported file _subaru_preglobal_2015.dbc starts here"
VERSION ""
NS_ :
NS_DESC_
CM_
BA_DEF_
BA_
VAL_
CAT_DEF_
CAT_
FILTER
BA_DEF_DEF_
EV_DATA_
ENVVAR_DATA_
SGTYPE_
SGTYPE_VAL_
BA_DEF_SGTYPE_
BA_SGTYPE_
SIG_TYPE_REF_
VAL_TABLE_
SIG_GROUP_
SIG_VALTYPE_
SIGTYPE_VALTYPE_
BO_TX_BU_
BA_DEF_REL_
BA_REL_
BA_DEF_DEF_REL_
BU_SG_REL_
BU_EV_REL_
BU_BO_REL_
SG_MUL_VAL_
BS_:
BU_: XXX X
BO_ 2 Steering: 8 XXX
SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX
SG_ Counter : 27|3@0+ (1,0) [0|7] "" XXX
SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX
BO_ 208 G_Sensor: 8 XXX
SG_ Steering_Angle : 0|16@1- (-0.1,0) [-500|500] "" XXX
SG_ Lateral : 16|16@1- (-0.0035,1) [-255|255] "" XXX
SG_ Longitudinal : 48|16@1- (-0.00035,0) [-255|255] "" XXX
BO_ 209 Brake_Pedal: 8 XXX
SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX
SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX
BO_ 210 Brake_2: 8 XXX
SG_ Brake_Light : 35|1@1+ (1,0) [0|1] "" XXX
SG_ Brake_Related : 36|1@1+ (1,0) [0|1] "" XXX
SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX
SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 211 Brake_Type: 8 XXX
SG_ Brake_Light : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Speed_Counter : 32|8@1+ (1,0) [0|255] "" XXX
SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|1] "" XXX
SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|1] "" XXX
SG_ Counter : 48|8@1+ (1,0) [0|255] "" XXX
BO_ 212 Wheel_Speeds: 8 XXX
SG_ FL : 0|16@1+ (0.0592,0) [0|255] "KPH" XXX
SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX
SG_ RL : 32|16@1+ (0.0592,0) [0|255] "KPH" XXX
SG_ RR : 48|16@1+ (0.0592,0) [0|255] "KPH" XXX
BO_ 320 Throttle: 8 XXX
SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX
SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX
BO_ 321 Engine: 8 XXX
SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
SG_ Engine_Stop : 15|1@1+ (1,0) [0|1] "" XXX
SG_ Wheel_Torque : 16|12@1+ (1,0) [0|4095] "" XXX
SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX
BO_ 324 CruiseControl: 8 XXX
SG_ OnOffButton : 2|1@1+ (1,0) [0|1] "" XXX
SG_ SET_BUTTON : 3|1@1+ (1,0) [0|1] "" XXX
SG_ RES_BUTTON : 4|1@1+ (1,0) [0|1] "" XXX
SG_ Button : 13|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_On : 48|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 49|1@1+ (1,0) [0|1] "" XXX
SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|1] "" XXX
BO_ 328 Transmission: 8 XXX
SG_ Manual_Gear : 4|4@1+ (1,0) [0|15] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX
SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX
SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX
SG_ Paddle_Shift : 60|2@1+ (1,0) [0|3] "" XXX
BO_ 329 CVT_Ratio: 8 XXX
BO_ 336 Brake_Pressure: 8 XXX
SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX
BO_ 338 Stalk: 8 XXX
SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
SG_ Brake_Light : 52|1@1+ (1,0) [0|1] "" XXX
SG_ Runlights : 58|1@1+ (1,0) [0|1] "" XXX
SG_ Headlights : 59|1@1+ (1,0) [0|1] "" XXX
SG_ Highbeam : 60|1@1+ (1,0) [0|1] "" XXX
SG_ Wiper : 62|1@1+ (1,0) [0|1] "" XXX
BO_ 352 ES_Brake: 8 XXX
SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
SG_ ES_Error : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 353 ES_CruiseThrottle: 8 XXX
SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|4095] "" XXX
SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
SG_ DistanceSwap : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
SG_ ES_Error : 42|1@1+ (1,0) [0|1] "" XXX
SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
SG_ Button : 48|3@1+ (1,0) [0|7] "" XXX
SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 354 ES_RPM: 8 XXX
SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX
SG_ RPM : 16|16@1+ (1,0) [0|65535] "" XXX
SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
BO_ 356 ES_LKAS: 8 XXX
SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX
SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 359 ES_LDW: 8 XXX
SG_ All_depart_2015 : 0|1@1+ (1,0) [0|1] "" XXX
SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|1] "" XXX
SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|1] "" XXX
SG_ Sig1All_Depart : 28|1@1+ (1,0) [0|1] "" XXX
SG_ Sig2All_Depart : 31|1@1+ (1,0) [0|1] "" XXX
SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|1] "" XXX
SG_ LKAS_Active : 37|1@1+ (1,0) [0|1] "" XXX
SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|1] "" XXX
SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|1] "" XXX
SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|1] "" XXX
SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|1] "" XXX
SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|1] "" XXX
BO_ 604 BSD_RCTA: 8 XXX
SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
SG_ State : 5|1@1+ (1,0) [0|1] "" XXX
SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX
SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX
SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX
SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX
SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX
SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX
BO_ 642 Dashlights: 8 XXX
SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|1] "" XXX
SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|1] "" XXX
SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|1] "" XXX
BO_ 880 Steering_Torque_2: 8 XXX
SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
SG_ Counter : 40|4@1+ (1,0) [0|15] "" XXX
BO_ 884 BodyInfo: 8 XXX
SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX
BO_ 864 Engine_Temp: 8 XXX
SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX
SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX
SG_ Cruise_Activated : 45|1@1+ (1,0) [0|1] "" XXX
SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 866 Fuel: 8 XXX
BO_ 1745 Dash_State: 8 XXX
SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
CM_ SG_ 320 Throttle_Body "Throttle related";
CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert ";
CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart";
CM_ SG_ 359 Sig1All_Depart "Left and right depart";
CM_ SG_ 359 Sig2All_Depart "Left and right depart";
CM_ SG_ 359 All_depart_2015 "always 1 on 2017";
CM_ SG_ 604 R_APPROACHING "Faster car approaching in far right lane";
CM_ SG_ 604 L_APPROACHING "Faster car approaching in far left lane";
CM_ SG_ 604 R_RCTA "Rear cross traffic alert, only when in R gear";
CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear";
CM_ SG_ 642 Counter "Affected by signals";
CM_ SG_ 642 SEATBELT_FL "Driver seatbelt";
CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
VAL_ 1745 Units 0 "Metric" 1 "Imperial";
CM_ "subaru_outback_2015.dbc starts here"
BO_ 358 ES_DashStatus: 8 XXX
SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX
SG_ Seatbelt_Disengage : 12|2@1+ (1,0) [0|3] "" XXX
SG_ Disengage_Alert : 14|2@1+ (1,0) [0|3] "" XXX
SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 17|1@1+ (1,0) [0|1] "" XXX
SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX
SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX
SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Distance_Bars : 21|3@1+ (1,0) [0|7] "" XXX
SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
SG_ ES_Error : 32|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" XXX
SG_ Counter : 37|3@1+ (1,0) [0|7] "" XXX
SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
SG_ Lead_Car : 46|1@1+ (1,0) [0|1] "" XXX
SG_ Obstacle_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
BO_ 881 Steering_Torque: 8 XXX
SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
SG_ Steer_Torque_Sensor : 29|11@1- (1,0) [-1000|1000] "" XXX
SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX
CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
CM_ SG_ 358 ES_Error "No engagement until restart";
CM_ SG_ 358 Lead_Car "front car detected";

273
opendbc/subaru_outback_2019_generated.dbc 100644
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@ -0,0 +1,273 @@
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
CM_ "Imported file _subaru_preglobal_2015.dbc starts here"
VERSION ""
NS_ :
NS_DESC_
CM_
BA_DEF_
BA_
VAL_
CAT_DEF_
CAT_
FILTER
BA_DEF_DEF_
EV_DATA_
ENVVAR_DATA_
SGTYPE_
SGTYPE_VAL_
BA_DEF_SGTYPE_
BA_SGTYPE_
SIG_TYPE_REF_
VAL_TABLE_
SIG_GROUP_
SIG_VALTYPE_
SIGTYPE_VALTYPE_
BO_TX_BU_
BA_DEF_REL_
BA_REL_
BA_DEF_DEF_REL_
BU_SG_REL_
BU_EV_REL_
BU_BO_REL_
SG_MUL_VAL_
BS_:
BU_: XXX X
BO_ 2 Steering: 8 XXX
SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX
SG_ Counter : 27|3@0+ (1,0) [0|7] "" XXX
SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX
BO_ 208 G_Sensor: 8 XXX
SG_ Steering_Angle : 0|16@1- (-0.1,0) [-500|500] "" XXX
SG_ Lateral : 16|16@1- (-0.0035,1) [-255|255] "" XXX
SG_ Longitudinal : 48|16@1- (-0.00035,0) [-255|255] "" XXX
BO_ 209 Brake_Pedal: 8 XXX
SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX
SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX
BO_ 210 Brake_2: 8 XXX
SG_ Brake_Light : 35|1@1+ (1,0) [0|1] "" XXX
SG_ Brake_Related : 36|1@1+ (1,0) [0|1] "" XXX
SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX
SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 211 Brake_Type: 8 XXX
SG_ Brake_Light : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Speed_Counter : 32|8@1+ (1,0) [0|255] "" XXX
SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|1] "" XXX
SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|1] "" XXX
SG_ Counter : 48|8@1+ (1,0) [0|255] "" XXX
BO_ 212 Wheel_Speeds: 8 XXX
SG_ FL : 0|16@1+ (0.0592,0) [0|255] "KPH" XXX
SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX
SG_ RL : 32|16@1+ (0.0592,0) [0|255] "KPH" XXX
SG_ RR : 48|16@1+ (0.0592,0) [0|255] "KPH" XXX
BO_ 320 Throttle: 8 XXX
SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX
SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX
BO_ 321 Engine: 8 XXX
SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
SG_ Engine_Stop : 15|1@1+ (1,0) [0|1] "" XXX
SG_ Wheel_Torque : 16|12@1+ (1,0) [0|4095] "" XXX
SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX
BO_ 324 CruiseControl: 8 XXX
SG_ OnOffButton : 2|1@1+ (1,0) [0|1] "" XXX
SG_ SET_BUTTON : 3|1@1+ (1,0) [0|1] "" XXX
SG_ RES_BUTTON : 4|1@1+ (1,0) [0|1] "" XXX
SG_ Button : 13|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_On : 48|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 49|1@1+ (1,0) [0|1] "" XXX
SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|1] "" XXX
BO_ 328 Transmission: 8 XXX
SG_ Manual_Gear : 4|4@1+ (1,0) [0|15] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX
SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX
SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX
SG_ Paddle_Shift : 60|2@1+ (1,0) [0|3] "" XXX
BO_ 329 CVT_Ratio: 8 XXX
BO_ 336 Brake_Pressure: 8 XXX
SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX
BO_ 338 Stalk: 8 XXX
SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
SG_ Brake_Light : 52|1@1+ (1,0) [0|1] "" XXX
SG_ Runlights : 58|1@1+ (1,0) [0|1] "" XXX
SG_ Headlights : 59|1@1+ (1,0) [0|1] "" XXX
SG_ Highbeam : 60|1@1+ (1,0) [0|1] "" XXX
SG_ Wiper : 62|1@1+ (1,0) [0|1] "" XXX
BO_ 352 ES_Brake: 8 XXX
SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
SG_ ES_Error : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 353 ES_CruiseThrottle: 8 XXX
SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|4095] "" XXX
SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
SG_ DistanceSwap : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
SG_ ES_Error : 42|1@1+ (1,0) [0|1] "" XXX
SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
SG_ Button : 48|3@1+ (1,0) [0|7] "" XXX
SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 354 ES_RPM: 8 XXX
SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX
SG_ RPM : 16|16@1+ (1,0) [0|65535] "" XXX
SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
BO_ 356 ES_LKAS: 8 XXX
SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX
SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 359 ES_LDW: 8 XXX
SG_ All_depart_2015 : 0|1@1+ (1,0) [0|1] "" XXX
SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|1] "" XXX
SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|1] "" XXX
SG_ Sig1All_Depart : 28|1@1+ (1,0) [0|1] "" XXX
SG_ Sig2All_Depart : 31|1@1+ (1,0) [0|1] "" XXX
SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|1] "" XXX
SG_ LKAS_Active : 37|1@1+ (1,0) [0|1] "" XXX
SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|1] "" XXX
SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|1] "" XXX
SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|1] "" XXX
SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|1] "" XXX
SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|1] "" XXX
BO_ 604 BSD_RCTA: 8 XXX
SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX
SG_ State : 5|1@1+ (1,0) [0|1] "" XXX
SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX
SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX
SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX
SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX
SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX
SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX
BO_ 642 Dashlights: 8 XXX
SG_ Counter : 12|4@1+ (1,0) [0|15] "" XXX
SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|1] "" XXX
SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|1] "" XXX
SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|1] "" XXX
BO_ 880 Steering_Torque_2: 8 XXX
SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
SG_ Counter : 40|4@1+ (1,0) [0|15] "" XXX
BO_ 884 BodyInfo: 8 XXX
SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX
BO_ 864 Engine_Temp: 8 XXX
SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX
SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX
SG_ Cruise_Activated : 45|1@1+ (1,0) [0|1] "" XXX
SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 866 Fuel: 8 XXX
BO_ 1745 Dash_State: 8 XXX
SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
CM_ SG_ 320 Throttle_Body "Throttle related";
CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert ";
CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart";
CM_ SG_ 359 Sig1All_Depart "Left and right depart";
CM_ SG_ 359 Sig2All_Depart "Left and right depart";
CM_ SG_ 359 All_depart_2015 "always 1 on 2017";
CM_ SG_ 604 R_APPROACHING "Faster car approaching in far right lane";
CM_ SG_ 604 L_APPROACHING "Faster car approaching in far left lane";
CM_ SG_ 604 R_RCTA "Rear cross traffic alert, only when in R gear";
CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear";
CM_ SG_ 642 Counter "Affected by signals";
CM_ SG_ 642 SEATBELT_FL "Driver seatbelt";
CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P";
VAL_ 1745 Units 0 "Metric" 1 "Imperial";
CM_ "subaru_outback_2019.dbc starts here"
BO_ 358 ES_DashStatus: 8 XXX
SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX
SG_ Seatbelt_Disengage : 12|2@1+ (1,0) [0|3] "" XXX
SG_ Disengage_Alert : 14|2@1+ (1,0) [0|3] "" XXX
SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 17|1@1+ (1,0) [0|1] "" XXX
SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX
SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX
SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Distance_Bars : 21|3@1+ (1,0) [0|7] "" XXX
SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
SG_ ES_Error : 32|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" XXX
SG_ Counter : 37|3@1+ (1,0) [0|7] "" XXX
SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
SG_ Lead_Car : 46|1@1+ (1,0) [0|1] "" XXX
SG_ Obstacle_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
BO_ 881 Steering_Torque: 8 XXX
SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX
CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
CM_ SG_ 358 ES_Error "No engagement until restart";
CM_ SG_ 358 Lead_Car "front car detected";

2
panda/board/board.h
View File

@ -23,7 +23,7 @@ void detect_board_type(void) {
// SPI lines floating: white (TODO: is this reliable? Not really, we have to enable ESP/GPS to be able to detect this on the UART)
set_gpio_output(GPIOC, 14, 1);
set_gpio_output(GPIOC, 5, 1);
if(!detect_with_pull(GPIOB, 1, PULL_UP)){
if(!detect_with_pull(GPIOB, 1, PULL_UP) && detect_with_pull(GPIOB, 15, PULL_UP)){
hw_type = HW_TYPE_DOS;
current_board = &board_dos;
} else if((detect_with_pull(GPIOA, 4, PULL_DOWN)) || (detect_with_pull(GPIOA, 5, PULL_DOWN)) || (detect_with_pull(GPIOA, 6, PULL_DOWN)) || (detect_with_pull(GPIOA, 7, PULL_DOWN))){

2
panda/board/get_sdk.sh
View File

@ -1,3 +1,3 @@
#!/bin/bash
sudo apt-get install gcc-arm-none-eabi python-pip
sudo pip install libusb1 pycrypto requests
sudo pip install libusb1 pycryptodome requests

2
panda/board/get_sdk_mac.sh
View File

@ -4,4 +4,4 @@ sudo easy_install pip
/usr/bin/ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
brew tap ArmMbed/homebrew-formulae
brew install python dfu-util arm-none-eabi-gcc
pip install --user libusb1 pycrypto requests
pip install --user libusb1 pycryptodome requests

1
panda/board/safety.h
View File

@ -38,6 +38,7 @@
#define SAFETY_VOLKSWAGEN_PQ 21U
#define SAFETY_SUBARU_LEGACY 22U
#define SAFETY_HYUNDAI_LEGACY 23U
#define SAFETY_HYUNDAI_COMMUNITY 24U
uint16_t current_safety_mode = SAFETY_SILENT;
const safety_hooks *current_hooks = &nooutput_hooks;

2
panda/board/safety/safety_nissan.h
View File

@ -56,7 +56,7 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// X-Trail 0x15c, Leaf 0x239
if ((addr == 0x15c) || (addr == 0x239)) {
if (addr == 0x15c){
gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3)) > 1;
gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3)) > 3;
} else {
gas_pressed = GET_BYTE(to_push, 0) > 3;
}

5
rednose/helpers/ekf_sym.py
View File

@ -157,7 +157,7 @@ def gen_code(folder, name, f_sym, dt_sym, x_sym, obs_eqs, dim_x, dim_err, eskf_p
class EKF_sym():
def __init__(self, folder, name, Q, x_initial, P_initial, dim_main, dim_main_err, # pylint: disable=dangerous-default-value
N=0, dim_augment=0, dim_augment_err=0, maha_test_kinds=[], global_vars=None):
N=0, dim_augment=0, dim_augment_err=0, maha_test_kinds=[], global_vars=None, max_rewind_age=1.0):
"""Generates process function and all observation functions for the kalman filter."""
self.msckf = N > 0
self.N = N
@ -184,6 +184,7 @@ class EKF_sym():
self.Q = Q
# rewind stuff
self.max_rewind_age = max_rewind_age
self.rewind_t = []
self.rewind_states = []
self.rewind_obscache = []
@ -379,7 +380,7 @@ class EKF_sym():
# rewind
if self.filter_time is not None and t < self.filter_time:
if len(self.rewind_t) == 0 or t < self.rewind_t[0] or t < self.rewind_t[-1] - 1.0:
if len(self.rewind_t) == 0 or t < self.rewind_t[0] or t < self.rewind_t[-1] - self.max_rewind_age:
print("observation too old at %.3f with filter at %.3f, ignoring" % (t, self.filter_time))
return None
rewound = self.rewind(t)

11
selfdrive/boardd/SConscript
View File

@ -1,9 +1,8 @@
Import('env', 'common', 'cereal', 'messaging')
Import('env', 'common', 'cereal', 'messaging', 'cython_dependencies')
env.Program('boardd.cc', LIBS=['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj'])
env.Program('boardd', ['boardd.cc', 'panda.cc'], LIBS=['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj'])
env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
env.Command(['boardd_api_impl.so'],
['libcan_list_to_can_capnp.a', 'boardd_api_impl.pyx', 'boardd_setup.py'],
"cd selfdrive/boardd && python3 boardd_setup.py build_ext --inplace")
env.Command(['boardd_api_impl.so', 'boardd_api_impl.cpp'],
cython_dependencies + ['libcan_list_to_can_capnp.a', 'boardd_api_impl.pyx', 'boardd_setup.py'],
"cd selfdrive/boardd && python3 boardd_setup.py build_ext --inplace")

862
selfdrive/boardd/boardd.cc
View File

File diff suppressed because it is too large Load Diff

7
selfdrive/boardd/boardd_setup.py
View File

@ -1,15 +1,8 @@
import subprocess
from distutils.core import Extension, setup
from Cython.Build import cythonize
from common.cython_hacks import BuildExtWithoutPlatformSuffix
from common.basedir import BASEDIR
import os
PHONELIBS = os.path.join(BASEDIR, 'phonelibs')
ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
libraries = ['can_list_to_can_capnp', 'capnp', 'kj']
setup(name='Boardd API Implementation',

318
selfdrive/boardd/panda.cc 100644
View File

@ -0,0 +1,318 @@
#include <stdexcept>
#include <cassert>
#include <iostream>
#include "common/swaglog.h"
#include "panda.h"
Panda::Panda(){
int err;
err = pthread_mutex_init(&usb_lock, NULL);
if (err != 0) { goto fail; }
// init libusb
err = libusb_init(&ctx);
if (err != 0) { goto fail; }
#if LIBUSB_API_VERSION >= 0x01000106
libusb_set_option(ctx, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO);
#else
libusb_set_debug(ctx, 3);
#endif
dev_handle = libusb_open_device_with_vid_pid(ctx, 0xbbaa, 0xddcc);
if (dev_handle == NULL) { goto fail; }
if (libusb_kernel_driver_active(dev_handle, 0) == 1) {
libusb_detach_kernel_driver(dev_handle, 0);
}
err = libusb_set_configuration(dev_handle, 1);
if (err != 0) { goto fail; }
err = libusb_claim_interface(dev_handle, 0);
if (err != 0) { goto fail; }
hw_type = get_hw_type();
is_pigeon =
(hw_type == cereal::HealthData::HwType::GREY_PANDA) ||
(hw_type == cereal::HealthData::HwType::BLACK_PANDA) ||
(hw_type == cereal::HealthData::HwType::UNO);
has_rtc = (hw_type == cereal::HealthData::HwType::UNO);
return;
fail:
cleanup();
throw std::runtime_error("Error connecting to panda");
}
Panda::~Panda(){
pthread_mutex_lock(&usb_lock);
cleanup();
connected = false;
pthread_mutex_unlock(&usb_lock);
}
void Panda::cleanup(){
if (dev_handle){
libusb_release_interface(dev_handle, 0);
libusb_close(dev_handle);
}
if (ctx) {
libusb_exit(ctx);
}
}
void Panda::handle_usb_issue(int err, const char func[]) {
LOGE_100("usb error %d \"%s\" in %s", err, libusb_strerror((enum libusb_error)err), func);
if (err == LIBUSB_ERROR_NO_DEVICE) {
LOGE("lost connection");
connected = false;
}
// TODO: check other errors, is simply retrying okay?
}
int Panda::usb_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout) {
int err;
const uint8_t bmRequestType = LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE;
pthread_mutex_lock(&usb_lock);
do {
err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, NULL, 0, timeout);
if (err < 0) handle_usb_issue(err, __func__);
} while (err < 0 && connected);
pthread_mutex_unlock(&usb_lock);
return err;
}
int Panda::usb_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout) {
int err;
const uint8_t bmRequestType = LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE;
pthread_mutex_lock(&usb_lock);
do {
err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, data, wLength, timeout);
if (err < 0) handle_usb_issue(err, __func__);
} while (err < 0 && connected);
pthread_mutex_unlock(&usb_lock);
return err;
}
int Panda::usb_bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
int err;
int transferred = 0;
pthread_mutex_lock(&usb_lock);
do {
// Try sending can messages. If the receive buffer on the panda is full it will NAK
// and libusb will try again. After 5ms, it will time out. We will drop the messages.
err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout);
if (err == LIBUSB_ERROR_TIMEOUT) {
LOGW("Transmit buffer full");
break;
} else if (err != 0 || length != transferred) {
handle_usb_issue(err, __func__);
}
} while(err != 0 && connected);
pthread_mutex_unlock(&usb_lock);
return transferred;
}
int Panda::usb_bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
int err;
int transferred = 0;
pthread_mutex_lock(&usb_lock);
do {
err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout);
if (err == LIBUSB_ERROR_TIMEOUT) {
break; // timeout is okay to exit, recv still happened
} else if (err == LIBUSB_ERROR_OVERFLOW) {
LOGE_100("overflow got 0x%x", transferred);
} else if (err != 0) {
handle_usb_issue(err, __func__);
}
} while(err != 0 && connected);
pthread_mutex_unlock(&usb_lock);
return transferred;
}
void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, int safety_param){
usb_write(0xdc, (uint16_t)safety_model, safety_param);
}
cereal::HealthData::HwType Panda::get_hw_type() {
unsigned char hw_query[1] = {0};
usb_read(0xc1, 0, 0, hw_query, 1);
return (cereal::HealthData::HwType)(hw_query[0]);
}
void Panda::set_rtc(struct tm sys_time){
// tm struct has year defined as years since 1900
usb_write(0xa1, (uint16_t)(1900 + sys_time.tm_year), 0);
usb_write(0xa2, (uint16_t)(1 + sys_time.tm_mon), 0);
usb_write(0xa3, (uint16_t)sys_time.tm_mday, 0);
// usb_write(0xa4, (uint16_t)(1 + sys_time.tm_wday), 0);
usb_write(0xa5, (uint16_t)sys_time.tm_hour, 0);
usb_write(0xa6, (uint16_t)sys_time.tm_min, 0);
usb_write(0xa7, (uint16_t)sys_time.tm_sec, 0);
}
struct tm Panda::get_rtc(){
struct __attribute__((packed)) timestamp_t {
uint16_t year; // Starts at 0
uint8_t month;
uint8_t day;
uint8_t weekday;
uint8_t hour;
uint8_t minute;
uint8_t second;
} rtc_time = {0};
usb_read(0xa0, 0, 0, (unsigned char*)&rtc_time, sizeof(rtc_time));
struct tm new_time = { 0 };
new_time.tm_year = rtc_time.year - 1900; // tm struct has year defined as years since 1900
new_time.tm_mon = rtc_time.month - 1;
new_time.tm_mday = rtc_time.day;
new_time.tm_hour = rtc_time.hour;
new_time.tm_min = rtc_time.minute;
new_time.tm_sec = rtc_time.second;
return new_time;
}
void Panda::set_fan_speed(uint16_t fan_speed){
usb_write(0xb1, fan_speed, 0);
}
uint16_t Panda::get_fan_speed(){
uint16_t fan_speed_rpm = 0;
usb_read(0xb2, 0, 0, (unsigned char*)&fan_speed_rpm, sizeof(fan_speed_rpm));
return fan_speed_rpm;
}
void Panda::set_ir_pwr(uint16_t ir_pwr) {
usb_write(0xb0, ir_pwr, 0);
}
health_t Panda::get_health(){
health_t health {0};
usb_read(0xd2, 0, 0, (unsigned char*)&health, sizeof(health));
return health;
}
void Panda::set_loopback(bool loopback){
usb_write(0xe5, loopback, 0);
}
const char* Panda::get_firmware_version(){
const char* fw_sig_buf = new char[128]();
int read_1 = usb_read(0xd3, 0, 0, (unsigned char*)fw_sig_buf, 64);
int read_2 = usb_read(0xd4, 0, 0, (unsigned char*)fw_sig_buf + 64, 64);
if ((read_1 == 64) && (read_2 == 64)) {
return fw_sig_buf;
}
delete[] fw_sig_buf;
return NULL;
}
const char* Panda::get_serial(){
const char* serial_buf = new char[16]();
int err = usb_read(0xd0, 0, 0, (unsigned char*)serial_buf, 16);
if (err >= 0) {
return serial_buf;
}
delete[] serial_buf;
return NULL;
}
void Panda::set_power_saving(bool power_saving){
usb_write(0xe7, power_saving, 0);
}
void Panda::set_usb_power_mode(cereal::HealthData::UsbPowerMode power_mode){
usb_write(0xe6, (uint16_t)power_mode, 0);
}
void Panda::send_heartbeat(){
usb_write(0xf3, 1, 0);
}
void Panda::can_send(capnp::List<cereal::CanData>::Reader can_data_list){
int msg_count = can_data_list.size();
uint32_t *send = new uint32_t[msg_count*0x10]();
for (int i = 0; i < msg_count; i++) {
auto cmsg = can_data_list[i];
if (cmsg.getAddress() >= 0x800) { // extended
send[i*4] = (cmsg.getAddress() << 3) | 5;
} else { // normal
send[i*4] = (cmsg.getAddress() << 21) | 1;
}
auto can_data = cmsg.getDat();
assert(can_data.size() <= 8);
send[i*4+1] = can_data.size() | (cmsg.getSrc() << 4);
memcpy(&send[i*4+2], can_data.begin(), can_data.size());
}
usb_bulk_write(3, (unsigned char*)send, msg_count*0x10, 5);
delete[] send;
}
int Panda::can_receive(cereal::Event::Builder &event){
uint32_t data[RECV_SIZE/4];
int recv = usb_bulk_read(0x81, (unsigned char*)data, RECV_SIZE);
// return if length is 0
if (recv <= 0) {
return 0;
} else if (recv == RECV_SIZE) {
LOGW("Receive buffer full");
}
size_t num_msg = recv / 0x10;
auto canData = event.initCan(num_msg);
// populate message
for (int i = 0; i < num_msg; i++) {
if (data[i*4] & 4) {
// extended
canData[i].setAddress(data[i*4] >> 3);
//printf("got extended: %x\n", data[i*4] >> 3);
} else {
// normal
canData[i].setAddress(data[i*4] >> 21);
}
canData[i].setBusTime(data[i*4+1] >> 16);
int len = data[i*4+1]&0xF;
canData[i].setDat(kj::arrayPtr((uint8_t*)&data[i*4+2], len));
canData[i].setSrc((data[i*4+1] >> 4) & 0xff);
}
return recv;
}

78
selfdrive/boardd/panda.h 100644
View File

@ -0,0 +1,78 @@
#pragma once
#include <ctime>
#include <cstdint>
#include <pthread.h>
#include <libusb-1.0/libusb.h>
#include "cereal/gen/cpp/car.capnp.h"
#include "cereal/gen/cpp/log.capnp.h"
// double the FIFO size
#define RECV_SIZE (0x1000)
#define TIMEOUT 0
// copied from panda/board/main.c
struct __attribute__((packed)) health_t {
uint32_t uptime;
uint32_t voltage;
uint32_t current;
uint32_t can_rx_errs;
uint32_t can_send_errs;
uint32_t can_fwd_errs;
uint32_t gmlan_send_errs;
uint32_t faults;
uint8_t ignition_line;
uint8_t ignition_can;
uint8_t controls_allowed;
uint8_t gas_interceptor_detected;
uint8_t car_harness_status;
uint8_t usb_power_mode;
uint8_t safety_model;
uint8_t fault_status;
uint8_t power_save_enabled;
};
class Panda {
private:
libusb_context *ctx = NULL;
libusb_device_handle *dev_handle = NULL;
pthread_mutex_t usb_lock;
void handle_usb_issue(int err, const char func[]);
void cleanup();
public:
Panda();
~Panda();
bool connected = true;
cereal::HealthData::HwType hw_type = cereal::HealthData::HwType::UNKNOWN;
bool is_pigeon = false;
bool has_rtc = false;
// HW communication
int usb_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout=TIMEOUT);
int usb_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout=TIMEOUT);
int usb_bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
int usb_bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
// Panda functionality
cereal::HealthData::HwType get_hw_type();
void set_safety_model(cereal::CarParams::SafetyModel safety_model, int safety_param=0);
void set_rtc(struct tm sys_time);
struct tm get_rtc();
void set_fan_speed(uint16_t fan_speed);
uint16_t get_fan_speed();
void set_ir_pwr(uint16_t ir_pwr);
health_t get_health();
void set_loopback(bool loopback);
const char* get_firmware_version();
const char* get_serial();
void set_power_saving(bool power_saving);
void set_usb_power_mode(cereal::HealthData::UsbPowerMode power_mode);
void send_heartbeat();
void can_send(capnp::List<cereal::CanData>::Reader can_data_list);
int can_receive(cereal::Event::Builder &event);
};

2
selfdrive/camerad/cameras/camera_frame_stream.cc
View File

@ -94,8 +94,6 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = {
};
void cameras_init(DualCameraState *s) {
memset(s, 0, sizeof(*s));
camera_init(&s->rear, CAMERA_ID_IMX298, 20);
s->rear.transform = (mat3){{
1.0, 0.0, 0.0,

40
selfdrive/camerad/cameras/camera_qcom.cc
View File

@ -12,7 +12,6 @@
#include <cutils/properties.h>
#include <pthread.h>
#include <czmq.h>
#include <capnp/serialize.h>
#include "msmb_isp.h"
#include "msmb_ispif.h"
@ -108,8 +107,6 @@ static void camera_release_buffer(void* cookie, int buf_idx) {
static void camera_init(CameraState *s, int camera_id, int camera_num,
uint32_t pixel_clock, uint32_t line_length_pclk,
unsigned int max_gain, unsigned int fps) {
memset(s, 0, sizeof(*s));
s->camera_num = camera_num;
s->camera_id = camera_id;
@ -125,9 +122,9 @@ static void camera_init(CameraState *s, int camera_id, int camera_num,
s->self_recover = 0;
zsock_t *ops_sock = zsock_new_push(">inproc://cameraops");
assert(ops_sock);
s->ops_sock = zsock_resolve(ops_sock);
s->ops_sock = zsock_new_push(">inproc://cameraops");
assert(s->ops_sock);
s->ops_sock_handle = zsock_resolve(s->ops_sock);
tbuffer_init2(&s->camera_tb, FRAME_BUF_COUNT, "frame",
camera_release_buffer, s);
@ -262,8 +259,6 @@ static int imx179_s5k3p8sp_apply_exposure(CameraState *s, int gain, int integ_li
}
void cameras_init(DualCameraState *s) {
memset(s, 0, sizeof(*s));
char project_name[1024] = {0};
property_get("ro.boot.project_name", project_name, "");
@ -397,7 +392,9 @@ static void set_exposure(CameraState *s, float exposure_frac, float gain_frac) {
if (err == 0) {
s->cur_exposure_frac = exposure_frac;
pthread_mutex_lock(&s->frame_info_lock);
s->cur_gain_frac = gain_frac;
pthread_mutex_unlock(&s->frame_info_lock);
}
//LOGD("set exposure: %f %f - %d", exposure_frac, gain_frac, err);
@ -414,16 +411,20 @@ static void do_autoexposure(CameraState *s, float grey_frac) {
const unsigned int exposure_time_min = 16;
const unsigned int exposure_time_max = frame_length - 11; // copied from set_exposure()
float cur_gain_frac = s->cur_gain_frac;
float exposure_factor = pow(1.05, (target_grey - grey_frac) / 0.05);
if (s->cur_gain_frac > 0.125 && exposure_factor < 1) {
s->cur_gain_frac *= exposure_factor;
if (cur_gain_frac > 0.125 && exposure_factor < 1) {
cur_gain_frac *= exposure_factor;
} else if (s->cur_integ_lines * exposure_factor <= exposure_time_max && s->cur_integ_lines * exposure_factor >= exposure_time_min) { // adjust exposure time first
s->cur_exposure_frac *= exposure_factor;
} else if (s->cur_gain_frac * exposure_factor <= gain_frac_max && s->cur_gain_frac * exposure_factor >= gain_frac_min) {
s->cur_gain_frac *= exposure_factor;
} else if (cur_gain_frac * exposure_factor <= gain_frac_max && cur_gain_frac * exposure_factor >= gain_frac_min) {
cur_gain_frac *= exposure_factor;
}
pthread_mutex_lock(&s->frame_info_lock);
s->cur_gain_frac = cur_gain_frac;
pthread_mutex_unlock(&s->frame_info_lock);
set_exposure(s, s->cur_exposure_frac, s->cur_gain_frac);
set_exposure(s, s->cur_exposure_frac, cur_gain_frac);
} else { // keep the old for others
float new_exposure = s->cur_exposure_frac;
@ -448,7 +449,7 @@ void camera_autoexposure(CameraState *s, float grey_frac) {
.grey_frac = grey_frac,
};
zmq_send(s->ops_sock, &msg, sizeof(msg), ZMQ_DONTWAIT);
zmq_send(s->ops_sock_handle, &msg, sizeof(msg), ZMQ_DONTWAIT);
}
static uint8_t* get_eeprom(int eeprom_fd, size_t *out_len) {
@ -1795,15 +1796,16 @@ static void do_autofocus(CameraState *s) {
const int dac_up = s->device == DEVICE_LP3? LP3_AF_DAC_UP:OP3T_AF_DAC_UP;
const int dac_down = s->device == DEVICE_LP3? LP3_AF_DAC_DOWN:OP3T_AF_DAC_DOWN;
float lens_true_pos = s->lens_true_pos;
if (!isnan(err)) {
// learn lens_true_pos
s->lens_true_pos -= err*focus_kp;
lens_true_pos -= err*focus_kp;
}
// stay off the walls
s->lens_true_pos = clamp(s->lens_true_pos, dac_down, dac_up);
int target = clamp(s->lens_true_pos - sag, dac_down, dac_up);
lens_true_pos = clamp(lens_true_pos, dac_down, dac_up);
int target = clamp(lens_true_pos - sag, dac_down, dac_up);
s->lens_true_pos = lens_true_pos;
/*char debug[4096];
char *pdebug = debug;
@ -1956,6 +1958,8 @@ static void camera_close(CameraState *s) {
}
free(s->eeprom);
zsock_destroy(&s->ops_sock);
}

16
selfdrive/camerad/cameras/camera_qcom.h
View File

@ -1,9 +1,10 @@
#ifndef CAMERA_H
#define CAMERA_H
#pragma once
#include <stdint.h>
#include <stdbool.h>
#include <pthread.h>
#include <czmq.h>
#include <atomic>
#include "messaging.hpp"
#include "msmb_isp.h"
@ -61,7 +62,8 @@ typedef struct CameraState {
int device;
void* ops_sock;
void* ops_sock_handle;
zsock_t * ops_sock;
uint32_t pixel_clock;
uint32_t line_length_pclk;
@ -94,7 +96,7 @@ typedef struct CameraState {
int cur_frame_length;
int cur_integ_lines;
float digital_gain;
std::atomic<float> digital_gain;
StreamState ss[3];
@ -111,9 +113,9 @@ typedef struct CameraState {
uint16_t cur_lens_pos;
uint64_t last_sag_ts;
float last_sag_acc_z;
float lens_true_pos;
std::atomic<float> lens_true_pos;
int self_recover; // af recovery counter, neg is patience, pos is active
std::atomic<int> self_recover; // af recovery counter, neg is patience, pos is active
int fps;
@ -142,5 +144,3 @@ int sensor_write_regs(CameraState *s, struct msm_camera_i2c_reg_array* arr, size
#ifdef __cplusplus
} // extern "C"
#endif
#endif

63
selfdrive/camerad/main.cc
View File

@ -332,6 +332,7 @@ void* frontview_thread(void *arg) {
//double t2 = millis_since_boot();
//LOGD("front process: %.2fms", t2-t1);
}
clReleaseCommandQueue(q);
return NULL;
}
@ -345,6 +346,11 @@ void* processing_thread(void *arg) {
err = set_realtime_priority(51);
LOG("setpriority returns %d", err);
#if defined(QCOM) && !defined(QCOM_REPLAY)
std::unique_ptr<uint8_t[]> rgb_roi_buf = std::make_unique<uint8_t[]>((s->rgb_width/NUM_SEGMENTS_X)*(s->rgb_height/NUM_SEGMENTS_Y)*3);
std::unique_ptr<int16_t[]> conv_result = std::make_unique<int16_t[]>((s->rgb_width/NUM_SEGMENTS_X)*(s->rgb_height/NUM_SEGMENTS_Y));
#endif
// init cl stuff
#ifdef __APPLE__
cl_command_queue q = clCreateCommandQueue(s->context, s->device_id, 0, &err);
@ -416,13 +422,12 @@ void* processing_thread(void *arg) {
/*double t10 = millis_since_boot();*/
// cache rgb roi and write to cl
uint8_t *rgb_roi_buf = new uint8_t[(s->rgb_width/NUM_SEGMENTS_X)*(s->rgb_height/NUM_SEGMENTS_Y)*3];
int roi_id = cnt % ((ROI_X_MAX-ROI_X_MIN+1)*(ROI_Y_MAX-ROI_Y_MIN+1)); // rolling roi
int roi_x_offset = roi_id % (ROI_X_MAX-ROI_X_MIN+1);
int roi_y_offset = roi_id / (ROI_X_MAX-ROI_X_MIN+1);
for (int r=0;r<(s->rgb_height/NUM_SEGMENTS_Y);r++) {
memcpy(rgb_roi_buf + r * (s->rgb_width/NUM_SEGMENTS_X) * 3,
memcpy(rgb_roi_buf.get() + r * (s->rgb_width/NUM_SEGMENTS_X) * 3,
(uint8_t *) s->rgb_bufs[rgb_idx].addr + \
(ROI_Y_MIN + roi_y_offset) * s->rgb_height/NUM_SEGMENTS_Y * FULL_STRIDE_X * 3 + \
(ROI_X_MIN + roi_x_offset) * s->rgb_width/NUM_SEGMENTS_X * 3 + r * FULL_STRIDE_X * 3,
@ -430,7 +435,7 @@ void* processing_thread(void *arg) {
}
err = clEnqueueWriteBuffer (q, s->rgb_conv_roi_cl, true, 0,
s->rgb_width/NUM_SEGMENTS_X * s->rgb_height/NUM_SEGMENTS_Y * 3 * sizeof(uint8_t), rgb_roi_buf, 0, 0, 0);
s->rgb_width/NUM_SEGMENTS_X * s->rgb_height/NUM_SEGMENTS_Y * 3 * sizeof(uint8_t), rgb_roi_buf.get(), 0, 0, 0);
assert(err == 0);
/*double t11 = millis_since_boot();
@ -453,48 +458,45 @@ void* processing_thread(void *arg) {
clWaitForEvents(1, &conv_event);
clReleaseEvent(conv_event);
int16_t *conv_result = new int16_t[(s->rgb_width/NUM_SEGMENTS_X)*(s->rgb_height/NUM_SEGMENTS_Y)];
err = clEnqueueReadBuffer(q, s->rgb_conv_result_cl, true, 0,
s->rgb_width/NUM_SEGMENTS_X * s->rgb_height/NUM_SEGMENTS_Y * sizeof(int16_t), conv_result, 0, 0, 0);
s->rgb_width/NUM_SEGMENTS_X * s->rgb_height/NUM_SEGMENTS_Y * sizeof(int16_t), conv_result.get(), 0, 0, 0);
assert(err == 0);
/*t11 = millis_since_boot();
printf("conv time: %f ms\n", t11 - t10);
t10 = millis_since_boot();*/
get_lapmap_one(conv_result, &s->lapres[roi_id], s->rgb_width/NUM_SEGMENTS_X, s->rgb_height/NUM_SEGMENTS_Y);
get_lapmap_one(conv_result.get(), &s->lapres[roi_id], s->rgb_width/NUM_SEGMENTS_X, s->rgb_height/NUM_SEGMENTS_Y);
/*t11 = millis_since_boot();
printf("pool time: %f ms\n", t11 - t10);
t10 = millis_since_boot();*/
delete [] rgb_roi_buf;
delete [] conv_result;
/*t11 = millis_since_boot();
printf("process time: %f ms\n ----- \n", t11 - t10);
t10 = millis_since_boot();*/
// setup self recover
const float lens_true_pos = s->cameras.rear.lens_true_pos;
if (is_blur(&s->lapres[0]) &&
(s->cameras.rear.lens_true_pos < (s->cameras.device == DEVICE_LP3? LP3_AF_DAC_DOWN:OP3T_AF_DAC_DOWN)+1 ||
s->cameras.rear.lens_true_pos > (s->cameras.device == DEVICE_LP3? LP3_AF_DAC_UP:OP3T_AF_DAC_UP)-1) &&
(lens_true_pos < (s->cameras.device == DEVICE_LP3? LP3_AF_DAC_DOWN:OP3T_AF_DAC_DOWN)+1 ||
lens_true_pos > (s->cameras.device == DEVICE_LP3? LP3_AF_DAC_UP:OP3T_AF_DAC_UP)-1) &&
s->cameras.rear.self_recover < 2) {
// truly stuck, needs help
s->cameras.rear.self_recover -= 1;
if (s->cameras.rear.self_recover < -FOCUS_RECOVER_PATIENCE) {
LOGW("rear camera bad state detected. attempting recovery from %.1f, recover state is %d",
s->cameras.rear.lens_true_pos, s->cameras.rear.self_recover);
s->cameras.rear.self_recover = FOCUS_RECOVER_STEPS + ((s->cameras.rear.lens_true_pos < (s->cameras.device == DEVICE_LP3? LP3_AF_DAC_M:OP3T_AF_DAC_M))?1:0); // parity determined by which end is stuck at
lens_true_pos, s->cameras.rear.self_recover.load());
s->cameras.rear.self_recover = FOCUS_RECOVER_STEPS + ((lens_true_pos < (s->cameras.device == DEVICE_LP3? LP3_AF_DAC_M:OP3T_AF_DAC_M))?1:0); // parity determined by which end is stuck at
}
} else if ((s->cameras.rear.lens_true_pos < (s->cameras.device == DEVICE_LP3? LP3_AF_DAC_M - LP3_AF_DAC_3SIG:OP3T_AF_DAC_M - OP3T_AF_DAC_3SIG) ||
s->cameras.rear.lens_true_pos > (s->cameras.device == DEVICE_LP3? LP3_AF_DAC_M + LP3_AF_DAC_3SIG:OP3T_AF_DAC_M + OP3T_AF_DAC_3SIG)) &&
} else if ((lens_true_pos < (s->cameras.device == DEVICE_LP3? LP3_AF_DAC_M - LP3_AF_DAC_3SIG:OP3T_AF_DAC_M - OP3T_AF_DAC_3SIG) ||
lens_true_pos > (s->cameras.device == DEVICE_LP3? LP3_AF_DAC_M + LP3_AF_DAC_3SIG:OP3T_AF_DAC_M + OP3T_AF_DAC_3SIG)) &&
s->cameras.rear.self_recover < 2) {
// in suboptimal position with high prob, but may still recover by itself
s->cameras.rear.self_recover -= 1;
if (s->cameras.rear.self_recover < -(FOCUS_RECOVER_PATIENCE*3)) {
LOGW("rear camera bad state detected. attempting recovery from %.1f, recover state is %d", s->cameras.rear.lens_true_pos, s->cameras.rear.self_recover);
s->cameras.rear.self_recover = FOCUS_RECOVER_STEPS/2 + ((s->cameras.rear.lens_true_pos < (s->cameras.device == DEVICE_LP3? LP3_AF_DAC_M:OP3T_AF_DAC_M))?1:0);
LOGW("rear camera bad state detected. attempting recovery from %.1f, recover state is %d", lens_true_pos, s->cameras.rear.self_recover.load());
s->cameras.rear.self_recover = FOCUS_RECOVER_STEPS/2 + ((lens_true_pos < (s->cameras.device == DEVICE_LP3? LP3_AF_DAC_M:OP3T_AF_DAC_M))?1:0);
}
} else if (s->cameras.rear.self_recover < 0) {
s->cameras.rear.self_recover += 1; // reset if fine
@ -504,7 +506,9 @@ void* processing_thread(void *arg) {
double t2 = millis_since_boot();
#ifndef QCOM2
uint8_t *bgr_ptr = (uint8_t*)s->rgb_bufs[rgb_idx].addr;
#endif
double yt1 = millis_since_boot();
@ -668,6 +672,7 @@ void* processing_thread(void *arg) {
LOGD("queued: %.2fms, yuv: %.2f, | processing: %.3fms", (t2-t1), (yt2-yt1), (t5-t1));
}
clReleaseCommandQueue(q);
return NULL;
}
@ -1173,25 +1178,33 @@ void free_buffers(VisionState *s) {
// free bufs
for (int i=0; i<FRAME_BUF_COUNT; i++) {
visionbuf_free(&s->camera_bufs[i]);
visionbuf_free(&s->front_camera_bufs[i]);
visionbuf_free(&s->focus_bufs[i]);
visionbuf_free(&s->stats_bufs[i]);
}
for (int i=0; i<FRAME_BUF_COUNT; i++) {
visionbuf_free(&s->front_camera_bufs[i]);
}
for (int i=0; i<UI_BUF_COUNT; i++) {
visionbuf_free(&s->rgb_bufs[i]);
}
for (int i=0; i<UI_BUF_COUNT; i++) {
visionbuf_free(&s->rgb_front_bufs[i]);
}
for (int i=0; i<YUV_COUNT; i++) {
visionbuf_free(&s->yuv_ion[i]);
visionbuf_free(&s->yuv_front_ion[i]);
}
clReleaseMemObject(s->rgb_conv_roi_cl);
clReleaseMemObject(s->rgb_conv_result_cl);
clReleaseMemObject(s->rgb_conv_filter_cl);
clReleaseProgram(s->prg_debayer_rear);
clReleaseProgram(s->prg_debayer_front);
clReleaseKernel(s->krnl_debayer_rear);
clReleaseKernel(s->krnl_debayer_front);
clReleaseProgram(s->prg_rgb_laplacian);
clReleaseKernel(s->krnl_rgb_laplacian);
}
void party(VisionState *s) {
@ -1255,7 +1268,7 @@ int main(int argc, char *argv[]) {
signal(SIGINT, (sighandler_t)set_do_exit);
signal(SIGTERM, (sighandler_t)set_do_exit);
VisionState state = {0};
VisionState state = {};
VisionState *s = &state;
clu_init();

9
selfdrive/camerad/snapshot/snapshot.py
View File

@ -1,6 +1,5 @@
#!/usr/bin/env python3
import os
import json
import signal
import subprocess
import time
@ -8,9 +7,7 @@ from PIL import Image
from common.basedir import BASEDIR
from common.params import Params
from selfdrive.camerad.snapshot.visionipc import VisionIPC
with open(BASEDIR + "/selfdrive/controls/lib/alerts_offroad.json") as json_file:
OFFROAD_ALERTS = json.load(json_file)
from selfdrive.controls.lib.alertmanager import set_offroad_alert
def jpeg_write(fn, dat):
@ -26,7 +23,7 @@ def snapshot():
return None
params.put("IsTakingSnapshot", "1")
params.put("Offroad_IsTakingSnapshot", json.dumps(OFFROAD_ALERTS["Offroad_IsTakingSnapshot"]))
set_offroad_alert("Offroad_IsTakingSnapshot", True)
time.sleep(2.0) # Give thermald time to read the param, or if just started give camerad time to start
# Check if camerad is already started
@ -64,7 +61,7 @@ def snapshot():
proc.communicate()
params.put("IsTakingSnapshot", "0")
params.delete("Offroad_IsTakingSnapshot")
set_offroad_alert("Offroad_IsTakingSnapshot", False)
return ret

4
selfdrive/car/__init__.py
View File

@ -40,8 +40,8 @@ def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor
return tire_stiffness_front, tire_stiffness_rear
def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None):
return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc}
def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None):
return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc, 'body': body_dbc}
def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS):

9
selfdrive/car/car_helpers.py
View File

@ -27,6 +27,13 @@ def get_startup_event(car_recognized, controller_available):
return event
def get_one_can(logcan):
while True:
can = messaging.recv_one_retry(logcan)
if len(can.can) > 0:
return can
def load_interfaces(brand_names):
ret = {}
for brand_name in brand_names:
@ -114,7 +121,7 @@ def fingerprint(logcan, sendcan, has_relay):
done = False
while not done:
a = messaging.get_one_can(logcan)
a = get_one_can(logcan)
for can in a.can:
# need to independently try to fingerprint both bus 0 and 1 to work

1
selfdrive/car/chrysler/carcontroller.py
View File

@ -11,7 +11,6 @@ class CarController():
self.prev_frame = -1
self.hud_count = 0
self.car_fingerprint = CP.carFingerprint
self.alert_active = False
self.gone_fast_yet = False
self.steer_rate_limited = False

13
selfdrive/car/chrysler/carstate.py
View File

@ -103,6 +103,13 @@ class CarState(CarStateBase):
("WHEEL_SPEEDS", 50),
("STEERING", 100),
("ACC_2", 50),
("GEAR", 50),
("ACCEL_GAS_134", 50),
("DASHBOARD", 15),
("STEERING_LEVERS", 10),
("SEATBELT_STATUS", 2),
("DOORS", 1),
("TRACTION_BUTTON", 1),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
@ -115,6 +122,10 @@ class CarState(CarStateBase):
("CAR_MODEL", "LKAS_HUD", -1),
("LKAS_STATUS_OK", "LKAS_HEARTBIT", -1)
]
checks = []
checks = [
("LKAS_COMMAND", 100),
("LKAS_HEARTBIT", 10),
("LKAS_HUD", 4),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)

4
selfdrive/car/chrysler/interface.py
View File

@ -14,8 +14,6 @@ class CarInterface(CarInterfaceBase):
def get_params(candidate, fingerprint=None, has_relay=False, car_fw=None):
if fingerprint is None:
fingerprint = gen_empty_fingerprint()
if car_fw is None:
car_fw = []
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "chrysler"
@ -72,8 +70,6 @@ class CarInterface(CarInterfaceBase):
# speeds
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
ret.buttonEvents = []
# events
events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low],
gas_resume_speed=2.)

9
selfdrive/car/chrysler/radar_interface.py
View File

@ -1,16 +1,15 @@
#!/usr/bin/env python3
import os
from opendbc.can.parser import CANParser
from cereal import car
from selfdrive.car.interfaces import RadarInterfaceBase
from selfdrive.car.chrysler.values import DBC
RADAR_MSGS_C = list(range(0x2c2, 0x2d4+2, 2)) # c_ messages 706,...,724
RADAR_MSGS_D = list(range(0x2a2, 0x2b4+2, 2)) # d_ messages
LAST_MSG = max(RADAR_MSGS_C + RADAR_MSGS_D)
NUMBER_MSGS = len(RADAR_MSGS_C) + len(RADAR_MSGS_D)
def _create_radar_can_parser():
dbc_f = 'chrysler_pacifica_2017_hybrid_private_fusion.dbc'
def _create_radar_can_parser(car_fingerprint):
msg_n = len(RADAR_MSGS_C)
# list of [(signal name, message name or number, initial values), (...)]
# [('RADAR_STATE', 1024, 0),
@ -37,7 +36,7 @@ def _create_radar_can_parser():
[20]*msg_n + # 20Hz (0.05s)
[20]*msg_n)) # 20Hz (0.05s)
return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)
def _address_to_track(address):
if address in RADAR_MSGS_C:
@ -49,7 +48,7 @@ def _address_to_track(address):
class RadarInterface(RadarInterfaceBase):
def __init__(self, CP):
super().__init__(CP)
self.rcp = _create_radar_can_parser()
self.rcp = _create_radar_can_parser(CP.carFingerprint)
self.updated_messages = set()
self.trigger_msg = LAST_MSG

31
selfdrive/car/chrysler/values.py
View File

@ -4,7 +4,6 @@ from selfdrive.car import dbc_dict
from cereal import car
Ecu = car.CarParams.Ecu
class SteerLimitParams:
STEER_MAX = 261 # 262 faults
STEER_DELTA_UP = 3 # 3 is stock. 100 is fine. 200 is too much it seems
@ -82,32 +81,18 @@ FINGERPRINTS = {
DBC = {
CAR.PACIFICA_2017_HYBRID: dbc_dict(
'chrysler_pacifica_2017_hybrid', # 'pt'
'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar'
CAR.PACIFICA_2018: dbc_dict( # Same DBC file works.
'chrysler_pacifica_2017_hybrid', # 'pt'
'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar'
CAR.PACIFICA_2020: dbc_dict( # Same DBC file works.
'chrysler_pacifica_2017_hybrid', # 'pt'
'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar'
CAR.PACIFICA_2018_HYBRID: dbc_dict( # Same DBC file works.
'chrysler_pacifica_2017_hybrid', # 'pt'
'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar'
CAR.PACIFICA_2019_HYBRID: dbc_dict( # Same DBC file works.
'chrysler_pacifica_2017_hybrid', # 'pt'
'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar'
CAR.JEEP_CHEROKEE: dbc_dict( # Same DBC file works.
'chrysler_pacifica_2017_hybrid', # 'pt'
'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar'
CAR.JEEP_CHEROKEE_2019: dbc_dict( # Same DBC file works.
'chrysler_pacifica_2017_hybrid', # 'pt'
'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar'
CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2018: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
}
STEER_THRESHOLD = 120
ECU_FINGERPRINT = {
Ecu.fwdCamera: [0x292], # lkas cmd
Ecu.fwdCamera: [0x292], # lkas cmd
}

2
selfdrive/car/ford/interface.py
View File

@ -14,7 +14,7 @@ class CarInterface(CarInterfaceBase):
return float(accel) / 3.0
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "ford"
ret.safetyModel = car.CarParams.SafetyModel.ford

3
selfdrive/car/ford/radar_interface.py
View File

@ -8,14 +8,13 @@ from selfdrive.car.interfaces import RadarInterfaceBase
RADAR_MSGS = list(range(0x500, 0x540))
def _create_radar_can_parser(car_fingerprint):
dbc_f = DBC[car_fingerprint]['radar']
msg_n = len(RADAR_MSGS)
signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
RADAR_MSGS * 3,
[0] * msg_n + [0] * msg_n + [0] * msg_n))
checks = list(zip(RADAR_MSGS, [20]*msg_n))
return CANParser(dbc_f, signals, checks, 1)
return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)
class RadarInterface(RadarInterfaceBase):
def __init__(self, CP):

6
selfdrive/car/gm/interface.py
View File

@ -16,13 +16,13 @@ class CarInterface(CarInterfaceBase):
return float(accel) / 4.0
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "gm"
ret.safetyModel = car.CarParams.SafetyModel.gm # default to gm
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.enableCruise = False # stock cruise control is kept off
# GM port is considered a community feature, since it disables AEB;
# GM port is a community feature
# TODO: make a port that uses a car harness and it only intercepts the camera
ret.communityFeature = True

46
selfdrive/car/gm/radar_interface.py
View File

@ -1,7 +1,6 @@
#!/usr/bin/env python3
from __future__ import print_function
import math
import time
from cereal import car
from opendbc.can.parser import CANParser
from selfdrive.car.gm.values import DBC, CAR, CanBus
@ -17,30 +16,28 @@ NUM_SLOTS = 20
LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS
def create_radar_can_parser(car_fingerprint):
dbc_f = DBC[car_fingerprint]['radar']
if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
# C1A-ARS3-A by Continental
radar_targets = list(range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS))
signals = list(zip(['FLRRNumValidTargets',
'FLRRSnsrBlckd', 'FLRRYawRtPlsblityFlt',
'FLRRHWFltPrsntInt', 'FLRRAntTngFltPrsnt',
'FLRRAlgnFltPrsnt', 'FLRRSnstvFltPrsntInt'] +
['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS +
['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS +
['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS,
[RADAR_HEADER_MSG] * 7 + radar_targets * 6,
[0] * 7 +
[0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
[0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
[0.0] * NUM_SLOTS + [0] * NUM_SLOTS))
checks = []
return CANParser(dbc_f, signals, checks, CanBus.OBSTACLE)
else:
if car_fingerprint not in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
return None
# C1A-ARS3-A by Continental
radar_targets = list(range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS))
signals = list(zip(['FLRRNumValidTargets',
'FLRRSnsrBlckd', 'FLRRYawRtPlsblityFlt',
'FLRRHWFltPrsntInt', 'FLRRAntTngFltPrsnt',
'FLRRAlgnFltPrsnt', 'FLRRSnstvFltPrsntInt'] +
['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS +
['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS +
['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS,
[RADAR_HEADER_MSG] * 7 + radar_targets * 6,
[0] * 7 +
[0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
[0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
[0.0] * NUM_SLOTS + [0] * NUM_SLOTS))
checks = []
return CANParser(DBC[car_fingerprint]['radar'], signals, checks, CanBus.OBSTACLE)
class RadarInterface(RadarInterfaceBase):
def __init__(self, CP):
super().__init__(CP)
@ -53,8 +50,7 @@ class RadarInterface(RadarInterfaceBase):
def update(self, can_strings):
if self.rcp is None:
time.sleep(self.radar_ts) # nothing to do
return car.RadarData.new_message()
return super().update(None)
vls = self.rcp.update_strings(can_strings)
self.updated_messages.update(vls)

22
selfdrive/car/honda/carstate.py
View File

@ -172,7 +172,7 @@ class CarState(CarStateBase):
self.v_cruise_pcm_prev = 0
self.cruise_mode = 0
def update(self, cp, cp_cam):
def update(self, cp, cp_cam, cp_body):
ret = car.CarState.new_message()
# car params
@ -322,6 +322,12 @@ class CarState(CarStateBase):
self.stock_hud = cp_cam.vl["ACC_HUD"]
self.stock_brake = cp_cam.vl["BRAKE_COMMAND"]
if self.CP.carFingerprint in (CAR.CRV_5G, ):
# BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0
# more info here: https://github.com/commaai/openpilot/pull/1867
ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]['BSM_ALERT'] == 1
ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]['BSM_ALERT'] == 1
return ret
@staticmethod
@ -354,3 +360,17 @@ class CarState(CarStateBase):
bus_cam = 1 if CP.carFingerprint in HONDA_BOSCH and not CP.isPandaBlack else 2
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, bus_cam)
@staticmethod
def get_body_can_parser(CP):
signals = []
checks = []
if CP.carFingerprint == CAR.CRV_5G:
signals += [("BSM_ALERT", "BSM_STATUS_RIGHT", 0),
("BSM_ALERT", "BSM_STATUS_LEFT", 0)]
bus_body = 0 # B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port)
return CANParser(DBC[CP.carFingerprint]['body'], signals, checks, bus_body)
return None

12
selfdrive/car/honda/interface.py
View File

@ -83,7 +83,7 @@ class CarInterface(CarInterfaceBase):
self.compute_gb = compute_gb_honda
@staticmethod
def compute_gb(accel, speed):
def compute_gb(accel, speed): # pylint: disable=method-hidden
raise NotImplementedError
@staticmethod
@ -189,9 +189,9 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 1.
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.54, 0.36]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
stop_and_go = True
@ -426,10 +426,12 @@ class CarInterface(CarInterfaceBase):
# ******************* do can recv *******************
self.cp.update_strings(can_strings)
self.cp_cam.update_strings(can_strings)
if self.cp_body:
self.cp_body.update_strings(can_strings)
ret = self.CS.update(self.cp, self.cp_cam)
ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid and (self.cp_body is None or self.cp_body.can_valid)
ret.yawRate = self.VM.yaw_rate(ret.steeringAngle * CV.DEG_TO_RAD, ret.vEgo)
# FIXME: read sendcan for brakelights
brakelights_threshold = 0.02 if self.CS.CP.carFingerprint == CAR.CIVIC else 0.1

18
selfdrive/car/honda/radar_interface.py
View File

@ -1,12 +1,10 @@
#!/usr/bin/env python3
import os
import time
from cereal import car
from opendbc.can.parser import CANParser
from selfdrive.car.interfaces import RadarInterfaceBase
from selfdrive.car.honda.values import DBC
def _create_nidec_can_parser():
dbc_f = 'acura_ilx_2016_nidec.dbc'
def _create_nidec_can_parser(car_fingerprint):
radar_messages = [0x400] + list(range(0x430, 0x43A)) + list(range(0x440, 0x446))
signals = list(zip(['RADAR_STATE'] +
['LONG_DIST'] * 16 + ['NEW_TRACK'] * 16 + ['LAT_DIST'] * 16 +
@ -14,8 +12,7 @@ def _create_nidec_can_parser():
[0x400] + radar_messages[1:] * 4,
[0] + [255] * 16 + [1] * 16 + [0] * 16 + [0] * 16))
checks = list(zip([0x445], [20]))
fn = os.path.splitext(dbc_f)[0].encode('utf8')
return CANParser(fn, signals, checks, 1)
return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)
class RadarInterface(RadarInterfaceBase):
@ -30,7 +27,10 @@ class RadarInterface(RadarInterfaceBase):
self.delay = int(round(0.1 / CP.radarTimeStep)) # 0.1s delay of radar
# Nidec
self.rcp = _create_nidec_can_parser()
if self.radar_off_can:
self.rcp = None
else:
self.rcp = _create_nidec_can_parser(CP.carFingerprint)
self.trigger_msg = 0x445
self.updated_messages = set()
@ -38,9 +38,7 @@ class RadarInterface(RadarInterfaceBase):
# in Bosch radar and we are only steering for now, so sleep 0.05s to keep
# radard at 20Hz and return no points
if self.radar_off_can:
if 'NO_RADAR_SLEEP' not in os.environ:
time.sleep(self.radar_ts)
return car.RadarData.new_message()
return super().update(None)
vls = self.rcp.update_strings(can_strings)
self.updated_messages.update(vls)

17
selfdrive/car/honda/values.py
View File

@ -885,10 +885,23 @@ FW_VERSIONS = {
],
(Ecu.fwdCamera, 0x18dab5f1, None): [
b'36161-TXM-A050\x00\x00',
b'36161-TXM-A060\x00\x00',
],
(Ecu.srs, 0x18da53f1, None): [
b'77959-TXM-A230\x00\x00',
],
(Ecu.vsa, 0x18da28f1, None): [
b'57114-TXM-A040\x00\x00',
],
(Ecu.shiftByWire, 0x18da0bf1, None): [
b'54008-TWA-A910\x00\x00',
],
(Ecu.gateway, 0x18daeff1, None): [
b'38897-TXM-A020\x00\x00',
],
(Ecu.combinationMeter, 0x18da60f1, None): [
b'78109-TXM-A020\x00\x00',
],
},
CAR.HRV: {
(Ecu.gateway, 0x18daeff1, None): [b'38897-T7A-A010\x00\x00'],
@ -909,7 +922,7 @@ DBC = {
CAR.CIVIC_BOSCH: dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
CAR.CIVIC_BOSCH_DIESEL: dbc_dict('honda_civic_sedan_16_diesel_2019_can_generated', None),
CAR.CRV: dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None),
CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
CAR.CRV_EU: dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.CRV_HYBRID: dbc_dict('honda_crv_hybrid_2019_can_generated', None),
CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
@ -974,4 +987,4 @@ ECU_FINGERPRINT = {
Ecu.fwdCamera: [0xE4, 0x194], # steer torque cmd
}
HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT]
HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT])

9
selfdrive/car/hyundai/carstate.py
View File

@ -41,8 +41,7 @@ class CarState(CarStateBase):
ret.cruiseState.standstill = cp.vl["SCC11"]['SCCInfoDisplay'] == 4.
if ret.cruiseState.enabled:
is_set_speed_in_mph = int(cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"])
speed_conv = CV.MPH_TO_MS if is_set_speed_in_mph else CV.KPH_TO_MS
speed_conv = CV.MPH_TO_MS if cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] else CV.KPH_TO_MS
ret.cruiseState.speed = cp.vl["SCC11"]['VSetDis'] * speed_conv
else:
ret.cruiseState.speed = 0
@ -282,7 +281,7 @@ class CarState(CarStateBase):
signals = [
# sig_name, sig_address, default
("CF_Lkas_Bca_R", "LKAS11", 0),
("CF_Lkas_LdwsActivemode", "LKAS11", 0),
("CF_Lkas_LdwsSysState", "LKAS11", 0),
("CF_Lkas_SysWarning", "LKAS11", 0),
("CF_Lkas_LdwsLHWarning", "LKAS11", 0),
@ -299,6 +298,8 @@ class CarState(CarStateBase):
("CF_Lkas_LdwsOpt_USM", "LKAS11", 0)
]
checks = []
checks = [
("LKAS11", 100)
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)

6
selfdrive/car/hyundai/hyundaican.py
View File

@ -20,7 +20,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
values["CF_Lkas_Chksum"] = 0
if car_fingerprint in [CAR.SONATA, CAR.PALISADE]:
values["CF_Lkas_Bca_R"] = int(left_lane) + (int(right_lane) << 1)
values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
values["CF_Lkas_LdwsOpt_USM"] = 2
# FcwOpt_USM 5 = Orange blinking car + lanes
@ -40,9 +40,9 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
elif car_fingerprint == CAR.HYUNDAI_GENESIS:
# This field is actually LdwsActivemode
# Genesis and Optima fault when forwarding while engaged
values["CF_Lkas_Bca_R"] = 2
values["CF_Lkas_LdwsActivemode"] = 2
elif car_fingerprint == CAR.KIA_OPTIMA:
values["CF_Lkas_Bca_R"] = 0
values["CF_Lkas_LdwsActivemode"] = 0
dat = packer.make_can_msg("LKAS11", 0, values)[2]

25
selfdrive/car/hyundai/interface.py
View File

@ -82,6 +82,13 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
elif candidate == CAR.GENESIS_G70:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1640. + STD_CARGO_KG
ret.wheelbase = 2.84
ret.steerRatio = 16.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
elif candidate == CAR.GENESIS_G80:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 2060. + STD_CARGO_KG
@ -111,10 +118,10 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.KONA:
ret.lateralTuning.pid.kf = 0.00006
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 # Spec
ret.steerRatio = 13.73 * 1.15 # Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
@ -143,9 +150,18 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.VELOSTER:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75 * 1.15
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
# these cars require a special panda safety mode due to missing counters and checksums in the messages
if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV]:
if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_2019,
CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70]:
ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
ret.centerToFront = ret.wheelbase * 0.4
@ -170,9 +186,6 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam)
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
# TODO: button presses
ret.buttonEvents = []
events = self.create_common_events(ret)
#TODO: addd abs(self.CS.angle_steers) > 90 to 'steerTempUnavailable' event

7
selfdrive/car/hyundai/radar_interface.py
View File

@ -1,6 +1,4 @@
#!/usr/bin/env python3
import os
import time
from cereal import car
from opendbc.can.parser import CANParser
from selfdrive.car.interfaces import RadarInterfaceBase
@ -33,10 +31,7 @@ class RadarInterface(RadarInterfaceBase):
def update(self, can_strings):
if self.radar_off_can:
if 'NO_RADAR_SLEEP' not in os.environ:
time.sleep(0.05) # radard runs on RI updates
return car.RadarData.new_message()
return super().update(None)
vls = self.rcp.update_strings(can_strings)
self.updated_messages.update(vls)

100
selfdrive/car/hyundai/values.py
View File

@ -17,6 +17,7 @@ class SteerLimitParams:
class CAR:
ELANTRA = "HYUNDAI ELANTRA LIMITED ULTIMATE 2017"
ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT"
GENESIS_G70 = "GENESIS G70 2018"
GENESIS_G80 = "GENESIS G80 2017"
GENESIS_G90 = "GENESIS G90 2017"
HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016"
@ -27,13 +28,13 @@ class CAR:
KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
KIA_SORENTO = "KIA SORENTO GT LINE 2018"
KIA_STINGER = "KIA STINGER GT2 2018"
KONA = "HYUNDAI KONA 2019"
KONA = "HYUNDAI KONA 2020"
KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
SANTA_FE = "HYUNDAI SANTA FE LIMITED 2019"
SANTA_FE_1 = "HYUNDAI SANTA FE has no scc"
SONATA = "HYUNDAI SONATA 2020"
SONATA_2019 = "HYUNDAI SONATA 2019"
PALISADE = "HYUNDAI PALISADE 2020"
VELOSTER = "HYUNDAI VELOSTER 2019"
class Buttons:
@ -85,20 +86,18 @@ FINGERPRINTS = {
CAR.SONATA_2019: [
{66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1397: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2014: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8},
],
CAR.KIA_OPTIMA: [
{
64: 8, 66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1186: 2, 1191: 2, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 1952: 8, 1960: 8, 1988: 8, 1996: 8, 2001: 8, 2004: 8, 2008: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
},
{
64: 8, 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 897: 8, 899: 8, 902: 8, 903: 6, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1265: 4, 1268: 8, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1491: 8, 1492: 8
},
],
CAR.KIA_OPTIMA: [{
64: 8, 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 558: 8, 593: 8, 608: 8, 640: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1186: 2, 1191: 2, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1268: 8, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1492: 8, 1530: 8, 1532: 5, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 1996: 8, 2000: 8, 2001: 8, 2004: 8, 2008: 8, 2009: 8, 2012: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
}],
CAR.KIA_SORENTO: [{
67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1
}],
CAR.KIA_STINGER: [{
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8
}],
CAR.GENESIS_G70: [{
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832:8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1168: 7, 1170: 8, 1173:8, 1184: 8, 1186: 2, 1191: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1419:8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
}],
CAR.GENESIS_G80: [{
67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1024: 2, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1191: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8
},
@ -119,9 +118,9 @@ FINGERPRINTS = {
},
{
68:8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 8, 576:8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1473: 8, 1476: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8
}],
}],
CAR.KONA: [{
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 354: 3, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 909: 8, 916: 8, 1040: 8, 1078: 4, 1107: 5, 1136: 8, 1156: 8, 1170: 8, 1173: 8, 1191: 2, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1384: 8, 1394: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 2004: 8, 2009: 8, 2012: 8
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 354: 3, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832 : 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1170: 8, 1173: 8, 1186: 2, 1191: 2, 1193: 8, 1265: 4,1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1378: 8, 1384: 8, 1394: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2001: 8, 2004: 8, 2008: 8, 2009: 8, 2012: 8
}],
CAR.KONA_EV: [{
127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8
@ -136,14 +135,20 @@ FINGERPRINTS = {
68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
}],
CAR.PALISADE: [{
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 549: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1123: 8, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 2000: 8, 2005: 8, 2008: 8
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 549: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1123: 8, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8
}],
CAR.VELOSTER: [{
64: 8, 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 558: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1181: 5, 1186: 2, 1191: 2, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1378: 4, 1407: 8, 1414: 3, 1415: 8, 1419: 8, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 1872: 8, 1988: 8, 1996: 8, 2000: 8, 2001: 8, 2004: 8, 2008: 8, 2009: 8, 2012: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
}]
}
ECU_FINGERPRINT = {
Ecu.fwdCamera: [832, 1156, 1191, 1342]
}
# Don't use these fingerprints for fingerprinting, they are still used for ECU detection
IGNORED_FINGERPRINTS = [CAR.VELOSTER, CAR.GENESIS_G70, CAR.KONA]
FW_VERSIONS = {
CAR.SONATA: {
(Ecu.fwdRadar, 0x7d0, None): [
@ -181,7 +186,10 @@ FW_VERSIONS = {
(Ecu.engine, 0x7e0, None): [ b'\xf1\x81640E0051\x00\x00\x00\x00\x00\x00\x00\x00',],
(Ecu.eps, 0x7d4, None): [b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5420 4C4VL104'],
(Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00CK MFC AT USA LHD 1.00 1.03 95740-J5000 170822'],
(Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDHLG17118862DK2\x8awWwgu\x96wVfUVwv\x97xWvfvUTGTx\x87o\xff\xc9\xed\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0'],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x87VDHLG17118862DK2\x8awWwgu\x96wVfUVwv\x97xWvfvUTGTx\x87o\xff\xc9\xed\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
],
},
CAR.KIA_OPTIMA_H: {
(Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00DEhe SCC H-CUP 1.01 1.02 96400-G5100 ',],
@ -190,16 +198,58 @@ FW_VERSIONS = {
(Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00DEP MFC AT USA LHD 1.00 1.01 95740-G5010 170424',],
(Ecu.transmission, 0x7e1, None): [b"\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\xf4'\\\x91",],
},
CAR.PALISADE: {
(Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00LX2_ SCC FHCUP 1.00 1.04 99110-S8100 \xf1\xa01.04',],
CAR.PALISADE: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00LX2_ SCC FHCUP 1.00 1.04 99110-S8100 \xf1\xa01.04',
b'\xf1\x00LX2 SCC FHCUP 1.00 1.04 99110-S8100 \xf1\xa01.04',
],
(Ecu.esp, 0x7d1, None): [
b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330',
b'\xf1\x00LX ESC \v 102\x19\x05\a 58910-S8330\xf1\xa01.02',
b'\xf1\x00LX ESC \v 103\x19\t\x10 58910-S8360\xf1\xa01.03',
],
(Ecu.engine, 0x7e0, None): [b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00',],
(Ecu.eps, 0x7d4, None): [b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8020 4LXDC103',],
(Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.03 99211-S8100 190125',],
(Ecu.transmission, 0x7e1, None): [b'\xf1\x87LDKVBN424201KF26\xba\xaa\x9a\xa9\x99\x99\x89\x98\x89\x99\xa8\x99\x88\x99\x98\x89\x88\x99\xa8\x89v\x7f\xf7\xffwf_\xffq\xa6\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7',],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.03 99211-S8100 190125',
b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.05 99211-S8100 190909',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x87LDKVBN424201KF26\xba\xaa\x9a\xa9\x99\x99\x89\x98\x89\x99\xa8\x99\x88\x99\x98\x89\x88\x99\xa8\x89v\x7f\xf7\xffwf_\xffq\xa6\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7',
b'\xf1\x87LDLVBN560098KF26\x86fff\x87vgfg\x88\x96xfw\x86gfw\x86g\x95\xf6\xffeU_\xff\x92c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7',
],
},
CAR.VELOSTER: {
(Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00JS__ SCC H-CUP 1.00 1.02 95650-J3200 ', ],
(Ecu.esp, 0x7d1, None): [b'\xf1\x00\x00\x00\x00\x00\x00\x00', ],
(Ecu.engine, 0x7e0, None): [b'\x01TJS-JNU06F200H0A', ],
(Ecu.eps, 0x7d4, None): [b'\xf1\x00JSL MDPS C 1.00 1.03 56340-J3000 8308', ],
(Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00JS LKAS AT USA LHD 1.00 1.02 95740-J3000 K32', ],
(Ecu.transmission, 0x7e1, None): [b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJS0T16NS1\xba\x02\xb8\x80', ],
},
CAR.GENESIS_G70: {
(Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 \xf1\xa01.02', ],
(Ecu.esp, 0x7d1, None): [b'\xf1\x00\x00\x00\x00\x00\x00\x00', ],
(Ecu.engine, 0x7e0, None): [b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', ],
(Ecu.eps, 0x7d4, None): [b'\xf1\x00IK MDPS R 1.00 1.06 57700-G9420 4I4VL106', ],
(Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920', ],
(Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', ],
},
CAR.KONA: {
(Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00OS__ SCC F-CUP 1.00 1.00 95655-J9200 \xf1\xa01.00', ],
(Ecu.esp, 0x7d1, None): [b'\xf1\x816V5RAK00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00\xf1\xa01.05', ],
(Ecu.engine, 0x7e0, None): [b'"\x01TOS-0NU06F301J02', ],
(Ecu.eps, 0x7d4, None): [b'\xf1\x00OS MDPS C 1.00 1.05 56310J9030\x00 4OSDC105', ],
(Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9300 g21', ],
(Ecu.transmission, 0x7e1, None): [b'\xf1\x816U2VE051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VE051\x00\x00DOS4T16NS3\x00\x00\x00\x00', ],
},
CAR.KIA_OPTIMA: {
(Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4110 '],
(Ecu.esp, 0x7d1, None): [b'\xf1\x00JF ESC \v 11 \x18\x030 58920-D5180',],
(Ecu.engine, 0x7e0, None): [b'\x01TJFAJNU06F201H03'],
(Ecu.eps, 0x7d4, None): [b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8409'],
(Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.02 95895-D5000 h31'],
(Ecu.transmission, 0x7e1, None): [b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW'],
}
}
@ -210,21 +260,22 @@ CHECKSUM = {
FEATURES = {
# which message has the gear
"use_cluster_gears": [CAR.ELANTRA, CAR.KONA, CAR.ELANTRA_GT_I30],
"use_tcu_gears": [CAR.KIA_OPTIMA, CAR.SONATA_2019],
"use_elect_gears": [CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ],
"use_cluster_gears": set([CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA]),
"use_tcu_gears": set([CAR.KIA_OPTIMA, CAR.SONATA_2019, CAR.VELOSTER]),
"use_elect_gears": set([CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ]),
# these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
"use_fca": [CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.KONA, CAR.KONA_EV, CAR.KIA_FORTE, CAR.PALISADE],
"use_fca": set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_FORTE, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA]),
"use_bsm": [CAR.SONATA, CAR.PALISADE, CAR.HYUNDAI_GENESIS, CAR.GENESIS_G80, CAR.GENESIS_G90],
"use_bsm": set([CAR.SONATA, CAR.PALISADE, CAR.HYUNDAI_GENESIS, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.KONA]),
}
EV_HYBRID = [CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV]
EV_HYBRID = set([CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV])
DBC = {
CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None),
CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None),
CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None),
CAR.GENESIS_G90: dbc_dict('hyundai_kia_generic', None),
CAR.HYUNDAI_GENESIS: dbc_dict('hyundai_kia_generic', None),
@ -241,6 +292,7 @@ DBC = {
CAR.SONATA: dbc_dict('hyundai_kia_generic', None),
CAR.SONATA_2019: dbc_dict('hyundai_kia_generic', None),
CAR.PALISADE: dbc_dict('hyundai_kia_generic', None),
CAR.VELOSTER: dbc_dict('hyundai_kia_generic', None),
}
STEER_THRESHOLD = 150

12
selfdrive/car/interfaces.py
View File

@ -27,6 +27,7 @@ class CarInterfaceBase():
self.CS = CarState(CP)
self.cp = self.CS.get_can_parser(CP)
self.cp_cam = self.CS.get_cam_can_parser(CP)
self.cp_body = self.CS.get_body_can_parser(CP)
self.CC = None
if CarController is not None:
@ -41,7 +42,7 @@ class CarInterfaceBase():
raise NotImplementedError
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
raise NotImplementedError
# returns a set of default params to avoid repetition in car specific params
@ -136,13 +137,12 @@ class RadarInterfaceBase():
self.pts = {}
self.delay = 0
self.radar_ts = CP.radarTimeStep
self.no_radar_sleep = 'NO_RADAR_SLEEP' in os.environ
def update(self, can_strings):
ret = car.RadarData.new_message()
if 'NO_RADAR_SLEEP' not in os.environ:
if not self.no_radar_sleep:
time.sleep(self.radar_ts) # radard runs on RI updates
return ret
class CarStateBase:
@ -175,3 +175,7 @@ class CarStateBase:
@staticmethod
def get_cam_can_parser(CP):
return None
@staticmethod
def get_body_can_parser(CP):
return None

4
selfdrive/car/mazda/carstate.py
View File

@ -162,8 +162,8 @@ class CarState(CarStateBase):
@staticmethod
def get_cam_can_parser(CP):
signals = [ ]
checks = [ ]
signals = []
checks = []
if CP.carFingerprint == CAR.CX5:
signals += [

5
selfdrive/car/mazda/interface.py
View File

@ -15,7 +15,7 @@ class CarInterface(CarInterfaceBase):
return float(accel) / 4.0
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "mazda"
@ -70,9 +70,6 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam)
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
# TODO: button presses
ret.buttonEvents = []
# events
events = self.create_common_events(ret)

2
selfdrive/car/mock/interface.py
View File

@ -33,7 +33,7 @@ class CarInterface(CarInterfaceBase):
return accel
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "mock"
ret.safetyModel = car.CarParams.SafetyModel.noOutput

8
selfdrive/car/nissan/carcontroller.py
View File

@ -2,7 +2,7 @@ from cereal import car
from common.numpy_fast import clip, interp
from selfdrive.car.nissan import nissancan
from opendbc.can.packer import CANPacker
from selfdrive.car.nissan.values import CAR
from selfdrive.car.nissan.values import CAR, STEER_THRESHOLD
# Steer angle limits
ANGLE_DELTA_BP = [0., 5., 15.]
@ -53,7 +53,11 @@ class CarController():
else:
# Scale max torque based on how much torque the driver is applying to the wheel
self.lkas_max_torque = max(
0, LKAS_MAX_TORQUE - 0.4 * abs(CS.out.steeringTorque))
# Scale max torque down to half LKAX_MAX_TORQUE as a minimum
LKAS_MAX_TORQUE * 0.5,
# Start scaling torque at STEER_THRESHOLD
LKAS_MAX_TORQUE - 0.6 * max(0, abs(CS.out.steeringTorque) - STEER_THRESHOLD)
)
else:
apply_angle = CS.out.steeringAngle

7
selfdrive/car/nissan/carstate.py
View File

@ -1,4 +1,5 @@
import copy
from collections import deque
from cereal import car
from opendbc.can.can_define import CANDefine
from selfdrive.car.interfaces import CarStateBase
@ -6,12 +7,14 @@ from selfdrive.config import Conversions as CV
from opendbc.can.parser import CANParser
from selfdrive.car.nissan.values import CAR, DBC, STEER_THRESHOLD
TORQUE_SAMPLES = 12
class CarState(CarStateBase):
def __init__(self, CP):
super().__init__(CP)
can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES)
self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
def update(self, cp, cp_adas, cp_cam):
@ -60,7 +63,9 @@ class CarState(CarStateBase):
ret.cruiseState.speed = speed * conversion
ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
self.steeringTorqueSamples.append(ret.steeringTorque)
# Filtering driver torque to prevent steeringPressed false positives
ret.steeringPressed = bool(abs(sum(self.steeringTorqueSamples) / TORQUE_SAMPLES) > STEER_THRESHOLD)
ret.steeringAngle = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"]

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

@ -14,7 +14,7 @@ class CarInterface(CarInterfaceBase):
return float(accel) / 4.0
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "nissan"

2
selfdrive/car/nissan/values.py
View File

@ -2,7 +2,7 @@
from selfdrive.car import dbc_dict
STEER_THRESHOLD = 1.75
STEER_THRESHOLD = 1.0
class CAR:
XTRAIL = "NISSAN X-TRAIL 2017"

61
selfdrive/car/subaru/carcontroller.py
View File

@ -1,7 +1,6 @@
#from common.numpy_fast import clip
from selfdrive.car import apply_std_steer_torque_limits
from selfdrive.car.subaru import subarucan
from selfdrive.car.subaru.values import DBC
from selfdrive.car.subaru.values import DBC, PREGLOBAL_CARS
from opendbc.can.packer import CANPacker
@ -18,49 +17,71 @@ class CarControllerParams():
class CarController():
def __init__(self, dbc_name, CP, VM):
self.lkas_active = False
self.apply_steer_last = 0
self.es_distance_cnt = -1
self.es_accel_cnt = -1
self.es_lkas_cnt = -1
self.fake_button_prev = 0
self.steer_rate_limited = False
self.params = CarControllerParams()
self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line):
""" Controls thread """
P = self.params
# Send CAN commands.
can_sends = []
### STEER ###
# *** steering ***
if (frame % self.params.STEER_STEP) == 0:
if (frame % P.STEER_STEP) == 0:
final_steer = actuators.steer if enabled else 0.
apply_steer = int(round(final_steer * P.STEER_MAX))
apply_steer = int(round(actuators.steer * self.params.STEER_MAX))
# limits due to driver torque
new_steer = int(round(apply_steer))
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P)
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
self.steer_rate_limited = new_steer != apply_steer
if not enabled:
apply_steer = 0
can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, frame, P.STEER_STEP))
if CS.CP.carFingerprint in PREGLOBAL_CARS:
can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, frame, self.params.STEER_STEP))
else:
can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, frame, self.params.STEER_STEP))
self.apply_steer_last = apply_steer
if self.es_distance_cnt != CS.es_distance_msg["Counter"]:
can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, pcm_cancel_cmd))
self.es_distance_cnt = CS.es_distance_msg["Counter"]
if self.es_lkas_cnt != CS.es_lkas_msg["Counter"]:
can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, visual_alert, left_line, right_line))
self.es_lkas_cnt = CS.es_lkas_msg["Counter"]
# *** alerts and pcm cancel ***
if CS.CP.carFingerprint in PREGLOBAL_CARS:
if self.es_accel_cnt != CS.es_accel_msg["Counter"]:
# 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep
# disengage ACC when OP is disengaged
if pcm_cancel_cmd:
fake_button = 1
# turn main on if off and past start-up state
elif not CS.out.cruiseState.available and CS.ready:
fake_button = 1
else:
fake_button = CS.button
# unstick previous mocked button press
if fake_button == 1 and self.fake_button_prev == 1:
fake_button = 0
self.fake_button_prev = fake_button
can_sends.append(subarucan.create_es_throttle_control(self.packer, fake_button, CS.es_accel_msg))
self.es_accel_cnt = CS.es_accel_msg["Counter"]
else:
if self.es_distance_cnt != CS.es_distance_msg["Counter"]:
can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, pcm_cancel_cmd))
self.es_distance_cnt = CS.es_distance_msg["Counter"]
if self.es_lkas_cnt != CS.es_lkas_msg["Counter"]:
can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, visual_alert, left_line, right_line))
self.es_lkas_cnt = CS.es_lkas_msg["Counter"]
return can_sends

166
selfdrive/car/subaru/carstate.py
View File

@ -4,7 +4,7 @@ from opendbc.can.can_define import CANDefine
from selfdrive.config import Conversions as CV
from selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser
from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD
from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD, CAR, PREGLOBAL_CARS
class CarState(CarStateBase):
@ -20,7 +20,10 @@ class CarState(CarStateBase):
ret.gas = cp.vl["Throttle"]['Throttle_Pedal'] / 255.
ret.gasPressed = ret.gas > 1e-5
ret.brakePressed = cp.vl["Brake_Pedal"]['Brake_Pedal'] > 1e-5
if self.car_fingerprint in PREGLOBAL_CARS:
ret.brakePressed = cp.vl["Brake_Pedal"]['Brake_Pedal'] > 2
else:
ret.brakePressed = cp.vl["Brake_Pedal"]['Brake_Pedal'] > 1e-5
ret.brakeLights = ret.brakePressed
ret.wheelSpeeds.fl = cp.vl["Wheel_Speeds"]['FL'] * CV.KPH_TO_MS
@ -51,8 +54,12 @@ class CarState(CarStateBase):
ret.cruiseState.enabled = cp.vl["CruiseControl"]['Cruise_Activated'] != 0
ret.cruiseState.available = cp.vl["CruiseControl"]['Cruise_On'] != 0
ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]['Cruise_Set_Speed'] * CV.KPH_TO_MS
# EDM Impreza: 1 = mph, UDM Forester: 7 = mph
if cp.vl["Dash_State"]['Units'] in [1, 7]:
# UDM Forester, Legacy: mph = 0
if self.car_fingerprint in [CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL] and cp.vl["Dash_State"]['Units'] == 0:
ret.cruiseState.speed *= CV.MPH_TO_KPH
# EDM Global: mph = 1, 2; All Outback: mph = 1, UDM Forester: mph = 7
elif self.car_fingerprint not in [CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL] and cp.vl["Dash_State"]['Units'] in [1, 2, 7]:
ret.cruiseState.speed *= CV.MPH_TO_KPH
ret.seatbeltUnlatched = cp.vl["Dashlights"]['SEATBELT_FL'] == 1
@ -61,8 +68,17 @@ class CarState(CarStateBase):
cp.vl["BodyInfo"]['DOOR_OPEN_FR'],
cp.vl["BodyInfo"]['DOOR_OPEN_FL']])
self.es_distance_msg = copy.copy(cp_cam.vl["ES_Distance"])
self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
if self.car_fingerprint in PREGLOBAL_CARS:
ret.steerError = cp.vl["Steering_Torque"]["LKA_Lockout"] == 1
self.button = cp_cam.vl["ES_CruiseThrottle"]["Button"]
self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"]
self.es_accel_msg = copy.copy(cp_cam.vl["ES_CruiseThrottle"])
else:
ret.steerError = cp.vl["Steering_Torque"]['Steer_Error_1'] == 1
ret.steerWarning = cp.vl["Steering_Torque"]['Steer_Warning'] == 1
ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]['Conventional_Cruise'] == 1
self.es_distance_msg = copy.copy(cp_cam.vl["ES_Distance"])
self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
return ret
@ -98,51 +114,121 @@ class CarState(CarStateBase):
checks = [
# sig_address, frequency
("Throttle", 100),
("Dashlights", 10),
("CruiseControl", 20),
("Brake_Pedal", 50),
("Wheel_Speeds", 50),
("Transmission", 100),
("Steering_Torque", 50),
("BodyInfo", 10),
]
if CP.carFingerprint in PREGLOBAL_CARS:
signals += [
("LKA_Lockout", "Steering_Torque", 0),
]
else:
signals += [
("Steer_Error_1", "Steering_Torque", 0),
("Steer_Warning", "Steering_Torque", 0),
]
checks += [
("Dashlights", 10),
("BodyInfo", 10),
("CruiseControl", 20),
]
if CP.carFingerprint == CAR.FORESTER_PREGLOBAL:
checks += [
("Dashlights", 20),
("BodyInfo", 1),
("CruiseControl", 50),
]
if CP.carFingerprint in [CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018]:
checks += [
("Dashlights", 10),
("CruiseControl", 50),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
@staticmethod
def get_cam_can_parser(CP):
signals = [
("Cruise_Set_Speed", "ES_DashStatus", 0),
if CP.carFingerprint in PREGLOBAL_CARS:
signals = [
("Cruise_Set_Speed", "ES_DashStatus", 0),
("Not_Ready_Startup", "ES_DashStatus", 0),
("Counter", "ES_Distance", 0),
("Signal1", "ES_Distance", 0),
("Signal2", "ES_Distance", 0),
("Main", "ES_Distance", 0),
("Signal3", "ES_Distance", 0),
("Throttle_Cruise", "ES_CruiseThrottle", 0),
("Signal1", "ES_CruiseThrottle", 0),
("Cruise_Activated", "ES_CruiseThrottle", 0),
("Signal2", "ES_CruiseThrottle", 0),
("Brake_On", "ES_CruiseThrottle", 0),
("DistanceSwap", "ES_CruiseThrottle", 0),
("Standstill", "ES_CruiseThrottle", 0),
("Signal3", "ES_CruiseThrottle", 0),
("CloseDistance", "ES_CruiseThrottle", 0),
("Signal4", "ES_CruiseThrottle", 0),
("Standstill_2", "ES_CruiseThrottle", 0),
("ES_Error", "ES_CruiseThrottle", 0),
("Signal5", "ES_CruiseThrottle", 0),
("Counter", "ES_CruiseThrottle", 0),
("Signal6", "ES_CruiseThrottle", 0),
("Button", "ES_CruiseThrottle", 0),
("Signal7", "ES_CruiseThrottle", 0),
]
("Counter", "ES_LKAS_State", 0),
("Keep_Hands_On_Wheel", "ES_LKAS_State", 0),
("Empty_Box", "ES_LKAS_State", 0),
("Signal1", "ES_LKAS_State", 0),
("LKAS_ACTIVE", "ES_LKAS_State", 0),
("Signal2", "ES_LKAS_State", 0),
("Backward_Speed_Limit_Menu", "ES_LKAS_State", 0),
("LKAS_ENABLE_3", "ES_LKAS_State", 0),
("Signal3", "ES_LKAS_State", 0),
("LKAS_ENABLE_2", "ES_LKAS_State", 0),
("Signal4", "ES_LKAS_State", 0),
("LKAS_Left_Line_Visible", "ES_LKAS_State", 0),
("Signal6", "ES_LKAS_State", 0),
("LKAS_Right_Line_Visible", "ES_LKAS_State", 0),
("Signal7", "ES_LKAS_State", 0),
("FCW_Cont_Beep", "ES_LKAS_State", 0),
("FCW_Repeated_Beep", "ES_LKAS_State", 0),
("Throttle_Management_Activated", "ES_LKAS_State", 0),
("Traffic_light_Ahead", "ES_LKAS_State", 0),
("Right_Depart", "ES_LKAS_State", 0),
("Signal5", "ES_LKAS_State", 0),
]
checks = [
("ES_DashStatus", 20),
("ES_CruiseThrottle", 20),
]
else:
signals = [
("Cruise_Set_Speed", "ES_DashStatus", 0),
("Conventional_Cruise", "ES_DashStatus", 0),
checks = [
("ES_DashStatus", 10),
]
("Counter", "ES_Distance", 0),
("Signal1", "ES_Distance", 0),
("Cruise_Fault", "ES_Distance", 0),
("Cruise_Throttle", "ES_Distance", 0),
("Signal2", "ES_Distance", 0),
("Car_Follow", "ES_Distance", 0),
("Signal3", "ES_Distance", 0),
("Cruise_Brake_Active", "ES_Distance", 0),
("Distance_Swap", "ES_Distance", 0),
("Cruise_EPB", "ES_Distance", 0),
("Signal4", "ES_Distance", 0),
("Close_Distance", "ES_Distance", 0),
("Signal5", "ES_Distance", 0),
("Cruise_Cancel", "ES_Distance", 0),
("Cruise_Set", "ES_Distance", 0),
("Cruise_Resume", "ES_Distance", 0),
("Signal6", "ES_Distance", 0),
("Counter", "ES_LKAS_State", 0),
("Keep_Hands_On_Wheel", "ES_LKAS_State", 0),
("Empty_Box", "ES_LKAS_State", 0),
("Signal1", "ES_LKAS_State", 0),
("LKAS_ACTIVE", "ES_LKAS_State", 0),
("Signal2", "ES_LKAS_State", 0),
("Backward_Speed_Limit_Menu", "ES_LKAS_State", 0),
("LKAS_ENABLE_3", "ES_LKAS_State", 0),
("LKAS_Left_Line_Light_Blink", "ES_LKAS_State", 0),
("LKAS_ENABLE_2", "ES_LKAS_State", 0),
("LKAS_Right_Line_Light_Blink", "ES_LKAS_State", 0),
("LKAS_Left_Line_Visible", "ES_LKAS_State", 0),
("LKAS_Left_Line_Green", "ES_LKAS_State", 0),
("LKAS_Right_Line_Visible", "ES_LKAS_State", 0),
("LKAS_Right_Line_Green", "ES_LKAS_State", 0),
("LKAS_Alert", "ES_LKAS_State", 0),
("Signal3", "ES_LKAS_State", 0),
]
checks = [
("ES_DashStatus", 10),
("ES_Distance", 20),
("ES_LKAS_State", 10),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)

43
selfdrive/car/subaru/interface.py
View File

@ -1,6 +1,6 @@
#!/usr/bin/env python3
from cereal import car
from selfdrive.car.subaru.values import CAR
from selfdrive.car.subaru.values import CAR, PREGLOBAL_CARS
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase
@ -11,16 +11,22 @@ class CarInterface(CarInterfaceBase):
return float(accel) / 4.0
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "subaru"
ret.radarOffCan = True
ret.safetyModel = car.CarParams.SafetyModel.subaru
if candidate in PREGLOBAL_CARS:
ret.safetyModel = car.CarParams.SafetyModel.subaruLegacy
else:
ret.safetyModel = car.CarParams.SafetyModel.subaru
# Subaru port is a community feature, since we don't own one to test
ret.communityFeature = True
ret.dashcamOnly = candidate in PREGLOBAL_CARS
# force openpilot to fake the stock camera, since car harness is not supported yet and old style giraffe (with switches)
# was never released
ret.enableCamera = True
@ -58,6 +64,37 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
if candidate in [CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018]:
ret.safetyParam = 1 # Outback 2018-2019 and Forester have reversed driver torque signal
ret.mass = 1568 + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 20 # learned, 14 stock
ret.steerActuatorDelay = 0.1
ret.lateralTuning.pid.kf = 0.000039
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 10., 20.], [0., 10., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.05, 0.2], [0.003, 0.018, 0.025]]
if candidate == CAR.LEGACY_PREGLOBAL:
ret.mass = 1568 + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 12.5 # 14.5 stock
ret.steerActuatorDelay = 0.15
ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1, 0.2], [0.01, 0.02]]
if candidate == CAR.OUTBACK_PREGLOBAL:
ret.mass = 1568 + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 20 # learned, 14 stock
ret.steerActuatorDelay = 0.1
ret.lateralTuning.pid.kf = 0.000039
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 10., 20.], [0., 10., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.05, 0.2], [0.003, 0.018, 0.025]]
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

33
selfdrive/car/subaru/subarucan.py
View File

@ -5,8 +5,7 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
def create_steering_control(packer, apply_steer, frame, steer_step):
# counts from 0 to 15 then back to 0 + 16 for enable bit
idx = ((frame // steer_step) % 16)
idx = (frame / steer_step) % 16
values = {
"Counter": idx,
@ -24,7 +23,7 @@ def create_es_distance(packer, es_distance_msg, pcm_cancel_cmd):
values = copy.copy(es_distance_msg)
if pcm_cancel_cmd:
values["Main"] = 1
values["Cruise_Cancel"] = 1
return packer.make_can_msg("ES_Distance", 0, values)
@ -38,3 +37,31 @@ def create_es_lkas(packer, es_lkas_msg, visual_alert, left_line, right_line):
values["LKAS_Right_Line_Visible"] = int(right_line)
return packer.make_can_msg("ES_LKAS_State", 0, values)
# *** Subaru Pre-global ***
def subaru_preglobal_checksum(packer, values, addr):
dat = packer.make_can_msg(addr, 0, values)[2]
return (sum(dat[:7])) % 256
def create_preglobal_steering_control(packer, apply_steer, frame, steer_step):
idx = (frame / steer_step) % 8
values = {
"Counter": idx,
"LKAS_Command": apply_steer,
"LKAS_Active": 1 if apply_steer != 0 else 0
}
values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_LKAS")
return packer.make_can_msg("ES_LKAS", 0, values)
def create_es_throttle_control(packer, fake_button, es_accel_msg):
values = copy.copy(es_accel_msg)
values["Button"] = fake_button
values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_CruiseThrottle")
return packer.make_can_msg("ES_CruiseThrottle", 0, values)

60
selfdrive/car/subaru/values.py
View File

@ -8,19 +8,23 @@ class CAR:
ASCENT = "SUBARU ASCENT LIMITED 2019"
IMPREZA = "SUBARU IMPREZA LIMITED 2019"
FORESTER = "SUBARU FORESTER 2019"
FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018"
LEGACY_PREGLOBAL = "SUBARU LEGACY 2015 - 2018"
OUTBACK_PREGLOBAL = "SUBARU OUTBACK 2015 - 2017"
OUTBACK_PREGLOBAL_2018 = "SUBARU OUTBACK 2018 - 2019"
FINGERPRINTS = {
CAR.ASCENT: [
CAR.ASCENT: [{
# SUBARU ASCENT LIMITED 2019
{
2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 811: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1722: 8, 1743: 8, 1759: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8
}],
CAR.IMPREZA: [{
# SUBARU IMPREZA LIMITED 2019
2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8
},
# Crosstrek 2018 (same platform as Impreza)
# SUBARU CROSSTREK 2018
{
2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 256: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 811: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8
2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 811: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8
}],
CAR.FORESTER: [{
# Forester Sport 2019
@ -30,12 +34,48 @@ FINGERPRINTS = {
{
2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 803: 8, 805: 8, 808: 8, 811: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1651: 8, 1657: 8, 1658: 8, 1677: 8, 1722: 8, 1759: 8, 1787: 5, 1788: 8
}],
CAR.OUTBACK_PREGLOBAL: [{
# OUTBACK PREMIUM 2.5i 2015
2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 346: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 392: 8, 640: 8, 642: 8, 644: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 977: 8, 1632: 8, 1745: 8, 1786: 5, 1882: 8, 2015: 8, 2016: 8, 2024: 8, 604: 8, 885: 8, 1788: 8, 316: 8, 1614: 8, 1640: 8, 1657: 8, 1658: 8, 1672: 8, 1743: 8, 1785: 5, 1787: 5
},
# OUTBACK PREMIUM 3.6i 2015
{
2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 392: 8, 604: 8, 640: 8, 642: 8, 644: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 977: 8, 1632: 8, 1745: 8, 1779: 8, 1786: 5
},
# OUTBACK LIMITED 2.5i 2018
{
2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 316: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 392: 8, 554: 8, 604: 8, 640: 8, 642: 8, 644: 8, 805: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 977: 8, 1614: 8, 1632: 8, 1657: 8, 1658: 8, 1672: 8, 1722: 8, 1736: 8, 1743: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8
}],
CAR.OUTBACK_PREGLOBAL_2018: [{
# OUTBACK LIMITED 3.6R 2019
2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 316: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 392: 8, 554: 8, 604: 8, 640: 8, 642: 8, 644: 8, 805: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 886: 2, 977: 8, 1614: 8, 1632: 8, 1657: 8, 1658: 8, 1672: 8, 1736: 8, 1743: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 1862: 8, 1870: 8, 1920: 8, 1927: 8, 1928: 8, 1935: 8, 1968: 8, 1976: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
}],
CAR.FORESTER_PREGLOBAL: [{
# FORESTER PREMIUM 2.5i 2017
2: 8, 112: 8, 117: 8, 128: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 340: 7, 342: 8, 352: 8, 353: 8, 354: 8, 355: 8, 356: 8, 554: 8, 604: 8, 640: 8, 641: 8, 642: 8, 805: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 886: 1, 888: 8, 977: 8, 1398: 8, 1632: 8, 1743: 8, 1744: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 1882: 8, 1895: 8, 1903: 8, 1986: 8, 1994: 8, 2015: 8, 2016: 8, 2024: 8, 644:8, 890:8, 1736:8
}],
CAR.LEGACY_PREGLOBAL: [{
# LEGACY 2.5i 2017
2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 392: 8, 604: 8, 640: 8, 642: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 977: 8, 1632: 8, 1640: 8, 1736: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 644: 8
},
# LEGACY 2018
{
2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 316: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 392: 8, 604: 8, 640: 8, 642: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 977: 8, 1614: 8, 1632: 8, 1640: 8, 1657: 8, 1658: 8, 1672: 8, 1722: 8, 1743: 8, 1745: 8, 1778: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 2015: 8, 2016: 8, 2024: 8
},
# LEGACY 2018
{
2: 8, 208: 8, 209: 4, 210: 8, 211: 7, 212: 8, 316: 8, 320: 8, 321: 8, 324: 8, 328: 8, 329: 8, 336: 2, 338: 8, 342: 8, 352: 8, 353: 8, 354: 8, 356: 8, 358: 8, 359: 8, 392: 8, 554: 8, 604: 8, 640: 8, 642: 8, 805: 8, 864: 8, 865: 8, 866: 8, 872: 8, 880: 8, 881: 8, 882: 8, 884: 8, 885: 8, 977: 8, 1614: 8, 1632: 8, 1640: 8, 1657: 8, 1658: 8, 1672: 8, 1722: 8, 1743: 8, 1745: 8, 1785: 5, 1786: 5, 1787: 5, 1788: 8, 2015: 8, 2016: 8, 2024: 8
}],
}
STEER_THRESHOLD = {
CAR.ASCENT: 80,
CAR.IMPREZA: 80,
CAR.FORESTER: 80,
CAR.FORESTER_PREGLOBAL: 75,
CAR.LEGACY_PREGLOBAL: 75,
CAR.OUTBACK_PREGLOBAL: 75,
CAR.OUTBACK_PREGLOBAL_2018: 75,
}
ECU_FINGERPRINT = {
@ -43,7 +83,13 @@ ECU_FINGERPRINT = {
}
DBC = {
CAR.ASCENT: dbc_dict('subaru_global_2017', None),
CAR.IMPREZA: dbc_dict('subaru_global_2017', None),
CAR.FORESTER: dbc_dict('subaru_global_2017', None),
CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None),
CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None),
CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None),
CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None),
CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
CAR.OUTBACK_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None),
}
PREGLOBAL_CARS = [CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018]

2
selfdrive/car/tests/test_car_interfaces.py
View File

@ -63,7 +63,7 @@ class TestCarInterfaces(unittest.TestCase):
# Run radar interface once
radar_interface.update([])
if hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
if not car_params.radarOffCan and hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
radar_interface._update([radar_interface.trigger_msg])
if __name__ == "__main__":

9
selfdrive/car/toyota/carstate.py
View File

@ -182,9 +182,14 @@ class CarState(CarStateBase):
@staticmethod
def get_cam_can_parser(CP):
signals = [("FORCE", "PRE_COLLISION", 0), ("PRECOLLISION_ACTIVE", "PRE_COLLISION", 0)]
signals = [
("FORCE", "PRE_COLLISION", 0),
("PRECOLLISION_ACTIVE", "PRE_COLLISION", 0)
]
# use steering message to check if panda is connected to frc
checks = [("STEERING_LKA", 42)]
checks = [
("STEERING_LKA", 42)
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)

1
selfdrive/car/toyota/interface.py
View File

@ -313,7 +313,6 @@ class CarInterface(CarInterfaceBase):
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
ret.buttonEvents = []
# events
events = self.create_common_events(ret)

9
selfdrive/car/toyota/radar_interface.py
View File

@ -1,14 +1,10 @@
#!/usr/bin/env python3
import os
import time
from opendbc.can.parser import CANParser
from cereal import car
from selfdrive.car.toyota.values import NO_DSU_CAR, DBC, TSS2_CAR
from selfdrive.car.interfaces import RadarInterfaceBase
def _create_radar_can_parser(car_fingerprint):
dbc_f = DBC[car_fingerprint]['radar']
if car_fingerprint in TSS2_CAR:
RADAR_A_MSGS = list(range(0x180, 0x190))
RADAR_B_MSGS = list(range(0x190, 0x1a0))
@ -26,7 +22,7 @@ def _create_radar_can_parser(car_fingerprint):
checks = list(zip(RADAR_A_MSGS + RADAR_B_MSGS, [20]*(msg_a_n + msg_b_n)))
return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)
class RadarInterface(RadarInterfaceBase):
def __init__(self, CP):
@ -53,8 +49,7 @@ class RadarInterface(RadarInterfaceBase):
def update(self, can_strings):
if self.no_radar:
time.sleep(self.radar_ts)
return car.RadarData.new_message()
return super().update(None)
vls = self.rcp.update_strings(can_strings)
self.updated_messages.update(vls)

36
selfdrive/car/toyota/values.py
View File

@ -341,6 +341,7 @@ FW_VERSIONS = {
b'8646F0603400 ',
b'8646F0605000 ',
b'8646F0606000 ',
b'8646F0606100 ',
],
},
CAR.CAMRYH: {
@ -614,6 +615,7 @@ FW_VERSIONS = {
b'\x028646F1201100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
b'\x028646F1201300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
b'\x028646F1202000\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
b'\x028646F1202100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
b'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
],
},
@ -711,15 +713,24 @@ FW_VERSIONS = {
(Ecu.engine, 0x700, None): [
b'\x018966353M7100\x00\x00\x00\x00',
b'\x018966353Q2300\x00\x00\x00\x00',
b'\x018966353R8100\x00\x00\x00\x00',
],
(Ecu.esp, 0x7b0, None): [
b'F152653330\x00\x00\x00\x00\x00\x00',
],
(Ecu.esp, 0x7b0, None): [b'F152653330\x00\x00\x00\x00\x00\x00'],
(Ecu.dsu, 0x791, None): [
b'881515306400\x00\x00\x00\x00',
b'881515306500\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [b'8965B53271\x00\x00\x00\x00\x00\x00'],
(Ecu.fwdRadar, 0x750, 0xf): [b'8821F4702300\x00\x00\x00\x00'],
(Ecu.fwdCamera, 0x750, 0x6d): [b'8646F5301400\x00\x00\x00\x00'],
(Ecu.eps, 0x7a1, None): [
b'8965B53271\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'8821F4702300\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'8646F5301400\x00\x00\x00\x00',
],
},
CAR.PRIUS: {
(Ecu.engine, 0x700, None): [
@ -932,6 +943,7 @@ FW_VERSIONS = {
(Ecu.engine, 0x700, None): [
b'\x018966342M5000\x00\x00\x00\x00',
b'\x018966342X6000\x00\x00\x00\x00',
b'\x018966342W8000\x00\x00\x00\x00',
b'\x028966342W4001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
b'\x02896634A23001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
],
@ -951,15 +963,17 @@ FW_VERSIONS = {
b'\x028965B0R01300\x00\x00\x00\x008965B0R02300\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F3301100\x00\x00\x00\x00',
b'\x018821F3301200\x00\x00\x00\x00',
b'\x018821F3301300\x00\x00\x00\x00',
b'\x018821F3301400\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'\x028646F4203700\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
b'\x028646F4203200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
b'\x028646F4203300\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
b'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
b'\x028646F4203500\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
b'\x028646F4203700\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
],
},
CAR.LEXUS_ES_TSS2: {
@ -1063,30 +1077,36 @@ FW_VERSIONS = {
b'\x01896630E41000\x00\x00\x00\x00',
b'\x01896630E41200\x00\x00\x00\x00',
b'\x01896630E37300\x00\x00\x00\x00',
b'\x018966348R8500\x00\x00\x00\x00',
],
(Ecu.esp, 0x7b0, None): [
b'F152648472\x00\x00\x00\x00\x00\x00',
b'F152648473\x00\x00\x00\x00\x00\x00',
b'F152648492\x00\x00\x00\x00\x00\x00',
b'F152648493\x00\x00\x00\x00\x00\x00',
b'F152648474\x00\x00\x00\x00\x00\x00',
],
(Ecu.dsu, 0x791, None): [
b'881514810300\x00\x00\x00\x00',
b'881514810500\x00\x00\x00\x00',
b'881514810700\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'8965B0E011\x00\x00\x00\x00\x00\x00',
b'8965B0E012\x00\x00\x00\x00\x00\x00',
b'8965B48102\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'8821F4701000\x00\x00\x00\x00',
b'8821F4701100\x00\x00\x00\x00',
b'8821F4701300\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'8646F4801100\x00\x00\x00\x00',
b'8646F4801200\x00\x00\x00\x00',
b'8646F4802001\x00\x00\x00\x00',
b'8646F4802100\x00\x00\x00\x00',
b'8646F4809000\x00\x00\x00\x00',
],
},
CAR.LEXUS_RXH: {
@ -1198,6 +1218,6 @@ DBC = {
CAR.LEXUS_NXH: dbc_dict('lexus_nx300h_2018_pt_generated', 'toyota_adas'),
}
NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]
TSS2_CAR = [CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]
NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2] # no resume button press required
NO_DSU_CAR = set([CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2])
TSS2_CAR = set([CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2])
NO_STOP_TIMER_CAR = set([CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]) # no resume button press required

4
selfdrive/car/volkswagen/carcontroller.py
View File

@ -4,8 +4,6 @@ from selfdrive.car.volkswagen import volkswagencan
from selfdrive.car.volkswagen.values import DBC, CANBUS, MQB_LDW_MESSAGES, BUTTON_STATES, CarControllerParams
from opendbc.can.packer import CANPacker
VisualAlert = car.CarControl.HUDControl.VisualAlert
class CarController():
def __init__(self, dbc_name, CP, VM):
@ -114,7 +112,7 @@ class CarController():
if frame % P.LDW_STEP == 0:
hcaEnabled = True if enabled and not CS.out.standstill else False
if visual_alert == VisualAlert.steerRequired:
if visual_alert == car.CarControl.HUDControl.VisualAlert.steerRequired:
hud_alert = MQB_LDW_MESSAGES["laneAssistTakeOverSilent"]
else:
hud_alert = MQB_LDW_MESSAGES["none"]

2
selfdrive/car/volkswagen/carstate.py
View File

@ -53,7 +53,7 @@ class CarState(CarStateBase):
pt_cp.vl["Gateway_72"]['ZV_HD_offen']])
# Update seatbelt fastened status.
ret.seatbeltUnlatched = False if pt_cp.vl["Airbag_02"]["AB_Gurtschloss_FA"] == 3 else True
ret.seatbeltUnlatched = pt_cp.vl["Airbag_02"]["AB_Gurtschloss_FA"] != 3
# Update driver preference for metric. VW stores many different unit
# preferences, including separate units for for distance vs. speed.

12
selfdrive/car/volkswagen/interface.py
View File

@ -1,6 +1,5 @@
from cereal import car
from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES
from common.params import put_nonblocking
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase
@ -19,7 +18,7 @@ class CarInterface(CarInterfaceBase):
return float(accel) / 4.0
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
# VW port is a community feature, since we don't own one to test
@ -64,7 +63,6 @@ class CarInterface(CarInterfaceBase):
# returns a car.CarState
def update(self, c, can_strings):
canMonoTimes = []
buttonEvents = []
# Process the most recent CAN message traffic, and check for validity
@ -77,10 +75,11 @@ class CarInterface(CarInterfaceBase):
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
# Update the EON metric configuration to match the car at first startup,
# TODO: add a field for this to carState, car interface code shouldn't write params
# Update the device metric configuration to match the car at first startup,
# or if there's been a change.
if self.CS.displayMetricUnits != self.displayMetricUnitsPrev:
put_nonblocking("IsMetric", "1" if self.CS.displayMetricUnits else "0")
#if self.CS.displayMetricUnits != self.displayMetricUnitsPrev:
# put_nonblocking("IsMetric", "1" if self.CS.displayMetricUnits else "0")
# Check for and process state-change events (button press or release) from
# the turn stalk switch or ACC steering wheel/control stalk buttons.
@ -101,7 +100,6 @@ class CarInterface(CarInterfaceBase):
ret.events = events.to_msg()
ret.buttonEvents = buttonEvents
ret.canMonoTimes = canMonoTimes
# update previous car states
self.displayMetricUnitsPrev = self.CS.displayMetricUnits

2
selfdrive/car/volkswagen/values.py
View File

@ -46,7 +46,7 @@ MQB_LDW_MESSAGES = {
}
class CAR:
GOLF = "Volkswagen Golf"
GOLF = "VOLKSWAGEN GOLF"
FINGERPRINTS = {
CAR.GOLF: [

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