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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
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@ -1,33 +1,60 @@
pipeline { def phone(String ip, String step_label, String cmd) {
agent { def ci_env = "CI=1 TEST_DIR=${env.TEST_DIR} GIT_BRANCH=${env.GIT_BRANCH} GIT_COMMIT=${env.GIT_COMMIT}"
docker {
image 'python:3.7.3' withCredentials([file(credentialsId: 'id_rsa_public', variable: 'key_file')]) {
args '--user=root' 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
${cmd}
exit 0
EOF"""
}
}
def phone_steps(String device_type, steps) {
lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
timeout(time: 60, unit: 'MINUTES') {
phone(device_ip, "kill old processes", "pkill -f comma || true")
phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
steps.each { item ->
phone(device_ip, item[0], item[1])
}
} }
} }
}
pipeline {
agent none
environment { environment {
COMMA_JWT = credentials('athena-test-jwt') COMMA_JWT = credentials('athena-test-jwt')
TEST_DIR = "/data/openpilot"
} }
stages { stages {
stage('Release Build') { stage('Release Build') {
agent {
docker {
image 'python:3.7.3'
args '--user=root'
}
}
when { when {
branch 'devel-staging' branch 'devel-staging'
} }
steps { steps {
lock(resource: "", label: 'eon-build', inversePrecedence: true, variable: 'eon_ip', quantity: 1){ phone_steps("eon-build", [
timeout(time: 60, unit: 'MINUTES') { ["build release2-staging and dashcam-staging", "cd release && PUSH=1 ./build_release2.sh"],
dir(path: 'selfdrive/test') { ])
sh 'pip install paramiko'
sh 'python phone_ci.py "cd release && PUSH=1 ./build_release2.sh"'
}
}
}
} }
} }
stage('On-device Tests') { stage('openpilot tests') {
when { when {
not { not {
anyOf { anyOf {
@ -36,48 +63,80 @@ pipeline {
} }
} }
parallel {
stage('Build') { stages {
environment {
CI_PUSH = "${env.BRANCH_NAME == 'master' ? 'master-ci' : ''}" /*
stage('PC tests') {
agent {
dockerfile {
filename 'Dockerfile.openpilot'
args '--privileged --shm-size=1G --user=root'
}
} }
stages {
steps { stage('Build') {
lock(resource: "", label: 'eon', inversePrecedence: true, variable: 'eon_ip', quantity: 1){ steps {
timeout(time: 60, unit: 'MINUTES') { sh 'scons -j$(nproc)'
dir(path: 'selfdrive/test') {
sh 'pip install paramiko'
sh 'python phone_ci.py "cd release && ./build_devel.sh"'
}
} }
} }
} }
} post {
always {
stage('Replay Tests') { // fix permissions since docker runs as another user
steps { sh "chmod -R 777 ."
lock(resource: "", label: 'eon2', inversePrecedence: true, variable: 'eon_ip', quantity: 1){
timeout(time: 60, unit: 'MINUTES') {
dir(path: 'selfdrive/test') {
sh 'pip install paramiko'
sh 'python phone_ci.py "cd selfdrive/test/process_replay && ./camera_replay.py"'
}
}
} }
} }
} }
*/
stage('HW Tests') { stage('On-device Tests') {
steps { agent {
lock(resource: "", label: 'eon', inversePrecedence: true, variable: 'eon_ip', quantity: 1){ docker {
timeout(time: 60, unit: 'MINUTES') { image 'python:3.7.3'
dir(path: 'selfdrive/test') { args '--user=root'
sh 'pip install paramiko' }
sh 'python phone_ci.py "SCONS_CACHE=1 scons -j3 cereal/ && \ }
nosetests -s selfdrive/test/test_sounds.py && \
nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"' stages {
stage('parallel tests') {
parallel {
stage('Devel Build') {
environment {
CI_PUSH = "${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 | ILX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 12mph | | 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 | Accord Hybrid 2018-20 | All | Stock | 0mph | 3mph |
| Honda | Civic Hatchback 2017-19 | Honda Sensing | Stock | 0mph | 12mph | | Honda | Civic Hatchback 2017-19 | Honda Sensing | Stock | 0mph | 12mph |
| Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | openpilot | 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 | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph |
| Honda | Fit 2018-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 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 | 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 | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 0mph |
| Honda | Passport 2019 | All | openpilot | 25mph<sup>1</sup> | 12mph | | Honda | Passport 2019 | All | openpilot | 25mph<sup>1</sup> | 12mph |
| Honda | Pilot 2016-18 | Honda Sensing | 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 2020 | Adaptive Cruise | Stock | 0mph | 39mph |
| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph | | Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
| Chrysler | Pacifica Hybrid 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph | | 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 | G80 2018 | All | Stock | 0mph | 0mph |
| Genesis | G90 2018 | All | Stock | 0mph | 0mph | | Genesis | G90 2018 | All | Stock | 0mph | 0mph |
| GMC | Acadia Denali 2018<sup>2</sup>| Adaptive Cruise | openpilot | 0mph | 7mph | | 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 | Genesis 2015-16 | SCC + LKAS | Stock | 19mph | 37mph |
| Hyundai | Ioniq Electric Premium SE 2020| SCC + LKAS | Stock | 0mph | 32mph | | Hyundai | Ioniq Electric Premium SE 2020| SCC + LKAS | Stock | 0mph | 32mph |
| Hyundai | Ioniq Electric Limited 2019 | 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 | Kona EV 2019 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Palisade 2020 | All | Stock | 0mph | 0mph | | Hyundai | Palisade 2020 | All | Stock | 0mph | 0mph |
| Hyundai | Santa Fe 2019 | All | Stock | 0mph | 0mph | | Hyundai | Santa Fe 2019 | All | Stock | 0mph | 0mph |
| Hyundai | Sonata 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 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
| Jeep | Grand Cherokee 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph | | Jeep | Grand Cherokee 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
| Kia | Forte 2018-19 | SCC + LKAS | Stock | 0mph | 0mph | | 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 | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Sorento 2018 | SCC + LKAS | Stock | 0mph | 0mph | | Kia | Sorento 2018 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Stinger 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 | Leaf 2018-19 | Propilot | Stock | 0mph | 0mph |
| Nissan | Rogue 2019<sup>2</sup> | Propilot | Stock | 0mph | 0mph | | Nissan | Rogue 2019 | Propilot | Stock | 0mph | 0mph |
| Nissan | X-Trail 2017<sup>2</sup> | Propilot | Stock | 0mph | 0mph | | Nissan | X-Trail 2017 | Propilot | Stock | 0mph | 0mph |
| Subaru | Ascent 2019 | EyeSight | Stock | 0mph | 0mph | | Subaru | Ascent 2019 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph | | Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Forester 2019 | 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) Version 0.7.7 (2020-07-20)
======================== ========================
* White panda is no longer supported, upgrade to comma two or black panda * 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 os
import shutil import shutil
import subprocess import subprocess
@ -12,6 +14,10 @@ AddOption('--asan',
action='store_true', action='store_true',
help='turn on ASAN') 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() arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
if platform.system() == "Darwin": if platform.system() == "Darwin":
arch = "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') gen_dir = Dir('gen')
messaging_dir = Dir('messaging') messaging_dir = Dir('messaging')
# TODO: remove src-prefix and cereal from command string. can we set working directory? # 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/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
env.Command( env.Command(['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'], ['car.capnp', 'log.capnp'],
['car.capnp', 'log.capnp'], 'capnpc $SOURCES --src-prefix=cereal -o c++:' + gen_dir.path + '/cpp/')
'capnpc $SOURCES --src-prefix=cereal -o c++:' + gen_dir.path + '/cpp/')
import shutil
if shutil.which('capnpc-java'): if shutil.which('capnpc-java'):
env.Command( env.Command(['gen/java/Car.java', 'gen/java/Log.java'],
['gen/java/Car.java', 'gen/java/Log.java'], ['car.capnp', 'log.capnp'],
['car.capnp', 'log.capnp'], 'capnpc $SOURCES --src-prefix=cereal -o java:' + gen_dir.path + '/java/')
'capnpc $SOURCES --src-prefix=cereal -o java:' + gen_dir.path + '/java/')
# TODO: remove non shared cereal and messaging # TODO: remove non shared cereal and messaging
cereal_objects = env.SharedObject([ cereal_objects = env.SharedObject([
'gen/cpp/car.capnp.c++', 'gen/cpp/car.capnp.c++',
'gen/cpp/log.capnp.c++', 'gen/cpp/log.capnp.c++',
]) ])
env.Library('cereal', cereal_objects) env.Library('cereal', cereal_objects)
env.SharedLibrary('cereal_shared', cereal_objects) env.SharedLibrary('cereal_shared', cereal_objects)
cereal_dir = Dir('.') cereal_dir = Dir('.')
services_h = env.Command( services_h = env.Command(['services.h'],
['services.h'], ['service_list.yaml', 'services.py'],
['service_list.yaml', 'services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
'python3 ' + cereal_dir.path + '/services.py > $TARGET')
messaging_objects = env.SharedObject([ messaging_objects = env.SharedObject([
'messaging/messaging.cc', '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.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq'])
env.Command(['messaging/messaging_pyx.so'], env.Command(['messaging/messaging_pyx.so', 'messaging/messaging_pyx.cpp'],
[messaging_lib, 'messaging/messaging_pyx_setup.py', 'messaging/messaging_pyx.pyx', 'messaging/messaging.pxd'], 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") "cd " + messaging_dir.path + " && python3 messaging_pyx_setup.py build_ext --inplace")
if GetOption('test'): if GetOption('test'):

2
cereal/car.capnp
View File

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

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

7
cereal/messaging/__init__.py
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@ -122,13 +122,6 @@ def recv_one_retry(sock):
if dat is not None: if dat is not None:
return log.Event.from_bytes(dat) 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(): class SubMaster():
def __init__(self, services, ignore_alive=None, addr="127.0.0.1"): def __init__(self, services, ignore_alive=None, addr="127.0.0.1"):
self.poller = Poller() self.poller = Poller()

16
cereal/messaging/messaging.hpp
View File

@ -59,34 +59,36 @@ public:
}; };
class SubMaster { class SubMaster {
public: public:
SubMaster(const std::initializer_list<const char *> &service_list, SubMaster(const std::initializer_list<const char *> &service_list,
const char *address = nullptr, const std::initializer_list<const char *> &ignore_alive = {}); const char *address = nullptr, const std::initializer_list<const char *> &ignore_alive = {});
int update(int timeout = 1000); int update(int timeout = 1000);
inline bool allAlive(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, false, true); } 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 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); } 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(); void drain();
cereal::Event::Reader &operator[](const char *name);
~SubMaster(); ~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); bool all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive);
Poller *poller_ = nullptr; Poller *poller_ = nullptr;
uint64_t frame_ = 0;
struct SubMessage; struct SubMessage;
std::map<SubSocket *, SubMessage *> messages_; std::map<SubSocket *, SubMessage *> messages_;
std::map<std::string, SubMessage *> services_; std::map<std::string, SubMessage *> services_;
}; };
class PubMaster { class PubMaster {
public: public:
PubMaster(const std::initializer_list<const char *> &service_list); 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); } 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); int send(const char *name, capnp::MessageBuilder &msg);
~PubMaster(); ~PubMaster();
private: private:
std::map<std::string, PubSocket *> sockets_; 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"] extra_compile_args += ["-Wno-deprecated-register"]
libraries += ['gnustl_shared'] libraries += ['gnustl_shared']
setup(name='CAN parser', setup(name='messaging',
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix}, cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
ext_modules=cythonize( ext_modules=cythonize(
Extension( Extension(
@ -51,7 +51,7 @@ setup(name='CAN parser',
extra_objects=[ extra_objects=[
os.path.join(os.path.dirname(os.path.realpath(__file__)), '../', 'libmessaging.a'), os.path.join(os.path.dirname(os.path.realpath(__file__)), '../', 'libmessaging.a'),
] ]
) ),
nthreads=4,
), ),
nthreads=4,
) )

33
cereal/messaging/socketmaster.cc
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@ -2,20 +2,24 @@
#include <time.h> #include <time.h>
#include "messaging.hpp" #include "messaging.hpp"
#include "services.h" #include "services.h"
#ifdef __APPLE__ #ifdef __APPLE__
#define CLOCK_BOOTTIME CLOCK_MONOTONIC #define CLOCK_BOOTTIME CLOCK_MONOTONIC
#endif #endif
static inline uint64_t nanos_since_boot() { static inline uint64_t nanos_since_boot() {
struct timespec t; struct timespec t;
clock_gettime(CLOCK_BOOTTIME, &t); clock_gettime(CLOCK_BOOTTIME, &t);
return t.tv_sec * 1000000000ULL + t.tv_nsec; return t.tv_sec * 1000000000ULL + t.tv_nsec;
} }
static const service *get_service(const char *name) { static const service *get_service(const char *name) {
for (const auto &it : services) { for (const auto &it : services) {
if (strcmp(it.name, name) == 0) return &it; if (strcmp(it.name, name) == 0) return &it;
} }
return nullptr; return nullptr;
} }
static inline bool inList(const std::initializer_list<const char *> &list, const char *value) { static inline bool inList(const std::initializer_list<const char *> &list, const char *value) {
for (auto &v : list) { for (auto &v : list) {
if (strcmp(value, v) == 0) return true; 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 { class MessageContext {
public: public:
MessageContext() { ctx_ = Context::create(); } MessageContext() { ctx_ = Context::create(); }
~MessageContext() { delete ctx_; } ~MessageContext() { delete ctx_; }
Context *ctx_; Context *ctx_;
@ -53,18 +57,18 @@ SubMaster::SubMaster(const std::initializer_list<const char *> &service_list, co
assert(socket != 0); assert(socket != 0);
poller_->registerSocket(socket); poller_->registerSocket(socket);
SubMessage *m = new SubMessage{ SubMessage *m = new SubMessage{
.socket = socket, .socket = socket,
.freq = serv->frequency, .freq = serv->frequency,
.ignore_alive = inList(ignore_alive, name), .ignore_alive = inList(ignore_alive, name),
.allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)), .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
.buf = kj::heapArray<capnp::word>(1024)}; .buf = kj::heapArray<capnp::word>(1024)};
messages_[socket] = m; messages_[socket] = m;
services_[name] = m; services_[name] = m;
} }
} }
int SubMaster::update(int timeout) { 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; for (auto &kv : messages_) kv.second->updated = false;
int updated = 0; int updated = 0;
@ -89,7 +93,7 @@ int SubMaster::update(int timeout) {
m->event = m->msg_reader->getRoot<cereal::Event>(); m->event = m->msg_reader->getRoot<cereal::Event>();
m->updated = true; m->updated = true;
m->rcv_time = current_time; m->rcv_time = current_time;
m->rcv_frame = frame_; m->rcv_frame = frame;
m->valid = m->event.getValid(); m->valid = m->event.getValid();
++updated; ++updated;
@ -126,8 +130,17 @@ void SubMaster::drain() {
} }
} }
bool SubMaster::updated(const char *name) const { return services_.at(name)->updated; } bool SubMaster::updated(const char *name) const {
cereal::Event::Reader &SubMaster::operator[](const char *name) { return services_.at(name)->event; }; 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() { SubMaster::~SubMaster() {
delete poller_; delete poller_;

3
cereal/service_list.yaml
View File

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

10
common/SConscript
View File

@ -1,6 +1,6 @@
Import('env') Import('env', 'cython_dependencies')
# parser # Build cython clock module
env.Command(['common_pyx.so'], env.Command(['common_pyx.so', 'clock.cpp'],
['common_pyx_setup.py', 'clock.pyx'], cython_dependencies + ['common_pyx_setup.py', 'clock.pyx'],
"cd common && python3 common_pyx_setup.py build_ext --inplace") "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'], env.Command(['simple_kalman_impl.so'],
['simple_kalman_impl.pyx', 'simple_kalman_impl.pxd', 'simple_kalman_setup.py'], 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") "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): def __init__(self, x0, A, C, K):
self.x = x0 self.x = x0
self.A = A self.A = A
self.C = C self.C = np.atleast_2d(C)
self.K = K self.K = K
self.A_K = self.A - np.dot(self.K, self.C) 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 K0_0 = 0.12287673
K1_0 = 0.29666309 K1_0 = 0.29666309
self.kf_old = KF1D_old(x0=np.matrix([[x0_0], [x1_0]]), self.kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]), A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
C=np.matrix([C0_0, C0_1]), C=np.array([C0_0, C0_1]),
K=np.matrix([[K0_0], [K1_0]])) K=np.array([[K0_0], [K1_0]]))
self.kf = KF1D(x0=[[x0_0], [x1_0]], self.kf = KF1D(x0=[[x0_0], [x1_0]],
A=[[A0_0, A0_1], [A1_0, A1_1]], A=[[A0_0, A0_1], [A1_0, A1_1]],
@ -47,8 +47,8 @@ class TestSimpleKalman(unittest.TestCase):
x = self.kf.update(v_wheel) x = self.kf.update(v_wheel)
# Compare the output x, verify that the error is less than 1e-4 # Compare the output x, verify that the error is less than 1e-4
self.assertAlmostEqual(x_old[0], x[0]) np.testing.assert_almost_equal(x_old[0], x[0])
self.assertAlmostEqual(x_old[1], x[1]) np.testing.assert_almost_equal(x_old[1], x[1])
def test_new_is_faster(self): def test_new_is_faster(self):
setup = """ setup = """
@ -69,10 +69,10 @@ C0_1 = 0.0
K0_0 = 0.12287673 K0_0 = 0.12287673
K1_0 = 0.29666309 K1_0 = 0.29666309
kf_old = KF1D_old(x0=np.matrix([[x0_0], [x1_0]]), kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]), A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
C=np.matrix([C0_0, C0_1]), C=np.array([C0_0, C0_1]),
K=np.matrix([[K0_0], [K1_0]])) K=np.array([[K0_0], [K1_0]]))
kf = KF1D(x0=[[x0_0], [x1_0]], kf = KF1D(x0=[[x0_0], [x1_0]],
A=[[A0_0, A0_1], [A1_0, A1_1]], A=[[A0_0, A0_1], [A1_0, A1_1]],

9
common/params.py
View File

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

36
common/spinner.py
View File

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

52
common/text_window.py
View File

@ -6,20 +6,22 @@ from common.basedir import BASEDIR
class TextWindow(): class TextWindow():
def __init__(self, s): def __init__(self, s, noop=False):
try: # text window is only implemented for android currently
self.text_proc = subprocess.Popen(["./text", s], self.text_proc = None
stdin=subprocess.PIPE, if not noop:
cwd=os.path.join(BASEDIR, "selfdrive", "ui", "text"), try:
close_fds=True) self.text_proc = subprocess.Popen(["./text", s],
except OSError: stdin=subprocess.PIPE,
self.text_proc = None cwd=os.path.join(BASEDIR, "selfdrive", "ui", "text"),
close_fds=True)
except OSError:
self.text_proc = None
def get_status(self): def get_status(self):
if self.text_proc is not None: if self.text_proc is not None:
self.text_proc.poll() self.text_proc.poll()
return self.text_proc.returncode return self.text_proc.returncode
return None return None
def __enter__(self): def __enter__(self):
@ -31,10 +33,11 @@ class TextWindow():
self.text_proc = None self.text_proc = None
def wait_for_exit(self): def wait_for_exit(self):
while True: if self.text_proc is not None:
if self.get_status() == 1: while True:
return if self.get_status() == 1:
time.sleep(0.1) return
time.sleep(0.1)
def __del__(self): def __del__(self):
self.close() self.close()
@ -43,29 +46,6 @@ class TextWindow():
self.close() 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__": if __name__ == "__main__":
text = """Traceback (most recent call last): text = """Traceback (most recent call last):
File "./controlsd.py", line 608, in <module> 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('.') d = Dir('.')
env.Command( env.Command(['transformations.so'],
['transformations.so'], cython_dependencies + ['transformations.pxd', 'transformations.pyx',
['transformations.pxd', 'transformations.pyx', 'coordinates.cc', 'orientation.cc', 'coordinates.hpp', 'orientation.hpp'],
'coordinates.cc', 'orientation.cc', 'coordinates.hpp', 'orientation.hpp'], 'cd ' + d.path + ' && python3 setup.py build_ext --inplace')
'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]])) 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): def vp_from_ke(m):
""" """
Computes the vanishing point from the product of the intrinsic and extrinsic 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) #define RAD2DEG(x) ((x) * 180.0 / M_PI)
double a = 6378137; double a = 6378137; // lgtm [cpp/short-global-name]
double b = 6356752.3142; double b = 6356752.3142; // lgtm [cpp/short-global-name]
double esq = 6.69437999014 * 0.001; double esq = 6.69437999014 * 0.001; // lgtm [cpp/short-global-name]
double e1sq = 6.73949674228 * 0.001; 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, from common.transformations.camera import (FULL_FRAME_SIZE, eon_focal_length,
get_view_frame_from_road_frame, get_view_frame_from_road_frame,
get_view_frame_from_calib_frame,
vp_from_ke) vp_from_ke)
# segnet # segnet
@ -73,6 +74,9 @@ bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics, medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
get_view_frame_from_road_frame(0, 0, 0, model_height)) 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)) 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)) 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 quat_from_rot = rot2quat
rotations_from_quats = quat2rot rotations_from_quats = quat2rot
rot_from_quat = quat2rot rot_from_quat = quat2rot
rot_from_quat = quat2rot
euler_from_rot = rot2euler euler_from_rot = rot2euler
euler_from_quat = quat2euler euler_from_quat = quat2euler
rot_from_euler = euler2rot 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 <string>
#include <sstream> #include <sstream>
#include <fstream> #include <fstream>
#include <iostream>
#include <mutex> #include <mutex>
#include <thread> #include <thread>
@ -33,10 +34,10 @@
#define USER_AGENT "NEOSUpdater-0.2" #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_NEOS_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_NEOS_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" #define MANIFEST_URL_NEOS "https://github.com/commaai/eon-neos/raw/master/update.json"
const char *manifest_url = MANIFEST_URL_EON; const char *manifest_url = MANIFEST_URL_NEOS;
#define RECOVERY_DEV "/dev/block/bootdevice/by-name/recovery" #define RECOVERY_DEV "/dev/block/bootdevice/by-name/recovery"
#define RECOVERY_COMMAND "/cache/recovery/command" #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_URL, url.c_str());
curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1); 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_USERAGENT, USER_AGENT);
curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1); curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
curl_easy_setopt(curl, CURLOPT_RESUME_FROM, 0); curl_easy_setopt(curl, CURLOPT_RESUME_FROM, 0);
@ -149,6 +150,32 @@ static void start_settings_activity(const char* name) {
system(launch_cmd); 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 { struct Updater {
bool do_exit = false; bool do_exit = false;
@ -166,7 +193,6 @@ struct Updater {
std::mutex lock; std::mutex lock;
// i hate state machines give me coroutines already
enum UpdateState { enum UpdateState {
CONFIRMATION, CONFIRMATION,
LOW_BATTERY, LOW_BATTERY,
@ -190,9 +216,15 @@ struct Updater {
int b_x, b_w, b_y, b_h; int b_x, b_w, b_y, b_h;
int balt_x; 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; CURL *curl = NULL;
Updater() { void ui_init() {
touch_init(&touch); touch_init(&touch);
fb = framebuffer_init("updater", 0x00001000, false, fb = framebuffer_init("updater", 0x00001000, false,
@ -218,7 +250,6 @@ struct Updater {
b_h = 220; b_h = 220;
state = CONFIRMATION; state = CONFIRMATION;
} }
int download_file_xferinfo(curl_off_t dltotal, curl_off_t dlno, 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_URL, url.c_str());
curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1); 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_USERAGENT, USER_AGENT);
curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1); curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
curl_easy_setopt(curl, CURLOPT_RESUME_FROM, resume_from); curl_easy_setopt(curl, CURLOPT_RESUME_FROM, resume_from);
@ -319,32 +350,113 @@ struct Updater {
state = RUNNING; 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); std::string out_fn = UPDATE_DIR "/" + util::base_name(url);
set_progress("Downloading " + name + "..."); // start or resume downloading if hash doesn't match
bool r = download_file(url, out_fn); std::string fn_hash = sha256_file(out_fn);
if (!r) { if (hash.compare(fn_hash) != 0) {
set_error("failed to download " + name); set_progress("Downloading " + name + "...");
return ""; 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 + "..."); set_progress("Verifying " + name + "...");
std::string fn_hash = sha256_file(out_fn);
printf("got %s hash: %s\n", name.c_str(), hash.c_str()); printf("got %s hash: %s\n", name.c_str(), hash.c_str());
if (fn_hash != hash) { if (fn_hash != hash) {
set_error(name + " was corrupt"); set_error(name + " was corrupt");
unlink(out_fn.c_str()); unlink(out_fn.c_str());
return ""; return "";
} }
return out_fn; return out_fn;
} }
void run_stages() { bool download_stage() {
curl = curl_easy_init(); curl = curl_easy_init();
assert(curl); 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()) { if (!check_battery()) {
set_battery_low(); set_battery_low();
int battery_cap = battery_capacity(); int battery_cap = battery_capacity();
@ -356,77 +468,12 @@ struct Updater {
set_running(); set_running();
} }
if (!check_space()) { bool sucess = download_stage();
set_error("2GB of free space required to update"); if (!sucess) {
return; return;
} }
mkdir(UPDATE_DIR, 0777); // ** install update **
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;
}
if (!check_battery()) { if (!check_battery()) {
set_battery_low(); set_battery_low();
@ -601,7 +648,7 @@ struct Updater {
int powerprompt_y = 312; int powerprompt_y = 312;
nvgFontFace(vg, "opensans_regular"); nvgFontFace(vg, "opensans_regular");
nvgFontSize(vg, 64.0f); 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( NVGpaint paint = nvgBoxGradient(
vg, progress_x + 1, progress_y + 1, vg, progress_x + 1, progress_y + 1,
@ -657,9 +704,7 @@ struct Updater {
void ui_update() { void ui_update() {
std::lock_guard<std::mutex> guard(lock); std::lock_guard<std::mutex> guard(lock);
switch (state) { if (state == ERROR || state == CONFIRMATION) {
case ERROR:
case CONFIRMATION: {
int touch_x = -1, touch_y = -1; int touch_x = -1, touch_y = -1;
int res = touch_poll(&touch, &touch_x, &touch_y, 0); int res = touch_poll(&touch, &touch_x, &touch_y, 0);
if (res == 1 && !is_settings_active()) { if (res == 1 && !is_settings_active()) {
@ -678,13 +723,11 @@ struct Updater {
} }
} }
} }
default:
break;
}
} }
void go() { void go() {
ui_init();
while (!do_exit) { while (!do_exit) {
ui_update(); ui_update();
@ -718,51 +761,37 @@ struct Updater {
update_thread_handle.join(); update_thread_handle.join();
} }
// reboot
system("service call power 16 i32 0 i32 0 i32 1"); 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[]) { int main(int argc, char *argv[]) {
bool background_cache = false;
if (argc > 1) { if (argc > 1) {
if (strcmp(argv[1], "local") == 0) { 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) { } 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 { } else {
manifest_url = argv[1]; manifest_url = argv[1];
} }
} }
printf("updating from %s\n", manifest_url); printf("updating from %s\n", manifest_url);
Updater updater; 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 #!/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 "$BASEDIR" ]; then if [ -z "$BASEDIR" ]; then
BASEDIR="/data/openpilot" BASEDIR="/data/openpilot"
fi fi
if [ -z "$PASSIVE" ]; then source "$BASEDIR/launch_env.sh"
export PASSIVE="1"
fi
STAGING_ROOT="/data/safe_staging" DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
function launch { function launch {
# Wifi scan # Wifi scan
wpa_cli IFNAME=wlan0 SCAN wpa_cli IFNAME=wlan0 SCAN
# Remove orphaned git lock if it exists on boot
[ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
# Check to see if there's a valid overlay-based update available. Conditions # Check to see if there's a valid overlay-based update available. Conditions
# are as follows: # are as follows:
# #
@ -49,6 +44,7 @@ function launch {
git submodule foreach --recursive git reset --hard git submodule foreach --recursive git reset --hard
echo "Restarting launch script ${LAUNCHER_LOCATION}" echo "Restarting launch script ${LAUNCHER_LOCATION}"
unset REQUIRED_NEOS_VERSION
exec "${LAUNCHER_LOCATION}" exec "${LAUNCHER_LOCATION}"
else else
echo "openpilot backup found, not updating" echo "openpilot backup found, not updating"
@ -75,26 +71,21 @@ function launch {
[ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list # USB for LeEco [ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list # USB for LeEco
[ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T [ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T
DIR="$( 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 # Check for NEOS update
if [ $(< /VERSION) != "14" ]; then if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
if [ -f "$DIR/scripts/continue.sh" ]; then if [ -f "$DIR/scripts/continue.sh" ]; then
cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh" cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
fi fi
if [ ! -f "$BASEDIR/prebuilt" ]; then if [ ! -f "$BASEDIR/prebuilt" ]; then
echo "Clearing build products and resetting scons state prior to NEOS update" # Clean old build products, but preserve the scons cache
cd $BASEDIR && scons --clean cd $DIR
rm -rf /tmp/scons_cache scons --clean
rm -r $BASEDIR/.sconsign.dblite git clean -xdf
git submodule foreach --recursive git clean -xdf
fi fi
"$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json" "$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
else else
if [[ $(uname -v) == "#1 SMP PREEMPT Wed Jun 10 12:40:53 PDT 2020" ]]; then 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/parser_pyx.cpp
can/packer_pyx.html can/packer_pyx.html
can/parser_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 import os
from opendbc.can.process_dbc import process 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"]) libdbc = env.SharedLibrary('libdbc', ["dbc.cc", "parser.cc", "packer.cc", "common.cc"]+dbcs, LIBS=["capnp", "kj"])
# Build packer and parser # Build packer and parser
env.Command(['packer_pyx.so', 'packer_pyx.cpp', 'parser_pyx.so', 'parser_pyx.cpp'],
env.Command(['packer_pyx.so', 'parser_pyx.so'], cython_dependencies + [libdbc, cereal, 'common_pyx_setup.py', 'common.pxd', 'packer_pyx.pyx', 'parser_pyx.pyx', 'packer.cc', 'parser.cc'],
[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")
"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, include_dirs=include_dirs,
extra_link_args=extra_link_args, extra_link_args=extra_link_args,
), ),
nthreads=4,
annotate=ANNOTATE annotate=ANNOTATE
), ),
nthreads=4,
) )
if platform.system() == "Darwin": if platform.system() == "Darwin":
@ -85,9 +85,9 @@ setup(name='CAN packer',
include_dirs=include_dirs, include_dirs=include_dirs,
extra_link_args=extra_link_args, extra_link_args=extra_link_args,
), ),
nthreads=4,
annotate=ANNOTATE annotate=ANNOTATE
), ),
nthreads=4,
) )
if platform.system() == "Darwin": if platform.system() == "Darwin":

9
opendbc/can/parser_pyx.pyx
View File

@ -3,20 +3,17 @@
from libcpp.string cimport string from libcpp.string cimport string
from libcpp.vector cimport vector from libcpp.vector cimport vector
from libcpp cimport bool
from libcpp.unordered_set cimport unordered_set from libcpp.unordered_set cimport unordered_set
from libc.stdint cimport uint32_t, uint64_t, uint16_t from libc.stdint cimport uint32_t, uint64_t, uint16_t
from libcpp.map cimport map from libcpp.map cimport map
from libcpp cimport bool
from collections import defaultdict
from common cimport CANParser as cpp_CANParser from common cimport CANParser as cpp_CANParser
from common cimport SignalParseOptions, MessageParseOptions, dbc_lookup, SignalValue, DBC from common cimport SignalParseOptions, MessageParseOptions, dbc_lookup, SignalValue, DBC
from libcpp cimport bool
import os import os
import numbers import numbers
from collections import defaultdict
cdef int CAN_INVALID_CNT = 5 cdef int CAN_INVALID_CNT = 5
@ -30,7 +27,7 @@ cdef class CANParser:
vector[SignalValue] can_values vector[SignalValue] can_values
bool test_mode_enabled bool test_mode_enabled
cdef public: cdef readonly:
string dbc_name string dbc_name
dict vl dict vl
dict ts 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_ 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_ 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_ 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_ Pre_TCS_CTL : 16|1@1+ (1.0,0.0) [0.0|1.0] "" Vector__XXX
SG_ TQI_ACC : 24|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS 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_ 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_ 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 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_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_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_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 BO_ 896 DI_BOX13: 8 DI_BOX
SG_ CF_DiBox_HPreInjVConfStat : 0|8@1+ (1.0,0.0) [0.0|255.0] "" EMS 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 SG_ DATC_ADSDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
BO_ 832 LKAS11: 8 LDWS_LKAS 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_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_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 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_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_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_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_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_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_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 : 62|2@1+ (1.0,0.0) [0.0|1.0] "" XXX
SG_ CF_Lkas_Unknown2 : 63|2@0+ (1,0) [0|3] "" XXX
BO_ 1342 LKAS12: 6 LDWS_LKAS BO_ 1342 LKAS12: 6 LDWS_LKAS
SG_ CF_Lkas_TsrSlifOpt : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU 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_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_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_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 BO_ 1066 _4WD13: 6 _4WD
SG_ _4WD_CURRENT : 0|8@1+ (0.390625,0.0) [-50.0|50.0] "A" TCU 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_ 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 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 BO_ 1301 CLU14: 8 CLU
SG_ CF_Clu_ADrUNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] "" BCM 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 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_ SCCDrvModeRValue : 0|3@1+ (1,0) [0|7] "" CLU
SG_ SCC_Equip : 3|1@1+ (1,0) [0|1] "" ESC SG_ SCC_Equip : 3|1@1+ (1,0) [0|1] "" ESC
SG_ AebDrvSetStatus : 4|3@1+ (1,0) [0|7] "" CLU,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 BO_ 1287 TCS15: 4 ESC
SG_ ABS_W_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,CUBIS,IBOX 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_ Supplemental_Counter : 35|4@1+ (1,0) [0|15] "" XXX
SG_ PAINT1_Status : 16|2@1+ (1,0) [0|1] "" 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 BO_ 1155 FCA12: 8 FCA
SG_ FCA_USM : 0|3@1+ (1,0) [0|7] "" CGW,CLU,ESC SG_ FCA_USM : 0|3@1+ (1,0) [0|7] "" CGW,CLU,ESC
SG_ FCA_DrvSetState : 3|3@1+ (1,0) [0|7] "" CGW 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 SG_ CF_FCA_Equip_Front_Radar : 0|3@1+ (1,0) [0|7] "" LDWS_LKAS,LDW_LKA,ESC
BO_ 905 SCC14: 8 SCC BO_ 905 SCC14: 8 SCC
SG_ ComfortBandLower : 6|6@1+ (1,0) [0|0] "" Vector__XXX SG_ ComfortBandUpper : 0|6@1+ (0.0986,-4.14) [0|1.26] "m/s^2" ESC
SG_ ComfortBandUpper : 0|6@1+ (1,0) [0|0] "" Vector__XXX SG_ ComfortBandLower : 6|6@1+ (0.0986,-4.14) [0|1.26] "m/s^2" ESC
SG_ JerkLowerLimit : 19|7@1+ (1,0) [0|0] "" Vector__XXX SG_ JerkUpperLimit : 12|7@1+ (1,0) [0|12.7] "m/s^3" ESC
SG_ JerkUpperLimit : 12|7@1+ (0.1,0) [0|0] "" Vector__XXX 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_ 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 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 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_ 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_ 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"; 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";

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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) // 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, 14, 1);
set_gpio_output(GPIOC, 5, 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; hw_type = HW_TYPE_DOS;
current_board = &board_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))){ } 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 #!/bin/bash
sudo apt-get install gcc-arm-none-eabi python-pip 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 "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)" /usr/bin/ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
brew tap ArmMbed/homebrew-formulae brew tap ArmMbed/homebrew-formulae
brew install python dfu-util arm-none-eabi-gcc 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_VOLKSWAGEN_PQ 21U
#define SAFETY_SUBARU_LEGACY 22U #define SAFETY_SUBARU_LEGACY 22U
#define SAFETY_HYUNDAI_LEGACY 23U #define SAFETY_HYUNDAI_LEGACY 23U
#define SAFETY_HYUNDAI_COMMUNITY 24U
uint16_t current_safety_mode = SAFETY_SILENT; uint16_t current_safety_mode = SAFETY_SILENT;
const safety_hooks *current_hooks = &nooutput_hooks; 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 // X-Trail 0x15c, Leaf 0x239
if ((addr == 0x15c) || (addr == 0x239)) { if ((addr == 0x15c) || (addr == 0x239)) {
if (addr == 0x15c){ 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 { } else {
gas_pressed = GET_BYTE(to_push, 0) > 3; 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(): class EKF_sym():
def __init__(self, folder, name, Q, x_initial, P_initial, dim_main, dim_main_err, # pylint: disable=dangerous-default-value 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.""" """Generates process function and all observation functions for the kalman filter."""
self.msckf = N > 0 self.msckf = N > 0
self.N = N self.N = N
@ -184,6 +184,7 @@ class EKF_sym():
self.Q = Q self.Q = Q
# rewind stuff # rewind stuff
self.max_rewind_age = max_rewind_age
self.rewind_t = [] self.rewind_t = []
self.rewind_states = [] self.rewind_states = []
self.rewind_obscache = [] self.rewind_obscache = []
@ -379,7 +380,7 @@ class EKF_sym():
# rewind # rewind
if self.filter_time is not None and t < self.filter_time: 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)) print("observation too old at %.3f with filter at %.3f, ignoring" % (t, self.filter_time))
return None return None
rewound = self.rewind(t) 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.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
env.Command(['boardd_api_impl.so'], env.Command(['boardd_api_impl.so', 'boardd_api_impl.cpp'],
['libcan_list_to_can_capnp.a', 'boardd_api_impl.pyx', 'boardd_setup.py'], 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") "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 distutils.core import Extension, setup
from Cython.Build import cythonize from Cython.Build import cythonize
from common.cython_hacks import BuildExtWithoutPlatformSuffix 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'] libraries = ['can_list_to_can_capnp', 'capnp', 'kj']
setup(name='Boardd API Implementation', 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) { void cameras_init(DualCameraState *s) {
memset(s, 0, sizeof(*s));
camera_init(&s->rear, CAMERA_ID_IMX298, 20); camera_init(&s->rear, CAMERA_ID_IMX298, 20);
s->rear.transform = (mat3){{ s->rear.transform = (mat3){{
1.0, 0.0, 0.0, 1.0, 0.0, 0.0,

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

@ -12,7 +12,6 @@
#include <cutils/properties.h> #include <cutils/properties.h>
#include <pthread.h> #include <pthread.h>
#include <czmq.h>
#include <capnp/serialize.h> #include <capnp/serialize.h>
#include "msmb_isp.h" #include "msmb_isp.h"
#include "msmb_ispif.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, static void camera_init(CameraState *s, int camera_id, int camera_num,
uint32_t pixel_clock, uint32_t line_length_pclk, uint32_t pixel_clock, uint32_t line_length_pclk,
unsigned int max_gain, unsigned int fps) { unsigned int max_gain, unsigned int fps) {
memset(s, 0, sizeof(*s));
s->camera_num = camera_num; s->camera_num = camera_num;
s->camera_id = camera_id; 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; s->self_recover = 0;
zsock_t *ops_sock = zsock_new_push(">inproc://cameraops"); s->ops_sock = zsock_new_push(">inproc://cameraops");
assert(ops_sock); assert(s->ops_sock);
s->ops_sock = zsock_resolve(ops_sock); s->ops_sock_handle = zsock_resolve(s->ops_sock);
tbuffer_init2(&s->camera_tb, FRAME_BUF_COUNT, "frame", tbuffer_init2(&s->camera_tb, FRAME_BUF_COUNT, "frame",
camera_release_buffer, s); 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) { void cameras_init(DualCameraState *s) {
memset(s, 0, sizeof(*s));
char project_name[1024] = {0}; char project_name[1024] = {0};
property_get("ro.boot.project_name", project_name, ""); 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) { if (err == 0) {
s->cur_exposure_frac = exposure_frac; s->cur_exposure_frac = exposure_frac;
pthread_mutex_lock(&s->frame_info_lock);
s->cur_gain_frac = gain_frac; s->cur_gain_frac = gain_frac;
pthread_mutex_unlock(&s->frame_info_lock);
} }
//LOGD("set exposure: %f %f - %d", exposure_frac, gain_frac, err); //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_min = 16;
const unsigned int exposure_time_max = frame_length - 11; // copied from set_exposure() 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); float exposure_factor = pow(1.05, (target_grey - grey_frac) / 0.05);
if (s->cur_gain_frac > 0.125 && exposure_factor < 1) { if (cur_gain_frac > 0.125 && exposure_factor < 1) {
s->cur_gain_frac *= exposure_factor; 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 } 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; 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) { } else if (cur_gain_frac * exposure_factor <= gain_frac_max && cur_gain_frac * exposure_factor >= gain_frac_min) {
s->cur_gain_frac *= exposure_factor; 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 } else { // keep the old for others
float new_exposure = s->cur_exposure_frac; float new_exposure = s->cur_exposure_frac;
@ -448,7 +449,7 @@ void camera_autoexposure(CameraState *s, float grey_frac) {
.grey_frac = 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) { 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_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; 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)) { if (!isnan(err)) {
// learn lens_true_pos // learn lens_true_pos
s->lens_true_pos -= err*focus_kp; lens_true_pos -= err*focus_kp;
} }
// stay off the walls // stay off the walls
s->lens_true_pos = clamp(s->lens_true_pos, 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);
int target = clamp(s->lens_true_pos - sag, dac_down, dac_up); s->lens_true_pos = lens_true_pos;
/*char debug[4096]; /*char debug[4096];
char *pdebug = debug; char *pdebug = debug;
@ -1956,6 +1958,8 @@ static void camera_close(CameraState *s) {
} }
free(s->eeprom); free(s->eeprom);
zsock_destroy(&s->ops_sock);
} }

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

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

63
selfdrive/camerad/main.cc
View File

@ -332,6 +332,7 @@ void* frontview_thread(void *arg) {
//double t2 = millis_since_boot(); //double t2 = millis_since_boot();
//LOGD("front process: %.2fms", t2-t1); //LOGD("front process: %.2fms", t2-t1);
} }
clReleaseCommandQueue(q);
return NULL; return NULL;
} }
@ -345,6 +346,11 @@ void* processing_thread(void *arg) {
err = set_realtime_priority(51); err = set_realtime_priority(51);
LOG("setpriority returns %d", err); 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 // init cl stuff
#ifdef __APPLE__ #ifdef __APPLE__
cl_command_queue q = clCreateCommandQueue(s->context, s->device_id, 0, &err); 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();*/ /*double t10 = millis_since_boot();*/
// cache rgb roi and write to cl // 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_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_x_offset = roi_id % (ROI_X_MAX-ROI_X_MIN+1);
int roi_y_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++) { 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 + \ (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_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, (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, 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); assert(err == 0);
/*double t11 = millis_since_boot(); /*double t11 = millis_since_boot();
@ -453,48 +458,45 @@ void* processing_thread(void *arg) {
clWaitForEvents(1, &conv_event); clWaitForEvents(1, &conv_event);
clReleaseEvent(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, 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); assert(err == 0);
/*t11 = millis_since_boot(); /*t11 = millis_since_boot();
printf("conv time: %f ms\n", t11 - t10); printf("conv time: %f ms\n", t11 - t10);
t10 = millis_since_boot();*/ 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(); /*t11 = millis_since_boot();
printf("pool time: %f ms\n", t11 - t10); printf("pool time: %f ms\n", t11 - t10);
t10 = millis_since_boot();*/ t10 = millis_since_boot();*/
delete [] rgb_roi_buf;
delete [] conv_result;
/*t11 = millis_since_boot(); /*t11 = millis_since_boot();
printf("process time: %f ms\n ----- \n", t11 - t10); printf("process time: %f ms\n ----- \n", t11 - t10);
t10 = millis_since_boot();*/ t10 = millis_since_boot();*/
// setup self recover // setup self recover
const float lens_true_pos = s->cameras.rear.lens_true_pos;
if (is_blur(&s->lapres[0]) && 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 || (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_UP:OP3T_AF_DAC_UP)-1) &&
s->cameras.rear.self_recover < 2) { s->cameras.rear.self_recover < 2) {
// truly stuck, needs help // truly stuck, needs help
s->cameras.rear.self_recover -= 1; s->cameras.rear.self_recover -= 1;
if (s->cameras.rear.self_recover < -FOCUS_RECOVER_PATIENCE) { if (s->cameras.rear.self_recover < -FOCUS_RECOVER_PATIENCE) {
LOGW("rear camera bad state detected. attempting recovery from %.1f, recover state is %d", 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); lens_true_pos, s->cameras.rear.self_recover.load());
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 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) || } 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) ||
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)) && 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) { s->cameras.rear.self_recover < 2) {
// in suboptimal position with high prob, but may still recover by itself // in suboptimal position with high prob, but may still recover by itself
s->cameras.rear.self_recover -= 1; s->cameras.rear.self_recover -= 1;
if (s->cameras.rear.self_recover < -(FOCUS_RECOVER_PATIENCE*3)) { 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); 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 + ((s->cameras.rear.lens_true_pos < (s->cameras.device == DEVICE_LP3? LP3_AF_DAC_M:OP3T_AF_DAC_M))?1:0); 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) { } else if (s->cameras.rear.self_recover < 0) {
s->cameras.rear.self_recover += 1; // reset if fine s->cameras.rear.self_recover += 1; // reset if fine
@ -504,7 +506,9 @@ void* processing_thread(void *arg) {
double t2 = millis_since_boot(); double t2 = millis_since_boot();
#ifndef QCOM2
uint8_t *bgr_ptr = (uint8_t*)s->rgb_bufs[rgb_idx].addr; uint8_t *bgr_ptr = (uint8_t*)s->rgb_bufs[rgb_idx].addr;
#endif
double yt1 = millis_since_boot(); 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)); LOGD("queued: %.2fms, yuv: %.2f, | processing: %.3fms", (t2-t1), (yt2-yt1), (t5-t1));
} }
clReleaseCommandQueue(q);
return NULL; return NULL;
} }
@ -1173,25 +1178,33 @@ void free_buffers(VisionState *s) {
// free bufs // free bufs
for (int i=0; i<FRAME_BUF_COUNT; i++) { for (int i=0; i<FRAME_BUF_COUNT; i++) {
visionbuf_free(&s->camera_bufs[i]); visionbuf_free(&s->camera_bufs[i]);
visionbuf_free(&s->front_camera_bufs[i]);
visionbuf_free(&s->focus_bufs[i]); visionbuf_free(&s->focus_bufs[i]);
visionbuf_free(&s->stats_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++) { for (int i=0; i<UI_BUF_COUNT; i++) {
visionbuf_free(&s->rgb_bufs[i]); visionbuf_free(&s->rgb_bufs[i]);
}
for (int i=0; i<UI_BUF_COUNT; i++) {
visionbuf_free(&s->rgb_front_bufs[i]); visionbuf_free(&s->rgb_front_bufs[i]);
} }
for (int i=0; i<YUV_COUNT; i++) { for (int i=0; i<YUV_COUNT; i++) {
visionbuf_free(&s->yuv_ion[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) { void party(VisionState *s) {
@ -1255,7 +1268,7 @@ int main(int argc, char *argv[]) {
signal(SIGINT, (sighandler_t)set_do_exit); signal(SIGINT, (sighandler_t)set_do_exit);
signal(SIGTERM, (sighandler_t)set_do_exit); signal(SIGTERM, (sighandler_t)set_do_exit);
VisionState state = {0}; VisionState state = {};
VisionState *s = &state; VisionState *s = &state;
clu_init(); clu_init();

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

@ -1,6 +1,5 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import os import os
import json
import signal import signal
import subprocess import subprocess
import time import time
@ -8,9 +7,7 @@ from PIL import Image
from common.basedir import BASEDIR from common.basedir import BASEDIR
from common.params import Params from common.params import Params
from selfdrive.camerad.snapshot.visionipc import VisionIPC from selfdrive.camerad.snapshot.visionipc import VisionIPC
from selfdrive.controls.lib.alertmanager import set_offroad_alert
with open(BASEDIR + "/selfdrive/controls/lib/alerts_offroad.json") as json_file:
OFFROAD_ALERTS = json.load(json_file)
def jpeg_write(fn, dat): def jpeg_write(fn, dat):
@ -26,7 +23,7 @@ def snapshot():
return None return None
params.put("IsTakingSnapshot", "1") 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 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 # Check if camerad is already started
@ -64,7 +61,7 @@ def snapshot():
proc.communicate() proc.communicate()
params.put("IsTakingSnapshot", "0") params.put("IsTakingSnapshot", "0")
params.delete("Offroad_IsTakingSnapshot") set_offroad_alert("Offroad_IsTakingSnapshot", False)
return ret 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 return tire_stiffness_front, tire_stiffness_rear
def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None): def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None):
return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc} 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): 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 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): def load_interfaces(brand_names):
ret = {} ret = {}
for brand_name in brand_names: for brand_name in brand_names:
@ -114,7 +121,7 @@ def fingerprint(logcan, sendcan, has_relay):
done = False done = False
while not done: while not done:
a = messaging.get_one_can(logcan) a = get_one_can(logcan)
for can in a.can: for can in a.can:
# need to independently try to fingerprint both bus 0 and 1 to work # 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.prev_frame = -1
self.hud_count = 0 self.hud_count = 0
self.car_fingerprint = CP.carFingerprint self.car_fingerprint = CP.carFingerprint
self.alert_active = False
self.gone_fast_yet = False self.gone_fast_yet = False
self.steer_rate_limited = False self.steer_rate_limited = False

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

@ -103,6 +103,13 @@ class CarState(CarStateBase):
("WHEEL_SPEEDS", 50), ("WHEEL_SPEEDS", 50),
("STEERING", 100), ("STEERING", 100),
("ACC_2", 50), ("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) return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
@ -115,6 +122,10 @@ class CarState(CarStateBase):
("CAR_MODEL", "LKAS_HUD", -1), ("CAR_MODEL", "LKAS_HUD", -1),
("LKAS_STATUS_OK", "LKAS_HEARTBIT", -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) 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): def get_params(candidate, fingerprint=None, has_relay=False, car_fw=None):
if fingerprint is None: if fingerprint is None:
fingerprint = gen_empty_fingerprint() fingerprint = gen_empty_fingerprint()
if car_fw is None:
car_fw = []
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay) ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "chrysler" ret.carName = "chrysler"
@ -72,8 +70,6 @@ class CarInterface(CarInterfaceBase):
# speeds # speeds
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
ret.buttonEvents = []
# events # events
events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low], events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low],
gas_resume_speed=2.) gas_resume_speed=2.)

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

@ -1,16 +1,15 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import os
from opendbc.can.parser import CANParser from opendbc.can.parser import CANParser
from cereal import car from cereal import car
from selfdrive.car.interfaces import RadarInterfaceBase 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_C = list(range(0x2c2, 0x2d4+2, 2)) # c_ messages 706,...,724
RADAR_MSGS_D = list(range(0x2a2, 0x2b4+2, 2)) # d_ messages RADAR_MSGS_D = list(range(0x2a2, 0x2b4+2, 2)) # d_ messages
LAST_MSG = max(RADAR_MSGS_C + RADAR_MSGS_D) LAST_MSG = max(RADAR_MSGS_C + RADAR_MSGS_D)
NUMBER_MSGS = len(RADAR_MSGS_C) + len(RADAR_MSGS_D) NUMBER_MSGS = len(RADAR_MSGS_C) + len(RADAR_MSGS_D)
def _create_radar_can_parser(): def _create_radar_can_parser(car_fingerprint):
dbc_f = 'chrysler_pacifica_2017_hybrid_private_fusion.dbc'
msg_n = len(RADAR_MSGS_C) msg_n = len(RADAR_MSGS_C)
# list of [(signal name, message name or number, initial values), (...)] # list of [(signal name, message name or number, initial values), (...)]
# [('RADAR_STATE', 1024, 0), # [('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)
[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): def _address_to_track(address):
if address in RADAR_MSGS_C: if address in RADAR_MSGS_C:
@ -49,7 +48,7 @@ def _address_to_track(address):
class RadarInterface(RadarInterfaceBase): class RadarInterface(RadarInterfaceBase):
def __init__(self, CP): def __init__(self, CP):
super().__init__(CP) super().__init__(CP)
self.rcp = _create_radar_can_parser() self.rcp = _create_radar_can_parser(CP.carFingerprint)
self.updated_messages = set() self.updated_messages = set()
self.trigger_msg = LAST_MSG 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 from cereal import car
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
class SteerLimitParams: class SteerLimitParams:
STEER_MAX = 261 # 262 faults STEER_MAX = 261 # 262 faults
STEER_DELTA_UP = 3 # 3 is stock. 100 is fine. 200 is too much it seems STEER_DELTA_UP = 3 # 3 is stock. 100 is fine. 200 is too much it seems
@ -82,32 +81,18 @@ FINGERPRINTS = {
DBC = { DBC = {
CAR.PACIFICA_2017_HYBRID: dbc_dict( CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
'chrysler_pacifica_2017_hybrid', # 'pt' CAR.PACIFICA_2018: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar' CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2018: dbc_dict( # Same DBC file works. CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
'chrysler_pacifica_2017_hybrid', # 'pt' CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar' CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2020: dbc_dict( # Same DBC file works. CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
'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'
} }
STEER_THRESHOLD = 120 STEER_THRESHOLD = 120
ECU_FINGERPRINT = { 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 return float(accel) / 3.0
@staticmethod @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 = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "ford" ret.carName = "ford"
ret.safetyModel = car.CarParams.SafetyModel.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)) RADAR_MSGS = list(range(0x500, 0x540))
def _create_radar_can_parser(car_fingerprint): def _create_radar_can_parser(car_fingerprint):
dbc_f = DBC[car_fingerprint]['radar']
msg_n = len(RADAR_MSGS) msg_n = len(RADAR_MSGS)
signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n, signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
RADAR_MSGS * 3, RADAR_MSGS * 3,
[0] * msg_n + [0] * msg_n + [0] * msg_n)) [0] * msg_n + [0] * msg_n + [0] * msg_n))
checks = list(zip(RADAR_MSGS, [20]*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): class RadarInterface(RadarInterfaceBase):
def __init__(self, CP): def __init__(self, CP):

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

@ -16,13 +16,13 @@ class CarInterface(CarInterfaceBase):
return float(accel) / 4.0 return float(accel) / 4.0
@staticmethod @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 = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "gm" 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 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 # TODO: make a port that uses a car harness and it only intercepts the camera
ret.communityFeature = True ret.communityFeature = True

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

@ -1,7 +1,6 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
from __future__ import print_function from __future__ import print_function
import math import math
import time
from cereal import car from cereal import car
from opendbc.can.parser import CANParser from opendbc.can.parser import CANParser
from selfdrive.car.gm.values import DBC, CAR, CanBus from selfdrive.car.gm.values import DBC, CAR, CanBus
@ -17,30 +16,28 @@ NUM_SLOTS = 20
LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS
def create_radar_can_parser(car_fingerprint): def create_radar_can_parser(car_fingerprint):
if car_fingerprint not in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
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:
return None 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): class RadarInterface(RadarInterfaceBase):
def __init__(self, CP): def __init__(self, CP):
super().__init__(CP) super().__init__(CP)
@ -53,8 +50,7 @@ class RadarInterface(RadarInterfaceBase):
def update(self, can_strings): def update(self, can_strings):
if self.rcp is None: if self.rcp is None:
time.sleep(self.radar_ts) # nothing to do return super().update(None)
return car.RadarData.new_message()
vls = self.rcp.update_strings(can_strings) vls = self.rcp.update_strings(can_strings)
self.updated_messages.update(vls) 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.v_cruise_pcm_prev = 0
self.cruise_mode = 0 self.cruise_mode = 0
def update(self, cp, cp_cam): def update(self, cp, cp_cam, cp_body):
ret = car.CarState.new_message() ret = car.CarState.new_message()
# car params # car params
@ -322,6 +322,12 @@ class CarState(CarStateBase):
self.stock_hud = cp_cam.vl["ACC_HUD"] self.stock_hud = cp_cam.vl["ACC_HUD"]
self.stock_brake = cp_cam.vl["BRAKE_COMMAND"] 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 return ret
@staticmethod @staticmethod
@ -354,3 +360,17 @@ class CarState(CarStateBase):
bus_cam = 1 if CP.carFingerprint in HONDA_BOSCH and not CP.isPandaBlack else 2 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) 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 self.compute_gb = compute_gb_honda
@staticmethod @staticmethod
def compute_gb(accel, speed): def compute_gb(accel, speed): # pylint: disable=method-hidden
raise NotImplementedError raise NotImplementedError
@staticmethod @staticmethod
@ -189,9 +189,9 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 1. tire_stiffness_factor = 1.
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
ret.longitudinalTuning.kpBP = [0., 5., 35.] 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.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): elif candidate in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
stop_and_go = True stop_and_go = True
@ -426,10 +426,12 @@ class CarInterface(CarInterfaceBase):
# ******************* do can recv ******************* # ******************* do can recv *******************
self.cp.update_strings(can_strings) self.cp.update_strings(can_strings)
self.cp_cam.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) ret.yawRate = self.VM.yaw_rate(ret.steeringAngle * CV.DEG_TO_RAD, ret.vEgo)
# FIXME: read sendcan for brakelights # FIXME: read sendcan for brakelights
brakelights_threshold = 0.02 if self.CS.CP.carFingerprint == CAR.CIVIC else 0.1 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 #!/usr/bin/env python3
import os
import time
from cereal import car from cereal import car
from opendbc.can.parser import CANParser from opendbc.can.parser import CANParser
from selfdrive.car.interfaces import RadarInterfaceBase from selfdrive.car.interfaces import RadarInterfaceBase
from selfdrive.car.honda.values import DBC
def _create_nidec_can_parser(): def _create_nidec_can_parser(car_fingerprint):
dbc_f = 'acura_ilx_2016_nidec.dbc'
radar_messages = [0x400] + list(range(0x430, 0x43A)) + list(range(0x440, 0x446)) radar_messages = [0x400] + list(range(0x430, 0x43A)) + list(range(0x440, 0x446))
signals = list(zip(['RADAR_STATE'] + signals = list(zip(['RADAR_STATE'] +
['LONG_DIST'] * 16 + ['NEW_TRACK'] * 16 + ['LAT_DIST'] * 16 + ['LONG_DIST'] * 16 + ['NEW_TRACK'] * 16 + ['LAT_DIST'] * 16 +
@ -14,8 +12,7 @@ def _create_nidec_can_parser():
[0x400] + radar_messages[1:] * 4, [0x400] + radar_messages[1:] * 4,
[0] + [255] * 16 + [1] * 16 + [0] * 16 + [0] * 16)) [0] + [255] * 16 + [1] * 16 + [0] * 16 + [0] * 16))
checks = list(zip([0x445], [20])) checks = list(zip([0x445], [20]))
fn = os.path.splitext(dbc_f)[0].encode('utf8') return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)
return CANParser(fn, signals, checks, 1)
class RadarInterface(RadarInterfaceBase): class RadarInterface(RadarInterfaceBase):
@ -30,7 +27,10 @@ class RadarInterface(RadarInterfaceBase):
self.delay = int(round(0.1 / CP.radarTimeStep)) # 0.1s delay of radar self.delay = int(round(0.1 / CP.radarTimeStep)) # 0.1s delay of radar
# Nidec # 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.trigger_msg = 0x445
self.updated_messages = set() 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 # in Bosch radar and we are only steering for now, so sleep 0.05s to keep
# radard at 20Hz and return no points # radard at 20Hz and return no points
if self.radar_off_can: if self.radar_off_can:
if 'NO_RADAR_SLEEP' not in os.environ: return super().update(None)
time.sleep(self.radar_ts)
return car.RadarData.new_message()
vls = self.rcp.update_strings(can_strings) vls = self.rcp.update_strings(can_strings)
self.updated_messages.update(vls) self.updated_messages.update(vls)

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

@ -885,10 +885,23 @@ FW_VERSIONS = {
], ],
(Ecu.fwdCamera, 0x18dab5f1, None): [ (Ecu.fwdCamera, 0x18dab5f1, None): [
b'36161-TXM-A050\x00\x00', b'36161-TXM-A050\x00\x00',
b'36161-TXM-A060\x00\x00',
], ],
(Ecu.srs, 0x18da53f1, None): [ (Ecu.srs, 0x18da53f1, None): [
b'77959-TXM-A230\x00\x00', 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: { CAR.HRV: {
(Ecu.gateway, 0x18daeff1, None): [b'38897-T7A-A010\x00\x00'], (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: 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.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: 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_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.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'), 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 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. ret.cruiseState.standstill = cp.vl["SCC11"]['SCCInfoDisplay'] == 4.
if ret.cruiseState.enabled: if ret.cruiseState.enabled:
is_set_speed_in_mph = int(cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"]) speed_conv = CV.MPH_TO_MS if cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] else CV.KPH_TO_MS
speed_conv = CV.MPH_TO_MS if is_set_speed_in_mph else CV.KPH_TO_MS
ret.cruiseState.speed = cp.vl["SCC11"]['VSetDis'] * speed_conv ret.cruiseState.speed = cp.vl["SCC11"]['VSetDis'] * speed_conv
else: else:
ret.cruiseState.speed = 0 ret.cruiseState.speed = 0
@ -282,7 +281,7 @@ class CarState(CarStateBase):
signals = [ signals = [
# sig_name, sig_address, default # sig_name, sig_address, default
("CF_Lkas_Bca_R", "LKAS11", 0), ("CF_Lkas_LdwsActivemode", "LKAS11", 0),
("CF_Lkas_LdwsSysState", "LKAS11", 0), ("CF_Lkas_LdwsSysState", "LKAS11", 0),
("CF_Lkas_SysWarning", "LKAS11", 0), ("CF_Lkas_SysWarning", "LKAS11", 0),
("CF_Lkas_LdwsLHWarning", "LKAS11", 0), ("CF_Lkas_LdwsLHWarning", "LKAS11", 0),
@ -299,6 +298,8 @@ class CarState(CarStateBase):
("CF_Lkas_LdwsOpt_USM", "LKAS11", 0) ("CF_Lkas_LdwsOpt_USM", "LKAS11", 0)
] ]
checks = [] checks = [
("LKAS11", 100)
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2) 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 values["CF_Lkas_Chksum"] = 0
if car_fingerprint in [CAR.SONATA, CAR.PALISADE]: 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 values["CF_Lkas_LdwsOpt_USM"] = 2
# FcwOpt_USM 5 = Orange blinking car + lanes # 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: elif car_fingerprint == CAR.HYUNDAI_GENESIS:
# This field is actually LdwsActivemode # This field is actually LdwsActivemode
# Genesis and Optima fault when forwarding while engaged # 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: 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] 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.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
ret.minSteerSpeed = 60 * CV.KPH_TO_MS 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: elif candidate == CAR.GENESIS_G80:
ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kf = 0.00005
ret.mass = 2060. + STD_CARGO_KG 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.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.KONA: elif candidate == CAR.KONA:
ret.lateralTuning.pid.kf = 0.00006 ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1275. + STD_CARGO_KG ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7 ret.wheelbase = 2.7
ret.steerRatio = 13.73 # Spec ret.steerRatio = 13.73 * 1.15 # Spec
tire_stiffness_factor = 0.385 tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
@ -143,9 +150,18 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.5 tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] 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 # 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.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
ret.centerToFront = ret.wheelbase * 0.4 ret.centerToFront = ret.wheelbase * 0.4
@ -170,9 +186,6 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam) ret = self.CS.update(self.cp, self.cp_cam)
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
# TODO: button presses
ret.buttonEvents = []
events = self.create_common_events(ret) events = self.create_common_events(ret)
#TODO: addd abs(self.CS.angle_steers) > 90 to 'steerTempUnavailable' event #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 #!/usr/bin/env python3
import os
import time
from cereal import car from cereal import car
from opendbc.can.parser import CANParser from opendbc.can.parser import CANParser
from selfdrive.car.interfaces import RadarInterfaceBase from selfdrive.car.interfaces import RadarInterfaceBase
@ -33,10 +31,7 @@ class RadarInterface(RadarInterfaceBase):
def update(self, can_strings): def update(self, can_strings):
if self.radar_off_can: if self.radar_off_can:
if 'NO_RADAR_SLEEP' not in os.environ: return super().update(None)
time.sleep(0.05) # radard runs on RI updates
return car.RadarData.new_message()
vls = self.rcp.update_strings(can_strings) vls = self.rcp.update_strings(can_strings)
self.updated_messages.update(vls) self.updated_messages.update(vls)

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

@ -17,6 +17,7 @@ class SteerLimitParams:
class CAR: class CAR:
ELANTRA = "HYUNDAI ELANTRA LIMITED ULTIMATE 2017" ELANTRA = "HYUNDAI ELANTRA LIMITED ULTIMATE 2017"
ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT" ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT"
GENESIS_G70 = "GENESIS G70 2018"
GENESIS_G80 = "GENESIS G80 2017" GENESIS_G80 = "GENESIS G80 2017"
GENESIS_G90 = "GENESIS G90 2017" GENESIS_G90 = "GENESIS G90 2017"
HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016" HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016"
@ -27,13 +28,13 @@ class CAR:
KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019" KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
KIA_SORENTO = "KIA SORENTO GT LINE 2018" KIA_SORENTO = "KIA SORENTO GT LINE 2018"
KIA_STINGER = "KIA STINGER GT2 2018" KIA_STINGER = "KIA STINGER GT2 2018"
KONA = "HYUNDAI KONA 2019" KONA = "HYUNDAI KONA 2020"
KONA_EV = "HYUNDAI KONA ELECTRIC 2019" KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
SANTA_FE = "HYUNDAI SANTA FE LIMITED 2019" SANTA_FE = "HYUNDAI SANTA FE LIMITED 2019"
SANTA_FE_1 = "HYUNDAI SANTA FE has no scc"
SONATA = "HYUNDAI SONATA 2020" SONATA = "HYUNDAI SONATA 2020"
SONATA_2019 = "HYUNDAI SONATA 2019" SONATA_2019 = "HYUNDAI SONATA 2019"
PALISADE = "HYUNDAI PALISADE 2020" PALISADE = "HYUNDAI PALISADE 2020"
VELOSTER = "HYUNDAI VELOSTER 2019"
class Buttons: class Buttons:
@ -85,20 +86,18 @@ FINGERPRINTS = {
CAR.SONATA_2019: [ 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}, {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: [ 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
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_SORENTO: [{ 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 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: [{ 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 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: [{ 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 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 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: [{ 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: [{ 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: 8 127: 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 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: [{ 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_FINGERPRINT = {
Ecu.fwdCamera: [832, 1156, 1191, 1342] 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 = { FW_VERSIONS = {
CAR.SONATA: { CAR.SONATA: {
(Ecu.fwdRadar, 0x7d0, None): [ (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.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.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.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: { CAR.KIA_OPTIMA_H: {
(Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00DEhe SCC H-CUP 1.01 1.02 96400-G5100 ',], (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.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",], (Ecu.transmission, 0x7e1, None): [b"\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\xf4'\\\x91",],
}, },
CAR.PALISADE: { CAR.PALISADE: {
(Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00LX2_ SCC FHCUP 1.00 1.04 99110-S8100 \xf1\xa01.04',], (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): [ (Ecu.esp, 0x7d1, None): [
b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330', 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 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.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.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.fwdCamera, 0x7c4, None): [
(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\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 = { FEATURES = {
# which message has the gear # which message has the gear
"use_cluster_gears": [CAR.ELANTRA, CAR.KONA, CAR.ELANTRA_GT_I30], "use_cluster_gears": set([CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA]),
"use_tcu_gears": [CAR.KIA_OPTIMA, CAR.SONATA_2019], "use_tcu_gears": set([CAR.KIA_OPTIMA, CAR.SONATA_2019, CAR.VELOSTER]),
"use_elect_gears": [CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ], "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 # 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 = { DBC = {
CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None), CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA_GT_I30: 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_G80: dbc_dict('hyundai_kia_generic', None),
CAR.GENESIS_G90: dbc_dict('hyundai_kia_generic', None), CAR.GENESIS_G90: dbc_dict('hyundai_kia_generic', None),
CAR.HYUNDAI_GENESIS: 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: dbc_dict('hyundai_kia_generic', None),
CAR.SONATA_2019: dbc_dict('hyundai_kia_generic', None), CAR.SONATA_2019: dbc_dict('hyundai_kia_generic', None),
CAR.PALISADE: 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 STEER_THRESHOLD = 150

12
selfdrive/car/interfaces.py
View File

@ -27,6 +27,7 @@ class CarInterfaceBase():
self.CS = CarState(CP) self.CS = CarState(CP)
self.cp = self.CS.get_can_parser(CP) self.cp = self.CS.get_can_parser(CP)
self.cp_cam = self.CS.get_cam_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 self.CC = None
if CarController is not None: if CarController is not None:
@ -41,7 +42,7 @@ class CarInterfaceBase():
raise NotImplementedError raise NotImplementedError
@staticmethod @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 raise NotImplementedError
# returns a set of default params to avoid repetition in car specific params # returns a set of default params to avoid repetition in car specific params
@ -136,13 +137,12 @@ class RadarInterfaceBase():
self.pts = {} self.pts = {}
self.delay = 0 self.delay = 0
self.radar_ts = CP.radarTimeStep self.radar_ts = CP.radarTimeStep
self.no_radar_sleep = 'NO_RADAR_SLEEP' in os.environ
def update(self, can_strings): def update(self, can_strings):
ret = car.RadarData.new_message() ret = car.RadarData.new_message()
if not self.no_radar_sleep:
if 'NO_RADAR_SLEEP' not in os.environ:
time.sleep(self.radar_ts) # radard runs on RI updates time.sleep(self.radar_ts) # radard runs on RI updates
return ret return ret
class CarStateBase: class CarStateBase:
@ -175,3 +175,7 @@ class CarStateBase:
@staticmethod @staticmethod
def get_cam_can_parser(CP): def get_cam_can_parser(CP):
return None 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 @staticmethod
def get_cam_can_parser(CP): def get_cam_can_parser(CP):
signals = [ ] signals = []
checks = [ ] checks = []
if CP.carFingerprint == CAR.CX5: if CP.carFingerprint == CAR.CX5:
signals += [ signals += [

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

@ -15,7 +15,7 @@ class CarInterface(CarInterfaceBase):
return float(accel) / 4.0 return float(accel) / 4.0
@staticmethod @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 = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "mazda" ret.carName = "mazda"
@ -70,9 +70,6 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam) ret = self.CS.update(self.cp, self.cp_cam)
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
# TODO: button presses
ret.buttonEvents = []
# events # events
events = self.create_common_events(ret) events = self.create_common_events(ret)

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

@ -33,7 +33,7 @@ class CarInterface(CarInterfaceBase):
return accel return accel
@staticmethod @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 = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "mock" ret.carName = "mock"
ret.safetyModel = car.CarParams.SafetyModel.noOutput 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 common.numpy_fast import clip, interp
from selfdrive.car.nissan import nissancan from selfdrive.car.nissan import nissancan
from opendbc.can.packer import CANPacker 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 # Steer angle limits
ANGLE_DELTA_BP = [0., 5., 15.] ANGLE_DELTA_BP = [0., 5., 15.]
@ -53,7 +53,11 @@ class CarController():
else: else:
# Scale max torque based on how much torque the driver is applying to the wheel # Scale max torque based on how much torque the driver is applying to the wheel
self.lkas_max_torque = max( 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: else:
apply_angle = CS.out.steeringAngle apply_angle = CS.out.steeringAngle

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

@ -1,4 +1,5 @@
import copy import copy
from collections import deque
from cereal import car from cereal import car
from opendbc.can.can_define import CANDefine from opendbc.can.can_define import CANDefine
from selfdrive.car.interfaces import CarStateBase from selfdrive.car.interfaces import CarStateBase
@ -6,12 +7,14 @@ from selfdrive.config import Conversions as CV
from opendbc.can.parser import CANParser from opendbc.can.parser import CANParser
from selfdrive.car.nissan.values import CAR, DBC, STEER_THRESHOLD from selfdrive.car.nissan.values import CAR, DBC, STEER_THRESHOLD
TORQUE_SAMPLES = 12
class CarState(CarStateBase): class CarState(CarStateBase):
def __init__(self, CP): def __init__(self, CP):
super().__init__(CP) super().__init__(CP)
can_define = CANDefine(DBC[CP.carFingerprint]['pt']) can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES)
self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"] self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
def update(self, cp, cp_adas, cp_cam): def update(self, cp, cp_adas, cp_cam):
@ -60,7 +63,9 @@ class CarState(CarStateBase):
ret.cruiseState.speed = speed * conversion ret.cruiseState.speed = speed * conversion
ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"] 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"] 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 return float(accel) / 4.0
@staticmethod @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 = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "nissan" ret.carName = "nissan"

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

@ -2,7 +2,7 @@
from selfdrive.car import dbc_dict from selfdrive.car import dbc_dict
STEER_THRESHOLD = 1.75 STEER_THRESHOLD = 1.0
class CAR: class CAR:
XTRAIL = "NISSAN X-TRAIL 2017" 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 import apply_std_steer_torque_limits
from selfdrive.car.subaru import subarucan 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 from opendbc.can.packer import CANPacker
@ -18,49 +17,71 @@ class CarControllerParams():
class CarController(): class CarController():
def __init__(self, dbc_name, CP, VM): def __init__(self, dbc_name, CP, VM):
self.lkas_active = False
self.apply_steer_last = 0 self.apply_steer_last = 0
self.es_distance_cnt = -1 self.es_distance_cnt = -1
self.es_accel_cnt = -1
self.es_lkas_cnt = -1 self.es_lkas_cnt = -1
self.fake_button_prev = 0
self.steer_rate_limited = False self.steer_rate_limited = False
self.params = CarControllerParams() self.params = CarControllerParams()
self.packer = CANPacker(DBC[CP.carFingerprint]['pt']) self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line): 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 = [] can_sends = []
### STEER ### # *** steering ***
if (frame % self.params.STEER_STEP) == 0:
if (frame % P.STEER_STEP) == 0: apply_steer = int(round(actuators.steer * self.params.STEER_MAX))
final_steer = actuators.steer if enabled else 0.
apply_steer = int(round(final_steer * P.STEER_MAX))
# limits due to driver torque # limits due to driver torque
new_steer = int(round(apply_steer)) 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 self.steer_rate_limited = new_steer != apply_steer
if not enabled: if not enabled:
apply_steer = 0 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 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"]: # *** alerts and pcm cancel ***
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"] 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 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.config import Conversions as CV
from selfdrive.car.interfaces import CarStateBase from selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser 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): class CarState(CarStateBase):
@ -20,7 +20,10 @@ class CarState(CarStateBase):
ret.gas = cp.vl["Throttle"]['Throttle_Pedal'] / 255. ret.gas = cp.vl["Throttle"]['Throttle_Pedal'] / 255.
ret.gasPressed = ret.gas > 1e-5 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.brakeLights = ret.brakePressed
ret.wheelSpeeds.fl = cp.vl["Wheel_Speeds"]['FL'] * CV.KPH_TO_MS 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.enabled = cp.vl["CruiseControl"]['Cruise_Activated'] != 0
ret.cruiseState.available = cp.vl["CruiseControl"]['Cruise_On'] != 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 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.cruiseState.speed *= CV.MPH_TO_KPH
ret.seatbeltUnlatched = cp.vl["Dashlights"]['SEATBELT_FL'] == 1 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_FR'],
cp.vl["BodyInfo"]['DOOR_OPEN_FL']]) cp.vl["BodyInfo"]['DOOR_OPEN_FL']])
self.es_distance_msg = copy.copy(cp_cam.vl["ES_Distance"]) if self.car_fingerprint in PREGLOBAL_CARS:
self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"]) 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 return ret
@ -98,51 +114,121 @@ class CarState(CarStateBase):
checks = [ checks = [
# sig_address, frequency # sig_address, frequency
("Throttle", 100),
("Dashlights", 10), ("Dashlights", 10),
("CruiseControl", 20), ("Brake_Pedal", 50),
("Wheel_Speeds", 50), ("Wheel_Speeds", 50),
("Transmission", 100),
("Steering_Torque", 50), ("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) return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
@staticmethod @staticmethod
def get_cam_can_parser(CP): def get_cam_can_parser(CP):
signals = [ if CP.carFingerprint in PREGLOBAL_CARS:
("Cruise_Set_Speed", "ES_DashStatus", 0), signals = [
("Cruise_Set_Speed", "ES_DashStatus", 0),
("Not_Ready_Startup", "ES_DashStatus", 0),
("Counter", "ES_Distance", 0), ("Throttle_Cruise", "ES_CruiseThrottle", 0),
("Signal1", "ES_Distance", 0), ("Signal1", "ES_CruiseThrottle", 0),
("Signal2", "ES_Distance", 0), ("Cruise_Activated", "ES_CruiseThrottle", 0),
("Main", "ES_Distance", 0), ("Signal2", "ES_CruiseThrottle", 0),
("Signal3", "ES_Distance", 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), checks = [
("Keep_Hands_On_Wheel", "ES_LKAS_State", 0), ("ES_DashStatus", 20),
("Empty_Box", "ES_LKAS_State", 0), ("ES_CruiseThrottle", 20),
("Signal1", "ES_LKAS_State", 0), ]
("LKAS_ACTIVE", "ES_LKAS_State", 0), else:
("Signal2", "ES_LKAS_State", 0), signals = [
("Backward_Speed_Limit_Menu", "ES_LKAS_State", 0), ("Cruise_Set_Speed", "ES_DashStatus", 0),
("LKAS_ENABLE_3", "ES_LKAS_State", 0), ("Conventional_Cruise", "ES_DashStatus", 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 = [ ("Counter", "ES_Distance", 0),
("ES_DashStatus", 10), ("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) 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 #!/usr/bin/env python3
from cereal import car 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 import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.interfaces import CarInterfaceBase
@ -11,16 +11,22 @@ class CarInterface(CarInterfaceBase):
return float(accel) / 4.0 return float(accel) / 4.0
@staticmethod @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 = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "subaru" ret.carName = "subaru"
ret.radarOffCan = True 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 # Subaru port is a community feature, since we don't own one to test
ret.communityFeature = True 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) # force openpilot to fake the stock camera, since car harness is not supported yet and old style giraffe (with switches)
# was never released # was never released
ret.enableCamera = True 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.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]] 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 # TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase # civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.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): 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 = { values = {
"Counter": idx, "Counter": idx,
@ -24,7 +23,7 @@ def create_es_distance(packer, es_distance_msg, pcm_cancel_cmd):
values = copy.copy(es_distance_msg) values = copy.copy(es_distance_msg)
if pcm_cancel_cmd: if pcm_cancel_cmd:
values["Main"] = 1 values["Cruise_Cancel"] = 1
return packer.make_can_msg("ES_Distance", 0, values) 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) values["LKAS_Right_Line_Visible"] = int(right_line)
return packer.make_can_msg("ES_LKAS_State", 0, values) 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" ASCENT = "SUBARU ASCENT LIMITED 2019"
IMPREZA = "SUBARU IMPREZA LIMITED 2019" IMPREZA = "SUBARU IMPREZA LIMITED 2019"
FORESTER = "SUBARU FORESTER 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 = { FINGERPRINTS = {
CAR.ASCENT: [ CAR.ASCENT: [{
# SUBARU ASCENT LIMITED 2019 # 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 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: [{ 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 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: [{ CAR.FORESTER: [{
# Forester Sport 2019 # 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 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 = { STEER_THRESHOLD = {
CAR.ASCENT: 80, CAR.ASCENT: 80,
CAR.IMPREZA: 80, CAR.IMPREZA: 80,
CAR.FORESTER: 80, CAR.FORESTER: 80,
CAR.FORESTER_PREGLOBAL: 75,
CAR.LEGACY_PREGLOBAL: 75,
CAR.OUTBACK_PREGLOBAL: 75,
CAR.OUTBACK_PREGLOBAL_2018: 75,
} }
ECU_FINGERPRINT = { ECU_FINGERPRINT = {
@ -43,7 +83,13 @@ ECU_FINGERPRINT = {
} }
DBC = { DBC = {
CAR.ASCENT: dbc_dict('subaru_global_2017', None), CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None),
CAR.IMPREZA: dbc_dict('subaru_global_2017', None), CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None),
CAR.FORESTER: dbc_dict('subaru_global_2017', 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 # Run radar interface once
radar_interface.update([]) 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]) radar_interface._update([radar_interface.trigger_msg])
if __name__ == "__main__": if __name__ == "__main__":

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

@ -182,9 +182,14 @@ class CarState(CarStateBase):
@staticmethod @staticmethod
def get_cam_can_parser(CP): 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 # 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) 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.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.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
ret.buttonEvents = []
# events # events
events = self.create_common_events(ret) events = self.create_common_events(ret)

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

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

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

@ -341,6 +341,7 @@ FW_VERSIONS = {
b'8646F0603400 ', b'8646F0603400 ',
b'8646F0605000 ', b'8646F0605000 ',
b'8646F0606000 ', b'8646F0606000 ',
b'8646F0606100 ',
], ],
}, },
CAR.CAMRYH: { CAR.CAMRYH: {
@ -614,6 +615,7 @@ FW_VERSIONS = {
b'\x028646F1201100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00', b'\x028646F1201100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
b'\x028646F1201300\x00\x00\x00\x008646G2601400\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'\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', b'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
], ],
}, },
@ -711,15 +713,24 @@ FW_VERSIONS = {
(Ecu.engine, 0x700, None): [ (Ecu.engine, 0x700, None): [
b'\x018966353M7100\x00\x00\x00\x00', b'\x018966353M7100\x00\x00\x00\x00',
b'\x018966353Q2300\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): [ (Ecu.dsu, 0x791, None): [
b'881515306400\x00\x00\x00\x00', b'881515306400\x00\x00\x00\x00',
b'881515306500\x00\x00\x00\x00', b'881515306500\x00\x00\x00\x00',
], ],
(Ecu.eps, 0x7a1, None): [b'8965B53271\x00\x00\x00\x00\x00\x00'], (Ecu.eps, 0x7a1, None): [
(Ecu.fwdRadar, 0x750, 0xf): [b'8821F4702300\x00\x00\x00\x00'], b'8965B53271\x00\x00\x00\x00\x00\x00',
(Ecu.fwdCamera, 0x750, 0x6d): [b'8646F5301400\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: { CAR.PRIUS: {
(Ecu.engine, 0x700, None): [ (Ecu.engine, 0x700, None): [
@ -932,6 +943,7 @@ FW_VERSIONS = {
(Ecu.engine, 0x700, None): [ (Ecu.engine, 0x700, None): [
b'\x018966342M5000\x00\x00\x00\x00', b'\x018966342M5000\x00\x00\x00\x00',
b'\x018966342X6000\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'\x028966342W4001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
b'\x02896634A23001\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', b'\x028965B0R01300\x00\x00\x00\x008965B0R02300\x00\x00\x00\x00',
], ],
(Ecu.fwdRadar, 0x750, 0xf): [ (Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F3301100\x00\x00\x00\x00',
b'\x018821F3301200\x00\x00\x00\x00', b'\x018821F3301200\x00\x00\x00\x00',
b'\x018821F3301300\x00\x00\x00\x00', b'\x018821F3301300\x00\x00\x00\x00',
b'\x018821F3301400\x00\x00\x00\x00', b'\x018821F3301400\x00\x00\x00\x00',
], ],
(Ecu.fwdCamera, 0x750, 0x6d): [ (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'\x028646F4203300\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
b'\x028646F4203400\x00\x00\x00\x008646G2601200\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'\x028646F4203500\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
b'\x028646F4203700\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
], ],
}, },
CAR.LEXUS_ES_TSS2: { CAR.LEXUS_ES_TSS2: {
@ -1063,30 +1077,36 @@ FW_VERSIONS = {
b'\x01896630E41000\x00\x00\x00\x00', b'\x01896630E41000\x00\x00\x00\x00',
b'\x01896630E41200\x00\x00\x00\x00', b'\x01896630E41200\x00\x00\x00\x00',
b'\x01896630E37300\x00\x00\x00\x00', b'\x01896630E37300\x00\x00\x00\x00',
b'\x018966348R8500\x00\x00\x00\x00',
], ],
(Ecu.esp, 0x7b0, None): [ (Ecu.esp, 0x7b0, None): [
b'F152648472\x00\x00\x00\x00\x00\x00', b'F152648472\x00\x00\x00\x00\x00\x00',
b'F152648473\x00\x00\x00\x00\x00\x00', b'F152648473\x00\x00\x00\x00\x00\x00',
b'F152648492\x00\x00\x00\x00\x00\x00', b'F152648492\x00\x00\x00\x00\x00\x00',
b'F152648493\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): [ (Ecu.dsu, 0x791, None): [
b'881514810300\x00\x00\x00\x00', b'881514810300\x00\x00\x00\x00',
b'881514810500\x00\x00\x00\x00', b'881514810500\x00\x00\x00\x00',
b'881514810700\x00\x00\x00\x00',
], ],
(Ecu.eps, 0x7a1, None): [ (Ecu.eps, 0x7a1, None): [
b'8965B0E011\x00\x00\x00\x00\x00\x00', b'8965B0E011\x00\x00\x00\x00\x00\x00',
b'8965B0E012\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): [ (Ecu.fwdRadar, 0x750, 0xf): [
b'8821F4701000\x00\x00\x00\x00', b'8821F4701000\x00\x00\x00\x00',
b'8821F4701100\x00\x00\x00\x00', b'8821F4701100\x00\x00\x00\x00',
b'8821F4701300\x00\x00\x00\x00',
], ],
(Ecu.fwdCamera, 0x750, 0x6d): [ (Ecu.fwdCamera, 0x750, 0x6d): [
b'8646F4801100\x00\x00\x00\x00', b'8646F4801100\x00\x00\x00\x00',
b'8646F4801200\x00\x00\x00\x00', b'8646F4801200\x00\x00\x00\x00',
b'8646F4802001\x00\x00\x00\x00', b'8646F4802001\x00\x00\x00\x00',
b'8646F4802100\x00\x00\x00\x00', b'8646F4802100\x00\x00\x00\x00',
b'8646F4809000\x00\x00\x00\x00',
], ],
}, },
CAR.LEXUS_RXH: { CAR.LEXUS_RXH: {
@ -1198,6 +1218,6 @@ DBC = {
CAR.LEXUS_NXH: dbc_dict('lexus_nx300h_2018_pt_generated', 'toyota_adas'), 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] 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 = [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 = [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_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 selfdrive.car.volkswagen.values import DBC, CANBUS, MQB_LDW_MESSAGES, BUTTON_STATES, CarControllerParams
from opendbc.can.packer import CANPacker from opendbc.can.packer import CANPacker
VisualAlert = car.CarControl.HUDControl.VisualAlert
class CarController(): class CarController():
def __init__(self, dbc_name, CP, VM): def __init__(self, dbc_name, CP, VM):
@ -114,7 +112,7 @@ class CarController():
if frame % P.LDW_STEP == 0: if frame % P.LDW_STEP == 0:
hcaEnabled = True if enabled and not CS.out.standstill else False 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"] hud_alert = MQB_LDW_MESSAGES["laneAssistTakeOverSilent"]
else: else:
hud_alert = MQB_LDW_MESSAGES["none"] 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']]) pt_cp.vl["Gateway_72"]['ZV_HD_offen']])
# Update seatbelt fastened status. # 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 # Update driver preference for metric. VW stores many different unit
# preferences, including separate units for for distance vs. speed. # 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 cereal import car
from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES 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 import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.interfaces import CarInterfaceBase
@ -19,7 +18,7 @@ class CarInterface(CarInterfaceBase):
return float(accel) / 4.0 return float(accel) / 4.0
@staticmethod @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 = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
# VW port is a community feature, since we don't own one to test # 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 # returns a car.CarState
def update(self, c, can_strings): def update(self, c, can_strings):
canMonoTimes = []
buttonEvents = [] buttonEvents = []
# Process the most recent CAN message traffic, and check for validity # 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.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.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. # or if there's been a change.
if self.CS.displayMetricUnits != self.displayMetricUnitsPrev: #if self.CS.displayMetricUnits != self.displayMetricUnitsPrev:
put_nonblocking("IsMetric", "1" if self.CS.displayMetricUnits else "0") # put_nonblocking("IsMetric", "1" if self.CS.displayMetricUnits else "0")
# Check for and process state-change events (button press or release) from # Check for and process state-change events (button press or release) from
# the turn stalk switch or ACC steering wheel/control stalk buttons. # the turn stalk switch or ACC steering wheel/control stalk buttons.
@ -101,7 +100,6 @@ class CarInterface(CarInterfaceBase):
ret.events = events.to_msg() ret.events = events.to_msg()
ret.buttonEvents = buttonEvents ret.buttonEvents = buttonEvents
ret.canMonoTimes = canMonoTimes
# update previous car states # update previous car states
self.displayMetricUnitsPrev = self.CS.displayMetricUnits self.displayMetricUnitsPrev = self.CS.displayMetricUnits

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

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

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