openpilot v0.8.1 release
Vehicle Researcher
parent
29d9e1ce69
commit
22a4193109
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@ -53,6 +53,7 @@ one
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openpilot
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notebooks
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xx
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hyperthneed
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panda_jungle
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apks
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openpilot-apks
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@ -66,3 +67,4 @@ pandaextra
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flycheck_*
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cppcheck_report.txt
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comma.sh
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@ -2,7 +2,7 @@
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Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
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Most open source development activity is coordinated through our [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/).
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Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/).
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## Getting Started
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@ -12,23 +12,19 @@ Most open source development activity is coordinated through our [Discord](https
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## Testing
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### Local Testing
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You can test your changes on your machine by running `run_docker_tests.sh`. This will run some automated tests in docker against your code.
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### Automated Testing
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All PRs and commits are automatically checked by Github Actions. Check out `.github/workflows/` for what Github Actions runs. Any new tests should be added to Github Actions.
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All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions.
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### Code Style and Linting
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Code is automatically checked for style by Github Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
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Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
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## Car Ports (openpilot)
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We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
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If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty.
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If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84).
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## Pull Requests
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@ -38,12 +34,10 @@ git clone https://github.com/commaai/openpilot.git --recursive
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```
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Or alternatively, when on the master branch:
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```
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git submodule init
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git submodule update
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git submodule update --init
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```
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The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://medium.com/@comma_ai/a-2020-theme-externalization-13b33326d8b3).
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Modules that are in seperate repositories include:
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* apks
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* cereal
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* laika
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* opendbc
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@ -124,7 +124,7 @@ pipeline {
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stage('Replay Tests') {
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steps {
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phone_steps("eon2", [
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["camerad/modeld replay", "cd selfdrive/test/process_replay && ./camera_replay.py"],
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["camerad/modeld replay", "QCOM_REPLAY=1 scons -j4 && cd selfdrive/test/process_replay && ./camera_replay.py"],
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])
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}
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}
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@ -132,7 +132,7 @@ pipeline {
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stage('HW + Unit Tests') {
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steps {
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phone_steps("eon", [
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["build cereal", "SCONS_CACHE=1 scons -j4 cereal/"],
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["build", "SCONS_CACHE=1 scons -j4"],
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["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
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["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
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["test loggerd", "CI=1 python selfdrive/loggerd/tests/test_loggerd.py"],
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22
README.md
22
README.md
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@ -64,27 +64,27 @@ Supported Cars
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| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
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| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
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| Acura | ILX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
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| Acura | ILX 2016-19 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
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| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 12mph |
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| Acura | RDX 2020 | All | Stock | 0mph | 3mph |
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| Honda | Accord 2018-20 | All | Stock | 0mph | 3mph |
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| Honda | Accord Hybrid 2018-20 | All | Stock | 0mph | 3mph |
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| Honda | Civic Hatchback 2017-19 | Honda Sensing | Stock | 0mph | 12mph |
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| Honda | Civic Hatchback 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
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| Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
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| Honda | Civic Sedan/Coupe 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
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| Honda | CR-V 2015-16 | Touring | openpilot | 25mph<sup>1</sup> | 12mph |
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| Honda | CR-V 2017-20 | Honda Sensing | Stock | 0mph | 12mph |
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| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph |
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| Honda | Fit 2018-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
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| Honda | HR-V 2019 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
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| Honda | HR-V 2019-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
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| Honda | Insight 2019-20 | All | Stock | 0mph | 3mph |
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| Honda | Inspire 2018 | All | Stock | 0mph | 3mph |
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| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 0mph |
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| Honda | Passport 2019 | All | openpilot | 25mph<sup>1</sup> | 12mph |
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| Honda | Pilot 2016-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
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| Honda | Ridgeline 2017-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
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| Hyundai | Palisade 2020 | All | Stock | 0mph | 0mph |
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| Hyundai | Sonata 2020 | All | Stock | 0mph | 0mph |
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| Hyundai | Palisade 2020 | All | Stock | 0mph | 0mph |
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| Hyundai | Sonata 2020-21 | All | Stock | 0mph | 0mph |
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| Lexus | CT Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
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| Lexus | ES 2019-20 | All | openpilot | 0mph | 0mph |
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| Lexus | ES Hybrid 2019 | All | openpilot | 0mph | 0mph |
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@ -93,11 +93,12 @@ Supported Cars
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| Lexus | NX 2018 | All | Stock<sup>3</sup>| 0mph | 0mph |
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| Lexus | NX Hybrid 2018 | All | Stock<sup>3</sup>| 0mph | 0mph |
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| Lexus | RX 2016-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
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| Lexus | RX 2020 | All | openpilot | 0mph | 0mph |
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| Lexus | RX 2020-21 | All | openpilot | 0mph | 0mph |
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| Lexus | RX Hybrid 2016-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
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| Lexus | RX Hybrid 2020 | All | openpilot | 0mph | 0mph |
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| Toyota | Avalon 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
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| Toyota | Camry 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
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| Toyota | Camry 2021 | All | openpilot | 0mph | 0mph |
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| Toyota | Camry Hybrid 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
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| Toyota | C-HR 2017-19 | All | Stock | 0mph | 0mph |
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| Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph |
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@ -106,9 +107,9 @@ Supported Cars
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| Toyota | Corolla Hatchback 2019-20 | All | openpilot | 0mph | 0mph |
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| Toyota | Corolla Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
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| Toyota | Highlander 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
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| Toyota | Highlander 2020 | All | openpilot | 0mph | 0mph |
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| Toyota | Highlander 2020-21 | All | openpilot | 0mph | 0mph |
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| Toyota | Highlander Hybrid 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
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| Toyota | Highlander Hybrid 2020 | All | openpilot | 0mph | 0mph |
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| Toyota | Highlander Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
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| Toyota | Prius 2016-20 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
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| Toyota | Prius 2021 | All | openpilot | 0mph | 0mph |
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| Toyota | Prius Prime 2017-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
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@ -143,7 +144,8 @@ Community Maintained Cars and Features
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| Holden | Astra 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
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| Hyundai | Elantra 2017-19 | SCC + LKAS | Stock | 19mph | 34mph |
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| Hyundai | Genesis 2015-16 | SCC + LKAS | Stock | 19mph | 37mph |
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| Hyundai | Ioniq Electric 2019-20 | SCC + LKAS | Stock | 0mph | 32mph |
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| Hyundai | Ioniq Electric 2019 | SCC + LKAS | Stock | 0mph | 32mph |
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| Hyundai | Ioniq Electric 2020 | SCC + LKAS | Stock | 0mph | 0mph |
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| Hyundai | Kona 2020 | SCC + LKAS | Stock | 0mph | 0mph |
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| Hyundai | Kona EV 2019 | SCC + LKAS | Stock | 0mph | 0mph |
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| Hyundai | Santa Fe 2019 | All | Stock | 0mph | 0mph |
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@ -162,7 +164,7 @@ Community Maintained Cars and Features
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| Nissan | X-Trail 2017 | ProPILOT | Stock | 0mph | 0mph |
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| Subaru | Ascent 2019 | EyeSight | Stock | 0mph | 0mph |
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| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
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| Subaru | Forester 2019 | EyeSight | Stock | 0mph | 0mph |
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| Subaru | Forester 2019-20 | EyeSight | Stock | 0mph | 0mph |
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| Subaru | Impreza 2017-19 | EyeSight | Stock | 0mph | 0mph |
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| Volkswagen| Golf 2015-19 | Driver Assistance | Stock | 0mph | 0mph |
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10
RELEASES.md
10
RELEASES.md
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@ -1,3 +1,13 @@
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Version 0.8.1 (2020-12-21)
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========================
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* Original EON is deprecated, upgrade to comma two
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* Better model performance in heavy rain
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* Better lane positioning in turns
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* Fixed bug where model would cut turns on empty roads at night
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* Fixed issue where some Toyotas would not completely stop thanks to briskspirit!
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* Toyota Camry 2021 with TSS2.5 support
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* Hyundai Ioniq Electric 2020 support thanks to baldwalker!
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Version 0.8.0 (2020-11-30)
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========================
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* New driving model: fully 3D and improved cut-in detection
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56
SConstruct
56
SConstruct
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@ -1,12 +1,10 @@
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import Cython
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import distutils
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import os
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import shutil
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import subprocess
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import sys
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import sysconfig
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import platform
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import numpy as np
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from sysconfig import get_paths
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TICI = os.path.isfile('/TICI')
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Decider('MD5-timestamp')
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@ -19,10 +17,6 @@ AddOption('--asan',
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action='store_true',
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help='turn on ASAN')
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# Rebuild cython extensions if python, distutils, or cython change
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cython_dependencies = [Value(v) for v in (sys.version, distutils.__version__, Cython.__version__)]
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Export('cython_dependencies')
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real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
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if platform.system() == "Darwin":
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arch = "Darwin"
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@ -130,10 +124,6 @@ else:
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# change pythonpath to this
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lenv["PYTHONPATH"] = Dir("#").path
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#Get the path for Python.h for cython linking
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python_path = get_paths()['include']
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numpy_path = np.get_include()
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env = Environment(
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ENV=lenv,
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CCFLAGS=[
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CXXFLAGS=["-std=c++1z"] + cxxflags,
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LIBPATH=libpath + [
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"#cereal",
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"#phonelibs",
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"#opendbc/can",
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"#selfdrive/boardd",
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"#selfdrive/common",
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"#phonelibs",
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],
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CYTHONCFILESUFFIX=".cpp",
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tools=["default", "cython"]
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COMPILATIONDB_USE_ABSPATH=True,
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tools=["default", "cython", "compilation_db"],
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)
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if GetOption('test'):
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env.CompilationDatabase('compile_commands.json')
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if os.environ.get('SCONS_CACHE'):
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cache_dir = '/tmp/scons_cache'
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if os.getenv('CI'):
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branch = os.getenv('GIT_BRANCH')
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if QCOM_REPLAY:
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cache_dir = '/tmp/scons_cache_qcom_replay'
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elif branch is not None and branch != 'master':
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cache_dir_branch = '/tmp/scons_cache_' + branch
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if not os.path.isdir(cache_dir_branch) and os.path.isdir(cache_dir):
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shutil.copytree(cache_dir, cache_dir_branch)
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cache_dir = cache_dir_branch
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elif TICI:
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if TICI:
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cache_dir = '/data/scons_cache'
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if QCOM_REPLAY:
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cache_dir = '/tmp/scons_cache_qcom_replay'
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CacheDir(cache_dir)
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node_interval = 5
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@ -235,22 +222,20 @@ def abspath(x):
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# rpath works elsewhere
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return x[0].path.rsplit("/", 1)[1][:-3]
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#Cython build enviroment
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# Cython build enviroment
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py_include = sysconfig.get_paths()['include']
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envCython = env.Clone()
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envCython["CPPPATH"] += [python_path, numpy_path]
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envCython["CPPPATH"] += [py_include, np.get_include()]
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envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
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python_libs = []
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envCython["LIBS"] = []
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if arch == "Darwin":
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envCython["LINKFLAGS"]=["-bundle", "-undefined", "dynamic_lookup"]
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envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
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elif arch == "aarch64":
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envCython["LINKFLAGS"]=["-shared"]
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python_libs.append(os.path.basename(python_path))
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envCython["LINKFLAGS"] = ["-shared"]
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envCython["LIBS"] = [os.path.basename(py_include)]
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else:
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envCython["LINKFLAGS"]=["-pthread", "-shared"]
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envCython["LIBS"] = python_libs
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envCython["LINKFLAGS"] = ["-pthread", "-shared"]
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Export('envCython')
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if arch == "x86_64":
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SConscript(['tools/lib/index_log/SConscript'])
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@ -1,6 +1,7 @@
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gen
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node_modules
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package-lock.json
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*.tmp
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*.pyc
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__pycache__
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.*.swp
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@ -1,4 +1,4 @@
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Import('env', 'arch', 'zmq', 'cython_dependencies')
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Import('env', 'envCython', 'arch', 'zmq')
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import shutil
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@ -55,11 +55,7 @@ Depends('messaging/bridge.cc', services_h)
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# different target?
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#env.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq'])
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env.Command(['messaging/messaging_pyx.so', 'messaging/messaging_pyx.cpp'],
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cython_dependencies + [messaging_lib, 'messaging/messaging_pyx_setup.py', 'messaging/messaging_pyx.pyx', 'messaging/messaging.pxd'],
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"cd " + messaging_dir.path + " && python3 messaging_pyx_setup.py build_ext --inplace")
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envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq"])
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if GetOption('test'):
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env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib])
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@ -101,6 +101,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
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fanMalfunction @91;
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cameraMalfunction @92;
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startupOneplus @82;
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gasUnavailableDEPRECATED @3;
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dataNeededDEPRECATED @16;
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modelCommIssueDEPRECATED @27;
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@ -112,8 +114,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
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invalidGiraffeHondaDEPRECATED @49;
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invalidGiraffeToyotaDEPRECATED @60;
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whitePandaUnsupportedDEPRECATED @81;
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startupGreyPandaDEPRECATED @82;
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canErrorPersistentDEPRECATED @83;
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commIssueWarningDEPRECATED @83;
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focusRecoverActiveDEPRECATED @86;
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neosUpdateRequiredDEPRECATED @88;
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modelLagWarningDEPRECATED @93;
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@ -398,6 +399,9 @@ struct CarParams {
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steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
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steerControlType @34 :SteerControlType;
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radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
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minSpeedCan @51 :Float32; # Minimum vehicle speed from CAN (below this value drops to 0)
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stoppingBrakeRate @52 :Float32; # brake_travel/s while trying to stop
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startingBrakeRate @53 :Float32; # brake_travel/s while releasing on restart
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steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
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openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
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@ -49,6 +49,8 @@ struct InitData {
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neo @1;
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chffrAndroid @2;
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chffrIos @3;
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tici @4;
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pc @5;
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}
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struct AndroidBuildInfo {
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@ -629,6 +631,7 @@ struct ModelData {
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frameDropPerc @13 :Float32;
|
||||
timestampEof @9 :UInt64;
|
||||
modelExecutionTime @14 :Float32;
|
||||
gpuExecutionTime @16 :Float32;
|
||||
rawPred @15 :Data;
|
||||
|
||||
path @1 :PathData;
|
||||
|
|
@ -697,6 +700,7 @@ struct ModelDataV2 {
|
|||
frameDropPerc @2 :Float32;
|
||||
timestampEof @3 :UInt64;
|
||||
modelExecutionTime @15 :Float32;
|
||||
gpuExecutionTime @17 :Float32;
|
||||
rawPred @16 :Data;
|
||||
|
||||
position @4 :XYZTData;
|
||||
|
|
@ -1952,6 +1956,7 @@ struct OrbKeyFrame {
|
|||
struct DriverState {
|
||||
frameId @0 :UInt32;
|
||||
modelExecutionTime @14 :Float32;
|
||||
dspExecutionTime @16 :Float32;
|
||||
rawPred @15 :Data;
|
||||
|
||||
descriptorDEPRECATED @1 :List(Float32);
|
||||
|
|
|
|||
|
|
@ -7,11 +7,11 @@ from libcpp cimport bool
|
|||
from libc cimport errno
|
||||
|
||||
|
||||
from messaging cimport Context as cppContext
|
||||
from messaging cimport SubSocket as cppSubSocket
|
||||
from messaging cimport PubSocket as cppPubSocket
|
||||
from messaging cimport Poller as cppPoller
|
||||
from messaging cimport Message as cppMessage
|
||||
from .messaging cimport Context as cppContext
|
||||
from .messaging cimport SubSocket as cppSubSocket
|
||||
from .messaging cimport PubSocket as cppPubSocket
|
||||
from .messaging cimport Poller as cppPoller
|
||||
from .messaging cimport Message as cppMessage
|
||||
|
||||
|
||||
class MessagingError(Exception):
|
||||
|
|
@ -59,12 +59,12 @@ cdef class Poller:
|
|||
cdef int t = timeout
|
||||
|
||||
with nogil:
|
||||
result = self.poller.poll(t)
|
||||
result = self.poller.poll(t)
|
||||
|
||||
for s in result:
|
||||
socket = SubSocket()
|
||||
socket.setPtr(s)
|
||||
sockets.append(socket)
|
||||
socket = SubSocket()
|
||||
socket.setPtr(s)
|
||||
sockets.append(socket)
|
||||
|
||||
return sockets
|
||||
|
||||
|
|
|
|||
|
|
@ -1,58 +0,0 @@
|
|||
import os
|
||||
import subprocess
|
||||
import sysconfig
|
||||
from distutils.core import Extension, setup # pylint: disable=import-error,no-name-in-module
|
||||
|
||||
from Cython.Build import cythonize
|
||||
from Cython.Distutils import build_ext
|
||||
|
||||
TICI = os.path.isfile('/TICI')
|
||||
|
||||
def get_ext_filename_without_platform_suffix(filename):
|
||||
name, ext = os.path.splitext(filename)
|
||||
ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
|
||||
|
||||
if ext_suffix == ext:
|
||||
return filename
|
||||
|
||||
ext_suffix = ext_suffix.replace(ext, '')
|
||||
idx = name.find(ext_suffix)
|
||||
|
||||
if idx == -1:
|
||||
return filename
|
||||
else:
|
||||
return name[:idx] + ext
|
||||
|
||||
|
||||
class BuildExtWithoutPlatformSuffix(build_ext):
|
||||
def get_ext_filename(self, ext_name):
|
||||
filename = super().get_ext_filename(ext_name)
|
||||
return get_ext_filename_without_platform_suffix(filename)
|
||||
|
||||
|
||||
sourcefiles = ['messaging_pyx.pyx']
|
||||
extra_compile_args = ["-std=c++1z", "-Wno-nullability-completeness"]
|
||||
libraries = ['zmq']
|
||||
ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip() # pylint: disable=unexpected-keyword-arg
|
||||
|
||||
if ARCH == "aarch64" and not TICI:
|
||||
# android
|
||||
extra_compile_args += ["-Wno-deprecated-register"]
|
||||
libraries += ['gnustl_shared']
|
||||
|
||||
setup(name='messaging',
|
||||
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
|
||||
ext_modules=cythonize(
|
||||
Extension(
|
||||
"messaging_pyx",
|
||||
language="c++",
|
||||
sources=sourcefiles,
|
||||
extra_compile_args=extra_compile_args,
|
||||
libraries=libraries,
|
||||
extra_objects=[
|
||||
os.path.join(os.path.dirname(os.path.realpath(__file__)), '../', 'libmessaging.a'),
|
||||
]
|
||||
),
|
||||
nthreads=4,
|
||||
),
|
||||
)
|
||||
|
|
@ -1,7 +1,7 @@
|
|||
import os
|
||||
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
|
||||
|
||||
from common.hardware import PC
|
||||
from selfdrive.hardware import PC
|
||||
if PC:
|
||||
PERSIST = os.path.join(BASEDIR, "persist")
|
||||
else:
|
||||
|
|
|
|||
|
|
@ -1,11 +1,3 @@
|
|||
GPIO_HUB_RST_N = 30
|
||||
GPIO_UBLOX_RST_N = 32
|
||||
GPIO_UBLOX_SAFEBOOT_N = 33
|
||||
GPIO_UBLOX_PWR_EN = 34
|
||||
GPIO_STM_RST_N = 124
|
||||
GPIO_STM_BOOT0 = 134
|
||||
|
||||
|
||||
def gpio_init(pin, output):
|
||||
try:
|
||||
with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
|
||||
|
|
|
|||
|
|
@ -1,59 +0,0 @@
|
|||
import serial
|
||||
|
||||
from common.hardware_base import HardwareBase
|
||||
from cereal import log
|
||||
import subprocess
|
||||
|
||||
|
||||
NetworkType = log.ThermalData.NetworkType
|
||||
NetworkStrength = log.ThermalData.NetworkStrength
|
||||
|
||||
|
||||
def run_at_command(cmd, timeout=0.1):
|
||||
with serial.Serial("/dev/ttyUSB2", timeout=timeout) as ser:
|
||||
ser.write(cmd + b"\r\n")
|
||||
ser.readline() # Modem echos request
|
||||
return ser.readline().decode().rstrip()
|
||||
|
||||
|
||||
class Tici(HardwareBase):
|
||||
def get_sound_card_online(self):
|
||||
return True
|
||||
|
||||
def get_imei(self, slot):
|
||||
if slot != 0:
|
||||
return ""
|
||||
|
||||
for _ in range(10):
|
||||
try:
|
||||
imei = run_at_command(b"AT+CGSN")
|
||||
if len(imei) == 15:
|
||||
return imei
|
||||
except serial.SerialException:
|
||||
pass
|
||||
|
||||
raise RuntimeError("Error getting IMEI")
|
||||
|
||||
def get_serial(self):
|
||||
return self.get_cmdline()['androidboot.serialno']
|
||||
|
||||
def get_subscriber_info(self):
|
||||
return ""
|
||||
|
||||
def reboot(self, reason=None):
|
||||
subprocess.check_output(["sudo", "reboot"])
|
||||
|
||||
def get_network_type(self):
|
||||
return NetworkType.wifi
|
||||
|
||||
def get_sim_info(self):
|
||||
return {
|
||||
'sim_id': '',
|
||||
'mcc_mnc': None,
|
||||
'network_type': ["Unknown"],
|
||||
'sim_state': ["ABSENT"],
|
||||
'data_connected': False
|
||||
}
|
||||
|
||||
def get_network_strength(self, network_type):
|
||||
return NetworkStrength.unknown
|
||||
|
|
@ -4,21 +4,31 @@ import os
|
|||
import time
|
||||
import multiprocessing
|
||||
|
||||
from common.hardware import PC
|
||||
from common.clock import sec_since_boot # pylint: disable=no-name-in-module, import-error
|
||||
from selfdrive.hardware import PC, TICI
|
||||
|
||||
|
||||
# time step for each process
|
||||
DT_CTRL = 0.01 # controlsd
|
||||
DT_MDL = 0.05 # model
|
||||
DT_DMON = 0.1 # driver monitoring
|
||||
DT_TRML = 0.5 # thermald and manager
|
||||
|
||||
# driver monitoring
|
||||
if TICI:
|
||||
DT_DMON = 0.05
|
||||
else:
|
||||
DT_DMON = 0.1
|
||||
|
||||
|
||||
class Priority:
|
||||
MIN_REALTIME = 52 # highest android process priority is 51
|
||||
CTRL_LOW = MIN_REALTIME
|
||||
CTRL_HIGH = MIN_REALTIME + 1
|
||||
# CORE 2
|
||||
# - modeld = 55
|
||||
# - camerad = 54
|
||||
CTRL_LOW = 51 # plannerd & radard
|
||||
|
||||
# CORE 3
|
||||
# - boardd = 55
|
||||
CTRL_HIGH = 53
|
||||
|
||||
|
||||
def set_realtime_priority(level):
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
import numpy as np
|
||||
|
||||
import common.transformations.orientation as orient
|
||||
from common.hardware import TICI
|
||||
from selfdrive.hardware import TICI
|
||||
|
||||
## -- hardcoded hardware params --
|
||||
eon_f_focal_length = 910.0
|
||||
|
|
|
|||
|
|
@ -14,7 +14,12 @@ function tici_init {
|
|||
}
|
||||
|
||||
function two_init {
|
||||
# Restrict Android and other system processes to the first two cores
|
||||
# Wifi scan
|
||||
wpa_cli IFNAME=wlan0 SCAN
|
||||
|
||||
# *** shield cores 2-3 ***
|
||||
|
||||
# android gets two cores
|
||||
echo 0-1 > /dev/cpuset/background/cpus
|
||||
echo 0-1 > /dev/cpuset/system-background/cpus
|
||||
echo 0-1 > /dev/cpuset/foreground/cpus
|
||||
|
|
@ -24,7 +29,12 @@ function two_init {
|
|||
# openpilot gets all the cores
|
||||
echo 0-3 > /dev/cpuset/app/cpus
|
||||
|
||||
# set up governors
|
||||
# mask off 2-3 from RPS and XPS - Receive/Transmit Packet Steering
|
||||
echo 3 | tee /sys/class/net/*/queues/*/rps_cpus
|
||||
echo 3 | tee /sys/class/net/*/queues/*/xps_cpus
|
||||
|
||||
# *** set up governors ***
|
||||
|
||||
# +50mW offroad, +500mW onroad for 30% more RAM bandwidth
|
||||
echo "performance" > /sys/class/devfreq/soc:qcom,cpubw/governor
|
||||
echo 1056000 > /sys/class/devfreq/soc:qcom,m4m/max_freq
|
||||
|
|
@ -40,6 +50,8 @@ function two_init {
|
|||
# /sys/class/devfreq/soc:qcom,mincpubw is the only one left at "powersave"
|
||||
# it seems to gain nothing but a wasted 500mW
|
||||
|
||||
# *** set up IRQ affinities ***
|
||||
|
||||
# Collect RIL and other possibly long-running I/O interrupts onto CPU 1
|
||||
echo 1 > /proc/irq/78/smp_affinity_list # qcom,smd-modem (LTE radio)
|
||||
echo 1 > /proc/irq/33/smp_affinity_list # ufshcd (flash storage)
|
||||
|
|
@ -50,6 +62,24 @@ function two_init {
|
|||
[ -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
|
||||
|
||||
# GPU and camera get cpu 2
|
||||
CAM_IRQS="177 178 179 180 181 182 183 184 185 186 192"
|
||||
for irq in $CAM_IRQS; do
|
||||
echo 2 > /proc/irq/$irq/smp_affinity_list
|
||||
done
|
||||
echo 2 > /proc/irq/193/smp_affinity_list # GPU
|
||||
|
||||
# give GPU threads RT priority
|
||||
for pid in $(pgrep "kgsl"); do
|
||||
chrt -f -p 52 $pid
|
||||
done
|
||||
|
||||
# the flippening!
|
||||
LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1
|
||||
|
||||
# disable bluetooth
|
||||
service call bluetooth_manager 8
|
||||
|
||||
# Check for NEOS update
|
||||
if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
|
||||
if [ -f "$DIR/scripts/continue.sh" ]; then
|
||||
|
|
@ -81,9 +111,6 @@ function two_init {
|
|||
}
|
||||
|
||||
function launch {
|
||||
# Wifi scan
|
||||
wpa_cli IFNAME=wlan0 SCAN
|
||||
|
||||
# Remove orphaned git lock if it exists on boot
|
||||
[ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
|
||||
|
||||
|
|
@ -129,9 +156,7 @@ function launch {
|
|||
# comma two init
|
||||
if [ -f /EON ]; then
|
||||
two_init
|
||||
fi
|
||||
|
||||
if [ -f /TICI ]; then
|
||||
elif [ -f /TICI ]; then
|
||||
tici_init
|
||||
fi
|
||||
|
||||
|
|
|
|||
Binary file not shown.
|
|
@ -1,6 +1,7 @@
|
|||
.mypy_cache/
|
||||
*.pyc
|
||||
*.os
|
||||
*.o
|
||||
*.tmp
|
||||
*.dylib
|
||||
.*.swp
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
|
|
@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
|||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here"
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
|||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "acura_ilx_2016_can.dbc starts here"
|
||||
CM_ "acura_ilx_2016_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
|
|
@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
|||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here"
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
|||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "acura_rdx_2018_can.dbc starts here"
|
||||
CM_ "acura_rdx_2018_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _bosch_2020.dbc starts here"
|
||||
CM_ "Imported file _bosch_2020.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -375,7 +375,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
|
|||
CM_ SG_ 577 LINE_SOLID "1 = line is solid";
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
CM_ "acura_rdx_2020_can.dbc starts here"
|
||||
CM_ "acura_rdx_2020_can.dbc starts here";
|
||||
|
||||
|
||||
BO_ 304 GAS_PEDAL_2: 8 PCM
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
Import('env', 'cereal', 'cython_dependencies')
|
||||
Import('env', 'envCython', 'cereal')
|
||||
|
||||
import os
|
||||
from opendbc.can.process_dbc import process
|
||||
|
|
@ -13,10 +13,10 @@ for x in sorted(os.listdir('../')):
|
|||
dbc = env.Command(out_fn, in_fn, compile_dbc)
|
||||
dbcs.append(dbc)
|
||||
|
||||
|
||||
libdbc = env.SharedLibrary('libdbc', ["dbc.cc", "parser.cc", "packer.cc", "common.cc"]+dbcs, LIBS=["capnp", "kj"])
|
||||
|
||||
# Build packer and parser
|
||||
env.Command(['packer_pyx.so', 'packer_pyx.cpp', 'parser_pyx.so', 'parser_pyx.cpp'],
|
||||
cython_dependencies + [libdbc, cereal, 'common_pyx_setup.py', 'common.pxd', 'packer_pyx.pyx', 'parser_pyx.pyx', 'packer.cc', 'parser.cc'],
|
||||
"cd opendbc/can && python3 common_pyx_setup.py build_ext --inplace")
|
||||
lenv = envCython.Clone()
|
||||
lenv["LINKFLAGS"] += [libdbc[0].get_labspath()]
|
||||
lenv.Program('parser_pyx.so', 'parser_pyx.pyx')
|
||||
lenv.Program('packer_pyx.so', 'packer_pyx.pyx')
|
||||
|
|
|
|||
|
|
@ -1,94 +0,0 @@
|
|||
import os
|
||||
import subprocess
|
||||
import sysconfig
|
||||
import platform
|
||||
from distutils.core import Extension, setup # pylint: disable=import-error,no-name-in-module
|
||||
|
||||
from Cython.Build import cythonize
|
||||
from Cython.Distutils import build_ext
|
||||
|
||||
|
||||
ANNOTATE = os.getenv('ANNOTATE') is not None
|
||||
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../../"))
|
||||
|
||||
|
||||
def get_ext_filename_without_platform_suffix(filename):
|
||||
name, ext = os.path.splitext(filename)
|
||||
ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
|
||||
|
||||
if ext_suffix == ext:
|
||||
return filename
|
||||
|
||||
ext_suffix = ext_suffix.replace(ext, '')
|
||||
idx = name.find(ext_suffix)
|
||||
|
||||
if idx == -1:
|
||||
return filename
|
||||
else:
|
||||
return name[:idx] + ext
|
||||
|
||||
|
||||
class BuildExtWithoutPlatformSuffix(build_ext):
|
||||
def get_ext_filename(self, ext_name):
|
||||
filename = super().get_ext_filename(ext_name)
|
||||
return get_ext_filename_without_platform_suffix(filename)
|
||||
|
||||
|
||||
extra_compile_args = ["-std=c++1z", "-Wno-nullability-completeness"]
|
||||
ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip() # pylint: disable=unexpected-keyword-arg
|
||||
if ARCH == "aarch64":
|
||||
extra_compile_args += ["-Wno-deprecated-register"]
|
||||
|
||||
if platform.system() == "Darwin":
|
||||
libdbc = "libdbc.dylib"
|
||||
else:
|
||||
libdbc = "libdbc.so"
|
||||
|
||||
extra_link_args = [os.path.join(BASEDIR, 'opendbc', 'can', libdbc)]
|
||||
include_dirs = [
|
||||
BASEDIR,
|
||||
os.path.join(BASEDIR, 'phonelibs'),
|
||||
]
|
||||
|
||||
# Build CAN Parser
|
||||
|
||||
setup(name='CAN parser',
|
||||
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
|
||||
ext_modules=cythonize(
|
||||
Extension(
|
||||
"parser_pyx",
|
||||
language="c++",
|
||||
sources=['parser_pyx.pyx'],
|
||||
extra_compile_args=extra_compile_args,
|
||||
include_dirs=include_dirs,
|
||||
extra_link_args=extra_link_args,
|
||||
),
|
||||
nthreads=4,
|
||||
annotate=ANNOTATE
|
||||
),
|
||||
)
|
||||
|
||||
if platform.system() == "Darwin":
|
||||
os.system("install_name_tool -change opendbc/can/libdbc.dylib " + BASEDIR + "/opendbc/can/libdbc.dylib parser_pyx.so")
|
||||
|
||||
|
||||
# Build CAN Packer
|
||||
|
||||
setup(name='CAN packer',
|
||||
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
|
||||
ext_modules=cythonize(
|
||||
Extension(
|
||||
"packer_pyx",
|
||||
language="c++",
|
||||
sources=['packer_pyx.pyx'],
|
||||
extra_compile_args=extra_compile_args,
|
||||
include_dirs=include_dirs,
|
||||
extra_link_args=extra_link_args,
|
||||
),
|
||||
nthreads=4,
|
||||
annotate=ANNOTATE
|
||||
),
|
||||
)
|
||||
|
||||
if platform.system() == "Darwin":
|
||||
os.system("install_name_tool -change opendbc/can/libdbc.dylib " + BASEDIR + "/opendbc/can/libdbc.dylib packer_pyx.so")
|
||||
|
|
@ -8,8 +8,8 @@ from libcpp.string cimport string
|
|||
from libcpp cimport bool
|
||||
from posix.dlfcn cimport dlopen, dlsym, RTLD_LAZY
|
||||
|
||||
from common cimport CANPacker as cpp_CANPacker
|
||||
from common cimport dbc_lookup, SignalPackValue, DBC
|
||||
from .common cimport CANPacker as cpp_CANPacker
|
||||
from .common cimport dbc_lookup, SignalPackValue, DBC
|
||||
|
||||
|
||||
cdef class CANPacker:
|
||||
|
|
@ -22,8 +22,8 @@ cdef class CANPacker:
|
|||
def __init__(self, dbc_name):
|
||||
self.dbc = dbc_lookup(dbc_name)
|
||||
if not self.dbc:
|
||||
raise RuntimeError("Can't lookup" + dbc_name)
|
||||
|
||||
raise RuntimeError(f"Can't lookup {dbc_name}")
|
||||
|
||||
self.packer = new cpp_CANPacker(dbc_name)
|
||||
num_msgs = self.dbc[0].num_msgs
|
||||
for i in range(num_msgs):
|
||||
|
|
|
|||
|
|
@ -8,8 +8,8 @@ from libc.stdint cimport uint32_t, uint64_t, uint16_t
|
|||
from libcpp.map cimport map
|
||||
from libcpp cimport bool
|
||||
|
||||
from common cimport CANParser as cpp_CANParser
|
||||
from common cimport SignalParseOptions, MessageParseOptions, dbc_lookup, SignalValue, DBC
|
||||
from .common cimport CANParser as cpp_CANParser
|
||||
from .common cimport SignalParseOptions, MessageParseOptions, dbc_lookup, SignalValue, DBC
|
||||
|
||||
import os
|
||||
import numbers
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _bosch_2018.dbc starts here"
|
||||
CM_ "Imported file _bosch_2018.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -379,7 +379,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
|
|||
CM_ SG_ 577 LINE_SOLID "1 = line is solid";
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
CM_ "honda_accord_lx15t_2018_can.dbc starts here"
|
||||
CM_ "honda_accord_lx15t_2018_can.dbc starts here";
|
||||
|
||||
|
||||
BO_ 304 GAS_PEDAL_2: 8 PCM
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _bosch_2018.dbc starts here"
|
||||
CM_ "Imported file _bosch_2018.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -379,7 +379,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
|
|||
CM_ SG_ 577 LINE_SOLID "1 = line is solid";
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
CM_ "honda_accord_s2t_2018_can.dbc starts here"
|
||||
CM_ "honda_accord_s2t_2018_can.dbc starts here";
|
||||
|
||||
|
||||
BO_ 304 GAS_PEDAL_2: 8 PCM
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _bosch_2018.dbc starts here"
|
||||
CM_ "Imported file _bosch_2018.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -379,7 +379,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
|
|||
CM_ SG_ 577 LINE_SOLID "1 = line is solid";
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
CM_ "honda_civic_hatchback_ex_2017_can.dbc starts here"
|
||||
CM_ "honda_civic_hatchback_ex_2017_can.dbc starts here";
|
||||
|
||||
|
||||
BO_ 304 GAS_PEDAL_2: 8 PCM
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _bosch_2018.dbc starts here"
|
||||
CM_ "Imported file _bosch_2018.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -379,7 +379,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
|
|||
CM_ SG_ 577 LINE_SOLID "1 = line is solid";
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
CM_ "honda_civic_sedan_16_diesel_2019_can.dbc starts here"
|
||||
CM_ "honda_civic_sedan_16_diesel_2019_can.dbc starts here";
|
||||
|
||||
|
||||
BO_ 316 GAS_PEDAL_2: 8 XXX
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
|
|
@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
|||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here"
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
|||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "honda_civic_touring_2016_can.dbc starts here"
|
||||
CM_ "honda_civic_touring_2016_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
CM_ "honda_crv_ex_2017_body.dbc starts here"
|
||||
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
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _bosch_2018.dbc starts here"
|
||||
CM_ "Imported file _bosch_2018.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -379,7 +379,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
|
|||
CM_ SG_ 577 LINE_SOLID "1 = line is solid";
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
CM_ "honda_crv_ex_2017_can.dbc starts here"
|
||||
CM_ "honda_crv_ex_2017_can.dbc starts here";
|
||||
|
||||
|
||||
BO_ 304 GAS_PEDAL_2: 8 PCM
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
|
|
@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
|||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here"
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
|||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "honda_crv_executive_2016_can.dbc starts here"
|
||||
CM_ "honda_crv_executive_2016_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _bosch_2018.dbc starts here"
|
||||
CM_ "Imported file _bosch_2018.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -379,7 +379,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
|
|||
CM_ SG_ 577 LINE_SOLID "1 = line is solid";
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
CM_ "honda_crv_hybrid_2019_can.dbc starts here"
|
||||
CM_ "honda_crv_hybrid_2019_can.dbc starts here";
|
||||
|
||||
|
||||
BO_ 304 GAS_PEDAL_2: 8 PCM
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
|
|
@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
|||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here"
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
|||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "honda_crv_touring_2016_can.dbc starts here"
|
||||
CM_ "honda_crv_touring_2016_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
|
|
@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
|||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here"
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
|||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "honda_fit_ex_2018_can.dbc starts here"
|
||||
CM_ "honda_fit_ex_2018_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
|
|
@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
|||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here"
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
|||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "honda_hrv_touring_2019_can.dbc starts here"
|
||||
CM_ "honda_hrv_touring_2019_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _bosch_2018.dbc starts here"
|
||||
CM_ "Imported file _bosch_2018.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -379,7 +379,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
|
|||
CM_ SG_ 577 LINE_SOLID "1 = line is solid";
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
CM_ "honda_insight_ex_2019_can.dbc starts here"
|
||||
CM_ "honda_insight_ex_2019_can.dbc starts here";
|
||||
|
||||
|
||||
BO_ 304 GAS_PEDAL_2: 8 PCM
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
|
|
@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
|||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here"
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
|||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "honda_odyssey_exl_2018.dbc starts here"
|
||||
CM_ "honda_odyssey_exl_2018.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
|
|
@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
|||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here"
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
|||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "honda_odyssey_extreme_edition_2018_china_can.dbc starts here"
|
||||
CM_ "honda_odyssey_extreme_edition_2018_china_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
|
|
@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
|||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here"
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
|||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "honda_pilot_touring_2017_can.dbc starts here"
|
||||
CM_ "honda_pilot_touring_2017_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
|
|
@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
|||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here"
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
|||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "honda_ridgeline_black_edition_2017_can.dbc starts here"
|
||||
CM_ "honda_ridgeline_black_edition_2017_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1233,8 +1233,8 @@ BO_ 544 ESP12: 8 ESC
|
|||
SG_ YAW_RATE : 40|13@1+ (0.01,-40.95) [-40.95|40.96] "" _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU
|
||||
SG_ YAW_RATE_STAT : 53|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU
|
||||
SG_ YAW_RATE_DIAG : 54|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU
|
||||
SG_ ESP12_AliveCounter : 56|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU
|
||||
SG_ ESP12_Checksum : 60|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU
|
||||
SG_ ESP12_Checksum : 56|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU
|
||||
SG_ ESP12_AliveCounter : 60|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU
|
||||
|
||||
BO_ 1307 CLU16: 8 CLU
|
||||
SG_ CF_Clu_TirePressUnitNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] "" TPMS
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
|
|
@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
|||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
|
|
@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
|||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -320,7 +325,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
|||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
|
|
@ -328,7 +333,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
|||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
|
|
@ -362,7 +367,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
|||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "lexus_ct200h_2018_pt.dbc starts here"
|
||||
CM_ "lexus_ct200h_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
|
|
@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
|||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
|
|
@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
|||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -320,7 +325,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
|||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
|
|
@ -328,7 +333,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
|||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
|
|
@ -362,7 +367,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
|||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "lexus_is_2018_pt.dbc starts here"
|
||||
CM_ "lexus_is_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
|
|
@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
|||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
|
|
@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
|||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -320,7 +325,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
|||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
|
|
@ -328,7 +333,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
|||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
|
|
@ -362,7 +367,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
|||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "lexus_nx300_2018_pt.dbc starts here"
|
||||
CM_ "lexus_nx300_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
|
|
@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
|||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
|
|
@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
|||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -320,7 +325,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
|||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
|
|
@ -328,7 +333,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
|||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
|
|
@ -362,7 +367,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
|||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "lexus_nx300h_2018_pt.dbc starts here"
|
||||
CM_ "lexus_nx300h_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
|
|
@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
|||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
|
|
@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
|||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -320,7 +325,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
|||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
|
|
@ -328,7 +333,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
|||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
|
|
@ -362,7 +367,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
|||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "lexus_rx_350_2016_pt.dbc starts here"
|
||||
CM_ "lexus_rx_350_2016_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
|
|
@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
|||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
|
|
@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
|||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -320,7 +325,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
|||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
|
|
@ -328,7 +333,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
|||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
|
|
@ -362,7 +367,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
|||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "lexus_rx_hybrid_2017_pt.dbc starts here"
|
||||
CM_ "lexus_rx_hybrid_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _subaru_preglobal_2015.dbc starts here"
|
||||
CM_ "Imported file _subaru_preglobal_2015.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -240,7 +240,7 @@ 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"
|
||||
CM_ "subaru_forester_2017.dbc starts here";
|
||||
|
||||
|
||||
BO_ 355 ES_DashStatus: 8 XXX
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _subaru_global.dbc starts here"
|
||||
CM_ "Imported file _subaru_global.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -244,7 +244,7 @@ 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"
|
||||
CM_ "subaru_global_2017.dbc starts here";
|
||||
|
||||
|
||||
BO_ 72 Transmission: 8 XXX
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _subaru_preglobal_2015.dbc starts here"
|
||||
CM_ "Imported file _subaru_preglobal_2015.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -240,7 +240,7 @@ 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"
|
||||
CM_ "subaru_outback_2015.dbc starts here";
|
||||
|
||||
|
||||
BO_ 358 ES_DashStatus: 8 XXX
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _subaru_preglobal_2015.dbc starts here"
|
||||
CM_ "Imported file _subaru_preglobal_2015.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -240,7 +240,7 @@ 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"
|
||||
CM_ "subaru_outback_2019.dbc starts here";
|
||||
|
||||
|
||||
BO_ 358 ES_DashStatus: 8 XXX
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
|
|
@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
|||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
|
|
@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
|||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -320,7 +325,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
|||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
|
|
@ -328,7 +333,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
|||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
|
|
@ -362,7 +367,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
|||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "toyota_avalon_2017_pt.dbc starts here"
|
||||
CM_ "toyota_avalon_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
|
|
@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
|||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
|
|
@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
|||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -320,7 +325,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
|||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
|
|
@ -328,7 +333,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
|||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
|
|
@ -362,7 +367,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
|||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "toyota_camry_hybrid_2018_pt.dbc starts here"
|
||||
CM_ "toyota_camry_hybrid_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
|
|
@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
|||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
|
|
@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
|||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -320,7 +325,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
|||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
|
|
@ -328,7 +333,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
|||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
|
|
@ -362,7 +367,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
|||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "toyota_corolla_2017_pt.dbc starts here"
|
||||
CM_ "toyota_corolla_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
|
|
@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
|||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
|
|
@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
|||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -320,7 +325,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
|||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
|
|
@ -328,7 +333,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
|||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
|
|
@ -362,7 +367,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
|||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "toyota_highlander_2017_pt.dbc starts here"
|
||||
CM_ "toyota_highlander_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
|
|
@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
|||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
|
|
@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
|||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -320,7 +325,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
|||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
|
|
@ -328,7 +333,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
|||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
|
|
@ -362,7 +367,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
|||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "toyota_highlander_hybrid_2018_pt.dbc starts here"
|
||||
CM_ "toyota_highlander_hybrid_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_nodsu_bsm.dbc starts here"
|
||||
CM_ "Imported file _toyota_nodsu_bsm.dbc starts here";
|
||||
BO_ 1014 BSM: 8 XXX
|
||||
SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
|
|
@ -18,7 +18,7 @@ CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along
|
|||
CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
|
|
@ -26,10 +26,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
|||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
|
|
@ -47,8 +47,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
|||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -337,7 +342,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
|||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
|
|
@ -345,7 +350,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
|||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
|
|
@ -379,7 +384,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
|||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "toyota_nodsu_hybrid_pt.dbc starts here"
|
||||
CM_ "toyota_nodsu_hybrid_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_nodsu_bsm.dbc starts here"
|
||||
CM_ "Imported file _toyota_nodsu_bsm.dbc starts here";
|
||||
BO_ 1014 BSM: 8 XXX
|
||||
SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
|
|
@ -18,7 +18,7 @@ CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along
|
|||
CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
|
|
@ -26,10 +26,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
|||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
|
|
@ -47,8 +47,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
|||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -337,7 +342,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
|||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
|
|
@ -345,7 +350,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
|||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
|
|
@ -379,7 +384,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
|||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "toyota_nodsu_pt.dbc starts here"
|
||||
CM_ "toyota_nodsu_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
|
|
@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
|||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
|
|
@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
|||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -320,7 +325,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
|||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
|
|
@ -328,7 +333,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
|||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
|
|
@ -362,7 +367,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
|||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "toyota_prius_2017_pt.dbc starts here"
|
||||
CM_ "toyota_prius_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
|
|
@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
|||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
|
|
@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
|||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -320,7 +325,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
|||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
|
|
@ -328,7 +333,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
|||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
|
|
@ -362,7 +367,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
|||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "toyota_rav4_2017_pt.dbc starts here"
|
||||
CM_ "toyota_rav4_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
|
|
@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
|||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
|
|
@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
|||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -320,7 +325,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
|||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
|
|
@ -328,7 +333,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
|||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
|
|
@ -362,7 +367,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
|||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "toyota_rav4_hybrid_2017_pt.dbc starts here"
|
||||
CM_ "toyota_rav4_hybrid_2017_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
|
|
@ -9,10 +9,10 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
|||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
|
|
@ -30,8 +30,13 @@ CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the
|
|||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
|
|
@ -320,7 +325,7 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
|||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
|
|
@ -328,7 +333,7 @@ CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
|||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
|
|
@ -362,7 +367,7 @@ VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
|||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "toyota_sienna_xle_2018_pt.dbc starts here"
|
||||
CM_ "toyota_sienna_xle_2018_pt.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -11,19 +11,27 @@ const struct lookup_t NISSAN_LOOKUP_ANGLE_RATE_DOWN = {
|
|||
|
||||
const int NISSAN_DEG_TO_CAN = 100;
|
||||
|
||||
const CanMsg NISSAN_TX_MSGS[] = {{0x169, 0, 8}, {0x2b1, 0, 8}, {0x4cc, 0, 8}, {0x20b, 2, 6}, {0x280, 2, 8}};
|
||||
const CanMsg NISSAN_TX_MSGS[] = {{0x169, 0, 8}, {0x2b1, 0, 8}, {0x4cc, 0, 8}, {0x20b, 2, 6}, {0x20b, 1, 6}, {0x280, 2, 8}};
|
||||
|
||||
// Signals duplicated below due to the fact that these messages can come in on either CAN bus, depending on car model.
|
||||
AddrCheckStruct nissan_rx_checks[] = {
|
||||
{.msg = {{0x2, 0, 5, .expected_timestep = 10000U}}}, // STEER_ANGLE_SENSOR (100Hz)
|
||||
{.msg = {{0x285, 0, 8, .expected_timestep = 20000U}}}, // WHEEL_SPEEDS_REAR (50Hz)
|
||||
{.msg = {{0x30f, 2, 3, .expected_timestep = 100000U}}}, // CRUISE_STATE (10Hz)
|
||||
{.msg = {{0x2, 0, 5, .expected_timestep = 10000U},
|
||||
{0x2, 1, 5, .expected_timestep = 10000U}}}, // STEER_ANGLE_SENSOR (100Hz)
|
||||
{.msg = {{0x285, 0, 8, .expected_timestep = 20000U},
|
||||
{0x285, 1, 8, .expected_timestep = 20000U}}}, // WHEEL_SPEEDS_REAR (50Hz)
|
||||
{.msg = {{0x30f, 2, 3, .expected_timestep = 100000U},
|
||||
{0x30f, 1, 3, .expected_timestep = 100000U}}}, // CRUISE_STATE (10Hz)
|
||||
{.msg = {{0x15c, 0, 8, .expected_timestep = 20000U},
|
||||
{0x15c, 1, 8, .expected_timestep = 20000U},
|
||||
{0x239, 0, 8, .expected_timestep = 20000U}}}, // GAS_PEDAL (100Hz / 50Hz)
|
||||
{.msg = {{0x454, 0, 8, .expected_timestep = 100000U},
|
||||
{0x454, 1, 8, .expected_timestep = 100000U},
|
||||
{0x1cc, 0, 4, .expected_timestep = 10000U}}}, // DOORS_LIGHTS (10Hz) / BRAKE (100Hz)
|
||||
};
|
||||
const int NISSAN_RX_CHECK_LEN = sizeof(nissan_rx_checks) / sizeof(nissan_rx_checks[0]);
|
||||
|
||||
// EPS Location. false = V-CAN, true = C-CAN
|
||||
bool nissan_alt_eps = false;
|
||||
|
||||
static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
||||
|
||||
|
|
@ -34,7 +42,7 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
|||
int bus = GET_BUS(to_push);
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
if (bus == 0) {
|
||||
if (((bus == 0) && (!nissan_alt_eps)) || ((bus == 1) && (nissan_alt_eps))) {
|
||||
if (addr == 0x2) {
|
||||
// Current steering angle
|
||||
// Factor -0.1, little endian
|
||||
|
|
@ -73,7 +81,7 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
|
|||
}
|
||||
|
||||
// Handle cruise enabled
|
||||
if ((bus == 2) && (addr == 0x30f)) {
|
||||
if ((addr == 0x30f) && (((bus == 2) && (!nissan_alt_eps)) || ((bus == 1) && (nissan_alt_eps)))) {
|
||||
bool cruise_engaged = (GET_BYTE(to_push, 0) >> 3) & 1;
|
||||
|
||||
if (cruise_engaged && !cruise_engaged_prev) {
|
||||
|
|
@ -182,8 +190,14 @@ static int nissan_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
|||
return bus_fwd;
|
||||
}
|
||||
|
||||
static void nissan_init(int16_t param) {
|
||||
controls_allowed = 0;
|
||||
nissan_alt_eps = param ? 1 : 0;
|
||||
relay_malfunction_reset();
|
||||
}
|
||||
|
||||
const safety_hooks nissan_hooks = {
|
||||
.init = nooutput_init,
|
||||
.init = nissan_init,
|
||||
.rx = nissan_rx_hook,
|
||||
.tx = nissan_tx_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
|
|
|
|||
|
|
@ -0,0 +1,255 @@
|
|||
/* Copyright (c) 2009-2017 Qualcomm Technologies, Inc. All Rights Reserved.
|
||||
* Qualcomm Technologies Proprietary and Confidential.
|
||||
*/
|
||||
|
||||
#ifndef __OPENCL_CL_EXT_QCOM_H
|
||||
#define __OPENCL_CL_EXT_QCOM_H
|
||||
|
||||
// Needed by cl_khr_egl_event extension
|
||||
#include <EGL/egl.h>
|
||||
#include <EGL/eglext.h>
|
||||
#include <CL/cl_ext.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
/************************************
|
||||
* cl_qcom_create_buffer_from_image *
|
||||
************************************/
|
||||
|
||||
#define CL_BUFFER_FROM_IMAGE_ROW_PITCH_QCOM 0x40C0
|
||||
#define CL_BUFFER_FROM_IMAGE_SLICE_PITCH_QCOM 0x40C1
|
||||
|
||||
extern CL_API_ENTRY cl_mem CL_API_CALL
|
||||
clCreateBufferFromImageQCOM(cl_mem image,
|
||||
cl_mem_flags flags,
|
||||
cl_int *errcode_ret);
|
||||
|
||||
|
||||
/************************************
|
||||
* cl_qcom_limited_printf extension *
|
||||
************************************/
|
||||
|
||||
/* Builtin printf function buffer size in bytes. */
|
||||
#define CL_DEVICE_PRINTF_BUFFER_SIZE_QCOM 0x1049
|
||||
|
||||
|
||||
/*************************************
|
||||
* cl_qcom_extended_images extension *
|
||||
*************************************/
|
||||
|
||||
#define CL_CONTEXT_ENABLE_EXTENDED_IMAGES_QCOM 0x40AA
|
||||
#define CL_DEVICE_EXTENDED_IMAGE2D_MAX_WIDTH_QCOM 0x40AB
|
||||
#define CL_DEVICE_EXTENDED_IMAGE2D_MAX_HEIGHT_QCOM 0x40AC
|
||||
#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_WIDTH_QCOM 0x40AD
|
||||
#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_HEIGHT_QCOM 0x40AE
|
||||
#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_DEPTH_QCOM 0x40AF
|
||||
|
||||
/*************************************
|
||||
* cl_qcom_perf_hint extension *
|
||||
*************************************/
|
||||
|
||||
typedef cl_uint cl_perf_hint;
|
||||
|
||||
#define CL_CONTEXT_PERF_HINT_QCOM 0x40C2
|
||||
|
||||
/*cl_perf_hint*/
|
||||
#define CL_PERF_HINT_HIGH_QCOM 0x40C3
|
||||
#define CL_PERF_HINT_NORMAL_QCOM 0x40C4
|
||||
#define CL_PERF_HINT_LOW_QCOM 0x40C5
|
||||
|
||||
extern CL_API_ENTRY cl_int CL_API_CALL
|
||||
clSetPerfHintQCOM(cl_context context,
|
||||
cl_perf_hint perf_hint);
|
||||
|
||||
// This extension is published at Khronos, so its definitions are made in cl_ext.h.
|
||||
// This duplication is for backward compatibility.
|
||||
|
||||
#ifndef CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM
|
||||
|
||||
/*********************************
|
||||
* cl_qcom_android_native_buffer_host_ptr extension
|
||||
*********************************/
|
||||
|
||||
#define CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM 0x40C6
|
||||
|
||||
|
||||
typedef struct _cl_mem_android_native_buffer_host_ptr
|
||||
{
|
||||
// Type of external memory allocation.
|
||||
// Must be CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM for Android native buffers.
|
||||
cl_mem_ext_host_ptr ext_host_ptr;
|
||||
|
||||
// Virtual pointer to the android native buffer
|
||||
void* anb_ptr;
|
||||
|
||||
} cl_mem_android_native_buffer_host_ptr;
|
||||
|
||||
#endif //#ifndef CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM
|
||||
|
||||
/***********************************
|
||||
* cl_img_egl_image extension *
|
||||
************************************/
|
||||
typedef void* CLeglImageIMG;
|
||||
typedef void* CLeglDisplayIMG;
|
||||
|
||||
extern CL_API_ENTRY cl_mem CL_API_CALL
|
||||
clCreateFromEGLImageIMG(cl_context context,
|
||||
cl_mem_flags flags,
|
||||
CLeglImageIMG image,
|
||||
CLeglDisplayIMG display,
|
||||
cl_int *errcode_ret);
|
||||
|
||||
|
||||
/*********************************
|
||||
* cl_qcom_other_image extension
|
||||
*********************************/
|
||||
|
||||
// Extended flag for creating/querying QCOM non-standard images
|
||||
#define CL_MEM_OTHER_IMAGE_QCOM (1<<25)
|
||||
|
||||
// cl_channel_type
|
||||
#define CL_QCOM_UNORM_MIPI10 0x4159
|
||||
#define CL_QCOM_UNORM_MIPI12 0x415A
|
||||
#define CL_QCOM_UNSIGNED_MIPI10 0x415B
|
||||
#define CL_QCOM_UNSIGNED_MIPI12 0x415C
|
||||
#define CL_QCOM_UNORM_INT10 0x415D
|
||||
#define CL_QCOM_UNORM_INT12 0x415E
|
||||
#define CL_QCOM_UNSIGNED_INT16 0x415F
|
||||
|
||||
// cl_channel_order
|
||||
// Dedicate 0x4130-0x415F range for QCOM extended image formats
|
||||
// 0x4130 - 0x4132 range is assigned to pixel-oriented compressed format
|
||||
#define CL_QCOM_BAYER 0x414E
|
||||
|
||||
#define CL_QCOM_NV12 0x4133
|
||||
#define CL_QCOM_NV12_Y 0x4134
|
||||
#define CL_QCOM_NV12_UV 0x4135
|
||||
|
||||
#define CL_QCOM_TILED_NV12 0x4136
|
||||
#define CL_QCOM_TILED_NV12_Y 0x4137
|
||||
#define CL_QCOM_TILED_NV12_UV 0x4138
|
||||
|
||||
#define CL_QCOM_P010 0x413C
|
||||
#define CL_QCOM_P010_Y 0x413D
|
||||
#define CL_QCOM_P010_UV 0x413E
|
||||
|
||||
#define CL_QCOM_TILED_P010 0x413F
|
||||
#define CL_QCOM_TILED_P010_Y 0x4140
|
||||
#define CL_QCOM_TILED_P010_UV 0x4141
|
||||
|
||||
|
||||
#define CL_QCOM_TP10 0x4145
|
||||
#define CL_QCOM_TP10_Y 0x4146
|
||||
#define CL_QCOM_TP10_UV 0x4147
|
||||
|
||||
#define CL_QCOM_TILED_TP10 0x4148
|
||||
#define CL_QCOM_TILED_TP10_Y 0x4149
|
||||
#define CL_QCOM_TILED_TP10_UV 0x414A
|
||||
|
||||
/*********************************
|
||||
* cl_qcom_compressed_image extension
|
||||
*********************************/
|
||||
|
||||
// Extended flag for creating/querying QCOM non-planar compressed images
|
||||
#define CL_MEM_COMPRESSED_IMAGE_QCOM (1<<27)
|
||||
|
||||
// Extended image format
|
||||
// cl_channel_order
|
||||
#define CL_QCOM_COMPRESSED_RGBA 0x4130
|
||||
#define CL_QCOM_COMPRESSED_RGBx 0x4131
|
||||
|
||||
#define CL_QCOM_COMPRESSED_NV12_Y 0x413A
|
||||
#define CL_QCOM_COMPRESSED_NV12_UV 0x413B
|
||||
|
||||
#define CL_QCOM_COMPRESSED_P010 0x4142
|
||||
#define CL_QCOM_COMPRESSED_P010_Y 0x4143
|
||||
#define CL_QCOM_COMPRESSED_P010_UV 0x4144
|
||||
|
||||
#define CL_QCOM_COMPRESSED_TP10 0x414B
|
||||
#define CL_QCOM_COMPRESSED_TP10_Y 0x414C
|
||||
#define CL_QCOM_COMPRESSED_TP10_UV 0x414D
|
||||
|
||||
#define CL_QCOM_COMPRESSED_NV12_4R 0x414F
|
||||
#define CL_QCOM_COMPRESSED_NV12_4R_Y 0x4150
|
||||
#define CL_QCOM_COMPRESSED_NV12_4R_UV 0x4151
|
||||
/*********************************
|
||||
* cl_qcom_compressed_yuv_image_read extension
|
||||
*********************************/
|
||||
|
||||
// Extended flag for creating/querying QCOM compressed images
|
||||
#define CL_MEM_COMPRESSED_YUV_IMAGE_QCOM (1<<28)
|
||||
|
||||
// Extended image format
|
||||
#define CL_QCOM_COMPRESSED_NV12 0x10C4
|
||||
|
||||
// Extended flag for setting ION buffer allocation type
|
||||
#define CL_MEM_ION_HOST_PTR_COMPRESSED_YUV_QCOM 0x40CD
|
||||
#define CL_MEM_ION_HOST_PTR_PROTECTED_COMPRESSED_YUV_QCOM 0x40CE
|
||||
|
||||
/*********************************
|
||||
* cl_qcom_accelerated_image_ops
|
||||
*********************************/
|
||||
#define CL_MEM_OBJECT_WEIGHT_IMAGE_QCOM 0x4110
|
||||
#define CL_DEVICE_HOF_MAX_NUM_PHASES_QCOM 0x4111
|
||||
#define CL_DEVICE_HOF_MAX_FILTER_SIZE_X_QCOM 0x4112
|
||||
#define CL_DEVICE_HOF_MAX_FILTER_SIZE_Y_QCOM 0x4113
|
||||
#define CL_DEVICE_BLOCK_MATCHING_MAX_REGION_SIZE_X_QCOM 0x4114
|
||||
#define CL_DEVICE_BLOCK_MATCHING_MAX_REGION_SIZE_Y_QCOM 0x4115
|
||||
|
||||
//Extended flag for specifying weight image type
|
||||
#define CL_WEIGHT_IMAGE_SEPARABLE_QCOM (1<<0)
|
||||
|
||||
// Box Filter
|
||||
typedef struct _cl_box_filter_size_qcom
|
||||
{
|
||||
// Width of box filter on X direction.
|
||||
float box_filter_width;
|
||||
|
||||
// Height of box filter on Y direction.
|
||||
float box_filter_height;
|
||||
} cl_box_filter_size_qcom;
|
||||
|
||||
// HOF Weight Image Desc
|
||||
typedef struct _cl_weight_desc_qcom
|
||||
{
|
||||
/** Coordinate of the "center" point of the weight image,
|
||||
based on the weight image's top-left corner as the origin. */
|
||||
size_t center_coord_x;
|
||||
size_t center_coord_y;
|
||||
cl_bitfield flags;
|
||||
} cl_weight_desc_qcom;
|
||||
|
||||
typedef struct _cl_weight_image_desc_qcom
|
||||
{
|
||||
cl_image_desc image_desc;
|
||||
cl_weight_desc_qcom weight_desc;
|
||||
} cl_weight_image_desc_qcom;
|
||||
|
||||
/*************************************
|
||||
* cl_qcom_protected_context extension *
|
||||
*************************************/
|
||||
|
||||
#define CL_CONTEXT_PROTECTED_QCOM 0x40C7
|
||||
#define CL_MEM_ION_HOST_PTR_PROTECTED_QCOM 0x40C8
|
||||
|
||||
/*************************************
|
||||
* cl_qcom_priority_hint extension *
|
||||
*************************************/
|
||||
#define CL_PRIORITY_HINT_NONE_QCOM 0
|
||||
typedef cl_uint cl_priority_hint;
|
||||
|
||||
#define CL_CONTEXT_PRIORITY_HINT_QCOM 0x40C9
|
||||
|
||||
/*cl_priority_hint*/
|
||||
#define CL_PRIORITY_HINT_HIGH_QCOM 0x40CA
|
||||
#define CL_PRIORITY_HINT_NORMAL_QCOM 0x40CB
|
||||
#define CL_PRIORITY_HINT_LOW_QCOM 0x40CC
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __OPENCL_CL_EXT_QCOM_H */
|
||||
|
|
@ -153,6 +153,6 @@ def generate_orient_error_jac(K):
|
|||
|
||||
|
||||
if __name__ == "__main__":
|
||||
# TODO: get K from argparse
|
||||
K = int(sys.argv[1].split("_")[-1])
|
||||
generated_dir = sys.argv[2]
|
||||
FeatureHandler.generate_code(generated_dir)
|
||||
FeatureHandler.generate_code(generated_dir, K=K)
|
||||
|
|
|
|||
|
|
@ -20,11 +20,11 @@ from websocket import ABNF, WebSocketTimeoutException, create_connection
|
|||
|
||||
import cereal.messaging as messaging
|
||||
from cereal.services import service_list
|
||||
from common.hardware import HARDWARE
|
||||
from common.api import Api
|
||||
from common.basedir import PERSIST
|
||||
from common.params import Params
|
||||
from common.realtime import sec_since_boot
|
||||
from selfdrive.hardware import HARDWARE
|
||||
from selfdrive.loggerd.config import ROOT
|
||||
from selfdrive.swaglog import cloudlog
|
||||
|
||||
|
|
@ -221,6 +221,11 @@ def getSimInfo():
|
|||
return HARDWARE.get_sim_info()
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
def getNetworkType():
|
||||
return HARDWARE.get_network_type()
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
def takeSnapshot():
|
||||
from selfdrive.camerad.snapshot.snapshot import snapshot, jpeg_write
|
||||
|
|
|
|||
|
|
@ -474,6 +474,7 @@ void pigeon_thread() {
|
|||
|
||||
// ubloxRaw = 8042
|
||||
PubMaster pm({"ubloxRaw"});
|
||||
bool ignition_last = false;
|
||||
|
||||
#ifdef QCOM2
|
||||
Pigeon * pigeon = Pigeon::connect("/dev/ttyHS0");
|
||||
|
|
@ -481,19 +482,27 @@ void pigeon_thread() {
|
|||
Pigeon * pigeon = Pigeon::connect(panda);
|
||||
#endif
|
||||
|
||||
pigeon->init();
|
||||
|
||||
while (!do_exit && panda->connected) {
|
||||
std::string recv = pigeon->receive();
|
||||
if (recv.length() > 0) {
|
||||
if (recv[0] == (char)0x00){
|
||||
LOGW("received invalid ublox message, resetting panda GPS");
|
||||
pigeon->init();
|
||||
if (ignition) {
|
||||
LOGW("received invalid ublox message while onroad, resetting panda GPS");
|
||||
pigeon->init();
|
||||
}
|
||||
} else {
|
||||
pigeon_publish_raw(pm, recv);
|
||||
}
|
||||
}
|
||||
|
||||
// init pigeon on rising ignition edge
|
||||
// since it was turned off in low power mode
|
||||
if(ignition && !ignition_last) {
|
||||
pigeon->init();
|
||||
}
|
||||
|
||||
ignition_last = ignition;
|
||||
|
||||
// 10ms - 100 Hz
|
||||
usleep(10*1000);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -9,18 +9,30 @@
|
|||
|
||||
#include "panda.h"
|
||||
|
||||
#ifdef QCOM2
|
||||
bool is_legacy_panda_reset() {
|
||||
FILE *file = fopen("/persist/LEGACY_PANDA_RESET", "r");
|
||||
if(file) {
|
||||
fclose(file);
|
||||
}
|
||||
return (file != NULL);
|
||||
}
|
||||
#endif
|
||||
|
||||
void panda_set_power(bool power){
|
||||
#ifdef QCOM2
|
||||
int err = 0;
|
||||
bool is_legacy = is_legacy_panda_reset();
|
||||
|
||||
err += gpio_init(GPIO_STM_RST_N, true);
|
||||
err += gpio_init(GPIO_STM_BOOT0, true);
|
||||
|
||||
err += gpio_set(GPIO_STM_RST_N, false);
|
||||
err += gpio_set(GPIO_STM_RST_N, is_legacy ? false : true);
|
||||
err += gpio_set(GPIO_STM_BOOT0, false);
|
||||
|
||||
usleep(100*1000); // 100 ms
|
||||
|
||||
err += gpio_set(GPIO_STM_RST_N, power);
|
||||
err += gpio_set(GPIO_STM_RST_N, is_legacy ? power : (!power));
|
||||
assert(err == 0);
|
||||
#endif
|
||||
}
|
||||
|
|
|
|||
|
|
@ -34,7 +34,7 @@ env.SharedLibrary('snapshot/visionipc',
|
|||
env.Program('camerad', [
|
||||
'main.cc',
|
||||
'cameras/camera_common.cc',
|
||||
'transforms/rgb_to_yuv.c',
|
||||
'transforms/rgb_to_yuv.cc',
|
||||
'imgproc/utils.cc',
|
||||
cameras,
|
||||
], LIBS=libs)
|
||||
|
|
|
|||
|
|
@ -41,9 +41,9 @@ static cl_program build_debayer_program(cl_device_id device_id, cl_context conte
|
|||
b->rgb_width, b->rgb_height, b->rgb_stride,
|
||||
ci->bayer_flip, ci->hdr);
|
||||
#ifdef QCOM2
|
||||
return CLU_LOAD_FROM_FILE(context, device_id, "cameras/real_debayer.cl", args);
|
||||
return cl_program_from_file(context, device_id, "cameras/real_debayer.cl", args);
|
||||
#else
|
||||
return CLU_LOAD_FROM_FILE(context, device_id, "cameras/debayer.cl", args);
|
||||
return cl_program_from_file(context, device_id, "cameras/debayer.cl", args);
|
||||
#endif
|
||||
}
|
||||
|
||||
|
|
@ -53,7 +53,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
|
|||
camera_state = s;
|
||||
frame_buf_count = frame_cnt;
|
||||
frame_size = ci->frame_height * ci->frame_stride;
|
||||
|
||||
|
||||
camera_bufs = std::make_unique<VisionBuf[]>(frame_buf_count);
|
||||
camera_bufs_metadata = std::make_unique<FrameMetadata[]>(frame_buf_count);
|
||||
for (int i = 0; i < frame_buf_count; i++) {
|
||||
|
|
@ -103,23 +103,20 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
|
|||
yuv_bufs[i].v = yuv_bufs[i].u + (yuv_width / 2 * yuv_height / 2);
|
||||
}
|
||||
|
||||
int err;
|
||||
if (ci->bayer) {
|
||||
cl_program prg_debayer = build_debayer_program(device_id, context, ci, this);
|
||||
krnl_debayer = clCreateKernel(prg_debayer, "debayer10", &err);
|
||||
assert(err == 0);
|
||||
assert(clReleaseProgram(prg_debayer) == 0);
|
||||
krnl_debayer = CL_CHECK_ERR(clCreateKernel(prg_debayer, "debayer10", &err));
|
||||
CL_CHECK(clReleaseProgram(prg_debayer));
|
||||
}
|
||||
|
||||
rgb_to_yuv_init(&rgb_to_yuv_state, context, device_id, yuv_width, yuv_height, rgb_stride);
|
||||
|
||||
#ifdef __APPLE__
|
||||
q = clCreateCommandQueue(context, device_id, 0, &err);
|
||||
q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
|
||||
#else
|
||||
const cl_queue_properties props[] = {0}; //CL_QUEUE_PRIORITY_KHR, CL_QUEUE_PRIORITY_HIGH_KHR, 0};
|
||||
q = clCreateCommandQueueWithProperties(context, device_id, props, &err);
|
||||
q = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
|
||||
#endif
|
||||
assert(err == 0);
|
||||
}
|
||||
|
||||
CameraBuf::~CameraBuf() {
|
||||
|
|
@ -132,8 +129,12 @@ CameraBuf::~CameraBuf() {
|
|||
for (int i = 0; i < YUV_COUNT; i++) {
|
||||
visionbuf_free(&yuv_ion[i]);
|
||||
}
|
||||
clReleaseKernel(krnl_debayer);
|
||||
clReleaseCommandQueue(q);
|
||||
rgb_to_yuv_destroy(&rgb_to_yuv_state);
|
||||
|
||||
if (krnl_debayer) {
|
||||
CL_CHECK(clReleaseKernel(krnl_debayer));
|
||||
}
|
||||
CL_CHECK(clReleaseCommandQueue(q));
|
||||
}
|
||||
|
||||
bool CameraBuf::acquire() {
|
||||
|
|
@ -156,32 +157,34 @@ bool CameraBuf::acquire() {
|
|||
cl_event debayer_event;
|
||||
cl_mem camrabuf_cl = camera_bufs[buf_idx].buf_cl;
|
||||
if (camera_state->ci.bayer) {
|
||||
assert(clSetKernelArg(krnl_debayer, 0, sizeof(cl_mem), &camrabuf_cl) == 0);
|
||||
assert(clSetKernelArg(krnl_debayer, 1, sizeof(cl_mem), &cur_rgb_buf->buf_cl) == 0);
|
||||
CL_CHECK(clSetKernelArg(krnl_debayer, 0, sizeof(cl_mem), &camrabuf_cl));
|
||||
CL_CHECK(clSetKernelArg(krnl_debayer, 1, sizeof(cl_mem), &cur_rgb_buf->buf_cl));
|
||||
#ifdef QCOM2
|
||||
assert(clSetKernelArg(krnl_debayer, 2, camera_state->debayer_cl_localMemSize, 0) == 0);
|
||||
assert(clEnqueueNDRangeKernel(q, krnl_debayer, 2, NULL,
|
||||
camera_state->debayer_cl_globalWorkSize, camera_state->debayer_cl_localWorkSize,
|
||||
0, 0, &debayer_event) == 0);
|
||||
constexpr int localMemSize = (DEBAYER_LOCAL_WORKSIZE + 2 * (3 / 2)) * (DEBAYER_LOCAL_WORKSIZE + 2 * (3 / 2)) * sizeof(float);
|
||||
const size_t globalWorkSize[] = {size_t(camera_state->ci.frame_width), size_t(camera_state->ci.frame_height)};
|
||||
const size_t localWorkSize[] = {DEBAYER_LOCAL_WORKSIZE, DEBAYER_LOCAL_WORKSIZE};
|
||||
CL_CHECK(clSetKernelArg(krnl_debayer, 2, localMemSize, 0));
|
||||
CL_CHECK(clEnqueueNDRangeKernel(q, krnl_debayer, 2, NULL, globalWorkSize, localWorkSize,
|
||||
0, 0, &debayer_event));
|
||||
#else
|
||||
float digital_gain = camera_state->digital_gain;
|
||||
if ((int)digital_gain == 0) {
|
||||
digital_gain = 1.0;
|
||||
}
|
||||
assert(clSetKernelArg(krnl_debayer, 2, sizeof(float), &digital_gain) == 0);
|
||||
CL_CHECK(clSetKernelArg(krnl_debayer, 2, sizeof(float), &digital_gain));
|
||||
const size_t debayer_work_size = rgb_height; // doesn't divide evenly, is this okay?
|
||||
assert(clEnqueueNDRangeKernel(q, krnl_debayer, 1, NULL,
|
||||
&debayer_work_size, NULL, 0, 0, &debayer_event) == 0);
|
||||
CL_CHECK(clEnqueueNDRangeKernel(q, krnl_debayer, 1, NULL,
|
||||
&debayer_work_size, NULL, 0, 0, &debayer_event));
|
||||
#endif
|
||||
} else {
|
||||
assert(cur_rgb_buf->len >= frame_size);
|
||||
assert(rgb_stride == camera_state->ci.frame_stride);
|
||||
assert(clEnqueueCopyBuffer(q, camrabuf_cl, cur_rgb_buf->buf_cl, 0, 0,
|
||||
cur_rgb_buf->len, 0, 0, &debayer_event) == 0);
|
||||
CL_CHECK(clEnqueueCopyBuffer(q, camrabuf_cl, cur_rgb_buf->buf_cl, 0, 0,
|
||||
cur_rgb_buf->len, 0, 0, &debayer_event));
|
||||
}
|
||||
|
||||
clWaitForEvents(1, &debayer_event);
|
||||
clReleaseEvent(debayer_event);
|
||||
CL_CHECK(clReleaseEvent(debayer_event));
|
||||
|
||||
tbuffer_release(&camera_tb, buf_idx);
|
||||
visionbuf_sync(cur_rgb_buf, VISIONBUF_SYNC_FROM_DEVICE);
|
||||
|
|
@ -195,11 +198,12 @@ bool CameraBuf::acquire() {
|
|||
pool_acquire(&yuv_pool, cur_yuv_idx);
|
||||
pool_push(&yuv_pool, cur_yuv_idx);
|
||||
|
||||
tbuffer_dispatch(&ui_tb, cur_rgb_idx);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void CameraBuf::release() {
|
||||
tbuffer_dispatch(&ui_tb, cur_rgb_idx);
|
||||
pool_release(&yuv_pool, cur_yuv_idx);
|
||||
}
|
||||
|
||||
|
|
@ -294,8 +298,9 @@ void create_thumbnail(MultiCameraState *s, CameraState *c, uint8_t *bgr_ptr) {
|
|||
row_pointer[0] = row;
|
||||
jpeg_write_scanlines(&cinfo, row_pointer, 1);
|
||||
}
|
||||
free(row);
|
||||
jpeg_finish_compress(&cinfo);
|
||||
jpeg_destroy_compress(&cinfo);
|
||||
free(row);
|
||||
|
||||
MessageBuilder msg;
|
||||
auto thumbnaild = msg.initEvent().initThumbnail();
|
||||
|
|
@ -306,6 +311,7 @@ void create_thumbnail(MultiCameraState *s, CameraState *c, uint8_t *bgr_ptr) {
|
|||
if (s->pm != NULL) {
|
||||
s->pm->send("thumbnail", msg);
|
||||
}
|
||||
free(thumbnail_buffer);
|
||||
}
|
||||
|
||||
void set_exposure_target(CameraState *c, const uint8_t *pix_ptr, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip) {
|
||||
|
|
@ -347,10 +353,8 @@ void set_exposure_target(CameraState *c, const uint8_t *pix_ptr, int x_start, in
|
|||
extern volatile sig_atomic_t do_exit;
|
||||
|
||||
void *processing_thread(MultiCameraState *cameras, const char *tname,
|
||||
CameraState *cs, int priority, process_thread_cb callback) {
|
||||
CameraState *cs, process_thread_cb callback) {
|
||||
set_thread_name(tname);
|
||||
int err = set_realtime_priority(priority);
|
||||
LOG("%s start! setpriority returns %d", tname, err);
|
||||
|
||||
for (int cnt = 0; !do_exit; cnt++) {
|
||||
if (!cs->buf.acquire()) continue;
|
||||
|
|
@ -363,65 +367,53 @@ void *processing_thread(MultiCameraState *cameras, const char *tname,
|
|||
}
|
||||
|
||||
std::thread start_process_thread(MultiCameraState *cameras, const char *tname,
|
||||
CameraState *cs, int priority, process_thread_cb callback) {
|
||||
return std::thread(processing_thread, cameras, tname, cs, priority, callback);
|
||||
CameraState *cs, process_thread_cb callback) {
|
||||
return std::thread(processing_thread, cameras, tname, cs, callback);
|
||||
}
|
||||
|
||||
void common_camera_process_front(SubMaster *sm, PubMaster *pm, CameraState *c, int cnt) {
|
||||
const CameraBuf *b = &c->buf;
|
||||
|
||||
static int meteringbox_xmin = 0, meteringbox_xmax = 0;
|
||||
static int meteringbox_ymin = 0, meteringbox_ymax = 0;
|
||||
static int x_min = 0, x_max = 0, y_min = 0, y_max = 0;
|
||||
static const bool rhd_front = Params().read_db_bool("IsRHD");
|
||||
|
||||
sm->update(0);
|
||||
if (sm->updated("driverState")) {
|
||||
auto state = (*sm)["driverState"].getDriverState();
|
||||
float face_prob = state.getFaceProb();
|
||||
float face_position[2];
|
||||
face_position[0] = state.getFacePosition()[0];
|
||||
face_position[1] = state.getFacePosition()[1];
|
||||
|
||||
// set front camera metering target
|
||||
if (face_prob > 0.4) {
|
||||
int x_offset = rhd_front ? 0:b->rgb_width - 0.5 * b->rgb_height;
|
||||
meteringbox_xmin = x_offset + (face_position[0] + 0.5) * (0.5 * b->rgb_height) - 72;
|
||||
meteringbox_xmax = x_offset + (face_position[0] + 0.5) * (0.5 * b->rgb_height) + 72;
|
||||
meteringbox_ymin = (face_position[1] + 0.5) * (b->rgb_height) - 72;
|
||||
meteringbox_ymax = (face_position[1] + 0.5) * (b->rgb_height) + 72;
|
||||
} else { // use default setting if no face
|
||||
meteringbox_ymin = b->rgb_height * 1 / 3;
|
||||
meteringbox_ymax = b->rgb_height * 1;
|
||||
meteringbox_xmin = rhd_front ? 0:b->rgb_width * 3 / 5;
|
||||
meteringbox_xmax = rhd_front ? b->rgb_width * 2 / 5:b->rgb_width;
|
||||
}
|
||||
}
|
||||
|
||||
// auto exposure
|
||||
if (cnt % 3 == 0) {
|
||||
// use driver face crop for AE
|
||||
int x_start, x_end, y_start, y_end;
|
||||
int skip = 1;
|
||||
if (sm->update(0) > 0 && sm->updated("driverState")) {
|
||||
auto state = (*sm)["driverState"].getDriverState();
|
||||
// set front camera metering target
|
||||
if (state.getFaceProb() > 0.4) {
|
||||
auto face_position = state.getFacePosition();
|
||||
int x_offset = rhd_front ? 0 : b->rgb_width - (0.5 * b->rgb_height);
|
||||
x_offset += (face_position[0] * (rhd_front ? -1.0 : 1.0) + 0.5) * (0.5 * b->rgb_height);
|
||||
const int y_offset = (face_position[1] + 0.5) * b->rgb_height;
|
||||
|
||||
if (meteringbox_xmax > 0) {
|
||||
x_start = std::max(0, meteringbox_xmin);
|
||||
x_end = std::min(b->rgb_width - 1, meteringbox_xmax);
|
||||
y_start = std::max(0, meteringbox_ymin);
|
||||
y_end = std::min(b->rgb_height - 1, meteringbox_ymax);
|
||||
} else {
|
||||
y_start = b->rgb_height * 1 / 3;
|
||||
y_end = b->rgb_height * 1;
|
||||
x_start = rhd_front ? 0 : b->rgb_width * 3 / 5;
|
||||
x_end = rhd_front ? b->rgb_width * 2 / 5 : b->rgb_width;
|
||||
x_min = std::max(0, x_offset - 72);
|
||||
x_max = std::min(b->rgb_width - 1, x_offset + 72);
|
||||
y_min = std::max(0, y_offset - 72);
|
||||
y_max = std::min(b->rgb_height - 1, y_offset + 72);
|
||||
} else { // use default setting if no face
|
||||
x_min = x_max = y_min = y_max = 0;
|
||||
}
|
||||
}
|
||||
|
||||
int skip = 1;
|
||||
// use driver face crop for AE
|
||||
if (x_max == 0) {
|
||||
// default setting
|
||||
x_min = rhd_front ? 0 : b->rgb_width * 3 / 5;
|
||||
x_max = rhd_front ? b->rgb_width * 2 / 5 : b->rgb_width;
|
||||
y_min = b->rgb_height / 3;
|
||||
y_max = b->rgb_height;
|
||||
}
|
||||
#ifdef QCOM2
|
||||
x_start = 96;
|
||||
x_end = 1832;
|
||||
y_start = 242;
|
||||
y_end = 1148;
|
||||
x_min = 96;
|
||||
x_max = 1832;
|
||||
y_min = 242;
|
||||
y_max = 1148;
|
||||
skip = 4;
|
||||
#endif
|
||||
set_exposure_target(c, (const uint8_t *)b->yuv_bufs[b->cur_yuv_idx].y, x_start, x_end, 2, y_start, y_end, skip);
|
||||
set_exposure_target(c, (const uint8_t *)b->yuv_bufs[b->cur_yuv_idx].y, x_min, x_max, 2, y_min, y_max, skip);
|
||||
}
|
||||
|
||||
MessageBuilder msg;
|
||||
|
|
|
|||
|
|
@ -138,5 +138,5 @@ void fill_frame_image(cereal::FrameData::Builder &framed, uint8_t *dat, int w, i
|
|||
void create_thumbnail(MultiCameraState *s, CameraState *c, uint8_t *bgr_ptr);
|
||||
void set_exposure_target(CameraState *c, const uint8_t *pix_ptr, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
|
||||
std::thread start_process_thread(MultiCameraState *cameras, const char *tname,
|
||||
CameraState *cs, int priority, process_thread_cb callback);
|
||||
CameraState *cs, process_thread_cb callback);
|
||||
void common_camera_process_front(SubMaster *sm, PubMaster *pm, CameraState *c, int cnt);
|
||||
|
|
|
|||
|
|
@ -119,11 +119,14 @@ void cameras_close(MultiCameraState *s) {
|
|||
|
||||
// called by processing_thread
|
||||
void camera_process_rear(MultiCameraState *s, CameraState *c, int cnt) {
|
||||
// empty
|
||||
if (cnt % 100 == 3) {
|
||||
const CameraBuf *b = &c->buf;
|
||||
create_thumbnail(s, c, (uint8_t*)b->cur_rgb_buf->addr);
|
||||
}
|
||||
}
|
||||
|
||||
void cameras_run(MultiCameraState *s) {
|
||||
std::thread t = start_process_thread(s, "processing", &s->rear, 51, camera_process_rear);
|
||||
std::thread t = start_process_thread(s, "processing", &s->rear, camera_process_rear);
|
||||
set_thread_name("frame_streaming");
|
||||
run_frame_stream(s);
|
||||
cameras_close(s);
|
||||
|
|
|
|||
|
|
@ -248,7 +248,7 @@ cl_program build_conv_program(cl_device_id device_id, cl_context context, int im
|
|||
"-DFILTER_SIZE=%d -DHALF_FILTER_SIZE=%d -DTWICE_HALF_FILTER_SIZE=%d -DHALF_FILTER_SIZE_IMAGE_W=%d",
|
||||
image_w, image_h, 1,
|
||||
filter_size, filter_size/2, (filter_size/2)*2, (filter_size/2)*image_w);
|
||||
return CLU_LOAD_FROM_FILE(context, device_id, "imgproc/conv.cl", args);
|
||||
return cl_program_from_file(context, device_id, "imgproc/conv.cl", args);
|
||||
}
|
||||
|
||||
void cameras_init(MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
|
||||
|
|
@ -333,39 +333,26 @@ void cameras_init(MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
|
|||
s->front.device = s->device;
|
||||
|
||||
s->sm_front = new SubMaster({"driverState"});
|
||||
s->sm_rear = new SubMaster({"sensorEvents"});
|
||||
s->pm = new PubMaster({"frame", "frontFrame", "thumbnail"});
|
||||
|
||||
int err;
|
||||
const int rgb_width = s->rear.buf.rgb_width;
|
||||
const int rgb_height = s->rear.buf.rgb_height;
|
||||
for (int i = 0; i < FRAME_BUF_COUNT; i++) {
|
||||
// TODO: make lengths correct
|
||||
s->focus_bufs[i] = visionbuf_allocate(0xb80);
|
||||
s->stats_bufs[i] = visionbuf_allocate(0xb80);
|
||||
}
|
||||
s->prg_rgb_laplacian = build_conv_program(device_id, ctx, rgb_width/NUM_SEGMENTS_X, rgb_height/NUM_SEGMENTS_Y, 3);
|
||||
s->krnl_rgb_laplacian = clCreateKernel(s->prg_rgb_laplacian, "rgb2gray_conv2d", &err);
|
||||
assert(err == 0);
|
||||
const int width = s->rear.buf.rgb_width/NUM_SEGMENTS_X;
|
||||
const int height = s->rear.buf.rgb_height/NUM_SEGMENTS_Y;
|
||||
s->prg_rgb_laplacian = build_conv_program(device_id, ctx, width, height, 3);
|
||||
s->krnl_rgb_laplacian = CL_CHECK_ERR(clCreateKernel(s->prg_rgb_laplacian, "rgb2gray_conv2d", &err));
|
||||
// TODO: Removed CL_MEM_SVM_FINE_GRAIN_BUFFER, confirm it doesn't matter
|
||||
s->rgb_conv_roi_cl = clCreateBuffer(ctx, CL_MEM_READ_WRITE,
|
||||
rgb_width/NUM_SEGMENTS_X * rgb_height/NUM_SEGMENTS_Y * 3 * sizeof(uint8_t), NULL, NULL);
|
||||
s->rgb_conv_result_cl = clCreateBuffer(ctx, CL_MEM_READ_WRITE,
|
||||
rgb_width/NUM_SEGMENTS_X * rgb_height/NUM_SEGMENTS_Y * sizeof(int16_t), NULL, NULL);
|
||||
s->rgb_conv_filter_cl = clCreateBuffer(ctx, CL_MEM_READ_ONLY | CL_MEM_COPY_HOST_PTR,
|
||||
9 * sizeof(int16_t), (void*)&lapl_conv_krnl, NULL);
|
||||
s->conv_cl_localMemSize = ( CONV_LOCAL_WORKSIZE + 2 * (3 / 2) ) * ( CONV_LOCAL_WORKSIZE + 2 * (3 / 2) );
|
||||
s->conv_cl_localMemSize *= 3 * sizeof(uint8_t);
|
||||
s->conv_cl_globalWorkSize[0] = rgb_width/NUM_SEGMENTS_X;
|
||||
s->conv_cl_globalWorkSize[1] = rgb_height/NUM_SEGMENTS_Y;
|
||||
s->conv_cl_localWorkSize[0] = CONV_LOCAL_WORKSIZE;
|
||||
s->conv_cl_localWorkSize[1] = CONV_LOCAL_WORKSIZE;
|
||||
s->rgb_conv_roi_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE,
|
||||
width * height * 3 * sizeof(uint8_t), NULL, &err));
|
||||
s->rgb_conv_result_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE,
|
||||
width * height * sizeof(int16_t), NULL, &err));
|
||||
s->rgb_conv_filter_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_ONLY | CL_MEM_COPY_HOST_PTR,
|
||||
9 * sizeof(int16_t), (void*)&lapl_conv_krnl, &err));
|
||||
|
||||
for (int i=0; i<ARRAYSIZE(s->lapres); i++) {s->lapres[i] = 16160;}
|
||||
|
||||
const size_t size = (rgb_width/NUM_SEGMENTS_X)*(rgb_height/NUM_SEGMENTS_Y);
|
||||
s->rgb_roi_buf = std::make_unique<uint8_t[]>(size*3);
|
||||
s->conv_result = std::make_unique<int16_t[]>(size);
|
||||
std::fill_n(s->lapres, std::size(s->lapres), 16160);
|
||||
}
|
||||
|
||||
static void set_exposure(CameraState *s, float exposure_frac, float gain_frac) {
|
||||
|
|
@ -1792,26 +1779,39 @@ static void parse_autofocus(CameraState *s, uint8_t *d) {
|
|||
s->focus_err = max_focus*1.0;
|
||||
}
|
||||
|
||||
static void do_autofocus(CameraState *s) {
|
||||
static std::optional<float> get_accel_z(SubMaster *sm) {
|
||||
if (sm->update(0) > 0) {
|
||||
for (auto event : (*sm)["sensorEvents"].getSensorEvents()) {
|
||||
if (event.which() == cereal::SensorEventData::ACCELERATION) {
|
||||
if (auto v = event.getAcceleration().getV(); v.size() >= 3)
|
||||
return -v[2];
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
return std::nullopt;
|
||||
}
|
||||
|
||||
static void do_autofocus(CameraState *s, SubMaster *sm) {
|
||||
// params for focus PI controller
|
||||
const float focus_kp = 0.005;
|
||||
|
||||
float err = s->focus_err;
|
||||
float sag = (s->last_sag_acc_z/9.8) * 128;
|
||||
|
||||
const int dac_up = s->device == DEVICE_LP3? LP3_AF_DAC_UP:OP3T_AF_DAC_UP;
|
||||
const int dac_down = s->device == DEVICE_LP3? LP3_AF_DAC_DOWN:OP3T_AF_DAC_DOWN;
|
||||
|
||||
float lens_true_pos = s->lens_true_pos;
|
||||
if (!isnan(err)) {
|
||||
float lens_true_pos = s->lens_true_pos.load();
|
||||
if (!isnan(s->focus_err)) {
|
||||
// learn lens_true_pos
|
||||
lens_true_pos -= err*focus_kp;
|
||||
const float focus_kp = 0.005;
|
||||
lens_true_pos -= s->focus_err*focus_kp;
|
||||
}
|
||||
|
||||
if (auto accel_z = get_accel_z(sm)) {
|
||||
s->last_sag_acc_z = *accel_z;
|
||||
}
|
||||
const float sag = (s->last_sag_acc_z / 9.8) * 128;
|
||||
// stay off the walls
|
||||
lens_true_pos = std::clamp(lens_true_pos, float(dac_down), float(dac_up));
|
||||
int target = std::clamp(lens_true_pos - sag, float(dac_down), float(dac_up));
|
||||
s->lens_true_pos = lens_true_pos;
|
||||
s->lens_true_pos.store(lens_true_pos);
|
||||
|
||||
/*char debug[4096];
|
||||
char *pdebug = debug;
|
||||
|
|
@ -2024,12 +2024,12 @@ static void* ops_thread(void* arg) {
|
|||
CameraExpInfo front_op;
|
||||
|
||||
set_thread_name("camera_settings");
|
||||
|
||||
SubMaster sm({"sensorEvents"});
|
||||
while(!do_exit) {
|
||||
rear_op = rear_exp.load();
|
||||
if (rear_op.op_id != rear_op_id_last) {
|
||||
do_autoexposure(&s->rear, rear_op.grey_frac);
|
||||
do_autofocus(&s->rear);
|
||||
do_autofocus(&s->rear, &sm);
|
||||
rear_op_id_last = rear_op.op_id;
|
||||
}
|
||||
|
||||
|
|
@ -2045,6 +2045,66 @@ static void* ops_thread(void* arg) {
|
|||
return NULL;
|
||||
}
|
||||
|
||||
static void update_lapmap(MultiCameraState *s, const CameraBuf *b, const int cnt) {
|
||||
const size_t width = b->rgb_width / NUM_SEGMENTS_X;
|
||||
const size_t height = b->rgb_height / NUM_SEGMENTS_Y;
|
||||
static std::unique_ptr<uint8_t[]> rgb_roi_buf = std::make_unique<uint8_t[]>(width * height * 3);
|
||||
static std::unique_ptr<int16_t[]> conv_result = std::make_unique<int16_t[]>(width * height);
|
||||
|
||||
// sharpness scores
|
||||
const int roi_id = cnt % std::size(s->lapres); // rolling roi
|
||||
const int x_offset = ROI_X_MIN + roi_id % (ROI_X_MAX - ROI_X_MIN + 1);
|
||||
const int y_offset = ROI_Y_MIN + roi_id / (ROI_X_MAX - ROI_X_MIN + 1);
|
||||
|
||||
const uint8_t *rgb_addr_offset = (uint8_t *)b->cur_rgb_buf->addr + y_offset * height * FULL_STRIDE_X * 3 + x_offset * width * 3;
|
||||
for (int i = 0; i < height; ++i) {
|
||||
memcpy(rgb_roi_buf.get() + i * width * 3, rgb_addr_offset + i * FULL_STRIDE_X * 3, width * 3);
|
||||
}
|
||||
|
||||
constexpr int conv_cl_localMemSize = (CONV_LOCAL_WORKSIZE + 2 * (3 / 2)) * (CONV_LOCAL_WORKSIZE + 2 * (3 / 2)) * (3 * sizeof(uint8_t));
|
||||
CL_CHECK(clEnqueueWriteBuffer(b->q, s->rgb_conv_roi_cl, true, 0, width * height * 3 * sizeof(uint8_t), rgb_roi_buf.get(), 0, 0, 0));
|
||||
CL_CHECK(clSetKernelArg(s->krnl_rgb_laplacian, 0, sizeof(cl_mem), (void *)&s->rgb_conv_roi_cl));
|
||||
CL_CHECK(clSetKernelArg(s->krnl_rgb_laplacian, 1, sizeof(cl_mem), (void *)&s->rgb_conv_result_cl));
|
||||
CL_CHECK(clSetKernelArg(s->krnl_rgb_laplacian, 2, sizeof(cl_mem), (void *)&s->rgb_conv_filter_cl));
|
||||
CL_CHECK(clSetKernelArg(s->krnl_rgb_laplacian, 3, conv_cl_localMemSize, 0));
|
||||
cl_event conv_event;
|
||||
CL_CHECK(clEnqueueNDRangeKernel(b->q, s->krnl_rgb_laplacian, 2, NULL,
|
||||
(size_t[]){width, height}, (size_t[]){CONV_LOCAL_WORKSIZE, CONV_LOCAL_WORKSIZE}, 0, 0, &conv_event));
|
||||
clWaitForEvents(1, &conv_event);
|
||||
CL_CHECK(clReleaseEvent(conv_event));
|
||||
|
||||
CL_CHECK(clEnqueueReadBuffer(b->q, s->rgb_conv_result_cl, true, 0,
|
||||
width * height * sizeof(int16_t), conv_result.get(), 0, 0, 0));
|
||||
|
||||
s->lapres[roi_id] = get_lapmap_one(conv_result.get(), width, height);
|
||||
}
|
||||
|
||||
static void setup_self_recover(CameraState *c, const uint16_t *lapres, size_t lapres_size) {
|
||||
const int dac_down = c->device == DEVICE_LP3 ? LP3_AF_DAC_DOWN : OP3T_AF_DAC_DOWN;
|
||||
const int dac_up = c->device == DEVICE_LP3 ? LP3_AF_DAC_UP : OP3T_AF_DAC_UP;
|
||||
const int dac_m = c->device == DEVICE_LP3 ? LP3_AF_DAC_M : OP3T_AF_DAC_M;
|
||||
const int dac_3sig = c->device == DEVICE_LP3 ? LP3_AF_DAC_3SIG : OP3T_AF_DAC_3SIG;
|
||||
|
||||
const float lens_true_pos = c->lens_true_pos.load();
|
||||
int self_recover = c->self_recover.load();
|
||||
if (self_recover < 2 && (lens_true_pos < (dac_down + 1) || lens_true_pos > (dac_up - 1)) && is_blur(lapres, lapres_size)) {
|
||||
// truly stuck, needs help
|
||||
if (--self_recover < -FOCUS_RECOVER_PATIENCE) {
|
||||
LOGD("rear camera bad state detected. attempting recovery from %.1f, recover state is %d", lens_true_pos, self_recover);
|
||||
// parity determined by which end is stuck at
|
||||
self_recover = FOCUS_RECOVER_STEPS + (lens_true_pos < dac_m ? 1 : 0);
|
||||
}
|
||||
} else if (self_recover < 2 && (lens_true_pos < (dac_m - dac_3sig) || lens_true_pos > (dac_m + dac_3sig))) {
|
||||
// in suboptimal position with high prob, but may still recover by itself
|
||||
if (--self_recover < -(FOCUS_RECOVER_PATIENCE * 3)) {
|
||||
self_recover = FOCUS_RECOVER_STEPS / 2 + (lens_true_pos < dac_m ? 1 : 0);
|
||||
}
|
||||
} else if (self_recover < 0) {
|
||||
self_recover += 1; // reset if fine
|
||||
}
|
||||
c->self_recover.store(self_recover);
|
||||
}
|
||||
|
||||
void camera_process_front(MultiCameraState *s, CameraState *c, int cnt) {
|
||||
common_camera_process_front(s->sm_front, s->pm, c, cnt);
|
||||
}
|
||||
|
|
@ -2052,116 +2112,30 @@ void camera_process_front(MultiCameraState *s, CameraState *c, int cnt) {
|
|||
// called by processing_thread
|
||||
void camera_process_frame(MultiCameraState *s, CameraState *c, int cnt) {
|
||||
const CameraBuf *b = &c->buf;
|
||||
// cache rgb roi and write to cl
|
||||
update_lapmap(s, b, cnt);
|
||||
setup_self_recover(c, &s->lapres[0], std::size(s->lapres));
|
||||
|
||||
// gz compensation
|
||||
s->sm_rear->update(0);
|
||||
if (s->sm_rear->updated("sensorEvents")) {
|
||||
float vals[3] = {0.0};
|
||||
bool got_accel = false;
|
||||
auto sensor_events = (*(s->sm_rear))["sensorEvents"].getSensorEvents();
|
||||
for (auto sensor_event : sensor_events) {
|
||||
if (sensor_event.which() == cereal::SensorEventData::ACCELERATION) {
|
||||
auto v = sensor_event.getAcceleration().getV();
|
||||
if (v.size() < 3) {
|
||||
continue;
|
||||
}
|
||||
for (int j = 0; j < 3; j++) {
|
||||
vals[j] = v[j];
|
||||
}
|
||||
got_accel = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
uint64_t ts = nanos_since_boot();
|
||||
if (got_accel && ts - s->rear.last_sag_ts > 10000000) { // 10 ms
|
||||
s->rear.last_sag_ts = ts;
|
||||
s->rear.last_sag_acc_z = -vals[2];
|
||||
}
|
||||
}
|
||||
|
||||
// sharpness scores
|
||||
int roi_id = cnt % ARRAYSIZE(s->lapres); // rolling roi
|
||||
int roi_x_offset = roi_id % (ROI_X_MAX-ROI_X_MIN+1);
|
||||
int roi_y_offset = roi_id / (ROI_X_MAX-ROI_X_MIN+1);
|
||||
|
||||
for (int r=0;r<(b->rgb_height/NUM_SEGMENTS_Y);r++) {
|
||||
memcpy(s->rgb_roi_buf.get() + r * (b->rgb_width/NUM_SEGMENTS_X) * 3,
|
||||
(uint8_t *) b->cur_rgb_buf->addr + \
|
||||
(ROI_Y_MIN + roi_y_offset) * b->rgb_height/NUM_SEGMENTS_Y * FULL_STRIDE_X * 3 + \
|
||||
(ROI_X_MIN + roi_x_offset) * b->rgb_width/NUM_SEGMENTS_X * 3 + r * FULL_STRIDE_X * 3,
|
||||
b->rgb_width/NUM_SEGMENTS_X * 3);
|
||||
}
|
||||
|
||||
assert(clEnqueueWriteBuffer(b->q, s->rgb_conv_roi_cl, true, 0,
|
||||
b->rgb_width / NUM_SEGMENTS_X * b->rgb_height / NUM_SEGMENTS_Y * 3 * sizeof(uint8_t), s->rgb_roi_buf.get(), 0, 0, 0) == 0);
|
||||
assert(clSetKernelArg(s->krnl_rgb_laplacian, 0, sizeof(cl_mem), (void *)&s->rgb_conv_roi_cl) == 0);
|
||||
assert(clSetKernelArg(s->krnl_rgb_laplacian, 1, sizeof(cl_mem), (void *)&s->rgb_conv_result_cl) == 0);
|
||||
assert(clSetKernelArg(s->krnl_rgb_laplacian, 2, sizeof(cl_mem), (void *)&s->rgb_conv_filter_cl) == 0);
|
||||
assert(clSetKernelArg(s->krnl_rgb_laplacian, 3, s->conv_cl_localMemSize, 0) == 0);
|
||||
cl_event conv_event;
|
||||
assert(clEnqueueNDRangeKernel(b->q, s->krnl_rgb_laplacian, 2, NULL,
|
||||
s->conv_cl_globalWorkSize, s->conv_cl_localWorkSize, 0, 0, &conv_event) == 0);
|
||||
clWaitForEvents(1, &conv_event);
|
||||
clReleaseEvent(conv_event);
|
||||
|
||||
assert(clEnqueueReadBuffer(b->q, s->rgb_conv_result_cl, true, 0,
|
||||
b->rgb_width / NUM_SEGMENTS_X * b->rgb_height / NUM_SEGMENTS_Y * sizeof(int16_t), s->conv_result.get(), 0, 0, 0) == 0);
|
||||
|
||||
get_lapmap_one(s->conv_result.get(), &s->lapres[roi_id], b->rgb_width / NUM_SEGMENTS_X, b->rgb_height / NUM_SEGMENTS_Y);
|
||||
|
||||
// setup self recover
|
||||
const float lens_true_pos = s->rear.lens_true_pos;
|
||||
std::atomic<int>& self_recover = s->rear.self_recover;
|
||||
if (is_blur(&s->lapres[0]) &&
|
||||
(lens_true_pos < (s->rear.device == DEVICE_LP3 ? LP3_AF_DAC_DOWN : OP3T_AF_DAC_DOWN) + 1 ||
|
||||
lens_true_pos > (s->rear.device == DEVICE_LP3 ? LP3_AF_DAC_UP : OP3T_AF_DAC_UP) - 1) &&
|
||||
self_recover < 2) {
|
||||
// truly stuck, needs help
|
||||
self_recover -= 1;
|
||||
if (self_recover < -FOCUS_RECOVER_PATIENCE) {
|
||||
LOGD("rear camera bad state detected. attempting recovery from %.1f, recover state is %d",
|
||||
lens_true_pos, self_recover.load());
|
||||
self_recover = FOCUS_RECOVER_STEPS + ((lens_true_pos < (s->rear.device == DEVICE_LP3 ? LP3_AF_DAC_M : OP3T_AF_DAC_M)) ? 1 : 0); // parity determined by which end is stuck at
|
||||
}
|
||||
} else if ((lens_true_pos < (s->rear.device == DEVICE_LP3 ? LP3_AF_DAC_M - LP3_AF_DAC_3SIG : OP3T_AF_DAC_M - OP3T_AF_DAC_3SIG) ||
|
||||
lens_true_pos > (s->rear.device == DEVICE_LP3 ? LP3_AF_DAC_M + LP3_AF_DAC_3SIG : OP3T_AF_DAC_M + OP3T_AF_DAC_3SIG)) &&
|
||||
self_recover < 2) {
|
||||
// in suboptimal position with high prob, but may still recover by itself
|
||||
self_recover -= 1;
|
||||
if (self_recover < -(FOCUS_RECOVER_PATIENCE * 3)) {
|
||||
self_recover = FOCUS_RECOVER_STEPS / 2 + ((lens_true_pos < (s->rear.device == DEVICE_LP3 ? LP3_AF_DAC_M : OP3T_AF_DAC_M)) ? 1 : 0);
|
||||
}
|
||||
} else if (self_recover < 0) {
|
||||
self_recover += 1; // reset if fine
|
||||
}
|
||||
|
||||
{
|
||||
MessageBuilder msg;
|
||||
auto framed = msg.initEvent().initFrame();
|
||||
fill_frame_data(framed, b->cur_frame_data, cnt);
|
||||
if (env_send_rear) {
|
||||
fill_frame_image(framed, (uint8_t*)b->cur_rgb_buf->addr, b->rgb_width, b->rgb_height, b->rgb_stride);
|
||||
}
|
||||
framed.setFocusVal(kj::ArrayPtr<const int16_t>(&s->rear.focus[0], NUM_FOCUS));
|
||||
framed.setFocusConf(kj::ArrayPtr<const uint8_t>(&s->rear.confidence[0], NUM_FOCUS));
|
||||
framed.setSharpnessScore(kj::ArrayPtr<const uint16_t>(&s->lapres[0], ARRAYSIZE(s->lapres)));
|
||||
framed.setRecoverState(self_recover);
|
||||
framed.setTransform(kj::ArrayPtr<const float>(&b->yuv_transform.v[0], 9));
|
||||
s->pm->send("frame", msg);
|
||||
MessageBuilder msg;
|
||||
auto framed = msg.initEvent().initFrame();
|
||||
fill_frame_data(framed, b->cur_frame_data, cnt);
|
||||
if (env_send_rear) {
|
||||
fill_frame_image(framed, (uint8_t *)b->cur_rgb_buf->addr, b->rgb_width, b->rgb_height, b->rgb_stride);
|
||||
}
|
||||
framed.setFocusVal(s->rear.focus);
|
||||
framed.setFocusConf(s->rear.confidence);
|
||||
framed.setRecoverState(s->rear.self_recover);
|
||||
framed.setSharpnessScore(s->lapres);
|
||||
framed.setTransform(b->yuv_transform.v);
|
||||
s->pm->send("frame", msg);
|
||||
|
||||
if (cnt % 100 == 3) {
|
||||
create_thumbnail(s, c, (uint8_t*)b->cur_rgb_buf->addr);
|
||||
create_thumbnail(s, c, (uint8_t *)b->cur_rgb_buf->addr);
|
||||
}
|
||||
|
||||
const int exposure_x = 290;
|
||||
const int exposure_y = 322;
|
||||
const int exposure_width = 560;
|
||||
const int exposure_height = 314;
|
||||
const int skip = 1;
|
||||
if (cnt % 3 == 0) {
|
||||
set_exposure_target(c, (const uint8_t *)b->yuv_bufs[b->cur_yuv_idx].y, exposure_x, exposure_x + exposure_width, skip, exposure_y, exposure_y + exposure_height, skip);
|
||||
const int x = 290, y = 322, width = 560, height = 314;
|
||||
const int skip = 1;
|
||||
set_exposure_target(c, (const uint8_t *)b->yuv_bufs[b->cur_yuv_idx].y, x, x + width, skip, y, y + height, skip);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -2173,8 +2147,8 @@ void cameras_run(MultiCameraState *s) {
|
|||
ops_thread, s);
|
||||
assert(err == 0);
|
||||
std::vector<std::thread> threads;
|
||||
threads.push_back(start_process_thread(s, "processing", &s->rear, 51, camera_process_frame));
|
||||
threads.push_back(start_process_thread(s, "frontview", &s->front, 51, camera_process_front));
|
||||
threads.push_back(start_process_thread(s, "processing", &s->rear, camera_process_frame));
|
||||
threads.push_back(start_process_thread(s, "frontview", &s->front, camera_process_front));
|
||||
|
||||
CameraState* cameras[2] = {&s->rear, &s->front};
|
||||
|
||||
|
|
@ -2288,13 +2262,12 @@ void cameras_close(MultiCameraState *s) {
|
|||
visionbuf_free(&s->focus_bufs[i]);
|
||||
visionbuf_free(&s->stats_bufs[i]);
|
||||
}
|
||||
clReleaseMemObject(s->rgb_conv_roi_cl);
|
||||
clReleaseMemObject(s->rgb_conv_result_cl);
|
||||
clReleaseMemObject(s->rgb_conv_filter_cl);
|
||||
CL_CHECK(clReleaseMemObject(s->rgb_conv_roi_cl));
|
||||
CL_CHECK(clReleaseMemObject(s->rgb_conv_result_cl));
|
||||
CL_CHECK(clReleaseMemObject(s->rgb_conv_filter_cl));
|
||||
|
||||
clReleaseProgram(s->prg_rgb_laplacian);
|
||||
clReleaseKernel(s->krnl_rgb_laplacian);
|
||||
CL_CHECK(clReleaseKernel(s->krnl_rgb_laplacian));
|
||||
CL_CHECK(clReleaseProgram(s->prg_rgb_laplacian));
|
||||
delete s->sm_front;
|
||||
delete s->sm_rear;
|
||||
delete s->pm;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -102,8 +102,7 @@ typedef struct CameraState {
|
|||
|
||||
uint16_t cur_step_pos;
|
||||
uint16_t cur_lens_pos;
|
||||
uint64_t last_sag_ts;
|
||||
float last_sag_acc_z;
|
||||
std::atomic<float> last_sag_acc_z;
|
||||
std::atomic<float> lens_true_pos;
|
||||
|
||||
std::atomic<int> self_recover; // af recovery counter, neg is patience, pos is active
|
||||
|
|
@ -132,18 +131,10 @@ typedef struct MultiCameraState {
|
|||
cl_program prg_rgb_laplacian;
|
||||
cl_kernel krnl_rgb_laplacian;
|
||||
|
||||
std::unique_ptr<uint8_t[]> rgb_roi_buf;
|
||||
std::unique_ptr<int16_t[]> conv_result;
|
||||
|
||||
int conv_cl_localMemSize;
|
||||
size_t conv_cl_globalWorkSize[2];
|
||||
size_t conv_cl_localWorkSize[2];
|
||||
|
||||
CameraState rear;
|
||||
CameraState front;
|
||||
|
||||
SubMaster *sm_front;
|
||||
SubMaster *sm_rear;
|
||||
PubMaster *pm;
|
||||
|
||||
} MultiCameraState;
|
||||
|
|
|
|||
|
|
@ -1,43 +1,36 @@
|
|||
#include "utils.h"
|
||||
#include <stdio.h>
|
||||
#include <algorithm>
|
||||
|
||||
#include <cmath>
|
||||
// calculate score based on laplacians in one area
|
||||
void get_lapmap_one(int16_t *lap, uint16_t *res, int x_pitch, int y_pitch) {
|
||||
int size = x_pitch * y_pitch;
|
||||
uint16_t get_lapmap_one(const int16_t *lap, int x_pitch, int y_pitch) {
|
||||
const int size = x_pitch * y_pitch;
|
||||
// avg and max of roi
|
||||
float fsum = 0;
|
||||
int16_t mean, max;
|
||||
max = 0;
|
||||
|
||||
for (int i = 0; i < size; i++) {
|
||||
int x_offset = i % x_pitch;
|
||||
int y_offset = i / x_pitch;
|
||||
fsum += lap[x_offset + y_offset*x_pitch];
|
||||
max = std::max(lap[x_offset + y_offset*x_pitch], max);
|
||||
int16_t max = 0;
|
||||
int sum = 0;
|
||||
for (int i = 0; i < size; ++i) {
|
||||
const int16_t v = lap[i % x_pitch + (i / x_pitch) * x_pitch];
|
||||
sum += v;
|
||||
if (v > max) max = v;
|
||||
}
|
||||
|
||||
mean = fsum / size;
|
||||
const int16_t mean = sum / size;
|
||||
|
||||
// var of roi
|
||||
float fvar = 0;
|
||||
for (int i = 0; i < size; i++) {
|
||||
int x_offset = i % x_pitch;
|
||||
int y_offset = i / x_pitch;
|
||||
fvar += (float)((lap[x_offset + y_offset*x_pitch] - mean) * (lap[x_offset + y_offset*x_pitch] - mean));
|
||||
int var = 0;
|
||||
for (int i = 0; i < size; ++i) {
|
||||
var += std::pow(lap[i % x_pitch + (i / x_pitch) * x_pitch] - mean, 2);
|
||||
}
|
||||
|
||||
fvar = fvar / size;
|
||||
|
||||
*res = std::min(5 * fvar + max, (float)65535);
|
||||
const float fvar = (float)var / size;
|
||||
return std::min(5 * fvar + max, (float)65535);
|
||||
}
|
||||
|
||||
bool is_blur(uint16_t *lapmap) {
|
||||
int n_roi = (ROI_X_MAX - ROI_X_MIN + 1) * (ROI_Y_MAX - ROI_Y_MIN + 1);
|
||||
bool is_blur(const uint16_t *lapmap, const size_t size) {
|
||||
float bad_sum = 0;
|
||||
for (int i = 0; i < n_roi; i++) {
|
||||
if (*(lapmap + i) < LM_THRESH) {
|
||||
bad_sum += 1/(float)n_roi;
|
||||
for (int i = 0; i < size; i++) {
|
||||
if (lapmap[i] < LM_THRESH) {
|
||||
bad_sum += 1 / (float)size;
|
||||
}
|
||||
}
|
||||
return (bad_sum > LM_PREC_THRESH);
|
||||
|
|
|
|||
|
|
@ -1,8 +1,7 @@
|
|||
#ifndef IMGPROC_UTILS
|
||||
#define IMGPROC_UTILS
|
||||
#pragma once
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include <stddef.h>
|
||||
#define NUM_SEGMENTS_X 8
|
||||
#define NUM_SEGMENTS_Y 6
|
||||
|
||||
|
|
@ -24,7 +23,5 @@ const int16_t lapl_conv_krnl[9] = {0, 1, 0,
|
|||
1, -4, 1,
|
||||
0, 1, 0};
|
||||
|
||||
void get_lapmap_one(int16_t *lap, uint16_t *res, int x_pitch, int y_pitch);
|
||||
bool is_blur(uint16_t *lapmap);
|
||||
|
||||
#endif
|
||||
uint16_t get_lapmap_one(const int16_t *lap, int x_pitch, int y_pitch);
|
||||
bool is_blur(const uint16_t *lapmap, const size_t size);
|
||||
|
|
|
|||
|
|
@ -304,14 +304,14 @@ void* visionserver_thread(void* arg) {
|
|||
void party(cl_device_id device_id, cl_context context) {
|
||||
VisionState state = {};
|
||||
VisionState *s = &state;
|
||||
|
||||
|
||||
cameras_init(&s->cameras, device_id, context);
|
||||
cameras_open(&s->cameras);
|
||||
|
||||
std::thread server_thread(visionserver_thread, s);
|
||||
|
||||
|
||||
// priority for cameras
|
||||
int err = set_realtime_priority(51);
|
||||
int err = set_realtime_priority(53);
|
||||
LOG("setpriority returns %d", err);
|
||||
|
||||
cameras_run(&s->cameras);
|
||||
|
|
@ -319,8 +319,12 @@ void party(cl_device_id device_id, cl_context context) {
|
|||
server_thread.join();
|
||||
}
|
||||
|
||||
#ifdef QCOM
|
||||
#include "CL/cl_ext_qcom.h"
|
||||
#endif
|
||||
|
||||
int main(int argc, char *argv[]) {
|
||||
set_realtime_priority(51);
|
||||
set_realtime_priority(53);
|
||||
#if defined(QCOM)
|
||||
set_core_affinity(2);
|
||||
#elif defined(QCOM2)
|
||||
|
|
@ -330,13 +334,17 @@ int main(int argc, char *argv[]) {
|
|||
signal(SIGINT, (sighandler_t)set_do_exit);
|
||||
signal(SIGTERM, (sighandler_t)set_do_exit);
|
||||
|
||||
int err;
|
||||
clu_init();
|
||||
cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
|
||||
cl_context context = clCreateContext(NULL, 1, &device_id, NULL, NULL, &err);
|
||||
assert(err == 0);
|
||||
|
||||
// TODO: do this for QCOM2 too
|
||||
#if defined(QCOM)
|
||||
const cl_context_properties props[] = {CL_CONTEXT_PRIORITY_HINT_QCOM, CL_PRIORITY_HINT_HIGH_QCOM, 0};
|
||||
cl_context context = CL_CHECK_ERR(clCreateContext(props, 1, &device_id, NULL, NULL, &err));
|
||||
#else
|
||||
cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
|
||||
#endif
|
||||
|
||||
party(device_id, context);
|
||||
|
||||
clReleaseContext(context);
|
||||
CL_CHECK(clReleaseContext(context));
|
||||
}
|
||||
|
|
|
|||
|
|
@ -6,7 +6,6 @@
|
|||
#include "rgb_to_yuv.h"
|
||||
|
||||
void rgb_to_yuv_init(RGBToYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height, int rgb_stride) {
|
||||
int err = 0;
|
||||
memset(s, 0, sizeof(*s));
|
||||
printf("width %d, height %d, rgb_stride %d\n", width, height, rgb_stride);
|
||||
assert(width % 2 == 0);
|
||||
|
|
@ -21,34 +20,26 @@ void rgb_to_yuv_init(RGBToYUVState* s, cl_context ctx, cl_device_id device_id, i
|
|||
#endif
|
||||
"-DWIDTH=%d -DHEIGHT=%d -DUV_WIDTH=%d -DUV_HEIGHT=%d -DRGB_STRIDE=%d -DRGB_SIZE=%d",
|
||||
width, height, width/ 2, height / 2, rgb_stride, width * height);
|
||||
cl_program prg = CLU_LOAD_FROM_FILE(ctx, device_id, "transforms/rgb_to_yuv.cl", args);
|
||||
cl_program prg = cl_program_from_file(ctx, device_id, "transforms/rgb_to_yuv.cl", args);
|
||||
|
||||
s->rgb_to_yuv_krnl = clCreateKernel(prg, "rgb_to_yuv", &err);
|
||||
assert(err == 0);
|
||||
s->rgb_to_yuv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "rgb_to_yuv", &err));
|
||||
// done with this
|
||||
err = clReleaseProgram(prg);
|
||||
assert(err == 0);
|
||||
CL_CHECK(clReleaseProgram(prg));
|
||||
}
|
||||
|
||||
void rgb_to_yuv_destroy(RGBToYUVState* s) {
|
||||
int err = 0;
|
||||
err = clReleaseKernel(s->rgb_to_yuv_krnl);
|
||||
assert(err == 0);
|
||||
CL_CHECK(clReleaseKernel(s->rgb_to_yuv_krnl));
|
||||
}
|
||||
|
||||
void rgb_to_yuv_queue(RGBToYUVState* s, cl_command_queue q, cl_mem rgb_cl, cl_mem yuv_cl) {
|
||||
int err = 0;
|
||||
err = clSetKernelArg(s->rgb_to_yuv_krnl, 0, sizeof(cl_mem), &rgb_cl);
|
||||
assert(err == 0);
|
||||
err = clSetKernelArg(s->rgb_to_yuv_krnl, 1, sizeof(cl_mem), &yuv_cl);
|
||||
assert(err == 0);
|
||||
CL_CHECK(clSetKernelArg(s->rgb_to_yuv_krnl, 0, sizeof(cl_mem), &rgb_cl));
|
||||
CL_CHECK(clSetKernelArg(s->rgb_to_yuv_krnl, 1, sizeof(cl_mem), &yuv_cl));
|
||||
const size_t work_size[2] = {
|
||||
(size_t)(s->width + (s->width % 4 == 0 ? 0 : (4 - s->width % 4))) / 4,
|
||||
(size_t)(s->height + (s->height % 4 == 0 ? 0 : (4 - s->height % 4))) / 4
|
||||
};
|
||||
cl_event event;
|
||||
err = clEnqueueNDRangeKernel(q, s->rgb_to_yuv_krnl, 2, NULL, &work_size[0], NULL, 0, 0, &event);
|
||||
assert(err == 0);
|
||||
clWaitForEvents(1, &event);
|
||||
clReleaseEvent(event);
|
||||
CL_CHECK(clEnqueueNDRangeKernel(q, s->rgb_to_yuv_krnl, 2, NULL, &work_size[0], NULL, 0, 0, &event));
|
||||
CL_CHECK(clWaitForEvents(1, &event));
|
||||
CL_CHECK(clReleaseEvent(event));
|
||||
}
|
||||
|
|
@ -1,5 +1,4 @@
|
|||
#ifndef RGB_TO_YUV_H
|
||||
#define RGB_TO_YUV_H
|
||||
#pragma once
|
||||
|
||||
#include <inttypes.h>
|
||||
#include <stdbool.h>
|
||||
|
|
@ -10,10 +9,6 @@
|
|||
#include <CL/cl.h>
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
typedef struct {
|
||||
int width, height;
|
||||
cl_kernel rgb_to_yuv_krnl;
|
||||
|
|
@ -24,9 +19,3 @@ void rgb_to_yuv_init(RGBToYUVState* s, cl_context ctx, cl_device_id device_id, i
|
|||
void rgb_to_yuv_destroy(RGBToYUVState* s);
|
||||
|
||||
void rgb_to_yuv_queue(RGBToYUVState* s, cl_command_queue q, cl_mem rgb_cl, cl_mem yuv_cl);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // RGB_TO_YUV_H
|
||||
|
|
|
|||
|
|
@ -41,9 +41,8 @@ static inline double millis_since_boot() {
|
|||
}
|
||||
|
||||
void cl_init(cl_device_id &device_id, cl_context &context) {
|
||||
int err;
|
||||
device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
|
||||
context = clCreateContext(NULL, 1, &device_id, NULL, NULL, &err);
|
||||
context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -102,7 +101,6 @@ bool compare_results(uint8_t *a, uint8_t *b, int len, int stride, int width, int
|
|||
int main(int argc, char** argv) {
|
||||
srand(1337);
|
||||
|
||||
clu_init();
|
||||
cl_device_id device_id;
|
||||
cl_context context;
|
||||
cl_init(device_id, context) ;
|
||||
|
|
@ -137,13 +135,13 @@ int main(int argc, char** argv) {
|
|||
rgb_to_yuv_init(&rgb_to_yuv_state, context, device_id, width, height, width * 3);
|
||||
|
||||
int frame_yuv_buf_size = width * height * 3 / 2;
|
||||
cl_mem yuv_cl = clCreateBuffer(context, CL_MEM_READ_WRITE, frame_yuv_buf_size, (void*)NULL, &err);
|
||||
cl_mem yuv_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, frame_yuv_buf_size, (void*)NULL, &err));
|
||||
uint8_t *frame_yuv_buf = new uint8_t[frame_yuv_buf_size];
|
||||
uint8_t *frame_yuv_ptr_y = frame_yuv_buf;
|
||||
uint8_t *frame_yuv_ptr_u = frame_yuv_buf + (width * height);
|
||||
uint8_t *frame_yuv_ptr_v = frame_yuv_ptr_u + ((width/2) * (height/2));
|
||||
|
||||
cl_mem rgb_cl = clCreateBuffer(context, CL_MEM_READ_WRITE, width * height * 3, (void*)NULL, &err);
|
||||
cl_mem rgb_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, width * height * 3, (void*)NULL, &err));
|
||||
int mismatched = 0;
|
||||
int counter = 0;
|
||||
srand (time(NULL));
|
||||
|
|
|
|||
|
|
@ -5,6 +5,7 @@ from selfdrive.version import comma_remote, tested_branch
|
|||
from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_known_cars
|
||||
from selfdrive.car.vin import get_vin, VIN_UNKNOWN
|
||||
from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car
|
||||
from selfdrive.hardware import EON
|
||||
from selfdrive.swaglog import cloudlog
|
||||
import cereal.messaging as messaging
|
||||
from selfdrive.car import gen_empty_fingerprint
|
||||
|
|
@ -23,6 +24,8 @@ def get_startup_event(car_recognized, controller_available):
|
|||
event = EventName.startupNoCar
|
||||
elif car_recognized and not controller_available:
|
||||
event = EventName.startupNoControl
|
||||
elif EON and "letv" not in open("/proc/cmdline").read():
|
||||
event = EventName.startupOneplus
|
||||
return event
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -35,14 +35,12 @@ def create_gas_regen_command(packer, bus, throttle, idx, acc_engaged, at_full_st
|
|||
return packer.make_can_msg("ASCMGasRegenCmd", bus, values)
|
||||
|
||||
def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_full_stop):
|
||||
|
||||
if apply_brake == 0:
|
||||
mode = 0x1
|
||||
else:
|
||||
mode = 0x1
|
||||
if apply_brake > 0:
|
||||
mode = 0xa
|
||||
if at_full_stop:
|
||||
mode = 0xd
|
||||
|
||||
if at_full_stop:
|
||||
mode = 0xd
|
||||
# TODO: this is to have GM bringing the car to complete stop,
|
||||
# but currently it conflicts with OP controls, so turned off.
|
||||
#elif near_stop:
|
||||
|
|
|
|||
|
|
@ -16,6 +16,7 @@ A_ACC_MAX = max(_A_CRUISE_MAX_V_FOLLOWING)
|
|||
ButtonType = car.CarState.ButtonEvent.Type
|
||||
EventName = car.CarEvent.EventName
|
||||
|
||||
|
||||
def compute_gb_honda(accel, speed):
|
||||
creep_brake = 0.0
|
||||
creep_speed = 2.3
|
||||
|
|
|
|||
|
|
@ -358,6 +358,7 @@ FW_VERSIONS = {
|
|||
b'37805-5BA-L930\x00\x00',
|
||||
b'37805-5BA-L940\x00\x00',
|
||||
b'37805-5BA-L960\x00\x00',
|
||||
b'37805-5AG-Q710\x00\x00',
|
||||
],
|
||||
(Ecu.transmission, 0x18da1ef1, None): [
|
||||
b'28101-5CG-A040\x00\x00',
|
||||
|
|
@ -369,23 +370,27 @@ FW_VERSIONS = {
|
|||
b'28101-5DJ-A040\x00\x00',
|
||||
b'28101-5DJ-A060\x00\x00',
|
||||
b'28101-5DJ-A510\x00\x00',
|
||||
b'28101-5CG-A320\x00\x00',
|
||||
],
|
||||
(Ecu.vsa, 0x18da28f1, None): [
|
||||
b'57114-TBA-A540\x00\x00',
|
||||
b'57114-TBA-A550\x00\x00',
|
||||
b'57114-TBA-A560\x00\x00',
|
||||
b'57114-TBA-A570\x00\x00',
|
||||
b'57114-TEA-Q220\x00\x00',
|
||||
],
|
||||
(Ecu.eps, 0x18da30f1, None): [
|
||||
b'39990-TBA,A030\x00\x00',
|
||||
b'39990-TBA-A030\x00\x00',
|
||||
b'39990-TBG-A030\x00\x00',
|
||||
b'39990-TEG-A010\x00\x00',
|
||||
b'39990-TEA-T020\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-TBA-A030\x00\x00',
|
||||
b'77959-TBA-A040\x00\x00',
|
||||
b'77959-TBG-A030\x00\x00',
|
||||
b'77959-TEA-Q820\x00\x00',
|
||||
],
|
||||
(Ecu.combinationMeter, 0x18da60f1, None): [
|
||||
b'78109-TBA-A510\x00\x00',
|
||||
|
|
@ -401,6 +406,7 @@ FW_VERSIONS = {
|
|||
b'78109-TBC-C530\x00\x00',
|
||||
b'78109-TBH-A530\x00\x00',
|
||||
b'78109-TEG-A310\x00\x00',
|
||||
b'78109-TED-Q510\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x18dab0f1, None): [
|
||||
b'36161-TBA-A020\x00\x00',
|
||||
|
|
@ -410,6 +416,7 @@ FW_VERSIONS = {
|
|||
b'36161-TBC-A030\x00\x00',
|
||||
b'36161-TEG-A010\x00\x00',
|
||||
b'36161-TEG-A020\x00\x00',
|
||||
b'36161-TED-Q320\x00\x00',
|
||||
],
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-TBA-A010\x00\x00',
|
||||
|
|
@ -447,6 +454,7 @@ FW_VERSIONS = {
|
|||
b'37805-5BB-C630\x00\x00',
|
||||
b'37805-5BB-L540\x00\x00',
|
||||
b'37805-5BB-L640\x00\x00',
|
||||
b'37805-5AZ-G740\x00\x00',
|
||||
],
|
||||
(Ecu.transmission, 0x18da1ef1, None): [
|
||||
b'28101-5CG-A920\x00\x00',
|
||||
|
|
@ -460,9 +468,11 @@ FW_VERSIONS = {
|
|||
b'28101-5CK-A150\x00\x00',
|
||||
b'28101-5CK-C130\x00\x00',
|
||||
b'28101-5CK-C140\x00\x00',
|
||||
b'28101-5CK-C150\x00\x00',
|
||||
b'28101-5DJ-A610\x00\x00',
|
||||
b'28101-5DJ-A710\x00\x00',
|
||||
b'28101-5DV-E330\x00\x00',
|
||||
b'28101-5DV-E610\x00\x00',
|
||||
],
|
||||
(Ecu.vsa, 0x18da28f1, None): [
|
||||
b'57114-TBG-A340\x00\x00',
|
||||
|
|
@ -472,7 +482,6 @@ FW_VERSIONS = {
|
|||
b'57114-TGG-L320\x00\x00',
|
||||
b'57114-TGG-L330\x00\x00',
|
||||
b'57114-TGL-G330\x00\x00',
|
||||
|
||||
],
|
||||
(Ecu.eps, 0x18da30f1, None): [
|
||||
b'39990-TBA-C020\x00\x00',
|
||||
|
|
@ -506,6 +515,7 @@ FW_VERSIONS = {
|
|||
b'78109-TGG-A810\x00\x00',
|
||||
b'78109-TGG-A820\x00\x00',
|
||||
b'78109-TGL-G120\x00\x00',
|
||||
b'78109-TGL-G130\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36802-TBA-A150\x00\x00',
|
||||
|
|
@ -523,6 +533,7 @@ FW_VERSIONS = {
|
|||
b'36161-TGG-A080\x00\x00',
|
||||
b'36161-TGG-A120\x00\x00',
|
||||
b'36161-TGL-G050\x00\x00',
|
||||
b'36161-TGL-G070\x00\x00',
|
||||
],
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-TBA-A110\x00\x00',
|
||||
|
|
@ -869,17 +880,43 @@ FW_VERSIONS = {
|
|||
],
|
||||
},
|
||||
CAR.ACURA_RDX_3G: {
|
||||
(Ecu.programmedFuelInjection, 0x18da10f1, None): [b'37805-5YF-A420\x00\x00'],
|
||||
(Ecu.vsa, 0x18da28f1, None): [b'57114-TJB-A040\x00\x00'],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [b'36802-TJB-A040\x00\x00'],
|
||||
(Ecu.fwdCamera, 0x18dab5f1, None): [b'36161-TJB-A040\x00\x00'],
|
||||
(Ecu.shiftByWire, 0x18da0bf1, None): [b'54008-TJB-A520\x00\x00'],
|
||||
(Ecu.transmission, 0x18da1ef1, None): [b'28102-5YK-A700\x00\x00'],
|
||||
(Ecu.combinationMeter, 0x18da60f1, None): [b'78109-TJB-AB10\x00\x00'],
|
||||
(Ecu.srs, 0x18da53f1, None): [b'77959-TJB-A040\x00\x00'],
|
||||
(Ecu.electricBrakeBooster, 0x18da2bf1, None): [b'46114-TJB-A050\x00\x00'],
|
||||
(Ecu.gateway, 0x18daeff1, None): [b'38897-TJB-A110\x00\x00'],
|
||||
(Ecu.eps, 0x18da30f1, None): [b'39990-TJB-A030\x00\x00'],
|
||||
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
|
||||
b'37805-5YF-A230\x00\x00',
|
||||
b'37805-5YF-A420\x00\x00',
|
||||
],
|
||||
(Ecu.vsa, 0x18da28f1, None): [
|
||||
b'57114-TJB-A040\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36802-TJB-A040\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x18dab5f1, None): [
|
||||
b'36161-TJB-A040\x00\x00',
|
||||
],
|
||||
(Ecu.shiftByWire, 0x18da0bf1, None): [
|
||||
b'54008-TJB-A520\x00\x00',
|
||||
],
|
||||
(Ecu.transmission, 0x18da1ef1, None): [
|
||||
b'28102-5YK-A700\x00\x00',
|
||||
b'28102-5YK-A711\x00\x00',
|
||||
],
|
||||
(Ecu.combinationMeter, 0x18da60f1, None): [
|
||||
b'78109-TJB-AB10\x00\x00',
|
||||
b'78109-TJB-AF10\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-TJB-A040\x00\x00',
|
||||
],
|
||||
(Ecu.electricBrakeBooster, 0x18da2bf1, None): [
|
||||
b'46114-TJB-A050\x00\x00',
|
||||
b'46114-TJB-A060\x00\x00',
|
||||
],
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-TJB-A110\x00\x00',
|
||||
],
|
||||
(Ecu.eps, 0x18da30f1, None): [
|
||||
b'39990-TJB-A030\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.RIDGELINE: {
|
||||
(Ecu.eps, 0x18da30f1, None): [
|
||||
|
|
@ -946,6 +983,7 @@ FW_VERSIONS = {
|
|||
CAR.HRV: {
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-T7A-A010\x00\x00',
|
||||
b'38897-T7A-A110\x00\x00',
|
||||
],
|
||||
(Ecu.eps, 0x18da30f1, None): [
|
||||
b'39990-THX-A020\x00\x00',
|
||||
|
|
@ -953,6 +991,7 @@ FW_VERSIONS = {
|
|||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36161-T7A-A140\x00\x00',
|
||||
b'36161-T7A-A240\x00\x00',
|
||||
b'36161-T7A-C440\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-T7A-A230\x00\x00',
|
||||
|
|
@ -960,8 +999,23 @@ FW_VERSIONS = {
|
|||
(Ecu.combinationMeter, 0x18da60f1, None): [
|
||||
b'78109-THX-A110\x00\x00',
|
||||
b'78109-THX-A210\x00\x00',
|
||||
b'78109-THX-C220\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.ACURA_ILX: {
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-TX6-A010\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36161-TX6-A030\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-TX6-C210\x00\x00',
|
||||
],
|
||||
(Ecu.combinationMeter, 0x18da60f1, None): [
|
||||
b'78109-T3R-A120\x00\x00',
|
||||
],
|
||||
},
|
||||
}
|
||||
|
||||
DBC = {
|
||||
|
|
|
|||
|
|
@ -80,7 +80,7 @@ class CarController():
|
|||
self.last_resume_frame = frame
|
||||
|
||||
# 20 Hz LFA MFA message
|
||||
if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV]:
|
||||
if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.IONIQ_EV_2020]:
|
||||
can_sends.append(create_lfa_mfa(self.packer, frame, enabled))
|
||||
|
||||
return can_sends
|
||||
|
|
|
|||
|
|
@ -17,7 +17,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
|
|||
values["CF_Lkas_ActToi"] = steer_req
|
||||
values["CF_Lkas_MsgCount"] = frame % 0x10
|
||||
|
||||
if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV]:
|
||||
if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.SANTA_FE, CAR.IONIQ_EV_2020]:
|
||||
values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
|
||||
values["CF_Lkas_LdwsOpt_USM"] = 2
|
||||
|
||||
|
|
|
|||
|
|
@ -94,15 +94,16 @@ class CarInterface(CarInterfaceBase):
|
|||
tire_stiffness_factor = 0.385
|
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
|
||||
elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD]:
|
||||
elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020]:
|
||||
ret.lateralTuning.pid.kf = 0.00006
|
||||
ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
|
||||
ret.mass = 1490. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
|
||||
ret.wheelbase = 2.7
|
||||
ret.steerRatio = 13.73 #Spec
|
||||
ret.steerRatio = 13.73 # Spec
|
||||
tire_stiffness_factor = 0.385
|
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
|
||||
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
|
||||
if candidate != CAR.IONIQ_EV_2020:
|
||||
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
|
||||
elif candidate == CAR.VELOSTER:
|
||||
ret.lateralTuning.pid.kf = 0.00005
|
||||
ret.mass = 3558. * CV.LB_TO_KG
|
||||
|
|
@ -178,9 +179,8 @@ class CarInterface(CarInterfaceBase):
|
|||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
|
||||
|
||||
|
||||
# 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, CAR.KIA_SORENTO, CAR.SONATA_2019,
|
||||
if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_2019,
|
||||
CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80]:
|
||||
ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
|
||||
|
||||
|
|
@ -205,9 +205,10 @@ class CarInterface(CarInterfaceBase):
|
|||
|
||||
ret = self.CS.update(self.cp, self.cp_cam)
|
||||
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
|
||||
|
||||
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
|
||||
|
||||
# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
|
||||
if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
|
||||
|
|
|
|||
|
|
@ -7,7 +7,7 @@ Ecu = car.CarParams.Ecu
|
|||
# Steer torque limits
|
||||
class SteerLimitParams:
|
||||
def __init__(self, CP):
|
||||
if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70]:
|
||||
if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70, CAR.IONIQ_EV_2020]:
|
||||
self.STEER_MAX = 384
|
||||
else:
|
||||
self.STEER_MAX = 255
|
||||
|
|
@ -23,8 +23,9 @@ class CAR:
|
|||
ELANTRA = "HYUNDAI ELANTRA LIMITED ULTIMATE 2017"
|
||||
ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT"
|
||||
HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016"
|
||||
IONIQ = "HYUNDAI IONIQ ELECTRIC PREMIUM SE 2020"
|
||||
IONIQ = "HYUNDAI IONIQ HYBRID 2017-2019"
|
||||
IONIQ_EV_LTD = "HYUNDAI IONIQ ELECTRIC LIMITED 2019"
|
||||
IONIQ_EV_2020 = "HYUNDAI IONIQ ELECTRIC 2020"
|
||||
KONA = "HYUNDAI KONA 2020"
|
||||
KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
|
||||
SANTA_FE = "HYUNDAI SANTA FE LIMITED 2019"
|
||||
|
|
@ -120,13 +121,13 @@ FINGERPRINTS = {
|
|||
CAR.GENESIS_G90: [{
|
||||
67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 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, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8
|
||||
}],
|
||||
CAR.IONIQ_EV_2020: [{
|
||||
127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 7, 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, 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, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8
|
||||
}],
|
||||
CAR.IONIQ_EV_LTD: [{
|
||||
127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 7, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1425: 2, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1507: 8, 1535: 8
|
||||
}],
|
||||
CAR.IONIQ: [{
|
||||
127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 7, 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, 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, 1456: 4, 1470: 8, 1473: 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: [{
|
||||
|
|
@ -164,16 +165,19 @@ FW_VERSIONS = {
|
|||
b'\xf1\x00DN8_ SCC FHCUP 1.00 1.01 99110-L1000 ',
|
||||
b'\xf1\x00DN8_ SCC FHCUP 1.00 1.00 99110-L0000 ',
|
||||
b'\xf1\x00DN8_ SCC F-CU- 1.00 1.00 99110-L0000 ',
|
||||
b'\xf1\x00DN8_ SCC F-CUP 1.00 1.00 99110-L0000 ',
|
||||
],
|
||||
(Ecu.esp, 0x7d1, None): [
|
||||
b'\xf1\x00DN ESC \x01 102\x19\x04\x13 58910-L1300\xf1\xa01.02',
|
||||
b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
|
||||
b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100\xf1\xa01.04',
|
||||
b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100\xf1\xa01.04',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'HM6M2_0a0_BD0',
|
||||
b'\xf1\x87391162M003\xf1\xa0000F',
|
||||
b'\xf1\x87391162M003\xf1\xa00240',
|
||||
b'HM6M1_0a0_F00',
|
||||
],
|
||||
(Ecu.eps, 0x7d4, None): [
|
||||
b'\xf1\x8756310-L1010\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103\xf1\xa01.03',
|
||||
|
|
@ -188,6 +192,7 @@ FW_VERSIONS = {
|
|||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xf1\x00HT6TA260BLHT6TA800A1TDN8C20KS4\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
|
||||
b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x96\xa1\xf1\x92',
|
||||
],
|
||||
},
|
||||
CAR.SANTA_FE: {
|
||||
|
|
@ -310,15 +315,15 @@ FEATURES = {
|
|||
# which message has the gear
|
||||
"use_cluster_gears": set([CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA]),
|
||||
"use_tcu_gears": set([CAR.KIA_OPTIMA, CAR.SONATA_2019, CAR.VELOSTER]),
|
||||
"use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ]),
|
||||
"use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020]),
|
||||
|
||||
# these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
|
||||
"use_fca": set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA]),
|
||||
"use_fca": set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA]),
|
||||
|
||||
"use_bsm": set([CAR.SONATA, CAR.PALISADE, CAR.HYUNDAI_GENESIS, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.KONA]),
|
||||
"use_bsm": set([CAR.SONATA, CAR.PALISADE, CAR.HYUNDAI_GENESIS, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.KONA, CAR.IONIQ_EV_2020]),
|
||||
}
|
||||
|
||||
EV_HYBRID = set([CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_NIRO_EV])
|
||||
EV_HYBRID = set([CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_NIRO_EV])
|
||||
|
||||
DBC = {
|
||||
CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
|
||||
|
|
@ -327,6 +332,7 @@ DBC = {
|
|||
CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.GENESIS_G90: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.HYUNDAI_GENESIS: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.IONIQ_EV_2020: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.IONIQ: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.KIA_FORTE: dbc_dict('hyundai_kia_generic', None),
|
||||
|
|
|
|||
|
|
@ -1,13 +1,15 @@
|
|||
import os
|
||||
import time
|
||||
from typing import Dict
|
||||
|
||||
from cereal import car
|
||||
from common.kalman.simple_kalman import KF1D
|
||||
from common.realtime import DT_CTRL
|
||||
from selfdrive.car import gen_empty_fingerprint
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
|
||||
from selfdrive.controls.lib.events import Events
|
||||
from selfdrive.controls.lib.vehicle_model import VehicleModel
|
||||
from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
|
||||
|
||||
GearShifter = car.CarState.GearShifter
|
||||
EventName = car.CarEvent.EventName
|
||||
|
|
@ -15,6 +17,7 @@ MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS # 144 + 4 = 92 mph
|
|||
|
||||
# generic car and radar interfaces
|
||||
|
||||
|
||||
class CarInterfaceBase():
|
||||
def __init__(self, CP, CarController, CarState):
|
||||
self.CP = CP
|
||||
|
|
@ -50,7 +53,7 @@ class CarInterfaceBase():
|
|||
def get_std_params(candidate, fingerprint):
|
||||
ret = car.CarParams.new_message()
|
||||
ret.carFingerprint = candidate
|
||||
ret.isPandaBlack = True # TODO: deprecate this field
|
||||
ret.isPandaBlack = True # TODO: deprecate this field
|
||||
|
||||
# standard ALC params
|
||||
ret.steerControlType = car.CarParams.SteerControlType.torque
|
||||
|
|
@ -68,6 +71,9 @@ class CarInterfaceBase():
|
|||
ret.brakeMaxV = [1.]
|
||||
ret.openpilotLongitudinalControl = False
|
||||
ret.startAccel = 0.0
|
||||
ret.minSpeedCan = 0.3
|
||||
ret.stoppingBrakeRate = 0.2 # brake_travel/s while trying to stop
|
||||
ret.startingBrakeRate = 0.8 # brake_travel/s while releasing on restart
|
||||
ret.stoppingControl = False
|
||||
ret.longitudinalTuning.deadzoneBP = [0.]
|
||||
ret.longitudinalTuning.deadzoneV = [0.]
|
||||
|
|
@ -132,6 +138,7 @@ class CarInterfaceBase():
|
|||
|
||||
return events
|
||||
|
||||
|
||||
class RadarInterfaceBase():
|
||||
def __init__(self, CP):
|
||||
self.pts = {}
|
||||
|
|
@ -145,6 +152,7 @@ class RadarInterfaceBase():
|
|||
time.sleep(self.radar_ts) # radard runs on RI updates
|
||||
return ret
|
||||
|
||||
|
||||
class CarStateBase:
|
||||
def __init__(self, CP):
|
||||
self.CP = CP
|
||||
|
|
@ -175,10 +183,13 @@ class CarStateBase:
|
|||
return self.left_blinker_cnt > 0, self.right_blinker_cnt > 0
|
||||
|
||||
@staticmethod
|
||||
def parse_gear_shifter(gear):
|
||||
return {'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,
|
||||
'E': GearShifter.eco, 'T': GearShifter.manumatic, 'D': GearShifter.drive,
|
||||
'S': GearShifter.sport, 'L': GearShifter.low, 'B': GearShifter.brake}.get(gear, GearShifter.unknown)
|
||||
def parse_gear_shifter(gear: str) -> car.CarState.GearShifter:
|
||||
d: Dict[str, car.CarState.GearShifter] = {
|
||||
'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,
|
||||
'E': GearShifter.eco, 'T': GearShifter.manumatic, 'D': GearShifter.drive,
|
||||
'S': GearShifter.sport, 'L': GearShifter.low, 'B': GearShifter.brake
|
||||
}
|
||||
return d.get(gear, GearShifter.unknown)
|
||||
|
||||
@staticmethod
|
||||
def get_cam_can_parser(CP):
|
||||
|
|
|
|||
|
|
@ -52,7 +52,6 @@ class CarInterface(CarInterfaceBase):
|
|||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
|
||||
ret.lateralTuning.pid.kf = 0.00006
|
||||
|
||||
|
||||
# No steer below disable speed
|
||||
ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
|
||||
|
||||
|
|
|
|||
|
|
@ -4,6 +4,7 @@ from selfdrive.car.nissan.values import CAR
|
|||
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
def __init__(self, CP, CarController, CarState):
|
||||
super().__init__(CP, CarController, CarState)
|
||||
|
|
|
|||
|
|
@ -62,7 +62,7 @@ class CarInterface(CarInterfaceBase):
|
|||
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.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
|
||||
|
|
|
|||
|
|
@ -27,12 +27,8 @@ FINGERPRINTS = {
|
|||
2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 811: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8
|
||||
}],
|
||||
CAR.FORESTER: [{
|
||||
# Forester Sport 2019
|
||||
2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 552: 8, 557: 8, 576: 8, 577: 8, 722: 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, 1651: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1698: 8, 1722: 8, 1743: 8, 1759: 8, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8
|
||||
},
|
||||
# Forester 2019
|
||||
{
|
||||
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
|
||||
# Forester 2019-2020
|
||||
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, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 803: 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, 961: 8, 984: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1651: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1698: 8, 1722: 8, 1743: 8, 1759: 8, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8
|
||||
}],
|
||||
CAR.OUTBACK_PREGLOBAL: [{
|
||||
# OUTBACK PREMIUM 2.5i 2015
|
||||
|
|
|
|||
|
|
@ -4,7 +4,7 @@ from selfdrive.car import apply_toyota_steer_torque_limits, create_gas_command,
|
|||
from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \
|
||||
create_accel_command, create_acc_cancel_command, \
|
||||
create_fcw_command
|
||||
from selfdrive.car.toyota.values import Ecu, CAR, STATIC_MSGS, SteerLimitParams
|
||||
from selfdrive.car.toyota.values import Ecu, CAR, STATIC_MSGS, NO_STOP_TIMER_CAR, SteerLimitParams
|
||||
from opendbc.can.packer import CANPacker
|
||||
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
|
|
@ -38,7 +38,6 @@ class CarController():
|
|||
self.last_standstill = False
|
||||
self.standstill_req = False
|
||||
|
||||
self.last_fault_frame = -200
|
||||
self.steer_rate_limited = False
|
||||
|
||||
self.fake_ecus = set()
|
||||
|
|
@ -73,12 +72,8 @@ class CarController():
|
|||
apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, SteerLimitParams)
|
||||
self.steer_rate_limited = new_steer != apply_steer
|
||||
|
||||
# only cut torque when steer state is a known fault
|
||||
if CS.steer_state in [9, 25]:
|
||||
self.last_fault_frame = frame
|
||||
|
||||
# Cut steering for 2s after fault
|
||||
if not enabled or (frame - self.last_fault_frame < 200):
|
||||
# Cut steering while we're in a known fault state (2s)
|
||||
if not enabled or CS.steer_state in [9, 25]:
|
||||
apply_steer = 0
|
||||
apply_steer_req = 0
|
||||
else:
|
||||
|
|
@ -89,7 +84,7 @@ class CarController():
|
|||
pcm_cancel_cmd = 1
|
||||
|
||||
# on entering standstill, send standstill request
|
||||
if CS.out.standstill and not self.last_standstill:
|
||||
if CS.out.standstill and not self.last_standstill and CS.CP.carFingerprint not in NO_STOP_TIMER_CAR:
|
||||
self.standstill_req = True
|
||||
if CS.pcm_acc_status != 8:
|
||||
# pcm entered standstill or it's disabled
|
||||
|
|
|
|||
|
|
@ -8,6 +8,7 @@ from selfdrive.car.interfaces import CarInterfaceBase
|
|||
|
||||
EventName = car.CarEvent.EventName
|
||||
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
@staticmethod
|
||||
def compute_gb(accel, speed):
|
||||
|
|
@ -121,7 +122,7 @@ class CarInterface(CarInterfaceBase):
|
|||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.723], [0.0428]]
|
||||
ret.lateralTuning.pid.kf = 0.00006
|
||||
|
||||
elif candidate in [CAR.CAMRY, CAR.CAMRYH]:
|
||||
elif candidate in [CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2]:
|
||||
stop_and_go = True
|
||||
ret.safetyParam = 73
|
||||
ret.wheelbase = 2.82448
|
||||
|
|
@ -195,6 +196,7 @@ class CarInterface(CarInterfaceBase):
|
|||
|
||||
elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
|
||||
stop_and_go = True
|
||||
ret.minSpeedCan = 0.375
|
||||
ret.safetyParam = 73
|
||||
ret.wheelbase = 2.63906
|
||||
ret.steerRatio = 13.9
|
||||
|
|
@ -256,7 +258,7 @@ class CarInterface(CarInterfaceBase):
|
|||
elif candidate == CAR.PRIUS_TSS2:
|
||||
stop_and_go = True
|
||||
ret.safetyParam = 73
|
||||
ret.wheelbase = 2.70002 #from toyota online sepc.
|
||||
ret.wheelbase = 2.70002 # from toyota online sepc.
|
||||
ret.steerRatio = 13.4 # True steerRation from older prius
|
||||
tire_stiffness_factor = 0.6371 # hand-tune
|
||||
ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
|
||||
|
|
|
|||
|
|
@ -25,6 +25,7 @@ class CAR:
|
|||
CHRH = "TOYOTA C-HR HYBRID 2018"
|
||||
CAMRY = "TOYOTA CAMRY 2018"
|
||||
CAMRYH = "TOYOTA CAMRY HYBRID 2018"
|
||||
CAMRY_TSS2 = "TOYOTA CAMRY 2021" # TSS 2.5
|
||||
HIGHLANDER = "TOYOTA HIGHLANDER 2017"
|
||||
HIGHLANDER_TSS2 = "TOYOTA HIGHLANDER 2020"
|
||||
HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018"
|
||||
|
|
@ -175,6 +176,9 @@ FINGERPRINTS = {
|
|||
{
|
||||
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 658: 8, 713: 8, 728: 8, 740: 5, 761: 8, 764: 8, 767: 4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 983: 8, 984: 8, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
}],
|
||||
CAR.CAMRY_TSS2: [{
|
||||
36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 765: 8, 791: 8, 800: 8, 810: 2, 812: 8, 818: 8, 824: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1593: 8, 1594: 8, 1595: 8, 1649: 8, 1653: 8, 1654: 8, 1655: 8, 1677: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1792: 8, 1800: 8, 1808: 8, 1809: 8, 1816: 8, 1817: 8, 1840: 8, 1841: 8, 1848: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1937: 8, 1940: 8, 1941: 8, 1945: 8, 1948: 8, 1949: 8, 1952: 8, 1953: 8, 1956: 8, 1960: 8, 1961: 8, 1964: 8, 1968: 8, 1973: 8, 1976: 8, 1981: 8, 1986: 8, 1988: 8, 1990: 8, 1994: 8, 1996: 8, 1998: 8, 2000: 8, 2001: 8, 2004: 8, 2008: 8, 2012: 8, 2016: 8, 2017: 8
|
||||
}],
|
||||
CAR.HIGHLANDER: [{
|
||||
36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 767: 4, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1207: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1984: 8, 1988: 8, 1992: 8, 1996: 8, 1990: 8, 1998: 8
|
||||
},
|
||||
|
|
@ -276,7 +280,8 @@ FINGERPRINTS = {
|
|||
}
|
||||
|
||||
# Don't use theses fingerprints for fingerprinting, they are still needed for ECU detection
|
||||
IGNORED_FINGERPRINTS = [CAR.RAV4H_TSS2, CAR.HIGHLANDERH_TSS2, CAR.LEXUS_RXH_TSS2, CAR.PRIUS_TSS2, CAR.LEXUS_NX]
|
||||
IGNORED_FINGERPRINTS = [CAR.RAV4H_TSS2, CAR.HIGHLANDERH_TSS2, CAR.LEXUS_RXH_TSS2, CAR.PRIUS_TSS2,
|
||||
CAR.LEXUS_NX, CAR.CAMRY_TSS2]
|
||||
|
||||
FW_VERSIONS = {
|
||||
CAR.AVALON: {
|
||||
|
|
@ -433,6 +438,23 @@ FW_VERSIONS = {
|
|||
b'8646F0607100 ',
|
||||
],
|
||||
},
|
||||
CAR.CAMRY_TSS2: {
|
||||
(Ecu.eps, 0x7a1, None): [
|
||||
b'8965B33630\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.esp, 0x7b0, None): [
|
||||
b'\x01F152606400\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.engine, 0x700, None): [
|
||||
b'\x018966306Q5000\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x750, 15): [
|
||||
b'\x018821F6201200\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x750, 109): [
|
||||
b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.CHR: {
|
||||
(Ecu.engine, 0x700, None): [
|
||||
b'\x01896631017100\x00\x00\x00\x00',
|
||||
|
|
@ -708,25 +730,31 @@ FW_VERSIONS = {
|
|||
CAR.HIGHLANDER_TSS2: {
|
||||
(Ecu.eps, 0x7a1, None): [
|
||||
b'8965B48241\x00\x00\x00\x00\x00\x00',
|
||||
b'8965B48310\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.esp, 0x7b0, None): [
|
||||
b'\x01F15260E051\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F15260E110\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.engine, 0x700, None): [
|
||||
b'\x01896630E62200\x00\x00\x00\x00',
|
||||
b'\x01896630E64100\x00\x00\x00\x00',
|
||||
b'\x01896630E64200\x00\x00\x00\x00',
|
||||
b'\x01896630EB2000\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x750, 0xf): [
|
||||
b'\x018821F3301400\x00\x00\x00\x00',
|
||||
b'\x018821F6201200\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x750, 0x6d): [
|
||||
b'\x028646F0E02100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
|
||||
b'\x028646F4803000\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.HIGHLANDERH_TSS2: {
|
||||
(Ecu.eps, 0x7a1, None): [
|
||||
b'8965B48241\x00\x00\x00\x00\x00\x00',
|
||||
b'8965B48310\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.esp, 0x7b0, None): [
|
||||
b'\x01F15264872300\x00\x00\x00\x00',
|
||||
|
|
@ -734,12 +762,15 @@ FW_VERSIONS = {
|
|||
],
|
||||
(Ecu.engine, 0x700, None): [
|
||||
b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
|
||||
b'\x02896630EB3000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x750, 0xf): [
|
||||
b'\x018821F3301400\x00\x00\x00\x00',
|
||||
b'\x018821F6201200\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x750, 0x6d): [
|
||||
b'\x028646F0E02100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
|
||||
b'\x028646F4803000\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.LEXUS_IS: {
|
||||
|
|
@ -747,6 +778,7 @@ FW_VERSIONS = {
|
|||
b'\x018966353M7100\x00\x00\x00\x00',
|
||||
b'\x018966353Q2300\x00\x00\x00\x00',
|
||||
b'\x018966353R1100\x00\x00\x00\x00',
|
||||
b'\x018966353R7100\x00\x00\x00\x00',
|
||||
b'\x018966353R8100\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
|
|
@ -764,6 +796,7 @@ FW_VERSIONS = {
|
|||
(Ecu.eps, 0x7a1, None): [
|
||||
b'8965B53271\x00\x00\x00\x00\x00\x00',
|
||||
b'8965B53280\x00\x00\x00\x00\x00\x00',
|
||||
b'8965B53281\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x750, 0xf): [
|
||||
b'8821F4702300\x00\x00\x00\x00',
|
||||
|
|
@ -948,6 +981,7 @@ FW_VERSIONS = {
|
|||
b'\x01896634A19100\x00\x00\x00\x00',
|
||||
b'\x01896634A20000\x00\x00\x00\x00',
|
||||
b'\x01896634A22000\x00\x00\x00\x00',
|
||||
b'\x01896634A44000\x00\x00\x00\x00',
|
||||
b'\x01896634A45000\x00\x00\x00\x00',
|
||||
b'\x01896634A46000\x00\x00\x00\x00',
|
||||
b'\x01F152642551\x00\x00\x00\x00\x00\x00',
|
||||
|
|
@ -955,9 +989,9 @@ FW_VERSIONS = {
|
|||
b'\x028966342V1000\x00\x00\x00\x00897CF1202001\x00\x00\x00\x00',
|
||||
b'\x028966342Y8000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
|
||||
b'\x02896634A18000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00',
|
||||
b'\x02896634A43000\x00\x00\x00\x00897CF4201001\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.esp, 0x7b0, None): [
|
||||
b'F152642520\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F15260R210\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F15260R220\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F15260R300\x00\x00\x00\x00\x00\x00',
|
||||
|
|
@ -965,6 +999,7 @@ FW_VERSIONS = {
|
|||
b'\x01F152642561\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F152642700\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F152642710\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F152642711\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F152642750\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.eps, 0x7a1, None): [
|
||||
|
|
@ -987,14 +1022,18 @@ FW_VERSIONS = {
|
|||
b'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
|
||||
b'\x028646F4203500\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
|
||||
b'\x028646F4203700\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
|
||||
b'\x028646F4203800\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.RAV4H_TSS2: {
|
||||
(Ecu.engine, 0x700, None): [
|
||||
b'\x01896634A15000\x00\x00\x00\x00',
|
||||
b'\x018966342M5000\x00\x00\x00\x00',
|
||||
b'\x018966342X6000\x00\x00\x00\x00',
|
||||
b'\x018966342W8000\x00\x00\x00\x00',
|
||||
b'\0018966342X5000\x00\x00\x00\x00',
|
||||
b'\x018966342X6000\x00\x00\x00\x00',
|
||||
b'\x01896634A25000\x00\x00\x00\x00',
|
||||
b'\x018966342W5000\x00\x00\x00\x00',
|
||||
b'\x028966342W4001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
|
||||
b'\x02896634A14001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
|
||||
b'\x02896634A23001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
|
||||
|
|
@ -1006,6 +1045,7 @@ FW_VERSIONS = {
|
|||
b'F152642331\x00\x00\x00\x00\x00\x00',
|
||||
b'F152642531\x00\x00\x00\x00\x00\x00',
|
||||
b'F152642532\x00\x00\x00\x00\x00\x00',
|
||||
b'F152642520\x00\x00\x00\x00\x00\x00',
|
||||
b'F152642521\x00\x00\x00\x00\x00\x00',
|
||||
b'F152642540\x00\x00\x00\x00\x00\x00',
|
||||
b'F152642541\x00\x00\x00\x00\x00\x00',
|
||||
|
|
@ -1014,6 +1054,7 @@ FW_VERSIONS = {
|
|||
(Ecu.eps, 0x7a1, None): [
|
||||
b'8965B42170\x00\x00\x00\x00\x00\x00',
|
||||
b'8965B42171\x00\x00\x00\x00\x00\x00',
|
||||
b'8965B42180\x00\x00\x00\x00\x00\x00',
|
||||
b'8965B42181\x00\x00\x00\x00\x00\x00',
|
||||
b'\x028965B0R01200\x00\x00\x00\x008965B0R02200\x00\x00\x00\x00',
|
||||
b'\x028965B0R01300\x00\x00\x00\x008965B0R02300\x00\x00\x00\x00',
|
||||
|
|
@ -1030,6 +1071,7 @@ FW_VERSIONS = {
|
|||
b'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
|
||||
b'\x028646F4203500\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
|
||||
b'\x028646F4203700\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
|
||||
b'\x028646F4203800\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.LEXUS_ES_TSS2: {
|
||||
|
|
@ -1235,10 +1277,12 @@ FW_VERSIONS = {
|
|||
},
|
||||
CAR.LEXUS_RX_TSS2: {
|
||||
(Ecu.engine, 0x700, None): [
|
||||
b'\x01896634D12000\x00\x00\x00\x00',
|
||||
b'\x01896630EB0000\x00\x00\x00\x00',
|
||||
b'\x01896630EA9000\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.esp, 0x7b0, None): [
|
||||
b'\x01F152648801\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F15260E031\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F15260E041\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
|
|
@ -1251,6 +1295,7 @@ FW_VERSIONS = {
|
|||
b'\x018821F3301400\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x750, 0x6d): [
|
||||
b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
|
||||
b'\x028646F4810100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
|
|
@ -1305,6 +1350,7 @@ DBC = {
|
|||
CAR.CHRH: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_adas'),
|
||||
CAR.CAMRY: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
|
||||
CAR.CAMRYH: dbc_dict('toyota_camry_hybrid_2018_pt_generated', 'toyota_adas'),
|
||||
CAR.CAMRY_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
|
||||
CAR.HIGHLANDER: dbc_dict('toyota_highlander_2017_pt_generated', 'toyota_adas'),
|
||||
CAR.HIGHLANDER_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
|
||||
CAR.HIGHLANDERH: dbc_dict('toyota_highlander_hybrid_2018_pt_generated', 'toyota_adas'),
|
||||
|
|
@ -1324,6 +1370,12 @@ DBC = {
|
|||
CAR.PRIUS_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
|
||||
}
|
||||
|
||||
NO_DSU_CAR = set([CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2])
|
||||
TSS2_CAR = set([CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2])
|
||||
NO_STOP_TIMER_CAR = set([CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2]) # no resume button press required
|
||||
|
||||
# Toyota/Lexus Safety Sense 2.0 and 2.5
|
||||
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, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2])
|
||||
|
||||
NO_DSU_CAR = TSS2_CAR | set([CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH])
|
||||
|
||||
# no resume button press required
|
||||
NO_STOP_TIMER_CAR = TSS2_CAR | set([CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA])
|
||||
|
|
|
|||
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue