openpilot v0.4.2 release
Vehicle Researcher
parent
a701aa7292
commit
28c0797d30
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@ -52,11 +52,18 @@ Supported Cars
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- By default it uses stock Toyota ACC for longitudinal control
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- openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Corolla_.28for_openpilot.29) and can be enabled above 20 mph
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- Lexus RX 2017 hybrid (alpha!)
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- By default it uses stock Lexus ACC for longitudinal control
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- openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Lexus_RX_hybrid)
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In Progress Cars
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------
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- Probably all TSS-P Toyota with Steering Assist.
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- All TSS-P Toyota with Steering Assist.
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- 'Full Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the Prius, Camry and C-HR have this option.
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- Even though the Tundra, Sequoia and the Land Cruiser have TSS-P, they don't have Steering Assist and are not supported.
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- All LSS-P Lexus with Steering Assist or Lane Keep Assist.
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- 'All-Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the GS, GSH, GS, F, RX, RXH, LX, NX, NXH, LC, LCH, LS, LSH have this option.
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- Even though the LX have TSS-P, it does not have Steering Assist and is not supported.
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Community WIP Cars
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------
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@ -1,8 +1,17 @@
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Version 0.4.2 (2018-02-05)
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==========================
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* Add alpha support for 2017 Lexus RX Hybrid
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* Add alpha support for 2018 ACURA RDX
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* Updated fingerprint to include Toyota Rav4 SE and Prius Prime
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* Bugfixes for Acura ILX and Honda Odyssey
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Version 0.4.1 (2018-01-30)
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==========================
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* Add alpha support for 2017 Toyota Corolla
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* Add alpha support for 2018 Honda Odyssey with Honda Sensing
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* Add alpha support for Grey Panda
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* Refactored car abstraction layer to make car ports easier
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* Increased steering torque limit on Honda CR-V by 30%
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Version 0.4.0.2 (2018-01-18)
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==========================
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@ -42,7 +42,7 @@ Honda/Acura
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- Honda CAN uses both a counter and a checksum to ensure integrity and prevent
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replay of the same message.
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Toyota
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Toyota/Lexus
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------
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- While the system is engaged, gas, brake and steer limits are subject to the same limits used by
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@ -59,7 +59,7 @@ Toyota
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software to a value of -1500 and 1500. In addition, the vehicle EPS unit will not respond to
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commands outside these limits. A steering torque rate limit is enforced by the board and in
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software so that the commanded steering torque must rise from 0 to max value no faster than
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1.5s. Commanded steering torque is limited by the board and in software to be no more than 500
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1.5s. Commanded steering torque is limited by the board and in software to be no more than 350
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units above the actual EPS generated motor torque to ensure limited differences between
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commanded and actual torques.
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@ -214,8 +214,6 @@ class dbc(object):
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return [sgs.name for sgs in self.msgs[msg][1]]
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if __name__ == "__main__":
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import sys
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import os
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from opendbc import DBC_PATH
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dbc_test = dbc(os.path.join(DBC_PATH, sys.argv[1]))
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@ -11,6 +11,7 @@ class TOYOTA:
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RAV4H = "TOYOTA RAV4 2017 HYBRID"
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RAV4 = "TOYOTA RAV4 2017"
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COROLLA = "TOYOTA COROLLA 2017"
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LEXUS_RXH = "LEXUS RX HYBRID 2017"
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_FINGERPRINTS = {
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@ -36,10 +37,10 @@ _FINGERPRINTS = {
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57L: 3, 148L: 8, 228L: 5, 229L: 4, 316L: 8, 342L: 6, 344L: 8, 380L: 8, 399L: 7, 411L: 5, 419L: 8, 420L: 8, 427L: 3, 432L: 7, 450L: 8, 463L: 8, 464L: 8, 476L: 4, 490L: 8, 506L: 8, 542L: 7, 545L: 6, 597L: 8, 662L: 4, 773L: 7, 777L: 8, 780L: 8, 795L: 8, 800L: 8, 804L: 8, 806L: 8, 808L: 8, 817L: 4, 819L: 7, 821L: 5, 825L: 4, 829L: 5, 837L: 5, 856L: 7, 862L: 8, 871L: 8, 881L: 8, 882L: 4, 884L: 8, 891L: 8, 892L: 8, 905L: 8, 923L: 2, 927L: 8, 929L: 8, 963L: 8, 965L: 8, 966L: 8, 967L: 8, 983L: 8, 985L: 3, 1029L: 8, 1036L: 8, 1052L: 8, 1064L: 7, 1088L: 8, 1089L: 8, 1092L: 1, 1108L: 8, 1110L: 8, 1125L: 8, 1296L: 8, 1302L: 8, 1600L: 5, 1601L: 8, 1612L: 5, 1613L: 5, 1614L: 5, 1615L: 8, 1616L: 5, 1619L: 5, 1623L: 5, 1668L: 5
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},
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TOYOTA.RAV4: {
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36L: 8, 37L: 8, 170L: 8, 180L: 8, 186L: 4, 426L: 6, 452L: 8, 464L: 8, 466L: 8, 467L: 8, 547L: 8, 548L: 8, 552L: 4, 562L: 4, 608L: 8, 610L: 5, 643L: 7, 705L: 8, 725L: 2, 740L: 5, 800L: 8, 835L: 8, 836L: 8, 849L: 4, 869L: 7, 870L: 7, 871L: 2, 896L: 8, 897L: 8, 900L: 6, 902L: 6, 905L: 8, 911L: 8, 916L: 3, 918L: 7, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 951L: 8, 955L: 4, 956L: 8, 979L: 2, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1008L: 2, 1014L: 8, 1017L: 8, 1041L: 8, 1042L: 8, 1043L: 8, 1044L: 8, 1056L: 8, 1059L: 1, 1114L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1176L: 8, 1177L: 8, 1178L: 8, 1179L: 8, 1180L: 8, 1181L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1263L: 8, 1279L: 8, 1408L: 8, 1409L: 8, 1410L: 8, 1552L: 8, 1553L: 8, 1554L: 8, 1555L: 8, 1556L: 8, 1557L: 8, 1561L: 8, 1562L: 8, 1568L: 8, 1569L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1584L: 8, 1589L: 8, 1592L: 8, 1593L: 8, 1595L: 8, 1596L: 8, 1597L: 8, 1600L: 8, 1656L: 8, 1664L: 8, 1728L: 8, 1745L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
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36L: 8, 37L: 8, 170L: 8, 180L: 8, 186L: 4, 426L: 6, 452L: 8, 464L: 8, 466L: 8, 467L: 8, 547L: 8, 548L: 8, 552L: 4, 562L: 4, 608L: 8, 610L: 5, 643L: 7, 705L: 8, 725L: 2, 740L: 5, 800L: 8, 835L: 8, 836L: 8, 849L: 4, 869L: 7, 870L: 7, 871L: 2, 896L: 8, 897L: 8, 900L: 6, 902L: 6, 905L: 8, 911L: 8, 916L: 3, 918L: 7, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 951L: 8, 955L: 4, 956L: 8, 979L: 2, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1005L: 2, 1008L: 2, 1014L: 8, 1017L: 8, 1041L: 8, 1042L: 8, 1043L: 8, 1044L: 8, 1056L: 8, 1059L: 1, 1114L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1176L: 8, 1177L: 8, 1178L: 8, 1179L: 8, 1180L: 8, 1181L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1263L: 8, 1264L: 8, 1279L: 8, 1408L: 8, 1409L: 8, 1410L: 8, 1552L: 8, 1553L: 8, 1554L: 8, 1555L: 8, 1556L: 8, 1557L: 8, 1561L: 8, 1562L: 8, 1568L: 8, 1569L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1584L: 8, 1589L: 8, 1592L: 8, 1593L: 8, 1595L: 8, 1596L: 8, 1597L: 8, 1600L: 8, 1656L: 8, 1664L: 8, 1728L: 8, 1745L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
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},
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TOYOTA.RAV4H: {
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36L: 8, 37L: 8, 170L: 8, 180L: 8, 186L: 4, 426L: 6, 452L: 8, 464L: 8, 466L: 8, 467L: 8, 547L: 8, 548L: 8, 552L: 4, 562L: 4, 608L: 8, 610L: 5, 643L: 7, 705L: 8, 725L: 2, 740L: 5, 800L: 8, 835L: 8, 836L: 8, 849L: 4, 869L: 7, 870L: 7, 871L: 2, 896L: 8, 897L: 8, 900L: 6, 902L: 6, 905L: 8, 911L: 8, 916L: 3, 918L: 7, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 951L: 8, 955L: 8, 956L: 8, 979L: 2, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1008L: 2, 1014L: 8, 1017L: 8, 1041L: 8, 1042L: 8, 1043L: 8, 1044L: 8, 1056L: 8, 1059L: 1, 1114L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1176L: 8, 1177L: 8, 1178L: 8, 1179L: 8, 1180L: 8, 1181L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1263L: 8, 1279L: 8, 1408L: 8, 1409L: 8, 1410L: 8, 1552L: 8, 1553L: 8, 1554L: 8, 1555L: 8, 1556L: 8, 1557L: 8, 1561L: 8, 1562L: 8, 1568L: 8, 1569L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1584L: 8, 1589L: 8, 1592L: 8, 1593L: 8, 1595L: 8, 1596L: 8, 1597L: 8, 1600L: 8, 1656L: 8, 1664L: 8, 1728L: 8, 1745L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8, 581L: 5, 296: 8, 552L: 8, 560L: 7, 552L: 4, 713L: 8, 550L: 8, 608L: 8, 37L: 8, 36L: 8, 950L: 8, 1198L: 8, 1197L: 8, 1199L: 8, 1212L: 8, 953L: 3, 1264L: 8, 1184L: 8, 1005L: 2, 1185L: 8, 1232L: 8, 1186L: 8
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36L: 8, 37L: 8, 170L: 8, 180L: 8, 186L: 4, 426L: 6, 452L: 8, 464L: 8, 466L: 8, 467L: 8, 547L: 8, 548L: 8, 552L: 4, 562L: 4, 608L: 8, 610L: 5, 643L: 7, 705L: 8, 725L: 2, 740L: 5, 800L: 8, 835L: 8, 836L: 8, 849L: 4, 869L: 7, 870L: 7, 871L: 2, 896L: 8, 897L: 8, 900L: 6, 902L: 6, 905L: 8, 911L: 8, 916L: 3, 918L: 7, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 951L: 8, 955L: 8, 956L: 8, 979L: 2, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1008L: 2, 1014L: 8, 1017L: 8, 1041L: 8, 1042L: 8, 1043L: 8, 1044L: 8, 1056L: 8, 1059L: 1, 1114L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1176L: 8, 1177L: 8, 1178L: 8, 1179L: 8, 1180L: 8, 1181L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1263L: 8, 1279L: 8, 1408L: 8, 1409L: 8, 1410L: 8, 1552L: 8, 1553L: 8, 1554L: 8, 1555L: 8, 1556L: 8, 1557L: 8, 1561L: 8, 1562L: 8, 1568L: 8, 1569L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1584L: 8, 1589L: 8, 1592L: 8, 1593L: 8, 1595L: 8, 1596L: 8, 1597L: 8, 1600L: 8, 1656L: 8, 1664L: 8, 1728L: 8, 1745L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8, 581L: 5, 296: 8, 560L: 7, 713L: 8, 550L: 8, 608L: 8, 37L: 8, 36L: 8, 950L: 8, 1198L: 8, 1197L: 8, 1199L: 8, 1212L: 8, 953L: 3, 1264L: 8, 1184L: 8, 1005L: 2, 1185L: 8, 1232L: 8, 1186L: 8
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},
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TOYOTA.PRIUS: [{
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36L: 8, 37L: 8, 166L: 8, 170L: 8, 180L: 8, 295L: 8, 296L: 8, 426L: 6, 452L: 8, 466L: 8, 467L: 8, 550L: 8, 552L: 4, 560L: 7, 562L: 6, 581L: 5, 608L: 8, 610L: 8, 614L: 8, 643L: 7, 658L: 8, 713L: 8, 740L: 5, 742L: 8, 743L: 8, 800L: 8, 810L: 2, 814L: 8, 829L: 2, 830L: 7, 835L: 8, 836L: 8, 863L: 8, 869L: 7, 870L: 7, 871L: 2, 898L: 8, 900L: 6, 902L: 6, 905L: 8, 918L: 8, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 950L: 8, 951L: 8, 953L: 8, 955L: 8, 956L: 8, 971L: 7, 975L: 5, 993L: 8, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1014L: 8, 1017L: 8, 1020L: 8, 1041L: 8, 1042L: 8, 1044L: 8, 1056L: 8, 1057L: 8, 1059L: 1, 1071L: 8, 1077L: 8, 1082L: 8, 1083L: 8, 1084L: 8, 1085L: 8, 1086L: 8, 1114L: 8, 1132L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1175L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1279L: 8, 1552L: 8, 1553L: 8, 1556L: 8, 1557L: 8, 1568L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1595L: 8, 1777L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
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@ -56,6 +57,9 @@ _FINGERPRINTS = {
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TOYOTA.COROLLA: {
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36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 2, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1196: 8, 1227: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 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, 1596: 8, 1597: 8, 1600: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
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},
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TOYOTA.LEXUS_RXH: {
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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: 5, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 812: 3, 814: 8, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 6, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1071: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1777: 8, 1779: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1840: 8, 1848: 8, 1904: 8, 1912: 8, 1940: 8, 1941: 8, 1948: 8, 1949: 8, 1952: 8, 1956: 8, 1960: 8, 1964: 8, 1986: 8, 1990: 8, 1994: 8, 1998: 8, 2004: 8, 2012: 8
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},
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}
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# support additional internal only fingerprints
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@ -1,6 +1,5 @@
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import abc
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import numpy as np
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import numpy.matlib
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# The EKF class contains the framework for an Extended Kalman Filter, but must be subclassed to use.
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# A subclass must implement:
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# 1) calc_transfer_fun(); see bottom of file for more info.
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@ -227,7 +227,7 @@ class DBWriter(DBAccessor):
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data_path = self._data_path()
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try:
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old_data_path = os.path.join(self._path, os.readlink(data_path))
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except (OSError, IOError) as e:
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except (OSError, IOError):
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# NOTE(mgraczyk): If other DB implementations have bugs, this could cause
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# copies to be left behind, but we still want to overwrite.
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pass
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@ -1,7 +1,6 @@
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"""Utilities for reading real time clocks and keeping soft real time constraints."""
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import os
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import time
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import ctypes
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import platform
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import threading
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import subprocess
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@ -451,6 +451,7 @@ void _pigeon_send(const char *dat, int len) {
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memcpy(&a[1], &dat[i], ll);
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pthread_mutex_lock(&usb_lock);
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err = libusb_bulk_transfer(dev_handle, 2, a, ll+1, &sent, TIMEOUT);
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if (err < 0) { handle_usb_issue(err, __func__); }
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assert(err == 0);
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assert(sent == ll+1);
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//hexdump(a, ll+1);
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@ -460,20 +461,24 @@ void _pigeon_send(const char *dat, int len) {
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void pigeon_set_power(int power) {
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pthread_mutex_lock(&usb_lock);
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libusb_control_transfer(dev_handle, 0xc0, 0xd9, power, 0, NULL, 0, TIMEOUT);
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int err = libusb_control_transfer(dev_handle, 0xc0, 0xd9, power, 0, NULL, 0, TIMEOUT);
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if (err < 0) { handle_usb_issue(err, __func__); }
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pthread_mutex_unlock(&usb_lock);
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}
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void pigeon_set_baud(int baud) {
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int err;
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pthread_mutex_lock(&usb_lock);
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libusb_control_transfer(dev_handle, 0xc0, 0xe2, 1, 0, NULL, 0, TIMEOUT);
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libusb_control_transfer(dev_handle, 0xc0, 0xe4, 1, baud/300, NULL, 0, TIMEOUT);
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err = libusb_control_transfer(dev_handle, 0xc0, 0xe2, 1, 0, NULL, 0, TIMEOUT);
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if (err < 0) { handle_usb_issue(err, __func__); }
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err = libusb_control_transfer(dev_handle, 0xc0, 0xe4, 1, baud/300, NULL, 0, TIMEOUT);
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if (err < 0) { handle_usb_issue(err, __func__); }
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pthread_mutex_unlock(&usb_lock);
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}
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void pigeon_init() {
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usleep(1000*1000);
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LOGW("pigeon start");
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LOGW("grey panda start");
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// power off pigeon
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pigeon_set_power(0);
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@ -513,7 +518,7 @@ void pigeon_init() {
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pigeon_send("\xB5\x62\x06\x01\x03\x00\x01\x07\x01\x13\x51");
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pigeon_send("\xB5\x62\x06\x01\x03\x00\x02\x15\x01\x22\x70");
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LOGW("pigeon is ready to fly");
|
||||
LOGW("grey panda is ready to fly");
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -551,6 +556,7 @@ void *pigeon_thread(void *crap) {
|
|||
while (alen < 0xfc0) {
|
||||
pthread_mutex_lock(&usb_lock);
|
||||
int len = libusb_control_transfer(dev_handle, 0xc0, 0xe0, 1, 0, dat+alen, 0x40, TIMEOUT);
|
||||
if (len < 0) { handle_usb_issue(len, __func__); }
|
||||
pthread_mutex_unlock(&usb_lock);
|
||||
if (len <= 0) break;
|
||||
|
||||
|
|
|
|||
|
|
@ -8,6 +8,8 @@
|
|||
#define ARRAYSIZE(x) (sizeof(x)/sizeof(x[0]))
|
||||
|
||||
|
||||
unsigned int honda_checksum(unsigned int address, uint64_t d, int l);
|
||||
unsigned int toyota_checksum(unsigned int address, uint64_t d, int l);
|
||||
|
||||
struct SignalPackValue {
|
||||
const char* name;
|
||||
|
|
|
|||
|
|
@ -67,7 +67,7 @@ typedef struct {
|
|||
|
||||
void* can_init(int bus, const char* dbc_name,
|
||||
size_t num_message_options, const MessageParseOptions* message_options,
|
||||
size_t num_signal_options, const SignalParseOptions* signal_options);
|
||||
size_t num_signal_options, const SignalParseOptions* signal_options, bool sendcan);
|
||||
|
||||
void can_update(void* can, uint64_t sec, bool wait);
|
||||
|
||||
|
|
@ -77,8 +77,7 @@ const DBC* dbc_lookup(const char* dbc_name);
|
|||
|
||||
void* canpack_init(const char* dbc_name);
|
||||
|
||||
uint64_t canpack_pack(void* inst, uint32_t address, size_t num_vals, const SignalPackValue *vals);
|
||||
|
||||
uint64_t canpack_pack(void* inst, uint32_t address, size_t num_vals, const SignalPackValue *vals, int counter);
|
||||
""")
|
||||
|
||||
libdbc = ffi.dlopen(libdbc_fn)
|
||||
|
|
|
|||
|
|
@ -5,6 +5,7 @@
|
|||
#include <utility>
|
||||
#include <algorithm>
|
||||
#include <map>
|
||||
#include <cmath>
|
||||
|
||||
#include "common.h"
|
||||
|
||||
|
|
@ -12,70 +13,104 @@
|
|||
|
||||
namespace {
|
||||
|
||||
class CANPacker {
|
||||
public:
|
||||
CANPacker(const std::string& dbc_name) {
|
||||
dbc = dbc_lookup(dbc_name);
|
||||
assert(dbc);
|
||||
|
||||
for (int i=0; i<dbc->num_msgs; i++) {
|
||||
const Msg* msg = &dbc->msgs[i];
|
||||
for (int j=0; j<msg->num_sigs; j++) {
|
||||
const Signal* sig = &msg->sigs[j];
|
||||
signal_lookup[std::make_pair(msg->address, std::string(sig->name))] = *sig;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
uint64_t pack(uint32_t address, const std::vector<SignalPackValue> &signals) {
|
||||
uint64_t ret = 0;
|
||||
for (const auto& sigval : signals) {
|
||||
std::string name = std::string(sigval.name);
|
||||
double value = sigval.value;
|
||||
|
||||
auto sig_it = signal_lookup.find(make_pair(address, name));
|
||||
if (sig_it == signal_lookup.end()) {
|
||||
WARN("undefined signal %s", name.c_str());
|
||||
continue;
|
||||
}
|
||||
auto sig = sig_it->second;
|
||||
|
||||
int64_t ival = (int64_t)((value - sig.offset) / sig.factor);
|
||||
if (ival < 0) {
|
||||
WARN("signed pack unsupported right now");
|
||||
continue;
|
||||
}
|
||||
|
||||
uint64_t mask = ((1ULL << sig.b2)-1) << sig.bo;
|
||||
uint64_t dat = (ival & ((1ULL << sig.b2)-1)) << sig.bo;
|
||||
ret &= ~mask;
|
||||
ret |= dat;
|
||||
}
|
||||
|
||||
uint64_t set_value(uint64_t ret, Signal sig, int64_t ival){
|
||||
uint64_t mask = ((1ULL << sig.b2)-1) << sig.bo;
|
||||
uint64_t dat = (ival & ((1ULL << sig.b2)-1)) << sig.bo;
|
||||
ret &= ~mask;
|
||||
ret |= dat;
|
||||
return ret;
|
||||
}
|
||||
|
||||
class CANPacker {
|
||||
public:
|
||||
CANPacker(const std::string& dbc_name) {
|
||||
dbc = dbc_lookup(dbc_name);
|
||||
assert(dbc);
|
||||
|
||||
for (int i=0; i<dbc->num_msgs; i++) {
|
||||
const Msg* msg = &dbc->msgs[i];
|
||||
message_lookup[msg->address] = *msg;
|
||||
for (int j=0; j<msg->num_sigs; j++) {
|
||||
const Signal* sig = &msg->sigs[j];
|
||||
signal_lookup[std::make_pair(msg->address, std::string(sig->name))] = *sig;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
uint64_t pack(uint32_t address, const std::vector<SignalPackValue> &signals, int counter) {
|
||||
uint64_t ret = 0;
|
||||
for (const auto& sigval : signals) {
|
||||
std::string name = std::string(sigval.name);
|
||||
double value = sigval.value;
|
||||
|
||||
auto sig_it = signal_lookup.find(std::make_pair(address, name));
|
||||
if (sig_it == signal_lookup.end()) {
|
||||
WARN("undefined signal %s - %d\n", name.c_str(), address);
|
||||
continue;
|
||||
}
|
||||
auto sig = sig_it->second;
|
||||
|
||||
int64_t ival = (int64_t)(round((value - sig.offset) / sig.factor));
|
||||
if (ival < 0) {
|
||||
ival = (1ULL << sig.b2) + ival;
|
||||
}
|
||||
|
||||
ret = set_value(ret, sig, ival);
|
||||
}
|
||||
|
||||
if (counter >= 0){
|
||||
auto sig_it = signal_lookup.find(std::make_pair(address, "COUNTER"));
|
||||
if (sig_it == signal_lookup.end()) {
|
||||
WARN("COUNTER not defined\n");
|
||||
return ret;
|
||||
}
|
||||
auto sig = sig_it->second;
|
||||
|
||||
if (sig.type != SignalType::HONDA_COUNTER){
|
||||
WARN("COUNTER signal type not valid\n");
|
||||
}
|
||||
|
||||
ret = set_value(ret, sig, counter);
|
||||
}
|
||||
|
||||
auto sig_it = signal_lookup.find(std::make_pair(address, "CHECKSUM"));
|
||||
if (sig_it != signal_lookup.end()) {
|
||||
auto sig = sig_it->second;
|
||||
if (sig.type == SignalType::HONDA_CHECKSUM){
|
||||
unsigned int chksm = honda_checksum(address, ret, message_lookup[address].size);
|
||||
ret = set_value(ret, sig, chksm);
|
||||
}
|
||||
else if (sig.type == SignalType::TOYOTA_CHECKSUM){
|
||||
unsigned int chksm = toyota_checksum(address, ret, message_lookup[address].size);
|
||||
ret = set_value(ret, sig, chksm);
|
||||
} else {
|
||||
WARN("CHECKSUM signal type not valid\n");
|
||||
}
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
||||
private:
|
||||
const DBC *dbc = NULL;
|
||||
std::map<std::pair<uint32_t, std::string>, Signal> signal_lookup;
|
||||
};
|
||||
|
||||
private:
|
||||
const DBC *dbc = NULL;
|
||||
std::map<std::pair<uint32_t, std::string>, Signal> signal_lookup;
|
||||
std::map<uint32_t, Msg> message_lookup;
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
extern "C" {
|
||||
void* canpack_init(const char* dbc_name) {
|
||||
CANPacker *ret = new CANPacker(std::string(dbc_name));
|
||||
return (void*)ret;
|
||||
}
|
||||
|
||||
void* canpack_init(const char* dbc_name) {
|
||||
CANPacker *ret = new CANPacker(std::string(dbc_name));
|
||||
return (void*)ret;
|
||||
}
|
||||
uint64_t canpack_pack(void* inst, uint32_t address, size_t num_vals, const SignalPackValue *vals, int counter, bool checksum) {
|
||||
CANPacker *cp = (CANPacker*)inst;
|
||||
|
||||
uint64_t canpack_pack(void* inst, uint32_t address, size_t num_vals, const SignalPackValue *vals) {
|
||||
CANPacker *cp = (CANPacker*)inst;
|
||||
|
||||
return cp->pack(address, std::vector<SignalPackValue>(vals, vals+num_vals));
|
||||
}
|
||||
return cp->pack(address, std::vector<SignalPackValue>(vals, vals+num_vals), counter);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -1,13 +1,26 @@
|
|||
import struct
|
||||
import numbers
|
||||
|
||||
from selfdrive.can.libdbc_py import libdbc, ffi
|
||||
|
||||
class CANPacker(object):
|
||||
def __init__(self, dbc_name):
|
||||
self.packer = libdbc.canpack_init(dbc_name)
|
||||
self.dbc = libdbc.dbc_lookup(dbc_name)
|
||||
self.sig_names = {}
|
||||
self.name_to_address_and_size = {}
|
||||
self.address_to_size = {}
|
||||
|
||||
def pack(self, addr, values):
|
||||
num_msgs = self.dbc[0].num_msgs
|
||||
for i in range(num_msgs):
|
||||
msg = self.dbc[0].msgs[i]
|
||||
|
||||
name = ffi.string(msg.name)
|
||||
address = msg.address
|
||||
self.name_to_address_and_size[name] = (address, msg.size)
|
||||
self.address_to_size[address] = msg.size
|
||||
|
||||
def pack(self, addr, values, counter):
|
||||
# values: [(signal_name, signal_value)]
|
||||
|
||||
values_thing = []
|
||||
|
|
@ -22,10 +35,19 @@ class CANPacker(object):
|
|||
|
||||
values_c = ffi.new("SignalPackValue[]", values_thing)
|
||||
|
||||
return libdbc.canpack_pack(self.packer, addr, len(values_thing), values_c)
|
||||
return libdbc.canpack_pack(self.packer, addr, len(values_thing), values_c, counter)
|
||||
|
||||
def pack_bytes(self, addr, values):
|
||||
return struct.pack(">Q", self.pack(addr, values))
|
||||
def pack_bytes(self, addr, values, counter=-1):
|
||||
if isinstance(addr, numbers.Number):
|
||||
size = self.address_to_size[addr]
|
||||
else:
|
||||
addr, size = self.name_to_address_and_size[addr]
|
||||
r = struct.pack(">Q", self.pack(addr, values, counter))
|
||||
return addr, r[:size]
|
||||
|
||||
def make_can_msg(self, addr, bus, values, counter=-1):
|
||||
addr, msg = self.pack_bytes(addr, values, counter)
|
||||
return [addr, 0, msg, bus]
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
|
|
|||
|
|
@ -27,19 +27,6 @@
|
|||
|
||||
#define MAX_BAD_COUNTER 5
|
||||
|
||||
namespace {
|
||||
|
||||
uint64_t read_u64_be(const uint8_t* v) {
|
||||
return (((uint64_t)v[0] << 56)
|
||||
| ((uint64_t)v[1] << 48)
|
||||
| ((uint64_t)v[2] << 40)
|
||||
| ((uint64_t)v[3] << 32)
|
||||
| ((uint64_t)v[4] << 24)
|
||||
| ((uint64_t)v[5] << 16)
|
||||
| ((uint64_t)v[6] << 8)
|
||||
| (uint64_t)v[7]);
|
||||
}
|
||||
|
||||
unsigned int honda_checksum(unsigned int address, uint64_t d, int l) {
|
||||
d >>= ((8-l)*8); // remove padding
|
||||
d >>= 4; // remove checksum
|
||||
|
|
@ -60,10 +47,24 @@ unsigned int toyota_checksum(unsigned int address, uint64_t d, int l) {
|
|||
unsigned int s = l;
|
||||
while (address) { s += address & 0xff; address >>= 8; }
|
||||
while (d) { s += d & 0xff; d >>= 8; }
|
||||
|
||||
|
||||
return s & 0xFF;
|
||||
}
|
||||
|
||||
namespace {
|
||||
|
||||
uint64_t read_u64_be(const uint8_t* v) {
|
||||
return (((uint64_t)v[0] << 56)
|
||||
| ((uint64_t)v[1] << 48)
|
||||
| ((uint64_t)v[2] << 40)
|
||||
| ((uint64_t)v[3] << 32)
|
||||
| ((uint64_t)v[4] << 24)
|
||||
| ((uint64_t)v[5] << 16)
|
||||
| ((uint64_t)v[6] << 8)
|
||||
| (uint64_t)v[7]);
|
||||
}
|
||||
|
||||
|
||||
struct MessageState {
|
||||
uint32_t address;
|
||||
unsigned int size;
|
||||
|
|
@ -99,7 +100,7 @@ struct MessageState {
|
|||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::TOYOTA_CHECKSUM) {
|
||||
// DEBUG("CHECKSUM %d %d %018llX - %lld vs %d\n", address, size, dat, tmp, toyota_checksum(address, dat, size));
|
||||
// INFO("CHECKSUM %d %d %018llX - %lld vs %d\n", address, size, dat, tmp, toyota_checksum(address, dat, size));
|
||||
|
||||
if (toyota_checksum(address, dat, size) != tmp) {
|
||||
INFO("%X CHECKSUM FAIL\n", address);
|
||||
|
|
@ -140,13 +141,19 @@ class CANParser {
|
|||
public:
|
||||
CANParser(int abus, const std::string& dbc_name,
|
||||
const std::vector<MessageParseOptions> &options,
|
||||
const std::vector<SignalParseOptions> &sigoptions)
|
||||
const std::vector<SignalParseOptions> &sigoptions,
|
||||
bool sendcan)
|
||||
: bus(abus) {
|
||||
// connect to can on 8006
|
||||
context = zmq_ctx_new();
|
||||
subscriber = zmq_socket(context, ZMQ_SUB);
|
||||
zmq_setsockopt(subscriber, ZMQ_SUBSCRIBE, "", 0);
|
||||
zmq_connect(subscriber, "tcp://127.0.0.1:8006");
|
||||
|
||||
if (sendcan) {
|
||||
zmq_connect(subscriber, "tcp://127.0.0.1:8017");
|
||||
} else {
|
||||
zmq_connect(subscriber, "tcp://127.0.0.1:8006");
|
||||
}
|
||||
|
||||
dbc = dbc_lookup(dbc_name);
|
||||
assert(dbc);
|
||||
|
|
@ -274,7 +281,7 @@ class CANParser {
|
|||
// extract the messages
|
||||
capnp::FlatArrayMessageReader cmsg(amsg);
|
||||
cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
|
||||
|
||||
|
||||
auto cans = event.getCan();
|
||||
|
||||
UpdateCans(sec, cans);
|
||||
|
|
@ -290,7 +297,7 @@ class CANParser {
|
|||
for (const auto& kv : message_states) {
|
||||
const auto& state = kv.second;
|
||||
if (sec != 0 && state.seen != sec) continue;
|
||||
|
||||
|
||||
for (int i=0; i<state.parse_sigs.size(); i++) {
|
||||
const Signal &sig = state.parse_sigs[i];
|
||||
ret.push_back((SignalValue){
|
||||
|
|
@ -322,13 +329,14 @@ class CANParser {
|
|||
extern "C" {
|
||||
|
||||
void* can_init(int bus, const char* dbc_name,
|
||||
size_t num_message_options, const MessageParseOptions* message_options,
|
||||
size_t num_signal_options, const SignalParseOptions* signal_options) {
|
||||
size_t num_message_options, const MessageParseOptions* message_options,
|
||||
size_t num_signal_options, const SignalParseOptions* signal_options,
|
||||
bool sendcan) {
|
||||
CANParser* ret = new CANParser(bus, std::string(dbc_name),
|
||||
(message_options ? std::vector<MessageParseOptions>(message_options, message_options+num_message_options)
|
||||
: std::vector<MessageParseOptions>{}),
|
||||
(signal_options ? std::vector<SignalParseOptions>(signal_options, signal_options+num_signal_options)
|
||||
: std::vector<SignalParseOptions>{}));
|
||||
(message_options ? std::vector<MessageParseOptions>(message_options, message_options+num_message_options)
|
||||
: std::vector<MessageParseOptions>{}),
|
||||
(signal_options ? std::vector<SignalParseOptions>(signal_options, signal_options+num_signal_options)
|
||||
: std::vector<SignalParseOptions>{}), sendcan);
|
||||
return (void*)ret;
|
||||
}
|
||||
|
||||
|
|
@ -376,7 +384,7 @@ int main(int argc, char** argv) {
|
|||
{0x30c, 0},
|
||||
},
|
||||
std::vector<SignalParseOptions>{
|
||||
// sig_name, sig_address, default
|
||||
// sig_name, sig_address, default
|
||||
{0x158, "XMISSION_SPEED", 0},
|
||||
{0x1d0, "WHEEL_SPEED_FL", 0},
|
||||
{0x1d0, "WHEEL_SPEED_FR", 0},
|
||||
|
|
|
|||
|
|
@ -1,4 +1,3 @@
|
|||
import os
|
||||
import time
|
||||
from collections import defaultdict
|
||||
import numbers
|
||||
|
|
@ -6,7 +5,7 @@ import numbers
|
|||
from selfdrive.can.libdbc_py import libdbc, ffi
|
||||
|
||||
class CANParser(object):
|
||||
def __init__(self, dbc_name, signals, checks=[], bus=0):
|
||||
def __init__(self, dbc_name, signals, checks=[], bus=0, sendcan=False):
|
||||
self.can_valid = True
|
||||
self.vl = defaultdict(dict)
|
||||
self.ts = defaultdict(dict)
|
||||
|
|
@ -56,12 +55,12 @@ class CANParser(object):
|
|||
|
||||
message_options_c = ffi.new("MessageParseOptions[]", [
|
||||
{
|
||||
'address': address,
|
||||
'address': msg_address,
|
||||
'check_frequency': freq,
|
||||
} for address, freq in message_options.iteritems()])
|
||||
} for msg_address, freq in message_options.iteritems()])
|
||||
|
||||
self.can = libdbc.can_init(bus, dbc_name, len(message_options_c), message_options_c,
|
||||
len(signal_options_c), signal_options_c)
|
||||
len(signal_options_c), signal_options_c, sendcan)
|
||||
|
||||
self.p_can_valid = ffi.new("bool*")
|
||||
|
||||
|
|
|
|||
|
|
@ -26,11 +26,28 @@ msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not
|
|||
|
||||
if can_dbc.name.startswith("honda") or can_dbc.name.startswith("acura"):
|
||||
checksum_type = "honda"
|
||||
checksum_size = 4
|
||||
elif can_dbc.name.startswith("toyota"):
|
||||
checksum_type = "toyota"
|
||||
checksum_size = 8
|
||||
else:
|
||||
checksum_type = None
|
||||
|
||||
for address, msg_name, msg_size, sigs in msgs:
|
||||
for sig in sigs:
|
||||
if checksum_type is not None and sig.name == "CHECKSUM":
|
||||
if sig.size != checksum_size:
|
||||
sys.exit("CHECKSUM is not %d bits longs %s" % (checksum_size, msg_name))
|
||||
if checksum_type == "honda" and sig.start_bit % 8 != 3:
|
||||
sys.exit("CHECKSUM starts at wrong bit %s" % msg_name)
|
||||
if checksum_type == "toyota" and sig.start_bit % 8 != 7:
|
||||
sys.exit("CHECKSUM starts at wrong bit %s" % msg_name)
|
||||
if checksum_type == "honda" and sig.name == "COUNTER":
|
||||
if sig.size != 2:
|
||||
sys.exit("COUNTER is not 2 bits longs %s" % msg_name)
|
||||
if sig.start_bit % 8 != 5:
|
||||
sys.exit("COUNTER starts at wrong bit %s" % msg_name)
|
||||
|
||||
|
||||
# Fail on duplicate messgae names
|
||||
c = Counter([msg_name for address, msg_name, msg_size, sigs in msgs])
|
||||
|
|
|
|||
|
|
@ -1,5 +1,4 @@
|
|||
import os
|
||||
from cereal import car
|
||||
|
||||
from common.realtime import sec_since_boot
|
||||
from common.fingerprints import eliminate_incompatible_cars, all_known_cars
|
||||
|
|
@ -33,6 +32,7 @@ interfaces = {
|
|||
TOYOTA.RAV4: ToyotaInterface,
|
||||
TOYOTA.RAV4H: ToyotaInterface,
|
||||
TOYOTA.COROLLA: ToyotaInterface,
|
||||
TOYOTA.LEXUS_RXH: ToyotaInterface,
|
||||
|
||||
"simulator2": Sim2Interface,
|
||||
"mock": MockInterface
|
||||
|
|
@ -63,7 +63,8 @@ def fingerprint(logcan, timeout):
|
|||
# message has elapsed, exit. Toyota needs higher time_fingerprint, since DSU does not
|
||||
# broadcast immediately
|
||||
if len(candidate_cars) == 1 and st is not None:
|
||||
time_fingerprint = 1.0 if "TOYOTA" in candidate_cars[0] else 0.1
|
||||
# TODO: better way to decide to wait more if Toyota
|
||||
time_fingerprint = 1.0 if ("TOYOTA" in candidate_cars[0] or "LEXUS" in candidate_cars[0]) else 0.1
|
||||
if (ts-st) > time_fingerprint:
|
||||
break
|
||||
|
||||
|
|
|
|||
|
|
@ -2,7 +2,6 @@ from collections import namedtuple
|
|||
import os
|
||||
from selfdrive.boardd.boardd import can_list_to_can_capnp
|
||||
from selfdrive.controls.lib.drive_helpers import rate_limit
|
||||
from common.realtime import sec_since_boot
|
||||
from common.numpy_fast import clip
|
||||
from . import hondacan
|
||||
from .values import AH
|
||||
|
|
@ -115,11 +114,10 @@ class CarController(object):
|
|||
# **** process the car messages ****
|
||||
|
||||
# *** compute control surfaces ***
|
||||
tt = sec_since_boot()
|
||||
GAS_MAX = 1004
|
||||
BRAKE_MAX = 1024/4
|
||||
if CS.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY):
|
||||
is_fw_modified = os.getenv("DONGLE_ID") in ['b0f5a01cf604185c']
|
||||
is_fw_modified = os.getenv("DONGLE_ID") in ['99c94dc769b5d96e']
|
||||
STEER_MAX = 0x1FFF if is_fw_modified else 0x1000
|
||||
elif CS.CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX):
|
||||
STEER_MAX = 0x3e8 # CR-V only uses 12-bits and requires a lower value (max value from energee)
|
||||
|
|
|
|||
|
|
@ -1,7 +1,5 @@
|
|||
import os
|
||||
from cereal import car
|
||||
from common.numpy_fast import interp
|
||||
import selfdrive.messaging as messaging
|
||||
from selfdrive.can.parser import CANParser
|
||||
from selfdrive.config import Conversions as CV
|
||||
from common.kalman.simple_kalman import KF1D
|
||||
|
|
@ -120,8 +118,7 @@ def get_can_signals(CP):
|
|||
signals += [("MAIN_ON", "SCM_BUTTONS", 0)]
|
||||
elif CP.carFingerprint == CAR.ODYSSEY:
|
||||
dbc_f = 'honda_odyssey_exl_2018_generated.dbc'
|
||||
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
|
||||
("MAIN_ON", "SCM_FEEDBACK", 0),
|
||||
signals += [("MAIN_ON", "SCM_FEEDBACK", 0),
|
||||
("EPB_STATE", "EPB_STATUS", 0),
|
||||
("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0)]
|
||||
checks += [("EPB_STATUS", 50)]
|
||||
|
|
@ -238,7 +235,7 @@ class CarState(object):
|
|||
else:
|
||||
self.park_brake = 0 # TODO
|
||||
self.brake_hold = 0 # TODO
|
||||
|
||||
|
||||
self.main_on = cp.vl["SCM_BUTTONS"]['MAIN_ON']
|
||||
|
||||
self.cruise_speed_offset = calc_cruise_offset(cp.vl["CRUISE_PARAMS"]['CRUISE_SPEED_OFFSET'], self.v_ego)
|
||||
|
|
@ -246,12 +243,12 @@ class CarState(object):
|
|||
|
||||
self.pedal_gas = cp.vl["POWERTRAIN_DATA"]['PEDAL_GAS']
|
||||
# crv doesn't include cruise control
|
||||
if self.CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX):
|
||||
self.car_gas = self.pedal_gas
|
||||
if self.CP.carFingerprint in (CAR.CRV, CAR.ODYSSEY, CAR.ACURA_RDX):
|
||||
self.car_gas = self.pedal_gas
|
||||
else:
|
||||
self.car_gas = cp.vl["GAS_PEDAL_2"]['CAR_GAS']
|
||||
|
||||
#rdx has different steer override threshold
|
||||
self.car_gas = cp.vl["GAS_PEDAL_2"]['CAR_GAS']
|
||||
|
||||
#rdx has different steer override threshold
|
||||
if self.CP.carFingerprint in (CAR.ACURA_RDX):
|
||||
self.steer_override = abs(cp.vl["STEER_STATUS"]['STEER_TORQUE_SENSOR']) > 400
|
||||
else:
|
||||
|
|
@ -278,7 +275,6 @@ class CarState(object):
|
|||
if __name__ == '__main__':
|
||||
import zmq
|
||||
import time
|
||||
from selfdrive.services import service_list
|
||||
context = zmq.Context()
|
||||
|
||||
class CarParams(object):
|
||||
|
|
|
|||
|
|
@ -158,7 +158,7 @@ class CarInterface(object):
|
|||
ret.centerToFront = centerToFront_civic
|
||||
ret.steerRatio = 13.0
|
||||
# Civic at comma has modified steering FW, so different tuning for the Neo in that car
|
||||
is_fw_modified = os.getenv("DONGLE_ID") in ['b0f5a01cf604185c']
|
||||
is_fw_modified = os.getenv("DONGLE_ID") in ['99c94dc769b5d96e']
|
||||
ret.steerKp, ret.steerKi = [0.4, 0.12] if is_fw_modified else [0.8, 0.24]
|
||||
|
||||
ret.longitudinalKpBP = [0., 5., 35.]
|
||||
|
|
@ -172,7 +172,7 @@ class CarInterface(object):
|
|||
ret.centerToFront = ret.wheelbase * 0.37
|
||||
ret.steerRatio = 15.3
|
||||
# Acura at comma has modified steering FW, so different tuning for the Neo in that car
|
||||
is_fw_modified = os.getenv("DONGLE_ID") in ['cb38263377b873ee']
|
||||
is_fw_modified = os.getenv("DONGLE_ID") in ['85a6c74d4ad9c310']
|
||||
ret.steerKp, ret.steerKi = [0.4, 0.12] if is_fw_modified else [0.8, 0.24]
|
||||
|
||||
ret.longitudinalKpBP = [0., 5., 35.]
|
||||
|
|
|
|||
|
|
@ -1,6 +1,5 @@
|
|||
#!/usr/bin/env python
|
||||
import os
|
||||
import numpy as np
|
||||
|
||||
from selfdrive.can.parser import CANParser
|
||||
|
||||
|
|
|
|||
|
|
@ -1,14 +1,9 @@
|
|||
#!/usr/bin/env python
|
||||
import os
|
||||
import time
|
||||
import zmq
|
||||
from common.realtime import sec_since_boot
|
||||
import common.numpy_fast as np
|
||||
from cereal import car
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.services import service_list
|
||||
import selfdrive.messaging as messaging
|
||||
from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
|
||||
|
||||
# mocked car interface to work with chffrplus
|
||||
TS = 0.01 # 100Hz
|
||||
|
|
@ -110,7 +105,6 @@ class CarInterface(object):
|
|||
ret.steeringAngle = curvature * self.CP.steerRatio * self.CP.wheelbase * CV.RAD_TO_DEG
|
||||
|
||||
events = []
|
||||
#events.append(create_event('passive', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
|
||||
ret.events = events
|
||||
|
||||
return ret.as_reader()
|
||||
|
|
|
|||
|
|
@ -1,14 +1,10 @@
|
|||
from common.numpy_fast import clip, interp
|
||||
from common.realtime import sec_since_boot
|
||||
from common.numpy_fast import clip
|
||||
from selfdrive.boardd.boardd import can_list_to_can_capnp
|
||||
from selfdrive.controls.lib.drive_helpers import rate_limit
|
||||
from selfdrive.car.toyota.toyotacan import make_can_msg, create_video_target,\
|
||||
create_steer_command, create_ui_command, \
|
||||
create_ipas_steer_command, create_accel_command, \
|
||||
create_fcw_command
|
||||
from selfdrive.car.toyota.values import ECU, STATIC_MSGS
|
||||
from common.fingerprints import TOYOTA as CAR
|
||||
|
||||
|
||||
ACCEL_HYST_GAP = 0.02 # don't change accel command for small oscilalitons within this value
|
||||
ACCEL_MAX = 1500 # 1.5 m/s2
|
||||
|
|
@ -82,7 +78,6 @@ class CarController(object):
|
|||
pcm_cancel_cmd, hud_alert, audible_alert):
|
||||
|
||||
# *** compute control surfaces ***
|
||||
ts = sec_since_boot()
|
||||
|
||||
# steer torque is converted back to CAN reference (positive when steering right)
|
||||
apply_accel = actuators.gas - actuators.brake
|
||||
|
|
|
|||
|
|
@ -1,5 +1,4 @@
|
|||
import os
|
||||
import selfdrive.messaging as messaging
|
||||
from common.fingerprints import TOYOTA as CAR
|
||||
from selfdrive.can.parser import CANParser
|
||||
from selfdrive.config import Conversions as CV
|
||||
|
|
@ -20,7 +19,8 @@ def parse_gear_shifter(can_gear, car_fingerprint):
|
|||
return "drive"
|
||||
elif can_gear == 0x4:
|
||||
return "brake"
|
||||
elif car_fingerprint in [CAR.RAV4, CAR.RAV4H, CAR.COROLLA]:
|
||||
elif car_fingerprint in [CAR.RAV4, CAR.RAV4H,
|
||||
CAR.LEXUS_RXH, CAR.COROLLA]:
|
||||
if can_gear == 0x20:
|
||||
return "park"
|
||||
elif can_gear == 0x10:
|
||||
|
|
@ -45,6 +45,8 @@ def get_can_parser(CP):
|
|||
dbc_f = 'toyota_rav4_2017_pt_generated.dbc'
|
||||
elif CP.carFingerprint == CAR.COROLLA:
|
||||
dbc_f = 'toyota_corolla_2017_pt_generated.dbc'
|
||||
elif CP.carFingerprint == CAR.LEXUS_RXH:
|
||||
dbc_f = 'lexus_rx_hybrid_2017_pt_generated.dbc'
|
||||
|
||||
signals = [
|
||||
# sig_name, sig_address, default
|
||||
|
|
|
|||
|
|
@ -1,11 +1,7 @@
|
|||
#!/usr/bin/env python
|
||||
import os
|
||||
from common.realtime import sec_since_boot
|
||||
import common.numpy_fast as np
|
||||
from cereal import car
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.services import service_list
|
||||
import selfdrive.messaging as messaging
|
||||
from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
|
||||
from selfdrive.controls.lib.vehicle_model import VehicleModel
|
||||
from selfdrive.car.toyota.carstate import CarState, get_can_parser
|
||||
|
|
@ -79,34 +75,44 @@ class CarInterface(object):
|
|||
if candidate == CAR.PRIUS:
|
||||
ret.safetyParam = 66 # see conversion factor for STEER_TORQUE_EPS in dbc file
|
||||
ret.wheelbase = 2.70
|
||||
ret.steerRatio = 14.5 #TODO: find exact value for Prius
|
||||
ret.steerRatio = 14.5 # TODO: find exact value for Prius
|
||||
ret.mass = 3045./2.205 + std_cargo
|
||||
ret.steerKp, ret.steerKi = 0.6, 0.05
|
||||
ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
|
||||
ret.steerRateCost = 2.
|
||||
elif candidate in [CAR.RAV4, CAR.RAV4H]:
|
||||
ret.safetyParam = 73 # see conversion factor for STEER_TORQUE_EPS in dbc file
|
||||
ret.wheelbase = 2.65
|
||||
ret.steerRatio = 14.5 # Rav4 2017
|
||||
ret.mass = 3650./2.205 + std_cargo # mean between normal and hybrid
|
||||
ret.steerKp, ret.steerKi = 0.6, 0.05
|
||||
ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
|
||||
ret.steerRateCost = 1.
|
||||
elif candidate == CAR.COROLLA:
|
||||
ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
|
||||
ret.wheelbase = 2.70
|
||||
ret.steerRatio = 17.8
|
||||
ret.mass = 2860./2.205 + std_cargo # mean between normal and hybrid
|
||||
|
||||
ret.centerToFront = ret.wheelbase * 0.44
|
||||
|
||||
if candidate == CAR.COROLLA:
|
||||
ret.steerKp, ret.steerKi = 0.2, 0.05
|
||||
ret.steerKf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594
|
||||
else:
|
||||
ret.steerKp, ret.steerKi = 0.6, 0.05
|
||||
ret.steerRateCost = 1.
|
||||
elif candidate == CAR.LEXUS_RXH:
|
||||
ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
|
||||
ret.wheelbase = 2.79
|
||||
ret.steerRatio = 16. # official specs say 14.8, but it does not seem right
|
||||
ret.mass = 4481./2.205 + std_cargo # mean between min and max
|
||||
ret.steerKp, ret.steerKi = 0.6, 0.1
|
||||
ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
|
||||
ret.steerRateCost = .8
|
||||
|
||||
ret.centerToFront = ret.wheelbase * 0.44
|
||||
|
||||
ret.longPidDeadzoneBP = [0., 9.]
|
||||
ret.longPidDeadzoneV = [0., .15]
|
||||
|
||||
# min speed to enable ACC. if car can do stop and go, then set enabling speed
|
||||
# to a negative value, so it won't matter.
|
||||
if candidate in [CAR.PRIUS, CAR.RAV4H]: # rav4 hybrid can do stop and go
|
||||
if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH]: # rav4 hybrid can do stop and go
|
||||
ret.minEnableSpeed = -1.
|
||||
elif candidate in [CAR.RAV4, CAR.COROLLA]: # TODO: hack ICE to do stop and go
|
||||
ret.minEnableSpeed = 19. * CV.MPH_TO_MS
|
||||
|
|
@ -154,17 +160,11 @@ class CarInterface(object):
|
|||
ret.longitudinalKiBP = [0., 35.]
|
||||
ret.longitudinalKiV = [0.54, 0.36]
|
||||
|
||||
if candidate in [CAR.PRIUS]:
|
||||
ret.steerRateCost = 2.
|
||||
elif candidate in [CAR.RAV4, CAR.RAV4H, CAR.COROLLA]:
|
||||
ret.steerRateCost = 1.
|
||||
|
||||
return ret
|
||||
|
||||
# returns a car.CarState
|
||||
def update(self, c):
|
||||
# ******************* do can recv *******************
|
||||
can_pub_main = []
|
||||
canMonoTimes = []
|
||||
|
||||
self.cp.update(int(sec_since_boot() * 1e9), False)
|
||||
|
|
@ -189,7 +189,7 @@ class CarInterface(object):
|
|||
ret.gearShifter = self.CS.gear_shifter
|
||||
|
||||
# gas pedal
|
||||
ret.gas = self.CS.car_gas / 256.0
|
||||
ret.gas = self.CS.car_gas
|
||||
ret.gasPressed = self.CS.pedal_gas > 0
|
||||
|
||||
# brake pedal
|
||||
|
|
|
|||
|
|
@ -1,6 +1,5 @@
|
|||
#!/usr/bin/env python
|
||||
import os
|
||||
import numpy as np
|
||||
from selfdrive.can.parser import CANParser
|
||||
from cereal import car
|
||||
from common.realtime import sec_since_boot
|
||||
|
|
@ -14,7 +13,6 @@ RADAR_MSGS = range(0x210, 0x220)
|
|||
def _create_radard_can_parser():
|
||||
dbc_f = 'toyota_prius_2017_adas.dbc'
|
||||
msg_n = len(RADAR_MSGS)
|
||||
msg_last = RADAR_MSGS[-1]
|
||||
signals = zip(['LONG_DIST'] * msg_n + ['NEW_TRACK'] * msg_n + ['LAT_DIST'] * msg_n +
|
||||
['REL_SPEED'] * msg_n + ['VALID'] * msg_n,
|
||||
RADAR_MSGS * 5,
|
||||
|
|
@ -45,7 +43,7 @@ class RadarInterface(object):
|
|||
while 1:
|
||||
tm = int(sec_since_boot() * 1e9)
|
||||
updated_messages.update(self.rcp.update(tm, True))
|
||||
# TODO: use msg_last
|
||||
# TODO: do not hardcode last msg
|
||||
if 0x21f in updated_messages:
|
||||
break
|
||||
|
||||
|
|
|
|||
|
|
@ -1,6 +1,4 @@
|
|||
import struct
|
||||
import common.numpy_fast as np
|
||||
from selfdrive.config import Conversions as CV
|
||||
|
||||
|
||||
# *** Toyota specific ***
|
||||
|
|
@ -9,21 +7,21 @@ def fix(msg, addr):
|
|||
checksum = 0
|
||||
idh = (addr & 0xff00) >> 8
|
||||
idl = (addr & 0xff)
|
||||
|
||||
|
||||
checksum = idh + idl + len(msg) + 1
|
||||
for d_byte in msg:
|
||||
checksum += ord(d_byte)
|
||||
|
||||
|
||||
#return msg + chr(checksum & 0xFF)
|
||||
return msg + struct.pack("B", checksum & 0xFF)
|
||||
|
||||
|
||||
|
||||
|
||||
def make_can_msg(addr, dat, alt, cks=False):
|
||||
if cks:
|
||||
dat = fix(dat, addr)
|
||||
return [addr, 0, dat, alt]
|
||||
|
||||
|
||||
|
||||
|
||||
def create_video_target(frame, addr):
|
||||
counter = frame & 0xff
|
||||
msg = struct.pack("!BBBBBBB", counter, 0x03, 0xff, 0x00, 0x00, 0x00, 0x00)
|
||||
|
|
@ -42,7 +40,7 @@ def create_ipas_steer_command(steer):
|
|||
move = 0x40
|
||||
|
||||
mode = 0x30 if steer else 0x10
|
||||
|
||||
|
||||
steer_h = (steer & 0xF00) >> 8
|
||||
steer_l = steer & 0xff
|
||||
|
||||
|
|
@ -56,11 +54,11 @@ def create_steer_command(steer, raw_cnt):
|
|||
counter = ((raw_cnt & 0x3f) << 1) | 0x80
|
||||
if steer != 0:
|
||||
counter |= 1
|
||||
|
||||
|
||||
# hud
|
||||
# 00 => Regular
|
||||
# 40 => Actively Steering (with beep)
|
||||
# 80 => Actively Steering (without beep)
|
||||
# 80 => Actively Steering (without beep)
|
||||
hud = 0x00
|
||||
|
||||
msg = struct.pack("!BhB", counter, steer, hud)
|
||||
|
|
@ -86,6 +84,6 @@ def create_fcw_command(fcw):
|
|||
|
||||
def create_ui_command(steer, sound1, sound2):
|
||||
|
||||
msg = struct.pack("!BBBBBBBB", 0x54, 0x04 + steer + (sound2<<4), 0x0C, 0x00,
|
||||
msg = struct.pack("!BBBBBBBB", 0x54, 0x04 + steer + (sound2<<4), 0x0C, 0x00,
|
||||
sound1, 0x2C, 0x38, 0x02)
|
||||
return make_can_msg(0x412, msg, 0, False)
|
||||
|
|
|
|||
|
|
@ -7,48 +7,48 @@ class ECU:
|
|||
|
||||
|
||||
# addr: (ecu, cars, bus, 1/freq*100, vl)
|
||||
STATIC_MSGS = [(0x141, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 2, '\x00\x00\x00\x46'),
|
||||
(0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 3, '\xf4\x01\x90\x83\x00\x37'),
|
||||
STATIC_MSGS = [(0x141, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 2, '\x00\x00\x00\x46'),
|
||||
(0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 3, '\xf4\x01\x90\x83\x00\x37'),
|
||||
|
||||
(0x292, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 3, '\x00\x00\x00\x00\x00\x00\x00\x9e'),
|
||||
(0x283, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 3, '\x00\x00\x00\x00\x00\x00\x8c'),
|
||||
(0x2E6, ECU.DSU, (CAR.PRIUS, CAR.RAV4H), 0, 3, '\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
|
||||
(0x2E7, ECU.DSU, (CAR.PRIUS, CAR.RAV4H), 0, 3, '\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
|
||||
(0x292, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 3, '\x00\x00\x00\x00\x00\x00\x00\x9e'),
|
||||
(0x283, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 3, '\x00\x00\x00\x00\x00\x00\x8c'),
|
||||
(0x2E6, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, '\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
|
||||
(0x2E7, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, '\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
|
||||
|
||||
(0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
|
||||
(0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
|
||||
(0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
|
||||
(0x245, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
|
||||
(0x248, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x00\x00\x00\x00\x00\x01'),
|
||||
(0x344, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 5, '\x00\x00\x01\x00\x00\x00\x00\x50'),
|
||||
(0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
|
||||
(0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
|
||||
(0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
|
||||
(0x245, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
|
||||
(0x248, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 5, '\x00\x00\x00\x00\x00\x00\x01'),
|
||||
(0x344, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 5, '\x00\x00\x01\x00\x00\x00\x00\x50'),
|
||||
|
||||
(0x160, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 7, '\x00\x00\x08\x12\x01\x31\x9c\x51'),
|
||||
(0x161, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 7, '\x00\x1e\x00\x00\x00\x80\x07'),
|
||||
(0x160, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 7, '\x00\x00\x08\x12\x01\x31\x9c\x51'),
|
||||
(0x161, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 7, '\x00\x1e\x00\x00\x00\x80\x07'),
|
||||
|
||||
(0x32E, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 20, '\x00\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x33E, ECU.DSU, (CAR.PRIUS, CAR.RAV4H), 0, 20, '\x0f\xff\x26\x40\x00\x1f\x00'),
|
||||
(0x365, ECU.DSU, (CAR.PRIUS, CAR.RAV4H), 0, 20, '\x00\x00\x00\x80\x03\x00\x08'),
|
||||
(0x32E, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 20, '\x00\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x33E, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, '\x0f\xff\x26\x40\x00\x1f\x00'),
|
||||
(0x365, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, '\x00\x00\x00\x80\x03\x00\x08'),
|
||||
(0x365, ECU.DSU, (CAR.RAV4, CAR.COROLLA), 0, 20, '\x00\x00\x00\x80\xfc\x00\x08'),
|
||||
(0x366, ECU.DSU, (CAR.PRIUS, CAR.RAV4H), 0, 20, '\x00\x00\x4d\x82\x40\x02\x00'),
|
||||
(0x366, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, '\x00\x00\x4d\x82\x40\x02\x00'),
|
||||
(0x366, ECU.DSU, (CAR.RAV4, CAR.COROLLA), 0, 20, '\x00\x72\x07\xff\x09\xfe\x00'),
|
||||
|
||||
(0x367, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 40, '\x06\x00'),
|
||||
(0x367, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 40, '\x06\x00'),
|
||||
|
||||
(0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
|
||||
(0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
|
||||
(0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
|
||||
(0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
|
||||
(0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4), 1, 100, '\x20\x20\xAD'),
|
||||
(0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
|
||||
(0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
|
||||
(0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
|
||||
(0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
|
||||
(0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4), 1, 100, '\x20\x20\xAD'),
|
||||
(0x466, ECU.CAM, (CAR.COROLLA), 1, 100, '\x24\x20\xB1'),
|
||||
(0x396, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\xBD\x00\x00\x00\x60\x0F\x02\x00'),
|
||||
(0x43A, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x84\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x43B, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x497, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x4CC, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x0D\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x4CB, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.RAV4, CAR.COROLLA), 0, 100, '\x0c\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x470, ECU.DSU, (CAR.PRIUS, CAR.RAV4H), 1, 100, '\x00\x00\x02\x7a'),
|
||||
(0x396, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\xBD\x00\x00\x00\x60\x0F\x02\x00'),
|
||||
(0x43A, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x84\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x43B, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x497, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x00\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x4CC, ECU.APGS, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x0D\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x4CB, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x0c\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x470, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 1, 100, '\x00\x00\x02\x7a'),
|
||||
]
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1 +1 @@
|
|||
#define COMMA_VERSION "0.4.1-openpilot"
|
||||
#define COMMA_VERSION "0.4.2-openpilot"
|
||||
|
|
|
|||
|
|
@ -73,7 +73,7 @@ def data_sample(CI, CC, thermal, calibration, health, poller, cal_status, overte
|
|||
overtemp_proc = any(t > 950 for t in
|
||||
(td.thermal.cpu0, td.thermal.cpu1, td.thermal.cpu2,
|
||||
td.thermal.cpu3, td.thermal.mem, td.thermal.gpu))
|
||||
overtemp_bat = td.thermal.bat > 50000 # 50c
|
||||
overtemp_bat = td.thermal.bat > 60000 # 60c
|
||||
overtemp = overtemp_proc or overtemp_bat
|
||||
|
||||
# under 15% of space free no enable allowed
|
||||
|
|
|
|||
|
|
@ -94,9 +94,9 @@ class LatControl(object):
|
|||
output_steer = 0.0
|
||||
self.pid.reset()
|
||||
else:
|
||||
dt = min(cur_time - self.angle_steers_des_time, _DT_MPC + _DT) + _DT # no greater than dt mpc + dt, to prevent too high extraps
|
||||
# TODO: ideally we should interp, but for tuning reasons we keep the mpc solution
|
||||
# constant for 0.05s.
|
||||
#dt = min(cur_time - self.angle_steers_des_time, _DT_MPC + _DT) + _DT # no greater than dt mpc + dt, to prevent too high extraps
|
||||
#self.angle_steers_des = self.angle_steers_des_prev + (dt / _DT_MPC) * (self.angle_steers_des_mpc - self.angle_steers_des_prev)
|
||||
self.angle_steers_des = self.angle_steers_des_mpc
|
||||
steers_max = get_steer_max(VM.CP, v_ego)
|
||||
|
|
|
|||
|
|
@ -1,6 +1,4 @@
|
|||
import numpy as np
|
||||
from common.numpy_fast import clip, interp
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.controls.lib.pid import PIController
|
||||
|
||||
STOPPING_EGO_SPEED = 0.5
|
||||
|
|
|
|||
|
|
@ -7,7 +7,6 @@ import math
|
|||
from collections import defaultdict
|
||||
|
||||
from common.realtime import sec_since_boot
|
||||
from common.params import Params
|
||||
from common.numpy_fast import interp
|
||||
import selfdrive.messaging as messaging
|
||||
from selfdrive.swaglog import cloudlog
|
||||
|
|
|
|||
|
|
@ -1,6 +1,5 @@
|
|||
import os
|
||||
import sys
|
||||
import math
|
||||
import platform
|
||||
import numpy as np
|
||||
|
||||
|
|
|
|||
|
|
@ -1,8 +1,6 @@
|
|||
#!/usr/bin/env python
|
||||
import os
|
||||
import zmq
|
||||
import numpy as np
|
||||
import numpy.matlib
|
||||
import importlib
|
||||
from collections import defaultdict
|
||||
from fastcluster import linkage_vector
|
||||
|
|
@ -16,7 +14,7 @@ from selfdrive.controls.lib.vehicle_model import VehicleModel
|
|||
from selfdrive.swaglog import cloudlog
|
||||
from cereal import car
|
||||
from common.params import Params
|
||||
from common.realtime import sec_since_boot, set_realtime_priority, Ratekeeper
|
||||
from common.realtime import set_realtime_priority, Ratekeeper
|
||||
from common.kalman.ekf import EKF, SimpleSensor
|
||||
|
||||
DEBUG = False
|
||||
|
|
|
|||
|
|
@ -1,7 +1,6 @@
|
|||
#!/usr/bin/env python
|
||||
import os
|
||||
import sys
|
||||
import struct
|
||||
from collections import defaultdict
|
||||
from common.realtime import sec_since_boot
|
||||
import zmq
|
||||
|
|
|
|||
|
|
@ -19,7 +19,8 @@ msgs = {}
|
|||
while True:
|
||||
lc = messaging.recv_sock(logcan, True)
|
||||
for c in lc.can:
|
||||
if c.src == 0:
|
||||
# read also msgs sent by EON on CAN bus 0x80
|
||||
if c.src%0x80 == 0:
|
||||
msgs[c.address] = len(c.dat)
|
||||
|
||||
fingerprint = ', '.join("%d: %d" % v for v in sorted(msgs.items()))
|
||||
|
|
|
|||
|
|
@ -1,9 +1,7 @@
|
|||
#!/usr/bin/env python
|
||||
import os
|
||||
import time
|
||||
import subprocess
|
||||
from cffi import FFI
|
||||
import ctypes
|
||||
|
||||
import numpy as np
|
||||
|
||||
|
|
|
|||
|
|
@ -1,92 +0,0 @@
|
|||
#!/usr/bin/env python
|
||||
import time
|
||||
import numpy as np
|
||||
import zmq
|
||||
from evdev import InputDevice
|
||||
from select import select
|
||||
|
||||
from cereal import car
|
||||
from common.realtime import Ratekeeper
|
||||
|
||||
import selfdrive.messaging as messaging
|
||||
from selfdrive.services import service_list
|
||||
from selfdrive.car import get_car
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
# ***** connect to joystick *****
|
||||
# we use a Mad Catz V.1
|
||||
dev = InputDevice("/dev/input/event8")
|
||||
print dev
|
||||
|
||||
button_values = [0]*7
|
||||
axis_values = [0.0, 0.0, 0.0]
|
||||
|
||||
# ***** connect to car *****
|
||||
context = zmq.Context()
|
||||
logcan = messaging.sub_sock(context, service_list['can'].port)
|
||||
sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
|
||||
|
||||
CI, CP = get_car(logcan, sendcan)
|
||||
CC = car.CarControl.new_message()
|
||||
|
||||
rk = Ratekeeper(100)
|
||||
|
||||
while 1:
|
||||
# **** handle joystick ****
|
||||
r, w, x = select([dev], [], [], 0.0)
|
||||
if dev in r:
|
||||
for event in dev.read():
|
||||
# button event
|
||||
if event.type == 1:
|
||||
btn = event.code - 288
|
||||
if btn >= 0 and btn < 7:
|
||||
button_values[btn] = int(event.value)
|
||||
|
||||
# axis move event
|
||||
if event.type == 3:
|
||||
if event.code < 3:
|
||||
if event.code == 2:
|
||||
axis_values[event.code] = np.clip((255-int(event.value))/250.0, 0.0, 1.0)
|
||||
else:
|
||||
DEADZONE = 5
|
||||
if event.value-DEADZONE < 128 and event.value+DEADZONE > 128:
|
||||
event.value = 128
|
||||
axis_values[event.code] = np.clip((int(event.value)-128)/120.0, -1.0, 1.0)
|
||||
|
||||
print axis_values, button_values
|
||||
# **** handle car ****
|
||||
|
||||
CS = CI.update(CC)
|
||||
#print CS
|
||||
CC = car.CarControl.new_message()
|
||||
|
||||
|
||||
CC.enabled = True
|
||||
|
||||
CC.gas = float(np.clip(-axis_values[1], 0, 1.0))
|
||||
CC.brake = float(np.clip(axis_values[1], 0, 1.0))
|
||||
CC.steeringTorque = float(-axis_values[0])
|
||||
|
||||
CC.hudControl.speedVisible = bool(button_values[1])
|
||||
CC.hudControl.lanesVisible = bool(button_values[2])
|
||||
CC.hudControl.leadVisible = bool(button_values[3])
|
||||
|
||||
CC.cruiseControl.override = bool(button_values[0])
|
||||
CC.cruiseControl.cancel = bool(button_values[-1])
|
||||
|
||||
CC.hudControl.setSpeed = float(axis_values[2] * 100.0)
|
||||
|
||||
# TODO: test alerts
|
||||
CC.hudControl.visualAlert = "none"
|
||||
CC.hudControl.audibleAlert = "none"
|
||||
|
||||
#print CC
|
||||
|
||||
if not CI.apply(CC):
|
||||
print "CONTROLS FAILED"
|
||||
|
||||
rk.keep_time()
|
||||
|
||||
|
||||
|
||||
|
|
@ -1,52 +0,0 @@
|
|||
#!/usr/bin/env python
|
||||
import os
|
||||
import zmq
|
||||
from cereal import car
|
||||
|
||||
import selfdrive.messaging as messaging
|
||||
from selfdrive.services import service_list
|
||||
|
||||
from selfdrive.car import get_car
|
||||
|
||||
def bpressed(CS, btype):
|
||||
for b in CS.buttonEvents:
|
||||
if b.type == btype:
|
||||
return True
|
||||
return False
|
||||
|
||||
def test_loop():
|
||||
context = zmq.Context()
|
||||
logcan = messaging.sub_sock(context, service_list['can'].port)
|
||||
|
||||
CI, CP = get_car(logcan)
|
||||
|
||||
state = 0
|
||||
|
||||
states = [
|
||||
"'seatbeltNotLatched' in CS.errors",
|
||||
"CS.gasPressed",
|
||||
"CS.brakePressed",
|
||||
"CS.steeringPressed",
|
||||
"bpressed(CS, 'leftBlinker')",
|
||||
"bpressed(CS, 'rightBlinker')",
|
||||
"bpressed(CS, 'cancel')",
|
||||
"bpressed(CS, 'accelCruise')",
|
||||
"bpressed(CS, 'decelCruise')",
|
||||
"bpressed(CS, 'altButton1')",
|
||||
"'doorOpen' in CS.errors",
|
||||
"False"]
|
||||
|
||||
while 1:
|
||||
CC = car.CarControl.new_message()
|
||||
# read CAN
|
||||
CS = CI.update(CC)
|
||||
|
||||
while eval(states[state]) == True:
|
||||
state += 1
|
||||
|
||||
print "IN STATE %d: waiting for %s" % (state, states[state])
|
||||
#print CS
|
||||
|
||||
if __name__ == "__main__":
|
||||
test_loop()
|
||||
|
||||
Binary file not shown.
|
|
@ -1,8 +1,6 @@
|
|||
#!/usr/bin/env python2.7
|
||||
|
||||
import os
|
||||
import sys
|
||||
import time
|
||||
import fcntl
|
||||
import errno
|
||||
import signal
|
||||
|
|
@ -53,7 +51,6 @@ from common.basedir import BASEDIR
|
|||
sys.path.append(os.path.join(BASEDIR, "pyextra"))
|
||||
os.environ['BASEDIR'] = BASEDIR
|
||||
|
||||
import usb1
|
||||
import zmq
|
||||
from setproctitle import setproctitle
|
||||
from smbus2 import SMBus
|
||||
|
|
@ -250,15 +247,19 @@ def manager_init():
|
|||
if "-private" in subprocess.check_output(["git", "config", "--get", "remote.origin.url"]):
|
||||
upstream = "origin/master"
|
||||
else:
|
||||
upstream = "origin/release"
|
||||
if 'chffrplus' in version:
|
||||
upstream = "origin/release"
|
||||
else:
|
||||
upstream = "origin/release2"
|
||||
|
||||
dirty = subprocess.call(["git", "diff-index", "--quiet", upstream, "--"]) != 0
|
||||
cloudlog.info("dirty is %d" % dirty)
|
||||
if not dirty:
|
||||
os.environ['CLEAN'] = '1'
|
||||
|
||||
cloudlog.bind_global(dongle_id=dongle_id, version=version, dirty=dirty)
|
||||
cloudlog.bind_global(dongle_id=dongle_id, version=version, dirty=dirty, is_eon=EON)
|
||||
crash.bind_user(id=dongle_id)
|
||||
crash.bind_extra(version=version, dirty=dirty)
|
||||
crash.bind_extra(version=version, dirty=dirty, is_eon=EON)
|
||||
|
||||
os.umask(0)
|
||||
try:
|
||||
|
|
@ -463,7 +464,7 @@ def manager_thread():
|
|||
if passive and not ignition_seen:
|
||||
should_start = should_start or passive_starter.update(started_ts, location)
|
||||
|
||||
# with 2% left, we killall, otherwise the phone is bricked
|
||||
# with 2% left, we killall, otherwise the phone will take a long time to boot
|
||||
should_start = should_start and avail > 0.02
|
||||
|
||||
# require usb power
|
||||
|
|
@ -471,9 +472,10 @@ def manager_thread():
|
|||
|
||||
should_start = should_start and accepted_terms and (not do_uninstall)
|
||||
|
||||
# if any CPU gets above 107 or the battery gets above 53, kill all processes
|
||||
# controls will warn with CPU above 95 or battery above 50
|
||||
if max_temp > 107.0 or msg.thermal.bat >= 53000:
|
||||
# if any CPU gets above 107 or the battery gets above 63, kill all processes
|
||||
# controls will warn with CPU above 95 or battery above 60
|
||||
if max_temp > 107.0 or msg.thermal.bat >= 63000:
|
||||
# TODO: Add a better warning when this is happening
|
||||
should_start = False
|
||||
|
||||
if should_start:
|
||||
|
|
@ -554,7 +556,7 @@ def update_apks():
|
|||
cloudlog.info("installed apks %s" % (str(installed), ))
|
||||
|
||||
for app in installed.iterkeys():
|
||||
|
||||
|
||||
apk_path = os.path.join(BASEDIR, "apk/"+app+".apk")
|
||||
if not os.path.exists(apk_path):
|
||||
apk_path = os.path.join(BASEDIR, "apk/external/out/"+app+".apk")
|
||||
|
|
|
|||
|
|
@ -1,4 +1,3 @@
|
|||
import os
|
||||
import json
|
||||
import subprocess
|
||||
|
||||
|
|
|
|||
Binary file not shown.
Binary file not shown.
|
|
@ -1,5 +1,3 @@
|
|||
import os
|
||||
from enum import Enum
|
||||
from maneuverplots import ManeuverPlot
|
||||
from plant import Plant
|
||||
import numpy as np
|
||||
|
|
@ -31,7 +29,6 @@ class Maneuver(object):
|
|||
)
|
||||
|
||||
last_live100 = None
|
||||
event_queue = sorted(self.cruise_button_presses, key=lambda a: a[1])[::-1]
|
||||
plot = ManeuverPlot(self.title)
|
||||
|
||||
buttons_sorted = sorted(self.cruise_button_presses, key=lambda a: a[1])
|
||||
|
|
|
|||
|
|
@ -63,7 +63,7 @@ class ManeuverPlot(object):
|
|||
|
||||
|
||||
def write_plot(self, path, maneuver_name):
|
||||
title = self.title or maneuver_name
|
||||
# title = self.title or maneuver_name
|
||||
# TODO: Missing plots from the old one:
|
||||
# long_control_state
|
||||
# proportional_gb, intergral_gb
|
||||
|
|
|
|||
|
|
@ -11,7 +11,6 @@ from common.realtime import Ratekeeper
|
|||
from selfdrive.config import Conversions as CV
|
||||
import selfdrive.messaging as messaging
|
||||
from selfdrive.services import service_list
|
||||
from selfdrive.config import CruiseButtons
|
||||
from selfdrive.car.honda.hondacan import fix
|
||||
from common.fingerprints import HONDA as CAR
|
||||
from selfdrive.car.honda.carstate import get_can_signals
|
||||
|
|
@ -20,7 +19,6 @@ from selfdrive.boardd.boardd import can_capnp_to_can_list, can_list_to_can_capnp
|
|||
from selfdrive.car.honda.old_can_parser import CANParser
|
||||
from selfdrive.car.honda.interface import CarInterface
|
||||
|
||||
from cereal import car
|
||||
from common.dbc import dbc
|
||||
honda = dbc(os.path.join(DBC_PATH, "honda_civic_touring_2016_can_generated.dbc"))
|
||||
|
||||
|
|
@ -38,8 +36,7 @@ def car_plant(pos, speed, grade, gas, brake):
|
|||
speed_base = power_peak/force_peak
|
||||
rolling_res = 0.01
|
||||
g = 9.81
|
||||
wheel_r = 0.31
|
||||
frontal_area = 2.2
|
||||
#frontal_area = 2.2 TODO: use it!
|
||||
air_density = 1.225
|
||||
gas_to_peak_linear_slope = 3.33
|
||||
brake_to_peak_linear_slope = 0.3
|
||||
|
|
@ -191,7 +188,6 @@ class Plant(object):
|
|||
|
||||
# ******** run the car ********
|
||||
speed, acceleration = car_plant(self.distance_prev, self.speed_prev, grade, gas, brake)
|
||||
standstill = (speed == 0)
|
||||
distance = self.distance_prev + speed * self.ts
|
||||
speed = self.speed_prev + self.ts * acceleration
|
||||
if speed <= 0:
|
||||
|
|
@ -208,7 +204,6 @@ class Plant(object):
|
|||
else:
|
||||
d_rel = 200.
|
||||
v_rel = 0.
|
||||
a_rel = 0
|
||||
lateral_pos_rel = 0.
|
||||
|
||||
# print at 5hz
|
||||
|
|
@ -312,10 +307,6 @@ class Plant(object):
|
|||
def plant_thread(rate=100):
|
||||
plant = Plant(rate)
|
||||
while 1:
|
||||
if plant.rk.frame%100 >= 20 and plant.rk.frame%100 <= 25:
|
||||
cruise_buttons = CruiseButtons.RES_ACCEL
|
||||
else:
|
||||
cruise_buttons = 0
|
||||
plant.step()
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
|
|
|||
|
|
@ -4,7 +4,6 @@ os.environ['FAKEUPLOAD'] = "1"
|
|||
from common.testing import phone_only
|
||||
from selfdrive.manager import manager_init, manager_prepare
|
||||
from selfdrive.manager import start_managed_process, kill_managed_process, get_running
|
||||
from selfdrive.config import CruiseButtons
|
||||
from functools import wraps
|
||||
import time
|
||||
|
||||
|
|
|
|||
Binary file not shown.
Loading…
Reference in New Issue