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7119634b5b
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@ -90,6 +90,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
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ldw @65;
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carUnrecognized @66;
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radarCommIssue @67;
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driverMonitorLowAcc @68;
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}
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}
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@ -345,6 +346,7 @@ struct CarParams {
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tireStiffnessRear @24 :Float32; # [N/rad] rear tire coeff of stiff
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longitudinalTuning @25 :LongitudinalPIDTuning;
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lateralParams @48 :LateralParams;
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lateralTuning :union {
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pid @26 :LateralPIDTuning;
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indi @27 :LateralINDITuning;
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@ -371,6 +373,12 @@ struct CarParams {
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carFw @44 :List(CarFw);
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radarTimeStep @45: Float32 = 0.05; # time delta between radar updates, 20Hz is very standard
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communityFeature @46: Bool; # true if a community maintained feature is detected
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fingerprintSource @49: FingerprintSource;
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struct LateralParams {
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torqueBP @0 :List(Int32);
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torqueV @1 :List(Int32);
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}
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struct LateralPIDTuning {
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kpBP @0 :List(Float32);
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@ -465,4 +473,9 @@ struct CarParams {
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dsu @6;
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apgs @7;
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}
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enum FingerprintSource {
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can @0;
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fw @1;
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}
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}
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@ -279,6 +279,7 @@ struct ThermalData {
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batteryCurrent @15 :Int32;
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batteryVoltage @16 :Int32;
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usbOnline @12 :Bool;
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networkType @22 :NetworkType;
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fanSpeed @10 :UInt16;
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started @11 :Bool;
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@ -297,6 +298,15 @@ struct ThermalData {
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red @2; # no engage, will disengage
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danger @3; # immediate process shutdown
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}
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enum NetworkType {
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none @0;
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wifi @1;
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cell2G @2;
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cell3G @3;
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cell4G @4;
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cell5G @5;
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}
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}
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struct HealthData {
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@ -1422,6 +1432,7 @@ struct UbloxGnss {
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measurementReport @0 :MeasurementReport;
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ephemeris @1 :Ephemeris;
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ionoData @2 :IonoData;
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hwStatus @3 :HwStatus;
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}
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struct MeasurementReport {
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@ -1545,8 +1556,29 @@ struct UbloxGnss {
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healthValid @5 :Bool;
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ionoCoeffsValid @6 :Bool;
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}
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}
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struct HwStatus {
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noisePerMS @0 :UInt16;
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agcCnt @1 :UInt16;
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aStatus @2 :AntennaSupervisorState;
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aPower @3 :AntennaPowerStatus;
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jamInd @4 :UInt8;
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enum AntennaSupervisorState {
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init @0;
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dontknow @1;
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ok @2;
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short @3;
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open @4;
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}
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enum AntennaPowerStatus {
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off @0;
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on @1;
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dontknow @2;
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}
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}
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}
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struct Clocks {
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bootTimeNanos @0 :UInt64;
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@ -1754,7 +1786,7 @@ struct OrbKeyFrame {
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descriptors @3 :Data;
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}
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struct DriverMonitoring {
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struct DriverState {
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frameId @0 :UInt32;
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descriptorDEPRECATED @1 :List(Float32);
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stdDEPRECATED @2 :Float32;
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@ -1770,6 +1802,25 @@ struct DriverMonitoring {
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facePositionStd @12 :List(Float32);
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}
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struct DMonitoringState {
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# TODO: deprecate old fields in controlsState
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events @0 :List(Car.CarEvent);
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faceDetected @1 :Bool;
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isDistracted @2 :Bool;
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awarenessStatus @3 :Float32;
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isRHD @4 :Bool;
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rhdChecked @5 :Bool;
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posePitchOffset @6 :Float32;
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posePitchValidCount @7 :UInt32;
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poseYawOffset @8 :Float32;
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poseYawValidCount @9 :UInt32;
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stepChange @10 :Float32;
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awarenessActive @11 :Float32;
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awarenessPassive @12 :Float32;
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isLowStd @13 :Bool;
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hiStdCount @14 :UInt32;
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}
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struct Boot {
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wallTimeNanos @0 :UInt64;
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lastKmsg @1 :Data;
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@ -1889,7 +1940,7 @@ struct Event {
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orbKeyFrame @56 :OrbKeyFrame;
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uiLayoutState @57 :UiLayoutState;
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orbFeaturesSummary @58 :OrbFeaturesSummary;
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driverMonitoring @59 :DriverMonitoring;
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driverState @59 :DriverState;
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boot @60 :Boot;
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liveParameters @61 :LiveParametersData;
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liveMapData @62 :LiveMapData;
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@ -1900,5 +1951,6 @@ struct Event {
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carEvents @68: List(Car.CarEvent);
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carParams @69: Car.CarParams;
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frontFrame @70: FrameData;
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dMonitoringState @71: DMonitoringState;
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}
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}
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@ -65,16 +65,17 @@ orbKeyFrame: [8059, true, 0.]
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uiLayoutState: [8060, true, 0.]
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frontEncodeIdx: [8061, true, 5.]
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orbFeaturesSummary: [8062, true, 0.]
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driverMonitoring: [8063, true, 5., 1]
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driverState: [8063, true, 5., 1]
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liveParameters: [8064, true, 10.]
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liveMapData: [8065, true, 0.]
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cameraOdometry: [8066, true, 20.]
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cameraOdometry: [8066, true, 20., 5]
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pathPlan: [8067, true, 20.]
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kalmanOdometry: [8068, true, 0.]
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thumbnail: [8069, true, 0.2, 1]
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carEvents: [8070, true, 1., 1]
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carParams: [8071, true, 0.02, 1]
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frontFrame: [8072, true, 10.]
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dMonitoringState: [8073, true, 5., 1]
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testModel: [8040, false, 0.]
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testLiveLocation: [8045, false, 0.]
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