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openpilot v0.5.1 release (#315) 

Merge commit '2cfdc676101c387524246f789c8429647069b827' into release2
v0.5.1
Vehicle Researcher 2018-08-03 20:22:03 -07:00
parent 0ea21f3545 2cfdc67610
commit 8f22f52235
55 changed files with 3353 additions and 327 deletions
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97
README.md
View File

@ -10,7 +10,7 @@ The openpilot codebase has been written to be concise and enable rapid prototypi
Community
------
openpilot is supported by [comma.ai](https://comma.ai/).
openpilot is developed by [comma.ai](https://comma.ai/) and users like you.
We have a [Twitter you should follow](https://twitter.com/comma_ai).
@ -41,57 +41,62 @@ Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` dur
Supported Cars
------
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below |
| ------- | ---------------------- | -------------------- | ------- | ------------ | -------------- | -------------- |
| Acura | ILX 2016 | AcuraWatch Plus | Yes | Yes | 25mph* | 25mph |
| Acura | ILX 2017 | AcuraWatch Plus | Yes | Yes | 25mph* | 25mph |
| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph* | 12mph |
| GM | Volt 2017 | Driver Confidence II | Yes | Yes | 0mph | 0mph |
| GM | Volt 2018 | Driver Confidence II | Yes | Yes | 0mph | 0mph |
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph |
| Honda | Civic 2016 | Honda Sensing | Yes | Yes | 0mph | 12mph |
| Honda | Civic 2017 | Honda Sensing | Yes | Yes | 0mph | 12mph |
| Honda | Civic 2017 *(Hatch)* | Honda Sensing | Yes | Stock | 0mph | 12mph |
| Honda | Civic 2018 | Honda Sensing | Yes | Yes | 0mph | 12mph |
| Honda | CR-V 2015 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
| Honda | CR-V 2016 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
| Honda | CR-V 2017 | Honda Sensing | Yes | Stock | 0mph | 12mph |
| Honda | CR-V 2018 | Honda Sensing | Yes | Stock | 0mph | 12mph |
| Honda | Odyssey 2017 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
| Honda | Odyssey 2018 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
| Honda | Pilot 2017 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
| Honda | Pilot 2018 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
| Honda | Ridgeline 2017 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
| Honda | Ridgeline 2018 | Honda Sensing | Yes | Yes | 25mph* | 12mph |
| Lexus | RX Hybrid 2017 | All | Yes | Yes | 0mph | 0mph |
| Lexus | RX Hybrid 2018 | All | Yes | Yes | 0mph | 0mph |
| Toyota | Corolla 2017 | All | Yes | Yes | 20mph | 0mph |
| Toyota | Corolla 2018 | All | Yes | Yes | 20mph | 0mph |
| Toyota | Prius 2016 | TSS-P | Yes | Yes | 0mph | 0mph |
| Toyota | Prius 2017 | All | Yes | Yes | 0mph | 0mph |
| Toyota | Prius 2018 | All | Yes | Yes | 0mph | 0mph |
| Toyota | Prius Prime 2017 | All | Yes | Yes | 0mph | 0mph |
| Toyota | Prius Prime 2018 | All | Yes | Yes | 0mph | 0mph |
| Toyota | Rav4 2016 | TSS-P | Yes | Yes | 20mph | 0mph |
| Toyota | Rav4 2017 | All | Yes | Yes | 20mph | 0mph |
| Toyota | Rav4 2018 | All | Yes | Yes | 20mph | 0mph |
| Toyota | Rav4 Hybrid 2017 | All | Yes | Yes | 0mph | 0mph |
| Toyota | Rav4 Hybrid 2018 | All | Yes | Yes | 0mph | 0mph |
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below |
| ------- | ---------------------- | -------------------- | ------- | ------------ | -------------- | -------------- |
| Acura | ILX 2016 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph |
| Acura | ILX 2017 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph |
| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| GM<sup>3</sup>| Volt 2017 | Driver Confidence II | Yes | Yes | 0mph | 7mph |
| GM<sup>3</sup>| Volt 2018 | Driver Confidence II | Yes | Yes | 0mph | 7mph |
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph |
| Honda | Civic 2016 | Honda Sensing | Yes | Yes | 0mph | 12mph |
| Honda | Civic 2017 | Honda Sensing | Yes | Yes | 0mph | 12mph |
| Honda | Civic 2017 *(Hatch)* | Honda Sensing | Yes | Stock | 0mph | 12mph |
| Honda | Civic 2018 | Honda Sensing | Yes | Yes | 0mph | 12mph |
| Honda | CR-V 2015 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Honda | CR-V 2016 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Honda | CR-V 2017 | Honda Sensing | Yes | Stock | 0mph | 12mph |
| Honda | CR-V 2018 | Honda Sensing | Yes | Stock | 0mph | 12mph |
| Honda | Odyssey 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Honda | Odyssey 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Honda | Pilot 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Honda | Pilot 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Honda | Ridgeline 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Honda | Ridgeline 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Lexus | RX Hybrid 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Lexus | RX Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Camry 2018<sup>4</sup> | All | Yes | Stock | 0mph<sup>5</sup> | 0mph |
| Toyota | C-HR 2018<sup>4</sup> | All | Yes | Stock | 0mph | 0mph |
| Toyota | Corolla 2017 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Corolla 2018 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Prius 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Prius 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Prius Prime 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Prius Prime 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Rav4 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Rav4 2017 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Rav4 2018 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Rav4 Hybrid 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Rav4 Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
*[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***
<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***
<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota)
<sup>3</sup>[GM installation guide](https://www.zoneos.com/volt.htm)
<sup>4</sup>It needs an extra 120Ohm resistor ([pic1](https://i.imgur.com/CmdKtTP.jpg), [pic2](https://i.imgur.com/s2etUo6.jpg)) on bus 3 and giraffe switches set to 01X1 (11X1 for stock LKAS), where X depends on if you have the [comma power](https://comma.ai/shop/products/power/).
<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
Community Maintained Cars
------
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below |
| ------- | -----------------------| -------------------- | ------- | ------------ | ----------- | ------------ |
| Tesla | Model S 2012 | All | Yes | Not yet | Not applicable | 0mph |
| Tesla | Model S 2013 | All | Yes | Not yet | Not applicable | 0mph |
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below |
| ------- | ---------------------- | -------------------- | ------- | ------------ | -------------- | -------------- |
| Honda | Fit 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
[[Tesla Pull Request]](https://github.com/commaai/openpilot/pull/246)
[[Honda Fit Pull Request]](https://github.com/commaai/openpilot/pull/266).
*Community Maintained Cars are not confirmed by comma.ai to meet our safety model. Be extra cautious using them.
Community Maintained Cars are not confirmed by comma.ai to meet our safety model. Be extra cautious using them.
In Progress Cars
------
@ -107,7 +112,7 @@ How can I add support for my car?
If your car has adaptive cruise control and lane keep assist, you are in luck. Using a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle/) and [cabana](https://community.comma.ai/cabana/), you can understand how to make your car drive by wire.
We've written a [porting guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for Toyota that might help you after you have the basics figured out.
We've written guides for [Brand](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84) and [Model](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) ports. These guides might help you after you have the basics figured out.
- BMW, Audi, Volvo, and Mercedes all use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) and are unlikely to be supported any time soon.
- We put time into a Ford port, but the steering has a 10 second cutout limitation that makes it unusable.
@ -174,7 +179,7 @@ Contributing
------
We welcome both pull requests and issues on
[github](http://github.com/commaai/openpilot). Bug fixes and new car support encouraged.
[github](http://github.com/commaai/openpilot). Bug fixes and new car ports encouraged.
Want to get paid to work on openpilot? [comma.ai is hiring](https://comma.ai/jobs/)

7
RELEASES.md
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@ -1,3 +1,10 @@
Version 0.5.1 (2018-08-01)
========================
* Fix radar error on Civic sedan 2018
* Improve thermal management logic
* Alpha Toyota C-HR and Camry support!
* Auto-switch Driver Monitoring to 3 min counter when inaccurate
Version 0.5 (2018-07-11)
========================
* Driver Monitoring (beta) option in settings!

80
SAFETY.md
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@ -6,7 +6,10 @@ Like other ACC and LKA systems, openpilot requires the driver to be alert and to
pay attention at all times. We repeat, **driver alertness is necessary, but not
sufficient, for openpilot to be used safely**.
Even with an attentive driver, we must make further efforts for the system to be
In order to enforce driver alertness, openpilot includes a driver monitoring feature
that alerts the driver when distracted.
However, even with an attentive driver, we must make further efforts for the system to be
safe. We have designed openpilot with two other safety considerations.
1. The driver must always be capable to immediately retake manual control of the vehicle,
@ -20,7 +23,7 @@ Following are details of the car specific safety implementations:
Honda/Acura
------
- While the system is engaged, gas, brake and steer limits are subject to the same limits used by
- While the system is engaged, gas, brake and steer commands are subject to the same limits used by
the stock system.
- Without an interceptor, the gas is controlled by the Powertrain Control Module (PCM).
@ -28,16 +31,16 @@ Honda/Acura
interceptor, the gas is clipped to 60%.
- The brake is controlled by the 0x1FA CAN message. This message allows full
braking, although the board and the software clip it to 1/4th of the max.
This is around .3g of braking.
braking, although the panda firmware and openpilot clip it to 1/4th of the max.
This is approximately 0.3g of braking.
- Steering is controlled by the 0xE4 CAN message. The Electronic Power Steering (EPS)
controller in the car limits the torque to a very small amount, so regardless of the
message, the controller cannot jerk the wheel.
- Brake and gas pedal pressed signals are contained in the 0x17C CAN message. A rising edge of
either signal triggers a disengagement, which is enforced by the board and in software. The
green led on the board signifies if the board is allowing control messages.
either signals triggers a disengagement, which is enforced by the panda firmware and by openpilot. The
white led on the panda signifies if the panda is allowing control messages.
- Honda CAN uses both a counter and a checksum to ensure integrity and prevent
replay of the same message.
@ -45,29 +48,62 @@ Honda/Acura
Toyota/Lexus
------
- While the system is engaged, gas, brake and steer limits are subject to the same limits used by
- While the system is engaged, gas, brake and steer commands are subject to the same limits used by
the stock system.
- With the stock Driving Support Unit (DSU) enabled, the acceleration is controlled
by the stock system and is subject to the stock adaptive cruise control limits. Without the
stock DSU connected, the acceleration command is controlled by the 0x343 CAN message and its
value is limited by the board and the software to between .3g of deceleration and .15g of
acceleration. The acceleration command is ignored by the Engine Control Module (ECM) while the
cruise control system is disengaged.
- With the stock Driving Support Unit (DSU) connected (or in DSU-less models like Camry and C-HR),
the acceleration is controlled by the stock system and is subject to the stock adaptive cruise
control limits. Without the stock DSU connected, the acceleration command is controlled by the
0x343 CAN message and its value is limited between .3g of deceleration and .15g of acceleration
by the panda firmware and by openpilot. The acceleration command is ignored by the Engine Control
Module (ECM) while the cruise control system is disengaged.
- Steering torque is controlled through the 0x2E4 CAN message and it's limited by the board and in
software to a value of -1500 and 1500. In addition, the vehicle EPS unit will not respond to
commands outside these limits. A steering torque rate limit is enforced by the board and in
software so that the commanded steering torque must rise from 0 to max value no faster than
1.5s. Commanded steering torque is limited by the board and in software to be no more than 350
- Steering torque is controlled through the 0x2E4 CAN message and it's limited by the panda firmware and by
openpilot to a value between -1500 and 1500. In addition, the vehicle EPS unit will not respond to
commands outside these limits. A steering torque rate limit is enforced by the panda firmware and by
openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
1.5s. Commanded steering torque is limited by the panda firmware and by openpilot to be no more than 350
units above the actual EPS generated motor torque to ensure limited differences between
commanded and actual torques.
- Brake and gas pedal pressed signals are contained in the 0x224 and 0x1D2 CAN messages,
respectively. A rising edge of either signal triggers a disengagement, which is enforced by the
board and in software. Additionally, the cruise control system disengages on the rising edge of
respectively. A rising edge of either signals triggers a disengagement, which is enforced by the
panda firmware and by openpilot. Additionally, the cruise control system disengages on the rising edge of
the brake pedal pressed signal.
- The cruise control system state is contained in the 0x1D2 message. No control messages are
allowed if the cruise control system is not active. This is enforced by the software and the
board. The green led on the board signifies if the board is allowing control messages.
allowed if the cruise control system is not active. This is enforced by openpilot and the
panda firmware. The white led on the panda signifies if the panda is allowing control messages.
GM/Chevrolet
------
- While the system is engaged, gas, brake and steer commands are subject to the same limits used by
the stock system.
- The gas and regen are controlled by the 0x2CB message and it's limited by the panda firmware and by
openpilot to a value between 1404 and 3072. the minimum value correspond to a mild decel due to regen,
while 3072 correspond to approximately 0.18g of acceleration from stop.
- The friction brakes are controlled by the 0x315 message and its value is limited by the panda firmware
and openpilot to 350. This is approximately 0.3g of braking.
- Steering torque is controlled through the 0x180 CAN message and it's limited by the panda firmware and by
openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will not fault when
commands outside these limits. A steering torque rate limit is enforced by the panda firmware and by
openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
0.75s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
torque exceeds 12 units in the opposite dicrection to ensure limited applied torque against the
driver's will.
- Brake pedal and gas pedal potentiometer signals are contained in the 0xF1 and 0x1A1 CAN messages,
respectively. A rising edge of either signals triggers a disengagement, which is enforced by the
panda firmware and by openpilot. Additionally, the cruise control system disengages on the rising edge of
the brake pedal pressed signal. The regen paddle pressed signal is in the 0xBD message. When the
regen paddle is pressed, a disengagement is enforced by both the firmware and by openpilot.
- GM CAN uses both a counter and a checksum to ensure integrity and prevent
replay of the same message.
**Extra note"**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
not fully meeting the above requirements.

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7
cereal/car.capnp
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@ -63,6 +63,11 @@ struct CarEvent @0x9b1657f34caf3ad3 {
promptDriverDistracted @38;
driverDistracted @39;
geofence @40;
driverMonitorOn @41;
driverMonitorOff @42;
preDriverUnresponsive @43;
promptDriverUnresponsive @44;
driverUnresponsive @45;
}
}
@ -302,6 +307,8 @@ struct CarParams {
hondaBosch @5;
ford @6;
cadillac @7;
hyundai @8;
chrysler @9;
}
# things about the car in the manual

12
cereal/log.capnp
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@ -21,6 +21,8 @@ struct Map(Key, Value) {
struct InitData {
kernelArgs @0 :List(Text);
kernelVersion @15 :Text;
gctx @1 :Text;
dongleId @2 :Text;
@ -32,6 +34,7 @@ struct InitData {
androidBuildInfo @5 :AndroidBuildInfo;
androidSensors @6 :List(AndroidSensor);
androidProperties @16 :Map(Text, Text);
chffrAndroidExtra @7 :ChffrAndroidExtra;
iosBuildInfo @14 :IosBuildInfo;
@ -399,6 +402,7 @@ struct Live100Data {
angleOffset @27 :Float32;
gpsPlannerActive @40 :Bool;
engageable @41 :Bool; # can OP be engaged?
driverMonitoringOn @43 :Bool;
enum ControlState {
disabled @0;
@ -1533,6 +1537,13 @@ struct OrbKeyFrame {
struct DriverMonitoring {
frameId @0 :UInt32;
descriptor @1 :List(Float32);
std @2 :Float32;
}
struct Boot {
wallTimeNanos @0 :UInt64;
lastKmsg @1 :Data;
lastPmsg @2 :Data;
}
struct Event {
@ -1599,5 +1610,6 @@ struct Event {
uiLayoutState @57 :UiLayoutState;
orbFeaturesSummary @58 :OrbFeaturesSummary;
driverMonitoring @59 :DriverMonitoring;
boot @60 :Boot;
}
}

64
common/transformations/coordinates.py
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@ -12,12 +12,14 @@ esq = 6.69437999014 * 0.001
e1sq = 6.73949674228 * 0.001
def geodetic2ecef(geodetic):
def geodetic2ecef(geodetic, radians=False):
geodetic = np.array(geodetic)
input_shape = geodetic.shape
geodetic = np.atleast_2d(geodetic)
lat = (np.pi/180)*geodetic[:,0]
lon = (np.pi/180)*geodetic[:,1]
ratio = 1.0 if radians else (np.pi / 180.0)
lat = ratio*geodetic[:,0]
lon = ratio*geodetic[:,1]
alt = geodetic[:,2]
xi = np.sqrt(1 - esq * np.sin(lat)**2)
@ -28,41 +30,41 @@ def geodetic2ecef(geodetic):
return ecef.reshape(input_shape)
def ecef2geodetic(ecef):
def ecef2geodetic(ecef, radians=False):
"""
Convert ECEF coordinates to geodetic using ferrari's method
"""
def ferrari(x, y, z):
# ferrari's method
r = np.sqrt(x * x + y * y)
Esq = a * a - b * b
F = 54 * b * b * z * z
G = r * r + (1 - esq) * z * z - esq * Esq
C = (esq * esq * F * r * r) / (pow(G, 3))
S = np.cbrt(1 + C + np.sqrt(C * C + 2 * C))
P = F / (3 * pow((S + 1 / S + 1), 2) * G * G)
Q = np.sqrt(1 + 2 * esq * esq * P)
r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a * a*(1 + 1.0 / Q) - \
P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r)
U = np.sqrt(pow((r - esq * r_0), 2) + z * z)
V = np.sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z)
Z_0 = b * b * z / (a * V)
h = U * (1 - b * b / (a * V))
lat = (180/np.pi)*np.arctan((z + e1sq * Z_0) / r)
lon = (180/np.pi)*np.arctan2(y, x)
return lat, lon, h
geodetic = []
ecef = np.array(ecef)
# Save shape and export column
ecef = np.atleast_1d(ecef)
input_shape = ecef.shape
ecef = np.atleast_2d(ecef)
for p in ecef:
geodetic.append(ferrari(*p))
geodetic = np.array(geodetic)
x, y, z = ecef[:, 0], ecef[:, 1], ecef[:, 2]
ratio = 1.0 if radians else (180.0 / np.pi)
# Conver from ECEF to geodetic using Ferrari's methods
# https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution
r = np.sqrt(x * x + y * y)
Esq = a * a - b * b
F = 54 * b * b * z * z
G = r * r + (1 - esq) * z * z - esq * Esq
C = (esq * esq * F * r * r) / (pow(G, 3))
S = np.cbrt(1 + C + np.sqrt(C * C + 2 * C))
P = F / (3 * pow((S + 1 / S + 1), 2) * G * G)
Q = np.sqrt(1 + 2 * esq * esq * P)
r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a * a*(1 + 1.0 / Q) - \
P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r)
U = np.sqrt(pow((r - esq * r_0), 2) + z * z)
V = np.sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z)
Z_0 = b * b * z / (a * V)
h = U * (1 - b * b / (a * V))
lat = ratio*np.arctan((z + e1sq * Z_0) / r)
lon = ratio*np.arctan2(y, x)
# stack the new columns and return to the original shape
geodetic = np.column_stack((lat, lon, h))
return geodetic.reshape(input_shape)
class LocalCoord(object):
"""
Allows conversions to local frames. In this case NED.

2
opendbc/acura_ilx_2016_nidec.dbc
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@ -182,4 +182,4 @@ BO_TX_BU_ 769 : NEO,ADAS;
CM_ SG_ 1024 RADAR_STATE "need to find out more diagnostic values";
VAL_ 1024 RADAR_STATE 121 "ok" 110 "faulted";
VAL_ 1024 RADAR_STATE 121 "ok" 110 "faulted" 105 "wrong_config";

365
opendbc/chrysler_pacifica_2017_hybrid.dbc
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@ -37,12 +37,15 @@ BU_: XXX
BO_ 258 STEERING: 8 XXX
SG_ INCREMENTING_STEERING : 55|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM_STEERING : 63|8@0+ (1,0) [0|255] "" XXX
SG_ UNKNOWN_STEERING : 48|3@1+ (1,0) [0|15] "" XXX
SG_ STEERING_RATE : 20|13@0+ (0.3187251,-1305.498) [0|8191] "deg/s" XXX
SG_ STEER_ANGLE : 4|13@0+ (0.3187251,-1307.888) [-360|360] "deg" XXX
SG_ STEERING_RATE : 20|13@0+ (1,-4096) [0|8191] "" XXX
BO_ 514 SPEED: 4 XXX
SG_ SPEED_LEFT : 7|16@0+ (0.07,0) [0|65535] "m/s" XXX
SG_ SPEED_RIGHT : 23|16@0+ (0.07,0) [0|1023] "m/s" XXX
BO_ 514 SPEED_1: 4 XXX
SG_ SPEED_LEFT : 7|12@0+ (0.071028,0) [0|65535] "m/s" XXX
SG_ SPEED_RIGHT : 23|12@0+ (0.071028,0) [0|1023] "m/s" XXX
BO_ 653 BRAKE_MODULE: 2 XXX
SG_ BRAKE_PRESSURE : 15|8@0+ (1,0) [0|255] "" XXX
@ -59,49 +62,365 @@ BO_ 820 DOORS: 8 XXX
SG_ HIGH_BEAM_DISPLAY : 58|1@1+ (1,0) [0|1] "" XXX
BO_ 746 GEAR: 5 XXX
SG_ PRNDL : 0|3@1+ (1,0) [0|7] "" XXX
SG_ PRNDL : 2|3@0+ (1,0) [0|7] "" XXX
SG_ GEAR_CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
SG_ GEAR_INCREMENTING : 31|4@0+ (1,0) [0|15] "" XXX
BO_ 284 NEW_MSG_1: 8 XXX
SG_ BRAKE_RELATED : 3|12@0+ (1,0) [0|255] "" XXX
SG_ BRAKE_RELATED_2 : 17|10@0+ (1,0) [0|255] "" XXX
SG_ SPEED : 37|14@0+ (1,0) [0|255] "" XXX
BO_ 284 BRAKE_1: 8 XXX
SG_ SPEED_RELATED_1 : 37|14@0+ (1,0) [0|255] "" XXX
SG_ BRAKE_RELATED_1_2 : 18|11@0+ (1,0) [0|255] "" XXX
SG_ BRAKE_RELATED_1_1 : 3|12@0+ (1,0) [0|255] "" XXX
SG_ INCREMENTING_BRAKE : 55|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM_BRAKE : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 320 NEW_MSG_2: 8 XXX
SG_ SPEED_RELATED : 47|8@0+ (1,0) [0|63] "" XXX
SG_ BRAKE_PRESSED : 2|3@0+ (1,0) [0|7] "" XXX
BO_ 320 BRAKE_2: 8 XXX
SG_ SPEED_RELATED_2 : 47|8@0+ (1,0) [0|63] "" XXX
SG_ INCREMENTING_140 : 55|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM_140 : 63|8@0+ (1,0) [0|255] "" XXX
SG_ BRAKE_PRESSED_2 : 2|3@0+ (1,0) [0|7] "" XXX
SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX
BO_ 736 TRIP: 8 XXX
SG_ DISTANCE_COUNTER : 7|16@0+ (0,0) [0|65535] "Meters" XXX
SG_ DISTANCE_COUNTER : 7|16@0+ (1,0) [0|65535] "Meters" XXX
SG_ DISTANCE_COUNTER_2 : 23|16@0+ (1,0) [0|65535] "Meters" XXX
BO_ 344 WHEEL_SPEEDS: 8 XXX
SG_ WHEEL_SPEED_FL : 1|10@0+ (1,0) [0|65535] "" XXX
SG_ WHEEL_SPEED_FR : 17|10@0+ (1,0) [0|255] "" XXX
SG_ WHEEL_SPEED_RL : 33|10@0+ (1,0) [0|3] "" XXX
SG_ WHEEL_SPEED_RR : 49|10@0+ (1,0) [0|255] "" XXX
SG_ WHEEL_SPEED_FL : 3|12@0+ (0.0189408,0) [0|65535] "m/s" XXX
SG_ WHEEL_SPEED_RR : 51|12@0+ (0.0189408,0) [0|255] "m/s" XXX
SG_ WHEEL_SPEED_RL : 35|12@0+ (0.0189408,0) [0|3] "m/s" XXX
SG_ WHEEL_SPEED_FR : 19|12@0+ (0.0189408,0) [0|255] "m/s" XXX
BO_ 792 STEERING_LEVERS: 8 XXX
SG_ HIGH_BEAM_PUSHED_IN : 2|1@0+ (1,0) [0|3] "" XXX
SG_ TURN_SIGNALS : 1|2@0+ (1,0) [0|3] "" XXX
SG_ HIGH_BEAM_PUSHED_IN : 2|1@1+ (1,0) [0|3] "" XXX
SG_ HIGH_BEAM_FLASH : 3|1@1+ (1,0) [0|3] "" XXX
SG_ HIGH_BEAM_FLASH : 3|1@0+ (1,0) [0|3] "" XXX
BO_ 264 ACCEL_PEDAL_MSG: 8 XXX
SG_ ACCEL_PEDAL : 32|4@1+ (1,-7) [0|15] "" XXX
SG_ INCREMENTING_ACCEL_PEDAL : 55|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM_ACCEL_PEDAL : 63|8@0+ (1,0) [0|255] "" XXX
SG_ ACCEL_PEDAL : 35|1@0+ (1,0) [0|1] "" XXX
BO_ 464 SEATBELT_STATUS: 8 XXX
SG_ SEATBELT_DRIVER_UNLATCHED : 13|1@0+ (1,0) [0|1] "" XXX
BO_ 544 LKAS_INDICATOR_1: 8 XXX
SG_ LKAS_IS_GREEN : 23|1@0+ (1,0) [0|1] "" XXX
SG_ AUTO_PARK_HAS_CONTROL_1 : 20|1@0+ (1,0) [0|1] "" XXX
SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@1+ (1,0) [0|1] "" XXX
SG_ INCREMENTING_220 : 55|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM_220 : 63|8@0+ (1,0) [0|255] "" XXX
SG_ UNKNOWN_220_2 : 34|11@0+ (1,0) [0|255] "" XXX
SG_ UNKNOWN_220_1 : 19|12@0+ (1,0) [0|4095] "" XXX
SG_ UNKNOWN_220_0 : 2|11@0+ (1,0) [0|63] "" XXX
BO_ 658 LKAS_INDICATOR_2: 6 XXX
SG_ LKAS_INCREMENTING : 39|4@0+ (1,0) [0|15] "" XXX
SG_ LKAS_CHECKSUM_2 : 40|8@1+ (1,0) [0|255] "" XXX
SG_ LKAS_STEERING_TORQUE_MAYBE : 3|12@0- (1,0) [0|63] "" XXX
BO_ 678 LKAS_INDICATOR_3: 8 XXX
SG_ WARNING_PLACE_HANDS : 22|2@0+ (1,0) [0|3] "" XXX
SG_ LKAS_WHITE_OR_YELLOW : 0|1@1+ (1,0) [0|1] "" XXX
SG_ LKAS_IS_YELLOW_2 : 19|1@1+ (1,0) [0|1] "" XXX
BO_ 705 AUTO_PARK_BUTTON: 8 XXX
SG_ AUTO_PARK_TOGGLE_2 : 8|1@1+ (1,0) [0|1] "" XXX
SG_ AUTO_PARK_TOGGLE_1 : 11|1@0+ (1,0) [0|1] "" XXX
SG_ INCREASING_UNKNOWN : 32|7@1+ (1,0) [0|15] "" XXX
BO_ 719 AUTO_PARK_SIGNALS_1: 8 XXX
SG_ AUTO_PARK_UNKNOWN_1 : 7|16@0+ (1,0) [0|31] "" XXX
BO_ 671 AUTO_PARK_SIGNALS_2: 8 XXX
SG_ AUTO_PARK_PARALLEL : 21|1@0+ (1,0) [0|1] "" XXX
SG_ AUTO_PARK_PERPENDICULAR_1 : 22|1@0+ (1,0) [0|1] "" XXX
SG_ INCREMENTING : 55|4@0+ (1,0) [0|15] "" XXX
SG_ AUTO_PARK_CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ AUTO_PARK_MAYBE_TURNING : 3|12@0+ (1,0) [0|1023] "" XXX
SG_ AUTO_PARK_TURNING_STATUS : 7|4@0+ (1,0) [0|15] "" XXX
BO_ 784 AUTO_PARK_LESS_INTERESTING: 8 XXX
SG_ INCREASING_UNKNOWN : 48|8@1+ (1,0) [0|7] "" XXX
SG_ AUTO_PARK_PERPENDICULAR_2 : 61|1@0+ (1,0) [0|255] "" XXX
BO_ 826 AUTO_PARK_SIGNALS_3: 8 XXX
SG_ AUTO_PARK_HAS_CONTROL_3 : 1|1@0+ (1,0) [0|1] "" XXX
SG_ HUMAN_HAS_CONTROL : 2|1@0+ (1,0) [0|1] "" XXX
SG_ AUTO_PARK_GEAR_1 : 27|4@0+ (1,0) [0|255] "" XXX
SG_ AUTO_PARK_GEAR_2 : 32|4@1+ (1,0) [0|15] "" XXX
SG_ AUTO_PARK_GEAR_3 : 48|4@1+ (1,0) [0|15] "" XXX
BO_ 332 STEERING_2: 8 XXX
SG_ INCREMENTING_14C : 55|4@0+ (1,0) [0|15] "" XXX
SG_ ENERGY_RELATED : 39|16@0+ (1,0) [0|65535] "" XXX
SG_ STEER_ANGLE_2 : 7|13@0+ (0.3187251,-1307.888) [-360|360] "deg" XXX
BO_ 720 BLIND_SPOT_WARNINGS: 6 XXX
SG_ BLIND_SPOT_RIGHT : 5|1@0+ (1,0) [0|1] "" XXX
SG_ BLIND_SPOT_LEFT : 2|1@1+ (1,0) [0|1] "" XXX
BO_ 331 BRAKE_3: 8 XXX
SG_ BRAKE_RELATED_3 : 7|16@0+ (1,0) [0|65535] "" XXX
SG_ INCREMENTING_14B : 55|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM_14B : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 608 PARKSENSE_SIGNAL: 8 XXX
SG_ PARKSENSE_DISABLED : 34|1@0+ (1,0) [0|1] "" XXX
SG_ INCREMENTING_260 : 55|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM_260 : 63|8@0+ (1,0) [0|255] "" XXX
SG_ IN_REVERSE : 10|1@1+ (1,0) [0|255] "" XXX
SG_ AUTO_PARK_HAS_CONTROL_1 : 16|1@1+ (1,0) [0|255] "" XXX
SG_ HUMAN_HAS_CONTROL : 17|1@1+ (1,0) [0|3] "" XXX
BO_ 729 LKAS_STATUS_1: 5 XXX
SG_ LKAS_STATUS_OK : 31|16@0+ (1,0) [0|65535] "" XXX
BO_ 274 NEW_MSG_112: 2 XXX
BO_ 290 NEW_MSG_122: 6 XXX
BO_ 376 NEW_MSG_178: 3 XXX
BO_ 288 ACCEL_RELATED_120: 7 XXX
SG_ UNKNOWN_INCREMENTING_120 : 47|4@0+ (1,0) [0|15] "" XXX
SG_ UNKNOWN_CHECKSUM_120 : 55|8@0+ (1,0) [0|255] "" XXX
SG_ ACCEL : 16|8@1+ (1,0) [0|255] "" XXX
SG_ GAS_ENGINE_RPM_MAYBE : 31|16@0+ (1,0) [0|65535] "" XXX
BO_ 257 ACCEL_RELATED_101: 5 XXX
SG_ ENERGY_OR_RPM : 24|8@1+ (1,0) [0|255] "" XXX
BO_ 388 NEW_MSG_184: 4 XXX
BO_ 448 NEW_MSG_1c0: 6 XXX
BO_ 456 NEW_MSG_1c8: 4 XXX
BO_ 560 NEW_MSG_230: 4 XXX
BO_ 564 NEW_MSG_234: 4 XXX
BO_ 571 WHEEL_BUTTONS: 3 XXX
SG_ CHECKSUM_23B : 23|8@0+ (1,0) [0|255] "" XXX
SG_ ACC_FOLLOW_DEC : 1|1@1+ (1,0) [0|3] "" XXX
SG_ ACC_SPEED_INC : 2|1@0+ (1,0) [0|255] "" XXX
SG_ ACC_SPEED_DEC : 3|1@1+ (1,0) [0|3] "" XXX
SG_ ACC_FOLLOW_INC : 8|1@1+ (1,0) [0|15] "" XXX
SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX
BO_ 669 NEW_MSG_29d: 3 XXX
SG_ INCREMENTING_29D : 15|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM_29D : 16|8@1+ (1,0) [0|255] "" XXX
BO_ 825 NEW_MSG_339: 2 XXX
BO_ 856 NEW_MSG_358: 4 XXX
BO_ 860 NEW_MSG_35c: 6 XXX
BO_ 924 NEW_MSG_39c: 3 XXX
BO_ 969 NEW_MSG_3c9: 4 XXX
BO_ 974 NEW_MSG_3ce: 5 XXX
BO_ 993 NEW_MSG_3e1: 7 XXX
BO_ 838 NEW_MSG_346: 2 XXX
BO_ 926 NEW_MSG_39e: 3 XXX
BO_ 168 ACCEL_RELATED_a8: 8 XXX
SG_ ACCEL_RELATED : 23|16@0+ (1,0) [0|65535] "" XXX
SG_ INCREMENTING_A8 : 55|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM_A8 : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 270 ACCEL_RELATED_10e: 8 XXX
SG_ ACCEL_OR_RPM : 7|16@0+ (1,0) [0|255] "" XXX
SG_ INCREMENTING_ACCEL : 55|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM_ACCEL : 63|8@0+ (1,0) [0|255] "" XXX
SG_ ELECTRIC_MOTOR : 23|16@0+ (1,0) [0|65535] "" XXX
BO_ 291 ENERGY_RELATED_123: 8 XXX
SG_ ENERGY_GAIN_LOSS : 18|11@0- (1,0) [0|255] "" XXX
SG_ INCREMENTING_123 : 55|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM_123 : 63|8@0+ (1,0) [0|255] "" XXX
SG_ ENERGY_SMOOTHER_CURVE : 35|12@0+ (1,0) [0|2047] "" XXX
BO_ 294 ENERGY_RELATED_126: 8 XXX
SG_ CHECKSUM_126 : 63|8@0+ (1,0) [0|255] "" XXX
SG_ UNKNOWN_126_1 : 3|12@0+ (1,0) [0|4095] "" XXX
SG_ INCREMENTING_126 : 55|4@0+ (1,0) [0|15] "" XXX
SG_ UNKNOWN_126_2 : 35|12@0+ (1,0) [0|4095] "" XXX
SG_ ENERGY_GAIN_LOSS_NOISY : 19|12@0+ (1,0) [0|2047] "" XXX
BO_ 300 NEW_MSG_12C: 8 XXX
BO_ 308 ACCEL_GAS_134: 8 XXX
SG_ INCREMENTING_134 : 55|4@0+ (1,0) [0|15] "" XXX
SG_ ACCEL_134 : 40|4@1+ (1,0) [0|15] "" XXX
BO_ 532 ENERGY_RELATED_214: 8 XXX
SG_ NOISY_SLOWLY_DECREASING : 16|9@0+ (1,0) [0|255] "" XXX
SG_ ENERGY_RELATED : 0|9@0+ (1,0) [0|255] "" XXX
BO_ 559 ACCEL_GAS_22F: 8 XXX
SG_ ACCEL_22F : 0|4@1+ (1,0) [0|255] "" XXX
SG_ INCREMENTING_22F : 55|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM_22F : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 655 CHARGING_MAYBE_28F: 8 XXX
SG_ CHARGING : 0|2@1+ (1,0) [0|3] "" XXX
BO_ 660 BRAKE_RELATED_294: 8 XXX
SG_ INCREMENTING_294 : 55|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM_294 : 63|8@0+ (1,0) [0|255] "" XXX
SG_ BRAKE_PERHAPS_294 : 24|8@1+ (1,0) [0|255] "" XXX
BO_ 764 ACCEL_RELATED_2FC: 8 XXX
SG_ ACCEL_2FC : 8|6@1+ (1,0) [0|255] "" XXX
BO_ 816 TRACTION_BUTTON: 8 XXX
SG_ TRACTION_OFF : 19|1@1+ (1,0) [0|3] "" XXX
BO_ 878 ACCEL_RELATED_36E: 8 XXX
SG_ ACCEL_OR_RPM_2 : 15|8@0+ (1,0) [0|255] "" XXX
SG_ ACCEL_OR_RPM_1 : 0|8@1+ (1,0) [0|255] "" XXX
BO_ 324 SPEED_2: 8 XXX
SG_ SPEED_2 : 31|16@0+ (0.01,0) [0|255] "m/s" XXX
BO_ 501 DASHBOARD: 8 XXX
SG_ ACC_SPEED_CONFIG_KPH : 15|8@0+ (1,0) [0|3] "km/h" XXX
SG_ ACC_SPEED_CONFIG_MPH : 23|8@0+ (1,0) [0|3] "mph" XXX
SG_ ACC_DISTANCE_CONFIG_1 : 1|2@0+ (1,0) [0|3] "" XXX
SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
BO_ 639 NEW_MSG_27f: 8 XXX
SG_ INCREASING : 40|8@1+ (1,0) [0|255] "" XXX
BO_ 701 NEW_MSG_2bd: 8 XXX
SG_ unknown_1 : 32|8@1+ (1,0) [0|255] "" XXX
BO_ 832 UNKNOWN_340: 8 XXX
SG_ SPEED_DIGITAL : 56|8@1+ (1,0) [0|255] "mph" XXX
BO_ 848 UNKNOWN_350: 8 XXX
SG_ INCREASING_LSB : 0|6@1+ (1,0) [0|255] "" XXX
SG_ INCREASING_MSB : 12|5@0+ (1,0) [0|31] "" XXX
BO_ 908 NEW_MSG_38c: 8 XXX
SG_ INCREASING_MSB : 44|5@0+ (1,0) [0|31] "" XXX
SG_ INCREASING_LSB : 56|6@1+ (1,0) [0|255] "" XXX
BO_ 938 NEW_MSG_3aa: 8 XXX
SG_ INCREASING_UNKNOWN_1 : 32|8@1+ (1,0) [0|255] "" XXX
SG_ INCREASING_UNKNOWN_2 : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 940 NEW_MSG_3ac: 8 XXX
SG_ INCREASING_1 : 32|4@1+ (1,0) [0|15] "" XXX
SG_ INCREASING_2 : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 941 NEW_MSG_3ad: 8 XXX
SG_ INCREASING_1 : 32|5@1+ (1,0) [0|31] "" XXX
SG_ INCREASING_2 : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 500 ACC_2: 8 XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
SG_ ACC_STATUS_1 : 7|3@0+ (1,0) [0|255] "" XXX
SG_ BRAKE_MAYBE : 18|11@0+ (1,0) [0|255] "" XXX
SG_ ACC_STATUS_2 : 21|3@0+ (1,0) [0|255] "" XXX
SG_ BRAKE_BOOL_1 : 36|1@0+ (1,0) [0|3] "" XXX
BO_ 625 ACC_1: 8 XXX
SG_ SPEED : 24|8@1+ (1,0) [0|255] "km/h" XXX
SG_ ACCEL_PERHAPS : 39|16@0+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
BO_ 268 ACC_10c: 8 XXX
SG_ BRAKE_PERHAPS : 48|1@1+ (1,0) [0|3] "" XXX
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 384 NEW_MSG_180: 8 XXX
SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_3 : 32|8@1+ (1,0) [0|3] "" XXX
BO_ 853 NEW_MSG_355: 8 XXX
BO_ 939 NEW_MSG_3ab: 8 XXX
BO_ 512 NEW_MSG_200: 8 XXX
SG_ NEW_SIGNAL_1 : 16|8@1+ (1,0) [0|255] "" XXX
SG_ INCREASING : 27|12@0+ (1,0) [0|127] "" XXX
SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
CM_ SG_ 258 UNKNOWN_STEERING "never goes above 4. see if human-applied torque";
CM_ SG_ 258 STEER_ANGLE "positive is left (counter-clockwise)";
CM_ SG_ 514 SPEED_LEFT "TODO find upper limit";
CM_ SG_ 653 BRAKE_PRESSURE "max seems to be 148";
CM_ SG_ 820 TURN_LIGHT_LEFT "oscillates with the light blinking";
CM_ SG_ 820 TURN_LIGHT_RIGHT "hazard blinks both right and left lights";
CM_ SG_ 746 PRNDL "4=D, 3=N, 2=R, 1=P";
CM_ SG_ 284 BRAKE_RELATED "Correlates with braking";
CM_ SG_ 284 SPEED "Another Speed Signal, Maybe RPMs?";
CM_ SG_ 320 BRAKE_PRESSED "Value is 5 when brake is pressed";
CM_ SG_ 746 GEAR_CHECKSUM "different than the LKAS checksum. unknown non-simple algorithm. just build a lookup table for it.";
CM_ SG_ 284 SPEED_RELATED_1 "Another Speed Signal, Maybe RPMs?";
CM_ SG_ 284 BRAKE_RELATED_1_1 "Correlates with braking";
CM_ SG_ 320 BRAKE_PRESSED_2 "Value is 5 when brake is pressed by human, 1 when ACC brake";
CM_ SG_ 320 BRAKE_PRESSED_ACC "set when ACC brakes";
CM_ SG_ 792 TURN_SIGNALS "1=Left, 2=Right";
CM_ SG_ 792 HIGH_BEAM_FLASH "use this for genericToggle";
CM_ SG_ 264 ACCEL_PEDAL "not in ACC so seems to be actual pedal. Use for gasPressed";
CM_ SG_ 544 AUTO_PARK_HAS_CONTROL_1 "set when autopark has control";
CM_ SG_ 658 LKAS_INCREMENTING "each message increments, 0..f";
CM_ SG_ 658 LKAS_CHECKSUM_2 "checksum calculated with https://gist.github.com/adhintz/94bf8d19b9075539f50172ab0fb24ba1";
CM_ SG_ 658 LKAS_STEERING_TORQUE_MAYBE "1024 is straight. most sent by stock system is 1024+-230. + is left. typically changes by 2 or 3 each 0.01s";
CM_ SG_ 678 WARNING_PLACE_HANDS "set when warning displays place hands on steering wheel";
CM_ SG_ 678 LKAS_WHITE_OR_YELLOW "set when indicator is yellow or white. could indicate lkas not on track.";
CM_ SG_ 678 LKAS_IS_YELLOW_2 "set when indicator is yellow. could indicate lkas is steering.";
CM_ SG_ 705 AUTO_PARK_TOGGLE_1 "set briefly when turning on or off self-parking";
CM_ SG_ 705 INCREASING_UNKNOWN "sometimes decreasing";
CM_ SG_ 671 AUTO_PARK_PARALLEL "parallel parking mode";
CM_ SG_ 671 AUTO_PARK_PERPENDICULAR_1 "perpendicular parking mode";
CM_ SG_ 671 AUTO_PARK_MAYBE_TURNING "something with autopark turning the steering wheel maybe.";
CM_ SG_ 671 AUTO_PARK_TURNING_STATUS "0 when not steering. when steering starts, 4 for two packets, and then 5 for the rest";
CM_ SG_ 784 INCREASING_UNKNOWN "perhaps distance traveled";
CM_ SG_ 826 AUTO_PARK_GEAR_1 "Reverse=0, Forward=f";
CM_ SG_ 826 AUTO_PARK_GEAR_2 "Reverse=0, Forward=f";
CM_ SG_ 826 AUTO_PARK_GEAR_3 "Reverse=0, Forward=f";
CM_ SG_ 332 STEER_ANGLE_2 "slightly lags the other steer_angle signal. also more noisy.";
CM_ SG_ 720 BLIND_SPOT_RIGHT "yellow triangle alert on side view mirror when a car is in your blind spot";
CM_ SG_ 608 PARKSENSE_DISABLED "set if parksense is disabled";
CM_ SG_ 729 LKAS_STATUS_OK "Set to 0x0820 when LKAS system is plugged in.";
CM_ SG_ 288 UNKNOWN_CHECKSUM_120 "not the LKAS checksum";
CM_ SG_ 288 GAS_ENGINE_RPM_MAYBE "lags acceleration, perhaps gas engine";
CM_ SG_ 257 ENERGY_OR_RPM "perhaps energy consumption or RPMs";
CM_ SG_ 270 ELECTRIC_MOTOR "0x7fff indicates electric motor not in use";
CM_ SG_ 291 ENERGY_GAIN_LOSS "unsure what this actually is";
CM_ SG_ 291 ENERGY_SMOOTHER_CURVE "unusre what it is, but smoother";
CM_ SG_ 532 NOISY_SLOWLY_DECREASING "perhaps battery but do not know";
CM_ SG_ 816 TRACTION_OFF "set when traction off button is enabled";
CM_ SG_ 324 SPEED_2 "signal is approx half other speeds";
CM_ SG_ 501 ACC_SPEED_CONFIG_KPH "speed configured for ACC";
CM_ SG_ 501 ACC_SPEED_CONFIG_MPH "speed configured for ACC";
CM_ SG_ 639 INCREASING "perhaps number of seconds divided by two for this drive";
CM_ SG_ 848 INCREASING_LSB "lower part of time counter";
CM_ SG_ 848 INCREASING_MSB "upper part of time counter";
CM_ SG_ 908 INCREASING_MSB "time based";
CM_ SG_ 500 ACC_STATUS_1 "2 briefly (9 packets) when ACC goes to green, 1 help when ACC coming to a stop and at a stop";
CM_ SG_ 500 BRAKE_MAYBE "2046 in non-ACC and non-decel. Signal on deceleration. 818 for already stopped break.";
CM_ SG_ 500 ACC_STATUS_2 "set to 1 in non-ACC, 3 when ACC enabled (white icon), and 7 when ACC in use (green icon)";
CM_ SG_ 500 BRAKE_BOOL_1 "set to 1 when ACC decel. 0 on non-ACC and accel.";
CM_ SG_ 625 SPEED "zero on non-acc drives";
CM_ SG_ 625 ACCEL_PERHAPS "set to 7767 on non-ACC drives. ACC drive 40k is constant speed, 42k is accelerating";
CM_ SG_ 268 BRAKE_PERHAPS "triggers only on ACC braking";
CM_ SG_ 384 NEW_SIGNAL_1 "set in ACC gas driving. not set in electric human. not sure about gas human driving.";
VAL_ 746 PRNDL 4 "Drive" 3 "Neutral" 2 "Reverse" 1 "Park" ;
VAL_ 792 TURN_SIGNALS 2 "Right" 1 "Left" ;

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VERSION ""
NS_ :
NS_DESC_
CM_
BA_DEF_
BA_
VAL_
CAT_DEF_
CAT_
FILTER
BA_DEF_DEF_
EV_DATA_
ENVVAR_DATA_
SGTYPE_
SGTYPE_VAL_
BA_DEF_SGTYPE_
BA_SGTYPE_
SIG_TYPE_REF_
VAL_TABLE_
SIG_GROUP_
SIG_VALTYPE_
SIGTYPE_VALTYPE_
BO_TX_BU_
BA_DEF_REL_
BA_REL_
BA_DEF_DEF_REL_
BU_SG_REL_
BU_EV_REL_
BU_BO_REL_
SG_MUL_VAL_
BS_:
BU_: XXX
BO_ 544 a_1: 8 XXX
SG_ track_id : 7|4@0+ (1,0) [0|15] "" XXX
SG_ REL_ACCEL : 3|12@0+ (1,0) [0|31] "" XXX
SG_ status1 : 23|4@0+ (1,0) [0|15] "" XXX
SG_ REL_SPEED : 19|12@0+ (1,0) [0|65535] "" XXX
SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX
SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX
SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX
SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 576 b_1: 8 XXX
SG_ sig0 : 0|8@1+ (1,0) [0|255] "" XXX
SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX
SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX
SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX
SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 608 a_2: 8 XXX
SG_ track_id : 7|4@0+ (1,0) [0|15] "" XXX
SG_ REL_ACCEL : 3|12@0+ (1,0) [0|31] "" XXX
SG_ status1 : 23|4@0+ (1,0) [0|15] "" XXX
SG_ REL_SPEED : 19|12@0+ (1,0) [0|65535] "" XXX
SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX
SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX
SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX
SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 640 b_2: 8 XXX
SG_ sig0 : 0|8@1+ (1,0) [0|255] "" XXX
SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX
SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX
SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX
SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 644 a_3: 8 XXX
SG_ track_id : 7|4@0+ (1,0) [0|15] "" XXX
SG_ REL_ACCEL : 3|12@0+ (1,0) [0|31] "" XXX
SG_ status1 : 23|4@0+ (1,0) [0|15] "" XXX
SG_ REL_SPEED : 19|12@0+ (1,0) [0|65535] "" XXX
SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX
SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX
SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX
SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 648 b_3: 8 XXX
SG_ sig0 : 0|8@1+ (1,0) [0|255] "" XXX
SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX
SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX
SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX
SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 652 a_4: 8 XXX
SG_ track_id : 7|4@0+ (1,0) [0|15] "" XXX
SG_ REL_ACCEL : 3|12@0+ (1,0) [0|31] "" XXX
SG_ status1 : 23|4@0+ (1,0) [0|15] "" XXX
SG_ REL_SPEED : 19|12@0+ (1,0) [0|65535] "" XXX
SG_ status2 : 39|6@0+ (1,0) [0|15] "" XXX
SG_ sig2 : 33|10@0+ (1,0) [0|255] "" XXX
SG_ zeros : 55|4@0+ (1,0) [0|15] "" XXX
SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 656 b_4: 8 XXX
SG_ sig0 : 0|8@1+ (1,0) [0|255] "" XXX
SG_ sig1 : 15|16@0+ (1,0) [0|65535] "" XXX
SG_ sig2 : 31|16@0+ (1,0) [0|255] "" XXX
SG_ zeros : 47|12@0+ (1,0) [0|255] "" XXX
SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 512 unknown_200: 8 XXX
SG_ COUNTER : 48|4@1+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ increasing : 31|16@0+ (1,0) [0|255] "" XXX
SG_ zeros_0 : 3|12@0+ (1,0) [0|63] "" XXX
SG_ zeros_1 : 47|12@0+ (1,0) [0|63] "" XXX
SG_ status0 : 7|4@0+ (1,0) [0|15] "" XXX
SG_ unknown_0 : 23|8@0+ (1,0) [0|255] "" XXX
BO_ 514 unknown_202: 8 XXX
SG_ COUNTER : 43|4@0+ (1,0) [0|15] "" XXX
SG_ sig3 : 31|8@0+ (1,0) [0|65535] "" XXX
SG_ increasing : 39|12@0+ (1,0) [0|15] "" XXX
BO_ 706 c_1: 8 XXX
SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
BO_ 708 c_2: 8 XXX
SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 710 c_3: 8 XXX
SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 712 c_4: 8 XXX
SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 714 c_5: 8 XXX
SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 716 c_6: 8 XXX
SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 718 c_7: 8 XXX
SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 720 c_8: 8 XXX
SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 722 c_9: 8 XXX
SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 724 c_10: 8 XXX
SG_ LAT_DIST : 18|11@0+ (0.005,-1000) [0|2047] "m" XXX
SG_ LONG_DIST : 34|11@0+ (0.073,0) [0|255] "m" XXX
SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 674 d_1: 8 XXX
SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
BO_ 676 d_2: 8 XXX
SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
BO_ 678 d_3: 8 XXX
SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
BO_ 680 d_4: 8 XXX
SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
BO_ 682 d_5: 8 XXX
SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
BO_ 684 d_6: 8 XXX
SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
BO_ 686 d_7: 8 XXX
SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
BO_ 688 d_8: 8 XXX
SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
BO_ 690 d_9: 8 XXX
SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
BO_ 692 d_10: 8 XXX
SG_ REL_SPEED : 17|10@0+ (0.2857,-146.278) [0|1023] "m/s" XXX
BO_ 672 NEW_MSG_5: 8 XXX
SG_ NEW_SIGNAL_1 : 9|10@0+ (1,0) [0|1023] "" XXX
SG_ NEW_SIGNAL_2 : 45|10@0+ (1,0) [0|1023] "" XXX
CM_ SG_ 544 track_id "for message a_1 track_id is always 1, similar for other messages and track_id";
CM_ SG_ 544 REL_ACCEL "perhaps REL_ACCEL because it responds faster and before REL_SPEED";
CM_ SG_ 544 sig2 "perhaps distance to object. LONG_DIST or REL_ACCEL or REL_SPEED";
CM_ SG_ 576 zeros "not always zero, sometimes has value when another car changes lanes";
CM_ SG_ 706 LAT_DIST "positive is to the right, negative is to the left";

97
opendbc/generator/honda/honda_fit_ex_2018_can.dbc 100644
View File

@ -0,0 +1,97 @@
CM_ "IMPORT _honda_2017.dbc"
CM_ "IMPORT _comma.dbc"
BO_ 145 KINEMATICS: 8 XXX
SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
BO_ 228 STEERING_CONTROL: 5 ADAS
SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
BO_ 304 GAS_PEDAL_2: 8 PCM
SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
BO_ 342 STEERING_SENSORS: 6 EPS
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
BO_ 399 STEER_STATUS: 7 EPS
SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
BO_ 401 GEARBOX: 8 PCM
SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
SG_ GEAR : 43|4@0+ (1,0) [0|15] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
BO_ 420 VSA_STATUS: 8 VSA
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
BO_ 422 SCM_BUTTONS: 8 SCM
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
BO_ 487 BRAKE_PRESSURE: 4 VSA
SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
BO_ 660 SCM_FEEDBACK: 8 SCM
SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
BO_ 884 STALK_STATUS: 8 XXX
SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

36
opendbc/generator/toyota/toyota_chr_hybrid_2018_pt.dbc 100644
View File

@ -0,0 +1,36 @@
CM_ "IMPORT _toyota_2017.dbc"
CM_ "IMPORT _comma.dbc"
BO_ 295 GEAR_PACKET: 8 XXX
SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX
BO_ 550 BRAKE_MODULE: 8 XXX
SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
BO_ 581 GAS_PEDAL: 8 XXX
SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 610 EPS_STATUS: 8 EPS
SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B";
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";

326
opendbc/honda_fit_ex_2018_can_generated.dbc 100644
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@ -0,0 +1,326 @@
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
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
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" INTERCEPTOR
SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
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"
VERSION ""
NS_ :
NS_DESC_
CM_
BA_DEF_
BA_
VAL_
CAT_DEF_
CAT_
FILTER
BA_DEF_DEF_
EV_DATA_
ENVVAR_DATA_
SGTYPE_
SGTYPE_VAL_
BA_DEF_SGTYPE_
BA_SGTYPE_
SIG_TYPE_REF_
VAL_TABLE_
SIG_GROUP_
SIG_VALTYPE_
SIGTYPE_VALTYPE_
BO_TX_BU_
BA_DEF_REL_
BA_REL_
BA_DEF_DEF_REL_
BU_SG_REL_
BU_EV_REL_
BU_BO_REL_
SG_MUL_VAL_
BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON
BO_ 344 ENGINE_DATA: 8 PCM
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
SG_ ODOMETER : 55|8@0+ (0.010588,0) [0|255] "km" XXX
BO_ 380 POWERTRAIN_DATA: 8 PCM
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm" EON
SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" EON
SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
BO_ 432 STANDSTILL: 7 VSA
SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
BO_ 464 WHEEL_SPEEDS: 8 VSA
SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
BO_ 490 VEHICLE_DYNAMICS: 8 VSA
SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
BO_ 506 BRAKE_COMMAND: 8 ADAS
SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
SG_ ZEROS_BOH : 13|5@0+ (1,0) [0|1] "" EBCM
SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_BOH2 : 23|3@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_BOH3 : 19|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
SG_ SET_ME_0X80 : 31|8@0+ (1,0) [0|1] "" EBCM
SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
SG_ ZEROS_BOH6 : 44|1@0+ (1,0) [0|1] "" EBCM
SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|0] "" EBCM
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
BO_ 773 SEATBELT_STATUS: 7 BDY
SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
BO_ 777 LOCK_STATUS: 8 XXX
SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
BO_ 780 ACC_HUD: 8 ADAS
SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
SG_ BOH_2 : 35|1@0+ (1,0) [0|1] "" BDY
SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
SG_ SET_ME_X03 : 47|2@0+ (1,0) [0|3] "" BDY
SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
SG_ SET_ME_X03_2 : 55|2@0+ (1,0) [0|3] "" BDY
SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
BO_ 804 CRUISE: 8 PCM
SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
BO_ 829 LKAS_HUD: 5 ADAS
SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
BO_ 892 CRUISE_PARAMS: 8 PCM
SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
BO_ 1029 DOORS_STATUS: 8 BDY
SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
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"
BO_ 145 KINEMATICS: 8 XXX
SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON
BO_ 228 STEERING_CONTROL: 5 ADAS
SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
BO_ 304 GAS_PEDAL_2: 8 PCM
SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
BO_ 342 STEERING_SENSORS: 6 EPS
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON
BO_ 399 STEER_STATUS: 7 EPS
SG_ STEER_TORQUE_SENSOR : 7|16@0- (1,0) [-31000|31000] "tbd" EON
SG_ STEER_TORQUE_MOTOR : 23|16@0- (1,0) [-31000|31000] "tbd" EON
SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
BO_ 401 GEARBOX: 8 PCM
SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
SG_ GEAR : 43|4@0+ (1,0) [0|15] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
BO_ 420 VSA_STATUS: 8 VSA
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
BO_ 422 SCM_BUTTONS: 8 SCM
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
BO_ 487 BRAKE_PRESSURE: 4 VSA
SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
BO_ 660 SCM_FEEDBACK: 8 SCM
SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
BO_ 862 HIGHBEAM_CONTROL: 8 ADAS
SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX
SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
BO_ 884 STALK_STATUS: 8 XXX
SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged";
VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ;
VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

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opendbc/kia_sorento_2018.dbc 100644
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opendbc/toyota_chr_hybrid_2018_pt_generated.dbc 100644
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CM_ "AUTOGENERATED FILE, DO NOT EDIT"
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
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
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_ 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_ "Imported file _toyota_2017.dbc starts here"
VERSION ""
NS_ :
NS_DESC_
CM_
BA_DEF_
BA_
VAL_
CAT_DEF_
CAT_
FILTER
BA_DEF_DEF_
EV_DATA_
ENVVAR_DATA_
SGTYPE_
SGTYPE_VAL_
BA_DEF_SGTYPE_
BA_SGTYPE_
SIG_TYPE_REF_
VAL_TABLE_
SIG_GROUP_
SIG_VALTYPE_
SIGTYPE_VALTYPE_
BO_TX_BU_
BA_DEF_REL_
BA_REL_
BA_DEF_DEF_REL_
BU_SG_REL_
BU_EV_REL_
BU_BO_REL_
SG_MUL_VAL_
BS_:
BU_: XXX DSU HCU EPS IPAS
BO_ 36 KINEMATICS: 8 XXX
SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
BO_ 166 BRAKE: 8 XXX
SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
BO_ 170 WHEEL_SPEEDS: 8 XXX
SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
BO_ 180 SPEED: 8 XXX
SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
BO_ 466 PCM_CRUISE: 8 XXX
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 552 ACCELEROMETER: 8 XXX
SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
BO_ 560 BRAKE_MODULE2: 7 XXX
SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
BO_ 614 STEERING_IPAS: 8 IPAS
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
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_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 643 PRE_COLLISION: 8 XXX
BO_ 740 STEERING_LKA: 5 XXX
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
BO_ 742 LEAD_INFO: 8 DSU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
BO_ 835 ACC_CONTROL: 8 DSU
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
SG_ SET_ME_X63 : 23|8@0+ (1,0) [0|255] "" HCU
SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
BO_ 467 PCM_CRUISE_2: 8 XXX
SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 921 PCM_CRUISE_SM: 8 XXX
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
BO_ 951 ESP_CONTROL: 8 ESP
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
BO_ 1041 ACC_HUD: 8 DSU
SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
BO_ 1042 LKAS_HUD: 8 XXX
SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
BO_ 1553 UI_SEETING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
BO_ 1568 SEATS_DOORS: 8 XXX
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
BO_ 1570 LIGHT_STALK: 8 SCM
SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
CM_ SG_ 36 ACCEL_Y "unit is tbd";
CM_ SG_ 36 YAW_RATE "verify";
CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
CM_ SG_ 37 STEER_RATE "factor is tbd";
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
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";
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off" ;
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ;
VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
VAL_ 1553 UNITS 1 "km" 2 "miles";
VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ;
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
CM_ "toyota_chr_hybrid_2018_pt.dbc starts here"
BO_ 295 GEAR_PACKET: 8 XXX
SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX
SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX
BO_ 550 BRAKE_MODULE: 8 XXX
SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
BO_ 581 GAS_PEDAL: 8 XXX
SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 610 EPS_STATUS: 8 EPS
SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B";
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";

2
panda/VERSION
View File

@ -1 +1 @@
v1.1.2
v1.1.3

98
panda/board/safety/safety_toyota.h
View File

@ -1,32 +1,34 @@
struct sample_t torque_meas; // last 3 motor torques produced by the eps
int toyota_no_dsu_car = 0; // ch-r and camry don't have the DSU
int toyota_giraffe_switch_1 = 0; // is giraffe switch 1 high?
// global torque limit
const int MAX_TORQUE = 1500; // max torque cmd allowed ever
const int TOYOTA_MAX_TORQUE = 1500; // max torque cmd allowed ever
// rate based torque limit + stay within actually applied
// packet is sent at 100hz, so this limit is 1000/sec
const int MAX_RATE_UP = 10; // ramp up slow
const int MAX_RATE_DOWN = 25; // ramp down fast
const int MAX_TORQUE_ERROR = 350; // max torque cmd in excess of torque motor
const int TOYOTA_MAX_RATE_UP = 10; // ramp up slow
const int TOYOTA_MAX_RATE_DOWN = 25; // ramp down fast
const int TOYOTA_MAX_TORQUE_ERROR = 350; // max torque cmd in excess of torque motor
// real time torque limit to prevent controls spamming
// the real time limit is 1500/sec
const int MAX_RT_DELTA = 375; // max delta torque allowed for real time checks
const int RT_INTERVAL = 250000; // 250ms between real time checks
const int TOYOTA_MAX_RT_DELTA = 375; // max delta torque allowed for real time checks
const int TOYOTA_RT_INTERVAL = 250000; // 250ms between real time checks
// longitudinal limits
const int MAX_ACCEL = 1500; // 1.5 m/s2
const int MIN_ACCEL = -3000; // 3.0 m/s2
const int TOYOTA_MAX_ACCEL = 1500; // 1.5 m/s2
const int TOYOTA_MIN_ACCEL = -3000; // 3.0 m/s2
// global actuation limit state
int actuation_limits = 1; // by default steer limits are imposed
int dbc_eps_torque_factor = 100; // conversion factor for STEER_TORQUE_EPS in %: see dbc file
int toyota_actuation_limits = 1; // by default steer limits are imposed
int toyota_dbc_eps_torque_factor = 100; // conversion factor for STEER_TORQUE_EPS in %: see dbc file
// state of torque limits
int desired_torque_last = 0; // last desired steer torque
int rt_torque_last = 0; // last desired torque for real time check
uint32_t ts_last = 0;
int cruise_engaged_last = 0; // cruise state
int toyota_desired_torque_last = 0; // last desired steer torque
int toyota_rt_torque_last = 0; // last desired torque for real time check
uint32_t toyota_ts_last = 0;
int toyota_cruise_engaged_last = 0; // cruise state
struct sample_t toyota_torque_meas; // last 3 motor torques produced by the eps
static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
@ -36,26 +38,38 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
torque_meas_new = to_signed(torque_meas_new, 16);
// scale by dbc_factor
torque_meas_new = (torque_meas_new * dbc_eps_torque_factor) / 100;
torque_meas_new = (torque_meas_new * toyota_dbc_eps_torque_factor) / 100;
// increase torque_meas by 1 to be conservative on rounding
torque_meas_new += (torque_meas_new > 0 ? 1 : -1);
// update array of sample
update_sample(&torque_meas, torque_meas_new);
update_sample(&toyota_torque_meas, torque_meas_new);
}
// enter controls on rising edge of ACC, exit controls on ACC off
if ((to_push->RIR>>21) == 0x1D2) {
// 4 bits: 55-52
int cruise_engaged = to_push->RDHR & 0xF00000;
if (cruise_engaged && !cruise_engaged_last) {
if (cruise_engaged && !toyota_cruise_engaged_last) {
controls_allowed = 1;
} else if (!cruise_engaged) {
controls_allowed = 0;
}
cruise_engaged_last = cruise_engaged;
toyota_cruise_engaged_last = cruise_engaged;
}
int bus = (to_push->RDTR >> 4) & 0xF;
// 0x680 is a radar msg only found in dsu-less cars
if ((to_push->RIR>>21) == 0x680 && (bus == 1)) {
toyota_no_dsu_car = 1;
}
// 0x2E4 is lkas cmd. If it is on bus 0, then giraffe switch 1 is high
if ((to_push->RIR>>21) == 0x2E4 && (bus == 0)) {
toyota_giraffe_switch_1 = 1;
}
}
static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@ -70,8 +84,8 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
if ((to_send->RIR>>21) == 0x343) {
int desired_accel = ((to_send->RDLR & 0xFF) << 8) | ((to_send->RDLR >> 8) & 0xFF);
desired_accel = to_signed(desired_accel, 16);
if (controls_allowed && actuation_limits) {
int violation = max_limit_check(desired_accel, MAX_ACCEL, MIN_ACCEL);
if (controls_allowed && toyota_actuation_limits) {
int violation = max_limit_check(desired_accel, TOYOTA_MAX_ACCEL, TOYOTA_MIN_ACCEL);
if (violation) return 0;
} else if (!controls_allowed && (desired_accel != 0)) {
return 0;
@ -87,25 +101,26 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
uint32_t ts = TIM2->CNT;
// only check if controls are allowed and actuation_limits are imposed
if (controls_allowed && actuation_limits) {
if (controls_allowed && toyota_actuation_limits) {
// *** global torque limit check ***
violation |= max_limit_check(desired_torque, MAX_TORQUE, -MAX_TORQUE);
violation |= max_limit_check(desired_torque, TOYOTA_MAX_TORQUE, -TOYOTA_MAX_TORQUE);
// *** torque rate limit check ***
violation |= dist_to_meas_check(desired_torque, desired_torque_last, &torque_meas, MAX_RATE_UP, MAX_RATE_DOWN, MAX_TORQUE_ERROR);
violation |= dist_to_meas_check(desired_torque, toyota_desired_torque_last,
&toyota_torque_meas, TOYOTA_MAX_RATE_UP, TOYOTA_MAX_RATE_DOWN, TOYOTA_MAX_TORQUE_ERROR);
// used next time
desired_torque_last = desired_torque;
toyota_desired_torque_last = desired_torque;
// *** torque real time rate limit check ***
violation |= rt_rate_limit_check(desired_torque, rt_torque_last, MAX_RT_DELTA);
violation |= rt_rate_limit_check(desired_torque, toyota_rt_torque_last, TOYOTA_MAX_RT_DELTA);
// every RT_INTERVAL set the new limits
uint32_t ts_elapsed = get_ts_elapsed(ts, ts_last);
if (ts_elapsed > RT_INTERVAL) {
rt_torque_last = desired_torque;
ts_last = ts;
uint32_t ts_elapsed = get_ts_elapsed(ts, toyota_ts_last);
if (ts_elapsed > TOYOTA_RT_INTERVAL) {
toyota_rt_torque_last = desired_torque;
toyota_ts_last = ts;
}
}
@ -116,9 +131,9 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// reset to 0 if either controls is not allowed or there's a violation
if (violation || !controls_allowed) {
desired_torque_last = 0;
rt_torque_last = 0;
ts_last = ts;
toyota_desired_torque_last = 0;
toyota_rt_torque_last = 0;
toyota_ts_last = ts;
}
if (violation) {
@ -138,11 +153,19 @@ static int toyota_tx_lin_hook(int lin_num, uint8_t *data, int len) {
static void toyota_init(int16_t param) {
controls_allowed = 0;
actuation_limits = 1;
dbc_eps_torque_factor = param;
toyota_actuation_limits = 1;
toyota_giraffe_switch_1 = 0;
toyota_dbc_eps_torque_factor = param;
}
static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
// forward cam to radar and viceversa if car is dsu-less, except lkas cmd and hud
if ((bus_num == 0 || bus_num == 2) && toyota_no_dsu_car && !toyota_giraffe_switch_1) {
int addr = to_fwd->RIR>>21;
bool is_lkas_msg = (addr == 0x2E4 || addr == 0x412) && bus_num == 2;
return is_lkas_msg? -1 : (uint8_t)(~bus_num & 0x2);
}
return -1;
}
@ -157,8 +180,9 @@ const safety_hooks toyota_hooks = {
static void toyota_nolimits_init(int16_t param) {
controls_allowed = 0;
actuation_limits = 0;
dbc_eps_torque_factor = param;
toyota_actuation_limits = 0;
toyota_giraffe_switch_1 = 0;
toyota_dbc_eps_torque_factor = param;
}
const safety_hooks toyota_nolimits_hooks = {

8
panda/board/safety/safety_toyota_ipas.h
View File

@ -2,7 +2,7 @@
// TODO: refactor to repeat less code
// IPAS override
const int32_t IPAS_OVERRIDE_THRESHOLD = 200; // disallow controls when user torque exceeds this value
const int32_t TOYOTA_IPAS_OVERRIDE_THRESHOLD = 200; // disallow controls when user torque exceeds this value
struct lookup_t {
float x[3];
@ -92,7 +92,7 @@ static void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// every RT_INTERVAL or when controls are turned on, set the new limits
uint32_t ts_elapsed = get_ts_elapsed(ts, ts_angle_last);
if ((ts_elapsed > RT_INTERVAL) || (controls_allowed && !controls_allowed_last)) {
if ((ts_elapsed > TOYOTA_RT_INTERVAL) || (controls_allowed && !controls_allowed_last)) {
rt_angle_last = angle_meas_new;
ts_angle_last = ts;
}
@ -118,8 +118,8 @@ static void toyota_ipas_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
// exit controls on high steering override
if (angle_control && ((torque_driver.min > IPAS_OVERRIDE_THRESHOLD) ||
(torque_driver.max < -IPAS_OVERRIDE_THRESHOLD) ||
if (angle_control && ((torque_driver.min > TOYOTA_IPAS_OVERRIDE_THRESHOLD) ||
(torque_driver.max < -TOYOTA_IPAS_OVERRIDE_THRESHOLD) ||
(ipas_state==5))) {
controls_allowed = 0;
}

10
panda/examples/tesla_tester.py
View File

@ -29,11 +29,11 @@ def tesla_tester():
# BDY 0x248 is the MCU_commands message, which includes folding mirrors, opening the trunk, frunk, setting the cars lock state and more. For our test, we will edit the 3rd byte, which is MCU_lockRequest. 0x01 will lock, 0x02 will unlock:
print("Unlocking Tesla...")
p.can_send(0x248, "\x00\x00\x02\x00\x00\x00\x00\x00", bus_num)
p.can_send(0x248, "\x00\x00\x02\x00\x00\x00\x00\x00", body_bus_num)
#Or, we can set the first byte, MCU_frontHoodCommand + MCU_liftgateSwitch, to 0x01 to pop the frunk, or 0x04 to open/close the trunk (0x05 should open both)
print("Opening Frunk...")
p.can_send(0x248, "\x01\x00\x00\x00\x00\x00\x00\x00", bus_num)
p.can_send(0x248, "\x01\x00\x00\x00\x00\x00\x00\x00", body_bus_num)
#Back to safety...
print("Disabling output on Panda...")
@ -41,7 +41,6 @@ def tesla_tester():
print("Reading VIN from 0x568. This is painfully slow and can take up to 3 minutes (1 minute per message; 3 messages needed for full VIN)...")
cnt = 0
vin = {}
while True:
#Read the VIN
@ -53,11 +52,10 @@ def tesla_tester():
vin_string = binascii.hexlify(dat)[2:] #rest of the string is the actual VIN data
vin[vin_index] = vin_string.decode("hex")
print("Got VIN index " + str(vin_index) + " data " + vin[vin_index])
cnt += 1
#if we have all 3 parts of the VIN, print it and break out of our while loop
if cnt == 3:
if 0 in vin and 1 in vin and 2 in vin:
print("VIN: " + vin[0] + vin[1] + vin[2][:3])
break
if __name__ == "__main__":
tesla_tester()
tesla_tester()

10
panda/tests/safety/libpandasafety_py.py
View File

@ -38,13 +38,13 @@ void reset_angle_control(void);
int get_controls_allowed(void);
void init_tests_toyota(void);
void set_timer(int t);
void set_torque_meas(int min, int max);
void set_toyota_torque_meas(int min, int max);
void set_cadillac_torque_driver(int min, int max);
void set_gm_torque_driver(int min, int max);
void set_rt_torque_last(int t);
void set_desired_torque_last(int t);
int get_torque_meas_min(void);
int get_torque_meas_max(void);
void set_toyota_rt_torque_last(int t);
void set_toyota_desired_torque_last(int t);
int get_toyota_torque_meas_min(void);
int get_toyota_torque_meas_max(void);
void init_tests_honda(void);
int get_ego_speed(void);

34
panda/tests/safety/test.c
View File

@ -22,7 +22,7 @@ typedef struct
uint32_t CNT;
} TIM_TypeDef;
struct sample_t torque_meas;
struct sample_t toyota_torque_meas;
struct sample_t cadillac_torque_driver;
struct sample_t gm_torque_driver;
@ -60,9 +60,9 @@ void set_timer(int t){
timer.CNT = t;
}
void set_torque_meas(int min, int max){
torque_meas.min = min;
torque_meas.max = max;
void set_toyota_torque_meas(int min, int max){
toyota_torque_meas.min = min;
toyota_torque_meas.max = max;
}
void set_cadillac_torque_driver(int min, int max){
@ -75,16 +75,16 @@ void set_gm_torque_driver(int min, int max){
gm_torque_driver.max = max;
}
int get_torque_meas_min(void){
return torque_meas.min;
int get_toyota_torque_meas_min(void){
return toyota_torque_meas.min;
}
int get_torque_meas_max(void){
return torque_meas.max;
int get_toyota_torque_meas_max(void){
return toyota_torque_meas.max;
}
void set_rt_torque_last(int t){
rt_torque_last = t;
void set_toyota_rt_torque_last(int t){
toyota_rt_torque_last = t;
}
void set_cadillac_rt_torque_last(int t){
@ -95,8 +95,8 @@ void set_gm_rt_torque_last(int t){
gm_rt_torque_last = t;
}
void set_desired_torque_last(int t){
desired_torque_last = t;
void set_toyota_desired_torque_last(int t){
toyota_desired_torque_last = t;
}
void set_cadillac_desired_torque_last(int t){
@ -129,11 +129,11 @@ void set_bosch_hardware(bool c){
}
void init_tests_toyota(void){
torque_meas.min = 0;
torque_meas.max = 0;
desired_torque_last = 0;
rt_torque_last = 0;
ts_last = 0;
toyota_torque_meas.min = 0;
toyota_torque_meas.max = 0;
toyota_desired_torque_last = 0;
toyota_rt_torque_last = 0;
toyota_ts_last = 0;
set_timer(0);
}

40
panda/tests/safety/test_toyota.py
View File

@ -41,9 +41,9 @@ class TestToyotaSafety(unittest.TestCase):
cls.safety.init_tests_toyota()
def _set_prev_torque(self, t):
self.safety.set_desired_torque_last(t)
self.safety.set_rt_torque_last(t)
self.safety.set_torque_meas(t, t)
self.safety.set_toyota_desired_torque_last(t)
self.safety.set_toyota_rt_torque_last(t)
self.safety.set_toyota_torque_meas(t, t)
def _torque_meas_msg(self, torque):
to_send = libpandasafety_py.ffi.new('CAN_FIFOMailBox_TypeDef *')
@ -158,9 +158,9 @@ class TestToyotaSafety(unittest.TestCase):
for controls_allowed in [True, False]:
for torque in np.arange(-MAX_TORQUE - 1000, MAX_TORQUE + 1000, MAX_RATE_UP):
self.safety.set_controls_allowed(controls_allowed)
self.safety.set_rt_torque_last(torque)
self.safety.set_torque_meas(torque, torque)
self.safety.set_desired_torque_last(torque - MAX_RATE_UP)
self.safety.set_toyota_rt_torque_last(torque)
self.safety.set_toyota_torque_meas(torque, torque)
self.safety.set_toyota_desired_torque_last(torque - MAX_RATE_UP)
if controls_allowed:
send = (-MAX_TORQUE <= torque <= MAX_TORQUE)
@ -181,14 +181,14 @@ class TestToyotaSafety(unittest.TestCase):
def test_non_realtime_limit_down(self):
self.safety.set_controls_allowed(True)
self.safety.set_rt_torque_last(1000)
self.safety.set_torque_meas(500, 500)
self.safety.set_desired_torque_last(1000)
self.safety.set_toyota_rt_torque_last(1000)
self.safety.set_toyota_torque_meas(500, 500)
self.safety.set_toyota_desired_torque_last(1000)
self.assertTrue(self.safety.toyota_tx_hook(self._torque_msg(1000 - MAX_RATE_DOWN)))
self.safety.set_rt_torque_last(1000)
self.safety.set_torque_meas(500, 500)
self.safety.set_desired_torque_last(1000)
self.safety.set_toyota_rt_torque_last(1000)
self.safety.set_toyota_torque_meas(500, 500)
self.safety.set_toyota_desired_torque_last(1000)
self.assertFalse(self.safety.toyota_tx_hook(self._torque_msg(1000 - MAX_RATE_DOWN + 1)))
def test_exceed_torque_sensor(self):
@ -210,14 +210,14 @@ class TestToyotaSafety(unittest.TestCase):
self._set_prev_torque(0)
for t in np.arange(0, 380, 10):
t *= sign
self.safety.set_torque_meas(t, t)
self.safety.set_toyota_torque_meas(t, t)
self.assertTrue(self.safety.toyota_tx_hook(self._torque_msg(t)))
self.assertFalse(self.safety.toyota_tx_hook(self._torque_msg(sign * 380)))
self._set_prev_torque(0)
for t in np.arange(0, 370, 10):
t *= sign
self.safety.set_torque_meas(t, t)
self.safety.set_toyota_torque_meas(t, t)
self.assertTrue(self.safety.toyota_tx_hook(self._torque_msg(t)))
# Increase timer to update rt_torque_last
@ -233,16 +233,16 @@ class TestToyotaSafety(unittest.TestCase):
self.safety.toyota_rx_hook(self._torque_meas_msg(0))
self.safety.toyota_rx_hook(self._torque_meas_msg(0))
self.assertEqual(-51, self.safety.get_torque_meas_min())
self.assertEqual(51, self.safety.get_torque_meas_max())
self.assertEqual(-51, self.safety.get_toyota_torque_meas_min())
self.assertEqual(51, self.safety.get_toyota_torque_meas_max())
self.safety.toyota_rx_hook(self._torque_meas_msg(0))
self.assertEqual(-1, self.safety.get_torque_meas_max())
self.assertEqual(-51, self.safety.get_torque_meas_min())
self.assertEqual(-1, self.safety.get_toyota_torque_meas_max())
self.assertEqual(-51, self.safety.get_toyota_torque_meas_min())
self.safety.toyota_rx_hook(self._torque_meas_msg(0))
self.assertEqual(-1, self.safety.get_torque_meas_max())
self.assertEqual(-1, self.safety.get_torque_meas_min())
self.assertEqual(-1, self.safety.get_toyota_torque_meas_max())
self.assertEqual(-1, self.safety.get_toyota_torque_meas_min())
def test_ipas_override(self):

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4
selfdrive/car/ford/interface.py
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@ -1,6 +1,6 @@
#!/usr/bin/env python
from common.realtime import sec_since_boot
from cereal import car
from cereal import car, log
from selfdrive.swaglog import cloudlog
from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
@ -209,7 +209,7 @@ class CarInterface(object):
# pass in a car.CarControl
# to be called @ 100hz
def apply(self, c):
def apply(self, c, perception_state=log.Live20Data.new_message()):
self.CC.update(self.sendcan, c.enabled, self.CS, self.frame, c.actuators,
c.hudControl.visualAlert, c.cruiseControl.cancel)

5
selfdrive/car/gm/carstate.py
View File

@ -4,7 +4,8 @@ from common.kalman.simple_kalman import KF1D
from selfdrive.config import Conversions as CV
from selfdrive.can.parser import CANParser
from selfdrive.car.gm.values import DBC, CAR, parse_gear_shifter, \
CruiseButtons, is_eps_status_ok
CruiseButtons, is_eps_status_ok, \
STEER_THRESHOLD
def get_powertrain_can_parser(CP, canbus):
# this function generates lists for signal, messages and initial values
@ -91,7 +92,7 @@ class CarState(object):
self.user_gas_pressed = self.pedal_gas > 0
self.steer_torque_driver = pt_cp.vl["PSCMStatus"]['LKADriverAppldTrq']
self.steer_override = abs(self.steer_torque_driver) > 1.0
self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD
# 0 - inactive, 1 - active, 2 - temporary limited, 3 - failed
self.lkas_status = pt_cp.vl["PSCMStatus"]['LKATorqueDeliveredStatus']

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

@ -1,5 +1,5 @@
#!/usr/bin/env python
from cereal import car
from cereal import car, log
from common.realtime import sec_since_boot
from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
@ -308,7 +308,7 @@ class CarInterface(object):
# pass in a car.CarControl
# to be called @ 100hz
def apply(self, c):
def apply(self, c, perception_state=log.Live20Data.new_message()):
hud_v_cruise = c.hudControl.setSpeed
if hud_v_cruise > 70:
hud_v_cruise = 0

1
selfdrive/car/gm/values.py
View File

@ -47,6 +47,7 @@ FINGERPRINTS = {
}],
}
STEER_THRESHOLD = 1.0
DBC = {
CAR.VOLT: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),

10
selfdrive/car/honda/carcontroller.py
View File

@ -1,3 +1,4 @@
from cereal import car
from collections import namedtuple
from selfdrive.boardd.boardd import can_list_to_can_capnp
from selfdrive.controls.lib.drive_helpers import rate_limit
@ -61,11 +62,12 @@ class CarController(object):
self.brake_last = 0.
self.enable_camera = enable_camera
self.packer = CANPacker(dbc_name)
self.new_radar_config = False
def update(self, sendcan, enabled, CS, frame, actuators, \
pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel, \
hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert, \
snd_beep, snd_chime):
radar_error, hud_v_cruise, hud_show_lanes, hud_show_car, \
hud_alert, snd_beep, snd_chime):
""" Controls thread """
@ -167,6 +169,8 @@ class CarController(object):
if (frame % radar_send_step) == 0:
idx = (frame/radar_send_step) % 4
can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.CP.carFingerprint, idx))
if not self.new_radar_config: # only change state once
self.new_radar_config = car.RadarState.Error.wrongConfig in radar_error
can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.CP.carFingerprint, self.new_radar_config, idx))
sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())

6
selfdrive/car/honda/carstate.py
View File

@ -2,7 +2,7 @@ from common.numpy_fast import interp
from common.kalman.simple_kalman import KF1D
from selfdrive.can.parser import CANParser
from selfdrive.config import Conversions as CV
from selfdrive.car.honda.values import CAR, DBC
from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD
def parse_gear_shifter(can_gear_shifter, car_fingerprint):
@ -284,10 +284,8 @@ class CarState(object):
else:
self.car_gas = cp.vl["GAS_PEDAL_2"]['CAR_GAS']
#rdx has different steer override threshold
steer_thrsld = 400 if self.CP.carFingerprint == CAR.ACURA_RDX else 1200
self.steer_override = abs(cp.vl["STEER_STATUS"]['STEER_TORQUE_SENSOR']) > steer_thrsld
self.steer_torque_driver = cp.vl["STEER_STATUS"]['STEER_TORQUE_SENSOR']
self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD[self.CP.carFingerprint]
self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']

5
selfdrive/car/honda/hondacan.py
View File

@ -117,7 +117,7 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, idx):
return commands
def create_radar_commands(v_ego, car_fingerprint, idx):
def create_radar_commands(v_ego, car_fingerprint, new_radar_config, idx):
"""Creates an iterable of CAN messages for the radar system."""
commands = []
v_ego_kph = np.clip(int(round(v_ego * CV.MS_TO_KPH)), 0, 255)
@ -129,7 +129,8 @@ def create_radar_commands(v_ego, car_fingerprint, idx):
if car_fingerprint == CAR.CIVIC:
msg_0x301 = "\x02\x38\x44\x32\x4f\x00\x00"
commands.append(make_can_msg(0x300, msg_0x300, idx + 8, 1)) # add 8 on idx.
idx_offset = 0xc if new_radar_config else 0x8 # radar in civic 2018 requires 0xc
commands.append(make_can_msg(0x300, msg_0x300, idx + idx_offset, 1))
else:
if car_fingerprint == CAR.CRV:
msg_0x301 = "\x00\x00\x50\x02\x51\x00\x00"

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

@ -1,7 +1,7 @@
#!/usr/bin/env python
import os
import numpy as np
from cereal import car
from cereal import car, log
from common.numpy_fast import clip, interp
from common.realtime import sec_since_boot
from selfdrive.swaglog import cloudlog
@ -567,7 +567,7 @@ class CarInterface(object):
# pass in a car.CarControl
# to be called @ 100hz
def apply(self, c):
def apply(self, c, perception_state=log.Live20Data.new_message()):
if c.hudControl.speedVisible:
hud_v_cruise = c.hudControl.setSpeed * CV.MS_TO_KPH
else:
@ -600,6 +600,7 @@ class CarInterface(object):
c.cruiseControl.override, \
c.cruiseControl.cancel, \
pcm_accel, \
perception_state.radarErrors, \
hud_v_cruise, c.hudControl.lanesVisible, \
hud_show_car = c.hudControl.leadVisible, \
hud_alert = hud_alert, \

4
selfdrive/car/honda/radar_interface.py
View File

@ -28,6 +28,7 @@ class RadarInterface(object):
self.pts = {}
self.track_id = 0
self.radar_fault = False
self.radar_wrong_config = False
self.radar_off_can = CP.radarOffCan
self.delay = 0.1 # Delay of radar
@ -61,6 +62,7 @@ class RadarInterface(object):
if ii == 0x400:
# check for radar faults
self.radar_fault = cpt['RADAR_STATE'] != 0x79
self.radar_wrong_config = cpt['RADAR_STATE'] == 0x69
elif cpt['LONG_DIST'] < 255:
if ii not in self.pts or cpt['NEW_TRACK']:
self.pts[ii] = car.RadarState.RadarPoint.new_message()
@ -81,6 +83,8 @@ class RadarInterface(object):
errors.append("commIssue")
if self.radar_fault:
errors.append("fault")
if self.radar_wrong_config:
errors.append("wrongConfig")
ret.errors = errors
ret.canMonoTimes = canMonoTimes

14
selfdrive/car/honda/values.py
View File

@ -104,5 +104,19 @@ DBC = {
CAR.RIDGELINE: dbc_dict('honda_ridgeline_black_edition_2017_can_generated', 'acura_ilx_2016_nidec'),
}
STEER_THRESHOLD = {
CAR.ACCORD: 1200,
CAR.ACURA_ILX: 1200,
CAR.ACURA_RDX: 400,
CAR.CIVIC: 1200,
CAR.CIVIC_HATCH: 1200,
CAR.CRV: 1200,
CAR.CRV_5G: 1200,
CAR.ODYSSEY: 1200,
CAR.PILOT: 1200,
CAR.RIDGELINE: 1200,
}
# TODO: get these from dbc file
HONDA_BOSCH = [CAR.ACCORD, CAR.CIVIC_HATCH, CAR.CRV_5G]

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

@ -1,6 +1,6 @@
#!/usr/bin/env python
import zmq
from cereal import car
from cereal import car, log
from selfdrive.config import Conversions as CV
from selfdrive.services import service_list
from selfdrive.swaglog import cloudlog
@ -117,6 +117,6 @@ class CarInterface(object):
return ret.as_reader()
def apply(self, c):
def apply(self, c, perception_state=log.Live20Data.new_message()):
# in mock no carcontrols
return False

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

@ -4,7 +4,7 @@ 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 selfdrive.car.toyota.values import ECU, STATIC_MSGS, NO_DSU_CAR
from selfdrive.can.packer import CANPacker
# Accel limits
@ -209,7 +209,7 @@ class CarController(object):
else:
can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False))
if frame % 10 == 0 and ECU.CAM in self.fake_ecus:
if frame % 10 == 0 and ECU.CAM in self.fake_ecus and self.car_fingerprint not in NO_DSU_CAR:
for addr in TARGET_IDS:
can_sends.append(create_video_target(frame/10, addr))

10
selfdrive/car/toyota/carstate.py
View File

@ -1,4 +1,4 @@
from selfdrive.car.toyota.values import CAR, DBC
from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD
from selfdrive.can.parser import CANParser
from selfdrive.config import Conversions as CV
from common.kalman.simple_kalman import KF1D
@ -7,7 +7,7 @@ import numpy as np
def parse_gear_shifter(can_gear, car_fingerprint):
# TODO: Use values from DBC to parse this field
if car_fingerprint == CAR.PRIUS:
if car_fingerprint in [CAR.PRIUS, CAR.CHRH, CAR.CAMRYH]:
if can_gear == 0x0:
return "park"
elif can_gear == 0x1:
@ -19,7 +19,7 @@ def parse_gear_shifter(can_gear, car_fingerprint):
elif can_gear == 0x4:
return "brake"
elif car_fingerprint in [CAR.RAV4, CAR.RAV4H,
CAR.LEXUS_RXH, CAR.COROLLA]:
CAR.LEXUS_RXH, CAR.COROLLA, CAR.CHR, CAR.CAMRY]:
if can_gear == 0x20:
return "park"
elif can_gear == 0x10:
@ -147,8 +147,6 @@ class CarState(object):
self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
# we could use the override bit from dbc, but it's triggered at too high torque values
self.steer_override = abs(cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']) > 100
# 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
@ -156,6 +154,8 @@ class CarState(object):
self.brake_error = 0
self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
# we could use the override bit from dbc, but it's triggered at too high torque values
self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD
self.user_brake = 0
self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']

34
selfdrive/car/toyota/interface.py
View File

@ -1,6 +1,6 @@
#!/usr/bin/env python
from common.realtime import sec_since_boot
from cereal import car
from cereal import car, log
from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
from selfdrive.controls.lib.vehicle_model import VehicleModel
@ -75,8 +75,8 @@ 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 = 15.59 # unknown end-to-end spec
tire_stiffness_factor = 0.7933
ret.steerRatio = 15.00 # unknown end-to-end spec
tire_stiffness_factor = 0.6371 # hand-tune
ret.mass = 3045 * CV.LB_TO_KG + std_cargo
ret.steerKpV, ret.steerKiV = [[0.4], [0.01]]
ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
@ -110,6 +110,24 @@ class CarInterface(object):
ret.steerKpV, ret.steerKiV = [[0.6], [0.1]]
ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
elif candidate in [CAR.CHR, CAR.CHRH]:
ret.safetyParam = 100
ret.wheelbase = 2.63906
ret.steerRatio = 13.6
tire_stiffness_factor = 0.7933
ret.mass = 3300. * CV.LB_TO_KG + std_cargo
ret.steerKpV, ret.steerKiV = [[0.723], [0.0428]]
ret.steerKf = 0.00006
elif candidate in [CAR.CAMRY, CAR.CAMRYH]:
ret.safetyParam = 100
ret.wheelbase = 2.82448
ret.steerRatio = 13.7
tire_stiffness_factor = 0.7933
ret.mass = 3400 * CV.LB_TO_KG + std_cargo #mean between normal and hybrid
ret.steerKpV, ret.steerKiV = [[0.6], [0.1]]
ret.steerKf = 0.00006
ret.steerRateCost = 1.
ret.centerToFront = ret.wheelbase * 0.44
@ -118,7 +136,7 @@ class CarInterface(object):
# 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, CAR.LEXUS_RXH]: # rav4 hybrid can do stop and go
if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH]: # 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
@ -150,9 +168,9 @@ class CarInterface(object):
ret.brakeMaxBP = [5., 20.]
ret.brakeMaxV = [1., 0.8]
ret.enableCamera = not check_ecu_msgs(fingerprint, candidate, ECU.CAM)
ret.enableDsu = not check_ecu_msgs(fingerprint, candidate, ECU.DSU)
ret.enableApgs = False #not check_ecu_msgs(fingerprint, candidate, ECU.APGS)
ret.enableCamera = not check_ecu_msgs(fingerprint, ECU.CAM)
ret.enableDsu = not check_ecu_msgs(fingerprint, ECU.DSU)
ret.enableApgs = False #not check_ecu_msgs(fingerprint, ECU.APGS)
cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warn("ECU DSU Simulated: %r", ret.enableDsu)
cloudlog.warn("ECU APGS Simulated: %r", ret.enableApgs)
@ -304,7 +322,7 @@ class CarInterface(object):
# pass in a car.CarControl
# to be called @ 100hz
def apply(self, c):
def apply(self, c, perception_state=log.Live20Data.new_message()):
self.CC.update(self.sendcan, c.enabled, self.CS, self.frame,
c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert,

15
selfdrive/car/toyota/radar_interface.py
View File

@ -1,11 +1,13 @@
#!/usr/bin/env python
import os
import zmq
import time
from selfdrive.can.parser import CANParser
from cereal import car
from common.realtime import sec_since_boot
import zmq
from selfdrive.services import service_list
import selfdrive.messaging as messaging
from selfdrive.car.toyota.values import NO_DSU_CAR
RADAR_MSGS = list(range(0x210, 0x220))
@ -30,15 +32,21 @@ class RadarInterface(object):
self.delay = 0.0 # Delay of radar
# Nidec
self.rcp = _create_radard_can_parser()
self.no_dsu_car = CP.carFingerprint in NO_DSU_CAR
context = zmq.Context()
self.logcan = messaging.sub_sock(context, service_list['can'].port)
def update(self):
canMonoTimes = []
ret = car.RadarState.new_message()
if self.no_dsu_car:
# TODO: make a adas dbc file for dsu-less models
time.sleep(0.05)
return ret
canMonoTimes = []
updated_messages = set()
while 1:
tm = int(sec_since_boot() * 1e9)
@ -47,7 +55,6 @@ class RadarInterface(object):
if 0x21f in updated_messages:
break
ret = car.RadarState.new_message()
errors = []
if not self.rcp.can_valid:
errors.append("commIssue")

43
selfdrive/car/toyota/values.py
View File

@ -2,10 +2,14 @@ from selfdrive.car import dbc_dict
class CAR:
PRIUS = "TOYOTA PRIUS 2017"
RAV4H = "TOYOTA RAV4 2017 HYBRID"
RAV4H = "TOYOTA RAV4 HYBRID 2017"
RAV4 = "TOYOTA RAV4 2017"
COROLLA = "TOYOTA COROLLA 2017"
LEXUS_RXH = "LEXUS RX HYBRID 2017"
CHR = "TOYOTA C-HR 2018"
CHRH = "TOYOTA C-HR HYBRID 2018"
CAMRY = "TOYOTA CAMRY 2018"
CAMRYH = "TOYOTA CAMRY HYBRID 2018"
class ECU:
@ -59,14 +63,16 @@ STATIC_MSGS = [(0x141, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4,
(0x470, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 1, 100, '\x00\x00\x02\x7a'),
]
ECU_FINGERPRINT = {
ECU.CAM: 0x2e4, # steer torque cmd
ECU.DSU: 0x343, # accel cmd
ECU.APGS: 0x835, # angle cmd
}
def check_ecu_msgs(fingerprint, candidate, ecu):
def check_ecu_msgs(fingerprint, ecu):
# return True if fingerprint contains messages normally sent by a given ecu
ecu_msgs = [x[0] for x in STATIC_MSGS if (x[1] == ecu and
candidate in x[2] and
x[3] == 0)]
return any(msg for msg in fingerprint if msg in ecu_msgs)
return ECU_FINGERPRINT[ecu] in fingerprint
FINGERPRINTS = {
@ -97,8 +103,25 @@ FINGERPRINTS = {
CAR.LEXUS_RXH: [{
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
}],
CAR.CHR: [{
36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 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, 740: 5, 800: 8, 810: 2, 812: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 1017: 8, 1020: 8, 1021: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8
}],
CAR.CHRH: [{
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, 713: 8, 740: 5, 800: 8, 810: 2, 812: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1021: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8,1059: 1, 1071: 8, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556:8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
}],
CAR.CAMRY: [
#XLE and LE
{
36: 8, 37: 8, 119: 6, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 891: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 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, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 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, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
}],
CAR.CAMRYH: [
#LE
{
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, 713: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 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, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 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, 1235: 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
}],
}
STEER_THRESHOLD = 100
DBC = {
CAR.RAV4H: dbc_dict('toyota_rav4_hybrid_2017_pt_generated', 'toyota_prius_2017_adas'),
@ -106,4 +129,10 @@ DBC = {
CAR.PRIUS: dbc_dict('toyota_prius_2017_pt_generated', 'toyota_prius_2017_adas'),
CAR.COROLLA: dbc_dict('toyota_corolla_2017_pt_generated', 'toyota_prius_2017_adas'),
CAR.LEXUS_RXH: dbc_dict('lexus_rx_hybrid_2017_pt_generated', 'toyota_prius_2017_adas'),
CAR.CHR: dbc_dict('toyota_chr_2018_pt_generated', 'toyota_prius_2017_adas'),
CAR.CHRH: dbc_dict('toyota_chr_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'),
CAR.CAMRY: dbc_dict('toyota_chr_2018_pt_generated', 'toyota_prius_2017_adas'),
CAR.CAMRYH: dbc_dict('toyota_camry_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'),
}
NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH]

56
selfdrive/common/efd.c 100644
View File

@ -0,0 +1,56 @@
#include <stdlib.h>
#include <assert.h>
#ifdef __linux__
#include <sys/eventfd.h>
#else
#include <sys/time.h>
#include <sys/event.h>
#define EVENT_IDENT 42
#endif
#include "efd.h"
int efd_init() {
#ifdef __linux__
return eventfd(0, EFD_CLOEXEC);
#else
int fd = kqueue();
assert(fd >= 0);
struct kevent kev;
EV_SET(&kev, EVENT_IDENT, EVFILT_USER, EV_ADD | EV_CLEAR, 0, 0, NULL);
struct timespec timeout = {0, 0};
int err = kevent(fd, &kev, 1, NULL, 0, &timeout);
assert(err != -1);
return fd;
#endif
}
void efd_write(int fd) {
#ifdef __linux__
eventfd_write(fd, 1);
#else
struct kevent kev;
EV_SET(&kev, EVENT_IDENT, EVFILT_USER, 0, NOTE_TRIGGER, 0, NULL);
struct timespec timeout = {0, 0};
int err = kevent(fd, &kev, 1, NULL, 0, &timeout);
assert(err != -1);
#endif
}
void efd_clear(int fd) {
#ifdef __linux__
eventfd_t efd_cnt;
eventfd_read(fd, &efd_cnt);
#else
struct kevent kev;
struct timespec timeout = {0, 0};
int nfds = kevent(fd, NULL, 0, &kev, 1, &timeout);
assert(nfds != -1);
#endif
}

17
selfdrive/common/efd.h 100644
View File

@ -0,0 +1,17 @@
#ifndef EFD_H
#define EFD_H
#ifdef __cplusplus
extern "C" {
#endif
// event fd: a semaphore that can be poll()'d
int efd_init();
void efd_write(int fd);
void efd_clear(int fd);
#ifdef __cplusplus
}
#endif
#endif

2
selfdrive/common/version.h
View File

@ -1 +1 @@
#define COMMA_VERSION "0.5-release"
#define COMMA_VERSION "0.5.1-release"

10
selfdrive/controls/controlsd.py
View File

@ -292,7 +292,7 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
return actuators, v_cruise_kph, driver_status, angle_offset
def data_send(plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate,
def data_send(perception_state, plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate,
carcontrol, live100, livempc, AM, driver_status,
LaC, LoC, angle_offset, passive):
@ -323,7 +323,7 @@ def data_send(plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_
CC.hudControl.audibleAlert = AM.audible_alert
# send car controls over can
CI.apply(CC)
CI.apply(CC, perception_state)
# ***** publish state to logger *****
# publish controls state at 100Hz
@ -337,6 +337,7 @@ def data_send(plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_
"alertStatus": AM.alert_status,
"alertBlinkingRate": AM.alert_rate,
"awarenessStatus": max(driver_status.awareness, 0.0) if isEnabled(state) else 0.0,
"driverMonitoringOn": bool(driver_status.monitor_on),
"canMonoTimes": list(CS.canMonoTimes),
"planMonoTime": plan_ts,
"enabled": isEnabled(state),
@ -446,7 +447,6 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
CP.safetyModel = car.CarParams.SafetyModels.noOutput
fcw_enabled = params.get("IsFcwEnabled") == "1"
driver_monitor_on = params.get("IsDriverMonitoringEnabled") == "1"
geofence = None
try:
from selfdrive.controls.lib.geofence import Geofence
@ -460,7 +460,7 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
VM = VehicleModel(CP)
LaC = LatControl(VM)
AM = AlertManager()
driver_status = DriverStatus(driver_monitor_on)
driver_status = DriverStatus()
if not passive:
AM.add("startup", False)
@ -516,7 +516,7 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
prof.checkpoint("State Control")
# publish data
CC = data_send(plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate, carcontrol,
CC = data_send(PL.perception_state, plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate, carcontrol,
live100, livempc, AM, driver_status, LaC, LoC, angle_offset, passive)
prof.checkpoint("Sent")

38
selfdrive/controls/lib/alertmanager.py
View File

@ -74,7 +74,7 @@ class AlertManager(object):
Priority.MID, None, "beepSingle", .2, 0., 0.),
"fcw": Alert(
"Brake!",
"BRAKE!",
"Risk of Collision",
AlertStatus.critical, AlertSize.full,
Priority.HIGHEST, "fcw", "chimeRepeated", 1., 2., 2.),
@ -98,23 +98,53 @@ class AlertManager(object):
Priority.LOW, None, None, .2, .2, .2),
"preDriverDistracted": Alert(
"TAKE CONTROL: User Appears Distracted",
"KEEP EYES ON ROAD: User Appears Distracted",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW, "steerRequired", None, 0., .1, .1, alert_rate=0.75),
"promptDriverDistracted": Alert(
"TAKE CONTROL",
"KEEP EYES ON ROAD",
"User Appears Distracted",
AlertStatus.userPrompt, AlertSize.mid,
Priority.MID, "steerRequired", "chimeRepeated", .1, .1, .1),
"driverDistracted": Alert(
"DISENGAGEMENT REQUIRED",
"DISENGAGE IMMEDIATELY",
"User Was Distracted",
AlertStatus.critical, AlertSize.full,
Priority.HIGH, "steerRequired", "chimeRepeated", .1, .1, .1),
"preDriverUnresponsive": Alert(
"TOUCH STEERING WHEEL: No Driver Monitoring",
"",
AlertStatus.normal, AlertSize.small,
Priority.LOW, "steerRequired", None, 0., .1, .1, alert_rate=0.75),
"promptDriverUnresponsive": Alert(
"TOUCH STEERING WHEEL",
"User Is Unresponsive",
AlertStatus.userPrompt, AlertSize.mid,
Priority.MID, "steerRequired", "chimeRepeated", .1, .1, .1),
"driverUnresponsive": Alert(
"DISENGAGE IMMEDIATELY",
"User Was Unresponsive",
AlertStatus.critical, AlertSize.full,
Priority.HIGH, "steerRequired", "chimeRepeated", .1, .1, .1),
"driverMonitorOff": Alert(
"DRIVER MONITOR IS UNAVAILABLE",
"Accuracy Is Low",
AlertStatus.normal, AlertSize.mid,
Priority.LOW, None, None, .4, 0., 4.),
"driverMonitorOn": Alert(
"DRIVER MONITOR IS AVAILABLE",
"Accuracy Is High",
AlertStatus.normal, AlertSize.mid,
Priority.LOW, None, None, .4, 0., 4.),
"geofence": Alert(
"DISENGAGEMENT REQUIRED",
"Not in Geofenced Area",

90
selfdrive/controls/lib/driver_monitor.py
View File

@ -18,12 +18,22 @@ _CAMERA_X_CONV = 0.375 # 160*864/320/1152
_PITCH_WEIGHT = 1.5 # pitch matters a lot more
_METRIC_THRESHOLD = 0.4
_PITCH_POS_ALLOWANCE = 0.08 # rad, to not be too sensitive on positive pitch
_DTM = 0.2 # driver monitor runs at 5Hz
_DISTRACTED_FILTER_F = 0.3 # 0.3Hz
_DISTRACTED_FILTER_K = 2 * np.pi * _DISTRACTED_FILTER_F * _DTM / (1 + 2 * np.pi * _DISTRACTED_FILTER_F * _DTM)
_DTM = 0.1 # driver monitor runs at 10Hz
_PITCH_NATURAL_OFFSET = 0.1 # people don't seem to look straight when they drive relaxed, rather a bit up
_STD_THRESHOLD = 0.1 # above this standard deviation consider the measurement invalid
_DISTRACTED_FILTER_F = 0.6 # 0.6Hz, 0.25s ts
_DISTRACTED_FILTER_K = 2 * np.pi * _DISTRACTED_FILTER_F * _DTM / (1 + 2 * np.pi * _DISTRACTED_FILTER_F * _DTM)
_VARIANCE_FILTER_F = 0.008 # 0.008Hz, 20s ts
_VARIANCE_FILTER_K = 2 * np.pi * _VARIANCE_FILTER_F * _DTM / (1 + 2 * np.pi * _VARIANCE_FILTER_F * _DTM)
class MonitorChangeEvent:
NO_CHANGE = 0
PARAM_ON = 1
PARAM_OFF = 2
VARIANCE_HIGH = 3
VARIANCE_LOW = 4
class _DriverPose():
def __init__(self):
self.yaw = 0.
@ -32,16 +42,30 @@ class _DriverPose():
self.yaw_offset = 0.
self.pitch_offset = 0.
def _monitor_hysteresys(variance_level, monitor_valid_prev):
var_thr = 0.63 if monitor_valid_prev else 0.37
return variance_level < var_thr
class DriverStatus():
def __init__(self, monitor_on):
def __init__(self, monitor_on=False):
self.pose = _DriverPose()
self.monitor_on = monitor_on
self.monitor_param_on = monitor_on
self.monitor_valid = True # variance needs to be low
self.monitor_change_event = MonitorChangeEvent.NO_CHANGE
self.awareness = 1.
self.driver_distracted = False
self.driver_distraction_level = 0.
self.variance_high = False
self.variance_level = 0.
self.ts_last_check = 0.
self._set_timers()
def _reset_filters(self):
self.driver_distraction_level = 0.
self.variance_level = 0.
self.monitor_valid = True
def _set_timers(self):
if self.monitor_on:
self.threshold_pre = _DISTRACTED_PRE_TIME / _DISTRACTED_TIME
@ -64,14 +88,23 @@ class DriverStatus():
#print "%02.4f" % np.degrees(pose.pitch), "%02.4f" % np.degrees(pitch_error), "%03.4f" % np.degrees(pose.pitch_offset), metric
return 1 if metric > _METRIC_THRESHOLD else 0
def get_pose(self, driver_monitoring, params):
ts = sec_since_boot()
# don's check for param too often as it's a kernel call
if ts - self.ts_last_check > 1.:
self.monitor_on = params.get("IsDriverMonitoringEnabled") == "1"
self._set_timers()
self.ts_last_check = ts
def _monitor_change_check(self, monitor_param_on_prev, monitor_valid_prev, monitor_on_prev):
if not monitor_param_on_prev and self.monitor_param_on:
self._reset_filters()
return MonitorChangeEvent.PARAM_ON
elif monitor_param_on_prev and not self.monitor_param_on:
self._reset_filters()
return MonitorChangeEvent.PARAM_OFF
elif monitor_on_prev and not self.monitor_valid:
return MonitorChangeEvent.VARIANCE_HIGH
elif self.monitor_param_on and not monitor_valid_prev and self.monitor_valid:
return MonitorChangeEvent.VARIANCE_LOW
else:
return MonitorChangeEvent.NO_CHANGE
def get_pose(self, driver_monitoring, params):
self.pose.pitch = driver_monitoring.descriptor[0]
self.pose.yaw = driver_monitoring.descriptor[1]
@ -79,9 +112,28 @@ class DriverStatus():
self.pose.yaw_offset = (driver_monitoring.descriptor[3] * _CAMERA_X_CONV + _CAMERA_OFFSET_X) * _CAMERA_FOV_X
self.pose.pitch_offset = -driver_monitoring.descriptor[4] * _CAMERA_FOV_Y # positive y is down
self.driver_distracted = self._is_driver_distracted(self.pose)
# first order filter
# first order filters
self.driver_distraction_level = (1. - _DISTRACTED_FILTER_K) * self.driver_distraction_level + \
_DISTRACTED_FILTER_K * self.driver_distracted
self.variance_high = driver_monitoring.std > _STD_THRESHOLD
self.variance_level = (1. - _VARIANCE_FILTER_K) * self.variance_level + \
_VARIANCE_FILTER_K * self.variance_high
monitor_param_on_prev = self.monitor_param_on
monitor_valid_prev = self.monitor_valid
monitor_on_prev = self.monitor_on
# don't check for param too often as it's a kernel call
ts = sec_since_boot()
if ts - self.ts_last_check > 1.:
self.monitor_param_on = params.get("IsDriverMonitoringEnabled") == "1"
self.ts_last_check = ts
self.monitor_valid = _monitor_hysteresys(self.variance_level, monitor_valid_prev)
self.monitor_on = self.monitor_valid and self.monitor_param_on
self.monitor_change_event = self._monitor_change_check(monitor_param_on_prev, monitor_valid_prev, monitor_on_prev)
self._set_timers()
def update(self, events, driver_engaged, ctrl_active, standstill):
@ -90,20 +142,28 @@ class DriverStatus():
if (driver_engaged and self.awareness > 0.) or not ctrl_active:
# always reset if driver is in control (unless we are in red alert state) or op isn't active
self.awareness = 1.
if not ctrl_active:
# hold monitor_level constant when control isn't active
self.variance_level = 0. if self.monitor_valid else 1.
if (not self.monitor_on or (self.driver_distraction_level > 0.63 and self.driver_distracted)) and \
not (standstill and self.awareness - self.step_change <= self.threshold_prompt):
self.awareness = max(self.awareness - self.step_change, -0.1)
alert = None
if self.awareness <= 0.:
# terminal red alert: disengagement required
events.append(create_event('driverDistracted', [ET.WARNING]))
alert = 'driverDistracted' if self.monitor_on else 'driverUnresponsive'
elif self.awareness <= self.threshold_prompt:
# prompt orange alert
events.append(create_event('promptDriverDistracted', [ET.WARNING]))
alert = 'promptDriverDistracted' if self.monitor_on else 'promptDriverUnresponsive'
elif self.awareness <= self.threshold_pre:
# pre green alert
events.append(create_event('preDriverDistracted', [ET.WARNING]))
alert = 'preDriverDistracted' if self.monitor_on else 'preDriverUnresponsive'
if alert is not None:
events.append(create_event(alert, [ET.WARNING]))
self.monitor_change_event = MonitorChangeEvent.NO_CHANGE
return events

8
selfdrive/controls/lib/planner.py
View File

@ -1,11 +1,11 @@
#!/usr/bin/env python
import os
import zmq
import numpy as np
import math
import numpy as np
from copy import copy
from cereal import log
from collections import defaultdict
from common.realtime import sec_since_boot
from common.numpy_fast import interp
import selfdrive.messaging as messaging
@ -303,6 +303,7 @@ class Planner(object):
self.last_gps_planner_plan = None
self.gps_planner_active = False
self.perception_state = log.Live20Data.new_message()
def choose_solution(self, v_cruise_setpoint, enabled):
if enabled:
@ -374,6 +375,7 @@ class Planner(object):
self.PP.c_prob = 1.0
if l20 is not None:
self.perception_state = copy(l20.live20)
self.last_l20_ts = l20.logMonoTime
self.last_l20 = cur_time
self.radar_dead = False

5
selfdrive/controls/radard.py
View File

@ -26,6 +26,7 @@ DIMSV = 2
XV, SPEEDV = 0, 1
VISION_POINT = -1
class EKFV1D(EKF):
def __init__(self):
super(EKFV1D, self).__init__(False)
@ -137,7 +138,8 @@ def radard_thread(gctx=None):
# run kalman filter only if prob is high enough
if PP.lead_prob > 0.7:
ekfv.update(speedSensorV.read(PP.lead_dist, covar=PP.lead_var))
reading = speedSensorV.read(PP.lead_dist, covar=np.matrix(PP.lead_var))
ekfv.update_scalar(reading)
ekfv.predict(tsv)
ar_pts[VISION_POINT] = (float(ekfv.state[XV]), np.polyval(PP.d_poly, float(ekfv.state[XV])),
float(ekfv.state[SPEEDV]), False)
@ -145,6 +147,7 @@ def radard_thread(gctx=None):
ekfv.state[XV] = PP.lead_dist
ekfv.covar = (np.diag([PP.lead_var, ekfv.var_init]))
ekfv.state[SPEEDV] = 0.
if VISION_POINT in ar_pts:
del ar_pts[VISION_POINT]

BIN
selfdrive/loggerd/loggerd
View File

Binary file not shown.

6
selfdrive/manager.py
View File

@ -118,7 +118,6 @@ persistent_processes = [
'uploader',
'ui',
'gpsd',
'ubloxd',
'updated',
]
@ -129,7 +128,7 @@ car_started_processes = [
'radard',
'visiond',
'proclogd',
'orbd',
'ubloxd',
]
def register_managed_process(name, desc, car_started=False):
@ -298,6 +297,9 @@ def manager_thread():
cloudlog.info("manager start")
cloudlog.info({"environ": os.environ})
# save boot log
subprocess.call(["./loggerd", "--bootlog"], cwd=os.path.join(BASEDIR, "selfdrive/loggerd"))
for p in persistent_processes:
start_managed_process(p)

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selfdrive/sensord/gpsd
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59
selfdrive/thermald.py
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@ -2,7 +2,7 @@
import os
import zmq
from smbus2 import SMBus
from cereal import log
from selfdrive.version import training_version
from selfdrive.swaglog import cloudlog
import selfdrive.messaging as messaging
@ -10,9 +10,9 @@ from selfdrive.services import service_list
from selfdrive.loggerd.config import ROOT
from common.params import Params
from common.realtime import sec_since_boot
from common.numpy_fast import clip
import cereal
ThermalStatus = cereal.log.ThermalData.ThermalStatus
ThermalStatus = log.ThermalData.ThermalStatus
def read_tz(x):
with open("/sys/devices/virtual/thermal/thermal_zone%d/temp" % x) as f:
@ -71,12 +71,12 @@ _TEMP_THRS_H = [50., 65., 80., 10000]
_TEMP_THRS_L = [42.5, 57.5, 72.5, 10000]
# fan speed options
_FAN_SPEEDS = [0, 16384, 32768, 65535]
# max fan speed only allowed if battery if hot
# max fan speed only allowed if battery is hot
_BAT_TEMP_THERSHOLD = 45.
def handle_fan(max_temp, bat_temp, fan_speed):
new_speed_h = next(speed for speed, temp_h in zip(_FAN_SPEEDS, _TEMP_THRS_H) if temp_h > max_temp)
new_speed_l = next(speed for speed, temp_l in zip(_FAN_SPEEDS, _TEMP_THRS_L) if temp_l > max_temp)
def handle_fan(max_cpu_temp, bat_temp, fan_speed):
new_speed_h = next(speed for speed, temp_h in zip(_FAN_SPEEDS, _TEMP_THRS_H) if temp_h > max_cpu_temp)
new_speed_l = next(speed for speed, temp_l in zip(_FAN_SPEEDS, _TEMP_THRS_L) if temp_l > max_cpu_temp)
if new_speed_h > fan_speed:
# update speed if using the high thresholds results in fan speed increment
@ -164,31 +164,32 @@ def thermald_thread():
msg.thermal.usbOnline = bool(int(f.read()))
# TODO: add car battery voltage check
max_temp = max(msg.thermal.cpu0, msg.thermal.cpu1,
msg.thermal.cpu2, msg.thermal.cpu3) / 10.0
max_cpu_temp = max(msg.thermal.cpu0, msg.thermal.cpu1,
msg.thermal.cpu2, msg.thermal.cpu3) / 10.0
max_comp_temp = max(max_cpu_temp, msg.thermal.mem / 10., msg.thermal.gpu / 10.)
bat_temp = msg.thermal.bat/1000.
fan_speed = handle_fan(max_temp, bat_temp, fan_speed)
fan_speed = handle_fan(max_cpu_temp, bat_temp, fan_speed)
msg.thermal.fanSpeed = fan_speed
# thermal logic here
if max_temp < 70.0:
thermal_status = ThermalStatus.green
if max_temp > 85.0:
cloudlog.warning("over temp: %r", max_temp)
thermal_status = ThermalStatus.yellow
# from controls
overtemp_proc = any(t > 950 for t in
(msg.thermal.cpu0, msg.thermal.cpu1, msg.thermal.cpu2,
msg.thermal.cpu3, msg.thermal.mem, msg.thermal.gpu))
overtemp_bat = msg.thermal.bat > 60000 # 60c
if overtemp_proc or overtemp_bat:
# TODO: hysteresis
thermal_status = ThermalStatus.red
if max_temp > 107.0 or msg.thermal.bat >= 63000:
# thermal logic with hysterisis
if max_cpu_temp > 107. or bat_temp >= 63.:
# onroad not allowed
thermal_status = ThermalStatus.danger
elif max_comp_temp > 95. or bat_temp > 60.:
# hysteresis between onroad not allowed and engage not allowed
thermal_status = clip(thermal_status, ThermalStatus.red, ThermalStatus.danger)
elif max_cpu_temp > 90.0:
# hysteresis between engage not allowed and uploader not allowed
thermal_status = clip(thermal_status, ThermalStatus.yellow, ThermalStatus.red)
elif max_cpu_temp > 85.0:
# uploader not allowed
thermal_status = ThermalStatus.yellow
elif max_cpu_temp > 75.0:
# hysteresis between uploader not allowed and all good
thermal_status = clip(thermal_status, ThermalStatus.green, ThermalStatus.yellow)
else:
# all good
thermal_status = ThermalStatus.green
# **** starting logic ****
@ -225,7 +226,7 @@ def thermald_thread():
# 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 msg.thermal.thermalStatus >= ThermalStatus.danger:
if thermal_status >= ThermalStatus.danger:
# TODO: Add a better warning when this is happening
should_start = False

58
selfdrive/ui/ui.c
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@ -65,6 +65,8 @@ const int box_w = vwp_w-sbr_w-(bdr_s*2);
const int box_h = vwp_h-(bdr_s*2);
const int viz_w = vwp_w-(bdr_s*2);
const int header_h = 420;
const int footer_h = 280;
const int footer_y = vwp_h-bdr_s-footer_h;
const uint8_t bg_colors[][4] = {
[STATUS_STOPPED] = {0x07, 0x23, 0x39, 0xff},
@ -110,6 +112,7 @@ typedef struct UIScene {
float curvature;
int engaged;
bool engageable;
bool monitoring_active;
bool uilayout_sidebarcollapsed;
bool uilayout_mapenabled;
@ -158,6 +161,7 @@ typedef struct UIState {
int font_sans_semibold;
int font_sans_bold;
int img_wheel;
int img_face;
zsock_t *thermal_sock;
void *thermal_sock_raw;
@ -379,6 +383,9 @@ static void ui_init(UIState *s) {
assert(s->img_wheel >= 0);
s->img_wheel = nvgCreateImage(s->vg, "../assets/img_chffr_wheel.png", 1);
assert(s->img_face >= 0);
s->img_face = nvgCreateImage(s->vg, "../assets/img_driver_face.png", 1);
// init gl
s->frame_program = load_program(frame_vertex_shader, frame_fragment_shader);
assert(s->frame_program);
@ -981,6 +988,31 @@ static void ui_draw_vision_wheel(UIState *s) {
nvgFill(s->vg);
}
static void ui_draw_vision_face(UIState *s) {
const UIScene *scene = &s->scene;
const int face_size = 96;
const int face_x = (scene->ui_viz_rx + face_size + (bdr_s * 2));
const int face_y = (footer_y + ((footer_h - face_size) / 2));
const int face_img_size = (face_size * 1.5);
const int face_img_x = (face_x - (face_img_size / 2));
const int face_img_y = (face_y - (face_size / 4));
float face_img_alpha = scene->monitoring_active ? 1.0f : 0.15f;
float face_bg_alpha = scene->monitoring_active ? 0.3f : 0.1f;
NVGcolor face_bg = nvgRGBA(0, 0, 0, (255 * face_bg_alpha));
NVGpaint face_img = nvgImagePattern(s->vg, face_img_x, face_img_y,
face_img_size, face_img_size, 0, s->img_face, face_img_alpha);
nvgBeginPath(s->vg);
nvgCircle(s->vg, face_x, (face_y + (bdr_s * 1.5)), face_size);
nvgFillColor(s->vg, face_bg);
nvgFill(s->vg);
nvgBeginPath(s->vg);
nvgRect(s->vg, face_img_x, face_img_y, face_img_size, face_img_size);
nvgFillPaint(s->vg, face_img);
nvgFill(s->vg);
}
static void ui_draw_vision_header(UIState *s) {
const UIScene *scene = &s->scene;
int ui_viz_rx = scene->ui_viz_rx;
@ -1000,6 +1032,18 @@ static void ui_draw_vision_header(UIState *s) {
ui_draw_vision_wheel(s);
}
static void ui_draw_vision_footer(UIState *s) {
const UIScene *scene = &s->scene;
int ui_viz_rx = scene->ui_viz_rx;
int ui_viz_rw = scene->ui_viz_rw;
nvgBeginPath(s->vg);
nvgRect(s->vg, ui_viz_rx, footer_y, ui_viz_rw, footer_h);
// Driver Monitoring
ui_draw_vision_face(s);
}
static void ui_draw_vision_alert(UIState *s, int va_size, int va_color,
const char* va_text1, const char* va_text2) {
const UIScene *scene = &s->scene;
@ -1109,8 +1153,11 @@ static void ui_draw_vision(UIState *s) {
} else if (scene->cal_status == CALIBRATION_UNCALIBRATED) {
// Calibration Status
ui_draw_calibration_status(s);
} else {
ui_draw_vision_footer(s);
}
nvgEndFrame(s->vg);
glDisable(GL_BLEND);
}
@ -1399,6 +1446,7 @@ static void ui_update(UIState *s) {
s->scene.engaged = datad.enabled;
s->scene.engageable = datad.engageable;
s->scene.gps_planner_active = datad.gpsPlannerActive;
s->scene.monitoring_active = datad.driverMonitoringOn;
// printf("recv %f\n", datad.vEgo);
s->scene.frontview = datad.rearViewCam;
@ -1634,12 +1682,6 @@ static void* light_sensor_thread(void *args) {
int SENSOR_LIGHT = 7;
struct stat buffer;
if (stat("/sys/bus/i2c/drivers/cyccg", &buffer) == 0) {
LOGD("LeEco light sensor detected");
SENSOR_LIGHT = 5;
}
device->activate(device, SENSOR_LIGHT, 0);
device->activate(device, SENSOR_LIGHT, 1);
device->setDelay(device, SENSOR_LIGHT, ms2ns(100));
@ -1653,9 +1695,7 @@ static void* light_sensor_thread(void *args) {
LOG_100("light_sensor_poll failed: %d", n);
}
if (n > 0) {
if (SENSOR_LIGHT == 5) s->light_sensor = buffer[0].light * 2;
else s->light_sensor = buffer[0].light;
//printf("new light sensor value: %f\n", s->light_sensor);
s->light_sensor = buffer[0].light;
}
}

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