37 lines
3.2 KiB
Python
37 lines
3.2 KiB
Python
# flake8: noqa
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from selfdrive.car import dbc_dict
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from cereal import car
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Ecu = car.CarParams.Ecu
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# Steer torque limits
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class SteerLimitParams:
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STEER_MAX = 1500
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STEER_DELTA_UP = 10 # 1.5s time to peak torque
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STEER_DELTA_DOWN = 25 # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50)
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STEER_ERROR_MAX = 350 # max delta between torque cmd and torque motor
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class CAR:
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SMART_ROADSTER_COUPE = "SMART ROADSTER COUPE 2003-2006"
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ALBATROSS = "ALBATROSS"
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FINGERPRINTS = {
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CAR.SMART_ROADSTER_COUPE: [{
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36: 8, 37: 8, 170: 8, 180: 1, 186: 4, 253:8, 254:8, 255: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 512: 6, 513:6, 547: 8, 548: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 2, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1196: 8, 1222: 8, 1224:8, 1227: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1596: 8, 1597: 8, 1600: 8, 1664: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2021: 8, 2022: 8, 2023: 8, 2024: 8
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},
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{
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36: 8, 37: 8, 170: 8, 180: 4, 186: 4, 253:8, 254:8, 255: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 512: 6, 513:6, 547: 8, 548: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 2, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1196: 8, 1222: 8, 1224:8, 1227: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1596: 8, 1597: 8, 1600: 8, 1664: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2021: 8, 2022: 8, 2023: 8, 2024: 8
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}],
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CAR.ALBATROSS: [{
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36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 253:8, 254:8, 255: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 512: 6, 513:6, 547: 8, 548: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 2, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1196: 8, 1222: 8, 1224:8, 1227: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1596: 8, 1597: 8, 1600: 8, 1664: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2021: 8, 2022: 8, 2023: 8, 2024: 8
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}],
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}
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STEER_THRESHOLD = 100
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DBC = {
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CAR.SMART_ROADSTER_COUPE: dbc_dict('ocelot_can', 'ford_focus_adas', 'ocelot_smart_roadster_pt'),
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CAR.ALBATROSS: dbc_dict('ocelot_controls', 'ford_focus_adas', 'ocelot_smart_roadster_pt'),
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}
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