make CAR class enum, and values.py formatting
Shane Smiskol
parent
e76ef93a83
commit
04d9817e9d
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@ -1,7 +1,10 @@
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from enum import Enum
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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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class CarControllerParams:
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STEER_MAX = 261 # 262 faults
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STEER_DELTA_UP = 3 # 3 is stock. 100 is fine. 200 is too much it seems
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@ -9,7 +12,7 @@ class CarControllerParams:
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STEER_ERROR_MAX = 80
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class CAR:
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class CAR(Enum):
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PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
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PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018"
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PACIFICA_2019_HYBRID = "CHRYSLER PACIFICA HYBRID 2019"
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@ -18,6 +21,7 @@ class CAR:
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JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018" # includes 2017 Trailhawk
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JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk
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# Unique CAN messages:
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# Only the hybrids have 270: 8
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# Only the gas have 55: 8, 416: 7
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@ -1,12 +1,16 @@
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from enum import Enum
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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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MAX_ANGLE = 87. # make sure we never command the extremes (0xfff) which cause latching fault
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class CAR:
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class CAR(Enum):
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FUSION = "FORD FUSION 2018"
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DBC = {
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CAR.FUSION: dbc_dict('ford_fusion_2018_pt', 'ford_fusion_2018_adas'),
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}
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@ -1,8 +1,11 @@
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from enum import Enum
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from cereal import car
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from selfdrive.car import dbc_dict
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Ecu = car.CarParams.Ecu
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class CarControllerParams():
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class CarControllerParams:
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STEER_MAX = 300 # Safety limit, not LKA max. Trucks use 600.
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STEER_STEP = 2 # control frames per command
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STEER_DELTA_UP = 7
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@ -18,17 +21,17 @@ class CarControllerParams():
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CAMERA_KEEPALIVE_STEP = 100
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# Volt gasbrake lookups
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MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill.
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ZERO_GAS = 2048 # Coasting
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MAX_BRAKE = 350 # ~ -3.5 m/s^2 with regen
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MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill.
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ZERO_GAS = 2048 # Coasting
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MAX_BRAKE = 350 # ~ -3.5 m/s^2 with regen
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# Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
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# perform the closed loop control, and might need some
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# to apply some more braking if we're on a downhill slope.
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# Our controller should still keep the 2 second average above
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# -3.5 m/s^2 as per planner limits
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ACCEL_MAX = 2. # m/s^2
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ACCEL_MIN = -4. # m/s^2
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ACCEL_MAX = 2. # m/s^2
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ACCEL_MIN = -4. # m/s^2
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MAX_ACC_REGEN = 1404 # Max ACC regen is slightly less than max paddle regen
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GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX]
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@ -36,9 +39,11 @@ class CarControllerParams():
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BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.]
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BRAKE_LOOKUP_V = [MAX_BRAKE, 0.]
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STEER_THRESHOLD = 1.0
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class CAR:
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class CAR(Enum):
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HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
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VOLT = "CHEVROLET VOLT PREMIER 2017"
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CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"
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@ -47,6 +52,7 @@ class CAR:
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BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
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ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
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class CruiseButtons:
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INIT = 0
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UNPRESS = 1
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@ -55,12 +61,14 @@ class CruiseButtons:
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MAIN = 5
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CANCEL = 6
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class AccState:
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OFF = 0
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ACTIVE = 1
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FAULTED = 3
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STANDSTILL = 4
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class CanBus:
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POWERTRAIN = 0
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OBSTACLE = 1
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@ -68,6 +76,7 @@ class CanBus:
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SW_GMLAN = 3
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LOOPBACK = 128
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FINGERPRINTS = {
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# Astra BK MY17, ASCM unplugged
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CAR.HOLDEN_ASTRA: [{
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@ -82,7 +91,7 @@ FINGERPRINTS = {
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{
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170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 578: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1516: 8, 1601: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2018: 8, 2020: 8, 2024: 8, 2028: 8
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}],
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CAR.BUICK_REGAL : [
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CAR.BUICK_REGAL: [
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# Regal TourX Essence w/ ACC 2018
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{
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190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 8, 419: 8, 422: 4, 426: 8, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 463: 3, 479: 8, 481: 7, 485: 8, 487: 8, 489: 8, 495: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 884: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 8, 969: 8, 977: 8, 979: 8, 985: 8, 1001: 8, 1005: 6, 1009: 8, 1011: 8, 1013: 3, 1017: 8, 1020: 8, 1024: 8, 1025: 8, 1026: 8, 1027: 8, 1028: 8, 1029: 8, 1030: 8, 1031: 8, 1032: 2, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 8, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 8, 1263: 8, 1265: 8, 1267: 8, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1603: 7, 1611: 8, 1618: 8, 1906: 8, 1907: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1930: 7, 2016: 8, 2018: 8, 2019: 8, 2024: 8, 2026: 8
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@ -1,4 +1,4 @@
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from enum import IntFlag
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from enum import Enum, IntFlag
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from cereal import car
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from selfdrive.car import dbc_dict
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@ -51,6 +51,7 @@ class CruiseButtons:
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CANCEL = 2
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MAIN = 1
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# See dbc files for info on values
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VISUAL_HUD = {
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VisualAlert.none: 0,
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@ -63,7 +64,8 @@ VISUAL_HUD = {
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VisualAlert.speedTooHigh: 8
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}
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class CAR:
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class CAR(Enum):
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ACCORD = "HONDA ACCORD 2018"
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ACCORDH = "HONDA ACCORD HYBRID 2018"
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CIVIC = "HONDA CIVIC 2016"
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@ -87,6 +89,7 @@ class CAR:
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INSIGHT = "HONDA INSIGHT 2019"
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HONDA_E = "HONDA E 2020"
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FW_VERSIONS = {
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CAR.ACCORD: {
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(Ecu.programmedFuelInjection, 0x18da10f1, None): [
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@ -1,11 +1,14 @@
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from enum import Enum
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from cereal import car
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from selfdrive.car import dbc_dict
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Ecu = car.CarParams.Ecu
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# Steer torque limits
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class CarControllerParams:
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ACCEL_MIN = -3.5 # m/s
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ACCEL_MAX = 2.0 # m/s
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ACCEL_MIN = -3.5 # m/s
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ACCEL_MAX = 2.0 # m/s
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def __init__(self, CP):
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# To determine the limit for your car, find the maximum value that the stock LKAS will request.
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@ -22,7 +25,8 @@ class CarControllerParams:
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self.STEER_DRIVER_MULTIPLIER = 2
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self.STEER_DRIVER_FACTOR = 1
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class CAR:
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class CAR(Enum):
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# Hyundai
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ELANTRA = "HYUNDAI ELANTRA 2017"
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ELANTRA_2021 = "HYUNDAI ELANTRA 2021"
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@ -74,6 +78,7 @@ class Buttons:
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GAP_DIST = 3
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CANCEL = 4
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FINGERPRINTS = {
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CAR.ELANTRA: [{
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66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 832: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
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@ -927,23 +932,23 @@ FW_VERSIONS = {
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],
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},
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CAR.ELANTRA_HEV_2021: {
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(Ecu.fwdCamera, 0x7c4, None) : [
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(Ecu.fwdCamera, 0x7c4, None): [
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b'\xf1\000CN7HMFC AT USA LHD 1.00 1.03 99210-AA000 200819',
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],
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(Ecu.fwdRadar, 0x7d0, None) : [
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(Ecu.fwdRadar, 0x7d0, None): [
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b'\xf1\000CNhe SCC FHCUP 1.00 1.01 99110-BY000 ',
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b'\xf1\x8799110BY000\xf1\x00CNhe SCC FHCUP 1.00 1.01 99110-BY000 ',
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],
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(Ecu.eps, 0x7d4, None) :[
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(Ecu.eps, 0x7d4, None): [
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b'\xf1\x8756310/BY050\xf1\000CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102',
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],
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(Ecu.transmission, 0x7e1, None) :[
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(Ecu.transmission, 0x7e1, None): [
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b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa',
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b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\000\000\000\000',
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b'\xf1\x816U3K3051\000\000\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa',
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b'\xf1\x816U3K3051\x00\x00\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\x00\x00\x00\x00',
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],
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(Ecu.engine, 0x7e0, None) : [
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(Ecu.engine, 0x7e0, None): [
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b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
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]
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},
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@ -1,3 +1,5 @@
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from enum import Enum
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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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@ -14,7 +16,8 @@ class CarControllerParams:
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STEER_DRIVER_FACTOR = 1 # from dbc
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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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class CAR(Enum):
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CX5 = "MAZDA CX-5"
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CX9 = "MAZDA CX-9"
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MAZDA3 = "MAZDA 3"
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CX9_2021 = "MAZDA CX-9 2021"
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CX5_2022 = "MAZDA CX-5 2022"
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class LKAS_LIMITS:
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STEER_THRESHOLD = 15
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DISABLE_SPEED = 45 # kph
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ENABLE_SPEED = 52 # kph
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class Buttons:
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NONE = 0
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SET_PLUS = 1
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@ -36,7 +41,7 @@ class Buttons:
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FW_VERSIONS = {
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CAR.CX5_2022 : {
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CAR.CX5_2022: {
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(Ecu.eps, 0x730, None): [
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b'KSD5-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
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],
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@ -122,7 +127,7 @@ FW_VERSIONS = {
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],
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},
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CAR.CX9 : {
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CAR.CX9: {
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(Ecu.eps, 0x730, None): [
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b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
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b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
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@ -234,7 +239,7 @@ FW_VERSIONS = {
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],
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},
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CAR.CX9_2021 : {
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CAR.CX9_2021: {
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(Ecu.eps, 0x730, None): [
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b'TC3M-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
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],
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@ -1,2 +1,5 @@
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class CAR:
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from enum import Enum
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class CAR(Enum):
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MOCK = 'mock'
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from enum import Enum
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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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@ -10,7 +12,8 @@ class CarControllerParams:
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LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower
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STEER_THRESHOLD = 1.0
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class CAR:
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class CAR(Enum):
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XTRAIL = "NISSAN X-TRAIL 2017"
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LEAF = "NISSAN LEAF 2018"
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# Leaf with ADAS ECU found behind instrument cluster instead of glovebox
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@ -1,7 +1,10 @@
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from enum import Enum
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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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class CarControllerParams:
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def __init__(self, CP):
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if CP.carFingerprint == CAR.IMPREZA_2020:
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@ -15,7 +18,8 @@ class CarControllerParams:
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self.STEER_DRIVER_MULTIPLIER = 10 # weight driver torque heavily
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self.STEER_DRIVER_FACTOR = 1 # from dbc
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class CAR:
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class CAR(Enum):
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ASCENT = "SUBARU ASCENT LIMITED 2019"
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IMPREZA = "SUBARU IMPREZA LIMITED 2019"
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IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020"
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@ -25,6 +29,7 @@ class CAR:
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OUTBACK_PREGLOBAL = "SUBARU OUTBACK 2015 - 2017"
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OUTBACK_PREGLOBAL_2018 = "SUBARU OUTBACK 2018 - 2019"
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FINGERPRINTS = {
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CAR.IMPREZA: [{
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2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 811: 8, 816: 8, 826: 8, 827: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8
|
||||
|
|
|
|||
|
|
@ -1,14 +1,18 @@
|
|||
from collections import namedtuple
|
||||
from enum import Enum
|
||||
|
||||
from selfdrive.car import dbc_dict
|
||||
from cereal import car
|
||||
|
||||
Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
|
||||
AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_points'])
|
||||
|
||||
class CAR:
|
||||
|
||||
class CAR(Enum):
|
||||
AP1_MODELS = 'TESLA AP1 MODEL S'
|
||||
AP2_MODELS = 'TESLA AP2 MODEL S'
|
||||
|
||||
|
||||
FINGERPRINTS = {
|
||||
CAR.AP2_MODELS: [
|
||||
{
|
||||
|
|
@ -27,6 +31,7 @@ DBC = {
|
|||
CAR.AP1_MODELS: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'),
|
||||
}
|
||||
|
||||
|
||||
class CANBUS:
|
||||
# Lateral harness
|
||||
chassis = 0
|
||||
|
|
@ -38,6 +43,7 @@ class CANBUS:
|
|||
private = 5
|
||||
autopilot_powertrain = 6
|
||||
|
||||
|
||||
GEAR_MAP = {
|
||||
"DI_GEAR_INVALID": car.CarState.GearShifter.unknown,
|
||||
"DI_GEAR_P": car.CarState.GearShifter.park,
|
||||
|
|
@ -59,6 +65,7 @@ BUTTONS = [
|
|||
Button(car.CarState.ButtonEvent.Type.resumeCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [1]),
|
||||
]
|
||||
|
||||
|
||||
class CarControllerParams:
|
||||
RATE_LIMIT_UP = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., .8, .15])
|
||||
RATE_LIMIT_DOWN = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., 3.5, 0.4])
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
from collections import defaultdict
|
||||
from enum import IntFlag
|
||||
from enum import Enum, IntFlag
|
||||
|
||||
from cereal import car
|
||||
from selfdrive.car import dbc_dict
|
||||
|
|
@ -24,7 +24,7 @@ class ToyotaFlags(IntFlag):
|
|||
HYBRID = 1
|
||||
|
||||
|
||||
class CAR:
|
||||
class CAR(Enum):
|
||||
# Toyota
|
||||
ALPHARD_TSS2 = "TOYOTA ALPHARD 2020"
|
||||
AVALON = "TOYOTA AVALON 2016"
|
||||
|
|
|
|||
|
|
@ -1,4 +1,5 @@
|
|||
from collections import defaultdict
|
||||
from enum import Enum
|
||||
from typing import Dict
|
||||
|
||||
from cereal import car
|
||||
|
|
@ -9,6 +10,7 @@ NetworkLocation = car.CarParams.NetworkLocation
|
|||
TransmissionType = car.CarParams.TransmissionType
|
||||
GearShifter = car.CarState.GearShifter
|
||||
|
||||
|
||||
class CarControllerParams:
|
||||
HCA_STEP = 2 # HCA_01 message frequency 50Hz
|
||||
LDW_STEP = 10 # LDW_02 message frequency 10Hz
|
||||
|
|
@ -27,13 +29,16 @@ class CarControllerParams:
|
|||
STEER_DRIVER_MULTIPLIER = 3 # weight driver torque heavily
|
||||
STEER_DRIVER_FACTOR = 1 # from dbc
|
||||
|
||||
|
||||
class CANBUS:
|
||||
pt = 0
|
||||
cam = 2
|
||||
|
||||
|
||||
class DBC_FILES:
|
||||
mqb = "vw_mqb_2010" # Used for all cars with MQB-style CAN messaging
|
||||
|
||||
|
||||
DBC = defaultdict(lambda: dbc_dict(DBC_FILES.mqb, None)) # type: Dict[str, Dict[str, str]]
|
||||
|
||||
BUTTON_STATES = {
|
||||
|
|
@ -57,12 +62,13 @@ MQB_LDW_MESSAGES = {
|
|||
"laneAssistDeactivated": 10, # "Lane Assist deactivated." silent with persistent icon afterward
|
||||
}
|
||||
|
||||
|
||||
# Check the 7th and 8th characters of the VIN before adding a new CAR. If the
|
||||
# chassis code is already listed below, don't add a new CAR, just add to the
|
||||
# FW_VERSIONS for that existing CAR.
|
||||
# Exception: SEAT Leon and SEAT Ateca share a chassis code
|
||||
|
||||
class CAR:
|
||||
class CAR(Enum):
|
||||
ARTEON_MK1 = "VOLKSWAGEN ARTEON 1ST GEN" # Chassis AN, Mk1 VW Arteon and variants
|
||||
ATLAS_MK1 = "VOLKSWAGEN ATLAS 1ST GEN" # Chassis CA, Mk1 VW Atlas and Atlas Cross Sport
|
||||
GOLF_MK7 = "VOLKSWAGEN GOLF 7TH GEN" # Chassis 5G/AU/BA/BE, Mk7 VW Golf and variants
|
||||
|
|
@ -87,6 +93,7 @@ class CAR:
|
|||
SKODA_SUPERB_MK3 = "SKODA SUPERB 3RD GEN" # Chassis 3V/NP, Mk3 Skoda Superb and variants
|
||||
SKODA_OCTAVIA_MK3 = "SKODA OCTAVIA 3RD GEN" # Chassis NE, Mk3 Skoda Octavia and variants
|
||||
|
||||
|
||||
# All supported cars should return FW from the engine, srs, eps, and fwdRadar. Cars
|
||||
# with a manual trans won't return transmission firmware, but all other cars will.
|
||||
#
|
||||
|
|
|
|||
Loading…
Reference in New Issue