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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@ -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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@ -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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@ -1,7 +1,10 @@
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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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@ -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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@ -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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@ -22,11 +25,13 @@ class CAR:
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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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@ -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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@ -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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@ -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
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@ -1,14 +1,18 @@
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from collections import namedtuple
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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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Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
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AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_points'])
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class CAR:
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class CAR(Enum):
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AP1_MODELS = 'TESLA AP1 MODEL S'
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AP2_MODELS = 'TESLA AP2 MODEL S'
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FINGERPRINTS = {
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CAR.AP2_MODELS: [
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{
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@ -27,6 +31,7 @@ DBC = {
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CAR.AP1_MODELS: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'),
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}
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class CANBUS:
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# Lateral harness
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chassis = 0
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@ -38,6 +43,7 @@ class CANBUS:
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private = 5
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autopilot_powertrain = 6
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GEAR_MAP = {
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"DI_GEAR_INVALID": car.CarState.GearShifter.unknown,
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"DI_GEAR_P": car.CarState.GearShifter.park,
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@ -59,6 +65,7 @@ BUTTONS = [
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Button(car.CarState.ButtonEvent.Type.resumeCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [1]),
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]
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class CarControllerParams:
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RATE_LIMIT_UP = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., .8, .15])
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RATE_LIMIT_DOWN = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., 3.5, 0.4])
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@ -1,5 +1,5 @@
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from collections import defaultdict
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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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@ -24,7 +24,7 @@ class ToyotaFlags(IntFlag):
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HYBRID = 1
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class CAR:
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class CAR(Enum):
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# Toyota
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ALPHARD_TSS2 = "TOYOTA ALPHARD 2020"
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AVALON = "TOYOTA AVALON 2016"
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@ -1,4 +1,5 @@
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from collections import defaultdict
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from enum import Enum
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from typing import Dict
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from cereal import car
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@ -9,6 +10,7 @@ NetworkLocation = car.CarParams.NetworkLocation
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TransmissionType = car.CarParams.TransmissionType
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GearShifter = car.CarState.GearShifter
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class CarControllerParams:
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HCA_STEP = 2 # HCA_01 message frequency 50Hz
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LDW_STEP = 10 # LDW_02 message frequency 10Hz
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@ -27,13 +29,16 @@ class CarControllerParams:
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STEER_DRIVER_MULTIPLIER = 3 # weight driver torque heavily
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STEER_DRIVER_FACTOR = 1 # from dbc
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class CANBUS:
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pt = 0
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cam = 2
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class DBC_FILES:
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mqb = "vw_mqb_2010" # Used for all cars with MQB-style CAN messaging
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DBC = defaultdict(lambda: dbc_dict(DBC_FILES.mqb, None)) # type: Dict[str, Dict[str, str]]
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BUTTON_STATES = {
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@ -57,12 +62,13 @@ MQB_LDW_MESSAGES = {
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"laneAssistDeactivated": 10, # "Lane Assist deactivated." silent with persistent icon afterward
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}
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# Check the 7th and 8th characters of the VIN before adding a new CAR. If the
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# chassis code is already listed below, don't add a new CAR, just add to the
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# FW_VERSIONS for that existing CAR.
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# Exception: SEAT Leon and SEAT Ateca share a chassis code
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class CAR:
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class CAR(Enum):
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ARTEON_MK1 = "VOLKSWAGEN ARTEON 1ST GEN" # Chassis AN, Mk1 VW Arteon and variants
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ATLAS_MK1 = "VOLKSWAGEN ATLAS 1ST GEN" # Chassis CA, Mk1 VW Atlas and Atlas Cross Sport
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GOLF_MK7 = "VOLKSWAGEN GOLF 7TH GEN" # Chassis 5G/AU/BA/BE, Mk7 VW Golf and variants
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@ -87,6 +93,7 @@ class CAR:
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SKODA_SUPERB_MK3 = "SKODA SUPERB 3RD GEN" # Chassis 3V/NP, Mk3 Skoda Superb and variants
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SKODA_OCTAVIA_MK3 = "SKODA OCTAVIA 3RD GEN" # Chassis NE, Mk3 Skoda Octavia and variants
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# All supported cars should return FW from the engine, srs, eps, and fwdRadar. Cars
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# with a manual trans won't return transmission firmware, but all other cars will.
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#
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