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Merge pull request #540 from commaai/devel 

0.5.9 Release
pull/558/head v0.5.9
Nigel Armstrong 2019-02-25 10:54:11 -08:00 committed by GitHub
parent 2cee2e05ba f0203614ee
commit ad145da3bc
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121 changed files with 3085 additions and 1036 deletions
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1
.gitignore vendored
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@ -25,6 +25,7 @@ clcache
board/obj/
selfdrive/boardd/boardd
selfdrive/visiond/visiond
selfdrive/logcatd/logcatd
selfdrive/proclogd/proclogd
selfdrive/ui/ui

15
README.md
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@ -62,10 +62,12 @@ Supported Cars
| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
| Acura | ILX 2016-17 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph | Nidec |
| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Buick<sup>3</sup> | Regal 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Chevrolet<sup>3</sup>| Malibu 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Chevrolet<sup>3</sup>| Volt 2017-18 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Cadillac<sup>3</sup> | ATS 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Chrysler | Pacifica Hybrid 2017 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | Custom<sup>8</sup>|
| Chrysler | Pacifica 2018 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
| GMC<sup>3</sup> | Acadia Denali 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Holden<sup>3</sup> | Astra 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph | Bosch |
@ -81,19 +83,21 @@ Supported Cars
| Hyundai | Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Hyundai | Elantra 2017 | SCC + LKAS | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
| Hyundai | Genesis 2018 | All | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
| Jeep | Grand Cherokee 2017-19 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
| Kia | Optima 2019 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Kia | Sorento 2018 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Kia | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Lexus | RX Hybrid 2016-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Camry 2018<sup>4</sup> | All | Yes | Stock | 0mph<sup>5</sup> | 0mph | Toyota |
| Toyota | C-HR 2017-18<sup>4</sup> | All | Yes | Stock | 0mph | 0mph | Toyota |
| Toyota | Corolla 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph | Toyota |
| Toyota | Corolla 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
| Toyota | Highlander 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Highlander Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius Prime 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Rav4 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph | 0mph | Toyota |
| Toyota | Rav4 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph | Toyota |
| Toyota | Rav4 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
| Toyota | Rav4 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
| Toyota | Rav4 Hybrid 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
<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)***
@ -103,7 +107,6 @@ Supported Cars
<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed for the 2019 Sante Fe; pinout may differ for other Hyundais.
<sup>7</sup>Community built Giraffe, find more information [here](https://zoneos.com/shop/).
<sup>8</sup>Community built Giraffe, find more information [here](https://github.com/adhintz/openpilot/wiki). Comma official Giraffe coming soon.
Community Maintained Cars
------
@ -167,7 +170,7 @@ Directory structure
├── sensord # IMU / GPS interface code
├── test # Car simulator running code through virtual maneuvers
├── ui # The UI
└── visiond # Embedded vision pipeline
└── visiond # Vision pipeline
To understand how the services interact, see `selfdrive/service_list.yaml`

14
RELEASES.md
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@ -1,10 +1,22 @@
Version 0.5.9 (2019-02-10)
========================
* Improve calibration using a dedicated neural network
* Abstract planner in its own process to remove lags in controls process
* Improve speed limits with country/region defaults by road type
* Reduce mapd data usage with gzip thanks to eFiniLan
* Zip log files in the background to reduce disk usage
* Kia Optima support thanks to emmertex!
* Buick Regal 2018 support thanks to HOYS!
* Comma pedal support for Toyota thanks to wocsor! Note: tuning needed and not maintained by comma
* Chrysler Pacifica and Jeep Grand Cherokee suppor thanks to adhintz!
Version 0.5.8 (2019-01-17)
========================
* Open sourced visiond
* Auto-slowdown for upcoming turns
* Chrysler/Jeep/Fiat support thanks to adhintz!
* Honda Civic 2019 support thanks to csouers!
* Improved use of car display in Toyota thanks to arne182!
* Improve use of car display in Toyota thanks to arne182!
* No data upload when connected to Android or iOS hotspots and "Enable Upload Over Cellular" setting is off
* EON stops charging when 12V battery drops below 11.8V

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apk/ai.comma.plus.frame.apk
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apk/ai.comma.plus.offroad.apk
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49
cereal/log.capnp
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@ -374,6 +374,7 @@ struct Live100Data {
l20MonoTimeDEPRECATED @17 :UInt64;
mdMonoTimeDEPRECATED @18 :UInt64;
planMonoTime @28 :UInt64;
pathPlanMonoTime @50 :UInt64;
state @31 :ControlState;
vEgo @0 :Float32;
@ -401,6 +402,7 @@ struct Live100Data {
cumLagMs @15 :Float32;
startMonoTime @48 :UInt64;
mapValid @49 :Bool;
forceDecel @51 :Bool;
enabled @19 :Bool;
active @36 :Bool;
@ -546,12 +548,12 @@ struct Plan {
events @13 :List(Car.CarEvent);
# lateral, 3rd order polynomial
lateralValid @0 :Bool;
dPoly @1 :List(Float32);
laneWidth @11 :Float32;
lateralValidDEPRECATED @0 :Bool;
dPolyDEPRECATED @1 :List(Float32);
laneWidthDEPRECATED @11 :Float32;
# longitudinal
longitudinalValid @2 :Bool;
longitudinalValidDEPRECATED @2 :Bool;
vCruise @16 :Float32;
aCruise @17 :Float32;
vTarget @3 :Float32;
@ -560,10 +562,14 @@ struct Plan {
aTargetMinDEPRECATED @4 :Float32;
aTargetMaxDEPRECATED @5 :Float32;
aTarget @18 :Float32;
vStart @26 :Float32;
aStart @27 :Float32;
jerkFactor @6 :Float32;
hasLead @7 :Bool;
hasLeftLane @23 :Bool;
hasRightLane @24 :Bool;
hasLeftLaneDEPRECATED @23 :Bool;
hasRightLaneDEPRECATED @24 :Bool;
fcw @8 :Bool;
longitudinalPlanSource @15 :LongitudinalPlanSource;
@ -577,6 +583,7 @@ struct Plan {
decelForTurn @22 :Bool;
mapValid @25 :Bool;
struct GpsTrajectory {
x @0 :List(Float32);
y @1 :List(Float32);
@ -590,6 +597,21 @@ struct Plan {
}
}
struct PathPlan {
laneWidth @0 :Float32;
dPoly @1 :List(Float32);
cPoly @2 :List(Float32);
cProb @3 :Float32;
lPoly @4 :List(Float32);
lProb @5 :Float32;
rPoly @6 :List(Float32);
rProb @7 :Float32;
angleSteers @8 :Float32;
valid @9 :Bool;
}
struct LiveLocationData {
status @0 :UInt8;
@ -1276,6 +1298,7 @@ struct UbloxGnss {
carrierPhaseStdev @10 :Float32;
# doppler standard deviation in Hz
dopplerStdev @11 :Float32;
sigId @12 :UInt8;
struct TrackingStatus {
# pseudorange valid
@ -1584,6 +1607,11 @@ struct LiveParametersData {
struct LiveMapData {
speedLimitValid @0 :Bool;
speedLimit @1 :Float32;
speedAdvisoryValid @12 :Bool;
speedAdvisory @13 :Float32;
speedLimitAheadValid @14 :Bool;
speedLimitAhead @15 :Float32;
speedLimitAheadDistance @16 :Float32;
curvatureValid @2 :Bool;
curvature @3 :Float32;
wayId @4 :UInt64;
@ -1603,6 +1631,13 @@ struct CameraOdometry {
rotStd @3 :List(Float32); # std rad/s in device frame
}
struct KalmanOdometry {
trans @0 :List(Float32); # m/s in device frame
rot @1 :List(Float32); # rad/s in device frame
transStd @2 :List(Float32); # std m/s in device frame
rotStd @3 :List(Float32); # std rad/s in device frame
}
struct Event {
# in nanoseconds?
logMonoTime @0 :UInt64;
@ -1671,5 +1706,7 @@ struct Event {
liveParameters @61 :LiveParametersData;
liveMapData @62 :LiveMapData;
cameraOdometry @63 :CameraOdometry;
pathPlan @64 :PathPlan;
kalmanOdometry @65 :KalmanOdometry;
}
}

1
common/params.py
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@ -67,6 +67,7 @@ keys = {
# written: visiond
# read: visiond, controlsd
"CalibrationParams": TxType.PERSISTENT,
"ControlsParams": TxType.PERSISTENT,
# written: controlsd
# read: radard
"CarParams": TxType.CLEAR_ON_CAR_START,

10
common/transformations/camera.py
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@ -29,21 +29,13 @@ view_frame_from_device_frame = device_frame_from_view_frame.T
def get_calib_from_vp(vp):
vp_norm = normalize(vp)
yaw_calib = np.arctan(vp_norm[0])
pitch_calib = np.arctan(vp_norm[1]*np.cos(yaw_calib))
# TODO should be, this but written
# to be compatible with meshcalib and
# get_view_frame_from_road_fram
#pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
roll_calib = 0
return roll_calib, pitch_calib, yaw_calib
# aka 'extrinsic_matrix'
# road : x->forward, y -> left, z->up
def get_view_frame_from_road_frame(roll, pitch, yaw, height):
# TODO
# calibration pitch is currently defined
# opposite to pitch in device frame
pitch = -pitch
device_from_road = orient.rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1]))
view_from_road = view_frame_from_device_frame.dot(device_from_road)
return np.hstack((view_from_road, [[0], [height], [0]]))

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models/posenet.dlc 100644
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15
opendbc/acura_ilx_2016_can_generated.dbc
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@ -76,6 +76,15 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
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_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
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|15] "" 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
@ -268,12 +277,6 @@ BO_ 419 GEARBOX: 8 PCM
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_ 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

15
opendbc/acura_rdx_2018_can_generated.dbc
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@ -76,6 +76,15 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
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_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
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|15] "" 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
@ -257,12 +266,6 @@ BO_ 404 STEERING_CONTROL: 4 EON
SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
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_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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

5
opendbc/chrysler_pacifica_2017_hybrid.dbc
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@ -122,6 +122,7 @@ BO_ 678 LKAS_HUD: 8 XXX
SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX
SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX
SG_ LKAS_ALERTS : 27|4@0+ (1,0) [0|1] "" XXX
SG_ CAR_MODEL : 15|8@0+ (1,0) [0|255] "" XXX
BO_ 705 AUTO_PARK_BUTTON: 8 XXX
SG_ AUTO_PARK_TOGGLE_2 : 8|1@0+ (1,0) [0|1] "" XXX
@ -372,7 +373,7 @@ 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_ 746 PRNDL "5=L, 4=D, 3=N, 2=R, 1=P";
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";
@ -429,5 +430,5 @@ 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_ 746 PRNDL 5 "Low" 4 "Drive" 3 "Neutral" 2 "Reverse" 1 "Park" ;
VAL_ 792 TURN_SIGNALS 2 "Right" 1 "Left" ;

9
opendbc/generator/honda/_honda_2017.dbc
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@ -54,6 +54,15 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
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_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
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|15] "" 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

6
opendbc/generator/honda/acura_ilx_2016_can.dbc
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@ -39,12 +39,6 @@ BO_ 419 GEARBOX: 8 PCM
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_ 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

6
opendbc/generator/honda/acura_rdx_2018_can.dbc
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@ -28,12 +28,6 @@ BO_ 404 STEERING_CONTROL: 4 EON
SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
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_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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

8
opendbc/generator/honda/honda_civic_touring_2016_can.dbc
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@ -44,14 +44,6 @@ BO_ 401 GEARBOX: 8 PCM
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_ 450 EPB_STATUS: 8 EPB
SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON

6
opendbc/generator/honda/honda_crv_touring_2016_can.dbc
View File

@ -29,12 +29,6 @@ BO_ 404 STEERING_CONTROL: 4 EON
SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
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_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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

8
opendbc/generator/honda/honda_fit_ex_2018_can.dbc
View File

@ -39,14 +39,6 @@ BO_ 401 GEARBOX: 8 PCM
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

9
opendbc/generator/honda/honda_odyssey_exl_2018.dbc
View File

@ -31,15 +31,6 @@ BO_ 419 GEARBOX: 8 PCM
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_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
BO_ 450 EPB_STATUS: 8 XXX
SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX
SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX

6
opendbc/generator/honda/honda_pilot_touring_2017_can.dbc
View File

@ -39,12 +39,6 @@ BO_ 419 GEARBOX: 8 PCM
SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
SG_ GEAR : 7|8@0+ (1,0) [0|255] "" 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_ 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

6
opendbc/generator/honda/honda_ridgeline_black_edition_2017_can.dbc
View File

@ -34,12 +34,6 @@ BO_ 419 GEARBOX: 8 PCM
SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
SG_ GEAR : 7|8@0+ (1,0) [0|255] "" 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_ 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

8
opendbc/generator/toyota/_comma.dbc
View File

@ -11,14 +11,14 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
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";
BO_ 512 GAS_COMMAND: 6 EON
SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON

4
opendbc/generator/toyota/lexus_rx_hybrid_2017_pt.dbc
View File

@ -22,7 +22,9 @@ BO_ 610 EPS_STATUS: 5 EPS
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
BO_ 956 GEAR_PACKET: 8 XXX
SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
@ -31,3 +33,5 @@ CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
VAL_ 956 SPORT_ON 0 "off" 1 "on";
VAL_ 956 ECON_ON 0 "off" 1 "on";

6
opendbc/generator/toyota/toyota_chr_2018_pt.dbc
View File

@ -23,11 +23,15 @@ BO_ 610 EPS_STATUS: 8 EPS
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 956 GEAR_PACKET: 8 XXX
SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" 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";
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
VAL_ 956 SPORT_ON 0 "off" 1 "on";
VAL_ 956 ECON_ON 0 "off" 1 "on";

12
opendbc/generator/toyota/toyota_rav4_hybrid_2017_pt.dbc
View File

@ -22,7 +22,14 @@ BO_ 610 EPS_STATUS: 5 EPS
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
BO_ 956 GEAR_PACKET: 8 XXX
SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
SG_ SPORT_GEAR_ON : 33|1@0+ (1,0) [0|1] "" XXX
SG_ SPORT_GEAR : 38|3@0+ (1,0) [0|7] "" XXX
SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
SG_ DRIVE_ENGAGED : 47|1@0+ (1,0) [0|1] "" XXX
CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
@ -30,4 +37,9 @@ CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
VAL_ 956 SPORT_ON 0 "off" 1 "on";
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
VAL_ 956 SPORT_GEAR_ON 0 "off" 1 "on";
VAL_ 956 SPORT_GEAR 1 "S1" 2 "S2" 3 "S3" 4 "S4" 5 "S5" 6 "S6";
VAL_ 956 ECON_ON 0 "off" 1 "on";
VAL_ 956 DRIVE_ENGAGED 0 "off" 1 "on";

11
opendbc/honda_accord_touring_2016_can.dbc
View File

@ -86,10 +86,13 @@ BO_ 401 GEARBOX: 8 PCM
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
BO_ 420 VSA_STATUS: 8 VSA
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" NEO
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" NEO
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" NEO
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" NEO
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_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
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|15] "" EON
BO_ 422 SCM_BUTTONS: 8 SCM
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" NEO

17
opendbc/honda_civic_touring_2016_can_generated.dbc
View File

@ -76,6 +76,15 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
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_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
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|15] "" 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
@ -273,14 +282,6 @@ BO_ 401 GEARBOX: 8 PCM
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_ 450 EPB_STATUS: 8 EPB
SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON

15
opendbc/honda_crv_touring_2016_can_generated.dbc
View File

@ -76,6 +76,15 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
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_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
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|15] "" 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
@ -258,12 +267,6 @@ BO_ 404 STEERING_CONTROL: 4 EON
SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
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_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" 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

17
opendbc/honda_fit_ex_2018_can_generated.dbc
View File

@ -76,6 +76,15 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
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_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
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|15] "" 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
@ -268,14 +277,6 @@ BO_ 401 GEARBOX: 8 PCM
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

18
opendbc/honda_odyssey_exl_2018_generated.dbc
View File

@ -76,6 +76,15 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
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_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
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|15] "" 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
@ -260,15 +269,6 @@ BO_ 419 GEARBOX: 8 PCM
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_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
BO_ 450 EPB_STATUS: 8 XXX
SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX
SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX

3
opendbc/honda_odyssey_extreme_edition_2018_china_can.dbc
View File

@ -231,6 +231,9 @@ BO_ 404 STEERING_CONTROL: 4 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_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
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|15] "" EON

15
opendbc/honda_pilot_touring_2017_can_generated.dbc
View File

@ -76,6 +76,15 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
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_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
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|15] "" 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
@ -268,12 +277,6 @@ BO_ 419 GEARBOX: 8 PCM
SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
SG_ GEAR : 7|8@0+ (1,0) [0|255] "" 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_ 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

15
opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
View File

@ -76,6 +76,15 @@ BO_ 380 POWERTRAIN_DATA: 8 PCM
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_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
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|15] "" 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
@ -263,12 +272,6 @@ BO_ 419 GEARBOX: 8 PCM
SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
SG_ GEAR : 7|8@0+ (1,0) [0|255] "" 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_ 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

9
opendbc/hyundai_kia_generic.dbc
View File

@ -692,6 +692,7 @@ BO_ 1365 FPCM11: 8 FPCM
SG_ CF_Fpcm_LPCtrCirFlt : 15|1@1+ (1.0,0.0) [0.0|1.0] "" EMS
BO_ 871 LVR12: 8 LVR
SG_ CF_Lvr_CruiseSet : 0|8@1+ (1.0,0.0) [0.0|255.0] "" CLU,TCU
SG_ CF_Lvr_Gear : 32|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,TCU
BO_ 872 LVR11: 8 LVR
@ -896,11 +897,11 @@ BO_ 67 DATC13: 8 DATC
BO_ 66 DATC12: 8 DATC
SG_ CR_Datc_DrTempDispC : 0|8@1+ (0.5,14.0) [15.0|32.0] "deg" CLU,IBOX
SG_ CR_Datc_DrTempDispF : 8|8@1+ (1.0,56.0) [58.0|90.0] "¢µ" CLU,IBOX
SG_ CR_Datc_DrTempDispF : 8|8@1+ (1.0,56.0) [58.0|90.0] "deg" CLU,IBOX
SG_ CR_Datc_PsTempDispC : 16|8@1+ (0.5,14.0) [15.0|32.0] "deg" CLU,IBOX
SG_ CR_Datc_PsTempDispF : 24|8@1+ (1.0,56.0) [58.0|90.0] "¢µ" CLU,IBOX
SG_ CR_Datc_PsTempDispF : 24|8@1+ (1.0,56.0) [58.0|90.0] "deg" CLU,IBOX
SG_ CR_Datc_RearDrTempDispC : 40|8@1+ (0.5,14.0) [15.0|32.0] "deg" CLU
SG_ CR_Datc_RearDrTempDispF : 48|8@1+ (1.0,58.0) [58.0|90.0] "¢µ" CLU
SG_ CR_Datc_RearDrTempDispF : 48|8@1+ (1.0,58.0) [58.0|90.0] "deg" CLU
SG_ CF_Datc_CO2_Warning : 56|8@1+ (1.0,0.0) [0.0|3.0] "" CLU
BO_ 1345 CGW1: 8 BCM
@ -980,6 +981,8 @@ BO_ 832 LKAS11: 8 LDWS_LKAS
SG_ CF_Lkas_Chksum : 48|8@1+ (1.0,0.0) [0.0|255.0] "" MDPS
SG_ CF_Lkas_FcwOpt_USM : 56|3@1+ (1.0,0.0) [0.0|7.0] "" CLU
SG_ CF_Lkas_LdwsOpt_USM : 59|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,MDPS
SG_ CF_Lkas_Unknown1 : 47|1@1+ (1,0) [0|3] "" XXX
SG_ CF_Lkas_Unknown2 : 63|2@0+ (1,0) [0|3] "" XXX
BO_ 1342 LKAS12: 6 LDWS_LKAS
SG_ CF_Lkas_TsrSlifOpt : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU

8
opendbc/lexus_is_2018_pt_generated.dbc
View File

@ -15,14 +15,14 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
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";
BO_ 512 GAS_COMMAND: 6 EON
SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON

12
opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
View File

@ -15,14 +15,14 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
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";
BO_ 512 GAS_COMMAND: 6 EON
SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
@ -318,7 +318,9 @@ BO_ 610 EPS_STATUS: 5 EPS
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
BO_ 956 GEAR_PACKET: 8 XXX
SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
@ -327,3 +329,5 @@ CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
VAL_ 956 SPORT_ON 0 "off" 1 "on";
VAL_ 956 ECON_ON 0 "off" 1 "on";

370
opendbc/subaru_outback_2015_eyesight.dbc 100644
View File

@ -0,0 +1,370 @@
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 0
BO_ 2 Steering: 8 XXX
SG_ NEW_SIGNAL_1 : 31|4@0- (1,0) [0|65535] "" XXX
SG_ NEW_SIGNAL_6 : 24|1@1+ (1,0) [0|3] "" XXX
SG_ Counter : 25|3@1+ (1,0) [0|15] "" XXX
SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_2 : 22|3@0+ (1,0) [0|7] "" XXX
SG_ Steering_Angle : 7|16@0- (-0.1,-9) [-497|500] "degree" XXX
BO_ 208 G_Sensor: 8 XXX
SG_ NEW_SIGNAL_3 : 32|8@1+ (1,0) [0|255] "" XXX
SG_ Steering_Angle : 0|16@1- (1,0) [0|65535] "" XXX
SG_ NEW_SIGNAL_1 : 47|8@0+ (1,0) [0|255] "" XXX
SG_ _Latitudinal : 16|16@1- (0.0035,1) [0|65535] "" XXX
SG_ _Longitudinal : 48|16@1- (0.000035,0) [0|255] "" XXX
BO_ 209 Brake_Pedal: 8 XXX
SG_ NEW_SIGNAL_2 : 31|1@1+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_3 : 56|8@1+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_1 : 26|1@1+ (1,0) [0|3] "" XXX
SG_ Brake_Pedal : 23|8@0+ (1,0) [0|255] "" XXX
SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX
BO_ 210 Brake_2: 8 XXX
SG_ NEW_SIGNAL_1 : 46|1@0+ (1,0) [0|4294967295] "" XXX
SG_ NEW_SIGNAL_2 : 39|3@0+ (1,0) [0|7] "" XXX
SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX
SG_ Left_Brake : 63|8@0+ (1,0) [0|255] "" XXX
SG_ Brake_Light : 35|1@1+ (1,0) [0|15] "" XXX
SG_ Brake_Related : 36|1@1+ (1,0) [0|255] "" XXX
BO_ 211 Brake_Type: 8 XXX
SG_ NEW_SIGNAL_4 : 28|4@1+ (1,0) [0|15] "" XXX
SG_ NEW_SIGNAL_3 : 7|1@0+ (1,0) [0|4294967295] "" XXX
SG_ NEW_SIGNAL_2 : 16|4@1+ (1,0) [0|15] "" XXX
SG_ Speed_Counter : 39|8@0+ (1,0) [0|15] "" XXX
SG_ Counter : 55|8@0+ (1,0) [0|255] "" XXX
SG_ Brake_Light : 21|1@0+ (1,0) [0|3] "" XXX
SG_ Brake_Cruise_On : 42|1@0+ (1,0) [0|3] "" XXX
SG_ Brake_Pedal_On : 46|1@0+ (1,0) [0|3] "" XXX
BO_ 212 WHEEL_SPEEDS: 8 XXX
SG_ FL : 0|16@1+ (0.0592,0) [2|255] "KPH" XXX
SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX
SG_ RL : 32|16@1+ (0.0592,0) [0|255] "" XXX
SG_ RR : 48|16@1+ (0.0592,0) [0|127] "KPH" XXX
BO_ 320 Throttle: 8 XXX
SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|3] "" XXX
SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
SG_ Engine_RPM : 16|14@1+ (1,0) [0|15] "" XXX
SG_ Off_Throttle : 30|1@0+ (1,0) [0|3] "" XXX
SG_ Throttle_Cruise : 39|8@0+ (1,0) [0|255] "" XXX
SG_ Throttle_Body_ : 55|8@0+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_3 : 63|1@0+ (1,0) [0|15] "" XXX
SG_ Not_Full_Throttle : 14|1@0+ (1,0) [0|15] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
BO_ 321 undefined: 8 XXX
SG_ NEW_SIGNAL_7 : 59|2@1+ (1,0) [0|63] "" XXX
SG_ NEW_SIGNAL_6 : 46|1@0+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_2 : 47|1@1+ (1,0) [0|15] "" XXX
SG_ NEW_SIGNAL_5 : 48|4@1+ (1,0) [0|15] "" XXX
SG_ NEW_SIGNAL_3 : 54|2@0+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_8 : 31|4@0+ (1,0) [0|15] "" XXX
SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX
SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
SG_ Wheel_Torque : 16|12@1+ (1,0) [0|255] "" XXX
SG_ Engine_Stop : 15|1@0+ (1,0) [0|3] "" XXX
BO_ 324 CruiseControl_2015: 8 XXX
SG_ Cruise_On : 48|1@0+ (1,0) [0|3] "" XXX
SG_ OnOffButton : 2|1@1+ (1,0) [0|3] "" XXX
SG_ SET_BUTTON : 3|1@0+ (1,0) [0|3] "" XXX
SG_ RES_BUTTON : 4|1@0+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_6 : 50|1@0+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_4 : 28|5@0+ (1,0) [0|16777215] "" XXX
SG_ NEW_SIGNAL_9 : 15|1@1+ (1,0) [0|127] "" XXX
SG_ NEW_SIGNAL_2 : 8|1@0+ (1,0) [0|255] "" XXX
SG_ Cruise_Activated : 49|1@0+ (1,0) [0|7] "" XXX
SG_ Brake_Pedal_On : 51|1@0+ (1,0) [0|3] "" XXX
SG_ Button : 13|1@0+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_1 : 23|8@0+ (1,-124) [0|255] "" XXX
BO_ 328 Transmission: 8 XXX
SG_ Counter : 11|4@0+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_7 : 63|1@0+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_4 : 15|4@0+ (1,0) [0|15] "" XXX
SG_ Paddle_Shift : 60|2@1+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_1 : 31|1@0+ (1,0) [0|3] "" XXX
SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX
SG_ NEW_SIGNAL_5 : 43|1@0+ (1,0) [0|65535] "" XXX
SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX
SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX
SG_ Manual_Gear : 4|4@1+ (1,0) [0|255] "" XXX
BO_ 329 CVT_Ratio: 8 XXX
SG_ NEW_SIGNAL_2 : 31|8@0+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_3 : 40|8@1+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_4 : 0|8@1+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_5 : 11|4@0+ (1,0) [0|65535] "" XXX
SG_ NEW_SIGNAL_1 : 39|8@0+ (1,0) [0|255] "" XXX
BO_ 336 Brake_Pressure: 8 XXX
SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|15] "" XXX
SG_ Brake_Pressure_Left : 15|8@0+ (1,0) [0|255] "" XXX
BO_ 338 Stalk: 8 XXX
SG_ Wiper : 62|1@0+ (1,0) [0|3] "" XXX
SG_ brake_light : 52|1@0+ (1,0) [0|3] "" XXX
SG_ Headlights : 59|1@0+ (1,0) [0|3] "" XXX
SG_ Runlights : 58|1@1+ (1,0) [0|3] "" XXX
SG_ Highbeam : 60|1@0+ (1,0) [0|3] "" XXX
SG_ Counter : 15|4@0+ (1,0) [0|15] "" XXX
BO_ 342 NEW_MSG_2: 8 XXX
BO_ 346 Counter_3: 8 XXX
SG_ Counter : 0|4@1+ (1,0) [0|15] "" XXX
SG_ NEW_SIGNAL_1 : 20|1@1+ (1,0) [0|15] "" XXX
SG_ NEW_SIGNAL_2 : 57|1@1+ (1,0) [0|3] "" XXX
BO_ 352 ES_Brake: 8 XXX
SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
SG_ Checksum : 56|8@1+ (1,0) [0|7] "" XXX
SG_ Brake_On : 22|1@0+ (1,0) [0|3] "" XXX
SG_ Brake_Light : 20|1@0+ (1,0) [0|2047] "" XXX
SG_ Cruise_Activated : 23|1@0+ (1,0) [0|3] "" XXX
SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
BO_ 353 ES_CruiseThrottle: 8 XXX
SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|255] "" XXX
SG_ Counter_1 : 46|3@0+ (1,0) [0|15] "" XXX
SG_ Wheel_stop : 22|1@0+ (1,0) [0|3] "" XXX
SG_ CloseDistance : 24|8@1+ (1,0) [0|255] "" XXX
SG_ Unknown : 18|1@1+ (1,0) [0|7] "" XXX
SG_ Button_Speed_Down : 49|1@1+ (1,0) [0|3] "" XXX
SG_ Button_Resume : 50|1@1+ (1,0) [0|15] "" XXX
SG_ NEW_SIGNAL_3_Blank : 15|4@0+ (1,0) [0|15] "" XXX
SG_ NEW_SIGNAL_2_Blank : 48|1@1+ (1,0) [0|3] "" XXX
SG_ Checksum : 56|8@1+ (1,0) [0|15] "" XXX
SG_ NEW_SIGNAL_9 : 17|1@1+ (1,0) [0|3] "" XXX
SG_ Cruise_Activatedish : 16|1@1+ (1,0) [0|7] "" XXX
SG_ NEW_SIGNAL_6_Blank : 23|1@0+ (1,0) [0|7] "" XXX
SG_ DistanceSwap : 21|1@0+ (1,0) [0|3] "" XXX
SG_ Brake_On : 20|1@0+ (1,0) [0|7] "" XXX
BO_ 354 ES_RPM: 8 XXX
SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
SG_ Cruise_Activated : 9|1@0+ (1,0) [0|3] "" XXX
SG_ Checksum : 39|8@0+ (1,0) [0|65535] "" XXX
SG_ RPM : 16|16@1+ (1,0) [0|255] "" XXX
SG_ Brake : 8|1@1+ (1,0) [0|7] "" XXX
BO_ 356 ES_LKAS: 8 XXX
SG_ Checksum : 56|8@1+ (1,0) [0|15] "" XXX
SG_ Counter : 0|3@1+ (1,0) [0|15] "" XXX
SG_ LKAS_Active : 24|1@1+ (1,0) [0|7] "" XXX
SG_ LKAS_Output : 8|13@1- (-1,0) [0|127] "" XXX
BO_ 358 ES_Status: 8 XXX
SG_ Counter : 39|3@0+ (1,0) [0|7] "" XXX
SG_ Cruise_On : 16|1@1+ (1,0) [0|7] "" XXX
SG_ Cruise_Activated : 17|1@1+ (1,0) [0|3] "" XXX
SG_ Obstacle_Distance : 48|4@1+ (1,0) [0|15] "" XXX
SG_ Cruise_Off : 22|1@0+ (1,0) [0|3] "" XXX
SG_ Saved_Speed : 24|8@1+ (1,0) [0|255] "" XXX
SG_ Car_Follow : 46|1@1+ (1,0) [0|255] "" XXX
SG_ Driver_Input : 20|1@0+ (1,0) [0|15] "" XXX
SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|3] "" XXX
SG_ Untitled_Blank : 18|1@0+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_6_Blank : 21|1@0+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_5_Blank : 33|1@1+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_4_Blank : 34|1@1+ (1,0) [0|7] "" XXX
SG_ NEW_SIGNAL_1 : 35|1@0+ (1,0) [0|31] "" XXX
SG_ 3SecondDisengage : 13|2@0+ (1,0) [0|3] "" XXX
SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX
SG_ Steep_Hill_Disengage : 44|1@0+ (1,0) [0|3] "" XXX
SG_ Disengage_Alert : 15|2@0+ (1,0) [0|3] "" XXX
BO_ 359 ES_LDW: 8 XXX
SG_ 2Right_Depart : 50|1@1+ (1,0) [0|7] "" XXX
SG_ 2All_Depart : 28|1@0+ (1,0) [0|3] "" XXX
SG_ 3All_Depart : 52|1@0+ (1,0) [0|3] "" XXX
SG_ Left_Depart_Front : 51|1@0+ (1,0) [0|3] "" XXX
SG_ All_depart_2015 : 0|1@1+ (1,0) [0|255] "" XXX
SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|3] "" XXX
SG_ LKAS_Steer_Active_2017 : 37|1@0+ (1,0) [0|3] "" XXX
SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|7] "" XXX
SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|3] "" XXX
SG_ 1All_Depart : 31|1@0+ (1,0) [0|15] "" XXX
SG_ 1Right_Depart_Front : 49|1@1+ (1,0) [0|3] "" XXX
SG_ 1Right_Depart : 48|1@1+ (1,0) [0|3] "" XXX
BO_ 392 Counter_0: 8 XXX
SG_ Counter : 16|4@1+ (1,0) [0|15] "" XXX
BO_ 554 NEW_MSG_3: 8 XXX
SG_ Counter : 0|4@1+ (1,0) [0|255] "" XXX
BO_ 604 undefined: 8 XXX
BO_ 640 NEW_MSG_10: 8 XXX
SG_ NEW_SIGNAL_2 : 24|8@1+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_4 : 54|2@0+ (1,0) [0|15] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ NEW_SIGNAL_3 : 34|2@0+ (1,0) [0|63] "" XXX
SG_ NEW_SIGNAL_1 : 47|8@0+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_5 : 39|1@0+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_6 : 0|1@1+ (1,0) [0|7] "" XXX
SG_ NEW_SIGNAL_7 : 38|1@0+ (1,0) [0|3] "" XXX
BO_ 642 Dashlights: 8 XXX
SG_ NEW_SIGNAL_2 : 32|1@1+ (1,0) [0|15] "" XXX
SG_ Counter : 15|4@0+ (1,0) [0|15] "" XXX
SG_ NEW_SIGNAL_1 : 0|12@1+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_3 : 34|2@1+ (1,0) [0|3] "" XXX
SG_ LEFT_BLINKER : 44|1@0+ (1,0) [0|3] "" XXX
SG_ RIGHT_BLINKER : 45|1@0+ (1,0) [0|3] "" XXX
BO_ 644 NEW_MSG_8: 8 XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
BO_ 805 undefined: 8 XXX
BO_ 880 Steer_Torque_2: 8 XXX
SG_ Counter : 40|4@1+ (1,0) [0|15] "" XXX
SG_ NEW_SIGNAL_3 : 48|4@1- (1,0) [0|15] "" XXX
SG_ Steering_Voltage_Flat : 7|8@0+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_1 : 8|1@0+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_2 : 30|1@0+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_4_2017 : 52|1@0+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_5_2017 : 54|1@0+ (1,0) [0|3] "" XXX
SG_ Steer_Torque_Sensor : 32|8@1- (-1,0) [0|255] "" XXX
BO_ 881 Steering_Torque: 8 XXX
SG_ Steering_Motor_Flat : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Steer_Torque_Sensor : 39|8@0- (1,0) [0|255] "" XXX
SG_ Steering_Angle : 40|16@1- (-0.026,0) [0|255] "" XXX
SG_ Steering_Motor_LeftRight : 23|16@0- (-0.13,0) [0|255] "" XXX
BO_ 882 Counter: 8 XXX
SG_ Counter : 15|4@0+ (1,0) [0|31] "" XXX
SG_ Something : 16|2@1+ (1,0) [0|255] "" XXX
BO_ 884 DOORS_STATUS: 8 XXX
SG_ DOOR_OPEN_FR : 24|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_FL : 25|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RL : 26|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RR : 27|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_Hatch : 28|1@0+ (1,0) [0|1] "" XXX
BO_ 886 undefined: 8 XXX
BO_ 864 Engine_Temp: 8 XXX
SG_ NEW_SIGNAL_1 : 32|8@1+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_2 : 44|1@1+ (1,0) [0|3] "" XXX
SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX
SG_ Cruise_Activated : 45|1@1+ (1,0) [0|3] "" XXX
SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX
SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX
BO_ 865 NEW_MSG_16: 8 XXX
SG_ NEW_SIGNAL_1 : 16|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 32|4@1+ (1,0) [0|15] "" XXX
SG_ NEW_SIGNAL_2 : 12|1@1+ (1,0) [0|255] "" XXX
BO_ 866 Fuel__: 8 XXX
SG_ NEW_SIGNAL_2 : 55|8@0+ (1,0) [0|16777215] "" XXX
SG_ NEW_SIGNAL_3 : 35|4@0+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_4 : 47|8@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_1 : 0|16@1+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_5 : 24|1@0+ (1,0) [0|32767] "" XXX
BO_ 872 NEW_MSG_15: 8 XXX
SG_ NEW_SIGNAL_1 : 31|8@0+ (1,0) [0|65535] "" XXX
BO_ 977 NEW_MSG_12: 8 XXX
SG_ NEW_SIGNAL_1 : 0|8@1+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_2 : 16|12@1+ (1,0) [0|255] "" XXX
BO_ 1632 Huge_Counter: 8 XXX
SG_ NEW_SIGNAL_1 : 31|8@0+ (1,0) [0|255] "" XXX
SG_ Counter : 55|16@0+ (1,0) [0|255] "" XXX
BO_ 1745 NEW_MSG_11: 8 XXX
SG_ NEW_SIGNAL_1 : 24|6@1+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_2 : 40|6@1+ (1,0) [0|15] "" XXX
SG_ NEW_SIGNAL_3 : 0|8@1+ (1,0) [0|255] "" XXX
BO_ 1786 NEW_MSG_9: 8 XXX
SG_ Counter : 3|4@0+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_2 : 8|16@1+ (1,0) [0|15] "" XXX
CM_ SG_ 2 NEW_SIGNAL_1 "";
CM_ SG_ 211 Brake_Pedal_On "high tolerance";
CM_ SG_ 212 FL "KPH";
CM_ SG_ 212 RL "KPH";
CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
CM_ SG_ 320 Throttle_Body_ "Throttle related";
CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
CM_ SG_ 338 Wiper "0 off, 1 on";
CM_ SG_ 353 NEW_SIGNAL_3_Blank "always 2";
CM_ SG_ 353 NEW_SIGNAL_2_Blank "0";
CM_ SG_ 353 NEW_SIGNAL_9 "flipped around quick engagement";
CM_ SG_ 353 NEW_SIGNAL_6_Blank "always 1";
CM_ SG_ 353 Brake_On "long activatedish";
CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
CM_ SG_ 358 Cruise_Activated "is 1 when cruise is able to go";
CM_ SG_ 358 Car_Follow "front car detected";
CM_ SG_ 358 3SecondDisengage "seatbelt disengage";
CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
CM_ SG_ 359 2All_Depart "Left and right depart";
CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart";
CM_ SG_ 359 All_depart_2015 "always 1 on 2017";
CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
CM_ SG_ 359 1All_Depart "Left and right depart";
CM_ SG_ 359 1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert ";
CM_ SG_ 359 1Right_Depart "right depart, hill steep and seatbelt disengage";
CM_ SG_ 642 Counter "Affected by signals";
CM_ SG_ 642 RIGHT_BLINKER "0 off, 2 right, 1 left";
CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";
CM_ SG_ 880 NEW_SIGNAL_1 "0 in 2017";
CM_ SG_ 880 NEW_SIGNAL_2 "";
CM_ SG_ 880 NEW_SIGNAL_4_2017 "1 in 2017";
CM_ SG_ 880 NEW_SIGNAL_5_2017 "1 in 2017";
CM_ SG_ 881 Steering_Motor_Flat "Possibly motor voltage";
CM_ SG_ 881 Steering_Angle "Missing extra larger bits";

8
opendbc/toyota_avalon_2017_pt_generated.dbc
View File

@ -15,14 +15,14 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
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";
BO_ 512 GAS_COMMAND: 6 EON
SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON

8
opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
View File

@ -15,14 +15,14 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
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";
BO_ 512 GAS_COMMAND: 6 EON
SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON

14
opendbc/toyota_chr_2018_pt_generated.dbc
View File

@ -15,14 +15,14 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
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";
BO_ 512 GAS_COMMAND: 6 EON
SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
@ -319,11 +319,15 @@ BO_ 610 EPS_STATUS: 8 EPS
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
BO_ 956 GEAR_PACKET: 8 XXX
SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" 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";
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
VAL_ 956 SPORT_ON 0 "off" 1 "on";
VAL_ 956 ECON_ON 0 "off" 1 "on";

8
opendbc/toyota_chr_hybrid_2018_pt_generated.dbc
View File

@ -15,14 +15,14 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
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";
BO_ 512 GAS_COMMAND: 6 EON
SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON

8
opendbc/toyota_corolla_2017_pt_generated.dbc
View File

@ -15,14 +15,14 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
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";
BO_ 512 GAS_COMMAND: 6 EON
SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON

8
opendbc/toyota_highlander_2017_pt_generated.dbc
View File

@ -15,14 +15,14 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
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";
BO_ 512 GAS_COMMAND: 6 EON
SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON

8
opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
View File

@ -15,14 +15,14 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
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";
BO_ 512 GAS_COMMAND: 6 EON
SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON

8
opendbc/toyota_prius_2017_pt_generated.dbc
View File

@ -15,14 +15,14 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
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";
BO_ 512 GAS_COMMAND: 6 EON
SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON

8
opendbc/toyota_rav4_2017_pt_generated.dbc
View File

@ -15,14 +15,14 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
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";
BO_ 512 GAS_COMMAND: 6 EON
SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON

20
opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
View File

@ -15,14 +15,14 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
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";
BO_ 512 GAS_COMMAND: 6 EON
SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
@ -318,7 +318,14 @@ BO_ 610 EPS_STATUS: 5 EPS
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
BO_ 956 GEAR_PACKET: 8 XXX
SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
SG_ SPORT_GEAR_ON : 33|1@0+ (1,0) [0|1] "" XXX
SG_ SPORT_GEAR : 38|3@0+ (1,0) [0|7] "" XXX
SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
SG_ DRIVE_ENGAGED : 47|1@0+ (1,0) [0|1] "" XXX
CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
@ -326,4 +333,9 @@ CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered";
CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
VAL_ 956 SPORT_ON 0 "off" 1 "on";
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
VAL_ 956 SPORT_GEAR_ON 0 "off" 1 "on";
VAL_ 956 SPORT_GEAR 1 "S1" 2 "S2" 3 "S3" 4 "S4" 5 "S5" 6 "S6";
VAL_ 956 ECON_ON 0 "off" 1 "on";
VAL_ 956 DRIVE_ENGAGED 0 "off" 1 "on";

8
opendbc/toyota_sienna_xle_2018_pt_generated.dbc
View File

@ -15,14 +15,14 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
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";
BO_ 512 GAS_COMMAND: 6 EON
SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON

8
panda/.circleci/config.yml
View File

@ -29,9 +29,13 @@ jobs:
command: |
docker run panda_build /bin/bash -c "cd /panda/board; make bin"
- run:
name: Build Pedal STM image
name: Build Honda Pedal STM image
command: |
docker run panda_build /bin/bash -c "cd /panda/board/pedal; make obj/comma.bin"
docker run panda_build /bin/bash -c "cd /panda/board/pedal_honda; make obj/comma.bin"
- run:
name: Build Toyota Pedal STM image
command: |
docker run panda_build /bin/bash -c "cd /panda/board/pedal_toyota; make obj/comma.bin"
- run:
name: Build NEO STM image
command: |

2
panda/VERSION
View File

@ -1 +1 @@
v1.1.8
v1.2.0

1
panda/board/main.c
View File

@ -559,6 +559,7 @@ int main() {
usb_init();
// default to silent mode to prevent issues with Ford
// hardcode a specific safety mode if you want to force the panda to be in a specific mode
safety_set_mode(SAFETY_NOOUTPUT, 0);
can_silent = ALL_CAN_SILENT;
can_init_all();

0
panda/board/pedal/.gitignore → panda/board/pedal_honda/.gitignore vendored
View File

0
panda/board/pedal/Makefile → panda/board/pedal_honda/Makefile
View File

0
panda/board/pedal/README → panda/board/pedal_honda/README
View File

0
panda/board/pedal/main.c → panda/board/pedal_honda/main.c
View File

0
panda/board/pedal/obj/.gitkeep → panda/board/pedal_honda/obj/.gitkeep
View File

1
panda/board/pedal_toyota/.gitignore vendored 100644
View File

@ -0,0 +1 @@
obj/*

58
panda/board/pedal_toyota/Makefile 100644
View File

@ -0,0 +1,58 @@
# :set noet
PROJ_NAME = comma
CFLAGS = -O2 -Wall -std=gnu11 -DPEDAL
CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
CFLAGS += -I ../inc -I ../ -I ../../ -nostdlib
CFLAGS += -T../stm32_flash.ld
STARTUP_FILE = startup_stm32f205xx
CC = arm-none-eabi-gcc
OBJCOPY = arm-none-eabi-objcopy
OBJDUMP = arm-none-eabi-objdump
DFU_UTIL = "dfu-util"
# pedal only uses the debug cert
CERT = ../../certs/debug
CFLAGS += "-DALLOW_DEBUG"
canflash: obj/$(PROJ_NAME).bin
../../tests/pedal/enter_canloader.py $<
usbflash: obj/$(PROJ_NAME).bin
../../tests/pedal/enter_canloader.py; sleep 0.5
PYTHONPATH=../../ python -c "from python import Panda; p = [x for x in [Panda(x) for x in Panda.list()] if x.bootstub]; assert(len(p)==1); p[0].flash('obj/$(PROJ_NAME).bin', reconnect=False)"
recover: obj/bootstub.bin obj/$(PROJ_NAME).bin
../../tests/pedal/enter_canloader.py --recover; sleep 0.5
$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.bin
obj/main.o: main.c ../*.h
mkdir -p obj
$(CC) $(CFLAGS) -o $@ -c $<
obj/bootstub.o: ../bootstub.c ../*.h
mkdir -p obj
$(CC) $(CFLAGS) -o $@ -c $<
obj/$(STARTUP_FILE).o: ../$(STARTUP_FILE).s
$(CC) $(CFLAGS) -o $@ -c $<
obj/%.o: ../../crypto/%.c
$(CC) $(CFLAGS) -o $@ -c $<
obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.o
# hack
$(CC) -Wl,--section-start,.isr_vector=0x8004000 $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf obj/code.bin
SETLEN=1 ../../crypto/sign.py obj/code.bin $@ $(CERT)
obj/bootstub.bin: obj/$(STARTUP_FILE).o obj/bootstub.o obj/sha.o obj/rsa.o
$(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^
$(OBJCOPY) -v -O binary obj/bootstub.$(PROJ_NAME).elf $@
clean:
rm -f obj/*

30
panda/board/pedal_toyota/README 100644
View File

@ -0,0 +1,30 @@
MOVE ALL FILES TO board/pedal TO FLASH
This is the firmware for the comma pedal. It borrows a lot from panda.
The comma pedal is a gas pedal interceptor for Honda/Acura. It allows you to "virtually" press the pedal.
This is the open source software. Note that it is not ready to use yet.
== Test Plan ==
* Startup
** Confirm STATE_FAULT_STARTUP
* Timeout
** Send value
** Confirm value is output
** Stop sending messages
** Confirm value is passthru after 100ms
** Confirm STATE_FAULT_TIMEOUT
* Random values
** Send random 6 byte messages
** Confirm random values cause passthru
** Confirm STATE_FAULT_BAD_CHECKSUM
* Same message lockout
** Send same message repeated
** Confirm timeout behavior
* Don't set enable
** Confirm no output
* Set enable and values
** Confirm output

291
panda/board/pedal_toyota/main.c 100644
View File

@ -0,0 +1,291 @@
//#define DEBUG
//#define CAN_LOOPBACK_MODE
//#define USE_INTERNAL_OSC
#include "../config.h"
#include "drivers/drivers.h"
#include "drivers/llgpio.h"
#include "gpio.h"
#define CUSTOM_CAN_INTERRUPTS
#include "libc.h"
#include "safety.h"
#include "drivers/adc.h"
#include "drivers/uart.h"
#include "drivers/dac.h"
#include "drivers/can.h"
#include "drivers/timer.h"
#define CAN CAN1
//#define PEDAL_USB
#ifdef PEDAL_USB
#include "drivers/usb.h"
#endif
#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
uint32_t enter_bootloader_mode;
void __initialize_hardware_early() {
early();
}
// ********************* serial debugging *********************
void debug_ring_callback(uart_ring *ring) {
char rcv;
while (getc(ring, &rcv)) {
putc(ring, rcv);
}
}
#ifdef PEDAL_USB
int usb_cb_ep1_in(uint8_t *usbdata, int len, int hardwired) { return 0; }
void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired) {}
void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) {}
void usb_cb_enumeration_complete() {}
int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
int resp_len = 0;
uart_ring *ur = NULL;
switch (setup->b.bRequest) {
// **** 0xe0: uart read
case 0xe0:
ur = get_ring_by_number(setup->b.wValue.w);
if (!ur) break;
if (ur == &esp_ring) uart_dma_drain();
// read
while ((resp_len < min(setup->b.wLength.w, MAX_RESP_LEN)) &&
getc(ur, (char*)&resp[resp_len])) {
++resp_len;
}
break;
}
return resp_len;
}
#endif
// ***************************** toyota can checksum ****************************
int can_cksum(uint8_t *dat, uint8_t len, uint16_t addr)
{
uint8_t checksum = 0;
checksum =((addr & 0xFF00) >> 8) + (addr & 0x00FF) + len + 1;
//uint16_t temp_msg = msg;
for (int ii = 0; ii < len; ii++)
{
checksum += (dat[ii]);
//temp_msg = temp_msg >> 8;
}
//return ((msg & ~0xFF) & (checksum & 0xFF));
return checksum;
}
// ***************************** can port *****************************
// addresses to be used on CAN
#define CAN_GAS_INPUT 0x200
#define CAN_GAS_OUTPUT 0x201
void CAN1_TX_IRQHandler() {
// clear interrupt
CAN->TSR |= CAN_TSR_RQCP0;
}
// two independent values
uint16_t gas_set_0 = 0;
uint16_t gas_set_1 = 0;
#define MAX_TIMEOUT 10
uint32_t timeout = 0;
#define NO_FAULT 0
#define FAULT_BAD_CHECKSUM 1
#define FAULT_SEND 2
#define FAULT_SCE 3
#define FAULT_STARTUP 4
#define FAULT_TIMEOUT 5
#define FAULT_INVALID 6
uint8_t state = FAULT_STARTUP;
void CAN1_RX0_IRQHandler() {
while (CAN->RF0R & CAN_RF0R_FMP0) {
#ifdef DEBUG
puts("CAN RX\n");
#endif
uint32_t address = CAN->sFIFOMailBox[0].RIR>>21;
if (address == CAN_GAS_INPUT) {
// softloader entry
if (CAN->sFIFOMailBox[0].RDLR == 0xdeadface) {
if (CAN->sFIFOMailBox[0].RDHR == 0x0ab00b1e) {
enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
NVIC_SystemReset();
} else if (CAN->sFIFOMailBox[0].RDHR == 0x02b00b1e) {
enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
NVIC_SystemReset();
}
}
// normal packet
uint8_t *dat = (uint8_t *)&CAN->sFIFOMailBox[0].RDLR;
uint8_t *dat2 = (uint8_t *)&CAN->sFIFOMailBox[0].RDHR;
uint16_t value_0 = (dat[0] << 8) | dat[1];
uint16_t value_1 = (dat[2] << 8) | dat[3];
uint8_t enable = (dat2[0] >> 7) & 1;
uint8_t index = 0;
if (can_cksum(dat, 5, CAN_GAS_INPUT) == dat2[1]) {
if (index == 0) {
#ifdef DEBUG
puts("setting gas ");
puth(value);
puts("\n");
#endif
if (enable) {
gas_set_0 = value_0;
gas_set_1 = value_1;
} else {
// clear the fault state if values are 0
if (value_0 == 0 && value_1 == 0) {
state = NO_FAULT;
} else {
state = FAULT_INVALID;
}
gas_set_0 = gas_set_1 = 0;
}
// clear the timeout
timeout = 0;
}
} else {
// wrong checksum = fault
state = FAULT_BAD_CHECKSUM;
}
}
// next
CAN->RF0R |= CAN_RF0R_RFOM0;
}
}
void CAN1_SCE_IRQHandler() {
state = FAULT_SCE;
can_sce(CAN);
}
int pdl0 = 0, pdl1 = 0;
int led_value = 0;
void TIM3_IRQHandler() {
#ifdef DEBUG
puth(TIM3->CNT);
puts(" ");
puth(pdl0);
puts(" ");
puth(pdl1);
puts("\n");
#endif
// check timer for sending the user pedal and clearing the CAN
if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
uint8_t dat[8];
dat[0] = (pdl0>>8)&0xFF;
dat[1] = (pdl0>>0)&0xFF;
dat[2] = (pdl1>>8)&0xFF;
dat[3] = (pdl1>>0)&0xFF;
dat[4] = state;
dat[5] = can_cksum(dat, 5, CAN_GAS_OUTPUT);
CAN->sTxMailBox[0].TDLR = dat[0] | (dat[1]<<8) | (dat[2]<<16) | (dat[3]<<24);
CAN->sTxMailBox[0].TDHR = dat[4] | (dat[5]<<8);
CAN->sTxMailBox[0].TDTR = 6; // len of packet is 5
CAN->sTxMailBox[0].TIR = (CAN_GAS_OUTPUT << 21) | 1;
} else {
// old can packet hasn't sent!
state = FAULT_SEND;
#ifdef DEBUG
puts("CAN MISS\n");
#endif
}
// blink the LED
set_led(LED_GREEN, led_value);
led_value = !led_value;
TIM3->SR = 0;
// up timeout for gas set
if (timeout == MAX_TIMEOUT) {
state = FAULT_TIMEOUT;
} else {
timeout += 1;
}
}
// ***************************** main code *****************************
void pedal() {
// read/write
pdl0 = adc_get(ADCCHAN_ACCEL0);
pdl1 = adc_get(ADCCHAN_ACCEL1);
// write the pedal to the DAC
if (state == NO_FAULT) {
dac_set(0, max(gas_set_0, pdl0));
dac_set(1, max(gas_set_1, pdl1));
} else {
dac_set(0, pdl0);
dac_set(1, pdl1);
}
// feed the watchdog
IWDG->KR = 0xAAAA;
}
int main() {
__disable_irq();
// init devices
clock_init();
periph_init();
gpio_init();
#ifdef PEDAL_USB
// enable USB
usb_init();
#endif
// pedal stuff
dac_init();
adc_init();
// init can
can_silent = ALL_CAN_LIVE;
can_init(0);
// 48mhz / 65536 ~= 732
timer_init(TIM3, 15);
NVIC_EnableIRQ(TIM3_IRQn);
// setup watchdog
IWDG->KR = 0x5555;
IWDG->PR = 0; // divider /4
// 0 = 0.125 ms, let's have a 50ms watchdog
IWDG->RLR = 400 - 1;
IWDG->KR = 0xCCCC;
puts("**** INTERRUPTS ON ****\n");
__enable_irq();
// main pedal loop
while (1) {
pedal();
}
return 0;
}

0
panda/board/pedal_toyota/obj/.gitkeep 100644
View File

6
panda/board/safety.h
View File

@ -57,12 +57,14 @@ int controls_allowed = 0;
#ifdef PANDA
#include "safety/safety_toyota_ipas.h"
#include "safety/safety_tesla.h"
#include "safety/safety_gm_ascm.h"
#endif
#include "safety/safety_gm.h"
#include "safety/safety_ford.h"
#include "safety/safety_cadillac.h"
#include "safety/safety_hyundai.h"
#include "safety/safety_chrysler.h"
#include "safety/safety_subaru.h"
#include "safety/safety_elm327.h"
const safety_hooks *current_hooks = &nooutput_hooks;
@ -104,6 +106,8 @@ typedef struct {
#define SAFETY_HYUNDAI 7
#define SAFETY_TESLA 8
#define SAFETY_CHRYSLER 9
#define SAFETY_SUBARU 10
#define SAFETY_GM_ASCM 0x1334
#define SAFETY_TOYOTA_IPAS 0x1335
#define SAFETY_TOYOTA_NOLIMITS 0x1336
#define SAFETY_ALLOUTPUT 0x1337
@ -119,9 +123,11 @@ const safety_hook_config safety_hook_registry[] = {
{SAFETY_CADILLAC, &cadillac_hooks},
{SAFETY_HYUNDAI, &hyundai_hooks},
{SAFETY_CHRYSLER, &chrysler_hooks},
{SAFETY_SUBARU, &subaru_hooks},
{SAFETY_TOYOTA_NOLIMITS, &toyota_nolimits_hooks},
#ifdef PANDA
{SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
{SAFETY_GM_ASCM, &gm_ascm_hooks},
{SAFETY_TESLA, &tesla_hooks},
#endif
{SAFETY_ALLOUTPUT, &alloutput_hooks},

52
panda/board/safety/safety_gm_ascm.h 100644
View File

@ -0,0 +1,52 @@
// BUS 0 is on the LKAS module (ASCM) side
// BUS 2 is on the actuator (EPS) side
static int gm_ascm_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
uint32_t addr = to_fwd->RIR>>21;
if (bus_num == 0) {
// do not propagate lkas messages from ascm to actuators
// block 0x152 and 0x154, which are the lkas command from ASCM1 and ASCM2
// block 0x315 and 0x2cb, which are the brake and accel commands from ASCM1
//if ((addr == 0x152) || (addr == 0x154) || (addr == 0x315) || (addr == 0x2cb)) {
if ((addr == 0x152) || (addr == 0x154)) {
int supercruise_on = (to_fwd->RDHR>>4) & 0x1; // bit 36
if (!supercruise_on) return -1;
}
// on the chassis bus, the OBDII port is on the module side, so we need to read
// the lkas messages sent by openpilot (put on unused 0x151 ane 0x153 addrs) and send it to
// the actuator as 0x152 and 0x154
if (addr == 0x151) {
to_fwd->RIR = (0x152 << 21) | (to_fwd->RIR & 0x1fffff);
}
if (addr == 0x153) {
to_fwd->RIR = (0x154 << 21) | (to_fwd->RIR & 0x1fffff);
}
// brake
if (addr == 0x314) {
to_fwd->RIR = (0x315 << 21) | (to_fwd->RIR & 0x1fffff);
}
return 2;
}
if (bus_num == 2) {
return 0;
}
return -1;
}
const safety_hooks gm_ascm_hooks = {
.init = nooutput_init,
.rx = default_rx_hook,
.tx = alloutput_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = gm_ascm_fwd_hook,
};

2
panda/board/safety/safety_hyundai.h
View File

@ -1,4 +1,4 @@
const int HYUNDAI_MAX_STEER = 250;
const int HYUNDAI_MAX_STEER = 255; // like stock
const int HYUNDAI_MAX_RT_DELTA = 112; // max delta torque allowed for real time checks
const int32_t HYUNDAI_RT_INTERVAL = 250000; // 250ms between real time checks
const int HYUNDAI_MAX_RATE_UP = 3;

49
panda/board/safety/safety_subaru.h 100644
View File

@ -0,0 +1,49 @@
void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {}
// FIXME
// *** all output safety mode ***
static void subaru_init(int16_t param) {
controls_allowed = 1;
}
static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
return true;
}
static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
// shifts bits 29 > 11
int32_t addr = to_fwd->RIR >> 21;
// forward CAN 0 > 1
if (bus_num == 0) {
return 1; // ES CAN
}
// forward CAN 1 > 0, except ES_LKAS
else if (bus_num == 1) {
// outback 2015
if (addr == 0x164) {
return -1;
}
// global platform
if (addr == 0x122) {
return -1;
}
return 0; // Main CAN
}
// fallback to do not forward
return -1;
}
const safety_hooks subaru_hooks = {
.init = subaru_init,
.rx = subaru_rx_hook,
.tx = subaru_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = subaru_fwd_hook,
};

34
panda/crypto/sha.c
View File

@ -127,10 +127,36 @@ const uint8_t* SHA_final(SHA_CTX* ctx) {
while ((ctx->count & 63) != 56) {
SHA_update(ctx, (uint8_t*)"\0", 1);
}
for (i = 0; i < 8; ++i) {
uint8_t tmp = (uint8_t) (cnt >> ((7 - i) * 8));
SHA_update(ctx, &tmp, 1);
}
/* Hack - right shift operator with non const argument requires
* libgcc.a which is missing in EON
* thus expanding for loop from
for (i = 0; i < 8; ++i) {
uint8_t tmp = (uint8_t) (cnt >> ((7 - i) * 8));
SHA_update(ctx, &tmp, 1);
}
to
*/
uint8_t tmp = 0;
tmp = (uint8_t) (cnt >> ((7 - 0) * 8));
SHA_update(ctx, &tmp, 1);
tmp = (uint8_t) (cnt >> ((7 - 1) * 8));
SHA_update(ctx, &tmp, 1);
tmp = (uint8_t) (cnt >> ((7 - 2) * 8));
SHA_update(ctx, &tmp, 1);
tmp = (uint8_t) (cnt >> ((7 - 3) * 8));
SHA_update(ctx, &tmp, 1);
tmp = (uint8_t) (cnt >> ((7 - 4) * 8));
SHA_update(ctx, &tmp, 1);
tmp = (uint8_t) (cnt >> ((7 - 5) * 8));
SHA_update(ctx, &tmp, 1);
tmp = (uint8_t) (cnt >> ((7 - 6) * 8));
SHA_update(ctx, &tmp, 1);
tmp = (uint8_t) (cnt >> ((7 - 7) * 8));
SHA_update(ctx, &tmp, 1);
for (i = 0; i < 5; i++) {
uint32_t tmp = ctx->state[i];

10
panda/python/__init__.py
View File

@ -8,6 +8,7 @@ import usb1
import os
import time
import traceback
import subprocess
from dfu import PandaDFU
from esptool import ESPROM, CesantaFlasher
from flash_release import flash_release
@ -25,7 +26,13 @@ DEBUG = os.getenv("PANDADEBUG") is not None
def build_st(target, mkfile="Makefile"):
from panda import BASEDIR
assert(os.system('cd %s && make -f %s clean && make -f %s %s >/dev/null' % (os.path.join(BASEDIR, "board"), mkfile, mkfile, target)) == 0)
cmd = 'cd %s && make -f %s clean && make -f %s %s >/dev/null' % (os.path.join(BASEDIR, "board"), mkfile, mkfile, target)
try:
output = subprocess.check_output(cmd, stderr=subprocess.STDOUT, shell=True)
except subprocess.CalledProcessError as exception:
output = exception.output
returncode = exception.returncode
raise
def parse_can_buffer(dat):
ret = []
@ -541,4 +548,3 @@ class Panda(object):
msg = self.kline_ll_recv(2, bus=bus)
msg += self.kline_ll_recv(ord(msg[1])-2, bus=bus)
return msg

2
panda/tests/safety/test_hyundai.py
View File

@ -5,7 +5,7 @@ import libpandasafety_py
MAX_RATE_UP = 3
MAX_RATE_DOWN = 7
MAX_STEER = 250
MAX_STEER = 255
MAX_RT_DELTA = 112
RT_INTERVAL = 250000

4
requirements_openpilot.txt
View File

@ -15,7 +15,7 @@ cffi==1.11.5
contextlib2==0.5.4
crc16==0.1.1
crcmod==1.7
cryptography==1.4
cryptography==2.1.4
cycler==0.10.0
decorator==4.0.10
docopt==0.6.2
@ -31,7 +31,7 @@ nose==1.3.7
numpy==1.11.1
pause==0.1.2
py==1.4.31
pyOpenSSL==16.0.0
pyOpenSSL==17.5.0
pyasn1-modules==0.0.8
pyasn1==0.1.9
pycapnp==0.6.3

7
selfdrive/car/chrysler/carcontroller.py
View File

@ -25,6 +25,7 @@ class CarController(object):
self.apply_steer_last = 0
self.ccframe = 0
self.prev_frame = -1
self.hud_count = 0
self.car_fingerprint = car_fingerprint
self.alert_active = False
self.send_chime = False
@ -39,7 +40,7 @@ class CarController(object):
def update(self, sendcan, enabled, CS, frame, actuators,
pcm_cancel_cmd, hud_alert, audible_alert):
# this seems needed to avoid steerign faults and to force the sync with the EPS counter
# this seems needed to avoid steering faults and to force the sync with the EPS counter
if self.prev_frame == frame:
return
@ -81,8 +82,10 @@ class CarController(object):
can_sends.append(new_msg)
if (self.ccframe % 25 == 0): # 0.25s period
new_msg = create_lkas_hud(CS.gear_shifter, lkas_active, hud_alert, self.car_fingerprint)
new_msg = create_lkas_hud(self.packer, CS.gear_shifter, lkas_active, hud_alert, self.car_fingerprint,
self.hud_count)
can_sends.append(new_msg)
self.hud_count += 1
new_msg = create_lkas_command(self.packer, int(apply_steer), frame)
can_sends.append(new_msg)

2
selfdrive/car/chrysler/carstate.py
View File

@ -13,6 +13,8 @@ def parse_gear_shifter(can_gear):
return "neutral"
elif can_gear == 0x4:
return "drive"
elif can_gear == 0x5:
return "low"
return "unknown"

64
selfdrive/car/chrysler/chryslercan.py
View File

@ -5,6 +5,13 @@ from selfdrive.car.chrysler.values import CAR
VisualAlert = car.CarControl.HUDControl.VisualAlert
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
MODEL_TO_CONSTANT = {
CAR.PACIFICA_2017_HYBRID: 0,
CAR.PACIFICA_2018: 0x64,
CAR.PACIFICA_2018_HYBRID: 0xa8,
CAR.PACIFICA_2019_HYBRID: 0x68,
CAR.JEEP_CHEROKEE: 0xa4,
}
def calc_checksum(data):
"""This function does not want the checksum byte in the input data.
@ -51,40 +58,41 @@ def create_lkas_heartbit(car_fingerprint):
msg = '0000000820'.decode('hex') # 2017
return make_can_msg(0x2d9, msg)
def create_lkas_hud(gear, lkas_active, hud_alert, car_fingerprint):
# LKAS_HUD (678) Controls what lane-keeping icon is displayed.
def create_lkas_hud(packer, gear, lkas_active, hud_alert, car_fingerprint, hud_count):
# LKAS_HUD 0x2a6 (678) Controls what lane-keeping icon is displayed.
if hud_alert == VisualAlert.steerRequired:
msg = '0000000300000000'.decode('hex')
return make_can_msg(0x2a6, msg)
# TODO: use can packer
msg = '0000000000000000'.decode('hex') # park or neutral
if car_fingerprint == CAR.PACIFICA_2018:
msg = '0064000000000000'.decode('hex') # Have not verified 2018 park with a real car.
elif car_fingerprint == CAR.JEEP_CHEROKEE:
msg = '00a4000000000000'.decode('hex') # Have not verified 2018 park with a real car.
elif car_fingerprint == CAR.PACIFICA_2018_HYBRID:
msg = '01a8010000000000'.decode('hex')
if (gear == 'drive' or gear == 'reverse'):
if lkas_active:
msg = '0200060000000000'.decode('hex') # control active, display green.
if car_fingerprint == CAR.PACIFICA_2018:
msg = '0264060000000000'.decode('hex')
elif car_fingerprint == CAR.JEEP_CHEROKEE:
msg = '02a4060000000000'.decode('hex')
elif car_fingerprint == CAR.PACIFICA_2018_HYBRID:
msg = '02a8060000000000'.decode('hex')
else:
msg = '0100010000000000'.decode('hex') # control off, display white.
if car_fingerprint == CAR.PACIFICA_2018:
msg = '0164010000000000'.decode('hex')
elif car_fingerprint == CAR.JEEP_CHEROKEE:
msg = '01a4010000000000'.decode('hex')
elif car_fingerprint == CAR.PACIFICA_2018_HYBRID:
msg = '01a8010000000000'.decode('hex')
color = 0 # default values are for park or neutral
lines = 0
alerts = 0
return make_can_msg(0x2a6, msg)
if hud_count < (3 *4): # first 3 seconds, 4Hz
lines = 1
alerts = 1
elif hud_count < (6 * 4): # next 3 seconds, 4Hz
lines = 1
alerts = 0
# CAR.PACIFICA_2018_HYBRID and CAR.PACIFICA_2019_HYBRID
# had color = 1 and lines = 1 but trying 2017 hybrid style for now.
if gear in ('drive', 'reverse', 'low'):
if lkas_active:
color = 2 # control active, display green.
lines = 6
else:
color = 1 # control off, display white.
lines = 1
values = {
"LKAS_ICON_COLOR": color, # byte 0, last 2 bits
"CAR_MODEL": MODEL_TO_CONSTANT[car_fingerprint], # byte 1
"LKAS_LANE_LINES": lines, # byte 2, last 4 bits
"LKAS_ALERTS": alerts, # byte 3, last 4 bits
}
return packer.make_can_msg("LKAS_HUD", 0, values) # 0x2a6
def create_lkas_command(packer, apply_steer, frame):

48
selfdrive/car/chrysler/chryslercan_test.py 100644
View File

@ -0,0 +1,48 @@
import chryslercan
from values import CAR
from carcontroller import CarController
from selfdrive.can.packer import CANPacker
from cereal import car
VisualAlert = car.CarControl.HUDControl.VisualAlert
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
import unittest
class TestChryslerCan(unittest.TestCase):
def test_checksum(self):
self.assertEqual(0x75, chryslercan.calc_checksum([0x01, 0x20]))
self.assertEqual(0xcc, chryslercan.calc_checksum([0x14, 0, 0, 0, 0x20]))
def test_heartbit(self):
self.assertEqual(
[0x2d9, 0, '0000000820'.decode('hex'), 0],
chryslercan.create_lkas_heartbit(CAR.PACIFICA_2017_HYBRID))
def test_hud(self):
packer = CANPacker('chrysler_pacifica_2017_hybrid')
self.assertEqual(
[0x2a6, 0, '0000010100000000'.decode('hex'), 0],
chryslercan.create_lkas_hud(packer,
'park', False, False, CAR.PACIFICA_2017_HYBRID, 1))
self.assertEqual(
[0x2a6, 0, '0000010000000000'.decode('hex'), 0],
chryslercan.create_lkas_hud(packer,
'park', False, False, CAR.PACIFICA_2017_HYBRID, 5*4))
self.assertEqual(
[0x2a6, 0, '0000000000000000'.decode('hex'), 0],
chryslercan.create_lkas_hud(packer,
'park', False, False, CAR.PACIFICA_2017_HYBRID, 99999))
self.assertEqual(
[0x2a6, 0, '0200060000000000'.decode('hex'), 0],
chryslercan.create_lkas_hud(packer,
'drive', True, False, CAR.PACIFICA_2017_HYBRID, 99999))
self.assertEqual(
[0x2a6, 0, '0264060000000000'.decode('hex'), 0],
chryslercan.create_lkas_hud(packer,
'drive', True, False, CAR.PACIFICA_2018, 99999))
if __name__ == '__main__':
unittest.main()

6
selfdrive/car/chrysler/interface.py
View File

@ -1,6 +1,6 @@
#!/usr/bin/env python
from common.realtime import sec_since_boot
from cereal import car, log
from cereal import car
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
@ -217,7 +217,7 @@ class CarInterface(object):
events.append(create_event('commIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
else:
self.can_invalid_count = 0
if not ret.gearShifter == 'drive':
if not (ret.gearShifter in ('drive', 'low')):
events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if ret.doorOpen:
events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
@ -256,7 +256,7 @@ class CarInterface(object):
# pass in a car.CarControl
# to be called @ 100hz
def apply(self, c, perception_state=log.Live20Data.new_message()):
def apply(self, c):
if (self.CS.frame == -1):
return False # if we haven't seen a frame 220, then do not update.

1
selfdrive/car/chrysler/run_tests.sh 100755
View File

@ -0,0 +1 @@
PYTHONPATH=`realpath ../../../` python chryslercan_test.py

56
selfdrive/car/chrysler/values.py
View File

@ -2,46 +2,51 @@ from selfdrive.car import dbc_dict
class CAR:
PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018" # Also covers Pacifica 2019 Hybrid.
PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018"
PACIFICA_2019_HYBRID = "CHRYSLER PACIFICA HYBRID 2019"
PACIFICA_2018 = "CHRYSLER PACIFICA 2018"
JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018" # Also covers Tailhawk 2017.
# Unique can messages:
# Only the hybrids have 270: 8
# Only the gas have 55: 8, 416: 7
# For 564, Pacifica 2017 has length 4, whereas Pacifica 2018-19 have length 8.
# For 564, All 2017 have length 4, whereas 2018-19 have length 8.
# For 924, Pacifica 2017 has length 3, whereas all 2018-19 have length 8.
# For 560, Pacifica 2019 Hybrid has length 8, whereas all 2017-18 have length 4.
# For 560, All 2019 have length 8, whereas all 2017-18 have length 4.
# Jeep Grand Cherokee unique messages:
# 2017 Trailhawk: 618: 8
# For 924, Trailhawk 2017 has length 3, whereas 2018 V6 has length 8.
# TODO: verify everything is ok for cars that have commented fingerprint, then upstream them
FINGERPRINTS = {
CAR.PACIFICA_2017_HYBRID: [
{168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 3, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1892: 8, 2016: 8, 2024: 8},
],
CAR.PACIFICA_2018: [{}],
#CAR.PACIFICA_2018: [
# {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, 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, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8},
# {55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8}
#],
CAR.PACIFICA_2018_HYBRID: [{}],
#CAR.PACIFICA_2018_HYBRID: [
# {68: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8},
# {168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8},
# # Pacifica 2019 Hybrid
# { 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770:8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1538: 8}
#],
CAR.JEEP_CHEROKEE: [{}],
#CAR.JEEP_CHEROKEE: [
# # JEEP GRAND CHEROKEE V6 2018
# {55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
# # Jeep Grand Cherokee 2017 Trailhawk
# {257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 660: 8, 671: 8, 672: 8, 680: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 752: 2, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 783: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8}
#],
CAR.PACIFICA_2018: [
{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, 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, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8},
{55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8},
],
CAR.PACIFICA_2018_HYBRID: [
{68: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8},
{168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8},
],
CAR.PACIFICA_2019_HYBRID: [
{168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770:8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1538: 8},
# Based on 0607d2516fc2148f|2019-02-13--23-03-16
{
168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8
}
],
CAR.JEEP_CHEROKEE: [
# JEEP GRAND CHEROKEE V6 2018
{55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
# Jeep Grand Cherokee 2017 Trailhawk
{257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 660: 8, 671: 8, 672: 8, 680: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 752: 2, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 783: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
# Jeep Grand Cherokee 2019 from Switzerland
# 530: 8 is so far only in this Jeep.
{55: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 660: 8, 671: 8, 672: 8, 676: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 792: 8, 799: 8, 804: 8, 806: 2, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
],
}
@ -55,6 +60,9 @@ DBC = {
CAR.PACIFICA_2018_HYBRID: dbc_dict( # Same DBC file works.
'chrysler_pacifica_2017_hybrid', # 'pt'
'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar'
CAR.PACIFICA_2019_HYBRID: dbc_dict( # Same DBC file works.
'chrysler_pacifica_2017_hybrid', # 'pt'
'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar'
CAR.JEEP_CHEROKEE: dbc_dict( # Same DBC file works.
'chrysler_pacifica_2017_hybrid', # 'pt'
'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar'

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

@ -1,6 +1,6 @@
#!/usr/bin/env python
from common.realtime import sec_since_boot
from cereal import car, log
from cereal import car
from selfdrive.swaglog import cloudlog
from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
@ -210,7 +210,7 @@ class CarInterface(object):
# pass in a car.CarControl
# to be called @ 100hz
def apply(self, c, perception_state=log.Live20Data.new_message()):
def apply(self, c):
self.CC.update(self.sendcan, c.enabled, self.CS, self.frame, c.actuators,
c.hudControl.visualAlert, c.cruiseControl.cancel)

50
selfdrive/car/gm/carcontroller.py
View File

@ -4,22 +4,24 @@ from selfdrive.config import Conversions as CV
from selfdrive.boardd.boardd import can_list_to_can_capnp
from selfdrive.car import apply_std_steer_torque_limits
from selfdrive.car.gm import gmcan
from selfdrive.car.gm.values import CAR, DBC
from selfdrive.car.gm.values import DBC, SUPERCRUISE_CARS
from selfdrive.can.packer import CANPacker
class CarControllerParams():
def __init__(self, car_fingerprint):
if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
self.STEER_MAX = 300
self.STEER_STEP = 2 # how often we update the steer cmd
self.STEER_DELTA_UP = 7 # ~0.75s time to peak torque (255/50hz/0.75s)
self.STEER_DELTA_DOWN = 17 # ~0.3s from peak torque to zero
elif car_fingerprint == CAR.CADILLAC_CT6:
if car_fingerprint in SUPERCRUISE_CARS:
self.STEER_MAX = 150
self.STEER_STEP = 1 # how often we update the steer cmd
self.STEER_DELTA_UP = 2 # 0.75s time to peak torque
self.STEER_DELTA_DOWN = 5 # 0.3s from peak torque to zero
self.MIN_STEER_SPEED = -1. # can steer down to zero
else:
self.STEER_MAX = 300
self.STEER_STEP = 2 # how often we update the steer cmd
self.STEER_DELTA_UP = 7 # ~0.75s time to peak torque (255/50hz/0.75s)
self.STEER_DELTA_DOWN = 17 # ~0.3s from peak torque to zero
self.MIN_STEER_SPEED = 3.
self.STEER_DRIVER_ALLOWANCE = 50 # allowed driver torque before start limiting
self.STEER_DRIVER_MULTIPLIER = 4 # weight driver torque heavily
@ -94,7 +96,7 @@ class CarController(object):
### STEER ###
if (frame % P.STEER_STEP) == 0:
lkas_enabled = enabled and not CS.steer_not_allowed and CS.v_ego > 3.
lkas_enabled = enabled and not CS.steer_not_allowed and CS.v_ego > P.MIN_STEER_SPEED
if lkas_enabled:
apply_steer = actuators.steer * P.STEER_MAX
apply_steer = apply_std_steer_torque_limits(apply_steer, self.apply_steer_last, CS.steer_torque_driver, P)
@ -104,16 +106,16 @@ class CarController(object):
self.apply_steer_last = apply_steer
idx = (frame / P.STEER_STEP) % 4
if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
can_sends.append(gmcan.create_steering_control(self.packer_pt,
canbus.powertrain, apply_steer, idx, lkas_enabled))
if self.car_fingerprint == CAR.CADILLAC_CT6:
if self.car_fingerprint in SUPERCRUISE_CARS:
can_sends += gmcan.create_steering_control_ct6(self.packer_pt,
canbus, apply_steer, CS.v_ego, idx, lkas_enabled)
else:
can_sends.append(gmcan.create_steering_control(self.packer_pt,
canbus.powertrain, apply_steer, idx, lkas_enabled))
### GAS/BRAKE ###
if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
if self.car_fingerprint not in SUPERCRUISE_CARS:
# no output if not enabled, but keep sending keepalive messages
# treat pedals as one
final_pedal = actuators.gas - actuators.brake
@ -164,17 +166,17 @@ class CarController(object):
if frame % P.ADAS_KEEPALIVE_STEP == 0:
can_sends += gmcan.create_adas_keepalive(canbus.powertrain)
# Show green icon when LKA torque is applied, and
# alarming orange icon when approaching torque limit.
# If not sent again, LKA icon disappears in about 5 seconds.
# Conveniently, sending camera message periodically also works as a keepalive.
lka_active = CS.lkas_status == 1
lka_critical = lka_active and abs(actuators.steer) > 0.9
lka_icon_status = (lka_active, lka_critical)
if frame % P.CAMERA_KEEPALIVE_STEP == 0 \
or lka_icon_status != self.lka_icon_status_last:
can_sends.append(gmcan.create_lka_icon_command(canbus.sw_gmlan, lka_active, lka_critical))
self.lka_icon_status_last = lka_icon_status
# Show green icon when LKA torque is applied, and
# alarming orange icon when approaching torque limit.
# If not sent again, LKA icon disappears in about 5 seconds.
# Conveniently, sending camera message periodically also works as a keepalive.
lka_active = CS.lkas_status == 1
lka_critical = lka_active and abs(actuators.steer) > 0.9
lka_icon_status = (lka_active, lka_critical)
if frame % P.CAMERA_KEEPALIVE_STEP == 0 \
or lka_icon_status != self.lka_icon_status_last:
can_sends.append(gmcan.create_lka_icon_command(canbus.sw_gmlan, lka_active, lka_critical))
self.lka_icon_status_last = lka_icon_status
# Send chimes
if self.chime != chime:

28
selfdrive/car/gm/carstate.py
View File

@ -5,7 +5,7 @@ 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, \
STEER_THRESHOLD
STEER_THRESHOLD, SUPERCRUISE_CARS
def get_powertrain_can_parser(CP, canbus):
# this function generates lists for signal, messages and initial values
@ -35,17 +35,17 @@ def get_powertrain_can_parser(CP, canbus):
signals += [
("RegenPaddle", "EBCMRegenPaddle", 0),
]
if CP.carFingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
if CP.carFingerprint in SUPERCRUISE_CARS:
signals += [
("ACCCmdActive", "ASCMActiveCruiseControlStatus", 0)
]
else:
signals += [
("TractionControlOn", "ESPStatus", 0),
("EPBClosed", "EPBStatus", 0),
("CruiseMainOn", "ECMEngineStatus", 0),
("CruiseState", "AcceleratorPedal2", 0),
]
if CP.carFingerprint == CAR.CADILLAC_CT6:
signals += [
("ACCCmdActive", "ASCMActiveCruiseControlStatus", 0)
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, [], canbus.powertrain)
@ -121,7 +121,14 @@ class CarState(object):
self.left_blinker_on = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 1
self.right_blinker_on = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 2
if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
if self.car_fingerprint in SUPERCRUISE_CARS:
self.park_brake = False
self.main_on = False
self.acc_active = pt_cp.vl["ASCMActiveCruiseControlStatus"]['ACCCmdActive']
self.esp_disabled = False
self.regen_pressed = False
self.pcm_acc_status = int(self.acc_active)
else:
self.park_brake = pt_cp.vl["EPBStatus"]['EPBClosed']
self.main_on = pt_cp.vl["ECMEngineStatus"]['CruiseMainOn']
self.acc_active = False
@ -131,13 +138,6 @@ class CarState(object):
self.regen_pressed = bool(pt_cp.vl["EBCMRegenPaddle"]['RegenPaddle'])
else:
self.regen_pressed = False
if self.car_fingerprint == CAR.CADILLAC_CT6:
self.park_brake = False
self.main_on = False
self.acc_active = pt_cp.vl["ASCMActiveCruiseControlStatus"]['ACCCmdActive']
self.esp_disabled = False
self.regen_pressed = False
self.pcm_acc_status = int(self.acc_active)
# Brake pedal's potentiometer returns near-zero reading
# even when pedal is not pressed.

30
selfdrive/car/gm/interface.py
View File

@ -1,10 +1,10 @@
#!/usr/bin/env python
from cereal import car, log
from cereal import car
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
from selfdrive.controls.lib.vehicle_model import VehicleModel
from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS, AUDIO_HUD
from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS, AUDIO_HUD, SUPERCRUISE_CARS
from selfdrive.car.gm.carstate import CarState, CruiseButtons, get_powertrain_can_parser
try:
@ -107,6 +107,15 @@ class CarInterface(object):
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.BUICK_REGAL:
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 3779. * CV.LB_TO_KG + std_cargo # (3849+3708)/2
ret.safetyModel = car.CarParams.SafetyModels.gm
ret.wheelbase = 2.83 #111.4 inches in meters
ret.steerRatio = 14.4 # guess for tourx
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx
elif candidate == CAR.CADILLAC_ATS:
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 1601 + std_cargo
@ -285,7 +294,13 @@ class CarInterface(object):
if ret.seatbeltUnlatched:
events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if self.CS.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
if self.CS.car_fingerprint in SUPERCRUISE_CARS:
if self.CS.acc_active and not self.acc_active_prev:
events.append(create_event('pcmEnable', [ET.ENABLE]))
if not self.CS.acc_active:
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
else:
if self.CS.brake_error:
events.append(create_event('brakeUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
if not self.CS.gear_shifter_valid:
@ -318,13 +333,6 @@ class CarInterface(object):
if b.type == "cancel" and b.pressed:
events.append(create_event('buttonCancel', [ET.USER_DISABLE]))
if self.CS.car_fingerprint == CAR.CADILLAC_CT6:
if self.CS.acc_active and not self.acc_active_prev:
events.append(create_event('pcmEnable', [ET.ENABLE]))
if not self.CS.acc_active:
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
ret.events = events
# update previous brake/gas pressed
@ -337,7 +345,7 @@ class CarInterface(object):
# pass in a car.CarControl
# to be called @ 100hz
def apply(self, c, perception_state=log.Live20Data.new_message()):
def apply(self, c):
hud_v_cruise = c.hudControl.setSpeed
if hud_v_cruise > 70:
hud_v_cruise = 0

16
selfdrive/car/gm/values.py
View File

@ -10,6 +10,9 @@ class CAR:
CADILLAC_CT6 = "CADILLAC CT6 SUPERCRUISE 2018"
MALIBU = "CHEVROLET MALIBU PREMIER 2017"
ACADIA = "GMC ACADIA DENALI 2018"
BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
SUPERCRUISE_CARS = [CAR.CADILLAC_CT6]
class CruiseButtons:
UNPRESS = 1
@ -39,10 +42,10 @@ AUDIO_HUD = {
def is_eps_status_ok(eps_status, car_fingerprint):
valid_eps_status = []
if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
valid_eps_status += [0, 1]
elif car_fingerprint == CAR.CADILLAC_CT6:
if car_fingerprint in SUPERCRUISE_CARS:
valid_eps_status += [0, 1, 4, 5, 6]
else:
valid_eps_status += [0, 1]
return eps_status in valid_eps_status
def parse_gear_shifter(can_gear):
@ -71,6 +74,11 @@ FINGERPRINTS = {
{
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, 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, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
}],
CAR.BUICK_REGAL : [
# Regal TourX Essence w/ ACC 2018
{
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
}],
CAR.CADILLAC_ATS: [
# Cadillac ATS Coupe Premium Performance 3.6L RWD w/ ACC 2018
{
@ -99,6 +107,7 @@ STOCK_CONTROL_MSGS = {
CAR.MALIBU: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
CAR.ACADIA: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
CAR.CADILLAC_ATS: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
CAR.BUICK_REGAL: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
CAR.CADILLAC_CT6: [], # CT6 does not require ASCMs to be disconnected
}
@ -108,5 +117,6 @@ DBC = {
CAR.MALIBU: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.ACADIA: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.CADILLAC_ATS: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.BUICK_REGAL: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.CADILLAC_CT6: dbc_dict('cadillac_ct6_powertrain', 'cadillac_ct6_object', chassis_dbc='cadillac_ct6_chassis'),
}

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

@ -86,7 +86,7 @@ class CarController(object):
def update(self, sendcan, enabled, CS, frame, actuators, \
pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel, \
radar_error, hud_v_cruise, hud_show_lanes, hud_show_car, \
hud_v_cruise, hud_show_lanes, hud_show_car, \
hud_alert, snd_beep, snd_chime):
""" Controls thread """
@ -121,7 +121,7 @@ class CarController(object):
# For lateral control-only, send chimes as a beep since we don't send 0x1fa
if CS.CP.radarOffCan:
snd_beep = snd_beep if snd_beep is not 0 else snd_chime
snd_beep = snd_beep if snd_beep != 0 else snd_chime
#print chime, alert_id, hud_alert
fcw_display, steer_required, acc_alert = process_hud_alert(hud_alert)

16
selfdrive/car/honda/carstate.py
View File

@ -48,6 +48,7 @@ def get_can_signals(CP):
("ESP_DISABLED", "VSA_STATUS", 1),
("HUD_LEAD", "ACC_HUD", 0),
("USER_BRAKE", "VSA_STATUS", 0),
("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0),
("STEER_STATUS", "STEER_STATUS", 5),
("GEAR_SHIFTER", "GEARBOX", 0),
("PEDAL_GAS", "POWERTRAIN_DATA", 0),
@ -76,7 +77,6 @@ def get_can_signals(CP):
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
("MAIN_ON", "SCM_FEEDBACK", 0),
("EPB_STATE", "EPB_STATUS", 0),
("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0),
("CRUISE_SPEED", "ACC_HUD", 0)]
checks += [("GAS_PEDAL_2", 100)]
else:
@ -101,8 +101,7 @@ def get_can_signals(CP):
if CP.carFingerprint == CAR.CIVIC:
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
("MAIN_ON", "SCM_FEEDBACK", 0),
("EPB_STATE", "EPB_STATUS", 0),
("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0)]
("EPB_STATE", "EPB_STATUS", 0)]
elif CP.carFingerprint == CAR.ACURA_ILX:
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
("MAIN_ON", "SCM_BUTTONS", 0)]
@ -110,8 +109,7 @@ def get_can_signals(CP):
signals += [("MAIN_ON", "SCM_BUTTONS", 0)]
elif CP.carFingerprint == CAR.ODYSSEY:
signals += [("MAIN_ON", "SCM_FEEDBACK", 0),
("EPB_STATE", "EPB_STATUS", 0),
("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0)]
("EPB_STATE", "EPB_STATUS", 0)]
checks += [("EPB_STATUS", 50)]
elif CP.carFingerprint == CAR.PILOT:
signals += [("MAIN_ON", "SCM_BUTTONS", 0),
@ -248,14 +246,13 @@ class CarState(object):
self.blinker_on = cp.vl["SCM_FEEDBACK"]['LEFT_BLINKER'] or cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER']
self.left_blinker_on = cp.vl["SCM_FEEDBACK"]['LEFT_BLINKER']
self.right_blinker_on = cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER']
self.brake_hold = cp.vl["VSA_STATUS"]['BRAKE_HOLD_ACTIVE']
if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH):
self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0
self.brake_hold = cp.vl["VSA_STATUS"]['BRAKE_HOLD_ACTIVE']
self.main_on = cp.vl["SCM_FEEDBACK"]['MAIN_ON']
else:
self.park_brake = 0 # TODO
self.brake_hold = 0 # TODO
self.main_on = cp.vl["SCM_BUTTONS"]['MAIN_ON']
can_gear_shifter = int(cp.vl["GEARBOX"]['GEAR_SHIFTER'])
@ -304,6 +301,11 @@ class CarState(object):
self.pcm_acc_status = cp.vl["POWERTRAIN_DATA"]['ACC_STATUS']
self.hud_lead = cp.vl["ACC_HUD"]['HUD_LEAD']
# Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
# TODO: this should be ok for all cars. Verify it.
if self.CP.carFingerprint in (CAR.PILOT, CAR.PILOT_2019, CAR.RIDGELINE):
if self.user_brake > 0.05:
self.brake_pressed = 1
# carstate standalone tester
if __name__ == '__main__':

30
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, log
from cereal import car
from common.numpy_fast import clip, interp
from common.realtime import sec_since_boot
from selfdrive.swaglog import cloudlog
@ -575,7 +575,7 @@ class CarInterface(object):
# pass in a car.CarControl
# to be called @ 100hz
def apply(self, c, perception_state=log.Live20Data.new_message()):
def apply(self, c):
if c.hudControl.speedVisible:
hud_v_cruise = c.hudControl.setSpeed * CV.MS_TO_KPH
else:
@ -584,19 +584,19 @@ class CarInterface(object):
hud_alert = VISUAL_HUD[c.hudControl.visualAlert.raw]
snd_beep, snd_chime = AUDIO_HUD[c.hudControl.audibleAlert.raw]
pcm_accel = int(clip(c.cruiseControl.accelOverride,0,1)*0xc6)
pcm_accel = int(clip(c.cruiseControl.accelOverride, 0, 1) * 0xc6)
self.CC.update(self.sendcan, c.enabled, self.CS, self.frame, \
c.actuators, \
c.cruiseControl.speedOverride, \
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, \
snd_beep = snd_beep, \
snd_chime = snd_chime)
self.CC.update(self.sendcan, c.enabled, self.CS, self.frame,
c.actuators,
c.cruiseControl.speedOverride,
c.cruiseControl.override,
c.cruiseControl.cancel,
pcm_accel,
hud_v_cruise,
c.hudControl.lanesVisible,
hud_show_car=c.hudControl.leadVisible,
hud_alert=hud_alert,
snd_beep=snd_beep,
snd_chime=snd_chime)
self.frame += 1

2
selfdrive/car/hyundai/carcontroller.py
View File

@ -10,7 +10,7 @@ from selfdrive.can.packer import CANPacker
# Steer torque limits
class SteerLimitParams:
STEER_MAX = 250 # 409 is the max
STEER_MAX = 255 # 409 is the max, 255 is stock
STEER_DELTA_UP = 3
STEER_DELTA_DOWN = 7
STEER_DRIVER_ALLOWANCE = 50

12
selfdrive/car/hyundai/carstate.py
View File

@ -50,6 +50,7 @@ def get_can_parser(CP):
("CF_Clu_InhibitR", "CLU15", 0),
("CF_Lvr_Gear","LVR12",0),
("CUR_GR", "TCU12",0),
("ACCEnable", "TCS13", 0),
("ACC_REQ", "TCS13", 0),
@ -234,6 +235,17 @@ class CarState(object):
else:
self.gear_shifter_cluster = "unknown"
# Gear Selecton via TCU12
gear2 = cp.vl["TCU12"]["CUR_GR"]
if gear2 == 0:
self.gear_tcu = "park"
elif gear2 == 14:
self.gear_tcu = "reverse"
elif gear2 > 0 and gear2 < 9: # unaware of anything over 8 currently
self.gear_tcu = "drive"
else:
self.gear_tcu = "unknown"
# save the entire LKAS11 and CLU11
self.lkas11 = cp_cam.vl["LKAS11"]
self.clu11 = cp.vl["CLU11"]

18
selfdrive/car/hyundai/interface.py
View File

@ -1,11 +1,11 @@
#!/usr/bin/env python
from cereal import car, log
from cereal import car
from common.realtime import sec_since_boot
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
from selfdrive.car.hyundai.carstate import CarState, get_can_parser, get_camera_parser
from selfdrive.car.hyundai.values import CAMERA_MSGS, CAR, get_hud_alerts
from selfdrive.car.hyundai.values import CAMERA_MSGS, CAR, get_hud_alerts, FEATURES
try:
from selfdrive.car.hyundai.carcontroller import CarController
@ -113,6 +113,14 @@ class CarInterface(object):
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
ret.steerKpV, ret.steerKiV = [[0.16], [0.01]]
ret.minSteerSpeed = 35 * CV.MPH_TO_MS
elif candidate == CAR.KIA_OPTIMA:
ret.steerKf = 0.00005
ret.mass = 3558 * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75
tire_stiffness_factor = 0.5
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
ret.steerKpV, ret.steerKiV = [[0.25], [0.05]]
elif candidate == CAR.KIA_STINGER:
ret.steerKf = 0.00005
ret.steerRateCost = 0.5
@ -192,8 +200,10 @@ class CarInterface(object):
ret.wheelSpeeds.rr = self.CS.v_wheel_rr
# gear shifter
if self.CP.carFingerprint == CAR.ELANTRA:
if self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
ret.gearShifter = self.CS.gear_shifter_cluster
elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
ret.gearShifter = self.CS.gear_tcu
else:
ret.gearShifter = self.CS.gear_shifter
@ -300,7 +310,7 @@ class CarInterface(object):
return ret.as_reader()
def apply(self, c, perception_state=log.Live20Data.new_message()):
def apply(self, c):
hud_alert = get_hud_alerts(c.hudControl.visualAlert, c.hudControl.audibleAlert)

12
selfdrive/car/hyundai/values.py
View File

@ -13,6 +13,7 @@ def get_hud_alerts(visual_alert, audible_alert):
class CAR:
ELANTRA = "HYUNDAI ELANTRA LIMITED ULTIMATE 2017"
GENESIS = "HYUNDAI GENESIS 2018"
KIA_OPTIMA = "KIA OPTIMA SX 2019"
KIA_SORENTO = "KIA SORENTO GT LINE 2018"
KIA_STINGER = "KIA STINGER GT2 2018"
SANTA_FE = "HYUNDAI SANTA FE LIMITED 2019"
@ -33,6 +34,9 @@ FINGERPRINTS = {
{
67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
}],
CAR.KIA_OPTIMA: [{
64: 8, 66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1186: 2, 1191: 2, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 1952: 8, 1960: 8, 1988: 8, 1996: 8, 2001: 8, 2004: 8, 2008: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
}],
CAR.KIA_SORENTO: [{
67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1
}],
@ -53,12 +57,18 @@ CAMERA_MSGS = [832, 1156, 1191, 1342]
CHECKSUM = {
"crc8": [CAR.SANTA_FE],
"6B": [CAR.KIA_SORENTO, CAR.GENESIS],
"7B": [CAR.KIA_STINGER, CAR.ELANTRA],
"7B": [CAR.KIA_STINGER, CAR.ELANTRA, CAR.KIA_OPTIMA],
}
FEATURES = {
"use_cluster_gears": [CAR.ELANTRA], # Use Cluster for Gear Selection, rather than Transmission
"use_tcu_gears": [CAR.KIA_OPTIMA], # Use TCU Message for Gear Selection
}
DBC = {
CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
CAR.GENESIS: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_OPTIMA: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None),
CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', None),

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

@ -1,6 +1,6 @@
#!/usr/bin/env python
import zmq
from cereal import car, log
from cereal import car
from selfdrive.config import Conversions as CV
from selfdrive.services import service_list
from selfdrive.swaglog import cloudlog
@ -118,6 +118,6 @@ class CarInterface(object):
return ret.as_reader()
def apply(self, c, perception_state=log.Live20Data.new_message()):
def apply(self, c):
# in mock no carcontrols
return False

18
selfdrive/car/toyota/carcontroller.py
View File

@ -5,7 +5,7 @@ from selfdrive.car import apply_toyota_steer_torque_limits
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
create_fcw_command, create_gas_command
from selfdrive.car.toyota.values import ECU, STATIC_MSGS
from selfdrive.can.packer import CANPacker
@ -129,7 +129,16 @@ class CarController(object):
# *** compute control surfaces ***
# gas and brake
apply_accel = actuators.gas - actuators.brake
apply_gas = clip(actuators.gas, 0., 1.)
if CS.CP.enableGasInterceptor:
# send only negative accel if interceptor is detected. otherwise, send the regular value
# +0.06 offset to reduce ABS pump usage when OP is engaged
apply_accel = 0.06 - actuators.brake
else:
apply_accel = actuators.gas - actuators.brake
apply_accel, self.accel_steady = accel_hysteresis(apply_accel, self.accel_steady, enabled)
apply_accel = clip(apply_accel * ACCEL_SCALE, ACCEL_MIN, ACCEL_MAX)
@ -213,6 +222,11 @@ class CarController(object):
else:
can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead))
if CS.CP.enableGasInterceptor:
# send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
# This prevents unexpected pedal range rescaling
can_sends.append(create_gas_command(self.packer, apply_gas))
if frame % 10 == 0 and ECU.CAM in self.fake_ecus and not forwarding_camera:
for addr in TARGET_IDS:
can_sends.append(create_video_target(frame/10, addr))

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

@ -62,6 +62,11 @@ def get_can_parser(CP):
if CP.carFingerprint == CAR.PRIUS:
signals += [("STATE", "AUTOPARK_STATUS", 0)]
# add gas interceptor reading if we are using it
if CP.enableGasInterceptor:
signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
checks.append(("GAS_SENSOR", 50))
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
@ -112,7 +117,10 @@ class CarState(object):
self.seatbelt = not cp.vl["SEATS_DOORS"]['SEATBELT_DRIVER_UNLATCHED']
self.brake_pressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED']
self.pedal_gas = cp.vl["GAS_PEDAL"]['GAS_PEDAL']
if self.CP.enableGasInterceptor:
self.pedal_gas = cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS']
else:
self.pedal_gas = cp.vl["GAS_PEDAL"]['GAS_PEDAL']
self.car_gas = self.pedal_gas
self.esp_disabled = cp.vl["ESP_CONTROL"]['TC_DISABLED']

52
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, log
from cereal import car
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
@ -61,7 +61,7 @@ class CarInterface(object):
ret.safetyModel = car.CarParams.SafetyModels.toyota
# pedal
ret.enableCruise = True
ret.enableCruise = not ret.enableGasInterceptor
# FIXME: hardcoding honda civic 2016 touring params so they can be used to
# scale unknown params for other cars
@ -77,6 +77,7 @@ class CarInterface(object):
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
if candidate == CAR.PRIUS:
stop_and_go = True
ret.safetyParam = 66 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.70
ret.steerRatio = 15.00 # unknown end-to-end spec
@ -88,6 +89,7 @@ class CarInterface(object):
ret.steerActuatorDelay = 0.25
elif candidate in [CAR.RAV4, CAR.RAV4H]:
stop_and_go = True if (candidate in CAR.RAV4H) else False
ret.safetyParam = 73 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.65
ret.steerRatio = 16.30 # 14.5 is spec end-to-end
@ -97,6 +99,7 @@ class CarInterface(object):
ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
elif candidate == CAR.COROLLA:
stop_and_go = False
ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.70
ret.steerRatio = 17.8
@ -106,6 +109,7 @@ class CarInterface(object):
ret.steerKf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594
elif candidate == CAR.LEXUS_RXH:
stop_and_go = True
ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.79
ret.steerRatio = 16. # 14.8 is spec end-to-end
@ -115,6 +119,7 @@ class CarInterface(object):
ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
elif candidate in [CAR.CHR, CAR.CHRH]:
stop_and_go = True
ret.safetyParam = 100
ret.wheelbase = 2.63906
ret.steerRatio = 13.6
@ -124,6 +129,7 @@ class CarInterface(object):
ret.steerKf = 0.00006
elif candidate in [CAR.CAMRY, CAR.CAMRYH]:
stop_and_go = True
ret.safetyParam = 100
ret.wheelbase = 2.82448
ret.steerRatio = 13.7
@ -133,6 +139,7 @@ class CarInterface(object):
ret.steerKf = 0.00006
elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]:
stop_and_go = True
ret.safetyParam = 100
ret.wheelbase = 2.78
ret.steerRatio = 16.0
@ -147,14 +154,12 @@ class CarInterface(object):
ret.longPidDeadzoneBP = [0., 9.]
ret.longPidDeadzoneV = [0., .15]
#detect the Pedal address
ret.enableGasInterceptor = 0x201 in fingerprint
# 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.
# hybrid models can't do stop and go even though the stock ACC can't
if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.CHR,
CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
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
ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else 19. * CV.MPH_TO_MS
centerToRear = ret.wheelbase - ret.centerToFront
# TODO: get actual value, for now starting with reasonable value for
@ -178,8 +183,6 @@ class CarInterface(object):
# steer, gas, brake limitations VS speed
ret.steerMaxBP = [16. * CV.KPH_TO_MS, 45. * CV.KPH_TO_MS] # breakpoints at 1 and 40 kph
ret.steerMaxV = [1., 1.] # 2/3rd torque allowed above 45 kph
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.5]
ret.brakeMaxBP = [5., 20.]
ret.brakeMaxV = [1., 0.8]
@ -190,15 +193,24 @@ class CarInterface(object):
cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warn("ECU DSU Simulated: %r", ret.enableDsu)
cloudlog.warn("ECU APGS Simulated: %r", ret.enableApgs)
cloudlog.warn("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
ret.steerLimitAlert = False
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKiBP = [0., 35.]
ret.stoppingControl = False
ret.startAccel = 0.0
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [3.6, 2.4, 1.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.54, 0.36]
if ret.enableGasInterceptor:
ret.gasMaxBP = [0., 9., 35]
ret.gasMaxV = [0.2, 0.5, 0.7]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiV = [0.18, 0.12]
else:
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.5]
ret.longitudinalKpV = [3.6, 2.4, 1.5]
ret.longitudinalKiV = [0.54, 0.36]
return ret
@ -234,7 +246,11 @@ class CarInterface(object):
# gas pedal
ret.gas = self.CS.car_gas
ret.gasPressed = self.CS.pedal_gas > 0
if self.CP.enableGasInterceptor:
# use interceptor values to disengage on pedal press
ret.gasPressed = self.CS.pedal_gas > 15
else:
ret.gasPressed = self.CS.pedal_gas > 0
# brake pedal
ret.brake = self.CS.user_brake
@ -253,9 +269,11 @@ class CarInterface(object):
ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
ret.cruiseState.available = bool(self.CS.main_on)
ret.cruiseState.speedOffset = 0.
if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER] or self.CP.enableGasInterceptor:
# ignore standstill in hybrid vehicles, since pcm allows to restart without
# receiving any special command
# also if interceptor is detected
ret.cruiseState.standstill = False
else:
ret.cruiseState.standstill = self.CS.pcm_acc_status == 7
@ -346,7 +364,7 @@ class CarInterface(object):
# pass in a car.CarControl
# to be called @ 100hz
def apply(self, c, perception_state=log.Live20Data.new_message()):
def apply(self, c):
self.CC.update(self.sendcan, c.enabled, self.CS, self.frame,
c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert,

12
selfdrive/car/toyota/toyotacan.py
View File

@ -78,6 +78,18 @@ def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead):
}
return packer.make_can_msg("ACC_CONTROL", 0, values)
def create_gas_command(packer, gas_amount):
"""Creates a CAN message for the Pedal DBC GAS_COMMAND."""
enable = gas_amount > 0.001
values = {"ENABLE": enable}
if enable:
values["GAS_COMMAND"] = gas_amount * 255.
values["GAS_COMMAND2"] = gas_amount * 255.
return packer.make_can_msg("GAS_COMMAND", 0, values)
def create_fcw_command(packer, fcw):
values = {

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

@ -79,7 +79,7 @@ def check_ecu_msgs(fingerprint, ecu):
FINGERPRINTS = {
CAR.RAV4: [{
36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 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: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 512: 6, 513: 6, 547: 8, 548: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 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: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
}],
CAR.RAV4H: [{
36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 296: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 550: 8, 552: 4, 560: 7, 562: 4, 581: 5, 608: 8, 610: 5, 643: 7, 705: 8, 713: 8, 725: 2, 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: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1212: 8, 1227: 8, 1228: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
@ -89,22 +89,23 @@ FINGERPRINTS = {
36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 742: 8, 743: 8, 800: 8, 830: 7, 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: 3, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1207: 8, 1227: 8, 1235: 8, 1263: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8
}],
CAR.PRIUS: [{
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, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 918: 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, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1227: 8, 1228: 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, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513: 6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 918: 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, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1227: 8, 1228: 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, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
},
# Prius Prime
{
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, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 814: 8, 824: 2, 829: 2, 830: 7, 835: 8, 836: 8, 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, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 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, 1175: 8, 1227: 8, 1228: 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, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513: 6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 814: 8, 824: 2, 829: 2, 830: 7, 835: 8, 836: 8, 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, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 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, 1175: 8, 1227: 8, 1228: 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, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
},
# Taiwanese Prius Prime
{
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, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 814: 8, 824: 2, 829: 2, 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, 974: 8, 975: 5, 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, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 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, 1175: 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, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513: 6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 814: 8, 824: 2, 829: 2, 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, 974: 8, 975: 5, 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, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 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, 1175: 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, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
}],
#Corolla w/ added Pedal Support (512L and 513L)
CAR.COROLLA: [{
36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 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, 992: 8, 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, 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, 1584: 8, 1589: 8, 1592: 8, 1596: 8, 1597: 8, 1600: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 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, 992: 8, 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, 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, 1584: 8, 1589: 8, 1592: 8, 1596: 8, 1597: 8, 1600: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
},
# Corolla LE 2017
# Corolla LE 2017 w/ added Pedal Support (512L and 513L)
{
36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 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, 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
36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 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, 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
}],
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

2
selfdrive/common/version.h
View File

@ -1 +1 @@
#define COMMA_VERSION "0.5.8-release"
#define COMMA_VERSION "0.5.9-release"

159
selfdrive/controls/controlsd.py
View File

@ -11,7 +11,6 @@ import selfdrive.messaging as messaging
from selfdrive.config import Conversions as CV
from selfdrive.services import service_list
from selfdrive.car.car_helpers import get_car
from selfdrive.controls.lib.planner import Planner
from selfdrive.controls.lib.drive_helpers import learn_angle_offset, \
get_events, \
create_event, \
@ -23,6 +22,7 @@ from selfdrive.controls.lib.latcontrol import LatControl
from selfdrive.controls.lib.alertmanager import AlertManager
from selfdrive.controls.lib.vehicle_model import VehicleModel
from selfdrive.controls.lib.driver_monitor import DriverStatus
from selfdrive.controls.lib.planner import _DT_MPC
from selfdrive.locationd.calibration_helpers import Calibration, Filter
ThermalStatus = log.ThermalData.ThermalStatus
@ -39,9 +39,9 @@ def isEnabled(state):
return (isActive(state) or state == State.preEnabled)
def data_sample(CI, CC, thermal, calibration, health, driver_monitor, gps_location,
def data_sample(CI, CC, plan_sock, path_plan_sock, thermal, calibration, health, driver_monitor,
poller, cal_status, cal_perc, overtemp, free_space, low_battery,
driver_status, geofence, state, mismatch_counter, params):
driver_status, state, mismatch_counter, params, plan, path_plan):
"""Receive data from sockets and create events for battery, temperature and disk space"""
# Update carstate from CAN and create events
@ -54,7 +54,6 @@ def data_sample(CI, CC, thermal, calibration, health, driver_monitor, gps_locati
cal = None
hh = None
dm = None
gps = None
for socket, event in poller.poll(0):
if socket is thermal:
@ -65,8 +64,10 @@ def data_sample(CI, CC, thermal, calibration, health, driver_monitor, gps_locati
hh = messaging.recv_one(socket)
elif socket is driver_monitor:
dm = messaging.recv_one(socket)
elif socket is gps_location:
gps = messaging.recv_one(socket)
elif socket is plan_sock:
plan = messaging.recv_one(socket)
elif socket is path_plan_sock:
path_plan = messaging.recv_one(socket)
if td is not None:
overtemp = td.thermal.thermalStatus >= ThermalStatus.red
@ -110,32 +111,7 @@ def data_sample(CI, CC, thermal, calibration, health, driver_monitor, gps_locati
if dm is not None:
driver_status.get_pose(dm.driverMonitoring, params)
# Geofence
if geofence is not None and gps is not None:
geofence.update_geofence_status(gps.gpsLocationExternal, params)
if geofence is not None and not geofence.in_geofence:
events.append(create_event('geofence', [ET.NO_ENTRY, ET.WARNING]))
return CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter
def calc_plan(CS, CP, VM, events, PL, LaC, LoC, v_cruise_kph, driver_status, geofence):
"""Calculate a longitudinal plan using MPC"""
# Slow down when based on driver monitoring or geofence
force_decel = driver_status.awareness < 0. or (geofence is not None and not geofence.in_geofence)
# Update planner
plan_packet = PL.update(CS, CP, VM, LaC, LoC, v_cruise_kph, force_decel)
plan = plan_packet.plan
plan_ts = plan_packet.logMonoTime
events += list(plan.events)
# Only allow engagement with brake pressed when stopped behind another stopped car
if CS.brakePressed and plan.vTargetFuture >= STARTING_TARGET_SPEED and not CP.radarOffCan and CS.vEgo < 0.3:
events.append(create_event('noTarget', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
return plan, plan_ts
return CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter, plan, path_plan
def state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM):
@ -225,8 +201,8 @@ def state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM
return state, soft_disable_timer, v_cruise_kph, v_cruise_kph_last
def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk,
driver_status, PL, LaC, LoC, VM, angle_offset, passive, is_metric, cal_perc):
def state_control(plan, path_plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk,
driver_status, LaC, LoC, VM, angle_offset, passive, is_metric, cal_perc):
"""Given the state, this function returns an actuators packet"""
actuators = car.CarControl.Actuators.new_message()
@ -264,18 +240,25 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
AM.add(e, enabled, extra_text_2=extra_text)
# Run angle offset learner at 20 Hz
if rk.frame % 5 == 2 and plan.lateralValid:
if rk.frame % 5 == 2:
angle_offset = learn_angle_offset(active, CS.vEgo, angle_offset,
PL.PP.c_poly, PL.PP.c_prob, CS.steeringAngle,
path_plan.cPoly, path_plan.cProb, CS.steeringAngle,
CS.steeringPressed)
cur_time = sec_since_boot() # TODO: This won't work in replay
mpc_time = plan.l20MonoTime / 1e9
_DT = 0.01 # 100Hz
dt = min(cur_time - mpc_time, _DT_MPC + _DT) + _DT # no greater than dt mpc + dt, to prevent too high extraps
a_acc_sol = plan.aStart + (dt / _DT_MPC) * (plan.aTarget - plan.aStart)
v_acc_sol = plan.vStart + dt * (a_acc_sol + plan.aStart) / 2.0
# Gas/Brake PID loop
actuators.gas, actuators.brake = LoC.update(active, CS.vEgo, CS.brakePressed, CS.standstill, CS.cruiseState.standstill,
v_cruise_kph, plan.vTarget, plan.vTargetFuture, plan.aTarget,
CP, PL.lead_1)
v_cruise_kph, v_acc_sol, plan.vTargetFuture, a_acc_sol, CP)
# Steering PID loop and lateral MPC
actuators.steer, actuators.steerAngle = LaC.update(active, CS.vEgo, CS.steeringAngle,
CS.steeringPressed, plan.dPoly, angle_offset, CP, VM, PL)
CS.steeringPressed, CP, VM, path_plan)
# Send a "steering required alert" if saturation count has reached the limit
if LaC.sat_flag and CP.steerLimitAlert:
@ -294,13 +277,15 @@ def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
AM.process_alerts(sec_since_boot())
return actuators, v_cruise_kph, driver_status, angle_offset
return actuators, v_cruise_kph, driver_status, angle_offset, v_acc_sol, a_acc_sol
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, start_time):
def data_send(plan, path_plan, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate,
carcontrol, live100, AM, driver_status,
LaC, LoC, angle_offset, passive, start_time, params, v_acc, a_acc):
"""Send actuators and hud commands to the car, send live100 and MPC logging"""
plan_ts = plan.logMonoTime
plan = plan.plan
CC = car.CarControl.new_message()
@ -320,13 +305,15 @@ def data_send(perception_state, plan, plan_ts, CS, CI, CP, VM, state, events, ac
CC.hudControl.speedVisible = isEnabled(state)
CC.hudControl.lanesVisible = isEnabled(state)
CC.hudControl.leadVisible = plan.hasLead
CC.hudControl.rightLaneVisible = plan.hasRightLane
CC.hudControl.leftLaneVisible = plan.hasLeftLane
CC.hudControl.rightLaneVisible = bool(path_plan.pathPlan.rProb > 0.5)
CC.hudControl.leftLaneVisible = bool(path_plan.pathPlan.lProb > 0.5)
CC.hudControl.visualAlert = AM.visual_alert
CC.hudControl.audibleAlert = AM.audible_alert
# send car controls over can
CI.apply(CC, perception_state)
CI.apply(CC)
force_decel = driver_status.awareness < 0.
# live100
dat = messaging.new_message()
@ -343,6 +330,7 @@ def data_send(perception_state, plan, plan_ts, CS, CI, CP, VM, state, events, ac
"driverMonitoringOn": bool(driver_status.monitor_on),
"canMonoTimes": list(CS.canMonoTimes),
"planMonoTime": plan_ts,
"pathPlanMonoTime": path_plan.logMonoTime,
"enabled": isEnabled(state),
"active": isActive(state),
"vEgo": CS.vEgo,
@ -362,8 +350,8 @@ def data_send(perception_state, plan, plan_ts, CS, CI, CP, VM, state, events, ac
"upSteer": float(LaC.pid.p),
"uiSteer": float(LaC.pid.i),
"ufSteer": float(LaC.pid.f),
"vTargetLead": float(plan.vTarget),
"aTarget": float(plan.aTarget),
"vTargetLead": float(v_acc),
"aTarget": float(a_acc),
"jerkFactor": float(plan.jerkFactor),
"angleOffset": float(angle_offset),
"gpsPlannerActive": plan.gpsPlannerActive,
@ -372,6 +360,7 @@ def data_send(perception_state, plan, plan_ts, CS, CI, CP, VM, state, events, ac
"cumLagMs": -rk.remaining * 1000.,
"startMonoTime": start_time,
"mapValid": plan.mapValid,
"forceDecel": bool(force_decel),
}
live100.send(dat.to_bytes())
@ -388,21 +377,13 @@ def data_send(perception_state, plan, plan_ts, CS, CI, CP, VM, state, events, ac
cc_send.carControl = CC
carcontrol.send(cc_send.to_bytes())
# send MPC when updated (20 Hz)
if hasattr(LaC, 'mpc_updated') and LaC.mpc_updated:
dat = messaging.new_message()
dat.init('liveMpc')
dat.liveMpc.x = list(LaC.mpc_solution[0].x)
dat.liveMpc.y = list(LaC.mpc_solution[0].y)
dat.liveMpc.psi = list(LaC.mpc_solution[0].psi)
dat.liveMpc.delta = list(LaC.mpc_solution[0].delta)
dat.liveMpc.cost = LaC.mpc_solution[0].cost
livempc.send(dat.to_bytes())
if (rk.frame % 36000) == 0: # update angle offset every 6 minutes
params.put("ControlsParams", json.dumps({'angle_offset': angle_offset}))
return CC
def controlsd_thread(gctx=None, rate=100, default_bias=0.):
def controlsd_thread(gctx=None, rate=100):
gc.disable()
# start the loop
@ -415,7 +396,6 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
live100 = messaging.pub_sock(context, service_list['live100'].port)
carstate = messaging.pub_sock(context, service_list['carState'].port)
carcontrol = messaging.pub_sock(context, service_list['carControl'].port)
livempc = messaging.pub_sock(context, service_list['liveMpc'].port)
is_metric = params.get("IsMetric") == "1"
passive = params.get("Passive") != "0"
@ -432,7 +412,8 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
health = messaging.sub_sock(context, service_list['health'].port, conflate=True, poller=poller)
cal = messaging.sub_sock(context, service_list['liveCalibration'].port, conflate=True, poller=poller)
driver_monitor = messaging.sub_sock(context, service_list['driverMonitoring'].port, conflate=True, poller=poller)
gps_location = messaging.sub_sock(context, service_list['gpsLocationExternal'].port, conflate=True, poller=poller)
plan_sock = messaging.sub_sock(context, service_list['plan'].port, conflate=True, poller=poller)
path_plan_sock = messaging.sub_sock(context, service_list['pathPlan'].port, conflate=True, poller=poller)
logcan = messaging.sub_sock(context, service_list['can'].port)
CC = car.CarControl.new_message()
@ -449,11 +430,6 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
if passive:
CP.safetyModel = car.CarParams.SafetyModels.noOutput
# Get FCW toggle from settings
fcw_enabled = params.get("IsFcwEnabled") == "1"
geofence = None
PL = Planner(CP, fcw_enabled)
LoC = LongControl(CP, CI.compute_gb)
VM = VehicleModel(CP)
LaC = LatControl(CP)
@ -478,17 +454,19 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
mismatch_counter = 0
low_battery = False
rk = Ratekeeper(rate, print_delay_threshold=2. / 1000)
plan = messaging.new_message()
plan.init('plan')
path_plan = messaging.new_message()
path_plan.init('pathPlan')
# Read angle offset from previous drive, fallback to default
angle_offset = default_bias
calibration_params = params.get("CalibrationParams")
if calibration_params:
try:
calibration_params = json.loads(calibration_params)
angle_offset = calibration_params["angle_offset2"]
except (ValueError, KeyError):
pass
rk = Ratekeeper(rate, print_delay_threshold=2. / 1000)
controls_params = params.get("ControlsParams")
# Read angle offset from previous drive
if controls_params is not None:
controls_params = json.loads(controls_params)
angle_offset = controls_params['angle_offset']
else:
angle_offset = 0.
prof = Profiler(False) # off by default
@ -497,13 +475,21 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
prof.checkpoint("Ratekeeper", ignore=True)
# Sample data and compute car events
CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter = data_sample(CI, CC, thermal, cal, health,
driver_monitor, gps_location, poller, cal_status, cal_perc, overtemp, free_space, low_battery, driver_status, geofence, state, mismatch_counter, params)
CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter, plan, path_plan =\
data_sample(CI, CC, plan_sock, path_plan_sock, thermal, cal, health, driver_monitor,
poller, cal_status, cal_perc, overtemp, free_space, low_battery, driver_status,
state, mismatch_counter, params, plan, path_plan)
prof.checkpoint("Sample")
# Define longitudinal plan (MPC)
plan, plan_ts = calc_plan(CS, CP, VM, events, PL, LaC, LoC, v_cruise_kph, driver_status, geofence)
prof.checkpoint("Plan")
path_plan_age = (start_time - path_plan.logMonoTime) / 1e9
plan_age = (start_time - plan.logMonoTime) / 1e9
if not path_plan.pathPlan.valid or plan_age > 0.5 or path_plan_age > 0.5:
events.append(create_event('plannerError', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
events += list(plan.plan.events)
# Only allow engagement with brake pressed when stopped behind another stopped car
if CS.brakePressed and plan.plan.vTargetFuture >= STARTING_TARGET_SPEED and not CP.radarOffCan and CS.vEgo < 0.3:
events.append(create_event('noTarget', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if not passive:
# update control state
@ -512,13 +498,16 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
prof.checkpoint("State transition")
# Compute actuators (runs PID loops and lateral MPC)
actuators, v_cruise_kph, driver_status, angle_offset = state_control(plan, CS, CP, state, events, v_cruise_kph,
v_cruise_kph_last, AM, rk, driver_status, PL, LaC, LoC, VM, angle_offset, passive, is_metric, cal_perc)
actuators, v_cruise_kph, driver_status, angle_offset, v_acc, a_acc = \
state_control(plan.plan, path_plan.pathPlan, CS, CP, state, events, v_cruise_kph,
v_cruise_kph_last, AM, rk, driver_status,
LaC, LoC, VM, angle_offset, passive, is_metric, cal_perc)
prof.checkpoint("State Control")
# Publish data
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, start_time)
CC = data_send(plan, path_plan, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate, carcontrol,
live100, AM, driver_status, LaC, LoC, angle_offset, passive, start_time, params, v_acc, a_acc)
prof.checkpoint("Sent")
rk.keep_time() # Run at 100Hz

82
selfdrive/controls/lib/latcontrol.py
View File

@ -1,23 +1,11 @@
import math
import numpy as np
from selfdrive.controls.lib.pid import PIController
from selfdrive.controls.lib.drive_helpers import MPC_COST_LAT
from selfdrive.controls.lib.lateral_mpc import libmpc_py
from common.numpy_fast import interp
from common.realtime import sec_since_boot
from selfdrive.swaglog import cloudlog
from cereal import car
_DT = 0.01 # 100Hz
_DT_MPC = 0.05 # 20Hz
def calc_states_after_delay(states, v_ego, steer_angle, curvature_factor, steer_ratio, delay):
states[0].x = v_ego * delay
states[0].psi = v_ego * curvature_factor * math.radians(steer_angle) / steer_ratio * delay
return states
def get_steer_max(CP, v_ego):
return interp(v_ego, CP.steerMaxBP, CP.steerMaxV)
@ -28,75 +16,12 @@ class LatControl(object):
(CP.steerKiBP, CP.steerKiV),
k_f=CP.steerKf, pos_limit=1.0)
self.last_cloudlog_t = 0.0
self.setup_mpc(CP.steerRateCost)
def setup_mpc(self, steer_rate_cost):
self.libmpc = libmpc_py.libmpc
self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, steer_rate_cost)
self.mpc_solution = libmpc_py.ffi.new("log_t *")
self.cur_state = libmpc_py.ffi.new("state_t *")
self.mpc_updated = False
self.mpc_nans = False
self.cur_state[0].x = 0.0
self.cur_state[0].y = 0.0
self.cur_state[0].psi = 0.0
self.cur_state[0].delta = 0.0
self.last_mpc_ts = 0.0
self.angle_steers_des = 0.0
self.angle_steers_des_mpc = 0.0
self.angle_steers_des_prev = 0.0
self.angle_steers_des_time = 0.0
self.angle_steers_des = 0.
def reset(self):
self.pid.reset()
def update(self, active, v_ego, angle_steers, steer_override, d_poly, angle_offset, CP, VM, PL):
cur_time = sec_since_boot()
self.mpc_updated = False
# TODO: this creates issues in replay when rewinding time: mpc won't run
if self.last_mpc_ts < PL.last_md_ts:
self.last_mpc_ts = PL.last_md_ts
self.angle_steers_des_prev = self.angle_steers_des_mpc
curvature_factor = VM.curvature_factor(v_ego)
l_poly = libmpc_py.ffi.new("double[4]", list(PL.PP.l_poly))
r_poly = libmpc_py.ffi.new("double[4]", list(PL.PP.r_poly))
p_poly = libmpc_py.ffi.new("double[4]", list(PL.PP.p_poly))
# account for actuation delay
self.cur_state = calc_states_after_delay(self.cur_state, v_ego, angle_steers, curvature_factor, CP.steerRatio, CP.steerActuatorDelay)
v_ego_mpc = max(v_ego, 5.0) # avoid mpc roughness due to low speed
self.libmpc.run_mpc(self.cur_state, self.mpc_solution,
l_poly, r_poly, p_poly,
PL.PP.l_prob, PL.PP.r_prob, PL.PP.p_prob, curvature_factor, v_ego_mpc, PL.PP.lane_width)
# reset to current steer angle if not active or overriding
if active:
delta_desired = self.mpc_solution[0].delta[1]
else:
delta_desired = math.radians(angle_steers - angle_offset) / CP.steerRatio
self.cur_state[0].delta = delta_desired
self.angle_steers_des_mpc = float(math.degrees(delta_desired * CP.steerRatio) + angle_offset)
self.angle_steers_des_time = cur_time
self.mpc_updated = True
# Check for infeasable MPC solution
self.mpc_nans = np.any(np.isnan(list(self.mpc_solution[0].delta)))
t = sec_since_boot()
if self.mpc_nans:
self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, CP.steerRateCost)
self.cur_state[0].delta = math.radians(angle_steers) / CP.steerRatio
if t > self.last_cloudlog_t + 5.0:
self.last_cloudlog_t = t
cloudlog.warning("Lateral mpc - nan: True")
def update(self, active, v_ego, angle_steers, steer_override, CP, VM, path_plan):
if v_ego < 0.3 or not active:
output_steer = 0.0
self.pid.reset()
@ -105,7 +30,8 @@ class LatControl(object):
# constant for 0.05s.
#dt = min(cur_time - self.angle_steers_des_time, _DT_MPC + _DT) + _DT # no greater than dt mpc + dt, to prevent too high extraps
#self.angle_steers_des = self.angle_steers_des_prev + (dt / _DT_MPC) * (self.angle_steers_des_mpc - self.angle_steers_des_prev)
self.angle_steers_des = self.angle_steers_des_mpc
self.angle_steers_des = path_plan.angleSteers # get from MPC/PathPlanner
steers_max = get_steer_max(CP, v_ego)
self.pid.pos_limit = steers_max
self.pid.neg_limit = -steers_max

2
selfdrive/controls/lib/longcontrol.py
View File

@ -71,7 +71,7 @@ class LongControl(object):
self.pid.reset()
self.v_pid = v_pid
def update(self, active, v_ego, brake_pressed, standstill, cruise_standstill, v_cruise, v_target, v_target_future, a_target, CP, lead_1):
def update(self, active, v_ego, brake_pressed, standstill, cruise_standstill, v_cruise, v_target, v_target_future, a_target, CP):
"""Update longitudinal control. This updates the state machine and runs a PID loop"""
# Actuation limits
gas_max = interp(v_ego, CP.gasMaxBP, CP.gasMaxV)

65
selfdrive/controls/lib/model_parser.py 100644
View File

@ -0,0 +1,65 @@
from common.numpy_fast import interp
from selfdrive.controls.lib.latcontrol_helpers import model_polyfit, calc_desired_path, compute_path_pinv
CAMERA_OFFSET = 0.06 # m from center car to camera
class ModelParser(object):
def __init__(self):
self.d_poly = [0., 0., 0., 0.]
self.c_poly = [0., 0., 0., 0.]
self.c_prob = 0.
self.last_model = 0.
self.lead_dist, self.lead_prob, self.lead_var = 0, 0, 1
self._path_pinv = compute_path_pinv()
self.lane_width_estimate = 3.7
self.lane_width_certainty = 1.0
self.lane_width = 3.7
self.l_prob = 0.
self.r_prob = 0.
def update(self, v_ego, md):
if md is not None:
p_poly = model_polyfit(md.model.path.points, self._path_pinv) # predicted path
l_poly = model_polyfit(md.model.leftLane.points, self._path_pinv) # left line
r_poly = model_polyfit(md.model.rightLane.points, self._path_pinv) # right line
# only offset left and right lane lines; offsetting p_poly does not make sense
l_poly[3] += CAMERA_OFFSET
r_poly[3] += CAMERA_OFFSET
p_prob = 1. # model does not tell this probability yet, so set to 1 for now
l_prob = md.model.leftLane.prob # left line prob
r_prob = md.model.rightLane.prob # right line prob
# Find current lanewidth
lr_prob = l_prob * r_prob
self.lane_width_certainty += 0.05 * (lr_prob - self.lane_width_certainty)
current_lane_width = abs(l_poly[3] - r_poly[3])
self.lane_width_estimate += 0.005 * (current_lane_width - self.lane_width_estimate)
speed_lane_width = interp(v_ego, [0., 31.], [3., 3.8])
self.lane_width = self.lane_width_certainty * self.lane_width_estimate + \
(1 - self.lane_width_certainty) * speed_lane_width
lane_width_diff = abs(self.lane_width - current_lane_width)
lane_r_prob = interp(lane_width_diff, [0.3, 1.0], [1.0, 0.0])
r_prob *= lane_r_prob
self.lead_dist = md.model.lead.dist
self.lead_prob = md.model.lead.prob
self.lead_var = md.model.lead.std**2
# compute target path
self.d_poly, self.c_poly, self.c_prob = calc_desired_path(
l_poly, r_poly, p_poly, l_prob, r_prob, p_prob, v_ego, self.lane_width)
self.r_poly = r_poly
self.r_prob = r_prob
self.l_poly = l_poly
self.l_prob = l_prob
self.p_poly = p_poly
self.p_prob = p_prob

156
selfdrive/controls/lib/pathplanner.py
View File

@ -1,64 +1,122 @@
from common.numpy_fast import interp
from selfdrive.controls.lib.latcontrol_helpers import model_polyfit, calc_desired_path, compute_path_pinv
import zmq
import math
import numpy as np
from common.realtime import sec_since_boot
from selfdrive.services import service_list
from selfdrive.swaglog import cloudlog
from selfdrive.controls.lib.lateral_mpc import libmpc_py
from selfdrive.controls.lib.drive_helpers import MPC_COST_LAT
from selfdrive.controls.lib.model_parser import ModelParser
import selfdrive.messaging as messaging
def calc_states_after_delay(states, v_ego, steer_angle, curvature_factor, steer_ratio, delay):
states[0].x = v_ego * delay
states[0].psi = v_ego * curvature_factor * math.radians(steer_angle) / steer_ratio * delay
return states
CAMERA_OFFSET = 0.06 # m from center car to camera
class PathPlanner(object):
def __init__(self):
self.d_poly = [0., 0., 0., 0.]
self.c_poly = [0., 0., 0., 0.]
self.c_prob = 0.
self.last_model = 0.
self.lead_dist, self.lead_prob, self.lead_var = 0, 0, 1
self._path_pinv = compute_path_pinv()
def __init__(self, CP):
self.MP = ModelParser()
self.lane_width_estimate = 3.7
self.lane_width_certainty = 1.0
self.lane_width = 3.7
self.l_prob = 0.
self.r_prob = 0.
self.last_cloudlog_t = 0
def update(self, v_ego, md):
if md is not None:
p_poly = model_polyfit(md.model.path.points, self._path_pinv) # predicted path
l_poly = model_polyfit(md.model.leftLane.points, self._path_pinv) # left line
r_poly = model_polyfit(md.model.rightLane.points, self._path_pinv) # right line
context = zmq.Context()
self.plan = messaging.pub_sock(context, service_list['pathPlan'].port)
self.livempc = messaging.pub_sock(context, service_list['liveMpc'].port)
# only offset left and right lane lines; offsetting p_poly does not make sense
l_poly[3] += CAMERA_OFFSET
r_poly[3] += CAMERA_OFFSET
self.setup_mpc(CP.steerRateCost)
self.invalid_counter = 0
p_prob = 1. # model does not tell this probability yet, so set to 1 for now
l_prob = md.model.leftLane.prob # left line prob
r_prob = md.model.rightLane.prob # right line prob
def setup_mpc(self, steer_rate_cost):
self.libmpc = libmpc_py.libmpc
self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, steer_rate_cost)
# Find current lanewidth
lr_prob = l_prob * r_prob
self.lane_width_certainty += 0.05 * (lr_prob - self.lane_width_certainty)
current_lane_width = abs(l_poly[3] - r_poly[3])
self.lane_width_estimate += 0.005 * (current_lane_width - self.lane_width_estimate)
speed_lane_width = interp(v_ego, [0., 31.], [3., 3.8])
self.lane_width = self.lane_width_certainty * self.lane_width_estimate + \
(1 - self.lane_width_certainty) * speed_lane_width
self.mpc_solution = libmpc_py.ffi.new("log_t *")
self.cur_state = libmpc_py.ffi.new("state_t *")
self.cur_state[0].x = 0.0
self.cur_state[0].y = 0.0
self.cur_state[0].psi = 0.0
self.cur_state[0].delta = 0.0
lane_width_diff = abs(self.lane_width - current_lane_width)
lane_r_prob = interp(lane_width_diff, [0.3, 1.0], [1.0, 0.0])
self.angle_steers_des = 0.0
self.angle_steers_des_mpc = 0.0
self.angle_steers_des_prev = 0.0
self.angle_steers_des_time = 0.0
r_prob *= lane_r_prob
def update(self, CP, VM, CS, md, live100):
v_ego = CS.carState.vEgo
angle_steers = CS.carState.steeringAngle
active = live100.live100.active
angle_offset = live100.live100.angleOffset
self.MP.update(v_ego, md)
self.lead_dist = md.model.lead.dist
self.lead_prob = md.model.lead.prob
self.lead_var = md.model.lead.std**2
# Run MPC
self.angle_steers_des_prev = self.angle_steers_des_mpc
curvature_factor = VM.curvature_factor(v_ego)
# compute target path
self.d_poly, self.c_poly, self.c_prob = calc_desired_path(
l_poly, r_poly, p_poly, l_prob, r_prob, p_prob, v_ego, self.lane_width)
l_poly = libmpc_py.ffi.new("double[4]", list(self.MP.l_poly))
r_poly = libmpc_py.ffi.new("double[4]", list(self.MP.r_poly))
p_poly = libmpc_py.ffi.new("double[4]", list(self.MP.p_poly))
self.r_poly = r_poly
self.r_prob = r_prob
# account for actuation delay
self.cur_state = calc_states_after_delay(self.cur_state, v_ego, angle_steers, curvature_factor, CP.steerRatio, CP.steerActuatorDelay)
self.l_poly = l_poly
self.l_prob = l_prob
v_ego_mpc = max(v_ego, 5.0) # avoid mpc roughness due to low speed
self.libmpc.run_mpc(self.cur_state, self.mpc_solution,
l_poly, r_poly, p_poly,
self.MP.l_prob, self.MP.r_prob, self.MP.p_prob, curvature_factor, v_ego_mpc, self.MP.lane_width)
self.p_poly = p_poly
self.p_prob = p_prob
# reset to current steer angle if not active or overriding
if active:
delta_desired = self.mpc_solution[0].delta[1]
else:
delta_desired = math.radians(angle_steers - angle_offset) / CP.steerRatio
self.cur_state[0].delta = delta_desired
self.angle_steers_des_mpc = float(math.degrees(delta_desired * CP.steerRatio) + angle_offset)
# Check for infeasable MPC solution
mpc_nans = np.any(np.isnan(list(self.mpc_solution[0].delta)))
t = sec_since_boot()
if mpc_nans:
self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, CP.steerRateCost)
self.cur_state[0].delta = math.radians(angle_steers) / CP.steerRatio
if t > self.last_cloudlog_t + 5.0:
self.last_cloudlog_t = t
cloudlog.warning("Lateral mpc - nan: True")
if self.mpc_solution[0].cost > 20000. or mpc_nans: # TODO: find a better way to detect when MPC did not converge
self.invalid_counter += 1
else:
self.invalid_counter = 0
plan_valid = self.invalid_counter < 2
plan_send = messaging.new_message()
plan_send.init('pathPlan')
plan_send.pathPlan.laneWidth = float(self.MP.lane_width)
plan_send.pathPlan.dPoly = map(float, self.MP.d_poly)
plan_send.pathPlan.cPoly = map(float, self.MP.c_poly)
plan_send.pathPlan.cProb = float(self.MP.c_prob)
plan_send.pathPlan.lPoly = map(float, l_poly)
plan_send.pathPlan.lProb = float(self.MP.l_prob)
plan_send.pathPlan.rPoly = map(float, r_poly)
plan_send.pathPlan.rProb = float(self.MP.r_prob)
plan_send.pathPlan.angleSteers = float(self.angle_steers_des_mpc)
plan_send.pathPlan.valid = bool(plan_valid)
self.plan.send(plan_send.to_bytes())
dat = messaging.new_message()
dat.init('liveMpc')
dat.liveMpc.x = list(self.mpc_solution[0].x)
dat.liveMpc.y = list(self.mpc_solution[0].y)
dat.liveMpc.psi = list(self.mpc_solution[0].psi)
dat.liveMpc.delta = list(self.mpc_solution[0].delta)
dat.liveMpc.cost = self.mpc_solution[0].cost
self.livempc.send(dat.to_bytes())

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